adding backend script + test program for microcontroller

arduino_code/Test/.vscode/extensions.json

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+{
+    // See http://go.microsoft.com/fwlink/?LinkId=827846
+    // for the documentation about the extensions.json format
+    "recommendations": [
+        "platformio.platformio-ide"
+    ],
+    "unwantedRecommendations": [
+        "ms-vscode.cpptools-extension-pack"
+    ]
+}

arduino_code/Test/include/README

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+
+This directory is intended for project header files.
+
+A header file is a file containing C declarations and macro definitions
+to be shared between several project source files. You request the use of a
+header file in your project source file (C, C++, etc) located in `src` folder
+by including it, with the C preprocessing directive `#include'.
+
+```src/main.c
+
+#include "header.h"
+
+int main (void)
+{
+ ...
+}
+```
+
+Including a header file produces the same results as copying the header file
+into each source file that needs it. Such copying would be time-consuming
+and error-prone. With a header file, the related declarations appear
+in only one place. If they need to be changed, they can be changed in one
+place, and programs that include the header file will automatically use the
+new version when next recompiled. The header file eliminates the labor of
+finding and changing all the copies as well as the risk that a failure to
+find one copy will result in inconsistencies within a program.
+
+In C, the convention is to give header files names that end with `.h'.
+
+Read more about using header files in official GCC documentation:
+
+* Include Syntax
+* Include Operation
+* Once-Only Headers
+* Computed Includes
+
+https://gcc.gnu.org/onlinedocs/cpp/Header-Files.html

arduino_code/Test/lib/README

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+
+This directory is intended for project specific (private) libraries.
+PlatformIO will compile them to static libraries and link into the executable file.
+
+The source code of each library should be placed in a separate directory
+("lib/your_library_name/[Code]").
+
+For example, see the structure of the following example libraries `Foo` and `Bar`:
+
+|--lib
+|  |
+|  |--Bar
+|  |  |--docs
+|  |  |--examples
+|  |  |--src
+|  |     |- Bar.c
+|  |     |- Bar.h
+|  |  |- library.json (optional. for custom build options, etc) https://docs.platformio.org/page/librarymanager/config.html
+|  |
+|  |--Foo
+|  |  |- Foo.c
+|  |  |- Foo.h
+|  |
+|  |- README --> THIS FILE
+|
+|- platformio.ini
+|--src
+   |- main.c
+
+Example contents of `src/main.c` using Foo and Bar:
+```
+#include <Foo.h>
+#include <Bar.h>
+
+int main (void)
+{
+  ...
+}
+
+```
+
+The PlatformIO Library Dependency Finder will find automatically dependent
+libraries by scanning project source files.
+
+More information about PlatformIO Library Dependency Finder
+- https://docs.platformio.org/page/librarymanager/ldf.html

arduino_code/Test/platformio.ini

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+; PlatformIO Project Configuration File
+;
+;   Build options: build flags, source filter
+;   Upload options: custom upload port, speed and extra flags
+;   Library options: dependencies, extra library storages
+;   Advanced options: extra scripting
+;
+; Please visit documentation for the other options and examples
+; https://docs.platformio.org/page/projectconf.html
+
+[env:upesy_wroom]
+platform = espressif32
+board = upesy_wroom
+framework = arduino
+monitor_speed = 115200
+upload_speed = 921600
+upload_port = /dev/ttyUSB0
+lib_deps = 
+	knolleary/PubSubClient@^2.8

arduino_code/Test/src/main.cpp

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+// arduino_code/Test/src/main.cpp
+#include <Arduino.h>
+#include <WiFi.h>
+#include <PubSubClient.h>
+
+// WiFi credentials
+const char* ssid = "Home";
+const char* password = "88888888qwE";
+
+// MQTT Server details
+const char* mqtt_server = "192.168.31.225";
+const char* mqtt_user = "test";
+const char* mqtt_password = "1234";
+
+WiFiClient espClient;
+PubSubClient client(espClient);
+
+// Пины для управления TMC2209
+const int DIR_PIN = 18;   // Направление
+const int STEP_PIN = 19;   // Шаг
+const int EN_PIN = 21;   // Включение (опционально)
+
+// Переменные для управления
+bool motor_running = false;
+int step_delay = 1000;  // Задержка между шагами (в микросекундах)
+int steps_per_second = 1000; // Количество шагов в секунду
+
+void setup_wifi() {
+  delay(10);
+  // Подключение к WiFi
+  WiFi.begin(ssid, password);
+  while (WiFi.status() != WL_CONNECTED) {
+    delay(500);
+  }
+}
+
+void startMotor() {
+  motor_running = true;
+  Serial.println("Motor started");
+}
+
+void stopMotor() {
+  motor_running = false;
+  Serial.println("Motor stopped");
+}
+
+void updateStepDelay() {
+  // Рассчитываем задержку между шагами
+  step_delay = 1000000 / steps_per_second;
+}
+
+void setSpeed(int speed) {
+  // Установка скорости в шагах в секунду
+  if (speed > 0) {
+    steps_per_second = speed;
+    updateStepDelay();
+    Serial.print("Speed set to: ");
+    Serial.print(speed);
+    Serial.println(" steps/sec");
+  }
+}
+
+void callback(char* topic, byte* payload, unsigned int length) {
+  // Обработка команд через MQTT
+  String message;
+  for (int i = 0; i < length; i++) {
+    message += (char)payload[i];
+  }
+
+  if (message == "start") {
+    startMotor();
+  } else if (message == "stop") {
+    stopMotor();
+  } else if (message.startsWith("speed:")) {
+    int speed = message.substring(6).toInt();
+    setSpeed(speed);
+  } else if (message.startsWith("turnoff")) {
+    digitalWrite(EN_PIN, HIGH);
+  } else if (message.startsWith("turnon")) {
+    digitalWrite(EN_PIN, LOW);
+  }
+}
+
+void reconnect() {
+  // Повторное подключение к MQTT
+  while (!client.connected()) {
+    if (client.connect("ESP32Client", mqtt_user, mqtt_password)) {
+      client.subscribe("motor/control");
+    } else {
+      delay(5000);
+    }
+  }
+}
+
+void setup() {
+  Serial.begin(115200);
+  setup_wifi();
+  client.setServer(mqtt_server, 1883);
+  client.setCallback(callback);
+  
+  // Настройка пинов
+  pinMode(DIR_PIN, OUTPUT);
+  pinMode(STEP_PIN, OUTPUT);
+  pinMode(EN_PIN, OUTPUT);
+  
+  // Включаем двигатель
+  digitalWrite(EN_PIN, LOW);
+  
+  // Начальное направление (вперед)
+  digitalWrite(DIR_PIN, HIGH);
+}
+
+void loop() {
+  if (!client.connected()) {
+    reconnect();
+  }
+  client.loop();
+  // Обновляем задержку для правильной скорости
+  updateStepDelay();
+  // Управление двигателем
+  if (motor_running) {
+    // Выполняем шаг
+    digitalWrite(STEP_PIN, HIGH);
+    delayMicroseconds(step_delay);
+    digitalWrite(STEP_PIN, LOW);
+    delayMicroseconds(step_delay);
+  }
+}
+

arduino_code/Test/test/README

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+
+This directory is intended for PlatformIO Test Runner and project tests.
+
+Unit Testing is a software testing method by which individual units of
+source code, sets of one or more MCU program modules together with associated
+control data, usage procedures, and operating procedures, are tested to
+determine whether they are fit for use. Unit testing finds problems early
+in the development cycle.
+
+More information about PlatformIO Unit Testing:
+- https://docs.platformio.org/en/latest/advanced/unit-testing/index.html