release v0.9

main/main.c

@@ -12,6 +12,7 @@
  *   ESP32 GPIO2       -> I2C SDA (← MPU)
  *   ESP32 GPIO3       -> I2C SCL
  *   ESP32 GPIO27       -> RGB LED (WS2812)
+ *   ESP32 GPIO8        -> 按钮 (低电平有效, 触发识别)
  *   ESP32 GND         -> 电机 GND / MPU GND
  *
  * 注: 日志控制台已切换到 USB Serial/JTAG (COM 口监视),
@@ -27,12 +28,63 @@
 #include "protocol.h"
 #include "rgb.h"
 #include "actuator.h"
+#include "key.h"
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
 #include "esp_log.h"
 
 static const char *TAG = "MAIN";
 
+/* ---- 按钮识别任务 ---- */
+#define RECOGNIZE_TIMEOUT_MS  20000
+#define RECOGNIZE_POLL_MS     100
+
+static void button_recognize_task(void *pvParam)
+{
+    while (1) {
+        if (key_is_pressed()) {
+            ESP_LOGI(TAG, "按钮按下, 归零后再发送 RECOGNIZE ...");
+
+            /* ---- 归零: 舵机抬起 + Z 回 0° ---- */
+            actuator_servo_up();
+            actuator_motor_angle(ACTUATOR_ADDR_ANGLE, 0.0f, 50, 100, true);
+            vTaskDelay(pdMS_TO_TICKS(500));
+
+            /* ---- XY 回零: X=0, Y=330 (vel=1500 acc=200) ---- */
+            actuator_motor_mm(ACTUATOR_ADDR_X, 0.0f, 1500, 200, true);
+            actuator_motor_mm(ACTUATOR_ADDR_Y1, 330.0f, 1500, 200, true);
+            vTaskDelay(pdMS_TO_TICKS(2000));
+
+            ESP_LOGI(TAG, "归零完成, 发送 RECOGNIZE ...");
+
+            /* 清除旧 Cycle 记录 */
+            actuator_clear_last_cycle();
+
+            /* 发送识别指令 */
+            edc_proto_send_recognize();
+
+            /* 等待 MPU 回传 Cycle, 超时则发送 REQUEST */
+            bool got_cycle = false;
+            int loops = RECOGNIZE_TIMEOUT_MS / RECOGNIZE_POLL_MS;
+            for (int i = 0; i < loops; i++) {
+                vTaskDelay(pdMS_TO_TICKS(RECOGNIZE_POLL_MS));
+                if (actuator_is_last_cycle_valid()) {
+                    got_cycle = true;
+                    ESP_LOGI(TAG, "RECOGNIZE 成功, 已收到 Cycle");
+                    break;
+                }
+            }
+
+            if (!got_cycle) {
+                ESP_LOGW(TAG, "RECOGNIZE 超时 (%d ms), 发送 CYCLE_REQUEST",
+                         RECOGNIZE_TIMEOUT_MS);
+                edc_proto_send_request();
+            }
+        }
+        vTaskDelay(pdMS_TO_TICKS(50));
+    }
+}
+
 void app_main(void)
 {
     /* 初始化 RGB LED (GPIO27, 最先启动, 指示系统状态) */
@@ -45,12 +97,18 @@ void app_main(void)
     /* 初始化电磁铁 (GPIO5) */
     magnet_init(GPIO_NUM_5);
 
+    /* 初始化按钮 (GPIO8, 低电平有效, 触发识别) */
+    key_init(GPIO_NUM_8);
+
     /* 初始化通讯协议 (I2C 从机 GPIO2/3 + UART0 GPIO11/12) */
     edc_proto_init(NULL);
 
     /* 启动协议接收任务 */
     xTaskCreate(edc_proto_task, "proto", 4096, NULL, 2, NULL);
 
+    /* 启动按钮识别任务 */
+    xTaskCreate(button_recognize_task, "btn", 2048, NULL, 1, NULL);
+
     /* 上电延时 2 秒, 等待电机闭环初始化完毕 */
     ESP_LOGI(TAG, "等待电机初始化...");
     vTaskDelay(pdMS_TO_TICKS(2000));