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顯示具有 TFT 標籤的文章。顯示所有文章

2026年2月17日星期二

[OTTO GO] 動畫測試-利用LVGL技術，一次播4張

1.請參閱前一篇文章，轉換成4張圖檔。

2.並按照前一篇文章，把產生的4個.c檔案變成4個.h和4個.c的檔案，然後放到主檔案的目錄。

3.arduino程式：

/*
  ESP32 + Adafruit_ST7789(240x320) 播放 tile000~tile003 的 RGB565 圖 (320x240)

  TFT pins:
    MOSI=19, SCLK=18, CS=5, DC=16, RST=23

  前提：
  - tile000.c ~ tile003.c 各自只保留像素陣列（uint8_t[]），不要包含 LVGL 的 lv_img_dsc_t
  - 若有 LV_ATTRIBUTE_* 巨集，需在 .c 最上方補上空巨集定義
*/

#include <Arduino.h>
#include <SPI.h>
#include <Adafruit_GFX.h>
#include <Adafruit_ST7789.h>

#include "tile000.h"
#include "tile001.h"
#include "tile002.h"
#include "tile003.h"

// ===== TFT pins =====
#define TFT_MOSI 19
#define TFT_SCLK 18
#define TFT_CS    5
#define TFT_DC   16
#define TFT_RST  23

Adafruit_ST7789 tft(TFT_CS, TFT_DC, TFT_RST);

// 固定尺寸
static const uint16_t W = 320;
static const uint16_t H = 240;
static const uint32_t FRAME_BYTES = (uint32_t)W * (uint32_t)H * 2u;

// 一行 buffer：320*2 = 640 bytes
static uint16_t lineBuf[W];

// 你的 .c 匯出多數是 little-endian RGB565（低位元組在前）
static const bool SOURCE_IS_LITTLE_ENDIAN = true;

static inline uint16_t read565(const uint8_t *p) {
  if (SOURCE_IS_LITTLE_ENDIAN) return (uint16_t)p[0] | ((uint16_t)p[1] << 8);
  else return ((uint16_t)p[0] << 8) | (uint16_t)p[1];
}

void drawRGB565_320x240(const uint8_t *dataBytes) {
  tft.startWrite();
  tft.setAddrWindow(0, 0, W, H);

  const uint32_t rowBytes = (uint32_t)W * 2u;

  for (uint16_t y = 0; y < H; y++) {
    const uint8_t *row = dataBytes + (uint32_t)y * rowBytes;

    for (uint16_t x = 0; x < W; x++) {
      lineBuf[x] = read565(row + (uint32_t)x * 2u);
    }

    // 一次推一行
    tft.writePixels(lineBuf, W, true);
  }

  tft.endWrite();
}

void setup() {
  Serial.begin(115200);
  delay(200);

  SPI.begin(TFT_SCLK, -1, TFT_MOSI, TFT_CS);

  tft.init(240, 320);
  tft.setRotation(1);          // 320x240
  tft.fillScreen(ST77XX_BLACK);

  Serial.printf("TFT size: %d x %d\n", tft.width(), tft.height());
  Serial.printf("Frame bytes expected: %u\n", (unsigned)FRAME_BYTES);

  tft.setTextColor(ST77XX_YELLOW);
  tft.setTextSize(2);
  tft.setCursor(8, 8);
  tft.print("tile player");
}

void loop() {
  // 依序播放 4 幀
  drawRGB565_320x240(tile000_map);
  delay(60);

  drawRGB565_320x240(tile001_map);
  delay(60);

  drawRGB565_320x240(tile002_map);
  delay(60);

  drawRGB565_320x240(tile003_map);
  delay(60);
}

[OTTO GO] 圖片顯示，利用LVGL技術

1.圖檔轉換工具：先把圖檔轉換成LVGL格式

https://lvgl.io/tools/imageconverter

2.選擇RGB565產生一個.c的圖檔，例子是animation2.c

#ifdef __has_include
    #if __has_include("lvgl.h")
        #ifndef LV_LVGL_H_INCLUDE_SIMPLE
            #define LV_LVGL_H_INCLUDE_SIMPLE
        #endif
    #endif
#endif

#if defined(LV_LVGL_H_INCLUDE_SIMPLE)
    #include "lvgl.h"
#else
    #include "lvgl/lvgl.h"
#endif


