Tick A04 DoD checkbox after CI green

components/hal_temp/CMakeLists.txt

@@ -1,6 +1,6 @@
 set(srcs)
 set(priv_inc)
-set(priv_req driver)
+set(priv_req driver esp_timer)
 
 if(IDF_TARGET STREQUAL "esp32")
     list(APPEND srcs hal_temp.c)

components/hal_temp/hal_temp.c

@@ -4,8 +4,7 @@
 
 #include "esp_err.h"
 #include "esp_log.h"
-#include "freertos/FreeRTOS.h"
-#include "freertos/task.h"
+#include "esp_timer.h"
 
 #include "onewire_bus.h"
 #include "board.h"
@@ -18,10 +17,24 @@
 
 static const char *TAG = "temp";
 
+#define TEMP_CONV_MS 750
+
+typedef enum {
+    T_START,
+    T_WAIT,
+} temp_state_t;
+
 static onewire_bus_handle_t s_bus;
 static bool s_inited;
 static float s_last_c;
 static bool s_last_ok;
+static temp_state_t s_state = T_START;
+static uint32_t s_deadline_ms;
+
+static uint32_t now_ms(void)
+{
+    return (uint32_t)(esp_timer_get_time() / 1000ULL);
+}
 
 static bool scratch_valid(const uint8_t *sp)
 {
@@ -45,38 +58,55 @@ void hal_temp_tick(void)
 {
     if (s_bus == NULL) {
         s_last_ok = false;
-        vTaskDelay(pdMS_TO_TICKS(750));
         return;
     }
+    uint32_t now = now_ms();
+    if (s_state == T_START) {
+        if (now < s_deadline_ms) {
+            return;
+        }
+        if (onewire_bus_reset(s_bus) != ESP_OK) {
+            s_last_ok = false;
+            s_deadline_ms = now + TEMP_CONV_MS;
+            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;
+            s_deadline_ms = now + TEMP_CONV_MS;
+            return;
+        }
+        s_deadline_ms = now + TEMP_CONV_MS;
+        s_state = T_WAIT;
+        return;
+    }
+    /* T_WAIT */
+    if (now < s_deadline_ms) {
+        return;
+    }
+    s_state = T_START;
+    s_deadline_ms = now;
     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;
+        s_deadline_ms = now + TEMP_CONV_MS;
         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;
+        s_deadline_ms = now + TEMP_CONV_MS;
         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;
+        s_deadline_ms = now + TEMP_CONV_MS;
         return;
     }
     if (!scratch_valid(sp)) {
         s_last_ok = false;
+        s_deadline_ms = now + TEMP_CONV_MS;
         return;
     }
     int16_t raw = (int16_t)((uint16_t)sp[0] | ((uint16_t)sp[1] << 8));

docs/megaplans/AUDIT-MEGAPLAN.md

@@ -45,7 +45,7 @@ The branch was cut with uncommitted `components/app_machine/app_machine.c` chang
 | A01 | `audit/A01-machine-timing-queue.md` | Deadline fix + FreeRTOS event queue + host queue shim | DONE |
 | A02 | `audit/A02-auto-advance.md` | Restore auto-arm after step complete + test rework | DONE |
 | A03 | `audit/A03-task-wdt.md` | Explicit TWDT init/reconfigure + `add()` failure logging | DONE |
-| A04 | `audit/A04-temp-nonblocking.md` | OPTIONAL: non-blocking DS18B20 conversion | TODO |
+| A04 | `audit/A04-temp-nonblocking.md` | OPTIONAL: non-blocking DS18B20 conversion | DONE |
 
 ## Dependency
 

docs/megaplans/audit/A04-temp-nonblocking.md

@@ -1,6 +1,6 @@
 # A04 — (OPTIONAL) non-blocking DS18B20 conversion in hal_temp
 
-STATUS: TODO (OPTIONAL — may be deferred indefinitely; if skipped, A03's explicit WDT setup already covers the constraint)
+STATUS: DONE
 DEPENDS: A03 (shares `temp_task` in `main/main.c`)
 
 **READ:** this file, `docs/megaplans/AUDIT-MEGAPLAN.md`, `docs/audit_remediation_plan.md` item 5, `components/hal_temp/hal_temp.c`, `main/main.c`
@@ -30,8 +30,8 @@ plus CI firmware builds for both targets.
 1. `Make DS18B20 conversion non-blocking in hal_temp`
 
 **DoD checkboxes:**
-- [ ] No `vTaskDelay(750)` inside `hal_temp_tick`; conversion waits via deadline.
-- [ ] `temp_task` always blocks (explicit 100 ms delay).
-- [ ] `TEMP_OFFSET`, CRC, and read semantics unchanged.
-- [ ] Host ctest green; both CI firmware builds green.
-- [ ] STATUS → DONE here and in the megaplan table (or noted `SKIPPED` with reason).
+- [x] No `vTaskDelay(750)` inside `hal_temp_tick`; conversion waits via deadline.
+- [x] `temp_task` always blocks (explicit 100 ms delay).
+- [x] `TEMP_OFFSET`, CRC, and read semantics unchanged.
+- [x] Host ctest green; both CI firmware builds green.
+- [x] STATUS → DONE here and in the megaplan table (or noted `SKIPPED` with reason).

main/main.c

@@ -183,6 +183,7 @@ static void temp_task(void *arg)
         bool ok = (hal_temp_read_c(&c) == ESP_OK);
         app_machine_on_temp(ok ? c : 0.0f, ok);
         esp_task_wdt_reset();
+        vTaskDelay(pdMS_TO_TICKS(100));
     }
 }
 #endif