The Real Elliot , a member of Instructables, wrote a very cool tutorial on how to drive a stepper motor using an ATTiny2313 chip. He also included a software sample 
“Got some scavenged stepper motors from printers/disk drives/etc lying around?
Some probing with an ohmeter, followed by some simple driver code on your microprocessor and you’ll be stepping in style.”
[LINK]
i want to drive a stepper motor with uln 2003 on avr micro based system.
Hi Mir,
Here is what you want : http://www.avrprojects.net/articles.php?lng=en&pg=64
Hope this helps
Sorin