Init: 导入开发日志和项目文档

2025-12-31 16:18:28 +08:00
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+# Avaota F1 <20><><EFBFBD>臬<EFBFBD><E887AC>唳<EFBFBD>餌<EFBFBD>
+
+**<EFBFBD><EFBFBD>𧋦**嚗鯝3.5  
+**<EFBFBD>交<EFBFBD>**嚗?025-12-17  
+**撟喳蝱**嚗鋫vaota F1 (<28>典<EFBFBD> V821 / 32-bit RISC-V)  
+**憿寧𤌍餈𥕦漲**嚗?00% - [<EFBFBD>亦<EFBFBD>隞餃𦛚皜<EFBFBD><EFBFBD>](task_complete.md)
+
+---
+
+## <20><> <20><>﹝霂湔<E99C82>
+
+<EFBFBD>祆<EFBFBD>獢<EFBFBD><EFBFBD>瘜其<EFBFBD>**<2A><><EFBFBD>臬<EFBFBD><E887AC>啁<EFBFBD><E59581><EFBFBD><EFBFBD><EFBFBD>𠗕<EFBFBD>寡圾<E5AFA1>喳<EFBFBD>蝏誯<E89D8F><E8AAAF>餌<EFBFBD>**<2A>?
+憒<EFBFBD><EFBFBD><EFBFBD>亦<EFBFBD>嚗?- <20><> **隞餃𦛚餈𥕦漲<F0A595A6><E6BCB2><EFBFBD>蝔讠<E89D94><E8AEA0><EFBFBD>𧒄<EFBFBD>渡瑪** <20>?`task_complete.md`
+- <20><> **撘<><E69298>烐𠯫敹𡑒祕<F0A19192>?* <20>?`Day1-8.md`
+
+---
+
+## <20>圲 <20><><EFBFBD>舀<EFBFBD><E88880>餌<EFBFBD>
+
+### 蝖砌辣憭𤥁挽
+
+| 璅∪<E79285> | <20>见噡/<2F>亙藁 | 摰䂿緵<E482BF>孵<EFBFBD> | <20>喲睸<E596B2><E79DB8>㺭 |
+|------|-----------|---------|----------|
+| **<EFBFBD>喲<EFBFBD>颲枏枂** | MAX98357A (I2S) | Device Tree + ALSA | PD12/PD13/PD15, 16kHz |
+| **<EFBFBD>喲<EFBFBD>颲枏<EFBFBD>** | <20>輯蝸璅⊥<E79285>暻血<E69ABB>憌?| Audio Codec ADC | MIC Gain=25, 16kHz Mono |
+| **IMU** | ICM-42688-P | GPIO 璅⊥<E79285> SPI | 簣16g, 簣2000簞/s, ~500kHz |
+| **<EFBFBD><EFBFBD><EFBFBD>憭?* | GC2083 (MIPI) | MPP 獢<>沲 | 1280x720@20fps, JPEG Q80 |
+| **蝵𤑳<E89DB5>** | 隞亙云蝵?WiFi | <20>輯蝸 | - |
+
+### 頧臭辣<E887AD>嗆<EFBFBD>
+
+| 蝏<>辣 | <20><><EFBFBD>舀<EFBFBD> | 霂湔<E99C82> |
+|------|--------|------|
+| **AudioCapture** | ALSA API | 暻血<E69ABB>憌𤾸<E6868C><F0A4BEB8>喉<EFBFBD>S16_LE<4C>澆<EFBFBD> |
+| **AudioPlayer** | ALSA API | <20>砍ㄟ<E7A08D>冽偘<E586BD>?|
+| **ICM42688** | GPIO + SPI<50>讛悅 | <20>芸<EFBFBD><E88AB8>訕PI撽勗𢆡 |
+| **Camera** | MPP (VI/ISP/VENC) | JPEG蝖砌辣蝻𣇉<E89DBB> |
+| **UDPSender** | BSD Socket | <20>蹱<EFBFBD><E8B9B1>曎<EFBFBD>?|
+| **WSClient** | <20>芸<EFBFBD><E88AB8>?+ BSD Socket | WebSocket摰Ｘ<E691B0>蝡荔<E89DA1><E88D94>舀<EFBFBD>鈭諹<E988AD><E8ABB9>嗆㺭<E59786>殷<EFBFBD> |
+| **HTTPClient** | libcurl | HTTP摰Ｘ<E691B0>蝡?|
+
+### 蝻𤥁<E89DBB>撌亙<E6928C><E4BA99>橘<EFBFBD><E6A998>湔鰵嚗帋蝙<E5B88B>?musl嚗?
+```makefile
+SDK_ROOT := ~/ProgramFiles/AvaotaF1/avaota_sdk/tina-v821-release
+
+# <20>𩤃<EFBFBD> <20>喲睸靽格迤嚗帋蝙<E5B88B>?musl 撌亙<E6928C><E4BA99>橘<EFBFBD>Day 9嚗?TOOLCHAIN_DIR := $(SDK_ROOT)/prebuilt/rootfsbuilt/riscv/nds32le-linux-musl-v5d/bin
+CROSS_COMPILE := riscv32-linux-musl-
+
+# <20>折<EFBFBD>蝵殷<E89DB5>銝滚<E98A9D>摰孵<E691B0><E5ADB5>烐踎嚗?# TOOLCHAIN_DIR := $(SDK_ROOT)/out/toolchain/nds32le-linux-glibc-v5d/bin
+# CROSS_COMPILE := riscv32-unknown-linux-
+
+CC := $(TOOLCHAIN_DIR)/$(CROSS_COMPILE)gcc
+CXX := $(TOOLCHAIN_DIR)/$(CROSS_COMPILE)g++
+```
+
+**<EFBFBD>喲睸<EFBFBD>暹𦻖摨?*嚗?0+ <20>蹱<EFBFBD><E8B9B1><EFBFBD>嚗㚁<E59A97>
+- MPP獢<50>沲嚗惨w_mpp, media_utils, awion
+- ISP憭<50><E686AD>嚗?2銝杷SP摨?- 閫<><E996AB>蝻𤥁圾<F0A4A581><E59CBE><EFBFBD>vencoder, vdecoder, Cedar摨?- <20>喲<EFBFBD>憭<EFBFBD><E686AD>嚗惨decoder, aencoder, AGC, AEC
+- <20><>辣<EFBFBD>澆<EFBFBD>嚗饢uxers, demuxer, parser
+
+---
+
+## <20>働 <20><><EFBFBD>舫𠗕<E888AB>嫣<EFBFBD>閫<EFBFBD><E996AB><EFBFBD>寞<EFBFBD>
+
+### 1. I2S <20>喲<EFBFBD>颲枏枂<E69E8F>滨蔭
+
+#### <20>桅<EFBFBD>
+- Device Tree <20>嘥<EFBFBD><E598A5>滨蔭<E6BBA8>躰秤
+- 撘閗<E69298><E99697>蠘<EFBFBD><E8A098>脩<EFBFBD>
+- `simple-audio-card` <20>䭾<EFBFBD>甇<EFBFBD>虜撌乩<E6928C>
+
+#### 閫<><E996AB><EFBFBD>寞<EFBFBD>
+```dts
+// <20><><EFBFBD>?LVDS <20>𣂼<EFBFBD><F0A382BC>滨蔭嚗䔶蛹瘥譍葵撘閗<E69298><E99697>𥕦遣<F0A595A6>祉<EFBFBD><E7A589><EFBFBD><EFBFBD>
+&pio {
+    sndcodec_pins_a: sndcodec@0 {
+        pins = "PD12";
+        function = "i2s0";
+    };
+    sndcodec_pins_b: sndcodec@1 {
+        pins = "PD13";
+        function = "i2s0";
+    };
+    sndcodec_pins_c: sndcodec@2 {
+        pins = "PD15";
+        function = "i2s0";
+    };
+};
+```
+
+**<EFBFBD>喲睸蝏誯<EFBFBD>**嚗?- 雿輻鍂 `pins` + `function` <20><><EFBFBD>撅墧<E69285>?- <20>踹<EFBFBD> `allwinner,pins` 蝑㕑䌊摰帋<E691B0>撅墧<E69285>?- 瘥譍葵撘閗<E69298><E99697>祉<EFBFBD><E7A589><EFBFBD><EFBFBD><EFBFBD>湔<EFBFBD><E6B994>?
+---
+
+### 2. ICM-42688 <20>帋縑<E5B88B>寞<EFBFBD><E5AF9E>匧<EFBFBD>
+
+#### I2C <20>寞<EFBFBD>撠肽<E692A0>嚗<EFBFBD>仃韐伐<E99F90><E4BC90>?
