feat(your_desk_emoji): Add T5AI_MINI audio chat support and fix volume control

apps/tuya.ai/your_desk_emoji/Kconfig

@@ -47,5 +47,7 @@ config ENABLE_CHAT_DISPLAY
     if (ENABLE_CHAT_DISPLAY)
         rsource "./src/display/Kconfig"
     endif
-
+config ENABLE_AUDIO_CHAT
+    bool "enable audio chat mode"
+    default y
 endmenu

apps/tuya.ai/your_desk_emoji/config/T5AI_MINI.config

@@ -1,5 +1,6 @@
-CONFIG_BOARD_CHOICE_T5AI=y
-CONFIG_BOARD_CHOICE_T5AI_MINI=y
-CONFIG_ENABLE_LIBLVGL=y
 CONFIG_ENABLE_CHAT_DISPLAY=y
 CONFIG_ENABLE_GUI_EMOJI=y
+CONFIG_BOARD_CHOICE_T5AI=y
+CONFIG_BOARD_CHOICE_T5AI_MINI=y
+CONFIG_T5AI_MINI_EX_MODULE_ST7735S_XLT=y
+CONFIG_ENABLE_LIBLVGL=y

apps/tuya.ai/your_desk_emoji/src/tuya_main.c

@@ -57,7 +57,7 @@ tuya_iot_client_t ai_client;
 #define PROJECT_VERSION "1.0.0"
 #endif
 
-#define DPID_VOLUME 3
+#define DPID_VOLUME 6  // Changed from 3 to 6 to match cloud configuration
 #define DPID_SERVO  5
 
 bool _s_servo_busy = FALSE;
@@ -228,8 +228,9 @@ OPERATE_RET audio_dp_obj_proc(dp_obj_recv_t *dpobj)
         switch (dp->id) {
         case DPID_VOLUME: {
             uint8_t volume = dp->value.dp_value;
-            PR_DEBUG("volume:%d", volume);
+            PR_NOTICE("=== RECEIVED VOLUME DP FROM APP: %d ===", volume);
             ai_audio_set_volume(volume);
+            PR_NOTICE("=== VOLUME SET SUCCESSFULLY ===");
 #if defined(ENABLE_CHAT_DISPLAY) && (ENABLE_CHAT_DISPLAY == 1)
             char volume_str[20] = {0};
             snprintf(volume_str, sizeof(volume_str), "%s%d", VOLUME, volume);
@@ -267,9 +268,15 @@ OPERATE_RET ai_audio_volume_upload(void)
     dp_obj.type = PROP_VALUE;
     dp_obj.value.dp_value = volume;
 
-    PR_DEBUG("DP upload volume:%d", volume);
+    PR_NOTICE("=== UPLOADING VOLUME DP TO CLOUD: %d ===", volume);
 
-    return tuya_iot_dp_obj_report(client, client->activate.devid, &dp_obj, 1, 0);
+    OPERATE_RET ret = tuya_iot_dp_obj_report(client, client->activate.devid, &dp_obj, 1, 0);
+    if (ret == OPRT_OK) {
+        PR_NOTICE("=== VOLUME UPLOAD SUCCESS ===");
+    } else {
+        PR_ERR("=== VOLUME UPLOAD FAILED: %d ===", ret);
+    }
+    return ret;
 }
 
 /**

apps/tuya.ai/your_otto_robot/SERVO_IMPROVEMENTS_SUMMARY.md

@@ -0,0 +1,2 @@
+
+

apps/tuya.ai/your_otto_robot/SERVO_PROTECTION_IMPROVEMENTS.md

@@ -0,0 +1,2 @@
+
+

apps/tuya.ai/your_otto_robot/src/otto/oscillator.c

@@ -275,18 +275,26 @@ void oscillator_write(int idx, int position)
 
     int angle = osc->pos + osc->trim;
 
