perm filename ALHEAD.PAL[AL,HE]2 blob
sn#306978 filedate 1977-09-27 generic text, type C, neo UTF8
COMMENT ⊗ VALID 00005 PAGES
C REC PAGE DESCRIPTION
C00001 00001
C00002 00002 .SBTTL Switches, absolute locations, registers, mark instructions
C00006 00003 Routine calling and defining macros ROUTINE, CALL, FP
C00009 00004 Macros: TELL, INFO, XX, TT, PUTLOC, ALERR, PUNT
C00012 00005 Separate assembly communication facility COMTAB
C00017 ENDMK
C⊗;
.SBTTL Switches, absolute locations, registers, mark instructions
;This macro gives the switch SW a default value VAL
.MACRO STSW SW,VAL
.IFNDF SW
SW == VAL ;if do not have a value already, give it one
.ENDC
.ENDM
; PROGRAM DEFINITIONS
; Refer to UNIBUS.BO[11,DOC] for all absolute location meanings
ERRTRP==4 ;time out and error trap
ILGINS==10 ;illegal instruction
CLKTRP==104 ;clock trap
DACVEC==130 ;DAC interrupt vector
ADCVEC==134 ;ADC interrupt vector
ARMTRP==200 ;Arm error interrupt vector
RUG=130000 ;Restart of RUG
DDT=130000 ;Restart of DDT
PS=177776 ;processor status word
VITTS=170777 ;Video Intensity Table Table Select
VIT=171000 ;Video Intensity Table (400 words long)
KBIS=177560 ;keyboard input status
KBIR=177562 ;keyboard input register
KBOS=177564 ;keyboard output status
KBOR=177566 ;keyboard output register
CLKCNT=172544 ;clock counter
CLKSET=172542 ;clock set register
CLKS=172540 ;clock status
STRT11=500 ;starting address of program
IBUF==150 ;start of input buffer from 11
OBUF==160 ;start of output buffer to 11
HCOR=157776 ;highest useable word in core
OREG=HCOR ;put something here, 11TTY will print it on console
IREG=HCOR-2 ;11TTY puts stuff here for console input
OUTSW=HCOR-4 ;0 => your console; -1 => VT05
;REGISTER DEFINITIONS
PC=%7 ;program counter
SP=%6 ;stack pointer
RF==%5 ;Display pointer
SG==%5 ;string pointer
R5=%5
R4=%4 ;Saved across procedure calls
R3=%3 ;Saved across procedure calls
R2=%2 ;Saved across procedure calls
R1=%1 ;temp
R0=%0 ;temp
AC5==%5 ;Temp Floating point register
AC4==%4 ; " " " "
AC3==%3 ; " " " "
AC2==%2 ; " " " "
AC1==%1 ; " " " "
AC0==%0 ; " " " "
;MARK DEFINITIONS
MARK0 == 6400 ;MARK 0
MARK1 == 6401 ;MARK 1
MARK2 == 6402 ;ETC.
MARK3 == 6403
MARK4 == 6404
MARK5 == 6405
;Routine calling and defining macros ROUTINE, CALL, FP
;Coded by RHT 9/74. modified to eliminate use of the MARK instruction by ARG 9/77
;This should be used at the start of routines which reference
; parameters off the RF stack. It gives the parameters
; symbolic names for clarity of coding.
;For example,
;
; ROUTINE FOO,<A,B>
;
;Goes to
;
; A==4
; B==2
;FOO:
.MACRO ROUTINE ID,ARGS
.IFNB ARGS
NNNN==0
.IRP II,<ARGS> ;Raise NNNN to twice the number of args.
NNNN==NNNN+2
.ENDM
.IRP II,<ARGS> ;Assign each arg NNNN and decrease same.
.IFDF II
.IF1
.ERROR Multiple definition for II
.ENDC
.ENDC
II == NNNN
NNNN == NNNN-2
.ENDM
.ENDC
ID:
.ENDM
;This is useful in calling rountines which reference parameters off
; the RF stack. It sets up the stack properly, but does not
; save R0 or R1.
.MACRO CALL ID,ARGS
.IFNB ARGS
nn == 0
.IRP II,<ARGS>
MOV II,-(SP) ;Push an argument
nn == nn + 2 ;Keep track of how many words we've pushed
.ENDM
MOV RF,-(SP) ;Save RF
MOV SP,RF ;Set up the display in RF.
.ENDC
JSR PC,ID ;Call the routine
.IFNB ARGS
MOV (SP)+,RF ;Restore RF
ADD #nn,SP ;Pop args off of stack
.ENDC
.ENDM
;This macro is a temporary method of defining floating point
;constants. LABIL is the constant name and MSB and LSB its two
;16 bit octal parts.
