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main的c文件和h文件pwm的c文件和h文件motor的c文件和h文件

main.c:

#include "stm32f10x.h"
#include "pwm.h"
#include "motor.h"

int main(void)
{
    PWM_Init();
    Motor_Init();
    
    while(1)
    {
        Motor_Step(1); // 步进电机顺时针转动
        delay_ms(1000); // 延时1秒
        
        Motor_Step(-1); // 步进电机逆时针转动
        delay_ms(1000); // 延时1秒
    }
}

void delay_ms(uint32_t n)
{
    SysTick->LOAD = 72 * n - 1;
    SysTick->VAL = 0;
    SysTick->CTRL = SysTick_CTRL_ENABLE_Msk;
    while(!(SysTick->CTRL & SysTick_CTRL_COUNTFLAG_Msk));
    SysTick->CTRL = 0;
}

pwm.h:

#ifndef __PWM_H
#define __PWM_H

void PWM_Init(void);
void PWM_SetDutyCycle(uint16_t duty_cycle);

#endif

pwm.c:

#include "stm32f10x.h"
#include "pwm.h"

void PWM_Init(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;
    TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
    TIM_OCInitTypeDef TIM_OCInitStructure;
    
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_AFIO, ENABLE);
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
    
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOA, &GPIO_InitStructure);
    
    TIM_TimeBaseStructure.TIM_Period = 999;
    TIM_TimeBaseStructure.TIM_Prescaler = 71;
    TIM_TimeBaseStructure.TIM_ClockDivision = TIM_CKD_DIV1;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(TIM2, &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(TIM2, &TIM_OCInitStructure);
    
    TIM_Cmd(TIM2, ENABLE);
}

void PWM_SetDutyCycle(uint16_t duty_cycle)
{
    TIM_SetCompare1(TIM2, duty_cycle);
}

motor.h:

#ifndef __MOTOR_H
#define __MOTOR_H

void Motor_Init(void);
void Motor_Step(int8_t direction);

#endif

motor.c:

#include "stm32f10x.h"
#include "pwm.h"
#include "motor.h"

void Motor_Init(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;
    
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
    
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12 | GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOB, &GPIO_InitStructure);
}

void Motor_Step(int8_t direction)
{
    static uint8_t step = 0;
    uint8_t i;
    uint16_t delay_time = 1000;
    int16_t step_table[4] = {0x1000, 0x2000, 0x4000, 0x8000}; // 步进电机的步进表
    
    if(direction > 0) // 顺时针转动
    {
        step++;
        if(step >= 4)
        {
            step = 0;
        }
    }
    else // 逆时针转动
    {
        step--;
        if(step < 0)
        {
            step = 3;
        }
    }
    
    for(i = 0; i < 4; i++)
    {
        if(i == step)
        {
            GPIO_Write(GPIOB, step_table[i]);
        }
        else
        {
            GPIO_Write(GPIOB, 0x0000);
        }
        delay_ms(delay_time);
    }
}

void delay_ms(uint32_t n)
{
    SysTick->LOAD = 72 * n - 1;
    SysTick->VAL = 0;
    SysTick->CTRL = SysTick_CTRL_ENABLE_Msk;
    while(!(SysTick->CTRL & SysTick_CTRL_COUNTFLAG_Msk));
    SysTick->CTRL = 0;
}