feat: add calibration switch support

components/direction_controller/CMakeLists.txt

@@ -0,0 +1,4 @@
+idf_component_register(SRCS "direction_controller.c"
+                    INCLUDE_DIRS "include"
+                    REQUIRES "stepper_motor"
+                    PRIV_REQUIRES "driver" "log")

components/direction_controller/direction_controller.c

@@ -0,0 +1,410 @@
+/*
+ * SPDX-FileCopyrightText: 2024-2025 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#include <ctype.h>
+#include <string.h>
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "driver/gpio.h"
+#include "esp_log.h"
+#include "stepper_motor.h"
+#include "direction_controller.h"
+
+static const char *TAG = "Direction Controller";
+
+/* Default direction list (South = 0°, clockwise positive) */
+static const direction_controller_direction_t s_default_directions[] = {
+    {"南",   "S",   0.0f},
+    {"西南", "SW",  45.0f},
+    {"西",   "W",   90.0f},
+    {"西北", "NW",  135.0f},
+    {"北",   "N",   180.0f},
+    {"东北", "NE",  -135.0f},
+    {"东",   "E",   -90.0f},
+    {"东南", "SE",  -45.0f},
+};
+
+static const direction_controller_direction_t *s_directions = s_default_directions;
+static size_t s_direction_count = sizeof(s_default_directions) / sizeof(s_default_directions[0]);
+static float s_current_angle = 0.0f;
+static int s_rotate_speed_us = STEPPER_SPEED_FAST;
+static bool s_initialized = false;
+static direction_controller_calibration_t s_calibration = {0};
+static bool s_calibration_configured = false;
+
+static void trimmed_span(const char *input, const char **start_out, size_t *len_out)
+{
+    const char *start = input;
+    const char *end = NULL;
+
+    if (input == NULL) {
+        *start_out = NULL;
+        *len_out = 0;
+        return;
+    }
+
+    while (*start != '\0' && isspace((unsigned char)*start)) {
+        start++;
+    }
+
+    end = start + strlen(start);
+    while (end > start && isspace((unsigned char)*(end - 1))) {
+        end--;
+    }
+
+    *start_out = start;
+    *len_out = (size_t)(end - start);
+}
+
+static bool equals_trimmed(const char *input, const char *token, bool case_insensitive)
+{
+    const char *start = NULL;
+    size_t len = 0;
+    size_t token_len = 0;
+
+    if (input == NULL || token == NULL) {
+        return false;
+    }
+
+    trimmed_span(input, &start, &len);
+    token_len = strlen(token);
+
+    if (len == 0 || len != token_len) {
+        return false;
+    }
+
+    for (size_t i = 0; i < len; i++) {
+        char a = start[i];
+        char b = token[i];
+
+        if (case_insensitive) {
+            a = (char)tolower((unsigned char)a);
+            b = (char)tolower((unsigned char)b);
+        }
+
+        if (a != b) {
+            return false;
+        }
+    }
+
+    return true;
+}
+
+static float normalize_angle(float angle)
+{
+    while (angle > 180.0f) {
+        angle -= 360.0f;
+    }
+    while (angle <= -180.0f) {
+        angle += 360.0f;
+    }
+    return angle;
+}
+
+static float calculate_shortest_rotation(float current, float target)
+{
+    float diff = target - current;
+
+    while (diff > 180.0f) {
+        diff -= 360.0f;
+    }
+    while (diff < -180.0f) {
+        diff += 360.0f;
+    }
+
+    return diff;
+}
+
+void direction_controller_init(const direction_controller_config_t *config)
+{
+    const direction_controller_direction_t *directions = s_default_directions;
+    size_t direction_count = sizeof(s_default_directions) / sizeof(s_default_directions[0]);
+    float initial_angle = 0.0f;
+    int rotate_speed_us = STEPPER_SPEED_FAST;
+    bool init_stepper_gpio = true;
+
+    if (config != NULL) {
+        if (config->directions != NULL && config->direction_count > 0) {
+            directions = config->directions;
+            direction_count = config->direction_count;
+        }
+        initial_angle = config->initial_angle;
+        if (config->rotate_speed_us > 0) {
+            rotate_speed_us = config->rotate_speed_us;
+        }
+        init_stepper_gpio = config->init_stepper_gpio;