+**<2A>桅<EFBFBD>**嚗?- PD1 鋡怠<E98BA1>隞硋<E99A9E><E7A18B>賢<EFBFBD><E8B3A2>?- PL2/PL3 銝齿𣈲<E9BDBF>?TWI0
+- 霈曉<E99C88><E69B89>滚<EFBFBD><E6BB9A>啣<EFBFBD> (0x68) 雿<><E99BBF>蝏嘥<E89D8F>摮睃膥霂餃<E99C82>
+
+**撠肽<E692A0>餈<EFBFBD><E9A488><EFBFBD>寞<EFBFBD>**嚗?1. GPIO 璅⊥<E79285> I2C
+2. <20>湔揢<E6B994>啣<EFBFBD>撘閗<E69298> (0x69)
+3. 靚<>㟲<EFBFBD>嗅<EFBFBD>撱嗉<E692B1>
+4. Bank 撖<><E69296><EFBFBD>典<EFBFBD><E585B8>?
+**蝏栞捏**嚗𡁜虾<F0A1819C>賡<EFBFBD>閬<EFBFBD>鸌畾𠰴<E795BE>憪见<E686AA>摨誩<E691A8>嚗峕𦆮撘<F0A686AE>2C<32>寞<EFBFBD>
+
+#### SPI <20>寞<EFBFBD>摰䂿緵嚗<E7B7B5><E59A97><EFBFBD><EFBFBD><EFBFBD><EFBFBD>?
+**摰䂿緵蝏<E7B7B5><E89D8F>**嚗?```cpp
+// GPIO 璅⊥<E79285> SPI Mode 0 (CPOL=0, CPHA=0)
+void spiTransfer(uint8_t data) {
+    for (int i = 7; i >= 0; i--) {
+        gpio_set_value(MOSI, (data >> i) & 0x01);
+        usleep(1);  // ~500kHz
+        gpio_set_value(SCLK, 1);  // 銝𠰴<E98A9D>瘝?        usleep(1);
+        gpio_set_value(SCLK, 0);
+    }
+}
+```
+
+**撘閗<E69298><E99697>滨蔭**嚗?- SCLK: PD3 (GPIO 99)
+- MOSI: PD2 (GPIO 98)
+- MISO: PD4 (GPIO 100)
+- CS: PD5 (GPIO 101)
+
+**<2A>扯<EFBFBD>**嚗?- <20>笔漲嚗鰺500kHz
+- WHO_AM_I 霂<><E99C82>嚗?x47 <20>?- <20>唳旿蝔喳<E89D94><E596B3>改<EFBFBD>隡条<E99AA1>
+
+---
+
+### 3. <20>蹱<EFBFBD><E8B9B1><EFBFBD>霂煾曎<E785BE>仿◇摨?
+#### <20>桅<EFBFBD>
+```
+undefined reference to `pthread_create`
+```
+
+#### 閫<><E996AB><EFBFBD>寞<EFBFBD>
+```makefile
+# <20>躰秤憿箏<E686BF>
+LDFLAGS += -lpthread -lssl -lcrypto
+
+# 甇<>＆憿箏<E686BF>
+LDFLAGS += -lssl -lcrypto -lpthread -lm -lstdc++
+```
+
+**閫<><E996AB>**嚗?1. 銝𡁜𦛚摨枏銁<E69E8F>?2. 蝟餌<E89D9F>摨枏銁<E69E8F>?3. `-lpthread` `-lm` `-lstdc++` <20>暹<EFBFBD><E69AB9>?
+---
+
+### 4. MPP 獢<>沲<EFBFBD><E6B2B2><EFBFBD>
+
+#### 蝻枏<E89DBB><E69E8F>粹<EFBFBD>蝵桐<E89DB5><E6A190>?
+**<2A>桅<EFBFBD>**嚗间BV 蝻枏<E89DBB><E69E8F>箸滯<E7AEB8>箏紡<E7AE8F>游葷銝Ｗ仃
+
+**閫<><E996AB><EFBFBD>寞<EFBFBD>**嚗?```cpp
+// VI 蝻枏<E89DBB><E69E8F>粹<EFBFBD>蝵?vipp_attr.nbufs = 5;  // 5銝杼I蝻枏<E89DBB><E69E8F>?vipp_attr.nplanes = 1;
+
+// VBV <20>滨蔭
+aw_enc_attr.VeAttr.mMaxKeyInterval = 30;
+aw_enc_attr.VeAttr.mVbvBufferSize = 4 * 1024 * 1024;  // 4MB
+```
+
+**<2A>喲睸蝏誯<E89D8F>**嚗?- VI蝻枏<E89DBB><E69E8F>箔<EFBFBD>摰𡏭<E691B0>憭改<E686AD><E694B9><EFBFBD><EFBFBD><EFBFBD>厰<EFBFBD>嚗?- VBV<42><56><EFBFBD>寞旿<E5AF9E><E697BF><EFBFBD>靚<EFBFBD>㟲
+- JPEG蝻𣇉<E89DBB>韐券<E99F90>80銝箸<E98A9D>雿喳像銵∠<E98AB5>
+
+---
+
+### 5. 撌亙<E6928C><E4BA99>暸<EFBFBD>蝵格𤣰<E6A0BC>?(Day 7-8)
+
+#### <20>桅<EFBFBD>
+- README.md <20>𣂼<EFBFBD> `riscv32-linux-musl` 撌亙<E6928C><E4BA99>曆<EFBFBD>摮睃銁
+- 憭帋葵Makefile<6C>滨蔭銝滢<E98A9D><E6BBA2>?- <20><>遣<EFBFBD>𡁏𧋦頝臬<E9A09D>瘛瑚僚
+
+#### 閫<><E996AB>餈<EFBFBD><E9A488>
+1. <20>亥砭 `tina_files_clean.csv` <20><>辣蝝Ｗ<E89D9D>
+2. <20>冽<EFBFBD><E586BD>∪膥銝𢠃<E98A9D>霂<EFBFBD><E99C82><EFBFBD><EFBFBD>楝敺?3. <20>𤑳緵 musl 撌亙<E6928C><E4BA99>曆蛹<E69B86>讠憬<E8AEA0><E686AC><EFBFBD><EFBFBD>芾圾<E88ABE>页<EFBFBD>
+4. 蝖株恕雿輻鍂 glibc 撌亙<E6928C><E4BA99>橘<EFBFBD>撌脰圾<E884B0>见虾<E8A781>剁<EFBFBD>
+
+#### <20><>蝏<EFBFBD><E89D8F>蝵?```bash
+# 摰鮋<E691B0>撌亙<E6928C><E4BA99>曇楝敺?out/toolchain/nds32le-linux-glibc-v5d/bin/
+
+# 蝻𤥁<E89DBB><F0A4A581>剁<EFBFBD>蝚血噡<E8A180>暹𦻖嚗?riscv32-unknown-linux-g++ -> riscv32-linux-g++
+
+# C摨?glibc (<28>?musl)
+```
+
+---
+
+### 6. Cedar 摨㯄曎<E3AF84>仿䔮憸?(Day 8)
+
+#### <20>桅<EFBFBD>
+```
+undefined reference to `CDC_LOG_LEVEL_NAME'
+undefined reference to `CDC_GLOBAL_LOG_LEVEL'
+```
+
+#### <20>笔<EFBFBD>
+銝餌<EFBFBD>摨?Makefile 蝻箏<E89DBB>摰峕㟲<E5B395>?Cedar 憭𡁜<E686AD>雿枏<E99BBF><E69E8F>暹𦻖
+
+#### 閫<><E996AB><EFBFBD>寞<EFBFBD>
+瘛餃<EFBFBD> 60+ 銝芷<E98A9D><E88AB7><EFBFBD><EFBFBD>嚗?```makefile
+# Cedar <20>詨<EFBFBD>摨橒<E691A8><E6A992>喲睸嚗<E79DB8><E59A97>
+LDFLAGS += -lcdc_base -lcdx_base
+
+# <20>喲<EFBFBD>憭<EFBFBD><E686AD>
+LDFLAGS += -ladecoder -lResample -lAudioVps -laac -lwav
+LDFLAGS += -lcedarx_aencoder -laacenc -lAgc -lAec -lAns
+
+# Muxer/Demuxer
+LDFLAGS += -lmuxers -lcedarxdemuxer -lcdx_parser
+LDFLAGS += -lmp4_muxer -lraw_muxer -lmpeg2ts_muxer
+
+# 閫<><E996AB>蝻𤥁圾<F0A4A581>?LDFLAGS += -lvencoder -lvdecoder -lvideoengine -lawmjpegplus
+
+# <20>滨蔭閫<E894AD><E996AB>
+LDFLAGS += -lPluginMpp -lIniParserMpp -lsample_confparser
+
+# <20>曄內摨?LDFLAGS += -lcedarxrender -lhwdisplay
+```
+
+---
+
+### 7. musl/glibc 撌亙<E6928C><E4BA99>曉<EFBFBD>摰寞<E691B0>?(Day 9) <20>?
