mirror of
https://github.com/78/xiaozhi-esp32.git
synced 2026-02-27 14:26:36 +00:00
415 lines
14 KiB
C++
415 lines
14 KiB
C++
#include "wifi_board.h"
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#include "codecs/box_audio_codec.h"
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#include "display/lcd_display.h"
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#include "display/emote_display.h"
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#include "application.h"
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#include "button.h"
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#include "config.h"
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#include "i2c_device.h"
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#include "esp32_camera.h"
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#include "assets/lang_config.h"
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#include "mcp_server.h"
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#include <esp_log.h>
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#include <esp_system.h>
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#include <esp_lcd_panel_vendor.h>
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#include <driver/i2c_master.h>
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#include <driver/spi_common.h>
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#include <esp_lcd_touch_ft5x06.h>
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#include <esp_lvgl_port.h>
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#include <lvgl.h>
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#include <thread>
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#include <atomic>
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#define TAG "LichuangDevBoard"
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class Pca9557 : public I2cDevice {
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public:
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Pca9557(i2c_master_bus_handle_t i2c_bus, uint8_t addr) : I2cDevice(i2c_bus, addr) {
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WriteReg(0x01, 0x03);
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WriteReg(0x03, 0xf8);
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}
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void SetOutputState(uint8_t bit, uint8_t level) {
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uint8_t data = ReadReg(0x01);
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data = (data & ~(1 << bit)) | (level << bit);
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WriteReg(0x01, data);
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}
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};
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class CustomAudioCodec : public BoxAudioCodec {
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private:
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Pca9557* pca9557_;
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public:
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CustomAudioCodec(i2c_master_bus_handle_t i2c_bus, Pca9557* pca9557)
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: BoxAudioCodec(i2c_bus,
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AUDIO_INPUT_SAMPLE_RATE,
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AUDIO_OUTPUT_SAMPLE_RATE,
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AUDIO_I2S_GPIO_MCLK,
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AUDIO_I2S_GPIO_BCLK,
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AUDIO_I2S_GPIO_WS,
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AUDIO_I2S_GPIO_DOUT,
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AUDIO_I2S_GPIO_DIN,
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GPIO_NUM_NC,
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AUDIO_CODEC_ES8311_ADDR,
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AUDIO_CODEC_ES7210_ADDR,
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AUDIO_INPUT_REFERENCE),
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pca9557_(pca9557) {
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}
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virtual void EnableOutput(bool enable) override {
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BoxAudioCodec::EnableOutput(enable);
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if (enable) {
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pca9557_->SetOutputState(1, 1);
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} else {
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pca9557_->SetOutputState(1, 0);
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}
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}
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};
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/**
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* @brief PCF8575 I/O 扩展芯片，地址为 0x20。
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*/
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class Pcf8575 : public I2cDevice {
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private:
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uint16_t data_ = 0x0000;
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bool initialized_ = false;
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public:
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Pcf8575(i2c_master_bus_handle_t i2c_bus, uint8_t addr) : I2cDevice(i2c_bus, addr) {
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// 复位所有位
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if (i2c_master_transmit(i2c_device_, (uint8_t*)&data_, 2, 100) != ESP_OK) {
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initialized_ = false;
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} else {
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initialized_ = true;
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}
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}
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void SetBit(uint8_t bit, uint8_t level) {
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if (initialized_) {
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data_ = (data_ & ~(1 << bit)) | (level << bit);
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ESP_ERROR_CHECK_WITHOUT_ABORT(i2c_master_transmit(i2c_device_, (uint8_t*)&data_, 2, 100));
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}
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}
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bool IsInitialized() const {
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return initialized_;
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}
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};
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class LichuangDevBoard : public WifiBoard {
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private:
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i2c_master_bus_handle_t i2c_bus_;
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i2c_master_dev_handle_t pca9557_handle_;
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Button boot_button_;
