步进电机控制程序

#include <reg51.h>
#define uint unsigned int;
#define uchar unsigned char

//以下定义LED片选信号
sbit LED_1 = P3^0;
sbit LED_2 = P3^1;
sbit LED_3 = P1^6;
sbit LED_4 = P1^7;

//以下定义M1驱动信号
sbit M1_1  = P2^0;
sbit M1_2  = P2^1;
sbit M1_3  = P2^2;
sbit M1_4  = P2^3;

//以下定义M2驱动信号
sbit M2_1  = P2^4;
sbit M2_2  = P2^5;
sbit M2_3  = P2^6;
sbit M2_4  = P2^7;

//以下定义M3驱动信号
sbit M3_1  = P3^4;
sbit M3_2  = P3^5;
sbit M3_3  = P3^6;
sbit M3_4  = P3^7;

//定义输入按键的序号
sbit K_1 = P1^0;
sbit K_2 = P1^1;
sbit K_3 = P1^2;
sbit K_4 = P1^3;
sbit K_5 = P1^4;
sbit K_6 = P1^5;

//以下定义共阴极LED的显示代码，0~9
uchar code tab[10] =
{ 0x3f,0x06,0x5b,0x4f,0x66,0x6d,0x7d,0x07,0x7f,0x6f };

//以下定义电机正转代码
uchar code zheng[9] =
{ 0x00,0x03,0x02,0x06,0x04,0x0c,0x08,0x09,0x01  };

//以下定义电机反转代码
uchar code fan[9]   =
{ 0x01,0x09,0x08,0x0c,0x04,0x06,0x02,0x03,0x00  };

//下面定义全局变量
uchar m1_zheng    = 0;//主轴正转，用1表示,停止用0表示
uchar m1_zheng_val    = 0;//正转的步进
uchar m1_fan      = 0;//主轴反转,用2表示，停止用0表示
uchar m1_fan_val     = 0;//反转步进

uchar m2_mode     = 0;//m2状态 X轴增加时用0，递减时用1
uchar m2_zheng_val      = 0;//m2 X轴递增时的位置
uchar m2_fan_val        = 0;//m2 X轴递减时的位置
uchar m2_pre_mode       = 0;//存储m2前一次