Add initial board, HAL, and executor modules

main/05_executors/adc_battery_monitor/adc_battery_monitor.cc

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+#include "adc_battery_monitor.h"
+#include <esp_log.h>
+
+#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<void(bool)> 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<void()> callback) {
+    on_not_charging_callback_ = callback;
+}
+
+void AdcBatteryMonitor::OnFull(std::function<void()> callback) {
+    on_full_callback_ = callback;
+}
+
+void AdcBatteryMonitor::OnCharging(std::function<void()> 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;
+}

main/05_executors/adc_battery_monitor/adc_battery_monitor.h

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+#ifndef ADC_BATTERY_MONITOR_H
+#define ADC_BATTERY_MONITOR_H
+
+#include <functional>
+#include <driver/gpio.h>
+#include <adc_battery_estimation.h>
+#include <esp_timer.h>
+#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<void()> callback);  // 注册未充电回调
+    void OnFull(std::function<void()> callback);        // 注册充满电回调
+    void OnCharging(std::function<void()> callback);   // 注册充电中回调
+
+    void OnChargingStatusChanged(std::function<void(bool)> 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<void(bool)> on_charging_status_changed_;
+    std::function<void()> on_not_charging_callback_;  // 未充电回调函数
+    std::function<void()> on_full_callback_;          // 充满电回调函数
+    std::function<void()> on_charging_callback_;      // 充电中回调函数
+
+    void CheckBatteryStatus();
+};
+
+#endif // ADC_BATTERY_MONITOR_H

main/05_executors/adc_battery_monitor/module.cmake

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+# 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"
+)