hex to string导致数组第一位变化，转化用不到，暂时注释

main/main.c

@@ -58,12 +58,14 @@ void app_main(void) {
   // double encoder = 0.0;
 
   while (true) {
-    bluetooth_gatts_try_process_data();
+    // 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_set_packages_ctr(26.34);
+
     // 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;

main/motor_drive.c

@@ -42,7 +42,7 @@ void motor_drive_turn(int direction, int speed_level, double position) {
 
 double motor_drive_read_encoder() {
   size_t encoder_buffer_size = 5;
-  uint8_t buffer[5] = {0X3E,0X90,0X01,0X00,0XCF};
+  uint8_t buffer[5] = {0X3E, 0X90, 0X01, 0X00, 0XCF};
   uint16_t encoder_data = 0;
 
   // Generate cmd
@@ -52,8 +52,8 @@ double motor_drive_read_encoder() {
   //   return -1;
   // }
 
-  uart_flush(uart_num);
   // Send cmd
+  uart_flush(uart_num);
   uart_write_bytes(uart_num, (const char *)buffer, encoder_buffer_size);
 
   encoder_buffer_size = 0;
@@ -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);
 }
 
 void motor_drive_set_packages_data_max64bit(uint8_t cmd, uint8_t buffer_data_size, uint64_t buffer_data) {
@@ -87,7 +87,7 @@ void motor_drive_set_packages_ctr(double position) {
   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};
+  // uint8_t strbuffer[20] = {0};
 
   position_int = position * 100;
   ESP_LOGI(MOTOR_DRIVE, "%d", position_int);
@@ -109,17 +109,23 @@ void motor_drive_set_packages_ctr(double position) {
   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);
+  // ESP_LOGI(MOTOR_DRIVE, "0X%X", buffer[0]);
+  // motor_drive_hex_to_str((const char *)buffer, 10, (char *)strbuffer);
+  // ESP_LOGI(MOTOR_DRIVE, "%s", strbuffer);
+  // ESP_LOGI(MOTOR_DRIVE, "0X%X", buffer[0]);
 
-  //Wait uart receive,if time out return error and output log
+  // Send cmd
+  uart_flush(uart_num);
+  uart_write_bytes(uart_num, buffer, 10);
 
-  //Process the data
+  // Wait uart receive,if time out return error and output log
+
+  // Process the data
 }
 
-void motor_drive_hex_to_str(char *hex, int hex_len, char *str) {
+void motor_drive_hex_to_str(const char *hex, int hex_len, char *str) {
   int i, pos = 0;
-
+  ESP_LOGI(MOTOR_DRIVE, "0X%X", hex[0]);
   for (i = 0; i < hex_len; i++)
 
   {
@@ -127,6 +133,7 @@ void motor_drive_hex_to_str(char *hex, int hex_len, char *str) {
 
     pos += 2;
   }
+  ESP_LOGI(MOTOR_DRIVE, "0X%X", hex[0]);
 }
 
 size_t motor_drive_buffer_cmd_generate(uint8_t *buffer, uint8_t cmd, uint8_t buffer_data_size, uint64_t buffer_data) {
@@ -183,4 +190,11 @@ void motor_drive_buffer_cmd_parse(uint8_t *buffer) {
   }
 }
 
-void motor_drive_set_motor_size() {}
+void motor_drive_set_motor_size() {}
+
+double motor_drive_read_single_turn_angle() {
+  double turn_angle = 0.0;
+  uint8_t buffer[5] = {0X3E, 0X94, 0X01, 0X00, 0XD3};
+
+  return turn_angle;
+}

main/motor_drive.h

@@ -41,6 +41,8 @@ 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);
-void motor_drive_hex_to_str(char *hex, int hex_len, char *str);
+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_buffer_cmd_parse(uint8_t *buffer);
+void motor_drive_set_motor_size();
+double motor_drive_read_single_turn_angle();