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liqinghua
2026-04-26 21:35:04 +08:00
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main/boards/otto-robot/otto_robot.cc Normal file
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#include <driver/i2c_master.h>
#include <driver/ledc.h>
#include <driver/spi_common.h>
#include <esp_lcd_panel_io.h>
#include <esp_lcd_panel_ops.h>
#include <esp_lcd_panel_vendor.h>
#include <esp_log.h>
#include "application.h"
#include "button.h"
#include "codecs/no_audio_codec.h"
#include "config.h"
#include "display/lcd_display.h"
#include "esp_video.h"
#include "lamp_controller.h"
#include "led/single_led.h"
#include "mcp_server.h"
#include "otto_emoji_display.h"
#include "power_manager.h"
#include "system_reset.h"
#include "websocket_control_server.h"
#include "wifi_board.h"
#define TAG "OttoRobot"
extern void InitializeOttoController(const HardwareConfig& hw_config);
class OttoRobot : public WifiBoard {
private:
LcdDisplay* display_;
PowerManager* power_manager_;
Button boot_button_;
WebSocketControlServer* ws_control_server_;
HardwareConfig hw_config_;
AudioCodec* audio_codec_;
i2c_master_bus_handle_t i2c_bus_;
EspVideo* camera_;
bool has_camera_;
OttoCameraType camera_type_;
bool DetectHardwareVersion() {
ledc_timer_config_t ledc_timer = {
.speed_mode = LEDC_LOW_SPEED_MODE,
.duty_resolution = LEDC_TIMER_2_BIT,
.timer_num = LEDC_TIMER,
.freq_hz = CAMERA_XCLK_FREQ,
.clk_cfg = LEDC_AUTO_CLK,
};
esp_err_t ret = ledc_timer_config(&ledc_timer);
if (ret != ESP_OK) {
return false;
}
ledc_channel_config_t ledc_channel = {
.gpio_num = CAMERA_XCLK,
.speed_mode = LEDC_LOW_SPEED_MODE,
.channel = LEDC_CHANNEL,
.intr_type = LEDC_INTR_DISABLE,
.timer_sel = LEDC_TIMER,
.duty = 2,
.hpoint = 0,
};
ret = ledc_channel_config(&ledc_channel);
if (ret != ESP_OK) {
return false;
}
vTaskDelay(pdMS_TO_TICKS(100));
i2c_master_bus_config_t i2c_bus_cfg = {
.i2c_port = I2C_NUM_0,
.sda_io_num = CAMERA_VERSION_CONFIG.i2c_sda_pin,
.scl_io_num = CAMERA_VERSION_CONFIG.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,
},
};
ret = i2c_new_master_bus(&i2c_bus_cfg, &i2c_bus_);
if (ret != ESP_OK) {
ledc_stop(LEDC_LOW_SPEED_MODE, LEDC_CHANNEL, 0);
return false;
}
const uint8_t camera_addresses[] = {0x30, 0x3C, 0x21, 0x60};
bool camera_found = false;
uint16_t detected_pid = 0;
for (size_t i = 0; i < sizeof(camera_addresses); i++) {
uint8_t addr = camera_addresses[i];
i2c_device_config_t dev_cfg = {
.dev_addr_length = I2C_ADDR_BIT_LEN_7,
.device_address = addr,
.scl_speed_hz = 100000,
};
i2c_master_dev_handle_t dev_handle;
ret = i2c_master_bus_add_device(i2c_bus_, &dev_cfg, &dev_handle);
if (ret == ESP_OK) {
uint8_t data[2] = {0, 0};
uint8_t reg_addr_8bit = 0x0A;
ret = i2c_master_transmit_receive(dev_handle, &reg_addr_8bit, 1, data, 2, 200);
if (ret == ESP_OK && (data[0] != 0 || data[1] != 0)) {
detected_pid = (data[0] << 8) | data[1];
ESP_LOGI(TAG, "检测到摄像头 (OV2640方式) PID=0x%04X (地址=0x%02X)",
detected_pid, addr);
camera_found = true;
i2c_master_bus_rm_device(dev_handle);
break;
}
uint8_t reg_addr_high[2] = {0x30, 0x0A};
uint8_t reg_addr_low[2] = {0x30, 0x0B};
uint8_t pid_high = 0, pid_low = 0;
ret = i2c_master_transmit_receive(dev_handle, reg_addr_high, 2, &pid_high, 1, 200);
if (ret == ESP_OK) {
ret =
i2c_master_transmit_receive(dev_handle, reg_addr_low, 2, &pid_low, 1, 200);
if (ret == ESP_OK) {
detected_pid = (pid_high << 8) | pid_low;
if (detected_pid != 0) {
ESP_LOGI(TAG, "检测到摄像头 (OV3660方式) PID=0x%04X (地址=0x%02X)",
