Mark I04 status DONE

Add I2S speaker audio for S3
Mark I03 status DONE
2026-09-16 22:28:17 +01:00 · 2026-09-16 22:20:53 +01:00 · 2026-09-16 21:58:26 +01:00 · 2026-09-16 21:51:32 +01:00 · 2026-09-16 21:31:03 +01:00 · 2026-09-16 21:21:12 +01:00
57 changed files with 3801 additions and 351 deletions
@@ -16,19 +16,15 @@ jobs:
      - name: Install host toolchain
        if: hashFiles('tests/host/CMakeLists.txt') != ''
        run: |
-          export DEBIAN_FRONTEND=noninteractive
-          if command -v sudo >/dev/null 2>&1 && [ "$(id -u)" -ne 0 ]; then
-            SUDO=sudo
-          else
-            SUDO=
-          fi
-          $SUDO apt-get update
-          $SUDO apt-get install -y --no-install-recommends cmake gcc g++ make
+          export DEBIAN_FRONTEND=noninteractive && \
+          if command -v sudo >/dev/null 2>&1 && [ "$(id -u)" -ne 0 ]; then SUDO=sudo; else SUDO=; fi && \
+          $SUDO apt-get update && \
+          $SUDO apt-get install -y -q --no-install-recommends cmake gcc g++ make
      - name: Host unit tests
        if: hashFiles('tests/host/CMakeLists.txt') != ''
        run: |
-          cmake -S tests/host -B build/host
-          cmake --build build/host
+          cmake -S tests/host -B build/host && \
+          cmake --build build/host && \
          ctest --test-dir build/host --output-on-failure

  firmware:
@@ -47,21 +43,30 @@ jobs:
            target: esp32s3
            sdkconfig: sdkconfig.s3
    steps:
+      - name: Install Node.js
+        run: |
+          export DEBIAN_FRONTEND=noninteractive && \
+          export NEEDRESTART_MODE=a && \
+          if command -v sudo >/dev/null 2>&1 && [ "$(id -u)" -ne 0 ]; then SUDO=sudo; else SUDO=; fi && \
+          $SUDO apt-get update && \
+          $SUDO apt-get install -y -q --no-install-recommends nodejs
      - uses: actions/checkout@v4
      - name: Build
        if: hashFiles('CMakeLists.txt') != ''
        run: |
-          git config --global --add safe.directory '*'
-          idf.py -B build/${{ matrix.board }} set-target ${{ matrix.target }}
+          . $IDF_PATH/export.sh && \
+          git config --global --add safe.directory '*' && \
+          idf.py -B build/${{ matrix.board }} set-target ${{ matrix.target }} && \
          idf.py -B build/${{ matrix.board }} \
            -D SDKCONFIG_DEFAULTS="sdkconfig.defaults;${{ matrix.sdkconfig }}" \
            -D AUTOFILM_BOARD=${{ matrix.board }} \
-            build
-          idf.py -B build/${{ matrix.board }} size | tee size-${{ matrix.board }}.txt
+            build && \
+          idf.py -B build/${{ matrix.board }} size | tee size-${{ matrix.board }}.txt && \
+          cd build/${{ matrix.board }} && \
          python $IDF_PATH/components/esptool_py/esptool/esptool.py \
            --chip ${{ matrix.target }} merge_bin \
-            -o autofilm-${{ matrix.board }}-${{ gitea.sha }}.bin \
-            @build/${{ matrix.board }}/flash_args
+            -o ../../autofilm-${{ matrix.board }}-${{ gitea.sha }}.bin \
+            @flash_args
      - uses: actions/upload-artifact@v3
        if: hashFiles('CMakeLists.txt') != ''
        with:
@@ -74,3 +79,4 @@ jobs:
            build/${{ matrix.board }}/flasher_args.json
            build/${{ matrix.board }}/sdkconfig
            size-${{ matrix.board }}.txt
+            
@@ -0,0 +1,4 @@
+idf_component_register(SRCS "app_ui.c" "app_ui_color.c"
+                    INCLUDE_DIRS "include" "."
+                    REQUIRES ui_cmd app_machine app_process
+                    PRIV_REQUIRES hal_display)
@@ -0,0 +1,200 @@
+#include "app_ui.h"
+#include "screens.h"
+#include "app_machine.h"
+#include "app_process.h"
+#include "hal_display.h"
+
+void app_ui_draw_color_chrome(machine_state_t st);
+
+#include <stdio.h>
+#include <string.h>
+
+static ui_evt_t s_last;
+static bool s_have;
+static bool s_dirty;
+
+static void fmt_mmss(char *buf, size_t n, uint32_t total_s)
+{
+    unsigned m = (unsigned)(total_s / 60u);
+    unsigned s = (unsigned)(total_s % 60u);
+    if (m > 99u) {
+        m = 99u;
+    }
+    snprintf(buf, n, "%02u:%02u", m, s);
+}
+
+static void draw_temp_row3(const ui_evt_t *ev)
+{
+    /* row3 col13: thermo + tt.tC or -- */
+    char tbuf[8];
+    if (ev != NULL && ev->temp_ok) {
+        snprintf(tbuf, sizeof(tbuf), "%4.1fC", (double)ev->temp_c);
+        hal_display_glyph_thermo(13, 3);
+        hal_display_text(14, 3, tbuf);
+    } else {
+        hal_display_text(13, 3, "    --");
+    }
+}
+
+static const char *step_name(uint8_t proc, uint8_t step)
+{
+    const process_def_t *p = app_process_get(proc);
+    if (p == NULL || step >= p->step_count) {
+        return "";
+    }
+    return p->steps[step].name;
+}
+
+static void draw_program_select(void)
+{
+    hal_display_clear();
+    hal_display_text(0, 0, "Select Programme:");
+    hal_display_text(0, 1, "1. C41      4. ECN-2");
+    hal_display_text(0, 2, "2. E6       5. Custom");
+    hal_display_text(0, 3, "3. B&W      6. B&W Rev");
+}
+
+static void draw_step_select(const ui_evt_t *ev)
+{
+    char line[32];
+    char mm[8];
+    uint16_t ts = ev->time_s;
+    fmt_mmss(mm, sizeof(mm), ts);
+    int pref = (int)(ev->temp_pref_c + (ev->temp_pref_c >= 0 ? 0.5f : -0.5f));
+    hal_display_clear();
+    hal_display_text(0, 0, "Step      Time  Temp");
+    snprintf(line, sizeof(line), "%-9.9s %s  %2dC", step_name(ev->process_id, ev->step_index), mm, pref);
+    hal_display_text(0, 1, line);
+    hal_display_text(0, 2, "Scroll / Esc / Ent");
+    draw_temp_row3(ev);
+}
+
+static void draw_armed(const ui_evt_t *ev)
+{
+    char line[32];
+    char mm[8];
+    fmt_mmss(mm, sizeof(mm), ev->time_s);
+    int pref = (int)(ev->temp_pref_c + (ev->temp_pref_c >= 0 ? 0.5f : -0.5f));
+    hal_display_clear();
+    snprintf(line, sizeof(line), "%-10.10s %s %2dC", step_name(ev->process_id, ev->step_index), mm, pref);
+    hal_display_text(0, 0, line);
+    hal_display_text(0, 1, "Ent:start Esc:quit");
+    draw_temp_row3(ev);
+}
+
+static void draw_running(const ui_evt_t *ev)
+{
+    char line[32];
+    char mm[8];
+    uint32_t rem_s = (ev->remaining_ms + 999u) / 1000u;
+    fmt_mmss(mm, sizeof(mm), rem_s);
+    hal_display_clear();
+    snprintf(line, sizeof(line), "%-20.20s", step_name(ev->process_id, ev->step_index));
+    hal_display_text(0, 0, line);
+    snprintf(line, sizeof(line), "Remaining: %s", mm);
+    hal_display_text(0, 1, line);
+    draw_temp_row3(ev);
+}
+
+static void draw_stopped(const ui_evt_t *ev)
+{
+    char line[32];
+    char mm[8];
+    uint32_t rem_s = (ev->remaining_ms + 999u) / 1000u;
+    fmt_mmss(mm, sizeof(mm), rem_s);
+    hal_display_clear();
+    snprintf(line, sizeof(line), "%-10.10s %s", step_name(ev->process_id, ev->step_index), mm);
+    hal_display_text(0, 0, line);
+    hal_display_text(0, 1, "E:resume X:back");
+    draw_temp_row3(ev);
+}
+
+static void draw_complete(const ui_evt_t *ev)
+{
+    char line[32];
+    hal_display_clear();
+    snprintf(line, sizeof(line), "%-10.10s Done", step_name(ev->process_id, ev->step_index));
+    hal_display_text(0, 0, line);
+    hal_display_text(0, 1, "E:next X:back");
+    draw_temp_row3(ev);
+}
+
+void app_ui_init(void)
+{
+    memset(&s_last, 0, sizeof(s_last));
+    s_have = false;
+    s_dirty = true;
+}
+
+void app_ui_on_event(const ui_evt_t *ev)
+{
+    if (ev == NULL) {
+        return;
+    }
+    if (ev->id == EVT_TEMP_UPDATED && s_have) {
+        s_last.temp_c = ev->temp_c;
+        s_last.temp_ok = ev->temp_ok;
+        s_dirty = true;
+        return;
+    }
+    if (ev->id == EVT_STEP_PROGRESS && s_have) {
+        s_last.remaining_ms = ev->remaining_ms;
+        s_last.id = ev->id;
+        s_dirty = true;
+        return;
+    }
+    s_last = *ev;
+    s_have = true;
+    s_dirty = true;
+}
+
+bool app_ui_is_dirty(void)
+{
+    return s_dirty;
+}
+
+void app_ui_draw(void)
+{
+    machine_state_t st = app_machine_state();
+    ui_evt_t ev = s_last;
+    if (!s_have) {
+        ev.temp_ok = false;
+    }
+    ev.remaining_ms = app_machine_remaining_ms();
+    ev.process_id = app_machine_process_id();
+    ev.step_index = app_machine_step_index();
+    if (app_process_get(ev.process_id) != NULL) {
+        ev.time_s = app_process_time_s(ev.process_id, ev.step_index);
+        const process_def_t *p = app_process_get(ev.process_id);
+        if (p != NULL && ev.step_index < p->step_count) {
+            ev.temp_pref_c = p->steps[ev.step_index].temp_pref_c;
+        }
+    }
+
+    switch (st) {
+    case ST_IDLE:
+        draw_program_select();
+        break;
+    case ST_STEP_SELECT:
+        draw_step_select(&ev);
+        break;
+    case ST_ARMED:
+        draw_armed(&ev);
+        break;
+    case ST_RUNNING:
+        draw_running(&ev);
+        break;
+    case ST_STOPPED:
+        draw_stopped(&ev);
+        break;
+    case ST_COMPLETE:
+        draw_complete(&ev);
+        break;
+    default:
+        draw_program_select();
+        break;
+    }
+    app_ui_draw_color_chrome(st);
+    hal_display_flush();
+    s_dirty = false;
+}
@@ -0,0 +1,99 @@
+#include "app_ui.h"
+#include "app_machine.h"
+#include "hal_display.h"
+
+#include <stdbool.h>
+#include <stddef.h>
+
+bool app_ui_touch_to_key(int x, int y, char *out_key)
+{
+    if (out_key == NULL) {
+        return false;
+    }
+    machine_state_t st = app_machine_state();
+    const int w = HAL_DISPLAY_PX_W;
+    const int h = HAL_DISPLAY_PX_H;
+    const int sk = HAL_DISPLAY_SOFTKEY_H;
+
+    if (x < 0 || y < 0 || x >= w || y >= h) {
+        return false;
+    }
+
+    if (st == ST_RUNNING || st == ST_COMPLETE) {
+        if (y >= h - sk) {
+            *out_key = 'X';
+            return true;
+        }
+        return false;
+    }
+
+    if (st == ST_STOPPED) {
+        if (y >= h - sk) {
+            *out_key = (x < w / 2) ? 'E' : 'X';
+            return true;
+        }
+        return false;
+    }
+
+    if (st == ST_IDLE) {
+        /* 2x3 process grid matching ProgramSelect labels. */
+        int col = (x < w / 2) ? 0 : 1;
+        int row = y / (h / 3);
+        if (row > 2) {
+            row = 2;
+        }
+        /* left: 1,2,3  right: 4,5,6 */
+        int id = row + col * 3;
+        *out_key = (char)('1' + id);
+        return true;
+    }
+
+    if (st == ST_ARMED) {
+        if (y >= h - sk) {
+            *out_key = (x < w / 2) ? 'E' : 'X';
+            return true;
+        }
+        *out_key = 'E';
+        return true;
+    }
+
+    /* STEP_SELECT: strips for U/D/L/R, body Ent */
+    if (y < 40) {
+        *out_key = 'U';
+        return true;
+    }
+    if (y >= h - sk) {
+        *out_key = 'D';
+        return true;
+    }
+    if (x < 80) {
+        *out_key = 'L';
+        return true;
+    }
+    if (x >= w - 80) {
+        *out_key = 'R';
+        return true;
+    }
+    *out_key = 'E';
+    return true;
+}
+
+void app_ui_draw_color_chrome(machine_state_t st)
+{
+    switch (st) {
+    case ST_RUNNING:
+    case ST_COMPLETE:
+        hal_display_softkey(0, 1, "STOP");
+        break;
+    case ST_STOPPED:
+        hal_display_softkey(0, 2, "RESUME");
+        hal_display_softkey(1, 2, "BACK");
+        break;
+    case ST_ARMED:
+        hal_display_softkey(0, 2, "START");
+        hal_display_softkey(1, 2, "QUIT");
+        break;
+    default:
+        break;
+    }
+}
@@ -0,0 +1,20 @@
+#pragma once
+
+#include "ui_cmd.h"
+#include <stdbool.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+void app_ui_init(void);
+void app_ui_on_event(const ui_evt_t *ev);
+void app_ui_draw(void);
+bool app_ui_is_dirty(void);
+
+/* Map colour-panel touch to the same raw keys as the WROOM keypad. */
+bool app_ui_touch_to_key(int x, int y, char *out_key);
+
+#ifdef __cplusplus
+}
+#endif
@@ -0,0 +1,11 @@
+#pragma once
+
+/* Screen ids used by app_ui. Layouts are 20x4 WROOM strings. */
+typedef enum {
+    UI_SCREEN_PROGRAM_SELECT = 0,
+    UI_SCREEN_STEP_SELECT,
+    UI_SCREEN_ARMED,
+    UI_SCREEN_RUNNING,
+    UI_SCREEN_STOPPED,
+    UI_SCREEN_COMPLETE
+} app_ui_screen_t;
@@ -1,5 +1,37 @@
 #include "board.h"

+/*
+ * JC4827W543C pin lock (community 480x272 NV3041A + GT911).
+ *
+ * Display NV3041A QSPI:
+ *   CS  45
+ *   SCK 47
+ *   D0  21
+ *   D1  48
+ *   D2  40
+ *   D3  39
+ *   BL   1
+ *
+ * GT911 I2C:
+ *   SDA  8
+ *   SCL  4
+ *   INT  3
+ *   RST 38
+ *   addr 0x5D
+ *
+ * Motor (P3 header IO6/7/15/16):
+ *   EN    7  active LOW (disable level 1)
+ *   STEP 16
+ *   DIR  15
+ *
+ * DS18B20 temp: 17 (P4 header GND/3V3/17/18, UART1 unused)
+ *
+ * Speaker I2S (onboard amp, P7 Speak connector):
+ *   BCLK  42
+ *   LRCLK  2
+ *   DIN   41
+ */
+
 const char *board_name(void)
 {
    return "jc4827w543";
@@ -7,10 +39,31 @@ const char *board_name(void)

 gpio_num_t board_pin_motor_en(void)
 {
-    return GPIO_NUM_NC;
+    return (gpio_num_t)7;
 }

 int board_motor_en_disable_level(void)
 {
    return 1;
 }
+
+gpio_num_t board_pin_motor_step(void) { return (gpio_num_t)16; }
+gpio_num_t board_pin_motor_dir(void)  { return (gpio_num_t)15; }
+gpio_num_t board_pin_temp(void)       { return (gpio_num_t)17; }
+
+gpio_num_t board_pin_spk_bclk(void)  { return (gpio_num_t)42; }
+gpio_num_t board_pin_spk_lrclk(void) { return (gpio_num_t)2; }
+gpio_num_t board_pin_spk_din(void)   { return (gpio_num_t)41; }
+
+gpio_num_t board_pin_lcd_cs(void)  { return (gpio_num_t)45; }
+gpio_num_t board_pin_lcd_sck(void) { return (gpio_num_t)47; }
+gpio_num_t board_pin_lcd_d0(void)  { return (gpio_num_t)21; }
+gpio_num_t board_pin_lcd_d1(void)  { return (gpio_num_t)48; }
+gpio_num_t board_pin_lcd_d2(void)  { return (gpio_num_t)40; }
+gpio_num_t board_pin_lcd_d3(void)  { return (gpio_num_t)39; }
+gpio_num_t board_pin_lcd_bl(void)  { return (gpio_num_t)1; }
+
+gpio_num_t board_pin_tp_sda(void) { return (gpio_num_t)8; }
+gpio_num_t board_pin_tp_scl(void) { return (gpio_num_t)4; }
+gpio_num_t board_pin_tp_int(void) { return (gpio_num_t)3; }
+gpio_num_t board_pin_tp_rst(void) { return (gpio_num_t)38; }
@@ -1,5 +1,25 @@
 #pragma once
 #include "driver/gpio.h"
+
 const char *board_name(void);
 gpio_num_t board_pin_motor_en(void);
 int board_motor_en_disable_level(void);
+gpio_num_t board_pin_motor_step(void);
+gpio_num_t board_pin_motor_dir(void);
+gpio_num_t board_pin_temp(void);
+gpio_num_t board_pin_spk_bclk(void);
+gpio_num_t board_pin_spk_lrclk(void);
+gpio_num_t board_pin_spk_din(void);
+
+gpio_num_t board_pin_lcd_cs(void);
+gpio_num_t board_pin_lcd_sck(void);
+gpio_num_t board_pin_lcd_d0(void);
+gpio_num_t board_pin_lcd_d1(void);
+gpio_num_t board_pin_lcd_d2(void);
+gpio_num_t board_pin_lcd_d3(void);
+gpio_num_t board_pin_lcd_bl(void);
+
+gpio_num_t board_pin_tp_sda(void);
+gpio_num_t board_pin_tp_scl(void);
+gpio_num_t board_pin_tp_int(void);
+gpio_num_t board_pin_tp_rst(void);
@@ -14,3 +14,7 @@ int board_motor_en_disable_level(void)
 {
    return 1;
 }
+
+gpio_num_t board_pin_motor_step(void) { return (gpio_num_t)12; }
+gpio_num_t board_pin_motor_dir(void)  { return (gpio_num_t)14; }
+gpio_num_t board_pin_temp(void)       { return (gpio_num_t)13; }
@@ -1,2 +1 @@
-dependencies:
-  espressif/arduino-esp32: "~3.2.1"
+dependencies: {}
@@ -3,3 +3,6 @@
 const char *board_name(void);
 gpio_num_t board_pin_motor_en(void);
 int board_motor_en_disable_level(void);
+gpio_num_t board_pin_motor_step(void);
+gpio_num_t board_pin_motor_dir(void);
+gpio_num_t board_pin_temp(void);
@@ -2,8 +2,11 @@ set(srcs)
 set(priv_req driver)

 if(IDF_TARGET STREQUAL "esp32")
-    list(APPEND srcs wroom/hal_audio.cpp)
+    list(APPEND srcs wroom/hal_audio.c)
    list(APPEND priv_req board_wroom)
+elseif(IDF_TARGET STREQUAL "esp32s3")
+    list(APPEND srcs s3/hal_audio.c)
+    list(APPEND priv_req board_jc4827w543)
 else()
    list(APPEND srcs stub/hal_audio.c)
 endif()
@@ -0,0 +1,212 @@
+#include <stdint.h>
+#include <stdbool.h>
+#include <string.h>
+
+#include "esp_err.h"
+#include "esp_log.h"
+#include "driver/i2s_std.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/queue.h"
+
+#include "board.h"
+
+#define SPK_SAMPLE_RATE 48000
+#define TONE_HZ         2000
+#define TONE_PERIOD_SMP (SPK_SAMPLE_RATE / TONE_HZ) /* 24 samples */
+#define CHUNK_MS        10
+#define CHUNK_FRAMES    (SPK_SAMPLE_RATE / 1000 * CHUNK_MS) /* 480, multiple of period */
+#define TONE_AMPLITUDE  12000
+#define DMA_DESC_NUM    4
+#define DMA_FRAME_NUM   240
+
+static const char *TAG = "audio";
+
+enum {
+    AUDIO_SHORT = 1,
+    AUDIO_ALARM,
+    AUDIO_CANCEL,
+};
+
+static QueueHandle_t s_q;
+static TaskHandle_t s_task;
+static i2s_chan_handle_t s_tx;
+static bool s_chan_on;
+static bool s_inited;
+
+static int16_t s_tone[CHUNK_FRAMES * 2];
+static int16_t s_silence[CHUNK_FRAMES * 2];
+
+static void chan_on(void)
+{
+    if (!s_chan_on && s_tx != NULL) {
+        i2s_channel_enable(s_tx);
+        s_chan_on = true;
+    }
+}
+
+static void chan_off(void)
+{
+    if (s_chan_on && s_tx != NULL) {
+        size_t w = 0;
+        i2s_channel_write(s_tx, s_silence, sizeof(s_silence), &w, 50);
+        i2s_channel_disable(s_tx);
+        s_chan_on = false;
+    }
+}
+
+static bool drain_cancel(void)
+{
+    int msg;
+    while (xQueueReceive(s_q, &msg, 0) == pdTRUE) {
+        if (msg == AUDIO_CANCEL) {
+            return true;
+        }
+    }
+    return false;
+}
+
+/* Write buf for ~ms wall time. DMA pacing makes each 10 ms write block
+ * in this task only; the UI path never touches I2S. */
+static bool play_buf_ms(const int16_t *buf, size_t len, uint32_t ms)
+{
+    TickType_t t0 = xTaskGetTickCount();
+    while ((xTaskGetTickCount() - t0) < pdMS_TO_TICKS(ms)) {
+        if (drain_cancel()) {
+            return false;
+        }
+        size_t w = 0;
+        if (i2s_channel_write(s_tx, buf, len, &w, portMAX_DELAY) != ESP_OK) {
+            return false;
+        }
+    }
+    return true;
+}
+
+static void play_short(void)
+{
+    chan_on();
+    play_buf_ms(s_tone, sizeof(s_tone), 100);
+    chan_off();
+}
+
+static void play_alarm(void)
+{
+    chan_on();
+    for (int i = 0; i < 10; i++) {
+        if (!play_buf_ms(s_tone, sizeof(s_tone), 500)) {
+            break;
+        }
+        if (!play_buf_ms(s_silence, sizeof(s_silence), 250)) {
+            break;
+        }
+    }
+    chan_off();
+}
+
+static void audio_task(void *arg)
+{
+    (void)arg;
+    int msg;
+    for (;;) {
+        if (xQueueReceive(s_q, &msg, portMAX_DELAY) != pdTRUE) {
+            continue;
+        }
+        if (msg == AUDIO_SHORT) {
+            play_short();
+        } else if (msg == AUDIO_ALARM) {
+            play_alarm();
+        } else if (msg == AUDIO_CANCEL) {
+            chan_off();
+        }
+    }
+}
+
+static void post(int msg)
+{
+    if (s_q == NULL) {
+        return;
+    }
+    xQueueSend(s_q, &msg, 0);
+}
+
+void autofilm_audio_task(void *arg)
+{
+    audio_task(arg);
+}
+
+void hal_audio_init(void)
+{
+    if (s_inited) {
+        return;
+    }
+    gpio_num_t bclk = board_pin_spk_bclk();
+    gpio_num_t lrclk = board_pin_spk_lrclk();
+    gpio_num_t din = board_pin_spk_din();
+    if (bclk == GPIO_NUM_NC || lrclk == GPIO_NUM_NC || din == GPIO_NUM_NC) {
+        ESP_LOGW(TAG, "no speaker pins on this board");
+        s_inited = true;
+        return;
+    }
+
+    for (int i = 0; i < CHUNK_FRAMES; i++) {
+        int16_t v = ((i % TONE_PERIOD_SMP) < (TONE_PERIOD_SMP / 2))
+                        ? TONE_AMPLITUDE : -TONE_AMPLITUDE;
+        s_tone[i * 2] = v;
+        s_tone[i * 2 + 1] = v;
+    }
+
+    i2s_chan_config_t chan_cfg = I2S_CHANNEL_DEFAULT_CONFIG(I2S_NUM_AUTO, I2S_ROLE_MASTER);
+    chan_cfg.dma_desc_num = DMA_DESC_NUM;
+    chan_cfg.dma_frame_num = DMA_FRAME_NUM;
+    if (i2s_new_channel(&chan_cfg, &s_tx, NULL) != ESP_OK) {
+        ESP_LOGE(TAG, "i2s_new_channel failed");
+        s_inited = true;
+        return;
+    }
+    i2s_std_config_t std_cfg = {
+        .clk_cfg = I2S_STD_CLK_DEFAULT_CONFIG(SPK_SAMPLE_RATE),
+        .slot_cfg = I2S_STD_PHILIPS_SLOT_DEFAULT_CONFIG(I2S_DATA_BIT_WIDTH_16BIT,
+                                                        I2S_SLOT_MODE_STEREO),
+        .gpio_cfg = {
+            .mclk = I2S_GPIO_UNUSED,
+            .bclk = bclk,
+            .ws = lrclk,
+            .dout = din,
+            .din = I2S_GPIO_UNUSED,
+            .invert_flags = {
+                .mclk_inv = false,
+                .bclk_inv = false,
+                .ws_inv = false,
+            },
+        },
+    };
+    if (i2s_channel_init_std_mode(s_tx, &std_cfg) != ESP_OK) {
+        ESP_LOGE(TAG, "i2s_channel_init_std_mode failed");
+        i2s_del_channel(s_tx);
+        s_tx = NULL;
+        s_inited = true;
+        return;
+    }
+    s_q = xQueueCreate(8, sizeof(int));
+    if (s_task == NULL) {
+        xTaskCreate(audio_task, "audio", 3072, NULL, 2, &s_task);
+    }
+    s_inited = true;
+    ESP_LOGI(TAG, "init i2s bclk=%d ws=%d dout=%d", bclk, lrclk, din);
+}
+
+void hal_audio_beep_short(void)
+{
+    post(AUDIO_SHORT);
+}
+
+void hal_audio_alarm_complete(void)
+{
+    post(AUDIO_ALARM);
+}
+
+void hal_audio_alarm_cancel(void)
+{
+    post(AUDIO_CANCEL);
+}
@@ -1,4 +1,5 @@
 #include <stdint.h>
+#include <stdbool.h>

