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蓝牙控制电机转动，根据电机返回数据，验证电机是否转动。

devtest
zwsd 3 years ago
parent
e397650129
commit
cfeb58932b
4 changed files with 36 additions and 34 deletions
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  1. 18
      main/ble_parse_data.c
  2. 14
      main/main.c
  3. 36
      main/motor_drive.c
  4. 2
      main/motor_drive.h

18
main/ble_parse_data.c
View File

@ -7,6 +7,8 @@
#define cmd_length_set_position 5
#define cmd_length_get_status 2
static double encoder_befor_num;
static bluetooth_processer_t *parse_bluetooth_processer;
uint8_t bluetooth_rx_buffer_len = 0;
@ -34,9 +36,19 @@ 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();
encoder_befor_num = motor_drive_read_encoder();
if (encoder_befor_num >= 0) {
if (motor_drive_set_packages_ctr(55.22) == 0) {
if (encoder_befor_num == motor_drive_read_encoder()) {
ESP_LOGW(BLE_PARSE_DATA_TAG, "motor no turning");
} else {
ESP_LOGI(BLE_PARSE_DATA_TAG, "motor turning");
}
}
}
// receipt_json_set_position();
}
if (strcmp(parse_bluetooth_processer->order, get_status) == 0) {
ESP_LOGI(BLE_PARSE_DATA_TAG, get_status);

14
main/main.c
View File

@ -53,25 +53,13 @@ void app_main(void) {
ble_spp_server_demo_app_main(&s_bluetooth_processer);
timer_group_init(TIMER_GROUP_0, TIMER_0, false, timer_group0_interval_num, timer_interval_ms);
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;
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;
// }
motor_drive_read_encoder();
// 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 (s_bluetooth_processer.auto_report_flag) {
// encoder = motor_drive_read_encoder();
// ESP_LOGI(MAIN_TAG, "encoder :%.2lf",encoder);
// ESP_LOGI(MAIN_TAG, "encoder :%.2lf", encoder);
// s_bluetooth_processer.auto_report_flag = false;
// }
}

36
main/motor_drive.c
View File

@ -10,6 +10,7 @@
#define tx_io_num 1
#define rx_io_num 2
#define buffer_size 128
#define uart_read_time_ms 2000
void motor_drive_uart_init() {
uart_config_t uart_config = {
@ -62,15 +63,15 @@ double motor_drive_read_encoder() {
memset(buffer, 0, sizeof(uint8_t) * 5);
// Wait receive
encoder_buffer_size = uart_read_bytes(uart_num, buffer, 12, 2000 / portTICK_RATE_MS);
encoder_buffer_size = uart_read_bytes(uart_num, buffer, 12, uart_read_time_ms / portTICK_RATE_MS);
if (encoder_buffer_size != 12 || buffer[0] != 0X3E) {
ESP_LOGW(MOTOR_DRIVE, "encoder size:%d,buffer[0] = 0X%x", encoder_buffer_size, buffer[0]);
bluetooth_active_notify((uint8_t *)notify_err, strlen(notify_err));
return -1;
return -1.0;
}
// Parse receive
motor_drive_buffer_cmd_parse(buffer);
// motor_drive_buffer_cmd_parse(buffer);
encoder_data = buffer[5] + (buffer[6] << 8);
@ -84,7 +85,7 @@ void motor_drive_set_packages_data_max64bit(uint8_t cmd, uint8_t buffer_data_siz
motor_drive_buffer_cmd_generate(buffer, cmd, buffer_data_size, buffer_data);
}
void motor_drive_set_packages_ctr(double position) {
uint8_t 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)
@ -116,15 +117,16 @@ void motor_drive_set_packages_ctr(double position) {
memset(buffer, 0, sizeof(uint8_t) * 10);
// Wait uart receive,if time out return error and output log
position_buffer_size = uart_read_bytes(uart_num, buffer, 13, 2000 / portTICK_RATE_MS);
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));
return;
return 1;
}
// Parse receive
// motor_drive_buffer_cmd_parse(buffer);
return 0;
}
void motor_drive_hex_to_str(const char *hex, int hex_len, char *str) {
@ -169,15 +171,15 @@ size_t motor_drive_buffer_cmd_generate(uint8_t *buffer, uint8_t cmd, uint8_t buf
motor_drive_hex_to_str((char *)buffer, (5 + hex_to_str_size), (char *)strbuffer);
ESP_LOGI(MOTOR_DRIVE, "%s", strbuffer);
motor_drive_buffer_cmd_parse(buffer);
// motor_drive_buffer_cmd_parse(buffer);
return (5 + hex_to_str_size);
}
void motor_drive_buffer_cmd_parse(uint8_t *buffer) {
uint8_t i = 0;
uint16_t temp_data_arr[(buffer[3] / 2)];
ESP_LOGI(MOTOR_DRIVE, "=====buffer data size %d=====", buffer[3]);
// uint8_t i = 0;
// uint16_t temp_data_arr[(buffer[3] / 2)];
// ESP_LOGI(MOTOR_DRIVE, "=====buffer data size %d=====", buffer[3]);
if (buffer == NULL) {
ESP_LOGW(MOTOR_DRIVE, "cmd parse buffer null");
return;
@ -188,10 +190,10 @@ void motor_drive_buffer_cmd_parse(uint8_t *buffer) {
return;
}
for (i = 0; i < (buffer[3]); i += 2) {
temp_data_arr[i] = buffer[5 + i] + (buffer[5 + i + 1] << 8);
ESP_LOGI(MOTOR_DRIVE, "%d\n", temp_data_arr[i]);
}
// for (i = 0; i < (buffer[3]); i += 2) {
// temp_data_arr[i] = buffer[5 + i] + (buffer[5 + i + 1] << 8);
// ESP_LOGI(MOTOR_DRIVE, "%d\n", temp_data_arr[i]);
// }
}
u_int8_t motor_drive_set_motor_current_size() {
@ -205,7 +207,7 @@ u_int8_t motor_drive_set_motor_current_size() {
memset(buffer, 0, sizeof(uint8_t) * 5);
// Wait receive
set_current_buffer_size = uart_read_bytes(uart_num, buffer, 5, 2000 / portTICK_RATE_MS);
set_current_buffer_size = uart_read_bytes(uart_num, buffer, 5, uart_read_time_ms / 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]);
bluetooth_active_notify((uint8_t *)notify_err, strlen(notify_err));
@ -228,7 +230,7 @@ double motor_drive_read_single_turn_angle() {
memset(buffer, 0, sizeof(uint8_t) * 5);
// Wait receive
turn_angle_buffer_size = uart_read_bytes(uart_num, buffer, 8, 2000 / portTICK_RATE_MS);
turn_angle_buffer_size = uart_read_bytes(uart_num, buffer, 8, uart_read_time_ms / 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]);
bluetooth_active_notify((uint8_t *)notify_err, strlen(notify_err));
@ -236,7 +238,7 @@ double motor_drive_read_single_turn_angle() {
}
// Parse receive
motor_drive_buffer_cmd_parse(buffer);
// motor_drive_buffer_cmd_parse(buffer);
turn_angle_data = buffer[5] + (buffer[6] << 8);

2
main/motor_drive.h
View File

@ -40,7 +40,7 @@ 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_data_max64bit(uint8_t cmd, uint8_t buffer_data_size, uint64_t buffer_data);
void motor_drive_set_packages_ctr(double position);
uint8_t 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);

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