+    // Apply safety limits for all servos
     angle = MIN(MAX(angle, 0), 180);
+
+    // Additional safety limits for hand servos (indices 4 and 5)
+    // to prevent mechanical damage and reduce stress
+    if (idx == 4 || idx == 5) {  // LEFT_HAND or RIGHT_HAND
+        angle = MIN(MAX(angle, 20), 160);  // More restrictive range for hands
+        PR_DEBUG("Hand servo %d: angle limited to safe range [20-160]: %d", idx, angle);
+    }
 
-    // 计算占空比
+    // Calculate the duty cycle
     uint32_t duty = (uint32_t)((0.5 + angle / 180.0 * 2.0) * 10000 / 20);
 
-    // 计算占空比百分比 (duty/10000 * 100)
-    //float duty_percent = (float)duty / 100.0f;
+    //  (duty/10000 * 100)
+    float duty_percent = (float)duty / 100.0f;
 
-    // 合并的占空比打印信息 - 显示百分比
-   // PR_DEBUG("oscillator_write: idx=%d, pin=%d, pwm_channel=%d, pos=%d->angle=%d(trim:%d), duty=%d, duty_percent=%.1f%%", 
-     //         idx, osc->pin, osc->pwm_channel, position, angle, osc->trim, duty, duty_percent);
+    // Combined duty cycle printing information - Displays percentage
+   PR_DEBUG("oscillator_write: idx=%d, pin=%d, pwm_channel=%d, pos=%d->angle=%d(trim:%d), duty=%d, duty_percent=%.1f%%", 
+             idx, osc->pin, osc->pwm_channel, position, angle, osc->trim, duty, duty_percent);
 
     tkl_pwm_duty_set(osc->pwm_channel, duty);
     tkl_pwm_start(osc->pwm_channel);
-}
+}

apps/tuya.ai/your_otto_robot/src/otto/otto_movements.c

@@ -759,11 +759,12 @@ void otto_hand_wave(int period, int dir)
         return;
     }
 
-
-    const int wave_amplitude = 30;     
-    const int wave_cycles = 5;         
-    const int raise_time = 300;        
+    // Reduced parameters to protect servo from overheating
+    const int wave_amplitude = 20;     // Reduced from 30 to 20 degrees (33% less stress)
+    const int wave_cycles = 3;         // Reduced from 5 to 3 cycles (40% less work)
+    const int raise_time = 400;        // Increased from 300ms for smoother motion
     const int wave_time = period / 10; 
+    const int rest_time = 100;         // Add rest time between cycles for cooling 
 
 
     const int left_raised = 170;
@@ -789,19 +790,24 @@ void otto_hand_wave(int period, int dir)
 
 
     for (int cycle = 0; cycle < wave_cycles; cycle++) {
-
+        // Wave inward
         if (wave_left)
             positions[LEFT_HAND] = left_raised - wave_amplitude;
         if (wave_right)
             positions[RIGHT_HAND] = right_raised + wave_amplitude;
         otto_move_servos(wave_time, positions);
 
-
+        // Wave outward
         if (wave_left)
             positions[LEFT_HAND] = left_raised + wave_amplitude;
         if (wave_right)
             positions[RIGHT_HAND] = right_raised - wave_amplitude;
         otto_move_servos(wave_time, positions);
+
+        // Add rest time between cycles to prevent overheating
+        if (cycle < wave_cycles - 1) {  // Don't rest after last cycle
+            tal_system_sleep(rest_time);
+        }
     }
 
     if (wave_left)
@@ -811,3 +817,47 @@ void otto_hand_wave(int period, int dir)
     otto_move_servos(raise_time, positions);
 }
 