+#### <20>桅<EFBFBD>
+撘<EFBFBD><EFBFBD>烐踎餈鞱<EFBFBD> `musl libc 1.2.4`嚗䔶<E59A97>蝔见<E89D94>雿輻鍂 `glibc` 蝻𤥁<E89DBB>嚗<EFBFBD>紡<EFBFBD>湛<EFBFBD>
+- <20>冽<EFBFBD><E586BD>曎<EFBFBD>亙膥銝滚龪<E6BB9A>?- 蝚血噡銝滚<E98A9D>摰?(`__register_atfork` 蝑?
+- 蝔见<E89D94><E8A781>䭾<EFBFBD>餈鞱<E9A488>
+
+#### 閫<><E996AB><EFBFBD>寞<EFBFBD>
+```makefile
+# 靽格迤撌亙<E6928C><E4BA99>曇楝敺<E6A59D><E695BA><EFBFBD>喲睸<E596B2>𤑳緵嚗饢usl <20>?prebuilt <20>屸<EFBFBD> out/toolchain嚗?USE_MUSL := 1
+
+ifeq ($(USE_MUSL),1)
+    TOOLCHAIN_DIR := $(SDK_ROOT)/prebuilt/rootfsbuilt/riscv/nds32le-linux-musl-v5d/bin
+    CROSS_COMPILE := riscv32-linux-musl-
+endif
+```
+
+**撉諹<E69289><E8ABB9>寞<EFBFBD>**嚗?```bash
+# 璉<><E79289>亙𢆡<E4BA99><F0A286A1>曎<EFBFBD>亙膥
+readelf -l avaota_client | grep interpreter
+# 摨磰<E691A8><E7A3B0>綽<EFBFBD>/lib32/ld.so.1
+
+# 撘<><E69298>烐踎銝𠰴<E98A9D>撱箇泵<E7AE87>琿曎<E790BF>?ln -s /lib32/ilp32d/libc.so /lib32/ld.so.1
+```
+
+**蝏𤘪<E89D8F>**嚗尠<E59A97> 蝔见<E89D94><E8A781>𣂼<EFBFBD>餈鞱<E9A488>嚗峕<E59A97><E5B395>厩′隞嗆芋<E59786>埈<EFBFBD>霂閖<E99C82>朞<EFBFBD>
+
+---
+
+### 8. <20>喲<EFBFBD> I/O <20>躰秤憭<E7A7A4><E686AD> (Day 10) <20>?
+#### <20>桅<EFBFBD>
+蝔见<EFBFBD>餈鞱<EFBFBD>蝥?10 蝘鍦<E89D98>撏拇<E6928F>嚗?- ALSA 餈𥪜<E9A488> I/O error
+- `snd_pcm_recover()` <20>Ｗ<EFBFBD>憭梯揖
+- 蝐餃<E89D90>頧祆揢<E7A586>躰秤嚗Ǒsize_t` vs `snd_pcm_sframes_t`嚗?- 蝻箏<E89DBB><E7AE8F>躰秤璉<E7A7A4><E79289>亙紡<E4BA99>?Segmentation fault
+
+#### 閫<><E996AB><EFBFBD>寞<EFBFBD>
+
+**audio_capture.cpp - 霈曉<E99C88><E69B89>齿鰵<E9BDBF>嘥<EFBFBD><E598A5>?*嚗?```cpp
+int err = snd_pcm_recover(m_pcm_handle, frames_read, 0);
+if (err < 0) {
+    LOG_ERROR("[AudioCapture] Cannot recover: %s, attempting to reinitialize...", 
+              snd_strerror(err));
+    
+    // <20>喲𡡒霈曉<E99C88>
+    snd_pcm_close(m_pcm_handle);
+    m_pcm_handle = nullptr;
+    
+    // 蝑匧<E89D91>撟園<E6929F><E59C92>啣<EFBFBD>憪见<E686AA>
+    usleep(500000);  // 500ms
+    if (!init()) {
+        LOG_ERROR("[AudioCapture] Failed to reinitialize device");
+        return -1;  // 敶餃<E695B6>憭梯揖
+    }
+    
+    LOG_INFO("[AudioCapture] Device reinitialized successfully");
+    return 0;  // <20>祆活霂餃<E99C82>憭梯揖嚗䔶<E59A97>霈曉<E99C88>撌脫<E6928C>憭?}
+```
+
+**main.cpp - 蝐餃<E89D90>摰匧<E691B0><E58CA7>屸<EFBFBD>霂舀<E99C82><E88880>?*嚗?```cpp
+// 靽桀<E99DBD>蝐餃<E89D90><E9A483>躰秤
+snd_pcm_sframes_t frames_read = mic.read(buffer, 160);  // 雿輻鍂<E8BCBB>厩泵<E58EA9>瑞掩<E7919E>?
+// 瘛餃<E7989B><E9A483>躰秤璉<E7A7A4><E79289>?if (frames_read < 0) {
+    LOG_ERROR("[AUD-CAP] Fatal error, exiting thread");
+    break;  // 摰匧<E691B0><E58CA7><EFBFBD><EFBFBD>箇瑪蝔页<E89D94>銝滚蔣<E6BB9A>滚<EFBFBD>隞𡝗芋<F0A19D97>?}
+
+if (frames_read > 0) {
+    ws_aud.send_binary((uint8_t*)buffer, frames_read * 2);
+}
+```
+
+#### 撉諹<E69289>蝏𤘪<E89D8F>
+- <20>?蝔见<E89D94>蝔喳<E89D94>餈鞱<E9A488> 36+ 蝘𡜐<E89D98>靽桀<E99DBD><E6A180>㵪<EFBFBD>10 蝘鍦援皞<E68FB4><E79A9E>
+- <20>?<3F>芸𢆡<E88AB8>Ｗ<EFBFBD><EFBCB7>箏<EFBFBD><E7AE8F><EFBFBD><EFBFBD>嚗<EFBFBD><E59A97>霂蓥葉<E893A5>𣂼<EFBFBD><F0A382BC>Ｗ<EFBFBD> 3 甈?I/O <20>躰秤嚗?- <20>?<3F>喲<EFBFBD>蝥輻<E89DA5>憭梯揖銝滚蔣<E6BB9A>?IMU <20>峕<EFBFBD><E5B395>誩仍蝥輻<E89DA5>
+
+---
+
+### 9. WebSocket 撏拇<E6928F>靽桀<E99DBD> (Day 11) <20>?
