forked from xiaozhi/xiaozhi-esp32
Refactor Otto Robot configuration and initialization (#1534)
* 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.
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小鹏
@@ -2,36 +2,124 @@
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#define _BOARD_CONFIG_H_
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#include <driver/gpio.h>
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#include <driver/adc.h>
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#if CONFIG_OTTO_ROBOT_USE_CAMERA
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#define POWER_CHARGE_DETECT_PIN GPIO_NUM_NC
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#define POWER_ADC_UNIT ADC_UNIT_1
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#define POWER_ADC_CHANNEL ADC_CHANNEL_1
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struct HardwareConfig {
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gpio_num_t power_charge_detect_pin;
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adc_unit_t power_adc_unit;
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adc_channel_t power_adc_channel;
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gpio_num_t right_leg_pin;
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gpio_num_t right_foot_pin;
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gpio_num_t left_leg_pin;
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gpio_num_t left_foot_pin;
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gpio_num_t left_hand_pin;
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gpio_num_t right_hand_pin;
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int audio_input_sample_rate;
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int audio_output_sample_rate;
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bool audio_use_simplex;
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gpio_num_t audio_i2s_gpio_ws;
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gpio_num_t audio_i2s_gpio_bclk;
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gpio_num_t audio_i2s_gpio_din;
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gpio_num_t audio_i2s_gpio_dout;
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gpio_num_t audio_i2s_mic_gpio_ws;
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gpio_num_t audio_i2s_mic_gpio_sck;
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gpio_num_t audio_i2s_mic_gpio_din;
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gpio_num_t audio_i2s_spk_gpio_dout;
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gpio_num_t audio_i2s_spk_gpio_bclk;
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gpio_num_t audio_i2s_spk_gpio_lrck;
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gpio_num_t display_backlight_pin;
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gpio_num_t display_mosi_pin;
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gpio_num_t display_clk_pin;
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gpio_num_t display_dc_pin;
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gpio_num_t display_rst_pin;
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gpio_num_t display_cs_pin;
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gpio_num_t i2c_sda_pin;
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gpio_num_t i2c_scl_pin;
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};
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#define RIGHT_LEG_PIN GPIO_NUM_43
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#define RIGHT_FOOT_PIN GPIO_NUM_44
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#define LEFT_LEG_PIN GPIO_NUM_5
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#define LEFT_FOOT_PIN GPIO_NUM_6
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#define LEFT_HAND_PIN GPIO_NUM_4
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#define RIGHT_HAND_PIN GPIO_NUM_7
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constexpr HardwareConfig CAMERA_VERSION_CONFIG = {
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.power_charge_detect_pin = GPIO_NUM_NC,
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.power_adc_unit = ADC_UNIT_1,
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.power_adc_channel = ADC_CHANNEL_1,
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.right_leg_pin = GPIO_NUM_43,
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.right_foot_pin = GPIO_NUM_44,
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.left_leg_pin = GPIO_NUM_5,
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.left_foot_pin = GPIO_NUM_6,
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.left_hand_pin = GPIO_NUM_4,
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.right_hand_pin = GPIO_NUM_7,
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.audio_input_sample_rate = 16000,
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.audio_output_sample_rate = 16000,
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.audio_use_simplex = false,
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.audio_i2s_gpio_ws = GPIO_NUM_40,
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.audio_i2s_gpio_bclk = GPIO_NUM_42,
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.audio_i2s_gpio_din = GPIO_NUM_41,
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.audio_i2s_gpio_dout = GPIO_NUM_39,
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.audio_i2s_mic_gpio_ws = GPIO_NUM_NC,
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.audio_i2s_mic_gpio_sck = GPIO_NUM_NC,
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.audio_i2s_mic_gpio_din = GPIO_NUM_NC,
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.audio_i2s_spk_gpio_dout = GPIO_NUM_NC,
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.audio_i2s_spk_gpio_bclk = GPIO_NUM_NC,
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.audio_i2s_spk_gpio_lrck = GPIO_NUM_NC,
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.display_backlight_pin = GPIO_NUM_38,
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.display_mosi_pin = GPIO_NUM_45,
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.display_clk_pin = GPIO_NUM_48,
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.display_dc_pin = GPIO_NUM_47,
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.display_rst_pin = GPIO_NUM_1,
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.display_cs_pin = GPIO_NUM_NC,
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.i2c_sda_pin = GPIO_NUM_15,
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.i2c_scl_pin = GPIO_NUM_16,
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};
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#define AUDIO_INPUT_SAMPLE_RATE 16000
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#define AUDIO_OUTPUT_SAMPLE_RATE 16000
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#define AUDIO_I2S_GPIO_WS GPIO_NUM_40
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#define AUDIO_I2S_GPIO_BCLK GPIO_NUM_42
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#define AUDIO_I2S_GPIO_DIN GPIO_NUM_41
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#define AUDIO_I2S_GPIO_DOUT GPIO_NUM_39
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#define DISPLAY_BACKLIGHT_PIN GPIO_NUM_38
