Subject:
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Re: Working with a different compiler
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Newsgroups:
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lugnet.robotics.handyboard
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Date:
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Wed, 1 Apr 1998 23:34:46 GMT
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Original-From:
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Fred G. Martin <fredm@media.mit.edu^antispam^>
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Viewed:
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1195 times
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some of these questions are answered in the "i am using my own C
compiler/what is the memory map of the handy board" entry in the FAQ.
after reading this, please make sure you review the FAQ, because there
is more information there.
here are some key tidbits that you need to know to get going:
1. the HB's RAM lives from $8000 to $FFFF. It is hardware battery
backed, so if you turn the board off and on again, your program stays
there.
2. the reset vector for the HB is located at $BFFE-$BFFF. you must
put the entry point for your program at that two byte location.
3. in order to do subroutine calls you must initialize the stack
pointer. using the zero page of internal 6811 ram is a good place.
the stack builds down, so setting it to $FF is reasonable.
4. here is a sample program that you should be able to assemble and
download. it will turn on the motors (mapped at address $7xxx, where
'x' is any hex digit).
----------------------------------------------------------------------
ORG $8000 * put the program at address $8000
START LDS #$FF * init the stack pointer to $ff
LDAA #$F0 * put the number $F0 in the A register
STAA $7000 * store in the motors to turn them on.
DIE BRA DIE * loop endlessly to finish.
ORG $BFFE * address of RESET vector
FDB START * deposit start address
---------------------------------------------------------------------
i hope this helps!
Fred
In your message you said:
> Hi all,
>
> I managed to get the TASKING (Whitesmiths) 68HC11 optimizing C compiler,
> debugger and simulator for use with the Handyboard. Thrilled at first I now
> realize I leave the safe Interactive C path and wander of in the dark. I
> would like to get some understanding of what I am doing.
>
> I've went through the mailing list since July 96 and have not found many
> references to using the Handyboard with a different compiler then IC. I
> have the pink book, I read the HB site and the documentation that came with
> the compiler and still can't get passed the "Hello World" stage. Can
> anybody help me with general embedded programming and programming the HB in
> particular?
>
> My first real goal to achieve is a set of routines that use measured
> velocity (using shaft-encoders) and feed this information to the motor
> drivers. Using ANSI-C I created routines that do the actual work for the
> feed-back loop but I came to the conclusion there is much more I have to
> understand first.
>
> I played around with the compiler package, I can create a C program and
> generate a S19 file. As far as I understand the documentation, it links a
> routine that starts up a function called main() after reset. The created
> S19 file can be downloaded without problems to the handyboard using
> HBDL.EXE. I reset the board and nothing happens!
>
> To get some feedback during my escapades with the handyboard and to learn
> the tools I would like to start of with a routine that beeps the piezo. I
> have read the tries of German Gentile but did not find an answer.
> Programming the various timers in C leaves me clueless and implementing an
> interupt driven routine is off-limits for now. So can anybody help me
> creating (or just supply <gr>) an ANSI-C routine that beeps the piezo?
> Peeks and pokes in a simple loop will do fine for me at this point.
>
> The compiler software I have allows for intermixing assembly and C, can map
> memory locations to variables without the need of pointers (a question of
> me earlier about this is answered in this package using a special
> identifier) and has all sorts of extravagant optimizations. I have a
> debugger, monitor and simulater, capabale of code-profiling etc. and I
> can't use any of them (yet)... ;(
>
> I don't really understand what is happening when I download a program to
> the HandyBoard. What is a bootstrap exactly? Will the programs I write
> automatically go into the 32K RAM? What happens if I switch it off - will
> my code be unusable like IC code or can I do with simple integrety
> checking?
>
> Since I have no feedback of the board at all I am a bit stuck...
> So please, is there somebody who has previous experiences and wants to help
> me out here...?
>
> thanks, Jaron
> j.paludanus@tip.nl
>
>
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Message is in Reply To:
 | | Working with a different compiler
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| Hi all, I managed to get the TASKING (Whitesmiths) 68HC11 optimizing C compiler, debugger and simulator for use with the Handyboard. Thrilled at first I now realize I leave the safe Interactive C path and wander of in the dark. I would like to get (...) (26 years ago, 1-Apr-98, to lugnet.robotics.handyboard)
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