#include "esp_gatts_api.h" #include "esp_log.h" #include "esp_system.h" #include "freertos/FreeRTOS.h" #include "freertos/event_groups.h" #include "freertos/task.h" #include "nvs_flash.h" #include "string.h" // #include "ble_spp_server_demo.h" #include "ble_uart.h" #include "motor_drive.h" #include "timer_u.h" #include "rgb_led.h" #define MAIN_TAG "MAIN" static char bluetooth_tx_buffer[profile_b_buffer_size] = {0}; static char bluetooth_rx_buffer[profile_b_buffer_size] = {0}; bluetooth_processer_t s_bluetooth_processer = { .bluetooth_processer_rx_buf = bluetooth_rx_buffer, .bluetooth_processer_rx_buf_size = sizeof(bluetooth_rx_buffer), .bluetooth_processer_tx_buf = bluetooth_tx_buffer, .bluetooth_processer_tx_buf_size = sizeof(bluetooth_tx_buffer), .bluetooth_baundrate_one_packet_delay_ms = kbluetooth_baundrate_one_packet_delay_ms, .port_delay_ms = port_timer_delay_ms, .bluetooth_rx_buffer_start_receving = false, .bluetooth_rx_buffer_processing = false, .order = "order", .index = 0, .speedLevel = 0, .position = 0.0, .direction = 0, .code = 0, .info = "noerror", .deviceState = "init", .deviceException = 0, .deviceExceptionInfo = "noexception", .table_conn_id_m = 0, .table_gatts_if_m = 0, .table_handle_m = 0, .cmd_flag = false, .auto_report_flag = false, .motor_drive_turn_flag = false, }; void app_main(void) { constructor_bluetooth_processer(&s_bluetooth_processer); 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(); gpio_rgb_init(); while (true) { bluetooth_gatts_try_process_data(); // if (s_bluetooth_processer.auto_report_flag) { // receipt_json_get_status(); // encoder = motor_drive_read_encoder(); // ESP_LOGI(MAIN_TAG, "encoder :%.2lf", encoder); // s_bluetooth_processer.auto_report_flag = false; // } // motor_drive_set_motor_to_angle(0,35.32,5); } return; }