From 5113a5f4bb61cad4d282de33df5285fe9c74b6f2 Mon Sep 17 00:00:00 2001 From: Kevincoooool <33611679+Kevincoooool@users.noreply.github.com> Date: Mon, 22 Dec 2025 20:33:02 +0800 Subject: [PATCH] Add power management for ESP32S3-Korvo2-V3 board (#1591) Introduces PowerManager and integrates it into the ESP32S3-Korvo2-V3 board class to monitor battery level, charging status, and manage power save mode. Adds power_manager.h with battery ADC reading, calibration, and event callbacks. Updates board initialization to support power management and power save timer functionality. --- .../esp32s3_korvo2_v3_board.cc | 42 ++- main/boards/esp32s3-korvo2-v3/power_manager.h | 250 ++++++++++++++++++ 2 files changed, 291 insertions(+), 1 deletion(-) create mode 100644 main/boards/esp32s3-korvo2-v3/power_manager.h diff --git a/main/boards/esp32s3-korvo2-v3/esp32s3_korvo2_v3_board.cc b/main/boards/esp32s3-korvo2-v3/esp32s3_korvo2_v3_board.cc index 62a7a937..801c5ddf 100644 --- a/main/boards/esp32s3-korvo2-v3/esp32s3_korvo2_v3_board.cc +++ b/main/boards/esp32s3-korvo2-v3/esp32s3_korvo2_v3_board.cc @@ -14,6 +14,8 @@ #include #include #include "esp32_camera.h" +#include "power_manager.h" +#include "power_save_timer.h" #define TAG "esp32s3_korvo2_v3" /* ADC Buttons */ @@ -59,6 +61,24 @@ private: LcdDisplay* display_; esp_io_expander_handle_t io_expander_ = NULL; Esp32Camera* camera_; + PowerSaveTimer* power_save_timer_; + PowerManager* power_manager_; + void InitializePowerManager() { + // PowerManager需要复用按钮的ADC句柄，所以在InitializeButtons之后调用 + // 传入按钮的ADC句柄指针，让PowerManager复用 + power_manager_ = new PowerManager(GPIO_NUM_NC, &bsp_adc_handle); + } + + void InitializePowerSaveTimer() { + power_save_timer_ = new PowerSaveTimer(-1, 60); + power_save_timer_->OnEnterSleepMode([this]() { + GetDisplay()->SetPowerSaveMode(true); + }); + power_save_timer_->OnExitSleepMode([this]() { + GetDisplay()->SetPowerSaveMode(false); + }); + power_save_timer_->SetEnabled(true); + } void InitializeI2c() { // Initialize I2C peripheral @@ -375,12 +395,14 @@ private: public: Esp32S3Korvo2V3Board() : boot_button_(BOOT_BUTTON_GPIO) { ESP_LOGI(TAG, "Initializing esp32s3_korvo2_v3 Board"); + InitializePowerSaveTimer(); InitializeI2c(); I2cDetect(); InitializeTca9554(); InitializeCamera(); InitializeSpi(); - InitializeButtons(); + InitializeButtons(); // 先初始化按钮（创建ADC1句柄） + InitializePowerManager(); // 后初始化PowerManager（复用ADC1句柄） #ifdef LCD_TYPE_ILI9341_SERIAL InitializeIli9341Display(); #else @@ -411,6 +433,24 @@ public: virtual Camera* GetCamera() override { return camera_; } + virtual bool GetBatteryLevel(int& level, bool& charging, bool& discharging) override { + static bool last_discharging = false; + charging = power_manager_->IsCharging(); + discharging = power_manager_->IsDischarging(); + if (discharging != last_discharging) { + power_save_timer_->SetEnabled(discharging); + last_discharging = discharging; + } + level = power_manager_->GetBatteryLevel(); + return true; + } + + virtual void SetPowerSaveLevel(PowerSaveLevel level) override { + if (level != PowerSaveLevel::LOW_POWER) { + power_save_timer_->WakeUp(); + } + WifiBoard::SetPowerSaveLevel(level); + } }; DECLARE_BOARD(Esp32S3Korvo2V3Board); diff --git a/main/boards/esp32s3-korvo2-v3/power_manager.h b/main/boards/esp32s3-korvo2-v3/power_manager.h new file mode 100644 index 00000000..5c166409 --- /dev/null +++ b/main/boards/esp32s3-korvo2-v3/power_manager.h @@ -0,0 +1,250 @@ +#pragma once +#include +#include + +#include +#include +#include +#include +#include + + +class PowerManager { +private: + esp_timer_handle_t timer_handle_; + std::function on_charging_status_changed_; + std::function on_low_battery_status_changed_; + + gpio_num_t charging_pin_ = GPIO_NUM_NC; + std::vector adc_values_; + uint32_t battery_level_ = 0; + bool is_charging_ = false; + bool is_low_battery_ = false; + int ticks_ = 0; + const int kBatteryAdcInterval = 60; + const int kBatteryAdcDataCount = 3; + const int kLowBatteryLevel = 20; + + adc_oneshot_unit_handle_t adc_handle_; + bool adc_handle_owned_ = false; // 标记ADC句柄是否由本类创建 + adc_cali_handle_t adc_cali_handle_ = nullptr; // ADC校准句柄 + + void CheckBatteryStatus() { + // Get charging status + bool new_charging_status = gpio_get_level(charging_pin_) == 1; + if (new_charging_status != is_charging_) { + is_charging_ = new_charging_status; + if (on_charging_status_changed_) { + on_charging_status_changed_(is_charging_); + } + ReadBatteryAdcData(); + return; + } + + // 如果电池电量数据不足，则读取电池电量数据 + if (adc_values_.size() < kBatteryAdcDataCount) { + ReadBatteryAdcData(); + return; + } + + // 如果电池电量数据充足，则每 kBatteryAdcInterval 个 tick 读取一次电池电量数据 + ticks_++; + if (ticks_ % kBatteryAdcInterval == 0) { + ReadBatteryAdcData(); + } + } + + void ReadBatteryAdcData() { + int adc_raw = 0; + int voltage_mv = 0; // ADC校准后的电压（mV） + + // 多次采样取平均，提高稳定性 + uint32_t adc_sum = 0; + const int sample_count = 10; + for (int i = 0; i < sample_count; i++) { + int temp_raw = 0; + ESP_ERROR_CHECK(adc_oneshot_read(adc_handle_, ADC_CHANNEL_5, &temp_raw)); + adc_sum += temp_raw; + vTaskDelay(pdMS_TO_TICKS(10)); // 每次采样间隔10ms + } + adc_raw = adc_sum / sample_count; + + // 使用ADC校准获取准确电压 + if (adc_cali_handle_) { + ESP_ERROR_CHECK(adc_cali_raw_to_voltage(adc_cali_handle_, adc_raw, &voltage_mv)); + } else { + // 如果没有校准，使用线性计算 + voltage_mv = (int)(adc_raw * 3300.0f / 4095.0f); + } + + // 根据分压比计算实际电池电压 + // 电路分压比: R21/(R20+R21) = 100K/300K = 1/3 + // 实际电池电压 = ADC测量电压 × 3 + int battery_voltage_mv = voltage_mv * 3; + + // 将电压值添加到队列中用于平滑 + adc_values_.push_back(battery_voltage_mv); + if (adc_values_.size() > kBatteryAdcDataCount) { + adc_values_.erase(adc_values_.begin()); + } + + uint32_t average_voltage = 0; + for (auto value : adc_values_) { + average_voltage += value; + } + average_voltage /= adc_values_.size(); + + // 定义电池电量区间（基于实际电池电压，单位mV） + const struct { + uint16_t voltage_mv; // 电池电压（mV） + uint8_t level; // 电量百分比 + } levels[] = { + {3500, 0}, // 3.5V + {3640, 20}, // 3.64V + {3760, 40}, // 3.76V + {3880, 60}, // 3.88V + {4000, 80}, // 4.0V + {4200, 100} // 4.2V + }; + + // 低于最低值时 + if (average_voltage < levels[0].voltage_mv) { + battery_level_ = 0; + } + // 高于最高值时 + else if (average_voltage >= levels[5].voltage_mv) { + battery_level_ = 100; + } else { + // 线性插值计算中间值 + for (int i = 0; i < 5; i++) { + if (average_voltage >= levels[i].voltage_mv && average_voltage < levels[i+1].voltage_mv) { + float ratio = static_cast(average_voltage - levels[i].voltage_mv) / + (levels[i+1].voltage_mv - levels[i].voltage_mv); + battery_level_ = levels[i].level + ratio * (levels[i+1].level - levels[i].level); + break; + } + } + } + + // Check low battery status + if (adc_values_.size() >= kBatteryAdcDataCount) { + bool