Home

FORTH for NOAA/MLML Instruments

1. COMPILE name PAGE S IMMEDIATE TAB line col SMUDGE MARK an LITERAL n CLEAN wi DLITERAL d BEEP ey Name 5 M DIGIT a atintf a 1 ff CREATE name CONVERT d1 a d2 a CONSTANT name n NUMBER a n d VARIABLE name n July 1993 Rev January 1994 77 FORTH for NOAA MLML Instruments HCONSTANT name h HVARIABLE name h 2CONSTANT name d 2VARIABLE name d USER name n VOCABULARY name DEFINITIONS FORTH ASSEMBLER VLIST FORGET name EMPTY ALLOT n HERE a LATEST a CFA pfa cfa LFA pfa Ifa NFA pfa nfa PFA nfa pfa TRAVERSE aln a2 ID nfa General MLML Tech Pub 93 2 SP RP a RP Resource control GET a RELEASE a Multitasking control ACTIVATE a BACKGROUND nu ns nr BUILD a CONSTRUCT a HIS a1 a2 a3 TERMINAL an WAKE n OPERATOR a 2 7ERROR fn ERROR n MESS n 2COMP CSP EXEC PAIRS n1 n2 STACK EXCEPTION a vector TPUEXCEPTION a chan ABORT ABORT ABORT EXECUTE EXECUTE EXIT QUIT PAUSE STOP TRY RECOVER BYE Stack control CSP 3 SP 78 E 4 7 r i m zm PE Lens I t eme wn ne wennt aus ees aas eas N ums uas uas LO ON fm fm m E i 1 Internal c
2. with postincrement with predecrement 0 with 16 bit displacement 1 H 2 or N _ 3 or U T m 4 or W m 5 or D Km j 6 or S S C 7 or R Pr PC program counter with displacement X index and 8 bit displacement word XL index and 8 bit displacement longword The index words X and XL must be between a data register containing the offset and the address register in indirect mode Note The letters N U W I S and R are identical to the address register letters explained above see Registers 59 FORTH for NOAA MLML Instruments AB Examples 8 D1 X 0 D0 B MOV ok moves a byte from indexed AO to DO is also equivalent to MOVE B 8 A0 D1 W DO A6 D7 ADD ok adds contents in A6 to D7 and increments A6 by 4 DO 8 1 MOV ok moves DO to address in A1 with offset of 8 a Sets the address into absolute addressing mode The length of the address depends on the value of the address i e if a is between 32768 and 32767 inclusive then the length would be word 2 bytes otherwise the length would be longword 4 bytes Example 1000 AB D0 MOV ok moves a longword from address 1000 to DO Immediate addressing modes Q quick immediate B byte sized immediate H word sized immediate longword sized immediate Examples 200 A0 MOV ok moves a value 200 to the address in AO 1 Q D0 ADD ok increments DO by one MLML Tech Pub 93 2
3. 512K 100000 Pseudo static RAM 1M 200000 z Pseudo static s RAM 1M 300000 unused F80000 F84000 F88000 F8CO000 F90000 unused FFF000 id FFF800 FFFAO0 FFFFFF Figure 1 Memory organization of the TT7 Hexadecimal addresses are shown on the right MLML Tech Pub 93 2 these two sources Additional words were provided to make use of the 68332 and TT7 features such as the Flash EPROM A D converter Time processor unit TPU and Serial EEPROM The source code is available from the authors and it contains 28 files totalling about 330K which can be put on a IBM PC 360K floppy disk The assembler used in this project came from the Motorola Freeware Bulletin Board and was modified for use on the MLML s VAX This assembler may also be obtained from the authors The organization of the TT7 contains three components RAM EPROM and I O The RAM is divided into three sections Static Pseudo static and Standby Figure 1 These sections and EPROM placement were governed by the TT7 schematic FORTH uses the static RAM for stacks user area buffers system variables and CPU operations Figure 2 The FORTH language is organized into two sections core and RAM The core section contains the basic FORTH core that is common to all instruments developed by MLML This resides in the Flash EPROM The second section RAM contains routines specific to each instrument Although it also resides in the Flash
4. Converts time n7 in centiseconds into an ASCII string returned by its address a and length n2 The string has the format of hAh mmz ss ss hh hour in 24 hour clock mm minutes 5 55 seconds and fraction of second Example DECIMAL 1234567 TIME TYPE 03 25 45 67 ok 45 FORTH for NOAA MLML Instruments ALARM Prints the set date and time of the Real Time Clock s alarm registers The output format appears as Www dd Mon vm hh mm ss ss Www alpha weekday dd day Mon alpha month yyyy year hh hour in 24 hour clock mm minutes 55 55 seconds and fraction of second A string of x in one or more of the fields indicates that time or date field is disabled from alarm interrupt Example ALARM Alarm is set to Tue 21 Jan 1994 18 30 xx xx ok Related words RTC SETALARM DINFO Prints information about the disk drive in a tabular format This assumes the drive has been turned on For details about the contents see Conner 1991 Related words DINFO DRIVE DSTAT Prints contents of the disk drive registers in tabular format For details about the contents see Conner 1991 RTC Prints contents of the Real Time Clock registers in decimal and hexadecimal values Note Executing this word clears the interrupt status bit in the Real Time Clock register The value should be saved toa variable or kept on stack to use it in a program Related words ALARM DATE TIME
5. ING MARINE LABORATORIES PO Box 450 Moss Landing CA USA 95039 0450 408 633 3304 Y SS FORTH for NOAA MLML Instruments Richard E Reaves and William W Broenkow Moss Landing Marine Laboratories Technical Publication 93 2 July 1993 Rev Jan 1994 FORTH for NOAA MLML Instruments Richard E Reaves and William W Broenkow Moss Landing Marine Laboratories Moss Landing Marine Laboratories Technical Publication 93 2 Moss Landing CA 95039 July 1993 Rev January 1994 FORTH for NOAA MLML Instruments Table of Contents page OVEN ON C T SAA re SRE ee er TT TI eT 1 PORTH OrcdniZ lloli 93 80127 eas Se BR hy ee ie D Pa a Va M dare Vote eas 2 Features om tbe TF TIT 204 0868 heated PC exime EE Eee EE 2 A D Convener 4 64 dade e CODI Ke Es NUR E aS de pauci ba d PE V sc d ee eS 3 Hard Disk Drive 2 Sonic RUD Lace od oie iore vm B Rd ER es PA REC SU LAUR cud 3 Real Dime Clock Ae P C DHL E e 4 Serial EEPROM edel e A ae neam Rd equ ee ei ee eek E dei Edu 4 TPU Serial Intetface srenti 09 ev totg e mE E Pueden ce ea Re oa EL uec abc acit 4 Glossary ob 6rms endow CPC Ee EE Eie pesca fue EE 5 IRCICLONCES d ote s radiante V REI RE EU OE Edu E eeu E pu der dete dice 6 FORTH Dichoiaty 14 2 dus dc dco a e ee ee bah eh he os 8 ungue he di les aee 7 MC68332 CPU Sec PORTH Words serri co o aia oe 49 9 MEER USER di PCR ee 34 TattleTale Model 7 Specific FORTH
6. MOD n1 n2 n3 n4 n5 Multiplies two single precision numbers n7 and n2 and then divide by n3 The remainder n4 and quotient n5 truncated from an integer division are left on stack Overflow is not checked and divide by zero causes an exception Example DECIMAL 12 5 8 MOD 74 ok Related words MOD MOD U MOD n1 n2 n3 Adds the two single precision numbers n7 and n2 and the result is left on stack as n3 Overflow is not checked Related words D M na Adds a single precision number to the content of address a Result is left at a Overflow is not checked C Related words H July 1993 Rev January 1994 FORTH for NOAA MLML Instruments LOOP comma minus n Format name DO LOOP Used only in a colon definition Increments the loop index by a signed single precision number n and then the limit is checked for continuation of loop This is useful for loops counting backwards 1 LOOP is equivalent to LOOP Example DSPNUM OS DOT 1 LOOP ok DSPNUM 5 43210 ok Related words DO LEAVE LOOP LOOP n Compiles a longword from the stack to the dictionary and increments its pointer by four Related words C H n1 n2 n3 Subtracts single precision number n2 from n1 i e nl n2 The result is left on stack as n3 Related words D 4 n Puts the value 1 on the stack Note this also has all 32 bits set and is identical to the
7. n Puts a single precision zero 0 on the stack 74 Puts a double precision zero 0 on the stack This is equivalent to putting 2 single precision zeros on the stack 0 lt MLML Tech Pub 93 2 n f Test a single precision number Returns true if it s negative else returns false 0 n f Test a single precision number Returns true if its equal to zero else return false Related word D0 0 gt n f Test a single precision number Returns true if it s positive else returns false 1 n Puts a single precision one 1 on the stack 1 n1 n2 Adds one to the single precision number on stack 1 n1 n2 Subtract by one the single precision number on stack 1 d Puts a double precision one 1 on the stack This is equivalent to putting single precision one and zero on the stack 1COM n1 n2 Perform a 1 s complement on the single precision number on stack Example HEX 1FF 1COM FFFFFE00 ok 2 n Puts a single precision two 2 on the stack 2 da Stores a double precision number d to the memory address a The higher longword goes to the lower memory address July 1993 Rev January 1994 FORTH for NOAA MLML Instruments 2 nl n2 Multiplies the single precision number on stack by two 24 n1 n2 Adds two to the single precision number on stack 2 n1 n2 Subtract by two the single precision number on stack 2 n1 n2
8. n1 n2 nl n2 n1 n2 n1 n2 d n1 n2 n1 n2 n1 n2 n1 n2 T n1 n2 n3 n1 n2 n3 MOD nl n2 r MOD nl n2 rq MOD nl n2n3 rq 1 n n 1 July 1993 Rev January 1994 Double precision D D DABS DNEGATE Triple precision Mixed precision M M M M U U U MOD Single precision oo Vane A U lt MIN MAX WITHIN MLML Tech Pub 93 2 n n 1 n n 2 n n 2 n n 4 n n 4 n n 2 n n 2 n n 4 n n 4 n n n n 4 n n 4 n n 4 o al d1 d2 di d2 d1 d2 d1 d2 d d d d dn t tn d n1 d1 d2 n1 n2 d d n1 n2 di d2 n d3 n1 n2 d dni n2 dn1 rq n1 n2 f n1 n2 f n1 n2 f n f n f n f n1 n2 f n1 n2 n3 n1 n2 n3 n lower upper f 75 FORTH for NOAA MLML Instruments Double precision D0 d f D d1 d2 f D d1 d2 f D gt d1 d2 f DMIN d1 d2 d3 DMAX d1 d2 d3 Strings TEXT a1 n a2 f MATCH al n1 a2 n2 al n1 tf a3 n3 ff NOT n1 n2 AND n1 n2 n3 OR n1 n2 n3 XOR n1 n2 n3 1COM nl n2 lt lt n1 bits n2 gt gt n1 bits n2 gt H lt n 1234 n 3412 gt lt n 1234 n 1243 gt 4 lt n 1234 n 4321 MLML Tech Pub 93 2 BLANKS an DUMP an
9. Format CODE name BEGIN UNTIL m e Used only in an assembler coding Assembles a conditional branch at the dictionary pointer This branches to the code after BEGIN if the condition is true otherwise resumes execution after UNTIL MLML Tech Pub 93 2 Note CS LS and VS are part of the 68332 status tests which may not be found as a standard FORTH assembler word Mnemonics ABCD Add decimal BCD values with extend ADD Add two values ADDX Add two values with extend AND Logical AND two values ANDSR Logical AND immediate to Status Register ASL Arithmetic shift left msb C X 0 lsb ASR Arithmetic shift right lsb C X copy msb See Branch Condition Codes for values of n BCHG Test a bit and change it BCLR Test a bit and clear it NEXT BGND Enter background mode BKPT Breakpoint Format CODE name NEXT BRA Branch to new PC BSET Test a bit and set it Assembles the FORTH Next word interpreter BSR Branch to subroutine instruction to the dictionary pointer and terminate BTST Test a bit the assembler coding In this implementation the CHK Check register against 0 and upper instruction is equivalent to N JMP C bounds CHK2 Check register against lower and BRAWAIT upper bounds CLR Clear an operand Format CODE name BRAWAIT CMP Compare two values CMP2 Compare register against lower and Assembles a branch instruction to return to the upper bounds multitasking loop and term
10. If equals to 1 then returns the NFA from the CFA Any other value may cause erroneous result Related words CFA NFA an Outputs a string beginning at address a and length n The routine that does the output is stored in the user variable TYPE By default this routine is TYPE which outputs to the console Related words TYPE TYPE ul u2 ud Multiplies two unsigned single precision numbers ul and u2 and leave the unsigned double precision result on stack Related words M T U u Displays an unsigned single precision number u to the console according to the value in BASE unformatted and followed by a space Example DECIMAL 123 U 4294967173 ok Related words D un Displays an unsigned single precision number u to the console right justified by width n Example DECIMAL 56 5 X U R X 56 ok Related word D R July 1993 Rev January 1994 U U MOD U lt U MLML Tech Pub 93 2 ud ul u2 Divides the unsigned double precision number ud by the unsigned single precision number u1 The unsigned single precision result u2 truncated from an integer division is left on stack Divide by Zero causes an exception Example DECIMAL 1456 43 U 33 ok Related words M T U ud ul u2 u3 Divides the unsigned double precision number ud by ul The unsigned remainder u2 and the unsigned quotient u3 truncated from an integer division is left on stack Divide by
11. Related word CMOVE July 1993 Rev January 1994 MLML Tech Pub 93 2 CMOVE al a2 u This is identical to CMOVE for compatibility with some standards CODE 9 Format CODE name C Creates a dictionary entry of name and sets the current vocabulary to ASSEMBLER FORTH words are not compiled but rather executed See MC68332 FORTH Assembler for more details on using the assembler Related words CODE C LABEL COMPILE C Format name COMPILE fname Used only in a colon definition Upon executing name the CFA of the FORTH word fname is compiled in the dictionary and increment its pointer by cell size Related words COMPILE CONSTANT n Format CONSTANT name Creates a dictionary entry name which contains the single precision constant specified by n Executing name will place the number on stack Example 100 CONSTANT GAIN ok GAIN 700 ok Related words 2CONSTANT HCONSTANT 19 FORTH for NOAA MLML Instruments MLML Tech Pub 93 2 CONVERT COUNT Sets up the terminal task RAM area from the task definition table a This also connects the terminal task to the multitasking loop By default the task is activated with ABORT and waits for input from keyboard Example TERMTASK CONSTRUCT ok Related word TERMINAL CONTEXT a A user variable containing the address of the dictionary pointer to the LFA of the last vocabulary word This is used for vocabulary wor
12. sysclk a Returns the subroutine address to get the system clock frequency Hz This is useful for writing assembly code that utilizes the system clock frequency This subroutine uses the following CPU registers DO output system clock frequency D1 temporary Example CODE SCLK sysclk JSR DOS MOV NEXT ok Related word QSYSCLOCK tpuvend a Returns the routine address to terminate the TPU interrupt All this does is to restore the CPU registers A0 and A1 from the return stack and return from exception ie return back to the system where it left off when the TPU interrupt occurred Example CODE ENDTPU tpuvend JMP C ok Related word TPUBUF 44 July 1993 Rev January 1994 FORTH for NOAA MLML Instruments TattleTale Model 7 Specific FORTH Words The following FORTH words utilizes the features of the TattleTale Model 7 in addition to the MC68332 CPU specific words described above These features include the disk drive serial EEPROM A D converter and the Real Time Clock See Onset 1991 and Conner 1991 for more details on these features IDATE d Sets the date in the Real Time Clock The input d must have a dd mm yyyy format dd day mm month yyyy year Only the last two digits of the year is put into the Real Time Clock so the years must be from 1980 to 2079 The day of week is not needed since it is computed from the date Example DECIMAL 15 04 1993 DATE ok sets the dat
13. the string is compiled inside the definition and the address and count will be put on the stack upon execution of the word If not in a colon definition the string is stored at HERE 128 and the address and count is put on stack Overwriting this string can be easily done so this should be used immediately or it may be lost FORTH for NOAA MLML Instruments Example This is a string TYPE This is a string ok HELLO Hello TYPE ok HELLO Hello ok Related word ud1 ud2 Format lt ZS gt Takes the least significant digit from the double precision number udl converts to an ASCII character and puts it in memory for output The value of this digit depends on the value in BASE The result on stack ud2 is the input ud1 divided by the value in BASE and is used for further processing Example DECIMAL 123 lt gt TYPE 23 ok Related words lt S SIGN ASC HOLD gt gt ud an Format lt gt Terminates the conversion of an unsigned double precision number to an ASCII string The number ud is dropped from stack and the address a and length n are placed on the stack Related words lt S SIGN ASC HOLD La ud 00 Format lt Za gt This puts all the digits in the double precision value ud into the output buffer defined by lt This is similar to repeating until wd becomes zero At least one digit will be converted Related words lt SIGN
14. 24 corresponding to the following ports Related words PSET Port D pins 0 to 7 Port E pins 8 to 15 Port F pins 16 to 23 This clears a bit in the CPU Pin Assignment Register PAR and sets the bit CPU Data Direction Register DDR for output For more information see Motorola 19902 Example DECIMAL 23 PSET ok causes the output of bit 7 in Port F to become high Related words CPUPIN PCLR PIN 38 MLML Tech Pub 93 2 QBAUD a A variable containing the user specified OSPI baud rate This is used for changing the system clock to maintain the OSPI baud rate Related words QBAUD QBAUD QSM CMDRAM a Returns the address of the OSPI Command RAM array This is used in conjunction with QSM RECRAM and QSM XMTRAM to control the serial data transfer Each element is a byte long See Motorola 1990a for more details a Returns the address of the QSM Data Direction Register This specifies the direction of the port D pins This register is one byte long See Motorola 1990a for more details QSM QDDR Related words CPUPIN PCLR PIN PSET a Returns the address of the QSM Interrupt Level and Vector Register This is used to set up the interrupt vector and levels See Motorola 1990a for more details QSM QILVR QSM QMCR a Returns the address of the QSM Configuration Register This controls the operation of the QSM See Motorola 1990a for more details a Returns the a
15. 26 1X 27 1X 28 1X 29 1X 30 1X 31 1X Related words ADC LIST ADC NUMCHAN GD GDDEF ADC LIST a A variable array containing analog channel numbers and gains of up to 32 channels for use with GD Each channel number and gain is stored as byte values together as one element The user may modify these to suit his requirements Example DECIMAL 15 256 10X ADC LIST 3 2 H ok stores channel 15 with gain of 10X to the 4th element in the array Related word AD C DEFAULT ADC NUMCHAN GD GDDEF a A variable containing the number of analog channels stored in ADC LIST for use with GD ADC NUMCHAN Related words ADC DEFAULT GD GDDEF ADC LIST July 1993 Rev January 1994 FORTH for NOAA MLML Instruments ADCAVG n Averages all analog conversions by n replicates At startup this value defaults to 1 Internally the analog values are saved in 64 bit sums Related word ADC ADCDLY n1 n2 Sets the wait period 77 in microseconds for one of the four gains n2 which range from 0 to 3 This is the time from STROBE to A D TRIGGER of the DT converter Example 50 10X ADCDLY ok sets 50 microseconds delay for 10X gain Related word ADC ADCWAIT Waits until interrupt is complete or timeout Example 1X 20 ADC ADCWAIT 1234 ok Related word ADC DA38 n1 n2 n3 Sets gain n7 and channel n2 which range from 0 to 47 for A D conversion and returns value in n3 from the 38 chann
16. Branching Words The following words are only part of the ASSEMBLER vocabulary which are not to be confused with the words in the FORTH vocabulary The difference is that the following words assembles a branch instruction based on the conditional value on stack The branching offset may range only from 128 to 127 i e a signed byte from the program counter Anything else aborts with an error message NOT n1 n2 Complements the condition code on stack Example CS NOT ok changes the condition of carry bit set to carry bit clear IF n Formats CODE name IF ENDIF C CODE name IF ELSE ENDIF C Used only in an assembler coding Assembles a conditional branch at the dictionary pointer This branches to the code after IF if the condition is true otherwise branches to the code after ELSE or ENDIF See Branch Condition Codes for values of n ELSE CODE name IF ELSE ENDIF C Format Used only in an assembler coding Assembles an unconditional branch at the dictionary pointer This branches to the code after ENDIF ENDIF Format CODE name IF ENDIF C Used only in an assembler coding Terminates a conditional branch from IF and ELSE July 1993 Rev January 1994 FORTH for NOAA MLML Instruments BEGIN Format CODE name BEGIN UNTIL ses Cs Used only in an assembler coding Starts an indefinite loop with UNTIL UNTIL n
17. Direction Register DDR for output in the Serial EEPROM For more information see Motorola 19902 Example DECIMAL 23 SEEPSET ok sets the output of bit 7 in Port F to high Related words CPUPIN PCLR PIN July 1993 Rev January 1994 MLML Tech Pub 93 2 SETALARM d1 d2 Sets the Real Time Clock alarm registers to allow alarm interrupt in the future The inputs are date dl and time d2 The date format is dd mm yyyy dd day of month mm month yyyy year and the time format is hh mm ss hh hour in 24 hour time mm minutes ss seconds Example 01 06 1994 12 00 00 SETALARM ok ALARM ALARM SCHED SLEEP Related words SLEEP Esc Examines and update the schedule list if any sets the alarm registers for the next wake up time and turns off the TT7 Turning off the TT7 is accomplished by setting the port E pin 7 to zero This would work only if the TT7 has been modified for external interrupt When the alarm interrupt occurs the TT7 powers up and executes SCANSCHED SCHED SCANSCHED SETALARM Related words TIME Gets time of day from the Real Time Clock and prints it See TIME for information on the output format Example TIME 20 52 23 47 ok Related word TIME TT7 Invokes the TT7 vocabulary for burning a new program to the Flash EPROM See TattleTale EPROM Burner for list of words 53 FORTH for NOAA MLML Instruments WEEKDAY n1 n2 Returns the day of the week