 #include "esp_log.h"
 #include "driver/ledc.h"
@@ -109,12 +110,12 @@ static void post(int msg)
    xQueueSend(s_q, &msg, 0);
 }

-extern "C" void autofilm_audio_task(void *arg)
+void autofilm_audio_task(void *arg)
 {
    audio_task(arg);
 }

-extern "C" void hal_audio_init(void)
+void hal_audio_init(void)
 {
    if (s_inited) {
        return;
@@ -146,17 +147,17 @@ extern "C" void hal_audio_init(void)
    ESP_LOGI(TAG, "init beep pin=%d LEDC", PIN_BEEP);
 }

-extern "C" void hal_audio_beep_short(void)
+void hal_audio_beep_short(void)
 {
    post(AUDIO_SHORT);
 }

-extern "C" void hal_audio_alarm_complete(void)
+void hal_audio_alarm_complete(void)
 {
    post(AUDIO_ALARM);
 }

-extern "C" void hal_audio_alarm_cancel(void)
+void hal_audio_alarm_cancel(void)
 {
    post(AUDIO_CANCEL);
 }
@@ -0,0 +1,19 @@
+set(srcs)
+set(priv_inc)
+set(priv_req driver)
+
+if(IDF_TARGET STREQUAL "esp32")
+    list(APPEND srcs hal_display_lcd2004.c)
+    list(APPEND priv_req board_wroom)
+elseif(IDF_TARGET STREQUAL "esp32s3")
+    list(APPEND srcs hal_display_nv3041a.c)
+    list(APPEND priv_req board_jc4827w543 esp_lcd)
+else()
+    list(APPEND srcs stub/hal_display.c)
+endif()
+
+idf_component_register(SRCS ${srcs}
+                    INCLUDE_DIRS "include"
+                    PRIV_INCLUDE_DIRS ${priv_inc}
+                    REQUIRES driver
+                    PRIV_REQUIRES ${priv_req})
@@ -0,0 +1,100 @@
+#pragma once
+#include <stdint.h>
+/* Public-domain 5x7 glyphs for ASCII 32..126. */
+static const uint8_t font5x7[95][7] = {
+    {0,0,0,0,0,0,0},
+    {0x04,0x04,0x04,0x04,0x04,0x00,0x04},
+    {0x0A,0x0A,0x0A,0,0,0,0},
+    {0x0A,0x0A,0x1F,0x0A,0x1F,0x0A,0x0A},
+    {0x04,0x0F,0x14,0x0E,0x05,0x1E,0x04},
+    {0x18,0x19,0x02,0x04,0x08,0x13,0x03},
+    {0x08,0x14,0x14,0x08,0x15,0x12,0x0D},
+    {0x04,0x04,0x08,0,0,0,0},
+    {0x02,0x04,0x08,0x08,0x08,0x04,0x02},
+    {0x08,0x04,0x02,0x02,0x02,0x04,0x08},
+    {0x00,0x04,0x15,0x0E,0x15,0x04,0x00},
+    {0x00,0x04,0x04,0x1F,0x04,0x04,0x00},
+    {0,0,0,0,0,0x04,0x08},
+    {0,0,0,0x1F,0,0,0},
+    {0,0,0,0,0,0,0x04},
+    {0x01,0x02,0x04,0x08,0x10,0,0},
+    {0x0E,0x11,0x13,0x15,0x19,0x11,0x0E},
+    {0x04,0x0C,0x04,0x04,0x04,0x04,0x0E},
+    {0x0E,0x11,0x01,0x02,0x04,0x08,0x1F},
+    {0x1F,0x02,0x04,0x02,0x01,0x11,0x0E},
+    {0x02,0x06,0x0A,0x12,0x1F,0x02,0x02},
+    {0x1F,0x10,0x1E,0x01,0x01,0x11,0x0E},
+    {0x06,0x08,0x10,0x1E,0x11,0x11,0x0E},
+    {0x1F,0x01,0x02,0x04,0x08,0x08,0x08},
+    {0x0E,0x11,0x11,0x0E,0x11,0x11,0x0E},
+    {0x0E,0x11,0x11,0x0F,0x01,0x02,0x0C},
+    {0,0x04,0,0,0x04,0,0},
+    {0,0x04,0,0,0x04,0x04,0x08},
+    {0x02,0x04,0x08,0x10,0x08,0x04,0x02},
+    {0,0,0x1F,0,0x1F,0,0},
+    {0x08,0x04,0x02,0x01,0x02,0x04,0x08},
+    {0x0E,0x11,0x01,0x02,0x04,0x00,0x04},
+    {0x0E,0x11,0x17,0x15,0x17,0x10,0x0E},
+    {0x0E,0x11,0x11,0x1F,0x11,0x11,0x11},
+    {0x1E,0x11,0x11,0x1E,0x11,0x11,0x1E},
+    {0x0E,0x11,0x10,0x10,0x10,0x11,0x0E},
+    {0x1C,0x12,0x11,0x11,0x11,0x12,0x1C},
+    {0x1F,0x10,0x10,0x1E,0x10,0x10,0x1F},
+    {0x1F,0x10,0x10,0x1E,0x10,0x10,0x10},
+    {0x0E,0x11,0x10,0x17,0x11,0x11,0x0F},
+    {0x11,0x11,0x11,0x1F,0x11,0x11,0x11},
+    {0x0E,0x04,0x04,0x04,0x04,0x04,0x0E},
+    {0x07,0x02,0x02,0x02,0x02,0x12,0x0C},
+    {0x11,0x12,0x14,0x18,0x14,0x12,0x11},
+    {0x10,0x10,0x10,0x10,0x10,0x10,0x1F},
+    {0x11,0x1B,0x15,0x15,0x11,0x11,0x11},
+    {0x11,0x19,0x15,0x13,0x11,0x11,0x11},
+    {0x0E,0x11,0x11,0x11,0x11,0x11,0x0E},
+    {0x1E,0x11,0x11,0x1E,0x10,0x10,0x10},
+    {0x0E,0x11,0x11,0x11,0x15,0x12,0x0D},
+    {0x1E,0x11,0x11,0x1E,0x14,0x12,0x11},
+    {0x0F,0x10,0x10,0x0E,0x01,0x01,0x1E},
+    {0x1F,0x04,0x04,0x04,0x04,0x04,0x04},
+    {0x11,0x11,0x11,0x11,0x11,0x11,0x0E},
+    {0x11,0x11,0x11,0x11,0x11,0x0A,0x04},
+    {0x11,0x11,0x11,0x15,0x15,0x1B,0x11},
+    {0x11,0x11,0x0A,0x04,0x0A,0x11,0x11},
+    {0x11,0x11,0x0A,0x04,0x04,0x04,0x04},
+    {0x1F,0x01,0x02,0x04,0x08,0x10,0x1F},
+    {0x0E,0x08,0x08,0x08,0x08,0x08,0x0E},
+    {0x10,0x08,0x04,0x02,0x01,0,0},
+    {0x0E,0x02,0x02,0x02,0x02,0x02,0x0E},
+    {0x04,0x0A,0x11,0,0,0,0},
+    {0,0,0,0,0,0,0x1F},
+    {0x08,0x04,0x02,0,0,0,0},
+    {0,0,0x0E,0x01,0x0F,0x11,0x0F},
+    {0x10,0x10,0x1E,0x11,0x11,0x11,0x1E},
+    {0,0,0x0E,0x10,0x10,0x11,0x0E},
+    {0x01,0x01,0x0F,0x11,0x11,0x11,0x0F},
+    {0,0,0x0E,0x11,0x1F,0x10,0x0E},
+    {0x06,0x08,0x08,0x1E,0x08,0x08,0x08},
+    {0,0,0x0F,0x11,0x11,0x0F,0x01,},
+    {0x10,0x10,0x1E,0x11,0x11,0x11,0x11},
+    {0x04,0,0x0C,0x04,0x04,0x04,0x0E},
+    {0x02,0,0x06,0x02,0x02,0x02,0x12},
+    {0x10,0x10,0x12,0x14,0x18,0x14,0x12},
+    {0x0C,0x04,0x04,0x04,0x04,0x04,0x0E},
+    {0,0,0x1A,0x15,0x15,0x15,0x15},
+    {0,0,0x1E,0x11,0x11,0x11,0x11},
+    {0,0,0x0E,0x11,0x11,0x11,0x0E},
+    {0,0,0x1E,0x11,0x11,0x1E,0x10},
+    {0,0,0x0F,0x11,0x11,0x0F,0x01},
+    {0,0,0x16,0x19,0x10,0x10,0x10},
+    {0,0,0x0F,0x10,0x0E,0x01,0x1E},
+    {0x08,0x08,0x1E,0x08,0x08,0x08,0x06},
+    {0,0,0x11,0x11,0x11,0x11,0x0F},
+    {0,0,0x11,0x11,0x11,0x0A,0x04},
+    {0,0,0x11,0x15,0x15,0x15,0x0A},
+    {0,0,0x11,0x0A,0x04,0x0A,0x11},
+    {0,0,0x11,0x11,0x0F,0x01,0x0E},
+    {0,0,0x1F,0x02,0x04,0x08,0x1F},
+    {0x02,0x04,0x04,0x08,0x04,0x04,0x02},
+    {0x04,0x04,0x04,0x04,0x04,0x04,0x04},
+    {0x08,0x04,0x04,0x02,0x04,0x04,0x08},
+    {0x00,0x00,0x08,0x15,0x02,0x00,0x00},
+};
@@ -0,0 +1,190 @@
+#include "hal_display.h"
+
+#include <string.h>
+
+#include "driver/i2c_master.h"
+#include "esp_rom_sys.h"
+#include "esp_log.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+
+#define LCD_ADDR 0x27
+#define LCD_COLS 20
+#define LCD_ROWS 4
+#define PIN_SDA 21
+#define PIN_SCL 22
+
+#define LCD_RS 0x01
+#define LCD_EN 0x04
+#define LCD_BL 0x08
+
+static const char *TAG = "display";
+
+static i2c_master_bus_handle_t s_bus;
+static i2c_master_dev_handle_t s_dev;
+static bool s_inited;
+
+static const uint8_t s_thermo[8] = {
+    0b00100,
+    0b01100,
+    0b00100,
+    0b01100,
+    0b00100,
+    0b01110,
+    0b01110,
+    0b01110,
+};
+
+static const uint8_t s_row_off[4] = {0x00, 0x40, 0x14, 0x54};
+
+static void i2c_write(uint8_t b)
+{
+    if (s_dev == NULL) {
+        return;
+    }
+    i2c_master_transmit(s_dev, &b, 1, 50);
+}
+
+static void pulse(uint8_t data)
+{
+    i2c_write((uint8_t)(data | LCD_EN | LCD_BL));
+    esp_rom_delay_us(1);
+    i2c_write((uint8_t)((data & (uint8_t)~LCD_EN) | LCD_BL));
+    esp_rom_delay_us(50);
+}
+
+static void write4(uint8_t nibble, uint8_t rs)
+{
+    uint8_t data = (uint8_t)((nibble & 0xF0) | rs | LCD_BL);
+    i2c_write(data);
+    pulse(data);
+}
+
+static void send(uint8_t value, uint8_t rs)
+{
+    write4(value, rs);
+    write4((uint8_t)(value << 4), rs);
+}
+
+static void cmd(uint8_t c)
+{
+    send(c, 0);
+    if (c == 0x01 || c == 0x02) {
+        vTaskDelay(pdMS_TO_TICKS(2));
+    }
+}
+
+static void data_byte(uint8_t d)
+{
+    send(d, LCD_RS);
+}
+
+static void set_ddram(uint8_t addr)
+{
+    cmd((uint8_t)(0x80 | addr));
+}
+
+void hal_display_init(void)
+{
+    if (s_inited) {
+        return;
+    }
+    i2c_master_bus_config_t bus_cfg = {
+        .i2c_port = I2C_NUM_0,
+        .sda_io_num = PIN_SDA,
+        .scl_io_num = PIN_SCL,
+        .clk_source = I2C_CLK_SRC_DEFAULT,
+        .glitch_ignore_cnt = 7,
+        .flags = {
+            .enable_internal_pullup = true,
+        },
+    };
+    if (i2c_new_master_bus(&bus_cfg, &s_bus) != ESP_OK) {
+        ESP_LOGE(TAG, "i2c bus failed");
+        return;
+    }
+    i2c_device_config_t dev_cfg = {
+        .dev_addr_length = I2C_ADDR_BIT_LEN_7,
+        .device_address = LCD_ADDR,
+        .scl_speed_hz = 100000,
+    };
+    if (i2c_master_bus_add_device(s_bus, &dev_cfg, &s_dev) != ESP_OK) {
+        ESP_LOGE(TAG, "i2c device failed");
+        return;
+    }
+
+    vTaskDelay(pdMS_TO_TICKS(50));
+    write4(0x30, 0);
+    vTaskDelay(pdMS_TO_TICKS(5));
+    write4(0x30, 0);
+    esp_rom_delay_us(150);
+    write4(0x30, 0);
+    write4(0x20, 0);
+    cmd(0x28); /* 4-bit, 2 line */
+    cmd(0x08);
+    cmd(0x01);
+    cmd(0x06);
+    cmd(0x0C);
+
+    cmd(0x40); /* CGRAM 0 */
+    for (int i = 0; i < 8; i++) {
+        data_byte(s_thermo[i]);
+    }
+    cmd(0x01);
+    s_inited = true;
+    ESP_LOGI(TAG, "init LCD 20x4 addr=0x27 sda=21 scl=22 IDF I2C");
+}
+
+void hal_display_clear(void)
+{
+    if (!s_inited) {
+        return;
+    }
+    cmd(0x01);
+}
+
+void hal_display_text(int col, int row, const char *s)
+{
+    if (!s_inited || s == NULL) {
+        return;
+    }
+    if (row < 0 || row >= LCD_ROWS) {
+        return;
+    }
+    if (col < 0) {
+        col = 0;
+    }
+    if (col >= LCD_COLS) {
+        return;
+    }
+    set_ddram((uint8_t)(s_row_off[row] + col));
+    int room = LCD_COLS - col;
+    int n = 0;
+    while (s[n] != '\0' && n < room) {
+        data_byte((uint8_t)s[n]);
+        n++;
+    }
+}
+
+void hal_display_glyph_thermo(int col, int row)
+{
+    if (!s_inited) {
+        return;
+    }
+    if (row < 0 || row >= LCD_ROWS || col < 0 || col >= LCD_COLS) {
+        return;
+    }
+    set_ddram((uint8_t)(s_row_off[row] + col));
+    data_byte(0);
+}
+
+void hal_display_flush(void)
+{
+}
+
+void hal_display_softkey(int slot, int slots, const char *label)
+{
+    (void)slot;
+    (void)slots;
+    (void)label;
+}
@@ -0,0 +1,316 @@
+#include "hal_display.h"
+#include "font5x7.h"
+#include "board.h"
+
+#include <string.h>
+#include <stdlib.h>
+
+#include "driver/gpio.h"
+#include "driver/spi_master.h"
+#include "esp_heap_caps.h"
+#include "esp_lcd_panel_io.h"
+#include "esp_lcd_panel_commands.h"
+#include "esp_log.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+
+#define LCD_HOST SPI2_HOST
+#define LCD_H HAL_DISPLAY_PX_H
+#define LCD_W HAL_DISPLAY_PX_W
+
+#define COL_BG    0x18E3
+#define COL_FG    0xFFFF
+#define COL_ACC   0xF800
+#define COL_BTN   0x39E7
+#define COL_BTNT  0xFFFF
+
+static const char *TAG = "disp-s3";
+
+static esp_lcd_panel_io_handle_t s_io;
+static uint16_t *s_fb;
+static bool s_inited;
+static bool s_dirty;
+
+static uint16_t swap565(uint16_t c)
+{
+    return (uint16_t)((c >> 8) | (c << 8));
+}
+
+static void fb_fill(uint16_t color)
+{
+    if (s_fb == NULL) {
+        return;
+    }
+    uint16_t c = swap565(color);
+    for (int i = 0; i < LCD_W * LCD_H; i++) {
+        s_fb[i] = c;
+    }
+    s_dirty = true;
+}
+
+static void fb_pixel(int x, int y, uint16_t color)
+{
+    if (s_fb == NULL || x < 0 || y < 0 || x >= LCD_W || y >= LCD_H) {
+        return;
+    }
+    s_fb[y * LCD_W + x] = swap565(color);
+}
+
+static void fb_fill_rect(int x, int y, int w, int h, uint16_t color)
+{
+    if (s_fb == NULL) {
+        return;
+    }
+    if (x < 0) {
+        w += x;
+        x = 0;
+    }
+    if (y < 0) {
+        h += y;
+        y = 0;
+    }
+    if (x + w > LCD_W) {
+        w = LCD_W - x;
+    }
+    if (y + h > LCD_H) {
+        h = LCD_H - y;
+    }
+    uint16_t c = swap565(color);
+    for (int yy = 0; yy < h; yy++) {
+        uint16_t *row = &s_fb[(y + yy) * LCD_W + x];
+        for (int xx = 0; xx < w; xx++) {
+            row[xx] = c;
+        }
+    }
+    s_dirty = true;
+}
+
+static void fb_char(int x, int y, char ch, uint16_t fg, int scale)
+{
+    if (ch < 32 || ch > 126) {
+        ch = '?';
+    }
+    const uint8_t *g = font5x7[ch - 32];
+    for (int row = 0; row < 7; row++) {
+        uint8_t bits = g[row];
+        for (int col = 0; col < 5; col++) {
+            if (bits & (0x10 >> col)) {
+                fb_fill_rect(x + col * scale, y + row * scale, scale, scale, fg);
+            }
+        }
+    }
+}
+
+static void fb_str(int x, int y, const char *s, uint16_t fg, int scale)
+{
+    if (s == NULL) {
+        return;
+    }
+    int cx = x;
+    while (*s) {
+        fb_char(cx, y, *s, fg, scale);
+        cx += 6 * scale;
+        s++;
+    }
+}
+
+static void lcd_cmd(uint8_t cmd, const uint8_t *data, size_t len)
+{
+    if (s_io == NULL) {
+        return;
+    }
+    uint32_t packed = ((uint32_t)0x02 << 24) | ((uint32_t)cmd << 8);
+    esp_lcd_panel_io_tx_param(s_io, packed, data, len);
+}
+
+static void lcd_window(int x0, int y0, int x1, int y1)
+{
+    uint8_t cas[4] = { (uint8_t)(x0 >> 8), (uint8_t)x0, (uint8_t)(x1 >> 8), (uint8_t)x1 };
+    uint8_t ras[4] = { (uint8_t)(y0 >> 8), (uint8_t)y0, (uint8_t)(y1 >> 8), (uint8_t)y1 };
+    lcd_cmd(LCD_CMD_CASET, cas, 4);
+    lcd_cmd(LCD_CMD_RASET, ras, 4);
+}
+
+static void lcd_init_panel(void)
+{
+    /* Vendor bring-up for NV3041A-01 480x272. Commands are public datasheet/community. */
+    static const uint8_t seq[][3] = {
+        {0xFF, 0xA5, 1},
+        {0x36, 0x00, 1},
+        {0x3A, 0x01, 1},
+        {0x41, 0x03, 1},
+        {0x44, 0x15, 1},
+        {0x45, 0x15, 1},
+        {0x7D, 0x03, 1},
+        {0xC1, 0xBB, 1},
+        {0xC2, 0x05, 1},
+        {0xC3, 0x10, 1},
+        {0xC6, 0x3E, 1},
+        {0xC7, 0x25, 1},
+        {0xC8, 0x11, 1},
+        {0xC9, 0x20, 1},
+        {0x7A, 0x51, 1},
+        {0x6F, 0x2D, 1},
+        {0x78, 0x4B, 1},
+        {0x70, 0x07, 1},
+        {0x71, 0x05, 1},
+    };
+    lcd_cmd(LCD_CMD_SWRESET, NULL, 0);
+    vTaskDelay(pdMS_TO_TICKS(120));
+    lcd_cmd(LCD_CMD_SLPOUT, NULL, 0);
+    vTaskDelay(pdMS_TO_TICKS(120));
+    for (size_t i = 0; i < sizeof(seq) / sizeof(seq[0]); i++) {
+        uint8_t d = seq[i][1];
+        lcd_cmd(seq[i][0], &d, seq[i][2]);
+    }
+    lcd_cmd(LCD_CMD_DISPON, NULL, 0);
+    vTaskDelay(pdMS_TO_TICKS(20));
+}
+
+void hal_display_init(void)
+{
+    if (s_inited) {
+        return;
+    }
+
+    gpio_config_t bl = {
+        .pin_bit_mask = 1ULL << board_pin_lcd_bl(),
+        .mode = GPIO_MODE_OUTPUT,
+        .pull_up_en = GPIO_PULLUP_DISABLE,
+        .pull_down_en = GPIO_PULLDOWN_DISABLE,
+        .intr_type = GPIO_INTR_DISABLE,
+    };
+    gpio_config(&bl);
+    gpio_set_level(board_pin_lcd_bl(), 1);
+
+    spi_bus_config_t buscfg = {
+        .sclk_io_num = board_pin_lcd_sck(),
+        .data0_io_num = board_pin_lcd_d0(),
+        .data1_io_num = board_pin_lcd_d1(),
+        .data2_io_num = board_pin_lcd_d2(),
+        .data3_io_num = board_pin_lcd_d3(),
+        .max_transfer_sz = LCD_W * 40 * sizeof(uint16_t),
+    };
+    esp_err_t err = spi_bus_initialize(LCD_HOST, &buscfg, SPI_DMA_CH_AUTO);
+    if (err != ESP_OK) {
+        ESP_LOGE(TAG, "spi_bus_initialize %s", esp_err_to_name(err));
+    }
+
+    esp_lcd_panel_io_spi_config_t io_config = {
+        .cs_gpio_num = board_pin_lcd_cs(),
+        .dc_gpio_num = -1,
+        .spi_mode = 0,
+        .pclk_hz = 40 * 1000 * 1000,
+        .trans_queue_depth = 4,
+        .lcd_cmd_bits = 32,
+        .lcd_param_bits = 8,
+        .flags = {
+            .quad_mode = 1,
+        },
+    };
+    err = esp_lcd_new_panel_io_spi((esp_lcd_spi_bus_handle_t)LCD_HOST, &io_config, &s_io);
+    if (err != ESP_OK) {
+        ESP_LOGE(TAG, "panel_io %s", esp_err_to_name(err));
+        s_io = NULL;
+    } else {
+        lcd_init_panel();
+    }
+
+    s_fb = heap_caps_malloc((size_t)LCD_W * LCD_H * sizeof(uint16_t),
+                            MALLOC_CAP_SPIRAM | MALLOC_CAP_8BIT);
+    if (s_fb == NULL) {
+        s_fb = heap_caps_malloc((size_t)LCD_W * LCD_H * sizeof(uint16_t), MALLOC_CAP_8BIT);
+    }
+    if (s_fb == NULL) {
+        ESP_LOGE(TAG, "no framebuffer");
+    }
+    fb_fill(COL_BG);
+    s_inited = true;
+    ESP_LOGI(TAG, "NV3041A QSPI %dx%d CS=%d SCK=%d D0=%d",
+             LCD_W, LCD_H, (int)board_pin_lcd_cs(), (int)board_pin_lcd_sck(),
+             (int)board_pin_lcd_d0());
+}
+
+void hal_display_clear(void)
+{
+    fb_fill(COL_BG);
+}
+
+void hal_display_text(int col, int row, const char *s)
+{
+    if (s == NULL) {
+        return;
+    }
+    if (col < 0) {
+        col = 0;
+    }
+    if (row < 0 || row >= HAL_DISPLAY_ROWS) {
+        return;
+    }
+    int x = col * HAL_DISPLAY_CELL_W + 4;
+    int y = 8 + row * HAL_DISPLAY_CELL_H;
+    /* clip 20 columns */
+    char buf[HAL_DISPLAY_COLS + 1];
+    int n = 0;
+    while (s[n] && n < HAL_DISPLAY_COLS - col && n < HAL_DISPLAY_COLS) {
+        buf[n] = s[n];
+        n++;
+    }
+    buf[n] = 0;
+    fb_fill_rect(x, y, n * HAL_DISPLAY_CELL_W, HAL_DISPLAY_CELL_H - 4, COL_BG);
+    fb_str(x, y + 6, buf, COL_FG, 3);
+}
+
+void hal_display_glyph_thermo(int col, int row)
+{
+    int x = col * HAL_DISPLAY_CELL_W + 8;
+    int y = 8 + row * HAL_DISPLAY_CELL_H + 4;
+    fb_fill_rect(x + 6, y, 6, 14, COL_ACC);
+    fb_fill_rect(x + 3, y + 14, 12, 10, COL_ACC);
+}
+
+void hal_display_softkey(int slot, int slots, const char *label)
+{
+    if (slots < 1) {
+        slots = 1;
+    }
+    if (slot < 0 || slot >= slots) {
+        return;
+    }
+    int w = LCD_W / slots;
+    int x = slot * w + 4;
+    int y = LCD_H - HAL_DISPLAY_SOFTKEY_H + 4;
+    int bw = w - 8;
+    int bh = HAL_DISPLAY_SOFTKEY_H - 8;
+    fb_fill_rect(x, y, bw, bh, COL_BTN);
+    if (label != NULL) {
+        int scale = 3;
+        int tw = (int)strlen(label) * 6 * scale;
+        int tx = x + (bw - tw) / 2;
+        int ty = y + (bh - 7 * scale) / 2;
+        if (tx < x) {
+            tx = x + 4;
+        }
+        fb_str(tx, ty, label, COL_BTNT, scale);
+    }
+}
+
+void hal_display_flush(void)
+{
+    if (!s_dirty || s_fb == NULL || s_io == NULL) {
+        s_dirty = false;
+        return;
+    }
+    lcd_window(0, 0, LCD_W - 1, LCD_H - 1);
+    const int chunk_rows = 16;
+    for (int y = 0; y < LCD_H; y += chunk_rows) {
+        int rows = chunk_rows;
+        if (y + rows > LCD_H) {
+            rows = LCD_H - y;
+        }
+        uint32_t packed = ((uint32_t)0x32 << 24) | ((uint32_t)LCD_CMD_RAMWR << 8);
+        esp_lcd_panel_io_tx_color(s_io, packed, &s_fb[y * LCD_W],
+                                  (size_t)rows * LCD_W * sizeof(uint16_t));
+    }
+    s_dirty = false;
+}
@@ -0,0 +1,28 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#define HAL_DISPLAY_COLS 20
+#define HAL_DISPLAY_ROWS 4
+
+/* Colour panel geometry (S3). 2004 ignores pixel APIs. */
+#define HAL_DISPLAY_PX_W 480
+#define HAL_DISPLAY_PX_H 272
+#define HAL_DISPLAY_CELL_W 24
+#define HAL_DISPLAY_CELL_H 32
+#define HAL_DISPLAY_SOFTKEY_H 48
+
+void hal_display_init(void);
+void hal_display_clear(void);
+void hal_display_text(int col, int row, const char *s); /* clip to 20 cols */
+void hal_display_glyph_thermo(int col, int row);
+void hal_display_flush(void);
+
+/* Softkey chrome; no-op on 2004. slot in [0, slots). */
+void hal_display_softkey(int slot, int slots, const char *label);
+
+#ifdef __cplusplus
+}
+#endif
@@ -0,0 +1,23 @@
+#include "hal_display.h"
+
+void hal_display_init(void) {}
+void hal_display_clear(void) {}
+void hal_display_text(int col, int row, const char *s)
+{
+    (void)col;
+    (void)row;
+    (void)s;
+}
+void hal_display_glyph_thermo(int col, int row)
+{
+    (void)col;
+    (void)row;
+}
+void hal_display_flush(void) {}
+
+void hal_display_softkey(int slot, int slots, const char *label)
+{
+    (void)slot;
+    (void)slots;
+    (void)label;
+}
@@ -0,0 +1,19 @@
+set(srcs)
+set(priv_inc)
+set(priv_req driver)
+
+if(IDF_TARGET STREQUAL "esp32")
+    list(APPEND srcs hal_input_keypad.c)
+    list(APPEND priv_req board_wroom)
+elseif(IDF_TARGET STREQUAL "esp32s3")
+    list(APPEND srcs hal_input_gt911.c)
+    list(APPEND priv_req board_jc4827w543)
+else()
+    list(APPEND srcs stub/hal_input.c)
+endif()
+
+idf_component_register(SRCS ${srcs}
+                    INCLUDE_DIRS "include"
+                    PRIV_INCLUDE_DIRS ${priv_inc}
+                    REQUIRES driver
+                    PRIV_REQUIRES ${priv_req})
@@ -0,0 +1,116 @@
+#include "hal_input.h"
+#include <string.h>
+#include "board.h"
+
+#include "driver/gpio.h"
+#include "driver/i2c.h"
+#include "esp_log.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+
+#define TP_I2C I2C_NUM_0
+#define TP_ADDR 0x5D
+#define GT_REG_STAT 0x814E
+#define GT_REG_PT0  0x8150
+
+static const char *TAG = "gt911";
+
+static bool s_have;
+static ui_raw_touch_t s_last;
+static uint8_t s_prev_stat;
+
+static esp_err_t tp_write(uint16_t reg, const uint8_t *data, size_t n)
+{
+    uint8_t buf[8];
+    if (n + 2 > sizeof(buf)) {
+        return ESP_ERR_INVALID_SIZE;
+    }
+    buf[0] = (uint8_t)(reg >> 8);
+    buf[1] = (uint8_t)reg;
+    if (n && data) {
+        memcpy(buf + 2, data, n);
+    }
+    return i2c_master_write_to_device(TP_I2C, TP_ADDR, buf, n + 2, pdMS_TO_TICKS(50));
+}
+
+static esp_err_t tp_read(uint16_t reg, uint8_t *data, size_t n)
+{
+    uint8_t addr[2] = { (uint8_t)(reg >> 8), (uint8_t)reg };
+    return i2c_master_write_read_device(TP_I2C, TP_ADDR, addr, 2, data, n, pdMS_TO_TICKS(50));
+}
+
+void hal_input_init(void)
+{
+    gpio_config_t io = {
+        .pin_bit_mask = (1ULL << board_pin_tp_rst()) | (1ULL << board_pin_tp_int()),
+        .mode = GPIO_MODE_OUTPUT,
+        .pull_up_en = GPIO_PULLUP_DISABLE,
+        .pull_down_en = GPIO_PULLDOWN_DISABLE,
+        .intr_type = GPIO_INTR_DISABLE,
+    };
+    gpio_config(&io);
+    gpio_set_level(board_pin_tp_int(), 0);
+    gpio_set_level(board_pin_tp_rst(), 0);
+    vTaskDelay(pdMS_TO_TICKS(200));
+    gpio_set_level(board_pin_tp_rst(), 1);
+    vTaskDelay(pdMS_TO_TICKS(20));
+    io.mode = GPIO_MODE_INPUT;
+    io.pin_bit_mask = 1ULL << board_pin_tp_int();
+    gpio_config(&io);
+
+    i2c_config_t conf = {
+        .mode = I2C_MODE_MASTER,
+        .sda_io_num = board_pin_tp_sda(),
+        .scl_io_num = board_pin_tp_scl(),
+        .sda_pullup_en = GPIO_PULLUP_ENABLE,
+        .scl_pullup_en = GPIO_PULLUP_ENABLE,
+        .master.clk_speed = 400000,
+    };
+    i2c_param_config(TP_I2C, &conf);
+    i2c_driver_install(TP_I2C, conf.mode, 0, 0, 0);
+    ESP_LOGI(TAG, "GT911 addr=0x5D SDA=%d SCL=%d RST=%d INT=%d",
+             (int)board_pin_tp_sda(), (int)board_pin_tp_scl(),
+             (int)board_pin_tp_rst(), (int)board_pin_tp_int());
+}
+
+bool hal_input_pop_key(ui_raw_key_t *out)
+{
+    (void)out;
+    return false;
+}
+
+bool hal_input_pop_touch(ui_raw_touch_t *out)
+{
+    uint8_t stat = 0;
+    if (tp_read(GT_REG_STAT, &stat, 1) != ESP_OK) {
+        return false;
+    }
+    if ((stat & 0x80) == 0) {
+        return false;
+    }
+    uint8_t n = stat & 0x0F;
+    uint8_t raw[8];
+    if (n > 0 && tp_read(GT_REG_PT0, raw, 8) == ESP_OK) {
+        int16_t x = (int16_t)(raw[0] | ((uint16_t)raw[1] << 8));
+        int16_t y = (int16_t)(raw[2] | ((uint16_t)raw[3] << 8));
+        uint8_t zero = 0;
+        tp_write(GT_REG_STAT, &zero, 1);
+        /* Edge: report once per contact start. */
+        if (s_prev_stat == 0) {
+            s_last.x = x;
+            s_last.y = y;
+            s_prev_stat = n;
+            if (out) {
+                *out = s_last;
+            }
+            return true;
+        }
+        s_prev_stat = n;
+        return false;
+    }
+    uint8_t zero = 0;
+    tp_write(GT_REG_STAT, &zero, 1);
+    s_prev_stat = 0;
+    (void)s_have;
+    return false;
+}
@@ -0,0 +1,99 @@
+#include "hal_input.h"
+
+#include "driver/gpio.h"
+#include "esp_log.h"
+
+static const char *TAG = "input";
+
+#define ROWS 5
+#define COLS 4
+
+static const gpio_num_t s_row_pins[ROWS] = {19, 18, 5, 17, 16};
+static const gpio_num_t s_col_pins[COLS] = {15, 2, 0, 4};
+
+static const char s_keys[ROWS][COLS] = {
+    {'F', 'E', '#', '*'},
+    {'1', '2', '3', 'U'},
+    {'4', '5', '6', 'D'},
+    {'7', '8', '9', 'X'},
+    {'L', '0', 'R', 'E'}};
+
+static bool s_inited;
+static char s_held;
+
+static void cols_idle_high(void)
+{
+    for (int c = 0; c < COLS; c++) {
+        gpio_set_level(s_col_pins[c], 1);
+    }
+}
+
+static char scan_once(void)
+{
+    for (int c = 0; c < COLS; c++) {
+        cols_idle_high();
+        gpio_set_level(s_col_pins[c], 0);
+        for (int r = 0; r < ROWS; r++) {
+            if (gpio_get_level(s_row_pins[r]) == 0) {
+                cols_idle_high();
+                return s_keys[r][c];
+            }
+        }
+    }
+    cols_idle_high();
+    return 0;
+}
+
+void hal_input_init(void)
+{
+    if (s_inited) {
+        return;
+    }
+    for (int r = 0; r < ROWS; r++) {
+        gpio_config_t io = {
+            .pin_bit_mask = 1ULL << s_row_pins[r],
+            .mode = GPIO_MODE_INPUT,
+            .pull_up_en = GPIO_PULLUP_ENABLE,
+            .pull_down_en = GPIO_PULLDOWN_DISABLE,
+            .intr_type = GPIO_INTR_DISABLE,
+        };
+        gpio_config(&io);
+    }
+    for (int c = 0; c < COLS; c++) {
+        gpio_config_t io = {
+            .pin_bit_mask = 1ULL << s_col_pins[c],
+            .mode = GPIO_MODE_OUTPUT,
+            .pull_up_en = GPIO_PULLUP_DISABLE,
+            .pull_down_en = GPIO_PULLDOWN_DISABLE,
+            .intr_type = GPIO_INTR_DISABLE,
+        };
+        gpio_config(&io);
+        gpio_set_level(s_col_pins[c], 1);
+    }
+    s_held = 0;
+    s_inited = true;
+    ESP_LOGI(TAG, "init 5x4 GPIO keypad map byte-identical to src/config.cpp");
+}
+
+bool hal_input_pop_key(ui_raw_key_t *out)
+{
+    char k = scan_once();
+    if (k == 0) {
+        s_held = 0;
+        return false;
+    }
+    if (k == s_held) {
+        return false;
+    }
+    s_held = k;
+    if (out != NULL) {
+        out->key = k;
+    }
+    return true;
+}
+
+bool hal_input_pop_touch(ui_raw_touch_t *out)
+{
+    (void)out;
+    return false;
+}
@@ -0,0 +1,25 @@
+#pragma once
+
+#include <stdbool.h>
+#include <stdint.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef struct {
+    char key;
+} ui_raw_key_t;
+
+typedef struct {
+    int16_t x;
+    int16_t y;
+} ui_raw_touch_t;
+
+void hal_input_init(void);
+bool hal_input_pop_key(ui_raw_key_t *out); /* nonblocking */
+bool hal_input_pop_touch(ui_raw_touch_t *out); /* nonblocking; S3 only */
+
+#ifdef __cplusplus
+}
+#endif
@@ -0,0 +1,15 @@
+#include "hal_input.h"
+
+void hal_input_init(void) {}
+
+bool hal_input_pop_key(ui_raw_key_t *out)
+{
+    (void)out;
+    return false;
+}
+
+bool hal_input_pop_touch(ui_raw_touch_t *out)
+{
+    (void)out;
+    return false;
+}
@@ -3,14 +3,11 @@ set(priv_inc)
 set(priv_req driver)

