From f9de29519bdc91d1df0fb930ec2a058ca12686c8 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?=E5=B0=8F=E9=B9=8F?= <52451470+txp666@users.noreply.github.com> Date: Fri, 5 Dec 2025 23:05:44 +0800 Subject: [PATCH] Add camera support for Otto Robot board (#1520) MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit * 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. --- main/Kconfig.projbuild | 7 ++ main/boards/otto-robot/config.h | 59 +++++++++++- main/boards/otto-robot/config.json | 10 ++ main/boards/otto-robot/otto_controller.cc | 4 + main/boards/otto-robot/otto_emoji_display.cc | 23 +---- main/boards/otto-robot/otto_emoji_display.h | 1 - main/boards/otto-robot/otto_robot.cc | 96 +++++++++++++++++++- main/boards/otto-robot/power_manager.h | 47 +++++++--- 8 files changed, 207 insertions(+), 40 deletions(-) diff --git a/main/Kconfig.projbuild b/main/Kconfig.projbuild index 8c18ba57..c6b3c0be 100644 --- a/main/Kconfig.projbuild +++ b/main/Kconfig.projbuild @@ -690,6 +690,13 @@ 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 diff --git a/main/boards/otto-robot/config.h b/main/boards/otto-robot/config.h index 76a8a6ac..8a275e3c 100644 --- a/main/boards/otto-robot/config.h +++ b/main/boards/otto-robot/config.h @@ -3,6 +3,60 @@ #include +#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 + +#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 + +#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 + +#define CAMERA_XCLK (GPIO_NUM_3) +#define CAMERA_PCLK (GPIO_NUM_10) +#define CAMERA_VSYNC (GPIO_NUM_17) +#define CAMERA_HSYNC (GPIO_NUM_18) +#define CAMERA_D0 (GPIO_NUM_12) +#define CAMERA_D1 (GPIO_NUM_14) +#define CAMERA_D2 (GPIO_NUM_21) +#define CAMERA_D3 (GPIO_NUM_13) +#define CAMERA_D4 (GPIO_NUM_11) +#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 @@ -32,6 +86,8 @@ #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 @@ -47,6 +103,5 @@ #define BOOT_BUTTON_GPIO GPIO_NUM_0 -#define OTTO_ROBOT_VERSION "2.0.5" -#endif // _BOARD_CONFIG_H_ +#endif // _BOARD_CONFIG_H_ diff --git a/main/boards/otto-robot/config.json b/main/boards/otto-robot/config.json index 3eb14b91..fc65140b 100644 --- a/main/boards/otto-robot/config.json +++ b/main/boards/otto-robot/config.json @@ -6,6 +6,16 @@ "sdkconfig_append": [ "CONFIG_HTTPD_WS_SUPPORT=y" ] + }, + { + "name": "otto-robot-camera", + "sdkconfig_append": [ + "CONFIG_OTTO_ROBOT_USE_CAMERA=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" + ] } ] } \ No newline at end of file diff --git a/main/boards/otto-robot/otto_controller.cc b/main/boards/otto-robot/otto_controller.cc index 16d867e2..f4a2f551 100644 --- a/main/boards/otto-robot/otto_controller.cc +++ b/main/boards/otto-robot/otto_controller.cc @@ -13,6 +13,7 @@ #include "config.h" #include "mcp_server.h" #include "otto_movements.h" +#include "power_manager.h" #include "sdkconfig.h" #include "settings.h" #include @@ -75,6 +76,7 @@ private: while (true) { if (xQueueReceive(controller->action_queue_, ¶ms, pdMS_TO_TICKS(1000)) == pdTRUE) { ESP_LOGI(TAG, "执行动作: %d", params.action_type); + PowerManager::PauseBatteryUpdate(); // 动作开始时暂停电量更新 controller->is_action_in_progress_ = true; if (params.action_type == ACTION_SERVO_SEQUENCE) { // 执行舵机序列（自编程）- 仅支持短键名格式 @@ -427,6 +429,7 @@ private: } } controller->is_action_in_progress_ = false; + PowerManager::ResumeBatteryUpdate(); // 动作结束时恢复电量更新 vTaskDelay(pdMS_TO_TICKS(20)); } } @@ -712,6 +715,7 @@ public: action_task_handle_ = nullptr; } is_action_in_progress_ = false; + PowerManager::ResumeBatteryUpdate(); // 停止动作时恢复电量更新 xQueueReset(action_queue_); QueueAction(ACTION_HOME, 1, 1000, 1, 