18. EPROM it is copied to Static RAM and can be modified there and burned into the EPROM This allows us to add words to the TT7 FORTH core dictionary without need of an external interface Updating the FORTH core requires use of an external machine such as a PC interfaced through the BDM That requirement can be eliminated by sending the code via the console port and manually burning the EPROM though this is time consuming Features on the TT7 The architecture and operation of the Motorola 68332 microprocessor are described in detail in the Motorola manuals Motorola 1990a describes the CPU registers in more detail as well as the CPU architecture Motorola 1990b describes the instruction set exceptions and the BDM interface on the CPU This is mainly used for assembly programming Motorola 1990c describes in detail the Time Processing Unit that is built into the CPU chip Includes description of built in time functions The Motorola manuals may be ordered from the Motorola Literature Distribution P O Box 20912 Phoenix AZ 85036 July 1993 Rev January 1994 FORTH for NOAA MLML Instruments 000000 Vector base area 000400 System variables and buffers 000800 User dictionary 03FD00 RPa A Return stack OSFFOO STATUS 040000 Figure 2 Memory organization of the FORTH RAM area FORTH words that points to memory areas are shown on the left with hexa decimal addresses on the right In addition to the Motor
19. n2 0 Sunday 1 Monday etc from the date n1 in ddmmyyyy format Example DECIMAL 15041993 WEEKDAY 4 ok Related word DAY WEEK sdasr a 54 Returns the subroutine address to get a 12 bit value from the on board A D converter This is useful for writing assembly code that would use the A D converter This subroutine uses the following CPU registers DO input channel number output analog value D7 temporary Example CODE AD 1 Q D0 MOV sdasr JSR DO S MOV NEXT ok Related word SDA MLML Tech Pub 93 2 July 1993 Rev January 1994 FORTH for NOAA MLML Instruments Additional FORTH Words for MLML Use This section describes the FORTH words that may not be part of the standard FORTH dictionary but were added for MLML use These words are not necessarily specific to the TattleTale Model 7 or the MC68332 processor but can be transported to other machines if needed BAUD n Change baud rate n of the serial port The range for the port depends on the content of DEVICE If DEVICE is zero then the SCI port of the CPU is used In which case it ranges from 0 to the system clock divided by 32 and values out of range will return an error The highest possible baud rate is about 500K bits second The value on stack is also saved in variable BAUD NOTE Care should be taken in using this word In changing the baud rate the baud rate on your terminal or computer that is connected to the serial port
20. negative or a double precision number d content of PTR is zero If the number cannot be converted aborts with an error message Related words DIGIT CONVERT OPERATOR a Returns the address of the operator task This is the task that controls the operation of the FORTH system OR n1 n2 n3 Perform a logical i e bit wise OR of two single precision numbers Example HEX 123 7890 OR 79B3 ok Related words 1COM AND XOR OVER n1 n2 n1 n2 n1 Copies single precision number n1 below the top of the stack to the top of stack Related word 20VER PAD a Returns an address for a scratch pad In this implementation this address is the dictionary pointer plus 256 bytes i c HERE 256 PAGE 2 Clears the entire screen This executes a routine stored in user variable PAGE 27 FORTH for NOAA MLML Instruments PAUSE Waits for the completion of one multitasking loop before continuing in the task This is useful to prevent the task from taking up CPU time Related word STOP PFA al a2 Converts the NFA on top of stack to PFA Related words CFA LFA NFA PICK n1 n2 Copies a single precision number from n1 cells below the top of the stack not including n1 to the top of the stack 0 PICK is equivalent to DUP and 1 PICK is equivalent to OVER Example 11 12 13 14 3 PICK S 11 12 13 14 11 Top ok Related words DUP OVER PTR a A user variable cont
21. or burn EPROM more than 25 retries 9 Invalid EPROM ID check the programming voltage and pins on the TT7 If all else fails the EPROM must be bad which means a new TT7 must be used or its EPROMs must be replaced The EPROM chips are good for 10 000 zero erase and burn operations so care must be taken not to save the FORTH system too many times TT7LOAD MLML Tech Pub 93 2 TT7CKSM Computes and prints the checksum in hexadecimal format The data in the Pseudo static RAM is used to derive the checksum after using TT7LOAD or TT7SLOAD The checksum is defined to be the sum of all unsigned bytes then truncated to 16 bits This is to make sure the data were received correctly Example TT7CKSM Checksum 1234 ok nf Reads in n 1024 byte blocks of data from the console with the type depending on the flag f If this flag is true receives data in hexadecimal format otherwise in binary format This routine uses KEY so the data are not echoed back to the console With the hexadecimal format any non digit character will be ignored Since this only places the data in the Pseudo static RAM the user must execute TT7BURN before doing anything else The maximum number of blocks depends on the size of the Flash EPROM In this case the number of blocks must be between 1 and 512 Related words TTTSLOAD TT7BURN TT7SAVE Appends the contents of the user dictionary to the end of the FORTH core in the F
22. parameter stack pointer on top of stack Related word SP TAB a A user variable containing the PFA of a routine to be used in TAB Defaults to TAB TYPE a A user variable containing the PFA of a routine to be used in TYPE Defaults to TYPE Used to enclose a comment in the source code It must terminate with a ending parenthesis Example this is a comment ok CLEAN A default routine used by CLEAN for a dumb terminal It overwrites remainder of line with spaces and return cursor to beginning of line A default routine used by CR for a dumb terminal It just sends a carriage return ASCII 13 and a line feed ASCII 10 CR ECHO fc Outputs character c to the terminal and if the flag f is true outputs space and backspace characters to erase i e rubout the last character outputted This is used in EXPECT to echo input characters Note PTR and CTR are preserved before outputting characters and then restored July 1993 Rev January 1994 MLML Tech Pub 93 2 EMIT c Outputs character c to the terminal This is used in EXPECT to send a character if the input buffer length is negative see EXPECT Note PTR and CTR are preserved before outputting characters and then restored EXPECT c1 c2 A default routine used by EXPECT The action depends on the user variables CTR and SPAN 1 If CTR is greater than zero then sends a c
23. semicolon Console An external device that acts as a terminal All communications through this port use the SCI Link Field Address LFA Name Field Address NFA Code Field Address CFA Parameter Field Address PFA Figure 4 Structure of a dictionary entry July 1993 Rev January 1994 MLML Tech Pub 93 2 CRC An acronym for Cyclic Redundancy Check This 16 bit checksum is used for checking data integrity in the Serial EEPROM data transfers across serial interface etc Dictionary Contains all FORTH words in the system Each dictionary entry Figure 4 contains the following The LFA is a cell that contains the pointer to the LFA of the previous word Used in searching for matching words until a zero encountered The NFA contains the length byte and the word up to 31 bytes long with the last character having the 7th bit set A zero may be padded after the last character to make the entire length of the NFA an even number as required by the 68332 bus addressing The length byte actually contains a series of bits Bit Description 0 4 Length of word 0 to 31 5 Smudge bit to hide the word from searches 6 Imnediate flag bit 7 Precedence bit indicate start of NFA The CFA is a cell that contains the address of a routine that determines how to process the PFA The PFA is a cell that contains either an address of the word to be executed or a value Exception A system interrupt caused by internal err
24. space character ASCII 32 and set flag f1 true 2 If cl is a backspace ASCII 8 or DEL ASCII 127 character set f2 to true and c2 to backspace character ASCII 8 3 All other characters are saved in buffer pointed by PTR PTR CTR and SPAN are each incremented by one c2 is a copy of c1 c f Saves character c into a buffer pointed by PTR PTR and CTR are each incremented by one The flag f sets to true if CTR becomes zero i e buffer becomes full This is used in EXPECT to save characters to an input buffer Unlike SAVEKEY this routine does not interpret characters n1 n2 A default routine used by TAB for a dumb terminal It ignores the line number 77 and column number n2 and executes CR A default routine used by TYPE It sends a string from PTR and CTR If the XON XOFF handshaking is enabled the output stops when an XOFF character is received The output is resumed upon receipt of the XON character n1 n2 n3 Multiplies two single precision numbers n7 and n2 and leaves result n3 on the stack Overflow is not checked Related words M T U MOD plus MLML Tech Pub 93 2 n1 n2 n3 n4 Multiplies the single precision numbers 77 and n2 and then divide by n3 The result truncated from an integer division is left on stack as n4 Overflow is not checked and divide by zero causes an exception Example DECIMAL 1258 7 ok Related words
25. that allows the TPU to function as asynchronous serial interfaces Up to 7 paired serial interfaces one input and the other output or up to 15 one way serial interfaces may be used Each TPU channel can act as either an input RXD or output July 1993 Rev January 1994 FORTH for NOAA MLML Instruments TXD channel The FORTH words that provide this function are TSEROPEN Opens a TPU channel for serial input or output TSERBAUD _ Sets the baud rate TSERPAIR Link input and output channels for handshaking TSERXSHAKE Enable disable XON XOFF handshaking TSERFLUSH Empties the serial buffer TSERTIMEOUT Sets the timeout value TSERLEN Gets the number of bytes residing in the buffer TSERGET Gets a received character TSERPUT Sends a character TSERPUTS Send a string of characters TSERCLOSE Closes the TPU channel TSEROPEN must be executed first before any other words can be used This allocates a portion of the user dictionary to be reserved for buffering input or output Glossary of terms BDM An acronym for Background Debug Mode which is part of the 68332 CPU This allows data transfers between an external machine with appropriate driver and the CPU Used for downloading updated FORTH core Cell A memory unit used for general storage For the 68332 FORTH this is 4 bytes long Colon definition Creates a new FORTH word to execute a group of FORTH words This begins with the FORTH word colon and ends with
26. the date n7 in ddmmyyyy format into day 72 month n3 and year n4 Example DECIMAL 15041993 YMD 7993 4 15 ok Related words DAY WEEK MONTH July 1993 Rev January 1994 FORTH for NOAA MLML Instruments MC68332 FORTH Assembler FORTH provides an assembler specific for the Motorola s 68332 CPU The format order is similar to the non FORTH assembler convention except that the mnemonic is the last word For example in assembler convention MOVEL A6 D2 ADDLW 10 D0 CLR B DATA would look like this in FORTH assembler A6 4 D2 MOV 10 H DOH ADD DATA ABB CLR For more detailed description on the registers addressing modes and the mnemonics refer to Motorola 1990b Registers Data Address Control DO AO SFC D1 Al DFC D2 A2 or N USP D3 A3 or U VBR D4 A4 or W DS AS or I D6 A6 or S D7 A7 or R Note The letters that corresponds to the address registers A2 to A7 represent pointers to FORTH code N Next word l User space Pointer to PFA of Word Interpreter pointer Parameter stack pointer Return stack pointer U W I S R July 1993 Rev January 1994 MLML Tech Pub 93 2 Addressing Modes By default the length of the addressing modes are in longwords 4 bytes The user can select shorter lengths with the following H Length is word 2 bytes B Length is byte 1 byte Example D2 D0 B MOV ok moves a byte from D2 to DO Indirect addressing modes simple indirect
27. the register The register is one byte long See Motorola 1990a for more details July 1993 Rev January 1994 FORTH for NOAA MLML Instruments SIM SYNCR a Returns the address of the SIM Clock Synthesizer Control Register This sets the system clock See Motorola 1990a for more details SYSCLOCK SYSCLOCK a Returns the address of the SIM System Protection Control Register This controls the monitoring of Related words SIM SYPCR the system See Motorola 1990a for more details TPU BUFPTR a Returns the address of the TPU interrupt buffer array Each of the 16 array elements that correspond to the TPU channels contains two longwords the first is the interrupt service routine address and the other is the buffer address TPUBUF TPUBUF Related words TPUBUF TPU CFSR a Returns the address of the TPU Channel Function Select Register CFSR This register contains four words at four bits per channel See Motorola 1990c for more details Related words CFSR CFSR TPU CIER a Returns the address of the TPU Channel Interrupt Enable Register CIER This register contains one word at one bit per channel See Motorola 1990c for more details Related words CIER CIER TPU CISR a Returns the address of the TPU Channel Interrupt Status Register CISR This register contains one word at one bit per channel See Motorola 1990c for more details Related words CIS
28. to from control register RTE MOVM Move data between memory and RTR multiple registers This mnemonic RTS also uses the following words SBCD RL Placeholder for register list also tells SCC which direction to place values This must either precede a predecrement STOP or follow an indirect or SUB postincrement addressing SUBX SWP This separates a sublist of registers TAS This ends the register list TBLS Note The register list must follow the TBLSN mnemonic TBLU Example TBLUN A6 RL MOVM D0 D3 V A1 ok TRAP is equivalent to TRAPCC MOVEMLL A6 D0 D3 A1 TRAPV TST MOVP Move data to from peripheral UNLK MOVS Move date to from address space MFSR Move data from Status Register MFUSP Move data from User Stack Pointer MTSR Move data to Status Register MTUSP Move data to User Stack Pointer MULS Signed multiply MULU Unsigned multiply NBCD Negate decimal BCD values with extend NEG Negate a value 2 s complement NEGX Negate a value with extend NOP No operation OR OR two values ORSR OR immediate to Status Register PEA Push effective address RESET Reset system CPU remains intact ROL Rotate register left msb C lsb ROR Rotate register right Isb C msb MLML Tech Pub 93 2 Rotate register left with extend X lsb msb C X Rotate register right with extend X msb lsb C X Return and deallocate use with LINK Return from interrupt Return and restore condition co
29. yyyy year Example DECIMAL 34073 CALDAY 15041993 ok Related word JULDAY n Returns the number of cells on the parameter stack not including the value placed on stack an Outputs the memory contents beginning at address a and length n in a tabular format containing the address the data bytes up to 16 per line in hexadecimal values and the ASCII representation of the bytes Example HEX 1000 8 DUMP 00001000 EA AA 2A AA AE A2 AA AA Iren m r ok Related words LDUMP WDUMP d n1 n2 n3 Breaks down the input time d in hh mm ss format into seconds n1 minutes n2 and hour n3 Example DECIMAL 12 30 00 HMS 72300 ok n Copies a number from the third cell below the top of the return stack to the parameter stack Related words I P J K K July 1993 Rev January 1994 JULDAY MLML Tech Pub 93 2 n1 n2 Converts date n1 in ddmmyyyy format dd day mm month yyyy year to Julian Day n2 This is the number of days since 0 Jan 1900 Example DECIMAL 15041993 JULDAY 34073 ok Related word CALDAY K n Copies a number from the fourth cell below the top of the return stack to the parameter stack Related words I P J J K K n Copies a number from the fifth cell below the top of the return stack to the parameter stack Related words I P J P K LDUMP an Identical to DUMP except the contents are displayed as 4 byte numbers Example HEX 1000 8 LDUMP 0000
30. 1000 EAAA2AAA AEA2AAAA j ok Related words DUMP WDUMP RECOVER Restores the dictionary pointer and some user variables to where it was before compiling whenever an error occurred during compilation Related word TRY TRY Saves the dictionary pointer and some user variables to a system buffer before compiling Used to recover these values in case of errors during compilation Related word RECOVER 57 FORTH for NOAA MLML Instruments UPDATECRC uh1 b uh2 Updates the CRC checksum based on the previously calculated CRC uA and the current byte b The new CRC wh2 is put on stack as an unsigned 16 bit word Note uhl must be initially set to zero to properly compute CRC Example 0 255 UPDATECRC 7920 ok Related word CALCCRC VLIST Outputs the names found in the vocabulary to the console in columnar format beginning with the newest entry WDUMP an Identical to DUMP except the contents are displayed as 2 byte numbers Example HEX 1000 8 WDUMP 00001000 EAAA 2AAA AEA2 AAAA j ok Related words DUMP LDUMP X un Outputs an unsigned number u in hexadecimal format formatted with leading zeros at width n Example DECIMAL 12345 8 X 00003039 ok Related words D R U R XSHAKE f Sets the XON XOFF handshaking mode on the serial port Enables handshake if f is non zero else disables handshake 58 MLML Tech Pub 93 2 YMD n1 n2 n3 n4 Breaks down
31. 6 MLML Tech Pub 93 2 HSRR n1 n2 Returns a service request value from the TPU Host Service Request Register HSRR The channel number nl ranges from Oto 15 modulo 16 Related words HSRR HSRRWAIT PRAM n1 n2 uh Fetches uh from the TPU Parameter RAM in which the location is specified by the channel number n2 which ranges from Oto 15 modulo 16 and the index nl The index specifies which word to retrieve for the given channel and it ranges from 0 to 7 modulo 8 Example 14 PRAM 20 ok fetches word from the TPU Parameter RAM at word 1 in channel 4 which makes the actual location at hex FFFFFE42 Related word PRAM QBAUD u Returns the actual baud rate bits second of the QSPI synchronous port bases on the actual system clock and OSPI setting Related word QBAUD SYSCLOCK u Returns the actual system clock frequency based on the value found in the SIM s SYNCR register Related words SYSCLOCK sysclk TPUBUF n a Fetches the buffer address a from a memory location specified by the TPU channel number n Related words TPUBUF TPUBUF July 1993 Rev January 1994 FORTH for NOAA MLML Instruments TPUBUF n f Returns a true flag if the buffer specified by the TPU channel n is not being used Related words TPUBUF TPUBUF CPUPIN n Designate a pin to function as a CPU line Pin number n ranges from 0 to 23 modulo 24 which corresponds to the followi
32. ASC HOLD gt MLML Tech Pub 93 2 apostrophe a Format gt name Searches the FORTH dictionary for the next word name using CONTEXT vocabulary Ifname is found then returns the PFA of the word In the colon definition this address is stored in the next dictionary location Error results if name is not found l Related words COMPILE COMPILE a A user variable containing the PFA of a FORTH word to be executed by ABORT By default ABORT is used ABORT CLEAN a A user variable containing the PFA of a routine to be used in CLEAN Defaults to CLEAN CH a A user variable containing the PFA of a routine to be used in CR Defaults to CR EXPECT a A user variable containing the PFA of a routine to be used in EXPECT Defaults to EXPECT IDLE a A user variable containing the PFA of a routine to be used in ABORT Defaults to an internal routine that sets the FORTH system to its default state and executes QUIT KEY a A user variable containing the last input character Note unlike other user variables which are stored as longwords this variable stores as word only MARK a A user variable containing the PFA of a routine to be used in MARK Defaults to MARK July 1993 Rev January 1994 FORTH for NOAA MLML Instruments PAGE a A user variable containing the PFA of a routine to be used in PAGE Defaults to PAGE s a Places the current
