基于stm32f103c8t6控制的步进电机加减速启动代码

以下为程序核心代码

timer.c

定时器配置，输出pwm

#include "timer.h"
#include "led.h"
#include "usart.h"
#include "Key.h"

void TIM3_PWM_Init(void)
{  
	GPIO_InitTypeDef	GPIO_InitStruct;
	NVIC_InitTypeDef NVIC_InitStructure;
	
	RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB|RCC_APB2Periph_AFIO, ENABLE);
	RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
	
	GPIO_InitStruct.GPIO_Pin=GPIO_Pin_1;
	GPIO_InitStruct.GPIO_Mode=GPIO_Mode_AF_PP;
	GPIO_InitStruct.GPIO_Speed=GPIO_Speed_50MHz;
	GPIO_Init(GPIOB, &GPIO_InitStruct);
	
	GPIO_InitStruct.GPIO_Pin=GPIO_Pin_0;
	GPIO_InitStruct.GPIO_Mode=GPIO_Mode_Out_PP;
	GPIO_InitStruct.GPIO_Speed=GPIO_Speed_50MHz;
	GPIO_Init(GPIOB, &GPIO_InitStruct);
	GPIO_SetBits(GPIOB,  GPIO_Pin_0);
	
		TIM3->CR1|=1<<2;                		   //ÉèÖÃÖ»ÓмÆÊýÒç³ö×÷ΪT3¸üÐÂÖжÏ
		TIM3->DIER|=1<<0;                	   //ÔÊÐí¶¨Ê±Æ÷3¼ÆÊýÒç³öÖжÏ
	
		TIM3->CCMR2&=~(3<<8);               //T3_CH4ͨµÀÅäÖÃΪÊä³öģʽ
	    TIM3->CCMR2|=7<<12;                 //T3_CH4ΪPWMģʽ2
		TIM3->CCER|=1<<12;                  //T3_CH4ͨµÀÊä³öʹÄÜ

		TIM3->ARR=11;   
		TIM3->CCR4=TIM3->ARR>>1;   //Æ¥ÅäÖµ1µÈÓÚÖØ×°ÖµÒ»°ë£¬ÊÇÒÔÕ¼¿Õ±ÈΪ50%

		NVIC_InitStructure.NVIC_IRQChannel = TIM3_IRQn;  //TIM3ÖжÏ
		NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 0;  //ÏÈÕ¼ÓÅÏȼ¶0¼¶
		NVIC_InitStructure.NVIC_IRQChannelSubPriority = 1;  //´ÓÓÅÏȼ¶3¼¶
		NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE; //IRQͨµÀ±»Ê¹ÄÜ
		NVIC_Init(&NVIC_InitStructure);  //¸ù¾ÝNVIC_InitStructÖÐÖ¸¶¨µÄ²ÎÊý³õʼ»¯ÍâÉèNVIC¼Ä´æÆ÷

		TIM_Cmd(TIM3, DISABLE);

}

void EXIT_Init(void)
{
		EXTI_InitTypeDef  EXTI_InitStruct;//
        GPIO_InitTypeDef GPIO_InitStruct;
        NVIC_InitTypeDef  NVIC_InitStruct;
       
        RCC_APB2PeriphClockCmd(RCC_APB2Periph_GPIOB|RCC_APB2Periph_GPIOA,ENABLE);//
        RCC_APB2PeriphClockCmd(RCC_APB2Periph_AFIO,ENABLE);//
       
        GPIO_InitStruct.GPIO_Pin=GPIO_Pin_5;
        GPIO_InitStruct.GPIO_Mode=GPIO_Mode_Out_PP;
        GPIO_InitStruct.GPIO_Speed= GPIO_Speed_50MHz;
        GPIO_Init(GPIOB,&GPIO_InitStruct);
        GPIO_ResetBits(GPIOB,GPIO_Pin_5);
       
        GPIO_InitStruct.GPIO_Pin=GPIO_Pin_0;
        GPIO_InitStruct.GPIO_Mode=GPIO_Mode_IPU;
        GPIO_InitStruct.GPIO_Speed=GPIO_Speed_50MHz;
        GPIO_Init(GPIOA,&GPIO_InitStruct);
       
