Tab5 camera + other stuff (#558)

* Tab5 camera + other stuff

Tab5 camera driver - SC2356
Custom SliderBox widget - slider with plus and minus buttons + value label and snapping
Rtc Time service + rtc api
Sdk release - only include drivers built for that specific target, eg: sc2356 driver is mipi / p4 only.
No more hardcoded manual sdk cmakelists
New function to find device by compatible string match. no more static cast bool wildness when trying to match a single device (like M5Stack PaperS3 for example)

* feedback + fixes

Fixed external app user data path.
fix(gui): block app teardown until onHide() completes, preventing ELF unload racing a still-running app
added camera device type and api

* drain the snake sssem

---------

Co-authored-by: Ken Van Hoeylandt <git@kenvanhoeylandt.net>

Buildscripts/TactilitySDK/CMakeLists.txt

@@ -5,12 +5,7 @@ idf_component_register(
         "Libraries/TactilityFreeRtos/include"
         "Libraries/lvgl/include"
         "Modules/lvgl-module/include"
-        "Drivers/bm8563-module/include"
-        "Drivers/bmi270-module/include"
-        "Drivers/mpu6886-module/include"
-        "Drivers/pi4ioe5v6408-module/include"
-        "Drivers/qmi8658-module/include"
-        "Drivers/rx8130ce-module/include"
+        # DRIVER_INCLUDE_DIRS_PLACEHOLDER
     REQUIRES esp_timer
 )
 

Buildscripts/TactilitySDK/TactilitySDK.cmake

@@ -25,12 +25,7 @@ macro(tactility_project project_name)
 
     set(COMPONENTS
         TactilityFreeRtos
-        bm8563-module
-        bmi270-module
-        mpu6886-module
-        pi4ioe5v6408-module
-        qmi8658-module
-        rx8130ce-module
+        # DRIVER_COMPONENTS_PLACEHOLDER
     )
 
 endmacro()

Buildscripts/release-sdk.py

@@ -88,6 +88,17 @@ def write_module_cmakelists(path, content):
     with open(path, 'w') as f:
         f.write(content)
 
+def driver_is_available(driver_name):
+    """
+    Some drivers only build for certain chip targets (e.g. sc2356-module is ESP32-P4 only,
+    since it depends on esp_video/esp_cam_sensor/PPA which are themselves chip-restricted).
+    Build output presence is the single source of truth for "does this driver support the
+    current target" - no separate manifest to keep in sync with the real CMakeLists.txt
+    REQUIRES/Kconfig guards.
+    """
+    binary_pattern = f'build/esp-idf/{driver_name}/lib{driver_name}.a'
+    return bool(glob.glob(binary_pattern))
+
 def add_driver(target_path, driver_name):
     mappings = get_driver_mappings(driver_name)
     map_copy(mappings, target_path)
@@ -100,6 +111,44 @@ def add_module(target_path, module_name):
     cmakelists_content = create_module_cmakelists(module_name)
     write_module_cmakelists(os.path.join(target_path, f"Modules/{module_name}/CMakeLists.txt"), cmakelists_content)
 
