读取单圈角度完成并测试

main/main.c

@@ -64,7 +64,8 @@ void app_main(void) {
     //   s_bluetooth_processer.auto_report_flag = false;
     // }
 
-    motor_drive_set_packages_ctr(26.34);
+    // motor_drive_set_packages_ctr(26.34);
+    ESP_LOGI(MAIN_TAG,"%lf",motor_drive_read_single_turn_angle());
 
     // 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

@@ -72,7 +72,7 @@ double motor_drive_read_encoder() {
   encoder_data = buffer[5] + (buffer[6] << 8);
 
   // parse motor usart
-  return ((double)encoder_data / 100);
+  return ((double)encoder_data / 100.0);
 }
 
 void motor_drive_set_packages_data_max64bit(uint8_t cmd, uint8_t buffer_data_size, uint64_t buffer_data) {
@@ -193,8 +193,27 @@ void motor_drive_buffer_cmd_parse(uint8_t *buffer) {
 void motor_drive_set_motor_size() {}
 
 double motor_drive_read_single_turn_angle() {
-  double turn_angle = 0.0;
+  uint16_t turn_angle_data = 0;
+  size_t encoder_buffer_size = 5;
   uint8_t buffer[5] = {0X3E, 0X94, 0X01, 0X00, 0XD3};
 
-  return turn_angle;
+  uart_flush(uart_num);
+  uart_write_bytes(uart_num, buffer, 5);
+
+  encoder_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]);
+    return -1;
+  }
+
+  // Parse receive
+  motor_drive_buffer_cmd_parse(buffer);
+
+  turn_angle_data = buffer[5] + (buffer[6] << 8);
+
+  return ((double)turn_angle_data/100.0);
 }