写一个stm32f103rct6做MCUA3982做步进电机驱动芯片使用PWM控制步进电机速度的程序的c文件和h文件PWM引脚PB0DIR引脚PB10ENABLE引脚PB11

以下是使用stm32f103rct6和A3982驱动芯片控制步进电机速度的程序的c文件和h文件。

PWM.h

#ifndef PWM_H_
#define PWM_H_

#include "stm32f10x.h"

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

#endif /* PWM_H_ */

PWM.c

#include "PWM.h"

void PWM_Init(void)
{
    // Enable GPIOB clock
    RCC->APB2ENR |= RCC_APB2ENR_IOPBEN;

    // Enable TIM3 clock
    RCC->APB1ENR |= RCC_APB1ENR_TIM3EN;

    // Configure PB0 as alternate function push-pull
    GPIOB->CRL &= ~(GPIO_CRL_MODE0 | GPIO_CRL_CNF0);
    GPIOB->CRL |= GPIO_CRL_MODE0_1 | GPIO_CRL_CNF0_1;

    // Configure TIM3 for PWM mode
    TIM3->PSC = 72 - 1;
    TIM3->ARR = 1000 - 1;
    TIM3->CCMR1 |= TIM_CCMR1_OC1M_1 | TIM_CCMR1_OC1M_2;
    TIM3->CCER |= TIM_CCER_CC1E;
    TIM3->CR1 |= TIM_CR1_ARPE;
    TIM3->EGR |= TIM_EGR_UG;
    TIM3->CR1 |= TIM_CR1_CEN;
}

void PWM_SetDutyCycle(uint16_t dutyCycle)
{
    TIM3->CCR1 = dutyCycle;
}

A3982.h

#ifndef A3982_H_
#define A3982_H_

#include "stm32f10x.h"

#define DIR_PIN GPIO_Pin_10
#define ENABLE_PIN GPIO_Pin_11

void A3982_Init(void);
void A3982_SetDirection(uint8_t direction);
void A3982_Enable(void);
void A3982_Disable(void);

#endif /* A3982_H_ */

A3982.c

#include "A3982.h"

void A3982_Init(void)
{
    // Enable GPIOB clock
    RCC->APB2ENR |= RCC_APB2ENR_IOPBEN;

    // Configure PB10 and PB11 as output push-pull
    GPIOB->CRH &= ~(GPIO_CRH_MODE10 | GPIO_CRH_CNF10 | GPIO_CRH_MODE11 | GPIO_CRH_CNF11);
    GPIOB->CRH |= GPIO_CRH_MODE10_0 | GPIO_CRH_MODE11_0;

    // Set initial direction to forward
    A3982_SetDirection(1);

    // Disable motor driver
    A3982_Disable();
}

void A3982_SetDirection(uint8_t direction)
{
    if (direction == 0) {
        GPIOB->BSRR = DIR_PIN << 16;
    } else {
        GPIOB->BSRR = DIR_PIN;
    }
}

void A3982_Enable(void)
{
    GPIOB->BSRR = ENABLE_PIN;
}

void A3982_Disable(void)
{
    GPIOB->BSRR = ENABLE_PIN << 16;
}

main.c

#include "stm32f10x.h"
#include "PWM.h"
#include "A3982.h"

int main(void)
{
    // Initialize PWM and motor driver
    PWM_Init();
    A3982_Init();

    // Enable motor driver
    A3982_Enable();

    // Set initial duty cycle to 50%
    PWM_SetDutyCycle(500);

    while (1) {
        // Increase duty cycle from 50% to 100% in 1% increments
        for (uint16_t dutyCycle = 500; dutyCycle <= 1000; dutyCycle++) {
            PWM_SetDutyCycle(dutyCycle);
            for (volatile uint32_t i = 0; i < 100000; i++);
        }

        // Decrease duty cycle from 100% to 50% in 1% increments
        for (uint16_t dutyCycle = 1000; dutyCycle >= 500; dutyCycle--) {
            PWM_SetDutyCycle(dutyCycle);
            for (volatile uint32_t i = 0; i < 100000; i++);
        }

        // Set direction to reverse
        A3982_SetDirection(0);

        // Increase duty cycle from 50% to 100% in 1% increments
        for (uint16_t dutyCycle = 500; dutyCycle <= 1000; dutyCycle++) {
            PWM_SetDutyCycle(dutyCycle);
            for (volatile uint32_t i = 0; i < 100000; i++);
        }

        // Decrease duty cycle from 100% to 50% in 1% increments
        for (uint16_t dutyCycle = 1000; dutyCycle >= 500; dutyCycle--) {
            PWM_SetDutyCycle(dutyCycle);
            for (volatile uint32_t i = 0; i < 100000; i++);
        }

        // Set direction to forward
        A3982_SetDirection(1);
    }
}