33. CII 7 to the console 56 MLML Tech Pub 93 2 BINARY Stores 2 to the user variable BASE for binary input outputs Related words DECIMAL HEX BUFFER n a Allocates memory space as buffer with length n bytes Returns address a of the newly allocated buffer This is useful to reserve memory space for buffering storage etc such as used in TSEROPEN Note The memory begins at the top of the parameter stack area and allocates towards the current dictionary pointer HERE Example HEX 1000 BUFFER 3EB00 ok Related word ALLOT BYE Ces Resets the internal and external devices and performs a cold restart of the system This is similar to power on except the memory is preserved with the exception of the user variables and most system variables for debugging purposes Note This word may be executed only by the OPERATOR task otherwise it is ignored CALCCRC uh1 a n uh2 Updates the CRC checksum based on the previously calculated CRC uA and the array of bytes starting at a and length n The new CRC uh2 is put on stack as an unsigned 16 bit word Note uhl must be initially set to zero to properly compute CRC Example 0 CRC TEST CALCCRC 4255 ok Related word UPDATECRC July 1993 Rev January 1994 FORTH for NOAA MLML Instruments CALDAY DEPTH DUMP HMS a n1 n2 Converts Julian Day n1 since 0 Jan 1900 to calendar date n2 in ddmmyyyy format dd day mm month
34. DEF GDGAIN MLML Tech Pub 93 2 L i D LN LN NN E NINO Dor 009 04 004 0 1 1 ob to bot 040 1 83
35. DOS disk A short form of this word can be used as MD The sub directory name is specified by a and length n and the names can be separated by backslashes Any error will abort with a message Related words CHDIR RMDIR n1 a n2 Returns an ASCII string a with length n2 from a numeric month n7 which ranges from 1 to 12 1 Jan 2 Feb etc In this implementation n2 will always be 3 Example 6 MONTH TYPE Jun ok Related word DATE PSRAMAUTO Sets the Pseudo static RAM to Auto Refresh mode Although this consumes slighty more power it is used to turn on the RAM for read and write Related words PSRAMSELF PSRAMSELF Sets the Pseudo static RAM to Self Refresh mode This is used to turn off the RAM to conserve power Anything written to the RAM may not be reliable Related words PSRAMAUTO an A short form of RMDIR See RMDIR July 1993 Rev January 1994 an REN al n1 a2 n2 Renames the source file name a7 and length n1 to the destination file name a2 and length n2 on the DOS disk The file names may contain sub directory names separated with backslashes X If the destination file name points to a different sub directory than the source file name the directory entry of the file will be moved to the new sub directory Example ML034 DAT ML0034A DAT REN ok Related word COPY RMDIR an Removes a sub directory from the DOS disk A short f
36. Disk I O DRV AVLSECT DRV CLUSTSZ DRV TOTSECT DRV NDISK DRIVE TABLE DRIVE DREADY DINFO DINFO DSTAT DSECTOR DREAD DWRITE DOS Disk Words FORMAT CHKDSK FOPEN FSEEK FREAD FGETS FWRITE FPUTS FEOF FCLOSE FTYPE FDUMP DEL REN COPY DIR CHDIR or CD MKDIR or MD RMDIR or RD LOG ai head cyl sect f a 7 5 Isn ns addr Isn ns addr Isn ns an fptr n fptr buf n fptr bytesread buf n fptr bytesread buf n fptr buf n fptr fptr fptr TT7LOAD SRECORD TT7SLOAD TT7CKSM TT7BURN TT7SAVE nf July 1993 Rev January 1994 FORTH for NOAA MLML Instruments ISEE ba ISEE2 ha ISEEA na QSEE a b QSEE2 a h QSEEA a n SEECRC SEE SEECPUPIN n SEEPIN n SEEPCLR n SEEPSET n ADTIMEOUT n SDA chan n sdasr a SDA sem CODE name C LABEL name C name FORTH words CODE C Data Registers DO D1 D2 D3 D4 D5 D6 D7 Address Registers A0 Al A2 A3 A4 A5 A6 A7 A2 or N Next word A3orU User space A4 or W Word pfa address AS5orI Interpreter pointer A6 or S Parameter stack pointer A7 or R Return stack pointer Control Registers SFC Source function code DFC Destination function code USP User stack pointer VBR Vector base register July 1993 Rev January 1994 MLML T
37. Divides the single precision number on stack by two 2 gt R d Saves a double precision number to the return stack Related word 2R gt 2 a d Fetches a double precision from memory address a The higher longword comes from the lower memory address 2CONSTANT ae Format 2CONSTANT name Creates a dictionary entry name which contains the double precision constant specified by d Executing name will place the number on stack Example 45 2CONSTANT 45DEG ok 45DEG D 45 ok CONSTANT HCONSTANT d Throws away the double precision number from the top of stack Related words 2DROP Related word DROP July 1993 Rev January 1994 MLML Tech Pub 93 2 2DUP d dd Copies a double precision number on top of the stack Related word DUP 2H h1 h2a Stores two half precision numbers to the memory address The lower memory address contains h1 Related words 2H 2U 2H a a h1 h2 Fetches two half precision numbers from the memory address The numbers are sign extended from 16 bits to 32 bits The lower memory address contained h2 Related words 2H 2U 20VER d1 d2 d1 d2d1 Copies double precision number d1 below the top of the stack to the top of stack Related word OVER 2R gt d Retrieves a double precision number from the return stack Related word 2 gt R 2ROT di d2 d3 d2 d3 d1 Rotates the top three double precision values on the stack by moving t
38. GDDEF MUX IDXDN n Sets ADC LIST and ADC NUMCHAN to the Move the multiplexer armature backwards by n default specified by ADC DEFAULT for use with half steps This is a relative movement from the GD last position Use MUX HOME to define an absolute position Related words ADC DEFAULT ADC LIST ADC NUMCHAN GD Note The multiplexer must be turned on with MUXON otherwise an error will be displayed GDGAIN a Example Variable containing the gain to be used with GD MUX HOME 200 MUX IDXDN ok Example sets the armature 200 half steps back from the home position 10X GDGAIN ok sets gain for all analog channels to 10X Related words MUX HOME MUX IDXUP Related word GD MUX IDXUP n MUX HLDTQ f Move the multiplexer armature forwards by n half steps This is a relative movement from the Switches the holding torque If the flag is true last position Use MUX HOME to define an turns it on otherwise turns it off This freezes absolute position the multiplexer so the armature will not move especially in rough seas This must be set after Note The multiplexer must be turned on with the multiplexer is positioned MUXON otherwise an error will be displayed Note This would draw battery current so use Example this judicially MUX HOME 340 MUX IDXUP ok Note The multiplexer must be turned on with sets the armature 340 half steps forward from MUXON otherwise an error will be displayed the home position MUX HOME
39. Instruments GDDEF Sets ADC LIST and ADC NUMCHAN to the default specified by ADC DEFAULT for use with GD Related words ADC DEFAULT ADC LIST ADC NUMCHAN GD GDGAIN a Variable containing the gain to be used with GD Example 10X GDGAIN ok sets gain for all analog channels to 10X Related word GD SCAN38 n Outputs a string of 48 channels based upon gain n and BASE This is useful for transfer data to spreadsheets and other programs in different computers Related word DA38 SHUTTER 35 68 Sets the action of the shutter If the flag is zero then opens the shutter otherwise closes the shutter This is useful to obtain dark counts for correcting the radiometric data MLML Tech Pub 93 2 July 1993 Rev January 1994 FORTH for NOAA MLML Instruments FORTH Commands Specific for the MOS These FORTH words are specific for the Marine Optic Spectrometer MOS This instrument is designed to scan irradiance and radiance in 512 channels i e wavelengths of each the blue 340 to 640 nm and the red 600 to 900 nm In addition analog channels are used to obtain oceanographic and internal data such as pressure temperatures etc 1X n Returns the gain constant for use with the A D converter This returns a zero 0 for a gain of 1 10X n Returns the gain constant for use with the A D converter This returns a one 1 for a gain of 10 n Returns the gain constant
40. July 1993 Rev January 1994 FORTH for NOAA MLML Instruments FORTH Dictionary Details on using the FORTH language is beyond the scope of this report Brodie 1981 provides an excellent treatment of FORTH for beginning and advanced programmers while McCabe 1983 Baker and Derick 1983 FORTH Inc 1986 are more technical The FORTH dictionary is organized in the following manner Word Description Stack Diagram Word represents the FORTH word used to perform a specific operation Note that the FORTH words are case sensitive they must be typed exactly as shown Note the delimiters between words are spaces or tabs Do not put spaces between the characters in the word Stack Diagram shows the input requirements and output results of the parameter stack which is separated by the hyphens The contents of the stack diagram are ordered so the last value in the list is at the top of the stack The following lists the symbols found in the stack diagram Symbol Stack values Length in bits a Memory address 32 b Unsigned byte precision number 8 c ASCII character 8 d Signed double precision number 64 f Boolean flag 32 ff Boolean false flag 0 32 h Signed half precision number 16 n Signed single precision number 32 t Signed triple precision number 96 tf Boolean true flag 1 32 u Unsigned single precision number 32 ud Unsigned double precision number 64 uh Unsigned half precision number 16 Note indicates the n
41. K K July 1993 Rev January 1994 FORTH for NOAA MLML Instruments P n Copies a number from the cell below the top of the return stack to the parameter stack This also can get the limit value in an indexed loop Related words IJ P K K ID a Outputs the name of the FORTH word at the NFA a Letters that are omitted during compilation are filled with underscores _ IF f Formats name IF THEN name IF ELSE THEN Used only in a colon definition Tests a flag from the stack and if true then begin executing the word immediately after IF Otherwise skips to the word after ELSE or THEN Related words ELSE THEN IMMEDIATE Sets the immediate bit of the most recent definition Commonly used after Words that have this bit set will execute during compilation Example DSP Compiling IMMEDIATE ok TMP DSP this routine Compiling ok TMP this routine ok Related word SMUDGE _ INTERPRET Begins an indefinite loop to parse and execute or compile from keyboard inputs until the end of a null terminated string Any errors will abort the loop July 1993 Rev January 1994 MLML Tech Pub 93 2 n Copies a number from the second cell below the top of the return stack to the parameter stack This also can get the index value in an outer indexed loop Related words I P P K K KEY c Gets a character c from the console If a character is no
42. L LOOP Format name DO LOOP Used only in a colon definition Increments the loop index by one and then the limit is checked for continuation of loop Example DSPNUM 5 0 DO I LOOP ok DSPNUM 01234 ok Related words DO LEAVE LOOP LOOP M n1 n2 d Multiplies two single precision numbers n7 and n2 and leave the double precision result on stack Related word M M T U MLML Tech Pub 93 2 M di n1 n2 d2 Multiples the double precision number d1 and the single precision number n1 and then divide by a single precision number n2 The double precision result d2 truncated from an integer division is left on stack This uses the 96 bit intermediate arithmetic Overflow is not checked and divide by zero causes an exception Example 124 34 7 M D 602 ok Related words M M M d1 n d2 Adds the double precision number d1 to the single precision number n and leave the double precision result on stack Related words D M d n1 n2 Divides the double precision number d by the single precision number ni A single precision result n2 truncated from an integer division is left on stack Divide by zero causes an exception Related words M T MARK an Marks the current cursor on the screen and types the string a with length n This executes a routine stored in user variable MARK MAX n1 n2 n3 Returns n3 as the maximum of the two singl
43. OUND TERMINAL AGAIN Format name BEGIN AGAIN Used only in a colon definition Completes compilation of an infinite loop ie no testing done to terminate the loop This may be terminated with ABORT EXIT or QUIT or other outside intervention July 1993 Rev January 1994 MLML Tech Pub 93 2 ALLOT n Increments the dictionary pointer H by n bytes Prints an error message if the new dictionary pointer gets too close to the parameter stack Example 40 ALLOT ok allocates 40 bytes of the dictionary space and H is incremented by 40 AND n1 n2 n3 Performs a logical i e bit wise AND of two single precision numbers Example HEX 1234 1FF AND 34 ok Related words 1COM OR XOR ASSEMBLER Selects the assembler vocabulary as the context vocabulary See MC68332 FORTH Assembler for more information on using the assembler This is useful if the user needs to use the assembler rather than FORTH to create a routine for speed and or more efficient coding CODE CODE LABEL C a Computes the offset from the current dictionary pointer to the address a and compiles the offset as a signed word to the dictionary This is used in the last loop words such as AGAIN REPEAT LOOP and UNTIL to branch back to the word after BEGIN or DO Related words BACK 17 FORTH for NOAA MLML Instruments BACKGROUND n1 n2 n3 Format BACKGROUND name Sets up a background non terminal
44. R CISR CISR July 1993 Rev January 1994 MLML Tech Pub 93 2 TPU CPR a Returns the address of the TPU Channel Priority Register CPR This register contains two words at two bits per channel See Motorola 1990c for more details Related words CPR CPR TPU HSQR a Returns the address of the TPU Host Sequence Register HSOR This register contains two words at two bits per channel See Motorola 1990c for more details Related words HSQR HSQR TPU HSRR a Returns the address of the TPU Host Service Request Register HSRR This register contains two words at two bits per channel See Motorola 1990c for more details HSRR HSRR HSRRWAIT a Returns the start address of the TPU Parameter RAM Each of the 16 TPU channels has 8 words or 16 bytes of RAM space for various purposes See Motorola 1990c for more details Related words TPU PRAM Related words PRAM PRAM TPU TICR a Returns the address of the TPU Interrupt Configuration Register TICR This sets the interrupt level and vector See Motorola 1990c for more details TPU TMCR a Returns the address of the TPU Module Configuration Register TMCR This controls the operation of the TPU This register may be written only once until system reset See Motorola 1990c for more details 41 FORTH for NOAA MLML Instruments TPUF DIO n Returns the function value of the TPU Discrete I O operation for the TPU CFSR re
45. Related words MUX HOME MUX IDXDN Sets the multiplexer to its home position This positions the armature to zero position to start positioning the armature to the correct position with MUX IDXDN or MUX IDXUP Note The multiplexer must be turned on with MUXON otherwise an error will be displayed July 1993 Rev January 1994 73 FORTH for NOAA MLML Instruments MUXCHAN MUXCHAN VAL MUXON 74 n Sets the multiplexer to the fiber optic channel number n which ranges from 0 to 10 0 home position which has no fiber optic cable connected This value is stored in MUXCHAN VAL Note The multiplexer must be turned on with MUXON otherwise an error will be displayed The calibrated MUX positions in counts from home position are stored in the Serial EEPROM Use SEEMUX to enter the calibrated values Example 2 MUXCHAN ok sets the multiplexer to the second fiber optic cable Related words MUX HLDTQ MUX HOME MUX IDXUP MUXCHAN VAL MUXON a A variable containing the current fiber optic channel position The value stored ranges from 0 to 10 0 home position Related word MUXCHAN n Sets up the TPU channel n as the stepper motor function i e TPUF SM to control the fiber optic multiplexer and turns on the multiplexer The channel number ranges from 0 to 15 modulo 16 and is stored in MUXTPU CHAN This also checks the CRC checksum in the Serial EEPROM and supply default values if CRC does
46. SEE2 MLML Tech Pub 93 2 SCH Prints the eight schedules set by SCHED in tabular format For disabled schedules unused will be printed Otherwise the date in Julian minutes and in date time format period in minutes number of cycles and the name of the routine to execute upon alarm interrupt SDA Prints four channels of the SDA analog converter values in unsigned decimal signed decimal and hexadecimal SEE Prints the entire 512 byte contents of the Serial EEPROM in tabular format The printout is identical to DUMP with two 256 byte sections separated as system and user areas Related words SEE SEE DATE u Gets the date from the Real Time Clock and returns as a single precision number with a ddmmyyyy format dd day mm month yyyy year Since the Real Time Clock uses only the last two digits of the year the year ranges from 1980 to 2079 Related word DATE SEE a b Fetches a byte b from the address in the TattleTale s Serial EEPROM The address ranges from 0 to 511 modulo 512 This is a non volatile RAM useful to save data for the next power up or reset Related word SEE a h Fetches a word h from the address in the TattleTale s Serial EEPROM The address ranges from 0 to 510 modulo 512 This is a non volatile RAM useful to save data for the next power up or reset Related word SEE2 July 1993 Rev January 1994 FORTH for NOAA MLML Instrument
47. TPUF UART only This links two TPU channels n7 and n2 for handshaking purposes One of the two channels must be an input channel and the other the output channel Aborts with a message if one or both channels are invalid i e both inputs both outputs identical channel numbers not opened with TSEROPEN etc Related word TSERXSHAKE TSERPUT cn For use with TPU function TPUF UART only Transmits a character c to channel n Related words TSERGET TSERPUTS TSERPUTS anl n2 For use with TPU function TPUF UART only Transmits a string of characters starting at address a and length 7 to output channel n2 Related words TSERGET TSERPUT TSERTIMEOUT n1 n2 For use with TPU function TPUF UART only Sets the timeout nl in milliseconds for the channel n2 for use with TSERGET If 7 is zero then the timeout check is disabled and TSERGET would hang infinitely until a character is received fn For use with TPU function TPUF UART only Sets the XON XOFF handshaking mode on the TPU channel n Enables handshake if f is non zero else disables handshake TSERXSHAKE Note Handshaking if enabled will not take effect until TSERPAIR is executed Related word TSERPAIR XSHAKE 43 FORTH for NOAA MLML Instruments MLML Tech Pub 93 2 CISR dns Complements a bit in the TPU Channel Interrupt Status Register CISR at the channel number n which ranges from 0 to 15 modulo 16 Related words CISR CISR
48. WDUMP an LDUMP an BUFFER len a Single precision DROP n DUP n nn DUP n nn n OVER n1 n2 n1 n2 n1 PICK n1 n2 ROLL n ROT n1 n2 n3 n2 n3 n1 SWAP n1 n2 n2 n1 Double precision 2DROP d 2DUP di d1 d1 20VER d1 d2 d1 d2 d1 2ROT d1 d2 d3 d2 d3 d1 2SWAP d1 d2 d2 d1 na na a n C ba C ba CQ a b H ha H ha H a h Uo a uh 2H h1 h2 a 2H Q2 a hi h2 2U a uh1 uh2 2 da 2 a d PAD a an CMOVE or CMOVE gt src des n CMOVE src des n MOVE or MOVE src des n MOVE src des n FILL a n fill byte ERASE an 76 BEGIN UNTIL UNTIL f BEGIN WHILE REPEAT WHILE f BEGIN AGAIN AGAIN July 1993 Rev January 1994 FORTH for NOAA MLML Instruments MLML Tech Pub 93 2 IF ELSE THEN IF f DO LOOP DO n1 n2 LOOP DO LOOP DO n1 n2 LOOP n DO LOOP KEY c EXPECT an QUERY STRAIGHT an ENCLOSE alc alnin2n3 FIND a nfa pfa n tf ff re a FIND SS pfa n tf ff INTERPRET Sei WORD c COUNT a atin n H h EMIT c C b TYPE an BUILDS DOES TRAILING a nl a n2 CODE 5 bk str ss SPACE SPACES n COMPILE name CR
49. Words 45 Additional FORTH Words for MLML Use cee cece eee Rh I rh 55 MC68332 FORTH Assembler voies og ee od des Sade ee oe SES pled EEN 59 Lattle Tale Flash EPROM Burne ug erer s eux eade do edo ac p Ope ta cte dee dad ewe eee 63 FORTH Commands Specific tor the SIS uoo 4424554650508 bd eee OREO whew GS SES S 66 FORTH Commands Specific for the MO 69 FORTH Ourtk Reference Guides s uve Se esas Su HA BASS etek ot Seu eee 75 List of Figures Figure 1 Memory organization of the TT7 2 iussus ergi EE ee SER KU Read 2 Figure 2 Memory organization of the FORTH RAM area cele 3 Figure 3 Serial EEPROM System Area Map cece eee eee eee tenant mh nn 4 Figure 4 Structure of a dictionary entre 5 re tee FORTH for NOAA MLML Instruments MLML Tech Pub 93 2 FORTH for NOAA MLML Instruments Richard E Reaves and William W Broenkow Moss Landing Marine Laboratories Overview This report describes FORTH software written for several instruments used in the NASA sponsored project to design and build Marine Optical Buoy System MOBS and in the NOAA sponsored project EOS MODIS Execution Oceanographic Profiling Data Acquisition and Management for the Marine Optical Buoy System In the NOAA project MLML and NOAA personnel will participate in quarterly cruises at the MOBS Hawaiian site to validate performance of SeaWiFS and will participate in several extended process cruises to provide
50. aining the pointer to the input or output strings Related word CTR QUERY Initiates and reads a string from keyboard into the input buffer using EXPECT This terminates when either a carriage return is received or the number of characters received equal to 80 Related word EXPECT QUIT Terminates the current routine and enters the interpreter loop The return stack is set to its initial value Related word ABORT MLML Tech Pub 93 2 RO a A user variable containing the initial return stack pointer l Related words RP RP R gt n Retrieves a single precision number from the return stack Related word gt R R n Copies a number from the top of the return stack to the parameter stack This identical to I a Releases a resource such as a hardware device disk drive etc by storing zero at the resource variable a only if the content is equal to the task s user area address RELEASE Related word GET REPEAT Format name BEGIN WHILE REPEAT Used only in a colon definition Branches unconditionally to the words after BEGIN Related words BEGIN WHILE ROLL n Places the nth stack value not including n on top of the stack while shifting the remaining stack values down 1 ROLL is equivalent to SWAP and 2 ROLL is equivalent to ROT 0 ROLL does nothing Example 11 12 13 14 3 ROLL S 12 13 14 11 Top ok Related words SWAP ROT Jul
