MK68901 MFP (Multi-Function Peripheral)
---------------------------------------
Introduction
The MK68901 MFP (Multi-Function Peripheral) is a combination of many of the
necessary peripheral functions in a microprocessor system. Included are:
Eight parallel I/O lines
Interrupt controller for 16 sources
Four timers
Sungle channel full duplex USART
The use of the MFP in a system can significantly reduce chip count, thereby
reducing system cost. The MFP is completely 68000 bus compatible, and 24
directly addressable internal registers provide the necessary control and
status interface to the programmer.
The MFP is a derivative of the MK3801, a Z80 family peripheral.
Register MAP
Address Abbreviation Register Name
Port #
0 GPIP General purpose I/O
1 AER Active edge register
2 DDR Data direction register
3 IERA Interrupt enable register A
4 IERB Interrupt enable register B
5 IPRA Interrupt pending register A
6 IPRB Interrupt pending register B
7 ISRA Interrupt in-service register A
8 ISRB Interrupt in-service register B
9 IMRA Interrupt mask register A
A IMRB Interrupt mask register B
B VR Vector register
C TACR Timer A control register
D TBCR Timer B control register
E TCDCR Timers C and D control registers
F TADR Timer A data register
10 TBDR Timer B data register
11 TCDR Timer C data register
12 TDDR Timer D data register
13 SCR Sync character register
14 UCR USART control register
15 RSR Receiver status register
16 TSR Transmitter status register
17 UDR USART data register
Interrupts
The General Purpose I/O-Interrupt Port (GPIP) provides eight I/O lines that
may be operated either as inputs or outputs under software control. In
addition, each line may generate an interrupt on either a positive going edge
or a negative going edge of the input signal.
The GPIP has three associated registers. One allows the programmer to specify
the Active Edge for each bit that will trigger an interrupt. Another register
specifies the Data Direction (input or output) associated with each bit. The
third register is the actual data I/O register used to input or output data
to the port. These three registers are illustrated below.
General Purpose I/O Registers
Active Edge Register
Port 1 (AER) GPIP GPIP GPIP GPIP GPIP GPIP GPIP GPIP 1=Rising
7 6 5 4 3 2 1 0 0=Falling
Data Direction Register
Port 2 (DDR) GPIP GPIP GPIP GPIP GPIP GPIP GPIP GPIP 1=Output
7 6 5 4 3 2 1 0 0=Input
General Purpose I/O Register
Port 3 (GPIP) GPIP GPIP GPIP GPIP GPIP GPIP GPIP GPIP
7 6 5 4 3 2 1 0
The Active Edge Register (AER) allows each of the General Purpose Interrupts
to produce an interrupt on either a 1-0 transition or a 0-1 transition.
Writing a zero to the appropriate bit of the AER causes the associated input
to produce an interrupt on the 1-0 transition, while a 1 causes the interrupt
on the 0-1 transition. The edge bit is simply one input to an exclusive-or
gate, with the other input coming from the input buffer and the output going
to a 1-0 transition detector. Thus, depending upon the state of the input,
writing the AER can cause an interrupt-producing transition, which will cause
an interrupt on the associated channel, if that channnel is enabled. One
would than normally configure the AER before enabling interrupts via IERA an
IERB. Note: changing the edge bit, with the interrupt enabled, may cause an
interrupt on that channel.
The Data Direction Register (DDR) is used to define I0-I7 as input or as
outputs on a bit by bit basis. Writing a zero into a bit of the DDR causes
the corresponding Interrupt I/O pin to be a Hi-Z Input. Writing a one into a
bit of the DDR causes the corresponding pin to be configured as a push-pull
output. When data is written into the GPIP, those pins defined as inputs will
remain in the Hi-Z state while those pins defines as outputs will assume the
state (high or low) of their corresponding bit in the PIP. When the GPIP is
read, the data read will come directly from the corresponding bit of the GPIP
register for all pins defines as output, while the data read on all pins
defined as inputs will come from the input buffers.
Each individual functions in the MK68901 is provided with a unique interrupt
vector that is presented to the system during the interrupt acknowledge
cycle. The interrupt vector returned during the interrrupt acknowledge cycle
is shown below.
Interrupt Vector
V7 V6 V5 V4 V3 V2 V1 V0
\-----------------/\----------------/
| |
| ------------ Vector bits 3-0 supplied
| by the MFP based upon the interrupting
| channel.
|
------------------------------- 4 most significant bits. Copied
from the vector register.
