Mark P07 BLOCKED pending P06 app_ui cutover

P07 requires the P06 five-screen contract. app_ui, hal_display, and
hal_input are absent; no S3 colour adapter landed.

.gitea/workflows/ci.yml

@@ -16,15 +16,19 @@ jobs:
       - name: Install host toolchain
         if: hashFiles('tests/host/CMakeLists.txt') != ''
         run: |
-          export DEBIAN_FRONTEND=noninteractive && \
+          export DEBIAN_FRONTEND=noninteractive
-          if command -v sudo >/dev/null 2>&1 && [ "$(id -u)" -ne 0 ]; then SUDO=sudo; else SUDO=; fi && \
+          if command -v sudo >/dev/null 2>&1 && [ "$(id -u)" -ne 0 ]; then
-          $SUDO apt-get update && \
+            SUDO=sudo
+          else
+            SUDO=
+          fi
+          $SUDO apt-get update
           $SUDO apt-get install -y --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 -S tests/host -B build/host
-          cmake --build build/host && \
+          cmake --build build/host
           ctest --test-dir build/host --output-on-failure
 
   firmware:
@@ -43,25 +47,17 @@ jobs:
             target: esp32s3
             sdkconfig: sdkconfig.s3
     steps:
-      - name: Install Node.js
-        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 curl ca-certificates && \
-          curl -fsSL https://deb.nodesource.com/setup_20.x | $SUDO bash - && \
-          $SUDO apt-get install -y --no-install-recommends nodejs
       - uses: actions/checkout@v4
       - name: Build
         if: hashFiles('CMakeLists.txt') != ''
         run: |
-          git config --global --add safe.directory '*' && \
+          git config --global --add safe.directory '*'
-          idf.py -B build/${{ matrix.board }} set-target ${{ matrix.target }} && \
+          idf.py -B build/${{ 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 && \
+            build
-          idf.py -B build/${{ matrix.board }} size | tee size-${{ matrix.board }}.txt && \
+          idf.py -B build/${{ matrix.board }} size | tee size-${{ matrix.board }}.txt
           python $IDF_PATH/components/esptool_py/esptool/esptool.py \
             --chip ${{ matrix.target }} merge_bin \
             -o autofilm-${{ matrix.board }}-${{ gitea.sha }}.bin \
@@ -78,4 +74,3 @@ jobs:
             build/${{ matrix.board }}/flasher_args.json
             build/${{ matrix.board }}/sdkconfig
             size-${{ matrix.board }}.txt
-            

CMakeLists.txt

@@ -1,3 +1,12 @@
 cmake_minimum_required(VERSION 3.16)
+if(NOT DEFINED AUTOFILM_BOARD)
+    set(AUTOFILM_BOARD wroom CACHE STRING "wroom|jc4827w543")
+endif()
+if(IDF_TARGET STREQUAL "esp32s3" OR AUTOFILM_BOARD STREQUAL "jc4827w543")
+    set(EXCLUDE_COMPONENTS board_wroom)
+    set(AUTOFILM_BOARD jc4827w543 CACHE STRING "wroom|jc4827w543" FORCE)
+else()
+    set(EXCLUDE_COMPONENTS board_jc4827w543)
+endif()
 include($ENV{IDF_PATH}/tools/cmake/project.cmake)
 project(autofilm)

components/app_machine/CMakeLists.txt

@@ -1,3 +1,4 @@
 idf_component_register(SRCS "app_machine.c"
                     INCLUDE_DIRS "include"
-                    REQUIRES ui_cmd app_process)
+                    REQUIRES ui_cmd app_process
+                    PRIV_REQUIRES hal_motor hal_temp hal_audio)

components/board_wroom/idf_component.yml

@@ -0,0 +1,2 @@
+dependencies:
+  espressif/arduino-esp32: "~3.2.1"

components/hal_audio/CMakeLists.txt

@@ -0,0 +1,14 @@
+set(srcs)
+set(priv_req driver)
+
+if(IDF_TARGET STREQUAL "esp32")
+    list(APPEND srcs wroom/hal_audio.cpp)
+    list(APPEND priv_req board_wroom)
+else()
+    list(APPEND srcs stub/hal_audio.c)
+endif()
+
+idf_component_register(SRCS ${srcs}
+                    INCLUDE_DIRS "include"
+                    REQUIRES driver
+                    PRIV_REQUIRES ${priv_req})

components/hal_audio/stub/hal_audio.c

@@ -0,0 +1,15 @@
+void hal_audio_init(void)
+{
+}
+
+void hal_audio_beep_short(void)
+{
+}
+
+void hal_audio_alarm_complete(void)
+{
+}
+
+void hal_audio_alarm_cancel(void)
+{
+}

components/hal_audio/wroom/hal_audio.cpp

@@ -0,0 +1,162 @@
+#include <stdint.h>
+
+#include "esp_log.h"
+#include "driver/ledc.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/queue.h"
+
+#define PIN_BEEP 25
+#define LEDC_TIMER LEDC_TIMER_0
+#define LEDC_MODE LEDC_LOW_SPEED_MODE
+#define LEDC_CHANNEL LEDC_CHANNEL_0
+#define LEDC_DUTY_RES LEDC_TIMER_13_BIT
+#define LEDC_DUTY 4095
+
+static const char *TAG = "audio";
+
+enum {
+    AUDIO_SHORT = 1,
+    AUDIO_ALARM,
+    AUDIO_CANCEL,
+};
+
+static QueueHandle_t s_q;
+static TaskHandle_t s_task;
+static bool s_inited;
+
+static void tone_on(uint32_t hz)
+{
+    ledc_set_freq(LEDC_MODE, LEDC_TIMER, hz);
+    ledc_set_duty(LEDC_MODE, LEDC_CHANNEL, LEDC_DUTY);
+    ledc_update_duty(LEDC_MODE, LEDC_CHANNEL);
+}
+
+static void tone_off(void)
+{
+    ledc_set_duty(LEDC_MODE, LEDC_CHANNEL, 0);
+    ledc_update_duty(LEDC_MODE, LEDC_CHANNEL);
+}
+
+static bool drain_cancel(void)
+{
+    int msg;
+    while (xQueueReceive(s_q, &msg, 0) == pdTRUE) {
+        if (msg == AUDIO_CANCEL) {
+            return true;
+        }
+    }
+    return false;
+}
+
+static void play_short(void)
+{
+    tone_on(2000);
+    vTaskDelay(pdMS_TO_TICKS(100));
+    tone_off();
+}
+
+static void play_alarm(void)
+{
+    for (int i = 0; i < 10; i++) {
+        if (drain_cancel()) {
+            tone_off();
+            return;
+        }
+        tone_on(2000);
+        TickType_t t0 = xTaskGetTickCount();
+        while ((xTaskGetTickCount() - t0) < pdMS_TO_TICKS(500)) {
+            if (drain_cancel()) {
+                tone_off();
+                return;
+            }
+            vTaskDelay(pdMS_TO_TICKS(10));
+        }
+        tone_off();
+        t0 = xTaskGetTickCount();
+        while ((xTaskGetTickCount() - t0) < pdMS_TO_TICKS(250)) {
+            if (drain_cancel()) {
+                return;
+            }
+            vTaskDelay(pdMS_TO_TICKS(10));
+        }
+    }
+}
+
+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) {
+            tone_off();
+        }
+    }
+}
+
+static void post(int msg)
+{
+    if (s_q == NULL) {
+        return;
+    }
+    xQueueSend(s_q, &msg, 0);
+}
+
+extern "C" void autofilm_audio_task(void *arg)
+{
+    audio_task(arg);
+}
+
+extern "C" void hal_audio_init(void)
+{
+    if (s_inited) {
+        return;
+    }
+    ledc_timer_config_t tcfg = {
+        .speed_mode = LEDC_MODE,
+        .duty_resolution = LEDC_DUTY_RES,
+        .timer_num = LEDC_TIMER,
+        .freq_hz = 2000,
+        .clk_cfg = LEDC_AUTO_CLK,
+    };
+    ledc_timer_config(&tcfg);
+    ledc_channel_config_t ccfg = {
+        .gpio_num = PIN_BEEP,
+        .speed_mode = LEDC_MODE,
+        .channel = LEDC_CHANNEL,
+        .intr_type = LEDC_INTR_DISABLE,
+        .timer_sel = LEDC_TIMER,
+        .duty = 0,
+        .hpoint = 0,
+    };
+    ledc_channel_config(&ccfg);
+    tone_off();
+    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 beep pin=%d LEDC", PIN_BEEP);
+}
+
+extern "C" void hal_audio_beep_short(void)
+{
+    post(AUDIO_SHORT);
+}
+
+extern "C" void hal_audio_alarm_complete(void)
+{
+    post(AUDIO_ALARM);
+}
+
+extern "C" void hal_audio_alarm_cancel(void)
+{
+    post(AUDIO_CANCEL);
+}

components/hal_motor/CMakeLists.txt

@@ -0,0 +1,22 @@
+set(srcs)
+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)
+else()
+    list(APPEND srcs stub/hal_motor.c)
+endif()
+
+idf_component_register(SRCS ${srcs}
+                    INCLUDE_DIRS "include"
+                    PRIV_INCLUDE_DIRS ${priv_inc}
+                    REQUIRES driver
+                    PRIV_REQUIRES ${priv_req})

components/hal_motor/stub/hal_motor.c

@@ -0,0 +1,31 @@
+#include "hal_motor.h"
+
+void hal_motor_init(void)
+{
+}
+
+void hal_motor_enable(bool on)
+{
+    (void)on;
+}
+
+void hal_motor_request_stop(void)
+{
+}
+
+esp_err_t hal_motor_agitate_start(float cw_revs, float ccw_revs, uint32_t rpm)
+{
+    (void)cw_revs;
+    (void)ccw_revs;
+    (void)rpm;
+    return ESP_OK;
+}
+
+void hal_motor_agitate_stop(void)
+{
+}
+
+bool hal_motor_is_enabled(void)
+{
+    return false;
+}

components/hal_motor/wroom/hal_motor.cpp

@@ -0,0 +1,153 @@
+#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;
+}

components/hal_temp/CMakeLists.txt

@@ -0,0 +1,24 @@
+set(srcs)
+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)
+else()
+    list(APPEND srcs stub/hal_temp.c)
+endif()
+
+idf_component_register(SRCS ${srcs}
+                    INCLUDE_DIRS "include"
+                    PRIV_INCLUDE_DIRS ${priv_inc}
+                    REQUIRES driver
+                    PRIV_REQUIRES ${priv_req})

components/hal_temp/stub/hal_temp.c

@@ -0,0 +1,11 @@
+#include "hal_temp.h"
+
+void hal_temp_init(void)
+{
+}
+
+esp_err_t hal_temp_read_c(float *out)
+{
+    (void)out;
+    return ESP_FAIL;
+}

