Tick A04 DoD checkbox after CI green

Merge I01 board pin allocations & accessors into develop

.gitea/workflows/ci.yml

@@ -16,19 +16,15 @@ jobs:
       - name: Install host toolchain
         if: hashFiles('tests/host/CMakeLists.txt') != ''
         run: |
-          export DEBIAN_FRONTEND=noninteractive
-          if command -v sudo >/dev/null 2>&1 && [ "$(id -u)" -ne 0 ]; then
-            SUDO=sudo
-          else
-            SUDO=
-          fi
-          $SUDO apt-get update
-          $SUDO apt-get install -y --no-install-recommends cmake gcc g++ make
+          export DEBIAN_FRONTEND=noninteractive && \
+          if command -v sudo >/dev/null 2>&1 && [ "$(id -u)" -ne 0 ]; then SUDO=sudo; else SUDO=; fi && \
+          $SUDO apt-get update && \
+          $SUDO apt-get install -y -q --no-install-recommends cmake gcc g++ make
       - name: Host unit tests
         if: hashFiles('tests/host/CMakeLists.txt') != ''
         run: |
-          cmake -S tests/host -B build/host
-          cmake --build build/host
+          cmake -S tests/host -B build/host && \
+          cmake --build build/host && \
           ctest --test-dir build/host --output-on-failure
 
   firmware:
@@ -47,21 +43,30 @@ jobs:
             target: esp32s3
             sdkconfig: sdkconfig.s3
     steps:
+      - name: Install Node.js
+        run: |
+          export DEBIAN_FRONTEND=noninteractive && \
+          export NEEDRESTART_MODE=a && \
+          if command -v sudo >/dev/null 2>&1 && [ "$(id -u)" -ne 0 ]; then SUDO=sudo; else SUDO=; fi && \
+          $SUDO apt-get update && \
+          $SUDO apt-get install -y -q --no-install-recommends nodejs
       - uses: actions/checkout@v4
       - name: Build
         if: hashFiles('CMakeLists.txt') != ''
         run: |
-          git config --global --add safe.directory '*'
-          idf.py -B build/${{ matrix.board }} set-target ${{ matrix.target }}
+          . $IDF_PATH/export.sh && \
+          git config --global --add safe.directory '*' && \
+          idf.py -B build/${{ matrix.board }} set-target ${{ matrix.target }} && \
           idf.py -B build/${{ matrix.board }} \
             -D SDKCONFIG_DEFAULTS="sdkconfig.defaults;${{ matrix.sdkconfig }}" \
             -D AUTOFILM_BOARD=${{ matrix.board }} \
-            build
-          idf.py -B build/${{ matrix.board }} size | tee size-${{ matrix.board }}.txt
+            build && \
+          idf.py -B build/${{ matrix.board }} size | tee size-${{ matrix.board }}.txt && \
+          cd build/${{ matrix.board }} && \
           python $IDF_PATH/components/esptool_py/esptool/esptool.py \
             --chip ${{ matrix.target }} merge_bin \
-            -o autofilm-${{ matrix.board }}-${{ gitea.sha }}.bin \
-            @build/${{ matrix.board }}/flash_args
+            -o ../../autofilm-${{ matrix.board }}-${{ gitea.sha }}.bin \
+            @flash_args
       - uses: actions/upload-artifact@v3
         if: hashFiles('CMakeLists.txt') != ''
         with:
@@ -74,3 +79,4 @@ jobs:
             build/${{ matrix.board }}/flasher_args.json
             build/${{ matrix.board }}/sdkconfig
             size-${{ matrix.board }}.txt
+            

.gitignore

@@ -4,6 +4,7 @@
 .vscode/launch.json
 .vscode/ipch
 build/
+build_host/
 sdkconfig
 sdkconfig.old
 managed_components/

components/app_machine/CMakeLists.txt

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

components/app_machine/app_machine.c

@@ -1,3 +1,6 @@
+#include "freertos/FreeRTOS.h"
+#include "freertos/queue.h"
+
 #include "app_machine.h"
 #include "app_process.h"
 #include "hal_motor.h"
@@ -5,6 +8,7 @@
 #include "hal_audio.h"
 
 #include <string.h>
+#include <stddef.h>
 
 #define AGITATE_RPM 60u
 
@@ -16,20 +20,13 @@ static uint32_t s_deadline_ms;
 static bool s_have_deadline;
 static bool s_resume_pending;
 static bool s_auto_advance;
-static ui_evt_t s_q[UI_EVT_QUEUE_LEN];
-static uint8_t s_q_head;
-static uint8_t s_q_tail;
-static uint8_t s_q_count;
+static QueueHandle_t s_evtq;
 
 static void emit(ui_evt_t ev)
 {
-    if (s_q_count == UI_EVT_QUEUE_LEN) {
-        s_q_head = (uint8_t)((s_q_head + 1u) % UI_EVT_QUEUE_LEN);
-        s_q_count--;
+    if (s_evtq != NULL) {
+        xQueueSend(s_evtq, &ev, 0);
     }
-    s_q[s_q_tail] = ev;
-    s_q_tail = (uint8_t)((s_q_tail + 1u) % UI_EVT_QUEUE_LEN);
-    s_q_count++;
 }
 
 static void fill_common(ui_evt_t *ev)
@@ -122,14 +119,13 @@ static void enter_armed(void)
     emit_id(EVT_STEP_ARMED);
 }
 
-static void start_running(uint32_t now_ms)
+static void start_running(void)
 {
     const process_def_t *p = app_process_get(s_proc);
     uint16_t t_s = app_process_time_s(s_proc, s_step);
     s_remaining_ms = (uint32_t)t_s * 1000u;
-    s_deadline_ms = now_ms + s_remaining_ms;
-    s_have_deadline = true;
-    s_resume_pending = false;
+    s_have_deadline = false;
+    s_resume_pending = true;
 
     if (t_s == 0 || p == NULL) {
         hal_motor_enable(false);
@@ -198,10 +194,14 @@ void app_machine_init(void)
     s_deadline_ms = 0;
     s_have_deadline = false;
     s_resume_pending = false;
-    s_auto_advance = false;
-    s_q_head = 0;
-    s_q_tail = 0;
-    s_q_count = 0;
+    s_auto_advance = true;
+
+    if (s_evtq == NULL) {
+        s_evtq = xQueueCreate(UI_EVT_QUEUE_LEN, sizeof(ui_evt_t));
+    } else {
+        xQueueReset(s_evtq);
+    }
+
     app_process_init();
     hal_motor_init();
     hal_temp_init();
@@ -230,13 +230,13 @@ uint32_t app_machine_remaining_ms(void)
 
 int app_machine_last_event(ui_evt_t *out)
 {
-    if (s_q_count == 0 || out == NULL) {
+    if (s_evtq == NULL || out == NULL) {
         return 0;
     }
-    *out = s_q[s_q_head];
-    s_q_head = (uint8_t)((s_q_head + 1u) % UI_EVT_QUEUE_LEN);
-    s_q_count--;
+    if (xQueueReceive(s_evtq, out, 0) == pdTRUE) {
         return 1;
+    }
+    return 0;
 }
 
 void app_machine_on_temp(float c, bool ok)
@@ -336,7 +336,7 @@ void app_machine_handle_cmd(const ui_cmd_t *cmd)
             enter_armed();
         } else if (s_state == ST_ARMED) {
             apply_step_index(cmd->step_index);
-            start_running(0);
+            start_running();
         } else if (s_state == ST_COMPLETE) {
             arm_or_next_from_complete();
         }

components/app_ui/app_ui.c

@@ -56,7 +56,7 @@ static void draw_program_select(void)
 
 static void draw_step_select(const ui_evt_t *ev)
 {
-    char line[21];
+    char line[32];
     char mm[8];
     uint16_t ts = ev->time_s;
     fmt_mmss(mm, sizeof(mm), ts);
@@ -71,7 +71,7 @@ static void draw_step_select(const ui_evt_t *ev)
 
 static void draw_armed(const ui_evt_t *ev)
 {
-    char line[21];
+    char line[32];
     char mm[8];
     fmt_mmss(mm, sizeof(mm), ev->time_s);
     int pref = (int)(ev->temp_pref_c + (ev->temp_pref_c >= 0 ? 0.5f : -0.5f));
@@ -84,7 +84,7 @@ static void draw_armed(const ui_evt_t *ev)
 
 static void draw_running(const ui_evt_t *ev)
 {
-    char line[21];
+    char line[32];
     char mm[8];
     uint32_t rem_s = (ev->remaining_ms + 999u) / 1000u;
     fmt_mmss(mm, sizeof(mm), rem_s);
@@ -98,7 +98,7 @@ static void draw_running(const ui_evt_t *ev)
 
 static void draw_stopped(const ui_evt_t *ev)
 {
-    char line[21];
+    char line[32];
     char mm[8];
     uint32_t rem_s = (ev->remaining_ms + 999u) / 1000u;
     fmt_mmss(mm, sizeof(mm), rem_s);
@@ -111,7 +111,7 @@ static void draw_stopped(const ui_evt_t *ev)
 
 static void draw_complete(const ui_evt_t *ev)
 {
-    char line[21];
+    char line[32];
     hal_display_clear();
     snprintf(line, sizeof(line), "%-10.10s Done", step_name(ev->process_id, ev->step_index));
     hal_display_text(0, 0, line);

components/board_jc4827w543/board.c

@@ -19,10 +19,17 @@
  *   RST 38
  *   addr 0x5D
  *
- * Motor:
- *   EN  GPIO_NUM_NC  — no spare header pin documented for EN.
- *   STEP/DIR not assigned. Do not steal QSPI or GT911 pins.
- *   Agitation may remain on WROOM until a spare is proven.
+ * Motor (P3 header IO6/7/15/16):
+ *   EN    7  active LOW (disable level 1)
+ *   STEP 16
+ *   DIR  15
+ *
+ * DS18B20 temp: 17 (P4 header GND/3V3/17/18, UART1 unused)
+ *
+ * Speaker I2S (onboard amp, P7 Speak connector):
+ *   BCLK  42
+ *   LRCLK  2
+ *   DIN   41
  */
 
 const char *board_name(void)
@@ -32,7 +39,7 @@ const char *board_name(void)
 
 gpio_num_t board_pin_motor_en(void)
 {
-    return GPIO_NUM_NC;
+    return (gpio_num_t)7;
 }
 
 int board_motor_en_disable_level(void)
@@ -40,6 +47,14 @@ int board_motor_en_disable_level(void)
     return 1;
 }
 
+gpio_num_t board_pin_motor_step(void) { return (gpio_num_t)16; }
+gpio_num_t board_pin_motor_dir(void)  { return (gpio_num_t)15; }
+gpio_num_t board_pin_temp(void)       { return (gpio_num_t)17; }
+
+gpio_num_t board_pin_spk_bclk(void)  { return (gpio_num_t)42; }
+gpio_num_t board_pin_spk_lrclk(void) { return (gpio_num_t)2; }
+gpio_num_t board_pin_spk_din(void)   { return (gpio_num_t)41; }
+
 gpio_num_t board_pin_lcd_cs(void)  { return (gpio_num_t)45; }
 gpio_num_t board_pin_lcd_sck(void) { return (gpio_num_t)47; }
 gpio_num_t board_pin_lcd_d0(void)  { return (gpio_num_t)21; }

components/board_jc4827w543/include/board.h

@@ -4,6 +4,12 @@
 const char *board_name(void);
 gpio_num_t board_pin_motor_en(void);
 int board_motor_en_disable_level(void);
+gpio_num_t board_pin_motor_step(void);
+gpio_num_t board_pin_motor_dir(void);
+gpio_num_t board_pin_temp(void);
+gpio_num_t board_pin_spk_bclk(void);
+gpio_num_t board_pin_spk_lrclk(void);
+gpio_num_t board_pin_spk_din(void);
 
 gpio_num_t board_pin_lcd_cs(void);
 gpio_num_t board_pin_lcd_sck(void);

components/board_wroom/board.c

@@ -14,3 +14,7 @@ int board_motor_en_disable_level(void)
 {
     return 1;
 }
+
+gpio_num_t board_pin_motor_step(void) { return (gpio_num_t)12; }
+gpio_num_t board_pin_motor_dir(void)  { return (gpio_num_t)14; }
+gpio_num_t board_pin_temp(void)       { return (gpio_num_t)13; }

components/board_wroom/idf_component.yml

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

components/board_wroom/include/board.h

@@ -3,3 +3,6 @@
 const char *board_name(void);
 gpio_num_t board_pin_motor_en(void);
 int board_motor_en_disable_level(void);
+gpio_num_t board_pin_motor_step(void);
+gpio_num_t board_pin_motor_dir(void);
+gpio_num_t board_pin_temp(void);

components/hal_audio/CMakeLists.txt

@@ -2,8 +2,11 @@ set(srcs)
 set(priv_req driver)
 
 if(IDF_TARGET STREQUAL "esp32")
-    list(APPEND srcs wroom/hal_audio.cpp)
+    list(APPEND srcs wroom/hal_audio.c)
     list(APPEND priv_req board_wroom)
+elseif(IDF_TARGET STREQUAL "esp32s3")
+    list(APPEND srcs s3/hal_audio.c)
+    list(APPEND priv_req board_jc4827w543)
 else()
     list(APPEND srcs stub/hal_audio.c)
 endif()

components/hal_audio/s3/hal_audio.c

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

components/hal_audio/wroom/hal_audio.c

@@ -1,4 +1,5 @@
 #include <stdint.h>
+#include <stdbool.h>
 
 #include "esp_log.h"
 #include "driver/ledc.h"
@@ -109,12 +110,12 @@ static void post(int msg)
     xQueueSend(s_q, &msg, 0);
 }
 
-extern "C" void autofilm_audio_task(void *arg)
+void autofilm_audio_task(void *arg)
 {
     audio_task(arg);
 }
 
-extern "C" void hal_audio_init(void)
+void hal_audio_init(void)
 {
     if (s_inited) {
         return;
@@ -146,17 +147,17 @@ extern "C" void hal_audio_init(void)
     ESP_LOGI(TAG, "init beep pin=%d LEDC", PIN_BEEP);
 }
 
-extern "C" void hal_audio_beep_short(void)
+void hal_audio_beep_short(void)
 {
     post(AUDIO_SHORT);
 }
 
-extern "C" void hal_audio_alarm_complete(void)
+void hal_audio_alarm_complete(void)
 {
     post(AUDIO_ALARM);
 }
 