+#### <20>桅<EFBFBD>
+蝔见<EFBFBD><EFBFBD>?WebSocket 餈墧𦻖憭梯揖嚗?03 Forbidden嚗匧<E59A97>撏拇<E6928F>嚗?- <20>躰秤靽⊥<E99DBD>嚗䫤terminate called without an active exception`
+- <20>笔<EFBFBD> 1嚗䫤perform_handshake()` 憭梯揖<E6A2AF>?`m_recv_thread` <20>芸鍳<E88AB8>?- <20>笔<EFBFBD> 2嚗䫤disconnect()` 隞滚<E99A9E>霂?`join()` <20>芸鍳<E88AB8>函<EFBFBD>蝥輻<E89DA5>
+- <20>笔<EFBFBD> 3嚗𡁏𦻖<F0A1818F>嗥瑪蝔钅獈憛𧼮銁 `recv()` <20>?`disconnect()` <20>湔𦻖<E6B994>喲𡡒 socket
+
+#### 閫<><E996AB><EFBFBD>寞<EFBFBD>
+
+**ws_client.cpp - 甇<>＆<EFBFBD><EFBC86>鱏撘<E9B18F>餈墧𦻖瘚<F0A6BB96><E7989A>**嚗?```cpp
+void WSClient::disconnect() {
+    // 1. 霈曄蔭<E69B84><E894AD><EFBFBD>雿?    m_running = false;
+    m_connected = false;
+    
+    // 2. <20>煾<EFBFBD><E785BE><EFBFBD><EFBFBD>剖葷
+    if (m_sockfd >= 0) {
+        uint8_t close_frame[] = {0x88, 0x00};
+        send(m_sockfd, close_frame, sizeof(close_frame), 0);
+        
+        // 潃?<3F>喲睸靽桀<E99DBD>嚗𡁜<E59A97> shutdown 銝剜鱏<E5899C>餃<EFBFBD><E9A483>?recv()
+        shutdown(m_sockfd, SHUT_RDWR);
+    }
+    
+    // 3. <20>?join 摰鮋<E691B0>餈鞱<E9A488><E99EB1><EFBFBD>瑪蝔?    if (m_recv_thread.joinable()) {
+        m_recv_thread.join();
+    }
+    
+    // 4. <20>喲𡡒 socket
+    if (m_sockfd >= 0) {
+        close(m_sockfd);
+        m_sockfd = -1;
+    }
+}
+```
+
+**<2A>喲睸蝏誯<E89D8F>**嚗?- `shutdown()` <20>臭誑銝剜鱏<E5899C>餃<EFBFBD><E9A483>?`recv()` 靚<>鍂
+- 敹<>◆<EFBFBD>?`join()` <20>滩<EFBFBD><E6BBA9>?`shutdown()`
+- 雿輻鍂 `joinable()` 璉<><E79289>亦瑪蝔𧢲糓<F0A7A2B2>血虾 join
+
+---
+
+### 10. <20>喲<EFBFBD><E596B2><EFBFBD><EFBFBD><EFBFBD>帋縑摰䂿緵 (Day 11) <20>?
+#### <20><>瘙?- <20>唳<EFBFBD>蝟餌<E89D9F><E9A48C>芣𣈲<E88AA3><F0A388B2>𨺗憸煾<E686B8><E785BE><EFBFBD><EFBFBD>銝𠹺<E98A9D>嚗?- <20><>閬<EFBFBD><E996AC><EFBFBD>圈𨺗憸烐偘<E78390>橘<EFBFBD>TTS 霂剝𨺗<E5899D><F0A8BA97><EFBFBD>嚗?- <20>滚𦛚<E6BB9A>券<EFBFBD>朞<EFBFBD> WebSocket 餈𥪜<E9A488>鈭諹<E988AD><E8ABB9>?PCM <20>喲<EFBFBD><E596B2>唳旿
+
+#### 閫<><E996AB><EFBFBD>寞<EFBFBD>
+
+**甇仿炊 1: <20>拙<EFBFBD> WSClient <20>舀<EFBFBD>鈭諹<E988AD><E8ABB9>嗆㺭<E59786>桅<EFBFBD><E6A185>?*
+
+```cpp
+// ws_client.h - 瘛餃<E7989B>鈭諹<E988AD><E8ABB9>嗆㺭<E59786>桅<EFBFBD><E6A185>?class WSClient {
+public:
+    void poll_binary_messages(std::function<void(const uint8_t*, size_t)> callback);
+    
+private:
+    std::queue<std::vector<uint8_t>> m_binary_queue;
+    std::mutex m_binary_mutex;
+};
+
+// ws_client.cpp - recv_loop 靽嘥<E99DBD>鈭諹<E988AD><E8ABB9>嗆㺭<E59786>?if (opcode == OP_BINARY) {
+    std::lock_guard<std::mutex> lock(m_binary_mutex);
+    m_binary_queue.push(payload);
+    LOG_DEBUG("[WS] Received binary: %zu bytes", payload.size());
+}
+```
+
+**甇仿炊 2: 銝餃儐<E9A483>舫<EFBFBD><E888AB>鞾𨺗憸烐偘<E78390>?*
+
+```cpp
+// main.cpp - <20>嘥<EFBFBD><E598A5>𡝗碸憯啣膥嚗áw:1,0 - I2S <20>亙藁嚗?AudioPlayer speaker("hw:1,0", 16000, 1);  // 16kHz, mono
+bool speaker_enabled = speaker.init();
+
+// 銝餃儐<E9A483>臭葉<E887AD>交𤣰撟嗆偘<E59786>暸𨺗憸?if (speaker_enabled) {
+    ws_aud.poll_binary_messages([&](const uint8_t* data, size_t size) {
+        if (size % 2 == 0) {  // S16_LE <20>唳旿
+            size_t frames = size / 2;
+            speaker.write((const int16_t*)data, frames);
+        }
+    });
+}
+```
+
+**<2A>喲睸蝏誯<E89D8F>**嚗?- WebSocket <20>?`recv_loop` 撌脩<E6928C><E884A9>函𡠺蝡讠瑪蝔衤葉餈鞱<E9A488>
+- 鈭諹<E988AD><E8ABB9>嗆㺭<E59786>桅<EFBFBD>朞<EFBFBD><E69C9E>笔<EFBFBD>隡𣳇<E99AA1>鍦<EFBFBD>銝餌瑪蝔?- 雿輻鍂 `hw:1,0`嚗㇆2S嚗㕑<E59A97>屸<EFBFBD> `hw:0,0`嚗㇁udio Codec嚗?- <20>喲<EFBFBD><E596B2>澆<EFBFBD>敹<EFBFBD>◆<EFBFBD>寥<EFBFBD>嚗?6kHz, mono, S16_LE
+
+#### 撉諹<E69289>蝏𤘪<E89D8F>
+- <20>?<3F>砍ㄟ<E7A08D>典<EFBFBD>憪见<E686AA><E8A781>𣂼<EFBFBD>嚗áw:1,0嚗?- <20>?<3F>喲<EFBFBD><E596B2><EFBFBD><EFBFBD>甇<EFBFBD>虜嚗<E8999C>歇<EFBFBD>煾<EFBFBD>?2000+ <20>唳旿<E594B3><E697BF><EFBFBD>
+- <20>?TTS <20>喲<EFBFBD><E596B2>剜𦆮撌脣<E6928C><E884A3>堆<EFBFBD>Day 13 靽桀<E99DBD>嚗?
+---
+
+### 11. TTS 鈭衤辣敺芰㴓<E88AB0>餃<EFBFBD>靽桀<E99DBD> (Day 13) <20>?
+#### <20>桅<EFBFBD>
+TTS <20>喲<EFBFBD><E596B2>剜𦆮<E5899C>剜鱏蝏剔賒嚗峕<E59A97><E5B395>?5-15 蝘埝<E89D98><E59F9D>剜𦆮<E5899C>牐葵摮梹<E691AE>
+- 摰Ｘ<E691B0>蝡舀𠯫敹梹<E695B9>`[AudioPlayer] Underrun occurred, recovering...`
+- <20>滚𦛚<E6BB9A>冽𠯫敹梹<E695B9>TTS <20>烾𡢿<E783BE>?5-15 蝘?
+#### <20>孵<EFBFBD><E5ADB5><EFBFBD><EFBFBD>
+`omni_client.py` 銝凋蝙<E5878B>典<EFBFBD>甇亥翮隞<E7BFAE>膥憭<E886A5><E686AD> Omni API <20>滚<EFBFBD>嚗屸獈憛硺<E6869B><E7A1BA>港葵 asyncio 鈭衤辣敺芰㴓嚗?```python
+# <20>桅<EFBFBD>隞<EFBFBD><E99A9E>
+async def stream_chat(...):
+    completion = client.chat.completions.create(stream=True, ...)
+    for chunk in completion:  # <20>?<3F>峕郊餈凋誨嚗屸獈憛硺<E6869B>隞嗅儐<E59785>荔<EFBFBD>
+        yield OmniStreamPiece(...)
+```
+
+#### 閫<><E996AB><EFBFBD>寞<EFBFBD>
+
+**甇仿炊 1: Omni 摰Ｘ<E691B0>蝡臬<E89DA1>甇亙<E79487>**
+
+雿輻鍂 `threading.Thread` + `asyncio.Queue` 閫<><E996AB>血<EFBFBD>甇?API 靚<>鍂嚗?
+```python
+async def stream_chat(...):
+    queue = asyncio.Queue()
+    loop = asyncio.get_running_loop()
+    
+    def _sync_stream():
+        """<22>函𡠺蝡讠瑪蝔衤葉餈鞱<E9A488><E99EB1>峕郊 API 靚<>鍂"""
+        completion = client.chat.completions.create(stream=True, ...)
+        for chunk in completion:
+            piece = OmniStreamPiece(...)
