From 531da5ae796ae5571a25e6307db4d91b090e50c3 Mon Sep 17 00:00:00 2001
From: zwsd <zwsdtjl@zwsd.com>
Date: Sun, 24 Jul 2022 14:36:20 +0800
Subject: [PATCH] =?UTF-8?q?=E9=80=9A=E7=94=A8=E7=94=9F=E6=88=90=E5=91=BD?=
 =?UTF-8?q?=E4=BB=A4=E5=87=BD=E6=95=B0=EF=BC=8C=E6=95=B0=E6=8D=AE=E4=BD=8D?=
 =?UTF-8?q?=E6=9C=80=E5=A4=A764=E4=BD=8D?=
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Content-Transfer-Encoding: 8bit

---
 main/main.c        |  3 ++-
 main/motor_drive.c | 35 ++++++++++++++++++++++++++++++++++-
 main/motor_drive.h |  5 +++--
 3 files changed, 39 insertions(+), 4 deletions(-)

diff --git a/main/main.c b/main/main.c
index 17816fd..6bc950c 100644
--- a/main/main.c
+++ b/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);
diff --git a/main/motor_drive.c b/main/motor_drive.c
index f0e28d5..71215d9 100644
--- a/main/motor_drive.c
+++ b/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);
 }
\ No newline at end of file
diff --git a/main/motor_drive.h b/main/motor_drive.h
index c674aa2..9d25683 100644
--- a/main/motor_drive.h
+++ b/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);
\ No newline at end of file
+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);
\ No newline at end of file