add firmware source code (#4)

* add firmware source code
2026-04-27 19:12:40 +00:00 · 2026-01-08 09:18:20 +08:00
parent 4f1373e449
commit 5001b7081b
164 changed files with 81663 additions and 1 deletions
@@ -0,0 +1,188 @@
+/*
+ * SPDX-FileCopyrightText: 2026 M5Stack Technology CO LTD
+ *
+ * SPDX-License-Identifier: MIT
+ */
+#include "app_espnow_ctrl.h"
+#include "view/page_selector.h"
+#include <hal/hal.h>
+#include <mooncake.h>
+#include <mooncake_log.h>
+#include <assets/assets.h>
+#include <smooth_lvgl.hpp>
+#include <stackchan/stackchan.h>
+#include <cstdint>
+#include <mutex>
+#include <string>
+
+using namespace mooncake;
+using namespace smooth_ui_toolkit::lvgl_cpp;
+using namespace stackchan;
+
+AppEspnowControl::AppEspnowControl()
+{
+    // 配置 App 名
+    setAppInfo().name = "ESPNOW.REMOTE";
+    // 配置 App 图标
+    setAppInfo().icon = (void*)&icon_controller;
+    // 配置 App 主题颜色
+    static uint32_t theme_color = 0xCCCC33;
+    setAppInfo().userData       = (void*)&theme_color;
+}
+
+void AppEspnowControl::onCreate()
+{
+    mclog::tagInfo(getAppInfo().name, "on create");
+}
+
+static std::mutex _mutex;
+static std::vector<uint8_t> _received_data;
+static int _receiver_id  = 0;
+static bool _is_receiver = false;
+
+void AppEspnowControl::onOpen()
+{
+    mclog::tagInfo(getAppInfo().name, "on open");
+
+    // Get role
+    std::vector<std::string> role_options = {"Receiver", "Sender"};
+    int role_selection                    = view::create_page_selector_and_wait("Select Role", role_options);
+    _is_receiver                          = (role_selection == 0);
+    mclog::tagInfo(getAppInfo().name, "selected role: {}", _is_receiver ? "Receiver" : "Sender");
+
+    // Get channel
+    std::vector<std::string> channel_options;
+    for (int i = 0; i < 13; i++) {
+        channel_options.push_back(std::to_string(i + 1));
+    }
+    auto wifi_channel = view::create_page_selector_and_wait("Select WiFi Channel", channel_options) + 1;
+    mclog::tagInfo(getAppInfo().name, "selected wifi channel: {}", wifi_channel);
+
+    // Get id
+    std::vector<std::string> id_options;
+    for (int i = 0; i < 255; i++) {
+        id_options.push_back(std::to_string(i));
+    }
+    _receiver_id = view::create_page_selector_and_wait("Select ID", id_options);
+    mclog::tagInfo(getAppInfo().name, "selected id: {}", _receiver_id);
+
+    // Start espnow
+    GetHAL().startEspNow(wifi_channel);
+    GetHAL().onEspNowData.connect([](const std::vector<uint8_t>& data) {
+        std::lock_guard<std::mutex> lock(_mutex);
+        _received_data = data;
+    });
+
+    // Normal avatar
+    LvglLockGuard lock;
+
+    auto& stackchan = GetStackChan();
+
+    auto avatar = std::make_unique<avatar::DefaultAvatar>();
+    avatar->init(lv_screen_active());
+    stackchan.attachAvatar(std::move(avatar));
+
+    stackchan.addModifier(std::make_unique<BreathModifier>());
+    stackchan.addModifier(std::make_unique<BlinkModifier>());
+
+    // Diable auto angle sync to prevent jitter
+    stackchan.motion().setAutoAngleSyncEnabled(false);
+
+    GetHAL().setLaserEnabled(false);
+}
+
+void handle_received_data()
+{
+    std::lock_guard<std::mutex> lock(_mutex);
+
+    // [target-id (uint8)] [yaw-angle (int16)] [pitch-angle (int16)] [speed (int16)] [laser-enabled (uint8)]
+    // id: 0 for broadcast
+    // yaw: -1280 ~ 1280
+    // pitch: 0 ~ 900
+    // speed: 0 ~ 1000, suggest 600
+    // laser-enabled: 0 = off, 1 = on
+    if (_received_data.size() >= 8) {
+        uint8_t target_id = _received_data[0];
+        if (target_id != 0 && target_id != _receiver_id) {
+            mclog::info("not me, target id: {}", target_id);
+            _received_data.clear();
+            return;
+        }
+
+        int16_t yaw_angle   = static_cast<int16_t>(_received_data[1] | (_received_data[2] << 8));
+        int16_t pitch_angle = static_cast<int16_t>(_received_data[3] | (_received_data[4] << 8));
+        int16_t speed       = static_cast<int16_t>(_received_data[5] | (_received_data[6] << 8));
+        bool laser_enabled  = (_received_data[7] != 0);
+
+        mclog::info("yaw: {}, pitch: {}, speed: {}, laser: {}", yaw_angle, pitch_angle, speed, laser_enabled);
+
+        auto& motion = GetStackChan().motion();
+        motion.moveWithSpeed(yaw_angle, pitch_angle, speed);
+
+        GetHAL().setLaserEnabled(laser_enabled);
+    }
+
+    _received_data.clear();
+}
+
+void handle_send_pose()
+{
+    static uint32_t last_send_tick = 0;
+
+    if (GetHAL().millis() - last_send_tick < 50) {
+        return;
+    }
+    last_send_tick = GetHAL().millis();
+
+    // [target-id (uint8)] [yaw-angle (int16)] [pitch-angle (int16)] [speed (int16)] [laser-enabled (uint8)]
+    // id: 0 for broadcast
+    // yaw: -1280 ~ 1280
+    // pitch: 0 ~ 900
+    // speed: 0 ~ 1000, suggest 600
+    // laser-enabled: 0 = off, 1 = on
+    auto& motion        = GetStackChan().motion();
+    int16_t yaw_angle   = motion.getCurrentYawAngle();
+    int16_t pitch_angle = motion.getCurrentPitchAngle();
+    const int16_t speed = 800;
+
+    std::vector<uint8_t> data;
+    data.reserve(8);  // 预留空间提高效率
+
+    // [0] target-id
+    data.push_back(_receiver_id);
+
+    // [1-2] yaw-angle (小端序：先发低位，再发高位)
+    data.push_back(static_cast<uint8_t>(yaw_angle & 0xFF));
+    data.push_back(static_cast<uint8_t>((yaw_angle >> 8) & 0xFF));
+    // [3-4] pitch-angle
+    data.push_back(static_cast<uint8_t>(pitch_angle & 0xFF));
+    data.push_back(static_cast<uint8_t>((pitch_angle >> 8) & 0xFF));
+    // [5-6] speed
+    data.push_back(static_cast<uint8_t>(speed & 0xFF));
+    data.push_back(static_cast<uint8_t>((speed >> 8) & 0xFF));
+
+    // [7] laser-enabled
+    data.push_back(0);  // always off for sender
+
+    GetHAL().espNowSend(data);
+}
+
+void AppEspnowControl::onRunning()
+{
+    LvglLockGuard lock;
+
+    if (_is_receiver) {
+        handle_received_data();
+    } else {
+        handle_send_pose();
+    }
+
+    GetStackChan().update();
+}
+
+void AppEspnowControl::onClose()
+{
+    mclog::tagInfo(getAppInfo().name, "on close");
+
+    LvglLockGuard lock;
+}