Cut over WROOM main to RTOS UI and stop-safe input

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.
Add app_ui screens driven by machine events
2026-09-16 14:05:21 +00:00 · 2026-09-16 14:05:21 +00:00 · 2026-09-16 14:05:21 +00:00
23 changed files with 1688 additions and 57 deletions
@@ -0,0 +1,4 @@
+idf_component_register(SRCS "app_ui.c"
+                    INCLUDE_DIRS "include" "."
+                    REQUIRES ui_cmd app_machine app_process
+                    PRIV_REQUIRES hal_display)
@@ -0,0 +1,197 @@
+#include "app_ui.h"
+#include "screens.h"
+#include "app_machine.h"
+#include "app_process.h"
+#include "hal_display.h"
+
+#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[21];
+    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[21];
+    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[21];
+    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[21];
+    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[21];
+    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;
+    }
+    hal_display_flush();
+    s_dirty = false;
+}
@@ -0,0 +1,17 @@
+#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);
+
+#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;
@@ -0,0 +1,22 @@
+set(srcs)
+set(priv_inc)
+set(priv_req driver)
+
+if(IDF_TARGET STREQUAL "esp32")
+    list(APPEND srcs
+        hal_display_lcd2004.cpp
+        ${CMAKE_CURRENT_LIST_DIR}/../third_party/LiquidCrystal_I2C/LiquidCrystal_I2C.cpp
+    )
+    list(APPEND priv_inc
+        ${CMAKE_CURRENT_LIST_DIR}/../third_party/LiquidCrystal_I2C/include
+    )
+    list(APPEND priv_req board_wroom espressif__arduino-esp32)
+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 +1,91 @@
+#include "hal_display.h"
+
+#include <Arduino.h>
+#include <Wire.h>
+#include <LiquidCrystal_I2C.h>
+
+#include "esp_log.h"
+
+#define LCD_ADDR 0x27
+#define LCD_COLS 20
+#define LCD_ROWS 4
+
+static const char *TAG = "display";
+
+static LiquidCrystal_I2C s_lcd(LCD_ADDR, LCD_COLS, LCD_ROWS);
+static bool s_inited;
+
+static const uint8_t s_thermo[8] = {
+    0b00100,
+    0b01100,
+    0b00100,
+    0b01100,
+    0b00100,
+    0b01110,
+    0b01110,
+    0b01110,
+};
+
+extern "C" void hal_display_init(void)
+{
+    if (s_inited) {
+        return;
+    }
+    Wire.begin(21, 22);
+    s_lcd.init();
+    s_lcd.backlight();
+    s_lcd.createChar(0, const_cast<uint8_t *>(s_thermo));
+    s_lcd.clear();
+    s_inited = true;
+    ESP_LOGI(TAG, "init LCD 20x4 addr=0x27 sda=21 scl=22");
+}
+
+extern "C" void hal_display_clear(void)
+{
+    if (!s_inited) {
+        return;
+    }
+    s_lcd.clear();
+}
+
+extern "C" 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;
+    }
+    s_lcd.setCursor((uint8_t)col, (uint8_t)row);
+    int room = LCD_COLS - col;
+    char buf[21];
+    int n = 0;
+    while (s[n] != '\0' && n < room) {
+        buf[n] = s[n];
+        n++;
+    }
+    buf[n] = '\0';
+    s_lcd.print(buf);
+}
+
+extern "C" 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;
+    }
+    s_lcd.setCursor((uint8_t)col, (uint8_t)row);
+    s_lcd.write((uint8_t)0);
+}
+
+extern "C" void hal_display_flush(void)
+{
+}
@@ -0,0 +1,15 @@
+#pragma once
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+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); /* no-op on 2004 */
+
+#ifdef __cplusplus
+}
+#endif
@@ -0,0 +1,16 @@
+#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) {}
@@ -0,0 +1,23 @@
+set(srcs)
+set(priv_inc)
+set(priv_req driver)
+
+if(IDF_TARGET STREQUAL "esp32")
+    list(APPEND srcs
+        hal_input_keypad.cpp
+        ${CMAKE_CURRENT_LIST_DIR}/../third_party/Keypad/Keypad.cpp
+        ${CMAKE_CURRENT_LIST_DIR}/../third_party/Keypad/Key.cpp
+    )
+    list(APPEND priv_inc
+        ${CMAKE_CURRENT_LIST_DIR}/../third_party/Keypad/include
+    )
+    list(APPEND priv_req board_wroom espressif__arduino-esp32)
+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 +1,44 @@
+#include "hal_input.h"
+
+#include <Arduino.h>
+#include <Keypad.h>
+
+#include "esp_log.h"
+
+static const char *TAG = "input";
+
+static const byte ROWS = 5;
+static const byte COLS = 4;
+static byte s_rowPins[ROWS] = {19, 18, 5, 17, 16};
+static byte s_colPins[COLS] = {15, 2, 0, 4};
+
+static char s_keys[ROWS][COLS] = {
+    {'F', 'E', '#', '*'},
+    {'1', '2', '3', 'U'},
+    {'4', '5', '6', 'D'},
+    {'7', '8', '9', 'X'},
+    {'L', '0', 'R', 'E'}};
+
+static Keypad s_keypad = Keypad(makeKeymap(s_keys), s_rowPins, s_colPins, ROWS, COLS);
+static bool s_inited;
+
+extern "C" void hal_input_init(void)
+{
+    if (s_inited) {
+        return;
+    }
+    s_inited = true;
+    ESP_LOGI(TAG, "init 5x4 keypad map byte-identical to src/config.cpp");
+}
+
+extern "C" bool hal_input_pop_key(ui_raw_key_t *out)
+{
+    char k = s_keypad.getKey();
+    if (k == NO_KEY) {
+        return false;
+    }
+    if (out != NULL) {
+        out->key = k;
+    }
+    return true;
+}
@@ -0,0 +1,18 @@
+#pragma once
+
+#include <stdbool.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+typedef struct {
+    char key;
+} ui_raw_key_t;
+
+void hal_input_init(void);
+bool hal_input_pop_key(ui_raw_key_t *out); /* nonblocking */
+
+#ifdef __cplusplus
+}
+#endif
@@ -0,0 +1,9 @@
+#include "hal_input.h"
+
+void hal_input_init(void) {}
+
+bool hal_input_pop_key(ui_raw_key_t *out)
+{
+    (void)out;
+    return false;
+}
@@ -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)
@@ -38,7 +38,7 @@ 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 |
+| 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 | BLOCKED |
 | P08 | `refactor/P08-idf-debt.md` | Replace Arduino drivers (RMT etc.) | TODO |

