feat 更新角度闭环相关功能

app/main.c

@@ -29,31 +29,34 @@
 #include "jj_param.h"
 #include "./page/page_ui_widget.h"
 #include "by_buzzer.h"
-
+#include "jj_motion.h"
+#include "by_imu.h"
 int main(void)
 {
 
     clock_init(SYSTEM_CLOCK_120M);
     system_delay_init();
     debug_init();
-    // mt9v03x_init();
+    mt9v03x_init();
     ips200_init(IPS200_TYPE_SPI);
     by_gpio_init();
     by_exit_init();
     by_pwm_init();
     jj_bt_init();
     by_buzzer_init();
-    // while (imu660ra_init())
-    //     ;
+    while (imu660ra_init())
+        ;
     jj_param_eeprom_init();
     Page_Init();
-
+    sport_pid_init();
+    pit_ms_init(TIM6_PIT, 2);
+    pit_ms_init(TIM1_PIT, 2);
+    // gyroOffset_init();
     while (1) {
-
         Page_Run();
         jj_bt_run();
         queue_pop_read();
-
+        bt_printf("hello:%f,%f\n",out_M,out_yaw);
         if (mt9v03x_finish_flag) {
             // 该操作消耗大概 1970 个 tick，折合约 110us
             memcpy(mt9v03x_image_copy[0], mt9v03x_image[0], (sizeof(mt9v03x_image_copy) / sizeof(uint8_t)));
@@ -69,4 +72,6 @@ int main(void)
             MidLineTrack();
         }
     }
-}
+}
+
+