From c63b35a0e74db247dc97ae5f275b459c6f447cc1 Mon Sep 17 00:00:00 2001 From: Rdzleo Date: Thu, 9 Apr 2026 14:22:24 +0800 Subject: [PATCH] =?UTF-8?q?1=E3=80=81=E7=AC=AC=E4=B8=80=E6=AC=A1=E6=8F=90?= =?UTF-8?q?=E4=BA=A4=E9=A1=B9=E7=9B=AE=EF=BC=8C=E9=A1=B9=E7=9B=AE=E5=88=9D?= =?UTF-8?q?=E5=A7=8B=E5=8C=96=EF=BC=9B=202=E3=80=81=E4=BF=AE=E6=94=B9?= =?UTF-8?q?=E4=BA=86RP2040=E7=9A=84=E4=BB=A3=E7=A0=81=EF=BC=8C=E4=BD=BF?= =?UTF-8?q?=E5=85=B6=E5=9C=A8=E6=B2=A1=E6=9C=89=E5=AE=89=E8=A3=85=E6=91=84?= =?UTF-8?q?=E5=83=8F=E5=A4=B4=E7=9A=84=E6=83=85=E5=86=B5=E4=B8=8B=E4=B9=9F?= =?UTF-8?q?=E5=8F=AF=E4=BB=A5=E5=B7=A6=E5=8F=B3=E8=BD=AC=E5=8A=A8=E7=9C=BC?= =?UTF-8?q?=E7=90=83=E5=92=8C=E5=B7=A6=E5=8F=B3=E8=BD=AC=E5=8A=A8=E8=BA=AB?= =?UTF-8?q?=E4=BD=93=EF=BC=9B=203=E3=80=81=E5=A2=9E=E5=8A=A0=E4=BA=86?= =?UTF-8?q?=E4=B8=80=E4=BA=9B=E4=B8=AD=E6=96=87=E6=B3=A8=E9=87=8A=E7=9A=84?= =?UTF-8?q?=E8=AF=B4=E6=98=8E=EF=BC=9B?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit 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scripts/download_github_runs.py create mode 100644 scripts/gen_lang.py create mode 100644 scripts/mp3_to_ogg.sh create mode 100644 scripts/ogg_converter/README.md create mode 100644 scripts/ogg_converter/xiaozhi_ogg_converter.py create mode 100644 scripts/p3_tools/README.md create mode 100644 scripts/p3_tools/batch_convert_gui.py create mode 100644 scripts/p3_tools/convert_audio_to_p3.py create mode 100644 scripts/p3_tools/convert_p3_to_audio.py create mode 100644 scripts/p3_tools/img/img.png create mode 100644 scripts/p3_tools/p3_gui_player.py create mode 100644 scripts/p3_tools/play_p3.py create mode 100644 scripts/p3_tools/requirements.txt create mode 100755 scripts/release.py create mode 100644 scripts/sonic_wifi_config.html create mode 100644 scripts/spiffs_assets/README.md create mode 100644 scripts/spiffs_assets/build.py create mode 100644 scripts/spiffs_assets/build_all.py create mode 100644 scripts/spiffs_assets/pack_model.py create mode 100644 scripts/spiffs_assets/spiffs_assets_gen.py create mode 100644 scripts/versions.py create mode 100644 sdkconfig.defaults create mode 100644 sdkconfig.defaults.esp32 create mode 100644 sdkconfig.defaults.esp32c3 create mode 100644 sdkconfig.defaults.esp32c5 create mode 100644 sdkconfig.defaults.esp32c6 create mode 100644 sdkconfig.defaults.esp32p4 create mode 100644 sdkconfig.defaults.esp32s3 diff --git a/.github/ISSUE_TEMPLATE/01_build_install_bug.yml b/.github/ISSUE_TEMPLATE/01_build_install_bug.yml new file mode 100644 index 0000000..d3489e2 --- /dev/null +++ b/.github/ISSUE_TEMPLATE/01_build_install_bug.yml @@ -0,0 +1,103 @@ +name: Installation or build bug report +description: Report installation or build bugs +labels: ['bug'] +body: + - type: checkboxes + id: checklist + attributes: + label: Answers checklist. + description: Before submitting a new issue, please follow the checklist and try to find the answer. + options: + - label: I have read the documentation [XiaoZhi AI Programming Guide](https://ccnphfhqs21z.feishu.cn/wiki/F5krwD16viZoF0kKkvDcrZNYnhb) and the issue is not addressed there. + required: true + - label: I have updated my branch (master or release) to the latest version and checked that the issue is present there. + required: true + - label: I have searched the issue tracker for a similar issue and not found a similar issue. + required: true + - type: input + id: xiaozhi_ai_version + attributes: + label: XiaoZhi AI version. + description: On which XiaoZhi AI version does this issue occur on? Run `git describe --tags` to find it. + placeholder: ex. v1.1.0-44-g140aab8 + validations: + required: true + - type: dropdown + id: operating_system + attributes: + label: Operating System used. + multiple: false + options: + - Windows + - Linux + - macOS + validations: + required: true + - type: dropdown + id: build + attributes: + label: How did you build your project? + multiple: false + options: + - Command line with CMake + - Command line with idf.py + - CLion IDE + - VS Code IDE/Cursor + - Other (please specify in More Information) + validations: + required: true + - type: dropdown + id: windows_comand_line + attributes: + label: If you are using Windows, please specify command line type. + multiple: false + options: + - PowerShell + - CMD + validations: + required: false + - type: textarea + id: expected + attributes: + label: What is the expected behavior? + description: Please provide a clear and concise description of the expected behavior. + placeholder: I expected it to... + validations: + required: true + - type: textarea + id: actual + attributes: + label: What is the actual behavior? + description: Please describe actual behavior. + placeholder: Instead it... + validations: + required: true + - type: textarea + id: steps + attributes: + label: Steps to reproduce. + description: 'How do you trigger this bug? Please walk us through it step by step. If this is build bug, please attach sdkconfig file (from your project folder). Please attach your code here.' + value: | + 1. Step + 2. Step + 3. Step + ... + validations: + required: true + - type: textarea + id: debug_logs + attributes: + label: Build or installation Logs. + description: Build or installation log goes here, should contain the backtrace, as well as the reset source if it is a crash. + placeholder: Your log goes here. + render: plain + validations: + required: false + - type: textarea + id: more-info + attributes: + label: More Information. + description: Do you have any other information from investigating this? + placeholder: ex. Any more. + validations: + required: false \ No newline at end of file diff --git a/.github/ISSUE_TEMPLATE/02_runtime_bug.yml b/.github/ISSUE_TEMPLATE/02_runtime_bug.yml new file mode 100644 index 0000000..60a62f8 --- /dev/null +++ b/.github/ISSUE_TEMPLATE/02_runtime_bug.yml @@ -0,0 +1,115 @@ +name: Runtime bug report +description: Report runtime bugs +labels: ['bug'] +body: + - type: checkboxes + id: checklist + attributes: + label: Answers checklist. + description: Before submitting a new issue, please follow the checklist and try to find the answer. + options: + - label: I have read the documentation [XiaoZhi AI Programming Guide](https://ccnphfhqs21z.feishu.cn/wiki/F5krwD16viZoF0kKkvDcrZNYnhb) and the issue is not addressed there. + required: true + - label: I have updated my firmware to the latest version and checked that the issue is present there. + required: true + - label: I have searched the issue tracker for a similar issue and not found a similar issue. + required: true + - type: input + id: xiaozhi_ai_firmware_version + attributes: + label: XiaoZhi AI firmware version. + description: On which firmware version does this issue occur on? + placeholder: ex. v1.2.1_bread-compact-wifi + validations: + required: true + - type: dropdown + id: operating_system + attributes: + label: Operating System used. + multiple: false + options: + - Windows + - Linux + - macOS + validations: + required: true + - type: dropdown + id: build + attributes: + label: How did you build your project? + multiple: false + options: + - Command line with CMake + - Command line with idf.py + - CLion IDE + - VS Code IDE/Cursor + - Other (please specify in More Information) + validations: + required: true + - type: dropdown + id: windows_comand_line + attributes: + label: If you are using Windows, please specify command line type. + multiple: false + options: + - PowerShell + - CMD + validations: + required: false + - type: dropdown + id: power_supply + attributes: + label: Power Supply used. + multiple: false + options: + - USB + - External 5V + - External 3.3V + - Battery + validations: + required: true + - type: textarea + id: expected + attributes: + label: What is the expected behavior? + description: Please provide a clear and concise description of the expected behavior. + placeholder: I expected it to... + validations: + required: true + - type: textarea + id: actual + attributes: + label: What is the actual behavior? + description: Please describe actual behavior. + placeholder: Instead it... + validations: + required: true + - type: textarea + id: steps + attributes: + label: Steps to reproduce. + description: 'How do you trigger this bug? Please walk us through it step by step. Please attach your code here.' + value: | + 1. Step + 2. Step + 3. Step + ... + validations: + required: true + - type: textarea + id: debug_logs + attributes: + label: Debug Logs. + description: Debug log goes here, should contain the backtrace, as well as the reset source if it is a crash. + placeholder: Your log goes here. + render: plain + validations: + required: false + - type: textarea + id: more-info + attributes: + label: More Information. + description: Do you have any other information from investigating this? + placeholder: ex. Any more. + validations: + required: false \ No newline at end of file diff --git a/.github/ISSUE_TEMPLATE/03_feature_request.yml b/.github/ISSUE_TEMPLATE/03_feature_request.yml new file mode 100644 index 0000000..79cb921 --- /dev/null +++ b/.github/ISSUE_TEMPLATE/03_feature_request.yml @@ -0,0 +1,34 @@ +name: Feature request +description: Suggest an idea for this project. +labels: ['enhancement'] +body: + - type: markdown + attributes: + value: | + * We welcome any ideas or feature requests! It’s helpful if you can explain exactly why the feature would be useful. + * There are usually some outstanding feature requests in the [existing issues list](https://github.com/78/xiaozhi-esp32/labels/enhancement), feel free to add comments to them. + * If you would like to contribute, please read the [contributions guide](https://ccnphfhqs21z.feishu.cn/wiki/F5krwD16viZoF0kKkvDcrZNYnhb). + - type: textarea + id: problem-related + attributes: + label: Is your feature request related to a problem? + description: Please provide a clear and concise description of what the problem is. + placeholder: ex. I'm always frustrated when ... + - type: textarea + id: solution + attributes: + label: Describe the solution you'd like. + description: Please provide a clear and concise description of what you want to happen. + placeholder: ex. When using XiaoZhi ... + - type: textarea + id: alternatives + attributes: + label: Describe alternatives you've considered. + description: Please provide a clear and concise description of any alternative solutions or features you've considered. + placeholder: ex. Choosing other approach wouldn't work, because ... + - type: textarea + id: context + attributes: + label: Additional context. + description: Please add any other context or screenshots about the feature request here. + placeholder: ex. This would work only when ... \ No newline at end of file diff --git a/.github/ISSUE_TEMPLATE/config.yml b/.github/ISSUE_TEMPLATE/config.yml new file mode 100644 index 0000000..d663ce7 --- /dev/null +++ b/.github/ISSUE_TEMPLATE/config.yml @@ -0,0 +1,8 @@ +blank_issues_enabled: true +contact_links: + - name: 小智 AI 官方网站 + url: https://xiaozhi.me/ + about: 激活设备、配置 AI、声纹识别、声音克隆等应有尽有，DIY 属于你自己的小智 + - name: 小智 AI 聊天机器人百科全书 + url: https://ccnphfhqs21z.feishu.cn/wiki/F5krwD16viZoF0kKkvDcrZNYnhb + about: 开发文档、硬件制作、烧录教程、FAQ尽在小智百科 \ No newline at end of file diff --git a/.github/workflows/build.yml b/.github/workflows/build.yml new file mode 100644 index 0000000..0d99821 --- /dev/null +++ b/.github/workflows/build.yml @@ -0,0 +1,111 @@ +name: Build Boards + +on: + push: + branches: + - main + - ci/* # for ci test + pull_request: + branches: + - main + +permissions: + contents: read + +jobs: + prepare: + name: Determine variants to build + runs-on: ubuntu-latest + outputs: + variants: ${{ steps.select.outputs.variants }} + steps: + - name: Checkout + uses: actions/checkout@v4 + with: + fetch-depth: 0 + + - name: Install jq + run: sudo apt-get update && sudo apt-get install -y jq + + - id: list + name: Get all variant list + run: | + echo "all_variants=$(python scripts/release.py --list-boards --json)" >> $GITHUB_OUTPUT + + - id: select + name: Select variants based on changes + env: + ALL_VARIANTS: ${{ steps.list.outputs.all_variants }} + run: | + EVENT_NAME="${{ github.event_name }}" + + # push 到 main 分支，编译全部变体 + if [[ "$EVENT_NAME" == "push" ]]; then + echo "variants=$ALL_VARIANTS" >> $GITHUB_OUTPUT + exit 0 + fi + + # pull_request 场景 + BASE_SHA="${{ github.event.pull_request.base.sha }}" + HEAD_SHA="${{ github.event.pull_request.head.sha }}" + echo "Base: $BASE_SHA, Head: $HEAD_SHA" + + CHANGED=$(git diff --name-only $BASE_SHA $HEAD_SHA || true) + echo -e "Changed files:\n$CHANGED" + + NEED_ALL=0 + declare -A AFFECTED + while IFS= read -r file; do + if [[ "$file" == main/* && "$file" != main/boards/* ]]; then + NEED_ALL=1 + fi + + if [[ "$file" == main/boards/common/* ]]; then + NEED_ALL=1 + fi + + if [[ "$file" == main/boards/* ]]; then + board=$(echo "$file" | cut -d '/' -f3) + AFFECTED[$board]=1 + fi + done <<< "$CHANGED" + + if [[ "$NEED_ALL" -eq 1 ]]; then + echo "variants=$ALL_VARIANTS" >> $GITHUB_OUTPUT + else + if [[ ${#AFFECTED[@]} -eq 0 ]]; then + echo "variants=[]" >> $GITHUB_OUTPUT + else + BOARDS_JSON=$(printf '%s\n' "${!AFFECTED[@]}" | sort -u | jq -R -s -c 'split("\n")[:-1]') + FILTERED=$(echo "$ALL_VARIANTS" | jq -c --argjson boards "$BOARDS_JSON" 'map(select(.board as $b | $boards | index($b)))') + echo "variants=$FILTERED" >> $GITHUB_OUTPUT + fi + fi + + build: + name: Build ${{ matrix.name }} + needs: prepare + if: ${{ needs.prepare.outputs.variants != '[]' }} + strategy: + fail-fast: false # 单个变体失败不影响其它变体 + matrix: + include: ${{ fromJson(needs.prepare.outputs.variants) }} + runs-on: ubuntu-latest + container: + image: espressif/idf:release-v5.5 + steps: + - name: Checkout + uses: actions/checkout@v4 + + - name: Build current variant + shell: bash + run: | + source $IDF_PATH/export.sh + python scripts/release.py ${{ matrix.board }} --name ${{ matrix.name }} + + - name: Upload artifacts + uses: actions/upload-artifact@v4 + with: + name: xiaozhi_${{ matrix.name }}_${{ github.sha }}.bin + path: build/merged-binary.bin + if-no-files-found: error diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..a1b5d8e --- /dev/null +++ b/.gitignore @@ -0,0 +1,19 @@ +tmp/ +components/ +managed_components/ +build/ +.vscode/ +.devcontainer/ +sdkconfig.old +sdkconfig +dependencies.lock +.env +releases/ +main/assets/lang_config.h +main/mmap_generate_emoji.h +.DS_Store +.cache +*.pyc +*.bin +mmap_generate_*.h +.clangd diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100755 index 0000000..9f147d2 --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,14 @@ +# For more information about build system see +# https://docs.espressif.com/projects/esp-idf/en/latest/api-guides/build-system.html +# The following five lines of boilerplate have to be in your project's +# CMakeLists in this exact order for cmake to work correctly +cmake_minimum_required(VERSION 3.16) + +set(PROJECT_VER "2.0.5") + +# Add this line to disable the specific warning +add_compile_options(-Wno-missing-field-initializers) + +include($ENV{IDF_PATH}/tools/cmake/project.cmake) +project(xiaozhi) + diff --git a/Coglet项目分析与开发指南.md b/Coglet项目分析与开发指南.md new file mode 100644 index 0000000..64c15f8 --- /dev/null +++ b/Coglet项目分析与开发指南.md @@ -0,0 +1,602 @@ +# Coglet 项目分析与开发指南 + +## 一、项目简介 + +**Coglet** 是 YouTube 创作者 Will Cogley（原 Nilheim Mechatronics）开发的 **DIY 桌面 AI 伴侣机器人**，目前在 Kickstarter 众筹中。项目包含 3D 打印外壳、PCB 电路板和双 MCU 软件系统。 + +### 系统架构 + +采用**双 MCU 架构**，三个核心模块通过 UART 串联： + +``` +ESP32-S3 ←── UART 115200 ──→ RP2040 (Pico) ←── UART 921600 ──→ Grove Vision AI V2 + (AI/语音/网络) (舵机/动画) (摄像头/人脸检测) +``` + +| 芯片 | 职责 | +|------|------| +| **ESP32-S3** | AI 对话、语音识别/合成、WiFi 网络、MCP 协议（基于小智 XiaoZhi 固件） | +| **RP2040 (Raspberry Pi Pico)** | 9 个舵机控制、动画表情、人脸追踪（MicroPython） | +| **Grove Vision AI V2** | 摄像头人脸检测 | + +### ESP32 固件核心功能 + +- 连接方式：WiFi / ML307 Cat.1 4G +- 语音交互：流式 ASR + LLM（Qwen/DeepSeek）+ TTS +- 离线唤醒：ESP-SR 本地语音唤醒 +- 通信协议：WebSocket 或 MQTT+UDP +- 音频编码：OPUS +- 显示：OLED/LCD + 表情动画 +- 多语言：中文/英文/日文 +- MCP 协议：设备端 MCP（控制扬声器、LED、舵机、GPIO）+ 云端 MCP（智能家居） + +### RP2040 控制的舵机（共 9 个） + +| 舵机代号 | 功能 | +|---------|------| +| EYL / EYR | 左右眼水平转动 | +| PIT | 头部俯仰 | +| YAW | 头部偏航 | +| MOU | 嘴巴开合 | +| LID | 眼睑眨眼 | +| 其他 | 耳朵舵机等 | + +### RP2040 状态机 + +`idle` → `speaking` → `listening` → `thinking` → `happy` → `neutral` → `calibration` + +--- + +## 二、GitHub 仓库总览 + +### 核心仓库 + +| 仓库 | 地址 | Stars | 说明 | +|------|------|-------|------| +| **Coglet 主仓库** | https://github.com/will-cogley/Coglet | 135 | 3D 打印件、PCB 原理图、文档 | +| **CogletESP 固件** | https://github.com/will-cogley/CogletESP | 5 | ESP32 固件 + RP2040 代码（fork 自小智） | + +### 相关参考仓库 + +| 仓库 | 地址 | 说明 | +|------|------|------| +| 小智上游原版 | https://github.com/78/xiaozhi-esp32 | CogletESP 的上游项目 | +| EyeMech_Epsilon | https://github.com/will-cogley/EyeMech_Epsilon | Coglet 眼球机构的技术前身，RP2040 + MicroPython | + +### CogletESP 分支列表 + +| 分支名 | Commits | 说明 | +|--------|---------|------| +| `main` | 789 | 上游同步的主分支 | +| **`CogletESP`** | 758 | **Coglet 专用分支（无 ESP32 摄像头版本，保留 LCD 显示）** | +| **`camera-version`** | 755 | **ESP32 OV3660 摄像头版本（需 PCB 飞线，禁用 LCD）** | +| `esp32_camera` | - | ESP32 摄像头分支 | +| `v1` | 669 | v1 稳定版 | +| `bed-operator` | - | 功能分支 | +| `fix_resampler` | - | 重采样器修复 | +| `fix_rndis` | - | RNDIS 修复 | +| `listening_wakeword` | - | 唤醒词监听 | +| `nt26_board` | - | NT26 开发板适配 | + +### CogletESP 分支 vs camera-version 分支（关键区别） + +> **重要区分**：这里的"摄像头"指 **ESP32-S3 上直连的 OV3660 DVP 摄像头**（小智 AI 视觉功能），**不是** Grove Vision AI V2。Grove Vision AI V2 是独立模块接在 RP2040 上，两个分支都支持它。 + +两个分支仅 **2 个文件**不同，都在 `main/boards/bread-compact-wifi-s3cam/` 目录下： + +| 对比项 | `CogletESP` 分支 | `camera-version` 分支 | +|--------|------------------|----------------------| +| ESP32 摄像头(OV3660) | 默认引脚，与 PSRAM 冲突 | 飞线后的新引脚映射 | +| LCD 显示 | 正常支持 | **禁用**（引脚被摄像头占用，用 DummyDisplay 替代） | +| PCB 改动 | 无需飞线 | **需要 3 根飞线**（35→14, 36→41, 37→42） | +| 摄像头画面 | - | 设置 HMirror + VFlip 翻转 | +| JTAG 引脚(GPIO 39-42) | 默认用途 | 释放给摄像头使用 | +| Grove Vision AI V2 | 支持 | 支持 | + +#### GPIO 引脚映射差异（部分关键引脚） + +| 功能 | `CogletESP` 分支 | `camera-version` 分支 | +|------|------------------|----------------------| +| MIC_WS | GPIO 1 | GPIO 4 | +| MIC_SCK | GPIO 2 | GPIO 5 | +| MIC_DIN | GPIO 42 | GPIO 6 | +| SPK_DOUT | GPIO 39 | GPIO 7 | +| SPK_BCLK | GPIO 40 | GPIO 15 | +| SPK_LRCK | GPIO 41 | GPIO 16 | +| LED | GPIO 48 | GPIO 3 | +| CAMERA D7 | GPIO 16 | GPIO 14（飞线 35→14） | +| CAMERA VSYNC | GPIO 6 | GPIO 41（飞线 36→41） | +| CAMERA HREF | GPIO 7 | GPIO 42（飞线 37→42） | + +#### 如何选择分支？ + +- **带 ESP32 OV3660 摄像头** → 用 `camera-version` 分支 + PCB 做 3 根飞线，但**没有 LCD 屏** +- **不带 ESP32 摄像头 / 想保留 LCD 屏** → 用 `CogletESP` 分支 +- **仅使用 Grove Vision AI V2 人脸追踪** → 两个分支都可以，这是 RP2040 端的功能，与 ESP32 分支无关 + +### Coglet 主仓库目录结构 + +``` +Coglet/ +├── 3D Printing Files/ +│ └── CogletB34Parts.3mf # 3D 打印零件 +├── PCB/ +│ ├── CogNogV1_0.pdf # 原理图 PDF +│ └── CogletESP_2026-02-24.epro # EasyEDA 工程文件 +├── CogletESP/ # Git 子模块 → CogletESP 仓库 +├── Translated Docs for XiaoZhi AI/ # 14 份小智文档英文翻译 +│ ├── 固件烧录指南 +│ ├── WiFi 配置 +│ ├── 面包板接线 +│ ├── ESP-IDF 开发环境搭建 +│ └── 摄像头接线 ... +└── README.md +``` + +### 已知 PCB 问题（CogNog V1.0） + +- USB-C 接口过紧 +- **摄像头引脚与 PSRAM 冲突**（GPIO 35/36/37 被 PSRAM Octal SPI 占用，详见下方飞线说明） +- 体积电容不足 +- 摄像头画面水平翻转（camera-version 分支已通过 `SetHMirror(true)` 修正） + +### 翻译文档索引（Translated Docs for XiaoZhi AI） + +主仓库中 `Translated Docs for XiaoZhi AI/` 包含 13 份小智文档英文翻译，其中与搭建相关的： + +| 文件 | 内容 | +|------|------| +| **DIY Breadboard for Xiaozhi AI...** | 完整硬件清单和接线教程（最详细，18MB） | +| **[Latest] Wiring Tutorial...Camera** | **带摄像头的最新接线教程** | +| Setting up ESP IDF 5.5.2... | ESP-IDF 开发环境搭建（Windows） | +| Flash Tool_Web Terminal... | 网页烧录工具（无需 IDF 环境） | +| Configure Device Wi-Fi... | WiFi 配网和设备添加 | +| Steps for Wake Word Change... | 唤醒词修改 | + +--- + +## 三、项目状态 + +- **活跃度**：积极开发中（最后更新 2026 年 3 月） +- **成熟度**：早期阶段 / 工作进行中 + - Releases 页面为空，**无预编译固件** + - PCB 存在多个已知问题 + - 没有专用的 Coglet 板级配置（使用通用 bread-compact 系列） +- **众筹**：Kickstarter 进行中 +- **社区**：Discord + QQ 群 + +--- + +## 四、摄像头版本完整搭建流程（camera-version） + +> 你使用的是**带摄像头**的版本，以下是从零到运行的完整操作流程。 + +### 4.1 为什么需要飞线？ + +**这是 CogNog V1.0 PCB 的设计缺陷，不是故意的设计。** + +ESP32-S3 的 PSRAM 使用 Octal SPI 接口，占用了 GPIO 35/36/37。但 V1.0 PCB 把摄像头的三个信号线（D7、VSYNC、HREF）也接到了这三个引脚上。当摄像头和 PSRAM 同时工作时，引脚冲突导致摄像头无法使用。 + +**所有使用 CogNog V1.0 PCB + 摄像头的用户都必须飞线。** 目前只有 V1.0 版本的 PCB。 + +### 4.2 硬件准备清单 + +| 部件 | 说明 | +|------|------| +| CogNog V1.0 PCB | 需要飞线修改 | +| ESP32-S3 模组 | 带 PSRAM（如 N16R8） | +| OV3660 摄像头模组 | DVP 接口 + 排线 + 转接板 | +| Grove Vision AI V2 | 人脸追踪模块 + 15pin 排线适配器 | +| INMP441 麦克风 | I2S 数字麦克风 | +| 扬声器 | I2S 输出 | +| 9x 舵机 | **必须 180° 标准舵机**（如 KPower M0090 或 MG90S 180° 金属齿轮版），详见下方舵机选型说明 | +| Raspberry Pi Pico (RP2040) | 舵机控制 | +| 6 Pin PicoBlade 连接线 | RP2040 ↔ ESP32 UART | + +### 4.3 PCB 飞线操作（3 根线） + +在 CogNog V1.0 PCB 上，**切断原走线并飞线到新引脚**： + +| 原始引脚 | 飞线到 | 摄像头信号 | 说明 | +|----------|--------|-----------|------| +| GPIO 35 | **GPIO 14** | CAMERA_PIN_D7 | 数据位 7 | +| GPIO 36 | **GPIO 41** | CAMERA_PIN_VSYNC | 垂直同步 | +| GPIO 37 | **GPIO 42** | CAMERA_PIN_HREF | 行参考信号 | + +> **注意**：camera-version 分支还释放了 JTAG 引脚（GPIO 39-42）给摄像头使用，代码中通过 `gpio_reset_pin()` 实现。 + +### 4.4 代码下载 + +```bash +# 第 1 步：克隆 camera-version 分支（ESP32 固件 + RP2040 代码都在里面） +git clone -b camera-version https://github.com/will-cogley/CogletESP.git + +# 第 2 步：克隆主仓库（文档、PCB 原理图、3D 打印件） +git clone https://github.com/will-cogley/Coglet.git +``` + +克隆后的目录结构： + +``` +CogletESP/ # camera-version 分支 +├── main/ +│ └── boards/ +│ └── bread-compact-wifi-s3cam/ +│ ├── config.h # GPIO 引脚映射（飞线后的版本） +│ └── compact_wifi_board_s3cam.cc # 板级初始化（禁用 LCD，启用摄像头） +├── components/ +├── RP2040/ # RP2040 MicroPython 代码 +│ ├── main.py # 主控程序、舵机状态机、UART 通信（ESP32 + Grove Vision AI V2） +│ ├── servoclass.py # 舵机驱动（PWM 50Hz，平滑运动） +│ └── animation.py # 动画定义（思考、开心、热身等） +├── CMakeLists.txt +└── sdkconfig +``` + +### 4.5 编译烧录 ESP32 固件（macOS） + +```bash +# 1. 进入项目目录 +cd CogletESP + +# 2. 激活 IDF 环境 +source ~/esp/esp-idf/export.sh + +# 3. 设置目标芯片 +idf.py set-target esp32s3 + +# 4. 配置板级选项 +idf.py menuconfig +# → 找到板级配置，选择 bread-compact-wifi-s3cam + +# 5. 编译 +idf.py build + +# 6. 查看可用串口 +ls /dev/cu.usb* + +# 7. 烧录并监控 +idf.py -p /dev/cu.usbmodem14101 flash monitor +# 串口名根据实际替换（/dev/cu.usbmodem* 或 /dev/cu.usbserial*） + +# 8. 退出监视器：Ctrl + ] +``` + +### 4.6 烧录 RP2040（MicroPython） + +**第 1 步：刷入 MicroPython 固件** + +下载地址：https://micropython.org/download/RPI_PICO/ + +**版本选择**：下载 **v1.24.x ~ v1.25.x 稳定版** `.uf2` 文件。代码只用基础 API（Pin、PWM、UART），v1.20+ 稳定版都兼容。**不要下载 preview/nightly 预览版。** + +**硬件说明**：CogNog V1.0 PCB 上 RP2040 是直接焊接的（不是独立的 Raspberry Pi Pico 开发板），PCB 上有两个相关按键： +- **SW1（Boot Switch）**：位于 Flash Memory 旁，即 BOOTSEL 功能，用于进入 UF2 烧录模式 +- **Run Switch**：位于 RP2040 旁，连接 RUN 引脚，即**复位按钮**。使用场景： + - 上传新的 .py 文件后，按一下重启 RP2040 使新代码生效（等同于 `mpremote reset`） + - 舵机行为异常时，按一下重启恢复到初始状态 + - 配合 SW1 进入烧录模式（见下方方式 B） + +操作（macOS / Windows 通用）： + +**方式 A — USB 未连接时：** +1. **按住 SW1（Boot Switch）** → 通过 RP2040 的 USB-C 口连接电脑 → 松开 SW1 +2. 电脑上出现 `RPI-RP2` U 盘（macOS 在 Finder，Windows 在资源管理器） +3. 将 `.uf2` 文件拖入 U 盘 +4. RP2040 自动重启 + +**方式 B — USB 已连接时（更常用）：** +1. **按住 SW1（Boot Switch）不松手** +2. **按一下 Run Switch（复位）然后松开**（只按一下，不用保持） +3. **松开 SW1** — 整个过程约 1-2 秒，关键是按 Run Switch 时 SW1 必须处于按下状态 +4. 电脑上出现 `RPI-RP2` U 盘 +5. 将 `.uf2` 文件拖入 U 盘 +6. RP2040 自动重启 + +> **原理**：Run Switch 让 RP2040 复位重启，重启瞬间 SW1 被按着 → RP2040 检测到 BOOTSEL 为低电平 → 进入 UF2 bootloader 模式。 +> +> **提示**：如果 RP2040 已经刷过 MicroPython 且只需要更新 .py 文件，不需要重新进入 bootloader 模式，直接用 `mpremote` 上传即可（见第 2 步）。 + +**第 2 步：上传 .py 文件** + +> **注意**：`CogletESP` 分支有 4 个文件（含 `coms.py`），`camera-version` 分支有 3 个文件（无 `coms.py`）。