控制指令

main/main.c

@@ -57,16 +57,18 @@ void app_main(void) {
   // char* test_str = "This is a test string.\n";
 
   while (true) {
-    bluetooth_gatts_try_process_data();
-    if (s_bluetooth_processer.auto_report_flag) {
-      receipt_json_get_status();
-      s_bluetooth_processer.auto_report_flag = false;
-    }
+    // bluetooth_gatts_try_process_data();
+    // if (s_bluetooth_processer.auto_report_flag) {
+    //   receipt_json_get_status();
+    //   s_bluetooth_processer.auto_report_flag = false;
+    // }
 
-    if ((motor_drive_read_encoder() == s_bluetooth_processer.position) && s_bluetooth_processer.motor_drive_turn_flag == true) {
-      ESP_LOGI("test", "info log ok\n");
-      s_bluetooth_processer.motor_drive_turn_flag = false;
-    }
+    // if ((motor_drive_read_encoder() == s_bluetooth_processer.position) && s_bluetooth_processer.motor_drive_turn_flag == true) {
+    //   ESP_LOGI("test", "info log ok\n");
+    //   s_bluetooth_processer.motor_drive_turn_flag = false;
+    // }
+
+    motor_drive_set_packages_ctr(35.68);
 
     // uart_write_bytes(UART_NUM_2, (const char*)test_str, strlen(test_str));
     // ets_delay_us(1000000);

main/motor_drive.c

@@ -1,10 +1,30 @@
 #include "motor_drive.h"
 
+#include "driver/uart.h"
 #include "esp_log.h"
 
 #define MOTOR_DRIVE "MOTOR_DRIVE"
 
-void motor_drive_uart_init() {}
+#define uart_num UART_NUM_2
+#define tx_io_num 4
+#define rx_io_num 5
+#define buffer_size 128
+
+void motor_drive_uart_init() {
+  uart_config_t uart_config = {
+      .baud_rate = 115200,
+      .data_bits = UART_DATA_8_BITS,
+      .parity = UART_PARITY_DISABLE,
+      .stop_bits = UART_STOP_BITS_1,
+      .flow_ctrl = UART_HW_FLOWCTRL_DISABLE,
+      .source_clk = UART_SCLK_APB,
+  };
+  ESP_ERROR_CHECK(uart_driver_install(uart_num, buffer_size * 2, 0, 0, NULL, 0));
+
+  ESP_ERROR_CHECK(uart_param_config(uart_num, &uart_config));
+
+  ESP_ERROR_CHECK(uart_set_pin(uart_num, tx_io_num, rx_io_num, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE));
+}
 
 void motor_drive_turn(int direction, int speed_level, double position) {
   if ((direction > 2) || (direction < 0)) {
@@ -16,8 +36,52 @@ void motor_drive_turn(int direction, int speed_level, double position) {
   if ((position > 360) || (position <= 0)) {
     ESP_LOGW(MOTOR_DRIVE, "Position out of range");
   }
+  motor_drive_set_packages_ctr(position);
+  uart_write_bytes(uart_num, "test", strlen("test"));
+}
+
+double motor_drive_read_encoder() { return 0.0; }
+
+void motor_drive_set_packages() {}
+
+void motor_drive_set_packages_ctr(double position) {
+  int position_int = 0;
+  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 strbuffer[20] = {0};
 
+  position_int = position * 100;
 
+  if (position_int != 0) {
+    while ((position_int / 256) > 0) {
+      position_remainder = position_int % 256;
+      buffer[position_buffer_size] = position_remainder;
+      position_buffer_size += 1;
+      position_int = position_int / 256;
+      checksum += position_remainder;
+    }
+    buffer[position_buffer_size] = position_int;
+    checksum += position_int;
+    checksum %= 256;
+    buffer[9] = checksum;
+  }
+  for (int i = 0; i < 10; i++) {
+    ESP_LOGI(MOTOR_DRIVE, "%d", buffer[i]);
+  }
+  motor_drive_hex_to_str((char *)buffer, 10, (char *)strbuffer);
+  ESP_LOGI(MOTOR_DRIVE, "%s", strbuffer);
 }
 
-double motor_drive_read_encoder() { return 0.0; }
+void motor_drive_hex_to_str(char *hex, int hex_len, char *str) {
+  int i, pos = 0;
+
+  for (i = 0; i < hex_len; i++)
+
+  {
+    sprintf(str + pos, "%02x", hex[i]);
+
+    pos += 2;
+  }
+}

main/motor_drive.h

@@ -39,3 +39,6 @@ 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_ctr(double position);
+void motor_drive_hex_to_str(char *hex, int hex_len, char *str);