feat: 移植 lwprintf

feat: 创建 can 发送接口
feat: 添加编码器读数接口

app/by_motion.c

@@ -6,6 +6,9 @@
 #define DRV_ENABLE()  gpio_bits_set(GPIOB, GPIO_PINS_15)
 #define DRV_DISABLE() gpio_bits_reset(GPIOB, GPIO_PINS_15)
 
+int16_t speed_m1;
+int16_t speed_m2;
+
 void by_motion_pwm_m1(int32_t pwm_duty)
 {
   pwm_duty = clip_s32(pwm_duty, -449, 449); // 不可以拉满哦
@@ -24,10 +27,23 @@ void by_motion_pwm_m2(int32_t pwm_duty)
   tmr_channel_value_set(TMR1, TMR_SELECT_CHANNEL_2, pwm_duty);
 }
 
+int16_t by_motion_get_speed_m1(void)
+{
+  speed_m1 = (int16_t)tmr_counter_value_get(TMR2);
+  tmr_counter_value_set(TMR2, 0);
+  return speed_m1;
+}
+
+int16_t by_motion_get_speed_m2(void)
+{
+  speed_m2 = (int16_t)tmr_counter_value_get(TMR3);
+  tmr_counter_value_set(TMR3, 0);
+  return speed_m2;
+}
+
 void by_motion_init(void)
 {
   DRV_ENABLE();
-  by_motion_pwm_m1(125);
+  by_motion_pwm_m1(-125);
   by_motion_pwm_m2(0);
-
 }