请使用对应分支的文件。 + +#### macOS + +方式 A — mpremote（推荐）： + +```bash +pip install mpremote +cd CogletESP/RP2040 + +mpremote cp main.py :main.py +mpremote cp servoclass.py :servoclass.py +mpremote cp coms.py :coms.py # 仅 CogletESP 分支需要 +mpremote cp animation.py :animation.py + +mpremote reset # 重启运行 +mpremote repl # 查看串口输出（调试用） +``` + +mpremote 本质就是一个串口文件传输工具，把 .py 文件拷贝到 Pico 的文件系统里。Pico 上电后自动运行 main.py，不需要搭建任何 MicroPython 编译环境。 + +方式 B — Thonny（图形界面）： + +```bash +brew install --cask thonny +``` + +1. 打开 Thonny → 右下角选择 `MicroPython (Raspberry Pi Pico)` +2. 逐个打开 .py 文件 → 另存为 → 选择 `Raspberry Pi Pico` → 保存同名 +3. 保存完成后 Pico 重启自动运行 `main.py` + +#### Windows + +方式 A — mpremote（推荐）： + +```powershell +# 1. 安装 mpremote（需要 Python 3.x，从 python.org 下载安装，勾选 Add to PATH） +pip install mpremote + +# 2. 进入 RP2040 目录 +cd CogletESP\RP2040 + +# 3. 上传文件（Pico 连接 USB 后 Windows 会分配 COM 口，mpremote 自动识别） +mpremote cp main.py :main.py +mpremote cp servoclass.py :servoclass.py +mpremote cp coms.py :coms.py # 仅 CogletESP 分支需要 +mpremote cp animation.py :animation.py + +mpremote reset # 重启运行 +mpremote repl # 查看串口输出（调试用，Ctrl+] 退出） +``` + +> **Windows 注意事项**： +> - 如果 `mpremote` 找不到设备，打开**设备管理器 → 端口(COM 和 LPT)**，确认 Pico 对应的 COM 口（如 COM3），然后用 `mpremote connect COM3 cp main.py :main.py` 指定端口 +> - 如果设备管理器中看不到 COM 口，需要安装驱动：MicroPython 固件刷入后 Pico 通常免驱，若未识别可尝试拔插 USB 或换 USB 口 + +方式 B — Thonny（图形界面，适合新手）： + +1. 下载安装 Thonny：https://thonny.org/ （选择 Windows 版本） +2. 打开 Thonny → 右下角选择 `MicroPython (Raspberry Pi Pico)` +3. 逐个打开 .py 文件 → 文件 → 另存为 → 选择 `Raspberry Pi Pico` → 保存同名 +4. 保存完成后 Pico 重启自动运行 `main.py` + +### 4.7 配置 Grove Vision AI V2（人脸追踪） + +**不需要手动刷底层固件**，但需要部署一个人脸检测模型。 + +**操作步骤：** + +1. 用 USB-C 线将 Grove Vision AI V2 连接到电脑 +2. 用 Chrome 浏览器访问 **SenseCraft AI 平台**：https://sensecraft.seeed.cc/ +3. 模型下载地址：https://sensecraft.seeed.cc/ai/model/deploy?id=60094&uniform_type=36&name=%E4%BA%BA%E8%84%B8%E6%A3%80%E6%B5%8B&adapteds=11&adapteds=12&adapteds=14&task=1 +4. 选择一个**人脸检测模型**（推荐 YOLO Face Detection，输入尺寸 **224x224**） +5. 点击部署，等待上传完成 +6. 断开 USB，将模块接回 RP2040 的 UART + +**为什么是 224x224？** 代码中 `pixel_centre = 112` 即 224/2，表明模型输入分辨率为 224x224。 + +**工作原理：** + +``` +RP2040 发送 AT+INVOKE=1,0,1 (SSCMA AT 协议) + ↓ +Grove Vision AI V2 运行人脸检测推理 + ↓ +返回 JSON，包含 "boxes" 字段 → [x, y, w, h, ...] + ↓ +RP2040 计算人脸偏移量：x_offset = boxes[0] - 112, y_offset = boxes[1] - 112 + ↓ +驱动舵机追踪： + - EYL/EYR（眼球左右） → 跟随 x_offset + - PIT（头部俯仰） → 跟随 y_offset + - YAW（底座旋转） → 眼球偏离中心 >20° 时延迟跟随 + ↓ +deadzone = 20 像素（避免微小抖动触发舵机） +``` + +### 4.8 硬件连接 + +``` +┌─────────────┐ UART 115200 ┌──────────────┐ UART 921600 ┌───────────────────┐ +│ ESP32-S3 │◄──────────────────►│ RP2040 │◄──────────────────►│ Grove Vision AI V2│ +│ │ TX→RX(GP5) │ (Pico) │ TX(GP0)→RX │ │ +│ AI/语音 │ RX←TX(GP4) │ 舵机控制 │ RX(GP1)←TX │ 人脸检测 │ +│ WiFi/网络 │ GND──GND │ 动画状态机 │ │ YOLO 模型 │ +└─────────────┘ └──────────────┘ └───────────────────┘ + │ + PWM 引脚 x9 + │ + ┌──────┴──────┐ + │ 9 个舵机 │ + │ EYL/EYR/PIT │ + │ YAW/MOU/LID │ + │ + 耳朵等 │ + └─────────────┘ +``` + +ESP32 通过 UART 发送状态字符串给 RP2040： +`neutral` / `idle` / `listening` / `speaking` / `thinking` / `happy` +→ RP2040 根据状态执行对应舵机动画 + +### 4.9 舵机选型说明（重要） + +> **实测踩坑记录**：使用 MG90S 360° 连续旋转版舵机后，耳朵舵机转到目标角度后无法停止，持续堵转导致齿轮发出刺耳声音、舵机严重发烫，有烧毁风险。更换为 180° 标准舵机后问题解决。 + +#### 必须使用 180° 标准舵机的原因 + +Coglet 的 9 个舵机全部采用**角度控制**模式（代码中 `set_target(角度)` 命令舵机转到指定角度并保持），这只有 180° 标准舵机才能实现。 + +**180° 标准舵机 vs 360° 连续旋转舵机的核心区别：** + +| 对比项 | 180° 标准舵机（如 KPower M0090） | 360° 连续旋转舵机（如 MG90S 360° 改装版） | +|--------|-------------------------------|-------------------------------------| +| **内部结构** | 有电位器（可变电阻），实时反馈当前角度 | 拆除/固定了电位器，失去角度反馈能力 | +| **PWM 信号含义** | 对应**目标角度**（1ms=0°, 1.5ms=90°, 2ms=180°） | 对应**旋转速度和方向**（1.5ms=停止, <1.5ms=反转, >1.5ms=正转） | +| **控制逻辑** | 闭环控制：收到 PWM → 对比目标与当前角度 → 自动转到位停住 | 开环控制：收到 PWM → 按速度持续旋转，永不停止 | +| **能否锁定位置** | 能，到达角度后施力保持 | 不能，停转后无保持力，外力可推动 | +| **旋转范围** | 0°~180° 精确定位 | 360° 无限旋转，无法精确定位 | + +#### 为什么 360° 舵机无法通过代码适配？ + +网上有"定时转动"方案（全速旋转 N 毫秒 → 发停止信号），原理是 `转动时间 = (500ms / 360°) × 目标角度`。但这对 Coglet **完全不可行**： + +1. **误差累积无法修正**：没有位置反馈，每次转动误差 ±5°~10°。Coglet 的动画是高频反复运动（说话时嘴巴每 250ms 开合一次、耳朵每秒摆动），运行几分钟后累积误差可达几百度，位置完全跑飞 +2. **个体差异大**：每台舵机电机特性、齿轮间隙不同，无法统一校准"时间-角度"关系。换一台舵机就要重新标定 +3. **无法保持位置**：代码中头部俯仰、眼球等需要停在某个角度并持续施力保持。360° 舵机停转后没有保持力，手一碰就偏了 +4. **实时性失效**：Coglet 需要实时响应 AI 状态变化动态调整角度，定时方案无法做到实时同步 +5. **负载和温度影响转速**：电压波动、温度变化都会改变旋转速度，使时间估算更不准确 + +#### 推荐舵机型号 + +| 型号 | 说明 | 参考价格 | +|------|------|---------| +| **KPower M0090**（官方推荐） | 9g 模拟金属齿轮 180° 舵机 | ~¥8-12/个 | +| **MG90S 180° 金属齿轮版** | 注意必须是 **180° 版**，不带 "continuous/360" 字样 | ~¥5-8/个 | + +> **购买注意**：MG90S 有 180° 和 360° 两个版本，外观完全一样。购买时务必确认商品标题或参数中标注 "180°"，避免买到 360° 连续旋转版。 + +#### 9 个舵机角度范围详解 + +代码中所有舵机的 PWM 映射为 0°~180°（脉宽 500μs~2500μs），各舵机通过 `min_angle` / `max_angle` 限定实际运动范围（源码：`animation.py` 第 14-23 行）： + +| 舵机代号 | 功能 | GPIO 引脚 | 角度范围 | 最大跨度 | 运动说明 | +|---------|------|----------|---------|---------|---------| +| **YAW** | 底座旋转 | GP6 | 10°~170° | 160° | 头部左右转动，人脸追踪时由 Grove Vision AI V2 驱动 | +| **ROL** | 颈部侧倾 | GP7 | 30°~120° | 90° | 头部左右歪头，happy 状态下 70°↔110° 摆动 | +| **PIT** | 头部俯仰 | GP8 | 1°~80° | 79° | 头部上下点头，thinking 状态下 50°↔80° 摆动 | +| **MOU** | 嘴巴开合 | GP19 | 5°~150° | 145° | speaking 时 70°↔130° 每 250ms 切换（张嘴/闭嘴） | +| **EYL** | 左眼球 | GP12 | 30°~150° | 120° | 左右看，人脸追踪时跟随 x 偏移量 | +| **EYR** | 右眼球 | GP13 | 30°~150° | 120° | 与 EYL 同步运动 | +| **LID** | 眼睑 | GP14 | 30°~160° | 130° | 30°=闭眼，110°~160°=睁眼，随机眨眼动画 | +| **EAL** | 左耳 | GP15 | 60°~150° | 90° | happy 状态下 100°↔160° 摆动 | +| **EAR** | 右耳 | GP16 | 30°~120° | 90° | happy 状态下 60°↔120° 摆动 | + +> **注意**：以上角度范围是代码中的软件限位，基于官方 3D 打印件和 KPower M0090 舵机校准。如果使用其他舵机或自制外壳，可能需要调整 `animation.py` 中的 `min_angle` / `max_angle` 避免堵转。 + +> **MOU 引脚差异**：`CogletESP` 分支 MOU 使用 **GP19**，`camera-version` 分支 MOU 使用 **GP9**。请根据实际 PCB 版本确认。 + +#### 校准模式使用方法 + +CogNog V1.0 PCB 上有一个 **SW11（Calibration Switch）** 拨动开关，连接 RP2040 的 GPIO20。代码中 GPIO20 配置了内部上拉电阻： + +```python +mode = Pin(20, Pin.IN, Pin.PULL_UP) +is_calibrating = (mode.value() == 1) # 高电平 = 校准模式 +``` + +**SW11 逻辑：** + +| SW11 状态 | GPIO20 电平 | 模式 | 表现 | +|----------|-----------|------|------| +| 断开（GPIO20 悬空） | 高（内部上拉到 1） | **校准模式** | 所有舵机归 90° 中位，LED 闪烁 | +| 接通（GPIO20 接 GND） | 低 | **正常运行模式** | 响应 ESP32 状态指令，执行动画 | + +> **提示**：如果不确定 SW11 哪个位置对应哪种模式，两个位置都试一下，**LED 闪烁的那个就是校准模式**。 + +#### 校准与组装流程 + +**前提**：RP2040 已刷入 MicroPython 固件并上传 .py 文件。 + +``` +第 1 步：进入校准模式 + └→ 将 SW11 拨到校准位置（LED 闪烁） + +第 2 步：通电 + └→ 给 RP2040 和舵机供电 + └→ 所有 9 个舵机自动转到 90° 中位（staggered startup，逐个上电避免电流冲击） + +第 3 步：安装舵机臂 + └→ 在 90° 中位状态下，将舵机臂安装到需要的朝向 + └→ 拧紧舵机臂固定螺丝 + └→ ⚠️ 关键：必须在通电校准状态下安装，否则角度对不上 + +第 4 步：组装机械结构 + └→ 将舵机装入 3D 打印外壳 + └→ 连接所有机械连杆 + +第 5 步：验证 + └→ 将 SW11 拨回正常运行模式 + └→ 观察舵机是否能正常运动，无堵转 + └→ 如有堵转，调整 animation.py 中对应舵机的 min_angle / max_angle + +第 6 步：连接 ESP32 + └→ 接上 ESP32 UART（TX→GP5, RX→GP4） + └→ ESP32 发送状态指令，舵机开始响应 AI 对话动画 +``` + +> **校准模式不需要断开 ESP32**：校准模式在主循环中每帧都强制覆盖舵机状态（`main.py` 第 153-155 行），即使 ESP32 发送了指令也会被忽略。 + +### 4.10 camera-version 的代价与限制 + +| 项目 | 说明 | +|------|------| +| **LCD 屏被禁用** | 摄像头占用了原 LCD 引脚，代码用 DummyDisplay 空实现替代 | +| **音频引脚全部重映射** | MIC 从 GPIO 1/2/42 移到 4/5/6，SPK 从 GPIO 39/40/41 移到 7/15/16 | +| **内存压力** | 摄像头 + PSRAM 同时运行可能偶发内存不足（作者提到 "appears to run out of memory sometimes"） | +| **摄像头画面翻转** | 已通过代码设置 `SetHMirror(true)` + `SetVFlip(true)` 修正 | + +--- + +## 五、无摄像头版本搭建流程（CogletESP 分支） + +> 如果不使用 ESP32 OV3660 摄像头，想保留 LCD 显示，使用此方案。 + +### 5.1 代码下载 + +```bash +git clone -b CogletESP https://github.com/will-cogley/CogletESP.git +git clone https://github.com/will-cogley/Coglet.git +``` + +### 5.2 ESP32 编译烧录 + +与摄像头版本相同（参见 4.5），但 menuconfig 中的板级配置可能不同，PCB **无需飞线**。 + +### 5.3 RP2040 烧录 + +MicroPython 固件刷入方式与摄像头版本相同（参见 4.6），但 **RP2040 代码两个分支不同**： +- `CogletESP` 分支有 **4 个文件**：`main.py`、`servoclass.py`、`coms.py`、`animation.py` +- `camera-version` 分支只有 **3 个文件**（无 `coms.py`，UART 通信集成在 `main.py` 中） + +请使用对应分支的 RP2040 目录文件上传。 + +### 5.4 Grove Vision AI V2 + +与摄像头版本完全相同（参见 4.7），Grove Vision AI V2 的人脸追踪功能由 RP2040 端控制，与 ESP32 分支选择无关。 + +--- + +## 六、常见问题 + +| 问题 | 解决方案 | +|------|---------| +| Python 环境冲突 | `idf.py fullclean` 后重新编译 | +| Bootloader CMake 缓存不匹配 | `rm -rf build/bootloader build/bootloader-prefix` | +| 找不到串口设备 | 安装 CP2102/CH340 驱动，检查 USB 线是否支持数据传输 | +| menuconfig 中找不到板级配置 | 确认在正确的分支（`camera-version` 或 `CogletESP`） | +| 摄像头不工作 | 确认已完成 3 根飞线（35→14, 36→41, 37→42）并使用 `camera-version` 分支 | +| 偶发内存不足 | camera-version 已知问题，摄像头 + PSRAM 同时运行时可能出现 | +| Grove Vision AI V2 无响应 | 确认已通过 SenseCraft 部署人脸检测模型，UART 波特率 921600 | +| 舵机不动 | 检查 RP2040 是否正确上传 .py 文件（CogletESP 分支 4 个 / camera-version 分支 3 个），UART 连接是否正常 | +| 舵机堵转、发烫、齿轮刺耳声 | **使用了 360° 连续旋转舵机**，必须更换为 180° 标准舵机（详见 4.9 舵机选型说明） | +| 舵机持续朝一个方向旋转不停 | 同上，360° 舵机收到非 90° 信号会持续旋转。180° 舵机会转到目标角度后自动停住 | + +--- + +## 七、参考资源 + +| 资源 | 地址 | +|------|------| +| Coglet GitHub 主仓库 | https://github.com/will-cogley/Coglet | +| CogletESP 固件仓库 | https://github.com/will-cogley/CogletESP | +| 小智 ESP32 原版 | https://github.com/78/xiaozhi-esp32 | +| 眼球机构参考 | https://github.com/will-cogley/EyeMech_Epsilon | +| Coglet 组装视频 | https://www.youtube.com/watch?v=-7I-jFSNP2E | +| MicroPython 固件下载 | https://micropython.org/download/RPI_PICO/ | +| ESP-IDF 官方文档 | https://docs.espressif.com/projects/esp-idf/zh_CN/v5.4.2/ | +| MicroPython 官方文档 | https://docs.micropython.org/en/latest/ | +| mpremote 工具文档 | https://docs.micropython.org/en/latest/reference/mpremote.html | +| SenseCraft AI 平台（Grove Vision AI V2 模型部署） | https://sensecraft.seeed.cc/ | +| Grove Vision AI V2 Wiki | https://wiki.seeedstudio.com/grove_vision_ai_v2/ | diff --git a/LICENSE b/LICENSE new file mode 100644 index 0000000..e90b554 --- /dev/null +++ b/LICENSE @@ -0,0 +1,22 @@ +MIT License + +Copyright (c) 2025 Shenzhen Xinzhi Future Technology Co., Ltd. +Copyright (c) 2025 Project Contributors + +Permission is hereby granted, free of charge, to any person obtaining a copy +of this software and associated documentation files (the "Software"), to deal +in the Software without restriction, including without limitation the rights +to use, copy, modify, merge, publish, distribute, sublicense, and/or sell +copies of the Software, and to permit persons to whom the Software is +furnished to do so, subject to the following conditions: + +The above copyright notice and this permission notice shall be included in all +copies or substantial portions of the Software. + +THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR +IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, +FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE +AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER +LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, +OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE +SOFTWARE. diff --git a/README.md b/README.md new file mode 100644 index 0000000..9e8c70d --- /dev/null +++ b/README.md @@ -0,0 +1,172 @@ +# An MCP-based Chatbot + +(English | [中文](README_zh.md) | [日本語](README_ja.md)) + +## Introduction + +👉 [Human: Give AI a camera vs AI: Instantly finds out the owner hasn't washed hair for three days【bilibili】](https://www.bilibili.com/video/BV1bpjgzKEhd/) + +👉 [Handcraft your AI girlfriend, beginner's guide【bilibili】](https://www.bilibili.com/video/BV1XnmFYLEJN/) + +As a voice interaction entry, the XiaoZhi AI chatbot leverages the AI capabilities of large models like Qwen / DeepSeek, and achieves multi-terminal control via the MCP protocol. + +Control everything via MCP + +## Version Notes + +The current v2 version is incompatible with the v1 partition table, so it is not possible to upgrade from v1 to v2 via OTA. For partition table details, see [partitions/v2/README.md](partitions/v2/README.md). + +All hardware running v1 can be upgraded to v2 by manually flashing the firmware. + +The stable version of v1 is 1.9.2. You can switch to v1 by running `git checkout v1`. The v1 branch will be maintained until February 2026. + +### Features Implemented + +- Wi-Fi / ML307 Cat.1 4G +- Offline voice wake-up [ESP-SR](https://github.com/espressif/esp-sr) +- Supports two communication protocols ([Websocket](docs/websocket.md) or MQTT+UDP) +- Uses OPUS audio codec +- Voice interaction based on streaming ASR + LLM + TTS architecture +- Speaker recognition, identifies the current speaker [3D Speaker](https://github.com/modelscope/3D-Speaker) +- OLED / LCD display, supports emoji display +- Battery display and power management +- Multi-language support (Chinese, English, Japanese) +- Supports ESP32-C3, ESP32-S3, ESP32-P4 chip platforms +- Device-side MCP for device control (Speaker, LED, Servo, GPIO, etc.) +- Cloud-side MCP to extend large model capabilities (smart home control, PC desktop operation, knowledge search, email, etc.) +- Customizable wake words, fonts, emojis, and chat backgrounds with online web-based editing ([Custom Assets Generator](https://github.com/78/xiaozhi-assets-generator)) + +## Hardware + +### Breadboard DIY Practice + +See the Feishu document tutorial: + +👉 ["XiaoZhi AI Chatbot Encyclopedia"](https://ccnphfhqs21z.feishu.cn/wiki/F5krwD16viZoF0kKkvDcrZNYnhb?from=from_copylink) + +Breadboard demo: + +![Breadboard Demo](docs/v1/wiring2.jpg) + +### Supports 70+ Open Source Hardware (Partial List) + +- LiChuang ESP32-S3 Development Board +- Espressif ESP32-S3-BOX3 +- M5Stack CoreS3 +- M5Stack AtomS3R + Echo Base +- Magic Button 2.4 +- Waveshare ESP32-S3-Touch-AMOLED-1.8 +- LILYGO T-Circle-S3 +- XiaGe Mini C3 +- CuiCan AI Pendant +- WMnologo-Xingzhi-1.54TFT +- SenseCAP Watcher +- ESP-HI Low Cost Robot Dog + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+ +## Software + +### Firmware Flashing + +For beginners, it is recommended to use the firmware that can be flashed without setting up a development environment. + +The firmware connects to the official [xiaozhi.me](https://xiaozhi.me) server by default. Personal users can register an account to use the Qwen real-time model for free. + +👉 [Beginner's Firmware Flashing Guide](https://ccnphfhqs21z.feishu.cn/wiki/Zpz4wXBtdimBrLk25WdcXzxcnNS) + +### Development Environment + +- Cursor or VSCode +- Install ESP-IDF plugin, select SDK version 5.4 or above +- Linux is better than Windows for faster compilation and fewer driver issues +- This project uses Google C++ code style, please ensure compliance when submitting code + +### Developer Documentation + +- [Custom Board Guide](docs/custom-board.md) - Learn how to create custom boards for XiaoZhi AI +- [MCP Protocol IoT Control Usage](docs/mcp-usage.md) - Learn how to control IoT devices via MCP protocol +- [MCP Protocol Interaction Flow](docs/mcp-protocol.md) - Device-side MCP protocol implementation +- [MQTT + UDP Hybrid Communication Protocol Document](docs/mqtt-udp.md) +- [A detailed WebSocket communication protocol document](docs/websocket.md) + +## Large Model Configuration + +If you already have a XiaoZhi AI chatbot device and have connected to the official server, you can log in to the [xiaozhi.me](https://xiaozhi.me) console for configuration. + +👉 [Backend Operation Video Tutorial (Old Interface)](https://www.bilibili.com/video/BV1jUCUY2EKM/) + +## Related Open Source Projects + +For server deployment on personal computers, refer to the following open-source projects: + +- [xinnan-tech/xiaozhi-esp32-server](https://github.com/xinnan-tech/xiaozhi-esp32-server) Python server +- [joey-zhou/xiaozhi-esp32-server-java](https://github.com/joey-zhou/xiaozhi-esp32-server-java) Java server +- [AnimeAIChat/xiaozhi-server-go](https://github.com/AnimeAIChat/xiaozhi-server-go) Golang server + +Other client projects using the XiaoZhi communication protocol: + +- [huangjunsen0406/py-xiaozhi](https://github.com/huangjunsen0406/py-xiaozhi) Python client +- [TOM88812/xiaozhi-android-client](https://github.com/TOM88812/xiaozhi-android-client) Android client +- [100askTeam/xiaozhi-linux](http://github.com/100askTeam/xiaozhi-linux) Linux client by 100ask +- [78/xiaozhi-sf32](https://github.com/78/xiaozhi-sf32) Bluetooth chip firmware by Sichuan +- [QuecPython/solution-xiaozhiAI](https://github.com/QuecPython/solution-xiaozhiAI) QuecPython firmware by Quectel + +Custom Assets Tools: + +- [78/xiaozhi-assets-generator](https://github.com/78/xiaozhi-assets-generator) Custom Assets Generator (Wake words, fonts, emojis, backgrounds) + +## About the Project + +This is an open-source ESP32 project, released under the MIT license, allowing anyone to use it for free, including for commercial purposes. + +We hope this project helps everyone understand AI hardware development and apply rapidly evolving large language models to real hardware devices. + +If you have any ideas or suggestions, please feel free to raise Issues or join the QQ group: 1011329060 + +## Star History + + + + + + Star History Chart + + diff --git a/README_ja.md b/README_ja.md new file mode 100644 index 0000000..ea7f70f --- /dev/null +++ b/README_ja.md @@ -0,0 +1,168 @@ +# MCP ベースのチャットボット + +（日本語 | [中文](README_zh.md) | [English](README.md)） + +## はじめに + +👉 [人間：AIにカメラを装着 vs AI：その場で飼い主が3日間髪を洗っていないことを発見【bilibili】](https://www.bilibili.com/video/BV1bpjgzKEhd/) + +👉 [手作りでAIガールフレンドを作る、初心者入門チュートリアル【bilibili】](https://www.bilibili.com/video/BV1XnmFYLEJN/) + +シャオジーAIチャットボットは音声インタラクションの入口として、Qwen / DeepSeekなどの大規模モデルのAI能力を活用し、MCPプロトコルを通じてマルチエンド制御を実現します。 + +MCPであらゆるものを制御 + +## バージョンノート + +現在のv2バージョンはv1パーティションテーブルと互換性がないため、v1からv2へOTAでアップグレードすることはできません。パーティションテーブルの詳細については、[partitions/v2/README.md](partitions/v2/README.md)をご参照ください。 + +v1を実行しているすべてのハードウェアは、ファームウェアを手動で書き込むことでv2にアップグレードできます。 + +v1の安定版は1.9.2です。`git checkout v1`でv1に切り替えることができます。v1ブランチは2026年2月まで継続的にメンテナンスされます。 + +### 実装済み機能 + +- Wi-Fi / ML307 Cat.1 4G +- オフライン音声ウェイクアップ [ESP-SR](https://github.com/espressif/esp-sr) +- 2種類の通信プロトコルに対応（[Websocket](docs/websocket.md) または MQTT+UDP） +- OPUSオーディオコーデックを採用 +- ストリーミングASR + LLM + TTSアーキテクチャに基づく音声インタラクション +- 話者認識、現在話している人を識別 [3D Speaker](https://github.com/modelscope/3D-Speaker) +- OLED / LCDディスプレイ、表情表示対応 +- バッテリー表示と電源管理 +- 多言語対応（中国語、英語、日本語） +- ESP32-C3、ESP32-S3、ESP32-P4チッププラットフォーム対応 +- デバイス側MCPによるデバイス制御（音量・明るさ調整、アクション制御など） +- クラウド側MCPで大規模モデル能力を拡張（スマートホーム制御、PCデスクトップ操作、知識検索、メール送受信など） +- カスタマイズ可能なウェイクワード、フォント、絵文字、チャット背景、オンラインWeb編集に対応 ([カスタムアセットジェネレーター](https://github.com/78/xiaozhi-assets-generator)) + +## ハードウェア + +### ブレッドボード手作り実践 + +Feishuドキュメントチュートリアルをご覧ください： + +👉 [「シャオジーAIチャットボット百科事典」](https://ccnphfhqs21z.feishu.cn/wiki/F5krwD16viZoF0kKkvDcrZNYnhb?from=from_copylink) + +ブレッドボードのデモ： + +![ブレッドボードデモ](docs/v1/wiring2.jpg) + +### 70種類以上のオープンソースハードウェアに対応（一部のみ表示） + +- 立創・実戦派 ESP32-S3 開発ボード +- 楽鑫 ESP32-S3-BOX3 +- M5Stack CoreS3 +- M5Stack AtomS3R + Echo Base +- マジックボタン2.4 +- 微雪電子 ESP32-S3-Touch-AMOLED-1.8 +- LILYGO T-Circle-S3 +- エビ兄さん Mini C3 +- CuiCan AIペンダント +- 無名科技Nologo-星智-1.54TFT +- SenseCAP Watcher +- ESP-HI 超低コストロボット犬 + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+ +## ソフトウェア + +### ファームウェア書き込み + +初心者の方は、まず開発環境を構築せずに書き込み可能なファームウェアを使用することをおすすめします。 + +ファームウェアはデフォルトで公式 [xiaozhi.me](https://xiaozhi.me) サーバーに接続します。個人ユーザーはアカウント登録でQwenリアルタイムモデルを無料で利用できます。 + +👉 [初心者向けファームウェア書き込みガイド](https://ccnphfhqs21z.feishu.cn/wiki/Zpz4wXBtdimBrLk25WdcXzxcnNS) + +### 開発環境 + +- Cursor または VSCode +- ESP-IDFプラグインをインストールし、SDKバージョン5.4以上を選択 +- LinuxはWindowsよりも優れており、コンパイルが速く、ドライバの問題も少ない +- 本プロジェクトはGoogle C++コードスタイルを採用、コード提出時は準拠を確認してください + +### 開発者ドキュメント + +- [カスタム開発ボードガイド](docs/custom-board.md) - シャオジーAI用のカスタム開発ボード作成方法 +- [MCPプロトコルIoT制御使用法](docs/mcp-usage.md) - MCPプロトコルでIoTデバイスを制御する方法 +- [MCPプロトコルインタラクションフロー](docs/mcp-protocol.md) - デバイス側MCPプロトコルの実装方法 +- [MQTT + UDP ハイブリッド通信プロトコルドキュメント](docs/mqtt-udp.md) +- [詳細なWebSocket通信プロトコルドキュメント](docs/websocket.md) + +## 大規模モデル設定 + +すでにシャオジーAIチャットボットデバイスをお持ちで、公式サーバーに接続済みの場合は、[xiaozhi.me](https://xiaozhi.me) コンソールで設定できます。 + +👉 [バックエンド操作ビデオチュートリアル（旧インターフェース）](https://www.bilibili.com/video/BV1jUCUY2EKM/) + +## 関連オープンソースプロジェクト + +個人PCでサーバーをデプロイする場合は、以下のオープンソースプロジェクトを参照してください： + +- [xinnan-tech/xiaozhi-esp32-server](https://github.com/xinnan-tech/xiaozhi-esp32-server) Pythonサーバー +- [joey-zhou/xiaozhi-esp32-server-java](https://github.com/joey-zhou/xiaozhi-esp32-server-java) Javaサーバー +- [AnimeAIChat/xiaozhi-server-go](https://github.com/AnimeAIChat/xiaozhi-server-go) Golangサーバー + +シャオジー通信プロトコルを利用した他のクライアントプロジェクト： + +- [huangjunsen0406/py-xiaozhi](https://github.com/huangjunsen0406/py-xiaozhi) Pythonクライアント +- [TOM88812/xiaozhi-android-client](https://github.com/TOM88812/xiaozhi-android-client) Androidクライアント +- [100askTeam/xiaozhi-linux](http://github.com/100askTeam/xiaozhi-linux) 百問科技提供のLinuxクライアント +- [78/xiaozhi-sf32](https://github.com/78/xiaozhi-sf32) 思澈科技のBluetoothチップファームウェア +- [QuecPython/solution-xiaozhiAI](https://github.com/QuecPython/solution-xiaozhiAI) 移遠提供のQuecPythonファームウェア + +## プロジェクトについて + +これはエビ兄さんがオープンソースで公開しているESP32プロジェクトで、MITライセンスのもと、誰でも無料で、商用利用も可能です。 + +このプロジェクトを通じて、AIハードウェア開発を理解し、急速に進化する大規模言語モデルを実際のハードウェアデバイスに応用できるようになることを目指しています。 + +ご意見やご提案があれば、いつでもIssueを提出するか、QQグループ：1011329060 にご参加ください。 + +## スター履歴 + + + + + + Star History Chart + + diff --git a/README_zh.md b/README_zh.md new file mode 100644 index 0000000..e7ad1fa --- /dev/null +++ b/README_zh.md @@ -0,0 +1,168 @@ +# An MCP-based Chatbot + +（中文 | [English](README.md) | [日本語](README_ja.md)） + +## 介绍 + +👉 [人类：给 AI 装摄像头 vs AI：当场发现主人三天没洗头【bilibili】](https://www.bilibili.com/video/BV1bpjgzKEhd/) + +👉 [手工打造你的 AI 女友，新手入门教程【bilibili】](https://www.bilibili.com/video/BV1XnmFYLEJN/) + +小智 AI 聊天机器人作为一个语音交互入口，利用 Qwen / DeepSeek 等大模型的 AI 能力，通过 MCP 协议实现多端控制。 + +通过MCP控制万物 + +### 版本说明 + +当前 v2 版本与 v1 版本分区表不兼容，所以无法从 v1 版本通过 OTA 升级到 v2 版本。分区表说明参见 [partitions/v2/README.md](partitions/v2/README.md)。 + +使用 v1 版本的所有硬件，可以通过手动烧录固件来升级到 v2 版本。 + +v1 的稳定版本为 1.9.2，可以通过 `git checkout v1` 来切换到 v1 版本，该分支会持续维护到 2026 年 2 月。 + +### 已实现功能 + +- Wi-Fi / ML307 Cat.1 4G +- 离线语音唤醒 [ESP-SR](https://github.com/espressif/esp-sr) +- 支持两种通信协议（[Websocket](docs/websocket.md) 或 MQTT+UDP） +- 采用 OPUS 音频编解码 +- 基于流式 ASR + LLM + TTS 架构的语音交互 +- 声纹识别，识别当前说话人的身份 [3D Speaker](https://github.com/modelscope/3D-Speaker) +- OLED / LCD 显示屏，支持表情显示 +- 电量显示与电源管理 +- 支持多语言（中文、英文、日文） +- 支持 ESP32-C3、ESP32-S3、ESP32-P4 芯片平台 +- 通过设备端 MCP 实现设备控制（音量、灯光、电机、GPIO 等） +- 通过云端 MCP 扩展大模型能力（智能家居控制、PC桌面操作、知识搜索、邮件收发等） +- 自定义唤醒词、字体、表情与聊天背景，支持网页端在线修改 ([自定义Assets生成器](https://github.com/78/xiaozhi-assets-generator)) + +## 硬件 + +### 面包板手工制作实践 + +详见飞书文档教程： + +👉 [《小智 AI 聊天机器人百科全书》](https://ccnphfhqs21z.feishu.cn/wiki/F5krwD16viZoF0kKkvDcrZNYnhb?from=from_copylink) + +面包板效果图如下： + +![面包板效果图](docs/v1/wiring2.jpg) + +### 支持 70 多个开源硬件（仅展示部分） + +- 立创·实战派 ESP32-S3 开发板 +- 乐鑫 ESP32-S3-BOX3 +- M5Stack CoreS3 +- M5Stack AtomS3R + Echo Base +- 神奇按钮 2.4 +- 微雪电子 ESP32-S3-Touch-AMOLED-1.8 +- LILYGO T-Circle-S3 +- 虾哥 Mini C3 +- 璀璨·AI 吊坠 +- 无名科技 Nologo-星智-1.54TFT +- SenseCAP Watcher +- ESP-HI 超低成本机器狗 + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+ +## 软件 + +### 固件烧录 + +新手第一次操作建议先不要搭建开发环境，直接使用免开发环境烧录的固件。 + +固件默认接入 [xiaozhi.me](https://xiaozhi.me) 官方服务器，个人用户注册账号可以免费使用 Qwen 实时模型。 + +👉 [新手烧录固件教程](https://ccnphfhqs21z.feishu.cn/wiki/Zpz4wXBtdimBrLk25WdcXzxcnNS) + +### 开发环境 + +- Cursor 或 VSCode +- 安装 ESP-IDF 插件，选择 SDK 版本 5.4 或以上 +- Linux 比 Windows 更好，编译速度快，也免去驱动问题的困扰 +- 本项目使用 Google C++ 代码风格，提交代码时请确保符合规范 + +### 开发者文档 + +- [自定义开发板指南](docs/custom-board.md) - 学习如何为小智 AI 创建自定义开发板 +- [MCP 协议物联网控制用法说明](docs/mcp-usage.md) - 了解如何通过 MCP 协议控制物联网设备 +- [MCP 协议交互流程](docs/mcp-protocol.md) - 设备端 MCP 协议的实现方式 +- [MQTT + UDP 混合通信协议文档](docs/mqtt-udp.md) +- [一份详细的 WebSocket 通信协议文档](docs/websocket.md) + +## 大模型配置 + +如果你已经拥有一个小智 AI 聊天机器人设备，并且已接入官方服务器，可以登录 [xiaozhi.me](https://xiaozhi.me) 控制台进行配置。 + +👉 [后台操作视频教程（旧版界面）](https://www.bilibili.com/video/BV1jUCUY2EKM/) + +## 相关开源项目 + +在个人电脑上部署服务器，可以参考以下第三方开源的项目： + +- [xinnan-tech/xiaozhi-esp32-server](https://github.com/xinnan-tech/xiaozhi-esp32-server) Python 服务器 +- [joey-zhou/xiaozhi-esp32-server-java](https://github.com/joey-zhou/xiaozhi-esp32-server-java) Java 服务器 +- [AnimeAIChat/xiaozhi-server-go](https://github.com/AnimeAIChat/xiaozhi-server-go) Golang 服务器 + +使用小智通信协议的第三方客户端项目： + +- [huangjunsen0406/py-xiaozhi](https://github.com/huangjunsen0406/py-xiaozhi) Python 客户端 +- [TOM88812/xiaozhi-android-client](https://github.com/TOM88812/xiaozhi-android-client) Android 客户端 +- [100askTeam/xiaozhi-linux](http://github.com/100askTeam/xiaozhi-linux) 百问科技提供的 Linux 客户端 +- [78/xiaozhi-sf32](https://github.com/78/xiaozhi-sf32) 思澈科技的蓝牙芯片固件 +- [QuecPython/solution-xiaozhiAI](https://github.com/QuecPython/solution-xiaozhiAI) 移远提供的 QuecPython 固件 + +## 关于项目 + +这是一个由虾哥开源的 ESP32 项目，以 MIT 许可证发布，允许任何人免费使用，修改或用于商业用途。 + +我们希望通过这个项目，能够帮助大家了解 AI 硬件开发，将当下飞速发展的大语言模型应用到实际的硬件设备中。 + +如果你有任何想法或建议，请随时提出 Issues 或加入 QQ 群：1011329060 + +## Star History + + + + + + Star History Chart + + diff --git a/RP2040/Backup/animation.py b/RP2040/Backup/animation.py new file mode 100644 index 0000000..ad8c97a --- /dev/null +++ b/RP2040/Backup/animation.py @@ -0,0 +1,286 @@ +from servoclass import Servo +import time + +current_pose = "pose_base" +current_state = "state_startup" +previous_state = None +animation_bool_a = False +animation_bool_b = False +last_toggle_a = time.ticks_ms() +last_toggle_b = time.ticks_ms() +new_state_flag = False + + +servos = { + "YAW": Servo(pin_num=6, max_speed=400, max_accel=100, min_angle=10, max_angle=170), #Base Yaw Rotation + "ROL": Servo(pin_num=7, max_speed=600, max_accel=400, min_angle=30, max_angle=120), #Neck Roll + "PIT": Servo(pin_num=8, max_speed=600, max_accel=400, min_angle=1, max_angle=80), #Neck Pitch + "MOU": Servo(pin_num=19, max_speed=100000, max_accel=3500, min_angle=5, max_angle=150), #Mouth + "EYL": Servo(pin_num=12, max_speed=200, max_accel=500, min_angle=30, max_angle=150), #Left Eyeball + "EYR": Servo(pin_num=13, max_speed=250, max_accel=500, min_angle=30, max_angle=150), #Right Eyeball + "LID": Servo(pin_num=14, max_speed=100000, max_accel=7000, min_angle=30, max_angle=160), #EyeLid + "EAL": Servo(pin_num=15, max_speed=250, max_accel=200, min_angle=60, max_angle=150), #Left Ear + "EAR": Servo(pin_num=16, max_speed=500, max_accel=200, min_angle=30, max_angle=120), #Right Ear +} + +def apply_pose(pose): + pose = pose_map.get(pose, pose_calibrate) + for name, angle in pose.items(): + if name in servos: + servos[name].set_target(angle) + +def apply_state(state_name): + state_func = state_map.get(state_name) + if state_func: + state_func() # Call the function + else: + print(f"Unknown state: {state_name}") + +#_________________# Poses (static servo positions used in states) #_________________# + +pose_calibrate = { # Each dictionary key = servo name, value = angle + "YAW": 90, + "ROL": 90, + "PIT": 80, + "MOU": 170, + "LID": 110, + "EYL": 90, + "EYR": 90, + "EAL": 90, + "EAR": 90, +} +pose_sleep = { # Each dictionary key = servo name, value = angle +# "YAW": 88, +# "RWH": 89, + "ROL": 90, + "PIT": 80, + "MOU": 170, + "LID": 30, +# "EYL": 90, +# "EYR": 90, + "EAL": 150, + "EAR": 30, +} + +pose_base = { # Each dictionary key = servo name, value = angle +# "YAW": 88, +# "RWH": 89, + "ROL": 90, +# "PIT": 20, +# "MOU": 170, +# "LID": 130, +# "EYL": 90, +# "EYR": 90, + "EAL": 130, + "EAR": 70, +} + +pose_speaking = { # Each dictionary key = servo name, value = angle +# "YAW": 88, +# "RWH": 89, +# "ROL": 90, +# "PIT": 20, + "MOU": 10, +# "LID": 130, +# "EYL": 90, +# "EYR": 90, + "EAL": 130, + "EAR": 70, +} + +pose_stop_speaking = { # Each dictionary key = servo name, value = angle +# "YAW": 88, +# "RWH": 89, +# "ROL": 90, +# "PIT": 20, + "MOU": 150, +# "LID": 130, +# "EYL": 90, +# "EYR": 90, + "EAL": 130, + "EAR": 70, +} + +pose_thinking_1 = { # Each dictionary key = servo name, value = angle +# "YAW": 90, +# "RWH": 90, + "ROL": 130, +# "PIT": 50, + "MOU": 150, +# "LID": 70, +# "EYL": 90, +# "EYR": 90, + "EAL": 150, + "EAR": 120, +} + +pose_curious_2 = { # Each dictionary key = servo name, value = angle +# "YAW": 90, +# "RWH": 90, + "ROL": 40, +# "PIT": 10, + "MOU": 160, +# "LID": 130, +# "EYL": 90, +# "EYR": 90, + "EAL": 60, + "EAR": 60, +} + +pose_map={ + "pose_calibrate": pose_calibrate, + "pose_base": pose_base, + "pose_thinking_1": pose_thinking_1, + "pose_curious_2": pose_curious_2, + "pose_sleep": pose_sleep, + "pose_speaking": pose_speaking, + "pose_stop_speaking": pose_stop_speaking, +} + +#_________________# #_________________# + +#_________________# States (Mix of poses + animations) #_________________# + + + +def state_startup(): + global new_state_flag + if new_state_flag == True: + apply_pose("pose_calibrate") + new_state_flag = False + +def state_calibrate(): + global new_state_flag +# if new_state_flag == True: + apply_pose("pose_calibrate") + new_state_flag = False + +def state_sleep(): + global new_state_flag + if new_state_flag == True: + apply_pose("pose_sleep") + new_state_flag = False + +def state_speaking(): + global new_state_flag + if new_state_flag == True: + apply_pose("pose_speaking") + new_state_flag = False +# if animation_bool_a == False: +# servos["MOU"].set_target(130) +# if animation_bool_a == True: +# servos["MOU"].set_target(10) +# if time.ticks_diff(now, last_toggle_a) >= 300: +# animation_bool_a = not animation_bool_a # flip the boolean +# last_toggle_a = now + +def state_thinking(): + now=time.ticks_ms() + global animation_bool_a, last_toggle_a, animation_bool_b, last_toggle_b, new_state_flag + if new_state_flag == True: + apply_pose("pose_base") + new_state_flag = False + if animation_bool_a == False: + servos["PIT"].set_target(50) + if animation_bool_a == True: + servos["PIT"].set_target(120) + if time.ticks_diff(now, last_toggle_a) >= 700: + animation_bool_a = not animation_bool_a # flip the boolean + last_toggle_a = now + + +def state_listen(): + global new_state_flag + if new_state_flag == True: + apply_pose("pose_curious_2") + new_state_flag = False + +def state_neutral(): + global new_state_flag + if new_state_flag == True: + apply_pose("pose_stop_speaking") + new_state_flag = False + +def state_happy(): + now=time.ticks_ms() + global animation_bool_a, last_toggle_a, animation_bool_b, last_toggle_b, new_state_flag + if new_state_flag == True: + apply_pose("pose_base") + new_state_flag = False +# print("idle") + if animation_bool_a == False: + servos["ROL"].set_target(70) + if animation_bool_a == True: + servos["ROL"].set_target(110) + if time.ticks_diff(now, last_toggle_a) >= 2000: + animation_bool_a = not animation_bool_a # flip the boolean + last_toggle_a = now + + if animation_bool_b == False: + servos["EAL"].set_target(100) + servos["EAR"].set_target(60) + if animation_bool_b == True: + servos["EAL"].set_target(160) + servos["EAR"].set_target(120) + if time.ticks_diff(now, last_toggle_b) >= 1000: + animation_bool_b = not animation_bool_b # flip the boolean + last_toggle_b = now +# print("Toggled:", animation_bool_a) + +def state_limber_up(): + now=time.ticks_ms() + global animation_bool_a, last_toggle_a, animation_bool_b, last_toggle_b, new_state_flag + if new_state_flag == True: + apply_pose("pose_base") + new_state_flag = False +# print("idle") + if animation_bool_a == False: +# servos["YAW"].set_target(50) + servos["ROL"].set_target(70) + servos["PIT"].set_target(70) + servos["EAL"].set_target(100) + servos["EYL"].set_target(60) + servos["MOU"].set_target(20) + servos["LID"].set_target(20) + servos["EYR"].set_target(60) + servos["EAL"].set_target(60) + servos["EAR"].set_target(60) + if animation_bool_a == True: +# servos["YAW"].set_target(130) + servos["ROL"].set_target(110) + servos["PIT"].set_target(5) + servos["EAL"].set_target(160) + servos["EYL"].set_target(120) + servos["MOU"].set_target(160) + servos["LID"].set_target(160) + servos["EYR"].set_target(120) + servos["EAL"].set_target(120) + servos["EAR"].set_target(120) + if time.ticks_diff(now, last_toggle_a) >= 1000: + animation_bool_a = not animation_bool_a # flip the boolean + last_toggle_a = now + +# Note: system states: +# - idle: sleeping, wakeword not initiated listening mode +# - neutral: between finished speaking and begun listening. potentially use as marker for end of speech +# - listening +# - speaking + +state_map={ + "neutral": state_neutral, + "idle": state_sleep, + "listening": state_listen, + "state_startup": state_startup, + "thinking": state_thinking, + "speaking": state_speaking, + "state_limber_up": state_limber_up, + "happy": state_happy, + "state_calibrate": state_calibrate +} + +#_________________# #_________________# + + + + + diff --git a/RP2040/Backup/coms.py b/RP2040/Backup/coms.py new file mode 100644 index 0000000..3043779 --- /dev/null +++ b/RP2040/Backup/coms.py @@ -0,0 +1,106 @@ +from machine import Pin, UART +import time +import animation # Assuming this handles your state_map + +class Comms: + def __init__(self): + # Hardware Initialization + self.grove = UART(0, baudrate=921600, tx=Pin(0), rx=Pin(1)) + self.esp = UART(1, baudrate=115200, tx=Pin(4), rx=Pin(5)) + + # Constants + self.INVOKE_CMD = b"AT+INVOKE=1,0,1\r" + self.pixel_centre = 112 + self.deadzone = 20 + self.x_adj_factor = 10 + self.y_adj_factor = 10 + self.staticflag = False + + # Buffers and State + self.cbuf = b"" + self.rx_buffer = b"" + self.readflag = True + self.last_boxes = None + + self.grove.write(self.INVOKE_CMD) + + def map_value(self, value, in_min, in_max, out_min, out_max): + return (value - in_min) * (out_max - out_min) / (in_max - in_min) + out_min + + def esp_read(self): + # 1. Read new data if there is any + if self.esp.any(): + self.rx_buffer += self.esp.read() + + # 2. Extract ALL complete lines currently in the buffer + # Notice this is OUTSIDE the `if self.esp.any():` block! + commands = [] + while b"\n" in self.rx_buffer: + line, self.rx_buffer = self.rx_buffer.split(b"\n", 1) + rcvstate = line.decode('utf-8').strip() + + # Add to our list instead of returning immediately + if rcvstate: # Just to ignore empty blank lines + commands.append(rcvstate) + + # Return the list of commands (might be empty, might have 1, might have 3!) + return commands + + def grove_read(self): + # State 1: Requesting data + if self.readflag: + # Flush existing buffer quickly + while self.grove.any(): + self.grove.read() + + self.grove.write(self.INVOKE_CMD) + self.cbuf = b"" + self.readflag = False + return None # Return early, data isn't ready yet + + # State 2: Receiving data + if self.grove.any(): + # PERFORMANCE: Read chunks directly instead of looping char by char + self.cbuf += self.grove.read() + + # Wait until the end of the JSON packet arrives + if b'"resolution"' in self.cbuf: + key = b'"boxes":' + i = self.cbuf.find(key) + + if i != -1: + boxes_part = self.cbuf[i + len(key):] + + # Ensure we have the closing bracket before slicing + end_idx = boxes_part.find(b']') + if end_idx != -1: + boxes_part = boxes_part[:end_idx + 1].strip() + + # Process if we have valid, new box data + if boxes_part != b'[]' and boxes_part != self.last_boxes: + self.staticflag = False + self.last_boxes = boxes_part + boxes_str = boxes_part.decode('utf-8').strip('[]') + + try: + numbers = [int(n) for n in boxes_str.split(',')] + x_offset = numbers[0] - self.pixel_centre + y_offset = numbers[1] - self.pixel_centre + + # Reset for next read + self.cbuf = b"" + self.readflag = True + return x_offset, y_offset + + except ValueError: + # Handle cases where split data isn't a perfect integer + pass + else: + # Reset for next read (static or empty data) + self.cbuf = b"" + self.readflag = True + self.staticflag = True + return None + + return None + diff --git a/RP2040/Backup/main.py b/RP2040/Backup/main.py new file mode 100644 index 0000000..ddf2f8d --- /dev/null +++ b/RP2040/Backup/main.py @@ -0,0 +1,198 @@ +# motion_servo.py (MicroPython for RP2040) +from machine import Pin, PWM, UART +import time, random +import urandom +from servoclass import Servo +import sys, select, uselect +import math +import animation +import coms +from animation import servos + +mode = Pin(20, Pin.IN, Pin.PULL_UP) +LED = Pin(25, Pin.OUT) +yaw_target = 100 +yaw_countdown = yaw_target +LED_oscillator = 25 +LED_countdown = LED_oscillator +blink_time = 500 +blinking = False +speaking_flag = False +speaking_timer = 0 +bool_a = False +last_toggle_a= time.ticks_ms() + +external = coms.Comms() + +# track direction for each servo (1 = going to max, -1 = going to min) +directions = {name: 1 for name in servos.keys()} + +last_time = time.ticks_ms() +last_switch = last_time + +# animation.servos["YAW"].set_target(90) + +on_time = time.ticks_ms() +startup_sleep = True + +def facetrack(): + global yaw_countdown, yaw_target + + # ALWAYS read the sensor to prevent serial buffer overflows! + offset = external.grove_read() + + # Only move the servos if the robot is awake + if animation.current_state != "idle": + eyl = animation.servos["EYL"] + eyr = animation.servos["EYR"] + pit = animation.servos["PIT"] + yaw = animation.servos["YAW"] + + if offset: + dead = external.deadzone + static = external.staticflag + + x0, y0 = offset + x_scale = external.x_adj_factor / 110 + y_scale = external.y_adj_factor / 110 + + if not static: + if abs(x0) > dead: + x = eyl.target + x0 * x_scale + eyl.set_target(x) + eyr.set_target(x) + + if abs(y0) > dead: + y = pit.target + y0 * y_scale + pit.set_target(y) + + if abs(90 - eyl.target) >= 20: + yaw_countdown -= 1 + if yaw_countdown <= 0: + yaw.set_target(90 + ((eyl.target-90)/2)) + yaw_countdown = yaw_target + +# --- STAGGERED STARTUP SEQUENCE --- +time.sleep(0.5) # Allow board power to stabilize after boot + +# Determine the correct initial pose based on the calibration pin +is_calibrating = (mode.value() == 1) +initial_pose_dict = animation.pose_calibrate if is_calibrating else animation.pose_sleep + +print("Initiating staggered servo wakeup...") +for name, servo_obj in animation.servos.items(): + # Fetch the target angle for this specific pose (default to 90 if missing) + start_angle = initial_pose_dict.get(name, 90) + + # Pre-set the internal tracking positions so the servo math doesn't think it's moving from 90 + servo_obj.pos = start_angle + servo_obj.target = start_angle + + # Send the first pulse. If physically elsewhere, it will snap, but ALONE. + servo_obj._write_pwm(start_angle) + + # Stagger the wakeups. Fast if calibrating, slow and gentle if sleeping. + delay_ms = 50 if is_calibrating else 250 + time.sleep_ms(delay_ms) + +# Set initial states to match the startup logic +animation.current_state = "state_calibrate" if is_calibrating else "idle" +animation.previous_state = animation.current_state +print("Startup complete.") +# ---------------------------------- + +# external.grove_invoke() + +FTDebug = False # setting to True isolates the face tracking code + +while True: + # Update time + now = time.ticks_ms() + dt = time.ticks_diff(now, last_time) / 1000.0 + last_time = now + + if FTDebug == False: + # Grab all pending commands from the ESP + incoming_commands = external.esp_read() + for data in incoming_commands: + if data in animation.state_map: + animation.new_state_flag = True + animation.current_state = data + + # 2. Check if the state changed this frame + if animation.current_state != animation.previous_state: + if animation.current_state == "speaking": + speaking_flag = True + elif animation.current_state in ["neutral", "idle", "listening"]: + if speaking_flag: + speaking_flag = False + # Snap the mouth closed when speech ends! + animation.servos["MOU"].set_target(130) + + # 3. Speaking timer / animation + if speaking_flag: + # Set the mouth position based on the current toggle state + if bool_a == False: + animation.servos["MOU"].set_target(130) + elif bool_a == True: + animation.servos["MOU"].set_target(70) + + # Flip the boolean every 250ms to flap the mouth + if time.ticks_diff(now, last_toggle_a) >= 250: + bool_a = not bool_a # flip the boolean + last_toggle_a = now + + + # Blink mode enabler + if not blinking and random.randrange(500) == 0: + blinking = True + blink_counter = blink_time + + + # Calibration mode + if (mode.value() == 1): + animation.current_state = "state_calibrate" + animation.apply_state("state_calibrate") # change this back to calibrate to keep calibration mode/base for testing + LED_countdown -= 1 + if LED_countdown <= 0: + LED.toggle() + LED_countdown = LED_oscillator + else: + if animation.current_state == "idle": + animation.apply_state("idle") + animation.servos["LID"]._write_pwm(30) + else: + if animation.previous_state == "idle": + animation.servos["LID"]._write_pwm(110) + animation.servos["PIT"].set_target(10) + # Blink mode + if blinking and animation.current_state != "idle": + if blink_counter > blink_time - 50: + # closed + animation.servos["LID"]._write_pwm(30) + elif blink_counter > 0: + # reopen + animation.servos["LID"]._write_pwm(110) + blink_counter -= 1 + if blink_counter == 0: + blinking = False + + # Update with whatever state the ESP says + animation.apply_state(animation.current_state) + + animation.previous_state = animation.current_state + else: + animation.servos["LID"]._write_pwm(110) + animation.current_state = "neutral" + + facetrack() + + # Update all servos except eyelids + for name, s in servos.items(): + if name == "LID": + continue + s.update(dt) + + + + diff --git a/RP2040/Backup/servoclass.py b/RP2040/Backup/servoclass.py new file mode 100644 index 0000000..90c66ac --- /dev/null +++ b/RP2040/Backup/servoclass.py @@ -0,0 +1,94 @@ +from machine import Pin, PWM +import time + +class Servo: + def __init__(self, pin_num, max_speed=120.0, max_accel=360.0, min_angle=0.0, max_angle=180.0, enabled=True): + self.pwm = PWM(Pin(pin_num)) + self.pwm.freq(50) + + # motion state + self.pos = 90.0 + self.vel = 0.0 + self.target = 90.0 + + # tuning + self.max_speed = float(max_speed) + self.max_accel = float(max_accel) + + # PERFORMANCE: Precompute inverse of 2*accel to use multiplication instead of division later + self._inv_2_accel = 1.0 / (2.0 * self.max_accel) + + # limits + self.min_angle = float(min_angle) + self.max_angle = float(max_angle) + + # tolerances + self.pos_tolerance = 0.6 + self.vel_tolerance = 1.0 + + # PERFORMANCE: Precompute PWM conversion constants to avoid heavy math in the update loop + # Mapping 0..180 to 500..2500us on a 20000us period, scaled to 65535 + self._pwm_offset = 500.0 * (65535.0 / 20000.0) + self._pwm_slope = (2000.0 / 180.0) * (65535.0 / 20000.0) + + # debug flag + self.enabled = enabled + + # Start limp to prevent power spike on startup + self.pwm.duty_u16(0) + + def set_target(self, angle): + # Inline clamp to save function call overhead + angle = float(angle) + self.target = self.min_angle if angle < self.min_angle else (self.max_angle if angle > self.max_angle else angle) + + def update(self, dt): + if not self.enabled or dt <= 0: + return + + error = self.target - self.pos + dist = abs(error) + + desired_dir = 0.0 if dist < 1e-9 else (1.0 if error > 0 else -1.0) + vel_dir = 0.0 if abs(self.vel) < 1e-9 else (1.0 if self.vel > 0 else -1.0) + + # small-target case + if dist <= self.pos_tolerance and abs(self.vel) <= self.vel_tolerance: + self.pos = self.target + self.vel = 0.0 + self._write_pwm(self.pos) + return + + # braking-first rule + if vel_dir != 0 and desired_dir != 0 and vel_dir != desired_dir: + accel = -vel_dir * self.max_accel + else: + # PERFORMANCE: Using precomputed multiplication instead of division + stopping_dist = (self.vel * self.vel) * self._inv_2_accel + if dist > stopping_dist: + accel = desired_dir * self.max_accel + else: + accel = -desired_dir * self.max_accel + + # integrate velocity + new_vel = self.vel + accel * dt + + # avoid sign flip jitter + if (self.vel > 0 and new_vel < 0) or (self.vel < 0 and new_vel > 0): + new_vel = 0.0 + + # Inline clamp speed + self.vel = -self.max_speed if new_vel < -self.max_speed else (self.max_speed if new_vel > self.max_speed else new_vel) + + # integrate position + self.pos += self.vel * dt + + # Inline clamp position to valid servo range + self.pos = 0.0 if self.pos < 0.0 else (180.0 if self.pos > 180.0 else self.pos) + + self._write_pwm(self.pos) + + def _write_pwm(self, angle): + # PERFORMANCE: Single multiplication and addition + duty = int(self._pwm_offset + self._pwm_slope * angle) + self.pwm.duty_u16(duty) diff --git a/RP2040/animation.py b/RP2040/animation.py new file mode 100644 index 0000000..875af5f --- /dev/null +++ b/RP2040/animation.py @@ -0,0 +1,327 @@ +from servoclass import Servo +import time +import urandom + +current_pose = "pose_base" +current_state = "state_startup" +previous_state = None +animation_bool_a = False +animation_bool_b = False +last_toggle_a = time.ticks_ms() +last_toggle_b = time.ticks_ms() +new_state_flag = False + +# 眼球随机看 + 身体摆动的计时器和状态 +eye_last_change = time.ticks_ms() +eye_interval = 2000 # 眼球每 2 秒换一个随机目标 +yaw_bool = False +yaw_last_toggle = time.ticks_ms() + +# Grove 人脸追踪状态（由 main.py 更新） +grove_active = False # Grove 是否在提供有效数据 +grove_last_seen = 0 # 上次收到 Grove 数据的时间戳 + + +servos = { + "YAW": Servo(pin_num=6, max_speed=400, max_accel=100, min_angle=10, max_angle=170), #Base Yaw Rotation + "ROL": Servo(pin_num=7, max_speed=600, max_accel=400, min_angle=30, max_angle=120), #Neck Roll + "PIT": Servo(pin_num=8, max_speed=600, max_accel=400, min_angle=1, max_angle=80), #Neck Pitch + "MOU": Servo(pin_num=19, max_speed=100000, max_accel=3500, min_angle=5, max_angle=150), #Mouth + "EYL": Servo(pin_num=12, max_speed=200, max_accel=500, min_angle=30, max_angle=150), #Left Eyeball + "EYR": Servo(pin_num=13, max_speed=250, max_accel=500, min_angle=30, max_angle=150), #Right Eyeball + "LID": Servo(pin_num=14, max_speed=100000, max_accel=7000, min_angle=30, max_angle=160), #EyeLid + "EAL": Servo(pin_num=15, max_speed=250, max_accel=200, min_angle=60, max_angle=150), #Left Ear + "EAR": Servo(pin_num=16, max_speed=500, max_accel=200, min_angle=30, max_angle=120), #Right Ear +} + +def apply_pose(pose): + pose = pose_map.get(pose, pose_calibrate) + for name, angle in pose.items(): + if name in servos: + servos[name].set_target(angle) + +def apply_state(state_name): + state_func = state_map.get(state_name) + if state_func: + state_func() # Call the function + else: + print(f"Unknown state: {state_name}") + +#_________________# Poses (static servo positions used in states) #_________________# + +pose_calibrate = { # Each dictionary key = servo name, value = angle + "YAW": 90, + "ROL": 90, + "PIT": 80, + "MOU": 170, + "LID": 110, + "EYL": 90, + "EYR": 90, + "EAL": 90, + "EAR": 90, +} +pose_sleep = { # Each dictionary key = servo name, value = angle +# "YAW": 88, +# "RWH": 89, + "ROL": 90, + "PIT": 80, + "MOU": 170, + "LID": 30, +# "EYL": 90, +# "EYR": 90, + "EAL": 150, + "EAR": 30, +} + +pose_base = { # Each dictionary key = servo name, value = angle +# "YAW": 88, +# "RWH": 89, + "ROL": 90, +# "PIT": 20, +# "MOU": 170, +# "LID": 130, +# "EYL": 90, +# "EYR": 90, + "EAL": 130, + "EAR": 70, +} + +pose_speaking = { # Each dictionary key = servo name, value = angle +# "YAW": 88, +# "RWH": 89, +# "ROL": 90, +# "PIT": 20, + "MOU": 10, +# "LID": 130, +# "EYL": 90, +# "EYR": 90, + "EAL": 130, + "EAR": 70, +} + +pose_stop_speaking = { # Each dictionary key = servo name, value = angle +# "YAW": 88, +# "RWH": 89, +# "ROL": 90, +# "PIT": 20, + "MOU": 150, +# "LID": 130, +# "EYL": 90, +# "EYR": 90, + "EAL": 130, + "EAR": 70, +} + +pose_thinking_1 = { # Each dictionary key = servo name, value = angle +# "YAW": 90, +# "RWH": 90, + "ROL": 130, +# "PIT": 50, + "MOU": 150, +# "LID": 70, +# "EYL": 90, +# "EYR": 90, + "EAL": 150, + "EAR": 120, +} + +pose_curious_2 = { # Each dictionary key = servo name, value = angle +# "YAW": 90, +# "RWH": 90, + "ROL": 40, +# "PIT": 10, + "MOU": 160, +# "LID": 130, +# "EYL": 90, +# "EYR": 90, + "EAL": 60, + "EAR": 60, +} + +pose_map={ + "pose_calibrate": pose_calibrate, + "pose_base": pose_base, + "pose_thinking_1": pose_thinking_1, + "pose_curious_2": pose_curious_2, + "pose_sleep": pose_sleep, + "pose_speaking": pose_speaking, + "pose_stop_speaking": pose_stop_speaking, +} + +#_________________# #_________________# + +#_________________# 眼球随机看（无 Grove 时的自动动画） #_________________# + +def eye_random_look(): + """眼球随机左右看。