+            loop.call_soon_threadsafe(queue.put_nowait, piece)
+        loop.call_soon_threadsafe(queue.put_nowait, None)  # 蝏𤘪<E89D8F><F0A498AA><EFBFBD>扇
+    
+    thread = threading.Thread(target=_sync_stream, daemon=True)
+    thread.start()
+    
+    while True:
+        item = await queue.get()  # <20>鮋獈憛䂿<E6869B>敺?        if item is None:
+            break
+        yield item
+```
+
+**甇仿炊 2: 摰Ｘ<E691B0>蝡?TTS 憸<><E686B8><EFBFBD>脫㦤<E884AB>?*
+
+```cpp
+// main.cpp - TTS 憸<><E686B8><EFBFBD>脣<EFBFBD><E884A3>?static std::vector<int16_t> tts_buffer;
+static const size_t PRE_BUFFER_FRAMES = 16000;  // 1蝘㘾<E89D98>蝻枏<E89DBB>
+static const size_t MIN_PLAY_FRAMES = 8000;     // 0.5蝘埝<EFBFBD>撠𤩺偘<EFBFBD>暸<EFBFBD><EFBFBD>?static bool is_buffering = true;
+
+// <20>交𤣰<E4BAA4>嗉蕭<E59789>惩<EFBFBD>蝻枏<E89DBB><E69E8F>?ws_aud.poll_binary_messages([&](const uint8_t* data, size_t size) {
+    const int16_t* samples = (const int16_t*)data;
+    size_t frames = size / 2;
+    tts_buffer.insert(tts_buffer.end(), samples, samples + frames);
+    
+    // 蝘舐敞頞喳<E9A09E><E596B3>滚<EFBFBD>憪𧢲偘<F0A7A2B2>?    if (is_buffering && tts_buffer.size() >= PRE_BUFFER_FRAMES) {
+        is_buffering = false;
+    }
+});
+
+// <20>剜𦆮<E5899C>嗡蝙<E597A1>刻<EFBFBD>撠𤩺鸌甈? if (!is_buffering && tts_buffer.size() >= MIN_PLAY_FRAMES) {
+    size_t play_frames = std::min(tts_buffer.size(), (size_t)1600);  // 100ms
+    speaker.write(tts_buffer.data(), play_frames);
+    tts_buffer.erase(tts_buffer.begin(), tts_buffer.begin() + play_frames);
+}
+```
+
+**甇仿炊 3: <20>滚𦛚<E6BB9A>券<EFBFBD><E588B8><EFBFBD>箔耨憭?*
+
+```python
+# app_main.py - lifespan <20>閗繮 CancelledError
+@asynccontextmanager
+async def lifespan(app):
+    # ... <20>臬𢆡<E887AC>餉<EFBFBD> ...
+    try:
+        yield
+    except asyncio.CancelledError:
+        pass  # Ctrl+C 甇<>虜銵䔶蛹
+    finally:
+        print("[LIFESPAN] 摨𠉛鍂<F0A0899B>喲𡡒摰峕<E691B0>")
+        # 撘箏<E69298><E7AE8F><EFBFBD><EFBFBD>箇瑪蝔?        def _force_exit():
+            time.sleep(0.5)
+            os._exit(0)
+        threading.Thread(target=_force_exit, daemon=True).start()
+```
+
+#### 撉諹<E69289>蝏𤘪<E89D8F>
+| <20><><EFBFBD> | 靽桀<E99DBD><E6A180>?| 靽桀<E99DBD><E6A180>?|
+|------|--------|--------|
+| TTS <20>烾𡢿<E783BE>?| 5-15 蝘?| ~2 蝘?|
+| 擐𡝗活<F0A19D97>剜𦆮撱嗉<E692B1> | 蝡见朖 | ~1 蝘𡜐<E89D98>憸<EFBFBD><E686B8><EFBFBD>莎<EFBFBD> |
+| Underrun 憸𤑳<E686B8> | 瘥誩<E798A5>銝<EFBFBD>甈?| <20>嗅<EFBFBD> |
+| <20>滚𦛚<E6BB9A>券<EFBFBD><E588B8><EFBFBD>?| <20><>絲 | 甇<>虜餈𥪜<E9A488> |
+
+#### <20>㛖<EFBFBD><E39B96>桅<EFBFBD>
+- TTS 隞齿<E99A9E>頧餃凝<E9A483>剔賒嚗㇉mni API <20>滚<EFBFBD><E6BB9A>ｇ<EFBFBD>
+- 撱箄悅<E7AE84><E68285>揢<EFBFBD>?HTTP `/stream.wav` 璅∪<E79285>嚗<EFBFBD><E59A97><EFBFBD>?ESP32S3 摰䂿緵嚗?
+---
+
+## <20><> <20>喲睸<E596B2>𣂼停
+
+### <20><><EFBFBD>舐<EFBFBD><E88890>?1. <20>?隞𡡞妟摰䂿緵 GPIO 璅⊥<E79285> SPI 撽勗𢆡
+2. <20>?閫<><E996AB> I2S Device Tree <20>滨蔭<E6BBA8>暸<EFBFBD>
+3. <20>?ICM-42688 SPI 撽勗𢆡摰峕㟲摰䂿緵
+4. <20>?MPP 獢<>沲摰峕㟲<E5B395><E39FB2><EFBFBD>嚗ĀI<C480>𥕜SP<53>栐ENC嚗?5. <20>?GC2083 100% <20>閗繮<E99697>𣂼<EFBFBD><F0A382BC>?6. <20>?<3F>蹱<EFBFBD><E8B9B1>曎<EFBFBD>?60+ 摨㮖<E691A8>韏𡝗<E99F8F><F0A19D97>?7. <20>?撌亙<E6928C><E4BA99>暸<EFBFBD>蝵桃<E89DB5>銝<EFBFBD><E98A9D>嗆<EFBFBD>
+8. <20>?3.9MB 銝餌<E98A9D>摨讐<E691A8>霂烐<E99C82><E78390>?9. <20>?<3F>喲<EFBFBD><E596B2>躰秤<E8BAB0>芸𢆡<E88AB8>Ｗ<EFBFBD><EFBCB7>箏<EFBFBD>
+10. <20>?**WebSocket 撏拇<E6928F><E68B87>桅<EFBFBD>靽桀<E99DBD>**
+11. <20>?**<2A>喲<EFBFBD><E596B2><EFBFBD><EFBFBD><EFBFBD>帋縑摰䂿緵**
+12. <20>?**TTS 鈭衤辣敺芰㴓<E88AB0>餃<EFBFBD>靽桀<E99DBD>**嚗㇉mni 摰Ｘ<E691B0>蝡臬<E89DA1>甇亙<E79487>嚗?13. <20>?**摰Ｘ<E691B0>蝡?TTS 憸<><E686B8><EFBFBD>脫㦤<E884AB>?*
+14. <20>?**憿寧𤌍隞<F0A48C8D><E99A9E><EFBFBD>西澈** (蝘駁膄 19 銝芸<E98A9D>雿蹱<E99BBF>隞?
+15. <20>?**<2A>鮋獈憛噼歲撣扳㦤<E689B3>?* (撖潸⏛ FPS 0.5 -> 10.0)
+
+### <20>扯<EFBFBD><E689AF><EFBFBD><EFBFBD>
+- <20>喲<EFBFBD><E596B2><EFBFBD>甅<EFBFBD><E79485><EFBFBD>16kHz <20>?- <20><><EFBFBD>憭游葷<E6B8B8><E891B7><EFBFBD>20fps <20>?- JPEG <20>讠憬韐券<E99F90>嚗?0 <20>?- SPI <20>帋縑<E5B88B>笔漲嚗鰺500kHz <20>?- IMU <20>唳旿<E594B3><E697BF><EFBFBD>1kHz <20>?- 蝻𤥁<E89DBB>鈭抒<E988AD>憭批<E686AD>嚗?.9MB <20>?- **<2A>蹂<EFBFBD>餈鞱<E9A488>撉諹<E69289>嚗𡁏<E59A97><F0A1818F>㗇芋<E39787>?00%<25>朞<EFBFBD>** <20>?- **TTS <20>烾𡢿<E783BE>䈑<EFBFBD>~2 蝘?*嚗<>耨憭滚<E686AD> 5-15 蝘𡜐<E89D98><F0A19C90>?
