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Refactor Otto Robot configuration and initialization (#1534)

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* otto v1.4.0 MCP

1.使用MCP协议控制机器人
2.gif继承lcdDisplay，避免修改lcdDisplay

* otto v1.4.1 gif as components

gif as components

* electronBot v1.1.0 mcp

1.增加electronBot支持
2.mcp协议
3.gif 作为组件
4.display子类

* 规范代码

1.规范代码
2.修复切换主题死机bug

* fix(ota): 修复 ottoRobot和electronBot OTA 升级崩溃问题 bug

* 1.增加robot舵机初始位置校准
2.fix(mcp_sever) 超出范围异常捕获类型  bug

* refactor: Update Electron and Otto emoji display implementations

- Removed GIF selection from Kconfig for Electron and Otto boards.
- Updated Electron and Otto bot versions to 2.0.4 in their respective config files.
- Refactored emoji display classes to utilize EmojiCollection for managing emojis.
- Enhanced chat label setup and status display functionality in both classes.
- Cleaned up unused code and improved initialization logging for emoji displays.

* Rename OTTO_ICON_FONT.c to otto_icon_font.c

* Rename OTTO_ICON_FONT.c to otto_icon_font.c

* refactor: Update Otto emoji display configurations and functionalities

- Changed chat label text mode to circular scrolling for both Otto and Electron emoji displays.
- Bumped Otto robot version to 2.0.5 in the configuration file.
- Added new actions for Otto robot including Sit, WhirlwindLeg, Fitness, Greeting, Shy, RadioCalisthenics, MagicCircle, and Showcase.
- Enhanced servo sequence handling and added support for executing custom servo sequences.
- Improved logging and error handling for servo sequence execution.

* refactor: Update chat label long mode for Electron and Otto emoji displays

- Changed chat label text mode from wrap to circular scrolling for both Electron and Otto emoji displays.
- Improved consistency in chat label setup across both implementations.

* Update Otto robot README with new actions and parameters

* Update Otto controller parameters for oscillation settings

- Changed default oscillation period from 500ms to 300ms.
- Increased default steps from 5.0 to 8.0.
- Updated default amplitude from 20 degrees to 0 degrees.
- Enhanced documentation with new examples for oscillation modes and sequences.

* Fix default amplitude initialization in Otto controller to use a single zero instead of two digits.

* chore: update txp666/otto-emoji-gif-component version to 1.0.3 in idf_component.yml

* Refactor Otto controller
- Consolidated movement actions into a unified tool for the Otto robot, allowing for a single action command with various parameters.
- Removed individual movement tools (walk, turn, jump, etc.) and replaced them with a more flexible action system.

* Enhance Otto robot functionality by adding WebSocket control server and IP address retrieval feature. Updated config to support WebSocket, and revised README to include new control options and usage examples.

* Add camera support for Otto Robot board

- Introduced configuration option to enable the Otto Robot camera in Kconfig.
- Updated config.h to define camera-related GPIO pins and settings.
- Modified config.json to include camera configuration.
- Enhanced otto_robot.cc to initialize I2C and camera components when the camera is enabled.
- Adjusted power_manager.h to manage battery updates during camera operations.
- Removed unused SetupChatLabel method from OttoEmojiDisplay class.

* Refactor Otto Robot configuration and initialization

- Removed the camera configuration option from Kconfig and related code.
- Introduced a new HardwareConfig struct to encapsulate hardware pin definitions and settings.
- Updated config.h to define camera and non-camera configurations using the new struct.
- Refactored otto_controller.cc and otto_robot.cc to utilize the HardwareConfig struct for initialization.
- Enhanced camera detection and initialization logic based on hardware version.
- Improved audio codec initialization based on configuration settings.
This commit is contained in:
小鹏
2025-12-08 20:55:23 +08:00
committed by GitHub
parent f9de29519b
commit 11c79a7003
5 changed files with 347 additions and 210 deletions
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7
main/Kconfig.projbuild
View File

@@ -690,13 +690,6 @@ config RECEIVE_CUSTOM_MESSAGE
help
Enable custom message reception, allow the device to receive custom messages from the server (preferably through the MQTT protocol)
config OTTO_ROBOT_USE_CAMERA
bool "Enable Otto Robot Camera"
default n
depends on BOARD_TYPE_OTTO_ROBOT
help
Enable Otto Robot Camera
menu "Camera Configuration"
depends on !IDF_TARGET_ESP32