Grove 有数据时跳过，由人脸追踪接管""" + if grove_active: + return + global eye_last_change, eye_interval + now = time.ticks_ms() + if time.ticks_diff(now, eye_last_change) >= eye_interval: + # 随机眼球目标角度：60°~120° 范围内（中位 90°，左右各偏 30°） + target = 60 + urandom.getrandbits(6) % 61 # 60~120 + servos["EYL"].set_target(target) + servos["EYR"].set_target(target) + # 随机下次间隔 1.5~3.5 秒，看起来更自然 + eye_interval = 1500 + urandom.getrandbits(11) % 2001 + eye_last_change = now + +def yaw_gentle_sway(): + """身体轻微摆动。Grove 有数据时跳过，由人脸追踪接管""" + if grove_active: + return + global yaw_bool, yaw_last_toggle + now = time.ticks_ms() + if yaw_bool: + servos["YAW"].set_target(80) # 轻微偏左 + else: + servos["YAW"].set_target(100) # 轻微偏右 + if time.ticks_diff(now, yaw_last_toggle) >= 3000: # 每 3 秒换方向 + yaw_bool = not yaw_bool + yaw_last_toggle = now + +#_________________# States (Mix of poses + animations) #_________________# + + + +def state_startup(): + global new_state_flag + if new_state_flag == True: + apply_pose("pose_calibrate") + new_state_flag = False + +def state_calibrate(): + global new_state_flag +# if new_state_flag == True: + apply_pose("pose_calibrate") + new_state_flag = False + +def state_sleep(): + global new_state_flag + if new_state_flag == True: + apply_pose("pose_sleep") + new_state_flag = False + +def state_speaking(): + global new_state_flag + if new_state_flag == True: + apply_pose("pose_speaking") + new_state_flag = False + eye_random_look() + yaw_gentle_sway() + +def state_thinking(): + now=time.ticks_ms() + global animation_bool_a, last_toggle_a, animation_bool_b, last_toggle_b, new_state_flag + if new_state_flag == True: + apply_pose("pose_base") + new_state_flag = False + if animation_bool_a == False: + servos["PIT"].set_target(50) + if animation_bool_a == True: + servos["PIT"].set_target(120) + if time.ticks_diff(now, last_toggle_a) >= 700: + animation_bool_a = not animation_bool_a # flip the boolean + last_toggle_a = now + eye_random_look() + + +def state_listen(): + global new_state_flag + if new_state_flag == True: + apply_pose("pose_curious_2") + new_state_flag = False + eye_random_look() + yaw_gentle_sway() + +def state_neutral(): + global new_state_flag + if new_state_flag == True: + apply_pose("pose_stop_speaking") + new_state_flag = False + eye_random_look() + +def state_happy(): + now=time.ticks_ms() + global animation_bool_a, last_toggle_a, animation_bool_b, last_toggle_b, new_state_flag + if new_state_flag == True: + apply_pose("pose_base") + new_state_flag = False + eye_random_look() + if animation_bool_a == False: + servos["ROL"].set_target(70) + if animation_bool_a == True: + servos["ROL"].set_target(110) + if time.ticks_diff(now, last_toggle_a) >= 2000: + animation_bool_a = not animation_bool_a # flip the boolean + last_toggle_a = now + + if animation_bool_b == False: + servos["EAL"].set_target(100) + servos["EAR"].set_target(60) + if animation_bool_b == True: + servos["EAL"].set_target(160) + servos["EAR"].set_target(120) + if time.ticks_diff(now, last_toggle_b) >= 1000: + animation_bool_b = not animation_bool_b # flip the boolean + last_toggle_b = now +# print("Toggled:", animation_bool_a) + +def state_limber_up(): + now=time.ticks_ms() + global animation_bool_a, last_toggle_a, animation_bool_b, last_toggle_b, new_state_flag + if new_state_flag == True: + apply_pose("pose_base") + new_state_flag = False +# print("idle") + if animation_bool_a == False: +# servos["YAW"].set_target(50) + servos["ROL"].set_target(70) + servos["PIT"].set_target(70) + servos["EAL"].set_target(100) + servos["EYL"].set_target(60) + servos["MOU"].set_target(20) + servos["LID"].set_target(20) + servos["EYR"].set_target(60) + servos["EAL"].set_target(60) + servos["EAR"].set_target(60) + if animation_bool_a == True: +# servos["YAW"].set_target(130) + servos["ROL"].set_target(110) + servos["PIT"].set_target(5) + servos["EAL"].set_target(160) + servos["EYL"].set_target(120) + servos["MOU"].set_target(160) + servos["LID"].set_target(160) + servos["EYR"].set_target(120) + servos["EAL"].set_target(120) + servos["EAR"].set_target(120) + if time.ticks_diff(now, last_toggle_a) >= 1000: + animation_bool_a = not animation_bool_a # flip the boolean + last_toggle_a = now + +# Note: system states: +# - idle: sleeping, wakeword not initiated listening mode +# - neutral: between finished speaking and begun listening. potentially use as marker for end of speech +# - listening +# - speaking + +state_map={ + "neutral": state_neutral, + "idle": state_sleep, + "listening": state_listen, + "state_startup": state_startup, + "thinking": state_thinking, + "speaking": state_speaking, + "state_limber_up": state_limber_up, + "happy": state_happy, + "state_calibrate": state_calibrate +} + +#_________________# #_________________# + + + + + diff --git a/RP2040/coms.py b/RP2040/coms.py new file mode 100644 index 0000000..3043779 --- /dev/null +++ b/RP2040/coms.py @@ -0,0 +1,106 @@ +from machine import Pin, UART +import time +import animation # Assuming this handles your state_map + +class Comms: + def __init__(self): + # Hardware Initialization + self.grove = UART(0, baudrate=921600, tx=Pin(0), rx=Pin(1)) + self.esp = UART(1, baudrate=115200, tx=Pin(4), rx=Pin(5)) + + # Constants + self.INVOKE_CMD = b"AT+INVOKE=1,0,1\r" + self.pixel_centre = 112 + self.deadzone = 20 + self.x_adj_factor = 10 + self.y_adj_factor = 10 + self.staticflag = False + + # Buffers and State + self.cbuf = b"" + self.rx_buffer = b"" + self.readflag = True + self.last_boxes = None + + self.grove.write(self.INVOKE_CMD) + + def map_value(self, value, in_min, in_max, out_min, out_max): + return (value - in_min) * (out_max - out_min) / (in_max - in_min) + out_min + + def esp_read(self): + # 1. Read new data if there is any + if self.esp.any(): + self.rx_buffer += self.esp.read() + + # 2. Extract ALL complete lines currently in the buffer + # Notice this is OUTSIDE the `if self.esp.any():` block! + commands = [] + while b"\n" in self.rx_buffer: + line, self.rx_buffer = self.rx_buffer.split(b"\n", 1) + rcvstate = line.decode('utf-8').strip() + + # Add to our list instead of returning immediately + if rcvstate: # Just to ignore empty blank lines + commands.append(rcvstate) + + # Return the list of commands (might be empty, might have 1, might have 3!) + return commands + + def grove_read(self): + # State 1: Requesting data + if self.readflag: + # Flush existing buffer quickly + while self.grove.any(): + self.grove.read() + + self.grove.write(self.INVOKE_CMD) + self.cbuf = b"" + self.readflag = False + return None # Return early, data isn't ready yet + + # State 2: Receiving data + if self.grove.any(): + # PERFORMANCE: Read chunks directly instead of looping char by char + self.cbuf += self.grove.read() + + # Wait until the end of the JSON packet arrives + if b'"resolution"' in self.cbuf: + key = b'"boxes":' + i = self.cbuf.find(key) + + if i != -1: + boxes_part = self.cbuf[i + len(key):] + + # Ensure we have the closing bracket before slicing + end_idx = boxes_part.find(b']') + if end_idx != -1: + boxes_part = boxes_part[:end_idx + 1].strip() + + # Process if we have valid, new box data + if boxes_part != b'[]' and boxes_part != self.last_boxes: + self.staticflag = False + self.last_boxes = boxes_part + boxes_str = boxes_part.decode('utf-8').strip('[]') + + try: + numbers = [int(n) for n in boxes_str.split(',')] + x_offset = numbers[0] - self.pixel_centre + y_offset = numbers[1] - self.pixel_centre + + # Reset for next read + self.cbuf = b"" + self.readflag = True + return x_offset, y_offset + + except ValueError: + # Handle cases where split data isn't a perfect integer + pass + else: + # Reset for next read (static or empty data) + self.cbuf = b"" + self.readflag = True + self.staticflag = True + return None + + return None + diff --git a/RP2040/main.py b/RP2040/main.py new file mode 100644 index 0000000..76cb971 --- /dev/null +++ b/RP2040/main.py @@ -0,0 +1,206 @@ +# motion_servo.py (MicroPython for RP2040) +from machine import Pin, PWM, UART +import time, random +import urandom +from servoclass import Servo +import sys, select, uselect +import math +import animation +import coms +from animation import servos + +mode = Pin(20, Pin.IN, Pin.PULL_UP) +LED = Pin(25, Pin.OUT) +yaw_target = 100 +yaw_countdown = yaw_target +LED_oscillator = 25 +LED_countdown = LED_oscillator +blink_time = 500 +blinking = False +speaking_flag = False +speaking_timer = 0 +bool_a = False +last_toggle_a= time.ticks_ms() + +external = coms.Comms() + +# track direction for each servo (1 = going to max, -1 = going to min) +directions = {name: 1 for name in servos.keys()} + +last_time = time.ticks_ms() +last_switch = last_time + +# animation.servos["YAW"].set_target(90) + +on_time = time.ticks_ms() +startup_sleep = True + +def facetrack(): + global yaw_countdown, yaw_target + + # ALWAYS read the sensor to prevent serial buffer overflows! + offset = external.grove_read() + + # 更新 Grove 活跃状态：有数据则标记活跃，超过 3 秒无数据则标记不活跃 + now = time.ticks_ms() + if offset: + animation.grove_active = True + animation.grove_last_seen = now + elif animation.grove_active and time.ticks_diff(now, animation.grove_last_seen) > 3000: + animation.grove_active = False + + # Only move the servos if the robot is awake + if animation.current_state != "idle": + eyl = animation.servos["EYL"] + eyr = animation.servos["EYR"] + pit = animation.servos["PIT"] + yaw = animation.servos["YAW"] + + if offset: + dead = external.deadzone + static = external.staticflag + + x0, y0 = offset + x_scale = external.x_adj_factor / 110 + y_scale = external.y_adj_factor / 110 + + if not static: + if abs(x0) > dead: + x = eyl.target + x0 * x_scale + eyl.set_target(x) + eyr.set_target(x) + + if abs(y0) > dead: + y = pit.target + y0 * y_scale + pit.set_target(y) + + if abs(90 - eyl.target) >= 20: + yaw_countdown -= 1 + if yaw_countdown <= 0: + yaw.set_target(90 + ((eyl.target-90)/2)) + yaw_countdown = yaw_target + +# --- STAGGERED STARTUP SEQUENCE --- +time.sleep(0.5) # Allow board power to stabilize after boot + +# Determine the correct initial pose based on the calibration pin +is_calibrating = (mode.value() == 1) +initial_pose_dict = animation.pose_calibrate if is_calibrating else animation.pose_sleep + +print("Initiating staggered servo wakeup...") +for name, servo_obj in animation.servos.items(): + # Fetch the target angle for this specific pose (default to 90 if missing) + start_angle = initial_pose_dict.get(name, 90) + + # Pre-set the internal tracking positions so the servo math doesn't think it's moving from 90 + servo_obj.pos = start_angle + servo_obj.target = start_angle + + # Send the first pulse. If physically elsewhere, it will snap, but ALONE. + servo_obj._write_pwm(start_angle) + + # Stagger the wakeups. Fast if calibrating, slow and gentle if sleeping. + delay_ms = 50 if is_calibrating else 250 + time.sleep_ms(delay_ms) + +# Set initial states to match the startup logic +animation.current_state = "state_calibrate" if is_calibrating else "idle" +animation.previous_state = animation.current_state +print("Startup complete.") +# ---------------------------------- + +# external.grove_invoke() + +FTDebug = False # setting to True isolates the face tracking code + +while True: + # Update time + now = time.ticks_ms() + dt = time.ticks_diff(now, last_time) / 1000.0 + last_time = now + + if FTDebug == False: + # Grab all pending commands from the ESP + incoming_commands = external.esp_read() + for data in incoming_commands: + if data in animation.state_map: + animation.new_state_flag = True + animation.current_state = data + + # 2. Check if the state changed this frame + if animation.current_state != animation.previous_state: + if animation.current_state == "speaking": + speaking_flag = True + elif animation.current_state in ["neutral", "idle", "listening"]: + if speaking_flag: + speaking_flag = False + # Snap the mouth closed when speech ends! + animation.servos["MOU"].set_target(130) + + # 3. Speaking timer / animation + if speaking_flag: + # Set the mouth position based on the current toggle state + if bool_a == False: + animation.servos["MOU"].set_target(130) + elif bool_a == True: + animation.servos["MOU"].set_target(70) + + # Flip the boolean every 250ms to flap the mouth + if time.ticks_diff(now, last_toggle_a) >= 250: + bool_a = not bool_a # flip the boolean + last_toggle_a = now + + + # Blink mode enabler + if not blinking and random.randrange(500) == 0: + blinking = True + blink_counter = blink_time + + + # Calibration mode + if (mode.value() == 1): + animation.current_state = "state_calibrate" + animation.apply_state("state_calibrate") # change this back to calibrate to keep calibration mode/base for testing + LED_countdown -= 1 + if LED_countdown <= 0: + LED.toggle() + LED_countdown = LED_oscillator + else: + if animation.current_state == "idle": + animation.apply_state("idle") + animation.servos["LID"]._write_pwm(30) + else: + if animation.previous_state == "idle": + animation.servos["LID"]._write_pwm(110) + animation.servos["PIT"].set_target(10) + # Blink mode + if blinking and animation.current_state != "idle": + if blink_counter > blink_time - 50: + # closed + animation.servos["LID"]._write_pwm(30) + elif blink_counter > 0: + # reopen + animation.servos["LID"]._write_pwm(110) + blink_counter -= 1 + if blink_counter == 0: + blinking = False + + # Update with whatever state the ESP says + animation.apply_state(animation.current_state) + + animation.previous_state = animation.current_state + else: + animation.servos["LID"]._write_pwm(110) + animation.current_state = "neutral" + + facetrack() + + # Update all servos except eyelids + for name, s in servos.items(): + if name == "LID": + continue + s.update(dt) + + + + diff --git a/RP2040/servoclass.py b/RP2040/servoclass.py new file mode 100644 index 0000000..90c66ac --- /dev/null +++ b/RP2040/servoclass.py @@ -0,0 +1,94 @@ +from machine import Pin, PWM +import time + +class Servo: + def __init__(self, pin_num, max_speed=120.0, max_accel=360.0, min_angle=0.0, max_angle=180.0, enabled=True): + self.pwm = PWM(Pin(pin_num)) + self.pwm.freq(50) + + # motion state + self.pos = 90.0 + self.vel = 0.0 + self.target = 90.0 + + # tuning + self.max_speed = float(max_speed) + self.max_accel = float(max_accel) + + # PERFORMANCE: Precompute inverse of 2*accel to use multiplication instead of division later + self._inv_2_accel = 1.0 / (2.0 * self.max_accel) + + # limits + self.min_angle = float(min_angle) + self.max_angle = float(max_angle) + + # tolerances + self.pos_tolerance = 0.6 + self.vel_tolerance = 1.0 + + # PERFORMANCE: Precompute PWM conversion constants to avoid heavy math in the update loop + # Mapping 0..180 to 500..2500us on a 20000us period, scaled to 65535 + self._pwm_offset = 500.0 * (65535.0 / 20000.0) + self._pwm_slope = (2000.0 / 180.0) * (65535.0 / 20000.0) + + # debug flag + self.enabled = enabled + + # Start limp to prevent power spike on startup + self.pwm.duty_u16(0) + + def set_target(self, angle): + # Inline clamp to save function call overhead + angle = float(angle) + self.target = self.min_angle if angle < self.min_angle else (self.max_angle if angle > self.max_angle else angle) + + def update(self, dt): + if not self.enabled or dt <= 0: + return + + error = self.target - self.pos + dist = abs(error) + + desired_dir = 0.0 if dist < 1e-9 else (1.0 if error > 0 else -1.0) + vel_dir = 0.0 if abs(self.vel) < 1e-9 else (1.0 if self.vel > 0 else -1.0) + + # small-target case + if dist <= self.pos_tolerance and abs(self.vel) <= self.vel_tolerance: + self.pos = self.target + self.vel = 0.0 + self._write_pwm(self.pos) + return + + # braking-first rule + if vel_dir != 0 and desired_dir != 0 and vel_dir != desired_dir: + accel = -vel_dir * self.max_accel + else: + # PERFORMANCE: Using precomputed multiplication instead of division + stopping_dist = (self.vel * self.vel) * self._inv_2_accel + if dist > stopping_dist: + accel = desired_dir * self.max_accel + else: + accel = -desired_dir * self.max_accel + + # integrate velocity + new_vel = self.vel + accel * dt + + # avoid sign flip jitter + if (self.vel > 0 and new_vel < 0) or (self.vel < 0 and new_vel > 0): + new_vel = 0.0 + + # Inline clamp speed + self.vel = -self.max_speed if new_vel < -self.max_speed else (self.max_speed if new_vel > self.max_speed else new_vel) + + # integrate position + self.pos += self.vel * dt + + # Inline clamp position to valid servo range + self.pos = 0.0 if self.pos < 0.0 else (180.0 if self.pos > 180.0 else self.pos) + + self._write_pwm(self.pos) + + def _write_pwm(self, angle): + # PERFORMANCE: Single multiplication and addition + duty = int(self._pwm_offset + self._pwm_slope * angle) + self.pwm.duty_u16(duty) diff --git a/docs/CogNogV1_0.pdf b/docs/CogNogV1_0.pdf new file mode 100644 index 0000000..e140f1a --- /dev/null +++ b/docs/CogNogV1_0.pdf @@ -0,0 +1,37225 @@ +%PDF-1.4 +%߬ +3 0 obj +<> +endobj +4 0 obj +<< +/Length 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499.80 1065.00 499.32 1065.60 499.32 c +1066.20 499.32 1066.68 499.80 1066.68 500.40 c +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +1064.66 493.85 Td +(CS#) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +1058.00 497.45 Td +(1) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +1054.800 496.800 m +1062.000 496.800 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +1064.66 486.65 Td +(DO/IO1) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +1058.00 490.25 Td +(2) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +1054.800 489.600 m +1062.000 489.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +1064.66 479.45 Td +(WP#/IO2) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +1058.00 483.05 Td +(3) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +1054.800 482.400 m +1062.000 482.400 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +1064.66 472.25 Td +(GND) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +1058.00 475.85 Td +(4) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +1054.800 475.200 m +1062.000 475.200 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +1104.28 472.91 Td +(DI/IO0) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +1123.56 475.85 Td +(5) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +1130.400 475.200 m +1123.200 475.200 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +1110.47 480.11 Td +(CLK) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +1123.56 483.05 Td +(6) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +1130.400 482.400 m +1123.200 482.400 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +1061.73 487.31 Td +(HOLD#/RESET#/IO3) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +1123.56 490.25 Td +(7) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +1130.400 489.600 m +1123.200 489.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +1109.38 494.51 Td +(VCC) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +1123.56 497.45 Td +(8) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +1130.400 496.800 m +1123.200 496.800 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 0.502 rg +1062.00 505.31 Td +(U6) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +1076.40 505.31 Td +(W25Q16JVSNIQ) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +851.91 591.60 Td +(GPIO7) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +877.64 594.37 Td +(9) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +882.000 594.000 m +874.800 594.000 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +851.91 598.80 Td +(GPIO6) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +877.64 601.57 Td +(8) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +882.000 601.200 m +874.800 601.200 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +851.91 606.00 Td +(GPIO5) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +877.64 608.77 Td +(7) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +882.000 608.400 m +874.800 608.400 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +851.91 613.20 Td +(GPIO4) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +877.64 615.97 Td +(6) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +882.000 615.600 m +874.800 615.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 793.39 415.87 Tm +(GND) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 790.62 406.51 Tm +(57) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +792.000 406.800 m +792.000 414.000 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +712.08 638.40 Td +(QSPI_SS) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +702.72 641.17 Td +(56) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +702.000 640.800 m +709.200 640.800 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +712.08 620.40 Td +(QSPI_SD1) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +702.72 623.17 Td +(55) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +702.000 622.800 m +709.200 622.800 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +712.08 613.20 Td +(QSPI_SD2) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +702.72 615.97 Td +(54) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +702.000 615.600 m +709.200 615.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +712.08 627.60 Td +(QSPI_SD0) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +702.72 630.37 Td +(53) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +702.000 630.000 m +709.200 630.000 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +712.08 595.20 Td +(QSPI_SCLK) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +702.72 597.97 Td +(52) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +702.000 597.600 m +709.200 597.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +712.08 606.00 Td +(QSPI_SD3) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +702.72 608.77 Td +(51) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +702.000 608.400 m +709.200 608.400 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 735.79 665.17 Tm +(DVDD) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 733.02 685.79 Tm +(50) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +734.400 694.800 m +734.400 687.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +851.91 620.40 Td +(GPIO3) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +877.64 623.17 Td +(5) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +882.000 622.800 m +874.800 622.800 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 782.59 662.98 Tm +(IOVDD) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 779.82 685.79 Tm +(49) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +781.200 694.800 m +781.200 687.