From 0b2eebe76d9a72e7b8cb46e4daa74c56f610baa5 Mon Sep 17 00:00:00 2001 From: wang Date: Thu, 7 May 2026 17:24:10 +0800 Subject: [PATCH] Add initial board, HAL, and executor modules --- main/02_physical/boards/board_sweekar.h | 25 + .../boards/board_v1_1_11/board_sweekar.cc | 261 ++++ .../boards/board_v1_1_11/board_sweekar.h | 46 + .../02_physical/boards/board_v1_1_11/config.h | 138 +++ .../board_v1_1_11/io_expansion_board.cc | 732 ++++++++++++ .../boards/board_v1_1_11/io_expansion_board.h | 284 +++++ .../boards/board_v1_1_12/board_sweekar.cc | 257 ++++ .../boards/board_v1_1_12/board_sweekar.h | 38 + .../02_physical/boards/board_v1_1_12/config.h | 139 +++ .../board_v1_1_12/io_expansion_board.cc | 724 ++++++++++++ .../boards/board_v1_1_12/io_expansion_board.h | 284 +++++ .../boards/board_v1_1_13/board_sweekar.cc | 311 +++++ .../boards/board_v1_1_13/board_sweekar.h | 45 + .../02_physical/boards/board_v1_1_13/config.h | 145 +++ .../board_v1_1_13/io_expansion_board.cc | 1053 +++++++++++++++++ .../boards/board_v1_1_13/io_expansion_board.h | 419 +++++++ .../boards/board_v1_1_14/board_sweekar.cc | 702 +++++++++++ .../boards/board_v1_1_14/board_sweekar.h | 171 +++ .../board_sweekar_complete_init.cc | 186 +++ .../02_physical/boards/board_v1_1_14/config.h | 132 +++ .../board_v1_1_14/io_expansion_board.cc | 1023 ++++++++++++++++ .../boards/board_v1_1_14/io_expansion_board.h | 421 +++++++ .../board_v1_1_14/power_management_config.h | 178 +++ .../boards/board_v1_1_16/board_sweekar.cc | 738 ++++++++++++ .../boards/board_v1_1_16/board_sweekar.h | 174 +++ .../board_sweekar_complete_init.cc | 186 +++ .../02_physical/boards/board_v1_1_16/config.h | 138 +++ .../board_v1_1_16/io_expansion_board.cc | 1034 ++++++++++++++++ .../boards/board_v1_1_16/io_expansion_board.h | 432 +++++++ .../board_v1_1_16/power_management_config.h | 178 +++ .../boards/board_v1_1_17/board_sweekar.cc | 780 ++++++++++++ .../boards/board_v1_1_17/board_sweekar.h | 181 +++ .../board_sweekar_complete_init.cc | 186 +++ .../02_physical/boards/board_v1_1_17/config.h | 136 +++ .../board_v1_1_17/io_expansion_board.cc | 1040 ++++++++++++++++ .../boards/board_v1_1_17/io_expansion_board.h | 432 +++++++ .../board_v1_1_17/power_management_config.h | 178 +++ .../boards/board_v1_1_18/board_sweekar.cc | 778 ++++++++++++ .../boards/board_v1_1_18/board_sweekar.h | 181 +++ .../board_sweekar_complete_init.cc | 200 ++++ .../02_physical/boards/board_v1_1_18/config.h | 136 +++ .../board_v1_1_18/io_expansion_board.cc | 1040 ++++++++++++++++ .../boards/board_v1_1_18/io_expansion_board.h | 432 +++++++ .../board_v1_1_18/power_management_config.h | 178 +++ main/02_physical/boards/config.h | 26 + main/02_physical/boards/module.cmake | 35 + main/04_hal/audio_codec/audio_codec.cc | 247 ++++ main/04_hal/audio_codec/audio_codec.h | 74 ++ main/04_hal/audio_codec/module.cmake | 16 + main/04_hal/base_board_hal/base_board_hal.h | 41 + .../base_board_hal/base_board_hal_i2c.h | 65 + .../base_board_hal/base_board_hal_uart.h | 45 + main/04_hal/base_board_hal/module.cmake | 13 + main/04_hal/stepper_driver/aw8646.cc | 213 ++++ main/04_hal/stepper_driver/aw8646.h | 27 + main/04_hal/stepper_driver/aw8646.pdf | Bin 0 -> 1485355 bytes main/04_hal/stepper_driver/drv8428.cc | 147 +++ main/04_hal/stepper_driver/drv8428.h | 25 + main/04_hal/stepper_driver/module.cmake | 17 + main/04_hal/stepper_driver/stepper_driver.h | 54 + .../adc_battery_monitor.cc | 167 +++ .../adc_battery_monitor/adc_battery_monitor.h | 47 + .../adc_battery_monitor/module.cmake | 16 + .../base_board_control/base_board_control.cc | 257 ++++ .../base_board_control/base_board_control.h | 63 + .../base_board_control/module.cmake | 16 + main/05_executors/gyroscope/gyroscope.cc | 625 ++++++++++ main/05_executors/gyroscope/gyroscope.h | 214 ++++ main/05_executors/gyroscope/module.cmake | 16 + .../millimeter_wave_radar.cc | 202 ++++ .../millimeter_wave_radar.h | 82 ++ .../millimeter_wave_radar/module.cmake | 16 + .../photo_interrupter/module.cmake | 16 + .../photo_interrupter/photo_interrupter.cc | 129 ++ .../photo_interrupter/photo_interrupter.h | 87 ++ main/CMakeLists.txt | 150 +++ main/Kconfig.modules | 52 + main/Kconfig.projbuild | 544 +++++++++ main/MODULE_DEVELOPMENT_GUIDE.md | 124 ++ main/generate_kconfig_modules.py | 247 ++++ main/idf_component.yml | 19 + main/main.cc | 5 + 82 files changed, 20611 insertions(+) create mode 100644 main/02_physical/boards/board_sweekar.h create mode 100644 main/02_physical/boards/board_v1_1_11/board_sweekar.cc create mode 100644 main/02_physical/boards/board_v1_1_11/board_sweekar.h create mode 100644 main/02_physical/boards/board_v1_1_11/config.h create mode 100644 main/02_physical/boards/board_v1_1_11/io_expansion_board.cc create mode 100644 main/02_physical/boards/board_v1_1_11/io_expansion_board.h create mode 100644 main/02_physical/boards/board_v1_1_12/board_sweekar.cc create mode 100644 main/02_physical/boards/board_v1_1_12/board_sweekar.h create mode 100644 main/02_physical/boards/board_v1_1_12/config.h create mode 100644 main/02_physical/boards/board_v1_1_12/io_expansion_board.cc create mode 100644 main/02_physical/boards/board_v1_1_12/io_expansion_board.h create mode 100644 main/02_physical/boards/board_v1_1_13/board_sweekar.cc create mode 100644 main/02_physical/boards/board_v1_1_13/board_sweekar.h create mode 100644 main/02_physical/boards/board_v1_1_13/config.h create mode 100644 main/02_physical/boards/board_v1_1_13/io_expansion_board.cc create mode 100644 main/02_physical/boards/board_v1_1_13/io_expansion_board.h create mode 100644 main/02_physical/boards/board_v1_1_14/board_sweekar.cc create mode 100644 main/02_physical/boards/board_v1_1_14/board_sweekar.h create mode 100644 main/02_physical/boards/board_v1_1_14/board_sweekar_complete_init.cc create mode 100644 main/02_physical/boards/board_v1_1_14/config.h create mode 100644 main/02_physical/boards/board_v1_1_14/io_expansion_board.cc create mode 100644 main/02_physical/boards/board_v1_1_14/io_expansion_board.h create mode 100644 main/02_physical/boards/board_v1_1_14/power_management_config.h create mode 100644 main/02_physical/boards/board_v1_1_16/board_sweekar.cc create mode 100644 main/02_physical/boards/board_v1_1_16/board_sweekar.h create mode 100644 main/02_physical/boards/board_v1_1_16/board_sweekar_complete_init.cc create mode 100644 main/02_physical/boards/board_v1_1_16/config.h create mode 100644 main/02_physical/boards/board_v1_1_16/io_expansion_board.cc create mode 100644 main/02_physical/boards/board_v1_1_16/io_expansion_board.h create mode 100644 main/02_physical/boards/board_v1_1_16/power_management_config.h create mode 100644 main/02_physical/boards/board_v1_1_17/board_sweekar.cc create mode 100644 main/02_physical/boards/board_v1_1_17/board_sweekar.h create mode 100644 main/02_physical/boards/board_v1_1_17/board_sweekar_complete_init.cc create mode 100644 main/02_physical/boards/board_v1_1_17/config.h create mode 100644 main/02_physical/boards/board_v1_1_17/io_expansion_board.cc create mode 100644 main/02_physical/boards/board_v1_1_17/io_expansion_board.h create mode 100644 main/02_physical/boards/board_v1_1_17/power_management_config.h create mode 100644 main/02_physical/boards/board_v1_1_18/board_sweekar.cc create mode 100644 main/02_physical/boards/board_v1_1_18/board_sweekar.h create mode 100644 main/02_physical/boards/board_v1_1_18/board_sweekar_complete_init.cc create mode 100644 main/02_physical/boards/board_v1_1_18/config.h create mode 100644 main/02_physical/boards/board_v1_1_18/io_expansion_board.cc create mode 100644 main/02_physical/boards/board_v1_1_18/io_expansion_board.h create mode 100644 main/02_physical/boards/board_v1_1_18/power_management_config.h create mode 100644 main/02_physical/boards/config.h create mode 100644 main/02_physical/boards/module.cmake create mode 100644 main/04_hal/audio_codec/audio_codec.cc create mode 100644 main/04_hal/audio_codec/audio_codec.h create mode 100644 main/04_hal/audio_codec/module.cmake create mode 100644 main/04_hal/base_board_hal/base_board_hal.h create mode 100644 main/04_hal/base_board_hal/base_board_hal_i2c.h create mode 100644 main/04_hal/base_board_hal/base_board_hal_uart.h create mode 100644 main/04_hal/base_board_hal/module.cmake create mode 100644 main/04_hal/stepper_driver/aw8646.cc create mode 100644 main/04_hal/stepper_driver/aw8646.h create mode 100644 main/04_hal/stepper_driver/aw8646.pdf create mode 100644 main/04_hal/stepper_driver/drv8428.cc create mode 100644 main/04_hal/stepper_driver/drv8428.h create mode 100644 main/04_hal/stepper_driver/module.cmake create mode 100644 main/04_hal/stepper_driver/stepper_driver.h create mode 100644 main/05_executors/adc_battery_monitor/adc_battery_monitor.cc create mode 100644 main/05_executors/adc_battery_monitor/adc_battery_monitor.h create mode 100644 main/05_executors/adc_battery_monitor/module.cmake create mode 100644 main/05_executors/base_board_control/base_board_control.cc create mode 100644 main/05_executors/base_board_control/base_board_control.h create mode 100644 main/05_executors/base_board_control/module.cmake create mode 100644 main/05_executors/gyroscope/gyroscope.cc create mode 100644 main/05_executors/gyroscope/gyroscope.h create mode 100644 main/05_executors/gyroscope/module.cmake create mode 100644 main/05_executors/millimeter_wave_radar/millimeter_wave_radar.cc create mode 100644 main/05_executors/millimeter_wave_radar/millimeter_wave_radar.h create mode 100644 main/05_executors/millimeter_wave_radar/module.cmake create mode 100644 main/05_executors/photo_interrupter/module.cmake create mode 100644 main/05_executors/photo_interrupter/photo_interrupter.cc create mode 100644 main/05_executors/photo_interrupter/photo_interrupter.h create mode 100644 main/CMakeLists.txt create mode 100644 main/Kconfig.modules create mode 100644 main/Kconfig.projbuild create mode 100644 main/MODULE_DEVELOPMENT_GUIDE.md create mode 100644 main/generate_kconfig_modules.py create mode 100644 main/idf_component.yml create mode 100644 main/main.cc diff --git a/main/02_physical/boards/board_sweekar.h b/main/02_physical/boards/board_sweekar.h new file mode 100644 index 0000000..7c60516 --- /dev/null +++ b/main/02_physical/boards/board_sweekar.h @@ -0,0 +1,25 @@ +#ifndef BOARD_SELECTION_H +#define BOARD_SELECTION_H + +#include "sdkconfig.h" + +// 根据menuconfig的配置选择不同的board版本 +#ifdef CONFIG_BOARD_VERSION_V1_1_11 + #include "02_physical/boards/board_v1_1_11/board_sweekar.h" +#elif defined(CONFIG_BOARD_VERSION_V1_1_12) + #include "02_physical/boards/board_v1_1_12/board_sweekar.h" +#elif defined(CONFIG_BOARD_VERSION_V1_1_13) + #include "02_physical/boards/board_v1_1_13/board_sweekar.h" +#elif defined(CONFIG_BOARD_VERSION_V1_1_14) + #include "02_physical/boards/board_v1_1_14/board_sweekar.h" +#elif defined(CONFIG_BOARD_VERSION_V1_1_16) + #include "02_physical/boards/board_v1_1_16/board_sweekar.h" +#elif defined(CONFIG_BOARD_VERSION_V1_1_17) + #include "02_physical/boards/board_v1_1_17/board_sweekar.h" +#elif defined(CONFIG_BOARD_VERSION_V1_1_18) + #include "02_physical/boards/board_v1_1_18/board_sweekar.h" +#else + #include "02_physical/boards/board_v1_1_11/board_sweekar.h" +#endif + +#endif // BOARD_SELECTION_H \ No newline at end of file diff --git a/main/02_physical/boards/board_v1_1_11/board_sweekar.cc b/main/02_physical/boards/board_v1_1_11/board_sweekar.cc new file mode 100644 index 0000000..9915adf --- /dev/null +++ b/main/02_physical/boards/board_v1_1_11/board_sweekar.cc @@ -0,0 +1,261 @@ +/** + * @file board.cc + * @brief 板级外设初始化类,包含步进电机、毫米波雷达、I2C总线等外设的初始化函数。 + * @author zouyuhua + * @date 2025年8月7日 + * + */ + +extern "C" { +#include "esp_log.h" +#include "driver/gpio.h" +#include "driver/uart.h" +#include "driver/ledc.h" +#include "esp_err.h" +#include "freertos/FreeRTOS.h" +#include "freertos/task.h" +#include "hal/gpio_types.h" +#include "hal/uart_types.h" +#include "esp_check.h" +#include "sdkconfig.h" +#include "i2c_bus.h" +} + +#include "board_sweekar.h" +#include "config.h" +#include "drv8428.h" +#include "aw8646.h" + +#define TAG "board_sweekar" + +BoardSweekar::BoardSweekar() +{ +#ifdef CONFIG_STEPPER_DRIVER_AW8646 + stepper_driver_ = new Aw8646Driver(io_expansion_); +#else + stepper_driver_ = new Drv8428Driver(io_expansion_); +#endif +} + +BoardSweekar::~BoardSweekar() +{ + if (stepper_driver_) { + delete stepper_driver_; + stepper_driver_ = nullptr; + } +} + +/** + * @file board.h + * @brief 板级外设初始化类 + */ +/** + * @brief 步进电机初始化函数 + * + * 配置LEDC定时器和通道用于PWM输出,设置步进电机的工作模式、使能状态、细分模式和方向, + * 并初始化PWM占空比为50%。初始化过程中若出现错误,会通过ESP_LOGE输出错误信息及错误码。 + */ +void BoardSweekar::StepperMotorInit(void) +{ + esp_err_t err = ESP_OK; + + // 1) STEP 引脚改为普通 GPIO + gpio_config_t io_cfg; + io_cfg.pin_bit_mask = 1ULL << STEPPER_STEP_IO; + io_cfg.mode = GPIO_MODE_OUTPUT; + io_cfg.pull_up_en = GPIO_PULLUP_DISABLE; + io_cfg.pull_down_en = GPIO_PULLDOWN_DISABLE; + io_cfg.intr_type = GPIO_INTR_DISABLE; + err = gpio_config(&io_cfg); + if (err != ESP_OK) + { + ESP_LOGE(TAG_BOARD, "步进电机 STEP GPIO 配置失败, 错误码: 0x%x", err); + } + + // 初始电平拉低 + gpio_set_level(STEPPER_STEP_IO, 0); + + // 2) 检查 I2C 总线是否已初始化 + if (bus_handle_ == nullptr) + { + ESP_LOGE(TAG_BOARD, "I2C总线未初始化,请先调用I2CMasterInit()"); + return; + } + + // 3) 初始化驱动对象并初始化 + if (stepper_driver_) { + err = stepper_driver_->Init(); + if (err != ESP_OK) { + ESP_LOGE(TAG_BOARD, "步进电机驱动初始化失败, 错误码: 0x%x", err); + } + } else { + ESP_LOGE(TAG_BOARD, "步进电机驱动创建失败"); + } +} + +/** + * @brief 毫米波雷达串口初始化函数 + * + * 配置毫米波雷达所使用的串口参数(波特率、数据位、校验位、停止位等),设置串口引脚, + * 并安装串口驱动。采用较大的RX/TX FIFO深度以处理突发数据,禁用驱动自带事件队列以避免 + * 与自定义中断冲突。 + */ +void BoardSweekar::MillimeterWaveRadarUartInit(void) +{ + uart_config_t uart_config = { + .baud_rate = BAUD_RATE, + .data_bits = UART_DATA_8_BITS, + .parity = UART_PARITY_DISABLE, + .stop_bits = UART_STOP_BITS_1, + .flow_ctrl = UART_HW_FLOWCTRL_DISABLE, + .source_clk = UART_SCLK_DEFAULT, + }; + + // 1. 设置串口参数 + ESP_ERROR_CHECK(uart_param_config(RADAR_UART_NUM, &uart_config)); + + // 2. 设置 UART 引脚 + ESP_ERROR_CHECK(uart_set_pin(RADAR_UART_NUM, UART_TX_PIN, UART_RX_PIN, + UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE)); + + // 3. 安装 UART 驱动(禁用驱动自带事件队列,避免与自定义中断冲突) + // 增加 RX/TX FIFO 深度以处理突发数据 + ESP_ERROR_CHECK(uart_driver_install(RADAR_UART_NUM, RADAR_BUF_SIZE * 4, RADAR_BUF_SIZE * 4, + 0, NULL, 0)); +} + +/** + * @brief 毫米波雷达中断引脚初始化函数 + * + * 配置毫米波雷达中断引脚为输入模式,禁用上拉电阻,使能下拉电阻,初始禁用中断功能 + * (如需使用中断需单独进行配置)。 + */ +void BoardSweekar::MillimeterWaveRadarGpioInit(void) +{ + // GPIO配置结构体 + gpio_config_t io_conf = { + .pin_bit_mask = (1ULL << MILLIMETER_WAVE_RADAR_PIN), // 选择GPIO引脚 + .mode = GPIO_MODE_INPUT, // 设置为输入模式 + .pull_up_en = GPIO_PULLUP_DISABLE, + .pull_down_en = GPIO_PULLDOWN_ENABLE, // 使能下拉 + .intr_type = GPIO_INTR_DISABLE // 禁用中断(如需中断需单独配置) + }; + + // 配置GPIO + gpio_config(&io_conf); +} + +/** + * @brief I2C总线及从机设备初始化函数 + * + * 首先配置并创建I2C主机总线,然后依次添加IO扩展板和线性马达作为I2C从机设备到总线上。 + * 若总线创建或设备添加失败,会输出错误信息并进行相应的资源清理(删除已创建的总线)。 + * 初始化成功后,会通过ESP_LOGI输出IO扩展板和线性马达的从机地址信息。 + * + * @return esp_err_t 初始化结果,ESP_OK表示成功,其他错误码表示相应的失败原因 + */ +esp_err_t BoardSweekar::I2CMasterInit(void) +{ + static const char *I2C_INIT = "I2C_INIT"; + + // 初始化IO扩展板复位引脚 + gpio_config_t reset_io_conf = { + .pin_bit_mask = (1ULL << IO_EXPAND_RSTN), + .mode = GPIO_MODE_OUTPUT, + .pull_up_en = GPIO_PULLUP_ENABLE, // 使能上拉 + .pull_down_en = GPIO_PULLDOWN_DISABLE, + .intr_type = GPIO_INTR_DISABLE + }; + gpio_config(&reset_io_conf); + + // 执行复位时序：先拉低100ms,再拉高并等待100ms + gpio_set_level(IO_EXPAND_RSTN, 0); // 拉低复位 + vTaskDelay(pdMS_TO_TICKS(100)); // 等待100ms + gpio_set_level(IO_EXPAND_RSTN, 1); // 释放复位 + vTaskDelay(pdMS_TO_TICKS(100)); // 等待设备启动 + + ESP_LOGI(I2C_INIT, "IO扩展板复位完成"); + + // 创建统一的I2C总线（使用ESP-ADF的i2c_bus） + i2c_config_t i2c_cfg = { + .mode = I2C_MODE_MASTER, + .sda_io_num = I2C0_MASTER_SDA_IO, + .scl_io_num = I2C0_MASTER_SCL_IO, + .sda_pullup_en = GPIO_PULLUP_ENABLE, + .scl_pullup_en = GPIO_PULLUP_ENABLE, + .master = { + .clk_speed = 100000, + }, + }; + + // 创建I2C总线（ESP-ADF的audio_board_init会复用这个总线） + bus_handle_ = i2c_bus_create(I2C0_MASTER_PORT, &i2c_cfg); + if (bus_handle_ == NULL) { + ESP_LOGE(TAG, "Failed to create I2C bus"); + return ESP_FAIL; + } + + vTaskDelay(pdMS_TO_TICKS(100)); // 等待设备启动 + // ESP-ADF的i2c_bus不需要单独添加设备,直接通过总线句柄和设备地址进行通信 + + // 验证线性马达设备是否存在 + esp_err_t err = i2c_bus_probe_addr(bus_handle_, LINEAR_MOTOR_I2C_SLAVE_ADDR << 1); + if (err != ESP_OK) { + ESP_LOGE(I2C_INIT, "线性马达设备未找到(地址:0x%02X),错误码: 0x%x", LINEAR_MOTOR_I2C_SLAVE_ADDR, err); + // 不返回错误,继续初始化 + } else { + ESP_LOGI(I2C_INIT, "线性马达设备检测成功(地址:0x%02X)", LINEAR_MOTOR_I2C_SLAVE_ADDR); + } + // 验证IO扩展板设备是否存在 + err = i2c_bus_probe_addr(bus_handle_, I2C_IO_EXPAND_SLAVE_ADDR << 1); + if (err != ESP_OK) { + ESP_LOGE(I2C_INIT, "IO扩展板设备未找到(地址:0x%02X),错误码: 0x%x", I2C_IO_EXPAND_SLAVE_ADDR, err); + // 不返回错误,继续初始化其他设备 + } else { + ESP_LOGI(I2C_INIT, "IO扩展板设备检测成功(地址:0x%02X)", I2C_IO_EXPAND_SLAVE_ADDR); + } + // 验证陀螺仪设备是否存在 + err = i2c_bus_probe_addr(bus_handle_, GYROSCOPE_I2C_SLAVE_ADDR << 1); + if (err != ESP_OK) { + ESP_LOGE(I2C_INIT, "陀螺仪设备未找到(地址:0x%02X),错误码: 0x%x", GYROSCOPE_I2C_SLAVE_ADDR, err); + // 不返回错误,继续初始化 + } else { + ESP_LOGI(I2C_INIT, "陀螺仪设备检测成功(地址:0x%02X)", GYROSCOPE_I2C_SLAVE_ADDR); + } + + // 为IO扩展板设置总线句柄和设备地址（使用7位地址） + io_expansion_.bus_handle_ = bus_handle_; + io_expansion_.device_addr_ = I2C_IO_EXPAND_SLAVE_ADDR << 1; + + // 为线性马达设置总线句柄和设备地址（使用7位地址） + linear_motor_.bus_handle_ = bus_handle_; + linear_motor_.device_addr_ = LINEAR_MOTOR_I2C_SLAVE_ADDR << 1; + + ESP_LOGI(I2C_INIT, "I2C总线初始化完成"); + return ESP_OK; +} + +/** + * @brief 开启VBAT to VBAT_5V + * + * 创建开启升压的电源管理单元 + * + */ +void BoardSweekar::VbatToVbat5vInit(void) +{ + // 配置VBAT_5V引脚为输出模式 + gpio_config_t io_conf = { + .pin_bit_mask = (1ULL << VBAT_5V_PIN), + .mode = GPIO_MODE_OUTPUT, + .pull_up_en = GPIO_PULLUP_DISABLE, + .pull_down_en = GPIO_PULLDOWN_DISABLE, + .intr_type = GPIO_INTR_DISABLE + }; + gpio_config(&io_conf); + // 使能VBAT_5V + gpio_set_level(VBAT_5V_PIN, 1); +} + + + + diff --git a/main/02_physical/boards/board_v1_1_11/board_sweekar.h b/main/02_physical/boards/board_v1_1_11/board_sweekar.h new file mode 100644 index 0000000..d644169 --- /dev/null +++ b/main/02_physical/boards/board_v1_1_11/board_sweekar.h @@ -0,0 +1,46 @@ +#ifndef __BOARD_H__ +#define __BOARD_H__ +#include "config.h" +#include "io_expansion_board.h" +#include "stepper_motor.h" +#include "stepper_driver.h" +#include "i2c_bus.h" +#include "gyroscope.h" +#include "touch_sensor.h" + +class BoardSweekar +{ +private: + i2c_bus_handle_t bus_handle_ = nullptr; // 使用ESP-ADF的I2C总线句柄 + +public: + BoardSweekar(); + ~BoardSweekar(); + + IOExpansionBoard io_expansion_; // IO扩展板对象 + LinearMotor linear_motor_; // 线性马达对象 + Gyroscope gyroscope_; // 陀螺仪对象 + TouchSensor touch_sensor_; // 触摸传感器对象 + StepperDriver* stepper_driver_ = nullptr; // 步进电机驱动对象 + + StepperDriver* GetStepperDriver() const { return stepper_driver_; } + + // 初始化步进电机 + void StepperMotorInit(void); + + // 初始化串口 + void MillimeterWaveRadarUartInit(void); + + //初始化毫米波雷达的中断引脚 + void MillimeterWaveRadarGpioInit(void); + + // 初始化I2C总线 + esp_err_t I2CMasterInit(void); + + // 初始化VBAT toVBAT_5V引脚 + void VbatToVbat5vInit(void); + + // 获取I2C总线句柄 + i2c_bus_handle_t GetBusHandle() const { return bus_handle_; } +}; +#endif diff --git a/main/02_physical/boards/board_v1_1_11/config.h b/main/02_physical/boards/board_v1_1_11/config.h new file mode 100644 index 0000000..36fd4b7 --- /dev/null +++ b/main/02_physical/boards/board_v1_1_11/config.h @@ -0,0 +1,138 @@ +/* 定义引脚分配 */ +#ifndef _BOARD_CONFIG_H_ +#define _BOARD_CONFIG_H_ + +/** + * @file config.h + * @brief 定义了引脚的分配。 + * @author zouyuhua + * @date 2025年8月7日 + * + */ + +#include "driver/gpio.h" +#include "driver/i2c_master.h" +#include "driver/i2s.h" +#include "esp_log.h" +#include "esp_rom_sys.h" // 用于 esp_rom_delay_us +#include "esp_timer.h" +#include "esp_mac.h" +#include "driver/ledc.h" +#include "driver/gpio.h" +#include "freertos/FreeRTOS.h" +#include "freertos/task.h" +#include "esp_log.h" +#include "driver/timer.h" +#include "esp_intr_alloc.h" +#include "soc/timer_group_struct.h" // 包含TIMERG0、TIMERG1的结构体定义 +#include "soc/timer_group_reg.h" // 包含定时器相关寄存器宏定义 +#include "driver/uart.h" +#include "esp_err.h" +#include "freertos/queue.h" +#include "soc/uart_reg.h" +#include "linear_motor.h" +#include "gyroscope.h" + +#define TAG_BOARD "SWEEKAR_ESP32" +/*I2C总线引脚定义*/ +#define I2C0_MASTER_PORT I2C_NUM_0 +#define I2C0_MASTER_SDA_IO GPIO_NUM_2 +#define I2C0_MASTER_SCL_IO GPIO_NUM_3 + +/* 步进电机引脚设置 */ +#define LEDC_OUTPUT_IO GPIO_NUM_42 // 步进电机LEDC引脚输入 + +/* 定义屏幕驱动控制引脚 */ +#define ST7789_PIN_CLK GPIO_NUM_48 // SPI时钟引脚 +#define ST7789_PIN_DC GPIO_NUM_38 // 数据/命令选择引脚RSEL +#define ST7789_PIN_MOSI GPIO_NUM_47 // SPI数据输出引脚 +#define ST7789_PIN_CS GPIO_NUM_40 // SPI片选引脚 +#define ST7789_PIN_BL GPIO_NUM_NC // 背光引脚 +#define ST7789_PIN_RST GPIO_NUM_NC // 复位引脚 +#define LCD_BL_ACTIVE_LEVEL 0 // 背光有效电平：1=高电平有效(NMOS)，0=低电平有效(PMOS) + +#define LCD_WIDTH 172 // 屏幕宽度(水平方向像素数) +#define LCD_HEIGHT 320 // 屏幕高度(垂直方向像素数) + +/* 毫米波雷达配置参数 */ +/* 定义毫米波雷达的中断引脚 */ +#define MILLIMETER_WAVE_RADAR_PIN GPIO_NUM_35 +// UART 配置参数 +#define RADAR_UART_NUM UART_NUM_1 // 使用 UART0 +#define UART_TX_PIN GPIO_NUM_NC // GPIO43 作为 TX(根据实际硬件连接调整) +#define UART_RX_PIN GPIO_NUM_39 // GPIO44 作为 RX +#define BAUD_RATE 9600 // 波特率 +#define RADAR_BUF_SIZE 100 // 雷达接收缓冲区大小 + +/* IO扩展硬件配置常量 */ +#define I2C_MASTER_FREQ_HZ 100000 // I2C通信频率(100kHz)(可更改至400000) +#define I2C_IO_EXPAND_SLAVE_ADDR 0x5B // AW9523BTQR器件地址 +#define GPIO_INPUT_PIN_SEL GPIO_NUM_10 // 中断检测引脚 +#define ESP_INTR_FLAG_DEFAULT 0 // 中断标志默认值 +#define IO_EXPAND_RSTN GPIO_NUM_45 // IO扩展板复位引脚 + +/* 定义线性马达的I2C从机配置常量 */ +#define LINEAR_MOTOR_I2C_SLAVE_ADDR 0x5A // 线性马达的I2C从机地址 + +/* 定义陀螺仪的I2C从机配置常量 */ +#define GYROSCOPE_I2C_SLAVE_ADDR 0x6A // 陀螺仪的I2C从机地址 +#define GYROSCOPE_INPUT_PIN_SEL GPIO_NUM_21 // 陀螺仪中断引脚 + +/* 原生触摸引脚配置 */ +// 触摸按键数量配置 +// #define TOUCH_BUTTON_NUM 4 +#define TOUCH_BUTTON_NUM 3 +// 触摸通道定义 +#define TOUCH_PAD_CHANNEL_1 TOUCH_PAD_NUM11 // GPIO11 +#define TOUCH_PAD_CHANNEL_2 TOUCH_PAD_NUM12 // GPIO12 +#define TOUCH_PAD_CHANNEL_3 TOUCH_PAD_NUM13 // GPIO13 +// #define TOUCH_PAD_CHANNEL_4 TOUCH_PAD_NUM14 // GPIO14 + +/* ES8311音频编解码器配置 (ESP-ADF兼容) */ +#define AUDIO_INPUT_SAMPLE_RATE 24000 +#define AUDIO_OUTPUT_SAMPLE_RATE 24000 +#define AUDIO_INPUT_REFERENCE true + +/* I2S GPIO定义 */ +#define AUDIO_I2S_GPIO_MCLK GPIO_NUM_15 +#define AUDIO_I2S_GPIO_WS GPIO_NUM_4 +#define AUDIO_I2S_GPIO_BCLK GPIO_NUM_5 +#define AUDIO_I2S_GPIO_DIN GPIO_NUM_6 +#define AUDIO_I2S_GPIO_DOUT GPIO_NUM_7 + +/* PA引脚定义 */ +#define AUDIO_CODEC_PA_PIN GPIO_NUM_8 + +/* I2C配置 */ +#define AUDIO_CODEC_I2C_SDA_PIN GPIO_NUM_2 +#define AUDIO_CODEC_I2C_SCL_PIN GPIO_NUM_3 +#define AUDIO_CODEC_ES8311_ADDR 0x18 +#define AUDIO_CODEC_ES7210_ADDR 0x40 + +/* WS2812 RGB LED配置 */ +#define WS2812_PIN GPIO_NUM_41 // WS2812数据引脚 +#define WS2812_NUM_LEDS 2 // WS2812 LED数量 + +/* 创建VBAT to VBAT_5V */ +#define VBAT_5V_PIN GPIO_NUM_8 // VBAT_5V引脚 + +/* 定义按键的中断引脚 */ +#define BUTTON_PIN GPIO_NUM_0 // 按键中断引脚 + +#endif // _BOARD_CONFIG_H_ + + + + + + + + + + + + + + + + diff --git a/main/02_physical/boards/board_v1_1_11/io_expansion_board.cc b/main/02_physical/boards/board_v1_1_11/io_expansion_board.cc new file mode 100644 index 0000000..3c3e978 --- /dev/null +++ b/main/02_physical/boards/board_v1_1_11/io_expansion_board.cc @@ -0,0 +1,732 @@ +#include "io_expansion_board.h" +#include "millimeter_wave_radar.h" +#include "esp_heap_caps.h" +#include "esp_log.h" +#include "esp_check.h" +#include "driver/gpio.h" +#include "freertos/FreeRTOS.h" +#include "freertos/idf_additions.h" +#include "freertos/portable.h" +#include "freertos/task.h" +#include "freertos/event_groups.h" +#include "esp_rom_sys.h" +/** + * @file io_expansion_board.cc + * @brief IO扩展板功能实现类,包含I2C通信、GPIO中断配置、外设控制等功能 + * @details 实现了IO扩展板的初始化(中断引脚、复位引脚)、寄存器读写、步进电机控制(细分模式、使能、方向、睡眠状态)、 + * LCD相关引脚控制(背光、复位、片选)、毫米波雷达中断引脚配置等功能,并提供I2C数据读取任务的创建与管理 + * @author zouyuhua + * @date 2025年8月7日 + * + */ + +/** + * @brief 构造函数 + */ +IOExpansionBoard::IOExpansionBoard() + : bus_handle_(nullptr), + device_addr_(0), + i2c_task_event_group_(nullptr), + xI2CReadTaskHandle_(nullptr) +{ +} + +/** + * @brief 析构函数 + */ +IOExpansionBoard::~IOExpansionBoard() +{ + // 删除任务 + if (xI2CReadTaskHandle_) { + vTaskDelete(xI2CReadTaskHandle_); + } + + // if(pI2CReadTaskStackBuffer) { + // heap_caps_free(pI2CReadTaskStackBuffer); + // pI2CReadTaskStackBuffer = nullptr; + // } + + // if(pxI2CReadTaskBuffer) { + // vPortFree(pxI2CReadTaskBuffer); + // pxI2CReadTaskBuffer = nullptr; + // } + + // 删除事件组 + if (i2c_task_event_group_) { + vEventGroupDelete(i2c_task_event_group_); + } + + // 移除中断处理 + if (interrupt_gpio_ != GPIO_NUM_NC) { + gpio_isr_handler_remove(interrupt_gpio_); + } + + // 删除IO扩展板设备 + // 使用i2c_bus API时不需要手动删除设备句柄 + // bus_handle_由board_sweekar统一管理 +} + +/** + * @brief 静态中断处理函数 + */ +void IRAM_ATTR IOExpansionBoard::GpioIsrHandler(void* arg) +{ + IOExpansionBoard* instance = static_cast(arg); + if (!instance) return; + BaseType_t xHigherPriorityTaskWoken = pdFALSE; + // 设置事件标志位 + if (instance->i2c_task_event_group_) { + xEventGroupSetBitsFromISR( + instance->i2c_task_event_group_, + BIT0, + &xHigherPriorityTaskWoken + ); + } + + // // 唤醒挂起的I2C任务 + // if (instance->xI2CReadTaskHandle_) { + // if (xTaskResumeFromISR(instance->xI2CReadTaskHandle_) == pdTRUE) { + // xHigherPriorityTaskWoken = pdTRUE; + // } + // } + + // 触发上下文切换 + if (xHigherPriorityTaskWoken) { + portYIELD_FROM_ISR(); + } +} + +/** + * @brief 初始化GPIO中断检测 + */ +esp_err_t IOExpansionBoard::InterruptGpioInit(gpio_num_t gpio_num) +{ + // 配置IO扩展板中断引脚 + gpio_config_t io_conf = {}; + io_conf.intr_type = GPIO_INTR_NEGEDGE; + io_conf.pin_bit_mask = 1ULL << gpio_num; + io_conf.mode = GPIO_MODE_INPUT; + io_conf.pull_up_en = GPIO_PULLUP_ENABLE; + io_conf.pull_down_en = GPIO_PULLDOWN_DISABLE; + + esp_err_t err = gpio_config(&io_conf); + if (err != ESP_OK) { + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "GPIO配置失败,错误码: 0x%x", err); + return err; + } + // 配置中断服务 + err = gpio_install_isr_service(ESP_INTR_FLAG_LEVEL3); + if (err != ESP_OK && err != ESP_ERR_INVALID_STATE) { + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "GPIO中断服务安装失败,错误码: 0x%x", err); + return err; + } + // 注册中断处理函数 + err = gpio_isr_handler_add(gpio_num, GpioIsrHandler, this); + if (err != ESP_OK) { + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "GPIO中断处理函数添加失败,错误码: 0x%x", err); + return err; + } + // 创建事件组 + i2c_task_event_group_ = xEventGroupCreate(); + if (!i2c_task_event_group_) { + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "事件组创建失败"); + return ESP_FAIL; + } + + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "GPIO%d中断初始化完成", gpio_num); + return ESP_OK; +} + +/** + * @brief 初始化硬件复位引脚 + * 设置为上拉,需要复位,需要输出低电平为20us的脉冲信号 + */ +esp_err_t IOExpansionBoard::ResetGpioInit(gpio_num_t gpio_num) +{ + reset_gpio_ = gpio_num; + + // 配置复位引脚 + gpio_config_t io_conf = {}; + io_conf.intr_type = GPIO_INTR_DISABLE; + io_conf.pin_bit_mask = 1ULL << gpio_num; + io_conf.mode = GPIO_MODE_OUTPUT; + io_conf.pull_up_en = GPIO_PULLUP_ENABLE; + io_conf.pull_down_en = GPIO_PULLDOWN_DISABLE; + esp_err_t err = gpio_config(&io_conf); + gpio_set_level(gpio_num, 1); // 复位引脚拉高 + if (err != ESP_OK) { + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "GPIO配置失败,错误码: 0x%x", err); + return err; + } + else{ + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "GPIO%d复位引脚初始化完成", gpio_num); + return err; + } +} + +/** + * @brief 复位IO扩展板 + */ +esp_err_t IOExpansionBoard::ResetIoExpand() +{ + if (reset_gpio_ == GPIO_NUM_NC) { + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "复位引脚未初始化"); + return ESP_ERR_INVALID_STATE; + } + + // 复位IO扩展板 + gpio_set_level(reset_gpio_, 0); + esp_rom_delay_us(30); + gpio_set_level(reset_gpio_, 1); + uint8_t ctl_val; + //配置P0_0-P0_7的端口为推挽输出模式 + esp_err_t err = IoexpandReadReg(CTL, &ctl_val); + ctl_val |= (1 << 4); // 设置D[4]位为1(GPOMD=1),切换P0为推挽模式 + err = IoexpandWriteReg(CTL, ctl_val); + if(err != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "复位失败,错误码:0x%x", err); + return err; + } + else{ + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "复位成功"); + } + return ESP_OK; +} + +/** + * @brief 写寄存器数据 + * @param reg_addr 寄存器地址 + * @param data 要写入的数据 + * @return esp_err_t 操作结果 + */ +esp_err_t IOExpansionBoard::IoexpandWriteReg(uint8_t reg_addr, uint8_t data) +{ + return i2c_bus_write_bytes(bus_handle_, device_addr_, ®_addr, 1, &data, 1); +} + +/** + * @brief 从寄存器读取数据 + * @param reg_addr 寄存器地址(如INPUT_PORT0、ID等) + * @param data 输出参数,用于存储读取到的数据 + * @return esp_err_t 操作结果(ESP_OK为成功) + */ +esp_err_t IOExpansionBoard::IoexpandReadReg(uint8_t reg_addr, uint8_t* data) +{ + if (data == nullptr){ // 检查输入参数有效性 + return ESP_ERR_INVALID_ARG; + } + + // 使用i2c_bus_read_bytes进行寄存器读取 + esp_err_t err = i2c_bus_read_bytes(bus_handle_, device_addr_, ®_addr, 1, data, 1); + if (err != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "读取寄存器失败,错误码:0x%x", err); + return err; + } + + return ESP_OK; +} + +//设置IO扩展板为输入模式或是输出模式 +/* +* 这里需要根据实际情况设置IO扩展板的模式,比如输入模式还是输出模式,以及各个引脚的配置。 +* P0_0 对应NFC_RST引脚,需要设置为输出模式,低电平有效。(待测) +* P0_1 对应USB_VBUS引脚,需要设置为输出模式,低电平有效。(待测) +* P0_2 对应BTN_RIGHT_EAR引脚,需要设置为输出模式,低电平有效。(待测) +* P0_3 暂时未使用。 +* P0_4 对应步进电机方向引脚,需要设置为输出模式,根据需求设置。(待测) +* P0_5 对应CHRG引脚(待测) +* P0_6 LCD_DC引脚,需要设置为输出模式,根据需求设置电平。(待测) +* P0_7 对应步进电机的使能引脚,需要设置为输出模式,根据需求设置。(待测) +* +* +* P1_0 对应EG800K_PWR。(待测) +* P1_1 对应LCD_RST,需要设置为输出模式,低电平有效。(待测) +* P1_2 对应LCD_CS,需要设置为输出模式,低电平有效。(待测) +* P1_3 暂时未使用。 +* P1_4 对应步进电机的细分模式M1引脚。(待测) +* P1_5 对应步进电机的细分模式M0引脚。(待测) +* P1_6 对应步进电机的睡眠引脚。(待测) +* P1_7 对应RADAR_O雷达的输出引脚。(待测) +* */ +esp_err_t IOExpansionBoard::IoexpandSetMode(void) +{ + uint8_t ctl_val; + //配置P0_0-P0_7的端口为推挽输出模式 + esp_err_t err = IoexpandReadReg(CTL, &ctl_val); + ctl_val |= (1 << 4); // 设置D[4]位为1(GPOMD=1),切换P0为推挽模式 + err = IoexpandWriteReg(CTL, ctl_val); + if(err != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "配置P0端口失败,错误码:0x%x", err); + return err; + } + else{ + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "配置P0端口成功"); + } + // 配置P0_0-P0_7的端口为输入还是输出：0-输出；1-输入 + // err = IoexpandWriteReg(CONFIG_PORT0, 0x04); // 0000 0100 + err = IoexpandWriteReg(CONFIG_PORT0, 0x24); // 0010 0100 + // err = IoexpandWriteReg(CONFIG_PORT0, 0x2C); // 0010 1100 0-2,0-3,0-5都是输入 + + // D 1101 + // 9 1001 + + if(err != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "配置P0端口失败,错误码:0x%x", err); + return err; + } + else{ + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "配置P0端口成功"); + } + // 配置P1_0-P1_7的端口输出：0-输出；1-输入 + // err = IoexpandWriteReg(CONFIG_PORT1, 0x84); + err = IoexpandWriteReg(CONFIG_PORT1, 0x80); // 1000 0000 + if(err != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "配置P1端口失败,错误码:0x%x", err); + return err; + } + else{ + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "配置P1端口成功"); + } + // 配置P0_0-P0_7的初始为高电平 + // 配置P1_0-P1_7的初始为高电平 + err = IoexpandWriteReg(OUTPUT_PORT0, 0xFD); // 1111 1101 + if(err != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "配置P0端口初始值失败,错误码:0x%x", err); + return err; + } + else{ + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "配置P0端口初始值成功"); + } + err = IoexpandWriteReg(OUTPUT_PORT1, 0x7E); // 0111 1110 + if(err != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "配置P1端口初始值失败,错误码:0x%x", err); + return err; + } + else{ + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "配置P1端口初始值成功"); + } + + err = IoexpandWriteReg(INT_PORT1, 0x7F); // 0111 1111 + if(err != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "配置P1端口中断使能失败,错误码:0x%x", err); + return err; + } + else{ + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "配置P1端口中断使能成功"); + } + + return ESP_OK; +} + +/** + * @brief 设置步进电机的细分模式 + */ +void IOExpansionBoard::SetStepperMicrostepMode(uint8_t mode, uint8_t OUTPUT_PORT, uint8_t m0_pin, uint8_t m1_pin) +{ + uint8_t current_val; + switch (mode) { + case 1: //全步输出模式 低低电平 + /* code */ + printf("设置步进电机为全步模式\n"); + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "0x%x", current_val); + current_val &= ~(1 << m0_pin); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "!!!!!!!!!0x%x", current_val); + if(IoexpandWriteReg(OUTPUT_PORT, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "0x%x", current_val); + current_val &= ~(1 << m1_pin); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "!!!!!!!!!0x%x", current_val); + if(IoexpandWriteReg(OUTPUT_PORT, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + break; + case 2: //非圆 1/2 高低电平 + /* code */ + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "0x%x", current_val); + current_val |= (1 << m0_pin); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "!!!!!!!!!0x%x", current_val); + if(IoexpandWriteReg(OUTPUT_PORT, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "0x%x", current_val); + current_val &= ~(1 << m1_pin); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "!!!!!!!!!0x%x", current_val); + if(IoexpandWriteReg(OUTPUT_PORT, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + break; + case 3: //1/4 步 低高电平 + /* code */ + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "0x%x", current_val); + current_val &= ~(1 << m0_pin); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "!!!!!!!!!0x%x", current_val); + if(IoexpandWriteReg(OUTPUT_PORT, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "0x%x", current_val); + current_val |= (1 << m1_pin); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "!!!!!!!!!0x%x", current_val); + if(IoexpandWriteReg(OUTPUT_PORT, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + break; + case 4: //1/8 步 高高电平 + /* code */ + printf("设置步进电机为1/8步模式\n"); + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "0x%x", current_val); + current_val |= (1 << m0_pin); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "!!!!!!!!!0x%x", current_val); + if(IoexpandWriteReg(OUTPUT_PORT, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "0x%x", current_val); + current_val |= (1 << m1_pin); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "!!!!!!!!!0x%x", current_val); + if(IoexpandWriteReg(OUTPUT_PORT, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + break; + default: //全步输入模式 低低电平 + /* code */ + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "0x%x", current_val); + current_val &= ~(1 << m0_pin); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "!!!!!!!!!0x%x", current_val); + if(IoexpandWriteReg(OUTPUT_PORT, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "0x%x", current_val); + current_val &= ~(1 << m1_pin); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "!!!!!!!!!0x%x", current_val); + if(IoexpandWriteReg(OUTPUT_PORT, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + break; + } +} + +/** + * @brief 设置步进电机的使能 + */ +esp_err_t IOExpansionBoard::SetMotorEnableMode(bool enable, uint8_t OUTPUT_PORT, uint8_t enable_pin) +{ + uint8_t current_val; + if(enable){ + // 进入工作状态mode + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "0x%x", current_val); + current_val |= (1 << enable_pin); + // ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "!!!!!!!!!0x%x", current_val); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } + else{ + // 进入睡眠状态 + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "0x%x", current_val); + current_val &= ~(1 << enable_pin); + // ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "!!!!!!!!!0x%x", current_val); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } +} +/** + * @brief 设置步进电机运行方向 + */ +esp_err_t IOExpansionBoard::StepperMotorSetDir(bool dir, uint8_t OUTPUT_PORT, uint8_t pin) +{ + uint8_t current_val; + if(dir){ + // 方向为正转 + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "0x%x", current_val); + current_val |= (1 << pin); + // ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "!!!!!!!!!0x%x", current_val); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } + else{ + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "0x%x", current_val); + current_val &= ~(1 << pin); + // ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "!!!!!!!!!0x%x", current_val); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } +} + + +/** + * @brief 设置步进电机是否进入睡眠或者工作状态(高电平进入工作状态,低电平进入睡眠状态) + */ +esp_err_t IOExpansionBoard::SetMotorSleepMode(bool mode, uint8_t OUTPUT_PORT, uint8_t nsleep_pin) +{ + uint8_t current_val; + if(mode){ + // 进入工作状态mode + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "0x%x", current_val); + current_val |= (1 << nsleep_pin); + // ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "!!!!!!!!!0x%x", current_val); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } + else{ + // 进入睡眠状态 + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "0x%x", current_val); + current_val &= ~(1 << nsleep_pin); + // ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "!!!!!!!!!0x%x", current_val); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } +} + + +/*********************************************IO扩展板LCD引脚配置参数***********************************************/ +/** + * @brief 设置 LCD_BL引脚电平(高电平为命令模式,低电平为数据模式) + */ +esp_err_t IOExpansionBoard::SetLcdBlMode(bool mode, uint8_t OUTPUT_PORT, uint8_t bl_pin) +{ + uint8_t current_val; + if(mode){ + // 进入命令模式 + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "0x%x", current_val); + current_val |= (1 << bl_pin); + // ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "!!!!!!!!!0x%x", current_val); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } + else{ + // 进入数据模式 + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "0x%x", current_val); + current_val &= ~(1 << bl_pin); + // ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "!!!!!!!!!0x%x", current_val); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } +} + +/** + * @brief 设置 LCD_RST引脚电平(高电平为复位模式,低电平为工作模式) + */ +esp_err_t IOExpansionBoard::SetLcdResetMode(bool mode, uint8_t OUTPUT_PORT, uint8_t reset_pin) +{ + uint8_t current_val; + if(mode){ + // 进入复位模式 + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "0x%x", current_val); + current_val |= (1 << reset_pin); + // ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "!!!!!!!!!0x%x", current_val); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } + else{ + // 进入工作模式 + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "0x%x", current_val); + current_val &= ~(1 << reset_pin); + // ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "!!!!!!!!!0x%x", current_val); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } +} + +/*********************************************IO扩展板的输入引脚配置以及中断引脚定义***********************************************/ +/** + * @brief 设置 毫米波雷达的中断引脚 + */ +esp_err_t IOExpansionBoard::SetRadarInterruptPin(bool mode, uint8_t INPUT_PORT, uint8_t interrupt_pin) +{ + uint8_t current_val; + if(mode){ + // 进入输入模式 + IoexpandReadReg(INPUT_PORT, ¤t_val); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "0x%x", current_val); + current_val |= (1 << interrupt_pin); + // ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "!!!!!!!!!0x%x", current_val); + return IoexpandWriteReg(INPUT_PORT, current_val); + } + else{ + // 进入输出模式 + IoexpandReadReg(INPUT_PORT, ¤t_val); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "0x%x", current_val); + current_val &= ~(1 << interrupt_pin); + // ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "!!!!!!!!!0x%x", current_val); + return IoexpandWriteReg(INPUT_PORT, current_val); + } +} + +/** + * @brief 设置 LCD_CS引脚电平(低电平为选中状态,高电平为不选中状态) + */ +esp_err_t IOExpansionBoard::SetLcdCsMode(bool mode, uint8_t OUTPUT_PORT, uint8_t cs_pin) +{ + uint8_t current_val; + if(mode){ + // 进入选中状态 + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "0x%x", current_val); + current_val &= ~(1 << cs_pin); + // ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "!!!!!!!!!0x%x", current_val); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } + else{ + // 进入不选中状态 + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "0x%x", current_val); + current_val |= (1 << cs_pin); + // ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "!!!!!!!!!0x%x", current_val); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } +} +/** + * @brief I2C数据读取任务主体 + */ +void IOExpansionBoard::I2cReadTask(void* pvParameters) +{ + IOExpansionBoard* instance = static_cast(pvParameters); + if (!instance) { + vTaskDelete(nullptr); + return; + } + // 初始化复位引脚 + esp_err_t err = instance->ResetGpioInit(IO_EXPAND_RSTN); + if (err != ESP_OK) { + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "GPIO复位初始化失败"); + } + // 初始化IO扩展板子的中断引脚 + err = instance->InterruptGpioInit(GPIO_INPUT_PIN_SEL); + if (err != ESP_OK) { + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "GPIO中断初始化失败"); + } + // 设置IO扩展板模式 + instance->IoexpandSetMode(); + // 设置LCD屏幕背光引脚(初始为关闭) + err = instance->SetLcdBlMode(LCD_BL_HIGH, LCD_BL_PORT, LCD_BL_PIN); + if(err != ESP_OK){ + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "设置LCD屏幕背光引脚失败"); + } + else{ + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "设置LCD屏幕背光引脚成功"); + } + // 设置LCD屏幕复位引脚 + err = instance->SetLcdResetMode(LCD_RST_HIGH, LCD_RST_PORT, LCD_RST_PIN); + if(err != ESP_OK){ + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "设置LCD屏幕复位引脚失败"); + } + else{ + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "设置LCD屏幕复位引脚成功"); + } + uint8_t current_val; + for (;;) { + // 等待中断事件触发 + if (instance->i2c_task_event_group_) { + xEventGroupWaitBits(instance->i2c_task_event_group_, BIT0, pdTRUE, pdFALSE, portMAX_DELAY); + } + // 读取I2C数据 + instance->IoexpandReadReg(INPUT_PORT1,¤t_val); + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "读取数据: 0x%0X", current_val); + if(current_val & (1 << 7)){ + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "检测到中断来自雷达引脚（P1_7）\n"); + // 调用毫米波雷达回调函数 + if (instance->radar_) { + instance->radar_->TriggerRadarDetectCallback(); + } + } + + // vTaskSuspend(nullptr); // 挂起任务等待下次唤醒 + } +} + +// bool IOExpansionBoard::AllocateStaticTaskMemory() +// { +// printf("IO拓展芯片创建任务前:Internal Free: %d bytes\n", heap_caps_get_free_size(MALLOC_CAP_INTERNAL)); +// printf("IO拓展芯片创建任务前 Free: %d bytes\n", heap_caps_get_free_size(MALLOC_CAP_SPIRAM)); +// // 分配任务栈（PSRAM） +// const size_t TASK_STACK_SIZE = 4096; +// pI2CReadTaskStackBuffer = (StackType_t*)heap_caps_malloc( +// TASK_STACK_SIZE * sizeof(StackType_t), +// MALLOC_CAP_SPIRAM | MALLOC_CAP_8BIT +// ); + +// if (!pI2CReadTaskStackBuffer) { +// ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "Failed to allocate task stack from PSRAM"); +// return false; +// } + +// // 分配任务控制块（内部RAM） +// pxI2CReadTaskBuffer = (StaticTask_t*)pvPortMalloc(sizeof(StaticTask_t)); +// if (!pxI2CReadTaskBuffer) { +// ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "Failed to allocate task TCB from internal RAM"); +// heap_caps_free(pI2CReadTaskStackBuffer); +// pI2CReadTaskStackBuffer = nullptr; +// return false; +// } + +// ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "Static task memory allocated successfully"); +// printf("IO拓展芯片创建任务后:Internal Free: %d bytes\n", heap_caps_get_free_size(MALLOC_CAP_INTERNAL)); +// printf("IO拓展芯片创建任务后 Free: %d bytes\n", heap_caps_get_free_size(MALLOC_CAP_SPIRAM)); +// return true; +// } + +// void IOExpansionBoard::FreeStaticTaskMemory() +// { +// if (pI2CReadTaskStackBuffer != nullptr) { +// heap_caps_free(pI2CReadTaskStackBuffer); +// pI2CReadTaskStackBuffer = nullptr; +// } + +// if (pxI2CReadTaskBuffer != nullptr) { +// vPortFree(pxI2CReadTaskBuffer); +// pxI2CReadTaskBuffer = nullptr; +// } + +// ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "Static task memory freed"); +// } + +/** + * @brief 创建I2C数据读取任务 + */ +void IOExpansionBoard::CreateI2cReadTask() +{ + printf("创建I2C读取任务之前:Internal Free: %d bytes\n", heap_caps_get_free_size(MALLOC_CAP_INTERNAL)); + printf("创建I2C读取任务之前:PSRAM Free: %d bytes\n", heap_caps_get_free_size(MALLOC_CAP_SPIRAM)); + if (xI2CReadTaskHandle_) { + return; // 任务已创建 + } + + xTaskCreateWithCaps( + I2cReadTask, + "i2c_read_task", + I2C_TASK_STACK, + this, + I2C_TASK_PRIORITY, + &xI2CReadTaskHandle_, + MALLOC_CAP_SPIRAM | MALLOC_CAP_8BIT + ); + + if (xI2CReadTaskHandle_ == NULL) { + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "Failed to create static I2C read task"); + } else { + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "Static I2C read task created successfully"); + } + printf("创建I2C读取任务之后:Internal Free: %d bytes\n", heap_caps_get_free_size(MALLOC_CAP_INTERNAL)); + printf("创建I2C读取任务之后:PSRAM Free: %d bytes\n", heap_caps_get_free_size(MALLOC_CAP_SPIRAM)); +} + +/** + * @brief 启动I2C任务 (整合初始化和任务创建) + */ +esp_err_t IOExpansionBoard::StartTask() +{ + // 再创建任务 + if (!xI2CReadTaskHandle_) { + CreateI2cReadTask(); + } + return ESP_OK; +} diff --git a/main/02_physical/boards/board_v1_1_11/io_expansion_board.h b/main/02_physical/boards/board_v1_1_11/io_expansion_board.h new file mode 100644 index 0000000..baa836d --- /dev/null +++ b/main/02_physical/boards/board_v1_1_11/io_expansion_board.h @@ -0,0 +1,284 @@ +#ifndef IO_EXPANSION_BOARD_H +#define IO_EXPANSION_BOARD_H + +#include +#include +#include +#include +#include +#include "i2c_bus.h" +#include "freertos/FreeRTOS.h" +#include "freertos/event_groups.h" +#include +#include +#include +#include +#include +#include +#include +#include "esp_err.h" +#include "config.h" +#include "portmacro.h" + +// 前向声明，避免循环引用 +class MillimeterWaveRadar; + +/* 寄存器地址 */ +#define INPUT_PORT0 0x00 // 输入端口0寄存器 +#define INPUT_PORT1 0x01 // 输入端口1寄存器 0为低电平(仅支持读取) +#define OUTPUT_PORT0 0x02 // 输出端口0寄存器 +#define OUTPUT_PORT1 0x03 // 输出端口1寄存器 0为低电平 +#define CONFIG_PORT0 0x04 // 配置端口0寄存器 +#define CONFIG_PORT1 0x05 // 配置端口1寄存器 0为输出模式 +#define INT_PORT0 0x06 // 中断端口0寄存器 +#define INT_PORT1 0x07 // 中断端口1寄存器 0为使能中断(根据手册默认是使能的) +#define CTL 0x11 // 全局控制寄存器 +#define ID 0x23 // 芯片ID寄存器(0x23) + +/***********************************IO扩展板电机引脚配置参数*************************************/ +/* 设置步进电机方向 */ +#define STEPPER_MOTOR_LEFT false //步进电机的方向为左转 +#define STEPPER_MOTOR_RIGHT true //步进电机的方向为右转 +#define STEPPER_MOTOR_DIR_PORT OUTPUT_PORT0 //步进电机方向引脚挂载在IO扩展板的输出端口OUTPUT_PORT0 +#define STEPPER_MOTOR_DIR_PIN 4 //步进电机方向引脚对应的IO扩展板引脚P0_4 + +/* 设置步进电机细分模式 */ +#define STEPPER_MOTOR_M0_PIN 5 //步进电机细分模式选择引脚对应IO扩展板引脚P1_5 +#define STEPPER_MOTOR_M1_PIN 4 //步进电机细分模式选择引脚对应IO扩展板引脚P1_4 +#define STEPPER_MOTOR_MADE_PORT OUTPUT_PORT1 //步进电机模式选择引脚挂载在IO扩展板的输出端口OUTPUT_PORT1 + + +/* 设置步进电机睡眠引脚 */ +#define STEPPER_MOTOR_SLEEP false //步进电机进入睡眠模式 +#define STEPPER_MOTOR_WORK true //步进电机进入工作模式 +#define STEPPER_MOTOR_SLEEP_PIN 6 //步进电机睡眠引脚对应IO扩展板引脚P1_6 +#define STEPPER_MOTOR_SLEEP_PORT OUTPUT_PORT1 //步进电机睡眠引脚挂载在IO扩展板的输出端口OUTPUT_PORT1 + +/* 设置电机的使能引脚 */ +#define STEPPER_MOTOR_ENABLE_PIN 7 //电机使能引脚对应IO扩展板引脚P0_7 +#define STEPPER_MOTOR_ENABLE_PORT OUTPUT_PORT0 //电机使能引脚挂载在IO扩展板的输出端口OUTPUT_PORT0 +#define STEPPER_MOTOR_ENABLE_ENABLE true //电机使能引脚状态为高电平 +#define STEPPER_MOTOR_ENABLE_DISABLE false //电机使能引脚状态为低电平 + +/* 设置毫米波雷达对应IO扩展板的中断引脚 */ +#define RADAR_INTERRUPT_PIN 7 //毫米波雷达中断引脚对应IO扩展板引脚P1_7 +#define RADAR_INTERRUPT_PORT CONFIG_PORT1 //毫米波雷达中断引脚挂载在IO扩展板的输入端口INPUT_PORT1 +#define RADAR_INTERRUPT_ENABLE true //毫米波雷达中断引脚状态为输入状态 +#define RADAR_INTERRUPT_DISABLE false //毫米波雷达中断引脚状态为输出状态 +/* 任务配置常量 */ +#define WRITE_BUF_SIZE 2 // I2C单次写入字节数 +#define READ_BUF_SIZE 2 // I2C单次读取字节数 +#define I2C_TASK_PRIORITY 2 // 任务优先级(中等) +#define I2C_TASK_STACK 4096 // 任务栈大小(4KB) + +/***********************************IO扩展板LCD引脚配置参数*************************************/ +/* 设置LCD的BL引脚 */ +#define LCD_BL_PIN 6 //LCD背光引脚 +#define LCD_BL_PORT OUTPUT_PORT0 //LCD背光引脚挂载在IO扩展板的输出端口OUTPUT_PORT0 +#define LCD_BL_HIGH true //LCD背光引脚状态为高电平 +#define LCD_BL_LOW false //LCD背光引脚状态为低电平 + +/* 设置LCD的RST引脚 */ +#define LCD_RST_PIN 1 //LCD复位引脚 +#define LCD_RST_PORT OUTPUT_PORT1 //LCD复位引脚挂载在IO扩展板的输出端口OUTPUT_PORT1 +#define LCD_RST_HIGH true //LCD复位引脚状态为高电平 +#define LCD_RST_LOW false //LCD复位引脚状态为低电平 + +/* 设置LCD的CS引脚 */ +#define LCD_CS_PIN 2 //LCD片选引脚 +#define LCD_CS_PORT OUTPUT_PORT1 //LCD片选引脚挂载在IO扩展板的输出端口OUTPUT_PORT1 +#define LCD_CS_HIGH true //LCD片选引脚状态为高电平 +#define LCD_CS_LOW false //LCD片选引脚状态为低电平 + +#define TAG_GPIO_IO_EXPAND_DETECT "GPIO_IO_EXPAND_DETECT" // GPIO中断检测日志标签 +#define TAG_I2C_IO_EXPAND_TASK "I2C_IO_EXPAND_TASK" // I2CIO扩展板任务日志标签 + +// GPIO引脚定义 +#define GPIO_INPUT_PIN_SEL GPIO_NUM_10 // IO扩展板中断检测引脚 +#define IO_EXPAND_RSTN GPIO_NUM_45 // IO扩展板复位引脚 + +/** + * @class IOExpansionBoard + * @brief I/O扩展板驱动类,封装AW9523BTQR芯片操作 + */ +class IOExpansionBoard +{ +public: + /** + * @brief 构造函数 + */ + IOExpansionBoard(); + + /** + * @brief 设置毫米波雷达指针 + * @param radar 毫米波雷达对象指针 + */ + void SetRadar(MillimeterWaveRadar* radar) { radar_ = radar; }; + + /** + * @brief 析构函数 + */ + ~IOExpansionBoard(); + + /** + * @brief 初始化GPIO中断检测 + * @param gpio_num 中断引脚编号 + * @return esp_err_t 初始化结果 + */ + esp_err_t InterruptGpioInit(gpio_num_t gpio_num); + + /** + * @brief 初始化IO扩展板复位引脚 + * @param gpio_num 复位引脚编号 + * @return esp_err_t 初始化结果 + */ + esp_err_t ResetGpioInit(gpio_num_t gpio_num); + + /** + * @brief 初始化IO扩展板复位引脚 + * @param gpio_num 复位引脚编号 + * @return esp_err_t 初始化结果 + */ + esp_err_t ResetIoExpand(); + + /** + * @brief 初始化I2C主机通信 + * @return esp_err_t 初始化结果 + */ + // esp_err_t IoExpansionI2cInit(); + + /** + * @brief 创建I2C数据读取任务 + */ + void CreateI2cReadTask(); + + /** + * @brief 启动I2C任务(整合初始化和任务创建) + * @return esp_err_t 操作结果 + */ + esp_err_t StartTask(); + + /** + * @brief 写寄存器数据 + * @param reg_addr 寄存器地址 + * @param data 要写入的数据 + * @return esp_err_t 操作结果 + */ + esp_err_t IoexpandWriteReg(uint8_t reg_addr, uint8_t data); + + /** + * @brief 读寄存器数据 + * @param reg_addr 寄存器地址 + * @param data 要读出的数据 + * @return esp_err_t 操作结果 + */ + esp_err_t IoexpandReadReg(uint8_t reg_addr, uint8_t *data); + + // /** + // * @brief 设置IO扩展板GPIO中断状态 通过读取Input_Port0 和 Input_Port1 寄存器可以清除中断 + // * @param reg_addr 寄存器地址 + // * @return esp_err_t 操作结果 + // */ + // esp_err_t SetInterruptStatus(bool status); + + /** + * @brief 配置IO扩展版上的IO口为输出还是输入,并且设置初始为高电平 + * @return esp_err_t 操作结果 + */ + esp_err_t IoexpandSetMode(); + + /** + * @brief 设置步进电机的细分模式 + * @param mode 模式：1/2/4/8/16/32/64 + * @return esp_err_t 操作结果 + */ + void SetStepperMicrostepMode(uint8_t mode, uint8_t OUTPUT_PORT, uint8_t m0_pin, uint8_t m1_pin); + + /** + * @brief 设置步进电机的方向 + * @param dir 方向 + * @param OUTPUT_PORT 输出端口 + * @param pin 引脚号 + * @return esp_err_t 操作结果 + */ + esp_err_t StepperMotorSetDir(bool dir, uint8_t OUTPUT_PORT, uint8_t pin); + + /** + * @brief 设置步进电机的睡眠模式 + * @param 是否进入睡眠模式 + * @param 输出端口 + * @param 引脚号 + * @return esp_err_t 操作结果 + */ + esp_err_t SetMotorSleepMode(bool mode, uint8_t OUTPUT_PORT, uint8_t nsleep_pin); + + /** + * @brief 设置步进电机的使能引脚状态 + * @param 使能状态 + * @return esp_err_t 操作结果 + */ + esp_err_t SetMotorEnableMode(bool enable, uint8_t OUTPUT_PORT, uint8_t enable_pin); + + /** + * @brief 设置LCD的BL引脚状态 + * @param BL状态 + * @return esp_err_t 操作结果 + */ + esp_err_t SetLcdBlMode(bool mode, uint8_t OUTPUT_PORT, uint8_t bl_pin); + + /** + * @brief 设置LCD的RST引脚状态 + * @param RST状态 + * @return esp_err_t 操作结果 + */ + esp_err_t SetLcdResetMode(bool mode, uint8_t OUTPUT_PORT, uint8_t rst_pin); + + /** + * @brief 设置LCD的CS引脚状态 + * @param CS状态(低电平为选中状态,高电平为不选中状态) + * @return esp_err_t 操作结果 + */ + esp_err_t SetLcdCsMode(bool mode, uint8_t OUTPUT_PORT, uint8_t cs_pin); + + /** + * @brief 设置雷达中断引脚 + * @param 毫米波雷达的中断引脚模式 + * @param 输入端口 + * @param 引脚号 + * @return esp_err_t 操作结果 + */ + esp_err_t SetRadarInterruptPin(bool mode, uint8_t INPUT_PORT, uint8_t interrupt_pin); + + // 公共成员变量 + i2c_bus_handle_t bus_handle_ = nullptr; // I2C总线句柄 + uint8_t device_addr_; // I2C设备地址 + +private: + // 静态成员函数 + MillimeterWaveRadar* radar_ = nullptr; // 毫米波雷达指针，用于触发回调 + static void IRAM_ATTR GpioIsrHandler(void* arg); // 中断处理函数 + static void I2cReadTask(void* pvParameters); // I2C数据读取任务函数 + + // /** + // * @brief 分配静态任务所需的内存 + // * @return bool 分配是否成功 + // */ + // bool AllocateStaticTaskMemory(); + + // /** + // * @brief 释放静态任务分配的内存 + // */ + // void FreeStaticTaskMemory(); + + // 实例成员变量 + EventGroupHandle_t i2c_task_event_group_ = nullptr; // 事件组 + TaskHandle_t xI2CReadTaskHandle_ = nullptr; // 任务句柄 + bool is_initialized_ = false; // 初始化状态标记(新增) + gpio_num_t interrupt_gpio_ = GPIO_NUM_NC; // 中断引脚 + gpio_num_t reset_gpio_ = GPIO_NUM_NC; // 复位引脚 + + // StackType_t* pI2CReadTaskStackBuffer = nullptr; // 任务栈指针（PSRAM） + // StaticTask_t* pxI2CReadTaskBuffer = nullptr; // 任务控制块指针（内部RAM） +}; + +#endif \ No newline at end of file diff --git a/main/02_physical/boards/board_v1_1_12/board_sweekar.cc b/main/02_physical/boards/board_v1_1_12/board_sweekar.cc new file mode 100644 index 0000000..2244670 --- /dev/null +++ b/main/02_physical/boards/board_v1_1_12/board_sweekar.cc @@ -0,0 +1,257 @@ +/** + * @file board.cc + * @brief 板级外设初始化类,包含步进电机、毫米波雷达、I2C总线等外设的初始化函数。 + * @author zouyuhua + * @date 2025年8月7日 + * + */ + +extern "C" { +#include "esp_log.h" +#include "driver/gpio.h" +#include "driver/uart.h" +#include "driver/ledc.h" +#include "esp_err.h" +#include "freertos/FreeRTOS.h" +#include "freertos/task.h" +#include "hal/gpio_types.h" +#include "hal/uart_types.h" +#include "esp_check.h" +#include "sdkconfig.h" +#include "i2c_bus.h" +} + +#include "board_sweekar.h" +#include "config.h" +#define TAG "board_sweekar" +/** + * @file board.h + * @brief 板级外设初始化类 + */ +/** + * @brief 步进电机初始化函数 + * + * 配置LEDC定时器和通道用于PWM输出,设置步进电机的工作模式、使能状态、细分模式和方向, + * 并初始化PWM占空比为50%。初始化过程中若出现错误,会通过ESP_LOGE输出错误信息及错误码。 + */ +void BoardSweekar::StepperMotorInit(void) +{ + // 配置LEDC用于PWM输出 + ledc_timer_config_t ledc_timer = { + .speed_mode = LEDC_MODE, + .duty_resolution = LEDC_DUTY_RES, + .timer_num = LEDC_TIMER, + .freq_hz = LEDC_FREQ_HZ, + .clk_cfg = LEDC_USE_APB_CLK, + }; + esp_err_t err = ledc_timer_config(&ledc_timer); + if (err != ESP_OK){ + ESP_LOGE(TAG_BOARD, "步进电机LEDC定时器配置失败,错误码: 0x%x", err); + } + + // 配置LEDC通道 + ledc_channel_config_t ledc_channel = { + .gpio_num = LEDC_OUTPUT_IO, + .speed_mode = LEDC_MODE, + .channel = LEDC_CHANNEL, + .timer_sel = LEDC_TIMER, + .duty = 0, // 初始占空比0 + .hpoint = 0 + }; + err = ledc_channel_config(&ledc_channel); + if (err != ESP_OK){ + ESP_LOGE(TAG_BOARD, "步进电机LEDC通道配置失败,错误码: 0x%x", err); + } + + // 检查I2C总线是否已初始化 + if (bus_handle_ == nullptr) { + ESP_LOGE(TAG_BOARD, "I2C总线未初始化,请先调用I2CMasterInit()"); + return; + } + + // 设置步进电机工作模式,使能电机,设置步进电机细分模式,设置步进电机方向 + err = io_expansion_.SetMotorSleepMode(STEPPER_MOTOR_WORK, STEPPER_MOTOR_SLEEP_PORT, STEPPER_MOTOR_WORK); + if (err != ESP_OK){ + ESP_LOGE(TAG_BOARD, "步进电机初始化失败,错误码: 0x%x", err); + } + err = io_expansion_.SetMotorEnableMode(STEPPER_MOTOR_ENABLE_DISABLE, STEPPER_MOTOR_ENABLE_PORT, STEPPER_MOTOR_ENABLE_PIN); + if (err != ESP_OK){ + ESP_LOGE(TAG_BOARD, "步进电机初始化失败,错误码: 0x%x", err); + } + io_expansion_.SetStepperMicrostepMode(4, STEPPER_MOTOR_MADE_PORT, STEPPER_MOTOR_M0_PIN, STEPPER_MOTOR_M1_PIN); + err = io_expansion_.StepperMotorSetDir(STEPPER_MOTOR_LEFT, STEPPER_MOTOR_DIR_PORT, STEPPER_MOTOR_DIR_PIN); + if (err != ESP_OK){ + ESP_LOGE(TAG_BOARD, "步进电机初始化失败,错误码: 0x%x", err); + } + + // 初始PWM占空比设为0% + ledc_set_duty(LEDC_MODE, LEDC_CHANNEL, 0); + ledc_update_duty(LEDC_MODE, LEDC_CHANNEL); +} + +/** + * @brief 毫米波雷达串口初始化函数 + * + * 配置毫米波雷达所使用的串口参数(波特率、数据位、校验位、停止位等),设置串口引脚, + * 并安装串口驱动。采用较大的RX/TX FIFO深度以处理突发数据,禁用驱动自带事件队列以避免 + * 与自定义中断冲突。 + */ +void BoardSweekar::MillimeterWaveRadarUartInit(void) +{ + uart_config_t uart_config = { + .baud_rate = RADAR_BAUD_RATE, + .data_bits = UART_DATA_8_BITS, + .parity = UART_PARITY_DISABLE, + .stop_bits = UART_STOP_BITS_1, + .flow_ctrl = UART_HW_FLOWCTRL_DISABLE, + .source_clk = UART_SCLK_DEFAULT, + }; + + // 1. 设置串口参数 + ESP_ERROR_CHECK(uart_param_config(RADAR_UART_NUM, &uart_config)); + + // 2. 设置 UART 引脚 + ESP_ERROR_CHECK(uart_set_pin(RADAR_UART_NUM, UART_TX_PIN, UART_RX_PIN, + UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE)); + + // 3. 安装 UART 驱动(禁用驱动自带事件队列,避免与自定义中断冲突) + // 增加 RX/TX FIFO 深度以处理突发数据 + ESP_ERROR_CHECK(uart_driver_install(RADAR_UART_NUM, RADAR_BUF_SIZE * 4, RADAR_BUF_SIZE * 4, + 0, NULL, 0)); +} + +/** + * @brief 毫米波雷达中断引脚初始化函数 + * + * 配置毫米波雷达中断引脚为输入模式,禁用上拉电阻,使能下拉电阻,初始禁用中断功能 + * (如需使用中断需单独进行配置)。 + */ +void BoardSweekar::MillimeterWaveRadarGpioInit(void) +{ + // GPIO配置结构体 + gpio_config_t io_conf = { + .pin_bit_mask = (1ULL << MILLIMETER_WAVE_RADAR_PIN), // 选择GPIO引脚 + .mode = GPIO_MODE_INPUT, // 设置为输入模式 + .pull_up_en = GPIO_PULLUP_DISABLE, + .pull_down_en = GPIO_PULLDOWN_ENABLE, // 使能下拉 + .intr_type = GPIO_INTR_DISABLE // 禁用中断(如需中断需单独配置) + }; + + // 配置GPIO + gpio_config(&io_conf); +} + +/** + * @brief I2C总线及从机设备初始化函数 + * + * 首先配置并创建I2C主机总线,然后依次添加IO扩展板和线性马达作为I2C从机设备到总线上。 + * 若总线创建或设备添加失败,会输出错误信息并进行相应的资源清理(删除已创建的总线)。 + * 初始化成功后,会通过ESP_LOGI输出IO扩展板和线性马达的从机地址信息。 + * + * @return esp_err_t 初始化结果,ESP_OK表示成功,其他错误码表示相应的失败原因 + */ +esp_err_t BoardSweekar::I2CMasterInit(void) +{ + static const char *I2C_INIT = "I2C_INIT"; + + // 初始化IO扩展板复位引脚 + gpio_config_t reset_io_conf = { + .pin_bit_mask = (1ULL << IO_EXPAND_RSTN), + .mode = GPIO_MODE_OUTPUT, + .pull_up_en = GPIO_PULLUP_ENABLE, // 使能上拉 + .pull_down_en = GPIO_PULLDOWN_DISABLE, + .intr_type = GPIO_INTR_DISABLE + }; + gpio_config(&reset_io_conf); + + // 执行复位时序：先拉低100ms,再拉高并等待100ms + gpio_set_level(IO_EXPAND_RSTN, 0); // 拉低复位 + vTaskDelay(pdMS_TO_TICKS(100)); // 等待100ms + gpio_set_level(IO_EXPAND_RSTN, 1); // 释放复位 + vTaskDelay(pdMS_TO_TICKS(100)); // 等待设备启动 + + ESP_LOGI(I2C_INIT, "IO扩展板复位完成"); + + // 创建统一的I2C总线（使用ESP-ADF的i2c_bus） + i2c_config_t i2c_cfg = { + .mode = I2C_MODE_MASTER, + .sda_io_num = I2C0_MASTER_SDA_IO, + .scl_io_num = I2C0_MASTER_SCL_IO, + .sda_pullup_en = GPIO_PULLUP_ENABLE, + .scl_pullup_en = GPIO_PULLUP_ENABLE, + .master = { + .clk_speed = 100000, + }, + }; + + // 创建I2C总线（ESP-ADF的audio_board_init会复用这个总线） + bus_handle_ = i2c_bus_create(I2C0_MASTER_PORT, &i2c_cfg); + if (bus_handle_ == NULL) { + ESP_LOGE(TAG, "Failed to create I2C bus"); + return ESP_FAIL; + } + + vTaskDelay(pdMS_TO_TICKS(100)); // 等待设备启动 + // ESP-ADF的i2c_bus不需要单独添加设备,直接通过总线句柄和设备地址进行通信 + + // 验证线性马达设备是否存在 + esp_err_t err = i2c_bus_probe_addr(bus_handle_, LINEAR_MOTOR_I2C_SLAVE_ADDR << 1); + if (err != ESP_OK) { + ESP_LOGE(I2C_INIT, "线性马达设备未找到(地址:0x%02X),错误码: 0x%x", LINEAR_MOTOR_I2C_SLAVE_ADDR, err); + // 不返回错误,继续初始化 + } else { + ESP_LOGI(I2C_INIT, "线性马达设备检测成功(地址:0x%02X)", LINEAR_MOTOR_I2C_SLAVE_ADDR); + } + // 验证IO扩展板设备是否存在 + err = i2c_bus_probe_addr(bus_handle_, I2C_IO_EXPAND_SLAVE_ADDR << 1); + if (err != ESP_OK) { + ESP_LOGE(I2C_INIT, "IO扩展板设备未找到(地址:0x%02X),错误码: 0x%x", I2C_IO_EXPAND_SLAVE_ADDR, err); + // 不返回错误,继续初始化其他设备 + } else { + ESP_LOGI(I2C_INIT, "IO扩展板设备检测成功(地址:0x%02X)", I2C_IO_EXPAND_SLAVE_ADDR); + } + // 验证陀螺仪设备是否存在 + err = i2c_bus_probe_addr(bus_handle_, GYROSCOPE_I2C_SLAVE_ADDR << 1); + if (err != ESP_OK) { + ESP_LOGE(I2C_INIT, "陀螺仪设备未找到(地址:0x%02X),错误码: 0x%x", GYROSCOPE_I2C_SLAVE_ADDR, err); + // 不返回错误,继续初始化 + } else { + ESP_LOGI(I2C_INIT, "陀螺仪设备检测成功(地址:0x%02X)", GYROSCOPE_I2C_SLAVE_ADDR); + } + + // 为IO扩展板设置总线句柄和设备地址（使用7位地址） + io_expansion_.bus_handle_ = bus_handle_; + io_expansion_.device_addr_ = I2C_IO_EXPAND_SLAVE_ADDR << 1; + + // 为线性马达设置总线句柄和设备地址（使用7位地址） + linear_motor_.bus_handle_ = bus_handle_; + linear_motor_.device_addr_ = LINEAR_MOTOR_I2C_SLAVE_ADDR << 1; + + ESP_LOGI(I2C_INIT, "I2C总线初始化完成"); + return ESP_OK; +} + +/** + * @brief 开启VBAT to VBAT_5V + * + * 创建开启升压的电源管理单元 + * + */ +void BoardSweekar::VbatToVbat5vInit(void) +{ + // 配置VBAT_5V引脚为输出模式 + gpio_config_t io_conf = { + .pin_bit_mask = (1ULL << VBAT_5V_PIN), + .mode = GPIO_MODE_OUTPUT, + .pull_up_en = GPIO_PULLUP_DISABLE, + .pull_down_en = GPIO_PULLDOWN_DISABLE, + .intr_type = GPIO_INTR_DISABLE + }; + gpio_config(&io_conf); + // 使能VBAT_5V + gpio_set_level(VBAT_5V_PIN, 1); +} + + + + diff --git a/main/02_physical/boards/board_v1_1_12/board_sweekar.h b/main/02_physical/boards/board_v1_1_12/board_sweekar.h new file mode 100644 index 0000000..72492a9 --- /dev/null +++ b/main/02_physical/boards/board_v1_1_12/board_sweekar.h @@ -0,0 +1,38 @@ +#ifndef __BOARD_H__ +#define __BOARD_H__ +#include "config.h" +#include "io_expansion_board.h" +#include "stepper_motor.h" +#include "i2c_bus.h" +#include "gyroscope.h" +#include "touch_sensor.h" + +class BoardSweekar +{ +private: + i2c_bus_handle_t bus_handle_ = nullptr; // 使用ESP-ADF的I2C总线句柄 + +public: + IOExpansionBoard io_expansion_; // IO扩展板对象 + LinearMotor linear_motor_; // 线性马达对象 + Gyroscope gyroscope_; // 陀螺仪对象 + TouchSensor touch_sensor_; // 触摸传感器对象 + // 初始化步进电机 + void StepperMotorInit(void); + + // 初始化串口 + void MillimeterWaveRadarUartInit(void); + + //初始化毫米波雷达的中断引脚 + void MillimeterWaveRadarGpioInit(void); + + // 初始化I2C总线 + esp_err_t I2CMasterInit(void); + + // 初始化VBAT toVBAT_5V引脚 + void VbatToVbat5vInit(void); + + // 获取I2C总线句柄 + i2c_bus_handle_t GetBusHandle() const { return bus_handle_; } +}; +#endif diff --git a/main/02_physical/boards/board_v1_1_12/config.h b/main/02_physical/boards/board_v1_1_12/config.h new file mode 100644 index 0000000..1f2b6ba --- /dev/null +++ b/main/02_physical/boards/board_v1_1_12/config.h @@ -0,0 +1,139 @@ +/* 定义引脚分配 */ +#ifndef _BOARD_CONFIG_H_ +#define _BOARD_CONFIG_H_ + +/** + * @file config.h + * @brief 定义了引脚的分配。 + * @author zouyuhua + * @date 2025年8月7日 + * + */ + +#include "driver/gpio.h" +#include "driver/i2c_master.h" +#include "driver/i2s.h" +#include "esp_log.h" +#include "esp_rom_sys.h" // 用于 esp_rom_delay_us +#include "esp_timer.h" +#include "esp_mac.h" +#include "driver/ledc.h" +#include "driver/gpio.h" +#include "freertos/FreeRTOS.h" +#include "freertos/task.h" +#include "esp_log.h" +#include "driver/timer.h" +#include "esp_intr_alloc.h" +#include "soc/timer_group_struct.h" // 包含TIMERG0、TIMERG1的结构体定义 +#include "soc/timer_group_reg.h" // 包含定时器相关寄存器宏定义 +#include "driver/uart.h" +#include "esp_err.h" +#include "freertos/queue.h" +#include "soc/uart_reg.h" +#include "linear_motor.h" +#include "gyroscope.h" + +#define TAG_BOARD "SWEEKAR_ESP32" +/*I2C总线引脚定义*/ +#define I2C0_MASTER_PORT I2C_NUM_0 +#define I2C0_MASTER_SDA_IO GPIO_NUM_2 +#define I2C0_MASTER_SCL_IO GPIO_NUM_3 + +/* 步进电机引脚设置 */ +#define LEDC_OUTPUT_IO GPIO_NUM_42 // 步进电机LEDC引脚输入 + +/* 定义屏幕驱动控制引脚 */ +#define ST7789_PIN_CLK GPIO_NUM_48 // SPI时钟引脚 +#define ST7789_PIN_DC GPIO_NUM_38 // 数据/命令选择引脚RSEL +#define ST7789_PIN_MOSI GPIO_NUM_47 // SPI数据输出引脚 +#define ST7789_PIN_CS GPIO_NUM_46 // SPI片选引脚 +#define ST7789_PIN_BL GPIO_NUM_NC // 背光引脚 +#define ST7789_PIN_RST GPIO_NUM_NC // 复位引脚 +#define LCD_BL_ACTIVE_LEVEL 0 // 背光有效电平：1=高电平有效(NMOS)，0=低电平有效(PMOS) + +#define LCD_WIDTH 172 // 屏幕宽度(水平方向像素数) +#define LCD_HEIGHT 320 // 屏幕高度(垂直方向像素数) + +/* 毫米波雷达配置参数 */ +/* 定义毫米波雷达的中断引脚 */ +#define MILLIMETER_WAVE_RADAR_PIN GPIO_NUM_35 +// UART 配置参数 +#define RADAR_UART_NUM UART_NUM_1 // 使用 UART1 +#define UART_TX_PIN GPIO_NUM_40 // GPIO43 作为 TX(根据实际硬件连接调整) +#define UART_RX_PIN GPIO_NUM_39 // GPIO44 作为 RX +#define RADAR_BAUD_RATE 9600 // 雷达波特率 +#define RADAR_BUF_SIZE 100 // 雷达接收缓冲区大小 + +/* IO扩展硬件配置常量 */ +#define I2C_MASTER_FREQ_HZ 100000 // I2C通信频率(100kHz)(可更改至400000) +#define I2C_IO_EXPAND_SLAVE_ADDR 0x5B // AW9523BTQR器件地址 +#define GPIO_INPUT_PIN_SEL GPIO_NUM_10 // 中断检测引脚 +#define ESP_INTR_FLAG_DEFAULT 0 // 中断标志默认值 +#define IO_EXPAND_RSTN GPIO_NUM_45 // IO扩展板复位引脚 + +/* 定义线性马达的I2C从机配置常量 */ +#define LINEAR_MOTOR_I2C_SLAVE_ADDR 0x5A // 线性马达的I2C从机地址 + +/* 定义陀螺仪的I2C从机配置常量 */ +#define GYROSCOPE_I2C_SLAVE_ADDR 0x6A // 陀螺仪的I2C从机地址 +#define GYROSCOPE_INPUT_PIN_SEL GPIO_NUM_21 // 陀螺仪中断引脚 + +/* 原生触摸引脚配置 */ +// 触摸按键数量配置 +// #define TOUCH_BUTTON_NUM 4 +#define TOUCH_BUTTON_NUM 3 +// 触摸通道定义 +// #define TOUCH_PAD_CHANNEL_1 TOUCH_PAD_NUM11 // GPIO11 +#define TOUCH_PAD_CHANNEL_2 TOUCH_PAD_NUM12 // GPIO12 +#define TOUCH_PAD_CHANNEL_3 TOUCH_PAD_NUM13 // GPIO13 +#define TOUCH_PAD_CHANNEL_4 TOUCH_PAD_NUM14 // GPIO14 + +/* ES8311音频编解码器配置 (ESP-ADF兼容) */ +#define AUDIO_INPUT_SAMPLE_RATE 24000 +#define AUDIO_OUTPUT_SAMPLE_RATE 24000 +#define AUDIO_INPUT_REFERENCE true + +/* I2S GPIO定义 */ +#define AUDIO_I2S_GPIO_MCLK GPIO_NUM_15 +#define AUDIO_I2S_GPIO_WS GPIO_NUM_4 +#define AUDIO_I2S_GPIO_BCLK GPIO_NUM_5 +#define AUDIO_I2S_GPIO_DIN GPIO_NUM_6 +#define AUDIO_I2S_GPIO_DOUT GPIO_NUM_7 + +/* PA引脚定义 */ +#define AUDIO_CODEC_PA_PIN GPIO_NUM_NC + +/* I2C配置 */ +#define AUDIO_CODEC_I2C_SDA_PIN GPIO_NUM_2 +#define AUDIO_CODEC_I2C_SCL_PIN GPIO_NUM_3 +#define AUDIO_CODEC_ES8311_ADDR 0x18 +#define AUDIO_CODEC_ES7210_ADDR 0x40 + +/* WS2812 RGB LED配置 */ +#define WS2812_PIN GPIO_NUM_41 // WS2812数据引脚 +#define WS2812_NUM_LEDS 2 // WS2812 LED数量 + +/* 创建VBAT to VBAT_5V */ +#define VBAT_5V_PIN GPIO_NUM_NC // VBAT_5V引脚 + +/* 定义按键的中断引脚 */ +#define BUTTON_PIN GPIO_NUM_0 // 按键中断引脚 +#define RIGHT_BUTTON_PIN GPIO_NUM_8 // 按键中断引脚 + +#endif // _BOARD_CONFIG_H_ + + + + + + + + + + + + + + + + diff --git a/main/02_physical/boards/board_v1_1_12/io_expansion_board.cc b/main/02_physical/boards/board_v1_1_12/io_expansion_board.cc new file mode 100644 index 0000000..1c8a964 --- /dev/null +++ b/main/02_physical/boards/board_v1_1_12/io_expansion_board.cc @@ -0,0 +1,724 @@ +#include "io_expansion_board.h" +#include "millimeter_wave_radar.h" +#include "esp_heap_caps.h" +#include "esp_log.h" +#include "esp_check.h" +#include "driver/gpio.h" +#include "freertos/FreeRTOS.h" +#include "freertos/idf_additions.h" +#include "freertos/portable.h" +#include "freertos/task.h" +#include "freertos/event_groups.h" +#include "esp_rom_sys.h" +/** + * @file io_expansion_board.cc + * @brief IO扩展板功能实现类,包含I2C通信、GPIO中断配置、外设控制等功能 + * @details 实现了IO扩展板的初始化(中断引脚、复位引脚)、寄存器读写、步进电机控制(细分模式、使能、方向、睡眠状态)、 + * LCD相关引脚控制(背光、复位、片选)、毫米波雷达中断引脚配置等功能,并提供I2C数据读取任务的创建与管理 + * @author zouyuhua + * @date 2025年8月7日 + * + */ + +/** + * @brief 构造函数 + */ +IOExpansionBoard::IOExpansionBoard() + : bus_handle_(nullptr), + device_addr_(0), + i2c_task_event_group_(nullptr), + xI2CReadTaskHandle_(nullptr) +{ +} + +/** + * @brief 析构函数 + */ +IOExpansionBoard::~IOExpansionBoard() +{ + // 删除任务 + if (xI2CReadTaskHandle_) { + vTaskDelete(xI2CReadTaskHandle_); + } + + // if(pI2CReadTaskStackBuffer) { + // heap_caps_free(pI2CReadTaskStackBuffer); + // pI2CReadTaskStackBuffer = nullptr; + // } + + // if(pxI2CReadTaskBuffer) { + // vPortFree(pxI2CReadTaskBuffer); + // pxI2CReadTaskBuffer = nullptr; + // } + + // 删除事件组 + if (i2c_task_event_group_) { + vEventGroupDelete(i2c_task_event_group_); + } + + // 移除中断处理 + if (interrupt_gpio_ != GPIO_NUM_NC) { + gpio_isr_handler_remove(interrupt_gpio_); + } + + // 删除IO扩展板设备 + // 使用i2c_bus API时不需要手动删除设备句柄 + // bus_handle_由board_sweekar统一管理 +} + +/** + * @brief 静态中断处理函数 + */ +void IRAM_ATTR IOExpansionBoard::GpioIsrHandler(void* arg) +{ + IOExpansionBoard* instance = static_cast(arg); + if (!instance) return; + BaseType_t xHigherPriorityTaskWoken = pdFALSE; + // 设置事件标志位 + if (instance->i2c_task_event_group_) { + xEventGroupSetBitsFromISR( + instance->i2c_task_event_group_, + BIT0, + &xHigherPriorityTaskWoken + ); + } + + // // 唤醒挂起的I2C任务 + // if (instance->xI2CReadTaskHandle_) { + // if (xTaskResumeFromISR(instance->xI2CReadTaskHandle_) == pdTRUE) { + // xHigherPriorityTaskWoken = pdTRUE; + // } + // } + + // 触发上下文切换 + if (xHigherPriorityTaskWoken) { + portYIELD_FROM_ISR(); + } +} + +/** + * @brief 初始化GPIO中断检测 + */ +esp_err_t IOExpansionBoard::InterruptGpioInit(gpio_num_t gpio_num) +{ + // 配置IO扩展板中断引脚 + gpio_config_t io_conf = {}; + io_conf.intr_type = GPIO_INTR_NEGEDGE; + io_conf.pin_bit_mask = 1ULL << gpio_num; + io_conf.mode = GPIO_MODE_INPUT; + io_conf.pull_up_en = GPIO_PULLUP_ENABLE; + io_conf.pull_down_en = GPIO_PULLDOWN_DISABLE; + + esp_err_t err = gpio_config(&io_conf); + if (err != ESP_OK) { + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "GPIO配置失败,错误码: 0x%x", err); + return err; + } + // 配置中断服务 + err = gpio_install_isr_service(ESP_INTR_FLAG_LEVEL3); + if (err != ESP_OK && err != ESP_ERR_INVALID_STATE) { + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "GPIO中断服务安装失败,错误码: 0x%x", err); + return err; + } + // 注册中断处理函数 + err = gpio_isr_handler_add(gpio_num, GpioIsrHandler, this); + if (err != ESP_OK) { + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "GPIO中断处理函数添加失败,错误码: 0x%x", err); + return err; + } + // 创建事件组 + i2c_task_event_group_ = xEventGroupCreate(); + if (!i2c_task_event_group_) { + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "事件组创建失败"); + return ESP_FAIL; + } + + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "GPIO%d中断初始化完成", gpio_num); + return ESP_OK; +} + +/** + * @brief 初始化硬件复位引脚 + * 设置为上拉,需要复位,需要输出低电平为20us的脉冲信号 + */ +esp_err_t IOExpansionBoard::ResetGpioInit(gpio_num_t gpio_num) +{ + reset_gpio_ = gpio_num; + + // 配置复位引脚 + gpio_config_t io_conf = {}; + io_conf.intr_type = GPIO_INTR_DISABLE; + io_conf.pin_bit_mask = 1ULL << gpio_num; + io_conf.mode = GPIO_MODE_OUTPUT; + io_conf.pull_up_en = GPIO_PULLUP_ENABLE; + io_conf.pull_down_en = GPIO_PULLDOWN_DISABLE; + esp_err_t err = gpio_config(&io_conf); + gpio_set_level(gpio_num, 1); // 复位引脚拉高 + if (err != ESP_OK) { + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "GPIO配置失败,错误码: 0x%x", err); + return err; + } + else{ + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "GPIO%d复位引脚初始化完成", gpio_num); + return err; + } +} + +/** + * @brief 复位IO扩展板 + */ +esp_err_t IOExpansionBoard::ResetIoExpand() +{ + if (reset_gpio_ == GPIO_NUM_NC) { + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "复位引脚未初始化"); + return ESP_ERR_INVALID_STATE; + } + + // 复位IO扩展板 + gpio_set_level(reset_gpio_, 0); + esp_rom_delay_us(30); + gpio_set_level(reset_gpio_, 1); + uint8_t ctl_val; + //配置P0_0-P0_7的端口为推挽输出模式 + esp_err_t err = IoexpandReadReg(CTL, &ctl_val); + ctl_val |= (1 << 4); // 设置D[4]位为1(GPOMD=1),切换P0为推挽模式 + err = IoexpandWriteReg(CTL, ctl_val); + if(err != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "复位失败,错误码:0x%x", err); + return err; + } + else{ + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "复位成功"); + } + return ESP_OK; +} + +/** + * @brief 写寄存器数据 + * @param reg_addr 寄存器地址 + * @param data 要写入的数据 + * @return esp_err_t 操作结果 + */ +esp_err_t IOExpansionBoard::IoexpandWriteReg(uint8_t reg_addr, uint8_t data) +{ + return i2c_bus_write_bytes(bus_handle_, device_addr_, ®_addr, 1, &data, 1); +} + +/** + * @brief 从寄存器读取数据 + * @param reg_addr 寄存器地址(如INPUT_PORT0、ID等) + * @param data 输出参数,用于存储读取到的数据 + * @return esp_err_t 操作结果(ESP_OK为成功) + */ +esp_err_t IOExpansionBoard::IoexpandReadReg(uint8_t reg_addr, uint8_t* data) +{ + if (data == nullptr){ // 检查输入参数有效性 + return ESP_ERR_INVALID_ARG; + } + + // 使用i2c_bus_read_bytes进行寄存器读取 + esp_err_t err = i2c_bus_read_bytes(bus_handle_, device_addr_, ®_addr, 1, data, 1); + if (err != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "读取寄存器失败,错误码:0x%x", err); + return err; + } + + return ESP_OK; +} + +//设置IO扩展板为输入模式或是输出模式 +/* +* 这里需要根据实际情况设置IO扩展板的模式,比如输入模式还是输出模式,以及各个引脚的配置。 +* P0_0 对应NFC_RST引脚,需要设置为输出模式,低电平有效。(待测) +* P0_1 对应USB_VBUS引脚,需要设置为输出模式,低电平有效。(待测) +* P0_2 对应BTN_RIGHT_EAR引脚,需要设置为输出模式,低电平有效。(待测) +* P0_3 暂时未使用。 +* P0_4 对应步进电机方向引脚,需要设置为输出模式,根据需求设置。(待测) +* P0_5 对应CHRG引脚(待测) +* P0_6 LCD_DC引脚,需要设置为输出模式,根据需求设置电平。(待测) +* P0_7 对应步进电机的使能引脚,需要设置为输出模式,根据需求设置。(待测) +* +* +* P1_0 对应EG800K_PWR。(待测) +* P1_1 对应LCD_RST,需要设置为输出模式,低电平有效。(待测) +* P1_2 对应LCD_CS,需要设置为输出模式,低电平有效。(待测) +* P1_3 暂时未使用。 +* P1_4 对应步进电机的细分模式M1引脚。(待测) +* P1_5 对应步进电机的细分模式M0引脚。(待测) +* P1_6 对应步进电机的睡眠引脚。(待测) +* P1_7 对应RADAR_O雷达的输出引脚。(待测) +* */ +esp_err_t IOExpansionBoard::IoexpandSetMode(void) +{ + uint8_t ctl_val; + //配置P0_0-P0_7的端口为推挽输出模式 + esp_err_t err = IoexpandReadReg(CTL, &ctl_val); + ctl_val |= (1 << 4); // 设置D[4]位为1(GPOMD=1),切换P0为推挽模式 + err = IoexpandWriteReg(CTL, ctl_val); + if(err != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "配置P0端口失败,错误码:0x%x", err); + return err; + } + else{ + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "配置P0端口成功"); + } + // 配置P0_0-P0_7的端口为输入还是输出：0-输出；1-输入 + // err = IoexpandWriteReg(CONFIG_PORT0, 0x04); // 0000 0100 + err = IoexpandWriteReg(CONFIG_PORT0, 0x24); // 0010 0100 + // err = IoexpandWriteReg(CONFIG_PORT0, 0x2C); // 0010 1100 0-2,0-3,0-5都是输入 + + // D 1101 + // 9 1001 + + if(err != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "配置P0端口失败,错误码:0x%x", err); + return err; + } + else{ + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "配置P0端口成功"); + } + // 配置P1_0-P1_7的端口输出：0-输出；1-输入 + // err = IoexpandWriteReg(CONFIG_PORT1, 0x84); + err = IoexpandWriteReg(CONFIG_PORT1, 0x80); // 1000 0000 + if(err != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "配置P1端口失败,错误码:0x%x", err); + return err; + } + else{ + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "配置P1端口成功"); + } + // 配置P0_0-P0_7的初始为高电平 + // 配置P1_0-P1_7的初始为高电平 + err = IoexpandWriteReg(OUTPUT_PORT0, 0xFD); // 1111 1101 + if(err != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "配置P0端口初始值失败,错误码:0x%x", err); + return err; + } + else{ + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "配置P0端口初始值成功"); + } + err = IoexpandWriteReg(OUTPUT_PORT1, 0x7E); // 0111 1110 + if(err != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "配置P1端口初始值失败,错误码:0x%x", err); + return err; + } + else{ + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "配置P1端口初始值成功"); + } + + err = IoexpandWriteReg(INT_PORT1, 0x7F); // 0111 1111 + if(err != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "配置P1端口中断使能失败,错误码:0x%x", err); + return err; + } + else{ + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "配置P1端口中断使能成功"); + } + + return ESP_OK; +} + +/** + * @brief 设置步进电机的细分模式 + */ +void IOExpansionBoard::SetStepperMicrostepMode(uint8_t mode, uint8_t OUTPUT_PORT, uint8_t m0_pin, uint8_t m1_pin) +{ + uint8_t current_val; + switch (mode) { + case 1: //全步输出模式 低低电平 + /* code */ + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "0x%x", current_val); + current_val &= ~(1 << m0_pin); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "!!!!!!!!!0x%x", current_val); + if(IoexpandWriteReg(OUTPUT_PORT, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "0x%x", current_val); + current_val &= ~(1 << m1_pin); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "!!!!!!!!!0x%x", current_val); + if(IoexpandWriteReg(OUTPUT_PORT, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + break; + case 2: //非圆 1/2 高低电平 + /* code */ + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "0x%x", current_val); + current_val |= (1 << m0_pin); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "!!!!!!!!!0x%x", current_val); + if(IoexpandWriteReg(OUTPUT_PORT, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "0x%x", current_val); + current_val &= ~(1 << m1_pin); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "!!!!!!!!!0x%x", current_val); + if(IoexpandWriteReg(OUTPUT_PORT, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + break; + case 3: //1/4 步 低高电平 + /* code */ + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "0x%x", current_val); + current_val &= ~(1 << m0_pin); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "!!!!!!!!!0x%x", current_val); + if(IoexpandWriteReg(OUTPUT_PORT, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "0x%x", current_val); + current_val |= (1 << m1_pin); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "!!!!!!!!!0x%x", current_val); + if(IoexpandWriteReg(OUTPUT_PORT, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + break; + case 4: //1/8 步 高高电平 + /* code */ + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "0x%x", current_val); + current_val |= (1 << m0_pin); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "!!!!!!!!!0x%x", current_val); + if(IoexpandWriteReg(OUTPUT_PORT, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "0x%x", current_val); + current_val |= (1 << m1_pin); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "!!!!!!!!!0x%x", current_val); + if(IoexpandWriteReg(OUTPUT_PORT, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + break; + default: //全步输入模式 低低电平 + /* code */ + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "0x%x", current_val); + current_val &= ~(1 << m0_pin); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "!!!!!!!!!0x%x", current_val); + if(IoexpandWriteReg(OUTPUT_PORT, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "0x%x", current_val); + current_val &= ~(1 << m1_pin); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "!!!!!!!!!0x%x", current_val); + if(IoexpandWriteReg(OUTPUT_PORT, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + break; + } +} + +/** + * @brief 设置步进电机的使能 + */ +esp_err_t IOExpansionBoard::SetMotorEnableMode(bool enable, uint8_t OUTPUT_PORT, uint8_t enable_pin) +{ + uint8_t current_val; + if(enable){ + // 进入工作状态mode + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "0x%x", current_val); + current_val |= (1 << enable_pin); + // ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "!!!!!!!!!0x%x", current_val); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } + else{ + // 进入睡眠状态 + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "0x%x", current_val); + current_val &= ~(1 << enable_pin); + // ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "!!!!!!!!!0x%x", current_val); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } +} +/** + * @brief 设置步进电机运行方向 + */ +esp_err_t IOExpansionBoard::StepperMotorSetDir(bool dir, uint8_t OUTPUT_PORT, uint8_t pin) +{ + uint8_t current_val; + if(dir){ + // 方向为正转 + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "0x%x", current_val); + current_val |= (1 << pin); + // ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "!!!!!!!!!0x%x", current_val); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } + else{ + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "0x%x", current_val); + current_val &= ~(1 << pin); + // ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "!!!!!!!!!0x%x", current_val); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } +} + + +/** + * @brief 设置步进电机是否进入睡眠或者工作状态(高电平进入工作状态,低电平进入睡眠状态) + */ +esp_err_t IOExpansionBoard::SetMotorSleepMode(bool mode, uint8_t OUTPUT_PORT, uint8_t nsleep_pin) +{ + uint8_t current_val; + if(mode){ + // 进入工作状态mode + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "0x%x", current_val); + current_val |= (1 << nsleep_pin); + // ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "!!!!!!!!!0x%x", current_val); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } + else{ + // 进入睡眠状态 + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "0x%x", current_val); + current_val &= ~(1 << nsleep_pin); + // ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "!!!!!!!!!0x%x", current_val); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } +} + + +/*********************************************IO扩展板LCD引脚配置参数***********************************************/ +/** + * @brief 设置 LCD_BL引脚电平(高电平为命令模式,低电平为数据模式) + */ +esp_err_t IOExpansionBoard::SetLcdBlMode(bool mode, uint8_t OUTPUT_PORT, uint8_t bl_pin) +{ + uint8_t current_val; + if(mode){ + // 进入命令模式 + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "0x%x", current_val); + current_val |= (1 << bl_pin); + // ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "!!!!!!!!!0x%x", current_val); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } + else{ + // 进入数据模式 + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "0x%x", current_val); + current_val &= ~(1 << bl_pin); + // ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "!!!!!!!!!0x%x", current_val); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } +} + +/** + * @brief 设置 LCD_RST引脚电平(高电平为复位模式,低电平为工作模式) + */ +esp_err_t IOExpansionBoard::SetLcdResetMode(bool mode, uint8_t OUTPUT_PORT, uint8_t reset_pin) +{ + uint8_t current_val; + if(mode){ + // 进入复位模式 + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "0x%x", current_val); + current_val |= (1 << reset_pin); + // ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "!!!!!!!!!0x%x", current_val); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } + else{ + // 进入工作模式 + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "0x%x", current_val); + current_val &= ~(1 << reset_pin); + // ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "!!!!!!!!!0x%x", current_val); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } +} + +/*********************************************IO扩展板的输入引脚配置以及中断引脚定义***********************************************/ +/** + * @brief 设置 毫米波雷达的中断引脚 + */ +esp_err_t IOExpansionBoard::SetRadarInterruptPin(bool mode, uint8_t INPUT_PORT, uint8_t interrupt_pin) +{ + uint8_t current_val; + if(mode){ + // 进入输入模式 + IoexpandReadReg(INPUT_PORT, ¤t_val); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "0x%x", current_val); + current_val |= (1 << interrupt_pin); + // ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "!!!!!!!!!0x%x", current_val); + return IoexpandWriteReg(INPUT_PORT, current_val); + } + else{ + // 进入输出模式 + IoexpandReadReg(INPUT_PORT, ¤t_val); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "0x%x", current_val); + current_val &= ~(1 << interrupt_pin); + // ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "!!!!!!!!!0x%x", current_val); + return IoexpandWriteReg(INPUT_PORT, current_val); + } +} + +/** + * @brief 设置 LCD_CS引脚电平(低电平为选中状态,高电平为不选中状态) + */ +esp_err_t IOExpansionBoard::SetLcdCsMode(bool mode, uint8_t OUTPUT_PORT, uint8_t cs_pin) +{ + uint8_t current_val; + if(mode){ + // 进入选中状态 + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "0x%x", current_val); + current_val &= ~(1 << cs_pin); + // ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "!!!!!!!!!0x%x", current_val); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } + else{ + // 进入不选中状态 + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + ESP_LOGW(TAG_I2C_IO_EXPAND_TASK, "0x%x", current_val); + current_val |= (1 << cs_pin); + // ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "!!!!!!!!!0x%x", current_val); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } +} +/** + * @brief I2C数据读取任务主体 + */ +void IOExpansionBoard::I2cReadTask(void* pvParameters) +{ + IOExpansionBoard* instance = static_cast(pvParameters); + if (!instance) { + vTaskDelete(nullptr); + return; + } + // 初始化复位引脚 + esp_err_t err = instance->ResetGpioInit(IO_EXPAND_RSTN); + if (err != ESP_OK) { + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "GPIO复位初始化失败"); + } + // 初始化IO扩展板子的中断引脚 + err = instance->InterruptGpioInit(GPIO_INPUT_PIN_SEL); + if (err != ESP_OK) { + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "GPIO中断初始化失败"); + } + // 设置IO扩展板模式 + instance->IoexpandSetMode(); + + // 设置LCD屏幕复位引脚 + err = instance->SetLcdResetMode(LCD_RST_HIGH, LCD_RST_PORT, LCD_RST_PIN); + if(err != ESP_OK){ + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "设置LCD屏幕复位引脚失败"); + } + else{ + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "设置LCD屏幕复位引脚成功"); + } + instance->IoexpandWriteReg(OUTPUT_PORT0, 0xff); + uint8_t current_val; + for (;;) { + // 等待中断事件触发 + if (instance->i2c_task_event_group_) { + xEventGroupWaitBits(instance->i2c_task_event_group_, BIT0, pdTRUE, pdFALSE, portMAX_DELAY); + } + // 读取I2C数据 + instance->IoexpandReadReg(INPUT_PORT1,¤t_val); + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "读取数据: 0x%0X", current_val); + if(current_val & (1 << 7)){ + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "检测到中断来自雷达引脚（P1_7）\n"); + // 调用毫米波雷达回调函数 + if (instance->radar_) { + instance->radar_->TriggerRadarDetectCallback(); + } + } + + // vTaskSuspend(nullptr); // 挂起任务等待下次唤醒 + } +} + +// bool IOExpansionBoard::AllocateStaticTaskMemory() +// { +// printf("IO拓展芯片创建任务前:Internal Free: %d bytes\n", heap_caps_get_free_size(MALLOC_CAP_INTERNAL)); +// printf("IO拓展芯片创建任务前 Free: %d bytes\n", heap_caps_get_free_size(MALLOC_CAP_SPIRAM)); +// // 分配任务栈（PSRAM） +// const size_t TASK_STACK_SIZE = 4096; +// pI2CReadTaskStackBuffer = (StackType_t*)heap_caps_malloc( +// TASK_STACK_SIZE * sizeof(StackType_t), +// MALLOC_CAP_SPIRAM | MALLOC_CAP_8BIT +// ); + +// if (!pI2CReadTaskStackBuffer) { +// ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "Failed to allocate task stack from PSRAM"); +// return false; +// } + +// // 分配任务控制块（内部RAM） +// pxI2CReadTaskBuffer = (StaticTask_t*)pvPortMalloc(sizeof(StaticTask_t)); +// if (!pxI2CReadTaskBuffer) { +// ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "Failed to allocate task TCB from internal RAM"); +// heap_caps_free(pI2CReadTaskStackBuffer); +// pI2CReadTaskStackBuffer = nullptr; +// return false; +// } + +// ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "Static task memory allocated successfully"); +// printf("IO拓展芯片创建任务后:Internal Free: %d bytes\n", heap_caps_get_free_size(MALLOC_CAP_INTERNAL)); +// printf("IO拓展芯片创建任务后 Free: %d bytes\n", heap_caps_get_free_size(MALLOC_CAP_SPIRAM)); +// return true; +// } + +// void IOExpansionBoard::FreeStaticTaskMemory() +// { +// if (pI2CReadTaskStackBuffer != nullptr) { +// heap_caps_free(pI2CReadTaskStackBuffer); +// pI2CReadTaskStackBuffer = nullptr; +// } + +// if (pxI2CReadTaskBuffer != nullptr) { +// vPortFree(pxI2CReadTaskBuffer); +// pxI2CReadTaskBuffer = nullptr; +// } + +// ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "Static task memory freed"); +// } + +/** + * @brief 创建I2C数据读取任务 + */ +void IOExpansionBoard::CreateI2cReadTask() +{ + printf("创建I2C读取任务之前:Internal Free: %d bytes\n", heap_caps_get_free_size(MALLOC_CAP_INTERNAL)); + printf("创建I2C读取任务之前:PSRAM Free: %d bytes\n", heap_caps_get_free_size(MALLOC_CAP_SPIRAM)); + if (xI2CReadTaskHandle_) { + return; // 任务已创建 + } + + xTaskCreateWithCaps( + I2cReadTask, + "i2c_read_task", + I2C_TASK_STACK, + this, + I2C_TASK_PRIORITY, + &xI2CReadTaskHandle_, + MALLOC_CAP_SPIRAM | MALLOC_CAP_8BIT + ); + + if (xI2CReadTaskHandle_ == NULL) { + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "Failed to create static I2C read task"); + } else { + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "Static I2C read task created successfully"); + } + printf("创建I2C读取任务之后:Internal Free: %d bytes\n", heap_caps_get_free_size(MALLOC_CAP_INTERNAL)); + printf("创建I2C读取任务之后:PSRAM Free: %d bytes\n", heap_caps_get_free_size(MALLOC_CAP_SPIRAM)); +} + +/** + * @brief 启动I2C任务 (整合初始化和任务创建) + */ +esp_err_t IOExpansionBoard::StartTask() +{ + // 再创建任务 + if (!xI2CReadTaskHandle_) { + CreateI2cReadTask(); + } + return ESP_OK; +} diff --git a/main/02_physical/boards/board_v1_1_12/io_expansion_board.h b/main/02_physical/boards/board_v1_1_12/io_expansion_board.h new file mode 100644 index 0000000..0a3f47b --- /dev/null +++ b/main/02_physical/boards/board_v1_1_12/io_expansion_board.h @@ -0,0 +1,284 @@ +#ifndef IO_EXPANSION_BOARD_H +#define IO_EXPANSION_BOARD_H + +#include +#include +#include +#include +#include +#include "i2c_bus.h" +#include "freertos/FreeRTOS.h" +#include "freertos/event_groups.h" +#include +#include +#include +#include +#include +#include +#include +#include "esp_err.h" +#include "config.h" +#include "portmacro.h" + +// 前向声明，避免循环引用 +class MillimeterWaveRadar; + +/* 寄存器地址 */ +#define INPUT_PORT0 0x00 // 输入端口0寄存器 +#define INPUT_PORT1 0x01 // 输入端口1寄存器 0为低电平(仅支持读取) +#define OUTPUT_PORT0 0x02 // 输出端口0寄存器 +#define OUTPUT_PORT1 0x03 // 输出端口1寄存器 0为低电平 +#define CONFIG_PORT0 0x04 // 配置端口0寄存器 +#define CONFIG_PORT1 0x05 // 配置端口1寄存器 0为输出模式 +#define INT_PORT0 0x06 // 中断端口0寄存器 +#define INT_PORT1 0x07 // 中断端口1寄存器 0为使能中断(根据手册默认是使能的) +#define CTL 0x11 // 全局控制寄存器 +#define ID 0x23 // 芯片ID寄存器(0x23) + +/***********************************IO扩展板电机引脚配置参数*************************************/ +/* 设置步进电机方向 */ +#define STEPPER_MOTOR_LEFT false //步进电机的方向为左转 +#define STEPPER_MOTOR_RIGHT true //步进电机的方向为右转 +#define STEPPER_MOTOR_DIR_PORT OUTPUT_PORT0 //步进电机方向引脚挂载在IO扩展板的输出端口OUTPUT_PORT0 +#define STEPPER_MOTOR_DIR_PIN 4 //步进电机方向引脚对应的IO扩展板引脚P0_4 + +/* 设置步进电机细分模式 */ +#define STEPPER_MOTOR_M0_PIN 5 //步进电机细分模式选择引脚对应IO扩展板引脚P1_5 +#define STEPPER_MOTOR_M1_PIN 4 //步进电机细分模式选择引脚对应IO扩展板引脚P1_4 +#define STEPPER_MOTOR_MADE_PORT OUTPUT_PORT1 //步进电机模式选择引脚挂载在IO扩展板的输出端口OUTPUT_PORT1 + + +/* 设置步进电机睡眠引脚 */ +#define STEPPER_MOTOR_SLEEP false //步进电机进入睡眠模式 +#define STEPPER_MOTOR_WORK true //步进电机进入工作模式 +#define STEPPER_MOTOR_SLEEP_PIN 6 //步进电机睡眠引脚对应IO扩展板引脚P1_6 +#define STEPPER_MOTOR_SLEEP_PORT OUTPUT_PORT1 //步进电机睡眠引脚挂载在IO扩展板的输出端口OUTPUT_PORT1 + +/* 设置电机的使能引脚 */ +#define STEPPER_MOTOR_ENABLE_PIN 7 //电机使能引脚对应IO扩展板引脚P0_7 +#define STEPPER_MOTOR_ENABLE_PORT OUTPUT_PORT0 //电机使能引脚挂载在IO扩展板的输出端口OUTPUT_PORT0 +#define STEPPER_MOTOR_ENABLE_ENABLE true //电机使能引脚状态为高电平 +#define STEPPER_MOTOR_ENABLE_DISABLE false //电机使能引脚状态为低电平 + +/* 设置毫米波雷达对应IO扩展板的中断引脚 */ +#define RADAR_INTERRUPT_PIN 7 //毫米波雷达中断引脚对应IO扩展板引脚P1_7 +#define RADAR_INTERRUPT_PORT CONFIG_PORT1 //毫米波雷达中断引脚挂载在IO扩展板的输入端口INPUT_PORT1 +#define RADAR_INTERRUPT_ENABLE true //毫米波雷达中断引脚状态为输入状态 +#define RADAR_INTERRUPT_DISABLE false //毫米波雷达中断引脚状态为输出状态 +/* 任务配置常量 */ +#define WRITE_BUF_SIZE 2 // I2C单次写入字节数 +#define READ_BUF_SIZE 2 // I2C单次读取字节数 +#define I2C_TASK_PRIORITY 2 // 任务优先级(中等) +#define I2C_TASK_STACK 4096 // 任务栈大小(4KB) + +/***********************************IO扩展板LCD引脚配置参数*************************************/ +/* 设置LCD的BL引脚 */ +#define LCD_BL_PIN 6 //LCD背光引脚 +#define LCD_BL_PORT OUTPUT_PORT0 //LCD背光引脚挂载在IO扩展板的输出端口OUTPUT_PORT0 +#define LCD_BL_HIGH true //LCD背光引脚状态为高电平 +#define LCD_BL_LOW false //LCD背光引脚状态为低电平 + +/* 设置LCD的RST引脚 */ +#define LCD_RST_PIN 1 //LCD复位引脚 +#define LCD_RST_PORT OUTPUT_PORT1 //LCD复位引脚挂载在IO扩展板的输出端口OUTPUT_PORT1 +#define LCD_RST_HIGH true //LCD复位引脚状态为高电平 +#define LCD_RST_LOW false //LCD复位引脚状态为低电平 + +/* 设置LCD的CS引脚 */ +#define LCD_CS_PIN 2 //LCD片选引脚 +#define LCD_CS_PORT OUTPUT_PORT1 //LCD片选引脚挂载在IO扩展板的输出端口OUTPUT_PORT1 +#define LCD_CS_HIGH true //LCD片选引脚状态为高电平 +#define LCD_CS_LOW false //LCD片选引脚状态为低电平 + +#define TAG_GPIO_IO_EXPAND_DETECT "GPIO_IO_EXPAND_DETECT" // GPIO中断检测日志标签 +#define TAG_I2C_IO_EXPAND_TASK "I2C_IO_EXPAND_TASK" // I2CIO扩展板任务日志标签 + +// GPIO引脚定义 +#define GPIO_INPUT_PIN_SEL GPIO_NUM_10 // IO扩展板中断检测引脚 +#define IO_EXPAND_RSTN GPIO_NUM_45 // IO扩展板复位引脚 + +/** + * @class IOExpansionBoard + * @brief I/O扩展板驱动类,封装AW9523BTQR芯片操作 + */ +class IOExpansionBoard +{ +public: + /** + * @brief 构造函数 + */ + IOExpansionBoard(); + + /** + * @brief 设置毫米波雷达指针 + * @param radar 毫米波雷达对象指针 + */ + void setRadar(MillimeterWaveRadar* radar) { radar_ = radar; }; + + /** + * @brief 析构函数 + */ + ~IOExpansionBoard(); + + /** + * @brief 初始化GPIO中断检测 + * @param gpio_num 中断引脚编号 + * @return esp_err_t 初始化结果 + */ + esp_err_t InterruptGpioInit(gpio_num_t gpio_num); + + /** + * @brief 初始化IO扩展板复位引脚 + * @param gpio_num 复位引脚编号 + * @return esp_err_t 初始化结果 + */ + esp_err_t ResetGpioInit(gpio_num_t gpio_num); + + /** + * @brief 初始化IO扩展板复位引脚 + * @param gpio_num 复位引脚编号 + * @return esp_err_t 初始化结果 + */ + esp_err_t ResetIoExpand(); + + /** + * @brief 初始化I2C主机通信 + * @return esp_err_t 初始化结果 + */ + // esp_err_t IoExpansionI2cInit(); + + /** + * @brief 创建I2C数据读取任务 + */ + void CreateI2cReadTask(); + + /** + * @brief 启动I2C任务(整合初始化和任务创建) + * @return esp_err_t 操作结果 + */ + esp_err_t StartTask(); + + /** + * @brief 写寄存器数据 + * @param reg_addr 寄存器地址 + * @param data 要写入的数据 + * @return esp_err_t 操作结果 + */ + esp_err_t IoexpandWriteReg(uint8_t reg_addr, uint8_t data); + + /** + * @brief 读寄存器数据 + * @param reg_addr 寄存器地址 + * @param data 要读出的数据 + * @return esp_err_t 操作结果 + */ + esp_err_t IoexpandReadReg(uint8_t reg_addr, uint8_t *data); + + // /** + // * @brief 设置IO扩展板GPIO中断状态 通过读取Input_Port0 和 Input_Port1 寄存器可以清除中断 + // * @param reg_addr 寄存器地址 + // * @return esp_err_t 操作结果 + // */ + // esp_err_t SetInterruptStatus(bool status); + + /** + * @brief 配置IO扩展版上的IO口为输出还是输入,并且设置初始为高电平 + * @return esp_err_t 操作结果 + */ + esp_err_t IoexpandSetMode(); + + /** + * @brief 设置步进电机的细分模式 + * @param mode 模式：1/2/4/8/16/32/64 + * @return esp_err_t 操作结果 + */ + void SetStepperMicrostepMode(uint8_t mode, uint8_t OUTPUT_PORT, uint8_t m0_pin, uint8_t m1_pin); + + /** + * @brief 设置步进电机的方向 + * @param dir 方向 + * @param OUTPUT_PORT 输出端口 + * @param pin 引脚号 + * @return esp_err_t 操作结果 + */ + esp_err_t StepperMotorSetDir(bool dir, uint8_t OUTPUT_PORT, uint8_t pin); + + /** + * @brief 设置步进电机的睡眠模式 + * @param 是否进入睡眠模式 + * @param 输出端口 + * @param 引脚号 + * @return esp_err_t 操作结果 + */ + esp_err_t SetMotorSleepMode(bool mode, uint8_t OUTPUT_PORT, uint8_t nsleep_pin); + + /** + * @brief 设置步进电机的使能引脚状态 + * @param 使能状态 + * @return esp_err_t 操作结果 + */ + esp_err_t SetMotorEnableMode(bool enable, uint8_t OUTPUT_PORT, uint8_t enable_pin); + + /** + * @brief 设置LCD的BL引脚状态 + * @param BL状态 + * @return esp_err_t 操作结果 + */ + esp_err_t SetLcdBlMode(bool mode, uint8_t OUTPUT_PORT, uint8_t bl_pin); + + /** + * @brief 设置LCD的RST引脚状态 + * @param RST状态 + * @return esp_err_t 操作结果 + */ + esp_err_t SetLcdResetMode(bool mode, uint8_t OUTPUT_PORT, uint8_t rst_pin); + + /** + * @brief 设置LCD的CS引脚状态 + * @param CS状态(低电平为选中状态,高电平为不选中状态) + * @return esp_err_t 操作结果 + */ + esp_err_t SetLcdCsMode(bool mode, uint8_t OUTPUT_PORT, uint8_t cs_pin); + + /** + * @brief 设置雷达中断引脚 + * @param 毫米波雷达的中断引脚模式 + * @param 输入端口 + * @param 引脚号 + * @return esp_err_t 操作结果 + */ + esp_err_t SetRadarInterruptPin(bool mode, uint8_t INPUT_PORT, uint8_t interrupt_pin); + + // 公共成员变量 + i2c_bus_handle_t bus_handle_ = nullptr; // I2C总线句柄 + uint8_t device_addr_; // I2C设备地址 + +private: + // 静态成员函数 + MillimeterWaveRadar* radar_ = nullptr; // 毫米波雷达指针，用于触发回调 + static void IRAM_ATTR GpioIsrHandler(void* arg); // 中断处理函数 + static void I2cReadTask(void* pvParameters); // I2C数据读取任务函数 + + // /** + // * @brief 分配静态任务所需的内存 + // * @return bool 分配是否成功 + // */ + // bool AllocateStaticTaskMemory(); + + // /** + // * @brief 释放静态任务分配的内存 + // */ + // void FreeStaticTaskMemory(); + + // 实例成员变量 + EventGroupHandle_t i2c_task_event_group_ = nullptr; // 事件组 + TaskHandle_t xI2CReadTaskHandle_ = nullptr; // 任务句柄 + bool is_initialized_ = false; // 初始化状态标记(新增) + gpio_num_t interrupt_gpio_ = GPIO_NUM_NC; // 中断引脚 + gpio_num_t reset_gpio_ = GPIO_NUM_NC; // 复位引脚 + + // StackType_t* pI2CReadTaskStackBuffer = nullptr; // 任务栈指针（PSRAM） + // StaticTask_t* pxI2CReadTaskBuffer = nullptr; // 任务控制块指针（内部RAM） +}; + +#endif \ No newline at end of file diff --git a/main/02_physical/boards/board_v1_1_13/board_sweekar.cc b/main/02_physical/boards/board_v1_1_13/board_sweekar.cc new file mode 100644 index 0000000..88a1db3 --- /dev/null +++ b/main/02_physical/boards/board_v1_1_13/board_sweekar.cc @@ -0,0 +1,311 @@ +/** + * @file board.cc + * @brief 板级外设初始化类,包含步进电机、毫米波雷达、I2C总线等外设的初始化函数。 + * @author zouyuhua + * @date 2025年8月7日 + * + */ + +extern "C" { +#include "esp_log.h" +#include "driver/gpio.h" +#include "driver/uart.h" +#include "driver/ledc.h" +#include "driver/gptimer.h" +#include "esp_err.h" +#include "freertos/FreeRTOS.h" +#include "freertos/task.h" +#include "hal/gpio_types.h" +#include "hal/uart_types.h" +#include "esp_check.h" +#include "sdkconfig.h" +#include "i2c_bus.h" +} + +#include "board_sweekar.h" +#include "config.h" +#define TAG "board_sweekar" + +/*========================== 步进电机相关驱动 ==========================*/ + +/** + * @brief 步进电机初始化函数 + * 配置步进电机所需的GPIO引脚模式,通过IO扩展板设置步进驱动芯片的工作模式 + * 在 stepper_motor.cc 中完成 GPTimer + GPIO 翻转 STEP 脉冲的初始化 + */ +void BoardSweekar::StepperMotorInit(void) +{ + esp_err_t err = ESP_OK; + + // 1) STEP 引脚改为普通 GPIO（不再用 LEDC） + gpio_config_t io_cfg; + io_cfg.pin_bit_mask = 1ULL << STEPPER_STEP_IO; + io_cfg.mode = GPIO_MODE_OUTPUT; + io_cfg.pull_up_en = GPIO_PULLUP_DISABLE; + io_cfg.pull_down_en = GPIO_PULLDOWN_DISABLE; + io_cfg.intr_type = GPIO_INTR_DISABLE; + err = gpio_config(&io_cfg); + if (err != ESP_OK) + { + ESP_LOGE(TAG_BOARD, "步进电机 STEP GPIO 配置失败, 错误码: 0x%x", err); + } + + // 初始电平拉低，保证上电不乱跳 + gpio_set_level(STEPPER_STEP_IO, 0); + + // 2) 检查 I2C 总线是否已初始化 + if (bus_handle_ == nullptr) + { + ESP_LOGE(TAG_BOARD, "I2C总线未初始化,请先调用I2CMasterInit()"); + return; + } + + // 3) 通过 IO 扩展板配置步进驱动芯片：睡眠/使能/细分/方向 + err = io_expansion_.SetMotorSleepMode( + STEPPER_MOTOR_WORK, + STEPPER_MOTOR_SLEEP_PORT, + STEPPER_MOTOR_WORK + ); + if (err != ESP_OK) + { + ESP_LOGE(TAG_BOARD, "步进电机睡眠模式配置失败, 错误码: 0x%x", err); + } + + err = io_expansion_.SetMotorEnableMode( + STEPPER_MOTOR_ENABLE_DISABLE, + STEPPER_MOTOR_ENABLE_PORT, + STEPPER_MOTOR_ENABLE_PIN + ); + if (err != ESP_OK) + { + ESP_LOGE(TAG_BOARD, "步进电机使能配置失败, 错误码: 0x%x", err); + } + + // 细分设置：这里仍然用原来的 1/8 细分 + io_expansion_.SetStepperMicrostepMode( + 4, + STEPPER_MOTOR_M0_MADE_PORT, + STEPPER_MOTOR_M0_PIN, + STEPPER_MOTOR_M1_MADE_PORT, + STEPPER_MOTOR_M1_PIN + ); + if (err != ESP_OK) + { + ESP_LOGE(TAG_BOARD, "步进电机细分模式配置失败, 错误码: 0x%x", err); + } + + // 默认方向先设一个（比如“上升”方向） + err = io_expansion_.StepperMotorSetDir( + STEPPER_MOTOR_LEFT, + STEPPER_MOTOR_DIR_PORT, + STEPPER_MOTOR_DIR_PIN + ); + if (err != ESP_OK) + { + ESP_LOGE(TAG_BOARD, "步进电机方向配置失败, 错误码: 0x%x", err); + } +} + +/*========================== 毫米波雷达相关驱动 ==========================*/ + +/** + * @brief 毫米波雷达串口初始化函数 + * + * 配置毫米波雷达所使用的串口参数(波特率、数据位、校验位、停止位等),设置串口引脚, + * 并安装串口驱动。采用较大的RX/TX FIFO深度以处理突发数据,禁用驱动自带事件队列以避免 + * 与自定义中断冲突。 + */ +void BoardSweekar::MillimeterWaveRadarUartInit(void) +{ + uart_config_t uart_config = { + .baud_rate = RADAR_BAUD_RATE, + .data_bits = UART_DATA_8_BITS, + .parity = UART_PARITY_DISABLE, + .stop_bits = UART_STOP_BITS_1, + .flow_ctrl = UART_HW_FLOWCTRL_DISABLE, + .source_clk = UART_SCLK_DEFAULT, + }; + + // 1. 设置串口参数 + ESP_ERROR_CHECK(uart_param_config(RADAR_UART_NUM, &uart_config)); + + // 2. 设置 UART 引脚 + ESP_ERROR_CHECK(uart_set_pin(RADAR_UART_NUM, UART_TX_PIN, UART_RX_PIN, + UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE)); + + // 3. 安装 UART 驱动(禁用驱动自带事件队列,避免与自定义中断冲突) + // 增加 RX/TX FIFO 深度以处理突发数据 + ESP_ERROR_CHECK(uart_driver_install(RADAR_UART_NUM, RADAR_BUF_SIZE * 4, RADAR_BUF_SIZE * 4, + 0, NULL, 0)); +} + +/** + * @brief 毫米波雷达中断引脚初始化函数 + * + * 配置毫米波雷达中断引脚为输入模式,禁用上拉电阻,使能下拉电阻,初始禁用中断功能 + * (如需使用中断需单独进行配置)。 + */ +void BoardSweekar::MillimeterWaveRadarGpioInit(void) +{ + // GPIO配置结构体 + gpio_config_t io_conf = { + .pin_bit_mask = (1ULL << MILLIMETER_WAVE_RADAR_PIN), // 选择GPIO引脚 + .mode = GPIO_MODE_INPUT, // 设置为输入模式 + .pull_up_en = GPIO_PULLUP_DISABLE, + .pull_down_en = GPIO_PULLDOWN_ENABLE, // 使能下拉 + .intr_type = GPIO_INTR_DISABLE // 禁用中断(如需中断需单独配置) + }; + + // 配置GPIO + gpio_config(&io_conf); +} + +/*========================== I2C总线及挂载的从设备相关驱动 ==========================*/ + +/** + * @brief I2C总线及从机设备初始化函数 + * + * 首先配置并创建I2C主机总线,然后依次添加IO扩展板和线性马达作为I2C从机设备到总线上。 + * 若总线创建或设备添加失败,会输出错误信息并进行相应的资源清理(删除已创建的总线)。 + * 初始化成功后,会通过ESP_LOGI输出IO扩展板和线性马达的从机地址信息。 + * + * @return esp_err_t 初始化结果,ESP_OK表示成功,其他错误码表示相应的失败原因 + */ +esp_err_t BoardSweekar::I2CMasterInit(void) +{ + static const char *I2C_INIT = "I2C_INIT"; + + // 初始化IO扩展板复位引脚 + gpio_config_t reset_io_conf = { + .pin_bit_mask = (1ULL << IO_EXPAND_RSTN), + .mode = GPIO_MODE_OUTPUT, + .pull_up_en = GPIO_PULLUP_ENABLE, // 使能上拉 + .pull_down_en = GPIO_PULLDOWN_DISABLE, + .intr_type = GPIO_INTR_DISABLE + }; + gpio_config(&reset_io_conf); + + // 执行复位时序：先拉低100ms,再拉高并等待100ms + gpio_set_level(IO_EXPAND_RSTN, 0); // 拉低复位 + vTaskDelay(pdMS_TO_TICKS(100)); // 等待100ms + gpio_set_level(IO_EXPAND_RSTN, 1); // 释放复位 + vTaskDelay(pdMS_TO_TICKS(100)); // 等待设备启动 + + ESP_LOGI(I2C_INIT, "IO扩展板复位完成"); + + // 创建统一的I2C总线（使用ESP-ADF的i2c_bus） + i2c_config_t i2c_cfg = { + .mode = I2C_MODE_MASTER, + .sda_io_num = I2C0_MASTER_SDA_IO, + .scl_io_num = I2C0_MASTER_SCL_IO, + .sda_pullup_en = GPIO_PULLUP_ENABLE, + .scl_pullup_en = GPIO_PULLUP_ENABLE, + .master = { + .clk_speed = 100000, + }, + }; + + // 创建I2C总线（ESP-ADF的audio_board_init会复用这个总线） + bus_handle_ = i2c_bus_create(I2C0_MASTER_PORT, &i2c_cfg); + if (bus_handle_ == NULL) { + ESP_LOGE(TAG, "Failed to create I2C bus"); + return ESP_FAIL; + } + + vTaskDelay(pdMS_TO_TICKS(100)); // 等待设备启动 + // ESP-ADF的i2c_bus不需要单独添加设备,直接通过总线句柄和设备地址进行通信 + + // 验证线性马达设备是否存在 + esp_err_t err = i2c_bus_probe_addr(bus_handle_, LINEAR_MOTOR_I2C_SLAVE_ADDR << 1); + if (err != ESP_OK) { + ESP_LOGE(I2C_INIT, "线性马达设备未找到(地址:0x%02X),错误码: 0x%x", LINEAR_MOTOR_I2C_SLAVE_ADDR, err); + // 不返回错误,继续初始化 + } else { + ESP_LOGI(I2C_INIT, "线性马达设备检测成功(地址:0x%02X)", LINEAR_MOTOR_I2C_SLAVE_ADDR); + } + // 验证IO扩展板设备是否存在 + err = i2c_bus_probe_addr(bus_handle_, I2C_IO_EXPAND_SLAVE_ADDR << 1); + if (err != ESP_OK) { + ESP_LOGE(I2C_INIT, "IO扩展板设备未找到(地址:0x%02X),错误码: 0x%x", I2C_IO_EXPAND_SLAVE_ADDR, err); + // 不返回错误,继续初始化其他设备 + } else { + ESP_LOGI(I2C_INIT, "IO扩展板设备检测成功(地址:0x%02X)", I2C_IO_EXPAND_SLAVE_ADDR); + } + // 验证陀螺仪设备是否存在 + err = i2c_bus_probe_addr(bus_handle_, GYROSCOPE_I2C_SLAVE_ADDR << 1); + if (err != ESP_OK) { + ESP_LOGE(I2C_INIT, "陀螺仪设备未找到(地址:0x%02X),错误码: 0x%x", GYROSCOPE_I2C_SLAVE_ADDR, err); + // 不返回错误,继续初始化 + } else { + ESP_LOGI(I2C_INIT, "陀螺仪设备检测成功(地址:0x%02X)", GYROSCOPE_I2C_SLAVE_ADDR); + } + + // 为IO扩展板设置总线句柄和设备地址（使用7位地址） + io_expansion_.bus_handle_ = bus_handle_; + io_expansion_.device_addr_ = I2C_IO_EXPAND_SLAVE_ADDR << 1; + + // 为线性马达设置总线句柄和设备地址（使用7位地址） + linear_motor_.bus_handle_ = bus_handle_; + linear_motor_.device_addr_ = LINEAR_MOTOR_I2C_SLAVE_ADDR << 1; + + ESP_LOGI(I2C_INIT, "I2C总线初始化完成"); + return ESP_OK; +} + +/*========================== VBAT to VBAT_5V相关驱动 ==========================*/ + +/** + * @brief 开启VBAT to VBAT_5V + * + * 创建开启升压的电源管理单元 + * + */ +void BoardSweekar::VbatToVbat5vInit(void) +{ + // 配置VBAT_5V引脚为输出模式 + gpio_config_t io_conf = { + .pin_bit_mask = (1ULL << VBAT_5V_PIN), + .mode = GPIO_MODE_OUTPUT, + .pull_up_en = GPIO_PULLUP_DISABLE, + .pull_down_en = GPIO_PULLDOWN_DISABLE, + .intr_type = GPIO_INTR_DISABLE + }; + gpio_config(&io_conf); + // 使能VBAT_5V + gpio_set_level(VBAT_5V_PIN, 1); +} + +/*========================== 底座控制串口相关驱动 ==========================*/ + +/** + * @brief 底座控制命令串口初始化函数 + */ +void BoardSweekar::BaseBoardControlUartInit(void) +{ + uart_config_t uart_config = { + .baud_rate = BASE_BOARD_CTL_UART_BAUDRATE, + .data_bits = UART_DATA_8_BITS, + .parity = UART_PARITY_DISABLE, + .stop_bits = UART_STOP_BITS_1, + .flow_ctrl = UART_HW_FLOWCTRL_DISABLE, + .source_clk = UART_SCLK_DEFAULT, + }; + + // 1. 设置串口参数 + ESP_ERROR_CHECK(uart_param_config(BASE_BOARD_CTL_UART_PORT, &uart_config)); + + // 2. 设置 UART 引脚 + ESP_ERROR_CHECK(uart_set_pin(BASE_BOARD_CTL_UART_PORT, BASE_BOARD_CTL_UART_TX_PIN, BASE_BOARD_CTL_UART_RX_PIN, + UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE)); + + // 3. 安装 UART 驱动 + ESP_ERROR_CHECK(uart_driver_install(BASE_BOARD_CTL_UART_PORT, + BASE_BOARD_CTL_UART_BUF_SIZE, + BASE_BOARD_CTL_UART_BUF_SIZE, + 0, NULL, 0)); + + base_board_control_.SetUartPort(BASE_BOARD_CTL_UART_PORT); +} + + + diff --git a/main/02_physical/boards/board_v1_1_13/board_sweekar.h b/main/02_physical/boards/board_v1_1_13/board_sweekar.h new file mode 100644 index 0000000..ba6e3c4 --- /dev/null +++ b/main/02_physical/boards/board_v1_1_13/board_sweekar.h @@ -0,0 +1,45 @@ +#ifndef __BOARD_H__ +#define __BOARD_H__ +#include "config.h" +#include "io_expansion_board.h" +#include "stepper_motor.h" +#include "i2c_bus.h" +#include "gyroscope.h" +#include "touch_sensor.h" +#include "base_board_control.h" + +class BoardSweekar +{ +private: + i2c_bus_handle_t bus_handle_ = nullptr; // 使用ESP-ADF的I2C总线句柄 + +public: + IOExpansionBoard io_expansion_; // IO扩展板对象 + LinearMotor linear_motor_; // 线性马达对象 + Gyroscope gyroscope_; // 陀螺仪对象 + TouchSensor touch_sensor_; // 触摸传感器对象 + BaseBoardControl base_board_control_; // 底座控制对象 + + + // 初始化步进电机 + void StepperMotorInit(void); + + // 初始化串口 + void MillimeterWaveRadarUartInit(void); + + //初始化毫米波雷达的中断引脚 + void MillimeterWaveRadarGpioInit(void); + + // 初始化I2C总线 + esp_err_t I2CMasterInit(void); + + // 初始化VBAT toVBAT_5V引脚 + void VbatToVbat5vInit(void); + + // 初始化底座控制串口 + void BaseBoardControlUartInit(void); + + // 获取I2C总线句柄 + i2c_bus_handle_t GetBusHandle() const { return bus_handle_; } +}; +#endif diff --git a/main/02_physical/boards/board_v1_1_13/config.h b/main/02_physical/boards/board_v1_1_13/config.h new file mode 100644 index 0000000..525c6d3 --- /dev/null +++ b/main/02_physical/boards/board_v1_1_13/config.h @@ -0,0 +1,145 @@ +/* 定义引脚分配 */ +#ifndef _BOARD_CONFIG_H_ +#define _BOARD_CONFIG_H_ + +/** + * @file config.h + * @brief 定义了引脚的分配。 + * @author zouyuhua + * @date 2025年8月7日 + * + */ + +#include "driver/gpio.h" +#include "driver/i2c_master.h" +#include "driver/i2s.h" +#include "esp_log.h" +#include "esp_rom_sys.h" // 用于 esp_rom_delay_us +#include "esp_timer.h" +#include "esp_mac.h" +#include "driver/ledc.h" +#include "driver/gpio.h" +#include "freertos/FreeRTOS.h" +#include "freertos/task.h" +#include "esp_log.h" +#include "driver/timer.h" +#include "esp_intr_alloc.h" +#include "soc/timer_group_struct.h" // 包含TIMERG0、TIMERG1的结构体定义 +#include "soc/timer_group_reg.h" // 包含定时器相关寄存器宏定义 +#include "driver/uart.h" +#include "esp_err.h" +#include "freertos/queue.h" +#include "soc/uart_reg.h" +#include "linear_motor.h" +#include "gyroscope.h" + +#define TAG_BOARD "SWEEKAR_ESP32" +/*I2C总线引脚定义*/ +#define I2C0_MASTER_PORT I2C_NUM_0 +#define I2C0_MASTER_SDA_IO GPIO_NUM_2 +#define I2C0_MASTER_SCL_IO GPIO_NUM_3 + +/* 步进电机配置 */ +#define STEPPER_STEP_IO GPIO_NUM_42 // 步进电机脉冲输入引脚 +#define STEPPER_TIMER_RES_HZ 1000000 // 步进电机定时器分辨率 1 MHz（1 us 步进） + +/* 定义屏幕驱动控制引脚 */ +#define ST7789_PIN_CLK GPIO_NUM_48 // SPI时钟引脚 +#define ST7789_PIN_DC GPIO_NUM_38 // 数据/命令选择引脚RSEL +#define ST7789_PIN_MOSI GPIO_NUM_47 // SPI数据输出引脚 +#define ST7789_PIN_CS GPIO_NUM_46 // SPI片选引脚 +#define ST7789_PIN_BL GPIO_NUM_NC // 背光引脚 +#define ST7789_PIN_RST GPIO_NUM_NC // 复位引脚 +#define LCD_BL_ACTIVE_LEVEL 0 // 背光有效电平：1=高电平有效(NMOS)，0=低电平有效(PMOS) + +#define LCD_WIDTH 172 // 屏幕宽度(水平方向像素数) +#define LCD_HEIGHT 320 // 屏幕高度(垂直方向像素数) + +/* 毫米波雷达配置参数 */ +/* 定义毫米波雷达的中断引脚 */ +#define MILLIMETER_WAVE_RADAR_PIN GPIO_NUM_35 +// UART 配置参数 +#define RADAR_UART_NUM UART_NUM_1 // 使用 UART1 +#define UART_TX_PIN GPIO_NUM_40 // GPIO40 作为 TX(根据实际硬件连接调整) +#define UART_RX_PIN GPIO_NUM_39 // GPIO39 作为 RX +#define RADAR_BAUD_RATE 9600 // 雷达波特率 +#define RADAR_BUF_SIZE 100 // 雷达接收缓冲区大小 + +/* IO扩展硬件配置常量 */ +#define I2C_MASTER_FREQ_HZ 100000 // I2C通信频率(100kHz)(可更改至400000) +#define I2C_IO_EXPAND_SLAVE_ADDR 0x58 // AW9523BTQR器件地址,v1_1_13的addr1和addr0是0 +#define GPIO_INPUT_PIN_SEL GPIO_NUM_10 // 中断检测引脚 +#define ESP_INTR_FLAG_DEFAULT 0 // 中断标志默认值 +#define IO_EXPAND_RSTN GPIO_NUM_45 // IO扩展板复位引脚 + +/* 定义线性马达的I2C从机配置常量 */ +#define LINEAR_MOTOR_I2C_SLAVE_ADDR 0x5A // 线性马达的I2C从机地址 + +/* 定义陀螺仪的I2C从机配置常量 */ +#define GYROSCOPE_I2C_SLAVE_ADDR 0x6A // 陀螺仪的I2C从机地址 +#define GYROSCOPE_INPUT_PIN_SEL GPIO_NUM_21 // 陀螺仪中断引脚 + +/* 原生触摸引脚配置 */ +// 触摸按键数量配置 +#define TOUCH_BUTTON_NUM 3 +// 触摸通道定义 +#define TOUCH_PAD_CHANNEL_1 TOUCH_PAD_NUM11 // GPIO11 +#define TOUCH_PAD_CHANNEL_2 TOUCH_PAD_NUM12 // GPIO12 +#define TOUCH_PAD_CHANNEL_3 TOUCH_PAD_NUM13 // GPIO13 + +/* ES8311音频编解码器配置 (ESP-ADF兼容) */ +#define AUDIO_INPUT_SAMPLE_RATE 24000 +#define AUDIO_OUTPUT_SAMPLE_RATE 24000 +#define AUDIO_INPUT_REFERENCE true + +/* I2S GPIO定义 */ +#define AUDIO_I2S_GPIO_MCLK GPIO_NUM_15 +#define AUDIO_I2S_GPIO_WS GPIO_NUM_4 +#define AUDIO_I2S_GPIO_BCLK GPIO_NUM_5 +#define AUDIO_I2S_GPIO_DIN GPIO_NUM_6 +#define AUDIO_I2S_GPIO_DOUT GPIO_NUM_7 + +/* PA引脚定义 */ +#define AUDIO_CODEC_PA_PIN GPIO_NUM_NC + +/* I2C配置 */ +#define AUDIO_CODEC_I2C_SDA_PIN GPIO_NUM_2 +#define AUDIO_CODEC_I2C_SCL_PIN GPIO_NUM_3 +#define AUDIO_CODEC_ES8311_ADDR 0x18 +#define AUDIO_CODEC_ES7210_ADDR 0x40 + +/* WS2812 RGB LED配置 */ +#define WS2812_PIN GPIO_NUM_41 // WS2812数据引脚 +#define WS2812_NUM_LEDS 2 // WS2812 LED数量 + +/* 创建VBAT to VBAT_5V */ +#define VBAT_5V_PIN GPIO_NUM_NC // VBAT_5V引脚 + +/* 定义按键的中断引脚 */ +#define BUTTON_PIN GPIO_NUM_0 // 按键中断引脚 +#define RIGHT_BUTTON_PIN GPIO_NUM_8 // 按键中断引脚 + +/* 底座控制命令串口配置 */ +#define BASE_BOARD_CTL_UART_PORT UART_NUM_0 +#define BASE_BOARD_CTL_UART_TX_PIN GPIO_NUM_43 +#define BASE_BOARD_CTL_UART_RX_PIN GPIO_NUM_44 +#define BASE_BOARD_CTL_UART_BAUDRATE 115200 +#define BASE_BOARD_CTL_UART_BUF_SIZE 256 + +#endif // _BOARD_CONFIG_H_ + + + + + + + + + + + + + + + + diff --git a/main/02_physical/boards/board_v1_1_13/io_expansion_board.cc b/main/02_physical/boards/board_v1_1_13/io_expansion_board.cc new file mode 100644 index 0000000..dc31200 --- /dev/null +++ b/main/02_physical/boards/board_v1_1_13/io_expansion_board.cc @@ -0,0 +1,1053 @@ +#include "io_expansion_board.h" +#include "millimeter_wave_radar.h" +#include "photo_interrupter.h" +#include "adc_battery_monitor.h" +#include "esp_heap_caps.h" +#include "esp_log.h" +#include "esp_check.h" +#include "driver/gpio.h" +#include "freertos/FreeRTOS.h" +#include "freertos/idf_additions.h" +#include "freertos/portable.h" +#include "freertos/task.h" +#include "freertos/event_groups.h" +#include "esp_rom_sys.h" +/** + * @file io_expansion_board.cc + * @brief IO扩展板功能实现类,包含I2C通信、GPIO中断配置、外设控制等功能 + * @details 实现了IO扩展板的初始化(中断引脚、复位引脚)、寄存器读写、步进电机控制(细分模式、使能、方向、睡眠状态)、 + * LCD相关引脚控制(背光、复位、片选)、毫米波雷达中断引脚配置等功能,并提供I2C数据读取任务的创建与管理 + * @author zouyuhua + * @date 2025年8月7日 + * + */ + +/** + * @brief 构造函数 + */ +IOExpansionBoard::IOExpansionBoard() + : bus_handle_(nullptr), + device_addr_(0), + last_port0_state_(0), + last_port1_state_(0), + radar_last_state_(false), + i2c_task_event_group_(nullptr), + xI2CReadTaskHandle_(nullptr), + is_initialized_(false), + interrupt_gpio_(GPIO_NUM_NC), + reset_gpio_(GPIO_NUM_NC) +{ +} + +/** + * @brief 析构函数 + */ +IOExpansionBoard::~IOExpansionBoard() +{ + // 删除任务 + if (xI2CReadTaskHandle_) { + vTaskDelete(xI2CReadTaskHandle_); + } + + // if(pI2CReadTaskStackBuffer) { + // heap_caps_free(pI2CReadTaskStackBuffer); + // pI2CReadTaskStackBuffer = nullptr; + // } + + // if(pxI2CReadTaskBuffer) { + // vPortFree(pxI2CReadTaskBuffer); + // pxI2CReadTaskBuffer = nullptr; + // } + + // 删除事件组 + if (i2c_task_event_group_) { + vEventGroupDelete(i2c_task_event_group_); + } + + // 移除中断处理 + if (interrupt_gpio_ != GPIO_NUM_NC) { + gpio_isr_handler_remove(interrupt_gpio_); + } + + // 删除IO扩展板设备 + // 使用i2c_bus API时不需要手动删除设备句柄 + // bus_handle_由board_sweekar统一管理 +} + +/** + * @brief 静态中断处理函数 + */ +void IRAM_ATTR IOExpansionBoard::GpioIsrHandler(void* arg) +{ + IOExpansionBoard* instance = static_cast(arg); + if (!instance) return; + + // 调试：记录中断触发 + // ESP_EARLY_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "中断触发!"); // IRAM函数中不能使用普通日志 + + BaseType_t xHigherPriorityTaskWoken = pdFALSE; + // 设置事件标志位 + if (instance->i2c_task_event_group_) { + xEventGroupSetBitsFromISR( + instance->i2c_task_event_group_, + BIT0, + &xHigherPriorityTaskWoken + ); + } + + // 触发上下文切换 + if (xHigherPriorityTaskWoken) { + portYIELD_FROM_ISR(); + } +} + +/** + * @brief 初始化GPIO中断检测 + */ +esp_err_t IOExpansionBoard::InterruptGpioInit(gpio_num_t gpio_num) +{ + // 配置IO扩展板中断引脚 + gpio_config_t io_conf = {}; + io_conf.intr_type = GPIO_INTR_ANYEDGE; // 改为双沿触发，检测上升沿和下降沿 + io_conf.pin_bit_mask = 1ULL << gpio_num; + io_conf.mode = GPIO_MODE_INPUT; + io_conf.pull_up_en = GPIO_PULLUP_ENABLE; + io_conf.pull_down_en = GPIO_PULLDOWN_DISABLE; + // io_conf.pull_up_en = GPIO_PULLUP_DISABLE; + // io_conf.pull_down_en = GPIO_PULLDOWN_ENABLE; + + + esp_err_t err = gpio_config(&io_conf); + if (err != ESP_OK) { + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "GPIO配置失败,错误码: 0x%x", err); + return err; + } + // 配置中断服务 + err = gpio_install_isr_service(ESP_INTR_FLAG_LEVEL3); + if (err != ESP_OK && err != ESP_ERR_INVALID_STATE) { + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "GPIO中断服务安装失败,错误码: 0x%x", err); + return err; + } + // 注册中断处理函数 + err = gpio_isr_handler_add(gpio_num, GpioIsrHandler, this); + if (err != ESP_OK) { + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "GPIO中断处理函数添加失败,错误码: 0x%x", err); + return err; + } + // 创建事件组 + i2c_task_event_group_ = xEventGroupCreate(); + if (!i2c_task_event_group_) { + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "事件组创建失败"); + return ESP_FAIL; + } + + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "GPIO%d中断初始化完成", gpio_num); + return ESP_OK; +} + +/** + * @brief 初始化硬件复位引脚 + * 设置为上拉,需要复位,需要输出低电平为20us的脉冲信号 + */ +esp_err_t IOExpansionBoard::ResetGpioInit(gpio_num_t gpio_num) +{ + reset_gpio_ = gpio_num; + + // 配置复位引脚 + gpio_config_t io_conf = {}; + io_conf.intr_type = GPIO_INTR_DISABLE; + io_conf.pin_bit_mask = 1ULL << gpio_num; + io_conf.mode = GPIO_MODE_OUTPUT; + io_conf.pull_up_en = GPIO_PULLUP_ENABLE; + io_conf.pull_down_en = GPIO_PULLDOWN_DISABLE; + esp_err_t err = gpio_config(&io_conf); + gpio_set_level(gpio_num, 1); // 复位引脚拉高 + if (err != ESP_OK) { + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "GPIO配置失败,错误码: 0x%x", err); + return err; + } + else{ + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "GPIO%d复位引脚初始化完成", gpio_num); + return err; + } +} + +/** + * @brief 计算Port0的字节值,用于配置输入还是输出模式(0为输出模式,1为输入模式) + * @return uint8_t 操作结果 + */ +uint8_t IOExpansionBoard::ByteCalculatePort0() +{ + uint8_t byte_val = 0x00; // 初始化为所有引脚为输出模式(0)，然后根据配置设置为输入模式(1) + + // 输入模式配置：将对应位置位(1为输入模式) + if(RADAR_INTERRUPT_CONFIG == CONFIG_PORT0){ //雷达中断引脚 + byte_val |= (1 << RADAR_INTERRUPT_PIN); + } + if(START_PHOTO_INTERRUPTER_CONFIG == CONFIG_PORT0){ //起始光学传感器 + byte_val |= (1 << START_PHOTO_INTERRUPTER_PIN); + } + if(END_PHOTO_INTERRUPTER_PORT_CONFIG == CONFIG_PORT0){ //结束光学传感器 + byte_val |= (1 << END_PHOTO_INTERRUPTER_PIN); + } + if(BATTERY_FULL_CONFIG == CONFIG_PORT0){ //电池充满检测 + byte_val |= (1 << BATTERY_FULL_PIN); + } + if(BATTERY_CHRG_CONFIG == CONFIG_PORT0){ //电池充电检测 + byte_val |= (1 << BATTERY_CHRG_PIN); + } + + return byte_val; +} + +/** + * @brief 计算Port1的字节值,用于配置输入还是输出模式(0为输出模式,1为输入模式) + * @return uint8_t 操作结果 + */ +uint8_t IOExpansionBoard::ByteCalculatePort1() +{ + uint8_t byte_val = 0x00; // 初始化为所有引脚为输出模式(0)，然后根据配置设置为输入模式(1) + + // 输入模式配置：将对应位置位(1为输入模式) + if(RADAR_INTERRUPT_CONFIG == CONFIG_PORT1){ //雷达中断引脚 + byte_val |= (1 << RADAR_INTERRUPT_PIN); + } + if(START_PHOTO_INTERRUPTER_CONFIG == CONFIG_PORT1){ //起始光学传感器 + byte_val |= (1 << START_PHOTO_INTERRUPTER_PIN); + } + if(END_PHOTO_INTERRUPTER_PORT_CONFIG == CONFIG_PORT1){ //结束光学传感器 + byte_val |= (1 << END_PHOTO_INTERRUPTER_PIN); + } + if(BATTERY_FULL_CONFIG == CONFIG_PORT1){ //电池充满检测 + byte_val |= (1 << BATTERY_FULL_PIN); + } + if(BATTERY_CHRG_CONFIG == CONFIG_PORT1){ //电池充电检测 + byte_val |= (1 << BATTERY_CHRG_PIN); + } + + return byte_val; +} + +/** + * @brief 复位IO扩展板 + */ +esp_err_t IOExpansionBoard::ResetIoExpand() +{ + if (reset_gpio_ == GPIO_NUM_NC) { + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "复位引脚未初始化"); + return ESP_ERR_INVALID_STATE; + } + + // 复位IO扩展板 + gpio_set_level(reset_gpio_, 0); + esp_rom_delay_us(30); + gpio_set_level(reset_gpio_, 1); + uint8_t ctl_val; + //配置P0_0-P0_7的端口为推挽输出模式 + esp_err_t err = IoexpandReadReg(CTL, &ctl_val); + ctl_val |= (1 << 4); // 设置D[4]位为1(GPOMD=1),切换P0为推挽模式 + err = IoexpandWriteReg(CTL, ctl_val); + if(err != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "复位失败,错误码:0x%x", err); + return err; + } + else{ + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "复位成功"); + } + return ESP_OK; +} + +/** + * @brief 写寄存器数据 + * @param reg_addr 寄存器地址 + * @param data 要写入的数据 + * @return esp_err_t 操作结果 + */ +esp_err_t IOExpansionBoard::IoexpandWriteReg(uint8_t reg_addr, uint8_t data) +{ + return i2c_bus_write_bytes(bus_handle_, device_addr_, ®_addr, 1, &data, 1); +} + +/** + * @brief 从寄存器读取数据 + * @param reg_addr 寄存器地址(如INPUT_PORT0、ID等) + * @param data 输出参数,用于存储读取到的数据 + * @return esp_err_t 操作结果(ESP_OK为成功) + */ +esp_err_t IOExpansionBoard::IoexpandReadReg(uint8_t reg_addr, uint8_t* data) +{ + if (data == nullptr){ // 检查输入参数有效性 + return ESP_ERR_INVALID_ARG; + } + + // 使用i2c_bus_read_bytes进行寄存器读取 + esp_err_t err = i2c_bus_read_bytes(bus_handle_, device_addr_, ®_addr, 1, data, 1); + if (err != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "读取寄存器失败,错误码:0x%x", err); + return err; + } + + return ESP_OK; +} + +/** + * @brief 读取输入端口0寄存器数据 + * @param data 输出参数,用于存储读取到的数据 + * @return esp_err_t 操作结果 + */ +esp_err_t IOExpansionBoard::ReadInputPort0(uint8_t* data) +{ + return IoexpandReadReg(INPUT_PORT0, data); +} + +/** + * @brief 读取输入端口1寄存器数据 + * @param data 输出参数,用于存储读取到的数据 + * @return esp_err_t 操作结果 + */ +esp_err_t IOExpansionBoard::ReadInputPort1(uint8_t* data) +{ + return IoexpandReadReg(INPUT_PORT1, data); +} + +//设置IO扩展板为输入模式或是输出模式 +/* +* 这里需要根据实际情况设置IO扩展板的模式,比如输入模式还是输出模式,以及各个引脚的配置。 +* P0_0 对应NFC_RST引脚,需要设置为输出模式,低电平有效。(待测) +* P0_1 对应USB_VBUS引脚,需要设置为输出模式,低电平有效。(待测) +* P0_2 对应BTN_RIGHT_EAR引脚,需要设置为输出模式,低电平有效。(待测) +* P0_3 暂时未使用。 +* P0_4 对应步进电机方向引脚,需要设置为输出模式,根据需求设置。(待测) +* P0_5 对应CHRG引脚(待测) +* P0_6 LCD_DC引脚,需要设置为输出模式,根据需求设置电平。(待测) +* P0_7 对应步进电机的使能引脚,需要设置为输出模式,根据需求设置。(待测) +* +* +* P1_0 对应EG800K_PWR。(待测) +* P1_1 对应LCD_RST,需要设置为输出模式,低电平有效。(待测) +* P1_2 对应LCD_CS,需要设置为输出模式,低电平有效。(待测) +* P1_3 暂时未使用。 +* P1_4 对应步进电机的细分模式M1引脚。(待测) +* P1_5 对应步进电机的细分模式M0引脚。(待测) +* P1_6 对应步进电机的睡眠引脚。(待测) +* P1_7 对应RADAR_O雷达的输出引脚。(待测) +* */ +esp_err_t IOExpansionBoard::IoexpandSetMode(void) +{ + uint8_t ctl_val; + //配置P0_0-P0_7的端口为推挽输出模式 + esp_err_t err = IoexpandReadReg(CTL, &ctl_val); + ctl_val |= (1 << 4); // 设置D[4]位为1(GPOMD=1),切换P0为推挽模式 + err = IoexpandWriteReg(CTL, ctl_val); + if(err != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "配置P0端口失败,错误码:0x%x", err); + return err; + } + else{ + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "配置P0端口成功"); + } + + err = IoexpandWriteReg(CONFIG_PORT0, ByteCalculatePort0()); + + if(err != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "配置P0端口失败,错误码:0x%x", err); + return err; + } + else{ + // 打印BytecalculatePort0()结果 + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "配置P0端口成功, 0x%02X", ByteCalculatePort0()); + } + + err = IoexpandWriteReg(CONFIG_PORT1, ByteCalculatePort1()); + if(err != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "配置P1端口失败,错误码:0x%x", err); + return err; + } + else{ + // 打印BytecalculatePort1()结果 + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "配置P1端口成功, 0x%02X", ByteCalculatePort1()); + } + // 配置P0_0-P0_7的初始为高电平 + // 配置P1_0-P1_7的初始为高电平 + err = IoexpandWriteReg(OUTPUT_PORT0, 0x40); // 0100 0000 + if(err != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "配置P0端口初始值失败,错误码:0x%x", err); + return err; + } + else{ + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "配置P0端口初始值成功"); + } + err = IoexpandWriteReg(OUTPUT_PORT1, 0x04); // 0000 0100 + if(err != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "配置P1端口初始值失败,错误码:0x%x", err); + return err; + } + else{ + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "配置P1端口初始值成功"); + } + + + // AW9523B中断使能配置：0为使能中断，1为禁止中断 + // 使能P0_5（充电检测）和P1_3（充满检测）的中断 + uint8_t int_enable_port0 = 0x00; // 0x00 = 使能所有P0引脚中断 + uint8_t int_enable_port1 = 0x00; // 0x00 = 使能所有P1引脚中断 + + err = IoexpandWriteReg(INT_PORT0, int_enable_port0); + if(err != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "配置P0端口中断使能失败,错误码:0x%x", err); + return err; + } + else{ + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "配置P0端口中断使能成功: 0x%02X (0=使能)", int_enable_port0); + } + + err = IoexpandWriteReg(INT_PORT1, int_enable_port1); + if(err != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "配置P1端口中断使能失败,错误码:0x%x", err); + return err; + } + else{ + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "配置P1端口中断使能成功: 0x%02X (0=使能)", int_enable_port1); + } + + return ESP_OK; +} + +/** + * @brief 设置步进电机的细分模式 + */ +void IOExpansionBoard::SetStepperMicrostepMode(uint8_t mode, uint8_t OUTPUT_PORT_m0, uint8_t m0_pin, uint8_t OUTPUT_PORT_m1, uint8_t m1_pin) +{ + uint8_t current_val; + switch (mode) { + case 1: //全步输出模式 低低电平 + IoexpandReadReg(OUTPUT_PORT_m0, ¤t_val); + current_val &= ~(1 << m0_pin); + if(IoexpandWriteReg(OUTPUT_PORT_m0, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + IoexpandReadReg(OUTPUT_PORT_m1, ¤t_val); + current_val &= ~(1 << m1_pin); + if(IoexpandWriteReg(OUTPUT_PORT_m1, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + break; + case 2: //非圆 1/2 高低电平 + IoexpandReadReg(OUTPUT_PORT_m0, ¤t_val); + current_val |= (1 << m0_pin); + if(IoexpandWriteReg(OUTPUT_PORT_m0, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + IoexpandReadReg(OUTPUT_PORT_m1, ¤t_val); + current_val &= ~(1 << m1_pin); + if(IoexpandWriteReg(OUTPUT_PORT_m1, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + break; + case 3: //1/4 步 低高电平 + IoexpandReadReg(OUTPUT_PORT_m0, ¤t_val); + current_val &= ~(1 << m0_pin); + if(IoexpandWriteReg(OUTPUT_PORT_m0, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + IoexpandReadReg(OUTPUT_PORT_m1, ¤t_val); + current_val |= (1 << m1_pin); + if(IoexpandWriteReg(OUTPUT_PORT_m1, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + break; + case 4: //1/8 步 高高电平 + IoexpandReadReg(OUTPUT_PORT_m0, ¤t_val); + current_val |= (1 << m0_pin); + if(IoexpandWriteReg(OUTPUT_PORT_m0, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + IoexpandReadReg(OUTPUT_PORT_m1, ¤t_val); + current_val |= (1 << m1_pin); + if(IoexpandWriteReg(OUTPUT_PORT_m1, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + break; + default: //全步输入模式 低低电平 + IoexpandReadReg(OUTPUT_PORT_m0, ¤t_val); + current_val &= ~(1 << m0_pin); + if(IoexpandWriteReg(OUTPUT_PORT_m0, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + IoexpandReadReg(OUTPUT_PORT_m1, ¤t_val); + current_val &= ~(1 << m1_pin); + if(IoexpandWriteReg(OUTPUT_PORT_m1, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + break; + } +} + +/** + * @brief 设置步进电机的使能 + */ +esp_err_t IOExpansionBoard::SetMotorEnableMode(bool enable, uint8_t OUTPUT_PORT, uint8_t enable_pin) +{ + uint8_t current_val; + if(enable){ + // 进入工作状态mode + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + current_val |= (1 << enable_pin); + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "!!!!!!!!!0x%x", current_val); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } + else{ + // 进入睡眠状态 + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + current_val &= ~(1 << enable_pin); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } +} +/** + * @brief 设置步进电机运行方向 + */ +esp_err_t IOExpansionBoard::StepperMotorSetDir(bool dir, uint8_t OUTPUT_PORT, uint8_t pin) +{ + uint8_t current_val; + if(dir){ + // 方向为正转 + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + current_val |= (1 << pin); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } + else{ + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + current_val &= ~(1 << pin); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } +} + + +/** + * @brief 设置步进电机是否进入睡眠或者工作状态(高电平进入工作状态,低电平进入睡眠状态) + */ +esp_err_t IOExpansionBoard::SetMotorSleepMode(bool mode, uint8_t OUTPUT_PORT, uint8_t nsleep_pin) +{ + uint8_t current_val; + if(mode){ + // 进入工作状态mode + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + current_val |= (1 << nsleep_pin); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } + else{ + // 进入睡眠状态 + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + current_val &= ~(1 << nsleep_pin); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } +} + + +/*********************************************IO扩展板LCD引脚配置参数***********************************************/ +/** + * @brief 设置 LCD_BL引脚电平(高电平为命令模式,低电平为数据模式) + */ +esp_err_t IOExpansionBoard::SetLcdBlMode(bool mode, uint8_t OUTPUT_PORT, uint8_t bl_pin) +{ + uint8_t current_val; + if(mode){ + // 进入命令模式 + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + current_val |= (1 << bl_pin); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } + else{ + // 进入数据模式 + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + current_val &= ~(1 << bl_pin); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } +} + +/** + * @brief 设置 LCD_RST引脚电平(高电平为复位模式,低电平为工作模式) + */ +esp_err_t IOExpansionBoard::SetLcdResetMode(bool mode, uint8_t OUTPUT_PORT, uint8_t reset_pin) +{ + uint8_t current_val; + if(mode){ + // 进入复位模式 + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + current_val |= (1 << reset_pin); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } + else{ + // 进入工作模式 + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + current_val &= ~(1 << reset_pin); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } +} + +/*********************************************IO扩展板的输入引脚配置以及中断引脚定义***********************************************/ +/** + * @brief 设置 毫米波雷达的中断引脚 + */ +esp_err_t IOExpansionBoard::SetRadarInterruptPin(bool mode, uint8_t INPUT_PORT, uint8_t interrupt_pin) +{ + uint8_t current_val; + if(mode){ + // 进入输入模式 + IoexpandReadReg(INPUT_PORT, ¤t_val); + current_val |= (1 << interrupt_pin); + return IoexpandWriteReg(INPUT_PORT, current_val); + } + else{ + // 进入输出模式 + IoexpandReadReg(INPUT_PORT, ¤t_val); + current_val &= ~(1 << interrupt_pin); + return IoexpandWriteReg(INPUT_PORT, current_val); + } +} + +/** + * @brief 设置 PA_CTRL引脚电平 + */ +esp_err_t IOExpansionBoard::SetPaCtrlMode(bool mode, uint8_t OUTPUT_PORT, uint8_t pa_ctrl_pin) +{ + uint8_t current_val; + if(mode){ + // 进入高电平状态 + ESP_LOGI("io_ex:", "read reg"); + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + current_val |= (1 << pa_ctrl_pin); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } + else{ + // 进入低电平状态 + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + current_val &= ~(1 << pa_ctrl_pin); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } +} + + + +/** + * @brief I2C数据读取任务主体 + */ +void IOExpansionBoard::I2cReadTask(void* pvParameters) +{ + IOExpansionBoard* instance = static_cast(pvParameters); + if (!instance) { + vTaskDelete(nullptr); + return; + } + // 初始化复位引脚 + esp_err_t err = instance->ResetGpioInit(IO_EXPAND_RSTN); + if (err != ESP_OK) { + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "GPIO复位初始化失败"); + } + + // 执行硬件复位 - 这是解决中断引脚持续拉低的关键 + err = instance->ResetIoExpand(); + if (err != ESP_OK) { + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "IO扩展板硬件复位失败"); + } else { + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "IO扩展板硬件复位成功"); + + // 检查复位后的中断引脚状态 + int interrupt_level = gpio_get_level(GPIO_INPUT_PIN_SEL); + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "复位后中断引脚状态: %s (0=低电平, 1=高电平)", + interrupt_level ? "高电平" : "低电平"); + } + + // 初始化IO扩展板子的中断引脚 + err = instance->InterruptGpioInit(GPIO_INPUT_PIN_SEL); + if (err != ESP_OK) { + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "GPIO中断初始化失败"); + } + // 设置IO扩展板模式 - 复位后必须重新配置寄存器！ + err = instance->IoexpandSetMode(); + if (err != ESP_OK) { + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "IO扩展板模式配置失败"); + } else { + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "IO扩展板模式配置成功"); + } + // 设置LCD屏幕背光引脚(初始为关闭) + err = instance->SetLcdBlMode(LCD_BL_HIGH, LCD_BL_PORT, LCD_BL_PIN); + if(err != ESP_OK){ + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "设置LCD屏幕背光引脚失败"); + } + else{ + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "设置LCD屏幕背光引脚成功"); + } + // 设置LCD屏幕复位引脚 + err = instance->SetLcdResetMode(LCD_RST_HIGH, LCD_RST_PORT, LCD_RST_PIN); + if(err != ESP_OK){ + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "设置LCD屏幕复位引脚失败"); + } + else{ + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "设置LCD屏幕复位引脚成功"); + } + // 设置LCD屏幕复位引脚为低电平 + err = instance->SetLcdResetMode(LCD_RST_LOW, LCD_RST_PORT, LCD_RST_PIN); + if(err != ESP_OK){ + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "设置LCD屏幕复位引脚失败"); + } + else{ + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "设置LCD屏幕复位引脚成功"); + } + + uint8_t current_val_port0_ = 0,current_val_port1_ = 0,current_temp_ = 0; + for (;;) { + // 等待中断事件触发 + if (instance->i2c_task_event_group_) { + xEventGroupWaitBits(instance->i2c_task_event_group_, BIT0, pdTRUE, pdFALSE, portMAX_DELAY); + } + + ESP_LOGD(TAG_GPIO_IO_EXPAND_DETECT, "IO扩展板中断触发"); + + // 检查中断触发时的引脚状态 + int interrupt_level = gpio_get_level(GPIO_INPUT_PIN_SEL); + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "中断触发时引脚状态: %s (0=低电平, 1=高电平)", + interrupt_level ? "高电平" : "低电平"); + + // AW9523B中断处理说明（根据数据手册）： + // 1. 当输入引脚状态变化时，AW9523B会拉低INT引脚（连接到ESP32的GPIO10） + // 2. 通过读取输入端口寄存器（00H, 01H）来清除对应端口的中断 + // 3. 无独立的中断状态寄存器，需要通过输入电平变化来判断中断源 + // 4. 读取INPUT_PORT0 (00H) 清除P0口中断，读取INPUT_PORT1 (01H) 清除P1口中断 + + // 一次性读取两个端口的输入寄存器，避免重复读取和错误的OR操作 + instance->IoexpandReadReg(INPUT_PORT0, ¤t_val_port0_); + instance->IoexpandReadReg(INPUT_PORT1, ¤t_val_port1_); + + ESP_LOGD(TAG_GPIO_IO_EXPAND_DETECT, "读取端口状态 - Port0: 0x%02X, Port1: 0x%02X", current_val_port0_, current_val_port1_); + + // 检查读取寄存器后中断引脚是否被清除（应该恢复高电平） + interrupt_level = gpio_get_level(GPIO_INPUT_PIN_SEL); + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "读取寄存器后中断引脚状态: %s (0=低电平, 1=高电平)", + interrupt_level ? "高电平" : "低电平"); + + //判断是否有中断来自雷达引脚 + if((RADAR_INTERRUPT_INPUT == INPUT_PORT0) && (current_val_port0_ & (1 << RADAR_INTERRUPT_PIN))){ + // 检查雷达引脚状态是否发生了变化，避免重复触发 + bool current_radar_state = (current_val_port0_ & (1 << RADAR_INTERRUPT_PIN)) != 0; + if (current_radar_state != instance->radar_last_state_) { + instance->radar_last_state_ = current_radar_state; + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "检测到中断来自雷达引脚\n"); + // 读取输入寄存器以清除中断标志 + uint8_t temp_input_val; + instance->IoexpandReadReg(INPUT_PORT0, &temp_input_val); + // 调用毫米波雷达回调函数 + if (instance->radar_) { + instance->radar_->TriggerRadarDetectCallback(); + } + // 调用雷达回调函数（新接口） + if (instance->radar_callback_) { + instance->radar_callback_(); + } + } else { + // 状态未变化，仍读取寄存器以清除可能的中断标志 + uint8_t temp_input_val; + instance->IoexpandReadReg(INPUT_PORT0, &temp_input_val); + } + } + else if((RADAR_INTERRUPT_INPUT == INPUT_PORT1) && (current_val_port1_ & (1 << RADAR_INTERRUPT_PIN))){ + // 检查雷达引脚状态是否发生了变化，避免重复触发 + bool current_radar_state = (current_val_port1_ & (1 << RADAR_INTERRUPT_PIN)) != 0; + if (current_radar_state != instance->radar_last_state_) { + instance->radar_last_state_ = current_radar_state; + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "检测到中断来自雷达引脚1\n"); + // 读取输入寄存器以清除中断标志 + uint8_t temp_input_val; + instance->IoexpandReadReg(INPUT_PORT1, &temp_input_val); + // 调用毫米波雷达回调函数 + if (instance->radar_) { + instance->radar_->TriggerRadarDetectCallback(); + } + // 调用雷达回调函数（新接口） + if (instance->radar_callback_) { + instance->radar_callback_(); + } + } else { + // 状态未变化，仍读取寄存器以清除可能的中断标志 + uint8_t temp_input_val; + instance->IoexpandReadReg(INPUT_PORT1, &temp_input_val); + } + } + // else{ + // ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "未检测到雷达引脚中断\n"); + // } + + //判断是否有中断来自初始光学传感器引脚 + if((START_PHOTO_INTERRUPTER_INPUT == INPUT_PORT0) && (current_val_port0_ & (1 << START_PHOTO_INTERRUPTER_PIN))){ + bool current_photo_state = (current_val_port0_ & (1 << START_PHOTO_INTERRUPTER_PIN)) != 0; + uint8_t old_photo_state = instance->last_port0_state_ & (1 << START_PHOTO_INTERRUPTER_PIN); + if ((current_photo_state ? 1 : 0) != (old_photo_state ? 1 : 0)) { + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "检测到中断来自初始光学传感器引脚\n"); + // 读取输入寄存器以清除中断标志 + uint8_t temp_input_val; + instance->IoexpandReadReg(INPUT_PORT0, &temp_input_val); + // 调用初始光学传感器回调函数 + if (instance->photo_interrupter_) { + instance->photo_interrupter_->TriggerStartCallback(); + } + // 调用光学传感器开始回调函数（新接口） + if (instance->photo_start_callback_) { + instance->photo_start_callback_(); + } + // 更新状态 + instance->last_port0_state_ = current_val_port0_; + } else { + // 状态未变化，仍读取寄存器以清除可能的中断标志 + uint8_t temp_input_val; + instance->IoexpandReadReg(INPUT_PORT0, &temp_input_val); + } + } + else if((START_PHOTO_INTERRUPTER_INPUT == INPUT_PORT1) && (current_val_port1_ & (1 << START_PHOTO_INTERRUPTER_PIN))){ + bool current_photo_state = (current_val_port1_ & (1 << START_PHOTO_INTERRUPTER_PIN)) != 0; + uint8_t old_photo_state = instance->last_port1_state_ & (1 << START_PHOTO_INTERRUPTER_PIN); + if ((current_photo_state ? 1 : 0) != (old_photo_state ? 1 : 0)) { + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "检测到中断来自初始光学传感器引脚\n"); + // 读取输入寄存器以清除中断标志 + uint8_t temp_input_val; + instance->IoexpandReadReg(INPUT_PORT1, &temp_input_val); + // 调用初始光学传感器回调函数 + if (instance->photo_interrupter_) { + instance->photo_interrupter_->TriggerStartCallback(); + } + // 调用光学传感器开始回调函数（新接口） + if (instance->photo_start_callback_) { + instance->photo_start_callback_(); + } + // 更新状态 + instance->last_port1_state_ = current_val_port1_; + } else { + // 状态未变化，仍读取寄存器以清除可能的中断标志 + uint8_t temp_input_val; + instance->IoexpandReadReg(INPUT_PORT1, &temp_input_val); + } + } + // else{ + // // ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "未检测到初始光学传感器引脚中断\n"); + // } + + //判断是否有中断来自结束光学传感器引脚 + if((END_PHOTO_INTERRUPTER_INPUT == INPUT_PORT0) && (current_val_port0_ & (1 << END_PHOTO_INTERRUPTER_PIN))){ + bool current_photo_state = (current_val_port0_ & (1 << END_PHOTO_INTERRUPTER_PIN)) != 0; + uint8_t old_photo_state = instance->last_port0_state_ & (1 << END_PHOTO_INTERRUPTER_PIN); + if ((current_photo_state ? 1 : 0) != (old_photo_state ? 1 : 0)) { + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "检测到中断来自结束光学传感器引脚\n"); + // 读取输入寄存器以清除中断标志 + uint8_t temp_input_val; + instance->IoexpandReadReg(INPUT_PORT0, &temp_input_val); + // 调用结束光学传感器回调函数 + if (instance->photo_interrupter_) { + instance->photo_interrupter_->TriggerEndCallback(); + } + // 调用光学传感器结束回调函数（新接口） + if (instance->photo_end_callback_) { + instance->photo_end_callback_(); + } + // 更新状态 + instance->last_port0_state_ = current_val_port0_; + } else { + // 状态未变化，仍读取寄存器以清除可能的中断标志 + uint8_t temp_input_val; + instance->IoexpandReadReg(INPUT_PORT0, &temp_input_val); + } + } + else if((END_PHOTO_INTERRUPTER_INPUT == INPUT_PORT1) && (current_val_port1_ & (1 << END_PHOTO_INTERRUPTER_PIN))){ + bool current_photo_state = (current_val_port1_ & (1 << END_PHOTO_INTERRUPTER_PIN)) != 0; + uint8_t old_photo_state = instance->last_port1_state_ & (1 << END_PHOTO_INTERRUPTER_PIN); + if ((current_photo_state ? 1 : 0) != (old_photo_state ? 1 : 0)) { + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "检测到中断来自结束光学传感器引脚\n"); + // 读取输入寄存器以清除中断标志 + uint8_t temp_input_val; + instance->IoexpandReadReg(INPUT_PORT1, &temp_input_val); + // 调用结束光学传感器回调函数 + if (instance->photo_interrupter_) { + instance->photo_interrupter_->TriggerEndCallback(); + } + // 调用光学传感器结束回调函数（新接口） + if (instance->photo_end_callback_) { + instance->photo_end_callback_(); + } + // 更新状态 + instance->last_port1_state_ = current_val_port1_; + } else { + // 状态未变化，仍读取寄存器以清除可能的中断标志 + uint8_t temp_input_val; + instance->IoexpandReadReg(INPUT_PORT1, &temp_input_val); + } + } + + //CHRG引脚充电前为高电平 充电中为低电平 充满电为高电平 + //FULL未充满为高电平 充满电为低电平 + //判断是否有中断来自电池充电引脚 + //根据配置：BATTERY_CHRG_INPUT = INPUT_PORT0, BATTERY_FULL_INPUT = INPUT_PORT1 + + // AW9523B没有独立的中断状态寄存器，需要通过比较前后状态变化来判断中断源 + // 由于读取输入端口会清除中断，我们需要先保存当前状态，然后与上次状态比较 + + //获取当前电池状态 + bool current_charging_state = !(current_val_port0_ & (1 << BATTERY_CHRG_PIN)); // CHRG低电平表示充电中 + bool current_full_state = !(current_val_port1_ & (1 << BATTERY_FULL_PIN)); // FULL低电平表示已充满 + + // 详细的调试信息 + ESP_LOGD(TAG_GPIO_IO_EXPAND_DETECT, "电池状态检测 - Port0: 0x%02X, Port1: 0x%02X", current_val_port0_, current_val_port1_); + ESP_LOGD(TAG_GPIO_IO_EXPAND_DETECT, "电池状态检测 - CHRG_PIN: %d (bit %d), FULL_PIN: %d (bit %d)", + (current_val_port0_ & (1 << BATTERY_CHRG_PIN)) ? 1 : 0, BATTERY_CHRG_PIN, + (current_val_port1_ & (1 << BATTERY_FULL_PIN)) ? 1 : 0, BATTERY_FULL_PIN); + ESP_LOGD(TAG_GPIO_IO_EXPAND_DETECT, "电池状态检测 - 充电状态: %s, 充满状态: %s", + current_charging_state ? "充电中" : "未充电", + current_full_state ? "已充满" : "未充满"); + ESP_LOGD(TAG_GPIO_IO_EXPAND_DETECT, "电池状态检测 - 上次充电状态: %s, 上次充满状态: %s", + instance->battery_charging_last_state_ ? "充电中" : "未充电", + instance->battery_full_last_state_ ? "已充满" : "未充满"); + + //检查充电状态是否发生变化 + if (current_charging_state != instance->battery_charging_last_state_) { + instance->battery_charging_last_state_ = current_charging_state; + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "电池充电状态变化: %s", current_charging_state ? "充电中" : "未充电"); + ESP_LOGD(TAG_GPIO_IO_EXPAND_DETECT, "充电状态变化详情 - 从 %s 到 %s", + instance->battery_charging_last_state_ ? "未充电" : "充电中", + current_charging_state ? "充电中" : "未充电"); + + if (current_charging_state) { + // 进入充电状态 + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "检测到开始充电"); + if (instance->battery_monitor_) { + instance->battery_monitor_->TriggerChrgCallback(); + } + if (instance->battery_charging_callback_) { + instance->battery_charging_callback_(); + } + } else { + // 退出充电状态 + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "检测到停止充电"); + if (instance->battery_monitor_) { + instance->battery_monitor_->TriggerNotChrgCallback(); + } + if (instance->battery_not_charging_callback_) { + instance->battery_not_charging_callback_(); + } + } + } + + //检查充满状态是否发生变化 + if (current_full_state != instance->battery_full_last_state_) { + instance->battery_full_last_state_ = current_full_state; + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "电池充满状态变化: %s", current_full_state ? "已充满" : "未充满"); + ESP_LOGD(TAG_GPIO_IO_EXPAND_DETECT, "充满状态变化详情 - 从 %s 到 %s", + instance->battery_full_last_state_ ? "未充满" : "已充满", + current_full_state ? "已充满" : "未充满"); + + if (current_full_state) { + // 进入充满状态 + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "检测到电池已充满"); + if (instance->battery_monitor_) { + instance->battery_monitor_->TriggerFullCallback(); + } + if (instance->battery_full_callback_) { + instance->battery_full_callback_(); + } + } + + } + + // 根据AW9523B数据手册：读取输入端口寄存器清除对应端口的中断 + // 读取INPUT_PORT0 (00H) 清除P0口中断，读取INPUT_PORT1 (01H) 清除P1口中断 + uint8_t temp_input_val; + instance->IoexpandReadReg(INPUT_PORT0, &temp_input_val); + instance->IoexpandReadReg(INPUT_PORT1, &temp_input_val); + + ESP_LOGD(TAG_GPIO_IO_EXPAND_DETECT, "中断处理完成，已读取输入端口寄存器清除中断标志"); + } +} + +// bool IOExpansionBoard::AllocateStaticTaskMemory() +// { +// printf("IO拓展芯片创建任务前:Internal Free: %d bytes\n", heap_caps_get_free_size(MALLOC_CAP_INTERNAL)); +// printf("IO拓展芯片创建任务前 Free: %d bytes\n", heap_caps_get_free_size(MALLOC_CAP_SPIRAM)); +// // 分配任务栈(PSRAM） +// const size_t TASK_STACK_SIZE = 4096; +// pI2CReadTaskStackBuffer = (StackType_t*)heap_caps_malloc( +// TASK_STACK_SIZE * sizeof(StackType_t), +// MALLOC_CAP_SPIRAM | MALLOC_CAP_8BIT +// ); + +// if (!pI2CReadTaskStackBuffer) { +// ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "Failed to allocate task stack from PSRAM"); +// return false; +// } + +// // 分配任务控制块(内部RAM） +// pxI2CReadTaskBuffer = (StaticTask_t*)pvPortMalloc(sizeof(StaticTask_t)); +// if (!pxI2CReadTaskBuffer) +// ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "Failed to allocate task TCB from internal RAM"); +// heap_caps_free(pI2CReadTaskStackBuffer); +// pI2CReadTaskStackBuffer = nullptr; +// return false; +// } + +// ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "Static task memory allocated successfully"); +// printf("IO拓展芯片创建任务后:Internal Free: %d bytes\n", heap_caps_get_free_size(MALLOC_CAP_INTERNAL)); +// printf("IO拓展芯片创建任务后 Free: %d bytes\n", heap_caps_get_free_size(MALLOC_CAP_SPIRAM)); +// return true; +// } + +// void IOExpansionBoard::FreeStaticTaskMemory() +// { +// if (pI2CReadTaskStackBuffer != nullptr) { +// heap_caps_free(pI2CReadTaskStackBuffer); +// pI2CReadTaskStackBuffer = nullptr; +// } + +// if (pxI2CReadTaskBuffer != nullptr) { +// vPortFree(pxI2CReadTaskBuffer); +// pxI2CReadTaskBuffer = nullptr; +// } + +// ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "Static task memory freed"); +// } + +/** + * @brief 创建I2C数据读取任务 + */ +void IOExpansionBoard::CreateI2cReadTask() +{ + printf("创建I2C读取任务之前:Internal Free: %d bytes\n", heap_caps_get_free_size(MALLOC_CAP_INTERNAL)); + printf("创建I2C读取任务之前:PSRAM Free: %d bytes\n", heap_caps_get_free_size(MALLOC_CAP_SPIRAM)); + if (xI2CReadTaskHandle_) { + return; // 任务已创建 + } + + xTaskCreateWithCaps( + I2cReadTask, + "i2c_read_task", + I2C_TASK_STACK, + this, + I2C_TASK_PRIORITY, + &xI2CReadTaskHandle_, + MALLOC_CAP_SPIRAM | MALLOC_CAP_8BIT + ); + + if (xI2CReadTaskHandle_ == NULL) { + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "Failed to create static I2C read task"); + } else { + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "Static I2C read task created successfully"); + } + printf("创建I2C读取任务之后:Internal Free: %d bytes\n", heap_caps_get_free_size(MALLOC_CAP_INTERNAL)); + printf("创建I2C读取任务之后:PSRAM Free: %d bytes\n", heap_caps_get_free_size(MALLOC_CAP_SPIRAM)); +} + +/** + * @brief 启动I2C任务 (整合初始化和任务创建) + */ +esp_err_t IOExpansionBoard::StartTask() +{ + // 再创建任务 + if (!xI2CReadTaskHandle_) { + CreateI2cReadTask(); + } + return ESP_OK; +} diff --git a/main/02_physical/boards/board_v1_1_13/io_expansion_board.h b/main/02_physical/boards/board_v1_1_13/io_expansion_board.h new file mode 100644 index 0000000..3951893 --- /dev/null +++ b/main/02_physical/boards/board_v1_1_13/io_expansion_board.h @@ -0,0 +1,419 @@ +#ifndef IO_EXPANSION_BOARD_H +#define IO_EXPANSION_BOARD_H + +#include +#include +#include +#include +#include +#include +#include "i2c_bus.h" +#include "freertos/FreeRTOS.h" +#include "freertos/event_groups.h" +#include +#include +#include +#include +#include +#include +#include +#include "esp_err.h" +#include "config.h" +#include "portmacro.h" + +// 前向声明,避免循环引用 +class MillimeterWaveRadar; +class PhotoInterrupter; +class AdcBatteryMonitor; + +// 回调函数类型定义 +typedef std::function RadarCallback; +typedef std::function PhotoInterrupterStartCallback; +typedef std::function PhotoInterrupterEndCallback; +typedef std::function BatteryChargingCallback; +typedef std::function BatteryFullCallback; +typedef std::function BatteryNotChargingCallback; + +/* 寄存器地址 */ +#define INPUT_PORT0 0x00 // 输入端口0寄存器 +#define INPUT_PORT1 0x01 // 输入端口1寄存器 0为低电平(仅支持读取) +#define OUTPUT_PORT0 0x02 // 输出端口0寄存器 +#define OUTPUT_PORT1 0x03 // 输出端口1寄存器 0为低电平 +#define CONFIG_PORT0 0x04 // 配置端口0寄存器 +#define CONFIG_PORT1 0x05 // 配置端口1寄存器 0为输出模式 +#define INT_PORT0 0x06 // 中断端口0寄存器 +#define INT_PORT1 0x07 // 中断端口1寄存器 0为使能中断(根据手册默认是使能的) +#define CTL 0x11 // 全局控制寄存器 +#define ID 0x23 // 芯片ID寄存器(0x23) + +/***********************************IO扩展板电机引脚配置参数*************************************/ +/* 设置步进电机方向 */ +#define STEPPER_MOTOR_LEFT false //步进电机的方向为左转 +#define STEPPER_MOTOR_RIGHT true //步进电机的方向为右转 +#define STEPPER_MOTOR_DIR_PORT OUTPUT_PORT0 //步进电机方向引脚挂载在IO扩展板的输出端口OUTPUT_PORT0 +#define STEPPER_MOTOR_DIR_PIN 4 //步进电机方向引脚对应的IO扩展板引脚P0_4 +#define STEPPER_MOTOR_DIR_CONFIG CONFIG_PORT0 //步进电机方向引脚配置在P0_4 + +/* 设置步进电机细分模式 */ +#define STEPPER_MOTOR_M0_PIN 5 //步进电机细分模式选择引脚对应IO扩展板引脚P1_5 +#define STEPPER_MOTOR_M0_MADE_PORT OUTPUT_PORT1 //步进电机模式选择引脚挂载在IO扩展板的输出端口OUTPUT_PORT1 +#define STEPPER_MOTOR_M0_CONFIG CONFIG_PORT1 //步进电机细分模式选择引脚配置在P1_5 + +#define STEPPER_MOTOR_M1_PIN 4 //步进电机细分模式选择引脚对应IO扩展板引脚P1_4 +#define STEPPER_MOTOR_M1_MADE_PORT OUTPUT_PORT1 //步进电机模式选择引脚挂载在IO扩展板的输出端口OUTPUT_PORT1 +#define STEPPER_MOTOR_M1_CONFIG CONFIG_PORT1 //步进电机细分模式选择引脚配置在P1_4 + +/* 设置步进电机睡眠引脚 */ +#define STEPPER_MOTOR_SLEEP false //步进电机进入睡眠模式 +#define STEPPER_MOTOR_WORK true //步进电机进入工作模式 +#define STEPPER_MOTOR_SLEEP_PIN 6 //步进电机睡眠引脚对应IO扩展板引脚P1_6 +#define STEPPER_MOTOR_SLEEP_CONFIG CONFIG_PORT1 //步进电机睡眠引脚配置在P1_6 +#define STEPPER_MOTOR_SLEEP_PORT OUTPUT_PORT1 //步进电机睡眠引脚挂载在IO扩展板的输出端口OUTPUT_PORT1 + +/* 设置电机的使能引脚 */ +#define STEPPER_MOTOR_ENABLE_PIN 7 //电机使能引脚对应IO扩展板引脚P0_7 +#define STEPPER_MOTOR_ENABLE_PORT OUTPUT_PORT0 //电机使能引脚挂载在IO扩展板的输出端口OUTPUT_PORT0 +#define STEPPER_MOTOR_ENABLE_CONFIG CONFIG_PORT0 //电机使能引脚配置在P0_7 +#define STEPPER_MOTOR_ENABLE_ENABLE true //电机使能引脚状态为高电平 +#define STEPPER_MOTOR_ENABLE_DISABLE false //电机使能引脚状态为低电平 + +/* 设置毫米波雷达对应IO扩展板的中断引脚 */ +#define RADAR_INTERRUPT_PIN 7 //毫米波雷达中断引脚对应IO扩展板引脚P1_7 +#define RADAR_INTERRUPT_CONFIG CONFIG_PORT1 //毫米波雷达中断引脚挂载在IO扩展板的输入端口 +#define RADAR_INTERRUPT_INPUT INPUT_PORT1 //毫米波雷达中断引脚输入状态检测在INPUT_PORT1 +#define RADAR_INTERRUPT_ENABLE true //毫米波雷达中断引脚状态为输入状态 +#define RADAR_INTERRUPT_DISABLE false //毫米波雷达中断引脚状态为输出状态 +/* 任务配置常量 */ +#define WRITE_BUF_SIZE 2 // I2C单次写入字节数 +#define READ_BUF_SIZE 2 // I2C单次读取字节数 +#define I2C_TASK_PRIORITY 2 // 任务优先级(中等) +#define I2C_TASK_STACK 4096 // 任务栈大小(4KB) + +// 光学传感器引脚定义 +#define START_PHOTO_INTERRUPTER_PIN 2 // 光学传感器引脚(P0_2) +#define START_PHOTO_INTERRUPTER_CONFIG CONFIG_PORT0 // 光学传感器引脚挂载在IO扩展板的输入端口 +#define START_PHOTO_INTERRUPTER_INPUT INPUT_PORT0 // 光学传感器引脚输入状态检测在INPUT_PORT0 +#define START_PHOTO_INTERRUPTER_HIGH true // 光学传感器引脚状态为高电平 +#define START_PHOTO_INTERRUPTER_LOW false // 光学传感器引脚状态为低电平 + +#define END_PHOTO_INTERRUPTER_PIN 3 // 光学传感器引脚(P0_3) +#define END_PHOTO_INTERRUPTER_PORT_CONFIG CONFIG_PORT0 // 光学传感器引脚挂载在IO扩展板的输入端口 +#define END_PHOTO_INTERRUPTER_INPUT INPUT_PORT0 // 光学传感器引脚输入状态检测在INPUT_PORT0 +#define END_PHOTO_INTERRUPTER_HIGH true // 光学传感器引脚状态为高电平 +#define END_PHOTO_INTERRUPTER_LOW false // 光学传感器引脚状态为低电平 + +/***********************************IO扩展板LCD引脚配置参数*************************************/ +/* 设置LCD的BL引脚 */ +#define LCD_BL_PIN 6 //LCD背光引脚对应IO扩展板引脚P0_6 +#define LCD_BL_PORT OUTPUT_PORT0 //LCD背光引脚挂载在IO扩展板的输出端口OUTPUT_PORT0 +#define LCD_BL_CONFIG CONFIG_PORT0 //LCD背光引脚配置在P0_6 +#define LCD_BL_HIGH true //LCD背光引脚状态为高电平 +#define LCD_BL_LOW false //LCD背光引脚状态为低电平 + +/* 设置LCD的RST引脚 */ +#define LCD_RST_PIN 1 //LCD复位引脚对应IO扩展板引脚P1_1 +#define LCD_RST_CONFIG CONFIG_PORT1 //LCD复位引脚配置在P1_1 +#define LCD_RST_PORT OUTPUT_PORT1 //LCD复位引脚挂载在IO扩展板的输出端口OUTPUT_PORT1 +#define LCD_RST_HIGH true //LCD复位引脚状态为高电平 +#define LCD_RST_LOW false //LCD复位引脚状态为低电平 + +/* 设置PA控制引脚 */ +#define PA_CTRL_PIN 2 //PA控制引脚对应IO扩展板引脚P1_2 +#define PA_CTRL_CONFIG CONFIG_PORT1 //PA控制引脚配置在P1_2 +#define PA_CTRL_PORT OUTPUT_PORT1 //PA控制引脚挂载在IO扩展板的输出端口OUTPUT_PORT1 +#define PA_CTRL_HIGH true //PA控制引脚状态为高电平 +#define PA_CTRL_LOW false //PA控制引脚状态为低电平 + +// 电池充电检测引脚定义 +#define BATTERY_FULL_INPUT INPUT_PORT1 // 电池充满检测引脚挂载在IO扩展板的输入端口 +#define BATTERY_FULL_PIN 3 // 电池充满检测引脚对应IO扩展板引脚P1_3 +#define BATTERY_FULL_CONFIG CONFIG_PORT1 // 电池充满检测引脚配置在P1_3 + +#define BATTERY_CHRG_INPUT INPUT_PORT0 // 充电检测引脚挂载在IO扩展板的输入端口 +#define BATTERY_CHRG_PIN 5 // 充电检测引脚(P0_5) +#define BATTERY_CHRG_CONFIG CONFIG_PORT0 // 充电检测引脚挂载在IO扩展板的输入端口 + +#define TAG_GPIO_IO_EXPAND_DETECT "GPIO_IO_EXPAND_DETECT" // GPIO中断检测日志标签 +#define TAG_I2C_IO_EXPAND_TASK "I2C_IO_EXPAND_TASK" // I2CIO扩展板任务日志标签 + +// GPIO引脚定义 +#define GPIO_INPUT_PIN_SEL GPIO_NUM_10 // IO扩展板中断检测引脚 +#define IO_EXPAND_RSTN GPIO_NUM_45 // IO扩展板复位引脚 + +/** + * @class IOExpansionBoard + * @brief I/O扩展板驱动类,封装AW9523BTQR芯片操作 + */ +class IOExpansionBoard +{ +public: + /** + * @brief 构造函数 + */ + IOExpansionBoard(); + + /** + * @brief 设置毫米波雷达指针 + * @param radar 毫米波雷达对象指针 + */ + void SetRadar(MillimeterWaveRadar* radar) { radar_ = radar; }; + + /** + * @brief 设置限位开关指针 + * @param photo_interrupter 限位开关对象指针 + */ + void setPhotoInterrupter(PhotoInterrupter* photo_interrupter) { photo_interrupter_ = photo_interrupter; }; + + /** + * @brief 设置电池监控器指针 + * @param battery_monitor 电池监控器对象指针 + */ + void setBatteryMonitor(AdcBatteryMonitor* battery_monitor) { battery_monitor_ = battery_monitor; }; + + /** + * @brief 析构函数 + */ + ~IOExpansionBoard(); + + /** + * @brief 初始化GPIO中断检测 + * @param gpio_num 中断引脚编号 + * @return esp_err_t 初始化结果 + */ + esp_err_t InterruptGpioInit(gpio_num_t gpio_num); + + /** + * @brief 初始化IO扩展板复位引脚 + * @param gpio_num 复位引脚编号 + * @return esp_err_t 初始化结果 + */ + esp_err_t ResetGpioInit(gpio_num_t gpio_num); + + /** + * @brief 初始化IO扩展板复位引脚 + * @param gpio_num 复位引脚编号 + * @return esp_err_t 初始化结果 + */ + esp_err_t ResetIoExpand(); + + /** + * @brief 初始化I2C主机通信 + * @return esp_err_t 初始化结果 + */ + // esp_err_t IoExpansionI2cInit(); + + /** + * @brief 创建I2C数据读取任务 + */ + void CreateI2cReadTask(); + + /** + * @brief 启动I2C任务(整合初始化和任务创建) + * @return esp_err_t 操作结果 + */ + esp_err_t StartTask(); + + /** + * @brief 写寄存器数据 + * @param reg_addr 寄存器地址 + * @param data 要写入的数据 + * @return esp_err_t 操作结果 + */ + esp_err_t IoexpandWriteReg(uint8_t reg_addr, uint8_t data); + + /** + * @brief 读寄存器数据 + * @param reg_addr 寄存器地址 + * @param data 要读出的数据 + * @return esp_err_t 操作结果 + */ + esp_err_t IoexpandReadReg(uint8_t reg_addr, uint8_t *data); + + /** + * @brief 读取输入端口0寄存器数据 + * @param data 输出参数,用于存储读取到的数据 + * @return esp_err_t 操作结果 + */ + esp_err_t ReadInputPort0(uint8_t *data); + + /** + * @brief 读取输入端口1寄存器数据 + * @param data 输出参数,用于存储读取到的数据 + * @return esp_err_t 操作结果 + */ + esp_err_t ReadInputPort1(uint8_t *data); + + // /** + // * @brief 设置IO扩展板GPIO中断状态 通过读取Input_Port0 和 Input_Port1 寄存器可以清除中断 + // * @param reg_addr 寄存器地址 + // * @return esp_err_t 操作结果 + // */ + // esp_err_t SetInterruptStatus(bool status); + + /** + * @brief 配置IO扩展版上的IO口为输出还是输入,并且设置初始为高电平 + * @return esp_err_t 操作结果 + */ + esp_err_t IoexpandSetMode(); + + /** + * @brief 设置步进电机的细分模式 + * @param mode 模式：1/2/4/8/16/32/64 + * @return esp_err_t 操作结果 + */ + void SetStepperMicrostepMode(uint8_t mode, uint8_t OUTPUT_PORT_m0, uint8_t m0_pin, uint8_t OUTPUT_PORT_m1, uint8_t m1_pin); + + /** + * @brief 设置步进电机的方向 + * @param dir 方向 + * @param OUTPUT_PORT 输出端口 + * @param pin 引脚号 + * @return esp_err_t 操作结果 + */ + esp_err_t StepperMotorSetDir(bool dir, uint8_t OUTPUT_PORT, uint8_t pin); + + /** + * @brief 设置步进电机的睡眠模式 + * @param 是否进入睡眠模式 + * @param 输出端口 + * @param 引脚号 + * @return esp_err_t 操作结果 + */ + esp_err_t SetMotorSleepMode(bool mode, uint8_t OUTPUT_PORT, uint8_t nsleep_pin); + + /** + * @brief 设置步进电机的使能引脚状态 + * @param 使能状态 + * @return esp_err_t 操作结果 + */ + esp_err_t SetMotorEnableMode(bool enable, uint8_t OUTPUT_PORT, uint8_t enable_pin); + + /** + * @brief 设置LCD的BL引脚状态 + * @param BL状态 + * @return esp_err_t 操作结果 + */ + esp_err_t SetLcdBlMode(bool mode, uint8_t OUTPUT_PORT, uint8_t bl_pin); + + /** + * @brief 设置LCD的RST引脚状态 + * @param RST状态 + * @return esp_err_t 操作结果 + */ + esp_err_t SetLcdResetMode(bool mode, uint8_t OUTPUT_PORT, uint8_t rst_pin); + + /** + * @brief 设置PA控制引脚状态 + * @param PA_CTRL状态(低电平为选中状态,高电平为不选中状态) + * @return esp_err_t 操作结果 + */ + esp_err_t SetPaCtrlMode(bool mode, uint8_t OUTPUT_PORT, uint8_t pa_ctrl_pin); + + /** + * @brief 设置雷达中断引脚 + * @param 毫米波雷达的中断引脚模式 + * @param 输入端口 + * @param 引脚号 + * @return esp_err_t 操作结果 + */ + esp_err_t SetRadarInterruptPin(bool mode, uint8_t INPUT_PORT, uint8_t interrupt_pin); + + /** + * @brief 计算Port0的字节值 + * @return uint8_t 操作结果 + */ + uint8_t ByteCalculatePort0(); + + /** + * @brief 计算Port1的字节值 + * @return uint8_t 操作结果 + */ + uint8_t ByteCalculatePort1(); + + /** + * @brief 设置雷达中断回调函数 + * @param callback 雷达中断回调函数 + */ + void SetRadarCallback(RadarCallback callback) { radar_callback_ = callback; } + + /** + * @brief 设置光学传感器开始中断回调函数 + * @param callback 光学传感器开始中断回调函数 + */ + void SetPhotoInterrupterStartCallback(PhotoInterrupterStartCallback callback) { photo_start_callback_ = callback; } + + /** + * @brief 设置光学传感器结束中断回调函数 + * @param callback 光学传感器结束中断回调函数 + */ + void SetPhotoInterrupterEndCallback(PhotoInterrupterEndCallback callback) { photo_end_callback_ = callback; } + + /** + * @brief 设置电池充电中断回调函数 + * @param callback 电池充电中断回调函数 + */ + void SetBatteryChargingCallback(BatteryChargingCallback callback) { battery_charging_callback_ = callback; } + + /** + * @brief 设置电池充满中断回调函数 + * @param callback 电池充满中断回调函数 + */ + void SetBatteryFullCallback(BatteryFullCallback callback) { battery_full_callback_ = callback; } + + /** + * @brief 设置电池非充电中断回调函数 + * @param callback 电池非充电中断回调函数 + */ + void SetBatteryNotChargingCallback(BatteryNotChargingCallback callback) { battery_not_charging_callback_ = callback; } + + // 公共成员变量 + i2c_bus_handle_t bus_handle_ = nullptr; // I2C总线句柄 + uint8_t device_addr_; // I2C设备地址 + +private: + // 静态成员函数 + MillimeterWaveRadar* radar_ = nullptr; // 毫米波雷达指针,用于触发回调 + PhotoInterrupter* photo_interrupter_ = nullptr; // 限位开关指针,用于触发回调 + AdcBatteryMonitor* battery_monitor_ = nullptr; // 电池监控器指针,用于触发回调 + static void IRAM_ATTR GpioIsrHandler(void* arg); // 中断处理函数 + static void I2cReadTask(void* pvParameters); // I2C数据读取任务函数 + + // 成员变量用于状态跟踪 + uint8_t last_port0_state_ = 0; // 上次检测到的Port0状态 + uint8_t last_port1_state_ = 0; // 上次检测到的Port1状态 + bool radar_last_state_ = false; // 雷达引脚上一次的状态 + bool battery_charging_last_state_ = false; // 电池充电状态上一次的状态 + bool battery_full_last_state_ = false; // 电池充满状态上一次的状态 + + // 回调函数成员变量 + RadarCallback radar_callback_ = nullptr; + PhotoInterrupterStartCallback photo_start_callback_ = nullptr; + PhotoInterrupterEndCallback photo_end_callback_ = nullptr; + BatteryChargingCallback battery_charging_callback_ = nullptr; + BatteryFullCallback battery_full_callback_ = nullptr; + BatteryNotChargingCallback battery_not_charging_callback_ = nullptr; + + // PhotoInterrupter* photo_interrupter_ = nullptr; // 光学传感器指针,用于触发回调 + // /** + // * @brief 分配静态任务所需的内存 + // * @return bool 分配是否成功 + // */ + // bool AllocateStaticTaskMemory(); + + // /** + // * @brief 释放静态任务分配的内存 + // */ + // void FreeStaticTaskMemory(); + + // 实例成员变量 + EventGroupHandle_t i2c_task_event_group_ = nullptr; // 事件组 + TaskHandle_t xI2CReadTaskHandle_ = nullptr; // 任务句柄 + bool is_initialized_ = false; // 初始化状态标记(新增) + gpio_num_t interrupt_gpio_ = GPIO_NUM_NC; // 中断引脚 + gpio_num_t reset_gpio_ = GPIO_NUM_NC; // 复位引脚 + + // StackType_t* pI2CReadTaskStackBuffer = nullptr; // 任务栈指针(PSRAM） + // StaticTask_t* pxI2CReadTaskBuffer = nullptr; // 任务控制块指针(内部RAM） +}; + +#endif \ No newline at end of file diff --git a/main/02_physical/boards/board_v1_1_14/board_sweekar.cc b/main/02_physical/boards/board_v1_1_14/board_sweekar.cc new file mode 100644 index 0000000..1237ebe --- /dev/null +++ b/main/02_physical/boards/board_v1_1_14/board_sweekar.cc @@ -0,0 +1,702 @@ +/** + * @file board.cc + * @brief 板级外设初始化类,包含步进电机、毫米波雷达、I2C总线等外设的初始化函数。 + * @author zouyuhua + * @date 2025年8月7日 + * + */ + +extern "C" { +#include "esp_log.h" +#include "driver/gpio.h" +#include "driver/uart.h" +#include "driver/ledc.h" +#include "driver/gptimer.h" +#include "esp_err.h" +#include "freertos/FreeRTOS.h" +#include "freertos/task.h" +#include "hal/gpio_types.h" +#include "hal/uart_types.h" +#include "esp_check.h" +#include "sdkconfig.h" +#include "i2c_bus.h" +#include "esp_peripherals.h" +#include "periph_sdcard.h" +#include "esp_sleep.h" +#include "driver/rtc_io.h" +} + +#include "board_sweekar.h" +#include "config.h" +#include "board.h" // 添加board.h以获取audio_board_sdcard_init函数声明 +#include "drv8428.h" +#include "aw8646.h" + +#define TAG "board_sweekar" + +BoardSweekar::BoardSweekar() + : base_board_hal_uart_(BASE_BOARD_CTL_UART_PORT) +{ +#ifdef CONFIG_STEPPER_DRIVER_AW8646 + stepper_driver_ = new Aw8646Driver(io_expansion_); +#else + stepper_driver_ = new Drv8428Driver(io_expansion_); +#endif +} + +BoardSweekar::~BoardSweekar() +{ + if (stepper_driver_) { + delete stepper_driver_; + stepper_driver_ = nullptr; + } +} + + +/*========================== 步进电机相关驱动 ==========================*/ + +/** + * @brief 步进电机初始化函数 + * 配置步进电机所需的GPIO引脚模式,通过IO扩展板设置步进驱动芯片的工作模式 + * 在 stepper_motor.cc 中完成 GPTimer + GPIO 翻转 STEP 脉冲的初始化 + */ +void BoardSweekar::StepperMotorInit(void) +{ + esp_err_t err = ESP_OK; + + // 1) STEP 引脚改为普通 GPIO（不再用 LEDC） + gpio_config_t io_cfg; + io_cfg.pin_bit_mask = 1ULL << STEPPER_STEP_IO; + io_cfg.mode = GPIO_MODE_OUTPUT; + io_cfg.pull_up_en = GPIO_PULLUP_DISABLE; + io_cfg.pull_down_en = GPIO_PULLDOWN_DISABLE; + io_cfg.intr_type = GPIO_INTR_DISABLE; + err = gpio_config(&io_cfg); + if (err != ESP_OK) + { + ESP_LOGE(TAG_BOARD, "步进电机 STEP GPIO 配置失败, 错误码: 0x%x", err); + } + + // 初始电平拉低，保证上电不乱跳 + gpio_set_level(STEPPER_STEP_IO, 0); + + // 2) 检查 I2C 总线是否已初始化 + if (bus_handle_ == nullptr) + { + ESP_LOGE(TAG_BOARD, "I2C总线未初始化,请先调用I2CMasterInit()"); + return; + } + + // 3) 初始化驱动对象并初始化 + if (stepper_driver_) { + err = stepper_driver_->Init(); + if (err != ESP_OK) { + ESP_LOGE(TAG_BOARD, "步进电机驱动初始化失败, 错误码: 0x%x", err); + } + } else { + ESP_LOGE(TAG_BOARD, "步进电机驱动创建失败"); + } +} + +/** + * @brief LCD IO引脚初始化函数（消除与步进电机的耦合） + * + * 配置LCD所需的IO扩展板寄存器，确保LCD复位引脚正常工作 + * 此函数独立于步进电机初始化，专门处理LCD相关的IO配置 + */ +void BoardSweekar::LcdIoInit(void) +{ + esp_err_t err = ESP_OK; + + // 1) 检查I2C总线是否已初始化 + if (bus_handle_ == nullptr) + { + ESP_LOGE(TAG_BOARD, "I2C总线未初始化,请先调用I2CMasterInit()"); + return; + } + + // 2) 执行硬件复位，确保IO扩展板处于已知状态 + err = io_expansion_.ResetIoExpand(); + if (err != ESP_OK) + { + ESP_LOGE(TAG_BOARD, "IO扩展板硬件复位失败, 错误码: 0x%x", err); + return; + } + else + { + ESP_LOGI(TAG_BOARD, "IO扩展板硬件复位成功"); + } + + // 3) 配置IO扩展板模式（端口方向等） + err = io_expansion_.IoexpandSetMode(); + if (err != ESP_OK) + { + ESP_LOGE(TAG_BOARD, "IO扩展板模式配置失败, 错误码: 0x%x", err); + return; + } + else + { + ESP_LOGI(TAG_BOARD, "IO扩展板模式配置成功"); + } + + // 4) 初始化LCD复位引脚：设置为高电平 + err = io_expansion_.SetLcdResetMode(LCD_RST_HIGH, LCD_RST_PORT, LCD_RST_PIN); + if (err != ESP_OK) + { + ESP_LOGE(TAG_BOARD, "LCD复位引脚高电平设置失败, 错误码: 0x%x", err); + return; + } + else + { + ESP_LOGI(TAG_BOARD, "LCD复位引脚高电平设置成功"); + } + + io_expansion_.SetLedEnMode(true); +} + +/*========================== 毫米波雷达相关驱动 ==========================*/ + +/** + * @brief 毫米波雷达串口初始化函数 + * + * 配置毫米波雷达所使用的串口参数(波特率、数据位、校验位、停止位等),设置串口引脚, + * 并安装串口驱动。采用较大的RX/TX FIFO深度以处理突发数据,禁用驱动自带事件队列以避免 + * 与自定义中断冲突。 + */ +void BoardSweekar::MillimeterWaveRadarUartInit(void) +{ + uart_config_t uart_config = { + .baud_rate = RADAR_BAUD_RATE, + .data_bits = UART_DATA_8_BITS, + .parity = UART_PARITY_DISABLE, + .stop_bits = UART_STOP_BITS_1, + .flow_ctrl = UART_HW_FLOWCTRL_DISABLE, + .rx_flow_ctrl_thresh = 122, + .source_clk = UART_SCLK_DEFAULT, + .flags = { + .allow_pd = 0, + .backup_before_sleep = 0, + }, + }; + + // 1. 设置串口参数 + ESP_ERROR_CHECK(uart_param_config(RADAR_UART_NUM, &uart_config)); + + // 2. 设置 UART 引脚 + ESP_ERROR_CHECK(uart_set_pin(RADAR_UART_NUM, UART_TX_PIN, UART_RX_PIN, + UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE)); + + // 3. 安装 UART 驱动(禁用驱动自带事件队列,避免与自定义中断冲突) + // 增加 RX/TX FIFO 深度以处理突发数据 + ESP_ERROR_CHECK(uart_driver_install(RADAR_UART_NUM, RADAR_BUF_SIZE * 4, RADAR_BUF_SIZE * 4, + 0, NULL, 0)); +} + +/** + * @brief 毫米波雷达中断引脚初始化函数 + * + * 配置毫米波雷达中断引脚为输入模式,禁用上拉电阻,使能下拉电阻,初始禁用中断功能 + * (如需使用中断需单独进行配置)。 + */ +void BoardSweekar::MillimeterWaveRadarGpioInit(void) +{ + // GPIO配置结构体 + gpio_config_t io_conf = { + .pin_bit_mask = (1ULL << MILLIMETER_WAVE_RADAR_PIN), // 选择GPIO引脚 + .mode = GPIO_MODE_INPUT, // 设置为输入模式 + .pull_up_en = GPIO_PULLUP_DISABLE, + .pull_down_en = GPIO_PULLDOWN_ENABLE, // 使能下拉 + .intr_type = GPIO_INTR_DISABLE // 禁用中断(如需中断需单独配置) + }; + + // 配置GPIO + gpio_config(&io_conf); +} + +/*========================== I2C总线及挂载的从设备相关驱动 ==========================*/ + +/** + * @brief I2C总线及从机设备初始化函数 + * + * 首先配置并创建I2C主机总线,然后依次添加IO扩展板和线性马达作为I2C从机设备到总线上。 + * 若总线创建或设备添加失败,会输出错误信息并进行相应的资源清理(删除已创建的总线)。 + * 初始化成功后,会通过ESP_LOGI输出IO扩展板和线性马达的从机地址信息。 + * + * @return esp_err_t 初始化结果,ESP_OK表示成功,其他错误码表示相应的失败原因 + */ +esp_err_t BoardSweekar::I2CMasterInit(void) +{ + static const char *I2C_INIT = "I2C_INIT"; + + // 初始化IO扩展板复位引脚 + gpio_config_t reset_io_conf = { + .pin_bit_mask = (1ULL << IO_EXPAND_RSTN), + .mode = GPIO_MODE_OUTPUT, + .pull_up_en = GPIO_PULLUP_ENABLE, // 使能上拉 + .pull_down_en = GPIO_PULLDOWN_DISABLE, + .intr_type = GPIO_INTR_DISABLE + }; + gpio_config(&reset_io_conf); + + // 执行复位时序：先拉低100ms,再拉高并等待100ms + gpio_set_level(IO_EXPAND_RSTN, 0); // 拉低复位 + vTaskDelay(pdMS_TO_TICKS(100)); // 等待100ms + gpio_set_level(IO_EXPAND_RSTN, 1); // 释放复位 + vTaskDelay(pdMS_TO_TICKS(100)); // 等待设备启动 + + ESP_LOGI(I2C_INIT, "IO扩展板复位完成"); + + // 创建统一的I2C总线（使用ESP-ADF的i2c_bus） + i2c_config_t i2c_cfg = { + .mode = I2C_MODE_MASTER, + .sda_io_num = I2C0_MASTER_SDA_IO, + .scl_io_num = I2C0_MASTER_SCL_IO, + .sda_pullup_en = GPIO_PULLUP_ENABLE, + .scl_pullup_en = GPIO_PULLUP_ENABLE, + .master = { + .clk_speed = 100000, + }, + .clk_flags = 0, + }; + + // 创建I2C总线（ESP-ADF的audio_board_init会复用这个总线） + bus_handle_ = i2c_bus_create(I2C0_MASTER_PORT, &i2c_cfg); + if (bus_handle_ == NULL) { + ESP_LOGE(TAG, "Failed to create I2C bus"); + return ESP_FAIL; + } + + vTaskDelay(pdMS_TO_TICKS(100)); // 等待设备启动 + // ESP-ADF的i2c_bus不需要单独添加设备,直接通过总线句柄和设备地址进行通信 + + // 验证线性马达设备是否存在 + esp_err_t err = i2c_bus_probe_addr(bus_handle_, LINEAR_MOTOR_I2C_SLAVE_ADDR << 1); + if (err != ESP_OK) { + ESP_LOGE(I2C_INIT, "线性马达设备未找到(地址:0x%02X),错误码: 0x%x", LINEAR_MOTOR_I2C_SLAVE_ADDR, err); + // 不返回错误,继续初始化 + } else { + ESP_LOGI(I2C_INIT, "线性马达设备检测成功(地址:0x%02X)", LINEAR_MOTOR_I2C_SLAVE_ADDR); + } + // 验证IO扩展板设备是否存在 + err = i2c_bus_probe_addr(bus_handle_, I2C_IO_EXPAND_SLAVE_ADDR << 1); + if (err != ESP_OK) { + ESP_LOGE(I2C_INIT, "IO扩展板设备未找到(地址:0x%02X),错误码: 0x%x", I2C_IO_EXPAND_SLAVE_ADDR, err); + // 不返回错误,继续初始化其他设备 + } else { + ESP_LOGI(I2C_INIT, "IO扩展板设备检测成功(地址:0x%02X)", I2C_IO_EXPAND_SLAVE_ADDR); + } + // 验证陀螺仪设备是否存在 + err = i2c_bus_probe_addr(bus_handle_, GYROSCOPE_I2C_SLAVE_ADDR << 1); + if (err != ESP_OK) { + ESP_LOGE(I2C_INIT, "陀螺仪设备未找到(地址:0x%02X),错误码: 0x%x", GYROSCOPE_I2C_SLAVE_ADDR, err); + // 不返回错误,继续初始化 + } else { + ESP_LOGI(I2C_INIT, "陀螺仪设备检测成功(地址:0x%02X)", GYROSCOPE_I2C_SLAVE_ADDR); + } + + // 为IO扩展板设置总线句柄和设备地址（使用7位地址） + io_expansion_.bus_handle_ = bus_handle_; + io_expansion_.device_addr_ = I2C_IO_EXPAND_SLAVE_ADDR << 1; + + // 线性马达的初始化已移至 InitializeAllHardware 中统一调用 Init 方法 + // linear_motor_ 的参数传递将在那里完成，不再此处直接赋值，提高内聚性 + + ESP_LOGI(I2C_INIT, "I2C总线初始化完成"); + return ESP_OK; +} + +/*========================== VBAT to VBAT_5V相关驱动 ==========================*/ + +/** + * @brief 开启VBAT to VBAT_5V + * + * 创建开启升压的电源管理单元 + * + */ +void BoardSweekar::VbatToVbat5vInit(void) +{ + if (VBAT_5V_PIN == GPIO_NUM_NC) { + return; + } + // 配置VBAT_5V引脚为输出模式 + gpio_config_t io_conf = { + .pin_bit_mask = (VBAT_5V_PIN != GPIO_NUM_NC) ? (1ULL << VBAT_5V_PIN) : 0, + .mode = GPIO_MODE_OUTPUT, + .pull_up_en = GPIO_PULLUP_DISABLE, + .pull_down_en = GPIO_PULLDOWN_DISABLE, + .intr_type = GPIO_INTR_DISABLE + }; + gpio_config(&io_conf); + // 使能VBAT_5V + gpio_set_level(VBAT_5V_PIN, 1); +} + +/*========================== 底座控制串口相关驱动 ==========================*/ + +/** + * @brief 底座控制命令串口初始化函数 + */ +void BoardSweekar::BaseBoardControlUartInit(void) +{ + uart_config_t uart_config = { + .baud_rate = BASE_BOARD_CTL_UART_BAUDRATE, + .data_bits = UART_DATA_8_BITS, + .parity = UART_PARITY_DISABLE, + .stop_bits = UART_STOP_BITS_1, + .flow_ctrl = UART_HW_FLOWCTRL_DISABLE, + .rx_flow_ctrl_thresh = 122, + .source_clk = UART_SCLK_DEFAULT, + .flags = { + .allow_pd = 0, + .backup_before_sleep = 0, + }, + }; + + // 1. 设置串口参数 + ESP_ERROR_CHECK(uart_param_config(BASE_BOARD_CTL_UART_PORT, &uart_config)); + + // 2. 设置 UART 引脚 + ESP_ERROR_CHECK(uart_set_pin(BASE_BOARD_CTL_UART_PORT, BASE_BOARD_CTL_UART_TX_PIN, BASE_BOARD_CTL_UART_RX_PIN, + UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE)); + + // 3. 安装 UART 驱动 + ESP_ERROR_CHECK(uart_driver_install(BASE_BOARD_CTL_UART_PORT, + BASE_BOARD_CTL_UART_BUF_SIZE, + BASE_BOARD_CTL_UART_BUF_SIZE, + 0, NULL, 0)); + + base_board_control_.Init(&base_board_hal_uart_); +} + +/*========================== SD卡相关驱动 ==========================*/ + +/** + * @brief SD卡初始化函数 + * + * 初始化SD卡外设，使用1线模式进行通信。该函数负责初始化外设管理器 + * 并配置SD卡，为后续的文件系统操作做准备。 + * + * @return esp_err_t 初始化结果，ESP_OK表示成功，其他错误码表示失败原因 + */ +esp_err_t BoardSweekar::InitializeSdcard(void) +{ + static const char *SDCARD_TAG = "SDCARD_INIT"; + esp_err_t ret; + + ESP_LOGI(SDCARD_TAG, "Initializing SD card"); + + if (is_sdcard_initialized_) { + ESP_LOGW(SDCARD_TAG, "SD card already initialized"); + return ESP_OK; + } + + // 初始化外设管理 + esp_periph_config_t periph_cfg = DEFAULT_ESP_PERIPH_SET_CONFIG(); + periph_cfg.extern_stack = true; // 将任务栈分配到 PSRAM 以节省 Internal SRAM + periph_set_ = esp_periph_set_init(&periph_cfg); + if (!periph_set_) { + ESP_LOGE(SDCARD_TAG, "Failed to initialize peripheral set"); + return ESP_FAIL; + } + + // 初始化SD卡外设 + ret = audio_board_sdcard_init(periph_set_, SD_MODE_1_LINE); + if (ret != ESP_OK) { + ESP_LOGE(SDCARD_TAG, "Failed to initialize SD card: %s", esp_err_to_name(ret)); + return ret; + } + + is_sdcard_initialized_ = true; + ESP_LOGI(SDCARD_TAG, "SD card initialized successfully"); + return ESP_OK; +} + +/** + * @brief 统一的硬件初始化接口实现 + * + * 按照依赖关系顺序初始化所有硬件资源： + * 1. I2C总线（最基础，其他设备可能依赖） + * 2. IO扩展板（可能影响其他设备） + * 3. SD卡（文件系统，供显示和音频使用） + * 4. 其他外设 + * + * @return esp_err_t 初始化结果，ESP_OK表示全部成功 + */ +esp_err_t BoardSweekar::InitializeAllHardware(void) +{ + static const char *HW_INIT_TAG = "HW_INIT"; + esp_err_t ret; + + ESP_LOGI(HW_INIT_TAG, "Starting unified hardware initialization..."); + + // 1. 初始化I2C总线（最基础） + ret = I2CMasterInit(); + if (ret != ESP_OK) { + ESP_LOGE(HW_INIT_TAG, "Failed to initialize I2C master: %s", esp_err_to_name(ret)); + return ret; + } + ESP_LOGI(HW_INIT_TAG, "I2C master initialized"); + + // 2. 创建I2C读任务（IO扩展板需要） + io_expansion_.CreateI2cReadTask(); + ESP_LOGI(HW_INIT_TAG, "I2C read task created"); + + // 3. 初始化SD卡（文件系统，供显示和音频使用） + ret = InitializeSdcard(); + if (ret != ESP_OK) { + ESP_LOGE(HW_INIT_TAG, "Failed to initialize SD card: %s", esp_err_to_name(ret)); + // SD卡失败不是致命错误，继续初始化其他硬件 + ESP_LOGW(HW_INIT_TAG, "SD card initialization failed, but continuing with other hardware"); + } else { + ESP_LOGI(HW_INIT_TAG, "SD card initialized"); + } + + // 4. 初始化LCD IO引脚 + LcdIoInit(); + ESP_LOGI(HW_INIT_TAG, "LCD IO pins initialized"); + + // 5. 初始化触摸传感器 + touch_sensor_.SetI2cHandle(bus_handle_); + touch_sensor_.Begin(); + ESP_LOGI(HW_INIT_TAG, "Touch sensor initialized"); + + // 6. 初始化其他必要外设 + // BaseBoardControlUartInit(); // 底座控制串口（demo5需要） + // ESP_LOGI(HW_INIT_TAG, "Base board control UART initialized"); + + // 初始化底座控制 + // base_board_control_.Init(); + // ESP_LOGI(HW_INIT_TAG, "Base board control initialized"); + + // 可选外设（根据具体应用需求） + // MillimeterWaveRadarUartInit(); + // MillimeterWaveRadarGpioInit(); + StepperMotorInit(); + + + + ESP_LOGI(HW_INIT_TAG, "Unified hardware initialization completed successfully"); + return ESP_OK; +} + +/** + * @brief 进入低功耗模式 + * + * 根据指定的功耗模式，执行相应的功耗优化策略： + * - IDLE模式：关闭非必要外设，保持快速响应 + * - LIGHT_SLEEP模式：进入轻度睡眠，CPU暂停，外设断电 + * - DEEP_SLEEP模式：深度睡眠，仅RTC运行，功耗最低 + */ +esp_err_t BoardSweekar::EnterLowPowerMode(power_mode_t mode) { + static const char *POWER_TAG = "POWER_MGMT"; + esp_err_t ret = ESP_OK; + + ESP_LOGI(POWER_TAG, "Entering power mode: %d", mode); + + if (mode == current_power_mode_) { + ESP_LOGW(POWER_TAG, "Already in power mode %d", mode); + return ESP_OK; + } + + // 保存当前模式，以便恢复 + power_mode_t previous_mode = current_power_mode_; + + switch (mode) { + case POWER_MODE_NORMAL: + // 正常模式，不需要特殊处理 + break; + + case POWER_MODE_IDLE: + // 空闲模式：关闭非必要外设 + ESP_LOGI(POWER_TAG, "Idle mode: disabling non-essential peripherals"); + + // 关闭SD卡（如果正在使用，需要先卸载） + if (is_sdcard_initialized_) { + // 注意：这里只是示例，实际应用中需要确保没有文件操作 + ESP_LOGW(POWER_TAG, "SD card still active in idle mode"); + } + + // 关闭显示背光 + // 关闭非必要GPIO的上拉/下拉 + // 降低I2C时钟频率 + break; + + case POWER_MODE_LIGHT_SLEEP: + // 轻度睡眠 + ESP_LOGI(POWER_TAG, "Light sleep mode: preparing for sleep"); + + // 设置唤醒源（需要根据具体需求配置） + // esp_sleep_enable_timer_wakeup(1000000); // 1秒后唤醒 + // esp_sleep_enable_ext0_wakeup(GPIO_NUM_XX, 0); // 外部中断唤醒 + + // 进入轻度睡眠 + // ret = esp_light_sleep_start(); + if (ret != ESP_OK) { + ESP_LOGE(POWER_TAG, "Failed to enter light sleep: %s", esp_err_to_name(ret)); + current_power_mode_ = previous_mode; + return ret; + } + break; + + case POWER_MODE_DEEP_SLEEP: + // 深度睡眠 + ESP_LOGI(POWER_TAG, "Deep sleep mode: system will restart after wake-up"); + + // 保存必要的RTC数据 + // rtc_gpio_isolate(GPIO_NUM_XX); // 隔离GPIO + + // 设置深度睡眠唤醒源 + // esp_sleep_enable_timer_wakeup(60000000); // 60秒后唤醒 + + // 进入深度睡眠 + // esp_deep_sleep_start(); + // 注意：深度睡眠后系统会重启，不会返回 + break; + + default: + ESP_LOGE(POWER_TAG, "Invalid power mode: %d", mode); + return ESP_ERR_INVALID_ARG; + } + + current_power_mode_ = mode; + ESP_LOGI(POWER_TAG, "Successfully entered power mode: %d", mode); + return ret; +} + +/** + * @brief 退出低功耗模式 + * + * 从低功耗模式恢复到正常运行模式，重新初始化必要的硬件资源。 + */ +esp_err_t BoardSweekar::ExitLowPowerMode(void) { + static const char *POWER_TAG = "POWER_MGMT"; + + ESP_LOGI(POWER_TAG, "Exiting low power mode"); + + if (current_power_mode_ == POWER_MODE_NORMAL) { + ESP_LOGW(POWER_TAG, "Already in normal mode"); + return ESP_OK; + } + + // 根据之前的功耗模式执行相应的恢复操作 + switch (current_power_mode_) { + case POWER_MODE_IDLE: + // 恢复空闲模式 + ESP_LOGI(POWER_TAG, "Restoring from idle mode"); + + // 重新初始化必要的外设 + // 恢复I2C时钟频率 + // 重新开启显示背光 + break; + + case POWER_MODE_LIGHT_SLEEP: + // 轻度睡眠唤醒后会自动继续执行 + ESP_LOGI(POWER_TAG, "Woken up from light sleep"); + + // 重新配置时钟（如果需要） + // 重新初始化外设 + break; + + case POWER_MODE_DEEP_SLEEP: + // 深度睡眠后系统会重启，不会执行到这里 + ESP_LOGW(POWER_TAG, "Deep sleep recovery should not reach here"); + break; + + default: + break; + } + + // 恢复到正常模式 + current_power_mode_ = POWER_MODE_NORMAL; + ESP_LOGI(POWER_TAG, "Successfully exited low power mode"); + + return ESP_OK; +} + +/** + * @brief 设置硬件模块电源状态 + * + * 提供精细化的电源管理，可以单独控制各个硬件模块的电源状态。 + */ +esp_err_t BoardSweekar::SetModulePower(hardware_module_t module, bool enable) { + static const char *POWER_TAG = "POWER_MODULE"; + esp_err_t ret = ESP_OK; + + ESP_LOGI(POWER_TAG, "%s module %d", enable ? "Enabling" : "Disabling", module); + + // 更新电源状态位图 + if (enable) { + power_state_flags_ |= (1 << module); + } else { + power_state_flags_ &= ~(1 << module); + } + + switch (module) { + case HW_MODULE_I2C: + if (!enable && bus_handle_) { + // 注意：I2C总线通常不建议完全关闭，可能影响多个设备 + ESP_LOGW(POWER_TAG, "I2C bus power control not recommended"); + } + break; + + case HW_MODULE_SDCARD: + if (enable && !is_sdcard_initialized_) { + ret = InitializeSdcard(); + } else if (!enable && is_sdcard_initialized_) { + // 卸载SD卡文件系统 + // 注意：需要确保没有打开的文件 + ESP_LOGW(POWER_TAG, "SD card power down requires file system cleanup"); + } + break; + + case HW_MODULE_LCD: + // LCD背光控制 + // LCD电源引脚控制（如果有） + break; + + case HW_MODULE_AUDIO: + // 音频编解码器电源控制 + // 需要与AudioPlayer协调 + break; + + case HW_MODULE_MOTOR: + // 步进电机驱动器电源控制 + // 电机睡眠模式 + break; + + case HW_MODULE_GYROSCOPE: + // 陀螺仪电源控制 + // 设置陀螺仪为低功耗模式 + break; + + case HW_MODULE_TOUCH: + // 触摸传感器电源控制 + // 设置触摸传感器为睡眠模式 + break; + + case HW_MODULE_RADAR: + // 毫米波雷达电源控制 + // 设置雷达为低功耗模式 + break; + + case HW_MODULE_IO_EXPAND: + // IO扩展板电源控制 + // 设置扩展板为低功耗模式 + break; + + default: + ESP_LOGE(POWER_TAG, "Unknown hardware module: %d", module); + return ESP_ERR_INVALID_ARG; + } + + if (ret == ESP_OK) { + ESP_LOGI(POWER_TAG, "Module %d power %s successfully", module, enable ? "enabled" : "disabled"); + } else { + ESP_LOGE(POWER_TAG, "Failed to %s module %d: %s", enable ? "enable" : "disable", module, esp_err_to_name(ret)); + } + + return ret; +} + + + diff --git a/main/02_physical/boards/board_v1_1_14/board_sweekar.h b/main/02_physical/boards/board_v1_1_14/board_sweekar.h new file mode 100644 index 0000000..fa1db66 --- /dev/null +++ b/main/02_physical/boards/board_v1_1_14/board_sweekar.h @@ -0,0 +1,171 @@ +#ifndef __BOARD_H__ +#define __BOARD_H__ +#include "config.h" +#include "io_expansion_board.h" +#include "stepper_motor.h" +#include "stepper_driver.h" +#include "i2c_bus.h" +#include "gyroscope.h" +#include "touch_sensor.h" +#include "base_board_control.h" +#include "base_board_hal_uart.h" +#include "esp_peripherals.h" +#include "periph_sdcard.h" +#include "esp_sleep.h" +#include "driver/rtc_io.h" + +/** + * @brief 功耗模式枚举 + */ +typedef enum { + POWER_MODE_NORMAL, // 正常运行模式，所有硬件可用 + POWER_MODE_IDLE, // 空闲模式，关闭非必要外设 + POWER_MODE_LIGHT_SLEEP, // 轻度睡眠，快速唤醒 + POWER_MODE_DEEP_SLEEP, // 深度睡眠，仅RTC运行 +} power_mode_t; + +/** + * @brief 硬件模块枚举，用于精细化电源管理 + */ +typedef enum { + HW_MODULE_I2C, // I2C总线 + HW_MODULE_SDCARD, // SD卡 + HW_MODULE_LCD, // LCD显示 + HW_MODULE_AUDIO, // 音频编解码器 + HW_MODULE_MOTOR, // 步进电机 + HW_MODULE_GYROSCOPE, // 陀螺仪 + HW_MODULE_TOUCH, // 触摸传感器 + HW_MODULE_RADAR, // 毫米波雷达 + HW_MODULE_IO_EXPAND, // IO扩展板 +} hardware_module_t; + +/** + * @brief 硬件板级管理器 + * + * 采用高内聚低耦合设计原则，统一管理所有硬件资源。 + * 提供统一的硬件初始化接口和资源访问，避免各模块重复初始化。 + */ +class BoardSweekar +{ +private: + i2c_bus_handle_t bus_handle_ = nullptr; // 使用ESP-ADF的I2C总线句柄 + esp_periph_set_handle_t periph_set_ = nullptr; // 外设管理句柄 + bool is_sdcard_initialized_ = false; // SD卡初始化状态 + power_mode_t current_power_mode_ = POWER_MODE_NORMAL; // 当前功耗模式 + uint32_t power_state_flags_ = 0xFFFFFFFF; // 各模块电源状态位图（1为开启） + +public: + BoardSweekar(); + ~BoardSweekar(); + + IOExpansionBoard io_expansion_; // IO扩展板对象 + Gyroscope gyroscope_; // 陀螺仪对象 + TouchSensor touch_sensor_; // 触摸传感器对象 + BaseBoardHalUart base_board_hal_uart_; // 底座控制HAL对象 + BaseBoardControl base_board_control_; // 底座控制对象 + StepperDriver* stepper_driver_ = nullptr; // 步进电机驱动对象 + + StepperDriver* GetStepperDriver() const { return stepper_driver_; } + + // 初始化步进电机 + void StepperMotorInit(void); + + // 初始化LCD IO引脚（消除与步进电机的耦合） + void LcdIoInit(void); + + // 初始化串口 + void MillimeterWaveRadarUartInit(void); + + //初始化毫米波雷达的中断引脚 + void MillimeterWaveRadarGpioInit(void); + + // 初始化I2C总线 + esp_err_t I2CMasterInit(void); + + // 初始化VBAT toVBAT_5V引脚 + void VbatToVbat5vInit(void); + + // 初始化底座控制串口 + void BaseBoardControlUartInit(void); + + // 初始化SD卡（推荐使用统一的硬件初始化） + esp_err_t InitializeSdcard(void); + + // 获取SD卡初始化状态 + bool IsSdcardInitialized() const { return is_sdcard_initialized_; } + + // 获取外设管理句柄（供需要访问SD卡的模块使用） + esp_periph_set_handle_t GetPeriphSet() const { return periph_set_; } + + // 获取I2C总线句柄 + i2c_bus_handle_t GetBusHandle() const { return bus_handle_; } + + /** + * @brief 统一的硬件初始化接口 + * + * 按照依赖关系顺序初始化所有硬件资源，确保各模块可以安全使用。 + * 推荐在主程序启动时调用此函数，而不是分别调用各个初始化函数。 + * + * @return esp_err_t 初始化结果，ESP_OK表示全部成功 + */ + esp_err_t InitializeAllHardware(void); + + /** + * @brief 完整的统一硬件初始化接口（专为复杂应用优化） + * + * 包含所有必要外设的完整初始化，适用于demo5等复杂应用场景。 + * 这个函数会初始化：I2C总线、IO扩展板、SD卡、LCD IO、底座控制等。 + * + * @return esp_err_t 初始化结果，ESP_OK表示全部成功 + */ + esp_err_t InitializeAllHardwareComplete(void); + + /** + * @brief 针对特定应用的硬件初始化配置 + * + * 为不同类型的应用提供专门的初始化配置，优化启动流程。 + * + * @param app_type 应用类型（demo5、音频播放器、显示应用等） + * @return esp_err_t 初始化结果，ESP_OK表示全部成功 + */ + esp_err_t InitializeHardwareForApplication(int app_type); + + /** + * @brief 功耗管理接口 - 进入低功耗模式 + * + * 根据指定的功耗模式，关闭非必要硬件、设置GPIO为低功耗状态、 + * 调整时钟频率等。支持多种功耗模式以适应不同应用场景。 + * + * @param mode 功耗模式 + * @return esp_err_t 操作结果 + */ + esp_err_t EnterLowPowerMode(power_mode_t mode); + + /** + * @brief 功耗管理接口 - 退出低功耗模式 + * + * 从低功耗模式恢复，重新初始化必要的硬件资源。 + * + * @return esp_err_t 操作结果 + */ + esp_err_t ExitLowPowerMode(void); + + /** + * @brief 获取当前功耗模式 + * + * @return power_mode_t 当前功耗模式 + */ + power_mode_t GetPowerMode(void) const { return current_power_mode_; } + + /** + * @brief 设置硬件模块电源状态 + * + * 单独控制某个硬件模块的电源状态，用于精细化的功耗管理。 + * + * @param module 硬件模块 + * @param enable true为开启，false为关闭 + * @return esp_err_t 操作结果 + */ + esp_err_t SetModulePower(hardware_module_t module, bool enable); +}; +#endif diff --git a/main/02_physical/boards/board_v1_1_14/board_sweekar_complete_init.cc b/main/02_physical/boards/board_v1_1_14/board_sweekar_complete_init.cc new file mode 100644 index 0000000..37a454a --- /dev/null +++ b/main/02_physical/boards/board_v1_1_14/board_sweekar_complete_init.cc @@ -0,0 +1,186 @@ +/** + * @file board_sweekar_complete_init.cc + * @brief 完整的统一硬件初始化实现 + * + * 这个文件提供了完整的统一硬件初始化函数，包含所有必要的硬件初始化步骤。 + * 专为demo5等复杂应用场景设计。 + */ + +/** + * @brief 完整的统一硬件初始化接口（专为demo5优化） + * + * 按照依赖关系顺序初始化所有硬件资源： + * 1. I2C总线（最基础，其他设备依赖） + * 2. IO扩展板（控制其他外设） + * 3. SD卡（文件系统，供显示和音频使用） + * 4. LCD IO引脚（显示相关） + * 5. 底座控制串口（通信） + * 6. 底座控制模块（业务逻辑） + * 7. 其他外设（根据应用需求） + * + * @return esp_err_t 初始化结果，ESP_OK表示全部成功 + */ +esp_err_t BoardSweekar::InitializeAllHardwareComplete(void) +{ + static const char *HW_INIT_TAG = "HW_INIT_COMPLETE"; + esp_err_t ret; + + ESP_LOGI(HW_INIT_TAG, "Starting complete hardware initialization..."); + + // 1. 初始化I2C总线（最基础，其他设备依赖） + ret = I2CMasterInit(); + if (ret != ESP_OK) { + ESP_LOGE(HW_INIT_TAG, "Failed to initialize I2C master: %s", esp_err_to_name(ret)); + return ret; + } + ESP_LOGI(HW_INIT_TAG, "✓ I2C master initialized"); + + // 2. 创建I2C读任务（IO扩展板需要） + io_expansion_.CreateI2cReadTask(); + ESP_LOGI(HW_INIT_TAG, "✓ I2C read task created"); + + // 3. 初始化SD卡（文件系统，供显示和音频使用） + ret = InitializeSdcard(); + if (ret != ESP_OK) { + ESP_LOGE(HW_INIT_TAG, "Failed to initialize SD card: %s", esp_err_to_name(ret)); + // SD卡失败不是致命错误，继续初始化其他硬件 + ESP_LOGW(HW_INIT_TAG, "⚠ SD card initialization failed, but continuing with other hardware"); + } else { + ESP_LOGI(HW_INIT_TAG, "✓ SD card initialized"); + } + + // 4. 初始化LCD IO引脚（显示相关） + LcdIoInit(); + ESP_LOGI(HW_INIT_TAG, "✓ LCD IO pins initialized"); + + // 5. 初始化底座控制串口（demo5需要） + BaseBoardControlUartInit(); + ESP_LOGI(HW_INIT_TAG, "✓ Base board control UART initialized"); + + // 6. 初始化底座控制模块 + base_board_control_.Init(); + ESP_LOGI(HW_INIT_TAG, "✓ Base board control initialized"); + + // 7. 设置IO扩展板的PA控制模式（demo5需要） + io_expansion_.SetPaCtrlMode(true); + ESP_LOGI(HW_INIT_TAG, "✓ IO expansion PA control mode set"); + + // 8. 可选外设（根据具体应用需求启用） + // ESP_LOGI(HW_INIT_TAG, "Initializing optional peripherals..."); + // + // // 毫米波雷达（如需要） + // MillimeterWaveRadarUartInit(); + // MillimeterWaveRadarGpioInit(); + // ESP_LOGI(HW_INIT_TAG, "✓ Millimeter wave radar initialized"); + // + // // VBAT升压（如需要） + // VbatToVbat5vInit(); + // ESP_LOGI(HW_INIT_TAG, "✓ VBAT to 5V booster initialized"); + // + // // 步进电机（如需要） + // StepperMotorInit(); + // ESP_LOGI(HW_INIT_TAG, "✓ Stepper motor initialized"); + + ESP_LOGI(HW_INIT_TAG, "=== Complete hardware initialization finished successfully ==="); + return ESP_OK; +} + +/** + * @brief 针对特定应用的硬件初始化配置 + * + * 为不同类型的应用提供专门的初始化配置 + */ +esp_err_t BoardSweekar::InitializeHardwareForApplication(application_type_t app_type) { + static const char *APP_INIT_TAG = "APP_HW_INIT"; + + ESP_LOGI(APP_INIT_TAG, "Initializing hardware for application type: %d", app_type); + + // 基础硬件初始化（所有应用都需要） + esp_err_t ret = InitializeAllHardwareComplete(); + if (ret != ESP_OK) { + ESP_LOGE(APP_INIT_TAG, "Basic hardware initialization failed"); + return ret; + } + + switch (app_type) { + case APP_TYPE_DEMO5: // 宠物游戏demo + ESP_LOGI(APP_INIT_TAG, "Configuring for Demo5 (Pet Game)..."); + + // Demo5需要的额外初始化 + // 触摸传感器、陀螺仪、RGB LED等会在应用层初始化 + + ESP_LOGI(APP_INIT_TAG, "✓ Demo5 hardware configuration complete"); + break; + + case APP_TYPE_AUDIO_PLAYER: // 音频播放器 + ESP_LOGI(APP_INIT_TAG, "Configuring for Audio Player..."); + + // 音频应用需要确保音频编解码器正确初始化 + // 这部分通常在AudioPlayer类中处理 + + ESP_LOGI(APP_INIT_TAG, "✓ Audio player hardware configuration complete"); + break; + + case APP_TYPE_DISPLAY_ONLY: // 纯显示应用 + ESP_LOGI(APP_INIT_TAG, "Configuring for Display Only..."); + + // 显示应用需要确保LCD相关硬件正确配置 + // 这部分通常在Display类中处理 + + ESP_LOGI(APP_INIT_TAG, "✓ Display-only hardware configuration complete"); + break; + + case APP_TYPE_MINIMAL: // 最小化应用 + ESP_LOGI(APP_INIT_TAG, "Configuring for Minimal Application..."); + + // 最小化配置，只保留最基本的功能 + // 关闭非必要外设以节省功耗 + + ESP_LOGI(APP_INIT_TAG, "✓ Minimal hardware configuration complete"); + break; + + default: + ESP_LOGW(APP_INIT_TAG, "Unknown application type, using default configuration"); + break; + } + + return ESP_OK; +} + +/** + * @brief 硬件初始化状态报告 + * + * 提供详细的硬件初始化状态报告，便于调试和问题排查 + */ +void BoardSweekar::ReportHardwareStatus(void) { + static const char *STATUS_TAG = "HW_STATUS"; + + ESP_LOGI(STATUS_TAG, "=== Hardware Initialization Status Report ==="); + + // I2C总线状态 + ESP_LOGI(STATUS_TAG, "I2C Bus: %s", (bus_handle_ != nullptr) ? "✓ Initialized" : "✗ Not initialized"); + + // SD卡状态 + ESP_LOGI(STATUS_TAG, "SD Card: %s", (is_sdcard_initialized_) ? "✓ Initialized" : "✗ Not initialized"); + if (is_sdcard_initialized_) { + ESP_LOGI(STATUS_TAG, " Peripheral Set: %s", (periph_set_ != nullptr) ? "✓ Available" : "✗ Not available"); + } + + // IO扩展板状态 + ESP_LOGI(STATUS_TAG, "IO Expansion Board: %s", (io_expansion_.bus_handle_ != nullptr) ? "✓ Configured" : "✗ Not configured"); + + // 底座控制状态 + ESP_LOGI(STATUS_TAG, "Base Board Control: %s", (base_board_control_.GetUartPort() != 0) ? "✓ Initialized" : "✗ Not initialized"); + + // 功耗管理状态 + ESP_LOGI(STATUS_TAG, "Power Management: %s", (current_power_mode_ == POWER_MODE_NORMAL) ? "✓ Normal mode" : "⚠ Low power mode"); + ESP_LOGI(STATUS_TAG, " Current Mode: %d", current_power_mode_); + ESP_LOGI(STATUS_TAG, " Module Power States: 0x%08X", power_state_flags_); + + // 内存状态 + ESP_LOGI(STATUS_TAG, "Memory Status:"); + ESP_LOGI(STATUS_TAG, " Internal RAM Free: %d bytes", heap_caps_get_free_size(MALLOC_CAP_INTERNAL)); + ESP_LOGI(STATUS_TAG, " PSRAM Free: %d bytes", heap_caps_get_free_size(MALLOC_CAP_SPIRAM)); + + ESP_LOGI(STATUS_TAG, "=== End of Hardware Status Report ==="); +} \ No newline at end of file diff --git a/main/02_physical/boards/board_v1_1_14/config.h b/main/02_physical/boards/board_v1_1_14/config.h new file mode 100644 index 0000000..0eed794 --- /dev/null +++ b/main/02_physical/boards/board_v1_1_14/config.h @@ -0,0 +1,132 @@ +/* 定义引脚分配 */ +#ifndef _BOARD_CONFIG_H_ +#define _BOARD_CONFIG_H_ + +/** + * @file config.h + * @brief 定义了引脚的分配。 + * @author zouyuhua + * @date 2025年8月7日 + * + */ + +#include "driver/gpio.h" +#include "driver/i2c_master.h" +#include "driver/i2s.h" +#include "esp_log.h" +#include "esp_rom_sys.h" // 用于 esp_rom_delay_us +#include "esp_timer.h" +#include "esp_mac.h" +#include "driver/ledc.h" +#include "driver/gpio.h" +#include "freertos/FreeRTOS.h" +#include "freertos/task.h" +#include "esp_log.h" +#include "driver/timer.h" +#include "esp_intr_alloc.h" +#include "soc/timer_group_struct.h" // 包含TIMERG0、TIMERG1的结构体定义 +#include "soc/timer_group_reg.h" // 包含定时器相关寄存器宏定义 +#include "driver/uart.h" +#include "esp_err.h" +#include "freertos/queue.h" +#include "soc/uart_reg.h" +#include "linear_motor.h" +#include "gyroscope.h" + +#define TAG_BOARD "SWEEKAR_ESP32" +/*I2C总线引脚定义*/ +#define I2C0_MASTER_PORT I2C_NUM_0 +#define I2C0_MASTER_SDA_IO GPIO_NUM_2 +#define I2C0_MASTER_SCL_IO GPIO_NUM_3 + +/* 步进电机配置 */ +#define STEPPER_STEP_IO GPIO_NUM_42 // 步进电机脉冲输入引脚 +#define STEPPER_TIMER_RES_HZ 1000000 // 步进电机定时器分辨率 1 MHz（1 us 步进） + +/* 定义屏幕驱动控制引脚 */ +#define ST7789_PIN_CLK GPIO_NUM_48 // SPI时钟引脚 +#define ST7789_PIN_DC GPIO_NUM_38 // 数据/命令选择引脚RSEL +#define ST7789_PIN_MOSI GPIO_NUM_47 // SPI数据输出引脚 +#define ST7789_PIN_CS GPIO_NUM_46 // SPI片选引脚 +#define ST7789_PIN_BL GPIO_NUM_45 // 背光引脚 +#define ST7789_PIN_RST GPIO_NUM_NC // 复位引脚 +#define LCD_BL_ACTIVE_LEVEL 0 // 背光有效电平：1=高电平有效(NMOS)，0=低电平有效(PMOS) + +#define LCD_WIDTH 172 // 屏幕宽度(水平方向像素数) +#define LCD_HEIGHT 320 // 屏幕高度(垂直方向像素数) + +/* 毫米波雷达配置参数 */ +/* 定义毫米波雷达的中断引脚 */ +#define MILLIMETER_WAVE_RADAR_PIN GPIO_NUM_35 +// UART 配置参数 +#define RADAR_UART_NUM UART_NUM_1 // 使用 UART1 +#define UART_TX_PIN GPIO_NUM_40 // GPIO40 作为 TX(根据实际硬件连接调整) +#define UART_RX_PIN GPIO_NUM_39 // GPIO39 作为 RX +#define RADAR_BAUD_RATE 9600 // 雷达波特率 +#define RADAR_BUF_SIZE 100 // 雷达接收缓冲区大小 + +/* IO扩展硬件配置常量 */ +#define I2C_MASTER_FREQ_HZ 100000 // I2C通信频率(100kHz)(可更改至400000) +#define I2C_IO_EXPAND_SLAVE_ADDR 0x58 // AW9523BTQR器件地址,v1_1_13的addr1和addr0是0 +#define GPIO_INPUT_PIN_SEL GPIO_NUM_10 // 中断检测引脚 +#define ESP_INTR_FLAG_DEFAULT 0 // 中断标志默认值 +#define IO_EXPAND_RSTN GPIO_NUM_14 // IO扩展板复位引脚 + +/* 定义线性马达的I2C从机配置常量 */ +#define LINEAR_MOTOR_I2C_SLAVE_ADDR 0x5A // 线性马达的I2C从机地址 + +/* 定义陀螺仪的I2C从机配置常量 */ +#define GYROSCOPE_I2C_SLAVE_ADDR 0x6A // 陀螺仪的I2C从机地址 +#define GYROSCOPE_INPUT_PIN_SEL GPIO_NUM_21 // 陀螺仪中断引脚 + +/* 原生触摸引脚配置 */ +// 触摸按键数量配置 +#define TOUCH_BUTTON_NUM 3 +// 触摸通道定义 +#define TOUCH_PAD_CHANNEL_1 TOUCH_PAD_NUM11 // GPIO11 +#define TOUCH_PAD_CHANNEL_2 TOUCH_PAD_NUM12 // GPIO12 +#define TOUCH_PAD_CHANNEL_3 TOUCH_PAD_NUM13 // GPIO13 + +/* ES8311音频编解码器配置 (ESP-ADF兼容) */ +#define AUDIO_INPUT_SAMPLE_RATE 24000 +#define AUDIO_OUTPUT_SAMPLE_RATE 24000 +#define AUDIO_INPUT_REFERENCE true + +/* I2S GPIO定义 */ +#define AUDIO_I2S_GPIO_MCLK GPIO_NUM_15 +#define AUDIO_I2S_GPIO_WS GPIO_NUM_4 +#define AUDIO_I2S_GPIO_BCLK GPIO_NUM_5 +#define AUDIO_I2S_GPIO_DIN GPIO_NUM_6 +#define AUDIO_I2S_GPIO_DOUT GPIO_NUM_7 + +/* PA引脚定义 */ +#define AUDIO_CODEC_PA_PIN GPIO_NUM_NC + +/* I2C配置 */ +#define AUDIO_CODEC_I2C_SDA_PIN GPIO_NUM_2 +#define AUDIO_CODEC_I2C_SCL_PIN GPIO_NUM_3 +#define AUDIO_CODEC_ES8311_ADDR 0x18 +#define AUDIO_CODEC_ES7210_ADDR 0x40 + +/* WS2812 RGB LED配置 */ +#define WS2812_PIN GPIO_NUM_41 // WS2812数据引脚 +#define WS2812_NUM_LEDS 2 // WS2812 LED数量 + +/* 创建VBAT to VBAT_5V */ +#define VBAT_5V_PIN GPIO_NUM_NC // VBAT_5V引脚 + +/* 定义按键的中断引脚 */ +#define BUTTON_PIN GPIO_NUM_0 // 按键中断引脚 +#define RIGHT_BUTTON_PIN GPIO_NUM_8 // 按键中断引脚 + +/* 底座控制命令串口配置 */ +#define BASE_BOARD_CTL_UART_PORT UART_NUM_0 +#define BASE_BOARD_CTL_UART_TX_PIN GPIO_NUM_43 +#define BASE_BOARD_CTL_UART_RX_PIN GPIO_NUM_44 +#define BASE_BOARD_CTL_UART_BAUDRATE 115200 +#define BASE_BOARD_CTL_UART_BUF_SIZE 256 + +/* 背光控制引脚配置 */ +#define BL_PIN GPIO_NUM_45 + +#endif // _BOARD_CONFIG_H_ diff --git a/main/02_physical/boards/board_v1_1_14/io_expansion_board.cc b/main/02_physical/boards/board_v1_1_14/io_expansion_board.cc new file mode 100644 index 0000000..a4a345c --- /dev/null +++ b/main/02_physical/boards/board_v1_1_14/io_expansion_board.cc @@ -0,0 +1,1023 @@ +#include "io_expansion_board.h" +#include "millimeter_wave_radar.h" +#include "photo_interrupter.h" +#include "adc_battery_monitor.h" +#include "esp_heap_caps.h" +#include "esp_log.h" +#include "esp_check.h" +#include "driver/gpio.h" +#include "freertos/FreeRTOS.h" +#include "freertos/idf_additions.h" +#include "freertos/portable.h" +#include "freertos/task.h" +#include "freertos/event_groups.h" +#include "esp_rom_sys.h" +/** + * @file io_expansion_board.cc + * @brief IO扩展板功能实现类,包含I2C通信、GPIO中断配置、外设控制等功能 + * @details 实现了IO扩展板的初始化(中断引脚、复位引脚)、寄存器读写、步进电机控制(细分模式、使能、方向、睡眠状态)、 + * LCD相关引脚控制(背光、复位、片选)、毫米波雷达中断引脚配置等功能,并提供I2C数据读取任务的创建与管理 + * @author zouyuhua + * @date 2025年8月7日 + * + */ + +/** + * @brief 构造函数 + */ +IOExpansionBoard::IOExpansionBoard() + : bus_handle_(nullptr), + device_addr_(0), + last_port0_state_(0), + last_port1_state_(0), + radar_last_state_(false), + i2c_task_event_group_(nullptr), + xI2CReadTaskHandle_(nullptr), + is_initialized_(false), + interrupt_gpio_(GPIO_NUM_NC), + reset_gpio_(GPIO_NUM_NC) +{ +} + +/** + * @brief 析构函数 + */ +IOExpansionBoard::~IOExpansionBoard() +{ + // 删除任务 + if (xI2CReadTaskHandle_) { + vTaskDelete(xI2CReadTaskHandle_); + } + + // if(pI2CReadTaskStackBuffer) { + // heap_caps_free(pI2CReadTaskStackBuffer); + // pI2CReadTaskStackBuffer = nullptr; + // } + + // if(pxI2CReadTaskBuffer) { + // vPortFree(pxI2CReadTaskBuffer); + // pxI2CReadTaskBuffer = nullptr; + // } + + // 删除事件组 + if (i2c_task_event_group_) { + vEventGroupDelete(i2c_task_event_group_); + } + + // 移除中断处理 + if (interrupt_gpio_ != GPIO_NUM_NC) { + gpio_isr_handler_remove(interrupt_gpio_); + } + + // 删除IO扩展板设备 + // 使用i2c_bus API时不需要手动删除设备句柄 + // bus_handle_由board_sweekar统一管理 +} + +/** + * @brief 静态中断处理函数 + */ +void IRAM_ATTR IOExpansionBoard::GpioIsrHandler(void* arg) +{ + IOExpansionBoard* instance = static_cast(arg); + if (!instance) return; + + // 调试：记录中断触发 + // ESP_EARLY_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "中断触发!"); // IRAM函数中不能使用普通日志 + + BaseType_t xHigherPriorityTaskWoken = pdFALSE; + // 设置事件标志位 + if (instance->i2c_task_event_group_) { + xEventGroupSetBitsFromISR( + instance->i2c_task_event_group_, + BIT0, + &xHigherPriorityTaskWoken + ); + } + + // 触发上下文切换 + if (xHigherPriorityTaskWoken) { + portYIELD_FROM_ISR(); + } +} + +/** + * @brief 初始化GPIO中断检测 + */ +esp_err_t IOExpansionBoard::InterruptGpioInit(gpio_num_t gpio_num) +{ + // 配置IO扩展板中断引脚 + gpio_config_t io_conf = {}; + io_conf.intr_type = GPIO_INTR_ANYEDGE; // 改为双沿触发，检测上升沿和下降沿 + io_conf.pin_bit_mask = 1ULL << gpio_num; + io_conf.mode = GPIO_MODE_INPUT; + io_conf.pull_up_en = GPIO_PULLUP_ENABLE; + io_conf.pull_down_en = GPIO_PULLDOWN_DISABLE; + // io_conf.pull_up_en = GPIO_PULLUP_DISABLE; + // io_conf.pull_down_en = GPIO_PULLDOWN_ENABLE; + + + esp_err_t err = gpio_config(&io_conf); + if (err != ESP_OK) { + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "GPIO配置失败,错误码: 0x%x", err); + return err; + } + // 配置中断服务 + err = gpio_install_isr_service(ESP_INTR_FLAG_LEVEL3); + if (err != ESP_OK && err != ESP_ERR_INVALID_STATE) { + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "GPIO中断服务安装失败,错误码: 0x%x", err); + return err; + } + // 注册中断处理函数 + err = gpio_isr_handler_add(gpio_num, GpioIsrHandler, this); + if (err != ESP_OK) { + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "GPIO中断处理函数添加失败,错误码: 0x%x", err); + return err; + } + // 创建事件组 + i2c_task_event_group_ = xEventGroupCreate(); + if (!i2c_task_event_group_) { + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "事件组创建失败"); + return ESP_FAIL; + } + + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "GPIO%d中断初始化完成", gpio_num); + return ESP_OK; +} + +/** + * @brief 初始化硬件复位引脚 + * 设置为上拉,需要复位,需要输出低电平为20us的脉冲信号 + */ +esp_err_t IOExpansionBoard::ResetGpioInit(gpio_num_t gpio_num) +{ + reset_gpio_ = gpio_num; + + // 配置复位引脚 + gpio_config_t io_conf = {}; + io_conf.intr_type = GPIO_INTR_DISABLE; + io_conf.pin_bit_mask = 1ULL << gpio_num; + io_conf.mode = GPIO_MODE_OUTPUT; + io_conf.pull_up_en = GPIO_PULLUP_ENABLE; + io_conf.pull_down_en = GPIO_PULLDOWN_DISABLE; + esp_err_t err = gpio_config(&io_conf); + gpio_set_level(gpio_num, 1); // 复位引脚拉高 + if (err != ESP_OK) { + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "GPIO配置失败,错误码: 0x%x", err); + return err; + } + else{ + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "GPIO%d复位引脚初始化完成", gpio_num); + return err; + } +} + +/** + * @brief 计算Port0的字节值,用于配置输入还是输出模式(0为输出模式,1为输入模式) + * @return uint8_t 操作结果 + */ +uint8_t IOExpansionBoard::ByteCalculatePort0() +{ + uint8_t byte_val = 0x00; // 初始化为所有引脚为输出模式(0)，然后根据配置设置为输入模式(1) + + // 输入模式配置：将对应位置位(1为输入模式) + if(RADAR_INTERRUPT_CONFIG == CONFIG_PORT0){ //雷达中断引脚 + byte_val |= (1 << RADAR_INTERRUPT_PIN); + } + if(START_PHOTO_INTERRUPTER_CONFIG == CONFIG_PORT0){ //起始光学传感器 + byte_val |= (1 << START_PHOTO_INTERRUPTER_PIN); + } + if(END_PHOTO_INTERRUPTER_PORT_CONFIG == CONFIG_PORT0){ //结束光学传感器 + byte_val |= (1 << END_PHOTO_INTERRUPTER_PIN); + } + if(BATTERY_FULL_CONFIG == CONFIG_PORT0){ //电池充满检测 + byte_val |= (1 << BATTERY_FULL_PIN); + } + if(BATTERY_CHRG_CONFIG == CONFIG_PORT0){ //电池充电检测 + byte_val |= (1 << BATTERY_CHRG_PIN); + } + + return byte_val; +} + +/** + * @brief 计算Port1的字节值,用于配置输入还是输出模式(0为输出模式,1为输入模式) + * @return uint8_t 操作结果 + */ +uint8_t IOExpansionBoard::ByteCalculatePort1() +{ + uint8_t byte_val = 0x00; // 初始化为所有引脚为输出模式(0)，然后根据配置设置为输入模式(1) + + // 输入模式配置：将对应位置位(1为输入模式) + if(RADAR_INTERRUPT_CONFIG == CONFIG_PORT1){ //雷达中断引脚 + byte_val |= (1 << RADAR_INTERRUPT_PIN); + } + if(START_PHOTO_INTERRUPTER_CONFIG == CONFIG_PORT1){ //起始光学传感器 + byte_val |= (1 << START_PHOTO_INTERRUPTER_PIN); + } + if(END_PHOTO_INTERRUPTER_PORT_CONFIG == CONFIG_PORT1){ //结束光学传感器 + byte_val |= (1 << END_PHOTO_INTERRUPTER_PIN); + } + if(BATTERY_FULL_CONFIG == CONFIG_PORT1){ //电池充满检测 + byte_val |= (1 << BATTERY_FULL_PIN); + } + if(BATTERY_CHRG_CONFIG == CONFIG_PORT1){ //电池充电检测 + byte_val |= (1 << BATTERY_CHRG_PIN); + } + + return byte_val; +} + +/** + * @brief 复位IO扩展板 + */ +esp_err_t IOExpansionBoard::ResetIoExpand() +{ + if (reset_gpio_ == GPIO_NUM_NC) { + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "复位引脚未初始化"); + return ESP_ERR_INVALID_STATE; + } + + // 复位IO扩展板 + gpio_set_level(reset_gpio_, 0); + esp_rom_delay_us(30); + gpio_set_level(reset_gpio_, 1); + uint8_t ctl_val; + //配置P0_0-P0_7的端口为推挽输出模式 + esp_err_t err = IoexpandReadReg(CTL, &ctl_val); + ctl_val |= (1 << 4); // 设置D[4]位为1(GPOMD=1),切换P0为推挽模式 + err = IoexpandWriteReg(CTL, ctl_val); + if(err != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "复位失败,错误码:0x%x", err); + return err; + } + else{ + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "复位成功"); + } + return ESP_OK; +} + +/** + * @brief 写寄存器数据 + * @param reg_addr 寄存器地址 + * @param data 要写入的数据 + * @return esp_err_t 操作结果 + */ +esp_err_t IOExpansionBoard::IoexpandWriteReg(uint8_t reg_addr, uint8_t data) +{ + return i2c_bus_write_bytes(bus_handle_, device_addr_, ®_addr, 1, &data, 1); +} + +/** + * @brief 从寄存器读取数据 + * @param reg_addr 寄存器地址(如INPUT_PORT0、ID等) + * @param data 输出参数,用于存储读取到的数据 + * @return esp_err_t 操作结果(ESP_OK为成功) + */ +esp_err_t IOExpansionBoard::IoexpandReadReg(uint8_t reg_addr, uint8_t* data) +{ + if (data == nullptr){ // 检查输入参数有效性 + return ESP_ERR_INVALID_ARG; + } + + // 使用i2c_bus_read_bytes进行寄存器读取 + esp_err_t err = i2c_bus_read_bytes(bus_handle_, device_addr_, ®_addr, 1, data, 1); + if (err != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "读取寄存器失败,错误码:0x%x", err); + return err; + } + + return ESP_OK; +} + +/** + * @brief 读取输入端口0寄存器数据 + * @param data 输出参数,用于存储读取到的数据 + * @return esp_err_t 操作结果 + */ +esp_err_t IOExpansionBoard::ReadInputPort0(uint8_t* data) +{ + return IoexpandReadReg(INPUT_PORT0, data); +} + +/** + * @brief 读取输入端口1寄存器数据 + * @param data 输出参数,用于存储读取到的数据 + * @return esp_err_t 操作结果 + */ +esp_err_t IOExpansionBoard::ReadInputPort1(uint8_t* data) +{ + return IoexpandReadReg(INPUT_PORT1, data); +} + +//设置IO扩展板为输入模式或是输出模式 +/* +* 这里需要根据实际情况设置IO扩展板的模式,比如输入模式还是输出模式,以及各个引脚的配置。 +* P0_0 对应NFC_RST引脚,需要设置为输出模式,低电平有效。(待测) +* P0_1 对应USB_VBUS引脚,需要设置为输出模式,低电平有效。(待测) +* P0_2 对应BTN_RIGHT_EAR引脚,需要设置为输出模式,低电平有效。(待测) +* P0_3 暂时未使用。 +* P0_4 对应步进电机方向引脚,需要设置为输出模式,根据需求设置。(待测) +* P0_5 对应CHRG引脚(待测) +* P0_6 LCD_DC引脚,需要设置为输出模式,根据需求设置电平。(待测) +* P0_7 对应步进电机的使能引脚,需要设置为输出模式,根据需求设置。(待测) +* +* +* P1_0 对应EG800K_PWR。(待测) +* P1_1 对应LCD_RST,需要设置为输出模式,低电平有效。(待测) +* P1_2 对应LCD_CS,需要设置为输出模式,低电平有效。(待测) +* P1_3 暂时未使用。 +* P1_4 对应步进电机的细分模式M1引脚。(待测) +* P1_5 对应步进电机的细分模式M0引脚。(待测) +* P1_6 对应步进电机的睡眠引脚。(待测) +* P1_7 对应RADAR_O雷达的输出引脚。(待测) +* */ +esp_err_t IOExpansionBoard::IoexpandSetMode(void) +{ + uint8_t ctl_val; + //配置P0_0-P0_7的端口为推挽输出模式 + esp_err_t err = IoexpandReadReg(CTL, &ctl_val); + ctl_val |= (1 << 4); // 设置D[4]位为1(GPOMD=1),切换P0为推挽模式 + err = IoexpandWriteReg(CTL, ctl_val); + if(err != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "配置P0端口失败,错误码:0x%x", err); + return err; + } + else{ + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "配置P0端口成功"); + } + + err = IoexpandWriteReg(CONFIG_PORT0, ByteCalculatePort0()); + + if(err != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "配置P0端口失败,错误码:0x%x", err); + return err; + } + else{ + // 打印BytecalculatePort0()结果 + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "配置P0端口成功, 0x%02X", ByteCalculatePort0()); + } + + err = IoexpandWriteReg(CONFIG_PORT1, ByteCalculatePort1()); + if(err != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "配置P1端口失败,错误码:0x%x", err); + return err; + } + else{ + // 打印BytecalculatePort1()结果 + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "配置P1端口成功, 0x%02X", ByteCalculatePort1()); + } + // 配置P0_0-P0_7的初始为高电平 + // 配置P1_0-P1_7的初始为高电平 + err = IoexpandWriteReg(OUTPUT_PORT0, 0x40); // 0100 0000 + if(err != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "配置P0端口初始值失败,错误码:0x%x", err); + return err; + } + else{ + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "配置P0端口初始值成功"); + } + err = IoexpandWriteReg(OUTPUT_PORT1, 0x04); // 0000 0100 + if(err != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "配置P1端口初始值失败,错误码:0x%x", err); + return err; + } + else{ + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "配置P1端口初始值成功"); + } + + + // AW9523B中断使能配置：0为使能中断，1为禁止中断 + // 使能P0_5（充电检测）和P1_3（充满检测）的中断 + uint8_t int_enable_port0 = 0x00; // 0x00 = 使能所有P0引脚中断 + uint8_t int_enable_port1 = 0x00; // 0x00 = 使能所有P1引脚中断 + + err = IoexpandWriteReg(INT_PORT0, int_enable_port0); + if(err != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "配置P0端口中断使能失败,错误码:0x%x", err); + return err; + } + else{ + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "配置P0端口中断使能成功: 0x%02X (0=使能)", int_enable_port0); + } + + err = IoexpandWriteReg(INT_PORT1, int_enable_port1); + if(err != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "配置P1端口中断使能失败,错误码:0x%x", err); + return err; + } + else{ + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "配置P1端口中断使能成功: 0x%02X (0=使能)", int_enable_port1); + } + + return ESP_OK; +} + +/** + * @brief 设置步进电机的细分模式 + */ +void IOExpansionBoard::SetStepperMicrostepMode(uint8_t mode, uint8_t OUTPUT_PORT_m0, uint8_t m0_pin, uint8_t OUTPUT_PORT_m1, uint8_t m1_pin) +{ + uint8_t current_val; + switch (mode) { + case 1: //全步输出模式 低低电平 + IoexpandReadReg(OUTPUT_PORT_m0, ¤t_val); + current_val &= ~(1 << m0_pin); + if(IoexpandWriteReg(OUTPUT_PORT_m0, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + IoexpandReadReg(OUTPUT_PORT_m1, ¤t_val); + current_val &= ~(1 << m1_pin); + if(IoexpandWriteReg(OUTPUT_PORT_m1, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + break; + case 2: //非圆 1/2 高低电平 + IoexpandReadReg(OUTPUT_PORT_m0, ¤t_val); + current_val |= (1 << m0_pin); + if(IoexpandWriteReg(OUTPUT_PORT_m0, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + IoexpandReadReg(OUTPUT_PORT_m1, ¤t_val); + current_val &= ~(1 << m1_pin); + if(IoexpandWriteReg(OUTPUT_PORT_m1, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + break; + case 3: //1/4 步 低高电平 + IoexpandReadReg(OUTPUT_PORT_m0, ¤t_val); + current_val &= ~(1 << m0_pin); + if(IoexpandWriteReg(OUTPUT_PORT_m0, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + IoexpandReadReg(OUTPUT_PORT_m1, ¤t_val); + current_val |= (1 << m1_pin); + if(IoexpandWriteReg(OUTPUT_PORT_m1, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + break; + case 4: //1/8 步 高高电平 + IoexpandReadReg(OUTPUT_PORT_m0, ¤t_val); + current_val |= (1 << m0_pin); + if(IoexpandWriteReg(OUTPUT_PORT_m0, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + IoexpandReadReg(OUTPUT_PORT_m1, ¤t_val); + current_val |= (1 << m1_pin); + if(IoexpandWriteReg(OUTPUT_PORT_m1, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + break; + default: //全步输入模式 低低电平 + IoexpandReadReg(OUTPUT_PORT_m0, ¤t_val); + current_val &= ~(1 << m0_pin); + if(IoexpandWriteReg(OUTPUT_PORT_m0, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + IoexpandReadReg(OUTPUT_PORT_m1, ¤t_val); + current_val &= ~(1 << m1_pin); + if(IoexpandWriteReg(OUTPUT_PORT_m1, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + break; + } +} + +/** + * @brief 设置步进电机的使能 + */ +esp_err_t IOExpansionBoard::SetMotorEnableMode(bool enable, uint8_t OUTPUT_PORT, uint8_t enable_pin) +{ + uint8_t current_val; + if(enable){ + // 进入工作状态mode + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + current_val |= (1 << enable_pin); + // ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "!!!!!!!!!0x%x", current_val); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } + else{ + // 进入睡眠状态 + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + current_val &= ~(1 << enable_pin); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } +} +/** + * @brief 设置步进电机运行方向 + */ +esp_err_t IOExpansionBoard::StepperMotorSetDir(bool dir, uint8_t OUTPUT_PORT, uint8_t pin) +{ + uint8_t current_val; + if(dir){ + // 方向为正转 + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + current_val |= (1 << pin); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } + else{ + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + current_val &= ~(1 << pin); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } +} + + +/** + * @brief 设置步进电机是否进入睡眠或者工作状态(高电平进入工作状态,低电平进入睡眠状态) + */ +esp_err_t IOExpansionBoard::SetMotorSleepMode(bool mode, uint8_t OUTPUT_PORT, uint8_t nsleep_pin) +{ + uint8_t current_val; + if(mode){ + // 进入工作状态mode + // ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "进入工作状态"); + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + //打印读出来的寄存器值 + // ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "电机睡眠输出寄存器: 0x%x", current_val); + current_val |= (1 << nsleep_pin); + // ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置电机睡眠输出寄存器: 0x%x", current_val); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } + else{ + // 进入睡眠状态 + // ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "进入睡眠状态"); + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + //打印读出来的寄存器值 + // ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "电机睡眠输出寄存器: 0x%x", current_val); + current_val &= ~(1 << nsleep_pin); + // ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置电机睡眠输出寄存器: 0x%x", current_val); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } +} + + +/*********************************************IO扩展板LCD引脚配置参数***********************************************/ +/** + * @brief 设置 LCD_BL引脚电平(高电平为命令模式,低电平为数据模式) + */ +esp_err_t IOExpansionBoard::SetLcdBlMode(bool mode, uint8_t OUTPUT_PORT, uint8_t bl_pin) +{ + uint8_t current_val; + if(mode){ + // 进入命令模式 + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + current_val |= (1 << bl_pin); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } + else{ + // 进入数据模式 + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + current_val &= ~(1 << bl_pin); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } +} + +esp_err_t IOExpansionBoard::SetLedEnMode(bool mode) +{ + return ESP_OK; +} + +/** + * @brief 设置 LCD_RST引脚电平(高电平为复位模式,低电平为工作模式) + */ +esp_err_t IOExpansionBoard::SetLcdResetMode(bool mode, uint8_t OUTPUT_PORT, uint8_t reset_pin) +{ + uint8_t current_val; + if(mode){ + // 进入复位模式 + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "进入复位模式"); + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + //打印读出来的寄存器值 + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "LCD复位输出寄存器: 0x%x", current_val); + current_val |= (1 << reset_pin); + //打印设置后的寄存器值 + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置LCD复位输出寄存器: 0x%x", current_val); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } + else{ + // 进入工作模式 + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "进入工作模式"); + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + //打印读出来的寄存器值 + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "LCD复位输出寄存器: 0x%x", current_val); + current_val &= ~(1 << reset_pin); + //打印设置后的寄存器值 + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置LCD复位输出寄存器: 0x%x", current_val); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } +} + +/*********************************************IO扩展板的输入引脚配置以及中断引脚定义***********************************************/ +/** + * @brief 设置 毫米波雷达的中断引脚 + */ +esp_err_t IOExpansionBoard::SetRadarInterruptPin(bool mode, uint8_t INPUT_PORT, uint8_t interrupt_pin) +{ + uint8_t current_val; + if(mode){ + // 进入输入模式 + IoexpandReadReg(INPUT_PORT, ¤t_val); + current_val |= (1 << interrupt_pin); + return IoexpandWriteReg(INPUT_PORT, current_val); + } + else{ + // 进入输出模式 + IoexpandReadReg(INPUT_PORT, ¤t_val); + current_val &= ~(1 << interrupt_pin); + return IoexpandWriteReg(INPUT_PORT, current_val); + } +} + +/** + * @brief 设置 PA_CTRL引脚电平 + */ +esp_err_t IOExpansionBoard::SetPaCtrlMode(bool mode) +{ + uint8_t current_val; + if(mode){ + // 进入高电平状态 + ESP_LOGI("io_ex:", "read reg"); + IoexpandReadReg(PA_CTRL_PORT, ¤t_val); + current_val |= (1 << PA_CTRL_PIN); + return IoexpandWriteReg(PA_CTRL_PORT, current_val); + } + else{ + // 进入低电平状态 + IoexpandReadReg(PA_CTRL_PORT, ¤t_val); + current_val &= ~(1 << PA_CTRL_PIN); + return IoexpandWriteReg(PA_CTRL_PORT, current_val); + } +} + + + +/** + * @brief I2C数据读取任务主体 + */ +void IOExpansionBoard::I2cReadTask(void* pvParameters) +{ + IOExpansionBoard* instance = static_cast(pvParameters); + if (!instance) { + vTaskDelete(nullptr); + return; + } + // 初始化复位引脚 + esp_err_t err = instance->ResetGpioInit(IO_EXPAND_RSTN); + if (err != ESP_OK) { + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "GPIO复位初始化失败"); + } + + // 执行硬件复位 - 这是解决中断引脚持续拉低的关键 + err = instance->ResetIoExpand(); + if (err != ESP_OK) { + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "IO扩展板硬件复位失败"); + } else { + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "IO扩展板硬件复位成功"); + + // 检查复位后的中断引脚状态 + int interrupt_level = gpio_get_level(GPIO_INPUT_PIN_SEL); + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "复位后中断引脚状态: %s (0=低电平, 1=高电平)", + interrupt_level ? "高电平" : "低电平"); + } + + // 初始化IO扩展板子的中断引脚 + err = instance->InterruptGpioInit(GPIO_INPUT_PIN_SEL); + if (err != ESP_OK) { + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "GPIO中断初始化失败"); + } + // 设置IO扩展板模式 - 复位后必须重新配置寄存器！ + err = instance->IoexpandSetMode(); + if (err != ESP_OK) { + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "IO扩展板模式配置失败"); + } else { + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "IO扩展板模式配置成功"); + } + // 设置LCD屏幕复位引脚 + err = instance->SetLcdResetMode(LCD_RST_HIGH, LCD_RST_PORT, LCD_RST_PIN); + if(err != ESP_OK){ + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "设置LCD屏幕复位引脚失败"); + } + else{ + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "设置LCD屏幕复位引脚成功"); + } + // 设置LCD屏幕复位引脚为低电平 + err = instance->SetLcdResetMode(LCD_RST_LOW, LCD_RST_PORT, LCD_RST_PIN); + if(err != ESP_OK){ + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "设置LCD屏幕复位引脚失败"); + } + else{ + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "设置LCD屏幕复位引脚成功"); + } + + uint8_t current_val_port0_ = 0,current_val_port1_ = 0,current_temp_ = 0; + for (;;) { + // 等待中断事件触发 + if (instance->i2c_task_event_group_) { + xEventGroupWaitBits(instance->i2c_task_event_group_, BIT0, pdTRUE, pdFALSE, portMAX_DELAY); + } + + ESP_LOGD(TAG_GPIO_IO_EXPAND_DETECT, "IO扩展板中断触发"); + + // 检查中断触发时的引脚状态 + int interrupt_level = gpio_get_level(GPIO_INPUT_PIN_SEL); + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "中断触发时引脚状态: %s (0=低电平, 1=高电平)", + interrupt_level ? "高电平" : "低电平"); + + // AW9523B中断处理说明（根据数据手册）： + // 1. 当输入引脚状态变化时，AW9523B会拉低INT引脚（连接到ESP32的GPIO10） + // 2. 通过读取输入端口寄存器（00H, 01H）来清除对应端口的中断 + // 3. 无独立的中断状态寄存器，需要通过输入电平变化来判断中断源 + // 4. 读取INPUT_PORT0 (00H) 清除P0口中断，读取INPUT_PORT1 (01H) 清除P1口中断 + + // 一次性读取两个端口的输入寄存器，避免重复读取和错误的OR操作 + instance->IoexpandReadReg(INPUT_PORT0, ¤t_val_port0_); + instance->IoexpandReadReg(INPUT_PORT1, ¤t_val_port1_); + + ESP_LOGD(TAG_GPIO_IO_EXPAND_DETECT, "读取端口状态 - Port0: 0x%02X, Port1: 0x%02X", current_val_port0_, current_val_port1_); + + // 检查读取寄存器后中断引脚是否被清除（应该恢复高电平） + interrupt_level = gpio_get_level(GPIO_INPUT_PIN_SEL); + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "读取寄存器后中断引脚状态: %s (0=低电平, 1=高电平)", + interrupt_level ? "高电平" : "低电平"); + + //判断是否有中断来自雷达引脚 + if((RADAR_INTERRUPT_INPUT == INPUT_PORT0) && (current_val_port0_ & (1 << RADAR_INTERRUPT_PIN))){ + // 检查雷达引脚状态是否发生了变化，避免重复触发 + bool current_radar_state = (current_val_port0_ & (1 << RADAR_INTERRUPT_PIN)) != 0; + if (current_radar_state != instance->radar_last_state_) { + instance->radar_last_state_ = current_radar_state; + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "检测到中断来自雷达引脚\n"); + // 读取输入寄存器以清除中断标志 + uint8_t temp_input_val; + instance->IoexpandReadReg(INPUT_PORT0, &temp_input_val); + // 调用毫米波雷达回调函数 + if (instance->radar_) { + instance->radar_->TriggerRadarDetectCallback(); + } + // 调用雷达回调函数（新接口） + if (instance->radar_callback_) { + instance->radar_callback_(); + } + } else { + // 状态未变化，仍读取寄存器以清除可能的中断标志 + uint8_t temp_input_val; + instance->IoexpandReadReg(INPUT_PORT0, &temp_input_val); + } + } + else if((RADAR_INTERRUPT_INPUT == INPUT_PORT1) && (current_val_port1_ & (1 << RADAR_INTERRUPT_PIN))){ + // 检查雷达引脚状态是否发生了变化，避免重复触发 + bool current_radar_state = (current_val_port1_ & (1 << RADAR_INTERRUPT_PIN)) != 0; + if (current_radar_state != instance->radar_last_state_) { + instance->radar_last_state_ = current_radar_state; + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "检测到中断来自雷达引脚1\n"); + // 读取输入寄存器以清除中断标志 + uint8_t temp_input_val; + instance->IoexpandReadReg(INPUT_PORT1, &temp_input_val); + // 调用毫米波雷达回调函数 + if (instance->radar_) { + instance->radar_->TriggerRadarDetectCallback(); + } + // 调用雷达回调函数（新接口） + if (instance->radar_callback_) { + instance->radar_callback_(); + } + } else { + // 状态未变化，仍读取寄存器以清除可能的中断标志 + uint8_t temp_input_val; + instance->IoexpandReadReg(INPUT_PORT1, &temp_input_val); + } + } + // else{ + // ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "未检测到雷达引脚中断\n"); + // } + + //判断是否有中断来自初始光学传感器引脚 + if((START_PHOTO_INTERRUPTER_INPUT == INPUT_PORT0) && (current_val_port0_ & (1 << START_PHOTO_INTERRUPTER_PIN))){ + bool current_photo_state = (current_val_port0_ & (1 << START_PHOTO_INTERRUPTER_PIN)) != 0; + uint8_t old_photo_state = instance->last_port0_state_ & (1 << START_PHOTO_INTERRUPTER_PIN); + if ((current_photo_state ? 1 : 0) != (old_photo_state ? 1 : 0)) { + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "检测到中断来自初始光学传感器引脚\n"); + // 读取输入寄存器以清除中断标志 + uint8_t temp_input_val; + instance->IoexpandReadReg(INPUT_PORT0, &temp_input_val); + // 调用初始光学传感器回调函数 + if (instance->photo_interrupter_) { + instance->photo_interrupter_->TriggerStartCallback(); + } + // 调用光学传感器开始回调函数（新接口） + if (instance->photo_start_callback_) { + instance->photo_start_callback_(); + } + // 更新状态 + instance->last_port0_state_ = current_val_port0_; + } else { + // 状态未变化，仍读取寄存器以清除可能的中断标志 + uint8_t temp_input_val; + instance->IoexpandReadReg(INPUT_PORT0, &temp_input_val); + } + } + else if((START_PHOTO_INTERRUPTER_INPUT == INPUT_PORT1) && (current_val_port1_ & (1 << START_PHOTO_INTERRUPTER_PIN))){ + bool current_photo_state = (current_val_port1_ & (1 << START_PHOTO_INTERRUPTER_PIN)) != 0; + uint8_t old_photo_state = instance->last_port1_state_ & (1 << START_PHOTO_INTERRUPTER_PIN); + if ((current_photo_state ? 1 : 0) != (old_photo_state ? 1 : 0)) { + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "检测到中断来自初始光学传感器引脚\n"); + // 读取输入寄存器以清除中断标志 + uint8_t temp_input_val; + instance->IoexpandReadReg(INPUT_PORT1, &temp_input_val); + // 调用初始光学传感器回调函数 + if (instance->photo_interrupter_) { + instance->photo_interrupter_->TriggerStartCallback(); + } + // 调用光学传感器开始回调函数（新接口） + if (instance->photo_start_callback_) { + instance->photo_start_callback_(); + } + // 更新状态 + instance->last_port1_state_ = current_val_port1_; + } else { + // 状态未变化，仍读取寄存器以清除可能的中断标志 + uint8_t temp_input_val; + instance->IoexpandReadReg(INPUT_PORT1, &temp_input_val); + } + } + // else{ + // // ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "未检测到初始光学传感器引脚中断\n"); + // } + + //判断是否有中断来自结束光学传感器引脚 + if((END_PHOTO_INTERRUPTER_INPUT == INPUT_PORT0) && (current_val_port0_ & (1 << END_PHOTO_INTERRUPTER_PIN))){ + bool current_photo_state = (current_val_port0_ & (1 << END_PHOTO_INTERRUPTER_PIN)) != 0; + uint8_t old_photo_state = instance->last_port0_state_ & (1 << END_PHOTO_INTERRUPTER_PIN); + if ((current_photo_state ? 1 : 0) != (old_photo_state ? 1 : 0)) { + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "检测到中断来自结束光学传感器引脚\n"); + // 读取输入寄存器以清除中断标志 + uint8_t temp_input_val; + instance->IoexpandReadReg(INPUT_PORT0, &temp_input_val); + // 调用结束光学传感器回调函数 + if (instance->photo_interrupter_) { + instance->photo_interrupter_->TriggerEndCallback(); + } + // 调用光学传感器结束回调函数（新接口） + if (instance->photo_end_callback_) { + instance->photo_end_callback_(); + } + // 更新状态 + instance->last_port0_state_ = current_val_port0_; + } else { + // 状态未变化，仍读取寄存器以清除可能的中断标志 + uint8_t temp_input_val; + instance->IoexpandReadReg(INPUT_PORT0, &temp_input_val); + } + } + else if((END_PHOTO_INTERRUPTER_INPUT == INPUT_PORT1) && (current_val_port1_ & (1 << END_PHOTO_INTERRUPTER_PIN))){ + bool current_photo_state = (current_val_port1_ & (1 << END_PHOTO_INTERRUPTER_PIN)) != 0; + uint8_t old_photo_state = instance->last_port1_state_ & (1 << END_PHOTO_INTERRUPTER_PIN); + if ((current_photo_state ? 1 : 0) != (old_photo_state ? 1 : 0)) { + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "检测到中断来自结束光学传感器引脚\n"); + // 读取输入寄存器以清除中断标志 + uint8_t temp_input_val; + instance->IoexpandReadReg(INPUT_PORT1, &temp_input_val); + // 调用结束光学传感器回调函数 + if (instance->photo_interrupter_) { + instance->photo_interrupter_->TriggerEndCallback(); + } + // 调用光学传感器结束回调函数（新接口） + if (instance->photo_end_callback_) { + instance->photo_end_callback_(); + } + // 更新状态 + instance->last_port1_state_ = current_val_port1_; + } else { + // 状态未变化，仍读取寄存器以清除可能的中断标志 + uint8_t temp_input_val; + instance->IoexpandReadReg(INPUT_PORT1, &temp_input_val); + } + } + + //CHRG引脚充电前为高电平 充电中为低电平 充满电为高电平 + //FULL未充满为高电平 充满电为低电平 + //判断是否有中断来自电池充电引脚 + //根据配置：BATTERY_CHRG_INPUT = INPUT_PORT0, BATTERY_FULL_INPUT = INPUT_PORT1 + + // AW9523B没有独立的中断状态寄存器，需要通过比较前后状态变化来判断中断源 + // 由于读取输入端口会清除中断，我们需要先保存当前状态，然后与上次状态比较 + + //获取当前电池状态 + bool current_charging_state = !(current_val_port0_ & (1 << BATTERY_CHRG_PIN)); // CHRG低电平表示充电中 + bool current_full_state = !(current_val_port1_ & (1 << BATTERY_FULL_PIN)); // FULL低电平表示已充满 + + // 详细的调试信息 + ESP_LOGD(TAG_GPIO_IO_EXPAND_DETECT, "电池状态检测 - Port0: 0x%02X, Port1: 0x%02X", current_val_port0_, current_val_port1_); + ESP_LOGD(TAG_GPIO_IO_EXPAND_DETECT, "电池状态检测 - CHRG_PIN: %d (bit %d), FULL_PIN: %d (bit %d)", + (current_val_port0_ & (1 << BATTERY_CHRG_PIN)) ? 1 : 0, BATTERY_CHRG_PIN, + (current_val_port1_ & (1 << BATTERY_FULL_PIN)) ? 1 : 0, BATTERY_FULL_PIN); + ESP_LOGD(TAG_GPIO_IO_EXPAND_DETECT, "电池状态检测 - 充电状态: %s, 充满状态: %s", + current_charging_state ? "充电中" : "未充电", + current_full_state ? "已充满" : "未充满"); + ESP_LOGD(TAG_GPIO_IO_EXPAND_DETECT, "电池状态检测 - 上次充电状态: %s, 上次充满状态: %s", + instance->battery_charging_last_state_ ? "充电中" : "未充电", + instance->battery_full_last_state_ ? "已充满" : "未充满"); + + //检查充电状态是否发生变化 + if (current_charging_state != instance->battery_charging_last_state_) { + instance->battery_charging_last_state_ = current_charging_state; + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "电池充电状态变化: %s", current_charging_state ? "充电中" : "未充电"); + ESP_LOGD(TAG_GPIO_IO_EXPAND_DETECT, "充电状态变化详情 - 从 %s 到 %s", + instance->battery_charging_last_state_ ? "未充电" : "充电中", + current_charging_state ? "充电中" : "未充电"); + + if (current_charging_state) { + // 进入充电状态 + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "检测到开始充电"); + if (instance->battery_monitor_) { + instance->battery_monitor_->TriggerChrgCallback(); + } + if (instance->battery_charging_callback_) { + instance->battery_charging_callback_(); + } + } else { + // 退出充电状态 + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "检测到停止充电"); + if (instance->battery_monitor_) { + instance->battery_monitor_->TriggerNotChrgCallback(); + } + if (instance->battery_not_charging_callback_) { + instance->battery_not_charging_callback_(); + } + } + } + + //检查充满状态是否发生变化 + if (current_full_state != instance->battery_full_last_state_) { + instance->battery_full_last_state_ = current_full_state; + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "电池充满状态变化: %s", current_full_state ? "已充满" : "未充满"); + ESP_LOGD(TAG_GPIO_IO_EXPAND_DETECT, "充满状态变化详情 - 从 %s 到 %s", + instance->battery_full_last_state_ ? "未充满" : "已充满", + current_full_state ? "已充满" : "未充满"); + + if (current_full_state) { + // 进入充满状态 + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "检测到电池已充满"); + if (instance->battery_monitor_) { + instance->battery_monitor_->TriggerFullCallback(); + } + if (instance->battery_full_callback_) { + instance->battery_full_callback_(); + } + } + + } + + // 根据AW9523B数据手册：读取输入端口寄存器清除对应端口的中断 + // 读取INPUT_PORT0 (00H) 清除P0口中断，读取INPUT_PORT1 (01H) 清除P1口中断 + uint8_t temp_input_val; + instance->IoexpandReadReg(INPUT_PORT0, &temp_input_val); + instance->IoexpandReadReg(INPUT_PORT1, &temp_input_val); + + ESP_LOGD(TAG_GPIO_IO_EXPAND_DETECT, "中断处理完成，已读取输入端口寄存器清除中断标志"); + } +} + + +/** + * @brief 创建I2C数据读取任务 + */ +void IOExpansionBoard::CreateI2cReadTask() +{ + printf("创建I2C读取任务之前:Internal Free: %d bytes\n", heap_caps_get_free_size(MALLOC_CAP_INTERNAL)); + printf("创建I2C读取任务之前:PSRAM Free: %d bytes\n", heap_caps_get_free_size(MALLOC_CAP_SPIRAM)); + if (xI2CReadTaskHandle_) { + return; // 任务已创建 + } + + xTaskCreateWithCaps( + I2cReadTask, + "i2c_read_task", + I2C_TASK_STACK, + this, + I2C_TASK_PRIORITY, + &xI2CReadTaskHandle_, + MALLOC_CAP_SPIRAM | MALLOC_CAP_8BIT + ); + + if (xI2CReadTaskHandle_ == NULL) { + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "Failed to create static I2C read task"); + } else { + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "Static I2C read task created successfully"); + } + printf("创建I2C读取任务之后:Internal Free: %d bytes\n", heap_caps_get_free_size(MALLOC_CAP_INTERNAL)); + printf("创建I2C读取任务之后:PSRAM Free: %d bytes\n", heap_caps_get_free_size(MALLOC_CAP_SPIRAM)); +} + +/** + * @brief 启动I2C任务 (整合初始化和任务创建) + */ +esp_err_t IOExpansionBoard::StartTask() +{ + // 再创建任务 + if (!xI2CReadTaskHandle_) { + CreateI2cReadTask(); + } + return ESP_OK; +} diff --git a/main/02_physical/boards/board_v1_1_14/io_expansion_board.h b/main/02_physical/boards/board_v1_1_14/io_expansion_board.h new file mode 100644 index 0000000..f2c0c3c --- /dev/null +++ b/main/02_physical/boards/board_v1_1_14/io_expansion_board.h @@ -0,0 +1,421 @@ +#ifndef IO_EXPANSION_BOARD_H +#define IO_EXPANSION_BOARD_H + +#include +#include +#include +#include +#include +#include +#include "i2c_bus.h" +#include "freertos/FreeRTOS.h" +#include "freertos/event_groups.h" +#include +#include +#include +#include +#include +#include +#include +#include "esp_err.h" +#include "config.h" +#include "portmacro.h" + +// 前向声明,避免循环引用 +class MillimeterWaveRadar; +class PhotoInterrupter; +class AdcBatteryMonitor; + +// 回调函数类型定义 +typedef std::function RadarCallback; +typedef std::function PhotoInterrupterStartCallback; +typedef std::function PhotoInterrupterEndCallback; +typedef std::function BatteryChargingCallback; +typedef std::function BatteryFullCallback; +typedef std::function BatteryNotChargingCallback; + +/* 寄存器地址 */ +#define INPUT_PORT0 0x00 // 输入端口0寄存器 +#define INPUT_PORT1 0x01 // 输入端口1寄存器 0为低电平(仅支持读取) +#define OUTPUT_PORT0 0x02 // 输出端口0寄存器 +#define OUTPUT_PORT1 0x03 // 输出端口1寄存器 0为低电平 +#define CONFIG_PORT0 0x04 // 配置端口0寄存器 +#define CONFIG_PORT1 0x05 // 配置端口1寄存器 0为输出模式 +#define INT_PORT0 0x06 // 中断端口0寄存器 +#define INT_PORT1 0x07 // 中断端口1寄存器 0为使能中断(根据手册默认是使能的) +#define CTL 0x11 // 全局控制寄存器 +#define ID 0x23 // 芯片ID寄存器(0x23) + +/***********************************IO扩展板电机引脚配置参数*************************************/ +/* 设置步进电机方向 */ +#define STEPPER_MOTOR_LEFT false //步进电机的方向为左转 +#define STEPPER_MOTOR_RIGHT true //步进电机的方向为右转 +#define STEPPER_MOTOR_DIR_PORT OUTPUT_PORT0 //步进电机方向引脚挂载在IO扩展板的输出端口OUTPUT_PORT0 +#define STEPPER_MOTOR_DIR_PIN 4 //步进电机方向引脚对应的IO扩展板引脚P0_4 +#define STEPPER_MOTOR_DIR_CONFIG CONFIG_PORT0 //步进电机方向引脚配置在P0_4 + +/* 设置步进电机细分模式 */ +#define STEPPER_MOTOR_M0_PIN 5 //步进电机细分模式选择引脚对应IO扩展板引脚P1_5 +#define STEPPER_MOTOR_M0_MADE_PORT OUTPUT_PORT1 //步进电机模式选择引脚挂载在IO扩展板的输出端口OUTPUT_PORT1 +#define STEPPER_MOTOR_M0_CONFIG CONFIG_PORT1 //步进电机细分模式选择引脚配置在P1_5 + +#define STEPPER_MOTOR_M1_PIN 4 //步进电机细分模式选择引脚对应IO扩展板引脚P1_4 +#define STEPPER_MOTOR_M1_MADE_PORT OUTPUT_PORT1 //步进电机模式选择引脚挂载在IO扩展板的输出端口OUTPUT_PORT1 +#define STEPPER_MOTOR_M1_CONFIG CONFIG_PORT1 //步进电机细分模式选择引脚配置在P1_4 + +/* 设置步进电机睡眠引脚 */ +#define STEPPER_MOTOR_SLEEP false //步进电机进入睡眠模式 +#define STEPPER_MOTOR_WORK true //步进电机进入工作模式 +#define STEPPER_MOTOR_SLEEP_PIN 6 //步进电机睡眠引脚对应IO扩展板引脚P1_6 +#define STEPPER_MOTOR_SLEEP_CONFIG CONFIG_PORT1 //步进电机睡眠引脚配置在P1_6 +#define STEPPER_MOTOR_SLEEP_PORT OUTPUT_PORT1 //步进电机睡眠引脚挂载在IO扩展板的输出端口OUTPUT_PORT1 + +/* 设置电机的使能引脚 */ +#define STEPPER_MOTOR_ENABLE_PIN 7 //电机使能引脚对应IO扩展板引脚P0_7 +#define STEPPER_MOTOR_ENABLE_PORT OUTPUT_PORT0 //电机使能引脚挂载在IO扩展板的输出端口OUTPUT_PORT0 +#define STEPPER_MOTOR_ENABLE_CONFIG CONFIG_PORT0 //电机使能引脚配置在P0_7 +#define STEPPER_MOTOR_ENABLE_ENABLE true //电机使能引脚状态为高电平 +#define STEPPER_MOTOR_ENABLE_DISABLE false //电机使能引脚状态为低电平 + +/* 设置毫米波雷达对应IO扩展板的中断引脚 */ +#define RADAR_INTERRUPT_PIN 7 //毫米波雷达中断引脚对应IO扩展板引脚P1_7 +#define RADAR_INTERRUPT_CONFIG CONFIG_PORT1 //毫米波雷达中断引脚挂载在IO扩展板的输入端口 +#define RADAR_INTERRUPT_INPUT INPUT_PORT1 //毫米波雷达中断引脚输入状态检测在INPUT_PORT1 +#define RADAR_INTERRUPT_ENABLE true //毫米波雷达中断引脚状态为输入状态 +#define RADAR_INTERRUPT_DISABLE false //毫米波雷达中断引脚状态为输出状态 +/* 任务配置常量 */ +#define WRITE_BUF_SIZE 2 // I2C单次写入字节数 +#define READ_BUF_SIZE 2 // I2C单次读取字节数 +#define I2C_TASK_PRIORITY 2 // 任务优先级(中等) +#define I2C_TASK_STACK 4096 // 任务栈大小(4KB) + +// 光学传感器引脚定义 +#define START_PHOTO_INTERRUPTER_PIN 2 // 光学传感器引脚(P0_2) +#define START_PHOTO_INTERRUPTER_CONFIG CONFIG_PORT0 // 光学传感器引脚挂载在IO扩展板的输入端口 +#define START_PHOTO_INTERRUPTER_INPUT INPUT_PORT0 // 光学传感器引脚输入状态检测在INPUT_PORT0 +#define START_PHOTO_INTERRUPTER_HIGH true // 光学传感器引脚状态为高电平 +#define START_PHOTO_INTERRUPTER_LOW false // 光学传感器引脚状态为低电平 + +#define END_PHOTO_INTERRUPTER_PIN 3 // 光学传感器引脚(P0_3) +#define END_PHOTO_INTERRUPTER_PORT_CONFIG CONFIG_PORT0 // 光学传感器引脚挂载在IO扩展板的输入端口 +#define END_PHOTO_INTERRUPTER_INPUT INPUT_PORT0 // 光学传感器引脚输入状态检测在INPUT_PORT0 +#define END_PHOTO_INTERRUPTER_HIGH true // 光学传感器引脚状态为高电平 +#define END_PHOTO_INTERRUPTER_LOW false // 光学传感器引脚状态为低电平 + +/***********************************IO扩展板LCD引脚配置参数*************************************/ +// /* 设置LCD的BL引脚 */ +// #define LCD_BL_PIN 6 //LCD背光引脚对应IO扩展板引脚P0_6 +// #define LCD_BL_PORT OUTPUT_PORT0 //LCD背光引脚挂载在IO扩展板的输出端口OUTPUT_PORT0 +// #define LCD_BL_CONFIG CONFIG_PORT0 //LCD背光引脚配置在P0_6 +// #define LCD_BL_HIGH true //LCD背光引脚状态为高电平 +// #define LCD_BL_LOW false //LCD背光引脚状态为低电平 + +/* 设置LCD的RST引脚 */ +#define LCD_RST_PIN 1 //LCD复位引脚对应IO扩展板引脚P1_1 +#define LCD_RST_CONFIG CONFIG_PORT1 //LCD复位引脚配置在P1_1 +#define LCD_RST_PORT OUTPUT_PORT1 //LCD复位引脚挂载在IO扩展板的输出端口OUTPUT_PORT1 +#define LCD_RST_HIGH true //LCD复位引脚状态为高电平 +#define LCD_RST_LOW false //LCD复位引脚状态为低电平 + +/* 设置PA控制引脚 */ +#define PA_CTRL_PIN 2 //PA控制引脚对应IO扩展板引脚P1_2 +#define PA_CTRL_CONFIG CONFIG_PORT1 //PA控制引脚配置在P1_2 +#define PA_CTRL_PORT OUTPUT_PORT1 //PA控制引脚挂载在IO扩展板的输出端口OUTPUT_PORT1 +#define PA_CTRL_HIGH true //PA控制引脚状态为高电平 +#define PA_CTRL_LOW false //PA控制引脚状态为低电平 + +// 电池充电检测引脚定义 +#define BATTERY_FULL_INPUT INPUT_PORT1 // 电池充满检测引脚挂载在IO扩展板的输入端口 +#define BATTERY_FULL_PIN 3 // 电池充满检测引脚对应IO扩展板引脚P1_3 +#define BATTERY_FULL_CONFIG CONFIG_PORT1 // 电池充满检测引脚配置在P1_3 + +#define BATTERY_CHRG_INPUT INPUT_PORT0 // 充电检测引脚挂载在IO扩展板的输入端口 +#define BATTERY_CHRG_PIN 5 // 充电检测引脚(P0_5) +#define BATTERY_CHRG_CONFIG CONFIG_PORT0 // 充电检测引脚挂载在IO扩展板的输入端口 + +#define TAG_GPIO_IO_EXPAND_DETECT "GPIO_IO_EXPAND_DETECT" // GPIO中断检测日志标签 +#define TAG_I2C_IO_EXPAND_TASK "I2C_IO_EXPAND_TASK" // I2CIO扩展板任务日志标签 + +// GPIO引脚定义 +#define GPIO_INPUT_PIN_SEL GPIO_NUM_10 // IO扩展板中断检测引脚 +// #define IO_EXPAND_RSTN GPIO_NUM_14 // IO扩展板复位引脚 + +/** + * @class IOExpansionBoard + * @brief I/O扩展板驱动类,封装AW9523BTQR芯片操作 + */ +class IOExpansionBoard +{ +public: + /** + * @brief 构造函数 + */ + IOExpansionBoard(); + + /** + * @brief 设置毫米波雷达指针 + * @param radar 毫米波雷达对象指针 + */ + void SetRadar(MillimeterWaveRadar* radar) { radar_ = radar; }; + + /** + * @brief 设置限位开关指针 + * @param photo_interrupter 限位开关对象指针 + */ + void setPhotoInterrupter(PhotoInterrupter* photo_interrupter) { photo_interrupter_ = photo_interrupter; }; + + /** + * @brief 设置电池监控器指针 + * @param battery_monitor 电池监控器对象指针 + */ + void setBatteryMonitor(AdcBatteryMonitor* battery_monitor) { battery_monitor_ = battery_monitor; }; + + /** + * @brief 析构函数 + */ + ~IOExpansionBoard(); + + /** + * @brief 初始化GPIO中断检测 + * @param gpio_num 中断引脚编号 + * @return esp_err_t 初始化结果 + */ + esp_err_t InterruptGpioInit(gpio_num_t gpio_num); + + /** + * @brief 初始化IO扩展板复位引脚 + * @param gpio_num 复位引脚编号 + * @return esp_err_t 初始化结果 + */ + esp_err_t ResetGpioInit(gpio_num_t gpio_num); + + /** + * @brief 初始化IO扩展板复位引脚 + * @param gpio_num 复位引脚编号 + * @return esp_err_t 初始化结果 + */ + esp_err_t ResetIoExpand(); + + /** + * @brief 初始化I2C主机通信 + * @return esp_err_t 初始化结果 + */ + // esp_err_t IoExpansionI2cInit(); + + /** + * @brief 创建I2C数据读取任务 + */ + void CreateI2cReadTask(); + + /** + * @brief 启动I2C任务(整合初始化和任务创建) + * @return esp_err_t 操作结果 + */ + esp_err_t StartTask(); + + /** + * @brief 写寄存器数据 + * @param reg_addr 寄存器地址 + * @param data 要写入的数据 + * @return esp_err_t 操作结果 + */ + esp_err_t IoexpandWriteReg(uint8_t reg_addr, uint8_t data); + + /** + * @brief 读寄存器数据 + * @param reg_addr 寄存器地址 + * @param data 要读出的数据 + * @return esp_err_t 操作结果 + */ + esp_err_t IoexpandReadReg(uint8_t reg_addr, uint8_t *data); + + /** + * @brief 读取输入端口0寄存器数据 + * @param data 输出参数,用于存储读取到的数据 + * @return esp_err_t 操作结果 + */ + esp_err_t ReadInputPort0(uint8_t *data); + + /** + * @brief 读取输入端口1寄存器数据 + * @param data 输出参数,用于存储读取到的数据 + * @return esp_err_t 操作结果 + */ + esp_err_t ReadInputPort1(uint8_t *data); + + // /** + // * @brief 设置IO扩展板GPIO中断状态 通过读取Input_Port0 和 Input_Port1 寄存器可以清除中断 + // * @param reg_addr 寄存器地址 + // * @return esp_err_t 操作结果 + // */ + // esp_err_t SetInterruptStatus(bool status); + + /** + * @brief 配置IO扩展版上的IO口为输出还是输入,并且设置初始为高电平 + * @return esp_err_t 操作结果 + */ + esp_err_t IoexpandSetMode(); + + /** + * @brief 设置步进电机的细分模式 + * @param mode 模式：1/2/4/8/16/32/64 + * @return esp_err_t 操作结果 + */ + void SetStepperMicrostepMode(uint8_t mode, uint8_t OUTPUT_PORT_m0, uint8_t m0_pin, uint8_t OUTPUT_PORT_m1, uint8_t m1_pin); + + /** + * @brief 设置步进电机的方向 + * @param dir 方向 + * @param OUTPUT_PORT 输出端口 + * @param pin 引脚号 + * @return esp_err_t 操作结果 + */ + esp_err_t StepperMotorSetDir(bool dir, uint8_t OUTPUT_PORT, uint8_t pin); + + /** + * @brief 设置步进电机的睡眠模式 + * @param 是否进入睡眠模式 + * @param 输出端口 + * @param 引脚号 + * @return esp_err_t 操作结果 + */ + esp_err_t SetMotorSleepMode(bool mode, uint8_t OUTPUT_PORT, uint8_t nsleep_pin); + + /** + * @brief 设置步进电机的使能引脚状态 + * @param 使能状态 + * @return esp_err_t 操作结果 + */ + esp_err_t SetMotorEnableMode(bool enable, uint8_t OUTPUT_PORT, uint8_t enable_pin); + + /** + * @brief 设置LCD的BL引脚状态 + * @param BL状态 + * @return esp_err_t 操作结果 + */ + esp_err_t SetLcdBlMode(bool mode, uint8_t OUTPUT_PORT, uint8_t bl_pin); + + esp_err_t SetLedEnMode(bool mode); + + /** + * @brief 设置LCD的RST引脚状态 + * @param RST状态 + * @return esp_err_t 操作结果 + */ + esp_err_t SetLcdResetMode(bool mode, uint8_t OUTPUT_PORT, uint8_t rst_pin); + + /** + * @brief 设置PA控制引脚状态 + * @param mode PA_CTRL状态(true为高电平，false为低电平) + * @return esp_err_t 操作结果 + */ + esp_err_t SetPaCtrlMode(bool mode); + + /** + * @brief 设置雷达中断引脚 + * @param 毫米波雷达的中断引脚模式 + * @param 输入端口 + * @param 引脚号 + * @return esp_err_t 操作结果 + */ + esp_err_t SetRadarInterruptPin(bool mode, uint8_t INPUT_PORT, uint8_t interrupt_pin); + + /** + * @brief 计算Port0的字节值 + * @return uint8_t 操作结果 + */ + uint8_t ByteCalculatePort0(); + + /** + * @brief 计算Port1的字节值 + * @return uint8_t 操作结果 + */ + uint8_t ByteCalculatePort1(); + + /** + * @brief 设置雷达中断回调函数 + * @param callback 雷达中断回调函数 + */ + void SetRadarCallback(RadarCallback callback) { radar_callback_ = callback; } + + /** + * @brief 设置光学传感器开始中断回调函数 + * @param callback 光学传感器开始中断回调函数 + */ + void SetPhotoInterrupterStartCallback(PhotoInterrupterStartCallback callback) { photo_start_callback_ = callback; } + + /** + * @brief 设置光学传感器结束中断回调函数 + * @param callback 光学传感器结束中断回调函数 + */ + void SetPhotoInterrupterEndCallback(PhotoInterrupterEndCallback callback) { photo_end_callback_ = callback; } + + /** + * @brief 设置电池充电中断回调函数 + * @param callback 电池充电中断回调函数 + */ + void SetBatteryChargingCallback(BatteryChargingCallback callback) { battery_charging_callback_ = callback; } + + /** + * @brief 设置电池充满中断回调函数 + * @param callback 电池充满中断回调函数 + */ + void SetBatteryFullCallback(BatteryFullCallback callback) { battery_full_callback_ = callback; } + + /** + * @brief 设置电池非充电中断回调函数 + * @param callback 电池非充电中断回调函数 + */ + void SetBatteryNotChargingCallback(BatteryNotChargingCallback callback) { battery_not_charging_callback_ = callback; } + + // 公共成员变量 + i2c_bus_handle_t bus_handle_ = nullptr; // I2C总线句柄 + uint8_t device_addr_; // I2C设备地址 + +private: + // 静态成员函数 + MillimeterWaveRadar* radar_ = nullptr; // 毫米波雷达指针,用于触发回调 + PhotoInterrupter* photo_interrupter_ = nullptr; // 限位开关指针,用于触发回调 + AdcBatteryMonitor* battery_monitor_ = nullptr; // 电池监控器指针,用于触发回调 + static void IRAM_ATTR GpioIsrHandler(void* arg); // 中断处理函数 + static void I2cReadTask(void* pvParameters); // I2C数据读取任务函数 + + // 成员变量用于状态跟踪 + uint8_t last_port0_state_ = 0; // 上次检测到的Port0状态 + uint8_t last_port1_state_ = 0; // 上次检测到的Port1状态 + bool radar_last_state_ = false; // 雷达引脚上一次的状态 + bool battery_charging_last_state_ = false; // 电池充电状态上一次的状态 + bool battery_full_last_state_ = false; // 电池充满状态上一次的状态 + + // 回调函数成员变量 + RadarCallback radar_callback_ = nullptr; + PhotoInterrupterStartCallback photo_start_callback_ = nullptr; + PhotoInterrupterEndCallback photo_end_callback_ = nullptr; + BatteryChargingCallback battery_charging_callback_ = nullptr; + BatteryFullCallback battery_full_callback_ = nullptr; + BatteryNotChargingCallback battery_not_charging_callback_ = nullptr; + + // PhotoInterrupter* photo_interrupter_ = nullptr; // 光学传感器指针,用于触发回调 + // /** + // * @brief 分配静态任务所需的内存 + // * @return bool 分配是否成功 + // */ + // bool AllocateStaticTaskMemory(); + + // /** + // * @brief 释放静态任务分配的内存 + // */ + // void FreeStaticTaskMemory(); + + // 实例成员变量 + EventGroupHandle_t i2c_task_event_group_ = nullptr; // 事件组 + TaskHandle_t xI2CReadTaskHandle_ = nullptr; // 任务句柄 + bool is_initialized_ = false; // 初始化状态标记(新增) + gpio_num_t interrupt_gpio_ = GPIO_NUM_NC; // 中断引脚 + gpio_num_t reset_gpio_ = GPIO_NUM_NC; // 复位引脚 + + // StackType_t* pI2CReadTaskStackBuffer = nullptr; // 任务栈指针(PSRAM） + // StaticTask_t* pxI2CReadTaskBuffer = nullptr; // 任务控制块指针(内部RAM） +}; + +#endif diff --git a/main/02_physical/boards/board_v1_1_14/power_management_config.h b/main/02_physical/boards/board_v1_1_14/power_management_config.h new file mode 100644 index 0000000..da609fb --- /dev/null +++ b/main/02_physical/boards/board_v1_1_14/power_management_config.h @@ -0,0 +1,178 @@ +/** + * @file power_management_config.h + * @brief 功耗管理配置和策略定义 + * @author Embedded Software Expert + * @date 2025年1月 + * + * 这个文件定义了功耗管理的配置参数、策略和优化建议， + * 为系统提供灵活的功耗管理方案。 + */ + +#ifndef POWER_MANAGEMENT_CONFIG_H +#define POWER_MANAGEMENT_CONFIG_H + +#include "esp_sleep.h" +#include "driver/rtc_io.h" +#include "esp32/rom/rtc.h" + +/** + * @brief 功耗管理配置结构体 + */ +typedef struct { + // 睡眠模式配置 + uint64_t light_sleep_duration_us; // 轻度睡眠持续时间（微秒） + uint64_t deep_sleep_duration_us; // 深度睡眠持续时间（微秒） + + // 唤醒源配置 + bool enable_timer_wakeup; // 启用定时器唤醒 + bool enable_gpio_wakeup; // 启用GPIO唤醒 + bool enable_touch_wakeup; // 启用触摸唤醒 + gpio_num_t wakeup_gpio_num; // 唤醒GPIO编号 + int wakeup_level; // 唤醒电平（0或1） + + // 功耗优化配置 + bool disable_bt_in_sleep; // 睡眠时关闭蓝牙 + bool disable_wifi_in_sleep; // 睡眠时关闭WiFi + bool reduce_cpu_frequency; // 降低CPU频率 + uint32_t cpu_frequency_hz; // CPU频率（Hz） + + // 外设功耗配置 + bool power_down_sdcard; // 睡眠时关闭SD卡电源 + bool power_down_display; // 睡眠时关闭显示电源 + bool power_down_audio; // 睡眠时关闭音频电源 + bool power_down_motor; // 睡眠时关闭电机电源 + + // RTC内存配置 + bool preserve_rtc_memory; // 保留RTC内存 + size_t rtc_memory_size; // RTC内存大小 +} power_management_config_t; + +/** + * @brief 默认功耗管理配置 + */ +#define DEFAULT_POWER_CONFIG { \ + .light_sleep_duration_us = 1000000, /* 1秒 */ \ + .deep_sleep_duration_us = 30000000, /* 30秒 */ \ + .enable_timer_wakeup = true, /* 启用定时器唤醒 */ \ + .enable_gpio_wakeup = false, /* 不启用GPIO唤醒 */ \ + .enable_touch_wakeup = false, /* 不启用触摸唤醒 */ \ + .wakeup_gpio_num = GPIO_NUM_NC, /* 无GPIO唤醒 */ \ + .wakeup_level = 0, /* 低电平唤醒 */ \ + .disable_bt_in_sleep = true, /* 睡眠时关闭蓝牙 */ \ + .disable_wifi_in_sleep = true, /* 睡眠时关闭WiFi */ \ + .reduce_cpu_frequency = true, /* 降低CPU频率 */ \ + .cpu_frequency_hz = 80000000, /* 80MHz */ \ + .power_down_sdcard = true, /* 睡眠时关闭SD卡 */ \ + .power_down_display = true, /* 睡眠时关闭显示 */ \ + .power_down_audio = true, /* 睡眠时关闭音频 */ \ + .power_down_motor = true, /* 睡眠时关闭电机 */ \ + .preserve_rtc_memory = true, /* 保留RTC内存 */ \ + .rtc_memory_size = 4096, /* 4KB RTC内存 */ \ +} + +/** + * @brief 各功耗模式的详细配置 + */ +static const power_management_config_t idle_mode_config = { + .light_sleep_duration_us = 500000, // 500ms轻度睡眠 + .deep_sleep_duration_us = 0, // 不使用深度睡眠 + .enable_timer_wakeup = true, + .enable_gpio_wakeup = true, + .wakeup_gpio_num = GPIO_NUM_0, // 按键唤醒 + .wakeup_level = 0, + .disable_bt_in_sleep = false, // 保持蓝牙连接 + .disable_wifi_in_sleep = false, // 保持WiFi连接 + .reduce_cpu_frequency = true, + .cpu_frequency_hz = 40000000, // 40MHz + .power_down_sdcard = false, // 保持SD卡（可能有后台任务） + .power_down_display = true, // 关闭显示背光 + .power_down_audio = true, // 关闭音频 + .power_down_motor = true, // 关闭电机 + .preserve_rtc_memory = true, + .rtc_memory_size = 2048, +}; + +static const power_management_config_t light_sleep_config = { + .light_sleep_duration_us = 0, // 直接进入轻度睡眠 + .deep_sleep_duration_us = 0, + .enable_timer_wakeup = true, + .enable_gpio_wakeup = true, + .wakeup_gpio_num = GPIO_NUM_0, + .wakeup_level = 0, + .disable_bt_in_sleep = true, // 关闭蓝牙 + .disable_wifi_in_sleep = true, // 关闭WiFi + .reduce_cpu_frequency = true, + .cpu_frequency_hz = 40000000, + .power_down_sdcard = true, // 关闭SD卡 + .power_down_display = true, // 关闭显示 + .power_down_audio = true, // 关闭音频 + .power_down_motor = true, // 关闭电机 + .preserve_rtc_memory = true, + .rtc_memory_size = 4096, +}; + +static const power_management_config_t deep_sleep_config = { + .light_sleep_duration_us = 0, + .deep_sleep_duration_us = 60000000, // 60秒深度睡眠 + .enable_timer_wakeup = true, + .enable_gpio_wakeup = true, + .wakeup_gpio_num = GPIO_NUM_0, + .wakeup_level = 0, + .disable_bt_in_sleep = true, // 关闭蓝牙 + .disable_wifi_in_sleep = true, // 关闭WiFi + .reduce_cpu_frequency = true, + .cpu_frequency_hz = 10000000, // 10MHz + .power_down_sdcard = true, // 关闭SD卡 + .power_down_display = true, // 关闭显示 + .power_down_audio = true, // 关闭音频 + .power_down_motor = true, // 关闭电机 + .preserve_rtc_memory = true, + .rtc_memory_size = 8192, +}; + +/** + * @brief 功耗统计和监控结构体 + */ +typedef struct { + uint64_t total_sleep_time_us; // 总睡眠时间 + uint64_t total_wake_time_us; // 总唤醒时间 + uint32_t sleep_count; // 睡眠次数 + uint32_t wake_count; // 唤醒次数 + uint32_t average_sleep_duration_us; // 平均睡眠时长 + uint32_t average_wake_duration_us; // 平均唤醒时长 + float estimated_power_saving_percent; // 估计的功耗节省百分比 +} power_statistics_t; + +/** + * @brief 功耗优化建议 + * + * 基于硬件特性和使用模式，提供功耗优化建议 + */ +typedef enum { + OPTIMIZATION_NONE = 0, + OPTIMIZATION_REDUCE_CPU_FREQ, // 降低CPU频率 + OPTIMIZATION_DISABLE_UNUSED_PERIPHERALS, // 关闭未使用的外设 + OPTIMIZATION_USE_LIGHT_SLEEP, // 使用轻度睡眠 + OPTIMIZATION_USE_DEEP_SLEEP, // 使用深度睡眠 + OPTIMIZATION_OPTIMIZE_GPIO_STATES, // 优化GPIO状态 + OPTIMIZATION_USE_RTC_MEMORY, // 使用RTC内存 + OPTIMIZATION_BATCH_OPERATIONS, // 批量操作 +} power_optimization_t; + +/** + * @brief 功耗管理事件回调 + */ +typedef void (*power_event_callback_t)(power_mode_t old_mode, power_mode_t new_mode, void* user_data); + +/** + * @brief 功耗管理事件 + */ +typedef enum { + POWER_EVENT_MODE_CHANGE, // 功耗模式改变 + POWER_EVENT_SLEEP_START, // 睡眠开始 + POWER_EVENT_SLEEP_END, // 睡眠结束 + POWER_EVENT_WAKEUP, // 系统唤醒 + POWER_EVENT_OPTIMIZATION_TRIGGER, // 功耗优化触发 +} power_event_t; + +#endif // POWER_MANAGEMENT_CONFIG_H \ No newline at end of file diff --git a/main/02_physical/boards/board_v1_1_16/board_sweekar.cc b/main/02_physical/boards/board_v1_1_16/board_sweekar.cc new file mode 100644 index 0000000..6229388 --- /dev/null +++ b/main/02_physical/boards/board_v1_1_16/board_sweekar.cc @@ -0,0 +1,738 @@ +/** + * @file board.cc + * @brief 板级外设初始化类,包含步进电机、毫米波雷达、I2C总线等外设的初始化函数。 + * @author zouyuhua + * @date 2025年8月7日 + * + */ + +extern "C" { +#include "esp_log.h" +#include "driver/gpio.h" +#include "driver/uart.h" +#include "driver/ledc.h" +#include "driver/gptimer.h" +#include "esp_err.h" +#include "freertos/FreeRTOS.h" +#include "freertos/task.h" +#include "hal/gpio_types.h" +#include "hal/uart_types.h" +#include "esp_check.h" +#include "sdkconfig.h" +#include "i2c_bus.h" +#include "esp_peripherals.h" +#include "periph_sdcard.h" +#include "esp_sleep.h" +#include "driver/rtc_io.h" +} + +#include "board_sweekar.h" +#include "config.h" +#include "board.h" // 添加board.h以获取audio_board_sdcard_init函数声明 +#include "drv8428.h" +#include "aw8646.h" + +#define TAG "board_sweekar" + +BoardSweekar::BoardSweekar() +{ +#ifdef CONFIG_STEPPER_DRIVER_AW8646 + stepper_driver_ = new Aw8646Driver(io_expansion_); +#else + stepper_driver_ = new Drv8428Driver(io_expansion_); +#endif + + // Initialize Shutdown Control Pin (GPIO_NUM_13) and pull it HIGH + // This is required to keep the main power on. +#ifdef SHUTDOWN_CTRL_PIN + gpio_config_t io_conf = {}; + io_conf.intr_type = GPIO_INTR_DISABLE; + io_conf.mode = GPIO_MODE_OUTPUT; + io_conf.pin_bit_mask = (1ULL << SHUTDOWN_CTRL_PIN); + io_conf.pull_down_en = GPIO_PULLDOWN_DISABLE; + io_conf.pull_up_en = GPIO_PULLUP_ENABLE; + gpio_config(&io_conf); + gpio_set_level(SHUTDOWN_CTRL_PIN, 1); + ESP_LOGI(TAG, "Initialized SHUTDOWN_CTRL_PIN (%d) to HIGH", SHUTDOWN_CTRL_PIN); +#endif +} + +BoardSweekar::~BoardSweekar() +{ + if (stepper_driver_) { + delete stepper_driver_; + stepper_driver_ = nullptr; + } +} + +/*========================== 步进电机相关驱动 ==========================*/ + +/** + * @brief 步进电机初始化函数 + * 配置步进电机所需的GPIO引脚模式,通过IO扩展板设置步进驱动芯片的工作模式 + * 在 stepper_motor.cc 中完成 GPTimer + GPIO 翻转 STEP 脉冲的初始化 + */ +void BoardSweekar::StepperMotorInit(void) +{ + esp_err_t err = ESP_OK; + + // 1) STEP 引脚改为普通 GPIO（不再用 LEDC） + gpio_config_t io_cfg; + io_cfg.pin_bit_mask = 1ULL << STEPPER_STEP_IO; + io_cfg.mode = GPIO_MODE_OUTPUT; + io_cfg.pull_up_en = GPIO_PULLUP_DISABLE; + io_cfg.pull_down_en = GPIO_PULLDOWN_DISABLE; + io_cfg.intr_type = GPIO_INTR_DISABLE; + err = gpio_config(&io_cfg); + if (err != ESP_OK) + { + ESP_LOGE(TAG_BOARD, "步进电机 STEP GPIO 配置失败, 错误码: 0x%x", err); + } + + // 初始电平拉低，保证上电不乱跳 + gpio_set_level(STEPPER_STEP_IO, 0); + + // 2) 检查 I2C 总线是否已初始化 + if (bus_handle_ == nullptr) + { + ESP_LOGE(TAG_BOARD, "I2C总线未初始化,请先调用I2CMasterInit()"); + return; + } + + // 3) 初始化驱动对象并初始化 + if (stepper_driver_) { + err = stepper_driver_->Init(); + if (err != ESP_OK) { + ESP_LOGE(TAG_BOARD, "步进电机驱动初始化失败, 错误码: 0x%x", err); + } + } else { + ESP_LOGE(TAG_BOARD, "步进电机驱动创建失败"); + } +} + +/** + * @brief LCD IO引脚初始化函数（消除与步进电机的耦合） + * + * 配置LCD所需的IO扩展板寄存器，确保LCD复位引脚正常工作 + * 此函数独立于步进电机初始化，专门处理LCD相关的IO配置 + */ +void BoardSweekar::LcdIoInit(void) +{ + esp_err_t err = ESP_OK; + + // 1) 检查I2C总线是否已初始化 + if (bus_handle_ == nullptr) + { + ESP_LOGE(TAG_BOARD, "I2C总线未初始化,请先调用I2CMasterInit()"); + return; + } + + // 2) 执行硬件复位，确保IO扩展板处于已知状态 + err = io_expansion_.ResetIoExpand(); + if (err != ESP_OK) + { + ESP_LOGE(TAG_BOARD, "IO扩展板硬件复位失败, 错误码: 0x%x", err); + return; + } + else + { + ESP_LOGI(TAG_BOARD, "IO扩展板硬件复位成功"); + } + + // 3) 配置IO扩展板模式（端口方向等） + err = io_expansion_.IoexpandSetMode(); + if (err != ESP_OK) + { + ESP_LOGE(TAG_BOARD, "IO扩展板模式配置失败, 错误码: 0x%x", err); + return; + } + else + { + ESP_LOGI(TAG_BOARD, "IO扩展板模式配置成功"); + } + + // 4) 初始化LCD复位引脚：设置为高电平 + err = io_expansion_.SetLcdResetMode(LCD_RST_HIGH, LCD_RST_PORT, LCD_RST_PIN); + if (err != ESP_OK) + { + ESP_LOGE(TAG_BOARD, "LCD复位引脚高电平设置失败, 错误码: 0x%x", err); + return; + } + else + { + ESP_LOGI(TAG_BOARD, "LCD复位引脚高电平设置成功"); + } +} + +/*========================== 毫米波雷达相关驱动 ==========================*/ + +/** + * @brief 毫米波雷达串口初始化函数 + * + * 配置毫米波雷达所使用的串口参数(波特率、数据位、校验位、停止位等),设置串口引脚, + * 并安装串口驱动。采用较大的RX/TX FIFO深度以处理突发数据,禁用驱动自带事件队列以避免 + * 与自定义中断冲突。 + */ +void BoardSweekar::MillimeterWaveRadarUartInit(void) +{ + uart_config_t uart_config = { + .baud_rate = RADAR_BAUD_RATE, + .data_bits = UART_DATA_8_BITS, + .parity = UART_PARITY_DISABLE, + .stop_bits = UART_STOP_BITS_1, + .flow_ctrl = UART_HW_FLOWCTRL_DISABLE, + .source_clk = UART_SCLK_DEFAULT, + .flags = { + .allow_pd = 0, + .backup_before_sleep = 0, + }, + }; + + // 1. 设置串口参数 + ESP_ERROR_CHECK(uart_param_config(RADAR_UART_NUM, &uart_config)); + + // 2. 设置 UART 引脚 + ESP_ERROR_CHECK(uart_set_pin(RADAR_UART_NUM, UART_TX_PIN, UART_RX_PIN, + UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE)); + + // 3. 安装 UART 驱动(禁用驱动自带事件队列,避免与自定义中断冲突) + // 增加 RX/TX FIFO 深度以处理突发数据 + ESP_ERROR_CHECK(uart_driver_install(RADAR_UART_NUM, RADAR_BUF_SIZE * 4, RADAR_BUF_SIZE * 4, + 0, NULL, 0)); +} + +/** + * @brief 执行系统关机（拉高 SHUTDOWN_CTRL_PIN 切断电源） + */ +void BoardSweekar::SystemShutdown(void) +{ +#ifdef SHUTDOWN_CTRL_PIN + ESP_LOGI(TAG, "Executing System Shutdown... Pulling SHUTDOWN_CTRL_PIN (%d) HIGH", SHUTDOWN_CTRL_PIN); + gpio_set_level(SHUTDOWN_CTRL_PIN, 1); + vTaskDelay(pdMS_TO_TICKS(1000)); +#else + ESP_LOGW(TAG, "SHUTDOWN_CTRL_PIN is not defined. Cannot execute hardware shutdown."); +#endif +} + +/** + * @brief 毫米波雷达中断引脚初始化函数 + * + * 配置毫米波雷达中断引脚为输入模式,禁用上拉电阻,使能下拉电阻,初始禁用中断功能 + * (如需使用中断需单独进行配置)。 + */ +void BoardSweekar::MillimeterWaveRadarGpioInit(void) +{ + // GPIO配置结构体 + gpio_config_t io_conf = { + .pin_bit_mask = (1ULL << MILLIMETER_WAVE_RADAR_PIN), // 选择GPIO引脚 + .mode = GPIO_MODE_INPUT, // 设置为输入模式 + .pull_up_en = GPIO_PULLUP_DISABLE, + .pull_down_en = GPIO_PULLDOWN_ENABLE, // 使能下拉 + .intr_type = GPIO_INTR_DISABLE // 禁用中断(如需中断需单独配置) + }; + + // 配置GPIO + gpio_config(&io_conf); +} + +/*========================== I2C总线及挂载的从设备相关驱动 ==========================*/ + +/** + * @brief I2C总线及从机设备初始化函数 + * + * 首先配置并创建I2C主机总线,然后依次添加IO扩展板和线性马达作为I2C从机设备到总线上。 + * 若总线创建或设备添加失败,会输出错误信息并进行相应的资源清理(删除已创建的总线)。 + * 初始化成功后,会通过ESP_LOGI输出IO扩展板和线性马达的从机地址信息。 + * + * @return esp_err_t 初始化结果,ESP_OK表示成功,其他错误码表示相应的失败原因 + */ +esp_err_t BoardSweekar::I2CMasterInit(void) +{ + static const char *I2C_INIT = "I2C_INIT"; + + // 初始化IO扩展板复位引脚 + gpio_config_t reset_io_conf = { + .pin_bit_mask = (1ULL << IO_EXPAND_RSTN), + .mode = GPIO_MODE_OUTPUT, + .pull_up_en = GPIO_PULLUP_ENABLE, // 使能上拉 + .pull_down_en = GPIO_PULLDOWN_DISABLE, + .intr_type = GPIO_INTR_DISABLE + }; + gpio_config(&reset_io_conf); + + // 执行复位时序：先拉低100ms,再拉高并等待100ms + gpio_set_level(IO_EXPAND_RSTN, 0); // 拉低复位 + vTaskDelay(pdMS_TO_TICKS(100)); // 等待100ms + gpio_set_level(IO_EXPAND_RSTN, 1); // 释放复位 + vTaskDelay(pdMS_TO_TICKS(100)); // 等待设备启动 + + ESP_LOGI(I2C_INIT, "IO扩展板复位完成"); + + // 创建统一的I2C总线（使用ESP-ADF的i2c_bus） + i2c_config_t i2c_cfg = { + .mode = I2C_MODE_MASTER, + .sda_io_num = I2C0_MASTER_SDA_IO, + .scl_io_num = I2C0_MASTER_SCL_IO, + .sda_pullup_en = GPIO_PULLUP_ENABLE, + .scl_pullup_en = GPIO_PULLUP_ENABLE, + .master = { + .clk_speed = 100000, + }, + }; + + // 创建I2C总线（ESP-ADF的audio_board_init会复用这个总线） + bus_handle_ = i2c_bus_create(I2C0_MASTER_PORT, &i2c_cfg); + if (bus_handle_ == NULL) { + ESP_LOGE(TAG, "Failed to create I2C bus"); + return ESP_FAIL; + } + + vTaskDelay(pdMS_TO_TICKS(100)); // 等待设备启动 + // ESP-ADF的i2c_bus不需要单独添加设备,直接通过总线句柄和设备地址进行通信 + + // 验证线性马达设备是否存在 + esp_err_t err = i2c_bus_probe_addr(bus_handle_, LINEAR_MOTOR_I2C_SLAVE_ADDR << 1); + if (err != ESP_OK) { + ESP_LOGE(I2C_INIT, "线性马达设备未找到(地址:0x%02X),错误码: 0x%x", LINEAR_MOTOR_I2C_SLAVE_ADDR, err); + // 不返回错误,继续初始化 + } else { + ESP_LOGI(I2C_INIT, "线性马达设备检测成功(地址:0x%02X)", LINEAR_MOTOR_I2C_SLAVE_ADDR); + } + // 验证IO扩展板设备是否存在 + err = i2c_bus_probe_addr(bus_handle_, I2C_IO_EXPAND_SLAVE_ADDR << 1); + if (err != ESP_OK) { + ESP_LOGE(I2C_INIT, "IO扩展板设备未找到(地址:0x%02X),错误码: 0x%x", I2C_IO_EXPAND_SLAVE_ADDR, err); + // 不返回错误,继续初始化其他设备 + } else { + ESP_LOGI(I2C_INIT, "IO扩展板设备检测成功(地址:0x%02X)", I2C_IO_EXPAND_SLAVE_ADDR); + } + // 验证陀螺仪设备是否存在 + err = i2c_bus_probe_addr(bus_handle_, GYROSCOPE_I2C_SLAVE_ADDR << 1); + if (err != ESP_OK) { + ESP_LOGE(I2C_INIT, "陀螺仪设备未找到(地址:0x%02X),错误码: 0x%x", GYROSCOPE_I2C_SLAVE_ADDR, err); + // 不返回错误,继续初始化 + } else { + ESP_LOGI(I2C_INIT, "陀螺仪设备检测成功(地址:0x%02X)", GYROSCOPE_I2C_SLAVE_ADDR); + } + + // 为IO扩展板设置总线句柄和设备地址（使用7位地址） + io_expansion_.bus_handle_ = bus_handle_; + io_expansion_.device_addr_ = I2C_IO_EXPAND_SLAVE_ADDR << 1; + + // 线性马达的初始化已移至 InitializeAllHardware 中统一调用 Init 方法 + // linear_motor_ 的参数传递将在那里完成，不再此处直接赋值，提高内聚性 + + ESP_LOGI(I2C_INIT, "I2C总线初始化完成"); + return ESP_OK; +} + +/*========================== VBAT to VBAT_5V相关驱动 ==========================*/ + +/** + * @brief 开启VBAT to VBAT_5V + * + * 创建开启升压的电源管理单元 + * + */ +void BoardSweekar::VbatToVbat5vInit(void) +{ + // 配置VBAT_5V引脚为输出模式 + gpio_config_t io_conf = { + .pin_bit_mask = (1ULL << VBAT_5V_PIN), + .mode = GPIO_MODE_OUTPUT, + .pull_up_en = GPIO_PULLUP_DISABLE, + .pull_down_en = GPIO_PULLDOWN_DISABLE, + .intr_type = GPIO_INTR_DISABLE + }; + gpio_config(&io_conf); + // 使能VBAT_5V + gpio_set_level(VBAT_5V_PIN, 1); +} + +/*========================== 底座控制串口相关驱动 ==========================*/ + +/** + * @brief 底座控制命令串口初始化函数 + */ +// 根据配置选择通信方式的HAL头文件 +#ifdef CONFIG_BASE_BOARD_COMM_I2C +#include "base_board_hal_i2c.h" +#else +#include "base_board_hal_uart.h" +#endif + +void BoardSweekar::BaseBoardControlInit(void) +{ +#ifdef CONFIG_BASE_BOARD_COMM_I2C + // I2C Mode + if (bus_handle_ == nullptr) { + ESP_LOGE(TAG, "I2C bus not initialized before BaseBoardControlInit"); + return; + } + + // 创建 I2C HAL 实例 + BaseBoardHalI2c *hal = new BaseBoardHalI2c(bus_handle_); + base_board_control_.Init(hal); + ESP_LOGI(TAG, "BaseBoardControl I2C initialized"); +#else + // UART Mode + uart_config_t uart_config = { + .baud_rate = BASE_BOARD_CTL_UART_BAUDRATE, + .data_bits = UART_DATA_8_BITS, + .parity = UART_PARITY_DISABLE, + .stop_bits = UART_STOP_BITS_1, + .flow_ctrl = UART_HW_FLOWCTRL_DISABLE, + .source_clk = UART_SCLK_DEFAULT, + .flags = { + .allow_pd = 0, + .backup_before_sleep = 0, + }, + }; + + // 1. 设置串口参数 + ESP_ERROR_CHECK(uart_param_config(BASE_BOARD_CTL_UART_PORT, &uart_config)); + + // 2. 设置 UART 引脚 + ESP_ERROR_CHECK(uart_set_pin(BASE_BOARD_CTL_UART_PORT, BASE_BOARD_CTL_UART_TX_PIN, BASE_BOARD_CTL_UART_RX_PIN, + UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE)); + + // 3. 安装 UART 驱动 + ESP_ERROR_CHECK(uart_driver_install(BASE_BOARD_CTL_UART_PORT, + BASE_BOARD_CTL_UART_BUF_SIZE, + BASE_BOARD_CTL_UART_BUF_SIZE, + 0, NULL, 0)); + + BaseBoardHalUart *hal = new BaseBoardHalUart(BASE_BOARD_CTL_UART_PORT); + base_board_control_.Init(hal); + ESP_LOGI(TAG, "BaseBoardControl UART initialized"); +#endif +} + +/*========================== SD卡相关驱动 ==========================*/ + +/** + * @brief SD卡初始化函数 + * + * 初始化SD卡外设，使用1线模式进行通信。该函数负责初始化外设管理器 + * 并配置SD卡，为后续的文件系统操作做准备。 + * + * @return esp_err_t 初始化结果，ESP_OK表示成功，其他错误码表示失败原因 + */ +esp_err_t BoardSweekar::InitializeSdcard(void) +{ + static const char *SDCARD_TAG = "SDCARD_INIT"; + esp_err_t ret; + + ESP_LOGI(SDCARD_TAG, "Initializing SD card"); + + if (is_sdcard_initialized_) { + ESP_LOGW(SDCARD_TAG, "SD card already initialized"); + return ESP_OK; + } + + // 初始化外设管理 + esp_periph_config_t periph_cfg = DEFAULT_ESP_PERIPH_SET_CONFIG(); + periph_cfg.extern_stack = true; // 将任务栈分配到 PSRAM 以节省 Internal SRAM + periph_set_ = esp_periph_set_init(&periph_cfg); + if (!periph_set_) { + ESP_LOGE(SDCARD_TAG, "Failed to initialize peripheral set"); + return ESP_FAIL; + } + + // 初始化SD卡外设 + ret = audio_board_sdcard_init(periph_set_, SD_MODE_1_LINE); + if (ret != ESP_OK) { + ESP_LOGE(SDCARD_TAG, "Failed to initialize SD card: %s", esp_err_to_name(ret)); + return ret; + } + + is_sdcard_initialized_ = true; + ESP_LOGI(SDCARD_TAG, "SD card initialized successfully"); + return ESP_OK; +} + +/** + * @brief 统一的硬件初始化接口实现 + * + * 按照依赖关系顺序初始化所有硬件资源： + * 1. I2C总线（最基础，其他设备可能依赖） + * 2. IO扩展板（可能影响其他设备） + * 3. SD卡（文件系统，供显示和音频使用） + * 4. 其他外设 + * + * @return esp_err_t 初始化结果，ESP_OK表示全部成功 + */ +esp_err_t BoardSweekar::InitializeAllHardware(void) +{ + static const char *HW_INIT_TAG = "HW_INIT"; + esp_err_t ret; + + ESP_LOGI(HW_INIT_TAG, "Starting unified hardware initialization..."); + + // 1. 初始化I2C总线（最基础） + ret = I2CMasterInit(); + if (ret != ESP_OK) { + ESP_LOGE(HW_INIT_TAG, "Failed to initialize I2C master: %s", esp_err_to_name(ret)); + return ret; + } + ESP_LOGI(HW_INIT_TAG, "I2C master initialized"); + + // 2. 创建I2C读任务（IO扩展板需要） + io_expansion_.CreateI2cReadTask(); + ESP_LOGI(HW_INIT_TAG, "I2C read task created"); + + // 3. 初始化SD卡（文件系统，供显示和音频使用） + ret = InitializeSdcard(); + if (ret != ESP_OK) { + ESP_LOGE(HW_INIT_TAG, "Failed to initialize SD card: %s", esp_err_to_name(ret)); + // SD卡失败不是致命错误，继续初始化其他硬件 + ESP_LOGW(HW_INIT_TAG, "SD card initialization failed, but continuing with other hardware"); + } else { + ESP_LOGI(HW_INIT_TAG, "SD card initialized"); + } + + // 4. 初始化LCD IO引脚 + LcdIoInit(); + ESP_LOGI(HW_INIT_TAG, "LCD IO pins initialized"); + + // 5. 初始化其他必要外设 + // BaseBoardControlUartInit(); // 底座控制串口（demo5需要） + // ESP_LOGI(HW_INIT_TAG, "Base board control UART initialized"); + + // 初始化底座控制 + // base_board_control_.Init(); + // ESP_LOGI(HW_INIT_TAG, "Base board control initialized"); + + // 可选外设（根据具体应用需求） + // MillimeterWaveRadarUartInit(); + // MillimeterWaveRadarGpioInit(); + StepperMotorInit(); + + + + ESP_LOGI(HW_INIT_TAG, "Unified hardware initialization completed successfully"); + return ESP_OK; +} + +/** + * @brief 进入低功耗模式 + * + * 根据指定的功耗模式，执行相应的功耗优化策略： + * - IDLE模式：关闭非必要外设，保持快速响应 + * - LIGHT_SLEEP模式：进入轻度睡眠，CPU暂停，外设断电 + * - DEEP_SLEEP模式：深度睡眠，仅RTC运行，功耗最低 + */ +esp_err_t BoardSweekar::EnterLowPowerMode(power_mode_t mode) { + static const char *POWER_TAG = "POWER_MGMT"; + esp_err_t ret = ESP_OK; + + ESP_LOGI(POWER_TAG, "Entering power mode: %d", mode); + + if (mode == current_power_mode_) { + ESP_LOGW(POWER_TAG, "Already in power mode %d", mode); + return ESP_OK; + } + + // 保存当前模式，以便恢复 + power_mode_t previous_mode = current_power_mode_; + + switch (mode) { + case POWER_MODE_NORMAL: + // 正常模式，不需要特殊处理 + break; + + case POWER_MODE_IDLE: + // 空闲模式：关闭非必要外设 + ESP_LOGI(POWER_TAG, "Idle mode: disabling non-essential peripherals"); + + // 关闭SD卡（如果正在使用，需要先卸载） + if (is_sdcard_initialized_) { + // 注意：这里只是示例，实际应用中需要确保没有文件操作 + ESP_LOGW(POWER_TAG, "SD card still active in idle mode"); + } + + // 关闭显示背光 + // 关闭非必要GPIO的上拉/下拉 + // 降低I2C时钟频率 + break; + + case POWER_MODE_LIGHT_SLEEP: + // 轻度睡眠 + ESP_LOGI(POWER_TAG, "Light sleep mode: preparing for sleep"); + + // 设置唤醒源（需要根据具体需求配置） + // esp_sleep_enable_timer_wakeup(1000000); // 1秒后唤醒 + // esp_sleep_enable_ext0_wakeup(GPIO_NUM_XX, 0); // 外部中断唤醒 + + // 进入轻度睡眠 + // ret = esp_light_sleep_start(); + if (ret != ESP_OK) { + ESP_LOGE(POWER_TAG, "Failed to enter light sleep: %s", esp_err_to_name(ret)); + current_power_mode_ = previous_mode; + return ret; + } + break; + + case POWER_MODE_DEEP_SLEEP: + // 深度睡眠 + ESP_LOGI(POWER_TAG, "Deep sleep mode: system will restart after wake-up"); + + // 保存必要的RTC数据 + // rtc_gpio_isolate(GPIO_NUM_XX); // 隔离GPIO + + // 设置深度睡眠唤醒源 + // esp_sleep_enable_timer_wakeup(60000000); // 60秒后唤醒 + + // 进入深度睡眠 + // esp_deep_sleep_start(); + // 注意：深度睡眠后系统会重启，不会返回 + break; + + default: + ESP_LOGE(POWER_TAG, "Invalid power mode: %d", mode); + return ESP_ERR_INVALID_ARG; + } + + current_power_mode_ = mode; + ESP_LOGI(POWER_TAG, "Successfully entered power mode: %d", mode); + return ret; +} + +/** + * @brief 退出低功耗模式 + * + * 从低功耗模式恢复到正常运行模式，重新初始化必要的硬件资源。 + */ +esp_err_t BoardSweekar::ExitLowPowerMode(void) { + static const char *POWER_TAG = "POWER_MGMT"; + + ESP_LOGI(POWER_TAG, "Exiting low power mode"); + + if (current_power_mode_ == POWER_MODE_NORMAL) { + ESP_LOGW(POWER_TAG, "Already in normal mode"); + return ESP_OK; + } + + // 根据之前的功耗模式执行相应的恢复操作 + switch (current_power_mode_) { + case POWER_MODE_IDLE: + // 恢复空闲模式 + ESP_LOGI(POWER_TAG, "Restoring from idle mode"); + + // 重新初始化必要的外设 + // 恢复I2C时钟频率 + // 重新开启显示背光 + break; + + case POWER_MODE_LIGHT_SLEEP: + // 轻度睡眠唤醒后会自动继续执行 + ESP_LOGI(POWER_TAG, "Woken up from light sleep"); + + // 重新配置时钟（如果需要） + // 重新初始化外设 + break; + + case POWER_MODE_DEEP_SLEEP: + // 深度睡眠后系统会重启，不会执行到这里 + ESP_LOGW(POWER_TAG, "Deep sleep recovery should not reach here"); + break; + + default: + break; + } + + // 恢复到正常模式 + current_power_mode_ = POWER_MODE_NORMAL; + ESP_LOGI(POWER_TAG, "Successfully exited low power mode"); + + return ESP_OK; +} + +/** + * @brief 设置硬件模块电源状态 + * + * 提供精细化的电源管理，可以单独控制各个硬件模块的电源状态。 + */ +esp_err_t BoardSweekar::SetModulePower(hardware_module_t module, bool enable) { + static const char *POWER_TAG = "POWER_MODULE"; + esp_err_t ret = ESP_OK; + + ESP_LOGI(POWER_TAG, "%s module %d", enable ? "Enabling" : "Disabling", module); + + // 更新电源状态位图 + if (enable) { + power_state_flags_ |= (1 << module); + } else { + power_state_flags_ &= ~(1 << module); + } + + switch (module) { + case HW_MODULE_I2C: + if (!enable && bus_handle_) { + // 注意：I2C总线通常不建议完全关闭，可能影响多个设备 + ESP_LOGW(POWER_TAG, "I2C bus power control not recommended"); + } + break; + + case HW_MODULE_SDCARD: + if (enable && !is_sdcard_initialized_) { + ret = InitializeSdcard(); + } else if (!enable && is_sdcard_initialized_) { + // 卸载SD卡文件系统 + // 注意：需要确保没有打开的文件 + ESP_LOGW(POWER_TAG, "SD card power down requires file system cleanup"); + } + break; + + case HW_MODULE_LCD: + // LCD背光控制 + // LCD电源引脚控制（如果有） + break; + + case HW_MODULE_AUDIO: + // 音频编解码器电源控制 + // 需要与AudioPlayer协调 + break; + + case HW_MODULE_MOTOR: + // 步进电机驱动器电源控制 + // 电机睡眠模式 + break; + + case HW_MODULE_GYROSCOPE: + // 陀螺仪电源控制 + // 设置陀螺仪为低功耗模式 + break; + + case HW_MODULE_TOUCH: + // 触摸传感器电源控制 + // 设置触摸传感器为睡眠模式 + break; + + case HW_MODULE_RADAR: + // 毫米波雷达电源控制 + // 设置雷达为低功耗模式 + break; + + case HW_MODULE_IO_EXPAND: + // IO扩展板电源控制 + // 设置扩展板为低功耗模式 + break; + + default: + ESP_LOGE(POWER_TAG, "Unknown hardware module: %d", module); + return ESP_ERR_INVALID_ARG; + } + + if (ret == ESP_OK) { + ESP_LOGI(POWER_TAG, "Module %d power %s successfully", module, enable ? "enabled" : "disabled"); + } else { + ESP_LOGE(POWER_TAG, "Failed to %s module %d: %s", enable ? "enable" : "disable", module, esp_err_to_name(ret)); + } + + return ret; +} + + + diff --git a/main/02_physical/boards/board_v1_1_16/board_sweekar.h b/main/02_physical/boards/board_v1_1_16/board_sweekar.h new file mode 100644 index 0000000..dc8463f --- /dev/null +++ b/main/02_physical/boards/board_v1_1_16/board_sweekar.h @@ -0,0 +1,174 @@ +#ifndef __BOARD_H__ +#define __BOARD_H__ +#include "config.h" +#include "io_expansion_board.h" +// #include "stepper_motor.h" // ! +#include "stepper_driver.h" +#include "i2c_bus.h" +#include "gyroscope.h" +// #include "touch_sensor.h" // ! +#include "base_board_control.h" +#include "esp_peripherals.h" +#include "periph_sdcard.h" +#include "esp_sleep.h" +#include "driver/rtc_io.h" + +/** + * @brief 功耗模式枚举 + */ +typedef enum { + POWER_MODE_NORMAL, // 正常运行模式，所有硬件可用 + POWER_MODE_IDLE, // 空闲模式，关闭非必要外设 + POWER_MODE_LIGHT_SLEEP, // 轻度睡眠，快速唤醒 + POWER_MODE_DEEP_SLEEP, // 深度睡眠，仅RTC运行 +} power_mode_t; + +/** + * @brief 硬件模块枚举，用于精细化电源管理 + */ +typedef enum { + HW_MODULE_I2C, // I2C总线 + HW_MODULE_SDCARD, // SD卡 + HW_MODULE_LCD, // LCD显示 + HW_MODULE_AUDIO, // 音频编解码器 + HW_MODULE_MOTOR, // 步进电机 + HW_MODULE_GYROSCOPE, // 陀螺仪 + HW_MODULE_TOUCH, // 触摸传感器 + HW_MODULE_RADAR, // 毫米波雷达 + HW_MODULE_IO_EXPAND, // IO扩展板 +} hardware_module_t; + +/** + * @brief 硬件板级管理器 + * + * 采用高内聚低耦合设计原则，统一管理所有硬件资源。 + * 提供统一的硬件初始化接口和资源访问，避免各模块重复初始化。 + */ +class BoardSweekar +{ +private: + i2c_bus_handle_t bus_handle_ = nullptr; // 使用ESP-ADF的I2C总线句柄 + esp_periph_set_handle_t periph_set_ = nullptr; // 外设管理句柄 + bool is_sdcard_initialized_ = false; // SD卡初始化状态 + power_mode_t current_power_mode_ = POWER_MODE_NORMAL; // 当前功耗模式 + uint32_t power_state_flags_ = 0xFFFFFFFF; // 各模块电源状态位图（1为开启） + +public: + BoardSweekar(); + ~BoardSweekar(); + + IOExpansionBoard io_expansion_; // IO扩展板对象 + Gyroscope gyroscope_; // 陀螺仪对象 + // TouchSensor touch_sensor_; // 触摸传感器对象 //! + BaseBoardControl base_board_control_; // 底座控制对象 + StepperDriver* stepper_driver_ = nullptr; // 步进电机驱动对象 + + StepperDriver* GetStepperDriver() const { return stepper_driver_; } + + // 初始化步进电机 + void StepperMotorInit(void); + + // 初始化LCD IO引脚（消除与步进电机的耦合） + void LcdIoInit(void); + + // 初始化串口 + void MillimeterWaveRadarUartInit(void); + + //初始化毫米波雷达的中断引脚 + void MillimeterWaveRadarGpioInit(void); + + // 初始化I2C总线 + esp_err_t I2CMasterInit(void); + + // 初始化VBAT toVBAT_5V引脚 + void VbatToVbat5vInit(void); + + // 初始化底座控制串口 + void BaseBoardControlInit(void); + + // 初始化SD卡（推荐使用统一的硬件初始化） + esp_err_t InitializeSdcard(void); + + // 获取SD卡初始化状态 + bool IsSdcardInitialized() const { return is_sdcard_initialized_; } + + // 获取外设管理句柄（供需要访问SD卡的模块使用） + esp_periph_set_handle_t GetPeriphSet() const { return periph_set_; } + + // 获取I2C总线句柄 + i2c_bus_handle_t GetBusHandle() const { return bus_handle_; } + + /** + * @brief 统一的硬件初始化接口 + * + * 按照依赖关系顺序初始化所有硬件资源，确保各模块可以安全使用。 + * 推荐在主程序启动时调用此函数，而不是分别调用各个初始化函数。 + * + * @return esp_err_t 初始化结果，ESP_OK表示全部成功 + */ + esp_err_t InitializeAllHardware(void); + + /** + * @brief 完整的统一硬件初始化接口（专为复杂应用优化） + * + * 包含所有必要外设的完整初始化，适用于demo5等复杂应用场景。 + * 这个函数会初始化：I2C总线、IO扩展板、SD卡、LCD IO、底座控制等。 + * + * @return esp_err_t 初始化结果，ESP_OK表示全部成功 + */ + esp_err_t InitializeAllHardwareComplete(void); + + /** + * @brief 针对特定应用的硬件初始化配置 + * + * 为不同类型的应用提供专门的初始化配置，优化启动流程。 + * + * @param app_type 应用类型（demo5、音频播放器、显示应用等） + * @return esp_err_t 初始化结果，ESP_OK表示全部成功 + */ + esp_err_t InitializeHardwareForApplication(int app_type); + + /** + * @brief 功耗管理接口 - 进入低功耗模式 + * + * 根据指定的功耗模式，关闭非必要硬件、设置GPIO为低功耗状态、 + * 调整时钟频率等。支持多种功耗模式以适应不同应用场景。 + * + * @param mode 功耗模式 + * @return esp_err_t 操作结果 + */ + esp_err_t EnterLowPowerMode(power_mode_t mode); + + /** + * @brief 功耗管理接口 - 退出低功耗模式 + * + * 从低功耗模式恢复，重新初始化必要的硬件资源。 + * + * @return esp_err_t 操作结果 + */ + esp_err_t ExitLowPowerMode(void); + + /** + * @brief 获取当前功耗模式 + * + * @return power_mode_t 当前功耗模式 + */ + power_mode_t GetPowerMode(void) const { return current_power_mode_; } + + /** + * @brief 设置硬件模块电源状态 + * + * 单独控制某个硬件模块的电源状态，用于精细化的功耗管理。 + * + * @param module 硬件模块 + * @param enable true为开启，false为关闭 + * @return esp_err_t 操作结果 + */ + esp_err_t SetModulePower(hardware_module_t module, bool enable); + + /** + * @brief 执行系统关机（拉高 SHUTDOWN_CTRL_PIN） + */ + void SystemShutdown(void); +}; +#endif diff --git a/main/02_physical/boards/board_v1_1_16/board_sweekar_complete_init.cc b/main/02_physical/boards/board_v1_1_16/board_sweekar_complete_init.cc new file mode 100644 index 0000000..37a454a --- /dev/null +++ b/main/02_physical/boards/board_v1_1_16/board_sweekar_complete_init.cc @@ -0,0 +1,186 @@ +/** + * @file board_sweekar_complete_init.cc + * @brief 完整的统一硬件初始化实现 + * + * 这个文件提供了完整的统一硬件初始化函数，包含所有必要的硬件初始化步骤。 + * 专为demo5等复杂应用场景设计。 + */ + +/** + * @brief 完整的统一硬件初始化接口（专为demo5优化） + * + * 按照依赖关系顺序初始化所有硬件资源： + * 1. I2C总线（最基础，其他设备依赖） + * 2. IO扩展板（控制其他外设） + * 3. SD卡（文件系统，供显示和音频使用） + * 4. LCD IO引脚（显示相关） + * 5. 底座控制串口（通信） + * 6. 底座控制模块（业务逻辑） + * 7. 其他外设（根据应用需求） + * + * @return esp_err_t 初始化结果，ESP_OK表示全部成功 + */ +esp_err_t BoardSweekar::InitializeAllHardwareComplete(void) +{ + static const char *HW_INIT_TAG = "HW_INIT_COMPLETE"; + esp_err_t ret; + + ESP_LOGI(HW_INIT_TAG, "Starting complete hardware initialization..."); + + // 1. 初始化I2C总线（最基础，其他设备依赖） + ret = I2CMasterInit(); + if (ret != ESP_OK) { + ESP_LOGE(HW_INIT_TAG, "Failed to initialize I2C master: %s", esp_err_to_name(ret)); + return ret; + } + ESP_LOGI(HW_INIT_TAG, "✓ I2C master initialized"); + + // 2. 创建I2C读任务（IO扩展板需要） + io_expansion_.CreateI2cReadTask(); + ESP_LOGI(HW_INIT_TAG, "✓ I2C read task created"); + + // 3. 初始化SD卡（文件系统，供显示和音频使用） + ret = InitializeSdcard(); + if (ret != ESP_OK) { + ESP_LOGE(HW_INIT_TAG, "Failed to initialize SD card: %s", esp_err_to_name(ret)); + // SD卡失败不是致命错误，继续初始化其他硬件 + ESP_LOGW(HW_INIT_TAG, "⚠ SD card initialization failed, but continuing with other hardware"); + } else { + ESP_LOGI(HW_INIT_TAG, "✓ SD card initialized"); + } + + // 4. 初始化LCD IO引脚（显示相关） + LcdIoInit(); + ESP_LOGI(HW_INIT_TAG, "✓ LCD IO pins initialized"); + + // 5. 初始化底座控制串口（demo5需要） + BaseBoardControlUartInit(); + ESP_LOGI(HW_INIT_TAG, "✓ Base board control UART initialized"); + + // 6. 初始化底座控制模块 + base_board_control_.Init(); + ESP_LOGI(HW_INIT_TAG, "✓ Base board control initialized"); + + // 7. 设置IO扩展板的PA控制模式（demo5需要） + io_expansion_.SetPaCtrlMode(true); + ESP_LOGI(HW_INIT_TAG, "✓ IO expansion PA control mode set"); + + // 8. 可选外设（根据具体应用需求启用） + // ESP_LOGI(HW_INIT_TAG, "Initializing optional peripherals..."); + // + // // 毫米波雷达（如需要） + // MillimeterWaveRadarUartInit(); + // MillimeterWaveRadarGpioInit(); + // ESP_LOGI(HW_INIT_TAG, "✓ Millimeter wave radar initialized"); + // + // // VBAT升压（如需要） + // VbatToVbat5vInit(); + // ESP_LOGI(HW_INIT_TAG, "✓ VBAT to 5V booster initialized"); + // + // // 步进电机（如需要） + // StepperMotorInit(); + // ESP_LOGI(HW_INIT_TAG, "✓ Stepper motor initialized"); + + ESP_LOGI(HW_INIT_TAG, "=== Complete hardware initialization finished successfully ==="); + return ESP_OK; +} + +/** + * @brief 针对特定应用的硬件初始化配置 + * + * 为不同类型的应用提供专门的初始化配置 + */ +esp_err_t BoardSweekar::InitializeHardwareForApplication(application_type_t app_type) { + static const char *APP_INIT_TAG = "APP_HW_INIT"; + + ESP_LOGI(APP_INIT_TAG, "Initializing hardware for application type: %d", app_type); + + // 基础硬件初始化（所有应用都需要） + esp_err_t ret = InitializeAllHardwareComplete(); + if (ret != ESP_OK) { + ESP_LOGE(APP_INIT_TAG, "Basic hardware initialization failed"); + return ret; + } + + switch (app_type) { + case APP_TYPE_DEMO5: // 宠物游戏demo + ESP_LOGI(APP_INIT_TAG, "Configuring for Demo5 (Pet Game)..."); + + // Demo5需要的额外初始化 + // 触摸传感器、陀螺仪、RGB LED等会在应用层初始化 + + ESP_LOGI(APP_INIT_TAG, "✓ Demo5 hardware configuration complete"); + break; + + case APP_TYPE_AUDIO_PLAYER: // 音频播放器 + ESP_LOGI(APP_INIT_TAG, "Configuring for Audio Player..."); + + // 音频应用需要确保音频编解码器正确初始化 + // 这部分通常在AudioPlayer类中处理 + + ESP_LOGI(APP_INIT_TAG, "✓ Audio player hardware configuration complete"); + break; + + case APP_TYPE_DISPLAY_ONLY: // 纯显示应用 + ESP_LOGI(APP_INIT_TAG, "Configuring for Display Only..."); + + // 显示应用需要确保LCD相关硬件正确配置 + // 这部分通常在Display类中处理 + + ESP_LOGI(APP_INIT_TAG, "✓ Display-only hardware configuration complete"); + break; + + case APP_TYPE_MINIMAL: // 最小化应用 + ESP_LOGI(APP_INIT_TAG, "Configuring for Minimal Application..."); + + // 最小化配置，只保留最基本的功能 + // 关闭非必要外设以节省功耗 + + ESP_LOGI(APP_INIT_TAG, "✓ Minimal hardware configuration complete"); + break; + + default: + ESP_LOGW(APP_INIT_TAG, "Unknown application type, using default configuration"); + break; + } + + return ESP_OK; +} + +/** + * @brief 硬件初始化状态报告 + * + * 提供详细的硬件初始化状态报告，便于调试和问题排查 + */ +void BoardSweekar::ReportHardwareStatus(void) { + static const char *STATUS_TAG = "HW_STATUS"; + + ESP_LOGI(STATUS_TAG, "=== Hardware Initialization Status Report ==="); + + // I2C总线状态 + ESP_LOGI(STATUS_TAG, "I2C Bus: %s", (bus_handle_ != nullptr) ? "✓ Initialized" : "✗ Not initialized"); + + // SD卡状态 + ESP_LOGI(STATUS_TAG, "SD Card: %s", (is_sdcard_initialized_) ? "✓ Initialized" : "✗ Not initialized"); + if (is_sdcard_initialized_) { + ESP_LOGI(STATUS_TAG, " Peripheral Set: %s", (periph_set_ != nullptr) ? "✓ Available" : "✗ Not available"); + } + + // IO扩展板状态 + ESP_LOGI(STATUS_TAG, "IO Expansion Board: %s", (io_expansion_.bus_handle_ != nullptr) ? "✓ Configured" : "✗ Not configured"); + + // 底座控制状态 + ESP_LOGI(STATUS_TAG, "Base Board Control: %s", (base_board_control_.GetUartPort() != 0) ? "✓ Initialized" : "✗ Not initialized"); + + // 功耗管理状态 + ESP_LOGI(STATUS_TAG, "Power Management: %s", (current_power_mode_ == POWER_MODE_NORMAL) ? "✓ Normal mode" : "⚠ Low power mode"); + ESP_LOGI(STATUS_TAG, " Current Mode: %d", current_power_mode_); + ESP_LOGI(STATUS_TAG, " Module Power States: 0x%08X", power_state_flags_); + + // 内存状态 + ESP_LOGI(STATUS_TAG, "Memory Status:"); + ESP_LOGI(STATUS_TAG, " Internal RAM Free: %d bytes", heap_caps_get_free_size(MALLOC_CAP_INTERNAL)); + ESP_LOGI(STATUS_TAG, " PSRAM Free: %d bytes", heap_caps_get_free_size(MALLOC_CAP_SPIRAM)); + + ESP_LOGI(STATUS_TAG, "=== End of Hardware Status Report ==="); +} \ No newline at end of file diff --git a/main/02_physical/boards/board_v1_1_16/config.h b/main/02_physical/boards/board_v1_1_16/config.h new file mode 100644 index 0000000..e5a3387 --- /dev/null +++ b/main/02_physical/boards/board_v1_1_16/config.h @@ -0,0 +1,138 @@ +/* 定义引脚分配 */ +#ifndef _BOARD_CONFIG_H_ +#define _BOARD_CONFIG_H_ + +/** + * @file config.h + * @brief 定义了引脚的分配。 + * @author zouyuhua + * @date 2025年8月7日 + * + */ + +#include "driver/gpio.h" +#include "driver/i2c_master.h" +#include "driver/i2s.h" +#include "esp_log.h" +#include "esp_rom_sys.h" // 用于 esp_rom_delay_us +#include "esp_timer.h" +#include "esp_mac.h" +#include "driver/ledc.h" +#include "driver/gpio.h" +#include "freertos/FreeRTOS.h" +#include "freertos/task.h" +#include "esp_log.h" +#include "driver/timer.h" +#include "esp_intr_alloc.h" +#include "soc/timer_group_struct.h" // 包含TIMERG0、TIMERG1的结构体定义 +#include "soc/timer_group_reg.h" // 包含定时器相关寄存器宏定义 +#include "driver/uart.h" +#include "esp_err.h" +#include "freertos/queue.h" +#include "soc/uart_reg.h" +// #include "linear_motor.h" +#include "gyroscope.h" + +#define TAG_BOARD "SWEEKAR_ESP32" +/*I2C总线引脚定义*/ +#define I2C0_MASTER_PORT I2C_NUM_0 +#define I2C0_MASTER_SDA_IO GPIO_NUM_2 +#define I2C0_MASTER_SCL_IO GPIO_NUM_3 + +/* 步进电机配置 */ +#define STEPPER_STEP_IO GPIO_NUM_42 // 步进电机脉冲输入引脚 +#define STEPPER_TIMER_RES_HZ 1000000 // 步进电机定时器分辨率 1 MHz（1 us 步进） + +/* 定义屏幕驱动控制引脚 */ +#define ST7789_PIN_CLK GPIO_NUM_48 // SPI时钟引脚 +#define ST7789_PIN_DC GPIO_NUM_38 // 数据/命令选择引脚RSEL +#define ST7789_PIN_MOSI GPIO_NUM_47 // SPI数据输出引脚 +#define ST7789_PIN_CS GPIO_NUM_46 // SPI片选引脚 +#define ST7789_PIN_BL GPIO_NUM_45 // 背光引脚 +#define ST7789_PIN_RST GPIO_NUM_NC // 复位引脚 +#define LCD_BL_ACTIVE_LEVEL 1 // 背光有效电平：1=高电平有效(NMOS)，0=低电平有效(PMOS) + +#define LCD_WIDTH 172 // 屏幕宽度(水平方向像素数) +#define LCD_HEIGHT 320 // 屏幕高度(垂直方向像素数) + +/* 毫米波雷达配置参数 */ +/* 定义毫米波雷达的中断引脚 */ +#define MILLIMETER_WAVE_RADAR_PIN GPIO_NUM_35 +// UART 配置参数 +#define RADAR_UART_NUM UART_NUM_1 // 使用 UART1 +#define UART_TX_PIN GPIO_NUM_40 // GPIO40 作为 TX(根据实际硬件连接调整) +#define UART_RX_PIN GPIO_NUM_39 // GPIO39 作为 RX +#define RADAR_BAUD_RATE 9600 // 雷达波特率 +#define RADAR_BUF_SIZE 100 // 雷达接收缓冲区大小 + +/* IO扩展硬件配置常量 */ +#define I2C_MASTER_FREQ_HZ 100000 // I2C通信频率(100kHz)(可更改至400000) +#define I2C_IO_EXPAND_SLAVE_ADDR 0x58 // AW9523BTQR器件地址,v1_1_13的addr1和addr0是0 +#define GPIO_INPUT_PIN_SEL GPIO_NUM_10 // 中断检测引脚 +#define ESP_INTR_FLAG_DEFAULT 0 // 中断标志默认值 +#define IO_EXPAND_RSTN GPIO_NUM_14 // IO扩展板复位引脚 + +/* 定义线性马达的I2C从机配置常量 */ +#define LINEAR_MOTOR_I2C_SLAVE_ADDR 0x5A // 线性马达的I2C从机地址 + +/* 定义陀螺仪的I2C从机配置常量 */ +#define GYROSCOPE_I2C_SLAVE_ADDR 0x6A // 陀螺仪的I2C从机地址 +#define GYROSCOPE_INPUT_PIN_SEL GPIO_NUM_21 // 陀螺仪中断引脚 + +/* AW触摸芯片配置 */ +#define AW_TOUCH_IRQ_PIN GPIO_NUM_11 // AW触摸芯片中断引脚 +#define NFC_RST_PIN GPIO_NUM_12 // NFC复位引脚 +#define SHUTDOWN_CTRL_PIN GPIO_NUM_13 // 关机控制引脚 + +/* 原生触摸引脚配置 (v1.1.16已改为上述功能，保留定义需谨慎) */ +// 触摸按键数量配置 +#define TOUCH_BUTTON_NUM 3 +// 触摸通道定义 - 注意：v1.1.16如果不使用ESP32原生触摸，这些定义可能不再适用 +// 但为了兼容编译，可以保留或注释 +#define TOUCH_PAD_CHANNEL_1 TOUCH_PAD_NUM11 // GPIO11 (Now AW_IRQ) +#define TOUCH_PAD_CHANNEL_2 TOUCH_PAD_NUM12 // GPIO12 (Now NFC_RST) +#define TOUCH_PAD_CHANNEL_3 TOUCH_PAD_NUM13 // GPIO13 (Now SHUTDOWN) + +/* ES8311音频编解码器配置 (ESP-ADF兼容) */ +#define AUDIO_INPUT_SAMPLE_RATE 24000 +#define AUDIO_OUTPUT_SAMPLE_RATE 24000 +#define AUDIO_INPUT_REFERENCE true + +/* I2S GPIO定义 */ +#define AUDIO_I2S_GPIO_MCLK GPIO_NUM_15 +#define AUDIO_I2S_GPIO_WS GPIO_NUM_4 +#define AUDIO_I2S_GPIO_BCLK GPIO_NUM_5 +#define AUDIO_I2S_GPIO_DIN GPIO_NUM_6 +#define AUDIO_I2S_GPIO_DOUT GPIO_NUM_7 + +/* PA引脚定义 */ +#define AUDIO_CODEC_PA_PIN GPIO_NUM_NC + +/* I2C配置 */ +#define AUDIO_CODEC_I2C_SDA_PIN GPIO_NUM_2 +#define AUDIO_CODEC_I2C_SCL_PIN GPIO_NUM_3 +#define AUDIO_CODEC_ES8311_ADDR 0x18 +#define AUDIO_CODEC_ES7210_ADDR 0x40 + +/* WS2812 RGB LED配置 */ +#define WS2812_PIN GPIO_NUM_41 // WS2812数据引脚 +#define WS2812_NUM_LEDS 2 // WS2812 LED数量 + +/* 创建VBAT to VBAT_5V */ +#define VBAT_5V_PIN GPIO_NUM_NC // VBAT_5V引脚 + +/* 定义按键的中断引脚 */ +#define BUTTON_PIN GPIO_NUM_0 // 按键中断引脚 +#define RIGHT_BUTTON_PIN GPIO_NUM_8 // 按键中断引脚 + +/* 底座控制命令串口配置 */ +#define BASE_BOARD_CTL_UART_PORT UART_NUM_0 +#define BASE_BOARD_CTL_UART_TX_PIN GPIO_NUM_43 +#define BASE_BOARD_CTL_UART_RX_PIN GPIO_NUM_44 +#define BASE_BOARD_CTL_UART_BAUDRATE 115200 +#define BASE_BOARD_CTL_UART_BUF_SIZE 256 + +/* 背光控制引脚配置 */ +#define BL_PIN GPIO_NUM_45 + +#endif // _BOARD_CONFIG_H_ diff --git a/main/02_physical/boards/board_v1_1_16/io_expansion_board.cc b/main/02_physical/boards/board_v1_1_16/io_expansion_board.cc new file mode 100644 index 0000000..9e976d2 --- /dev/null +++ b/main/02_physical/boards/board_v1_1_16/io_expansion_board.cc @@ -0,0 +1,1034 @@ +#include "io_expansion_board.h" +#include "millimeter_wave_radar.h" +#include "photo_interrupter.h" +#include "adc_battery_monitor.h" +#include "esp_heap_caps.h" +#include "esp_log.h" +#include "esp_check.h" +#include "driver/gpio.h" +#include "freertos/FreeRTOS.h" +#include "freertos/idf_additions.h" +#include "freertos/portable.h" +#include "freertos/task.h" +#include "freertos/event_groups.h" +#include "esp_rom_sys.h" +/** + * @file io_expansion_board.cc + * @brief IO扩展板功能实现类,包含I2C通信、GPIO中断配置、外设控制等功能 + * @details 实现了IO扩展板的初始化(中断引脚、复位引脚)、寄存器读写、步进电机控制(细分模式、使能、方向、睡眠状态)、 + * LCD相关引脚控制(背光、复位、片选)、毫米波雷达中断引脚配置等功能,并提供I2C数据读取任务的创建与管理 + * @author zouyuhua + * @date 2025年8月7日 + * + */ + +/** + * @brief 构造函数 + */ +IOExpansionBoard::IOExpansionBoard() + : bus_handle_(nullptr), + device_addr_(0), + last_port0_state_(0), + last_port1_state_(0), + radar_last_state_(false), + i2c_task_event_group_(nullptr), + xI2CReadTaskHandle_(nullptr), + is_initialized_(false), + interrupt_gpio_(GPIO_NUM_NC), + reset_gpio_(GPIO_NUM_NC) +{ +} + +/** + * @brief 析构函数 + */ +IOExpansionBoard::~IOExpansionBoard() +{ + // 删除任务 + if (xI2CReadTaskHandle_) { + vTaskDelete(xI2CReadTaskHandle_); + } + + // if(pI2CReadTaskStackBuffer) { + // heap_caps_free(pI2CReadTaskStackBuffer); + // pI2CReadTaskStackBuffer = nullptr; + // } + + // if(pxI2CReadTaskBuffer) { + // vPortFree(pxI2CReadTaskBuffer); + // pxI2CReadTaskBuffer = nullptr; + // } + + // 删除事件组 + if (i2c_task_event_group_) { + vEventGroupDelete(i2c_task_event_group_); + } + + // 移除中断处理 + if (interrupt_gpio_ != GPIO_NUM_NC) { + gpio_isr_handler_remove(interrupt_gpio_); + } + + // 删除IO扩展板设备 + // 使用i2c_bus API时不需要手动删除设备句柄 + // bus_handle_由board_sweekar统一管理 +} + +/** + * @brief 静态中断处理函数 + */ +void IRAM_ATTR IOExpansionBoard::GpioIsrHandler(void* arg) +{ + IOExpansionBoard* instance = static_cast(arg); + if (!instance) return; + + // 调试：记录中断触发 + // ESP_EARLY_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "中断触发!"); // IRAM函数中不能使用普通日志 + + BaseType_t xHigherPriorityTaskWoken = pdFALSE; + // 设置事件标志位 + if (instance->i2c_task_event_group_) { + xEventGroupSetBitsFromISR( + instance->i2c_task_event_group_, + BIT0, + &xHigherPriorityTaskWoken + ); + } + + // 触发上下文切换 + if (xHigherPriorityTaskWoken) { + portYIELD_FROM_ISR(); + } +} + +/** + * @brief 初始化GPIO中断检测 + */ +esp_err_t IOExpansionBoard::InterruptGpioInit(gpio_num_t gpio_num) +{ + // 配置IO扩展板中断引脚 + gpio_config_t io_conf = {}; + io_conf.intr_type = GPIO_INTR_ANYEDGE; // 改为双沿触发，检测上升沿和下降沿 + io_conf.pin_bit_mask = 1ULL << gpio_num; + io_conf.mode = GPIO_MODE_INPUT; + io_conf.pull_up_en = GPIO_PULLUP_ENABLE; + io_conf.pull_down_en = GPIO_PULLDOWN_DISABLE; + // io_conf.pull_up_en = GPIO_PULLUP_DISABLE; + // io_conf.pull_down_en = GPIO_PULLDOWN_ENABLE; + + + esp_err_t err = gpio_config(&io_conf); + if (err != ESP_OK) { + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "GPIO配置失败,错误码: 0x%x", err); + return err; + } + // 配置中断服务 + err = gpio_install_isr_service(ESP_INTR_FLAG_LEVEL3); + if (err != ESP_OK && err != ESP_ERR_INVALID_STATE) { + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "GPIO中断服务安装失败,错误码: 0x%x", err); + return err; + } + // 注册中断处理函数 + err = gpio_isr_handler_add(gpio_num, GpioIsrHandler, this); + if (err != ESP_OK) { + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "GPIO中断处理函数添加失败,错误码: 0x%x", err); + return err; + } + // 创建事件组 + i2c_task_event_group_ = xEventGroupCreate(); + if (!i2c_task_event_group_) { + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "事件组创建失败"); + return ESP_FAIL; + } + + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "GPIO%d中断初始化完成", gpio_num); + return ESP_OK; +} + +/** + * @brief 初始化硬件复位引脚 + * 设置为上拉,需要复位,需要输出低电平为20us的脉冲信号 + */ +esp_err_t IOExpansionBoard::ResetGpioInit(gpio_num_t gpio_num) +{ + reset_gpio_ = gpio_num; + + // 配置复位引脚 + gpio_config_t io_conf = {}; + io_conf.intr_type = GPIO_INTR_DISABLE; + io_conf.pin_bit_mask = 1ULL << gpio_num; + io_conf.mode = GPIO_MODE_OUTPUT; + io_conf.pull_up_en = GPIO_PULLUP_ENABLE; + io_conf.pull_down_en = GPIO_PULLDOWN_DISABLE; + esp_err_t err = gpio_config(&io_conf); + gpio_set_level(gpio_num, 1); // 复位引脚拉高 + if (err != ESP_OK) { + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "GPIO配置失败,错误码: 0x%x", err); + return err; + } + else{ + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "GPIO%d复位引脚初始化完成", gpio_num); + return err; + } +} + +/** + * @brief 计算Port0的字节值,用于配置输入还是输出模式(0为输出模式,1为输入模式) + * @return uint8_t 操作结果 + */ +uint8_t IOExpansionBoard::ByteCalculatePort0() +{ + uint8_t byte_val = 0x00; // 初始化为所有引脚为输出模式(0)，然后根据配置设置为输入模式(1) + + // 输入模式配置：将对应位置位(1为输入模式) + if(RADAR_INTERRUPT_CONFIG == CONFIG_PORT0){ //雷达中断引脚 + byte_val |= (1 << RADAR_INTERRUPT_PIN); + } + if(START_PHOTO_INTERRUPTER_CONFIG == CONFIG_PORT0){ //起始光学传感器 + byte_val |= (1 << START_PHOTO_INTERRUPTER_PIN); + } + if(END_PHOTO_INTERRUPTER_PORT_CONFIG == CONFIG_PORT0){ //结束光学传感器 + byte_val |= (1 << END_PHOTO_INTERRUPTER_PIN); + } + if(BATTERY_FULL_CONFIG == CONFIG_PORT0){ //电池充满检测 + byte_val |= (1 << BATTERY_FULL_PIN); + } + if(BATTERY_CHRG_CONFIG == CONFIG_PORT0){ //电池充电检测 + byte_val |= (1 << BATTERY_CHRG_PIN); + } + + return byte_val; +} + +/** + * @brief 计算Port1的字节值,用于配置输入还是输出模式(0为输出模式,1为输入模式) + * @return uint8_t 操作结果 + */ +uint8_t IOExpansionBoard::ByteCalculatePort1() +{ + uint8_t byte_val = 0x00; // 初始化为所有引脚为输出模式(0)，然后根据配置设置为输入模式(1) + + // 输入模式配置：将对应位置位(1为输入模式) + if(RADAR_INTERRUPT_CONFIG == CONFIG_PORT1){ //雷达中断引脚 + byte_val |= (1 << RADAR_INTERRUPT_PIN); + } + if(START_PHOTO_INTERRUPTER_CONFIG == CONFIG_PORT1){ //起始光学传感器 + byte_val |= (1 << START_PHOTO_INTERRUPTER_PIN); + } + if(END_PHOTO_INTERRUPTER_PORT_CONFIG == CONFIG_PORT1){ //结束光学传感器 + byte_val |= (1 << END_PHOTO_INTERRUPTER_PIN); + } + if(BATTERY_FULL_CONFIG == CONFIG_PORT1){ //电池充满检测 + byte_val |= (1 << BATTERY_FULL_PIN); + } + if(BATTERY_CHRG_CONFIG == CONFIG_PORT1){ //电池充电检测 + byte_val |= (1 << BATTERY_CHRG_PIN); + } + + return byte_val; +} + +/** + * @brief 复位IO扩展板 + */ +esp_err_t IOExpansionBoard::ResetIoExpand() +{ + if (reset_gpio_ == GPIO_NUM_NC) { + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "复位引脚未初始化"); + return ESP_ERR_INVALID_STATE; + } + + // 复位IO扩展板 + gpio_set_level(reset_gpio_, 0); + esp_rom_delay_us(30); + gpio_set_level(reset_gpio_, 1); + uint8_t ctl_val; + //配置P0_0-P0_7的端口为推挽输出模式 + esp_err_t err = IoexpandReadReg(CTL, &ctl_val); + ctl_val |= (1 << 4); // 设置D[4]位为1(GPOMD=1),切换P0为推挽模式 + err = IoexpandWriteReg(CTL, ctl_val); + if(err != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "复位失败,错误码:0x%x", err); + return err; + } + else{ + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "复位成功"); + } + return ESP_OK; +} + +/** + * @brief 写寄存器数据 + * @param reg_addr 寄存器地址 + * @param data 要写入的数据 + * @return esp_err_t 操作结果 + */ +esp_err_t IOExpansionBoard::IoexpandWriteReg(uint8_t reg_addr, uint8_t data) +{ + return i2c_bus_write_bytes(bus_handle_, device_addr_, ®_addr, 1, &data, 1); +} + +/** + * @brief 从寄存器读取数据 + * @param reg_addr 寄存器地址(如INPUT_PORT0、ID等) + * @param data 输出参数,用于存储读取到的数据 + * @return esp_err_t 操作结果(ESP_OK为成功) + */ +esp_err_t IOExpansionBoard::IoexpandReadReg(uint8_t reg_addr, uint8_t* data) +{ + if (data == nullptr){ // 检查输入参数有效性 + return ESP_ERR_INVALID_ARG; + } + + // 使用i2c_bus_read_bytes进行寄存器读取 + esp_err_t err = i2c_bus_read_bytes(bus_handle_, device_addr_, ®_addr, 1, data, 1); + if (err != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "读取寄存器失败,错误码:0x%x", err); + return err; + } + + return ESP_OK; +} + +/** + * @brief 读取输入端口0寄存器数据 + * @param data 输出参数,用于存储读取到的数据 + * @return esp_err_t 操作结果 + */ +esp_err_t IOExpansionBoard::ReadInputPort0(uint8_t* data) +{ + return IoexpandReadReg(INPUT_PORT0, data); +} + +/** + * @brief 读取输入端口1寄存器数据 + * @param data 输出参数,用于存储读取到的数据 + * @return esp_err_t 操作结果 + */ +esp_err_t IOExpansionBoard::ReadInputPort1(uint8_t* data) +{ + return IoexpandReadReg(INPUT_PORT1, data); +} + +//设置IO扩展板为输入模式或是输出模式 +/* +* 这里需要根据实际情况设置IO扩展板的模式,比如输入模式还是输出模式,以及各个引脚的配置。 +* P0_0 对应NFC_RST引脚,需要设置为输出模式,低电平有效。(待测) +* P0_1 对应USB_VBUS引脚,需要设置为输出模式,低电平有效。(待测) +* P0_2 对应BTN_RIGHT_EAR引脚,需要设置为输出模式,低电平有效。(待测) +* P0_3 暂时未使用。 +* P0_4 对应步进电机方向引脚,需要设置为输出模式,根据需求设置。(待测) +* P0_5 对应CHRG引脚(待测) +* P0_6 LCD_DC引脚,需要设置为输出模式,根据需求设置电平。(待测) +* P0_7 对应步进电机的使能引脚,需要设置为输出模式,根据需求设置。(待测) +* +* +* P1_0 对应EG800K_PWR。(待测) +* P1_1 对应LCD_RST,需要设置为输出模式,低电平有效。(待测) +* P1_2 对应LCD_CS,需要设置为输出模式,低电平有效。(待测) +* P1_3 暂时未使用。 +* P1_4 对应步进电机的细分模式M1引脚。(待测) +* P1_5 对应步进电机的细分模式M0引脚。(待测) +* P1_6 对应步进电机的睡眠引脚。(待测) +* P1_7 对应RADAR_O雷达的输出引脚。(待测) +* */ +esp_err_t IOExpansionBoard::IoexpandSetMode(void) +{ + uint8_t ctl_val; + //配置P0_0-P0_7的端口为推挽输出模式 + esp_err_t err = IoexpandReadReg(CTL, &ctl_val); + ctl_val |= (1 << 4); // 设置D[4]位为1(GPOMD=1),切换P0为推挽模式 + err = IoexpandWriteReg(CTL, ctl_val); + if(err != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "配置P0端口失败,错误码:0x%x", err); + return err; + } + else{ + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "配置P0端口成功"); + } + + err = IoexpandWriteReg(CONFIG_PORT0, ByteCalculatePort0()); + + if(err != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "配置P0端口失败,错误码:0x%x", err); + return err; + } + else{ + // 打印BytecalculatePort0()结果 + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "配置P0端口成功, 0x%02X", ByteCalculatePort0()); + } + + err = IoexpandWriteReg(CONFIG_PORT1, ByteCalculatePort1()); + if(err != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "配置P1端口失败,错误码:0x%x", err); + return err; + } + else{ + // 打印BytecalculatePort1()结果 + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "配置P1端口成功, 0x%02X", ByteCalculatePort1()); + } + // 配置P0_0-P0_7的初始为高电平 + // 配置P1_0-P1_7的初始为高电平 + err = IoexpandWriteReg(OUTPUT_PORT0, 0x40); // 0100 0000 + if(err != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "配置P0端口初始值失败,错误码:0x%x", err); + return err; + } + else{ + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "配置P0端口初始值成功"); + } + err = IoexpandWriteReg(OUTPUT_PORT1, 0x04); // 0000 0100 + if(err != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "配置P1端口初始值失败,错误码:0x%x", err); + return err; + } + else{ + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "配置P1端口初始值成功"); + } + + + // AW9523B中断使能配置：0为使能中断，1为禁止中断 + // 使能P0_5（充电检测）和P1_3（充满检测）的中断 + uint8_t int_enable_port0 = 0x00; // 0x00 = 使能所有P0引脚中断 + uint8_t int_enable_port1 = 0x00; // 0x00 = 使能所有P1引脚中断 + + err = IoexpandWriteReg(INT_PORT0, int_enable_port0); + if(err != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "配置P0端口中断使能失败,错误码:0x%x", err); + return err; + } + else{ + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "配置P0端口中断使能成功: 0x%02X (0=使能)", int_enable_port0); + } + + err = IoexpandWriteReg(INT_PORT1, int_enable_port1); + if(err != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "配置P1端口中断使能失败,错误码:0x%x", err); + return err; + } + else{ + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "配置P1端口中断使能成功: 0x%02X (0=使能)", int_enable_port1); + } + + return ESP_OK; +} + +/** + * @brief 设置步进电机的细分模式 + */ +void IOExpansionBoard::SetStepperMicrostepMode(uint8_t mode, uint8_t OUTPUT_PORT_m0, uint8_t m0_pin, uint8_t OUTPUT_PORT_m1, uint8_t m1_pin) +{ + uint8_t current_val; + switch (mode) { + case 1: //全步输出模式 低低电平 + IoexpandReadReg(OUTPUT_PORT_m0, ¤t_val); + current_val &= ~(1 << m0_pin); + if(IoexpandWriteReg(OUTPUT_PORT_m0, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + IoexpandReadReg(OUTPUT_PORT_m1, ¤t_val); + current_val &= ~(1 << m1_pin); + if(IoexpandWriteReg(OUTPUT_PORT_m1, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + break; + case 2: //非圆 1/2 高低电平 + IoexpandReadReg(OUTPUT_PORT_m0, ¤t_val); + current_val |= (1 << m0_pin); + if(IoexpandWriteReg(OUTPUT_PORT_m0, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + IoexpandReadReg(OUTPUT_PORT_m1, ¤t_val); + current_val &= ~(1 << m1_pin); + if(IoexpandWriteReg(OUTPUT_PORT_m1, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + break; + case 3: //1/4 步 低高电平 + IoexpandReadReg(OUTPUT_PORT_m0, ¤t_val); + current_val &= ~(1 << m0_pin); + if(IoexpandWriteReg(OUTPUT_PORT_m0, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + IoexpandReadReg(OUTPUT_PORT_m1, ¤t_val); + current_val |= (1 << m1_pin); + if(IoexpandWriteReg(OUTPUT_PORT_m1, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + break; + case 4: //1/8 步 高高电平 + IoexpandReadReg(OUTPUT_PORT_m0, ¤t_val); + current_val |= (1 << m0_pin); + if(IoexpandWriteReg(OUTPUT_PORT_m0, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + IoexpandReadReg(OUTPUT_PORT_m1, ¤t_val); + current_val |= (1 << m1_pin); + if(IoexpandWriteReg(OUTPUT_PORT_m1, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + break; + default: //全步输入模式 低低电平 + IoexpandReadReg(OUTPUT_PORT_m0, ¤t_val); + current_val &= ~(1 << m0_pin); + if(IoexpandWriteReg(OUTPUT_PORT_m0, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + IoexpandReadReg(OUTPUT_PORT_m1, ¤t_val); + current_val &= ~(1 << m1_pin); + if(IoexpandWriteReg(OUTPUT_PORT_m1, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + break; + } +} + +/** + * @brief 设置步进电机的使能 + */ +esp_err_t IOExpansionBoard::SetMotorEnableMode(bool enable, uint8_t OUTPUT_PORT, uint8_t enable_pin) +{ + uint8_t current_val; + if(enable){ + // 进入工作状态mode + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + current_val |= (1 << enable_pin); + // ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "!!!!!!!!!0x%x", current_val); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } + else{ + // 进入睡眠状态 + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + current_val &= ~(1 << enable_pin); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } +} +/** + * @brief 设置步进电机运行方向 + */ +esp_err_t IOExpansionBoard::StepperMotorSetDir(bool dir, uint8_t OUTPUT_PORT, uint8_t pin) +{ + uint8_t current_val; + if(dir){ + // 方向为正转 + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + current_val |= (1 << pin); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } + else{ + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + current_val &= ~(1 << pin); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } +} + + +/** + * @brief 设置步进电机是否进入睡眠或者工作状态(高电平进入工作状态,低电平进入睡眠状态) + */ +esp_err_t IOExpansionBoard::SetMotorSleepMode(bool mode, uint8_t OUTPUT_PORT, uint8_t nsleep_pin) +{ + uint8_t current_val; + if(mode){ + // 进入工作状态mode + // ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "进入工作状态"); + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + //打印读出来的寄存器值 + // ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "电机睡眠输出寄存器: 0x%x", current_val); + current_val |= (1 << nsleep_pin); + // ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置电机睡眠输出寄存器: 0x%x", current_val); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } + else{ + // 进入睡眠状态 + // ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "进入睡眠状态"); + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + //打印读出来的寄存器值 + // ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "电机睡眠输出寄存器: 0x%x", current_val); + current_val &= ~(1 << nsleep_pin); + // ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置电机睡眠输出寄存器: 0x%x", current_val); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } +} + + +/*********************************************IO扩展板LCD引脚配置参数***********************************************/ +/** + * @brief 设置 LCD_BL引脚电平(高电平为命令模式,低电平为数据模式) + */ +esp_err_t IOExpansionBoard::SetLcdBlMode(bool mode, uint8_t OUTPUT_PORT, uint8_t bl_pin) +{ + uint8_t current_val; + if(mode){ + // 进入命令模式 + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + current_val |= (1 << bl_pin); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } + else{ + // 进入数据模式 + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + current_val &= ~(1 << bl_pin); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } +} + +/** + * @brief 设置 LCD_RST引脚电平(高电平为复位模式,低电平为工作模式) + */ +esp_err_t IOExpansionBoard::SetLcdResetMode(bool mode, uint8_t OUTPUT_PORT, uint8_t reset_pin) +{ + uint8_t current_val; + if(mode){ + // 进入复位模式 + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "进入复位模式"); + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + //打印读出来的寄存器值 + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "LCD复位输出寄存器: 0x%x", current_val); + current_val |= (1 << reset_pin); + //打印设置后的寄存器值 + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置LCD复位输出寄存器: 0x%x", current_val); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } + else{ + // 进入工作模式 + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "进入工作模式"); + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + //打印读出来的寄存器值 + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "LCD复位输出寄存器: 0x%x", current_val); + current_val &= ~(1 << reset_pin); + //打印设置后的寄存器值 + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置LCD复位输出寄存器: 0x%x", current_val); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } +} + +/** + * @brief 设置 LED_EN 引脚状态（v1.1.16：高电平有效，低电平无效） + */ +esp_err_t IOExpansionBoard::SetLedEnMode(bool enable) +{ + uint8_t current_val; + esp_err_t err = IoexpandReadReg(LED_EN_PORT, ¤t_val); + if (err != ESP_OK) return err; + if (enable) { + current_val |= (1 << LED_EN_PIN); // 高电平：开启 + } else { + current_val &= ~(1 << LED_EN_PIN); // 低电平：关闭 + } + return IoexpandWriteReg(LED_EN_PORT, current_val); +} + +/*********************************************IO扩展板的输入引脚配置以及中断引脚定义***********************************************/ +/** + * @brief 设置 毫米波雷达的中断引脚 + */ +esp_err_t IOExpansionBoard::SetRadarInterruptPin(bool mode, uint8_t INPUT_PORT, uint8_t interrupt_pin) +{ + uint8_t current_val; + if(mode){ + // 进入输入模式 + IoexpandReadReg(INPUT_PORT, ¤t_val); + current_val |= (1 << interrupt_pin); + return IoexpandWriteReg(INPUT_PORT, current_val); + } + else{ + // 进入输出模式 + IoexpandReadReg(INPUT_PORT, ¤t_val); + current_val &= ~(1 << interrupt_pin); + return IoexpandWriteReg(INPUT_PORT, current_val); + } +} + +/** + * @brief 设置 PA_CTRL引脚电平 + */ +esp_err_t IOExpansionBoard::SetPaCtrlMode(bool mode) +{ + uint8_t current_val; + if(mode){ + // 进入高电平状态 + ESP_LOGI("io_ex:", "read reg"); + IoexpandReadReg(PA_CTRL_PORT, ¤t_val); + current_val |= (1 << PA_CTRL_PIN); + return IoexpandWriteReg(PA_CTRL_PORT, current_val); + } + else{ + // 进入低电平状态 + IoexpandReadReg(PA_CTRL_PORT, ¤t_val); + current_val &= ~(1 << PA_CTRL_PIN); + return IoexpandWriteReg(PA_CTRL_PORT, current_val); + } +} + + + +/** + * @brief I2C数据读取任务主体 + */ +void IOExpansionBoard::I2cReadTask(void* pvParameters) +{ + IOExpansionBoard* instance = static_cast(pvParameters); + if (!instance) { + vTaskDelete(nullptr); + return; + } + // 初始化复位引脚 + esp_err_t err = instance->ResetGpioInit(IO_EXPAND_RSTN); + if (err != ESP_OK) { + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "GPIO复位初始化失败"); + } + + // 执行硬件复位 - 这是解决中断引脚持续拉低的关键 + err = instance->ResetIoExpand(); + if (err != ESP_OK) { + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "IO扩展板硬件复位失败"); + } else { + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "IO扩展板硬件复位成功"); + + // 检查复位后的中断引脚状态 + int interrupt_level = gpio_get_level(GPIO_INPUT_PIN_SEL); + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "复位后中断引脚状态: %s (0=低电平, 1=高电平)", + interrupt_level ? "高电平" : "低电平"); + } + + // 初始化IO扩展板子的中断引脚 + err = instance->InterruptGpioInit(GPIO_INPUT_PIN_SEL); + if (err != ESP_OK) { + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "GPIO中断初始化失败"); + } + // 设置IO扩展板模式 - 复位后必须重新配置寄存器！ + err = instance->IoexpandSetMode(); + if (err != ESP_OK) { + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "IO扩展板模式配置失败"); + } else { + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "IO扩展板模式配置成功"); + } + // 设置LCD屏幕复位引脚 + err = instance->SetLcdResetMode(LCD_RST_HIGH, LCD_RST_PORT, LCD_RST_PIN); + if(err != ESP_OK){ + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "设置LCD屏幕复位引脚失败"); + } + else{ + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "设置LCD屏幕复位引脚成功"); + } + // 设置LCD屏幕复位引脚为低电平 + err = instance->SetLcdResetMode(LCD_RST_LOW, LCD_RST_PORT, LCD_RST_PIN); + if(err != ESP_OK){ + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "设置LCD屏幕复位引脚失败"); + } + else{ + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "设置LCD屏幕复位引脚成功"); + } + + uint8_t current_val_port0_ = 0,current_val_port1_ = 0,current_temp_ = 0; + for (;;) { + // 等待中断事件触发 + if (instance->i2c_task_event_group_) { + xEventGroupWaitBits(instance->i2c_task_event_group_, BIT0, pdTRUE, pdFALSE, portMAX_DELAY); + } + + ESP_LOGD(TAG_GPIO_IO_EXPAND_DETECT, "IO扩展板中断触发"); + + // 检查中断触发时的引脚状态 + int interrupt_level = gpio_get_level(GPIO_INPUT_PIN_SEL); + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "中断触发时引脚状态: %s (0=低电平, 1=高电平)", + interrupt_level ? "高电平" : "低电平"); + + // AW9523B中断处理说明（根据数据手册）： + // 1. 当输入引脚状态变化时，AW9523B会拉低INT引脚（连接到ESP32的GPIO10） + // 2. 通过读取输入端口寄存器（00H, 01H）来清除对应端口的中断 + // 3. 无独立的中断状态寄存器，需要通过输入电平变化来判断中断源 + // 4. 读取INPUT_PORT0 (00H) 清除P0口中断，读取INPUT_PORT1 (01H) 清除P1口中断 + + // 一次性读取两个端口的输入寄存器，避免重复读取和错误的OR操作 + instance->IoexpandReadReg(INPUT_PORT0, ¤t_val_port0_); + instance->IoexpandReadReg(INPUT_PORT1, ¤t_val_port1_); + + ESP_LOGD(TAG_GPIO_IO_EXPAND_DETECT, "读取端口状态 - Port0: 0x%02X, Port1: 0x%02X", current_val_port0_, current_val_port1_); + + // 检查读取寄存器后中断引脚是否被清除（应该恢复高电平） + interrupt_level = gpio_get_level(GPIO_INPUT_PIN_SEL); + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "读取寄存器后中断引脚状态: %s (0=低电平, 1=高电平)", + interrupt_level ? "高电平" : "低电平"); + + //判断是否有中断来自雷达引脚 + if((RADAR_INTERRUPT_INPUT == INPUT_PORT0) && (current_val_port0_ & (1 << RADAR_INTERRUPT_PIN))){ + // 检查雷达引脚状态是否发生了变化，避免重复触发 + bool current_radar_state = (current_val_port0_ & (1 << RADAR_INTERRUPT_PIN)) != 0; + if (current_radar_state != instance->radar_last_state_) { + instance->radar_last_state_ = current_radar_state; + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "检测到中断来自雷达引脚\n"); + // 读取输入寄存器以清除中断标志 + uint8_t temp_input_val; + instance->IoexpandReadReg(INPUT_PORT0, &temp_input_val); + // 调用毫米波雷达回调函数 + if (instance->radar_) { + instance->radar_->TriggerRadarDetectCallback(); + } + // 调用雷达回调函数（新接口） + if (instance->radar_callback_) { + instance->radar_callback_(); + } + } else { + // 状态未变化，仍读取寄存器以清除可能的中断标志 + uint8_t temp_input_val; + instance->IoexpandReadReg(INPUT_PORT0, &temp_input_val); + } + } + else if((RADAR_INTERRUPT_INPUT == INPUT_PORT1) && (current_val_port1_ & (1 << RADAR_INTERRUPT_PIN))){ + // 检查雷达引脚状态是否发生了变化，避免重复触发 + bool current_radar_state = (current_val_port1_ & (1 << RADAR_INTERRUPT_PIN)) != 0; + if (current_radar_state != instance->radar_last_state_) { + instance->radar_last_state_ = current_radar_state; + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "检测到中断来自雷达引脚1\n"); + // 读取输入寄存器以清除中断标志 + uint8_t temp_input_val; + instance->IoexpandReadReg(INPUT_PORT1, &temp_input_val); + // 调用毫米波雷达回调函数 + if (instance->radar_) { + instance->radar_->TriggerRadarDetectCallback(); + } + // 调用雷达回调函数（新接口） + if (instance->radar_callback_) { + instance->radar_callback_(); + } + } else { + // 状态未变化，仍读取寄存器以清除可能的中断标志 + uint8_t temp_input_val; + instance->IoexpandReadReg(INPUT_PORT1, &temp_input_val); + } + } + // else{ + // ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "未检测到雷达引脚中断\n"); + // } + + //判断是否有中断来自初始光学传感器引脚 + if((START_PHOTO_INTERRUPTER_INPUT == INPUT_PORT0) && (current_val_port0_ & (1 << START_PHOTO_INTERRUPTER_PIN))){ + bool current_photo_state = (current_val_port0_ & (1 << START_PHOTO_INTERRUPTER_PIN)) != 0; + uint8_t old_photo_state = instance->last_port0_state_ & (1 << START_PHOTO_INTERRUPTER_PIN); + if ((current_photo_state ? 1 : 0) != (old_photo_state ? 1 : 0)) { + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "检测到中断来自初始光学传感器引脚\n"); + // 读取输入寄存器以清除中断标志 + uint8_t temp_input_val; + instance->IoexpandReadReg(INPUT_PORT0, &temp_input_val); + // 调用初始光学传感器回调函数 + if (instance->photo_interrupter_) { + instance->photo_interrupter_->TriggerStartCallback(); + } + // 调用光学传感器开始回调函数（新接口） + if (instance->photo_start_callback_) { + instance->photo_start_callback_(); + } + // 更新状态 + instance->last_port0_state_ = current_val_port0_; + } else { + // 状态未变化，仍读取寄存器以清除可能的中断标志 + uint8_t temp_input_val; + instance->IoexpandReadReg(INPUT_PORT0, &temp_input_val); + } + } + else if((START_PHOTO_INTERRUPTER_INPUT == INPUT_PORT1) && (current_val_port1_ & (1 << START_PHOTO_INTERRUPTER_PIN))){ + bool current_photo_state = (current_val_port1_ & (1 << START_PHOTO_INTERRUPTER_PIN)) != 0; + uint8_t old_photo_state = instance->last_port1_state_ & (1 << START_PHOTO_INTERRUPTER_PIN); + if ((current_photo_state ? 1 : 0) != (old_photo_state ? 1 : 0)) { + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "检测到中断来自初始光学传感器引脚\n"); + // 读取输入寄存器以清除中断标志 + uint8_t temp_input_val; + instance->IoexpandReadReg(INPUT_PORT1, &temp_input_val); + // 调用初始光学传感器回调函数 + if (instance->photo_interrupter_) { + instance->photo_interrupter_->TriggerStartCallback(); + } + // 调用光学传感器开始回调函数（新接口） + if (instance->photo_start_callback_) { + instance->photo_start_callback_(); + } + // 更新状态 + instance->last_port1_state_ = current_val_port1_; + } else { + // 状态未变化，仍读取寄存器以清除可能的中断标志 + uint8_t temp_input_val; + instance->IoexpandReadReg(INPUT_PORT1, &temp_input_val); + } + } + // else{ + // // ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "未检测到初始光学传感器引脚中断\n"); + // } + + //判断是否有中断来自结束光学传感器引脚 + if((END_PHOTO_INTERRUPTER_INPUT == INPUT_PORT0) && (current_val_port0_ & (1 << END_PHOTO_INTERRUPTER_PIN))){ + bool current_photo_state = (current_val_port0_ & (1 << END_PHOTO_INTERRUPTER_PIN)) != 0; + uint8_t old_photo_state = instance->last_port0_state_ & (1 << END_PHOTO_INTERRUPTER_PIN); + if ((current_photo_state ? 1 : 0) != (old_photo_state ? 1 : 0)) { + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "检测到中断来自结束光学传感器引脚\n"); + // 读取输入寄存器以清除中断标志 + uint8_t temp_input_val; + instance->IoexpandReadReg(INPUT_PORT0, &temp_input_val); + // 调用结束光学传感器回调函数 + if (instance->photo_interrupter_) { + instance->photo_interrupter_->TriggerEndCallback(); + } + // 调用光学传感器结束回调函数（新接口） + if (instance->photo_end_callback_) { + instance->photo_end_callback_(); + } + // 更新状态 + instance->last_port0_state_ = current_val_port0_; + } else { + // 状态未变化，仍读取寄存器以清除可能的中断标志 + uint8_t temp_input_val; + instance->IoexpandReadReg(INPUT_PORT0, &temp_input_val); + } + } + else if((END_PHOTO_INTERRUPTER_INPUT == INPUT_PORT1) && (current_val_port1_ & (1 << END_PHOTO_INTERRUPTER_PIN))){ + bool current_photo_state = (current_val_port1_ & (1 << END_PHOTO_INTERRUPTER_PIN)) != 0; + uint8_t old_photo_state = instance->last_port1_state_ & (1 << END_PHOTO_INTERRUPTER_PIN); + if ((current_photo_state ? 1 : 0) != (old_photo_state ? 1 : 0)) { + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "检测到中断来自结束光学传感器引脚\n"); + // 读取输入寄存器以清除中断标志 + uint8_t temp_input_val; + instance->IoexpandReadReg(INPUT_PORT1, &temp_input_val); + // 调用结束光学传感器回调函数 + if (instance->photo_interrupter_) { + instance->photo_interrupter_->TriggerEndCallback(); + } + // 调用光学传感器结束回调函数（新接口） + if (instance->photo_end_callback_) { + instance->photo_end_callback_(); + } + // 更新状态 + instance->last_port1_state_ = current_val_port1_; + } else { + // 状态未变化，仍读取寄存器以清除可能的中断标志 + uint8_t temp_input_val; + instance->IoexpandReadReg(INPUT_PORT1, &temp_input_val); + } + } + + //CHRG引脚充电前为高电平 充电中为低电平 充满电为高电平 + //FULL未充满为高电平 充满电为低电平 + //判断是否有中断来自电池充电引脚 + //根据配置：BATTERY_CHRG_INPUT = INPUT_PORT0, BATTERY_FULL_INPUT = INPUT_PORT1 + + // AW9523B没有独立的中断状态寄存器，需要通过比较前后状态变化来判断中断源 + // 由于读取输入端口会清除中断，我们需要先保存当前状态，然后与上次状态比较 + + //获取当前电池状态 + bool current_charging_state = !(current_val_port0_ & (1 << BATTERY_CHRG_PIN)); // CHRG低电平表示充电中 + bool current_full_state = !(current_val_port1_ & (1 << BATTERY_FULL_PIN)); // FULL低电平表示已充满 + + // 详细的调试信息 + ESP_LOGD(TAG_GPIO_IO_EXPAND_DETECT, "电池状态检测 - Port0: 0x%02X, Port1: 0x%02X", current_val_port0_, current_val_port1_); + ESP_LOGD(TAG_GPIO_IO_EXPAND_DETECT, "电池状态检测 - CHRG_PIN: %d (bit %d), FULL_PIN: %d (bit %d)", + (current_val_port0_ & (1 << BATTERY_CHRG_PIN)) ? 1 : 0, BATTERY_CHRG_PIN, + (current_val_port1_ & (1 << BATTERY_FULL_PIN)) ? 