#ifndef LV_ATTRIBUTE_MEM_ALIGN
#define LV_ATTRIBUTE_MEM_ALIGN
#endif

#ifndef LV_ATTRIBUTE_IMAGE_TILE000
#define LV_ATTRIBUTE_IMAGE_TILE000
#endif

const LV_ATTRIBUTE_MEM_ALIGN LV_ATTRIBUTE_LARGE_CONST LV_ATTRIBUTE_IMAGE_TILE000 uint8_t tile000_map[] = {
/*圖檔資料太, 省略*/
};

const lv_image_dsc_t tile000 = {
  .header.cf = LV_COLOR_FORMAT_RGB565,
  .header.magic = LV_IMAGE_HEADER_MAGIC,
  .header.w = 320,
  .header.h = 240,
  .data_size = 76800 * 2,
  .data = tile000_map,
};

3.把檔案切割成animation2.h和animation2.c
animation2.h:

#pragma once
#include <Arduino.h>

#ifdef __cplusplus
extern "C" {
#endif
extern const uint8_t animation2_map[];
#ifdef __cplusplus
}
#endif

static const uint16_t ANIM2_W = 320;
static const uint16_t ANIM2_H = 240;
static const uint32_t ANIM2_SIZE = (uint32_t)ANIM2_W * (uint32_t)ANIM2_H * 2u;

antimation2.c:

#include <stdint.h>
const uint8_t animation2_map[] = {
/*圖檔資料太, 省略*/
}

4. arduino主檔程式

/*
  ESP32 + Adafruit_ST7789(240x320) 顯示 animation2.c 的 RGB565 圖 (320x240)

  TFT pins (你前面驗證可用那組):
    MOSI=19, SCLK=18, CS=5, DC=16, RST=23

  重要：
  - tft.setRotation(1) 讓螢幕座標變成 320x240，剛好完整顯示
  - animation2.c 需移除底部 lv_image_dsc_t descriptor（只留 animation2_map 陣列）
*/

#include <Arduino.h>
#include <SPI.h>
#include <Adafruit_GFX.h>
#include <Adafruit_ST7789.h>

#include "animation2.h"   // extern animation2_map + W/H

// ===== TFT pins =====
#define TFT_MOSI 19
#define TFT_SCLK 18
#define TFT_CS    5
#define TFT_DC   16
#define TFT_RST  23

Adafruit_ST7789 tft(TFT_CS, TFT_DC, TFT_RST);

// 320 像素一行的暫存（RAM 640 bytes）
static uint16_t lineBuf[ANIM2_W];

// 你的 animation2.c 是 RGB565 的 bytes
// 多數 LVGL 匯出 RGB565 會是 little-endian：低位元組在前
// 若你顏色不對（例如整體偏紫/偏綠），把這個改成 0 試試
static const bool SOURCE_IS_LITTLE_ENDIAN = true;

static inline uint16_t read565(const uint8_t *p) {
  if (SOURCE_IS_LITTLE_ENDIAN) {
    return (uint16_t)p[0] | ((uint16_t)p[1] << 8);
  } else {
    return ((uint16_t)p[0] << 8) | (uint16_t)p[1];
  }
}

void drawRGB565_320x240(const uint8_t *dataBytes) {
  // dataBytes 長度必須 = 320*240*2 = 153600
  tft.startWrite();
  tft.setAddrWindow(0, 0, ANIM2_W, ANIM2_H);

  const uint32_t rowBytes = (uint32_t)ANIM2_W * 2u;

  for (uint16_t y = 0; y < ANIM2_H; y++) {
    const uint8_t *row = dataBytes + (uint32_t)y * rowBytes;

    for (uint16_t x = 0; x < ANIM2_W; x++) {
      lineBuf[x] = read565(row + (uint32_t)x * 2u);
    }

    // 一次推一行
    // Adafruit_ST7789(Adafruit_SPITFT) 提供 writePixels
    tft.writePixels(lineBuf, ANIM2_W, true);
  }

  tft.endWrite();
}

void setup() {
  Serial.begin(115200);
  delay(200);

  // 用你穩定的 SPI begin（Adafruit_ST7789 會使用預設 SPI instance）
  SPI.begin(TFT_SCLK, -1, TFT_MOSI, TFT_CS);

  tft.init(240, 320);
  tft.setRotation(1);          // 變成 320x240
  tft.fillScreen(ST77XX_BLACK);

