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C Programming Language:Controls:. C: A REFERENCE MANUALSamuel P. Harbison and Guy L. SteelePrentice-Hall S<strong>of</strong>tware Series, 1987.PROGRAMMING LANGUAGE - CAmerican National Standards Institute,ANSI Document X3.159-1989American National Standards Institute, inc., 1990THE C PROGRAMMING LANGUAGEBrian W. Kernighan, and Dennis M. RitchiePrentice-Hall, Inc., 1978.ADAPTIVE CONTROLK. Astrom and B. Witten markNew York, NY: Addison-Welsey Publishing Company, Inc., 1989ADAPTIVE FILTERING PREDICTION & CONTROLG. Goodwin and K. SinEnglewood Cliffs, NJ: Prentice-Hall, Inc., 1984AUTOMATIC CONTROL SYSTEMSB.C.KuoEnglewood Cliffs, NJ: Prentice-Hall, Inc., 1987COMPUTER CONTROLLED SYSTEMS: THEORY & DESIGNK. Astrom and B. Witten markEnglewood Cliffs, NJ: Prentice-Hall, Inc., 1984DIGITAL CONTROL SYSTEMSB.C.KuoNew York, NY: Holt, Reinholt, and Winston, Inc., 1980DIGITAL CONTROL SYSTEM ANALYSIS & DESIGNC. Phillips and H. NagleEnglewood Cliffs, NJ: Prentice-Hall, Inc., 1984ISSUES IN THE IMPLEMENTATION OF DIGITAL FEEDBACKCOMPENSATORSP. MoroneyCambridge, MA: The MIT Press, 1983
Graphics:CGM AND CGID. B. Arnold and P. R. BonoNew York, NY: Springer-Verlag, 1988COMPUTER GRAPHICS (Second Edition)D. Hearn and M. Pauline BakerEnglewood Cliffs, NJ: Prentice-Hall, Inc., 1986FUNDAMENTALS OF INTERACTIVE COMPUTER GRAPHICSJ. D. Foley and A. Van DamReading MA: Addison-Wesley Publishing Company Inc., 1984GEOMETRIC MODELINGMichael E. MortesonNew York, NY: John Wiley and Sons, Inc.GKS THEORY AND PRACTICEP. R. Bono and I. Herman (Eds.)New York, NY: Springer-Verlag, 1987ILLUMINATION AND COLOR IN COMPUTER GENERATED IMAGERYRoy HallNew York, NY: Springer-VerlagPOSTSCRIPT LANGUAGE PROGRAM DESIGNGlenn C. Reid - Adobe Systems, Inc.Reading MA: Addison-Wesley Publishing Company, Inc., 1988MICROCOMPUTER DISPLAYS, GRAPHICS, AND ANIMATIONBruce A. ArtwickEnglewood Cliffs, NJ: Prentice-Hall, Inc., 1985PRINCIPLES OF INTERACTIVE COMPUTER GRAPHICSWilliam M. Newman and Roger F. SproullNew York, NY: McGraw-Hili Company, Inc., 1979PROCEDURAL ELEMENTS FOR COMPUTER GRAPHICSDavid F. RogersNew York, NY: McGraw-Hili Company, Inc., 1985RENDERMANINTERFACE,THEPixarSan Rafael, CA. 94901
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DSP56K FAMILY INTRODUCTIONDSP56K CE
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Motorola reserves the right to make
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Table of Contents (Continued)Paragr
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ParagraphNumberTable of Contents (C
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FigureNumberList of Figures (Contin
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List of Tables (Continued)TablePage
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1.1 INTRODUCTIONThe DSP56K family i
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Fewer componentsStable, determinist
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Digital FilteringFinite Impulse Res
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architecture matches the shape of t
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• DSP56001 Compatibility - All me
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SECTION 2DSP56K CENTRAL ARCHITECTUR
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--I«a:w:ca.ffi~a. a.24-Bit 56KModu
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-rectly addressable registers: the
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3.1 DATA ARITHMETIC LOGIC UNITThis
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3.2.1 Data ALU Input Registers (X1,
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"""""" 24 BITS;:~:>~~::~~~:~:~:~:::
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3.2.4 Accumulator ShifterThe accumu
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Table 3-1 Limited Data ValuesDestin
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_--- N BITS ---_TWOS COMPLEMENT INT
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CASE I: IF AO < $800000 (1/2), THEN
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one instruction cycle. The ANDI ins
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3.5 DATA ALU PROGRAMMING MODELThe D
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4.1 ADDRESS GENERATION UNIT AND ADD
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!---LOWADDRESS ALU -----I~.j.I.....
