update

.vscode/settings.json

@@ -34,6 +34,7 @@
         "uart_types.h": "c",
         "esp_intr_alloc.h": "c",
         "motor_drive.h": "c",
-        "stdint.h": "c"
+        "stdint.h": "c",
+        "freertos.h": "c"
     },
 }

main/ble_spp_server_demo.c

@@ -20,9 +20,10 @@
 #include "freertos/event_groups.h"
 #include "freertos/task.h"
 #include "nvs_flash.h"
+#include "port.h"
 #include "string.h"
 
-static bleuart_t *s_ble_uart_init_struct;
+static bleuart_t *s_module;
 static blerxcb_t s_cb;
 static uint16_t table_conn_id_m;
 static esp_gatt_if_t table_gatts_if_m;
@@ -246,7 +247,7 @@ static uint8_t find_char_and_desr_index(uint16_t handle) {
 
   return error;
 }
-
+static void blerxprocess(uint8_t *rxmessage, size_t rxsize);
 static bool store_wr_buffer(esp_ble_gatts_cb_param_t *p_data) {
   temp_spp_recv_data_node_p1 = (spp_receive_data_node_t *)malloc(sizeof(spp_receive_data_node_t));
 
@@ -525,10 +526,7 @@ static void gatts_profile_event_handler(esp_gatts_cb_event_t event, esp_gatt_if_
           esp_log_buffer_char(GATTS_TABLE_TAG, (char *)(p_data->write.value), p_data->write.len);
 #else
           // uart_write_bytes(UART_NUM_0, (char *)(p_data->write.value), p_data->write.len);
-          if (s_ble_uart_init_struct->receive_data_processing_flag == false) {
-            s_cb(p_data->write.value, p_data->write.len);
-          }
-
+          blerxprocess(p_data->write.value, p_data->write.len);
 #endif
         } else {
           // TODO:
@@ -644,7 +642,7 @@ void ble_spp_server_demo_app_main(bleuart_t *bleuart) {
   esp_err_t ret;
   esp_bt_controller_config_t bt_cfg = BT_CONTROLLER_INIT_CONFIG_DEFAULT();
 
-  s_ble_uart_init_struct = bleuart;
+  s_module = bleuart;
 
   // Initialize NVS
   ret = nvs_flash_init();
@@ -688,3 +686,27 @@ void ble_spp_server_demo_app_main(bleuart_t *bleuart) {
 
   return;
 }
+
+void blerxprocess(uint8_t *rxmessage, size_t rxsize) {
+  if (s_module->has_rx_size + rxsize > s_module->rxbufsize - 10) {
+    return;
+  }
+  if (s_module->receive_data_processing_flag) {
+    return;
+  }
+  s_module->last_rx_ticket = port_get_ticket();
+
+  memcpy(&s_module->rxbuf[s_module->has_rx_size], rxmessage, rxsize);
+  s_module->has_rx_size = s_module->has_rx_size + rxsize;
+}
+
+void bleuart_schedule() {
+  if (s_module->has_rx_size != 0 && port_haspassedms(s_module->last_rx_ticket) > 1000) {
+    s_module->receive_data_processing_flag = true;
+
+    s_cb(s_module->rxbuf, s_module->has_rx_size);
+
+    s_module->has_rx_size = 0;
+    s_module->receive_data_processing_flag = false;
+  }
+}

main/ble_spp_server_demo.h

@@ -70,8 +70,12 @@ typedef struct {
 
   bool receive_data_processing_flag;
 
+  int has_rx_size;
+
   int maxClientNum;
   const char *bleName;
+
+  int last_rx_ticket;
 } bleuart_t;
 /*接收完整JSON*/
 typedef void (*blerxcb_t)(uint8_t *rx, size_t rxsize);

main/main.c

@@ -15,18 +15,10 @@
 #include "motor_drive.h"
 
 #define MAIN_LOG_TAG "MAIN"
-
 #define ble_uart_tx_size 128
 #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};
-
-uint8_t ble_rx_buffer_now_len = 0;
-uint8_t ble_rx_buffer_off = 0;
-uint32_t start_time = 0;
-uint16_t modbus_uart_rx_off_before = 0;
-
 bleuart_t ble_uart_init_struct = {
     .txbuf = bluetooth_tx_buffer,
     .txbufsize = sizeof(bluetooth_tx_buffer),
@@ -37,215 +29,55 @@ bleuart_t ble_uart_init_struct = {
     .maxClientNum = 1,
     .bleName = "yimei_ble",
 };
-
-static cJSON *json_tmp;
-static double encoder_befor_num;
-#define set_position "setPosition"
-#define get_status "getStatus"
-#define set_motor_current_size "setMotorCurrentSize"
-#define set_motor_to_position "setMotorToPosition"
-#define cmd_length_set_position 5
-#define cmd_length_get_status 2
-#define cmd_length_set_motor_current_size 2
-#define cmd_length_set_motor_to_position 5
-typedef struct {
-  char *order;                //指令名称
-  int index;                  //
-  int speedLevel;             //
-  double position;            //角度
-  int direction;              //旋转方向
-  int code;                   //错误码
-  char *info;                 //错误码信息
-  char *deviceState;          //设备状态
-  int deviceException;        //设备异常编号
-  char *deviceExceptionInfo;  //设备异常信息
-
-  bool cmd_flag;
-} ble_uart_receive_data_t;
-
-ble_uart_receive_data_t ble_uart_receive_data = {
-    .order = "order",
-    .index = 0,
-    .speedLevel = 0,
-    .position = 0.0,
-    .direction = 0,
-    .code = 0,
-    .info = "noerror",
-    .deviceState = "init",
-    .deviceException = 0,
-    .deviceExceptionInfo = "noexception",
-
-    .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();
+void processrxjson(cJSON *rxjson) {
+  if (!cJSON_IsString(cJSON_GetObjectItem(rxjson, "order"))) {
     return;
   }
+  const char *order = cJSON_GetStringValue(cJSON_GetObjectItem(rxjson, "order"));
 