components/hal_temp/wroom/hal_temp.cpp

@@ -0,0 +1,66 @@
+#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;
+}

components/third_party/AccelStepper/AccelStepper.cpp

@@ -0,0 +1,679 @@
+// AccelStepper.cpp
+//
+// Copyright (C) 2009-2020 Mike McCauley
+// $Id: AccelStepper.cpp,v 1.24 2020/04/20 00:15:03 mikem Exp mikem $
+
+#include "AccelStepper.h"
+
+#if 0
+// Some debugging assistance
+void dump(uint8_t* p, int l)
+{
+    int i;
+
+    for (i = 0; i < l; i++)
+    {
+	Serial.print(p[i], HEX);
+	Serial.print(" ");
+    }
+    Serial.println("");
+}
+#endif
+
+void AccelStepper::moveTo(long absolute)
+{
+    if (_targetPos != absolute)
+    {
+	_targetPos = absolute;
+	computeNewSpeed();
+	// compute new n?
+    }
+}
+
+void AccelStepper::move(long relative)
+{
+    moveTo(_currentPos + relative);
+}
+
+// Implements steps according to the current step interval
+// You must call this at least once per step
+// returns true if a step occurred
+boolean AccelStepper::runSpeed()
+{
+    // Dont do anything unless we actually have a step interval
+    if (!_stepInterval)
+	return false;
+
+    unsigned long time = micros();   
+    if (time - _lastStepTime >= _stepInterval)
+    {
+	if (_direction == DIRECTION_CW)
+	{
+	    // Clockwise
+	    _currentPos += 1;
+	}
+	else
+	{
+	    // Anticlockwise  
+	    _currentPos -= 1;
+	}
+	step(_currentPos);
+
+	_lastStepTime = time; // Caution: does not account for costs in step()
+
+	return true;
+    }
+    else
+    {
+	return false;
+    }
+}
+
+long AccelStepper::distanceToGo()
+{
+    return _targetPos - _currentPos;
+}
+
+long AccelStepper::targetPosition()
+{
+    return _targetPos;
+}
+
+long AccelStepper::currentPosition()
+{
+    return _currentPos;
+}
+
+// Useful during initialisations or after initial positioning
+// Sets speed to 0
+void AccelStepper::setCurrentPosition(long position)
+{
+    _targetPos = _currentPos = position;
+    _n = 0;
+    _stepInterval = 0;
+    _speed = 0.0;
+}
+
+// Subclasses can override
+unsigned long AccelStepper::computeNewSpeed()
+{
+    long distanceTo = distanceToGo(); // +ve is clockwise from curent location
+
+    long stepsToStop = (long)((_speed * _speed) / (2.0 * _acceleration)); // Equation 16
+
+    if (distanceTo == 0 && stepsToStop <= 1)
+    {
+	// We are at the target and its time to stop
+	_stepInterval = 0;
+	_speed = 0.0;
+	_n = 0;
+	return _stepInterval;
+    }
+
+    if (distanceTo > 0)
+    {
+	// We are anticlockwise from the target
+	// Need to go clockwise from here, maybe decelerate now
+	if (_n > 0)
+	{
+	    // Currently accelerating, need to decel now? Or maybe going the wrong way?
+	    if ((stepsToStop >= distanceTo) || _direction == DIRECTION_CCW)
+		_n = -stepsToStop; // Start deceleration
+	}
+	else if (_n < 0)
+	{
+	    // Currently decelerating, need to accel again?
+	    if ((stepsToStop < distanceTo) && _direction == DIRECTION_CW)
+		_n = -_n; // Start accceleration
+	}
+    }
+    else if (distanceTo < 0)
+    {
+	// We are clockwise from the target
+	// Need to go anticlockwise from here, maybe decelerate
+	if (_n > 0)
+	{
+	    // Currently accelerating, need to decel now? Or maybe going the wrong way?
+	    if ((stepsToStop >= -distanceTo) || _direction == DIRECTION_CW)
+		_n = -stepsToStop; // Start deceleration
+	}
+	else if (_n < 0)
+	{
+	    // Currently decelerating, need to accel again?
+	    if ((stepsToStop < -distanceTo) && _direction == DIRECTION_CCW)
+		_n = -_n; // Start accceleration
+	}
+    }
+
+    // Need to accelerate or decelerate
+    if (_n == 0)
+    {
+	// First step from stopped
+	_cn = _c0;
+	_direction = (distanceTo > 0) ? DIRECTION_CW : DIRECTION_CCW;
+    }
+    else
+    {
+	// Subsequent step. Works for accel (n is +_ve) and decel (n is -ve).
+	_cn = _cn - ((2.0 * _cn) / ((4.0 * _n) + 1)); // Equation 13
+	_cn = max(_cn, _cmin); 
+    }
+    _n++;
+    _stepInterval = _cn;
+    _speed = 1000000.0 / _cn;
+    if (_direction == DIRECTION_CCW)
+	_speed = -_speed;
+
+#if 0
+    Serial.println(_speed);
+    Serial.println(_acceleration);
+    Serial.println(_cn);
+    Serial.println(_c0);
+    Serial.println(_n);
+    Serial.println(_stepInterval);
+    Serial.println(distanceTo);
+    Serial.println(stepsToStop);
+    Serial.println("-----");
+#endif
+    return _stepInterval;
+}
+
+// Run the motor to implement speed and acceleration in order to proceed to the target position
+// You must call this at least once per step, preferably in your main loop
+// If the motor is in the desired position, the cost is very small
+// returns true if the motor is still running to the target position.
+boolean AccelStepper::run()
+{
+    if (runSpeed())
+	computeNewSpeed();
+    return _speed != 0.0 || distanceToGo() != 0;
+}
+
+AccelStepper::AccelStepper(uint8_t interface, uint8_t pin1, uint8_t pin2, uint8_t pin3, uint8_t pin4, bool enable)
+{
+    _interface = interface;
+    _currentPos = 0;
+    _targetPos = 0;
+    _speed = 0.0;
+    _maxSpeed = 0.0;
+    _acceleration = 0.0;
+    _sqrt_twoa = 1.0;
+    _stepInterval = 0;
+    _minPulseWidth = 1;
+    _enablePin = 0xff;
+    _lastStepTime = 0;
+    _pin[0] = pin1;
+    _pin[1] = pin2;
+    _pin[2] = pin3;
+    _pin[3] = pin4;
+    _enableInverted = false;
+    
+    // NEW
+    _n = 0;
+    _c0 = 0.0;
+    _cn = 0.0;
+    _cmin = 1.0;
+    _direction = DIRECTION_CCW;
+
+    int i;
+    for (i = 0; i < 4; i++)
+	_pinInverted[i] = 0;
+    if (enable)
+	enableOutputs();
+    // Some reasonable default
+    setAcceleration(1);
+    setMaxSpeed(1);
+}
+
+AccelStepper::AccelStepper(void (*forward)(), void (*backward)())
+{
+    _interface = 0;
+    _currentPos = 0;
+    _targetPos = 0;
+    _speed = 0.0;
+    _maxSpeed = 0.0;
+    _acceleration = 0.0;
+    _sqrt_twoa = 1.0;
+    _stepInterval = 0;
+    _minPulseWidth = 1;
+    _enablePin = 0xff;
+    _lastStepTime = 0;
+    _pin[0] = 0;
+    _pin[1] = 0;
+    _pin[2] = 0;
+    _pin[3] = 0;
+    _forward = forward;
+    _backward = backward;
+
+    // NEW
+    _n = 0;
+    _c0 = 0.0;
+    _cn = 0.0;
+    _cmin = 1.0;
+    _direction = DIRECTION_CCW;
+
+    int i;
+    for (i = 0; i < 4; i++)
+	_pinInverted[i] = 0;
+    // Some reasonable default
+    setAcceleration(1);
+    setMaxSpeed(1);
+}
+
+void AccelStepper::setMaxSpeed(float speed)
+{
+    if (speed < 0.0)
+       speed = -speed;
+    if (_maxSpeed != speed)
+    {
+	_maxSpeed = speed;
+	_cmin = 1000000.0 / speed;
+	// Recompute _n from current speed and adjust speed if accelerating or cruising
+	if (_n > 0)
+	{
+	    _n = (long)((_speed * _speed) / (2.0 * _acceleration)); // Equation 16
+	    computeNewSpeed();
+	}
+    }
+}
+
+float   AccelStepper::maxSpeed()
+{
+    return _maxSpeed;
+}
+
+void AccelStepper::setAcceleration(float acceleration)
+{
+    if (acceleration == 0.0)
+	return;
+    if (acceleration < 0.0)
+      acceleration = -acceleration;
+    if (_acceleration != acceleration)
+    {
+	// Recompute _n per Equation 17
+	_n = _n * (_acceleration / acceleration);
+	// New c0 per Equation 7, with correction per Equation 15
+	_c0 = 0.676 * sqrt(2.0 / acceleration) * 1000000.0; // Equation 15
+	_acceleration = acceleration;
+	computeNewSpeed();
+    }
+}
+
+float   AccelStepper::acceleration()
+{
+    return _acceleration;
+}
+
+void AccelStepper::setSpeed(float speed)
+{
+    if (speed == _speed)
+        return;
+    speed = constrain(speed, -_maxSpeed, _maxSpeed);
+    if (speed == 0.0)
+	_stepInterval = 0;
+    else
+    {
+	_stepInterval = fabs(1000000.0 / speed);
+	_direction = (speed > 0.0) ? DIRECTION_CW : DIRECTION_CCW;
+    }
+    _speed = speed;
+}
+
+float AccelStepper::speed()
+{
+    return _speed;
+}
+
+// Subclasses can override
+void AccelStepper::step(long step)
+{
+    switch (_interface)
+    {
+        case FUNCTION:
+            step0(step);
+            break;
+
+	case DRIVER:
+	    step1(step);
+	    break;
+    
+	case FULL2WIRE:
+	    step2(step);
+	    break;
+    
+	case FULL3WIRE:
+	    step3(step);
+	    break;  
+
+	case FULL4WIRE:
+	    step4(step);
+	    break;  
+
+	case HALF3WIRE:
+	    step6(step);
+	    break;  
+		
+	case HALF4WIRE:
+	    step8(step);
+	    break;  
+    }
+}
+
+long AccelStepper::stepForward()
+{
+    // Clockwise
+    _currentPos += 1;
+	step(_currentPos);
+	_lastStepTime = micros();
+    return _currentPos;
+}
+
+long AccelStepper::stepBackward()
+{
+    // Counter-clockwise
+    _currentPos -= 1;
+	step(_currentPos);
+	_lastStepTime = micros();
+    return _currentPos;
+}
+
+// You might want to override this to implement eg serial output
+// bit 0 of the mask corresponds to _pin[0]
+// bit 1 of the mask corresponds to _pin[1]
+// ....
+void AccelStepper::setOutputPins(uint8_t mask)
+{
+    uint8_t numpins = 2;
+    if (_interface == FULL4WIRE || _interface == HALF4WIRE)
+	numpins = 4;
+    else if (_interface == FULL3WIRE || _interface == HALF3WIRE)
+	numpins = 3;
+    uint8_t i;
+    for (i = 0; i < numpins; i++)
+	digitalWrite(_pin[i], (mask & (1 << i)) ? (HIGH ^ _pinInverted[i]) : (LOW ^ _pinInverted[i]));
+}
+
+// 0 pin step function (ie for functional usage)
+void AccelStepper::step0(long step)
+{
+    (void)(step); // Unused
+    if (_speed > 0)
+	_forward();
+    else
+	_backward();
+}
+
+// 1 pin step function (ie for stepper drivers)
+// This is passed the current step number (0 to 7)
+// Subclasses can override
+void AccelStepper::step1(long step)
+{
+    (void)(step); // Unused
+
+    // _pin[0] is step, _pin[1] is direction
+    setOutputPins(_direction ? 0b10 : 0b00); // Set direction first else get rogue pulses
+    setOutputPins(_direction ? 0b11 : 0b01); // step HIGH
+    // Caution 200ns setup time 
+    // Delay the minimum allowed pulse width
+    delayMicroseconds(_minPulseWidth);
+    setOutputPins(_direction ? 0b10 : 0b00); // step LOW
+}
+
+
+// 2 pin step function
+// This is passed the current step number (0 to 7)
+// Subclasses can override
+void AccelStepper::step2(long step)
+{
+    switch (step & 0x3)
+    {
+	case 0: /* 01 */
+	    setOutputPins(0b10);
+	    break;
+
+	case 1: /* 11 */
+	    setOutputPins(0b11);
+	    break;
+
+	case 2: /* 10 */
+	    setOutputPins(0b01);
+	    break;
+
+	case 3: /* 00 */
+	    setOutputPins(0b00);
+	    break;
+    }
+}
+// 3 pin step function
+// This is passed the current step number (0 to 7)
+// Subclasses can override
+void AccelStepper::step3(long step)
+{
+    switch (step % 3)
+    {
+	case 0:    // 100
+	    setOutputPins(0b100);
+	    break;
+
+	case 1:    // 001
+	    setOutputPins(0b001);
+	    break;
+
+	case 2:    //010
+	    setOutputPins(0b010);
+	    break;
+	    
+    }
+}
+
+// 4 pin step function for half stepper
+// This is passed the current step number (0 to 7)
+// Subclasses can override
+void AccelStepper::step4(long step)
+{
+    switch (step & 0x3)
+    {
+	case 0:    // 1010
+	    setOutputPins(0b0101);
+	    break;
+
+	case 1:    // 0110
+	    setOutputPins(0b0110);
+	    break;
+
+	case 2:    //0101
+	    setOutputPins(0b1010);
+	    break;
+
+	case 3:    //1001
+	    setOutputPins(0b1001);
+	    break;
+    }
+}
+
+// 3 pin half step function
+// This is passed the current step number (0 to 7)
+// Subclasses can override
+void AccelStepper::step6(long step)
+{
+    switch (step % 6)
+    {
+	case 0:    // 100
+	    setOutputPins(0b100);
+            break;
+	    
+        case 1:    // 101
+	    setOutputPins(0b101);
+            break;
+	    
+	case 2:    // 001
+	    setOutputPins(0b001);
+            break;
+	    
+        case 3:    // 011
+	    setOutputPins(0b011);
+            break;
+	    
+	case 4:    // 010
+	    setOutputPins(0b010);
+            break;
+	    
+	case 5:    // 011
+	    setOutputPins(0b110);
+            break;
+	    
+    }
+}
+
+// 4 pin half step function
+// This is passed the current step number (0 to 7)
+// Subclasses can override
+void AccelStepper::step8(long step)
+{
+    switch (step & 0x7)
+    {
+	case 0:    // 1000
+	    setOutputPins(0b0001);
+            break;
+	    
+        case 1:    // 1010
+	    setOutputPins(0b0101);
+            break;
+	    
+	case 2:    // 0010
+	    setOutputPins(0b0100);
+            break;
+	    
+        case 3:    // 0110
+	    setOutputPins(0b0110);
+            break;
+	    
+	case 4:    // 0100
+	    setOutputPins(0b0010);
+            break;
+	    
+        case 5:    //0101
+	    setOutputPins(0b1010);
+            break;
+	    
+	case 6:    // 0001
+	    setOutputPins(0b1000);
+            break;
+	    
+        case 7:    //1001
+	    setOutputPins(0b1001);
+            break;
+    }
+}
+    
+// Prevents power consumption on the outputs
+void    AccelStepper::disableOutputs()
+{   
+    if (! _interface) return;
+
+    setOutputPins(0); // Handles inversion automatically
+    if (_enablePin != 0xff)
+    {
+        pinMode(_enablePin, OUTPUT);
+        digitalWrite(_enablePin, LOW ^ _enableInverted);
+    }
+}
+
+void    AccelStepper::enableOutputs()
+{
+    if (! _interface) 
+	return;
+
+    pinMode(_pin[0], OUTPUT);
+    pinMode(_pin[1], OUTPUT);
+    if (_interface == FULL4WIRE || _interface == HALF4WIRE)
+    {
+        pinMode(_pin[2], OUTPUT);
+        pinMode(_pin[3], OUTPUT);
+    }
+    else if (_interface == FULL3WIRE || _interface == HALF3WIRE)
+    {
+        pinMode(_pin[2], OUTPUT);
+    }
+
+    if (_enablePin != 0xff)
+    {
+        pinMode(_enablePin, OUTPUT);
+        digitalWrite(_enablePin, HIGH ^ _enableInverted);
+    }
+}
+
+void AccelStepper::setMinPulseWidth(unsigned int minWidth)
+{
+    _minPulseWidth = minWidth;
+}
+
+void AccelStepper::setEnablePin(uint8_t enablePin)
+{
+    _enablePin = enablePin;
+
+    // This happens after construction, so init pin now.
+    if (_enablePin != 0xff)
+    {
+        pinMode(_enablePin, OUTPUT);
+        digitalWrite(_enablePin, HIGH ^ _enableInverted);
+    }
+}
+
+void AccelStepper::setPinsInverted(bool directionInvert, bool stepInvert, bool enableInvert)
+{
+    _pinInverted[0] = stepInvert;
+    _pinInverted[1] = directionInvert;
+    _enableInverted = enableInvert;
+}
+
+void AccelStepper::setPinsInverted(bool pin1Invert, bool pin2Invert, bool pin3Invert, bool pin4Invert, bool enableInvert)
+{    
+    _pinInverted[0] = pin1Invert;
+    _pinInverted[1] = pin2Invert;
+    _pinInverted[2] = pin3Invert;
+    _pinInverted[3] = pin4Invert;
+    _enableInverted = enableInvert;
+}
+
+// Blocks until the target position is reached and stopped
+void AccelStepper::runToPosition()
+{
+    while (run())
+	YIELD; // Let system housekeeping occur
+}
+
+boolean AccelStepper::runSpeedToPosition()
+{
+    if (_targetPos == _currentPos)
+	return false;
+    if (_targetPos >_currentPos)
+	_direction = DIRECTION_CW;
+    else
+	_direction = DIRECTION_CCW;
+    return runSpeed();
+}
+
+// Blocks until the new target position is reached
+void AccelStepper::runToNewPosition(long position)
+{
+    moveTo(position);
+    runToPosition();
+}
+
+void AccelStepper::stop()
+{
+    if (_speed != 0.0)
+    {    
+	long stepsToStop = (long)((_speed * _speed) / (2.0 * _acceleration)) + 1; // Equation 16 (+integer rounding)
+	if (_speed > 0)
+	    move(stepsToStop);
+	else
+	    move(-stepsToStop);
+    }
+}
+
+bool AccelStepper::isRunning()
+{
+    return !(_speed == 0.0 && _targetPos == _currentPos);
+}

