68HC11 Programmer’s Reference Manual
68HC11 Programmer’s ReferenceManualPhillip Musumecip.musumeci@ieee.orgNovember 1999Version 1.7
Credits Engineer proofreading: Dr. Barbara La Scala; Cross Assembler for 68HC11: Motorola; University of Wollongong F1 system: Pete Dunster; and Many different public domain software tools: many helpful users.References1. Gene H. Miller, “Microcomputer Engineering”, Prentice Hall, Englewood Cliffs, NJ07632, 1993. ISBN 0-13-584475-4.2. Motorola, “HC11 — M68HC11 Reference Manual”, Part number M68HC11RM/AD.3. Frederick F. Driscoll, Robert F. Coughlin, Robert S. Villanucci, “Data acquisitionand process control with the M68HC11 micro-controller”, Merrill/Macmillan International, 1994. ISBN 002330555X4. Joseph L. Jones and Anita M. Flynn, “Mobile Robots: Inspiration to Implementation”, A.K. Peters, Wellesley, Massachusetts, 1993. ISBN 1-56881-011-3.5. P. Dunster, “F1 System Reference Manual”, held in file F1V11DOC.PS in the v11doc.zip6. P. Musumeci, “Introduction to Microprocessor Systems”, lecture notes and datapacks are available from http://mirriwinni.cse.rmit.edu.au/ phillip/intro2upNotes The latest release of this manual (PDF) is available fromhttp://mirriwinni.cse.rmit.edu.au/ phillip/intro2up. This document was prepared using the teTeX distribution of LATEX1 , dvips, andxdvi. The diagrams were processed using the graphicx and pdftex packages ofLATEX, and the ps2pdf utility from ghostscript. The language aware editor xemacswas used to prepare input text before checking with ispell. A (Free)BSD computingenvironment has been employed.Feedback Please email reports of errors in this document or suggestions for its improvement top.musumeci@ieee.org.c Phillip Musumeci, November 19991Feel the power of LATEX.i
Contents1 Introduction1.1 Tools . . . . . . . . . . . . . . . . . . . .1.2 Command Entry . . . . . . . . . . . . .1.3 Program preparation . . . . . . . . . . .1.4 Setting up your assembly language tools1.4.1 Cross assembler — DOS . . . . .1.4.2 Cross assembler — UNIX . . . .2 Software development cycle2.1 Understand the problem . . .2.2 Plan Structure of Program . .2.3 Data Structures . . . . . . . .2.4 Coding . . . . . . . . . . . . .2.5 Assembling . . . . . . . . . .2.6 Downloading . . . . . . . . .2.7 Target Machine Memory Map3 Object File Downloading3.1 System HC11 board 3.1.1 Procedure . . . .3.2 System HC11 board 3.2.1 Procedure . . . .3.3 System HC11 board 3.4 Troubleshooting . . . . .1233444.55556677.101010111111124 Assembler directives4.1 Setting the Program Location Counter . . . . . . . . . . . . .4.1.1 ORG — SET PROGRAM LOCATION COUNTER . .4.2 Setting Symbol and Label Values . . . . . . . . . . . . . . . .4.2.1 EQU — EQUATE SYMBOL TO A VALUE . . . . . .4.3 Memory Allocation . . . . . . . . . . . . . . . . . . . . . . . .4.3.1 RMB — RESERVE MEMORY BYTES . . . . . . . .4.3.2 FCC — FORM CONSTANT CHARACTER STRING4.3.3 FCB — FORM CONSTANT BYTE . . . . . . . . . .4.3.4 FDB — FORM DOUBLE BYTE CONSTANT . . . .4.3.5 FILL — FILL MEMORY . . . . . . . . . . . . . . . .4.3.6 BSZ — BLOCK STORAGE OF ZEROS . . . . . . . .4.3.7 ZMB — ZERO MEMORY BYTES (same as BSZ) . .4.4 Addressing Modes . . . . . . . . . . . . . . . . . . . . . . . . .4.4.1 Register . . . . . . . . . . . . . . . . . . . . . . . . . .4.4.2 Zero Page and Absolute Addressing . . . . . . . . . . .14141414151515151616161616171717PC/DOS kermit . . . . . . . . . . . . . . . . . . . . . . . . . .PC/DOS procomm . . . . . . . . . . . . . . . . . . . . . . . .FreeBSD X-windows kermit. . . . . . . . . . . . . . . . . . .ii.
