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The following book is available from Prentice Hall:
Design of Embedded Systems
Using 68HC12/11 Microcontrollers
Richard E. Haskell
You can download or view the Preface and Table of Contents (.pdf files).
This book describes a version of Forth called WHYP (pronounced "whip") that will
run on 68HC12 or 68HC11 microcontrollers. You can download a .zip file containing
WHYP and all the programs in the book. This .zip file contains the latest versions
of WHYP with corrections to some of the program listings in the book.
The disk in the book contains a C++ program, HOST.CPP that can be used
to communicate through a serial port with the target board and download .S19 files.
You can download an executable HOST.EXE file from here.
Quick Start: The following .zip files contain only those files needed for a particular
evaluation board. The readme file describes how to load and run WHYP
for each of these particular boards.
M12A4.ZIP Motorola M68HCA4EVB Evaluation Board
AX12A4.ZIP Axiom CME12A4 Development Board
AX12B32.ZIP Axiom CME12B32 Development Board
Mot12B32.ZIP Motorola M68EVB912B32 Evaluation Board
(WHYP stored in on-chip 32KByte Flash EEPROM)
AxCME11.ZIP Axiom CME-11A Development Board
M11EVB.ZIP Motorola 68HC11EVB Evaluation Board
M11EVBU.ZIP Motorola 68HC11EVBU Evaluation Board
(WHYP stored in the EPROM of the 68HC711E9 chip starting at $F000)
CLM12SDP256.ZIP Axiom CML12S-DP256 Development Board for Motorola MC9S12DP256
Known bugs on the WHYP disk: You can download the file whypdisk.zip that
contains corrections to all of the following bugs:
1) In the file, WHYP12.HED, the address of (DO) should be 6C5 instead of 6C4,
and the address of S.FILE should be 5D9 instead of 5D7.
2) The 68HC11 .HED, .ASM and .S19 files need to updated to fix a problem in
the signed divide. The latest versions can be downloaded from either the
AxCME11.ZIP, M11EVB.ZIP or M11EVBU.ZIP Quick Start files given above.
3) In the assembly language code for fill.weights and firerules in WHYP12.ASM
the wrong machine code was assembled due to missing semicolons in the comments
that contain the # sign. (The code is assembled as immediate mode!). This has been
corrected in the files on this web site.
4) The following figures in the book contain errors that are corrected in the .whp
files that are on whypdisk.zip.
Fig. 7-9, p. 197
Listing 7-1, p. 210
Fig. 8-6, p. 225
Fig. 10-16, p.279 (missing ; at the end of init.key)
Listing 10-5, p.285
Listing 14-2, p. 377
Listing 14-3, p. 381-383
Forth web sites:
Forth, Inc. -- Shows how Forth is being used in industry.
Forth Interest Group Home Page -- Lots of Forth information and links
Can download F-PC from here
Chuck Moore's web site
To practice Forth on a PC you can use The Forth Course, a set of 11 lessons that
use F-PC, a public domain, DOS-based Forth for the PC. The zip file contains all
11 lessons plus an executable version of F-PC (F.EXE). The complete F-PC system
can be downloaded from http://www.forth.org/compilers.html.
An integrated development environment 68HC12 assembler can be downloaded from
http://www.mgtek.com/
A 68HC12 simulator that simulates the Motorola M68HC12A4EVB evaluation board
can be downloaded from
http://www.aracnet.com/~tomalmy/68hc12.html
Information about an add-on board for the Motorola M68EVB912B32 evaluation board
can be found at
http://hc12web.de/rambo32/
Publications related to Forth and WHYP:
1. Richard E. Haskell, "The Forth Course - A University Course in Embedded Software Computer Systems," Proc. 1990 Rochester Forth Conference, Rochester, NY, June 12-16, 1990.
2. Richard E. Haskell, "A 32-bit 68000 eForth Implementation for the Motorola Educational Computer Board," Proc. 1990 FORML Conference, Pacific Grove, CA, November 23-25, 1990.
3. Richard E. Haskell, "Subroutine Threaded eForth," Proc. 1991 Rochester Forth Conference, Rochester, NY, June 18-22, 1991.
4. R. E. Haskell, A. M. Leshchyshyn and C. B Srinivas, "32-bit Subroutine Threaded eForth for the Motorola 68000," Proc. 1991 Rochester Forth Conference, Rochester, NY, June 18-22, 1991.
5. Richard E. Haskell, "Forth in Mainstream Computer Science Courses," ACM SIGForth '92 Forth Language Workshop, Kansas City, MO, March 5-7, 1992.
6. Richard E. Haskell, "Design of a Subroutine Threaded Forth for Embedded Systems," Proc. Fourteenth FORML Conference, pp. 48-53, Asilomar Conf. Center, Pacific Grove, CA, November 27-29, 1992.
7. Richard E. Haskell, "ouForth – a Subroutine Threaded Forth for Embedded Systems," Proc. 1993 Rochester Forth Conference, Rochester, NY, pp. 62-66, June 23-26, 1993.
8. Richard E. Haskell, "Fuzzy Control in Forth," Proc. 1994 Rochester Forth Conference, Rochester, NY, pp. 28-31, June 22-25, 1994.
9. Richard E. Haskell, "WHYP – A C++ Based Version of ouForth for the Motorola 68HC11," Proc. 1995 Rochester Forth Conference, Rochester, NY, pp. 46-49, June 21-24, 1995.
10. Richard E. Haskell, "Design of Embedded Systems Using WHYP," Proc. 1997 Rochester Forth Conference, Rochester, NY, June 25-27, 1997.
11. Richard E. Haskell and Michael Trader, "WHYP on a 68HC12," Proc. 1998 Rochester Forth Conference, Rochester, NY, June 24-26, 1998.
12. Richard E. Haskell, "The Philosophy of WHYP," Proc. 21st FORML Conference, Asilomar Conf. Center, Pacific Grove, CA, November 19-21, 1999.