new_low_battery_status = battery_level_ <= kLowBatteryLevel; + if (new_low_battery_status != is_low_battery_) { + is_low_battery_ = new_low_battery_status; + if (on_low_battery_status_changed_) { + on_low_battery_status_changed_(is_low_battery_); + } + } + } + + ESP_LOGI("PowerManager", "ADC raw: %d, ADC voltage: %dmV, Battery: %ldmV (%.2fV), level: %ld%%", + adc_raw, voltage_mv, average_voltage, average_voltage/1000.0f, battery_level_); + } + +public: + // 构造函数：使用外部ADC句柄（用于复用已存在的ADC） + PowerManager(gpio_num_t pin, adc_oneshot_unit_handle_t* external_adc_handle = nullptr) + : charging_pin_(pin), adc_handle_owned_(false) { + if(charging_pin_ != GPIO_NUM_NC){ + // 初始化充电引脚 + gpio_config_t io_conf = {}; + io_conf.intr_type = GPIO_INTR_DISABLE; + io_conf.mode = GPIO_MODE_INPUT; + io_conf.pin_bit_mask = (1ULL << charging_pin_); + io_conf.pull_down_en = GPIO_PULLDOWN_DISABLE; + io_conf.pull_up_en = GPIO_PULLUP_DISABLE; + gpio_config(&io_conf); + } + + // 创建电池电量检查定时器 + esp_timer_create_args_t timer_args = { + .callback = [](void* arg) { + PowerManager* self = static_cast(arg); + self->CheckBatteryStatus(); + }, + .arg = this, + .dispatch_method = ESP_TIMER_TASK, + .name = "battery_check_timer", + .skip_unhandled_events = true, + }; + ESP_ERROR_CHECK(esp_timer_create(&timer_args, &timer_handle_)); + ESP_ERROR_CHECK(esp_timer_start_periodic(timer_handle_, 1000000)); + + // 初始化或复用 ADC + if (external_adc_handle != nullptr && *external_adc_handle != nullptr) { + // 复用外部ADC句柄 + adc_handle_ = *external_adc_handle; + adc_handle_owned_ = false; + } else { + // 创建新的ADC句柄 + adc_oneshot_unit_init_cfg_t init_config = { + .unit_id = ADC_UNIT_1, // GPIO6 对应 ADC1 + .ulp_mode = ADC_ULP_MODE_DISABLE, + }; + ESP_ERROR_CHECK(adc_oneshot_new_unit(&init_config, &adc_handle_)); + adc_handle_owned_ = true; + } + + // 配置ADC通道 + adc_oneshot_chan_cfg_t chan_config = { + .atten = ADC_ATTEN_DB_12, + .bitwidth = ADC_BITWIDTH_12, + }; + ESP_ERROR_CHECK(adc_oneshot_config_channel(adc_handle_, ADC_CHANNEL_5, &chan_config)); // GPIO6 = ADC1_CHANNEL_5 + + // 初始化ADC校准 + adc_cali_curve_fitting_config_t cali_config = { + .unit_id = ADC_UNIT_1, + .chan = ADC_CHANNEL_5, + .atten = ADC_ATTEN_DB_12, + .bitwidth = ADC_BITWIDTH_12, + }; + esp_err_t ret = adc_cali_create_scheme_curve_fitting(&cali_config, &adc_cali_handle_); + if (ret == ESP_OK) { + ESP_LOGI("PowerManager", "ADC calibration initialized successfully"); + } else { + ESP_LOGW("PowerManager", "ADC calibration failed, using linear calculation"); + adc_cali_handle_ = nullptr; + } + } + + ~PowerManager() { + if (timer_handle_) { + esp_timer_stop(timer_handle_); + esp_timer_delete(timer_handle_); + } + // 删除ADC校准句柄 + if (adc_cali_handle_) { + adc_cali_delete_scheme_curve_fitting(adc_cali_handle_); + } + // 只有当ADC句柄是本类创建的时候才删除 + if (adc_handle_ && adc_handle_owned_) { + adc_oneshot_del_unit(adc_handle_); + } + } + + bool IsCharging() { + // 如果电量已经满了，则不再显示充电中 + if (battery_level_ == 100) { + return false; + } + return is_charging_; + } + + bool IsDischarging() { + // 没有区分充电和放电，所以直接返回相反状态 + return !is_charging_; + } + + uint8_t GetBatteryLevel() { + return battery_level_; + } + + void OnLowBatteryStatusChanged(std::function callback) { + on_low_battery_status_changed_ = callback; + } + + void OnChargingStatusChanged(std::function callback) { + on_charging_status_changed_ = callback; + } +};