STATUS: DONE DEPENDS: P03 READ: this file, include/config.h, src/motor.cpp, src/temperature.cpp, src/sound.cpp, components/hal_*/include/*.h OUT: rewriting app_ui / deleting menus; S3 motor pins; disabling WDT; vTaskDelete motor FORBIDDEN: new Arduino libraries; tone() on machine task; blocking OneWire on UI task

IN

Device implementations of hal_motor, hal_temp, hal_audio for board_wroom. Arduino-as-component first allowed here.

Keep AccelStepper behind hal_motor. Inner step loop must sample stop_req every stepper.run() and exit. Motor task is immortal: wait on notification for next agitate_start.

Arduino component

main/idf_component.yml:

dependencies:
  espressif/arduino-esp32: "~3.1.0"

If 3.1 conflicts with IDF 5.4, pin the combo that compiles; Notes the versions. Only WROOM firmware enables Arduino this phase; S3 may compile without motor SRCS via if(AUTOFILM_BOARD STREQUAL wroom).

AccelStepper: add as managed component or vendor components/third_party/AccelStepper (upstream 1.64). Prefer idf_component.yml git dep if it builds; else vendor the .cpp/.h used today.

OneWire + DallasTemperature: same policy. Keypad/LCD not this phase.

Pins (wroom only, from config)

fn	gpio
STEP	12
DIR	14
EN active-low	27
DS18B20	13
beep	25

STEPS_PER_REV=4800 RPM=60 ACCEL=9600 TEMP_OFFSET=0.4f

motor_task

Priority high, core 0. Loop:

wait notify
while !stop_req && agitating:
  move CW cw_revs (run loop checks stop_req)
  if stop_req break
  move CCW ccw_revs
hal_motor_enable(false)

hal_motor_request_stop: atomic stop_req=1; gpio_set_level(EN,1) immediately; notify. ISR-safe: no heap, no stepper API.

Never vTaskDelete.

temp_task

Low prio. Period: request conversion, vTaskDelay(750ms), read, add 0.4, app_machine_on_temp. On disconnect ok=false. Do not write LCD.

audio_task

Queue of {SHORT, ALARM, CANCEL}. SHORT: one 2 kHz 80–120 ms pulse (LEDC or Arduino tone in this task only). ALARM: 10× (2000 Hz 500 ms on / 250 ms off) abort immediately on CANCEL or STOP queued. Machine never delays for sound.

main.c (wroom)

hal_*_init, app_process_init, app_machine_init, create motor/temp/audio tasks. Do not start UI yet (P06). Optional: 1 Hz log remaining if RUNNING for bring-up.

S3 build: stub motor/temp/audio weak symbols or board-local no-ops so P01 S3 still links.

VERIFY

Host tests still pass.

WROOM idf.py build pass.

Manual on hardware (if unavailable, Notes=hw not flashed; still land code):

Custom start (will need P06 for keypad — this phase may expose a 5 s auto-demo behind #ifdef AUTOFILM_MOTION_SMOKE default off). Do not enable smoke in production sdkconfig.
Logic-analyzer optional. Minimum: compile + review EN init HIGH.

COMMITS

Add Arduino-as-component and WROOM motor HAL with cooperative stop
Add temp and audio tasks off the UI path

DoD

EN HIGH at init and on stop
stop_req checked inside step loop
OneWire only in temp_task
tone/LEDC only in audio_task
STATUS→DONE

3.2 KiB Raw Permalink Blame History Unescape Escape

P05 — WROOM HAL motor / temp / audio

IN