通用生成命令函数，数据位最大64位

main/main.c

@@ -68,7 +68,8 @@ void app_main(void) {
     //   s_bluetooth_processer.motor_drive_turn_flag = false;
     // }
 
-    motor_drive_set_packages_ctr(35.68);
+    // motor_drive_set_packages_ctr(35.68);
+    motor_drive_set_packages_data_max64bit(0x34,4,0X76482534);
 
     // uart_write_bytes(UART_NUM_2, (const char*)test_str, strlen(test_str));
     // ets_delay_us(1000000);

main/motor_drive.c

@@ -42,7 +42,11 @@ void motor_drive_turn(int direction, int speed_level, double position) {
 
 double motor_drive_read_encoder() { return 0.0; }
 
-void motor_drive_set_packages() {}
+void motor_drive_set_packages_data_max64bit(uint8_t cmd, uint8_t buffer_data_size, uint64_t buffer_data) {
+  uint8_t buffer[20] = {0};
+
+  motor_drive_buffer_init(buffer, cmd, buffer_data_size, buffer_data);
+}
 
 void motor_drive_set_packages_ctr(double position) {
   int position_int = 0;
@@ -84,4 +88,33 @@ void motor_drive_hex_to_str(char *hex, int hex_len, char *str) {
 
     pos += 2;
   }
+}
+
+void motor_drive_buffer_init(uint8_t *buffer, uint8_t cmd, uint8_t buffer_data_size, uint64_t buffer_data) {
+  uint8_t i = 0;
+  uint8_t checksum = 0;
+  uint8_t buffer_data_uint8 = 0;
+  uint8_t strbuffer[20] = {'\0'};
+  if (buffer == NULL) {
+    ESP_LOGW(MOTOR_DRIVE, "buffer nil ,init error");
+    return;
+  }
+  buffer[0] = 0X3E;
+  buffer[1] = cmd;
+  buffer[2] = 0X1;
+  buffer[3] = buffer_data_size;
+  buffer[4] = (0X3E + cmd + 0X1 + buffer_data_size) % 255;
+
+  if (buffer_data_size > 0) {
+    for (i = 0; i < buffer_data_size; i++) {
+      buffer_data_uint8 = buffer_data;
+      buffer_data = buffer_data >> 8;
+      buffer[5 + i] = buffer_data_uint8;
+      checksum += buffer_data_uint8;
+    }
+    buffer[5 + buffer_data_size] = (checksum % 255);
+  }
+
+  motor_drive_hex_to_str((char *)buffer, (5 + buffer_data_size + 1), (char *)strbuffer);
+  ESP_LOGI(MOTOR_DRIVE, "%s", strbuffer);
 }

main/motor_drive.h

@@ -39,6 +39,7 @@ typedef enum {
 void motor_drive_uart_init();
 void motor_drive_turn(int direction, int speed_level, double position);
 double motor_drive_read_encoder();
-void motor_drive_set_packages();
+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_hex_to_str(char *hex, int hex_len, char *str);
+void motor_drive_buffer_init(uint8_t *buffer, uint8_t cmd, uint8_t buffer_data_size, uint64_t buffer_data);