182
main/boards/otto-robot/config.h
View File

@@ -2,36 +2,124 @@
#define _BOARD_CONFIG_H_
#include <driver/gpio.h>
#include <driver/adc.h>
#if CONFIG_OTTO_ROBOT_USE_CAMERA
#define POWER_CHARGE_DETECT_PIN GPIO_NUM_NC
#define POWER_ADC_UNIT ADC_UNIT_1
#define POWER_ADC_CHANNEL ADC_CHANNEL_1
struct HardwareConfig {
gpio_num_t power_charge_detect_pin;
adc_unit_t power_adc_unit;
adc_channel_t power_adc_channel;
gpio_num_t right_leg_pin;
gpio_num_t right_foot_pin;
gpio_num_t left_leg_pin;
gpio_num_t left_foot_pin;
gpio_num_t left_hand_pin;
gpio_num_t right_hand_pin;
int audio_input_sample_rate;
int audio_output_sample_rate;
bool audio_use_simplex;
gpio_num_t audio_i2s_gpio_ws;
gpio_num_t audio_i2s_gpio_bclk;
gpio_num_t audio_i2s_gpio_din;
gpio_num_t audio_i2s_gpio_dout;
gpio_num_t audio_i2s_mic_gpio_ws;
gpio_num_t audio_i2s_mic_gpio_sck;
gpio_num_t audio_i2s_mic_gpio_din;
gpio_num_t audio_i2s_spk_gpio_dout;
gpio_num_t audio_i2s_spk_gpio_bclk;
gpio_num_t audio_i2s_spk_gpio_lrck;
gpio_num_t display_backlight_pin;
gpio_num_t display_mosi_pin;
gpio_num_t display_clk_pin;
gpio_num_t display_dc_pin;
gpio_num_t display_rst_pin;
gpio_num_t display_cs_pin;
gpio_num_t i2c_sda_pin;
gpio_num_t i2c_scl_pin;
};
#define RIGHT_LEG_PIN GPIO_NUM_43
#define RIGHT_FOOT_PIN GPIO_NUM_44
#define LEFT_LEG_PIN GPIO_NUM_5
#define LEFT_FOOT_PIN GPIO_NUM_6
#define LEFT_HAND_PIN GPIO_NUM_4
#define RIGHT_HAND_PIN GPIO_NUM_7
constexpr HardwareConfig CAMERA_VERSION_CONFIG = {
.power_charge_detect_pin = GPIO_NUM_NC,
.power_adc_unit = ADC_UNIT_1,
.power_adc_channel = ADC_CHANNEL_1,
.right_leg_pin = GPIO_NUM_43,
.right_foot_pin = GPIO_NUM_44,
.left_leg_pin = GPIO_NUM_5,
.left_foot_pin = GPIO_NUM_6,
.left_hand_pin = GPIO_NUM_4,
.right_hand_pin = GPIO_NUM_7,
.audio_input_sample_rate = 16000,
.audio_output_sample_rate = 16000,
.audio_use_simplex = false,
.audio_i2s_gpio_ws = GPIO_NUM_40,
.audio_i2s_gpio_bclk = GPIO_NUM_42,
.audio_i2s_gpio_din = GPIO_NUM_41,
.audio_i2s_gpio_dout = GPIO_NUM_39,
.audio_i2s_mic_gpio_ws = GPIO_NUM_NC,
.audio_i2s_mic_gpio_sck = GPIO_NUM_NC,
.audio_i2s_mic_gpio_din = GPIO_NUM_NC,
.audio_i2s_spk_gpio_dout = GPIO_NUM_NC,
.audio_i2s_spk_gpio_bclk = GPIO_NUM_NC,
.audio_i2s_spk_gpio_lrck = GPIO_NUM_NC,
.display_backlight_pin = GPIO_NUM_38,
.display_mosi_pin = GPIO_NUM_45,
.display_clk_pin = GPIO_NUM_48,
.display_dc_pin = GPIO_NUM_47,
.display_rst_pin = GPIO_NUM_1,
.display_cs_pin = GPIO_NUM_NC,
.i2c_sda_pin = GPIO_NUM_15,
.i2c_scl_pin = GPIO_NUM_16,
};
#define AUDIO_INPUT_SAMPLE_RATE 16000
#define AUDIO_OUTPUT_SAMPLE_RATE 16000
#define AUDIO_I2S_GPIO_WS GPIO_NUM_40
#define AUDIO_I2S_GPIO_BCLK GPIO_NUM_42
#define AUDIO_I2S_GPIO_DIN GPIO_NUM_41
#define AUDIO_I2S_GPIO_DOUT GPIO_NUM_39
#define DISPLAY_BACKLIGHT_PIN GPIO_NUM_38
#define DISPLAY_MOSI_PIN GPIO_NUM_45