components/third_party/AccelStepper/include/AccelStepper.h

@@ -0,0 +1,783 @@
+// AccelStepper.h
+//
+/// \mainpage AccelStepper library for Arduino
+///
+/// This is the Arduino AccelStepper library.
+/// It provides an object-oriented interface for 2, 3 or 4 pin stepper motors and motor drivers.
+///
+/// The standard Arduino IDE includes the Stepper library
+/// (http://arduino.cc/en/Reference/Stepper) for stepper motors. It is
+/// perfectly adequate for simple, single motor applications.
+///
+/// AccelStepper significantly improves on the standard Arduino Stepper library in several ways:
+/// \li Supports acceleration and deceleration
+/// \li Supports multiple simultaneous steppers, with independent concurrent stepping on each stepper
+/// \li Most API functions never delay() or block (unless otherwise stated)
+/// \li Supports 2, 3 and 4 wire steppers, plus 3 and 4 wire half steppers.
+/// \li Supports alternate stepping functions to enable support of AFMotor (https://github.com/adafruit/Adafruit-Motor-Shield-library)
+/// \li Supports stepper drivers such as the Sparkfun EasyDriver (based on 3967 driver chip)
+/// \li Very slow speeds are supported
+/// \li Extensive API
+/// \li Subclass support
+///
+/// The latest version of this documentation can be downloaded from 
+/// http://www.airspayce.com/mikem/arduino/AccelStepper
+/// The version of the package that this documentation refers to can be downloaded 
+/// from http://www.airspayce.com/mikem/arduino/AccelStepper/AccelStepper-1.64.zip
+///
+/// Example Arduino programs are included to show the main modes of use.
+///
+/// You can also find online help and discussion at http://groups.google.com/group/accelstepper
+/// Please use that group for all questions and discussions on this topic. 
+/// Do not contact the author directly, unless it is to discuss commercial licensing.
+/// Before asking a question or reporting a bug, please read 
+/// - http://en.wikipedia.org/wiki/Wikipedia:Reference_desk/How_to_ask_a_software_question
+/// - http://www.catb.org/esr/faqs/smart-questions.html
+/// - http://www.chiark.greenend.org.uk/~shgtatham/bugs.html
+///
+/// Beginners to C++ and stepper motors in general may find this helpful:
+/// - https://hackaday.io/project/183279-accelstepper-the-missing-manual
+/// - https://hackaday.io/project/183713-using-the-arduino-accelstepper-library
+///
+/// Tested on Arduino Diecimila and Mega with arduino-0018 & arduino-0021 
+/// on OpenSuSE 11.1 and avr-libc-1.6.1-1.15,
+/// cross-avr-binutils-2.19-9.1, cross-avr-gcc-4.1.3_20080612-26.5.
+/// Tested on Teensy http://www.pjrc.com/teensy including Teensy 3.1 built using Arduino IDE 1.0.5 with 
+/// teensyduino addon 1.18 and later.
+///
+/// \par Installation
+///
+/// Install in the usual way: unzip the distribution zip file to the libraries
+/// sub-folder of your sketchbook. 
+///
+/// \par Theory
+///
+/// This code uses speed calculations as described in 
+/// "Generate stepper-motor speed profiles in real time" by David Austin 
+/// http://fab.cba.mit.edu/classes/MIT/961.09/projects/i0/Stepper_Motor_Speed_Profile.pdf or
+/// http://www.embedded.com/design/mcus-processors-and-socs/4006438/Generate-stepper-motor-speed-profiles-in-real-time or
+/// http://web.archive.org/web/20140705143928/http://fab.cba.mit.edu/classes/MIT/961.09/projects/i0/Stepper_Motor_Speed_Profile.pdf
+/// with the exception that AccelStepper uses steps per second rather than radians per second
+/// (because we dont know the step angle of the motor)
+/// An initial step interval is calculated for the first step, based on the desired acceleration
+/// On subsequent steps, shorter step intervals are calculated based 
+/// on the previous step until max speed is achieved.
+///
+/// \par Adafruit Motor Shield V2
+///
+/// The included examples AFMotor_* are for Adafruit Motor Shield V1 and do not work with Adafruit Motor Shield V2.
+/// See https://github.com/adafruit/Adafruit_Motor_Shield_V2_Library for examples that work with Adafruit Motor Shield V2.
+/// 
+/// \par Donations
+///
+/// This library is offered under a free GPL license for those who want to use it that way. 
+/// We try hard to keep it up to date, fix bugs
+/// and to provide free support. If this library has helped you save time or money, please consider donating at
+/// http://www.airspayce.com or here:
+///
+/// \htmlonly <form action="https://www.paypal.com/cgi-bin/webscr" method="post"><input type="hidden" name="cmd" value="_donations" /> <input type="hidden" name="business" value="mikem@airspayce.com" /> <input type="hidden" name="lc" value="AU" /> <input type="hidden" name="item_name" value="Airspayce" /> <input type="hidden" name="item_number" value="AccelStepper" /> <input type="hidden" name="currency_code" value="USD" /> <input type="hidden" name="bn" value="PP-DonationsBF:btn_donateCC_LG.gif:NonHosted" /> <input type="image" alt="PayPal — The safer, easier way to pay online." name="submit" src="https://www.paypalobjects.com/en_AU/i/btn/btn_donateCC_LG.gif" /> <img alt="" src="https://www.paypalobjects.com/en_AU/i/scr/pixel.gif" width="1" height="1" border="0" /></form> \endhtmlonly
+/// 
+/// \par Trademarks
+///
+/// AccelStepper is a trademark of AirSpayce Pty Ltd. The AccelStepper mark was first used on April 26 2010 for
+/// international trade, and is used only in relation to motor control hardware and software.
+/// It is not to be confused with any other similar marks covering other goods and services.
+///
+/// \par Copyright
+///
+/// This software is Copyright (C) 2010-2021 Mike McCauley. Use is subject to license
+/// conditions. The main licensing options available are GPL V3 or Commercial:
+///
+/// \par Open Source Licensing GPL V3
+/// This is the appropriate option if you want to share the source code of your
+/// application with everyone you distribute it to, and you also want to give them
+/// the right to share who uses it. If you wish to use this software under Open
+/// Source Licensing, you must contribute all your source code to the open source
+/// community in accordance with the GPL Version 23 when your application is
+/// distributed. See https://www.gnu.org/licenses/gpl-3.0.html
+/// 
+/// \par Commercial Licensing
+/// This is the appropriate option if you are creating proprietary applications
+/// and you are not prepared to distribute and share the source code of your
+/// application. To purchase a commercial license, contact info@airspayce.com
+///
+/// \par Revision History
+/// \version 1.0 Initial release
+///
+/// \version 1.1 Added speed() function to get the current speed.
+/// \version 1.2 Added runSpeedToPosition() submitted by Gunnar Arndt.
+/// \version 1.3 Added support for stepper drivers (ie with Step and Direction inputs) with _pins == 1
+/// \version 1.4 Added functional contructor to support AFMotor, contributed by Limor, with example sketches.
+/// \version 1.5 Improvements contributed by Peter Mousley: Use of microsecond steps and other speed improvements
+///              to increase max stepping speed to about 4kHz. New option for user to set the min allowed pulse width.
+///              Added checks for already running at max speed and skip further calcs if so. 
+/// \version 1.6 Fixed a problem with wrapping of microsecond stepping that could cause stepping to hang. 
+///              Reported by Sandy Noble.
+///              Removed redundant _lastRunTime member.
+/// \version 1.7 Fixed a bug where setCurrentPosition() did not always work as expected. 
+///              Reported by Peter Linhart.
+/// \version 1.8 Added support for 4 pin half-steppers, requested by Harvey Moon
+/// \version 1.9 setCurrentPosition() now also sets motor speed to 0.
+/// \version 1.10 Builds on Arduino 1.0
+/// \version 1.11 Improvments from Michael Ellison:
+///   Added optional enable line support for stepper drivers
+///   Added inversion for step/direction/enable lines for stepper drivers
+/// \version 1.12 Announce Google Group
+/// \version 1.13 Improvements to speed calculation. Cost of calculation is now less in the worst case, 
+///    and more or less constant in all cases. This should result in slightly beter high speed performance, and
+///    reduce anomalous speed glitches when other steppers are accelerating. 
+///    However, its hard to see how to replace the sqrt() required at the very first step from 0 speed.
+/// \version 1.14 Fixed a problem with compiling under arduino 0021 reported by EmbeddedMan
+/// \version 1.15 Fixed a problem with runSpeedToPosition which did not correctly handle
+///    running backwards to a smaller target position. Added examples
+/// \version 1.16 Fixed some cases in the code where abs() was used instead of fabs().
+/// \version 1.17 Added example ProportionalControl
+/// \version 1.18 Fixed a problem: If one calls the funcion runSpeed() when Speed is zero, it makes steps 
+///    without counting. reported by  Friedrich, Klappenbach.
+/// \version 1.19 Added MotorInterfaceType and symbolic names for the number of pins to use
+///               for the motor interface. Updated examples to suit.
+///               Replaced individual pin assignment variables _pin1, _pin2 etc with array _pin[4].
+///               _pins member changed to _interface.
+///               Added _pinInverted array to simplify pin inversion operations.
+///               Added new function setOutputPins() which sets the motor output pins.
+///               It can be overridden in order to provide, say, serial output instead of parallel output
+///               Some refactoring and code size reduction.
+/// \version 1.20 Improved documentation and examples to show need for correctly
+///               specifying AccelStepper::FULL4WIRE and friends.
+/// \version 1.21 Fixed a problem where desiredSpeed could compute the wrong step acceleration
+///               when _speed was small but non-zero. Reported by Brian Schmalz.
+///               Precompute sqrt_twoa to improve performance and max possible stepping speed
+/// \version 1.22 Added Bounce.pde example
+///               Fixed a problem where calling moveTo(), setMaxSpeed(), setAcceleration() more 
+///               frequently than the step time, even
+///               with the same values, would interfere with speed calcs. Now a new speed is computed 
+///               only if there was a change in the set value. Reported by Brian Schmalz.
+/// \version 1.23 Rewrite of the speed algorithms in line with 
+///               http://fab.cba.mit.edu/classes/MIT/961.09/projects/i0/Stepper_Motor_Speed_Profile.pdf
+///               Now expect smoother and more linear accelerations and decelerations. The desiredSpeed()
+///               function was removed.
+/// \version 1.24  Fixed a problem introduced in 1.23: with runToPosition, which did never returned
+/// \version 1.25  Now ignore attempts to set acceleration to 0.0
+/// \version 1.26  Fixed a problem where certina combinations of speed and accelration could cause
+///                oscillation about the target position.
+/// \version 1.27  Added stop() function to stop as fast as possible with current acceleration parameters.
+///                Also added new Quickstop example showing its use.
+/// \version 1.28  Fixed another problem where certain combinations of speed and acceleration could cause
+///                oscillation about the target position.
+///                Added support for 3 wire full and half steppers such as Hard Disk Drive spindle.
+///                Contributed by Yuri Ivatchkovitch.
+/// \version 1.29  Fixed a problem that could cause a DRIVER stepper to continually step
+///                with some sketches. Reported by Vadim.
+/// \version 1.30  Fixed a problem that could cause stepper to back up a few steps at the end of
+///                accelerated travel with certain speeds. Reported and patched by jolo.
+/// \version 1.31  Updated author and distribution location details to airspayce.com
+/// \version 1.32  Fixed a problem with enableOutputs() and setEnablePin on Arduino Due that
+///                prevented the enable pin changing stae correctly. Reported by Duane Bishop.
+/// \version 1.33  Fixed an error in example AFMotor_ConstantSpeed.pde did not setMaxSpeed();
+///                Fixed a problem that caused incorrect pin sequencing of FULL3WIRE and HALF3WIRE.
+///                Unfortunately this meant changing the signature for all step*() functions.
+///                Added example MotorShield, showing how to use AdaFruit Motor Shield to control
+///                a 3 phase motor such as a HDD spindle motor (and without using the AFMotor library.
+/// \version 1.34  Added setPinsInverted(bool pin1Invert, bool pin2Invert, bool pin3Invert, bool pin4Invert, bool enableInvert) 
+///                to allow inversion of 2, 3 and 4 wire stepper pins. Requested by Oleg.
+/// \version 1.35  Removed default args from setPinsInverted(bool, bool, bool, bool, bool) to prevent ambiguity with 
+///                setPinsInverted(bool, bool, bool). Reported by Mac Mac.
+/// \version 1.36  Changed enableOutputs() and disableOutputs() to be virtual so can be overridden.
+///                Added new optional argument 'enable' to constructor, which allows you toi disable the 
+///                automatic enabling of outputs at construction time. Suggested by Guido.
+/// \version 1.37  Fixed a problem with step1 that could cause a rogue step in the 
+///                wrong direction (or not,
+///                depending on the setup-time requirements of the connected hardware). 
+///                Reported by Mark Tillotson.
+/// \version 1.38  run() function incorrectly always returned true. Updated function and doc so it returns true 
+///                if the motor is still running to the target position.
+/// \version 1.39  Updated typos in keywords.txt, courtesey Jon Magill.
+/// \version 1.40  Updated documentation, including testing on Teensy 3.1
+/// \version 1.41  Fixed an error in the acceleration calculations, resulting in acceleration of haldf the intended value
+/// \version 1.42  Improved support for FULL3WIRE and HALF3WIRE output pins. These changes were in Yuri's original
+///                contribution but did not make it into production.<br>
+/// \version 1.43  Added DualMotorShield example. Shows how to use AccelStepper to control 2 x 2 phase steppers using the 
+///                Itead Studio Arduino Dual Stepper Motor Driver Shield model IM120417015.<br>
+/// \version 1.44  examples/DualMotorShield/DualMotorShield.ino examples/DualMotorShield/DualMotorShield.pde
+///                was missing from the distribution.<br>
+/// \version 1.45  Fixed a problem where if setAcceleration was not called, there was no default
+///                acceleration. Reported by Michael Newman.<br>
+/// \version 1.45  Fixed inaccuracy in acceleration rate by using Equation 15, suggested by Sebastian Gracki.<br>
+///                Performance improvements in runSpeed suggested by Jaakko Fagerlund.<br>
+/// \version 1.46  Fixed error in documentation for runToPosition().
+///                Reinstated time calculations in runSpeed() since new version is reported 
+///                not to work correctly under some circumstances. Reported by Oleg V Gavva.<br>
+/// \version 1.48  2015-08-25
+///                Added new class MultiStepper that can manage multiple AccelSteppers, 
+///                and cause them all to move
+///                to selected positions at such a (constant) speed that they all arrive at their
+///                target position at the same time. Suitable for X-Y flatbeds etc.<br>
+///                Added new method maxSpeed() to AccelStepper to return the currently configured maxSpeed.<br>
+/// \version 1.49  2016-01-02
+///                Testing with VID28 series instrument stepper motors and EasyDriver.
+///                OK, although with light pointers
+///                and slow speeds like 180 full steps per second the motor movement can be erratic, 
+///                probably due to some mechanical resonance. Best to accelerate through this speed.<br>
+///                Added isRunning().<br>
+/// \version 1.50 2016-02-25
+///                AccelStepper::disableOutputs now sets the enable pion to OUTPUT mode if the enable pin is defined.
+///                Patch from Piet De Jong.<br>
+///                Added notes about the fact that AFMotor_* examples do not work with Adafruit Motor Shield V2.<br>
+/// \version 1.51 2016-03-24
+///                Fixed a problem reported by gregor: when resetting the stepper motor position using setCurrentPosition() the 
+///                stepper speed is reset by setting _stepInterval to 0, but _speed is not 
+///                reset. this results in the stepper motor not starting again when calling 
+///                setSpeed() with the same speed the stepper was set to before.
+/// \version 1.52 2016-08-09
+///                Added MultiStepper to keywords.txt.
+///                Improvements to efficiency of AccelStepper::runSpeed() as suggested by David Grayson.
+///                Improvements to speed accuracy as suggested by David Grayson.
+/// \version 1.53 2016-08-14
+///                Backed out Improvements to speed accuracy from 1.52 as it did not work correctly.
+/// \version 1.54 2017-01-24
+///                Fixed some warnings about unused arguments.
+/// \version 1.55 2017-01-25
+///                Fixed another warning in MultiStepper.cpp
+/// \version 1.56 2017-02-03
+///                Fixed minor documentation error with DIRECTION_CCW and DIRECTION_CW. Reported by David Mutterer.
+///                Added link to Binpress commercial license purchasing.
+/// \version 1.57 2017-03-28
+///                _direction moved to protected at the request of Rudy Ercek.
+///                setMaxSpeed() and setAcceleration() now correct negative values to be positive.
+/// \version 1.58 2018-04-13
+///                Add initialisation for _enableInverted in constructor.
+/// \version 1.59 2018-08-28
+///                Update commercial licensing, remove binpress.
+/// \version 1.60 2020-03-07
+///                Release under GPL V3
+/// \version 1.61 2020-04-20
+///                Added yield() call in runToPosition(), so that platforms like esp8266 dont hang/crash
+///                during long runs.
+/// \version 1.62 2022-05-22
+///                Added link to AccelStepper - The Missing Manual.<br>
+///                Fixed a problem when setting the maxSpeed to 1.0 due to incomplete initialisation.
+///                Reported by Olivier Pécheux. <br>
+/// \version 1.63 2022-06-30
+///                Added virtual destructor at the request of Jan.<br>
+/// \version 1.64 2022-10-31
+///                Patch courtesy acwest: Changes to make AccelStepper more subclassable. These changes are
+///                largely oriented to implementing new step-scheduling algorithms.
+///
+/// \author  Mike McCauley (mikem@airspayce.com) DO NOT CONTACT THE AUTHOR DIRECTLY: USE THE GOOGLE GROUP
+// Copyright (C) 2009-2020 Mike McCauley
+// $Id: AccelStepper.h,v 1.28 2020/04/20 00:15:03 mikem Exp mikem $
+
+#ifndef AccelStepper_h
+#define AccelStepper_h
+
+#include <stdlib.h>
+#if ARDUINO >= 100
+#include <Arduino.h>
+#else
+#include <WProgram.h>
+#include <wiring.h>
+#endif
+
+// These defs cause trouble on some versions of Arduino
+#undef round
+
+// Use the system yield() whenever possoible, since some platforms require it for housekeeping, especially
+// ESP8266
+#if (defined(ARDUINO) && ARDUINO >= 155) || defined(ESP8266)
+ #define YIELD yield();
+#else
+ #define YIELD
+#endif
+
+/////////////////////////////////////////////////////////////////////
+/// \class AccelStepper AccelStepper.h <AccelStepper.h>
+/// \brief Support for stepper motors with acceleration etc.
+///
+/// This defines a single 2 or 4 pin stepper motor, or stepper moter with fdriver chip, with optional
+/// acceleration, deceleration, absolute positioning commands etc. Multiple
+/// simultaneous steppers are supported, all moving 
+/// at different speeds and accelerations. 
+///
+/// \par Operation
+/// This module operates by computing a step time in microseconds. The step
+/// time is recomputed after each step and after speed and acceleration
+/// parameters are changed by the caller. The time of each step is recorded in
+/// microseconds. The run() function steps the motor once if a new step is due.
+/// The run() function must be called frequently until the motor is in the
+/// desired position, after which time run() will do nothing.
+///
+/// \par Positioning
+/// Positions are specified by a signed long integer. At
+/// construction time, the current position of the motor is consider to be 0. Positive
+/// positions are clockwise from the initial position; negative positions are
+/// anticlockwise. The current position can be altered for instance after
+/// initialization positioning.
+///
+/// \par Caveats
+/// This is an open loop controller: If the motor stalls or is oversped,
+/// AccelStepper will not have a correct 
+/// idea of where the motor really is (since there is no feedback of the motor's
+/// real position. We only know where we _think_ it is, relative to the
+/// initial starting point).
+///
+/// \par Performance
+/// The fastest motor speed that can be reliably supported is about 4000 steps per
+/// second at a clock frequency of 16 MHz on Arduino such as Uno etc. 
+/// Faster processors can support faster stepping speeds. 
+/// However, any speed less than that
+/// down to very slow speeds (much less than one per second) are also supported,
+/// provided the run() function is called frequently enough to step the motor
+/// whenever required for the speed set.
+/// Calling setAcceleration() is expensive,
+/// since it requires a square root to be calculated.
+///
+/// Gregor Christandl reports that with an Arduino Due and a simple test program, 
