actuator应用层基本完成

components/actuator/CMakeLists.txt

@@ -0,0 +1,3 @@
+idf_component_register(SRCS "actuator.c"
+                       INCLUDE_DIRS "."
+                       REQUIRES emm_v5 servo protocol driver freertos)

components/actuator/actuator.c

@@ -0,0 +1,364 @@
+/**
+ * @file    actuator.c
+ * @brief   执行器应用层封装实现
+ */
+
+#include "actuator.h"
+#include "emm_v5.h"
+#include "servo.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "esp_log.h"
+#include <math.h>
+
+static const char *TAG = "ACTUATOR";
+
+/* ================================================================
+ * 运行时状态
+ * ================================================================ */
+
+static float s_scale_x     = ACTUATOR_SCALE_X;
+static float s_scale_y     = ACTUATOR_SCALE_Y;
+static float s_scale_angle = ACTUATOR_SCALE_ANGLE;
+
+static bool s_initialized = false;
+
+/* ================================================================
+ * 内部: 帧间间隔
+ *
+ * Emm_V5 驱动板无法解析 UART 上零间隔的背靠背连续帧 (会丢字节,
+ * 导致本帧与后续帧全部失效), 凡连发多帧必须插入该延时。
+ * 曾导致故障: Y 轴 3/4 号电机使能 (单帧) 正常, 速度/位置 (连发多帧) 无反应
+ * ================================================================ */
+
+static inline void _frame_gap(void)
+{
+    vTaskDelay(pdMS_TO_TICKS(ACTUATOR_FRAME_GAP_MS));
+}
+
+/* ================================================================
+ * 初始化
+ * ================================================================ */
+
+void actuator_init(void)
+{
+    /* 初始化电机驱动 UART */
+    Emm_V5_Init(ACTUATOR_UART_PORT, ACTUATOR_UART_TX, ACTUATOR_UART_RX);
+
+    /* 初始化舵机 PWM */
+    servo_init(ACTUATOR_SERVO_GPIO);
+
+    /* 配置 4 路电机: 闭环位置模式 + 使能 */
+    const uint8_t addrs[] = {
+        ACTUATOR_ADDR_ANGLE, ACTUATOR_ADDR_X,
+        ACTUATOR_ADDR_Y1,    ACTUATOR_ADDR_Y2
+    };
+    for (int i = 0; i < 4; i++) {
+        uint8_t addr = addrs[i];
+        Emm_V5_Modify_Ctrl_Mode(addr, false, ACTUATOR_CTRL_MODE);
+        vTaskDelay(pdMS_TO_TICKS(20));
+        Emm_V5_En_Control(addr, true, false);
+        vTaskDelay(pdMS_TO_TICKS(20));
+    }
+
+    s_initialized = true;
+    ESP_LOGI(TAG, "初始化完成 (Angle=addr%d X=addr%d Y=addr%d/%d, servo=GPIO%d)",
+             ACTUATOR_ADDR_ANGLE,
+             ACTUATOR_ADDR_X,
+             ACTUATOR_ADDR_Y1, ACTUATOR_ADDR_Y2,
+             ACTUATOR_SERVO_GPIO);
+}
+
+/* ================================================================
+ * 脉冲换算
+ * ================================================================ */
+
+void actuator_set_scale(float x_scale, float y_scale, float angle_scale)
+{
+    s_scale_x     = x_scale;
+    s_scale_y     = y_scale;
+    s_scale_angle = angle_scale;
+    ESP_LOGI(TAG, "脉冲比例: X=%.3f Y=%.3f Angle=%.3f",
+             s_scale_x, s_scale_y, s_scale_angle);
+}
+
+/* ================================================================
+ * 内部: 单轴绝对位置运动
+ * ================================================================ */
+
+static void _actuator_move_abs(uint8_t addr, uint8_t dir, uint32_t pulses,
+                               uint16_t vel, uint8_t acc, bool snF)
+{
+    Emm_V5_Pos_Control(addr, dir, vel, acc,
+                       pulses,
+                       true,           /* raF=true: 绝对运动 */
+                       snF);           /* 多机同步标志 */
+}
+
+/* ================================================================
+ * 内部: Y 轴双电机同步运动
+ * ================================================================ */
+
+static void _actuator_move_y_sync(uint32_t pulses_y)
+{
+    uint16_t vel = ACTUATOR_DEFAULT_VEL;
+    uint8_t  acc = ACTUATOR_DEFAULT_ACC;
+
+    /* Y 轴正向 = CCW (dir=1), 双电机同步 */
+    _actuator_move_abs(ACTUATOR_ADDR_Y1, ACTUATOR_DIR_Y, pulses_y, vel, acc, true);
+    _frame_gap();
+    _actuator_move_abs(ACTUATOR_ADDR_Y2, ACTUATOR_DIR_Y, pulses_y, vel, acc, true);
+    _frame_gap();
+
+    /* 广播地址触发一次, 两台电机同时开始运动 */
+    Emm_V5_Synchronous_motion(0);
+
+    ESP_LOGD(TAG, "Y 同步(CCW): addr%d+%d -> %lu pulses (%.2fmm)",
+             ACTUATOR_ADDR_Y1, ACTUATOR_ADDR_Y2, pulses_y,
+             (double)pulses_y / (double)ACTUATOR_SCALE_Y);
+}
+
+/* ================================================================
+ * 内部: 执行单个 Fragment
+ * ================================================================ */
+
+static void _actuator_move_fragment(const edc_fragment_t *frag)
+{
+    uint16_t vel = ACTUATOR_DEFAULT_VEL;
+    uint8_t  acc = ACTUATOR_DEFAULT_ACC;
+
+    /* target 坐标 → 脉冲数 */
+    uint32_t pulses_x     = (uint32_t)(frag->target.x         * s_scale_x);
+    uint32_t pulses_y     = (uint32_t)(frag->target.y         * s_scale_y);
+    uint32_t pulses_angle = (uint32_t)(frag->target.angle_x10 * s_scale_angle);
+
+    ESP_LOGI(TAG, "Fragment: X=%lu Y=%lu Angle=%lu (raw x=%u y=%u a=%u)",
+             pulses_x, pulses_y, pulses_angle,
+             frag->target.x, frag->target.y, frag->target.angle_x10);
+
+    /* Angle / Z 旋转轴 (独立, CW) */
+    _actuator_move_abs(ACTUATOR_ADDR_ANGLE, ACTUATOR_DIR_ANGLE, pulses_angle, vel, acc, false);
+    _frame_gap();
+
+    /* X 轴 (独立, CW) */
+    _actuator_move_abs(ACTUATOR_ADDR_X, ACTUATOR_DIR_X, pulses_x, vel, acc, false);
+    _frame_gap();
+
+    /* Y 轴 (双电机同步) */
+    _actuator_move_y_sync(pulses_y);
+}
+
+/* ================================================================
+ * 执行完整 Cycle
+ * ================================================================ */
+
+int actuator_execute_cycle(const edc_cycle_t *cycle)
+{
+    if (!s_initialized) {
+        ESP_LOGE(TAG, "未初始化, 无法执行 Cycle");
+        return -1;
+    }
+    if (!cycle) {
+        ESP_LOGE(TAG, "Cycle 指针为空");
+        return -1;
+    }
+    if (cycle->frag_count < EDC_FRAG_MIN || cycle->frag_count > EDC_FRAG_MAX) {
+        ESP_LOGE(TAG, "Fragment 数量无效: %u (需 %d~%d)",
+                 cycle->frag_count, EDC_FRAG_MIN, EDC_FRAG_MAX);
+        return -1;
+    }
+
+    ESP_LOGI(TAG, "=== Cycle #%u 开始 (%u fragments) ===",
+             cycle->cycle_id, cycle->frag_count);
+
+    for (int i = 0; i < cycle->frag_count; i++) {
+        ESP_LOGI(TAG, "-- Fragment %d/%d --", i + 1, cycle->frag_count);
+        _actuator_move_fragment(&cycle->fragments[i]);
+
+        /* 等待当前片段运动完成 (TODO: 改为轮询到位标志) */
+        if (i < cycle->frag_count - 1) {
+            vTaskDelay(pdMS_TO_TICKS(ACTUATOR_FRAG_DELAY_MS));
+        }
+    }
+
