add remote source code (#12)

Co-authored-by: jyy <jiangyeying@m5stack.com>
2026-05-20 11:49:45 -07:00 · 2026-04-20 16:27:57 +08:00
parent dd34f9e0ec
commit 0cb413697b
29 changed files with 10886 additions and 0 deletions
@@ -0,0 +1,4 @@
+# StackChan-RemoteControl-ESPNow
+
+This repository is designed to remotely control StackChan servo movements via the `ESPNow` protocol.
+
@@ -0,0 +1,164 @@
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@@ -0,0 +1,4 @@
+managed_components
+build
+.vscode
+.cache
@@ -0,0 +1,6 @@
+# The following five lines of boilerplate have to be in your project's
+# CMakeLists in this exact order for cmake to work correctly
+cmake_minimum_required(VERSION 3.16)
+
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+project(StackChan-RemoteControl-ESPNow)
@@ -0,0 +1,23 @@
+# StackChan-RemoteControl-ESPNow
+
+This repository is designed to remotely control StackChan servo movements via the `ESPNow` protocol.
+
+## Applicable Devices
+
+* StickC-Plus + Hat Mini JoyC
+
+## Compilation Environment
+
+* IDF：ESP-IDF v5.4.2
+* Device Type：esp32
+
+## Compilation and Flashing
+
+1. Before compilation, globally search the project for `__has_include(<driver/i2c_master.h>)` in `M5GFX` and replace all occurrences with `0`.
+2. When flashing, specify the baud rate as `1500000`.
+
+## Package Firmware
+
+```
+esptool.py --chip esp32 merge_bin -o StackChan-RemoteControl-ESPNow-jyy-20251231_0x0.bin 0x1000 build\bootloader\bootloader.bin 0x8000 build\partition_table\partition-table.bin 0x10000 build\StackChan-RemoteControl-ESPNow.bin
+```
@@ -0,0 +1,77 @@
+dependencies:
+  espressif/cmake_utilities:
+    component_hash: 351350613ceafba240b761b4ea991e0f231ac7a9f59a9ee901f751bddc0bb18f
+    dependencies:
+    - name: idf
+      require: private
+      version: '>=4.1'
+    source:
+      registry_url: https://components.espressif.com
+      type: service
+    version: 0.5.3
+  espressif/esp-now:
+    component_hash: 56f902e978ec0b70528ad30a45265b56bf2b91653d13e0badc78159f39f41ece
+    dependencies:
+    - name: espressif/cmake_utilities
+      registry_url: https://components.espressif.com
+      require: private
+      version: 0.*
+    - name: idf
+      require: private
+      version: '>=4.4'
+    source:
+      registry_url: https://components.espressif.com/
+      type: service
+    version: 2.5.2
+  espressif/i2c_bus:
+    component_hash: 4e990dc11734316186b489b362c61d41f23f79d58bc169795cec215e528cba14
+    dependencies:
+    - name: espressif/cmake_utilities
+      registry_url: https://components.espressif.com
+      require: private
+      version: '*'
+    - name: idf
+      require: private
+      version: '>=4.0'
+    source:
+      registry_url: https://components.espressif.com/
+      type: service
+    version: 1.5.0
+  idf:
+    source:
+      type: idf
+    version: 5.4.2
+  lvgl/lvgl:
+    component_hash: d7c1ac037ae6e85d94897f807d6e7ba0946a83e720074fc95a4f6241da9f9f53
+    dependencies: []
+    source:
+      registry_url: https://components.espressif.com/
+      type: service
+    version: 8.4.0
+  m5stack/m5gfx:
+    component_hash: 4c420c89ae7bfe33231dab80b784f4508591279b2a3a935ac849dddb1942d0d5
+    dependencies: []
+    source:
+      registry_url: https://components.espressif.com
+      type: service
+    version: 0.2.17
+  m5stack/m5unified:
+    component_hash: 1c75bb80654da6c7fcdd11ef7a1cb9b7d6db2e98f96612a4babf12b5e9bc7196
+    dependencies:
+    - name: m5stack/m5gfx
+      registry_url: https://components.espressif.com
+      require: private
+      version: ^0.2.17
+    source:
+      registry_url: https://components.espressif.com/
+      type: service
+    version: 0.2.11
+direct_dependencies:
+- espressif/esp-now
+- espressif/i2c_bus
+- idf
+- lvgl/lvgl
+- m5stack/m5unified
+manifest_hash: 1a633f7edf3e64c57d1f921f15913b2bf6deda0e71113957a364b6552fa37e9b
+target: esp32
+version: 2.0.0
@@ -0,0 +1,19 @@
+set(SOURCES
+    esp_now/esp_now_init.c
+    joystick/joystick_handle.c
+    ui/ui_running_screen.c
+    ui/ui_setup_screen.c
+    ui/ui_imu_screen.c
+    ui/ui.c
+    ui/updown_img.c
+    lvgl_port.cpp
+    StackChan-RemoteControl-ESPNow.cpp
+)
+
+idf_component_register(SRCS ${SOURCES}
+                    INCLUDE_DIRS 
+                    "."
