写一个stm32f103rct6做MCU步进电机驱动芯片为A3982通过pwm控制步进电机速度的驱动程序的h文件和c文件使用定时器TIM2 CH1pwm引脚PB0DIR引脚PB10ENABLE引脚PB11A3982的A相输出引脚P1和P24A3982的B相输出引脚P4和P21接上电源后步进电机直接转动

由于没有完整的硬件环境，以下代码仅供参考，可能需要根据实际情况进行修改。

// 步进电机驱动程序的头文件

#ifndef __STEPPER_DRIVER_H #define __STEPPER_DRIVER_H

#include "stm32f10x.h"

#define STEPPER_PWM_PIN GPIO_Pin_0 #define STEPPER_PWM_PORT GPIOB #define STEPPER_PWM_CLK RCC_APB2Periph_GPIOB

#define STEPPER_DIR_PIN GPIO_Pin_10 #define STEPPER_DIR_PORT GPIOB #define STEPPER_DIR_CLK RCC_APB2Periph_GPIOB

#define STEPPER_ENABLE_PIN GPIO_Pin_11 #define STEPPER_ENABLE_PORT GPIOB #define STEPPER_ENABLE_CLK RCC_APB2Periph_GPIOB

#define STEPPER_A_PHASE_PIN1 GPIO_Pin_1 #define STEPPER_A_PHASE_PIN2 GPIO_Pin_4 #define STEPPER_A_PHASE_PORT GPIOA #define STEPPER_A_PHASE_CLK RCC_APB2Periph_GPIOA

#define STEPPER_B_PHASE_PIN1 GPIO_Pin_24 #define STEPPER_B_PHASE_PIN2 GPIO_Pin_21 #define STEPPER_B_PHASE_PORT GPIOA #define STEPPER_B_PHASE_CLK RCC_APB2Periph_GPIOA

void STEPPER_Init(void); void STEPPER_SetSpeed(uint16_t dutyCycle); void STEPPER_SetDirection(uint8_t direction); void STEPPER_Enable(void); void STEPPER_Disable(void);

#endif

// 步进电机驱动程序的源文件

#include "stepper_driver.h"

static uint8_t g_stepperDirection = 0;

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

RCC_APB2PeriphClockCmd(STEPPER_PWM_CLK | STEPPER_DIR_CLK | STEPPER_ENABLE_CLK, ENABLE);
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);

// PWM引脚初始化
GPIO_InitStructure.GPIO_Pin = STEPPER_PWM_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(STEPPER_PWM_PORT, &GPIO_InitStructure);

// DIR引脚初始化
GPIO_InitStructure.GPIO_Pin = STEPPER_DIR_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(STEPPER_DIR_PORT, &GPIO_InitStructure);

// ENABLE引脚初始化
GPIO_InitStructure.GPIO_Pin = STEPPER_ENABLE_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(STEPPER_ENABLE_PORT, &GPIO_InitStructure);

// A相输出引脚初始化
GPIO_InitStructure.GPIO_Pin = STEPPER_A_PHASE_PIN1 | STEPPER_A_PHASE_PIN2;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(STEPPER_A_PHASE_PORT, &GPIO_InitStructure);

// B相输出引脚初始化
GPIO_InitStructure.GPIO_Pin = STEPPER_B_PHASE_PIN1 | STEPPER_B_PHASE_PIN2;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(STEPPER_B_PHASE_PORT, &GPIO_InitStructure);

// 定时器TIM2初始化
TIM_TimeBaseStructure.TIM_Period = 999;
TIM_TimeBaseStructure.TIM_Prescaler = 71;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseInit(TIM2, &TIM_TimeBaseStructure);

// PWM输出初始化
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_OC1PreloadConfig(TIM2, TIM_OCPreload_Enable);

// 启动定时器
TIM_Cmd(TIM2, ENABLE);

}

void STEPPER_SetSpeed(uint16_t dutyCycle) { TIM_SetCompare1(TIM2, dutyCycle); }

void STEPPER_SetDirection(uint8_t direction) { if (direction == 0) { // 正转 GPIO_ResetBits(STEPPER_DIR_PORT, STEPPER_DIR_PIN); GPIO_ResetBits(STEPPER_A_PHASE_PORT, STEPPER_A_PHASE_PIN1); GPIO_SetBits(STEPPER_A_PHASE_PORT, STEPPER_A_PHASE_PIN2); GPIO_ResetBits(STEPPER_B_PHASE_PORT, STEPPER_B_PHASE_PIN1); GPIO_SetBits(STEPPER_B_PHASE_PORT, STEPPER_B_PHASE_PIN2); } else { // 反转 GPIO_SetBits(STEPPER_DIR_PORT, STEPPER_DIR_PIN); GPIO_SetBits(STEPPER_A_PHASE_PORT, STEPPER_A_PHASE_PIN1); GPIO_ResetBits(STEPPER_A_PHASE_PORT, STEPPER_A_PHASE_PIN2); GPIO_SetBits(STEPPER_B_PHASE_PORT, STEPPER_B_PHASE_PIN1); GPIO_ResetBits(STEPPER_B_PHASE_PORT, STEPPER_B_PHASE_PIN2); } g_stepperDirection = direction; }

void STEPPER_Enable(void) { GPIO_ResetBits(STEPPER_ENABLE_PORT, STEPPER_ENABLE_PIN); }

void STEPPER_Disable(void) { GPIO_SetBits(STEPPER_ENABLE_PORT, STEPPER_ENABLE_PIN); }