磁铁、舵机、网页控制、通信协议

components/servo/servo.c

@@ -0,0 +1,89 @@
+/**
+ * @file    servo.c
+ * @brief   180° PWM 舵机控制实现 (LEDC, 50Hz, 0.5~2.5ms)
+ */
+
+#include "servo.h"
+#include "driver/ledc.h"
+#include "esp_log.h"
+
+#define SERVO_FREQ_HZ     50
+#define SERVO_TIMER       LEDC_TIMER_0
+#define SERVO_MODE        LEDC_LOW_SPEED_MODE
+#define SERVO_DUTY_RES    LEDC_TIMER_16_BIT   /* 0~65535 */
+#define SERVO_MAX_DUTY    65535
+
+/* 脉宽范围 (微秒) */
+#define PULSE_MIN_US  500
+#define PULSE_MAX_US  2500
+#define PERIOD_US     20000  /* 50Hz = 20ms */
+
+static const char *TAG = "SERVO";
+static ledc_channel_t s_channel;
+static float s_limit_up   = 180.0f;
+static float s_limit_down = 0.0f;
+
+/* 角度 → 占空比 */
+static uint32_t angle_to_duty(float angle)
+{
+    if (angle < 0.0f)   angle = 0.0f;
+    if (angle > 180.0f) angle = 180.0f;
+
+    float pulse_us = PULSE_MIN_US + (angle / 180.0f) * (PULSE_MAX_US - PULSE_MIN_US);
+    return (uint32_t)((pulse_us / PERIOD_US) * SERVO_MAX_DUTY);
+}
+
+void servo_init(int gpio)
+{
+    /* 分配 LEDC 通道 */
+    static int chan_idx = 0;
+    s_channel = (chan_idx++ == 0) ? LEDC_CHANNEL_0 : LEDC_CHANNEL_1;
+
+    ledc_timer_config_t timer_cfg = {
+        .speed_mode      = SERVO_MODE,
+        .duty_resolution = SERVO_DUTY_RES,
+        .timer_num       = SERVO_TIMER,
+        .freq_hz         = SERVO_FREQ_HZ,
+        .clk_cfg         = LEDC_AUTO_CLK,
+    };
+    ESP_ERROR_CHECK(ledc_timer_config(&timer_cfg));
+
+    ledc_channel_config_t chan_cfg = {
+        .gpio_num   = gpio,
+        .speed_mode = SERVO_MODE,
+        .channel    = s_channel,
+        .intr_type  = LEDC_INTR_DISABLE,
+        .timer_sel  = SERVO_TIMER,
+        .duty       = angle_to_duty(0),  /* 初始: 0° */
+        .hpoint     = 0,
+        .flags.output_invert = 0,
+    };
+    ESP_ERROR_CHECK(ledc_channel_config(&chan_cfg));
+
+    ESP_LOGI(TAG, "初始化完成 (GPIO%d, 50Hz, 通道%d)", gpio, s_channel);
+}
+
+void servo_set_angle(float angle)
+{
+    uint32_t duty = angle_to_duty(angle);
+    ESP_ERROR_CHECK(ledc_set_duty(SERVO_MODE, s_channel, duty));
+    ESP_ERROR_CHECK(ledc_update_duty(SERVO_MODE, s_channel));
+    ESP_LOGD(TAG, "角度: %.1f° (duty=%lu)", angle, duty);
+}
+
+void servo_set_up(void)
+{
+    servo_set_angle(s_limit_up);
+}
+
+void servo_set_down(void)
+{
+    servo_set_angle(s_limit_down);
+}
+
+void servo_set_limits(float up, float down)
+{
+    s_limit_up   = up;
+    s_limit_down = down;
+    ESP_LOGI(TAG, "限位: 上=%.0f° 下=%.0f°", up, down);
+}