56 lines
2.1 KiB
C
56 lines
2.1 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 "domain.h"
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#include "esp_err.h"
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/*
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* domain 私有协作接口：目录、角度数学、校准存储和 platform 适配器只供本组件实现
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* 使用。上层不得包含此文件；所有跨层契约必须经 domain.h 暴露。
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*/
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typedef struct {
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const char *name_cn;
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const char *name_en;
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float angle;
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} domain_direction_entry_t;
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size_t domain_direction_catalog_count(void);
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const domain_direction_entry_t *domain_direction_catalog_get(size_t index);
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bool domain_direction_catalog_find_by_name(const char *input, size_t *out_index);
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bool domain_direction_catalog_find_by_angle(float angle, size_t *out_index);
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float domain_angle_normalize(float angle);
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float domain_angle_shortest_rotation(float current, float target);
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void domain_calibration_store_set(const domain_direction_calibration_t *config);
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bool domain_calibration_store_get(domain_direction_calibration_t *out_config);
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bool domain_direction_lock_state(int timeout_ms);
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/* 状态锁保护角度/初始化快照，物理运动由 direction service 的另一互斥锁串行化。 */
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void domain_direction_unlock_state(void);
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typedef struct {
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int gpio_num;
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int active_level;
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bool pullup_enabled;
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bool pulldown_enabled;
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} domain_digital_input_config_t;
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esp_err_t domain_runtime_platform_init(void);
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esp_err_t domain_runtime_stepper_rotate_angle_with_accel_timeout(float angle,
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int target_delay_us,
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int timeout_ms);
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esp_err_t domain_runtime_stepper_release_hold(int timeout_ms);
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void domain_runtime_stepper_power_off(void);
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esp_err_t domain_runtime_digital_input_configure(const domain_digital_input_config_t *config);
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bool domain_runtime_digital_input_is_active(const domain_digital_input_config_t *config);
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esp_err_t domain_runtime_calibration_switch_init(void);
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bool domain_runtime_calibration_switch_is_active(void);
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