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编译通过

master
zwsd 3 years ago
parent
commit
a8f7e43644
  1. 1
      main/CMakeLists.txt
  2. 2
      main/ble_spp_server_demo.c
  3. 3
      main/main.c
  4. 15
      main/motor_drive.c
  5. 2
      main/port.c

1
main/CMakeLists.txt

@ -2,6 +2,7 @@ idf_component_register(SRCS #
"ble_spp_server_demo.c" "ble_spp_server_demo.c"
"main.c" "main.c"
"motor_drive.c" "motor_drive.c"
"port.c"
INCLUDE_DIRS # INCLUDE_DIRS #
"../dep/" "../dep/"
".") ".")

2
main/ble_spp_server_demo.c

@ -701,7 +701,7 @@ void blerxprocess(uint8_t *rxmessage, size_t rxsize) {
} }
void bleuart_schedule() { 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_module->receive_data_processing_flag = true;
s_cb(s_module->rxbuf, s_module->has_rx_size); s_cb(s_module->rxbuf, s_module->has_rx_size);

3
main/main.c

@ -78,6 +78,7 @@ void blerxcb(uint8_t *rxmessage, size_t rxsize) {
} }
void motor_on_event(motor_event_t event) { void motor_on_event(motor_event_t event) {
//使sprintf
if (event == kRunToPosition) { if (event == kRunToPosition) {
// //
// //
@ -94,6 +95,6 @@ void app_main(void) {
while (true) { while (true) {
bleuart_schedule(); bleuart_schedule();
motor_module_schedule();
// motor_module_schedule();
} }
} }

15
main/motor_drive.c

@ -16,7 +16,7 @@ static motor_t *motor_init_structer;
/** /**
* @brief * @brief
*
*
* @param motor () * @param motor ()
*/ */
void motor_init(motor_t *motor) { void motor_init(motor_t *motor) {
@ -37,7 +37,6 @@ void motor_init(motor_t *motor) {
return; return;
} }
static double motor_drive_read_encoder(); static double motor_drive_read_encoder();
static uint8_t motor_drive_set_packages_ctr(double position, int direction); 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; uint8_t checksum = 0;
uint32_t limit_speed = 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}; 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 // forward
if ((rotation_direction == 1)) { if ((rotation_direction == 1)) {
@ -146,20 +145,20 @@ void motor_run_to_postion(int rotation_direction, double position, int speed_lev
} }
// Parse receive // Parse receive
// motor_drive_buffer_cmd_parse(buffer);
// motor_drive_buffer_cmd_parse(buffer);
return; return;
} }
/** /**
* @brief * @brief
*
*
* @param onevent * @param onevent
*/ */
void motor_reg_event_cb(motor_on_event_t onevent) { return; } void motor_reg_event_cb(motor_on_event_t onevent) { return; }
/** /**
* @brief * @brief
*
*
* @return double * @return double
*/ */
static double motor_drive_read_encoder() { static double motor_drive_read_encoder() {
@ -189,10 +188,10 @@ static double motor_drive_read_encoder() {
/** /**
* @brief * @brief
*
*
* @param position * @param position
* @param direction * @param direction
* @return uint8_t
* @return uint8_t
*/ */
static 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; int position_int = 0;

2
main/port.c

@ -8,4 +8,6 @@ uint32_t port_delay_ms(uint32_t ms) {
uint32_t now = port_get_ticket(); uint32_t now = port_get_ticket();
while (port_get_ticket() - now < ms) { while (port_get_ticket() - now < ms) {
} }
return 0;
} }
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