STM32 stepper motor seedling board application design

This motor is also an application of the Xiaomiao board. It is a 28BYJ-48 stepper motor . The following is the information of the stepper motor:

This is the parameter of the stepper motor . It can be seen that this is a motor with a reducer. Such a motor can only be used as a servo or something like that, and cannot be used directly as a motor unless a speed gear is added. From the parameters, it can be seen that the motor rotates 4096 cycles internally and then rotates 360 degrees externally, so this type of motor runs very slowly. The following is the internal running sequence per cycle. This is a standard 8-phase, and in fact it can definitely run with a four-phase.

The following are the four sequences used in my program: 2.4.6.8. The timing diagram is shown below:

From the above figure, we can see that the waveform of each pin is the same, except that a quarter of the phase is checked between each two pins. Three timers are used in the program, including TIM2 for PA0 and PA1, TIM3 for PA6 and PA7, and TIM4 for phase difference.