Merge branch 'feature_soft_i2c'

empty.c

@@ -34,13 +34,13 @@
 #include "delay.h"
 #include "dfoc.h"
 #include "mt6701.h"
+#include "soft_i2c.h"
 #include "ti_msp_dl_config.h"
 #include <ctype.h>
 #include <pwm.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
-
 extern float angle_f;
 
 extern bool gIsI2cError;
@@ -50,8 +50,8 @@ const float num_f = 0.123456f;
 volatile uint16_t count = 0;
 volatile float Target = 0; // 串口目标值
 
-const int pp = 7;  // 电机极对数
-const int Dir = 1; // 电机编码器方向
+const int pp = 7;   // 电机极对数
+const int Dir = -1; // 电机编码器方向
 
 #define UART_PACKET_SIZE (6)
 
@@ -134,9 +134,8 @@ void TIMER_0_INST_IRQHandler(void) {
 
     printf("Target is %f \n", Target);
     // printf("%s",gUartRxPacket);
-    printf("angle is %f \n", angle_f);
     DL_GPIO_togglePins(LED_PORT, LED_PA0_PIN);
-    Target = Target + 1;
+
     break;
   default:
     break;