+        if (config->calibration != NULL) {
+            direction_controller_set_calibration(config->calibration);
+        }
+    }
+
+    s_directions = directions;
+    s_direction_count = direction_count;
+    s_current_angle = normalize_angle(initial_angle);
+    s_rotate_speed_us = rotate_speed_us;
+
+    if (init_stepper_gpio) {
+        stepper_motor_gpio_init();
+        stepper_motor_power_off();
+    }
+    s_initialized = true;
+
+    ESP_LOGI(TAG, "Direction controller initialized (angle=%.1f, speed=%dus)",
+             s_current_angle, s_rotate_speed_us);
+}
+
+direction_controller_cmd_t direction_controller_parse_command(const char *input,
+        const direction_controller_direction_t **out_direction)
+{
+    if (out_direction != NULL) {
+        *out_direction = NULL;
+    }
+
+    if (equals_trimmed(input, "help", true) || equals_trimmed(input, "?", false)) {
+        return DIRECTION_CONTROLLER_CMD_HELP;
+    }
+
+    if (equals_trimmed(input, "pos", true)) {
+        return DIRECTION_CONTROLLER_CMD_POSITION;
+    }
+
+    if (equals_trimmed(input, "cal", true) ||
+        equals_trimmed(input, "calibrate", true) ||
+        equals_trimmed(input, "校准", false)) {
+        return DIRECTION_CONTROLLER_CMD_CALIBRATE;
+    }
+
+    const direction_controller_direction_t *direction = direction_controller_find_direction(input);
+    if (direction != NULL) {
+        if (out_direction != NULL) {
+            *out_direction = direction;
+        }
+        return DIRECTION_CONTROLLER_CMD_DIRECTION;
+    }
+
+    return DIRECTION_CONTROLLER_CMD_UNKNOWN;
+}
+
+const direction_controller_direction_t *direction_controller_find_direction(const char *input)
+{
+    if (input == NULL) {
+        return NULL;
+    }
+
+    for (size_t i = 0; i < s_direction_count; i++) {
+        if (equals_trimmed(input, s_directions[i].name_cn, false) ||
+            equals_trimmed(input, s_directions[i].name_en, true)) {
+            return &s_directions[i];
+        }
+    }
+
+    return NULL;
+}
+
+esp_err_t direction_controller_rotate_to_angle(float target_angle)
+{
+    if (!s_initialized) {
+        direction_controller_init(NULL);
+    }
+
+    float normalized_target = normalize_angle(target_angle);
+    float rotation = calculate_shortest_rotation(s_current_angle, normalized_target);
+
+    if (rotation == 0.0f) {
+        ESP_LOGI(TAG, "Already at target position");
+        return ESP_OK;
+    }
+
+    ESP_LOGI(TAG, "Rotating from %.1f° to %.1f° (rotation: %.1f°)",
+             s_current_angle, normalized_target, rotation);
+
+    stepper_rotate_angle_with_accel(rotation, s_rotate_speed_us);
+    s_current_angle = normalized_target;
+    stepper_motor_power_off();
+
+    ESP_LOGI(TAG, "Rotation complete, current position: %.1f°", s_current_angle);
+    return ESP_OK;
+}
+
+esp_err_t direction_controller_rotate_to_direction(const char *input)
+{
+    const direction_controller_direction_t *direction = direction_controller_find_direction(input);
+
+    if (direction == NULL) {
+        return ESP_ERR_NOT_FOUND;
+    }
+
+    return direction_controller_rotate_to_angle(direction->angle);
+}
+
+float direction_controller_get_current_angle(void)
+{
+    return s_current_angle;
+}
+
+void direction_controller_set_current_angle(float angle)
+{
+    s_current_angle = normalize_angle(angle);
+}
+
+const direction_controller_direction_t *direction_controller_get_current_direction(void)
+{
+    for (size_t i = 0; i < s_direction_count; i++) {
+        if (s_directions[i].angle == s_current_angle) {
+            return &s_directions[i];
+        }
+    }
+
+    return NULL;
+}
+
+size_t direction_controller_get_direction_count(void)
+{
+    return s_direction_count;
+}
+
+const direction_controller_direction_t *direction_controller_get_direction(size_t index)
+{
+    if (index >= s_direction_count) {
+        return NULL;
+    }
+
+    return &s_directions[index];
+}
+
+int direction_controller_get_rotate_speed_us(void)
+{