detected_pid, addr);
camera_found = true;
i2c_master_bus_rm_device(dev_handle);
break;
}
}
}
i2c_master_bus_rm_device(dev_handle);
}
}
if (!camera_found) {
i2c_del_master_bus(i2c_bus_);
i2c_bus_ = nullptr;
ledc_stop(LEDC_LOW_SPEED_MODE, LEDC_CHANNEL, 0);
camera_type_ = OTTO_CAMERA_NONE;
} else {
// 根据 PID 判断摄像头类型
if (detected_pid == OV2640_PID_1 || detected_pid == OV2640_PID_2) {
camera_type_ = OTTO_CAMERA_OV2640;
ESP_LOGI(TAG, "摄像头类型: OV2640 (PID=0x%04X)", detected_pid);
} else if (detected_pid == OV3660_PID) {
camera_type_ = OTTO_CAMERA_OV3660;
ESP_LOGI(TAG, "摄像头类型: OV3660 (PID=0x%04X)", detected_pid);
} else {
camera_type_ = OTTO_CAMERA_UNKNOWN;
ESP_LOGW(TAG, "未知摄像头类型，PID=0x%04X", detected_pid);
}
}
return camera_found;
}
void InitializePowerManager() {
power_manager_ = new PowerManager(hw_config_.power_charge_detect_pin,
hw_config_.power_adc_unit, hw_config_.power_adc_channel);
}
void InitializeSpi() {
spi_bus_config_t buscfg = {};
buscfg.mosi_io_num = hw_config_.display_mosi_pin;
buscfg.miso_io_num = GPIO_NUM_NC;
buscfg.sclk_io_num = hw_config_.display_clk_pin;
buscfg.quadwp_io_num = GPIO_NUM_NC;
buscfg.quadhd_io_num = GPIO_NUM_NC;
buscfg.max_transfer_sz = DISPLAY_WIDTH * DISPLAY_HEIGHT * sizeof(uint16_t);
ESP_ERROR_CHECK(spi_bus_initialize(SPI3_HOST, &buscfg, SPI_DMA_CH_AUTO));
}
void InitializeLcdDisplay() {
esp_lcd_panel_io_handle_t panel_io = nullptr;
esp_lcd_panel_handle_t panel = nullptr;
esp_lcd_panel_io_spi_config_t io_config = {};
io_config.cs_gpio_num = hw_config_.display_cs_pin;
io_config.dc_gpio_num = hw_config_.display_dc_pin;
io_config.spi_mode = DISPLAY_SPI_MODE;
io_config.pclk_hz = 40 * 1000 * 1000;
io_config.trans_queue_depth = 10;
io_config.lcd_cmd_bits = 8;
io_config.lcd_param_bits = 8;
ESP_ERROR_CHECK(esp_lcd_new_panel_io_spi(SPI3_HOST, &io_config, &panel_io));
esp_lcd_panel_dev_config_t panel_config = {};
panel_config.reset_gpio_num = hw_config_.display_rst_pin;
panel_config.rgb_ele_order = DISPLAY_RGB_ORDER;
panel_config.bits_per_pixel = 16;
ESP_ERROR_CHECK(esp_lcd_new_panel_st7789(panel_io, &panel_config, &panel));
esp_lcd_panel_reset(panel);
esp_lcd_panel_init(panel);
esp_lcd_panel_invert_color(panel, DISPLAY_INVERT_COLOR);
esp_lcd_panel_swap_xy(panel, DISPLAY_SWAP_XY);
esp_lcd_panel_mirror(panel, DISPLAY_MIRROR_X, DISPLAY_MIRROR_Y);
display_ = new OttoEmojiDisplay(panel_io, panel, DISPLAY_WIDTH, DISPLAY_HEIGHT,
DISPLAY_OFFSET_X, DISPLAY_OFFSET_Y, DISPLAY_MIRROR_X,
DISPLAY_MIRROR_Y, DISPLAY_SWAP_XY);
}
void InitializeButtons() {
boot_button_.OnClick([this]() {
auto& app = Application::GetInstance();
if (app.GetDeviceState() == kDeviceStateStarting) {
EnterWifiConfigMode();
return;
}
app.ToggleChatState();
});
}
void InitializeOttoController() { ::InitializeOttoController(hw_config_); }
public:
const HardwareConfig& GetHardwareConfig() const { return hw_config_; }
OttoCameraType GetCameraType() const { return camera_type_; }
private:
void InitializeWebSocketControlServer() {
ws_control_server_ = new WebSocketControlServer();
if (!ws_control_server_->Start(8080)) {
delete ws_control_server_;
ws_control_server_ = nullptr;
}
}
void StartNetwork() override {
WifiBoard::StartNetwork();
vTaskDelay(pdMS_TO_TICKS(1000));
InitializeWebSocketControlServer();
}
bool InitializeCamera() {
if (!has_camera_ || i2c_bus_ == nullptr) {
return false;
}
try {
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,
};
esp_video_init_sccb_config_t sccb_config = {
.init_sccb = false,
.i2c_handle = i2c_bus_,