+---
+
+## <20><> 蝏誯<E89D8F>蝘舐敞
+
+### Device Tree <20>滨蔭
+- `pinctrl` <20>箏<EFBFBD>嚗𡁏<E59A97>銝芸<E98A9D><E88AB8>𡁶𡠺蝡贝<E89DA1><E8B49D>?- `function` vs `allwinner,function`嚗帋<E59A97><E5B88B><EFBFBD>蝙<EFBFBD>冽<EFBFBD><E586BD><EFBFBD><EFBFBD><EFBFBD>?- 撘閗<E69298>憭滨鍂<E6BBA8>脩<EFBFBD>嚗𡁻<E59A97>朞<EFBFBD> `/sys/kernel/debug/pinctrl` <20>埝䰻
+
+### GPIO <20>批<EFBFBD>
+- `/sys/class/gpio` <20>亙藁雿輻鍂
+- 撖澆枂 <20>?霈曄蔭<E69B84>孵<EFBFBD> <20>?霂餃<E99C82><E9A483>?- GPIO 蝻硋噡霈∠<E99C88>嚗䫤(bank - 'A') * 32 + offset`
+
+### SPI <20>讛悅
+- Mode 0嚗鋴POL=0, CPHA=0
+- <20>嗅<EFBFBD>嚗鐝OSI<53><49><EFBFBD> <20>?SCLK銝𠰴<E98A9D>瘝?<3F>?MISO<53><4F>甅
+- ICM-42688 霂餃<E99C82>嚗𡁻<E59A97>摮𡑒<E691AE> 0x80|撖<><E69296><EFBFBD>典𧑐<E585B8><F0A79190>
+
+### ALSA <20>喲<EFBFBD>
+- 餈鞱<E9A488><E99EB1>園<EFBFBD>蝵?vs 蝻𤥁<E89DBB><F0A4A581>園<EFBFBD>蝵?- `amixer` 靚<><E99D9A><EFBFBD><EFBFBD>撌?- MIC Gain 靚<><E99D9A><EFBFBD>寞<EFBFBD>
+
+### MPP 獢<>沲
+- <20>嘥<EFBFBD><E598A5>㚚◇摨𧶏<E691A8>VI <20>?ISP <20>?VENC
+- 蝻枏<E89DBB><E69E8F>箔<EFBFBD><E7AE94>𣇉<EFBFBD><F0A38789>?- JPEG 蝻𣇉<E89DBB>韐券<E99F90>銝擧<E98A9D>隞嗅之撠𤩺<E692A0>銵?
+### 鈭文<E988AD>蝻𤥁<E89DBB>
+- <20>蹱<EFBFBD><E8B9B1><EFBFBD><EFBFBD>暹𦻖憿箏<E686BF>閫<EFBFBD><E996AB>
+- Cedar 摨㮖<E691A8>韏硋<E99F8F>蝟?- 撌亙<E6928C><E4BA99>曇楝敺<E6A59D><E695BA>霂<EFBFBD>䲮瘜?
+---
+
+## <20>𩤃<EFBFBD> <20>㛖<EFBFBD><E39B96>桅<EFBFBD>銝𦒘<E98A9D><F0A69298>𡝗䲮<F0A19D97>?
+### <20><><EFBFBD>舀䔝蝝Ｘ䲮<EFBCB8>?1. **蝖砌辣 SPI**
+   - 敶枏<E695B6>嚗鎭PIO 璅⊥<E79285> (~500kHz)
+   - <20>臭<EFBFBD><E887AD>吔<EFBFBD>雿輻鍂蝖砌辣 SPI (<28>衽Hz)
+   - <20>嗥<EFBFBD>嚗𡁻<E59A97>雿?CPU <20>删鍂
+
+2. **I2C <20>寞<EFBFBD>**
+   - 敶枏<E695B6>嚗𡁜歇<F0A1819C>曉<EFBFBD>
+   - <20>舀䔝蝝ｇ<E89D9D><EFBD87>寞<EFBFBD><E5AF9E>嘥<EFBFBD><E598A5>硋<EFBFBD><E7A18B>?   - <20>嗥<EFBFBD>嚗𡁏凒<F0A1818F><E58792><EFBFBD><EFBFBD><EFBFBD><EFBFBD><EFBFBD>?
+3. **musl 撌亙<E6928C><E4BA99>?*
+   - 敶枏<E695B6>嚗帋蝙<E5B88B>?glibc
+   - <20>航<EFBFBD>蝘鳴<E89D98>閫<EFBFBD><E996AB> musl 撌亙<E6928C><E4BA99>?   - <20>嗥<EFBFBD>嚗𡁜<E59A97>撠誩虾<E8AAA9>扯<EFBFBD><E689AF><EFBFBD>辣雿梶妖
+
+### <20>扯<EFBFBD>隡睃<E99AA1>
+- GPIO 璅⊥<E79285> SPI <20>笔漲隡睃<E99AA1>嚗<EFBFBD>𤌍<EFBFBD>?1-2MHz嚗?- <20><><EFBFBD>雿輻鍂隡睃<E99AA1>
+- 憭𡁶瑪蝔贝<E89D94>頧賢<E9A0A7>銵?
+### 隞<><E99A9E>韐券<E99F90>
+- 蝏煺<E89D8F>瘜券<E7989C>憌擧聢
+- 瘛餃<E7989B><E9A483>訫<EFBFBD>瘚贝<E7989A>
+- <20>躰秤憭<E7A7A4><E686AD>摰<EFBFBD><E691B0>
+
+---
+
+---
+
+### 12. 憿寧𤌍皜<F0A48C8D><E79A9C>銝?TTS 瘚<><E7989A> (Day 14) <20>?
+#### 隡睃<E99AA1><E79D83><EFBFBD>捆
+1. **HTTP <20><><EFBFBD><EFBFBD>餃<EFBFBD>靽桀<E99DBD>**嚗𡁜<E59A97><F0A1819C>?HTTP 20ms pacing 敺芰㴓<E88AB0>餃<EFBFBD>鈭?WebSocket <20>煾<EFBFBD><E785BE><EFBFBD>撖潸稲 TTS <20>⊿▼<E28ABF><E296BC>耨憭齿䲮獢<E4B2AE><E78DA2>撠?HTTP 撟踵偘蝘餉秐<E9A489>𤾸蝱隞餃𦛚 `asyncio.create_task()`<60>?2. **憿寧𤌍<E5AFA7>西澈**嚗𡁶宏<F0A181B6>?HTTP TTS <20>詨<EFBFBD>隞<EFBFBD><E99A9E><EFBFBD>𦠜<EFBFBD>霂閗<E99C82><E99697>穿<EFBFBD><E7A9BF><EFBFBD>辣<EFBFBD>誩<EFBFBD> 19 銝芥<E98A9D>?3. **<EFBFBD><EFBFBD><EFBFBD>**嚗関TS <20>剜𦆮摰<F0A686AE><E691B0>瘚<EFBFBD><E7989A>嚗峕<E59A97><E5B395>剔賒<E58994>?
+### 13. 撖潸⏛璅∪<E79285><E288AA>⊿▼靽桀<E99DBD> (Day 15) <20>?
+#### <20>桅<EFBFBD><E6A185>啗情
+撖潸⏛璅∪<EFBFBD>撘<EFBFBD><EFBFBD>臬<EFBFBD>嚗𤅎PS 隞?10.0 <20>渲<EFBFBD><E6B8B2>?0.5-1.5嚗𣬚𤫇<EFBFBD>Ｗ㨃憿踴<EFBFBD>?
+#### <20><><EFBFBD>舀䲮獢<E4B2AE><E78DA2><EFBFBD>鮋獈憛噼歲撣扳㦤<E689B3>?**<2A>煺誨<E785BA><E8AAA8>䔮憸?*嚗䫤await loop.run_in_executor` <20>賜<EFBFBD><E8B39C>函瑪蝔𧢲<E89D94><F0A7A2B2>扯<EFBFBD>嚗䔶<E59A97>銝餃儐<E9A483>臭<EFBFBD>蝑匧<E89D91>蝏𤘪<E89D8F>餈𥪜<E9A488>嚗<EFBFBD>紡<EFBFBD>港葡銵屸獈憛𠺶<E6869B>?
