Add bed-operator board

fix: esp_psram_get_size not found in c3
use MAIN_EVENT_CLOCK_TICK to avoid audio glitches
2026-01-06 20:42:52 +08:00 · 2026-01-06 15:11:31 +08:00 · 2026-01-06 15:11:31 +08:00 · 2026-01-06 15:11:31 +08:00 · 2026-01-02 12:19:46 +08:00
11 changed files with 1216 additions and 2 deletions
--- a/main/CMakeLists.txt
+++ b/main/CMakeLists.txt
@@ -126,6 +126,11 @@ elseif(CONFIG_BOARD_TYPE_LICHUANG_DEV_S3)
    set(BUILTIN_TEXT_FONT font_puhui_basic_20_4)
    set(BUILTIN_ICON_FONT font_awesome_20_4)
    set(DEFAULT_EMOJI_COLLECTION twemoji_64)
+elseif(CONFIG_BOARD_TYPE_LICHUANG_DEV_S3_BED_OPERATOR)
+    set(BOARD_TYPE "lichuang-dev-bed-operator")
+    set(BUILTIN_TEXT_FONT font_puhui_basic_20_4)
+    set(BUILTIN_ICON_FONT font_awesome_20_4)
+    set(DEFAULT_EMOJI_COLLECTION twemoji_64)
 elseif(CONFIG_BOARD_TYPE_LICHUANG_DEV_C3)
    set(BOARD_TYPE "lichuang-c3-dev")
    set(BUILTIN_TEXT_FONT font_puhui_basic_20_4)
@@ -212,6 +217,11 @@ elseif(CONFIG_BOARD_TYPE_ECHOEAR)
    set(BUILTIN_TEXT_FONT font_puhui_20_4)
    set(BUILTIN_ICON_FONT font_awesome_20_4)
    set(DEFAULT_EMOJI_COLLECTION twemoji_64)
+elseif(CONFIG_BOARD_TYPE_ESP_SENSAIRSHUTTLE)
+    set(BOARD_TYPE "esp-sensairshuttle")
+    set(BUILTIN_TEXT_FONT font_puhui_basic_16_4)
+    set(BUILTIN_ICON_FONT font_awesome_16_4)
+    set(DEFAULT_EMOJI_COLLECTION twemoji_32)
 elseif(CONFIG_BOARD_TYPE_WAVESHARE_S3_AUDIO_BOARD)
    set(BOARD_TYPE "waveshare-s3-audio-board")
    set(BUILTIN_TEXT_FONT font_puhui_basic_16_4)
--- a/main/Kconfig.projbuild
+++ b/main/Kconfig.projbuild
@@ -150,6 +150,9 @@ choice BOARD_TYPE
    config BOARD_TYPE_ESP_SPARKBOT
        bool "Espressif SparkBot"
        depends on IDF_TARGET_ESP32S3
+    config BOARD_TYPE_ESP_SENSAIRSHUTTLE
+        bool "Espressif ESP-SensairShuttle"
+        depends on IDF_TARGET_ESP32C5
    config BOARD_TYPE_ESP_SPOT_S3
        bool "Espressif Spot-S3"
        depends on IDF_TARGET_ESP32S3
@@ -198,6 +201,9 @@ choice BOARD_TYPE
    config BOARD_TYPE_LICHUANG_DEV_S3
        bool "立创·实战派 ESP32-S3"
        depends on IDF_TARGET_ESP32S3
+    config BOARD_TYPE_LICHUANG_DEV_S3_BED_OPERATOR
+        bool "立创·实战派ESP32-S3开发板(床控)"
+        depends on IDF_TARGET_ESP32S3
    config BOARD_TYPE_LICHUANG_DEV_C3
        bool "立创·实战派 ESP32-C3"
        depends on IDF_TARGET_ESP32C3
@@ -582,7 +588,7 @@ choice DISPLAY_STYLE

    config USE_EMOTE_MESSAGE_STYLE
        bool "Emote animation style"
-        depends on BOARD_TYPE_ESP_BOX_3 || BOARD_TYPE_ECHOEAR || BOARD_TYPE_LICHUANG_DEV_S3
+        depends on BOARD_TYPE_ESP_BOX_3 || BOARD_TYPE_ECHOEAR || BOARD_TYPE_LICHUANG_DEV_S3 || BOARD_TYPE_ESP_SENSAIRSHUTTLE
 endchoice

 choice WAKE_WORD_TYPE
@@ -657,7 +663,7 @@ config USE_DEVICE_AEC
    bool "Enable Device-Side AEC"
    default n
        depends on USE_AUDIO_PROCESSOR && (BOARD_TYPE_ESP_BOX_3 || BOARD_TYPE_ESP_BOX || BOARD_TYPE_ESP_BOX_LITE \
-        || BOARD_TYPE_LICHUANG_DEV_S3 || BOARD_TYPE_ESP_KORVO2_V3 || BOARD_TYPE_WAVESHARE_S3_TOUCH_AMOLED_1_75 || BOARD_TYPE_WAVESHARE_S3_TOUCH_LCD_1_83\
+        || BOARD_TYPE_LICHUANG_DEV_S3 || BOARD_TYPE_LICHUANG_DEV_S3_BED_OPERATOR || BOARD_TYPE_ESP_KORVO2_V3 || BOARD_TYPE_WAVESHARE_S3_TOUCH_AMOLED_1_75 || BOARD_TYPE_WAVESHARE_S3_TOUCH_LCD_1_83\
        || BOARD_TYPE_WAVESHARE_S3_TOUCH_AMOLED_2_06 || BOARD_TYPE_WAVESHARE_S3_TOUCH_LCD_4B || BOARD_TYPE_WAVESHARE_P4_WIFI6_TOUCH_LCD_4B || BOARD_TYPE_WAVESHARE_P4_WIFI6_TOUCH_LCD_7B \
        || BOARD_TYPE_WAVESHARE_P4_WIFI6_TOUCH_LCD_XC || BOARD_TYPE_ESP_S3_LCD_EV_Board_2 || BOARD_TYPE_YUNLIAO_S3 \
        || BOARD_TYPE_ECHOEAR || BOARD_TYPE_WAVESHARE_S3_TOUCH_LCD_3_49)
--- a/main/boards/esp-sensairshuttle/README.md
+++ b/main/boards/esp-sensairshuttle/README.md
@@ -0,0 +1,39 @@
+# ESP-SensairShuttle
+
+## 简介
+
+<div align="center">
+    <a href="https://docs.espressif.com/projects/esp-dev-kits/zh_CN/latest/esp32c5/esp-sensairshuttle/index.html">
+        <b> 开发版文档 </b>
+    </a>
+    |
+    <a href="#传感器--shuttleboard-子板支持">
+        <b> 传感器 & <i>ShuttleBoard</i> 文档 </b>
+    </a>
+</div>
+
+ESP-SensairShuttle 是乐鑫携手 Bosch Sensortec 面向**动作感知**与**大模型人机交互**场景联合推出的开发板。
+
+ESP-SensairShuttle 主控采用乐鑫 ESP32-C5-WROOM-1-N16R8 模组，具有 2.4 & 5 GHz 双频 Wi-Fi 6 (802.11ax)、Bluetooth® 5 (LE)、Zigbee 及 Thread (802.15.4) 无线通信能力。
+
+## 传感器 & _ShuttleBoard_ 子板支持
+
+即将推出，敬请期待。
+
+## 配置、编译命令
+
+由于 ESP-SensairShuttle 需要配置较多的 sdkconfig 选项，推荐使用编译脚本编译。
+
+**编译**
+
+```bash
+python ./scripts/release.py esp-sensairshuttle
+```
+
+如需手动编译，请参考 `main/boards/esp-sensairshuttle/config.json` 修改 menuconfig 对应选项。
+
+**烧录**
+
+```bash
+idf.py flash
+```
--- a/main/boards/esp-sensairshuttle/adc_pdm_audio_codec.cc
+++ b/main/boards/esp-sensairshuttle/adc_pdm_audio_codec.cc
@@ -0,0 +1,249 @@
+#include "adc_pdm_audio_codec.h"
+
+#include <esp_log.h>
+#include <esp_timer.h>
+#include <driver/i2c.h>
+#include <driver/i2c_master.h>
+#include <driver/i2s_tdm.h>
+#include "adc_mic.h"
+#include "driver/i2s_pdm.h"
+#include "soc/gpio_sig_map.h"
+#include "soc/io_mux_reg.h"
+#include "hal/rtc_io_hal.h"
+#include "hal/gpio_ll.h"
+#include "settings.h"
+#include "config.h"
+
+static const char TAG[] = "AdcPdmAudioCodec";
+
+#define BSP_I2S_GPIO_CFG(_dout)       \
+    {                          \
+        .clk = GPIO_NUM_NC,    \
+        .dout = _dout,  \
+        .invert_flags = {      \
+            .clk_inv = false, \
+        },                     \
+    }
+
+/**
+ * @brief Mono Duplex I2S configuration structure
+ *
+ * This configuration is used by default in bsp_audio_init()
+ */
