From a8f7e43644636a3a519d149c486d6bc21d198948 Mon Sep 17 00:00:00 2001
From: zwsd <zwsdtjl@zwsd.com>
Date: Wed, 3 Aug 2022 08:50:54 +0800
Subject: [PATCH] =?UTF-8?q?=E7=BC=96=E8=AF=91=E9=80=9A=E8=BF=87?=
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---
 main/CMakeLists.txt        |  1 +
 main/ble_spp_server_demo.c |  2 +-
 main/main.c                |  3 ++-
 main/motor_drive.c         | 15 +++++++--------
 main/port.c                |  2 ++
 5 files changed, 13 insertions(+), 10 deletions(-)

diff --git a/main/CMakeLists.txt b/main/CMakeLists.txt
index 8c6393c..669693e 100644
--- a/main/CMakeLists.txt
+++ b/main/CMakeLists.txt
@@ -2,6 +2,7 @@ idf_component_register(SRCS #
     "ble_spp_server_demo.c"
     "main.c"
     "motor_drive.c"
+    "port.c"
     INCLUDE_DIRS #
     "../dep/"
     ".")
diff --git a/main/ble_spp_server_demo.c b/main/ble_spp_server_demo.c
index 27b544d..6f8c752 100644
--- a/main/ble_spp_server_demo.c
+++ b/main/ble_spp_server_demo.c
@@ -701,7 +701,7 @@ void blerxprocess(uint8_t *rxmessage, size_t rxsize) {
 }
 
 void bleuart_schedule() {
-  if (s_module->has_rx_size != 0 && port_haspassedms(s_module->last_rx_ticket) > 1000) {
+  if (s_module->has_rx_size != 0 && port_haspassedms(s_module->last_rx_ticket) > 200) {
     s_module->receive_data_processing_flag = true;
 
     s_cb(s_module->rxbuf, s_module->has_rx_size);
diff --git a/main/main.c b/main/main.c
index 1a00606..062e971 100644
--- a/main/main.c
+++ b/main/main.c
@@ -78,6 +78,7 @@ void blerxcb(uint8_t *rxmessage, size_t rxsize) {
 }
 
 void motor_on_event(motor_event_t event) {
+  //打算使用sprintf
   if (event == kRunToPosition) {
     //组包
     //上报
@@ -94,6 +95,6 @@ void app_main(void) {
 
   while (true) {
     bleuart_schedule();
-    motor_module_schedule();
+    // motor_module_schedule();
   }
 }
diff --git a/main/motor_drive.c b/main/motor_drive.c
index 23829d4..68d9385 100644
--- a/main/motor_drive.c
+++ b/main/motor_drive.c
@@ -16,7 +16,7 @@ static motor_t *motor_init_structer;
 
 /**
  * @brief 电机初始化
- * 
+ *
  * @param motor 初始化的结构体(暂时写死，所以结构体为空)
  */
 void motor_init(motor_t *motor) {
@@ -37,7 +37,6 @@ 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);
 
@@ -82,7 +81,7 @@ void motor_run_to_postion(int rotation_direction, double position, int speed_lev
   uint8_t checksum = 0;
   uint32_t limit_speed = 0;
   uint8_t buffer[14] = {0x3E, 0XA6, MOTOR_ID, 0X08, 0XED, 0X00, 0X00, 0X00, 0X00, 0X00, 0X00, 0X00, 0X00, 0X00};
-//   char *notify_err = "set size error";
+  //   char *notify_err = "set size error";
 
   // forward
   if ((rotation_direction == 1)) {
@@ -146,20 +145,20 @@ void motor_run_to_postion(int rotation_direction, double position, int speed_lev
   }
 
   // Parse receive
-//   motor_drive_buffer_cmd_parse(buffer);
+  //   motor_drive_buffer_cmd_parse(buffer);
   return;
 }
 
 /**
  * @brief 注册回调
- * 
+ *
  * @param onevent 注册的回调函数
  */
 void motor_reg_event_cb(motor_on_event_t onevent) { return; }
 
 /**
  * @brief 读取编码器
- * 
+ *
  * @return double 编码器当前位置值返回
  */
 static double motor_drive_read_encoder() {
@@ -189,10 +188,10 @@ static double motor_drive_read_encoder() {
 
 /**
  * @brief 控制电机转多少度
- * 
+ *
  * @param position 角度
  * @param direction 方向
- * @return uint8_t 
+ * @return uint8_t
  */
 static uint8_t motor_drive_set_packages_ctr(double position, int direction) {
   int position_int = 0;
diff --git a/main/port.c b/main/port.c
index 66275a2..04b3a32 100644
--- a/main/port.c
+++ b/main/port.c
@@ -8,4 +8,6 @@ uint32_t port_delay_ms(uint32_t ms) {
   uint32_t now = port_get_ticket();
   while (port_get_ticket() - now < ms) {
   }
+
+  return 0;
 }