*************************************************************************** *Fuzzy Inference Engine For 68k Family Processors *Run And Tested on hc332 But May Be used on any 68k family part. Uses no *Special Instructions (I Have My eye on the tbls Instruction for a 332 *Specific Version. *This Version USes a 68hc11 Style data base with the directives changed to *Match 68k assemblers. It pretty much *follows the flow of the hc11 version, and I have even Used the same labels *where possible. Some optimizations may be possible on this code, and I will *look into that shortly *8/17/92 *Harry Powell ***************************************************************************** code equ 0 data equ 1 ;For Section Directives * *These 2 Variables Defined For Target Application csect equ $40000 ;Beginning Of Code Section Ram_Beg equ $50000 ;Beginnig Of Ram Free Area ***************************************************************************** *Knowledge Base Goes Here * Generated by KBG.EXE V2.20 *Knowledge Base Ends Here ***************************************************************************** *Start Of Engine section data ORG $0000 ;Mpu332 Ram *Fuzzy Ram Stuff Is defined As Offsets CURRENT_INS ds.w NUMINP ;Storage for 8-bit inputs FUZ_INS ds.w 8*NUMINP ;Storage for fuzzy inputs (RIGHT NOW MAX=8) FUZ_OUTS ds.w 8*NUMOUT ;Storage for fuzzy outputs (RIGHT NOW MAX=4) COG_OUTS ds.w NUMOUT ;Defuzzified outputs section code ;For Now On MPU332 Board even fuzzify equ * movem.l d0-d7/a0-a3,-(sp) move.l #Ram_Beg,a0 ;a0 is Base Address Pointer lea FUZ_INS(a0),a3 lea CURRENT_INS(a0),a2 move.w #NUMINP-1,d7 ;Loop Counter Used During Fuzzification lea INPUT_MFS(pc),a1 ;a1 Points To Input Memberships nxtin_lp equ * Get Next Input Value move.w #7,d6 ;Loop Thru Counter For 8 Labels (use dbf) move.w (a2)+,d0 grad_loop equ * ******************************************************************* * GET_GRADE - Routine to project a discrete input value onto * * the associated input membership function (fuzzification). * * Enter with Input value in d0.w and a1 pointing at the * * points and slopes defining the membership function. * * Finishes with grade in d1, a1 points at next MF spec (a1+8) * * and d0 is unchanged. * ******************************************************************* *Note Use Of Word Addresses For Offsets of Membership Functions * 0 -> pt1 * 2 -> Slope 1 * 4 -> pt2 * 6 -> Slope 2 pt2 equ 4 slope1 equ 2 pt1 equ 0 slope2 equ 6 GET_GRADE equ * clr.w d1 move.w pt2(a1),d2 ;Temp Storage For pt.2 cmp.w d0,d2 bhi not_seg2 move.w slope2(a1),d5 ;Get Slope 2 beq hav_grad ;Vertical So Membership = 0 move.w d0,d4 sub.w d2,d4 ;Get Distance Beyond pt2 mulu d4,d5 ;And Project Membership cmp.w #$ff,d5 ble no_fix ;See If Out Of Membership On High End bra hav_grad ;Yes So Grade = 0 no_fix equ * move.w #$ff,d1 ;Max Possible Membership Value sub.w d5,d1 ;Max- (Slope * pt2) bra hav_grad ***************************************************************************** *Here The Point Is In Segment 1 or Maybe Less Than Point 1 not_seg2 equ * ;Input Is In Segment 1 move.w (a1),d5 ;Get Point 1 cmp.w d0,d5 ;See If Point 1 Is Higher Than Input bhi hav_grad ;Yes, Then Membership Is 0 move.w d0,d3 ;Working Copy Of Input sub.w d5,d3 ;d3 gets Distance "into" mfs move.w 2(a1),d4 ;Slope In First Segment beq vert_slp ;Vertical Slope mulu d4,d3 ;Slope * Distance "Into" Membership cmp.w #$00ff,d3 bhi vert_slp move.w d3,d1 ;Get Result Into Expected Register bra hav_grad vert_slp move.w #$ff,d1 ;Either Limit Region OR Vertical Slope hav_grad lea 8(a1),a1 ;Next MemberShip Function move.w d1,(a3)+ ;Store In Fuzz Input For This Member dbf d6,grad_loop ;Have we read In 8 members ? dbf d7,nxtin_lp ;Have We Read In All Current Inputs ? *************************************************************************** *All Inputs Are Now Fuzzified, Evaluate Rules Next *************************************************************************** lea FUZ_OUTS(a0),a1 move.w #NUMOUT,d0 asl.w #3,d0 ;Quick x8 For 8 Labels Per Output subq.w #1,d0 ;Off 1 For dbf clr_outs clr.w (a1)+ dbf d0,clr_outs ;All Outs Start At 0 lea FUZ_OUTS(a0),a3 lea FUZ_INS(a0),a2 lea RULE_START(pc),a1 ;Start Of First Rule RULE_TOP move.w #$ff,d0 ;d0 will wind Up with MIN of "IF" Part IF_LOOP clr.w d1 ;So LAter Shift won't mess up move.b (a1)+,d1 ;Rules are still expressed as bytes bmi THEN_LOOP ;If Bit 7 is 1 then it's a "THEN" Part asl.w #1,d1 ;x2 for Word Addressing Of Inputs cmp.w (a2,d1.w),d0 bls IF_LOOP ;If Value In d0 is lower then don't replace move.w (a2,d1.w),d0 ;ELse Replace with lower Value bne IF_LOOP ;If Not zero the check for more "IF" Parts *Zero Fuzzy Value Means Rule Is Not True, So Skip To "THEN" Part FIND_THEN tst.b (a1)+ bpl FIND_THEN ;Keep Looping Until "THEN" Is Hit FIND_IF move.b (a1),d1 bpl RULE_TOP ;Next "IF" Part lea 1(a1),a1 ;Jump To Next Rule cmp.b #$ff,d1 bne FIND_IF bra DEFUZ ;If $ff Is Hit Then End Of RUles, Go Defuz *d0.w has fuzzy value for this Output THEN_LOOP and.w #$7f,d1 asl.w #1,d1 ;Offset For Word Addressing cmp.w (a3,d1.w),d0 blt NOT_HIER ;Fuzzy Value In Output IS Already Higher move.w d0,(a3,d1.w) NOT_HIER tst.b (a1) bpl RULE_TOP ;Another "IF" Part CHK_END clr.w d1 move.b (a1)+,d1 cmp.w #$ff,d1 ;See If End Of All Rules bne THEN_LOOP DEFUZ lea SGLTN_POS(pc),a1 ;First Output Singleton Position lea FUZ_OUTS(a0),a2 lea COG_OUTS(a0),a3 moveq #NUMOUT-1,d6 ;Count Thru Outputs (use dbf Instr.) COG_LOOP clr.l d0 clr.l d1 ;Sum Of Products clr.l d2 ;Is Sum Of Fuzzy Outputs moveq #7,d7 ;8 (-1) Loops Per Output SUM_LOOP move.w (a2)+,d3 ;Get A Fuzzy Output add.w d3,d2 ;Add Up Sum Of Fuzzy Outputs move.w (a1)+,d4 ;Get Output Singleton mulu d4,d3 ;Times Fuzzy Output add.l d3,d1 ;Add Up Sum Of Products dbf d7,SUM_LOOP ;8 Hits Thru Loop tst.w d2 ;Check For 0 Divide bne sl1 clr.w d1 bra sl2 sl1 divu d2,d1 ;SOP/SOF A LOT Neater Than hc11 ! sl2 move.w d1,(a3)+ ;SAve In COG Output dbf d6,COG_LOOP ;Do Another Output ********************************************************************* *All Fuzzy Processing Done Here ********************************************************************* movem.l (sp)+,d0-d7/a0-a3 ;Give Back Registers here bra here ; Hang here