初始提交卡包 USB 工程

纳入固件源码、屏幕组件、nand_xfer 工具和文档。忽略本机构建产物、sdkconfig，以及含本机路径的依赖锁。 Co-authored-by: Cursor <cursoragent@cursor.com>
2026-10-13 21:54:50 +08:00
commit 851e347cf5
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+#ifndef __MOTOR_CONTROL_H__
+#define __MOTOR_CONTROL_H__
+
+#ifdef __cplisplus
+extern "C" {
+#endif
+
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/queue.h"
+#include "freertos/semphr.h"
+#define MOTOR_WITH_MAGNET_RING 0 //带磁环的时候
+#define OLD_MOTOR 0 //旧电机参数
+typedef enum
+{
+   MOTOR_POSITION_ZERO = 0,
+    MOTOR_POSITION_LEFT_15 ,
+    MOTOR_POSITION_RIGHT_15 ,
+    MOTOR_POSITION_LEFT_30 ,
+    MOTOR_POSITION_RIGHT_30 ,
+    MOTOR_POSITION_LEFT_90 ,   
+    MOTOR_POSITION_RIGHT_90 , 
+    MOTOR_POSITION_LEFT_180 ,
+    MOTOR_POSITION_RIGHT_180,
+    MOTOR_POSITION_LEFT_2 ,//微步
+
+}MOTOR_POSITION;
+
+typedef enum
+{
+    MOTOR_CW,
+    MOTOR_CCW,   
+}MOTOR_DIR;
+
+typedef struct 
+{
+    uint32_t run_to_left_15;
+    uint32_t run_to_left_30;
+    uint32_t run_to_left_90;
+    uint32_t run_to_left_180;
+    uint32_t run_to_right_15;
+    uint32_t run_to_right_30;
+    uint32_t run_to_right_180;
+
+}MOTOR_RUN_TIME;
+
+extern TaskHandle_t motor_control_handle; 
+extern MOTOR_DIR motor_dir;
+
+extern MOTOR_POSITION motor_current_position ;
+extern MOTOR_POSITION motor_target_position  ;
+extern SemaphoreHandle_t motor_action_down_sem;
+void motor_control_init(void);
+void motor_control_task(void *pvParameter);
+void motor_run_dir(MOTOR_DIR dir);
+
+/** 串行入队执行；满则丢最旧再入队，避免 Overwrite 丢命令 */
+bool motor_post_cmd(uint32_t cmd);
+/** play_sticker 方向：左右切换时先排队 0x0A；0x00 在头仍左/右时排队 0x0A；与上次同字节且侧向未变则跳过 */
+bool motor_post_play_sticker_direction(uint8_t direction);
+void motor_post_cmd_from_isr(uint32_t cmd, BaseType_t *pxHigherPriorityTaskWoken);
+
+#ifdef __cplusplus
+ }
+#endif
+
+
+#endif