+    return s_rotate_speed_us;
+}
+
+void direction_controller_set_rotate_speed_us(int rotate_speed_us)
+{
+    if (rotate_speed_us > 0) {
+        s_rotate_speed_us = rotate_speed_us;
+    }
+}
+
+static esp_err_t configure_switch_gpio(const direction_controller_calibration_t *config)
+{
+    if (config == NULL) {
+        return ESP_ERR_INVALID_ARG;
+    }
+
+    if (config->gpio_num < 0 || config->gpio_num >= GPIO_NUM_MAX) {
+        return ESP_ERR_INVALID_ARG;
+    }
+
+    gpio_config_t io_conf = {
+        .pin_bit_mask = (1ULL << config->gpio_num),
+        .mode = GPIO_MODE_INPUT,
+        .pull_up_en = config->pullup_en ? GPIO_PULLUP_ENABLE : GPIO_PULLUP_DISABLE,
+        .pull_down_en = config->pulldown_en ? GPIO_PULLDOWN_ENABLE : GPIO_PULLDOWN_DISABLE,
+        .intr_type = GPIO_INTR_DISABLE
+    };
+
+    return gpio_config(&io_conf);
+}
+
+static bool is_switch_active(const direction_controller_calibration_t *config)
+{
+    int level = gpio_get_level(config->gpio_num);
+    int active = (config->active_level != 0) ? 1 : 0;
+    return level == active;
+}
+
+static float clamp_positive_default(float value, float default_value)
+{
+    if (value > 0.0f) {
+        return value;
+    }
+    return default_value;
+}
+
+esp_err_t direction_controller_calibrate(const direction_controller_calibration_t *config)
+{
+    const direction_controller_calibration_t *cfg = config;
+
+    if (!s_initialized) {
+        direction_controller_init(NULL);
+    }
+
+    if (cfg == NULL) {
+        if (!s_calibration_configured) {
+            ESP_LOGW(TAG, "Calibration not configured");
+            return ESP_ERR_INVALID_STATE;
+        }
+        cfg = &s_calibration;
+    }
+
+    if (!cfg->enabled) {
+        ESP_LOGW(TAG, "Calibration disabled");
+        return ESP_ERR_INVALID_STATE;
+    }
+
+    esp_err_t err = configure_switch_gpio(cfg);
+    if (err != ESP_OK) {
+        ESP_LOGE(TAG, "Failed to configure calibration switch GPIO");
+        return err;
+    }
+
+    if (is_switch_active(cfg)) {
+        s_current_angle = normalize_angle(cfg->calibration_angle);
+        stepper_motor_power_off();
+        ESP_LOGI(TAG, "Calibration switch active, angle set to %.1f°", s_current_angle);
+        return ESP_OK;
+    }
+
+    float step_angle = clamp_positive_default(cfg->step_angle_deg, 5.0f);
+    float max_sweep = clamp_positive_default(cfg->max_sweep_deg, 360.0f);
+    float total_sweep = 0.0f;
+    float direction = cfg->search_cw ? 1.0f : -1.0f;
+    int settle_delay_ms = cfg->settle_delay_ms;
+
+    ESP_LOGI(TAG, "Calibration started (step=%.1f°, max=%.1f°, dir=%s)",
+             step_angle, max_sweep, cfg->search_cw ? "CW" : "CCW");
+
+    while (total_sweep < max_sweep) {
+        float delta = direction * step_angle;
+        stepper_rotate_angle_with_accel(delta, s_rotate_speed_us);
+        s_current_angle = normalize_angle(s_current_angle + delta);
+        total_sweep += step_angle;
+
+        if (settle_delay_ms > 0) {
+            vTaskDelay(pdMS_TO_TICKS(settle_delay_ms));
+        }
+
+        if (is_switch_active(cfg)) {
+            s_current_angle = normalize_angle(cfg->calibration_angle);
+            stepper_motor_power_off();
+            ESP_LOGI(TAG, "Calibration complete, angle set to %.1f°", s_current_angle);
+            return ESP_OK;
+        }
+    }
+
+    stepper_motor_power_off();
+    ESP_LOGW(TAG, "Calibration failed: switch not triggered within %.1f°", max_sweep);
+    return ESP_ERR_TIMEOUT;
+}
+
+void direction_controller_set_calibration(const direction_controller_calibration_t *config)
+{
+    if (config == NULL) {
+        s_calibration_configured = false;
+        memset(&s_calibration, 0, sizeof(s_calibration));
+        return;
+    }
+
+    s_calibration = *config;
+    s_calibration_configured = true;
+}
+
+const direction_controller_calibration_t *direction_controller_get_calibration(void)
+{
+    if (!s_calibration_configured) {
+        return NULL;
+    }
+    return &s_calibration;
+}

