ELEC1601 Week 9

Introduction to Computer Systems

(start at 14:05)

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Outline
• The Project
• What you should be doing next week
• Video Demo

• Recap prior to break

• New top

• Mid-sem (hopefully run through next week)

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Dealing with a corner

No sensor sees
obstacle –
accelerate until
speed =3
reached

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Dealing with a corner

No sensor sees
obstacle –
accelerate until
speed =3
reached

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Dealing with a corner

Sensor active Front sensor

sees wall –
!
slow down to
stop

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Dealing with a corner

Sensor active Front sensor

sees wall –
!
slow down to
stop (has some
momentum)

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Dealing with a corner

Sensor active Reverse a bit

until sensor
!
just sees wall,
stop

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Dealing with a corner

Once stopped.
First rotate
clockwise unless
left sensor active
or 90 degrees

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Dealing with a corner

Once stopped.
First rotate
clockwise unless
left sensor active
or 90 degrees

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Dealing with a corner

90 degree Once stopped.

reached First rotate
clockwise unless
left sensor active
or 90 degrees

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Dealing with a corner

Undo rotation

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Dealing with a corner

Undo rotation

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Dealing with a corner

Undo rotation

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Dealing with a corner

Rotate
anticlockwise
unless right
sensor active or
90 degrees

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Dealing with a corner

Rotate
anticlockwise
unless right
sensor active or
Sensor active
90 degrees
– wall is on
right
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Dealing with a corner

Undo rotation

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Dealing with a corner

Undo rotation

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Dealing with a corner

Reverse a bit

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Dealing with a corner

Reverse a bit

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Dealing with a corner

Compare how
long turns took -
will tell if wall is
on left or right

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Dealing with a corner

Wall is on right.
Rotate
anticlockwise

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Dealing with a corner

Wall is on right.
Rotate
anticlockwise

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Dealing with a corner

Wall is on right.
Rotate
anticlockwise

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Dealing with a corner

Done. Move
forward

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Recap with code

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Recap with code

No sensor sees
obstacle –
accelerate until
speed =3
reached

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Recap with code

Sensor active Front sensor

sees wall –
!
slow down to
stop

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Recap with code

Slow down
Back off a bit
Return to a stop

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Recap with code

Once stopped.
First rotate
clockwise unless
left sensor active
or 90 degrees

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Recap with code

Undo rotation

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Recap with code

Repeat same code

(anticlockwise and
undo rotation)

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Recap with code

Reverse a bit

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Recap with code

Wall is on right.
Rotate
anticlockwise

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Outline
• The Project
• What you should be doing next week
• Video Demo

• Recap prior to break

• Examples/Addressing Modes/Subroutines

• Mid-sem (hopefully run through next week)

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 Lecture 9

Transistors RAMs/
Gates ROMs Actuators
ALUs
Flip-Flops/ Computer Sensors
Compilers
Registers Architecture Bus

Real-world
Ones and Zeros Words Instructions Programs
interactions

FSMs Pipelining Software Calibration

Floating
Combinational Point Memory/
Digital Logic Fixed Point Stack Subroutines
Addressing High-level
Propositional Binary Modes Constructs
Logic ISA/
Assembly
Machine
Code Simulation
Code
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Computer Architecture Overview
What do you need to know?
– What are design trade-offs with computer architecture
• RISC vs CISC
– What are the standard parts of a computer architecture
• PC, Memory, Register File, ALU, Status Register, Control Circuitry
• How they relate to what you’ve learnt so far.
• How they interact.
– What are the basic AVR instructions
• How do they run on the hardware
– What does the most basic assembly program look like (in AVR)
• Data Storage
• Stack
• Subroutines

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Quick walk through of instructions
Basic arithmetic (involve registers only)
– Mov
– Arithmetic
• What happens with overflow?
– Logical
• Two 8-bit AND. Meaning?
– LSL/LSR

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Quick walk through of instructions
More complex arithmetic (involve registers only)
– MUL/MULS
• Can there be overflow?