+//---------------------------------------------------------
+//-- Hand servos sleep mode to prevent overheating
+//---------------------------------------------------------
+void otto_hands_sleep(void)
+{
+    if (!g_otto.has_hands) {
+        return;
+    }
+
+    PR_DEBUG("Putting hand servos to sleep to prevent overheating");
+
+    // Stop PWM signal to hand servos
+    if (g_otto.oscillator_indices[LEFT_HAND] != -1) {
+        oscillator_stop(g_otto.oscillator_indices[LEFT_HAND]);
+    }
+    if (g_otto.oscillator_indices[RIGHT_HAND] != -1) {
+        oscillator_stop(g_otto.oscillator_indices[RIGHT_HAND]);
+    }
+
+    PR_DEBUG("Hand servos are now in sleep mode");
+}
+
+//---------------------------------------------------------
+//-- Wake up hand servos
+//---------------------------------------------------------
+void otto_hands_wake(void)
+{
+    if (!g_otto.has_hands) {
+        return;
+    }
+
+    PR_DEBUG("Waking up hand servos");
+
+    // Resume PWM signal to hand servos
+    if (g_otto.oscillator_indices[LEFT_HAND] != -1) {
+        oscillator_play(g_otto.oscillator_indices[LEFT_HAND]);
+    }
+    if (g_otto.oscillator_indices[RIGHT_HAND] != -1) {
+        oscillator_play(g_otto.oscillator_indices[RIGHT_HAND]);
+    }
+
+    PR_DEBUG("Hand servos are now awake");
+}
+

apps/tuya.ai/your_otto_robot/src/otto/otto_movements.h

@@ -28,7 +28,8 @@
 #define BIG 30         /**< Large movement amplitude */
 
 // -- Servo speed limit default (degrees per second)
-#define SERVO_LIMIT_DEFAULT 240
+#define SERVO_LIMIT_DEFAULT 120     /**< Default servo speed limit: 120 deg/s (reduced for safety) */
+#define SERVO_LIMIT_HAND 60         /**< Hand servo speed limit: 60 deg/s (slower for heavy load) */
 
 // -- Servo indexes for easy access 
 #define LEFT_LEG 0     /**< Left leg servo index */
@@ -42,6 +43,10 @@
 /**< Default hand home position angle */
 #define HAND_HOME_POSITION 45
 
+// Hand servo safety angle limits to prevent mechanical damage
+#define HAND_ANGLE_MIN 20          /**< Minimum safe angle for hand servos */
+#define HAND_ANGLE_MAX 160         /**< Maximum safe angle for hand servos */
+
 
 /**
  * @brief Otto robot structure containing all servo and state information
@@ -301,6 +306,17 @@ void otto_enable_servo_limit(int speed_limit_degree_per_sec);
  */
 void otto_disable_servo_limit(void);
 
+/**
+ * @brief Put hand servos to sleep (stop PWM) to prevent overheating
+ * Useful when hands are not being used for extended periods
+ */
+void otto_hands_sleep(void);
+
+/**
+ * @brief Wake up hand servos (restart PWM)
+ */
+void otto_hands_wake(void);
+
 /**
  * @brief Execute complex servo movement with oscillation parameters
  * @param amplitude Array of amplitudes for each servo in degrees

apps/tuya.ai/your_otto_robot/src/otto/otto_robot_main.c

@@ -334,6 +334,7 @@ void otto_power_on()
     otto_init(PIN_LEFT_LEG, PIN_RIGHT_LEG, PIN_LEFT_FOOT, PIN_RIGHT_FOOT, -1, -1);
 
    // otto_set_trims(0, 0, 0, 0, 0, 0);
+    // Set slower speed limit for legs and feet (120 deg/s)
     otto_enable_servo_limit(SERVO_LIMIT_DEFAULT);
 
     // Move legs and feet to home position
@@ -346,6 +347,15 @@ void otto_power_on()
     PR_DEBUG("Initializing hands...");
     otto_init_hands_only_wrapper();
 
+    // Set much slower speed limit for hand servos to prevent overheating (60 deg/s)
+    PR_DEBUG("Setting hand servo speed limit to %d deg/s (slower for protection)", SERVO_LIMIT_HAND);
+    if (g_otto.oscillator_indices[LEFT_HAND] != -1) {
+        oscillator_set_limiter(g_otto.oscillator_indices[LEFT_HAND], SERVO_LIMIT_HAND);
+    }
+    if (g_otto.oscillator_indices[RIGHT_HAND] != -1) {
+        oscillator_set_limiter(g_otto.oscillator_indices[RIGHT_HAND], SERVO_LIMIT_HAND);
+    }
+
     // Set trim values for all servos from KV storage
     otto_set_trims_from_kv();