51单片机 步进电机的驱动和旋转角度控制

#include <reg52.h>

typedef unsigned char uint8_t;
typedef unsigned int uint16_t;
typedef unsigned long uint32_t;
//1-2ÏàÀø´Å£¬µÍµçƽÓÐЧ
uint8_t code beatCode[8] = {  
    0xE, 0xC, 0xD, 0x9, 0xB, 0x3, 0x7, 0x6  
};
uint32_t beats = 0;
uint8_t T0RH = 0, T0RL = 0;

void configTmr0(uint16_t ms);
void setTurningAngle(uint32_t angle);
void turnStepper();

void main() {
    configTmr0(2);
    setTurningAngle(2 * 360 + 180);
    while (1);
}

void setTurningAngle(uint32_t angle) {
    EA = 0;	//¹Ø×ÜÖжÏ
    beats = angle * 4076 / 360;
    EA = 1;
}
//1-2ÏàÀø´Å·½Ê½
void turnStepper() {
	static uint8_t index = 0;
	uint8_t tmp; 
	
	tmp = P1;  
    tmp &= 0xF0;  
    tmp |= beatCode[index];  
    P1 = tmp;  
    index = ++index & 0x07;
}

void configTmr0(uint16_t ms) {
    uint32_t tmp;

    tmp = 11059326 / 12;
    tmp = tmp * ms / 1000;
    tmp = 65536 - tmp;
    tmp +