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Quick walk through of instructions
Memory:
– Load
• LDI
• LDS
• (LD)
– Store
• STS
• (SD/STD)

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Quick walk through of instructions
LD/SD
– How do you store an array in memory?

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Quick walk through of instructions
Memory:
– Push
– Pop

(we’ll return to these shortly)

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Quick walk through of instructions
Flow control:
– JMP
– Compare
• CP
• CPI
– Branch
• BRSH/BRLT/BRGE/BRLO
• What are the differences branch vs jump?
– Call/Ret
• (We’ll discuss these in more detail later)
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Quick walk through of instructions
I/O:
– IN
– OUT

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Computer Architecture Overview
What do you need to know?
– What are design trade-offs with computer architecture
• RISC vs CISC
– What are the standard parts of a computer architecture
• PC, Memory, Register File, ALU, Status Register, Control Circuitry
• How they relate to what you’ve learnt so far.
• How they interact.
– What are the basic AVR instructions
• How do they run on the hardware
– What does the most basic assembly program look like (in AVR)
• Data Storage
• Stack
• Addressing Modes
• Subroutines

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.section .data
.byte 0xAB, 12, 0b11010010
.space 5, 0
.space 5
.ascii “hello”
.asciz ‘hi’ (.string ‘hi’ )

Check it out in the simulator

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Stack: Push & Pop
– Push – Pop

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Some practice – Examples - reading assembly
– What does this code do?

LDI R21, 1
LDI R22, 2
LDI R23, 3
LDI R24, 4
JMP e3
e1: ADD R21, R22
JMP e4
e2: ADD R21, R23
JMP e1
e3: ADD R21, R24
JMP e2
e4:

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Some practice – reading assembly
– What does this code do?
– LDI R16, 1
– MOV R1, R16
– LDI R17, 2
– MOV R2, R17
– ADD R1, R2
– LDI R18, 3
– MOV R3, R18
– ADD R1, R3
– LDI R19, 4
– MOV R4, R19
– ADD R1, R4
– PUSH R1

– Can you re-write using fewer instructions?

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Some practice – stack
– What code would swap the position of registers R1 and R2
using the stack and no other registers?

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Some practice – stack
– What does this code do?

LDS R1, n1 ; Loads n1 in R1

LDS R2, n2 ; Loads n2 in R2
MUL R1, R2 ; R1 = R1 * R2
MOV R3, R1 ; R3 = R1
LDS R1, n3 ; Loads n3 in R1
LDS R2, n4 ; Loads n4 in R2
MUL R1, R2 ; R1 = R1 * R2
ADD R1, R3 ; R1 = R1 + R3

Can you avoid using R3 by using the stack?

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Some practice – writing assembly
– How do you translate (written in some high-level language)
this to assembly:
– A = 10
AVR Instruction Set Manual (microchip.com)

– B = [1, 2, 4, 10]
–P = A
– Q = P+1
– B[0] = P+Q
– B[1] = Q-P+1

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Some practice – writing assembly
– How do you translate (written in some high-level language)
this to assembly:
– A = 10
AVR Instruction Set Manual (microchip.com)

– B = [1, 2, 4, 10]
–P = A
– Q = P+1
– B[0] = P+Q
– B[1] = Q-P+1
Is there a nice way to address B[1]?
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Recap Week 8
– What do you need to know?
– What are design trade-offs with computer architecture
• RISC vs CISC
– What are the standard parts of a computer architecture
• PC, Memory, Register File, ALU, Status Register, Control Circuitry
• How they relate to what you’ve learnt so far.
• How they interact.
– What are the basic AVR instructions
• How do they run on the hardware
– What does the most basic assembly program look like (in AVR)
• Data Storage
• Stack
- Examples
• Addressing Modes
• Subroutines
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Addressing Mode 1: Register Direct
– Sample Instruction: (MOV)
– Where is the operand?
– Where is the address of the operand?

