给你看一篇文章吧http://wenku.baidu.com/view/39fe ... 71.html?from=search

我是参照这个来写的

[mw_shl_code=applescript,true]//=========================================================================//

//M542 DRIVER CODE：定义驱动器的端口

//

//创建日期:2015/12/30

//=========================================================================//

//初始化PE1/PE3为输出口.并使能这2个口的时钟

//PE1对应pulse，PE3对应DIR(方向)

#include "driver.h"

#include "delay.h"

#include "usart.h"

#include "adc.h"

void Driver_Init(void)

{

GPIO_InitTypeDef  GPIO_InitStructure;

RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOE, ENABLE);//使能GPIOE时钟

//GPIOE5初始化设置

GPIO_InitStructure.GPIO_Pin = GPIO_Pin_5;//分别用这个口 控制方向

GPIO_InitStructure.GPIO_Mode = GPIO_Mode_OUT;//普通输出模式

GPIO_InitStructure.GPIO_OType = GPIO_OType_PP;//推挽输出

GPIO_InitStructure.GPIO_Speed = GPIO_Speed_100MHz;//100MHz

GPIO_InitStructure.GPIO_PuPd = GPIO_PuPd_UP;//上拉

GPIO_Init(GPIOE, &GPIO_InitStructure);//初始化GPIO

}

int cnt;

int value2[]={994,994,994,994,992,992,992,992,992,990,990,990,990,988,988,988,986,986,986,984,        //S型加减速曲线，时PWM的输出频率

984,982,982,982,980,980,978,978,976,974,974,972,970,970,968,966,964,964,962,960,        //从1KHz变到10Khz，即使得步进电机

958,956,954,950,948,946,944,940,938,934,932,928,926,922,918,914,910,906,902,898,               //加速运动，加速运动即让它反过来

892,887,882,877,872,866,860,855,848,842,835,828,821,814,807,799,791,783,775,766,        //速度约从1.3cm/s加速到12cm/s左右

758,750,740,730,720,712,702,692,682,670,660,650,638,628,616,606,594,584,572,562,

550,538,528,516,506,494,484,472,462,450,440,430,418,408,398,388,380,370,360,350,

342,334,324,316,308,300,292,286,278,272,264,258,252,244,240,234,228,222,218,212,

208,202,198,194,190,186,182,178,174,172,168,166,162,160,156,154,152,150,146,144,

142,140,138,136,136,134,132,130,130,128,126,126,124,122,122,120,120,118,118,118,

116,116,114,114,114,112,112,112,110,110,110,110,108,108,108,108,108,106,106,106,106};

int value1[]={ 994,994,994,992,992,992,992,992,990,990,990,990,988,988,988,986,986,986,984,984,      //从1KHz加速到1000/66=15KHz左右

984,982,982,980,980,978,978,976,974,974,972,972,970,968,966,964,964,962,960,958,       //速度约从1.3cm/s加速到19.2cm/s左右

956,954,950,948,946,944,940,938,936,932,928,926,922,918,914,910,906,902,898,892,

888,882,878,872,866,860,854,848,842,836,828,822,814,806,798,790,782,774,766,756,

748,738,728,718,708,698,688,678,666,656,646,634,622,612,600,588,576,566,554,542,

530,518,506,494,484,472,460,448,438,426,414,404,394,382,372,362,352,342,332,322,

312,304,294,286,278,270,262,254,246,238,232,224,218,212,206,200,194,188,182,178,

172,168,162,158,154,150,146,142,138,134,132,128,124,122,120,116,114,112,110,106,

104,102,100,98 ,96 ,96 ,94 ,92 ,90 ,88 ,88 ,86 ,86 ,84 ,82 ,82 ,80 ,80 ,78 ,78 ,

76 ,76 ,76 ,74 ,74 ,74 ,72 ,72 ,72 ,70 ,70 ,70 ,70 ,68 ,68 ,68 ,68 ,68 ,66 ,66 ,66};

int  value[]={596,596,596,596,596,596,596,594,594,594,594,594,594,594,592,592,592,592,592,590,        //从1.6KHz加速到1000/64=15.6KHz左右