4.4.34.4.44.4.54.4.6Immediate . . . . . . . . . . . . .Register Indirect (with offset) . .Bit Set/Clear . . . . . . . . . . .Bit Test with Conditional Branch.171818195 Assembler listing file format20A 68HC11 CPU Registers22B 68HC11 Instruction Set23C 68HC11 VectorsC.1 Jump Vectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .C.2 Buffalo Entry Points . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .272832D Monitor Symbol DefinitionsD.1 F1 symbols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .3535E Makefile Example39F Real–Time Interrupt Example40G Miscellaneous InformationG.1 RESET Bootup Code in BUFFALO . . . .G.1.1 EVBU and BUFFALO . . . . . . . .G.1.2 F1 and RMIT/CSE BUFFALO . . . .G.2 Recovering from BULKALL with RMIT/CSEG.3 Enabling TRACE in BUFFALO . . . . . . .G.4 Setting A/D voltage range . . . . . . . . .G.5 Mode setting for expanded mode . . . . .G.6 Summary of Port Signals used by BUFFALO. . . . . . . . . . . . . . . .BUFFALO. . . . . . . . . . . . . . . . . . . .434343434343434444H 68HC11 Net Resources45I4668HC11 OverviewList of Tables1268HC11F1 system memory map. . . . . . . . . . . . . . . . . . . . . . . . .EVBU 68HC11E9 system memory map. . . . . . . . . . . . . . . . . . . .iii89
1 INTRODUCTION11IntroductionThere are a large number of 68HC11 devices and 68HC11 development systems available. Itis possible for this generous choice to make initial use of a system confusing but fortunately,most of the low cost systems make use of the same monitor program, BUFFALO, whichmeans that the programmer is presented with a common interface to the system and canmake use of a common set of subroutine routines in the on-board BUFFALO ROM. Anothercharacteristic of the 68HC11 family of devices, that they contain the same core set ofinternal peripherals, means users are presented with a fairly uniform piece of hardware towork with so confusion is avoided. Note that some recent devices now provide additionalinternal peripherals or have more flexible input/output ports.This document provides useful information for assembly language programmers whoare just beginning to use a 68HC11-based µprocessor system. Code assembly and downloading of object files is described for both UNIX and PC based software developmentenvironments, and a summary of assembler directives is provided. Appendices include atable of 68HC11 CPU instructions and a summary of important BUFFALO subroutine entrypoints and vectors. Where appropriate, specific information for the Motorola UniversalEvaluation Board (EVBU) system and the University of Wollongong F1 system is given.The Motorola EVBU system supports a number of MC68HC11 variants including A8,E9, and 711E9 on a small PCB with a small prototyping area. These MC68HC11s have 512bytes of EEPROM and 256 (A8) or 512 (E9,711E9) bytes of RAM. The A8 and E9 devicesusually contain BUFFALO in ROM while the 711E9 contains EPROM that the user mayprogram. Recently, the E series devices have had versions with larger EEPROM available,e.g. the 811E2 has 2K of EEPROM, while the A8 is no longer manufactured. The EVBUhas an RS232 interface and a real time clock chip (MC68HC68T1) that is connected to theCPU via the serial peripheral bus.The Wollongong F1 system uses the MC68HC11F1FN device which contains similarinternal peripherals to the A8 and E9 devices and the same amount of EEPROM but it has0K bytes of internal ROM and 1K bytes of internal RAM. In this system, BUFFALO (andany other desired firmware) is stored in an external 32K EPROM. The board can also holda 32K RAM device so tasks requiring additional storage are feasible. Much of the design ofthe system is in the public domain to assist the micro-controller enthusiast and the referencemanual includes the complete circuit diagram and describes operation and construction ofthe CPU board plus the various configuration options (memory devices supported, etc).A list of part suppliers is included, with Australian and U.S.A. sources available for the(very) economical CPU PCB, a motor controller interface PCB, and a keypad and LCDmodule interface PCB. The various PCBs are relatively small and stack together in acompact manner suitable for mobile robot experiments. C language programming is alsosupported. Note that the F1 variant of the 68HC11 is available with clock frequencies of8MHz (MC68HC11F1FN), 12MHz (MC68HC11F1FN3) and 16MHz (MC68HC11F1FN4)allowing a system “E” bus clock of 2MHz, 3MHz, and 4MHz respectively. Further detailson this system may be obtained from the following sources:
1 INTRODUCTION2 http://mirriwinni.cse.rmit.edu.au/ phillip/f1 http://mirriwinni.cse.rmit.edu.au/ f1 ny public domain tools exist for 68HC11 programmers, including: a 68HC11 assembler, as11, from Motorola; a number of 68HC11 simulators, sim68hc11 by ted@nmsu.edu and SIM68 by P. J. Fisch; macro processors such as GNU m4 and GNU C cpp; and C language support such as ICn a native C (subset) compiler (beta), and GNU gcc68HC11 port (no floats) by Otto Lind (otto@coactive.com).Note that the as11 assembler and m4 macro processor are available for PC hosts (executables) and UNIX hosts (source distribution).Section H lists internet sites from where the various tools may be obtained. In particular, the ftp site al holds: zip archive files with names ending in .ZIP (uppercase) which contain copies of the toolsfor PC hosts; files