#include "wifi_board.h"
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#include "codecs/es8311_audio_codec.h"
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#include "display/lcd_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 "mcp_server.h"
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#include "settings.h"
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#include <esp_log.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 <driver/uart.h>
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#include <cstring>
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#include "esp_video.h"
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#define TAG "esp_sparkbot"
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class SparkBotEs8311AudioCodec : public Es8311AudioCodec {
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private:
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public:
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SparkBotEs8311AudioCodec(void* i2c_master_handle, i2c_port_t i2c_port, int input_sample_rate, int output_sample_rate,
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gpio_num_t mclk, gpio_num_t bclk, gpio_num_t ws, gpio_num_t dout, gpio_num_t din,
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gpio_num_t pa_pin, uint8_t es8311_addr, bool use_mclk = true)
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: Es8311AudioCodec(i2c_master_handle, i2c_port, input_sample_rate, output_sample_rate,
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mclk, bclk, ws, dout, din,pa_pin, es8311_addr, use_mclk = true) {}
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void EnableOutput(bool enable) override {
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if (enable == output_enabled_) {
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return;
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}
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if (enable) {
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Es8311AudioCodec::EnableOutput(enable);
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} else {
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// Nothing todo because the display io and PA io conflict
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}
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}
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};
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class EspSparkBot : public WifiBoard {
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private:
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i2c_master_bus_handle_t i2c_bus_;
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Button boot_button_;
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Display* display_;
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EspVideo* camera_;
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light_mode_t light_mode_ = LIGHT_MODE_ALWAYS_ON;
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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 = 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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}
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void InitializeSpi() {
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spi_bus_config_t buscfg = {};
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buscfg.mosi_io_num = DISPLAY_MOSI_GPIO;
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buscfg.miso_io_num = GPIO_NUM_NC;
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buscfg.sclk_io_num = DISPLAY_CLK_GPIO;
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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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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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}
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void InitializeDisplay() {
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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 = DISPLAY_CS_GPIO;
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io_config.dc_gpio_num = DISPLAY_DC_GPIO;
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io_config.spi_mode = 0;
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io_config.pclk_hz = 40 * 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
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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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esp_lcd_panel_init(panel);
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esp_lcd_panel_invert_color(panel, true);
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esp_lcd_panel_disp_on_off(panel, true);
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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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}
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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] = SPARKBOT_CAMERA_D0,
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[1] = SPARKBOT_CAMERA_D1,
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[2] = SPARKBOT_CAMERA_D2,
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[3] = SPARKBOT_CAMERA_D3,
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[4] = SPARKBOT_CAMERA_D4,
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[5] = SPARKBOT_CAMERA_D5,
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[6] = SPARKBOT_CAMERA_D6,
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[7] = SPARKBOT_CAMERA_D7,
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},
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.vsync_io = SPARKBOT_CAMERA_VSYNC,
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.de_io = SPARKBOT_CAMERA_HSYNC,
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.pclk_io = SPARKBOT_CAMERA_PCLK,
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.xclk_io = SPARKBOT_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 = SPARKBOT_CAMERA_RESET,
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.pwdn_pin = SPARKBOT_CAMERA_PWDN,
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.dvp_pin = dvp_pin_config,
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.xclk_freq = SPARKBOT_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 EspVideo(video_config);
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Settings settings("sparkbot", false);
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// 考虑到部分复刻使用了不可动摄像头的设计，默认启用翻转
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bool camera_flipped = static_cast<bool>(settings.GetInt("camera-flipped", 1));
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camera_->SetHMirror(camera_flipped);
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camera_->SetVFlip(camera_flipped);
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}
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/*
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ESP-SparkBot 的底座
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https://gitee.com/esp-friends/esp_sparkbot/tree/master/example/tank/c2_tracked_chassis
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*/
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void InitializeEchoUart() {
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uart_config_t uart_config = {
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.baud_rate = ECHO_UART_BAUD_RATE,
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.data_bits = UART_DATA_8_BITS,
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.parity = UART_PARITY_DISABLE,
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.stop_bits = UART_STOP_BITS_1,