#define DISPLAY_CLK_PIN GPIO_NUM_48
#define DISPLAY_DC_PIN GPIO_NUM_47
#define DISPLAY_RST_PIN GPIO_NUM_1
#define DISPLAY_CS_PIN GPIO_NUM_NC
/* Camera PINs*/
#define I2C_SDA_PIN GPIO_NUM_15
#define I2C_SCL_PIN GPIO_NUM_16
constexpr HardwareConfig NON_CAMERA_VERSION_CONFIG = {
.power_charge_detect_pin = GPIO_NUM_21,
.power_adc_unit = ADC_UNIT_2,
.power_adc_channel = ADC_CHANNEL_3,
.right_leg_pin = GPIO_NUM_39,
.right_foot_pin = GPIO_NUM_38,
.left_leg_pin = GPIO_NUM_17,
.left_foot_pin = GPIO_NUM_18,
.left_hand_pin = GPIO_NUM_8,
.right_hand_pin = GPIO_NUM_12,
.audio_input_sample_rate = 16000,
.audio_output_sample_rate = 24000,
.audio_use_simplex = true,
.audio_i2s_gpio_ws = GPIO_NUM_NC,
.audio_i2s_gpio_bclk = GPIO_NUM_NC,
.audio_i2s_gpio_din = GPIO_NUM_NC,
.audio_i2s_gpio_dout = GPIO_NUM_NC,
.audio_i2s_mic_gpio_ws = GPIO_NUM_4,
.audio_i2s_mic_gpio_sck = GPIO_NUM_5,
.audio_i2s_mic_gpio_din = GPIO_NUM_6,
.audio_i2s_spk_gpio_dout = GPIO_NUM_7,
.audio_i2s_spk_gpio_bclk = GPIO_NUM_15,
.audio_i2s_spk_gpio_lrck = GPIO_NUM_16,
.display_backlight_pin = GPIO_NUM_3,
.display_mosi_pin = GPIO_NUM_10,
.display_clk_pin = GPIO_NUM_9,
.display_dc_pin = GPIO_NUM_46,
.display_rst_pin = GPIO_NUM_11,
.display_cs_pin = GPIO_NUM_12,
.i2c_sda_pin = GPIO_NUM_NC,
.i2c_scl_pin = GPIO_NUM_NC,
};
#define CAMERA_XCLK (GPIO_NUM_3)
#define CAMERA_PCLK (GPIO_NUM_10)
@@ -45,49 +133,12 @@
#define CAMERA_D5 (GPIO_NUM_9)
#define CAMERA_D6 (GPIO_NUM_46)
#define CAMERA_D7 (GPIO_NUM_8)
#define CAMERA_PWDN (GPIO_NUM_NC)
#define CAMERA_RESET (GPIO_NUM_NC)
#define CAMERA_XCLK_FREQ (16000000)
#define LEDC_TIMER (LEDC_TIMER_0)
#define LEDC_CHANNEL (LEDC_CHANNEL_0)
#define CAMERA_SIOD (GPIO_NUM_NC)
#define CAMERA_SIOC (GPIO_NUM_NC)
#else
#define POWER_CHARGE_DETECT_PIN GPIO_NUM_21
#define POWER_ADC_UNIT ADC_UNIT_2
#define POWER_ADC_CHANNEL ADC_CHANNEL_3
#define RIGHT_LEG_PIN GPIO_NUM_39
#define RIGHT_FOOT_PIN GPIO_NUM_38
#define LEFT_LEG_PIN GPIO_NUM_17
#define LEFT_FOOT_PIN GPIO_NUM_18
#define LEFT_HAND_PIN GPIO_NUM_8
#define RIGHT_HAND_PIN GPIO_NUM_12
#define AUDIO_INPUT_SAMPLE_RATE 16000
#define AUDIO_OUTPUT_SAMPLE_RATE 24000
#define AUDIO_I2S_METHOD_SIMPLEX
#define AUDIO_I2S_MIC_GPIO_WS GPIO_NUM_4
#define AUDIO_I2S_MIC_GPIO_SCK GPIO_NUM_5
#define AUDIO_I2S_MIC_GPIO_DIN GPIO_NUM_6
#define AUDIO_I2S_SPK_GPIO_DOUT GPIO_NUM_7
#define AUDIO_I2S_SPK_GPIO_BCLK GPIO_NUM_15
#define AUDIO_I2S_SPK_GPIO_LRCK GPIO_NUM_16
#define DISPLAY_BACKLIGHT_PIN GPIO_NUM_3
#define DISPLAY_MOSI_PIN GPIO_NUM_10
#define DISPLAY_CLK_PIN GPIO_NUM_9
#define DISPLAY_DC_PIN GPIO_NUM_46
#define DISPLAY_RST_PIN GPIO_NUM_11
#define DISPLAY_CS_PIN GPIO_NUM_12
#endif
#define LCD_TYPE_ST7789_SERIAL
#define DISPLAY_WIDTH 240
#define DISPLAY_HEIGHT 240
@@ -103,5 +154,4 @@
#define BOOT_BUTTON_GPIO GPIO_NUM_0
#endif // _BOARD_CONFIG_H_
#endif