 if(IDF_TARGET STREQUAL "esp32")
-    list(APPEND srcs
-        wroom/hal_motor.cpp
-        ${CMAKE_CURRENT_LIST_DIR}/../third_party/AccelStepper/AccelStepper.cpp
-    )
-    list(APPEND priv_inc
-        ${CMAKE_CURRENT_LIST_DIR}/../third_party/AccelStepper/include
-    )
-    list(APPEND priv_req board_wroom espressif__arduino-esp32)
+    list(APPEND srcs hal_motor.c)
+    list(APPEND priv_req board_wroom)
+elseif(IDF_TARGET STREQUAL "esp32s3")
+    list(APPEND srcs hal_motor.c)
+    list(APPEND priv_req board_jc4827w543)
 else()
    list(APPEND srcs stub/hal_motor.c)
 endif()
@@ -0,0 +1,284 @@
+#include <stdint.h>
+#include <stdbool.h>
+#include <stdatomic.h>
+
+#include "esp_err.h"
+#include "esp_log.h"
+#include "driver/gpio.h"
+#include "driver/rmt_tx.h"
+#include "driver/rmt_encoder.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+
+#include "board.h"
+#include "hal_motor.h"
+
+#define STEPS_PER_REV 4800
+#define DEFAULT_RPM 60
+#define ACCEL 9600
+#define RMT_RES_HZ 1000000
+#define CRUISE_HZ ((DEFAULT_RPM * STEPS_PER_REV) / 60) /* 4800 */
+#define RAMP_STAGES 8
+#define BATCH 32
+
+static const char *TAG = "motor";
+
+static gpio_num_t s_pin_en = GPIO_NUM_NC;
+static gpio_num_t s_pin_dir = GPIO_NUM_NC;
+static gpio_num_t s_pin_step = GPIO_NUM_NC;
+static int s_en_disable_level = 1;
+static TaskHandle_t s_task;
+static atomic_uint s_stop_req;
+static float s_cw;
+static float s_ccw;
+static uint32_t s_rpm = DEFAULT_RPM;
+static bool s_enabled;
+static bool s_inited;
+static rmt_channel_handle_t s_chan;
+static rmt_encoder_handle_t s_enc;
+
+static void en_disable(void)
+{
+    if (s_pin_en != GPIO_NUM_NC) {
+        gpio_set_level(s_pin_en, s_en_disable_level);
+    }
+    s_enabled = false;
+}
+
+static void en_enable(void)
+{
+    if (s_pin_en != GPIO_NUM_NC) {
+        gpio_set_level(s_pin_en, !s_en_disable_level);
+    }
+    s_enabled = true;
+}
+
+static void rmt_abort(void)
+{
+    if (s_chan != NULL) {
+        rmt_disable(s_chan);
+        rmt_enable(s_chan);
+    }
+}
+
+static uint32_t period_us_for_hz(uint32_t hz)
+{
+    if (hz < 100) {
+        hz = 100;
+    }
+    return RMT_RES_HZ / hz;
+}
+
+static bool emit_steps(uint32_t n, uint32_t hz)
+{
+    if (n == 0) {
+        return true;
+    }
+    uint32_t period = period_us_for_hz(hz);
+    uint32_t half = period / 2;
+    if (half == 0) {
+        half = 1;
+    }
+    rmt_symbol_word_t sym = {
+        .duration0 = (uint16_t)half,
+        .level0 = 1,
+        .duration1 = (uint16_t)(period - half),
+        .level1 = 0,
+    };
+    while (n > 0) {
+        if (atomic_load(&s_stop_req) != 0) {
+            rmt_abort();
+            return false;
+        }
+        uint32_t chunk = n > BATCH ? BATCH : n;
+        rmt_symbol_word_t burst[BATCH];
+        for (uint32_t i = 0; i < chunk; i++) {
+            burst[i] = sym;
+        }
+        rmt_transmit_config_t tcfg = {
+            .loop_count = 0,
+        };
+        if (rmt_transmit(s_chan, s_enc, burst, chunk * sizeof(rmt_symbol_word_t), &tcfg) != ESP_OK) {
+            return false;
+        }
+        if (rmt_tx_wait_all_done(s_chan, 2000) != ESP_OK) {
+            rmt_abort();
+            return false;
+        }
+        n -= chunk;
+    }
+    return atomic_load(&s_stop_req) == 0;
+}
+
+static bool run_move(long steps)
+{
+    if (steps == 0) {
+        return true;
+    }
+    int dir = (steps > 0) ? 1 : 0;
+    if (steps < 0) {
+        steps = -steps;
+    }
+    gpio_set_level(s_pin_dir, dir);
+
+    uint32_t cruise = (s_rpm * STEPS_PER_REV) / 60;
+    if (cruise == 0) {
+        cruise = CRUISE_HZ;
+    }
+    /* Short accel table: ACCEL ≈9600 steps/s^2 into cruise. */
+    uint32_t remaining = (uint32_t)steps;
+    uint32_t ramp = remaining / 8;
+    if (ramp > 200) {
+        ramp = 200;
+    }
+    if (ramp < RAMP_STAGES) {
+        ramp = (remaining < RAMP_STAGES) ? remaining : RAMP_STAGES;
+    }
+    uint32_t start_hz = cruise / 4;
+    if (start_hz < 200) {
+        start_hz = 200;
+    }
+    for (int i = 0; i < RAMP_STAGES && remaining > 0; i++) {
+        uint32_t n = ramp / RAMP_STAGES;
+        if (n == 0) {
+            n = 1;
+        }
+        if (n > remaining) {
+            n = remaining;
+        }
+        uint32_t hz = start_hz + ((cruise - start_hz) * (uint32_t)(i + 1)) / RAMP_STAGES;
+        if (!emit_steps(n, hz)) {
+            return false;
+        }
+        remaining -= n;
+    }
+    if (remaining > 0) {
+        if (!emit_steps(remaining, cruise)) {
+            return false;
+        }
+    }
+    return true;
+}
+
+static void motor_task(void *arg)
+{
+    (void)arg;
+    for (;;) {
+        ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
+        if (atomic_load(&s_stop_req) != 0) {
+            rmt_abort();
+            en_disable();
+            continue;
+        }
+        en_enable();
+        while (atomic_load(&s_stop_req) == 0) {
+            if (!run_move((long)((float)STEPS_PER_REV * s_cw))) {
+                break;
+            }
+            if (atomic_load(&s_stop_req) != 0) {
+                break;
+            }
+            if (!run_move((long)(-((float)STEPS_PER_REV * s_ccw)))) {
+                break;
+            }
+        }
+        rmt_abort();
+        en_disable();
+    }
+}
+
+void autofilm_motor_task(void *arg)
+{
+    motor_task(arg);
+}
+
+void hal_motor_init(void)
+{
+    if (s_inited) {
+        return;
+    }
+    s_pin_en = board_pin_motor_en();
+    s_pin_dir = board_pin_motor_dir();
+    s_pin_step = board_pin_motor_step();
+    s_en_disable_level = board_motor_en_disable_level();
+    if (s_pin_en == GPIO_NUM_NC || s_pin_dir == GPIO_NUM_NC || s_pin_step == GPIO_NUM_NC) {
+        ESP_LOGW(TAG, "no motor pins on this board");
+        s_inited = true;
+        return;
+    }
+    gpio_config_t io = {
+        .pin_bit_mask = (1ULL << s_pin_en) | (1ULL << s_pin_dir),
+        .mode = GPIO_MODE_OUTPUT,
+        .pull_up_en = GPIO_PULLUP_DISABLE,
+        .pull_down_en = GPIO_PULLDOWN_DISABLE,
+        .intr_type = GPIO_INTR_DISABLE,
+    };
+    gpio_config(&io);
+    gpio_set_level(s_pin_en, s_en_disable_level);
+    gpio_set_level(s_pin_dir, 0);
+    s_enabled = false;
+    atomic_store(&s_stop_req, 0);
+
+    rmt_tx_channel_config_t txcfg = {
+        .clk_src = RMT_CLK_SRC_DEFAULT,
+        .gpio_num = s_pin_step,
+        .mem_block_symbols = 64,
+        .resolution_hz = RMT_RES_HZ,
+        .trans_queue_depth = 4,
+    };
+    rmt_new_tx_channel(&txcfg, &s_chan);
+    rmt_copy_encoder_config_t enc_cfg = {};
+    rmt_new_copy_encoder(&enc_cfg, &s_enc);
+    rmt_enable(s_chan);
+
+    if (s_task == NULL) {
+        xTaskCreatePinnedToCore(motor_task, "motor", 4096, NULL,
+                                configMAX_PRIORITIES - 2, &s_task, 0);
+    }
+    s_inited = true;
+    ESP_LOGI(TAG, "init en=%d step=%d dir=%d dis_lvl=%d",
+             s_pin_en, s_pin_step, s_pin_dir, s_en_disable_level);
+}
+
+void hal_motor_enable(bool on)
+{
+    if (on) {
+        en_enable();
+    } else {
+        en_disable();
+    }
+}
+
+void hal_motor_request_stop(void)
+{
+    atomic_store(&s_stop_req, 1);
+    en_disable();
+    rmt_abort();
+    if (s_task != NULL) {
+        xTaskNotifyGive(s_task);
+    }
+}
+
+esp_err_t hal_motor_agitate_start(float cw_revs, float ccw_revs, uint32_t rpm)
+{
+    s_cw = cw_revs;
+    s_ccw = ccw_revs;
+    s_rpm = (rpm == 0) ? DEFAULT_RPM : rpm;
+    atomic_store(&s_stop_req, 0);
+    if (s_task != NULL) {
+        xTaskNotifyGive(s_task);
+    }
+    return ESP_OK;
+}
+
+void hal_motor_agitate_stop(void)
+{
+    atomic_store(&s_stop_req, 1);
+    rmt_abort();
+    en_disable();
+}
+
+bool hal_motor_is_enabled(void)
+{
+    return s_enabled;
+}
@@ -1,153 +0,0 @@
-#include <stdint.h>
-#include <stdbool.h>
-#include <stdatomic.h>
-
-#include "esp_err.h"
-#include "esp_log.h"
-#include "driver/gpio.h"
-#include "freertos/FreeRTOS.h"
-#include "freertos/task.h"
-
-#include <Arduino.h>
-#include <AccelStepper.h>
-
-#define PIN_STEP 12
-#define PIN_DIR 14
-#define PIN_EN 27
-#define STEPS_PER_REV 4800
-#define DEFAULT_RPM 60
-#define ACCEL 9600
-
-static const char *TAG = "motor";
-
-static AccelStepper s_stepper(AccelStepper::DRIVER, PIN_STEP, PIN_DIR);
-static TaskHandle_t s_task;
-static atomic_uint s_stop_req;
-static float s_cw;
-static float s_ccw;
-static uint32_t s_rpm = DEFAULT_RPM;
-static bool s_enabled;
-static bool s_inited;
-
-static void en_disable(void)
-{
-    gpio_set_level((gpio_num_t)PIN_EN, 1);
-    s_enabled = false;
-}
-
-static void en_enable(void)
-{
-    gpio_set_level((gpio_num_t)PIN_EN, 0);
-    s_enabled = true;
-}
-
-static void run_move(long steps)
-{
-    s_stepper.setCurrentPosition(0);
-    s_stepper.moveTo(steps);
-    while (s_stepper.distanceToGo() != 0) {
-        if (atomic_load(&s_stop_req) != 0) {
-            break;
-        }
-        s_stepper.run();
-    }
-}
-
-static void motor_task(void *arg)
-{
-    (void)arg;
-    for (;;) {
-        ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
-        if (atomic_load(&s_stop_req) != 0) {
-            en_disable();
-            continue;
-        }
-        float speed = ((float)s_rpm * (float)STEPS_PER_REV) / 60.0f;
-        s_stepper.setMaxSpeed(speed);
-        s_stepper.setAcceleration((float)ACCEL);
-        en_enable();
-        while (atomic_load(&s_stop_req) == 0) {
-            run_move((long)((float)STEPS_PER_REV * s_cw));
-            if (atomic_load(&s_stop_req) != 0) {
-                break;
-            }
-            run_move((long)(-((float)STEPS_PER_REV * s_ccw)));
-        }
-        en_disable();
-    }
-}
-
-extern "C" void autofilm_motor_task(void *arg)
-{
-    motor_task(arg);
-}
-
-extern "C" void hal_motor_init(void)
-{
-    if (s_inited) {
-        return;
-    }
-    gpio_config_t io = {
-        .pin_bit_mask = (1ULL << PIN_EN) | (1ULL << PIN_STEP) | (1ULL << PIN_DIR),
-        .mode = GPIO_MODE_OUTPUT,
-        .pull_up_en = GPIO_PULLUP_DISABLE,
-        .pull_down_en = GPIO_PULLDOWN_DISABLE,
-        .intr_type = GPIO_INTR_DISABLE,
-    };
-    gpio_config(&io);
-    gpio_set_level((gpio_num_t)PIN_EN, 1);
-    gpio_set_level((gpio_num_t)PIN_STEP, 0);
-    gpio_set_level((gpio_num_t)PIN_DIR, 0);
-    s_enabled = false;
-    atomic_store(&s_stop_req, 0);
-    s_stepper.setMaxSpeed(((float)DEFAULT_RPM * (float)STEPS_PER_REV) / 60.0f);
-    s_stepper.setAcceleration((float)ACCEL);
-    if (s_task == NULL) {
-        xTaskCreatePinnedToCore(motor_task, "motor", 4096, NULL,
-                                configMAX_PRIORITIES - 2, &s_task, 0);
-    }
-    s_inited = true;
-    ESP_LOGI(TAG, "init EN=HIGH step=%d dir=%d", PIN_STEP, PIN_DIR);
-}
-
-extern "C" void hal_motor_enable(bool on)
-{
-    if (on) {
-        en_enable();
-    } else {
-        en_disable();
-    }
-}
-
-extern "C" void hal_motor_request_stop(void)
-{
-    atomic_store(&s_stop_req, 1);
-    gpio_set_level((gpio_num_t)PIN_EN, 1);
-    s_enabled = false;
-    if (s_task != NULL) {
-        xTaskNotifyGive(s_task);
-    }
-}
-
-extern "C" esp_err_t hal_motor_agitate_start(float cw_revs, float ccw_revs, uint32_t rpm)
-{
-    s_cw = cw_revs;
-    s_ccw = ccw_revs;
-    s_rpm = (rpm == 0) ? DEFAULT_RPM : rpm;
-    atomic_store(&s_stop_req, 0);
-    if (s_task != NULL) {
-        xTaskNotifyGive(s_task);
-    }
-    return ESP_OK;
-}
-
-extern "C" void hal_motor_agitate_stop(void)
-{
-    atomic_store(&s_stop_req, 1);
-    en_disable();
-}
-
-extern "C" bool hal_motor_is_enabled(void)
-{
-    return s_enabled;
-}
@@ -3,16 +3,11 @@ set(priv_inc)
 set(priv_req driver)