-extern "C" void hal_audio_alarm_cancel(void)
+void hal_audio_alarm_cancel(void)
 {
     post(AUDIO_CANCEL);
 }

components/hal_display/CMakeLists.txt

@@ -3,14 +3,8 @@ set(priv_inc)
 set(priv_req driver)
 
 if(IDF_TARGET STREQUAL "esp32")
-    list(APPEND srcs
-        hal_display_lcd2004.cpp
-        ${CMAKE_CURRENT_LIST_DIR}/../third_party/LiquidCrystal_I2C/LiquidCrystal_I2C.cpp
-    )
-    list(APPEND priv_inc
-        ${CMAKE_CURRENT_LIST_DIR}/../third_party/LiquidCrystal_I2C/include
-    )
-    list(APPEND priv_req board_wroom espressif__arduino-esp32)
+    list(APPEND srcs hal_display_lcd2004.c)
+    list(APPEND priv_req board_wroom)
 elseif(IDF_TARGET STREQUAL "esp32s3")
     list(APPEND srcs hal_display_nv3041a.c)
     list(APPEND priv_req board_jc4827w543 esp_lcd)

components/hal_display/hal_display_lcd2004.c

@@ -0,0 +1,190 @@
+#include "hal_display.h"
+
+#include <string.h>
+
+#include "driver/i2c_master.h"
+#include "esp_rom_sys.h"
+#include "esp_log.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+
+#define LCD_ADDR 0x27
+#define LCD_COLS 20
+#define LCD_ROWS 4
+#define PIN_SDA 21
+#define PIN_SCL 22
+
+#define LCD_RS 0x01
+#define LCD_EN 0x04
+#define LCD_BL 0x08
+
+static const char *TAG = "display";
+
+static i2c_master_bus_handle_t s_bus;
+static i2c_master_dev_handle_t s_dev;
+static bool s_inited;
+
+static const uint8_t s_thermo[8] = {
+    0b00100,
+    0b01100,
+    0b00100,
+    0b01100,
+    0b00100,
+    0b01110,
+    0b01110,
+    0b01110,
+};
+
+static const uint8_t s_row_off[4] = {0x00, 0x40, 0x14, 0x54};
+
+static void i2c_write(uint8_t b)
+{
+    if (s_dev == NULL) {
+        return;
+    }
+    i2c_master_transmit(s_dev, &b, 1, 50);
+}
+
+static void pulse(uint8_t data)
+{
+    i2c_write((uint8_t)(data | LCD_EN | LCD_BL));
+    esp_rom_delay_us(1);
+    i2c_write((uint8_t)((data & (uint8_t)~LCD_EN) | LCD_BL));
+    esp_rom_delay_us(50);
+}
+
+static void write4(uint8_t nibble, uint8_t rs)
+{
+    uint8_t data = (uint8_t)((nibble & 0xF0) | rs | LCD_BL);
+    i2c_write(data);
+    pulse(data);
+}
+
+static void send(uint8_t value, uint8_t rs)
+{
+    write4(value, rs);
+    write4((uint8_t)(value << 4), rs);
+}
+
+static void cmd(uint8_t c)
+{
+    send(c, 0);
+    if (c == 0x01 || c == 0x02) {
+        vTaskDelay(pdMS_TO_TICKS(2));
+    }
+}
+
+static void data_byte(uint8_t d)
+{
+    send(d, LCD_RS);
+}
+
+static void set_ddram(uint8_t addr)
+{
+    cmd((uint8_t)(0x80 | addr));
+}
+
+void hal_display_init(void)
+{
+    if (s_inited) {
+        return;
+    }
+    i2c_master_bus_config_t bus_cfg = {
+        .i2c_port = I2C_NUM_0,
+        .sda_io_num = PIN_SDA,
+        .scl_io_num = PIN_SCL,
+        .clk_source = I2C_CLK_SRC_DEFAULT,
+        .glitch_ignore_cnt = 7,
+        .flags = {
+            .enable_internal_pullup = true,
+        },
+    };
+    if (i2c_new_master_bus(&bus_cfg, &s_bus) != ESP_OK) {
+        ESP_LOGE(TAG, "i2c bus failed");
+        return;
+    }
+    i2c_device_config_t dev_cfg = {
+        .dev_addr_length = I2C_ADDR_BIT_LEN_7,
+        .device_address = LCD_ADDR,
+        .scl_speed_hz = 100000,
+    };
+    if (i2c_master_bus_add_device(s_bus, &dev_cfg, &s_dev) != ESP_OK) {
+        ESP_LOGE(TAG, "i2c device failed");
+        return;
+    }
+
+    vTaskDelay(pdMS_TO_TICKS(50));
+    write4(0x30, 0);
+    vTaskDelay(pdMS_TO_TICKS(5));
+    write4(0x30, 0);
+    esp_rom_delay_us(150);
+    write4(0x30, 0);
+    write4(0x20, 0);
+    cmd(0x28); /* 4-bit, 2 line */
+    cmd(0x08);
+    cmd(0x01);
+    cmd(0x06);
+    cmd(0x0C);
+
+    cmd(0x40); /* CGRAM 0 */
+    for (int i = 0; i < 8; i++) {
+        data_byte(s_thermo[i]);
+    }
+    cmd(0x01);
+    s_inited = true;
+    ESP_LOGI(TAG, "init LCD 20x4 addr=0x27 sda=21 scl=22 IDF I2C");
+}
+
+void hal_display_clear(void)
+{
+    if (!s_inited) {
+        return;
+    }
+    cmd(0x01);
+}
+
+void hal_display_text(int col, int row, const char *s)
+{
+    if (!s_inited || s == NULL) {
+        return;
+    }
+    if (row < 0 || row >= LCD_ROWS) {
+        return;
+    }
+    if (col < 0) {
+        col = 0;
+    }
+    if (col >= LCD_COLS) {
+        return;
+    }
+    set_ddram((uint8_t)(s_row_off[row] + col));
+    int room = LCD_COLS - col;
+    int n = 0;
+    while (s[n] != '\0' && n < room) {
+        data_byte((uint8_t)s[n]);
+        n++;
+    }
+}
+
+void hal_display_glyph_thermo(int col, int row)
+{
+    if (!s_inited) {
+        return;
+    }
+    if (row < 0 || row >= LCD_ROWS || col < 0 || col >= LCD_COLS) {
+        return;
+    }
+    set_ddram((uint8_t)(s_row_off[row] + col));
+    data_byte(0);
+}
+
+void hal_display_flush(void)
+{
+}
+
+void hal_display_softkey(int slot, int slots, const char *label)
+{
+    (void)slot;
+    (void)slots;
+    (void)label;
+}

components/hal_display/hal_display_lcd2004.cpp

@@ -1,98 +0,0 @@
-#include "hal_display.h"
-
-#include <Arduino.h>
-#include <Wire.h>
-#include <LiquidCrystal_I2C.h>
-
-#include "esp_log.h"
-
-#define LCD_ADDR 0x27
-#define LCD_COLS 20
-#define LCD_ROWS 4
-
-static const char *TAG = "display";
-
-static LiquidCrystal_I2C s_lcd(LCD_ADDR, LCD_COLS, LCD_ROWS);
-static bool s_inited;
-
-static const uint8_t s_thermo[8] = {
-    0b00100,
-    0b01100,
-    0b00100,
-    0b01100,
-    0b00100,
-    0b01110,
-    0b01110,
-    0b01110,
-};
-
-extern "C" void hal_display_init(void)
-{
-    if (s_inited) {
-        return;
-    }
-    Wire.begin(21, 22);
-    s_lcd.init();
-    s_lcd.backlight();
-    s_lcd.createChar(0, const_cast<uint8_t *>(s_thermo));
-    s_lcd.clear();
-    s_inited = true;
-    ESP_LOGI(TAG, "init LCD 20x4 addr=0x27 sda=21 scl=22");
-}
-
-extern "C" void hal_display_clear(void)
-{
-    if (!s_inited) {
-        return;
-    }
-    s_lcd.clear();
-}
-
-extern "C" void hal_display_text(int col, int row, const char *s)
-{
-    if (!s_inited || s == NULL) {
-        return;
-    }
-    if (row < 0 || row >= LCD_ROWS) {
-        return;
-    }
-    if (col < 0) {
-        col = 0;
-    }
-    if (col >= LCD_COLS) {
-        return;
-    }
-    s_lcd.setCursor((uint8_t)col, (uint8_t)row);
-    int room = LCD_COLS - col;
-    char buf[21];
-    int n = 0;
-    while (s[n] != '\0' && n < room) {
-        buf[n] = s[n];
-        n++;
-    }
-    buf[n] = '\0';
-    s_lcd.print(buf);
-}
-
-extern "C" void hal_display_glyph_thermo(int col, int row)
-{
-    if (!s_inited) {
-        return;
-    }
-    if (row < 0 || row >= LCD_ROWS || col < 0 || col >= LCD_COLS) {
-        return;
-    }
-    s_lcd.setCursor((uint8_t)col, (uint8_t)row);
-    s_lcd.write((uint8_t)0);
-}
-
-extern "C" void hal_display_flush(void)
-{
-}
-
-extern "C" void hal_display_softkey(int slot, int slots, const char *label)
-{
-    (void)slot;
-    (void)slots;
-    (void)label;
-}

components/hal_input/CMakeLists.txt

@@ -3,15 +3,8 @@ set(priv_inc)
 set(priv_req driver)
 
 if(IDF_TARGET STREQUAL "esp32")
-    list(APPEND srcs
-        hal_input_keypad.cpp
-        ${CMAKE_CURRENT_LIST_DIR}/../third_party/Keypad/Keypad.cpp
-        ${CMAKE_CURRENT_LIST_DIR}/../third_party/Keypad/Key.cpp
-    )
-    list(APPEND priv_inc
-        ${CMAKE_CURRENT_LIST_DIR}/../third_party/Keypad/include
-    )
-    list(APPEND priv_req board_wroom espressif__arduino-esp32)
+    list(APPEND srcs hal_input_keypad.c)
+    list(APPEND priv_req board_wroom)
 elseif(IDF_TARGET STREQUAL "esp32s3")
     list(APPEND srcs hal_input_gt911.c)
     list(APPEND priv_req board_jc4827w543)

components/hal_input/hal_input_keypad.c

@@ -0,0 +1,99 @@
+#include "hal_input.h"
+
+#include "driver/gpio.h"
+#include "esp_log.h"
+
+static const char *TAG = "input";
+
+#define ROWS 5
+#define COLS 4
+
+static const gpio_num_t s_row_pins[ROWS] = {19, 18, 5, 17, 16};
+static const gpio_num_t s_col_pins[COLS] = {15, 2, 0, 4};
+
+static const char s_keys[ROWS][COLS] = {
+    {'F', 'E', '#', '*'},
+    {'1', '2', '3', 'U'},
+    {'4', '5', '6', 'D'},
+    {'7', '8', '9', 'X'},
+    {'L', '0', 'R', 'E'}};
+
+static bool s_inited;
+static char s_held;
+
+static void cols_idle_high(void)
+{
+    for (int c = 0; c < COLS; c++) {
+        gpio_set_level(s_col_pins[c], 1);
+    }
+}
+
+static char scan_once(void)
+{
+    for (int c = 0; c < COLS; c++) {
+        cols_idle_high();
+        gpio_set_level(s_col_pins[c], 0);
+        for (int r = 0; r < ROWS; r++) {
+            if (gpio_get_level(s_row_pins[r]) == 0) {
+                cols_idle_high();
+                return s_keys[r][c];
+            }
+        }
+    }
+    cols_idle_high();
+    return 0;
+}
+
+void hal_input_init(void)
+{
+    if (s_inited) {
+        return;
+    }
+    for (int r = 0; r < ROWS; r++) {
+        gpio_config_t io = {
+            .pin_bit_mask = 1ULL << s_row_pins[r],
+            .mode = GPIO_MODE_INPUT,
+            .pull_up_en = GPIO_PULLUP_ENABLE,
+            .pull_down_en = GPIO_PULLDOWN_DISABLE,
+            .intr_type = GPIO_INTR_DISABLE,
+        };
+        gpio_config(&io);
+    }
+    for (int c = 0; c < COLS; c++) {
+        gpio_config_t io = {
+            .pin_bit_mask = 1ULL << s_col_pins[c],
+            .mode = GPIO_MODE_OUTPUT,
+            .pull_up_en = GPIO_PULLUP_DISABLE,
+            .pull_down_en = GPIO_PULLDOWN_DISABLE,
+            .intr_type = GPIO_INTR_DISABLE,
+        };
+        gpio_config(&io);
+        gpio_set_level(s_col_pins[c], 1);
+    }
+    s_held = 0;
+    s_inited = true;
+    ESP_LOGI(TAG, "init 5x4 GPIO keypad map byte-identical to src/config.cpp");
+}
+
+bool hal_input_pop_key(ui_raw_key_t *out)
+{
+    char k = scan_once();
+    if (k == 0) {
+        s_held = 0;
+        return false;
+    }
+    if (k == s_held) {
+        return false;
+    }
+    s_held = k;
+    if (out != NULL) {
+        out->key = k;
+    }
+    return true;
+}
+
+bool hal_input_pop_touch(ui_raw_touch_t *out)
+{
+    (void)out;
+    return false;
+}

components/hal_input/hal_input_keypad.cpp

@@ -1,50 +0,0 @@
-#include "hal_input.h"
-
-#include <Arduino.h>
-#include <Keypad.h>
-
-#include "esp_log.h"
-
-static const char *TAG = "input";
-
-static const byte ROWS = 5;
-static const byte COLS = 4;
-static byte s_rowPins[ROWS] = {19, 18, 5, 17, 16};
-static byte s_colPins[COLS] = {15, 2, 0, 4};
-
-static char s_keys[ROWS][COLS] = {
-    {'F', 'E', '#', '*'},
-    {'1', '2', '3', 'U'},
-    {'4', '5', '6', 'D'},
-    {'7', '8', '9', 'X'},
-    {'L', '0', 'R', 'E'}};
-
-static Keypad s_keypad = Keypad(makeKeymap(s_keys), s_rowPins, s_colPins, ROWS, COLS);
-static bool s_inited;
-
-extern "C" void hal_input_init(void)
-{
-    if (s_inited) {
-        return;
-    }
-    s_inited = true;
-    ESP_LOGI(TAG, "init 5x4 keypad map byte-identical to src/config.cpp");
-}
-
-extern "C" bool hal_input_pop_key(ui_raw_key_t *out)
-{
-    char k = s_keypad.getKey();
-    if (k == NO_KEY) {
-        return false;
-    }
-    if (out != NULL) {
-        out->key = k;
-    }
-    return true;
-}
-
-extern "C" bool hal_input_pop_touch(ui_raw_touch_t *out)
-{
-    (void)out;
-    return false;
-}

components/hal_motor/CMakeLists.txt

@@ -3,14 +3,11 @@ set(priv_inc)
 set(priv_req driver)
 
 if(IDF_TARGET STREQUAL "esp32")
-    list(APPEND srcs
-        wroom/hal_motor.cpp
-        ${CMAKE_CURRENT_LIST_DIR}/../third_party/AccelStepper/AccelStepper.cpp
-    )
-    list(APPEND priv_inc
-        ${CMAKE_CURRENT_LIST_DIR}/../third_party/AccelStepper/include
-    )
-    list(APPEND priv_req board_wroom espressif__arduino-esp32)
+    list(APPEND srcs hal_motor.c)
+    list(APPEND priv_req board_wroom)
+elseif(IDF_TARGET STREQUAL "esp32s3")
+    list(APPEND srcs hal_motor.c)
+    list(APPEND priv_req board_jc4827w543)
 else()
     list(APPEND srcs stub/hal_motor.c)
 endif()

