Add initial board, HAL, and executor modules

main/04_hal/base_board_hal/base_board_hal.h

@@ -0,0 +1,41 @@
+#pragma once
+
+#include <cstdint>
+#include <cstddef>
+#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;
+};

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_;
+};

main/04_hal/base_board_hal/base_board_hal_uart.h

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+#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_;
+};

main/04_hal/base_board_hal/module.cmake

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+# 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"
+)