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update firmware v1.2.6

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This commit is contained in:
Forairaaaaa
2026-05-07 09:38:14 +08:00
parent 51a06177f7
commit afd7260cf2
10 changed files with 85 additions and 21 deletions
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firmware/CMakeLists.txt
+1 -1
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@@ -2,7 +2,7 @@
# CMakeLists in this exact order for cmake to work correctly
cmake_minimum_required(VERSION 3.16)
set(PROJECT_VER "1.2.4")
set(PROJECT_VER "1.2.6")
add_definitions(-DFIRMWARE_VERSION=\"${PROJECT_VER}\")
# Add this line to disable the specific warning
firmware/main/hal/board/hal_bridge.h
+1
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@@ -41,6 +41,7 @@ lv_disp_t* display_get_lvgl_display();
void xiaozhi_board_init();
void start_xiaozhi_app();
bool is_xiaozhi_ready();
bool is_xiaozhi_idle();
i2c_master_bus_handle_t board_get_i2c_bus();
StackChanCamera* board_get_camera();
firmware/main/hal/board/stackchan.cc
+27 -6
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@@ -183,12 +183,29 @@ public:
delete[] read_buffer_;
}
void UpdateTouchPoint()
bool 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];
auto err = TryReadRegs(0x02, read_buffer_, 6);
if (err != ESP_OK) {
tp_.num = 0;
tp_.x = -1;
tp_.y = -1;
consecutive_failures_++;
int64_t now_us = esp_timer_get_time();
if (last_error_log_us_ == 0 || (now_us - last_error_log_us_) >= 1000 * 1000) {
ESP_LOGW(TAG, "FT6336 read failed (%s), skipped %lu sample(s)", esp_err_to_name(err),
static_cast<unsigned long>(consecutive_failures_));
last_error_log_us_ = now_us;
}
return false;
}
consecutive_failures_ = 0;
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];
return true;
}
inline const TouchPoint_t& GetTouchPoint()
@@ -199,6 +216,8 @@ public:
private:
uint8_t* read_buffer_ = nullptr;
TouchPoint_t tp_;
int64_t last_error_log_us_ = 0;
uint32_t consecutive_failures_ = 0;
};
class M5StackCoreS3Board : public WifiBoard {
@@ -283,7 +302,9 @@ private:
void PollTouchpad()
{
ft6336_->UpdateTouchPoint();
if (!ft6336_->UpdateTouchPoint()) {
return;
}
auto& touch_point = ft6336_->GetTouchPoint();
// Update hal touch point
firmware/main/hal/board/stackchan_display.cc
+12 -2
View File
@@ -119,7 +119,8 @@ StackChanAvatarDisplay::StackChanAvatarDisplay(esp_lcd_panel_io_handle_t panel_i
ESP_LOGI(TAG, "Initialize LVGL port");
lvgl_port_cfg_t port_cfg = ESP_LVGL_PORT_INIT_CONFIG();
port_cfg.task_priority = 20;
// port_cfg.task_priority = 20;
port_cfg.task_priority = 3;
#if CONFIG_SOC_CPU_CORES_NUM > 1
port_cfg.task_affinity = 1;
#endif
@@ -435,10 +436,15 @@ void StackChanAvatarDisplay::SetTheme(Theme* theme)
#include <hal/board/hal_bridge.h>
static bool _is_xiaozhi_ready = false;
static bool _is_xiaozhi_idle = false;
bool hal_bridge::is_xiaozhi_ready()
{
return _is_xiaozhi_ready;
}
bool hal_bridge::is_xiaozhi_idle()
{
return _is_xiaozhi_idle;
}
void StackChanAvatarDisplay::SetStatus(const char* status)
{
@@ -486,7 +492,7 @@ void StackChanAvatarDisplay::SetStatus(const char* status)
} else if (strcmp(status, Lang::Strings::SPEAKING) == 0) {
if (speaking_modifier_id_ < 0) {
speaking_modifier_id_ = stackchan.addModifier(std::make_unique<SpeakingModifier>());
speaking_modifier_id_ = stackchan.addModifier(std::make_unique<SpeakingModifier>(0, 180, false));
}
GetHAL().setRgbColor(0, 0, 0, 50);
@@ -502,6 +508,8 @@ void StackChanAvatarDisplay::SetStatus(const char* status)
idle_motion_modifier_id_ = stackchan.addModifier(std::make_unique<IdleMotionModifier>());
idle_expression_modifier_id_ = stackchan.addModifier(std::make_unique<IdleExpressionModifier>());
}
_is_xiaozhi_idle = true;
} else {
// Stop idle motion
ESP_LOGW(TAG, "Stop idle motion");
@@ -517,6 +525,8 @@ void StackChanAvatarDisplay::SetStatus(const char* status)
// motion.pitchServo().moveWithSpeed(200, 350);
// motion.yawServo().moveWithSpeed(0, 350);
// }
_is_xiaozhi_idle = false;
}
// Clear sleep state
firmware/main/hal/hal.cpp
+8 -6
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@@ -144,20 +144,22 @@ void Hal::xiaozhi_board_init()
static void _stackchan_update_task(void* param)
{
