From e61d8f2175b4678668f74e2896e3bce58aad6b72 Mon Sep 17 00:00:00 2001 From: Rdzleo Date: Fri, 17 Apr 2026 15:45:49 +0800 Subject: [PATCH] =?UTF-8?q?AI=E6=A1=8C=E9=9D=A2=E6=9C=BA=E5=99=A8=E4=BA=BA?= =?UTF-8?q?-=E6=91=84=E5=83=8F=E5=A4=B4=E7=89=88=E9=A1=B9=E7=9B=AE?= =?UTF-8?q?=E5=88=9D=E5=A7=8B=E5=8C=96?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .gitignore | 19 + CMakeLists.txt | 14 + Coglet项目分析与开发指南.md | 602 + LICENSE | 22 + README.md | 172 + README_ja.md | 168 + README_zh.md | 168 + RP2040/animation.py | 267 + RP2040/main.py | 86 + RP2040/servoclass.py | 109 + docs/CogNogV1_0.pdf | 37225 ++++++++++++++++ docs/custom-board.md | 452 + docs/mcp-based-graph.jpg | Bin 0 -> 97848 bytes docs/mcp-protocol.md | 269 + docs/mcp-usage.md | 115 + docs/mqtt-udp.md | 393 + docs/v0/AtomMatrix-echo-base.jpg | Bin 0 -> 37326 bytes docs/v0/ESP32-BreadBoard.jpg | Bin 0 -> 96480 bytes docs/v0/atoms3r-echo-base.jpg | Bin 0 -> 25250 bytes 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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/.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/animation.py b/RP2040/animation.py new file mode 100644 index 0000000..37e8233 --- /dev/null +++ b/RP2040/animation.py @@ -0,0 +1,267 @@ +from servoclass import Servo +import time + +current_pose = "pose_calibrate" +current_state = "state_startup" +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=9, max_speed=50000, max_accel=10000, min_angle=5, max_angle=150), #Mouth + "EYL": Servo(pin_num=12, max_speed=200, max_accel=10000, min_angle=30, max_angle=150), #Left Eyeball + "EYR": Servo(pin_num=13, max_speed=250, max_accel=10000, min_angle=30, max_angle=150), #Right Eyeball + "LID": Servo(pin_num=14, max_speed=50000, max_accel=50000, 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": 150, +# "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_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 + +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 +} + +#_________________# #_________________# + + diff --git a/RP2040/main.py b/RP2040/main.py new file mode 100644 index 0000000..8d6d914 --- /dev/null +++ b/RP2040/main.py @@ -0,0 +1,86 @@ +# 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 +from animation import servos + +ESP = UART(1, baudrate=115200, tx=Pin(4), rx=Pin(5)) +rx_buffer = b"" + +mode = Pin(20, Pin.IN, Pin.PULL_UP) + +# 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 + +# servos["YAW"].set_target(88) +# # servos["RWH"].set_target(89) + + +while True: + now = time.ticks_ms() + dt = time.ticks_diff(now, last_time) / 1000.0 + last_time = now + +# # check if blink should finish +# update_blink(servos, now, lid="LID") + + if ESP.any(): + rx_buffer += ESP.read() # bytes + bytes = OK + while b"\n" in rx_buffer: + line, rx_buffer = rx_buffer.split(b"\n", 1) + rcvstate = line.decode().strip() + print("RX:", rcvstate) + if rcvstate in animation.state_map: + print("applying ", end="") + print(rcvstate) + animation.new_state_flag = True + animation.current_state = rcvstate + + +# if (mode.value() == 0): +# animation.apply_state("state_limber_up") + + if (mode.value() == 1): + animation.apply_pose("pose_calibrate") + + animation.apply_state(animation.current_state) + + for s in servos.values(): + s.update(dt) + time.sleep_ms(1) + +# # EXAMPLE: randomly trigger a blink +# if not blink_state["active"] and (random.randint(0, 1000)<1): +# trigger_blink(servos, now, closed_angle=30, lid="LID") + +# blink_state = { +# "active": False, +# "start_time": 0, +# "duration": 150, # ms lids stay closed +# "original_pos": None, +# } +# +# +# +# def trigger_blink(servos, now, closed_angle=30, lid="LID"): +# if blink_state["active"]: +# return # already blinking, ignore +# s = servos["LID"] +# blink_state["active"] = True +# blink_state["start_time"] = now +# blink_state["original_pos"] = s.target # remember current target +# s.set_target(s.min_angle) # snap to closed target +# +# def update_blink(servos, now, lid="LID"): +# if blink_state["active"]: +# if time.ticks_diff(now, blink_state["start_time"]) > blink_state["duration"]: +# s = servos[lid] +# s.set_target(blink_state["original_pos"]) # restore old target +# blink_state["active"] = False diff --git a/RP2040/servoclass.py b/RP2040/servoclass.py new file mode 100644 index 0000000..88bfd58 --- /dev/null +++ b/RP2040/servoclass.py @@ -0,0 +1,109 @@ +from machine import Pin, PWM +import time, random +import urandom + +def clamp(x, a, b): + return a if x < a else (b if x > b else x) + +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) + + # limits + self.min_angle = float(min_angle) + self.max_angle = float(max_angle) + + # tolerances + self.pos_tolerance = 0.6 + self.vel_tolerance = 1.0 + + # debug flag + self.enabled = enabled + + self._write_pwm(self.pos) + + def set_target(self, angle): + # clamp target to servo’s declared limits + self.target = clamp(float(angle), self.min_angle, self.max_angle) + + def update(self, dt): + if not self.enabled: + return + if dt <= 0: + return + + error = self.target - self.pos + dist = abs(error) + # direction we need to move to reduce error + desired_dir = 0 if dist < 1e-9 else (1.0 if error > 0 else -1.0) + # current velocity sign + if abs(self.vel) < 1e-9: + vel_dir = 0.0 + else: + vel_dir = 1.0 if self.vel > 0 else -1.0 + + # small-target case: if we're close & nearly stopped, snap cleanly + 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 we're moving opposite desired direction, brake + if vel_dir != 0 and desired_dir != 0 and vel_dir != desired_dir: + # apply maximum braking (opposite current velocity) + accel = -vel_dir * self.max_accel + else: + # else decide accelerate or start decelerating so we stop exactly