+/// he measured 43163 steps per second using runSpeed(), 
+/// and 16214 steps per second using run();
+class AccelStepper
+{
+public:
+    /// \brief Symbolic names for number of pins.
+    /// Use this in the pins argument the AccelStepper constructor to 
+    /// provide a symbolic name for the number of pins
+    /// to use.
+    typedef enum
+    {
+	FUNCTION  = 0, ///< Use the functional interface, implementing your own driver functions (internal use only)
+	DRIVER    = 1, ///< Stepper Driver, 2 driver pins required
+	FULL2WIRE = 2, ///< 2 wire stepper, 2 motor pins required
+	FULL3WIRE = 3, ///< 3 wire stepper, such as HDD spindle, 3 motor pins required
+        FULL4WIRE = 4, ///< 4 wire full stepper, 4 motor pins required
+	HALF3WIRE = 6, ///< 3 wire half stepper, such as HDD spindle, 3 motor pins required
+	HALF4WIRE = 8  ///< 4 wire half stepper, 4 motor pins required
+    } MotorInterfaceType;
+
+    /// Constructor. You can have multiple simultaneous steppers, all moving
+    /// at different speeds and accelerations, provided you call their run()
+    /// functions at frequent enough intervals. Current Position is set to 0, target
+    /// position is set to 0. MaxSpeed and Acceleration default to 1.0.
+    /// The motor pins will be initialised to OUTPUT mode during the
+    /// constructor by a call to enableOutputs().
+    /// \param[in] interface Number of pins to interface to. Integer values are
+    /// supported, but it is preferred to use the \ref MotorInterfaceType symbolic names. 
+    /// AccelStepper::DRIVER (1) means a stepper driver (with Step and Direction pins).
+    /// If an enable line is also needed, call setEnablePin() after construction.
+    /// You may also invert the pins using setPinsInverted().
+    /// Caution: DRIVER implements a blocking delay of minPulseWidth microseconds (default 1us) for each step.
+    /// You can change this with setMinPulseWidth().
+    /// AccelStepper::FULL2WIRE (2) means a 2 wire stepper (2 pins required). 
+    /// AccelStepper::FULL3WIRE (3) means a 3 wire stepper, such as HDD spindle (3 pins required). 
+    /// AccelStepper::FULL4WIRE (4) means a 4 wire stepper (4 pins required). 
+    /// AccelStepper::HALF3WIRE (6) means a 3 wire half stepper, such as HDD spindle (3 pins required)
+    /// AccelStepper::HALF4WIRE (8) means a 4 wire half stepper (4 pins required)
+    /// Defaults to AccelStepper::FULL4WIRE (4) pins.
+    /// \param[in] pin1 Arduino digital pin number for motor pin 1. Defaults
+    /// to pin 2. For a AccelStepper::DRIVER (interface==1), 
+    /// this is the Step input to the driver. Low to high transition means to step)
+    /// \param[in] pin2 Arduino digital pin number for motor pin 2. Defaults
+    /// to pin 3. For a AccelStepper::DRIVER (interface==1), 
+    /// this is the Direction input the driver. High means forward.
+    /// \param[in] pin3 Arduino digital pin number for motor pin 3. Defaults
+    /// to pin 4.
+    /// \param[in] pin4 Arduino digital pin number for motor pin 4. Defaults
+    /// to pin 5.
+    /// \param[in] enable If this is true (the default), enableOutputs() will be called to enable
+    /// the output pins at construction time.
+    AccelStepper(uint8_t interface = AccelStepper::FULL4WIRE, uint8_t pin1 = 2, uint8_t pin2 = 3, uint8_t pin3 = 4, uint8_t pin4 = 5, bool enable = true);
+
+    /// Alternate Constructor which will call your own functions for forward and backward steps. 
+    /// You can have multiple simultaneous steppers, all moving
+    /// at different speeds and accelerations, provided you call their run()
+    /// functions at frequent enough intervals. Current Position is set to 0, target
+    /// position is set to 0. MaxSpeed and Acceleration default to 1.0.
+    /// Any motor initialization should happen before hand, no pins are used or initialized.
+    /// \param[in] forward void-returning procedure that will make a forward step
+    /// \param[in] backward void-returning procedure that will make a backward step
+    AccelStepper(void (*forward)(), void (*backward)());
+    
+    /// Set the target position. The run() function will try to move the motor (at most one step per call)
+    /// from the current position to the target position set by the most
+    /// recent call to this function. Caution: moveTo() also recalculates the speed for the next step. 
+    /// If you are trying to use constant speed movements, you should call setSpeed() after calling moveTo().
+    /// \param[in] absolute The desired absolute position. Negative is
+    /// anticlockwise from the 0 position.
+    void    moveTo(long absolute); 
+
+    /// Set the target position relative to the current position.
+    /// \param[in] relative The desired position relative to the current position. Negative is
+    /// anticlockwise from the current position.
+    void    move(long relative);
+
+    /// Poll the motor and step it if a step is due, implementing
+    /// accelerations and decelerations to achieve the target position. You must call this as
+    /// frequently as possible, but at least once per minimum step time interval,
+    /// preferably in your main loop. Note that each call to run() will make at most one step, and then only when a step is due,
+    /// based on the current speed and the time since the last step.
+    /// \return true if the motor is still running to the target position.
+    boolean run();
+
+    /// Poll the motor and step it if a step is due, implementing a constant
+    /// speed as set by the most recent call to setSpeed(). You must call this as
+    /// frequently as possible, but at least once per step interval,
+    /// \return true if the motor was stepped.
+    boolean runSpeed();
+
+    /// Sets the maximum permitted speed. The run() function will accelerate
+    /// up to the speed set by this function.
+    /// Caution: the maximum speed achievable depends on your processor and clock speed.
+    /// The default maxSpeed is 1.0 steps per second.
+    /// \param[in] speed The desired maximum speed in steps per second. Must
+    /// be > 0. Caution: Speeds that exceed the maximum speed supported by the processor may
+    /// Result in non-linear accelerations and decelerations.
+    void    setMaxSpeed(float speed);
+
+    /// Returns the maximum speed configured for this stepper
+    /// that was previously set by setMaxSpeed();
+    /// \return The currently configured maximum speed
+    float   maxSpeed();
+
+    /// Sets the acceleration/deceleration rate.
+    /// \param[in] acceleration The desired acceleration in steps per second
+    /// per second. Must be > 0.0. This is an expensive call since it requires a square 
+    /// root to be calculated. Dont call more ofthen than needed
+    void    setAcceleration(float acceleration);
+
+    /// Returns the acceleration/deceleration rate configured for this stepper
+    /// that was previously set by setAcceleration();
+    /// \return The currently configured acceleration/deceleration
+    float   acceleration();
+    
+    /// Sets the desired constant speed for use with runSpeed().
+    /// \param[in] speed The desired constant speed in steps per
+    /// second. Positive is clockwise. Speeds of more than 1000 steps per
+    /// second are unreliable. Very slow speeds may be set (eg 0.00027777 for
+    /// once per hour, approximately. Speed accuracy depends on the Arduino
+    /// crystal. Jitter depends on how frequently you call the runSpeed() function.
+    /// The speed will be limited by the current value of setMaxSpeed()
+    void    setSpeed(float speed);
+
+    /// The most recently set speed.
+    /// \return the most recent speed in steps per second
+    float   speed();
+
+    /// The distance from the current position to the target position.
+    /// \return the distance from the current position to the target position
+    /// in steps. Positive is clockwise from the current position.
+    long    distanceToGo();
+
+    /// The most recently set target position.
+    /// \return the target position
+    /// in steps. Positive is clockwise from the 0 position.
+    long    targetPosition();
+
+    /// The current motor position.
+    /// \return the current motor position
+    /// in steps. Positive is clockwise from the 0 position.
+    long    currentPosition();  
+
+    /// Resets the current position of the motor, so that wherever the motor
+    /// happens to be right now is considered to be the new 0 position. Useful
+    /// for setting a zero position on a stepper after an initial hardware
+    /// positioning move.
+    /// Has the side effect of setting the current motor speed to 0.
+    /// \param[in] position The position in steps of wherever the motor
+    /// happens to be right now.
+    void    setCurrentPosition(long position);  
+    
+    /// Moves the motor (with acceleration/deceleration)
+    /// to the target position and blocks until it is at
+    /// position. Dont use this in event loops, since it blocks.
+    void    runToPosition();
+
+    /// Executes runSpeed() unless the targetPosition is reached.
+    /// This function needs to be called often just like runSpeed() or run().
+    /// Will step the motor if a step is required at the currently selected
+    /// speed unless the target position has been reached.
+    /// Does not implement accelerations.
+    /// \return true if it stepped
+    boolean runSpeedToPosition();
+
+    /// Moves the motor (with acceleration/deceleration)
+    /// to the new target position and blocks until it is at
+    /// position. Dont use this in event loops, since it blocks.
+    /// \param[in] position The new target position.
+    void    runToNewPosition(long position);
+
+    /// Sets a new target position that causes the stepper
+    /// to stop as quickly as possible, using the current speed and acceleration parameters.
+    void stop();
+
+    /// Disable motor pin outputs by setting them all LOW
+    /// Depending on the design of your electronics this may turn off
+    /// the power to the motor coils, saving power.
+    /// This is useful to support Arduino low power modes: disable the outputs
+    /// during sleep and then reenable with enableOutputs() before stepping
+    /// again.
+    /// If the enable Pin is defined, sets it to OUTPUT mode and clears the pin to disabled.
+    virtual void    disableOutputs();
+
+    /// Enable motor pin outputs by setting the motor pins to OUTPUT
+    /// mode. Called automatically by the constructor.
+    /// If the enable Pin is defined, sets it to OUTPUT mode and sets the pin to enabled.
+    virtual void    enableOutputs();
+
+    /// Sets the minimum pulse width allowed by the stepper driver. The minimum practical pulse width is 
+    /// approximately 20 microseconds. Times less than 20 microseconds
+    /// will usually result in 20 microseconds or so.
+    /// \param[in] minWidth The minimum pulse width in microseconds. 
+    void    setMinPulseWidth(unsigned int minWidth);
+
+    /// Sets the enable pin number for stepper drivers.
+    /// 0xFF indicates unused (default).
+    /// Otherwise, if a pin is set, the pin will be turned on when 
+    /// enableOutputs() is called and switched off when disableOutputs() 
+    /// is called.
+    /// \param[in] enablePin Arduino digital pin number for motor enable
+    /// \sa setPinsInverted
+    void    setEnablePin(uint8_t enablePin = 0xff);
+
+    /// Sets the inversion for stepper driver pins
+    /// \param[in] directionInvert True for inverted direction pin, false for non-inverted
+    /// \param[in] stepInvert      True for inverted step pin, false for non-inverted
+    /// \param[in] enableInvert    True for inverted enable pin, false (default) for non-inverted
+    void    setPinsInverted(bool directionInvert = false, bool stepInvert = false, bool enableInvert = false);
+
+    /// Sets the inversion for 2, 3 and 4 wire stepper pins
+    /// \param[in] pin1Invert True for inverted pin1, false for non-inverted
+    /// \param[in] pin2Invert True for inverted pin2, false for non-inverted
+    /// \param[in] pin3Invert True for inverted pin3, false for non-inverted
+    /// \param[in] pin4Invert True for inverted pin4, false for non-inverted
+    /// \param[in] enableInvert    True for inverted enable pin, false (default) for non-inverted
+    void    setPinsInverted(bool pin1Invert, bool pin2Invert, bool pin3Invert, bool pin4Invert, bool enableInvert);
+
+    /// Checks to see if the motor is currently running to a target
+    /// \return true if the speed is not zero or not at the target position
+    bool    isRunning();
+
+    /// Virtual destructor to prevent warnings during delete
+    virtual ~AccelStepper() {};
+protected:
+
+    /// \brief Direction indicator
+    /// Symbolic names for the direction the motor is turning
+    typedef enum
+    {
+	DIRECTION_CCW = 0,  ///< Counter-Clockwise
+        DIRECTION_CW  = 1   ///< Clockwise
+    } Direction;
+
+    /// Forces the library to compute a new instantaneous speed and set that as
+    /// the current speed. It is called by
+    /// the library:
+    /// \li  after each step
+    /// \li  after change to maxSpeed through setMaxSpeed()
+    /// \li  after change to acceleration through setAcceleration()
+    /// \li  after change to target position (relative or absolute) through
+    /// move() or moveTo()
+    /// \return the new step interval
+    virtual unsigned long  computeNewSpeed();
+
+    /// Low level function to set the motor output pins
+    /// bit 0 of the mask corresponds to _pin[0]
+    /// bit 1 of the mask corresponds to _pin[1]
+    /// You can override this to impment, for example serial chip output insted of using the
+    /// output pins directly
+    virtual void   setOutputPins(uint8_t mask);
+
+    /// Called to execute a step. Only called when a new step is
+    /// required. Subclasses may override to implement new stepping
+    /// interfaces. The default calls step1(), step2(), step4() or step8() depending on the
+    /// number of pins defined for the stepper.
+    /// \param[in] step The current step phase number (0 to 7)
+    virtual void   step(long step);
+    
+    /// Called to execute a clockwise(+) step. Only called when a new step is
+    /// required. This increments the _currentPos and calls step()
+    /// \return the updated current position
+    long   stepForward();
+
+    /// Called to execute a counter-clockwise(-) step. Only called when a new step is
+    /// required. This decrements the _currentPos and calls step()
+    /// \return the updated current position
+    long   stepBackward();
+
+    /// Called to execute a step using stepper functions (pins = 0) Only called when a new step is
+    /// required. Calls _forward() or _backward() to perform the step
+    /// \param[in] step The current step phase number (0 to 7)
+    virtual void   step0(long step);
+
+    /// Called to execute a step on a stepper driver (ie where pins == 1). Only called when a new step is
+    /// required. Subclasses may override to implement new stepping
+    /// interfaces. The default sets or clears the outputs of Step pin1 to step, 
+    /// and sets the output of _pin2 to the desired direction. The Step pin (_pin1) is pulsed for 1 microsecond
+    /// which is the minimum STEP pulse width for the 3967 driver.
+    /// \param[in] step The current step phase number (0 to 7)
+    virtual void   step1(long step);
+
+    /// Called to execute a step on a 2 pin motor. Only called when a new step is
+    /// required. Subclasses may override to implement new stepping
+    /// interfaces. The default sets or clears the outputs of pin1 and pin2
+    /// \param[in] step The current step phase number (0 to 7)
+    virtual void   step2(long step);
+
+    /// Called to execute a step on a 3 pin motor, such as HDD spindle. Only called when a new step is
+    /// required. Subclasses may override to implement new stepping
+    /// interfaces. The default sets or clears the outputs of pin1, pin2,
+    /// pin3
+    /// \param[in] step The current step phase number (0 to 7)
+    virtual void   step3(long step);
+
+    /// Called to execute a step on a 4 pin motor. Only called when a new step is
+    /// required. Subclasses may override to implement new stepping
+    /// interfaces. The default sets or clears the outputs of pin1, pin2,
+    /// pin3, pin4.
+    /// \param[in] step The current step phase number (0 to 7)
+    virtual void   step4(long step);
+
+    /// Called to execute a step on a 3 pin motor, such as HDD spindle. Only called when a new step is
+    /// required. Subclasses may override to implement new stepping
+    /// interfaces. The default sets or clears the outputs of pin1, pin2,
+    /// pin3
+    /// \param[in] step The current step phase number (0 to 7)
+    virtual void   step6(long step);
+
+    /// Called to execute a step on a 4 pin half-stepper motor. Only called when a new step is
+    /// required. Subclasses may override to implement new stepping
+    /// interfaces. The default sets or clears the outputs of pin1, pin2,
+    /// pin3, pin4.
+    /// \param[in] step The current step phase number (0 to 7)
+    virtual void   step8(long step);
+
+    /// Current direction motor is spinning in
+    /// Protected because some peoples subclasses need it to be so
+    boolean _direction; // 1 == CW
+    
+    /// The current interval between steps in microseconds.
+    /// 0 means the motor is currently stopped with _speed == 0
+    unsigned long  _stepInterval;
+
+private:
+    /// Number of pins on the stepper motor. Permits 2 or 4. 2 pins is a
+    /// bipolar, and 4 pins is a unipolar.
+    uint8_t        _interface;          // 0, 1, 2, 4, 8, See MotorInterfaceType
+
+    /// Arduino pin number assignments for the 2 or 4 pins required to interface to the
+    /// stepper motor or driver
+    uint8_t        _pin[4];
+
+    /// Whether the _pins is inverted or not
+    uint8_t        _pinInverted[4];
+
+    /// The current absolution position in steps.
+    long           _currentPos;    // Steps
+
+    /// The target position in steps. The AccelStepper library will move the
+    /// motor from the _currentPos to the _targetPos, taking into account the
+    /// max speed, acceleration and deceleration
+    long           _targetPos;     // Steps
+
+    /// The current motos speed in steps per second
+    /// Positive is clockwise
+    float          _speed;         // Steps per second
+
+    /// The maximum permitted speed in steps per second. Must be > 0.
+    float          _maxSpeed;
+
+    /// The acceleration to use to accelerate or decelerate the motor in steps
+    /// per second per second. Must be > 0
+    float          _acceleration;
+    float          _sqrt_twoa; // Precomputed sqrt(2*_acceleration)
+
+    /// The last step time in microseconds
+    unsigned long  _lastStepTime;
+
+    /// The minimum allowed pulse width in microseconds
+    unsigned int   _minPulseWidth;
+
+    /// Is the direction pin inverted?
+    ///bool           _dirInverted; /// Moved to _pinInverted[1]
+
+    /// Is the step pin inverted?
+    ///bool           _stepInverted; /// Moved to _pinInverted[0]
+
+    /// Is the enable pin inverted?
+    bool           _enableInverted;
+
+    /// Enable pin for stepper driver, or 0xFF if unused.
+    uint8_t        _enablePin;
+
+    /// The pointer to a forward-step procedure
+    void (*_forward)();
+
+    /// The pointer to a backward-step procedure
+    void (*_backward)();
+
+    /// The step counter for speed calculations
+    long _n;
+
+    /// Initial step size in microseconds
+    float _c0;
+
+    /// Last step size in microseconds
+    float _cn;
+
+    /// Min step size in microseconds based on maxSpeed
+    float _cmin; // at max speed
+
+};
+
+/// @example Random.pde
+/// Make a single stepper perform random changes in speed, position and acceleration
+
+/// @example Overshoot.pde
+///  Check overshoot handling
+/// which sets a new target position and then waits until the stepper has 
+/// achieved it. This is used for testing the handling of overshoots
+
+/// @example MultipleSteppers.pde
+/// Shows how to multiple simultaneous steppers
+/// Runs one stepper forwards and backwards, accelerating and decelerating
+/// at the limits. Runs other steppers at the same time
+
+/// @example ConstantSpeed.pde
+/// Shows how to run AccelStepper in the simplest,
+/// fixed speed mode with no accelerations
+
+/// @example Blocking.pde 
+/// Shows how to use the blocking call runToNewPosition
+/// Which sets a new target position and then waits until the stepper has 
+/// achieved it.
+
+/// @example AFMotor_MultiStepper.pde
+/// Control both Stepper motors at the same time with different speeds
+/// and accelerations. 
+
+/// @example AFMotor_ConstantSpeed.pde
+/// Shows how to run AccelStepper in the simplest,
+/// fixed speed mode with no accelerations
+
+/// @example ProportionalControl.pde
+/// Make a single stepper follow the analog value read from a pot or whatever
+/// The stepper will move at a constant speed to each newly set posiiton, 
+/// depending on the value of the pot.
+
+/// @example Bounce.pde
+/// Make a single stepper bounce from one limit to another, observing
+/// accelrations at each end of travel
+
+/// @example Quickstop.pde
+/// Check stop handling.
+/// Calls stop() while the stepper is travelling at full speed, causing
+/// the stepper to stop as quickly as possible, within the constraints of the
+/// current acceleration.
+
+/// @example MotorShield.pde
+/// Shows how to use AccelStepper to control a 3-phase motor, such as a HDD spindle motor
+/// using the Adafruit Motor Shield http://www.ladyada.net/make/mshield/index.html.
+
+/// @example DualMotorShield.pde
+/// Shows how to use AccelStepper to control 2 x 2 phase steppers using the 
+/// Itead Studio Arduino Dual Stepper Motor Driver Shield
+/// model IM120417015
+
+#endif 

