?? chap8.asm
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; Chapter 8 6805 assembly language programs; Jonathan W. Valvano; This software accompanies the book,; Real Time Embedded Systems published by Brooks Cole;; Program 8.24. A double circular linked list used to control the stepper motor.;MC68HC705 or MC68HC708 ;Linked list stored in EEPROMLL: S10: dc.b 10 ;Output pattern dc.b S9-LL ;Next if CW dc.b S6-LL ;Next if CCWS9: dc.b 9 dc.b S10-LL dc.b S5-LL S5: dc.b 5 dc.b S9-LL dc.b S6-LL S6: dc.b 6 dc.b S5-LL dc.b S10-LL ;Global variables stored in RAMPOS: ds 1 ;0<=POS<=199PT: ds 1 ;to current state; Program 8.25. Helper functions used to control the stepper motor.; MC68HC705 or MC68HC708 goal: ds 1 ;desired position;Reg A=desired 0<=RegA<=199SEEK: sta goal ;Save desired sub POS ;Go CW or CCW? beq DONE ;Skip if equal bhi HIGH ;Desired>POS?;Desired<POS nega ;(POS-Desired) cmp #100 blo GOCCW ;Go CCW if;Desired<POS and POS-Desired<100GOCW: bsr CW ;Reg A current cmp goal bne GOCW ;POS=Desired? bra DONEHIGH: cmp #100 ;(Desired-POS) blo GOCW ;Go CW if;Desired>POS and Desired-POS<100GOCCW: bsr CCW ;Reg A current cmp goal bne GOCCW ;POS=Desired?DONE: rts ;Return
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