写一个使用STM32F103RCT6的pwm控制步进电机速度驱动程序

好的，以下是使用STM32F103RCT6的pwm控制步进电机速度驱动程序的代码：

#include "stm32f10x.h"

#define PWM_PERIOD 2000 // PWM周期为2000个时钟周期
#define MOTOR_STEPS 200 // 步进电机一圈有200步
#define MOTOR_SPEED 50 // 步进电机速度为50rpm

uint16_t pwm_duty = 1000; // PWM占空比，初值为50%
uint16_t motor_step_count = 0; // 步进电机步数计数器
uint16_t motor_step_target = 0; // 步进电机目标步数
uint16_t motor_step_delay = 0; // 步进电机每步延时

void TIM2_IRQHandler(void) // 定时器2中断服务程序
{
    if (TIM_GetITStatus(TIM2, TIM_IT_Update) != RESET) // 检查是否发生更新事件
    {
        TIM_ClearITPendingBit(TIM2, TIM_IT_Update); // 清除中断标志位

        if (motor_step_count >= motor_step_target) // 检查是否达到目标步数
        {
            TIM_SetCompare1(TIM2, 0); // 停止PWM输出
        }
        else
        {
            TIM_SetCompare1(TIM2, pwm_duty); // 更新PWM占空比

            motor_step_count++; // 更新步数计数器
            TIM_SetCounter(TIM2, 0); // 重置计数器

            if (motor_step_delay > 0) // 延时一段时间以等待步进电机完成一步
            {
                for (uint16_t i = 0; i < motor_step_delay; i++);
            }
        }
    }
}

void motor_step(uint16_t steps) // 步进电机步进函数
{
    motor_step_target += steps; // 更新目标步数
    motor_step_delay = (uint16_t)(60000 / (MOTOR_SPEED * MOTOR_STEPS)); // 计算每步延时，单位为微秒
}

int main(void)
{
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE); // 使能TIM2时钟
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE); // 使能GPIOA时钟

    GPIO_InitTypeDef GPIO_InitStructure;
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_0;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOA, &GPIO_InitStructure); // 配置PA0为TIM2_CH1的复用推挽输出

    TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStructure;
    TIM_TimeBaseInitStructure.TIM_Period = PWM_PERIOD - 1; // 设置PWM周期
    TIM_TimeBaseInitStructure.TIM_Prescaler = SystemCoreClock / (2 * PWM_PERIOD) - 1; // 设置预分频器，使得PWM频率为20kHz
    TIM_TimeBaseInitStructure.TIM_ClockDivision = 0;
    TIM_TimeBaseInitStructure.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(TIM2, &TIM_TimeBaseInitStructure); // 初始化TIM2

    TIM_OCInitTypeDef TIM_OCInitStructure;
    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_OC1Init(TIM2, &TIM_OCInitStructure); // 初始化TIM2_CH1为PWM输出

    NVIC_InitTypeDef NVIC_InitStructure;
    NVIC_InitStructure.NVIC_IRQChannel = TIM2_IRQn;
    NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;
    NVIC_InitStructure.NVIC_IRQChannelSubPriority = 0;
    NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&NVIC_InitStructure); // 初始化TIM2中断

    TIM_Cmd(TIM2, ENABLE); // 启动TIM2计数器

    while (1)
    {
        motor_step(100); // 步进电机步进100步
        while (motor_step_count < motor_step_target); // 等待步进电机完成步进
    }
}

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