+def discover_all_drivers():
+    """
+    Discover all *-module directories under Drivers/ (not Modules/ - those are handled
+    separately via add_module). Sorted for deterministic output across OS/filesystem order.
+    """
+    pattern = os.path.join('Drivers', '*-module')
+    return sorted(
+        os.path.basename(p) for p in glob.glob(pattern) if os.path.isdir(p)
+    )
+
+def generate_tactility_sdk_cmake(target_path, available_drivers):
+    src = os.path.join('Buildscripts', 'TactilitySDK', 'TactilitySDK.cmake')
+    with open(src) as f:
+        content = f.read()
+    placeholder = "        # DRIVER_COMPONENTS_PLACEHOLDER"
+    assert placeholder in content, \
+        f"Placeholder '{placeholder.strip()}' not found in {src} - template drifted, generator needs updating"
+    components = "\n".join(f"        {d}" for d in available_drivers)
+    new_content = content.replace(placeholder, components)
+    assert placeholder not in new_content, \
+        f"Placeholder '{placeholder.strip()}' still present after replacement in {src}"
+    with open(os.path.join(target_path, 'TactilitySDK.cmake'), 'w') as f:
+        f.write(new_content)
+
+def generate_tactility_sdk_top_cmakelists(target_path, available_drivers):
+    src = os.path.join('Buildscripts', 'TactilitySDK', 'CMakeLists.txt')
+    with open(src) as f:
+        content = f.read()
+    placeholder = "        # DRIVER_INCLUDE_DIRS_PLACEHOLDER"
+    assert placeholder in content, \
+        f"Placeholder '{placeholder.strip()}' not found in {src} - template drifted, generator needs updating"
+    include_dirs = "\n".join(f'        "Drivers/{d}/include"' for d in available_drivers)
+    new_content = content.replace(placeholder, include_dirs)
+    assert placeholder not in new_content, \
+        f"Placeholder '{placeholder.strip()}' still present after replacement in {src}"
+    with open(os.path.join(target_path, 'CMakeLists.txt'), 'w') as f:
+        f.write(new_content)
+
 def main():
     if len(sys.argv) < 2:
         print("Usage: release-sdk.py [target_path]")
@@ -136,9 +185,6 @@ def main():
         # elf_loader
         {'src': 'Libraries/elf_loader/elf_loader.cmake', 'dst': 'Libraries/elf_loader/'},
         {'src': 'Libraries/elf_loader/license.txt', 'dst': 'Libraries/elf_loader/'},
-        # Final scripts
-        {'src': 'Buildscripts/TactilitySDK/TactilitySDK.cmake', 'dst': ''},
-        {'src': 'Buildscripts/TactilitySDK/CMakeLists.txt', 'dst': ''},
     ]
 
     map_copy(mappings, target_path)
@@ -147,13 +193,16 @@ def main():
     add_module(target_path, "lvgl-module")
     add_module(target_path, "crypt-module")
 
-    # Drivers
-    add_driver(target_path, "bm8563-module")
-    add_driver(target_path, "bmi270-module")
-    add_driver(target_path, "mpu6886-module")
-    add_driver(target_path, "pi4ioe5v6408-module")
-    add_driver(target_path, "qmi8658-module")
-    add_driver(target_path, "rx8130ce-module")
+    # Drivers - only ones actually built for this target (chip-restricted drivers like
+    # sc2356-module won't have a .a outside ESP32-P4)
+    available_drivers = [d for d in discover_all_drivers() if driver_is_available(d)]
+    for driver_name in available_drivers:
+        add_driver(target_path, driver_name)
+
+    # Final scripts - generated (not copied verbatim) so COMPONENTS/INCLUDE_DIRS only list
+    # drivers actually available for this target
+    generate_tactility_sdk_cmake(target_path, available_drivers)
+    generate_tactility_sdk_top_cmakelists(target_path, available_drivers)
 
     # Output ESP-IDF SDK version to file
     esp_idf_version = os.environ.get("ESP_IDF_VERSION", "")

Devices/generic-esp32p4/devicetree.yaml

@@ -7,4 +7,5 @@ dependencies:
   - Drivers/pi4ioe5v6408-module
   - Drivers/qmi8658-module
   - Drivers/rx8130ce-module
+  - Drivers/sc2356-module
 dts: generic,esp32p4.dts

Devices/m5stack-tab5/CMakeLists.txt

@@ -3,5 +3,5 @@ file(GLOB_RECURSE SOURCE_FILES Source/*.c*)
 idf_component_register(
     SRCS ${SOURCE_FILES}
     INCLUDE_DIRS "Source"
-    REQUIRES Tactility esp_lvgl_port esp_lcd EspLcdCompat esp_lcd_ili9881c esp_lcd_st7123 esp_lcd_touch_st7123 GT911 PwmBacklight driver esp_driver_i2c vfs fatfs ina226-module
+    REQUIRES Tactility esp_lvgl_port esp_lcd EspLcdCompat esp_lcd_ili9881c esp_lcd_st7123 esp_lcd_touch_st7123 GT911 PwmBacklight driver esp_driver_i2c vfs fatfs ina226-module sc2356-module
 )