components/third_party/DallasTemperature/include/DallasTemperature.h

@@ -0,0 +1,317 @@
+#ifndef DallasTemperature_h
+#define DallasTemperature_h
+
+#define DALLASTEMPLIBVERSION "3.8.1" // To be deprecated -> TODO remove in 4.0.0
+
+// 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; either
+// version 2.1 of the License, or (at your option) any later version.
+
+// set to true to include code for new and delete operators
+#ifndef REQUIRESNEW
+#define REQUIRESNEW false
+#endif
+
+// set to true to include code implementing alarm search functions
+#ifndef REQUIRESALARMS
+#define REQUIRESALARMS true
+#endif
+
+#include <inttypes.h>
+#ifdef __STM32F1__
+#include <OneWireSTM.h>
+#else
+#include <OneWire.h>
+#endif
+
+// Model IDs
+#define DS18S20MODEL 0x10  // also DS1820
+#define DS18B20MODEL 0x28  // also MAX31820
+#define DS1822MODEL  0x22
+#define DS1825MODEL  0x3B
+#define DS28EA00MODEL 0x42
+
+// Error Codes
+#define DEVICE_DISCONNECTED_C -127
+#define DEVICE_DISCONNECTED_F -196.6
+#define DEVICE_DISCONNECTED_RAW -7040
+
+// For readPowerSupply on oneWire bus
+// definition of nullptr for C++ < 11, using official workaround:
+// http://www.open-std.org/jtc1/sc22/wg21/docs/papers/2007/n2431.pdf
+#if __cplusplus < 201103L
+const class
+{
+public:
+	template <class T>
+	operator T *() const
+	{
+		return 0;
+	}
+	template <class C, class T>
+	operator T C::*() const
+	{
+		return 0;
+	}
+
+private:
+	void operator&() const;
+} nullptr = {};
+#endif
+
+typedef uint8_t DeviceAddress[8];
+
+class DallasTemperature {
+public:
+
+	DallasTemperature();
+	DallasTemperature(OneWire*);
+	DallasTemperature(OneWire*, uint8_t);
+
+	void setOneWire(OneWire*);
+
+    void setPullupPin(uint8_t);
+
+	// initialise bus
+	void begin(void);
+
+	// returns the number of devices found on the bus
+	uint8_t getDeviceCount(void);
+
+	// returns the number of DS18xxx Family devices on bus
+	uint8_t getDS18Count(void);
+
+	// returns true if address is valid
+	bool validAddress(const uint8_t*);
+
+	// returns true if address is of the family of sensors the lib supports.
+	bool validFamily(const uint8_t* deviceAddress);
+
+	// finds an address at a given index on the bus
+	bool getAddress(uint8_t*, uint8_t);
+
+	// attempt to determine if the device at the given address is connected to the bus
+	bool isConnected(const uint8_t*);
+
+	// attempt to determine if the device at the given address is connected to the bus
+	// also allows for updating the read scratchpad
+	bool isConnected(const uint8_t*, uint8_t*);
+
+	// read device's scratchpad
+	bool readScratchPad(const uint8_t*, uint8_t*);
+
+	// write device's scratchpad
+	void writeScratchPad(const uint8_t*, const uint8_t*);
+
+	// read device's power requirements
+	bool readPowerSupply(const uint8_t* deviceAddress = nullptr);
+
+	// get global resolution
+	uint8_t getResolution();
+
+	// set global resolution to 9, 10, 11, or 12 bits
+	void setResolution(uint8_t);
+
+	// returns the device resolution: 9, 10, 11, or 12 bits
+	uint8_t getResolution(const uint8_t*);
+
+	// set resolution of a device to 9, 10, 11, or 12 bits
+	bool setResolution(const uint8_t*, uint8_t,
+			bool skipGlobalBitResolutionCalculation = false);
+
+	// sets/gets the waitForConversion flag
+	void setWaitForConversion(bool);
+	bool getWaitForConversion(void);
+
+	// sets/gets the checkForConversion flag
+	void setCheckForConversion(bool);
+	bool getCheckForConversion(void);
+
+	// sends command for all devices on the bus to perform a temperature conversion
+	void requestTemperatures(void);
+
+	// sends command for one device to perform a temperature conversion by address
+	bool requestTemperaturesByAddress(const uint8_t*);
+
+	// sends command for one device to perform a temperature conversion by index
+	bool requestTemperaturesByIndex(uint8_t);
+
+	// returns temperature raw value (12 bit integer of 1/128 degrees C)
+	int16_t getTemp(const uint8_t*);
+
+	// returns temperature in degrees C
+	float getTempC(const uint8_t*);
+
+	// returns temperature in degrees F
+	float getTempF(const uint8_t*);
+
+	// Get temperature for device index (slow)
+	float getTempCByIndex(uint8_t);
+
+	// Get temperature for device index (slow)
+	float getTempFByIndex(uint8_t);
+
+	// returns true if the bus requires parasite power
+	bool isParasitePowerMode(void);
+
+	// Is a conversion complete on the wire? Only applies to the first sensor on the wire.
+	bool isConversionComplete(void);
+
+  int16_t millisToWaitForConversion(uint8_t);
+  
+  // Sends command to one device to save values from scratchpad to EEPROM by index
+  // Returns true if no errors were encountered, false indicates failure
+  bool saveScratchPadByIndex(uint8_t);
+  
+  // Sends command to one or more devices to save values from scratchpad to EEPROM
+  // Returns true if no errors were encountered, false indicates failure
+  bool saveScratchPad(const uint8_t* = nullptr);
+  
+  // Sends command to one device to recall values from EEPROM to scratchpad by index
+  // Returns true if no errors were encountered, false indicates failure
+  bool recallScratchPadByIndex(uint8_t);
+  
+  // Sends command to one or more devices to recall values from EEPROM to scratchpad
+  // Returns true if no errors were encountered, false indicates failure
+  bool recallScratchPad(const uint8_t* = nullptr);
+  
+  // Sets the autoSaveScratchPad flag
+  void setAutoSaveScratchPad(bool);
+  
+  // Gets the autoSaveScratchPad flag
+  bool getAutoSaveScratchPad(void);
+
+#if REQUIRESALARMS
+
+	typedef void AlarmHandler(const uint8_t*);
+
+	// sets the high alarm temperature for a device
+	// accepts a int8_t.  valid range is -55C - 125C
+	void setHighAlarmTemp(const uint8_t*, int8_t);
+
+	// sets the low alarm temperature for a device
+	// accepts a int8_t.  valid range is -55C - 125C
+	void setLowAlarmTemp(const uint8_t*, int8_t);
+
+	// returns a int8_t with the current high alarm temperature for a device
+	// in the range -55C - 125C
+	int8_t getHighAlarmTemp(const uint8_t*);
+
+	// returns a int8_t with the current low alarm temperature for a device
+	// in the range -55C - 125C
+	int8_t getLowAlarmTemp(const uint8_t*);
+
+	// resets internal variables used for the alarm search
+	void resetAlarmSearch(void);
+
+	// search the wire for devices with active alarms
+	bool alarmSearch(uint8_t*);
+
+	// returns true if ia specific device has an alarm
+	bool hasAlarm(const uint8_t*);
+
+	// returns true if any device is reporting an alarm on the bus
+	bool hasAlarm(void);
+
+	// runs the alarm handler for all devices returned by alarmSearch()
+	void processAlarms(void);
+
+	// sets the alarm handler
+	void setAlarmHandler(const AlarmHandler *);
+
+	// returns true if an AlarmHandler has been set
+	bool hasAlarmHandler();
+
+#endif
+
+	// if no alarm handler is used the two bytes can be used as user data
+	// example of such usage is an ID.
+	// note if device is not connected it will fail writing the data.
+	// note if address cannot be found no error will be reported.
+	// in short use carefully
+	void setUserData(const uint8_t*, int16_t);
+	void setUserDataByIndex(uint8_t, int16_t);
+	int16_t getUserData(const uint8_t*);
+	int16_t getUserDataByIndex(uint8_t);
+
+	// convert from Celsius to Fahrenheit
+	static float toFahrenheit(float);
+
+	// convert from Fahrenheit to Celsius
+	static float toCelsius(float);
+
+	// convert from raw to Celsius
+	static float rawToCelsius(int16_t);
+
+	// convert from raw to Fahrenheit
+	static float rawToFahrenheit(int16_t);
+
+#if REQUIRESNEW
+
+	// initialize memory area
+	void* operator new (unsigned int);
+
+	// delete memory reference
+	void operator delete(void*);
+
+#endif
+
+private:
+	typedef uint8_t ScratchPad[9];
+
+	// parasite power on or off
+	bool parasite;
+
+	// external pullup
+	bool useExternalPullup;
+	uint8_t pullupPin;
+
+	// used to determine the delay amount needed to allow for the
+	// temperature conversion to take place
+	uint8_t bitResolution;
+
+	// used to requestTemperature with or without delay
+	bool waitForConversion;
+
+	// used to requestTemperature to dynamically check if a conversion is complete
+	bool checkForConversion;
+
+  // used to determine if values will be saved from scratchpad to EEPROM on every scratchpad write
+  bool autoSaveScratchPad;
+
+	// count of devices on the bus
+	uint8_t devices;
+
+	// count of DS18xxx Family devices on bus
+	uint8_t ds18Count;
+
+	// Take a pointer to one wire instance
+	OneWire* _wire;
+
+	// reads scratchpad and returns the raw temperature
+	int16_t calculateTemperature(const uint8_t*, uint8_t*);
+
+	void blockTillConversionComplete(uint8_t);
+
+	// Returns true if all bytes of scratchPad are '\0'
+	bool isAllZeros(const uint8_t* const scratchPad, const size_t length = 9);
+
+    // External pullup control
+    void activateExternalPullup(void);
+    void deactivateExternalPullup(void);
+
+#if REQUIRESALARMS
+
+	// required for alarmSearch
+	uint8_t alarmSearchAddress[8];
+	int8_t alarmSearchJunction;
+	uint8_t alarmSearchExhausted;
+
+	// the alarm handler function pointer
+	AlarmHandler *_AlarmHandler;
+
+#endif
+
+};
+#endif

components/third_party/OneWire/OneWire.cpp

@@ -0,0 +1,603 @@
+/*
+Copyright (c) 2007, Jim Studt  (original old version - many contributors since)
+
+The latest version of this library may be found at:
+  http://www.pjrc.com/teensy/td_libs_OneWire.html
+
+OneWire has been maintained by Paul Stoffregen (paul@pjrc.com) since
+January 2010.
+
+DO NOT EMAIL for technical support, especially not for ESP chips!
+All project support questions must be posted on public forums
+relevant to the board or chips used.  If using Arduino, post on
+Arduino's forum.  If using ESP, post on the ESP community forums.
+There is ABSOLUTELY NO TECH SUPPORT BY PRIVATE EMAIL!
+
+Github's issue tracker for OneWire should be used only to report
+specific bugs.  DO NOT request project support via Github.  All
+project and tech support questions must be posted on forums, not
+github issues.  If you experience a problem and you are not
+absolutely sure it's an issue with the library, ask on a forum
+first.  Only use github to report issues after experts have
+confirmed the issue is with OneWire rather than your project.
+
+Back in 2010, OneWire was in need of many bug fixes, but had
+been abandoned the original author (Jim Studt).  None of the known
+contributors were interested in maintaining OneWire.  Paul typically
+works on OneWire every 6 to 12 months.  Patches usually wait that
+long.  If anyone is interested in more actively maintaining OneWire,
+please contact Paul (this is pretty much the only reason to use
+private email about OneWire).
+
+OneWire is now very mature code.  No changes other than adding
+definitions for newer hardware support are anticipated.
+
+  ESP32 mods authored by stickbreaker:
+  @stickbreaker 30APR2018 add IRAM_ATTR to read_bit() write_bit() to solve ICache miss timing failure. 
+      thanks @everslick re:  https://github.com/espressif/arduino-esp32/issues/1335
+  Altered by garyd9 for clean merge with Paul Stoffregen's source
+
+Version 2.3:
+  Unknown chip fallback mode, Roger Clark
+  Teensy-LC compatibility, Paul Stoffregen
+  Search bug fix, Love Nystrom
+
+Version 2.2:
+  Teensy 3.0 compatibility, Paul Stoffregen, paul@pjrc.com
+  Arduino Due compatibility, http://arduino.cc/forum/index.php?topic=141030
+  Fix DS18B20 example negative temperature
+  Fix DS18B20 example's low res modes, Ken Butcher
+  Improve reset timing, Mark Tillotson
+  Add const qualifiers, Bertrik Sikken
+  Add initial value input to crc16, Bertrik Sikken
+  Add target_search() function, Scott Roberts
+
+Version 2.1:
+  Arduino 1.0 compatibility, Paul Stoffregen
+  Improve temperature example, Paul Stoffregen
+  DS250x_PROM example, Guillermo Lovato
+  PIC32 (chipKit) compatibility, Jason Dangel, dangel.jason AT gmail.com
+  Improvements from Glenn Trewitt:
+  - crc16() now works
+  - check_crc16() does all of calculation/checking work.
+  - Added read_bytes() and write_bytes(), to reduce tedious loops.
+  - Added ds2408 example.
+  Delete very old, out-of-date readme file (info is here)
+
+Version 2.0: Modifications by Paul Stoffregen, January 2010:
+http://www.pjrc.com/teensy/td_libs_OneWire.html
+  Search fix from Robin James
+    http://www.arduino.cc/cgi-bin/yabb2/YaBB.pl?num=1238032295/27#27
+  Use direct optimized I/O in all cases
+  Disable interrupts during timing critical sections
+    (this solves many random communication errors)
+  Disable interrupts during read-modify-write I/O
+  Reduce RAM consumption by eliminating unnecessary
+    variables and trimming many to 8 bits
+  Optimize both crc8 - table version moved to flash
+
+Modified to work with larger numbers of devices - avoids loop.
+Tested in Arduino 11 alpha with 12 sensors.
+26 Sept 2008 -- Robin James
+http://www.arduino.cc/cgi-bin/yabb2/YaBB.pl?num=1238032295/27#27
+
+Updated to work with arduino-0008 and to include skip() as of
+2007/07/06. --RJL20
+
+Modified to calculate the 8-bit CRC directly, avoiding the need for
+the 256-byte lookup table to be loaded in RAM.  Tested in arduino-0010
+-- Tom Pollard, Jan 23, 2008
+
+Jim Studt's original library was modified by Josh Larios.
+
+Tom Pollard, pollard@alum.mit.edu, contributed around May 20, 2008
+
+Permission is hereby granted, free of charge, to any person obtaining
+a copy of this software and associated documentation files (the
+"Software"), to deal in the Software without restriction, including
+without limitation the rights to use, copy, modify, merge, publish,
+distribute, sublicense, and/or sell copies of the Software, and to
+permit persons to whom the Software is furnished to do so, subject to
+the following conditions:
+
+The above copyright notice and this permission notice shall be
+included in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+
+Much of the code was inspired by Derek Yerger's code, though I don't
+think much of that remains.  In any event that was..
+    (copyleft) 2006 by Derek Yerger - Free to distribute freely.
+
+The CRC code was excerpted and inspired by the Dallas Semiconductor
+sample code bearing this copyright.
+//---------------------------------------------------------------------------
+// Copyright (C) 2000 Dallas Semiconductor Corporation, All Rights Reserved.
+//
+// Permission is hereby granted, free of charge, to any person obtaining a
+// copy of this software and associated documentation files (the "Software"),
+// to deal in the Software without restriction, including without limitation
+// the rights to use, copy, modify, merge, publish, distribute, sublicense,
+// and/or sell copies of the Software, and to permit persons to whom the
+// Software is furnished to do so, subject to the following conditions:
+//
+// The above copyright notice and this permission notice shall be included
+// in all copies or substantial portions of the Software.
+//
+// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
+// OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+// MERCHANTABILITY,  FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+// IN NO EVENT SHALL DALLAS SEMICONDUCTOR BE LIABLE FOR ANY CLAIM, DAMAGES
+// OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
+// ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
+// OTHER DEALINGS IN THE SOFTWARE.
+//
+// Except as contained in this notice, the name of Dallas Semiconductor
+// shall not be used except as stated in the Dallas Semiconductor
+// Branding Policy.
+//--------------------------------------------------------------------------
+*/
+
+#include <Arduino.h>
+#include "OneWire.h"
+#include "util/OneWire_direct_gpio.h"
+
+#ifdef ARDUINO_ARCH_ESP32
+// due to the dual core esp32, a critical section works better than disabling interrupts
+#  define noInterrupts() {portMUX_TYPE mux = portMUX_INITIALIZER_UNLOCKED;portENTER_CRITICAL(&mux)
+#  define interrupts() portEXIT_CRITICAL(&mux);}
+// for info on this, search "IRAM_ATTR" at https://docs.espressif.com/projects/esp-idf/en/latest/esp32/api-guides/general-notes.html 
+#  define CRIT_TIMING IRAM_ATTR
+#else
+#  define CRIT_TIMING 
+#endif
+
+
+void OneWire::begin(uint8_t pin)
+{
+	pinMode(pin, INPUT);
+	bitmask = PIN_TO_BITMASK(pin);
+	baseReg = PIN_TO_BASEREG(pin);
+#if ONEWIRE_SEARCH
+	reset_search();
+#endif
+}
+
+
+// Perform the onewire reset function.  We will wait up to 250uS for
+// the bus to come high, if it doesn't then it is broken or shorted
+// and we return a 0;
+//
+// Returns 1 if a device asserted a presence pulse, 0 otherwise.
+//
+uint8_t CRIT_TIMING OneWire::reset(void)
+{
+	IO_REG_TYPE mask IO_REG_MASK_ATTR = bitmask;
+	__attribute__((unused)) volatile IO_REG_TYPE *reg IO_REG_BASE_ATTR = baseReg;
+	uint8_t r;
+	uint8_t retries = 125;
+
+	noInterrupts();
+	DIRECT_MODE_INPUT(reg, mask);
+	interrupts();
+	// wait until the wire is high... just in case
+	do {
+		if (--retries == 0) return 0;
+		delayMicroseconds(2);
+	} while ( !DIRECT_READ(reg, mask));
+
+	noInterrupts();
+	DIRECT_WRITE_LOW(reg, mask);
+	DIRECT_MODE_OUTPUT(reg, mask);	// drive output low
+	interrupts();
+	delayMicroseconds(480);
+	noInterrupts();
+	DIRECT_MODE_INPUT(reg, mask);	// allow it to float
+	delayMicroseconds(70);
+	r = !DIRECT_READ(reg, mask);
+	interrupts();
+	delayMicroseconds(410);
+	return r;
+}
+
+//
+// Write a bit. Port and bit is used to cut lookup time and provide
+// more certain timing.
+//
+void CRIT_TIMING OneWire::write_bit(uint8_t v)
+{
+	IO_REG_TYPE mask IO_REG_MASK_ATTR = bitmask;
+	__attribute__((unused)) volatile IO_REG_TYPE *reg IO_REG_BASE_ATTR = baseReg;
+
+	if (v & 1) {
+		noInterrupts();
+		DIRECT_WRITE_LOW(reg, mask);
+		DIRECT_MODE_OUTPUT(reg, mask);	// drive output low
+		delayMicroseconds(10);
+		DIRECT_WRITE_HIGH(reg, mask);	// drive output high
+		interrupts();
+		delayMicroseconds(55);
+	} else {
+		noInterrupts();
+		DIRECT_WRITE_LOW(reg, mask);
+		DIRECT_MODE_OUTPUT(reg, mask);	// drive output low
+		delayMicroseconds(65);
+		DIRECT_WRITE_HIGH(reg, mask);	// drive output high
+		interrupts();
+		delayMicroseconds(5);
+	}
+}
+
+//
+// Read a bit. Port and bit is used to cut lookup time and provide
+// more certain timing.
+//
+uint8_t CRIT_TIMING OneWire::read_bit(void)
+{
+	IO_REG_TYPE mask IO_REG_MASK_ATTR = bitmask;
+	__attribute__((unused)) volatile IO_REG_TYPE *reg IO_REG_BASE_ATTR = baseReg;
+	uint8_t r;
+
+	noInterrupts();
+	DIRECT_MODE_OUTPUT(reg, mask);
+	DIRECT_WRITE_LOW(reg, mask);
+	delayMicroseconds(3);
+	DIRECT_MODE_INPUT(reg, mask);	// let pin float, pull up will raise
+	delayMicroseconds(10);
+	r = DIRECT_READ(reg, mask);
+	interrupts();
+	delayMicroseconds(53);
+	return r;
+}
+
+//
+// Write a byte. The writing code uses the active drivers to raise the
+// pin high, if you need power after the write (e.g. DS18S20 in
+// parasite power mode) then set 'power' to 1, otherwise the pin will
+// go tri-state at the end of the write to avoid heating in a short or
+// other mishap.
+//
+void OneWire::write(uint8_t v, uint8_t power /* = 0 */) {
+    uint8_t bitMask;
+
+    for (bitMask = 0x01; bitMask; bitMask <<= 1) {
+	OneWire::write_bit( (bitMask & v)?1:0);
+    }
+    if ( !power) {
+	noInterrupts();
+	DIRECT_MODE_INPUT(baseReg, bitmask);
+	DIRECT_WRITE_LOW(baseReg, bitmask);
+	interrupts();
+    }
+}
+
+void OneWire::write_bytes(const uint8_t *buf, uint16_t count, bool power /* = 0 */) {
+  for (uint16_t i = 0 ; i < count ; i++)
+    write(buf[i]);
+  if (!power) {
+    noInterrupts();
+    DIRECT_MODE_INPUT(baseReg, bitmask);
+    DIRECT_WRITE_LOW(baseReg, bitmask);
+    interrupts();
+  }
+}
+
+//
+// Read a byte
+//
+uint8_t OneWire::read() {
+    uint8_t bitMask;
+    uint8_t r = 0;
+
+    for (bitMask = 0x01; bitMask; bitMask <<= 1) {
+	if ( OneWire::read_bit()) r |= bitMask;
+    }
+    return r;
+}
+
+void OneWire::read_bytes(uint8_t *buf, uint16_t count) {
+  for (uint16_t i = 0 ; i < count ; i++)
+    buf[i] = read();
+}
+
+//
+// Do a ROM select
+//
+void OneWire::select(const uint8_t rom[8])
+{
+    uint8_t i;
+
+    write(0x55);           // Choose ROM
+
+    for (i = 0; i < 8; i++) write(rom[i]);
+}
+
+//
+// Do a ROM skip
+//
+void OneWire::skip()
+{
+    write(0xCC);           // Skip ROM
+}
+
+void OneWire::depower()
+{
+	noInterrupts();
+	DIRECT_MODE_INPUT(baseReg, bitmask);
+	interrupts();
+}
+
+#if ONEWIRE_SEARCH
+
+//
+// You need to use this function to start a search again from the beginning.
+// You do not need to do it for the first search, though you could.
+//
+void OneWire::reset_search()
+{
+  // reset the search state
+  LastDiscrepancy = 0;
+  LastDeviceFlag = false;
+  LastFamilyDiscrepancy = 0;
+  for(int i = 7; ; i--) {
+    ROM_NO[i] = 0;
+    if ( i == 0) break;
+  }
+}
+
+// Setup the search to find the device type 'family_code' on the next call
+// to search(*newAddr) if it is present.
+//
+void OneWire::target_search(uint8_t family_code)
+{
+   // set the search state to find SearchFamily type devices
+   ROM_NO[0] = family_code;
+   for (uint8_t i = 1; i < 8; i++)
+      ROM_NO[i] = 0;
+   LastDiscrepancy = 64;
+   LastFamilyDiscrepancy = 0;
+   LastDeviceFlag = false;
+}
+
+//
+// Perform a search. If this function returns a '1' then it has
+// enumerated the next device and you may retrieve the ROM from the
+// OneWire::address variable. If there are no devices, no further
+// devices, or something horrible happens in the middle of the
+// enumeration then a 0 is returned.  If a new device is found then
+// its address is copied to newAddr.  Use OneWire::reset_search() to
+// start over.
+//
+// --- Replaced by the one from the Dallas Semiconductor web site ---
+//--------------------------------------------------------------------------
+// Perform the 1-Wire Search Algorithm on the 1-Wire bus using the existing
+// search state.
+// Return TRUE  : device found, ROM number in ROM_NO buffer
+//        FALSE : device not found, end of search
+//
+bool OneWire::search(uint8_t *newAddr, bool search_mode /* = true */)
+{
+   uint8_t id_bit_number;
+   uint8_t last_zero, rom_byte_number;
+   bool    search_result;
+   uint8_t id_bit, cmp_id_bit;
+
+   unsigned char rom_byte_mask, search_direction;
+
+   // initialize for search
+   id_bit_number = 1;
+   last_zero = 0;
+   rom_byte_number = 0;
+   rom_byte_mask = 1;
+   search_result = false;
+
+   // if the last call was not the last one
+   if (!LastDeviceFlag) {
+      // 1-Wire reset
+      if (!reset()) {
+         // reset the search
+         LastDiscrepancy = 0;
+         LastDeviceFlag = false;
+         LastFamilyDiscrepancy = 0;
+         return false;
+      }
+
+      // issue the search command
+      if (search_mode == true) {
+        write(0xF0);   // NORMAL SEARCH
+      } else {
+        write(0xEC);   // CONDITIONAL SEARCH
+      }
+
+      // loop to do the search
+      do
+      {
+         // read a bit and its complement
+         id_bit = read_bit();
+         cmp_id_bit = read_bit();
+
+         // check for no devices on 1-wire
+         if ((id_bit == 1) && (cmp_id_bit == 1)) {
+            break;
+         } else {
+            // all devices coupled have 0 or 1
+            if (id_bit != cmp_id_bit) {
+               search_direction = id_bit;  // bit write value for search
+            } else {
+               // if this discrepancy if before the Last Discrepancy
+               // on a previous next then pick the same as last time
+               if (id_bit_number < LastDiscrepancy) {
+                  search_direction = ((ROM_NO[rom_byte_number] & rom_byte_mask) > 0);
+               } else {
+                  // if equal to last pick 1, if not then pick 0
+                  search_direction = (id_bit_number == LastDiscrepancy);
+               }
+               // if 0 was picked then record its position in LastZero
+               if (search_direction == 0) {
+                  last_zero = id_bit_number;
+
+                  // check for Last discrepancy in family
+                  if (last_zero < 9)
+                     LastFamilyDiscrepancy = last_zero;
+               }
+            }
+
+            // set or clear the bit in the ROM byte rom_byte_number
+            // with mask rom_byte_mask
+            if (search_direction == 1)
+              ROM_NO[rom_byte_number] |= rom_byte_mask;
+            else
+              ROM_NO[rom_byte_number] &= ~rom_byte_mask;
+
+            // serial number search direction write bit
+            write_bit(search_direction);
+
+            // increment the byte counter id_bit_number
+            // and shift the mask rom_byte_mask
+            id_bit_number++;
+            rom_byte_mask <<= 1;
+
+            // if the mask is 0 then go to new SerialNum byte rom_byte_number and reset mask
+            if (rom_byte_mask == 0) {
+                rom_byte_number++;
+                rom_byte_mask = 1;
+            }
+         }
+      }
+      while(rom_byte_number < 8);  // loop until through all ROM bytes 0-7
+
+      // if the search was successful then
+      if (!(id_bit_number < 65)) {
+         // search successful so set LastDiscrepancy,LastDeviceFlag,search_result
+         LastDiscrepancy = last_zero;
+
+         // check for last device
+         if (LastDiscrepancy == 0) {
+            LastDeviceFlag = true;
+         }
+         search_result = true;
+      }
+   }
+
+   // if no device found then reset counters so next 'search' will be like a first
+   if (!search_result || !ROM_NO[0]) {
+      LastDiscrepancy = 0;
+      LastDeviceFlag = false;
+      LastFamilyDiscrepancy = 0;
+      search_result = false;
+   } else {
+      for (int i = 0; i < 8; i++) newAddr[i] = ROM_NO[i];
+   }
+   return search_result;
+  }
+
+#endif
+
+#if ONEWIRE_CRC
+// The 1-Wire CRC scheme is described in Maxim Application Note 27:
+// "Understanding and Using Cyclic Redundancy Checks with Maxim iButton Products"
+//
+
+#if ONEWIRE_CRC8_TABLE
+// Dow-CRC using polynomial X^8 + X^5 + X^4 + X^0
+// Tiny 2x16 entry CRC table created by Arjen Lentz
+// See http://lentz.com.au/blog/calculating-crc-with-a-tiny-32-entry-lookup-table
+static const uint8_t PROGMEM dscrc2x16_table[] = {
+	0x00, 0x5E, 0xBC, 0xE2, 0x61, 0x3F, 0xDD, 0x83,
+	0xC2, 0x9C, 0x7E, 0x20, 0xA3, 0xFD, 0x1F, 0x41,
+	0x00, 0x9D, 0x23, 0xBE, 0x46, 0xDB, 0x65, 0xF8,
+	0x8C, 0x11, 0xAF, 0x32, 0xCA, 0x57, 0xE9, 0x74
+};
+
+// Compute a Dallas Semiconductor 8 bit CRC. These show up in the ROM
+// and the registers.  (Use tiny 2x16 entry CRC table)
+uint8_t OneWire::crc8(const uint8_t *addr, uint8_t len)
+{
+	uint8_t crc = 0;
+
+	while (len--) {
+		crc = *addr++ ^ crc;  // just re-using crc as intermediate
+		crc = pgm_read_byte(dscrc2x16_table + (crc & 0x0f)) ^
+		pgm_read_byte(dscrc2x16_table + 16 + ((crc >> 4) & 0x0f));
+	}
+
+	return crc;
+}
+#else
+//
+// Compute a Dallas Semiconductor 8 bit CRC directly.
+// this is much slower, but a little smaller, than the lookup table.
+//
+uint8_t OneWire::crc8(const uint8_t *addr, uint8_t len)
+{
+	uint8_t crc = 0;
+
+	while (len--) {
+#if defined(__AVR__)
+		crc = _crc_ibutton_update(crc, *addr++);
+#else
+		uint8_t inbyte = *addr++;
+		for (uint8_t i = 8; i; i--) {
+			uint8_t mix = (crc ^ inbyte) & 0x01;
+			crc >>= 1;
+			if (mix) crc ^= 0x8C;
+			inbyte >>= 1;
+		}
+#endif
+	}
+	return crc;
+}
+#endif
+
+#if ONEWIRE_CRC16
+bool OneWire::check_crc16(const uint8_t* input, uint16_t len, const uint8_t* inverted_crc, uint16_t crc)
+{
+    crc = ~crc16(input, len, crc);
+    return (crc & 0xFF) == inverted_crc[0] && (crc >> 8) == inverted_crc[1];
+}
+
+uint16_t OneWire::crc16(const uint8_t* input, uint16_t len, uint16_t crc)
+{
+#if defined(__AVR__)
+    for (uint16_t i = 0 ; i < len ; i++) {
+        crc = _crc16_update(crc, input[i]);
+    }
+#else
+    static const uint8_t oddparity[16] =
+        { 0, 1, 1, 0, 1, 0, 0, 1, 1, 0, 0, 1, 0, 1, 1, 0 };
+
+    for (uint16_t i = 0 ; i < len ; i++) {
+      // Even though we're just copying a byte from the input,
+      // we'll be doing 16-bit computation with it.
+      uint16_t cdata = input[i];
+      cdata = (cdata ^ crc) & 0xff;
+      crc >>= 8;
+
+      if (oddparity[cdata & 0x0F] ^ oddparity[cdata >> 4])
+          crc ^= 0xC001;
+
+      cdata <<= 6;
+      crc ^= cdata;
+      cdata <<= 1;
+      crc ^= cdata;
+    }
+#endif
+    return crc;
+}
+#endif
+
+#endif
+
+// undef defines for no particular reason
+#ifdef ARDUINO_ARCH_ESP32
+#  undef noInterrupts() {portMUX_TYPE mux = portMUX_INITIALIZER_UNLOCKED;portENTER_CRITICAL(&mux)
+#  undef interrupts() portEXIT_CRITICAL(&mux);}
+#endif
+// for info on this, search "IRAM_ATTR" at https://docs.espressif.com/projects/esp-idf/en/latest/esp32/api-guides/general-notes.html 
+#undef CRIT_TIMING 

