写一个使用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

以下是一个简单的使用STM32F103RCT6和A3982步进电机的PWM速度控制的H文件和C文件：

H文件：

#ifndef __STEPPER_MOTOR_H
#define __STEPPER_MOTOR_H

#include "stm32f10x.h"

#define STEPPER_MOTOR_PWM_TIM            TIM2
#define STEPPER_MOTOR_PWM_CHANNEL        TIM_Channel_1
#define STEPPER_MOTOR_PWM_GPIO           GPIOA
#define STEPPER_MOTOR_PWM_GPIO_PIN       GPIO_Pin_0
#define STEPPER_MOTOR_DIR_GPIO            GPIOA
#define STEPPER_MOTOR_DIR_GPIO_PIN        GPIO_Pin_1

void stepper_motor_init(void);
void stepper_motor_set_speed(uint16_t speed);
void stepper_motor_set_direction(uint8_t direction);

#endif

C文件：

#include "stepper_motor.h"

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

    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);

    GPIO_InitStructure.GPIO_Pin = STEPPER_MOTOR_PWM_GPIO_PIN;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(STEPPER_MOTOR_PWM_GPIO, &GPIO_InitStructure);

    GPIO_InitStructure.GPIO_Pin = STEPPER_MOTOR_DIR_GPIO_PIN;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(STEPPER_MOTOR_DIR_GPIO, &GPIO_InitStructure);

    TIM_TimeBaseStructure.TIM_Period = 65535;
    TIM_TimeBaseStructure.TIM_Prescaler = 72 - 1;
    TIM_TimeBaseStructure.TIM_ClockDivision = 0;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(STEPPER_MOTOR_PWM_TIM, &TIM_TimeBaseStructure);

    TIM_OCInitStructure.TIM_OCMode = TIM_OCMode_PWM1;
    TIM_OCInitStructure.TIM_OutputState = TIM_OutputState_Enable;
    TIM_OCInitStructure.TIM_Pulse = 0;
    TIM_OCInitStructure.TIM_OCPolarity = TIM_OCPolarity_High;
    TIM_OC1Init(STEPPER_MOTOR_PWM_TIM, &TIM_OCInitStructure);

    TIM_Cmd(STEPPER_MOTOR_PWM_TIM, ENABLE);
}

void stepper_motor_set_speed(uint16_t speed)
{
    TIM_SetCompare1(STEPPER_MOTOR_PWM_TIM, speed);
}

void stepper_motor_set_direction(uint8_t direction)
{
    if(direction == 1)
    {
        GPIO_ResetBits(STEPPER_MOTOR_DIR_GPIO, STEPPER_MOTOR_DIR_GPIO_PIN);
    }
    else
    {
        GPIO_SetBits(STEPPER_MOTOR_DIR_GPIO, STEPPER_MOTOR_DIR_GPIO_PIN);
    }
}

在这个代码中，我们使用了STM32F103RCT6的一个定时器（TIM2）来产生PWM信号，控制步进电机的速度。我们还使用了一个GPIO口来控制步进电机的方向。在初始化函数中，我们首先启用了定时器和GPIO的时钟，然后分别进行了它们的初始化。在设置速度的函数中，我们使用了TIM_SetCompare1函数来设置PWM的占空比，从而控制电机的速度。在设置方向的函数中，我们使用了GPIO_SetBits和GPIO_ResetBits函数来控制GPIO口的电平，从而控制电机的方向。