51. area Related word TSEROPEN TSERFLUSH n For use with TPU function TPUF UART only Sets the buffer pointers to zero at channel n This clears any received data in the buffer as well as any output data TSERGET n c For use with TPU function TPUF UART only Begins an indefinite loop until a character c has been received in the buffer at channel n If a timeout occurred returns 1 on the stack Related words TSERPUT TSERTIMEOUT TSERLEN n1 n2 For use with TPU function TPUF UART only Returns the number of bytes n2 remaining in the buffer of channel n7 TSEROPEN fanln2 Opens a TPU channel n2 for serial input or output using the TPU function TPUF UART This routine performs the following actions This channel can be designated as with serial input or serial output depending on flag f If the flag is true the channel is set for output otherwise the channel is set for input This flag also specifies the proper interrupt routine address to store in the TPU buffer area The buffer with address a and length n1 is used for storing information and data This buffer may be allocated using BUFFER 26 bytes of the buffer is reserved for channel information so the buffer length must be 27 bytes or more The baud rate is set to 9600 and the timeout value is initially zero Related words TSERCLOSE TSERBAUD July 1993 Rev January 1994 MLML Tech Pub 93 2 TSERPAIR n1 n2 For use with TPU function
52. ation for the TPU CFSR register See Motorola 1990c for details on using this function TPUF UART n Returns the function value of the TPU Asynchronous Serial I O operation for the TPU CFSR register This function was provided by Onset in microcode form and is not part of the standard TPU functions Related word TSEROPEN TPUCLOCK u Returns the TPU clock frequency in Hz based on the system clock and the TCR1 value and PSCK bit in the TMCR register This is useful in computing various parameters for the TPU channel functions such as number of counts per cycle delay counts baud rate etc See Motorola 1990c for more details TPUEXCEPTION an Stores the exception address a i e the start address of an interrupt routine at the vector corresponding to the TPU channel n modulo 16 in the vector base area The interrupt routine must be in assembly code and terminated with an RTE See Motorola 1990b for details on exceptions Example LABEL CHSINT RTE C ok CHSINT 5 TPUEXCEPTION ok Related word EXCEPTION TSERBAUD n1 n2 For use with TPU function TPUF UART only Sets the baud rate n1 in channel n2 for serial input or output The maximum baud rate is the same as returned by TPUCLOCK July 1993 Rev January 1994 FORTH for NOAA MLML Instruments TSERCLOSE n For use with TPU function TPUF UART only Disables the function at channel n and clears the interrupt routine address from the TPU buffer
53. ch Pub 93 2 SIM CSPAR rn U 1 i 2s Lem 3 i rn Di wait chan OSM SPCRO QSM SPCR1 QSM SPCR2 QSM SPCR3 QSM SPSR QSM RECRAM QSM XMTRAM QSM CMDRAM 7TA t 1 1 1 Nee ash a Nee Nee Nee up um Nee m m rm m e 7 06 iw d 1 t c1 f1 f2 c2 c f 79 FORTH for NOAA MLML Instruments TPU Registers TPU TMCR TPU TICR TPU CIER TPU CFSR TPU HSOR TPU Functions TPUF DIO TPUF ITC TPUF OC TPUF PWM TPUF SPWM TPU I O TPU TPUCLOCK ICIER CIER ICISR CISR CISR HSOR HSOR IHSRR HSRR HSRRWAIT ICPR CPR ICFSR CFSR IPRAM PRAM TPU BUFPTR TPUBUF TPUBUF TPUBUF tpuvend TPU Serial I O TSEROPEN TSERBAUD TSERPAIR TSERXSHAKE TSERFLUSH TSERTIMEOUT TSERLEN TSERGET TSERPUT TSERPUTS TSERCLOSE 80 TPU HSRR TPU CPR TPU CISR TPU PRAM TPUF PM TPUF PSP TPUF SM TPUF PPWA TPUF UART freq f chan chan f f chan chan f chan seq chan chan seq req chan chan req chan prior chan chan prior fn chan chan fn nichan i chan n a bufa inta chan chan bufa Cb a outflg a len chan baud chan chan1 chan2 f chan chan n chan chan n chan n n chan an chan chan MLML Tech Pub 93 2
54. d For the Control Status field the bit positions have the following meanings 0 enable disableXON XOFFhandshaking 1 enable disable hardware handshaking 2 suspend transmission of data i e XOFF received or hardware line low 39 FORTH for NOAA MLML Instruments SIM CSPAR a Returns the starting address of the SIM chip select registers See Motorola 1990a for more details Related words CS CSWAIT SIM DDRE a Returns the address of the SIM Port E Data Direction Register This register is one byte long and controls the direction of the pins to either input or output See Motorola 1990a for more details Related words CPUPIN PCLR PIN PSET a Returns the address of the SIM Port F Data Direction Register This register is one byte long and controls the direction of the pins to either input or output See Motorola 1990a for more details SIM DDRF Related words CPUPIN PCLR PIN PSET a Returns the address of the SIM Module Configuration Register This controls the operation of the CPU See Motorola 1990a for more details SIM MCR ES Ye SIM PEPAR a Returns the address of the SIM Port E Pin Assignment Register This register is one byte long and controls the function of the pins See Motorola 1990a for more details CPUPIN PCLR PIN PSET ai Returns the address of the SIM Port F Pin Assignment Register This register is one byte long and controls the function of the pin
55. d returns a true flag if d1 is equal to d2 otherwise leaves a false flag Related word July 1993 Rev January 1994 MLML Tech Pub 93 2 D gt di d2 f Compares two double precision numbers and returns a true flag if dl is greater than di otherwise leaves a false flag Related word gt DABS d ud Returns the absolute value of d Related word DNEGATE DECIMAL Stores 10 to the user variable BASE for decimal input outputs Related words BINARY HEX DEFINITIONS Sets the current vocabulary to the context vocabulary to allow new words to be defined under the context vocabulary Example FORTH DEFINITIONS ok CONTEXT CURRENT a A user variable containing a pointer to an array of 10 PFA specific for terminal I O This information used by a terminal task Related words DEVICE Used in routine EXPECT TYPE CR PAGE MARK TAB CLEAN BAUD BAUD 0 XSHAKE Array Index SNM Bh La EA Fa KA MO Gi Related word TERMINAL 21 FORTH for NOAA MLML Instruments DLITERAL d Format name DLITERAL Used only in a colon definition Compiles the routine address and the double precision number to the dictionary Upon execution the compiled number is fetched and placed on the stack Related word LITERAL DMAX di d2 d3 Returns d3 as the maximum of the two double precision numbers d1 and d2 Related word MAX DMIN d1 d2 d3 Returns d3 as
56. d the entire FORTH core plus any additions to the user s dictionary This allows updates to the FORTH core through the console SCI interface rather than use the 68332 s BDM interface which may not be accessible The following FORTH words are used to load the buffer in memory and or burn the new program into the EPROM SRECORD al n1 a2 n2 tf O tf ff Converts the Motorola S record format at address al and length n7 into binary data which is copied to al Returns values to the stack on one of the three conditions 1 Ifthe record begins with S0 then a zero and a true flag is put on stack 2 If the record begins with S1 S2 or S3 then the memory address a2 of the data and the data length n2 is left on stack July 1993 Rev January 1994 MLML Tech Pub 93 2 3 If the record begins with S7 S8 or S9 which signifies the end of the S records then just the false flag is returned on stack All other record types and any errors such as invalid record length and checksum will abort with a message The Motorola S record format comprises the following string note all digits are hexadecimals two digits for each byte Stllaaaadddd ddcc t numerical digit indicating the record type Type Function 0 Start of the S record file 1to3 Contains data 7to9 End of S record file ll length of the entire binary string not including the checksum field aqaa memory address at the start of the data the length de
57. d THEN Related words IF THEN EMIT c Outputs a character to the console Example 42 EMIT ok Related words KEY KEY TYPE EMPTY Clears the user dictionary beginning at FENCE to the end at H July 1993 Rev January 1994 ENCLOSE FORTH for NOAA MLML Instruments ac anl n2n3 Scans the string beginning at a until either the delimiting character c or a null zero is encountered Returns with the offset to the first non delimiter character n1 the offset to the first delimiter after a valid character n2 and the offset EXPECT MLML Tech Pub 93 2 an Receives a string of characters at a until either a carriage return is detected or n characters are received A null character is placed at the end of string Also the characters received are echoed back to the console to the first character not scanned n3 Related words KEY KEY STRAIGHT Related word WORD l FENCE a ERASE an A user variable containing the top of the Fills the memory with zeros starting at a with protected memory to prevent FORGET and length n EMPTY from erasing any of that memory Related word FILL FILL anb ERROR n Fills the memory with byte b starting at a with length n Checks WARNING and aborts if its value is less than zero Otherwise outputs the word causing the error along with a question mark to the console Additional message may be printed from n Related words BLANKS ERASE FORGET F
58. d increments its pointer by two Related words C He a h Fetches a sign extended half precision number from the memory address a Related words H U HCONSTANT h Format HCONSTANT name Creates a dictionary entry name which contains the half precision constant specified by h Executing name will place the sign extended number on stack Example 80 HCONSTANT DEFTEMP ok DEFTEMP 80 ok Related words ZCONSTANT CONSTANT 24 MLML Tech Pub 93 2 HERE a Puts the current dictionary pointer on stack bc Stores 16 to the user variable BASE for hexadecimal input outputs HEX Related words BINARY DECIMAL HIS a1 a2 a3 Obtain the address of another task s user variable a3 from the task address a7 and the current task s user variable a2 HOLD c Format lt HOLD gt Places the ASCII character c in the output buffer Example DECIMAL 5 lt 35 HOLD ZS gt 5 ok Related words lt S SIGN ASC gt HVARIABLE Ch Format HVARIABLE name Creates a dictionary entry name which provides a memory space for the half precision number This space is initialized by h Executing name will place the address on stack Example 45 HVARIABLE DEG ok DEG H 45 ok Related words 2VARIABLE VARIABLE I n Copies a number from the top of the return stack to the parameter stack This also can get the index value in an indexed loop Related words P J J
59. d searches Up to 8 vocabularies may be stored in the user space following a Related words CURRENT VOCABULARY d1 al d2 a2 Convert an ASCII string al into a double precision number according to the value in BASE until the first non digit character is encountered in a2 This number is accumulated in d7 and returned as d2 Related words DIGIT NUMBER al a2b Fetches the length b of the string at address al and increments the address by one FORTH typically stores strings with the first byte is the string length and the string text follows COUNTER n Returns the time in milliseconds since power up or last system reset This uses the CPU s periodic interrupt timer PITR which interrupts internally approximately every one millisecond and updates a system variable Related words TIMER counter CONSTRUCT a CR Positions the cursor to the line below the current line and to the left side of the screen This executes a routine stored in user variable CR CREATE l Format CREATE name Creates a dictionary entry name linking it to the current vocabulary If name already exist a warning message will be printed but it will compile anyway The smudge bit will be set and the CFA contains the routine VARIABLE Note that the PFA is not yet established CSP a A user variable containing the current parameter stack pointer Related words CSP CSP CTR xa A user variable con
60. ddress of the QSM Pin Assignment Register This sets the function of the port D pins This register is one byte long See Motorola 1990a for more details QSM QPAR CPUPIN PCLR PIN PSET a Returns the address of the QSM Port Data Register This is used read or write pins to port D This register is one byte long See Motorola 1990a for more details Related words QSM QPDR Related words CPUPIN PCLR PIN PSET July 1993 Rev January 1994 FORTH for NOAA MLML Instruments QSM RECRAM a Returns the address of the QSPI Receive Data RAM array This is used in conjunction with QSM CMDRAM to receive serial data from external devices ach element is a word 2 bytes long See Motorola 1990a for more details QSM SCCRO0 a Returns the address of the SCI Control Register 0 This controls the operation of the SCI including setting the baud rate See Motorola 1990a for more details Related words BAUD BAUD QSM SCCR1 a Returns the address of the SCI Control Register 1 This controls the operation of the SCI See Motorola 1990a for more details a Returns the address of the SCI Data Register Data is read and written to this register See Motorola 1990a for more details QSM SCDR QSM SCSR a Returns the address of the SCI Status Register This contains the status of the SCI See Motorola 1990a for more details QSM SPCRO a Returns the address of the QOSPI Contr
61. des Return from subroutine Subtract decimal BCD values with extend Set according to condition See Branch Condition Codes Load status register and stop Subtract two values Subtract two values with extend Swap words in a data register Test and set an operand Table lookup and interpolate signed Table lookup and interpolate signed result not rounded Table lookup and interpolate unsigned Table lookup and interpolate unsigned result not rounded Cause a TRAP exception Trap on condition See Branch Condition Codes Trap on overflow Test an operand Unlink July 1993 Rev January 1994 FORTH for NOAA MLML Instruments TattleTale Flash EPROM Burner The TattleTale Model 7 TT7 uses the Intel 28F020 Flash EPROM chips that allows up to 512K of read only space In this implementation the FORTH core with the user dictionary appended is stored in this space The user must set up the hardware properly before attempting to burn a new program in the EPROM 1 The power supply to the TT7 must be at 12 0 volts no less than 11 4 volts and no more than 12 6 volts as per EPROM s specification 2 PinsF13 VPROG and F17 4 12V must be jumpered together on the TT7 to enable the EPROM for burning Then burning the EPROM may be done in one of two ways 1 Use TT7SAVE to add new FORTH words created in the user dictionary to the end of the FORTH core in the EPROM 2 Use TT7LOAD or TT7SLOAD to downloa
62. e 3 If the file has already been opened the file pointer is returned and the file offset is reset to zero Example DATA MOS023 DAT FOPEN 7 ok Related words FCLOSE FGETS FSEEK FPUTS FREAD FWRITE FEOF 49 FORTH for NOAA MLML Instruments MLML Tech Pub 93 2 FORMAT FTYPE an Outputs the content of a file to the console in ASCII strings each terminated with a carriage return character The file name begins at address a and length n and may contain the sub directory separated by backslashes Y Initializes and formats the disk to DOS format All sectors will be scanned for bad blocks and be filled with zeros A root directory is created and result of the formatting are printed CARE MUST BE TAKEN SINCE THIS WILL ERASE ALL DATA FROM DISK Example README TXT FTYPE This is a file containing text used for informational purposes Each line is separated in the file by a carriage return Before attempt to format the disk a warning and a prompt will appear asking the user if he wish to continue The user must type yes in lowercase letters to start the formatting process For an 80 megabyte disk this takes about 40 minutes End of file Related word CHKDSK ok Related word FDUMP FGETS FPUTS FPUTS a n1 n2 Writes text data to a file specified by the file FWRITE pointer n2 from the string a and length n1 Appends a carriage return character to the string in the file If needed new clust
63. e precision numbers 77 and n2 Related word DMAX MESS n Outputs a message based on n This is used to print error messages Related words ERROR ERROR July 1993 Rev January 1994 FORTH for NOAA MLML Instruments MIN n1 n2 n3 Returns n3 as the minimum of the two single precision numbers n1 and n2 Related word DMIN MOD n1 n2 n3 Returns the modulus or the remainder of n1 divided by n2 n3 has the same sign as n1 Example 124 13 MOD 9 ok Related words MOD MOD U MOD MOVE ala2u Copies memory from a7 to a2 with length u one cell at a time Memory is copied starting at the beginning of the string working towards higher memory This is more faster than CMOVE Related word MOVE MOVE gt al a2 u This is identical to MOVE for compatibility with some standards MS n Delays the execution for n milliseconds This includes PAUSE so other tasks may execute during the delay NEGATE n1 n2 Change the sign of the single precision number on stack Related word ABS NFA al a2 Converts the PFA on top of stack to NFA Related words CFA LFA PFA July 1993 Rev January 1994 MLML Tech Pub 93 2 NOT f1 f2 Complements the flag on top of stack i e returns true if false and vice versa This is equivalent to 0z NUMBER a n d Converts a number according to the value in BASE in the input string a into either a single precision n content of PTR is
64. e following list in order Channel Gain 0 1X 1 1X 2 1X 3 1X 16 1X 17 1X 18 1X 19 1X 20 1X 21 1X 22 1X 23 1X 24 1X 25 1X 26 1X 27 1X 28 1X 29 1X 30 1X Related words ADC LIST ADC NUMCHAN GD GDDEF 69 FORTH for NOAA MLML Instruments ADC LIST a A variable array containing analog channel numbers and gains of up to 32 channels for use with GD Each channel number and gain is stored as byte values together as one element The user may modify these to suit his requirements Example DECIMAL 21 256 10X ADC LIST 8 2 H ok stores channel 21 with gain of 10X to the 9th element in the array Related word A DC DEFAULT ADC NUMCHAN GD GDDEF ADC NUMCHAN a A variable containing the number of analog channels stored in ADC LIST for use with GD ADC DEFAULT GD GDDEF Related words ADC LIST ADCAVG n Averages all A D conversions by n replicates At startup this value defaults to 1 Internally the analog values are saved in 64 bit sums Related word ADC BLUBUF REDBUF a a Buffer of 1024 bytes long to hold each of the blue and red spectroradiometer data Each element in the array is 2 bytes long Related words BRECV RRECV GD 70 MLML Tech Pub 93 2 BCOOL RCOOL Sets the blue and red CCD coolers with an 8 bit value 0 to 255 This controls the temperature of the CCD arrays with the higher the value the lower the temperature A zero value turns off the coole
65. e in 38 channels Le wavelengths using the Data Translation s DT5742 PGL A D converter The converter resides at the address FFF90000 1X n Returns the gain constant for use with the A D converter This returns a zero 0 for a gain of 1 10X n Returns the gain constant for use with the A D converter This returns a one 1 for a gain of 10 n Returns the gain constant for use with the A D converter This returns a two 2 for a gain of 100 100X 500X n Returns the gain constant for use with the A D converter This returns a three 3 for a gain of 500 ADC n1 n2 u Sets gain n7 and channel number n2 for A D conversion and returns an unsigned 16 bit value in u The gain can be used from these constants 1X 10X 100X 500X A timeout of 10 milliseconds is applied and if timed out returns the value from ADTIMEOUT Note Channels O to 15 uses TT7 on board A D chip and 16t031 uses the DT A D converter Example 10X 18 ADC 234 ok Related words SDA ADCAVG ADCDLY ADTIMEOUT ADCWAIT 66 MLML Tech Pub 93 2 ADC DEFAULT a A variable array containing the default gains and analog channel numbers for use with GD The first word contains the number of channels in the list The remainder of the array contains alternating byte values of analog channel number and gain Currently 13 channels are used in the following list in order Channel Gain 0 1X 1 1X 2 1X 3 1X 23 1X 24 1X 25 1X
66. e in the Real Time Clock to April 15 1993 Related word DATE ISEE ba Stores a byte b to the address in the TattleTale s Serial EEPROM The address ranges from 0 to 511 modulo 512 This is a non volatile RAM useful to save data for the next power up or reset Related words QSEE SEE2 ha Stores a word h to the address in the TattleTale s Serial EEPROM The address ranges from 0 to 510 modulo 512 This is a non volatile RAM useful to save data for the next power up or reset Related words SEE2 July 1993 Rev January 1994 MLML Tech Pub 93 2 SEE4 na Stores a longword n to the address in the TattleTale s Serial EEPROM The address ranges from 0 to 508 modulo 512 This is a non volatile RAM useful to save data for the next power up or reset Related words SEE4 ITIME d Sets the time of day in the Real Time Clock The input must have a hh mm ss format hh hour mm minutes ss seconds Note that the hour is a 24 hour clock i e hours from 0 to 23 0 midnight Example DECIMAL 14 30 45 TIME ok sets the time of day in the Real Time Clock to 2 30 45 00 PM Related word TIME DATE nl a n2 Converts date ni in ddmmyyyy format to an ASCII string returned with address a and length n2 The string has the format of Www dd Mon yyyy Www alpha weekday dd day Mon alpha month yyyy year Example 15041993 DATE TYPE Thu 15 Apr 1993 ok TIME n1 an2