+**靽桀<E99DBD><E6A180>寞<EFBFBD>**嚗?1. **Fire-and-Forget 璅∪<E79285>**嚗帋蜓敺芰㴓<E88AB0>𣂷漱隞餃𦛚<E9A483>𡒊<EFBFBD><F0A1928A>喟誧蝏哨<E89D8F>銝滨<E98A9D>敺?`await`<60>?2. **<EFBFBD><EFBFBD><EFBFBD>啣葷隡睃<EFBFBD>**嚗𡁜<E59A97><F0A1819C>𨀣<EFBFBD><F0A880A3>啣葷銝𥪯<E98A9D>銝<EFBFBD>撣扳𧊋憭<F0A78A8B><E686AD>摰䕘<E691B0><E49598>躰<EFBFBD><E8BAB0>?Pending 撣改<E692A3>蝖桐<E89D96>憭<EFBFBD><E686AD><EFBFBD><EFBFBD><EFBFBD>唳㺭<E594B3>柴<EFBFBD>?3. **蝏𤘪<E89D8F>憭滨鍂**嚗𡁜銁<F0A1819C>𤾸蝱憭<E89DB1><E686AD>摰峕<E691B0><E5B395>㵪<EFBFBD>撟踵偘銝𠹺<E98A9D>撣抒<E692A3>璉<EFBFBD>瘚讠<E7989A><E8AEA0>頣<EFBFBD>靽脲<E99DBD> UI <20>瑟鰵<E7919F><E9B0B5>蛹 10FPS<50>?
+**<EFBFBD><EFBFBD><EFBFBD>**嚗?- 摰Ｘ<E691B0>蝡舫<E89DA1><E888AB><EFBFBD><EFBFBD>10 FPS (1280x720)
+
+---
+
+### 14. <20>箔辣<E7AE94>滚<EFBFBD>銝舘䌊<E88898>臬𢆡<E887AC>滨蔭 (Day 16) <20>?
+#### <20>桅<EFBFBD> 1嚗𡁜𢆡<F0A1819C><F0A286A1>曎<EFBFBD>亙膥頝臬<E9A09D>
+蝔见<EFBFBD>蝻𤥁<EFBFBD><EFBFBD>嗡蝙<EFBFBD>?`/lib32/ld.so.1`嚗䔶<EFBFBD>撘<EFBFBD><EFBFBD>烐踎摰鮋<EFBFBD>頝臬<EFBFBD>銝?`/lib/ld-musl-riscv32.so.1`嚗<EFBFBD>紡<EFBFBD>?`not found` <20>躰秤<E8BAB0>?
+**閫<><E996AB><EFBFBD>寞<EFBFBD>**嚗?```makefile
+# src/Makefile 瘛餃<E7989B>
+LDFLAGS += -Wl,--dynamic-linker=/lib/ld-musl-riscv32.so.1
+```
+
+#### <20>桅<EFBFBD> 2嚗朞䌊<E69C9E>臬𢆡<E887AC>寞<EFBFBD><E5AF9E>㗇𥋘
+
+| <20>寞<EFBFBD> | 蝏𤘪<E89D8F> | <20>桅<EFBFBD> |
+|------|------|------|
+| `/etc/init.d/rc.final` | <20>?憭梯揖 | 撖潸稲 SD <20>⊥<EFBFBD>瘚见仃韐伐<E99F90><E4BC90><EFBFBD><EFBFBD>滚<EFBFBD><E6BB9A>箔辣 |
+| `crontab @reboot` | <20>?憭梯揖 | BusyBox crond 銝齿𣈲<E9BDBF><F0A388B2>迨霂剜<E99C82> |
+| `/etc/init.d/avaota` + `load_script.conf` | <20>?<3F>𣂼<EFBFBD> | 蝔喳<E89D94><E596B3>舫<EFBFBD> |
+
+#### <20>𣂼<EFBFBD><F0A382BC>寞<EFBFBD>霂西圾
+
+**1. <20>𥕦遣 init <20>𡁏𧋦**嚗?```bash
+cat > /etc/init.d/avaota << 'EOF'
+#!/bin/sh /etc/rc.common
+START=99
+start() {
+    sleep 15
+    ulimit -c 0
+    /mnt/UDISK/app/avaota_client > /tmp/avaota.log 2>&1 &
+}
+stop() {
+    killall avaota_client
+}
+EOF
+chmod +x /etc/init.d/avaota
+```
+
+**2. 瘛餃<E7989B><E9A483>啣鍳<E595A3>典<EFBFBD>銵?*嚗?```bash
+echo "avaota" >> /etc/init.d/load_script.conf
+```
+
+#### <20>喲睸蝏誯<E89D8F>
+- **<2A>臬𢆡撱嗉<E692B1>**嚗𡁻<E59A97>閬?15 蝘垍<E89D98>敺<EFBFBD>𨺗憸𤑳頂蝏笔<E89D8F>憪见<E686AA>嚗? 蝘雴<E89D98>憭<EFBFBD><E686AD>
+- **蝳<>鍂 core dump**嚗䫤ulimit -c 0` <20>脫迫蝔见<E89D94>撏拇<E6928F><E68B87>烐說 overlay <20><>躹
+- **WiFi <20>芸𢆡餈墧𦻖**嚗𡁶頂蝏煺<E89D8F>靽嘥<E99DBD><E598A5>滨蔭<E6BBA8>?`/etc/wifi/wifimg.config`嚗峕<EFBFBD><EFBFBD><EFBFBD><EFBFBD>刻<EFBFBD><EFBFBD>砌葉<EFBFBD>滨蔭
+- **<2A>踹<EFBFBD> rc.final**嚗帋<E59A97>撟脫贋 SD <20>?mdev <20>嘥<EFBFBD><E598A5>𡝗<EFBFBD>蝔?
+#### <20>祉<EFBFBD><E7A589>滚𦛚<E6BB9A>券<EFBFBD>蝵?
+靽格㺿 `main.cpp` <20>舀<EFBFBD> frp <20><><EFBFBD>蝛輸<E89D9B>𧶏<EFBFBD>
+```cpp
+// 靽格㺿<E6A0BC>?const char* SERVER_HOST = "192.168.110.188";
+// 靽格㺿<E6A0BC>?const char* SERVER_HOST = "8.148.25.142";
+```
+
+**frpc.toml <20>滨蔭**嚗?```toml
+serverAddr = "8.148.25.142"
+serverPort = 7000
+auth.token = "your_token"
+
+[[proxies]]
+name = "avaota_server"
+type = "tcp"
+localIP = "127.0.0.1"
+localPort = 8081
+remotePort = 8081
+
+[[proxies]]
+name = "avaota_imu_udp"
+type = "udp"
+localIP = "127.0.0.1"
+localPort = 12345
+remotePort = 12345
+```
+
+> **Day 17 銵亙<E98AB5>**嚗𡁜<E59A97>憿餅溶<E9A485>?UDP 12345 隞<><E99A9E>嚗<EFBFBD>炏<EFBFBD>?IMU <20>唳旿<E594B3>䭾<EFBFBD><E4ADBE>朞<EFBFBD><E69C9E>祉<EFBFBD>隡㰘<E99AA1><E3B098><EFBFBD><EFBFBD><EFBFBD>園<EFBFBD><E59C92>典<EFBFBD>蝵烐<E89DB5><E78390>∪膥<E288AA>脩<EFBFBD>憓坔<E68693><E59D94>?UDP 12345 蝡臬藁<E887AC>?- <20>滚𦛚<E6BB9A>典<EFBFBD><E585B8><EFBFBD><EFBFBD>~15 FPS (<28>㗇<EFBFBD><E39787>拍鍂)
+- 撖潸⏛雿㯄<E99BBF>嚗𡁏<E59A97><F0A1818F><EFBFBD><EFBFBD><EFBFBD>⊿▼
+
+---
+
+## <20><> <20><><EFBFBD><EFBFBD><EFBFBD>皞?