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LcdDisplay* display_;
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Pca9557* pca9557_ = nullptr;
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Pcf8575* pcf8575_ = nullptr;
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Esp32Camera* camera_;
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std::atomic<bool> bed_operating_{false};
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/**
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* @brief 控制床的某个功能
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* @param bit 要控制的位
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* @param duration_ms 持续时间，单位毫秒
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* @return 返回值
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*/
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ReturnValue ControlBed(int bit, int duration_ms = 12000) {
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if (bed_operating_) {
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throw std::runtime_error("Bed is already operating");
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}
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ESP_LOGI(TAG, "ControlBed(%d, %d)", bit, duration_ms);
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bed_operating_ = true;
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std::thread([this, bit, duration_ms]() {
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// High level to trigger
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pcf8575_->SetBit(bit, 1);
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// Duration in milliseconds
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int count = duration_ms / 100;
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for (int i = 0; i < count && bed_operating_; i++) {
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vTaskDelay(pdMS_TO_TICKS(100));
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}
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// Low level to stop
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pcf8575_->SetBit(bit, 0);
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bed_operating_ = false;
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}).detach();
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return "{\"success\": true, \"message\": \"Bed is operating now\"}";
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}
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void InitializeTools() {
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// 初始化工具
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auto& mcp_server = McpServer::GetInstance();
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mcp_server.AddTool("bed.adjust", "床位调整\n"
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"Args: \n"
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" action: 动作，支持以下动作：raise_back（升高靠背），lower_back（降低靠背），raise_leg（升高腿部），lower_leg（降低腿部），lean_left（靠左倾斜），lean_right（靠右倾斜）\n"
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" full_adjust: 是否为完整调整（持续12秒），否则为单次调整\n",
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PropertyList({
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Property("action", kPropertyTypeString),
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Property("full_adjust", kPropertyTypeBoolean, false),
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}), [this](const PropertyList& properties) -> ReturnValue {
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auto action = properties["action"].value<std::string>();
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auto full_adjust = properties["full_adjust"].value<bool>();
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int duration_ms = 2000;
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if (full_adjust) {
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duration_ms = 12000;
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}
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if (action == "raise_back") {
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return ControlBed(0, duration_ms);
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} else if (action == "lower_back") {
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return ControlBed(1, duration_ms);
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} else if (action == "raise_leg") {
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return ControlBed(2, duration_ms);
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} else if (action == "lower_leg") {
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return ControlBed(3, duration_ms);
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} else if (action == "lean_left") {
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return ControlBed(4, duration_ms);
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} else if (action == "lean_right") {
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return ControlBed(5, duration_ms);
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} else {
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throw std::runtime_error("Invalid action: " + action);
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}
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});
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mcp_server.AddTool("bed.open_toilet", "便盆打开", PropertyList(), [this](const PropertyList& properties) -> ReturnValue {
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return ControlBed(6);
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});
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mcp_server.AddTool("bed.close_toilet", "便盆关闭", PropertyList(), [this](const PropertyList& properties) -> ReturnValue {
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return ControlBed(7);
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});
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mcp_server.AddTool("bed.auto_flip_a", "自动翻身A", PropertyList(), [this](const PropertyList& properties) -> ReturnValue {
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return ControlBed(8, 1000);
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});
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mcp_server.AddTool("bed.auto_flip_b", "自动翻身B", PropertyList(), [this](const PropertyList& properties) -> ReturnValue {
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return ControlBed(9, 1000);
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});
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mcp_server.AddTool("bed.stop", "停止操作。如用户要求停下来或取消当前操作，必须先调用后回答", PropertyList(), [this](const PropertyList& properties) -> ReturnValue {
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if (!bed_operating_) {
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return "{\"success\": false, \"message\": \"No operation is in progress\"}";
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}
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bed_operating_ = false;
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return "{\"success\": true, \"message\": \"Operation cancelled\"}";
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});
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}