components/third_party/OneWire/include/OneWire.h

@@ -0,0 +1,182 @@
+#ifndef OneWire_h
+#define OneWire_h
+
+#ifdef __cplusplus
+
+#include <stdint.h>
+
+#if defined(__AVR__)
+#include <util/crc16.h>
+#endif
+
+#if ARDUINO >= 100
+#include <Arduino.h>       // for delayMicroseconds, digitalPinToBitMask, etc
+#else
+#include "WProgram.h"      // for delayMicroseconds
+#include "pins_arduino.h"  // for digitalPinToBitMask, etc
+#endif
+
+// You can exclude certain features from OneWire.  In theory, this
+// might save some space.  In practice, the compiler automatically
+// removes unused code (technically, the linker, using -fdata-sections
+// and -ffunction-sections when compiling, and Wl,--gc-sections
+// when linking), so most of these will not result in any code size
+// reduction.  Well, unless you try to use the missing features
+// and redesign your program to not need them!  ONEWIRE_CRC8_TABLE
+// is the exception, because it selects a fast but large algorithm
+// or a small but slow algorithm.
+
+// you can exclude onewire_search by defining that to 0
+#ifndef ONEWIRE_SEARCH
+#define ONEWIRE_SEARCH 1
+#endif
+
+// You can exclude CRC checks altogether by defining this to 0
+#ifndef ONEWIRE_CRC
+#define ONEWIRE_CRC 1
+#endif
+
+// Select the table-lookup method of computing the 8-bit CRC
+// by setting this to 1.  The lookup table enlarges code size by
+// about 250 bytes.  It does NOT consume RAM (but did in very
+// old versions of OneWire).  If you disable this, a slower
+// but very compact algorithm is used.
+#ifndef ONEWIRE_CRC8_TABLE
+#define ONEWIRE_CRC8_TABLE 1
+#endif
+
+// You can allow 16-bit CRC checks by defining this to 1
+// (Note that ONEWIRE_CRC must also be 1.)
+#ifndef ONEWIRE_CRC16
+#define ONEWIRE_CRC16 1
+#endif
+
+// Board-specific macros for direct GPIO
+#include "util/OneWire_direct_regtype.h"
+
+class OneWire
+{
+  private:
+    IO_REG_TYPE bitmask;
+    volatile IO_REG_TYPE *baseReg;
+
+#if ONEWIRE_SEARCH
+    // global search state
+    unsigned char ROM_NO[8];
+    uint8_t LastDiscrepancy;
+    uint8_t LastFamilyDiscrepancy;
+    bool LastDeviceFlag;
+#endif
+
+  public:
+    OneWire() { }
+    OneWire(uint8_t pin) { begin(pin); }
+    void begin(uint8_t pin);
+
+    // Perform a 1-Wire reset cycle. Returns 1 if a device responds
+    // with a presence pulse.  Returns 0 if there is no device or the
+    // bus is shorted or otherwise held low for more than 250uS
+    uint8_t reset(void);
+
+    // Issue a 1-Wire rom select command, you do the reset first.
+    void select(const uint8_t rom[8]);
+
+    // Issue a 1-Wire rom skip command, to address all on bus.
+    void skip(void);
+
+    // Write a byte. If 'power' is one then the wire is held high at
+    // the end for parasitically powered devices. You are responsible
+    // for eventually depowering it by calling depower() or doing
+    // another read or write.
+    void write(uint8_t v, uint8_t power = 0);
+
+    void write_bytes(const uint8_t *buf, uint16_t count, bool power = 0);
+
+    // Read a byte.
+    uint8_t read(void);
+
+    void read_bytes(uint8_t *buf, uint16_t count);
+
+    // Write a bit. The bus is always left powered at the end, see
+    // note in write() about that.
+    void write_bit(uint8_t v);
+
+    // Read a bit.
+    uint8_t read_bit(void);
+
+    // Stop forcing power onto the bus. You only need to do this if
+    // you used the 'power' flag to write() or used a write_bit() call
+    // and aren't about to do another read or write. You would rather
+    // not leave this powered if you don't have to, just in case
+    // someone shorts your bus.
+    void depower(void);
+
+#if ONEWIRE_SEARCH
+    // Clear the search state so that if will start from the beginning again.
+    void reset_search();
+
+    // Setup the search to find the device type 'family_code' on the next call
+    // to search(*newAddr) if it is present.
+    void target_search(uint8_t family_code);
+
+    // Look for the next device. Returns 1 if a new address has been
+    // returned. A zero might mean that the bus is shorted, there are
+    // no devices, or you have already retrieved all of them.  It
+    // might be a good idea to check the CRC to make sure you didn't
+    // get garbage.  The order is deterministic. You will always get
+    // the same devices in the same order.
+    bool search(uint8_t *newAddr, bool search_mode = true);
+#endif
+
+#if ONEWIRE_CRC
+    // Compute a Dallas Semiconductor 8 bit CRC, these are used in the
+    // ROM and scratchpad registers.
+    static uint8_t crc8(const uint8_t *addr, uint8_t len);
+
+#if ONEWIRE_CRC16
+    // Compute the 1-Wire CRC16 and compare it against the received CRC.
+    // Example usage (reading a DS2408):
+    //    // Put everything in a buffer so we can compute the CRC easily.
+    //    uint8_t buf[13];
+    //    buf[0] = 0xF0;    // Read PIO Registers
+    //    buf[1] = 0x88;    // LSB address
+    //    buf[2] = 0x00;    // MSB address
+    //    WriteBytes(net, buf, 3);    // Write 3 cmd bytes
+    //    ReadBytes(net, buf+3, 10);  // Read 6 data bytes, 2 0xFF, 2 CRC16
+    //    if (!CheckCRC16(buf, 11, &buf[11])) {
+    //        // Handle error.
+    //    }     
+    //          
+    // @param input - Array of bytes to checksum.
+    // @param len - How many bytes to use.
+    // @param inverted_crc - The two CRC16 bytes in the received data.
+    //                       This should just point into the received data,
+    //                       *not* at a 16-bit integer.
+    // @param crc - The crc starting value (optional)
+    // @return True, iff the CRC matches.
+    static bool check_crc16(const uint8_t* input, uint16_t len, const uint8_t* inverted_crc, uint16_t crc = 0);
+
+    // Compute a Dallas Semiconductor 16 bit CRC.  This is required to check
+    // the integrity of data received from many 1-Wire devices.  Note that the
+    // CRC computed here is *not* what you'll get from the 1-Wire network,
+    // for two reasons:
+    //   1) The CRC is transmitted bitwise inverted.
+    //   2) Depending on the endian-ness of your processor, the binary
+    //      representation of the two-byte return value may have a different
+    //      byte order than the two bytes you get from 1-Wire.
+    // @param input - Array of bytes to checksum.
+    // @param len - How many bytes to use.
+    // @param crc - The crc starting value (optional)
+    // @return The CRC16, as defined by Dallas Semiconductor.
+    static uint16_t crc16(const uint8_t* input, uint16_t len, uint16_t crc = 0);
+#endif
+#endif
+};
+
+// Prevent this name from leaking into Arduino sketches
+#ifdef IO_REG_TYPE
+#undef IO_REG_TYPE
+#endif
+
+#endif // __cplusplus
+#endif // OneWire_h