+    /* 最后一个 fragment 也等待 */
+    vTaskDelay(pdMS_TO_TICKS(ACTUATOR_FRAG_DELAY_MS));
+
+    ESP_LOGI(TAG, "=== Cycle #%u 完成 ===", cycle->cycle_id);
+    return 0;
+}
+
+/* ================================================================
+ * 急停
+ * ================================================================ */
+
+void actuator_stop_all(void)
+{
+    const uint8_t addrs[] = {
+        ACTUATOR_ADDR_ANGLE, ACTUATOR_ADDR_X,
+        ACTUATOR_ADDR_Y1,    ACTUATOR_ADDR_Y2
+    };
+    _frame_gap();  /* 防止与上一帧 UART 冲突 */
+    for (int i = 0; i < 4; i++) {
+        Emm_V5_Stop_Now(addrs[i], false);
+        _frame_gap();
+    }
+    ESP_LOGW(TAG, "全部电机急停");
+}
+
+/* ================================================================
+ * 舵机控制
+ * ================================================================ */
+
+void actuator_servo_up(void)
+{
+    servo_set_up();
+    ESP_LOGD(TAG, "舵机: 抬起");
+}
+
+void actuator_servo_down(void)
+{
+    servo_set_down();
+    ESP_LOGD(TAG, "舵机: 放下");
+}
+
+void actuator_servo_set_angle(float angle)
+{
+    servo_set_angle(angle);
+    ESP_LOGD(TAG, "舵机: %.1f°", (double)angle);
+}
+
+/* ================================================================
+ * 单电机手动控制 (Y 轴自动同步)
+ * ================================================================ */
+
+static inline bool _is_y_motor(uint8_t addr)
+{
+    return (addr == ACTUATOR_ADDR_Y1 || addr == ACTUATOR_ADDR_Y2);
+}
+
+void actuator_motor_enable(uint8_t addr, bool state)
+{
+    _frame_gap();  /* 防止与上一帧 UART 冲突 */
+    Emm_V5_En_Control(addr, state, false);
+    ESP_LOGI(TAG, "电机 %d %s", addr, state ? "使能" : "关闭");
+}
+
+void actuator_motor_vel(uint8_t addr, uint8_t dir, uint16_t vel, uint8_t acc)
+{
+    _frame_gap();  /* 防止与上一帧 UART 冲突 */
+    Emm_V5_Vel_Control(addr, dir, vel, acc, false);
+    ESP_LOGI(TAG, "速度: 电机%d %s %dRPM acc=%d",
+             addr, dir ? "CCW" : "CW", vel, acc);
+
+    /* Y 轴同步: 对端电机同样命令 (帧间留间隔) */
+    if (_is_y_motor(addr)) {
+        uint8_t peer = (addr == ACTUATOR_ADDR_Y1)
+                       ? ACTUATOR_ADDR_Y2 : ACTUATOR_ADDR_Y1;
+        _frame_gap();
+        Emm_V5_Vel_Control(peer, dir, vel, acc, false);
+        ESP_LOGD(TAG, "Y 同步: 电机%d 同速", peer);
+    }
+}
+
+void actuator_motor_pos(uint8_t addr, uint8_t dir, uint16_t vel, uint8_t acc,
+                        uint32_t clk, bool raF)
+{
+    _frame_gap();  /* 防止与上一帧 UART 冲突 */
+    if (_is_y_motor(addr)) {
+        /* Y 轴双电机同步位置 (帧间留间隔, 广播地址触发一次) */
+        uint8_t peer = (addr == ACTUATOR_ADDR_Y1)
+                       ? ACTUATOR_ADDR_Y2 : ACTUATOR_ADDR_Y1;
+        Emm_V5_Pos_Control(addr, dir, vel, acc, clk, raF, true);
+        _frame_gap();
+        Emm_V5_Pos_Control(peer, dir, vel, acc, clk, raF, true);
+        _frame_gap();
+        Emm_V5_Synchronous_motion(0);
+        ESP_LOGI(TAG, "位置(Y同步): 电机%d+%d %s %dRPM %lu脉冲 %s",
+                 addr, peer, dir ? "CCW" : "CW", vel, clk,
+                 raF ? "绝对" : "相对");
+    } else {
+        Emm_V5_Pos_Control(addr, dir, vel, acc, clk, raF, false);
+        ESP_LOGI(TAG, "位置: 电机%d %s %dRPM %lu脉冲 %s",
+                 addr, dir ? "CCW" : "CW", vel, clk,
+                 raF ? "绝对" : "相对");
+    }
+}
+
+void actuator_motor_angle(uint8_t addr, float angle_deg, uint16_t vel,
+                          uint8_t acc, bool raF)
+{
+    _frame_gap();  /* 防止与上一帧 UART 冲突 */
+    /* 方向由 Emm_V5_Pos_Control_Angle 根据角度正负自动翻转 */
+    uint8_t dir = ACTUATOR_DIR_ANGLE;
+
+    if (_is_y_motor(addr)) {
+        uint8_t peer = (addr == ACTUATOR_ADDR_Y1)
+                       ? ACTUATOR_ADDR_Y2 : ACTUATOR_ADDR_Y1;
+        Emm_V5_Pos_Control_Angle(addr, dir, vel, acc, angle_deg, raF, true);
+        _frame_gap();
+        Emm_V5_Pos_Control_Angle(peer, dir, vel, acc, angle_deg, raF, true);
+        _frame_gap();
+        Emm_V5_Synchronous_motion(0);
+        ESP_LOGI(TAG, "角度(Y同步): 电机%d+%d %.1f° %s vel=%dRPM",
+                 addr, peer, (double)angle_deg,
+                 raF ? "绝对" : "相对", vel);
+    } else {
+        Emm_V5_Pos_Control_Angle(addr, dir, vel, acc, angle_deg, raF, false);
+        ESP_LOGI(TAG, "角度: 电机%d %.1f° %s vel=%dRPM",
+                 addr, (double)angle_deg,
+                 raF ? "绝对" : "相对", vel);
+    }
+}
+
+void actuator_motor_mm(uint8_t addr, float distance_mm, uint16_t vel,
+                       uint8_t acc, bool raF)
+{
+    /* 软限位钳位 */
+    if (_is_y_motor(addr)) {
+        if (distance_mm < ACTUATOR_LIMIT_Y_MIN) distance_mm = ACTUATOR_LIMIT_Y_MIN;
+        if (distance_mm > ACTUATOR_LIMIT_Y_MAX) distance_mm = ACTUATOR_LIMIT_Y_MAX;
+    } else {
+        if (distance_mm < ACTUATOR_LIMIT_X_MIN) distance_mm = ACTUATOR_LIMIT_X_MIN;
+        if (distance_mm > ACTUATOR_LIMIT_X_MAX) distance_mm = ACTUATOR_LIMIT_X_MAX;
+    }
+
+    _frame_gap();  /* 防止与上一帧 UART 冲突 */
+    uint32_t clk = ACTUATOR_MM_TO_PULSES(distance_mm);
+    /* Y 轴正向 = CCW, X 轴正向 = CW */
+    uint8_t dir = _is_y_motor(addr) ? ACTUATOR_DIR_Y : ACTUATOR_DIR_X;
+
+    if (_is_y_motor(addr)) {
+        uint8_t peer = (addr == ACTUATOR_ADDR_Y1)
+                       ? ACTUATOR_ADDR_Y2 : ACTUATOR_ADDR_Y1;
+        Emm_V5_Pos_Control(addr, dir, vel, acc, clk, raF, true);
+        _frame_gap();
+        Emm_V5_Pos_Control(peer, dir, vel, acc, clk, raF, true);
+        _frame_gap();
+        Emm_V5_Synchronous_motion(0);
+        ESP_LOGI(TAG, "直线(Y同步 %s): 电机%d+%d %.2fmm (%lu脉冲) %s vel=%dRPM",
+                 dir ? "CCW" : "CW", addr, peer, (double)distance_mm,
+                 (unsigned long)clk, raF ? "绝对" : "相对", vel);
+    } else {
+        Emm_V5_Pos_Control(addr, dir, vel, acc, clk, raF, false);
+        ESP_LOGI(TAG, "直线(%s): 电机%d %.2fmm (%lu脉冲) %s vel=%dRPM",
+                 dir ? "CCW" : "CW", addr, (double)distance_mm,
+                 (unsigned long)clk, raF ? "绝对" : "相对", vel);
+    }
+}
+
+void actuator_motor_stop(uint8_t addr)
+{
+    _frame_gap();  /* 防止与上一帧 UART 冲突 */
+    Emm_V5_Stop_Now(addr, false);
+    ESP_LOGI(TAG, "停止: 电机%d", addr);
+
+    /* Y 轴同步停止 (帧间留间隔) */
+    if (_is_y_motor(addr)) {
+        uint8_t peer = (addr == ACTUATOR_ADDR_Y1)
+                       ? ACTUATOR_ADDR_Y2 : ACTUATOR_ADDR_Y1;
+        _frame_gap();
+        Emm_V5_Stop_Now(peer, false);
+        ESP_LOGD(TAG, "Y 同步: 电机%d 同停", peer);
+    }
+}