67. ech Pub 93 2 Addressing Modes H Word 2 bytes operation B Byte 1 byte operation Default Longword 4 bytes operation Indirect addressing modes simple indirect with postincrement with predecrement 0 with 16 bit displacement 1 2 orN See Address Registers 4 or W 5 or I 6 or S 7 or R PC program counter with displacement X index w 8 bit word displacement XL index w 8 bit longword displacement Absolute addressing AB a Immediate addressing modes Q quick immediate B byte sized immediate H word sized immediate longword sized immediate Branching Words IF ELSE ENDIF BEGIN UNTIL NEXT BRAWAIT Condition Codes 0 0 lt 0 CS LS VS NOT 81 FORTH for NOAA MLML Instruments Mnemonic List ABCD ADD ADDX AND ANDSR ASL ASR BCHG BCLR BGND EOR EORSR EXG EXT ILLEGAL JMP MOVP MOVS MFSR MFUSP MTSR MTUSP MULS MULU NBCD NEGX NOP OR ORSR RESET MOVM register s registers s RL 82 Register list placeholder MLML Tech Pub 93 2 A D Converter 1X n 10X n 100X n 500X n ADC gain chan u ADCAVG n ADCDLY n1 n2 ADCWAIT Data Output ADC DEFAULT a ADC LIST a ADC NUMCHAN a DA38 n1 n2 n3 DA38 n GD GDDEF GDGAIN a SCAN38 n SHUTTER f A D Converter 1X n 10X n 100X n ADC gain cha
68. ecision number ud7 and converts to ASCII characters with a preceding colon The result after dividing by 60 is left on stack This is used by TIME to format the time of day Example DECIMAL 1234 lt 00 58 HOLD 00 gt TYPE 20 36 ok Related word TIME 55 FORTH for NOAA MLML Instruments lt lt n1 n2 n3 Shifts the single precision number n1 to the left by n2 bits and leaves the result on stack The least significant bits are filled with zeros This is similar to the C language operator Example HEX 1232 48C ok Related word gt gt gt gt n1 bits n2 Shifts the single precision number n1 to the right by n2 bits and leaves the result on stack The most significant bits are filled with zeros This is similar to the C language operator Example HEX 123 2 gt gt 48 ok Related word lt lt CELL n nf Determines if n can be compiled as a longword or word Returns a true flag if n must be compiled as a longword Otherwise returns a false flag indicating that n can be a sign extended word BAUD u Returns the actual baud rate of the serial port If the content of DEVICE is zero this baud rate is based on the actual system clock and SCI setting Related word BAUD BAUD a A variable containing the user specified baud rate This is used for changing the system clock to maintain the SCI baud rate Related words BAUD BAUD BEEP Outputs a bell character AS
69. ed words D U H e XJ Format An immediate word that prints the string to the console The must be followed by a space then a string of characters and finally terminate with an ending quote The beginning and ending quotes as well as the space after the beginning quote are not saved in the string The string may contain up to 255 characters Example HELLO Hello how are you ok HELLO Hello how are you ok Related word 11 FORTH for NOAA MLML Instruments ABORT LOOP MOD 12 a Displays a string to the console The first byte of the address must contain a length byte This is the default execution for ABORT Related words ABORT ABORT n1 n2 n3 Divides a single precision number n1 by n2 The result is put on stack as n3 If n2 is zero an exception will occur Related words MOD MOD M MOD T U U MOD u Format name DO LOOP Used only in a colon definition Increments the loop index by an unsigned single precision number n and then the limit is checked for continuation of loop 1 LOOP is equivalent to LOOP Example DSPNUM 10 0 DOI 2 LOOP ok DSPNUM 02468 ok Related words DO LEAVE LOOP LOOP n1 n2 n3 n4 Returns the remainder n3 which has the same sign as n1 and quotient n4 of n1 divided by n2 If n2 is zero an exception will occur Example DECIMAL 47 11 MOD 43 ok Related words MOD MOD U MOD
70. el radiometer Example 1X 30 DA38 ADCWAIT 567 ok DA38 n Formatted display of all 48 channels of the 38 channel radiometer for given gain n Related word SCAN38 July 1993 Rev January 1994 MLML Tech Pub 93 2 GD Gets data from analog channels specified in ADC LIST and ADC NUMCHAN and the spectrometer data and outputs them according to BASE If BASE contains the value 2 see BINARY the output will be binary data otherwise the output will be converted to the value in BASE The organization of the output in binary format is aS follows assuming the default setup Note For fields 2 or more bytes long the bytes are reversed to make it compatible with the VAX byte order Pos Len Description 0 2 Length of the data in bytes 2 1 Shutter value 0 open 1 close 3 2 Number of analog averages 5 1 Number of analog channels 6 4 analog channel values def 13 58 1 Number of spectrometer channels def 48 59 4 Spectrometer channelvalues 251 2 Checksum byte summation of all data in the output including the length field Note For each of the analog and Spectrometer channel values the four bytes are encoded as Pos Len Description Gain value If the 7th bit of this field is set a timeout has occurred and the analog value field contains invalid data Channel number analog value 0 1 1 1 2 2 Related words ADC ADC NUMCHAN ADC LIST DA38 GDGAIN 67 FORTH for NOAA MLML
71. equivalent to SPACE Related word SPACE SPAN a A user variable containing the actual number of characters input by EXPECT STATE a A user variable containing the state of the interpreter A zero indicates an execute mode Otherwise indicates compiling mode Related words STATUS a A user variable containing the status of the task This is actually either the machine level jump to the next task or a wake up call to resume executing the task where it left off Related word WAKE 29 FORTH for NOAA MLML Instruments STOP Suspends a task indefinitely until resumed from another task or an interrupt Related words NOD PAUSE STRAIGHT an Receives a string of characters at a until n characters are received All characters including XON XOFF and carriage return are stored in the string The characters are not echoed Related words 7KEY KEY EXPECT SWAP n1 n2 n2 n1 Exchange two single precision numbers on top of the stack Related word 2SWAP T dn t Multiples a double precision number and a single precision number and leave the triple precision number on stack Related words M T U T tn d Divides a triple precision number by a single precision number and leave the double precision result truncated from an integer division on stack Related word M T U TAB n1 n2 Sets the cursor to the position specified by line n7 and column n2 This e
72. ero a dummy value to the PFA This is equivalent to 0 CONSTANT Related word DOES lt CMOVE ala2u Copies memory from a1 to a2 with length u one byte at a time Memory is copied starting at the end of the string working towards lower memory Related word CMOVE MOVE al a2u Copies memory from a7 to a2 with length u one cell at a time Memory is copied starting at the end of the string working towards lower memory This is more faster than lt CMOVE Related word MOVE n1 n2 f Compares two single precision numbers and returns a true flag if n7 is equal to n2 otherwise leaves a false flag Related word D July 1993 Rev January 1994 MLML Tech Pub 93 2 gt n1 n2 f Compares two single precision numbers and returns a true flag if n is greater than n2 otherwise leaves a false flag Related word D gt 4 lt n1 n2 Reverses the order of bytes in the longword n1 Example HEX 12345678 gt 4 lt 78563412 ok Related words gt lt gt H lt gt lt n1 n2 Reverses the order of bytes in the lower half of n1 Example HEX 12345678 gt lt 12347856 ok Related words 4 gt H lt gt H lt n1 n2 Reverses the order of words in the longword 717 Example HEX 12345678 gt H lt 56781234 ok Related words gt 4 lt gt lt gt IN a A user variable containing the offset of the input stream gt R n7 Saves a single precision number to the re
73. errupts n3 the schedule number in the list This value must be from 1 to 8 Upon alarm interrupt the first schedule in the list will be executed first the second next and so forth Hence the lower the schedule number the higher the priority Examples MOBY 0 02 00 00 120 0 1 SCHED ok gt VAX 1 01 1994 12 00 00 60 5 2 SCHED ok Related words S CH CLRSCHED SCANSCHED SDA n uh 52 Invokes the on board A D converter The channel number n ranges from 0to3 The converter returns a 12 bit unsigned value uh A 10 millisecond timeout is used and if it occurs returns the timeout value instead of the value from the A D converter Related words ADTIMEOUT sdasr SEECPUPIN SEEPCLR MLML Tech Pub 93 2 n Designate a pin to function as a CPU line at power up Pin number n ranges from 0 to 23 modulo 24 which corresponds to the following ports Port D pins 0 to 7 Port E pins 8 to 15 Port F pins 16 to 23 This sets a bit for the CPU Pin Assignment Register PAR in the Serial EEPROM For more information see Motorola 19902 Example DECIMAL 18 SEECPUPIN ok sets bit 2 in the Port F PAR to enable interrupt request input at interrupt level 2 Related words SEEPCLR SEEPIN SEEPSET SEECRC Calculates the CRC of the system area in the Serial EEPROM and store it at address 0 This checksum is compared at power up to check integrity of the EEPROM If the checksums do not match a set o
74. ers will be added to the file if the dat goes past the end of file a n1 n2 Writes binary data to a file specified by the file pointer n2 from the buffer a and length n1 If needed new clusters will be added to the file if the data goes past the end of file Related word FGETS FREAD FWRITE Related word FPUTS FREAD FSEEK FREAD a n1 n2 n3 LOG an Reads binary data from a file specified by the file pointer n2 to the buffer a up to length 77 Returns n3 as the actual number of bytes read from the file since n7 may go past the end of file Related word FSEEK FWRITE FSEEK n1 n2 Sets the file offset n7 bytes from the beginning of the file specified by the file pointer n2 If the offset goes beyond the end of file i e greater than the number of bytes in the file or if n1 is negative then the offset will be set to the end of file Related words FEOF FREAD FWRITE Saves a string of characters starting at address a and length n to a log file on disk This file is a text file named FORTH LOG and is useful to save diagnostic information This will also automatically turn on the disk drive Use FTYPE to list contents Example 21 01 94 09 00 MOBY STARTED LOG ok FORTH LOG FTYPE 21 01 94 09 00 MOBY STARTED ok an A short form of MKDIR See MKDIR July 1993 Rev January 1994 FORTH for NOAA MLML Instruments MLML Tech Pub 93 2 MKDIR MONTH Creates a sub directory on the
75. f default values will be stored in the EEPROM Related words CALCCRC UPDATECRC n Sets pin n to output a low signal on power up n ranges from 0 to 23 modulo 24 corresponding to the following ports Port D pins 0 to 7 Port E pins 8 to 15 Port F pins 16 to 23 This clears a bit for the CPU Pin Assignment Register PAR and sets the bit CPU Data Direction Register DDR for output in the Serial EEPROM For more information see Motorola 19902 July 1993 Rev January 1994 FORTH for NOAA MLML Instruments Example DECIMAL 3 SEEPCLR ok sets the output of bit 3 in Port D to low SEECPUPIN SEEPIN SEEPSET Related words SEEPIN n Sets the port pin n to input at power up which ranges from 0 to 23 modulo 24 corresponding to the following ports Port D pins 0 to 7 Port E pins 8 to 15 Port F pins 16 to 23 This clears a bit for the CPU Pin Assignment Register PAR and clears the bit CPU Data Direction Register DDR for input in the Serial EEPROM For more information see Motorola 19902 Example DECIMAL 8 SEEPIN ok sets bit 0 of Port E to input Related words SEECPUPIN SEEPCLR SEEPSET SEEPSET n Sets pin n to output a high signal at power up n ranges from 0 to 23 modulo 24 corresponding to the following ports Port D pins 0 to 7 Port E pins 8 to 15 Port F pins 16 to 23 This clears a bit for the CPU Pin Assignment Register PAR and sets the bit for the CPU Data
76. for use with the A D converter This returns a two 2 for a gain of 100 100X ADC nl n2 u Sets gain n7 and channel number n2 of the A D converter and returns an unsigned 12 bit value u The gain can be used from these constants 1X 10X 100X A timeout of 10 milliseconds is applied and if timed out returns the value from ADTIMEOUT Note Channels Oto 15 uses TT7 on board A D chip and 16 to 31 uses the external A D converter Example 10X 18 ADC 234 ok The following are words that uses ADC with known channel numbers The stack diagram for each is n1 u as described above TILTX X axis tilt TILTY Y axis tilt WTEMP Water temperature BATT Battery voltage DTEMP LED diode block temperature ITEMP Internal temperature PRESS Pressure July 1993 Rev January 1994 MLML Tech Pub 93 2 BTEMP Blue diode array temperature RTEMP Red diode array temperature SDA ADCAVG ADCDLY ADTIMEOUT ADCWAIT C Retrieves and displays all the defined channels listed in ADC to the terminal in tabular format Ke Prints the calibrated MUX positions for the 10 MUX channels in tabular format Related words ADC SEEMUX ADC DEFAULT a A variable array containing the default gains and analog channel numbers for use with GD The first word contains the number of channels in the list The remainder of the array contains alternating byte values of analog channel number and gain Currently 19 channels are used in th
77. ges from 0 to 15 modulo 16 Related word HSQR n1 n2 Sends a service request to the TPU Host Service Request Register HSRR The request n1 ranges from 0 to 3 modulo 4 with 0 being no action to the function This is used to select the microcode entry address in the TPU and the action is dependent on the function A zero value returned in the register indicates the action is completed The channel number n2 ranges from 0 to 15 modulo 16 Related words HSRR HSRRWAIT July 1993 Rev January 1994 FORTH for NOAA MLML Instruments PRAM uh n1 n2 Stores uh into the TPU Parameter RAM in which the location is specified by the channel number n2 which ranges from 0 to 15 modulo 16 and the index n2 The index species which word to store uh for the given channel and it ranges from 0 to 7 modulo 8 Example e 20 14 PRAM ok stores word value 20 to the TPU Parameter RAM at word 1 in channel 4 which makes the actual location at hex FFFFFE42 Related word PRAM QBAUD n Change the baud rate bits second of the OSPI synchronous port The range is from 0 to the system clock divided by A The maximum possible rate is 4M baud An out of range value will not cause an error however it may cause garbled data The value on stack is also saved in variable QBAUD Related word QBAUD ISYSCLOCK u Changes the system clock frequency The maximum frequency is the maximum allowed for the CPU which i
78. gister See Motorola 1990c for details on using this function TPUF ITC n Returns the function value of the TPU Input Capture Input Transition Counter operation for the TPU CFSR register See Motorola 1990c for details on using this function TPUF OC n Returns the function value of the TPU Output Compare operation for the TPU CFSR register See Motorola 1990c for details on using this function TPUF PM n Returns the function value of the TPU Period Measurement with Additional Missing Transition Detect operation for the TPU CFSR register See Motorola 1990c for details on using this function TPUF PPWA n Returns the function value of the TPU Period Pulse Width Accumulator operation for the TPU CFSR register See Motorola 1990c for details on using this function TPUF PSP n Returns the function value of the TPU Position Synchronized Pulse Generator operation for the TPU CFSR register See Motorola 1990c for details on using this function TPUF PWM n Returns the function value of the TPU Pulse Width Modulation operation for the TPU CFSR register See Motorola 1990c for details on using this function TPUF SM n Returns the function value of the TPU Stepper Motor operation for the TPU CFSR register See Motorola 1990c for details on using this function 42 MLML Tech Pub 93 2 TPUF SPWM n Returns the function value of the TPU Synchronized Pulse Width Modulation oper
79. gives the total number of sectors on disk If found returns the default values from the table which may be different than found in the drive information Otherwise extracts the values from the drive information Related word DINFO DRV AVLSECT a A variable containing the number of available sectors on disk DRV CLUSTSZ a A variable containing the number of sectors per cluster DRV NDISK a A variable containing the number of disk drives on line Currently this is set to one DRV TOTSECT a A variable containing the total number of sectors on disk July 1993 Rev January 1994 FORTH for NOAA MLML Instruments DSECTOR n1 n2 Sets the drive registers to point to the logical sector number n1 and the number of sectors n2 The number of sectors must be between 1 and 255 Any error will abort with a message Related words DREAD DWRITE DWRITE ani n2 Writes data to disk from the buffer a starting at the logical sector number n7 and the number of sectors to be read n2 Each sector is 512 bytes long Any error aborts with a message Related word DREAD FCLOSE n Closes the file at file pointer n and frees up the memory in the file descriptor area Related word FOPEN FDUMP an Outputs the content of a file to the console in a tabular format containing the offset from the beginning of the file the data bytes up to 16 per line in hexadecimal values and the ASCII representa
80. h their starting address address length wait states etc PIN Print contents of the CPU port D E and F registers as binary values QSM Prints contents of the OSM registers and the OSPI RAM in tabular format REG Prints contents of the CPU data status and control registers 35 FORTH for NOAA MLML Instruments SIM Prints contents of the SIM registers in tabular format IPU Prints contents of the TPU registers and the parameter RAM in tabular format CFSR n1 n2 Returns a channel function value from the TPU Channel Function Select Register CFSR The channel number nl ranges from Oto 15 modulo 16 Related word CFSR CIER n f Returns the bit value from the TPU Channel Interrupt Enable Register CIER as a flag f The channel number n ranges from 0 to 15 modulo 16 Related word CIER CISR n f Returns the bit value from the TPU Channel Interrupt Status Register CISR as a flag f The channel number n ranges from Oto 15 modulo 16 Related word CISR CISR CPR n1 n2 Returns the priority value from the TPU Channel Priority Register CPR The channel number n7 ranges from 0 to 15 modulo 16 See CPR for information about the priority values Related word CPR HSQR n1 n2 Returns a sequence value from the TPU Host Sequence Register HSOR The channel number n1 ranges from 0 to 15 modulo 16 Related word HSQR 3
81. haracter c7 from the stack and then negates CTR Note that CTR contains the negated value of the maximum buffer size Consequently this buffer size must be a negative value before executing EXPECT 2 If CTR and SPAN are both not zero then execution is performed for STRAIGHT Note the XON XOFF handshaking is disabled to allow the XON and XOFF characters to be saved in the buffer 3 If CTR is zero then checks to see if a character was sent from the console If so then returns the character as c2 otherwise returns zero FIND al a2 a3 n tf ff A word at a1 is searched beginning at the LFA a2 of the vocabulary If found then puts PFA a3 and word length n on stack along with the true flag Otherwise only the false flag is returned an A default routine used by MARK for a dumb terminal It sends a caret character and types the string MARK PAGE A default routine used by PAGE for a dumb terminal It clears the screen by executing 25 CR s FORTH for NOAA MLML Instruments SAVEKEY STRAIGHT TAB TYPE 10 manner cl f1 2 c2 Interprets input character cl in the following The flags f and f2 are set to false unless otherwise noted and c2 is used for echoing the input character This is used in EXPECT to save a stream of characters into an input buffer 1 If cl is a carriage return character ASCII 13 set CTR to zero to terminate EXPECT set c2 to a
82. he power is off This uses the Catalyst Semiconductor CAT35C104H chip connected to the CPU s OSPI interface The chip is configured for 512 byte addressing range and the data can be written and read using the FORTH words SEE SEE2 SEE4 4 MLML Tech Pub 93 2 System area CRC Flash EPROM CRC Length of system area TMCR IARB value MC68332 SYPCR value Chip Select 7 values Chip Select 8 values PORT D parameters PORT E parameters PORT F parameters Schedule wakeup flags Schedule 1 Schedule 2 Schedule 3 Schedule 4 Schedule 5 Schedule 6 Schedule 7 Schedule 8 End of system area Figure 3 Serial EEPROM System Area Map The values on the left represent SEEPROM addresses SEE SEE2 and SEE4 The entire contents of the serial EEPROM may be printed using SEE Memory organization of the serial EEPROM is divided in two parts system area and user area These two parts are evenly divided into 256 bytes each The first half address 000 to OFF of the EEPROM is the system area which contains parameters for the system upon startup and is identical in all TattleTale units Figure 3 The second half address 100 to 1FF of the EEPROM is the user area This is used to store parameters that are specific for each instrument For example the calibrated half step counts for each multiplexer positions for the MOS can be stored TPU Serial Interface Onset has provided the Time Processing Unit TPU microcode
