写一个基于stm32f103c8t6的驱动步进电机的代码

以下是一个简单的基于STM32F103C8T6的驱动步进电机的代码，使用的是HAL库：

#include "stm32f1xx_hal.h"

#define STEPPER_MOTOR_STEPS_PER_REV 200 // 步进电机每转的步数
#define STEPPER_MOTOR_MOTOR_STEPS  (STEPPER_MOTOR_STEPS_PER_REV * 4) // 步进电机总步数（4相驱动）

// 步进电机引脚定义
#define STEPPER_MOTOR_PIN_1 GPIO_PIN_0
#define STEPPER_MOTOR_PIN_2 GPIO_PIN_1
#define STEPPER_MOTOR_PIN_3 GPIO_PIN_2
#define STEPPER_MOTOR_PIN_4 GPIO_PIN_3
#define STEPPER_MOTOR_PORT GPIOA

// 步进电机运动方向定义
#define STEPPER_MOTOR_DIR_FORWARD 0 // 正向
#define STEPPER_MOTOR_DIR_BACKWARD 1 // 反向

// 步进电机速度定义
#define STEPPER_MOTOR_SPEED_1 100 // 速度1
#define STEPPER_MOTOR_SPEED_2 50 // 速度2

// 步进电机控制状态定义
typedef enum {
  STEPPER_MOTOR_STOPPED = 0, // 停止状态
  STEPPER_MOTOR_MOVING_FORWARD, // 正向运动中
  STEPPER_MOTOR_MOVING_BACKWARD // 反向运动中
} stepper_motor_state_t;

// 步进电机控制结构体
typedef struct {
  uint16_t steps_per_rev; // 每转的步数
  uint16_t motor_steps; // 总步数
  GPIO_TypeDef* port; // 引脚所在端口
  uint16_t pin_1; // 引脚1
  uint16_t pin_2; // 引脚2
  uint16_t pin_3; // 引脚3
  uint16_t pin_4; // 引脚4
  stepper_motor_state_t state; // 控制状态
  uint16_t speed; // 速度
  uint16_t current_step; // 当前步数
} stepper_motor_t;

// 步进电机初始化
void stepper_motor_init(stepper_motor_t* motor) {
  // 初始化引脚
  GPIO_InitTypeDef GPIO_InitStruct = {0};
  GPIO_InitStruct.Pin = motor->pin_1 | motor->pin_2 | motor->pin_3 | motor->pin_4;
  GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
  GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
  HAL_GPIO_Init(motor->port, &GPIO_InitStruct);

  // 初始化控制状态
  motor->state = STEPPER_MOTOR_STOPPED;
  motor->speed = STEPPER_MOTOR_SPEED_1;
  motor->current_step = 0;
}

// 步进电机启动
void stepper_motor_start(stepper_motor_t* motor, uint8_t direction) {
  // 设置控制状态
  motor->state = direction ? STEPPER_MOTOR_MOVING_BACKWARD : STEPPER_MOTOR_MOVING_FORWARD;

  // 开始控制电机
  while (motor->state != STEPPER_MOTOR_STOPPED) {
    // 计算下一步的位置
    int8_t step_number = motor->current_step % 4;

    // 控制引脚输出
    switch (step_number) {
      case 0:
        HAL_GPIO_WritePin(motor->port, motor->pin_1, GPIO_PIN_SET);
        HAL_GPIO_WritePin(motor->port, motor->pin_2, GPIO_PIN_RESET);
        HAL_GPIO_WritePin(motor->port, motor->pin_3, GPIO_PIN_RESET);
        HAL_GPIO_WritePin(motor->port, motor->pin_4, GPIO_PIN_RESET);
        break;
      case 1:
        HAL_GPIO_WritePin(motor->port, motor->pin_1, GPIO_PIN_RESET);
        HAL_GPIO_WritePin(motor->port, motor->pin_2, GPIO_PIN_SET);
        HAL_GPIO_WritePin(motor->port, motor->pin_3, GPIO_PIN_RESET);
        HAL_GPIO_WritePin(motor->port, motor->pin_4, GPIO_PIN_RESET);
        break;
      case 2:
        HAL_GPIO_WritePin(motor->port, motor->pin_1, GPIO_PIN_RESET);
        HAL_GPIO_WritePin(motor->port, motor->pin_2, GPIO_PIN_RESET);
        HAL_GPIO_WritePin(motor->port, motor->pin_3, GPIO_PIN_SET);
        HAL_GPIO_WritePin(motor->port, motor->pin_4, GPIO_PIN_RESET);
        break;
      case 3:
        HAL_GPIO_WritePin(motor->port, motor->pin_1, GPIO_PIN_RESET);
        HAL_GPIO_WritePin(motor->port, motor->pin_2, GPIO_PIN_RESET);
        HAL_GPIO_WritePin(motor->port, motor->pin_3, GPIO_PIN_RESET);
        HAL_GPIO_WritePin(motor->port, motor->pin_4, GPIO_PIN_SET);
        break;
    }

    // 延时，控制电机速度
    HAL_Delay(motor->speed);

    // 更新当前步数
    motor->current_step += direction ? -1 : 1;

    // 判断是否到达目标位置
    if (motor->current_step >= motor->motor_steps || motor->current_step < 0) {
      motor->state = STEPPER_MOTOR_STOPPED;
    }
  }
}

// 步进电机停止
void stepper_motor_stop(stepper_motor_t* motor) {
  motor->state = STEPPER_MOTOR_STOPPED;
}

// 示例代码
int main(void) {
  // 初始化步进电机控制结构体
  stepper_motor_t motor = {
    .steps_per_rev = STEPPER_MOTOR_STEPS_PER_REV,
    .motor_steps = STEPPER_MOTOR_MOTOR_STEPS,
    .port = STEPPER_MOTOR_PORT,
    .pin_1 = STEPPER_MOTOR_PIN_1,
    .pin_2 = STEPPER_MOTOR_PIN_2,
    .pin_3 = STEPPER_MOTOR_PIN_3,
    .pin_4 = STEPPER_MOTOR_PIN_4,
    .state = STEPPER_MOTOR_STOPPED,
    .speed = STEPPER_MOTOR_SPEED_1,
    .current_step = 0
  };
  stepper_motor_init(&motor);

  // 启动步进电机，正向运动
  stepper_motor_start(&motor, STEPPER_MOTOR_DIR_FORWARD);

  // 停止步进电机
  stepper_motor_stop(&motor);

  // 启动步进电机，反向运动
  stepper_motor_start(&motor, STEPPER_MOTOR_DIR_BACKWARD);

  // 停止步进电机
  stepper_motor_stop(&motor);

  while (1) {}
}

注意：这只是一个简单的示例代码，实际使用时需要根据具体的步进电机型号和驱动器进行调整。同时，步进电机的控制需要较高的精度和稳定性，建议使用专门的步进电机驱动器。