+### 蝖砌辣<E7A08C><E8BEA3>﹝
+- [<5B>典<EFBFBD> V821 Datasheet](https://www.aw-ol.com)
+- [ICM-42688 Datasheet](https://invensense.tdk.com)
+- [MAX98357A Datasheet](https://www.maximintegrated.com)
+- [GC2083 Datasheet](http://www.galaxycore.com.cn)
+
+### 頧臭辣<E887AD><E8BEA3>﹝
+- [ALSA Documentation](https://www.alsa-project.org)
+- [MPP Framework Guide](https://github.com/allwinner)
+- [Linux GPIO Subsystem](https://www.kernel.org/doc/html/latest/driver-api/gpio/)
+
+### 撘<><E69298>烐𠯫敹?- [x] [Day1.md](file:///d:/CodingProjects/Antigravity/NaviGlass/Docs/DevLogs/Day1.md) - SDK蝻𤥁<E89DBB><F0A4A581>臬<EFBFBD><E887AC>剖遣
+- [x] [Day2.md](file:///d:/CodingProjects/Antigravity/NaviGlass/Docs/DevLogs/Day2.md) - 蝵𤑳<E89DB5>摨梶<E691A8>霂?- [x] [Day3.md](file:///d:/CodingProjects/Antigravity/NaviGlass/Docs/DevLogs/Day3.md) - I2S<32>喲<EFBFBD>颲枏枂
+- [x] [Day4.md](file:///d:/CodingProjects/Antigravity/NaviGlass/Docs/DevLogs/Day4.md) - 暻血<E69ABB>憌?IMU
+- [x] [Day5.md](file:///d:/CodingProjects/Antigravity/NaviGlass/Docs/DevLogs/Day5.md) - GC2083<38><33><EFBFBD>憭?- [x] [Day6.md](file:///d:/CodingProjects/Antigravity/NaviGlass/Docs/DevLogs/Day6.md) - 蝖砌辣撉諹<E69289>
+- [x] [Day7.md](file:///d:/CodingProjects/Antigravity/NaviGlass/Docs/DevLogs/Day7.md) - 撌亙<E6928C><E4BA99>暸<EFBFBD>蝵?- [x] [Day8.md](file:///d:/CodingProjects/Antigravity/NaviGlass/Docs/DevLogs/Day8.md) - <20>港<EFBFBD>蝻𤥁<E89DBB><F0A4A581>𣂼<EFBFBD>
+- [x] [Day9.md](file:///d:/CodingProjects/Antigravity/NaviGlass/Docs/DevLogs/Day9.md) - **musl 撌亙<E6928C><E4BA99>曆耨憭?+ <20>蹂<EFBFBD>瘚贝<E7989A><E8B49D>朞<EFBFBD>** <20>?- [x] [Day10.md](file:///d:/CodingProjects/Antigravity/NaviGlass/Docs/DevLogs/Day10.md) - **<2A>喲<EFBFBD> I/O <20>躰秤靽桀<E99DBD> + 蝔见<E89D94>蝔喳<E89D94><E596B3>扳<EFBFBD><E689B3>?* <20>?- [x] [Day11.md](file:///d:/CodingProjects/Antigravity/NaviGlass/Docs/DevLogs/Day11.md) - **WebSocket 撏拇<E6928F>靽桀<E99DBD> + <20>喲<EFBFBD><E596B2>剜𦆮摰䂿緵** <20>?- [x] [Day12.md](file:///d:/CodingProjects/Antigravity/NaviGlass/Docs/DevLogs/Day12.md) - **<2A>喲<EFBFBD><E596B2>䂿㴓<E482BF><E3B493><EFBFBD> + <20>砍ㄟ<E7A08D>冽毽<E586BD>喳膥靽桀<E99DBD>** <20>?- [x] [Day13.md](file:///d:/CodingProjects/Antigravity/NaviGlass/Docs/DevLogs/Day13.md) - **TTS 鈭衤辣敺芰㴓<E88AB0>餃<EFBFBD>靽桀<E99DBD> + 摰Ｘ<E691B0>蝡舫<E89DA1>蝻枏<E89DBB>** <20>?- [x] [Day14.md](file:///d:/CodingProjects/Antigravity/NaviGlass/Docs/DevLogs/Day14.md) - **憿寧𤌍皜<F0A48C8D><E79A9C> + TTS 瘚<><E7989A><EFBFBD>剜𦆮** <20>?- [x] [Day15.md](file:///d:/CodingProjects/Antigravity/NaviGlass/Docs/DevLogs/Day15.md) - **撖潸⏛璅∪<E79285><E288AA>扯<EFBFBD>隡睃<E99AA1> (頝喳葷<E596B3>箏<EFBFBD>)** <20>?- [x] [Day16.md](file:///d:/CodingProjects/Antigravity/NaviGlass/Docs/DevLogs/Day16.md) - **<2A>箔辣<E7AE94>滚<EFBFBD>銝舘䌊<E88898>臬𢆡<E887AC>滨蔭** <20>?- [x] [Day17.md](file:///d:/CodingProjects/Antigravity/NaviGlass/Docs/DevLogs/Day17.md) - **摰文<E691B0>瘚贝<E7989A>+<2B>脤<EFBFBD>霂剝𨺗靽桀<E99DBD>+IMU UDP隞<50><E99A9E>** <20>?- [ ] [Day19.md](file:///d:/CodingProjects/Antigravity/NaviGlass/Docs/DevLogs/Day19.md) - **隡㰘<E99AA1>隡睃<E99AA1> + Python GIL <20>園<EFBFBD>霂𦠜鱏** <20>𩤃<EFBFBD>
+
+---
+
+### 15. Python GIL <20>扯<EFBFBD><E689AF>園<EFBFBD>霂𦠜鱏 (Day 19) <20>𩤃<EFBFBD>
+
+#### <20>桅<EFBFBD><E6A185>𤑳緵
+
+<EFBFBD>滚𦛚<EFBFBD>冽<EFBFBD>霂閧𤩅<EFBFBD>枏紡<EFBFBD>芣𧒄<EFBFBD>𤑳緵<EFBFBD>扯<EFBFBD><EFBFBD>桅<EFBFBD>嚗?- **GPU <20>拍鍂<E68B8D><E98D82><EFBFBD> 7%** - 餈靝<E9A488>鈭𡡞<E988AD><F0A1A19E>?- **Python 餈𤤿<E9A488><F0A4A4BF>删鍂 120% CPU** - 雿<><E99BBF><EFBFBD>∪膥<E288AA>?CPU 隞?3%嚗?6 <20>詨⏚<E8A9A8>函<EFBFBD><E587BD><EFBFBD><EFBFBD>嚗?- **撣批<E692A3><E689B9>?FPS 隞?3-4 撣?* - <20>駁𢒰<E9A781>⊿▼銝仿<E98A9D>
+
+#### <20>孵<EFBFBD><E5ADB5><EFBFBD><EFBFBD>
+
+```python
+# app_main.py 蝚?237 銵?frame_processing_executor = ThreadPoolExecutor(max_workers=3, ...)
+```
+
+`ThreadPoolExecutor` <20>?Python GIL (<28>典<EFBFBD>閫<EFBFBD><E996AB><EFBFBD>券<EFBFBD>) <20>𣂼<EFBFBD>嚗峕<E59A97>瘜閧<E7989C>甇<EFBFBD>僎銵<E5838E><E98AB5> CPU 撖<><E69296><EFBFBD>衤遙<E8A1A4>∴<EFBFBD>JPEG 蝻𤥁圾<F0A4A581><E59CBE><EFBFBD><EFBFBD><EFBFBD><EFBFBD>暹葡<E69AB9>橒<EFBFBD><E6A992>?
+#### 閫<><E996AB><EFBFBD>寞<EFBFBD>
+
+雿輻鍂 **PyNvJpeg** 撠?JPEG 蝻𤥁圾<F0A4A581><E59CBE>宏<EFBFBD>?GPU嚗?
+```bash
+pip install pynvjpeg
+```
+
+```python
+import pynvjpeg as nj
+_nvjpeg = nj.NvJpeg()
+
+def gpu_decode(jpeg_bytes):
+    return _nvjpeg.decode(jpeg_bytes)
+
+def gpu_encode(image, quality=85):
+    return _nvjpeg.encode(image, quality)
+```
+
+**<EFBFBD>嗆<EFBFBD>?*嚗尠<E59A97> <20>芸<EFBFBD><E88AB8>踝<EFBFBD>敺<EFBFBD><E695BA><EFBFBD>亙<EFBFBD><E4BA99>?
+---
+
+**<EFBFBD><EFBFBD><EFBFBD>擧凒<EFBFBD>?*嚗?025-12-23 (Day 19 - 隡㰘<E99AA1>隡睃<E99AA1> + GIL <20>園<EFBFBD>霂𦠜鱏)  
+**憿寧𤌍<E5AFA7>嗆<EFBFBD>?*嚗尠<E59A97>儭?**99% 摰峕<E691B0>嚗<EFBFBD>紡<EFBFBD>芣<EFBFBD>扯<EFBFBD>敺<EFBFBD><E695BA><EFBFBD>?(Python GIL <20>園<EFBFBD>)**  
+**Day 19 <20>湔鰵**嚗関urboJPEG 隡睃<E99AA1><E79D83><EFBFBD>葉<EFBFBD><E89189><EFBFBD>雿㮖耨憭溻<E686AD><E6BABB>IL <20>園<EFBFBD>霂𦠜鱏  
+**敺<><E695BA><EFBFBD>?*嚗䥪yNvJpeg GPU JPEG <20>𣳇<EFBFBD>麄<EFBFBD><E9BA84>TS <20>剛<EFBFBD>靽桀<E99DBD>
+