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.
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小鹏
@@ -12,7 +12,7 @@ private:
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static constexpr struct {
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uint16_t adc;
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uint8_t level;
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} BATTERY_LEVELS[] = {{2150, 0}, {2450, 100}};
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} BATTERY_LEVELS[] = {{2050, 0}, {2450, 100}};
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static constexpr size_t BATTERY_LEVELS_COUNT = 2;
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static constexpr size_t ADC_VALUES_COUNT = 10;
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@@ -25,12 +25,23 @@ private:
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size_t adc_values_count_ = 0;
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uint8_t battery_level_ = 100;
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bool is_charging_ = false;
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inline static bool battery_update_paused_ = false; // 静态标志：是否暂停电量更新
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adc_oneshot_unit_handle_t adc_handle_;
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void CheckBatteryStatus() {
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// 如果电量更新被暂停（动作进行中），则跳过更新
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if (battery_update_paused_) {
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return;
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}
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ReadBatteryAdcData();
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if (charging_pin_ == GPIO_NUM_NC) {
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is_charging_ = false;
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} else {
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is_charging_ = gpio_get_level(charging_pin_) == 0;
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ReadBatteryAdcData();
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}
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}
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void ReadBatteryAdcData() {
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@@ -71,6 +82,8 @@ public:
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PowerManager(gpio_num_t charging_pin, adc_unit_t adc_unit = ADC_UNIT_2,
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adc_channel_t adc_channel = ADC_CHANNEL_3)
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: charging_pin_(charging_pin), adc_unit_(adc_unit), adc_channel_(adc_channel) {
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if (charging_pin_ != GPIO_NUM_NC) {
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gpio_config_t io_conf = {};
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io_conf.intr_type = GPIO_INTR_DISABLE;
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io_conf.mode = GPIO_MODE_INPUT;
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@@ -78,6 +91,10 @@ public:
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io_conf.pull_down_en = GPIO_PULLDOWN_DISABLE;
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io_conf.pull_up_en = GPIO_PULLUP_ENABLE;
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gpio_config(&io_conf);
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ESP_LOGI("PowerManager", "充电检测引脚配置完成: GPIO%d", charging_pin_);
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} else {
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ESP_LOGI("PowerManager", "充电检测引脚未配置，不进行充电状态检测");
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}
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esp_timer_create_args_t timer_args = {
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.callback =
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@@ -97,18 +114,20 @@ public:
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}
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void InitializeAdc() {
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adc_oneshot_unit_init_cfg_t init_config = {
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.unit_id = adc_unit_,
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.ulp_mode = ADC_ULP_MODE_DISABLE,
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};
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ESP_ERROR_CHECK(adc_oneshot_new_unit(&init_config, &adc_handle_));
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adc_oneshot_unit_init_cfg_t init_config = {
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.unit_id = adc_unit_,
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.clk_src = ADC_RTC_CLK_SRC_DEFAULT,
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.ulp_mode = ADC_ULP_MODE_DISABLE,
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};
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ESP_ERROR_CHECK(adc_oneshot_new_unit(&init_config, &adc_handle_));
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adc_oneshot_chan_cfg_t chan_config = {
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.atten = ADC_ATTEN_DB_12,
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.bitwidth = ADC_BITWIDTH_12,
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};
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adc_oneshot_chan_cfg_t chan_config = {
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.atten = ADC_ATTEN_DB_12,
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.bitwidth = ADC_BITWIDTH_12,
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};
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ESP_ERROR_CHECK(adc_oneshot_config_channel(adc_handle_, adc_channel_, &chan_config));
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ESP_ERROR_CHECK(
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adc_oneshot_config_channel(adc_handle_, adc_channel_, &chan_config));
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}
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~PowerManager() {
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@@ -124,5 +143,9 @@ public:
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bool IsCharging() { return is_charging_; }
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uint8_t GetBatteryLevel() { return battery_level_; }
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// 暂停/恢复电量更新（用于动作执行时屏蔽更新）
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static void PauseBatteryUpdate() { battery_update_paused_ = true; }
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static void ResumeBatteryUpdate() { battery_update_paused_ = false; }
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};
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#endif // __POWER_MANAGER_H__
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