components/direction_controller/include/direction_controller.h

@@ -0,0 +1,163 @@
+/*
+ * SPDX-FileCopyrightText: 2024-2025 Espressif Systems (Shanghai) CO LTD
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ */
+
+#pragma once
+
+#include <stdbool.h>
+#include <stddef.h>
+#include "driver/gpio.h"
+#include "esp_err.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* ========== Direction Definitions ========== */
+/**
+ * @brief Direction definition entry
+ */
+typedef struct {
+    const char *name_cn;        /* Chinese name */
+    const char *name_en;        /* English abbreviation */
+    float angle;                /* Angle relative to South */
+} direction_controller_direction_t;
+
+/**
+ * @brief Direction controller configuration
+ */
+typedef struct {
+    const direction_controller_direction_t *directions; /* Custom direction list, NULL to use default */
+    size_t direction_count;                             /* Number of directions */
+    float initial_angle;                                /* Initial angle relative to South */
+    int rotate_speed_us;                                /* Rotation speed (microseconds per step) */
+    bool init_stepper_gpio;                             /* Initialize stepper GPIO in init */
+    const struct direction_controller_calibration_t *calibration; /* Optional calibration config */
+} direction_controller_config_t;
+
+/**
+ * @brief Calibration switch configuration
+ */
+typedef struct direction_controller_calibration_t {
+    bool enabled;                   /* Enable calibration */
+    gpio_num_t gpio_num;            /* Switch GPIO */
+    int active_level;               /* Active logic level (0 or 1) */
+    bool pullup_en;                 /* Enable internal pull-up (if supported) */
+    bool pulldown_en;               /* Enable internal pull-down (if supported) */
+    float calibration_angle;        /* Angle to set when switch is active */
+    float step_angle_deg;           /* Step angle per search iteration */
+    float max_sweep_deg;            /* Maximum total sweep angle */
+    bool search_cw;                 /* Search direction: true=clockwise, false=counterclockwise */
+    int settle_delay_ms;            /* Delay after each step to allow switch settle */
+} direction_controller_calibration_t;
+
+/**
+ * @brief Parsed command types
+ */
+typedef enum {
+    DIRECTION_CONTROLLER_CMD_UNKNOWN = 0,
+    DIRECTION_CONTROLLER_CMD_HELP,
+    DIRECTION_CONTROLLER_CMD_POSITION,
+    DIRECTION_CONTROLLER_CMD_DIRECTION,
+    DIRECTION_CONTROLLER_CMD_CALIBRATE
+} direction_controller_cmd_t;
+
+/**
+ * @brief Initialize direction controller
+ *
+ * @param config Optional configuration, NULL uses defaults
+ */
+void direction_controller_init(const direction_controller_config_t *config);
+
+/**
+ * @brief Parse a command string
+ *
+ * @param input Input string (null-terminated)
+ * @param out_direction Output matched direction when command type is DIRECTION_CONTROLLER_CMD_DIRECTION
+ * @return Parsed command type
+ */
+direction_controller_cmd_t direction_controller_parse_command(const char *input,