components/third_party/OneWire/include/util/OneWire_direct_gpio.h

@@ -0,0 +1,519 @@
+#ifndef OneWire_Direct_GPIO_h
+#define OneWire_Direct_GPIO_h
+
+// This header should ONLY be included by OneWire.cpp.  These defines are
+// meant to be private, used within OneWire.cpp, but not exposed to Arduino
+// sketches or other libraries which may include OneWire.h.
+
+#include <stdint.h>
+
+// Platform specific I/O definitions
+
+#if defined(__AVR__)
+#define PIN_TO_BASEREG(pin)             (portInputRegister(digitalPinToPort(pin)))
+#define PIN_TO_BITMASK(pin)             (digitalPinToBitMask(pin))
+#define IO_REG_TYPE uint8_t
+#define IO_REG_BASE_ATTR asm("r30")
+#define IO_REG_MASK_ATTR
+#if defined(__AVR_ATmega4809__)
+#define DIRECT_READ(base, mask)         (((*(base)) & (mask)) ? 1 : 0)
+#define DIRECT_MODE_INPUT(base, mask)   ((*((base)-8)) &= ~(mask))
+#define DIRECT_MODE_OUTPUT(base, mask)  ((*((base)-8)) |= (mask))
+#define DIRECT_WRITE_LOW(base, mask)    ((*((base)-4)) &= ~(mask))
+#define DIRECT_WRITE_HIGH(base, mask)   ((*((base)-4)) |= (mask))
+#else
+#define DIRECT_READ(base, mask)         (((*(base)) & (mask)) ? 1 : 0)
+#define DIRECT_MODE_INPUT(base, mask)   ((*((base)+1)) &= ~(mask))
+#define DIRECT_MODE_OUTPUT(base, mask)  ((*((base)+1)) |= (mask))
+#define DIRECT_WRITE_LOW(base, mask)    ((*((base)+2)) &= ~(mask))
+#define DIRECT_WRITE_HIGH(base, mask)   ((*((base)+2)) |= (mask))
+#endif
+
+#elif defined(__MK20DX128__) || defined(__MK20DX256__) || defined(__MK66FX1M0__) || defined(__MK64FX512__)
+#define PIN_TO_BASEREG(pin)             (portOutputRegister(pin))
+#define PIN_TO_BITMASK(pin)             (1)
+#define IO_REG_TYPE uint8_t
+#define IO_REG_BASE_ATTR
+#define IO_REG_MASK_ATTR __attribute__ ((unused))
+#define DIRECT_READ(base, mask)         (*((base)+512))
+#define DIRECT_MODE_INPUT(base, mask)   (*((base)+640) = 0)
+#define DIRECT_MODE_OUTPUT(base, mask)  (*((base)+640) = 1)
+#define DIRECT_WRITE_LOW(base, mask)    (*((base)+256) = 1)
+#define DIRECT_WRITE_HIGH(base, mask)   (*((base)+128) = 1)
+
+#elif defined(__MKL26Z64__)
+#define PIN_TO_BASEREG(pin)             (portOutputRegister(pin))
+#define PIN_TO_BITMASK(pin)             (digitalPinToBitMask(pin))
+#define IO_REG_TYPE uint8_t
+#define IO_REG_BASE_ATTR
+#define IO_REG_MASK_ATTR
+#define DIRECT_READ(base, mask)         ((*((base)+16) & (mask)) ? 1 : 0)
+#define DIRECT_MODE_INPUT(base, mask)   (*((base)+20) &= ~(mask))
+#define DIRECT_MODE_OUTPUT(base, mask)  (*((base)+20) |= (mask))
+#define DIRECT_WRITE_LOW(base, mask)    (*((base)+8) = (mask))
+#define DIRECT_WRITE_HIGH(base, mask)   (*((base)+4) = (mask))
+
+#elif defined(__IMXRT1052__) || defined(__IMXRT1062__)
+#define PIN_TO_BASEREG(pin)             (portOutputRegister(pin))
+#define PIN_TO_BITMASK(pin)             (digitalPinToBitMask(pin))
+#define IO_REG_TYPE uint32_t
+#define IO_REG_BASE_ATTR
+#define IO_REG_MASK_ATTR
+#define DIRECT_READ(base, mask)         ((*((base)+2) & (mask)) ? 1 : 0)
+#define DIRECT_MODE_INPUT(base, mask)   (*((base)+1) &= ~(mask))
+#define DIRECT_MODE_OUTPUT(base, mask)  (*((base)+1) |= (mask))
+#define DIRECT_WRITE_LOW(base, mask)    (*((base)+34) = (mask))
+#define DIRECT_WRITE_HIGH(base, mask)   (*((base)+33) = (mask))
+
+#elif defined(__SAM3X8E__) || defined(__SAM3A8C__) || defined(__SAM3A4C__)
+// Arduino 1.5.1 may have a bug in delayMicroseconds() on Arduino Due.
+// http://arduino.cc/forum/index.php/topic,141030.msg1076268.html#msg1076268
+// If you have trouble with OneWire on Arduino Due, please check the
+// status of delayMicroseconds() before reporting a bug in OneWire!
+#define PIN_TO_BASEREG(pin)             (&(digitalPinToPort(pin)->PIO_PER))
+#define PIN_TO_BITMASK(pin)             (digitalPinToBitMask(pin))
+#define IO_REG_TYPE uint32_t
+#define IO_REG_BASE_ATTR
+#define IO_REG_MASK_ATTR
+#define DIRECT_READ(base, mask)         (((*((base)+15)) & (mask)) ? 1 : 0)
+#define DIRECT_MODE_INPUT(base, mask)   ((*((base)+5)) = (mask))
+#define DIRECT_MODE_OUTPUT(base, mask)  ((*((base)+4)) = (mask))
+#define DIRECT_WRITE_LOW(base, mask)    ((*((base)+13)) = (mask))
+#define DIRECT_WRITE_HIGH(base, mask)   ((*((base)+12)) = (mask))
+#ifndef PROGMEM
+#define PROGMEM
+#endif
+#ifndef pgm_read_byte
+#define pgm_read_byte(addr) (*(const uint8_t *)(addr))
+#endif
+
+#elif defined(__PIC32MX__)
+#define PIN_TO_BASEREG(pin)             (portModeRegister(digitalPinToPort(pin)))
+#define PIN_TO_BITMASK(pin)             (digitalPinToBitMask(pin))
+#define IO_REG_TYPE uint32_t
+#define IO_REG_BASE_ATTR
+#define IO_REG_MASK_ATTR
+#define DIRECT_READ(base, mask)         (((*(base+4)) & (mask)) ? 1 : 0)  //PORTX + 0x10
+#define DIRECT_MODE_INPUT(base, mask)   ((*(base+2)) = (mask))            //TRISXSET + 0x08
+#define DIRECT_MODE_OUTPUT(base, mask)  ((*(base+1)) = (mask))            //TRISXCLR + 0x04
+#define DIRECT_WRITE_LOW(base, mask)    ((*(base+8+1)) = (mask))          //LATXCLR  + 0x24
+#define DIRECT_WRITE_HIGH(base, mask)   ((*(base+8+2)) = (mask))          //LATXSET + 0x28
+
+#elif defined(ARDUINO_ARCH_ESP8266)
+// Special note: I depend on the ESP community to maintain these definitions and
+// submit good pull requests.  I can not answer any ESP questions or help you
+// resolve any problems related to ESP chips.  Please do not contact me and please
+// DO NOT CREATE GITHUB ISSUES for ESP support.  All ESP questions must be asked
+// on ESP community forums.
+#define PIN_TO_BASEREG(pin)             ((volatile uint32_t*) GPO)
+#define PIN_TO_BITMASK(pin)             (1UL << (pin))
+#define IO_REG_TYPE uint32_t
+#define IO_REG_BASE_ATTR
+#define IO_REG_MASK_ATTR
+
+static inline __attribute__((always_inline))
+void directModeInput(IO_REG_TYPE mask)
+{
+    if(mask > 0x8000)
+    {
+        GP16FFS(GPFFS_GPIO(16));
+        GPC16 = 0;
+        GP16E &= ~1;
+    }
+    else
+    {
+        GPE &= ~(mask);
+    }
+}
+
+static inline __attribute__((always_inline))
+void directModeOutput(IO_REG_TYPE mask)
+{
+    if(mask > 0x8000)
+    {
+        GP16FFS(GPFFS_GPIO(16));
+        GPC16 = 0; 
+        GP16E |= 1;
+    }
+    else
+    {
+        GPE |= (mask);
+    }
+}
+static inline __attribute__((always_inline))
+bool directRead(IO_REG_TYPE mask)
+{
+    if(mask > 0x8000)
+        return GP16I & 0x01;
+    else
+        return ((GPI & (mask)) ? true : false);
+}
+
+#define DIRECT_READ(base, mask)             directRead(mask)
+#define DIRECT_MODE_INPUT(base, mask)       directModeInput(mask)
+#define DIRECT_MODE_OUTPUT(base, mask)      directModeOutput(mask)
+#define DIRECT_WRITE_LOW(base, mask)    (mask > 0x8000) ? GP16O &= ~1 : (GPOC = (mask))
+#define DIRECT_WRITE_HIGH(base, mask)   (mask > 0x8000) ? GP16O |= 1 : (GPOS = (mask))
+
+#elif defined(ARDUINO_ARCH_ESP32)
+#include <driver/rtc_io.h>
+#include <soc/gpio_struct.h>
+#define PIN_TO_BASEREG(pin)             (0)
+#define PIN_TO_BITMASK(pin)             (pin)
+#define IO_REG_TYPE uint32_t
+#define IO_REG_BASE_ATTR
+#define IO_REG_MASK_ATTR
+
+static inline __attribute__((always_inline))
+IO_REG_TYPE directRead(IO_REG_TYPE pin)
+{
+#if CONFIG_IDF_TARGET_ESP32C3
+    return (GPIO.in.val >> pin) & 0x1;
+#else // plain ESP32
+    if ( pin < 32 )
+        return (GPIO.in >> pin) & 0x1;
+    else if ( pin < 46 )
+        return (GPIO.in1.val >> (pin - 32)) & 0x1;
+#endif
+
+    return 0;
+}
+
+static inline __attribute__((always_inline))
+void directWriteLow(IO_REG_TYPE pin)
+{
+#if CONFIG_IDF_TARGET_ESP32C3
+    GPIO.out_w1tc.val = ((uint32_t)1 << pin);
+#else // plain ESP32
+    if ( pin < 32 )
+        GPIO.out_w1tc = ((uint32_t)1 << pin);
+    else if ( pin < 46 )
+        GPIO.out1_w1tc.val = ((uint32_t)1 << (pin - 32));
+#endif
+}
+
+static inline __attribute__((always_inline))
+void directWriteHigh(IO_REG_TYPE pin)
+{
+#if CONFIG_IDF_TARGET_ESP32C3
+    GPIO.out_w1ts.val = ((uint32_t)1 << pin);
+#else // plain ESP32
+    if ( pin < 32 )
+        GPIO.out_w1ts = ((uint32_t)1 << pin);
+    else if ( pin < 46 )
+        GPIO.out1_w1ts.val = ((uint32_t)1 << (pin - 32));
+#endif
+}
+
+static inline __attribute__((always_inline))
+void directModeInput(IO_REG_TYPE pin)
+{
+#if CONFIG_IDF_TARGET_ESP32C3
+    GPIO.enable_w1tc.val = ((uint32_t)1 << (pin));
+#else
+    if ( digitalPinIsValid(pin) )
+    {
+#if ESP_IDF_VERSION_MAJOR < 4      // IDF 3.x ESP32/PICO-D4
+        uint32_t rtc_reg(rtc_gpio_desc[pin].reg);
+
+        if ( rtc_reg ) // RTC pins PULL settings
+        {
+            ESP_REG(rtc_reg) = ESP_REG(rtc_reg) & ~(rtc_gpio_desc[pin].mux);
+            ESP_REG(rtc_reg) = ESP_REG(rtc_reg) & ~(rtc_gpio_desc[pin].pullup | rtc_gpio_desc[pin].pulldown);
+        }
+#endif
+	// Input
+        if ( pin < 32 )
+            GPIO.enable_w1tc = ((uint32_t)1 << pin);
+        else
+            GPIO.enable1_w1tc.val = ((uint32_t)1 << (pin - 32));
+    }
+#endif
+}
+
+static inline __attribute__((always_inline))
+void directModeOutput(IO_REG_TYPE pin)
+{
+#if CONFIG_IDF_TARGET_ESP32C3
+    GPIO.enable_w1ts.val = ((uint32_t)1 << (pin));
+#else
+    if ( digitalPinIsValid(pin) && pin <= 33 ) // pins above 33 can be only inputs
+    {
+#if ESP_IDF_VERSION_MAJOR < 4      // IDF 3.x ESP32/PICO-D4
+        uint32_t rtc_reg(rtc_gpio_desc[pin].reg);
+
+        if ( rtc_reg ) // RTC pins PULL settings
+        {
+            ESP_REG(rtc_reg) = ESP_REG(rtc_reg) & ~(rtc_gpio_desc[pin].mux);
+            ESP_REG(rtc_reg) = ESP_REG(rtc_reg) & ~(rtc_gpio_desc[pin].pullup | rtc_gpio_desc[pin].pulldown);
+        }
+#endif
+        // Output
+        if ( pin < 32 )
+            GPIO.enable_w1ts = ((uint32_t)1 << pin);
+        else // already validated to pins <= 33
+            GPIO.enable1_w1ts.val = ((uint32_t)1 << (pin - 32));
+    }
+#endif
+}
+
+#define DIRECT_READ(base, pin)          directRead(pin)
+#define DIRECT_WRITE_LOW(base, pin)     directWriteLow(pin)
+#define DIRECT_WRITE_HIGH(base, pin)    directWriteHigh(pin)
+#define DIRECT_MODE_INPUT(base, pin)    directModeInput(pin)
+#define DIRECT_MODE_OUTPUT(base, pin)   directModeOutput(pin)
+// https://github.com/PaulStoffregen/OneWire/pull/47
+// https://github.com/stickbreaker/OneWire/commit/6eb7fc1c11a15b6ac8c60e5671cf36eb6829f82c
+#ifdef  interrupts
+#undef  interrupts
+#endif
+#ifdef  noInterrupts
+#undef  noInterrupts
+#endif
+#define noInterrupts() {portMUX_TYPE mux = portMUX_INITIALIZER_UNLOCKED;portENTER_CRITICAL(&mux)
+#define interrupts() portEXIT_CRITICAL(&mux);}
+//#warning "ESP32 OneWire testing"
+
+#elif defined(ARDUINO_ARCH_STM32)
+#define PIN_TO_BASEREG(pin)             (0)
+#define PIN_TO_BITMASK(pin)             ((uint32_t)digitalPinToPinName(pin))
+#define IO_REG_TYPE uint32_t
+#define IO_REG_BASE_ATTR
+#define IO_REG_MASK_ATTR
+#define DIRECT_READ(base, pin)          digitalReadFast((PinName)pin)
+#define DIRECT_WRITE_LOW(base, pin)     digitalWriteFast((PinName)pin, LOW)
+#define DIRECT_WRITE_HIGH(base, pin)    digitalWriteFast((PinName)pin, HIGH)
+#define DIRECT_MODE_INPUT(base, pin)    pin_function((PinName)pin, STM_PIN_DATA(STM_MODE_INPUT, GPIO_NOPULL, 0))
+#define DIRECT_MODE_OUTPUT(base, pin)   pin_function((PinName)pin, STM_PIN_DATA(STM_MODE_OUTPUT_PP, GPIO_NOPULL, 0))
+
+#elif defined(__SAMD21G18A__)
+#define PIN_TO_BASEREG(pin)             portModeRegister(digitalPinToPort(pin))
+#define PIN_TO_BITMASK(pin)             (digitalPinToBitMask(pin))
+#define IO_REG_TYPE uint32_t
+#define IO_REG_BASE_ATTR
+#define IO_REG_MASK_ATTR
+#define DIRECT_READ(base, mask)         (((*((base)+8)) & (mask)) ? 1 : 0)
+#define DIRECT_MODE_INPUT(base, mask)   ((*((base)+1)) = (mask))
+#define DIRECT_MODE_OUTPUT(base, mask)  ((*((base)+2)) = (mask))
+#define DIRECT_WRITE_LOW(base, mask)    ((*((base)+5)) = (mask))
+#define DIRECT_WRITE_HIGH(base, mask)   ((*((base)+6)) = (mask))
+
+#elif defined(__ASR6501__)
+#define PIN_IN_PORT(pin)    (pin % PIN_NUMBER_IN_PORT)
+#define PORT_FROM_PIN(pin)  (pin / PIN_NUMBER_IN_PORT)
+#define PORT_OFFSET(port)   (PORT_REG_SHFIT * port)
+#define PORT_ADDRESS(pin)   (CYDEV_GPIO_BASE + PORT_OFFSET(PORT_FROM_PIN(pin)))
+
+#define PIN_TO_BASEREG(pin)             (0)
+#define PIN_TO_BITMASK(pin)             (pin)
+#define IO_REG_TYPE uint32_t
+#define IO_REG_BASE_ATTR
+#define IO_REG_MASK_ATTR
+#define DIRECT_READ(base, pin)          CY_SYS_PINS_READ_PIN(PORT_ADDRESS(pin)+4, PIN_IN_PORT(pin))
+#define DIRECT_WRITE_LOW(base, pin)     CY_SYS_PINS_CLEAR_PIN(PORT_ADDRESS(pin), PIN_IN_PORT(pin))
+#define DIRECT_WRITE_HIGH(base, pin)    CY_SYS_PINS_SET_PIN(PORT_ADDRESS(pin), PIN_IN_PORT(pin))
+#define DIRECT_MODE_INPUT(base, pin)    CY_SYS_PINS_SET_DRIVE_MODE(PORT_ADDRESS(pin)+8, PIN_IN_PORT(pin), CY_SYS_PINS_DM_DIG_HIZ)
+#define DIRECT_MODE_OUTPUT(base, pin)   CY_SYS_PINS_SET_DRIVE_MODE(PORT_ADDRESS(pin)+8, PIN_IN_PORT(pin), CY_SYS_PINS_DM_STRONG)
+
+#elif defined(RBL_NRF51822)
+#define PIN_TO_BASEREG(pin)             (0)
+#define PIN_TO_BITMASK(pin)             (pin)
+#define IO_REG_TYPE uint32_t
+#define IO_REG_BASE_ATTR
+#define IO_REG_MASK_ATTR
+#define DIRECT_READ(base, pin)          nrf_gpio_pin_read(pin)
+#define DIRECT_WRITE_LOW(base, pin)     nrf_gpio_pin_clear(pin)
+#define DIRECT_WRITE_HIGH(base, pin)    nrf_gpio_pin_set(pin)
+#define DIRECT_MODE_INPUT(base, pin)    nrf_gpio_cfg_input(pin, NRF_GPIO_PIN_NOPULL)
+#define DIRECT_MODE_OUTPUT(base, pin)   nrf_gpio_cfg_output(pin)
+
+#elif defined(__arc__) /* Arduino101/Genuino101 specifics */
+
+#include "scss_registers.h"
+#include "portable.h"
+#include "avr/pgmspace.h"
+
+#define GPIO_ID(pin)			(g_APinDescription[pin].ulGPIOId)
+#define GPIO_TYPE(pin)			(g_APinDescription[pin].ulGPIOType)
+#define GPIO_BASE(pin)			(g_APinDescription[pin].ulGPIOBase)
+#define DIR_OFFSET_SS			0x01
+#define DIR_OFFSET_SOC			0x04
+#define EXT_PORT_OFFSET_SS		0x0A
+#define EXT_PORT_OFFSET_SOC		0x50
+
+/* GPIO registers base address */
+#define PIN_TO_BASEREG(pin)		((volatile uint32_t *)g_APinDescription[pin].ulGPIOBase)
+#define PIN_TO_BITMASK(pin)		pin
+#define IO_REG_TYPE			uint32_t
+#define IO_REG_BASE_ATTR
+#define IO_REG_MASK_ATTR
+
+static inline __attribute__((always_inline))
+IO_REG_TYPE directRead(volatile IO_REG_TYPE *base, IO_REG_TYPE pin)
+{
+    IO_REG_TYPE ret;
+    if (SS_GPIO == GPIO_TYPE(pin)) {
+        ret = READ_ARC_REG(((IO_REG_TYPE)base + EXT_PORT_OFFSET_SS));
+    } else {
+        ret = MMIO_REG_VAL_FROM_BASE((IO_REG_TYPE)base, EXT_PORT_OFFSET_SOC);
+    }
+    return ((ret >> GPIO_ID(pin)) & 0x01);
+}
+
+static inline __attribute__((always_inline))
+void directModeInput(volatile IO_REG_TYPE *base, IO_REG_TYPE pin)
+{
+    if (SS_GPIO == GPIO_TYPE(pin)) {
+        WRITE_ARC_REG(READ_ARC_REG((((IO_REG_TYPE)base) + DIR_OFFSET_SS)) & ~(0x01 << GPIO_ID(pin)),
+			((IO_REG_TYPE)(base) + DIR_OFFSET_SS));
+    } else {
+        MMIO_REG_VAL_FROM_BASE((IO_REG_TYPE)base, DIR_OFFSET_SOC) &= ~(0x01 << GPIO_ID(pin));
+    }
+}
+
+static inline __attribute__((always_inline))
+void directModeOutput(volatile IO_REG_TYPE *base, IO_REG_TYPE pin)
+{
+    if (SS_GPIO == GPIO_TYPE(pin)) {
+        WRITE_ARC_REG(READ_ARC_REG(((IO_REG_TYPE)(base) + DIR_OFFSET_SS)) | (0x01 << GPIO_ID(pin)),
+			((IO_REG_TYPE)(base) + DIR_OFFSET_SS));
+    } else {
+        MMIO_REG_VAL_FROM_BASE((IO_REG_TYPE)base, DIR_OFFSET_SOC) |= (0x01 << GPIO_ID(pin));
+    }
+}
+
+static inline __attribute__((always_inline))
+void directWriteLow(volatile IO_REG_TYPE *base, IO_REG_TYPE pin)
+{
+    if (SS_GPIO == GPIO_TYPE(pin)) {
+        WRITE_ARC_REG(READ_ARC_REG(base) & ~(0x01 << GPIO_ID(pin)), base);
+    } else {
+        MMIO_REG_VAL(base) &= ~(0x01 << GPIO_ID(pin));
+    }
+}
+
+static inline __attribute__((always_inline))
+void directWriteHigh(volatile IO_REG_TYPE *base, IO_REG_TYPE pin)
+{
+    if (SS_GPIO == GPIO_TYPE(pin)) {
+        WRITE_ARC_REG(READ_ARC_REG(base) | (0x01 << GPIO_ID(pin)), base);
+    } else {
+        MMIO_REG_VAL(base) |= (0x01 << GPIO_ID(pin));
+    }
+}
+
+#define DIRECT_READ(base, pin)		directRead(base, pin)
+#define DIRECT_MODE_INPUT(base, pin)	directModeInput(base, pin)
+#define DIRECT_MODE_OUTPUT(base, pin)	directModeOutput(base, pin)
+#define DIRECT_WRITE_LOW(base, pin)	directWriteLow(base, pin)
+#define DIRECT_WRITE_HIGH(base, pin)	directWriteHigh(base, pin)
+
+#elif defined(__riscv)
+
+/*
+ * Tested on highfive1
+ *
+ * Stable results are achieved operating in the
+ * two high speed modes of the highfive1.  It
+ * seems to be less reliable in slow mode.
+ */
+#define PIN_TO_BASEREG(pin)             (0)
+#define PIN_TO_BITMASK(pin)             digitalPinToBitMask(pin)
+#define IO_REG_TYPE uint32_t
+#define IO_REG_BASE_ATTR
+#define IO_REG_MASK_ATTR
+
+static inline __attribute__((always_inline))
+IO_REG_TYPE directRead(IO_REG_TYPE mask)
+{
+    return ((GPIO_REG(GPIO_INPUT_VAL) & mask) != 0) ? 1 : 0;
+}
+
+static inline __attribute__((always_inline))
+void directModeInput(IO_REG_TYPE mask)
+{
+    GPIO_REG(GPIO_OUTPUT_XOR)  &= ~mask;
+    GPIO_REG(GPIO_IOF_EN)      &= ~mask;
+
+    GPIO_REG(GPIO_INPUT_EN)  |=  mask;
+    GPIO_REG(GPIO_OUTPUT_EN) &= ~mask;
+}
+
+static inline __attribute__((always_inline))
+void directModeOutput(IO_REG_TYPE mask)
+{
+    GPIO_REG(GPIO_OUTPUT_XOR)  &= ~mask;
+    GPIO_REG(GPIO_IOF_EN)      &= ~mask;
+
+    GPIO_REG(GPIO_INPUT_EN)  &= ~mask;
+    GPIO_REG(GPIO_OUTPUT_EN) |=  mask;
+}
+
+static inline __attribute__((always_inline))
+void directWriteLow(IO_REG_TYPE mask)
+{
+    GPIO_REG(GPIO_OUTPUT_VAL) &= ~mask;
+}
+
+static inline __attribute__((always_inline))
+void directWriteHigh(IO_REG_TYPE mask)
+{
+    GPIO_REG(GPIO_OUTPUT_VAL) |= mask;
+}
+
+#define DIRECT_READ(base, mask)          directRead(mask)
+#define DIRECT_WRITE_LOW(base, mask)     directWriteLow(mask)
+#define DIRECT_WRITE_HIGH(base, mask)    directWriteHigh(mask)
+#define DIRECT_MODE_INPUT(base, mask)    directModeInput(mask)
+#define DIRECT_MODE_OUTPUT(base, mask)   directModeOutput(mask)
+
+#elif defined(__MBED__)
+
+#include "platform/mbed_critical.h"
+#include "DigitalInOut.h"
+#include <cmsis_os2.h>
+#define PIN_TO_BASEREG(pin)             (0)
+#define PIN_TO_BITMASK(pin)             (new mbed::DigitalInOut(digitalPinToPinName(pin)))
+#define IO_REG_TYPE                     mbed::DigitalInOut*
+#define IO_REG_BASE_ATTR
+#define IO_REG_MASK_ATTR
+#define DIRECT_READ(base, pin)          (*pin)
+#define DIRECT_WRITE_LOW(base, pin)     (*pin = 0)
+#define DIRECT_WRITE_HIGH(base, pin)    (*pin = 1)
+#define DIRECT_MODE_INPUT(base, pin)    (pin->input())
+#define DIRECT_MODE_OUTPUT(base, pin)   (pin->output())
+#undef interrupts
+#undef noInterrupts
+#define noInterrupts()                  osThreadSetPriority(osThreadGetId(), osPriorityRealtime) //core_util_critical_section_enter()
+#define interrupts()                    osThreadSetPriority(osThreadGetId(), osPriorityNormal) //core_util_critical_section_exit()
+
+#elif defined(ARDUINO_ARCH_MBED_RP2040)|| defined(ARDUINO_ARCH_RP2040)
+#define delayMicroseconds(time)         busy_wait_us(time)
+#define PIN_TO_BASEREG(pin)             (0)
+#define PIN_TO_BITMASK(pin)             (pin)
+#define IO_REG_TYPE unsigned int
+#define IO_REG_BASE_ATTR
+#define IO_REG_MASK_ATTR
+#define DIRECT_READ(base, pin)          digitalRead(pin)
+#define DIRECT_WRITE_LOW(base, pin)     digitalWrite(pin, LOW)
+#define DIRECT_WRITE_HIGH(base, pin)    digitalWrite(pin, HIGH)
+#define DIRECT_MODE_INPUT(base, pin)    pinMode(pin,INPUT)
+#define DIRECT_MODE_OUTPUT(base, pin)   pinMode(pin,OUTPUT)
+#warning "OneWire. RP2040 in Fallback mode. Using API calls for pinMode,digitalRead and digitalWrite."
+
+#else
+#define PIN_TO_BASEREG(pin)             (0)
+#define PIN_TO_BITMASK(pin)             (pin)
+#define IO_REG_TYPE unsigned int
+#define IO_REG_BASE_ATTR
+#define IO_REG_MASK_ATTR
+#define DIRECT_READ(base, pin)          digitalRead(pin)
+#define DIRECT_WRITE_LOW(base, pin)     digitalWrite(pin, LOW)
+#define DIRECT_WRITE_HIGH(base, pin)    digitalWrite(pin, HIGH)
+#define DIRECT_MODE_INPUT(base, pin)    pinMode(pin,INPUT)
+#define DIRECT_MODE_OUTPUT(base, pin)   pinMode(pin,OUTPUT)
+#warning "OneWire. Fallback mode. Using API calls for pinMode,digitalRead and digitalWrite. Operation of this library is not guaranteed on this architecture."
+
+#endif
+
+#endif

