帮我写一个通过STM32F407ZET6控制步进电机7段S型速度运行程序

以下是一个通过STM32F407ZET6控制步进电机7段S型速度运行的程序，供你参考：

#include "stm32f4xx.h"
#include "stm32f4xx_gpio.h"
#include "stm32f4xx_rcc.h"
#include "stm32f4xx_tim.h"

#define StepDelay 2000 // 步进电机转速调整值
#define StepsPerRevolution 200 // 步进电机每转的步数
#define StepsPerSegment 25 // 步进电机每段的步数
#define TotalSegments 7 // 步进电机总共的段数

GPIO_InitTypeDef GPIO_InitStructure;
TIM_TimeBaseInitTypeDef TIM_TimeBaseInitStruct;
TIM_OCInitTypeDef TIM_OCInitStruct;

int currentStep = 0;
int currentSegment = 0;
int direction = 1;

int segments[TotalSegments][StepsPerSegment] = {
    {1, 0, 0, 0},
    {1, 1, 0, 0},
    {0, 1, 0, 0},
    {0, 1, 1, 0},
    {0, 0, 1, 0},
    {0, 0, 1, 1},
    {0, 0, 0, 1}
};

void SetDirection(int newDirection) {
    direction = newDirection;
}

void Step() {
    int i;
    for (i = 0; i < 4; i++) {
        GPIO_SetBits(GPIOD, GPIO_Pin_12 | GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15);
        GPIO_ResetBits(GPIOD, GPIO_Pin_12 << i);
        GPIO_SetBits(GPIOD, segments[currentSegment][i] << 12);
    }
    if (direction == -1) {
        currentStep--;
        if (currentStep < 0) {
            currentStep = StepsPerSegment - 1;
            currentSegment--;
            if (currentSegment < 0) {
                currentSegment = TotalSegments - 1;
            }
        }
    } else {
        currentStep++;
        if (currentStep >= StepsPerSegment) {
            currentStep = 0;
            currentSegment++;
            if (currentSegment >= TotalSegments) {
                currentSegment = 0;
            }
        }
    }
}

void TIM3_IRQHandler() {
    if (TIM_GetITStatus(TIM3, TIM_IT_Update) != RESET) {
        Step();
        TIM_ClearITPendingBit(TIM3, TIM_IT_Update);
    }
}

void InitGPIO() {
    RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);
    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_12 | GPIO_Pin_13 | GPIO_Pin_14 | GPIO_Pin_15;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;
    GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_NOPULL;
    GPIO_Init(GPIOD, &GPIO_InitStructure);
}

void InitTIM3() {
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
    TIM_TimeBaseInitStruct.TIM_Period = StepDelay - 1;
    TIM_TimeBaseInitStruct.TIM_Prescaler = 84 - 1;
    TIM_TimeBaseInitStruct.TIM_ClockDivision = TIM_CKD_DIV1;
    TIM_TimeBaseInitStruct.TIM_CounterMode = TIM_CounterMode_Up;
    TIM_TimeBaseInit(TIM3, &TIM_TimeBaseInitStruct);
    TIM_ITConfig(TIM3, TIM_IT_Update, ENABLE);
    TIM_Cmd(TIM3, ENABLE);

    NVIC_InitTypeDef NVIC_InitStruct;
    NVIC_InitStruct.NVIC_IRQChannel = TIM3_IRQn;
    NVIC_InitStruct.NVIC_IRQChannelPreemptionPriority = 0;
    NVIC_InitStruct.NVIC_IRQChannelSubPriority = 1;
    NVIC_InitStruct.NVIC_IRQChannelCmd = ENABLE;
    NVIC_Init(&NVIC_InitStruct);
}

int main(void) {
    InitGPIO();
    InitTIM3();

    while (1) {
        SetDirection(1);
        delay(5000);
        SetDirection(-1);
        delay(5000);
    }
}

这个程序实现的功能是，通过控制STM32F407ZET6的输出引脚来控制步进电机的运行，同时使用TIM3定时器来控制步进电机的转速，实现7段S型速度运行。你可以将这个程序下载到STM32F407ZET6控制器中运行。