+        const direction_controller_direction_t **out_direction);
+
+/**
+ * @brief Find direction by name
+ *
+ * @param input Direction name (Chinese or English abbreviation)
+ * @return Matched direction pointer, or NULL if not found
+ */
+const direction_controller_direction_t *direction_controller_find_direction(const char *input);
+
+/**
+ * @brief Rotate to specified angle
+ *
+ * @param target_angle Target angle relative to South
+ * @return ESP_OK on success
+ */
+esp_err_t direction_controller_rotate_to_angle(float target_angle);
+
+/**
+ * @brief Rotate to specified direction by name
+ *
+ * @param input Direction name (Chinese or English abbreviation)
+ * @return ESP_OK on success, ESP_ERR_NOT_FOUND if name is unknown
+ */
+esp_err_t direction_controller_rotate_to_direction(const char *input);
+
+/**
+ * @brief Calibrate direction using a switch
+ *
+ * @param config Optional calibration configuration, NULL uses config set in init
+ * @return ESP_OK on success
+ */
+esp_err_t direction_controller_calibrate(const direction_controller_calibration_t *config);
+
+/**
+ * @brief Get current angle
+ */
+float direction_controller_get_current_angle(void);
+
+/**
+ * @brief Set current angle (does not move motor)
+ */
+void direction_controller_set_current_angle(float angle);
+
+/**
+ * @brief Get current direction if it matches a defined direction
+ */
+const direction_controller_direction_t *direction_controller_get_current_direction(void);
+
+/**
+ * @brief Get direction count
+ */
+size_t direction_controller_get_direction_count(void);
+
+/**
+ * @brief Get direction by index
+ */
+const direction_controller_direction_t *direction_controller_get_direction(size_t index);
+
+/**
+ * @brief Get rotation speed (microseconds per step)
+ */
+int direction_controller_get_rotate_speed_us(void);
+
+/**
+ * @brief Set rotation speed (microseconds per step)
+ */
+void direction_controller_set_rotate_speed_us(int rotate_speed_us);
+
+/**
+ * @brief Set calibration configuration
+ */
+void direction_controller_set_calibration(const direction_controller_calibration_t *config);
+
+/**
+ * @brief Get calibration configuration (NULL if not configured)
+ */
+const direction_controller_calibration_t *direction_controller_get_calibration(void);
+
+#ifdef __cplusplus
+}
+#endif

main/CMakeLists.txt

@@ -1,2 +1,4 @@
 idf_component_register(SRCS "main.c"
-                    INCLUDE_DIRS ".")
+                    INCLUDE_DIRS "."
+                    REQUIRES "direction_controller"
+                    PRIV_REQUIRES "driver")

main/main.c

@@ -4,14 +4,14 @@
  * SPDX-License-Identifier: Apache-2.0
  */
 
+#include <ctype.h>
 #include <stdio.h>
 #include <string.h>
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
-#include "driver/gpio.h"
 #include "driver/uart.h"
 #include "esp_log.h"
-#include "stepper_motor.h"
+#include "direction_controller.h"
 
 static const char *TAG = "Direction Controller";
 
@@ -22,103 +22,6 @@ static const char *TAG = "Direction Controller";
 #define UART_BUF_SIZE       256
 #define INPUT_BUF_SIZE      64
 