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 829.39 652.80 Tm +(USB_VDD) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 826.62 685.79 Tm +(48) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +828.000 694.800 m +828.000 687.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +845.73 670.80 Td +(USB_DP) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +874.00 673.57 Td +(47) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +882.000 673.200 m +874.800 673.200 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +844.65 663.60 Td +(USB_DM) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +874.00 666.37 Td +(46) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +882.000 666.000 m +874.800 666.000 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 757.39 643.34 Tm +(VREG_VOUT) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 754.62 685.79 Tm +(45) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +756.000 694.800 m +756.000 687.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 768.19 654.98 Tm +(VREG_IN) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 765.42 685.79 Tm +(44) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +766.800 694.800 m +766.800 687.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 840.19 648.07 Tm +(ADC_AVDD) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 837.42 685.79 Tm +(43) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +838.800 694.800 m +838.800 687.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 789.79 662.98 Tm +(IOVDD) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 787.02 685.79 Tm +(42) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +788.400 694.800 m +788.400 687.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +827.18 426.00 Td +(GPIO29_ADC3) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +874.00 428.77 Td +(41) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +882.000 428.400 m +874.800 428.400 l +S +1 J +1 j +0.72 w +0.20 0.80 0.20 RG +[] 0 d +879.120 431.280 m +884.880 425.520 l +879.120 425.520 m +884.880 431.280 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +827.18 433.20 Td +(GPIO28_ADC2) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +874.00 435.97 Td +(40) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +882.000 435.600 m +874.800 435.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +851.91 627.60 Td +(GPIO2) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +877.64 630.37 Td +(4) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +882.000 630.000 m +874.800 630.000 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +827.18 440.40 Td +(GPIO27_ADC1) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +874.00 443.17 Td +(39) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +882.000 442.800 m +874.800 442.800 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +827.18 447.60 Td +(GPIO26_ADC0) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +874.00 450.37 Td +(38) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +882.000 450.000 m +874.800 450.000 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +848.27 462.00 Td +(GPIO25) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +874.00 464.77 Td +(37) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +882.000 464.400 m +874.800 464.400 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +848.27 469.20 Td +(GPIO24) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +874.00 471.97 Td +(36) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +882.000 471.600 m +874.800 471.600 l +S +1 J +1 j +0.72 w +0.20 0.80 0.20 RG +[] 0 d +879.120 474.480 m +884.880 468.720 l +879.120 468.720 m +884.880 474.480 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +848.27 476.40 Td +(GPIO23) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +874.00 479.17 Td +(35) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +882.000 478.800 m +874.800 478.800 l +S +1 J +1 j +0.72 w +0.20 0.80 0.20 RG +[] 0 d +879.120 481.680 m +884.880 475.920 l +879.120 475.920 m +884.880 481.680 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +848.27 483.60 Td +(GPIO22) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +874.00 486.37 Td +(34) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +882.000 486.000 m +874.800 486.000 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 796.99 662.98 Tm +(IOVDD) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 794.22 685.79 Tm +(33) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +795.600 694.800 m +795.600 687.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +848.27 490.80 Td +(GPIO21) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +874.00 493.57 Td +(32) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +882.000 493.200 m +874.800 493.200 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +848.27 498.00 Td +(GPIO20) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +874.00 500.77 Td +(31) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +882.000 500.400 m +874.800 500.400 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g 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+7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +848.27 526.80 Td +(GPIO16) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +874.00 529.57 Td +(27) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +882.000 529.200 m +874.800 529.200 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +712.08 490.80 Td +(RUN) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +702.72 493.57 Td +(26) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +702.000 493.200 m +709.200 493.200 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +712.08 451.20 Td +(SWD) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +702.72 453.97 Td +(25) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +702.000 453.600 m +709.200 453.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +712.08 458.40 Td +(SWCLK) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +702.72 461.17 Td +(24) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +702.000 460.800 m +709.200 460.800 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 742.99 665.17 Tm +(DVDD) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 740.22 685.79 Tm +(23) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +741.600 694.800 m +741.600 687.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 804.19 662.98 Tm +(IOVDD) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 801.42 685.79 Tm +(22) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +802.800 694.800 m +802.800 687.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +712.08 526.80 Td +(XOUT) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +702.72 529.57 Td +(21) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +702.000 529.200 m +709.200 529.200 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +712.08 541.20 Td +(XIN) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +702.72 543.97 Td +(20) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +702.000 543.600 m +709.200 543.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +851.91 642.00 Td +(GPIO0) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +877.64 644.77 Td +(2) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +882.000 644.400 m +874.800 644.400 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 757.39 415.87 Tm +(TESTEN) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 754.62 406.51 Tm +(19) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +756.000 406.800 m +756.000 414.000 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +848.27 534.00 Td +(GPIO15) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +874.00 536.77 Td +(18) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +882.000 536.400 m +874.800 536.400 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +848.27 541.20 Td +(GPIO14) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +874.00 543.97 Td +(17) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +882.000 543.600 m +874.800 543.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +848.27 548.40 Td +(GPIO13) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +874.00 551.17 Td +(16) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +882.000 550.800 m +874.800 550.800 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +848.27 555.60 Td +(GPIO12) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +874.00 558.37 Td +(15) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +882.000 558.000 m +874.800 558.000 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +848.27 562.80 Td +(GPIO11) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +874.00 565.57 Td +(14) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +882.000 565.200 m +874.800 565.200 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +848.27 570.00 Td +(GPIO10) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +874.00 572.77 Td +(13) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +882.000 572.400 m +874.800 572.400 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +851.91 577.20 Td +(GPIO9) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +874.00 579.97 Td +(12) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +882.000 579.600 m +874.800 579.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +851.91 584.40 Td +(GPIO8) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +874.00 587.17 Td +(11) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +882.000 586.800 m +874.800 586.800 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 811.39 662.98 Tm +(IOVDD) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 808.62 685.79 Tm +(10) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +810.000 694.800 m +810.000 687.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 818.59 662.98 Tm +(IOVDD) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 815.82 689.43 Tm +(1) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +817.200 694.800 m +817.200 687.600 l +S +7.20 w +BT +/F2 10.454543999999999 Tf +11.50 TL +0.627 0.000 0.000 rg +773.11 545.15 Td +(RP2040) Tj +ET +7.20 w +BT +/F2 10.454543999999999 Tf +11.50 TL +0.627 0.000 0.000 rg +761.79 559.55 Td +(Raspberry Pi) Tj +ET +2 J +0 j +72 M +0.72 w +0.63 0.00 0.00 RG +[] 0 d +709.20 687.60 165.60 -273.60 re +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 0.502 rg +694.80 667.31 Td +(U7) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +709.20 397.31 Td +(RP2040) Tj +ET +2 J +0 j +72 M +0.72 w +0.63 0.00 0.00 RG +[] 0 d +1058.40 608.40 57.60 -28.80 re +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +1061.06 598.25 Td +(VIN) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +1054.40 601.85 Td +(1) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +1051.200 601.200 m +1058.400 601.200 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +1061.06 591.05 Td +(GND) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +1054.40 594.65 Td +(2) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +1051.200 594.000 m +1058.400 594.000 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +1061.06 583.85 Td +(EN) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +1054.40 587.45 Td +(3) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +1051.200 586.800 m +1058.400 586.800 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +1103.88 583.85 Td +(NC) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +1116.36 587.45 Td +(4) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +1123.200 586.800 m +1116.000 586.800 l +S +1 J +1 j +0.72 w +0.20 0.80 0.20 RG +[] 0 d +1120.320 589.680 m +1126.080 583.920 l +1120.320 583.920 m +1126.080 589.680 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +1095.15 598.25 Td +(VOUT) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +1116.36 601.85 Td +(5) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +1123.200 601.200 m +1116.000 601.200 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +1063.08 604.80 m 1063.08 605.40 1062.60 605.88 1062.00 605.88 c +1061.40 605.88 1060.92 605.40 1060.92 604.80 c +1060.92 604.20 1061.40 603.72 1062.00 603.72 c +1062.60 603.72 1063.08 604.20 1063.08 604.80 c +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 0.502 rg +1058.40 609.71 Td +(U8) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +1058.40 570.11 Td +(MIC5504-3.3YM5-TR) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +1162.800 543.600 m +1162.800 550.800 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +1162.800 572.400 m +1162.800 565.200 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +1153.440 546.480 m +1154.880 549.360 l +1156.320 547.920 l +1153.440 546.480 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +1150.560 549.360 m +1152.000 552.240 l +1153.440 550.800 l +1150.560 549.360 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +1158.480 551.520 m +1155.600 548.640 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +1155.600 554.400 m +1152.720 551.520 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +1162.800 554.400 m +1162.800 550.800 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +1162.800 565.200 m +1162.800 561.600 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +1157.760 554.400 m +1167.840 554.400 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +1157.760 561.600 m 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410.400 l +945.360 410.400 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +950.400 392.400 m +950.400 399.600 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +950.400 421.200 m +950.400 414.000 l +S +7.20 w +BT +/F2 4.418181818181818 Tf +4.86 TL +0.000 0.000 0.502 rg +957.60 407.68 Td +(LED2) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +892.80 386.51 Td +(SML-D12D8WT86) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +950.400 457.200 m +950.400 450.000 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +950.400 428.400 m +950.400 435.600 l +S +2 J +0 j +72 M +0.72 w +0.63 0.00 0.00 RG +[] 0 d +947.52 450.00 5.76 -14.40 re +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 0.502 rg +957.60 444.11 Td +(R7) Tj +ET +7.20 w +BT +7.20 TL +0.000 0.000 1.000 rg +957.60 436.91 Td +/F2 6.545454545454544 Tf +(1k) Tj +/F3 6.545454545454544 Tf +<03a9> Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +997.200 604.800 m +997.200 608.400 l +S +1 J 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6.545454545454544 Tf +7.20 TL +0.000 0.000 0.502 rg +1164.18 505.31 Td +(3V3) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +1170.000 457.200 m +1170.000 450.000 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +1162.800 450.000 m +1177.200 450.000 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +1169.280 443.520 m +1170.720 443.520 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +1167.120 445.680 m +1172.880 445.680 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +1164.960 447.840 m +1175.040 447.840 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 0.502 rg +1162.73 436.91 Td +(GND) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +1170.000 496.800 m +1130.400 496.800 l +S +1170.000 496.800 m +1170.000 486.000 l +S +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +1170.000 496.800 m +1130.400 496.800 l +S +1170.000 496.800 m +1170.000 486.000 l +S +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +1054.800 475.200 m +1047.600 475.200 l +S +1047.600 457.200 m +1047.600 475.200 l +S +1047.600 457.200 m +1170.000 457.200 l +S +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +1054.800 475.200 m +1047.600 475.200 l +S +1047.600 457.200 m +1047.600 475.200 l +S +1047.600 457.200 m +1170.000 457.200 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +1022.40 498.11 Td +(QSPI_SS) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +997.200 496.800 m +1054.800 496.800 l +S +997.200 493.200 m +997.200 496.800 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +1022.40 498.11 Td +(QSPI_SS) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +997.200 496.800 m +1054.800 496.800 l +S +997.200 493.200 m +997.200 496.800 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +1026.00 490.91 Td +(QSPI_SD1) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +1026.000 489.600 m +1054.800 489.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +1026.00 490.91 Td +(QSPI_SD1) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +1026.000 489.600 m +1054.800 489.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +1026.00 483.71 Td +(QSPI_SD2) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +1026.000 482.400 m +1054.800 482.400 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +1026.00 483.71 Td +(QSPI_SD2) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +1026.000 482.400 m +1054.800 482.400 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +1127.19 490.91 Td +(QSPI_SD3) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +1130.400 489.600 m +1159.200 489.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +1127.19 490.91 Td +(QSPI_SD3) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +1130.400 489.600 m +1159.200 489.600 l 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+72 M +0.72 w +0.63 0.00 0.00 RG +[] 0 d +994.32 486.00 5.76 -14.40 re +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 0.502 rg +1004.40 483.71 Td +(R9) Tj +ET +7.20 w +BT +7.20 TL +0.000 0.000 1.000 rg +1004.40 476.51 Td +/F2 6.545454545454544 Tf +(1k) Tj +/F3 6.545454545454544 Tf +<03a9> Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +1036.800 439.200 m +1044.000 439.200 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +1044.000 432.000 m +1044.000 446.400 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +1050.480 438.480 m +1050.480 439.920 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +1048.320 436.320 m +1048.320 442.080 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +1046.160 434.160 m +1046.160 444.240 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 0.502 rg +1043.93 447.71 Td +(GND) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +1029.600 464.400 m +1000.800 464.400 l +S +1029.600 468.000 m +1029.600 464.400 l +S +1029.600 464.400 m +1029.600 457.200 l +S +1000.800 457.200 m +1000.800 464.400 l +S +997.200 464.400 m +1000.800 464.400 l +S +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +1029.600 464.400 m +1000.800 464.400 l +S +1029.600 468.000 m +1029.600 464.400 l +S +1029.600 464.400 m +1029.600 457.200 l +S +1000.800 457.200 m +1000.800 464.400 l +S +997.200 464.400 m +1000.800 464.400 l +S +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +1029.600 439.200 m +1036.800 439.200 l +S +1029.600 435.600 m +1029.600 439.200 l +S +1000.800 435.600 m +1029.600 435.600 l +S +1000.800 442.800 m +1000.800 435.600 l +S +1029.600 442.800 m +1029.600 439.200 l +S +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +1029.600 439.200 m +1036.800 439.200 l +S +1029.600 435.600 m +1029.600 439.200 l +S +1000.800 435.600 m +1029.600 435.600 l +S +1000.800 442.800 m +1000.800 435.600 l +S +1029.600 442.800 m +1029.600 439.200 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +792.000 392.400 m +792.000 385.200 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +784.800 385.200 m +799.200 385.200 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +791.280 378.720 m +792.720 378.720 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +789.120 380.880 m +794.880 380.880 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +786.960 383.040 m +797.040 383.040 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 0.502 rg +784.73 372.11 Td +(GND) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +673.200 500.400 m +673.200 493.200 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +666.000 493.200 m +680.400 493.200 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +672.480 486.720 m +673.920 486.720 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +670.320 488.880 m +676.080 488.880 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +668.160 491.040 m +678.240 491.040 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 0.502 rg +665.93 480.11 Td +(GND) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +691.200 392.400 m +691.200 385.200 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +684.000 385.200 m +698.400 385.200 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +690.480 378.720 m +691.920 378.720 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +688.320 380.880 m +694.080 380.880 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +686.160 383.040 m +696.240 383.040 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 0.502 rg +683.93 372.11 Td +(GND) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +702.000 529.200 m +687.600 529.200 l +S +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +702.000 529.200 m +687.600 529.200 l +S +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +648.000 543.600 m +702.000 543.600 l +S +658.800 529.200 m +648.000 529.200 l +S +648.000 529.200 m +648.000 543.600 l +S +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +648.000 543.600 m +702.000 543.600 l +S +658.800 529.200 m +648.000 529.200 l +S +648.000 529.200 m +648.000 543.600 l +S +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +673.200 514.800 m +673.200 500.400 l +S +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +673.200 514.800 m +673.200 500.400 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +684.22 494.51 Td +(RUN) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +691.200 435.600 m +691.200 446.400 l +S +655.200 446.400 m +691.200 446.400 l +S +655.200 435.600 m +655.200 446.400 l +S +655.200 435.600 m +662.400 435.600 l +S +691.200 493.200 m +691.200 446.400 l +S +691.200 493.200 m +702.000 493.200 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +684.22 494.51 Td +(RUN) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +691.200 435.600 m +691.200 446.400 l +S +655.200 446.400 m +691.200 446.400 l +S +655.200 435.600 m +655.200 446.400 l +S +655.200 435.600 m +662.400 435.600 l +S +691.200 493.200 m +691.200 446.400 l +S +691.200 493.200 m +702.000 493.200 l +S +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +691.200 421.200 m +691.200 403.200 l +S +655.200 403.200 m +691.200 403.200 l +S +655.200 421.200 m +655.200 403.200 l +S +662.400 421.200 m +655.200 421.200 l +S +691.200 392.400 m +691.200 403.200 l +S +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +691.200 421.200 m +691.200 403.200 l +S +655.200 403.200 m +691.200 403.200 l +S +655.200 421.200 m +655.200 403.200 l +S +662.400 421.200 m +655.200 421.200 l +S +691.200 392.400 m +691.200 403.200 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +662.40 462.11 Td +(SWCLK) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +662.400 460.800 m +702.000 460.800 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +662.40 462.11 Td +(SWCLK) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +662.400 460.800 m +702.000 460.800 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +662.40 454.91 Td +(SWDIO) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +662.400 453.600 m +702.000 453.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +662.40 454.91 Td +(SWDIO) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +662.400 453.600 m +702.000 453.600 l +S +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +792.000 406.800 m +792.000 399.600 l +S +792.000 399.600 m +756.000 399.600 l +S +756.000 399.600 m +756.000 406.800 l +S +792.000 392.400 m +792.000 399.600 l +S +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +792.000 406.800 m +792.000 399.600 l +S +792.000 399.600 m +756.000 399.600 l +S +756.000 399.600 m +756.000 406.800 l +S +792.000 392.400 m +792.000 399.