11
main/boards/otto-robot/config.json
View File

@@ -4,17 +4,10 @@
{
"name": "otto-robot",
"sdkconfig_append": [
"CONFIG_HTTPD_WS_SUPPORT=y"
]
},
{
"name": "otto-robot-camera",
"sdkconfig_append": [
"CONFIG_OTTO_ROBOT_USE_CAMERA=y",
"CONFIG_HTTPD_WS_SUPPORT=y",
"CONFIG_CAMERA_OV2640=y",
"CONFIG_CAMERA_OV2640_AUTO_DETECT_DVP_INTERFACE_SENSOR=y",
"CONFIG_CAMERA_OV2640_DVP_YUV422_240X240_25FPS=y",
"CONFIG_HTTPD_WS_SUPPORT=y"
"CONFIG_CAMERA_OV2640_DVP_YUV422_240X240_25FPS=y"
]
}
]

42
main/boards/otto-robot/otto_controller.cc
View File

@@ -232,25 +232,7 @@ private:
}
}
}
// 安全检查：防止左右腿脚同时做大幅度动作
const int LARGE_MOVEMENT_THRESHOLD = 40; // 大幅度动作阈值：40度
bool left_leg_large = abs(servo_target[LEFT_LEG] - current_positions[LEFT_LEG]) >= LARGE_MOVEMENT_THRESHOLD;
bool right_leg_large = abs(servo_target[RIGHT_LEG] - current_positions[RIGHT_LEG]) >= LARGE_MOVEMENT_THRESHOLD;
bool left_foot_large = abs(servo_target[LEFT_FOOT] - current_positions[LEFT_FOOT]) >= LARGE_MOVEMENT_THRESHOLD;
bool right_foot_large = abs(servo_target[RIGHT_FOOT] - current_positions[RIGHT_FOOT]) >= LARGE_MOVEMENT_THRESHOLD;
if (left_leg_large && right_leg_large) {
ESP_LOGW(TAG, "检测到左右腿同时大幅度动作，限制右腿动作");
// 保持右腿在原位置
servo_target[RIGHT_LEG] = current_positions[RIGHT_LEG];
}
if (left_foot_large && right_foot_large) {
ESP_LOGW(TAG, "检测到左右脚同时大幅度动作，限制右脚动作");
// 保持右脚在原位置
servo_target[RIGHT_FOOT] = current_positions[RIGHT_FOOT];
}
// 获取移动速度（短键名 "v"，默认1000毫秒）
int speed = 1000;
cJSON* speed_item = cJSON_GetObjectItem(action_item, "v");
@@ -511,12 +493,22 @@ private:
}
public:
OttoController() {
otto_.Init(LEFT_LEG_PIN, RIGHT_LEG_PIN, LEFT_FOOT_PIN, RIGHT_FOOT_PIN, LEFT_HAND_PIN,
RIGHT_HAND_PIN);
OttoController(const HardwareConfig& hw_config) {
otto_.Init(
hw_config.left_leg_pin,
hw_config.right_leg_pin,
hw_config.left_foot_pin,
hw_config.right_foot_pin,
hw_config.left_hand_pin,
hw_config.right_hand_pin
);
has_hands_ = (LEFT_HAND_PIN != -1 && RIGHT_HAND_PIN != -1);
has_hands_ = (hw_config.left_hand_pin != GPIO_NUM_NC && hw_config.right_hand_pin != GPIO_NUM_NC);
ESP_LOGI(TAG, "Otto机器人初始化%s手部舵机", has_hands_ ? "带" : "不带");
ESP_LOGI(TAG, "舵机引脚配置: LL=%d, RL=%d, LF=%d, RF=%d, LH=%d, RH=%d",
hw_config.left_leg_pin, hw_config.right_leg_pin,
hw_config.left_foot_pin, hw_config.right_foot_pin,
hw_config.left_hand_pin, hw_config.right_hand_pin);
LoadTrimsFromNVS();
@@ -849,9 +841,9 @@ public:
static OttoController* g_otto_controller = nullptr;
void InitializeOttoController() {
void InitializeOttoController(const HardwareConfig& hw_config) {
if (g_otto_controller == nullptr) {
g_otto_controller = new OttoController();
g_otto_controller = new OttoController(hw_config);
ESP_LOGI(TAG, "Otto控制器已初始化并注册MCP工具");
}
}