1 : 0, BATTERY_FULL_PIN); + ESP_LOGD(TAG_GPIO_IO_EXPAND_DETECT, "电池状态检测 - 充电状态: %s, 充满状态: %s", + current_charging_state ? "充电中" : "未充电", + current_full_state ? "已充满" : "未充满"); + ESP_LOGD(TAG_GPIO_IO_EXPAND_DETECT, "电池状态检测 - 上次充电状态: %s, 上次充满状态: %s", + instance->battery_charging_last_state_ ? "充电中" : "未充电", + instance->battery_full_last_state_ ? "已充满" : "未充满"); + + //检查充电状态是否发生变化 + if (current_charging_state != instance->battery_charging_last_state_) { + instance->battery_charging_last_state_ = current_charging_state; + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "电池充电状态变化: %s", current_charging_state ? "充电中" : "未充电"); + ESP_LOGD(TAG_GPIO_IO_EXPAND_DETECT, "充电状态变化详情 - 从 %s 到 %s", + instance->battery_charging_last_state_ ? "未充电" : "充电中", + current_charging_state ? "充电中" : "未充电"); + + if (current_charging_state) { + // 进入充电状态 + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "检测到开始充电"); + if (instance->battery_monitor_) { + instance->battery_monitor_->TriggerChrgCallback(); + } + if (instance->battery_charging_callback_) { + instance->battery_charging_callback_(); + } + } else { + // 退出充电状态 + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "检测到停止充电"); + if (instance->battery_monitor_) { + instance->battery_monitor_->TriggerNotChrgCallback(); + } + if (instance->battery_not_charging_callback_) { + instance->battery_not_charging_callback_(); + } + } + } + + //检查充满状态是否发生变化 + if (current_full_state != instance->battery_full_last_state_) { + instance->battery_full_last_state_ = current_full_state; + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "电池充满状态变化: %s", current_full_state ? "已充满" : "未充满"); + ESP_LOGD(TAG_GPIO_IO_EXPAND_DETECT, "充满状态变化详情 - 从 %s 到 %s", + instance->battery_full_last_state_ ? "未充满" : "已充满", + current_full_state ? "已充满" : "未充满"); + + if (current_full_state) { + // 进入充满状态 + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "检测到电池已充满"); + if (instance->battery_monitor_) { + instance->battery_monitor_->TriggerFullCallback(); + } + if (instance->battery_full_callback_) { + instance->battery_full_callback_(); + } + } + + } + + // 根据AW9523B数据手册：读取输入端口寄存器清除对应端口的中断 + // 读取INPUT_PORT0 (00H) 清除P0口中断，读取INPUT_PORT1 (01H) 清除P1口中断 + uint8_t temp_input_val; + instance->IoexpandReadReg(INPUT_PORT0, &temp_input_val); + instance->IoexpandReadReg(INPUT_PORT1, &temp_input_val); + + ESP_LOGD(TAG_GPIO_IO_EXPAND_DETECT, "中断处理完成，已读取输入端口寄存器清除中断标志"); + } +} + + +/** + * @brief 创建I2C数据读取任务 + */ +void IOExpansionBoard::CreateI2cReadTask() +{ + printf("创建I2C读取任务之前:Internal Free: %d bytes\n", heap_caps_get_free_size(MALLOC_CAP_INTERNAL)); + printf("创建I2C读取任务之前:PSRAM Free: %d bytes\n", heap_caps_get_free_size(MALLOC_CAP_SPIRAM)); + if (xI2CReadTaskHandle_) { + return; // 任务已创建 + } + + xTaskCreateWithCaps( + I2cReadTask, + "i2c_read_task", + I2C_TASK_STACK, + this, + I2C_TASK_PRIORITY, + &xI2CReadTaskHandle_, + MALLOC_CAP_SPIRAM | MALLOC_CAP_8BIT + ); + + if (xI2CReadTaskHandle_ == NULL) { + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "Failed to create static I2C read task"); + } else { + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "Static I2C read task created successfully"); + } + printf("创建I2C读取任务之后:Internal Free: %d bytes\n", heap_caps_get_free_size(MALLOC_CAP_INTERNAL)); + printf("创建I2C读取任务之后:PSRAM Free: %d bytes\n", heap_caps_get_free_size(MALLOC_CAP_SPIRAM)); +} + +/** + * @brief 启动I2C任务 (整合初始化和任务创建) + */ +esp_err_t IOExpansionBoard::StartTask() +{ + // 再创建任务 + if (!xI2CReadTaskHandle_) { + CreateI2cReadTask(); + } + return ESP_OK; +} diff --git a/main/02_physical/boards/board_v1_1_16/io_expansion_board.h b/main/02_physical/boards/board_v1_1_16/io_expansion_board.h new file mode 100644 index 0000000..0157e39 --- /dev/null +++ b/main/02_physical/boards/board_v1_1_16/io_expansion_board.h @@ -0,0 +1,432 @@ +#ifndef IO_EXPANSION_BOARD_H +#define IO_EXPANSION_BOARD_H + +#include +#include +#include +#include +#include +#include +#include "i2c_bus.h" +#include "freertos/FreeRTOS.h" +#include "freertos/event_groups.h" +#include +#include +#include +#include +#include +#include +#include +#include "esp_err.h" +#include "config.h" +#include "portmacro.h" + +// 前向声明,避免循环引用 +class MillimeterWaveRadar; +class PhotoInterrupter; +class AdcBatteryMonitor; + +// 回调函数类型定义 +typedef std::function RadarCallback; +typedef std::function PhotoInterrupterStartCallback; +typedef std::function PhotoInterrupterEndCallback; +typedef std::function BatteryChargingCallback; +typedef std::function BatteryFullCallback; +typedef std::function BatteryNotChargingCallback; + +/* 寄存器地址 */ +#define INPUT_PORT0 0x00 // 输入端口0寄存器 +#define INPUT_PORT1 0x01 // 输入端口1寄存器 0为低电平(仅支持读取) +#define OUTPUT_PORT0 0x02 // 输出端口0寄存器 +#define OUTPUT_PORT1 0x03 // 输出端口1寄存器 0为低电平 +#define CONFIG_PORT0 0x04 // 配置端口0寄存器 +#define CONFIG_PORT1 0x05 // 配置端口1寄存器 0为输出模式 +#define INT_PORT0 0x06 // 中断端口0寄存器 +#define INT_PORT1 0x07 // 中断端口1寄存器 0为使能中断(根据手册默认是使能的) +#define CTL 0x11 // 全局控制寄存器 +#define ID 0x23 // 芯片ID寄存器(0x23) + +/***********************************IO扩展板电机引脚配置参数*************************************/ +/* 设置步进电机方向 */ +#define STEPPER_MOTOR_LEFT false //步进电机的方向为左转 +#define STEPPER_MOTOR_RIGHT true //步进电机的方向为右转 +#define STEPPER_MOTOR_DIR_PORT OUTPUT_PORT0 //步进电机方向引脚挂载在IO扩展板的输出端口OUTPUT_PORT0 +#define STEPPER_MOTOR_DIR_PIN 4 //步进电机方向引脚对应的IO扩展板引脚P0_4 +#define STEPPER_MOTOR_DIR_CONFIG CONFIG_PORT0 //步进电机方向引脚配置在P0_4 + +/* 设置步进电机细分模式 */ +#define STEPPER_MOTOR_M0_PIN 5 //步进电机细分模式选择引脚对应IO扩展板引脚P1_5 +#define STEPPER_MOTOR_M0_MADE_PORT OUTPUT_PORT1 //步进电机模式选择引脚挂载在IO扩展板的输出端口OUTPUT_PORT1 +#define STEPPER_MOTOR_M0_CONFIG CONFIG_PORT1 //步进电机细分模式选择引脚配置在P1_5 + +#define STEPPER_MOTOR_M1_PIN 4 //步进电机细分模式选择引脚对应IO扩展板引脚P1_4 +#define STEPPER_MOTOR_M1_MADE_PORT OUTPUT_PORT1 //步进电机模式选择引脚挂载在IO扩展板的输出端口OUTPUT_PORT1 +#define STEPPER_MOTOR_M1_CONFIG CONFIG_PORT1 //步进电机细分模式选择引脚配置在P1_4 + +/* 设置步进电机睡眠引脚 */ +#define STEPPER_MOTOR_SLEEP false //步进电机进入睡眠模式 +#define STEPPER_MOTOR_WORK true //步进电机进入工作模式 +#define STEPPER_MOTOR_SLEEP_PIN 6 //步进电机睡眠引脚对应IO扩展板引脚P1_6 +#define STEPPER_MOTOR_SLEEP_CONFIG CONFIG_PORT1 //步进电机睡眠引脚配置在P1_6 +#define STEPPER_MOTOR_SLEEP_PORT OUTPUT_PORT1 //步进电机睡眠引脚挂载在IO扩展板的输出端口OUTPUT_PORT1 + +/* 设置电机的使能引脚 */ +#define STEPPER_MOTOR_ENABLE_PIN 7 //电机使能引脚对应IO扩展板引脚P0_7 +#define STEPPER_MOTOR_ENABLE_PORT OUTPUT_PORT0 //电机使能引脚挂载在IO扩展板的输出端口OUTPUT_PORT0 +#define STEPPER_MOTOR_ENABLE_CONFIG CONFIG_PORT0 //电机使能引脚配置在P0_7 +#define STEPPER_MOTOR_ENABLE_ENABLE true //电机使能引脚状态为高电平 +#define STEPPER_MOTOR_ENABLE_DISABLE false //电机使能引脚状态为低电平 + +/* 设置毫米波雷达对应IO扩展板的中断引脚 */ +#define RADAR_INTERRUPT_PIN 7 //毫米波雷达中断引脚对应IO扩展板引脚P1_7 +#define RADAR_INTERRUPT_CONFIG CONFIG_PORT1 //毫米波雷达中断引脚挂载在IO扩展板的输入端口 +#define RADAR_INTERRUPT_INPUT INPUT_PORT1 //毫米波雷达中断引脚输入状态检测在INPUT_PORT1 +#define RADAR_INTERRUPT_ENABLE true //毫米波雷达中断引脚状态为输入状态 +#define RADAR_INTERRUPT_DISABLE false //毫米波雷达中断引脚状态为输出状态 +/* 任务配置常量 */ +#define WRITE_BUF_SIZE 2 // I2C单次写入字节数 +#define READ_BUF_SIZE 2 // I2C单次读取字节数 +#define I2C_TASK_PRIORITY 2 // 任务优先级(中等) +#define I2C_TASK_STACK 4096 // 任务栈大小(4KB) + +// 光学传感器引脚定义 +#define START_PHOTO_INTERRUPTER_PIN 2 // 光学传感器引脚(P0_2) +#define START_PHOTO_INTERRUPTER_CONFIG CONFIG_PORT0 // 光学传感器引脚挂载在IO扩展板的输入端口 +#define START_PHOTO_INTERRUPTER_INPUT INPUT_PORT0 // 光学传感器引脚输入状态检测在INPUT_PORT0 +#define START_PHOTO_INTERRUPTER_HIGH true // 光学传感器引脚状态为高电平 +#define START_PHOTO_INTERRUPTER_LOW false // 光学传感器引脚状态为低电平 + +#define END_PHOTO_INTERRUPTER_PIN 3 // 光学传感器引脚(P0_3) +#define END_PHOTO_INTERRUPTER_PORT_CONFIG CONFIG_PORT0 // 光学传感器引脚挂载在IO扩展板的输入端口 +#define END_PHOTO_INTERRUPTER_INPUT INPUT_PORT0 // 光学传感器引脚输入状态检测在INPUT_PORT0 +#define END_PHOTO_INTERRUPTER_HIGH true // 光学传感器引脚状态为高电平 +#define END_PHOTO_INTERRUPTER_LOW false // 光学传感器引脚状态为低电平 + +/***********************************LED_EN 电源控制(WS2812/背光等)*************************************/ +// v1.1.16: LED_EN 高电平有效，低电平无效；端口为 IO 扩展 P0_1 +#define LED_EN_PIN 1 +#define LED_EN_PORT OUTPUT_PORT0 +#define LED_EN_CONFIG CONFIG_PORT0 + +/***********************************IO扩展板LCD引脚配置参数*************************************/ +// /* 设置LCD的BL引脚 */ +// #define LCD_BL_PIN 6 //LCD背光引脚对应IO扩展板引脚P0_6 +// #define LCD_BL_PORT OUTPUT_PORT0 //LCD背光引脚挂载在IO扩展板的输出端口OUTPUT_PORT0 +// #define LCD_BL_CONFIG CONFIG_PORT0 //LCD背光引脚配置在P0_6 +// #define LCD_BL_HIGH true //LCD背光引脚状态为高电平 +// #define LCD_BL_LOW false //LCD背光引脚状态为低电平 + +/* 设置LCD的RST引脚 */ +#define LCD_RST_PIN 1 //LCD复位引脚对应IO扩展板引脚P1_1 +#define LCD_RST_CONFIG CONFIG_PORT1 //LCD复位引脚配置在P1_1 +#define LCD_RST_PORT OUTPUT_PORT1 //LCD复位引脚挂载在IO扩展板的输出端口OUTPUT_PORT1 +#define LCD_RST_HIGH true //LCD复位引脚状态为高电平 +#define LCD_RST_LOW false //LCD复位引脚状态为低电平 + +/* 设置PA控制引脚 */ +#define PA_CTRL_PIN 2 //PA控制引脚对应IO扩展板引脚P1_2 +#define PA_CTRL_CONFIG CONFIG_PORT1 //PA控制引脚配置在P1_2 +#define PA_CTRL_PORT OUTPUT_PORT1 //PA控制引脚挂载在IO扩展板的输出端口OUTPUT_PORT1 +#define PA_CTRL_HIGH true //PA控制引脚状态为高电平 +#define PA_CTRL_LOW false //PA控制引脚状态为低电平 + +// 电池充电检测引脚定义 +#define BATTERY_FULL_INPUT INPUT_PORT1 // 电池充满检测引脚挂载在IO扩展板的输入端口 +#define BATTERY_FULL_PIN 3 // 电池充满检测引脚对应IO扩展板引脚P1_3 +#define BATTERY_FULL_CONFIG CONFIG_PORT1 // 电池充满检测引脚配置在P1_3 + +#define BATTERY_CHRG_INPUT INPUT_PORT0 // 充电检测引脚挂载在IO扩展板的输入端口 +#define BATTERY_CHRG_PIN 5 // 充电检测引脚(P0_5) +#define BATTERY_CHRG_CONFIG CONFIG_PORT0 // 充电检测引脚挂载在IO扩展板的输入端口 + +#define TAG_GPIO_IO_EXPAND_DETECT "GPIO_IO_EXPAND_DETECT" // GPIO中断检测日志标签 +#define TAG_I2C_IO_EXPAND_TASK "I2C_IO_EXPAND_TASK" // I2CIO扩展板任务日志标签 + +// GPIO引脚定义 +#define GPIO_INPUT_PIN_SEL GPIO_NUM_10 // IO扩展板中断检测引脚 +// #define IO_EXPAND_RSTN GPIO_NUM_14 // IO扩展板复位引脚 + +/** + * @class IOExpansionBoard + * @brief I/O扩展板驱动类,封装AW9523BTQR芯片操作 + */ +class IOExpansionBoard +{ +public: + /** + * @brief 构造函数 + */ + IOExpansionBoard(); + + /** + * @brief 设置毫米波雷达指针 + * @param radar 毫米波雷达对象指针 + */ + void SetRadar(MillimeterWaveRadar* radar) { radar_ = radar; }; + + /** + * @brief 设置限位开关指针 + * @param photo_interrupter 限位开关对象指针 + */ + void setPhotoInterrupter(PhotoInterrupter* photo_interrupter) { photo_interrupter_ = photo_interrupter; }; + + /** + * @brief 设置电池监控器指针 + * @param battery_monitor 电池监控器对象指针 + */ + void setBatteryMonitor(AdcBatteryMonitor* battery_monitor) { battery_monitor_ = battery_monitor; }; + + /** + * @brief 析构函数 + */ + ~IOExpansionBoard(); + + /** + * @brief 初始化GPIO中断检测 + * @param gpio_num 中断引脚编号 + * @return esp_err_t 初始化结果 + */ + esp_err_t InterruptGpioInit(gpio_num_t gpio_num); + + /** + * @brief 初始化IO扩展板复位引脚 + * @param gpio_num 复位引脚编号 + * @return esp_err_t 初始化结果 + */ + esp_err_t ResetGpioInit(gpio_num_t gpio_num); + + /** + * @brief 初始化IO扩展板复位引脚 + * @param gpio_num 复位引脚编号 + * @return esp_err_t 初始化结果 + */ + esp_err_t ResetIoExpand(); + + /** + * @brief 初始化I2C主机通信 + * @return esp_err_t 初始化结果 + */ + // esp_err_t IoExpansionI2cInit(); + + /** + * @brief 创建I2C数据读取任务 + */ + void CreateI2cReadTask(); + + /** + * @brief 启动I2C任务(整合初始化和任务创建) + * @return esp_err_t 操作结果 + */ + esp_err_t StartTask(); + + /** + * @brief 写寄存器数据 + * @param reg_addr 寄存器地址 + * @param data 要写入的数据 + * @return esp_err_t 操作结果 + */ + esp_err_t IoexpandWriteReg(uint8_t reg_addr, uint8_t data); + + /** + * @brief 读寄存器数据 + * @param reg_addr 寄存器地址 + * @param data 要读出的数据 + * @return esp_err_t 操作结果 + */ + esp_err_t IoexpandReadReg(uint8_t reg_addr, uint8_t *data); + + /** + * @brief 读取输入端口0寄存器数据 + * @param data 输出参数,用于存储读取到的数据 + * @return esp_err_t 操作结果 + */ + esp_err_t ReadInputPort0(uint8_t *data); + + /** + * @brief 读取输入端口1寄存器数据 + * @param data 输出参数,用于存储读取到的数据 + * @return esp_err_t 操作结果 + */ + esp_err_t ReadInputPort1(uint8_t *data); + + // /** + // * @brief 设置IO扩展板GPIO中断状态 通过读取Input_Port0 和 Input_Port1 寄存器可以清除中断 + // * @param reg_addr 寄存器地址 + // * @return esp_err_t 操作结果 + // */ + // esp_err_t SetInterruptStatus(bool status); + + /** + * @brief 配置IO扩展版上的IO口为输出还是输入,并且设置初始为高电平 + * @return esp_err_t 操作结果 + */ + esp_err_t IoexpandSetMode(); + + /** + * @brief 设置步进电机的细分模式 + * @param mode 模式：1/2/4/8/16/32/64 + * @return esp_err_t 操作结果 + */ + void SetStepperMicrostepMode(uint8_t mode, uint8_t OUTPUT_PORT_m0, uint8_t m0_pin, uint8_t OUTPUT_PORT_m1, uint8_t m1_pin); + + /** + * @brief 设置步进电机的方向 + * @param dir 方向 + * @param OUTPUT_PORT 输出端口 + * @param pin 引脚号 + * @return esp_err_t 操作结果 + */ + esp_err_t StepperMotorSetDir(bool dir, uint8_t OUTPUT_PORT, uint8_t pin); + + /** + * @brief 设置步进电机的睡眠模式 + * @param 是否进入睡眠模式 + * @param 输出端口 + * @param 引脚号 + * @return esp_err_t 操作结果 + */ + esp_err_t SetMotorSleepMode(bool mode, uint8_t OUTPUT_PORT, uint8_t nsleep_pin); + + /** + * @brief 设置步进电机的使能引脚状态 + * @param 使能状态 + * @return esp_err_t 操作结果 + */ + esp_err_t SetMotorEnableMode(bool enable, uint8_t OUTPUT_PORT, uint8_t enable_pin); + + /** + * @brief 设置LCD的BL引脚状态 + * @param BL状态 + * @return esp_err_t 操作结果 + */ + esp_err_t SetLcdBlMode(bool mode, uint8_t OUTPUT_PORT, uint8_t bl_pin); + + /** + * @brief 设置LCD的RST引脚状态 + * @param RST状态 + * @return esp_err_t 操作结果 + */ + esp_err_t SetLcdResetMode(bool mode, uint8_t OUTPUT_PORT, uint8_t rst_pin); + + /** + * @brief 设置 LED_EN 引脚状态（v1.1.16：高电平有效，低电平无效） + * @param enable true: 开启(置高)，false: 关闭(置低) + * @return esp_err_t 操作结果 + */ + esp_err_t SetLedEnMode(bool enable); + + /** + * @brief 设置PA控制引脚状态 + * @param mode PA_CTRL状态(true为高电平，false为低电平) + * @return esp_err_t 操作结果 + */ + esp_err_t SetPaCtrlMode(bool mode); + + /** + * @brief 设置雷达中断引脚 + * @param 毫米波雷达的中断引脚模式 + * @param 输入端口 + * @param 引脚号 + * @return esp_err_t 操作结果 + */ + esp_err_t SetRadarInterruptPin(bool mode, uint8_t INPUT_PORT, uint8_t interrupt_pin); + + /** + * @brief 计算Port0的字节值 + * @return uint8_t 操作结果 + */ + uint8_t ByteCalculatePort0(); + + /** + * @brief 计算Port1的字节值 + * @return uint8_t 操作结果 + */ + uint8_t ByteCalculatePort1(); + + /** + * @brief 设置雷达中断回调函数 + * @param callback 雷达中断回调函数 + */ + void SetRadarCallback(RadarCallback callback) { radar_callback_ = callback; } + + /** + * @brief 设置光学传感器开始中断回调函数 + * @param callback 光学传感器开始中断回调函数 + */ + void SetPhotoInterrupterStartCallback(PhotoInterrupterStartCallback callback) { photo_start_callback_ = callback; } + + /** + * @brief 设置光学传感器结束中断回调函数 + * @param callback 光学传感器结束中断回调函数 + */ + void SetPhotoInterrupterEndCallback(PhotoInterrupterEndCallback callback) { photo_end_callback_ = callback; } + + /** + * @brief 设置电池充电中断回调函数 + * @param callback 电池充电中断回调函数 + */ + void SetBatteryChargingCallback(BatteryChargingCallback callback) { battery_charging_callback_ = callback; } + + /** + * @brief 设置电池充满中断回调函数 + * @param callback 电池充满中断回调函数 + */ + void SetBatteryFullCallback(BatteryFullCallback callback) { battery_full_callback_ = callback; } + + /** + * @brief 设置电池非充电中断回调函数 + * @param callback 电池非充电中断回调函数 + */ + void SetBatteryNotChargingCallback(BatteryNotChargingCallback callback) { battery_not_charging_callback_ = callback; } + + // 公共成员变量 + i2c_bus_handle_t bus_handle_ = nullptr; // I2C总线句柄 + uint8_t device_addr_; // I2C设备地址 + +private: + // 静态成员函数 + MillimeterWaveRadar* radar_ = nullptr; // 毫米波雷达指针,用于触发回调 + PhotoInterrupter* photo_interrupter_ = nullptr; // 限位开关指针,用于触发回调 + AdcBatteryMonitor* battery_monitor_ = nullptr; // 电池监控器指针,用于触发回调 + static void IRAM_ATTR GpioIsrHandler(void* arg); // 中断处理函数 + static void I2cReadTask(void* pvParameters); // I2C数据读取任务函数 + + // 成员变量用于状态跟踪 + uint8_t last_port0_state_ = 0; // 上次检测到的Port0状态 + uint8_t last_port1_state_ = 0; // 上次检测到的Port1状态 + bool radar_last_state_ = false; // 雷达引脚上一次的状态 + bool battery_charging_last_state_ = false; // 电池充电状态上一次的状态 + bool battery_full_last_state_ = false; // 电池充满状态上一次的状态 + + // 回调函数成员变量 + RadarCallback radar_callback_ = nullptr; + PhotoInterrupterStartCallback photo_start_callback_ = nullptr; + PhotoInterrupterEndCallback photo_end_callback_ = nullptr; + BatteryChargingCallback battery_charging_callback_ = nullptr; + BatteryFullCallback battery_full_callback_ = nullptr; + BatteryNotChargingCallback battery_not_charging_callback_ = nullptr; + + // PhotoInterrupter* photo_interrupter_ = nullptr; // 光学传感器指针,用于触发回调 + // /** + // * @brief 分配静态任务所需的内存 + // * @return bool 分配是否成功 + // */ + // bool AllocateStaticTaskMemory(); + + // /** + // * @brief 释放静态任务分配的内存 + // */ + // void FreeStaticTaskMemory(); + + // 实例成员变量 + EventGroupHandle_t i2c_task_event_group_ = nullptr; // 事件组 + TaskHandle_t xI2CReadTaskHandle_ = nullptr; // 任务句柄 + bool is_initialized_ = false; // 初始化状态标记(新增) + gpio_num_t interrupt_gpio_ = GPIO_NUM_NC; // 中断引脚 + gpio_num_t reset_gpio_ = GPIO_NUM_NC; // 复位引脚 + + // StackType_t* pI2CReadTaskStackBuffer = nullptr; // 任务栈指针(PSRAM） + // StaticTask_t* pxI2CReadTaskBuffer = nullptr; // 任务控制块指针(内部RAM） +}; + +#endif diff --git a/main/02_physical/boards/board_v1_1_16/power_management_config.h b/main/02_physical/boards/board_v1_1_16/power_management_config.h new file mode 100644 index 0000000..da609fb --- /dev/null +++ b/main/02_physical/boards/board_v1_1_16/power_management_config.h @@ -0,0 +1,178 @@ +/** + * @file power_management_config.h + * @brief 功耗管理配置和策略定义 + * @author Embedded Software Expert + * @date 2025年1月 + * + * 这个文件定义了功耗管理的配置参数、策略和优化建议， + * 为系统提供灵活的功耗管理方案。 + */ + +#ifndef POWER_MANAGEMENT_CONFIG_H +#define POWER_MANAGEMENT_CONFIG_H + +#include "esp_sleep.h" +#include "driver/rtc_io.h" +#include "esp32/rom/rtc.h" + +/** + * @brief 功耗管理配置结构体 + */ +typedef struct { + // 睡眠模式配置 + uint64_t light_sleep_duration_us; // 轻度睡眠持续时间（微秒） + uint64_t deep_sleep_duration_us; // 深度睡眠持续时间（微秒） + + // 唤醒源配置 + bool enable_timer_wakeup; // 启用定时器唤醒 + bool enable_gpio_wakeup; // 启用GPIO唤醒 + bool enable_touch_wakeup; // 启用触摸唤醒 + gpio_num_t wakeup_gpio_num; // 唤醒GPIO编号 + int wakeup_level; // 唤醒电平（0或1） + + // 功耗优化配置 + bool disable_bt_in_sleep; // 睡眠时关闭蓝牙 + bool disable_wifi_in_sleep; // 睡眠时关闭WiFi + bool reduce_cpu_frequency; // 降低CPU频率 + uint32_t cpu_frequency_hz; // CPU频率（Hz） + + // 外设功耗配置 + bool power_down_sdcard; // 睡眠时关闭SD卡电源 + bool power_down_display; // 睡眠时关闭显示电源 + bool power_down_audio; // 睡眠时关闭音频电源 + bool power_down_motor; // 睡眠时关闭电机电源 + + // RTC内存配置 + bool preserve_rtc_memory; // 保留RTC内存 + size_t rtc_memory_size; // RTC内存大小 +} power_management_config_t; + +/** + * @brief 默认功耗管理配置 + */ +#define DEFAULT_POWER_CONFIG { \ + .light_sleep_duration_us = 1000000, /* 1秒 */ \ + .deep_sleep_duration_us = 30000000, /* 30秒 */ \ + .enable_timer_wakeup = true, /* 启用定时器唤醒 */ \ + .enable_gpio_wakeup = false, /* 不启用GPIO唤醒 */ \ + .enable_touch_wakeup = false, /* 不启用触摸唤醒 */ \ + .wakeup_gpio_num = GPIO_NUM_NC, /* 无GPIO唤醒 */ \ + .wakeup_level = 0, /* 低电平唤醒 */ \ + .disable_bt_in_sleep = true, /* 睡眠时关闭蓝牙 */ \ + .disable_wifi_in_sleep = true, /* 睡眠时关闭WiFi */ \ + .reduce_cpu_frequency = true, /* 降低CPU频率 */ \ + .cpu_frequency_hz = 80000000, /* 80MHz */ \ + .power_down_sdcard = true, /* 睡眠时关闭SD卡 */ \ + .power_down_display = true, /* 睡眠时关闭显示 */ \ + .power_down_audio = true, /* 睡眠时关闭音频 */ \ + .power_down_motor = true, /* 睡眠时关闭电机 */ \ + .preserve_rtc_memory = true, /* 保留RTC内存 */ \ + .rtc_memory_size = 4096, /* 4KB RTC内存 */ \ +} + +/** + * @brief 各功耗模式的详细配置 + */ +static const power_management_config_t idle_mode_config = { + .light_sleep_duration_us = 500000, // 500ms轻度睡眠 + .deep_sleep_duration_us = 0, // 不使用深度睡眠 + .enable_timer_wakeup = true, + .enable_gpio_wakeup = true, + .wakeup_gpio_num = GPIO_NUM_0, // 按键唤醒 + .wakeup_level = 0, + .disable_bt_in_sleep = false, // 保持蓝牙连接 + .disable_wifi_in_sleep = false, // 保持WiFi连接 + .reduce_cpu_frequency = true, + .cpu_frequency_hz = 40000000, // 40MHz + .power_down_sdcard = false, // 保持SD卡（可能有后台任务） + .power_down_display = true, // 关闭显示背光 + .power_down_audio = true, // 关闭音频 + .power_down_motor = true, // 关闭电机 + .preserve_rtc_memory = true, + .rtc_memory_size = 2048, +}; + +static const power_management_config_t light_sleep_config = { + .light_sleep_duration_us = 0, // 直接进入轻度睡眠 + .deep_sleep_duration_us = 0, + .enable_timer_wakeup = true, + .enable_gpio_wakeup = true, + .wakeup_gpio_num = GPIO_NUM_0, + .wakeup_level = 0, + .disable_bt_in_sleep = true, // 关闭蓝牙 + .disable_wifi_in_sleep = true, // 关闭WiFi + .reduce_cpu_frequency = true, + .cpu_frequency_hz = 40000000, + .power_down_sdcard = true, // 关闭SD卡 + .power_down_display = true, // 关闭显示 + .power_down_audio = true, // 关闭音频 + .power_down_motor = true, // 关闭电机 + .preserve_rtc_memory = true, + .rtc_memory_size = 4096, +}; + +static const power_management_config_t deep_sleep_config = { + .light_sleep_duration_us = 0, + .deep_sleep_duration_us = 60000000, // 60秒深度睡眠 + .enable_timer_wakeup = true, + .enable_gpio_wakeup = true, + .wakeup_gpio_num = GPIO_NUM_0, + .wakeup_level = 0, + .disable_bt_in_sleep = true, // 关闭蓝牙 + .disable_wifi_in_sleep = true, // 关闭WiFi + .reduce_cpu_frequency = true, + .cpu_frequency_hz = 10000000, // 10MHz + .power_down_sdcard = true, // 关闭SD卡 + .power_down_display = true, // 关闭显示 + .power_down_audio = true, // 关闭音频 + .power_down_motor = true, // 关闭电机 + .preserve_rtc_memory = true, + .rtc_memory_size = 8192, +}; + +/** + * @brief 功耗统计和监控结构体 + */ +typedef struct { + uint64_t total_sleep_time_us; // 总睡眠时间 + uint64_t total_wake_time_us; // 总唤醒时间 + uint32_t sleep_count; // 睡眠次数 + uint32_t wake_count; // 唤醒次数 + uint32_t average_sleep_duration_us; // 平均睡眠时长 + uint32_t average_wake_duration_us; // 平均唤醒时长 + float estimated_power_saving_percent; // 估计的功耗节省百分比 +} power_statistics_t; + +/** + * @brief 功耗优化建议 + * + * 基于硬件特性和使用模式，提供功耗优化建议 + */ +typedef enum { + OPTIMIZATION_NONE = 0, + OPTIMIZATION_REDUCE_CPU_FREQ, // 降低CPU频率 + OPTIMIZATION_DISABLE_UNUSED_PERIPHERALS, // 关闭未使用的外设 + OPTIMIZATION_USE_LIGHT_SLEEP, // 使用轻度睡眠 + OPTIMIZATION_USE_DEEP_SLEEP, // 使用深度睡眠 + OPTIMIZATION_OPTIMIZE_GPIO_STATES, // 优化GPIO状态 + OPTIMIZATION_USE_RTC_MEMORY, // 使用RTC内存 + OPTIMIZATION_BATCH_OPERATIONS, // 批量操作 +} power_optimization_t; + +/** + * @brief 功耗管理事件回调 + */ +typedef void (*power_event_callback_t)(power_mode_t old_mode, power_mode_t new_mode, void* user_data); + +/** + * @brief 功耗管理事件 + */ +typedef enum { + POWER_EVENT_MODE_CHANGE, // 功耗模式改变 + POWER_EVENT_SLEEP_START, // 睡眠开始 + POWER_EVENT_SLEEP_END, // 睡眠结束 + POWER_EVENT_WAKEUP, // 系统唤醒 + POWER_EVENT_OPTIMIZATION_TRIGGER, // 功耗优化触发 +} power_event_t; + +#endif // POWER_MANAGEMENT_CONFIG_H \ No newline at end of file diff --git a/main/02_physical/boards/board_v1_1_17/board_sweekar.cc b/main/02_physical/boards/board_v1_1_17/board_sweekar.cc new file mode 100644 index 0000000..59cd1dd --- /dev/null +++ b/main/02_physical/boards/board_v1_1_17/board_sweekar.cc @@ -0,0 +1,780 @@ +/** + * @file board.cc + * @brief 板级外设初始化类,包含步进电机、毫米波雷达、I2C总线等外设的初始化函数。 + * @author zouyuhua + * @date 2025年8月7日 + * + */ + +extern "C" { +#include "esp_log.h" +#include "driver/gpio.h" +#include "driver/uart.h" +#include "driver/ledc.h" +#include "driver/gptimer.h" +#include "esp_err.h" +#include "freertos/FreeRTOS.h" +#include "freertos/task.h" +#include "hal/gpio_types.h" +#include "hal/uart_types.h" +#include "esp_check.h" +#include "sdkconfig.h" +#include "i2c_bus.h" +#include "esp_peripherals.h" +#include "periph_sdcard.h" +#include "esp_sleep.h" +#include "driver/rtc_io.h" +} + +#include "board_sweekar.h" +#include "config.h" +#include "board.h" // 添加board.h以获取audio_board_sdcard_init函数声明 +#include "drv8428.h" +#include "aw8646.h" +#include "esp_vfs_fat.h" +#include "audio_mem.h" +#include "esp_timer.h" +#include "base_board_hal_i2c.h" + +#define TAG "board_sweekar" + +static BoardSweekar* s_board_instance = nullptr; + +BoardSweekar* BoardSweekar::GetInstance() +{ + if (s_board_instance == nullptr) { + static BoardSweekar global_board; + s_board_instance = &global_board; + } + return s_board_instance; +} + +BoardSweekar::BoardSweekar() +{ +#ifdef CONFIG_STEPPER_DRIVER_AW8646 + stepper_driver_ = new Aw8646Driver(io_expansion_); +#else + stepper_driver_ = new Drv8428Driver(io_expansion_); +#endif + + // Initialize Shutdown Control Pin (GPIO_NUM_13) and pull it HIGH + // This is required to keep the main power on. +#ifdef SHUTDOWN_CTRL_PIN + gpio_config_t io_conf = {}; + io_conf.intr_type = GPIO_INTR_DISABLE; + io_conf.mode = GPIO_MODE_OUTPUT; + io_conf.pin_bit_mask = (1ULL << SHUTDOWN_CTRL_PIN); + io_conf.pull_down_en = GPIO_PULLDOWN_DISABLE; + io_conf.pull_up_en = GPIO_PULLUP_ENABLE; + gpio_config(&io_conf); + // 拉低开机 + gpio_set_level(SHUTDOWN_CTRL_PIN, 0); + ESP_LOGI(TAG, "Initialized SHUTDOWN_CTRL_PIN (%d) to LOW (Power ON)", SHUTDOWN_CTRL_PIN); +#endif +} + +BoardSweekar::~BoardSweekar() +{ + if (stepper_driver_) { + delete stepper_driver_; + stepper_driver_ = nullptr; + } +} + +void BoardSweekar::SetAudioAmplifier(bool enable) { + // 隐藏具体的硬件实现细节（比如当前版本是通过 IO 扩展板控制的） + io_expansion_.SetPaCtrlMode(enable); + ESP_LOGI(TAG, "Audio Amplifier %s", enable ? "ENABLED" : "DISABLED"); +} + +/*========================== 步进电机相关驱动 ==========================*/ + +/** + * @brief 步进电机初始化函数 + * 配置步进电机所需的GPIO引脚模式,通过IO扩展板设置步进驱动芯片的工作模式 + * 在 stepper_motor.cc 中完成 GPTimer + GPIO 翻转 STEP 脉冲的初始化 + */ +void BoardSweekar::StepperMotorInit(void) +{ + esp_err_t err = ESP_OK; + + // 1) STEP 引脚改为普通 GPIO（不再用 LEDC） + gpio_config_t io_cfg; + io_cfg.pin_bit_mask = 1ULL << STEPPER_STEP_IO; + io_cfg.mode = GPIO_MODE_OUTPUT; + io_cfg.pull_up_en = GPIO_PULLUP_DISABLE; + io_cfg.pull_down_en = GPIO_PULLDOWN_DISABLE; + io_cfg.intr_type = GPIO_INTR_DISABLE; + err = gpio_config(&io_cfg); + if (err != ESP_OK) + { + ESP_LOGE(TAG_BOARD, "步进电机 STEP GPIO 配置失败, 错误码: 0x%x", err); + } + + // 初始电平拉低，保证上电不乱跳 + gpio_set_level(STEPPER_STEP_IO, 0); + + // 2) 检查 I2C 总线是否已初始化 + if (bus_handle_ == nullptr) + { + ESP_LOGE(TAG_BOARD, "I2C总线未初始化,请先调用I2CMasterInit()"); + return; + } + + // 3) 初始化驱动对象并初始化 + if (stepper_driver_) { + err = stepper_driver_->Init(); + if (err != ESP_OK) { + ESP_LOGE(TAG_BOARD, "步进电机驱动初始化失败, 错误码: 0x%x", err); + } + } else { + ESP_LOGE(TAG_BOARD, "步进电机驱动创建失败"); + } +} + +/** + * @brief LCD IO引脚初始化函数（消除与步进电机的耦合） + * + * 配置LCD所需的IO扩展板寄存器，确保LCD复位引脚正常工作 + * 此函数独立于步进电机初始化，专门处理LCD相关的IO配置 + */ +void BoardSweekar::LcdIoInit(void) +{ + esp_err_t err = ESP_OK; + + // 1) 检查I2C总线是否已初始化 + if (bus_handle_ == nullptr) + { + ESP_LOGE(TAG_BOARD, "I2C总线未初始化,请先调用I2CMasterInit()"); + return; + } + + // 2) 执行硬件复位，确保IO扩展板处于已知状态 + err = io_expansion_.ResetIoExpand(); + if (err != ESP_OK) + { + ESP_LOGE(TAG_BOARD, "IO扩展板硬件复位失败, 错误码: 0x%x", err); + return; + } + else + { + ESP_LOGI(TAG_BOARD, "IO扩展板硬件复位成功"); + } + + // 3) 配置IO扩展板模式（端口方向等） + err = io_expansion_.IoexpandSetMode(); + if (err != ESP_OK) + { + ESP_LOGE(TAG_BOARD, "IO扩展板模式配置失败, 错误码: 0x%x", err); + return; + } + else + { + ESP_LOGI(TAG_BOARD, "IO扩展板模式配置成功"); + } + + // 4) 初始化LCD复位引脚：设置为高电平 + err = io_expansion_.SetLcdResetMode(LCD_RST_HIGH, LCD_RST_PORT, LCD_RST_PIN); + if (err != ESP_OK) + { + ESP_LOGE(TAG_BOARD, "LCD复位引脚高电平设置失败, 错误码: 0x%x", err); + return; + } + else + { + ESP_LOGI(TAG_BOARD, "LCD复位引脚高电平设置成功"); + } + + // 5) 初始化LED_EN电源为关闭状态 (PMOS高电平关) + // 只有在需要亮灯时，由ActuatorActor主动开启，避免平静状态下常亮 + err = io_expansion_.SetLedEnMode(false); + if (err != ESP_OK) + { + ESP_LOGE(TAG_BOARD, "初始化LED_EN电源(关闭)失败, 错误码: 0x%x", err); + } + else + { + ESP_LOGI(TAG_BOARD, "初始化LED_EN电源(关闭)成功"); + } +} + +/** + * @brief 执行系统关机 + * 内部拉高 SHUTDOWN_CTRL_PIN 引脚切断电源 + */ +void BoardSweekar::SystemShutdown(void) +{ +#ifdef SHUTDOWN_CTRL_PIN + ESP_LOGI(TAG, "Executing System Shutdown... Pulling SHUTDOWN_CTRL_PIN (%d) HIGH", SHUTDOWN_CTRL_PIN); + // 用户指定：拉高可以完成关机动作 + gpio_set_level(SHUTDOWN_CTRL_PIN, 1); + + // 给一点时间让电源完全断开 + vTaskDelay(pdMS_TO_TICKS(1000)); +#else + ESP_LOGW(TAG, "SHUTDOWN_CTRL_PIN is not defined. Cannot execute hardware shutdown."); +#endif +} + +/*========================== 毫米波雷达相关驱动 ==========================*/ + +/** + * @brief 毫米波雷达串口初始化函数 + * + * 配置毫米波雷达所使用的串口参数(波特率、数据位、校验位、停止位等),设置串口引脚, + * 并安装串口驱动。采用较大的RX/TX FIFO深度以处理突发数据,禁用驱动自带事件队列以避免 + * 与自定义中断冲突。 + */ +void BoardSweekar::MillimeterWaveRadarUartInit(void) +{ + uart_config_t uart_config = { + .baud_rate = RADAR_BAUD_RATE, + .data_bits = UART_DATA_8_BITS, + .parity = UART_PARITY_DISABLE, + .stop_bits = UART_STOP_BITS_1, + .flow_ctrl = UART_HW_FLOWCTRL_DISABLE, + .source_clk = UART_SCLK_DEFAULT, + .flags = { + .allow_pd = 0, + .backup_before_sleep = 0, + }, + }; + + // 1. 设置串口参数 + ESP_ERROR_CHECK(uart_param_config(RADAR_UART_NUM, &uart_config)); + + // 2. 设置 UART 引脚 + ESP_ERROR_CHECK(uart_set_pin(RADAR_UART_NUM, UART_TX_PIN, UART_RX_PIN, + UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE)); + + // 3. 安装 UART 驱动(禁用驱动自带事件队列,避免与自定义中断冲突) + // 增加 RX/TX FIFO 深度以处理突发数据 + ESP_ERROR_CHECK(uart_driver_install(RADAR_UART_NUM, RADAR_BUF_SIZE * 4, RADAR_BUF_SIZE * 4, + 0, NULL, 0)); +} + +/** + * @brief 毫米波雷达中断引脚初始化函数 + * + * 配置毫米波雷达中断引脚为输入模式,禁用上拉电阻,使能下拉电阻,初始禁用中断功能 + * (如需使用中断需单独进行配置)。 + */ +void BoardSweekar::MillimeterWaveRadarGpioInit(void) +{ + // GPIO配置结构体 + gpio_config_t io_conf = { + .pin_bit_mask = (1ULL << MILLIMETER_WAVE_RADAR_PIN), // 选择GPIO引脚 + .mode = GPIO_MODE_INPUT, // 设置为输入模式 + .pull_up_en = GPIO_PULLUP_DISABLE, + .pull_down_en = GPIO_PULLDOWN_ENABLE, // 使能下拉 + .intr_type = GPIO_INTR_DISABLE // 禁用中断(如需中断需单独配置) + }; + + // 配置GPIO + gpio_config(&io_conf); +} + +/*========================== I2C总线及挂载的从设备相关驱动 ==========================*/ + +/** + * @brief I2C总线及从机设备初始化函数 + * + * 首先配置并创建I2C主机总线,然后依次添加IO扩展板和线性马达作为I2C从机设备到总线上。 + * 若总线创建或设备添加失败,会输出错误信息并进行相应的资源清理(删除已创建的总线)。 + * 初始化成功后,会通过ESP_LOGI输出IO扩展板和线性马达的从机地址信息。 + * + * @return esp_err_t 初始化结果,ESP_OK表示成功,其他错误码表示相应的失败原因 + */ +esp_err_t BoardSweekar::I2CMasterInit(void) +{ + static const char *I2C_INIT = "I2C_INIT"; + + // 初始化IO扩展板复位引脚 + gpio_config_t reset_io_conf = { + .pin_bit_mask = (1ULL << IO_EXPAND_RSTN), + .mode = GPIO_MODE_OUTPUT, + .pull_up_en = GPIO_PULLUP_ENABLE, // 使能上拉 + .pull_down_en = GPIO_PULLDOWN_DISABLE, + .intr_type = GPIO_INTR_DISABLE + }; + gpio_config(&reset_io_conf); + + // 执行复位时序：先拉低100ms,再拉高并等待100ms + gpio_set_level(IO_EXPAND_RSTN, 0); // 拉低复位 + vTaskDelay(pdMS_TO_TICKS(100)); // 等待100ms + gpio_set_level(IO_EXPAND_RSTN, 1); // 释放复位 + vTaskDelay(pdMS_TO_TICKS(100)); // 等待设备启动 + + ESP_LOGI(I2C_INIT, "IO扩展板复位完成"); + + // 创建统一的I2C总线（使用ESP-ADF的i2c_bus） + i2c_config_t i2c_cfg = { + .mode = I2C_MODE_MASTER, + .sda_io_num = I2C0_MASTER_SDA_IO, + .scl_io_num = I2C0_MASTER_SCL_IO, + .sda_pullup_en = GPIO_PULLUP_ENABLE, + .scl_pullup_en = GPIO_PULLUP_ENABLE, + .master = { + .clk_speed = 100000, + }, + }; + + // 创建I2C总线（ESP-ADF的audio_board_init会复用这个总线） + bus_handle_ = i2c_bus_create(I2C0_MASTER_PORT, &i2c_cfg); + if (bus_handle_ == NULL) { + ESP_LOGE(TAG, "Failed to create I2C bus"); + return ESP_FAIL; + } + + vTaskDelay(pdMS_TO_TICKS(100)); // 等待设备启动 + // ESP-ADF的i2c_bus不需要单独添加设备,直接通过总线句柄和设备地址进行通信 + + // 验证线性马达设备是否存在 + esp_err_t err = i2c_bus_probe_addr(bus_handle_, LINEAR_MOTOR_I2C_SLAVE_ADDR << 1); + if (err != ESP_OK) { + ESP_LOGE(I2C_INIT, "线性马达设备未找到(地址:0x%02X),错误码: 0x%x", LINEAR_MOTOR_I2C_SLAVE_ADDR, err); + // 不返回错误,继续初始化 + } else { + ESP_LOGI(I2C_INIT, "线性马达设备检测成功(地址:0x%02X)", LINEAR_MOTOR_I2C_SLAVE_ADDR); + } + // 验证IO扩展板设备是否存在 + err = i2c_bus_probe_addr(bus_handle_, I2C_IO_EXPAND_SLAVE_ADDR << 1); + if (err != ESP_OK) { + ESP_LOGE(I2C_INIT, "IO扩展板设备未找到(地址:0x%02X),错误码: 0x%x", I2C_IO_EXPAND_SLAVE_ADDR, err); + // 不返回错误,继续初始化其他设备 + } else { + ESP_LOGI(I2C_INIT, "IO扩展板设备检测成功(地址:0x%02X)", I2C_IO_EXPAND_SLAVE_ADDR); + } + // 验证陀螺仪设备是否存在 + err = i2c_bus_probe_addr(bus_handle_, GYROSCOPE_I2C_SLAVE_ADDR << 1); + if (err != ESP_OK) { + ESP_LOGE(I2C_INIT, "陀螺仪设备未找到(地址:0x%02X),错误码: 0x%x", GYROSCOPE_I2C_SLAVE_ADDR, err); + // 不返回错误,继续初始化 + } else { + ESP_LOGI(I2C_INIT, "陀螺仪设备检测成功(地址:0x%02X)", GYROSCOPE_I2C_SLAVE_ADDR); + } + + // 为IO扩展板设置总线句柄和设备地址（使用7位地址） + io_expansion_.bus_handle_ = bus_handle_; + io_expansion_.device_addr_ = I2C_IO_EXPAND_SLAVE_ADDR << 1; + + // 线性马达的初始化已移至 InitializeAllHardware 中统一调用 Init 方法 + // linear_motor_ 的参数传递将在那里完成，不再此处直接赋值，提高内聚性 + + ESP_LOGI(I2C_INIT, "I2C总线初始化完成"); + return ESP_OK; +} + +/*========================== VBAT to VBAT_5V相关驱动 ==========================*/ + +/** + * @brief 开启VBAT to VBAT_5V + * + * 创建开启升压的电源管理单元 + * + */ +void BoardSweekar::VbatToVbat5vInit(void) +{ + // 配置VBAT_5V引脚为输出模式 + gpio_config_t io_conf = { + .pin_bit_mask = (1ULL << VBAT_5V_PIN), + .mode = GPIO_MODE_OUTPUT, + .pull_up_en = GPIO_PULLUP_DISABLE, + .pull_down_en = GPIO_PULLDOWN_DISABLE, + .intr_type = GPIO_INTR_DISABLE + }; + gpio_config(&io_conf); + // 使能VBAT_5V + gpio_set_level(VBAT_5V_PIN, 1); +} + +/*========================== 底座控制串口相关驱动 ==========================*/ + +/** + * @brief 底座控制命令串口初始化函数 + */ +// 根据配置选择通信方式的HAL头文件 +#ifdef CONFIG_BASE_BOARD_COMM_I2C +#include "base_board_hal_i2c.h" +#else +#include "base_board_hal_uart.h" +#endif + +void BoardSweekar::BaseBoardControlInit(void) +{ +#ifdef CONFIG_BASE_BOARD_COMM_I2C + // I2C Mode + if (bus_handle_ == nullptr) { + ESP_LOGE(TAG, "I2C bus not initialized before BaseBoardControlInit"); + return; + } + + // 创建 I2C HAL 实例 + BaseBoardHalI2c *hal = new BaseBoardHalI2c(bus_handle_); + base_board_control_.Init(hal); + ESP_LOGI(TAG, "BaseBoardControl I2C initialized"); +#else + // UART Mode + uart_config_t uart_config = { + .baud_rate = BASE_BOARD_CTL_UART_BAUDRATE, + .data_bits = UART_DATA_8_BITS, + .parity = UART_PARITY_DISABLE, + .stop_bits = UART_STOP_BITS_1, + .flow_ctrl = UART_HW_FLOWCTRL_DISABLE, + .source_clk = UART_SCLK_DEFAULT, + .flags = { + .allow_pd = 0, + .backup_before_sleep = 0, + }, + }; + + // 1. 设置串口参数 + ESP_ERROR_CHECK(uart_param_config(BASE_BOARD_CTL_UART_PORT, &uart_config)); + + // 2. 设置 UART 引脚 + ESP_ERROR_CHECK(uart_set_pin(BASE_BOARD_CTL_UART_PORT, BASE_BOARD_CTL_UART_TX_PIN, BASE_BOARD_CTL_UART_RX_PIN, + UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE)); + + // 3. 安装 UART 驱动 + ESP_ERROR_CHECK(uart_driver_install(BASE_BOARD_CTL_UART_PORT, + BASE_BOARD_CTL_UART_BUF_SIZE, + BASE_BOARD_CTL_UART_BUF_SIZE, + 0, NULL, 0)); + + BaseBoardHalUart *hal = new BaseBoardHalUart(BASE_BOARD_CTL_UART_PORT); + base_board_control_.Init(hal); + ESP_LOGI(TAG, "BaseBoardControl UART initialized"); +#endif +} + +/*========================== SD卡相关驱动 ==========================*/ + +/** + * @brief SD卡初始化函数 + * + * 初始化SD卡外设，使用1线模式进行通信。该函数负责初始化外设管理器 + * 并配置SD卡，为后续的文件系统操作做准备。 + * + * @return esp_err_t 初始化结果，ESP_OK表示成功，其他错误码表示失败原因 + */ +esp_err_t BoardSweekar::InitializeSdcard(void) +{ + static const char *SDCARD_TAG = "SDCARD_INIT"; + esp_err_t ret; + + ESP_LOGI(SDCARD_TAG, "Initializing SD card"); + + if (is_sdcard_initialized_) { + ESP_LOGW(SDCARD_TAG, "SD card already initialized"); + return ESP_OK; + } + + // 初始化外设管理 + esp_periph_config_t periph_cfg = DEFAULT_ESP_PERIPH_SET_CONFIG(); + periph_cfg.extern_stack = true; // 将任务栈分配到 PSRAM 以节省 Internal SRAM + periph_set_ = esp_periph_set_init(&periph_cfg); + if (!periph_set_) { + ESP_LOGE(SDCARD_TAG, "Failed to initialize peripheral set"); + return ESP_FAIL; + } + + // 初始化SD卡外设 + ret = audio_board_sdcard_init(periph_set_, SD_MODE_1_LINE); + if (ret != ESP_OK) { + ESP_LOGE(SDCARD_TAG, "Failed to initialize SD card: %s", esp_err_to_name(ret)); + return ret; + } + + is_sdcard_initialized_ = true; + ESP_LOGI(SDCARD_TAG, "SD card initialized successfully"); + return ESP_OK; +} + +/** + * @brief 统一的硬件初始化接口实现 + * + * 按照依赖关系顺序初始化所有硬件资源： + * 1. I2C总线（最基础，其他设备可能依赖） + * 2. IO扩展板（可能影响其他设备） + * 3. SD卡（文件系统，供显示和音频使用） + * 4. 其他外设 + * + * @return esp_err_t 初始化结果，ESP_OK表示全部成功 + */ +esp_err_t BoardSweekar::InitializeAllHardware(void) +{ + static const char *HW_INIT_TAG = "HW_INIT"; + esp_err_t ret; + + ESP_LOGI(HW_INIT_TAG, "Starting unified hardware initialization..."); + + // 1. 初始化I2C总线（最基础） + ret = I2CMasterInit(); + if (ret != ESP_OK) { + ESP_LOGE(HW_INIT_TAG, "Failed to initialize I2C master: %s", esp_err_to_name(ret)); + return ret; + } + ESP_LOGI(HW_INIT_TAG, "I2C master initialized"); + + // 2. 创建I2C读任务（IO扩展板需要） + io_expansion_.CreateI2cReadTask(); + ESP_LOGI(HW_INIT_TAG, "I2C read task created"); + + // 3. 初始化SD卡（文件系统，供显示和音频使用） + ret = InitializeSdcard(); + if (ret != ESP_OK) { + ESP_LOGE(HW_INIT_TAG, "Failed to initialize SD card: %s", esp_err_to_name(ret)); + // SD卡失败不是致命错误，继续初始化其他硬件 + ESP_LOGW(HW_INIT_TAG, "SD card initialization failed, but continuing with other hardware"); + } else { + ESP_LOGI(HW_INIT_TAG, "SD card initialized"); + } + + // 4. 初始化LCD IO引脚 + LcdIoInit(); + ESP_LOGI(HW_INIT_TAG, "LCD IO pins initialized"); + + // 5. 初始化底座控制 + if (bus_handle_ != nullptr) { + BaseBoardHalI2c *hal_i2c = new BaseBoardHalI2c(bus_handle_); + base_board_control_.Init(hal_i2c); + ESP_LOGI(HW_INIT_TAG, "Base board control initialized with I2C handle"); + } else { + ESP_LOGE(HW_INIT_TAG, "Failed to initialize base board control: I2C bus is null"); + } + + // 6. 可选外设（根据具体应用需求） + // BaseBoardControlUartInit(); // 底座控制串口（demo5需要） + // ESP_LOGI(HW_INIT_TAG, "Base board control UART initialized"); + + // MillimeterWaveRadarUartInit(); + // MillimeterWaveRadarGpioInit(); + StepperMotorInit(); + + + + ESP_LOGI(HW_INIT_TAG, "Unified hardware initialization completed successfully"); + return ESP_OK; +} + +/** + * @brief 进入低功耗模式 + * + * 根据指定的功耗模式，执行相应的功耗优化策略： + * - IDLE模式：关闭非必要外设，保持快速响应 + * - LIGHT_SLEEP模式：进入轻度睡眠，CPU暂停，外设断电 + * - DEEP_SLEEP模式：深度睡眠，仅RTC运行，功耗最低 + */ +esp_err_t BoardSweekar::EnterLowPowerMode(power_mode_t mode) { + static const char *POWER_TAG = "POWER_MGMT"; + esp_err_t ret = ESP_OK; + + ESP_LOGI(POWER_TAG, "Entering power mode: %d", mode); + + if (mode == current_power_mode_) { + ESP_LOGW(POWER_TAG, "Already in power mode %d", mode); + return ESP_OK; + } + + // 保存当前模式，以便恢复 + power_mode_t previous_mode = current_power_mode_; + + switch (mode) { + case POWER_MODE_NORMAL: + // 正常模式，不需要特殊处理 + break; + + case POWER_MODE_IDLE: + // 空闲模式：关闭非必要外设 + ESP_LOGI(POWER_TAG, "Idle mode: disabling non-essential peripherals"); + + // 关闭SD卡（如果正在使用，需要先卸载） + if (is_sdcard_initialized_) { + // 注意：这里只是示例，实际应用中需要确保没有文件操作 + ESP_LOGW(POWER_TAG, "SD card still active in idle mode"); + } + + // 关闭显示背光 + // 关闭非必要GPIO的上拉/下拉 + // 降低I2C时钟频率 + break; + + case POWER_MODE_LIGHT_SLEEP: + // 轻度睡眠 + ESP_LOGI(POWER_TAG, "Light sleep mode: preparing for sleep"); + + // 设置唤醒源（需要根据具体需求配置） + // esp_sleep_enable_timer_wakeup(1000000); // 1秒后唤醒 + // esp_sleep_enable_ext0_wakeup(GPIO_NUM_XX, 0); // 外部中断唤醒 + + // 进入轻度睡眠 + // ret = esp_light_sleep_start(); + if (ret != ESP_OK) { + ESP_LOGE(POWER_TAG, "Failed to enter light sleep: %s", esp_err_to_name(ret)); + current_power_mode_ = previous_mode; + return ret; + } + break; + + case POWER_MODE_DEEP_SLEEP: + // 深度睡眠 + ESP_LOGI(POWER_TAG, "Deep sleep mode: system will restart after wake-up"); + + // 保存必要的RTC数据 + // rtc_gpio_isolate(GPIO_NUM_XX); // 隔离GPIO + + // 设置深度睡眠唤醒源 + // esp_sleep_enable_timer_wakeup(60000000); // 60秒后唤醒 + + // 进入深度睡眠 + // esp_deep_sleep_start(); + // 注意：深度睡眠后系统会重启，不会返回 + break; + + default: + ESP_LOGE(POWER_TAG, "Invalid power mode: %d", mode); + return ESP_ERR_INVALID_ARG; + } + + current_power_mode_ = mode; + ESP_LOGI(POWER_TAG, "Successfully entered power mode: %d", mode); + return ret; +} + +/** + * @brief 退出低功耗模式 + * + * 从低功耗模式恢复到正常运行模式，重新初始化必要的硬件资源。 + */ +esp_err_t BoardSweekar::ExitLowPowerMode(void) { + static const char *POWER_TAG = "POWER_MGMT"; + + ESP_LOGI(POWER_TAG, "Exiting low power mode"); + + if (current_power_mode_ == POWER_MODE_NORMAL) { + ESP_LOGW(POWER_TAG, "Already in normal mode"); + return ESP_OK; + } + + // 根据之前的功耗模式执行相应的恢复操作 + switch (current_power_mode_) { + case POWER_MODE_IDLE: + // 恢复空闲模式 + ESP_LOGI(POWER_TAG, "Restoring from idle mode"); + + // 重新初始化必要的外设 + // 恢复I2C时钟频率 + // 重新开启显示背光 + break; + + case POWER_MODE_LIGHT_SLEEP: + // 轻度睡眠唤醒后会自动继续执行 + ESP_LOGI(POWER_TAG, "Woken up from light sleep"); + + // 重新配置时钟（如果需要） + // 重新初始化外设 + break; + + case POWER_MODE_DEEP_SLEEP: + // 深度睡眠后系统会重启，不会执行到这里 + ESP_LOGW(POWER_TAG, "Deep sleep recovery should not reach here"); + break; + + default: + break; + } + + // 恢复到正常模式 + current_power_mode_ = POWER_MODE_NORMAL; + ESP_LOGI(POWER_TAG, "Successfully exited low power mode"); + + return ESP_OK; +} + +/** + * @brief 设置硬件模块电源状态 + * + * 提供精细化的电源管理，可以单独控制各个硬件模块的电源状态。 + */ +esp_err_t BoardSweekar::SetModulePower(hardware_module_t module, bool enable) { + static const char *POWER_TAG = "POWER_MODULE"; + esp_err_t ret = ESP_OK; + + ESP_LOGI(POWER_TAG, "%s module %d", enable ? "Enabling" : "Disabling", module); + + // 更新电源状态位图 + if (enable) { + power_state_flags_ |= (1 << module); + } else { + power_state_flags_ &= ~(1 << module); + } + + switch (module) { + case HW_MODULE_I2C: + if (!enable && bus_handle_) { + // 注意：I2C总线通常不建议完全关闭，可能影响多个设备 + ESP_LOGW(POWER_TAG, "I2C bus power control not recommended"); + } + break; + + case HW_MODULE_SDCARD: + if (enable && !is_sdcard_initialized_) { + ret = InitializeSdcard(); + } else if (!enable && is_sdcard_initialized_) { + // 卸载SD卡文件系统 + // 注意：需要确保没有打开的文件 + ESP_LOGW(POWER_TAG, "SD card power down requires file system cleanup"); + } + break; + + case HW_MODULE_LCD: + // LCD背光控制 + // LCD电源引脚控制（如果有） + break; + + case HW_MODULE_AUDIO: + // 音频编解码器电源控制 + // 需要与AudioPlayer协调 + break; + + case HW_MODULE_MOTOR: + // 步进电机驱动器电源控制 + // 电机睡眠模式 + break; + + case HW_MODULE_GYROSCOPE: + // 陀螺仪电源控制 + // 设置陀螺仪为低功耗模式 + break; + + case HW_MODULE_TOUCH: + // 触摸传感器电源控制 + // 设置触摸传感器为睡眠模式 + break; + + case HW_MODULE_RADAR: + // 毫米波雷达电源控制 + // 设置雷达为低功耗模式 + break; + + case HW_MODULE_IO_EXPAND: + // IO扩展板电源控制 + // 设置扩展板为低功耗模式 + break; + + default: + ESP_LOGE(POWER_TAG, "Unknown hardware module: %d", module); + return ESP_ERR_INVALID_ARG; + } + + if (ret == ESP_OK) { + ESP_LOGI(POWER_TAG, "Module %d power %s successfully", module, enable ? "enabled" : "disabled"); + } else { + ESP_LOGE(POWER_TAG, "Failed to %s module %d: %s", enable ? "enable" : "disable", module, esp_err_to_name(ret)); + } + + return ret; +} + + + diff --git a/main/02_physical/boards/board_v1_1_17/board_sweekar.h b/main/02_physical/boards/board_v1_1_17/board_sweekar.h new file mode 100644 index 0000000..55665ac --- /dev/null +++ b/main/02_physical/boards/board_v1_1_17/board_sweekar.h @@ -0,0 +1,181 @@ +#ifndef __BOARD_H__ +#define __BOARD_H__ +#include "config.h" +#include "io_expansion_board.h" +#include "stepper_motor.h" +#include "stepper_driver.h" +#include "i2c_bus.h" +#include "gyroscope.h" +#include "touch_sensor.h" +#include "base_board_control.h" +#include "esp_peripherals.h" +#include "periph_sdcard.h" +#include "esp_sleep.h" +#include "driver/rtc_io.h" + +/** + * @brief 功耗模式枚举 + */ +typedef enum { + POWER_MODE_NORMAL, // 正常运行模式，所有硬件可用 + POWER_MODE_IDLE, // 空闲模式，关闭非必要外设 + POWER_MODE_LIGHT_SLEEP, // 轻度睡眠，快速唤醒 + POWER_MODE_DEEP_SLEEP, // 深度睡眠，仅RTC运行 +} power_mode_t; + +/** + * @brief 硬件模块枚举，用于精细化电源管理 + */ +typedef enum { + HW_MODULE_I2C, // I2C总线 + HW_MODULE_SDCARD, // SD卡 + HW_MODULE_LCD, // LCD显示 + HW_MODULE_AUDIO, // 音频编解码器 + HW_MODULE_MOTOR, // 步进电机 + HW_MODULE_GYROSCOPE, // 陀螺仪 + HW_MODULE_TOUCH, // 触摸传感器 + HW_MODULE_RADAR, // 毫米波雷达 + HW_MODULE_IO_EXPAND, // IO扩展板 +} hardware_module_t; + +/** + * @brief 硬件板级管理器 + * + * 采用高内聚低耦合设计原则，统一管理所有硬件资源。 + * 提供统一的硬件初始化接口和资源访问，避免各模块重复初始化。 + */ +class BoardSweekar +{ +private: + i2c_bus_handle_t bus_handle_ = nullptr; // 使用ESP-ADF的I2C总线句柄 + esp_periph_set_handle_t periph_set_ = nullptr; // 外设管理句柄 + bool is_sdcard_initialized_ = false; // SD卡初始化状态 + power_mode_t current_power_mode_ = POWER_MODE_NORMAL; // 当前功耗模式 + uint32_t power_state_flags_ = 0xFFFFFFFF; // 各模块电源状态位图（1为开启） + +public: + BoardSweekar(); + ~BoardSweekar(); + + static BoardSweekar* GetInstance(); + + // --- 语义化的高层 API：音频与功放控制 --- + // 开启或关闭外放功放 (PA)，供上层 AudioActor/AudioPlayer 调用，屏蔽底层引脚实现 + void SetAudioAmplifier(bool enable); + + IOExpansionBoard io_expansion_; // IO扩展板对象 + Gyroscope gyroscope_; // 陀螺仪对象 + TouchSensor touch_sensor_; // 触摸传感器对象 + BaseBoardControl base_board_control_; // 底座控制对象 + StepperDriver* stepper_driver_ = nullptr; // 步进电机驱动对象 + + StepperDriver* GetStepperDriver() const { return stepper_driver_; } + + // 初始化步进电机 + void StepperMotorInit(void); + + // 初始化LCD IO引脚（消除与步进电机的耦合） + void LcdIoInit(void); + + // 初始化串口 + void MillimeterWaveRadarUartInit(void); + + //初始化毫米波雷达的中断引脚 + void MillimeterWaveRadarGpioInit(void); + + /** + * @brief 执行系统关机 + * 内部拉高/拉低 SHUTDOWN_CTRL_PIN 引脚切断电源 + */ + void SystemShutdown(void); + + // 初始化I2C总线 + esp_err_t I2CMasterInit(void); + + // 初始化VBAT toVBAT_5V引脚 + void VbatToVbat5vInit(void); + + // 初始化底座控制串口 + void BaseBoardControlInit(void); + + // 初始化SD卡（推荐使用统一的硬件初始化） + esp_err_t InitializeSdcard(void); + + // 获取SD卡初始化状态 + bool IsSdcardInitialized() const { return is_sdcard_initialized_; } + + // 获取外设管理句柄（供需要访问SD卡的模块使用） + esp_periph_set_handle_t GetPeriphSet() const { return periph_set_; } + + // 获取I2C总线句柄 + i2c_bus_handle_t GetBusHandle() const { return bus_handle_; } + + /** + * @brief 统一的硬件初始化接口 + * + * 按照依赖关系顺序初始化所有硬件资源，确保各模块可以安全使用。 + * 推荐在主程序启动时调用此函数，而不是分别调用各个初始化函数。 + * + * @return esp_err_t 初始化结果，ESP_OK表示全部成功 + */ + esp_err_t InitializeAllHardware(void); + + /** + * @brief 完整的统一硬件初始化接口（专为复杂应用优化） + * + * 包含所有必要外设的完整初始化，适用于demo5等复杂应用场景。 + * 这个函数会初始化：I2C总线、IO扩展板、SD卡、LCD IO、底座控制等。 + * + * @return esp_err_t 初始化结果，ESP_OK表示全部成功 + */ + esp_err_t InitializeAllHardwareComplete(void); + + /** + * @brief 针对特定应用的硬件初始化配置 + * + * 为不同类型的应用提供专门的初始化配置，优化启动流程。 + * + * @param app_type 应用类型（demo5、音频播放器、显示应用等） + * @return esp_err_t 初始化结果，ESP_OK表示全部成功 + */ + esp_err_t InitializeHardwareForApplication(int app_type); + + /** + * @brief 功耗管理接口 - 进入低功耗模式 + * + * 根据指定的功耗模式，关闭非必要硬件、设置GPIO为低功耗状态、 + * 调整时钟频率等。支持多种功耗模式以适应不同应用场景。 + * + * @param mode 功耗模式 + * @return esp_err_t 操作结果 + */ + esp_err_t EnterLowPowerMode(power_mode_t mode); + + /** + * @brief 功耗管理接口 - 退出低功耗模式 + * + * 从低功耗模式恢复，重新初始化必要的硬件资源。 + * + * @return esp_err_t 操作结果 + */ + esp_err_t ExitLowPowerMode(void); + + /** + * @brief 获取当前功耗模式 + * + * @return power_mode_t 当前功耗模式 + */ + power_mode_t GetPowerMode(void) const { return current_power_mode_; } + + /** + * @brief 设置硬件模块电源状态 + * + * 单独控制某个硬件模块的电源状态，用于精细化的功耗管理。 + * + * @param module 硬件模块 + * @param enable true为开启，false为关闭 + * @return esp_err_t 操作结果 + */ + esp_err_t SetModulePower(hardware_module_t module, bool enable); +}; +#endif diff --git a/main/02_physical/boards/board_v1_1_17/board_sweekar_complete_init.cc b/main/02_physical/boards/board_v1_1_17/board_sweekar_complete_init.cc new file mode 100644 index 0000000..37a454a --- /dev/null +++ b/main/02_physical/boards/board_v1_1_17/board_sweekar_complete_init.cc @@ -0,0 +1,186 @@ +/** + * @file board_sweekar_complete_init.cc + * @brief 完整的统一硬件初始化实现 + * + * 这个文件提供了完整的统一硬件初始化函数，包含所有必要的硬件初始化步骤。 + * 专为demo5等复杂应用场景设计。 + */ + +/** + * @brief 完整的统一硬件初始化接口（专为demo5优化） + * + * 按照依赖关系顺序初始化所有硬件资源： + * 1. I2C总线（最基础，其他设备依赖） + * 2. IO扩展板（控制其他外设） + * 3. SD卡（文件系统，供显示和音频使用） + * 4. LCD IO引脚（显示相关） + * 5. 底座控制串口（通信） + * 6. 底座控制模块（业务逻辑） + * 7. 其他外设（根据应用需求） + * + * @return esp_err_t 初始化结果，ESP_OK表示全部成功 + */ +esp_err_t BoardSweekar::InitializeAllHardwareComplete(void) +{ + static const char *HW_INIT_TAG = "HW_INIT_COMPLETE"; + esp_err_t ret; + + ESP_LOGI(HW_INIT_TAG, "Starting complete hardware initialization..."); + + // 1. 初始化I2C总线（最基础，其他设备依赖） + ret = I2CMasterInit(); + if (ret != ESP_OK) { + ESP_LOGE(HW_INIT_TAG, "Failed to initialize I2C master: %s", esp_err_to_name(ret)); + return ret; + } + ESP_LOGI(HW_INIT_TAG, "✓ I2C master initialized"); + + // 2. 创建I2C读任务（IO扩展板需要） + io_expansion_.CreateI2cReadTask(); + ESP_LOGI(HW_INIT_TAG, "✓ I2C read task created"); + + // 3. 初始化SD卡（文件系统，供显示和音频使用） + ret = InitializeSdcard(); + if (ret != ESP_OK) { + ESP_LOGE(HW_INIT_TAG, "Failed to initialize SD card: %s", esp_err_to_name(ret)); + // SD卡失败不是致命错误，继续初始化其他硬件 + ESP_LOGW(HW_INIT_TAG, "⚠ SD card initialization failed, but continuing with other hardware"); + } else { + ESP_LOGI(HW_INIT_TAG, "✓ SD card initialized"); + } + + // 4. 初始化LCD IO引脚（显示相关） + LcdIoInit(); + ESP_LOGI(HW_INIT_TAG, "✓ LCD IO pins initialized"); + + // 5. 初始化底座控制串口（demo5需要） + BaseBoardControlUartInit(); + ESP_LOGI(HW_INIT_TAG, "✓ Base board control UART initialized"); + + // 6. 初始化底座控制模块 + base_board_control_.Init(); + ESP_LOGI(HW_INIT_TAG, "✓ Base board control initialized"); + + // 7. 设置IO扩展板的PA控制模式（demo5需要） + io_expansion_.SetPaCtrlMode(true); + ESP_LOGI(HW_INIT_TAG, "✓ IO expansion PA control mode set"); + + // 8. 可选外设（根据具体应用需求启用） + // ESP_LOGI(HW_INIT_TAG, "Initializing optional peripherals..."); + // + // // 毫米波雷达（如需要） + // MillimeterWaveRadarUartInit(); + // MillimeterWaveRadarGpioInit(); + // ESP_LOGI(HW_INIT_TAG, "✓ Millimeter wave radar initialized"); + // + // // VBAT升压（如需要） + // VbatToVbat5vInit(); + // ESP_LOGI(HW_INIT_TAG, "✓ VBAT to 5V booster initialized"); + // + // // 步进电机（如需要） + // StepperMotorInit(); + // ESP_LOGI(HW_INIT_TAG, "✓ Stepper motor initialized"); + + ESP_LOGI(HW_INIT_TAG, "=== Complete hardware initialization finished successfully ==="); + return ESP_OK; +} + +/** + * @brief 针对特定应用的硬件初始化配置 + * + * 为不同类型的应用提供专门的初始化配置 + */ +esp_err_t BoardSweekar::InitializeHardwareForApplication(application_type_t app_type) { + static const char *APP_INIT_TAG = "APP_HW_INIT"; + + ESP_LOGI(APP_INIT_TAG, "Initializing hardware for application type: %d", app_type); + + // 基础硬件初始化（所有应用都需要） + esp_err_t ret = InitializeAllHardwareComplete(); + if (ret != ESP_OK) { + ESP_LOGE(APP_INIT_TAG, "Basic hardware initialization failed"); + return ret; + } + + switch (app_type) { + case APP_TYPE_DEMO5: // 宠物游戏demo + ESP_LOGI(APP_INIT_TAG, "Configuring for Demo5 (Pet Game)..."); + + // Demo5需要的额外初始化 + // 触摸传感器、陀螺仪、RGB LED等会在应用层初始化 + + ESP_LOGI(APP_INIT_TAG, "✓ Demo5 hardware configuration complete"); + break; + + case APP_TYPE_AUDIO_PLAYER: // 音频播放器 + ESP_LOGI(APP_INIT_TAG, "Configuring for Audio Player..."); + + // 音频应用需要确保音频编解码器正确初始化 + // 这部分通常在AudioPlayer类中处理 + + ESP_LOGI(APP_INIT_TAG, "✓ Audio player hardware configuration complete"); + break; + + case APP_TYPE_DISPLAY_ONLY: // 纯显示应用 + ESP_LOGI(APP_INIT_TAG, "Configuring for Display Only..."); + + // 显示应用需要确保LCD相关硬件正确配置 + // 这部分通常在Display类中处理 + + ESP_LOGI(APP_INIT_TAG, "✓ Display-only hardware configuration complete"); + break; + + case APP_TYPE_MINIMAL: // 最小化应用 + ESP_LOGI(APP_INIT_TAG, "Configuring for Minimal Application..."); + + // 最小化配置，只保留最基本的功能 + // 关闭非必要外设以节省功耗 + + ESP_LOGI(APP_INIT_TAG, "✓ Minimal hardware configuration complete"); + break; + + default: + ESP_LOGW(APP_INIT_TAG, "Unknown application type, using default configuration"); + break; + } + + return ESP_OK; +} + +/** + * @brief 硬件初始化状态报告 + * + * 提供详细的硬件初始化状态报告，便于调试和问题排查 + */ +void BoardSweekar::ReportHardwareStatus(void) { + static const char *STATUS_TAG = "HW_STATUS"; + + ESP_LOGI(STATUS_TAG, "=== Hardware Initialization Status Report ==="); + + // I2C总线状态 + ESP_LOGI(STATUS_TAG, "I2C Bus: %s", (bus_handle_ != nullptr) ? "✓ Initialized" : "✗ Not initialized"); + + // SD卡状态 + ESP_LOGI(STATUS_TAG, "SD Card: %s", (is_sdcard_initialized_) ? "✓ Initialized" : "✗ Not initialized"); + if (is_sdcard_initialized_) { + ESP_LOGI(STATUS_TAG, " Peripheral Set: %s", (periph_set_ != nullptr) ? "✓ Available" : "✗ Not available"); + } + + // IO扩展板状态 + ESP_LOGI(STATUS_TAG, "IO Expansion Board: %s", (io_expansion_.bus_handle_ != nullptr) ? "✓ Configured" : "✗ Not configured"); + + // 底座控制状态 + ESP_LOGI(STATUS_TAG, "Base Board Control: %s", (base_board_control_.GetUartPort() != 0) ? "✓ Initialized" : "✗ Not initialized"); + + // 功耗管理状态 + ESP_LOGI(STATUS_TAG, "Power Management: %s", (current_power_mode_ == POWER_MODE_NORMAL) ? "✓ Normal mode" : "⚠ Low power mode"); + ESP_LOGI(STATUS_TAG, " Current Mode: %d", current_power_mode_); + ESP_LOGI(STATUS_TAG, " Module Power States: 0x%08X", power_state_flags_); + + // 内存状态 + ESP_LOGI(STATUS_TAG, "Memory Status:"); + ESP_LOGI(STATUS_TAG, " Internal RAM Free: %d bytes", heap_caps_get_free_size(MALLOC_CAP_INTERNAL)); + ESP_LOGI(STATUS_TAG, " PSRAM Free: %d bytes", heap_caps_get_free_size(MALLOC_CAP_SPIRAM)); + + ESP_LOGI(STATUS_TAG, "=== End of Hardware Status Report ==="); +} \ No newline at end of file diff --git a/main/02_physical/boards/board_v1_1_17/config.h b/main/02_physical/boards/board_v1_1_17/config.h new file mode 100644 index 0000000..7af2bd4 --- /dev/null +++ b/main/02_physical/boards/board_v1_1_17/config.h @@ -0,0 +1,136 @@ +/* 定义引脚分配 */ +#ifndef _BOARD_CONFIG_H_ +#define _BOARD_CONFIG_H_ + +/** + * @file config.h + * @brief 定义了引脚的分配。 + * @author zouyuhua + * @date 2025年8月7日 + * + */ + +#include "driver/gpio.h" +#include "driver/i2c_master.h" +#include "driver/i2s.h" +#include "esp_log.h" +#include "esp_rom_sys.h" // 用于 esp_rom_delay_us +#include "esp_timer.h" +#include "esp_mac.h" +#include "driver/ledc.h" +#include "driver/gpio.h" +#include "freertos/FreeRTOS.h" +#include "freertos/task.h" +#include "esp_log.h" +#include "driver/gptimer.h" +#include "esp_intr_alloc.h" +#include "driver/uart.h" +#include "esp_err.h" +#include "freertos/queue.h" +#include "soc/uart_reg.h" +#include "linear_motor.h" +#include "gyroscope.h" + +#define TAG_BOARD "SWEEKAR_ESP32" +/*I2C总线引脚定义*/ +#define I2C0_MASTER_PORT I2C_NUM_0 +#define I2C0_MASTER_SDA_IO GPIO_NUM_2 +#define I2C0_MASTER_SCL_IO GPIO_NUM_3 + +/* 步进电机配置 */ +#define STEPPER_STEP_IO GPIO_NUM_42 // 步进电机脉冲输入引脚 +#define STEPPER_TIMER_RES_HZ 1000000 // 步进电机定时器分辨率 1 MHz（1 us 步进） + +/* 定义屏幕驱动控制引脚 */ +#define ST7789_PIN_CLK GPIO_NUM_48 // SPI时钟引脚 +#define ST7789_PIN_DC GPIO_NUM_38 // 数据/命令选择引脚RSEL +#define ST7789_PIN_MOSI GPIO_NUM_47 // SPI数据输出引脚 +#define ST7789_PIN_CS GPIO_NUM_46 // SPI片选引脚 +#define ST7789_PIN_BL GPIO_NUM_45 // 背光引脚 +#define ST7789_PIN_RST GPIO_NUM_NC // 复位引脚 +#define LCD_BL_ACTIVE_LEVEL 0 // 背光有效电平：1=高电平有效(NMOS)，0=低电平有效(PMOS) + +#define LCD_WIDTH 172 // 屏幕宽度(水平方向像素数) +#define LCD_HEIGHT 320 // 屏幕高度(垂直方向像素数) + +/* 毫米波雷达配置参数 */ +/* 定义毫米波雷达的中断引脚 */ +#define MILLIMETER_WAVE_RADAR_PIN GPIO_NUM_35 +// UART 配置参数 +#define RADAR_UART_NUM UART_NUM_1 // 使用 UART1 +#define UART_TX_PIN GPIO_NUM_40 // GPIO40 作为 TX(根据实际硬件连接调整) +#define UART_RX_PIN GPIO_NUM_39 // GPIO39 作为 RX +#define RADAR_BAUD_RATE 9600 // 雷达波特率 +#define RADAR_BUF_SIZE 100 // 雷达接收缓冲区大小 + +/* IO扩展硬件配置常量 */ +#define I2C_MASTER_FREQ_HZ 100000 // I2C通信频率(100kHz)(可更改至400000) +#define I2C_IO_EXPAND_SLAVE_ADDR 0x58 // AW9523BTQR器件地址,v1_1_13的addr1和addr0是0 +#define GPIO_INPUT_PIN_SEL GPIO_NUM_10 // 中断检测引脚 +#define ESP_INTR_FLAG_DEFAULT 0 // 中断标志默认值 +#define IO_EXPAND_RSTN GPIO_NUM_14 // IO扩展板复位引脚 + +/* 定义线性马达的I2C从机配置常量 */ +#define LINEAR_MOTOR_I2C_SLAVE_ADDR 0x5A // 线性马达的I2C从机地址 + +/* 定义陀螺仪的I2C从机配置常量 */ +#define GYROSCOPE_I2C_SLAVE_ADDR 0x6A // 陀螺仪的I2C从机地址 +#define GYROSCOPE_INPUT_PIN_SEL GPIO_NUM_21 // 陀螺仪中断引脚 + +/* AW触摸芯片配置 */ +#define AW_TOUCH_IRQ_PIN GPIO_NUM_11 // AW触摸芯片中断引脚 +#define NFC_RST_PIN GPIO_NUM_12 // NFC复位引脚 +#define SHUTDOWN_CTRL_PIN GPIO_NUM_13 // 关机控制引脚 + +/* 原生触摸引脚配置 (v1.1.17已改为上述功能，保留定义需谨慎) */ +// 触摸按键数量配置 +#define TOUCH_BUTTON_NUM 3 +// 触摸通道定义 - 注意：v1.1.17如果不使用ESP32原生触摸，这些定义可能不再适用 +// 但为了兼容编译，可以保留或注释 +#define TOUCH_PAD_CHANNEL_1 TOUCH_PAD_NUM11 // GPIO11 (Now AW_IRQ) +#define TOUCH_PAD_CHANNEL_2 TOUCH_PAD_NUM12 // GPIO12 (Now NFC_RST) +#define TOUCH_PAD_CHANNEL_3 TOUCH_PAD_NUM13 // GPIO13 (Now SHUTDOWN) + +/* ES8311音频编解码器配置 (ESP-ADF兼容) */ +#define AUDIO_INPUT_SAMPLE_RATE 24000 +#define AUDIO_OUTPUT_SAMPLE_RATE 24000 +#define AUDIO_INPUT_REFERENCE true + +/* I2S GPIO定义 */ +#define AUDIO_I2S_GPIO_MCLK GPIO_NUM_15 +#define AUDIO_I2S_GPIO_WS GPIO_NUM_4 +#define AUDIO_I2S_GPIO_BCLK GPIO_NUM_5 +#define AUDIO_I2S_GPIO_DIN GPIO_NUM_6 +#define AUDIO_I2S_GPIO_DOUT GPIO_NUM_7 + +/* PA引脚定义 */ +#define AUDIO_CODEC_PA_PIN GPIO_NUM_NC + +/* I2C配置 */ +#define AUDIO_CODEC_I2C_SDA_PIN GPIO_NUM_2 +#define AUDIO_CODEC_I2C_SCL_PIN GPIO_NUM_3 +#define AUDIO_CODEC_ES8311_ADDR 0x18 +#define AUDIO_CODEC_ES7210_ADDR 0x40 + +/* WS2812 RGB LED配置 */ +#define WS2812_PIN GPIO_NUM_41 // WS2812数据引脚 +#define WS2812_NUM_LEDS 2 // WS2812 LED数量 + +/* 创建VBAT to VBAT_5V */ +#define VBAT_5V_PIN GPIO_NUM_NC // VBAT_5V引脚 + +/* 定义按键的中断引脚 */ +#define BUTTON_PIN GPIO_NUM_0 // 按键中断引脚 +#define RIGHT_BUTTON_PIN GPIO_NUM_8 // 按键中断引脚 + +/* 底座控制命令串口配置 */ +#define BASE_BOARD_CTL_UART_PORT UART_NUM_0 +#define BASE_BOARD_CTL_UART_TX_PIN GPIO_NUM_43 +#define BASE_BOARD_CTL_UART_RX_PIN GPIO_NUM_44 +#define BASE_BOARD_CTL_UART_BAUDRATE 115200 +#define BASE_BOARD_CTL_UART_BUF_SIZE 256 + +/* 背光控制引脚配置 */ +#define BL_PIN GPIO_NUM_45 + +#endif // _BOARD_CONFIG_H_ diff --git a/main/02_physical/boards/board_v1_1_17/io_expansion_board.cc b/main/02_physical/boards/board_v1_1_17/io_expansion_board.cc new file mode 100644 index 0000000..bfe1679 --- /dev/null +++ b/main/02_physical/boards/board_v1_1_17/io_expansion_board.cc @@ -0,0 +1,1040 @@ +#include "io_expansion_board.h" +#include "millimeter_wave_radar.h" +#include "photo_interrupter.h" +#include "adc_battery_monitor.h" +#include "esp_heap_caps.h" +#include "esp_log.h" +#include "esp_check.h" +#include "driver/gpio.h" +#include "freertos/FreeRTOS.h" +#include "freertos/idf_additions.h" +#include "freertos/portable.h" +#include "freertos/task.h" +#include "freertos/event_groups.h" +#include "esp_rom_sys.h" +/** + * @file io_expansion_board.cc + * @brief IO扩展板功能实现类,包含I2C通信、GPIO中断配置、外设控制等功能 + * @details 实现了IO扩展板的初始化(中断引脚、复位引脚)、寄存器读写、步进电机控制(细分模式、使能、方向、睡眠状态)、 + * LCD相关引脚控制(背光、复位、片选)、毫米波雷达中断引脚配置等功能,并提供I2C数据读取任务的创建与管理 + * @author zouyuhua + * @date 2025年8月7日 + * + */ + +/** + * @brief 构造函数 + */ +IOExpansionBoard::IOExpansionBoard() + : bus_handle_(nullptr), + device_addr_(0), + last_port0_state_(0), + last_port1_state_(0), + radar_last_state_(false), + i2c_task_event_group_(nullptr), + xI2CReadTaskHandle_(nullptr), + is_initialized_(false), + interrupt_gpio_(GPIO_NUM_NC), + reset_gpio_(GPIO_NUM_NC) +{ +} + +/** + * @brief 析构函数 + */ +IOExpansionBoard::~IOExpansionBoard() +{ + // 删除任务 + if (xI2CReadTaskHandle_) { + vTaskDelete(xI2CReadTaskHandle_); + } + + // if(pI2CReadTaskStackBuffer) { + // heap_caps_free(pI2CReadTaskStackBuffer); + // pI2CReadTaskStackBuffer = nullptr; + // } + + // if(pxI2CReadTaskBuffer) { + // vPortFree(pxI2CReadTaskBuffer); + // pxI2CReadTaskBuffer = nullptr; + // } + + // 删除事件组 + if (i2c_task_event_group_) { + vEventGroupDelete(i2c_task_event_group_); + } + + // 移除中断处理 + if (interrupt_gpio_ != GPIO_NUM_NC) { + gpio_isr_handler_remove(interrupt_gpio_); + } + + // 删除IO扩展板设备 + // 使用i2c_bus API时不需要手动删除设备句柄 + // bus_handle_由board_sweekar统一管理 +} + +/** + * @brief 静态中断处理函数 + */ +void IRAM_ATTR IOExpansionBoard::GpioIsrHandler(void* arg) +{ + IOExpansionBoard* instance = static_cast(arg); + if (!instance) return; + + // 调试：记录中断触发 + // ESP_EARLY_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "中断触发!"); // IRAM函数中不能使用普通日志 + + BaseType_t xHigherPriorityTaskWoken = pdFALSE; + // 设置事件标志位 + if (instance->i2c_task_event_group_) { + xEventGroupSetBitsFromISR( + instance->i2c_task_event_group_, + BIT0, + &xHigherPriorityTaskWoken + ); + } + + // 触发上下文切换 + if (xHigherPriorityTaskWoken) { + portYIELD_FROM_ISR(); + } +} + +/** + * @brief 初始化GPIO中断检测 + */ +esp_err_t IOExpansionBoard::InterruptGpioInit(gpio_num_t gpio_num) +{ + // 配置IO扩展板中断引脚 + gpio_config_t io_conf = {}; + io_conf.intr_type = GPIO_INTR_ANYEDGE; // 改为双沿触发，检测上升沿和下降沿 + io_conf.pin_bit_mask = 1ULL << gpio_num; + io_conf.mode = GPIO_MODE_INPUT; + io_conf.pull_up_en = GPIO_PULLUP_ENABLE; + io_conf.pull_down_en = GPIO_PULLDOWN_DISABLE; + // io_conf.pull_up_en = GPIO_PULLUP_DISABLE; + // io_conf.pull_down_en = GPIO_PULLDOWN_ENABLE; + + + esp_err_t err = gpio_config(&io_conf); + if (err != ESP_OK) { + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "GPIO配置失败,错误码: 0x%x", err); + return err; + } + // 配置中断服务 + err = gpio_install_isr_service(ESP_INTR_FLAG_LEVEL3); + if (err != ESP_OK && err != ESP_ERR_INVALID_STATE) { + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "GPIO中断服务安装失败,错误码: 0x%x", err); + return err; + } + // 注册中断处理函数 + err = gpio_isr_handler_add(gpio_num, GpioIsrHandler, this); + if (err != ESP_OK) { + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "GPIO中断处理函数添加失败,错误码: 0x%x", err); + return err; + } + // 创建事件组 + i2c_task_event_group_ = xEventGroupCreate(); + if (!i2c_task_event_group_) { + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "事件组创建失败"); + return ESP_FAIL; + } + + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "GPIO%d中断初始化完成", gpio_num); + return ESP_OK; +} + +/** + * @brief 初始化硬件复位引脚 + * 设置为上拉,需要复位,需要输出低电平为20us的脉冲信号 + */ +esp_err_t IOExpansionBoard::ResetGpioInit(gpio_num_t gpio_num) +{ + reset_gpio_ = gpio_num; + + // 配置复位引脚 + gpio_config_t io_conf = {}; + io_conf.intr_type = GPIO_INTR_DISABLE; + io_conf.pin_bit_mask = 1ULL << gpio_num; + io_conf.mode = GPIO_MODE_OUTPUT; + io_conf.pull_up_en = GPIO_PULLUP_ENABLE; + io_conf.pull_down_en = GPIO_PULLDOWN_DISABLE; + esp_err_t err = gpio_config(&io_conf); + gpio_set_level(gpio_num, 1); // 复位引脚拉高 + if (err != ESP_OK) { + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "GPIO配置失败,错误码: 0x%x", err); + return err; + } + else{ + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "GPIO%d复位引脚初始化完成", gpio_num); + return err; + } +} + +/** + * @brief 计算Port0的字节值,用于配置输入还是输出模式(0为输出模式,1为输入模式) + * @return uint8_t 操作结果 + */ +uint8_t IOExpansionBoard::ByteCalculatePort0() +{ + uint8_t byte_val = 0x00; // 初始化为所有引脚为输出模式(0)，然后根据配置设置为输入模式(1) + + // 输入模式配置：将对应位置位(1为输入模式) + if(RADAR_INTERRUPT_CONFIG == CONFIG_PORT0){ //雷达中断引脚 + byte_val |= (1 << RADAR_INTERRUPT_PIN); + } + if(START_PHOTO_INTERRUPTER_CONFIG == CONFIG_PORT0){ //起始光学传感器 + byte_val |= (1 << START_PHOTO_INTERRUPTER_PIN); + } + if(END_PHOTO_INTERRUPTER_PORT_CONFIG == CONFIG_PORT0){ //结束光学传感器 + byte_val |= (1 << END_PHOTO_INTERRUPTER_PIN); + } + if(BATTERY_FULL_CONFIG == CONFIG_PORT0){ //电池充满检测 + byte_val |= (1 << BATTERY_FULL_PIN); + } + if(BATTERY_CHRG_CONFIG == CONFIG_PORT0){ //电池充电检测 + byte_val |= (1 << BATTERY_CHRG_PIN); + } + + return byte_val; +} + +/** + * @brief 计算Port1的字节值,用于配置输入还是输出模式(0为输出模式,1为输入模式) + * @return uint8_t 操作结果 + */ +uint8_t IOExpansionBoard::ByteCalculatePort1() +{ + uint8_t byte_val = 0x00; // 初始化为所有引脚为输出模式(0)，然后根据配置设置为输入模式(1) + + // 输入模式配置：将对应位置位(1为输入模式) + if(RADAR_INTERRUPT_CONFIG == CONFIG_PORT1){ //雷达中断引脚 + byte_val |= (1 << RADAR_INTERRUPT_PIN); + } + if(START_PHOTO_INTERRUPTER_CONFIG == CONFIG_PORT1){ //起始光学传感器 + byte_val |= (1 << START_PHOTO_INTERRUPTER_PIN); + } + if(END_PHOTO_INTERRUPTER_PORT_CONFIG == CONFIG_PORT1){ //结束光学传感器 + byte_val |= (1 << END_PHOTO_INTERRUPTER_PIN); + } + if(BATTERY_FULL_CONFIG == CONFIG_PORT1){ //电池充满检测 + byte_val |= (1 << BATTERY_FULL_PIN); + } + if(BATTERY_CHRG_CONFIG == CONFIG_PORT1){ //电池充电检测 + byte_val |= (1 << BATTERY_CHRG_PIN); + } + + return byte_val; +} + +/** + * @brief 复位IO扩展板 + */ +esp_err_t IOExpansionBoard::ResetIoExpand() +{ + if (reset_gpio_ == GPIO_NUM_NC) { + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "复位引脚未初始化"); + return ESP_ERR_INVALID_STATE; + } + + // 复位IO扩展板 + gpio_set_level(reset_gpio_, 0); + esp_rom_delay_us(30); + gpio_set_level(reset_gpio_, 1); + uint8_t ctl_val; + //配置P0_0-P0_7的端口为推挽输出模式 + esp_err_t err = IoexpandReadReg(CTL, &ctl_val); + ctl_val |= (1 << 4); // 设置D[4]位为1(GPOMD=1),切换P0为推挽模式 + err = IoexpandWriteReg(CTL, ctl_val); + if(err != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "复位失败,错误码:0x%x", err); + return err; + } + else{ + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "复位成功"); + } + return ESP_OK; +} + +/** + * @brief 写寄存器数据 + * @param reg_addr 寄存器地址 + * @param data 要写入的数据 + * @return esp_err_t 操作结果 + */ +esp_err_t IOExpansionBoard::IoexpandWriteReg(uint8_t reg_addr, uint8_t data) +{ + return i2c_bus_write_bytes(bus_handle_, device_addr_, ®_addr, 1, &data, 1); +} + +/** + * @brief 从寄存器读取数据 + * @param reg_addr 寄存器地址(如INPUT_PORT0、ID等) + * @param data 输出参数,用于存储读取到的数据 + * @return esp_err_t 操作结果(ESP_OK为成功) + */ +esp_err_t IOExpansionBoard::IoexpandReadReg(uint8_t reg_addr, uint8_t* data) +{ + if (data == nullptr){ // 检查输入参数有效性 + return ESP_ERR_INVALID_ARG; + } + + // 使用i2c_bus_read_bytes进行寄存器读取 + esp_err_t err = i2c_bus_read_bytes(bus_handle_, device_addr_, ®_addr, 1, data, 1); + if (err != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "读取寄存器失败,错误码:0x%x", err); + return err; + } + + return ESP_OK; +} + +/** + * @brief 读取输入端口0寄存器数据 + * @param data 输出参数,用于存储读取到的数据 + * @return esp_err_t 操作结果 + */ +esp_err_t IOExpansionBoard::ReadInputPort0(uint8_t* data) +{ + return IoexpandReadReg(INPUT_PORT0, data); +} + +/** + * @brief 读取输入端口1寄存器数据 + * @param data 输出参数,用于存储读取到的数据 + * @return esp_err_t 操作结果 + */ +esp_err_t IOExpansionBoard::ReadInputPort1(uint8_t* data) +{ + return IoexpandReadReg(INPUT_PORT1, data); +} + +//设置IO扩展板为输入模式或是输出模式 +/* +* 这里需要根据实际情况设置IO扩展板的模式,比如输入模式还是输出模式,以及各个引脚的配置。 +* P0_0 对应NFC_RST引脚,需要设置为输出模式,低电平有效。(待测) +* P0_1 对应USB_VBUS引脚,需要设置为输出模式,低电平有效。(待测) +* P0_2 对应BTN_RIGHT_EAR引脚,需要设置为输出模式,低电平有效。(待测) +* P0_3 暂时未使用。 +* P0_4 对应步进电机方向引脚,需要设置为输出模式,根据需求设置。(待测) +* P0_5 对应CHRG引脚(待测) +* P0_6 LCD_DC引脚,需要设置为输出模式,根据需求设置电平。(待测) +* P0_7 对应步进电机的使能引脚,需要设置为输出模式,根据需求设置。(待测) +* +* +* P1_0 对应EG800K_PWR。(待测) +* P1_1 对应LCD_RST,需要设置为输出模式,低电平有效。(待测) +* P1_2 对应LCD_CS,需要设置为输出模式,低电平有效。(待测) +* P1_3 暂时未使用。 +* P1_4 对应步进电机的细分模式M1引脚。(待测) +* P1_5 对应步进电机的细分模式M0引脚。(待测) +* P1_6 对应步进电机的睡眠引脚。(待测) +* P1_7 对应RADAR_O雷达的输出引脚。(待测) +* */ +esp_err_t IOExpansionBoard::IoexpandSetMode(void) +{ + uint8_t ctl_val; + //配置P0_0-P0_7的端口为推挽输出模式 + esp_err_t err = IoexpandReadReg(CTL, &ctl_val); + ctl_val |= (1 << 4); // 设置D[4]位为1(GPOMD=1),切换P0为推挽模式 + err = IoexpandWriteReg(CTL, ctl_val); + if(err != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "配置P0端口失败,错误码:0x%x", err); + return err; + } + else{ + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "配置P0端口成功"); + } + + err = IoexpandWriteReg(CONFIG_PORT0, ByteCalculatePort0()); + + if(err != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "配置P0端口失败,错误码:0x%x", err); + return err; + } + else{ + // 打印BytecalculatePort0()结果 + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "配置P0端口成功, 0x%02X", ByteCalculatePort0()); + } + + err = IoexpandWriteReg(CONFIG_PORT1, ByteCalculatePort1()); + if(err != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "配置P1端口失败,错误码:0x%x", err); + return err; + } + else{ + // 打印BytecalculatePort1()结果 + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "配置P1端口成功, 0x%02X", ByteCalculatePort1()); + } + // 配置P0_0-P0_7的初始为高电平 + // 配置P1_0-P1_7的初始为高电平 + // P0_6(旧的LCD_BL, 0x40), P0_1(led_en, PMOS高侧驱动, 高电平关, 0x02) + err = IoexpandWriteReg(OUTPUT_PORT0, 0x42); // 0100 0010 + if(err != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "配置P0端口初始值失败,错误码:0x%x", err); + return err; + } + else{ + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "配置P0端口初始值成功"); + } + err = IoexpandWriteReg(OUTPUT_PORT1, 0x04); // 0000 0100 + if(err != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "配置P1端口初始值失败,错误码:0x%x", err); + return err; + } + else{ + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "配置P1端口初始值成功"); + } + + + // AW9523B中断使能配置：0为使能中断，1为禁止中断 + // 使能P0_5（充电检测）和P1_3（充满检测）的中断 + uint8_t int_enable_port0 = 0x00; // 0x00 = 使能所有P0引脚中断 + uint8_t int_enable_port1 = 0x00; // 0x00 = 使能所有P1引脚中断 + + err = IoexpandWriteReg(INT_PORT0, int_enable_port0); + if(err != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "配置P0端口中断使能失败,错误码:0x%x", err); + return err; + } + else{ + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "配置P0端口中断使能成功: 0x%02X (0=使能)", int_enable_port0); + } + + err = IoexpandWriteReg(INT_PORT1, int_enable_port1); + if(err != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "配置P1端口中断使能失败,错误码:0x%x", err); + return err; + } + else{ + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "配置P1端口中断使能成功: 0x%02X (0=使能)", int_enable_port1); + } + + return ESP_OK; +} + +/** + * @brief 设置步进电机的细分模式 + */ +void IOExpansionBoard::SetStepperMicrostepMode(uint8_t mode, uint8_t OUTPUT_PORT_m0, uint8_t m0_pin, uint8_t OUTPUT_PORT_m1, uint8_t m1_pin) +{ + uint8_t current_val; + switch (mode) { + case 1: //全步输出模式 低低电平 + IoexpandReadReg(OUTPUT_PORT_m0, ¤t_val); + current_val &= ~(1 << m0_pin); + if(IoexpandWriteReg(OUTPUT_PORT_m0, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + IoexpandReadReg(OUTPUT_PORT_m1, ¤t_val); + current_val &= ~(1 << m1_pin); + if(IoexpandWriteReg(OUTPUT_PORT_m1, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + break; + case 2: //非圆 1/2 高低电平 + IoexpandReadReg(OUTPUT_PORT_m0, ¤t_val); + current_val |= (1 << m0_pin); + if(IoexpandWriteReg(OUTPUT_PORT_m0, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + IoexpandReadReg(OUTPUT_PORT_m1, ¤t_val); + current_val &= ~(1 << m1_pin); + if(IoexpandWriteReg(OUTPUT_PORT_m1, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + break; + case 3: //1/4 步 低高电平 + IoexpandReadReg(OUTPUT_PORT_m0, ¤t_val); + current_val &= ~(1 << m0_pin); + if(IoexpandWriteReg(OUTPUT_PORT_m0, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + IoexpandReadReg(OUTPUT_PORT_m1, ¤t_val); + current_val |= (1 << m1_pin); + if(IoexpandWriteReg(OUTPUT_PORT_m1, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + break; + case 4: //1/8 步 高高电平 + IoexpandReadReg(OUTPUT_PORT_m0, ¤t_val); + current_val |= (1 << m0_pin); + if(IoexpandWriteReg(OUTPUT_PORT_m0, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + IoexpandReadReg(OUTPUT_PORT_m1, ¤t_val); + current_val |= (1 << m1_pin); + if(IoexpandWriteReg(OUTPUT_PORT_m1, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + break; + default: //全步输入模式 低低电平 + IoexpandReadReg(OUTPUT_PORT_m0, ¤t_val); + current_val &= ~(1 << m0_pin); + if(IoexpandWriteReg(OUTPUT_PORT_m0, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + IoexpandReadReg(OUTPUT_PORT_m1, ¤t_val); + current_val &= ~(1 << m1_pin); + if(IoexpandWriteReg(OUTPUT_PORT_m1, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + break; + } +} + +/** + * @brief 设置步进电机的使能 + */ +esp_err_t IOExpansionBoard::SetMotorEnableMode(bool enable, uint8_t OUTPUT_PORT, uint8_t enable_pin) +{ + uint8_t current_val; + if(enable){ + // 进入工作状态mode + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + current_val |= (1 << enable_pin); + // ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "!!!!!!!!!0x%x", current_val); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } + else{ + // 进入睡眠状态 + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + current_val &= ~(1 << enable_pin); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } +} +/** + * @brief 设置步进电机运行方向 + */ +esp_err_t IOExpansionBoard::StepperMotorSetDir(bool dir, uint8_t OUTPUT_PORT, uint8_t pin) +{ + uint8_t current_val; + if(dir){ + // 方向为正转 + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + current_val |= (1 << pin); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } + else{ + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + current_val &= ~(1 << pin); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } +} + + +/** + * @brief 设置步进电机是否进入睡眠或者工作状态(高电平进入工作状态,低电平进入睡眠状态) + */ +esp_err_t IOExpansionBoard::SetMotorSleepMode(bool mode, uint8_t OUTPUT_PORT, uint8_t nsleep_pin) +{ + uint8_t current_val; + if(mode){ + // 进入工作状态mode + // ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "进入工作状态"); + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + //打印读出来的寄存器值 + // ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "电机睡眠输出寄存器: 0x%x", current_val); + current_val |= (1 << nsleep_pin); + // ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置电机睡眠输出寄存器: 0x%x", current_val); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } + else{ + // 进入睡眠状态 + // ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "进入睡眠状态"); + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + //打印读出来的寄存器值 + // ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "电机睡眠输出寄存器: 0x%x", current_val); + current_val &= ~(1 << nsleep_pin); + // ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置电机睡眠输出寄存器: 0x%x", current_val); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } +} + + +/*********************************************IO扩展板LCD引脚配置参数***********************************************/ +/** + * @brief 设置 LCD_BL引脚电平(高电平为命令模式,低电平为数据模式) + */ +esp_err_t IOExpansionBoard::SetLcdBlMode(bool mode, uint8_t OUTPUT_PORT, uint8_t bl_pin) +{ + uint8_t current_val; + if(mode){ + // 进入命令模式 + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + current_val |= (1 << bl_pin); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } + else{ + // 进入数据模式 + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + current_val &= ~(1 << bl_pin); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } +} + +/** + * @brief 设置 LED_EN 引脚电平(用于控制LCD背光/LED灯电源) + * @param mode true:开启(低电平), false:关闭(高电平) + */ +esp_err_t IOExpansionBoard::SetLedEnMode(bool mode) +{ + uint8_t current_val; + esp_err_t err = IoexpandReadReg(LED_EN_PORT, ¤t_val); + if (err != ESP_OK) return err; + + if(mode){ + // 开启 (PMOS低电平有效) + current_val &= ~(1 << LED_EN_PIN); + } + else{ + // 关闭 (PMOS高电平无效) + current_val |= (1 << LED_EN_PIN); + } + return IoexpandWriteReg(LED_EN_PORT, current_val); +} + +/** + * @brief 设置 LCD_RST引脚电平(高电平为复位模式,低电平为工作模式) + */ +esp_err_t IOExpansionBoard::SetLcdResetMode(bool mode, uint8_t OUTPUT_PORT, uint8_t reset_pin) +{ + uint8_t current_val; + if(mode){ + // 进入复位模式 + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "进入复位模式"); + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + //打印读出来的寄存器值 + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "LCD复位输出寄存器: 0x%x", current_val); + current_val |= (1 << reset_pin); + //打印设置后的寄存器值 + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置LCD复位输出寄存器: 0x%x", current_val); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } + else{ + // 进入工作模式 + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "进入工作模式"); + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + //打印读出来的寄存器值 + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "LCD复位输出寄存器: 0x%x", current_val); + current_val &= ~(1 << reset_pin); + //打印设置后的寄存器值 + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置LCD复位输出寄存器: 0x%x", current_val); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } +} + +/*********************************************IO扩展板的输入引脚配置以及中断引脚定义***********************************************/ +/** + * @brief 设置 毫米波雷达的中断引脚 + */ +esp_err_t IOExpansionBoard::SetRadarInterruptPin(bool mode, uint8_t INPUT_PORT, uint8_t interrupt_pin) +{ + uint8_t current_val; + if(mode){ + // 进入输入模式 + IoexpandReadReg(INPUT_PORT, ¤t_val); + current_val |= (1 << interrupt_pin); + return IoexpandWriteReg(INPUT_PORT, current_val); + } + else{ + // 进入输出模式 + IoexpandReadReg(INPUT_PORT, ¤t_val); + current_val &= ~(1 << interrupt_pin); + return IoexpandWriteReg(INPUT_PORT, current_val); + } +} + +/** + * @brief 设置 PA_CTRL引脚电平 + */ +esp_err_t IOExpansionBoard::SetPaCtrlMode(bool mode) +{ + uint8_t current_val; + if(mode){ + // 进入高电平状态 + ESP_LOGI("io_ex:", "read reg"); + IoexpandReadReg(PA_CTRL_PORT, ¤t_val); + current_val |= (1 << PA_CTRL_PIN); + return IoexpandWriteReg(PA_CTRL_PORT, current_val); + } + else{ + // 进入低电平状态 + IoexpandReadReg(PA_CTRL_PORT, ¤t_val); + current_val &= ~(1 << PA_CTRL_PIN); + return IoexpandWriteReg(PA_CTRL_PORT, current_val); + } +} + + + +/** + * @brief I2C数据读取任务主体 + */ +void IOExpansionBoard::I2cReadTask(void* pvParameters) +{ + IOExpansionBoard* instance = static_cast(pvParameters); + if (!instance) { + vTaskDelete(nullptr); + return; + } + // 初始化复位引脚 + esp_err_t err = instance->ResetGpioInit(IO_EXPAND_RSTN); + if (err != ESP_OK) { + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "GPIO复位初始化失败"); + } + + // 执行硬件复位 - 这是解决中断引脚持续拉低的关键 + err = instance->ResetIoExpand(); + if (err != ESP_OK) { + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "IO扩展板硬件复位失败"); + } else { + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "IO扩展板硬件复位成功"); + + // 检查复位后的中断引脚状态 + int interrupt_level = gpio_get_level(GPIO_INPUT_PIN_SEL); + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "复位后中断引脚状态: %s (0=低电平, 1=高电平)", + interrupt_level ? "高电平" : "低电平"); + } + + // 初始化IO扩展板子的中断引脚 + err = instance->InterruptGpioInit(GPIO_INPUT_PIN_SEL); + if (err != ESP_OK) { + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "GPIO中断初始化失败"); + } + // 设置IO扩展板模式 - 复位后必须重新配置寄存器！ + err = instance->IoexpandSetMode(); + if (err != ESP_OK) { + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "IO扩展板模式配置失败"); + } else { + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "IO扩展板模式配置成功"); + } + // 设置LCD屏幕复位引脚 + err = instance->SetLcdResetMode(LCD_RST_HIGH, LCD_RST_PORT, LCD_RST_PIN); + if(err != ESP_OK){ + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "设置LCD屏幕复位引脚失败"); + } + else{ + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "设置LCD屏幕复位引脚成功"); + } + // 设置LCD屏幕复位引脚为低电平 + err = instance->SetLcdResetMode(LCD_RST_LOW, LCD_RST_PORT, LCD_RST_PIN); + if(err != ESP_OK){ + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "设置LCD屏幕复位引脚失败"); + } + else{ + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "设置LCD屏幕复位引脚成功"); + } + + uint8_t current_val_port0_ = 0,current_val_port1_ = 0,current_temp_ = 0; + for (;;) { + // 等待中断事件触发 + if (instance->i2c_task_event_group_) { + xEventGroupWaitBits(instance->i2c_task_event_group_, BIT0, pdTRUE, pdFALSE, portMAX_DELAY); + } + + ESP_LOGD(TAG_GPIO_IO_EXPAND_DETECT, "IO扩展板中断触发"); + + // 检查中断触发时的引脚状态 + int interrupt_level = gpio_get_level(GPIO_INPUT_PIN_SEL); + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "中断触发时引脚状态: %s (0=低电平, 1=高电平)", + interrupt_level ? "高电平" : "低电平"); + + // AW9523B中断处理说明（根据数据手册）： + // 1. 当输入引脚状态变化时，AW9523B会拉低INT引脚（连接到ESP32的GPIO10） + // 2. 通过读取输入端口寄存器（00H, 01H）来清除对应端口的中断 + // 3. 无独立的中断状态寄存器，需要通过输入电平变化来判断中断源 + // 4. 读取INPUT_PORT0 (00H) 清除P0口中断，读取INPUT_PORT1 (01H) 清除P1口中断 + + // 一次性读取两个端口的输入寄存器，避免重复读取和错误的OR操作 + instance->IoexpandReadReg(INPUT_PORT0, ¤t_val_port0_); + instance->IoexpandReadReg(INPUT_PORT1, ¤t_val_port1_); + + ESP_LOGD(TAG_GPIO_IO_EXPAND_DETECT, "读取端口状态 - Port0: 0x%02X, Port1: 0x%02X", current_val_port0_, current_val_port1_); + + // 检查读取寄存器后中断引脚是否被清除（应该恢复高电平） + interrupt_level = gpio_get_level(GPIO_INPUT_PIN_SEL); + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "读取寄存器后中断引脚状态: %s (0=低电平, 1=高电平)", + interrupt_level ? "高电平" : "低电平"); + + //判断是否有中断来自雷达引脚 + if((RADAR_INTERRUPT_INPUT == INPUT_PORT0) && (current_val_port0_ & (1 << RADAR_INTERRUPT_PIN))){ + // 检查雷达引脚状态是否发生了变化，避免重复触发 + bool current_radar_state = (current_val_port0_ & (1 << RADAR_INTERRUPT_PIN)) != 0; + if (current_radar_state != instance->radar_last_state_) { + instance->radar_last_state_ = current_radar_state; + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "检测到中断来自雷达引脚\n"); + // 读取输入寄存器以清除中断标志 + uint8_t temp_input_val; + instance->IoexpandReadReg(INPUT_PORT0, &temp_input_val); + // 调用毫米波雷达回调函数 + if (instance->radar_) { + instance->radar_->TriggerRadarDetectCallback(); + } + // 调用雷达回调函数（新接口） + if (instance->radar_callback_) { + instance->radar_callback_(); + } + } else { + // 状态未变化，仍读取寄存器以清除可能的中断标志 + uint8_t temp_input_val; + instance->IoexpandReadReg(INPUT_PORT0, &temp_input_val); + } + } + else if((RADAR_INTERRUPT_INPUT == INPUT_PORT1) && (current_val_port1_ & (1 << RADAR_INTERRUPT_PIN))){ + // 检查雷达引脚状态是否发生了变化，避免重复触发 + bool current_radar_state = (current_val_port1_ & (1 << RADAR_INTERRUPT_PIN)) != 0; + if (current_radar_state != instance->radar_last_state_) { + instance->radar_last_state_ = current_radar_state; + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "检测到中断来自雷达引脚1\n"); + // 读取输入寄存器以清除中断标志 + uint8_t temp_input_val; + instance->IoexpandReadReg(INPUT_PORT1, &temp_input_val); + // 调用毫米波雷达回调函数 + if (instance->radar_) { + instance->radar_->TriggerRadarDetectCallback(); + } + // 调用雷达回调函数（新接口） + if (instance->radar_callback_) { + instance->radar_callback_(); + } + } else { + // 状态未变化，仍读取寄存器以清除可能的中断标志 + uint8_t temp_input_val; + instance->IoexpandReadReg(INPUT_PORT1, &temp_input_val); + } + } + // else{ + // ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "未检测到雷达引脚中断\n"); + // } + + //判断是否有中断来自初始光学传感器引脚 + if((START_PHOTO_INTERRUPTER_INPUT == INPUT_PORT0) && (current_val_port0_ & (1 << START_PHOTO_INTERRUPTER_PIN))){ + bool current_photo_state = (current_val_port0_ & (1 << START_PHOTO_INTERRUPTER_PIN)) != 0; + uint8_t old_photo_state = instance->last_port0_state_ & (1 << START_PHOTO_INTERRUPTER_PIN); + if ((current_photo_state ? 1 : 0) != (old_photo_state ? 1 : 0)) { + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "检测到中断来自初始光学传感器引脚\n"); + // 读取输入寄存器以清除中断标志 + uint8_t temp_input_val; + instance->IoexpandReadReg(INPUT_PORT0, &temp_input_val); + // 调用初始光学传感器回调函数 + if (instance->photo_interrupter_) { + instance->photo_interrupter_->TriggerStartCallback(); + } + // 调用光学传感器开始回调函数（新接口） + if (instance->photo_start_callback_) { + instance->photo_start_callback_(); + } + // 更新状态 + instance->last_port0_state_ = current_val_port0_; + } else { + // 状态未变化，仍读取寄存器以清除可能的中断标志 + uint8_t temp_input_val; + instance->IoexpandReadReg(INPUT_PORT0, &temp_input_val); + } + } + else if((START_PHOTO_INTERRUPTER_INPUT == INPUT_PORT1) && (current_val_port1_ & (1 << START_PHOTO_INTERRUPTER_PIN))){ + bool current_photo_state = (current_val_port1_ & (1 << START_PHOTO_INTERRUPTER_PIN)) != 0; + uint8_t old_photo_state = instance->last_port1_state_ & (1 << START_PHOTO_INTERRUPTER_PIN); + if ((current_photo_state ? 1 : 0) != (old_photo_state ? 1 : 0)) { + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "检测到中断来自初始光学传感器引脚\n"); + // 读取输入寄存器以清除中断标志 + uint8_t temp_input_val; + instance->IoexpandReadReg(INPUT_PORT1, &temp_input_val); + // 调用初始光学传感器回调函数 + if (instance->photo_interrupter_) { + instance->photo_interrupter_->TriggerStartCallback(); + } + // 调用光学传感器开始回调函数（新接口） + if (instance->photo_start_callback_) { + instance->photo_start_callback_(); + } + // 更新状态 + instance->last_port1_state_ = current_val_port1_; + } else { + // 状态未变化，仍读取寄存器以清除可能的中断标志 + uint8_t temp_input_val; + instance->IoexpandReadReg(INPUT_PORT1, &temp_input_val); + } + } + // else{ + // // ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "未检测到初始光学传感器引脚中断\n"); + // } + + //判断是否有中断来自结束光学传感器引脚 + if((END_PHOTO_INTERRUPTER_INPUT == INPUT_PORT0) && (current_val_port0_ & (1 << END_PHOTO_INTERRUPTER_PIN))){ + bool current_photo_state = (current_val_port0_ & (1 << END_PHOTO_INTERRUPTER_PIN)) != 0; + uint8_t old_photo_state = instance->last_port0_state_ & (1 << END_PHOTO_INTERRUPTER_PIN); + if ((current_photo_state ? 1 : 0) != (old_photo_state ? 1 : 0)) { + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "检测到中断来自结束光学传感器引脚\n"); + // 读取输入寄存器以清除中断标志 + uint8_t temp_input_val; + instance->IoexpandReadReg(INPUT_PORT0, &temp_input_val); + // 调用结束光学传感器回调函数 + if (instance->photo_interrupter_) { + instance->photo_interrupter_->TriggerEndCallback(); + } + // 调用光学传感器结束回调函数（新接口） + if (instance->photo_end_callback_) { + instance->photo_end_callback_(); + } + // 更新状态 + instance->last_port0_state_ = current_val_port0_; + } else { + // 状态未变化，仍读取寄存器以清除可能的中断标志 + uint8_t temp_input_val; + instance->IoexpandReadReg(INPUT_PORT0, &temp_input_val); + } + } + else if((END_PHOTO_INTERRUPTER_INPUT == INPUT_PORT1) && (current_val_port1_ & (1 << END_PHOTO_INTERRUPTER_PIN))){ + bool current_photo_state = (current_val_port1_ & (1 << END_PHOTO_INTERRUPTER_PIN)) != 0; + uint8_t old_photo_state = instance->last_port1_state_ & (1 << END_PHOTO_INTERRUPTER_PIN); + if ((current_photo_state ? 1 : 0) != (old_photo_state ? 1 : 0)) { + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "检测到中断来自结束光学传感器引脚\n"); + // 读取输入寄存器以清除中断标志 + uint8_t temp_input_val; + instance->IoexpandReadReg(INPUT_PORT1, &temp_input_val); + // 调用结束光学传感器回调函数 + if (instance->photo_interrupter_) { + instance->photo_interrupter_->TriggerEndCallback(); + } + // 调用光学传感器结束回调函数（新接口） + if (instance->photo_end_callback_) { + instance->photo_end_callback_(); + } + // 更新状态 + instance->last_port1_state_ = current_val_port1_; + } else { + // 状态未变化，仍读取寄存器以清除可能的中断标志 + uint8_t temp_input_val; + instance->IoexpandReadReg(INPUT_PORT1, &temp_input_val); + } + } + + //CHRG引脚充电前为高电平 充电中为低电平 充满电为高电平 + //FULL未充满为高电平 充满电为低电平 + //判断是否有中断来自电池充电引脚 + //根据配置：BATTERY_CHRG_INPUT = INPUT_PORT0, BATTERY_FULL_INPUT = INPUT_PORT1 + + // AW9523B没有独立的中断状态寄存器，需要通过比较前后状态变化来判断中断源 + // 由于读取输入端口会清除中断，我们需要先保存当前状态，然后与上次状态比较 + + //获取当前电池状态 + bool current_charging_state = !(current_val_port0_ & (1 << BATTERY_CHRG_PIN)); // CHRG低电平表示充电中 + bool current_full_state = !(current_val_port1_ & (1 << BATTERY_FULL_PIN)); // FULL低电平表示已充满 + + // 详细的调试信息 + ESP_LOGD(TAG_GPIO_IO_EXPAND_DETECT, "电池状态检测 - Port0: 0x%02X, Port1: 0x%02X", current_val_port0_, current_val_port1_); + ESP_LOGD(TAG_GPIO_IO_EXPAND_DETECT, "电池状态检测 - CHRG_PIN: %d (bit %d), FULL_PIN: %d (bit %d)", + (current_val_port0_ & (1 << BATTERY_CHRG_PIN)) ? 1 : 0, BATTERY_CHRG_PIN, + (current_val_port1_ & (1 << BATTERY_FULL_PIN)) ? 1 : 0, BATTERY_FULL_PIN); + ESP_LOGD(TAG_GPIO_IO_EXPAND_DETECT, "电池状态检测 - 充电状态: %s, 充满状态: %s", + current_charging_state ? "充电中" : "未充电", + current_full_state ? "已充满" : "未充满"); + ESP_LOGD(TAG_GPIO_IO_EXPAND_DETECT, "电池状态检测 - 上次充电状态: %s, 上次充满状态: %s", + instance->battery_charging_last_state_ ? "充电中" : "未充电", + instance->battery_full_last_state_ ? "已充满" : "未充满"); + + //检查充电状态是否发生变化 + if (current_charging_state != instance->battery_charging_last_state_) { + instance->battery_charging_last_state_ = current_charging_state; + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "电池充电状态变化: %s", current_charging_state ? "充电中" : "未充电"); + ESP_LOGD(TAG_GPIO_IO_EXPAND_DETECT, "充电状态变化详情 - 从 %s 到 %s", + instance->battery_charging_last_state_ ? "未充电" : "充电中", + current_charging_state ? "充电中" : "未充电"); + + if (current_charging_state) { + // 进入充电状态 + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "检测到开始充电"); + if (instance->battery_monitor_) { + instance->battery_monitor_->TriggerChrgCallback(); + } + if (instance->battery_charging_callback_) { + instance->battery_charging_callback_(); + } + } else { + // 退出充电状态 + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "检测到停止充电"); + if (instance->battery_monitor_) { + instance->battery_monitor_->TriggerNotChrgCallback(); + } + if (instance->battery_not_charging_callback_) { + instance->battery_not_charging_callback_(); + } + } + } + + //检查充满状态是否发生变化 + if (current_full_state != instance->battery_full_last_state_) { + instance->battery_full_last_state_ = current_full_state; + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "电池充满状态变化: %s", current_full_state ? "已充满" : "未充满"); + ESP_LOGD(TAG_GPIO_IO_EXPAND_DETECT, "充满状态变化详情 - 从 %s 到 %s", + instance->battery_full_last_state_ ? "未充满" : "已充满", + current_full_state ? "已充满" : "未充满"); + + if (current_full_state) { + // 进入充满状态 + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "检测到电池已充满"); + if (instance->battery_monitor_) { + instance->battery_monitor_->TriggerFullCallback(); + } + if (instance->battery_full_callback_) { + instance->battery_full_callback_(); + } + } + + } + + // 根据AW9523B数据手册：读取输入端口寄存器清除对应端口的中断 + // 读取INPUT_PORT0 (00H) 清除P0口中断，读取INPUT_PORT1 (01H) 清除P1口中断 + uint8_t temp_input_val; + instance->IoexpandReadReg(INPUT_PORT0, &temp_input_val); + instance->IoexpandReadReg(INPUT_PORT1, &temp_input_val); + + ESP_LOGD(TAG_GPIO_IO_EXPAND_DETECT, "中断处理完成，已读取输入端口寄存器清除中断标志"); + } +} + + +/** + * @brief 创建I2C数据读取任务 + */ +void IOExpansionBoard::CreateI2cReadTask() +{ + printf("创建I2C读取任务之前:Internal Free: %d bytes\n", heap_caps_get_free_size(MALLOC_CAP_INTERNAL)); + printf("创建I2C读取任务之前:PSRAM Free: %d bytes\n", heap_caps_get_free_size(MALLOC_CAP_SPIRAM)); + if (xI2CReadTaskHandle_) { + return; // 任务已创建 + } + + xTaskCreateWithCaps( + I2cReadTask, + "i2c_read_task", + I2C_TASK_STACK, + this, + I2C_TASK_PRIORITY, + &xI2CReadTaskHandle_, + MALLOC_CAP_SPIRAM | MALLOC_CAP_8BIT + ); + + if (xI2CReadTaskHandle_ == NULL) { + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "Failed to create static I2C read task"); + } else { + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "Static I2C read task created successfully"); + } + printf("创建I2C读取任务之后:Internal Free: %d bytes\n", heap_caps_get_free_size(MALLOC_CAP_INTERNAL)); + printf("创建I2C读取任务之后:PSRAM Free: %d bytes\n", heap_caps_get_free_size(MALLOC_CAP_SPIRAM)); +} + +/** + * @brief 启动I2C任务 (整合初始化和任务创建) + */ +esp_err_t IOExpansionBoard::StartTask() +{ + // 再创建任务 + if (!xI2CReadTaskHandle_) { + CreateI2cReadTask(); + } + return ESP_OK; +} diff --git a/main/02_physical/boards/board_v1_1_17/io_expansion_board.h b/main/02_physical/boards/board_v1_1_17/io_expansion_board.h new file mode 100644 index 0000000..2697e39 --- /dev/null +++ b/main/02_physical/boards/board_v1_1_17/io_expansion_board.h @@ -0,0 +1,432 @@ +#ifndef IO_EXPANSION_BOARD_H +#define IO_EXPANSION_BOARD_H + +#include +#include +#include +#include +#include +#include +#include "i2c_bus.h" +#include "freertos/FreeRTOS.h" +#include "freertos/event_groups.h" +#include +#include +#include +#include +#include +#include +#include +#include "esp_err.h" +#include "config.h" +#include "portmacro.h" + +// 前向声明,避免循环引用 +class MillimeterWaveRadar; +class PhotoInterrupter; +class AdcBatteryMonitor; + +// 回调函数类型定义 +typedef std::function RadarCallback; +typedef std::function PhotoInterrupterStartCallback; +typedef std::function PhotoInterrupterEndCallback; +typedef std::function BatteryChargingCallback; +typedef std::function BatteryFullCallback; +typedef std::function BatteryNotChargingCallback; + +/* 寄存器地址 */ +#define INPUT_PORT0 0x00 // 输入端口0寄存器 +#define INPUT_PORT1 0x01 // 输入端口1寄存器 0为低电平(仅支持读取) +#define OUTPUT_PORT0 0x02 // 输出端口0寄存器 +#define OUTPUT_PORT1 0x03 // 输出端口1寄存器 0为低电平 +#define CONFIG_PORT0 0x04 // 配置端口0寄存器 +#define CONFIG_PORT1 0x05 // 配置端口1寄存器 0为输出模式 +#define INT_PORT0 0x06 // 中断端口0寄存器 +#define INT_PORT1 0x07 // 中断端口1寄存器 0为使能中断(根据手册默认是使能的) +#define CTL 0x11 // 全局控制寄存器 +#define ID 0x23 // 芯片ID寄存器(0x23) + +/***********************************IO扩展板电机引脚配置参数*************************************/ +/* 设置步进电机方向 */ +#define STEPPER_MOTOR_LEFT false //步进电机的方向为左转 +#define STEPPER_MOTOR_RIGHT true //步进电机的方向为右转 +#define STEPPER_MOTOR_DIR_PORT OUTPUT_PORT0 //步进电机方向引脚挂载在IO扩展板的输出端口OUTPUT_PORT0 +#define STEPPER_MOTOR_DIR_PIN 4 //步进电机方向引脚对应的IO扩展板引脚P0_4 +#define STEPPER_MOTOR_DIR_CONFIG CONFIG_PORT0 //步进电机方向引脚配置在P0_4 + +/* 设置步进电机细分模式 */ +#define STEPPER_MOTOR_M0_PIN 5 //步进电机细分模式选择引脚对应IO扩展板引脚P1_5 +#define STEPPER_MOTOR_M0_MADE_PORT OUTPUT_PORT1 //步进电机模式选择引脚挂载在IO扩展板的输出端口OUTPUT_PORT1 +#define STEPPER_MOTOR_M0_CONFIG CONFIG_PORT1 //步进电机细分模式选择引脚配置在P1_5 + +#define STEPPER_MOTOR_M1_PIN 4 //步进电机细分模式选择引脚对应IO扩展板引脚P1_4 +#define STEPPER_MOTOR_M1_MADE_PORT OUTPUT_PORT1 //步进电机模式选择引脚挂载在IO扩展板的输出端口OUTPUT_PORT1 +#define STEPPER_MOTOR_M1_CONFIG CONFIG_PORT1 //步进电机细分模式选择引脚配置在P1_4 + +/* 设置步进电机睡眠引脚 */ +#define STEPPER_MOTOR_SLEEP false //步进电机进入睡眠模式 +#define STEPPER_MOTOR_WORK true //步进电机进入工作模式 +#define STEPPER_MOTOR_SLEEP_PIN 6 //步进电机睡眠引脚对应IO扩展板引脚P1_6 +#define STEPPER_MOTOR_SLEEP_CONFIG CONFIG_PORT1 //步进电机睡眠引脚配置在P1_6 +#define STEPPER_MOTOR_SLEEP_PORT OUTPUT_PORT1 //步进电机睡眠引脚挂载在IO扩展板的输出端口OUTPUT_PORT1 + +/* 设置电机的使能引脚 */ +#define STEPPER_MOTOR_ENABLE_PIN 7 //电机使能引脚对应IO扩展板引脚P0_7 +#define STEPPER_MOTOR_ENABLE_PORT OUTPUT_PORT0 //电机使能引脚挂载在IO扩展板的输出端口OUTPUT_PORT0 +#define STEPPER_MOTOR_ENABLE_CONFIG CONFIG_PORT0 //电机使能引脚配置在P0_7 +#define STEPPER_MOTOR_ENABLE_ENABLE true //电机使能引脚状态为高电平 +#define STEPPER_MOTOR_ENABLE_DISABLE false //电机使能引脚状态为低电平 + +/* 设置毫米波雷达对应IO扩展板的中断引脚 */ +#define RADAR_INTERRUPT_PIN 7 //毫米波雷达中断引脚对应IO扩展板引脚P1_7 +#define RADAR_INTERRUPT_CONFIG CONFIG_PORT1 //毫米波雷达中断引脚挂载在IO扩展板的输入端口 +#define RADAR_INTERRUPT_INPUT INPUT_PORT1 //毫米波雷达中断引脚输入状态检测在INPUT_PORT1 +#define RADAR_INTERRUPT_ENABLE true //毫米波雷达中断引脚状态为输入状态 +#define RADAR_INTERRUPT_DISABLE false //毫米波雷达中断引脚状态为输出状态 +/* 任务配置常量 */ +#define WRITE_BUF_SIZE 2 // I2C单次写入字节数 +#define READ_BUF_SIZE 2 // I2C单次读取字节数 +#define I2C_TASK_PRIORITY 2 // 任务优先级(中等) +#define I2C_TASK_STACK 4096 // 任务栈大小(4KB) + +// 光学传感器引脚定义 +#define START_PHOTO_INTERRUPTER_PIN 2 // 光学传感器引脚(P0_2) +#define START_PHOTO_INTERRUPTER_CONFIG CONFIG_PORT0 // 光学传感器引脚挂载在IO扩展板的输入端口 +#define START_PHOTO_INTERRUPTER_INPUT INPUT_PORT0 // 光学传感器引脚输入状态检测在INPUT_PORT0 +#define START_PHOTO_INTERRUPTER_HIGH true // 光学传感器引脚状态为高电平 +#define START_PHOTO_INTERRUPTER_LOW false // 光学传感器引脚状态为低电平 + +#define END_PHOTO_INTERRUPTER_PIN 3 // 光学传感器引脚(P0_3) +#define END_PHOTO_INTERRUPTER_PORT_CONFIG CONFIG_PORT0 // 光学传感器引脚挂载在IO扩展板的输入端口 +#define END_PHOTO_INTERRUPTER_INPUT INPUT_PORT0 // 光学传感器引脚输入状态检测在INPUT_PORT0 +#define END_PHOTO_INTERRUPTER_HIGH true // 光学传感器引脚状态为高电平 +#define END_PHOTO_INTERRUPTER_LOW false // 光学传感器引脚状态为低电平 + +/***********************************IO扩展板LCD引脚配置参数*************************************/ +// /* 设置LCD的BL引脚 */ +// #define LCD_BL_PIN 6 //LCD背光引脚对应IO扩展板引脚P0_6 +// #define LCD_BL_PORT OUTPUT_PORT0 //LCD背光引脚挂载在IO扩展板的输出端口OUTPUT_PORT0 +// #define LCD_BL_CONFIG CONFIG_PORT0 //LCD背光引脚配置在P0_6 +// #define LCD_BL_HIGH true //LCD背光引脚状态为高电平 +// #define LCD_BL_LOW false //LCD背光引脚状态为低电平 + +/* 设置LED_EN (LCD背光/LED控制)引脚, PMOS高侧驱动 */ +#define LED_EN_PIN 1 //LED_EN对应IO扩展板引脚P0_1 +#define LED_EN_PORT OUTPUT_PORT0 //挂载在输出端口OUTPUT_PORT0 +#define LED_EN_CONFIG CONFIG_PORT0 //配置在P0_1 +#define LED_EN_OFF true //高电平关(PMOS) +#define LED_EN_ON false //低电平开(PMOS) + +/* 设置LCD的RST引脚 */ +#define LCD_RST_PIN 1 //LCD复位引脚对应IO扩展板引脚P1_1 +#define LCD_RST_CONFIG CONFIG_PORT1 //LCD复位引脚配置在P1_1 +#define LCD_RST_PORT OUTPUT_PORT1 //LCD复位引脚挂载在IO扩展板的输出端口OUTPUT_PORT1 +#define LCD_RST_HIGH true //LCD复位引脚状态为高电平 +#define LCD_RST_LOW false //LCD复位引脚状态为低电平 + +/* 设置PA控制引脚 */ +#define PA_CTRL_PIN 2 //PA控制引脚对应IO扩展板引脚P1_2 +#define PA_CTRL_CONFIG CONFIG_PORT1 //PA控制引脚配置在P1_2 +#define PA_CTRL_PORT OUTPUT_PORT1 //PA控制引脚挂载在IO扩展板的输出端口OUTPUT_PORT1 +#define PA_CTRL_HIGH true //PA控制引脚状态为高电平 +#define PA_CTRL_LOW false //PA控制引脚状态为低电平 + +// 电池充电检测引脚定义 +#define BATTERY_FULL_INPUT INPUT_PORT1 // 电池充满检测引脚挂载在IO扩展板的输入端口 +#define BATTERY_FULL_PIN 3 // 电池充满检测引脚对应IO扩展板引脚P1_3 +#define BATTERY_FULL_CONFIG CONFIG_PORT1 // 电池充满检测引脚配置在P1_3 + +#define BATTERY_CHRG_INPUT INPUT_PORT0 // 充电检测引脚挂载在IO扩展板的输入端口 +#define BATTERY_CHRG_PIN 5 // 充电检测引脚(P0_5) +#define BATTERY_CHRG_CONFIG CONFIG_PORT0 // 充电检测引脚挂载在IO扩展板的输入端口 + +#define TAG_GPIO_IO_EXPAND_DETECT "GPIO_IO_EXPAND_DETECT" // GPIO中断检测日志标签 +#define TAG_I2C_IO_EXPAND_TASK "I2C_IO_EXPAND_TASK" // I2CIO扩展板任务日志标签 + +// GPIO引脚定义 +#define GPIO_INPUT_PIN_SEL GPIO_NUM_10 // IO扩展板中断检测引脚 +// #define IO_EXPAND_RSTN GPIO_NUM_14 // IO扩展板复位引脚 + +/** + * @class IOExpansionBoard + * @brief I/O扩展板驱动类,封装AW9523BTQR芯片操作 + */ +class IOExpansionBoard +{ +public: + /** + * @brief 构造函数 + */ + IOExpansionBoard(); + + /** + * @brief 设置毫米波雷达指针 + * @param radar 毫米波雷达对象指针 + */ + void SetRadar(MillimeterWaveRadar* radar) { radar_ = radar; }; + + /** + * @brief 设置限位开关指针 + * @param photo_interrupter 限位开关对象指针 + */ + void setPhotoInterrupter(PhotoInterrupter* photo_interrupter) { photo_interrupter_ = photo_interrupter; }; + + /** + * @brief 设置电池监控器指针 + * @param battery_monitor 电池监控器对象指针 + */ + void setBatteryMonitor(AdcBatteryMonitor* battery_monitor) { battery_monitor_ = battery_monitor; }; + + /** + * @brief 析构函数 + */ + ~IOExpansionBoard(); + + /** + * @brief 初始化GPIO中断检测 + * @param gpio_num 中断引脚编号 + * @return esp_err_t 初始化结果 + */ + esp_err_t InterruptGpioInit(gpio_num_t gpio_num); + + /** + * @brief 初始化IO扩展板复位引脚 + * @param gpio_num 复位引脚编号 + * @return esp_err_t 初始化结果 + */ + esp_err_t ResetGpioInit(gpio_num_t gpio_num); + + /** + * @brief 初始化IO扩展板复位引脚 + * @param gpio_num 复位引脚编号 + * @return esp_err_t 初始化结果 + */ + esp_err_t ResetIoExpand(); + + /** + * @brief 初始化I2C主机通信 + * @return esp_err_t 初始化结果 + */ + // esp_err_t IoExpansionI2cInit(); + + /** + * @brief 创建I2C数据读取任务 + */ + void CreateI2cReadTask(); + + /** + * @brief 启动I2C任务(整合初始化和任务创建) + * @return esp_err_t 操作结果 + */ + esp_err_t StartTask(); + + /** + * @brief 写寄存器数据 + * @param reg_addr 寄存器地址 + * @param data 要写入的数据 + * @return esp_err_t 操作结果 + */ + esp_err_t IoexpandWriteReg(uint8_t reg_addr, uint8_t data); + + /** + * @brief 读寄存器数据 + * @param reg_addr 寄存器地址 + * @param data 要读出的数据 + * @return esp_err_t 操作结果 + */ + esp_err_t IoexpandReadReg(uint8_t reg_addr, uint8_t *data); + + /** + * @brief 读取输入端口0寄存器数据 + * @param data 输出参数,用于存储读取到的数据 + * @return esp_err_t 操作结果 + */ + esp_err_t ReadInputPort0(uint8_t *data); + + /** + * @brief 读取输入端口1寄存器数据 + * @param data 输出参数,用于存储读取到的数据 + * @return esp_err_t 操作结果 + */ + esp_err_t ReadInputPort1(uint8_t *data); + + // /** + // * @brief 设置IO扩展板GPIO中断状态 通过读取Input_Port0 和 Input_Port1 寄存器可以清除中断 + // * @param reg_addr 寄存器地址 + // * @return esp_err_t 操作结果 + // */ + // esp_err_t SetInterruptStatus(bool status); + + /** + * @brief 配置IO扩展版上的IO口为输出还是输入,并且设置初始为高电平 + * @return esp_err_t 操作结果 + */ + esp_err_t IoexpandSetMode(); + + /** + * @brief 设置步进电机的细分模式 + * @param mode 模式：1/2/4/8/16/32/64 + * @return esp_err_t 操作结果 + */ + void SetStepperMicrostepMode(uint8_t mode, uint8_t OUTPUT_PORT_m0, uint8_t m0_pin, uint8_t OUTPUT_PORT_m1, uint8_t m1_pin); + + /** + * @brief 设置步进电机的方向 + * @param dir 方向 + * @param OUTPUT_PORT 输出端口 + * @param pin 引脚号 + * @return esp_err_t 操作结果 + */ + esp_err_t StepperMotorSetDir(bool dir, uint8_t OUTPUT_PORT, uint8_t pin); + + /** + * @brief 设置步进电机的睡眠模式 + * @param 是否进入睡眠模式 + * @param 输出端口 + * @param 引脚号 + * @return esp_err_t 操作结果 + */ + esp_err_t SetMotorSleepMode(bool mode, uint8_t OUTPUT_PORT, uint8_t nsleep_pin); + + /** + * @brief 设置步进电机的使能引脚状态 + * @param 使能状态 + * @return esp_err_t 操作结果 + */ + esp_err_t SetMotorEnableMode(bool enable, uint8_t OUTPUT_PORT, uint8_t enable_pin); + + /** + * @brief 设置LCD的BL引脚状态 + * @param BL状态 + * @return esp_err_t 操作结果 + */ + esp_err_t SetLcdBlMode(bool mode, uint8_t OUTPUT_PORT, uint8_t bl_pin); + + /** + * @brief 设置 LED_EN 引脚电平(用于控制LCD背光/LED灯电源) + * @param mode true:开启(低电平), false:关闭(高电平) + */ + esp_err_t SetLedEnMode(bool mode); + + /** + * @brief 设置LCD的RST引脚状态 + * @param RST状态 + * @return esp_err_t 操作结果 + */ + esp_err_t SetLcdResetMode(bool mode, uint8_t OUTPUT_PORT, uint8_t rst_pin); + + /** + * @brief 设置PA控制引脚状态 + * @param mode PA_CTRL状态(true为高电平，false为低电平) + * @return esp_err_t 操作结果 + */ + esp_err_t SetPaCtrlMode(bool mode); + + /** + * @brief 设置雷达中断引脚 + * @param 毫米波雷达的中断引脚模式 + * @param 输入端口 + * @param 引脚号 + * @return esp_err_t 操作结果 + */ + esp_err_t SetRadarInterruptPin(bool mode, uint8_t INPUT_PORT, uint8_t interrupt_pin); + + /** + * @brief 计算Port0的字节值 + * @return uint8_t 操作结果 + */ + uint8_t ByteCalculatePort0(); + + /** + * @brief 计算Port1的字节值 + * @return uint8_t 操作结果 + */ + uint8_t ByteCalculatePort1(); + + /** + * @brief 设置雷达中断回调函数 + * @param callback 雷达中断回调函数 + */ + void SetRadarCallback(RadarCallback callback) { radar_callback_ = callback; } + + /** + * @brief 设置光学传感器开始中断回调函数 + * @param callback 光学传感器开始中断回调函数 + */ + void SetPhotoInterrupterStartCallback(PhotoInterrupterStartCallback callback) { photo_start_callback_ = callback; } + + /** + * @brief 设置光学传感器结束中断回调函数 + * @param callback 光学传感器结束中断回调函数 + */ + void SetPhotoInterrupterEndCallback(PhotoInterrupterEndCallback callback) { photo_end_callback_ = callback; } + + /** + * @brief 设置电池充电中断回调函数 + * @param callback 电池充电中断回调函数 + */ + void SetBatteryChargingCallback(BatteryChargingCallback callback) { battery_charging_callback_ = callback; } + + /** + * @brief 设置电池充满中断回调函数 + * @param callback 电池充满中断回调函数 + */ + void SetBatteryFullCallback(BatteryFullCallback callback) { battery_full_callback_ = callback; } + + /** + * @brief 设置电池非充电中断回调函数 + * @param callback 电池非充电中断回调函数 + */ + void SetBatteryNotChargingCallback(BatteryNotChargingCallback callback) { battery_not_charging_callback_ = callback; } + + // 公共成员变量 + i2c_bus_handle_t bus_handle_ = nullptr; // I2C总线句柄 + uint8_t device_addr_; // I2C设备地址 + +private: + // 静态成员函数 + MillimeterWaveRadar* radar_ = nullptr; // 毫米波雷达指针,用于触发回调 + PhotoInterrupter* photo_interrupter_ = nullptr; // 限位开关指针,用于触发回调 + AdcBatteryMonitor* battery_monitor_ = nullptr; // 电池监控器指针,用于触发回调 + static void IRAM_ATTR GpioIsrHandler(void* arg); // 中断处理函数 + static void I2cReadTask(void* pvParameters); // I2C数据读取任务函数 + + // 成员变量用于状态跟踪 + uint8_t last_port0_state_ = 0; // 上次检测到的Port0状态 + uint8_t last_port1_state_ = 0; // 上次检测到的Port1状态 + bool radar_last_state_ = false; // 雷达引脚上一次的状态 + bool battery_charging_last_state_ = false; // 电池充电状态上一次的状态 + bool battery_full_last_state_ = false; // 电池充满状态上一次的状态 + + // 回调函数成员变量 + RadarCallback radar_callback_ = nullptr; + PhotoInterrupterStartCallback photo_start_callback_ = nullptr; + PhotoInterrupterEndCallback photo_end_callback_ = nullptr; + BatteryChargingCallback battery_charging_callback_ = nullptr; + BatteryFullCallback battery_full_callback_ = nullptr; + BatteryNotChargingCallback battery_not_charging_callback_ = nullptr; + + // PhotoInterrupter* photo_interrupter_ = nullptr; // 光学传感器指针,用于触发回调 + // /** + // * @brief 分配静态任务所需的内存 + // * @return bool 分配是否成功 + // */ + // bool AllocateStaticTaskMemory(); + + // /** + // * @brief 释放静态任务分配的内存 + // */ + // void FreeStaticTaskMemory(); + + // 实例成员变量 + EventGroupHandle_t i2c_task_event_group_ = nullptr; // 事件组 + TaskHandle_t xI2CReadTaskHandle_ = nullptr; // 任务句柄 + bool is_initialized_ = false; // 初始化状态标记(新增) + gpio_num_t interrupt_gpio_ = GPIO_NUM_NC; // 中断引脚 + gpio_num_t reset_gpio_ = GPIO_NUM_NC; // 复位引脚 + + // StackType_t* pI2CReadTaskStackBuffer = nullptr; // 任务栈指针(PSRAM） + // StaticTask_t* pxI2CReadTaskBuffer = nullptr; // 任务控制块指针(内部RAM） +}; + +#endif \ No newline at end of file diff --git a/main/02_physical/boards/board_v1_1_17/power_management_config.h b/main/02_physical/boards/board_v1_1_17/power_management_config.h new file mode 100644 index 0000000..da609fb --- /dev/null +++ b/main/02_physical/boards/board_v1_1_17/power_management_config.h @@ -0,0 +1,178 @@ +/** + * @file power_management_config.h + * @brief 功耗管理配置和策略定义 + * @author Embedded Software Expert + * @date 2025年1月 + * + * 这个文件定义了功耗管理的配置参数、策略和优化建议， + * 为系统提供灵活的功耗管理方案。 + */ + +#ifndef POWER_MANAGEMENT_CONFIG_H +#define POWER_MANAGEMENT_CONFIG_H + +#include "esp_sleep.h" +#include "driver/rtc_io.h" +#include "esp32/rom/rtc.h" + +/** + * @brief 功耗管理配置结构体 + */ +typedef struct { + // 睡眠模式配置 + uint64_t light_sleep_duration_us; // 轻度睡眠持续时间（微秒） + uint64_t deep_sleep_duration_us; // 深度睡眠持续时间（微秒） + + // 唤醒源配置 + bool enable_timer_wakeup; // 启用定时器唤醒 + bool enable_gpio_wakeup; // 启用GPIO唤醒 + bool enable_touch_wakeup; // 启用触摸唤醒 + gpio_num_t wakeup_gpio_num; // 唤醒GPIO编号 + int wakeup_level; // 唤醒电平（0或1） + + // 功耗优化配置 + bool disable_bt_in_sleep; // 睡眠时关闭蓝牙 + bool disable_wifi_in_sleep; // 睡眠时关闭WiFi + bool reduce_cpu_frequency; // 降低CPU频率 + uint32_t cpu_frequency_hz; // CPU频率（Hz） + + // 外设功耗配置 + bool power_down_sdcard; // 睡眠时关闭SD卡电源 + bool power_down_display; // 睡眠时关闭显示电源 + bool power_down_audio; // 睡眠时关闭音频电源 + bool power_down_motor; // 睡眠时关闭电机电源 + + // RTC内存配置 + bool preserve_rtc_memory; // 保留RTC内存 + size_t rtc_memory_size; // RTC内存大小 +} power_management_config_t; + +/** + * @brief 默认功耗管理配置 + */ +#define DEFAULT_POWER_CONFIG { \ + .light_sleep_duration_us = 1000000, /* 1秒 */ \ + .deep_sleep_duration_us = 30000000, /* 30秒 */ \ + .enable_timer_wakeup = true, /* 启用定时器唤醒 */ \ + .enable_gpio_wakeup = false, /* 不启用GPIO唤醒 */ \ + .enable_touch_wakeup = false, /* 不启用触摸唤醒 */ \ + .wakeup_gpio_num = GPIO_NUM_NC, /* 无GPIO唤醒 */ \ + .wakeup_level = 0, /* 低电平唤醒 */ \ + .disable_bt_in_sleep = true, /* 睡眠时关闭蓝牙 */ \ + .disable_wifi_in_sleep = true, /* 睡眠时关闭WiFi */ \ + .reduce_cpu_frequency = true, /* 降低CPU频率 */ \ + .cpu_frequency_hz = 80000000, /* 80MHz */ \ + .power_down_sdcard = true, /* 睡眠时关闭SD卡 */ \ + .power_down_display = true, /* 睡眠时关闭显示 */ \ + .power_down_audio = true, /* 睡眠时关闭音频 */ \ + .power_down_motor = true, /* 睡眠时关闭电机 */ \ + .preserve_rtc_memory = true, /* 保留RTC内存 */ \ + .rtc_memory_size = 4096, /* 4KB RTC内存 */ \ +} + +/** + * @brief 各功耗模式的详细配置 + */ +static const power_management_config_t idle_mode_config = { + .light_sleep_duration_us = 500000, // 500ms轻度睡眠 + .deep_sleep_duration_us = 0, // 不使用深度睡眠 + .enable_timer_wakeup = true, + .enable_gpio_wakeup = true, + .wakeup_gpio_num = GPIO_NUM_0, // 按键唤醒 + .wakeup_level = 0, + .disable_bt_in_sleep = false, // 保持蓝牙连接 + .disable_wifi_in_sleep = false, // 保持WiFi连接 + .reduce_cpu_frequency = true, + .cpu_frequency_hz = 40000000, // 40MHz + .power_down_sdcard = false, // 保持SD卡（可能有后台任务） + .power_down_display = true, // 关闭显示背光 + .power_down_audio = true, // 关闭音频 + .power_down_motor = true, // 关闭电机 + .preserve_rtc_memory = true, + .rtc_memory_size = 2048, +}; + +static const power_management_config_t light_sleep_config = { + .light_sleep_duration_us = 0, // 直接进入轻度睡眠 + .deep_sleep_duration_us = 0, + .enable_timer_wakeup = true, + .enable_gpio_wakeup = true, + .wakeup_gpio_num = GPIO_NUM_0, + .wakeup_level = 0, + .disable_bt_in_sleep = true, // 关闭蓝牙 + .disable_wifi_in_sleep = true, // 关闭WiFi + .reduce_cpu_frequency = true, + .cpu_frequency_hz = 40000000, + .power_down_sdcard = true, // 关闭SD卡 + .power_down_display = true, // 关闭显示 + .power_down_audio = true, // 关闭音频 + .power_down_motor = true, // 关闭电机 + .preserve_rtc_memory = true, + .rtc_memory_size = 4096, +}; + +static const power_management_config_t deep_sleep_config = { + .light_sleep_duration_us = 0, + .deep_sleep_duration_us = 60000000, // 60秒深度睡眠 + .enable_timer_wakeup = true, + .enable_gpio_wakeup = true, + .wakeup_gpio_num = GPIO_NUM_0, + .wakeup_level = 0, + .disable_bt_in_sleep = true, // 关闭蓝牙 + .disable_wifi_in_sleep = true, // 关闭WiFi + .reduce_cpu_frequency = true, + .cpu_frequency_hz = 10000000, // 10MHz + .power_down_sdcard = true, // 关闭SD卡 + .power_down_display = true, // 关闭显示 + .power_down_audio = true, // 关闭音频 + .power_down_motor = true, // 关闭电机 + .preserve_rtc_memory = true, + .rtc_memory_size = 8192, +}; + +/** + * @brief 功耗统计和监控结构体 + */ +typedef struct { + uint64_t total_sleep_time_us; // 总睡眠时间 + uint64_t total_wake_time_us; // 总唤醒时间 + uint32_t sleep_count; // 睡眠次数 + uint32_t wake_count; // 唤醒次数 + uint32_t average_sleep_duration_us; // 平均睡眠时长 + uint32_t average_wake_duration_us; // 平均唤醒时长 + float estimated_power_saving_percent; // 估计的功耗节省百分比 +} power_statistics_t; + +/** + * @brief 功耗优化建议 + * + * 基于硬件特性和使用模式，提供功耗优化建议 + */ +typedef enum { + OPTIMIZATION_NONE = 0, + OPTIMIZATION_REDUCE_CPU_FREQ, // 降低CPU频率 + OPTIMIZATION_DISABLE_UNUSED_PERIPHERALS, // 关闭未使用的外设 + OPTIMIZATION_USE_LIGHT_SLEEP, // 使用轻度睡眠 + OPTIMIZATION_USE_DEEP_SLEEP, // 使用深度睡眠 + OPTIMIZATION_OPTIMIZE_GPIO_STATES, // 优化GPIO状态 + OPTIMIZATION_USE_RTC_MEMORY, // 使用RTC内存 + OPTIMIZATION_BATCH_OPERATIONS, // 批量操作 +} power_optimization_t; + +/** + * @brief 功耗管理事件回调 + */ +typedef void (*power_event_callback_t)(power_mode_t old_mode, power_mode_t new_mode, void* user_data); + +/** + * @brief 功耗管理事件 + */ +typedef enum { + POWER_EVENT_MODE_CHANGE, // 功耗模式改变 + POWER_EVENT_SLEEP_START, // 睡眠开始 + POWER_EVENT_SLEEP_END, // 睡眠结束 + POWER_EVENT_WAKEUP, // 系统唤醒 + POWER_EVENT_OPTIMIZATION_TRIGGER, // 功耗优化触发 +} power_event_t; + +#endif // POWER_MANAGEMENT_CONFIG_H \ No newline at end of file diff --git a/main/02_physical/boards/board_v1_1_18/board_sweekar.cc b/main/02_physical/boards/board_v1_1_18/board_sweekar.cc new file mode 100644 index 0000000..8369f11 --- /dev/null +++ b/main/02_physical/boards/board_v1_1_18/board_sweekar.cc @@ -0,0 +1,778 @@ +/** + * @file board.cc + * @brief 板级外设初始化类,包含步进电机、毫米波雷达、I2C总线等外设的初始化函数。 + * @author zouyuhua + * @date 2025年8月7日 + * + */ + +extern "C" { +#include "esp_log.h" +#include "driver/gpio.h" +#include "driver/uart.h" +#include "driver/ledc.h" +#include "driver/gptimer.h" +#include "esp_err.h" +#include "freertos/FreeRTOS.h" +#include "freertos/task.h" +#include "hal/gpio_types.h" +#include "hal/uart_types.h" +#include "esp_check.h" +#include "sdkconfig.h" +#include "i2c_bus.h" +#include "esp_peripherals.h" +#include "periph_sdcard.h" +#include "esp_sleep.h" +#include "driver/rtc_io.h" +} + +#include "board_sweekar.h" +#include "config.h" +#include "board.h" // 添加board.h以获取audio_board_sdcard_init函数声明 +#include "drv8428.h" +#include "aw8646.h" +#include "esp_vfs_fat.h" +#include "audio_mem.h" +#include "esp_timer.h" +#include "base_board_hal_i2c.h" + +#define TAG "board_sweekar" + +static BoardSweekar* s_board_instance = nullptr; + +BoardSweekar* BoardSweekar::GetInstance() +{ + if (s_board_instance == nullptr) { + static BoardSweekar global_board; + s_board_instance = &global_board; + } + return s_board_instance; +} + +BoardSweekar::BoardSweekar() +{ +#ifdef CONFIG_STEPPER_DRIVER_AW8646 + stepper_driver_ = new Aw8646Driver(io_expansion_); +#else + stepper_driver_ = new Drv8428Driver(io_expansion_); +#endif +} + +BoardSweekar::~BoardSweekar() +{ + if (stepper_driver_) { + delete stepper_driver_; + stepper_driver_ = nullptr; + } +} + +void BoardSweekar::SetAudioAmplifier(bool enable) { + // AUD_CTRL 是 codec 侧控制脚，不参与 PA 开关；PA 仍由 IO 扩展板控制。 + io_expansion_.SetPaCtrlMode(enable); + ESP_LOGI(TAG, "Audio Amplifier (via IO Expansion) %s", enable ? "ENABLED" : "DISABLED"); +} + +/*========================== 步进电机相关驱动 ==========================*/ + +/** + * @brief 步进电机初始化函数 + * 配置步进电机所需的GPIO引脚模式,通过IO扩展板设置步进驱动芯片的工作模式 + * 在 stepper_motor.cc 中完成 GPTimer + GPIO 翻转 STEP 脉冲的初始化 + */ +void BoardSweekar::StepperMotorInit(void) +{ + esp_err_t err = ESP_OK; + + // 1) STEP 引脚改为普通 GPIO（不再用 LEDC） + gpio_config_t io_cfg; + io_cfg.pin_bit_mask = 1ULL << STEPPER_STEP_IO; + io_cfg.mode = GPIO_MODE_OUTPUT; + io_cfg.pull_up_en = GPIO_PULLUP_DISABLE; + io_cfg.pull_down_en = GPIO_PULLDOWN_DISABLE; + io_cfg.intr_type = GPIO_INTR_DISABLE; + err = gpio_config(&io_cfg); + if (err != ESP_OK) + { + ESP_LOGE(TAG_BOARD, "步进电机 STEP GPIO 配置失败, 错误码: 0x%x", err); + } + + // 初始电平拉低，保证上电不乱跳 + gpio_set_level(STEPPER_STEP_IO, 0); + + // 2) 检查 I2C 总线是否已初始化 + if (bus_handle_ == nullptr) + { + ESP_LOGE(TAG_BOARD, "I2C总线未初始化,请先调用I2CMasterInit()"); + return; + } + + // 3) 初始化驱动对象并初始化 + if (stepper_driver_) { + err = stepper_driver_->Init(); + if (err != ESP_OK) { + ESP_LOGE(TAG_BOARD, "步进电机驱动初始化失败, 错误码: 0x%x", err); + } + } else { + ESP_LOGE(TAG_BOARD, "步进电机驱动创建失败"); + } +} + +/** + * @brief LCD IO引脚初始化函数（消除与步进电机的耦合） + * + * 配置LCD所需的IO扩展板寄存器，确保LCD复位引脚正常工作 + * 此函数独立于步进电机初始化，专门处理LCD相关的IO配置 + */ +void BoardSweekar::LcdIoInit(void) +{ + esp_err_t err = ESP_OK; + + // 1) 检查I2C总线是否已初始化 + if (bus_handle_ == nullptr) + { + ESP_LOGE(TAG_BOARD, "I2C总线未初始化,请先调用I2CMasterInit()"); + return; + } + + // 2) 执行硬件复位，确保IO扩展板处于已知状态 + err = io_expansion_.ResetIoExpand(); + if (err != ESP_OK) + { + ESP_LOGE(TAG_BOARD, "IO扩展板硬件复位失败, 错误码: 0x%x", err); + return; + } + else + { + ESP_LOGI(TAG_BOARD, "IO扩展板硬件复位成功"); + } + + // 3) 配置IO扩展板模式（端口方向等） + err = io_expansion_.IoexpandSetMode(); + if (err != ESP_OK) + { + ESP_LOGE(TAG_BOARD, "IO扩展板模式配置失败, 错误码: 0x%x", err); + return; + } + else + { + ESP_LOGI(TAG_BOARD, "IO扩展板模式配置成功"); + } + + // 4) 初始化LCD复位引脚：设置为高电平 + err = io_expansion_.SetLcdResetMode(LCD_RST_HIGH, LCD_RST_PORT, LCD_RST_PIN); + if (err != ESP_OK) + { + ESP_LOGE(TAG_BOARD, "LCD复位引脚高电平设置失败, 错误码: 0x%x", err); + return; + } + else + { + ESP_LOGI(TAG_BOARD, "LCD复位引脚高电平设置成功"); + } + + // 5) 初始化LED_EN电源为关闭状态 (PMOS高电平关) + // 只有在需要亮灯时，由ActuatorActor主动开启，避免平静状态下常亮 + err = io_expansion_.SetLedEnMode(false); + if (err != ESP_OK) + { + ESP_LOGE(TAG_BOARD, "初始化LED_EN电源(关闭)失败, 错误码: 0x%x", err); + } + else + { + ESP_LOGI(TAG_BOARD, "初始化LED_EN电源(关闭)成功"); + } +} + +/** + * @brief 执行系统关机 + * 内部拉高 SHUTDOWN_CTRL_PIN 引脚切断电源 + */ +void BoardSweekar::SystemShutdown(void) +{ +#ifdef SHUTDOWN_CTRL_PIN + ESP_LOGI(TAG, "Executing System Shutdown... Pulling SHUTDOWN_CTRL_PIN (%d) HIGH", SHUTDOWN_CTRL_PIN); + // 用户指定：拉高可以完成关机动作 + gpio_set_level(SHUTDOWN_CTRL_PIN, 1); + + // 给一点时间让电源完全断开 + vTaskDelay(pdMS_TO_TICKS(1000)); +#else + ESP_LOGW(TAG, "SHUTDOWN_CTRL_PIN is not defined. Cannot execute hardware shutdown."); +#endif +} + +/*========================== 毫米波雷达相关驱动 ==========================*/ + +/** + * @brief 毫米波雷达串口初始化函数 + * + * 配置毫米波雷达所使用的串口参数(波特率、数据位、校验位、停止位等),设置串口引脚, + * 并安装串口驱动。采用较大的RX/TX FIFO深度以处理突发数据,禁用驱动自带事件队列以避免 + * 与自定义中断冲突。 + */ +void BoardSweekar::MillimeterWaveRadarUartInit(void) +{ + uart_config_t uart_config = { + .baud_rate = RADAR_BAUD_RATE, + .data_bits = UART_DATA_8_BITS, + .parity = UART_PARITY_DISABLE, + .stop_bits = UART_STOP_BITS_1, + .flow_ctrl = UART_HW_FLOWCTRL_DISABLE, + .source_clk = UART_SCLK_DEFAULT, + .flags = { + .allow_pd = 0, + .backup_before_sleep = 0, + }, + }; + + // 1. 设置串口参数 + ESP_ERROR_CHECK(uart_param_config(RADAR_UART_NUM, &uart_config)); + + // 2. 设置 UART 引脚 + ESP_ERROR_CHECK(uart_set_pin(RADAR_UART_NUM, UART_TX_PIN, UART_RX_PIN, + UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE)); + + // 3. 安装 UART 驱动(禁用驱动自带事件队列,避免与自定义中断冲突) + // 增加 RX/TX FIFO 深度以处理突发数据 + ESP_ERROR_CHECK(uart_driver_install(RADAR_UART_NUM, RADAR_BUF_SIZE * 4, RADAR_BUF_SIZE * 4, + 0, NULL, 0)); +} + +/** + * @brief 毫米波雷达中断引脚初始化函数 + * + * 配置毫米波雷达中断引脚为输入模式,禁用上拉电阻,使能下拉电阻,初始禁用中断功能 + * (如需使用中断需单独进行配置)。 + */ +void BoardSweekar::MillimeterWaveRadarGpioInit(void) +{ + // GPIO配置结构体 + gpio_config_t io_conf = { + .pin_bit_mask = (1ULL << MILLIMETER_WAVE_RADAR_PIN), // 选择GPIO引脚 + .mode = GPIO_MODE_INPUT, // 设置为输入模式 + .pull_up_en = GPIO_PULLUP_DISABLE, + .pull_down_en = GPIO_PULLDOWN_ENABLE, // 使能下拉 + .intr_type = GPIO_INTR_DISABLE // 禁用中断(如需中断需单独配置) + }; + + // 配置GPIO + gpio_config(&io_conf); +} + +/*========================== I2C总线及挂载的从设备相关驱动 ==========================*/ + +/** + * @brief I2C总线及从机设备初始化函数 + * + * 首先配置并创建I2C主机总线,然后依次添加IO扩展板和线性马达作为I2C从机设备到总线上。 + * 若总线创建或设备添加失败,会输出错误信息并进行相应的资源清理(删除已创建的总线)。 + * 初始化成功后,会通过ESP_LOGI输出IO扩展板和线性马达的从机地址信息。 + * + * @return esp_err_t 初始化结果,ESP_OK表示成功,其他错误码表示相应的失败原因 + */ +esp_err_t BoardSweekar::I2CMasterInit(void) +{ + static const char *I2C_INIT = "I2C_INIT"; + + // 初始化IO扩展板复位引脚 + gpio_config_t reset_io_conf = { + .pin_bit_mask = (1ULL << IO_EXPAND_RSTN), + .mode = GPIO_MODE_OUTPUT, + .pull_up_en = GPIO_PULLUP_ENABLE, // 使能上拉 + .pull_down_en = GPIO_PULLDOWN_DISABLE, + .intr_type = GPIO_INTR_DISABLE + }; + gpio_config(&reset_io_conf); + + // 执行复位时序：先拉低100ms,再拉高并等待100ms + gpio_set_level(IO_EXPAND_RSTN, 0); // 拉低复位 + vTaskDelay(pdMS_TO_TICKS(100)); // 等待100ms + gpio_set_level(IO_EXPAND_RSTN, 1); // 释放复位 + vTaskDelay(pdMS_TO_TICKS(100)); // 等待设备启动 + + ESP_LOGI(I2C_INIT, "IO扩展板复位完成"); + + // 创建统一的I2C总线（使用ESP-ADF的i2c_bus） + i2c_config_t i2c_cfg = { + .mode = I2C_MODE_MASTER, + .sda_io_num = I2C0_MASTER_SDA_IO, + .scl_io_num = I2C0_MASTER_SCL_IO, + .sda_pullup_en = GPIO_PULLUP_ENABLE, + .scl_pullup_en = GPIO_PULLUP_ENABLE, + .master = { + .clk_speed = 100000, + }, + }; + + // 创建I2C总线（ESP-ADF的audio_board_init会复用这个总线） + bus_handle_ = i2c_bus_create(I2C0_MASTER_PORT, &i2c_cfg); + if (bus_handle_ == NULL) { + ESP_LOGE(TAG, "Failed to create I2C bus"); + return ESP_FAIL; + } + + vTaskDelay(pdMS_TO_TICKS(100)); // 等待设备启动 + // ESP-ADF的i2c_bus不需要单独添加设备,直接通过总线句柄和设备地址进行通信 + + // 验证线性马达设备是否存在 + esp_err_t err = i2c_bus_probe_addr(bus_handle_, LINEAR_MOTOR_I2C_SLAVE_ADDR << 1); + if (err != ESP_OK) { + ESP_LOGE(I2C_INIT, "线性马达设备未找到(地址:0x%02X),错误码: 0x%x", LINEAR_MOTOR_I2C_SLAVE_ADDR, err); + // 不返回错误,继续初始化 + } else { + ESP_LOGI(I2C_INIT, "线性马达设备检测成功(地址:0x%02X)", LINEAR_MOTOR_I2C_SLAVE_ADDR); + } + // 验证IO扩展板设备是否存在 + err = i2c_bus_probe_addr(bus_handle_, I2C_IO_EXPAND_SLAVE_ADDR << 1); + if (err != ESP_OK) { + ESP_LOGE(I2C_INIT, "IO扩展板设备未找到(地址:0x%02X),错误码: 0x%x", I2C_IO_EXPAND_SLAVE_ADDR, err); + // 不返回错误,继续初始化其他设备 + } else { + ESP_LOGI(I2C_INIT, "IO扩展板设备检测成功(地址:0x%02X)", I2C_IO_EXPAND_SLAVE_ADDR); + } + // 验证陀螺仪设备是否存在 + err = i2c_bus_probe_addr(bus_handle_, GYROSCOPE_I2C_SLAVE_ADDR << 1); + if (err != ESP_OK) { + ESP_LOGE(I2C_INIT, "陀螺仪设备未找到(地址:0x%02X),错误码: 0x%x", GYROSCOPE_I2C_SLAVE_ADDR, err); + // 不返回错误,继续初始化 + } else { + ESP_LOGI(I2C_INIT, "陀螺仪设备检测成功(地址:0x%02X)", GYROSCOPE_I2C_SLAVE_ADDR); + } + + // 为IO扩展板设置总线句柄和设备地址（使用7位地址） + io_expansion_.bus_handle_ = bus_handle_; + io_expansion_.device_addr_ = I2C_IO_EXPAND_SLAVE_ADDR << 1; + + // 线性马达的初始化已移至 InitializeAllHardware 中统一调用 Init 方法 + // linear_motor_ 的参数传递将在那里完成，不再此处直接赋值，提高内聚性 + + ESP_LOGI(I2C_INIT, "I2C总线初始化完成"); + return ESP_OK; +} + +/*========================== VBAT to VBAT_5V相关驱动 ==========================*/ + +/** + * @brief 开启VBAT to VBAT_5V + * + * 创建开启升压的电源管理单元 + * + */ +void BoardSweekar::VbatToVbat5vInit(void) +{ + // 配置VBAT_5V引脚为输出模式 + gpio_config_t io_conf = { + .pin_bit_mask = (1ULL << VBAT_5V_PIN), + .mode = GPIO_MODE_OUTPUT, + .pull_up_en = GPIO_PULLUP_DISABLE, + .pull_down_en = GPIO_PULLDOWN_DISABLE, + .intr_type = GPIO_INTR_DISABLE + }; + gpio_config(&io_conf); + // 使能VBAT_5V + gpio_set_level(VBAT_5V_PIN, 1); +} + +/*========================== 底座控制串口相关驱动 ==========================*/ + +/** + * @brief 底座控制命令串口初始化函数 + */ +// 根据配置选择通信方式的HAL头文件 +#ifdef CONFIG_BASE_BOARD_COMM_I2C +#include "base_board_hal_i2c.h" +#else +#include "base_board_hal_uart.h" +#endif + +void BoardSweekar::BaseBoardControlInit(void) +{ +#ifdef CONFIG_BASE_BOARD_COMM_I2C + // I2C Mode + if (bus_handle_ == nullptr) { + ESP_LOGE(TAG, "I2C bus not initialized before BaseBoardControlInit"); + return; + } + + // 创建 I2C HAL 实例 + BaseBoardHalI2c *hal = new BaseBoardHalI2c(bus_handle_); + base_board_control_.Init(hal); + ESP_LOGI(TAG, "BaseBoardControl I2C initialized"); +#else + // UART Mode + uart_config_t uart_config = { + .baud_rate = BASE_BOARD_CTL_UART_BAUDRATE, + .data_bits = UART_DATA_8_BITS, + .parity = UART_PARITY_DISABLE, + .stop_bits = UART_STOP_BITS_1, + .flow_ctrl = UART_HW_FLOWCTRL_DISABLE, + .source_clk = UART_SCLK_DEFAULT, + .flags = { + .allow_pd = 0, + .backup_before_sleep = 0, + }, + }; + + // 1. 设置串口参数 + ESP_ERROR_CHECK(uart_param_config(BASE_BOARD_CTL_UART_PORT, &uart_config)); + + // 2. 设置 UART 引脚 + ESP_ERROR_CHECK(uart_set_pin(BASE_BOARD_CTL_UART_PORT, BASE_BOARD_CTL_UART_TX_PIN, BASE_BOARD_CTL_UART_RX_PIN, + UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE)); + + // 3. 安装 UART 驱动 + ESP_ERROR_CHECK(uart_driver_install(BASE_BOARD_CTL_UART_PORT, + BASE_BOARD_CTL_UART_BUF_SIZE, + BASE_BOARD_CTL_UART_BUF_SIZE, + 0, NULL, 0)); + + BaseBoardHalUart *hal = new BaseBoardHalUart(BASE_BOARD_CTL_UART_PORT); + base_board_control_.Init(hal); + ESP_LOGI(TAG, "BaseBoardControl UART initialized"); +#endif +} + +/*========================== SD卡相关驱动 ==========================*/ + +/** + * @brief SD卡初始化函数 + * + * 初始化SD卡外设，使用1线模式进行通信。该函数负责初始化外设管理器 + * 并配置SD卡，为后续的文件系统操作做准备。 + * + * @return esp_err_t 初始化结果，ESP_OK表示成功，其他错误码表示失败原因 + */ +esp_err_t BoardSweekar::InitializeSdcard(void) +{ + static const char *SDCARD_TAG = "SDCARD_INIT"; + esp_err_t ret; + + ESP_LOGI(SDCARD_TAG, "Initializing SD card"); + + if (is_sdcard_initialized_) { + ESP_LOGW(SDCARD_TAG, "SD card already initialized"); + return ESP_OK; + } + + // 初始化外设管理 + esp_periph_config_t periph_cfg = DEFAULT_ESP_PERIPH_SET_CONFIG(); + periph_cfg.extern_stack = true; // 将任务栈分配到 PSRAM 以节省 Internal SRAM + periph_set_ = esp_periph_set_init(&periph_cfg); + if (!periph_set_) { + ESP_LOGE(SDCARD_TAG, "Failed to initialize peripheral set"); + return ESP_FAIL; + } + + // 初始化SD卡外设 + ret = audio_board_sdcard_init(periph_set_, SD_MODE_1_LINE); + if (ret != ESP_OK) { + ESP_LOGE(SDCARD_TAG, "Failed to initialize SD card: %s", esp_err_to_name(ret)); + return ret; + } + + is_sdcard_initialized_ = true; + ESP_LOGI(SDCARD_TAG, "SD card initialized successfully"); + return ESP_OK; +} + +/** + * @brief 统一的硬件初始化接口实现 + * + * 按照依赖关系顺序初始化所有硬件资源： + * 1. I2C总线（最基础，其他设备可能依赖） + * 2. IO扩展板（可能影响其他设备） + * 3. SD卡（文件系统，供显示和音频使用） + * 4. 其他外设 + * + * @return esp_err_t 初始化结果，ESP_OK表示全部成功 + */ +esp_err_t BoardSweekar::InitializeAllHardware(void) +{ + static const char *HW_INIT_TAG = "HW_INIT"; + esp_err_t ret; + + ESP_LOGI(HW_INIT_TAG, "Starting unified hardware initialization..."); + + // 1. 初始化I2C总线（最基础） + ret = I2CMasterInit(); + if (ret != ESP_OK) { + ESP_LOGE(HW_INIT_TAG, "Failed to initialize I2C master: %s", esp_err_to_name(ret)); + return ret; + } + ESP_LOGI(HW_INIT_TAG, "I2C master initialized"); + + // 2. 创建I2C读任务（IO扩展板需要） + io_expansion_.CreateI2cReadTask(); + ESP_LOGI(HW_INIT_TAG, "I2C read task created"); + + // 3. 初始化SD卡（文件系统，供显示和音频使用） + ret = InitializeSdcard(); + if (ret != ESP_OK) { + ESP_LOGE(HW_INIT_TAG, "Failed to initialize SD card: %s", esp_err_to_name(ret)); + // SD卡失败不是致命错误，继续初始化其他硬件 + ESP_LOGW(HW_INIT_TAG, "SD card initialization failed, but continuing with other hardware"); + } else { + ESP_LOGI(HW_INIT_TAG, "SD card initialized"); + } + + // 4. 初始化LCD IO引脚 + LcdIoInit(); + ESP_LOGI(HW_INIT_TAG, "LCD IO pins initialized"); + + // 5. 初始化底座控制 + if (bus_handle_ != nullptr) { + BaseBoardHalI2c *hal_i2c = new BaseBoardHalI2c(bus_handle_); + base_board_control_.Init(hal_i2c); + ESP_LOGI(HW_INIT_TAG, "Base board control initialized with I2C handle"); + } else { + ESP_LOGE(HW_INIT_TAG, "Failed to initialize base board control: I2C bus is null"); + } + + // 6. AUD_CTRL 为 codec 控制脚，板级初始化后保持拉高，不参与 PA 开关。 +#ifdef AUD_CTRL_PIN + gpio_config_t io_conf = {}; + io_conf.intr_type = GPIO_INTR_DISABLE; + io_conf.mode = GPIO_MODE_OUTPUT; + io_conf.pin_bit_mask = (1ULL << AUD_CTRL_PIN); + io_conf.pull_down_en = GPIO_PULLDOWN_DISABLE; + io_conf.pull_up_en = GPIO_PULLUP_ENABLE; + gpio_config(&io_conf); + gpio_set_level(AUD_CTRL_PIN, 1); + ESP_LOGI(HW_INIT_TAG, "AUD_CTRL pin initialized to HIGH"); +#endif + + // 7. 可选外设（根据具体应用需求） + // BaseBoardControlUartInit(); // 底座控制串口（demo5需要） + // ESP_LOGI(HW_INIT_TAG, "Base board control UART initialized"); + + // MillimeterWaveRadarUartInit(); + // MillimeterWaveRadarGpioInit(); + StepperMotorInit(); + + + + ESP_LOGI(HW_INIT_TAG, "Unified hardware initialization completed successfully"); + return ESP_OK; +} + +/** + * @brief 进入低功耗模式 + * + * 根据指定的功耗模式，执行相应的功耗优化策略： + * - IDLE模式：关闭非必要外设，保持快速响应 + * - LIGHT_SLEEP模式：进入轻度睡眠，CPU暂停，外设断电 + * - DEEP_SLEEP模式：深度睡眠，仅RTC运行，功耗最低 + */ +esp_err_t BoardSweekar::EnterLowPowerMode(power_mode_t mode) { + static const char *POWER_TAG = "POWER_MGMT"; + esp_err_t ret = ESP_OK; + + ESP_LOGI(POWER_TAG, "Entering power mode: %d", mode); + + if (mode == current_power_mode_) { + ESP_LOGW(POWER_TAG, "Already in power mode %d", mode); + return ESP_OK; + } + + // 保存当前模式，以便恢复 + power_mode_t previous_mode = current_power_mode_; + + switch (mode) { + case POWER_MODE_NORMAL: + // 正常模式，不需要特殊处理 + break; + + case POWER_MODE_IDLE: + // 空闲模式：关闭非必要外设 + ESP_LOGI(POWER_TAG, "Idle mode: disabling non-essential peripherals"); + + // 关闭SD卡（如果正在使用，需要先卸载） + if (is_sdcard_initialized_) { + // 注意：这里只是示例，实际应用中需要确保没有文件操作 + ESP_LOGW(POWER_TAG, "SD card still active in idle mode"); + } + + // 关闭显示背光 + // 关闭非必要GPIO的上拉/下拉 + // 降低I2C时钟频率 + break; + + case POWER_MODE_LIGHT_SLEEP: + // 轻度睡眠 + ESP_LOGI(POWER_TAG, "Light sleep mode: preparing for sleep"); + + // 设置唤醒源（需要根据具体需求配置） + // esp_sleep_enable_timer_wakeup(1000000); // 1秒后唤醒 + // esp_sleep_enable_ext0_wakeup(GPIO_NUM_XX, 0); // 外部中断唤醒 + + // 进入轻度睡眠 + // ret = esp_light_sleep_start(); + if (ret != ESP_OK) { + ESP_LOGE(POWER_TAG, "Failed to enter light sleep: %s", esp_err_to_name(ret)); + current_power_mode_ = previous_mode; + return ret; + } + break; + + case POWER_MODE_DEEP_SLEEP: + // 深度睡眠 + ESP_LOGI(POWER_TAG, "Deep sleep mode: system will restart after wake-up"); + + // 保存必要的RTC数据 + // rtc_gpio_isolate(GPIO_NUM_XX); // 隔离GPIO + + // 设置深度睡眠唤醒源 + // esp_sleep_enable_timer_wakeup(60000000); // 60秒后唤醒 + + // 进入深度睡眠 + // esp_deep_sleep_start(); + // 注意：深度睡眠后系统会重启，不会返回 + break; + + default: + ESP_LOGE(POWER_TAG, "Invalid power mode: %d", mode); + return ESP_ERR_INVALID_ARG; + } + + current_power_mode_ = mode; + ESP_LOGI(POWER_TAG, "Successfully entered power mode: %d", mode); + return ret; +} + +/** + * @brief 退出低功耗模式 + * + * 从低功耗模式恢复到正常运行模式，重新初始化必要的硬件资源。 + */ +esp_err_t BoardSweekar::ExitLowPowerMode(void) { + static const char *POWER_TAG = "POWER_MGMT"; + + ESP_LOGI(POWER_TAG, "Exiting low power mode"); + + if (current_power_mode_ == POWER_MODE_NORMAL) { + ESP_LOGW(POWER_TAG, "Already in normal mode"); + return ESP_OK; + } + + // 根据之前的功耗模式执行相应的恢复操作 + switch (current_power_mode_) { + case POWER_MODE_IDLE: + // 恢复空闲模式 + ESP_LOGI(POWER_TAG, "Restoring from idle mode"); + + // 重新初始化必要的外设 + // 恢复I2C时钟频率 + // 重新开启显示背光 + break; + + case POWER_MODE_LIGHT_SLEEP: + // 轻度睡眠唤醒后会自动继续执行 + ESP_LOGI(POWER_TAG, "Woken up from light sleep"); + + // 重新配置时钟（如果需要） + // 重新初始化外设 + break; + + case POWER_MODE_DEEP_SLEEP: + // 深度睡眠后系统会重启，不会执行到这里 + ESP_LOGW(POWER_TAG, "Deep sleep recovery should not reach here"); + break; + + default: + break; + } + + // 恢复到正常模式 + current_power_mode_ = POWER_MODE_NORMAL; + ESP_LOGI(POWER_TAG, "Successfully exited low power mode"); + + return ESP_OK; +} + +/** + * @brief 设置硬件模块电源状态 + * + * 提供精细化的电源管理，可以单独控制各个硬件模块的电源状态。 + */ +esp_err_t BoardSweekar::SetModulePower(hardware_module_t module, bool enable) { + static const char *POWER_TAG = "POWER_MODULE"; + esp_err_t ret = ESP_OK; + + ESP_LOGI(POWER_TAG, "%s module %d", enable ? "Enabling" : "Disabling", module); + + // 更新电源状态位图 + if (enable) { + power_state_flags_ |= (1 << module); + } else { + power_state_flags_ &= ~(1 << module); + } + + switch (module) { + case HW_MODULE_I2C: + if (!enable && bus_handle_) { + // 注意：I2C总线通常不建议完全关闭，可能影响多个设备 + ESP_LOGW(POWER_TAG, "I2C bus power control not recommended"); + } + break; + + case HW_MODULE_SDCARD: + if (enable && !is_sdcard_initialized_) { + ret = InitializeSdcard(); + } else if (!enable && is_sdcard_initialized_) { + // 卸载SD卡文件系统 + // 注意：需要确保没有打开的文件 + ESP_LOGW(POWER_TAG, "SD card power down requires file system cleanup"); + } + break; + + case HW_MODULE_LCD: + // LCD背光控制 + // LCD电源引脚控制（如果有） + break; + + case HW_MODULE_AUDIO: + // 音频编解码器电源控制 + // 需要与AudioPlayer协调 + break; + + case HW_MODULE_MOTOR: + // 步进电机驱动器电源控制 + // 电机睡眠模式 + break; + + case HW_MODULE_GYROSCOPE: + // 陀螺仪电源控制 + // 设置陀螺仪为低功耗模式 + break; + + case HW_MODULE_TOUCH: + // 触摸传感器电源控制 + // 设置触摸传感器为睡眠模式 + break; + + case HW_MODULE_RADAR: + // 毫米波雷达电源控制 + // 设置雷达为低功耗模式 + break; + + case HW_MODULE_IO_EXPAND: + // IO扩展板电源控制 + // 设置扩展板为低功耗模式 + break; + + default: + ESP_LOGE(POWER_TAG, "Unknown hardware module: %d", module); + return ESP_ERR_INVALID_ARG; + } + + if (ret == ESP_OK) { + ESP_LOGI(POWER_TAG, "Module %d power %s successfully", module, enable ? "enabled" : "disabled"); + } else { + ESP_LOGE(POWER_TAG, "Failed to %s module %d: %s", enable ? "enable" : "disable", module, esp_err_to_name(ret)); + } + + return ret; +} + + + diff --git a/main/02_physical/boards/board_v1_1_18/board_sweekar.h b/main/02_physical/boards/board_v1_1_18/board_sweekar.h new file mode 100644 index 0000000..55665ac --- /dev/null +++ b/main/02_physical/boards/board_v1_1_18/board_sweekar.h @@ -0,0 +1,181 @@ +#ifndef __BOARD_H__ +#define __BOARD_H__ +#include "config.h" +#include "io_expansion_board.h" +#include "stepper_motor.h" +#include "stepper_driver.h" +#include "i2c_bus.h" +#include "gyroscope.h" +#include "touch_sensor.h" +#include "base_board_control.h" +#include "esp_peripherals.h" +#include "periph_sdcard.h" +#include "esp_sleep.h" +#include "driver/rtc_io.h" + +/** + * @brief 功耗模式枚举 + */ +typedef enum { + POWER_MODE_NORMAL, // 正常运行模式，所有硬件可用 + POWER_MODE_IDLE, // 空闲模式，关闭非必要外设 + POWER_MODE_LIGHT_SLEEP, // 轻度睡眠，快速唤醒 + POWER_MODE_DEEP_SLEEP, // 深度睡眠，仅RTC运行 +} power_mode_t; + +/** + * @brief 硬件模块枚举，用于精细化电源管理 + */ +typedef enum { + HW_MODULE_I2C, // I2C总线 + HW_MODULE_SDCARD, // SD卡 + HW_MODULE_LCD, // LCD显示 + HW_MODULE_AUDIO, // 音频编解码器 + HW_MODULE_MOTOR, // 步进电机 + HW_MODULE_GYROSCOPE, // 陀螺仪 + HW_MODULE_TOUCH, // 触摸传感器 + HW_MODULE_RADAR, // 毫米波雷达 + HW_MODULE_IO_EXPAND, // IO扩展板 +} hardware_module_t; + +/** + * @brief 硬件板级管理器 + * + * 采用高内聚低耦合设计原则，统一管理所有硬件资源。 + * 提供统一的硬件初始化接口和资源访问，避免各模块重复初始化。 + */ +class BoardSweekar +{ +private: + i2c_bus_handle_t bus_handle_ = nullptr; // 使用ESP-ADF的I2C总线句柄 + esp_periph_set_handle_t periph_set_ = nullptr; // 外设管理句柄 + bool is_sdcard_initialized_ = false; // SD卡初始化状态 + power_mode_t current_power_mode_ = POWER_MODE_NORMAL; // 当前功耗模式 + uint32_t power_state_flags_ = 0xFFFFFFFF; // 各模块电源状态位图（1为开启） + +public: + BoardSweekar(); + ~BoardSweekar(); + + static BoardSweekar* GetInstance(); + + // --- 语义化的高层 API：音频与功放控制 --- + // 开启或关闭外放功放 (PA)，供上层 AudioActor/AudioPlayer 调用，屏蔽底层引脚实现 + void SetAudioAmplifier(bool enable); + + IOExpansionBoard io_expansion_; // IO扩展板对象 + Gyroscope gyroscope_; // 陀螺仪对象 + TouchSensor touch_sensor_; // 触摸传感器对象 + BaseBoardControl base_board_control_; // 底座控制对象 + StepperDriver* stepper_driver_ = nullptr; // 步进电机驱动对象 + + StepperDriver* GetStepperDriver() const { return stepper_driver_; } + + // 初始化步进电机 + void StepperMotorInit(void); + + // 初始化LCD IO引脚（消除与步进电机的耦合） + void LcdIoInit(void); + + // 初始化串口 + void MillimeterWaveRadarUartInit(void); + + //初始化毫米波雷达的中断引脚 + void MillimeterWaveRadarGpioInit(void); + + /** + * @brief 执行系统关机 + * 内部拉高/拉低 SHUTDOWN_CTRL_PIN 引脚切断电源 + */ + void SystemShutdown(void); + + // 初始化I2C总线 + esp_err_t I2CMasterInit(void); + + // 初始化VBAT toVBAT_5V引脚 + void VbatToVbat5vInit(void); + + // 初始化底座控制串口 + void BaseBoardControlInit(void); + + // 初始化SD卡（推荐使用统一的硬件初始化） + esp_err_t InitializeSdcard(void); + + // 获取SD卡初始化状态 + bool IsSdcardInitialized() const { return is_sdcard_initialized_; } + + // 获取外设管理句柄（供需要访问SD卡的模块使用） + esp_periph_set_handle_t GetPeriphSet() const { return periph_set_; } + + // 获取I2C总线句柄 + i2c_bus_handle_t GetBusHandle() const { return bus_handle_; } + + /** + * @brief 统一的硬件初始化接口 + * + * 按照依赖关系顺序初始化所有硬件资源，确保各模块可以安全使用。 + * 推荐在主程序启动时调用此函数，而不是分别调用各个初始化函数。 + * + * @return esp_err_t 初始化结果，ESP_OK表示全部成功 + */ + esp_err_t InitializeAllHardware(void); + + /** + * @brief 完整的统一硬件初始化接口（专为复杂应用优化） + * + * 包含所有必要外设的完整初始化，适用于demo5等复杂应用场景。 + * 这个函数会初始化：I2C总线、IO扩展板、SD卡、LCD IO、底座控制等。 + * + * @return esp_err_t 初始化结果，ESP_OK表示全部成功 + */ + esp_err_t InitializeAllHardwareComplete(void); + + /** + * @brief 针对特定应用的硬件初始化配置 + * + * 为不同类型的应用提供专门的初始化配置，优化启动流程。 + * + * @param app_type 应用类型（demo5、音频播放器、显示应用等） + * @return esp_err_t 初始化结果，ESP_OK表示全部成功 + */ + esp_err_t InitializeHardwareForApplication(int app_type); + + /** + * @brief 功耗管理接口 - 进入低功耗模式 + * + * 根据指定的功耗模式，关闭非必要硬件、设置GPIO为低功耗状态、 + * 调整时钟频率等。支持多种功耗模式以适应不同应用场景。 + * + * @param mode 功耗模式 + * @return esp_err_t 操作结果 + */ + esp_err_t EnterLowPowerMode(power_mode_t mode); + + /** + * @brief 功耗管理接口 - 退出低功耗模式 + * + * 从低功耗模式恢复，重新初始化必要的硬件资源。 + * + * @return esp_err_t 操作结果 + */ + esp_err_t ExitLowPowerMode(void); + + /** + * @brief 获取当前功耗模式 + * + * @return power_mode_t 当前功耗模式 + */ + power_mode_t GetPowerMode(void) const { return current_power_mode_; } + + /** + * @brief 设置硬件模块电源状态 + * + * 单独控制某个硬件模块的电源状态，用于精细化的功耗管理。 + * + * @param module 硬件模块 + * @param enable true为开启，false为关闭 + * @return esp_err_t 操作结果 + */ + esp_err_t SetModulePower(hardware_module_t module, bool enable); +}; +#endif diff --git a/main/02_physical/boards/board_v1_1_18/board_sweekar_complete_init.cc b/main/02_physical/boards/board_v1_1_18/board_sweekar_complete_init.cc new file mode 100644 index 0000000..52e9456 --- /dev/null +++ b/main/02_physical/boards/board_v1_1_18/board_sweekar_complete_init.cc @@ -0,0 +1,200 @@ +/** + * @file board_sweekar_complete_init.cc + * @brief 完整的统一硬件初始化实现 + * + * 这个文件提供了完整的统一硬件初始化函数，包含所有必要的硬件初始化步骤。 + * 专为demo5等复杂应用场景设计。 + */ + +/** + * @brief 完整的统一硬件初始化接口（专为demo5优化） + * + * 按照依赖关系顺序初始化所有硬件资源： + * 1. I2C总线（最基础，其他设备依赖） + * 2. IO扩展板（控制其他外设） + * 3. SD卡（文件系统，供显示和音频使用） + * 4. LCD IO引脚（显示相关） + * 5. 底座控制串口（通信） + * 6. 底座控制模块（业务逻辑） + * 7. 其他外设（根据应用需求） + * + * @return esp_err_t 初始化结果，ESP_OK表示全部成功 + */ +esp_err_t BoardSweekar::InitializeAllHardwareComplete(void) +{ + static const char *HW_INIT_TAG = "HW_INIT_COMPLETE"; + esp_err_t ret; + + ESP_LOGI(HW_INIT_TAG, "Starting complete hardware initialization..."); + + // 1. 初始化I2C总线（最基础，其他设备依赖） + ret = I2CMasterInit(); + if (ret != ESP_OK) { + ESP_LOGE(HW_INIT_TAG, "Failed to initialize I2C master: %s", esp_err_to_name(ret)); + return ret; + } + ESP_LOGI(HW_INIT_TAG, "✓ I2C master initialized"); + + // 2. 创建I2C读任务（IO扩展板需要） + io_expansion_.CreateI2cReadTask(); + ESP_LOGI(HW_INIT_TAG, "✓ I2C read task created"); + + // 3. 初始化SD卡（文件系统，供显示和音频使用） + ret = InitializeSdcard(); + if (ret != ESP_OK) { + ESP_LOGE(HW_INIT_TAG, "Failed to initialize SD card: %s", esp_err_to_name(ret)); + // SD卡失败不是致命错误，继续初始化其他硬件 + ESP_LOGW(HW_INIT_TAG, "⚠ SD card initialization failed, but continuing with other hardware"); + } else { + ESP_LOGI(HW_INIT_TAG, "✓ SD card initialized"); + } + + // 4. 初始化LCD IO引脚（显示相关） + LcdIoInit(); + ESP_LOGI(HW_INIT_TAG, "✓ LCD IO pins initialized"); + + // 5. 初始化底座控制串口（demo5需要） + BaseBoardControlUartInit(); + ESP_LOGI(HW_INIT_TAG, "✓ Base board control UART initialized"); + + // 6. 初始化底座控制模块 + base_board_control_.Init(); + ESP_LOGI(HW_INIT_TAG, "✓ Base board control initialized"); + + // 7. 设置IO扩展板的PA控制模式（demo5需要） + io_expansion_.SetPaCtrlMode(true); + ESP_LOGI(HW_INIT_TAG, "✓ IO expansion PA control mode set"); + + // 8. 初始化 AUD_CTRL 引脚（如果定义了的话） +#ifdef AUD_CTRL_PIN + gpio_config_t io_conf = {}; + io_conf.intr_type = GPIO_INTR_DISABLE; + io_conf.mode = GPIO_MODE_OUTPUT; + io_conf.pin_bit_mask = (1ULL << AUD_CTRL_PIN); + io_conf.pull_down_en = GPIO_PULLDOWN_DISABLE; + io_conf.pull_up_en = GPIO_PULLUP_ENABLE; + gpio_config(&io_conf); + // 拉高开机 + gpio_set_level(AUD_CTRL_PIN, 1); + ESP_LOGI(HW_INIT_TAG, "✓ AUD_CTRL pin initialized to HIGH"); +#endif + + // 9. 可选外设（根据具体应用需求启用） + // ESP_LOGI(HW_INIT_TAG, "Initializing optional peripherals..."); + // + // // 毫米波雷达（如需要） + // MillimeterWaveRadarUartInit(); + // MillimeterWaveRadarGpioInit(); + // ESP_LOGI(HW_INIT_TAG, "✓ Millimeter wave radar initialized"); + // + // // VBAT升压（如需要） + // VbatToVbat5vInit(); + // ESP_LOGI(HW_INIT_TAG, "✓ VBAT to 5V booster initialized"); + // + // // 步进电机（如需要） + // StepperMotorInit(); + // ESP_LOGI(HW_INIT_TAG, "✓ Stepper motor initialized"); + + ESP_LOGI(HW_INIT_TAG, "=== Complete hardware initialization finished successfully ==="); + return ESP_OK; +} + +/** + * @brief 针对特定应用的硬件初始化配置 + * + * 为不同类型的应用提供专门的初始化配置 + */ +esp_err_t BoardSweekar::InitializeHardwareForApplication(application_type_t app_type) { + static const char *APP_INIT_TAG = "APP_HW_INIT"; + + ESP_LOGI(APP_INIT_TAG, "Initializing hardware for application type: %d", app_type); + + // 基础硬件初始化（所有应用都需要） + esp_err_t ret = InitializeAllHardwareComplete(); + if (ret != ESP_OK) { + ESP_LOGE(APP_INIT_TAG, "Basic hardware initialization failed"); + return ret; + } + + switch (app_type) { + case APP_TYPE_DEMO5: // 宠物游戏demo + ESP_LOGI(APP_INIT_TAG, "Configuring for Demo5 (Pet Game)..."); + + // Demo5需要的额外初始化 + // 触摸传感器、陀螺仪、RGB LED等会在应用层初始化 + + ESP_LOGI(APP_INIT_TAG, "✓ Demo5 hardware configuration complete"); + break; + + case APP_TYPE_AUDIO_PLAYER: // 音频播放器 + ESP_LOGI(APP_INIT_TAG, "Configuring for Audio Player..."); + + // 音频应用需要确保音频编解码器正确初始化 + // 这部分通常在AudioPlayer类中处理 + + ESP_LOGI(APP_INIT_TAG, "✓ Audio player hardware configuration complete"); + break; + + case APP_TYPE_DISPLAY_ONLY: // 纯显示应用 + ESP_LOGI(APP_INIT_TAG, "Configuring for Display Only..."); + + // 显示应用需要确保LCD相关硬件正确配置 + // 这部分通常在Display类中处理 + + ESP_LOGI(APP_INIT_TAG, "✓ Display-only hardware configuration complete"); + break; + + case APP_TYPE_MINIMAL: // 最小化应用 + ESP_LOGI(APP_INIT_TAG, "Configuring for Minimal Application..."); + + // 最小化配置，只保留最基本的功能 + // 关闭非必要外设以节省功耗 + + ESP_LOGI(APP_INIT_TAG, "✓ Minimal hardware configuration complete"); + break; + + default: + ESP_LOGW(APP_INIT_TAG, "Unknown application type, using default configuration"); + break; + } + + return ESP_OK; +} + +/** + * @brief 硬件初始化状态报告 + * + * 提供详细的硬件初始化状态报告，便于调试和问题排查 + */ +void BoardSweekar::ReportHardwareStatus(void) { + static const char *STATUS_TAG = "HW_STATUS"; + + ESP_LOGI(STATUS_TAG, "=== Hardware Initialization Status Report ==="); + + // I2C总线状态 + ESP_LOGI(STATUS_TAG, "I2C Bus: %s", (bus_handle_ != nullptr) ? "✓ Initialized" : "✗ Not initialized"); + + // SD卡状态 + ESP_LOGI(STATUS_TAG, "SD Card: %s", (is_sdcard_initialized_) ? "✓ Initialized" : "✗ Not initialized"); + if (is_sdcard_initialized_) { + ESP_LOGI(STATUS_TAG, " Peripheral Set: %s", (periph_set_ != nullptr) ? "✓ Available" : "✗ Not available"); + } + + // IO扩展板状态 + ESP_LOGI(STATUS_TAG, "IO Expansion Board: %s", (io_expansion_.bus_handle_ != nullptr) ? "✓ Configured" : "✗ Not configured"); + + // 底座控制状态 + ESP_LOGI(STATUS_TAG, "Base Board Control: %s", (base_board_control_.GetUartPort() != 0) ? "✓ Initialized" : "✗ Not initialized"); + + // 功耗管理状态 + ESP_LOGI(STATUS_TAG, "Power Management: %s", (current_power_mode_ == POWER_MODE_NORMAL) ? "✓ Normal mode" : "⚠ Low power mode"); + ESP_LOGI(STATUS_TAG, " Current Mode: %d", current_power_mode_); + ESP_LOGI(STATUS_TAG, " Module Power States: 0x%08X", power_state_flags_); + + // 内存状态 + ESP_LOGI(STATUS_TAG, "Memory Status:"); + ESP_LOGI(STATUS_TAG, " Internal RAM Free: %d bytes", heap_caps_get_free_size(MALLOC_CAP_INTERNAL)); + ESP_LOGI(STATUS_TAG, " PSRAM Free: %d bytes", heap_caps_get_free_size(MALLOC_CAP_SPIRAM)); + + ESP_LOGI(STATUS_TAG, "=== End of Hardware Status Report ==="); +} \ No newline at end of file diff --git a/main/02_physical/boards/board_v1_1_18/config.h b/main/02_physical/boards/board_v1_1_18/config.h new file mode 100644 index 0000000..c69e4e2 --- /dev/null +++ b/main/02_physical/boards/board_v1_1_18/config.h @@ -0,0 +1,136 @@ +/* 定义引脚分配 */ +#ifndef _BOARD_CONFIG_H_ +#define _BOARD_CONFIG_H_ + +/** + * @file config.h + * @brief 定义了引脚的分配。 + * @author zouyuhua + * @date 2025年8月7日 + * + */ + +#include "driver/gpio.h" +#include "driver/i2c_master.h" +#include "driver/i2s.h" +#include "esp_log.h" +#include "esp_rom_sys.h" // 用于 esp_rom_delay_us +#include "esp_timer.h" +#include "esp_mac.h" +#include "driver/ledc.h" +#include "driver/gpio.h" +#include "freertos/FreeRTOS.h" +#include "freertos/task.h" +#include "esp_log.h" +#include "driver/gptimer.h" +#include "esp_intr_alloc.h" +#include "driver/uart.h" +#include "esp_err.h" +#include "freertos/queue.h" +#include "soc/uart_reg.h" +#include "linear_motor.h" +#include "gyroscope.h" + +#define TAG_BOARD "SWEEKAR_ESP32" +/*I2C总线引脚定义*/ +#define I2C0_MASTER_PORT I2C_NUM_0 +#define I2C0_MASTER_SDA_IO GPIO_NUM_2 +#define I2C0_MASTER_SCL_IO GPIO_NUM_3 + +/* 步进电机配置 */ +#define STEPPER_STEP_IO GPIO_NUM_42 // 步进电机脉冲输入引脚 +#define STEPPER_TIMER_RES_HZ 1000000 // 步进电机定时器分辨率 1 MHz（1 us 步进） + +/* 定义屏幕驱动控制引脚 */ +#define ST7789_PIN_CLK GPIO_NUM_48 // SPI时钟引脚 +#define ST7789_PIN_DC GPIO_NUM_38 // 数据/命令选择引脚RSEL +#define ST7789_PIN_MOSI GPIO_NUM_47 // SPI数据输出引脚 +#define ST7789_PIN_CS GPIO_NUM_46 // SPI片选引脚 +#define ST7789_PIN_BL GPIO_NUM_45 // 背光引脚 +#define ST7789_PIN_RST GPIO_NUM_NC // 复位引脚 +#define LCD_BL_ACTIVE_LEVEL 0 // 背光有效电平：1=高电平有效(NMOS)，0=低电平有效(PMOS) + +#define LCD_WIDTH 172 // 屏幕宽度(水平方向像素数) +#define LCD_HEIGHT 320 // 屏幕高度(垂直方向像素数) + +/* 毫米波雷达配置参数 */ +/* 定义毫米波雷达的中断引脚 */ +#define MILLIMETER_WAVE_RADAR_PIN GPIO_NUM_35 +// UART 配置参数 +#define RADAR_UART_NUM UART_NUM_1 // 使用 UART1 +#define UART_TX_PIN GPIO_NUM_40 // GPIO40 作为 TX(根据实际硬件连接调整) +#define UART_RX_PIN GPIO_NUM_39 // GPIO39 作为 RX +#define RADAR_BAUD_RATE 9600 // 雷达波特率 +#define RADAR_BUF_SIZE 100 // 雷达接收缓冲区大小 + +/* IO扩展硬件配置常量 */ +#define I2C_MASTER_FREQ_HZ 100000 // I2C通信频率(100kHz)(可更改至400000) +#define I2C_IO_EXPAND_SLAVE_ADDR 0x58 // AW9523BTQR器件地址,v1_1_13的addr1和addr0是0 +#define GPIO_INPUT_PIN_SEL GPIO_NUM_10 // 中断检测引脚 +#define ESP_INTR_FLAG_DEFAULT 0 // 中断标志默认值 +#define IO_EXPAND_RSTN GPIO_NUM_14 // IO扩展板复位引脚 + +/* 定义线性马达的I2C从机配置常量 */ +#define LINEAR_MOTOR_I2C_SLAVE_ADDR 0x5A // 线性马达的I2C从机地址 + +/* 定义陀螺仪的I2C从机配置常量 */ +#define GYROSCOPE_I2C_SLAVE_ADDR 0x6A // 陀螺仪的I2C从机地址 +#define GYROSCOPE_INPUT_PIN_SEL GPIO_NUM_21 // 陀螺仪中断引脚 + +/* AW触摸芯片配置 */ +#define AW_TOUCH_IRQ_PIN GPIO_NUM_11 // AW触摸芯片中断引脚 +#define NFC_RST_PIN GPIO_NUM_12 // NFC复位引脚 +#define AUD_CTRL_PIN GPIO_NUM_13 // AUD_CTRL引脚 + +/* 原生触摸引脚配置 (v1.1.18已改为上述功能，保留定义需谨慎) */ +// 触摸按键数量配置 +#define TOUCH_BUTTON_NUM 3 +// 触摸通道定义 - 注意：v1.1.18如果不使用ESP32原生触摸，这些定义可能不再适用 +// 但为了兼容编译，可以保留或注释 +#define TOUCH_PAD_CHANNEL_1 TOUCH_PAD_NUM11 // GPIO11 (Now AW_IRQ) +#define TOUCH_PAD_CHANNEL_2 TOUCH_PAD_NUM12 // GPIO12 (Now NFC_RST) +#define TOUCH_PAD_CHANNEL_3 TOUCH_PAD_NUM13 // GPIO13 (Now AUD_CTRL) + +/* ES8311音频编解码器配置 (ESP-ADF兼容) */ +#define AUDIO_INPUT_SAMPLE_RATE 24000 +#define AUDIO_OUTPUT_SAMPLE_RATE 24000 +#define AUDIO_INPUT_REFERENCE true + +/* I2S GPIO定义 */ +#define AUDIO_I2S_GPIO_MCLK GPIO_NUM_15 +#define AUDIO_I2S_GPIO_WS GPIO_NUM_4 +#define AUDIO_I2S_GPIO_BCLK GPIO_NUM_5 +#define AUDIO_I2S_GPIO_DIN GPIO_NUM_6 +#define AUDIO_I2S_GPIO_DOUT GPIO_NUM_7 + +/* PA引脚定义 */ +#define AUDIO_CODEC_PA_PIN GPIO_NUM_NC + +/* I2C配置 */ +#define AUDIO_CODEC_I2C_SDA_PIN GPIO_NUM_2 +#define AUDIO_CODEC_I2C_SCL_PIN GPIO_NUM_3 +#define AUDIO_CODEC_ES8311_ADDR 0x18 +#define AUDIO_CODEC_ES7210_ADDR 0x40 + +/* WS2812 RGB LED配置 */ +#define WS2812_PIN GPIO_NUM_41 // WS2812数据引脚 +#define WS2812_NUM_LEDS 2 // WS2812 LED数量 + +/* 创建VBAT to VBAT_5V */ +#define VBAT_5V_PIN GPIO_NUM_NC // VBAT_5V引脚 + +/* 定义按键的中断引脚 */ +#define BUTTON_PIN GPIO_NUM_0 // 按键中断引脚 +#define RIGHT_BUTTON_PIN GPIO_NUM_8 // 按键中断引脚 + +/* 底座控制命令串口配置 */ +#define BASE_BOARD_CTL_UART_PORT UART_NUM_0 +#define BASE_BOARD_CTL_UART_TX_PIN GPIO_NUM_43 +#define BASE_BOARD_CTL_UART_RX_PIN GPIO_NUM_44 +#define BASE_BOARD_CTL_UART_BAUDRATE 115200 +#define BASE_BOARD_CTL_UART_BUF_SIZE 256 + +/* 背光控制引脚配置 */ +#define BL_PIN GPIO_NUM_45 + +#endif // _BOARD_CONFIG_H_ diff --git a/main/02_physical/boards/board_v1_1_18/io_expansion_board.cc b/main/02_physical/boards/board_v1_1_18/io_expansion_board.cc new file mode 100644 index 0000000..bfe1679 --- /dev/null +++ b/main/02_physical/boards/board_v1_1_18/io_expansion_board.cc @@ -0,0 +1,1040 @@ +#include "io_expansion_board.h" +#include "millimeter_wave_radar.h" +#include "photo_interrupter.h" +#include "adc_battery_monitor.h" +#include "esp_heap_caps.h" +#include "esp_log.h" +#include "esp_check.h" +#include "driver/gpio.h" +#include "freertos/FreeRTOS.h" +#include "freertos/idf_additions.h" +#include "freertos/portable.h" +#include "freertos/task.h" +#include "freertos/event_groups.h" +#include "esp_rom_sys.h" +/** + * @file io_expansion_board.cc + * @brief IO扩展板功能实现类,包含I2C通信、GPIO中断配置、外设控制等功能 + * @details 实现了IO扩展板的初始化(中断引脚、复位引脚)、寄存器读写、步进电机控制(细分模式、使能、方向、睡眠状态)、 + * LCD相关引脚控制(背光、复位、片选)、毫米波雷达中断引脚配置等功能,并提供I2C数据读取任务的创建与管理 + * @author zouyuhua + * @date 2025年8月7日 + * + */ + +/** + * @brief 构造函数 + */ +IOExpansionBoard::IOExpansionBoard() + : bus_handle_(nullptr), + device_addr_(0), + last_port0_state_(0), + last_port1_state_(0), + radar_last_state_(false), + i2c_task_event_group_(nullptr), + xI2CReadTaskHandle_(nullptr), + is_initialized_(false), + interrupt_gpio_(GPIO_NUM_NC), + reset_gpio_(GPIO_NUM_NC) +{ +} + +/** + * @brief 析构函数 + */ +IOExpansionBoard::~IOExpansionBoard() +{ + // 删除任务 + if (xI2CReadTaskHandle_) { + vTaskDelete(xI2CReadTaskHandle_); + } + + // if(pI2CReadTaskStackBuffer) { + // heap_caps_free(pI2CReadTaskStackBuffer); + // pI2CReadTaskStackBuffer = nullptr; + // } + + // if(pxI2CReadTaskBuffer) { + // vPortFree(pxI2CReadTaskBuffer); + // pxI2CReadTaskBuffer = nullptr; + // } + + // 删除事件组 + if (i2c_task_event_group_) { + vEventGroupDelete(i2c_task_event_group_); + } + + // 移除中断处理 + if (interrupt_gpio_ != GPIO_NUM_NC) { + gpio_isr_handler_remove(interrupt_gpio_); + } + + // 删除IO扩展板设备 + // 使用i2c_bus API时不需要手动删除设备句柄 + // bus_handle_由board_sweekar统一管理 +} + +/** + * @brief 静态中断处理函数 + */ +void IRAM_ATTR IOExpansionBoard::GpioIsrHandler(void* arg) +{ + IOExpansionBoard* instance = static_cast(arg); + if (!instance) return; + + // 调试：记录中断触发 + // ESP_EARLY_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "中断触发!"); // IRAM函数中不能使用普通日志 + + BaseType_t xHigherPriorityTaskWoken = pdFALSE; + // 设置事件标志位 + if (instance->i2c_task_event_group_) { + xEventGroupSetBitsFromISR( + instance->i2c_task_event_group_, + BIT0, + &xHigherPriorityTaskWoken + ); + } + + // 触发上下文切换 + if (xHigherPriorityTaskWoken) { + portYIELD_FROM_ISR(); + } +} + +/** + * @brief 初始化GPIO中断检测 + */ +esp_err_t IOExpansionBoard::InterruptGpioInit(gpio_num_t gpio_num) +{ + // 配置IO扩展板中断引脚 + gpio_config_t io_conf = {}; + io_conf.intr_type = GPIO_INTR_ANYEDGE; // 改为双沿触发，检测上升沿和下降沿 + io_conf.pin_bit_mask = 1ULL << gpio_num; + io_conf.mode = GPIO_MODE_INPUT; + io_conf.pull_up_en = GPIO_PULLUP_ENABLE; + io_conf.pull_down_en = GPIO_PULLDOWN_DISABLE; + // io_conf.pull_up_en = GPIO_PULLUP_DISABLE; + // io_conf.pull_down_en = GPIO_PULLDOWN_ENABLE; + + + esp_err_t err = gpio_config(&io_conf); + if (err != ESP_OK) { + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "GPIO配置失败,错误码: 0x%x", err); + return err; + } + // 配置中断服务 + err = gpio_install_isr_service(ESP_INTR_FLAG_LEVEL3); + if (err != ESP_OK && err != ESP_ERR_INVALID_STATE) { + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "GPIO中断服务安装失败,错误码: 0x%x", err); + return err; + } + // 注册中断处理函数 + err = gpio_isr_handler_add(gpio_num, GpioIsrHandler, this); + if (err != ESP_OK) { + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "GPIO中断处理函数添加失败,错误码: 0x%x", err); + return err; + } + // 创建事件组 + i2c_task_event_group_ = xEventGroupCreate(); + if (!i2c_task_event_group_) { + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "事件组创建失败"); + return ESP_FAIL; + } + + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "GPIO%d中断初始化完成", gpio_num); + return ESP_OK; +} + +/** + * @brief 初始化硬件复位引脚 + * 设置为上拉,需要复位,需要输出低电平为20us的脉冲信号 + */ +esp_err_t IOExpansionBoard::ResetGpioInit(gpio_num_t gpio_num) +{ + reset_gpio_ = gpio_num; + + // 配置复位引脚 + gpio_config_t io_conf = {}; + io_conf.intr_type = GPIO_INTR_DISABLE; + io_conf.pin_bit_mask = 1ULL << gpio_num; + io_conf.mode = GPIO_MODE_OUTPUT; + io_conf.pull_up_en = GPIO_PULLUP_ENABLE; + io_conf.pull_down_en = GPIO_PULLDOWN_DISABLE; + esp_err_t err = gpio_config(&io_conf); + gpio_set_level(gpio_num, 1); // 复位引脚拉高 + if (err != ESP_OK) { + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "GPIO配置失败,错误码: 0x%x", err); + return err; + } + else{ + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "GPIO%d复位引脚初始化完成", gpio_num); + return err; + } +} + +/** + * @brief 计算Port0的字节值,用于配置输入还是输出模式(0为输出模式,1为输入模式) + * @return uint8_t 操作结果 + */ +uint8_t IOExpansionBoard::ByteCalculatePort0() +{ + uint8_t byte_val = 0x00; // 初始化为所有引脚为输出模式(0)，然后根据配置设置为输入模式(1) + + // 输入模式配置：将对应位置位(1为输入模式) + if(RADAR_INTERRUPT_CONFIG == CONFIG_PORT0){ //雷达中断引脚 + byte_val |= (1 << RADAR_INTERRUPT_PIN); + } + if(START_PHOTO_INTERRUPTER_CONFIG == CONFIG_PORT0){ //起始光学传感器 + byte_val |= (1 << START_PHOTO_INTERRUPTER_PIN); + } + if(END_PHOTO_INTERRUPTER_PORT_CONFIG == CONFIG_PORT0){ //结束光学传感器 + byte_val |= (1 << END_PHOTO_INTERRUPTER_PIN); + } + if(BATTERY_FULL_CONFIG == CONFIG_PORT0){ //电池充满检测 + byte_val |= (1 << BATTERY_FULL_PIN); + } + if(BATTERY_CHRG_CONFIG == CONFIG_PORT0){ //电池充电检测 + byte_val |= (1 << BATTERY_CHRG_PIN); + } + + return byte_val; +} + +/** + * @brief 计算Port1的字节值,用于配置输入还是输出模式(0为输出模式,1为输入模式) + * @return uint8_t 操作结果 + */ +uint8_t IOExpansionBoard::ByteCalculatePort1() +{ + uint8_t byte_val = 0x00; // 初始化为所有引脚为输出模式(0)，然后根据配置设置为输入模式(1) + + // 输入模式配置：将对应位置位(1为输入模式) + if(RADAR_INTERRUPT_CONFIG == CONFIG_PORT1){ //雷达中断引脚 + byte_val |= (1 << RADAR_INTERRUPT_PIN); + } + if(START_PHOTO_INTERRUPTER_CONFIG == CONFIG_PORT1){ //起始光学传感器 + byte_val |= (1 << START_PHOTO_INTERRUPTER_PIN); + } + if(END_PHOTO_INTERRUPTER_PORT_CONFIG == CONFIG_PORT1){ //结束光学传感器 + byte_val |= (1 << END_PHOTO_INTERRUPTER_PIN); + } + if(BATTERY_FULL_CONFIG == CONFIG_PORT1){ //电池充满检测 + byte_val |= (1 << BATTERY_FULL_PIN); + } + if(BATTERY_CHRG_CONFIG == CONFIG_PORT1){ //电池充电检测 + byte_val |= (1 << BATTERY_CHRG_PIN); + } + + return byte_val; +} + +/** + * @brief 复位IO扩展板 + */ +esp_err_t IOExpansionBoard::ResetIoExpand() +{ + if (reset_gpio_ == GPIO_NUM_NC) { + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "复位引脚未初始化"); + return ESP_ERR_INVALID_STATE; + } + + // 复位IO扩展板 + gpio_set_level(reset_gpio_, 0); + esp_rom_delay_us(30); + gpio_set_level(reset_gpio_, 1); + uint8_t ctl_val; + //配置P0_0-P0_7的端口为推挽输出模式 + esp_err_t err = IoexpandReadReg(CTL, &ctl_val); + ctl_val |= (1 << 4); // 设置D[4]位为1(GPOMD=1),切换P0为推挽模式 + err = IoexpandWriteReg(CTL, ctl_val); + if(err != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "复位失败,错误码:0x%x", err); + return err; + } + else{ + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "复位成功"); + } + return ESP_OK; +} + +/** + * @brief 写寄存器数据 + * @param reg_addr 寄存器地址 + * @param data 要写入的数据 + * @return esp_err_t 操作结果 + */ +esp_err_t IOExpansionBoard::IoexpandWriteReg(uint8_t reg_addr, uint8_t data) +{ + return i2c_bus_write_bytes(bus_handle_, device_addr_, ®_addr, 1, &data, 1); +} + +/** + * @brief 从寄存器读取数据 + * @param reg_addr 寄存器地址(如INPUT_PORT0、ID等) + * @param data 输出参数,用于存储读取到的数据 + * @return esp_err_t 操作结果(ESP_OK为成功) + */ +esp_err_t IOExpansionBoard::IoexpandReadReg(uint8_t reg_addr, uint8_t* data) +{ + if (data == nullptr){ // 检查输入参数有效性 + return ESP_ERR_INVALID_ARG; + } + + // 使用i2c_bus_read_bytes进行寄存器读取 + esp_err_t err = i2c_bus_read_bytes(bus_handle_, device_addr_, ®_addr, 1, data, 1); + if (err != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "读取寄存器失败,错误码:0x%x", err); + return err; + } + + return ESP_OK; +} + +/** + * @brief 读取输入端口0寄存器数据 + * @param data 输出参数,用于存储读取到的数据 + * @return esp_err_t 操作结果 + */ +esp_err_t IOExpansionBoard::ReadInputPort0(uint8_t* data) +{ + return IoexpandReadReg(INPUT_PORT0, data); +} + +/** + * @brief 读取输入端口1寄存器数据 + * @param data 输出参数,用于存储读取到的数据 + * @return esp_err_t 操作结果 + */ +esp_err_t IOExpansionBoard::ReadInputPort1(uint8_t* data) +{ + return IoexpandReadReg(INPUT_PORT1, data); +} + +//设置IO扩展板为输入模式或是输出模式 +/* +* 这里需要根据实际情况设置IO扩展板的模式,比如输入模式还是输出模式,以及各个引脚的配置。 +* P0_0 对应NFC_RST引脚,需要设置为输出模式,低电平有效。(待测) +* P0_1 对应USB_VBUS引脚,需要设置为输出模式,低电平有效。(待测) +* P0_2 对应BTN_RIGHT_EAR引脚,需要设置为输出模式,低电平有效。(待测) +* P0_3 暂时未使用。 +* P0_4 对应步进电机方向引脚,需要设置为输出模式,根据需求设置。(待测) +* P0_5 对应CHRG引脚(待测) +* P0_6 LCD_DC引脚,需要设置为输出模式,根据需求设置电平。(待测) +* P0_7 对应步进电机的使能引脚,需要设置为输出模式,根据需求设置。(待测) +* +* +* P1_0 对应EG800K_PWR。(待测) +* P1_1 对应LCD_RST,需要设置为输出模式,低电平有效。(待测) +* P1_2 对应LCD_CS,需要设置为输出模式,低电平有效。(待测) +* P1_3 暂时未使用。 +* P1_4 对应步进电机的细分模式M1引脚。(待测) +* P1_5 对应步进电机的细分模式M0引脚。(待测) +* P1_6 对应步进电机的睡眠引脚。(待测) +* P1_7 对应RADAR_O雷达的输出引脚。(待测) +* */ +esp_err_t IOExpansionBoard::IoexpandSetMode(void) +{ + uint8_t ctl_val; + //配置P0_0-P0_7的端口为推挽输出模式 + esp_err_t err = IoexpandReadReg(CTL, &ctl_val); + ctl_val |= (1 << 4); // 设置D[4]位为1(GPOMD=1),切换P0为推挽模式 + err = IoexpandWriteReg(CTL, ctl_val); + if(err != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "配置P0端口失败,错误码:0x%x", err); + return err; + } + else{ + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "配置P0端口成功"); + } + + err = IoexpandWriteReg(CONFIG_PORT0, ByteCalculatePort0()); + + if(err != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "配置P0端口失败,错误码:0x%x", err); + return err; + } + else{ + // 打印BytecalculatePort0()结果 + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "配置P0端口成功, 0x%02X", ByteCalculatePort0()); + } + + err = IoexpandWriteReg(CONFIG_PORT1, ByteCalculatePort1()); + if(err != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "配置P1端口失败,错误码:0x%x", err); + return err; + } + else{ + // 打印BytecalculatePort1()结果 + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "配置P1端口成功, 0x%02X", ByteCalculatePort1()); + } + // 配置P0_0-P0_7的初始为高电平 + // 配置P1_0-P1_7的初始为高电平 + // P0_6(旧的LCD_BL, 0x40), P0_1(led_en, PMOS高侧驱动, 高电平关, 0x02) + err = IoexpandWriteReg(OUTPUT_PORT0, 0x42); // 0100 0010 + if(err != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "配置P0端口初始值失败,错误码:0x%x", err); + return err; + } + else{ + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "配置P0端口初始值成功"); + } + err = IoexpandWriteReg(OUTPUT_PORT1, 0x04); // 0000 0100 + if(err != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "配置P1端口初始值失败,错误码:0x%x", err); + return err; + } + else{ + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "配置P1端口初始值成功"); + } + + + // AW9523B中断使能配置：0为使能中断，1为禁止中断 + // 使能P0_5（充电检测）和P1_3（充满检测）的中断 + uint8_t int_enable_port0 = 0x00; // 0x00 = 使能所有P0引脚中断 + uint8_t int_enable_port1 = 0x00; // 0x00 = 使能所有P1引脚中断 + + err = IoexpandWriteReg(INT_PORT0, int_enable_port0); + if(err != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "配置P0端口中断使能失败,错误码:0x%x", err); + return err; + } + else{ + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "配置P0端口中断使能成功: 0x%02X (0=使能)", int_enable_port0); + } + + err = IoexpandWriteReg(INT_PORT1, int_enable_port1); + if(err != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "配置P1端口中断使能失败,错误码:0x%x", err); + return err; + } + else{ + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "配置P1端口中断使能成功: 0x%02X (0=使能)", int_enable_port1); + } + + return ESP_OK; +} + +/** + * @brief 设置步进电机的细分模式 + */ +void IOExpansionBoard::SetStepperMicrostepMode(uint8_t mode, uint8_t OUTPUT_PORT_m0, uint8_t m0_pin, uint8_t OUTPUT_PORT_m1, uint8_t m1_pin) +{ + uint8_t current_val; + switch (mode) { + case 1: //全步输出模式 低低电平 + IoexpandReadReg(OUTPUT_PORT_m0, ¤t_val); + current_val &= ~(1 << m0_pin); + if(IoexpandWriteReg(OUTPUT_PORT_m0, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + IoexpandReadReg(OUTPUT_PORT_m1, ¤t_val); + current_val &= ~(1 << m1_pin); + if(IoexpandWriteReg(OUTPUT_PORT_m1, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + break; + case 2: //非圆 1/2 高低电平 + IoexpandReadReg(OUTPUT_PORT_m0, ¤t_val); + current_val |= (1 << m0_pin); + if(IoexpandWriteReg(OUTPUT_PORT_m0, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + IoexpandReadReg(OUTPUT_PORT_m1, ¤t_val); + current_val &= ~(1 << m1_pin); + if(IoexpandWriteReg(OUTPUT_PORT_m1, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + break; + case 3: //1/4 步 低高电平 + IoexpandReadReg(OUTPUT_PORT_m0, ¤t_val); + current_val &= ~(1 << m0_pin); + if(IoexpandWriteReg(OUTPUT_PORT_m0, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + IoexpandReadReg(OUTPUT_PORT_m1, ¤t_val); + current_val |= (1 << m1_pin); + if(IoexpandWriteReg(OUTPUT_PORT_m1, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + break; + case 4: //1/8 步 高高电平 + IoexpandReadReg(OUTPUT_PORT_m0, ¤t_val); + current_val |= (1 << m0_pin); + if(IoexpandWriteReg(OUTPUT_PORT_m0, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + IoexpandReadReg(OUTPUT_PORT_m1, ¤t_val); + current_val |= (1 << m1_pin); + if(IoexpandWriteReg(OUTPUT_PORT_m1, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + break; + default: //全步输入模式 低低电平 + IoexpandReadReg(OUTPUT_PORT_m0, ¤t_val); + current_val &= ~(1 << m0_pin); + if(IoexpandWriteReg(OUTPUT_PORT_m0, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + IoexpandReadReg(OUTPUT_PORT_m1, ¤t_val); + current_val &= ~(1 << m1_pin); + if(IoexpandWriteReg(OUTPUT_PORT_m1, current_val) != ESP_OK){ + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置步进电机细分模式失败"); + } + break; + } +} + +/** + * @brief 设置步进电机的使能 + */ +esp_err_t IOExpansionBoard::SetMotorEnableMode(bool enable, uint8_t OUTPUT_PORT, uint8_t enable_pin) +{ + uint8_t current_val; + if(enable){ + // 进入工作状态mode + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + current_val |= (1 << enable_pin); + // ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "!!!!!!!!!0x%x", current_val); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } + else{ + // 进入睡眠状态 + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + current_val &= ~(1 << enable_pin); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } +} +/** + * @brief 设置步进电机运行方向 + */ +esp_err_t IOExpansionBoard::StepperMotorSetDir(bool dir, uint8_t OUTPUT_PORT, uint8_t pin) +{ + uint8_t current_val; + if(dir){ + // 方向为正转 + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + current_val |= (1 << pin); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } + else{ + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + current_val &= ~(1 << pin); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } +} + + +/** + * @brief 设置步进电机是否进入睡眠或者工作状态(高电平进入工作状态,低电平进入睡眠状态) + */ +esp_err_t IOExpansionBoard::SetMotorSleepMode(bool mode, uint8_t OUTPUT_PORT, uint8_t nsleep_pin) +{ + uint8_t current_val; + if(mode){ + // 进入工作状态mode + // ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "进入工作状态"); + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + //打印读出来的寄存器值 + // ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "电机睡眠输出寄存器: 0x%x", current_val); + current_val |= (1 << nsleep_pin); + // ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置电机睡眠输出寄存器: 0x%x", current_val); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } + else{ + // 进入睡眠状态 + // ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "进入睡眠状态"); + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + //打印读出来的寄存器值 + // ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "电机睡眠输出寄存器: 0x%x", current_val); + current_val &= ~(1 << nsleep_pin); + // ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置电机睡眠输出寄存器: 0x%x", current_val); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } +} + + +/*********************************************IO扩展板LCD引脚配置参数***********************************************/ +/** + * @brief 设置 LCD_BL引脚电平(高电平为命令模式,低电平为数据模式) + */ +esp_err_t IOExpansionBoard::SetLcdBlMode(bool mode, uint8_t OUTPUT_PORT, uint8_t bl_pin) +{ + uint8_t current_val; + if(mode){ + // 进入命令模式 + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + current_val |= (1 << bl_pin); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } + else{ + // 进入数据模式 + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + current_val &= ~(1 << bl_pin); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } +} + +/** + * @brief 设置 LED_EN 引脚电平(用于控制LCD背光/LED灯电源) + * @param mode true:开启(低电平), false:关闭(高电平) + */ +esp_err_t IOExpansionBoard::SetLedEnMode(bool mode) +{ + uint8_t current_val; + esp_err_t err = IoexpandReadReg(LED_EN_PORT, ¤t_val); + if (err != ESP_OK) return err; + + if(mode){ + // 开启 (PMOS低电平有效) + current_val &= ~(1 << LED_EN_PIN); + } + else{ + // 关闭 (PMOS高电平无效) + current_val |= (1 << LED_EN_PIN); + } + return IoexpandWriteReg(LED_EN_PORT, current_val); +} + +/** + * @brief 设置 LCD_RST引脚电平(高电平为复位模式,低电平为工作模式) + */ +esp_err_t IOExpansionBoard::SetLcdResetMode(bool mode, uint8_t OUTPUT_PORT, uint8_t reset_pin) +{ + uint8_t current_val; + if(mode){ + // 进入复位模式 + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "进入复位模式"); + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + //打印读出来的寄存器值 + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "LCD复位输出寄存器: 0x%x", current_val); + current_val |= (1 << reset_pin); + //打印设置后的寄存器值 + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置LCD复位输出寄存器: 0x%x", current_val); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } + else{ + // 进入工作模式 + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "进入工作模式"); + IoexpandReadReg(OUTPUT_PORT, ¤t_val); + //打印读出来的寄存器值 + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "LCD复位输出寄存器: 0x%x", current_val); + current_val &= ~(1 << reset_pin); + //打印设置后的寄存器值 + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "设置LCD复位输出寄存器: 0x%x", current_val); + return IoexpandWriteReg(OUTPUT_PORT, current_val); + } +} + +/*********************************************IO扩展板的输入引脚配置以及中断引脚定义***********************************************/ +/** + * @brief 设置 毫米波雷达的中断引脚 + */ +esp_err_t IOExpansionBoard::SetRadarInterruptPin(bool mode, uint8_t INPUT_PORT, uint8_t interrupt_pin) +{ + uint8_t current_val; + if(mode){ + // 进入输入模式 + IoexpandReadReg(INPUT_PORT, ¤t_val); + current_val |= (1 << interrupt_pin); + return IoexpandWriteReg(INPUT_PORT, current_val); + } + else{ + // 进入输出模式 + IoexpandReadReg(INPUT_PORT, ¤t_val); + current_val &= ~(1 << interrupt_pin); + return IoexpandWriteReg(INPUT_PORT, current_val); + } +} + +/** + * @brief 设置 PA_CTRL引脚电平 + */ +esp_err_t IOExpansionBoard::SetPaCtrlMode(bool mode) +{ + uint8_t current_val; + if(mode){ + // 进入高电平状态 + ESP_LOGI("io_ex:", "read reg"); + IoexpandReadReg(PA_CTRL_PORT, ¤t_val); + current_val |= (1 << PA_CTRL_PIN); + return IoexpandWriteReg(PA_CTRL_PORT, current_val); + } + else{ + // 进入低电平状态 + IoexpandReadReg(PA_CTRL_PORT, ¤t_val); + current_val &= ~(1 << PA_CTRL_PIN); + return IoexpandWriteReg(PA_CTRL_PORT, current_val); + } +} + + + +/** + * @brief I2C数据读取任务主体 + */ +void IOExpansionBoard::I2cReadTask(void* pvParameters) +{ + IOExpansionBoard* instance = static_cast(pvParameters); + if (!instance) { + vTaskDelete(nullptr); + return; + } + // 初始化复位引脚 + esp_err_t err = instance->ResetGpioInit(IO_EXPAND_RSTN); + if (err != ESP_OK) { + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "GPIO复位初始化失败"); + } + + // 执行硬件复位 - 这是解决中断引脚持续拉低的关键 + err = instance->ResetIoExpand(); + if (err != ESP_OK) { + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "IO扩展板硬件复位失败"); + } else { + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "IO扩展板硬件复位成功"); + + // 检查复位后的中断引脚状态 + int interrupt_level = gpio_get_level(GPIO_INPUT_PIN_SEL); + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "复位后中断引脚状态: %s (0=低电平, 1=高电平)", + interrupt_level ? "高电平" : "低电平"); + } + + // 初始化IO扩展板子的中断引脚 + err = instance->InterruptGpioInit(GPIO_INPUT_PIN_SEL); + if (err != ESP_OK) { + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "GPIO中断初始化失败"); + } + // 设置IO扩展板模式 - 复位后必须重新配置寄存器！ + err = instance->IoexpandSetMode(); + if (err != ESP_OK) { + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "IO扩展板模式配置失败"); + } else { + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "IO扩展板模式配置成功"); + } + // 设置LCD屏幕复位引脚 + err = instance->SetLcdResetMode(LCD_RST_HIGH, LCD_RST_PORT, LCD_RST_PIN); + if(err != ESP_OK){ + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "设置LCD屏幕复位引脚失败"); + } + else{ + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "设置LCD屏幕复位引脚成功"); + } + // 设置LCD屏幕复位引脚为低电平 + err = instance->SetLcdResetMode(LCD_RST_LOW, LCD_RST_PORT, LCD_RST_PIN); + if(err != ESP_OK){ + ESP_LOGE(TAG_GPIO_IO_EXPAND_DETECT, "设置LCD屏幕复位引脚失败"); + } + else{ + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "设置LCD屏幕复位引脚成功"); + } + + uint8_t current_val_port0_ = 0,current_val_port1_ = 0,current_temp_ = 0; + for (;;) { + // 等待中断事件触发 + if (instance->i2c_task_event_group_) { + xEventGroupWaitBits(instance->i2c_task_event_group_, BIT0, pdTRUE, pdFALSE, portMAX_DELAY); + } + + ESP_LOGD(TAG_GPIO_IO_EXPAND_DETECT, "IO扩展板中断触发"); + + // 检查中断触发时的引脚状态 + int interrupt_level = gpio_get_level(GPIO_INPUT_PIN_SEL); + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "中断触发时引脚状态: %s (0=低电平, 1=高电平)", + interrupt_level ? "高电平" : "低电平"); + + // AW9523B中断处理说明（根据数据手册）： + // 1. 当输入引脚状态变化时，AW9523B会拉低INT引脚（连接到ESP32的GPIO10） + // 2. 通过读取输入端口寄存器（00H, 01H）来清除对应端口的中断 + // 3. 无独立的中断状态寄存器，需要通过输入电平变化来判断中断源 + // 4. 读取INPUT_PORT0 (00H) 清除P0口中断，读取INPUT_PORT1 (01H) 清除P1口中断 + + // 一次性读取两个端口的输入寄存器，避免重复读取和错误的OR操作 + instance->IoexpandReadReg(INPUT_PORT0, ¤t_val_port0_); + instance->IoexpandReadReg(INPUT_PORT1, ¤t_val_port1_); + + ESP_LOGD(TAG_GPIO_IO_EXPAND_DETECT, "读取端口状态 - Port0: 0x%02X, Port1: 0x%02X", current_val_port0_, current_val_port1_); + + // 检查读取寄存器后中断引脚是否被清除（应该恢复高电平） + interrupt_level = gpio_get_level(GPIO_INPUT_PIN_SEL); + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "读取寄存器后中断引脚状态: %s (0=低电平, 1=高电平)", + interrupt_level ? "高电平" : "低电平"); + + //判断是否有中断来自雷达引脚 + if((RADAR_INTERRUPT_INPUT == INPUT_PORT0) && (current_val_port0_ & (1 << RADAR_INTERRUPT_PIN))){ + // 检查雷达引脚状态是否发生了变化，避免重复触发 + bool current_radar_state = (current_val_port0_ & (1 << RADAR_INTERRUPT_PIN)) != 0; + if (current_radar_state != instance->radar_last_state_) { + instance->radar_last_state_ = current_radar_state; + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "检测到中断来自雷达引脚\n"); + // 读取输入寄存器以清除中断标志 + uint8_t temp_input_val; + instance->IoexpandReadReg(INPUT_PORT0, &temp_input_val); + // 调用毫米波雷达回调函数 + if (instance->radar_) { + instance->radar_->TriggerRadarDetectCallback(); + } + // 调用雷达回调函数（新接口） + if (instance->radar_callback_) { + instance->radar_callback_(); + } + } else { + // 状态未变化，仍读取寄存器以清除可能的中断标志 + uint8_t temp_input_val; + instance->IoexpandReadReg(INPUT_PORT0, &temp_input_val); + } + } + else if((RADAR_INTERRUPT_INPUT == INPUT_PORT1) && (current_val_port1_ & (1 << RADAR_INTERRUPT_PIN))){ + // 检查雷达引脚状态是否发生了变化，避免重复触发 + bool current_radar_state = (current_val_port1_ & (1 << RADAR_INTERRUPT_PIN)) != 0; + if (current_radar_state != instance->radar_last_state_) { + instance->radar_last_state_ = current_radar_state; + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "检测到中断来自雷达引脚1\n"); + // 读取输入寄存器以清除中断标志 + uint8_t temp_input_val; + instance->IoexpandReadReg(INPUT_PORT1, &temp_input_val); + // 调用毫米波雷达回调函数 + if (instance->radar_) { + instance->radar_->TriggerRadarDetectCallback(); + } + // 调用雷达回调函数（新接口） + if (instance->radar_callback_) { + instance->radar_callback_(); + } + } else { + // 状态未变化，仍读取寄存器以清除可能的中断标志 + uint8_t temp_input_val; + instance->IoexpandReadReg(INPUT_PORT1, &temp_input_val); + } + } + // else{ + // ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "未检测到雷达引脚中断\n"); + // } + + //判断是否有中断来自初始光学传感器引脚 + if((START_PHOTO_INTERRUPTER_INPUT == INPUT_PORT0) && (current_val_port0_ & (1 << START_PHOTO_INTERRUPTER_PIN))){ + bool current_photo_state = (current_val_port0_ & (1 << START_PHOTO_INTERRUPTER_PIN)) != 0; + uint8_t old_photo_state = instance->last_port0_state_ & (1 << START_PHOTO_INTERRUPTER_PIN); + if ((current_photo_state ? 1 : 0) != (old_photo_state ? 1 : 0)) { + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "检测到中断来自初始光学传感器引脚\n"); + // 读取输入寄存器以清除中断标志 + uint8_t temp_input_val; + instance->IoexpandReadReg(INPUT_PORT0, &temp_input_val); + // 调用初始光学传感器回调函数 + if (instance->photo_interrupter_) { + instance->photo_interrupter_->TriggerStartCallback(); + } + // 调用光学传感器开始回调函数（新接口） + if (instance->photo_start_callback_) { + instance->photo_start_callback_(); + } + // 更新状态 + instance->last_port0_state_ = current_val_port0_; + } else { + // 状态未变化，仍读取寄存器以清除可能的中断标志 + uint8_t temp_input_val; + instance->IoexpandReadReg(INPUT_PORT0, &temp_input_val); + } + } + else if((START_PHOTO_INTERRUPTER_INPUT == INPUT_PORT1) && (current_val_port1_ & (1 << START_PHOTO_INTERRUPTER_PIN))){ + bool current_photo_state = (current_val_port1_ & (1 << START_PHOTO_INTERRUPTER_PIN)) != 0; + uint8_t old_photo_state = instance->last_port1_state_ & (1 << START_PHOTO_INTERRUPTER_PIN); + if ((current_photo_state ? 1 : 0) != (old_photo_state ? 1 : 0)) { + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "检测到中断来自初始光学传感器引脚\n"); + // 读取输入寄存器以清除中断标志 + uint8_t temp_input_val; + instance->IoexpandReadReg(INPUT_PORT1, &temp_input_val); + // 调用初始光学传感器回调函数 + if (instance->photo_interrupter_) { + instance->photo_interrupter_->TriggerStartCallback(); + } + // 调用光学传感器开始回调函数（新接口） + if (instance->photo_start_callback_) { + instance->photo_start_callback_(); + } + // 更新状态 + instance->last_port1_state_ = current_val_port1_; + } else { + // 状态未变化，仍读取寄存器以清除可能的中断标志 + uint8_t temp_input_val; + instance->IoexpandReadReg(INPUT_PORT1, &temp_input_val); + } + } + // else{ + // // ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "未检测到初始光学传感器引脚中断\n"); + // } + + //判断是否有中断来自结束光学传感器引脚 + if((END_PHOTO_INTERRUPTER_INPUT == INPUT_PORT0) && (current_val_port0_ & (1 << END_PHOTO_INTERRUPTER_PIN))){ + bool current_photo_state = (current_val_port0_ & (1 << END_PHOTO_INTERRUPTER_PIN)) != 0; + uint8_t old_photo_state = instance->last_port0_state_ & (1 << END_PHOTO_INTERRUPTER_PIN); + if ((current_photo_state ? 1 : 0) != (old_photo_state ? 1 : 0)) { + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "检测到中断来自结束光学传感器引脚\n"); + // 读取输入寄存器以清除中断标志 + uint8_t temp_input_val; + instance->IoexpandReadReg(INPUT_PORT0, &temp_input_val); + // 调用结束光学传感器回调函数 + if (instance->photo_interrupter_) { + instance->photo_interrupter_->TriggerEndCallback(); + } + // 调用光学传感器结束回调函数（新接口） + if (instance->photo_end_callback_) { + instance->photo_end_callback_(); + } + // 更新状态 + instance->last_port0_state_ = current_val_port0_; + } else { + // 状态未变化，仍读取寄存器以清除可能的中断标志 + uint8_t temp_input_val; + instance->IoexpandReadReg(INPUT_PORT0, &temp_input_val); + } + } + else if((END_PHOTO_INTERRUPTER_INPUT == INPUT_PORT1) && (current_val_port1_ & (1 << END_PHOTO_INTERRUPTER_PIN))){ + bool current_photo_state = (current_val_port1_ & (1 << END_PHOTO_INTERRUPTER_PIN)) != 0; + uint8_t old_photo_state = instance->last_port1_state_ & (1 << END_PHOTO_INTERRUPTER_PIN); + if ((current_photo_state ? 1 : 0) != (old_photo_state ? 1 : 0)) { + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "检测到中断来自结束光学传感器引脚\n"); + // 读取输入寄存器以清除中断标志 + uint8_t temp_input_val; + instance->IoexpandReadReg(INPUT_PORT1, &temp_input_val); + // 调用结束光学传感器回调函数 + if (instance->photo_interrupter_) { + instance->photo_interrupter_->TriggerEndCallback(); + } + // 调用光学传感器结束回调函数（新接口） + if (instance->photo_end_callback_) { + instance->photo_end_callback_(); + } + // 更新状态 + instance->last_port1_state_ = current_val_port1_; + } else { + // 状态未变化，仍读取寄存器以清除可能的中断标志 + uint8_t temp_input_val; + instance->IoexpandReadReg(INPUT_PORT1, &temp_input_val); + } + } + + //CHRG引脚充电前为高电平 充电中为低电平 充满电为高电平 + //FULL未充满为高电平 充满电为低电平 + //判断是否有中断来自电池充电引脚 + //根据配置：BATTERY_CHRG_INPUT = INPUT_PORT0, BATTERY_FULL_INPUT = INPUT_PORT1 + + // AW9523B没有独立的中断状态寄存器，需要通过比较前后状态变化来判断中断源 + // 由于读取输入端口会清除中断，我们需要先保存当前状态，然后与上次状态比较 + + //获取当前电池状态 + bool current_charging_state = !(current_val_port0_ & (1 << BATTERY_CHRG_PIN)); // CHRG低电平表示充电中 + bool current_full_state = !(current_val_port1_ & (1 << BATTERY_FULL_PIN)); // FULL低电平表示已充满 + + // 详细的调试信息 + ESP_LOGD(TAG_GPIO_IO_EXPAND_DETECT, "电池状态检测 - Port0: 0x%02X, Port1: 0x%02X", current_val_port0_, current_val_port1_); + ESP_LOGD(TAG_GPIO_IO_EXPAND_DETECT, "电池状态检测 - CHRG_PIN: %d (bit %d), FULL_PIN: %d (bit %d)", + (current_val_port0_ & (1 << BATTERY_CHRG_PIN)) ? 1 : 0, BATTERY_CHRG_PIN, + (current_val_port1_ & (1 << BATTERY_FULL_PIN)) ? 1 : 0, BATTERY_FULL_PIN); + ESP_LOGD(TAG_GPIO_IO_EXPAND_DETECT, "电池状态检测 - 充电状态: %s, 充满状态: %s", + current_charging_state ? "充电中" : "未充电", + current_full_state ? "已充满" : "未充满"); + ESP_LOGD(TAG_GPIO_IO_EXPAND_DETECT, "电池状态检测 - 上次充电状态: %s, 上次充满状态: %s", + instance->battery_charging_last_state_ ? "充电中" : "未充电", + instance->battery_full_last_state_ ? "已充满" : "未充满"); + + //检查充电状态是否发生变化 + if (current_charging_state != instance->battery_charging_last_state_) { + instance->battery_charging_last_state_ = current_charging_state; + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "电池充电状态变化: %s", current_charging_state ? "充电中" : "未充电"); + ESP_LOGD(TAG_GPIO_IO_EXPAND_DETECT, "充电状态变化详情 - 从 %s 到 %s", + instance->battery_charging_last_state_ ? "未充电" : "充电中", + current_charging_state ? "充电中" : "未充电"); + + if (current_charging_state) { + // 进入充电状态 + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "检测到开始充电"); + if (instance->battery_monitor_) { + instance->battery_monitor_->TriggerChrgCallback(); + } + if (instance->battery_charging_callback_) { + instance->battery_charging_callback_(); + } + } else { + // 退出充电状态 + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "检测到停止充电"); + if (instance->battery_monitor_) { + instance->battery_monitor_->TriggerNotChrgCallback(); + } + if (instance->battery_not_charging_callback_) { + instance->battery_not_charging_callback_(); + } + } + } + + //检查充满状态是否发生变化 + if (current_full_state != instance->battery_full_last_state_) { + instance->battery_full_last_state_ = current_full_state; + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "电池充满状态变化: %s", current_full_state ? "已充满" : "未充满"); + ESP_LOGD(TAG_GPIO_IO_EXPAND_DETECT, "充满状态变化详情 - 从 %s 到 %s", + instance->battery_full_last_state_ ? "未充满" : "已充满", + current_full_state ? "已充满" : "未充满"); + + if (current_full_state) { + // 进入充满状态 + ESP_LOGI(TAG_GPIO_IO_EXPAND_DETECT, "检测到电池已充满"); + if (instance->battery_monitor_) { + instance->battery_monitor_->TriggerFullCallback(); + } + if (instance->battery_full_callback_) { + instance->battery_full_callback_(); + } + } + + } + + // 根据AW9523B数据手册：读取输入端口寄存器清除对应端口的中断 + // 读取INPUT_PORT0 (00H) 清除P0口中断，读取INPUT_PORT1 (01H) 清除P1口中断 + uint8_t temp_input_val; + instance->IoexpandReadReg(INPUT_PORT0, &temp_input_val); + instance->IoexpandReadReg(INPUT_PORT1, &temp_input_val); + + ESP_LOGD(TAG_GPIO_IO_EXPAND_DETECT, "中断处理完成，已读取输入端口寄存器清除中断标志"); + } +} + + +/** + * @brief 创建I2C数据读取任务 + */ +void IOExpansionBoard::CreateI2cReadTask() +{ + printf("创建I2C读取任务之前:Internal Free: %d bytes\n", heap_caps_get_free_size(MALLOC_CAP_INTERNAL)); + printf("创建I2C读取任务之前:PSRAM Free: %d bytes\n", heap_caps_get_free_size(MALLOC_CAP_SPIRAM)); + if (xI2CReadTaskHandle_) { + return; // 任务已创建 + } + + xTaskCreateWithCaps( + I2cReadTask, + "i2c_read_task", + I2C_TASK_STACK, + this, + I2C_TASK_PRIORITY, + &xI2CReadTaskHandle_, + MALLOC_CAP_SPIRAM | MALLOC_CAP_8BIT + ); + + if (xI2CReadTaskHandle_ == NULL) { + ESP_LOGE(TAG_I2C_IO_EXPAND_TASK, "Failed to create static I2C read task"); + } else { + ESP_LOGI(TAG_I2C_IO_EXPAND_TASK, "Static I2C read task created successfully"); + } + printf("创建I2C读取任务之后:Internal Free: %d bytes\n", heap_caps_get_free_size(MALLOC_CAP_INTERNAL)); + printf("创建I2C读取任务之后:PSRAM Free: %d bytes\n", heap_caps_get_free_size(MALLOC_CAP_SPIRAM)); +} + +/** + * @brief 启动I2C任务 (整合初始化和任务创建) + */ +esp_err_t IOExpansionBoard::StartTask() +{ + // 再创建任务 + if (!xI2CReadTaskHandle_) { + CreateI2cReadTask(); + } + return ESP_OK; +} diff --git a/main/02_physical/boards/board_v1_1_18/io_expansion_board.h b/main/02_physical/boards/board_v1_1_18/io_expansion_board.h new file mode 100644 index 0000000..2697e39 --- /dev/null +++ b/main/02_physical/boards/board_v1_1_18/io_expansion_board.h @@ -0,0 +1,432 @@ +#ifndef IO_EXPANSION_BOARD_H +#define IO_EXPANSION_BOARD_H + +#include +#include +#include +#include +#include +#include +#include "i2c_bus.h" +#include "freertos/FreeRTOS.h" +#include "freertos/event_groups.h" +#include +#include +#include +#include +#include +#include +#include +#include "esp_err.h" +#include "config.h" +#include "portmacro.h" + +// 前向声明,避免循环引用 +class MillimeterWaveRadar; +class PhotoInterrupter; +class AdcBatteryMonitor; + +// 回调函数类型定义 +typedef std::function RadarCallback; +typedef std::function PhotoInterrupterStartCallback; +typedef std::function PhotoInterrupterEndCallback; +typedef std::function BatteryChargingCallback; +typedef std::function BatteryFullCallback; +typedef std::function BatteryNotChargingCallback; + +/* 寄存器地址 */ +#define INPUT_PORT0 0x00 // 输入端口0寄存器 +#define INPUT_PORT1 0x01 // 输入端口1寄存器 0为低电平(仅支持读取) +#define OUTPUT_PORT0 0x02 // 输出端口0寄存器 +#define OUTPUT_PORT1 0x03 // 输出端口1寄存器 0为低电平 +#define CONFIG_PORT0 0x04 // 配置端口0寄存器 +#define CONFIG_PORT1 0x05 // 配置端口1寄存器 0为输出模式 +#define INT_PORT0 0x06 // 中断端口0寄存器 +#define INT_PORT1 0x07 // 中断端口1寄存器 0为使能中断(根据手册默认是使能的) +#define CTL 0x11 // 全局控制寄存器 +#define ID 0x23 // 芯片ID寄存器(0x23) + +/***********************************IO扩展板电机引脚配置参数*************************************/ +/* 设置步进电机方向 */ +#define STEPPER_MOTOR_LEFT false //步进电机的方向为左转 +#define STEPPER_MOTOR_RIGHT true //步进电机的方向为右转 +#define STEPPER_MOTOR_DIR_PORT OUTPUT_PORT0 //步进电机方向引脚挂载在IO扩展板的输出端口OUTPUT_PORT0 +#define STEPPER_MOTOR_DIR_PIN 4 //步进电机方向引脚对应的IO扩展板引脚P0_4 +#define STEPPER_MOTOR_DIR_CONFIG CONFIG_PORT0 //步进电机方向引脚配置在P0_4 + +/* 设置步进电机细分模式 */ +#define STEPPER_MOTOR_M0_PIN 5 //步进电机细分模式选择引脚对应IO扩展板引脚P1_5 +#define STEPPER_MOTOR_M0_MADE_PORT OUTPUT_PORT1 //步进电机模式选择引脚挂载在IO扩展板的输出端口OUTPUT_PORT1 +#define STEPPER_MOTOR_M0_CONFIG CONFIG_PORT1 //步进电机细分模式选择引脚配置在P1_5 + +#define STEPPER_MOTOR_M1_PIN 4 //步进电机细分模式选择引脚对应IO扩展板引脚P1_4 +#define STEPPER_MOTOR_M1_MADE_PORT OUTPUT_PORT1 //步进电机模式选择引脚挂载在IO扩展板的输出端口OUTPUT_PORT1 +#define STEPPER_MOTOR_M1_CONFIG CONFIG_PORT1 //步进电机细分模式选择引脚配置在P1_4 + +/* 设置步进电机睡眠引脚 */ +#define STEPPER_MOTOR_SLEEP false //步进电机进入睡眠模式 +#define STEPPER_MOTOR_WORK true //步进电机进入工作模式 +#define STEPPER_MOTOR_SLEEP_PIN 6 //步进电机睡眠引脚对应IO扩展板引脚P1_6 +#define STEPPER_MOTOR_SLEEP_CONFIG CONFIG_PORT1 //步进电机睡眠引脚配置在P1_6 +#define STEPPER_MOTOR_SLEEP_PORT OUTPUT_PORT1 //步进电机睡眠引脚挂载在IO扩展板的输出端口OUTPUT_PORT1 + +/* 设置电机的使能引脚 */ +#define STEPPER_MOTOR_ENABLE_PIN 7 //电机使能引脚对应IO扩展板引脚P0_7 +#define STEPPER_MOTOR_ENABLE_PORT OUTPUT_PORT0 //电机使能引脚挂载在IO扩展板的输出端口OUTPUT_PORT0 +#define STEPPER_MOTOR_ENABLE_CONFIG CONFIG_PORT0 //电机使能引脚配置在P0_7 +#define STEPPER_MOTOR_ENABLE_ENABLE true //电机使能引脚状态为高电平 +#define STEPPER_MOTOR_ENABLE_DISABLE false //电机使能引脚状态为低电平 + +/* 设置毫米波雷达对应IO扩展板的中断引脚 */ +#define RADAR_INTERRUPT_PIN 7 //毫米波雷达中断引脚对应IO扩展板引脚P1_7 +#define RADAR_INTERRUPT_CONFIG CONFIG_PORT1 //毫米波雷达中断引脚挂载在IO扩展板的输入端口 +#define RADAR_INTERRUPT_INPUT INPUT_PORT1 //毫米波雷达中断引脚输入状态检测在INPUT_PORT1 +#define RADAR_INTERRUPT_ENABLE true //毫米波雷达中断引脚状态为输入状态 +#define RADAR_INTERRUPT_DISABLE false //毫米波雷达中断引脚状态为输出状态 +/* 任务配置常量 */ +#define WRITE_BUF_SIZE 2 // I2C单次写入字节数 +#define READ_BUF_SIZE 2 // I2C单次读取字节数 +#define I2C_TASK_PRIORITY 2 // 任务优先级(中等) +#define I2C_TASK_STACK 4096 // 任务栈大小(4KB) + +// 光学传感器引脚定义 +#define START_PHOTO_INTERRUPTER_PIN 2 // 光学传感器引脚(P0_2) +#define START_PHOTO_INTERRUPTER_CONFIG CONFIG_PORT0 // 光学传感器引脚挂载在IO扩展板的输入端口 +#define START_PHOTO_INTERRUPTER_INPUT INPUT_PORT0 // 光学传感器引脚输入状态检测在INPUT_PORT0 +#define START_PHOTO_INTERRUPTER_HIGH true // 光学传感器引脚状态为高电平 +#define START_PHOTO_INTERRUPTER_LOW false // 光学传感器引脚状态为低电平 + +#define END_PHOTO_INTERRUPTER_PIN 3 // 光学传感器引脚(P0_3) +#define END_PHOTO_INTERRUPTER_PORT_CONFIG CONFIG_PORT0 // 光学传感器引脚挂载在IO扩展板的输入端口 +#define END_PHOTO_INTERRUPTER_INPUT INPUT_PORT0 // 光学传感器引脚输入状态检测在INPUT_PORT0 +#define END_PHOTO_INTERRUPTER_HIGH true // 光学传感器引脚状态为高电平 +#define END_PHOTO_INTERRUPTER_LOW false // 光学传感器引脚状态为低电平 + +/***********************************IO扩展板LCD引脚配置参数*************************************/ +// /* 设置LCD的BL引脚 */ +// #define LCD_BL_PIN 6 //LCD背光引脚对应IO扩展板引脚P0_6 +// #define LCD_BL_PORT OUTPUT_PORT0 //LCD背光引脚挂载在IO扩展板的输出端口OUTPUT_PORT0 +// #define LCD_BL_CONFIG CONFIG_PORT0 //LCD背光引脚配置在P0_6 +// #define LCD_BL_HIGH true //LCD背光引脚状态为高电平 +// #define LCD_BL_LOW false //LCD背光引脚状态为低电平 + +/* 设置LED_EN (LCD背光/LED控制)引脚, PMOS高侧驱动 */ +#define LED_EN_PIN 1 //LED_EN对应IO扩展板引脚P0_1 +#define LED_EN_PORT OUTPUT_PORT0 //挂载在输出端口OUTPUT_PORT0 +#define LED_EN_CONFIG CONFIG_PORT0 //配置在P0_1 +#define LED_EN_OFF true //高电平关(PMOS) +#define LED_EN_ON false //低电平开(PMOS) + +/* 设置LCD的RST引脚 */ +#define LCD_RST_PIN 1 //LCD复位引脚对应IO扩展板引脚P1_1 +#define LCD_RST_CONFIG CONFIG_PORT1 //LCD复位引脚配置在P1_1 +#define LCD_RST_PORT OUTPUT_PORT1 //LCD复位引脚挂载在IO扩展板的输出端口OUTPUT_PORT1 +#define LCD_RST_HIGH true //LCD复位引脚状态为高电平 +#define LCD_RST_LOW false //LCD复位引脚状态为低电平 + +/* 设置PA控制引脚 */ +#define PA_CTRL_PIN 2 //PA控制引脚对应IO扩展板引脚P1_2 +#define PA_CTRL_CONFIG CONFIG_PORT1 //PA控制引脚配置在P1_2 +#define PA_CTRL_PORT OUTPUT_PORT1 //PA控制引脚挂载在IO扩展板的输出端口OUTPUT_PORT1 +#define PA_CTRL_HIGH true //PA控制引脚状态为高电平 +#define PA_CTRL_LOW false //PA控制引脚状态为低电平 + +// 电池充电检测引脚定义 +#define BATTERY_FULL_INPUT INPUT_PORT1 // 电池充满检测引脚挂载在IO扩展板的输入端口 +#define BATTERY_FULL_PIN 3 // 电池充满检测引脚对应IO扩展板引脚P1_3 +#define BATTERY_FULL_CONFIG CONFIG_PORT1 // 电池充满检测引脚配置在P1_3 + +#define BATTERY_CHRG_INPUT INPUT_PORT0 // 充电检测引脚挂载在IO扩展板的输入端口 +#define BATTERY_CHRG_PIN 5 // 充电检测引脚(P0_5) +#define BATTERY_CHRG_CONFIG CONFIG_PORT0 // 充电检测引脚挂载在IO扩展板的输入端口 + +#define TAG_GPIO_IO_EXPAND_DETECT "GPIO_IO_EXPAND_DETECT" // GPIO中断检测日志标签 +#define TAG_I2C_IO_EXPAND_TASK "I2C_IO_EXPAND_TASK" // I2CIO扩展板任务日志标签 + +// GPIO引脚定义 +#define GPIO_INPUT_PIN_SEL GPIO_NUM_10 // IO扩展板中断检测引脚 +// #define IO_EXPAND_RSTN GPIO_NUM_14 // IO扩展板复位引脚 + +/** + * @class IOExpansionBoard + * @brief I/O扩展板驱动类,封装AW9523BTQR芯片操作 + */ +class IOExpansionBoard +{ +public: + /** + * @brief 构造函数 + */ + IOExpansionBoard(); + + /** + * @brief 设置毫米波雷达指针 + * @param radar 毫米波雷达对象指针 + */ + void SetRadar(MillimeterWaveRadar* radar) { radar_ = radar; }; + + /** + * @brief 设置限位开关指针 + * @param photo_interrupter 限位开关对象指针 + */ + void setPhotoInterrupter(PhotoInterrupter* photo_interrupter) { photo_interrupter_ = photo_interrupter; }; + + /** + * @brief 设置电池监控器指针 + * @param battery_monitor 电池监控器对象指针 + */ + void setBatteryMonitor(AdcBatteryMonitor* battery_monitor) { battery_monitor_ = battery_monitor; }; + + /** + * @brief 析构函数 + */ + ~IOExpansionBoard(); + + /** + * @brief 初始化GPIO中断检测 + * @param gpio_num 中断引脚编号 + * @return esp_err_t 初始化结果 + */ + esp_err_t InterruptGpioInit(gpio_num_t gpio_num); + + /** + * @brief 初始化IO扩展板复位引脚 + * @param gpio_num 复位引脚编号 + * @return esp_err_t 初始化结果 + */ + esp_err_t ResetGpioInit(gpio_num_t gpio_num); + + /** + * @brief 初始化IO扩展板复位引脚 + * @param gpio_num 复位引脚编号 + * @return esp_err_t 初始化结果 + */ + esp_err_t ResetIoExpand(); + + /** + * @brief 初始化I2C主机通信 + * @return esp_err_t 初始化结果 + */ + // esp_err_t IoExpansionI2cInit(); + + /** + * @brief 创建I2C数据读取任务 + */ + void CreateI2cReadTask(); + + /** + * @brief 启动I2C任务(整合初始化和任务创建) + * @return esp_err_t 操作结果 + */ + esp_err_t StartTask(); + + /** + * @brief 写寄存器数据 + * @param reg_addr 寄存器地址 + * @param data 要写入的数据 + * @return esp_err_t 操作结果 + */ + esp_err_t IoexpandWriteReg(uint8_t reg_addr, uint8_t data); + + /** + * @brief 读寄存器数据 + * @param reg_addr 寄存器地址 + * @param data 要读出的数据 + * @return esp_err_t 操作结果 + */ + esp_err_t IoexpandReadReg(uint8_t reg_addr, uint8_t *data); + + /** + * @brief 读取输入端口0寄存器数据 + * @param data 输出参数,用于存储读取到的数据 + * @return esp_err_t 操作结果 + */ + esp_err_t ReadInputPort0(uint8_t *data); + + /** + * @brief 读取输入端口1寄存器数据 + * @param data 输出参数,用于存储读取到的数据 + * @return esp_err_t 操作结果 + */ + esp_err_t ReadInputPort1(uint8_t *data); + + // /** + // * @brief 设置IO扩展板GPIO中断状态 通过读取Input_Port0 和 Input_Port1 寄存器可以清除中断 + // * @param reg_addr 寄存器地址 + // * @return esp_err_t 操作结果 + // */ + // esp_err_t SetInterruptStatus(bool status); + + /** + * @brief 配置IO扩展版上的IO口为输出还是输入,并且设置初始为高电平 + * @return esp_err_t 操作结果 + */ + esp_err_t IoexpandSetMode(); + + /** + * @brief 设置步进电机的细分模式 + * @param mode 模式：1/2/4/8/16/32/64 + * @return esp_err_t 操作结果 + */ + void SetStepperMicrostepMode(uint8_t mode, uint8_t OUTPUT_PORT_m0, uint8_t m0_pin, uint8_t OUTPUT_PORT_m1, uint8_t m1_pin); + + /** + * @brief 设置步进电机的方向 + * @param dir 方向 + * @param OUTPUT_PORT 输出端口 + * @param pin 引脚号 + * @return esp_err_t 操作结果 + */ + esp_err_t StepperMotorSetDir(bool dir, uint8_t OUTPUT_PORT, uint8_t pin); + + /** + * @brief 设置步进电机的睡眠模式 + * @param 是否进入睡眠模式 + * @param 输出端口 + * @param 引脚号 + * @return esp_err_t 操作结果 + */ + esp_err_t SetMotorSleepMode(bool mode, uint8_t OUTPUT_PORT, uint8_t nsleep_pin); + + /** + * @brief 设置步进电机的使能引脚状态 + * @param 使能状态 + * @return esp_err_t 操作结果 + */ + esp_err_t SetMotorEnableMode(bool enable, uint8_t OUTPUT_PORT, uint8_t enable_pin); + + /** + * @brief 设置LCD的BL引脚状态 + * @param BL状态 + * @return esp_err_t 操作结果 + */ + esp_err_t SetLcdBlMode(bool mode, uint8_t OUTPUT_PORT, uint8_t bl_pin); + + /** + * @brief 设置 LED_EN 引脚电平(用于控制LCD背光/LED灯电源) + * @param mode true:开启(低电平), false:关闭(高电平) + */ + esp_err_t SetLedEnMode(bool mode); + + /** + * @brief 设置LCD的RST引脚状态 + * @param RST状态 + * @return esp_err_t 操作结果 + */ + esp_err_t SetLcdResetMode(bool mode, uint8_t OUTPUT_PORT, uint8_t rst_pin); + + /** + * @brief 设置PA控制引脚状态 + * @param mode PA_CTRL状态(true为高电平，false为低电平) + * @return esp_err_t 操作结果 + */ + esp_err_t SetPaCtrlMode(bool mode); + + /** + * @brief 设置雷达中断引脚 + * @param 毫米波雷达的中断引脚模式 + * @param 输入端口 + * @param 引脚号 + * @return esp_err_t 操作结果 + */ + esp_err_t SetRadarInterruptPin(bool mode, uint8_t INPUT_PORT, uint8_t interrupt_pin); + + /** + * @brief 计算Port0的字节值 + * @return uint8_t 操作结果 + */ + uint8_t ByteCalculatePort0(); + + /** + * @brief 计算Port1的字节值 + * @return uint8_t 操作结果 + */ + uint8_t ByteCalculatePort1(); + + /** + * @brief 设置雷达中断回调函数 + * @param callback 雷达中断回调函数 + */ + void SetRadarCallback(RadarCallback callback) { radar_callback_ = callback; } + + /** + * @brief 设置光学传感器开始中断回调函数 + * @param callback 光学传感器开始中断回调函数 + */ + void SetPhotoInterrupterStartCallback(PhotoInterrupterStartCallback callback) { photo_start_callback_ = callback; } + + /** + * @brief 设置光学传感器结束中断回调函数 + * @param callback 光学传感器结束中断回调函数 + */ + void SetPhotoInterrupterEndCallback(PhotoInterrupterEndCallback callback) { photo_end_callback_ = callback; } + + /** + * @brief 设置电池充电中断回调函数 + * @param callback 电池充电中断回调函数 + */ + void SetBatteryChargingCallback(BatteryChargingCallback callback) { battery_charging_callback_ = callback; } + + /** + * @brief 设置电池充满中断回调函数 + * @param callback 电池充满中断回调函数 + */ + void SetBatteryFullCallback(BatteryFullCallback callback) { battery_full_callback_ = callback; } + + /** + * @brief 设置电池非充电中断回调函数 + * @param callback 电池非充电中断回调函数 + */ + void SetBatteryNotChargingCallback(BatteryNotChargingCallback callback) { battery_not_charging_callback_ = callback; } + + // 公共成员变量 + i2c_bus_handle_t bus_handle_ = nullptr; // I2C总线句柄 + uint8_t device_addr_; // I2C设备地址 + +private: + // 静态成员函数 + MillimeterWaveRadar* radar_ = nullptr; // 毫米波雷达指针,用于触发回调 + PhotoInterrupter* photo_interrupter_ = nullptr; // 限位开关指针,用于触发回调 + AdcBatteryMonitor* battery_monitor_ = nullptr; // 电池监控器指针,用于触发回调 + static void IRAM_ATTR GpioIsrHandler(void* arg); // 中断处理函数 + static void I2cReadTask(void* pvParameters); // I2C数据读取任务函数 + + // 成员变量用于状态跟踪 + uint8_t last_port0_state_ = 0; // 上次检测到的Port0状态 + uint8_t last_port1_state_ = 0; // 上次检测到的Port1状态 + bool radar_last_state_ = false; // 雷达引脚上一次的状态 + bool battery_charging_last_state_ = false; // 电池充电状态上一次的状态 + bool battery_full_last_state_ = false; // 电池充满状态上一次的状态 + + // 回调函数成员变量 + RadarCallback radar_callback_ = nullptr; + PhotoInterrupterStartCallback photo_start_callback_ = nullptr; + PhotoInterrupterEndCallback photo_end_callback_ = nullptr; + BatteryChargingCallback battery_charging_callback_ = nullptr; + BatteryFullCallback battery_full_callback_ = nullptr; + BatteryNotChargingCallback battery_not_charging_callback_ = nullptr; + + // PhotoInterrupter* photo_interrupter_ = nullptr; // 光学传感器指针,用于触发回调 + // /** + // * @brief 分配静态任务所需的内存 + // * @return bool 分配是否成功 + // */ + // bool AllocateStaticTaskMemory(); + + // /** + // * @brief 释放静态任务分配的内存 + // */ + // void FreeStaticTaskMemory(); + + // 实例成员变量 + EventGroupHandle_t i2c_task_event_group_ = nullptr; // 事件组 + TaskHandle_t xI2CReadTaskHandle_ = nullptr; // 任务句柄 + bool is_initialized_ = false; // 初始化状态标记(新增) + gpio_num_t interrupt_gpio_ = GPIO_NUM_NC; // 中断引脚 + gpio_num_t reset_gpio_ = GPIO_NUM_NC; // 复位引脚 + + // StackType_t* pI2CReadTaskStackBuffer = nullptr; // 任务栈指针(PSRAM） + // StaticTask_t* pxI2CReadTaskBuffer = nullptr; // 任务控制块指针(内部RAM） +}; + +#endif \ No newline at end of file diff --git a/main/02_physical/boards/board_v1_1_18/power_management_config.h b/main/02_physical/boards/board_v1_1_18/power_management_config.h new file mode 100644 index 0000000..da609fb --- /dev/null +++ b/main/02_physical/boards/board_v1_1_18/power_management_config.h @@ -0,0 +1,178 @@ +/** + * @file power_management_config.h + * @brief 功耗管理配置和策略定义 + * @author Embedded Software Expert + * @date 2025年1月 + * + * 这个文件定义了功耗管理的配置参数、策略和优化建议， + * 为系统提供灵活的功耗管理方案。 + */ + +#ifndef POWER_MANAGEMENT_CONFIG_H +#define POWER_MANAGEMENT_CONFIG_H + +#include "esp_sleep.h" +#include "driver/rtc_io.h" +#include "esp32/rom/rtc.h" + +/** + * @brief 功耗管理配置结构体 + */ +typedef struct { + // 睡眠模式配置 + uint64_t light_sleep_duration_us; // 轻度睡眠持续时间（微秒） + uint64_t deep_sleep_duration_us; // 深度睡眠持续时间（微秒） + + // 唤醒源配置 + bool enable_timer_wakeup; // 启用定时器唤醒 + bool enable_gpio_wakeup; // 启用GPIO唤醒 + bool enable_touch_wakeup; // 启用触摸唤醒 + gpio_num_t wakeup_gpio_num; // 唤醒GPIO编号 + int wakeup_level; // 唤醒电平（0或1） + + // 功耗优化配置 + bool disable_bt_in_sleep; // 睡眠时关闭蓝牙 + bool disable_wifi_in_sleep; // 睡眠时关闭WiFi + bool reduce_cpu_frequency; // 降低CPU频率 + uint32_t cpu_frequency_hz; // CPU频率（Hz） + + // 外设功耗配置 + bool power_down_sdcard; // 睡眠时关闭SD卡电源 + bool power_down_display; // 睡眠时关闭显示电源 + bool power_down_audio; // 睡眠时关闭音频电源 + bool power_down_motor; // 睡眠时关闭电机电源 + + // RTC内存配置 + bool preserve_rtc_memory; // 保留RTC内存 + size_t rtc_memory_size; // RTC内存大小 +} power_management_config_t; + +/** + * @brief 默认功耗管理配置 + */ +#define DEFAULT_POWER_CONFIG { \ + .light_sleep_duration_us = 1000000, /* 1秒 */ \ + .deep_sleep_duration_us = 30000000, /* 30秒 */ \ + .enable_timer_wakeup = true, /* 启用定时器唤醒 */ \ + .enable_gpio_wakeup = false, /* 不启用GPIO唤醒 */ \ + .enable_touch_wakeup = false, /* 不启用触摸唤醒 */ \ + .wakeup_gpio_num = GPIO_NUM_NC, /* 无GPIO唤醒 */ \ + .wakeup_level = 0, /* 低电平唤醒 */ \ + .disable_bt_in_sleep = true, /* 睡眠时关闭蓝牙 */ \ + .disable_wifi_in_sleep = true, /* 睡眠时关闭WiFi */ \ + .reduce_cpu_frequency = true, /* 降低CPU频率 */ \ + .cpu_frequency_hz = 80000000, /* 80MHz */ \ + .power_down_sdcard = true, /* 睡眠时关闭SD卡 */ \ + .power_down_display = true, /* 睡眠时关闭显示 */ \ + .power_down_audio = true, /* 睡眠时关闭音频 */ \ + .power_down_motor = true, /* 睡眠时关闭电机 */ \ + .preserve_rtc_memory = true, /* 保留RTC内存 */ \ + .rtc_memory_size = 4096, /* 4KB RTC内存 */ \ +} + +/** + * @brief 各功耗模式的详细配置 + */ +static const power_management_config_t idle_mode_config = { + .light_sleep_duration_us = 500000, // 500ms轻度睡眠 + .deep_sleep_duration_us = 0, // 不使用深度睡眠 + .enable_timer_wakeup = true, + .enable_gpio_wakeup = true, + .wakeup_gpio_num = GPIO_NUM_0, // 按键唤醒 + .wakeup_level = 0, + .disable_bt_in_sleep = false, // 保持蓝牙连接 + .disable_wifi_in_sleep = false, // 保持WiFi连接 + .reduce_cpu_frequency = true, + .cpu_frequency_hz = 40000000, // 40MHz + .power_down_sdcard = false, // 保持SD卡（可能有后台任务） + .power_down_display = true, // 关闭显示背光 + .power_down_audio = true, // 关闭音频 + .power_down_motor = true, // 关闭电机 + .preserve_rtc_memory = true, + .rtc_memory_size = 2048, +}; + +static const power_management_config_t light_sleep_config = { + .light_sleep_duration_us = 0, // 直接进入轻度睡眠 + .deep_sleep_duration_us = 0, + .enable_timer_wakeup = true, + .enable_gpio_wakeup = true, + .wakeup_gpio_num = GPIO_NUM_0, + .wakeup_level = 0, + .disable_bt_in_sleep = true, // 关闭蓝牙 + .disable_wifi_in_sleep = true, // 关闭WiFi + .reduce_cpu_frequency = true, + .cpu_frequency_hz = 40000000, + .power_down_sdcard = true, // 关闭SD卡 + .power_down_display = true, // 关闭显示 + .power_down_audio = true, // 关闭音频 + .power_down_motor = true, // 关闭电机 + .preserve_rtc_memory = true, + .rtc_memory_size = 4096, +}; + +static const power_management_config_t deep_sleep_config = { + .light_sleep_duration_us = 0, + .deep_sleep_duration_us = 60000000, // 60秒深度睡眠 + .enable_timer_wakeup = true, + .enable_gpio_wakeup = true, + .wakeup_gpio_num = GPIO_NUM_0, + .wakeup_level = 0, + .disable_bt_in_sleep = true, // 关闭蓝牙 + .disable_wifi_in_sleep = true, // 关闭WiFi + .reduce_cpu_frequency = true, + .cpu_frequency_hz = 10000000, // 10MHz + .power_down_sdcard = true, // 关闭SD卡 + .power_down_display = true, // 关闭显示 + .power_down_audio = true, // 关闭音频 + .power_down_motor = true, // 关闭电机 + .preserve_rtc_memory = true, + .rtc_memory_size = 8192, +}; + +/** + * @brief 功耗统计和监控结构体 + */ +typedef struct { + uint64_t total_sleep_time_us; // 总睡眠时间 + uint64_t total_wake_time_us; // 总唤醒时间 + uint32_t sleep_count; // 睡眠次数 + uint32_t wake_count; // 唤醒次数 + uint32_t average_sleep_duration_us; // 平均睡眠时长 + uint32_t average_wake_duration_us; // 平均唤醒时长 + float estimated_power_saving_percent; // 估计的功耗节省百分比 +} power_statistics_t; + +/** + * @brief 功耗优化建议 + * + * 基于硬件特性和使用模式，提供功耗优化建议 + */ +typedef enum { + OPTIMIZATION_NONE = 0, + OPTIMIZATION_REDUCE_CPU_FREQ, // 降低CPU频率 + OPTIMIZATION_DISABLE_UNUSED_PERIPHERALS, // 关闭未使用的外设 + OPTIMIZATION_USE_LIGHT_SLEEP, // 使用轻度睡眠 + OPTIMIZATION_USE_DEEP_SLEEP, // 使用深度睡眠 + OPTIMIZATION_OPTIMIZE_GPIO_STATES, // 优化GPIO状态 + OPTIMIZATION_USE_RTC_MEMORY, // 使用RTC内存 + OPTIMIZATION_BATCH_OPERATIONS, // 批量操作 +} power_optimization_t; + +/** + * @brief 功耗管理事件回调 + */ +typedef void (*power_event_callback_t)(power_mode_t old_mode, power_mode_t new_mode, void* user_data); + +/** + * @brief 功耗管理事件 + */ +typedef enum { + POWER_EVENT_MODE_CHANGE, // 功耗模式改变 + POWER_EVENT_SLEEP_START, // 睡眠开始 + POWER_EVENT_SLEEP_END, // 睡眠结束 + POWER_EVENT_WAKEUP, // 系统唤醒 + POWER_EVENT_OPTIMIZATION_TRIGGER, // 功耗优化触发 +} power_event_t; + +#endif // POWER_MANAGEMENT_CONFIG_H \ No newline at end of file diff --git a/main/02_physical/boards/config.h b/main/02_physical/boards/config.h new file mode 100644 index 0000000..19468d2 --- /dev/null +++ b/main/02_physical/boards/config.h @@ -0,0 +1,26 @@ +#ifndef BOARD_CONFIG_H +#define BOARD_CONFIG_H + +#include "sdkconfig.h" + +// 根据menuconfig的配置选择不同版本的config.h文件 +#ifdef CONFIG_BOARD_VERSION_V1_1_11 + #include "boards/board_v1_1_11/config.h" +#elif defined(CONFIG_BOARD_VERSION_V1_1_12) + #include "boards/board_v1_1_12/config.h" +#elif defined(CONFIG_BOARD_VERSION_V1_1_13) + #include "boards/board_v1_1_13/config.h" +#elif defined(CONFIG_BOARD_VERSION_V1_1_14) + #include "boards/board_v1_1_14/config.h" +#elif defined(CONFIG_BOARD_VERSION_V1_1_16) + #include "boards/board_v1_1_16/config.h" +#elif defined(CONFIG_BOARD_VERSION_V1_1_17) + #include "boards/board_v1_1_17/config.h" +#elif defined(CONFIG_BOARD_VERSION_V1_1_18) + #include "boards/board_v1_1_18/config.h" +#else + // 默认使用v1.1.11版本，避免编译错误 + #include "boards/board_v1_1_13/config.h" +#endif + +#endif // BOARD_CONFIG_H \ No newline at end of file diff --git a/main/02_physical/boards/module.cmake b/main/02_physical/boards/module.cmake new file mode 100644 index 0000000..f360aee --- /dev/null +++ b/main/02_physical/boards/module.cmake @@ -0,0 +1,35 @@ +# 根据 menuconfig 中选择的板卡配置，自动匹配 boards/board_v* 目录 +# 这样新增板卡时，只要： +# 1. 增加对应的 Kconfig 项，例如 CONFIG_BOARD_VERSION_V1_1_18 +# 2. 新增目录 02_physical/boards/board_v1_1_18/ +# 就不需要再修改 main/CMakeLists.txt + +set(BOARD_ROOT_DIR "${CMAKE_CURRENT_LIST_DIR}") +set(MAIN_ROOT_DIR "${CMAKE_CURRENT_LIST_DIR}/../..") +set(SELECTED_BOARD_DIR "") + +file(GLOB BOARD_CANDIDATE_DIRS RELATIVE "${BOARD_ROOT_DIR}" "${BOARD_ROOT_DIR}/board_v*") + +foreach(board_dir ${BOARD_CANDIDATE_DIRS}) + if(IS_DIRECTORY "${BOARD_ROOT_DIR}/${board_dir}") + string(REGEX REPLACE "^board_" "" board_suffix "${board_dir}") + string(TOUPPER "${board_suffix}" board_suffix_upper) + set(board_config_var "CONFIG_BOARD_VERSION_${board_suffix_upper}") + + if(DEFINED ${board_config_var} AND ${board_config_var}) + set(SELECTED_BOARD_DIR "02_physical/boards/${board_dir}") + break() + endif() + endif() +endforeach() + +if(NOT SELECTED_BOARD_DIR) + message(FATAL_ERROR "Please select a board version in menuconfig") +endif() + +target_sources(${COMPONENT_LIB} PRIVATE "${SELECTED_BOARD_DIR}/board_sweekar.cc") +target_sources(${COMPONENT_LIB} PRIVATE "${SELECTED_BOARD_DIR}/io_expansion_board.cc") +target_include_directories(${COMPONENT_LIB} PRIVATE "${SELECTED_BOARD_DIR}") + +# 添加到 main 目录，使类似 "boards/config.h" 的包含路径保持兼容 +target_include_directories(${COMPONENT_LIB} PRIVATE "${MAIN_ROOT_DIR}") diff --git a/main/04_hal/audio_codec/audio_codec.cc b/main/04_hal/audio_codec/audio_codec.cc new file mode 100644 index 0000000..66b5e3f --- /dev/null +++ b/main/04_hal/audio_codec/audio_codec.cc @@ -0,0 +1,247 @@ +#include "audio_codec.h" +#include "esp_log.h" +#include "es7210.h" +#include "freertos/FreeRTOS.h" +#include "freertos/task.h" +#include "freertos/semphr.h" + +static const char *TAG = "AudioCodec"; + +// 静态成员初始化 +AudioCodec* AudioCodec::instance_ = nullptr; +SemaphoreHandle_t AudioCodec::mutex_ = nullptr; + +AudioCodec::AudioCodec() + : board_handle_(nullptr), + is_initialized_(false), + current_mode_(AUDIO_CODEC_MODE_DECODE), + current_volume_(100) +{ +} + +AudioCodec::~AudioCodec() { + Deinitialize(); +} + +AudioCodec* AudioCodec::GetInstance() { + // 双重检查锁定模式确保线程安全 + if (instance_ == nullptr) { + if (mutex_ == nullptr) { + mutex_ = xSemaphoreCreateMutex(); + } + + if (xSemaphoreTake(mutex_, portMAX_DELAY) == pdTRUE) { + if (instance_ == nullptr) { + instance_ = new AudioCodec(); + } + xSemaphoreGive(mutex_); + } + } + return instance_; +} + +esp_err_t AudioCodec::Initialize() { + if (is_initialized_) { + ESP_LOGW(TAG, "AudioCodec already initialized"); + return ESP_OK; + } + + ESP_LOGI(TAG, "Initializing AudioCodec"); + + esp_err_t ret = InitializeBoard(); + if (ret != ESP_OK) { + ESP_LOGE(TAG, "Failed to initialize audio board: %s", esp_err_to_name(ret)); + return ret; + } + + // 先设置初始化标志，然后启动编解码器 + is_initialized_ = true; + + // 默认启用双向模式，同时支持播放和录音 + ret = StartCodec(AUDIO_CODEC_MODE_BOTH); + if (ret != ESP_OK) { + ESP_LOGE(TAG, "Failed to start codec in both mode: %s", esp_err_to_name(ret)); + is_initialized_ = false; // 如果启动失败，重置标志 + return ret; + } + + ESP_LOGI(TAG, "AudioCodec initialized successfully with both encode and decode enabled"); + return ESP_OK; +} + +esp_err_t AudioCodec::InitializeBoard() { + // 初始化音频板 + board_handle_ = audio_board_init(); + if (board_handle_ == nullptr) { + ESP_LOGE(TAG, "Failed to initialize audio board"); + return ESP_FAIL; + } + + ESP_LOGI(TAG, "Audio board initialized successfully"); + return ESP_OK; +} + +esp_err_t AudioCodec::StartCodec(audio_codec_mode_t mode) { + // 检查音频板是否已初始化，而不是检查整体初始化状态 + if (board_handle_ == nullptr) { + ESP_LOGE(TAG, "Audio board not initialized"); + return ESP_ERR_INVALID_STATE; + } + + esp_err_t ret = ESP_OK; + + switch (mode) { + case AUDIO_CODEC_MODE_DECODE: + ESP_LOGI(TAG, "Starting codec in decode mode"); + ret = audio_hal_ctrl_codec(board_handle_->audio_hal, AUDIO_HAL_CODEC_MODE_DECODE, AUDIO_HAL_CTRL_START); + break; + + case AUDIO_CODEC_MODE_ENCODE: + ESP_LOGI(TAG, "Starting codec in encode mode"); + ret = audio_hal_ctrl_codec(board_handle_->audio_hal, AUDIO_HAL_CODEC_MODE_ENCODE, AUDIO_HAL_CTRL_START); + if (ret == ESP_OK) { + // 设置ADC音量 + ret = audio_hal_set_volume(board_handle_->adc_hal, 100); + if (ret != ESP_OK) { + ESP_LOGW(TAG, "Failed to set ADC volume: %s", esp_err_to_name(ret)); + } + + // 设置ES7210麦克风增益 + ret = es7210_adc_set_gain((es7210_input_mics_t)(ES7210_INPUT_MIC1 | ES7210_INPUT_MIC2 | ES7210_INPUT_MIC3), GAIN_37_5DB); + if (ret != ESP_OK) { + ESP_LOGW(TAG, "Failed to set ES7210 gain: %s", esp_err_to_name(ret)); + } else { + ESP_LOGI(TAG, "ES7210 gain set to 37.5dB"); + } + } + break; + + case AUDIO_CODEC_MODE_BOTH: + ESP_LOGI(TAG, "Starting codec in both modes"); + ret = audio_hal_ctrl_codec(board_handle_->audio_hal, AUDIO_HAL_CODEC_MODE_BOTH, AUDIO_HAL_CTRL_START); + if (ret == ESP_OK) { + // 同时设置播放和录音参数 + audio_hal_set_volume(board_handle_->adc_hal, 100); + es7210_adc_set_gain((es7210_input_mics_t)(ES7210_INPUT_MIC1 | ES7210_INPUT_MIC2 | ES7210_INPUT_MIC3), GAIN_37_5DB); + } + break; + + default: + ESP_LOGE(TAG, "Invalid codec mode: %d", mode); + return ESP_ERR_INVALID_ARG; + } + + if (ret != ESP_OK) { + ESP_LOGE(TAG, "Failed to start codec: %s", esp_err_to_name(ret)); + return ret; + } + + current_mode_ = mode; + + // 设置初始音量（仅在播放模式下） + if (mode == AUDIO_CODEC_MODE_DECODE || mode == AUDIO_CODEC_MODE_BOTH) { + SetVolume(current_volume_); + } + + ESP_LOGI(TAG, "Codec started successfully in mode %d", mode); + return ESP_OK; +} + +esp_err_t AudioCodec::StopCodec() { + if (!is_initialized_) { + ESP_LOGW(TAG, "AudioCodec not initialized"); + return ESP_OK; + } + + ESP_LOGI(TAG, "Stopping codec"); + // 修复：直接使用audio_hal_codec_mode_t类型 + esp_err_t ret = audio_hal_ctrl_codec(board_handle_->audio_hal, (audio_hal_codec_mode_t)current_mode_, AUDIO_HAL_CTRL_STOP); + if (ret != ESP_OK) { + ESP_LOGW(TAG, "Failed to stop codec: %s", esp_err_to_name(ret)); + } + + return ret; +} + +esp_err_t AudioCodec::SetVolume(uint8_t volume) { + if (!is_initialized_) { + ESP_LOGE(TAG, "AudioCodec not initialized"); + return ESP_ERR_INVALID_STATE; + } + + if (volume > 100) { + ESP_LOGW(TAG, "Volume %d exceeds maximum, setting to 100", volume); + volume = 100; + } + + // 转换为HAL音量范围 (0-63) + int hal_volume = (volume * 63) / 100; + esp_err_t ret = audio_hal_set_volume(board_handle_->audio_hal, hal_volume); + if (ret != ESP_OK) { + ESP_LOGE(TAG, "Failed to set volume: %s", esp_err_to_name(ret)); + return ret; + } + + current_volume_ = volume; + ESP_LOGI(TAG, "Volume set to %d%% (HAL volume: %d)", volume, hal_volume); + return ESP_OK; +} + +esp_err_t AudioCodec::GetVolume(uint8_t* volume) { + if (!volume) { + return ESP_ERR_INVALID_ARG; + } + + *volume = current_volume_; + return ESP_OK; +} + +esp_err_t AudioCodec::SetAdcVolume(uint8_t volume) { + if (!is_initialized_) { + ESP_LOGE(TAG, "AudioCodec not initialized"); + return ESP_ERR_INVALID_STATE; + } + + if (volume > 100) { + volume = 100; + } + + esp_err_t ret = audio_hal_set_volume(board_handle_->adc_hal, volume); + if (ret != ESP_OK) { + ESP_LOGE(TAG, "Failed to set ADC volume: %s", esp_err_to_name(ret)); + return ret; + } + + ESP_LOGI(TAG, "ADC volume set to %d", volume); + return ESP_OK; +} + +audio_board_handle_t AudioCodec::GetBoardHandle() { + return board_handle_; +} + +bool AudioCodec::IsInitialized() { + return is_initialized_; +} + +esp_err_t AudioCodec::Deinitialize() { + if (!is_initialized_) { + return ESP_OK; + } + + ESP_LOGI(TAG, "Deinitializing AudioCodec"); + + StopCodec(); + Cleanup(); + + is_initialized_ = false; + ESP_LOGI(TAG, "AudioCodec deinitialized"); + return ESP_OK; +} + +void AudioCodec::Cleanup() { + if (board_handle_) { + audio_board_deinit(board_handle_); + board_handle_ = nullptr; + } +} \ No newline at end of file diff --git a/main/04_hal/audio_codec/audio_codec.h b/main/04_hal/audio_codec/audio_codec.h new file mode 100644 index 0000000..af45c86 --- /dev/null +++ b/main/04_hal/audio_codec/audio_codec.h @@ -0,0 +1,74 @@ +#ifndef AUDIO_CODEC_H +#define AUDIO_CODEC_H + +#include "esp_err.h" +#include "audio_hal.h" +#include "board.h" +#include "esp_peripherals.h" +#include "freertos/FreeRTOS.h" +#include "freertos/semphr.h" +#include + +#ifdef __cplusplus +extern "C" { +#endif + +// 使用audio_hal中已定义的模式类型，避免重复定义 +typedef audio_hal_codec_mode_t audio_codec_mode_t; + +// 为了代码可读性，定义别名 +#define AUDIO_CODEC_MODE_DECODE AUDIO_HAL_CODEC_MODE_DECODE +#define AUDIO_CODEC_MODE_ENCODE AUDIO_HAL_CODEC_MODE_ENCODE +#define AUDIO_CODEC_MODE_BOTH AUDIO_HAL_CODEC_MODE_BOTH + +class AudioCodec { +public: + // 获取单例实例 + static AudioCodec* GetInstance(); + + // 初始化音频编解码器（默认启用双向模式） + esp_err_t Initialize(); + + // 音量控制 + esp_err_t SetVolume(uint8_t volume); + esp_err_t GetVolume(uint8_t* volume); + + // ADC音量控制（录音） + esp_err_t SetAdcVolume(uint8_t volume); + + // 获取音频板句柄 + audio_board_handle_t GetBoardHandle(); + + // 检查是否已初始化 + bool IsInitialized(); + + // 反初始化 + esp_err_t Deinitialize(); + +private: + AudioCodec(); // 私有构造函数 + ~AudioCodec(); + + // 禁止拷贝构造和赋值 + AudioCodec(const AudioCodec&) = delete; + AudioCodec& operator=(const AudioCodec&) = delete; + + static AudioCodec* instance_; + static SemaphoreHandle_t mutex_; + + audio_board_handle_t board_handle_; + bool is_initialized_; + audio_codec_mode_t current_mode_; + uint8_t current_volume_; + + esp_err_t InitializeBoard(); + void Cleanup(); + esp_err_t StartCodec(audio_codec_mode_t mode); + esp_err_t StopCodec(); +}; + +#ifdef __cplusplus +} +#endif + +#endif // AUDIO_CODEC_H \ No newline at end of file diff --git a/main/04_hal/audio_codec/module.cmake b/main/04_hal/audio_codec/module.cmake new file mode 100644 index 0000000..a60c841 --- /dev/null +++ b/main/04_hal/audio_codec/module.cmake @@ -0,0 +1,16 @@ +# main/04_hal/audio_codec/module.cmake + + +# 判断 menuconfig 中的开关 +if(NOT CONFIG_ENABLE_HAL_AUDIO_CODEC AND NOT EARLY_EXPANSION) + message(STATUS " [Skip] audio_codec module disabled by menuconfig.") + return() +endif() + +list(APPEND MODULE_SRCS + "04_hal/audio_codec/audio_codec.cc" +) + +list(APPEND MODULE_INCLUDE_DIRS + "04_hal/audio_codec" +) \ No newline at end of file diff --git a/main/04_hal/base_board_hal/base_board_hal.h b/main/04_hal/base_board_hal/base_board_hal.h new file mode 100644 index 0000000..e7244ed --- /dev/null +++ b/main/04_hal/base_board_hal/base_board_hal.h @@ -0,0 +1,41 @@ +#pragma once + +#include +#include +#include "esp_err.h" + +/** + * @brief Base Board Hardware Abstraction Layer + * Abstracts the communication transport (UART vs I2C) and sensor reading. + */ +class BaseBoardHal +{ +public: + virtual ~BaseBoardHal() = default; + + /** + * @brief Initialize the hardware interface + */ + virtual esp_err_t Init() = 0; + + /** + * @brief Send raw data to the base board + * @param data Pointer to data buffer + * @param len Length of data + */ + virtual esp_err_t Send(const uint8_t *data, size_t len) = 0; + + /** + * @brief Read raw data from the base board + * @param data Pointer to data buffer + * @param len Length of data to read + */ + virtual esp_err_t Read(uint8_t *data, size_t len) = 0; + + /** + * @brief Get the current angle from Hall sensor (or via query) + * @param[out] angle Output angle in degrees (0.0 - 360.0) + * @return ESP_OK on success + */ + virtual esp_err_t GetAngle(float *angle) = 0; +}; diff --git a/main/04_hal/base_board_hal/base_board_hal_i2c.h b/main/04_hal/base_board_hal/base_board_hal_i2c.h new file mode 100644 index 0000000..6e55c30 --- /dev/null +++ b/main/04_hal/base_board_hal/base_board_hal_i2c.h @@ -0,0 +1,65 @@ +#pragma once + +#include "base_board_hal.h" +#include "i2c_bus.h" +#include "esp_log.h" + +class BaseBoardHalI2c : public BaseBoardHal +{ +public: + static constexpr uint8_t kBaseSlaveAddr = 0x22; + // TMAG5273 default address often 0x35 or defined by config + static constexpr uint8_t kHallSensorAddr = 0x35; + + BaseBoardHalI2c(i2c_bus_handle_t bus_handle) + : bus_handle_(bus_handle) {} + + virtual ~BaseBoardHalI2c() + { + // i2c_bus handles device management internally if used via i2c_bus_create + // But here we just use the bus handle directly. + } + + virtual esp_err_t Init() override + { + if (!bus_handle_) return ESP_ERR_INVALID_STATE; + + // Check if device is alive + esp_err_t err = i2c_bus_probe_addr(bus_handle_, kBaseSlaveAddr << 1); + if (err != ESP_OK) { + ESP_LOGW("BaseBoardHalI2c", "Base board not found at 0x%02X", kBaseSlaveAddr); + // Don't fail init, maybe it's sleeping + } else { + ESP_LOGI("BaseBoardHalI2c", "Base board found at 0x%02X", kBaseSlaveAddr); + } + + return ESP_OK; + } + + virtual esp_err_t Send(const uint8_t *data, size_t len) override + { + if (!bus_handle_) return ESP_ERR_INVALID_STATE; + + // i2c_bus_write_bytes expects: bus, addr, reg_addr, reg_len, data, datalen + // The data pointer in i2c_bus_write_bytes is (uint8_t *), not (const uint8_t *) + // This is a common issue in legacy C APIs. We have to cast away constness. + + return i2c_bus_write_bytes(bus_handle_, kBaseSlaveAddr << 1, NULL, 0, (uint8_t*)data, len); + } + + virtual esp_err_t Read(uint8_t *data, size_t len) override + { + if (!bus_handle_) return ESP_ERR_INVALID_STATE; + + return i2c_bus_read_bytes(bus_handle_, kBaseSlaveAddr << 1, NULL, 0, data, len); + } + + virtual esp_err_t GetAngle(float *angle) override + { + // TODO: Implement TMAG5273 read logic using i2c_bus_read_bytes + return ESP_ERR_NOT_SUPPORTED; + } + +private: + i2c_bus_handle_t bus_handle_; +}; diff --git a/main/04_hal/base_board_hal/base_board_hal_uart.h b/main/04_hal/base_board_hal/base_board_hal_uart.h new file mode 100644 index 0000000..63f715e --- /dev/null +++ b/main/04_hal/base_board_hal/base_board_hal_uart.h @@ -0,0 +1,45 @@ +#pragma once + +#include "base_board_hal.h" +#include "driver/uart.h" + +class BaseBoardHalUart : public BaseBoardHal +{ +public: + BaseBoardHalUart(uart_port_t port) : port_(port) {} + virtual ~BaseBoardHalUart() = default; + + virtual esp_err_t Init() override + { + // Assuming UART is already initialized by board.cc or similar + return ESP_OK; + } + + virtual esp_err_t Send(const uint8_t *data, size_t len) override + { + if (port_ >= UART_NUM_MAX) { + return ESP_ERR_INVALID_STATE; + } + int written = uart_write_bytes(port_, (const char *)data, len); + return (written == (int)len) ? ESP_OK : ESP_FAIL; + } + + virtual esp_err_t Read(uint8_t *data, size_t len) override + { + if (port_ >= UART_NUM_MAX) { + return ESP_ERR_INVALID_STATE; + } + int read = uart_read_bytes(port_, data, len, pdMS_TO_TICKS(100)); + return (read == (int)len) ? ESP_OK : ESP_FAIL; + } + + virtual esp_err_t GetAngle(float *angle) override + { + // TODO: Implement angle reading via UART (query command or report parsing) + // For now, return not supported or cached value if we had one + return ESP_ERR_NOT_SUPPORTED; + } + +private: + uart_port_t port_; +}; diff --git a/main/04_hal/base_board_hal/module.cmake b/main/04_hal/base_board_hal/module.cmake new file mode 100644 index 0000000..8b135ff --- /dev/null +++ b/main/04_hal/base_board_hal/module.cmake @@ -0,0 +1,13 @@ +# main/04_hal/base_board_hal/module.cmake + +# 注意：此文件夹可能没有 cpp 源文件，仅有头文件。如果有源文件，请追加到 MODULE_SRCS。 + +# 判断 menuconfig 中的开关 +if(NOT CONFIG_ENABLE_HAL_BASE_BOARD_HAL AND NOT EARLY_EXPANSION) + message(STATUS " [Skip] base_board_hal module disabled by menuconfig.") + return() +endif() + +list(APPEND MODULE_INCLUDE_DIRS + "04_hal/base_board_hal" +) \ No newline at end of file diff --git a/main/04_hal/stepper_driver/aw8646.cc b/main/04_hal/stepper_driver/aw8646.cc new file mode 100644 index 0000000..cdd98ed --- /dev/null +++ b/main/04_hal/stepper_driver/aw8646.cc @@ -0,0 +1,213 @@ +#include "aw8646.h" +#include "config.h" +#include "esp_log.h" +#include "io_expansion_board.h" + +// Define AW8646 specific pins for Board v1.1.16 +// P0_0 -> DRV_T0 +// P0_6 -> DRV_T1 +// Only if NFC_RST_PIN is defined (implying it's moved to GPIO, freeing up P0_0) +#ifdef NFC_RST_PIN +#define AW8646_USE_CURRENT_CONTROL +#define AW8646_T0_PIN 0 +#define AW8646_T0_PORT OUTPUT_PORT0 +#define AW8646_T1_PIN 6 +#define AW8646_T1_PORT OUTPUT_PORT0 +#endif + +Aw8646Driver::Aw8646Driver(IOExpansionBoard &ioExp) : io_expansion_(ioExp) +{ +} + +esp_err_t Aw8646Driver::Init() +{ + esp_err_t err = ESP_OK; + + // 1. 默认处于休眠和禁用状态，防止发热！ + err = io_expansion_.SetMotorSleepMode( + STEPPER_MOTOR_SLEEP, + STEPPER_MOTOR_SLEEP_PORT, + STEPPER_MOTOR_SLEEP_PIN + ); + if (err != ESP_OK) { + ESP_LOGE(TAG, "Failed to set sleep mode: 0x%x", err); + return err; + } + + // 2. Disable Enable Pin (High = Disable for AW8646) + err = io_expansion_.SetMotorEnableMode( + true, // High -> Disable + STEPPER_MOTOR_ENABLE_PORT, + STEPPER_MOTOR_ENABLE_PIN + ); + if (err != ESP_OK) { + ESP_LOGE(TAG, "Failed to set enable mode: 0x%x", err); + return err; + } + +#ifdef AW8646_USE_CURRENT_CONTROL + // 3. Initialize T0 and T1 pins for Current Control + // Default to Low (0, 0) for now. + uint8_t output0_val = 0; + err = io_expansion_.IoexpandReadReg(OUTPUT_PORT0, &output0_val); + if (err == ESP_OK) { + output0_val &= ~(1 << AW8646_T0_PIN); // Set T0 Low + output0_val &= ~(1 << AW8646_T1_PIN); // Set T1 Low + err = io_expansion_.IoexpandWriteReg(OUTPUT_PORT0, output0_val); + if (err != ESP_OK) { + ESP_LOGE(TAG, "Failed to set T0/T1: 0x%x", err); + } + } else { + ESP_LOGE(TAG, "Failed to read port 0: 0x%x", err); + } +#endif + + // 4. Set Microsteps (Default to 1/8 step) + err = SetMicrosteps(8); + if (err != ESP_OK) { + ESP_LOGE(TAG, "Failed to set microsteps: 0x%x", err); + return err; + } + + // 5. Set Default Direction + err = SetDirection(true); + if (err != ESP_OK) { + ESP_LOGE(TAG, "Failed to set direction: 0x%x", err); + return err; + } + + ESP_LOGI(TAG, "AW8646 Driver Initialized (EN Logic Inverted, T0/T1 Configured)"); + return ESP_OK; +} + +esp_err_t Aw8646Driver::Enable(bool enable) +{ + esp_err_t err = ESP_OK; + if (enable) + { + ESP_LOGD(TAG, "Enabling AW8646 (sleep + enable=Low)"); + + // Ensure Sleep is High (Work) + err = io_expansion_.SetMotorSleepMode( + STEPPER_MOTOR_WORK, + STEPPER_MOTOR_SLEEP_PORT, + STEPPER_MOTOR_SLEEP_PIN + ); + if (err != ESP_OK) return err; + + // Enable Pin: Low to Enable + err = io_expansion_.SetMotorEnableMode( + false, // Low -> Enable + STEPPER_MOTOR_ENABLE_PORT, + STEPPER_MOTOR_ENABLE_PIN + ); + } + else + { + ESP_LOGD(TAG, "Disabling AW8646 (disable=High + sleep)"); + + // Enable Pin: High to Disable + err = io_expansion_.SetMotorEnableMode( + true, // High -> Disable + STEPPER_MOTOR_ENABLE_PORT, + STEPPER_MOTOR_ENABLE_PIN + ); + if (err != ESP_OK) return err; + + // Sleep Pin: Low to Sleep + err = io_expansion_.SetMotorSleepMode( + STEPPER_MOTOR_SLEEP, + STEPPER_MOTOR_SLEEP_PORT, + STEPPER_MOTOR_SLEEP_PIN + ); + } + return err; +} + +esp_err_t Aw8646Driver::SetDirection(bool dir) +{ + uint8_t mode = dir ? STEPPER_MOTOR_RIGHT : STEPPER_MOTOR_LEFT; + + return io_expansion_.StepperMotorSetDir( + mode, + STEPPER_MOTOR_DIR_PORT, + STEPPER_MOTOR_DIR_PIN + ); +} + +esp_err_t Aw8646Driver::Sleep(bool sleep) +{ + uint8_t mode = sleep ? STEPPER_MOTOR_SLEEP : STEPPER_MOTOR_WORK; + return io_expansion_.SetMotorSleepMode( + mode, + STEPPER_MOTOR_SLEEP_PORT, + STEPPER_MOTOR_SLEEP_PIN + ); +} + +esp_err_t Aw8646Driver::SetTriLevelPin(uint8_t port_reg, uint8_t config_reg, uint8_t pin, int state) +{ + uint8_t val; + esp_err_t err = ESP_OK; + + if (state == 2) { // Hi-Z -> Input + // Set as Input + err = io_expansion_.IoexpandReadReg(config_reg, &val); + if (err != ESP_OK) return err; + val |= (1 << pin); // Set Input + err = io_expansion_.IoexpandWriteReg(config_reg, val); + } else { // 0 or 1 -> Output + // Set as Output + err = io_expansion_.IoexpandReadReg(config_reg, &val); + if (err != ESP_OK) return err; + val &= ~(1 << pin); // Set Output + err = io_expansion_.IoexpandWriteReg(config_reg, val); + if (err != ESP_OK) return err; + + // Set Level + err = io_expansion_.IoexpandReadReg(port_reg, &val); + if (err != ESP_OK) return err; + + if (state == 1) val |= (1 << pin); + else val &= ~(1 << pin); + + err = io_expansion_.IoexpandWriteReg(port_reg, val); + } + return err; +} + +esp_err_t Aw8646Driver::SetMicrosteps(int microsteps) +{ + // AW8646 Microstep Table (Rising Edge Only) + // 1 (Full): MODE1=0, MODE0=0 + // 2 (1/2): MODE1=0, MODE0=Z (Hi-Z) + // 4 (1/4): MODE1=0, MODE0=1 + // 8 (1/8): MODE1=Z, MODE0=0 + // 16 (1/16): MODE1=Z, MODE0=1 + // 32 (1/32): MODE1=1, MODE0=Z + + int m1 = 0; + int m0 = 0; + + switch(microsteps) { + case 1: m1 = 0; m0 = 0; break; + case 2: m1 = 0; m0 = 2; break; // Z + case 4: m1 = 0; m0 = 1; break; + case 8: m1 = 2; m0 = 0; break; // Z + case 16: m1 = 2; m0 = 1; break; // Z + case 32: m1 = 1; m0 = 2; break; // Z + default: + ESP_LOGW(TAG, "Unsupported microsteps: %d, defaulting to 1/8", microsteps); + m1 = 2; m0 = 0; + break; + } + + ESP_LOGI(TAG, "Setting Microsteps to 1/%d (M1=%d, M0=%d)", microsteps, m1, m0); + + esp_err_t err; + err = SetTriLevelPin(STEPPER_MOTOR_M1_MADE_PORT, STEPPER_MOTOR_M1_CONFIG, STEPPER_MOTOR_M1_PIN, m1); + if (err != ESP_OK) return err; + + err = SetTriLevelPin(STEPPER_MOTOR_M0_MADE_PORT, STEPPER_MOTOR_M0_CONFIG, STEPPER_MOTOR_M0_PIN, m0); + return err; +} diff --git a/main/04_hal/stepper_driver/aw8646.h b/main/04_hal/stepper_driver/aw8646.h new file mode 100644 index 0000000..52fd2d6 --- /dev/null +++ b/main/04_hal/stepper_driver/aw8646.h @@ -0,0 +1,27 @@ +#ifndef AW8646_DRIVER_H +#define AW8646_DRIVER_H + +#include "stepper_driver.h" +#include "io_expansion_board.h" +#include "esp_log.h" + +class Aw8646Driver : public StepperDriver +{ +public: + explicit Aw8646Driver(IOExpansionBoard &ioExp); + virtual ~Aw8646Driver() = default; + + esp_err_t Init() override; + esp_err_t Enable(bool enable) override; + esp_err_t SetDirection(bool dir) override; + esp_err_t Sleep(bool sleep) override; + esp_err_t SetMicrosteps(int microsteps) override; + +private: + esp_err_t SetTriLevelPin(uint8_t port_reg, uint8_t config_reg, uint8_t pin, int state); + + IOExpansionBoard &io_expansion_; + const char* TAG = "Aw8646Driver"; +}; + +#endif // AW8646_DRIVER_H diff --git a/main/04_hal/stepper_driver/aw8646.pdf b/main/04_hal/stepper_driver/aw8646.pdf new file mode 100644 index 0000000000000000000000000000000000000000..c1c7464ddc2c4f345708b1abfbe4fcfae0470558 GIT binary patch literal 1485355 zcmeFYbyQT}-!G1VC@3h1h}6I!4Ff}WBOTHyF+;<^Fm!jLgeWZ`-Q7rcH;A-!O6MK$ zQ%~LdeeSwz{eFKuXU&>9XP^D<{od!iUwhAMc@Z&sCI&Y2*9(jN!{|%^MgUCT6rG0$ zBxs8;hQX=y>`g3945&fEaHt-_1ZF9shk#OvaDf?_I2oB4*_qf_*%_H>8968!87cqh zg`|=(F@VEtV1|f%fGP|Q0U*0GQ-fq+kbjc1Gcqx9g261Tf04_>VGvsbD4eQyzqqS# zvnr?bS64bcQpMJ@#)jJAj*ag8;bZ^{13Lo~6M!3F0fU$rnm{1{TN@KgBY=q#)B!1w zm4TIki4l+mW@KcfM+#>BeFN|Y4zsla$f^Les0820OVisy;WkKvw5X{;N+t+%D3zkP zpzIrQK?#7Ms)VeBFhEIESX@?4TJDWHKv<4}4j`>0!axlI8n6KMnSciRKs_iB!VJ`7 zqH^XCVPq2)6Jnv~K)QvVgFVTormASO3%OyiU8L+5eea4Sv6T}Dxfx-019`rVjmIyru zdP^JNEssCAh(K)&;3if#qY7}tRZkygi{K?ALrVF5{8koX@RtNDTe$fxe~1AHY7Vu4 zS|V&fObkq*e@}xn_b(z#8-`nB84O?+AO}4wBmv`pAh7y}9sh;^c>_tn{GSmZz4(Xa 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+#include "esp_err.h"
+
+/**
+ * @brief Abstract base class for stepper motor driver chips.
+ * 
+ * This interface abstracts the low-level control of the stepper motor driver,
+ * such as enabling/disabling, setting direction, sleep mode, and microstepping configuration.
+ * It does NOT handle step generation (that is handled by the StepperMotor class using GPTimer).
+ */
+class StepperDriver
+{
+public:
+    virtual ~StepperDriver() = default;
+
+    /**
+     * @brief Initialize the driver hardware (GPIOs, IO Expander, etc.)
+     * @return ESP_OK on success
+     */
+    virtual esp_err_t Init() = 0;
+
+    /**
+     * @brief Enable or disable the motor driver output.
+     * @param enable true to enable, false to disable
+     * @return ESP_OK on success
+     */
+    virtual esp_err_t Enable(bool enable) = 0;
+
+    /**
+     * @brief Set the motor direction.
+     * @param dir true for one direction (e.g. UP/CW), false for the other (e.g. DOWN/CCW)
+     * @return ESP_OK on success
+     */
+    virtual esp_err_t SetDirection(bool dir) = 0;
+
+    /**
+     * @brief Set the motor driver to sleep mode to save power.
+     * @param sleep true to sleep, false to wake up
+     * @return ESP_OK on success
+     */
+    virtual esp_err_t Sleep(bool sleep) = 0;
+
+    /**
+     * @brief Set microstepping mode.
+     * @param microsteps Microstepping value (e.g., 1, 2, 4, 8, 16, 32, etc.)
+     * @return ESP_OK on success
+     */
+    virtual esp_err_t SetMicrosteps(int microsteps) = 0;
+};
+
+#endif // STEPPER_DRIVER_H
diff --git a/main/05_executors/adc_battery_monitor/adc_battery_monitor.cc b/main/05_executors/adc_battery_monitor/adc_battery_monitor.cc
new file mode 100644
index 0000000..de47bfd
--- /dev/null
+++ b/main/05_executors/adc_battery_monitor/adc_battery_monitor.cc
@@ -0,0 +1,167 @@
+#include "adc_battery_monitor.h"
+#include 
+
+#define TAG "AdcBatteryMonitor"  ///< 日志标签,用于ESP-IDF日志系统
+
+AdcBatteryMonitor::AdcBatteryMonitor(BoardSweekar& board, adc_unit_t adc_unit, adc_channel_t adc_channel, float upper_resistor, float lower_resistor)
+    : board_(board) {
+    
+    // Initialize ADC battery estimation
+    adc_battery_estimation_t adc_cfg = {
+        .internal = {
+            .adc_unit = adc_unit,
+            .adc_bitwidth = ADC_BITWIDTH_DEFAULT,
+            .adc_atten = ADC_ATTEN_DB_12,
+        },
+        .adc_channel = adc_channel,
+        .upper_resistor = upper_resistor,
+        .lower_resistor = lower_resistor
+    };
+    adc_cfg.charging_detect_cb = [](void *user_data) -> bool {
+        AdcBatteryMonitor *self = (AdcBatteryMonitor *)user_data;
+        return self->IsCharging();
+    };
+    adc_cfg.charging_detect_user_data = this;
+    adc_battery_estimation_handle_ = adc_battery_estimation_create(&adc_cfg);
+
+    // Initialize timer
+    esp_timer_create_args_t timer_cfg = {
+        .callback = [](void *arg) {
+            AdcBatteryMonitor *self = (AdcBatteryMonitor *)arg;
+            self->CheckBatteryStatus();
+        },
+        .arg = this,
+        .name = "adc_battery_monitor",
+        .skip_unhandled_events = false,
+    };
+    ESP_ERROR_CHECK(esp_timer_create(&timer_cfg, &timer_handle_));
+    ESP_ERROR_CHECK(esp_timer_start_periodic(timer_handle_, 1000000));
+}
+
+// 注册ADC电池回调函数
+void AdcBatteryMonitor::AdcBatteryMonitor_Init(void) {
+    ESP_LOGI(TAG, "注册ADC电池回调函数");
+        // 设置默认的电池状态回调函数
+    OnNotCharging([]() {
+        ESP_LOGI(TAG, "电池未充电状态回调 - 默认处理");
+    });
+    
+    OnFull([]() {
+        ESP_LOGI(TAG, "电池充满电状态回调 - 默认处理");
+    });
+    
+    OnCharging([]() {
+        ESP_LOGI(TAG, "电池充电中状态回调 - 默认处理");
+    });
+}
+
+AdcBatteryMonitor::~AdcBatteryMonitor() {
+    if (adc_battery_estimation_handle_) {
+        ESP_ERROR_CHECK(adc_battery_estimation_destroy(adc_battery_estimation_handle_));
+    }
+    
+    if (timer_handle_) {
+        esp_timer_stop(timer_handle_);
+        esp_timer_delete(timer_handle_);
+    }
+}
+
+bool AdcBatteryMonitor::IsCharging() {
+    // 通过IO扩展板读取充电检测引脚状态
+    // BATTERY_CHRG_PIN连接到P0_5，对应INPUT_PORT0
+    uint8_t port0_data = 0;
+    esp_err_t err = board_.io_expansion_.ReadInputPort0(&port0_data);
+    
+    // 如果读取失败，返回false
+    if (err != ESP_OK) {
+        return false;
+    }
+    
+    // 检查BATTERY_CHRG_PIN位状态
+    // 当引脚为低电平时表示正在充电
+    return (port0_data & (1 << BATTERY_CHRG_PIN)) == 0;
+}
+
+bool AdcBatteryMonitor::IsDischarging() {
+    return !IsCharging();
+}
+
+uint8_t AdcBatteryMonitor::GetBatteryLevel() {
+    // 如果句柄无效，返回默认值
+    if (adc_battery_estimation_handle_ == nullptr) {
+        printf("adc_battery_estimation_handle_ 为空！\n");
+        return 0;
+    }
+    
+    float capacity = 0;
+    esp_err_t err = adc_battery_estimation_get_capacity(adc_battery_estimation_handle_, &capacity);
+    if (err != ESP_OK) {
+        printf("返回值出错！\n");
+        return 0; // 出错时返回默认值
+    }
+    return (uint8_t)capacity;
+}
+
+void AdcBatteryMonitor::OnChargingStatusChanged(std::function callback) {
+    on_charging_status_changed_ = callback;
+}
+
+void AdcBatteryMonitor::CheckBatteryStatus() {
+    bool new_charging_status = IsCharging();
+    if (new_charging_status != is_charging_) {
+        is_charging_ = new_charging_status;
+        if (on_charging_status_changed_) {
+            on_charging_status_changed_(is_charging_);
+        }
+    }
+}
+
+// 三个电池状态回调函数的实现
+void AdcBatteryMonitor::TriggerNotChrgCallback() {
+    if (on_not_charging_callback_) {
+        on_not_charging_callback_();
+    }
+}
+
+void AdcBatteryMonitor::TriggerFullCallback() {
+    if (on_full_callback_) {
+        on_full_callback_();
+    }
+}
+
+void AdcBatteryMonitor::TriggerChrgCallback() {
+    if (on_charging_callback_) {
+        on_charging_callback_();
+    }
+}
+
+// 注册电池状态回调函数的实现
+void AdcBatteryMonitor::OnNotCharging(std::function callback) {
+    on_not_charging_callback_ = callback;
+}
+
+void AdcBatteryMonitor::OnFull(std::function callback) {
+    on_full_callback_ = callback;
+}
+
+void AdcBatteryMonitor::OnCharging(std::function callback) {
+    on_charging_callback_ = callback;
+}
+
+//CHRG引脚充电前为高电平 充电中为低电平 充满电为高电平   
+//FULL未充满为高电平 充满电为低电平
+bool AdcBatteryMonitor::IsFull() {
+    // 通过IO扩展板读取电池充满检测引脚状态
+    // BATTERY_FULL_PIN连接到P1_3，对应INPUT_PORT1
+    uint8_t port1_data = 0;
+    esp_err_t err = board_.io_expansion_.ReadInputPort1(&port1_data);
+    
+    // 如果读取失败，返回false
+    if (err != ESP_OK) {
+        return false;
+    }
+    
+    // 检查BATTERY_FULL_PIN位状态
+    // 当引脚为低电平时表示电池已充满
+    return (port1_data & (1 << BATTERY_FULL_PIN)) == 0;
+}
\ No newline at end of file
diff --git a/main/05_executors/adc_battery_monitor/adc_battery_monitor.h b/main/05_executors/adc_battery_monitor/adc_battery_monitor.h
new file mode 100644
index 0000000..bbd441e
--- /dev/null
+++ b/main/05_executors/adc_battery_monitor/adc_battery_monitor.h
@@ -0,0 +1,47 @@
+#ifndef ADC_BATTERY_MONITOR_H
+#define ADC_BATTERY_MONITOR_H
+
+#include 
+#include 
+#include 
+#include 
+#include "02_physical/boards/board_sweekar.h"
+
+class AdcBatteryMonitor {
+public:
+    AdcBatteryMonitor(BoardSweekar& board, adc_unit_t adc_unit, adc_channel_t adc_channel, float upper_resistor, float lower_resistor);
+    ~AdcBatteryMonitor();
+
+    bool IsCharging();
+    bool IsDischarging();
+    bool IsFull();  // 电池充满检测函数
+    uint8_t GetBatteryLevel();
+
+    // 注册电池状态回调函数
+    void AdcBatteryMonitor_Init(void);
+    // 三个电池状态回调函数
+    void TriggerNotChrgCallback();  // 触发未充电回调
+    void TriggerFullCallback();     // 触发充满电回调
+    void TriggerChrgCallback();     // 触发充电中回调
+    
+    // 注册电池状态回调函数
+    void OnNotCharging(std::function callback);  // 注册未充电回调
+    void OnFull(std::function callback);        // 注册充满电回调
+    void OnCharging(std::function callback);   // 注册充电中回调
+
+    void OnChargingStatusChanged(std::function callback);
+
+private:
+    BoardSweekar& board_;  // 添加对BoardSweekar的引用
+    adc_battery_estimation_handle_t adc_battery_estimation_handle_ = nullptr;
+    esp_timer_handle_t timer_handle_ = nullptr;
+    bool is_charging_ = false;
+    std::function on_charging_status_changed_;
+    std::function on_not_charging_callback_;  // 未充电回调函数
+    std::function on_full_callback_;          // 充满电回调函数
+    std::function on_charging_callback_;      // 充电中回调函数
+
+    void CheckBatteryStatus();
+};
+
+#endif // ADC_BATTERY_MONITOR_H
diff --git a/main/05_executors/adc_battery_monitor/module.cmake b/main/05_executors/adc_battery_monitor/module.cmake
new file mode 100644
index 0000000..9ca36f8
--- /dev/null
+++ b/main/05_executors/adc_battery_monitor/module.cmake
@@ -0,0 +1,16 @@
+# main/05_executors/adc_battery_monitor/module.cmake
+
+
+# 判断 menuconfig 中的开关
+if(NOT CONFIG_ENABLE_EXEC_ADC_BATTERY_MONITOR AND NOT EARLY_EXPANSION)
+    message(STATUS "  [Skip] adc_battery_monitor module disabled by menuconfig.")
