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修改了电机控制盒初始化，上电后暂不进行校准

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This commit is contained in:
CSBOOK\44744
2026-06-26 00:03:43 +08:00
parent 82eae93513
commit 61762b98fb
6 changed files with 54 additions and 83 deletions
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components/control_plane/src/runtime/control_plane_key_input.c
-18
View File
@@ -62,10 +62,6 @@
#define CONFIG_MULTIMODAL_PTT_BUTTON_PULLDOWN 0
#endif
#ifndef CONFIG_TQ_CALIBRATION_SWITCH_PULLDOWN
#define CONFIG_TQ_CALIBRATION_SWITCH_PULLDOWN 0
#endif
#ifndef CONFIG_TQ_SLOT_SWITCH_PULLDOWN
#define CONFIG_TQ_SLOT_SWITCH_PULLDOWN 0
#endif
@@ -120,20 +116,6 @@ static const control_plane_key_config_t s_key_configs[] = {
.enable_long_press = false,
.enable_double_click = false,
},
{
.key_id = CONTROL_PLANE_KEY_ID_SW1,
.gpio_num = CONFIG_TQ_CALIBRATION_SWITCH_GPIO,
.active_level = CONFIG_TQ_CALIBRATION_SWITCH_ACTIVE_LEVEL,
.pullup_enabled = CONFIG_TQ_CALIBRATION_SWITCH_PULLUP,
.pulldown_enabled = CONFIG_TQ_CALIBRATION_SWITCH_PULLDOWN,
.debounce_ms = CONFIG_TQ_KEY_DEBOUNCE_INTERVAL_MS,
.long_press_ms = CONFIG_TQ_KEY_LONG_PRESS_MS,
.double_click_ms = CONFIG_TQ_KEY_DOUBLE_CLICK_MS,
.emit_press_release = true,
.enable_short_press = true,
.enable_long_press = true,
.enable_double_click = true,
},
{
.key_id = CONTROL_PLANE_KEY_ID_SW2,
.gpio_num = CONFIG_TQ_SLOT_SWITCH_GPIO,
components/domain/src/calibration/domain_calibration_service.c
+33 -59
View File
@@ -16,7 +16,9 @@ static const char *TAG = "domain_cal";
#define DOMAIN_CALIBRATION_TIMEOUT_MS 20000
#define DOMAIN_CALIBRATION_STEP_TIMEOUT_MS 1500
#define DOMAIN_CALIBRATION_RELEASE_SWEEP_DEG 45.0f
#define DOMAIN_TURNTABLE_LIMIT_SEARCH_MAX_DEG 330.0f
#define DOMAIN_TURNTABLE_LIMIT_TO_HOME_DEG 180.0f
#define DOMAIN_TURNTABLE_HOME_ANGLE_DEG 0.0f
static float clamp_positive_default(float value, float default_value)
{
@@ -108,51 +110,6 @@ static esp_err_t calibration_rotate_and_track(float delta, int rotate_speed_us,
return domain_apply_rotation_delta(delta);
}
static esp_err_t calibration_release_active_switch(const domain_direction_calibration_t *calibration,
float step_angle,
float search_direction,
int rotate_speed_us,
TickType_t start_tick,
TickType_t timeout_ticks)
{
float release_sweep_limit = clamp_positive_default(DOMAIN_CALIBRATION_RELEASE_SWEEP_DEG,
step_angle);
float released_sweep = 0.0f;
float release_delta = -search_direction * step_angle;
while (released_sweep < release_sweep_limit) {
if (!is_calibration_switch_active(calibration)) {
ESP_LOGI(TAG, "Calibration switch released after %.1f deg", released_sweep);
return ESP_OK;
}
if (calibration_timeout_reached(start_tick, timeout_ticks)) {
return ESP_ERR_TIMEOUT;
}
int step_timeout_ms = calibration_step_timeout_ms(start_tick, timeout_ticks);
esp_err_t err = calibration_rotate_and_track(release_delta, rotate_speed_us, step_timeout_ms);
if (err != ESP_OK) {
return err;
}
released_sweep += step_angle;