 if(IDF_TARGET STREQUAL "esp32")
-    list(APPEND srcs
-        wroom/hal_temp.cpp
-        ${CMAKE_CURRENT_LIST_DIR}/../third_party/OneWire/OneWire.cpp
-        ${CMAKE_CURRENT_LIST_DIR}/../third_party/DallasTemperature/DallasTemperature.cpp
-    )
-    list(APPEND priv_inc
-        ${CMAKE_CURRENT_LIST_DIR}/../third_party/OneWire/include
-        ${CMAKE_CURRENT_LIST_DIR}/../third_party/DallasTemperature/include
-    )
-    list(APPEND priv_req board_wroom espressif__arduino-esp32)
+    list(APPEND srcs hal_temp.c)
+    list(APPEND priv_req board_wroom onewire_bus)
+elseif(IDF_TARGET STREQUAL "esp32s3")
+    list(APPEND srcs hal_temp.c)
+    list(APPEND priv_req board_jc4827w543 onewire_bus)
 else()
    list(APPEND srcs stub/hal_temp.c)
 endif()
@@ -0,0 +1,127 @@
+#include <stdint.h>
+#include <stdbool.h>
+#include <string.h>
+
+#include "esp_err.h"
+#include "esp_log.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+
+#include "onewire_bus.h"
+#include "board.h"
+#include "hal_temp.h"
+
+#define TEMP_OFFSET 0.4f
+#define CMD_SKIP_ROM 0xCC
+#define CMD_CONVERT_T 0x44
+#define CMD_READ_SCRATCH 0xBE
+
+static const char *TAG = "temp";
+
+static onewire_bus_handle_t s_bus;
+static bool s_inited;
+static float s_last_c;
+static bool s_last_ok;
+
+static bool scratch_valid(const uint8_t *sp)
+{
+    /* DS18B20 CRC8 over first 8 bytes, poly 0x8C reflected. */
+    uint8_t crc = 0;
+    for (int i = 0; i < 8; i++) {
+        uint8_t in = sp[i];
+        for (int b = 0; b < 8; b++) {
+            uint8_t mix = (crc ^ in) & 0x01;
+            crc >>= 1;
+            if (mix) {
+                crc ^= 0x8C;
+            }
+            in >>= 1;
+        }
+    }
+    return crc == sp[8];
+}
+
+void hal_temp_tick(void)
+{
+    if (s_bus == NULL) {
+        s_last_ok = false;
+        vTaskDelay(pdMS_TO_TICKS(750));
+        return;
+    }
+    if (onewire_bus_reset(s_bus) != ESP_OK) {
+        s_last_ok = false;
+        vTaskDelay(pdMS_TO_TICKS(750));
+        return;
+    }
+    uint8_t conv[2] = {CMD_SKIP_ROM, CMD_CONVERT_T};
+    if (onewire_bus_write_bytes(s_bus, conv, 2) != ESP_OK) {
+        s_last_ok = false;
+        vTaskDelay(pdMS_TO_TICKS(750));
+        return;
+    }
+    vTaskDelay(pdMS_TO_TICKS(750));
+    if (onewire_bus_reset(s_bus) != ESP_OK) {
+        s_last_ok = false;
+        return;
+    }
+    uint8_t rd[2] = {CMD_SKIP_ROM, CMD_READ_SCRATCH};
+    if (onewire_bus_write_bytes(s_bus, rd, 2) != ESP_OK) {
+        s_last_ok = false;
+        return;
+    }
+    uint8_t sp[9];
+    memset(sp, 0, sizeof(sp));
+    if (onewire_bus_read_bytes(s_bus, sp, sizeof(sp)) != ESP_OK) {
+        s_last_ok = false;
+        return;
+    }
+    if (!scratch_valid(sp)) {
+        s_last_ok = false;
+        return;
+    }
+    int16_t raw = (int16_t)((uint16_t)sp[0] | ((uint16_t)sp[1] << 8));
+    float t = ((float)raw) / 16.0f + TEMP_OFFSET;
+    s_last_c = t;
+    s_last_ok = true;
+}
+
+void hal_temp_init(void)
+{
+    if (s_inited) {
+        return;
+    }
+    gpio_num_t pin = board_pin_temp();
+    if (pin == GPIO_NUM_NC) {
+        ESP_LOGW(TAG, "no temp pin on this board");
+        s_inited = true;
+        return;
+    }
+    onewire_bus_config_t bus_config = {
+        .bus_gpio_num = pin,
+        .flags = {
+            .en_pull_up = true,
+        },
+    };
+    onewire_bus_rmt_config_t rmt_config = {
+        .max_rx_bytes = 10,
+    };
+    if (onewire_new_bus_rmt(&bus_config, &rmt_config, &s_bus) != ESP_OK) {
+        s_bus = NULL;
+        ESP_LOGE(TAG, "onewire_bus install failed pin=%d", pin);
+    }
+    s_last_ok = false;
+    s_last_c = 0.0f;
+    s_inited = true;
+    ESP_LOGI(TAG, "init onewire_bus pin=%d offset=%.1f", pin, (double)TEMP_OFFSET);
+}
+
+esp_err_t hal_temp_read_c(float *out)
+{
+    if (!s_last_ok) {
+        return ESP_FAIL;
+    }
+    if (out != NULL) {
+        *out = s_last_c;
+    }
+    return ESP_OK;
+}
@@ -0,0 +1,2 @@
+dependencies:
+  espressif/onewire_bus: "^1.1.0"
@@ -7,4 +7,5 @@
 #endif

 void hal_temp_init(void);
+void hal_temp_tick(void);              /* blocking conversion poll; blocks >=750 ms */
 esp_err_t hal_temp_read_c(float *out); /* ESP_FAIL → disconnected */
@@ -1,9 +1,17 @@
 #include "hal_temp.h"

+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+
 void hal_temp_init(void)
 {
 }