83. he third value d1 to the top while shifting the upper two values down Related word ROT 2SWAP d1 d2 d2 d1 Exchange two double precision numbers on top of the stack Related word SWAP 13 FORTH for NOAA MLML Instruments 2U a uh1 uh2 Fetches two half precision numbers from the ZVARIABLE 4 4 14 memory address contained uh2 The lower memory address Related words 2H 2H d Format 2VARIABLE name Creates a dictionary entry name which provides a memory space for the double precision number This space is initialized by d Executing name will place the address on stack Example 45 2VARIABLE DEG ok DEG 2 D 45 ok Related words HVARIABLE VARIABLE n Puts a single precision three 3 on the stack n Puts a single precision four 4 on the stack n1 n2 Multiplies the single precision number on stack by four n1 n2 Adds four to the single precision number on stack n1 n2 Subtract by four the single precision number on stack n1 n2 Divides the single precision number on stack by four MLML Tech Pub 93 2 n Puts a single precision six 6 on the stack n Puts a single precision eight 8 on the stack Format name This initiates the colon definition name is compiled as a dictionary entry with the smudge bit set in the current vocabulary with the CFA containing the address to a routi
84. il either the value is zero or a timeout occurs The timeout value 717 is expressed in milliseconds The channel number n2 ranges from 0 to 15 modulo 16 A flag is returned indicating if a timeout occured Example 2500 6 HSRRWAIT 0 ok waits at TPU channel 6 for up to 2 5 seconds and returns zero indicating the TPU channel successfully performed its operation Related words HSRR HSRR PCLR n Sets pin n to output a low signal n ranges from Oto23 modulo 24 corresponding to the following ports Port D pins 0 to 7 Port E pins 8 to 15 Port F pins 16 to 23 This clears a bit in the CPU Pin Assignment Register PAR and sets the bit CPU Data Direction Register DDR for output For more information see Motorola 19902 37 FORTH for NOAA MLML Instruments Example DECIMAL 3 PCLR ok causes the output of bit 3 in Port D to become low Related words CPUPIN PIN PSET PIN n f Returns the port input value f from the pin n which ranges from 0 to23 modulo 24 corresponding to the following ports Port D pins 0 to 7 Port E pins 8 to 15 Port F pins 16 to 23 This clears a bit in the CPU Pin Assignment Register PAR and clears the bit CPU Data Direction Register DDR for input For more information see Motorola 1990a Example DECIMAL 8 PIN J ok examines bit 0 of Port E which returns a one CPUPIN PCLR PSET n Sets pin n to output a high signal n ranges from 0to23 modulo
85. inate the assembler CMPM Compare memory contents coding This causes the current task to become COM Logical one s complement idle and pass control to the next task equivalent to MC68332 s NOT DBCC Test condition decrement and Branch Condition Codes branch See Branch Condition Codes The following condition codes are used with IF DBRA Decrement and branch and UNTIL as described above as well as the DIVS Signed divide mnemonics DBCC SCC and TRAPCC These leave DIVU Unsigned divide a branching code on the stack which is OR ed with EOR Exclusive OR two values the branch instruction At execution the CPU status EORSR Exclusive OR immediate to Status aregister bit s are tested for condition See Motorola Register 1990b especially under Bcc for more details EXG Exchange registers EXT Sign extend a register 0 Tests the zero status bit ILLEGAL Illegal instruction trap 0 lt Tests the negative status bit JMP Jump to new PC 0 Tests if the value is greater than zero JSR Jump to subroutine CS Tests the carry status bit LEA Load effective address LS Tests if the values is less than zero or same LINK Link and allocate VS Tests the overflow status bit LPSTOP Low power stop July 1993 Rev January 1994 61 FORTH for NOAA MLML Instruments 62 LSL Logical shift left ROXL msb C X 0 Isb LSR Logical shift right ROXR Isb C X 0 msb MOV Move data from source to RTD destination MOVC Move data
86. lash EPROM This is done by copying the FORTH core and then the user dictionary to the Pseudo static RAM and executes TT7BURN The user dictionary is permanently saved in the EPROM at least until a new FORTH core update or TI7SAVE is executed later When a system r set or power up occurs this user dictionary is copied to the Static RAM Related words EMPTY FORGET July 1993 Rev January 1994 FORTH for NOAA MLML Instruments MLML Tech Pub 93 2 TT7SLOAD Reads in Motorola S records from the console and places the data in the Pseudo static RAM When this routine displays Receiving S Records send the S records from a file in an external computer Records beginning with S7 S8 or S9 indicates the end of the file SO records are ignored Since this only places the data in the Pseudo static RAM the user must execute TT7BURN before doing anything else The address in the S records must be in the range from the start of the Flash EPROM to the upper limit of the EPROM In this implementation the address must be from hexadecimal 080000 to OFFFFF An address outside this range or an invalid S record format would abort with an error Related words SRECORD TT7LOAD TT7BURN July 1993 Rev January 1994 65 FORTH for NOAA MLML Instruments FORTH Commands Specific for the SIS These FORTH words are specific for the Surface Irradiance Spectrometer SIS This instrument is designed to scan incident irradianc
87. lock counter COUNTER TIMER MS Time of day TIME TIME 00 TIME TIME HMS a n n n hh mm ss time d1 d2 time an C d smh July 1993 Rev January 1994 FORTH for NOAA MLML Instruments Date YMD date d m y JULDAY date julday CALDAY julday date WEEKDAY date weekday IDATE dd mm yyyy DATE date MONTH nl an2 DAY WEEK n1 a n2 DATE date an DATE E RTC lt 3 Alarm SETALARM dd mm yyyy hh mm ss ALARM JALARM f Scheduling SCHED pfa date time per cyc sch CLRSCHED sch SCH SCANSCHED SLEEP 22 SLEEP f BINARY DECIMAL HEX DEPTH n S gt D n d S TOGGLE a mask CELL n nf CALCCRC crcl a n crc2 UPDATECRC crcl b crc2 CPU Registers SIM MCR SIM DDRF SIM SYNCR SIM PFPAR SIM RSR SIM SYPCR SIM PORTE SIM PICR SIM DDRE SIM PITR SIM PEPAR SIM SWSR July 1993 Rev January 1994 SIM PORTF CPU Words CRYSTAL SYSCLOCK ISYSCLOCK sysclk CSWAIT CS REG SIM QSM CPUPIN PIN PCLR PSET PIN QSM Registers QSM OMCR OSM OILVR OSM SCCRO QSM SCCR1 QSM SCSR QSM SCDR QSM QPDR QSM QPAR QSM QDDR Serial I O SCIBUF SCI BAUD BAUD BAUD XSHAKE QBAUD IOBAUD QBAUD TYPE EXPECT CR PAGE MARK TAB CLEAN ECHO EMIT SAVEKEY STRAIGHT MLML Te
88. must also be changed Otherwise transmitted characters become garbled Related word BAUD ZASC an Format lt FASC E Copies a string starting at address a and length n to a buffer in memory for output This is useful for adding ASCII strings to the output buffer defined by lt Example DECIMAL 18 4 ZS H sec ASC gt 18 sec ok Related words lt S SIGN HOLD 7 July 1993 Rev January 1994 MLML Tech Pub 93 2 AUTO a A user variable containing the PFA of an autostart routine When the system powers up or a cold reset is performed the startup routine examines this variable If the content is zero then no autostart is performed otherwise executes the autostart routine By default this variable is set to zero This is useful to define instrument specific startups such as initializing external A D converters specific TPU routines etc T enable the autostart create a FORTH word containing the startup routine s and obtain its PFA from Store this PFA in this variable and execute TT7SAVE so this will be saved along with the new FORTH word s to the Flash EPROM Displays contents of the parameter stack starting from the bottom to top of stack terminated with lt Top An empty stack prints the message Empty Stack Example 1 5 88 S 1588 lt Top ok ud1 ud2 Format lt 00 gt Extracts minutes or seconds i e 0 to 59 from the double pr
89. n u ADCAVG n ADC Known A D Channels TILTX gain n TILTY gain n WTEMP gain n BATT gain n DTEMP gain n ITEMP gain n PRESS gain n BTEMP gain n RTEMP gain n COMPASS n July 1993 Rev January 1994 FORTH for NOAA MLML Instruments CCD Array Acquisition BINIT RINIT BRESET RRESET BSTART RSTART BLUTIM REDTIM BLUBUF REDBUF BLULEN REDLEN BCOOL RCOOL BCOOL VAL RCOOL VAL BDELAY RDELAY BDISP RDISP CCD Integration Times BINTEG RINTEG BINT 25 RINT 25 BINT 5 RINT 5 BINT1 RINT1 BINT2 RINT2 BINT4 RINT4 BINTS RINTS BINT16 RINT16 BINT32 RINT32 BINT64 RINT64 BINT128 RINT128 BINT256 RINT256 BINT512 RINT512 BINT1024 RINT1024 July 1993 Rev January 1994 t 4 0 om Gi Pott gt DE C Ne o Go 4 i 5 e 1 oi D Di SAN AN ff SN fm fm m fm fmm Umm fm t i ATN mm t U t t U t t I 1 I i t I L t L t I t U i L t L t t t U i U i t 1 1 D i D 1 t t 1 t t New Nr rer Na Nee Nee enn uas Ne Nee uas Nee Nee un Ne Ne uns us uns ans uns ens uns uus uu an ensi Nl mM mM mS mS UIT UIT 1 L AC Nee NA NA NA NA ae ae Fiducial FID FID FIDON FIDOFF FIDPOS DARK UP DOWN CALIB Fiber Optic MUX MUXON MUXOFF MUXTPU CHAN MUX HLDTO MUX HOME MUX IDXDN MUX IDXUP MUXCHAN MUXCHAN VAL SEEMUX SEEMUX Data Output ADC DEFAULT ADC LIST ADC NUMCHAN GD GDAD GD
90. n7 is not equal to n2 STACK Aborts with an error message if the parameter stack is out of bounds a n Fetches a single precision number from memory address a Related word EXECUTE a Fetches the PFA from memory address a and if it is not zero executes compiled FORTH words starting at PFA Related word EXECUTE ABORT Resets the parameter and return stack pointers and executes the routine stored in IDLE By default this routine sets BASE to 10 and resets CONTEXT and CURRENT to FORTH vocabulary while preserving the user dictionary This is similar to a warm system reset Related words ABORT ABORT July 1993 Rev January 1994 FORTH for NOAA MLML Instruments ABORT f Format ABORT If f is true then it executes the routine stored in ABORT otherwise it does nothing By default this routine is ABORT which prints the compiled string terminated by an ending quote and executes ABORT The string may contain up to 255 characters Related words ABORT ABORT ABS n u Returns the absolute value of n Related word NEGATE ACTIVATE a Used only in a colon definition Starts the task at PFA a executing the remainder of the definition This definition must have ABORT STOP QUIT or an infinite loop such as BEGIN AGAIN before terminating with or the system will crash Example START TASK1 ACTIVATE BEGIN PAUSE AGAIN ok Related words BACKGR
91. ne to execute the words starting at PFA The word s between name and are searched and if found the CFA of each word is stored in the dictionary Example AVG 2 ok Creates a word AVG to average two values and display the result 8 15 AVG 11 ok Related word Format name 3 This terminates the colon definition by clearing the smudge bit of name and store the address of the routine to exit the word to the dictionary Related word CODE Format name CODE C Terminates the colon definition by clearing the smudge bit of name and store the address of the routine to invoke name to the dictionary This creates a new defining word CODE sets the context to ASSEMBLER to compile the mnemonics of the run time action of name Related words C ASSEMBLER July 1993 Rev January 1994 FORTH for NOAA MLML Instruments lt n1 n2 f Compares two single precision numbers and returns a true flag if n7 is less than n2 otherwise leaves a false flag Related words D U lt Format lt gt Initiates the conversion of a double precision number to an ASCII string This creates the string in reverse order starting at PAD and its final address is stored in the user variable PTR Related words S SIGN ASC HOLD gt BUILDS 59 Format name lt BUILDS DOES Causes name to define another word and clears the smudge bit and stores z
92. ng ports Port D pins 0 to 7 Port E pins 8 to 15 Port F pins 16 to 23 This sets a bit in the CPU Pin Assignment Register PAR For more information see Motorola 19902 Example DECIMAL 18 CPUPIN ok sets bit 2 in the Port F PAR to enable interrupt request input at interrupt level 2 Related words PCLR PIN PSET CRYSTAL n Returns the external crystal frequency of the system It usually ranges from 20 to 50 KHz In this implementation the value is 40 KHz CSWAIT n1 n2 Sets the wait state nl in the chip select register n2 The wait state indicates how many clock cycles to wait before storing or fetching data from memory or I O The value ranges from 0 to 13 The chip select register value ranges from 0 to 10 Out of range values prints an error message Example 49 CSWAIT ok sets 4 wait states to the chip select register 9 Related word CS July 1993 Rev January 1994 MLML Tech Pub 93 2 EXCEPTION an Stores the exception address a i e the start address of an interrupt routine to the vector n in the vector base area The interrupt routine must be in assembly code and terminated with an RTE Each vector is 4 bytes long See Motorola 1990b for details on exceptions Example LABEL DUMMYINT RTE C ok DUMMYINT 54 EXCEPTION ok Related word TPUEXCEPTION HSRRWAIT n1 n2 f Examines repeatedly a service request value from the TPU Host Service Request Register HSRR unt
93. not match Use SEEMUX to enter calibrated MUX values Example 10 MUXON ok Related words MUXCHAN MUXTPU CHAN MUXOFF MUXOFF MUXTPU CHAN SEEMUX MLML Tech Pub 93 2 n Disables the TPU channel the value is stored in MUXTPU CHAN from the stepper motor function and turns off the fiber optic multiplexer This is used to conserve power from the batteries Related word MUXON MUXTPU CHAN a A variable containing the TPU channel number used for fiber optic multiplexer operations Related word MUXON n1 n2 Calibrated MUX positions n1 in stepper motor counts from the home position is stored in the Serial EEPROM for MUX channel n2 The channel number ranges from 1 to 10 The calibrated values are stored beginning at address 258 in the EEPROM Address 256 is reserved for the CRC checksum The values for all channels occupies 22 bytes of the EEPROM Example DECIMAL 141 2 SEEMUX ok stores 141 counts for MUX channel 2 Related word SEEMUX July 1993 Rev January 1994 FORTH for NOAA MLML Instruments FORTH Quick Reference Guide 0 n 1 n 2 n 3 n 4 n 6 n 8 n 1 n CELL n 0 d 1 d BL c C L n ABORT L AUTO LAST BASE MARK C PAGE CLEAN PTR CONTEXT RO CR SO CSP SPAN CTR STATE CURRENT STATUS DEVICE TAB EXPECT TIB FENCE TYPE H VOC LINK IDLE WARNING gt IN WIDTH KEY Single precision
94. nterface functions User space A portion of the memory set aside for user variables Vocabulary Contains a set of selected FORTH words Several vocabularies may exist and selecting a vocabulary may combine more than one vocabulary Words are searched in the context vocabulary New words are created in the current vocabulary MLML Tech Pub 93 2 References Baker L and Derick M 1983 Pocket Guide to FORTH Publishing Company 104 p Addison Wesley Brodie Leo 1987 Starting FORTH 2nd Ed FORTH Inc Prentice Hall 346 p Broenkow W W and Reaves R E 1993 Introduction to MLML DBASE programs Moss Landing Marine Laboratories Tech Pub 93 1 Moss Landing CA 95039 Conner Peripherals 1991 CP2084 Intelligent Disk Drive Product Manual Conner Peripherals Inc 61 pp FORTH Inc 1986 polyFORTH ISD 4 Reference Manual and CPU Supplement FORTH Inc McCabe C Kevin 1983 FORTH Fundamentals Vols 1 and 2 dilithium Press 365 p Motorola Inc 1990a MC68332 User s MC68332UM AD Manual Part number Motorola Inc 1990b CPU32 Central Processing Unit Reference Manual Part number CPU32RM AD REV 1 Motorola Inc 1990c TPU Time Processing Unit Reference Manual Part number TPURM AD Onset Computer Corp 1991 Tattletale Model 7 Hardware Reference Manual North Falmouth MA 02556 1030 The Waite Group 1989 The Waite Group s MS DOS Developer s Guide 2nd Ed Howard W Sams and Company 783 p
95. ol Register 0 This controls the operation of the OSPI including setting the baud rate See Motorola 1990a for more details Related words QBAUD QBAUD QSM SPCRI a Returns the address of the OSPI Control Register 1 This controls the operation of the OSPI See Motorola 1990a for more details July 1993 Rev January 1994 MLML Tech Pub 93 2 QSM SPCR2 a Returns the address of the QSPI Control Register 2 This controls the operation of the OSPI See Motorola 1990a for more details a Returns the address of the QSPI Control Register 3 This controls the operation of the OSPI This register is one byte long See Motorola 1990a for more details QSM SPCR3 QSM SPSR a Returns the address of the QSPI Status Register This contains the status of the OSPI This register is one byte long See Motorola 1990a for more details QSM XMTRAM a Returns the address of the OSPI Transmit Data RAM array This is used in conjunction with QSM CMDRAM to transmit serial data to external devices Each element is a word 2 bytes long See Motorola 1990a for more details SCIBUF a Returns the address of the SCI input buffer which is 260 bytes long The first 4 bytes contains the header and the remaining 256 bytes contains the data received from SCI The header contains Pos Len Description 0 2 JControl Status 2 1 Pointer to the last character received 3 1 Pointer to the first character receive
96. ola 68332 CPU the TT7 contains additional components that enhance its usefulness These include the SDA1812 A D converter ICM7170 real time clock CAT35C104 serial EEPROM and Conner CP 2084 disk drive A D Converter A Siemens SDA1812D 12 bit A D converter is also included on the TattleTale Model 7 This chip can read four channels one at a time and return the 12 bit result This is accomplished by using the FORTH word SDA In case of timeouts SDA returns the value given by ADTIMEOUT All four channels of the A D converter may be printed using SDA To make use of the SDA chip from an assembly routine the address returned by sdasr points to a subroutine also used by SDA Hard Disk Drive An 80 megabyte Conner CP 2084 3 5 disk drive is attached to each of the TattleTale Model 7 A series of low level FORTH words were created to make use of this drive to read and write sectors and July 1993 Rev January 1994 MLML Tech Pub 93 2 obtain information about the drive and registers DRIVE Turn on off drive DINFO Print drive information DSTAT Print drive registers DREAD Read sector s DWRITE Write sector s Other low level words are used in the above but may be used for other purposes DRIVE TABLE Returns disk configuration DINFO Copies disk info to buffer DREADY Checks drive status DSECTOR Positions drive for read write Using these low level routines additional FORTH words are available to setup and access the di
97. orm of this word can be used as RD The sub directory name is specified by a and length n and the names can be separated by backslashes X The contents of the sub directory must be empty else returns an error Any error will abort with a message Related words CHDIR MKDIR SCANSCHED Goen Scans the schedule list and executes routines enabld in the scheule list Although this may be executed at any time this should be executed when an alarm interrupt occurs using 7ALARM Example BEGIN ALARM IF SCANSCHED THEN AGAIN ok Related words SCHED SETALARM 51 FORTH for NOAA MLML Instruments SCHED a d1 d2 n1 n2 n3 Adds or modifies a schedule to the schedule list The information required for the list is a the PFA of the routine to execute upon alarm interrupt This may be obtained from executing with routine name following dl the date to begin the alarm interrupt This is entered as dd mm yyyy dd day of month mm month yyyy year The current date may be used by setting this value to zero i e 0 d2 the time of day to begin the alarm interrupt This is entered as hh mm ss hh hour in 24 hour time mm minutes ss seconds Although seconds are not used it should be set to zero nl the period interval in minutes between alarm interrupts A zero value indicates the schedule will execute only once n2 the number of schedule executions A zero value indicates infinite number of alarm int
98. ormat FORGET name Related words ERROR MESS Used only as an executable word Deletes name a and all the words created after name from the dictionary The context vocabulary must be the same as the current vocabulary Any error returns an error message EXECUTE Executes the word starting at the PFA a Related word QEXECUTE Related word EMPTY EXIT FORTH Format name EXIT Selects the FORTH core words as the context Used only in a colon definition Terminates the vocabulary execution of name Before terminating the return stack must be the same as when name GET a starts executing otherwise a system crash can result Assigns a resource such as a hardware device disk drive etc to the task by storing the task s user area address to the resource variable a If the resource variable contains zero or equal to a then this resource is available Otherwise waits until the resource becomes available Related word Related word RELEASE July 1993 Rev January 1994 23 FORTH for NOAA MLML Instruments H a A user variable containing the current dictionary pointer Related word HERE H ha Stores a half precision number to the memory address a Related words H U H ha Increments a half precision number in the memory address a by h Result is left at a Overflow is not checked Related words C H h Compiles a word to the dictionary an