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +655.20 642.11 Td +(QSPI_SS) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +655.200 640.800 m +702.000 640.800 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +655.20 642.11 Td +(QSPI_SS) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +655.200 640.800 m +702.000 640.800 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +655.20 631.31 Td +(QSPI_SD0) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +702.000 630.000 m +655.200 630.000 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +655.20 631.31 Td +(QSPI_SD0) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +702.000 630.000 m +655.200 630.000 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +655.20 624.11 Td +(QSPI_SD1) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +702.000 622.800 m +655.200 622.800 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +655.20 624.11 Td +(QSPI_SD1) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +702.000 622.800 m +655.200 622.800 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +655.20 616.91 Td +(QSPI_SD2) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +655.200 615.600 m +702.000 615.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +655.20 616.91 Td +(QSPI_SD2) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +655.200 615.600 m +702.000 615.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +655.20 609.71 Td +(QSPI_SD3) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +655.200 608.400 m +702.000 608.400 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +655.20 609.71 Td +(QSPI_SD3) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +655.200 608.400 m +702.000 608.400 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +655.20 598.91 Td +(QSPI_SCLK) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +655.200 597.600 m +702.000 597.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +655.20 598.91 Td +(QSPI_SCLK) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +655.200 597.600 m +702.000 597.600 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +950.400 385.200 m +950.400 378.000 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +943.200 378.000 m +957.600 378.000 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +949.680 371.520 m +951.120 371.520 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +947.520 373.680 m +953.280 373.680 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +945.360 375.840 m +955.440 375.840 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 0.502 rg +943.13 364.91 Td +(GND) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +950.400 385.200 m +950.400 392.400 l +S +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +950.400 385.200 m +950.400 392.400 l +S +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +950.400 421.200 m +950.400 428.400 l +S +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +950.400 421.200 m +950.400 428.400 l +S +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +882.000 464.400 m +950.400 464.400 l +S +950.400 464.400 m +950.400 457.200 l +S +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +882.000 464.400 m +950.400 464.400 l +S +950.400 464.400 m +950.400 457.200 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +890.79 645.71 Td +(GPIO0) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +910.800 644.400 m +882.000 644.400 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +890.79 645.71 Td +(GPIO0) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +910.800 644.400 m +882.000 644.400 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +890.79 638.51 Td +(GPIO1) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +910.800 637.200 m +882.000 637.200 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +890.79 638.51 Td +(GPIO1) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +910.800 637.200 m +882.000 637.200 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +890.79 631.31 Td +(GPIO2) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +910.800 630.000 m +882.000 630.000 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +890.79 631.31 Td +(GPIO2) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +910.800 630.000 m +882.000 630.000 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +890.79 624.11 Td +(GPIO3) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +910.800 622.800 m +882.000 622.800 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +890.79 624.11 Td +(GPIO3) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +910.800 622.800 m +882.000 622.800 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +887.15 566.51 Td +(GPIO11) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +910.800 565.200 m +882.000 565.200 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +887.15 566.51 Td +(GPIO11) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +910.800 565.200 m +882.000 565.200 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +887.15 559.31 Td +(GPIO12) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +910.800 558.000 m +882.000 558.000 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +887.15 559.31 Td +(GPIO12) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +910.800 558.000 m +882.000 558.000 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +887.15 552.11 Td +(GPIO13) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +910.800 550.800 m +882.000 550.800 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +887.15 552.11 Td +(GPIO13) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +910.800 550.800 m +882.000 550.800 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +887.15 544.91 Td +(GPIO14) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +910.800 543.600 m +882.000 543.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +887.15 544.91 Td +(GPIO14) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +910.800 543.600 m +882.000 543.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +887.15 537.71 Td +(GPIO15) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +910.800 536.400 m +882.000 536.400 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +887.15 537.71 Td +(GPIO15) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +910.800 536.400 m +882.000 536.400 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +887.15 530.51 Td +(GPIO16) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +910.800 529.200 m +882.000 529.200 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +887.15 530.51 Td +(GPIO16) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +910.800 529.200 m +882.000 529.200 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +887.15 523.31 Td +(GPIO17) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +910.800 522.000 m +882.000 522.000 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +887.15 523.31 Td +(GPIO17) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +910.800 522.000 m +882.000 522.000 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +887.15 516.11 Td +(GPIO18) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +910.800 514.800 m +882.000 514.800 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +887.15 516.11 Td +(GPIO18) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +910.800 514.800 m +882.000 514.800 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +887.15 508.91 Td +(GPIO19) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +910.800 507.600 m +882.000 507.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +887.15 508.91 Td +(GPIO19) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +910.800 507.600 m +882.000 507.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +887.15 501.71 Td +(GPIO20) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +910.800 500.400 m +882.000 500.400 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +887.15 501.71 Td +(GPIO20) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +910.800 500.400 m +882.000 500.400 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +887.15 494.51 Td +(GPIO21) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +910.800 493.200 m +882.000 493.200 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +887.15 494.51 Td +(GPIO21) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +910.800 493.200 m +882.000 493.200 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +887.15 487.31 Td +(GPIO22) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +910.800 486.000 m +882.000 486.000 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +887.15 487.31 Td +(GPIO22) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +910.800 486.000 m +882.000 486.000 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +900.00 451.31 Td +(GPIO26) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g 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6.545454545454544 Tf +7.20 TL +1.000 0.600 0.000 rg +144.00 656.51 Td +(MICWS) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +176.400 655.200 m +144.000 655.200 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +1.000 0.600 0.000 rg +144.00 656.51 Td +(MICWS) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +176.400 655.200 m +144.000 655.200 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +1.000 0.600 0.000 rg +144.00 649.31 Td +(MICSCK) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +176.400 648.000 m +144.000 648.000 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +1.000 0.600 0.000 rg +144.00 649.31 Td +(MICSCK) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +176.400 648.000 m +144.000 648.000 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +1.000 0.600 0.000 rg +144.00 642.11 Td +(MICSD) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +176.400 640.800 m +144.000 640.800 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +1.000 0.600 0.000 rg +144.00 642.11 Td +(MICSD) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +176.400 640.800 m +144.000 640.800 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.600 0.400 0.200 rg +144.00 634.91 Td +(MAXDIN) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +176.400 633.600 m +144.000 633.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.600 0.400 0.200 rg +144.00 634.91 Td +(MAXDIN) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +176.400 633.600 m +144.000 633.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.600 0.400 0.200 rg +144.00 627.71 Td +(MAXBCLK) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +176.400 626.400 m +144.000 626.400 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.600 0.400 0.200 rg +144.00 627.71 Td +(MAXBCLK) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +176.400 626.400 m +144.000 626.400 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.600 0.400 0.200 rg +144.00 620.51 Td +(MAXLRCLK) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +176.400 619.200 m +144.000 619.200 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.600 0.400 0.200 rg +144.00 620.51 Td +(MAXLRCLK) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +176.400 619.200 m +144.000 619.200 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +133.20 613.31 Td +(EIO17) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +176.400 612.000 m +133.200 612.000 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +133.20 613.31 Td +(EIO17) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +176.400 612.000 m +133.200 612.000 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +133.20 606.11 Td +(EIO18) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +176.400 604.800 m +133.200 604.800 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +133.20 606.11 Td +(EIO18) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +176.400 604.800 m +133.200 604.800 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.400 0.800 0.200 rg +144.00 598.91 Td +(CAMD2) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +176.400 597.600 m +144.000 597.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.400 0.800 0.200 rg +144.00 598.91 Td +(CAMD2) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +176.400 597.600 m +144.000 597.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.600 0.000 1.000 rg +144.00 591.71 Td +(USB1_N) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +176.400 590.400 m +144.000 590.400 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.600 0.000 1.000 rg +144.00 591.71 Td +(USB1_N) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +176.400 590.400 m +144.000 590.400 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.600 0.000 1.000 rg +144.00 584.51 Td +(USB1_P) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +176.400 583.200 m +144.000 583.200 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.600 0.000 1.000 rg +144.00 584.51 Td +(USB1_P) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +176.400 583.200 m +144.000 583.200 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +0.00 1.00 -1.00 0.00 200.29 507.60 Tm +(EIO3) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +201.600 543.600 m +201.600 507.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +0.00 1.00 -1.00 0.00 200.29 507.60 Tm +(EIO3) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +201.600 543.600 m +201.600 507.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.400 0.800 0.200 rg +0.00 1.00 -1.00 0.00 214.69 507.60 Tm +(CAMD1) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +216.000 543.600 m +216.000 507.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.400 0.800 0.200 rg +0.00 1.00 -1.00 0.00 214.69 507.60 Tm +(CAMD1) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +216.000 543.600 m +216.000 507.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +0.00 1.00 -1.00 0.00 207.49 507.60 Tm +(EIO46) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +208.800 543.600 m +208.800 507.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +0.00 1.00 -1.00 0.00 207.49 507.60 Tm +(EIO46) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +208.800 543.600 m +208.800 507.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.400 0.800 0.200 rg +0.00 1.00 -1.00 0.00 221.89 507.60 Tm +(CAMD3) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +223.200 543.600 m +223.200 507.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.400 0.800 0.200 rg +0.00 1.00 -1.00 0.00 221.89 507.60 Tm +(CAMD3) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +223.200 543.600 m +223.200 507.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.400 0.800 0.200 rg +0.00 1.00 -1.00 0.00 229.09 507.60 Tm +(CAMD0) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +230.400 507.600 m +230.400 543.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.400 0.800 0.200 rg +0.00 1.00 -1.00 0.00 229.09 507.60 Tm +(CAMD0) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +230.400 507.600 m +230.400 543.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.400 0.800 0.200 rg +0.00 1.00 -1.00 0.00 236.29 507.60 Tm +(CAMD4) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +237.600 543.600 m +237.600 507.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.400 0.800 0.200 rg +0.00 1.00 -1.00 0.00 236.29 507.60 Tm +(CAMD4) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +237.600 543.600 m +237.600 507.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.400 0.800 0.200 rg +0.00 1.00 -1.00 0.00 243.49 507.60 Tm +(CAMPCLK) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +244.800 543.600 m +244.800 507.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.400 0.800 0.200 rg +0.00 1.00 -1.00 0.00 243.49 507.60 Tm +(CAMPCLK) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +244.800 543.600 m +244.800 507.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +0.00 1.00 -1.00 0.00 250.69 507.60 Tm +(EIO14) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +252.000 543.600 m +252.000 507.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +0.00 1.00 -1.00 0.00 250.69 507.60 Tm +(EIO14) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +252.000 543.600 m +252.000 507.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.400 0.800 0.200 rg +0.00 1.00 -1.00 0.00 257.89 507.60 Tm +(CAMXCLK) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +259.200 543.600 m +259.200 507.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.400 0.800 0.200 rg +0.00 1.00 -1.00 0.00 257.89 507.60 Tm +(CAMXCLK) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +259.200 543.600 m +259.200 507.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.400 0.800 0.200 rg +0.00 1.00 -1.00 0.00 265.09 507.60 Tm +(CAMSIOC) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +266.400 543.600 m +266.400 507.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.400 0.800 0.200 rg +0.00 1.00 -1.00 0.00 265.09 507.60 Tm +(CAMSIOC) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +266.400 543.600 m +266.400 507.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.400 0.800 0.200 rg +0.00 1.00 -1.00 0.00 272.29 507.60 Tm +(CAMSIOD) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +273.600 543.600 m +273.600 507.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.400 0.800 0.200 rg +0.00 1.00 -1.00 0.00 272.29 507.60 Tm +(CAMSIOD) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +273.600 543.600 m +273.600 507.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +0.00 1.00 -1.00 0.00 279.49 507.60 Tm +(EIO45) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +280.800 543.600 m +280.800 507.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +0.00 1.00 -1.00 0.00 279.49 507.60 Tm +(EIO45) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +280.800 543.600 m +280.800 507.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +323.86 678.11 Td +(GND) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +298.800 676.800 m +338.400 676.800 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +323.86 678.11 Td +(GND) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +298.800 676.800 m +338.400 676.800 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL 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Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +270.36 126.65 Td +(13) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +277.200 126.000 m +270.000 126.000 l +S +1 J +1 j +0.72 w +0.20 0.80 0.20 RG +[] 0 d +274.320 128.880 m +280.080 123.120 l +274.320 123.120 m +280.080 128.880 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +246.24 130.25 Td +(LRCLK) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +270.36 133.85 Td +(14) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +277.200 133.200 m +270.000 133.200 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +252.79 137.45 Td +(GND) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +270.36 141.05 Td +(15) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +277.200 140.400 m +270.000 140.400 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +250.24 144.65 Td +(BCLK) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +270.36 148.25 Td +(16) Tj 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+7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +140.40 112.91 Td +(VBUSINESP) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +183.600 104.400 m +183.600 97.200 l +S +172.800 104.400 m +183.600 104.400 l +S +147.600 104.400 m +172.800 104.400 l +S +140.400 104.400 m +140.400 111.600 l +S +140.400 104.400 m +147.600 104.400 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +140.40 112.91 Td +(VBUSINESP) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +183.600 104.400 m +183.600 97.200 l +S +172.800 104.400 m +183.600 104.400 l +S +147.600 104.400 m +172.800 104.400 l +S +140.400 104.400 m +140.400 111.600 l +S +140.400 104.400 m +147.600 104.400 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +284.40 148.91 Td +(MAXBCLK) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +277.200 147.600 m +298.800 147.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +284.40 148.91 Td +(MAXBCLK) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +277.200 147.600 m +298.800 147.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +284.40 134.51 Td +(MAXLRCLK) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +277.200 133.200 m +298.800 133.200 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +284.40 134.51 Td +(MAXLRCLK) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +277.200 133.200 m +298.800 133.200 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +277.20 98.51 Td +(NET15) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +342.000 86.400 m +342.000 97.200 l +S +277.200 97.200 m +342.000 97.200 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +277.20 98.51 Td +(NET15) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +342.000 86.400 m +342.000 97.200 l +S +277.200 97.200 m +342.000 97.200 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +277.20 105.71 Td +(NET16) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +360.000 75.600 m +360.000 104.400 l +S +277.200 104.400 m +360.000 104.400 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +277.20 105.71 Td +(NET16) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +360.000 75.600 m +360.000 104.400 l +S +277.200 104.400 m +360.000 104.400 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +162.00 141.71 Td +(GAIN) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +183.600 140.400 m +162.000 140.400 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +162.00 141.71 Td +(GAIN) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +183.600 140.400 m +162.000 140.400 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +79.20 156.11 Td +(MAXVDD) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +61.200 154.800 m +93.600 154.800 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +79.20 156.11 Td +(MAXVDD) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +61.200 154.800 m +93.600 154.800 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +79.20 148.91 Td +(GND) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +61.200 147.600 m +93.600 147.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +79.20 148.91 Td +(GND) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +61.200 147.600 m +93.600 147.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +79.20 141.71 Td +(VDD3V3) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +61.200 140.400 m +93.600 140.400 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +79.20 141.71 Td +(VDD3V3) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +61.200 140.400 m +93.600 140.400 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +79.20 134.51 Td +(GAIN) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +61.200 133.200 m +93.600 133.200 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +79.20 134.51 Td +(GAIN) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +61.200 133.200 m +93.600 133.200 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +79.20 127.31 Td +(MAXDIN) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +61.200 126.000 m +93.600 126.000 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +79.20 127.31 Td +(MAXDIN) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +61.200 126.000 m +93.600 126.000 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +79.20 120.11 Td +(MAXBCLK) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +61.200 118.800 m +93.600 118.800 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +79.20 120.11 Td +(MAXBCLK) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +61.200 118.800 m +93.600 118.800 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +79.20 112.91 Td +(MAXLRCLK) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +61.200 111.600 m +93.600 111.