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•••••••• _ ........
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4.4.1 Address Register Indirect Mod
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EXAMPLE: MOVE BO,V: (R1)+BEFORE EXE
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EXAMPLE: MOVE X1,X: (R2)+N2BEFORE E
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EXAMPLE: MOVE Y1,X: (RS+NS)BEFORE E
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Table 4-2 Address Modifier SummaryM
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ADDRESS -f-_POINTERUPPER BOUNDARYiM
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EXAMPLE: MOVE XO,X:(R2)+NLET:M2 00
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oundary gives a 16-bit binary numbe
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4.4.2.4 Address-Modifier-Type Encod
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SECTION 5PROGRAM CONTROL UNIT-
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X MEMORYRAM/ROMIII E:XPAf'JSIC)N LI
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interruptible since they are fetche
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PROGRAM CONTROL UNIT-23 1615 023 16
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The GGR is a special purpose contro
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If S 1 =0 and SO=O (no scaling)then
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-23 876543210I * 1* JSO I * I Mel y
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5.4.5.1 Stack Pointer (Bits 0-3)The
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-DATA ARITHMETIC LOGIC UNITINPUT RE
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6.1 INSTRUCTION SET INTRODUCTIONThe
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shown in Figure 6-2. Most instructi
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23 87 0L...-I ___-'-I_---'I BUS~ LS
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The MR and CCR may be accessed indi
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6.3.4 Operand ReferencesThe DSP sep
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Some address register indirect mode
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EXAMPLE A: IMMEDIATE INTO 24-BIT RE
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EXAMPLE A: IMMEDIATE SHORT INTO AO,
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EXAMPLE A: MOVE P: $3200,XOBEFORE E
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Table 6-1 Addressing Modes SummaryA
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6.4.2 LogicallnstructlonsThe logica
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START OF LOOP1)SP+ 1 • SP; LA. SS
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OPCODE/OPERANDSPARALLEL MOVE EXAMPL
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SECTION 7PROCESSING STATES-
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Each instruction requires a minimum
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second instruction of the downloade
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The DO instruction is another instr
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SP and SSH/SSL register manipulatio
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7.3.1 Interrupt TypesThe DSP56K rel
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Table 7-2 Status Register Interrupt
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7.3.3 Interrupt SourcesInterrupts c
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interrupts makes it very useful for
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MAINPROGRAMFETCHESLONG INTERRUPTSER
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7.3.3.3 Other Interrupt SourcesOthe
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7.3.4 Interrupt ArbitrationInterrup
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7.3.7 Interrupt Instruction Executi
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MAINPROGRAMMEMORYINTERRUPT SYNCHRON
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MAINPROGRAMFETCHESINTERRUPTSYNCHRON
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MAINPROGRAMFAST INTERRUPTVECTORLONG
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MAINPROGRAMFETCHESNTERRUPTSYN8HRCNZ
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7.5 WAIT PROCESSING STATEThe WAIT i
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The stop processing state halts all
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the first instruction fetch). If th
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RESET -----------------------------
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16 - BIT INTERNALADDRESS BUSESX ADD
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8.2.2.1 Address (AO-A15)These three
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SECTION 9PLL CLOCK OSCILLATOR-
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X MEMORYRAM/ROMEXPANSION24-Bit56KMo
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23 22 21 20 19 18 17 16 15 14 13 12
