Initial commit
This commit is contained in:
Cedarium Zhang
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main/CMakeLists.txt
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2
main/CMakeLists.txt
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idf_component_register(SRCS "main.c"
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INCLUDE_DIRS ".")
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274
main/main.c
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274
main/main.c
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/*
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* SPDX-FileCopyrightText: 2024-2025 Espressif Systems (Shanghai) CO LTD
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*
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* SPDX-License-Identifier: Apache-2.0
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*/
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#include <stdio.h>
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#include <string.h>
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "driver/gpio.h"
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#include "driver/uart.h"
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#include "esp_log.h"
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#include "stepper_motor.h"
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static const char *TAG = "Direction Controller";
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#define DIRECTION_TASK_STACK_SIZE (1024 * 4)
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/* UART Configuration */
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#define UART_PORT_NUM UART_NUM_0
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#define UART_BUF_SIZE 256
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#define INPUT_BUF_SIZE 64
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/* Current angle tracking (relative to South = 0°) */
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static float s_current_angle = 0.0f;
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/* Direction definitions (angles relative to South = 0°) */
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typedef struct {
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const char *name_cn; /* Chinese name */
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const char *name_en; /* English abbreviation */
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float angle; /* Angle relative to South */
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} direction_t;
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/*
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* Direction angle mapping (South = 0°, clockwise positive)
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*
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* 北 (180°)
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* |
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* 西北(135°) | 东北(-135°/225°)
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* |
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* 西(90°) ------+------ 东(-90°/270°)
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* |
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* 西南(45°) | 东南(-45°/315°)
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* |
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* 南 (0°) [HOME]
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*/
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static const direction_t directions[] = {
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{"南", "S", 0.0f}, /* South - Home position */
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{"西南", "SW", 45.0f}, /* Southwest */
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{"西", "W", 90.0f}, /* West */
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{"西北", "NW", 135.0f}, /* Northwest */
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{"北", "N", 180.0f}, /* North */
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{"东北", "NE", -135.0f}, /* Northeast */
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{"东", "E", -90.0f}, /* East */
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{"东南", "SE", -45.0f}, /* Southeast */
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};
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#define NUM_DIRECTIONS (sizeof(directions) / sizeof(directions[0]))
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/**
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* @brief Calculate shortest rotation angle to target
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*
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* @param current Current angle
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* @param target Target angle
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* @return Shortest rotation angle (positive = clockwise, negative = counter-clockwise)
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*/
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static float calculate_shortest_rotation(float current, float target)
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{
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float diff = target - current;
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/* Normalize to -180 ~ 180 range */
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while (diff > 180.0f) {
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diff -= 360.0f;
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}
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while (diff < -180.0f) {
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diff += 360.0f;
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}
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return diff;
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}
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/**
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* @brief Rotate to specified direction
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*
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* @param target_angle Target angle (relative to South)
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*/
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static void rotate_to_angle(float target_angle)
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{
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float rotation = calculate_shortest_rotation(s_current_angle, target_angle);
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if (rotation == 0.0f) {
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ESP_LOGI(TAG, "Already at target position");
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return;
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}
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ESP_LOGI(TAG, "Rotating from %.1f° to %.1f° (rotation: %.1f°)",
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s_current_angle, target_angle, rotation);
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stepper_rotate_angle_with_accel(rotation, STEPPER_SPEED_FAST);
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s_current_angle = target_angle;
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stepper_motor_power_off();
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ESP_LOGI(TAG, "Rotation complete, current position: %.1f°", s_current_angle);
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}
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/**
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* @brief Find direction by name
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*
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* @param input User input string
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* @return Pointer to direction_t if found, NULL otherwise
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*/
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static const direction_t* find_direction(const char *input)
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{
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for (int i = 0; i < NUM_DIRECTIONS; i++) {
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if (strcmp(input, directions[i].name_cn) == 0 ||
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strcasecmp(input, directions[i].name_en) == 0) {
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return &directions[i];
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}
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}
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return NULL;
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}
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/**
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* @brief Print help message with available directions
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*/
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static void print_help(void)
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{
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printf("\n========================================\n");
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printf(" 方向控制系统 (Direction Control)\n");
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printf("========================================\n");
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printf("可用方向 (Available directions):\n");
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printf(" 南/S - South (0°) [默认位置]\n");
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printf(" 西南/SW - Southwest (45°)\n");
