编码器校准，for循环前已经有一次了，所以还是要除count+1

Signed-off-by: huhui <huhui@sharkgulf.com>

Applications/foc/motor/encoder.c

@@ -290,12 +290,12 @@ float encoder_zero_phase_detect(float *enc_off) {
 	delay_ms(5);	
 	float total_enc_off = g_encoder.pwm_count;
 	float prev_offset = g_encoder.enc_offset;
-	float phase = g_encoder.pwm_angle;	
+	float phase = encoder_get_pwm_angle();
 	float total_ph = phase;
 	int count = 0;
 	for(; count < 10; count++) {
 		delay_ms(5); //wait time for pwm
-		float angle_now = g_encoder.pwm_angle;
+		float angle_now = encoder_get_pwm_angle();
 		if (ABS(phase - angle_now) > 2.0f) {
 			g_encoder.enc_offset = prev_offset;
 			g_encoder.enc_count_off = 0xFFFFFFFF;
@@ -303,15 +303,15 @@ float encoder_zero_phase_detect(float *enc_off) {
 			sys_debug("err %f, %f, %d\n", phase, angle_now, count);
 			return INVALID_ANGLE;
 		}
-		
+
 		phase = angle_now;
 		total_ph += phase;
 		total_enc_off += g_encoder.pwm_count;
 	}
-	sys_debug("count = %d\n", count);
-	float offset_now = total_ph/(float)(count);
+	sys_debug("count = %d, %f, %d\n", count, total_enc_off, g_encoder.pwm_count);
+	float offset_now = total_ph/(float)(count + 1);
 	g_encoder.enc_offset = offset_now;
-	g_encoder.enc_count_off = (u32)(total_enc_off/(float)(count));
+	g_encoder.enc_count_off = (u32)(total_enc_off/(float)(count + 1));
 	if (enc_off) {
 		*enc_off = (float)g_encoder.enc_count_off;
 		sys_debug("encoder off %f\n", *enc_off);