+#define BSP_I2S_DUPLEX_MONO_CFG(_sample_rate, _dout)                                                         \
+    {                                                                                                 \
+        .clk_cfg = I2S_PDM_TX_CLK_DEFAULT_CONFIG(_sample_rate),                                          \
+        .slot_cfg = I2S_PDM_TX_SLOT_DEFAULT_CONFIG(I2S_DATA_BIT_WIDTH_16BIT, I2S_SLOT_MODE_MONO), \
+        .gpio_cfg = BSP_I2S_GPIO_CFG(_dout),                                                                 \
+    }
+
+AdcPdmAudioCodec::AdcPdmAudioCodec(int input_sample_rate, int output_sample_rate,
+    uint32_t adc_mic_channel, gpio_num_t pdm_speak_p,gpio_num_t pdm_speak_n, gpio_num_t pa_ctl) {
+
+    input_reference_ = false;
+    input_sample_rate_ = input_sample_rate;
+    output_sample_rate_ = output_sample_rate;
+
+    uint8_t adc_channel[1] = {0};
+    adc_channel[0] = adc_mic_channel;
+
+    audio_codec_adc_cfg_t cfg = {
+        .handle = NULL,
+        .max_store_buf_size = 1024 * 2,
+        .conv_frame_size = 1024,
+        .unit_id = ADC_UNIT_1,
+        .adc_channel_list = adc_channel,
+        .adc_channel_num = sizeof(adc_channel) / sizeof(adc_channel[0]),
+        .sample_rate_hz = (uint32_t)input_sample_rate,
+    };
+    const audio_codec_data_if_t *adc_if = audio_codec_new_adc_data(&cfg);
+
+    esp_codec_dev_cfg_t codec_dev_cfg = {
+        .dev_type = ESP_CODEC_DEV_TYPE_IN,
+        .data_if = adc_if,
+    };
+    input_dev_ = esp_codec_dev_new(&codec_dev_cfg);
+    if (!input_dev_) {
+        ESP_LOGE(TAG, "Failed to create codec device");
+        return;
+    }
+
+    i2s_chan_config_t chan_cfg = I2S_CHANNEL_DEFAULT_CONFIG(I2S_NUM_0, I2S_ROLE_MASTER);
+    chan_cfg.auto_clear = true; // Auto clear the legacy data in the DMA buffer
+    ESP_ERROR_CHECK(i2s_new_channel(&chan_cfg, &tx_handle_, NULL));
+
+    i2s_pdm_tx_config_t pdm_cfg_default = BSP_I2S_DUPLEX_MONO_CFG((uint32_t)output_sample_rate, pdm_speak_p);
+    pdm_cfg_default.clk_cfg.up_sample_fs = AUDIO_PDM_UPSAMPLE_FS;
+    pdm_cfg_default.slot_cfg.sd_scale = I2S_PDM_SIG_SCALING_MUL_4;
+    pdm_cfg_default.slot_cfg.hp_scale = I2S_PDM_SIG_SCALING_MUL_4;
+    pdm_cfg_default.slot_cfg.lp_scale = I2S_PDM_SIG_SCALING_MUL_4;
+    pdm_cfg_default.slot_cfg.sinc_scale = I2S_PDM_SIG_SCALING_MUL_4;
+    const i2s_pdm_tx_config_t *p_i2s_cfg = &pdm_cfg_default;
+
+    ESP_ERROR_CHECK(i2s_channel_init_pdm_tx_mode(tx_handle_, p_i2s_cfg));
+
+    audio_codec_i2s_cfg_t i2s_cfg = {
+        .port = I2S_NUM_0,
+        .rx_handle = NULL,
+        .tx_handle = tx_handle_,
+    };
+
+    const audio_codec_data_if_t *i2s_data_if = audio_codec_new_i2s_data(&i2s_cfg);
+
+    codec_dev_cfg.dev_type = ESP_CODEC_DEV_TYPE_OUT;
+    codec_dev_cfg.codec_if = NULL;
+    codec_dev_cfg.data_if = i2s_data_if;
+    output_dev_ = esp_codec_dev_new(&codec_dev_cfg);
+
+    output_volume_ = 100;
+    if(pa_ctl != GPIO_NUM_NC) {
+        pa_ctrl_pin_ = pa_ctl;
+        gpio_config_t io_conf = {};
+        io_conf.intr_type = GPIO_INTR_DISABLE;
+        io_conf.mode = GPIO_MODE_OUTPUT;
+        io_conf.pin_bit_mask = (1ULL << pa_ctrl_pin_);
+        io_conf.pull_down_en = GPIO_PULLDOWN_DISABLE;
+        io_conf.pull_up_en = GPIO_PULLUP_DISABLE;
+        gpio_config(&io_conf);
+    }
+    gpio_set_drive_capability(pdm_speak_p, GPIO_DRIVE_CAP_0);
+
+    if(pdm_speak_n != GPIO_NUM_NC){
+        PIN_FUNC_SELECT(IO_MUX_GPIO10_REG, PIN_FUNC_GPIO);
+        gpio_set_direction(pdm_speak_n, GPIO_MODE_OUTPUT);
+        esp_rom_gpio_connect_out_signal(pdm_speak_n, I2SO_SD_OUT_IDX, 1, 0); //反转输出 SD OUT 信号
+        gpio_set_drive_capability(pdm_speak_n, GPIO_DRIVE_CAP_0);
+    }
+
+    // 初始化输出定时器
+    esp_timer_create_args_t output_timer_args = {
+        .callback = &AdcPdmAudioCodec::OutputTimerCallback,
+        .arg = this,
+        .dispatch_method = ESP_TIMER_TASK,
+        .name = "output_timer"
+    };
+    ESP_ERROR_CHECK(esp_timer_create(&output_timer_args, &output_timer_));
+
+    ESP_LOGI(TAG, "AdcPdmAudioCodec initialized");
+}
+
+AdcPdmAudioCodec::~AdcPdmAudioCodec() {
+    // 删除定时器
+    if (output_timer_) {
+        esp_timer_stop(output_timer_);
+        esp_timer_delete(output_timer_);
+        output_timer_ = nullptr;
+    }
+
+    ESP_ERROR_CHECK(esp_codec_dev_close(output_dev_));
+    esp_codec_dev_delete(output_dev_);
+    ESP_ERROR_CHECK(esp_codec_dev_close(input_dev_));
+    esp_codec_dev_delete(input_dev_);
+}
+
+void AdcPdmAudioCodec::SetOutputVolume(int volume) {
+    ESP_ERROR_CHECK(esp_codec_dev_set_out_vol(output_dev_, volume));
+    AudioCodec::SetOutputVolume(volume);
+}
+
+void AdcPdmAudioCodec::EnableInput(bool enable) {
+    if (enable == input_enabled_) {
+        return;
+    }
+    if (enable) {
+        esp_codec_dev_sample_info_t fs = {
+            .bits_per_sample = 16,
+            .channel = 1,
+            .channel_mask = ESP_CODEC_DEV_MAKE_CHANNEL_MASK(0),
+            .sample_rate = (uint32_t)input_sample_rate_,
+            .mclk_multiple = 0,
+        };
+        ESP_ERROR_CHECK(esp_codec_dev_open(input_dev_, &fs));
+    } else {
+        ESP_ERROR_CHECK(esp_codec_dev_close(input_dev_));
+    }
+    AudioCodec::EnableInput(enable);
+}
+
+void AdcPdmAudioCodec::EnableOutput(bool enable) {
+    if (enable == output_enabled_) {
+        return;
+    }
+    if (enable) {
+        // Play 16bit 1 channel
+        esp_codec_dev_sample_info_t fs = {
+            .bits_per_sample = 16,
+            .channel = 1,
+            .channel_mask = 0,
+            .sample_rate = (uint32_t)output_sample_rate_,