if (!calibration_settle(calibration, start_tick, timeout_ticks)) {
return ESP_ERR_TIMEOUT;
}
}
if (is_calibration_switch_active(calibration)) {
ESP_LOGW(TAG,
"Calibration switch stayed active after %.1f deg release sweep",
released_sweep);
return ESP_ERR_INVALID_STATE;
}
ESP_LOGI(TAG, "Calibration switch released after %.1f deg", released_sweep);
return ESP_OK;
}
esp_err_t domain_calibrate_with_timeout(const domain_direction_calibration_t *config, int timeout_ms)
{
int effective_timeout_ms = timeout_ms > 0 ? timeout_ms : DOMAIN_CALIBRATION_TIMEOUT_MS;
@@ -190,37 +147,44 @@ esp_err_t domain_calibrate_with_timeout(const domain_direction_calibration_t *co
}
float step_angle = clamp_positive_default(calibration.step_angle_deg, 5.0f);
float max_sweep = clamp_positive_default(calibration.max_sweep_deg, 360.0f);
float configured_max_sweep = clamp_positive_default(calibration.max_sweep_deg,
DOMAIN_TURNTABLE_LIMIT_SEARCH_MAX_DEG);
float max_sweep = configured_max_sweep > DOMAIN_TURNTABLE_LIMIT_SEARCH_MAX_DEG ?
DOMAIN_TURNTABLE_LIMIT_SEARCH_MAX_DEG :
configured_max_sweep;
float total_sweep = 0.0f;
float direction = calibration.search_clockwise ? 1.0f : -1.0f;
int rotate_speed_us = domain_get_rotate_speed_us();
ESP_LOGI(TAG,
"Calibration start step=%.1f sweep=%.1f search=%s",
"Limit calibration start step=%.1f sweep=%.1f search=%s",
step_angle,
max_sweep,
calibration.search_clockwise ? "clockwise" : "counterclockwise");
if (is_calibration_switch_active(&calibration)) {
ESP_LOGI(TAG, "Calibration switch active at start, releasing before homing");
err = calibration_release_active_switch(&calibration,
step_angle,
direction,
ESP_LOGI(TAG, "Limit switch active at start; treating current position as 6 o'clock");
int return_timeout_ms = calibration_step_timeout_ms(start_tick, timeout_ticks);
err = calibration_rotate_and_track(-direction * DOMAIN_TURNTABLE_LIMIT_TO_HOME_DEG,
rotate_speed_us,
start_tick,
timeout_ticks);
return_timeout_ms);
if (err != ESP_OK) {
domain_runtime_stepper_power_off();
domain_direction_unlock_state();
return err;
}
domain_set_current_angle(DOMAIN_TURNTABLE_HOME_ANGLE_DEG);
domain_runtime_stepper_power_off();
domain_direction_unlock_state();
ESP_LOGI(TAG, "Turntable home reached from active limit switch");
return ESP_OK;
}
while (total_sweep < max_sweep) {
if (calibration_timeout_reached(start_tick, timeout_ticks)) {
domain_runtime_stepper_power_off();
domain_direction_unlock_state();
ESP_LOGW(TAG, "Calibration timed out after %.1f deg search", total_sweep);
ESP_LOGW(TAG, "Limit calibration timed out after %.1f deg search", total_sweep);
return ESP_ERR_TIMEOUT;
}
@@ -237,21 +201,31 @@ esp_err_t domain_calibrate_with_timeout(const domain_direction_calibration_t *co
if (!calibration_settle(&calibration, start_tick, timeout_ticks)) {
domain_runtime_stepper_power_off();
domain_direction_unlock_state();
ESP_LOGW(TAG, "Calibration timed out during settle after %.1f deg search", total_sweep);
ESP_LOGW(TAG, "Limit calibration timed out during settle after %.1f deg search", total_sweep);
