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