Vector Register
V7 V6 V5 V4 S * * *
\-----------------/ |
| |
| ------------------- S In-Service Register Enable
|
------------------------------- Upper 4 bits of the Vector Register
Written into by the user.
There are 16 vector addresses generated internally by the MK68901, one for
each of the 16 interrupt channels.
The Interrupt Control Registers provide control of interrupt processing for
all I/O facilities of the MK68901. These registers allow the programmer to
enable or disable any or all of the 16 interrupts, providing masking for any
interrupts, and provide access to the pending and in-service status of the
interrupts. Optional end-of-interrupt modes are availble under software
control.
Interrupt Control Registers
Interrupt Enable Registers
Port 3 (IERA) GPIP GPIP TIMER RCV RCV XMIT XMIT TIMER
7 6 A Full Err Empty Err B
Port 4 (IERB) GPIP GPIP TIMER TIMER GPIP GPIP GPIP GPIP
5 4 C D 3 2 1 0
Interrupt Pending Registers
Port 5 (IPRA) GPIP GPIP TIMER RCV RCV XMIT XMIT TIMER
7 6 A Full Err Empty Err B
Port 6 (IPRB) GPIP GPIP TIMER TIMER GPIP GPIP GPIP GPIP
5 4 C D 3 2 1 0
Writing 0: Clear
Writing 1: Unchanged
Interrupt In-Service Registers
Port 7 (ISRA) GPIP GPIP TIMER RCV RCV XMIT XMIT TIMER
7 6 A Full Err Empty Err B
Port 8 (ISRB) GPIP GPIP TIMER TIMER GPIP GPIP GPIP GPIP
5 4 C D 3 2 1 0
Interrupt Mask Registers
Port 9 (IMRA) GPIP GPIP TIMER RCV RCV XMIT XMIT TIMER
7 6 A Full Err Empty Err B
Port A (IMRB) GPIP GPIP TIMER TIMER GPIP GPIP GPIP GPIP
5 4 C D 3 2 1 0
1: UnMasked 0: Masked
Interrupt Control Register Definitions
Priority Channel Description
Highest 1111 General Purpose Interrupt 7(I7)
1110 General Purpose Interrupt 6(I6)
1101 Timer A
1100 Receive Buffer Full
1011 Receive Error
1010 Transmit Buffer Empty
1001 Transmit Error
1000 Timer B
0111 General Purpose Interrupt 5(I5)
0110 General Purpose Interrupt 4(I4)
0101 Timer C
0100 Timer D
0011 General Purpose Interrupt 3(I3)
0010 General Purpose Interrupt 2(I2)
0001 General Purpose Interrupt 1(I1)
Lowest 0000 General Purpose Interrupt 0(I0)
Interrupts may be either polled or vectored. Each channel may be individually
enabled or disabled by writing a one or a zero in the appropriate bit of the
Interrupt Enable Registers (IERA,IERB). When disabled, an interrupt channel
is completely inactive. Any internal or external action which would normally
produce an interrupt on that channel is ignored and any pending interrupt on
that channel will be cleared by disabling that channel. Disabling and
interrupt channel has no effect on the corresponding bit in Interrupt
in-Service Registers (ISRA,ISRB); thus, if the In-Service Registers are used
and an interrupt is in service on that channel when the channel is disabled,
it will remain in service until cleared in the normal manner. IERA and IERB
are also readable.
When an interrupt is received on an enabled channel, its corresponding bit in
the pending register will be set. When that channel is acknowledged it will
pass its vector, and the corresponding bit in the Interrupt Pending Register
(IPRA or IPRB) will be cleared. IPRA and IPRB are readable; thus by polling
IPRA and IPRB, it can be determind whether a channel has a pending interrupt.
IPRA and IPRB are also writeable and a pending interrupt can be cleared
without going through the acknowledge sequence by writing a zero to the
appropriate bit. This allows any one bit to be cleared, without altering any
other bits, simply by writing all ones except for the bit position to be
cleared on IPRA or IPRB. Thus a full polled interrupt scheme is possible.
Note: writing a one to IPRA, IPRB has no effect on the interrupt pending
register.
The interrupt mask registers (IMRA and IMRB) may be used to block a channel
from making an interrupt request. Writing a zero into the corresponding bit
of the mask register will still allow the channel to receive and interrupt
and latch it into its pending bit (if that channel is enabled), but will
prevent that channel from making an interrupt request. If that channel is
causing an interrupt request at the time the corresponding bit in the mask
register is cleared, the request will cease. If no other channel is making a
request, INTR will go inactive. If the mask bit is re-enabled, any pending
interrupt is now free to resume its request unless blocked by a higher
priority request for service. IMRA and iMRB are also readable.
