51 single chip microcomputer controls the forward and reverse rotation of the stepper motor

This is a program that uses a 51 single-chip microcomputer to control the forward and reverse rotation of a stepper motor, and can also achieve speed regulation.

#include "reg51.h"     
#include "intrins.h"

#define uchar unsigned char

#define uint unsigned int

#define delayNOP(); {_nop_();_nop_();_nop_();_nop_();};

unsigned char code FFW[8]={0xfe,0xfc,0xfd,0xf9,0xfb,0xf3,0xf7,0xf6}; //??

unsigned char code REV[8]={0xf6,0xf7,0xf3,0xfb,0xf9,0xfd,0xfc,0xfe}; //??

//unsigned char code FFW[8]={0x01,0x03,0x02,0x06,0x04,0x0c,0x08,0x09}; //??

//unsigned char code REV[8]={0x09,0x08,0x0c,0x04,0x06,0x02,0x03,0x01}; //??

sbit K1 = P3^2; //????

sbit K2 = P3^3; //????

sbit K3 = P3^4; //????

sbit K4 = P3^5; //????

sbit LCD_RS = P2^0;             

sbit LCD_RW = P2^1;

sbit LCD_EN = P2^2;

bit on_off=0; //???????

bit direction=1; //????

bit rate_dr=1; //????

bit snum_dr=1; //????

uchar code cdis1[ ] = {"NO.0738230126 "};

uchar code cdis2[ ] = {" 2012/5/24"};

uchar code cdis3[ ] = {" STOP "};

uchar code cdis4[ ] = {"NUM: RATE: "};

uchar code cdis5[ ] = {" RUNNING "};

uchar m,v=0,q=0;

uchar number=0,number1=0; 

uchar snum=20,snum1=20; //?????

uchar rate=3; //?????

uchar data_temp,data_temP0,data_temp2;   

void delay(uint t)

{                           

   uchar k;

   while(t--)

   {

     for(k=0; k<124; k++)

     { }

   }

}

void delayB(uchar x) //x*0.14MS

{

   uchar i;

   while(x--)

   {

     for (i=0; i<13; i++)

     { }

   }

}

bit lcd_busy()

{                          

    bit result;

    LCD_RS = 0;

    LCD_RW = 1;

    LCD_EN = 1;

    delayNOP();

    result = (bit)(P0&0x80);

    LCD_EN = 0;

    return(result); 

}

void lcd_wcmd(uchar cmd)

{                          

   while(lcd_busy());

    LCD_RS = 0;

    LCD_RW = 0;

    LCD_EN = 0;

    _nop_();

    _nop_(); 

    P0 = cmd;

    delayNOP();

    LCD_EN = 1;

    delayNOP();

    LCD_EN = 0;  

}

void lcd_wdat(uchar dat)

{                          

   while(lcd_busy());

    LCD_RS = 1;

    LCD_RW = 0;

    LCD_EN = 0;

    P0 = dat;

    delayNOP();

    LCD_EN = 1;

    delayNOP();

    LCD_EN = 0; 

}

void lcd_init()

{ 

    delay(30);                   

    lcd_wcmd(0x38); //16*2??,5*7??,8???

    delay(5);

    lcd_wcmd(0x38);         

    delay(5);

    lcd_wcmd(0x38);         

    delay(5);

    lcd_wcmd(0x0c); //???,???

    delay(5);

    lcd_wcmd(0x06); //????

    delay(5);

    lcd_wcmd(0x01); //??LCD?????

    delay(5);

}

void lcd_pos(uchar pos)

{                          

  lcd_wcmd(pos | 0x80); //????=80+????

