用C语言写一个两相四线步进电机的FOC驱动代码使用DRV8825作为步进电机的驱动芯片要求写出PWM控制DRV8825的过程

以下是使用C语言编写的两相四线步进电机的FOC驱动代码，使用DRV8825作为步进电机的驱动芯片的PWM控制过程：

#include <stdio.h>
#include <stdlib.h>
#include <wiringPi.h>

#define DIR_PIN 0
#define STEP_PIN 1
#define ENABLE_PIN 2
#define MS1_PIN 3
#define MS2_PIN 4
#define MS3_PIN 5

#define PWM_PIN 6

void setup()
{
    wiringPiSetup();
    
    pinMode(DIR_PIN, OUTPUT);
    pinMode(STEP_PIN, OUTPUT);
    pinMode(ENABLE_PIN, OUTPUT);
    pinMode(MS1_PIN, OUTPUT);
    pinMode(MS2_PIN, OUTPUT);
    pinMode(MS3_PIN, OUTPUT);
    
    pinMode(PWM_PIN, PWM_OUTPUT);
    
    digitalWrite(ENABLE_PIN, LOW); // Enable DRV8825
    
    pwmSetMode(PWM_MODE_MS);
    pwmSetClock(400); // Set PWM frequency to 400Hz
    pwmSetRange(1024); // Set PWM range to 1024 (0-1023)
}

void setMicrostepResolution(int resolution)
{
    digitalWrite(MS1_PIN, resolution & 0x01);
    digitalWrite(MS2_PIN, (resolution >> 1) & 0x01);
    digitalWrite(MS3_PIN, (resolution >> 2) & 0x01);
}

void setDirection(int direction)
{
    digitalWrite(DIR_PIN, direction);
}

void setSpeed(int speed)
{
    pwmWrite(PWM_PIN, speed);
}

void step(int steps)
{
    if (steps > 0)
        digitalWrite(DIR_PIN, HIGH);
    else
        digitalWrite(DIR_PIN, LOW);
    
    steps = abs(steps);
    
    for (int i = 0; i < steps; i++)
    {
        digitalWrite(STEP_PIN, HIGH);
        delayMicroseconds(500); // Adjust this delay for desired step speed
        digitalWrite(STEP_PIN, LOW);
        delayMicroseconds(500); // Adjust this delay for desired step speed
    }
}

int main()
{
    setup();
    
    setMicrostepResolution(8); // Set microstep resolution to 1/8 step
    setDirection(1); // Set direction to forward
    setSpeed(512); // Set speed to 50% duty cycle (512/1023)
    
    while (1)
    {
        step(200); // Take 200 steps forward
        delay(1000); // Delay for 1 second
        step(-200); // Take 200 steps backward
        delay(1000); // Delay for 1 second
    }
    
    return 0;
}

在该代码中，首先通过setup()函数初始化GPIO引脚和PWM引脚，并设置DRV8825的微步分辨率、方向和速度。然后，在主循环中，通过step()函数控制步进电机前进或后退一定的步数，并通过延迟函数delay()控制步进电机运行的间隔时间