Add initial board, HAL, and executor modules

main/04_hal/stepper_driver/stepper_driver.h

@@ -0,0 +1,54 @@
+#ifndef STEPPER_DRIVER_H
+#define STEPPER_DRIVER_H
+
+#include <cstdint>
+#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