feat 更新角度闭环相关功能

app/isr.c

@@ -38,6 +38,7 @@
 #include "by_imu.h"
 #include "jj_blueteeth.h"
 #include "by_buzzer.h"
+#include "jj_motion.h"
 
 void NMI_Handler(void) __attribute__((interrupt()));
 void HardFault_Handler(void) __attribute__((interrupt()));
@@ -92,8 +93,8 @@ void USART1_IRQHandler(void)
 void USART2_IRQHandler(void)
 {
     if (USART_GetITStatus(USART2, USART_IT_RXNE) != RESET) {
-       uart_query_byte(UART_2,&bt_buffer);
-         bt_rx_flag=true;
+        uart_query_byte(UART_2, &bt_buffer);
+        bt_rx_flag = true;
         USART_ClearITPendingBit(USART2, USART_IT_RXNE);
     }
 }
@@ -272,6 +273,8 @@ void TIM1_UP_IRQHandler(void)
 {
     if (TIM_GetITStatus(TIM1, TIM_IT_Update) != RESET) {
         TIM_ClearITPendingBit(TIM1, TIM_IT_Update);
+
+        sport_motion2(bt_fly);
     }
 }