Add bed-operator board

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)

main/Kconfig.projbuild

@@ -201,6 +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
@@ -660,7 +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)

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_

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"
+            ]
+        }
+    ]
+}

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);