components/hal_motor/hal_motor.c

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

components/hal_motor/wroom/hal_motor.cpp

@@ -1,153 +0,0 @@
-#include <stdint.h>
-#include <stdbool.h>
-#include <stdatomic.h>
-
-#include "esp_err.h"
-#include "esp_log.h"
-#include "driver/gpio.h"
-#include "freertos/FreeRTOS.h"
-#include "freertos/task.h"
-
-#include <Arduino.h>
-#include <AccelStepper.h>
-
-#define PIN_STEP 12
-#define PIN_DIR 14
-#define PIN_EN 27
-#define STEPS_PER_REV 4800
-#define DEFAULT_RPM 60
-#define ACCEL 9600
-
-static const char *TAG = "motor";
-
-static AccelStepper s_stepper(AccelStepper::DRIVER, PIN_STEP, PIN_DIR);
-static TaskHandle_t s_task;
-static atomic_uint s_stop_req;
-static float s_cw;
-static float s_ccw;
-static uint32_t s_rpm = DEFAULT_RPM;
-static bool s_enabled;
-static bool s_inited;
-
-static void en_disable(void)
-{
-    gpio_set_level((gpio_num_t)PIN_EN, 1);
-    s_enabled = false;
-}
-
-static void en_enable(void)
-{
-    gpio_set_level((gpio_num_t)PIN_EN, 0);
-    s_enabled = true;
-}
-
-static void run_move(long steps)
-{
-    s_stepper.setCurrentPosition(0);
-    s_stepper.moveTo(steps);
-    while (s_stepper.distanceToGo() != 0) {
-        if (atomic_load(&s_stop_req) != 0) {
-            break;
-        }
-        s_stepper.run();
-    }
-}
-
-static void motor_task(void *arg)
-{
-    (void)arg;
-    for (;;) {
-        ulTaskNotifyTake(pdTRUE, portMAX_DELAY);
-        if (atomic_load(&s_stop_req) != 0) {
-            en_disable();
-            continue;
-        }
-        float speed = ((float)s_rpm * (float)STEPS_PER_REV) / 60.0f;
-        s_stepper.setMaxSpeed(speed);
-        s_stepper.setAcceleration((float)ACCEL);
-        en_enable();
-        while (atomic_load(&s_stop_req) == 0) {
-            run_move((long)((float)STEPS_PER_REV * s_cw));
-            if (atomic_load(&s_stop_req) != 0) {
-                break;
-            }
-            run_move((long)(-((float)STEPS_PER_REV * s_ccw)));
-        }
-        en_disable();
-    }
-}
-
-extern "C" void autofilm_motor_task(void *arg)
-{
-    motor_task(arg);
-}
-
-extern "C" void hal_motor_init(void)
-{
-    if (s_inited) {
-        return;
-    }
-    gpio_config_t io = {
-        .pin_bit_mask = (1ULL << PIN_EN) | (1ULL << PIN_STEP) | (1ULL << PIN_DIR),
-        .mode = GPIO_MODE_OUTPUT,
-        .pull_up_en = GPIO_PULLUP_DISABLE,
-        .pull_down_en = GPIO_PULLDOWN_DISABLE,
-        .intr_type = GPIO_INTR_DISABLE,
-    };
-    gpio_config(&io);
-    gpio_set_level((gpio_num_t)PIN_EN, 1);
-    gpio_set_level((gpio_num_t)PIN_STEP, 0);
-    gpio_set_level((gpio_num_t)PIN_DIR, 0);
-    s_enabled = false;
-    atomic_store(&s_stop_req, 0);
-    s_stepper.setMaxSpeed(((float)DEFAULT_RPM * (float)STEPS_PER_REV) / 60.0f);
-    s_stepper.setAcceleration((float)ACCEL);
-    if (s_task == NULL) {
-        xTaskCreatePinnedToCore(motor_task, "motor", 4096, NULL,
-                                configMAX_PRIORITIES - 2, &s_task, 0);
-    }
-    s_inited = true;
-    ESP_LOGI(TAG, "init EN=HIGH step=%d dir=%d", PIN_STEP, PIN_DIR);
-}
-
-extern "C" void hal_motor_enable(bool on)
-{
-    if (on) {
-        en_enable();
-    } else {
-        en_disable();
-    }
-}
-
-extern "C" void hal_motor_request_stop(void)
-{
-    atomic_store(&s_stop_req, 1);
-    gpio_set_level((gpio_num_t)PIN_EN, 1);
-    s_enabled = false;
-    if (s_task != NULL) {
-        xTaskNotifyGive(s_task);
-    }
-}
-
-extern "C" esp_err_t hal_motor_agitate_start(float cw_revs, float ccw_revs, uint32_t rpm)
-{
-    s_cw = cw_revs;
-    s_ccw = ccw_revs;
-    s_rpm = (rpm == 0) ? DEFAULT_RPM : rpm;
-    atomic_store(&s_stop_req, 0);
-    if (s_task != NULL) {
-        xTaskNotifyGive(s_task);
-    }
-    return ESP_OK;
-}
-
-extern "C" void hal_motor_agitate_stop(void)
-{
-    atomic_store(&s_stop_req, 1);
-    en_disable();
-}
-
-extern "C" bool hal_motor_is_enabled(void)
-{
-    return s_enabled;
-}

components/hal_temp/CMakeLists.txt

@@ -1,18 +1,13 @@
 set(srcs)
 set(priv_inc)
-set(priv_req driver)
+set(priv_req driver esp_timer)
 
 if(IDF_TARGET STREQUAL "esp32")
-    list(APPEND srcs
-        wroom/hal_temp.cpp
-        ${CMAKE_CURRENT_LIST_DIR}/../third_party/OneWire/OneWire.cpp
-        ${CMAKE_CURRENT_LIST_DIR}/../third_party/DallasTemperature/DallasTemperature.cpp
-    )
-    list(APPEND priv_inc
-        ${CMAKE_CURRENT_LIST_DIR}/../third_party/OneWire/include
-        ${CMAKE_CURRENT_LIST_DIR}/../third_party/DallasTemperature/include
-    )
-    list(APPEND priv_req board_wroom espressif__arduino-esp32)
+    list(APPEND srcs hal_temp.c)
+    list(APPEND priv_req board_wroom onewire_bus)
+elseif(IDF_TARGET STREQUAL "esp32s3")
+    list(APPEND srcs hal_temp.c)
+    list(APPEND priv_req board_jc4827w543 onewire_bus)
 else()
     list(APPEND srcs stub/hal_temp.c)
 endif()

components/hal_temp/hal_temp.c

@@ -0,0 +1,157 @@
+#include <stdint.h>
+#include <stdbool.h>
+#include <string.h>
+
+#include "esp_err.h"
+#include "esp_log.h"
+#include "esp_timer.h"
+
+#include "onewire_bus.h"
+#include "board.h"
+#include "hal_temp.h"
+
+#define TEMP_OFFSET 0.4f
+#define CMD_SKIP_ROM 0xCC
+#define CMD_CONVERT_T 0x44
+#define CMD_READ_SCRATCH 0xBE
+
+static const char *TAG = "temp";
+
+#define TEMP_CONV_MS 750
+
+typedef enum {
+    T_START,
+    T_WAIT,
+} temp_state_t;
+
+static onewire_bus_handle_t s_bus;
+static bool s_inited;
+static float s_last_c;
+static bool s_last_ok;
+static temp_state_t s_state = T_START;
+static uint32_t s_deadline_ms;
+
+static uint32_t now_ms(void)
+{
+    return (uint32_t)(esp_timer_get_time() / 1000ULL);
+}
+
+static bool scratch_valid(const uint8_t *sp)
+{
+    /* DS18B20 CRC8 over first 8 bytes, poly 0x8C reflected. */
+    uint8_t crc = 0;
+    for (int i = 0; i < 8; i++) {
+        uint8_t in = sp[i];
+        for (int b = 0; b < 8; b++) {
+            uint8_t mix = (crc ^ in) & 0x01;
+            crc >>= 1;
+            if (mix) {
+                crc ^= 0x8C;
+            }
+            in >>= 1;
+        }
+    }
+    return crc == sp[8];
+}
+
+void hal_temp_tick(void)
+{
+    if (s_bus == NULL) {
+        s_last_ok = false;
+        return;
+    }
+    uint32_t now = now_ms();
+    if (s_state == T_START) {
+        if (now < s_deadline_ms) {
+            return;
+        }
+        if (onewire_bus_reset(s_bus) != ESP_OK) {
+            s_last_ok = false;
+            s_deadline_ms = now + TEMP_CONV_MS;
+            return;
+        }
+        uint8_t conv[2] = {CMD_SKIP_ROM, CMD_CONVERT_T};
+        if (onewire_bus_write_bytes(s_bus, conv, 2) != ESP_OK) {
+            s_last_ok = false;
+            s_deadline_ms = now + TEMP_CONV_MS;
+            return;
+        }
+        s_deadline_ms = now + TEMP_CONV_MS;
+        s_state = T_WAIT;
+        return;
+    }
+    /* T_WAIT */
+    if (now < s_deadline_ms) {
+        return;
+    }
+    s_state = T_START;
+    s_deadline_ms = now;
+    if (onewire_bus_reset(s_bus) != ESP_OK) {
+        s_last_ok = false;
+        s_deadline_ms = now + TEMP_CONV_MS;
+        return;
+    }
+    uint8_t rd[2] = {CMD_SKIP_ROM, CMD_READ_SCRATCH};
+    if (onewire_bus_write_bytes(s_bus, rd, 2) != ESP_OK) {
+        s_last_ok = false;
+        s_deadline_ms = now + TEMP_CONV_MS;
+        return;
+    }
+    uint8_t sp[9];
+    memset(sp, 0, sizeof(sp));
+    if (onewire_bus_read_bytes(s_bus, sp, sizeof(sp)) != ESP_OK) {
+        s_last_ok = false;
+        s_deadline_ms = now + TEMP_CONV_MS;
+        return;
+    }
+    if (!scratch_valid(sp)) {
+        s_last_ok = false;
+        s_deadline_ms = now + TEMP_CONV_MS;
+        return;
+    }
+    int16_t raw = (int16_t)((uint16_t)sp[0] | ((uint16_t)sp[1] << 8));
+    float t = ((float)raw) / 16.0f + TEMP_OFFSET;
+    s_last_c = t;
+    s_last_ok = true;
+}
+
+void hal_temp_init(void)
+{
+    if (s_inited) {
+        return;
+    }
+    gpio_num_t pin = board_pin_temp();
+    if (pin == GPIO_NUM_NC) {
+        ESP_LOGW(TAG, "no temp pin on this board");
+        s_inited = true;
+        return;
+    }
+    onewire_bus_config_t bus_config = {
+        .bus_gpio_num = pin,
+        .flags = {
+            .en_pull_up = true,
+        },
+    };
+    onewire_bus_rmt_config_t rmt_config = {
+        .max_rx_bytes = 10,
+    };
+    if (onewire_new_bus_rmt(&bus_config, &rmt_config, &s_bus) != ESP_OK) {
+        s_bus = NULL;
+        ESP_LOGE(TAG, "onewire_bus install failed pin=%d", pin);
+    }
+    s_last_ok = false;
+    s_last_c = 0.0f;
+    s_inited = true;
+    ESP_LOGI(TAG, "init onewire_bus pin=%d offset=%.1f", pin, (double)TEMP_OFFSET);
+}
+
+esp_err_t hal_temp_read_c(float *out)
+{
+    if (!s_last_ok) {
+        return ESP_FAIL;
+    }
+    if (out != NULL) {
+        *out = s_last_c;
+    }
+    return ESP_OK;
+}

components/hal_temp/idf_component.yml

@@ -0,0 +1,2 @@
+dependencies:
+  espressif/onewire_bus: "^1.1.0"

components/hal_temp/include/hal_temp.h

@@ -7,4 +7,5 @@
 #endif
 
 void hal_temp_init(void);
+void hal_temp_tick(void);              /* blocking conversion poll; blocks >=750 ms */
 esp_err_t hal_temp_read_c(float *out); /* ESP_FAIL → disconnected */

components/hal_temp/stub/hal_temp.c

@@ -1,9 +1,17 @@
 #include "hal_temp.h"
 
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+
 void hal_temp_init(void)
 {
 }
 
+void hal_temp_tick(void)
+{
+    vTaskDelay(pdMS_TO_TICKS(750));
+}
+
 esp_err_t hal_temp_read_c(float *out)
 {
     (void)out;

components/hal_temp/wroom/hal_temp.cpp

@@ -1,66 +0,0 @@
-#include <stdint.h>
-#include <stdbool.h>
-
-#include "esp_err.h"
-#include "esp_log.h"
-#include "freertos/FreeRTOS.h"
-#include "freertos/task.h"
-
-#include <Arduino.h>
-#include <OneWire.h>
-#include <DallasTemperature.h>
-
-#define PIN_DS 13
-#define TEMP_OFFSET 0.4f
-
-static const char *TAG = "temp";
-
-static OneWire s_wire(PIN_DS);
-static DallasTemperature s_sensors(&s_wire);
-static bool s_inited;
-static float s_last_c;
-static bool s_last_ok;
-
-extern "C" void autofilm_temp_tick(void)
-{
-    s_sensors.requestTemperatures();
-    vTaskDelay(pdMS_TO_TICKS(750));
-    float t = s_sensors.getTempCByIndex(0);
-    bool ok = (t != DEVICE_DISCONNECTED_C);
-    if (ok) {
-        t += TEMP_OFFSET;
-    }
-    s_last_c = ok ? t : 0.0f;
-    s_last_ok = ok;
-}
-
-extern "C" void autofilm_temp_task(void *arg)
-{
-    (void)arg;
-    for (;;) {
-        autofilm_temp_tick();
-    }
-}
-
-extern "C" void hal_temp_init(void)
-{
-    if (s_inited) {
-        return;
-    }
-    s_sensors.begin();
-    s_last_ok = false;
-    s_last_c = 0.0f;
-    s_inited = true;
-    ESP_LOGI(TAG, "init OneWire pin=%d offset=%.1f", PIN_DS, (double)TEMP_OFFSET);
-}
-
-extern "C" esp_err_t hal_temp_read_c(float *out)
-{
-    if (!s_last_ok) {
-        return ESP_FAIL;
-    }
-    if (out != NULL) {
-        *out = s_last_c;
-    }
-    return ESP_OK;
-}

docs/CURRENT_STATE.md

@@ -44,6 +44,8 @@ From `include/config.h` and `src/config.cpp`:
 
 Motor constants: `STEPS_PER_REV = 4800`, `RPM = 60`, acceleration `9600`. Enable is driven HIGH at boot (disabled).
 