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cleared. To enable rapid recovery w
Page 186 and 187: -CLVCCVCC for the CKOUT output. The
Page 188 and 189: 4. For all input frequencies which
Page 190 and 191: While the PLL is regaining lock, th
Page 193 and 194: 10.1 ON-CHIP EMULATION INTRODUCTION
Page 195 and 196: 10.2.2 Debug Serial Clock/Chip Stat
Page 197 and 198: 76543210I R/W I GO I EX I RS41 RS31
Page 199 and 200: shifted in (so a new command is ava
Page 201 and 202: 10.3.4.4 Software Debug Occurrence
Page 203 and 204: 10.4.4 Memory High Address Comparat
Page 205 and 206: 10.6.1 External Debug Request Durin
Page 207 and 208: PABCIRCULARBUFFERPOINTERDSCKDSOFigu
Page 209 and 210: are serially available to the exter
Page 211 and 212: k. ACKI. ClKm. Send command READ FI
Page 213 and 214: 19. ACK20. Send command READ GDB RE
Page 215 and 216: 10.11.6.1 Case 1: Return To The Pre
Page 217: SECTION 11ADDITIONAL SUPPORTDr. BuB
Page 220 and 221: The following is a partial list of
Page 222 and 223: • In-line assembler language code
Page 224 and 225: I Document 10 I Version Synopsis I
Page 228 and 229: I Document ID I Version Synopsis I
Page 232 and 233: 11.5 MOTOROLA DSP NEWSThe Motorola
Page 234 and 235: DIGITAL SIGNAL PROCESSINGAlan V. Op
Page 238 and 239: Image Processing:DIGITAL IMAGE PROC
Page 240 and 241: LINEAR PREDICTION OF SPEECHJ. D. Ma
Page 243 and 244: A.1 APPENDIX A INTRODUCTIONThis app
Page 245 and 246: XnYnTable A-1 Instruction Descripti
Page 247 and 248: Table A-1 Instruction Description N
Page 249 and 250: Table A-1 Instruction Description N
Page 251 and 252: Table A-2 DSP56K Addressing ModesAd
Page 253 and 254: The address register indirect addre
Page 255 and 256: A.SCONDITION CODE COMPUTATION15 14
Page 257 and 258: S1 SO Scaling Mode Signed Integer P
Page 259 and 260: Table A-5 Condition Code Computatio
Page 261 and 262: A.7 INSTRUCTION DESCRIPTIONSThe fol
Page 263 and 264: ABSAbsolute ValueABSInstruction For
Page 265 and 266: ADC Add Long with Carry ADCresult.
Page 267 and 268: ADD Add ADDCondition Codes:15 14 13
Page 269 and 270: ADDL Shift Left and Add Accumulator
Page 271 and 272: ADDR Shift Right and Add Accumulato
Page 273 and 274: ANDLogical ANDANDInstruction Format
Page 275 and 276: ANDIAND Immediate with Control Regi
Page 277 and 278: ASL Arithmetic Shift Accumulator Le
Page 279 and 280: ASR Arithmetic Shift Accumulator Ri
Page 281 and 282: BCHG Bit Test and Change BCHGExplan
Page 283 and 284: BCHGBit Test and ChangeBCHGInstruct
Page 285 and 286: BCHGBit Test and ChangeBCHGInstruct
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BCHG Bit Test and Change BCHGNotes:
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BCLR Bit Test and Clear BCLRExplana
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BClRBit Test and ClearBClRInstructi
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BClRBit Test and ClearBClRInstructi
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BClR Bit Test and Clear BClRNotes:
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BSET Bit Test and Set BSETExplanati
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BSETBit Test and SetBSETInstruction
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BSETBit Test and SetBSETInstruction
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BSET Bit Test and Set BSETNotes: If
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BTSTBit TestBTSTCondition Codes:115
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8TSTBit Test8TSTInstruction Format:
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8TSTBit Test8TSTInstruction Format:
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CLRClear AccumulatorCLRInstruction
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CMP Compare CMPCondition Codes:15 1
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CMPM Compare Magnitude CMPMConditio
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DEBUGEnter Debug ModeDEBUGOpcode:23
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DEBUGcc Enter Debug Mode Conditiona
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DEC Decrement by One DECInstruction
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DIV Divide Interation DIVThe DIV in
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DIV Divide Interation DIVNote that
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DIVInstruction Format:DIV S,DDivide
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DO Start Hardware Loop DOexecuted 6
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DOStart Hardware LoopDOAt LAOther R
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DOStart Hardware LoopDOInstruction
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DOStart Hardware LoopDOInstruction
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DO Start Hardware Loop DONotes: If
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ENDDO End Current DO Loop ENDDOExpl
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EOR Logical Exclusive OR EORInstruc
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ILLEGALIllegal Instruction Interrup
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INC Increment by One INCInstruction
