sl-mechanical
a2c554c232
- docs/: rewrite AGENTS.md, wiring-diagram.md (SAUL-TEE arch); update SALTYLAB.md, FACE_LCD_ANIMATION.md, board-viz.html, SALTYLAB-DETAILED refs - cad/: dimensions.scad FC params → ESP32-S3 BALANCE params - chassis/: ASSEMBLY.md, BOM.md, ip54_BOM.md, *.scad — FC_MOUNT_SPACING/ FC_PITCH → TBD ESP32-S3; Drone FC → MCU mount throughout - CLAUDE.md, TEAM.md: project desc → SAUL-TEE; hardware table → ESP32-S3/VESC - USB_CDC_BUG.md: marked ARCHIVED (legacy STM32 era) - AUTONOMOUS_ARMING.md: USB CDC → inter-board UART (ESP32-S3 BALANCE) - projects/saltybot/SLAM-SETUP-PLAN.md: FC/STM32F722 → BALANCE/CAN - jetson/docs/pinout.md, power-budget.md, README.md: STM32 bridge → CAN bridge - jetson/config/RECOVERY_BEHAVIORS.md: FC+Hoverboard → BALANCE+VESC - jetson/ros2_ws: stm32_protocol.py → esp32_protocol.py, stm32_cmd_node.py → esp32_cmd_node.py, mamba_protocol.py → balance_protocol.py; can_bridge_node imports updated - scripts/flash_firmware.py: DFU/STM32 → pio run -t upload - src/ include/: ARCHIVED headers added (legacy code preserved) - test/: ARCHIVED notices; STM32F722 comments marked LEGACY - ui/diagnostics_panel.html: Board/STM32 → ESP32-S3 Co-Authored-By: Claude Sonnet 4.6 <noreply@anthropic.com>
131 lines
4.5 KiB
Markdown
131 lines
4.5 KiB
Markdown
# Face LCD Animation System (Issue #507)
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Implements expressive face animations on the ESP32-S3 BALANCE board LCD display (Waveshare Touch LCD 1.28, GC9A01 1.28" round 240×240) with 5 core emotions and smooth transitions.
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## Features
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### Emotions
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- **HAPPY**: Upturned eyes, curved smile, raised eyebrows
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- **SAD**: Downturned eyes, frown, lowered eyebrows
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- **CURIOUS**: Wide eyes, raised eyebrows, slight tilt, inquisitive mouth
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- **ANGRY**: Narrowed eyes, downturned brows, clenched frown
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- **SLEEPING**: Closed/squinted eyes, peaceful smile
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- **NEUTRAL**: Baseline relaxed expression
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### Animation Capabilities
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- **Smooth Transitions**: 0.5s easing between emotions (ease-in-out cubic)
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- **Idle Blinking**: Periodic automatic blinks (4-6s intervals)
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- **Blink Duration**: 100-150ms per blink
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- **Frame Rate**: 30 Hz target refresh rate
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- **UART Control**: Text-based emotion commands from Jetson Orin
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## Architecture
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### Components
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#### 1. **face_lcd.h / face_lcd.c** — Display Driver
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Low-level abstraction for LCD framebuffer management and rendering.
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**Features:**
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- Generic SPI/I2C display interface (hardware-agnostic)
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- Monochrome (1-bit) and RGB565 support
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- Pixel drawing primitives: line, circle, filled rectangle
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- DMA-driven async flush to display
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- 30Hz vsync control via systick
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#### 2. **face_animation.h / face_animation.c** — Emotion Renderer
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State machine for emotion transitions, blinking, and face rendering.
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**Features:**
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- Parameterized emotion models (eye position/size, brow angle, mouth curvature)
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- Smooth interpolation between emotions via easing functions
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- Automatic idle blinking with configurable intervals
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- Renders to LCD via face_lcd_* primitives
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#### 3. **face_uart.h / face_uart.c** — UART Command Interface
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Receives emotion commands from Jetson Orin over UART.
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**Protocol:**
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```
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HAPPY → Set emotion to HAPPY
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SAD → Set emotion to SAD
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CURIOUS → Set emotion to CURIOUS
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ANGRY → Set emotion to ANGRY
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SLEEP → Set emotion to SLEEPING
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NEUTRAL → Set emotion to NEUTRAL
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BLINK → Trigger immediate blink
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STATUS → Echo current emotion + idle state
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```
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## Integration Points
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### main.c
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1. **Includes** (lines 32-34):
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- face_lcd.h, face_animation.h, face_uart.h
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2. **Initialization** (after servo_init()):
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- face_lcd_init(), face_animation_init(), face_uart_init()
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3. **SysTick Handler**:
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- face_lcd_tick() for 30Hz refresh vsync
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4. **Main Loop**:
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- face_animation_tick() and face_animation_render() after servo_tick()
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- face_uart_process() after jlink_process()
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## Hardware Requirements
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### Display
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- Type: Small LCD/OLED (SSD1306, ILI9341, ST7789)
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- Resolution: 128×64 to 320×240
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- Interface: SPI or I2C
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- Colors: Monochrome (1-bit) or RGB565
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### Microcontroller
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- ESP32-S3 BALANCE (Waveshare Touch LCD 1.28)
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- Receives emotion commands from Orin via CAN (0x300 mode byte) or inter-board UART
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- Clock: 240 MHz
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## Animation Timing
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| Parameter | Value | Notes |
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|-----------|-------|-------|
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| Refresh Rate | 30 Hz | ~33ms per frame |
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| Transition Duration | 500ms | 15 frames at 30Hz |
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| Easing Function | Cubic ease-in-out | Smooth accel/decel |
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| Blink Duration | 100-150ms | ~3-5 frames |
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| Blink Interval | 4-6s | ~120-180 frames |
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## Files Modified/Created
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| File | Type | Notes |
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|------|------|-------|
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| include/face_lcd.h | NEW | LCD driver interface (105 lines) |
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| include/face_animation.h | NEW | Emotion state machine (100 lines) |
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| include/face_uart.h | NEW | UART command protocol (78 lines) |
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| src/face_lcd.c | NEW | LCD framebuffer + primitives (185 lines) |
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| src/face_animation.c | NEW | Emotion rendering + transitions (340 lines) |
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| src/face_uart.c | NEW | UART command parser (185 lines) |
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| src/main.c | MODIFIED | +35 lines (includes + init + ticks) |
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| test/test_face_animation.c | NEW | Unit tests (14 test cases, 350+ lines) |
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| docs/FACE_LCD_ANIMATION.md | NEW | This documentation |
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## Status
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✅ **Complete:**
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- Core emotion state machine (6 emotions)
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- Smooth transition easing (ease-in-out cubic)
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- Idle blinking logic (4-6s intervals, 100-150ms duration)
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- UART command interface (text-based, 8 commands)
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- LCD framebuffer abstraction (monochrome + RGB565)
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- Rendering primitives (line, circle, filled rect)
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- systick integration for 30Hz refresh
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- Unit tests (14 test cases)
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- Documentation
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⏳ **Pending Hardware:**
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- LCD hardware detection/initialization
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- SPI/I2C peripheral configuration
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- Display controller init sequence (SSD1306, ILI9341, etc.)
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- Pin configuration for CS/DC/RES (if applicable)
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