+                    esp_now
+                    joystick
+                    ui
+                    )
@@ -0,0 +1,113 @@
+#include "M5Unified.h"
+
+extern "C" {
+#include <stdio.h>
+#include "esp_log.h"
+#include "string.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "nvs_flash.h"
+#include "lvgl.h"
+
+#include "ui.h"
+#include "esp_now_init.h"
+#include "joystick_handle.h"
+
+#include "lvgl_port.h"
+
+using namespace m5;
+
+joystick_data_t joystick_data;
+
+// extern void lvgl_port_init(M5GFX &gfx);
+
+/**
+ * @brief Handle Button Press.
+ * 1. Press BtnA to switch setup_mode UI and running_mode UI.
+ * 2. Press BtnB to switch espnow-channel or id on setup_mode;
+ * 3. Press BtnB to send btnB_status to remote on running_mode.
+ */
+void handle_button_press()
+{
+    static uint8_t screen_mode = MODE_SETUP;
+    // check if BtnA is pressed
+    if (M5.BtnA.wasPressed()) {
+        // use BtnA to switch mode
+        screen_mode = (screen_mode + 1) % 3;
+
+        if (screen_mode == MODE_SETUP) {
+            // in setup mode, press A to enter running mode
+            joystick_data.screen_mode = MODE_SETUP;
+            switch_screen(joystick_data.screen_mode);
+        } else if (screen_mode == MODE_RUNNING) {
+            // in running mode, press A to enter IMU mode
+            wifi_espnow_reinit(joystick_data.channel);
+            joystick_data.screen_mode = MODE_RUNNING;
+            switch_screen(joystick_data.screen_mode);
+        } else if (screen_mode == MODE_IMU) {
+            // in IMU mode, press A to return to setup mode
+            joystick_data.screen_mode = MODE_IMU;
+            switch_screen(joystick_data.screen_mode);
+        }
+    }
+    if (M5.BtnB.wasPressed()) {
+        if (joystick_data.screen_mode == MODE_SETUP) {
+            joystick_data.select_mode = !joystick_data.select_mode;
+        } else if ((joystick_data.screen_mode == MODE_RUNNING) || (joystick_data.screen_mode == MODE_IMU)) {
+            joystick_data.btnB_status = !joystick_data.btnB_status;
+        }
+    }
+}
+
+void app_main(void)
+{
+    imu_data_t imu_data;
+
+    // Initialize NVS
+    esp_err_t ret = nvs_flash_init();
+    if (ret == ESP_ERR_NVS_NO_FREE_PAGES || ret == ESP_ERR_NVS_NEW_VERSION_FOUND) {
+        ESP_ERROR_CHECK(nvs_flash_erase());
+        ret = nvs_flash_init();
+    }
+
+    M5.begin();
+    M5.Imu.init(&M5.In_I2C);  // init IMU with internal I2C port
+    printf("IN_I2C port: %d\n", M5.In_I2C.getPort());
+    printf("M5 Display width: %ld, height: %ld\n", M5.Display.width(), M5.Display.height());
+
+    joystick_data = joystick_init();  // init joystick
+
+    lvgl_port_init();  // init LVGL
+    ui_init();         // init UI
+
+    // init WiFi and ESP-NOW
+    wifi_espnow_init(joystick_data.channel);
+
+    xTaskCreate(handle_setup_screen, "handle_setup_screen", 8192, &joystick_data, 5, NULL);      // handle setup mode
+    xTaskCreate(handle_running_screen, "handle_running_screen", 8192, &joystick_data, 5, NULL);  // handle running mode
+    xTaskCreate(handle_imu_screen, "handle_imu_screen", 8192, &joystick_data, 5, NULL);
+
+    while (1) {
+        M5.update();
+        // Handle button press
+        handle_button_press();
+        joystick_data.bat = (M5.Power.Axp192.getBatteryLevel());  // updata battery level
+
+        joystick_data.bat = (joystick_data.bat > 100) ? 100 : joystick_data.bat;
+        joystick_data.bat = (joystick_data.bat < 0) ? 0 : joystick_data.bat;
+
+        M5.Imu.update();                              // update IMU data
+        imu_data              = M5.Imu.getImuData();  // get IMU data
+        joystick_data.accel_x = imu_data.accel.x;
+        joystick_data.accel_y = imu_data.accel.y;
+        joystick_data.accel_z = imu_data.accel.z;
+
+#if 0
+        printf("Accel: (%.2f, %.2f, %.2f), Gyro: (%.2f, %.2f, %.2f)\n",
+               joystick_data.accel_x, joystick_data.accel_y, joystick_data.accel_z,
+               joystick_data.gyro_x, joystick_data.gyro_y, joystick_data.gyro_z);
+#endif
+        vTaskDelay(20 / portTICK_PERIOD_MS);
+    }
+}
+}
@@ -0,0 +1,123 @@
+
+#include "esp_now_init.h"
+
+/**
+ * @brief Initialize WiFi in STA mode and ESP-NOW with the specified channel
+ * @param channel The WiFi channel to use (1-13)
+ * @note This function initializes both WiFi subsystem in Station mode and ESP-NOW for communication
+ * @details
+ *      1. Initializes network interface
+ *      2. Creates default event loop
+ *      3. Initializes WiFi with default configuration
+ *      4. Sets WiFi storage to RAM only
+ *      5. Configures WiFi mode to Station (STA)
+ *      6. Starts WiFi
+ *      7. Sets the specified WiFi channel
+ *      8. Optionally enables long range protocol if CONFIG_ESPNOW_ENABLE_LONG_RANGE is defined
+ *      9. Configures ESP-NOW with forwarding disabled, 5 retry attempts, and receive disabled
+ *      10. Initializes ESP-NOW with the configured parameters
+ *      11. Reads and logs the device MAC address
+ * @warning This function combines both WiFi and ESP-NOW initialization in a single call