at target + stopping_dist = (self.vel * self.vel) / (2.0 * self.max_accel) # always >= 0 + if dist > stopping_dist: + # still room to accelerate toward the target + accel = desired_dir * self.max_accel + else: + # we must decelerate to stop at the target + accel = -desired_dir * self.max_accel + + # integrate velocity + new_vel = self.vel + accel * dt + + # avoid sign flip jitter: if braking would cross zero in this step, clamp to zero + if self.vel > 0 and new_vel < 0: + new_vel = 0.0 + elif self.vel < 0 and new_vel > 0: + new_vel = 0.0 + + # clamp speed to limits + new_vel = clamp(new_vel, -self.max_speed, self.max_speed) + + # integrate position + self.vel = new_vel + self.pos = self.pos + self.vel * dt + + # clamp position to valid servo range (avoid writing out-of-bounds) + self.pos = clamp(self.pos, 0.0, 180.0) + + # final small-check: if we are extremely close, snap to target to avoid tiny oscillation +# if abs(self.target - self.pos) <= self.pos_tolerance and abs(self.vel) <= self.vel_tolerance: +# self.pos = self.target +# self.vel = 0.0 + + self._write_pwm(self.pos) + + def _write_pwm(self, angle): + # map 0..180 -> 500..2500 us pulse width (20 ms period) + min_us = 500.0 + max_us = 2500.0 + us = min_us + (max_us - min_us) * (angle / 180.0) + # convert to 16-bit duty for 20 ms period + duty = int(us * 65535.0 / 20000.0) + 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 +++ 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6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 242.77 541.78 Tm +(21) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +244.800 543.600 m +244.800 550.800 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 253.57 552.09 Tm +(IO14) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 249.97 541.78 Tm +(22) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +252.000 543.600 m +252.000 550.800 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 260.77 552.09 Tm +(IO21) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 257.17 541.78 Tm +(23) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +259.200 543.600 m +259.200 550.800 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 267.97 552.09 Tm +(IO47) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 264.37 541.78 Tm +(24) Tj 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612.000 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +274.75 616.25 Td +(IO39) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +291.96 619.85 Td +(32) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +298.800 619.200 m +291.600 619.200 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +274.75 623.45 Td +(IO40) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +291.96 627.05 Td +(33) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +298.800 626.400 m +291.600 626.400 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +274.75 630.65 Td +(IO41) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +291.96 634.25 Td +(34) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +298.800 633.600 m +291.600 633.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +274.75 637.85 Td +(IO42) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +291.96 641.45 Td +(35) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +298.800 640.800 m +291.600 640.800 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +271.48 645.05 Td +(RXD0) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +291.96 648.65 Td +(36) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +298.800 648.000 m +291.600 648.000 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +272.21 652.25 Td +(TXD0) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +291.96 655.85 Td +(37) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +298.800 655.200 m +291.600 655.200 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +278.38 659.45 Td +(IO2) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +291.96 663.05 Td +(38) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +298.800 662.400 m +291.600 662.400 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +278.38 666.65 Td +(IO1) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +291.96 670.25 Td +(39) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +298.800 669.600 m +291.600 669.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +274.39 673.85 Td +(GND) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +291.96 677.45 Td +(40) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +298.800 676.800 m +291.600 676.800 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +275.62 685.37 Td +(GND) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +291.60 688.25 Td +(41) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +298.800 687.600 m +291.600 687.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 0.502 rg +169.20 739.31 Td +(U1) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +190.80 570.11 Td +(ESP32-S3-WROOM-1-N16R8) Tj +ET +2 J +0 j +72 M +0.72 w +0.63 0.00 0.00 RG +[] 0 d +1062.00 504.00 61.20 -32.40 re +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +1066.68 500.40 m 1066.68 501.00 1066.20 501.48 1065.60 501.48 c +1065.00 501.48 1064.52 501.00 1064.52 500.40 c +1064.52 499.80 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 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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 +848.27 505.20 Td +(GPIO19) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +874.00 507.97 Td +(30) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +882.000 507.600 m +874.800 507.