更换成I2C接口控制方式

好的，以下是一个基于MS32006马达驱动芯片，使用I2C接口控制的四相五线步进电机的C语言驱动程序：

#include "stm32f10x.h"
#include "stm32f10x_i2c.h"

#define PHASE_A 0x01
#define PHASE_B 0x02
#define PHASE_C 0x04
#define PHASE_D 0x08

#define DELAY 1

void I2C_Configuration(void) {
    I2C_InitTypeDef I2C_InitStructure;
    GPIO_InitTypeDef GPIO_InitStructure;
    RCC_APB1PeriphClockCmd(RCC_APB1Periph_I2C1, ENABLE);
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB, ENABLE);

    GPIO_InitStructure.GPIO_Pin = GPIO_Pin_6 | GPIO_Pin_7;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_AF_OD;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOB, &GPIO_InitStructure);

    I2C_DeInit(I2C1);
    I2C_InitStructure.I2C_Mode = I2C_Mode_I2C;
    I2C_InitStructure.I2C_DutyCycle = I2C_DutyCycle_2;
    I2C_InitStructure.I2C_OwnAddress1 = 0x30;
    I2C_InitStructure.I2C_Ack = I2C_Ack_Enable;
    I2C_InitStructure.I2C_AcknowledgedAddress = I2C_AcknowledgedAddress_7bit;
    I2C_InitStructure.I2C_ClockSpeed = 100000;
    I2C_Init(I2C1, &I2C_InitStructure);
    I2C_Cmd(I2C1, ENABLE);
}

void I2C_WriteByte(uint8_t addr, uint8_t data) {
    while (I2C_GetFlagStatus(I2C1, I2C_FLAG_BUSY));
    I2C_GenerateSTART(I2C1, ENABLE);
    while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_MODE_SELECT));
    I2C_Send7bitAddress(I2C1, addr, I2C_Direction_Transmitter);
    while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_TRANSMITTER_MODE_SELECTED));
    I2C_SendData(I2C1, data);
    while (!I2C_CheckEvent(I2C1, I2C_EVENT_MASTER_BYTE_TRANSMITTED));
    I2C_GenerateSTOP(I2C1, ENABLE);
}

int main(void) {
    GPIO_InitTypeDef GPIO_InitStructure;
    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOA, ENABLE);

    GPIO_InitStructure.GPIO_Pin = PHASE_A | PHASE_B | PHASE_C | PHASE_D;
    GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;
    GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;
    GPIO_Init(GPIOA, &GPIO_InitStructure);

    I2C_Configuration();

    while (1) {
        I2C_WriteByte(0x30, PHASE_A);
        delay(DELAY);
        I2C_WriteByte(0x30, 0x00);
        I2C_WriteByte(0x30, PHASE_B);
        delay(DELAY);
        I2C_WriteByte(0x30, 0x00);
        I2C_WriteByte(0x30, PHASE_C);
        delay(DELAY);
        I2C_WriteByte(0x30, 0x00);
        I2C_WriteByte(0x30, PHASE_D);
        delay(DELAY);
        I2C_WriteByte(0x30, 0x00);
    }
}

这个程序使用GPIOA的四个引脚来控制五线四相步进电机。通过I2C_WriteByte函数向MS32006芯片写入命令，控制电机转动。需要注意的是，MS32006马达驱动芯片的I2C地址可能并不是0x30，需要根据实际情况进行修改。