-  for (int i = 0; i < rxsize; i++) {
-    ble_uart_init_struct.rxbuf[ble_rx_buffer_now_len++] = rxmessage[i];
-    ble_rx_buffer_off++;
+  if (strcmp(order, "setPosition") == 0) {
+    // { "order": "setPosition", "index": 0, "speedLevel": 1, "position": 120.3, "direction": 0 }
+    int index = 0;
+    int speedLevel = 0;
+    float position = 0;
+    int direction = 0;
+    if (cJSON_IsNumber(cJSON_GetObjectItem(rxjson, "position"))) {
+      position = cJSON_GetObjectItem(rxjson, "position")->valuedouble;
     }
-}
-
-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) {
+    if (cJSON_IsNumber(cJSON_GetObjectItem(rxjson, "index"))) {
+      index = cJSON_GetNumberValue(cJSON_GetObjectItem(rxjson, "index"));
     }
-  modbus_uart_rx_off_before = ble_rx_buffer_off;
-}
-
-bool parse_rxbuffer_and_validation_data(cJSON **json_tmp) {
-  *json_tmp = cJSON_Parse((char *)ble_uart_init_struct.rxbuf);
-  if (*json_tmp == NULL) {
-    ESP_LOGE(MAIN_LOG_TAG, "parse rxbuffer null or redundant symbol ',','{' ");
-    return false;
+    if (cJSON_IsNumber(cJSON_GetObjectItem(rxjson, "speedLevel"))) {
+      speedLevel = cJSON_GetNumberValue(cJSON_GetObjectItem(rxjson, "speedLevel"));
     }
-  return true;
-}
-
-bool parse_json_to_struct(cJSON *ch) {
-  uint8_t cmd_length = 0;
-  while (ch != NULL) {
-    // ESP_LOGI(MAIN_LOG_TAG, "%s", ch->string);
-    if (strcmp(ch->string, "order") == 0) {
-      ble_uart_receive_data.order = ch->valuestring;
 
-      if (strcmp(ch->valuestring, set_position) == 0) {
-        cmd_length = cmd_length_set_position;
-      }
-      if (strcmp(ch->valuestring, get_status) == 0) {
-        cmd_length = cmd_length_get_status;
-      }
-      if (strcmp(ch->valuestring, set_motor_current_size) == 0) {
-        cmd_length = cmd_length_set_motor_current_size;
-      }
-      if (strcmp(ch->valuestring, set_motor_to_position) == 0) {
-        cmd_length = cmd_length_set_motor_to_position;
-      }
-
-      cmd_length--;
-    }
-    if (strcmp(ch->string, "index") == 0) {
-      ble_uart_receive_data.index = ch->valueint;
-      cmd_length--;
-    }
-    if (strcmp(ch->string, "speedLevel") == 0) {
-      ble_uart_receive_data.speedLevel = ch->valueint;
-      cmd_length--;
-    }
-    if (strcmp(ch->string, "position") == 0) {
-      ble_uart_receive_data.position = ch->valuedouble;
-      cmd_length--;
-    }
-    if (strcmp(ch->string, "direction") == 0) {
-      ble_uart_receive_data.direction = ch->valueint;
-      cmd_length--;
-    }
-    ch = ch->next;
+    if (cJSON_IsNumber(cJSON_GetObjectItem(rxjson, "direction"))) {
+      direction = cJSON_GetNumberValue(cJSON_GetObjectItem(rxjson, "direction"));
     }
+    motor_run_to_postion(1, position, index);
+    //组包，上报
+  } else if (strcmp(order, "getStatus") == 0) {
     
-  if (cmd_length == 0) {
-    ble_uart_receive_data.cmd_flag = true;
-  } else {
-    ESP_LOGE(MAIN_LOG_TAG, "JSON directive missing or exceeded");
   } 
-
-  return ble_uart_receive_data.cmd_flag;
 }
 