return ESP_ERR_TIMEOUT;
}
if (is_calibration_switch_active(&calibration)) {
domain_set_current_angle(calibration.calibration_angle);
ESP_LOGI(TAG, "Limit switch detected after %.1f deg; current position is 6 o'clock", total_sweep);
int return_timeout_ms = calibration_step_timeout_ms(start_tick, timeout_ticks);
err = calibration_rotate_and_track(-direction * DOMAIN_TURNTABLE_LIMIT_TO_HOME_DEG,
rotate_speed_us,
return_timeout_ms);
if (err != ESP_OK) {
domain_runtime_stepper_power_off();
domain_direction_unlock_state();
ESP_LOGI(TAG, "Calibration switch detected after %.1f deg", total_sweep);
return err;
}
domain_set_current_angle(DOMAIN_TURNTABLE_HOME_ANGLE_DEG);
domain_runtime_stepper_power_off();
domain_direction_unlock_state();
ESP_LOGI(TAG, "Turntable home reached after limit calibration");
return ESP_OK;
}
}
domain_runtime_stepper_power_off();
domain_direction_unlock_state();
ESP_LOGW(TAG, "Calibration sweep exhausted after %.1f deg", total_sweep);
ESP_LOGW(TAG, "Limit switch not found after %.1f deg search", total_sweep);
return ESP_ERR_TIMEOUT;
}
components/domain/src/direction/domain_direction_service.c
+2 -2
View File
@@ -19,9 +19,9 @@ static const char *TAG = "domain";
#define DOMAIN_ROTATE_TIMEOUT_MS 8000
#define DOMAIN_STATE_LOCK_TIMEOUT_MS 2000
#define DOMAIN_DEFAULT_CALIBRATION_ENABLED 1
#define DOMAIN_DEFAULT_CALIBRATION_ANGLE_DEG 180.0f
#define DOMAIN_DEFAULT_CALIBRATION_ANGLE_DEG 0.0f
#define DOMAIN_DEFAULT_CALIBRATION_STEP_ANGLE_DEG 5.0f
#define DOMAIN_DEFAULT_CALIBRATION_MAX_SWEEP_DEG 360.0f
#define DOMAIN_DEFAULT_CALIBRATION_MAX_SWEEP_DEG 330.0f
#define DOMAIN_DEFAULT_CALIBRATION_SEARCH_CLOCKWISE 1
#define DOMAIN_DEFAULT_CALIBRATION_SETTLE_DELAY_MS 10
components/platform/src/platform_stepper_driver.c
+10
View File
@@ -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;
main/Kconfig.projbuild
+7 -3
View File
@@ -136,7 +136,9 @@ menu "Example Configuration"
bool "Enable interrupt-driven key input task"
default y
help
Start the staged GPIO interrupt key input task for PTT, SW1, and SW2.
Start the staged GPIO interrupt key input task for PTT and SW2.
SW1 is reserved as the turntable limit switch and is not
emitted as a normal key event.
config TQ_KEY_INPUT_TASK_STACK
int "Key input task stack size"
@@ -358,9 +360,11 @@ menu "Example Configuration"
config TQ_BOOT_TURNTABLE_CALIBRATION_ENABLE
bool "Run turntable calibration at boot"
default y
default n
help
Disable when the turntable calibration mechanism is not present.
Keep disabled for staged module verification. The calibration
API remains available for key, voice, console, or system-event
triggers after boot.
config TQ_STEPPER_IN1_GPIO
int "Turntable stepper IN1 GPIO"
sdkconfig.defaults
+1
View File
@@ -195,6 +195,7 @@ CONFIG_TQ_SLOT_SWITCH_GPIO=45
CONFIG_TQ_SLOT_SWITCH_ACTIVE_LEVEL=0
CONFIG_TQ_SLOT_SWITCH_PULLUP=y
# CONFIG_TQ_SLOT_SWITCH_PULLDOWN is not set
CONFIG_TQ_BOOT_TURNTABLE_CALIBRATION_ENABLE=n
CONFIG_TQ_STEPPER_IN1_GPIO=13
CONFIG_TQ_STEPPER_IN2_GPIO=14
CONFIG_TQ_STEPPER_IN3_GPIO=21