Devices/m5stack-tab5/Source/Configuration.cpp

@@ -7,6 +7,8 @@
 
 #include <Tactility/hal/Configuration.h>
 
+#include <esp_clock_output.h>
+
 using namespace tt::hal;
 
 static constexpr auto* TAG = "Tab5";
@@ -249,6 +251,29 @@ static error_t initMicrophone(::Device* i2c_controller) {
     return error;
 }
 
+static esp_clock_output_mapping_handle_t camera_osc_handle = nullptr;
+
+static void initCameraOsc() {
+    if (camera_osc_handle != nullptr) {
+        return;
+    }
+
+    // 24 MHz clock on GPIO 36 for the SC2356 MIPI CSI sensor, required before esp_video_init.
+    // Uses SPLL (480 MHz) via esp_clock_output with divider 20 = 24 MHz exactly.
+    // This avoids any LEDC clock source conflict with the display backlight.
+    if (esp_clock_output_start(CLKOUT_SIG_SPLL, GPIO_NUM_36, &camera_osc_handle) != ESP_OK) {
+        LOG_E(TAG, "Camera OSC clock output start failed");
+        return;
+    }
+    if (esp_clock_output_set_divider(camera_osc_handle, 20) != ESP_OK) {
+        LOG_E(TAG, "Camera OSC clock divider set failed");
+        esp_clock_output_stop(camera_osc_handle);
+        camera_osc_handle = nullptr;
+        return;
+    }
+    LOG_I(TAG, "Camera OSC 24MHz started on GPIO 36 (SPLL/20)");
+}
+
 static bool initBoot() {
     auto* i2c0 = device_find_by_name("i2c0");
     check(i2c0, "i2c0 not found");
@@ -258,6 +283,7 @@ static bool initBoot() {
     auto* io_expander1 = device_find_by_name("io_expander1");
     check(io_expander1, "io_expander1 not found");
 
+    initCameraOsc();
     initExpander0(io_expander0);
     initExpander1(io_expander1);
 

Devices/m5stack-tab5/device.properties

@@ -45,3 +45,7 @@ sdkconfig.CONFIG_CACHE_L2_CACHE_256KB=y
 sdkconfig.CONFIG_LVGL_PORT_ENABLE_PPA=y
 sdkconfig.CONFIG_LV_DRAW_BUF_ALIGN=64
 sdkconfig.CONFIG_LV_DEF_REFR_PERIOD=15
+# SC202CS (SC2356) MIPI CSI camera sensor + ISP pipeline (AE/AWB/demosaicing)
+sdkconfig.CONFIG_CAMERA_SC202CS=y
+sdkconfig.CONFIG_CAMERA_SC202CS_AUTO_DETECT_MIPI_INTERFACE_SENSOR=y
+sdkconfig.CONFIG_ESP_VIDEO_ENABLE_ISP_PIPELINE_CONTROLLER=y

Devices/m5stack-tab5/devicetree.yaml

@@ -4,4 +4,5 @@ dependencies:
 - Drivers/bmi270-module
 - Drivers/ina226-module
 - Drivers/rx8130ce-module
+- Drivers/sc2356-module
 dts: m5stack,tab5.dts

Devices/m5stack-tab5/m5stack,tab5.dts

@@ -13,6 +13,7 @@
 #include <bindings/ina226.h>
 #include <bindings/pi4ioe5v6408.h>
 #include <bindings/rx8130ce.h>
+#include <bindings/sc2356.h>
 
 / {
 	compatible = "root";
@@ -60,6 +61,11 @@
 			reg = <0x41>;
 			shunt-milliohms = <5>;
 		};
+
+		sc2356 {
+			compatible = "smartsens,sc2356";
+			reg = <0x36>;
+		};
 	};
 
 	port_a: grove0 {

Documentation/README.md

@@ -8,6 +8,8 @@ Tactility is an operating system for the ESP32 microcontroller family. It runs o
 