315
main/boards/otto-robot/otto_robot.cc
View File

@@ -1,5 +1,6 @@
#include <driver/i2c_master.h>
#include <driver/spi_common.h>
#include <driver/ledc.h>
#include <esp_lcd_panel_io.h>
#include <esp_lcd_panel_ops.h>
#include <esp_lcd_panel_vendor.h>
@@ -25,7 +26,7 @@
#define TAG "OttoRobot"
extern void InitializeOttoController();
extern void InitializeOttoController(const HardwareConfig& hw_config);
class OttoRobot : public WifiBoard {
private:
@@ -33,20 +34,105 @@ private:
PowerManager* power_manager_;
Button boot_button_;
WebSocketControlServer* ws_control_server_;
#if CONFIG_OTTO_ROBOT_USE_CAMERA
HardwareConfig hw_config_;
AudioCodec* audio_codec_;
i2c_master_bus_handle_t i2c_bus_;
Esp32Camera *camera_;
#endif
bool has_camera_;
bool DetectHardwareVersion() {
ledc_timer_config_t ledc_timer = {
.speed_mode = LEDC_LOW_SPEED_MODE,
.duty_resolution = LEDC_TIMER_2_BIT,
.timer_num = LEDC_TIMER,
.freq_hz = CAMERA_XCLK_FREQ,
.clk_cfg = LEDC_AUTO_CLK,
};
esp_err_t ret = ledc_timer_config(&ledc_timer);
if (ret != ESP_OK) {
return false;
}
ledc_channel_config_t ledc_channel = {
.gpio_num = CAMERA_XCLK,
.speed_mode = LEDC_LOW_SPEED_MODE,
.channel = LEDC_CHANNEL,
.intr_type = LEDC_INTR_DISABLE,
.timer_sel = LEDC_TIMER,
.duty = 2,
.hpoint = 0,
};
ret = ledc_channel_config(&ledc_channel);
if (ret != ESP_OK) {
return false;
}
vTaskDelay(pdMS_TO_TICKS(100));
i2c_master_bus_config_t i2c_bus_cfg = {
.i2c_port = I2C_NUM_0,
.sda_io_num = CAMERA_VERSION_CONFIG.i2c_sda_pin,
.scl_io_num = CAMERA_VERSION_CONFIG.i2c_scl_pin,
.clk_source = I2C_CLK_SRC_DEFAULT,
.glitch_ignore_cnt = 7,
.intr_priority = 0,
.trans_queue_depth = 0,
.flags = {
.enable_internal_pullup = 1,
},
};
ret = i2c_new_master_bus(&i2c_bus_cfg, &i2c_bus_);
if (ret != ESP_OK) {
ledc_stop(LEDC_LOW_SPEED_MODE, LEDC_CHANNEL, 0);
return false;
}
const uint8_t camera_addresses[] = {0x30, 0x3C, 0x21, 0x60};
bool camera_found = false;
for (size_t i = 0; i < sizeof(camera_addresses); i++) {
uint8_t addr = camera_addresses[i];
i2c_device_config_t dev_cfg = {
.dev_addr_length = I2C_ADDR_BIT_LEN_7,
.device_address = addr,
.scl_speed_hz = 100000,
};
i2c_master_dev_handle_t dev_handle;
ret = i2c_master_bus_add_device(i2c_bus_, &dev_cfg, &dev_handle);
if (ret == ESP_OK) {
uint8_t reg_addr = 0x0A;
uint8_t data[2];
ret = i2c_master_transmit_receive(dev_handle, &reg_addr, 1, data, 2, 200);
if (ret == ESP_OK) {
camera_found = true;
i2c_master_bus_rm_device(dev_handle);
break;
}
i2c_master_bus_rm_device(dev_handle);
}
}
