写一个使用库函数方法stm32f103rct6做MCU步进电机型号为A3982通过pwm控制步进电机速度的h文件和c文件定时器TIM2step引脚PB0dir引脚PB10ENABLE引脚PB11

以下是使用库函数方法控制步进电机速度的h文件和c文件：

stepmotor.h：

#ifndef __STEPMOTOR_H
#define __STEPMOTOR_H

#include "stm32f10x.h"

#define STEPMOTOR_TIM    TIM2
#define STEPMOTOR_TIM_CLK    RCC_APB1Periph_TIM2

#define STEPMOTOR_STEP_GPIO    GPIOB
#define STEPMOTOR_STEP_PIN    GPIO_Pin_0
#define STEPMOTOR_STEP_CLK    RCC_APB2Periph_GPIOB

#define STEPMOTOR_DIR_GPIO    GPIOB
#define STEPMOTOR_DIR_PIN    GPIO_Pin_10
#define STEPMOTOR_DIR_CLK    RCC_APB2Periph_GPIOB

#define STEPMOTOR_EN_GPIO    GPIOB
#define STEPMOTOR_EN_PIN    GPIO_Pin_11
#define STEPMOTOR_EN_CLK    RCC_APB2Periph_GPIOB

void StepMotor_Init(void);
void StepMotor_SetSpeed(uint32_t speed);
void StepMotor_SetDirection(uint8_t dir);
void StepMotor_Start(void);
void StepMotor_Stop(void);

#endif

stepmotor.c：

#include "stepmotor.h"

static uint32_t stepmotor_speed;

void StepMotor_Init(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;
    TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
    TIM_OCInitTypeDef TIM_OCInitStructure;

    /* Enable GPIO clock */
    RCC_APB2PeriphClockCmd(STEPMOTOR_STEP_CLK | STEPMOTOR_DIR_CLK | STEPMOTOR_EN_CLK, ENABLE);

    /* Configure STEP pin */
    GPIO_InitStructure.GPIO_Pin = STEPMOTOR_STEP_PIN;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
    GPIO_Init(STEPMOTOR_STEP_GPIO, &GPIO_InitStructure);

    /* Configure DIR pin */
    GPIO_InitStructure.GPIO_Pin = STEPMOTOR_DIR_PIN;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
    GPIO_Init(STEPMOTOR_DIR_GPIO, &GPIO_InitStructure);

    /* Configure ENABLE pin */
    GPIO_InitStructure.GPIO_Pin = STEPMOTOR_EN_PIN;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
    GPIO_Init(STEPMOTOR_EN_GPIO, &GPIO_InitStructure);

    /* Enable TIM clock */
    RCC_APB1PeriphClockCmd(STEPMOTOR_TIM_CLK, ENABLE);

    /* Configure TIM */
    TIM_TimeBaseStructure.TIM_Period = 999;
    TIM_TimeBaseStructure.TIM_Prescaler = SystemCoreClock / 1000000 - 1;
    TIM_TimeBaseStructure.TIM_ClockDivision = 0;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(STEPMOTOR_TIM, &TIM_TimeBaseStructure);

    /* Configure TIM channel */
    TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
    TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
    TIM_OCInitStructure.TIM_Pulse = 500;
    TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
    TIM_OC1Init(STEPMOTOR_TIM, &TIM_OCInitStructure);
    TIM_OC1PreloadConfig(STEPMOTOR_TIM, TIM_OCPreload_Enable);

    /* Start TIM */
    TIM_Cmd(STEPMOTOR_TIM, ENABLE);
}

void StepMotor_SetSpeed(uint32_t speed)
{
    stepmotor_speed = speed;
    TIM_SetCompare1(STEPMOTOR_TIM, stepmotor_speed);
}

void StepMotor_SetDirection(uint8_t dir)
{
    if (dir == 0) {
        GPIO_ResetBits(STEPMOTOR_DIR_GPIO, STEPMOTOR_DIR_PIN);
    } else {
        GPIO_SetBits(STEPMOTOR_DIR_GPIO, STEPMOTOR_DIR_PIN);
    }
}

void StepMotor_Start(void)
{
    GPIO_ResetBits(STEPMOTOR_EN_GPIO, STEPMOTOR_EN_PIN);
}

void StepMotor_Stop(void)
{
    GPIO_SetBits(STEPMOTOR_EN_GPIO, STEPMOTOR_EN_PIN);
}

使用方法：

#include "stepmotor.h"

int main(void)
{
    /* Initialize step motor */
    StepMotor_Init();

    /* Set direction */
    StepMotor_SetDirection(0);  // 0 for clockwise, 1 for counterclockwise

    /* Set speed */
    StepMotor_SetSpeed(500);  // 0 to 999

    /* Start step motor */
    StepMotor_Start();

    while (1) {
        /* Do something */
    }
}