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#define DISPLAY_MOSI_PIN GPIO_NUM_45
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#define DISPLAY_CLK_PIN GPIO_NUM_48
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#define DISPLAY_DC_PIN GPIO_NUM_47
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#define DISPLAY_RST_PIN GPIO_NUM_1
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#define DISPLAY_CS_PIN GPIO_NUM_NC
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/* Camera PINs*/
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#define I2C_SDA_PIN GPIO_NUM_15
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#define I2C_SCL_PIN GPIO_NUM_16
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constexpr HardwareConfig NON_CAMERA_VERSION_CONFIG = {
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.power_charge_detect_pin = GPIO_NUM_21,
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.power_adc_unit = ADC_UNIT_2,
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.power_adc_channel = ADC_CHANNEL_3,
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.right_leg_pin = GPIO_NUM_39,
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.right_foot_pin = GPIO_NUM_38,
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.left_leg_pin = GPIO_NUM_17,
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.left_foot_pin = GPIO_NUM_18,
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.left_hand_pin = GPIO_NUM_8,
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.right_hand_pin = GPIO_NUM_12,
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.audio_input_sample_rate = 16000,
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.audio_output_sample_rate = 24000,
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.audio_use_simplex = true,
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.audio_i2s_gpio_ws = GPIO_NUM_NC,
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.audio_i2s_gpio_bclk = GPIO_NUM_NC,
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.audio_i2s_gpio_din = GPIO_NUM_NC,
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.audio_i2s_gpio_dout = GPIO_NUM_NC,
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.audio_i2s_mic_gpio_ws = GPIO_NUM_4,
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.audio_i2s_mic_gpio_sck = GPIO_NUM_5,
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.audio_i2s_mic_gpio_din = GPIO_NUM_6,
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.audio_i2s_spk_gpio_dout = GPIO_NUM_7,
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.audio_i2s_spk_gpio_bclk = GPIO_NUM_15,
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.audio_i2s_spk_gpio_lrck = GPIO_NUM_16,
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.display_backlight_pin = GPIO_NUM_3,
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.display_mosi_pin = GPIO_NUM_10,
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.display_clk_pin = GPIO_NUM_9,
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.display_dc_pin = GPIO_NUM_46,
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.display_rst_pin = GPIO_NUM_11,
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.display_cs_pin = GPIO_NUM_12,
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.i2c_sda_pin = GPIO_NUM_NC,
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.i2c_scl_pin = GPIO_NUM_NC,
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};
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#define CAMERA_XCLK (GPIO_NUM_3)
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#define CAMERA_PCLK (GPIO_NUM_10)
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@@ -45,49 +133,12 @@
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#define CAMERA_D5 (GPIO_NUM_9)
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#define CAMERA_D6 (GPIO_NUM_46)
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#define CAMERA_D7 (GPIO_NUM_8)
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#define CAMERA_PWDN (GPIO_NUM_NC)
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#define CAMERA_RESET (GPIO_NUM_NC)
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#define CAMERA_XCLK_FREQ (16000000)
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#define LEDC_TIMER (LEDC_TIMER_0)
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#define LEDC_CHANNEL (LEDC_CHANNEL_0)
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#define CAMERA_SIOD (GPIO_NUM_NC)
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#define CAMERA_SIOC (GPIO_NUM_NC)
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#else
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#define POWER_CHARGE_DETECT_PIN GPIO_NUM_21
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#define POWER_ADC_UNIT ADC_UNIT_2
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#define POWER_ADC_CHANNEL ADC_CHANNEL_3
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#define RIGHT_LEG_PIN GPIO_NUM_39
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#define RIGHT_FOOT_PIN GPIO_NUM_38
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#define LEFT_LEG_PIN GPIO_NUM_17
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#define LEFT_FOOT_PIN GPIO_NUM_18
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#define LEFT_HAND_PIN GPIO_NUM_8
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#define RIGHT_HAND_PIN GPIO_NUM_12
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#define AUDIO_INPUT_SAMPLE_RATE 16000
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#define AUDIO_OUTPUT_SAMPLE_RATE 24000
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#define AUDIO_I2S_METHOD_SIMPLEX
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#define AUDIO_I2S_MIC_GPIO_WS GPIO_NUM_4
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#define AUDIO_I2S_MIC_GPIO_SCK GPIO_NUM_5
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#define AUDIO_I2S_MIC_GPIO_DIN GPIO_NUM_6
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#define AUDIO_I2S_SPK_GPIO_DOUT GPIO_NUM_7
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#define AUDIO_I2S_SPK_GPIO_BCLK GPIO_NUM_15
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#define AUDIO_I2S_SPK_GPIO_LRCK GPIO_NUM_16
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#define DISPLAY_BACKLIGHT_PIN GPIO_NUM_3
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#define DISPLAY_MOSI_PIN GPIO_NUM_10
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#define DISPLAY_CLK_PIN GPIO_NUM_9
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#define DISPLAY_DC_PIN GPIO_NUM_46
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#define DISPLAY_RST_PIN GPIO_NUM_11
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#define DISPLAY_CS_PIN GPIO_NUM_12
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#endif
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#define LCD_TYPE_ST7789_SERIAL
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#define DISPLAY_WIDTH 240
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#define DISPLAY_HEIGHT 240
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@@ -103,5 +154,4 @@
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#define BOOT_BUTTON_GPIO GPIO_NUM_0
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#endif // _BOARD_CONFIG_H_
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#endif
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