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +79.20 112.91 Td +(MAXLRCLK) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +61.200 111.600 m +93.600 111.600 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +313.200 140.400 m +320.400 140.400 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +320.400 133.200 m +320.400 147.600 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +326.880 139.680 m +326.880 141.120 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +324.720 137.520 m +324.720 143.280 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +322.560 135.360 m +322.560 145.440 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 0.502 rg +0.00 1.00 -1.00 0.00 333.49 133.13 Tm +(GND) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +277.200 140.400 m +313.200 140.400 l +S +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +277.200 140.400 m +313.200 140.400 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +302.400 111.600 m +309.600 111.600 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +309.600 104.400 m +309.600 118.800 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +316.080 110.880 m +316.080 112.320 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +313.920 108.720 m +313.920 114.480 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +311.760 106.560 m +311.760 116.640 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 0.502 rg +0.00 1.00 -1.00 0.00 322.69 104.33 Tm +(GND) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +277.200 111.600 m +302.400 111.600 l +S +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +277.200 111.600 m +302.400 111.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +162.00 134.51 Td +(GND) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +183.600 133.200 m +162.000 133.200 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +162.00 134.51 Td +(GND) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +183.600 133.200 m +162.000 133.200 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +111.34 127.31 Td +(VDD3V3) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +136.800 126.000 m +144.000 126.000 l +S +144.000 126.000 m +183.600 126.000 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +111.34 127.31 Td +(VDD3V3) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +136.800 126.000 m +144.000 126.000 l +S +144.000 126.000 m +183.600 126.000 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +144.000 154.800 m +144.000 147.600 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +144.000 126.000 m +144.000 133.200 l +S +2 J +0 j +72 M +0.72 w +0.63 0.00 0.00 RG +[] 0 d +141.12 147.60 5.76 -14.40 re +S +7.20 w +BT +/F2 4.418181818181818 Tf +4.86 TL +0.000 0.000 0.502 rg +133.20 148.48 Td +(R28) Tj +ET +7.20 w +BT +7.20 TL +0.000 0.000 1.000 rg +126.00 141.71 Td +/F2 6.545454545454544 Tf +(1M) Tj +/F3 6.545454545454544 Tf +<03a9> Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +144.00 159.71 Td +(VBUSINESP) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +144.000 158.400 m +144.000 154.800 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +144.00 159.71 Td +(VBUSINESP) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +144.000 158.400 m +144.000 154.800 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +141.840 92.160 m +153.360 92.160 l +S 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0.00 RG +0.00 g +[] 0 d +118.800 54.000 m +86.400 54.000 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +87.52 48.11 Td +(MAXBCLK) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +118.800 46.800 m +86.400 46.800 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +87.52 48.11 Td +(MAXBCLK) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +118.800 46.800 m +86.400 46.800 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +83.52 40.91 Td +(MAXLRCLK) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +118.800 39.600 m +86.400 39.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +83.52 40.91 Td +(MAXLRCLK) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +118.800 39.600 m +86.400 39.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +50.40 40.91 Td +(EIO16) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d 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j +72 M +0.72 w +0.63 0.00 0.00 RG +[] 0 d +892.80 255.60 28.80 -14.40 re +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +897.48 244.80 m 897.48 245.40 897.00 245.88 896.40 245.88 c +895.80 245.88 895.32 245.40 895.32 244.80 c +895.32 244.20 895.80 243.72 896.40 243.72 c +897.00 243.72 897.48 244.20 897.48 244.80 c +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 902.95 243.86 Tm +(1) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 899.35 237.20 Tm +(1) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +900.000 234.000 m +900.000 241.200 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 917.35 249.30 Tm +(6) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 913.75 255.96 Tm +(6) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +914.400 262.800 m +914.400 255.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 910.15 243.86 Tm +(3) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 906.55 237.20 Tm +(3) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +907.200 234.000 m +907.200 241.200 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 910.15 249.30 Tm +(4) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 906.55 255.96 Tm +(4) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +907.200 262.800 m +907.200 255.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 917.35 243.86 Tm +(5) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 913.75 237.20 Tm +(5) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +914.400 234.000 m +914.400 241.200 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 902.95 249.30 Tm +(2) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 899.35 255.96 Tm +(2) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +900.000 262.800 m +900.000 255.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 0.502 rg +925.20 249.71 Td +(U2) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +879.99 267.71 Td +(GPIO8) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +900.000 262.800 m +900.000 266.400 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +879.99 267.71 Td +(GPIO8) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +900.000 262.800 m +900.000 266.400 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +879.99 224.51 Td +(GPIO9) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +900.000 234.000 m +900.000 230.400 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +879.99 224.51 Td +(GPIO9) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +900.000 234.000 m +900.000 230.400 l +S +2 J +0 j +72 M +0.72 w +0.63 0.00 0.00 RG +[] 0 d +954.00 255.60 28.80 -14.40 re +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +958.68 244.80 m 958.68 245.40 958.20 245.88 957.60 245.88 c +957.00 245.88 956.52 245.40 956.52 244.80 c +956.52 244.20 957.00 243.72 957.60 243.72 c +958.20 243.72 958.68 244.20 958.68 244.80 c +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 964.15 243.86 Tm +(1) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 960.55 237.20 Tm +(1) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +961.200 234.000 m +961.200 241.200 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 978.55 249.30 Tm +(6) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 974.95 255.96 Tm +(6) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +975.600 262.800 m +975.600 255.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 971.35 243.86 Tm +(3) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 967.75 237.20 Tm +(3) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +968.400 234.000 m +968.400 241.200 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 971.35 249.30 Tm +(4) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 967.75 255.96 Tm +(4) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +968.400 262.800 m +968.400 255.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 978.55 243.86 Tm +(5) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 974.95 237.20 Tm +(5) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +975.600 234.000 m +975.600 241.200 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 964.15 249.30 Tm +(2) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 960.55 255.96 Tm +(2) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +961.200 262.800 m +961.200 255.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 0.502 rg +986.40 249.71 Td +(U4) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +937.55 267.71 Td +(GPIO14) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +961.200 266.400 m +961.200 262.800 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +937.55 267.71 Td +(GPIO14) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +961.200 266.400 m +961.200 262.800 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +937.55 224.51 Td +(GPIO15) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +961.200 230.400 m +961.200 234.000 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +937.55 224.51 Td +(GPIO15) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d 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6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 971.35 297.86 Tm +(3) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 967.75 291.20 Tm +(3) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +968.400 288.000 m +968.400 295.200 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 971.35 303.30 Tm +(4) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 967.75 309.96 Tm +(4) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +968.400 316.800 m +968.400 309.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 978.55 297.86 Tm +(5) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 974.95 291.20 Tm +(5) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +975.600 288.000 m +975.600 295.200 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 964.15 303.30 Tm +(2) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 960.55 309.96 Tm +(2) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +961.200 316.800 m +961.200 309.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 0.502 rg +986.40 303.71 Td +(U5) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +937.55 321.71 Td +(GPIO12) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +961.200 316.800 m +961.200 320.400 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +937.55 321.71 Td +(GPIO12) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +961.200 316.800 m +961.200 320.400 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +937.55 278.51 Td +(GPIO13) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +961.200 288.000 m +961.200 284.400 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +937.55 278.51 Td +(GPIO13) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +961.200 288.000 m +961.200 284.400 l +S +2 J +0 j +72 M +0.72 w +0.63 0.00 0.00 RG +[] 0 d +1015.20 255.60 28.80 -14.40 re +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +1019.88 244.80 m 1019.88 245.40 1019.40 245.88 1018.80 245.88 c +1018.20 245.88 1017.72 245.40 1017.72 244.80 c +1017.72 244.20 1018.20 243.72 1018.80 243.72 c +1019.40 243.72 1019.88 244.20 1019.88 244.80 c +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 1025.35 243.86 Tm +(1) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 1021.75 237.20 Tm +(1) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +1022.400 234.000 m +1022.400 241.200 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 1039.75 249.30 Tm +(6) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 1036.15 255.96 Tm +(6) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +1036.800 262.800 m +1036.800 255.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 1032.55 243.86 Tm +(3) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 1028.95 237.20 Tm +(3) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +1029.600 234.000 m +1029.600 241.200 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 1032.55 249.30 Tm +(4) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 1028.95 255.96 Tm +(4) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +1029.600 262.800 m +1029.600 255.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 1039.75 243.86 Tm +(5) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 1036.15 237.20 Tm +(5) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +1036.800 234.000 m +1036.800 241.200 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 1025.35 249.30 Tm +(2) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 1021.75 255.96 Tm +(2) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +1022.400 262.800 m +1022.400 255.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 0.502 rg +1047.60 249.71 Td +(U23) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +998.75 267.71 Td +(GPIO18) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +1022.400 262.800 m +1022.400 266.400 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +998.75 267.71 Td +(GPIO18) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +1022.400 262.800 m +1022.400 266.400 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +998.75 224.51 Td +(GPIO19) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +1022.400 234.000 m +1022.400 230.400 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +998.75 224.51 Td +(GPIO19) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +1022.400 234.000 m +1022.400 230.400 l +S +2 J +0 j +72 M +0.72 w +0.63 0.00 0.00 RG +[] 0 d +1015.20 309.60 28.80 -14.40 re +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +1019.88 298.80 m 1019.88 299.40 1019.40 299.88 1018.80 299.88 c +1018.20 299.88 1017.72 299.40 1017.72 298.80 c +1017.72 298.20 1018.20 297.72 1018.80 297.72 c +1019.40 297.72 1019.88 298.20 1019.88 298.80 c +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 1025.35 297.86 Tm +(1) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 1021.75 291.20 Tm +(1) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +1022.400 288.000 m +1022.400 295.200 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 1039.75 303.30 Tm +(6) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 1036.15 309.96 Tm +(6) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +1036.800 316.800 m +1036.800 309.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 1032.55 297.86 Tm +(3) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 1028.95 291.20 Tm +(3) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +1029.600 288.000 m +1029.600 295.200 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 1032.55 303.30 Tm +(4) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 1028.95 309.96 Tm +(4) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +1029.600 316.800 m +1029.600 309.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 1039.75 297.86 Tm +(5) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 1036.15 291.20 Tm +(5) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +1036.800 288.000 m +1036.800 295.200 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 1025.35 303.30 Tm +(2) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 1021.75 309.96 Tm +(2) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +1022.400 316.800 m +1022.400 309.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 0.502 rg +1047.60 303.71 Td +(U24) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +998.75 321.71 Td +(GPIO16) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +1022.400 320.400 m +1022.400 316.800 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +998.75 321.71 Td +(GPIO16) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +1022.400 320.400 m +1022.400 316.800 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +998.75 278.51 Td +(GPIO17) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +1022.400 284.400 m +1022.400 288.000 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +998.75 278.51 Td +(GPIO17) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +1022.400 284.400 m +1022.400 288.000 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +914.400 316.800 m +921.600 316.800 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +921.600 309.600 m +921.600 324.000 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +928.080 316.080 m +928.080 317.520 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +925.920 313.920 m +925.920 319.680 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +923.760 311.760 m +923.760 321.840 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 0.502 rg +0.00 1.00 -1.00 0.00 934.69 309.53 Tm +(GND) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +914.400 316.800 m +914.400 316.800 l +S +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +914.400 316.800 m +914.400 316.800 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +914.400 288.000 m +921.600 288.000 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +921.600 280.800 m +921.600 295.200 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +928.080 287.280 m +928.080 288.720 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +925.920 285.120 m +925.920 290.880 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +923.760 282.960 m +923.760 293.040 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 0.502 rg +0.00 1.00 -1.00 0.00 934.69 280.73 Tm +(GND) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +914.400 288.000 m +914.400 288.000 l +S +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +914.400 288.000 m +914.400 288.000 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +914.400 262.800 m +921.600 262.800 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +921.600 255.600 m +921.600 270.000 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +928.080 262.080 m +928.080 263.520 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +925.920 259.920 m +925.920 265.680 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +923.760 257.760 m +923.760 267.840 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 0.502 rg +0.00 1.00 -1.00 0.00 934.69 255.53 Tm +(GND) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +914.400 262.800 m +914.400 262.800 l +S +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +914.400 262.800 m +914.400 262.800 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +914.400 234.000 m +921.600 234.000 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +921.600 226.800 m +921.600 241.200 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +928.080 233.280 m +928.080 234.720 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +925.920 231.120 m +925.920 236.880 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +923.760 228.960 m +923.760 239.040 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 0.502 rg +0.00 1.00 -1.00 0.00 934.69 226.73 Tm +(GND) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +914.400 234.000 m +914.400 234.000 l +S +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +914.400 234.000 m +914.400 234.000 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +975.600 262.800 m +982.800 262.800 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +982.800 255.600 m +982.800 270.000 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +989.280 262.080 m +989.280 263.520 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +987.120 259.920 m +987.120 265.680 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +984.960 257.760 m +984.960 267.840 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 0.502 rg +0.00 1.00 -1.00 0.00 995.89 255.53 Tm +(GND) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +975.600 262.800 m +975.600 262.800 l +S 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Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +817.200 277.200 m +766.800 277.200 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +794.29 278.51 Td +(CAMD1) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +817.200 277.200 m +766.800 277.200 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +794.29 271.31 Td +(CAMD3) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +817.200 270.000 m +766.800 270.000 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +794.29 271.31 Td +(CAMD3) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +817.200 270.000 m +766.800 270.000 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +794.29 264.11 Td +(CAMD0) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +817.200 262.800 m +766.800 262.800 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +794.29 264.11 Td +(CAMD0) Tj +ET +1 J +1 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mode 100644 index 0000000..6349b83 --- /dev/null +++ b/docs/custom-board.md @@ -0,0 +1,452 @@ +# 自定义开发板指南 + +本指南介绍如何为小智AI语音聊天机器人项目定制一个新的开发板初始化程序。小智AI支持70多种ESP32系列开发板，每个开发板的初始化代码都放在对应的目录下。 + +## 重要提示 + +> **警告**: 对于自定义开发板，当IO配置与原有开发板不同时，切勿直接覆盖原有开发板的配置编译固件。必须创建新的开发板类型，或者通过config.json文件中的builds配置不同的name和sdkconfig宏定义来区分。使用 `python scripts/release.py [开发板目录名字]` 来编译打包固件。 +> +> 如果直接覆盖原有配置，将来OTA升级时，您的自定义固件可能会被原有开发板的标准固件覆盖，导致您的设备无法正常工作。每个开发板有唯一的标识和对应的固件升级通道，保持开发板标识的唯一性非常重要。 + +## 目录结构 + +每个开发板的目录结构通常包含以下文件： + +- `xxx_board.cc` - 主要的板级初始化代码，实现了板子相关的初始化和功能 +- `config.h` - 板级配置文件，定义了硬件管脚映射和其他配置项 +- `config.json` - 编译配置，指定目标芯片和特殊的编译选项 +- `README.md` - 开发板相关的说明文档 + +## 定制开发板步骤 + +### 1. 创建新的开发板目录 + +首先在`boards/`目录下创建一个新的目录，命名方式应使用 `[品牌名]-[开发板类型]` 的形式，例如 `m5stack-tab5`： + +```bash +mkdir main/boards/my-custom-board +``` + +### 2. 创建配置文件 + +#### config.h + +在`config.h`中定义所有的硬件配置，包括: + +- 音频采样率和I2S引脚配置 +- 音频编解码芯片地址和I2C引脚配置 +- 按钮和LED引脚配置 +- 显示屏参数和引脚配置 + +参考示例（来自lichuang-c3-dev）： + +```c +#ifndef _BOARD_CONFIG_H_ +#define _BOARD_CONFIG_H_ + +#include + +// 音频配置 +#define AUDIO_INPUT_SAMPLE_RATE 24000 +#define AUDIO_OUTPUT_SAMPLE_RATE 24000 + +#define AUDIO_I2S_GPIO_MCLK GPIO_NUM_10 +#define AUDIO_I2S_GPIO_WS GPIO_NUM_12 +#define AUDIO_I2S_GPIO_BCLK GPIO_NUM_8 +#define AUDIO_I2S_GPIO_DIN GPIO_NUM_7 +#define AUDIO_I2S_GPIO_DOUT GPIO_NUM_11 + +#define AUDIO_CODEC_PA_PIN GPIO_NUM_13 +#define AUDIO_CODEC_I2C_SDA_PIN GPIO_NUM_0 +#define AUDIO_CODEC_I2C_SCL_PIN GPIO_NUM_1 +#define AUDIO_CODEC_ES8311_ADDR ES8311_CODEC_DEFAULT_ADDR + +// 按钮配置 +#define BOOT_BUTTON_GPIO GPIO_NUM_9 + +// 显示屏配置 +#define DISPLAY_SPI_SCK_PIN GPIO_NUM_3 +#define DISPLAY_SPI_MOSI_PIN GPIO_NUM_5 +#define DISPLAY_DC_PIN GPIO_NUM_6 +#define DISPLAY_SPI_CS_PIN GPIO_NUM_4 + +#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_2 +#define DISPLAY_BACKLIGHT_OUTPUT_INVERT true + +#endif // _BOARD_CONFIG_H_ +``` + +#### config.json + +在`config.json`中定义编译配置，这个文件用于 `scripts/release.py` 脚本自动化编译： + +```json +{ + "target": "esp32s3", // 目标芯片型号: esp32, esp32s3, esp32c3, esp32c6, esp32p4等 + "builds": [ + { + "name": "my-custom-board", // 开发板名称，用于生成固件包 + "sdkconfig_append": [ + // 特别 Flash 大小配置 + "CONFIG_ESPTOOLPY_FLASHSIZE_8MB=y", + // 特别分区表配置 + "CONFIG_PARTITION_TABLE_CUSTOM_FILENAME=\"partitions/v2/8m.csv\"" + ] + } + ] +} +``` + +**配置项说明：** +- `target`: 目标芯片型号，必须与硬件匹配 +- `name`: 编译输出的固件包名称，建议与目录名一致 +- `sdkconfig_append`: 额外的 sdkconfig 配置项数组，会追加到默认配置中 + +**常用的 sdkconfig_append 配置：** +```json +// Flash 大小 +"CONFIG_ESPTOOLPY_FLASHSIZE_4MB=y" // 4MB Flash +"CONFIG_ESPTOOLPY_FLASHSIZE_8MB=y" // 8MB Flash +"CONFIG_ESPTOOLPY_FLASHSIZE_16MB=y" // 16MB Flash + +// 分区表 +"CONFIG_PARTITION_TABLE_CUSTOM_FILENAME=\"partitions/v2/4m.csv\"" // 4MB 分区表 +"CONFIG_PARTITION_TABLE_CUSTOM_FILENAME=\"partitions/v2/8m.csv\"" // 8MB 分区表 +"CONFIG_PARTITION_TABLE_CUSTOM_FILENAME=\"partitions/v2/16m.csv\"" // 16MB 分区表 + +// 语言配置 +"CONFIG_LANGUAGE_EN_US=y" // 英语 +"CONFIG_LANGUAGE_ZH_CN=y" // 简体中文 + +// 唤醒词配置 +"CONFIG_USE_DEVICE_AEC=y" // 启用设备端 AEC +"CONFIG_WAKE_WORD_DISABLED=y" // 禁用唤醒词 +``` + +### 3. 