99. ors such as bus errors invalid address divide by zero etc FORTH word A word containing any ASCII characters except control characters and space identifying the operation to be performed Parameter stack or simply stack A group of cells that the FORTH word uses as arguments for input and output Pin A one bit data I O line that functions as either an input or an output Used mainly for controlling and check status of external devices FORTH for NOAA MLML Instruments QSM An acronym for Queued Serial Module which is part of the 68332 CPU This contains both the QSPI synchronous and SCI asynchronous interfaces QSPI An acronym for Queued Serial Peripheral Interface which is part of the 68332 CPU This is a synchronous serial I O useful for high speed communications Return stack A group of cells used mainly as a return pointer after a FORTH word is executed Also used in loops see DO and can be used as place holders from the parameter stack see gt R and R gt SCI An acronym for Serial Communication Interface which is part of the 68332 CPU This is an asynchronous serial I O used as the console port for interactive FORTH SIM An acronym for System Integration Module which is part of the 68332 CPU This controls the operation of the CPU such as system clock timers etc TPU 4 An acronym for Time Processing Unit which is part of the 68332 CPU Its 16 channels provide various time or serial i
100. ownload new commands remotely Thus we will be able to reprogram MOBS via cellular phone FORTH provides a multi tasking interactive and flexible environment in contrast with the commercially available cross compilers that requires an external computer such as the MacIntosh to create and download programs which is time consuming Because we find the need to have online storage of large data sets we chose to implement the MS DOS disk capabilities in FORTH Since the instrumentation and its use are rapidly evolving this report will require periodic updating This project has been time consuming but will pay off by allowing us control over all functions FORTH for NOAA MLML Instruments FORTH Organization The FORTH dictionary for the Onset TattleTale Model 7 TT7 which uses the Motorola 68332 CPU was developed from several sources First the 8085 FORTH provided by Research Support Instruments Inc which was then modified for use on MLML s MOS instrument This is a Fig FORTH version The second source was from FORTH Inc Target Compiler for the 68332 The drawback of the target compiler is that the 68332 must communicate with an IBM PC using the Background Debug Mode BDM interface built into the CPU The goal was to have FORTH on the TT7 to run independently of any external machines Consequently the entire FORTH core was rewritten based on the source code from 000000 Static RAM 256K 040000 unused 080000 Flash EPROM
101. pends on the record type Type Address length in bytes 0 0 1 or 9 2 2or 8 3 3 or 7 4 dddd dd data cc checksum which is the one s complement of the sum of the byte values from the length byte up to the checksum byte Example 107010012042AFFB8 SRECORD S DROP HERE 128 SWAP DUMP 256 4 1 Top 00000094 12 04 2A FF ok the address for the DUMP is arbitrary 63 FORTH for NOAA MLML Instruments TT7BURN 64 Copies the Burner Program into the Standby RAM and executes This should be used after TT7LOAD or TT7SLOAD or the user runs the risk of corrupting the data in the Pseudo static RAM the disk routines also use this RAM During execution the program will print the status of its operation and the EPROM to the console At the end it does a system reset and starts the new FORTH operating system Example TT7BURN Begin EPROM Burning EPROM ID Check Completed Retries 0000 Zero EPROM Completed Retries 0000 Erase EPROM Completed Retries 0095 Burn EPROM Completed Retries 0000 system startup banner The retries field in the status report indicates the quality of the Flash EPROM Higher numbers indicate the EPROM will be unreliable during future EPROM burns If instead of the Completed Retries status a Failed Error x appears this indicates something is wrong with the EPROM l Error Cause 3 Could not erase EPROM more than 3000 retries 5 Could not zero
102. r circuitry These values are also saved in variables BCOOL VAL and RCOOL VAL Example 30 BCOOL 37 RCOOL ok sets blue CCD cooler to 30 and red CCD cooler to 37 BCOOL VAL RCOOL VAL a a CCD array cooler values last used with BCOOL and RCOOL BDELAY RDELAY Wait for period of time determined from BLUTIM and REDTIM before acquiring data from the spectroradiometers Related words BINTEG RINTEG BDISP RDISP These obtains and displays in hexadecimal format the spectroradiometer scan for either the blue or red CCD July 1993 Rev January 1994 FORTH for NOAA MLML Instruments BINTEG n RINTEG n Sets the integration time for the spectroradiometers The input value n is the index to the times in the constant INTEGTIME The following commands are available to set the integration times in seconds BINT 25 RINT 25 0 25 sec BINT 5 RINT 5 0 5 sec BINT1 RINT1 1 0 sec BINT2 RINT2 2 0 sec BINT4 RINT4 40 sec BINTS8 RINT8 8 0 sec BINT16 RINT16 16 0 sec BINT32 RINT32 32 0 sec BINT64 RINT64 64 0 sec BINT128 RINT128 128 0 sec BINT256 RINT256 256 0 sec BINTS12 RINTS512 512 0 sec BINT1024 RINT1024 1024 0 sec BINIT RINIT Initializes the blue and red spectroradiometers and resets the FORTH variables BLULEN REDLEN a Lal The actual length of data received in BLUBUF and REDBUF BRESET RRESET Resets the blue and red spectro
103. radiometers to the default values and sets the baud rate of the ports Starts acquiring the data from the blue and red spectroradiometers based on the integration times defined The data are saved into BLUBUF and REDBUF to be later retrieved BLULEN and REDLEN contains the number of bytes received by the spectroradiometers BSTART RSTART Related words BINTEG RINTEG July 1993 Rev January 1994 MLML Tech Pub 93 2 BLUTIM REDTIM a a Variables containing the blue and red integration time index used in BINTEG and RINTEG n Returns the compass direction in degrees magnetic The value is in integer degrees COMPASS This uses the KVH compass through a TPU asynchronous serial channel and the compass value is decoded from the string FID n This returns the fiducial position value which is defined as 0 between positions 1 dark position 3 up position 5 down position 7 calibration position FID This reads the fiducial position and output position in English Related word FID FIDON Turns on the fiducial motor Related words FIDOFF FIDPOS FIDOFF Turns off the fiducial motor Related words FIDON FIDPOS FIDPOS n Sets the fiducial to a position see FID for position values The follow words are available to set the fiducial to known positions DARK Sets the fiducial to dark position UP Sets the fiducial to up position DOWN Sets
104. rd C C a A user variable containing the current column number of the cursor Related word L C ba Increments a byte in the memory address a by b Result is left at a Overflow is ignored Related words H C b Compiles a byte to the dictionary and increments its pointer by one Related words H EE ni Puts the maximum number of columns per line on stack Currently this value is 80 July 1993 Rev January 1994 FORTH for NOAA MLML Instruments C Format CODE name C Terminates the assembler and returns the current vocabulary back to the context vocabulary Also the smudge bit is cleared and the stack pointer is checked Related words CODE CODE LABEL C a b Fetches a byte from the memory address a Related word C CELL n1 n2 Increments the number on top of stack by cell length which is 4 CELL n1 n2 Decrements the number on top of stack by cell length which is 4 CELLS n1 n2 Multiplies the number on top of stack by cell length which is 4 CFA al a2 Converts the PFA on top of stack to CFA Related words LFA NFA PFA CLEAN ea Clears the line on screen from cursor position to the end of line This executes a routine stored in user variable CLEAN CMOVE ala2u Copies memory from a1 to a2 with length u one byte at a time Memory is copied starting at the beginning of the string working towards higher memory
105. rds ADC ADC NUMCHAN ADC LIST GDAD GDGAIN MLML Tech Pub 93 2 GDAD Gets data from analog channels specified in ADC LIST and ADC NUMCHAN and compass direction and outputs them according to BASE This is useful to get only the analog channels and the compass readings for a quick look at the instrument status since the spectrometers and the fiber optic multiplexer takes time to setup acquire and transmit data If BASE contains the value 2 see BINARY the output will be binary data otherwise the output will be converted to the value in BASE The organization of the output in binary format is as follows assuming the default setup Note For fields 2 or more bytes long the bytes are reversed to make it compatible with the VAX byte order Pos Len Description 0 2 Length of the data in bytes 2 2 Number of analog averages 4 1 Number of analog channels 5 4 analog channel values def 19 81 2 Compass direction in deg M 83 2 CRC Checksum of all data in the output including the length field Note For each of the analog and Spectrometer channel values the four bytes are encoded as Pos Len Description 0 1 Gain value If the 7th bit of this field is set a timeout has occurred and the analog value field contains invalid data 1 1 Channel number 2 2 analog value Related words ADC ADC NUMCHAN ADC LIST GD GDGAIN July 1993 Rev January 1994 FORTH for NOAA MLML Instruments MLML Tech Pub 93 2
106. reates a new vocabulary name which links to the current vocabulary If name becomes the current vocabulary any new words will be defined under this vocabulary Up to 8 vocabularies may be found in the system in this implementation 3 are used ie FORTH ASSEMBLER and TT7 leaving 5 additional entries Related word DEFINITIONS 32 MLML Tech Pub 93 2 WAKE n A constant used to store in STATUS of a task to resume its execution caused by STOP In this implementation this is a two byte code equivalent to JSR A4 in assembly code WARNING a A user variable containing the warning flag Related word ERROR WHILE f name BEGIN WHILE REPEAT Format Used only in a colon definition Tests the flag on stack and if true executes the words following WHILE and branches back to BEGIN at REPEAT A false flag branches to the word following REPEAT Related words BEGIN REPEAT WIDTH a A user variable containing the maximum length of the word names The default value in this implementation is 31 WITHIN n1 n2 n3 f Returns a true flag if n2 lt n1 n3 for n2 gt n3 either n2 lt nl or n1 n3 Otherwise returns a false flag DOS e Parse the next word from the input buffer with c as the delimiter or a null character whichever comes first A copy of the word with delimiters removed is placed at the dictionary pointer with a length of the word stored in the first by
107. regarding the registers and the operation of the CPU CFSR CIER CISR 34 n1 n2 Sends a channel function value to the TPU Channel Function Select Register CFSR The function value n1 range from 0 to 15 modulo 16 See TPUF xxx for function values The channel number 72 ranges from 0 to 15 modulo 16 Related word CFSR fn Sets or clears a bit in the TPU Channel Interrupt Enable Register CIER depending on the flag f A true flag enables and a false flag disables interrupts from the channel The channel number n ranges from 0 to 15 modulo 16 Related word CIER fn Sets or clears a bit in the TPU Channel Interrupt Status Register CISR depending on the flag f The channel number n ranges from 0 to 15 modulo 16 Related words CISR CISR CPR HSQR HSRR MLML Tech Pub 93 2 nl n2 Sets the priority in the TPU Channel Priority Register CPR The priority value n1 ranges from 0 to 3 modulo 4 This value governs the priority the TPU acts upon the channel 0 No priority channel disabled 1 Low priority 2 Middle priority 3 High priority The channel number n2 ranges from 0 to 15 modulo 16 Related word CPR n1 n2 Sends a sequence to the TPU Host Sequence Register HSOR The sequence values 74 ranges from 0 to 3 modulo 4 This selects the mode of operation of the TPU channel and is dependent on the function The channel number n2 ran
108. rom day of the week n1 0 Sun 1 Mon etc In this implementation n2 will always be 3 Example 4 DAY WEEK TYPE Thu ok Related word WEEKDAY DEL an Deletes a file from the DOS disk The file name a with length n may include sub directory separated by a backslash V DINFO a Receives information about the disk drive into a buffer a This assumes the disk drive is turned on See Conner 1991 for details on content Related words DINFO DRIVE DIR Outputs a DOS like directory listing to the console The directory is specified with CHDIR DREAD a n1 n2 Reads data from disk to the buffer a starting at the logical sector number n1 and the number of sectors to read n2 Each sector is 512 bytes long so the memory at a must be large enough to hold 512 n2 bytes Any error aborts with a message Related word DWRITE MLML Tech Pub 93 2 DREADY Checks the drive power on status and the drive status registers Waits until the drive is ready to read or write Aborts with a message on timeouts or errors DRIVE f Turns the disk drive on or off depending on the flag f If true then turn drive on otherwise turn it off Turning it on may take about 8 seconds DRIVE TABLE n1 n2 n3 Extracts the disk identification and matchs it with the table Returns the number of heads n1 the number of cylinders per head n2 and the number of sectors per cylinder n3 The product of the three values
109. s 4 sectors These parameters including the number of FAT sectors are calculated in FORMAT Real Time Clock The TattleTale Model 7 provides date and time from an onboard Real Time Clock using the Harris Semiconductor ICM7170 chip FORTH words are available to set and retrieve date and time from the Real Time Clock IDATE Sets the date DATE Gets the date ITIME Sets the time of day TIME Gets the time of day Leap years are also accounted for Since only the last two digits of the year are used the years range from 1980 to 2079 The time of day is based on the 24 hour clock The Real Time Clock also provides scheduling by using its alarm registers The TT7 was modified so it can turn itself off and wakes up at a later time set in the alarm The following words provides this function SETALARM Sets the alarm registers JALARM Check alarm interrupt flag ALARM Print content of alarm registers SLEEP Check if can turn off TT7 SLEEP Sets alarm and turn off TT7 SCHED Sets the schedule for alarm interrupts SCH Print schedules SCANSCHED Scan schedule upon alarm interrupt and execute routines associated with the interrupt _ Note the scheduling information are stored in the system area of the Serial EEPROM described below The entire contents of the Real Time Clock may be printed using RTC Serial EEPROM A 4096 bit serial EEPROM chip is included with the TattleTale Model 7 for storing permanent data even when t
110. s Setting the pins to one causes the pin to become an interrupt request pin See Motorola 1990a for more details Related words SIM PFPAR Related words CPUPIN PCLR PIN PSET MLML Tech Pub 93 2 SIM PICR a Returns the address of the SIM Periodic Interrupt Control Register Used in conjunction with SIM PITR this sets the interrupt level and vector of the timer See Motorola 1990a for more details SIM PITR a Returns the address of the SIM Periodic Interrupt Timer Register This specifies the time between timer interrupts This is used by COUNTER See Motorola 1990a for more details SIM PORTE a Returns the address of the SIM Port E Data Register This register is one byte long and is used for bit wise input and output See Motorola 1990a for more details CPUPIN PCLR PIN PSET a Returns the address of the SIM Port F Data Register This register is one byte long and is used for bit wise input and output See Motorola 1990a for more details Related words SIM PORTF Related words CPUPIN PCLR PIN PSET a Returns the address of the SIM Reset Status Register This contains the status of the cause of system reset This register is one byte long See Motorola 1990a for more details SIM RSR SIM SWSR a Returns the address of the SIM Software Watchdog Service Register This allows resetting the software watchdog by first writing hex value 55 and then write hex value AA to
111. s 16 777 216 MHz The minimum frequency is 131 KHz however in actual practice the minimum should be 320 KHz Anything lower than this would result in difficulty in communicating through the SCI console port Notes The SCI and OSPI baud rate registers are automatically adjusted for the new system clock Changing the frequency to a lower value lowers power consumption Example DECIMAL 8000000 SYSCLOCK ok sets the system clock to 8 MHz Related word SYSCLOCK July 1993 Rev January 1994 MLML Tech Pub 93 2 TPUBUF al a2 n Stores the buffer address a7 and the interrupt routine address a2 to a memory location specified by the TPU channel number n Each TPU channel can have its own interrupt and when an interrupt occurs the internal routine extracts the interrupt routine address If this address is not zero then the routine loads in the buffer address to register AO and then jumps to the interrupt routine CPU registers AO and A1 are also saved in the return stack before getting the buffer and interrupt addresses This preserves their contents upon exiting the interrupt routine The user s interrupt routine need not save the contents of these registers Related words tpuvend TPUBUF TPUBUF SCT a Contains the address of the task s user space which uses the SCI as the console port On power up SCI is assigned to OPERATOR CS Prints information about the SIM chip select registers wit
112. s MLML Tech Pub 93 2 SEE4 a n CD an Fetches a longword n from the address in the Short form of CHDIR See CHDIR TattleTale s Serial EEPROM The address ranges from 0 to 508 modulo 512 This isa CHDIR an non volatile RAM useful to save data for the next power up or reset Changes to the default directory specified by the string a and its length n The sub directory names may be separated by a backslash This sets the directory for default disk operations and TIME u for directory listing Prints an error message if M the disk drive is not on on invalid sub directory Gets the time of day from the Real Time Clock names or non DOS disk format in centiseconds since midnight Related word SEE4 Related words MKDIR RMDIR DIR Related word TIME CHKDSK ALARM f This checks the disk for clusters that are not Returns the interrupt status of the Real Time Clock If f is non zero then the interrupt has occurred otherwise no interrupt had occurred linked to any directory entry and valid directory and sub directory entries If any clusters are not linked directory entries will be created for these chained clusters in the root directory as FILExxx CHK where xxx is the sequential number of the file At the end this routine will register The value should be saved to a print the results Prints an error message if the variable or kept on stack to use it in a drive is not on or if the disk is no
113. sk drive in DOS IBM PC format The DOS disk format and directory structure was implemented here from material provided in Angermeyer et al 1989 pp 577 618 This allows the drive to be connected to a PC compatible computer so files can be transferred easily between the PC and the drive This connection is accomplished using the National Instrument PC DIO 24 card and a appropriate driver for the PC The following words operates on files FOPEN Opens a file for read write FSEEK Sets the file position FREAD Reads data from file FWRITE Writes data to file FGETS Reads a string from file FPUTS Writes a string to file FEOF Sets the End of File marker FCLOSE Closes the file Other words which emulate their DOS counterparts may be used for disk and file handling FORMAT Formats disk CHKDSK Checks contents of disk FTYPE Displays ASCII contents of file FDUMP Displays binary contents of file COPY Copy files DEL Remove files from disk REN Rename files MKDIR or MD Create a sub directory CHDIR or CD Set current directory RMDIR or RD Remove a sub directory DIR Display content of directory The DOS disk format comprises the disk header sector the File Allocation Table FAT and the root directory The data following the root directory are 3 FORTH for NOAA MLML Instruments grouped in clusters Each cluster contains a number of sectors in powers of two depending on the disk size In this case of 80 Mb drive the cluster size i