        GPIO_EXTILineConfig(GPIO_PortSourceGPIOA,GPIO_PinSource0);//exit0
        EXTI_InitStruct.EXTI_Line=EXTI_Line0;//
        EXTI_InitStruct.EXTI_LineCmd=ENABLE;
        EXTI_InitStruct.EXTI_Mode=EXTI_Mode_Interrupt;
        EXTI_InitStruct.EXTI_Trigger= EXTI_Trigger_Falling;//
        EXTI_Init(&EXTI_InitStruct);//
       
       NVIC_PriorityGroupConfig(NVIC_PriorityGroup_1);//
	   
       NVIC_InitStruct.NVIC_IRQChannel =EXTI0_IRQn;//
       NVIC_InitStruct.NVIC_IRQChannelCmd=ENABLE;//
      NVIC_InitStruct.NVIC_IRQChannelPreemptionPriority=1;//
      NVIC_InitStruct.NVIC_IRQChannelSubPriority=2;//
      NVIC_Init(&NVIC_InitStruct);//

}

motor.c

步进电机加减速控制配置

#include "led.h"
#include "Delay.h"
#include "Key.h"
#include "sys.h"
#include "usart.h"
#include "timer.h"

#define  MasterFrequency  0x100000//×î¸ßƵÂÊÏÞÖÆ100K

long Current;			//µ±Ç°Î»ÖÃÂö³åÊý
long Target;			//Ä¿±êλÖÃÂö³åÊý
long StartSave;			//¶¨Î»Ö¸Áî¸Õ¿ªÊ¼Æô¶¯Ê±µÄµ±Ç°Öµ
long DownStartSave;		//¿ªÊ¼½øÈë¼õËÙʱµÄµ±Ç°Öµ
/*  TIME3¡ª¡ªCH4 µÄͨµÀ PB1  £¬PB0 ·½Ïò
**
**  ÏÈÉèÖÃÆô¶¯ÆµÂÊ200HZ  È»ºó¶ÔËùÐèƵÂÊ  ½øÐзּ¶  ±ÈÈç 2k  ·Ö10¼¶ Ôò  (2k-2000)/10 ¼ÆËã³öÿ´ÎËù¼ÓƵÂÊ
**³ÌÐòÏÈ72M/(ARR+1)=6M   psc=6M/(¼ÓËٵȼ¶ÆµÂÊ)-1 ¼ÆËã³öËùÐèµÄPSCÖµ£¬ ÿ´Î½øÖжϸıäPSCµÄÖµ 
**
**
**
**
**
**
*/

typedef enum
{
	OFF = 0,
	ON = 1,
}STATUS_Type;


typedef enum
{
	us=1,
	ms=1000,
	sce=1000000,
}DELAY_Type;


STATUS_Type RunFlag;	//¶¨Î»Ö¸ÁîÂö³åÊä³öÖ´ÐбêÖ¾
STATUS_Type StopCommand;//¶¨Î»Ö¸ÁîÂö³åÊä³öÍ£Ö¹ÃüÁî±êÖ¾
STATUS_Type PlusMinus;	//Õý¸º·½Ïò±êÖ¾ 


u32 StartFreq;			//Æô¶¯ÆµÂÊ
u32 TargetFreq;			//Ä¿±êƵÂÊ
u32 UDTimer=1000;		//¼Ó¼õËÙʱ¼ä 

u32 LadderFreq[102];
u16 LadderPSC[202];				//¼Ó¼õËÙ0ÖÁ9¼¶ËÙ¶È/ƵÂÊÔ¤·ÖƵֵ
u16 LadderNum;					//¼Ó¼õËÙËٶȼ¶Êý
u16 LadderOrderNum;				//¼Ó¼õËÙËٶȱàºÅ
long LadderTarget[202];			//¸÷Ëٶȵȼ¶Ä¿±êÖµ


	 
void TIM3_IRQHandler(void)      //¶¨Ê±Æ÷3È«¾ÖÖжϺ¯Êý
{
	long temp;
	if(TIM3->SR&0x0001)
	{
		if(PlusMinus==ON)  //·½Ïò
		{
			temp=Current;
	       //Èç¹û·½ÏòΪÕý£¬µ±Ç°Öµ¼ÓÒ»  
			temp++;
			Current=temp;
		}
		else    
		{
			temp=Current;
			temp--;       //·ñÔò·½ÏòΪ¸º£¬µ±Ç°Öµ¼õÒ» µ¹×Å×ß
			Current=temp;
		} 
		