@@ -46,9 +46,9 @@ P04 Notes: merge_bin uses `${{ gitea.sha }}` (not `github.sha`); runner unverifi

 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: BLOCKED — S3 display+GT911+STOP not started this session. P06 landed; P07 not implemented. Hw unflashed.

 ## Dependency

@@ -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.
@@ -11,13 +11,25 @@ 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)

 if(IDF_TARGET STREQUAL "esp32")
  target_compile_definitions(${COMPONENT_LIB} PRIVATE AUTOFILM_BOARD_WROOM=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)
@@ -1,61 +1,182 @@
 #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>
 #endif

+#ifndef AUTOFILM_GIT_DESC
+#define AUTOFILM_GIT_DESC "dev"
+#endif
+
 static const char *TAG = "app";

 #ifdef AUTOFILM_BOARD_WROOM
+static QueueHandle_t s_cmdq;
+
 extern void autofilm_temp_tick(void);

+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);
+        }
+        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();
        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());
+    ESP_LOGI(TAG, "board=%s desc=%s", board_name(), AUTOFILM_GIT_DESC);

 #ifdef AUTOFILM_BOARD_WROOM
    initArduino();
@@ -81,19 +202,17 @@ void app_main(void)
    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
+    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. */
 }
Author	SHA1	Message	Date
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