Mark I04 status DONE

Merge I01 board pin allocations & accessors into develop

components/hal_audio/CMakeLists.txt

@@ -4,6 +4,9 @@ set(priv_req driver)
 if(IDF_TARGET STREQUAL "esp32")
     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_motor/CMakeLists.txt

@@ -3,8 +3,11 @@ set(priv_inc)
 set(priv_req driver)
 
 if(IDF_TARGET STREQUAL "esp32")
-    list(APPEND srcs wroom/hal_motor.c)
+    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

@@ -10,9 +10,9 @@
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
 
-#define PIN_STEP 12
-#define PIN_DIR 14
-#define PIN_EN 27
+#include "board.h"
+#include "hal_motor.h"
+
 #define STEPS_PER_REV 4800
 #define DEFAULT_RPM 60
 #define ACCEL 9600
@@ -23,6 +23,10 @@
 
 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;
@@ -35,13 +39,17 @@ static rmt_encoder_handle_t s_enc;
 
 static void en_disable(void)
 {
-    gpio_set_level((gpio_num_t)PIN_EN, 1);
+    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)
 {
-    gpio_set_level((gpio_num_t)PIN_EN, 0);
+    if (s_pin_en != GPIO_NUM_NC) {
+        gpio_set_level(s_pin_en, !s_en_disable_level);
+    }
     s_enabled = true;
 }
 
@@ -111,7 +119,7 @@ static bool run_move(long steps)
     if (steps < 0) {
         steps = -steps;
     }
-    gpio_set_level((gpio_num_t)PIN_DIR, dir);
+    gpio_set_level(s_pin_dir, dir);
 
     uint32_t cruise = (s_rpm * STEPS_PER_REV) / 60;
     if (cruise == 0) {
@@ -189,22 +197,31 @@ 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 << PIN_EN) | (1ULL << PIN_DIR),
+        .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((gpio_num_t)PIN_EN, 1);
-    gpio_set_level((gpio_num_t)PIN_DIR, 0);
+    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 = PIN_STEP,
+        .gpio_num = s_pin_step,
         .mem_block_symbols = 64,
         .resolution_hz = RMT_RES_HZ,
         .trans_queue_depth = 4,
@@ -219,7 +236,8 @@ void hal_motor_init(void)
                                 configMAX_PRIORITIES - 2, &s_task, 0);
     }
     s_inited = true;
-    ESP_LOGI(TAG, "init EN=HIGH RMT step=%d dir=%d", PIN_STEP, PIN_DIR);
+    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)
@@ -234,8 +252,7 @@ void hal_motor_enable(bool on)
 void hal_motor_request_stop(void)
 {
     atomic_store(&s_stop_req, 1);
-    gpio_set_level((gpio_num_t)PIN_EN, 1);
-    s_enabled = false;
+    en_disable();
     rmt_abort();
     if (s_task != NULL) {
         xTaskNotifyGive(s_task);

components/hal_temp/CMakeLists.txt

@@ -3,8 +3,11 @@ set(priv_inc)
 set(priv_req driver)
 
 if(IDF_TARGET STREQUAL "esp32")
-    list(APPEND srcs wroom/hal_temp.c)
+    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

@@ -8,8 +8,9 @@
 #include "freertos/task.h"
 
 #include "onewire_bus.h"
+#include "board.h"
+#include "hal_temp.h"
 
-#define PIN_DS 13
 #define TEMP_OFFSET 0.4f
 #define CMD_SKIP_ROM 0xCC
 #define CMD_CONVERT_T 0x44
@@ -40,7 +41,7 @@ static bool scratch_valid(const uint8_t *sp)
     return crc == sp[8];
 }
 
-void autofilm_temp_tick(void)
+void hal_temp_tick(void)
 {
     if (s_bus == NULL) {
         s_last_ok = false;
@@ -84,21 +85,19 @@ void autofilm_temp_tick(void)
     s_last_ok = true;
 }
 
-void autofilm_temp_task(void *arg)
-{
-    (void)arg;
-    for (;;) {
-        autofilm_temp_tick();
-    }
-}
-
 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_DS,
+        .bus_gpio_num = pin,
         .flags = {
             .en_pull_up = true,
         },
@@ -108,12 +107,12 @@ void hal_temp_init(void)
     };
     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_DS);
+        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_DS, (double)TEMP_OFFSET);
+    ESP_LOGI(TAG, "init onewire_bus pin=%d offset=%.1f", pin, (double)TEMP_OFFSET);
 }
 
 esp_err_t hal_temp_read_c(float *out)

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;

docs/megaplans/INTEGRATION-MEGAPLAN.md

@@ -36,6 +36,6 @@ If blocked: stop, commit nothing broken, write `BLOCKED:` at top of the phase fi
 | 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 | TODO |
-| I03 | `integration/I03-motor-hal.md`     | Motor HAL shared across boards | TODO |
-| I04 | `integration/I04-audio-i2s.md`     | I2S audio implementation for S3 | TODO |
+| 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/integration/I02-temp-fix.md

@@ -1,5 +1,6 @@
-STATUS: TODO
+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/*`
 
@@ -17,6 +18,6 @@ DEPENDS: I01
 2. `Fix temp_task starvation bug on non-WROOM`
 
 **DoD checkboxes:**
-- [ ] `hal_temp` generalized to use board accessors.
-- [ ] `temp_task` starvation bug fixed.
-- [ ] Build succeeds on both targets.
+- [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

@@ -1,4 +1,4 @@
-STATUS: TODO
+STATUS: DONE
 DEPENDS: I01
 
 **READ:** `docs/megaplans/INTEGRATION-MEGAPLAN.md`, `components/hal_motor/*`

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

@@ -1,5 +1,6 @@
-STATUS: TODO
+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/*`
 
@@ -17,6 +18,6 @@ DEPENDS: I01
 1. `Add I2S speaker audio for S3`
 
 **DoD checkboxes:**
-- [ ] `hal_audio` I2S implementation added for S3.
-- [ ] Queue protocol and non-blocking semantics maintained.
-- [ ] Build succeeds.
+- [x] `hal_audio` I2S implementation added for S3.
+- [x] Queue protocol and non-blocking semantics maintained.
+- [x] Build succeeds.

main/main.c

@@ -28,8 +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;
@@ -168,9 +166,7 @@ static void temp_task(void *arg)
     (void)arg;
     esp_task_wdt_add(NULL);
     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);

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) {