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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_port_t)1,
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.sda_io_num = AUDIO_CODEC_I2C_SDA_PIN,
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.scl_io_num = AUDIO_CODEC_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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.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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// Initialize PCA9557
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pca9557_ = new Pca9557(i2c_bus_, 0x19);
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pcf8575_ = new Pcf8575(i2c_bus_, 0x20);
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}
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void InitializeSpi() {
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spi_bus_config_t buscfg = {};
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buscfg.mosi_io_num = GPIO_NUM_40;
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buscfg.miso_io_num = GPIO_NUM_NC;
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buscfg.sclk_io_num = GPIO_NUM_41;
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buscfg.quadwp_io_num = GPIO_NUM_NC;
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buscfg.quadhd_io_num = GPIO_NUM_NC;
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buscfg.max_transfer_sz = DISPLAY_WIDTH * DISPLAY_HEIGHT * sizeof(uint16_t);
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ESP_ERROR_CHECK(spi_bus_initialize(SPI3_HOST, &buscfg, SPI_DMA_CH_AUTO));
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}
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void InitializeButtons() {
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boot_button_.OnClick([this]() {
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auto& app = Application::GetInstance();
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// During startup (before connected), pressing BOOT button enters Wi-Fi config mode without reboot
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if (app.GetDeviceState() == kDeviceStateStarting) {
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EnterWifiConfigMode();
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return;
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}
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app.ToggleChatState();
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});
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#if CONFIG_USE_DEVICE_AEC
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boot_button_.OnDoubleClick([this]() {
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auto& app = Application::GetInstance();
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if (app.GetDeviceState() == kDeviceStateIdle) {
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app.SetAecMode(app.GetAecMode() == kAecOff ? kAecOnDeviceSide : kAecOff);
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}
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});
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#endif
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}
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void InitializeSt7789Display() {
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esp_lcd_panel_io_handle_t panel_io = nullptr;
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esp_lcd_panel_handle_t panel = nullptr;
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// 液晶屏控制IO初始化
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ESP_LOGD(TAG, "Install panel IO");
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esp_lcd_panel_io_spi_config_t io_config = {};
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io_config.cs_gpio_num = GPIO_NUM_NC;
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io_config.dc_gpio_num = GPIO_NUM_39;
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io_config.spi_mode = 2;
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io_config.pclk_hz = 80 * 1000 * 1000;
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io_config.trans_queue_depth = 10;
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io_config.lcd_cmd_bits = 8;
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io_config.lcd_param_bits = 8;
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ESP_ERROR_CHECK(esp_lcd_new_panel_io_spi(SPI3_HOST, &io_config, &panel_io));
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// 初始化液晶屏驱动芯片ST7789
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ESP_LOGD(TAG, "Install LCD driver");
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esp_lcd_panel_dev_config_t panel_config = {};
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panel_config.reset_gpio_num = GPIO_NUM_NC;
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panel_config.rgb_ele_order = LCD_RGB_ELEMENT_ORDER_RGB;
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panel_config.bits_per_pixel = 16;
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ESP_ERROR_CHECK(esp_lcd_new_panel_st7789(panel_io, &panel_config, &panel));
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esp_lcd_panel_reset(panel);
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pca9557_->SetOutputState(0, 0);
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esp_lcd_panel_init(panel);
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esp_lcd_panel_invert_color(panel, true);
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esp_lcd_panel_swap_xy(panel, DISPLAY_SWAP_XY);
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esp_lcd_panel_mirror(panel, DISPLAY_MIRROR_X, DISPLAY_MIRROR_Y);
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esp_lcd_panel_disp_on_off(panel, true);
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#if CONFIG_USE_EMOTE_MESSAGE_STYLE
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display_ = new emote::EmoteDisplay(panel, panel_io, DISPLAY_WIDTH, DISPLAY_HEIGHT);
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#else
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display_ = new SpiLcdDisplay(panel_io, panel,
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DISPLAY_WIDTH, DISPLAY_HEIGHT, DISPLAY_OFFSET_X, DISPLAY_OFFSET_Y, DISPLAY_MIRROR_X, DISPLAY_MIRROR_Y, DISPLAY_SWAP_XY);
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#endif
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}
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void InitializeTouch()
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{
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esp_lcd_touch_handle_t tp;
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esp_lcd_touch_config_t tp_cfg = {
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.x_max = DISPLAY_HEIGHT,
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.y_max = DISPLAY_WIDTH,
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.rst_gpio_num = GPIO_NUM_NC, // Shared with LCD reset
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.int_gpio_num = GPIO_NUM_NC,
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.levels = {
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.reset = 0,
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.interrupt = 0,
