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motor的c文件和h文件pwm的c文件和h文件main的c文件

motor.h文件：

#ifndef __MOTOR_H__
#define __MOTOR_H__

#include "stm32f10x.h"

#define MOTOR_STEP_PORT GPIOA
#define MOTOR_STEP_PIN GPIO_Pin_4

#define MOTOR_DIR_PORT GPIOA
#define MOTOR_DIR_PIN GPIO_Pin_5

#define MOTOR_ENABLE_PORT GPIOA
#define MOTOR_ENABLE_PIN GPIO_Pin_6

void Motor_Init(void);
void Motor_SetDir(uint8_t dir);
void Motor_Enable(void);
void Motor_Disable(void);
void Motor_Step(uint16_t step);

#endif

motor.c文件：

#include "motor.h"

void Motor_Init(void)
{
    GPIO_InitTypeDef GPIO_InitStructure;

    //使能时钟
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);

    //设置引脚模式
    GPIO_InitStructure.GPIO_Pin = MOTOR_STEP_PIN;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(MOTOR_STEP_PORT, &GPIO_InitStructure);

    GPIO_InitStructure.GPIO_Pin = MOTOR_DIR_PIN;
    GPIO_Init(MOTOR_DIR_PORT, &GPIO_InitStructure);

    GPIO_InitStructure.GPIO_Pin = MOTOR_ENABLE_PIN;
    GPIO_Init(MOTOR_ENABLE_PORT, &GPIO_InitStructure);

    //默认禁止电机
    Motor_Disable();
}

void Motor_SetDir(uint8_t dir)
{
    if (dir == 0)
    {
        GPIO_ResetBits(MOTOR_DIR_PORT, MOTOR_DIR_PIN);
    }
    else
    {
        GPIO_SetBits(MOTOR_DIR_PORT, MOTOR_DIR_PIN);
    }
}

void Motor_Enable(void)
{
    GPIO_ResetBits(MOTOR_ENABLE_PORT, MOTOR_ENABLE_PIN);
}

void Motor_Disable(void)
{
    GPIO_SetBits(MOTOR_ENABLE_PORT, MOTOR_ENABLE_PIN);
}

void Motor_Step(uint16_t step)
{
    uint16_t i;

    for (i = 0; i < step; i++)
    {
        GPIO_SetBits(MOTOR_STEP_PORT, MOTOR_STEP_PIN);
        GPIO_ResetBits(MOTOR_STEP_PORT, MOTOR_STEP_PIN);
    }
}

pwm.h文件：

#ifndef __PWM_H__
#define __PWM_H__

#include "stm32f10x.h"

void PWM_Init(void);
void PWM_SetDutyCycle(uint16_t dutyCycle);

#endif

pwm.c文件：

#include "pwm.h"

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

    //使能时钟
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);

    //设置引脚模式
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOB, &GPIO_InitStructure);

    //设置定时器
    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(TIM3, &TIM_TimeBaseStructure);

    //设置PWM输出
    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(TIM3, &TIM_OCInitStructure);

    //启动定时器
    TIM_Cmd(TIM3, ENABLE);
}

void PWM_SetDutyCycle(uint16_t dutyCycle)
{
    TIM_SetCompare1(TIM3, dutyCycle);
}

main.c文件：

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

int main(void)
{
    uint16_t dutyCycle = 500;
    uint8_t dir = 0;

    Motor_Init();
    PWM_Init();

    while (1)
    {
        //设置电机方向
        Motor_SetDir(dir);

        //启动电机
        Motor_Enable();

        //设置PWM占空比
        PWM_SetDutyCycle(dutyCycle);

        //等待一段时间
        for (int i = 0; i < 1000000; i++);

        //停止电机
        Motor_Disable();

        //反转电机方向
        dir = !dir;

        //调整PWM占空比
        if (dir == 0)
        {
            dutyCycle += 100;
            if (dutyCycle > 900) dutyCycle = 900;
        }
        else
        {
            dutyCycle -= 100;
            if (dutyCycle < 100) dutyCycle = 100;
        }
    }
}