电机连通测试通过，有个延时50ms再读取编码器是否改变的逻辑，有点问题，等后续优化。

main/ble_parse_data.c

@@ -39,7 +39,8 @@ void bluetooth_gatts_try_process_data() {
 
           encoder_befor_num = motor_drive_read_encoder();
           if (encoder_befor_num >= 0) {
-            if (motor_drive_set_packages_ctr(55.22) == 0) {
+            if (motor_drive_set_packages_ctr(parse_bluetooth_processer->position) == 0) {
+              ets_delay_us(50000);
               if (encoder_befor_num == motor_drive_read_encoder()) {
                 ESP_LOGW(BLE_PARSE_DATA_TAG, "motor no turning");
               } else {

main/main.c

@@ -62,6 +62,8 @@ void app_main(void) {
     //   ESP_LOGI(MAIN_TAG, "encoder :%.2lf", encoder);
     //   s_bluetooth_processer.auto_report_flag = false;
     // }
+
+    // motor_drive_set_motor_to_angle(0,35.32,5);
   }
 
   return;

main/motor_drive.c

@@ -10,7 +10,8 @@
 #define tx_io_num 1
 #define rx_io_num 2
 #define buffer_size 128
-#define uart_read_time_ms 1
+#define uart_read_time_ms 200
+#define MOTOR_ID 0X01
 
 void motor_drive_uart_init() {
   uart_config_t uart_config = {
@@ -44,7 +45,7 @@ void motor_drive_turn(int direction, int speed_level, double position) {
 
 double motor_drive_read_encoder() {
   size_t encoder_buffer_size = 5;
-  uint8_t buffer[5] = {0X3E, 0X90, 0X01, 0X00, 0XCF};
+  uint8_t buffer[5] = {0X3E, 0X90, MOTOR_ID, 0X00, 0XCF};
   uint16_t encoder_data = 0;
   char *notify_err = "read encoder error";
 
@@ -90,7 +91,7 @@ uint8_t motor_drive_set_packages_ctr(double position) {
   uint8_t position_remainder = 0;
   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 buffer[10] = {0x3E, 0XA7, MOTOR_ID, 0X04, 0XEA, 0X00, 0X00, 0X00, 0X00, 0X00};
   char *notify_err = "set size error";
 
   position_int = position * 100;
@@ -185,7 +186,7 @@ void motor_drive_buffer_cmd_parse(uint8_t *buffer) {
     return;
   }
 
-  if (buffer[0] != 0X3E || buffer[2] != 0X01) {
+  if (buffer[0] != 0X3E || buffer[2] != MOTOR_ID) {
     ESP_LOGW(MOTOR_DRIVE, "cmd parse buffer error");
     return;
   }
@@ -198,7 +199,7 @@ void motor_drive_buffer_cmd_parse(uint8_t *buffer) {
 
 u_int8_t motor_drive_set_motor_current_size() {
   size_t set_current_buffer_size = 5;
-  uint8_t buffer[5] = {0X3E, 0X19, 0X01, 0X00, 0X58};
+  uint8_t buffer[5] = {0X3E, 0X19, MOTOR_ID, 0X00, 0X58};
   char *notify_err = "Set current size err";
   uart_flush(uart_num);
   uart_write_bytes(uart_num, buffer, 5);
@@ -220,7 +221,7 @@ u_int8_t motor_drive_set_motor_current_size() {
 double motor_drive_read_single_turn_angle() {
   uint16_t turn_angle_data = 0;
   size_t turn_angle_buffer_size = 5;
-  uint8_t buffer[5] = {0X3E, 0X94, 0X01, 0X00, 0XD3};
+  uint8_t buffer[5] = {0X3E, 0X94, MOTOR_ID, 0X00, 0XD3};
   char *notify_err = "Turn angle size err";
 
   uart_flush(uart_num);
@@ -243,4 +244,72 @@ double motor_drive_read_single_turn_angle() {
   turn_angle_data = buffer[5] + (buffer[6] << 8);
 
   return ((double)turn_angle_data / 100.0);
-}
+}
+
+// void motor_drive_set_motor_to_angle(uint8_t rotation_direction, double position, uint8_t speed_level) {
+//   int position_int = 0;
+//   uint8_t position_remainder = 0;
+//   uint8_t position_buffer_size = 6;  //从第五位开始(低位)
+//   uint8_t checksum = 0;
+//   uint32_t limit_speed = 0;
+//   uint8_t buffer[14] = {0x3E, 0XA6, MOTOR_ID, 0X08, 0XED, 0X00, 0X00, 0X00, 0X00, 0X00, 0X00, 0X00, 0X00, 0X00};
+//   char *notify_err = "set size error";
+
+//   if ((rotation_direction == 0X00) || (rotation_direction == 0X01)) {
+//     buffer[5] = rotation_direction;
+//     checksum += rotation_direction;
+//   }
+
+//   position_int = position * 100;
+//   position_int = position_int % 36000;
+
+//   if (position_int != 0) {
+//     while ((position_int / 0XFF) > 0) {
+//       position_remainder = position_int & 0XFF;
+//       buffer[position_buffer_size] = position_remainder;
+//       position_buffer_size += 1;
+//       position_int = position_int >> 8;
+//       checksum += position_remainder;
+//     }
+//     buffer[position_buffer_size] = position_int;
+//     checksum += position_int;
+//   }
+
+//   if (speed_level <= 9) {
+//     limit_speed = speed_level * 360;
+//     position_buffer_size = 9;
+//   }
+
+//   while (limit_speed != 0) {
+//     while ((limit_speed / 0XFF) > 0) {
+//       position_remainder = limit_speed & 0XFF;
+//       buffer[position_buffer_size] = position_remainder;
+//       position_buffer_size += 1;
+//       limit_speed = limit_speed >> 8;
+//       checksum += position_remainder;
+//     }
+//     buffer[position_buffer_size] = limit_speed;
+//     checksum += limit_speed;
+//   }
+
+//   checksum = checksum & 0XFF;
+//   buffer[13] = checksum;
+
+// Send cmd
+// uart_flush(uart_num);
+// uart_write_bytes(uart_num, buffer, 14);
+
+// position_buffer_size = 0;
+// memset(buffer, 0, sizeof(uint8_t) * 14);
+
+// Wait uart receive,if time out return error and output log
+// position_buffer_size = uart_read_bytes(uart_num, buffer, 13, uart_read_time_ms / 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]);
+//   bluetooth_active_notify((uint8_t *)notify_err, strlen(notify_err));
+// }
+
+// Parse receive
+// motor_drive_buffer_cmd_parse(buffer);
+//   return;
+// }

main/motor_drive.h

@@ -45,4 +45,5 @@ void motor_drive_hex_to_str(const char *hex, int hex_len, char *str);
 size_t 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);
 u_int8_t motor_drive_set_motor_current_size();
-double motor_drive_read_single_turn_angle();
+double motor_drive_read_single_turn_angle();
+// void motor_drive_set_motor_to_angle(uint8_t rotation_direction, double position, uint8_t speed_level);