编写板级初始化代码 + +创建一个`my_custom_board.cc`文件，实现开发板的所有初始化逻辑。 + +一个基本的开发板类定义包含以下几个部分： + +1. **类定义**：继承自`WifiBoard`或`Ml307Board` +2. **初始化函数**：包括I2C、显示屏、按钮、IoT等组件的初始化 +3. **虚函数重写**：如`GetAudioCodec()`、`GetDisplay()`、`GetBacklight()`等 +4. **注册开发板**：使用`DECLARE_BOARD`宏注册开发板 + +```cpp +#include "wifi_board.h" +#include "codecs/es8311_audio_codec.h" +#include "display/lcd_display.h" +#include "application.h" +#include "button.h" +#include "config.h" +#include "mcp_server.h" + +#include +#include +#include + +#define TAG "MyCustomBoard" + +class MyCustomBoard : public WifiBoard { +private: + i2c_master_bus_handle_t codec_i2c_bus_; + Button boot_button_; + LcdDisplay* display_; + + // I2C初始化 + void InitializeI2c() { + i2c_master_bus_config_t i2c_bus_cfg = { + .i2c_port = I2C_NUM_0, + .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, &codec_i2c_bus_)); + } + + // SPI初始化（用于显示屏） + void InitializeSpi() { + spi_bus_config_t buscfg = {}; + buscfg.mosi_io_num = DISPLAY_SPI_MOSI_PIN; + buscfg.miso_io_num = GPIO_NUM_NC; + buscfg.sclk_io_num = DISPLAY_SPI_SCK_PIN; + 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(SPI2_HOST, &buscfg, SPI_DMA_CH_AUTO)); + } + + // 按钮初始化 + void InitializeButtons() { + boot_button_.OnClick([this]() { + auto& app = Application::GetInstance(); + if (app.GetDeviceState() == kDeviceStateStarting && !WifiStation::GetInstance().IsConnected()) { + ResetWifiConfiguration(); + } + app.ToggleChatState(); + }); + } + + // 显示屏初始化（以ST7789为例） + void InitializeDisplay() { + esp_lcd_panel_io_handle_t panel_io = nullptr; + esp_lcd_panel_handle_t panel = nullptr; + + esp_lcd_panel_io_spi_config_t io_config = {}; + io_config.cs_gpio_num = DISPLAY_SPI_CS_PIN; + io_config.dc_gpio_num = DISPLAY_DC_PIN; + 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(SPI2_HOST, &io_config, &panel_io)); + + 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); + 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); + + // 创建显示屏对象 + 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); + } + + // MCP Tools 初始化 + void InitializeTools() { + // 参考 MCP 文档 + } + +public: + // 构造函数 + MyCustomBoard() : boot_button_(BOOT_BUTTON_GPIO) { + InitializeI2c(); + InitializeSpi(); + InitializeDisplay(); + InitializeButtons(); + InitializeTools(); + GetBacklight()->SetBrightness(100); + } + + // 获取音频编解码器 + virtual AudioCodec* GetAudioCodec() override { + static Es8311AudioCodec audio_codec( + codec_i2c_bus_, + I2C_NUM_0, + 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, + AUDIO_CODEC_PA_PIN, + AUDIO_CODEC_ES8311_ADDR); + return &audio_codec; + } + + // 获取显示屏 + virtual Display* GetDisplay() override { + return display_; + } + + // 获取背光控制 + virtual Backlight* GetBacklight() override { + static PwmBacklight backlight(DISPLAY_BACKLIGHT_PIN, DISPLAY_BACKLIGHT_OUTPUT_INVERT); + return &backlight; + } +}; + +// 注册开发板 +DECLARE_BOARD(MyCustomBoard); +``` + +### 4. 添加构建系统配置 + +#### 在 Kconfig.projbuild 中添加开发板选项 + +打开 `main/Kconfig.projbuild` 文件，在 `choice BOARD_TYPE` 部分添加新的开发板配置项： + +```kconfig +choice BOARD_TYPE + prompt "Board Type" + default BOARD_TYPE_BREAD_COMPACT_WIFI + help + Board type. 开发板类型 + + # ... 其他开发板选项 ... + + config BOARD_TYPE_MY_CUSTOM_BOARD + bool "My Custom Board (我的自定义开发板)" + depends on IDF_TARGET_ESP32S3 # 根据你的目标芯片修改 +endchoice +``` + +**注意事项：** +- `BOARD_TYPE_MY_CUSTOM_BOARD` 是配置项名称，需要全大写，使用下划线分隔 +- `depends on` 指定了目标芯片类型（如 `IDF_TARGET_ESP32S3`、`IDF_TARGET_ESP32C3` 等） +- 描述文字可以使用中英文 + +#### 在 CMakeLists.txt 中添加开发板配置 + +打开 `main/CMakeLists.txt` 文件，在开发板类型判断部分添加新的配置： + +```cmake +# 在 elseif 链中添加你的开发板配置 +elseif(CONFIG_BOARD_TYPE_MY_CUSTOM_BOARD) + set(BOARD_TYPE "my-custom-board") # 与目录名一致 + set(BUILTIN_TEXT_FONT font_puhui_basic_20_4) # 根据屏幕大小选择合适的字体 + set(BUILTIN_ICON_FONT font_awesome_20_4) + set(DEFAULT_EMOJI_COLLECTION twemoji_64) # 可选，如果需要表情显示 +endif() +``` + +**字体和表情配置说明：** + +根据屏幕分辨率选择合适的字体大小： +- 小屏幕（128x64 OLED）：`font_puhui_basic_14_1` / `font_awesome_14_1` +- 中小屏幕（240x240）：`font_puhui_basic_16_4` / `font_awesome_16_4` +- 中等屏幕（240x320）：`font_puhui_basic_20_4` / `font_awesome_20_4` +- 大屏幕（480x320+）：`font_puhui_basic_30_4` / `font_awesome_30_4` + +表情集合选项： +- `twemoji_32` - 32x32 像素表情（小屏幕） +- `twemoji_64` - 64x64 像素表情（大屏幕） + +### 5. 配置和编译 + +#### 方法一：使用 idf.py 手动配置 + +1. **设置目标芯片**（首次配置或更换芯片时）： + ```bash + # 对于 ESP32-S3 + idf.py set-target esp32s3 + + # 对于 ESP32-C3 + idf.py set-target esp32c3 + + # 对于 ESP32 + idf.py set-target esp32 + ``` + +2. **清理旧配置**： + ```bash + idf.py fullclean + ``` + +3. **进入配置菜单**： + ```bash + idf.py menuconfig + ``` + + 在菜单中导航到：`Xiaozhi Assistant` -> `Board Type`，选择你的自定义开发板。 + +4. **编译和烧录**： + ```bash + idf.py build + idf.py flash monitor + ``` + +#### 方法二：使用 release.py 脚本（推荐） + +如果你的开发板目录下有 `config.json` 文件，可以使用此脚本自动完成配置和编译： + +```bash +python scripts/release.py my-custom-board +``` + +此脚本会自动： +- 读取 `config.json` 中的 `target` 配置并设置目标芯片 +- 应用 `sdkconfig_append` 中的编译选项 +- 完成编译并打包固件 + +### 6. 创建README.md + +在README.md中说明开发板的特性、硬件要求、编译和烧录步骤： + + +## 常见开发板组件 + +### 1. 显示屏 + +项目支持多种显示屏驱动，包括: +- ST7789 (SPI) +- ILI9341 (SPI) +- SH8601 (QSPI) +- 等... + +### 2. 音频编解码器 + +支持的编解码器包括: +- ES8311 (常用) +- ES7210 (麦克风阵列) +- AW88298 (功放) +- 等... + +### 3. 电源管理 + +一些开发板使用电源管理芯片: +- AXP2101 +- 其他可用的PMIC + +### 4. MCP设备控制 + +可以添加各种MCP工具，让AI能够使用: +- Speaker (扬声器控制) +- Screen (屏幕亮度调节) +- Battery (电池电量读取) +- Light (灯光控制) +- 等... + +## 开发板类继承关系 + +- `Board` - 基础板级类 + - `WifiBoard` - Wi-Fi连接的开发板 + - `Ml307Board` - 使用4G模块的开发板 + - `DualNetworkBoard` - 支持Wi-Fi与4G网络切换的开发板 + +## 开发技巧 + +1. **参考相似的开发板**：如果您的新开发板与现有开发板有相似之处，可以参考现有实现 +2. **分步调试**：先实现基础功能（如显示），再添加更复杂的功能（如音频） +3. **管脚映射**：确保在config.h中正确配置所有管脚映射 +4. **检查硬件兼容性**：确认所有芯片和驱动程序的兼容性 + +## 可能遇到的问题 + +1. **显示屏不正常**：检查SPI配置、镜像设置和颜色反转设置 +2. **音频无输出**：检查I2S配置、PA使能引脚和编解码器地址 +3. **无法连接网络**：检查Wi-Fi凭据和网络配置 +4. **无法与服务器通信**：检查MQTT或WebSocket配置 + +## 参考资料 + +- ESP-IDF 文档: https://docs.espressif.com/projects/esp-idf/ +- LVGL 文档: https://docs.lvgl.io/ +- ESP-SR 文档: https://github.com/espressif/esp-sr \ No newline at end of file diff --git a/docs/mcp-based-graph.jpg b/docs/mcp-based-graph.jpg new file mode 100644 index 0000000000000000000000000000000000000000..af81cd27499443c528bd39a72eac67dd225c728e GIT binary patch literal 97848 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z)#hekQSitg3dGmlf-Oz<$B@==4m69|!}`X;Hu%4zkgddUd%3?}yuFh6ZK!j2GhmmQ z3EWXyuL=4R!!FMdaoT;~rw>PL=slK%D1A^`U4 zYeM&Fhin>NWMAGnsmq}B3r_&ayd|AXs#tq0qVJW8YW40U1-S7v-s$R8p|A#X#Y9__ z?SfOS-pXwU4Bn=`mG~yMh%O5E6mgk-yh`#B8`}v8E&USS^BL)l=+8S{?{5!0zTUwo z<)K+espTK317PD+Bz7fXY+?Y?Dp>G=s?Wgus`$|o9eXWvN>Bqeaj<|4;+!mM-uup0 z&s{F(f1 z(MjX=3W$h)-m$#06~Fy^Rnj#Sx8=36l3M#NHDJx>?6#>T?XlE XT#jI{_n7)fr)Jt{c-iXLf9wAr@v)z; literal 0 HcmV?d00001 diff --git a/docs/mcp-protocol.md b/docs/mcp-protocol.md new file mode 100644 index 0000000..0c8ec90 --- /dev/null +++ b/docs/mcp-protocol.md @@ -0,0 +1,269 @@ +# MCP (Model Context Protocol) 交互流程 + +NOTICE: AI 辅助生成, 在实现后台服务时, 请参照代码确认细节!! + +本项目中的 MCP 协议用于后台 API（MCP 客户端）与 ESP32 设备（MCP 服务器）之间的通信，以便后台能够发现和调用设备提供的功能（工具）。 + +## 协议格式 + +根据代码 (`main/protocols/protocol.cc`, `main/mcp_server.cc`)，MCP 消息是封装在基础通信协议（如 WebSocket 或 MQTT）的消息体中的。其内部结构遵循 [JSON-RPC 2.0](https://www.jsonrpc.org/specification) 规范。 + +整体消息结构示例： + +```json +{ + "session_id": "...", // 会话 ID + "type": "mcp", // 消息类型，固定为 "mcp" + "payload": { // JSON-RPC 2.0 负载 + "jsonrpc": "2.0", + "method": "...", // 方法名 (如 "initialize", "tools/list", "tools/call") + "params": { ... }, // 方法参数 (对于 request) + "id": ..., // 请求 ID (对于 request 和 response) + "result": { ... }, // 方法执行结果 (对于 success response) + "error": { ... } // 错误信息 (对于 error response) + } +} +``` + +其中，`payload` 部分是标准的 JSON-RPC 2.0 消息： + +- `jsonrpc`: 固定的字符串 "2.0"。 +- `method`: 要调用的方法名称 (对于 Request)。 +- `params`: 方法的参数，一个结构化值，通常为对象 (对于 Request)。 +- `id`: 请求的标识符，客户端发送请求时提供，服务器响应时原样返回。用于匹配请求和响应。 +- `result`: 方法成功执行时的结果 (对于 Success Response)。 +- `error`: 方法执行失败时的错误信息 (对于 Error Response)。 + +## 交互流程及发送时机 + +MCP 的交互主要围绕客户端（后台 API）发现和调用设备上的“工具”（Tool）进行。 + +1. **连接建立与能力通告** + + - **时机：** 设备启动并成功连接到后台 API 后。 + - **发送方：** 设备。 + - **消息：** 设备发送基础协议的 "hello" 消息给后台 API，消息中包含设备支持的能力列表，例如通过支持 MCP 协议 (`"mcp": true`)。 + - **示例 (非 MCP 负载，而是基础协议消息):** + ```json + { + "type": "hello", + "version": ..., + "features": { + "mcp": true, + ... + }, + "transport": "websocket", // 或 "mqtt" + "audio_params": { ... }, + "session_id": "..." // 设备收到服务器hello后可能设置 + } + ``` + +2. **初始化 MCP 会话** + + - **时机：** 后台 API 收到设备 "hello" 消息，确认设备支持 MCP 后，通常作为 MCP 会话的第一个请求发送。 + - **发送方：** 后台 API (客户端)。 + - **方法：** `initialize` + - **消息 (MCP payload):** + + ```json + { + "jsonrpc": "2.0", + "method": "initialize", + "params": { + "capabilities": { + // 客户端能力，可选 + + // 摄像头视觉相关 + "vision": { + "url": "...", //摄像头: 图片处理地址(必须是http地址, 不是websocket地址) + "token": "..." // url token + } + + // ... 其他客户端能力 + } + }, + "id": 1 // 请求 ID + } + ``` + + - **设备响应时机：** 设备收到 `initialize` 请求并处理后。 + - **设备响应消息 (MCP payload):** + ```json + { + "jsonrpc": "2.0", + "id": 1, // 匹配请求 ID + "result": { + "protocolVersion": "2024-11-05", + "capabilities": { + "tools": {} // 这里的 tools 似乎不列出详细信息，需要 tools/list + }, + "serverInfo": { + "name": "...", // 设备名称 (BOARD_NAME) + "version": "..." // 设备固件版本 + } + } + } + ``` + +3. **发现设备工具列表** + + - **时机：** 后台 API 需要获取设备当前支持的具体功能（工具）列表及其调用方式时。 + - **发送方：** 后台 API (客户端)。 + - **方法：** `tools/list` + - **消息 (MCP payload):** + ```json + { + "jsonrpc": "2.0", + "method": "tools/list", + "params": { + "cursor": "" // 用于分页，首次请求为空字符串 + }, + "id": 2 // 请求 ID + } + ``` + - **设备响应时机：** 设备收到 `tools/list` 请求并生成工具列表后。 + - **设备响应消息 (MCP payload):** + ```json + { + "jsonrpc": "2.0", + "id": 2, // 匹配请求 ID + "result": { + "tools": [ // 工具对象列表 + { + "name": "self.get_device_status", + "description": "...", + "inputSchema": { ... } // 参数 schema + }, + { + "name": "self.audio_speaker.set_volume", + "description": "...", + "inputSchema": { ... } // 参数 schema + } + // ... 更多工具 + ], + "nextCursor": "..." // 如果列表很大需要分页，这里会包含下一个请求的 cursor 值 + } + } + ``` + - **分页处理：** 如果 `nextCursor` 字段非空，客户端需要再次发送 `tools/list` 请求，并在 `params` 中带上这个 `cursor` 值以获取下一页工具。 + +4. **调用设备工具** + + - **时机：** 后台 API 需要执行设备上的某个具体功能时。 + - **发送方：** 后台 API (客户端)。 + - **方法：** `tools/call` + - **消息 (MCP payload):** + ```json + { + "jsonrpc": "2.0", + "method": "tools/call", + "params": { + "name": "self.audio_speaker.set_volume", // 要调用的工具名称 + "arguments": { + // 工具参数，对象格式 + "volume": 50 // 参数名及其值 + } + }, + "id": 3 // 请求 ID + } + ``` + - **设备响应时机：** 设备收到 `tools/call` 请求，执行相应的工具函数后。 + - **设备成功响应消息 (MCP payload):** + ```json + { + "jsonrpc": "2.0", + "id": 3, // 匹配请求 ID + "result": { + "content": [ + // 工具执行结果内容 + { "type": "text", "text": "true" } // 示例：set_volume 返回 bool + ], + "isError": false // 表示成功 + } + } + ``` + - **设备失败响应消息 (MCP payload):** + ```json + { + "jsonrpc": "2.0", + "id": 3, // 匹配请求 ID + "error": { + "code": -32601, // JSON-RPC 错误码，例如 Method not found (-32601) + "message": "Unknown tool: self.non_existent_tool" // 错误描述 + } + } + ``` + +5. **设备主动发送消息 (Notifications)** + - **时机：** 设备内部发生需要通知后台 API 的事件时（例如，状态变化，虽然代码示例中没有明确的工具发送此类消息，但 `Application::SendMcpMessage` 的存在暗示了设备可能主动发送 MCP 消息）。 + - **发送方：** 设备 (服务器)。 + - **方法：** 可能是以 `notifications/` 开头的方法名，或者其他自定义方法。 + - **消息 (MCP payload):** 遵循 JSON-RPC Notification 格式，没有 `id` 字段。 + ```json + { + "jsonrpc": "2.0", + "method": "notifications/state_changed", // 示例方法名 + "params": { + "newState": "idle", + "oldState": "connecting" + } + // 没有 id 字段 + } + ``` + - **后台 API 处理：** 接收到 Notification 后，后台 API 进行相应的处理，但不回复。 + +## 交互图 + +下面是一个简化的交互序列图，展示了主要的 MCP 消息流程： + +```mermaid +sequenceDiagram + participant Device as ESP32 Device + participant BackendAPI as 后台 API (Client) + + Note over Device, BackendAPI: 建立 WebSocket / MQTT 连接 + + Device->>BackendAPI: Hello Message (包含 "mcp": true) + + BackendAPI->>Device: MCP Initialize Request + Note over BackendAPI: method: initialize + Note over BackendAPI: params: { capabilities: ... } + + Device->>BackendAPI: MCP Initialize Response + Note over Device: result: { protocolVersion: ..., serverInfo: ... } + + BackendAPI->>Device: MCP Get Tools List Request + Note over BackendAPI: method: tools/list + Note over BackendAPI: params: { cursor: "" } + + Device->>BackendAPI: MCP Get Tools List Response + Note over Device: result: { tools: [...], nextCursor: ... } + + loop Optional Pagination + BackendAPI->>Device: MCP Get Tools List Request + Note over BackendAPI: method: tools/list + Note over BackendAPI: params: { cursor: "..." } + Device->>BackendAPI: MCP Get Tools List Response + Note over Device: result: { tools: [...], nextCursor: "" } + end + + BackendAPI->>Device: MCP Call Tool Request + Note over BackendAPI: method: tools/call + Note over BackendAPI: params: { name: "...", arguments: { ... } } + + alt Tool Call Successful + Device->>BackendAPI: MCP Tool Call Success Response + Note over Device: result: { content: [...], isError: false } + else Tool Call Failed + Device->>BackendAPI: MCP Tool Call Error Response + Note over Device: error: { code: ..., message: ... } + end + + opt Device Notification + Device->>BackendAPI: MCP Notification + Note over Device: method: notifications/... + Note over Device: params: { ... } + end +``` + +这份文档概述了该项目中 MCP 协议的主要交互流程。具体的参数细节和工具功能需要参考 `main/mcp_server.cc` 中 `McpServer::AddCommonTools` 以及各个工具的实现。 diff --git a/docs/mcp-usage.md b/docs/mcp-usage.md new file mode 100644 index 0000000..fa50a39 --- /dev/null +++ b/docs/mcp-usage.md @@ -0,0 +1,115 @@ +# MCP 协议物联网控制用法说明 + +> 本文档介绍如何基于 MCP 协议实现 ESP32 设备的物联网控制。详细协议流程请参考 [`mcp-protocol.md`](./mcp-protocol.md)。 + +## 简介 + +MCP（Model Context Protocol）是新一代推荐用于物联网控制的协议，通过标准 JSON-RPC 2.0 格式在后台与设备间发现和调用"工具"（Tool），实现灵活的设备控制。 + +## 典型使用流程 + +1. 设备启动后通过基础协议（如 WebSocket/MQTT）与后台建立连接。 +2. 后台通过 MCP 协议的 `initialize` 方法初始化会话。 +3. 后台通过 `tools/list` 获取设备支持的所有工具（功能）及参数说明。 +4. 后台通过 `tools/call` 调用具体工具，实现对设备的控制。 + +详细协议格式与交互请见 [`mcp-protocol.md`](./mcp-protocol.md)。 + +## 设备端工具注册方法说明 + +设备通过 `McpServer::AddTool` 方法注册可被后台调用的"工具"。其常用函数签名如下： + +```cpp +void AddTool( + const std::string& name, // 工具名称，建议唯一且有层次感，如 self.dog.forward + const std::string& description, // 工具描述，简明说明功能，便于大模型理解 + const PropertyList& properties, // 输入参数列表（可为空），支持类型：布尔、整数、字符串 + std::function callback // 工具被调用时的回调实现 +); +``` +- name：工具唯一标识，建议用"模块.功能"命名风格。 +- description：自然语言描述，便于 AI/用户理解。 +- properties：参数列表，支持类型有布尔、整数、字符串，可指定范围和默认值。 +- callback：收到调用请求时的实际执行逻辑，返回值可为 bool/int/string。 + +## 典型注册示例（以 ESP-Hi 为例） + +```cpp +void InitializeTools() { + auto& mcp_server = McpServer::GetInstance(); + // 例1：无参数，控制机器人前进 + mcp_server.AddTool("self.dog.forward", "机器人向前移动", PropertyList(), [this](const PropertyList&) -> ReturnValue { + servo_dog_ctrl_send(DOG_STATE_FORWARD, NULL); + return true; + }); + // 例2：带参数，设置灯光 RGB 颜色 + mcp_server.AddTool("self.light.set_rgb", "设置RGB颜色", PropertyList({ + Property("r", kPropertyTypeInteger, 0, 255), + Property("g", kPropertyTypeInteger, 0, 255), + Property("b", kPropertyTypeInteger, 0, 255) + }), [this](const PropertyList& properties) -> ReturnValue { + int r = properties["r"].value(); + int g = properties["g"].value(); + int b = properties["b"].value(); + led_on_ = true; + SetLedColor(r, g, b); + return true; + }); +} +``` + +## 常见工具调用 JSON-RPC 示例 + +### 1. 获取工具列表 +```json +{ + "jsonrpc": "2.0", + "method": "tools/list", + "params": { "cursor": "" }, + "id": 1 +} +``` + +### 2. 控制底盘前进 +```json +{ + "jsonrpc": "2.0", + "method": "tools/call", + "params": { + "name": "self.chassis.go_forward", + "arguments": {} + }, + "id": 2 +} +``` + +### 3. 切换灯光模式 +```json +{ + "jsonrpc": "2.0", + "method": "tools/call", + "params": { + "name": "self.chassis.switch_light_mode", + "arguments": { "light_mode": 3 } + }, + "id": 3 +} +``` + +### 4. 摄像头翻转 +```json +{ + "jsonrpc": "2.0", + "method": "tools/call", + "params": { + "name": "self.camera.set_camera_flipped", + "arguments": {} + }, + "id": 4 +} +``` + +## 备注 +- 工具名称、参数及返回值请以设备端 `AddTool` 注册为准。 +- 推荐所有新项目统一采用 MCP 协议进行物联网控制。 +- 详细协议与进阶用法请查阅 [`mcp-protocol.md`](./mcp-protocol.md)。 \ No newline at end of file diff --git a/docs/mqtt-udp.md b/docs/mqtt-udp.md new file mode 100644 index 0000000..478e466 --- /dev/null +++ b/docs/mqtt-udp.md @@ -0,0 +1,393 @@ +# MQTT + UDP 混合通信协议文档 + +基于代码实现整理的 MQTT + UDP 混合通信协议文档，概述设备端与服务器之间如何通过 MQTT 进行控制消息传输，通过 UDP 进行音频数据传输的交互方式。 + +--- + +## 1. 协议概览 + +本协议采用混合传输方式： +- **MQTT**：用于控制消息、状态同步、JSON 数据交换 +- **UDP**：用于实时音频数据传输，支持加密 + +### 1.1 协议特点 + +- **双通道设计**：控制与数据分离，确保实时性 +- **加密传输**：UDP 音频数据使用 AES-CTR 加密 +- **序列号保护**：防止数据包重放和乱序 +- **自动重连**：MQTT 连接断开时自动重连 + +--- + +## 2. 总体流程概览 + +```mermaid +sequenceDiagram + participant Device as ESP32 设备 + participant MQTT as MQTT 服务器 + participant UDP as UDP 服务器 + + Note over Device, UDP: 1. 建立 MQTT 连接 + Device->>MQTT: MQTT Connect + MQTT->>Device: Connected + + Note over Device, UDP: 2. 请求音频通道 + Device->>MQTT: Hello Message (type: "hello", transport: "udp") + MQTT->>Device: Hello Response (UDP 连接信息 + 加密密钥) + + Note over Device, UDP: 3. 建立 UDP 连接 + Device->>UDP: UDP Connect + UDP->>Device: Connected + + Note over Device, UDP: 4. 音频数据传输 + loop 音频流传输 + Device->>UDP: 加密音频数据 (Opus) + UDP->>Device: 加密音频数据 (Opus) + end + + Note over Device, UDP: 5. 控制消息交换 + par 控制消息 + Device->>MQTT: Listen/TTS/MCP 消息 + MQTT->>Device: STT/TTS/MCP 响应 + end + + Note over Device, UDP: 6. 关闭连接 + Device->>MQTT: Goodbye Message + Device->>UDP: Disconnect +``` + +--- + +## 3. MQTT 控制通道 + +### 3.1 连接建立 + +设备通过 MQTT 连接到服务器，连接参数包括： +- **Endpoint**：MQTT 服务器地址和端口 +- **Client ID**：设备唯一标识符 +- **Username/Password**：认证凭据 +- **Keep Alive**：心跳间隔（默认240秒） + +### 3.2 Hello 消息交换 + +#### 3.2.1 设备端发送 Hello + +```json +{ + "type": "hello", + "version": 3, + "transport": "udp", + "features": { + "mcp": true + }, + "audio_params": { + "format": "opus", + "sample_rate": 16000, + "channels": 1, + "frame_duration": 60 + } +} +``` + +#### 3.2.2 服务器响应 Hello + +```json +{ + "type": "hello", + "transport": "udp", + "session_id": "xxx", + "audio_params": { + "format": "opus", + "sample_rate": 24000, + "channels": 1, + "frame_duration": 60 + }, + "udp": { + "server": "192.168.1.100", + "port": 8888, + "key": "0123456789ABCDEF0123456789ABCDEF", + "nonce": "0123456789ABCDEF0123456789ABCDEF" + } +} +``` + +**字段说明：** +- `udp.server`：UDP 服务器地址 +- `udp.port`：UDP 服务器端口 +- `udp.key`：AES 加密密钥（十六进制字符串） +- `udp.nonce`：AES 加密随机数（十六进制字符串） + +### 3.3 JSON 消息类型 + +#### 3.3.1 设备端→服务器 + +1. **Listen 消息** + ```json + { + "session_id": "xxx", + "type": "listen", + "state": "start", + "mode": "manual" + } + ``` + +2. **Abort 消息** + ```json + { + "session_id": "xxx", + "type": "abort", + "reason": "wake_word_detected" + } + ``` + +3. **MCP 消息** + ```json + { + "session_id": "xxx", + "type": "mcp", + "payload": { + "jsonrpc": "2.0", + "id": 1, + "result": {...} + } + } + ``` + +4. **Goodbye 消息** + ```json + { + "session_id": "xxx", + "type": "goodbye" + } + ``` + +#### 3.3.2 服务器→设备端 + +支持的消息类型与 WebSocket 协议一致，包括： +- **STT**：语音识别结果 +- **TTS**：语音合成控制 +- **LLM**：情感表达控制 +- **MCP**：物联网控制 +- **System**：系统控制 +- **Custom**：自定义消息（可选） + +--- + +## 4. UDP 音频通道 + +### 4.1 连接建立 + +设备收到 MQTT Hello 响应后，使用其中的 UDP 连接信息建立音频通道： +1. 解析 UDP 服务器地址和端口 +2. 解析加密密钥和随机数 +3. 初始化 AES-CTR 加密上下文 +4. 建立 UDP 连接 + +### 4.2 音频数据格式 + +#### 4.2.1 加密音频包结构 + +``` +|type 1byte|flags 1byte|payload_len 2bytes|ssrc 4bytes|timestamp 4bytes|sequence 4bytes| +|payload payload_len bytes| +``` + +**字段说明：** +- `type`：数据包类型，固定为 0x01 +- `flags`：标志位，当前未使用 +- `payload_len`：负载长度（网络字节序） +- `ssrc`：同步源标识符 +- `timestamp`：时间戳（网络字节序） +- `sequence`：序列号（网络字节序） +- `payload`：加密的 Opus 音频数据 + +#### 4.2.2 加密算法 + +使用 **AES-CTR** 模式加密： +- **密钥**：128位，由服务器提供 +- **随机数**：128位，由服务器提供 +- **计数器**：包含时间戳和序列号信息 + +### 4.3 序列号管理 + +- **发送端**：`local_sequence_` 单调递增 +- **接收端**：`remote_sequence_` 验证连续性 +- **防重放**：拒绝序列号小于期望值的数据包 +- **容错处理**：允许轻微的序列号跳跃，记录警告 + +### 4.4 错误处理 + +1. **解密失败**：记录错误，丢弃数据包 +2. **序列号异常**：记录警告，但仍处理数据包 +3. **数据包格式错误**：记录错误，丢弃数据包 + +--- + +## 5. 状态管理 + +### 5.1 连接状态 + +```mermaid +stateDiagram + direction TB + [*] --> Disconnected + Disconnected --> MqttConnecting: StartMqttClient() + MqttConnecting --> MqttConnected: MQTT Connected + MqttConnecting --> Disconnected: Connect Failed + MqttConnected --> RequestingChannel: OpenAudioChannel() + RequestingChannel --> ChannelOpened: Hello Exchange Success + RequestingChannel --> MqttConnected: Hello Timeout/Failed + ChannelOpened --> UdpConnected: UDP Connect Success + UdpConnected --> AudioStreaming: Start Audio Transfer + AudioStreaming --> UdpConnected: Stop Audio Transfer + UdpConnected --> ChannelOpened: UDP Disconnect + ChannelOpened --> MqttConnected: CloseAudioChannel() + MqttConnected --> Disconnected: MQTT Disconnect +``` + +### 5.2 状态检查 + +设备通过以下条件判断音频通道是否可用： +```cpp +bool IsAudioChannelOpened() const { + return udp_ != nullptr && !error_occurred_ && !IsTimeout(); +} +``` + +--- + +## 6. 配置参数 + +### 6.1 MQTT 配置 + +从设置中读取的配置项： +- `endpoint`：MQTT 服务器地址 +- `client_id`：客户端标识符 +- `username`：用户名 +- `password`：密码 +- `keepalive`：心跳间隔（默认240秒） +- `publish_topic`：发布主题 + +### 6.2 音频参数 + +- **格式**：Opus +- **采样率**：16000 Hz（设备端）/ 24000 Hz（服务器端） +- **声道数**：1（单声道） +- **帧时长**：60ms + +--- + +## 7. 错误处理与重连 + +### 7.1 MQTT 重连机制 + +- 连接失败时自动重试 +- 支持错误上报控制 +- 断线时触发清理流程 + +### 7.2 UDP 连接管理 + +- 连接失败时不自动重试 +- 依赖 MQTT 通道重新协商 +- 支持连接状态查询 + +### 7.3 超时处理 + +基类 `Protocol` 提供超时检测： +- 默认超时时间：120 秒 +- 基于最后接收时间计算 +- 超时时自动标记为不可用 + +--- + +## 8. 安全考虑 + +### 8.1 传输加密 + +- **MQTT**：支持 TLS/SSL 加密（端口8883） +- **UDP**：使用 AES-CTR 加密音频数据 + +### 8.2 认证机制 + +- **MQTT**：用户名/密码认证 +- **UDP**：通过 MQTT 通道分发密钥 + +### 8.3 防重放攻击 + +- 序列号单调递增 +- 拒绝过期数据包 +- 时间戳验证 + +--- + +## 9. 性能优化 + +### 9.1 并发控制 + +使用互斥锁保护 UDP 连接： +```cpp +std::lock_guard lock(channel_mutex_); +``` + +### 9.2 内存管理 + +- 动态创建/销毁网络对象 +- 智能指针管理音频数据包 +- 及时释放加密上下文 + +### 9.3 网络优化 + +- UDP 连接复用 +- 数据包大小优化 +- 序列号连续性检查 + +--- + +## 10. 与 WebSocket 协议的比较 + +| 特性 | MQTT + UDP | WebSocket | +|------|------------|-----------| +| 控制通道 | MQTT | WebSocket | +| 音频通道 | UDP (加密) | WebSocket (二进制) | +| 实时性 | 高 (UDP) | 中等 | +| 可靠性 | 中等 | 高 | +| 复杂度 | 高 | 低 | +| 加密 | AES-CTR | TLS | +| 防火墙友好度 | 低 | 高 | + +--- + +## 11. 部署建议 + +### 11.1 网络环境 + +- 确保 UDP 端口可达 +- 配置防火墙规则 +- 考虑 NAT 穿透 + +### 11.2 服务器配置 + +- MQTT Broker 配置 +- UDP 服务器部署 +- 密钥管理系统 + +### 11.3 监控指标 + +- 连接成功率 +- 音频传输延迟 +- 数据包丢失率 +- 解密失败率 + +--- + +## 12. 总结 + +MQTT + UDP 混合协议通过以下设计实现高效的音视频通信： + +- **分离式架构**：控制与数据通道分离，各司其职 +- **加密保护**：AES-CTR 确保音频数据安全传输 +- **序列化管理**：防止重放攻击和数据乱序 +- **自动恢复**：支持连接断开后的自动重连 +- **性能优化**：UDP 传输保证音频数据的实时性 + +该协议适用于对实时性要求较高的语音交互场景，但需要在网络复杂度和传输性能之间做出权衡。 \ No newline at end of file diff --git a/docs/v0/AtomMatrix-echo-base.jpg b/docs/v0/AtomMatrix-echo-base.jpg new file mode 100644 index 0000000000000000000000000000000000000000..979cf811aa9ff19af701b2babe7ae3eb500be560 GIT binary patch literal 37326 zcmbTdcUTio6fPV@K|w$Sl#T+@5d{K*Kt!b~AiWcnPAJklQBhE;bO}iBEmA@!k={jG z=q>b4C?P-+ZhrUP=icY}{`$UevYVZK_U!DuvuDoEdC$z{1prjWUd{ks0IpC_{I~t@M0t(!zeIKQD&;k5Dr)Ng_UkujZ(P4l zbDf%+hK`1Y_9i(|-=JrpyGj3F{=Y*0yZyhr$lJ~9)Yt!$`2UtJ{{R@TQ@|-!DJggX 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