bool is_xiaozhi_ready = false;
bool is_setup_done = false;
bool is_setup_done = false;
while (1) {
vTaskDelay(pdMS_TO_TICKS(10));
vTaskDelay(pdMS_TO_TICKS(20));
tools::update_reminders();
LvglLockGuard lock;
if (!hal_bridge::is_xiaozhi_idle()) {
vTaskDelay(pdMS_TO_TICKS(100));
}
GetStackChan().update();
if (!is_xiaozhi_ready) {
is_xiaozhi_ready = hal_bridge::is_xiaozhi_ready();
if (!hal_bridge::is_xiaozhi_ready()) {
continue;
}
@@ -195,7 +197,7 @@ void Hal::startXiaozhi()
});
// Start stackchan update task
xTaskCreatePinnedToCore(_stackchan_update_task, "stackchan", 4096, NULL, 5, NULL, 1);
xTaskCreatePinnedToCore(_stackchan_update_task, "stackchan", 4096, NULL, 3, NULL, 1);
hal_bridge::start_xiaozhi_app();
}
firmware/main/hal/hal_head_touch.cpp
+3 -1
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@@ -158,5 +158,7 @@ void Hal::head_touch_init()
si12t_init(&si12t_cfg, &si12t);
si12t_setup(si12t, SI12T_TYPE_LOW, SI12T_SENSITIVITY_LEVEL_3);
xTaskCreateWithCaps(_head_touch_update_task, "headtouch", 1024 * 6, si12t, 5, NULL, MALLOC_CAP_SPIRAM);
// xTaskCreateWithCaps(_head_touch_update_task, "headtouch", 1024 * 6, si12t, 2, NULL, MALLOC_CAP_SPIRAM);
xTaskCreatePinnedToCoreWithCaps(_head_touch_update_task, "headtouch", 1024 * 6, si12t, 2, NULL, 1,
MALLOC_CAP_SPIRAM);
}
firmware/main/hal/hal_imu.cpp
+2 -1
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@@ -53,5 +53,6 @@ void Hal::imu_init()
}
mclog::tagInfo(_tag, "BMI270 init ok");
xTaskCreateWithCaps(_imu_task, "imu", 4096, NULL, 5, NULL, MALLOC_CAP_SPIRAM);
// xTaskCreateWithCaps(_imu_task, "imu", 4096, NULL, 2, NULL, MALLOC_CAP_SPIRAM);
xTaskCreatePinnedToCoreWithCaps(_imu_task, "imu", 4096, NULL, 2, NULL, 1, MALLOC_CAP_SPIRAM);
}
firmware/main/hal/hal_rtc.cpp
+4 -3
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@@ -11,6 +11,7 @@
#include <sys/time.h>
#include <ctime>
#include <settings.h>
#include <esp_log.h>
static const std::string_view _tag = "HAL-RTC";
@@ -103,10 +104,10 @@ void Hal::syncSystemTimeToRtc()
time.seconds = tm_curr.tm_sec;
if (_pcf8563->setDateTime(&date, &time)) {
mclog::tagInfo(_tag, "system synced to rtc (UTC): {:04d}-{:02d}-{:02d} {:02d}:{:02d}:{:02d}", date.year,
date.month, date.date, time.hours, time.minutes, time.seconds);
ESP_LOGI(_tag.data(), "system synced to rtc (UTC): %04d-%02d-%02d %02d:%02d:%02d", date.year, date.month,
date.date, time.hours, time.minutes, time.seconds);
} else {
mclog::tagError(_tag, "failed to write rtc");
ESP_LOGE(_tag.data(), "failed to write rtc");
}
}
firmware/main/hal/hal_ws_avatar.cpp
+1 -1
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@@ -126,7 +126,7 @@ public:
_websocket->OnDisconnected([this]() {
ESP_LOGI(_tag.c_str(), "Disconnected!");
GetHAL().onWsLog.emit(CommonLogLevel::Error, "Server disconnected");
// GetHAL().onWsLog.emit(CommonLogLevel::Error, "Server disconnected");
});
_websocket->OnData([this](const char* data, size_t len, bool binary) {
firmware/patches/xiaozhi-esp32.patch
+26
View File
@@ -245,3 +245,29 @@ index 3692e0c..7bfbc5c 100644
// Strategy instance
std::unique_ptr<AssetStrategy> strategy_;
diff --git a/main/boards/common/i2c_device.cc b/main/boards/common/i2c_device.cc
index 835997d..ea50d51 100644
--- a/main/boards/common/i2c_device.cc
+++ b/main/boards/common/i2c_device.cc
@@ -32,4 +32,8 @@ uint8_t I2cDevice::ReadReg(uint8_t reg) {
void I2cDevice::ReadRegs(uint8_t reg, uint8_t* buffer, size_t length) {
ESP_ERROR_CHECK(i2c_master_transmit_receive(i2c_device_, &reg, 1, buffer, length, 100));
+}
+
+esp_err_t I2cDevice::TryReadRegs(uint8_t reg, uint8_t* buffer, size_t length, int timeout_ms) {
+ return i2c_master_transmit_receive(i2c_device_, &reg, 1, buffer, length, timeout_ms);
}
\ No newline at end of file
diff --git a/main/boards/common/i2c_device.h b/main/boards/common/i2c_device.h
index 7bc917b..874b137 100644
--- a/main/boards/common/i2c_device.h
+++ b/main/boards/common/i2c_device.h
@@ -13,6 +13,7 @@ protected:
void WriteReg(uint8_t reg, uint8_t value);
uint8_t ReadReg(uint8_t reg);
void ReadRegs(uint8_t reg, uint8_t* buffer, size_t length);
+ esp_err_t TryReadRegs(uint8_t reg, uint8_t* buffer, size_t length, int timeout_ms = 100);
};
#endif // I2C_DEVICE_H