+            .mclk_multiple = 0,
+        };
+        ESP_ERROR_CHECK(esp_codec_dev_open(output_dev_, &fs));
+        ESP_ERROR_CHECK(esp_codec_dev_set_out_vol(output_dev_, output_volume_));
+
+        // 强制按板卡配置重配PDM TX时钟，覆盖第三方库在set_fmt中的默认up_sample_fs
+        // 若通道已启用，先禁用再重配，最后再启用
+        ESP_ERROR_CHECK_WITHOUT_ABORT(i2s_channel_disable(tx_handle_));
+        i2s_pdm_tx_clk_config_t clk_cfg = I2S_PDM_TX_CLK_DEFAULT_CONFIG((uint32_t)output_sample_rate_);
+        clk_cfg.up_sample_fs = AUDIO_PDM_UPSAMPLE_FS;
+        ESP_ERROR_CHECK(i2s_channel_reconfig_pdm_tx_clock(tx_handle_, &clk_cfg));
+        ESP_ERROR_CHECK(i2s_channel_enable(tx_handle_));
+        if(pa_ctrl_pin_ != GPIO_NUM_NC){
+            gpio_set_level(pa_ctrl_pin_, 1);
+        }
+        // 启用输出时启动定时器
+        if (output_timer_) {
+            esp_timer_start_once(output_timer_, TIMER_TIMEOUT_US);
+        }
+
+    } else {
+        // 禁用输出时停止定时器
+        if (output_timer_) {
+            esp_timer_stop(output_timer_);
+        }
+        if(pa_ctrl_pin_ != GPIO_NUM_NC){
+            gpio_set_level(pa_ctrl_pin_, 0);
+        }
+        ESP_ERROR_CHECK(esp_codec_dev_close(output_dev_));
+    }
+    AudioCodec::EnableOutput(enable);
+}
+
+int AdcPdmAudioCodec::Read(int16_t* dest, int samples) {
+    if (input_enabled_) {
+        ESP_ERROR_CHECK_WITHOUT_ABORT(esp_codec_dev_read(input_dev_, (void*)dest, samples * sizeof(int16_t)));
+    }
+    return samples;
+}
+int AdcPdmAudioCodec::Write(const int16_t* data, int samples) {
+    if (output_enabled_) {
+        ESP_ERROR_CHECK_WITHOUT_ABORT(esp_codec_dev_write(output_dev_, (void*)data, samples * sizeof(int16_t)));
+        // 重置输出定时器
+        if (output_timer_) {
+            esp_timer_stop(output_timer_);
+            esp_timer_start_once(output_timer_, TIMER_TIMEOUT_US);
+        }
+    }
+    return samples;
+}
+
+void AdcPdmAudioCodec::Start() {
+    Settings settings("audio", false);
+    output_volume_ = settings.GetInt("output_volume", output_volume_);
+    if (output_volume_ <= 0) {
+        ESP_LOGW(TAG, "Output volume value (%d) is too small, setting to default (10)", output_volume_);
+        output_volume_ = 10;
+    }
+
+    EnableInput(true);
+    EnableOutput(true);
+    ESP_LOGI(TAG, "Audio codec started");
+}
+
+// 定时器回调函数实现
+void AdcPdmAudioCodec::OutputTimerCallback(void* arg) {
+    AdcPdmAudioCodec* codec = static_cast<AdcPdmAudioCodec*>(arg);
+    if (codec && codec->output_enabled_) {
+        codec->EnableOutput(false);
+    }
+}
--- a/main/boards/esp-sensairshuttle/adc_pdm_audio_codec.h
+++ b/main/boards/esp-sensairshuttle/adc_pdm_audio_codec.h
@@ -0,0 +1,37 @@
+#ifndef _BOX_AUDIO_CODEC_H
+#define _BOX_AUDIO_CODEC_H
+
+#include "audio_codec.h"
+
+#include <esp_codec_dev.h>
+#include <esp_codec_dev_defaults.h>
+#include <esp_timer.h>
+
+class AdcPdmAudioCodec : public AudioCodec {
+private:
+    esp_codec_dev_handle_t output_dev_ = nullptr;
+    esp_codec_dev_handle_t input_dev_ = nullptr;
+    gpio_num_t pa_ctrl_pin_ = GPIO_NUM_NC;
+
+    // 定时器相关成员变量
+    esp_timer_handle_t output_timer_ = nullptr;
+    static constexpr uint64_t TIMER_TIMEOUT_US = 120000; // 120ms = 120000us
+
+    // 定时器回调函数
+    static void OutputTimerCallback(void* arg);
+
+    virtual int Read(int16_t* dest, int samples) override;
+    virtual int Write(const int16_t* data, int samples) override;
+
+public:
+    AdcPdmAudioCodec(int input_sample_rate, int output_sample_rate,
+        uint32_t adc_mic_channel, gpio_num_t pdm_speak_p, gpio_num_t pdm_speak_n, gpio_num_t pa_ctl);
+    virtual ~AdcPdmAudioCodec();
+
+    virtual void SetOutputVolume(int volume) override;
+    virtual void EnableInput(bool enable) override;
+    virtual void EnableOutput(bool enable) override;
+    void Start();
+};
+
+#endif // _BOX_AUDIO_CODEC_H
--- a/main/boards/esp-sensairshuttle/config.h
+++ b/main/boards/esp-sensairshuttle/config.h
@@ -0,0 +1,40 @@
+#ifndef _BOARD_CONFIG_H_
+#define _BOARD_CONFIG_H_
+
+#include <driver/gpio.h>
+
+#define AUDIO_INPUT_SAMPLE_RATE  16000
+#define AUDIO_OUTPUT_SAMPLE_RATE 24000
+
+#define AUDIO_PDM_UPSAMPLE_FS    480
+
+#define AUDIO_ADC_MIC_CHANNEL       5
+#define AUDIO_PDM_SPEAK_P_GPIO      GPIO_NUM_7
+#define AUDIO_PDM_SPEAK_N_GPIO      GPIO_NUM_8
+#define AUDIO_PA_CTL_GPIO           GPIO_NUM_1
+
+#define BOOT_BUTTON_GPIO            GPIO_NUM_28
+#define DISPLAY_MOSI_PIN            GPIO_NUM_23
+#define DISPLAY_CLK_PIN             GPIO_NUM_24
+#define DISPLAY_DC_PIN              GPIO_NUM_26
+#define DISPLAY_RST_PIN             GPIO_NUM_NC
+#define DISPLAY_CS_PIN              GPIO_NUM_25
+
+#define LCD_TP_SCL GPIO_NUM_3
+#define LCD_TP_SDA GPIO_NUM_2
+
+#define LCD_TYPE_ST7789_SERIAL
+#define DISPLAY_WIDTH           284
+#define DISPLAY_HEIGHT          240
+#define DISPLAY_MIRROR_X        false
+#define DISPLAY_MIRROR_Y        true
+#define DISPLAY_SWAP_XY         true
+
+#define DISPLAY_INVERT_COLOR    true
+#define DISPLAY_RGB_ORDER       LCD_RGB_ELEMENT_ORDER_RGB
+#define DISPLAY_OFFSET_X        36
+#define DISPLAY_OFFSET_Y        0
+#define DISPLAY_BACKLIGHT_OUTPUT_INVERT false
+#define DISPLAY_SPI_MODE        0
+
+#endif // _BOARD_CONFIG_H_
--- a/main/boards/esp-sensairshuttle/config.json
+++ b/main/boards/esp-sensairshuttle/config.json
@@ -0,0 +1,28 @@
+{
+    "target": "esp32c5",
+    "builds": [
+        {
+            "name": "esp-sensairshuttle",
+            "sdkconfig_append": [
+                "CONFIG_IDF_TARGET=\"esp32c5\"",
+                "CONFIG_ESP_WIFI_DYNAMIC_RX_BUFFER_NUM=6",
+                "CONFIG_ESP_WIFI_AMPDU_TX_ENABLED=n",
