命令解析测试ok

.vscode/settings.json

@@ -31,6 +31,9 @@
         "esp_system.h": "c",
         "esp_log.h": "c",
         "ble_uart.h": "c",
-        "uart.h": "c"
+        "uart.h": "c",
+        "bitset": "c",
+        "chrono": "c",
+        "algorithm": "c"
     },
 }

main/ble_parse_data.c

@@ -32,6 +32,7 @@ void bluetooth_gatts_try_process_data() {
         ESP_LOGI(BLE_PARSE_DATA_TAG, "order:%s ,index:%d speedLevel:%d position:%f direction:%d", parse_bluetooth_processer->order, parse_bluetooth_processer->index,
                  parse_bluetooth_processer->speedLevel, parse_bluetooth_processer->position, parse_bluetooth_processer->direction);
         if (strcmp(parse_bluetooth_processer->order, set_position) == 0) {
+          parse_bluetooth_processer->auto_report_flag = true;
           ESP_LOGI(BLE_PARSE_DATA_TAG, set_position);
           // motor_cmd_set_position(parse_bluetooth_processer->speedLevel, parse_bluetooth_processer->position, parse_bluetooth_processer->direction);
           receipt_json_set_position();

main/main.c

@@ -57,7 +57,7 @@ void app_main(void) {
   // char* test_str = "This is a test string.\n";
 
   while (true) {
-    // bluetooth_gatts_try_process_data();
+    bluetooth_gatts_try_process_data();
     // if (s_bluetooth_processer.auto_report_flag) {
     //   receipt_json_get_status();
     //   s_bluetooth_processer.auto_report_flag = false;
@@ -68,7 +68,10 @@ void app_main(void) {
     //   s_bluetooth_processer.motor_drive_turn_flag = false;
     // }
 
-    motor_drive_read_encoder();
+    if (s_bluetooth_processer.auto_report_flag) {
+      motor_drive_read_encoder();
+      s_bluetooth_processer.auto_report_flag = false;
+    }
 
     // motor_drive_set_packages_ctr(35.68);
     // motor_drive_set_packages_data_max64bit(0x34,4,0X76482534);

main/motor_drive.c

@@ -41,10 +41,11 @@ void motor_drive_turn(int direction, int speed_level, double position) {
 }
 
 double motor_drive_read_encoder() {
+  uint8_t i = 0;
   uint8_t buffer[20] = {0};
 
   // Generate cmd
-  motor_drive_buffer_cmd_generate(buffer, 0x90, 0, 0);
+  motor_drive_buffer_cmd_generate(buffer, 0x90, 4, 0X5A97FF00);
 
   // Send cmd
   // uart_write_bytes(UART_NUM_2, (const char*)test_str, strlen(test_str));
@@ -142,6 +143,25 @@ void motor_drive_buffer_cmd_generate(uint8_t *buffer, uint8_t cmd, uint8_t buffe
 
   motor_drive_hex_to_str((char *)buffer, (5 + hex_to_str_size), (char *)strbuffer);
   ESP_LOGI(MOTOR_DRIVE, "%s", strbuffer);
+  motor_drive_buffer_cmd_parse(buffer);
 }
 
-void motor_drive_buffer_cmd_parse(uint8_t *buffer) {}
+void motor_drive_buffer_cmd_parse(uint8_t *buffer) {
+  uint8_t i = 0;
+  uint16_t temp_data_arr[(buffer[3] / 2)];
+  ESP_LOGI(MOTOR_DRIVE, "=====buffer data size %d=====", buffer[3]);
+  if (buffer == NULL) {
+    ESP_LOGW(MOTOR_DRIVE, "cmd parse buffer null");
+    return;
+  }
+
+  if (buffer[0] != 0X3E || buffer[2] != 0X01) {
+    ESP_LOGW(MOTOR_DRIVE, "cmd parse buffer error");
+    return;
+  }
+
+  for (i = 0; i < (buffer[3]); i += 2) {
+    temp_data_arr[i] = buffer[5 + i] + (buffer[5 + i + 1] << 8);
+    ESP_LOGI(MOTOR_DRIVE, "%d\n", temp_data_arr[i]);
+  }
+}

main/motor_drive.h

@@ -42,4 +42,5 @@ double motor_drive_read_encoder();
 void motor_drive_set_packages_data_max64bit(uint8_t cmd, uint8_t buffer_data_size, uint64_t buffer_data);
 void motor_drive_set_packages_ctr(double position);
 void motor_drive_hex_to_str(char *hex, int hex_len, char *str);
-void motor_drive_buffer_cmd_generate(uint8_t *buffer, uint8_t cmd, uint8_t buffer_data_size, uint64_t buffer_data);
+void motor_drive_buffer_cmd_generate(uint8_t *buffer, uint8_t cmd, uint8_t buffer_data_size, uint64_t buffer_data);
+void motor_drive_buffer_cmd_parse(uint8_t *buffer);