components/actuator/actuator.h

@@ -0,0 +1,239 @@
+/**
+ * @file    actuator.h
+ * @brief   执行器应用层封装 — 4 路步进电机 + 1 路舵机
+ *
+ * 轴映射:
+ *   1 号电机 (addr=1)  ── Angle/Z 旋转轴
+ *   2 号电机 (addr=2)  ── X 轴
+ *   3 号电机 (addr=3)  ── Y 轴  ─┐ 完全同步
+ *   4 号电机 (addr=4)  ── Y 轴  ─┘
+ *   舵机 (PWM)         ── Z 轴抬升 (仅抬起/放下两态)
+ *
+ * 运动模式: 位置模式, 绝对定位 (raF=true), 暂不标定
+ */
+
+#ifndef ACTUATOR_H
+#define ACTUATOR_H
+
+#include <stdint.h>
+#include <stdbool.h>
+#include "driver/gpio.h"
+#include "protocol.h"
+#include "emm_v5.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/* ================================================================
+ * 可配置宏 (可在项目级或 -D 覆盖)
+ * ================================================================ */
+
+/** 丝杆参数 (X / Y 轴直线运动) */
+#define ACTUATOR_SCREW_LEAD_MM   8.0f    /* 导程: 一圈 = 8mm 直线位移 */
+#define ACTUATOR_SCREW_PITCH_MM  2.0f    /* 螺距 */
+
+/** 电机 Emm_V5 地址 */
+#ifndef ACTUATOR_ADDR_ANGLE
+#define ACTUATOR_ADDR_ANGLE     1       /* Angle / Z 旋转轴 */
+#endif
+#ifndef ACTUATOR_ADDR_X
+#define ACTUATOR_ADDR_X         2       /* X 轴 */
+#endif
+#ifndef ACTUATOR_ADDR_Y1
+#define ACTUATOR_ADDR_Y1        3       /* Y 轴 #1 (同步) */
+#endif
+#ifndef ACTUATOR_ADDR_Y2
+#define ACTUATOR_ADDR_Y2        4       /* Y 轴 #2 (同步) */
+#endif
+
+/** 舵机 PWM GPIO */
+#ifndef ACTUATOR_SERVO_GPIO
+#define ACTUATOR_SERVO_GPIO     GPIO_NUM_4
+#endif
+
+/** 电机 UART 引脚 */
+#ifndef ACTUATOR_UART_PORT
+#define ACTUATOR_UART_PORT      UART_NUM_1
+#endif
+#ifndef ACTUATOR_UART_TX
+#define ACTUATOR_UART_TX        GPIO_NUM_6
+#endif
+#ifndef ACTUATOR_UART_RX
+#define ACTUATOR_UART_RX        GPIO_NUM_7
+#endif
+
+/** 默认速度 (RPM, 0~5000) */
+#ifndef ACTUATOR_DEFAULT_VEL
+#define ACTUATOR_DEFAULT_VEL     500
+#endif
+
+/** 默认加速度 (0~255, 0=直接启动) */
+#ifndef ACTUATOR_DEFAULT_ACC
+#define ACTUATOR_DEFAULT_ACC     50
+#endif
+
+/** 脉冲换算系数 (坐标值 × scale = 脉冲数)
+ *
+ * X/Y 轴: 丝杆导程 8mm → 一圈 8mm = 3200 脉冲
+ *          scale = 3200 / 8 = 400 脉冲/mm
+ *
+ * Z 旋转: angle_x10 单位为 0.1°
+ *          一圈 360° = 3600 (0.1°) = 3200 脉冲
+ *          scale = 3200 / 3600 ≈ 0.8889 脉冲/(0.1°)
+ */
+#ifndef ACTUATOR_SCALE_X
+#define ACTUATOR_SCALE_X         400.0f              /* mm → 脉冲 */
+#endif
+#ifndef ACTUATOR_SCALE_Y
+#define ACTUATOR_SCALE_Y         400.0f              /* mm → 脉冲 */
+#endif
+#ifndef ACTUATOR_SCALE_ANGLE
+#define ACTUATOR_SCALE_ANGLE     ((float)EMM_V5_PULSES_PER_REV / 3600.0f)  /* 0.1° → 脉冲 */
+#endif
+
+/** 便捷宏: mm 直线距离 → 脉冲数 (四舍五入) */
+#define ACTUATOR_MM_TO_PULSES(mm)  ((uint32_t)((float)(mm) * ACTUATOR_SCALE_X + 0.5f))
+
+/** 软限位 (左上零点坐标系, 单位 mm) */
+#define ACTUATOR_LIMIT_X_MIN       0.0f
+#define ACTUATOR_LIMIT_X_MAX       210.0f
+#define ACTUATOR_LIMIT_Y_MIN       0.0f
+#define ACTUATOR_LIMIT_Y_MAX       335.0f
+
+/** Fragment 间等待 (ms), 暂用固定延时替代到位检测 */
+#ifndef ACTUATOR_FRAG_DELAY_MS
+#define ACTUATOR_FRAG_DELAY_MS   500
+#endif
+
+/**
+ * 连续多帧之间的间隔 (ms)
+ * Emm_V5 驱动板无法解析 UART 上零间隔的背靠背连续帧 (会丢字节),
+ * 凡是一次动作需要连发多帧 (如 Y 轴双电机), 帧间必须插入该延时
+ */
+#ifndef ACTUATOR_FRAME_GAP_MS
+#define ACTUATOR_FRAME_GAP_MS    10
+#endif
+
+/** 控制模式: 2 = 闭环位置模式 */
+#define ACTUATOR_CTRL_MODE       2
+
+/**
+ * XY 平面左上零点坐标系 运动方向:
+ *   X 轴正向 (→): CW  (dir=0)  ── 电机2
+ *   Y 轴正向 (↓): CCW (dir=1)  ── 电机3+4 (双电机同步)
+ *   Z 旋转正向 (↻): CW (dir=0) ── 电机1
+ */
+#define ACTUATOR_DIR_X      0   /* X轴正向 = CW */
+#define ACTUATOR_DIR_Y      1   /* Y轴正向 = CCW */
+#define ACTUATOR_DIR_ANGLE  0   /* Z旋转正向 = CW */
+
+/* ================================================================
+ * API
+ * ================================================================ */
+
+/**
+ * @brief  初始化所有执行器
+ * @note   内部调用 Emm_V5_Init + servo_init + 4 路电机使能 + 闭环模式
+ */
+void actuator_init(void);
+
+/**
+ * @brief  设置脉冲换算系数
+ * @param  x_scale     X 轴: 坐标值 × x_scale = 脉冲数
+ * @param  y_scale     Y 轴: 坐标值 × y_scale = 脉冲数
+ * @param  angle_scale Z 旋转: angle_x10 × angle_scale = 脉冲数
+ */
+void actuator_set_scale(float x_scale, float y_scale, float angle_scale);
+
+/**
+ * @brief  执行一个完整 Cycle (遍历所有 Fragment, 逐段运动)
+ * @param  cycle  协议下发的 Cycle 数据
+ * @return 0 成功, -1 参数无效
+ */
+int actuator_execute_cycle(const edc_cycle_t *cycle);
+
+/**
+ * @brief  急停全部 4 路电机
+ */
+void actuator_stop_all(void);
+
+/**
+ * @brief  舵机: 抬起 (上限位)
+ */
+void actuator_servo_up(void);
+
+/**
+ * @brief  舵机: 放下 (下限位)
+ */
+void actuator_servo_down(void);
+
+/**
+ * @brief  舵机: 设置任意角度
+ * @param  angle  角度 0.0 ~ 180.0
+ */
+void actuator_servo_set_angle(float angle);
+
+/* ---- 单电机手动控制 (Web 调试用, Y 轴自动同步) ---- */
+
+/**
+ * @brief  单电机使能控制 (Y 轴电机各自独立)
+ * @param  addr   电机地址 (1~4)
+ * @param  state  使能状态
+ */
+void actuator_motor_enable(uint8_t addr, bool state);
+
+/**
+ * @brief  单电机速度模式 (Y 轴地址 3/4 自动同步)
+ * @param  addr  电机地址 (1~4)
+ * @param  dir   方向, 0=CW, 非0=CCW
+ * @param  vel   速度 0~5000 RPM
+ * @param  acc   加速度 0~255
+ */
+void actuator_motor_vel(uint8_t addr, uint8_t dir, uint16_t vel, uint8_t acc);
+
+/**
+ * @brief  单电机位置模式 (Y 轴地址 3/4 自动同步)
+ * @param  addr  电机地址 (1~4)
+ * @param  dir   方向, 0=CW, 非0=CCW
+ * @param  vel   速度 0~5000 RPM
+ * @param  acc   加速度 0~255
+ * @param  clk   脉冲数
+ * @param  raF   相对/绝对, false=相对, true=绝对
+ */
+void actuator_motor_pos(uint8_t addr, uint8_t dir, uint16_t vel, uint8_t acc,
+                        uint32_t clk, bool raF);
+
+/**
+ * @brief  单电机角度直控 (Y 轴地址 3/4 自动同步)
+ * @param  addr      电机地址 (1~4)
+ * @param  angle_deg 目标角度 (°), 内部换算为脉冲 (3200=360°)
+ * @param  vel       速度 0~5000 RPM
+ * @param  acc       加速度 0~255
+ * @param  raF       相对/绝对, false=相对, true=绝对
+ */
+void actuator_motor_angle(uint8_t addr, float angle_deg, uint16_t vel,
+                          uint8_t acc, bool raF);
+
+/**
+ * @brief  单电机直线距离控制 (X/Y 轴, Y 轴地址 3/4 自动同步)
+ * @param  addr        电机地址 (2=X, 3/4=Y)
+ * @param  distance_mm 直线移动距离 (mm), 丝杆导程 8mm/圈
+ * @param  vel         速度 0~5000 RPM
+ * @param  acc         加速度 0~255
+ * @param  raF         相对/绝对, false=相对, true=绝对
+ */
+void actuator_motor_mm(uint8_t addr, float distance_mm, uint16_t vel,
+                       uint8_t acc, bool raF);
+
+/**
+ * @brief  单电机立即停止 (Y 轴地址 3/4 自动同步)
+ * @param  addr  电机地址 (1~4)
+ */
+void actuator_motor_stop(uint8_t addr);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif /* ACTUATOR_H */