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Addressing Mode 2: Immediate
– Sample Instruction: (SUBI)
– Where is the operand?
– Where is the address of the operand?

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Addressing Mode 3: Data Direct
– Sample Instruction: (LDS)
– Where is the operand?
– Where is the address of the operand?

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Addressing Mode 4: Data Indirect
– Sample Instruction: (LD)
– Where is the operand?
– Where is the address of the operand?

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Addressing Mode 4: Data Indirect
– Sample Instruction: Where is the operand?
– Where is the address of the operand?
X/Y/Z must be pre-loaded with
correct address

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Addressing Mode 4: Data Indirect
– Sample Instruction:
Ldi R27, hi8(label)
– Where is the operand? Ldi r26, lo8(label)

– Where is the address of the operand?

X/Y/Z must be pre-loaded with
correct address

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Addressing Mode 4: Data Indirect
– Sample Instruction:
Ldi R27, hi8(label)
– Where is the operand? Ldi r26, lo8(label)

– Where is the address of the operand?

X/Y/Z must be pre-loaded with
correct address

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Addressing Mode 5: Data Indirect (with Post-increment)
– Sample Instruction: (LD R10 X+)
– Where is the operand?
– Where is the address of the operand?

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Addressing Mode 6: Data Indirect (with Pre-increment)
– Sample Instruction: (LD R10 -X)
– Where is the operand?
– Where is the address of the operand?

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Addressing Mode 7: Data Indirect (with Displacement)
– Sample Instruction: (LD R10 Y+3)
– Where is the operand?
– Where is the address of the operand?

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Computer Architecture Overview
– What do you need to know?
– What are design trade-offs with computer architecture
• RISC vs CISC
– What are the standard parts of a computer architecture
• PC, Memory, Register File, ALU, Status Register, Control Circuitry
• How they relate to what you’ve learnt so far.
• How they interact.
– What are the basic AVR instructions
• How do they run on the hardware
– What does the most basic assembly program look like (in AVR)
• Data Storage
• Stack
• Addressing Modes
• Subroutines

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Subroutine
– What is a subroutine?
– A method to run methods/functions/procedures on a CPU
– How do subroutines work?
– Get parameters/return space ready
– Call
– Do subroutine
– Return
– Obtain result

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Example
Main program Subroutine (called)
(caller)
. label: .
. .
. .
CALL label .
.(a) RET
.
.
.
.
.
.

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Example
Main program Subroutine (called)
(caller)
. label: .
. .
. .
CALL label .
.(a) RET
.
.
. What is CALL?
. (why not JMP?)
.
.

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Example
Main program Subroutine (called)
(caller)
. label: .
. .
. .
CALL label .
.(a) RET
.
.
.
.
CALL label
. (b)
.
.

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Ex_sub.py

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Example 2
Main program Subroutine (called) sub2: .
(caller) .
. label: . .
. . .
. CALL sub2 .
CALL label . RET
.(a) RET
.
.
.
.
CALL label
. (b)
.
.
How many return addresses
do we need to remember
here?
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Example 3
Main program Subroutine (called) sub2: .
(caller) .
. label: . .
. . if …
. CALL sub2 sub2
CALL label . .
.(a) RET RET
.
.
.
.
CALL label
. (b)
.
.
How many return addresses
do we need to remember
here?
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Example 3
Main program Subroutine (called) sub2: .
(caller) .
. label: . .
. . if …
. CALL sub2 sub2
CALL label . .
.(a) RET RET
.
.
.
.
CALL label Does a subroutine always have to come back (RET)
. (b) (can you jump elsewhere)
.
.
How many return addresses
do we need to remember
here?
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Let’s consider a program

void main (….) { function (int x, int y) {

int j, k , result …
… x++;
j = 10; y++;
k = 20; …
… return (x+y)*(x-y)
result = obj.function(j,k) }
…

Programming questions: Assembly questions:

What is the value of x, y after the function call? How do I pass these parameters?
Can I use the variable j? How do I return result?
How do I enforce scope?