A conceptual circuit of an interrupt
Edge Enable Mask
Register Register Register S-Bit
| | | |
| | ----|---\ --|---\ |------------|
| o-----|---\ |-----------| | |---o---------| ||S Interrupt |
---\\--\ | | ||S Pending Q|------|---/ | --|---/ | Service |
|| |---|-----|---/ | R | | | |------------|
I7-------//--/ | |-----------| | |
| | Interrupt |
----- /---\ Request |
\ / | | |
\ / /---\ |
o | | |
| | | |
------------------ -----------------------------o------ Pass Vector
There are two end-of-interrupt modes: the automatic end-of-interrupt mode and
the software end-of-interrupt mode. The mode is selected by writing a one or
a zero to the S bit of the Vector Register (VR). If the S bit of the VR is a
one, all channels operate in the software end-of-interrupt mode. If the S bit
is a zero, all channels operate in the automatic end-of-interrupt mode, and a
reset is held on all in-service bits. In the automatic end-of-interrupt mode,
the pending bit is cleared when that channel passes its vector. At that
point, no further history of that interrupt remains in the MK68901 MFP. In
the software end-of-interrupt mode, the in-service bit is set and the pending
bit is cleared when the channel passes its vector. With the in-service bit
set, no lower priority channel is allowed to request an interrupt or to pass
its vector during an acknowledge sequence, however, a lower priority channel
may still receive and interrupt and latch it into the pending bit. A higher
priority channel may stillrequest an interrupt and be acknowledged, The in-service bit of a particular
channel may be cleared by writing a zero to the corresponding bit in ISRA or
ISRB. Typically, this will be done at the conclusion of the interrupt routine
just before the return. Thus no lower priority channel will be allowed to
request service until the higer priority channel is complete, while channels
of still higher priority will be allowed to request service. While the
in-service bit is set, a second interrupt on that channel may be received and
latched into the pending bit, though no service request will be made in
response to the second interrupt until the in-service bit is cleared. ISRA
and ISRB may be read at any time. Only a zero may be written into any bit of
ISRA and ISRB; thus the in-service may be cleared in software but cannot be
set in software. This allows any one bit to be cleared, without altering any
other bits, simply by writing all ones except for the bit position to be
cleared to ISRA or ISRB, as with IPRA and IPRB.
Each interrupt channel responds with a discrete 8-bit vector when
acknowledged. The upper four bits of the vector are set by writing the upper
four bits of the VR. The four low order bits (bit 3-bit 0) are generated by
the interrupt channel.
To acknowledge an interrupt, IACK goes low, the IEI input must go low (or be
tied low) and the MK68901 MFP must have acknowledgeable interrupt pending.
The daisy chaining capability requires that all parts in a chain have a
command IACK. When the command IACK goes low all parts freeze and prioritize
interrupts in parallel. Then priority is passed down the chain, via IEI and
IEO, until a part which has a pending interrupt is reached. The part with
the pending interrupt, passes a vector, does not propagate IEO, and generates
DTACK.
Timers
There are four timers on the MK68901 MFP. Two of the timers (Timer A and
Timer B) are full function timers which can perform the basic delay function
and can also perform event counting, pulse width measurement and waveform
generation. The other two timers (Timer C and Timer D) are delay timers only.
One or both of these timers can be used to supply the baud rate clocks for
the USART. All timers are prescaler/counter timers with a common independent
clock input (XTAL1, XTAL2). In addition, all timers have a time-out output
function that toggles each time the timer times out.
The four timers are programmed via three Timer Control Registers and four
Timer Data Registers. Timers A and B are controlled bu the control registers
TACR and TBCR, respectively, and by the data registers TADR and TBDR. Timers
C and D are controlled by the control register TCDCR and two data registers
TCDR and TDDR. Bits in the control registers allow the selection of
operational mode, prescale, and control, while data registers are used to
read the timer or write into the time constant register. Timer A and B input
pins, TAI and TBI, are used for the event and pulse width modes for timers A
and B.