components/emm_v5/emm_v5.c

@@ -5,6 +5,7 @@
 
 #include "emm_v5.h"
 #include <string.h>
+#include <math.h>
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
 #include "esp_timer.h"
@@ -161,6 +162,18 @@ void Emm_V5_Pos_Control(uint8_t addr, uint8_t dir, uint16_t vel, uint8_t acc,
     Emm_V5_Send(cmd, 13);
 }
 
+void Emm_V5_Pos_Control_Angle(uint8_t addr, uint8_t dir, uint16_t vel,
+                              uint8_t acc, float angle_deg, bool raF, bool snF)
+{
+    /* 负角度 → 取绝对值 + 翻转方向 */
+    float    abs_deg = fabsf(angle_deg);
+    uint32_t clk     = EMM_V5_DEG_TO_CLK(abs_deg);
+    if (angle_deg < 0.0f) dir = (uint8_t)(!dir);
+    ESP_LOGD("EMM_V5", "角度→脉冲: %.1f° (%s) → %lu",
+             (double)angle_deg, dir ? "CCW" : "CW", (unsigned long)clk);
+    Emm_V5_Pos_Control(addr, dir, vel, acc, clk, raF, snF);
+}
+
 void Emm_V5_Stop_Now(uint8_t addr, bool snF)
 {
     uint8_t cmd[5] = {addr, 0xFE, 0x98, (uint8_t)snF, 0x6B};

components/emm_v5/emm_v5.h

@@ -30,6 +30,16 @@ extern "C" {
 /* 接收超时时间 (毫秒) */
 #define EMM_V5_RX_TIMEOUT_MS    100
 
+/**
+ * Emm 固件角度 ↔ 脉冲 换算
+ * 1.8° 步进电机 + 16 微步 → 3200 脉冲/圈
+ * 每脉冲 = 1.8° / 16 = 0.1125°
+ */
+#define EMM_V5_PULSES_PER_REV   3200
+#define EMM_V5_DEG_TO_CLK(deg)  ((uint32_t)((float)(deg) * \
+                                  (float)EMM_V5_PULSES_PER_REV / 360.0f + 0.5f))
+#define EMM_V5_CLK_TO_DEG(clk)  ((float)(clk) * 0.1125f)
+
 /* ============================================================
  * 系统参数枚举 (与 Arduino 版本一致)
  * ============================================================ */
@@ -120,6 +130,19 @@ void Emm_V5_Vel_Control(uint8_t addr, uint8_t dir, uint16_t vel, uint8_t acc, bo
 void Emm_V5_Pos_Control(uint8_t addr, uint8_t dir, uint16_t vel, uint8_t acc,
                         uint32_t clk, bool raF, bool snF);
 
+/**
+ * @brief  位置模式控制 (角度输入, °)
+ * @param  addr      电机地址
+ * @param  dir       方向, 0=CW, 其他=CCW
+ * @param  vel       速度 0~5000 RPM
+ * @param  acc       加速度 0~255 (0=直接启动)
+ * @param  angle_deg 目标角度 (°), 内部换算为脉冲 (3200=360°)
+ * @param  raF       相对/绝对, false=相对, true=绝对
+ * @param  snF       多机同步标志, false=不启用, true=启用
+ */
+void Emm_V5_Pos_Control_Angle(uint8_t addr, uint8_t dir, uint16_t vel,
+                              uint8_t acc, float angle_deg, bool raF, bool snF);
+
 /**
  * @brief  立即停止电机 (所有控制模式通用)
  * @param  addr  电机地址
@@ -129,7 +152,8 @@ void Emm_V5_Stop_Now(uint8_t addr, bool snF);
 
 /**
  * @brief  触发多机同步开始运动
- * @param  addr  电机地址
+ * @param  addr  电机地址; 协议约定使用广播地址 0 发送一次,
+ *               所有以 snF=true 入队的电机会同时启动
  */
 void Emm_V5_Synchronous_motion(uint8_t addr);
 

components/web_ctrl/CMakeLists.txt

@@ -1,3 +1,3 @@
 idf_component_register(SRCS "web_ctrl.c"
                        INCLUDE_DIRS "."
-                       REQUIRES emm_v5 magnet servo esp_http_server esp_wifi nvs_flash protocol)
+                       REQUIRES emm_v5 magnet servo esp_http_server esp_wifi nvs_flash protocol actuator)

components/web_ctrl/web_ctrl.c

@@ -8,6 +8,7 @@
 #include "magnet.h"
 #include "servo.h"
 #include "protocol.h"
+#include "actuator.h"
 
 #include <string.h>
 #include <stdlib.h>
@@ -118,37 +119,64 @@ button:active{opacity:.7}
 <div class="grid">
 
 <div class="card">
-  <h2><i class="tag"></i>电机使能</h2>
-  <div class="row"><label>地址</label><input id="en_addr" type="number" value="1" min="1" max="247"></div>
+  <h2><i class="tag green"></i>轴控制 (XYZA)</h2>
+  <div class="row"><label>X mm</label><input id="ax_x" type="number" value="0" min="0" max="210" step="0.1"><span class="unit">→电机2 (CW) 0~210</span></div>
+  <div class="row"><label>Y mm</label><input id="ax_y" type="number" value="0" min="0" max="335" step="0.1"><span class="unit">→电机3+4 (CCW) 0~335</span></div>
+  <div class="row"><label>Z °</label><input id="ax_zrot" type="number" value="0" step="0.1"><span class="unit">→电机1 (±: CW/CCW)</span></div>
+  <div class="row"><label>舵机</label><input id="ax_servo" type="number" value="90" min="0" max="180" step="0.5"><span class="unit">°</span></div>
+  <div class="row"><label>速度</label><input id="ax_vel" type="number" value="500" min="0" max="5000"><span class="unit">RPM</span></div>
+  <div class="row"><label>加速度</label><input id="ax_acc" type="number" value="50" min="0" max="255"></div>
   <div class="btn-row">
-    <button class="btn-on" onclick="api('enable?addr='+v('en_addr')+'&state=1')">使能</button>
-    <button class="btn-off" onclick="api('enable?addr='+v('en_addr')+'&state=0')">关闭</button>
+    <button class="btn-go" onclick="axisMove()">移动到目标</button>
+    <button class="btn-stop" onclick="api('stop?addr=1');api('stop?addr=2');api('stop?addr=3');api('stop?addr=4')">急停全部</button>
+  </div>
+</div>
+
+<div class="card">
+  <h2><i class="tag"></i>电机使能</h2>
+  <div class="row"><label>地址</label><input id="en_addr" type="text" value="1" placeholder="1 或 1|2"></div>
+  <div class="btn-row">
+    <button class="btn-on" onclick="apiEach('enable','en_addr','&state=1')">使能</button>
+    <button class="btn-off" onclick="apiEach('enable','en_addr','&state=0')">关闭</button>
   </div>
 </div>
 