+                "CONFIG_ESP_WIFI_ENABLE_WPA3_SAE=n",
+                "CONFIG_ESP_WIFI_ESPNOW_MAX_ENCRYPT_NUM=0",
+                "CONFIG_ESP_WIFI_ENTERPRISE_SUPPORT=n",
+                "CONFIG_FREERTOS_IDLE_TASK_STACKSIZE=768",
+                "CONFIG_LWIP_TCPIP_TASK_STACK_SIZE=2048",
+                "CONFIG_MBEDTLS_DYNAMIC_FREE_CONFIG_DATA=y",
+                "CONFIG_SPIRAM=y",
+                "CONFIG_SPIRAM_MALLOC_ALWAYSINTERNAL=3072",
+                "CONFIG_SPIRAM_TRY_ALLOCATE_WIFI_LWIP=y",
+                "CONFIG_LWIP_IPV6=n",
+                "CONFIG_USE_ESP_WAKE_WORD=y",
+                "CONFIG_SR_WN_WN9S_HIESP=y",
+                "CONFIG_USE_EMOTE_MESSAGE_STYLE=y",
+                "CONFIG_FLASH_CUSTOM_ASSETS=y",
+                "CONFIG_CUSTOM_ASSETS_FILE=\"https://dl.espressif.com/AE/wn9_nihaoxiaozhi_tts-font_puhui_common_20_4-echoear.bin\""
+            ]
+        }
+    ]
+}
--- a/main/boards/esp-sensairshuttle/esp-sensairshuttle.cc
+++ b/main/boards/esp-sensairshuttle/esp-sensairshuttle.cc
@@ -0,0 +1,315 @@
+#include "wifi_board.h"
+#include "adc_pdm_audio_codec.h"
+#include "application.h"
+#include "button.h"
+#include "config.h"
+#include "mcp_server.h"
+#include <wifi_station.h>
+#include <esp_log.h>
+#include <driver/i2c_master.h>
+#include <driver/spi_common.h>
+#include <esp_wifi.h>
+#include <esp_event.h>
+
+#include "display/lcd_display.h"
+#include <esp_lcd_panel_vendor.h>
+#include <esp_lcd_panel_io.h>
+#include <esp_lcd_panel_ops.h>
+#include "esp_lcd_ili9341.h"
+
+#include "display/emote_display.h"
+
+#include "assets/lang_config.h"
+#include "anim_player.h"
+#include "led_strip.h"
+#include "driver/rmt_tx.h"
+#include "i2c_device.h"
+
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
+
+#include "sdkconfig.h"
+
+constexpr char TAG[] = "ESP_SensairShuttle";
+
+static const ili9341_lcd_init_cmd_t vendor_specific_init[] = {
+    // {cmd, { data }, data_size, delay_ms}
+    {0x11, NULL, 0, 120},                                          // Sleep Out
+    {0x36, (uint8_t []){0x00}, 1, 0},                              // Memory Data Access Control
+    {0x3A, (uint8_t []){0x05}, 1, 0},                              // Interface Pixel Format (16-bit)
+    {0xB2, (uint8_t []){0x0C, 0x0C, 0x00, 0x33, 0x33}, 5, 0},      // Porch Setting
+    {0xB7, (uint8_t []){0x05}, 1, 0},                              // Gate Control
+    {0xBB, (uint8_t []){0x21}, 1, 0},                              // VCOM Setting
+    {0xC0, (uint8_t []){0x2C}, 1, 0},                              // LCM Control
+    {0xC2, (uint8_t []){0x01}, 1, 0},                              // VDV and VRH Command Enable
+    {0xC3, (uint8_t []){0x15}, 1, 0},                              // VRH Set
+    {0xC6, (uint8_t []){0x0F}, 1, 0},                              // Frame Rate Control
+    {0xD0, (uint8_t []){0xA7}, 1, 0},                              // Power Control 1
+    {0xD0, (uint8_t []){0xA4, 0xA1}, 2, 0},                        // Power Control 1
+    {0xD6, (uint8_t []){0xA1}, 1, 0},                              // Gate output GND in sleep mode
+    {
+        0xE0, (uint8_t [])
+        {
+            0xF0, 0x05, 0x0E, 0x08, 0x0A, 0x17, 0x39, 0x54,
+            0x4E, 0x37, 0x12, 0x12, 0x31, 0x37
+        }, 14, 0
+    },                                                             // Positive Gamma Control
+    {
+        0xE1, (uint8_t [])
+        {
+            0xF0, 0x10, 0x14, 0x0D, 0x0B, 0x05, 0x39, 0x44,
+            0x4D, 0x38, 0x14, 0x14, 0x2E, 0x35
+        }, 14, 0
+    },                                                             // Negative Gamma Control
+    {0xE4, (uint8_t []){0x23, 0x00, 0x00}, 3, 0},                  // Gate position control
+    {0x21, NULL, 0, 0},                                            // Display Inversion On
+    {0x29, NULL, 0, 0},                                            // Display On
+    {0x2C, NULL, 0, 0},                                            // Memory Write
+};
+
+class Cst816d : public I2cDevice {
+public:
+    struct TouchPoint_t {
+        int num = 0;
+        int x = -1;
+        int y = -1;
+    };
+
+    enum TouchEvent {
+        TOUCH_NONE,
+        TOUCH_PRESS,
+        TOUCH_RELEASE,
+        TOUCH_HOLD
+    };
+
+    Cst816d(i2c_master_bus_handle_t i2c_bus, uint8_t addr) : I2cDevice(i2c_bus, addr)
+    {
+        read_buffer_ = new uint8_t[6];
+        was_touched_ = false;
+        press_count_ = 0;
+    }
+
+    ~Cst816d()
+    {
+        delete[] read_buffer_;
+    }
+
+    void UpdateTouchPoint()
+    {
+        ReadRegs(0x02, read_buffer_, 6);
+        tp_.num = read_buffer_[0] & 0x0F;
+        tp_.x = ((read_buffer_[1] & 0x0F) << 8) | read_buffer_[2];
+        tp_.y = ((read_buffer_[3] & 0x0F) << 8) | read_buffer_[4];
+    }
+
+    const TouchPoint_t &GetTouchPoint()
+    {
+        return tp_;
+    }
+
+    TouchEvent CheckTouchEvent()
+    {
+        bool is_touched = (tp_.num > 0);
+        TouchEvent event = TOUCH_NONE;
+
+        if (is_touched && !was_touched_) {
+            // Press event (transition from not touched to touched)
+            press_count_++;
+            event = TOUCH_PRESS;
+            ESP_LOGI(TAG, "TOUCH PRESS - count: %d, x: %d, y: %d", press_count_, tp_.x, tp_.y);
+        } else if (!is_touched && was_touched_) {
+            // Release event (transition from touched to not touched)
+            event = TOUCH_RELEASE;
+            ESP_LOGI(TAG, "TOUCH RELEASE - total presses: %d", press_count_);
+        } else if (is_touched && was_touched_) {
