本页目录

03-Hardware

Hardware

This chapter combines the RIG-Puppy product documents and the Puppy firmware board configuration. Hardware batches may differ in camera, IMU, battery capacity, and small board details. For repair or reproduction, check the actual silkscreen, BOM, and latest Puppy configuration.

System Diagram

flowchart TD
    User["Voice / Mini App / BLE Remote"] --> Cloud["Xiao Lu Cloud Service"]
    Cloud --> App["Puppy Firmware Application Layer"]
    App --> Voice["Voice AI / ASR / TTS / VAD"]
    App --> EAF["EAF Emotion Animation / LVGL"]
    App --> MCP["MCP Tool Server"]
    App --> OTA["OTA Update"]
    App --> Puppy["boards/puppy"]
    Puppy --> Servo["5 UART Bus Servos / XGO Protocol"]
    Puppy --> Actions["Dog Gait / Head Tracking / Preset Actions"]
    App --> Common["boards/common"]
    Common --> LCD["GC9A01 240x240 Round LCD"]
    Common --> IMU["QMI8658C IMU"]
    Common --> Camera["GC0308/OV2640 Camera"]
    Common --> Audio["I2S Microphone + Speaker"]
    Common --> Battery["Battery and Power Management"]

Controller and Firmware Platform

Item	Value
Controller	ESP32-S3
Firmware	Puppy board type in the RIG series development repository
Framework	ESP-IDF v5.5.2+
Language	C++ / ESP-IDF
Partition	`partitions/16m.csv`
License	Apache License 2.0

Puppy Motion System

Item	Description
Board type	`BOARD_TYPE_PUPPY`
Motors	5 servos
Protocol	UART, XGO protocol
Board file	`main/boards/puppy/puppy_board.cc`
Motion control	`xgo.cc/h`
Action library	`xgo_action.cc/h`
Remote control	`ble_remote_control.cc/h`

Do not directly replace the bus servos with common PWM servos. The firmware, wiring, and feedback logic are designed for UART bus servos.

Sensors and Outputs

Module	Puppy Firmware Reference	Interface
Display	GC9A01 round LCD, 240 x 240	SPI
IMU	QMI8658C 6-axis attitude	I2C
Servo	Puppy 5 servos	UART / XGO
Audio	I2S microphone + speaker	I2S
Camera	GC0308/OV2640	DVP
Buttons	Boot + top/touch buttons depending on board	GPIO
Light	LED strip or GPIO light	GPIO

Physical Parameters

Item	Value
Length	About 12cm
Width	About 8cm
Height	About 13cm
Weight	About 180g
DOF	5 DOF
Waist range	About ±30°
Leg swing	About -90° to 90°
Forward speed	About 6cm/s