stm32f103系列步进电机梯形加减速代码

您好！对于STM32F103系列步进电机的梯形加减速控制，您可以参考以下的代码示例：

#include "stm32f10x.h"
#include "stm32f10x_gpio.h"
#include "stm32f10x_rcc.h"
#include "stm32f10x_tim.h"

#define TIM_PERIOD 1000 // 定时器的周期，根据需要进行调整

void TIM2_Configuration(void)
{
    TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
    TIM_OCInitTypeDef TIM_OCInitStructure;

    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA | RCC_APB2Periph_AFIO, ENABLE);

    TIM_TimeBaseStructure.TIM_Period = TIM_PERIOD - 1;
    TIM_TimeBaseStructure.TIM_Prescaler = 0;
    TIM_TimeBaseStructure.TIM_ClockDivision = 0;
    TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(TIM2, &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_OC4Init(TIM2, &TIM_OCInitStructure);
    TIM_OC4PreloadConfig(TIM2, TIM_OCPreload_Enable);

    GPIO_InitTypeDef GPIO_InitStructure;
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_3;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOA, &GPIO_InitStructure);

    TIM_Cmd(TIM2, ENABLE);
}

void delay_ms(uint32_t ms)
{
    ms *= 1000;
    while (ms--)
    {
    }
}

void motor_move(uint8_t direction, uint16_t steps, uint16_t acceleration)
{
    uint16_t current_step = 0;
    uint16_t current_delay = 1000 / acceleration;

    while (current_step < steps)
    {
        if (direction == 0)
        {
            GPIO_ResetBits(GPIOA, GPIO_Pin_3);
        }
        else
        {
            GPIO_SetBits(GPIOA, GPIO_Pin_3);
        }
        
        delay_ms(current_delay);

        current_step++;
        current_delay -= acceleration;
    }
}

int main(void)
{
    TIM2_Configuration();

    while (1)
    {
        motor_move(1, 200, 5); // 顺时针方向，200步，加速度为5
        delay_ms(1000);
        motor_move(0, 200, 5); // 逆时针方向，200步，加速度为5
        delay_ms(1000);
    }
}

请注意，以上代码仅提供了一个示例，并且假设您已经正确配置了STM32F103的GPIO和定时器。您需要根据您的具体硬件连接和要求进行相应的修改和适配。希望对您有所帮助！如果还有其他问题，请随时提问。