ULN2003驱动步进电机正反转

代码如下：

#include <reg52.h>
#define u8 unsigned char 
#define u32 unsigned long
sbit key1=P3^2;
sbit key2=P3^3;
bit direction;
u8 code F[8]={0x08,0x0c,0x04,0x06,0x02,0x03,0x01,0x09}; //顺时针旋转相序表
u8 code R[8]={0x09,0x01,0x03,0x02,0x06,0x04,0x0C,0x08}; //逆时针旋转相序表
u32 beats;
void Timer0_init();
void StartMotor(u32 angel);
void Delay_ms(u8 t);
void main()
{
	Timer0_init();
	EA=1;
   while(1)
	 {
	   if(key1==0)
		 { 
				 direction=1;
			 StartMotor(90);	
		 }
			else if(key2==0)
			 { 
				 direction=0;
			  StartMotor(90);	
			 }				  
	 }
}

void Timer0_init() //2ms 定时=2000us  11.0592M
{
   TMOD|=0X01;
	 TH0=(65536-1843)/256;
	 TL0=(65536-1843)%256;
   ET0=1;
	 TR0=1;
}

void Timer0() interrupt 1
{
   static u8 i=0;

	 TH0=(65536-1843)/256;
	 TL0=(65536-1843)%256;
  if(beats!=0) //节拍数不等于0则产生驱动节拍
	{
		 if(direction==1)
				P2=F[i]; //顺时针转				 
			else
			  P2=R[i];//逆时针转
			
				i++;
			   if(i>7)
				 {	
					 i=0;  
				 	}	
				 beats--;		
		}	  
 else
	{
			P2=0;
			TR0=0;			
	}	
}

/*步进电机启动函数,angel需转过的角度*/
void StartMotor(u32 angel)
{
   EA=0;
	 TR0=1;
	 beats=angel*4076/360; //实测360°需要4076拍
	 EA=1;
}

仿真如下：