-/* Current angle tracking (relative to South = 0°) */
-static float s_current_angle = 0.0f;
-
-/* Direction definitions (angles relative to South = 0°) */
-typedef struct {
-    const char *name_cn;        /* Chinese name */
-    const char *name_en;        /* English abbreviation */
-    float angle;                /* Angle relative to South */
-} direction_t;
-
-/* 
- * Direction angle mapping (South = 0°, clockwise positive)
- * 
- *              北 (180°)
- *               |
- *    西北(135°) |  东北(-135°/225°)
- *               |
- * 西(90°) ------+------ 东(-90°/270°)
- *               |
- *    西南(45°)  |  东南(-45°/315°)
- *               |
- *              南 (0°) [HOME]
- */
-static const direction_t directions[] = {
-    {"南",   "S",   0.0f},      /* South - Home position */
-    {"西南", "SW",  45.0f},     /* Southwest */
-    {"西",   "W",   90.0f},     /* West */
-    {"西北", "NW",  135.0f},    /* Northwest */
-    {"北",   "N",   180.0f},    /* North */
-    {"东北", "NE",  -135.0f},   /* Northeast */
-    {"东",   "E",   -90.0f},    /* East */
-    {"东南", "SE",  -45.0f},    /* Southeast */
-};
-#define NUM_DIRECTIONS (sizeof(directions) / sizeof(directions[0]))
-
-/**
- * @brief Calculate shortest rotation angle to target
- * 
- * @param current Current angle
- * @param target Target angle
- * @return Shortest rotation angle (positive = clockwise, negative = counter-clockwise)
- */
-static float calculate_shortest_rotation(float current, float target)
-{
-    float diff = target - current;
-    
-    /* Normalize to -180 ~ 180 range */
-    while (diff > 180.0f) {
-        diff -= 360.0f;
-    }
-    while (diff < -180.0f) {
-        diff += 360.0f;
-    }
-    
-    return diff;
-}
-
-/**
- * @brief Rotate to specified direction
- * 
- * @param target_angle Target angle (relative to South)
- */
-static void rotate_to_angle(float target_angle)
-{
-    float rotation = calculate_shortest_rotation(s_current_angle, target_angle);
-    
-    if (rotation == 0.0f) {
-        ESP_LOGI(TAG, "Already at target position");
-        return;
-    }
-    
-    ESP_LOGI(TAG, "Rotating from %.1f° to %.1f° (rotation: %.1f°)", 
-             s_current_angle, target_angle, rotation);
-    
-    stepper_rotate_angle_with_accel(rotation, STEPPER_SPEED_FAST);
-    s_current_angle = target_angle;
-    stepper_motor_power_off();
-    
-    ESP_LOGI(TAG, "Rotation complete, current position: %.1f°", s_current_angle);
-}
-
-/**
- * @brief Find direction by name
- * 
- * @param input User input string
- * @return Pointer to direction_t if found, NULL otherwise
- */
-static const direction_t* find_direction(const char *input)
-{
-    for (int i = 0; i < NUM_DIRECTIONS; i++) {
-        if (strcmp(input, directions[i].name_cn) == 0 ||
-            strcasecmp(input, directions[i].name_en) == 0) {
-            return &directions[i];
-        }
-    }
-    return NULL;
-}
 
 /**
  * @brief Print help message with available directions
@@ -129,18 +32,23 @@ static void print_help(void)
     printf("    方向控制系统 (Direction Control)\n");
     printf("========================================\n");
     printf("可用方向 (Available directions):\n");
-    printf("  南/S   - South    (0°)   [默认位置]\n");
+    size_t direction_count = direction_controller_get_direction_count();
-    printf("  西南/SW - Southwest (45°)\n");
+    for (size_t i = 0; i < direction_count; i++) {
-    printf("  西/W   - West     (90°)\n");
+        const direction_controller_direction_t *dir = direction_controller_get_direction(i);
-    printf("  西北/NW - Northwest (135°)\n");
+        if (dir == NULL) {
-    printf("  北/N   - North    (180°)\n");
+            continue;
-    printf("  东北/NE - Northeast (-135°)\n");
+        }
-    printf("  东/E   - East     (-90°)\n");
+        if (dir->angle == 0.0f) {
-    printf("  东南/SE - Southeast (-45°)\n");
+            printf("  %s/%s - %.1f° [默认位置]\n", dir->name_cn, dir->name_en, dir->angle);
+        } else {
+            printf("  %s/%s - %.1f°\n", dir->name_cn, dir->name_en, dir->angle);
+        }
+    }
     printf("----------------------------------------\n");
     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");
 }
 
