forked from xiaozhi/xiaozhi-esp32
Add camera support for Otto Robot board (#1520)
* 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.
This commit is contained in:
小鹏
@@ -4,6 +4,8 @@
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#include <esp_lcd_panel_ops.h>
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#include <esp_lcd_panel_vendor.h>
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#include <esp_log.h>
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#include <freertos/FreeRTOS.h>
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#include <freertos/task.h>
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#include <wifi_station.h>
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#include "application.h"
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@@ -18,6 +20,7 @@
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#include "power_manager.h"
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#include "system_reset.h"
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#include "wifi_board.h"
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#include "esp32_camera.h"
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#include "websocket_control_server.h"
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#define TAG "OttoRobot"
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@@ -30,6 +33,10 @@ private:
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PowerManager* power_manager_;
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Button boot_button_;
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WebSocketControlServer* ws_control_server_;
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#if CONFIG_OTTO_ROBOT_USE_CAMERA
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i2c_master_bus_handle_t i2c_bus_;
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Esp32Camera *camera_;
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#endif
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void InitializePowerManager() {
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power_manager_ =
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new PowerManager(POWER_CHARGE_DETECT_PIN, POWER_ADC_UNIT, POWER_ADC_CHANNEL);
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@@ -115,10 +122,79 @@ private:
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InitializeWebSocketControlServer();
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}
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#if CONFIG_OTTO_ROBOT_USE_CAMERA
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void InitializeI2c() {
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// Initialize I2C peripheral
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i2c_master_bus_config_t i2c_bus_cfg = {
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.i2c_port = I2C_NUM_0,
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.sda_io_num = I2C_SDA_PIN,
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.scl_io_num = I2C_SCL_PIN,
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.clk_source = I2C_CLK_SRC_DEFAULT,
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.glitch_ignore_cnt = 7,
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.intr_priority = 0,
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.trans_queue_depth = 0,
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.flags =
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{
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.enable_internal_pullup = 1,
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},
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};
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ESP_ERROR_CHECK(i2c_new_master_bus(&i2c_bus_cfg, &i2c_bus_));
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}
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void InitializeCamera() {
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// DVP pin configuration
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static esp_cam_ctlr_dvp_pin_config_t dvp_pin_config = {
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.data_width = CAM_CTLR_DATA_WIDTH_8,
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.data_io = {
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[0] = CAMERA_D0,
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[1] = CAMERA_D1,
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[2] = CAMERA_D2,
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[3] = CAMERA_D3,
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[4] = CAMERA_D4,
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[5] = CAMERA_D5,
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[6] = CAMERA_D6,
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[7] = CAMERA_D7,
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},
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.vsync_io = CAMERA_VSYNC,
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.de_io = CAMERA_HSYNC,
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.pclk_io = CAMERA_PCLK,
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.xclk_io = CAMERA_XCLK,
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};
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// 复用 I2C 总线
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esp_video_init_sccb_config_t sccb_config = {
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.init_sccb = false, // 不初始化新的 SCCB，使用现有的 I2C 总线
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.i2c_handle = i2c_bus_, // 使用现有的 I2C 总线句柄
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.freq = 100000, // 100kHz
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};
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// DVP configuration
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esp_video_init_dvp_config_t dvp_config = {
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.sccb_config = sccb_config,
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.reset_pin = CAMERA_RESET,
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.pwdn_pin = CAMERA_PWDN,
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.dvp_pin = dvp_pin_config,
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.xclk_freq = CAMERA_XCLK_FREQ,
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};
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// Main video configuration
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esp_video_init_config_t video_config = {
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.dvp = &dvp_config,
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};
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camera_ = new Esp32Camera(video_config);
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// camera_->SetHMirror(true);
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camera_->SetVFlip(true);
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}
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#endif
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public:
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OttoRobot() : boot_button_(BOOT_BUTTON_GPIO) {
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InitializeSpi();
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InitializeLcdDisplay();
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#if CONFIG_OTTO_ROBOT_USE_CAMERA
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InitializeI2c();
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InitializeCamera();
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#endif
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InitializeButtons();
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InitializePowerManager();
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InitializeOttoController();
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@@ -126,11 +202,18 @@ public:
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GetBacklight()->RestoreBrightness();
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}
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virtual AudioCodec* GetAudioCodec() override {
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static NoAudioCodecSimplex audio_codec(AUDIO_INPUT_SAMPLE_RATE, AUDIO_OUTPUT_SAMPLE_RATE,
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AUDIO_I2S_SPK_GPIO_BCLK, AUDIO_I2S_SPK_GPIO_LRCK,
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AUDIO_I2S_SPK_GPIO_DOUT, AUDIO_I2S_MIC_GPIO_SCK,
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AUDIO_I2S_MIC_GPIO_WS, AUDIO_I2S_MIC_GPIO_DIN);
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virtual AudioCodec *GetAudioCodec() override {
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#ifdef AUDIO_I2S_METHOD_SIMPLEX
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static NoAudioCodecSimplex audio_codec(
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AUDIO_INPUT_SAMPLE_RATE, AUDIO_OUTPUT_SAMPLE_RATE,
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AUDIO_I2S_SPK_GPIO_BCLK, AUDIO_I2S_SPK_GPIO_LRCK,
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AUDIO_I2S_SPK_GPIO_DOUT, AUDIO_I2S_MIC_GPIO_SCK, AUDIO_I2S_MIC_GPIO_WS,
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AUDIO_I2S_MIC_GPIO_DIN);
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#else
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static NoAudioCodecDuplex audio_codec(
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AUDIO_INPUT_SAMPLE_RATE, AUDIO_OUTPUT_SAMPLE_RATE, AUDIO_I2S_GPIO_BCLK,
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AUDIO_I2S_GPIO_WS, AUDIO_I2S_GPIO_DOUT, AUDIO_I2S_GPIO_DIN);
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#endif
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return &audio_codec;
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}
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@@ -146,6 +229,9 @@ public:
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level = power_manager_->GetBatteryLevel();
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return true;
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}
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#if CONFIG_OTTO_ROBOT_USE_CAMERA
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virtual Camera *GetCamera() override { return camera_; }
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#endif
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};
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DECLARE_BOARD(OttoRobot);
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