+ */
+void wifi_espnow_init(uint8_t channel)
+{
+    ESP_ERROR_CHECK(esp_netif_init());
+    ESP_ERROR_CHECK(esp_event_loop_create_default());
+    wifi_init_config_t cfg = WIFI_INIT_CONFIG_DEFAULT();
+    ESP_ERROR_CHECK(esp_wifi_init(&cfg));
+    ESP_ERROR_CHECK(esp_wifi_set_storage(WIFI_STORAGE_RAM));
+    ESP_ERROR_CHECK(esp_wifi_set_mode(WIFI_MODE_STA));
+    ESP_ERROR_CHECK(esp_wifi_start());
+    ESP_ERROR_CHECK(esp_wifi_set_channel(channel, WIFI_SECOND_CHAN_NONE));
+
+#if CONFIG_ESPNOW_ENABLE_LONG_RANGE
+    ESP_ERROR_CHECK(esp_wifi_set_protocol(
+        ESPNOW_WIFI_IF, WIFI_PROTOCOL_11B | WIFI_PROTOCOL_11G | WIFI_PROTOCOL_11N | WIFI_PROTOCOL_LR));
+#endif
+    espnow_config_t espnow_config = ESPNOW_INIT_CONFIG_DEFAULT();
+
+    espnow_config.forward_enable         = false;
+    espnow_config.forward_switch_channel = false;
+    espnow_config.send_retry_num         = 5;
+    espnow_config.receive_enable.forward = false;
+    espnow_config.receive_enable.data    = false;
+
+    espnow_init(&espnow_config);
+
+    uint8_t mac[6];
+    esp_read_mac(mac, ESP_MAC_EFUSE_FACTORY);
+    ESP_LOGI("espnow_init", "ESP-NOW initialized with MAC: %02X:%02X:%02X:%02X:%02X:%02X", mac[0], mac[1], mac[2],
+             mac[3], mac[4], mac[5]);
+}
+
+/**
+ * @brief Reinitialize WiFi and ESP-NOW with a new channel
+ * @param new_channel The new WiFi channel to use (1-13)
+ * @return uint8_t The actual channel that was set
+ * @note This function properly deinitializes and reinitializes both WiFi and ESP-NOW
+ * @details
+ *      1. Checks if the new channel is different from current channel
+ *      2. Deinitializes ESP-NOW
+ *      3. Stops WiFi
+ *      4. Restarts WiFi and sets the new channel
+ *      5. Reinitializes ESP-NOW with the same configuration
+ *      6. Logs the MAC address and current channel
+ * @warning This function will temporarily interrupt ESP-NOW communication during reinitialization
+ */
+int wifi_espnow_reinit(uint8_t new_channel)
+{
+    uint8_t channel = 0;
+    if (new_channel == channel) {
+        ESP_LOGI("wifi reinit", "New Channel is same as current channel, no need to reinitialize");
+        return channel;
+    }
+    // ESP_LOGI("reinit", "Reinitializing WiFi and ESP-NOW with channel: %d", new_channel);
+
+    // 1. Deinitialize ESP-NOW
+    espnow_deinit();
+
+    // 2. Stop WiFi
+    ESP_ERROR_CHECK(esp_wifi_stop());
+
+    // 3. Restart WiFi and set new channel
+    ESP_ERROR_CHECK(esp_wifi_start());
+    ESP_ERROR_CHECK(esp_wifi_set_channel(new_channel, WIFI_SECOND_CHAN_NONE));
+
+    // ESP_LOGI("reinit", "WiFi channel set to: %d", new_channel);
+
+    // 4. Reinitialize ESP-NOW
+    espnow_config_t espnow_config        = ESPNOW_INIT_CONFIG_DEFAULT();
+    espnow_config.forward_enable         = false;
+    espnow_config.forward_switch_channel = false;
+    espnow_config.send_retry_num         = 5;
+    espnow_config.receive_enable.forward = false;
+    espnow_config.receive_enable.data    = false;
+
+    espnow_init(&espnow_config);
+
+    uint8_t mac[6];
+    esp_read_mac(mac, ESP_MAC_EFUSE_FACTORY);
+    ESP_LOGI("reinit", "ESP-NOW reinitialized with MAC: %02X:%02X:%02X:%02X:%02X:%02X", mac[0], mac[1], mac[2], mac[3],
+             mac[4], mac[5]);
+    wifi_second_chan_t second;
+    esp_wifi_get_channel(&channel, &second);
+    ESP_LOGI("WiFi", "Current channel: %d", channel);
+    return channel;
+}
+
+/**
+ * @brief Send data packet via ESP-NOW broadcast
+ * @param pkt Pointer to the data packet to send
+ * @param len Length of the data packet in bytes
+ * @note This function sends data using ESP-NOW broadcast address
+ * @details
+ *      1. Creates default ESP-NOW frame header
+ *      2. Sends data using ESPNOW_DATA_TYPE_DATA type
+ *      3. Uses broadcast address to send to all devices on the same channel
+ *      4. Blocks until transmission completes (portMAX_DELAY timeout)
+ */
+void espnow_send_data(uint8_t *pkt, size_t len)
+{
+    espnow_frame_head_t frame_head = ESPNOW_FRAME_CONFIG_DEFAULT();
+    ESP_ERROR_CHECK(espnow_send(ESPNOW_DATA_TYPE_DATA, ESPNOW_ADDR_BROADCAST, pkt, len, &frame_head, portMAX_DELAY));
+}
@@ -0,0 +1,23 @@
+#ifndef __ESP_NOW_INIT_H__
+#define __ESP_NOW_INIT_H__
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "esp_err.h"
+#include <esp_mac.h>
+#include <espnow.h>
+#include <espnow_storage.h>
+#include <espnow_utils.h>
+#include "esp_wifi.h"
+
+void wifi_espnow_init(uint8_t channel);
+int wifi_espnow_reinit(uint8_t new_channel);
+void espnow_send_data(uint8_t *pkt, size_t len);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
@@ -0,0 +1,20 @@
+## IDF Component Manager Manifest File
+dependencies:
+  ## Required IDF version
+  idf:
+    version: '>=4.1.0'
+  # # Put list of dependencies here
+  # # For components maintained by Espressif:
+  # component: "~1.0.0"
+  # # For 3rd party components:
+  # username/component: ">=1.0.0,<2.0.0"
+  # username2/component2:
+  #   version: "~1.0.0"
+  #   # For transient dependencies `public` flag can be set.