+            // Continuous touch (hold)
+            event = TOUCH_HOLD;
+            ESP_LOGD(TAG, "TOUCH HOLD - x: %d, y: %d", tp_.x, tp_.y);
+        }
+
+        // Update previous state
+        was_touched_ = is_touched;
+        return event;
+    }
+
+    int GetPressCount() const
+    {
+        return press_count_;
+    }
+
+    void ResetPressCount()
+    {
+        press_count_ = 0;
+    }
+
+private:
+    uint8_t* read_buffer_ = nullptr;
+    TouchPoint_t tp_;
+
+    // Touch state tracking
+    bool was_touched_;
+    int press_count_;
+};
+
+class EspSensairShuttle : public WifiBoard {
+private:
+    i2c_master_bus_handle_t i2c_bus_;
+    Cst816d* cst816d_;
+    Display* display_ = nullptr;
+    Button boot_button_;
+
+    void InitializeI2c()
+    {
+        i2c_master_bus_config_t i2c_bus_cfg = {
+            .i2c_port = I2C_NUM_0,
+            .sda_io_num = LCD_TP_SDA,
+            .scl_io_num = LCD_TP_SCL,
+            .clk_source = I2C_CLK_SRC_DEFAULT,
+            .glitch_ignore_cnt = 7,
+            .intr_priority = 0,
+            .trans_queue_depth = 0,
+            .flags = {
+                .enable_internal_pullup = 1,
+            },
+        };
+        ESP_ERROR_CHECK(i2c_new_master_bus(&i2c_bus_cfg, &i2c_bus_));
+    }
+
+    static void touch_event_task(void* arg)
+    {
+        Cst816d* touchpad = static_cast<Cst816d*>(arg);
+        if (touchpad == nullptr) {
+            ESP_LOGE(TAG, "Invalid touchpad pointer in touch_event_task");
+            vTaskDelete(NULL);
+            return;
+        }
+
+        while (true) {
+            touchpad->UpdateTouchPoint();
+            auto touch_event = touchpad->CheckTouchEvent();
+
+            if (touch_event == Cst816d::TOUCH_RELEASE) {
+                auto &app = Application::GetInstance();
+                auto &board = (EspSensairShuttle &)Board::GetInstance();
+
+                if (app.GetDeviceState() == kDeviceStateStarting) {
+                    board.EnterWifiConfigMode();
+                } else {
+                    app.ToggleChatState();
+                }
+            }
+
+            vTaskDelay(pdMS_TO_TICKS(50)); // Poll every 50ms
+        }
+    }
+
+    void InitializeCst816dTouchPad()
+    {
+        cst816d_ = new Cst816d(i2c_bus_, 0x15);
+        xTaskCreate(touch_event_task, "touch_task", 2 * 1024, cst816d_, 5, NULL);
+    }
+
+    void InitializeButtons()
+    {
+        boot_button_.OnClick([this]() {
+            auto& app = Application::GetInstance();
+            if (app.GetDeviceState() == kDeviceStateStarting) {
+                ESP_LOGI(TAG, "Boot button pressed, enter WiFi configuration mode");
+                EnterWifiConfigMode();
+                return;
+            }
+            app.ToggleChatState();
+        });
+    }
+
+    void InitializeSpi()
+    {
+        spi_bus_config_t buscfg = {};
+        buscfg.mosi_io_num = DISPLAY_MOSI_PIN;
+        buscfg.miso_io_num = GPIO_NUM_NC;
+        buscfg.sclk_io_num = DISPLAY_CLK_PIN;
+        buscfg.quadwp_io_num = GPIO_NUM_NC;
+        buscfg.quadhd_io_num = GPIO_NUM_NC;
+        buscfg.max_transfer_sz = DISPLAY_WIDTH * 10 * sizeof(uint16_t);
+        ESP_ERROR_CHECK(spi_bus_initialize(SPI2_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_LOGD(TAG, "Install panel IO");
+        esp_lcd_panel_io_spi_config_t io_config = {};
+        io_config.cs_gpio_num = DISPLAY_CS_PIN;
+        io_config.dc_gpio_num = 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(SPI2_HOST, &io_config, &panel_io));
+
+        ESP_LOGD(TAG, "Install LCD driver");
+        const ili9341_vendor_config_t vendor_config = {
+            .init_cmds = &vendor_specific_init[0],
+            .init_cmds_size = sizeof(vendor_specific_init) / sizeof(ili9341_lcd_init_cmd_t),
+        };
+
+        esp_lcd_panel_dev_config_t panel_config = {};
+        panel_config.reset_gpio_num = DISPLAY_RST_PIN;
+        panel_config.rgb_ele_order = DISPLAY_RGB_ORDER;
+        panel_config.bits_per_pixel = 16;
+        panel_config.vendor_config = (void *) &vendor_config;
+        ESP_ERROR_CHECK(esp_lcd_new_panel_ili9341(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_set_gap(panel, DISPLAY_OFFSET_X, DISPLAY_OFFSET_Y);
+        esp_lcd_panel_mirror(panel, DISPLAY_MIRROR_X, DISPLAY_MIRROR_Y);
+        esp_lcd_panel_swap_xy(panel, DISPLAY_SWAP_XY);
+        ESP_LOGI(TAG, "LCD panel create success, %p", panel);
+
+#ifdef CONFIG_USE_EMOTE_MESSAGE_STYLE
+        display_ = new emote::EmoteDisplay(panel, panel_io, DISPLAY_WIDTH, DISPLAY_HEIGHT);
+#else
+        display_ = new SpiLcdDisplay(panel_io, panel,
+            DISPLAY_WIDTH, DISPLAY_HEIGHT, 0, 0, DISPLAY_MIRROR_X, DISPLAY_MIRROR_Y, DISPLAY_SWAP_XY);
+#endif
+
+    }
+
+public:
+    EspSensairShuttle() : boot_button_(BOOT_BUTTON_GPIO) {
+        InitializeI2c();
+        InitializeCst816dTouchPad();
+        InitializeButtons();
+        InitializeSpi();
+        InitializeLcdDisplay();
+    }
+
+    virtual AudioCodec* GetAudioCodec() override
+    {
+        static AdcPdmAudioCodec audio_codec(
+            AUDIO_INPUT_SAMPLE_RATE,
+            AUDIO_OUTPUT_SAMPLE_RATE,
+            AUDIO_ADC_MIC_CHANNEL,
+            AUDIO_PDM_SPEAK_P_GPIO,
+            AUDIO_PDM_SPEAK_N_GPIO,
+            AUDIO_PA_CTL_GPIO);
+        return &audio_codec;
+    }
+
+    virtual Display* GetDisplay() override
+    {
+        return display_;
+    }
+
+    Cst816d* GetTouchpad()
+    {
+        return cst816d_;
+    }
+};
+
+DECLARE_BOARD(EspSensairShuttle);
--- a/main/boards/lichuang-dev-bed-operator/config.h
