编译通过

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/"
     ".")

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);

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();
   }
 }

main/motor_drive.c

@@ -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);
 

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;
 }