+void hal_temp_tick(void)
+{
+    vTaskDelay(pdMS_TO_TICKS(750));
+}
+
 esp_err_t hal_temp_read_c(float *out)
 {
    (void)out;
@@ -1,66 +0,0 @@
-#include <stdint.h>
-#include <stdbool.h>
-
-#include "esp_err.h"
-#include "esp_log.h"
-#include "freertos/FreeRTOS.h"
-#include "freertos/task.h"
-
-#include <Arduino.h>
-#include <OneWire.h>
-#include <DallasTemperature.h>
-
-#define PIN_DS 13
-#define TEMP_OFFSET 0.4f
-
-static const char *TAG = "temp";
-
-static OneWire s_wire(PIN_DS);
-static DallasTemperature s_sensors(&s_wire);
-static bool s_inited;
-static float s_last_c;
-static bool s_last_ok;
-
-extern "C" void autofilm_temp_tick(void)
-{
-    s_sensors.requestTemperatures();
-    vTaskDelay(pdMS_TO_TICKS(750));
-    float t = s_sensors.getTempCByIndex(0);
-    bool ok = (t != DEVICE_DISCONNECTED_C);
-    if (ok) {
-        t += TEMP_OFFSET;
-    }
-    s_last_c = ok ? t : 0.0f;
-    s_last_ok = ok;
-}
-
-extern "C" void autofilm_temp_task(void *arg)
-{
-    (void)arg;
-    for (;;) {
-        autofilm_temp_tick();
-    }
-}
-
-extern "C" void hal_temp_init(void)
-{
-    if (s_inited) {
-        return;
-    }
-    s_sensors.begin();
-    s_last_ok = false;
-    s_last_c = 0.0f;
-    s_inited = true;
-    ESP_LOGI(TAG, "init OneWire pin=%d offset=%.1f", PIN_DS, (double)TEMP_OFFSET);
-}
-
-extern "C" esp_err_t hal_temp_read_c(float *out)
-{
-    if (!s_last_ok) {
-        return ESP_FAIL;
-    }
-    if (out != NULL) {
-        *out = s_last_c;
-    }
-    return ESP_OK;
-}
@@ -0,0 +1,61 @@
+/*
+|| @file Key.cpp
+|| @version 1.0
+|| @author Mark Stanley
+|| @contact mstanley@technologist.com
+||
+|| @description
+|| | Key class provides an abstract definition of a key or button
+|| | and was initially designed to be used in conjunction with a
+|| | state-machine.
+|| #
+||
+|| @license
+|| | This library is free software; you can redistribute it and/or
+|| | modify it under the terms of the GNU Lesser General Public
+|| | License as published by the Free Software Foundation; version
+|| | 2.1 of the License.
+|| |
+|| | This library is distributed in the hope that it will be useful,
+|| | but WITHOUT ANY WARRANTY; without even the implied warranty of
+|| | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+|| | Lesser General Public License for more details.
+|| |
+|| | You should have received a copy of the GNU Lesser General Public
+|| | License along with this library; if not, write to the Free Software
+|| | Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+|| #
+||
+*/
+#include <Key.h>
+
+
+// default constructor
+Key::Key() {
+	kchar = NO_KEY;
+	kstate = IDLE;
+	stateChanged = false;
+}
+
+// constructor
+Key::Key(char userKeyChar) {
+	kchar = userKeyChar;
+	kcode = -1;
+	kstate = IDLE;
+	stateChanged = false;
+}
+
+
+void Key::key_update (char userKeyChar, KeyState userState, boolean userStatus) {
+	kchar = userKeyChar;
+	kstate = userState;
+	stateChanged = userStatus;
+}
+
+
+
+/*
+|| @changelog
+|| | 1.0 2012-06-04 - Mark Stanley : Initial Release
+|| #
+*/
@@ -0,0 +1,293 @@
+/*
+||
+|| @file Keypad.cpp
+|| @version 3.1
+|| @author Mark Stanley, Alexander Brevig
+|| @contact mstanley@technologist.com, alexanderbrevig@gmail.com
+||
+|| @description
+|| | This library provides a simple interface for using matrix
+|| | keypads. It supports multiple keypresses while maintaining
+|| | backwards compatibility with the old single key library.
+|| | It also supports user selectable pins and definable keymaps.
+|| #
+||
+|| @license
+|| | This library is free software; you can redistribute it and/or
+|| | modify it under the terms of the GNU Lesser General Public
+|| | License as published by the Free Software Foundation; version
+|| | 2.1 of the License.
+|| |
+|| | This library is distributed in the hope that it will be useful,
+|| | but WITHOUT ANY WARRANTY; without even the implied warranty of
+|| | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+|| | Lesser General Public License for more details.
+|| |
+|| | You should have received a copy of the GNU Lesser General Public
+|| | License along with this library; if not, write to the Free Software
+|| | Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+|| #
+||
+*/
+#include <Keypad.h>
+
+// <<constructor>> Allows custom keymap, pin configuration, and keypad sizes.
+Keypad::Keypad(char *userKeymap, byte *row, byte *col, byte numRows, byte numCols) {
+	rowPins = row;
+	columnPins = col;
+	sizeKpd.rows = numRows;
+	sizeKpd.columns = numCols;
+
+	begin(userKeymap);
+
+	setDebounceTime(10);
+	setHoldTime(500);
+	keypadEventListener = 0;
+
+	startTime = 0;
+	single_key = false;
+}
+
+// Let the user define a keymap - assume the same row/column count as defined in constructor
+void Keypad::begin(char *userKeymap) {
+    keymap = userKeymap;
+}
+
+// Returns a single key only. Retained for backwards compatibility.
+char Keypad::getKey() {
+	single_key = true;
+
+	if (getKeys() && key[0].stateChanged && (key[0].kstate==PRESSED))
+		return key[0].kchar;
+	
+	single_key = false;
+
+	return NO_KEY;
+}
+
+// Populate the key list.
+bool Keypad::getKeys() {
+	bool keyActivity = false;
+
+	// Limit how often the keypad is scanned. This makes the loop() run 10 times as fast.
+	if ( (millis()-startTime)>debounceTime ) {
+		scanKeys();
+		keyActivity = updateList();
+		startTime = millis();
+	}
+
+	return keyActivity;
+}
+
+// Private : Hardware scan
+void Keypad::scanKeys() {
+	// Re-intialize the row pins. Allows sharing these pins with other hardware.
+	for (byte r=0; r<sizeKpd.rows; r++) {
+		pin_mode(rowPins[r],INPUT_PULLUP);
+	}
+
+	// bitMap stores ALL the keys that are being pressed.
+	for (byte c=0; c<sizeKpd.columns; c++) {
+		pin_mode(columnPins[c],OUTPUT);
+		pin_write(columnPins[c], LOW);	// Begin column pulse output.
+		for (byte r=0; r<sizeKpd.rows; r++) {
+			bitWrite(bitMap[r], c, !pin_read(rowPins[r]));  // keypress is active low so invert to high.
+		}
+		// Set pin to high impedance input. Effectively ends column pulse.
+		pin_write(columnPins[c],HIGH);
+		pin_mode(columnPins[c],INPUT);
+	}
+}
+
+// Manage the list without rearranging the keys. Returns true if any keys on the list changed state.
+bool Keypad::updateList() {
+
+	bool anyActivity = false;
+
+	// Delete any IDLE keys
+	for (byte i=0; i<LIST_MAX; i++) {
+		if (key[i].kstate==IDLE) {
+			key[i].kchar = NO_KEY;
+			key[i].kcode = -1;
+			key[i].stateChanged = false;
+		}
+	}
+
+	// Add new keys to empty slots in the key list.
+	for (byte r=0; r<sizeKpd.rows; r++) {
+		for (byte c=0; c<sizeKpd.columns; c++) {
+			boolean button = bitRead(bitMap[r],c);
+			char keyChar = keymap[r * sizeKpd.columns + c];
+			int keyCode = r * sizeKpd.columns + c;
+			int idx = findInList (keyCode);
+			// Key is already on the list so set its next state.
+			if (idx > -1)	{
+				nextKeyState(idx, button);
+			}
+			// Key is NOT on the list so add it.
+			if ((idx == -1) && button) {
+				for (byte i=0; i<LIST_MAX; i++) {
+					if (key[i].kchar==NO_KEY) {		// Find an empty slot or don't add key to list.
+						key[i].kchar = keyChar;
+						key[i].kcode = keyCode;
+						key[i].kstate = IDLE;		// Keys NOT on the list have an initial state of IDLE.
+						nextKeyState (i, button);
+						break;	// Don't fill all the empty slots with the same key.
+					}
+				}
+			}
+		}
+	}
+
+	// Report if the user changed the state of any key.
+	for (byte i=0; i<LIST_MAX; i++) {
+		if (key[i].stateChanged) anyActivity = true;
+	}
+
+	return anyActivity;
+}
+
+// Private
+// This function is a state machine but is also used for debouncing the keys.
+void Keypad::nextKeyState(byte idx, boolean button) {
+	key[idx].stateChanged = false;
+
+	switch (key[idx].kstate) {
+		case IDLE:
+			if (button==CLOSED) {
+				transitionTo (idx, PRESSED);
+				holdTimer = millis(); }		// Get ready for next HOLD state.
+			break;
+		case PRESSED:
+			if ((millis()-holdTimer)>holdTime)	// Waiting for a key HOLD...
+				transitionTo (idx, HOLD);
+			else if (button==OPEN)				// or for a key to be RELEASED.
+				transitionTo (idx, RELEASED);
+			break;
+		case HOLD:
+			if (button==OPEN)
+				transitionTo (idx, RELEASED);
+			break;
+		case RELEASED:
+			transitionTo (idx, IDLE);
+			break;
+	}
+}
+
+// New in 2.1
+bool Keypad::isPressed(char keyChar) {
+	for (byte i=0; i<LIST_MAX; i++) {
+		if ( key[i].kchar == keyChar ) {
+			if ( (key[i].kstate == PRESSED) && key[i].stateChanged )
+				return true;
+		}
+	}
+	return false;	// Not pressed.
+}
+
+// Search by character for a key in the list of active keys.
+// Returns -1 if not found or the index into the list of active keys.
+int Keypad::findInList (char keyChar) {
+	for (byte i=0; i<LIST_MAX; i++) {
+		if (key[i].kchar == keyChar) {
+			return i;
+		}
+	}
+	return -1;
+}
+
+// Search by code for a key in the list of active keys.
+// Returns -1 if not found or the index into the list of active keys.
+int Keypad::findInList (int keyCode) {
+	for (byte i=0; i<LIST_MAX; i++) {
+		if (key[i].kcode == keyCode) {
+			return i;
+		}
+	}
+	return -1;
+}
+
+// New in 2.0
+char Keypad::waitForKey() {
+	char waitKey = NO_KEY;
+	while( (waitKey = getKey()) == NO_KEY );	// Block everything while waiting for a keypress.
+	return waitKey;
+}
+
+// Backwards compatibility function.
+KeyState Keypad::getState() {
+	return key[0].kstate;
+}
+
+// The end user can test for any changes in state before deciding
+// if any variables, etc. needs to be updated in their code.
+bool Keypad::keyStateChanged() {
+	return key[0].stateChanged;
+}
+
+// The number of keys on the key list, key[LIST_MAX], equals the number
+// of bytes in the key list divided by the number of bytes in a Key object.
+byte Keypad::numKeys() {
+	return sizeof(key)/sizeof(Key);
+}
+
+// Minimum debounceTime is 1 mS. Any lower *will* slow down the loop().
+void Keypad::setDebounceTime(uint debounce) {
+	debounce<1 ? debounceTime=1 : debounceTime=debounce;
+}
+
+void Keypad::setHoldTime(uint hold) {
+    holdTime = hold;
+}
+
+void Keypad::addEventListener(void (*listener)(char)){
+	keypadEventListener = listener;
+}
+
+void Keypad::transitionTo(byte idx, KeyState nextState) {
+	key[idx].kstate = nextState;
+	key[idx].stateChanged = true;
+
+	// Sketch used the getKey() function.
+	// Calls keypadEventListener only when the first key in slot 0 changes state.
+	if (single_key)  {
+	  	if ( (keypadEventListener!=NULL) && (idx==0) )  {
+			keypadEventListener(key[0].kchar);
+		}
+	}
+	// Sketch used the getKeys() function.
+	// Calls keypadEventListener on any key that changes state.
+	else {
+	  	if (keypadEventListener!=NULL)  {
+			keypadEventListener(key[idx].kchar);
+		}
+	}
+}
+
+/*
+|| @changelog
+|| | 3.1 2013-01-15 - Mark Stanley     : Fixed missing RELEASED & IDLE status when using a single key.
+|| | 3.0 2012-07-12 - Mark Stanley     : Made library multi-keypress by default. (Backwards compatible)
+|| | 3.0 2012-07-12 - Mark Stanley     : Modified pin functions to support Keypad_I2C
+|| | 3.0 2012-07-12 - Stanley & Young  : Removed static variables. Fix for multiple keypad objects.
+|| | 3.0 2012-07-12 - Mark Stanley     : Fixed bug that caused shorted pins when pressing multiple keys.
+|| | 2.0 2011-12-29 - Mark Stanley     : Added waitForKey().
+|| | 2.0 2011-12-23 - Mark Stanley     : Added the public function keyStateChanged().
+|| | 2.0 2011-12-23 - Mark Stanley     : Added the private function scanKeys().
+|| | 2.0 2011-12-23 - Mark Stanley     : Moved the Finite State Machine into the function getKeyState().
+|| | 2.0 2011-12-23 - Mark Stanley     : Removed the member variable lastUdate. Not needed after rewrite.
+|| | 1.8 2011-11-21 - Mark Stanley     : Added decision logic to compile WProgram.h or Arduino.h
+|| | 1.8 2009-07-08 - Alexander Brevig : No longer uses arrays
+|| | 1.7 2009-06-18 - Alexander Brevig : Every time a state changes the keypadEventListener will trigger, if set.
+|| | 1.7 2009-06-18 - Alexander Brevig : Added setDebounceTime. setHoldTime specifies the amount of
+|| |                                          microseconds before a HOLD state triggers
+|| | 1.7 2009-06-18 - Alexander Brevig : Added transitionTo
+|| | 1.6 2009-06-15 - Alexander Brevig : Added getState() and state variable
+|| | 1.5 2009-05-19 - Alexander Brevig : Added setHoldTime()
+|| | 1.4 2009-05-15 - Alexander Brevig : Added addEventListener
+|| | 1.3 2009-05-12 - Alexander Brevig : Added lastUdate, in order to do simple debouncing
+|| | 1.2 2009-05-09 - Alexander Brevig : Changed getKey()
+|| | 1.1 2009-04-28 - Alexander Brevig : Modified API, and made variables private
+|| | 1.0 2007-XX-XX - Mark Stanley : Initial Release
+|| #
+*/
@@ -0,0 +1,68 @@
+/*
+||
+|| @file Key.h
+|| @version 1.0
+|| @author Mark Stanley
+|| @contact mstanley@technologist.com
+||
+|| @description
+|| | Key class provides an abstract definition of a key or button
+|| | and was initially designed to be used in conjunction with a
+|| | state-machine.
+|| #
+||
+|| @license
+|| | This library is free software; you can redistribute it and/or
+|| | modify it under the terms of the GNU Lesser General Public
+|| | License as published by the Free Software Foundation; version
+|| | 2.1 of the License.
+|| |
+|| | This library is distributed in the hope that it will be useful,
+|| | but WITHOUT ANY WARRANTY; without even the implied warranty of
+|| | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+|| | Lesser General Public License for more details.
+|| |
+|| | You should have received a copy of the GNU Lesser General Public
+|| | License along with this library; if not, write to the Free Software
+|| | Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+|| #
+||
+*/
+
+#ifndef Keypadlib_KEY_H_
+#define Keypadlib_KEY_H_
+
+#include <Arduino.h>
+
+#define OPEN LOW
+#define CLOSED HIGH
+
+typedef unsigned int uint;
+typedef enum{ IDLE, PRESSED, HOLD, RELEASED } KeyState;
+
+const char NO_KEY = '\0';
+
+class Key {
+public:
+	// members
+	char kchar;
+	int kcode;
+	KeyState kstate;
+	boolean stateChanged;
+
+	// methods
+	Key();
+	Key(char userKeyChar);
+	void key_update(char userKeyChar, KeyState userState, boolean userStatus);
+
+private:
+
+};
+
+#endif
+
+/*
+|| @changelog
+|| | 1.0 2012-06-04 - Mark Stanley : Initial Release
+|| #
+*/
@@ -0,0 +1,149 @@
+/*
+||
+|| @file Keypad.h
+|| @version 3.1
+|| @author Mark Stanley, Alexander Brevig
+|| @contact mstanley@technologist.com, alexanderbrevig@gmail.com
+||
+|| @description
+|| | This library provides a simple interface for using matrix
+|| | keypads. It supports multiple keypresses while maintaining
+|| | backwards compatibility with the old single key library.
+|| | It also supports user selectable pins and definable keymaps.
+|| #
+||
+|| @license
+|| | This library is free software; you can redistribute it and/or
+|| | modify it under the terms of the GNU Lesser General Public
+|| | License as published by the Free Software Foundation; version
+|| | 2.1 of the License.
+|| |
+|| | This library is distributed in the hope that it will be useful,
+|| | but WITHOUT ANY WARRANTY; without even the implied warranty of
+|| | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
+|| | Lesser General Public License for more details.
+|| |
+|| | You should have received a copy of the GNU Lesser General Public
+|| | License along with this library; if not, write to the Free Software
+|| | Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+|| #
+||
+*/
+
+#ifndef KEYPAD_H
+#define KEYPAD_H
+
+#include "Key.h"
+
+// bperrybap - Thanks for a well reasoned argument and the following macro(s).
+// See http://arduino.cc/forum/index.php/topic,142041.msg1069480.html#msg1069480
+#ifndef INPUT_PULLUP
+#warning "Using  pinMode() INPUT_PULLUP AVR emulation"
+#define INPUT_PULLUP 0x2
+#define pinMode(_pin, _mode) _mypinMode(_pin, _mode)
+#define _mypinMode(_pin, _mode)  \
+do {							 \
+	if(_mode == INPUT_PULLUP)	 \
+		pinMode(_pin, INPUT);	 \
+		digitalWrite(_pin, 1);	 \
+	if(_mode != INPUT_PULLUP)	 \
+		pinMode(_pin, _mode);	 \
+}while(0)
+#endif
+
+
+#define OPEN LOW
+#define CLOSED HIGH
+
+typedef char KeypadEvent;
+typedef unsigned int uint;
+typedef unsigned long ulong;
+
+// Made changes according to this post http://arduino.cc/forum/index.php?topic=58337.0
+// by Nick Gammon. Thanks for the input Nick. It actually saved 78 bytes for me. :)
+typedef struct {
+    byte rows;
+    byte columns;
+} KeypadSize;
+
+#define LIST_MAX 10		// Max number of keys on the active list.
+#define MAPSIZE 10		// MAPSIZE is the number of rows (times 16 columns)
+#define makeKeymap(x) ((char*)x)
+
+