+++ b/main/boards/lichuang-dev-bed-operator/config.h
@@ -0,0 +1,62 @@
+#ifndef _BOARD_CONFIG_H_
+#define _BOARD_CONFIG_H_
+
+#include <driver/gpio.h>
+
+#define AUDIO_INPUT_SAMPLE_RATE  24000
+#define AUDIO_OUTPUT_SAMPLE_RATE 24000
+
+#define AUDIO_INPUT_REFERENCE    true
+
+#define AUDIO_I2S_GPIO_MCLK GPIO_NUM_38
+#define AUDIO_I2S_GPIO_WS GPIO_NUM_13
+#define AUDIO_I2S_GPIO_BCLK GPIO_NUM_14
+#define AUDIO_I2S_GPIO_DIN  GPIO_NUM_12
+#define AUDIO_I2S_GPIO_DOUT GPIO_NUM_45
+
+#define AUDIO_CODEC_USE_PCA9557
+#define AUDIO_CODEC_I2C_SDA_PIN  GPIO_NUM_1
+#define AUDIO_CODEC_I2C_SCL_PIN  GPIO_NUM_2
+#define AUDIO_CODEC_ES8311_ADDR  ES8311_CODEC_DEFAULT_ADDR
+#define AUDIO_CODEC_ES7210_ADDR  0x82
+
+#define BUILTIN_LED_GPIO        GPIO_NUM_48
+#define BOOT_BUTTON_GPIO        GPIO_NUM_0
+#define VOLUME_UP_BUTTON_GPIO   GPIO_NUM_NC
+#define VOLUME_DOWN_BUTTON_GPIO GPIO_NUM_NC
+
+#define DISPLAY_WIDTH   320
+#define DISPLAY_HEIGHT  240
+#define DISPLAY_MIRROR_X true
+#define DISPLAY_MIRROR_Y false
+#define DISPLAY_SWAP_XY true
+
+#define DISPLAY_OFFSET_X  0
+#define DISPLAY_OFFSET_Y  0
+
+#define DISPLAY_BACKLIGHT_PIN GPIO_NUM_42
+#define DISPLAY_BACKLIGHT_OUTPUT_INVERT true
+
+/* Camera pins */
+#define CAMERA_PIN_PWDN GPIO_NUM_NC
+#define CAMERA_PIN_RESET GPIO_NUM_NC
+#define CAMERA_PIN_XCLK GPIO_NUM_5
+#define CAMERA_PIN_SIOD GPIO_NUM_1
+#define CAMERA_PIN_SIOC GPIO_NUM_2
+
+#define CAMERA_PIN_D7 GPIO_NUM_9
+#define CAMERA_PIN_D6 GPIO_NUM_4
+#define CAMERA_PIN_D5 GPIO_NUM_6
+#define CAMERA_PIN_D4 GPIO_NUM_15
+#define CAMERA_PIN_D3 GPIO_NUM_17
+#define CAMERA_PIN_D2 GPIO_NUM_8
+#define CAMERA_PIN_D1 GPIO_NUM_18
+#define CAMERA_PIN_D0 GPIO_NUM_16
+#define CAMERA_PIN_VSYNC GPIO_NUM_3
+#define CAMERA_PIN_HREF GPIO_NUM_46
+#define CAMERA_PIN_PCLK GPIO_NUM_7
+
+#define XCLK_FREQ_HZ 20000000
+
+
+#endif // _BOARD_CONFIG_H_
--- a/main/boards/lichuang-dev-bed-operator/config.json
+++ b/main/boards/lichuang-dev-bed-operator/config.json
@@ -0,0 +1,14 @@
+{
+    "target": "esp32s3",
+    "builds": [
+        {
+            "name": "lichuang-dev-bed-operator",
+            "sdkconfig_append": [
+                "CONFIG_USE_DEVICE_AEC=y",
+                "CONFIG_CAMERA_GC0308=y",
+                "CONFIG_CAMERA_GC0308_AUTO_DETECT_DVP_INTERFACE_SENSOR=y",
+                "CONFIG_CAMERA_GC0308_DVP_YUV422_640X480_16FPS=y"
+            ]
+        }
+    ]
+}
--- a/main/boards/lichuang-dev-bed-operator/lichuang_dev_board.cc
+++ b/main/boards/lichuang-dev-bed-operator/lichuang_dev_board.cc
@@ -0,0 +1,414 @@
+#include "wifi_board.h"
+#include "codecs/box_audio_codec.h"
+#include "display/lcd_display.h"
+#include "display/emote_display.h"
+#include "application.h"
+#include "button.h"
+#include "config.h"
+#include "i2c_device.h"
+#include "esp32_camera.h"
+#include "assets/lang_config.h"
+#include "mcp_server.h"
+
+#include <esp_log.h>
+#include <esp_system.h>
+#include <esp_lcd_panel_vendor.h>
+#include <driver/i2c_master.h>
+#include <driver/spi_common.h>
+#include <esp_lcd_touch_ft5x06.h>
+#include <esp_lvgl_port.h>
+#include <lvgl.h>
+#include <thread>
+#include <atomic>
+
+#define TAG "LichuangDevBoard"
+
+class Pca9557 : public I2cDevice {
+public:
+    Pca9557(i2c_master_bus_handle_t i2c_bus, uint8_t addr) : I2cDevice(i2c_bus, addr) {
+        WriteReg(0x01, 0x03);
+        WriteReg(0x03, 0xf8);
+    }
+    
+    void SetOutputState(uint8_t bit, uint8_t level) {
+        uint8_t data = ReadReg(0x01);
+        data = (data & ~(1 << bit)) | (level << bit);
+        WriteReg(0x01, data);
+    }
+};
+
+class CustomAudioCodec : public BoxAudioCodec {
+private:
+    Pca9557* pca9557_;
+
+public:
+    CustomAudioCodec(i2c_master_bus_handle_t i2c_bus, Pca9557* pca9557) 
+        : BoxAudioCodec(i2c_bus, 
+                       AUDIO_INPUT_SAMPLE_RATE, 
+                       AUDIO_OUTPUT_SAMPLE_RATE,
+                       AUDIO_I2S_GPIO_MCLK, 
+                       AUDIO_I2S_GPIO_BCLK, 
+                       AUDIO_I2S_GPIO_WS, 
+                       AUDIO_I2S_GPIO_DOUT, 
+                       AUDIO_I2S_GPIO_DIN,
+                       GPIO_NUM_NC, 
+                       AUDIO_CODEC_ES8311_ADDR, 
+                       AUDIO_CODEC_ES7210_ADDR, 
+                       AUDIO_INPUT_REFERENCE),
+          pca9557_(pca9557) {
+    }
+
+    virtual void EnableOutput(bool enable) override {
+        BoxAudioCodec::EnableOutput(enable);
+        if (enable) {
+            pca9557_->SetOutputState(1, 1);
+        } else {
+            pca9557_->SetOutputState(1, 0);
+        }
+    }
+};
+
+/**
+ * @brief PCF8575 I/O 扩展芯片，地址为 0x20。
+ */
+class Pcf8575 : public I2cDevice {
+private:
+    uint16_t data_ = 0x0000;
+    bool initialized_ = false;
+
+public:
+    Pcf8575(i2c_master_bus_handle_t i2c_bus, uint8_t addr) : I2cDevice(i2c_bus, addr) {
+        // 复位所有位
+        if (i2c_master_transmit(i2c_device_, (uint8_t*)&data_, 2, 100) != ESP_OK) {
+            initialized_ = false;
+        } else {
+            initialized_ = true;
+        }
+    }
+
+    void SetBit(uint8_t bit, uint8_t level) {
+        if (initialized_) {
+            data_ = (data_ & ~(1 << bit)) | (level << bit);
+            ESP_ERROR_CHECK_WITHOUT_ABORT(i2c_master_transmit(i2c_device_, (uint8_t*)&data_, 2, 100));
+        }
+    }
+
+    bool IsInitialized() const {
+        return initialized_;
+    }
+};
+
+class LichuangDevBoard : public WifiBoard {
+private:
+    i2c_master_bus_handle_t i2c_bus_;
+    i2c_master_dev_handle_t pca9557_handle_;
+    Button boot_button_;
+    LcdDisplay* display_;
