本代码是基于检测遥控飞机手柄输出的PWM信号频率，转换为角度信息，再作为步进电机移动输入量，最终实现使用遥控飞机手柄摇杆精确控制步进电机转动角度的目的，包含PWM频率检测模块和步进电机驱动模块等。(This code is PWM frequency signal detection based on the output of the remote control aircraft converted to handle, angle information, and then as the