Timer Data Registers (A,B,C and D)
Port F (TADR) D7 D6 D5 D4 D3 D2 D1 D0
Port 10 (TBDR) D7 D6 D5 D4 D3 D2 D1 D0
Port 11 (TCDR) D7 D6 D5 D4 D3 D2 D1 D0
Port 12 (TDDR) D7 D6 D5 D4 D3 D2 D1 D0
Timer A and B Control Register
Port C (TACR) * * * Reset AC3 AC2 AC1 AC0
Port D (TBCR) * * * Reset BC3 BC2 BC1 BC0
C3 C2 C1 C0
0 0 0 0 Timer Stopped
0 0 0 1 Delay Mode, /4 Prescale
0 0 1 0 Delay Mode, /10 Prescale
0 0 1 1 Delay Mode, /16 Prescale
0 1 0 0 Delay Mode, /50 Prescale
0 1 0 1 Delay Mode, /64 Prescale
0 1 1 0 Delay Mode, /100 Prescale
0 1 1 1 Delay Mode, /200 Prescale
1 0 0 0 Event Count Mode
1 0 0 1 Pulse Width Mode, /4 Prescale
1 0 1 0 Pulse Width Mode, /10 Prescale
1 0 1 1 Pulse Width Mode, /16 Prescale
1 1 0 0 Pulse Width Mode, /50 Prescale
1 1 0 1 Pulse Width Mode, /64 Prescale
1 1 1 0 Pulse Width Mode, /100 Prescale
1 1 1 1 Pulse Width Mode, /200 Prescale
Timer C and D Control Register
Port E (TCDCR) * CC2 CC1 CC0 * DC2 DC1 DC0
C2 C1 C0
0 0 0 Timer Stopped
0 0 1 Delay Mode, /4 Prescale
0 1 0 Delay Mode, /10 Prescale
0 1 1 Delay Mode, /16 Prescale
1 0 0 Delay Mode, /50 Prescale
1 0 1 Delay Mode, /64 Prescale
1 1 0 Delay Mode, /100 Prescale
1 1 1 Delay Mode, /200 Prescale
With the timer stopped, no counting can occur. The timer contents will remain
unaltered while the timer is stopped (unless reloaded by writing the Timer
Data Register), but any residual count in the prescaler will be lost.
In the delay mode, the prescaler is always active. A count pulse will be
applied to the main timer unit each time the prescribed number of timer clock
cycles has elapsed. Thus, if the prescaler is programmed to divide by ten, a
count pulse will be applied to the main counter every ten cycles of the timer
clock.
Each time a count pulse is applied to the main counter, it will decrement
its contents. The main counter is initially loaded by writing to the Timer
Data Register. Each count pulse will cause the current count to decrement.
When the timer has decremented down to '01', the next count pulse will not
cause it to decrement to '00'. Instead the next count pulse will cause the
timer to be reloaded from the Timer Data Register. Additionally, a 'Time Out'
pulse will be produced. This Time Out pulse is coupled to the timer interrupt
channel, and, if that channel is enabled an interrupt will be produced. The
Time Out pulse is also coupled to the timer output pin and will cause the pin
to change states. The output will remain in this new state until the next
Time Out pulse occurs. Thus the output will complete one full cycle each two
Time Out pulses.
If, for example, the prescaler were programmed to divide by ten, and the
Timer Data Register were loaded will 100(decimal), the main counter would
decrement once for every ten cycles of the timer clock. A Time Out pulse will
occur(hence an interrupt if that channel is enabled) every 1000 cycles of the
timer clock, and the timer output will complete one full cycle every 2000
cycles of the timer clock.
The main counter is an 8-bit binary down counter. If may be read at any time
by reading the Timer Data Register. The information read is the information
last clocked into the timer read register when the DS pin had last gone high
prior to the current read cycle. When written, data is loaded into the Timer
Data Register, and the main counter, if the timer is stopped. If the Timer
Data Register is written while the timer is running, the new word is not
loaded into the timer until it counts through H01. However, if the timer is
written while it is counting through H01, an indeterminate value will be
written into the time constant register. This may be circumvented by ensuring
that the daata register is not written when the count is H01.
If the main counter is loaded with 01, a Time Out Pulse will occur every
time the prescaler presents a count pulse to the main counter. If loaded
with 00, a Time Out pulse will occur after every 256 count pulses.
Changing the prescale value with the timer running can cause the first Time
Out pulse to occur at an indeterminate time, (no less than one nor more than
200 timer clock cycles times the number in the time constant register), but
subsequent Time Out pulses will then occur at the correct interval.
In addition to the delay mode described above, Timers A and B can also
function in Pulse Width Measurement mode or in the Event Count mode. In
either of these two modes, an auxilary count signal is required. The auxilary
control input for Timer A is TAI, and for Timer B, TBI is used. The interrupt
channels associated with I4 and I3 are used for TAI and TBI, respectively, in
Pulse Width mode.
