update

.vscode/settings.json

@@ -64,6 +64,7 @@
         "thread": "c",
         "ratio": "c",
         "typeinfo": "c",
-        "utility": "c"
+        "utility": "c",
+        "sdkconfig.h": "c"
     },
 }

main/ble_parse_data.c

@@ -240,4 +240,11 @@ void string_copy_by_num(char *dest, const char *src, uint8_t count, uint8_t num)
   for (i = 0; i < num; i++) {
     dest[i] = src[(count * 15) + i];
   }
+}
+
+void bluetooth_active_notify(uint8_t *buffer, uint8_t buffer_size) {
+  if (parse_bluetooth_processer->table_handle_m != 0) {
+    esp_ble_gatts_send_indicate(parse_bluetooth_processer->table_gatts_if_m, parse_bluetooth_processer->table_conn_id_m,  //
+                                parse_bluetooth_processer->table_handle_m, buffer_size, buffer, false);
+  }
 }

main/ble_parse_data.h

@@ -60,4 +60,5 @@ void receipt_json_set_position();
 void receipt_json_get_status();
 void bluetooth_auto_report_format_receipt();
 void bluetooth_tx_buffer_send_indicate(cb_t format);
-void string_copy_by_num(char *dest, const char *src, uint8_t count, uint8_t num);
+void string_copy_by_num(char *dest, const char *src, uint8_t count, uint8_t num);
+void bluetooth_active_notify(uint8_t *buffer, uint8_t buffer_size);

main/main.c

@@ -63,7 +63,7 @@ void app_main(void) {
     //   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;

main/motor_drive.c

@@ -1,5 +1,6 @@
 #include "motor_drive.h"
 
+#include "ble_parse_data.h"
 #include "driver/uart.h"
 #include "esp_log.h"
 
@@ -44,6 +45,7 @@ double motor_drive_read_encoder() {
   size_t encoder_buffer_size = 5;
   uint8_t buffer[5] = {0X3E, 0X90, 0X01, 0X00, 0XCF};
   uint16_t encoder_data = 0;
+  char *notify_err = "read encoder error";
 
   // Generate cmd
   // encoder_buffer_size = motor_drive_buffer_cmd_generate(buffer, 0x90, 4, 0X5A97FF00);
@@ -63,6 +65,7 @@ double motor_drive_read_encoder() {
   encoder_buffer_size = uart_read_bytes(uart_num, buffer, 12, 2000 / 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;
   }
 
@@ -87,6 +90,7 @@ 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};
+  char *notify_err = "set size error";
 
   position_int = position * 100;
 
@@ -115,12 +119,12 @@ void motor_drive_set_packages_ctr(double position) {
   position_buffer_size = uart_read_bytes(uart_num, buffer, 13, 2000 / 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;
   }
 
   // Parse receive
   // motor_drive_buffer_cmd_parse(buffer);
-
 }
 
 void motor_drive_hex_to_str(const char *hex, int hex_len, char *str) {
@@ -193,7 +197,7 @@ void motor_drive_buffer_cmd_parse(uint8_t *buffer) {
 u_int8_t motor_drive_set_motor_current_size() {
   size_t set_current_buffer_size = 5;
   uint8_t buffer[5] = {0X3E, 0X19, 0X01, 0X00, 0X58};
-
+  char *notify_err = "Set current size err";
   uart_flush(uart_num);
   uart_write_bytes(uart_num, buffer, 5);
 
@@ -204,6 +208,7 @@ u_int8_t motor_drive_set_motor_current_size() {
   set_current_buffer_size = uart_read_bytes(uart_num, buffer, 5, 2000 / 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));
     return 1;
   }
 
@@ -214,6 +219,7 @@ double motor_drive_read_single_turn_angle() {
   uint16_t turn_angle_data = 0;
   size_t turn_angle_buffer_size = 5;
   uint8_t buffer[5] = {0X3E, 0X94, 0X01, 0X00, 0XD3};
+  char *notify_err = "Turn angle size err";
 
   uart_flush(uart_num);
   uart_write_bytes(uart_num, buffer, 5);
@@ -225,6 +231,7 @@ double motor_drive_read_single_turn_angle() {
   turn_angle_buffer_size = uart_read_bytes(uart_num, buffer, 8, 2000 / 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));
     return -1;
   }