feat: add calibration switch support

main/main.c

@@ -48,6 +48,7 @@ static void print_help(void)
     printf("命令 (Commands):\n");
     printf("  help - 显示帮助信息\n");
     printf("  pos  - 显示当前位置\n");
+    printf("  cal  - 校准正北位置\n");
     printf("========================================\n\n");
 }
 
@@ -119,6 +120,21 @@ static void direction_control_task(void *arg)
                         case DIRECTION_CONTROLLER_CMD_POSITION:
                             print_current_position();
                             break;
+                        case DIRECTION_CONTROLLER_CMD_CALIBRATE: {
+                            printf("开始校准...\n");
+                            esp_err_t err = direction_controller_calibrate(NULL);
+                            if (err == ESP_OK) {
+                                printf("校准完成\n");
+                                print_current_position();
+                            } else if (err == ESP_ERR_TIMEOUT) {
+                                printf("校准失败: 未检测到微动开关\n");
+                            } else if (err == ESP_ERR_INVALID_STATE) {
+                                printf("校准失败: 未配置校准开关\n");
+                            } else {
+                                printf("校准失败: 错误码 %d\n", err);
+                            }
+                            break;
+                        }
                         case DIRECTION_CONTROLLER_CMD_DIRECTION:
                             if (dir != NULL) {
                                 printf("目标方向: %s (%s, %.1f°)\n",
@@ -181,7 +197,27 @@ void app_main(void)
     ESP_LOGI(TAG, "========================================");
     
     /* Initialize peripherals */
-    direction_controller_init(NULL);
+    direction_controller_calibration_t calibration = {
+        .enabled = true,
+        .gpio_num = GPIO_NUM_39,
+        .active_level = 0,
+        .pullup_en = false,
+        .pulldown_en = false,
+        .calibration_angle = 180.0f,
+        .step_angle_deg = 5.0f,
+        .max_sweep_deg = 360.0f,
+        .search_cw = true,
+        .settle_delay_ms = 10
+    };
+    direction_controller_config_t config = {
+        .directions = NULL,
+        .direction_count = 0,
+        .initial_angle = 0.0f,
+        .rotate_speed_us = 0,
+        .init_stepper_gpio = true,
+        .calibration = &calibration
+    };
+    direction_controller_init(&config);
     uart_init();
     
     ESP_LOGI(TAG, "Initial position: South (0°)");