@@ -149,14 +57,13 @@ static void print_help(void)
  */
 static void print_current_position(void)
 {
-    const char *dir_name = "未知";
+    const direction_controller_direction_t *dir = direction_controller_get_current_direction();
-    for (int i = 0; i < NUM_DIRECTIONS; i++) {
+    float angle = direction_controller_get_current_angle();
-        if (directions[i].angle == s_current_angle) {
+    if (dir != NULL) {
-            dir_name = directions[i].name_cn;
+        printf("当前位置: %s (%.1f°)\n", dir->name_cn, angle);
-            break;
+    } else {
-        }
+        printf("当前位置: 未知 (%.1f°)\n", angle);
     }
-    printf("当前位置: %s (%.1f°)\n", dir_name, s_current_angle);
 }
 
 /**
@@ -189,27 +96,58 @@ static void direction_control_task(void *arg)
                 
                 if (input_idx > 0) {
                     input_buf[input_idx] = '\0';
-                    
+
                     /* Trim leading/trailing whitespace */
                     char *cmd = input_buf;
-                    while (*cmd == ' ') cmd++;
+                    while (*cmd != '\0' && isspace((unsigned char)*cmd)) {
-                    char *end = cmd + strlen(cmd) - 1;
+                        cmd++;
-                    while (end > cmd && *end == ' ') *end-- = '\0';
+                    }
-                    
+                    char *end = cmd + strlen(cmd);
-                    /* Process command */
+                    while (end > cmd && isspace((unsigned char)*(end - 1))) {
-                    if (strcmp(cmd, "help") == 0 || strcmp(cmd, "?") == 0) {
+                        end--;
-                        print_help();
+                    }
-                    } else if (strcmp(cmd, "pos") == 0) {
+                    *end = '\0';
-                        print_current_position();
+
-                    } else {
+                    if (*cmd != '\0') {
-                        const direction_t *dir = find_direction(cmd);
+                        const direction_controller_direction_t *dir = NULL;
-                        if (dir != NULL) {
+                        direction_controller_cmd_t cmd_type =
-                            printf("目标方向: %s (%s, %.1f°)\n", 
+                            direction_controller_parse_command(cmd, &dir);
-                                   dir->name_cn, dir->name_en, dir->angle);
+
-                            rotate_to_angle(dir->angle);
+                        switch (cmd_type) {
-                        } else {
+                        case DIRECTION_CONTROLLER_CMD_HELP:
+                            print_help();
+                            break;
+                        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",
+                                       dir->name_cn, dir->name_en, dir->angle);
+                                if (direction_controller_rotate_to_angle(dir->angle) != ESP_OK) {
+                                    printf("旋转失败\n");
+                                }
+                            }
+                            break;
+                        default:
                             printf("未知方向: '%s'\n", cmd);
                             printf("输入 'help' 查看可用方向\n");
+                            break;
                         }
                     }
                 }
@@ -259,13 +197,29 @@ void app_main(void)
     ESP_LOGI(TAG, "========================================");
     
     /* Initialize peripherals */
-    stepper_motor_gpio_init();
+    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();
     
-    /* Set initial position to South (0°) */
-    s_current_angle = 0.0f;
-    stepper_motor_power_off();
-    
     ESP_LOGI(TAG, "Initial position: South (0°)");
 
     /* Start direction control task */