.MACRO FP LABIL,MSB,LSB
.MACRO LABIL
.WORD MSB,LSB
.ENDM
.ENDM
;Macros: TELL, INFO, XX, TT, PUTLOC, ALERR, PUNT
.MACRO TELL VAR
TELL2 VAR,\VAR
.ENDM
.MACRO TELL2 S,V
.PRINT /S = /
.PRINT /V
/
.ENDM
.MACRO .INFO STR,NUM
.PRINT /STR/
.PRINT /NUM
/
.ENDM
.MACRO XX SYM ;Just gives SYM the next number.
.IFDF SYM
.IF1
.ERROR You are using SYM in two ways!!!
.ENDC
.ENDC
SYM == II
II == II+2
.ENDM
.MACRO TT INX,VAL ;To store data at an offset from II
.=II+INX
VAL
.ENDM
.MACRO PUTLOC ADR,VAL
II==.
.= ADR
VAL
.=II
.ENDM
.MACRO ALERR MES ;Bad error. Type message, call debugger.
MOV #MES,-(SP) ;Push the message pointer.
JSR PC,@LERRTRAP ;No need to save registers. This is done in ERRTRAP.
.ENDM
.MACRO PUNT MES ;Real bad error. Type message, call debugger.
MOV #MES,-(SP) ;Push the message pointer.
JSR PC,@LERRTRAP ;No need to save registers. This is done in ERRTRAP.
MOV #PNTMES,-(SP) ;Push the "Can't continue" message pointer.
JSR PC,@LERRTRAP ;No need to save registers. This is done in ERRTRAP.
BR .-10 ;Loop forever or until he gives up
.ENDM
SPSWITCH == 0 ;0 => code, 1 => data
.MACRO CODE ;The following is code, it should go in instruction space
.IFNZ SPSWITCH
DATA$ == .
. == CODE$
SPSWITCH == 0
.ENDC
.ENDM
.MACRO DATA ;The following is data, it should go in data space
.IFZ SPSWITCH
CODE$ == .
. == DATA$
SPSWITCH == 1
.ENDC
.ENDM
;Separate assembly communication facility COMTAB
COMMENT ⊗ All locations local to one assembly which need
to be known to the others are listed here. ⊗
COMTAB = 14000 ;Communication table
INTRP == 14100 ;Beginning of the interpeter code
PCODE = 130000 ;Pseudo-code start address
ARMCOD = 66400 ;Beginning of the arm code
KERINI = 1000 ;Kernel initialization address
;The following is the COMTAB. It has room for =32 labels.
;_____________________________________________________________
VERSION == 12 ;Change this if you change COMTAB!!! |
;-------------------------------------------------------------
. = COMTAB
ARMVER: .WORD 0 ;What the arm code thinks VERSION is.
PCDVER: .WORD 0 ;What the pcode thinks PCVERSION is.
;Entry in GRAPHS.PAL[AL,HE]
LGETVAL:.WORD 0 ;Routine for searching graph structure
LINVLDT:.WORD 0 ;Invalidates graph node
;Entry in INTERP.PAL[AL,HE]
LGETARG:.WORD 0 ;Finds place in environment for level-offset
;Entry in ALIO.PAL[AL,HE]
LERRTRAP:.WORD 0 ;Call this to print an error message.
;The follow entry points are located in ARM.PAL[AL,HE]
LINTARM:.WORD 0 ;Arm initialization
LCENTER:.WORD 0 ;Center routine
LWHERE: .WORD 0 ;Where routine
LMOVE: .WORD 0 ;Move routine
LERRPTR:.WORD 0 ;All error torques: indirect table
LTHPTR: .WORD 0 ;All theta: joint angle indirect table
LDVCPTR:.WORD 0 ;Device block ptrs for attached servos
LSETBAS:.WORD 0 ;Force wrist set base routine
LWRIST: .WORD 0 ;Force wrist resolving routine
LSETC: .WORD 0 ;Force sensing and compliance system initialization
LFRCSIG:.WORD 0 ;Initializes job starting, based upon a force reading
LFRCOFF:.WORD 0 ;Takes a queued job off of the force signal list
LCOMPLY:.WORD 0 ;Sets up force compliance of a given magnitude and direction
LCMPOFF:.WORD 0 ;Turns off force compliance in a specified direction
;The follow entry points are located in ARITH.PAL[3,BES]
LSQRTF: .WORD 0 ;Square root routine
LSNCSD: .WORD 0 ;Sin&Cos routine (degrees)
LACOS: .WORD 0 ;Acos routine (degrees)
;The follow entry points are located in ARMSOL.PAL[11,BES]
LUPDATE:.WORD 0 ;Arm solution to go from joint angles to transform
COMMENT ⊗
If you want to define where, say, DRIVE is, you should do this:
PUTLOC LDRIVE, DRIVE
If you want to call, say, GETVAL, you should do this:
JSR PC,@LGETVAL
⊗
.IF1
.IFL INTRP-.
.ERROR COMTAB runs into interpreter.
.ENDC
.ENDC