update

main/main.c

@@ -19,6 +19,7 @@
 #define ble_uart_rx_size 128
 static uint8_t bluetooth_tx_buffer[ble_uart_tx_size] = {0};
 static uint8_t bluetooth_rx_buffer[ble_uart_rx_size] = {0};
+
 bleuart_t ble_uart_init_struct = {
     .txbuf = bluetooth_tx_buffer,
     .txbufsize = sizeof(bluetooth_tx_buffer),
@@ -32,7 +33,7 @@ bleuart_t ble_uart_init_struct = {
 motor_t ble_uart_motor_structer = {.uartNum = UART_NUM_1};
 
 void process_setPosition(cJSON *rxjson) {
-  // { "order": "setPosition", "index": 0, "speedLevel": 1, "position": 120.3, "direction": 0 }
+  // { "order": "setPosition", "ble_uart_index": 0, "speedLevel": 1, "position": 120.3, "direction": 0 }
   int index = 0;
   int speedLevel = 0;
   float position = 0;
@@ -50,7 +51,7 @@ void process_setPosition(cJSON *rxjson) {
   if (cJSON_IsNumber(cJSON_GetObjectItem(rxjson, "direction"))) {
     direction = cJSON_GetNumberValue(cJSON_GetObjectItem(rxjson, "direction"));
   }
-  motor_run_to_postion(1, position, index);
+  motor_run_to_postion(1, position, 1);
 }
 
 void processrxjson(cJSON *rxjson) {
@@ -62,7 +63,9 @@ void processrxjson(cJSON *rxjson) {
 
   if (strcmp(order, "setPosition") == 0) {
     process_setPosition(rxjson);
+    
   } else if (strcmp(order, "getStatus") == 0) {
+
   }
 }
 
@@ -85,8 +88,8 @@ void motor_on_event(motor_event_t event) {
     uint8_t buffer[128] = {0};
     //组包
     //上报
-    //{ "order": "deviceStatusReport", "index": 0, "deviceState": "running", "position":13.9, "deviceException": 0, "deviceExceptionInfo": "", }
-    sprintf((char *)buffer, "{ \"order\": \"receipt\", \"code\": 0, \"info\": \"success\", \"index\": %d }", 0);
+    //{ "order": "deviceStatusReport", "ble_uart_index": 0, "deviceState": "running", "position":13.9, "deviceException": 0, "deviceExceptionInfo": "", }
+    sprintf((char *)buffer, "{ \"order\": \"receipt\", \"code\": 0, \"info\": \"success\", \"index\": %d }", 1);
     bleuart_notify_send(buffer,sizeof(buffer));
   }
 }

main/motor_drive.c

@@ -18,7 +18,6 @@
 static motor_t *motor_init_structer;
 static motor_on_event_t s_onevent;
 
-static bool notify_send_flag = false;
 static double motor_position;
 
 /**
@@ -178,7 +177,6 @@ void motor_run_to_postion(int rotation_direction, double position, int speed_lev
     return;
   }
 
-  notify_send_flag = true;
   motor_position = position;
 
   // Parse receive
@@ -305,42 +303,9 @@ static uint8_t motor_drive_set_packages_ctr(double position, int direction) {
  *
  */
 void motor_module_schedule() {
-  static uint32_t time = 0;
-  //读取角度是否到达想要角度，到达上报(每隔500ms读取一次)
-  if ((notify_send_flag == true) && (port_haspassedms(time) > 500)) {
-    double now_position_degree = motor_get_position_degree();
-    double maximum = 0.0;
-    double minimum = 0.0;
-
-    if (motor_position == 0){
-      motor_position = 360;
-    }
-
-    if ((motor_position + angular_error) > 360.0) {
-      maximum = (motor_position + angular_error) - 360.0;
-    } else {
-      maximum = motor_position + angular_error;
-    }
+  // s_onevent(kRunToPosition);  //组包，主动上报
 
-    if ((motor_position - angular_error) < 0.0) {
-      minimum = (motor_position - angular_error) + 360.0;
-    } else {
-      minimum = motor_position - angular_error;
-    }
-
-    if (maximum < minimum) {
-      maximum = maximum + 360;
-    }
-
-    if ((now_position_degree >= minimum) && (now_position_degree <= maximum)) {  //读取角度是否到达
-      s_onevent(kRunToPosition);                                                 //组包，主动上报
-      notify_send_flag = false;
-    }
-
-    // ESP_LOGI("=======", "now:%lf,run to:%lf,minimum = %lf,maximum = %lf", now_position_degree, motor_position, minimum, maximum);
-
-    time = port_get_ticket();
-  }
+  // time = port_get_ticket();
 
   return;
 }