修改了电机控制盒初始化，上电后暂不进行校准

components/platform/src/platform_stepper_driver.c

@@ -9,6 +9,7 @@
 #include <math.h>
 
 #include "driver/gpio.h"
+#include "esp_log.h"
 #include "esp_timer.h"
 #include "esp_rom_sys.h"
 #include "freertos/FreeRTOS.h"
@@ -39,9 +40,11 @@
 #define PLATFORM_STEPPER_DECEL_STEPS     48
 #define PLATFORM_STEPPER_STEPS_PER_REV   4128.0f
 #define PLATFORM_STEPPER_POWER_OFF_WAIT_MS 1000
+#define PLATFORM_STEPPER_MAX_ROTATION_DEG 330.0f
 #define PLATFORM_GPIO_LOW_BANK_MAX_PIN   31
 #define PLATFORM_GPIO_HIGH_BANK_OFFSET   32
 
+static const char *TAG = "platform_stepper";
 static portMUX_TYPE s_stepper_mux = portMUX_INITIALIZER_UNLOCKED;
 static SemaphoreHandle_t s_stepper_motion_mutex;
 #if ( configSUPPORT_STATIC_ALLOCATION == 1 )
@@ -331,6 +334,13 @@ esp_err_t platform_stepper_driver_rotate_angle_with_accel(float angle,
     if (!ensure_stepper_motion_mutex()) {
         return ESP_ERR_INVALID_STATE;
     }
+    if (fabsf(angle) > PLATFORM_STEPPER_MAX_ROTATION_DEG) {
+        ESP_LOGE(TAG,
+                 "rotation rejected: angle %.1f exceeds %.1f deg limit",
+                 angle,
+                 PLATFORM_STEPPER_MAX_ROTATION_DEG);
+        return ESP_ERR_INVALID_ARG;
+    }
 
     int64_t start_ms = esp_timer_get_time() / 1000;
     TickType_t lock_ticks = (timeout_ms > 0) ? pdMS_TO_TICKS(timeout_ms) : portMAX_DELAY;