 <div class="card">
   <h2><i class="tag"></i>速度模式</h2>
-  <div class="row"><label>地址</label><input id="v_addr" type="number" value="1" min="1" max="247"></div>
+  <div class="row"><label>地址</label><input id="v_addr" type="text" value="1" placeholder="1 或 1|2"></div>
   <div class="row"><label>方向</label><select id="v_dir"><option value="0">CW 正转</option><option value="1">CCW 反转</option></select></div>
   <div class="row"><label>速度</label><input id="v_vel" type="number" value="100" min="0" max="5000"><span class="unit">RPM</span></div>
   <div class="row"><label>加速度</label><input id="v_acc" type="number" value="10" min="0" max="255"></div>
   <div class="btn-row">
-    <button class="btn-go" onclick="api('velocity?addr='+v('v_addr')+'&dir='+v('v_dir')+'&vel='+v('v_vel')+'&acc='+v('v_acc'))">启动</button>
-    <button class="btn-stop" onclick="api('stop?addr='+v('v_addr'))">停止</button>
+    <button class="btn-go" onclick="apiEach('velocity','v_addr','&dir='+v('v_dir')+'&vel='+v('v_vel')+'&acc='+v('v_acc'))">启动</button>
+    <button class="btn-stop" onclick="apiEach('stop','v_addr','')">停止</button>
   </div>
 </div>
 
 <div class="card">
   <h2><i class="tag"></i>位置模式</h2>
-  <div class="row"><label>地址</label><input id="p_addr" type="number" value="1" min="1" max="247"></div>
+  <div class="row"><label>地址</label><input id="p_addr" type="text" value="1" placeholder="1 或 1|2"></div>
   <div class="row"><label>方向</label><select id="p_dir"><option value="0">CW 正转</option><option value="1">CCW 反转</option></select></div>
   <div class="row"><label>速度</label><input id="p_vel" type="number" value="100" min="0" max="5000"><span class="unit">RPM</span></div>
   <div class="row"><label>加速度</label><input id="p_acc" type="number" value="10" min="0" max="255"></div>
   <div class="row"><label>脉冲数</label><input id="p_clk" type="number" value="2000" min="0"></div>
   <div class="row"><label>模式</label><select id="p_raf"><option value="0">相对运动</option><option value="1">绝对运动</option></select></div>
   <div class="btn-row">
-    <button class="btn-go" onclick="api('position?addr='+v('p_addr')+'&dir='+v('p_dir')+'&vel='+v('p_vel')+'&acc='+v('p_acc')+'&clk='+v('p_clk')+'&raf='+v('p_raf'))">启动</button>
-    <button class="btn-stop" onclick="api('stop?addr='+v('p_addr'))">停止</button>
+    <button class="btn-go" onclick="apiEach('position','p_addr','&dir='+v('p_dir')+'&vel='+v('p_vel')+'&acc='+v('p_acc')+'&clk='+v('p_clk')+'&raf='+v('p_raf'))">启动</button>
+    <button class="btn-stop" onclick="apiEach('stop','p_addr','')">停止</button>
+  </div>
+</div>
+
+<div class="card">
+  <h2><i class="tag green"></i>角度直控 (°)</h2>
+  <div class="row"><label>地址</label><input id="ag_addr" type="text" value="1" placeholder="1 或 1|2"></div>
+  <div class="row"><label>角度</label><input id="ag_angle" type="number" value="90" min="-3600" max="3600" step="0.1"><span class="unit">° (3200=360°)</span></div>
+  <div class="row"><label>速度</label><input id="ag_vel" type="number" value="500" min="0" max="5000"><span class="unit">RPM</span></div>
+  <div class="row"><label>加速度</label><input id="ag_acc" type="number" value="50" min="0" max="255"></div>
+  <div class="row"><label>模式</label><select id="ag_raf"><option value="1">绝对运动</option><option value="0">相对运动</option></select></div>
+  <div class="btn-row">
+    <button class="btn-go" onclick="apiEach('angle','ag_addr','&angle='+v('ag_angle')+'&vel='+v('ag_vel')+'&acc='+v('ag_acc')+'&raf='+v('ag_raf'))">转到角度</button>
+    <button class="btn-stop" onclick="apiEach('stop','ag_addr','')">停止</button>
   </div>
 </div>
 
@@ -174,6 +202,56 @@ button:active{opacity:.7}
   </div>
 </div>
 
+<div class="card">
+  <h2><i class="tag amber"></i>位置清零 & 堵转解除</h2>
+  <div class="row"><label>地址</label><input id="rz_addr" type="number" value="1" min="1" max="247"></div>
+  <div class="btn-row">
+    <button class="btn-go" onclick="api('reset_pos?addr='+v('rz_addr'))">位置清零</button>
+    <button class="btn-stop" onclick="api('reset_clog?addr='+v('rz_addr'))">解除堵转</button>
+  </div>
+</div>
+
+<div class="card">
+  <h2><i class="tag"></i>读取参数</h2>
+  <div class="row"><label>地址</label><input id="rp_addr" type="number" value="1" min="1" max="247"></div>
+  <div class="row"><label>参数</label><select id="rp_param">
+    <option value="0">0-固件版本</option><option value="1">1-相电阻/电感</option>
+    <option value="2">2-PID参数</option><option value="3">3-总线电压</option>
+    <option value="5">5-相电流</option><option value="7">7-编码器值</option>
+    <option value="8">8-目标位置</option><option value="9">9-实时转速</option>
+    <option value="10" selected>10-实时位置</option><option value="11">11-位置误差</option>
+    <option value="13">13-状态标志位</option><option value="14">14-驱动参数</option>
+    <option value="15">15-系统状态</option><option value="16">16-回零状态</option>
+  </select></div>
+  <button class="btn-go btn-block" onclick="readParam()">读取</button>
+  <div id="rp_out" style="font-size:.75rem;color:var(--sub);margin-top:8px;word-break:break-all"></div>
+</div>
+
+<div class="card">
+  <h2><i class="tag amber"></i>回零控制</h2>
+  <div class="row"><label>地址</label><input id="og_addr" type="number" value="1" min="1" max="247"></div>
+  <div class="row"><label>模式</label><select id="og_omode">
+    <option value="0">0-单圈就近</option><option value="1">1-单圈方向</option>
+    <option value="2">2-多圈无限位</option><option value="3">3-多圈有限位</option>
+  </select></div>
+  <div class="row"><label>方向</label><select id="og_odir"><option value="0">CW</option><option value="1">CCW</option></select></div>
+  <div class="row"><label>速度</label><input id="og_ovel" type="number" value="200" min="0" max="5000"><span class="unit">RPM</span></div>
+  <div class="row"><label>超时</label><input id="og_otm" type="number" value="10000" min="0"><span class="unit">ms</span></div>
+  <div class="row"><label>碰检速</label><input id="og_slvel" type="number" value="100" min="0" max="5000"><span class="unit">RPM</span></div>
+  <div class="row"><label>碰检流</label><input id="og_slma" type="number" value="500" min="0"><span class="unit">mA</span></div>
+  <div class="row"><label>碰检时</label><input id="og_slms" type="number" value="100" min="0"><span class="unit">ms</span></div>
+  <div class="row"><label>存储</label><select id="og_svf"><option value="0">不存储</option><option value="1">存储</option></select></div>
+  <div class="row"><label>上电回零</label><select id="og_potf"><option value="0">不使能</option><option value="1">使能</option></select></div>
+  <div class="btn-row">
+    <button class="btn-go" onclick="api('origin_set?addr='+v('og_addr')+'&svf='+v('og_svf'))">设零点</button>
+    <button class="btn-on" onclick="api('origin_config?addr='+v('og_addr')+'&svf='+v('og_svf')+'&omode='+v('og_omode')+'&odir='+v('og_odir')+'&ovel='+v('og_ovel')+'&otm='+v('og_otm')+'&slvel='+v('og_slvel')+'&slma='+v('og_slma')+'&slms='+v('og_slms')+'&potf='+v('og_potf'))">配置参数</button>
+  </div>
+  <div class="btn-row">
+    <button class="btn-go" onclick="api('origin_go?addr='+v('og_addr')+'&omode='+v('og_omode'))">触发回零</button>
+    <button class="btn-stop" onclick="api('origin_stop?addr='+v('og_addr'))">中断回零</button>
+  </div>
+</div>
+
 </div>
 