114. t available then it waits until a character is received Related words KEY EMIT EXPECT TRAIGHT Lal A user variable containing the current line number of the cursor Related word CZ LABEL Format LABEL name C Creates a dictionary entry of name and sets the current vocabulary to ASSEMBLER This does not form an executable word but instead it returns the address of the routine Hence it is useful to create subroutines at the machine level FORTH words are not compiled but rather executed See MC68332 FORTH Assembler for more details on using the assembler Related words CODE CODE C LAST a A user variable containing the LFA of the last dictionary entry created LATEST a Returns the LFA of the recent dictionary entry in the current vocabulary 25 FORTH for NOAA MLML Instruments LEAVE 2 Causes the indexed loop to terminate after executing the words after this to the end of loop This is done by copying the loop limit to the index Example DSPNUM 50 DO I3 IF LEAVE THEN I LOOP ok DSPNUM 0123 ok Related words DO LOOP LOOP LOOP LFA al a2 Converts the PFA on top of stack to LFA Related words CFA NFA PFA LITERAL n Format name LITERAL Used only in a colon definition Compiles the routine address and the single precision number to the dictionary Upon execution the compiled number is fetched and placed on the stack Related word DLITERA
115. t in DOS program format Note Executing this word clears the interrupt status bit in the Real Time Clock Related words ALARM RTC SETALARM Related word FORMAT SLEEP f CLRSCHED n Disables alarm interrupt for schedule number 7 The number must be from 1 to 8 Returns a non zero flag f indicates the TT7 will be turned off upon executing SLEEP otherwise it will not be turned off Related word SCHED This is useful for example to execute routines only when the TT7 is ready to be turned off i e COPY the last executing schedule in the list set up by al n1 a2 n2 SCHED Copies the contents of the source file to the destination file on DOS disk The source file ADTIMEOUT n name starts at al with length nl and the destination file name starts at a2 with length n2 The file names may contain sub directory names separated with the backslash character V Returns the timeout value for A D converters which would be returned by a routine that does the A D conversion on the event of a timeout In this implementation the hex value is 8000 i e the 15th bit is set Related word SDA July 1993 Rev January 1994 47 FORTH for NOAA MLML Instruments DATE Gets date from the Real Time Clock and prints it See DATE for information on the output format Example DATE Fri 21 Jan 1994 ok Related words DATE DATE DATE DAY WEEK n1 a n2 Returns an ASCII string a with length n2 f
116. taining the length remaining to output a string or to input characters In the case of inputs this value is negative until a carriage return detected or buffer pointed by PTR is full both results in CTR being zero Related word PTR CURRENT a A user variable containing the address of the dictionary pointer to the LFA of the last vocabulary word This is used for defining new vocabulary words as well as word searches Related words CONTEXT DEFINITIONS di d2 d3 Adds the two double precision numbers d1 and d2 and the result is left on stack as d3 Overflow is not checked Related words D M July 1993 Rev January 1994 FORTH for NOAA MLML Instruments D d1 d2 d3 Subtracts double precision number d2 from dl i e d1 d2 The result is left on stack as d3 Related words D D d Displays a double precision number d to the console unformatted and followed by a space Related words U D R dn Displays a double precision number d to the console right justified by width n Example 345 5 T D R T 345 ok Related word U R D0 d f Tests a double precision number Returns true if it s equal to zero else return false Related word 0 D d1 d2 f Compares two double precision numbers and returns a true flag if d1 is less than d2 otherwise leaves a false flag Related words lt U lt D d1 d2 f Compares two double precision numbers an
117. task definition table containing n1 bytes of user area n2 bytes of parameter stack area and n3 bytes of return stack area Executing name puts the address of the task table on the stack This table contains an array of 2 addresses First the pointer to the user variable area and the second is the initial parameter stack pointer Example 48 64 32 BACKGROUND TASK1 ok Related words TERMINAL BUILD BASE a A user variable containing the numeric base for input and output ASCII conversions By default the system starts with base 10 BEGIN Formats name BEGIN AGAIN name BEGIN UNTIL name BEGIN WHILE REPEAT Used only in a colon definition This starts compiling the indefinite loop During compilation the address at that point is left on stack Related words AGAIN REPEAT UNTIL WHILE BL n The ASCII value of a space 32 is put on stack an Fills the memory with spaces ASCII 32 starting at a with length n BLANKS Related word FILL 18 MLML Tech Pub 93 2 BUILD a Sets up the background task RAM area from the task definition table a This also connects the background task to the multitasking loop By default the task remains dormant until ACTIVATE is used Also inputs are disabled and the outputs are directed to the console Example TASK1 BUILD ok Related word BACKGROUND C ba Stores a byte b to the memory address a Related wo
118. te This is used by defining words such as CREATE to create a dictionary entry with the word name July 1993 Rev January 1994 FORTH for NOAA MLML Instruments MLML Tech Pub 93 2 XOR n1 n2 n3 Perform a logical i e bit wise exclusive OR of two single precision numbers Example HEX 123 4567 XOR 4444 ok Related words 1COM AND OR 1 em Suspends compiling to execute the following words in a colon definition This sets the user variable STATE to zero Related word COMPILE Format name COMPILE fname Force compilation of an immediate word fname to the colon definition Upon executing name fname will be executed as if it was executed during compilation Related words COMPILE Resume compiling in a colon definition This sets the user variable STATE to a non zero value Related word counter a Returns the system address containing the time elapsed in milliseconds since the last power up or system reset This is useful in writing assembly code that utilize this for timeouts delays etc Example CODE CNTR counter S MOV NEXT ok Related word COUNTER July 1993 Rev January 1994 33 FORTH for NOAA MLML Instruments MC68332 CPU Secific FORTH Words This section describes the FORTH words that are specific to the Motorola 68332 CPU These words utilizes the registers and memory of the CPU Refer to Motorola 1990a 1990b and 1990c manuals for more details
119. the fiducial to down position CALIB Sets the fiducial to calib position 71 FORTH for NOAA MLML Instruments Gets data from analog channels specified in ADC LIST and ADC NUMCHAN compass direction fiducial and fiber optic positions and blue and red spectrometers and outputs them according to BASE If BASE contains the value 2 see BINARY the output will be binary data otherwise the output will be converted to the value in BASE The organization of the output in binary format is as follows assuming the default setup Note For fields 2 or more bytes long the bytes are reversed to make it compatible with the VAX byte order Pos Len Description 0 2 Length of the data in bytes 2 2 Number of analog averages 4 1 Number of analog channels 5 4 analog channel values def 19 81 2 Compass direction in deg M 83 1 Fiducial position 84 1 Fiber optic position 85 4 Blue integration time msec 89 1 Blue CCD cooler value 90 1024 Blue spectrometer data 1114 4 Red integration time msec 1118 1 Red CCD cooler value 1119 1024 Red spectrometer data 21433 2 CRC Checksum of all data in the output including the length field Note For each of the analog and Spectrometer channel values the four bytes are encoded as Pos Len Description O 1 Gain value If the 7th bit of this field is set a timeout has occurred and the analog value field contains invalid data 1 1 Channel number 2 2 analog value Related wo
120. the minimum of the two double precision numbers d1 and d2 Related word MIN DNEGATE d1 d2 Change the sign of the double precision number on stack Related word DABS DO n1 n2 Formats name DO LOOP name DO LOOP name DO LOOP Used only in a colon definition Starts the indexed loop by saving the loop limit n7 and the initial loop index n2 to the return stack The loops continues until the index becomes greater than or equal to the limit Since the testing occurs at the end of the loop the loop is executed at least once Example DSPNUM 4 0 DO I LOOP ok DSPNUM 0123 ok LEAVE LOOP LOOP I P Related words LOOP 22 MLML Tech Pub 93 2 DOES Formats name lt BUILDS DOES name CREATE DOES Used only in a colon definition Specifies the run time behavior of the defining word name when used to define other words Related words BUILDS CREATE DROP n Throws away the single precision number from the top of stack Related word 2DROP DUP n nn Copies a single precision number on top of the stack Related words DUP 2DUP ELSE Format name IF ELSE THEN Used only in a colon definition Branches to the words after THEN in a conditional group IF tests a flag on stack and if true then executes the words between IF and ELSE Otherwise executes the words between ELSE an
121. tion of the bytes The output is similar to DUMP The file name begins at address a and length n and may contain the subdirectory separated by backslashes Example DUMMY DAT FDUMP 00000000 EA AA 2A AA AE A2 AA AA j ok Related word FTYPE FEOF n At file pointer n causes the current file offset to become the end of file The remaining contents of the file is deleted Related word FSEEK July 1993 Rev January 1994 MLML Tech Pub 93 2 FGETS a n1 n2 n3 Reads text data from a file specified by the file pointer n2 to the string a Returns n3 as the actual number of characters read from the following conditions 1 Up to the maximum length n1 2 Encounters a carriage return character which is not included in buffer a 3 Reached the end of file Related word FPUTS FREAD FSEEK FWRITE FOPEN antl n2 Opens a DOS disk file with its name beginning at address a and length n1 for reading and or writing The file name may contain the sub directory separated by backslashes V Returns n2 as the file pointer which is actually the index to the file pointer area This area contains information about the file such as a copy of the directory entry location of the directory entry file offset etc The file offset used in FSEEK is set to zero One of three things may happen 1 If the file does not exist then a new file is created 2 If the file exists it is opened for read and writ
122. true flag CELL n Puts the negative of the cell size i e 4 on the stack FIND an tf ff A copy of the word from the input stream delimited by whitespaces is placed at the top of the dictionary with the first byte containing the word length The word is then searched in both the context and current vocabularies If found then the PFA a and the word length n are placed on the stack along with the true flag Otherwise just the false flag is placed on stack July 1993 Rev January 1994 MATCH TEXT TRAILING period MLML Tech Pub 93 2 al n1 a2 n2 a3 n3 ff al n1 tf Searches the string al with length n1 for the substring a2 with length a2 If found then the address of the first non matching character a3 and the remaining length of the string n3 along with a false flag is placed on stack Otherwise al and n1 is copied to a3 and n3 and returns a true flag alua2 n Two strings al and a2 with same length u are compared and the result is left on stack al a2 returns zero al gt a2 returns a positive number 1 al lt a2 returns a negative number 1 Note The strings are compared on a cell by cell basis anl an2 Ignores trailing whitespaces in the string a with length n1 by adjusting the length to the last non space character n Displays a single precision number n to the console according to the value in BASE unformatted and followed by a space Relat
123. turn stack Related word R gt FORTH for NOAA MLML Instruments a Fetches a single precision number from address a and prints it 2COMP Aborts with an error message if not in compiling mode 2CSP Aborts with an error message if the current stack pointer is not the same as in the user variable CSP This is used mainly at the end of the colon definition to check if nothing remains on the stack Related words CSP CSP DIGIT al a2 n tf a2 ff Fetches character at ol If the characters is a digit according to BASE returns n the value of the digit and a true flag on stack Otherwise returns a false flag The address al is incremented by one in a2 for the next character DUP n nn 0 If n is not zero then copy n on the stack Otherwise leave the zero on the stack This is useful to avoid having to remove the top of the stack for zero values 1 e DUP IF ELSE DROP THEN is equivalent to DUP IF THEN Related word DUP 2 ERROR fn If f is true then aborts with an error message specified by n Related words ERROR MESS 7EXEC Aborts with an error message if not in executing mode 16 MLML Tech Pub 93 2 KEY c Determines if a character has been received into the system buffer If so then gets the character and puts it on stack Otherwise leaves a false flag zero on stack Related words KEY EMIT PAIRS n1 n2 Aborts with an error message if
124. umbers are padded with zeros or sign extended to 32 bits a n The input required by the word is a memory address a The output result is left on stack as a 32 bit number 7 For example A vertical bar may be used to separate a group of stack values The action s or the result s depends on the returned boolean flag July 1993 Rev January 1994 MLML Tech Pub 93 2 Lastly Description explains the action of the FORTH word Some examples are included to clarify the use of the FORTH words With these examples the boldface indicates input from the keyboard and the italics indicates output to the terminal FORTH usually terminates the output with an ok Related word s are FORTH words that perform similar or opposite actions na Store a single precision number n at the address a Related word CSP Stores the current parameter stack pointer in the user variable CSP This is used for error checking during compiling The stack pointer should be the same before and after compilation Related words CSP CSP quote ab Format Mage An immediate word that returns the address a and length b of the string The must be followed by a space then a string of characters and finally terminate with an ending quote The beginning and ending quotes as well as the space after the beginning quote are not saved in the string The string may contain up to 255 characters In the colon definition
125. ument had been acquired over a several year period and each was supplied with its own individual controller Two July 1993 Rev January 1994 SC spectrographs were used each having its own 80C85 controller Research Support Instruments installed a third 8085 that provided A D conversion on temperature pressure and supply voltages which transmitted the analog and spectral data Those controllers are no longer supported by the manufacturer and their firmware has caused problems in reading certain pixels in the diode arrays A fourth and different controller was supplied with the fiber optics multiplexer The multiplexer suffered serial communication problems and glitches in its firmware prohibited smooth multiplexer control In building the second generation MOS instruments which will be used both in the MOBS buoy and as a free standing profiling instrument we chose to replace the multitude of controllers by a single robust CPU the TattleTale Model 7 Our experience with OEM software for limited production devices suggested that we cannot always implement certain commands we consider essential and that OEM support for their firmware is not consistent To allow this CPU to be used in all MLML instruments including MOS SIS CTD Rosette and the buoy we needed to assemble a FORTH vocabulary that is common in all instruments Because we anticipate that our future requirements may change choice of the FORTH environment allows us to d
126. wide geographic surface truthing investigations similar to those lead by Dennis Clark NOAA following the launch of CZCS in 1979 In the NASA project we are designing and building MOBS a high resolution spectroradiometer that will operate autonomously in a buoy moored west of Lanai in the Hawaiian Islands That instrument the Marine Optical System MOS will transmit by cellular phone in near real time observations of upwelled radiance and downwelled irradiance from three depths During the EOS MODIS cruises several instruments have hardware and firmware designed and built at MLML the MLML CTD Rosette MOS and the NOAA MLML Surface Irradiance Spectrometer SIS SIS was designed and built at MLML by Mark Yarbrough He chose to use the Onset TattleTale Model7 because of its low power superior performance built in real time clock large RAM the TPU which will control the fiber optics multiplexer multiple serial interfaces disk and good factory support among other factors For that system the first author wrote a FORTH core and implemented data acquisition commands to transmit data under control of data acquisition computer Mike Feinholz wrote a high level VMS data acquisition program Feinholz and Broenkow 1993 that archives data in the MLML DBASE format Broenkow and Reaves 1993 During the past three years Dennis Clark and Mark Yarbrough have designed and built a prototype MOS instrument Components for this instr
127. xecutes a routine stored in user variable TAB i 30 MLML Tech Pub 93 2 TERMINAL a n Format TERMINAL name Sets up a terminal task definition table based on the DEVICE address a and the PAD plus parameter stack size n If the device is not required use zero Executing name puts the address of the task table on the stack This table contains an array of 3 addresses First the pointer to the user variable area next the initial parameter stack pointer and lastly the address of the terminal specific I O Example EXDEV 256 TERMINAL TERMTASK ok Related words BACKGROUND CONSTRUCT DEVICE THEN Format name IF THEN Used only in a colon definition Terminates a conditional branch Related words IF ELSE TIB a A user variable containing the address of the input buffer This is used in QUERY and WORD n Subtracts n from the time in milliseconds returned by COUNTER The result is output to console This is useful for determining the time delay for an operation TIMER Example COUNTER TIMETEST TIMER 754 ok Related word COUNTER TOGGLE ab Performs a bit wise exclusive OR of the byte in address a with the byte mask b Related word XOR July 1993 Rev January 1994 FORTH for NOAA MLML Instruments TRAVERSE TYPE U U R aln a2 Scans the NFA to find the beginning or the end of the name depending on n If n equals to 1 then returns the CFA from NFA
128. y 1993 Rev January 1994 FORTH for NOAA MLML Instruments ROT n1 n2 n3 n2 n3 n1 Rotates the top three single precision values on the stack by moving the third value n1 to the top while shifting the upper two values down Related word 2ROT RP Sets the return stack pointer to the initial value Related word RO RP a Places the current return stack pointer on top of the parameter stack S gt D n d Converts a singed single precision number to a signed double precision number SO a A user variable containing the initial parameter stack pointer Related words S SP SP SIGN n ud ud Format lt SIGN gt If the value n is negative puts a minus sign in the output buffer lt sS ASC HOLD gt Related words SMUDGE Toggles the smudge bit bit 5 in the first byte of the most recent word s NFA If the bit is set the word is hidden from dictionary searches i e make the word unavailable Otherwise the word becomes available to the user Related word IMMEDIATE July 1993 Rev January 1994 MLML Tech Pub 93 2 SP Sets the parameter stack pointer to its initial value Related word S0 SP a Places the current parameter stack pointer on top of stack This is identical to S Related word S SPACE Outputs a space to the console Related word SPACES SPACES n Output n spaces to the console 1 SPACES is
129. zero causes an exception Example DECIMAL 1435 22 U MOD 65 5 ok Related words MOD MOD MOD n1 n2 f Compares two unsigned single precision numbers and returns a true flag if wl is less than u2 otherwise leaves a false flag This is useful for comparing addresses which can have signed values Related words D a word Fetches an unsigned half precision number from the memory address a Related words H H 2 UNTIL f Format name BEGIN UNTIL Used only in a colon definition Tests the flag on stack and if false then branches to the word following BEGIN Otherwise continue to the word after UNTIL 31 FORTH for NOAA MLML Instruments USER n Format USER name Creates a dictionary entry name with the offset n in the user area This allows name to become a user variable Upon execution of name the address of the variable is left on stack Example 128 USER TEMP ok TEMP 2254 ok Related word VARIABLE VARIABLE n Format VARIABLE name Creates a dictionary entry name which provides a memory space for the single precision number This space is initialized byn Executing name will place the address on stack Example 45 VARIABLE DEG ok DEG 45 ok ZVARIABLE HVARIABLE a A user variable containing a pointer to the LFA of the most recent vocabulary entry Related words VOC LINK VOCABULARY Format VOCABULARY name IMMEDIATE C

FORTH for NOAA/MLML Instruments

Contents

Download Pdf Manuals

Related Search

Related Contents