Added the zig_main project to software for zig based implementation of code for robot

software/zig_main/imports/pm.zig

@@ -0,0 +1,68 @@
+const sys = @import("sys");
+const errors = @import("error");
+
+// ---------------------------------------------------------------------------
+// Type aliases & enums
+// ---------------------------------------------------------------------------
+
+/// Unified power management configuration.
+/// Fields: `max_freq_mhz`, `min_freq_mhz`, `light_sleep_enable`.
+pub const Config = sys.esp_pm_config_t;
+
+pub const LockHandle = sys.esp_pm_lock_handle_t;
+
+/// Type of power management lock.
+/// - `cpu_freq_max`: CPU runs at its maximum configured frequency while held.
+/// - `apb_freq_max`: APB bus runs at maximum frequency while held.
+/// - `no_light_sleep`: Prevents light sleep while held.
+pub const LockType = enum(sys.esp_pm_lock_type_t) {
+    cpu_freq_max = sys.ESP_PM_CPU_FREQ_MAX,
+    apb_freq_max = sys.ESP_PM_APB_FREQ_MAX,
+    no_light_sleep = sys.ESP_PM_NO_LIGHT_SLEEP,
+};
+
+// ---------------------------------------------------------------------------
+// System-wide configuration
+// ---------------------------------------------------------------------------
+
+/// Apply a power management configuration.
+/// `config` is a pointer to an `esp_pm_config_t` struct.
+pub fn configure(config: *const Config) !void {
+    try errors.espCheckError(sys.esp_pm_configure(config));
+}
+
+/// Retrieve the current power management configuration.
+pub fn getConfiguration(config: *Config) !void {
+    try errors.espCheckError(sys.esp_pm_get_configuration(config));
+}
+
+// ---------------------------------------------------------------------------
+// Power management locks
+// ---------------------------------------------------------------------------
+
+pub const Lock = struct {
+    /// Create a new PM lock.
+    /// `lock_type`: the resource to hold.
+    /// `arg`: only used for `cpu_freq_max`/`apb_freq_max` (target MHz); pass 0 otherwise.
+    /// `name`: optional human-readable name for `esp_pm_dump_locks`.
+    pub fn create(lock_type: LockType, arg: c_int, name: [*:0]const u8) !LockHandle {
+        var handle: LockHandle = null;
+        try errors.espCheckError(sys.esp_pm_lock_create(@intFromEnum(lock_type), arg, name, &handle));
+        return handle;
+    }
+
+    /// Acquire a PM lock. Nesting is supported — matched `release` calls are required.
+    pub fn acquire(handle: LockHandle) !void {
+        try errors.espCheckError(sys.esp_pm_lock_acquire(handle));
+    }
+
+    /// Release a previously acquired PM lock.
+    pub fn release(handle: LockHandle) !void {
+        try errors.espCheckError(sys.esp_pm_lock_release(handle));
+    }
+
+    /// Delete a PM lock. The lock must not be held when deleted.
+    pub fn delete(handle: LockHandle) !void {
+        try errors.espCheckError(sys.esp_pm_lock_delete(handle));
+    }
+};