+    Pca9557* pca9557_ = nullptr;
+    Pcf8575* pcf8575_ = nullptr;
+    Esp32Camera* camera_;
+    std::atomic<bool> bed_operating_{false};
+
+    /**
+     * @brief 控制床的某个功能
+     * @param bit 要控制的位
+     * @param duration_ms 持续时间，单位毫秒
+     * @return 返回值
+     */
+    ReturnValue ControlBed(int bit, int duration_ms = 12000) {
+        if (bed_operating_) {
+            throw std::runtime_error("Bed is already operating");
+        }
+
+        ESP_LOGI(TAG, "ControlBed(%d, %d)", bit, duration_ms);
+        bed_operating_ = true;
+        std::thread([this, bit, duration_ms]() {
+            // High level to trigger
+            pcf8575_->SetBit(bit, 1);
+            // Duration in milliseconds
+            int count = duration_ms / 100;
+            for (int i = 0; i < count && bed_operating_; i++) {
+                vTaskDelay(pdMS_TO_TICKS(100));
+            }
+            // Low level to stop
+            pcf8575_->SetBit(bit, 0);
+            bed_operating_ = false;
+        }).detach();
+
+        return "{\"success\": true, \"message\": \"Bed is operating now\"}";
+    }
+
+    void InitializeTools() {
+        // 初始化工具
+        auto& mcp_server = McpServer::GetInstance();
+        mcp_server.AddTool("bed.adjust", "床位调整\n"
+            "Args: \n"
+            "   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"
+            "   full_adjust: 是否为完整调整（持续12秒），否则为单次调整\n",
+            PropertyList({
+                Property("action", kPropertyTypeString),
+                Property("full_adjust", kPropertyTypeBoolean, false),
+            }), [this](const PropertyList& properties) -> ReturnValue {
+                auto action = properties["action"].value<std::string>();
+                auto full_adjust = properties["full_adjust"].value<bool>();
+                int duration_ms = 2000;
+                if (full_adjust) {
+                    duration_ms = 12000;
+                }
+                if (action == "raise_back") {
+                    return ControlBed(0, duration_ms);
+                } else if (action == "lower_back") {
+                    return ControlBed(1, duration_ms);
+                } else if (action == "raise_leg") {
+                    return ControlBed(2, duration_ms);
+                } else if (action == "lower_leg") {
+                    return ControlBed(3, duration_ms);
+                } else if (action == "lean_left") {
+                    return ControlBed(4, duration_ms);
+                } else if (action == "lean_right") {
+                    return ControlBed(5, duration_ms);
+                } else {
+                    throw std::runtime_error("Invalid action: " + action);
+                }
+            });
+        mcp_server.AddTool("bed.open_toilet", "便盆打开", PropertyList(), [this](const PropertyList& properties) -> ReturnValue {
+            return ControlBed(6);
+        });
+        mcp_server.AddTool("bed.close_toilet", "便盆关闭", PropertyList(), [this](const PropertyList& properties) -> ReturnValue {
+            return ControlBed(7);
+        });
+        mcp_server.AddTool("bed.auto_flip_a", "自动翻身A", PropertyList(), [this](const PropertyList& properties) -> ReturnValue {
+            return ControlBed(8, 1000);
+        });
+        mcp_server.AddTool("bed.auto_flip_b", "自动翻身B", PropertyList(), [this](const PropertyList& properties) -> ReturnValue {
+            return ControlBed(9, 1000);
+        });
+        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 {
+            if (!bed_operating_) {
+                return "{\"success\": false, \"message\": \"No operation is in progress\"}";
+            }
+            bed_operating_ = false;
+            return "{\"success\": true, \"message\": \"Operation cancelled\"}";
+        });
+    }
+
+    void InitializeI2c() {
+        // Initialize I2C peripheral
+        i2c_master_bus_config_t i2c_bus_cfg = {
+            .i2c_port = (i2c_port_t)1,
+            .sda_io_num = AUDIO_CODEC_I2C_SDA_PIN,
+            .scl_io_num = AUDIO_CODEC_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,
+            },
+        };
+        ESP_ERROR_CHECK(i2c_new_master_bus(&i2c_bus_cfg, &i2c_bus_));
+
+        // Initialize PCA9557
+        pca9557_ = new Pca9557(i2c_bus_, 0x19);
+        pcf8575_ = new Pcf8575(i2c_bus_, 0x20);
+    }
+
+    void InitializeSpi() {
+        spi_bus_config_t buscfg = {};
+        buscfg.mosi_io_num = GPIO_NUM_40;
+        buscfg.miso_io_num = GPIO_NUM_NC;
+        buscfg.sclk_io_num = GPIO_NUM_41;
+        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 InitializeButtons() {
+        boot_button_.OnClick([this]() {
+            auto& app = Application::GetInstance();
+            // During startup (before connected), pressing BOOT button enters Wi-Fi config mode without reboot
+            if (app.GetDeviceState() == kDeviceStateStarting) {
+                EnterWifiConfigMode();
+                return;
+            }
+            app.ToggleChatState();
+        });
+
+#if CONFIG_USE_DEVICE_AEC
+        boot_button_.OnDoubleClick([this]() {
+            auto& app = Application::GetInstance();
+            if (app.GetDeviceState() == kDeviceStateIdle) {
+                app.SetAecMode(app.GetAecMode() == kAecOff ? kAecOnDeviceSide : kAecOff);
+            }
+        });
+#endif
+    }
+
+    void InitializeSt7789Display() {
+        esp_lcd_panel_io_handle_t panel_io = nullptr;
+        esp_lcd_panel_handle_t panel = nullptr;
+        // 液晶屏控制IO初始化
+        ESP_LOGD(TAG, "Install panel IO");
+        esp_lcd_panel_io_spi_config_t io_config = {};
