步进电机驱动

/*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);
}