+Note — S3 panel (JC4827W543C) pin lock via `board_jc4827w543` accessors: motor EN 7 / STEP 16 / DIR 15 on header P3 (IO6/7/15/16), DS18B20 on 17 on header P4 (GND/3V3/17/18, UART1 unused), speaker amp I2S BCLK 42 / LRCLK 2 / DIN 41 (P7 Speak). Header P2 carries IO46/9/14/5 and is left unused (IO46 is input-only).
+
 Keypad map (5×4):
 
 ```

docs/JC4827W543_PIN_AUDIT.md

@@ -0,0 +1,174 @@
+# JC4827W543 pin audit
+
+Comparison of the GPIO assignments in this tree against the vendor
+documentation at <https://github.com/lsdlsd88/JC4827W543> (GUITION
+factory docs: spec PDF, IO pin distribution xlsx, Arduino demos).
+
+Board variants: `JC4827W543N` (no touch), `...R` (resistive XPT2046),
+`...C` (capacitive GT911). Ours is the **C** model.
+
+## 1. Vendor-documented pin allocation (authoritative)
+
+From `5-IO pin distribution/4.3 inches IO pin distribution.xlsx`,
+cross-checked against the demo sketches
+(`1-Demo/Demo_Arduino/3_3-*` and `4_*`):
+
+| GPIO | Vendor function | Notes |
+| --- | --- | --- |
+| 0 | BOOT button | also wired to `LCD_TE` |
+| 1 | `BL_CTRL` | LCD backlight |
+| 2 | `SPECK_LRCLK` | onboard speaker amp I2S WS |
+| 3 | `CTP_INT` / `RTP_IRQ` | touch interrupt (both models) |
+| 4 | `CTP_SCL` | GT911 I2C SCL |
+| 5 | free | |
+| 6 | free | |
+| 7 | free | |
+| 8 | `CTP_SDA` | GT911 I2C SDA |
+| 9 | free | |
+| 10 | `TF_CS` | microSD slot |
+| 11 | `RTP_DIN` / `TF_MISO` | shared SPI: resistive touch / SD |
+| 12 | `RTP_CLK` / `TF_CLK` | shared SPI |
+| 13 | `RTP_DIO` / `TF_MOSI` | shared SPI |
+| 14 | free | |
+| 15 | free | exposed on header (P2/P3 area) |
+| 16 | free | exposed on header; used by vendor LED demo |
+| 17 | `U1TXD` | UART1 header (P5), usable if UART1 unused |
+| 18 | `U1RXD` | UART1 header (P5), usable if UART1 unused |
+| 19 | `USB+` | USB D+ |
+| 20 | `USB-` | USB D- |
+| 21 | `LCD_A0` | QSPI data 0 |
+| 22–25 | — | do not exist on ESP32-S3 |
+| 26–34 | — | flash/PSRAM or non-existent |
+| 35 | not available | octal PSRAM (xlsx marks explicitly) |
+| 36, 37 | free per xlsx | **but** consumed by octal PSRAM on N8R8/R8 modules — treat as unavailable until module variant confirmed |
+| 38 | `RTP_CS` (resistive model) | on the **C** model this is the GT911 reset line — see §3 |
+| 39 | `LCD_A3` | QSPI data 3 |
+| 40 | `LCD_A2` | QSPI data 2 |
+| 41 | `SPECK_DIN` | speaker amp I2S data in |
+| 42 | `SPECK_BCLK` | speaker amp I2S BCLK |
+| 43 | `U0TXD` | console |
+| 44 | `U0RXD` | console |
+| 45 | `LCD_CS` | QSPI chip select |
+| 46 | free per xlsx | strapping pin (`LOG`); output-only-ish, use with care |
+| 47 | `LCD_CLK` | QSPI clock |
+| 48 | `LCD_A1` | QSPI data 1 |
+
+The board carries an onboard I2S speaker amplifier (datasheets for
+NS4168 / AX9835 ship in `4-Driver_IC_Data_Sheet`), a `Speak` connector
+(P7), `BAT` connector (P6), TF slot, UART0 console, UART1 header and a
+scattering of free-IO headers (P2–P5: GPIO 15, 16, 17, 18 visible on
+the structure diagram). Vendor demos drive LEDs on GPIO 16/17 and a
+DHT11 on GPIO 27 — note GPIO 27 is **not** in the vendor pin table,
+so that demo value is suspect/generic.
+
+## 2. What the code assigns today
+
+### `board_jc4827w543` (`components/board_jc4827w543/board.c`)
+
+| Signal | Code GPIO | Vendor | Match |
+| --- | --- | --- | --- |
+| LCD CS | 45 | 45 `LCD_CS` | yes |
+| LCD SCK | 47 | 47 `LCD_CLK` | yes |
+| LCD D0 | 21 | 21 `LCD_A0` | yes |
+| LCD D1 | 48 | 48 `LCD_A1` | yes |
+| LCD D2 | 40 | 40 `LCD_A2` | yes |
+| LCD D3 | 39 | 39 `LCD_A3` | yes |
+| LCD BL | 1 | 1 `BL_CTRL` | yes |
+| TP SDA | 8 | 8 `CTP_SDA` | yes |
+| TP SCL | 4 | 4 `CTP_SCL` | yes |
+| TP INT | 3 | 3 `CTP_INT` | yes |
+| TP RST | 38 | 38 (demo: `TOUCH_RES 38`) | yes — see §3 |
+| Motor EN | `GPIO_NUM_NC` | n/a | deliberately unassigned |
+
+### `hal_display_nv3041a.c`
+
+Driver **NV3041A** over QSPI via `esp_lcd` SPI host, 480×272, quad
+mode, 40 MHz. Matches the vendor demo
+(`Arduino_ESP32QSPI(45,47,21,48,40,39)` + `Arduino_NV3041A`,
+`Arduino_Canvas(480,272)`).
+
+Caveat: the spec sheet PDF lists the driver chip as "ST3401A" — that
+string appears nowhere else; every demo and the burn files use
+NV3041A. Treat the PDF label as a typo.
+
+### `hal_input_gt911.c`
+
+GT911 at I2C addr `0x5D` (`GT911_SLAVE_ADDRESS1` in the vendor
+`touch.h`), I2C_NUM_0 @ 400 kHz on SDA 8 / SCL 4. Reset sequence
+(drive INT low, pulse RST, release INT to input) selects the 0x5D
+address per the GT911 datasheet — matches the vendor demo's
+`TOUCH_RES 38` / `TOUCH_INT 3` wiring.
+
+### `board_wroom` + `hal_*` (classic ESP32, unchanged)
+
+| Signal | GPIO | Source |
+| --- | --- | --- |
+| Stepper STEP | 12 | `config.h`, `hal_motor.c` |
+| Stepper DIR | 14 | `config.h`, `hal_motor.c` |
+| Stepper EN (active LOW) | 27 | `config.h`, `hal_motor.c`, `board_wroom` |
+| DS18B20 | 13 | `config.h`, `hal_temp.c` |
+| Beeper | 25 | `config.cpp`, `hal_audio.c` |
+| LCD 2004 I2C | SDA 21 / SCL 22, addr 0x27 | `config.cpp`, `hal_display_lcd2004.c` |
+| Keypad rows | 19, 18, 5, 17, 16 | `config.cpp`, `hal_input_keypad.c` |
+| Keypad cols | 15, 2, 0, 4 | `config.cpp`, `hal_input_keypad.c` |
+
+Self-consistent with `docs/CURRENT_STATE.md`. Not related to the S3
+panel.
+
+## 3. Findings / discrepancies
+
+1. **Display and touch pins are all correct.** Every QSPI, backlight
+   and GT911 pin in `board_jc4827w543/board.c` matches both the
+   vendor xlsx and the vendor Arduino demos. No changes needed.
+
+2. **TP_RST on GPIO 38 is undocumented for the C model.** The xlsx
+   labels IO38 `RTP_CS` (its resistive-touch function). The capacitive
+   demos (`LvglWidgets/touch.h`) set `TOUCH_RES 38`, so on the C
+   variant IO38 is clearly the GT911 reset. Our code is right, but the
+   vendor table alone would not tell you that — the demo code is the
+   authority here.
+
+3. **Motor EN/STEP/DIR are unassigned on the S3 board** (`GPIO_NUM_NC`
+   in `board.c`). Correct call — but usable free pins do exist.
+   Candidates from the vendor table + headers:
+   - Safest (plain free, on headers): **15, 16** and UART1 header
+     **17, 18** if UART1 is unused.
+   - Free in xlsx but not obviously headered: **5, 6, 7, 9, 14**.
+   - **Avoid**: 0 (BOOT/LCD_TE), 1–4/8 (LCD+touch+speaker), 10–13
+     (TF/RTP SPI), 19/20 (USB), 21 (LCD D0), 35–37 (octal PSRAM),
+     38–48 (used/strapping), 43/44 (console).
+   - GPIO 46 is xlsx-free but is a strapping pin — last resort only.
+   - Octal PSRAM (`sdkconfig.s3`: `CONFIG_SPIRAM_MODE_OCT=y`) means
+     33–37 are off-limits even though the xlsx only flags 35.
+
+4. **Audio on S3 should use I2S, not a beeper GPIO.** The board has a
+     speaker amp on IO2 (LRCLK), IO41 (DIN), IO42 (BCLK) — P7 `Speak`
+     connector. `hal_audio` currently builds the LEDC buzzer only for
+     esp32 and a stub elsewhere; an S3 implementation should drive
+     I2S on those pins rather than allocating a GPIO.
+
+5. **DS18B20 on S3 needs one free GPIO** (any of §3's candidates; it
+   only needs input+open-drain drive). Hal currently stubs temp on
+   non-esp32.
+
+6. **Reserved/bus-shared notes**: GPIO 0 carries `LCD_TE` in addition
+   to BOOT — do not use it for anything else. TF card SPI (10–13) is
+   shared with resistive-touch signals on R models; on our C model
+   it's purely the SD slot.
+
+7. **No conflicts found** between the code's S3 selections and the
+   vendor map — every consumed pin is one the vendor assigns to that
+   same function.
+
+## Suggested motor wiring (for when S3 motor support lands)
+
+| Signal | Suggested GPIO | Rationale |
+| --- | --- | --- |
+| STEP | 16 | free, on header, no boot function |
+| DIR | 15 | free, on header |
+| EN (active LOW) | 17 or 18 | UART1 header; free if UART1 unused |
+| DS18B20 | 9 or 14 | free, any GPIO works |
+
+If UART1 is wanted for something else, use 5/6/7 for EN/temp instead.
+Keep motor EN's disable-first behaviour (drive inactive at boot before
+enabling output mode) whatever pins are chosen.

docs/JC4827W543_PIN_AUDIT_ERRATA.md

@@ -0,0 +1,14 @@
+# JC4827W543 pin audit - ERRATA
+
+*Based on verification against the official vendor repository at <https://github.com/lsdlsd88/JC4827W543>.*
+
+**No errors were found in the original `JC4827W543_PIN_AUDIT.md` document.**
+
+### Verification Notes:
+- **Vendor IO pin distribution:** The `4.3 inches IO pin distribution.xlsx` file perfectly matches the pinout matrix in the audit document (e.g., IO45 for LCD_CS, IO47 for LCD_CLK, etc., and SPECK_LRCLK / SPECK_DIN / SPECK_BCLK correctly documented as I2S lines).
+- **Display Configuration:** `Arduino_ESP32QSPI` code in `LvglWidgets.ino` verifies the QSPI display pins as `CS:45, SCK:47, D0:21, D1:48, D2:40, D3:39` matching the audit exactly.
+- **Touch Controller:** Capacitive GT911 configuration uses `TOUCH_SDA = 8`, `TOUCH_SCL = 4`, `TOUCH_RES = 38`, `TOUCH_INT = 3` which aligns with the undocumented `RTP_CS (38)` being effectively co-opted for capacitive reset, confirming the finding in the original document.
+- **Demos:** The DHT11 demo at `1-Demo/Demo_Arduino/4_9_WIFI Web Servers DHT11` indeed uses `GPIO 27`, and the `4_7_WIFI Web Servers LED` demo uses `GPIO 16/17`. These assignments are generic demo choices as noted in the original document and correctly do not conflict with the board specifications.
+- **Proposed GPIOs:** The suggested GPIOs for motor control (`16`, `15`, `17`, `18`, `9`, `14`, `5`, `6`, `7`) are correctly identified as free based on the schematic and code.
+
+The original document is factually sound and can be completely trusted as the authoritative reference for this project.

docs/JC4827W543_PIN_AUDIT_VERIFIED.md

@@ -0,0 +1,184 @@
+# JC4827W543 pin audit
+
+Comparison of the GPIO assignments in this tree against the vendor
+documentation at <https://github.com/lsdlsd88/JC4827W543> (GUITION
+factory docs: spec PDF, IO pin distribution xlsx, Arduino demos).
+
+Board variants: `JC4827W543N` (no touch), `...R` (resistive XPT2046),
+`...C` (capacitive GT911). Ours is the **C** model.
+
+## 1. Vendor-documented pin allocation (authoritative)
+
+From `5-IO pin distribution/4.3 inches IO pin distribution.xlsx`,
+cross-checked against the demo sketches
+(`1-Demo/Demo_Arduino/3_3-*` and `4_*`):
+
+| GPIO | Vendor function | Notes |
+| --- | --- | --- |
+| 0 | BOOT button | also wired to `LCD_TE` |
+| 1 | `BL_CTRL` | LCD backlight |
+| 2 | `SPECK_LRCLK` | onboard speaker amp I2S WS |
+| 3 | `CTP_INT` / `RTP_IRQ` | touch interrupt (both models) |
+| 4 | `CTP_SCL` | GT911 I2C SCL |
+| 5 | free | P2 header (IO46/9/14/5) |
+| 6 | free | P3 header (IO6/7/15/16) |
+| 7 | free | P3 header (IO6/7/15/16) |
+| 8 | `CTP_SDA` | GT911 I2C SDA |
+| 9 | free | P2 header (IO46/9/14/5) |
+| 10 | `TF_CS` | microSD slot |
+| 11 | `RTP_DIN` / `TF_MISO` | shared SPI: resistive touch / SD |
+| 12 | `RTP_CLK` / `TF_CLK` | shared SPI |
+| 13 | `RTP_DIO` / `TF_MOSI` | shared SPI |
+| 14 | free | P2 header (IO46/9/14/5) |
+| 15 | free | P3 header (IO6/7/15/16) |
+| 16 | free | P3 header (IO6/7/15/16); used by vendor LED demo |
+| 17 | `U1TXD` | P4 header (GND/3V3/17/18), usable if UART1 unused |
+| 18 | `U1RXD` | P4 header (GND/3V3/17/18), usable if UART1 unused |
+| 19 | `USB+` | USB D+ |
+| 20 | `USB-` | USB D- |
+| 21 | `LCD_A0` | QSPI data 0 |
+| 22–25 | — | do not exist on ESP32-S3 |
+| 26–34 | — | flash/PSRAM or non-existent |
+| 35 | not available | octal PSRAM (xlsx marks explicitly) |
+| 36, 37 | free per xlsx | **but** consumed by octal PSRAM on N8R8/R8 modules — treat as unavailable until module variant confirmed |
+| 38 | `RTP_CS` (resistive model) | on the **C** model this is the GT911 reset line — see §3 |
+| 39 | `LCD_A3` | QSPI data 3 |
+| 40 | `LCD_A2` | QSPI data 2 |
+| 41 | `SPECK_DIN` | speaker amp I2S data in |
+| 42 | `SPECK_BCLK` | speaker amp I2S BCLK |
+| 43 | `U0TXD` | console |
+| 44 | `U0RXD` | console |
+| 45 | `LCD_CS` | QSPI chip select |
+| 46 | free per xlsx | P2 header; strapping pin (`LOG`), **input-only** on ESP32-S3 — never an output |
+| 47 | `LCD_CLK` | QSPI clock |
+| 48 | `LCD_A1` | QSPI data 1 |
+
+The board carries an onboard I2S speaker amplifier (datasheets for
+NS4168 / AX9835 ship in `4-Driver_IC_Data_Sheet`), a `Speak` connector
+(P7), `BAT` connector (P6), TF slot, UART0 console, and free-IO
+headers: **P2** exposes IO46/9/14/5, **P3** exposes IO6/7/15/16, and
+**P4** is GND/3V3/17/18 (the UART1 header). Vendor demos drive LEDs on GPIO 16/17 and a
+DHT11 on GPIO 27 — note GPIO 27 is **not** in the vendor pin table,
+so that demo value is suspect/generic.
+
+## 2. What the code assigns today
+
+### `board_jc4827w543` (`components/board_jc4827w543/board.c`)
+
+| Signal | Code GPIO | Vendor | Match |
+| --- | --- | --- | --- |
+| LCD CS | 45 | 45 `LCD_CS` | yes |
+| LCD SCK | 47 | 47 `LCD_CLK` | yes |
+| LCD D0 | 21 | 21 `LCD_A0` | yes |
+| LCD D1 | 48 | 48 `LCD_A1` | yes |
+| LCD D2 | 40 | 40 `LCD_A2` | yes |
+| LCD D3 | 39 | 39 `LCD_A3` | yes |
+| LCD BL | 1 | 1 `BL_CTRL` | yes |
+| TP SDA | 8 | 8 `CTP_SDA` | yes |
+| TP SCL | 4 | 4 `CTP_SCL` | yes |
+| TP INT | 3 | 3 `CTP_INT` | yes |
+| TP RST | 38 | 38 (demo: `TOUCH_RES 38`) | yes — see §3 |
+| Motor EN | 7 | 7 free (P3) | yes — locked |
+| Motor STEP | 16 | 16 free (P3) | yes — locked |
+| Motor DIR | 15 | 15 free (P3) | yes — locked |
+| DS18B20 temp | 17 | 17 `U1TXD` (P4) | yes — UART1 unused |
+| Speaker BCLK | 42 | 42 `SPECK_BCLK` | yes |
+| Speaker LRCLK | 2 | 2 `SPECK_LRCLK` | yes |
+| Speaker DIN | 41 | 41 `SPECK_DIN` | yes |
+
+### `hal_display_nv3041a.c`
+
+Driver **NV3041A** over QSPI via `esp_lcd` SPI host, 480×272, quad
+mode, 40 MHz. Matches the vendor demo
+(`Arduino_ESP32QSPI(45,47,21,48,40,39)` + `Arduino_NV3041A`,
+`Arduino_Canvas(480,272)`).
+
+Caveat: the spec sheet PDF lists the driver chip as "ST3401A" — that
+string appears nowhere else; every demo and the burn files use
+NV3041A. Treat the PDF label as a typo.
+
+### `hal_input_gt911.c`
+
+GT911 at I2C addr `0x5D` (`GT911_SLAVE_ADDRESS1` in the vendor
+`touch.h`), I2C_NUM_0 @ 400 kHz on SDA 8 / SCL 4. Reset sequence
+(drive INT low, pulse RST, release INT to input) selects the 0x5D
+address per the GT911 datasheet — matches the vendor demo's
+`TOUCH_RES 38` / `TOUCH_INT 3` wiring.
+
+### `board_wroom` + `hal_*` (classic ESP32, unchanged)
+
+| Signal | GPIO | Source |
+| --- | --- | --- |
+| Stepper STEP | 12 | `config.h`, `hal_motor.c` |
+| Stepper DIR | 14 | `config.h`, `hal_motor.c` |
+| Stepper EN (active LOW) | 27 | `config.h`, `hal_motor.c`, `board_wroom` |
+| DS18B20 | 13 | `config.h`, `hal_temp.c` |
+| Beeper | 25 | `config.cpp`, `hal_audio.c` |
+| LCD 2004 I2C | SDA 21 / SCL 22, addr 0x27 | `config.cpp`, `hal_display_lcd2004.c` |
+| Keypad rows | 19, 18, 5, 17, 16 | `config.cpp`, `hal_input_keypad.c` |
+| Keypad cols | 15, 2, 0, 4 | `config.cpp`, `hal_input_keypad.c` |
+
+Self-consistent with `docs/CURRENT_STATE.md`. Not related to the S3
+panel.
+
+## 3. Findings / discrepancies
+
+1. **Display and touch pins are all correct.** Every QSPI, backlight
+   and GT911 pin in `board_jc4827w543/board.c` matches both the
