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Merged
finger563 merged 2 commits into from
Oct 28, 2025
Merged

feat(esp-box): Improve audio configuration and behavior #551

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b31f13a
feat(esp-box): Improve audio configuration
finger563 Oct 27, 2025
9871ba7
always write the full buffer
finger563 Oct 28, 2025
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3 changes: 1 addition & 2 deletions components/esp-box/include/esp-box.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -521,11 +521,10 @@ class EspBox : public BaseComponent {
std::unique_ptr<espp::Task> audio_task_{nullptr};
// i2s / low-level audio
i2s_chan_handle_t audio_tx_handle{nullptr};
i2s_chan_handle_t audio_rx_handle{nullptr};
std::vector<uint8_t> audio_tx_buffer;
StreamBufferHandle_t audio_tx_stream;
i2s_std_config_t audio_std_cfg;
i2s_event_callbacks_t audio_tx_callbacks_;
std::atomic<bool> has_sound{false};

// IMU
std::shared_ptr<Imu> imu_;
Expand Down
80 changes: 22 additions & 58 deletions components/esp-box/src/audio.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -6,15 +6,6 @@ using namespace espp;
// Audio Functions //
////////////////////////

static TaskHandle_t play_audio_task_handle_ = NULL;

static bool IRAM_ATTR audio_tx_sent_callback(i2s_chan_handle_t handle, i2s_event_data_t *event,
void *user_ctx) {
// notify the main task that we're done
vTaskNotifyGiveFromISR(play_audio_task_handle_, NULL);
return true;
}

bool EspBox::initialize_codec() {
logger_.info("initializing codec");

Expand All @@ -27,15 +18,15 @@ bool EspBox::initialize_codec() {
audio_hal_codec_config_t cfg;
memset(&cfg, 0, sizeof(cfg));
cfg.codec_mode = AUDIO_HAL_CODEC_MODE_DECODE;
cfg.dac_output = AUDIO_HAL_DAC_OUTPUT_LINE1;
cfg.dac_output = AUDIO_HAL_DAC_OUTPUT_ALL; // Enable both L and R outputs
cfg.i2s_iface.bits = AUDIO_HAL_BIT_LENGTH_16BITS;
cfg.i2s_iface.fmt = AUDIO_HAL_I2S_NORMAL;
cfg.i2s_iface.mode = AUDIO_HAL_MODE_SLAVE;
cfg.i2s_iface.samples = AUDIO_HAL_16K_SAMPLES;
cfg.i2s_iface.samples = AUDIO_HAL_48K_SAMPLES;

ret_val |= es8311_codec_init(&cfg);
ret_val |= es8311_set_bits_per_sample(cfg.i2s_iface.bits);
ret_val |= es8311_config_fmt((es_i2s_fmt_t)cfg.i2s_iface.fmt);
ret_val |= es8311_config_fmt(ES_I2S_NORMAL);
ret_val |= es8311_set_bits_per_sample(AUDIO_HAL_BIT_LENGTH_16BITS);
ret_val |= es8311_codec_set_voice_volume(volume_);
ret_val |= es8311_codec_ctrl_state(cfg.codec_mode, AUDIO_HAL_CTRL_START);

Expand All @@ -51,45 +42,25 @@ bool EspBox::initialize_codec() {
bool EspBox::initialize_i2s(uint32_t default_audio_rate) {
logger_.info("initializing i2s driver");
logger_.debug("Using newer I2S standard");
i2s_chan_config_t chan_cfg = {
.id = i2s_port,
.role = I2S_ROLE_MASTER,
.dma_desc_num = 16, // TODO: calculate form audio rate
.dma_frame_num = 48, // TODO: calculate from audio rate
.auto_clear = true,
.auto_clear_before_cb = false,
.allow_pd = false,
.intr_priority = 0,
};