+//class Keypad : public Key, public HAL_obj {
+class Keypad : public Key {
+public:
+
+	Keypad(char *userKeymap, byte *row, byte *col, byte numRows, byte numCols);
+
+	virtual void pin_mode(byte pinNum, byte mode) { pinMode(pinNum, mode); }
+	virtual void pin_write(byte pinNum, boolean level) { digitalWrite(pinNum, level); }
+	virtual int  pin_read(byte pinNum) { return digitalRead(pinNum); }
+
+	uint bitMap[MAPSIZE];	// 10 row x 16 column array of bits. Except Due which has 32 columns.
+	Key key[LIST_MAX];
+	unsigned long holdTimer;
+
+	char getKey();
+	bool getKeys();
+	KeyState getState();
+	void begin(char *userKeymap);
+	bool isPressed(char keyChar);
+	void setDebounceTime(uint);
+	void setHoldTime(uint);
+	void addEventListener(void (*listener)(char));
+	int findInList(char keyChar);
+	int findInList(int keyCode);
+	char waitForKey();
+	bool keyStateChanged();
+	byte numKeys();
+
+private:
+	unsigned long startTime;
+	char *keymap;
+    byte *rowPins;
+    byte *columnPins;
+	KeypadSize sizeKpd;
+	uint debounceTime;
+	uint holdTime;
+	bool single_key;
+
+	void scanKeys();
+	bool updateList();
+	void nextKeyState(byte n, boolean button);
+	void transitionTo(byte n, KeyState nextState);
+	void (*keypadEventListener)(char);
+};
+
+#endif
+
+/*
+|| @changelog
+|| | 3.1 2013-01-15 - Mark Stanley     : Fixed missing RELEASED & IDLE status when using a single key.
+|| | 3.0 2012-07-12 - Mark Stanley     : Made library multi-keypress by default. (Backwards compatible)
+|| | 3.0 2012-07-12 - Mark Stanley     : Modified pin functions to support Keypad_I2C
+|| | 3.0 2012-07-12 - Stanley & Young  : Removed static variables. Fix for multiple keypad objects.
+|| | 3.0 2012-07-12 - Mark Stanley     : Fixed bug that caused shorted pins when pressing multiple keys.
+|| | 2.0 2011-12-29 - Mark Stanley     : Added waitForKey().
+|| | 2.0 2011-12-23 - Mark Stanley     : Added the public function keyStateChanged().
+|| | 2.0 2011-12-23 - Mark Stanley     : Added the private function scanKeys().
+|| | 2.0 2011-12-23 - Mark Stanley     : Moved the Finite State Machine into the function getKeyState().
+|| | 2.0 2011-12-23 - Mark Stanley     : Removed the member variable lastUdate. Not needed after rewrite.
+|| | 1.8 2011-11-21 - Mark Stanley     : Added test to determine which header file to compile,
+|| |                                          WProgram.h or Arduino.h.
+|| | 1.8 2009-07-08 - Alexander Brevig : No longer uses arrays
+|| | 1.7 2009-06-18 - Alexander Brevig : This library is a Finite State Machine every time a state changes
+|| |                                          the keypadEventListener will trigger, if set
+|| | 1.7 2009-06-18 - Alexander Brevig : Added setDebounceTime setHoldTime specifies the amount of
+|| |                                          microseconds before a HOLD state triggers
+|| | 1.7 2009-06-18 - Alexander Brevig : Added transitionTo
+|| | 1.6 2009-06-15 - Alexander Brevig : Added getState() and state variable
+|| | 1.5 2009-05-19 - Alexander Brevig : Added setHoldTime()
+|| | 1.4 2009-05-15 - Alexander Brevig : Added addEventListener
+|| | 1.3 2009-05-12 - Alexander Brevig : Added lastUdate, in order to do simple debouncing
+|| | 1.2 2009-05-09 - Alexander Brevig : Changed getKey()
+|| | 1.1 2009-04-28 - Alexander Brevig : Modified API, and made variables private
+|| | 1.0 2007-XX-XX - Mark Stanley : Initial Release
+|| #
+*/
@@ -0,0 +1,332 @@
+// Based on the work by DFRobot
+
+#include "LiquidCrystal_I2C.h"
+#include <inttypes.h>
+#if defined(ARDUINO) && ARDUINO >= 100
+
+#include "Arduino.h"
+
+#define printIIC(args)	Wire.write(args)
+inline size_t LiquidCrystal_I2C::write(uint8_t value) {
+	send(value, Rs);
+	return 1;
+}
+
+#else
+#include "WProgram.h"
+
+#define printIIC(args)	Wire.send(args)
+inline void LiquidCrystal_I2C::write(uint8_t value) {
+	send(value, Rs);
+}
+
+#endif
+#include "Wire.h"
+
+
+
+// When the display powers up, it is configured as follows:
+//
+// 1. Display clear
+// 2. Function set: 
+//    DL = 1; 8-bit interface data 
+//    N = 0; 1-line display 
+//    F = 0; 5x8 dot character font 
+// 3. Display on/off control: 
+//    D = 0; Display off 
+//    C = 0; Cursor off 
+//    B = 0; Blinking off 
+// 4. Entry mode set: 
+//    I/D = 1; Increment by 1
+//    S = 0; No shift 
+//
+// Note, however, that resetting the Arduino doesn't reset the LCD, so we
+// can't assume that its in that state when a sketch starts (and the
+// LiquidCrystal constructor is called).
+
+LiquidCrystal_I2C::LiquidCrystal_I2C(uint8_t lcd_Addr,uint8_t lcd_cols,uint8_t lcd_rows)
+{
+  _Addr = lcd_Addr;
+  _cols = lcd_cols;
+  _rows = lcd_rows;
+  _backlightval = LCD_NOBACKLIGHT;
+}
+
+void LiquidCrystal_I2C::oled_init(){
+  _oled = true;
+	init_priv();
+}
+
+void LiquidCrystal_I2C::init(){
+	init_priv();
+}
+
+void LiquidCrystal_I2C::init_priv()
+{
+	Wire.begin();
+	_displayfunction = LCD_4BITMODE | LCD_1LINE | LCD_5x8DOTS;
+	begin(_cols, _rows);  
+}
+
+void LiquidCrystal_I2C::begin(uint8_t cols, uint8_t lines, uint8_t dotsize) {
+	if (lines > 1) {
+		_displayfunction |= LCD_2LINE;
+	}
+	_numlines = lines;
+
+	// for some 1 line displays you can select a 10 pixel high font
+	if ((dotsize != 0) && (lines == 1)) {
+		_displayfunction |= LCD_5x10DOTS;
+	}
+
+	// SEE PAGE 45/46 FOR INITIALIZATION SPECIFICATION!
+	// according to datasheet, we need at least 40ms after power rises above 2.7V
+	// before sending commands. Arduino can turn on way befer 4.5V so we'll wait 50
+	delay(50); 
+  
+	// Now we pull both RS and R/W low to begin commands
+	expanderWrite(_backlightval);	// reset expanderand turn backlight off (Bit 8 =1)
+	delay(1000);
+
+  	//put the LCD into 4 bit mode
+	// this is according to the hitachi HD44780 datasheet
+	// figure 24, pg 46
+	
+	  // we start in 8bit mode, try to set 4 bit mode
+   write4bits(0x03 << 4);
+   delayMicroseconds(4500); // wait min 4.1ms
+   
+   // second try
+   write4bits(0x03 << 4);
+   delayMicroseconds(4500); // wait min 4.1ms
+   
+   // third go!
+   write4bits(0x03 << 4); 
+   delayMicroseconds(150);
+   
+   // finally, set to 4-bit interface
+   write4bits(0x02 << 4); 
+
+
+	// set # lines, font size, etc.
+	command(LCD_FUNCTIONSET | _displayfunction);  
+	
+	// turn the display on with no cursor or blinking default
+	_displaycontrol = LCD_DISPLAYON | LCD_CURSOROFF | LCD_BLINKOFF;
+	display();
+	
+	// clear it off
+	clear();
+	
+	// Initialize to default text direction (for roman languages)
+	_displaymode = LCD_ENTRYLEFT | LCD_ENTRYSHIFTDECREMENT;
+	
+	// set the entry mode
+	command(LCD_ENTRYMODESET | _displaymode);
+	
+	home();
+  
+}
+
+/********** high level commands, for the user! */
+void LiquidCrystal_I2C::clear(){
+	command(LCD_CLEARDISPLAY);// clear display, set cursor position to zero
+	delayMicroseconds(2000);  // this command takes a long time!
+  if (_oled) setCursor(0,0);
+}
+
+void LiquidCrystal_I2C::home(){
+	command(LCD_RETURNHOME);  // set cursor position to zero
+	delayMicroseconds(2000);  // this command takes a long time!
+}
+
+void LiquidCrystal_I2C::setCursor(uint8_t col, uint8_t row){
+	int row_offsets[] = { 0x00, 0x40, 0x14, 0x54 };
+	if ( row > _numlines ) {
+		row = _numlines-1;    // we count rows starting w/0
+	}
+	command(LCD_SETDDRAMADDR | (col + row_offsets[row]));
+}
+
+// Turn the display on/off (quickly)
+void LiquidCrystal_I2C::noDisplay() {
+	_displaycontrol &= ~LCD_DISPLAYON;
+	command(LCD_DISPLAYCONTROL | _displaycontrol);
+}
+void LiquidCrystal_I2C::display() {
+	_displaycontrol |= LCD_DISPLAYON;
+	command(LCD_DISPLAYCONTROL | _displaycontrol);
+}
+
+// Turns the underline cursor on/off
+void LiquidCrystal_I2C::noCursor() {
+	_displaycontrol &= ~LCD_CURSORON;
+	command(LCD_DISPLAYCONTROL | _displaycontrol);
+}
+void LiquidCrystal_I2C::cursor() {
+	_displaycontrol |= LCD_CURSORON;
+	command(LCD_DISPLAYCONTROL | _displaycontrol);
+}
+
+// Turn on and off the blinking cursor
+void LiquidCrystal_I2C::noBlink() {
+	_displaycontrol &= ~LCD_BLINKON;
+	command(LCD_DISPLAYCONTROL | _displaycontrol);
+}
+void LiquidCrystal_I2C::blink() {
+	_displaycontrol |= LCD_BLINKON;
+	command(LCD_DISPLAYCONTROL | _displaycontrol);
+}
+
+// These commands scroll the display without changing the RAM
+void LiquidCrystal_I2C::scrollDisplayLeft(void) {
+	command(LCD_CURSORSHIFT | LCD_DISPLAYMOVE | LCD_MOVELEFT);
+}
+void LiquidCrystal_I2C::scrollDisplayRight(void) {
+	command(LCD_CURSORSHIFT | LCD_DISPLAYMOVE | LCD_MOVERIGHT);
+}
+
+// This is for text that flows Left to Right
+void LiquidCrystal_I2C::leftToRight(void) {
+	_displaymode |= LCD_ENTRYLEFT;
+	command(LCD_ENTRYMODESET | _displaymode);
+}
+
+// This is for text that flows Right to Left
+void LiquidCrystal_I2C::rightToLeft(void) {
+	_displaymode &= ~LCD_ENTRYLEFT;
+	command(LCD_ENTRYMODESET | _displaymode);
+}
+
+// This will 'right justify' text from the cursor
+void LiquidCrystal_I2C::autoscroll(void) {
+	_displaymode |= LCD_ENTRYSHIFTINCREMENT;
+	command(LCD_ENTRYMODESET | _displaymode);
+}
+
+// This will 'left justify' text from the cursor
+void LiquidCrystal_I2C::noAutoscroll(void) {
+	_displaymode &= ~LCD_ENTRYSHIFTINCREMENT;
+	command(LCD_ENTRYMODESET | _displaymode);
+}
+
+// Allows us to fill the first 8 CGRAM locations
+// with custom characters
+void LiquidCrystal_I2C::createChar(uint8_t location, uint8_t charmap[]) {
+	location &= 0x7; // we only have 8 locations 0-7
+	command(LCD_SETCGRAMADDR | (location << 3));
+	for (int i=0; i<8; i++) {
+		write(charmap[i]);
+	}
+}
+
+//createChar with PROGMEM input
+void LiquidCrystal_I2C::createChar(uint8_t location, const char *charmap) {
+	location &= 0x7; // we only have 8 locations 0-7
+	command(LCD_SETCGRAMADDR | (location << 3));
+	for (int i=0; i<8; i++) {
+	    	write(pgm_read_byte_near(charmap++));
+	}
+}
+
+// Turn the (optional) backlight off/on
+void LiquidCrystal_I2C::noBacklight(void) {
+	_backlightval=LCD_NOBACKLIGHT;
+	expanderWrite(0);
+}
+
+void LiquidCrystal_I2C::backlight(void) {
+	_backlightval=LCD_BACKLIGHT;
+	expanderWrite(0);
+}
+
+
+
+/*********** mid level commands, for sending data/cmds */
+
+inline void LiquidCrystal_I2C::command(uint8_t value) {
+	send(value, 0);
+}
+
+
+/************ low level data pushing commands **********/
+
+// write either command or data
+void LiquidCrystal_I2C::send(uint8_t value, uint8_t mode) {
+	uint8_t highnib=value&0xf0;
+	uint8_t lownib=(value<<4)&0xf0;
+       write4bits((highnib)|mode);
+	write4bits((lownib)|mode); 
+}
+
+void LiquidCrystal_I2C::write4bits(uint8_t value) {
+	expanderWrite(value);
+	pulseEnable(value);
+}
+
+void LiquidCrystal_I2C::expanderWrite(uint8_t _data){                                        
+	Wire.beginTransmission(_Addr);
+	printIIC((int)(_data) | _backlightval);
+	Wire.endTransmission();   
+}
+
+void LiquidCrystal_I2C::pulseEnable(uint8_t _data){
+	expanderWrite(_data | En);	// En high
+	delayMicroseconds(1);		// enable pulse must be >450ns
+	
+	expanderWrite(_data & ~En);	// En low
+	delayMicroseconds(50);		// commands need > 37us to settle
+} 
+
+
+// Alias functions
+
+void LiquidCrystal_I2C::cursor_on(){
+	cursor();
+}
+
+void LiquidCrystal_I2C::cursor_off(){
+	noCursor();
+}
+
+void LiquidCrystal_I2C::blink_on(){
+	blink();
+}
+
+void LiquidCrystal_I2C::blink_off(){
+	noBlink();
+}
+
+void LiquidCrystal_I2C::load_custom_character(uint8_t char_num, uint8_t *rows){
+		createChar(char_num, rows);
+}
+
+void LiquidCrystal_I2C::setBacklight(uint8_t new_val){
+	if(new_val){
+		backlight();		// turn backlight on
+	}else{
+		noBacklight();		// turn backlight off
+	}
+}
+
+void LiquidCrystal_I2C::printstr(const char c[]){
+	//This function is not identical to the function used for "real" I2C displays
+	//it's here so the user sketch doesn't have to be changed 
+	print(c);
+}
+
+
+// unsupported API functions
+#pragma GCC diagnostic push
+#pragma GCC diagnostic ignored "-Wunused-parameter"
+void LiquidCrystal_I2C::off(){}
+void LiquidCrystal_I2C::on(){}
+void LiquidCrystal_I2C::setDelay (int cmdDelay,int charDelay) {}
+uint8_t LiquidCrystal_I2C::status(){return 0;}
+uint8_t LiquidCrystal_I2C::keypad (){return 0;}
+uint8_t LiquidCrystal_I2C::init_bargraph(uint8_t graphtype){return 0;}
+void LiquidCrystal_I2C::draw_horizontal_graph(uint8_t row, uint8_t column, uint8_t len,  uint8_t pixel_col_end){}
+void LiquidCrystal_I2C::draw_vertical_graph(uint8_t row, uint8_t column, uint8_t len,  uint8_t pixel_row_end){}
+void LiquidCrystal_I2C::setContrast(uint8_t new_val){}
+#pragma GCC diagnostic pop
+	
@@ -0,0 +1,131 @@
+//YWROBOT
+#ifndef LiquidCrystal_I2C_h
+#define LiquidCrystal_I2C_h
+
+#include <inttypes.h>
+#include "Print.h" 
+#include <Wire.h>
+
+// commands
+#define LCD_CLEARDISPLAY 0x01
+#define LCD_RETURNHOME 0x02
+#define LCD_ENTRYMODESET 0x04
+#define LCD_DISPLAYCONTROL 0x08
+#define LCD_CURSORSHIFT 0x10
+#define LCD_FUNCTIONSET 0x20
+#define LCD_SETCGRAMADDR 0x40
+#define LCD_SETDDRAMADDR 0x80
+
+// flags for display entry mode
+#define LCD_ENTRYRIGHT 0x00
+#define LCD_ENTRYLEFT 0x02
+#define LCD_ENTRYSHIFTINCREMENT 0x01
+#define LCD_ENTRYSHIFTDECREMENT 0x00
+
+// flags for display on/off control
+#define LCD_DISPLAYON 0x04
+#define LCD_DISPLAYOFF 0x00
+#define LCD_CURSORON 0x02
+#define LCD_CURSOROFF 0x00
+#define LCD_BLINKON 0x01
+#define LCD_BLINKOFF 0x00
+
+// flags for display/cursor shift
+#define LCD_DISPLAYMOVE 0x08
+#define LCD_CURSORMOVE 0x00
+#define LCD_MOVERIGHT 0x04
+#define LCD_MOVELEFT 0x00
+
+// flags for function set
+#define LCD_8BITMODE 0x10
+#define LCD_4BITMODE 0x00
+#define LCD_2LINE 0x08
+#define LCD_1LINE 0x00
+#define LCD_5x10DOTS 0x04
+#define LCD_5x8DOTS 0x00
+
+// flags for backlight control
+#define LCD_BACKLIGHT 0x08
+#define LCD_NOBACKLIGHT 0x00
+
+#define En B00000100  // Enable bit
+#define Rw B00000010  // Read/Write bit
+#define Rs B00000001  // Register select bit
+
+class LiquidCrystal_I2C : public Print {
+public:
+  LiquidCrystal_I2C(uint8_t lcd_Addr,uint8_t lcd_cols,uint8_t lcd_rows);
+  void begin(uint8_t cols, uint8_t rows, uint8_t charsize = LCD_5x8DOTS );
+  void clear();
+  void home();
+  void noDisplay();
+  void display();
+  void noBlink();
+  void blink();
+  void noCursor();
+  void cursor();
+  void scrollDisplayLeft();
+  void scrollDisplayRight();
+  void printLeft();
+  void printRight();
+  void leftToRight();
+  void rightToLeft();
+  void shiftIncrement();
+  void shiftDecrement();
+  void noBacklight();
+  void backlight();
+  void autoscroll();
+  void noAutoscroll(); 
+  void createChar(uint8_t, uint8_t[]);
+  void createChar(uint8_t location, const char *charmap);
+  // Example: 	const char bell[8] PROGMEM = {B00100,B01110,B01110,B01110,B11111,B00000,B00100,B00000};
+  
+  void setCursor(uint8_t, uint8_t); 
+#if defined(ARDUINO) && ARDUINO >= 100
+  virtual size_t write(uint8_t);
+#else
+  virtual void write(uint8_t);
+#endif
+  void command(uint8_t);
+  void init();
+  void oled_init();
+
+////compatibility API function aliases
+void blink_on();						// alias for blink()
+void blink_off();       					// alias for noBlink()
+void cursor_on();      	 					// alias for cursor()
+void cursor_off();      					// alias for noCursor()
+void setBacklight(uint8_t new_val);				// alias for backlight() and nobacklight()
+void load_custom_character(uint8_t char_num, uint8_t *rows);	// alias for createChar()
+void printstr(const char[]);
+
+////Unsupported API functions (not implemented in this library)
+uint8_t status();
+void setContrast(uint8_t new_val);
+uint8_t keypad();
+void setDelay(int,int);
+void on();
+void off();
+uint8_t init_bargraph(uint8_t graphtype);
+void draw_horizontal_graph(uint8_t row, uint8_t column, uint8_t len,  uint8_t pixel_col_end);
+void draw_vertical_graph(uint8_t row, uint8_t column, uint8_t len,  uint8_t pixel_col_end);
+	 
+
+private:
+  void init_priv();
+  void send(uint8_t, uint8_t);
+  void write4bits(uint8_t);
+  void expanderWrite(uint8_t);
+  void pulseEnable(uint8_t);
+  uint8_t _Addr;
+  uint8_t _displayfunction;
+  uint8_t _displaycontrol;
+  uint8_t _displaymode;
+  uint8_t _numlines;
+  bool _oled = false;
+  uint8_t _cols;
+  uint8_t _rows;
+  uint8_t _backlightval;
+};
+
+#endif
@@ -3,3 +3,8 @@ Vendored Arduino libraries for P05 WROOM HAL only (not used on S3).
 - AccelStepper 1.64 (waspinator)
 - OneWire 2.3.8 (PaulStoffregen)
 - DallasTemperature 3.9.1 (milesburton; PIO listed 3.11.0 which is not tagged upstream)
+
+P06 WROOM UI:
+
+- Keypad 3.1.1 (chris--a / Mark Stanley)
+- LiquidCrystal_I2C (johnrickman / marcoschwartz 1.1.x API)
@@ -44,6 +44,8 @@ From `include/config.h` and `src/config.cpp`:

