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96 lines
3.2 KiB
Markdown
96 lines
3.2 KiB
Markdown
# P05 — WROOM HAL motor / temp / audio
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STATUS: DONE
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DEPENDS: P03
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READ: this file, `include/config.h`, `src/motor.cpp`, `src/temperature.cpp`, `src/sound.cpp`, `components/hal_*/include/*.h`
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OUT: rewriting `app_ui` / deleting menus; S3 motor pins; disabling WDT; `vTaskDelete` motor
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FORBIDDEN: new Arduino libraries; `tone()` on machine task; blocking OneWire on UI task
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## IN
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Device implementations of `hal_motor`, `hal_temp`, `hal_audio` for `board_wroom`. Arduino-as-component **first allowed here**.
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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`.
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## Arduino component
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`main/idf_component.yml`:
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```yaml
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dependencies:
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espressif/arduino-esp32: "~3.1.0"
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```
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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)`.
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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.
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OneWire + DallasTemperature: same policy. Keypad/LCD **not** this phase.
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## Pins (wroom only, from config)
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| fn | gpio |
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|---|---|
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| STEP | 12 |
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| DIR | 14 |
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| EN active-low | 27 |
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| DS18B20 | 13 |
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| beep | 25 |
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`STEPS_PER_REV=4800` `RPM=60` `ACCEL=9600` `TEMP_OFFSET=0.4f`
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## motor_task
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Priority high, core 0. Loop:
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```
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wait notify
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while !stop_req && agitating:
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move CW cw_revs (run loop checks stop_req)
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if stop_req break
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move CCW ccw_revs
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hal_motor_enable(false)
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```
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`hal_motor_request_stop`: atomic stop_req=1; `gpio_set_level(EN,1)` **immediately**; notify. ISR-safe: no heap, no stepper API.
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Never `vTaskDelete`.
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## temp_task
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Low prio. Period: request conversion, `vTaskDelay(750ms)`, read, add 0.4, `app_machine_on_temp`. On disconnect `ok=false`. Do not write LCD.
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## audio_task
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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 `delay`s for sound.
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## main.c (wroom)
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`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.
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S3 build: stub motor/temp/audio weak symbols or board-local no-ops so P01 S3 still links.
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## VERIFY
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Host tests still pass.
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WROOM `idf.py` build pass.
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Manual on hardware (if unavailable, Notes=`hw not flashed`; still land code):
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1. 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.
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2. Logic-analyzer optional. Minimum: compile + review EN init HIGH.
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## COMMITS
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1. `Add Arduino-as-component and WROOM motor HAL with cooperative stop`
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2. `Add temp and audio tasks off the UI path`
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## DoD
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- [x] EN HIGH at init and on stop
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- [x] stop_req checked inside step loop
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- [x] OneWire only in temp_task
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- [x] tone/LEDC only in audio_task
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- [x] STATUS→DONE
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