update

main/motor_drive.c

@@ -87,15 +87,12 @@ void motor_drive_set_packages_ctr(double position) {
   uint8_t position_buffer_size = 5;  //从第五位开始(低位)
   uint8_t checksum = 0;
   uint8_t buffer[10] = {0x3E, 0XA7, 0X01, 0X04, 0XEA, 0X00, 0X00, 0X00, 0X00, 0X00};
-  // uint8_t strbuffer[20] = {0};
 
   position_int = position * 100;
-  // ESP_LOGI(MOTOR_DRIVE, "%d", position_int);
 
   if (position_int != 0) {
     while ((position_int / 0XFF) > 0) {
       position_remainder = position_int & 0XFF;
-      // ESP_LOGI(MOTOR_DRIVE, "position_remainder :%d", position_remainder);
       buffer[position_buffer_size] = position_remainder;
       position_buffer_size += 1;
       position_int = position_int >> 8;
@@ -106,21 +103,24 @@ void motor_drive_set_packages_ctr(double position) {
     checksum = checksum & 0XFF;
     buffer[9] = checksum;
   }
-  // for (int i = 0; i < 10; i++) {
-  //   ESP_LOGI(MOTOR_DRIVE, "%d", buffer[i]);
-  // }
-  // ESP_LOGI(MOTOR_DRIVE, "0X%X", buffer[0]);
-  // motor_drive_hex_to_str((const char *)buffer, 10, (char *)strbuffer);
-  // ESP_LOGI(MOTOR_DRIVE, "%s", strbuffer);
-  // ESP_LOGI(MOTOR_DRIVE, "0X%X", buffer[0]);
 
   // Send cmd
   uart_flush(uart_num);
   uart_write_bytes(uart_num, buffer, 10);
 
+  position_buffer_size = 0;
+  memset(buffer, 0, sizeof(uint8_t) * 10);
+
   // Wait uart receive,if time out return error and output log
+  position_buffer_size = uart_read_bytes(uart_num, buffer, 13, 2000 / portTICK_RATE_MS);
+  if (position_buffer_size != 13 || buffer[0] != 0X3E) {
+    ESP_LOGW(MOTOR_DRIVE, "set motor size error ,buffer_size:%d,buffer[0] = 0X%x", position_buffer_size, buffer[0]);
+    return;
+  }
+
+  // Parse receive
+  // motor_drive_buffer_cmd_parse(buffer);
 
-  // Process the data
 }
 
 void motor_drive_hex_to_str(const char *hex, int hex_len, char *str) {