  Serial.printf("TFT size: %d x %d\n", tft.width(), tft.height());
  Serial.printf("Expect:   %u bytes\n", (unsigned)ANIM2_SIZE);

  // 顯示一次
  drawRGB565_320x240(animation2_map);

  // 顯示文字提示
  tft.setTextColor(ST77XX_YELLOW);
  tft.setTextSize(2);
  tft.setCursor(8, 8);
  tft.print("animation2.c RGB565");
}

void loop() {
  // 你這份 animation2.c 只有單張圖，所以 loop 不會動
  delay(1000);
}

2026年2月13日星期五

[OTTO GO] WiFi以及整合測試

Arduino:

#include <Arduino.h>
#include <WiFi.h>
#include <WebServer.h>
#include <SPI.h>
#include <Adafruit_GFX.h>
#include <Adafruit_ST7789.h>
#include <ESP32Servo.h>
#include "driver/i2s.h"
#include "freertos/semphr.h"

// ===================== Pin map (OTTO GO) =====================
// TFT (SPI)
#define TFT_MOSI 19
#define TFT_SCLK 18
#define TFT_CS    5
#define TFT_DC   16
#define TFT_RST  23

// Ultrasonic
#define US_TRIG 27
#define US_ECHO 39

// Servos
#define SERVO1 21
#define SERVO2 22
#define SERVO3 4
#define SERVO4 14

// Speaker (I2S -> AMP -> SPK white socket)
#define SPK_I2S_LRCK 17
#define SPK_I2S_BCLK 2
#define SPK_I2S_DOUT 32

// Microphone (I2S MEMS)
#define MIC_I2S_SCK 13
#define MIC_I2S_SD  12
#define MIC_I2S_WS  15

// ===================== WiFi AP =====================
const char* AP_SSID = "OTTO_GO_TEST";
const char* AP_PASS = "12345678";

// ===================== Objects =====================
WebServer server(80);
Adafruit_ST7789 tft = Adafruit_ST7789(TFT_CS, TFT_DC, TFT_RST);
Servo s1, s2, s3, s4;

// ===================== Helpers =====================
static inline uint16_t RGB565(uint8_t r, uint8_t g, uint8_t b) {
  return ((r & 0xF8) << 8) | ((g & 0xFC) << 3) | (b >> 3);
}

// ===================== Ultrasonic =====================
long readDistanceCM() {
  digitalWrite(US_TRIG, LOW);
  delayMicroseconds(2);
  digitalWrite(US_TRIG, HIGH);
  delayMicroseconds(10);
  digitalWrite(US_TRIG, LOW);

  unsigned long duration = pulseIn(US_ECHO, HIGH, 30000UL);
  if (duration == 0) return -1;
  return (long)(duration / 58UL);
}
long median3(long a, long b, long c) {
  if (a > b) { long t=a; a=b; b=t; }
  if (b > c) { long t=b; b=c; c=t; }
  if (a > b) { long t=a; a=b; b=t; }
  return b;
}

// ===================== TFT =====================
void tftHello() {
  tft.fillScreen(ST77XX_BLACK);
  tft.setTextColor(ST77XX_WHITE);
  tft.setTextSize(3);
  tft.setCursor(20, 40);
  tft.print("Hello");
}

void drawTigerMouth(bool open) {
  int cx = tft.width()/2;
  int cy = tft.height()/2;

  uint16_t furLight = RGB565(235, 228, 210);
  uint16_t shadow   = RGB565(160, 150, 135);
  uint16_t lineDark = RGB565(40, 40, 40);
  uint16_t dotDark  = RGB565(70, 70, 70);

  tft.fillScreen(ST77XX_BLACK);

  tft.fillCircle(cx - 55, cy + 10, 55, furLight);
  tft.fillCircle(cx + 55, cy + 10, 55, furLight);
  tft.fillRoundRect(cx - 90, cy - 25, 180, 110, 28, furLight);

  tft.fillRoundRect(cx - 85, cy + 60, 170, 22, 12, shadow);
  tft.fillRoundRect(cx - 40, cy + 55, 80, 10, 5, RGB565(120,110,100));