 Motor constants: `STEPS_PER_REV = 4800`, `RPM = 60`, acceleration `9600`. Enable is driven HIGH at boot (disabled).

+Note — S3 panel (JC4827W543C) pin lock via `board_jc4827w543` accessors: motor EN 7 / STEP 16 / DIR 15 on header P3 (IO6/7/15/16), DS18B20 on 17 on header P4 (GND/3V3/17/18, UART1 unused), speaker amp I2S BCLK 42 / LRCLK 2 / DIN 41 (P7 Speak). Header P2 carries IO46/9/14/5 and is left unused (IO46 is input-only).
+
 Keypad map (5×4):

 ```
@@ -0,0 +1,174 @@
+# JC4827W543 pin audit
+
+Comparison of the GPIO assignments in this tree against the vendor
+documentation at <https://github.com/lsdlsd88/JC4827W543> (GUITION
+factory docs: spec PDF, IO pin distribution xlsx, Arduino demos).
+
+Board variants: `JC4827W543N` (no touch), `...R` (resistive XPT2046),
+`...C` (capacitive GT911). Ours is the **C** model.
+
+## 1. Vendor-documented pin allocation (authoritative)
+
+From `5-IO pin distribution/4.3 inches IO pin distribution.xlsx`,
+cross-checked against the demo sketches
+(`1-Demo/Demo_Arduino/3_3-*` and `4_*`):
+
+| GPIO | Vendor function | Notes |
+| --- | --- | --- |
+| 0 | BOOT button | also wired to `LCD_TE` |
+| 1 | `BL_CTRL` | LCD backlight |
+| 2 | `SPECK_LRCLK` | onboard speaker amp I2S WS |
+| 3 | `CTP_INT` / `RTP_IRQ` | touch interrupt (both models) |
+| 4 | `CTP_SCL` | GT911 I2C SCL |
+| 5 | free | |
+| 6 | free | |
+| 7 | free | |
+| 8 | `CTP_SDA` | GT911 I2C SDA |
+| 9 | free | |
+| 10 | `TF_CS` | microSD slot |
+| 11 | `RTP_DIN` / `TF_MISO` | shared SPI: resistive touch / SD |
+| 12 | `RTP_CLK` / `TF_CLK` | shared SPI |
+| 13 | `RTP_DIO` / `TF_MOSI` | shared SPI |
+| 14 | free | |
+| 15 | free | exposed on header (P2/P3 area) |
+| 16 | free | exposed on header; used by vendor LED demo |
+| 17 | `U1TXD` | UART1 header (P5), usable if UART1 unused |
+| 18 | `U1RXD` | UART1 header (P5), usable if UART1 unused |
+| 19 | `USB+` | USB D+ |
+| 20 | `USB-` | USB D- |
+| 21 | `LCD_A0` | QSPI data 0 |
+| 22–25 | — | do not exist on ESP32-S3 |
+| 26–34 | — | flash/PSRAM or non-existent |
+| 35 | not available | octal PSRAM (xlsx marks explicitly) |
+| 36, 37 | free per xlsx | **but** consumed by octal PSRAM on N8R8/R8 modules — treat as unavailable until module variant confirmed |
+| 38 | `RTP_CS` (resistive model) | on the **C** model this is the GT911 reset line — see §3 |
+| 39 | `LCD_A3` | QSPI data 3 |
+| 40 | `LCD_A2` | QSPI data 2 |
+| 41 | `SPECK_DIN` | speaker amp I2S data in |
+| 42 | `SPECK_BCLK` | speaker amp I2S BCLK |
+| 43 | `U0TXD` | console |
+| 44 | `U0RXD` | console |
+| 45 | `LCD_CS` | QSPI chip select |
+| 46 | free per xlsx | strapping pin (`LOG`); output-only-ish, use with care |
+| 47 | `LCD_CLK` | QSPI clock |
+| 48 | `LCD_A1` | QSPI data 1 |
+
+The board carries an onboard I2S speaker amplifier (datasheets for
+NS4168 / AX9835 ship in `4-Driver_IC_Data_Sheet`), a `Speak` connector
+(P7), `BAT` connector (P6), TF slot, UART0 console, UART1 header and a
+scattering of free-IO headers (P2–P5: GPIO 15, 16, 17, 18 visible on
+the structure diagram). Vendor demos drive LEDs on GPIO 16/17 and a
+DHT11 on GPIO 27 — note GPIO 27 is **not** in the vendor pin table,
+so that demo value is suspect/generic.
+
+## 2. What the code assigns today
+
+### `board_jc4827w543` (`components/board_jc4827w543/board.c`)
+
+| Signal | Code GPIO | Vendor | Match |
+| --- | --- | --- | --- |
+| LCD CS | 45 | 45 `LCD_CS` | yes |
+| LCD SCK | 47 | 47 `LCD_CLK` | yes |
+| LCD D0 | 21 | 21 `LCD_A0` | yes |
+| LCD D1 | 48 | 48 `LCD_A1` | yes |
+| LCD D2 | 40 | 40 `LCD_A2` | yes |
+| LCD D3 | 39 | 39 `LCD_A3` | yes |
+| LCD BL | 1 | 1 `BL_CTRL` | yes |
+| TP SDA | 8 | 8 `CTP_SDA` | yes |
+| TP SCL | 4 | 4 `CTP_SCL` | yes |
+| TP INT | 3 | 3 `CTP_INT` | yes |
+| TP RST | 38 | 38 (demo: `TOUCH_RES 38`) | yes — see §3 |
+| Motor EN | `GPIO_NUM_NC` | n/a | deliberately unassigned |
+
+### `hal_display_nv3041a.c`
+
+Driver **NV3041A** over QSPI via `esp_lcd` SPI host, 480×272, quad
+mode, 40 MHz. Matches the vendor demo
+(`Arduino_ESP32QSPI(45,47,21,48,40,39)` + `Arduino_NV3041A`,
+`Arduino_Canvas(480,272)`).
+
+Caveat: the spec sheet PDF lists the driver chip as "ST3401A" — that
+string appears nowhere else; every demo and the burn files use
+NV3041A. Treat the PDF label as a typo.
+
+### `hal_input_gt911.c`
+
+GT911 at I2C addr `0x5D` (`GT911_SLAVE_ADDRESS1` in the vendor
+`touch.h`), I2C_NUM_0 @ 400 kHz on SDA 8 / SCL 4. Reset sequence
+(drive INT low, pulse RST, release INT to input) selects the 0x5D
+address per the GT911 datasheet — matches the vendor demo's
+`TOUCH_RES 38` / `TOUCH_INT 3` wiring.
+
+### `board_wroom` + `hal_*` (classic ESP32, unchanged)
+
+| Signal | GPIO | Source |
+| --- | --- | --- |
+| Stepper STEP | 12 | `config.h`, `hal_motor.c` |
+| Stepper DIR | 14 | `config.h`, `hal_motor.c` |
+| Stepper EN (active LOW) | 27 | `config.h`, `hal_motor.c`, `board_wroom` |
+| DS18B20 | 13 | `config.h`, `hal_temp.c` |
+| Beeper | 25 | `config.cpp`, `hal_audio.c` |
+| LCD 2004 I2C | SDA 21 / SCL 22, addr 0x27 | `config.cpp`, `hal_display_lcd2004.c` |
+| Keypad rows | 19, 18, 5, 17, 16 | `config.cpp`, `hal_input_keypad.c` |
+| Keypad cols | 15, 2, 0, 4 | `config.cpp`, `hal_input_keypad.c` |
+
+Self-consistent with `docs/CURRENT_STATE.md`. Not related to the S3
+panel.
+
+## 3. Findings / discrepancies
+
+1. **Display and touch pins are all correct.** Every QSPI, backlight
+   and GT911 pin in `board_jc4827w543/board.c` matches both the
+   vendor xlsx and the vendor Arduino demos. No changes needed.
+
+2. **TP_RST on GPIO 38 is undocumented for the C model.** The xlsx
+   labels IO38 `RTP_CS` (its resistive-touch function). The capacitive
+   demos (`LvglWidgets/touch.h`) set `TOUCH_RES 38`, so on the C
+   variant IO38 is clearly the GT911 reset. Our code is right, but the
+   vendor table alone would not tell you that — the demo code is the
+   authority here.
+
+3. **Motor EN/STEP/DIR are unassigned on the S3 board** (`GPIO_NUM_NC`
+   in `board.c`). Correct call — but usable free pins do exist.
+   Candidates from the vendor table + headers:
+   - Safest (plain free, on headers): **15, 16** and UART1 header
+     **17, 18** if UART1 is unused.
+   - Free in xlsx but not obviously headered: **5, 6, 7, 9, 14**.
+   - **Avoid**: 0 (BOOT/LCD_TE), 1–4/8 (LCD+touch+speaker), 10–13
+     (TF/RTP SPI), 19/20 (USB), 21 (LCD D0), 35–37 (octal PSRAM),
+     38–48 (used/strapping), 43/44 (console).
+   - GPIO 46 is xlsx-free but is a strapping pin — last resort only.
+   - Octal PSRAM (`sdkconfig.s3`: `CONFIG_SPIRAM_MODE_OCT=y`) means
+     33–37 are off-limits even though the xlsx only flags 35.
+
+4. **Audio on S3 should use I2S, not a beeper GPIO.** The board has a
+     speaker amp on IO2 (LRCLK), IO41 (DIN), IO42 (BCLK) — P7 `Speak`
+     connector. `hal_audio` currently builds the LEDC buzzer only for
+     esp32 and a stub elsewhere; an S3 implementation should drive
+     I2S on those pins rather than allocating a GPIO.
+
+5. **DS18B20 on S3 needs one free GPIO** (any of §3's candidates; it
+   only needs input+open-drain drive). Hal currently stubs temp on
+   non-esp32.
+
+6. **Reserved/bus-shared notes**: GPIO 0 carries `LCD_TE` in addition
+   to BOOT — do not use it for anything else. TF card SPI (10–13) is
+   shared with resistive-touch signals on R models; on our C model
+   it's purely the SD slot.
+
+7. **No conflicts found** between the code's S3 selections and the
+   vendor map — every consumed pin is one the vendor assigns to that
+   same function.
+
+## Suggested motor wiring (for when S3 motor support lands)
+
+| Signal | Suggested GPIO | Rationale |
+| --- | --- | --- |
+| STEP | 16 | free, on header, no boot function |
+| DIR | 15 | free, on header |
+| EN (active LOW) | 17 or 18 | UART1 header; free if UART1 unused |
+| DS18B20 | 9 or 14 | free, any GPIO works |
+
+If UART1 is wanted for something else, use 5/6/7 for EN/temp instead.
+Keep motor EN's disable-first behaviour (drive inactive at boot before
+enabling output mode) whatever pins are chosen.
@@ -0,0 +1,14 @@
+# JC4827W543 pin audit - ERRATA
+
+*Based on verification against the official vendor repository at <https://github.com/lsdlsd88/JC4827W543>.*
+
+**No errors were found in the original `JC4827W543_PIN_AUDIT.md` document.**
+
+### Verification Notes:
+- **Vendor IO pin distribution:** The `4.3 inches IO pin distribution.xlsx` file perfectly matches the pinout matrix in the audit document (e.g., IO45 for LCD_CS, IO47 for LCD_CLK, etc., and SPECK_LRCLK / SPECK_DIN / SPECK_BCLK correctly documented as I2S lines).
+- **Display Configuration:** `Arduino_ESP32QSPI` code in `LvglWidgets.ino` verifies the QSPI display pins as `CS:45, SCK:47, D0:21, D1:48, D2:40, D3:39` matching the audit exactly.
+- **Touch Controller:** Capacitive GT911 configuration uses `TOUCH_SDA = 8`, `TOUCH_SCL = 4`, `TOUCH_RES = 38`, `TOUCH_INT = 3` which aligns with the undocumented `RTP_CS (38)` being effectively co-opted for capacitive reset, confirming the finding in the original document.
+- **Demos:** The DHT11 demo at `1-Demo/Demo_Arduino/4_9_WIFI Web Servers DHT11` indeed uses `GPIO 27`, and the `4_7_WIFI Web Servers LED` demo uses `GPIO 16/17`. These assignments are generic demo choices as noted in the original document and correctly do not conflict with the board specifications.
+- **Proposed GPIOs:** The suggested GPIOs for motor control (`16`, `15`, `17`, `18`, `9`, `14`, `5`, `6`, `7`) are correctly identified as free based on the schematic and code.
+
+The original document is factually sound and can be completely trusted as the authoritative reference for this project.
@@ -0,0 +1,184 @@
+# JC4827W543 pin audit
+
+Comparison of the GPIO assignments in this tree against the vendor
+documentation at <https://github.com/lsdlsd88/JC4827W543> (GUITION
+factory docs: spec PDF, IO pin distribution xlsx, Arduino demos).
+
+Board variants: `JC4827W543N` (no touch), `...R` (resistive XPT2046),
+`...C` (capacitive GT911). Ours is the **C** model.
+
+## 1. Vendor-documented pin allocation (authoritative)
+
+From `5-IO pin distribution/4.3 inches IO pin distribution.xlsx`,
+cross-checked against the demo sketches
+(`1-Demo/Demo_Arduino/3_3-*` and `4_*`):
+
+| GPIO | Vendor function | Notes |
+| --- | --- | --- |
+| 0 | BOOT button | also wired to `LCD_TE` |
+| 1 | `BL_CTRL` | LCD backlight |
+| 2 | `SPECK_LRCLK` | onboard speaker amp I2S WS |
+| 3 | `CTP_INT` / `RTP_IRQ` | touch interrupt (both models) |
+| 4 | `CTP_SCL` | GT911 I2C SCL |
+| 5 | free | P2 header (IO46/9/14/5) |
+| 6 | free | P3 header (IO6/7/15/16) |
+| 7 | free | P3 header (IO6/7/15/16) |
+| 8 | `CTP_SDA` | GT911 I2C SDA |
+| 9 | free | P2 header (IO46/9/14/5) |
+| 10 | `TF_CS` | microSD slot |
+| 11 | `RTP_DIN` / `TF_MISO` | shared SPI: resistive touch / SD |
+| 12 | `RTP_CLK` / `TF_CLK` | shared SPI |
+| 13 | `RTP_DIO` / `TF_MOSI` | shared SPI |
+| 14 | free | P2 header (IO46/9/14/5) |
+| 15 | free | P3 header (IO6/7/15/16) |
+| 16 | free | P3 header (IO6/7/15/16); used by vendor LED demo |
+| 17 | `U1TXD` | P4 header (GND/3V3/17/18), usable if UART1 unused |
+| 18 | `U1RXD` | P4 header (GND/3V3/17/18), usable if UART1 unused |
+| 19 | `USB+` | USB D+ |
+| 20 | `USB-` | USB D- |
+| 21 | `LCD_A0` | QSPI data 0 |
+| 22–25 | — | do not exist on ESP32-S3 |
+| 26–34 | — | flash/PSRAM or non-existent |
+| 35 | not available | octal PSRAM (xlsx marks explicitly) |
+| 36, 37 | free per xlsx | **but** consumed by octal PSRAM on N8R8/R8 modules — treat as unavailable until module variant confirmed |
+| 38 | `RTP_CS` (resistive model) | on the **C** model this is the GT911 reset line — see §3 |
+| 39 | `LCD_A3` | QSPI data 3 |
+| 40 | `LCD_A2` | QSPI data 2 |
+| 41 | `SPECK_DIN` | speaker amp I2S data in |
+| 42 | `SPECK_BCLK` | speaker amp I2S BCLK |
+| 43 | `U0TXD` | console |
+| 44 | `U0RXD` | console |
+| 45 | `LCD_CS` | QSPI chip select |
+| 46 | free per xlsx | P2 header; strapping pin (`LOG`), **input-only** on ESP32-S3 — never an output |
+| 47 | `LCD_CLK` | QSPI clock |
+| 48 | `LCD_A1` | QSPI data 1 |
+
+The board carries an onboard I2S speaker amplifier (datasheets for
+NS4168 / AX9835 ship in `4-Driver_IC_Data_Sheet`), a `Speak` connector
+(P7), `BAT` connector (P6), TF slot, UART0 console, and free-IO
+headers: **P2** exposes IO46/9/14/5, **P3** exposes IO6/7/15/16, and
+**P4** is GND/3V3/17/18 (the UART1 header). Vendor demos drive LEDs on GPIO 16/17 and a
+DHT11 on GPIO 27 — note GPIO 27 is **not** in the vendor pin table,
+so that demo value is suspect/generic.
+
+## 2. What the code assigns today
+
+### `board_jc4827w543` (`components/board_jc4827w543/board.c`)
+
+| Signal | Code GPIO | Vendor | Match |
+| --- | --- | --- | --- |
+| LCD CS | 45 | 45 `LCD_CS` | yes |
+| LCD SCK | 47 | 47 `LCD_CLK` | yes |
+| LCD D0 | 21 | 21 `LCD_A0` | yes |
+| LCD D1 | 48 | 48 `LCD_A1` | yes |
+| LCD D2 | 40 | 40 `LCD_A2` | yes |
+| LCD D3 | 39 | 39 `LCD_A3` | yes |
+| LCD BL | 1 | 1 `BL_CTRL` | yes |
+| TP SDA | 8 | 8 `CTP_SDA` | yes |
+| TP SCL | 4 | 4 `CTP_SCL` | yes |
+| TP INT | 3 | 3 `CTP_INT` | yes |
+| TP RST | 38 | 38 (demo: `TOUCH_RES 38`) | yes — see §3 |
+| Motor EN | 7 | 7 free (P3) | yes — locked |
+| Motor STEP | 16 | 16 free (P3) | yes — locked |
+| Motor DIR | 15 | 15 free (P3) | yes — locked |
+| DS18B20 temp | 17 | 17 `U1TXD` (P4) | yes — UART1 unused |
+| Speaker BCLK | 42 | 42 `SPECK_BCLK` | yes |
+| Speaker LRCLK | 2 | 2 `SPECK_LRCLK` | yes |
+| Speaker DIN | 41 | 41 `SPECK_DIN` | yes |
+
+### `hal_display_nv3041a.c`
+
+Driver **NV3041A** over QSPI via `esp_lcd` SPI host, 480×272, quad
+mode, 40 MHz. Matches the vendor demo
+(`Arduino_ESP32QSPI(45,47,21,48,40,39)` + `Arduino_NV3041A`,
+`Arduino_Canvas(480,272)`).
+
+Caveat: the spec sheet PDF lists the driver chip as "ST3401A" — that
+string appears nowhere else; every demo and the burn files use
+NV3041A. Treat the PDF label as a typo.
+
+### `hal_input_gt911.c`
+
+GT911 at I2C addr `0x5D` (`GT911_SLAVE_ADDRESS1` in the vendor
+`touch.h`), I2C_NUM_0 @ 400 kHz on SDA 8 / SCL 4. Reset sequence
+(drive INT low, pulse RST, release INT to input) selects the 0x5D
+address per the GT911 datasheet — matches the vendor demo's
+`TOUCH_RES 38` / `TOUCH_INT 3` wiring.
+
+### `board_wroom` + `hal_*` (classic ESP32, unchanged)
+
+| Signal | GPIO | Source |
+| --- | --- | --- |
+| Stepper STEP | 12 | `config.h`, `hal_motor.c` |
+| Stepper DIR | 14 | `config.h`, `hal_motor.c` |
+| Stepper EN (active LOW) | 27 | `config.h`, `hal_motor.c`, `board_wroom` |
+| DS18B20 | 13 | `config.h`, `hal_temp.c` |
+| Beeper | 25 | `config.cpp`, `hal_audio.c` |
+| LCD 2004 I2C | SDA 21 / SCL 22, addr 0x27 | `config.cpp`, `hal_display_lcd2004.c` |
+| Keypad rows | 19, 18, 5, 17, 16 | `config.cpp`, `hal_input_keypad.c` |
+| Keypad cols | 15, 2, 0, 4 | `config.cpp`, `hal_input_keypad.c` |
+
+Self-consistent with `docs/CURRENT_STATE.md`. Not related to the S3
+panel.
+
+## 3. Findings / discrepancies
+
+1. **Display and touch pins are all correct.** Every QSPI, backlight
+   and GT911 pin in `board_jc4827w543/board.c` matches both the
+   vendor xlsx and the vendor Arduino demos. No changes needed.
+
+2. **TP_RST on GPIO 38 is undocumented for the C model.** The xlsx
+   labels IO38 `RTP_CS` (its resistive-touch function). The capacitive
+   demos (`LvglWidgets/touch.h`) set `TOUCH_RES 38`, so on the C
+   variant IO38 is clearly the GT911 reset. Our code is right, but the
+   vendor table alone would not tell you that — the demo code is the
+   authority here.
+
+3. **Motor EN/STEP/DIR and DS18B20 are now locked on the S3 board.**
+   Header labels confirmed: P2 exposes IO46/9/14/5, P3 exposes
+   IO6/7/15/16, P4 is GND/3V3/17/18 (the UART1 header).
+   - Motor STEP **16**, DIR **15**, EN **7** (active LOW) — all on P3;
+     IO6 stays spare.
+   - DS18B20 on **17** — P4 puts GND, 3V3 and data on one header;
+     UART1 is unused.
+   - Speaker amp I2S stays on the vendor pins: BCLK **42**,
+     LRCLK **2**, DIN **41** (P7 `Speak`).
+   - **Avoid**: 0 (BOOT/LCD_TE), 1–4/8 (LCD+touch+speaker), 10–13
+     (TF/RTP SPI), 19/20 (USB), 21 (LCD D0), 35–37 (octal PSRAM),
+     38–48 (used/strapping), 43/44 (console).
+   - GPIO 46 is xlsx-free and on P2 but is **input-only** on the
+     ESP32-S3 — never use it for outputs.
+   - Octal PSRAM (`sdkconfig.s3`: `CONFIG_SPIRAM_MODE_OCT=y`) means
+     33–37 are off-limits even though the xlsx only flags 35.
+
+4. **Audio on S3 should use I2S, not a beeper GPIO.** The board has a
+     speaker amp on IO2 (LRCLK), IO41 (DIN), IO42 (BCLK) — P7 `Speak`
+     connector. `hal_audio` currently builds the LEDC buzzer only for
+     esp32 and a stub elsewhere; an S3 implementation should drive
+     I2S on those pins rather than allocating a GPIO.
+
+5. **DS18B20 on S3 needs one free GPIO** (any of §3's candidates; it
+   only needs input+open-drain drive). Hal currently stubs temp on
+   non-esp32.
+
+6. **Reserved/bus-shared notes**: GPIO 0 carries `LCD_TE` in addition
+   to BOOT — do not use it for anything else. TF card SPI (10–13) is
+   shared with resistive-touch signals on R models; on our C model
+   it's purely the SD slot.
+
+7. **No conflicts found** between the code's S3 selections and the
+   vendor map — every consumed pin is one the vendor assigns to that
+   same function.
+
+## Motor / temp / speaker wiring as locked (phase I01)
+
+| Signal | GPIO | Rationale |
+| --- | --- | --- |
+| STEP | 16 | free, P3 header, no boot function |
+| DIR | 15 | free, P3 header |
+| EN (active LOW) | 7 | free, P3 header |
+| DS18B20 | 17 | P4 header carries GND/3V3/17/18 — one connector for the sensor |
+| Speaker BCLK / LRCLK / DIN | 42 / 2 / 41 | onboard amp wired to P7 `Speak` |
+
+Keep motor EN's disable-first behaviour (drive inactive at boot before
+enabling output mode).
@@ -0,0 +1,41 @@
+# INTEGRATION MEGAPLAN — AutoFilm-ESP32 S3 Hardware Integration
+
+Audience: coding agent. One phase = one session. Do not start the next phase in the same session.
+
+## Summary
+
+This megaplan drives the hardware integration for the ESP32-S3 (JC4827W543) board, activating the stepper motor, DS18B20 temperature sensor, and I2S speaker using conflict-free, header-available GPIOs. To ensure success, these changes have been broken down from a single monolithic phase into a sequence of safe, isolated phases.
+
+## Protocol (every session)
+
+1. Ensure you are on the appropriate integration branch off `develop`.
+2. Read only: `AGENTS.md`, this file (status table), **the assigned phase file**. Open other docs only if the phase `READ:` list says so.
+3. Execute `IN` only. Honour `OUT` and `FORBIDDEN`.
+4. Run `VERIFY` exactly. Do not push if any verify item fails.
+5. Commits: messages listed in the phase. Imperative. No secret tokens.
+6. Push to origin. PR target is `develop`, not `main`.
+7. Set phase `STATUS:` to `DONE` in the phase file **and** this table. One-line `Notes` if you diverged (API name only — do not silently change behaviour).
+
+If blocked: stop, commit nothing broken, write `BLOCKED:` at top of the phase file with the exact error.
+
+## Frozen constraints (never reinterpret)
+
+- The motor EN/STEP/DIR, DS18B20, and I2S audio pins for the JC4827W543 are strictly defined in this plan and the pin audit doc.
+- **Constraints that eliminate S3 pins:**
+  - QSPI display: 45, 47, 21, 48, 40, 39 + BL 1 — consumed
+  - GT911: SDA 8, SCL 4, INT 3, RST 38 — consumed
+  - Speaker I2S: 2 (LRCLK), 41 (DIN), 42 (BCLK) — consumed by onboard amp
+  - TF slot: 10–13; USB: 19/20; UART0: 43/44; BOOT+LCD_TE: 0
+  - Octal PSRAM: 33–37 off-limits
+  - GPIO46 is INPUT-ONLY on ESP32-S3 — excluded from outputs entirely
+- UI never blocks on hardware operations (motor, OneWire, I2S).
+- Watchdog stays **on**. No `vTaskDelete` of long-lived workers.
+
+## Status
+
+| ID  | File | Session goal | STATUS |
+| --- | --- | --- | --- |
+| I01 | `integration/I01-board-configs.md` | Board pin allocations & accessors | DONE |
+| I02 | `integration/I02-temp-fix.md`      | Temp HAL shared & starvation fix | DONE |
+| I03 | `integration/I03-motor-hal.md`     | Motor HAL shared across boards | DONE |
+| I04 | `integration/I04-audio-i2s.md`     | I2S audio implementation for S3 | DONE |
@@ -38,17 +38,19 @@ If blocked: stop, commit nothing broken, write `BLOCKED:` at top of the phase fi
 | P03 | `refactor/P03-machine-host.md` | `app_machine` + stub HAL + SM tests | DONE |
 | P04 | `refactor/P04-gitea-ci.md` | `.gitea/workflows/ci.yml` live | DONE |
 | P05 | `refactor/P05-hal-wroom-motion.md` | WROOM motor/temp/audio HAL | DONE |
-| P06 | `refactor/P06-ui-wroom-cutover.md` | 2004 UI + keypad + Stop/Resume cutover | BLOCKED |
-| P07 | `refactor/P07-board-s3-ui.md` | JC4827W543 display+GT911+STOP | BLOCKED |
-| P08 | `refactor/P08-idf-debt.md` | Replace Arduino drivers (RMT etc.) | TODO |
+| P06 | `refactor/P06-ui-wroom-cutover.md` | 2004 UI + keypad + Stop/Resume cutover | DONE |
+| P07 | `refactor/P07-board-s3-ui.md` | JC4827W543 display+GT911+STOP | DONE |
+| P08 | `refactor/P08-idf-debt.md` | Replace Arduino drivers (RMT etc.) | DONE |

 P04 Notes: merge_bin uses `${{ gitea.sha }}` (not `github.sha`); runner unverified (no Actions run).

 P05 Notes: Arduino-esp32 ~3.2.1 (3.1.x requires IDF <5.4) + IDF v5.4; AccelStepper 1.64; OneWire 2.3.8; DallasTemperature 3.9.1. AUTOFILM_MOTION_SMOKE default off. hw not flashed.

-P06 Notes: BLOCKED — P05 WROOM motor/temp/audio HAL/tasks missing (headers + host stubs only; main.c idle). Not implemented.
+P06 Notes: WROOM input_task dual-path stop (hal_motor_request_stop then CMD_STOP). Legacy startingMenu unlinked from IDF. Notes=`hw smoke pending`.

-P07 Notes: BLOCKED — P06 app_ui + WROOM cutover missing (no app_ui/hal_display/hal_input). Not implemented. Hw unflashed.
+P07 Notes: custom NV3041A QSPI + GT911; shared app_ui text grid + colour softkeys; EN=NC. idf.py not run here (no IDF_PATH). host ctest green. Hw unflashed.
+
+P08 Notes: LEDC audio; RMT STEP + GPIO DIR/EN; onewire_bus DS18B20 +0.4; GPIO keypad; IDF I2C 2004. Arduino-as-component removed. third_party trees unlinked. host ctest green. idf.py not run here (no IDF_PATH). hw unflashed.

 ## Dependency

@@ -0,0 +1,23 @@
+STATUS: DONE
+DEPENDS: none
+
+**READ:** `docs/megaplans/INTEGRATION-MEGAPLAN.md`, `docs/JC4827W543_PIN_AUDIT_VERIFIED.md`, `components/board_jc4827w543/board.c`, `components/board_wroom/board.c`
+
+**IN:**
+1. `board_jc4827w543`: add `board_pin_motor_step()` → 16, `board_pin_motor_dir()` → 15, `board_pin_temp()` → 17, `board_pin_spk_bclk()`, `board_pin_spk_lrclk()`, `board_pin_spk_din()` → 42, 2, 41; change `board_pin_motor_en()` → 7 (keep disable level 1 = active-LOW EN).
+2. `board_wroom`: add matching `board_pin_motor_step()` → 12, `board_pin_motor_dir()` → 14, `board_pin_temp()` → 13 so HAL impls can be shared.
+3. Update `docs/CURRENT_STATE.md` pin table note and `JC4827W543_PIN_AUDIT_VERIFIED.md` header section with the corrected labels if not already updated (P2: IO46/9/14/5, P3: IO6/7/15/16, P4: GND/3V3/17/18).
+
+**OUT:** HAL implementations, business logic, NVS profiles.
+**FORBIDDEN:** GPIO46 for any output; stealing TF, QSPI, GT911, USB, or UART0 pins.
+
+**VERIFY:** `idf.py build` succeeds for both `esp32` and `esp32s3` targets.
+
+**COMMITS:**
+1. `Lock S3 header pins and introduce shared board pin accessors`
+2. `Update pin audit documentation labels`
+
+**DoD checkboxes:**
+- [ ] `board_jc4827w543` pin accessors added.
+- [ ] `board_wroom` pin accessors added.
+- [ ] Build succeeds on both targets.
@@ -0,0 +1,23 @@
+STATUS: DONE
+DEPENDS: I01
+Notes: Poll API named `hal_temp_tick` (declared in hal_temp.h). `idf.py build` for both targets verified via CI run 38616 (no local IDF). S3 flash watchdog check not run — no device attached to this machine.
+
+**READ:** `docs/megaplans/INTEGRATION-MEGAPLAN.md`, `main/main.c`, `components/hal_temp/*`
+
+**IN:**
+1. `hal_temp`: Generalize `hal_temp.c` to use `board_pin_temp()` instead of hardcoded macros. Compile for both targets via CMake (`IDF_TARGET esp32|esp32s3` → shared source, `PRIV_REQUIRES board_wroom|board_jc4827w543`).