 <div class="card" id="proto-card">
@@ -208,6 +286,41 @@ function api(cmd){
     l.innerHTML='<div class="err">请求失败</div>'+l.innerHTML
   })
 }
+function apiEach(ep,id,ext){
+  var addrs=v(id).split('|');
+  for(var i=0;i<addrs.length;i++){
+    api(ep+'?addr='+addrs[i].trim()+ext)
+  }
+}
+function axisMove(){
+  var x=v('ax_x'),y=v('ax_y'),z=v('ax_zrot'),s=v('ax_servo');
+  var vel=v('ax_vel'),acc=v('ax_acc');
+  /* X: CW(dir=0) | Y: CCW(dir=1) 由 actuator_motor_mm 自动处理 | Z: CW(dir=0) */
+  /* 允许 0 值: 绝对模式下 0=回到原点 */
+  api('mm?addr=2&mm='+(x||'0')+'&vel='+vel+'&acc='+acc+'&raf=1');
+  api('mm?addr=3&mm='+(y||'0')+'&vel='+vel+'&acc='+acc+'&raf=1');
+  api('angle?addr=1&angle='+(z||'0')+'&vel='+vel+'&acc='+acc+'&raf=1');
+  api('servo?angle='+(s||'90'));
+}
+function readParam(){
+  var addr=v('rp_addr'),param=v('rp_param');
+  fetch('/api/read_param?addr='+addr+'&param='+param)
+    .then(r=>r.json()).then(d=>{
+      var h='addr='+d.addr+' param='+d.param+' sign='+d.sign;
+      if(d.angle!==undefined){
+        var sg=d.sign?'-':'';
+        h+='<br><b style="color:var(--accent);font-size:1.2rem">'+sg+d.angle.toFixed(2)+'°</b>';
+        h+=' <span style="font-size:.7rem">(raw: '+d.val32+' / 0x'+d.val32.toString(16).toUpperCase()+')</span>';
+      }
+      if(d.val16!==undefined && d.angle===undefined){
+        h+='<br><b style="color:var(--accent)">'+d.val16+'</b> <span style="font-size:.7rem">(16bit)</span>';
+      }
+      h+='<br><span style="font-size:.6rem;opacity:.5">raw: '+d.hex+'</span>';
+      document.getElementById('rp_out').innerHTML = h;
+    }).catch(function(e){
+      document.getElementById('rp_out').innerHTML='读取失败'
+    });
+}
 fetch('/api/status').then(function(r){return r.json()}).then(function(d){
   document.getElementById('wifi').innerHTML='<i class="dot"></i>WiFi: '+d.ssid;
   document.getElementById('ip').textContent='IP: '+d.ip
@@ -336,38 +449,44 @@ static int get_query_int(httpd_req_t *req, const char *key, int def)
     return def;
 }
 
+static float get_query_float(httpd_req_t *req, const char *key, float def)
+{
+    char buf[128];
+    size_t len = httpd_req_get_url_query_len(req) + 1;
+    if (len > sizeof(buf)) len = sizeof(buf);
+    if (httpd_req_get_url_query_str(req, buf, len) == ESP_OK) {
+        char val[16];
+        if (httpd_query_key_value(buf, key, val, sizeof(val)) == ESP_OK) {
+            return (float)atof(val);
+        }
+    }
+    return def;
+}
+
 /* ============================================================
  * HTTP 处理器
  * ============================================================ */
 
 static esp_err_t root_handler(httpd_req_t *req)
 {
-    const char *html = INDEX_HTML;
-    size_t total = strlen(html);
-    size_t offset = 0;
-
     httpd_resp_set_type(req, "text/html; charset=utf-8");
     httpd_resp_set_hdr(req, "Connection", "close");
 
-    while (offset < total) {
-        size_t chunk = total - offset;
-        if (chunk > 1024) chunk = 1024;
-        esp_err_t err = httpd_resp_send_chunk(req, html + offset, (int)chunk);
-        if (err != ESP_OK) {
-            ESP_LOGE(TAG, "发送 HTML 失败: %d", err);
-            return err;
-        }
-        offset += chunk;
+    /* 一次性发送, 由 ESP-IDF 内部处理 TCP 缓冲管理,
+     * 避免手动分块导致的 EAGAIN / ECONNRESET 偶发失败 */
+    esp_err_t err = httpd_resp_send(req, INDEX_HTML, HTTPD_RESP_USE_STRLEN);
+    if (err != ESP_OK) {
+        /* 客户端断开是正常现象 (刷新页面/关闭标签), 仅警告即可 */
+        ESP_LOGW(TAG, "发送 HTML 失败: %d (客户端可能已断开)", err);
     }
-    httpd_resp_send_chunk(req, NULL, 0);  /* 结束分块 */
-    return ESP_OK;
+    return err;
 }
 
 static esp_err_t api_enable_handler(httpd_req_t *req)
 {
     int addr  = get_query_int(req, "addr", 1);
     int state = get_query_int(req, "state", 0);
-    Emm_V5_En_Control((uint8_t)addr, (bool)state, false);
+    actuator_motor_enable((uint8_t)addr, (bool)state);
     char resp[64];
     snprintf(resp, sizeof(resp), "电机 %d %s", addr, state ? "使能" : "关闭");
     httpd_resp_set_type(req, "text/plain; charset=utf-8");
@@ -381,7 +500,7 @@ static esp_err_t api_velocity_handler(httpd_req_t *req)
     int dir  = get_query_int(req, "dir", 0);
     int vel  = get_query_int(req, "vel", 100);
     int acc  = get_query_int(req, "acc", 10);
-    Emm_V5_Vel_Control((uint8_t)addr, (uint8_t)dir, (uint16_t)vel, (uint8_t)acc, false);
+    actuator_motor_vel((uint8_t)addr, (uint8_t)dir, (uint16_t)vel, (uint8_t)acc);
     char resp[64];
     snprintf(resp, sizeof(resp), "速度模式: 地址%d %s %dRPM acc=%d",
              addr, dir ? "CCW" : "CW", vel, acc);
@@ -398,8 +517,8 @@ static esp_err_t api_position_handler(httpd_req_t *req)
     int acc  = get_query_int(req, "acc", 10);
     int clk  = get_query_int(req, "clk", 2000);
     int raf  = get_query_int(req, "raf", 0);
-    Emm_V5_Pos_Control((uint8_t)addr, (uint8_t)dir, (uint16_t)vel, (uint8_t)acc,
-                       (uint32_t)clk, (bool)raf, false);
+    actuator_motor_pos((uint8_t)addr, (uint8_t)dir, (uint16_t)vel, (uint8_t)acc,
+                       (uint32_t)clk, (bool)raf);
     char resp[80];
     snprintf(resp, sizeof(resp), "位置模式: 地址%d %s %dRPM %d脉冲 %s",
              addr, dir ? "CCW" : "CW", vel, clk, raf ? "绝对" : "相对");
@@ -411,7 +530,7 @@ static esp_err_t api_position_handler(httpd_req_t *req)
 static esp_err_t api_stop_handler(httpd_req_t *req)
 {
     int addr = get_query_int(req, "addr", 1);
-    Emm_V5_Stop_Now((uint8_t)addr, false);
+    actuator_motor_stop((uint8_t)addr);
     char resp[32];
     snprintf(resp, sizeof(resp), "电机 %d 已停止", addr);
     httpd_resp_set_type(req, "text/plain; charset=utf-8");
@@ -455,9 +574,9 @@ static esp_err_t api_servo_handler(httpd_req_t *req)
         char val[16];
         if (httpd_query_key_value(buf, "pos", val, sizeof(val)) == ESP_OK) {
             if (strcmp(val, "up") == 0) {
-                servo_set_up();
+                actuator_servo_up();
             } else {
-                servo_set_down();
+                actuator_servo_down();
             }
             char resp[32];
             snprintf(resp, sizeof(resp), "舵机: %s", val);
@@ -467,7 +586,7 @@ static esp_err_t api_servo_handler(httpd_req_t *req)
         }
         if (httpd_query_key_value(buf, "angle", val, sizeof(val)) == ESP_OK) {
             float angle = atof(val);
-            servo_set_angle(angle);
+            actuator_servo_set_angle(angle);
             char resp[32];
             snprintf(resp, sizeof(resp), "舵机: %.1f°", (double)angle);
             httpd_resp_set_type(req, "text/plain; charset=utf-8");
@@ -479,6 +598,214 @@ static esp_err_t api_servo_handler(httpd_req_t *req)
     return ESP_FAIL;
 }
 
