Merge branch 'master' of http://git.brisky.space:441/btl143/firmware_zinnia

app/main.c

@@ -25,8 +25,6 @@
 #include "page.h"
 #include "page_ui_widget.h"
 
-#include "gl_headfile.h"
-
 #include "jj_param.h"
 #include "jj_motion.h"
 #include "jj_blueteeth.h"
@@ -43,20 +41,29 @@ int main(void)
     system_delay_init();
     debug_init();
 
+    encoder_dir_init(TIM5_ENCOEDER, TIM5_ENCOEDER_MAP0_CH1_A0, TIM5_ENCOEDER_MAP0_CH2_A1);
     ips200_init(IPS200_TYPE_SPI);
-
+    while (imu660ra_init())
+        ;
+    jj_param_eeprom_init();
+    jj_bt_init();
     by_rb_init();
     by_pwm_init();
-    by_buzzer_init();
+    //  by_buzzer_init();
+    
     by_tiny_frame_init();
-
     Page_Init();
+    sport_pid_init();
+
+    pit_ms_init(TIM6_PIT, 10); // 陀螺仪
+    pit_ms_init(TIM1_PIT, 1);  // 运动解算，bianmaqi
 
     printf("ok\r\n");
     
     while (1) {
-        by_buzzer_run();
         Page_Run();
+        //by_buzzer_run();
+        jj_bt_run();
         by_tiny_frame_run();
     }
 }