The pulse width measurement mode functions much like the delay mode. However,
in this mode, the auxiliary control signal on TAI or TBI acts as an enable to
the timer. When the control signal on TAI or TBI is inactive, the timer will
be stopped. When it is active, the prescaler and main counter are allowed to
run. Thus the width of the active pulse on TAI or TBI is determined by the
number of timer counts which occur while the pulse allows the timer to run.
The active state of the signal on TAI or TBI is dependent upon the associated
Interrupt Channels edge bit (GPIP4 for TAI and GPIP3 for TBI, see Active Edge
Register). If the edge bit associated with the TAI or TBI input is a one, it
will be active high, thus the timer will be allowed to run when the input is
at a high level. If the edge bit is a zero, the TAI or TBI input will be
active low. As previously stated, the interrupt channel (I3 or I4) associated
with the input still functions when the timer is used in the pulse width
measurement mode. However, if the timer is programmed for the pulse width
measurement mode, the interrupt caused by transitions on the associated TAI
or TBI input will occur on the opposite transition.
A conceptual circuit of the MFP timer in the pulse width measurement mode
|-----|
| TAI |
|-----|
|
-----------|---\
Timer A | |----
Pulse Width Mode ------------o----------|---/ |
| |---\---\ |-----------|
| | |-----| Interrupt |
|----| | |\ |---/---/ | Channel |
| I4 |-------| ----| o----|---\ | |-----------|
|----| | |/ | |----
------------------|---/
------------------|---\
|----| | |\ | |----
| I3 |-------| ----| o----|---/ |
|----| | |/ |---\---\ |-----------|
| | |-----| Interrupt |
Timer B | |---/---/ | Channel |
Pulse Width Mode ------------o----------|---\ | |-----------|
| |----
-----------|---/
|
|-----|
| TBI |
|-----|
For example, if the edge bit associated with the TAI input (AER-GPIP 4) is a
one, an interrupt would normally be generated on the 0-1 transition of the I4
input signal. If the timer associated with this input (Timer A) is placed in
the pulse width measurement mode, the interrupt will occur on the 1-0
transition of the TAI signal instead. Because the edge bit (AER-GPIP4) is a
one, Timer A will be allowed to count while the input is high. When the TAI
input makes the high to low transition, Timer A will stop, and it is at this
point that the interrupt will occur (assuming that the channel is enabled).
This allows the interrupt to signal the CPU that the pulse being measured has
terminated this Timer A may now be read to determine the pulse width. (Again
note that I3 and I4 may still be used for I/O when the timer is in the pulse
width measurement mode). If Timer A is re-programmed for another mode,
interrupts will again occur on the transition, as normally defined by the
edge bit. Note that, like changing the edge bit, placing the timer into or
taking it out of pulse width mode can produce a transition on the signal to
the interrupt channel and may cause an interrupt. If measuring consecutive
pulses, it is obvious that one must read the contents of the timer and
reinitalize the main counter by writing to the timer data register. If the
timer data register is written while the pulse is going to the active state,
the write operation may result in an indeterminate value being written into
the main counter. If the timer is written after the pulse goes active, the
timer counts from the previous contents, and when it counts through H01, the
correct value is written into the timer. The pulse width then includes counts
from before the timer was reloaded.
In the event count mode, the prescaler is disabled. Each time the control
input on TAI or TBI makes an active transition as defined by the associated
Interrupt Channel's edge bit, a count pulse will be generated, and the main
counter will decrement. In all other respects, the timer functions as
previously described. Altering the edge bit while the timer is in the event
count mode can produce a count pulse. The interrupt channel associated with
the input (I3 for TBI or I4 for TAI) is allowed to function normally. To
count transitions reliably, the input must remain in each state (1/0) for a
length of time equal to four perioids of the timer clock; thus signals of a
frequency up to one fourth of the timer clock can be counted.
The manner in which the timer output pins toggle states has previously been
described. All timer outputs will be forced low by a device RESET. The output
associated with Timers A and B will toggle on each Time Out pulse regardless
of the mode the timers are programmed to. In addition, the outputs from
Timers A and Timers B can be forced low at any time by writing a 1 to the
reset location in TACR and TBCR, respectively. The output will be forced to
the low state during the WRITE operation, and at the conclusion of the
operation, the output will again be free to toggle each time a Time Out pulse
occurs. This feature will allow waveform generation.
During reset, the Timer Data Registers and the main counters are not reset.
Also, if using the reset option on Timers A or B, one must make sure to keep
the other bits in the correct state so as not to affect the operation of
Timers A and B.