mpu8098.asm

scara机器人的一种简单的实现方法

AX 				 DSW   1AH
AXL             DSB   1AH
AXH				 DSB   1BH
BX 				 DSW   1CH
BXL             DSB   1CH
BXH				 DSB   1DH
CX 				 DSW   1EH
CXL             DSB   1EH
CXH				 DSB   1FH
DX 				 DSW   20H
DXL             DSB   20H
DXH				 DSB   21H

                ORG   2080H
MAIN:				 LD    STACKP #00C0H

                SCALL LS164L
                
;******************************************************************
;               KEY AND LED SUB_PROCEDURE
;******************************************************************
;==================================================================
;name: ls164k
;number:
;used resoures: external kclk,kdat;internal Acc,b
;algorithm: shift the data in the Acc to 74LS164(kdat)
;entry: Acc=the data which is shifted into 74LS164(kdat)
;exit:  No
;------------------------------------------------------------------
LS164L:         PUSHF
                
                LDB     BXL,#8H        ;COUNTER, SHIFT 8 TIMES
LS164L_LOOP:    LDB     AXL,#0CFH
                SHLB    CXL,#1H        ;TO BE DISPLAYED DATA
                JNC     LS164L_LDAT
                ADDB    AXL,#10H
LS164_LDAT:     STB     AXL,7FFFH[0]	;0 -> LCLK, C -> lDAT
                LDB     AXL,#0FFH
                STB     AXL,7FFFH[0]   ;1 -> LCLK
                DJNZ    BXL,LS164L_LOOP

                POPF
                RET

                END