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
+#include "board.h"
-#define PIN_DIR 14
+#include "hal_motor.h"
-#define PIN_EN 27
+
 #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(s_pin_en, s_en_disable_level);
-    gpio_set_level((gpio_num_t)PIN_DIR, 0);
+    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);
+    en_disable();
-    s_enabled = false;
     rmt_abort();
     if (s_task != NULL) {
         xTaskNotifyGive(s_task);

docs/megaplans/INTEGRATION-MEGAPLAN.md

@@ -37,5 +37,5 @@ If blocked: stop, commit nothing broken, write `BLOCKED:` at top of the phase fi
 | --- | --- | --- | --- |
 | 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 | TODO |
+| I03 | `integration/I03-motor-hal.md`     | Motor HAL shared across boards | DONE |
 | I04 | `integration/I04-audio-i2s.md`     | I2S audio implementation for S3 | TODO |

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/*`