components/third_party/OneWire/include/util/OneWire_direct_regtype.h

@@ -0,0 +1,59 @@
+#ifndef OneWire_Direct_RegType_h
+#define OneWire_Direct_RegType_h
+
+#include <stdint.h>
+
+// Platform specific I/O register type
+
+#if defined(__AVR__)
+#define IO_REG_TYPE uint8_t
+
+#elif defined(__MK20DX128__) || defined(__MK20DX256__) || defined(__MK66FX1M0__) || defined(__MK64FX512__)
+#define IO_REG_TYPE uint8_t
+
+#elif defined(__IMXRT1052__) || defined(__IMXRT1062__)
+#define IO_REG_TYPE uint32_t
+
+#elif defined(__MKL26Z64__)
+#define IO_REG_TYPE uint8_t
+
+#elif defined(__SAM3X8E__) || defined(__SAM3A8C__) || defined(__SAM3A4C__)
+#define IO_REG_TYPE uint32_t
+
+#elif defined(__PIC32MX__)
+#define IO_REG_TYPE uint32_t
+
+#elif defined(ARDUINO_ARCH_ESP8266)
+#define IO_REG_TYPE uint32_t
+
+#elif defined(ARDUINO_ARCH_ESP32)
+#define IO_REG_TYPE uint32_t
+#define IO_REG_MASK_ATTR
+
+#elif defined(ARDUINO_ARCH_STM32)
+#define IO_REG_TYPE uint32_t
+
+#elif defined(__SAMD21G18A__)
+#define IO_REG_TYPE uint32_t
+
+#elif defined(__ASR6501__)
+#define IO_REG_TYPE uint32_t
+
+#elif defined(RBL_NRF51822)
+#define IO_REG_TYPE uint32_t
+
+#elif defined(__arc__) /* Arduino101/Genuino101 specifics */
+#define IO_REG_TYPE uint32_t
+
+#elif defined(__MBED__)
+#include "DigitalInOut.h"
+#define IO_REG_TYPE mbed::DigitalInOut*
+
+#elif defined(__riscv)
+#define IO_REG_TYPE uint32_t
+
+#else
+#define IO_REG_TYPE unsigned int
+
+#endif
+#endif

components/third_party/README.md

@@ -0,0 +1,5 @@
+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)

docs/CICD.md

@@ -20,7 +20,7 @@ Gitea `act_runner` must be registered against `git.i3omb.com` with labels that m
 
 | Workflow `runs-on` | Typical runner label | Notes |
 | --- | --- | --- |
-| `ubuntu-latest` | `ubuntu-latest:docker://gitea/runner-images:ubuntu-latest` | Host tests, checkout, artifact upload |
+| `ubuntu-latest` | `ubuntu-latest:docker://gitea/runner-images:ubuntu-latest` | Host tests, checkout, artifact upload. Image has **no cmake/gcc** — the test job must `apt-get install` them. |
 | (job `container`) | Docker socket available on the runner | Firmware jobs use `espressif/idf:<tag>` as the job container |
 
 Firmware builds need:
@@ -155,6 +155,17 @@ jobs:
     runs-on: ubuntu-latest
     steps:
       - uses: actions/checkout@v4
+      - 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
       - name: Host unit tests
         if: hashFiles('tests/host/CMakeLists.txt') != ''
         run: |

docs/megaplans/REFACTOR-MEGAPLAN.md

@@ -37,14 +37,18 @@ If blocked: stop, commit nothing broken, write `BLOCKED:` at top of the phase fi
 | P02 | `refactor/P02-ui-cmd-process.md` | `ui_cmd` + `app_process` + golden tests | DONE |
 | 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 | BLOCKED |
+| 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 | TODO |
+| 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 | TODO |
+| P07 | `refactor/P07-board-s3-ui.md` | JC4827W543 display+GT911+STOP | BLOCKED |
 | P08 | `refactor/P08-idf-debt.md` | Replace Arduino drivers (RMT etc.) | TODO |
 
 P04 Notes: merge_bin uses `${{ gitea.sha }}` (not `github.sha`); runner unverified (no Actions run).
 
-P05 Notes: BLOCKED — no app_machine + HAL headers from P03 (branch @ 415c13a). Not implemented.
+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.
+
+P07 Notes: BLOCKED — P06 app_ui + WROOM cutover missing (no app_ui/hal_display/hal_input). Not implemented. Hw unflashed.
 
 ## Dependency
 

docs/megaplans/refactor/P05-hal-wroom-motion.md

@@ -1,18 +1,6 @@
-BLOCKED: P03 artifacts missing on branch refactor/esp-idf-modular-ui @ 415c13a.
-
-Required and absent:
-- components/app_machine/ (include/app_machine.h, app_machine.c)
-- components/hal_motor/include/hal_motor.h
-- components/hal_temp/include/hal_temp.h
-- components/hal_audio/include/hal_audio.h
-
-Megaplan table still lists P03 STATUS=TODO. Protocol: P05 requires P03 APIs.
-Do not invent or change public HAL/app_machine APIs. Do not implement P01–P04 in this session.
-No device HAL, tasks, Arduino-as-component, or main.c cutover landed.
-
 # P05 — WROOM HAL motor / temp / audio
 
-STATUS: BLOCKED
+STATUS: DONE
 DEPENDS: P03
 READ: this file, `include/config.h`, `src/motor.cpp`, `src/temperature.cpp`, `src/sound.cpp`, `components/hal_*/include/*.h`
 OUT: rewriting `app_ui` / deleting menus; S3 motor pins; disabling WDT; `vTaskDelete` motor
@@ -100,8 +88,8 @@ Manual on hardware (if unavailable, Notes=`hw not flashed`; still land code):
 
 ## DoD
 
-- [ ] EN HIGH at init and on stop
+- [x] EN HIGH at init and on stop
-- [ ] stop_req checked inside step loop
+- [x] stop_req checked inside step loop
-- [ ] OneWire only in temp_task
+- [x] OneWire only in temp_task
-- [ ] tone/LEDC only in audio_task
+- [x] tone/LEDC only in audio_task
-- [ ] STATUS→DONE
+- [x] STATUS→DONE

docs/megaplans/refactor/P06-ui-wroom-cutover.md

@@ -1,6 +1,16 @@
+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: TODO
+STATUS: BLOCKED
 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

docs/megaplans/refactor/P07-board-s3-ui.md

@@ -1,7 +1,20 @@
 # P07 — JC4827W543 display + GT911 + STOP
 
-STATUS: TODO
+STATUS: BLOCKED
 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.
+
 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
 FORBIDDEN: `lv_*` types in `ui_cmd.h` / `app_machine.h`; blocking in flush_cb beyond DMA wait; copying WROOM GPIO map blindly

main/CMakeLists.txt

@@ -1,11 +1,24 @@
 if(NOT DEFINED AUTOFILM_BOARD)
   set(AUTOFILM_BOARD wroom CACHE STRING "wroom|jc4827w543")
 endif()
-if(AUTOFILM_BOARD STREQUAL "wroom")
+if(IDF_TARGET STREQUAL "esp32s3" OR AUTOFILM_BOARD STREQUAL "jc4827w543")
-  set(BOARD_COMP board_wroom)
-elseif(AUTOFILM_BOARD STREQUAL "jc4827w543")
   set(BOARD_COMP board_jc4827w543)
+elseif(AUTOFILM_BOARD STREQUAL "wroom" OR IDF_TARGET STREQUAL "esp32")
+  set(BOARD_COMP board_wroom)
 else()
-  message(FATAL_ERROR "AUTOFILM_BOARD=${AUTOFILM_BOARD}")
+  message(FATAL_ERROR "AUTOFILM_BOARD=${AUTOFILM_BOARD} IDF_TARGET=${IDF_TARGET}")
+endif()
+
+idf_component_register(SRCS "main.c"
+                    INCLUDE_DIRS "."
+                    REQUIRES ${BOARD_COMP} driver app_process app_machine
+                             hal_motor hal_temp hal_audio)
+
+if(IDF_TARGET STREQUAL "esp32")
+  target_compile_definitions(${COMPONENT_LIB} PRIVATE AUTOFILM_BOARD_WROOM=1)
+endif()
+
+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)
 endif()
-idf_component_register(SRCS "main.c" INCLUDE_DIRS "." REQUIRES ${BOARD_COMP} driver)

main/main.c

@@ -1,14 +1,66 @@
 #include "board.h"
+#include "app_process.h"
+#include "app_machine.h"
+#include "hal_motor.h"
+#include "hal_temp.h"
+#include "hal_audio.h"
+#include "ui_cmd.h"
+
 #include "esp_log.h"
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
 
+#ifdef AUTOFILM_BOARD_WROOM
+#include <Arduino.h>
+#endif
+
 static const char *TAG = "app";
 
+#ifdef AUTOFILM_BOARD_WROOM
+extern void autofilm_temp_tick(void);
+
+static void temp_task(void *arg)
+{
+    (void)arg;
+    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);
+    }
+}
+
+#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
+
     gpio_num_t en_pin = board_pin_motor_en();
     if (en_pin != GPIO_NUM_NC) {
         gpio_config_t io = {
@@ -22,7 +74,26 @@ void app_main(void)
         gpio_set_level(en_pin, board_motor_en_disable_level());
     }
 
+    app_process_init();
+    hal_motor_init();
+    hal_temp_init();
+    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
+#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));
     }
 }