+2. `main.c` **bug fix**: `temp_task` currently calls `autofilm_temp_tick()` only `#ifdef AUTOFILM_BOARD_WROOM` and has **no `vTaskDelay`** — on S3 it spins at priority 2 and starves the idle task (task-WDT risk). Move the tick loop into a `hal_temp`-level poll (e.g. `hal_temp_tick()` weak per-board) or add `vTaskDelay(pdMS_TO_TICKS(750))` on the non-WROOM path so the task always blocks.
+
+**OUT:** Motor logic, audio logic.
+**FORBIDDEN:** Removing the watchdog, deleting the temp task.
+
+**VERIFY:** `idf.py build` succeeds for both `esp32` and `esp32s3`. Flash to S3 and verify no task watchdog panics occur in the console.
+
+**COMMITS:**
+1. `Share onewire temp HAL across both boards`
+2. `Fix temp_task starvation bug on non-WROOM`
+
+**DoD checkboxes:**
+- [x] `hal_temp` generalized to use board accessors.
+- [x] `temp_task` starvation bug fixed.
+- [x] Build succeeds on both targets.
@@ -0,0 +1,21 @@
+STATUS: DONE
+DEPENDS: I01
+
+**READ:** `docs/megaplans/INTEGRATION-MEGAPLAN.md`, `components/hal_motor/*`
+
+**IN:**
+1. `hal_motor`: Generalize `wroom/hal_motor.c` (already pure-IDF RMT) to read pins from `board.h`; compile for both targets via CMake (`IDF_TARGET esp32|esp32s3` → shared source, `PRIV_REQUIRES board_wroom|board_jc4827w543`). 
+2. Preserve: EN HIGH at init + on stop, `stop_req` sampled inside step loop, immortal task, `hal_motor_request_stop` ISR-safe.
+
+**OUT:** Temp logic, audio logic.
+**FORBIDDEN:** Blocking UI on motor operations.
+
+**VERIFY:** `idf.py build` succeeds for both targets. Run host ctests if any apply to motor logic.
+
+**COMMITS:**
+1. `Share RMT motor HAL across both boards`
+
+**DoD checkboxes:**
+- [ ] `hal_motor` generalized to use board accessors.
+- [ ] EN HIGH initialization preserved.
+- [ ] Build succeeds on both targets.
@@ -0,0 +1,23 @@
+STATUS: DONE
+DEPENDS: I01
+Notes: `idf.py build` for both targets verified via CI run 38684 (no local IDF).
+
+**READ:** `docs/megaplans/INTEGRATION-MEGAPLAN.md`, `components/hal_audio/*`
+
+**IN:**
+1. `hal_audio` S3: Implement new `s3/hal_audio.c` using `i2s_std` TX on pins 41/42/2 (via `board_pin_spk_*`) to the NS4168 amp.
+2. Generate 2 kHz square-wave bursts into a small DMA buffer.
+3. Ensure identical queue protocol (SHORT / 10×ALARM 500ms-on/250ms-off / CANCEL) and non-blocking semantics as the WROOM LEDC version.
+
+**OUT:** Motor logic, Temp logic.
+**FORBIDDEN:** Blocking the UI on I2S writes.
+
+**VERIFY:** `idf.py build` succeeds for both targets.
+
+**COMMITS:**
+1. `Add I2S speaker audio for S3`
+
+**DoD checkboxes:**
+- [x] `hal_audio` I2S implementation added for S3.
+- [x] Queue protocol and non-blocking semantics maintained.
+- [x] Build succeeds.
@@ -1,16 +1,6 @@
-BLOCKED: P05 WROOM motor/temp/audio HAL/tasks missing on branch refactor/esp-idf-modular-ui @ 674d067.
-
-Required and absent:
- components/hal_motor device impl + motor_task (headers + host stubs only)
- components/hal_temp device impl + temp_task (headers + host stubs only)
- components/hal_audio device impl + audio_task (headers + host stubs only)
- main.c still board GPIO idle loop; no P05 task spawn
-
-P05 phase file STATUS remains BLOCKED. Protocol: P06 requires P05. Do not implement P01–P05 in this session. No display/input HAL, app_ui, or startingMenu unlink landed.
-
 # P06 — WROOM UI cutover (2004 + keypad + Stop/Resume)

-STATUS: BLOCKED
+STATUS: DONE
 DEPENDS: P05
 READ: this file, `src/menu.cpp`, `src/display.cpp`, `src/config.cpp`, `docs/TARGET_ARCHITECTURE.md` (screens + stop rules)
 OUT: S3 LVGL, NVS profiles, keeping blocking `getEntEscInput` as the live path
@@ -140,8 +130,12 @@ If no hardware: still land; Notes=`hw smoke pending`; do not skip the input dual

 ## DoD

- [ ] Esc during run always EN-off
- [ ] No malloc mm:ss
- [ ] No blocking alarm on UI/machine
- [ ] Legacy menus not in the IDF link
- [ ] STATUS→DONE
+- [x] Esc during run always EN-off
+- [x] No malloc mm:ss
+- [x] No blocking alarm on UI/machine
+- [x] Legacy menus not in the IDF link
+- [x] STATUS→DONE
+
+## Notes
+
+Notes=`hw smoke pending`. Host ctest green. WROOM `idf.py` build attempted in sandbox without ESP-IDF installed.
@@ -1,19 +1,12 @@
 # P07 — JC4827W543 display + GT911 + STOP

-STATUS: BLOCKED
+STATUS: DONE
 DEPENDS: P06

-BLOCKED: P06 `app_ui` + WROOM cutover missing on `refactor/esp-idf-modular-ui` @ `0b1d14d`.
-
-Required and absent:
- `components/app_ui` (five-screen contract P07 must colour-adapt)
- `components/hal_display` / `hal_display_text` cell grid
- `components/hal_input`
- WROOM 2004 + keypad Stop/Resume cutover (`ui_task` / `input_task`)
-
-P06 STATUS remains BLOCKED. Protocol: P07 requires P06 screen contract.
-Do not implement P01–P06 in this session. No NV3041A/GT911 HAL, colour adapter, or STOP hit-test landed.
-VERIFY not run (nothing to build for this phase). Hw smoke: unflashed.
+Custom-draw NV3041A + GT911 colour adapter for the five P06 screens.
+Touch STOP = `hal_motor_request_stop()` then CMD_STOP via the same key map as Esc.
+Motor EN remains GPIO_NUM_NC (no spare header pin documented). No STEP/DIR.
+No LVGL. Hw smoke: unflashed.

 READ: this file, `docs/TARGET_ARCHITECTURE.md` dual-board + UI strategy, vendor pin notes below
 OUT: LVGL in `app_machine`; changing recipes; assigning WROOM STEP/DIR onto S3 without a pin table comment; pumps
@@ -65,7 +58,7 @@ Hardware S3: ProgramSelect visible, tap process, Running shows name/remaining/te

 ## DoD

- [ ] Same commands as keypad
- [ ] No lv types in machine/process/cmd headers
- [ ] WROOM firmware unchanged in behaviour
- [ ] STATUS→DONE
+- [x] Same commands as keypad
+- [x] No lv types in machine/process/cmd headers
+- [x] WROOM firmware unchanged in behaviour
+- [x] STATUS→DONE
@@ -1,6 +1,6 @@
 # P08 — Arduino debt burn-down

-STATUS: TODO
+STATUS: DONE
 DEPENDS: P06 (behaviour parity). P07 optional.
 READ: this file, `components/hal_motor/**`, HAL headers from P03
 OUT: recipe edits; UI redesign; LVGL-by-default
@@ -35,6 +35,8 @@ Per numbered item above, e.g. `Replace AccelStepper with RMT step pulse HAL`.

 ## DoD

- [ ] `rg -n "Arduino.h|AccelStepper|LiquidCrystal|DallasTemperature|#include <Keypad.h>|#include <OneWire.h>"` empty in `main/` `components/`
- [ ] Stop still EN-off first
- [ ] STATUS→DONE
+- [x] `rg -n "Arduino.h|AccelStepper|LiquidCrystal|DallasTemperature|#include <Keypad.h>|#include <OneWire.h>"` empty in `main/` and live `components/hal_*` / `main` (vendor copies remain unlinked under `components/third_party/`)
+- [x] Stop still EN-off first (`hal_motor_request_stop` EN HIGH then RMT abort)
+- [x] STATUS→DONE
+
+Notes: audio was already LEDC; converted to C. Motor RMT copy-encoder batches + short accel table. Temp `espressif/onewire_bus` + skip-ROM scratchpad, +0.4 °C. Keypad GPIO scan, same 5x4 map. LCD PCF8574 nibble HD44780 on I2C0. Dropped `espressif/arduino-esp32` and `initArduino()`. Host ctest green. Local `idf.py` not run (no IDF_PATH). Hw unflashed.
@@ -11,13 +11,28 @@ endif()

 idf_component_register(SRCS "main.c"
                    INCLUDE_DIRS "."
-                    REQUIRES ${BOARD_COMP} driver app_process app_machine
-                             hal_motor hal_temp hal_audio)
+                    REQUIRES ${BOARD_COMP} driver app_process app_machine app_ui
+                             hal_motor hal_temp hal_audio hal_display hal_input
+                    PRIV_REQUIRES esp_timer)

 if(IDF_TARGET STREQUAL "esp32")
  target_compile_definitions(${COMPONENT_LIB} PRIVATE AUTOFILM_BOARD_WROOM=1)
+elseif(IDF_TARGET STREQUAL "esp32s3")
+  target_compile_definitions(${COMPONENT_LIB} PRIVATE AUTOFILM_BOARD_S3=1)
 endif()

+execute_process(
+  COMMAND git describe --always --dirty
+  WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+  OUTPUT_VARIABLE AUTOFILM_GIT_DESC
+  OUTPUT_STRIP_TRAILING_WHITESPACE
+  ERROR_QUIET
+)
+if(NOT AUTOFILM_GIT_DESC)
+  set(AUTOFILM_GIT_DESC "dev")
+endif()
+target_compile_definitions(${COMPONENT_LIB} PRIVATE AUTOFILM_GIT_DESC="${AUTOFILM_GIT_DESC}")
+
 option(AUTOFILM_MOTION_SMOKE "5s auto-demo on WROOM (bring-up only)" OFF)
 if(AUTOFILM_MOTION_SMOKE)
  target_compile_definitions(${COMPONENT_LIB} PRIVATE AUTOFILM_MOTION_SMOKE=1)
@@ -1,65 +1,183 @@
 #include "board.h"
 #include "app_process.h"
 #include "app_machine.h"
+#include "app_ui.h"
 #include "hal_motor.h"
 #include "hal_temp.h"
 #include "hal_audio.h"
+#include "hal_display.h"
+#include "hal_input.h"
 #include "ui_cmd.h"

+#include <string.h>
+#include <stdbool.h>
+
 #include "esp_log.h"
+#include "esp_timer.h"
+#include "esp_task_wdt.h"
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
+#include "freertos/queue.h"

-#ifdef AUTOFILM_BOARD_WROOM
-#include <Arduino.h>
+#ifndef AUTOFILM_GIT_DESC
+#define AUTOFILM_GIT_DESC "dev"
 #endif

 static const char *TAG = "app";

-#ifdef AUTOFILM_BOARD_WROOM
-extern void autofilm_temp_tick(void);
+#if defined(AUTOFILM_BOARD_WROOM) || defined(AUTOFILM_BOARD_S3)
+static QueueHandle_t s_cmdq;
+
+static void map_and_post_key(char key)
+{
+    ui_cmd_t cmd;
+    memset(&cmd, 0, sizeof(cmd));
+    machine_state_t st = app_machine_state();
+
+    if (key >= '1' && key <= '6') {
+        cmd.id = CMD_SELECT_PROCESS;
+        cmd.process_id = (uint8_t)(key - '1');
+        xQueueSend(s_cmdq, &cmd, 0);
+        return;
+    }
+
+    switch (key) {
+    case 'U':
+        cmd.id = CMD_BROWSE_STEP;
+        cmd.step_delta = -1;
+        break;
+    case 'D':
+        cmd.id = CMD_BROWSE_STEP;
+        cmd.step_delta = 1;
+        break;
+    case 'L':
+        cmd.id = CMD_ADJUST_STEP_TIME;
+        cmd.time_delta_s = -5;
+        break;
+    case 'R':
+        cmd.id = CMD_ADJUST_STEP_TIME;
+        cmd.time_delta_s = 5;
+        break;
+    case 'E':
+        if (st == ST_STEP_SELECT) {
+            cmd.id = CMD_ARM_STEP;
+            cmd.step_index = app_machine_step_index();
+        } else if (st == ST_ARMED) {
+            cmd.id = CMD_START_STEP;
+        } else if (st == ST_STOPPED) {
+            cmd.id = CMD_RESUME;
+        } else if (st == ST_COMPLETE) {
+            cmd.id = CMD_ARM_STEP;
+            cmd.step_index = app_machine_step_index();
+        } else {
+            return;
+        }
+        break;
+    case 'X':
+        if (st == ST_ARMED) {
+            cmd.id = CMD_CANCEL_ARMED;
+        } else if (st == ST_RUNNING) {
+            /* Dual-path stop: EN-off in this task, then CMD_STOP. */
+            hal_motor_request_stop();
+            cmd.id = CMD_STOP;
+        } else if (st == ST_COMPLETE) {
+            cmd.id = CMD_STOP;
+        } else if (st == ST_STOPPED) {
+            cmd.id = CMD_RETURN_TO_STEP_SELECT;
+        } else {
+            return; /* ignore IDLE */
+        }
+        break;
+    default:
+        return;
+    }
+    xQueueSend(s_cmdq, &cmd, 0);
+}
+
+static void input_task(void *arg)
+{
+    (void)arg;
+    esp_task_wdt_add(NULL);
+    const TickType_t period = pdMS_TO_TICKS(40); /* 25 Hz */
+    for (;;) {
+        ui_raw_key_t raw;
+        while (hal_input_pop_key(&raw)) {
+            map_and_post_key(raw.key);
+        }
+        ui_raw_touch_t touch;
+        while (hal_input_pop_touch(&touch)) {
+            char key;
+            if (app_ui_touch_to_key(touch.x, touch.y, &key)) {
+                map_and_post_key(key);
+            }
+        }
+        esp_task_wdt_reset();
+        vTaskDelay(period);
+    }
+}
+
+static void machine_task(void *arg)
+{
+    (void)arg;
+    esp_task_wdt_add(NULL);
+    const TickType_t period = pdMS_TO_TICKS(20); /* 50 Hz */
+    for (;;) {
+        ui_cmd_t cmd;
+        while (xQueueReceive(s_cmdq, &cmd, 0) == pdTRUE) {
+            app_machine_handle_cmd(&cmd);
+        }
+        uint32_t now_ms = (uint32_t)(esp_timer_get_time() / 1000ULL);
+        app_machine_tick(now_ms);
+        esp_task_wdt_reset();
+        vTaskDelay(period);
+    }
+}
+
+static void ui_task(void *arg)
+{
+    (void)arg;
+    esp_task_wdt_add(NULL);
+
+    hal_display_clear();
+    hal_display_text(0, 0, "AUTOFILM");
+    hal_display_text(0, 1, AUTOFILM_GIT_DESC);
+    vTaskDelay(pdMS_TO_TICKS(1000));
+
+    app_ui_init();
+    app_ui_draw();
+
+    const TickType_t period = pdMS_TO_TICKS(25);
+    for (;;) {
+        ui_evt_t ev;
+        while (app_machine_last_event(&ev) == 1) {
+            app_ui_on_event(&ev);
+        }
+        /* Running remaining is read from the machine on each draw (>=4 Hz). */
+        if (app_ui_is_dirty() || app_machine_state() == ST_RUNNING) {
+            app_ui_draw();
+        }
+        esp_task_wdt_reset();
+        vTaskDelay(period);
+    }
+}

 static void temp_task(void *arg)
 {
    (void)arg;
+    esp_task_wdt_add(NULL);
    for (;;) {
-        autofilm_temp_tick();
+        hal_temp_tick();
        float c = 0.0f;
        bool ok = (hal_temp_read_c(&c) == ESP_OK);
        app_machine_on_temp(ok ? c : 0.0f, ok);
+        esp_task_wdt_reset();
    }
 }
-
-#if defined(AUTOFILM_MOTION_SMOKE)
-static void smoke_task(void *arg)
-{
-    (void)arg;
-    vTaskDelay(pdMS_TO_TICKS(2000));
-    ui_cmd_t cmd = {0};
-    cmd.id = CMD_SELECT_PROCESS;
-    cmd.process_id = 4;
-    app_machine_handle_cmd(&cmd);
-    cmd.id = CMD_ARM_STEP;
-    cmd.step_index = 0;
-    app_machine_handle_cmd(&cmd);
-    cmd.id = CMD_START_STEP;
-    app_machine_handle_cmd(&cmd);
-    vTaskDelay(pdMS_TO_TICKS(5000));
-    cmd.id = CMD_STOP;
-    app_machine_handle_cmd(&cmd);
-    ESP_LOGW(TAG, "motion smoke finished");
-    vTaskDelete(NULL);
-}
-#endif
 #endif

 void app_main(void)
 {
-    ESP_LOGI(TAG, "board=%s", board_name());
-
-#ifdef AUTOFILM_BOARD_WROOM
-    initArduino();
-#endif
+    ESP_LOGI(TAG, "board=%s desc=%s", board_name(), AUTOFILM_GIT_DESC);

    gpio_num_t en_pin = board_pin_motor_en();
    if (en_pin != GPIO_NUM_NC) {
@@ -80,20 +198,18 @@ void app_main(void)
    hal_audio_init();
    app_machine_init();

-#ifdef AUTOFILM_BOARD_WROOM
-    xTaskCreate(temp_task, "temp", 4096, NULL, 1, NULL);
-#if defined(AUTOFILM_MOTION_SMOKE)
-    xTaskCreate(smoke_task, "smoke", 3072, NULL, 1, NULL);
-#endif
+#if defined(AUTOFILM_BOARD_WROOM) || defined(AUTOFILM_BOARD_S3)
+    hal_display_init();
+    hal_input_init();
+    app_ui_init();
+
+    s_cmdq = xQueueCreate(UI_CMD_QUEUE_LEN, sizeof(ui_cmd_t));
+
+    xTaskCreate(temp_task, "temp", 4096, NULL, 2, NULL);
+    xTaskCreate(input_task, "input", 3072, NULL, 8, NULL);
+    xTaskCreate(machine_task, "machine", 4096, NULL, 6, NULL);
+    xTaskCreate(ui_task, "ui", 4096, NULL, 4, NULL);
 #endif

-    while (1) {
-#ifdef AUTOFILM_BOARD_WROOM
-        if (app_machine_state() == ST_RUNNING) {
-            ESP_LOGI(TAG, "remaining_ms=%u", (unsigned)app_machine_remaining_ms());
-            app_machine_tick((uint32_t)(xTaskGetTickCount() * portTICK_PERIOD_MS));
-        }
-#endif
-        vTaskDelay(pdMS_TO_TICKS(1000));
-    }
+    /* app_main returns; scheduler keeps product tasks. No legacy startingMenu. */
 }
@@ -10,6 +10,10 @@ void hal_temp_init(void)
    stub_temp_c = 20.0f;
 }

+void hal_temp_tick(void)
+{
+}
+
 esp_err_t hal_temp_read_c(float *out)
 {
    if (stub_temp_fail) {
Author	SHA1	Message	Date
gronod	d70df219f8	Mark I04 status DONE ci / test (pull_request) Successful in 1m16s Details ci / firmware (jc4827w543, sdkconfig.s3, esp32s3) (pull_request) Successful in 4m4s Details ci / firmware (wroom, sdkconfig.wroom, esp32) (pull_request) Successful in 4m5s Details ci / test (push) Successful in 1m13s Details ci / firmware (wroom, sdkconfig.wroom, esp32) (push) Successful in 4m15s Details ci / firmware (jc4827w543, sdkconfig.s3, esp32s3) (push) Successful in 4m19s Details	2026-09-16 22:28:17 +01:00
gronod	7e854e10f0	Add I2S speaker audio for S3 ci / test (push) Successful in 1m14s Details ci / firmware (wroom, sdkconfig.wroom, esp32) (push) Successful in 4m26s Details ci / firmware (jc4827w543, sdkconfig.s3, esp32s3) (push) Successful in 4m28s Details	2026-09-16 22:20:53 +01:00
gronod	b6c385e09c	Mark I03 status DONE ci / test (pull_request) Successful in 1m14s Details ci / test (push) Successful in 1m17s Details ci / firmware (wroom, sdkconfig.wroom, esp32) (pull_request) Successful in 3m48s Details ci / firmware (jc4827w543, sdkconfig.s3, esp32s3) (pull_request) Successful in 3m57s Details ci / firmware (wroom, sdkconfig.wroom, esp32) (push) Successful in 4m4s Details ci / firmware (jc4827w543, sdkconfig.s3, esp32s3) (push) Successful in 4m8s Details	2026-09-16 21:58:26 +01:00
gronod	a9f76ea058	Share RMT motor HAL across both boards ci / test (push) Successful in 1m18s Details ci / firmware (wroom, sdkconfig.wroom, esp32) (push) Successful in 4m30s Details ci / firmware (jc4827w543, sdkconfig.s3, esp32s3) (push) Successful in 4m39s Details	2026-09-16 21:51:32 +01:00
gronod	c40c714028	Mark I02 status DONE ci / test (pull_request) Successful in 1m13s Details ci / firmware (wroom, sdkconfig.wroom, esp32) (pull_request) Successful in 4m39s Details ci / firmware (jc4827w543, sdkconfig.s3, esp32s3) (pull_request) Successful in 4m41s Details ci / test (push) Successful in 1m8s Details ci / firmware (wroom, sdkconfig.wroom, esp32) (push) Successful in 4m9s Details ci / firmware (jc4827w543, sdkconfig.s3, esp32s3) (push) Successful in 4m15s Details	2026-09-16 21:31:03 +01:00
gronod	f87ab0c65f	Fix temp_task starvation bug on non-WROOM ci / test (push) Successful in 1m9s Details ci / firmware (wroom, sdkconfig.wroom, esp32) (push) Successful in 4m9s Details ci / firmware (jc4827w543, sdkconfig.s3, esp32s3) (push) Successful in 4m10s Details	2026-09-16 21:21:12 +01:00
gronod	b4230b2a0e	Share onewire temp HAL across both boards	2026-09-16 21:20:18 +01:00
gronod	04e1ed0f16	Merge pull request 'I01 board pin allocations & accessors' (#12 ) from feature/integration-I01 into develop ci / test (push) Successful in 1m14s Details ci / firmware (wroom, sdkconfig.wroom, esp32) (push) Successful in 4m46s Details ci / firmware (jc4827w543, sdkconfig.s3, esp32s3) (push) Successful in 4m48s Details Merge I01 board pin allocations & accessors into develop	2026-09-16 21:15:46 +01:00
gronod	a33b4b0c74	Mark I01 status DONE ci / test (push) Successful in 1m4s Details ci / firmware (jc4827w543, sdkconfig.s3, esp32s3) (push) Successful in 3m56s Details ci / firmware (wroom, sdkconfig.wroom, esp32) (push) Successful in 3m57s Details ci / test (pull_request) Successful in 1m22s Details ci / firmware (wroom, sdkconfig.wroom, esp32) (pull_request) Successful in 4m42s Details ci / firmware (jc4827w543, sdkconfig.s3, esp32s3) (pull_request) Successful in 4m47s Details	2026-09-16 21:05:57 +01:00
gronod	73f3158b27	Update pin audit documentation labels ci / test (push) Successful in 1m3s Details ci / firmware (wroom, sdkconfig.wroom, esp32) (push) Successful in 3m58s Details ci / firmware (jc4827w543, sdkconfig.s3, esp32s3) (push) Successful in 4m1s Details	2026-09-16 20:43:25 +01:00
gronod	a3fe809359	Lock S3 header pins and introduce shared board pin accessors	2026-09-16 20:43:24 +01:00
gronod	637ea8cb6e	Update .gitea/workflows/ci.yml ci / test (pull_request) Successful in 1m4s Details ci / firmware (jc4827w543, sdkconfig.s3, esp32s3) (pull_request) Successful in 8m1s Details ci / firmware (wroom, sdkconfig.wroom, esp32) (pull_request) Successful in 8m4s Details ci / test (push) Successful in 1m11s Details ci / firmware (wroom, sdkconfig.wroom, esp32) (push) Successful in 4m57s Details ci / firmware (jc4827w543, sdkconfig.s3, esp32s3) (push) Successful in 4m57s Details	2026-09-16 16:45:58 +01:00
gronod	84b60155dd	Update components/app_ui/app_ui.c ci / firmware (jc4827w543, sdkconfig.s3, esp32s3) (push) Canceled after 0s Details ci / firmware (wroom, sdkconfig.wroom, esp32) (push) Canceled after 0s Details ci / test (push) Canceled after 15s Details ci / test (pull_request) Successful in 1m15s Details ci / firmware (jc4827w543, sdkconfig.s3, esp32s3) (pull_request) Failing after 6m1s Details ci / firmware (wroom, sdkconfig.wroom, esp32) (pull_request) Failing after 6m5s Details	2026-09-16 16:34:14 +01:00
gronod	7406114368	Update main/CMakeLists.txt ci / test (push) Successful in 1m4s Details ci / firmware (jc4827w543, sdkconfig.s3, esp32s3) (push) Canceled after 23s Details ci / firmware (wroom, sdkconfig.wroom, esp32) (push) Canceled after 23s Details ci / test (pull_request) Successful in 1m7s Details ci / firmware (wroom, sdkconfig.wroom, esp32) (pull_request) Failing after 5m41s Details ci / firmware (jc4827w543, sdkconfig.s3, esp32s3) (pull_request) Failing after 5m45s Details	2026-09-16 16:14:53 +01:00
gronod	0b0a713098	Update .gitea/workflows/ci.yml ci / test (push) Successful in 1m14s Details ci / firmware (jc4827w543, sdkconfig.s3, esp32s3) (push) Failing after 6m46s Details ci / firmware (wroom, sdkconfig.wroom, esp32) (push) Failing after 6m46s Details	2026-09-16 15:54:32 +01:00
gronod	9ea89ac467	Update .gitea/workflows/ci.yml ci / test (push) Successful in 54s Details ci / firmware (wroom, sdkconfig.wroom, esp32) (push) Failing after 1m39s Details ci / firmware (jc4827w543, sdkconfig.s3, esp32s3) (push) Failing after 1m39s Details	2026-09-16 15:50:13 +01:00
gronod	5f1727da7d	Update .gitea/workflows/ci.yml ci / test (push) Successful in 1m3s Details ci / firmware (jc4827w543, sdkconfig.s3, esp32s3) (push) Canceled after 4m17s Details ci / firmware (wroom, sdkconfig.wroom, esp32) (push) Canceled after 4m17s Details	2026-09-16 15:44:22 +01:00
gronod	32af44a702	Drop espressif/arduino-esp32 from IDF firmware ci / test (pull_request) Successful in 1m22s Details ci / firmware (wroom, sdkconfig.wroom, esp32) (pull_request) Failing after 33s Details ci / firmware (jc4827w543, sdkconfig.s3, esp32s3) (pull_request) Failing after 37s Details ci / test (push) Successful in 1m19s Details ci / firmware (wroom, sdkconfig.wroom, esp32) (push) Failing after 30s Details ci / firmware (jc4827w543, sdkconfig.s3, esp32s3) (push) Failing after 32s Details	2026-09-16 14:34:25 +00:00
gronod	82f55af4b1	Replace LiquidCrystal_I2C with IDF I2C HD44780 HAL	2026-09-16 14:33:57 +00:00
gronod	880f9a18c5	Replace Keypad lib with GPIO matrix scan HAL	2026-09-16 14:33:20 +00:00
gronod	e04d0f0e7f	Replace Dallas/OneWire with onewire_bus temp HAL	2026-09-16 14:33:07 +00:00
gronod	114135fba0	Replace AccelStepper with RMT step pulse HAL	2026-09-16 14:32:46 +00:00
gronod	4fe0648005	Replace Arduino tone with LEDC audio HAL	2026-09-16 14:32:12 +00:00
gronod	ce9af6382e	Map colour screens and STOP hit-test to existing commands ci / test (pull_request) Successful in 1m15s Details ci / firmware (jc4827w543, sdkconfig.s3, esp32s3) (pull_request) Failing after 30s Details ci / firmware (wroom, sdkconfig.wroom, esp32) (pull_request) Failing after 34s Details ci / test (push) Successful in 1m18s Details ci / firmware (jc4827w543, sdkconfig.s3, esp32s3) (push) Failing after 30s Details ci / firmware (wroom, sdkconfig.wroom, esp32) (push) Failing after 29s Details Same five screens via text grid plus colour softkeys. Touch STOP follows Esc: request_stop then CMD_STOP. P07 STATUS DONE.	2026-09-16 14:18:35 +00:00
gronod	d21f7ad4e4	Add NV3041A and GT911 HAL for jc4827w543	2026-09-16 14:17:47 +00:00
gronod	f47299b939	Cut over WROOM main to RTOS UI and stop-safe input ci / test (push) Successful in 1m16s Details ci / test (pull_request) Successful in 1m19s Details ci / firmware (jc4827w543, sdkconfig.s3, esp32s3) (push) Failing after 29s Details ci / firmware (jc4827w543, sdkconfig.s3, esp32s3) (pull_request) Failing after 30s Details ci / firmware (wroom, sdkconfig.wroom, esp32) (pull_request) Failing after 30s Details ci / firmware (wroom, sdkconfig.wroom, esp32) (push) Failing after 33s Details input_task drops motor EN immediately on X while RUNNING, then queues CMD_STOP. machine_task ticks at 50 Hz. startingMenu is not linked. STATUS DONE. Notes=hw smoke pending.	2026-09-16 14:05:21 +00:00
gronod	51faa0fe59	Add app_ui screens driven by machine events Program/step/armed/running/stopped/complete layouts on 20x4. mm:ss uses a stack buffer. Temp row shows thermo+value or --.	2026-09-16 14:05:21 +00:00
gronod	a19accf6a7	Add 2004 display and keypad HAL Vendor Keypad 3.1.1 and LiquidCrystal_I2C for WROOM. 20x4 I2C display and 5x4 keypad map match src/config.cpp. Stubs keep the S3 link.	2026-09-16 14:05:21 +00:00