		if(Current==LadderTarget[LadderOrderNum])
		{
			if(LadderOrderNum< (LadderNum<<1))//¼Ó¼õËÙÔÚÕâ¶ùʵÏÖ ¡£µÈ¼¶±êºÅ<2±¶µÈ¼¶
			{
				LadderOrderNum++;                   //µÈ¼¶±êºÅ++£»
				TIM3->PSC=LadderPSC[LadderOrderNum];//¸Ä±äÄãPSCµÄÖµ
			}
			else                                   //¹Ø±Õ²½½øµç»ú
			{
				TIM3->CR1&=~(1<<0);	  
				TIM3->CNT=0x0000;
				RunFlag=OFF;          
			}
		}				
		TIM3->SR=0x0000;
	}

}


void Pluse_start(void)
{  
		RunFlag=ON;                             //Âö³åÊä³ö¶¨Î»Ö¸ÁîÖ´ÐбêÖ¾ÖÃON
		StartSave=Current;
		LadderOrderNum=0;						//¼Ó¼õËÙ¼¶ÊýÐòºÅΪ0	
		TIM3->PSC=LadderPSC[0];
		Delay_ms(2);                       		//Âö³åÐźűȷ½ÏòÐźÅÖͺó£¬ÒÔÌá¸ß¿É¿¿ÐÔ
		TIM3->CR1|=1<<0;             			 //Æô¶¯¶¨Ê±Æ÷TIMER2¼ÆÊý
}

/*********************************************************************************
º¯ÊýÃû³Æ£ºDRVI
º¯Êý¹¦ÄÜ£ºÏà¶Ô¶¨Î»
Èë¿Ú²ÎÊý£ºlong offsetÏà¶ÔÆ«ÒÆÂö³å,u32 frequency×î¸ßƵÂÊ
·µ»ØÖµ£ºÎÞ
*********************************************************************************/
void DRVI(long offset,u32 frequency)
{
	u16 h;
	u16 i;
	u32 j;
	if((offset!=0)&&(RunFlag==OFF)&&((GPIOC->IDR&0x01)==0))//Ïà¶ÔÆ«ÒÆֵΪ0Ôò²»½ÓÊÜÃüÁÂö³åÊä³öÒÑÖ´ÐУ¬²»½ÓÊÜÃüÁî
	{	
		Target=Current+offset;     //Ä¿±êÖµµÈÓÚµ±Ç°Öµ¼ÓÉÏÏà¶ÔÆ«ÒÆÖµ
		
		if(frequency<StartFreq)    //Èç¹ûÉ趨Ŀ±êƵÂÊСÓÚÆô¶¯ÆµÂÊ
		{
			frequency=StartFreq;
		}
		else if(frequency>MasterFrequency)//·ñÔòÈç¹ûÉ趨Ŀ±êƵÂʸßÓÚ×î¸ßÏÞÖÆƵÂÊ
		{
			frequency=MasterFrequency;
		}
		
		LadderNum=UDTimer/10;//¼Ó¼õËÙ¼¶Êý  
		j=(frequency-StartFreq)/LadderNum;//µÈ²î
		for(i=0;i<LadderNum;i++)
		{
			LadderFreq[i]=i*j+StartFreq;//¼Ó¼õËÙ¸÷½×ÌÝƵÂÊ
			LadderPSC[i]=(6000000/LadderFreq[i])-1;//¼Ó¼õËÙ¸÷½×ÌÝƵÂʶÔÓ¦¶¨Ê±Æ÷Ô¤·ÖƵֵ
		}
		LadderFreq[LadderNum]=frequency;//Ä¿±êƵÂÊ£¬×î¸ßƵÂÊ
		LadderPSC[LadderNum]=6000000/frequency-1;//Ä¿±êƵÂÊ(×î¸ßƵÂÊ)¶ÔÓ¦¶¨Ê±Æ÷Ô¤·ÖƵֵ
				
		if(offset>0)//Ïà¶ÔÆ«ÒÆֵΪÕýÊý
		{
			GPIOB->BSRR=1<<0;//Ïà¶ÔÆ«ÒÆֵΪÕýÊý£¬·½ÏòΪÕý£¬·½ÏòÐźŸߵçƽ
			PlusMinus=ON;//Õý¸º·½Ïò±êÖ¾ÖÃON
			