0); diff --git a/main/boards/otto-robot/otto_emoji_display.cc b/main/boards/otto-robot/otto_emoji_display.cc index 63b6bd04..31a4280f 100644 --- a/main/boards/otto-robot/otto_emoji_display.cc +++ b/main/boards/otto-robot/otto_emoji_display.cc @@ -14,8 +14,8 @@ OttoEmojiDisplay::OttoEmojiDisplay(esp_lcd_panel_io_handle_t panel_io, esp_lcd_panel_handle_t panel, int width, int height, int offset_x, int offset_y, bool mirror_x, bool mirror_y, bool swap_xy) : SpiLcdDisplay(panel_io, panel, width, height, offset_x, offset_y, mirror_x, mirror_y, swap_xy) { InitializeOttoEmojis(); - SetupChatLabel(); SetupPreviewImage(); + SetTheme(LvglThemeManager::GetInstance().GetTheme("dark")); } void OttoEmojiDisplay::SetupPreviewImage() { @@ -84,22 +84,6 @@ void OttoEmojiDisplay::InitializeOttoEmojis() { ESP_LOGI(TAG, "Otto GIF表情初始化完成"); } -void OttoEmojiDisplay::SetupChatLabel() { - DisplayLockGuard lock(this); - - if (chat_message_label_) { - lv_obj_del(chat_message_label_); - } - - chat_message_label_ = lv_label_create(container_); - lv_label_set_text(chat_message_label_, ""); - lv_obj_set_width(chat_message_label_, width_ * 0.9); // 限制宽度为屏幕宽度的 90% - lv_label_set_long_mode(chat_message_label_, LV_LABEL_LONG_SCROLL_CIRCULAR); - lv_obj_set_style_text_align(chat_message_label_, LV_TEXT_ALIGN_CENTER, 0); // 设置文本居中对齐 - lv_obj_set_style_text_color(chat_message_label_, lv_color_white(), 0); - SetTheme(LvglThemeManager::GetInstance().GetTheme("dark")); -} - LV_FONT_DECLARE(OTTO_ICON_FONT); void OttoEmojiDisplay::SetStatus(const char* status) { auto lvgl_theme = static_cast(current_theme_); @@ -133,14 +117,13 @@ void OttoEmojiDisplay::SetStatus(const char* status) { lv_obj_set_style_text_font(status_label_, text_font, 0); lv_label_set_text(status_label_, ""); lv_obj_clear_flag(status_label_, LV_OBJ_FLAG_HIDDEN); + lv_obj_clear_flag(network_label_, LV_OBJ_FLAG_HIDDEN); + lv_obj_clear_flag(battery_label_, LV_OBJ_FLAG_HIDDEN); return; } lv_obj_set_style_text_font(status_label_, text_font, 0); lv_label_set_text(status_label_, status); - lv_obj_clear_flag(status_label_, LV_OBJ_FLAG_HIDDEN); - lv_obj_clear_flag(network_label_, LV_OBJ_FLAG_HIDDEN); - lv_obj_clear_flag(battery_label_, LV_OBJ_FLAG_HIDDEN); } void OttoEmojiDisplay::SetPreviewImage(std::unique_ptr image) { diff --git a/main/boards/otto-robot/otto_emoji_display.h b/main/boards/otto-robot/otto_emoji_display.h index 0d9accc9..207ed8a9 100644 --- a/main/boards/otto-robot/otto_emoji_display.h +++ b/main/boards/otto-robot/otto_emoji_display.h @@ -19,6 +19,5 @@ class OttoEmojiDisplay : public SpiLcdDisplay { private: void InitializeOttoEmojis(); - void SetupChatLabel(); void SetupPreviewImage(); }; \ No newline at end of file diff --git a/main/boards/otto-robot/otto_robot.cc b/main/boards/otto-robot/otto_robot.cc index 13f36cec..1a3644a4 100644 --- a/main/boards/otto-robot/otto_robot.cc +++ b/main/boards/otto-robot/otto_robot.cc @@ -4,6 +4,8 @@ #include #include #include +#include +#include #include #include "application.h" @@ -18,6 +20,7 @@ #include "power_manager.h" #include "system_reset.h" #include "wifi_board.h" +#include "esp32_camera.h" #include "websocket_control_server.h" #define TAG "OttoRobot" @@ -30,6 +33,10 @@ private: PowerManager* power_manager_; Button boot_button_; WebSocketControlServer* ws_control_server_; +#if CONFIG_OTTO_ROBOT_USE_CAMERA + i2c_master_bus_handle_t i2c_bus_; + Esp32Camera *camera_; +#endif void InitializePowerManager() { power_manager_ = new PowerManager(POWER_CHARGE_DETECT_PIN, POWER_ADC_UNIT, POWER_ADC_CHANNEL); @@ -115,10 +122,79 @@ 