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Jcc Jump Conditionally JccRestricti
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JccJump ConditionallyJccEffectiveAd
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JCLR Jump If Bit Clear JCLRRestrict
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JCLRJump If Bit ClearJCLRInstructio
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JCLR Jump If Bit Clear JCLRInstruct
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JMPJumpJMPInstruction Fields:xxx=12
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JSccJump to Subroutine Conditionall
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JScc Jump to Subroutine Conditional
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JSCLR Jump to Subroutine if Bit Cle
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JSCLRJump to Subroutine If Bit Clea
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JSCLRJump to Subroutine If Bit Clea
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JSCLR Jump to Subroutine If Bit Cle
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JSET Jump if Bit Set JSETRestrictio
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JSETJump if Bit SetJSETInstruction
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JSET Jump If Bit Set JSETInstructio
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JSR Jump to Subroutine JSRInstructi
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JSSET Jump to Subroutine if Bit Set
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JSSETJump to Subroutine if Bit SetJ
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JSSET Jump to Subroutine if Bit Set
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LSL Logical Shift Left LSLCondition
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LSR Logical Shift Right LSRConditio
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LUALoad Updated AddressLUACondition
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MAC Signed Multiply-Accumulate MACC
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MACSigned Multiply-AccumulateMACTim
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MACR Signed Multiply-Accumulate and
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MACR Signed MUltiply-Accumulate and
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MOVE Move Data MOVEExplanation of E
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MOVE Move Data MOVEWhen a 56-bit ac
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No Parallel Data MoveInstruction Fo
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I Immediate Short Data Move IExampl
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I Immediate Short Data Move IDDD d
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R Register to Register Data Move RE
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R Register to Register Data Move RI
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uAddress Register UpdateuInstructio
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X: X Memory Data Move X:Note:Due to
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X: X Memory Data Move X:S D DS,D d
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X: X Memory Data Move X:S D DS,D d
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X:R X Memory and Register Data Move
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Y: Y Memory Data Move Y:Note: This
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Y: Y Memory Data Move Y:S D DS,D d
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Y: Y Memory Data Move Y:S D DS,D d
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R:V Register and V Memory Data Move
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R:V Register and Y Memory Data Move
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R:V Register and Y Memory Data Move
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L: Long Memory Data Move L:Example:
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L: Long Memory Data Move L:Instruct
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X: Y: xv Memory Data Move X: Y:Exam
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X: Y: xv Memory Data Move X: Y:S1 D
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MOVEC Move Control Register MOVECst
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MOVEC Move Control Register MOVECCo
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MOVECMove Control RegisterMOVECInst
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MOVEC Move Control Register MOVECTi
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MOVEM Move Program Memory MOVEMoper
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MOVEM Move Program Memory MOVEMInst
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MOVEMMove Program MemoryMOVEMInstru
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MOVEP Move Peripheral Data MOVEPist
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MOVEP Move Peripheral Data MOVEPCon
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MOVEP Move Peripheral Data MOVEPIns