+  #   # `public` flag doesn't have an effect dependencies of the `main` component.
+  #   # All dependencies of `main` are public by default.
+  #   public: true
+  m5stack/m5unified: ^0.2.11
+  espressif/esp-now: =*
+  espressif/i2c_bus: ^1.5.0
+  lvgl/lvgl: ^8.4.0
@@ -0,0 +1,29 @@
+#ifndef _JOYSTICK_BASIC_H_
+#define _JOYSTICK_BASIC_H_
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef struct {
+    int channel;
+    int id;
+    int8_t bat;
+    uint16_t joyX;
+    uint16_t joyY;
+    uint8_t screen_mode;
+    uint8_t select_mode;
+    bool btnB_status;
+    float accel_x;
+    float accel_y;
+    float accel_z;
+
+} joystick_data_t;
+
+extern joystick_data_t joystick_data;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
@@ -0,0 +1,279 @@
+#include "joystick_handle.h"
+
+i2c_bus_device_handle_t i2c_device1;  // i2c device handle
+
+/**
+ * @brief Initialize joystick via I2C interface
+ * @note This is an internal static function that configures I2C_NUM_0 as master with SDA on GPIO0 and SCL on GPIO26
+ * @details
+ *      1. Configures I2C master mode with 100kHz clock speed
+ *      2. Creates I2C bus handle using I2C_NUM_0
+ *      3. Scans the I2C bus to detect connected devices and logs their addresses
+ *      4. Creates device handle for joystick at I2C address 0x54
+ *      5. Assigns the device handle to global variable [i2c_device1]
+ * @warning This function assumes the joystick device is at I2C address 0x54
+ */
+static void joystick_i2c_init()
+{
+    i2c_config_t conf;
+    {
+        conf.mode             = I2C_MODE_MASTER;
+        conf.sda_io_num       = 0;
+        conf.scl_io_num       = 26;
+        conf.sda_pullup_en    = GPIO_PULLUP_ENABLE;
+        conf.scl_pullup_en    = GPIO_PULLUP_ENABLE;
+        conf.master.clk_speed = 100000;
+        conf.clk_flags        = 0;
+    };
+    i2c_bus_handle_t i2c0_bus = i2c_bus_create(I2C_NUM_0, &conf);
+    uint8_t buf[128];
+    memset(buf, 0, sizeof(buf));
+
+    i2c_bus_scan(i2c0_bus, buf, sizeof(buf));
+    for (size_t i = 0; i < sizeof(buf); i++) {
+        if (buf[i] != 0) {
+            ESP_LOGI("I2C Scanner", "Found device at address 0x%02X", buf[i]);
+        }
+    }
+
+    i2c_device1 = i2c_bus_device_create(i2c0_bus, 0x54, 0);
+}
+
+/**
+ * @brief Read X and Y axis values from the joystick via I2C
+ * @param joyX Pointer to store X-axis value (16-bit unsigned integer)
+ * @param joyY Pointer to store Y-axis value (16-bit unsigned integer)
+ * @return void
+ * @details
+ *      1. Reads 2 bytes from register address 0x00 (X-axis low/high bytes)
+ *      2. Waits 10ms to ensure data stability
+ *      3. Reads 2 bytes from register address 0x02 (Y-axis low/high bytes)
+ *      4. Combines high and low bytes for both X and Y axes using bit shifting
+ *      5. Stores the combined values in the provided pointers
+ * @warning This function assumes the joystick provides 16-bit data in little-endian format
+ */
+static void joystick_read_xy(uint16_t *joyX, uint16_t *joyY)
+{
+    uint8_t data[4];
+    esp_err_t ret = i2c_bus_read_bytes(i2c_device1, 0x00, 2, data);
+    vTaskDelay(20 / portTICK_PERIOD_MS);
+    ret |= i2c_bus_read_bytes(i2c_device1, 0x02, 2, &data[2]);
+    if (ret == ESP_OK) {
+        *joyX = (data[1] << 8) | data[0];
+        *joyY = (data[3] << 8) | data[2];
+    } else {
+        // ESP_LOGE("I2C Joystick", "Failed to read joystick data");
+    }
+}
+
+/**
+ * @brief Public interface to initialize the joystick and return default configuration
+ * @return joystick_data_t Structure containing initialized joystick parameters
+ * @note This is the main initialization function exposed to users
+ * @details
+ *      1. Calls internal： device_joystick_init()
+ *      2. Initializes all fields of 'joystick_data_t'
+ *         - channel: 1 (default communication channel)
+ *         - id: 0 (default target ID)
+ *         - bat: 0 (battery level, to be updated later)
+ *         - joyX, joyY: 0 (initial joystick positions)
+ *         - screen_mode: MODE_SETUP (start in setup mode)
+ *         - select_mode: CHANNEL_SELECT (default selection mode)
+ * @return joystick_data_t
+ */
+joystick_data_t joystick_init()
+{
+    joystick_i2c_init();
+    joystick_data_t tmp;
+    tmp.channel     = 1;
+    tmp.id          = 0;
+    tmp.bat         = 0;
+    tmp.joyX        = 0;
+    tmp.joyY        = 0;
+    tmp.accel_x     = 0.0f;
+    tmp.accel_y     = 0.0f;
+    tmp.accel_z     = 0.0f;
+    tmp.screen_mode = MODE_SETUP;