			LadderTarget[0]=Current+StartFreq/100;//¼ÓËÙµÚÒ»¶ÎÄ¿±êÂö³åÖµ
			for(i=1;i<LadderNum;i++)
			{
				LadderTarget[i]=LadderTarget[i-1]+LadderFreq[i]/100;//¼ÓËÙ¸÷¶ÎÄ¿±êÂö³åÖµ
			}	
			
			while(offset<=((LadderTarget[LadderNum-1]-Current)<<1))//Èç¹ûÆ«ÒÆÁ¿Ð¡ÓÚ¶þ±¶¼ÓËÙÔöÁ¿
			{
				LadderNum--;//¼ÓËٵȼ¶Êý¼õÒ»  ƵÂÊÉ趨¹ý¸ß¡¢Êµ¼ÊÊä³öÂö³åÊý¹ýÉÙµÄÇé¿öϲ»±Ø¼ÓËÙÖÁÉ趨ƵÂÊ£¬±ÜÃâ¹ý³å
			}
			
			for(i=0,h=LadderNum<<1;  i<LadderNum;  i++,h--)
			{
				LadderPSC[h]=LadderPSC[i];//¼õËÙ¸÷¶Î¶¨Ê±Æ÷ÖØ×°Öµ
			}
			
			LadderTarget[LadderNum<<1]=Target;//¼õËÙ×îºóÒ»¶ÎÄ¿±êÂö³åÖµ
			for(i=(LadderNum<<1)-1,h=0;i>LadderNum;i--,h++)
			{
				LadderTarget[i]=LadderTarget[i+1]-LadderFreq[h]/100;//¼õËÙ¸÷¶ÎÄ¿±êÂö³åÖµ
			}
		}
		else//·ñÔòÏà¶ÔÆ«ÒÆֵΪ¸ºÊý              				
		{
			GPIOB->BRR=1<<0;//Ïà¶ÔÆ«ÒÆֵΪ¸ºÊý£¬·½ÏòΪ¸º£¬·½ÏòÐźŵ͵çƽ
			PlusMinus=OFF;//Õý¸º·½Ïò±êÖ¾OFF
			
			LadderTarget[0]=Current-StartFreq/100;//¼ÓËÙµÚÒ»¶ÎÄ¿±êÂö³åÖµ
			for(i=1;i<LadderNum;i++)
			{
				LadderTarget[i]=LadderTarget[i-1]-LadderFreq[i]/100;//¼ÓËÙ¸÷¶ÎÄ¿±êÂö³åÖµ
			}
			
			while(offset>=((LadderTarget[LadderNum-1]-Current)<<1))//Èç¹ûÆ«ÒÆÁ¿Ð¡ÓÚ¶þ±¶¼ÓËÙÔöÁ¿
			{
				LadderNum--;//¼ÓËٵȼ¶Êý¼õÒ»  ƵÂÊÉ趨¹ý¸ß¡¢Êµ¼ÊÊä³öÂö³åÊý¹ýÉÙµÄÇé¿öϲ»±Ø¼ÓËÙÖÁÉ趨ƵÂÊ£¬±ÜÃâ¹ý³å
			}
			
			for(i=0,h=LadderNum<<1;  i<LadderNum;  i++,h--)
			{
				LadderPSC[h]=LadderPSC[i];
			}
			
			LadderTarget[LadderNum<<1]=Target;//¼õËÙ×îºóÒ»¶ÎÄ¿±êÂö³åÖµ
			for(i=(LadderNum<<1)-1,h=0;i>LadderNum;i--,h++)
			{
				LadderTarget[i]=LadderTarget[i+1]+LadderFreq[h]/100;//¼õËÙ¸÷¶ÎÄ¿±êÂö³åÖµ
			}
		}
		LadderTarget[LadderNum]=Target + Current - LadderTarget[LadderNum-1];
		Pluse_start();//Âö³åÊä³öÕýʽÆô¶¯
	}
}