+/* ---- 轴联动: XYZA 同时驱动 (mm + °) ---- */
+static esp_err_t api_axis_handler(httpd_req_t *req)
+{
+    float x_mm  = get_query_float(req, "x", 0.0f);
+    float y_mm  = get_query_float(req, "y", 0.0f);
+    float z_deg = get_query_float(req, "zrot", 0.0f);
+    float s_ang = get_query_float(req, "servo", -1.0f);
+    int   vel   = get_query_int(req, "vel", ACTUATOR_DEFAULT_VEL);
+    int   acc   = get_query_int(req, "acc", ACTUATOR_DEFAULT_ACC);
+
+    /* 允许 0 值: 绝对模式下 0=回到原点 */
+    actuator_motor_mm(ACTUATOR_ADDR_X, x_mm, (uint16_t)vel, (uint8_t)acc, true);
+    actuator_motor_mm(ACTUATOR_ADDR_Y1, y_mm, (uint16_t)vel, (uint8_t)acc, true);
+    actuator_motor_angle(ACTUATOR_ADDR_ANGLE, z_deg, (uint16_t)vel, (uint8_t)acc, true);
+    if (s_ang >= 0.0f)
+        actuator_servo_set_angle(s_ang);
+
+    char resp[128];
+    snprintf(resp, sizeof(resp),
+             "轴联动: X=%.1fmm Y=%.1fmm Z=%.1f° Servo=%.1f° vel=%d acc=%d",
+             (double)x_mm, (double)y_mm, (double)z_deg, (double)s_ang, vel, acc);
+    httpd_resp_set_type(req, "text/plain; charset=utf-8");
+    httpd_resp_send(req, resp, HTTPD_RESP_USE_STRLEN);
+    return ESP_OK;
+}
+
+/* ---- 直线距离控制: mm → 脉冲 (丝杆导程 8mm) ---- */
+static esp_err_t api_mm_handler(httpd_req_t *req)
+{
+    int   addr = get_query_int(req, "addr", 2);   /* 默认 X 轴 */
+    float mm   = get_query_float(req, "mm", 0.0f);
+    int   vel  = get_query_int(req, "vel", ACTUATOR_DEFAULT_VEL);
+    int   acc  = get_query_int(req, "acc", ACTUATOR_DEFAULT_ACC);
+    int   raf  = get_query_int(req, "raf", 1);    /* 默认绝对运动 */
+
+    actuator_motor_mm((uint8_t)addr, mm, (uint16_t)vel, (uint8_t)acc, (bool)raf);
+
+    uint32_t clk = ACTUATOR_MM_TO_PULSES(mm);
+    char resp[96];
+    snprintf(resp, sizeof(resp),
+        "直线模式: 地址%d %.2fmm → %lu脉冲 %s vel=%dRPM acc=%d",
+        addr, (double)mm, (unsigned long)clk, raf ? "绝对" : "相对", vel, acc);
+    httpd_resp_set_type(req, "text/plain; charset=utf-8");
+    httpd_resp_send(req, resp, HTTPD_RESP_USE_STRLEN);
+    return ESP_OK;
+}
+
+/* ============================================================
+ * 底层调试 API (直接对接 Emm_V5, 不走 actuator)
+ * ============================================================ */
+
+/* ---- 当前位置清零 ---- */
+static esp_err_t api_reset_pos_handler(httpd_req_t *req)
+{
+    int addr = get_query_int(req, "addr", 1);
+    Emm_V5_Reset_CurPos_To_Zero((uint8_t)addr);
+    char resp[32];
+    snprintf(resp, sizeof(resp), "电机 %d 位置已清零", addr);
+    httpd_resp_set_type(req, "text/plain; charset=utf-8");
+    httpd_resp_send(req, resp, HTTPD_RESP_USE_STRLEN);
+    return ESP_OK;
+}
+
+/* ---- 解除堵转保护 ---- */
+static esp_err_t api_reset_clog_handler(httpd_req_t *req)
+{
+    int addr = get_query_int(req, "addr", 1);
+    Emm_V5_Reset_Clog_Pro((uint8_t)addr);
+    char resp[32];
+    snprintf(resp, sizeof(resp), "电机 %d 堵转保护已解除", addr);
+    httpd_resp_set_type(req, "text/plain; charset=utf-8");
+    httpd_resp_send(req, resp, HTTPD_RESP_USE_STRLEN);
+    return ESP_OK;
+}
+
+/* ---- 读取系统参数 (按 Emm 固件手册 V1.0.5 帧格式解析) ---- */
+/* 帧格式: {addr, cmd, sign(00/01), data[4]BE, 0x6B}         */
+/* 位置类(Emm): val32=0~65535→角度=val32*360/65536            */
+/* 速度类:     val16=RPM                                      */
+static esp_err_t api_read_param_handler(httpd_req_t *req)
+{
+    int addr  = get_query_int(req, "addr", 1);
+    int param = get_query_int(req, "param", 0);   /* EmmSysParams_t */
+
+    Emm_V5_Read_Sys_Params((uint8_t)addr, (EmmSysParams_t)param);
+
+    uint8_t rx[128];
+    uint8_t len = Emm_V5_Receive_Data(rx, sizeof(rx));
+
+    /* 解析: 跳过 addr(1)+cmd(1)+sign(1), 取 data[4] 大端 */
+    uint32_t val32 = 0;
+    uint16_t val16 = 0;
+    int      sign  = 0;
+    float    angle = 0.0f;
+
+    if (len >= 8) {
+        sign  = rx[2];
+        val32 = ((uint32_t)rx[3] << 24) | ((uint32_t)rx[4] << 16) |
+                ((uint32_t)rx[5] << 8)  | ((uint32_t)rx[6]);
+        /* Emm 固件: 0~65535 表示 0~360°, 仅低 16 位有效 */
+        uint16_t pos16 = (uint16_t)(val32 & 0xFFFF);
+        angle = (sign ? -1.0f : 1.0f) * pos16 * 360.0f / 65536.0f;
+    }
+    if (len >= 6) {
+        val16 = ((uint16_t)rx[3] << 8) | ((uint16_t)rx[4]);
+    }
+
+    char json[512];
+    int off = snprintf(json, sizeof(json),
+        "{\"addr\":%d,\"param\":%d,\"len\":%d,\"sign\":%d"
+        ",\"val32\":%lu,\"val16\":%u,\"angle\":%.2f",
+        addr, param, len, sign,
+        (unsigned long)val32, (unsigned)val16, (double)angle);
+    off += snprintf(json + off, sizeof(json) - off, ",\"hex\":\"");
+    for (int i = 0; i < len && off < (int)sizeof(json) - 4; i++) {
+        off += snprintf(json + off, sizeof(json) - off, "%02X", rx[i]);
+    }
+    off += snprintf(json + off, sizeof(json) - off, "\"}");
+    httpd_resp_set_type(req, "application/json");
+    httpd_resp_send(req, json, HTTPD_RESP_USE_STRLEN);
+    return ESP_OK;
+}
+
+/* ---- 角度直控: 输入 ° 自动换算为 Emm 脉冲 (3200脉冲=360°) ---- */
+static esp_err_t api_angle_handler(httpd_req_t *req)
+{
+    int   addr  = get_query_int(req, "addr", 1);
+    float angle = get_query_float(req, "angle", 0.0f);
+    int   vel   = get_query_int(req, "vel", ACTUATOR_DEFAULT_VEL);
+    int   acc   = get_query_int(req, "acc", ACTUATOR_DEFAULT_ACC);
+    int   raf   = get_query_int(req, "raf", 1);   /* 默认绝对运动 */
+
+    actuator_motor_angle((uint8_t)addr, angle, (uint16_t)vel, (uint8_t)acc, (bool)raf);
+
+    uint32_t clk = EMM_V5_DEG_TO_CLK(angle);
+    char resp[96];
+    snprintf(resp, sizeof(resp),
+        "角度模式: 地址%d %.1f° → %lu脉冲 %s vel=%dRPM acc=%d",
+        addr, (double)angle, (unsigned long)clk, raf ? "绝对" : "相对", vel, acc);
+    httpd_resp_set_type(req, "text/plain; charset=utf-8");
+    httpd_resp_send(req, resp, HTTPD_RESP_USE_STRLEN);
+    return ESP_OK;
+}
+
+/* ---- 回零: 设置零点 ---- */
+static esp_err_t api_origin_set_handler(httpd_req_t *req)
+{
+    int addr = get_query_int(req, "addr", 1);
+    int svf  = get_query_int(req, "svf", 0);   /* 0=不存储 1=存储 */
+    Emm_V5_Origin_Set_O((uint8_t)addr, (bool)svf);
+    char resp[48];
+    snprintf(resp, sizeof(resp), "电机 %d 零点已设置 (svF=%d)", addr, svf);
+    httpd_resp_set_type(req, "text/plain; charset=utf-8");
+    httpd_resp_send(req, resp, HTTPD_RESP_USE_STRLEN);
+    return ESP_OK;
+}
+
+/* ---- 回零: 配置参数 ---- */
+static esp_err_t api_origin_config_handler(httpd_req_t *req)
+{
+    int addr  = get_query_int(req, "addr", 1);
+    int svf   = get_query_int(req, "svf", 0);
+    int omode = get_query_int(req, "omode", 0);
+    int odir  = get_query_int(req, "odir", 0);
+    int ovel  = get_query_int(req, "ovel", 200);
+    int otm   = get_query_int(req, "otm", 10000);
+    int slvel = get_query_int(req, "slvel", 100);
+    int slma  = get_query_int(req, "slma", 500);
+    int slms  = get_query_int(req, "slms", 100);
+    int potf  = get_query_int(req, "potf", 0);
+
+    Emm_V5_Origin_Modify_Params((uint8_t)addr, (bool)svf,
+        (uint8_t)omode, (uint8_t)odir, (uint16_t)ovel, (uint32_t)otm,
+        (uint16_t)slvel, (uint16_t)slma, (uint16_t)slms, (bool)potf);
+    char resp[128];
+    snprintf(resp, sizeof(resp),
+             "电机 %d 回零参数已配置 (mode=%d dir=%d vel=%d tm=%lu svF=%d potF=%d)",
+             addr, omode, odir, ovel, (unsigned long)otm, svf, potf);
+    httpd_resp_set_type(req, "text/plain; charset=utf-8");
+    httpd_resp_send(req, resp, HTTPD_RESP_USE_STRLEN);
+    return ESP_OK;
+}
+
+/* ---- 回零: 触发回零 ---- */
+static esp_err_t api_origin_go_handler(httpd_req_t *req)
+{
+    int addr  = get_query_int(req, "addr", 1);
+    int omode = get_query_int(req, "omode", 0);
+    Emm_V5_Origin_Trigger_Return((uint8_t)addr, (uint8_t)omode, false);
+    char resp[48];
+    snprintf(resp, sizeof(resp), "电机 %d 回零已触发 (mode=%d)", addr, omode);
+    httpd_resp_set_type(req, "text/plain; charset=utf-8");
+    httpd_resp_send(req, resp, HTTPD_RESP_USE_STRLEN);
+    return ESP_OK;
+}
+
+/* ---- 回零: 强制中断 ---- */
+static esp_err_t api_origin_stop_handler(httpd_req_t *req)
+{
+    int addr = get_query_int(req, "addr", 1);
+    Emm_V5_Origin_Interrupt((uint8_t)addr);
+    char resp[32];
+    snprintf(resp, sizeof(resp), "电机 %d 回零已中断", addr);
+    httpd_resp_set_type(req, "text/plain; charset=utf-8");
+    httpd_resp_send(req, resp, HTTPD_RESP_USE_STRLEN);
+    return ESP_OK;
+}
+
 /* favicon — 204 No Content, 避免浏览器反复请求 */
 static esp_err_t favicon_handler(httpd_req_t *req)
 {
@@ -509,13 +836,21 @@ void edc_proto_on_cycle(const edc_cycle_t *cycle, edc_channel_t ch)
              cycle->cycle_id, ch == EDC_CH_I2C ? "I2C" : "UART",
              cycle->frag_count);
 