if (!camera_found) {
i2c_del_master_bus(i2c_bus_);
i2c_bus_ = nullptr;
ledc_stop(LEDC_LOW_SPEED_MODE, LEDC_CHANNEL, 0);
}
return camera_found;
}
void InitializePowerManager() {
power_manager_ =
new PowerManager(POWER_CHARGE_DETECT_PIN, POWER_ADC_UNIT, POWER_ADC_CHANNEL);
power_manager_ = new PowerManager(
hw_config_.power_charge_detect_pin,
hw_config_.power_adc_unit,
hw_config_.power_adc_channel
);
}
void InitializeSpi() {
spi_bus_config_t buscfg = {};
buscfg.mosi_io_num = DISPLAY_MOSI_PIN;
buscfg.mosi_io_num = hw_config_.display_mosi_pin;
buscfg.miso_io_num = GPIO_NUM_NC;
buscfg.sclk_io_num = DISPLAY_CLK_PIN;
buscfg.sclk_io_num = hw_config_.display_clk_pin;
buscfg.quadwp_io_num = GPIO_NUM_NC;
buscfg.quadhd_io_num = GPIO_NUM_NC;
buscfg.max_transfer_sz = DISPLAY_WIDTH * DISPLAY_HEIGHT * sizeof(uint16_t);
@@ -56,10 +142,9 @@ private:
void InitializeLcdDisplay() {
esp_lcd_panel_io_handle_t panel_io = nullptr;
esp_lcd_panel_handle_t panel = nullptr;
ESP_LOGD(TAG, "Install panel IO");
esp_lcd_panel_io_spi_config_t io_config = {};
io_config.cs_gpio_num = DISPLAY_CS_PIN;
io_config.dc_gpio_num = DISPLAY_DC_PIN;
io_config.cs_gpio_num = hw_config_.display_cs_pin;
io_config.dc_gpio_num = hw_config_.display_dc_pin;
io_config.spi_mode = DISPLAY_SPI_MODE;
io_config.pclk_hz = 40 * 1000 * 1000;
io_config.trans_queue_depth = 10;
@@ -67,9 +152,8 @@ private:
io_config.lcd_param_bits = 8;
ESP_ERROR_CHECK(esp_lcd_new_panel_io_spi(SPI3_HOST, &io_config, &panel_io));
ESP_LOGD(TAG, "Install LCD driver");
esp_lcd_panel_dev_config_t panel_config = {};
panel_config.reset_gpio_num = DISPLAY_RST_PIN;
panel_config.reset_gpio_num = hw_config_.display_rst_pin;
panel_config.rgb_ele_order = DISPLAY_RGB_ORDER;
panel_config.bits_per_pixel = 16;
@@ -99,19 +183,21 @@ private:
}
void InitializeOttoController() {
ESP_LOGI(TAG, "初始化Otto机器人MCP控制器");
::InitializeOttoController();
::InitializeOttoController(hw_config_);
}
public:
const HardwareConfig& GetHardwareConfig() const {
return hw_config_;
}
private:
void InitializeWebSocketControlServer() {
ESP_LOGI(TAG, "初始化WebSocket控制服务器");
ws_control_server_ = new WebSocketControlServer();
if (!ws_control_server_->Start(8080)) {
ESP_LOGE(TAG, "Failed to start WebSocket control server");
delete ws_control_server_;
ws_control_server_ = nullptr;
} else {
ESP_LOGI(TAG, "WebSocket control server started on port 8080");
}
}
@@ -122,116 +208,139 @@ private:
InitializeWebSocketControlServer();
}
#if CONFIG_OTTO_ROBOT_USE_CAMERA
void InitializeI2c() {
