perm filename HAL.PAL[HAL,HE]15 blob
sn#197456 filedate 1976-01-20 generic text, type C, neo UTF8
COMMENT ⊗ VALID 00003 PAGES
C REC PAGE DESCRIPTION
C00001 00001
C00002 00002 .TITLE AL INTERPRETER
C00006 00003 program initialization
C00016 ENDMK
C⊗;
.TITLE AL INTERPRETER
;These need only be looked at during the first pass:
.IF1
.INSRT HALHED.PAL[HAL,HE]
STSW FLOAT,1 ;1 => put in the floating-string conversions
STSW KERNEL,1 ;1 => use the kernel
STSW SMALLB,1 ;1 => use the small block routines
STSW ONMONS,1 ;1 => put in condition monitors
STSW GRAPHS,1 ;1 => put in graph structure
STSW MOVING,1 ;1 => assume the servo is loaded too
STSW INTLOAD,1 ;1 => put in the interpreter
STSW ALAID,0 ;1 => put in the ALAID debugging stuff
STSW DETECT,0 ;1 => put in the collision detector only
STSW K2,1 ;1 => use kernel K2, else K1
STSW MAP,0 ;1 => put in mapping capablity. Requires K2.
.IFZ K2
.INSRT K1DEF.PAL[11,SYS]
.IFF
.INSRT K2DEF.PAL[11,SYS]
.ENDC
.ENDC
. = INTRP
.INSRT HALIO.PAL[HAL,HE]
.IFNZ MAP
.INSRT MAP.PAL[HAL,HE]
.ENDC
.INSRT LARGEB.PAL[HAL,HE]
MAINBL: PDBLK 1000,S ;Makes a process descriptor for main process
START: JMP START1 ;Put this in low core. Eventually should be a switch.
.IFNZ ALAID ;The debugging package
FLOAT==1 ;uses floating output
.INSRT ALAID.PAL[HAL,HE]
.ENDC
.IFNZ FLOAT ;The floating I/O
.INSRT FLOAT.PAL[HAL,HE]
.ENDC
.IFNZ SMALLB ;Small block allocator
.INSRT SMALLB.PAL[HAL,HE]
.ENDC
.IFNZ INTLOAD ;The interpreter
.INSRT INTERP.PAL[HAL,HE]
.IFZ MOVING
.INSRT ARITH.PAL[HAL,HE]
PUTLOC LSQRTF,SQRTF ;Global declaration
.IFF
ONE: .WORD 40200,0 ;1.0
.ENDC
.ENDC
.IFNZ GRAPHS ;Graph structure
.INSRT GRAPHS.PAL[HAL,HE]
.ENDC
.IFNZ DETECT ;Collision detector
.INSRT DETECT.PAL[HAL,HE]
.ENDC
;Data areas
ISTBLK: .BLKW ISBS ;Dummy interpreter status block (used in linking only)
ENVLTH == 100
ENVIRO: .BLKW ENVLTH ;Environment
PUTLOC JOBDAT, MAINBL
PUTLOC JOBSA, START
; program initialization
START1:
JSR PC,FRINIT ;Initialize free storage
.IFNZ SMALLB
CALL SBINIT ;Initialize small block space
.ENDC
.IFNZ GRAPHS
JSR PC,GSINIT ;Initialize graph structure
.ENDC
.IFNZ MOVING
MOV #34,R0 ;Get a device block
JSR PC,GTFREE ;
MOV R0,R1
JSR PC,@LINTARM ;Initialize the arm code
.ENDC
JSR PC,IOINIT ;Initialize input-output
.IFNZ INTLOAD ;Initialize the interpreter
JSR PC,INTINIT ;Initialize the interpreter events
MOV #ENVIRO,R0 ;Clear out the envrironment
MOV #ENVLTH,R1 ;
ST1: CLR (R0)+ ;
SOB R1,ST1 ;
MOV #ISBS,R0 ;R0 ← Size (in words) of an interpreter status block
JSR PC,GTFREE ;R0 ← LOC[new interpreter status block]
CLR LEV(R0) ;new LEV ← 0
MOV R0,NXTINT+ISTBLK ;Prime the interpreter list.
CLR NXTINT(R0) ;
MOV #PCODE,IPC(R0) ;new IPC ← interpreter start address
MOV #ENVIRO,ENV(R0) ;new ENV ← ENVIRO
EVMAK ;-(SP) ← event for EVT in this interpreter
MOV (SP),EVT(R0);new EVT ← event just created.
MOV R0,-(SP) ;Save LOC[new interpreter status block]
MOV #INSTSZ,R0 ;R0 ← Size needed for an interpreter stack
JSR PC,GTFREE ;R0 ← LOC[new interpreter stack]
MOV (SP)+,R1 ;R1 ← LOC[new interpreter status block]
MOV R0,STKBAS(R1) ;Store away new stack base
ADD #2*INSTSZ,R0 ;R0 ← LOC[top of new stack] (INSTSZ is in bytes)
MOV R1,-(SP) ;Save R1
MOV R0,-(SP) ;Save R0
MOV #210,R0 ;Room for process descriptor
JSR PC,GTFREE ;R0 ← LOC[new process descriptor]
MOV #UFPUSE+UGRSAV,PDBSTA(R0);Use floating point, use saved registers.
MOV #420,UPDLEN(R0) ;Length of PCB
MOV (SP)+,R1 ;R1 ← LOC[new interpreter stack top]
MOV R1,PDBR3(R0) ;Store away new interp stack pointer (reg 3)
MOV (SP)+,R1 ;R1 ← LOC[new ISB]
MOV R0,PCB(R1) ;Store away LOC[PCB] in new ISB
MOV R1,PDBR4(R0) ;Store away LOC[ISB] in reg 4 of PCB
MOV SP,R1 ;
TST (R1)+ ;
MOV R1,PDBSP(R0) ;Store away the new stack pointer (reg 6)
MOV #INTERP,PDBPC(R0);Store away the new PC
.IFNZ K2
MOV #376,UIMAP(R0) ;Map instruction space
MOV #376,UDMAP(R0) ;Map data space
.ENDC
ADD #PDBSTA,R0 ;Move R0 to the middle of the process descriptor
SCHEDU R0,#INTERP,#0,#2;Cause the new process to be started, suspended
EVWAIT (SP) ;Wait for the return signal
BCC TST1 ;All well?
HALERR TSTMES ;No
TST1: MOV #TSTME1,R0 ;
JSR PC,TYPSTR ;Say farewell
DISMIS ;Go away
TSTMES: ASCIE </BAD RETURN FROM MAIN INTERPRETER/>
TSTME1: ASCIE </
ALL DONE NOW. SEE YOU AROUND!
/>
;End of the interpreter calling sequence
.IFF ;do some test without the iterpreter
.PRINT /Not loading the interpreter
/
JSR PC,TEST ;Try out whatever test routine has been loaded.
DISMIS ;
.ENDC
PATCH: .BLKW 100
.IFNZ INTERP+GRAPHS
PUTLOC LGETVAL, GETVAL
PUTLOC LGETARG, GETARG
PUTLOC LINVLDT, INVLDT
.ENDC
.IF2
FOO==.
.INFO <First location after interpreter = >,\FOO
.IFL PCODE-FOO
.ERROR Interpreter runs into pseudo-code.
.ENDC
.ENDC
.END
.IFNZ MOVING ;Ability to move arms
;. ← ARMCOD
;.INSRT ARM.PAL[11,BES] This is to be overlayed, not assembled with.
;.INSRT ARMSOL.PAL[11,BES] To be overlayed, not assembled with.
.ENDC