symbols.e9, symbols.f1w, symbols.f1p, and vectors which list symbols andvectors for various 68HC11 systems; directory Sources which contains assembly language program examples, including filememtest which is a basic memory test utility adapted from a Motorola 6800 monitor(the instructions for use are at the beginning of the source file); directory 68HC11 User Manual Examples which contains some assembly language program examples distributed with the Motorola 68HC11 Reference Manual; directory buffalo-source which contains archives of the assembly language source andhex files for various versions of the BUFFALO monitor program; and gzip–compressed tar archive file Motorola-8bit-asm-v2.09.tar.gz which is the sourcefor the cross assembler.A number of very economical tools are available for 68HC11 programmers, including: the HITECH integrated development systems — see http://www.hitech.com.au;
1 INTRODUCTION3 the ImageCraft C compiler (ICC), which runs under DOS and OS/2, provides a documented near ANSI C compiler, assembler, linker, and librarian; and the DunfieldDevelopment Systems integrated development environment for the 68HC11 — fordetails, see crocontroller-primer faq.1.2Command EntryIn the information that follows, - means to press the “Return” key to enter a commandline of text. A control key such as control e (where you hold the control key down whiletyping the e key) will be represented as C-e. As typing C-m is equivalent to typing -,we may also say C-m to indicate command entry.1.3Program preparationYou will be using a DOS or UNIX host to develop software for your 68HC11 system.This host computer will supply you with tools such as an editor and assembler (describedshortly), and is quite separate to the target system with its 68HC11 CPU. Such an environment is called a cross development environment because the two computers, the host andthe target, are different (in this case, they have different CPUs). When you are developingsoftware and testing it on a real system, you will have to perform the following tasks:1. Enter your program as source code on the development host using a plain text editorto create a source file — the source code is where you describe (or prescribe) the datastorage and processor operations unique to your program for the target system;2. Cross assemble the source file on the host to produce an object file and an optionallisting file — the listing file displays a merged representation of the source code(written by you) and the binary codes (which are meant for the target CPU), andthe object file is a complete image of the required contents of the target system’smemory (data and instructions) that must eventually be transferred to the targetCPU before it may execute your program;3. Download the object file — this is the process whereby the object file is transferredfrom the host system into the target system’s memory; and4. Run your program — this is where you get to run your program on the target system,possibly making use of program trace or single stepping execution.It is possible to think of these stages from the view point of more “traditional” softwaredevelopment — stage 2 is similar to running a compiler, stage 3 is similar to loading theprogram into memory, and stage 4 is equivalent to dropping the start flag2 on the CPU.2In this document, we will attempt to highlight the F1’s position at the high speed, Grand Prix endof 68HC11 micro-controller operation — the higher performance being partially due to the higher clockspeeds that are more easily accommodated without a multiplexed external memory system.
1 INTRODUCTION1.41.4.14Setting up your assembly language toolsCross assembler — DOSFor DOS systems, the cross assembler is available in executable form. You must obtain acopy of the cross assembler AS11.EXE and install it in a directory in your DOS PATH or thedirectory where you intend to do your 68HC11 work. Obtain a copy of the zip C11.local/DOS-6811.ZIP.An alternative archive with a newer version of the assembler is also available in C11.local/DOS-HC11.ZIPbut little work with this version has been done here. If you do not already have a tool forextracting files from zip archives, take a copy ocal/unzip.exe.You can install the assembler via commands such as:cd \mkdir 68hc11cd 68hc11a:\unzip a:\DOS-6811where I have assumed that you have a copy of DOS-6811.ZIP and unzip.exe in the topdirectory of drive A:. Before using as11, don’t forget to modify your autoexec.bat systeminitialisation batch file so that directory 68hc11 is included in PATH if you intend to do68HC11 work in a different directory.1.4.2Cross assembler — UNIXFor a UNIX system, you will usually have to compile your assembler. Take a copy of thegzip compressed tar archive Motorola-8bit-asm-v2.09.tar.gz .local/ and extract the source filesand compile viagnutar xzvf Motorola-8bit-asm-v2.09.tarcd asm-v2.09make as11Inspect the Makefile to see the cross assemblers that can be made for other 8bit MotorolaCPUs. This set of cross assemblers is known to compile with GNU C on SunOS-4 SPARCand FreeBSD Intel systems. The executable as11 should be installed in a standard placeor where you keep your executables. One way to test the assembler would be to obtaina copy of BUFFALO and assemble it, and then compare outputs — source and related filesare available from http://mirriwinni.cse.rmit.edu.au/ phillip/f1.