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},
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.flags = {
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.swap_xy = 1,
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.mirror_x = 1,
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.mirror_y = 0,
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},
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};
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esp_lcd_panel_io_handle_t tp_io_handle = NULL;
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esp_lcd_panel_io_i2c_config_t tp_io_config = ESP_LCD_TOUCH_IO_I2C_FT5x06_CONFIG();
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tp_io_config.scl_speed_hz = 400000;
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esp_lcd_new_panel_io_i2c(i2c_bus_, &tp_io_config, &tp_io_handle);
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esp_lcd_touch_new_i2c_ft5x06(tp_io_handle, &tp_cfg, &tp);
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assert(tp);
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/* Add touch input (for selected screen) */
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const lvgl_port_touch_cfg_t touch_cfg = {
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.disp = lv_display_get_default(),
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.handle = tp,
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};
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if(touch_cfg.disp) {
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lvgl_port_add_touch(&touch_cfg);
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} else {
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ESP_LOGE(TAG, "Touch display is not initialized");
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}
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}
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void InitializeCamera() {
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// Open camera power
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pca9557_->SetOutputState(2, 0);
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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_PIN_D0,
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[1] = CAMERA_PIN_D1,
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[2] = CAMERA_PIN_D2,
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[3] = CAMERA_PIN_D3,
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[4] = CAMERA_PIN_D4,
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[5] = CAMERA_PIN_D5,
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[6] = CAMERA_PIN_D6,
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[7] = CAMERA_PIN_D7,
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},
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.vsync_io = CAMERA_PIN_VSYNC,
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.de_io = CAMERA_PIN_HREF,
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.pclk_io = CAMERA_PIN_PCLK,
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.xclk_io = CAMERA_PIN_XCLK,
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};
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esp_video_init_sccb_config_t sccb_config = {
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.init_sccb = false,
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.i2c_handle = i2c_bus_,
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.freq = 100000,
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};
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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_PIN_RESET,
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.pwdn_pin = CAMERA_PIN_PWDN,
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.dvp_pin = dvp_pin_config,
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.xclk_freq = XCLK_FREQ_HZ,
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};
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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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}
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public:
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LichuangDevBoard() : boot_button_(BOOT_BUTTON_GPIO) {
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InitializeI2c();
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InitializeSpi();
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InitializeSt7789Display();
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InitializeTouch();
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InitializeButtons();
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InitializeCamera();
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GetBacklight()->RestoreBrightness();
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if (pcf8575_->IsInitialized()) {
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InitializeTools();
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} else {
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// PCF8575 initialization failed, show error and reboot after 30 seconds
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ESP_LOGE(TAG, "PCF8575 initialization failed, will reboot in 30 seconds");
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display_->SetStatus(Lang::Strings::ERROR);
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display_->SetEmotion("triangle_exclamation");
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display_->SetChatMessage("system", "PCF8575 not connected\nReboot in 30s...");
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vTaskDelay(pdMS_TO_TICKS(30000));
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esp_restart();
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}
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}
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virtual AudioCodec* GetAudioCodec() override {
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static CustomAudioCodec audio_codec(
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i2c_bus_,
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pca9557_);
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return &audio_codec;
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}
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virtual Display* GetDisplay() override {
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return display_;
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}
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virtual Backlight* GetBacklight() override {
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static PwmBacklight backlight(DISPLAY_BACKLIGHT_PIN, DISPLAY_BACKLIGHT_OUTPUT_INVERT);
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return &backlight;
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}
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virtual Camera* GetCamera() override {
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return camera_;
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}
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};
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DECLARE_BOARD(LichuangDevBoard);
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