 ### Simulator (Linux/macOS, no ESP-IDF needed)
 
+Simulator is not supported on Windows
+
 ```bash
 cmake -B buildsim -G Ninja
 ninja -C buildsim              # build firmware + tests

Drivers/bm8563-module/include/drivers/bm8563.h

@@ -2,6 +2,7 @@
 #pragma once
 
 #include <stdint.h>
+#include <tactility/drivers/rtc.h>
 #include <tactility/error.h>
 
 struct Device;
@@ -15,30 +16,21 @@ struct Bm8563Config {
     uint8_t address;
 };
 
-struct Bm8563DateTime {
-    uint16_t year;   // 2000–2199
-    uint8_t  month;  // 1–12
-    uint8_t  day;    // 1–31
-    uint8_t  hour;   // 0–23
-    uint8_t  minute; // 0–59
-    uint8_t  second; // 0–59
-};
-
 /**
  * Read the current date and time from the RTC.
  * @param[in]  device bm8563 device
- * @param[out] dt     Pointer to Bm8563DateTime to populate
+ * @param[out] dt     Pointer to RtcDateTime to populate
  * @return ERROR_NONE on success
  */
-error_t bm8563_get_datetime(struct Device* device, struct Bm8563DateTime* dt);
+error_t bm8563_get_datetime(struct Device* device, struct RtcDateTime* dt);
 
 /**
  * Write the date and time to the RTC.
  * @param[in] device bm8563 device
- * @param[in] dt     Pointer to Bm8563DateTime to write (year must be 2000–2199)
+ * @param[in] dt     Pointer to RtcDateTime to write (year must be 2000–2199)
  * @return ERROR_NONE on success, ERROR_INVALID_ARGUMENT if any field is out of range
  */
-error_t bm8563_set_datetime(struct Device* device, const struct Bm8563DateTime* dt);
+error_t bm8563_set_datetime(struct Device* device, const struct RtcDateTime* dt);
 
 #ifdef __cplusplus
 }

Drivers/bm8563-module/source/bm8563.cpp

@@ -52,7 +52,7 @@ static error_t stop(Device* device) {
 
 extern "C" {
 
-error_t bm8563_get_datetime(Device* device, Bm8563DateTime* dt) {
+error_t bm8563_get_datetime(Device* device, RtcDateTime* dt) {
     auto* i2c_controller = device_get_parent(device);
     auto address = GET_CONFIG(device)->address;
 
@@ -78,7 +78,7 @@ error_t bm8563_get_datetime(Device* device, Bm8563DateTime* dt) {
     return ERROR_NONE;
 }
 
-error_t bm8563_set_datetime(Device* device, const Bm8563DateTime* dt) {
+error_t bm8563_set_datetime(Device* device, const RtcDateTime* dt) {
     if (dt->year < 2000 || dt->year > 2199 ||
         dt->month < 1 || dt->month > 12 ||
         dt->day < 1 || dt->day > 31 ||
@@ -104,13 +104,18 @@ error_t bm8563_set_datetime(Device* device, const Bm8563DateTime* dt) {
     return i2c_controller_write_register(i2c_controller, address, REG_SECONDS, buf, sizeof(buf), I2C_TIMEOUT_TICKS);
 }
 
+RtcApi bm8563_rtc_api = {
+    .get_time = bm8563_get_datetime,
+    .set_time = bm8563_set_datetime
+};
+
 Driver bm8563_driver = {
     .name = "bm8563",
     .compatible = (const char*[]) { "belling,bm8563", nullptr },
     .start_device = start,
     .stop_device = stop,
-    .api = nullptr,
-    .device_type = nullptr,
+    .api = &bm8563_rtc_api,
+    .device_type = &RTC_TYPE,
     .owner = &bm8563_module,
     .internal = nullptr
 };

Drivers/bm8563-module/source/module.cpp

@@ -21,13 +21,11 @@ static error_t stop() {
     return ERROR_NONE;
 }
 
-extern const ModuleSymbol bm8563_module_symbols[];
-
 Module bm8563_module = {
     .name = "bm8563",
     .start = start,
     .stop = stop,
-    .symbols = bm8563_module_symbols,
+    .symbols = nullptr,
     .internal = nullptr
 };
 

Drivers/bm8563-module/source/symbols.c

@@ -1,9 +0,0 @@