ESP_ERROR_CHECK(i2s_new_channel(&chan_cfg, &audio_tx_handle, nullptr));
i2s_chan_config_t chan_cfg = I2S_CHANNEL_DEFAULT_CONFIG(i2s_port, I2S_ROLE_MASTER);
chan_cfg.auto_clear = true; // Auto clear the legacy data in the DMA buffer
// chan_cfg.dma_desc_num = 16;
// chan_cfg.dma_frame_num = 48;
ESP_ERROR_CHECK(i2s_new_channel(&chan_cfg, &audio_tx_handle, &audio_rx_handle));

audio_std_cfg = {
.clk_cfg =
{
.sample_rate_hz = default_audio_rate,
.clk_src = I2S_CLK_SRC_DEFAULT,
.ext_clk_freq_hz = 0,
.mclk_multiple = I2S_MCLK_MULTIPLE_256,
},
.clk_cfg = I2S_STD_CLK_DEFAULT_CONFIG(default_audio_rate),
.slot_cfg =
I2S_STD_PHILIPS_SLOT_DEFAULT_CONFIG(I2S_DATA_BIT_WIDTH_16BIT, I2S_SLOT_MODE_STEREO),
.gpio_cfg =
{
.mclk = i2s_mck_io,
.bclk = i2s_bck_io,
.ws = i2s_ws_io,
.dout = i2s_do_io,
.din = i2s_di_io,
.invert_flags =
{
.mclk_inv = false,
.bclk_inv = false,
.ws_inv = false,
},
},
.gpio_cfg = {.mclk = i2s_mck_io,
.bclk = i2s_bck_io,
.ws = i2s_ws_io,
.dout = i2s_do_io,
.din = i2s_di_io,
.invert_flags = {.mclk_inv = false, .bclk_inv = false, .ws_inv = false}},
};
audio_std_cfg.clk_cfg.mclk_multiple = I2S_MCLK_MULTIPLE_256;
// audio_std_cfg.clk_cfg.mclk_multiple = I2S_MCLK_MULTIPLE_256;

ESP_ERROR_CHECK(i2s_channel_init_std_mode(audio_tx_handle, &audio_std_cfg));

Expand All @@ -98,12 +69,6 @@ bool EspBox::initialize_i2s(uint32_t default_audio_rate) {

audio_tx_stream = xStreamBufferCreate(buffer_size * 4, 0);

play_audio_task_handle_ = xTaskGetCurrentTaskHandle();

memset(&audio_tx_callbacks_, 0, sizeof(audio_tx_callbacks_));
audio_tx_callbacks_.on_sent = audio_tx_sent_callback;
i2s_channel_register_event_callback(audio_tx_handle, &audio_tx_callbacks_, NULL);

xStreamBufferReset(audio_tx_stream);

ESP_ERROR_CHECK(i2s_channel_enable(audio_tx_handle));
Expand Down Expand Up @@ -155,7 +120,7 @@ bool EspBox::audio_task_callback(std::mutex &m, std::condition_variable &cv, boo
i2s_channel_write(audio_tx_handle, buffer, buffer_size, NULL, portMAX_DELAY);
} else {
xStreamBufferReceive(audio_tx_stream, buffer, available, 0);
i2s_channel_write(audio_tx_handle, buffer, available, NULL, portMAX_DELAY);
i2s_channel_write(audio_tx_handle, buffer, buffer_size, NULL, portMAX_DELAY);
}
return false; // don't stop the task
}
Expand Down Expand Up @@ -194,6 +159,10 @@ void EspBox::audio_sample_rate(uint32_t sample_rate) {
// stop the channel
i2s_channel_disable(audio_tx_handle);
// update the sample rate
auto err = es8311_codec_set_sample_rate(sample_rate);
if (err != ESP_OK) {
logger_.error("Could not set codec sample rate: {}", err);
}
audio_std_cfg.clk_cfg.sample_rate_hz = sample_rate;
i2s_channel_reconfig_std_clock(audio_tx_handle, &audio_std_cfg.clk_cfg);
// clear the buffer
Expand All @@ -205,11 +174,6 @@ void EspBox::audio_sample_rate(uint32_t sample_rate) {
void EspBox::play_audio(const std::vector<uint8_t> &data) { play_audio(data.data(), data.size()); }

void EspBox::play_audio(const uint8_t *data, uint32_t num_bytes) {
play_audio_task_handle_ = xTaskGetCurrentTaskHandle();
if (has_sound) {
ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
}
// don't block here
xStreamBufferSendFromISR(audio_tx_stream, data, num_bytes, NULL);
has_sound = true;
}