+    tmp.select_mode = CHANNEL_SELECT;
+    tmp.btnB_status = false;
+    return tmp;
+}
+
+/**
+ * @brief Task to handle joystick setup screen
+ * @param pvParam Pointer to joystick data, pointing to joystick_data_t structure
+ * @note This function runs an infinite loop that continuously reads joystick XY coordinates
+ *       and updates the setup screen when the screen mode is MODE_SETUP
+ * @details Reads raw joystick data and then calls update_setup_screen function to update screen display
+ *          Each loop iteration has a 50ms delay to ensure interface responsiveness
+ */
+void handle_setup_screen(void *pvParam)
+{
+    joystick_data_t *joystick_data = (joystick_data_t *)pvParam;
+    while (1) {
+        if (joystick_data->screen_mode == MODE_SETUP) {
+            joystick_read_xy(&joystick_data->joyX, &joystick_data->joyY);
+            update_setup_screen(joystick_data);
+            vTaskDelay(50 / portTICK_PERIOD_MS);
+        } else {
+            vTaskDelay(200 / portTICK_PERIOD_MS);
+        }
+    }
+}
+
+/**
+ * @brief Task to handle joystick running screen, responsible for reading joystick data and sending ESP-NOW control
+ * packets
+ * @param pvParam Pointer to joystick data, pointing to joystick_data_t structure
+ * @note This function runs an infinite loop that reads joystick input, processes data, and sends control packets in
+ * running mode
+ * @details
+ *      1. Reads raw X/Y values from the joystick via I2C
+ *      2. Updates the running screen display with current values
+ *      3. Applies deadzone correction to center the joystick values
+ *      4. Maps raw values to yaw/pitch angle ranges (-1280 to 1280 for yaw, 0 to 900 for pitch)
+ *      5. Only sends data when changes exceed threshold (5 units) to reduce network traffic
+ *      6. Constructs and sends ESP-NOW packet containing target ID, yaw, pitch, speed and button status
+ *      7. Each loop iteration has a 30ms delay when in running mode
+ */
+void handle_running_screen(void *pvParam)
+{
+    joystick_data_t *joystick_data = (joystick_data_t *)pvParam;
+    // communicate packet
+    uint8_t pkt[8];
+    pkt[0]              = joystick_data->id;  // id: 0 for broadcast
+    int16_t yaw_angle   = 0;
+    int16_t pitch_angle = 0;
+    int16_t last_yaw    = 0;
+    int16_t last_pitch  = 0;
+    int16_t speed_val   = 600;
+
+    while (1) {
+        // update screen and send packet when in running mode
+        if (joystick_data->screen_mode == MODE_RUNNING) {
+            joystick_read_xy(&joystick_data->joyX, &joystick_data->joyY);
+
+            if (running_screen != NULL && lv_obj_is_valid(running_screen)) {
+                update_running_screen(joystick_data->joyX, joystick_data->joyY, joystick_data->channel,
+                                      joystick_data->id, joystick_data->bat);
+            }
+
+            // handle data from joystick
+            if ((joystick_data->joyX < X_CENTER + DEAD_ZONE) && (joystick_data->joyX > X_CENTER - DEAD_ZONE)) {
+                joystick_data->joyX = X_CENTER;
+            }
+            if ((joystick_data->joyY < Y_CENTER + DEAD_ZONE) && (joystick_data->joyY > Y_CENTER - DEAD_ZONE)) {
+                joystick_data->joyY = Y_CENTER;
+            }
+
+            yaw_angle   = (int16_t)map(joystick_data->joyX, X_MIN, X_MAX, 1280, -1280);
+            pitch_angle = (int16_t)map(joystick_data->joyY, Y_MIN, Y_MAX, 0, 900);
+
+            // send pitch_angle and yaw_angle only when changes exceed threshold
+            if (abs(yaw_angle - last_yaw) < 5 && abs(pitch_angle - last_pitch) < 5) {
+                if (pkt[7] != joystick_data->btnB_status) {
+                    pkt[7] = joystick_data->btnB_status;
+                    espnow_send_data(pkt, sizeof(pkt));
+                }
+                vTaskDelay(30 / portTICK_PERIOD_MS);
+                continue;
+            }
+
+            pkt[0] = joystick_data->id;
+            memcpy(&pkt[1], &yaw_angle, sizeof(int16_t));
+            memcpy(&pkt[3], &pitch_angle, sizeof(int16_t));
+            memcpy(&pkt[5], &speed_val, sizeof(int16_t));
+            pkt[7] = joystick_data->btnB_status;
+
+#if 0 
+            ESP_LOGI("handle_running_screen", "Yaw: %d, Pitch: %d, Speed: %d, id: %u, Button: %u", 
+                        yaw_angle, pitch_angle, speed_val, joystick_data->id, joystick_data->btnB_status);
+#endif
+
+            last_yaw   = yaw_angle;
+            last_pitch = pitch_angle;
+            espnow_send_data(pkt, sizeof(pkt));
