2-Axis driver for stepper motors with the FlySky RC

#ifdef F_CPU
#undef F_CPU
#define F_CPU 8000000L
#endif

#define MAX_D_IMPL  9000
#define MAX_A       9000
#define LED_MRUG    500UL

#define X_GND_PIN     10
#define Y_GND_PIN     9
#define POT_VCC_PIN   3
#define LED_PIN       4
#define PRZYC_PIN     2

#define X_STEP_PIN  13
#define X_EN_PIN    12
#define X_DIR_PIN   11
#define X_OS        A6
#define X_OGR_V     A1
#define X_OGR_A     A2

#define Y_STEP_PIN  6
#define Y_EN_PIN    7
#define Y_DIR_PIN   8
#define Y_OS        A7
#define Y_OGR_V     A4
#define Y_OGR_A     A5

#define POZ_HIST_JOY_ZERO MAX_D_IMPL/40

#define SPAC    300000UL  //5 min
#include <avr/sleep.h>

uint64_t cMicr, teraz, czas_bater, czas_led;
uint64_t XprMicr, Xd_Micr, YprMicr, Yd_Micr;
int16_t Xv, Xa, Yv, Ya;
bool Xp, Yp;

void wakeUpNow()
  digitalWrite(LED_PIN, HIGH);
  digitalWrite(POT_VCC_PIN, HIGH);
}

void setup()
{
   pinMode(X_GND_PIN, OUTPUT);
   digitalWrite(X_GND_PIN, LOW);
   pinMode(Y_GND_PIN, OUTPUT);
   digitalWrite(Y_GND_PIN, LOW);
   pinMode(POT_VCC_PIN, OUTPUT);
   digitalWrite(POT_VCC_PIN, HIGH);
   pinMode(LED_PIN, OUTPUT);
   pinMode(PRZYC_PIN, INPUT_PULLUP);
   
   pinMode(X_STEP_PIN, OUTPUT);
   pinMode(X_EN_PIN, OUTPUT);
   pinMode(X_DIR_PIN, OUTPUT);
   digitalWrite(X_STEP_PIN, LOW);
   digitalWrite(X_EN_PIN, LOW); 
   digitalWrite(X_DIR_PIN, LOW);
   pinMode(X_OS, INPUT);
   pinMode(X_OGR_V, INPUT);
   pinMode(X_OGR_A, INPUT);
   
   pinMode(Y_STEP_PIN, OUTPUT);
   pinMode(Y_EN_PIN, OUTPUT);
   pinMode(Y_DIR_PIN, OUTPUT);
   digitalWrite(Y_STEP_PIN, LOW);
   digitalWrite(Y_EN_PIN, LOW); 
   digitalWrite(Y_DIR_PIN, LOW);
   pinMode(Y_OS, INPUT);
   pinMode(Y_OGR_V, INPUT);
   pinMode(Y_OGR_A, INPUT);
} 
void sleepNow()
{
  digitalWrite(LED_PIN, LOW);
  digitalWrite(POT_VCC_PIN, LOW);
  set_sleep_mode(SLEEP_MODE_PWR_DOWN);
  sleep_enable();
  attachInterrupt(0, wakeUpNow, LOW);
  sleep_mode();
  sleep_disable();
  detachInterrupt(0);
}
void loop()
{
  cMicr = micros();
  teraz = millis();
  // oś X
  Xv = map(analogRead(X_OS), 0, 1023, -MAX_D_IMPL, MAX_D_IMPL);
  if (Xv > POZ_HIST_JOY_ZERO)
  {
    Xv = MAX_D_IMPL - Xv + map(analogRead(X_OGR_V), 0, 1023, MAX_D_IMPL, 1);
  }
  else if(Xv < 0-POZ_HIST_JOY_ZERO)
  {
    digitalWrite(X_DIR_PIN, HIGH);
    Xv += MAX_D_IMPL + map(analogRead(X_OGR_V), 0, 1023, MAX_D_IMPL, 1);
  }
  else
  {
    digitalWrite(X_EN_PIN, HIGH);
    digitalWrite(X_DIR_PIN, LOW);
    digitalWrite(X_STEP_PIN, LOW);
    Xv=0;
    Xa = map(analogRead(X_OGR_A), 0, 1023, MAX_A, 0);
    digitalWrite(LED_PIN, LOW);
  }
  if(Xv)
  {
    digitalWrite(X_EN_PIN, LOW);
    Xd_Micr = long(Xv + (Xa?Xa--:0));
    if(cMicr - XprMicr > Xd_Micr)
    {
      XprMicr = cMicr;
      Xp = !Xp;
      digitalWrite(X_STEP_PIN, Xp);
      digitalWrite(LED_PIN, Xp);
      czas_bater = teraz;
    }
  }
  // oś Y
  Yv= map(analogRead(Y_OS), 0, 1023, -MAX_D_IMPL, MAX_D_IMPL);
  if (Yv > POZ_HIST_JOY_ZERO)
  {
    Yv = MAX_D_IMPL - Yv + map(analogRead(Y_OGR_V), 0, 1023, MAX_D_IMPL, 1);
  }
  else if (Yv < 0-POZ_HIST_JOY_ZERO)
  {
    digitalWrite(Y_DIR_PIN, HIGH);
    Yv += MAX_D_IMPL + map(analogRead(Y_OGR_V), 0, 1023, MAX_D_IMPL, 1);
  }
  else
  {
    digitalWrite(Y_EN_PIN, HIGH);
    digitalWrite(Y_DIR_PIN, LOW);
    digitalWrite(Y_STEP_PIN, LOW);
    Yv=0;
    Ya = map(analogRead(Y_OGR_A), 0, 1023, 0, MAX_A);
  }
  if(Yv)
  {
    digitalWrite(Y_EN_PIN, LOW);
    Yd_Micr = long(Yv + (Ya?Ya--:0));
    if(cMicr - YprMicr > Yd_Micr)
    {
      YprMicr = cMicr;
      Yp = !Yp;
      digitalWrite(Y_STEP_PIN, Yp);
      digitalWrite(LED_PIN, Yp);
      czas_bater = teraz;
    }
  }
  if((teraz - czas_led > LED_MRUG) && !Xv && !Yv)
  {
    czas_led = teraz;
    digitalWrite(LED_PIN, HIGH);
    delay(55);
  }
  if(teraz - czas_bater > SPAC) sleepNow();
}