帮我写一个在STM32F103ZET6 上控制步进电机运动到指定坐标的代码

好的，以下是一个简单的代码示例，可以控制步进电机运动到指定坐标：

#include "stm32f10x.h"

#define STEPPER_PIN1 GPIO_Pin_0
#define STEPPER_PIN2 GPIO_Pin_1
#define STEPPER_PIN3 GPIO_Pin_2
#define STEPPER_PIN4 GPIO_Pin_3

void delay(uint32_t ms)
{
  uint32_t i;
  for(i = 0; i < ms*1000; i++);
}

void step(uint8_t step_num, GPIO_TypeDef* GPIOx)
{
  switch(step_num)
  {
    case 0:
      GPIO_WriteBit(GPIOx, STEPPER_PIN1, Bit_RESET);
      GPIO_WriteBit(GPIOx, STEPPER_PIN2, Bit_RESET);
      GPIO_WriteBit(GPIOx, STEPPER_PIN3, Bit_RESET);
      GPIO_WriteBit(GPIOx, STEPPER_PIN4, Bit_SET);
      break;
    case 1:
      GPIO_WriteBit(GPIOx, STEPPER_PIN1, Bit_RESET);
      GPIO_WriteBit(GPIOx, STEPPER_PIN2, Bit_RESET);
      GPIO_WriteBit(GPIOx, STEPPER_PIN3, Bit_SET);
      GPIO_WriteBit(GPIOx, STEPPER_PIN4, Bit_SET);
      break;
    case 2:
      GPIO_WriteBit(GPIOx, STEPPER_PIN1, Bit_RESET);
      GPIO_WriteBit(GPIOx, STEPPER_PIN2, Bit_RESET);
      GPIO_WriteBit(GPIOx, STEPPER_PIN3, Bit_SET);
      GPIO_WriteBit(GPIOx, STEPPER_PIN4, Bit_RESET);
      break;
    case 3:
      GPIO_WriteBit(GPIOx, STEPPER_PIN1, Bit_RESET);
      GPIO_WriteBit(GPIOx, STEPPER_PIN2, Bit_SET);
      GPIO_WriteBit(GPIOx, STEPPER_PIN3, Bit_SET);
      GPIO_WriteBit(GPIOx, STEPPER_PIN4, Bit_RESET);
      break;
    case 4:
      GPIO_WriteBit(GPIOx, STEPPER_PIN1, Bit_RESET);
      GPIO_WriteBit(GPIOx, STEPPER_PIN2, Bit_SET);
      GPIO_WriteBit(GPIOx, STEPPER_PIN3, Bit_RESET);
      GPIO_WriteBit(GPIOx, STEPPER_PIN4, Bit_RESET);
      break;
    case 5:
      GPIO_WriteBit(GPIOx, STEPPER_PIN1, Bit_SET);
      GPIO_WriteBit(GPIOx, STEPPER_PIN2, Bit_SET);
      GPIO_WriteBit(GPIOx, STEPPER_PIN3, Bit_RESET);
      GPIO_WriteBit(GPIOx, STEPPER_PIN4, Bit_RESET);
      break;
    case 6:
      GPIO_WriteBit(GPIOx, STEPPER_PIN1, Bit_SET);
      GPIO_WriteBit(GPIOx, STEPPER_PIN2, Bit_RESET);
      GPIO_WriteBit(GPIOx, STEPPER_PIN3, Bit_RESET);
      GPIO_WriteBit(GPIOx, STEPPER_PIN4, Bit_RESET);
      break;
    case 7:
      GPIO_WriteBit(GPIOx, STEPPER_PIN1, Bit_SET);
      GPIO_WriteBit(GPIOx, STEPPER_PIN2, Bit_RESET);
      GPIO_WriteBit(GPIOx, STEPPER_PIN3, Bit_RESET);
      GPIO_WriteBit(GPIOx, STEPPER_PIN4, Bit_SET);
      break;
    default:
      break;
  }
}

void move_stepper(GPIO_TypeDef* GPIOx, uint32_t steps, uint8_t direction, uint32_t delay_ms)
{
  uint8_t step_num = 0;
  
  for(uint32_t i = 0; i < steps; i++)
  {
    step(step_num, GPIOx);
    if(direction == 0)
    {
      step_num++;
      if(step_num > 7) step_num = 0;
    }
    else
    {
      step_num--;
      if(step_num < 0) step_num = 7;
    }
    delay(delay_ms);
  }
}

int main(void)
{
  GPIO_InitTypeDef GPIO_InitStruct;
  
  RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);
  
  GPIO_InitStruct.GPIO_Pin = STEPPER_PIN1 | STEPPER_PIN2 | STEPPER_PIN3 | STEPPER_PIN4;
  GPIO_InitStruct.GPIO_Mode = GPIO_Mode_Out_PP;
  GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;
  GPIO_Init(GPIOA, &GPIO_InitStruct);
  
  // 步进电机运动500个步进
  move_stepper(GPIOA, 500, 0, 1);
  
  while(1);
}

这个例子使用了GPIO控制步进电机的运动，需要将电机的4个引脚分别连接到STM32的GPIO口，代码中定义的是PA0-PA3。每个步进需要一个固定的时间间隔，这里使用了一个简单的延时函数实现。`move_stepper`函数可以控制步进电机运动到指定步数，可以通过调整`steps`、`direction`和`delay_ms`参数来控制电机的运动。