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MOVEP Move Peripheral Data MOVEPIns
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MPY Signed Multiply MPYExplanation
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MPY Signed Multiply MPYInstruction
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MPYR Signed Multiply and Round MPYR
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MPYR Signed Multiply and Round MPYR
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NEGNegate AccumulatorNEGInstruction
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NOPNo OperationNOPInstruction Forma
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NORM Normalize Accumulator Iteratio
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NOTLogical ComplementNOTInstruction
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ORLogical Inclusive ORORInstruction
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ORI OR Immediate with Control Regis
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REP Repeat Next Instruction REPRest
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REPRepeat Next InstructionREPInstru
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REPRepeat Next InstructionREPInstru
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REP Repeat Next Instruction REPNote
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RESETReset On-Chip Peripheral Devic
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RND Round Accumulator RNDConvergent
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RNDRound AccumulatorRNDInstruction
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ROL Rotate Left ROLCondition Codes:
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ROR Rotate Right RORCondition Codes
Page 507 and 508:
RTIReturn from InterruptRTIConditio
Page 509 and 510:
RTSReturn from SubroutineRTSInstruc
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sec Subtract Long with Carry secExp
Page 513 and 514:
secSubtract Long with CarrysecInstr
Page 515 and 516:
STOPStop Instruction ProcessingSTOP
Page 517 and 518:
SUB Subtract SUBCondition Codes:S -
Page 519 and 520:
SUBL Shift Left and Subtract Accumu
Page 521 and 522:
SUBR Shift Right and Subtract Accum
Page 523 and 524:
SWISoftware InterruptSWICondition C
Page 525 and 526:
Tee Transfer Conditionally Teetion
Page 527 and 528:
Tee Transfer Conditionally TeeInstr
Page 529 and 530:
TFR Transfer Data ALU Register TFRC
Page 531 and 532:
TSTTest AccumulatorTSTInstruction F
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WAIT Wait for Interrupt WAITConditi
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including the number of words per i
Page 537 and 538:
5. Compute final results.Thus, base
Page 539 and 540:
JLC (R2+N2)will requireand will exe
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Table A-6 Instruction Timing Summar
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Note that the "ap" term in Table A-
Page 545 and 546:
Table A-14 Memory Access Timing Sum
Page 547 and 548:
Other RestrictionsDO SSH,xxxxJSR to
Page 549 and 550:
Immediately before MOVEC from SSH o
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A.9.S REP RestrictionsThe REP instr
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Table A-18 Triple-Bit Register Enco
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Table A-24 Program Control Unit Reg
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R: Register to Register Parallel Da
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JSSETJSSET#n,X:pp,XXXX#n,Y:pp,xxxx2
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JSSET#n,S,xxxx23 16 15 87 000001011
Page 563 and 564:
BCHGBCHG#n,X:aa#n,Y:aa23 16 15 87 0
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MOVE(M)MOVE(M)S,P:aaP:aa,DREP #XXXR
Page 567 and 568:
LUAea,O23 16 15 87 0I 0 0 0 0 0 1 0
Page 569 and 570:
ENDDO23 16 15 87 00 0 0 0 0 0 0 o 1
Page 571 and 572:
Table A-28 Operation Code QQQ Decod
Page 573 and 574:
Table A-30 Special Case #10 P E R C
Page 575 and 576:
NEGD23 87 43 0DATA BUS MOVE FIELDLS
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ADDRS,D23 87 43 oDATA BUS MOVE FIEL
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lEI
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Table 8-1 27-MHz Benchmark Results
Page 584 and 585:
.*._---*-----*-------**-------....
Page 586 and 587:
;Latest Revision - September 30, 19
Page 588 and 589:
All coefficients are divided by 2:w
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Real input FFT based on Glenn Bergl
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countountcountcountorg y:coefset 0d
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; Real-Valued FFT for MOTOROLA DSP5
Page 596 and 597:
; first group in the last passmove
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A Accumulator ....... ' ...........
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-H- fast ..........................
Page 603 and 604:
PGND ..............................
Page 605 and 606:
DSP56K FAMILY INTRODUCTIONDSP56K CE
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