175 lines
6.4 KiB
C
175 lines
6.4 KiB
C
/**
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* @file main.c
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* @brief EDC 步进电机网页控制 (ESP-IDF)
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*
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* 硬件接线:
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* ESP32 TX (GPIO6) -> 电机 RX
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* ESP32 RX (GPIO7) -> 电机 TX
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* ESP32 GPIO5 -> 电磁铁
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* ESP32 GPIO4 -> 舵机
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* ESP32 GPIO11 -> 协议 UART TX (→ MPU) (UART0)
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* ESP32 GPIO12 -> 协议 UART RX (← MPU) (UART0)
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* ESP32 GPIO2 -> I2C SDA (← MPU)
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* ESP32 GPIO3 -> I2C SCL
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* ESP32 GPIO27 -> RGB LED (WS2812)
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* ESP32 GPIO8 -> 按钮 (低电平有效, 触发识别)
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* ESP32 GPIO9 -> 无源蜂鸣器 (经三极管驱动)
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* ESP32 GND -> 电机 GND / MPU GND
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*
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* 注: 日志控制台已切换到 USB Serial/JTAG (COM 口监视),
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* UART0 (GPIO11/12) 专用于 MPU 协议通讯。
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*
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* WiFi: 连接 ICE (密码 12345678), 获取 IP 后用浏览器打开控制页面
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*/
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#include "emm_v5.h"
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#include "magnet.h"
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#include "servo.h"
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#include "web_ctrl.h"
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#include "protocol.h"
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#include "rgb.h"
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#include "actuator.h"
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#include "key.h"
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#include "buzzer.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "esp_log.h"
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static const char *TAG = "MAIN";
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/* ---- 按钮识别任务 ---- */
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#define RECOGNIZE_TIMEOUT_MS 20000
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#define RECOGNIZE_POLL_MS 100
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/* 归零速度: XY 用 ACTUATOR_EXEC_VEL/ACC (3000/250), Z 用 ACTUATOR_EXEC_Z_VEL/Z_ACC (低速);
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到位等待: 轮询闭环到位标志, 超时按最大行程 + 裕量兜底 */
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static void button_recognize_task(void *pvParam)
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{
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while (1) {
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if (key_is_pressed()) {
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ESP_LOGI(TAG, "按钮按下, 归零后再发送 RECOGNIZE ...");
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buzzer_beep(2000, 100); /* 短音: 识别开始 */
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/* ---- 归零: 舵机抬起 + Z/X/Y 三轴并行回零 ----
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Z 旋转与 X/Y 平移互不干扰 (Fragment 里也是三轴并行),
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无需等 Z 到位再动 X/Y —— 三轴同时下发、一次到位等待 */
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actuator_servo_up();
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uint32_t z_motion = actuator_angle_motion_time_ms(ACTUATOR_ANGLE_LIMIT_DEG,
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ACTUATOR_EXEC_Z_VEL,
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ACTUATOR_EXEC_Z_ACC);
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uint32_t xy_motion = actuator_mm_motion_time_ms(ACTUATOR_LIMIT_X_MAX,
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ACTUATOR_EXEC_VEL,
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ACTUATOR_EXEC_ACC);
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uint32_t y_motion = actuator_mm_motion_time_ms(ACTUATOR_LIMIT_Y_MAX,
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ACTUATOR_EXEC_VEL,
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ACTUATOR_EXEC_ACC);
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uint32_t home_motion = z_motion;
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if (xy_motion > home_motion) home_motion = xy_motion;
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if (y_motion > home_motion) home_motion = y_motion;
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actuator_motor_angle(ACTUATOR_ADDR_ANGLE, 0.0f,
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ACTUATOR_EXEC_Z_VEL, ACTUATOR_EXEC_Z_ACC, true);
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actuator_motor_mm(ACTUATOR_ADDR_X, 0.0f,
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ACTUATOR_EXEC_VEL, ACTUATOR_EXEC_ACC, true);
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actuator_motor_mm(ACTUATOR_ADDR_Y1, 330.0f,
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ACTUATOR_EXEC_VEL, ACTUATOR_EXEC_ACC, true);
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actuator_wait_arrival(home_motion,
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(1u << 0) | (1u << 1) | (1u << 2) | (1u << 3));
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ESP_LOGI(TAG, "归零完成, 发送 RECOGNIZE ...");
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/* 清除旧 Cycle 记录 */