+            vTaskDelay(30 / portTICK_PERIOD_MS);
+        } else {
+            vTaskDelay(200 / portTICK_PERIOD_MS);
+        }
+    }
+}
+
+/**
+ * @brief Task to handle joystick IMU screen functionality, processing IMU sensor data and sending ESP-NOW control
+ * packets
+ *
+ * This function runs an infinite loop that reads IMU sensor data (accelerometer and gyroscope),
+ * updates the IMU visualization screen, processes the angle data to control remote devices,
+ * and sends ESP-NOW packets with the processed control information.
+ * The function maps the IMU pitch and roll angles to yaw and pitch values for remote control,
+ * applies filtering to reduce unnecessary transmissions, and sends control packets at regular intervals.
+ *
+ * @param pvParam Pointer to joystick data structure containing IMU sensor values, battery level,
+ *                device ID, communication channel, and other control parameters
+ * @details
+ *      1. Continuously reads IMU data (acceleration and gyro values) from the joystick_data structure
+ *      2. Updates the IMU screen visualization with current sensor values
+ *      3. Limits roll values to range [-1.5, 1.5] and pitch values to range [0, 1.5]
+ *      4. Maps limited angle values to appropriate yaw/pitch ranges for remote control (-1280 to 1280 for yaw, 900 to 0
+ * for pitch)
+ *      5. Only sends control packets when changes exceed threshold (10 units) to minimize network traffic
+ *      6. Constructs and transmits ESP-NOW packet with device ID, yaw, pitch, speed, and button status
+ *      7. Includes a 50ms delay between iterations when in IMU mode, 200ms otherwise
+ */
+void handle_imu_screen(void *pvParam)
+{
+    joystick_data_t *joystick_data = (joystick_data_t *)pvParam;
+
+    static IMU_Angle_t last_imu_angle = {0.0f, 0.0f};
+
+    // communicate packet
+    uint8_t pkt[8];
+    pkt[0]              = joystick_data->id;  // id: 0 for broadcast
+    int16_t yaw_angle   = 0;
+    int16_t pitch_angle = 0;
+    int16_t last_yaw    = 0;
+    int16_t last_pitch  = 0;
+    int16_t speed_val   = 600;
+
+    while (1) {
+        // update screen and send packet when in running mode
+        if (joystick_data->screen_mode == MODE_IMU) {
+            IMU_Angle_t imu_angle =
+                update_imu_screen(joystick_data->accel_x, joystick_data->accel_y, joystick_data->accel_z,
+                                  joystick_data->bat, joystick_data->id, joystick_data->channel);
+
+            // Limit the roll value to the range of -1.5 to 1.5
+            float limited_roll = fmaxf(-1.5f, fminf(1.5f, imu_angle.roll));
+            // Limit the pitch value to the range of 0 to 1.5
+            float limited_pitch = fmaxf(0.0f, fminf(1.5f, imu_angle.pitch));
+
+            yaw_angle   = (int16_t)map(limited_roll, -1.5, 1.5, -1280, 1280);
+            pitch_angle = (int16_t)map(limited_pitch, 0, 1.5, 900, 0);
+
+            if (abs(yaw_angle - last_yaw) < 10 && abs(last_pitch - pitch_angle) < 10) {
+                vTaskDelay(30 / portTICK_PERIOD_MS);
+                continue;
+            }
+            last_yaw   = yaw_angle;
+            last_pitch = pitch_angle;
+
+            pkt[0] = joystick_data->id;
+            memcpy(&pkt[1], &yaw_angle, sizeof(int16_t));
+            memcpy(&pkt[3], &pitch_angle, sizeof(int16_t));
+            memcpy(&pkt[5], &speed_val, sizeof(int16_t));
+            pkt[7] = joystick_data->btnB_status;
+            espnow_send_data(pkt, sizeof(pkt));
+
+#if 0 
+            // ESP_LOGI("handle_imu_screen", "yaw_angle: %.2f, pitch_angle:%.2f, yaw: %d, pitch: %d\n", 
+                                            imu_angle.roll, imu_angle.pitch, yaw_angle, pitch_angle);
+#endif
+
+            vTaskDelay(30 / portTICK_PERIOD_MS);
+        } else {
+            vTaskDelay(200 / portTICK_PERIOD_MS);
+        }
+    }
+}
@@ -0,0 +1,28 @@
+#ifndef __JOYSTICK_HANDLE_H__
+#define __JOYSTICK_HANDLE_H__
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include "driver/i2c.h"
+#include "i2c_bus.h"
+#include "hal/i2c_types.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "../esp_now/esp_now_init.h"
+#include "../ui/ui_setup_screen.h"
+#include "../ui/ui_running_screen.h"
+#include "../ui/ui_imu_screen.h"
+#include "joystick_basic.h"
+
+joystick_data_t joystick_init();
+void handle_setup_screen(void *pvParam);
+void handle_running_screen(void *pvParam);
+void handle_imu_screen(void *pvParam);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif
@@ -0,0 +1,117 @@
+#include "lvgl_port.h"
+#include <M5Unified.h>
+#include "M5GFX.h"
+
+extern "C" {
+
+#define LV_BUFFER_LINE 40
+static SemaphoreHandle_t xGuiSemaphore;
+static void lvgl_tick_timer(void *arg)
+{
+    (void)arg;
+    lv_tick_inc(10);
+}
+
+static void lvgl_rtos_task(void *pvParameter)
+{
+    (void)pvParameter;
+    while (1) {
+        if (pdTRUE == xSemaphoreTake(xGuiSemaphore, portMAX_DELAY)) {
+            lv_timer_handler();
+            xSemaphoreGive(xGuiSemaphore);
+        }
+        vTaskDelay(pdMS_TO_TICKS(10));
+    }
+}
+
+static lv_disp_draw_buf_t draw_buf;
+static void lvgl_flush_cb(lv_disp_drv_t *disp, const lv_area_t *area, lv_color_t *color_p)
+{
+    M5GFX &gfx      = *(M5GFX *)disp->user_data;
+    int w           = (area->x2 - area->x1 + 1);
+    int h           = (area->y2 - area->y1 + 1);
+    uint32_t pixels = w * h;
+
+    M5.Display.startWrite();
+    M5.Display.setAddrWindow(area->x1, area->y1, w, h);
+
+    // Critical fix: Use safe pixel writing method to avoid M5GFX SIMD optimizations
+    // Break large transfers into small chunks to avoid problematic copy_rgb_fast function
+    const uint32_t SAFE_CHUNK_SIZE = 8192;  // 8K pixels per chunk, suitable for small buffer settings
+
+    if (pixels > SAFE_CHUNK_SIZE) {
+        // Chunked transmission for large data
+        const lgfx::rgb565_t *src = (const lgfx::rgb565_t *)color_p;
+        uint32_t remaining        = pixels;
+        uint32_t offset           = 0;
+
+        while (remaining > 0) {
+            uint32_t chunk_size = (remaining > SAFE_CHUNK_SIZE) ? SAFE_CHUNK_SIZE : remaining;
+            M5.Display.writePixels(src + offset, chunk_size);
+            offset += chunk_size;
+            remaining -= chunk_size;
+        }
+    } else {
+        // Direct transmission for small data
+        M5.Display.writePixels((lgfx::rgb565_t *)color_p, pixels);
+    }
+
+    M5.Display.endWrite();
+
+    lv_disp_flush_ready(disp);
+}
+
+// BtnA / BtnB
+static void lvgl_read_cb(lv_indev_drv_t *indev_driver, lv_indev_data_t *data)
+{
+}
+
+void lvgl_port_init(void)
+{
+    lv_init();
+
+    size_t buffer_size      = M5.Display.width() * LV_BUFFER_LINE * sizeof(lv_color_t);
+    static lv_color_t *buf1 = (lv_color_t *)heap_caps_malloc(buffer_size, MALLOC_CAP_DMA | MALLOC_CAP_INTERNAL);
+
+    if (buf1 == NULL) {
+        ESP_LOGE("LVGL", "Failed to allocate display buffer!");
+        return;
+    }
+
+    lv_disp_draw_buf_init(&draw_buf, buf1, NULL, M5.Display.width() * LV_BUFFER_LINE);
+
+    static lv_disp_drv_t disp_drv;
+    lv_disp_drv_init(&disp_drv);
+    disp_drv.hor_res   = M5.Display.width();
+    disp_drv.ver_res   = M5.Display.height();
+    disp_drv.flush_cb  = lvgl_flush_cb;
+    disp_drv.draw_buf  = &draw_buf;
+    disp_drv.user_data = &M5.Display;
+    lv_disp_drv_register(&disp_drv);
+
+    static lv_indev_drv_t indev_drv;
+    lv_indev_drv_init(&indev_drv);
+    indev_drv.type    = LV_INDEV_TYPE_BUTTON;
+    indev_drv.read_cb = lvgl_read_cb;
+    // indev_drv.user_data = &gfx;
+    indev_drv.user_data = &M5.Display;
+    lv_indev_t *indev   = lv_indev_drv_register(&indev_drv);
+
+    xGuiSemaphore                                     = xSemaphoreCreateMutex();
+    const esp_timer_create_args_t periodic_timer_args = {.callback = &lvgl_tick_timer, .name = "lvgl_tick_timer"};
+    esp_timer_handle_t periodic_timer;
+    ESP_ERROR_CHECK(esp_timer_create(&periodic_timer_args, &periodic_timer));
+    ESP_ERROR_CHECK(esp_timer_start_periodic(periodic_timer, 10 * 1000));
+    xTaskCreate(lvgl_rtos_task, "lvgl_rtos_task", 4096, NULL, 1, NULL);
+}
+
+bool lvgl_port_lock(void)
+{
+    return xSemaphoreTake(xGuiSemaphore, portMAX_DELAY) == pdTRUE ? true : false;
+}
+
+void lvgl_port_unlock(void)
+{
+    xSemaphoreGive(xGuiSemaphore);
+}
+}
@@ -0,0 +1,19 @@
+#ifndef LVGL_PORT_H
+#define LVGL_PORT_H
+
+#include "lvgl.h"
+#include "esp_log.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void lvgl_port_init(void);
+bool lvgl_port_lock(void);
+void lvgl_port_unlock(void);
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif  // LVGL_PORT_H
@@ -0,0 +1,93 @@
+#include "ui.h"
+
+/**
+ * @brief Switches between different UI screens based on the provided screen ID
+ *
+ * This function manages the display of different UI screens (setup, running, IMU)
+ * by checking if the requested screen exists, creating it if necessary, validating
+ * the screen object, and then loading it with a slide-left animation effect.