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +851.91 634.80 Td +(GPIO1) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +877.64 637.57 Td +(3) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +882.000 637.200 m +874.800 637.200 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +848.27 512.40 Td +(GPIO18) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +874.00 515.17 Td +(29) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +882.000 514.800 m +874.800 514.800 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +848.27 519.60 Td +(GPIO17) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +874.00 522.37 Td +(28) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +882.000 522.000 m +874.800 522.000 l +S +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 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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 +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +993.600 612.000 m +1000.800 612.000 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +997.200 612.000 m +997.200 608.400 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 0.502 rg +995.49 616.91 Td +(VBUS) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +1029.600 604.800 m +1029.600 608.400 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +1026.000 612.000 m +1033.200 612.000 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +1029.600 612.000 m +1029.600 608.400 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 0.502 rg +1020.87 613.31 Td +(VSYS) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +1141.200 601.200 m +1141.200 604.800 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +1137.600 608.400 m +1144.800 608.400 l +S +1 J +1 j +0.72 w 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504.000 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +1170.000 504.000 m +1170.000 500.400 l +S +7.20 w +BT +/F2 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 +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +1126.42 483.71 Td +(QSPI_SCLK) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +1130.400 482.400 m +1162.800 482.400 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +1126.42 483.71 Td +(QSPI_SCLK) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +1130.400 482.400 m +1162.800 482.400 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +1127.19 476.51 Td +(QSPI_SD0) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +1130.400 475.200 m +1159.200 475.200 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +1127.19 476.51 Td +(QSPI_SD0) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +1130.400 475.200 m +1159.200 475.200 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +997.200 493.200 m +997.200 486.000 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +997.200 464.400 m +997.200 471.600 l +S +2 J +0 j +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 +[] 0 d +900.000 450.000 m +882.000 450.000 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 +[] 0 d +900.000 450.000 m +882.000 450.000 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +900.00 444.11 Td +(GPIO27) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +900.000 442.800 m +882.000 442.800 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +900.00 444.11 Td +(GPIO27) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +900.000 442.800 m +882.000 442.800 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +900.00 436.91 Td +(GPIO28) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +900.000 435.600 m +882.000 435.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +900.00 436.91 Td +(GPIO28) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +900.000 435.600 m +882.000 435.600 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +853.200 712.800 m +853.200 705.600 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +846.000 705.600 m +860.400 705.600 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +852.480 699.120 m +853.920 699.120 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +850.320 701.280 m +856.080 701.280 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +848.160 703.440 m +858.240 703.440 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 0.502 rg +845.93 692.51 Td +(GND) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +853.200 712.800 m +853.200 712.800 l +S +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +853.200 712.800 m +853.200 712.800 l +S +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +817.200 712.800 m +817.200 694.800 l +S +817.200 712.800 m +810.000 712.800 l +S +810.000 712.800 m +810.000 694.800 l +S +810.000 712.800 m +802.800 712.800 l +S +802.800 712.800 m +802.800 694.800 l +S +802.800 712.800 m +795.600 712.800 l +S +795.600 712.800 m +795.600 694.800 l +S +795.600 712.800 m +788.400 712.800 l +S +788.400 712.800 m +788.400 694.800 l +S +781.200 712.800 m +788.400 712.800 l +S +781.200 694.800 m +781.200 712.800 l +S +766.800 712.800 m +781.200 712.800 l +S +766.800 694.800 m +766.800 712.800 l +S +766.800 712.800 m +766.800 745.200 l +S +853.200 745.200 m +766.800 745.200 l +S +853.200 745.200 m +853.200 741.600 l +S +853.200 745.200 m +874.800 745.200 l +S +874.800 741.600 m +874.800 745.200 l +S +874.800 745.200 m +896.400 745.200 l +S +896.400 741.600 m +896.400 745.200 l +S +896.400 745.200 m +918.000 745.200 l +S +918.000 741.600 m +918.000 745.200 l +S +943.200 745.200 m +918.000 745.200 l +S +817.200 712.800 m +828.000 712.800 l +S +838.800 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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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0.53 0.00 RG +0.00 g +[] 0 d +86.400 68.400 m +118.800 68.400 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +50.40 69.71 Td +(GND) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +72.000 68.400 m +50.400 