/*********************************************************************************
º¯ÊýÃû³Æ£ºDRVA
º¯Êý¹¦ÄÜ£º¾ø¶Ô¶¨Î»
Èë¿Ú²ÎÊý£ºlong targetÄ¿±êλÖÃÂö³å,u32 frequency×î¸ßƵÂÊ
·µ»ØÖµ£ºÎÞ
*********************************************************************************/
void DRVA(long target,u32 frequency)//3200  2khz
{
	u16 h;
	u16 i;
	u32 j;
	long offset=target-Current;//  Ä¿±êÂö³å-µ±Ç°Âö³å
	if((offset!=0)&&(RunFlag==OFF)&&((GPIOC->IDR&0x01)==0))    //Ä¿±êλÖõÈÓÚµ±Ç°Î»Öã¬Ôò²»½ÓÊÜÃüÁî  
	{                       
///		
		Target=target;                 //Ä¿±êλÖÃÉ趨(µÈÓÚ²ÎÊý)
		
		if(frequency<StartFreq)        //Èç¹ûÉ趨Ŀ±êƵÂÊСÓÚÆô¶¯ÆµÂÊ
		{
			frequency=StartFreq;
		}
		else if(frequency>MasterFrequency)//·ñÔòÈç¹ûÉ趨Ŀ±êƵÂʸßÓÚ×î¸ßÏÞÖÆƵÂÊ
		{
			frequency=MasterFrequency;
		}
		LadderNum=UDTimer/10;//¼Ó¼õËÙ¼¶Êý ·Ö³É100¼¶
		j=(frequency-StartFreq)/LadderNum;//µÈ²î ÿ¸ö½×¶ÎËù¼ÓµÄƵÂÊÊý
	
		for(i=0;i<LadderNum;i++)         //»ñȡÿ¸ö½×¶ÎµÄËÙ¶ÈÖµ
		{
			LadderFreq[i]=i*j+StartFreq;//¼Ó¼õËÙ¸÷½×ÌÝƵÂÊ Ã¿¸ö½×¶ÎµÄËÙ¶È µÈ¼¶µ½J
			LadderPSC[i]=(6000000/LadderFreq[i])-1;//¼Ó¼õËÙ¸÷½×ÌÝƵÂʶÔÓ¦¶¨Ê±Æ÷³õÖµ 
		}
		
		LadderFreq[LadderNum]=frequency; 
		LadderPSC[LadderNum]=6000000/frequency-1;//  
///	
   if(offset>0)//Ä¿±êλÖÃÖµ´óÓÚµ±Ç°Î»ÖÃÖµ  
	 {
			GPIOB->BSRR=1<<0;//Ôò·½ÏòΪÕý£¬·½ÏòÐźŸߵçƽ
			PlusMinus=ON;//Õý¸º·½Ïò±êÖ¾ÖÃON
			
			LadderTarget[0]=Current+StartFreq/100;
			for(i=1;i<LadderNum;i++)
			{
				LadderTarget[i]=LadderTarget[i-1]+LadderFreq[i]/100;
			}	
///		
			while(offset<=((LadderTarget[LadderNum-1]-Current)<<1))//Èç¹ûÆ«ÒÆÁ¿Ð¡ÓÚ¶þ±¶¼ÓËÙÔöÁ¿
			{
				LadderNum--;//¼ÓËٵȼ¶Êý¼õÒ»  ƵÂÊÉ趨¹ý¸ß¡¢Êµ¼ÊÊä³öÂö³åÊý¹ýÉÙµÄÇé¿öϲ»±Ø¼ÓËÙÖÁÉ趨ƵÂÊ£¬±ÜÃâ¹ý³å
			}			
			for(i=0,h=LadderNum<<1;  i<LadderNum;  i++,h--)
			{
				LadderPSC[h]=LadderPSC[i];       //°ÑƵÂʵ¹×Å×ß
			}
			
			LadderTarget[LadderNum<<1]=Target;//¼õËÙ×îºóÒ»¶ÎÄ¿±êÂö³åÖµ
			for(i=(LadderNum<<1)-1,h=0;i>LadderNum;i--,h++)
			{
				LadderTarget[i]=LadderTarget[i+1]-LadderFreq[h]/100;//¼õËÙ¸÷¶ÎÄ¿±êÂö³åÖµ
			}
   }
     else//·ñÔòÄ¿±êλÖÃֵСÓÚµ±Ç°Î»ÖÃÖµ£¬ 							 
     {
			GPIOB->BRR=1<<0;//Ôò·½ÏòΪ¸º£¬·½ÏòÐźŵ͵çƽ	
			PlusMinus=OFF;//Õý¸º·½Ïò±êÖ¾OFF
			