  int dotY1 = cy + 6, dotY2 = cy + 26;
  for (int k=0;k<3;k++){
    tft.fillCircle(cx - 55 - k*12, dotY1 + k*2, 2, dotDark);
    tft.fillCircle(cx - 55 - k*12, dotY2 + k*2, 2, dotDark);
    tft.fillCircle(cx + 55 + k*12, dotY1 + k*2, 2, dotDark);
    tft.fillCircle(cx + 55 + k*12, dotY2 + k*2, 2, dotDark);
  }

  tft.drawLine(cx, cy - 5, cx, open ? (cy + 10) : (cy + 20), lineDark);
  tft.drawLine(cx-1, cy - 5, cx-1, open ? (cy + 10) : (cy + 20), RGB565(80,80,80));

  int mouthY = open ? (cy + 16) : (cy + 18);
  int N = open ? 36 : 34;
  int div = open ? 85 : 95;
  for (int i=0;i<N;i++){
    int y = mouthY + (i*i)/div;
    tft.drawPixel(cx-i, y, lineDark);
    tft.drawPixel(cx-i, y+1, lineDark);
    tft.drawPixel(cx+i, y, lineDark);
    tft.drawPixel(cx+i, y+1, lineDark);
  }

  tft.fillCircle(cx - (open?38:36), mouthY + (open?14:12), 3, lineDark);
  tft.fillCircle(cx + (open?38:36), mouthY + (open?14:12), 3, lineDark);

  if (!open) {
    tft.fillRoundRect(cx - 10, mouthY + 20, 20, 4, 2, RGB565(90,80,70));
  } else {
    uint16_t mouthIn = RGB565(15,15,15);
    uint16_t tongue  = RGB565(210,120,120);
    int w=90, h=45;
    int x=cx-w/2, y0=cy+28;
    tft.fillRoundRect(x, y0, w, h, 18, mouthIn);
    tft.fillCircle(cx, y0+h, 22, mouthIn);
    tft.fillRoundRect(cx-22, y0+18, 44, 20, 10, tongue);
    tft.fillCircle(cx, y0+36, 14, tongue);
  }

  tft.setTextSize(2);
  tft.setTextColor(ST77XX_YELLOW, ST77XX_BLACK);
  tft.setCursor(10, 10);
  tft.print(open ? "MOUTH: OPEN" : "MOUTH: CLOSE");
}

// ===================== I2S0 mode switching (穩定版) =====================
const i2s_port_t I2S_PORT = I2S_NUM_0;

enum I2SMode { MODE_NONE=0, MODE_SPK=1, MODE_MIC=2 };
static volatile I2SMode curMode = MODE_NONE;

static SemaphoreHandle_t i2sMutex = nullptr;

// 狀態顯示
bool spk_ok = false;
bool mic_ok = false;

static void lockI2S()   { if (i2sMutex) xSemaphoreTake(i2sMutex, portMAX_DELAY); }
static void unlockI2S() { if (i2sMutex) xSemaphoreGive(i2sMutex); }

static void i2sStopAndUninstallSafe() {
  if (curMode == MODE_NONE) return;
  // 這兩個呼叫在某些狀態下回傳錯誤是正常的，但不應該崩潰
  i2s_stop(I2S_PORT);
  i2s_driver_uninstall(I2S_PORT);
  curMode = MODE_NONE;
}

bool i2sInitSpeaker() {
  i2sStopAndUninstallSafe();

  i2s_config_t cfg = {
    .mode = (i2s_mode_t)(I2S_MODE_MASTER | I2S_MODE_TX),
    .sample_rate = 22050,
    .bits_per_sample = I2S_BITS_PER_SAMPLE_16BIT,
    .channel_format = I2S_CHANNEL_FMT_RIGHT_LEFT,
    .communication_format = I2S_COMM_FORMAT_I2S_MSB,
    .intr_alloc_flags = ESP_INTR_FLAG_LEVEL1,
    .dma_buf_count = 4,
    .dma_buf_len   = 128,
    .use_apll = false,
    .tx_desc_auto_clear = true,
    .fixed_mclk = 0
  };

  i2s_pin_config_t pin_cfg = {
    .bck_io_num = SPK_I2S_BCLK,
    .ws_io_num  = SPK_I2S_LRCK,
    .data_out_num = SPK_I2S_DOUT,
    .data_in_num  = I2S_PIN_NO_CHANGE
  };