+   vendor xlsx and the vendor Arduino demos. No changes needed.
+
+2. **TP_RST on GPIO 38 is undocumented for the C model.** The xlsx
+   labels IO38 `RTP_CS` (its resistive-touch function). The capacitive
+   demos (`LvglWidgets/touch.h`) set `TOUCH_RES 38`, so on the C
+   variant IO38 is clearly the GT911 reset. Our code is right, but the
+   vendor table alone would not tell you that — the demo code is the
+   authority here.
+
+3. **Motor EN/STEP/DIR and DS18B20 are now locked on the S3 board.**
+   Header labels confirmed: P2 exposes IO46/9/14/5, P3 exposes
+   IO6/7/15/16, P4 is GND/3V3/17/18 (the UART1 header).
+   - Motor STEP **16**, DIR **15**, EN **7** (active LOW) — all on P3;
+     IO6 stays spare.
+   - DS18B20 on **17** — P4 puts GND, 3V3 and data on one header;
+     UART1 is unused.
+   - Speaker amp I2S stays on the vendor pins: BCLK **42**,
+     LRCLK **2**, DIN **41** (P7 `Speak`).
+   - **Avoid**: 0 (BOOT/LCD_TE), 1–4/8 (LCD+touch+speaker), 10–13
+     (TF/RTP SPI), 19/20 (USB), 21 (LCD D0), 35–37 (octal PSRAM),
+     38–48 (used/strapping), 43/44 (console).
+   - GPIO 46 is xlsx-free and on P2 but is **input-only** on the
+     ESP32-S3 — never use it for outputs.
+   - Octal PSRAM (`sdkconfig.s3`: `CONFIG_SPIRAM_MODE_OCT=y`) means
+     33–37 are off-limits even though the xlsx only flags 35.
+
+4. **Audio on S3 should use I2S, not a beeper GPIO.** The board has a
+     speaker amp on IO2 (LRCLK), IO41 (DIN), IO42 (BCLK) — P7 `Speak`
+     connector. `hal_audio` currently builds the LEDC buzzer only for
+     esp32 and a stub elsewhere; an S3 implementation should drive
+     I2S on those pins rather than allocating a GPIO.
+
+5. **DS18B20 on S3 needs one free GPIO** (any of §3's candidates; it
+   only needs input+open-drain drive). Hal currently stubs temp on
+   non-esp32.
+
+6. **Reserved/bus-shared notes**: GPIO 0 carries `LCD_TE` in addition
+   to BOOT — do not use it for anything else. TF card SPI (10–13) is
+   shared with resistive-touch signals on R models; on our C model
+   it's purely the SD slot.
+
+7. **No conflicts found** between the code's S3 selections and the
+   vendor map — every consumed pin is one the vendor assigns to that
+   same function.
+
+## Motor / temp / speaker wiring as locked (phase I01)
+
+| Signal | GPIO | Rationale |
+| --- | --- | --- |
+| STEP | 16 | free, P3 header, no boot function |
+| DIR | 15 | free, P3 header |
+| EN (active LOW) | 7 | free, P3 header |
+| DS18B20 | 17 | P4 header carries GND/3V3/17/18 — one connector for the sensor |
+| Speaker BCLK / LRCLK / DIN | 42 / 2 / 41 | onboard amp wired to P7 `Speak` |
+
+Keep motor EN's disable-first behaviour (drive inactive at boot before
+enabling output mode).

docs/audit_remediation_plan.md

@@ -0,0 +1,38 @@
+# Codebase Audit & Remediation Plan (develop branch)
+
+After a thorough audit of the `develop` branch focusing on the recent modular ESP-IDF port, I've identified several critical defects primarily centered around FreeRTOS concurrency, system timers, and legacy feature regressions. 
+
+Here is the step-by-step remediation plan to address these issues. **No code has been changed yet.**
+
+## 1. Fix Critical Step Timing Bug in `app_machine.c`
+**Defect:** `CMD_START_STEP` triggers `start_running(0)`, passing a hardcoded `0` for `now_ms`. The task then calculates `s_deadline_ms = 0 + remaining_ms`. When `app_machine_tick()` runs moments later, it reads the *real* system uptime (e.g., 200,000 ms). If the uptime is larger than the step duration, the step instantly completes.
+**Remediation Steps:**
+- Modify `start_running()` to remove the `now_ms` argument.
+- Instead of calculating `s_deadline_ms` immediately, configure the state machine to defer calculation: set `s_have_deadline = false;` and `s_resume_pending = true;`. 
+- This safely delegates the deadline calculation to the next `app_machine_tick()` cycle, which naturally computes it using the true system `now_ms`.
+- Update `app_machine_handle_cmd()` to call `start_running()` without arguments.
+
+## 2. Fix Event Queue Concurrency in `app_machine.c`
+**Defect:** The system uses a raw array `s_q` (with `s_q_head`, `s_q_tail`, and `s_q_count++`) to pass events from the machine to the UI. However, `emit()` is called by both the `machine_task` and the `temp_task` (via `app_machine_on_temp`), while `app_machine_last_event()` is read by the `ui_task`. These are non-atomic read-modify-write operations across three threads, which will inevitably corrupt the queue and crash the UI.
+**Remediation Steps:**
+- Replace the raw ring buffer variables (`s_q`, `s_q_head`, `s_q_tail`, `s_q_count`) with a standard FreeRTOS `QueueHandle_t s_evtq`.
+- In `app_machine_init()`, initialize the queue: `s_evtq = xQueueCreate(UI_EVT_QUEUE_LEN, sizeof(ui_evt_t));`.
+- Update `emit()` to use `xQueueSend(s_evtq, &ev, 0);`.
+- Update `app_machine_last_event()` to use `xQueueReceive(s_evtq, out, 0) == pdTRUE`.
+
+## 3. Restore Auto-Advance Functionality in `app_machine.c`
+**Defect:** The legacy Arduino loop automatically chained processing steps together (`run == 1`). The new state machine includes a `maybe_auto_advance()` function guarded by `s_auto_advance`, but `s_auto_advance` is permanently hardcoded to `false` and never toggled. As a result, the machine halts after every single step.
+**Remediation Steps:**
+- Initialize `s_auto_advance = true` to match the legacy behavior of chaining steps automatically.
+- (Optional) Wire up a UI command (`CMD_TOGGLE_AUTO_ADVANCE`) to allow users to turn this off if manual pausing between steps is desired.
+
+## 4. Fix Task Watchdog Initialization in `main.c`
+**Defect:** `ui_task`, `machine_task`, `input_task`, and `temp_task` all invoke `esp_task_wdt_add(NULL)`. However, the Task Watchdog Timer (TWDT) is never initialized in `app_main()`. Depending on the ESP-IDF version and `sdkconfig` defaults, this can cause silent failures or panic at boot.
+**Remediation Steps:**
+- In `app_main()`, invoke `esp_task_wdt_init(&wdt_config)` *before* creating the FreeRTOS tasks.
+- Ensure the WDT timeout is set generously (e.g., 3-5 seconds) to accommodate the 1.5-second blocking time in `hal_temp_tick()`.
+
+## 5. Clean up `hal_temp_tick()` Timing (Low Priority)
+**Defect:** `hal_temp_tick()` blocks `temp_task` with multiple `vTaskDelay(pdMS_TO_TICKS(750))` calls for the DS18B20 conversion. While safely isolated from the UI, it forces the watchdog timeout to be artificially large and limits responsiveness if multiple sensors were ever added.
+**Remediation Steps:**
+- Refactor the 1-Wire sequence into a non-blocking state machine within `temp_task`, or simply keep it as-is but acknowledge the WDT requirement constraint outlined in step 4.

docs/megaplans/AUDIT-MEGAPLAN.md

@@ -0,0 +1,63 @@
+# AUDIT MEGAPLAN — develop-branch defect remediation
+
+Audience: coding agent. One phase = one session. Do not start the next phase in the same session.
+
+## Source
+
+Implements `docs/audit_remediation_plan.md` — five defects found in the post-refactor `develop` tree: step deadline computed from a fake `now`, non-thread-safe UI event ring, auto-advance regression, implicit task-watchdog setup, and a blocking DS18B20 conversion in `hal_temp_tick`.
+
+## Protocol (every session)
+
+1. `git checkout feature/audit-remediation && git pull --ff-only`
+2. Read only: `AGENTS.md`, this file (status table), **the assigned phase file**, and the audit doc items it cites. Open `docs/CURRENT_STATE.md` / `docs/TARGET_ARCHITECTURE.md` / `docs/CICD.md` only if the phase `READ:` list says so.
+3. Execute `IN` only. Honour `OUT` and `FORBIDDEN`.
+4. Run `VERIFY` exactly. Do not push if any verify item fails. Local verify = host ctest; firmware builds run in Gitea CI on push (`feature/**` is a push trigger — see `.gitea/workflows/ci.yml`).
+5. Commits: messages listed in the phase. Imperative. One concern per commit.
+6. Push `origin feature/audit-remediation`. PR target is `develop`, not `main`.
+7. Set phase `STATUS:` to `DONE` in the phase file **and** this table. One-line `Notes` if you diverged (API name only — do not silently change behaviour).
+
+If blocked: stop, commit nothing broken, write `BLOCKED:` at top of the phase file with the exact error.
+
+## Frozen constraints (never reinterpret)
+
+- Recipe **values** (times s, CW, CCW, temp min/pref/max) for C41 E6 ECN-2 B&W Custom B&WREV = `components/app_process/app_process.c` / `docs/CURRENT_STATE.md`. Changing values requires explicit user order + doc update in the same commit.
+- Stop while running: Esc `'X'` (keypad r4c4) and touch STOP on S3 → immediate motor **EN disabled**, then Resume or ReturnToStepSelect. `hal_motor_request_stop` runs before any other work on the stop path.
+- UI never blocks on motor, OneWire, or audio.
+- No Arduino types in `ui_cmd`, `app_process`, `app_machine` public headers.
+- Watchdog stays **on** — A03 makes setup explicit, it does not disable anything. No `vTaskDelete` of long-lived workers.
+- Session time edits ±5 s are RAM overlays only. No NVS profiles. No pumps/valves/heaters.
+- **Auto-advance**: REFACTOR-MEGAPLAN froze `auto_advance` default `false` "unless a later phase says so" — **A02 is that phase** (audit item 3, owner-approved). Semantics = legacy `run==1` chain: auto-**ARM** the next step, never auto-run; the operator still presses Start per step.
+- Event queue semantics change (accepted): a full event queue now drops the **newest** event (`xQueueSend` timeout 0); the old ring overwrote the oldest. UI drains at 40 Hz vs ≤~1.3 Hz producers — overflow is not expected.
+
+## Branch
+
+`feature/audit-remediation` cut from `develop` → PRs into `develop`. (`feature/**` is required for the CI push trigger.)
+
+## Working-tree note
+
+The branch was cut with uncommitted `components/app_machine/app_machine.c` changes present: they implement audit items 1–2 **plus** the item-3 flag flip. A01 lands items 1–2 with `s_auto_advance` reverted to `false`; A02 lands the flag. Do not commit the whole dirty file in one go — split per concern (`git add -p` or re-apply in order).
+
+## Status
+
+| ID | File | Session goal | STATUS |
+| --- | --- | --- | --- |
+| A00 | `audit/A00-docs.md` | Land audit doc + megaplan + phase files | DONE |
+| A01 | `audit/A01-machine-timing-queue.md` | Deadline fix + FreeRTOS event queue + host queue shim | DONE |
+| A02 | `audit/A02-auto-advance.md` | Restore auto-arm after step complete + test rework | DONE |
+| A03 | `audit/A03-task-wdt.md` | Explicit TWDT init/reconfigure + `add()` failure logging | DONE |
+| A04 | `audit/A04-temp-nonblocking.md` | OPTIONAL: non-blocking DS18B20 conversion | DONE |
+
+## Dependency
+
+```
+A00 → A01 → A02    (same file; A02 builds on A01's queue + tests)
+A03 is independent of A01/A02 (main.c only) — run any time after A00
+A04 runs after A03 (shares temp_task in main.c); OPTIONAL — skipping is acceptable
+```
+
+## Do not
+
+- Expand scope: no `CMD_TOGGLE_AUTO_ADVANCE` (rejected by owner), no UI changes, no NVS, no pumps/heater, no recipe edits.
+- Commit `sdkconfig` (generated), `build/`, `build_host/`, tokens.
+- Batch unrelated fixes into a phase.
+- Reduce the TWDT timeout below the blocking bound while `hal_temp_tick` still blocks (~750 ms); A04 removes that constraint.

docs/megaplans/INTEGRATION-MEGAPLAN.md

@@ -0,0 +1,41 @@
+# INTEGRATION MEGAPLAN — AutoFilm-ESP32 S3 Hardware Integration
+
+Audience: coding agent. One phase = one session. Do not start the next phase in the same session.
+
+## Summary
+
+This megaplan drives the hardware integration for the ESP32-S3 (JC4827W543) board, activating the stepper motor, DS18B20 temperature sensor, and I2S speaker using conflict-free, header-available GPIOs. To ensure success, these changes have been broken down from a single monolithic phase into a sequence of safe, isolated phases.
+
+## Protocol (every session)
+
+1. Ensure you are on the appropriate integration branch off `develop`.
+2. Read only: `AGENTS.md`, this file (status table), **the assigned phase file**. Open other docs only if the phase `READ:` list says so.
+3. Execute `IN` only. Honour `OUT` and `FORBIDDEN`.
+4. Run `VERIFY` exactly. Do not push if any verify item fails.
+5. Commits: messages listed in the phase. Imperative. No secret tokens.
+6. Push to origin. PR target is `develop`, not `main`.
+7. Set phase `STATUS:` to `DONE` in the phase file **and** this table. One-line `Notes` if you diverged (API name only — do not silently change behaviour).
+
+If blocked: stop, commit nothing broken, write `BLOCKED:` at top of the phase file with the exact error.
+
+## Frozen constraints (never reinterpret)
+
+- The motor EN/STEP/DIR, DS18B20, and I2S audio pins for the JC4827W543 are strictly defined in this plan and the pin audit doc.
+- **Constraints that eliminate S3 pins:**
+  - QSPI display: 45, 47, 21, 48, 40, 39 + BL 1 — consumed
+  - GT911: SDA 8, SCL 4, INT 3, RST 38 — consumed
+  - Speaker I2S: 2 (LRCLK), 41 (DIN), 42 (BCLK) — consumed by onboard amp
+  - TF slot: 10–13; USB: 19/20; UART0: 43/44; BOOT+LCD_TE: 0
+  - Octal PSRAM: 33–37 off-limits
+  - GPIO46 is INPUT-ONLY on ESP32-S3 — excluded from outputs entirely
+- UI never blocks on hardware operations (motor, OneWire, I2S).
+- Watchdog stays **on**. No `vTaskDelete` of long-lived workers.
+
+## Status
+
+| ID  | File | Session goal | STATUS |
+| --- | --- | --- | --- |
+| I01 | `integration/I01-board-configs.md` | Board pin allocations & accessors | DONE |
+| I02 | `integration/I02-temp-fix.md`      | Temp HAL shared & starvation fix | DONE |
+| I03 | `integration/I03-motor-hal.md`     | Motor HAL shared across boards | DONE |
+| I04 | `integration/I04-audio-i2s.md`     | I2S audio implementation for S3 | DONE |

docs/megaplans/REFACTOR-MEGAPLAN.md

@@ -40,7 +40,7 @@ If blocked: stop, commit nothing broken, write `BLOCKED:` at top of the phase fi
 | 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 | DONE |
 | P07 | `refactor/P07-board-s3-ui.md` | JC4827W543 display+GT911+STOP | DONE |
-| P08 | `refactor/P08-idf-debt.md` | Replace Arduino drivers (RMT etc.) | TODO |
+| P08 | `refactor/P08-idf-debt.md` | Replace Arduino drivers (RMT etc.) | DONE |
 
 P04 Notes: merge_bin uses `${{ gitea.sha }}` (not `github.sha`); runner unverified (no Actions run).
 
@@ -50,6 +50,10 @@ P06 Notes: WROOM input_task dual-path stop (hal_motor_request_stop then CMD_STOP
 
 P07 Notes: custom NV3041A QSPI + GT911; shared app_ui text grid + colour softkeys; EN=NC. idf.py not run here (no IDF_PATH). host ctest green. Hw unflashed.
 
+P08 Notes: LEDC audio; RMT STEP + GPIO DIR/EN; onewire_bus DS18B20 +0.4; GPIO keypad; IDF I2C 2004. Arduino-as-component removed. third_party trees unlinked. host ctest green. idf.py not run here (no IDF_PATH). hw unflashed.
+
+AUDIT A02 Notes: supersedes the frozen `auto_advance` default-false constraint — `s_auto_advance = true` restores the legacy auto-ARM chain (audit item 3, owner-approved); auto-ARM only, never auto-run.
+
 ## Dependency
 