+ *
+ * The function implements error handling by destroying and recreating invalid screens
+ * using goto statements for retry logic. Each screen type has its own creation
+ * and validation flow.
+ *
+ * @param screen_id An integer representing the target screen mode:
+ *                  - MODE_SETUP: Configuration/setup screen
+ *                  - MODE_RUNNING: Main operational screen
+ *                  - MODE_IMU: IMU data visualization screen
+ *                  - Any other value: Logs an error message
+ *
+ * @note The function uses LVGL's animation API to provide smooth screen transitions
+ *       with a 200ms left slide animation. Thread safety should be considered when
+ *       calling this function from different tasks.
+ *
+ * @warning This function relies on external screen objects and creation/destruction
+ *          functions that must be implemented in other UI modules. The use of goto
+ *          statements may affect code maintainability.
+ */
+void switch_screen(int screen_id)
+{
+    if (screen_id == MODE_SETUP) {
+    setup_create:
+        if (setup_screen == NULL) {
+            create_setup_screen();
+            ESP_LOGI("UI", "Setup screen created");
+        }
+        // Load only if object is valid
+        if (setup_screen != NULL && lv_obj_is_valid(setup_screen)) {
+            ESP_LOGI("UI", "Setup screen loaded");
+            lv_scr_load_anim(setup_screen, LV_SCR_LOAD_ANIM_MOVE_LEFT, 200, 0, false);
+        } else {
+            ESP_LOGE("UI", "Setup screen is NULL or invalid!");
+            ui_setup_screen_destory();
+            goto setup_create;
+        }
+    } else if (screen_id == MODE_RUNNING) {
+    running_create:
+        if (running_screen == NULL) {
+            create_running_screen();
+            ESP_LOGI("UI", "Running screen created");
+        }
+        // Load only if object is valid
+        if (running_screen != NULL && lv_obj_is_valid(running_screen)) {
+            ESP_LOGI("UI", "Running screen loaded");
+            lv_scr_load_anim(running_screen, LV_SCR_LOAD_ANIM_MOVE_LEFT, 200, 0, false);
+        } else {
+            ESP_LOGE("UI", "Running screen is NULL or invalid!");
+            ui_running_screen_destory();
+            goto running_create;
+        }
+    } else if (screen_id == MODE_IMU) {
+    imu_create:
+        if (imu_screen == NULL) {
+            create_imu_screen();
+            ESP_LOGI("UI", "IMU screen created");
+        }
+        // Load only if object is valid
+        if (imu_screen != NULL && lv_obj_is_valid(imu_screen)) {
+            ESP_LOGI("UI", "IMU screen loaded");
+            lv_scr_load_anim(imu_screen, LV_SCR_LOAD_ANIM_MOVE_LEFT, 200, 0, false);
+        } else {
+            ESP_LOGE("UI", "Running screen is NULL or invalid!");
+            ui_imu_screen_destory();
+            goto imu_create;
+        }
+    } else {
+        ESP_LOGE("UI", "Invalid screen mode!");
+    }
+}
+
+/**
+ * @brief Initialize the UI system by creating and loading the initial setup screen
+ * @note This function serves as the entry point for UI initialization
+ * @details
+ *      1. Creates the setup screen using create_setup_screen()
+ *      2. Immediately loads the setup screen as the current display
+ *      3. Sets up the initial UI state for user interaction
+ * @warning This function should only be called once during application startup
+ */
+void ui_init()
+{
+    create_setup_screen();
+    lv_disp_load_scr(setup_screen);
+}
@@ -0,0 +1,15 @@
+#ifndef UI_H
+#define UI_H
+
+#include "esp_log.h"
+#include "lvgl.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "ui_setup_screen.h"
+#include "ui_running_screen.h"
+#include "ui_imu_screen.h"
+
+void ui_init();
+void switch_screen(int screen_id);
+
+#endif
--- a/Show More
+++ b/Show More