2 SOFTWARE DEVELOPMENT CYCLE25Software development cycle2.1Understand the problemWhat is it you need to do? Identify the data inputs and data outputs that your programwill have. If you are controlling hardware (or interfacing to peripherals etc), make a note toconsider having a separate initialisation stage and data processing stage in your program.Search the list3 of subroutines available in BUFFALO that is included in Section C — maybethere are code fragments here that you can simply use. Are similar problems solved byany of the code examples stored on the anonymous ftp sites (see Section H) or included inthe texts. Have a look!2.2Plan Structure of ProgramPlan the program at a high level using a flowchart, pseudo-code or your favourite highlevel language. It is important to understand the “big picture” and be able to describewhat you need to do. Only after you know the “big picture” should you even think aboutwriting code!One way to break up a complex task into smaller more manageable parts is to usesubroutines — if subroutines are being used, such as your own and/or some of those inBUFFALO, state what the necessary input parameters are, what the output values returnedare, and note any side effects such as CPU registers or memory locations that are modified.Don’t be afraid to go over what you have done so far and check that it makes sense —question how you divided the overall task up into smaller, more manageable parts. Arethe loop structures appropriate? You can have a loop continuation test ahead of the mainbody of the loop like in a while do construct or a for( ; ; ) construct, or you can havethe loop continuation test at the end of loop like in a repeat until construct, etc. Ofcourse, in machine language, you can have as many loop exits anywhere you like so longas Nicklaus Wirth4 never finds out!2.3Data StructuresDesign the data representation and storage. Consider issues such as: whether variables canbe represented as single or double byte quantities or is a different data type appropriate;what is the best form of data structure to use e.g. arrays, EOT terminated character strings,a stack mechanism or a queue, etc.If you plan to use subroutines, choose the format of the data exchanged between thevarious sections of code (e.g. a data element on a stack or perhaps a global variable, etc).34Also available as file al/vectors.Author of “PASCAL User Manual and Report” and “Programming in Modula-2”.
2 SOFTWARE DEVELOPMENT CYCLE2.46CodingStart filling in the details by writing code for the algorithm(s) and program structure thatyou have designed. So long as each program part has a known method of exchanginginformation with the other parts of your program (you did plan this earlier, didn’t you?),it is safe to write/edit the assembly language source file on the host computer:1. Choose the position of code and data in memory. If your system has a version ofBUFFALO in ROM, you can usually take advantage of zero page storage in region 0000. . . 0032 (the remaining memory up to 00FF is usually used by the BUFFALOmonitor). If you have a Wollongong F1 board running its modified buf32, you canuse memory in regions 0100. . . 03FF and 2000. . . 7CFF as shown in Table 1. If theF1 board has the modified buf34, you can use memory in regions 0000. . . 032C andall of 2000. . . 7FFF if the external RAM chip is fitted. Write the necessary ORG andRMB,FCB,FDB,FCC assembler directive statements (see sections 4.1,4.3). You shoulddocument these statements in terms of your data storage design and use.The limited amount of storage in zero page memory (addresses 00xx) providesslightly faster access times because most 68HC11 instructions accessing this memory region have a special form which only requires 1 operand byte to specify theleast significant byte xx of the address (the most significant byte is always 00).Hence, for maximum speed, you should select variables which will be frequentlyaccessed for allocation in unused zero page memory. Note that the size of yourprogram will also shrink slightly (the instructions accessing zero page memoryhave a smaller format hence are faster to fetch).2. Use the EQU assembler directive (see section 4.2) to declare the names and addressesof any external subroutines that you have decided to use — include at least a briefdescription of what these subroutines do. Also define any symbolic constants thatyou wish to use.3. Write the CPU instructions. You should document these statements in terms of yourprogram plan (fl
directory Sourceswhich contains assembly language program examples, including le memtestwhich is a basic memory test utility adapted from a Motorola 6800 monitor (the instructions for use are at the beginning of the source le); directory 68HC11UserManualExample
3.2 Hardware Development 20 3.2.1 DC Motors and The Gears 20 3.2.2 Motor Driver 22 3.2.3 Line Follower Sensor 28 3.2.4 68HC11 Microcontroller 31 3.2.5 68HC11 Internal Analog to Digital Converter 35 3.2.6 Power Supply Unit 38 3.3 Software Development 39 3.3.1 Communication between PC and 68HC11 39
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