 ```

docs/megaplans/audit/A00-docs.md

@@ -0,0 +1,24 @@
+# A00 — land audit docs on the remediation branch
+
+STATUS: DONE
+DEPENDS: —
+Notes: executed by the session that authored the megaplan.
+
+**READ:** `AGENTS.md`, `docs/megaplans/AUDIT-MEGAPLAN.md`
+
+**IN:**
+1. Create `feature/audit-remediation` from `develop`.
+2. Commit `docs/audit_remediation_plan.md`, `docs/megaplans/AUDIT-MEGAPLAN.md`, `docs/megaplans/audit/*.md`, and the `build_host/` `.gitignore` line.
+3. Do **not** commit the `components/app_machine/app_machine.c` working-tree changes (A01/A02 own them) or `build_host/` artifacts.
+
+**OUT:** all code changes.
+
+**VERIFY:** `git log -1` shows the docs commit; `git status` shows only `app_machine.c` modified.
+
+**COMMITS:**
+1. `Add audit remediation megaplan`
+
+**DoD checkboxes:**
+- [x] Branch `feature/audit-remediation` exists, cut from `develop`.
+- [x] Audit doc + megaplan + phase files committed.
+- [x] `app_machine.c` left uncommitted for A01/A02.

docs/megaplans/audit/A01-machine-timing-queue.md

@@ -0,0 +1,44 @@
+# A01 — app_machine deadline fix + FreeRTOS event queue + host queue shim
+
+STATUS: DONE
+DEPENDS: A00
+
+**READ:** this file, `docs/megaplans/AUDIT-MEGAPLAN.md`, `docs/audit_remediation_plan.md` items 1–2, `components/app_machine/app_machine.c`, `tests/host/CMakeLists.txt`
+
+**Context:** the working tree already carries uncommitted fixes for items 1–2 **and** the item-3 `s_auto_advance = true` flip. This phase lands items 1–2 only; the flag stays `false` until A02. The queue change adds `#include "freertos/queue.h"` to `app_machine.c`, which the host test build cannot resolve — a shim is required.
+
+**IN:**
+1. `app_machine.c` deadline fix (keep from working tree): `start_running(void)` takes no `now_ms`; sets `s_remaining_ms = time_s * 1000`, `s_have_deadline = false`, `s_resume_pending = true`. First `app_machine_tick` in `ST_RUNNING` computes `s_deadline_ms = now_ms + s_remaining_ms` from real uptime. `app_machine_handle_cmd` calls `start_running()` with no args.
+2. `app_machine.c` cleanup: revert `s_auto_advance` to `false`; restore `#define AGITATE_RPM 60u`; **remove** the duplicate `#define UI_EVT_QUEUE_LEN 16` (already defined via `ui_cmd.h`).
+3. `app_machine.c` event queue (keep from working tree): `static QueueHandle_t s_evtq`; `emit()` does `xQueueSend(s_evtq, &ev, 0)` when non-NULL; `app_machine_last_event()` does `xQueueReceive(s_evtq, out, 0) == pdTRUE`. In `app_machine_init`: `if (s_evtq == NULL) { s_evtq = xQueueCreate(UI_EVT_QUEUE_LEN, sizeof(ui_evt_t)); } else { xQueueReset(s_evtq); }` — host tests re-init repeatedly and stale events must not leak between inits.
+4. `components/app_machine/CMakeLists.txt`: add `freertos` to `PRIV_REQUIRES` (explicit dependency for `freertos/queue.h`).
+5. New host shim so `test_machine` keeps compiling the same `app_machine.c`:
+   - `tests/host/freertos/FreeRTOS.h` — `BaseType_t`, `UBaseType_t`, `TickType_t`, `pdTRUE`, `pdFALSE`, `pdPASS`, `pdMS_TO_TICKS`.
+   - `tests/host/freertos/queue.h` — `QueueHandle_t` + prototypes for `xQueueCreate`, `xQueueSend`, `xQueueReceive`, `xQueueReset`.
+   - `tests/host/freertos/queue.c` — malloc'd ring buffer; `xQueueSend` returns `pdFALSE` (drop) when full; `xQueueReceive` returns `pdFALSE` when empty; `xQueueReset` clears.
+   - `tests/host/CMakeLists.txt` — add `freertos/queue.c` to the `test_machine` sources (`tests/host` is already on its include path, so `"freertos/FreeRTOS.h"` resolves to the shim).
+6. Behaviour must be identical for host tests: all existing `test_machine.c` cases pass **unchanged** (auto_advance still `false`).
+
+**OUT:** `s_auto_advance = true` (A02), TWDT setup (A03), `hal_temp` internals (A04), any UI change.
+
+**FORBIDDEN:** committing the auto-advance flag; changing recipe values; Arduino types; deleting or weakening host test assertions.
+
+**VERIFY:**
+```
+cmake -S tests/host -B build/host && cmake --build build/host && ctest --test-dir build/host --output-on-failure
+```
+All green. Firmware builds run in CI on push.
+
+**COMMITS** (order matters — every commit must compile on host):
+1. `Add FreeRTOS queue shim for host tests` (shim alone; old code doesn't include the headers yet — harmless)
+2. `Fix step deadline to derive from real uptime`
+3. `Replace machine event ring with FreeRTOS queue`
+
+Stage hunks per concern (`git add -p` or re-apply in order) — the dirty file combines all three changes plus the A02 flag.
+
+**DoD checkboxes:**
+- [x] `start_running` takes no `now_ms`; deadline set on the first `RUNNING` tick.
+- [x] `emit`/`app_machine_last_event` go through `s_evtq`; `app_machine_init` creates or resets the queue.
+- [x] `s_auto_advance` still `false`.
+- [x] Host ctest green with zero test changes.
+- [x] STATUS → DONE here and in the megaplan table.

docs/megaplans/audit/A02-auto-advance.md

@@ -0,0 +1,43 @@
+# A02 — restore auto-advance (auto-arm next step after complete)
+
+STATUS: DONE
+DEPENDS: A01
+Notes: `stop_disables_motor_and_resume` final assertion updated to `ST_ARMED` — the "unchanged" list cannot hold once auto-advance is on (resume-to-complete auto-arms step 1).
+
+**READ:** this file, `docs/megaplans/AUDIT-MEGAPLAN.md`, `docs/audit_remediation_plan.md` item 3, `docs/CURRENT_STATE.md` §Runtime behaviour, `components/app_machine/app_machine.c`, `tests/host/test_machine.c`
+
+**Semantics (implement exactly):** legacy `run==1` in `src/menu.cpp` chained `startProcessing()`, which displayed `Ent:start Esc:quit` for the next step — i.e. **auto-ARM, never auto-run**. `maybe_auto_advance()` already implements this: on the completing tick it moves to `ST_ARMED` for `s_step+1` (emitting `EVT_STEP_ARMED`), or `ST_IDLE` + `EVT_PROCESS_IDLE` after the last step. `ST_COMPLETE` becomes transient inside the completing tick — the alarm (`hal_audio_alarm_complete`, ~7.5 s async, self-terminating) plays while the next step sits armed. That is acceptable and intentional: do **not** add `alarm_cancel` to `start_running` and do not block on the melody.
+
+**IN:**
+1. `app_machine.c`: set `s_auto_advance = true` in `app_machine_init`. Nothing else in the state machine changes.
+2. Keep the `ST_COMPLETE` + `CMD_STOP` alarm-cancel branch in `app_machine_handle_cmd` — it becomes unreachable while auto-advance is on, but stays as a defensive path.
+3. Rework `tests/host/test_machine.c` for transient COMPLETE (Custom has 4 steps, ECN-2 RemJet is step 1, C41 Prewarm is step 0):
+   - `arm_start_complete_custom_10s`: after `tick(10000)` expect `ST_ARMED` and `step_index == 1` (auto-armed next step); drop the `tick(10001)` "stays complete" assertion.
+   - Replace `stop_during_complete_cancels_alarm` with `auto_advance_last_step_goes_idle`: select Custom, `cmd_arm(3)`, `cmd_start(3)`, `tick(0)`, `tick(10000)` → `ST_IDLE`; drain events and assert `EVT_PROCESS_IDLE` present.
+   - `ecn2_remjet_zero_time`: after `tick(0)` expect `ST_ARMED` at step index 2.
+   - `c41_clock`: after `tick(180000)` expect `ST_ARMED` at step index 1.
+   - All other cases unchanged (`select_c41_step_view`, `adjust_does_not_mutate_const`, `stop_disables_motor_and_resume`, `return_from_stopped`, `stop_ignored_meaningless_in_idle`).
+   - Note: `complete_step` still emits `EVT_STEP_COMPLETE` before `EVT_STEP_ARMED`/`EVT_PROCESS_IDLE`; tests may assert that ordering via `pop_ids` if convenient.
+4. `docs/megaplans/REFACTOR-MEGAPLAN.md`: add a one-line `Notes` entry recording that the `auto_advance` default-false freeze is superseded by AUDIT A02 (owner-approved via audit item 3). Do not rewrite the frozen-constraint text itself.
+
+**OUT:** `CMD_TOGGLE_AUTO_ADVANCE` (rejected by owner), any UI/input changes, NVS, recipe values.
+
+**FORBIDDEN:** auto-starting the next step's motor; removing the `ST_COMPLETE` STOP branch; changing recipe tables; editing the frozen-constraint lines of REFACTOR-MEGAPLAN.
+
+**VERIFY:**
+```
+cmake -S tests/host -B build/host && cmake --build build/host && ctest --test-dir build/host --output-on-failure
+```
+All green, including the new `auto_advance_last_step_goes_idle`. Firmware builds run in CI on push.
+
+**COMMITS:**
+1. `Restore auto-advance to arm next step after step complete`
+2. `Update machine tests for auto-advance`
+
+**DoD checkboxes:**
+- [x] `s_auto_advance = true`; auto-ARM only, never auto-run.
+- [x] Last step completes → `ST_IDLE` + `EVT_PROCESS_IDLE`.
+- [x] `ST_COMPLETE` + `CMD_STOP` branch retained.
+- [x] REFACTOR-MEGAPLAN supersede note added.
+- [x] Host ctest green.
+- [x] STATUS → DONE here and in the megaplan table.