590,590,590,588,588,588,586,586,586,584,584,584,582,582,580,580,578,578,576,576,       //速度约从2.1cm/s加速到19.8cm/s左右

574,574,572,570,570,568,566,564,562,560,560,558,556,552,550,548,546,544,542,538,

536,532,530,526,524,520,516,514,510,506,502,498,494,488,484,480,476,470,466,460,

454,450,444,438,432,426,420,414,408,402,396,390,384,376,370,364,356,350,344,336,

330,324,316,310,304,296,290,284,276,270,264,258,252,246,240,234,228,222,216,210,

206,200,194,190,184,180,176,172,166,162,158,154,150,146,144,140,136,134,130,128,

124,122,118,116,114,112,110,108,104,102,100,100,98 ,96        ,94 ,92 ,90 ,90 ,88 ,86        ,

86        ,84        ,84        ,82        ,82        ,80        ,80        ,78        ,78        ,76        ,76        ,76        ,74        ,74        ,74        ,72        ,72        ,72        ,70        ,70        ,

70        ,70        ,68        ,68        ,68        ,68        ,68        ,66        ,66        ,66        ,66        ,66        ,66        ,66        ,64        ,64        ,64        ,64        ,64        ,64        ,64};

/********************************************************

函数名：HeadADC

功  能：让电机一边前进一边进采样

输  入：无

输  出：无

********************************************************/

void HeadADC(void)               //

{

GPIO_SetBits(GPIOE,GPIO_Pin_5);   // PE5与驱动器DIR-对应，使之高电位，沿一个方向运动

delay_us(20);

TIM_Cmd(TIM3,ENABLE);

TIM_Cmd(TIM4,ENABLE);

Speed_up();

}

/********************************************************

函数名：BackADC

功  能：让步进边后退一边采样

输  入：无

输  出：无

********************************************************/

void BackADC(void)         //Num为后退的步数，Dis为每步的大小，以mm为单位

{

GPIO_ResetBits(GPIOE,GPIO_Pin_5);   // PE5与驱动器DIR-对应，使之高电位，沿一个方向运动

delay_us(20);

TIM_Cmd(TIM3,ENABLE);

TIM_Cmd(TIM4,ENABLE);

Speed_up();

}

/********************************************************

函数名：Head

功  能：开启定时器4的PWM输出，让步进电机只有前进功能

输  入：无

输  出：无                                                *

********************************************************/

void Head(void)               //

{

GPIO_SetBits(GPIOE,GPIO_Pin_5);   // PE5与驱动器DIR-对应，使之高电位，沿一个方向运动

delay_us(20);

TIM_Cmd(TIM4,ENABLE);                //开启TIM4，输出PWM波

Speed_up();

}

/********************************************************

函数名：Head

功  能：开启定时器4的PWM输出，让步进电机只有前进功能

输  入：无

输  出：无

********************************************************/

void Back(void)               //

{

GPIO_ResetBits(GPIOE,GPIO_Pin_5);   // PE5与驱动器DIR-对应，使之高电位，沿一个方向运动

delay_us(20);

TIM_Cmd(TIM4,ENABLE);                //开启TIM4，输出PWM波

Speed_up();

}

/********************************************************

函数名：Speed_up

功  能：步进电机加速函数

输  入：无

输  出：无

********************************************************/

void Speed_up(void)

{

for (cnt = 0; cnt<201; cnt++)

{

delay_us(2*value[0]);                      //每2个PWM脉冲产生后，预装载值和占空比

TIM_SetAutoreload(TIM4,value[cnt]);

TIM_SetCompare1(TIM4,value[cnt]/2);

}

}

/********************************************************

函数名：Speed_down

功  能：步进电机减速函数

输  入：无

输  出：无

********************************************************/

void Speed_down(void)

{

for (cnt =200; cnt>=0; cnt--)

{

delay_us(2*value[0]);                      //每2个PWM脉冲产生后，预装载值和占空比

TIM_SetAutoreload(TIM4,value[cnt]);

TIM_SetCompare1(TIM4,value[cnt]/2);

}

}

[/mw_shl_code]