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printf(" 西/W - West (90°)\n");
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printf(" 西北/NW - Northwest (135°)\n");
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printf(" 北/N - North (180°)\n");
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printf(" 东北/NE - Northeast (-135°)\n");
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printf(" 东/E - East (-90°)\n");
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printf(" 东南/SE - Southeast (-45°)\n");
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printf("----------------------------------------\n");
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printf("命令 (Commands):\n");
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printf(" help - 显示帮助信息\n");
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printf(" pos - 显示当前位置\n");
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printf("========================================\n\n");
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}
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/**
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* @brief Print current position
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*/
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static void print_current_position(void)
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{
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const char *dir_name = "未知";
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for (int i = 0; i < NUM_DIRECTIONS; i++) {
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if (directions[i].angle == s_current_angle) {
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dir_name = directions[i].name_cn;
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break;
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}
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}
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printf("当前位置: %s (%.1f°)\n", dir_name, s_current_angle);
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}
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/**
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* @brief Direction control task - handles user input
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*/
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static void direction_control_task(void *arg)
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{
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ESP_LOGI(TAG, "Direction control task started");
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print_help();
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char input_buf[INPUT_BUF_SIZE];
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int input_idx = 0;
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uint8_t data;
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printf("请输入方向 > ");
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fflush(stdout);
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while (1) {
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/* Read one byte at a time */
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int len = uart_read_bytes(UART_PORT_NUM, &data, 1, pdMS_TO_TICKS(100));
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if (len > 0) {
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/* Echo character */
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uart_write_bytes(UART_PORT_NUM, (const char*)&data, 1);
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/* Handle Enter key (CR or LF) */
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if (data == '\r' || data == '\n') {
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uart_write_bytes(UART_PORT_NUM, "\r\n", 2);
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if (input_idx > 0) {
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input_buf[input_idx] = '\0';
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/* Trim leading/trailing whitespace */
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char *cmd = input_buf;
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while (*cmd == ' ') cmd++;
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char *end = cmd + strlen(cmd) - 1;
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while (end > cmd && *end == ' ') *end-- = '\0';
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/* Process command */
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if (strcmp(cmd, "help") == 0 || strcmp(cmd, "?") == 0) {
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print_help();
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} else if (strcmp(cmd, "pos") == 0) {
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print_current_position();
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} else {
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const direction_t *dir = find_direction(cmd);
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if (dir != NULL) {
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printf("目标方向: %s (%s, %.1f°)\n",
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dir->name_cn, dir->name_en, dir->angle);
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rotate_to_angle(dir->angle);
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} else {
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printf("未知方向: '%s'\n", cmd);
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printf("输入 'help' 查看可用方向\n");
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}
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}
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}
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input_idx = 0;
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printf("\n请输入方向 > ");
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fflush(stdout);
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}
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/* Handle Backspace */
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else if (data == '\b' || data == 0x7F) {
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if (input_idx > 0) {
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input_idx--;
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uart_write_bytes(UART_PORT_NUM, " \b", 2);
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}
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}
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/* Regular character */
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else if (input_idx < INPUT_BUF_SIZE - 1) {
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input_buf[input_idx++] = data;
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}
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}
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}
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}
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/**
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* @brief Initialize UART for user input
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*/
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static void uart_init(void)
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{
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uart_config_t uart_config = {
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.baud_rate = 115200,
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.data_bits = UART_DATA_8_BITS,
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.parity = UART_PARITY_DISABLE,
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.stop_bits = UART_STOP_BITS_1,
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.flow_ctrl = UART_HW_FLOWCTRL_DISABLE,
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.source_clk = UART_SCLK_DEFAULT,
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};
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ESP_ERROR_CHECK(uart_driver_install(UART_PORT_NUM, UART_BUF_SIZE * 2, 0, 0, NULL, 0));
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ESP_ERROR_CHECK(uart_param_config(UART_PORT_NUM, &uart_config));
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}
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void app_main(void)
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{
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ESP_LOGI(TAG, "========================================");
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ESP_LOGI(TAG, " Direction Control System");
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ESP_LOGI(TAG, " Default position: South (南)");
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ESP_LOGI(TAG, "========================================");
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/* Initialize peripherals */
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stepper_motor_gpio_init();
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uart_init();
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/* Set initial position to South (0°) */
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s_current_angle = 0.0f;
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stepper_motor_power_off();
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ESP_LOGI(TAG, "Initial position: South (0°)");
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/* Start direction control task */
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xTaskCreate(direction_control_task, "direction_control_task",
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DIRECTION_TASK_STACK_SIZE, NULL, 5, NULL);
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}
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