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PART 1 Introduction 1

1 Introduction to Microcontrollers 1

1.1 The Microcomputer 3

1.2 The 68HC11 and 68HC12 Microcontrollers 14

1.3 Historical Context 14

1.4 Software and Hardware Development 15

Summary 22

Exercises 22

PART 2 Assembly Language Programming 24

2 Programming Basics 24

2.1 Programming Languages 24

2.2 Types of Program Segments 30

2.3 Software Construction 31

Summary 34

Exercises 34

3 Simple Assembly Code Construction 35

3.1 Assembly Source Code 37

3.2 A Basic Build Process 47

3.3 Run-Time Debugging-A Tutorial 52

Summary 59

Exercises 60

4 CPU12 Programming Model 61

4.1 The CPU Register Set 61

4.2 CPU12 Addressing Modes 64

4.3 The CPU12 Instruction Set 77

Summary 78

Exercises 78

5 Basic Assembly Programming Techniques 80

5.1 Data Transfer 80

5.2 Using the Stack 86

5.3 Basic Arithmetic Programming 92

5.4 Shifting and Rotating 105

5.5 Boolean Logic,Bit Testing,and Bit Manipulation 106

5.6 Branches and Jumps 113

5.7 Subroutines 120

5.8 Position Independence 128

Summary 132

Exercises 132

6 Assembly Program Design and Structure 137

6.1 Design and Documentation Tools 138

6.2 Structured Control Constructs 143

6.3 Data Storage 155

6.4 Program Structure 162

6.5 Passing Parameters 163

Summary 172

Exercises 173

7 Assembly Applications 174

7.1 Software Delay Routines 174

7.2 I/O Data Conversions 180

7.3 Basic I/O Routines 194

7.4 Fixed-Point Arithmetic 208

Summary 229

Exercises 229

PART 3 Microcontroller Hardware and I/O 231

8 Introduction to Real-Time I/O and Multitasking 231

8.1 Real-Time Systems 231

8.2 CPU Loads 233

8.3 I/O Detection and Response 234

8.4 Basic Cooperative Multitasking 261

8.5 Using CPU12 Interrupts 274

8.6 Basic Real-Time Debugging 289

Summary 293

Exercises 293

9 Microcontroller I/O Resources 295

9.1 General Purpose I/O 296

9.2 Timers 306

9.3 Serial I/O 347

9.4 A-to-D Conversion 366

Summary 376

Exercises 376

10 The Final Product 378

10.1 MCU Hardware Design 379

10.2 Reset Exceptions 386

10.3 M68HC912B32 Operating Modes 394

10.4 Configuration and Start-Up Code 400

10.5 Final Product Development 406

Summary 416

Exercises 417

11 System Expansion 418

11.1 The Bus Cycle 419

11.2 Chip-Select Logic 421

11.3 Bus Timing Analysis 434

Summary 437

Exercises 438

PART 4 Programming Microcontrollers in C 439

12 Modular and C Code Construction 439

12.1 C Source Code 440

12.2 The Modular Build Process 454

12.3 Source-Level Debugging 475

Summary 481

Exercises 481

13 Creating and Accessing Data in C 483

13.1 Introduction to Data Types 484

13.2 ANSI-C Data Types 485

13.3 Variables and Stored Constants 494

13.4 Pointers 498

13.5 Arrays and Strings 503

13.6 Structures 507

13.8 Bit Operations 509

13.7 Enumerated Types 509

Summary 516

Exercises 517

14 C Program Structures 518

14.1 Control Structures 518

14.2 Functions 536

14.3 Modules 548

14.4 Start-Up and Initialization 557

Summary 564

Exercises 564

PART 5 Real-Time Multitasking Kernels 566

15 Real-Time Multitasking in C 566

15.1 Real-Time Programming Review 566

15.2 Real-Time Kernel Overview 570

15.3 Cooperative Kernel Design 574

Summary 591

Exercises 592

16 Using the MicroC/OS-II Preemptive Kernel 594

16.1 Overview 595

16.2 Tasks and Task Switching 603

16.3 Interrupt Service Routines 609

16.4 Timers 610

16.5 Intertask Communication 614

16.6 μC/OS-Based Stopwatch Program 638

Summary 645

Exercises 646

APPENDICES 648

A Programming Conventions 648

B Bask I/O 651

C uC/OS Reference 672

REFERENCES 685

INDEX 687