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91 lines
2.6 KiB
91 lines
2.6 KiB
#include "driver/gpio.h"
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#include "esp_gatts_api.h"
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#include "esp_log.h"
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#include "esp_system.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/event_groups.h"
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#include "freertos/task.h"
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#include "nvs_flash.h"
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#include "string.h"
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//
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#include "ble_spp_server_demo.h"
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#include "ble_uart.h"
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#include "motor_drive.h"
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#include "timer_u.h"
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#define MAIN_TAG "MAIN"
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static char bluetooth_tx_buffer[profile_b_buffer_size] = {0};
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static char bluetooth_rx_buffer[profile_b_buffer_size] = {0};
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#define GPIO_OUTPUT_IO_RED 3
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#define GPIO_OUTPUT_IO_GREEN 4
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#define GPIO_OUTPUT_IO_BLUE 5
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#define GPIO_OUTPUT_PIN_SEL ((1ULL << GPIO_OUTPUT_IO_GREEN) | (1ULL << GPIO_OUTPUT_IO_BLUE) | (1ULL << GPIO_OUTPUT_IO_RED))
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bluetooth_processer_t s_bluetooth_processer = {
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.bluetooth_processer_rx_buf = bluetooth_rx_buffer,
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.bluetooth_processer_rx_buf_size = sizeof(bluetooth_rx_buffer),
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.bluetooth_processer_tx_buf = bluetooth_tx_buffer,
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.bluetooth_processer_tx_buf_size = sizeof(bluetooth_tx_buffer),
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.bluetooth_baundrate_one_packet_delay_ms = kbluetooth_baundrate_one_packet_delay_ms,
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.port_delay_ms = port_timer_delay_ms,
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.bluetooth_rx_buffer_start_receving = false,
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.bluetooth_rx_buffer_processing = false,
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.order = "order",
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.index = 0,
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.speedLevel = 0,
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.position = 0.0,
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.direction = 0,
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.code = 0,
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.info = "noerror",
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.deviceState = "init",
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.deviceException = 0,
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.deviceExceptionInfo = "noexception",
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.table_conn_id_m = 0,
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.table_gatts_if_m = 0,
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.table_handle_m = 0,
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.cmd_flag = false,
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.auto_report_flag = false,
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.motor_drive_turn_flag = false,
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};
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void gpio_rgb_init() {
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gpio_config_t gpio_grb_led_structer;
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gpio_grb_led_structer.intr_type = GPIO_INTR_DISABLE;
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gpio_grb_led_structer.mode = GPIO_MODE_OUTPUT;
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gpio_grb_led_structer.pin_bit_mask = GPIO_OUTPUT_PIN_SEL;
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gpio_grb_led_structer.pull_down_en = 0;
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gpio_grb_led_structer.pull_up_en = 0;
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gpio_config(&gpio_grb_led_structer);
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}
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void app_main(void) {
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constructor_bluetooth_processer(&s_bluetooth_processer);
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ble_spp_server_demo_app_main(&s_bluetooth_processer);
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timer_group_init(TIMER_GROUP_0, TIMER_0, false, timer_group0_interval_num, timer_interval_ms);
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motor_drive_uart_init();
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gpio_rgb_init();
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gpio_set_level(GPIO_OUTPUT_IO_GREEN,1);
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while (true) {
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bluetooth_gatts_try_process_data();
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// if (s_bluetooth_processer.auto_report_flag) {
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// receipt_json_get_status();
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// encoder = motor_drive_read_encoder();
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// ESP_LOGI(MAIN_TAG, "encoder :%.2lf", encoder);
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// s_bluetooth_processer.auto_report_flag = false;
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// }
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// motor_drive_set_motor_to_angle(0,35.32,5);
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}
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return;
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}
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