From b3aac80331fc139592d97fe197b05166d8ab03f2 Mon Sep 17 00:00:00 2001
From: zwsd <zwsdtjl@zwsd.com>
Date: Mon, 25 Jul 2022 17:32:08 +0800
Subject: [PATCH] bugfixed

---
 main/ble_parse_data.c |  1 +
 main/main.c           | 15 ++++++---------
 main/motor_drive.c    | 14 ++++++++------
 3 files changed, 15 insertions(+), 15 deletions(-)

diff --git a/main/ble_parse_data.c b/main/ble_parse_data.c
index 05edb61..dcaa95b 100644
--- a/main/ble_parse_data.c
+++ b/main/ble_parse_data.c
@@ -34,6 +34,7 @@ void bluetooth_gatts_try_process_data() {
         if (strcmp(parse_bluetooth_processer->order, set_position) == 0) {
           parse_bluetooth_processer->auto_report_flag = true;
           ESP_LOGI(BLE_PARSE_DATA_TAG, set_position);
+          motor_drive_set_packages_ctr(352.68);
           // motor_cmd_set_position(parse_bluetooth_processer->speedLevel, parse_bluetooth_processer->position, parse_bluetooth_processer->direction);
           receipt_json_set_position();
         }
diff --git a/main/main.c b/main/main.c
index 98b845a..aff126f 100644
--- a/main/main.c
+++ b/main/main.c
@@ -55,7 +55,7 @@ void app_main(void) {
   motor_drive_uart_init();
   // ble_uart_init(UART_NUM_1, 1, 2);
   // char* test_str = "This is a test string.\n";
-  double encoder = 0.0;
+  // double encoder = 0.0;
 
   while (true) {
     bluetooth_gatts_try_process_data();
@@ -69,14 +69,11 @@ void app_main(void) {
     //   s_bluetooth_processer.motor_drive_turn_flag = false;
     // }
 
-    if (s_bluetooth_processer.auto_report_flag) {
-      encoder = motor_drive_read_encoder();
-      ESP_LOGI(MAIN_TAG, "encoder :%.2lf",encoder);
-      s_bluetooth_processer.auto_report_flag = false;
-    }
-
-    // motor_drive_set_packages_ctr(35.68);
-    // motor_drive_set_packages_data_max64bit(0x34,4,0X76482534);
+    // if (s_bluetooth_processer.auto_report_flag) {
+    //   encoder = motor_drive_read_encoder();
+    //   ESP_LOGI(MAIN_TAG, "encoder :%.2lf",encoder);
+    //   s_bluetooth_processer.auto_report_flag = false;
+    // }
 
     // uart_write_bytes(UART_NUM_1, (const char*)test_str, strlen(test_str));
     // ets_delay_us(1000000);
diff --git a/main/motor_drive.c b/main/motor_drive.c
index 3f90d38..5ebd62a 100644
--- a/main/motor_drive.c
+++ b/main/motor_drive.c
@@ -90,18 +90,20 @@ void motor_drive_set_packages_ctr(double position) {
   uint8_t strbuffer[20] = {0};
 
   position_int = position * 100;
+  ESP_LOGI(MOTOR_DRIVE, "%d", position_int);
 
   if (position_int != 0) {
-    while ((position_int / 256) > 0) {
-      position_remainder = position_int % 256;
+    while ((position_int / 0XFF) > 0) {
+      position_remainder = position_int & 0XFF;
+      ESP_LOGI(MOTOR_DRIVE, "position_remainder :%d", position_remainder);
       buffer[position_buffer_size] = position_remainder;
       position_buffer_size += 1;
-      position_int = position_int / 256;
+      position_int = position_int >> 8;
       checksum += position_remainder;
     }
     buffer[position_buffer_size] = position_int;
     checksum += position_int;
-    checksum %= 256;
+    checksum = checksum & 0XFF;
     buffer[9] = checksum;
   }
   for (int i = 0; i < 10; i++) {
@@ -137,7 +139,7 @@ size_t motor_drive_buffer_cmd_generate(uint8_t *buffer, uint8_t cmd, uint8_t buf
   buffer[1] = cmd;
   buffer[2] = 0X1;
   buffer[3] = buffer_data_size;
-  buffer[4] = (0X3E + cmd + 0X1 + buffer_data_size) % 255;
+  buffer[4] = (0X3E + cmd + 0X1 + buffer_data_size) % 0XFF;
 
   if (buffer_data_size > 0) {
     hex_to_str_size = buffer_data_size + 1;
@@ -147,7 +149,7 @@ size_t motor_drive_buffer_cmd_generate(uint8_t *buffer, uint8_t cmd, uint8_t buf
       buffer[5 + i] = buffer_data_uint8;
       checksum += buffer_data_uint8;
     }
-    buffer[5 + buffer_data_size] = (checksum % 255);
+    buffer[5 + buffer_data_size] = (checksum % 0XFF);
   }
 
   motor_drive_hex_to_str((char *)buffer, (5 + hex_to_str_size), (char *)strbuffer);