zuoyouzhuan.asm

单片机控制小车（两个步进电机）前进后退及转弯程序

steps    equ   200
times    equ   10
phase    equ   33h
         org    00h
         jmp   start
         org    03h
         jmp     int0
         org     13h
         jmp      int1
start:    mov  ie,#10000101b
          mov    sp,#30h
          setb    it0
          setb     it1
          ;mov   r5,#times
          ;call   position
          ;mov   r5,40h
          ;mov   a,r5
          ;dec   a
          ;mov   r5,a
         ; mov   40h,r5
bb:       mov   a,#phase
          mov   r4,#steps
rl_1:     mov   p2,a
          mov   r5,#times
          call   delay
          rl  a
          djnz   r4,rl_1
           mov   a,#phase
           mov   r4,#steps
rr_1:     mov   p2,a
           mov   r5,#times
          call   delay
          rr  a
          djnz   r4,rr_1

          jmp   bb
int0:     push    psw
          push   a
          setb    rs0
           mov   a,#phase
          mov   r4,#steps
aa:        mov   p2,a
          mov   r5,#times
          call   delay1
          rl  a
          djnz   r4, aa
          pop   a
          pop   psw
          reti
int1:     push    psw
          push   a
          setb    rs0
           mov   a,#phase
          mov   r4,#steps
cc:        mov   p2,a
          mov   r5,#times
          call   delay2
          rl  a
          djnz   r4, cc
          clr rs0
          pop   a
          pop   psw
          reti

delay:   mov   r7,#10
d1:      mov   r6,#100
d2:      djnz  r6,d2
         djnz  r7,d1
         djnz  r5,delay
         ret
delay1:   mov   r7,#10
d3:      mov   r6,#40
d4:      djnz  r6,d4
         djnz  r7,d3
         djnz  r5,delay1
         ret
delay2:   mov   r7,#10
d5:      mov   r6,#10
d6:      djnz  r6,d6
         djnz  r7,d5
         djnz  r5,delay2
         ret
position:
        mov    30h,#4
        mov    a,#phase
p_1:    mov    p2,a
        mov     r5,#times
        call     delay
        rl     a
        djnz    30h,p_1
        ret
        end