#include <avr/io.h>
#include <avr/delay.h>

#define uchar unsigned char
#define uint unsigned int

uchar np;

//步进电机运行数据表

const uchar motortb[]={0x11,0x99,0x88,0xcc,0x44,0x66,0x22,0x33};

void delay_nms(uint ms)// 每步延时de子程序
{
uint i;
for(i=0;i<ms;i++)
     _delay_loop_2(8*250);
}

void a_step(uchar d,uchar t) //步进电机走一步d=0 正转d=1 反转 t 越大走得越慢
{
if (d&0x01)
     {
       if (np==0)
         np=7;
       else
         np--;
     }
else
     {
       if (np==7)
         np=0;
       else
         np++;
     }
PORTD=motortb[np];
delay_nms(t);
}

void a_turn(uchar d,uchar t)// 步进电机走一圈
{
uchar i;
for (i=0;i<96;i++)
a_step(d,t);
}

int main(void)
{
DDRD=0xff;
PORTD=0x44;
DDRB=0xff;
PORTB=0xff;
np=4;
while (1)
a_turn(1,200);
}