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.flow_ctrl = UART_HW_FLOWCTRL_DISABLE,
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.source_clk = UART_SCLK_DEFAULT,
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};
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int intr_alloc_flags = 0;
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ESP_ERROR_CHECK(uart_driver_install(ECHO_UART_PORT_NUM, BUF_SIZE * 2, 0, 0, NULL, intr_alloc_flags));
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ESP_ERROR_CHECK(uart_param_config(ECHO_UART_PORT_NUM, &uart_config));
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ESP_ERROR_CHECK(uart_set_pin(ECHO_UART_PORT_NUM, UART_ECHO_TXD, UART_ECHO_RXD, UART_ECHO_RTS, UART_ECHO_CTS));
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SendUartMessage("w2");
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}
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void SendUartMessage(const char * command_str) {
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uint8_t len = strlen(command_str);
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uart_write_bytes(ECHO_UART_PORT_NUM, command_str, len);
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ESP_LOGI(TAG, "Sent command: %s", command_str);
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}
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void InitializeTools() {
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auto& mcp_server = McpServer::GetInstance();
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// 定义设备的属性
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mcp_server.AddTool("self.chassis.get_light_mode", "获取灯光效果编号", PropertyList(), [this](const PropertyList& properties) -> ReturnValue {
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if (light_mode_ < 2) {
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return 1;
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} else {
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return light_mode_ - 2;
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}
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});
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mcp_server.AddTool("self.chassis.go_forward", "前进", PropertyList(), [this](const PropertyList& properties) -> ReturnValue {
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SendUartMessage("x0.0 y1.0");
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return true;
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});
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mcp_server.AddTool("self.chassis.go_back", "后退", PropertyList(), [this](const PropertyList& properties) -> ReturnValue {
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SendUartMessage("x0.0 y-1.0");
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return true;
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});
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mcp_server.AddTool("self.chassis.turn_left", "向左转", PropertyList(), [this](const PropertyList& properties) -> ReturnValue {
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SendUartMessage("x-1.0 y0.0");
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return true;
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});
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mcp_server.AddTool("self.chassis.turn_right", "向右转", PropertyList(), [this](const PropertyList& properties) -> ReturnValue {
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SendUartMessage("x1.0 y0.0");
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return true;
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});
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mcp_server.AddTool("self.chassis.dance", "跳舞", PropertyList(), [this](const PropertyList& properties) -> ReturnValue {
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SendUartMessage("d1");
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light_mode_ = LIGHT_MODE_MAX;
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return true;
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});
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mcp_server.AddTool("self.chassis.switch_light_mode", "打开灯光效果", PropertyList({
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Property("light_mode", kPropertyTypeInteger, 1, 6)
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}), [this](const PropertyList& properties) -> ReturnValue {
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char command_str[5] = {'w', 0, 0};
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char mode = static_cast<light_mode_t>(properties["light_mode"].value<int>());
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ESP_LOGI(TAG, "Switch Light Mode: %c", (mode + '0'));
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if (mode >= 3 && mode <= 8) {
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command_str[1] = mode + '0';
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SendUartMessage(command_str);
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return true;
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}
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throw std::runtime_error("Invalid light mode");
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});
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mcp_server.AddTool("self.camera.set_camera_flipped", "翻转摄像头图像方向", PropertyList(), [this](const PropertyList& properties) -> ReturnValue {
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Settings settings("sparkbot", true);
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// 考虑到部分复刻使用了不可动摄像头的设计，默认启用翻转
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bool flipped = !static_cast<bool>(settings.GetInt("camera-flipped", 1));
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camera_->SetHMirror(flipped);
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camera_->SetVFlip(flipped);
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settings.SetInt("camera-flipped", flipped ? 1 : 0);
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return true;
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});
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}
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public:
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EspSparkBot() : boot_button_(BOOT_BUTTON_GPIO) {
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InitializeI2c();
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InitializeSpi();
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InitializeDisplay();
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InitializeButtons();
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InitializeCamera();
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InitializeEchoUart();
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InitializeTools();
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GetBacklight()->RestoreBrightness();
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}
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virtual AudioCodec* GetAudioCodec() override {
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static SparkBotEs8311AudioCodec audio_codec(i2c_bus_, I2C_NUM_0, AUDIO_INPUT_SAMPLE_RATE, AUDIO_OUTPUT_SAMPLE_RATE,
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AUDIO_I2S_GPIO_MCLK, AUDIO_I2S_GPIO_BCLK, AUDIO_I2S_GPIO_WS, AUDIO_I2S_GPIO_DOUT, AUDIO_I2S_GPIO_DIN,
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AUDIO_CODEC_PA_PIN, AUDIO_CODEC_ES8311_ADDR);
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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(EspSparkBot);
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