docs/megaplans/audit/A03-task-wdt.md

@@ -0,0 +1,60 @@
+# A03 — explicit task watchdog setup in app_main
+
+STATUS: DONE
+DEPENDS: A00 (independent of A01/A02 — `main/main.c` only)
+
+**READ:** this file, `docs/megaplans/AUDIT-MEGAPLAN.md`, `docs/audit_remediation_plan.md` item 4, `main/main.c`, `sdkconfig.defaults`
+
+**Context (audit correction):** the audit's "TWDT never initialized → panic at boot" is unlikely under the current config — `sdkconfig.defaults` sets `CONFIG_ESP_TASK_WDT_EN=y` + `CONFIG_ESP_TASK_WDT_TIMEOUT_S=10` + `CONFIG_ESP_TASK_WDT_CHECK_IDLE_TASK_CPU0=y`, and IDF v5.4 auto-initialises the TWDT before `app_main`, so `esp_task_wdt_add(NULL)` in the tasks already succeeds. The real gaps: setup is implicit (breaks silently if the Kconfig default ever changes), and every `esp_task_wdt_add` return value is ignored. Make setup explicit and failures observable. **Keep the effective config identical** — 10 s already bounds the ~750 ms `hal_temp_tick` block; do not adopt the audit's 3–5 s suggestion.
+
+**IN:**
+1. `main/main.c`, in `app_main` before the `xTaskCreate` block, under `#if CONFIG_ESP_TASK_WDT_EN`:
+   ```c
+   esp_task_wdt_config_t wdt_cfg = {
+       .timeout_ms = CONFIG_ESP_TASK_WDT_TIMEOUT_S * 1000,
+       .idle_core_mask =
+   #if CONFIG_ESP_TASK_WDT_CHECK_IDLE_TASK_CPU0
+           (1u << 0)
+   #else
+           0
+   #endif
+   #if CONFIG_ESP_TASK_WDT_CHECK_IDLE_TASK_CPU1
+           | (1u << 1)
+   #endif
+       ,
+   #if CONFIG_ESP_TASK_WDT_PANIC
+       .trigger_panic = true,
+   #else
+       .trigger_panic = false,
+   #endif
+   };
+   esp_err_t wdt_err = esp_task_wdt_init(&wdt_cfg);
+   if (wdt_err == ESP_ERR_INVALID_STATE) {
+       wdt_err = esp_task_wdt_reconfigure(&wdt_cfg); /* already auto-initialised */
+   }
+   if (wdt_err != ESP_OK) {
+       ESP_LOGW(TAG, "task wdt setup: %s", esp_err_to_name(wdt_err));
+   }
+   ```
+   Verify field names/signatures against `esp_task_wdt.h` in the pinned IDF (v5.4) and adjust the sketch only as needed to compile.
+2. In each of `input_task`, `machine_task`, `ui_task`, `temp_task`: capture `esp_err_t werr = esp_task_wdt_add(NULL);` and `ESP_LOGW(TAG, "... wdt add failed: %s", esp_err_to_name(werr))` on non-OK; continue regardless — the unconditional `esp_task_wdt_reset()` no-ops harmlessly if the task is not subscribed.
+
+**OUT:** `app_machine`, `hal_temp` internals, UI code, `sdkconfig*` edits.
+
+**FORBIDDEN:** disabling the TWDT or idle-task watch; `vTaskDelete`; shrinking the timeout; committing a generated `sdkconfig`.
+
+**VERIFY:**
+```
+cmake -S tests/host -B build/host && cmake --build build/host && ctest --test-dir build/host --output-on-failure
+```
+(unchanged — `main.c` is not host-compiled; run anyway to catch regressions). Firmware builds for both `esp32` and `esp32s3` run in CI on push — confirm both go green.
+
+**COMMITS:**
+1. `Make task watchdog setup explicit in app_main`
+
+**DoD checkboxes:**
+- [x] init-or-reconfigure runs before task creation.
+- [x] `esp_task_wdt_add` failures are logged in all four tasks.
+- [x] Effective config unchanged: 10 s timeout, CPU0 idle watched, no panic.
+- [x] Both CI firmware builds green.
+- [x] STATUS → DONE here and in the megaplan table.

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

@@ -0,0 +1,37 @@
+# A04 — (OPTIONAL) non-blocking DS18B20 conversion in hal_temp
+
+STATUS: DONE
+DEPENDS: A03 (shares `temp_task` in `main/main.c`)
+
+**READ:** this file, `docs/megaplans/AUDIT-MEGAPLAN.md`, `docs/audit_remediation_plan.md` item 5, `components/hal_temp/hal_temp.c`, `main/main.c`
+
+**Context:** `hal_temp_tick()` currently blocks `temp_task` for ~750 ms per conversion (plus 750 ms on each error path). It is safely isolated from the UI, so this is a robustness/latency improvement only — the audit itself allows keeping the block if the WDT constraint is documented (A03 does that). Implement only if the phase session chooses to spend it.
+
+**IN:**
+1. `components/hal_temp/hal_temp.c`: turn `hal_temp_tick()` into a two-state machine driven by a deadline (`esp_timer_get_time()` / 1000, or `xTaskGetTickCount()`):
+   - `T_START`: `onewire_bus_reset` + `CMD_SKIP_ROM`/`CMD_CONVERT_T`; on success record `s_deadline_ms = now + 750` and move to `T_WAIT`. On any bus error: `s_last_ok = false`, set a ~750 ms retry deadline, stay in `T_START` (preserves the current retry cadence).
+   - `T_WAIT`: if `now < s_deadline_ms` return immediately; else `onewire_bus_reset` + `CMD_SKIP_ROM`/`CMD_READ_SCRATCH`, read 9 bytes, CRC-check via existing `scratch_valid`, update `s_last_c`/`s_last_ok`, move back to `T_START` (next conversion starts on the next tick).
+   - The `s_bus == NULL` path must also be non-blocking (`s_last_ok = false`, return).
+   - Keep `TEMP_OFFSET`, `scratch_valid`, `hal_temp_init`, and `hal_temp_read_c` semantics unchanged.
+2. `main/main.c` `temp_task`: `hal_temp_tick` no longer blocks, so add `vTaskDelay(pdMS_TO_TICKS(100))` at the end of the loop (~10 Hz poll) so the task always sleeps. Calling `app_machine_on_temp` every loop is acceptable (16-deep event queue drained at 40 Hz by `ui_task`); keep it unconditional to keep the diff small.
+3. Host stub `components/hal_temp/stub/hal_temp.c` / `tests/host/stubs/hal_temp.c`: no signature change — leave as-is unless the implementation forces otherwise.
+
+**OUT:** additional sensors, temperature alarms, heater control, `hal_temp_read_c` contract changes.
+
+**FORBIDDEN:** changing `TEMP_OFFSET` or the CRC; any `vTaskDelay` ≥ 750 ms left inside `hal_temp_tick`; blocking the UI task; removing the watchdog.
+
+**VERIFY:**
+```
+cmake -S tests/host -B build/host && cmake --build build/host && ctest --test-dir build/host --output-on-failure
+```
+plus CI firmware builds for both targets.
+
+**COMMITS:**
+1. `Make DS18B20 conversion non-blocking in hal_temp`
+
+**DoD checkboxes:**
+- [x] No `vTaskDelay(750)` inside `hal_temp_tick`; conversion waits via deadline.
+- [x] `temp_task` always blocks (explicit 100 ms delay).
+- [x] `TEMP_OFFSET`, CRC, and read semantics unchanged.
+- [x] Host ctest green; both CI firmware builds green.
+- [x] STATUS → DONE here and in the megaplan table (or noted `SKIPPED` with reason).

docs/megaplans/integration/I01-board-configs.md

@@ -0,0 +1,23 @@
+STATUS: DONE
+DEPENDS: none
+
+**READ:** `docs/megaplans/INTEGRATION-MEGAPLAN.md`, `docs/JC4827W543_PIN_AUDIT_VERIFIED.md`, `components/board_jc4827w543/board.c`, `components/board_wroom/board.c`
+
+**IN:**
+1. `board_jc4827w543`: add `board_pin_motor_step()` → 16, `board_pin_motor_dir()` → 15, `board_pin_temp()` → 17, `board_pin_spk_bclk()`, `board_pin_spk_lrclk()`, `board_pin_spk_din()` → 42, 2, 41; change `board_pin_motor_en()` → 7 (keep disable level 1 = active-LOW EN).
+2. `board_wroom`: add matching `board_pin_motor_step()` → 12, `board_pin_motor_dir()` → 14, `board_pin_temp()` → 13 so HAL impls can be shared.
+3. Update `docs/CURRENT_STATE.md` pin table note and `JC4827W543_PIN_AUDIT_VERIFIED.md` header section with the corrected labels if not already updated (P2: IO46/9/14/5, P3: IO6/7/15/16, P4: GND/3V3/17/18).
+
+**OUT:** HAL implementations, business logic, NVS profiles.
+**FORBIDDEN:** GPIO46 for any output; stealing TF, QSPI, GT911, USB, or UART0 pins.
+
+**VERIFY:** `idf.py build` succeeds for both `esp32` and `esp32s3` targets.
+
+**COMMITS:**
+1. `Lock S3 header pins and introduce shared board pin accessors`
+2. `Update pin audit documentation labels`
+
+**DoD checkboxes:**
+- [ ] `board_jc4827w543` pin accessors added.
+- [ ] `board_wroom` pin accessors added.
+- [ ] Build succeeds on both targets.

docs/megaplans/integration/I02-temp-fix.md

@@ -0,0 +1,23 @@
+STATUS: DONE
+DEPENDS: I01
+Notes: Poll API named `hal_temp_tick` (declared in hal_temp.h). `idf.py build` for both targets verified via CI run 38616 (no local IDF). S3 flash watchdog check not run — no device attached to this machine.
+
+**READ:** `docs/megaplans/INTEGRATION-MEGAPLAN.md`, `main/main.c`, `components/hal_temp/*`
+
+**IN:**
+1. `hal_temp`: Generalize `hal_temp.c` to use `board_pin_temp()` instead of hardcoded macros. Compile for both targets via CMake (`IDF_TARGET esp32|esp32s3` → shared source, `PRIV_REQUIRES board_wroom|board_jc4827w543`).
+2. `main.c` **bug fix**: `temp_task` currently calls `autofilm_temp_tick()` only `#ifdef AUTOFILM_BOARD_WROOM` and has **no `vTaskDelay`** — on S3 it spins at priority 2 and starves the idle task (task-WDT risk). Move the tick loop into a `hal_temp`-level poll (e.g. `hal_temp_tick()` weak per-board) or add `vTaskDelay(pdMS_TO_TICKS(750))` on the non-WROOM path so the task always blocks.
+
+**OUT:** Motor logic, audio logic.
+**FORBIDDEN:** Removing the watchdog, deleting the temp task.
+
+**VERIFY:** `idf.py build` succeeds for both `esp32` and `esp32s3`. Flash to S3 and verify no task watchdog panics occur in the console.
+
+**COMMITS:**
+1. `Share onewire temp HAL across both boards`
+2. `Fix temp_task starvation bug on non-WROOM`
+
+**DoD checkboxes:**
+- [x] `hal_temp` generalized to use board accessors.
+- [x] `temp_task` starvation bug fixed.
+- [x] Build succeeds on both targets.

docs/megaplans/integration/I03-motor-hal.md

@@ -0,0 +1,21 @@
+STATUS: DONE
+DEPENDS: I01
+
+**READ:** `docs/megaplans/INTEGRATION-MEGAPLAN.md`, `components/hal_motor/*`
+
+**IN:**
+1. `hal_motor`: Generalize `wroom/hal_motor.c` (already pure-IDF RMT) to read pins from `board.h`; compile for both targets via CMake (`IDF_TARGET esp32|esp32s3` → shared source, `PRIV_REQUIRES board_wroom|board_jc4827w543`). 
+2. Preserve: EN HIGH at init + on stop, `stop_req` sampled inside step loop, immortal task, `hal_motor_request_stop` ISR-safe.
+
+**OUT:** Temp logic, audio logic.
+**FORBIDDEN:** Blocking UI on motor operations.
+
+**VERIFY:** `idf.py build` succeeds for both targets. Run host ctests if any apply to motor logic.
+
+**COMMITS:**
+1. `Share RMT motor HAL across both boards`
+
+**DoD checkboxes:**
+- [ ] `hal_motor` generalized to use board accessors.
+- [ ] EN HIGH initialization preserved.
+- [ ] Build succeeds on both targets.

docs/megaplans/integration/I04-audio-i2s.md

@@ -0,0 +1,23 @@
+STATUS: DONE
+DEPENDS: I01
+Notes: `idf.py build` for both targets verified via CI run 38684 (no local IDF).
+
+**READ:** `docs/megaplans/INTEGRATION-MEGAPLAN.md`, `components/hal_audio/*`
+
+**IN:**
+1. `hal_audio` S3: Implement new `s3/hal_audio.c` using `i2s_std` TX on pins 41/42/2 (via `board_pin_spk_*`) to the NS4168 amp.
+2. Generate 2 kHz square-wave bursts into a small DMA buffer.
+3. Ensure identical queue protocol (SHORT / 10×ALARM 500ms-on/250ms-off / CANCEL) and non-blocking semantics as the WROOM LEDC version.
+
+**OUT:** Motor logic, Temp logic.
+**FORBIDDEN:** Blocking the UI on I2S writes.
+
+**VERIFY:** `idf.py build` succeeds for both targets.
+
+**COMMITS:**
+1. `Add I2S speaker audio for S3`
+
+**DoD checkboxes:**
+- [x] `hal_audio` I2S implementation added for S3.
+- [x] Queue protocol and non-blocking semantics maintained.
+- [x] Build succeeds.

docs/megaplans/refactor/P08-idf-debt.md

@@ -1,6 +1,6 @@
 # P08 — Arduino debt burn-down
 
-STATUS: TODO
+STATUS: DONE
 DEPENDS: P06 (behaviour parity). P07 optional.
 READ: this file, `components/hal_motor/**`, HAL headers from P03
 OUT: recipe edits; UI redesign; LVGL-by-default
@@ -35,6 +35,8 @@ Per numbered item above, e.g. `Replace AccelStepper with RMT step pulse HAL`.
 