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actuator_clear_last_cycle();
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/* 发送识别指令 */
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edc_proto_send_recognize();
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/* 等待 MPU 回传 Cycle, 超时则发送 REQUEST */
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bool got_cycle = false;
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int loops = RECOGNIZE_TIMEOUT_MS / RECOGNIZE_POLL_MS;
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for (int i = 0; i < loops; i++) {
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vTaskDelay(pdMS_TO_TICKS(RECOGNIZE_POLL_MS));
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if (actuator_is_last_cycle_valid()) {
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got_cycle = true;
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ESP_LOGI(TAG, "RECOGNIZE 成功, 已收到 Cycle");
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buzzer_beep_twice(2000, 150); /* 双短音: 识别成功 */
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break;
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}
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}
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if (!got_cycle) {
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ESP_LOGW(TAG, "RECOGNIZE 超时 (%d ms), 发送 CYCLE_REQUEST",
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RECOGNIZE_TIMEOUT_MS);
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buzzer_beep(880, 500); /* 长低音: 识别失败/超时 */
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edc_proto_send_request();
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}
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}
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vTaskDelay(pdMS_TO_TICKS(50));
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}
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}
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void app_main(void)
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{
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/* 初始化 RGB LED (GPIO27, 最先启动, 指示系统状态) */
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rgb_init(GPIO_NUM_27);
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rgb_set(32, 32, 0); /* 黄色 (低亮), 表示启动中 */
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/* 初始化执行器 (步进电机 + 舵机) */
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actuator_init();
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/* 初始化电磁铁 (GPIO5) */
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magnet_init(GPIO_NUM_5);
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/* 初始化按钮 (GPIO8, 低电平有效, 触发识别) */
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key_init(GPIO_NUM_8);
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/* 初始化无源蜂鸣器 (GPIO9, 提示音) */
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buzzer_init(GPIO_NUM_9);
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/* 初始化通讯协议 (I2C 从机 GPIO2/3 + UART0 GPIO11/12) */
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edc_proto_init(NULL);
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/* 启动协议接收任务 */
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xTaskCreate(edc_proto_task, "proto", 4096, NULL, 2, NULL);
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/* 启动按钮识别任务 */
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xTaskCreate(button_recognize_task, "btn", 2048, NULL, 1, NULL);
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/* 上电延时 2 秒, 等待电机闭环初始化完毕 */
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ESP_LOGI(TAG, "等待电机初始化...");
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vTaskDelay(pdMS_TO_TICKS(2000));
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/* 启动 WiFi + HTTP 网页控制服务器 */
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web_ctrl_init();
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/* 系统就绪: 黄灯 (低亮) */
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rgb_set(32, 32, 0);
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rgb_set_state(RGB_STATE_IDLE);
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buzzer_beep(2000, 120); /* 启动/就绪: 短促一声 */
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ESP_LOGI(TAG, "系统就绪, 等待网页指令...");
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/* 结束提示: 每轮只响一次, 防止慢闪循环重复响 */
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bool done_beeped = false;
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while (1) {
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/* 根据系统状态选择闪烁颜色 */
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rgb_state_t st = rgb_get_state();
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if (st == RGB_STATE_DONE) {
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/* 绿灯慢闪: Cycle 执行完毕 */
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if (!done_beeped) {
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buzzer_beep_triple(2000, 100); /* 执行结束: 急促三响 */
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done_beeped = true;
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}
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rgb_set(0, 32, 0);
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} else {
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/* 黄灯慢闪: 待机 */
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done_beeped = false;
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rgb_set(32, 32, 0);
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}
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vTaskDelay(pdMS_TO_TICKS(500));
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rgb_off();
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vTaskDelay(pdMS_TO_TICKS(500));
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}
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}
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