			LadderTarget[0]=Current-StartFreq/100;
			for(i=1;i<LadderNum;i++)
			{
				LadderTarget[i]=LadderTarget[i-1]-LadderFreq[i]/100;
			}
			
			while(offset>=((LadderTarget[LadderNum-1]-Current)<<1))//Èç¹ûÆ«ÒÆÁ¿Ð¡ÓÚ¶þ±¶¼ÓËÙÔöÁ¿
			{
				LadderNum--;//¼ÓËٵȼ¶Êý¼õÒ»  ƵÂÊÉ趨¹ý¸ß¡¢Êµ¼ÊÊä³öÂö³åÊý¹ýÉÙµÄÇé¿öϲ»±Ø¼ÓËÙÖÁÉ趨ƵÂÊ£¬±ÜÃâ¹ý³å 
			}		
			for(i=0,h=LadderNum<<1;  i<LadderNum;  i++,h--)
			{
				LadderPSC[h]=LadderPSC[i];
			}		
			LadderTarget[LadderNum<<1]=Target;//¼õËÙ×îºóÒ»¶ÎÄ¿±êÂö³åÖµ
			for(i=(LadderNum<<1)-1,h=0;	  i>LadderNum;   i--,h++)
			{
				LadderTarget[i]=LadderTarget[i+1]+LadderFreq[h]/100;//¼õËÙ¸÷¶ÎÄ¿±êÂö³åÖµ
			}
		 }
		LadderTarget[LadderNum]=Target + Current - LadderTarget[LadderNum-1];//ÔÈËÙ¶ÎÄ¿±êλÖÃ/½øÈë¼õËÙʱλÖÃ	
		Pluse_start();//Âö³åÊä³öÕýʽÆô¶¯
}
}

/*********************************************************************************
º¯ÊýÃû³Æ£ºSLOPE
º¯Êý¹¦ÄÜ£ºÐ±ÆÂÉèÖÃ(ƶÈбÂÊÉèÖÃ)  ÏÞ¶¨Æô¶¯ÆµÂÊÔÚ100---1000Ö®¼ä ÏÞÖÆʱ¼äÔÚ50---1000
Èë¿Ú²ÎÊý£ºu32 frequencyÆô¶¯ÆµÂÊ,u32 timer¼Ó¼õËÙʱ¼ä
·µ»ØÖµ£ºÎÞ
*********************************************************************************/
void SLOPE(u32 frequency,u32 timer)//200hz 600
{
	if(frequency<100)		
	{
		StartFreq=100;
	}
	else if(frequency>1000)
				{
					StartFreq=1000;
				}
				else					
				{
					StartFreq=frequency;
				}//Æô¶¯ÆµÂÊÉèÖôóÓÚµÈÓÚ100СÓÚµÈÓÚ1000
	
	if(timer<50)		
	{
		UDTimer=50;
	}
	else if(timer>1000)	
			{
				UDTimer=1000;
			}
			else				
			{		
				UDTimer=(timer/10)*10; //È¡ÕûÊý
			}//¼Ó¼õËÙʱ¼äÉèÖà ´óÓÚµÈÓÚ50СÓÚµÈÓÚ1000£¬ÇÒΪÕûÊ®Êý
}


void Variable_Init(void)
{
	Target=0;//Ä¿±êλÖÃÂö³åÖµ
	Current=0;//µ±Ç°Î»ÖÃÂö³åÖµ
	RunFlag=OFF;//Âö³å¶¨Î»Ö¸ÁîÖ´ÐбêÖ¾
	StopCommand=OFF;//¶¨Î»Ö¸ÁîÂö³åÊä³öÍ£Ö¹ÃüÁî±êÖ¾
}

void PAUSE(void)
{
	while(RunFlag==ON);	
}	

硬件接线

PB1接驱动器的PUL+，PB0接驱动器的DIR+，同时stm32要与驱动器共地，PUL-，DIR-，ENA-接一起同时接到GND