写一个使用stm32f103rct6做MCU使用PWM控制步进电机速度和方向的程序的c文件和h文件定时器TIM3CH3PWM引脚PB0DIR引脚PB10ENABLE引脚PB11电机转动延时一段时间后方向改变

以下是使用stm32f103rct6做MCU，使用PWM控制步进电机速度和方向的程序的c文件和h文件，定时器TIM3CH3，PWM引脚PB0，DIR引脚PB10，ENABLE引脚PB11的代码：

stepper.h

#ifndef __STEPPER_H
#define __STEPPER_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_PWM_TIM         TIM3
#define STEPPER_PWM_TIM_CLK     RCC_APB1Periph_TIM3
#define STEPPER_PWM_TIM_IRQn    TIM3_IRQn

void stepper_init(void);
void stepper_set_speed(uint16_t speed);
void stepper_set_direction(uint8_t dir);
void stepper_enable(void);
void stepper_disable(void);

#endif /* __STEPPER_H */

stepper.c

#include "stepper.h"

static uint16_t s_stepper_speed = 0;
static uint8_t s_stepper_dir = 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(STEPPER_PWM_TIM_CLK, ENABLE);

    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);

    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);

    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);

    TIM_TimeBaseStructure.TIM_Period = 1000 - 1;
    TIM_TimeBaseStructure.TIM_Prescaler = 72 - 1;
    TIM_TimeBaseStructure.TIM_ClockDivision = 0;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(STEPPER_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_OC3Init(STEPPER_PWM_TIM, &TIM_OCInitStructure);

    TIM_Cmd(STEPPER_PWM_TIM, ENABLE);
    TIM_CtrlPWMOutputs(STEPPER_PWM_TIM, ENABLE);

    NVIC_InitTypeDef NVIC_InitStructure;
    NVIC_InitStructure.NVIC_IRQChannel = STEPPER_PWM_TIM_IRQn;
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&NVIC_InitStructure);

    TIM_ITConfig(STEPPER_PWM_TIM, TIM_IT_CC3, ENABLE);
}

void stepper_set_speed(uint16_t speed)
{
    s_stepper_speed = speed;
    TIM_SetCompare3(STEPPER_PWM_TIM, s_stepper_speed);
}

void stepper_set_direction(uint8_t dir)
{
    s_stepper_dir = dir;
    GPIO_WriteBit(STEPPER_DIR_PORT, STEPPER_DIR_PIN, s_stepper_dir);
}

void stepper_enable(void)
{
    GPIO_WriteBit(STEPPER_ENABLE_PORT, STEPPER_ENABLE_PIN, Bit_RESET);
}

void stepper_disable(void)
{
    GPIO_WriteBit(STEPPER_ENABLE_PORT, STEPPER_ENABLE_PIN, Bit_SET);
}

void STEPPER_PWM_TIM_IRQHandler(void)
{
    if (TIM_GetITStatus(STEPPER_PWM_TIM, TIM_IT_CC3) != RESET)
    {
        TIM_ClearITPendingBit(STEPPER_PWM_TIM, TIM_IT_CC3);
        stepper_set_direction(!s_stepper_dir);
        delay(1000);
    }
}

在主函数中，可以使用以下代码来控制步进电机的速度和方向：

#include "stepper.h"

int main(void)
{
    stepper_init();
    stepper_set_speed(500);
    stepper_set_direction(0);
    stepper_enable();

    while (1)
    {
        // do something
    }
}