  esp_err_t e1 = i2s_driver_install(I2S_PORT, &cfg, 0, NULL);
  if (e1 != ESP_OK) return false;

  esp_err_t e2 = i2s_set_pin(I2S_PORT, &pin_cfg);
  if (e2 != ESP_OK) return false;

  i2s_zero_dma_buffer(I2S_PORT);
  i2s_start(I2S_PORT);
  curMode = MODE_SPK;
  return true;
}

bool i2sInitMic() {
  i2sStopAndUninstallSafe();

  i2s_config_t cfg = {
    .mode = (i2s_mode_t)(I2S_MODE_MASTER | I2S_MODE_RX),
    .sample_rate = 16000,
    .bits_per_sample = I2S_BITS_PER_SAMPLE_32BIT,
    .channel_format = I2S_CHANNEL_FMT_ONLY_LEFT,
    .communication_format = I2S_COMM_FORMAT_I2S_MSB,
    .intr_alloc_flags = ESP_INTR_FLAG_LEVEL1,
    .dma_buf_count = 4,
    .dma_buf_len   = 128,
    .use_apll = false,
    .tx_desc_auto_clear = false,
    .fixed_mclk = 0
  };

  i2s_pin_config_t pin_cfg = {
    .bck_io_num = MIC_I2S_SCK,
    .ws_io_num  = MIC_I2S_WS,
    .data_out_num = I2S_PIN_NO_CHANGE,
    .data_in_num  = MIC_I2S_SD
  };

  esp_err_t e1 = i2s_driver_install(I2S_PORT, &cfg, 0, NULL);
  if (e1 != ESP_OK) return false;

  esp_err_t e2 = i2s_set_pin(I2S_PORT, &pin_cfg);
  if (e2 != ESP_OK) return false;

  i2s_zero_dma_buffer(I2S_PORT);
  i2s_start(I2S_PORT);
  curMode = MODE_MIC;
  return true;
}

bool ensureSpeakerModeLocked() {
  if (curMode == MODE_SPK) return true;
  spk_ok = i2sInitSpeaker();
  return spk_ok;
}

bool ensureMicModeLocked() {
  if (curMode == MODE_MIC) return true;
  mic_ok = i2sInitMic();
  return mic_ok;
}

// ===================== Speaker sound =====================
static uint32_t rng = 1;
static inline int16_t noise16() {
  rng = rng * 1664525UL + 1013904223UL;
  return (int16_t)(rng >> 16);
}

void playBeep1kHz_200ms_locked() {
  if (!ensureSpeakerModeLocked()) return;

  const int sampleRate = 22050;
  const float freq = 1000.0f;
  const float durSec = 0.2f;
  const int total = (int)(sampleRate * durSec);

  const int N = 256;
  int16_t stereo[N * 2];
  float phase = 0.0f;

  for (int i=0;i<total;){
    int n = (total-i > N) ? N : (total-i);
    for (int k=0;k<n;k++){
      phase += 2.0f * 3.1415926f * freq / (float)sampleRate;
      if (phase > 2.0f*3.1415926f) phase -= 2.0f*3.1415926f;

      int16_t v = (int16_t)(sinf(phase) * 12000);
      stereo[2*k+0] = v;
      stereo[2*k+1] = v;
    }
    size_t written=0;
    i2s_write(I2S_PORT, (const char*)stereo, n*2*sizeof(int16_t), &written, portMAX_DELAY);
    i += n;
  }
}

void playRoarOnce_locked() {
  if (!ensureSpeakerModeLocked()) return;

  const int sampleRate = 22050;
  const float durSec = 0.6f;
  const int total = (int)(sampleRate * durSec);

  const int N = 256;
  int16_t stereo[N * 2];
  float phase = 0.0f;

  for (int i=0;i<total;){
    int n = (total-i > N) ? N : (total-i);

    for (int k=0;k<n;k++){
      float t = (float)(i+k)/(float)total;
      float f = 120.0f - 50.0f*t;
      phase += 2.0f * 3.1415926f * f / (float)sampleRate;
      if (phase > 2.0f*3.1415926f) phase -= 2.0f*3.1415926f;

      float env = (t < 0.08f) ? (t/0.08f) : (1.0f - (t-0.08f)/0.92f);
      if (env < 0) env = 0;