-void receipt_json_get_status() {
-  cJSON *pRoot = cJSON_CreateObject();  //创建一个对象
-  if (!pRoot) {
+void blerxcb(uint8_t *rxmessage, size_t rxsize) {
+  rxmessage[rxsize] = 0;
+  cJSON *rxmessage_json = cJSON_ParseWithLength((char *)rxmessage, rxsize);
+  if (rxmessage_json == NULL) {
+    ESP_LOGE(MAIN_LOG_TAG, "cJSON_Parse fail rxmessage_json == null,%s", cJSON_GetErrorPtr());
     return;
   }
-
-  cJSON_AddStringToObject(pRoot, "order", "receipt");  //添加一个节点
-  cJSON_AddNumberToObject(pRoot, "index", ble_uart_receive_data.index);
-  cJSON_AddStringToObject(pRoot, "deviceState", ble_uart_receive_data.deviceState);
-  cJSON_AddNumberToObject(pRoot, "deviceException", ble_uart_receive_data.deviceException);
-  cJSON_AddStringToObject(pRoot, "deviceExceptionInfo", ble_uart_receive_data.deviceExceptionInfo);
-  cJSON_AddNumberToObject(pRoot, "position", ble_uart_receive_data.position);
-
-  char *szJson = cJSON_Print(pRoot);
-
-  if (szJson != NULL) {
-    ESP_LOGI(MAIN_LOG_TAG, "%s", szJson);
-    free(szJson);
-  }
-
-  cJSON_Delete(pRoot);
+  processrxjson(rxmessage_json);
+  cJSON_Delete(rxmessage_json);
 }
 
-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(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,  //
-                   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) {
-              // 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();
-          }
-          if (strcmp(ble_uart_receive_data.order, set_motor_current_size) == 0) {
-            ESP_LOGI(MAIN_LOG_TAG, set_motor_current_size);
-            motor_set_zero_point();
-            // receipt_json_get_status();
-          }
-          if (strcmp(ble_uart_receive_data.order, set_motor_to_position) == 0) {
-            ESP_LOGI(MAIN_LOG_TAG, set_motor_to_position);
-            motor_run_to_postion(ble_uart_receive_data.direction, ble_uart_receive_data.position,  //
-                                 ble_uart_receive_data.speedLevel);
-            // receipt_json_get_status();
-          }
-        }
-      }
-    }
-
-    if (ble_uart_init_struct.receive_data_processing_flag == true) {
-      buffer_all_init();
-      ble_rx_buffer_off = 0;
-      ble_uart_init_struct.receive_data_processing_flag = false;
-    }
+void motor_on_event(motor_event_t event) {
+  if (event == kRunToPosition) {
+    //组包
+    //上报
+    //{ "order": "deviceStatusReport", "index": 0, "deviceState": "running", "position":13.9, "deviceException": 0, "deviceExceptionInfo": "", }
   }
 }
 
@@ -253,8 +85,10 @@ void app_main(void) {
   ble_spp_server_demo_app_main(&ble_uart_init_struct);
   bleuart_reg_cb(blerxcb);
   motor_init(&ble_uart_motor_structer);
+  motor_reg_event_cb(motor_on_event);
 
   while (true) {
-    processing_uart_rx_data();
+    bleuart_schedule();
+    motor_module_schedule();
   }
 }

main/motor_drive.c

@@ -37,6 +37,10 @@ void motor_init(motor_t *motor) {
   return;
 }
 
+
+static double motor_drive_read_encoder();
+static uint8_t motor_drive_set_packages_ctr(double position, int direction);
+
 /**
  * @brief 设置电机零点位置，需电机转动前设置。
  *
@@ -158,7 +162,7 @@ void motor_reg_event_cb(motor_on_event_t onevent) { return; }
  * 
  * @return double 编码器当前位置值返回
  */
-double motor_drive_read_encoder() {
+static 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;
@@ -190,7 +194,7 @@ double motor_drive_read_encoder() {
  * @param direction 方向
  * @return uint8_t 
  */
-uint8_t motor_drive_set_packages_ctr(double position, int direction) {
+static uint8_t motor_drive_set_packages_ctr(double position, int direction) {
   int position_int = 0;
   uint8_t position_remainder = 0;
   uint8_t position_buffer_size = 5;  //从第五位开始(低位)

main/motor_drive.h

@@ -15,5 +15,6 @@ void motor_set_zero_point();
 uint32_t motor_get_position_degree();
 void motor_run_to_postion(int rotation_direction, double position, int speed_level);
 void motor_reg_event_cb(motor_on_event_t onevent);
-double motor_drive_read_encoder();
-uint8_t motor_drive_set_packages_ctr(double position, int direction);
+
+void motor_module_schedule();
+

main/port.c

@@ -0,0 +1,11 @@
+#include "port.h"
+
+#include "esp_log.h"
+
+uint32_t port_get_ticket() { return esp_log_timestamp(); }
+uint32_t port_haspassedms(uint32_t ticket) { return port_get_ticket() - ticket; }
+uint32_t port_delay_ms(uint32_t ms) {
+  uint32_t now = port_get_ticket();
+  while (port_get_ticket() - now < ms) {
+  }
+}

main/port.h

@@ -0,0 +1,7 @@
+#pragma once
+#include <stdint.h>
+uint32_t port_get_ticket();
+
+uint32_t port_haspassedms(uint32_t ticket);
+
+uint32_t port_delay_ms(uint32_t ms);