// Initialize I2C peripheral
i2c_master_bus_config_t i2c_bus_cfg = {
.i2c_port = I2C_NUM_0,
.sda_io_num = I2C_SDA_PIN,
.scl_io_num = I2C_SCL_PIN,
.clk_source = I2C_CLK_SRC_DEFAULT,
.glitch_ignore_cnt = 7,
.intr_priority = 0,
.trans_queue_depth = 0,
.flags =
{
.enable_internal_pullup = 1,
bool InitializeCamera() {
if (!has_camera_ || i2c_bus_ == nullptr) {
return false;
}
try {
static esp_cam_ctlr_dvp_pin_config_t dvp_pin_config = {
.data_width = CAM_CTLR_DATA_WIDTH_8,
.data_io = {
[0] = CAMERA_D0,
[1] = CAMERA_D1,
[2] = CAMERA_D2,
[3] = CAMERA_D3,
[4] = CAMERA_D4,
[5] = CAMERA_D5,
[6] = CAMERA_D6,
[7] = CAMERA_D7,
},
};
ESP_ERROR_CHECK(i2c_new_master_bus(&i2c_bus_cfg, &i2c_bus_));
.vsync_io = CAMERA_VSYNC,
.de_io = CAMERA_HSYNC,
.pclk_io = CAMERA_PCLK,
.xclk_io = CAMERA_XCLK,
};
esp_video_init_sccb_config_t sccb_config = {
.init_sccb = false,
.i2c_handle = i2c_bus_,
.freq = 100000,
};
esp_video_init_dvp_config_t dvp_config = {
.sccb_config = sccb_config,
.reset_pin = CAMERA_RESET,
.pwdn_pin = CAMERA_PWDN,
.dvp_pin = dvp_pin_config,
.xclk_freq = CAMERA_XCLK_FREQ,
};
esp_video_init_config_t video_config = {
.dvp = &dvp_config,
};
camera_ = new Esp32Camera(video_config);
camera_->SetVFlip(true);
return true;
} catch (...) {
camera_ = nullptr;
return false;
}
}
void InitializeAudioCodec() {
if (hw_config_.audio_use_simplex) {
audio_codec_ = new NoAudioCodecSimplex(
hw_config_.audio_input_sample_rate,
hw_config_.audio_output_sample_rate,
hw_config_.audio_i2s_spk_gpio_bclk,
hw_config_.audio_i2s_spk_gpio_lrck,
hw_config_.audio_i2s_spk_gpio_dout,
hw_config_.audio_i2s_mic_gpio_sck,
hw_config_.audio_i2s_mic_gpio_ws,
hw_config_.audio_i2s_mic_gpio_din
);
} else {
audio_codec_ = new NoAudioCodecDuplex(
hw_config_.audio_input_sample_rate,
hw_config_.audio_output_sample_rate,
hw_config_.audio_i2s_gpio_bclk,
hw_config_.audio_i2s_gpio_ws,
hw_config_.audio_i2s_gpio_dout,
hw_config_.audio_i2s_gpio_din
);
}
}
void InitializeCamera() {
// DVP pin configuration
static esp_cam_ctlr_dvp_pin_config_t dvp_pin_config = {
.data_width = CAM_CTLR_DATA_WIDTH_8,
.data_io = {
[0] = CAMERA_D0,
[1] = CAMERA_D1,
[2] = CAMERA_D2,
[3] = CAMERA_D3,
[4] = CAMERA_D4,
[5] = CAMERA_D5,
[6] = CAMERA_D6,
[7] = CAMERA_D7,
},
.vsync_io = CAMERA_VSYNC,
.de_io = CAMERA_HSYNC,
.pclk_io = CAMERA_PCLK,
.xclk_io = CAMERA_XCLK,
};
// 复用 I2C 总线
esp_video_init_sccb_config_t sccb_config = {
.init_sccb = false, // 不初始化新的 SCCB，使用现有的 I2C 总线
.i2c_handle = i2c_bus_, // 使用现有的 I2C 总线句柄
.freq = 100000, // 100kHz
};