      float s  = sinf(phase)*0.65f + sinf(phase*0.5f)*0.35f;
      float nz = (noise16()/32768.0f)*0.35f;
      float out = (s + nz) * env;

      float gain = 0.85f;
      int32_t v = (int32_t)(out * gain * 30000.0f);
      if (v > 32767) v = 32767;
      if (v < -32768) v = -32768;

      int16_t vv = (int16_t)v;
      stereo[2*k+0] = vv;
      stereo[2*k+1] = vv;
    }

    size_t written=0;
    i2s_write(I2S_PORT, (const char*)stereo, n*2*sizeof(int16_t), &written, portMAX_DELAY);
    i += n;
  }
}

// ===================== Microphone energy =====================
static const int MIC_FRAME = 128;
static int32_t micBuf[MIC_FRAME];

float readMicEnergyOnce_locked() {
  if (!ensureMicModeLocked()) return 0;

  size_t bytesRead = 0;
  i2s_read(I2S_PORT, (void*)micBuf, sizeof(micBuf), &bytesRead, 20 / portTICK_PERIOD_MS);
  int n = bytesRead / 4;
  if (n <= 0) return 0;

  uint64_t sumAbs = 0;
  for (int i=0;i<n;i++){
    int16_t s16 = (int16_t)(micBuf[i] >> 16);
    sumAbs += (uint16_t)abs(s16);
  }
  return (float)sumAbs / (float)n;
}

// ===================== Web UI =====================
String htmlPage() {
  String h;
  h += "<!doctype html><html><head><meta charset='utf-8'/>";
  h += "<meta name='viewport' content='width=device-width,initial-scale=1'/>";
  h += "<title>OTTO GO Test</title>";
  h += "<style>body{font-family:Arial;margin:16px}button{padding:10px 14px;margin:6px;border-radius:10px;border:0;background:#2d7;color:#fff;font-size:16px}";
  h += ".row{margin:10px 0}.card{padding:12px;border:1px solid #ddd;border-radius:12px;margin:10px 0}";
  h += "input[type=range]{width:260px}</style></head><body>";
  h += "<h2>OTTO GO 功能測試（192.168.4.1）</h2>";

  h += "<div class='card'><h3>Speaker（SPK 白色座）</h3>";
  h += "<button onclick=\"fetch('/spk?m=beep')\">Beep</button>";
  h += "<button onclick=\"fetch('/spk?m=roar')\">老虎大叫</button>";
  h += "<div>spk_ok：<span id='spkok'>--</span></div>";
  h += "</div>";

  h += "<div class='card'><h3>Microphone（I2S MEMS）</h3>";
  h += "<div>音量：<span id='mic'>--</span>　mic_ok：<span id='micok'>--</span></div>";
  h += "</div>";

  h += "<div class='card'><h3>TFT</h3>";
  h += "<button onclick=\"fetch('/tft?m=hello')\">Hello</button>";
  h += "<button onclick=\"fetch('/tft?m=mouth_open')\">虎嘴張開</button>";
  h += "<button onclick=\"fetch('/tft?m=mouth_close')\">虎嘴閉合</button>";
  h += "<button onclick=\"fetch('/tft?m=clear')\">清屏</button>";
  h += "</div>";

  h += "<div class='card'><h3>超音波測距</h3>";
  h += "<div>距離：<span id='dist'>--</span> cm</div>";
  h += "</div>";

  h += "<div class='card'><h3>Servo</h3>";
  h += "<button onclick=\"fetch('/servo?all=90')\">四顆 90 度校正</button><br/>";
  for (int i=1;i<=4;i++){
    h += "<div class='row'>S"; h += i; h += " 角度：";
    h += "<input type='range' min='0' max='180' value='90' id='s"; h += i; h += "' ";
    h += "oninput=\"setServo("; h += i; h += ",this.value)\"/>";
    h += " <span id='sv"; h += i; h += "'>90</span></div>";
  }
  h += "</div>";

  h += "<script>";
  h += "function setServo(ch,v){document.getElementById('sv'+ch).innerText=v;fetch('/servo?ch='+ch+'&ang='+v);}";