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, + }, + }; + ESP_ERROR_CHECK(i2c_new_master_bus(&i2c_bus_cfg, &i2c_bus_)); + } + 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) { InitializeSpi(); InitializeLcdDisplay(); +#if CONFIG_OTTO_ROBOT_USE_CAMERA + InitializeI2c(); + InitializeCamera(); +#endif InitializeButtons(); InitializePowerManager(); InitializeOttoController(); @@ -126,11 +202,18 @@ public: GetBacklight()->RestoreBrightness(); } - virtual AudioCodec* GetAudioCodec() override { - 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); + 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; } @@ -146,6 +229,9 @@ public: level = power_manager_->GetBatteryLevel(); return true; } +#if CONFIG_OTTO_ROBOT_USE_CAMERA + virtual Camera *GetCamera() override { return camera_; } +#endif }; DECLARE_BOARD(OttoRobot); diff --git a/main/boards/otto-robot/power_manager.h b/main/boards/otto-robot/power_manager.h index 13d8ff3b..925319f7 100644 --- a/main/boards/otto-robot/power_manager.h +++ b/main/boards/otto-robot/power_manager.h @@ -12,7 +12,7 @@ private: static constexpr struct { uint16_t adc; uint8_t level; - } BATTERY_LEVELS[] = {{2150, 0}, {2450, 100}}; + } BATTERY_LEVELS[] = {{2050, 0}, {2450, 100}}; static constexpr size_t BATTERY_LEVELS_COUNT = 2; static constexpr size_t ADC_VALUES_COUNT = 10; @@ -25,12 +25,23 @@ private: size_t adc_values_count_ = 0; uint8_t battery_level_ = 100; bool is_charging_ = false; + inline static bool battery_update_paused_ = false; // 静态标志：是否暂停电量更新 adc_oneshot_unit_handle_t adc_handle_; void CheckBatteryStatus() { + // 如果电量更新被暂停（动作进行中），则跳过更新 + if (battery_update_paused_) { + return; + } + + ReadBatteryAdcData(); + + if (charging_pin_ == GPIO_NUM_NC) { + is_charging_ = false; + } else { is_charging_ = gpio_get_level(charging_pin_) == 0; - ReadBatteryAdcData(); + } } void ReadBatteryAdcData() { @@ -71,6 +82,8 @@ public: PowerManager(gpio_num_t charging_pin, adc_unit_t adc_unit = ADC_UNIT_2, adc_channel_t adc_channel = ADC_CHANNEL_3) : charging_pin_(charging_pin), adc_unit_(adc_unit), adc_channel_(adc_channel) { + + if (charging_pin_ != GPIO_NUM_NC) { gpio_config_t io_conf = {}; io_conf.intr_type = GPIO_INTR_DISABLE; io_conf.mode = GPIO_MODE_INPUT; @@ -78,6 +91,10 @@ public: io_conf.pull_down_en = GPIO_PULLDOWN_DISABLE; io_conf.pull_up_en = GPIO_PULLUP_ENABLE; gpio_config(&io_conf); + ESP_LOGI("PowerManager", "充电检测引脚配置完成: GPIO%d", charging_pin_); + } else { + ESP_LOGI("PowerManager", "充电检测引脚未配置，不进行充电状态检测"); + } esp_timer_create_args_t timer_args = { .callback = @@ -97,18 +114,20 @@ public: } void InitializeAdc() { - adc_oneshot_unit_init_cfg_t init_config = { - .unit_id = adc_unit_, - .ulp_mode = ADC_ULP_MODE_DISABLE, - }; - ESP_ERROR_CHECK(adc_oneshot_new_unit(&init_config, &adc_handle_)); + adc_oneshot_unit_init_cfg_t init_config = { + .unit_id = adc_unit_, + .clk_src = ADC_RTC_CLK_SRC_DEFAULT, + .ulp_mode = ADC_ULP_MODE_DISABLE, + }; + ESP_ERROR_CHECK(adc_oneshot_new_unit(&init_config, &adc_handle_)); - adc_oneshot_chan_cfg_t chan_config = { - .atten = ADC_ATTEN_DB_12, - .bitwidth = ADC_BITWIDTH_12, - }; + 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_, &chan_config)); + ESP_ERROR_CHECK( + adc_oneshot_config_channel(adc_handle_, adc_channel_, &chan_config)); } ~PowerManager() { @@ -124,5 +143,9 @@ public: bool IsCharging() { return is_charging_; } uint8_t GetBatteryLevel() { return battery_level_; } + + // 暂停/恢复电量更新（用于动作执行时屏蔽更新） + static void PauseBatteryUpdate() { battery_update_paused_ = true; } + static void ResumeBatteryUpdate() { battery_update_paused_ = false; } }; #endif // __POWER_MANAGER_H__ \ No newline at end of file