已经可以读取电机编码器的值，修复了处理数据慢问题。

.vscode/settings.json

@@ -30,6 +30,10 @@
         "functional": "c",
         "tuple": "c",
         "type_traits": "c",
-        "utility": "c"
+        "utility": "c",
+        "uart_types.h": "c",
+        "esp_intr_alloc.h": "c",
+        "motor_drive.h": "c",
+        "stdint.h": "c"
     },
 }

main/main.c

@@ -2,6 +2,7 @@
 #include "cJSON_Utils.h"
 #include "driver/gpio.h"
 #include "driver/timer.h"
+#include "driver/uart.h"
 #include "esp_log.h"
 #include "esp_system.h"
 #include "freertos/FreeRTOS.h"
@@ -38,7 +39,7 @@ bleuart_t ble_uart_init_struct = {
 };
 
 static cJSON *json_tmp;
-// static double encoder_befor_num;
+static double encoder_befor_num;
 #define set_position "setPosition"
 #define get_status "getStatus"
 #define set_motor_current_size "setMotorCurrentSize"
@@ -77,28 +78,32 @@ ble_uart_receive_data_t ble_uart_receive_data = {
     .cmd_flag = false,
 };
 
+motor_t ble_uart_motor_structer = {.uartNum = UART_NUM_1};
+
+void buffer_all_init() {
+  ble_rx_buffer_now_len = 0;
+  memset(ble_uart_init_struct.rxbuf, 0, ble_uart_init_struct.rxbufsize);
+}
+
 void blerxcb(uint8_t *rxmessage, size_t rxsize) {
+  // start_time = esp_log_timestamp();
   if ((rxsize + ble_rx_buffer_now_len) > ble_uart_init_struct.rxbufsize) {
     ESP_LOGW("MAIN", "rx buffer overstep");
+    buffer_all_init();
     return;
   }
 
   for (int i = 0; i < rxsize; i++) {
     ble_uart_init_struct.rxbuf[ble_rx_buffer_now_len++] = rxmessage[i];
     ble_rx_buffer_off++;
-    start_time = esp_log_timestamp();
   }
 }
 
-void buffer_all_init() {
-  ble_rx_buffer_now_len = 0;
-  memset(ble_uart_init_struct.rxbuf, 0, ble_uart_init_struct.rxbufsize);
-}
-
 void wait_ble_uart_receive_ms(uint16_t wait_time_ms) {
   start_time = esp_log_timestamp();
   while ((esp_log_timestamp() - start_time) < wait_time_ms) {
   }
+  modbus_uart_rx_off_before = ble_rx_buffer_off;
 }
 
 bool parse_rxbuffer_and_validation_data(cJSON **json_tmp) {
@@ -164,33 +169,36 @@ void processing_uart_rx_data() {
   if (ble_rx_buffer_off != 0) {
     modbus_uart_rx_off_before = ble_rx_buffer_off;
 
-    wait_ble_uart_receive_ms(100);
+    wait_ble_uart_receive_ms(200);
 
     if (ble_rx_buffer_off == modbus_uart_rx_off_before) {
       ble_uart_init_struct.receive_data_processing_flag = true;
       ESP_LOGI("MAIN", "%s", ble_uart_init_struct.rxbuf);
       if (parse_rxbuffer_and_validation_data(&json_tmp)) {
         if (parse_json_to_struct(json_tmp->child)) {
-          ESP_LOGI(MAIN_LOG_TAG, "order:%s ,index:%d speedLevel:%d position:%f direction:%d", ble_uart_receive_data.order, ble_uart_receive_data.index, ble_uart_receive_data.speedLevel,
+          ESP_LOGI(MAIN_LOG_TAG, "order:%s ,index:%d speedLevel:%d position:%f direction:%d",                   //
+                   ble_uart_receive_data.order, ble_uart_receive_data.index, ble_uart_receive_data.speedLevel,  //
                    ble_uart_receive_data.position, ble_uart_receive_data.direction);
-          // if (strcmp(ble_uart_receive_data.order, set_position) == 0) {
-          //   // ble_uart_receive_data.auto_report_flag = true;
-          //   ESP_LOGI(MAIN_LOG_TAG, set_position);
-
-          //   encoder_befor_num = motor_drive_read_encoder();
-          //   if (encoder_befor_num >= 0) {
-          //     if (motor_drive_set_packages_ctr(ble_uart_receive_data.position, ble_uart_receive_data.direction) == 0) {
-          //       ets_delay_us(50000);
-          //       if (encoder_befor_num == motor_drive_read_encoder()) {
-          //         ESP_LOGW(MAIN_LOG_TAG, "motor no turning");
-          //       } else {
-          //         ESP_LOGI(MAIN_LOG_TAG, "motor turning");
-          //       }
-          //     }
-          //   }
-
-          //   // receipt_json_set_position();
-          // }
+
+          if (strcmp(ble_uart_receive_data.order, set_position) == 0) {
+            // ble_uart_receive_data.auto_report_flag = true;
+            ESP_LOGI(MAIN_LOG_TAG, set_position);
+
+            encoder_befor_num = motor_drive_read_encoder();
+            if (encoder_befor_num >= 0) {
+              ESP_LOGI(MAIN_LOG_TAG, "%.2lf", encoder_befor_num);
+              // if (motor_drive_set_packages_ctr(ble_uart_receive_data.position, ble_uart_receive_data.direction) == 0) {
+              //   ets_delay_us(50000);
+              //   if (encoder_befor_num == motor_drive_read_encoder()) {
+              //     ESP_LOGW(MAIN_LOG_TAG, "motor no turning");
+              //   } else {
+              //     ESP_LOGI(MAIN_LOG_TAG, "motor turning");
+              //   }
+              // }
+            }
+
+            // receipt_json_set_position();
+          }
           // if (strcmp(ble_uart_receive_data.order, get_status) == 0) {
           //   ESP_LOGI(MAIN_LOG_TAG, get_status);
           //   receipt_json_get_status();
@@ -212,8 +220,8 @@ void processing_uart_rx_data() {
 