68.400 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +50.40 69.71 Td +(GND) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +72.000 68.400 m +50.400 68.400 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +558.94 292.91 Td +(SDA) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +559.67 285.71 Td +(SCL) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +560.76 278.51 Td +(3V3) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +557.86 271.31 Td +(GND) Tj +ET +7.20 w +BT +/F2 3.272727272727272 Tf +3.60 TL +0.000 g +1281.60 551.45 Td +(LR) Tj +ET +7.20 w +BT +/F2 3.272727272727272 Tf +3.60 TL +0.000 g +1281.60 544.25 Td +(WS) Tj +ET +7.20 w +BT +/F2 3.272727272727272 Tf +3.60 TL +0.000 g +1281.60 537.05 Td +(SCK) Tj +ET +2 J +0 j +72 M +0.72 w +0.63 0.00 0.00 RG +[] 0 d +1317.60 748.80 14.40 -57.60 re +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +1322.28 745.20 m 1322.28 745.80 1321.80 746.28 1321.20 746.28 c +1320.60 746.28 1320.12 745.80 1320.12 745.20 c +1320.12 744.60 1320.60 744.12 1321.20 744.12 c +1321.80 744.12 1322.28 744.60 1322.28 745.20 c +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +1320.26 738.65 Td +(1) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +1313.60 742.25 Td +(1) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +1310.400 741.600 m +1317.600 741.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +1320.26 731.45 Td +(2) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +1313.60 735.05 Td +(2) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +1310.400 734.400 m +1317.600 734.400 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g 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+BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +1320.26 695.45 Td +(7) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +1313.60 699.05 Td +(7) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +1310.400 698.400 m +1317.600 698.400 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 0.502 rg +1317.60 750.11 Td +(U18) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +1292.40 645.71 Td +(GPIO4) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +1285.200 644.400 m +1306.800 644.400 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +1292.40 645.71 Td +(GPIO4) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +1285.200 644.400 m +1306.800 644.400 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +1292.40 634.91 Td +(GPIO5) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +1306.800 633.600 m +1285.200 633.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +1292.40 634.91 Td +(GPIO5) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +1306.800 633.600 m +1285.200 633.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +889.20 616.91 Td +(GPIO4) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +910.800 615.600 m +882.000 615.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +889.20 616.91 Td +(GPIO4) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +910.800 615.600 m +882.000 615.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +889.20 609.71 Td +(GPIO5) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +910.800 608.400 m +882.000 608.400 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +889.20 609.71 Td +(GPIO5) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +910.800 608.400 m +882.000 608.400 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +889.20 602.51 Td +(GPIO6) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +910.800 601.200 m +882.000 601.200 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +889.20 602.51 Td +(GPIO6) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +910.800 601.200 m +882.000 601.200 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +889.20 595.31 Td +(GPIO7) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +910.800 594.000 m +882.000 594.000 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +889.20 595.31 Td +(GPIO7) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +910.800 594.000 m +882.000 594.000 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +889.20 588.11 Td +(GPIO8) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +910.800 586.800 m +882.000 586.800 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg 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-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 +961.200 230.400 m +961.200 234.000 l +S +2 J +0 j +72 M +0.72 w +0.63 0.00 0.00 RG +[] 0 d +954.00 309.60 28.80 -14.40 re +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +958.68 298.80 m 958.68 299.40 958.20 299.88 957.60 299.88 c +957.00 299.88 956.52 299.40 956.52 298.80 c +956.52 298.20 957.00 297.72 957.60 297.72 c +958.20 297.72 958.68 298.20 958.68 298.80 c +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 964.15 297.86 Tm +(1) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 960.55 291.20 Tm +(1) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +961.200 288.000 m +961.200 295.200 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 978.55 303.30 Tm +(6) Tj +ET +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 974.95 309.96 Tm +(6) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +975.600 316.800 m +975.600 309.600 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 g +0.00 1.00 -1.00 0.00 971.35 297.86 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 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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 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+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 +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +975.600 234.000 m +982.800 234.000 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +982.800 