36 lines
682 B
C
36 lines
682 B
C
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#pragma once
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#include "driver/uart.h"
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#include "driver/gpio.h"
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#include "pca9685.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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// 舵机设备配置结构
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typedef struct {
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i2c_port_t port;
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uint8_t addr;
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} PCA9685_Device;
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// 舵机角度状态
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typedef struct {
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uint8_t addr;
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uint8_t channel;
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float angle;
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} ServoAngle;
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// 舵机控制指令
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typedef struct {
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uint8_t addr; // PCA9685 地址
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uint8_t channel; // 舵机通道
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float angle; // 目标角度 (0~180)
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uint16_t duration; // 转动持续时间 (ms)
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} ServoCommand;
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void uart_handler_init(uart_port_t uart_num);
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void uart_handler_task(void *param);
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#ifdef __cplusplus
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}
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#endif
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