// DVP configuration
esp_video_init_dvp_config_t dvp_config = {
.sccb_config = sccb_config,
.reset_pin = CAMERA_RESET,
.pwdn_pin = CAMERA_PWDN,
.dvp_pin = dvp_pin_config,
.xclk_freq = CAMERA_XCLK_FREQ,
};
// Main video configuration
esp_video_init_config_t video_config = {
.dvp = &dvp_config,
};
camera_ = new Esp32Camera(video_config);
// camera_->SetHMirror(true);
camera_->SetVFlip(true);
}
#endif
public:
OttoRobot() : boot_button_(BOOT_BUTTON_GPIO) {
OttoRobot() : boot_button_(BOOT_BUTTON_GPIO),
audio_codec_(nullptr),
i2c_bus_(nullptr),
camera_(nullptr),
has_camera_(false) {
has_camera_ = DetectHardwareVersion();
if (has_camera_)
hw_config_ = CAMERA_VERSION_CONFIG;
else
hw_config_ = NON_CAMERA_VERSION_CONFIG;
InitializeSpi();
InitializeLcdDisplay();
#if CONFIG_OTTO_ROBOT_USE_CAMERA
InitializeI2c();
InitializeCamera();
#endif
InitializeButtons();
InitializePowerManager();
InitializeAudioCodec();
if (has_camera_) {
if (!InitializeCamera()) {
has_camera_ = false;
}
}
InitializeOttoController();
ws_control_server_ = nullptr;
GetBacklight()->RestoreBrightness();
}
virtual AudioCodec *GetAudioCodec() override {
#ifdef AUDIO_I2S_METHOD_SIMPLEX
static NoAudioCodecSimplex audio_codec(
AUDIO_INPUT_SAMPLE_RATE, AUDIO_OUTPUT_SAMPLE_RATE,
AUDIO_I2S_SPK_GPIO_BCLK, AUDIO_I2S_SPK_GPIO_LRCK,
AUDIO_I2S_SPK_GPIO_DOUT, AUDIO_I2S_MIC_GPIO_SCK, AUDIO_I2S_MIC_GPIO_WS,
AUDIO_I2S_MIC_GPIO_DIN);
#else
static NoAudioCodecDuplex audio_codec(
AUDIO_INPUT_SAMPLE_RATE, AUDIO_OUTPUT_SAMPLE_RATE, AUDIO_I2S_GPIO_BCLK,
AUDIO_I2S_GPIO_WS, AUDIO_I2S_GPIO_DOUT, AUDIO_I2S_GPIO_DIN);
#endif
return &audio_codec;
return audio_codec_;
}
virtual Display* GetDisplay() override { return display_; }
virtual Display* GetDisplay() override {
return display_;
}
virtual Backlight* GetBacklight() override {
static PwmBacklight backlight(DISPLAY_BACKLIGHT_PIN, DISPLAY_BACKLIGHT_OUTPUT_INVERT);
return &backlight;
static PwmBacklight* backlight = nullptr;
if (backlight == nullptr) {
backlight = new PwmBacklight(hw_config_.display_backlight_pin, DISPLAY_BACKLIGHT_OUTPUT_INVERT);
}
return backlight;
}
virtual bool GetBatteryLevel(int& level, bool& charging, bool& discharging) override {
charging = power_manager_->IsCharging();
discharging = !charging;
level = power_manager_->GetBatteryLevel();
return true;
}
#if CONFIG_OTTO_ROBOT_USE_CAMERA
virtual Camera *GetCamera() override { return camera_; }
#endif
virtual Camera *GetCamera() override {
return has_camera_ ? camera_ : nullptr;
}
};
DECLARE_BOARD(OttoRobot);