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Subroutines – the conflict
– To run, subroutines need registers/stack:
– To make life easy for the calling program
• Any data held in registers/stack in calling program should
be the same before/after
• (except the result)
– To make life easy for the subroutine
• It should be free to use all registers/stack
– Who should be in charge?

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Subroutines
– Who should be in charge?

– AVR compiler has some arbitrary rules:

– Registers must obey following policy:
https://canvas.sydney.edu.au/courses/17907/pages/8-dot-4-
stack-and-register-management?module_item_id=577848
– Stack must be unchanged.
• Can you still use it?

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Passing data (in general)
.
Copy
. label: .
parameters
. . Use
CALL label parameters
.
Parameters
. Retrieve and produce
. results . results
. RET
.
.
CALL label
.
. Results
.

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Passing data (in general)
.
Copy
. label: .
parameters
. . Use
CALL label parameters
.
Parameters
. Retrieve and produce
. results . results
. RET
.
.
CALL label
.
. Easiest way to do this
Results is with the stack
.

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Ex_sub.py
– Modify this to pass via the stack?

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Passing data (in general)
– Is passing parameters by pushing/popping efficient?
– How else could we do it?
• Need to understand the stack pointer

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Studying the stack (general function call)
(a)
label: (d)
. .
.
(b) .
CALL label .
(c)
. .
. SP Initial RET
.
.
CALL label
.
.
.

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Studying the stack (general function call)
(a)
label: (d)
. .
.
(b) .
CALL label .
(c)
. .
. SP Initial RET
.
.
CALL label
.
.
.
If you issue CALL label, how does the stack/stack pointer change

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Studying the stack (general function call)
(a)
label: (d)
. .
.
(b) .
CALL label .
(c)
. .
. SP Initial RET
.
.
CALL label
.
.
.
If you want results, how do you send/retrieve them through the sta

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Studying the stack (general function call)
(a)
Push to stack label: (d)
. space for .
results .
(b) .
CALL label .
(c) Return result
. Retrieve parameters
.
. SP Initial RET
results
.
.
CALL label
.
.
.
How does the stack/stack pointer change?

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Studying the stack (general function call)
(a)
Push to stack label: (d)
. space for .
results .
(b) .
CALL label .
(c) Return result
. Retrieve parameters
.
. SP Initial RET
results
.
.
CALL label
.
.
. How do you pass parameters & results through the stack

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Studying the stack (general function call)
(a)
Push to stack label: (d)
. space for .
results .
(b) .
CALL label .
(c) Return result
. Retrieve parameters
.
. SP Initial RET
results
.
.
CALL label
.
.
. Suppose you want to use the stack to store additional temporary variab
within your subroutine. Where are they stored?

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Studying the stack (general function call)
(a)
Push to stack label: (d)
. space for .
results .
(b) .
CALL label .
(c) Return result
. Retrieve parameters
.
. SP Initial RET
results
.
.
CALL label
.
.
. Suppose you want to use the stack to store additional temporary variab
within your subroutine. Where are they stored?
How do you return in this case?
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Studying the stack (general function call)
(a)
Push to stack label: (d)
. (param and .Access
results) .
parameters
(b) .
CALL label .
(c) Return result
. Retrieve parameters
.
. SP Initial RET
results
.
.
CALL label
.
.
. How do you get the results back?

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Accessing parameters on demand
– Where is the stack?
– Data Memory
– What do you need to access parameters on demand?
– Play around with the stack pointer

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Stack pointer
– How many bits?
– 16
– Special register (I/O…)
– Stored in 0x3E:0x3D
– Access with ‘IN’ Command
• IN R28, 0x3D (like MOV…can’t use MOV because…)
• IN R27, 0x3E
– Modify with ‘OUT’ Command
• OUT 0x3D, R30 ;
• OUT 0x3E, R31
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