}

void LCD_init_DIS()

{            

     delay(10); //??

     lcd_init(); //???LCD             

     lcd_pos(0); //????????????1???

     m = 0;

     while(cdis1[m] != '\0')

      { //????

        lcd_wdat(cdis1[m]);

        m++;

      }

     lcd_pos(0x40); //???????????1???

     m = 0;

     while(cdis2[m] != '\0')

      {

        lcd_wdat(cdis2[m]); //????

        m++;

      }

      delay(3000); //??        

      lcd_pos(0); //????????????1???

      m = 0;

      while(cdis3[m] != '\0')

        { //????

          lcd_wdat(cdis3[m]);

          m++;

        }

      lcd_pos(0x40); //???????????1???

      m = 0;

     while(cdis4[m] != '\0')

        {

          lcd_wdat(cdis4[m]); //????

          m++;

        }      

        for(m=0;m<2;m++)

          { 

       lcd_pos(0x0c+m); //??????

             lcd_wdat(0x3e);

    }

}

void data_conv() 

{

     data_temP0=data_temp/10; //??

  if(data_temP0==0)

  {data_temP0=0x20;} //???0???

     else 

  {data_temP0=data_temP0+0x30;}

   data_temp2=data_temp; //??

     data_temp2=data_temp2+0x30;

}

void data_dis()

{

    data_temp = snum; //????

    data_conv();

       lcd_pos(0x44); 

       lcd_wdat(data_temP0);

       lcd_pos(0x45); 

       lcd_wdat(data_temp2);

    data_temp = rate; //????

    data_conv();

       lcd_pos(0x4d); 

       lcd_wdat(data_temP0);

       lcd_pos(0x4e); 

       lcd_wdat(data_temp2);

}

void motor_DR()

  {

       if(direction==1) //??????

        { for(m=0;m<2;m++)

          { 

      lcd_pos(0x0c+m); //??????

            lcd_wdat(0x3e);

     }

   }

        else

         { for(m=0;m<2;m++) //??????

           { 

          lcd_pos(0x0c+m); //?????? 

             lcd_wdat(0x3c);

     }

   }

  }

void motor_RUN()

{

      if(on_off==1)

    { TR0=1; 

      lcd_pos(0); //????????????1???

         m = 0;

         while(cdis5[m] != '\0')

          { lcd_wdat(cdis5[m]); //RUNNING

            m++; }

            motor_DR(); //

    }  

      else  

    { TR0 = 0; P0 = 0x0f; 

   lcd_pos(0); //????????????1???

         m = 0;

         while(cdis3[m] != '\0')

          { lcd_wdat(cdis3[m]); //STOP

            m++; }

            motor_DR(); //

   snum=snum1; //

   number1=0; //??????

         }

  }

main()

{                

         LCD_init_DIS();

   TMOD = 0x01; //T0????1

   TL0 = 0x33;

   TH0 = 0xf5;

   EA = 1;

   ET0 = 1; 

   P1=0;

   while(1)

    {  

       if(K1==0)

    {

         //beep();

      while(K1==0); //?????

      on_off=~on_off;       

         motor_RUN();  

        } //K1 end

      if(K2==0)    

       {

        if(snum_dr==1)

    { snum++;

        snum1=snum;

      if(snum==0x14)

            { snum_dr = ~snum_dr;}

    }

   else  

     {snum--;

   snum1=snum;

      if(snum==0x01)

   { snum_dr=~snum_dr; }

     }

    } //K2 end

        if(K3==0)    

      {

   direction=~direction; 

         motor_DR();

      }//K3 end

        if(K4==0)    

       {

   if(rate_dr==1)

    { rate++;

      if(rate==0x10)

            { rate_dr=~rate_dr;}

    }

    else  

     { 

      rate--;

      if(rate==0x01)

   { rate_dr=~rate_dr; }

     }

  } //K4 end

      if(number1==snum1) //?????????  

     { number1 = 0; 

         on_off=0;

         TR0=0;

        snum=snum1;

   P1=0x0f;

    motor_RUN();

    }         

         data_dis();

} // while(1) end

} //main end

void motor_onoff() interrupt 1  

{     

       TL0 = 0x33;

       TH0 = 0xf5; 

       q++;

    if(q < rate)

        { return; }

    else 

       { q=0;    

       number++; //????

      if(number==64) //64?????????

       { snum--;

      number=0;

            number1++; } //??????

         if(direction==1) //????

       { if(v<8)  

         {P1 = FFW[v];v++;} //???,??

        if(v==8) 

        { v=0; } 

          }

      else

       { if(v<8)  

         {P1 = REV[v];v++;} //???,??

         if(v==8) 

         { v=0; } 

          }

    }

}