HCS12 datasheet(345/452 Pages) FREESCALE

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S12CPUV2 Reference Manual, Rev. 4.0

Freescale Semiconductor

345

9.3 Example Inference Kernel

Figure 9-3 is a complete fuzzy inference kernel written in CPU12 assembly

language. Numbers in square brackets are cycle counts for an HCS12

device. The kernel uses two system inputs with seven labels each and one

system output with seven labels. The program assembles to 57 bytes. It

executes in about 20

µs at an 25-MHz bus rate. The basic structure can

easily be extended to a general-purpose system with a larger number of

inputs and outputs.

Figure 9-3. Fuzzy Inference Engine

Lines 1 to 3 set up pointers and load the system input value into the A

accumulator.

Line 4 sets the loop count for the loop in lines 5 and 6.

Lines 5 and 6 make up the fuzzification loop for seven labels of one system

input. The MEM instruction finds the y-value on a trapezoidal membership

function for the current input value, for one label of the current input, and

then stores the result to the corresponding fuzzy input. Pointers in X and Y

01 [2]

FUZZIFY

LDX

#INPUT_MFS

;Point at MF definitions

02 [2]

LDY

#FUZ_INS

;Point at fuzzy input table

03 [3]

LDAA

CURRENT_INS

;Get first input value

04 [1]

LDAB

;7 labels per input

05 [5]

GRAD_LOOP

MEM

;Evaluate one MF

06 [3]

DBNE

B,GRAD_LOOP

;For 7 labels of 1 input

07 [3]

LDAA

CURRENT_INS+1

;Get second input value

08 [1]

LDAB

;7 labels per input

09 [5]

GRAD_LOOP1

MEM

;Evaluate one MF

10 [3]

DBNE

B,GRAD_LOOP1

;For 7 labels of 1 input

11 [1]

LDAB

;Loop count

12 [2]

RULE_EVAL

CLR

1,Y+

;Clr a fuzzy out & inc ptr

13 [3]

DBNE

b,RULE_EVAL

;Loop to clr all fuzzy outs

14 [2]

LDX

#RULE_START

;Point at first rule element

15 [2]

LDY

#FUZ_INS

;Point at fuzzy ins and outs

16 [1]

LDAA

#$FF

;Init A (and clears V-bit)

17 [3n+4]

REV

;Process rule list

18 [2]

DEFUZ

LDY

#FUZ_OUT

;Point at fuzzy outputs

19 [2]

LDX

#SGLTN_POS

;Point at singleton positions

20 [1]

LDAB

;7 fuzzy outs per COG output

21 [7b+4]

WAV

;Calculate sums for wtd av

22 [11]

EDIV

;Final divide for wtd av

23 [1]

TFR

Y,D

;Move result to A:B

24 [3]

STAB

COG_OUT

;Store system output

***** End

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