编写一个基于STM32F103的五相四线步进电机驱动程序

非常感谢您的问题，我可以为您提供下列代码示例，来实现基于STM32F103的五相四线步进电机驱动程序：

#include "stm32f10x.h"

#define STEPPER_CONTROL_PORT GPIOA
#define STEPPER_ENABLE_PIN GPIO_Pin_4
#define STEPPER_DIR_PIN GPIO_Pin_5
#define STEPPER_STEP_PIN GPIO_Pin_6

void init_stepper_gpio(void)
{
RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);

GPIO_InitTypeDef GPIO_InitStructure;

GPIO_InitStructure.GPIO_Pin = STEPPER_ENABLE_PIN | STEPPER_DIR_PIN | STEPPER_STEP_PIN;
GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
GPIO_Init(STEPPER_CONTROL_PORT, &GPIO_InitStructure);

// Enable stepper motor driver
GPIO_SetBits(STEPPER_CONTROL_PORT, STEPPER_ENABLE_PIN);
}

void stepper_set_dir(uint8_t dir)
{
if (dir)
GPIO_SetBits(STEPPER_CONTROL_PORT, STEPPER_DIR_PIN);
else
GPIO_ResetBits(STEPPER_CONTROL_PORT, STEPPER_DIR_PIN);
}

void stepper_step(uint32_t steps, uint32_t delay)
{
for (uint32_t i = 0; i < steps; i++)
{
GPIO_SetBits(STEPPER_CONTROL_PORT, STEPPER_STEP_PIN);
// Delay
for (volatile uint32_t j = 0; j < delay; j++);
GPIO_ResetBits(STEPPER_CONTROL_PORT, STEPPER_STEP_PIN);
// Delay
for (volatile uint32_t j = 0; j < delay; j++);
}
}

int main(void)
{
init_stepper_gpio();

// Example usage
stepper_set_dir(0);
stepper_step(1000, 100);
stepper_set_dir(1);
stepper_step(1000, 100);

while(1);
}
如果您还需要其他方面的帮助，请继续提出问题。