写入当前位置到ROM作为电机零点命令

main/main.c

@@ -65,7 +65,7 @@ void app_main(void) {
     // }
 
     // motor_drive_set_packages_ctr(26.34);
-    ESP_LOGI(MAIN_TAG,"%lf",motor_drive_read_single_turn_angle());
+    ESP_LOGI(MAIN_TAG,"%d",motor_drive_set_motor_current_size());
 
     // if ((motor_drive_read_encoder() == s_bluetooth_processer.position) && s_bluetooth_processer.motor_drive_turn_flag == true) {
     //   ESP_LOGI("test", "info log ok\n");

main/motor_drive.c

@@ -190,23 +190,41 @@ void motor_drive_buffer_cmd_parse(uint8_t *buffer) {
   }
 }
 
-void motor_drive_set_motor_size() {}
+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};
+
+  uart_flush(uart_num);
+  uart_write_bytes(uart_num, buffer, 5);
+
+  set_current_buffer_size = 0;
+  memset(buffer, 0, sizeof(uint8_t) * 5);
+
+  // Wait receive
+  set_current_buffer_size = uart_read_bytes(uart_num, buffer, 5, 2000 / portTICK_RATE_MS);
+  if (set_current_buffer_size != 5 || buffer[0] != 0X3E) {
+    ESP_LOGW(MOTOR_DRIVE, "Set current size:%d,buffer[0] = 0X%x", set_current_buffer_size, buffer[0]);
+    return 1;
+  }
+
+  return 0;
+}
 
 double motor_drive_read_single_turn_angle() {
   uint16_t turn_angle_data = 0;
-  size_t encoder_buffer_size = 5;
+  size_t turn_angle_buffer_size = 5;
   uint8_t buffer[5] = {0X3E, 0X94, 0X01, 0X00, 0XD3};
 
   uart_flush(uart_num);
   uart_write_bytes(uart_num, buffer, 5);
 
-  encoder_buffer_size = 0;
+  turn_angle_buffer_size = 0;
   memset(buffer, 0, sizeof(uint8_t) * 5);
 
   // Wait receive
-  encoder_buffer_size = uart_read_bytes(uart_num, buffer, 8, 2000 / portTICK_RATE_MS);
-  if (encoder_buffer_size != 8 || buffer[0] != 0X3E) {
-    ESP_LOGW(MOTOR_DRIVE, "encoder size:%d,buffer[0] = 0X%x", encoder_buffer_size, buffer[0]);
+  turn_angle_buffer_size = uart_read_bytes(uart_num, buffer, 8, 2000 / portTICK_RATE_MS);
+  if (turn_angle_buffer_size != 8 || buffer[0] != 0X3E) {
+    ESP_LOGW(MOTOR_DRIVE, "Turn angle size:%d,buffer[0] = 0X%x", turn_angle_buffer_size, buffer[0]);
     return -1;
   }
 
@@ -215,5 +233,5 @@ double motor_drive_read_single_turn_angle() {
 
   turn_angle_data = buffer[5] + (buffer[6] << 8);
 
-  return ((double)turn_angle_data/100.0);
+  return ((double)turn_angle_data / 100.0);
 }

main/motor_drive.h

@@ -44,5 +44,5 @@ void motor_drive_set_packages_ctr(double position);
 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);
-void motor_drive_set_motor_size();
+u_int8_t motor_drive_set_motor_current_size();
 double motor_drive_read_single_turn_angle();