226.800 m +982.800 241.200 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +989.280 233.280 m +989.280 234.720 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +987.120 231.120 m +987.120 236.880 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +984.960 228.960 m +984.960 239.040 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 0.00 995.89 226.73 Tm +(GND) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +975.600 234.000 m +975.600 234.000 l +S +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +975.600 234.000 m +975.600 234.000 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +975.600 288.000 m +982.800 288.000 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +982.800 280.800 m +982.800 295.200 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +989.280 287.280 m +989.280 288.720 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +987.120 285.120 m +987.120 290.880 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +984.960 282.960 m +984.960 293.040 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 0.00 995.89 280.73 Tm +(GND) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +975.600 288.000 m +975.600 288.000 l +S +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +975.600 288.000 m +975.600 288.000 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +975.600 316.800 m +982.800 316.800 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +982.800 309.600 m +982.800 324.000 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +989.280 316.080 m +989.280 317.520 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +987.120 313.920 m +987.120 319.680 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +984.960 311.760 m +984.960 321.840 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 0.00 995.89 309.53 Tm +(GND) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +975.600 316.800 m +975.600 316.800 l +S +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +975.600 316.800 m +975.600 316.800 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +1036.800 316.800 m +1044.000 316.800 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +1044.000 309.600 m +1044.000 324.000 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +1050.480 316.080 m +1050.480 317.520 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +1048.320 313.920 m +1048.320 319.680 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +1046.160 311.760 m +1046.160 321.840 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 1057.09 309.53 Tm +(GND) Tj 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+0.63 0.00 0.00 RG +[] 0 d +1036.800 262.800 m +1044.000 262.800 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +1044.000 255.600 m +1044.000 270.000 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +1050.480 262.080 m +1050.480 263.520 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +1048.320 259.920 m +1048.320 265.680 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +1046.160 257.760 m +1046.160 267.840 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 1057.09 255.53 Tm +(GND) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +1036.800 262.800 m +1036.800 262.800 l +S +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +1036.800 262.800 m +1036.800 262.800 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +1036.800 234.000 m +1044.000 234.000 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +1044.000 226.800 m +1044.000 241.200 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +1050.480 233.280 m +1050.480 234.720 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +1048.320 231.120 m +1048.320 236.880 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +1046.160 228.960 m +1046.160 239.040 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 1057.09 226.73 Tm +(GND) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +1036.800 234.000 m +1036.800 234.000 l +S +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +1036.800 234.000 m +1036.800 234.000 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +907.20 325.31 Td +(V+) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +907.200 324.000 m +907.200 316.800 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +907.20 325.31 Td +(V+) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +907.200 324.000 m +907.200 316.800 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 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6.545454545454544 Tf +7.20 TL +0.000 0.000 1.000 rg +568.80 73.31 Td +(MK-12D13G4-B) Tj +ET +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +[] 0 d +586.800 151.200 m +586.800 158.400 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +594.000 158.400 m +579.600 158.400 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +587.520 164.880 m +586.080 164.880 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +589.680 162.720 m +583.920 162.720 l +S +1 J +1 j +0.72 w +0.63 0.00 0.00 RG +0.00 g +[] 0 d +591.840 160.560 m +581.760 160.560 l +S +7.20 w +BT +/F2 6.545454545454544 Tf +7.20 TL +0.000 0.000 0.502 rg +579.53 166.91 Td +(GND) Tj +ET +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +586.800 151.200 m +586.800 140.400 l +S +1 J +1 j +0.72 w +0.00 0.53 0.00 RG +0.00 g +[] 0 d +586.800 151.200 m +586.800 140.400 l +S +2 J +0 j +72 M +0.72 w +0.63 0.00 0.00 RG +[] 0 d +507.60 141.12 6.48 -8.64 re +S +2 J +0 j +72 M +0.72 w +0.63 0.00 0.00 RG +[] 0 d +507.60 129.60 6.48 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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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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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