  // ★重要：降低輪詢頻率（避免 I2S 反覆卸載/安裝造成崩潰）
  h += "async function tick(){";
  h += "try{let r=await fetch('/mic'); let j=await r.json();";
  h += "document.getElementById('mic').innerText=(+j.energy).toFixed(0);";
  h += "document.getElementById('micok').innerText=j.mic_ok;";
  h += "document.getElementById('spkok').innerText=j.spk_ok;";
  h += "}catch(e){}";
  h += "try{let r2=await fetch('/ultra'); let j2=await r2.json(); document.getElementById('dist').innerText=j2.cm;}catch(e){}";
  h += "setTimeout(tick,1500);"; // ← 300ms 改成 1500ms
  h += "}";
  h += "tick();</script>";

  h += "</body></html>";
  return h;
}

// ===================== Web handlers =====================
void handleRoot() {
  server.send(200, "text/html; charset=utf-8", htmlPage());
}

void handleTFT() {
  String m = server.arg("m");
  if (m == "hello") tftHello();
  else if (m == "mouth_open") drawTigerMouth(true);
  else if (m == "mouth_close") drawTigerMouth(false);
  else if (m == "clear") tft.fillScreen(ST77XX_BLACK);
  server.send(200, "text/plain", "OK");
}

void handleSPK() {
  String m = server.arg("m");
  lockI2S();
  if (m == "beep") playBeep1kHz_200ms_locked();
  else if (m == "roar") playRoarOnce_locked();
  unlockI2S();
  server.send(200, "text/plain", "OK");
}

void handleMic() {
  float e = 0;
  lockI2S();
  e = readMicEnergyOnce_locked();
  // 讀完麥克風後，立刻切回 Speaker 模式（確保隨時可播放）
  spk_ok = ensureSpeakerModeLocked();
  unlockI2S();

  String json = "{\"energy\":" + String(e, 1) +
                ",\"mic_ok\":" + String(mic_ok ? 1 : 0) +
                ",\"spk_ok\":" + String(spk_ok ? 1 : 0) + "}";
  server.send(200, "application/json", json);
}

void handleUltra() {
  long d1 = readDistanceCM();
  long d2 = readDistanceCM();
  long d3 = readDistanceCM();
  long d  = median3(d1,d2,d3);
  if (d < 0) d = -1;
  String json = "{\"cm\":" + String(d) + "}";
  server.send(200, "application/json", json);
}

void handleServo() {
  if (server.hasArg("all")) {
    int a = constrain(server.arg("all").toInt(), 0, 180);
    s1.write(a); s2.write(a); s3.write(a); s4.write(a);
    server.send(200, "text/plain", "OK");
    return;
  }
  int ch = server.arg("ch").toInt();
  int ang = constrain(server.arg("ang").toInt(), 0, 180);
  switch(ch){
    case 1: s1.write(ang); break;
    case 2: s2.write(ang); break;
    case 3: s3.write(ang); break;
    case 4: s4.write(ang); break;
    default: break;
  }
  server.send(200, "text/plain", "OK");
}

// ===================== Setup/Loop =====================
void setup() {
  Serial.begin(115200);

  i2sMutex = xSemaphoreCreateMutex();

  pinMode(US_TRIG, OUTPUT);
  pinMode(US_ECHO, INPUT);

  SPI.begin(TFT_SCLK, -1, TFT_MOSI, TFT_CS);
  tft.init(240, 320);
  tft.setRotation(1);
  tftHello();

  s1.attach(SERVO1, 600, 2400);
  s2.attach(SERVO2, 600, 2400);
  s3.attach(SERVO3, 600, 2400);
  s4.attach(SERVO4, 600, 2400);
  s1.write(90); s2.write(90); s3.write(90); s4.write(90);

  // 開機先穩定進入 Speaker 模式並 beep
  lockI2S();
  spk_ok = i2sInitSpeaker();
  if (spk_ok) playBeep1kHz_200ms_locked();
  unlockI2S();

  WiFi.mode(WIFI_AP);
  WiFi.softAP(AP_SSID, AP_PASS);
  Serial.print("AP IP: ");
  Serial.println(WiFi.softAPIP());

  server.on("/", handleRoot);
  server.on("/tft", handleTFT);
  server.on("/spk", handleSPK);
  server.on("/mic", handleMic);
  server.on("/ultra", handleUltra);
  server.on("/servo", handleServo);
  server.begin();

  Serial.println("Web server started.");
}

void loop() {
  server.handleClient();
}

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