     if (ble_uart_init_struct.receive_data_processing_flag == true) {
       buffer_all_init();
-      ble_uart_init_struct.receive_data_processing_flag = false;
       ble_rx_buffer_off = 0;
+      ble_uart_init_struct.receive_data_processing_flag = false;
     }
   }
 }
@@ -221,6 +229,7 @@ void processing_uart_rx_data() {
 void app_main(void) {
   ble_spp_server_demo_app_main(&ble_uart_init_struct);
   bleuart_reg_cb(blerxcb);
+  motor_init(&ble_uart_motor_structer);
 
   while (true) {
     processing_uart_rx_data();

main/motor_drive.c

@@ -1,6 +1,36 @@
 #include "motor_drive.h"
 
-void motor_init(motor_t* motor) { return; }
+#include "driver/uart.h"
+#include "esp_log.h"
+
+#define MOTOR_DRIVE "MOTOR_DRIVE"
+
+#define uart_num UART_NUM_1
+#define tx_io_num 23
+#define rx_io_num 22
+#define buffer_size 128
+#define uart_read_time_ms 200
+#define MOTOR_ID 0X01
+
+static motor_t *motor_init_structer;
+
+void motor_init(motor_t *motor) {
+  motor_init_structer = motor;
+  uart_config_t uart_config = {
+      .baud_rate = 115200,
+      .data_bits = UART_DATA_8_BITS,
+      .parity = UART_PARITY_DISABLE,
+      .stop_bits = UART_STOP_BITS_1,
+      .flow_ctrl = UART_HW_FLOWCTRL_DISABLE,
+      .source_clk = UART_SCLK_APB,
+  };
+  ESP_ERROR_CHECK(uart_driver_install(uart_num, buffer_size * 2, 0, 0, NULL, 0));
+
+  ESP_ERROR_CHECK(uart_param_config(uart_num, &uart_config));
+
+  ESP_ERROR_CHECK(uart_set_pin(uart_num, tx_io_num, rx_io_num, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE));
+  return;
+}
 void motor_set_zero_point() { return; }
 /**
  * @brief 返回当前电机所在位置0->360
@@ -13,3 +43,28 @@ uint32_t motor_get_position_degree() { return 0; }
  */
 void motor_run_to_postion(int potion) { return; }
 void motor_reg_event_cb(motor_on_event_t onevent) { return; }
+
+double motor_drive_read_encoder() {
+  size_t encoder_buffer_size = 5;
+  uint8_t buffer[5] = {0X3E, 0X90, MOTOR_ID, 0X00, 0XCF};
+  uint16_t encoder_data = 0;
+
+  // Send cmd
+  uart_flush(uart_num);
+  uart_write_bytes(uart_num, (const char *)buffer, encoder_buffer_size);
+
+  encoder_buffer_size = 0;
+  memset(buffer, 0, sizeof(uint8_t) * 5);
+
+  // Wait receive
+  encoder_buffer_size = uart_read_bytes(uart_num, buffer, 12, uart_read_time_ms / 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]);
+
+    return -1.0;
+  }
+
+  encoder_data = buffer[5] + (buffer[6] << 8);
+
+  return ((double)encoder_data / 100.0);
+}

main/motor_drive.h

@@ -1,9 +1,9 @@
 #pragma once
 #include <stdint.h>
+#include <string.h>
 
 typedef struct {
-  int mark;
-//   int uartNum;
+  int uartNum;
 } motor_t;
 typedef enum {
   kRunToPosition,
@@ -23,3 +23,4 @@ uint32_t motor_get_position_degree();
  */
 void motor_run_to_postion(int potion);
 void motor_reg_event_cb(motor_on_event_t onevent);
+double motor_drive_read_encoder();