+        io_config.cs_gpio_num = GPIO_NUM_NC;
+        io_config.dc_gpio_num = GPIO_NUM_39;
+        io_config.spi_mode = 2;
+        io_config.pclk_hz = 80 * 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));
+
+        // 初始化液晶屏驱动芯片ST7789
+        ESP_LOGD(TAG, "Install LCD driver");
+        esp_lcd_panel_dev_config_t panel_config = {};
+        panel_config.reset_gpio_num = GPIO_NUM_NC;
+        panel_config.rgb_ele_order = LCD_RGB_ELEMENT_ORDER_RGB;
+        panel_config.bits_per_pixel = 16;
+        ESP_ERROR_CHECK(esp_lcd_new_panel_st7789(panel_io, &panel_config, &panel));
+        
+        esp_lcd_panel_reset(panel);
+        pca9557_->SetOutputState(0, 0);
+
+        esp_lcd_panel_init(panel);
+        esp_lcd_panel_invert_color(panel, true);
+        esp_lcd_panel_swap_xy(panel, DISPLAY_SWAP_XY);
+        esp_lcd_panel_mirror(panel, DISPLAY_MIRROR_X, DISPLAY_MIRROR_Y);
+        esp_lcd_panel_disp_on_off(panel, true);
+
+#if CONFIG_USE_EMOTE_MESSAGE_STYLE
+        display_ = new emote::EmoteDisplay(panel, panel_io, DISPLAY_WIDTH, DISPLAY_HEIGHT);
+#else
+        display_ = new SpiLcdDisplay(panel_io, panel,
+            DISPLAY_WIDTH, DISPLAY_HEIGHT, DISPLAY_OFFSET_X, DISPLAY_OFFSET_Y, DISPLAY_MIRROR_X, DISPLAY_MIRROR_Y, DISPLAY_SWAP_XY);
+#endif
+    }
+
+    void InitializeTouch()
+    {
+        esp_lcd_touch_handle_t tp;
+        esp_lcd_touch_config_t tp_cfg = {
+            .x_max = DISPLAY_HEIGHT,
+            .y_max = DISPLAY_WIDTH,
+            .rst_gpio_num = GPIO_NUM_NC, // Shared with LCD reset
+            .int_gpio_num = GPIO_NUM_NC, 
+            .levels = {
+                .reset = 0,
+                .interrupt = 0,
+            },
+            .flags = {
+                .swap_xy = 1,
+                .mirror_x = 1,
+                .mirror_y = 0,
+            },
+        };
+        esp_lcd_panel_io_handle_t tp_io_handle = NULL;
+        esp_lcd_panel_io_i2c_config_t tp_io_config = ESP_LCD_TOUCH_IO_I2C_FT5x06_CONFIG();
+        tp_io_config.scl_speed_hz = 400000;
+
+        esp_lcd_new_panel_io_i2c(i2c_bus_, &tp_io_config, &tp_io_handle);
+        esp_lcd_touch_new_i2c_ft5x06(tp_io_handle, &tp_cfg, &tp);
+        assert(tp);
+
+        /* Add touch input (for selected screen) */
+        const lvgl_port_touch_cfg_t touch_cfg = {
+            .disp = lv_display_get_default(), 
+            .handle = tp,
+        };
+
+        if(touch_cfg.disp) {
+            lvgl_port_add_touch(&touch_cfg);
+        } else {
+            ESP_LOGE(TAG, "Touch display is not initialized");
+        }
+    }
+
+    void InitializeCamera() {
+        // Open camera power
+        pca9557_->SetOutputState(2, 0);
+
+        static esp_cam_ctlr_dvp_pin_config_t dvp_pin_config = {
+            .data_width = CAM_CTLR_DATA_WIDTH_8,
+            .data_io = {
+                [0] = CAMERA_PIN_D0,
+                [1] = CAMERA_PIN_D1,
+                [2] = CAMERA_PIN_D2,
+                [3] = CAMERA_PIN_D3,
+                [4] = CAMERA_PIN_D4,
+                [5] = CAMERA_PIN_D5,
+                [6] = CAMERA_PIN_D6,
+                [7] = CAMERA_PIN_D7,
+            },
+            .vsync_io = CAMERA_PIN_VSYNC,
+            .de_io = CAMERA_PIN_HREF,
+            .pclk_io = CAMERA_PIN_PCLK,
+            .xclk_io = CAMERA_PIN_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_PIN_RESET,
+            .pwdn_pin = CAMERA_PIN_PWDN,
+            .dvp_pin = dvp_pin_config,
+            .xclk_freq = XCLK_FREQ_HZ,
+        };
+
+        esp_video_init_config_t video_config = {
+            .dvp = &dvp_config,
+        };
+
+        camera_ = new Esp32Camera(video_config);
+    }
+
+public:
+    LichuangDevBoard() : boot_button_(BOOT_BUTTON_GPIO) {
+        InitializeI2c();
+        InitializeSpi();
+        InitializeSt7789Display();
+        InitializeTouch();
+        InitializeButtons();
+        InitializeCamera();
+        GetBacklight()->RestoreBrightness();
+
+        if (pcf8575_->IsInitialized()) {
+            InitializeTools();
+        } else {
+            // PCF8575 initialization failed, show error and reboot after 30 seconds
+            ESP_LOGE(TAG, "PCF8575 initialization failed, will reboot in 30 seconds");
+            display_->SetStatus(Lang::Strings::ERROR);
+            display_->SetEmotion("triangle_exclamation");
+            display_->SetChatMessage("system", "PCF8575 not connected\nReboot in 30s...");
+            vTaskDelay(pdMS_TO_TICKS(30000));
+            esp_restart();
+        }
+    }
+
+    virtual AudioCodec* GetAudioCodec() override {
+        static CustomAudioCodec audio_codec(
+            i2c_bus_, 
+            pca9557_);
+        return &audio_codec;
+    }
+
+    virtual Display* GetDisplay() override {
+        return display_;
+    }
+    
+    virtual Backlight* GetBacklight() override {
+        static PwmBacklight backlight(DISPLAY_BACKLIGHT_PIN, DISPLAY_BACKLIGHT_OUTPUT_INVERT);
+        return &backlight;
+    }
+
+    virtual Camera* GetCamera() override {
+        return camera_;
+    }
+};
+
+DECLARE_BOARD(LichuangDevBoard);
Author	SHA1	Message	Date
Terrence	737333e1a6	Add bed-operator board	2026-01-06 20:42:52 +08:00
Terrence	89a06eda81	fix: esp_psram_get_size not found in c3	2026-01-06 15:11:31 +08:00
Terrence	846d7afb80	use MAIN_EVENT_CLOCK_TICK to avoid audio glitches	2026-01-06 15:11:31 +08:00
Terrence	855e8c09b4	Add image cache	2026-01-06 15:11:31 +08:00
laride	be88719932	feat: Add ESP-SensairShuttle (#1620 ) * feat: Add ESP-SensairShuttle * fix: fix board name	2026-01-02 12:19:46 +08:00