/*stepmotor.h*/#ifndef _STEPMOTOR_H#define _STEPMOTOR_H#include "sys.h"#include "delay.h"#define AA PDout(8) #define aa PDout(9)#define BB PDout(10) #define bb PDout(11)//单4#define ON_1 {AA=1;aa=0;BB=0;bb=0;} #define ON_2 {AA=0;aa=0;BB=0;bb=1;}#define ON_3 {AA=0;aa=1;BB=0;bb=0;}#define ON_4 {AA=0;aa=0;BB=1;bb=0;}//双4#define ON_D1 {AA=0;aa=1;BB=1;bb=0;}#define ON_D2 {AA=1;aa=0;BB=1;bb=0;}#define ON_D3 {AA=1;aa=0;BB=0;bb=1;}#define ON_D4 {AA=0;aa=1;BB=0;bb=1;}//单双8拍#define ON_DD1 {AA=0;aa=1;BB=0;bb=0;}#define ON_DD2 {AA=0;aa=1;BB=1;bb=0;}#define ON_DD3 {AA=0;aa=0;BB=1;bb=0;}#define ON_DD4 {AA=1;aa=0;BB=1;bb=0;}#define ON_DD5 {AA=1;aa=0;BB=0;bb=0;}#define ON_DD6 {AA=1;aa=0;BB=0;bb=1;}#define ON_DD7 {AA=0;aa=0;BB=0;bb=1;}#define ON_DD8 {AA=0;aa=1;BB=0;bb=1;}#define OFF_ALL {AA=0;aa=0;BB=0;bb=0;} extern void Motor_GPIO_Init(void);extern void Motor_4(u16 time);extern void Motor_D4(u16 time);extern void Motor_8(u16 time);extern void Motor_8_back(u16 time); //反转#endif

/*stepmotor.c*/#include "stepmotor.h"void Motor_GPIO_Init(void){    GPIO_InitTypeDef  GPIO_InitStructure;    RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOD,ENABLE);             GPIO_InitStructure.GPIO_Pin = GPIO_Pin_8|GPIO_Pin_9|GPIO_Pin_10|GPIO_Pin_11;                     GPIO_InitStructure.GPIO_Mode = GPIO_Mode_Out_PP;              GPIO_InitStructure.GPIO_Speed = GPIO_Speed_50MHz;             GPIO_Init(GPIOD, &GPIO_InitStructure);                         //GPIO_SetBits(GPIOD,GPIO_Pin_8|GPIO_Pin_9|GPIO_Pin_10|GPIO_Pin_11);        }void Motor_4(u16 time){    ON_1;    delay_ms(time);    ON_2;    delay_ms(time);    ON_3;    delay_ms(time);    ON_4;    delay_ms(time);}void Motor_D4(u16 time){    ON_D1;    delay_ms(time);    ON_D2;    delay_ms(time);    ON_D3;    delay_ms(time);    ON_D4;    delay_ms(time);}void Motor_8(u16 time)  //执行一次转7.2度{
   //循环50次转360度，8拍每拍0.9度     ON_DD1;    delay_us(time);    ON_DD2;    delay_us(time);    ON_DD3;    delay_us(time);    ON_DD4;    delay_us(time);    ON_DD5;    delay_us(time);    ON_DD6;    delay_us(time);    ON_DD7;    delay_us(time);    ON_DD8;    delay_us(time);}void Motor_8_back(u16 time) //反转{    ON_DD8;    delay_us(time);    ON_DD7;    delay_us(time);    ON_DD6;    delay_us(time);    ON_DD5;    delay_us(time);    ON_DD4;    delay_us(time);    ON_DD3;    delay_us(time);    ON_DD2;    delay_us(time);    ON_DD1;    delay_us(time);}