.freq = 100000,
};
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,
};
esp_video_init_config_t video_config = {
.dvp = &dvp_config,
};
camera_ = new EspVideo(video_config);
// 根据摄像头类型设置不同的翻转参数
switch (camera_type_) {
case OTTO_CAMERA_OV3660:
camera_->SetVFlip(true);
camera_->SetHMirror(true);
ESP_LOGI(TAG, "OV3660: 设置 VFlip=true, HMirror=true");
break;
case OTTO_CAMERA_OV2640:
default:
camera_->SetVFlip(true);
camera_->SetHMirror(false);
ESP_LOGI(TAG, "OV2640: 设置 VFlip=true, HMirror=false");
break;
}
return true;
} catch (...) {
camera_ = nullptr;
return false;
}
}
void InitializeAudioCodec() {
if (hw_config_.audio_use_simplex) {
audio_codec_ = new NoAudioCodecSimplex(
hw_config_.audio_input_sample_rate, hw_config_.audio_output_sample_rate,
hw_config_.audio_i2s_spk_gpio_bclk, hw_config_.audio_i2s_spk_gpio_lrck,
hw_config_.audio_i2s_spk_gpio_dout, hw_config_.audio_i2s_mic_gpio_sck,
hw_config_.audio_i2s_mic_gpio_ws, hw_config_.audio_i2s_mic_gpio_din);
} else {
audio_codec_ = new NoAudioCodecDuplex(
hw_config_.audio_input_sample_rate, hw_config_.audio_output_sample_rate,
hw_config_.audio_i2s_gpio_bclk, hw_config_.audio_i2s_gpio_ws,
hw_config_.audio_i2s_gpio_dout, hw_config_.audio_i2s_gpio_din);
}
}
public:
OttoRobot()
: boot_button_(BOOT_BUTTON_GPIO),
audio_codec_(nullptr),
i2c_bus_(nullptr),
camera_(nullptr),
has_camera_(false),
camera_type_(OTTO_CAMERA_NONE) {
#if OTTO_HARDWARE_VERSION == OTTO_VERSION_AUTO
// 自动检测硬件版本（同时检测摄像头类型）
has_camera_ = DetectHardwareVersion();
ESP_LOGI(TAG, "自动检测硬件版本: %s", has_camera_ ? "摄像头版" : "无摄像头版");
#elif OTTO_HARDWARE_VERSION == OTTO_VERSION_CAMERA
// 强制使用摄像头版本，但仍检测具体摄像头类型
has_camera_ = DetectHardwareVersion();
if (!has_camera_) {
// 检测失败时仍使用摄像头配置，但不知道具体类型
has_camera_ = true;
camera_type_ = OTTO_CAMERA_UNKNOWN;
ESP_LOGW(TAG, "强制使用摄像头版本配置，但未能检测到摄像头类型");
// 初始化 I2C 总线用于摄像头
i2c_master_bus_config_t i2c_bus_cfg = {
.i2c_port = I2C_NUM_0,
.sda_io_num = CAMERA_VERSION_CONFIG.i2c_sda_pin,
.scl_io_num = CAMERA_VERSION_CONFIG.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,
},
};
i2c_new_master_bus(&i2c_bus_cfg, &i2c_bus_);
} else {
ESP_LOGI(TAG, "强制使用摄像头版本配置");
}
#elif OTTO_HARDWARE_VERSION == OTTO_VERSION_NO_CAMERA
// 强制使用无摄像头版本
has_camera_ = false;
camera_type_ = OTTO_CAMERA_NONE;
ESP_LOGI(TAG, "强制使用无摄像头版本配置");
#else
#error \
"OTTO_HARDWARE_VERSION 设置无效，请使用 OTTO_VERSION_AUTO, OTTO_VERSION_CAMERA 或 OTTO_VERSION_NO_CAMERA"
#endif
if (has_camera_)
hw_config_ = CAMERA_VERSION_CONFIG;
else
hw_config_ = NON_CAMERA_VERSION_CONFIG;
InitializeSpi();
InitializeLcdDisplay();
InitializeButtons();
InitializePowerManager();
InitializeAudioCodec();
if (has_camera_) {
if (!InitializeCamera()) {
has_camera_ = false;
}
}
InitializeOttoController();
ws_control_server_ = nullptr;
GetBacklight()->RestoreBrightness();
}
virtual AudioCodec* GetAudioCodec() override { return audio_codec_; }
virtual Display* GetDisplay() override { return display_; }
virtual Backlight* GetBacklight() override {
static PwmBacklight* backlight = nullptr;
if (backlight == nullptr) {
backlight =
new PwmBacklight(hw_config_.display_backlight_pin, DISPLAY_BACKLIGHT_OUTPUT_INVERT);
}
return backlight;
}
virtual bool GetBatteryLevel(int& level, bool& charging, bool& discharging) override {
charging = power_manager_->IsCharging();
discharging = !charging;
level = power_manager_->GetBatteryLevel();
return true;
}
virtual Camera* GetCamera() override { return has_camera_ ? camera_ : nullptr; }
};
DECLARE_BOARD(OttoRobot);