-    /* I2C / UART 冗余下发, 同一 cycle_id 只回一次 DONE */
+    /* I2C / UART 冗余下发, 同一 cycle_id 只执行一次 */
     if (cycle->cycle_id == s_last_done_id) {
         return;
     }
     s_last_done_id = cycle->cycle_id;
 
-    /* 回复 MPU: Cycle 已收到 (后续实际执行电机后应移到执行完毕处) */
+    /* 通信控制链路暂时断开, 仅 Web 手控生效 */
+#if 0   /* TODO: 恢复通信控制时取消注释 */
+    /* 执行 Cycle 运动 */
+    if (actuator_execute_cycle(cycle) == 0) {
+        /* 回复 MPU: Cycle 执行完成 */
+        edc_proto_send_done(cycle->cycle_id);
+    }
+#endif
+    /* 通信断开期间仍回复 DONE 以维持协议握手 (但不执行运动) */
     edc_proto_send_done(cycle->cycle_id);
 }
 
@@ -602,7 +937,7 @@ static void http_server_init(void)
     httpd_handle_t server = NULL;
     httpd_config_t cfg = HTTPD_DEFAULT_CONFIG();
     cfg.stack_size         = 8192;   /* 默认 4096 不够, 增大 */
-    cfg.max_uri_handlers   = 16;
+    cfg.max_uri_handlers   = 26;
     cfg.max_open_sockets   = 4;
     cfg.lru_purge_enable   = true;
 
@@ -672,6 +1007,67 @@ static void http_server_init(void)
     };
     httpd_register_uri_handler(server, &uri_servo);
 
+    httpd_uri_t uri_axis = {
+        .uri = "/api/axis", .method = HTTP_GET,
+        .handler = api_axis_handler, .user_ctx = NULL
+    };
+    httpd_register_uri_handler(server, &uri_axis);
+
+    httpd_uri_t uri_mm = {
+        .uri = "/api/mm", .method = HTTP_GET,
+        .handler = api_mm_handler, .user_ctx = NULL
+    };
+    httpd_register_uri_handler(server, &uri_mm);
+
+    /* ---- 底层调试 API (直接 Emm_V5) ---- */
+    httpd_uri_t uri_reset_pos = {
+        .uri = "/api/reset_pos", .method = HTTP_GET,
+        .handler = api_reset_pos_handler, .user_ctx = NULL
+    };
+    httpd_register_uri_handler(server, &uri_reset_pos);
+
+    httpd_uri_t uri_reset_clog = {
+        .uri = "/api/reset_clog", .method = HTTP_GET,
+        .handler = api_reset_clog_handler, .user_ctx = NULL
+    };
+    httpd_register_uri_handler(server, &uri_reset_clog);
+
+    httpd_uri_t uri_read_param = {
+        .uri = "/api/read_param", .method = HTTP_GET,
+        .handler = api_read_param_handler, .user_ctx = NULL
+    };
+    httpd_register_uri_handler(server, &uri_read_param);
+
+    httpd_uri_t uri_angle = {
+        .uri = "/api/angle", .method = HTTP_GET,
+        .handler = api_angle_handler, .user_ctx = NULL
+    };
+    httpd_register_uri_handler(server, &uri_angle);
+
+    httpd_uri_t uri_origin_set = {
+        .uri = "/api/origin_set", .method = HTTP_GET,
+        .handler = api_origin_set_handler, .user_ctx = NULL
+    };
+    httpd_register_uri_handler(server, &uri_origin_set);
+
+    httpd_uri_t uri_origin_config = {
+        .uri = "/api/origin_config", .method = HTTP_GET,
+        .handler = api_origin_config_handler, .user_ctx = NULL
+    };
+    httpd_register_uri_handler(server, &uri_origin_config);
+
+    httpd_uri_t uri_origin_go = {
+        .uri = "/api/origin_go", .method = HTTP_GET,
+        .handler = api_origin_go_handler, .user_ctx = NULL
+    };
+    httpd_register_uri_handler(server, &uri_origin_go);
+
+    httpd_uri_t uri_origin_stop = {
+        .uri = "/api/origin_stop", .method = HTTP_GET,
+        .handler = api_origin_stop_handler, .user_ctx = NULL
+    };
+    httpd_register_uri_handler(server, &uri_origin_stop);
+
     /* favicon.ico — 返回空, 避免 404 警告 */
     httpd_uri_t uri_favicon = {
         .uri      = "/favicon.ico",