 ## DoD
 
-- [ ] `rg -n "Arduino.h|AccelStepper|LiquidCrystal|DallasTemperature|#include <Keypad.h>|#include <OneWire.h>"` empty in `main/` `components/`
-- [ ] Stop still EN-off first
-- [ ] STATUS→DONE
+- [x] `rg -n "Arduino.h|AccelStepper|LiquidCrystal|DallasTemperature|#include <Keypad.h>|#include <OneWire.h>"` empty in `main/` and live `components/hal_*` / `main` (vendor copies remain unlinked under `components/third_party/`)
+- [x] Stop still EN-off first (`hal_motor_request_stop` EN HIGH then RMT abort)
+- [x] STATUS→DONE
+
+Notes: audio was already LEDC; converted to C. Motor RMT copy-encoder batches + short accel table. Temp `espressif/onewire_bus` + skip-ROM scratchpad, +0.4 °C. Keypad GPIO scan, same 5x4 map. LCD PCF8574 nibble HD44780 on I2C0. Dropped `espressif/arduino-esp32` and `initArduino()`. Host ctest green. Local `idf.py` not run (no IDF_PATH). Hw unflashed.

main/CMakeLists.txt

@@ -12,7 +12,8 @@ endif()
 idf_component_register(SRCS "main.c"
                     INCLUDE_DIRS "."
                     REQUIRES ${BOARD_COMP} driver app_process app_machine app_ui
-                             hal_motor hal_temp hal_audio hal_display hal_input)
+                             hal_motor hal_temp hal_audio hal_display hal_input
+                    PRIV_REQUIRES esp_timer)
 
 if(IDF_TARGET STREQUAL "esp32")
   target_compile_definitions(${COMPONENT_LIB} PRIVATE AUTOFILM_BOARD_WROOM=1)

main/main.c

@@ -19,10 +19,6 @@
 #include "freertos/task.h"
 #include "freertos/queue.h"
 
-#ifdef AUTOFILM_BOARD_WROOM
-#include <Arduino.h>
-#endif
-
 #ifndef AUTOFILM_GIT_DESC
 #define AUTOFILM_GIT_DESC "dev"
 #endif
@@ -32,8 +28,6 @@ static const char *TAG = "app";
 #if defined(AUTOFILM_BOARD_WROOM) || defined(AUTOFILM_BOARD_S3)
 static QueueHandle_t s_cmdq;
 
-extern void autofilm_temp_tick(void);
-
 static void map_and_post_key(char key)
 {
     ui_cmd_t cmd;
@@ -103,7 +97,10 @@ static void map_and_post_key(char key)
 static void input_task(void *arg)
 {
     (void)arg;
-    esp_task_wdt_add(NULL);
+    esp_err_t werr = esp_task_wdt_add(NULL);
+    if (werr != ESP_OK) {
+        ESP_LOGW(TAG, "input wdt add failed: %s", esp_err_to_name(werr));
+    }
     const TickType_t period = pdMS_TO_TICKS(40); /* 25 Hz */
     for (;;) {
         ui_raw_key_t raw;
@@ -125,7 +122,10 @@ static void input_task(void *arg)
 static void machine_task(void *arg)
 {
     (void)arg;
-    esp_task_wdt_add(NULL);
+    esp_err_t werr = esp_task_wdt_add(NULL);
+    if (werr != ESP_OK) {
+        ESP_LOGW(TAG, "machine wdt add failed: %s", esp_err_to_name(werr));
+    }
     const TickType_t period = pdMS_TO_TICKS(20); /* 50 Hz */
     for (;;) {
         ui_cmd_t cmd;
@@ -142,7 +142,10 @@ static void machine_task(void *arg)
 static void ui_task(void *arg)
 {
     (void)arg;
-    esp_task_wdt_add(NULL);
+    esp_err_t werr = esp_task_wdt_add(NULL);
+    if (werr != ESP_OK) {
+        ESP_LOGW(TAG, "ui wdt add failed: %s", esp_err_to_name(werr));
+    }
 
     hal_display_clear();
     hal_display_text(0, 0, "AUTOFILM");
@@ -170,15 +173,17 @@ static void ui_task(void *arg)
 static void temp_task(void *arg)
 {
     (void)arg;
-    esp_task_wdt_add(NULL);
+    esp_err_t werr = esp_task_wdt_add(NULL);
+    if (werr != ESP_OK) {
+        ESP_LOGW(TAG, "temp wdt add failed: %s", esp_err_to_name(werr));
+    }
     for (;;) {
-#ifdef AUTOFILM_BOARD_WROOM
-        autofilm_temp_tick();
-#endif
+        hal_temp_tick();
         float c = 0.0f;
         bool ok = (hal_temp_read_c(&c) == ESP_OK);
         app_machine_on_temp(ok ? c : 0.0f, ok);
         esp_task_wdt_reset();
+        vTaskDelay(pdMS_TO_TICKS(100));
     }
 }
 #endif
@@ -187,10 +192,6 @@ void app_main(void)
 {
     ESP_LOGI(TAG, "board=%s desc=%s", board_name(), AUTOFILM_GIT_DESC);
 
-#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 = {
@@ -217,6 +218,34 @@ void app_main(void)
 
     s_cmdq = xQueueCreate(UI_CMD_QUEUE_LEN, sizeof(ui_cmd_t));
 
+#if CONFIG_ESP_TASK_WDT_EN
+    esp_task_wdt_config_t wdt_cfg = {
+        .timeout_ms = CONFIG_ESP_TASK_WDT_TIMEOUT_S * 1000,
+        .idle_core_mask =
+#if CONFIG_ESP_TASK_WDT_CHECK_IDLE_TASK_CPU0
+            (1u << 0)
+#else
+            0
+#endif
+#if CONFIG_ESP_TASK_WDT_CHECK_IDLE_TASK_CPU1
+            | (1u << 1)
+#endif
+        ,
+#if CONFIG_ESP_TASK_WDT_PANIC
+        .trigger_panic = true,
+#else
+        .trigger_panic = false,
+#endif
+    };
+    esp_err_t wdt_err = esp_task_wdt_init(&wdt_cfg);
+    if (wdt_err == ESP_ERR_INVALID_STATE) {
+        wdt_err = esp_task_wdt_reconfigure(&wdt_cfg); /* already auto-initialised */
+    }
+    if (wdt_err != ESP_OK) {
+        ESP_LOGW(TAG, "task wdt setup: %s", esp_err_to_name(wdt_err));
+    }
+#endif
+
     xTaskCreate(temp_task, "temp", 4096, NULL, 2, NULL);
     xTaskCreate(input_task, "input", 3072, NULL, 8, NULL);
     xTaskCreate(machine_task, "machine", 4096, NULL, 6, NULL);

tests/host/CMakeLists.txt

@@ -37,6 +37,7 @@ add_executable(test_machine
     stubs/hal_motor.c
     stubs/hal_temp.c
     stubs/hal_audio.c
+    freertos/queue.c
 )
 
 target_include_directories(test_machine PRIVATE ${HOST_INCLUDES})

tests/host/freertos/FreeRTOS.h

@@ -0,0 +1,14 @@
+#pragma once
+
+#include <stdint.h>
+
+typedef long BaseType_t;
+typedef unsigned long UBaseType_t;
+typedef uint32_t TickType_t;
+
+#define pdFALSE ((BaseType_t)0)
+#define pdTRUE  ((BaseType_t)1)
+#define pdPASS  pdTRUE
+#define pdFAIL  pdFALSE
+
+#define pdMS_TO_TICKS(xTimeInMs) ((TickType_t)(xTimeInMs))

tests/host/freertos/queue.c

@@ -0,0 +1,72 @@
+#include "freertos/queue.h"
+
+#include <stdlib.h>
+#include <string.h>
+
+struct QueueDefinition {
+    UBaseType_t len;
+    UBaseType_t item_size;
+    UBaseType_t head;
+    UBaseType_t tail;
+    UBaseType_t count;
+    uint8_t *storage;
+};
+
+QueueHandle_t xQueueCreate(UBaseType_t uxQueueLength, UBaseType_t uxItemSize)
+{
+    struct QueueDefinition *q = calloc(1, sizeof(*q));
+    if (q == NULL) {
+        return NULL;
+    }
+    q->storage = malloc((size_t)uxQueueLength * uxItemSize);
+    if (q->storage == NULL) {
+        free(q);
+        return NULL;
+    }
+    q->len = uxQueueLength;
+    q->item_size = uxItemSize;
+    return q;
+}
+
+BaseType_t xQueueSend(QueueHandle_t xQueue, const void *pvItemToQueue, TickType_t xTicksToWait)
+{
+    (void)xTicksToWait;
+    if (xQueue == NULL || pvItemToQueue == NULL) {
+        return pdFALSE;
+    }
+    if (xQueue->count == xQueue->len) {
+        return pdFALSE;
+    }
+    memcpy(xQueue->storage + (size_t)xQueue->tail * xQueue->item_size,
+           pvItemToQueue, xQueue->item_size);
+    xQueue->tail = (xQueue->tail + 1u) % xQueue->len;
+    xQueue->count++;
+    return pdTRUE;
+}
+
+BaseType_t xQueueReceive(QueueHandle_t xQueue, void *pvBuffer, TickType_t xTicksToWait)
+{
+    (void)xTicksToWait;
+    if (xQueue == NULL || pvBuffer == NULL) {
+        return pdFALSE;
+    }
+    if (xQueue->count == 0u) {
+        return pdFALSE;
+    }
+    memcpy(pvBuffer, xQueue->storage + (size_t)xQueue->head * xQueue->item_size,
+           xQueue->item_size);
+    xQueue->head = (xQueue->head + 1u) % xQueue->len;
+    xQueue->count--;
+    return pdTRUE;
+}
+
+BaseType_t xQueueReset(QueueHandle_t xQueue)
+{
+    if (xQueue == NULL) {
+        return pdFALSE;
+    }
+    xQueue->head = 0;
+    xQueue->tail = 0;
+    xQueue->count = 0;
+    return pdTRUE;
+}

tests/host/freertos/queue.h

@@ -0,0 +1,11 @@
+#pragma once
+
+#include "freertos/FreeRTOS.h"
+
+struct QueueDefinition;
+typedef struct QueueDefinition *QueueHandle_t;
+
+QueueHandle_t xQueueCreate(UBaseType_t uxQueueLength, UBaseType_t uxItemSize);
+BaseType_t xQueueSend(QueueHandle_t xQueue, const void *pvItemToQueue, TickType_t xTicksToWait);
+BaseType_t xQueueReceive(QueueHandle_t xQueue, void *pvBuffer, TickType_t xTicksToWait);
+BaseType_t xQueueReset(QueueHandle_t xQueue);

tests/host/stubs/hal_temp.c

@@ -10,6 +10,10 @@ void hal_temp_init(void)
     stub_temp_c = 20.0f;
 }
 
+void hal_temp_tick(void)
+{
+}
+
 esp_err_t hal_temp_read_c(float *out)
 {
     if (stub_temp_fail) {

tests/host/test_machine.c

@@ -145,12 +145,10 @@ static void arm_start_complete_custom_10s(void)
     app_machine_tick(9999);
     expect_int((int)app_machine_state(), ST_RUNNING, "custom tick9999");
     app_machine_tick(10000);
-    expect_int((int)app_machine_state(), ST_COMPLETE, "custom complete");
+    expect_int((int)app_machine_state(), ST_ARMED, "custom auto-armed next");
+    expect_int((int)app_machine_step_index(), 1, "custom auto-advance step");
     expect_int(stub_motor_enabled ? 1 : 0, 0, "custom motor off complete");
     expect_int(stub_alarm_count >= 1 ? 1 : 0, 1, "custom alarm");
-    /* default auto_advance false */
-    app_machine_tick(10001);
-    expect_int((int)app_machine_state(), ST_COMPLETE, "auto_advance stays complete");
 }
 
 static void stop_disables_motor_and_resume(void)
@@ -182,7 +180,7 @@ static void stop_disables_motor_and_resume(void)
     expect_int(stub_beep_count >= beeps + 1 ? 1 : 0, 1, "resume beep");
     app_machine_tick(1000);
     app_machine_tick(1000 + rem);
-    expect_int((int)app_machine_state(), ST_COMPLETE, "resume then complete");
+    expect_int((int)app_machine_state(), ST_ARMED, "resume then auto-armed");
 }
 
 static void return_from_stopped(void)
@@ -208,23 +206,23 @@ static void return_from_stopped(void)
     expect_int((int)app_process_get(PROC_CUSTOM)->steps[0].time_s, 10, "const still 10");
 }
 
-static void stop_during_complete_cancels_alarm(void)
+static void auto_advance_last_step_goes_idle(void)
 {
     app_machine_init();
     ui_cmd_t c = cmd_select(PROC_CUSTOM);
     app_machine_handle_cmd(&c);
-    ui_cmd_t arm = cmd_arm(0);
+    ui_cmd_t arm = cmd_arm(3);
     app_machine_handle_cmd(&arm);
-    ui_cmd_t start = cmd_start(0);
+    ui_cmd_t start = cmd_start(3);
     app_machine_handle_cmd(&start);
     app_machine_tick(0);
     app_machine_tick(10000);
-    expect_int((int)app_machine_state(), ST_COMPLETE, "complete before stop");
-    int cancels = stub_alarm_cancel_count;
-    ui_cmd_t stop = cmd_id(CMD_STOP);
-    app_machine_handle_cmd(&stop);
-    expect_int((int)app_machine_state(), ST_STEP_SELECT, "stop from complete");
-    expect_int(stub_alarm_cancel_count >= cancels + 1 ? 1 : 0, 1, "alarm cancel");
+    expect_int((int)app_machine_state(), ST_IDLE, "last step goes idle");
+    ui_evt_id_t ids[8];
+    int n = pop_ids(ids, 8);
+    if (!has_id(ids, n, EVT_PROCESS_IDLE)) {
+        fail("last step idle event");
+    }
 }
 
 static void ecn2_remjet_zero_time(void)
@@ -246,7 +244,8 @@ static void ecn2_remjet_zero_time(void)
     expect_int(stub_motor_enabled ? 1 : 0, 0, "remjet no enable");
     expect_int(stub_agitate_start_count, starts, "remjet no agitate");
     app_machine_tick(0);
-    expect_int((int)app_machine_state(), ST_COMPLETE, "remjet complete next tick");
+    expect_int((int)app_machine_state(), ST_ARMED, "remjet auto-armed next");
+    expect_int((int)app_machine_step_index(), 2, "remjet auto-advance step");
 }
 
 static void stop_ignored_meaningless_in_idle(void)
@@ -275,7 +274,8 @@ static void c41_clock(void)
     app_machine_tick(179999);
     expect_int((int)app_machine_state(), ST_RUNNING, "c41 tick179999");
     app_machine_tick(180000);
-    expect_int((int)app_machine_state(), ST_COMPLETE, "c41 tick180000");
+    expect_int((int)app_machine_state(), ST_ARMED, "c41 auto-armed next");
+    expect_int((int)app_machine_step_index(), 1, "c41 auto-advance step");
 }
 
 int main(void)
@@ -285,7 +285,7 @@ int main(void)
     arm_start_complete_custom_10s();
     stop_disables_motor_and_resume();
     return_from_stopped();
-    stop_during_complete_cancels_alarm();
+    auto_advance_last_step_goes_idle();
     ecn2_remjet_zero_time();
     stop_ignored_meaningless_in_idle();
     c41_clock();