+    return()
+endif()
+
+list(APPEND MODULE_SRCS
+    "05_executors/adc_battery_monitor/adc_battery_monitor.cc"
+)
+
+list(APPEND MODULE_INCLUDE_DIRS
+    "05_executors/adc_battery_monitor"
+)
diff --git a/main/05_executors/base_board_control/base_board_control.cc b/main/05_executors/base_board_control/base_board_control.cc
new file mode 100644
index 0000000..172388d
--- /dev/null
+++ b/main/05_executors/base_board_control/base_board_control.cc
@@ -0,0 +1,257 @@
+#include "base_board_control.h"
+
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "esp_log.h"
+
+static const char *TAG = "BaseBoardCtrl";
+
+esp_err_t BaseBoardControl::Init(BaseBoardHal *hal)
+{
+    if (hal == nullptr)
+    {
+        ESP_LOGE(TAG, "Init: hal is null");
+        return ESP_ERR_INVALID_ARG;
+    }
+    hal_ = hal;
+    return hal_->Init();
+}
+
+esp_err_t BaseBoardControl::GetAngle(float *angle)
+{
+    if (hal_ == nullptr)
+    {
+        return ESP_ERR_INVALID_STATE;
+    }
+    return hal_->GetAngle(angle);
+}
+
+esp_err_t BaseBoardControl::SendSetAngleAbs(uint16_t angle_deg,
+                                            uint8_t  speed_percent,
+                                            uint8_t  flags)
+{
+    if (hal_ == nullptr)
+    {
+        return ESP_ERR_INVALID_STATE;
+    }
+
+    // 角度限制在 0~359 之间
+    if (angle_deg > 359)
+    {
+        angle_deg = static_cast(angle_deg % 360);
+    }
+
+    // 速度百分比限制在 0~100
+    if (speed_percent > 100)
+    {
+        speed_percent = 100;
+    }
+
+    uint8_t payload[4];
+
+    payload[0] = static_cast(angle_deg & 0xFF);        // LSB
+    payload[1] = static_cast((angle_deg >> 8) & 0xFF); // MSB
+    payload[2] = speed_percent;
+    payload[3] = flags;                                         // 预留/扩展位
+
+    return SendFrame(0x01, payload, sizeof(payload));
+}
+
+esp_err_t BaseBoardControl::SendSetAngleRel(int16_t  delta_deg,
+                                            uint8_t  speed_percent,
+                                            uint8_t  flags)
+{
+    if (hal_ == nullptr)
+    {
+        return ESP_ERR_INVALID_STATE;
+    }
+
+    if (speed_percent > 100)
+    {
+        speed_percent = 100;
+    }
+
+    uint8_t payload[4];
+
+    // int16_t 直接按补码低字节在前的顺序发
+    uint16_t delta_u = static_cast(delta_deg);
+
+    payload[0] = static_cast(delta_u & 0xFF);          // LSB
+    payload[1] = static_cast((delta_u >> 8) & 0xFF);   // MSB
+    payload[2] = speed_percent;
+    payload[3] = flags;                                         // 预留/扩展位
+
+    return SendFrame(0x02, payload, sizeof(payload));
+}
+
+esp_err_t BaseBoardControl::SendSetMotorMove(MotorMode mode, uint8_t speed_percent, uint16_t duration_ms)
+{
+    if (hal_ == nullptr)
+    {
+        return ESP_ERR_INVALID_STATE;
+    }
+
+    if (speed_percent > 100) {
+        speed_percent = 100;
+    }
+
+    uint8_t payload[4];
+
+    payload[0] = mode;
+    payload[1] = speed_percent;
+    payload[2] = static_cast(duration_ms & 0xFF);
+    payload[3] = static_cast((duration_ms >> 8) & 0xFF);
+
+    return SendFrame(0x03, payload, sizeof(payload));
+}
+
+esp_err_t BaseBoardControl::SendSetLedRgb(uint8_t mode,
+                                          uint8_t target_mask,
+                                          uint8_t r,
+                                          uint8_t g,
+                                          uint8_t b,
+                                          uint8_t speed)
+{
+    if (hal_ == nullptr)
+    {
+        return ESP_ERR_INVALID_STATE;
+    }
+
+    if (speed > 100)
+    {
+        speed = 100;
+    }
+
+    uint8_t payload[7];
+
+    payload[0] = mode;         // 灯效模式
+    payload[1] = target_mask;  // 位掩码，指示哪些 LED 生效
+    payload[2] = r;
+    payload[3] = g;
+    payload[4] = b;
+    payload[5] = speed;        // 呼吸/渐变速度
+    payload[6] = 0;            // Reserved，写死为 0
+
+    return SendFrame(0x10, payload, sizeof(payload));
+}
+
+esp_err_t BaseBoardControl::SendFrame(uint8_t cmd,
+                                      const uint8_t *payload,
+                                      uint8_t payload_len)
+{
+    if (hal_ == nullptr)
+    {
+        return ESP_ERR_INVALID_STATE;
+    }
+
+    // LEN = CMD(1) + payload_len
+    uint8_t len = static_cast(1u + payload_len);
+
+    // 总长度 = HEAD1 + HEAD2 + LEN + (CMD + payload_len) + CRC = 3 + len + 1
+    size_t frame_len = static_cast(3u + len + 1u);
+    if (frame_len > kMaxFrameLen)
+    {
+        ESP_LOGE(TAG, "SendFrame: frame too long, len=%u", static_cast(frame_len));
+        return ESP_ERR_INVALID_SIZE;
+    }
+
+    uint8_t frame[kMaxFrameLen];
+
+    // 帧头
+    frame[0] = 0xAA;
+    frame[1] = 0x55;
+
+    // LEN 字段：从 CMD 开始计数
+    frame[2] = len;
+
+    // CMD
+    frame[3] = cmd;
+
+    // payload
+    for (uint8_t i = 0; i < payload_len; ++i)
+    {
+        frame[4u + i] = payload[i];
+    }
+
+    uint8_t crc = CRC8(&frame[2], len + 1);  // 从 LEN 开始算起
+
+    // CRC 放在数据之后
+    frame[3u + len] = crc;
+
+    const int kMaxRetries = 5;
+    const int kRetryDelayMs = 50;
+
+    for (int i = 0; i < kMaxRetries; i++)
+    {
+        esp_err_t err = hal_->Send(frame, frame_len);
+        if (err == ESP_OK)
+        {
+            // 等待从机处理并准备好 ACK
+            // 增加延时以确保从机有足够时间写入 I2C 缓冲
+            vTaskDelay(pdMS_TO_TICKS(20));
+
+            uint8_t ack_buf[kAckFrameLen] = {0};
+            err = hal_->Read(ack_buf, kAckFrameLen);
+            if (err == ESP_OK)
+            {
+                // 校验 ACK
+                if (ack_buf[0] == 0xAA && ack_buf[1] == 0x55 &&
+                    ack_buf[2] == 0x01 && ack_buf[3] == 0xFF)
+                {
+                    uint8_t crc = CRC8(&ack_buf[2], 2);
+                    if (crc == ack_buf[4])
+                    {
+                        return ESP_OK; // 握手成功
+                    }
+                    else
+                    {
+                        ESP_LOGW(TAG, "ACK CRC Fail: Recv=0x%02X Calc=0x%02X", ack_buf[4], crc);
+                    }
+                }
+                else
+                {
+                    ESP_LOGW(TAG, "Invalid ACK: %02X %02X %02X %02X", 
+                             ack_buf[0], ack_buf[1], ack_buf[2], ack_buf[3]);
+                }
+            }
+            else
+            {
+                ESP_LOGW(TAG, "Read ACK Failed: %s", esp_err_to_name(err));
+            }
+        }
+        else
+        {
+            ESP_LOGW(TAG, "Send Failed: %s", esp_err_to_name(err));
+        }
+
+        // 重试前等待
+        vTaskDelay(pdMS_TO_TICKS(kRetryDelayMs));
+    }
+
+    ESP_LOGE(TAG, "SendFrame Failed after %d retries", kMaxRetries);
+    return ESP_FAIL;
+}
+
+uint8_t BaseBoardControl::CRC8(const uint8_t *data, size_t len)
+{
+    uint8_t crc = 0x00;
+
+    for (size_t i = 0; i < len; ++i)
+    {
+        crc ^= data[i];
+
+        for (int b = 0; b < 8; ++b)
+        {
+            if (crc & 0x80)
+            {
+                crc = static_cast((crc << 1) ^ 0x07);
+            }
+            else
+            {
+                crc = static_cast(crc << 1);
+            }
+        }
+    }
+
+    return crc;
+}
diff --git a/main/05_executors/base_board_control/base_board_control.h b/main/05_executors/base_board_control/base_board_control.h
new file mode 100644
index 0000000..5d2e98f
--- /dev/null
+++ b/main/05_executors/base_board_control/base_board_control.h
@@ -0,0 +1,63 @@
+// base_board_control.h
+#pragma once
+
+#include 
+#include "esp_err.h"
+#include "base_board_hal.h"
+
+class BaseBoardControl
+{
+public:
+    /** 帧最大长度，按你的协议冗余留一点空间 */
+    static constexpr size_t kMaxFrameLen = 16;
+    /** ACK 帧长度: HEAD(2) + LEN(1) + CMD(1) + CRC(1) = 5 */
+    static constexpr size_t kAckFrameLen = 5;
+
+    BaseBoardControl() = default;
+    ~BaseBoardControl() = default;
+
+    esp_err_t Init(BaseBoardHal *hal);
+
+    /** 发送绝对角度命令 CMD=0x01 */
+    esp_err_t SendSetAngleAbs(uint16_t angle_deg,
+                              uint8_t  speed_percent,
+                              uint8_t  flags = 0);
+
+    /** 发送相对角度命令 CMD=0x02 */
+    esp_err_t SendSetAngleRel(int16_t  delta_deg,
+                              uint8_t  speed_percent,
+                              uint8_t  flags = 0);
+
+    /** 电机工作模式枚举 */
+    enum MotorMode
+    {
+        MotorOff = 0,
+        MotorForward = 1,
+        MotorBackward = 2
+    };
+
+    /** 发送电机开环控制命令 CMD=0x03 */
+    esp_err_t SendSetMotorMove(MotorMode mode, uint8_t speed_percent, uint16_t duration_ms);
+
+    /** 发送 RGB 命令 CMD=0x10 */
+    esp_err_t SendSetLedRgb(uint8_t mode,
+                            uint8_t target_mask,
+                            uint8_t r,
+                            uint8_t g,
+                            uint8_t b,
+                            uint8_t speed);
+
+    /** 获取当前角度 */
+    esp_err_t GetAngle(float *angle);
+
+private:
+    BaseBoardHal *hal_ = nullptr;
+
+    /** 通用打包 + 发送接口：传 CMD 和 payload，内部加头、LEN、CRC */
+    esp_err_t SendFrame(uint8_t cmd,
+                        const uint8_t *payload,
+                        uint8_t payload_len);
+
+    /** CRC8 工具函数 */
+    static uint8_t CRC8(const uint8_t *data, size_t len);
+};
diff --git a/main/05_executors/base_board_control/module.cmake b/main/05_executors/base_board_control/module.cmake
new file mode 100644
index 0000000..dfa063d
--- /dev/null
+++ b/main/05_executors/base_board_control/module.cmake
@@ -0,0 +1,16 @@
+# main/05_executors/base_board_control/module.cmake
+
+
+# 判断 menuconfig 中的开关
+if(NOT CONFIG_ENABLE_EXEC_BASE_BOARD_CONTROL AND NOT EARLY_EXPANSION)
+    message(STATUS "  [Skip] base_board_control module disabled by menuconfig.")
+    return()
+endif()
+
+list(APPEND MODULE_SRCS
+    "05_executors/base_board_control/base_board_control.cc"
+)
+
+list(APPEND MODULE_INCLUDE_DIRS
+    "05_executors/base_board_control"
+)
diff --git a/main/05_executors/gyroscope/gyroscope.cc b/main/05_executors/gyroscope/gyroscope.cc
new file mode 100644
index 0000000..af1b475
--- /dev/null
+++ b/main/05_executors/gyroscope/gyroscope.cc
@@ -0,0 +1,625 @@
+#include "gyroscope.h"
+#include "freertos/idf_additions.h"
+
+Gyroscope::Gyroscope()
+{
+    bus_handle_ = nullptr;
+    on_shake_callback_ = nullptr;  // 初始化回调函数
+    on_pickup_callback_ = nullptr; // 初始化拿起回调函数
+    on_putdown_callback_ = nullptr; // 初始化放置回调函数
+    on_tilt_callback_ = nullptr;   // 初始化倾斜回调函数
+    timer_handle_ = nullptr;         // 初始化定时器句柄
+    pGyroscopeTaskStackBuffer_ = nullptr;
+    pxGyroscopeTaskBuffer_ = nullptr;
+    
+    // 初始化滤波相关变量
+    last_filtered_x_ = 0;
+    last_filtered_y_ = 0;
+    last_filtered_z_ = 0;
+    is_first_sample_ = true;
+}
+
+Gyroscope::~Gyroscope()
+{
+    // 删除定时器
+    DeleteTimer();
+    
+    if (pGyroscopeTaskStackBuffer_) {
+        free(pGyroscopeTaskStackBuffer_);
+        pGyroscopeTaskStackBuffer_ = nullptr;
+    }
+    if (pxGyroscopeTaskBuffer_) {
+        vPortFree(pxGyroscopeTaskBuffer_);
+        pxGyroscopeTaskBuffer_ = nullptr;
+    }
+}
+
+/**
+ * @brief 创建500ms周期定时器
+ * @return esp_err_t 创建结果
+ */
+esp_err_t Gyroscope::CreateTimer()
+{
+    if (timer_handle_ != nullptr) {
+        ESP_LOGW(TAG_GYROSCOPE, "定时器已存在");
+        return ESP_OK;
+    }
+
+    // 配置定时器参数
+    esp_timer_create_args_t timer_args = {};
+    timer_args.callback = &TimerCallback;  // 静态回调函数
+    timer_args.arg = this;                 // 传入实例指针
+    timer_args.name = "gyro_timer";        // 定时器名称
+    timer_args.dispatch_method = ESP_TIMER_TASK;  // 使用任务调度
+    timer_args.skip_unhandled_events = false;     // 不跳过未处理事件
+
+    // 创建定时器
+    esp_err_t err = esp_timer_create(&timer_args, &timer_handle_);
+    if (err != ESP_OK) {
+        ESP_LOGE(TAG_GYROSCOPE, "创建定时器失败: 0x%x", err);
+        return err;
+    }
+
+    // 启动定时器，500ms周期重复
+    err = esp_timer_start_periodic(timer_handle_, 50000); // 50000微秒 = 50ms   20hz
+    if (err != ESP_OK) {
+        ESP_LOGE(TAG_GYROSCOPE, "启动定时器失败: 0x%x", err);
+        esp_timer_delete(timer_handle_);
+        timer_handle_ = nullptr;
+        return err;
+    }
+
+    ESP_LOGI(TAG_GYROSCOPE, "50ms周期定时器创建并启动成功");
+    return ESP_OK;
+}
+
+/**
+ * @brief 停止并删除定时器
+ */
+void Gyroscope::DeleteTimer()
+{
+    if (timer_handle_ == nullptr) {
+        return;
+    }
+
+    // 停止定时器
+    esp_err_t err = esp_timer_stop(timer_handle_);
+    if (err != ESP_OK && err != ESP_ERR_INVALID_STATE) {
+        ESP_LOGE(TAG_GYROSCOPE, "停止定时器失败: 0x%x", err);
+    }
+
+    // 删除定时器
+    err = esp_timer_delete(timer_handle_);
+    if (err != ESP_OK) {
+        ESP_LOGE(TAG_GYROSCOPE, "删除定时器失败: 0x%x", err);
+    }
+
+    timer_handle_ = nullptr;
+    ESP_LOGI(TAG_GYROSCOPE, "定时器已删除");
+}
+
+/**
+ * @brief 静态定时器回调函数
+ * @param arg 传入的Gyroscope实例指针
+ */
+void Gyroscope::TimerCallback(void* arg)
+{
+    Gyroscope* gyroscope = static_cast(arg);
+    if (gyroscope) {
+        gyroscope->TimerInterruptHandler();
+    }
+}
+
+/**
+ * @brief 定时器中断处理函数
+ * 每50ms调用一次，可以在这里执行周期性任务
+ */
+void Gyroscope::TimerInterruptHandler()
+{
+    // 在这里添加定时器中断处理逻辑
+    // 例如：读取传感器数据、检测动作、发送状态等
+    AccelerationData accel_data_ = {0};
+    
+    esp_err_t err = GetAcceleration(&accel_data_);
+    if (err == ESP_OK) {
+        // 根据实际安装方式重新定义姿态判断
+        // 平放状态：Y轴接近±1g（因为Y轴垂直于桌面），X和Z轴接近0
+        bool is_flat = (fabs(accel_data_.y) > 0.85 && fabs(accel_data_.y) < 1.15) && 
+                       (fabs(accel_data_.x) < 0.15 && fabs(accel_data_.z) < 0.15);
+        
+        // 手持状态：Y轴接近0，X和Z轴中至少有一个有明显值
+        bool is_held = (fabs(accel_data_.y) < 0.7) && 
+                       (fabs(accel_data_.x) > 0.15 || fabs(accel_data_.z) > 0.15);
+        
+        // 计算合成加速度（总加速度大小）
+        float total_accel = sqrt(accel_data_.x * accel_data_.x + 
+                                accel_data_.y * accel_data_.y + 
+                                accel_data_.z * accel_data_.z);
+        
+        // 计算与上次合成加速度的差值（加速度变化量）
+        float total_accel_diff = fabs(total_accel - total_accel_last_);
+        
+        // 计算Y轴加速度变化
+        float y_diff = accel_data_.y - accel_data_y_last_;
+        
+        // 检测是否处于平放稳定状态
+        if(is_flat) {
+            stable_count_++;
+            if(stable_count_ >= 8) {  // 连续8次检测到平放状态（400ms），减少误判
+                stable_count_ = 8;    // 防止溢出
+                if(!is_stable_) {
+                    ESP_LOGI(TAG_GYROSCOPE, "定时器: 检测到稳定平放状态 (x:%.2f, y:%.2f, z:%.2f, total:%.2f)", 
+                             accel_data_.x, accel_data_.y, accel_data_.z, total_accel);
+                    is_stable_ = true;
+                    is_lifted_ = false;    // 重置拿起状态
+                    putdown_count_ = 0;    // 重置放置计数器
+                    lift_count_ = 0;       // 重置拿起计数器
+                    
+                    // 调用放置回调
+                    if (on_putdown_callback_) {
+                        on_putdown_callback_();
+                    }
+                }
+            }
+        } 
+        else {
+            stable_count_ = 0;  // 不在范围内则重置稳定计数器
+            
+            // 如果之前是稳定状态，检测是否有拿起动作
+            if(is_stable_) {
+                // 检测拿起动作的多种特征：
+                // 1. Y轴从接近1g变为接近0g（位置变化）
+                // 2. 合成加速度有显著变化（表示有加速度）
+                bool y_change_indicates_lift = fabs(y_diff) > 0.25;
+                bool total_accel_change_indicates_lift = total_accel_diff > 0.3; // 检测加速度突变
+                
+                if(y_change_indicates_lift || total_accel_change_indicates_lift) {
+                    lift_count_++;
+                    if(lift_count_ >= 1) {  // 降低拿起检测阈值，提高灵敏度
+                        ESP_LOGI(TAG_GYROSCOPE, "定时器: 检测到拿起动作 (x:%.2f, y:%.2f, z:%.2f, total:%.2f, y_diff:%.2f, accel_diff:%.2f)", 
+                                 accel_data_.x, accel_data_.y, accel_data_.z, total_accel, y_diff, total_accel_diff);
+                        is_stable_ = false;  // 重置状态
+                        is_lifted_ = true;   // 设置拿起状态
+                        lift_count_ = 0;
+                        stable_count_ = 0;
+                        
+                        // 调用拿起回调
+                        if (on_pickup_callback_) {
+                            on_pickup_callback_();
+                        }
+                    }
+                } else {
+                    lift_count_ = 0;  // 变化不符合预期，重置拿起计数器
+                }
+            }
+            // 如果之前是被拿起状态，检测是否有放置动作
+            else if(is_lifted_) {
+                // 检测从手持到平放的变化 - Y轴从接近0g变为接近1g
+                bool y_change_indicates_putdown = (y_diff > 0.25 && y_diff < 0.80);
+                
+                if(y_change_indicates_putdown) {
+                    putdown_count_++;
+                    if(putdown_count_ >= 3) {  // 连续3次检测到缓慢变化
+                        ESP_LOGI(TAG_GYROSCOPE, "定时器: 检测到缓慢放置动作 (x:%.2f, y:%.2f, z:%.2f, total:%.2f, y_diff:%.2f)", 
+                                 accel_data_.x, accel_data_.y, accel_data_.z, total_accel, y_diff);
+                        is_lifted_ = false;  // 重置拿起状态
+                        putdown_count_ = 0;
+                        
+                        // 调用放置回调
+                        if (on_putdown_callback_) {
+                            on_putdown_callback_();
+                        }
+                    }
+                } else {
+                    putdown_count_ = 0;  // 变化不符合预期，重置放置计数器
+                }
+            }
+            
+            // 检测倾斜动作 - 仅当手持时才触发倾斜
+            if (is_held && (fabs(accel_data_.x) > 0.3f || fabs(accel_data_.z) > 0.3f)) {
+                // 检测到倾斜，调用倾斜回调
+                if (on_tilt_callback_) {
+                    on_tilt_callback_();
+                }
+            }
+        }
+        // 保存当前值作为下一次的上一次值
+        accel_data_y_last_ = accel_data_.y;
+        total_accel_last_ = total_accel;
+    }
+}
+/**
+ * @brief 注册摇晃检测回调函数
+ * 
+ * @param callback 当检测到摇晃时调用的回调函数
+ */
+void Gyroscope::OnShake(std::function callback)
+{
+    on_shake_callback_ = callback;
+}
+
+/**
+ * @brief 注册拿起检测回调函数
+ * 
+ * @param callback 当检测到设备被拿起时调用的回调函数
+ */
+void Gyroscope::OnPickUp(std::function callback)
+{
+    on_pickup_callback_ = callback;
+}
+
+/**
+ * @brief 注册放置检测回调函数
+ * 
+ * @param callback 当检测到设备被放置时调用的回调函数
+ */
+void Gyroscope::OnPutDown(std::function callback)
+{
+    on_putdown_callback_ = callback;
+}
+
+/**
+ * @brief 注册倾斜检测回调函数
+ * 
+ * @param callback 当检测到设备倾斜时调用的回调函数
+ */
+void Gyroscope::OnTilt(std::function callback)
+{
+    on_tilt_callback_ = callback;
+}
+
+/**
+ * @brief 静态中断处理函数
+ * 
+ * @param arg 传入的Gyroscope实例指针
+ */
+void IRAM_ATTR Gyroscope::GpioIsrHandler(void* arg)
+{
+    Gyroscope* gyroscope = static_cast(arg);
+    if (gyroscope) {
+        gyroscope->interrupt_flag_ = true;
+    }
+}
+
+/**
+ * @brief 向陀螺仪寄存器写入数据
+ * 
+ * @param reg 寄存器地址
+ * @param data 要写入的数据
+ * @return esp_err_t ESP_OK表示成功
+ */
+esp_err_t Gyroscope::WriteRegister(uint8_t reg, uint8_t data)
+{
+    if (bus_handle_ == nullptr) {
+        ESP_LOGE(TAG_GYROSCOPE, "I2C总线未初始化");
+        return ESP_FAIL;
+    }
+    
+    return i2c_bus_write_bytes(bus_handle_, GYROSCOPE_I2C_SLAVE_ADDR << 1, ®, 1, &data, 1);
+}
+
+/**
+ * @brief 从陀螺仪寄存器读取数据
+ * 
+ * @param reg 寄存器地址
+ * @param data 读取到的数据指针
+ * @return esp_err_t ESP_OK表示成功
+ */
+esp_err_t Gyroscope::ReadRegister(uint8_t reg, uint8_t* data)
+{
+    if (bus_handle_ == nullptr || data == nullptr) {
+        ESP_LOGE(TAG_GYROSCOPE, "参数错误或I2C总线未初始化");
+        return ESP_FAIL;
+    }
+    
+    return i2c_bus_read_bytes(bus_handle_, GYROSCOPE_I2C_SLAVE_ADDR << 1, ®, 1, data, 1);
+}
+
+/**
+ * @brief 批量读取陀螺仪寄存器数据
+ * 
+ * @param reg 起始寄存器地址
+ * @param data 读取到的数据指针
+ * @param length 要读取的字节数
+ * @return esp_err_t ESP_OK表示成功
+ */
+esp_err_t Gyroscope::ReadRegisters(uint8_t reg, uint8_t* data, size_t length)
+{
+    if (bus_handle_ == nullptr || data == nullptr) {
+        ESP_LOGE(TAG_GYROSCOPE, "参数错误或I2C总线未初始化");
+        return ESP_FAIL;
+    }
+    
+    return i2c_bus_read_bytes(bus_handle_, GYROSCOPE_I2C_SLAVE_ADDR << 1, ®, 1, data, length);
+}
+
+/**
+ * @brief 初始化陀螺仪中断GPIO
+ * 
+ * @param gpio_num 要初始化的GPIO引脚号
+ * @return esp_err_t ESP_OK表示成功
+ */
+esp_err_t Gyroscope::InterruptGpioInit(gpio_num_t gpio_num)
+{
+    gpio_config_t io_conf = {};
+    io_conf.intr_type = GPIO_INTR_POSEDGE;  // 上升沿触发
+    io_conf.pin_bit_mask = (1ULL<x = raw_x * ACCEL_SENSITIVITY_2G / 1000.0f;
+    data->y = raw_y * ACCEL_SENSITIVITY_2G / 1000.0f;
+    data->z = raw_z * ACCEL_SENSITIVITY_2G / 1000.0f;
+
+    return ESP_OK;
+}
+
+/**
+ * @brief 陀螺仪读取任务
+ * Y轴立起   Z轴躺下
+ * 该任务会周期性读取陀螺仪数据并处理中断
+ */
+void IRAM_ATTR Gyroscope::GyroReadTask(void* pvParameters)
+{
+    Gyroscope* gyroscope = static_cast(pvParameters);
+    uint32_t interrupt_count = 0;
+    while (1) {
+        if (gyroscope->interrupt_flag_) {
+            interrupt_count++;
+            gyroscope->ClearInterruptFlags();
+            gyroscope->interrupt_flag_ = false;
+            
+            // 调用用户注册的回调函数
+            if (gyroscope->on_shake_callback_) {
+                gyroscope->on_shake_callback_();
+            }
+            
+            ESP_LOGI(TAG_GYROSCOPE, "累计中断次数: %lu", interrupt_count);
+            if(interrupt_count >= 2){
+                interrupt_count = 0;
+                ESP_LOGI(TAG_GYROSCOPE, "检测到摇晃>>>>>>>>>>");
+            }
+        }
+        vTaskDelay(pdMS_TO_TICKS(50)); // 50ms检查一次,更快的响应
+    }
+}
diff --git a/main/05_executors/gyroscope/gyroscope.h b/main/05_executors/gyroscope/gyroscope.h
new file mode 100644
index 0000000..36e67f8
--- /dev/null
+++ b/main/05_executors/gyroscope/gyroscope.h
@@ -0,0 +1,214 @@
+#ifndef GYROSCOPE_H
+#define GYROSCOPE_H
+
+#include 
+#include 
+#include 
+#include 
+#include "i2c_bus.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/event_groups.h"
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include 
+#include "esp_err.h"
+#include "config.h"
+#include "io_expansion_board.h"
+#include 
+#include "esp_timer.h"
+
+// 加速度数据结构体
+typedef struct {
+    float x;  // X轴加速度 (g)
+    float y;  // Y轴加速度 (g)
+    float z;  // Z轴加速度 (g)
+} AccelerationData;
+
+// 一阶滤波系数
+#define WEIGHTFACTOR 0.93f
+
+/* 陀螺仪寄存器定义 */
+#define CTRL1_XL        0x10    // 加速度计控制寄存器1
+#define CTRL2_G         0x11    // 陀螺仪控制寄存器2  
+#define CTRL3_C         0x12    // 控制寄存器3
+#define CTRL4_C         0x13    // 控制寄存器4
+#define CTRL5_C         0x14    // 控制寄存器5
+#define CTRL6_C         0x15    // 控制寄存器6
+#define CTRL7_G         0x16    // 陀螺仪控制寄存器7
+#define CTRL8_XL        0x17    // 加速度计控制寄存器8
+#define CTRL9_XL        0x18    // 加速度计控制寄存器9
+#define CTRL10_C        0x19    // 控制寄存器10
+#define INT1_CTRL       0x0D    // 中断1控制寄存器
+#define WAKE_UP_DUR     0x5B    // 唤醒持续时间寄存器
+#define WAKE_UP_THS     0x5C    // 唤醒阈值寄存器
+#define TAP_CFG         0x58    // 敲击配置寄存器
+#define TAP_THS_6D      0x59    // 6D方向阈值寄存器
+#define INT_DUR2        0x5A    // 中断持续时间寄存器
+#define MD1_CFG         0x5E    // 中断1配置寄存器
+#define MD2_CFG         0x5F    // 中断2配置寄存器
+#define FUNC_SRC1       0x53    // 功能源寄存器1
+#define WAKE_UP_SRC     0x1B    // 唤醒源寄存器
+
+#define ACCEL_X_L 0x28  // OUTX_L_XL
+#define ACCEL_X_H 0x29  // OUTX_H_XL
+#define ACCEL_Y_L 0x2A  // OUTY_L_XL
+#define ACCEL_Y_H 0x2B  // OUTY_H_XL
+#define ACCEL_Z_L 0x2C  // OUTZ_L_XL
+#define ACCEL_Z_H 0x2D  // OUTZ_H_XL
+
+#define ACCEL_SENSITIVITY_2G 0.061f // 2g 灵敏度 (g/LSB)
+
+#define I2C_MASTER_TIMEOUT_MS         1000            // I2C主设备超时时间(毫秒)
+
+/**
+ * @class Gyroscope
+ * @brief 陀螺仪驱动类,封装芯片操作
+ */
+#define TAG_GYROSCOPE "Gyroscope"
+class Gyroscope
+{
+public:
+    /**
+     * @brief 构造函数
+     */
+    Gyroscope();
+
+    /**
+     * @brief 析构函数
+     */
+    ~Gyroscope();
+
+    /**
+     * @brief 初始化中断引脚
+     * @param gpio_num 中断引脚编号
+     * @return esp_err_t 初始化结果
+     */
+    esp_err_t InterruptGpioInit(gpio_num_t gpio_num);
+
+    /**
+     * @brief 创建陀螺仪读取任务
+     */
+    void CreateGyroReadTask();
+
+    /**
+     * @brief 初始化陀螺仪
+     * @return esp_err_t 初始化结果
+     */
+    esp_err_t Init(i2c_bus_handle_t bus_handle);
+
+    /**
+     * @brief 清除中断标志
+     * @return esp_err_t 清除结果
+     */
+    esp_err_t ClearInterruptFlags();
+
+
+    /**
+     * @brief 获取当前加速度数据
+     * @param data 指向AccelerationData结构体的指针,用于存储读取到的加速度数据
+     * @return esp_err_t 获取结果
+     */
+    esp_err_t GetAcceleration(AccelerationData* data);
+
+    /**
+     * @brief 创建500ms周期定时器
+     * @return esp_err_t 创建结果
+     */
+    esp_err_t CreateTimer();
+
+    /**
+     * @brief 停止并删除定时器
+     */
+    void DeleteTimer();
+
+    /**
+     * @brief 注册摇晃检测回调函数
+     * @param callback 当检测到摇晃时调用的回调函数
+     */
+    void OnShake(std::function callback);
+
+    /**
+     * @brief 注册拿起检测回调函数
+     * @param callback 当检测到设备被拿起时调用的回调函数
+     */
+    void OnPickUp(std::function callback);
+
+    /**
+     * @brief 注册放置检测回调函数
+     * @param callback 当检测到设备被放置时调用的回调函数
+     */
+    void OnPutDown(std::function callback);
+
+    /**
+     * @brief 注册倾斜检测回调函数
+     * @param callback 当检测到设备倾斜时调用的回调函数
+     */
+    void OnTilt(std::function callback);
+
+    i2c_bus_handle_t bus_handle_ = nullptr;    // I2C总线句柄
+    volatile uint8_t interrupt_count_ = 0;     // 中断计数
+    volatile bool interrupt_flag_ = false;     // 中断标志位)(判断是否需要处理)
+
+private:
+    static void GpioIsrHandler(void* arg);    // 中断处理函数
+    static void GyroReadTask(void* pvParameters);
+    static void TimerCallback(void* arg);    // 定时器回调函数
+    
+    void TimerInterruptHandler();  // 定时器中断处理函数
+    
+    esp_err_t WriteRegister(uint8_t reg, uint8_t data);
+    esp_err_t ReadRegister(uint8_t reg, uint8_t* data);
+    esp_err_t ReadRegisters(uint8_t reg, uint8_t* data, size_t length);
+
+    /**
+     * @brief 读取原始加速度数据
+     * @param x 指向X轴加速度存储的指针
+     * @param y 指向Y轴加速度存储的指针
+     * @param z 指向Z轴加速度存储的指针
+     * @return esp_err_t 读取结果
+     */
+    esp_err_t ReadRawAcceleration(int16_t* x, int16_t* y, int16_t* z);
+
+    std::function on_shake_callback_;  // 摇晃回调函数
+    std::function on_pickup_callback_; // 拿起回调函数
+    std::function on_putdown_callback_; // 放置回调函数
+    std::function on_tilt_callback_;   // 倾斜回调函数
+    
+    esp_timer_handle_t timer_handle_ = nullptr;  // 定时器句柄
+
+    /**
+     * @brief 分配静态任务所需的内存
+     * @return bool 分配是否成功
+     */
+    bool AllocateStaticTaskMemory();
+    
+    /**
+     * @brief 释放静态任务分配的内存
+     */
+    void FreeStaticTaskMemory();
+
+    TaskHandle_t xGyroscopeTaskHandle_ = nullptr;
+    StackType_t* pGyroscopeTaskStackBuffer_ = nullptr;    // 任务栈指针（PSRAM）
+    StaticTask_t* pxGyroscopeTaskBuffer_ = nullptr;       // 任务控制块指针（内部RAM）
+
+    // 滤波相关成员变量
+    int16_t last_filtered_x_ = 0;     // 上一次滤波后的X轴值
+    int16_t last_filtered_y_ = 0;     // 上一次滤波后的Y轴值
+    int16_t last_filtered_z_ = 0;     // 上一次滤波后的Z轴值
+    bool is_first_sample_ = true;     // 是否为第一次采样标志
+
+    // 状态检测相关成员变量
+    float accel_data_y_last_ = 0.0f;  // 保存上一次Y轴数据
+    float total_accel_last_ = 1.0f;   // 保存上一次合成加速度值，初始值为1g（平放时的典型值）
+    uint8_t stable_count_ = 0;        // 稳定状态计数器
+    uint8_t lift_count_ = 0;          // 拿起动作计数器
+    uint8_t putdown_count_ = 0;       // 放置动作计数器
+    bool is_stable_ = false;          // 是否处于稳定平放状态
+    bool is_lifted_ = false;          // 是否处于被拿起状态
+};
+
+#endif // GYROSCOPE_H
diff --git a/main/05_executors/gyroscope/module.cmake b/main/05_executors/gyroscope/module.cmake
new file mode 100644
index 0000000..ca0f8aa
--- /dev/null
+++ b/main/05_executors/gyroscope/module.cmake
@@ -0,0 +1,16 @@
+# main/05_executors/gyroscope/module.cmake
+
+
+# 判断 menuconfig 中的开关
+if(NOT CONFIG_ENABLE_EXEC_GYROSCOPE AND NOT EARLY_EXPANSION)
+    message(STATUS "  [Skip] gyroscope module disabled by menuconfig.")
+    return()
+endif()
+
+list(APPEND MODULE_SRCS
+    "05_executors/gyroscope/gyroscope.cc"
+)
+
+list(APPEND MODULE_INCLUDE_DIRS
+    "05_executors/gyroscope"
+)
\ No newline at end of file
diff --git a/main/05_executors/millimeter_wave_radar/millimeter_wave_radar.cc b/main/05_executors/millimeter_wave_radar/millimeter_wave_radar.cc
new file mode 100644
index 0000000..689f4bc
--- /dev/null
+++ b/main/05_executors/millimeter_wave_radar/millimeter_wave_radar.cc
@@ -0,0 +1,202 @@
+#include "millimeter_wave_radar.h"
+#include 
+#include 
+#include 
+#include 
+
+static const char *TAG = "MillimeterWaveRadar";
+
+bool MillimeterWaveRadar::Init() {
+    uart_config_t uart_config = {
+        .baud_rate = MillimeterWaveRadar::BAUD_RATE,
+        .data_bits = UART_DATA_8_BITS,
+        .parity = UART_PARITY_DISABLE,
+        .stop_bits = UART_STOP_BITS_1,
+        .flow_ctrl = UART_HW_FLOWCTRL_DISABLE,
+        .source_clk = UART_SCLK_DEFAULT,
+    };
+
+    ESP_ERROR_CHECK(uart_param_config(UART_NUM, &uart_config));
+    ESP_ERROR_CHECK(uart_set_pin(UART_NUM, TX_PIN, RX_PIN, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE));
+    ESP_ERROR_CHECK(uart_driver_install(UART_NUM, 256, 0, 0, NULL, 0));
+
+    // 清空缓冲区
+    uart_flush(UART_NUM);
+    return true;
+}
+
+uint8_t MillimeterWaveRadar::CalculateChecksum(uint8_t d1, uint8_t d2, uint8_t d3, uint8_t d4) {
+    return d1 ^ d2 ^ d3 ^ d4;
+}
+
+// 通过查看最高位是0还是1来判断是否是写命令。但是查询感应模式时最高位不是1（5A 11 00 00 00 11 FE），输入的是0x11，所以仅对此条不适用。
+bool MillimeterWaveRadar::IsWriteCommand(uint8_t cmd) {
+    if (cmd == 0x11) {
+        return false;
+    }
+    return (cmd & 0x80) == 0x00; // 写命令高位为0
+}
+
+bool MillimeterWaveRadar::SendFrame(const uint8_t *frame, size_t len) {
+    int written = uart_write_bytes(UART_NUM, frame, len);
+    uart_wait_tx_done(UART_NUM, pdMS_TO_TICKS(10));
+    return written == (int)len;
+}
+
+MillimeterWaveRadar::Result MillimeterWaveRadar::ReceiveFrame(uint8_t *buffer, size_t maxSize, size_t &receivedLen) {
+    TickType_t start = xTaskGetTickCount();
+    size_t total = 0;
+    while ((xTaskGetTickCount() - start) < pdMS_TO_TICKS(TIMEOUT_MS)) {
+        size_t available;
+        uart_get_buffered_data_len(UART_NUM, &available);
+        if (available >= 7) {
+            int read = uart_read_bytes(UART_NUM, buffer, 7, pdMS_TO_TICKS(10));
+            if (read == 7) {
+                receivedLen = 7;
+                // 校验帧头尾
+                if (buffer[0] != 0x5A || buffer[6] != 0xFE) {
+                    ESP_LOGW(TAG, "Invalid frame header/tail");
+                    return Result::CHECKSUM_ERROR;
+                }
+                // 校验 checksum
+                uint8_t expected = CalculateChecksum(buffer[1], buffer[2], buffer[3], buffer[4]);
+                if (expected != buffer[5]) {
+                    ESP_LOGW(TAG, "Checksum mismatch");
+                    return Result::CHECKSUM_ERROR;
+                }
+                return Result::OK;
+            }
+        }
+        vTaskDelay(pdMS_TO_TICKS(1));
+    }
+    return Result::TIMEOUT;
+}
+
+MillimeterWaveRadar::Result MillimeterWaveRadar::SetParameter(uint8_t paramId, uint32_t value) {
+    if (!IsWriteCommand(paramId)) {
+        return Result::INVALID_PARAM;
+    }
+
+    uint8_t frame[7];
+    frame[0] = 0x5A;
+    frame[1] = paramId;
+
+    switch (paramId) {
+        case SET_RADAR_DISTANCE_THRESHOLD:
+            if (value < 100 || value > 65000) return Result::INVALID_PARAM;
+            frame[2] = 0x00;
+            frame[3] = (value >> 8) & 0xFF;
+            frame[4] = value & 0xFF;
+            ESP_LOGI(TAG, "Setting distance threshold to %d", static_cast(value));
+            break;
+        case SET_RADAR_DELAY_TIME:
+            if (value > 0xFFFFFF) return Result::INVALID_PARAM;
+            frame[2] = (value >> 16) & 0xFF;
+            frame[3] = (value >> 8) & 0xFF;
+            frame[4] = value & 0xFF;
+            ESP_LOGI(TAG, "Setting delay time to %d", static_cast(value));
+            break;
+        case SET_RADAR_LOCKOUT_TIME:
+            if (value > 0xFFFFFF) return Result::INVALID_PARAM;
+            frame[2] = (value >> 16) & 0xFF;
+            frame[3] = (value >> 8) & 0xFF;
+            frame[4] = value & 0xFF;
+            ESP_LOGI(TAG, "Setting lockout time to %d", static_cast(value));
+            break;
+        case SET_RADAR_LIGHT_SENSOR_ENABLE:
+        case SET_RADAR_OUTPUT_LEVEL:
+        case SET_RADAR_POWER_MODE:
+        case SET_RADAR_TRIGGER_MODE:
+        case SET_RADAR_TX_POWER_LEVEL:
+        case SET_RADAR_PWM_ENABLE:
+        case SET_RADAR_PULSE_WIDTH:
+        case SET_RADAR_SENSING_MODE:
+        case SET_RADAR_SENSING_RESULT:
+            if (value > 0xFF) return Result::INVALID_PARAM;
+            frame[2] = 0x00;
+            frame[3] = 0x00;
+            frame[4] = value & 0xFF;
+            break;
+        case SET_RADAR_LIGHT_THRESHOLD:
+            if (value > 0xFF) return Result::INVALID_PARAM;
+            frame[2] = 0x00;
+            frame[3] = 0x00;
+            frame[4] = value & 0xFF;
+            break;
+        case SET_RADAR_PWM_DUTY:
+            if (value > 3500) return Result::INVALID_PARAM;
+            frame[2] = 0x00;
+            frame[3] = (value >> 8) & 0xFF;
+            frame[4] = value & 0xFF;
+            break;
+        default:
+            return Result::INVALID_PARAM;
+    }
+
+    frame[5] = CalculateChecksum(frame[1], frame[2], frame[3], frame[4]);
+    frame[6] = 0xFE;
+
+    if (!SendFrame(frame, 7)) {
+        return Result::UART_ERROR;
+    }
+
+    uint8_t reply[7];
+    size_t len;
+    Result res = ReceiveFrame(reply, sizeof(reply), len);
+    ESP_LOGW(TAG, "Received raw reply frame: %02X %02X %02X %02X %02X %02X %02X",
+            reply[0], reply[1], reply[2], reply[3], reply[4], reply[5], reply[6]);
+    if (res != Result::OK) return res;
+
+    // 发送保存指令
+    uint8_t saveFrame[7] = {0x5A, 0x20, 0x00, 0x00, 0x01, 0x21, 0xFE};
+    SendFrame(saveFrame, 7);
+    // 等待保存回复（协议注释1：约100ms）
+    vTaskDelay(pdMS_TO_TICKS(110)); // 稍微多等一点
+    uart_flush(UART_NUM); // 清除可能的残留
+
+    return Result::OK;
+}
+
+void MillimeterWaveRadar::OnRadarDetect(RadarDetectCallback callback) {
+    ESP_LOGI(TAG, "Registering radar detection callback");
+    radar_detect_callback_ = callback;
+}
+
+void MillimeterWaveRadar::TriggerRadarDetectCallback() {
+    ESP_LOGI(TAG, "Triggering radar detection callback");
+    if (radar_detect_callback_) {
+        radar_detect_callback_();
+    }
+}
+
+
+
+MillimeterWaveRadar::Result MillimeterWaveRadar::QueryParameter(uint8_t paramId, uint32_t &outputValue) {
+    if (IsWriteCommand(paramId)) {
+        ESP_LOGE(TAG, "Attempted to query with a write command ID: 0x%02X", paramId);
+        return Result::INVALID_PARAM;
+    }
+
+    uint8_t frame[7] = {0x5A, paramId, 0x00, 0x00, 0x00, paramId, 0xFE};
+    ESP_LOGI(TAG, "Sending query frame for param 0x%02X: %02X %02X %02X %02X %02X %02X %02X",
+             paramId, frame[0], frame[1], frame[2], frame[3], frame[4], frame[5], frame[6]);
+
+    if (!SendFrame(frame, 7)) {
+        ESP_LOGE(TAG, "UART send failed");
+        return Result::UART_ERROR;
+    }
+
+    uint8_t reply[7];
+    size_t len;
+    Result res = ReceiveFrame(reply, sizeof(reply), len);
+    if (res != Result::OK) {
+        ESP_LOGW(TAG, "Failed to receive reply for param 0x%02X, error code: %d", paramId, static_cast(res));
+        return res;
+    }
+
+    // 打印原始回复帧（新增功能）
+    ESP_LOGW(TAG, "Received raw reply frame: %02X %02X %02X %02X %02X %02X %02X",
+             reply[0], reply[1], reply[2], reply[3], reply[4], reply[5], reply[6]);
+
+    return Result::OK;
+}
\ No newline at end of file
diff --git a/main/05_executors/millimeter_wave_radar/millimeter_wave_radar.h b/main/05_executors/millimeter_wave_radar/millimeter_wave_radar.h
new file mode 100644
index 0000000..7fd47e5
--- /dev/null
+++ b/main/05_executors/millimeter_wave_radar/millimeter_wave_radar.h
@@ -0,0 +1,82 @@
+#pragma once
+
+#include 
+#include 
+#include 
+
+// 参数名称宏定义（对应协议中的命令）
+#define SET_RADAR_DISTANCE_THRESHOLD      0x01  // 设置感应距离门限值。Data3、Data4 为感应距离门限值，取值范围为 100 ~ 65000【值越大，感应距离越近】
+#define SET_RADAR_DELAY_TIME              0x02  // 设置输出延时时间。取值范围为 0X00~ 0XFFFFFF
+#define SET_RADAR_LIGHT_SENSOR_ENABLE     0x03  // 开关光感。Data4 为 0x01 时开启光感，为 0x00 时关闭光感。
+#define SET_RADAR_LOCKOUT_TIME            0x04  // 设置封锁时间。取值范围为 0X00~ 0XFFFFFF
+#define SET_RADAR_OUTPUT_LEVEL            0x05  // 设置有效电平。Data4 为 0x01 时高电平有效，为 0x00 时低电平有效
+#define SET_RADAR_POWER_MODE              0x06  // 设置功耗模式。Data4 为 0x00 时超低功耗模式（50/60uA），为 0x01 时常规功耗模式（13mA 档位）
+#define SET_RADAR_SENSING_RESULT          0x07  // 设置触发状态。Data4 为 0x00 时触发状态为未触发感应，为 0x01 时触发状态为已触发感应。
+#define SET_RADAR_TRIGGER_MODE            0x0A  // 设置触发模式。Data4 为 0x00 时触发模式为连续触发，为 0x01 时触发模式为单次触发。
+#define SET_RADAR_TX_POWER_LEVEL          0x0B  // 设置发射功率档位。Data4 取值范围为 0~ 7，总共 8 档发射功率可调，值越大，功率越小，=7 时最小，相当于关闭发射功率。发射功率档位值越小，实际发射功率越大，距离越远，抗干扰性越好。
+#define SET_RADAR_LIGHT_THRESHOLD         0x0C  // 设置光感门限值。取值范围为 0X00~ 0XFFFFFF。
+#define SET_RADAR_PWM_ENABLE              0x0D  // 开关 PWM 功能
+#define SET_RADAR_PWM_DUTY                0x0E  // 设置 PWM 占空比
+#define SET_RADAR_PULSE_WIDTH             0x0F  // 设置供电脉冲宽度
+#define SET_RADAR_SENSING_MODE            0x10  // 选择感应模式。Data4 为 0x00 时为移动感应模式，为 0x01 时为手扫感应模式。
+
+// 参数名称宏定义（对应协议中的命令）
+#define QUERY_RADAR_DISTANCE_THRESHOLD      0x81  // 查询感应距离门限值
+#define QUERY_RADAR_DELAY_TIME              0x82  // 查询输出延时时间
+#define QUERY_RADAR_LIGHT_SENSOR_ENABLE     0x83  // 查询开关光感
+#define QUERY_RADAR_LOCKOUT_TIME            0x84  // 查询封锁时间
+#define QUERY_RADAR_OUTPUT_LEVEL            0x85  // 查询有效电平
+#define QUERY_RADAR_POWER_MODE              0x86  // 查询功耗模式
+#define QUERY_RADAR_SENSING_RESULT          0x87  // 查询触发状态
+#define QUERY_RADAR_TRIGGER_MODE            0x8A  // 查询触发模式
+#define QUERY_RADAR_TX_POWER_LEVEL          0x8B  // 查询发射功率档位
+#define QUERY_RADAR_LIGHT_THRESHOLD         0x8C  // 查询光感门限值
+#define QUERY_RADAR_PWM_ENABLE              0x8D  // 查询开关 PWM 功能
+#define QUERY_RADAR_PWM_DUTY                0x8E  // 查询 PWM 占空比
+#define QUERY_RADAR_PULSE_WIDTH             0x8F  // 查询供电脉冲宽度
+#define QUERY_RADAR_SENSING_MODE            0x11  // 查询感应模式
+
+class MillimeterWaveRadar {
+public:
+    // 雷达检测回调函数类型定义
+    typedef std::function RadarDetectCallback;
+    enum class Result {
+        OK,
+        TIMEOUT,
+        CHECKSUM_ERROR,
+        INVALID_PARAM,
+        UART_ERROR
+    };
+
+    // 初始化 UART（使用 UART1, TX=GPIO39, RX=GPIO40）
+    bool Init();
+
+    // 设置参数（自动保存）
+    Result SetParameter(uint8_t paramId, uint32_t value);
+
+    // 查询参数（返回值通过 outputValue 返回）
+    Result QueryParameter(uint8_t paramId, uint32_t &outputValue);
+
+    Result QueryRawResponse(uint8_t paramId);
+    
+    // 注册雷达检测回调函数
+    void OnRadarDetect(RadarDetectCallback callback);
+    
+    // 触发雷达检测回调函数（供IO扩展板调用）
+    void TriggerRadarDetectCallback();
+
+private:
+    static constexpr uart_port_t UART_NUM = UART_NUM_1;
+    static constexpr int TX_PIN = 39;
+    static constexpr int RX_PIN = 40;
+    static constexpr uint32_t BAUD_RATE = 9600;
+    static constexpr uint32_t TIMEOUT_MS = 100;
+    
+    // 雷达检测回调函数
+    RadarDetectCallback radar_detect_callback_ = nullptr;
+
+    bool SendFrame(const uint8_t *frame, size_t len);
+    Result ReceiveFrame(uint8_t *buffer, size_t maxSize, size_t &receivedLen);
+    uint8_t CalculateChecksum(uint8_t d1, uint8_t d2, uint8_t d3, uint8_t d4);
+    bool IsWriteCommand(uint8_t cmd);
+};
\ No newline at end of file
diff --git a/main/05_executors/millimeter_wave_radar/module.cmake b/main/05_executors/millimeter_wave_radar/module.cmake
new file mode 100644
index 0000000..6007d55
--- /dev/null
+++ b/main/05_executors/millimeter_wave_radar/module.cmake
@@ -0,0 +1,16 @@
+# main/05_executors/millimeter_wave_radar/module.cmake
+
+
+# 判断 menuconfig 中的开关
+if(NOT CONFIG_ENABLE_EXEC_MILLIMETER_WAVE_RADAR AND NOT EARLY_EXPANSION)
+    message(STATUS "  [Skip] millimeter_wave_radar module disabled by menuconfig.")
+    return()
+endif()
+
+list(APPEND MODULE_SRCS
+    "05_executors/millimeter_wave_radar/millimeter_wave_radar.cc"
+)
+
+list(APPEND MODULE_INCLUDE_DIRS
+    "05_executors/millimeter_wave_radar"
+)
\ No newline at end of file
diff --git a/main/05_executors/photo_interrupter/module.cmake b/main/05_executors/photo_interrupter/module.cmake
new file mode 100644
index 0000000..7cc56bf
--- /dev/null
+++ b/main/05_executors/photo_interrupter/module.cmake
@@ -0,0 +1,16 @@
+# main/05_executors/photo_interrupter/module.cmake
+
+
+# 判断 menuconfig 中的开关
+if(NOT CONFIG_ENABLE_EXEC_PHOTO_INTERRUPTER AND NOT EARLY_EXPANSION)
+    message(STATUS "  [Skip] photo_interrupter module disabled by menuconfig.")
+    return()
+endif()
+
+list(APPEND MODULE_SRCS
+    "05_executors/photo_interrupter/photo_interrupter.cc"
+)
+
+list(APPEND MODULE_INCLUDE_DIRS
+    "05_executors/photo_interrupter"
+)
diff --git a/main/05_executors/photo_interrupter/photo_interrupter.cc b/main/05_executors/photo_interrupter/photo_interrupter.cc
new file mode 100644
index 0000000..2a0eff3
--- /dev/null
+++ b/main/05_executors/photo_interrupter/photo_interrupter.cc
@@ -0,0 +1,129 @@
+/**
+ * @file photo_interrupter.cc
+ * @brief 光电限位开关类实现文件
+ * 
+ * 该类实现了光电限位开关的完整功能,包括初始化、中断处理、
+ * 回调函数管理等。支持起始位置和结束位置两个限位开关的检测。
+ */
+
+#include "photo_interrupter.h"
+#include 
+
+#define TAG "PhotoInterrupter"  ///< 日志标签,用于ESP-IDF日志系统
+
+/**
+ * @brief 构造函数
+ * 
+ * 初始化PhotoInterrupter对象,设置默认状态
+ * 目前构造函数为空,所有初始化操作在Init()方法中完成
+ */
+PhotoInterrupter::PhotoInterrupter()
+{
+    
+}
+
+/**
+ * @brief 析构函数
+ * 
+ * 清理资源,释放分配的内存
+ * 目前析构函数为空,没有需要特殊清理的资源
+ */
+PhotoInterrupter::~PhotoInterrupter()
+{
+
+}
+
+/**
+ * @brief 初始化限位开关
+ * 
+ * 执行限位开关的初始化操作,包括：
+ * 1. 输出初始化日志
+ * 2. 设置默认的起始限位开关回调函数
+ * 3. 设置默认的结束限位开关回调函数
+ * 
+ * 默认回调函数仅输出触发日志,用户可以通过OnStartTrigger()和OnEndTrigger()
+ * 方法覆盖这些默认回调函数
+ */
+void PhotoInterrupter::Init()
+{
+    ESP_LOGI(TAG, "限位开关初始化");
+    
+    // 设置默认回调函数 - 起始限位开关触发时输出日志
+    OnStartTrigger([]() {
+        ESP_LOGI(TAG, "起始限位开关触发 - 默认回调");
+    });
+    
+    // 设置默认回调函数 - 结束限位开关触发时输出日志
+    OnEndTrigger([]() {
+        ESP_LOGI(TAG, "结束限位开关触发 - 默认回调");
+    });
+}
+
+/**
+ * @brief 处理限位开关中断
+ * 
+ * 当限位开关被触发时调用的中断处理函数
+ * 目前仅输出中断触发日志,可以根据需要扩展更多处理逻辑
+ */
+void PhotoInterrupter::Interrupt()
+{
+    ESP_LOGI(TAG, "限位开关中断触发");
+}
+
+/**
+ * @brief 设置起始限位开关触发回调函数
+ * @param callback 回调函数对象,当起始限位开关被触发时执行
+ * 
+ * 允许用户自定义起始限位开关被触发时的处理逻辑。
+ * 该函数会保存传入的回调函数,并输出注册日志。
+ */
+void PhotoInterrupter::OnStartTrigger(std::function callback)
+{
+    on_start_trigger_ = callback;
+    ESP_LOGI(TAG, "注册起始限位开关回调函数");
+}
+
+/**
+ * @brief 设置结束限位开关触发回调函数
+ * @param callback 回调函数对象,当结束限位开关被触发时执行
+ * 
+ * 允许用户自定义结束限位开关被触发时的处理逻辑。
+ * 该函数会保存传入的回调函数,并输出注册日志。
+ */
+void PhotoInterrupter::OnEndTrigger(std::function callback)
+{
+    on_end_trigger_ = callback;
+    ESP_LOGI(TAG, "注册结束限位开关回调函数");
+}
+
+/**
+ * @brief 触发起始限位开关回调
+ * 
+ * 当检测到起始限位开关被触发时,执行注册的回调函数。
+ * 如果回调函数已设置(不为nullptr),则执行回调并输出触发日志。
+ * 
+ * 该函数通常由IO扩展板在检测到起始限位开关中断时调用。
+ */
+void PhotoInterrupter::TriggerStartCallback()
+{
+    if (on_start_trigger_) {
+        ESP_LOGI(TAG, "触发起始限位开关回调");
+        on_start_trigger_();
+    }
+}
+
+/**
+ * @brief 触发结束限位开关回调
+ * 
+ * 当检测到结束限位开关被触发时,执行注册的回调函数。
+ * 如果回调函数已设置(不为nullptr),则执行回调并输出触发日志。
+ * 
+ * 该函数通常由IO扩展板在检测到结束限位开关中断时调用。
+ */
+void PhotoInterrupter::TriggerEndCallback()
+{
+    if (on_end_trigger_) {
+        ESP_LOGI(TAG, "触发结束限位开关回调");
+        on_end_trigger_();
+    }
+}
\ No newline at end of file
diff --git a/main/05_executors/photo_interrupter/photo_interrupter.h b/main/05_executors/photo_interrupter/photo_interrupter.h
new file mode 100644
index 0000000..032f5ac
--- /dev/null
+++ b/main/05_executors/photo_interrupter/photo_interrupter.h
@@ -0,0 +1,87 @@
+/**
+ * @file photo_interrupter.h
+ * @brief 光电限位开关类头文件
+ * 
+ * 该类用于处理光电限位开关的触发事件,支持起始位置和结束位置的检测。
+ * 通过回调函数机制,当限位开关被触发时执行相应的处理逻辑。
+ */
+
+#ifndef PHOTO_INTERRUPTER_H
+#define PHOTO_INTERRUPTER_H
+
+#include "io_expansion_board.h"
+#include 
+
+/**
+ * @class PhotoInterrupter
+ * @brief 光电限位开关类
+ * 
+ * 提供限位开关的初始化、中断处理和回调函数管理功能。
+ * 支持起始位置和结束位置两个限位开关的检测。
+ */
+class PhotoInterrupter {
+public:
+    /**
+     * @brief 构造函数
+     * 
+     * 初始化PhotoInterrupter对象,设置默认状态
+     */
+    PhotoInterrupter();
+    
+    /**
+     * @brief 析构函数
+     * 
+     * 清理资源,释放分配的内存
+     */
+    ~PhotoInterrupter();
+    
+    /**
+     * @brief 初始化限位开关
+     * 
+     * 执行限位开关的初始化操作,包括设置默认回调函数
+     */
+    void Init();
+    
+    /**
+     * @brief 处理限位开关中断
+     * 
+     * 当限位开关被触发时调用的中断处理函数
+     */
+    void Interrupt();
+    
+    /**
+     * @brief 设置起始限位开关触发回调函数
+     * @param callback 回调函数对象,当起始限位开关被触发时执行
+     * 
+     * 允许用户自定义起始限位开关被触发时的处理逻辑
+     */
+    void OnStartTrigger(std::function callback);
+    
+    /**
+     * @brief 设置结束限位开关触发回调函数
+     * @param callback 回调函数对象,当结束限位开关被触发时执行
+     * 
+     * 允许用户自定义结束限位开关被触发时的处理逻辑
+     */
+    void OnEndTrigger(std::function callback);
+    
+    /**
+     * @brief 触发起始限位开关回调
+     * 
+     * 当检测到起始限位开关被触发时,执行注册的回调函数
+     */
+    void TriggerStartCallback();
+    
+    /**
+     * @brief 触发结束限位开关回调
+     * 
+     * 当检测到结束限位开关被触发时,执行注册的回调函数
+     */
+    void TriggerEndCallback();
+
+private:
+    std::function on_start_trigger_;  ///< 起始限位开关回调函数
+    std::function on_end_trigger_;      ///< 结束限位开关回调函数
+};
+
+#endif // PHOTO_INTERRUPTER_H
\ No newline at end of file
diff --git a/main/CMakeLists.txt b/main/CMakeLists.txt
new file mode 100644
index 0000000..2b92ae0
--- /dev/null
+++ b/main/CMakeLists.txt
@@ -0,0 +1,150 @@
+# 获取当前选择的 demo 配置
+if(CONFIG_SWEEKAR_DEMO_1)
+    set(ACTIVE_DEMO "sweekar_demo1")
+elseif(CONFIG_SWEEKAR_DEMO_2)
+    set(ACTIVE_DEMO "sweekar_demo2")
+elseif(CONFIG_SWEEKAR_DEMO_3)
+    set(ACTIVE_DEMO "sweekar_demo3")
+elseif(CONFIG_SWEEKAR_DEMO_4)
+    set(ACTIVE_DEMO "sweekar_demo4")
+elseif(CONFIG_SWEEKAR_DEMO_5)
+    set(ACTIVE_DEMO "sweekar_demo5")
+elseif(CONFIG_SWEEKAR_DEMO_6)
+    set(ACTIVE_DEMO "sweekar_demo6")
+elseif(CONFIG_SWEEKAR_DEMO_7)
+    set(ACTIVE_DEMO "sweekar_demo7")
+endif()
+
+# 初始化全局变量，用于收集各模块的信息
+set(MODULE_SRCS)
+set(MODULE_INCLUDE_DIRS)
+set(MODULE_REQUIRES)
+set(MODULE_PRIV_REQUIRES)
+set(MODULE_EMBED_TXTFILES)
+
+if(NOT DEFINED CONFIG_SWEEKAR_DEMO_SELECTION)
+    set(EARLY_EXPANSION TRUE)
+    message(STATUS "Early expansion pass: loading all module requirements")
+else()
+    set(EARLY_EXPANSION FALSE)
+endif()
+
+# ===================================================================
+# 执行 Kconfig 自动组装脚本 (在配置阶段自动生成 Kconfig.modules)
+# ===================================================================
+execute_process(
+    COMMAND python3 ${CMAKE_CURRENT_LIST_DIR}/generate_kconfig_modules.py
+    WORKING_DIRECTORY ${CMAKE_CURRENT_LIST_DIR}
+    RESULT_VARIABLE generate_kconfig_result
+)
+if(NOT generate_kconfig_result EQUAL 0)
+    message(FATAL_ERROR "Failed to generate Kconfig.modules")
+endif()
+
+# ==================== 模块注册区 ====================
+# 定义需要扫描的架构层级目录
+set(SUBSYSTEM_DIRS 
+    "04_hal"
+    "05_executors"
+    "05_service"
+    "06_behaviors"
+    "tests"
+)
+
+# 扫描并加载所有启用的子模块（依赖各个模块中的 module.cmake）
+foreach(dir ${SUBSYSTEM_DIRS})
+    file(GLOB MODULE_FILES "${CMAKE_CURRENT_LIST_DIR}/${dir}/*/module.cmake")
+    foreach(mod_file ${MODULE_FILES})
+        include(${mod_file})
+    endforeach()
+endforeach()
+
+# sweekar_demos 模块 (单独加载)
+# include(${CMAKE_CURRENT_LIST_DIR}/sweekar_demos/module.cmake)
+
+# ===================================================================
+
+if(MODULE_REQUIRES)
+    list(REMOVE_DUPLICATES MODULE_REQUIRES)
+endif()
+if(MODULE_PRIV_REQUIRES)
+    list(REMOVE_DUPLICATES MODULE_PRIV_REQUIRES)
+endif()
+
+message(STATUS "==== DEBUG ====")
+message(STATUS "MODULE_REQUIRES: ${MODULE_REQUIRES}")
+message(STATUS "MODULE_SRCS: ${MODULE_SRCS}")
+message(STATUS "===============")
+
+idf_component_register(
+    SRCS 
+        "main.cc" 
+        # "tests/test.cc"
+        # "tests/korvo_port/korvo_port_runner.cc"
+        # "tests/korvo_port/ai_agent.c"
+        # "tests/korvo_port/audio_proc.c"
+        # "tests/korvo_port/rtc_proc.c"
+        # "../managed_components/espressif__zlib/zlib/contrib/minizip/unzip.c"
+        # "../managed_components/espressif__zlib/zlib/contrib/minizip/ioapi.c"
+        ${MODULE_SRCS}
+    INCLUDE_DIRS 
+        "." 
+        # "../managed_components/espressif__zlib/zlib/contrib/minizip"
+        # "05_executors/touch_sensor"
+        # "05_executors/aw_touch_sensor"
+        ${MODULE_INCLUDE_DIRS}
+
+    REQUIRES
+        # lvgl
+        # esp_timer  
+        # driver
+        # esp_driver_i2c
+        # esp_driver_i2s
+        # esp_event
+        # nvs_flash
+        # spi_flash
+        # esp_driver_gpio
+        # spiffs
+        # vfs
+        # esp_http_server
+        # log
+        # fatfs
+        # bt
+        # mbedtls
+        # audio_pipeline
+        # audio_hal
+        # audio_board
+        # esp_peripherals
+        # audio_stream
+        # audio_sal
+        # esp-adf-libs
+        # espressif__zlib
+        ${MODULE_REQUIRES}
+    PRIV_REQUIRES
+        # esp-qcloud
+        ${MODULE_PRIV_REQUIRES}
+    EMBED_TXTFILES
+        ${MODULE_EMBED_TXTFILES}
+)
+# 添加 C++ 标准库支持
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+# 自动创建SPIFFS分区镜像
+# 这会在构建时自动生成audio.bin并在烧录时一并烧录
+# spiffs_create_partition_image(audio ../spiffs FLASH_IN_PROJECT)
+
+# 添加编译选项来忽略字符串常量转换警告
+target_compile_options(${COMPONENT_LIB} PRIVATE -Wno-write-strings)
+target_compile_options(${COMPONENT_LIB} PRIVATE -DUSE_FILE32API)
+
+
+set(LANG_HEADER "${CMAKE_CURRENT_SOURCE_DIR}/assets/lang_config.h")
+
+# 根据 boards 目录内部模块自动匹配当前选择的板卡
+include(${CMAKE_CURRENT_LIST_DIR}/02_physical/boards/module.cmake)
+
+if (CONFIG_VOLC_RTC_MODE)
+    set(COMPONENT_SRCS ${COMPONENT_SRCS} RtcBotUtils.c)
+endif()
+target_compile_definitions(${COMPONENT_LIB} PRIVATE IOAPI_NO_64)
diff --git a/main/Kconfig.modules b/main/Kconfig.modules
new file mode 100644
index 0000000..b1822dd
--- /dev/null
+++ b/main/Kconfig.modules
@@ -0,0 +1,52 @@
+menu "Sweekar Subsystems Configuration"
+
+    menu "04 Hal Modules"
+        config ENABLE_HAL_AUDIO_CODEC
+            bool "Enable Audio Codec"
+            default y
+            help
+                Enable the audio_codec module in 04_hal.
+        config ENABLE_HAL_BASE_BOARD_HAL
+            bool "Enable Base Board Hal"
+            default y
+            help
+                Enable the base_board_hal module in 04_hal.
+        config ENABLE_HAL_STEPPER_DRIVER
+            bool "Enable Stepper Driver"
+            default y
+            help
+                Enable the stepper_driver module in 04_hal.
+    endmenu
+
+    menu "05 Executors Modules"
+        config ENABLE_EXEC_ADC_BATTERY_MONITOR
+            bool "Enable Adc Battery Monitor"
+            default y
+            help
+                Enable the adc_battery_monitor module in 05_executors.
+        config ENABLE_EXEC_BASE_BOARD_CONTROL
+            bool "Enable Base Board Control"
+            default y
+            help
+                Enable the base_board_control module in 05_executors.
+        config ENABLE_EXEC_GYROSCOPE
+            bool "Enable Gyroscope"
+            default y
+            help
+                Enable the gyroscope module in 05_executors.
+        config ENABLE_EXEC_MILLIMETER_WAVE_RADAR
+            bool "Enable Millimeter Wave Radar"
+            default y
+            help
+                Enable the millimeter_wave_radar module in 05_executors.
+        config ENABLE_EXEC_PHOTO_INTERRUPTER
+            bool "Enable Photo Interrupter"
+            default y
+            help
+                Enable the photo_interrupter module in 05_executors.
+    endmenu
+
+    menu "tests  Modules"
+    endmenu
+
+endmenu
diff --git a/main/Kconfig.projbuild b/main/Kconfig.projbuild
new file mode 100644
index 0000000..e21b00a
--- /dev/null
+++ b/main/Kconfig.projbuild
@@ -0,0 +1,544 @@
+menu "Sweekar Application Configuration"
+
+    # ==============================================================
+    # 模块化配置自动扫描引入点
+    # 这里会自动加载 main/Kconfig.modules 文件
+    # ==============================================================
+    rsource "Kconfig.modules"
+
+    choice BOARD_VERSION_SELECTION
+        prompt "Select Board Version"
+        default BOARD_VERSION_V1_1_11
+        help
+            Select the hardware board version to use.
+    
+    config BOARD_VERSION_V1_1_11
+        bool "Board v1.1.11"
+        help
+            Use board version v1.1.11
+    
+    config BOARD_VERSION_V1_1_12
+        bool "Board v1.1.12"
+        help
+            Use board version v1.1.12
+    
+    config BOARD_VERSION_V1_1_13
+        bool "Board v1.1.13"
+        help
+            Use board version v1.1.13
+    
+    config BOARD_VERSION_V1_1_14
+        bool "Board v1.1.14"
+        help
+            Use board version v1.1.14
+
+    config BOARD_VERSION_V1_1_16
+        bool "Board v1.1.16"
+        help
+            Use board version v1.1.16
+
+    config BOARD_VERSION_V1_1_17
+        bool "Board v1.1.17"
+        help
+            Use board version v1.1.17
+
+    config BOARD_VERSION_V1_1_18
+        bool "Board v1.1.18"
+        help
+            Use board version v1.1.18
+    
+    endchoice
+    
+    choice STEPPER_DRIVER_IMPL
+        prompt "Stepper Driver Implementation"
+        default STEPPER_DRIVER_DRV8428
+        help
+            Select the stepper motor driver chip.
+
+    config STEPPER_DRIVER_DRV8428
+        bool "TI DRV8428"
+        help
+            Use TI DRV8428 stepper motor driver.
+
+    config STEPPER_DRIVER_AW8646
+        bool "Awinic AW8646"
+        help
+            Use Awinic AW8646 stepper motor driver.
+
+    endchoice
+
+    choice LINEAR_MOTOR_TYPE
+        prompt "Linear Motor Type"
+        default LINEAR_MOTOR_LD0832
+        help
+            Select the linear motor type.
+
+    config LINEAR_MOTOR_LD0832
+        bool "LD0832 (1.8V, 235Hz, 21 ohm)"
+        help
+            Use LD0832 linear motor.
+
+    config LINEAR_MOTOR_LD0625
+        bool "LD0625 (0.7V, 260Hz, 8 ohm)"
+        help
+            Use LD0625 linear motor.
+
+    endchoice
+
+    choice AUDIO_DECODER_SUPPORT
+        prompt "Audio Decoder"
+        default AUDIO_SUPPORT_OPUS_DECODER
+    
+    config AUDIO_SUPPORT_G711A_DECODER
+        bool "AUDIUO-G711-DECODER"
+    
+    config AUDIO_SUPPORT_OPUS_DECODER
+        bool "AUDIO-OPUS-DECODER"
+    
+    config AUDIO_SUPPORT_AAC_DECODER
+        bool "AUDIO-AAC-DECODER"
+    
+    endchoice
+    
+    choice AUDIO_CONVERSATION_MODE_SUPPORT
+        prompt "Conversion Mode"
+        default CONTINUOUS_CONVERSATION_MODE
+    
+    config LANGUAGE_WAKEUP_MODE
+        select USE_WAKENET
+        select SR_WN_WN9_HILEXIN
+        bool "LANGUAGE-WAKEUP-MODE"
+    
+    config CONTINUOUS_CONVERSATION_MODE
+        bool "CONTINUOUS-CONVERSATION-MODE"
+    
+    endchoice
+    
+    choice RTC_MODE_CHOICE
+        prompt "rtc mode choice"
+        default COZE_REQUEST
+        help
+            Select rtc request mode
+    
+        config COZE_REQUEST
+            bool "enable coze request"
+    
+        config RTC_TOKEN_REQUEST
+            bool "enable rtc token request"
+    endchoice
+
+    choice RTC_BACKEND_PROVIDER
+        prompt "RTC backend provider"
+        default RTC_BACKEND_VOLC
+        help
+            Select the RTC SDK backend used by the AI RTC service.
+
+        config RTC_BACKEND_VOLC
+            bool "VolcEngine RTC (current default)"
+
+        config RTC_BACKEND_AGORA
+            bool "Agora RTC (migration target)"
+    endchoice
+
+    menu "Agora RTC Configuration"
+        depends on RTC_BACKEND_AGORA
+
+        config AGORA_SDK_ENABLED
+            bool "Agora SDK integrated"
+            default n
+            help
+                Enable this option after adding Agora RTC SDK headers/libs.
+
+        config AGORA_APP_ID
+            string "Agora App ID"
+            default ""
+
+        config AGORA_TOKEN
+            string "Agora RTC Token"
+            default ""
+
+        config AGORA_CHANNEL
+            string "Agora Channel Name"
+            default "default"
+
+        config AGORA_UID
+            int "Agora Local UID"
+            default 0
+    endmenu
+
+    choice TOUCH_SENSOR_IMPL
+        prompt "Touch Sensor Implementation"
+        default TOUCH_SENSOR_IMPL_ESP
+
+    config TOUCH_SENSOR_IMPL_ESP
+        bool "ESP32 Touch Pad"
+        help
+            Use ESP32 internal touch sensor (via touch_pad).
+
+    config TOUCH_SENSOR_IMPL_AW
+        bool "Awinic Touch Sensor"
+        help
+            Use Awinic AW933xx touch sensor.
+    
+    endchoice
+
+    choice BASE_BOARD_COMM_INTERFACE
+        prompt "Base Board Communication Interface"
+        default BASE_BOARD_COMM_UART
+        help
+            Select the communication interface for the base board.
+
+        config BASE_BOARD_COMM_UART
+            bool "UART (Legacy)"
+            help
+                Use UART for base board communication.
+
+        config BASE_BOARD_COMM_I2C
+            bool "I2C (v1.1.16+)"
+            help
+                Use I2C for base board communication.
+    endchoice
+    
+    
+    config COZE_URL
+        string "COZE-URL"
+        default "http://115.190.92.216:8899/startvoicechat"
+        depends on COZE_REQUEST
+    
+        config COZE_AUTHORIZATION
+            string "COZE-AUTHORIZATION"
+            default "af78e3067582ac8c04ba20174410bd1"
+            depends on COZE_REQUEST
+        
+        config COZE_BOTID
+            string "COZE-BOTID"
+            default "ep-20241104163951-sdmjc"
+            depends on COZE_REQUEST
+    
+    
+    config RTC_TOKEN
+        depends on RTC_TOKEN_REQUEST
+        config APPID
+            string "appid"
+            depends on RTC_TOKEN_REQUEST
+        
+        config ROOMID
+            string "roomid"
+            depends on RTC_TOKEN_REQUEST
+        
+        config UID
+            string "userid"
+            depends on RTC_TOKEN_REQUEST
+    
+        config TOKEN
+            string "token"
+            depends on RTC_TOKEN_REQUEST
+    
+    config ENABLE_RECORDER_DEBUG
+        bool "enable recorder debug save to sdcard"
+        default "n"
+        help
+            Save the data processed by AEC to the SD card. The saved file name is "rec.pcm", and by default, 30 seconds' worth of data will be saved.
+    
+    config ENABLE_OTA_UPDATE
+        bool "Enable OTA Update"
+        default y
+        help
+            Enable or disable OTA
+    
+    choice OTA_UPDATE_STRATEGY
+        prompt "OTA Update Strategy"
+        default OTA_MODE_NOTIFY
+        depends on ENABLE_OTA_UPDATE
+        help
+            Select the OTA update strategy
+    
+        config OTA_MODE_AUTO
+            bool "Auto Update (Immediate)"
+            help
+                Automatically download and install updates immediately
+    
+        config OTA_MODE_NOTIFY
+            bool "Notify Update (Wait for Confirmation)"
+            help
+                Wait for user confirmation before starting the OTA update process.
+    endchoice
+    
+    endmenu
+
+menu "QCloud COS Download Configuration"
+
+    config QCLOUD_COS_QUEUE_SIZE
+        int "COS download queue size"
+        default 20
+        range 1 100
+        help
+            Number of pending COS download messages that can be buffered.
+
+    config QCLOUD_COS_WORKER_COUNT
+        int "COS worker thread count"
+        default 1
+        range 1 4
+        help
+            Number of worker threads for COS download processing.
+
+    config QCLOUD_COS_WORKER_STACK_SIZE
+        int "COS worker stack size (bytes)"
+        default 16384
+        range 4096 65536
+        help
+            Stack size in bytes for each COS worker thread.
+
+    config QCLOUD_COS_HTTP_BUFFER_SIZE
+        int "COS HTTP download buffer size (bytes)"
+        default 32768
+        range 4096 131072
+        help
+            Buffer size used by HTTP read and esp_http_client internal buffer.
+
+    config QCLOUD_COS_ZIP_UNZIP_BUFFER_SIZE
+        int "COS ZIP unzip read buffer size (bytes)"
+        default 32768
+        range 4096 131072
+        help
+            Buffer size used when reading compressed data from ZIP entries.
+
+    config QCLOUD_COS_SD_WRITE_BUFFER_SIZE
+        int "COS SD write buffer size (bytes)"
+        default 32768
+        range 4096 131072
+        help
+            stdio write buffer size for HTTP download and ZIP extraction output.
+
+endmenu
+    
+    
+    menu "WiFi Configuration"
+        config ENABLE_HARDCODED_WIFI
+            bool "Enable Hardcoded WiFi Credentials"
+            default n
+            help
+                If enabled, the device will first attempt to connect to the specified WiFi network.
+                If disabled or connection fails, it will fall back to SmartConfig/QCloud provisioning.
+
+        config HARDCODED_WIFI_SSID
+            string "WiFi SSID"
+            depends on ENABLE_HARDCODED_WIFI
+            default ""
+            help
+                The SSID of the WiFi network to connect to.
+                Leave empty to fallback to SmartConfig/QCloud provisioning.
+
+        config HARDCODED_WIFI_PASSWORD
+            string "WiFi Password"
+            depends on ENABLE_HARDCODED_WIFI
+            default ""
+            help
+                The password of the WiFi network to connect to.
+    endmenu
+
+    # Sweekar Demo Selection
+    menu "Sweekar Demo Selection"
+    
+        choice SWEEKAR_DEMO_SELECTION
+            prompt "Select Active Demo"
+            default SWEEKAR_DEMO_3
+            help
+                Select which demo to build and run. Only one demo can be active at a time.
+    
+            config SWEEKAR_DEMO_2
+                bool "Demo 2"
+                
+            config SWEEKAR_DEMO_3
+                bool "Demo 3 - Basic Pet Game"
+                
+            config SWEEKAR_DEMO_5
+                bool "Demo 5"
+                
+            config SWEEKAR_DEMO_6  
+                bool "Demo 6 - Layered Architecture"
+                
+            config SWEEKAR_DEMO_7
+                bool "Demo 7 - Microkernel Architecture"
+                
+        endchoice
+    
+        config ACTIVE_DEMO_NAME
+            string
+            default "sweekar_demo2" if SWEEKAR_DEMO_2
+            default "sweekar_demo3" if SWEEKAR_DEMO_3
+            default "sweekar_demo5" if SWEEKAR_DEMO_5
+            default "sweekar_demo6" if SWEEKAR_DEMO_6
+            default "sweekar_demo7" if SWEEKAR_DEMO_7
+            
+        config SWEEKAR_DEMO6_HATCHING5_TVC
+            bool "Use TVC version for Hatching 5"
+            depends on SWEEKAR_DEMO_6
+            default n
+            help
+                If enabled, plays EGG_EMORAISING_HATCHING5_TVC instead of EGG_EMORAISING_HATCHING5_NORMAL during the final hatching stage.
+    
+    endmenu
+    
+    menu "ESP QCloud Example Configuration"
+        menu "Light development board selection "
+            choice LIGHTBULB_DEMO_DRIVER_SELECT
+                    bool "Demo select"
+                    default LIGHTBULB_DEMO_DRIVER_SELECT_WS2812 if IDF_TARGET_ESP32C3 || IDF_TARGET_ESP32S2 || IDF_TARGET_ESP32S3 || IDF_TARGET_ESP32H2
+                    default LIGHTBULB_DEMO_DRIVER_SELECT_PWM
+                    help
+                        Select the driver type you want to demonstrate
+    
+                    config LIGHTBULB_DEMO_DRIVER_SELECT_SM2135E
+                        bool "Demo SM2135E"
+                    config LIGHTBULB_DEMO_DRIVER_SELECT_WS2812
+                        bool "Demo WS2812"
+                    config LIGHTBULB_DEMO_DRIVER_SELECT_PWM
+                        bool "Demo PWM"
+            endchoice
+    
+            config WS2812_LED_GPIO
+                int "WS2812 LED GPIO"
+                default 8 if IDF_TARGET_ESP32C3 || IDF_TARGET_ESP32H2
+                default 18 if IDF_TARGET_ESP32S2
+                default 48 if IDF_TARGET_ESP32S3
+                default 4 if IDF_TARGET_ESP32C2
+                default 18
+                depends on LIGHTBULB_DEMO_DRIVER_SELECT_WS2812
+                help
+                    Set the WS2812 RGB LED GPIO.
+    
+            config WS2812_LED_NUM
+                int "WS2812 LED NUM"
+                default 1
+                depends on LIGHTBULB_DEMO_DRIVER_SELECT_WS2812
+                help
+                    Set the WS2812 LED NUM.
+    
+            config PWM_FREQ_HZ
+                int "PWM Frequency (hz)"
+                default 4000
+                range 2000 5000
+                depends on LIGHTBULB_DEMO_DRIVER_SELECT_PWM
+                help
+                    Set the PWM Frequency (hz).
+    
+            config PWM_RED_GPIO
+                int "PWM Red GPIO"
+                default 10 if IDF_TARGET_ESP32C3 || IDF_TARGET_ESP32S2
+                default 15 if IDF_TARGET_ESP32S3
+                default 0 if IDF_TARGET_ESP32C2
+                default 23 if IDF_TARGET_ESP32H2
+                default 25
+                depends on LIGHTBULB_DEMO_DRIVER_SELECT_PWM
+                help
+                    Set the PWM Red LED GPIO.
+    
+            config PWM_GREEN_GPIO
+                int "PWM Green GPIO"
+                default 6 if IDF_TARGET_ESP32C3 || IDF_TARGET_ESP32S2
+                default 16 if IDF_TARGET_ESP32S3
+                default 1 if IDF_TARGET_ESP32C2
+                default 24 if IDF_TARGET_ESP32H2
+                default 26
+                depends on LIGHTBULB_DEMO_DRIVER_SELECT_PWM
+                help
+                    Set the PWM Green LED GPIO.
+    
+            config PWM_BLUE_GPIO
+                int "PWM Blue GPIO"
+                default 7 if IDF_TARGET_ESP32C3 || IDF_TARGET_ESP32S2
+                default 17 if IDF_TARGET_ESP32S3
+                default 8 if IDF_TARGET_ESP32C2
+                default 25 if IDF_TARGET_ESP32H2
+                default 27
+                depends on LIGHTBULB_DEMO_DRIVER_SELECT_PWM
+                help
+                    Set the PWM Blue LED GPIO.
+    
+            config SM2135E_IIC_CLK_GPIO
+                int "SM2135E IIC CLK GPIO"
+                default 4
+                depends on LIGHTBULB_DEMO_DRIVER_SELECT_SM2135E
+                help
+                    Set the SM2135E CLK GPIO.
+    
+            config SM2135E_IIC_SDA_GPIO
+                int "SM2135E IIC SDA GPIO"
+                default 5
+                depends on LIGHTBULB_DEMO_DRIVER_SELECT_SM2135E
+                help
+                    Set the SM2135E SDA GPIO.
+    
+    
+    
+    
+    
+    
+    
+        endmenu
+    menu "Light provisioning network selection"
+            config LIGHT_PROVISIONING_SMARTCONFIG
+                bool "Enable SmartConfig's smart network configuration method"
+                default n
+                help
+                    Enable SmartConfig's smart network configuration method
+            
+            config LIGHT_PROVISIONING_SOFTAPCONFIG
+                bool "Enable SoftAP's network configuration method"
+                default y
+                help
+                    "Enable SoftAP's network configuration method"
+    
+            config LIGHT_PROVISIONING_BLECONFIG
+                depends on QCLOUD_ENABLE_BLECONFIG
+                bool "Enable BLE's network configuration method"
+                default y
+                help
+                    "Enable BLE's network configuration method"
+    
+            config LIGHT_PROVISIONING_SOFTAPCONFIG_SSID
+                depends on LIGHT_PROVISIONING_SOFTAPCONFIG
+                string "SoftAP ssid"
+                default "tcloud_XXX"
+                help
+                    SSID (network name) for the phone to connect to.
+    
+            config LIGHT_PROVISIONING_BLECONFIG_NAME
+                depends on LIGHT_PROVISIONING_BLECONFIG
+                string "BLE name"
+                default "Qcloud"
+                help
+                    BLE for the phone to connect to.
+        endmenu
+    
+        config LIGHT_REBOOT_UNBROKEN_COUNT_RESET
+            int "More than this number of continuous uninterrupted restarts triggers a reset of the device"
+            range 3 15
+            default 5
+            help
+                Devices without buttons trigger a device reset through continuous restart.
+    
+        config LIGHT_DEBUG
+            bool "The device will be in debug mode"
+            default n
+            help
+                Debug mode device performance is only used during development.
+    
+                
+    
+        choice QCLOUD_WIFI_CONFIG_METHOD
+            prompt "WiFi Provisioning Method"
+            default QCLOUD_WIFI_SMARTCONFIG
+            help
+                Select how the device should connect to WiFi.
+    
+            config QCLOUD_WIFI_PROVISIONING
+                bool "WeChat Mini-Program (connectWiFi)"
+                
+            config QCLOUD_WIFI_SMARTCONFIG
+                bool "ESP-Touch / SmartConfig (connectWiFi_smartconfig)"
+        endchoice
+    
+    endmenu
+    
diff --git a/main/MODULE_DEVELOPMENT_GUIDE.md b/main/MODULE_DEVELOPMENT_GUIDE.md
new file mode 100644
index 0000000..3293538
--- /dev/null
+++ b/main/MODULE_DEVELOPMENT_GUIDE.md
@@ -0,0 +1,124 @@
+# Sweekar-ESP32 模块化开发与构建系统指南
+
+为了支持多人无冲突协作，并保持系统代码的高内聚、低耦合，Sweekar-ESP32 的 CMake 构建系统采用 **“透明化脚手架 (Transparent Scaffolding) + Kconfig 自动组装”** 架构。
+
+在这套架构下，开发者在添加新的底层硬件驱动、业务服务或测试代码时，**完全不需要修改任何顶层文件（包括 `main/CMakeLists.txt` 和 `main/Kconfig.projbuild`）**，构建系统会自动帮你生成必要的模板文件，而后续的修改则完全交由你掌控，没有任何“黑魔法”。
+
+以下是添加新模块的标准流程和机制说明。
+
+---
+
+## 1. 确定模块归属的目录分类
+系统顶层会自动扫描以下目录下的子文件夹：
+- `04_hal/` : 硬件抽象层代码（如 Codec 驱动、马达驱动等）
+- `05_executors/` : 执行器组件（如 AudioPlayer, Display, 传感器读取等）
+- `05_service/` : 后台服务组件（如 AI RTC、QCloud、WiFi 连接等）
+- `06_behaviors/` : 行为逻辑组件
+- `tests/` : 各种测试模块（如麦克风测试、扬声器测试等）
+- `sweekar_demos/` : 各种组装好的 Demo 入口
+
+*假设我们要添加一个专门测试麦克风的模块，名为 `test_mic`，它显然应该归属于 `tests/` 目录。*
+
+## 2. 新建模块与文件 (自动化部分)
+在对应的分类下新建文件夹，并将你的源码和头文件放进去：
+```bash
+mkdir -p main/tests/test_mic
+touch main/tests/test_mic/test_mic.cc
+touch main/tests/test_mic/test_mic.h
+```
+
+**【核心自动化机制】**
+此时，你**不需要**手动去写 CMake 文件。你只需要在终端执行一次：
+```bash
+idf.py reconfigure
+```
+（或者 `idf.py build` 如果这是你第一次编译该工程）。
+
+构建系统中的 Python 脚本 (`generate_kconfig_modules.py`) 会在配置阶段自动扫描目录。当它发现 `tests/test_mic` 目录下有源码但**没有** `module.cmake` 时，它会**自动为你生成一个 `module.cmake` 脚手架文件**。
+
+自动生成的文件内容类似于：
+```cmake
+# main/tests/test_mic/module.cmake
+# 自动生成的模块脚手架，可直接手工修改。
+# 如果后续添加了新文件，可以手工在此处添加，或者删除本文件让脚本重新生成。
+
+if(NOT CONFIG_ENABLE_TEST_TEST_MIC AND NOT EARLY_EXPANSION)
+    message(STATUS "  [Skip] test_mic module disabled by menuconfig.")
+    return()
+endif()
+
+list(APPEND MODULE_SRCS
+    "tests/test_mic/test_mic.cc"
+)
+
+list(APPEND MODULE_INCLUDE_DIRS
+    "tests/test_mic"
+)
+
+# 需要公开依赖时，在这里手工补充。例如：
+# list(APPEND MODULE_REQUIRES
+#     esp_timer
+#     driver
+# )
+```
+
+## 3. 后续维护与修改 (手工部分)
+
+**“透明化”原则**：一旦 `module.cmake` 被生成，Python 脚本就**再也不会覆盖或修改它**。它现在完全属于你。
+
+### 3.1 当你新增/删除源文件时
+你有两种选择：
+1. **手动修改（推荐）**：直接打开 `module.cmake`，在 `list(APPEND MODULE_SRCS ...)` 中手动添加或删除文件路径。所见即所得，非常直观。
+2. **重新生成（偷懒大法）**：如果你一口气加了十几个文件，不想手写路径，你可以**直接删除**这个 `module.cmake` 文件，然后运行 `idf.py reconfigure`，脚本会重新帮你扫描并生成一份包含所有最新文件的脚手架。
+
+### 3.2 当你需要依赖其他库时
+直接在 `module.cmake` 底部，取消注释并填入你需要的 ESP-IDF 组件名（如 `esp_adc`, `audio_pipeline` 等）：
+```cmake
+list(APPEND MODULE_REQUIRES
+    audio_pipeline
+    driver
+)
+```
+
+## 4. 编写模块内部的 `Kconfig` (可选)
+系统会自动为你的模块生成一个默认的配置开关（例如 `CONFIG_ENABLE_TEST_TEST_MIC`）。
+- `tests/` 目录下的默认开关为关闭(`default n`)。
+- 其他目录默认开启(`default y`)。
+
+如果你需要为你的模块定义更复杂的配置选项（比如定义默认开启、依赖其他模块、或者包含子菜单），你可以在模块目录（`main/tests/test_mic/`）下建立一个名为 `Kconfig` 的文件：
+
+```kconfig
+# main/tests/test_mic/Kconfig
+config ENABLE_TEST_MIC
+    bool "Enable Microphone Test Module"
+    default n
+    help
+        Enable this to compile the microphone testing routines.
+```
+> 系统如果扫描到模块自带 `Kconfig`，就会使用你写的，而不再自动生成默认开关。
+
+## 5. 编译与配置
+1. 运行 `idf.py menuconfig`。
+2. 导航到 `Sweekar Subsystems Configuration` -> 对应的目录（如 `Tests Modules`）。
+3. 找到你刚刚添加的 `Enable test_mic`（或你自己定义的开关名字），按空格键勾选 `[*]`。
+4. 保存退出后，运行 `idf.py build` 即可！
+
+---
+
+## ⚠️ 常见问题与注意事项
+
+### Q: 为什么我新建了一个文件夹或者删除了 `module.cmake`，运行 `idf.py build` 没有反应？
+这是 CMake 的缓存机制导致的。如果你只是增删了目录或文件，但没有修改任何现有的 `CMakeLists.txt` 内容，CMake 会跳过配置阶段直接去编译，导致 Python 扫描脚本没有运行。
+**解决办法**：遇到这种情况，请明确告诉 IDF 重新配置：
+```bash
+idf.py reconfigure
+```
+然后再运行 `idf.py build`。
+
+### Q: 为什么要加 `NOT EARLY_EXPANSION`？
+ESP-IDF 的构建系统分为两步：
+1. **依赖解析阶段 (Early Expansion)**：此时 CMake 快速扫描所有组件收集 `REQUIRES`，但此时 `menuconfig` 的配置尚未加载，所有的 `CONFIG_xxx` 都是空值！
+2. **实际构建阶段 (Build Pass)**：此时配置加载完毕，开始真实编译。
+
+如果在 `module.cmake` 顶部仅仅写 `if(NOT CONFIG_ENABLE_XXX) return()`，会导致在依赖解析阶段该模块就被错误地跳过了，从而丢失其依赖声明，引发“找不到头文件”的编译灾难。
+加入 `AND NOT EARLY_EXPANSION` 后，能保证所有启用的组件依赖都被正确收集到构建树中，实现完美解耦。
diff --git a/main/generate_kconfig_modules.py b/main/generate_kconfig_modules.py
new file mode 100644
index 0000000..59cfa21
--- /dev/null
+++ b/main/generate_kconfig_modules.py
@@ -0,0 +1,247 @@
+import os
+import re
+
+# The directories to scan for Kconfig files
+SUBSYSTEM_DIRS = ["04_hal", "05_executors", "05_service", "06_behaviors", "tests"]
+TEMPLATE_SCAN_DIRS = SUBSYSTEM_DIRS + ["sweekar_demos"]
+BASE_DIR = os.path.dirname(os.path.abspath(__file__))
+OUTPUT_FILE = os.path.join(BASE_DIR, "Kconfig.modules")
+
+SOURCE_EXTENSIONS = (".c", ".cc", ".cpp")
+HEADER_EXTENSIONS = (".h", ".hpp")
+SKIP_DIR_NAMES = {"build", "__pycache__"}
+
+
+def iter_child_dirs(parent_dir):
+    if not os.path.exists(parent_dir):
+        return []
+    return sorted(
+        [
+            name
+            for name in os.listdir(parent_dir)
+            if os.path.isdir(os.path.join(parent_dir, name)) and not name.startswith(".")
+        ]
+    )
+
+
+def compute_default_config_name(subsystem_dir, module_name):
+    if subsystem_dir == "tests":
+        prefix = "TEST"
+    else:
+        prefix = subsystem_dir.split("_")[1].upper()
+        if prefix == "EXECUTORS":
+            prefix = "EXEC"
+        elif prefix == "BEHAVIORS":
+            prefix = "BEHAV"
+        elif prefix == "SERVICE":
+            prefix = "SVC"
+    return f"CONFIG_ENABLE_{prefix}_{module_name.upper()}"
+
+
+def contains_module_files(module_dir):
+    for _, _, files in os.walk(module_dir):
+        for filename in files:
+            if filename.endswith(SOURCE_EXTENSIONS) or filename.endswith(HEADER_EXTENSIONS):
+                return True
+    return False
+
+
+def collect_existing_module_cmake_files():
+    module_files = []
+    for root, _, files in os.walk(BASE_DIR):
+        if "module.cmake" in files:
+            module_files.append(os.path.join(root, "module.cmake"))
+    return sorted(module_files)
+
+
+def collect_module_files(module_dir):
+    srcs = []
+    include_dirs = {"."}
+
+    for root, dirs, files in os.walk(module_dir):
+        dirs[:] = [
+            d for d in dirs
+            if d not in SKIP_DIR_NAMES and not d.startswith(".")
+        ]
+
+        rel_root = os.path.relpath(root, module_dir).replace(os.sep, "/")
+        rel_root = "." if rel_root == "." else rel_root
+
+        has_header = False
+        for filename in files:
+            if filename.endswith(SOURCE_EXTENSIONS):
+                rel_path = os.path.normpath(os.path.join(rel_root, filename)).replace(os.sep, "/")
+                if rel_path.startswith("./"):
+                    rel_path = rel_path[2:]
+                srcs.append(rel_path)
+            elif filename.endswith(HEADER_EXTENSIONS):
+                has_header = True
+
+        if has_header:
+            include_dirs.add(rel_root)
+
+    srcs = sorted(set(srcs))
+    include_dirs = sorted(set(include_dirs))
+    return srcs, include_dirs
+
+
+def is_already_aggregated(rel_module_dir, existing_module_files):
+    rel_module_prefix = f'"{rel_module_dir}/'
+    for module_file in existing_module_files:
+        try:
+            with open(module_file, "r", encoding="utf-8") as f:
+                content = f.read()
+        except OSError:
+            continue
+
+        if rel_module_prefix in content:
+            return True
+    return False
+
+
+def render_module_template(subsystem_dir, module_name, module_dir):
+    srcs, include_dirs = collect_module_files(module_dir)
+    rel_module_dir = os.path.relpath(module_dir, BASE_DIR).replace(os.sep, "/")
+    
+    lines = [
+        f"# main/{subsystem_dir}/{module_name}/module.cmake",
+        "# 自动生成的模块脚手架，可直接手工修改。",
+        "# 如果后续添加了新文件，可以手工在此处添加，或者删除本文件让脚本重新生成。",
+        "",
+    ]
+
+    if subsystem_dir != "sweekar_demos":
+        config_name = compute_default_config_name(subsystem_dir, module_name)
+        lines.extend(
+            [
+                f"if(NOT {config_name} AND NOT EARLY_EXPANSION)",
+                f'    message(STATUS "  [Skip] {module_name} module disabled by menuconfig.")',
+                "    return()",
+                "endif()",
+                "",
+            ]
+        )
+
+    lines.append("list(APPEND MODULE_SRCS")
+    for src in srcs:
+        lines.append(f'    "{rel_module_dir}/{src}"')
+    lines.append(")")
+    lines.append("")
+
+    lines.append("list(APPEND MODULE_INCLUDE_DIRS")
+    for inc in include_dirs:
+        if inc == ".":
+            lines.append(f'    "{rel_module_dir}"')
+        else:
+            lines.append(f'    "{rel_module_dir}/{inc}"')
+    lines.append(")")
+    lines.append("")
+
+    lines.extend(
+        [
+            "# 需要公开依赖时，在这里手工补充。例如：",
+            "# list(APPEND MODULE_REQUIRES",
+            "#     esp_timer",
+            "#     driver",
+            "# )",
+            "",
+            "# 需要私有依赖时，在这里手工补充。例如：",
+            "# list(APPEND MODULE_PRIV_REQUIRES",
+            "#     nvs_flash",
+            "# )",
+            "",
+        ]
+    )
+    return "\n".join(lines)
+
+
+def ensure_module_templates():
+    created_files = []
+    existing_module_files = collect_existing_module_cmake_files()
+
+    for subsystem_dir in TEMPLATE_SCAN_DIRS:
+        dir_path = os.path.join(BASE_DIR, subsystem_dir)
+        if not os.path.exists(dir_path):
+            continue
+
+        for module_name in iter_child_dirs(dir_path):
+            if subsystem_dir == "sweekar_demos" and not module_name.startswith("sweekar_demo"):
+                continue
+
+            module_dir = os.path.join(dir_path, module_name)
+            module_cmake = os.path.join(module_dir, "module.cmake")
+            if os.path.exists(module_cmake):
+                continue
+
+            if not contains_module_files(module_dir):
+                continue
+
+            rel_module_dir = os.path.relpath(module_dir, BASE_DIR).replace(os.sep, "/")
+            if subsystem_dir != "sweekar_demos" and is_already_aggregated(rel_module_dir, existing_module_files):
+                continue
+
+            template_content = render_module_template(subsystem_dir, module_name, module_dir)
+            with open(module_cmake, "w", encoding="utf-8") as f:
+                f.write(template_content)
+            created_files.append(module_cmake)
+
+    return created_files
+
+def generate_kconfig_modules():
+    created_templates = ensure_module_templates()
+    kconfig_content = 'menu "Sweekar Subsystems Configuration"\n\n'
+
+    for d in SUBSYSTEM_DIRS:
+        dir_path = os.path.join(BASE_DIR, d)
+        if not os.path.exists(dir_path):
+            continue
+
+        # Create a pretty menu name from the directory name
+        # e.g., "05_executors" -> "05 Executors Modules"
+        parts = d.split('_')
+        menu_name = parts[0] + " " + " ".join([p.capitalize() for p in parts[1:]]) + " Modules"
+        
+        kconfig_content += f'    menu "{menu_name}"\n'
+
+        # Sort subdirectories to ensure consistent ordering
+        subdirs = iter_child_dirs(dir_path)
+        
+        for module_name in subdirs:
+            module_dir = os.path.join(dir_path, module_name)
+            kconfig_file = os.path.join(module_dir, "Kconfig")
+            
+            if os.path.exists(kconfig_file):
+                # If the module has its own Kconfig, just source it
+                # Make sure the source path is relative to the project root or uses proper env vars
+                # Since Kconfig.projbuild is processed relative to project root usually
+                rel_path = os.path.join("main", d, module_name, "Kconfig")
+                kconfig_content += f'        source "{rel_path}"\n'
+            else:
+                # If no Kconfig exists, generate a default toggle for it
+                config_name = compute_default_config_name(d, module_name)
+                pretty_name = " ".join([word.capitalize() for word in module_name.split('_')])
+                
+                # Default to 'n' for tests, 'y' for everything else
+                default_val = 'n' if d == 'tests' else 'y'
+
+                kconfig_content += f'''        config {config_name.replace("CONFIG_", "")}
+            bool "Enable {pretty_name}"
+            default {default_val}
+            help
+                Enable the {module_name} module in {d}.
+'''
+        kconfig_content += '    endmenu\n\n'
+    
+    kconfig_content += 'endmenu\n'
+
+    with open(OUTPUT_FILE, 'w') as f:
+        f.write(kconfig_content)
+    
+    print(f"Generated {OUTPUT_FILE} successfully.")
+    if created_templates:
+        print("Generated module.cmake templates:")
+        for path in created_templates:
+            print(f"  - {path}")
+
+if __name__ == "__main__":
+    generate_kconfig_modules()
\ No newline at end of file
diff --git a/main/idf_component.yml b/main/idf_component.yml
new file mode 100644
index 0000000..8768341
--- /dev/null
+++ b/main/idf_component.yml
@@ -0,0 +1,19 @@
+## IDF Component Manager Manifest File
+dependencies:
+  ## Required IDF version
+  idf:
+    version: '>=5.0.0'
+
+  # lvgl/lvgl: ^8.*
+  # 添加button组件依赖
+  # espressif/button: ~4.1.3
+
+  # 78/esp-wifi-connect: ~2.4.3
+
+  espressif/adc_battery_estimation: ^0.2.0
+
+  # lightbulb_driver: ^0.0.9
+  # espressif/touch_slider_sensor: ^0.2.0
+
+  # espressif/touch_button_sensor: ^0.2.0
+  
diff --git a/main/main.cc b/main/main.cc
new file mode 100644
index 0000000..c9d988f
--- /dev/null
+++ b/main/main.cc
@@ -0,0 +1,5 @@
+
+
+extern "C" void app_main() {
+
+}
\ No newline at end of file