-// SPDX-License-Identifier: Apache-2.0
-#include <drivers/bm8563.h>
-#include <tactility/module.h>
-
-const struct ModuleSymbol bm8563_module_symbols[] = {
-    DEFINE_MODULE_SYMBOL(bm8563_get_datetime),
-    DEFINE_MODULE_SYMBOL(bm8563_set_datetime),
-    MODULE_SYMBOL_TERMINATOR
-};

Drivers/rx8130ce-module/include/drivers/rx8130ce.h

@@ -2,6 +2,7 @@
 #pragma once
 
 #include <stdint.h>
+#include <tactility/drivers/rtc.h>
 #include <tactility/error.h>
 
 struct Device;
@@ -15,30 +16,21 @@ struct Rx8130ceConfig {
     uint8_t address;
 };
 
-struct Rx8130ceDateTime {
-    uint16_t year;   // 2000–2099
-    uint8_t  month;  // 1–12
-    uint8_t  day;    // 1–31
-    uint8_t  hour;   // 0–23
-    uint8_t  minute; // 0–59
-    uint8_t  second; // 0–59
-};
-
 /**
  * Read the current date and time from the RTC.
  * @param[in]  device rx8130ce device
- * @param[out] dt     Pointer to Rx8130ceDateTime to populate
+ * @param[out] dt     Pointer to RtcDateTime to populate
  * @return ERROR_NONE on success, ERROR_INVALID_STATE if VLF is set (clock data unreliable)
  */
-error_t rx8130ce_get_datetime(struct Device* device, struct Rx8130ceDateTime* dt);
+error_t rx8130ce_get_datetime(struct Device* device, struct RtcDateTime* dt);
 
 /**
  * Write the date and time to the RTC.
  * @param[in] device rx8130ce device
- * @param[in] dt     Pointer to Rx8130ceDateTime to write (year must be 2000–2099)
+ * @param[in] dt     Pointer to RtcDateTime to write (year must be 2000–2099)
  * @return ERROR_NONE on success, ERROR_INVALID_ARGUMENT if any field is out of range
  */
-error_t rx8130ce_set_datetime(struct Device* device, const struct Rx8130ceDateTime* dt);
+error_t rx8130ce_set_datetime(struct Device* device, const struct RtcDateTime* dt);
 
 #ifdef __cplusplus
 }

Drivers/rx8130ce-module/source/module.cpp

@@ -21,13 +21,11 @@ static error_t stop() {
     return ERROR_NONE;
 }
 
-extern const ModuleSymbol rx8130ce_module_symbols[];
-
 Module rx8130ce_module = {
     .name = "rx8130ce",
     .start = start,
     .stop = stop,
-    .symbols = rx8130ce_module_symbols,
+    .symbols = nullptr,
     .internal = nullptr
 };
 

Drivers/rx8130ce-module/source/rx8130ce.cpp

@@ -78,7 +78,7 @@ static error_t stop(Device* device) {
 
 extern "C" {
 
-error_t rx8130ce_get_datetime(Device* device, Rx8130ceDateTime* dt) {
+error_t rx8130ce_get_datetime(Device* device, RtcDateTime* dt) {
     auto* i2c_controller = device_get_parent(device);
     auto address = GET_CONFIG(device)->address;
 
@@ -107,7 +107,7 @@ error_t rx8130ce_get_datetime(Device* device, Rx8130ceDateTime* dt) {
     return ERROR_NONE;
 }
 
-error_t rx8130ce_set_datetime(Device* device, const Rx8130ceDateTime* dt) {
+error_t rx8130ce_set_datetime(Device* device, const RtcDateTime* dt) {
     if (dt->month < 1 || dt->month > 12 ||
         dt->day < 1 || dt->day > 31 ||
         dt->hour > 23 || dt->minute > 59 || dt->second > 59) {
@@ -151,13 +151,18 @@ error_t rx8130ce_set_datetime(Device* device, const Rx8130ceDateTime* dt) {
     return error;
 }
 
+RtcApi rx8130ce_rtc_api = {
+    .get_time = rx8130ce_get_datetime,
+    .set_time = rx8130ce_set_datetime
+};
+
 Driver rx8130ce_driver = {
     .name = "rx8130ce",
     .compatible = (const char*[]) { "epson,rx8130ce", nullptr },
     .start_device = start,
     .stop_device = stop,
-    .api = nullptr,
-    .device_type = nullptr,
+    .api = &rx8130ce_rtc_api,
+    .device_type = &RTC_TYPE,
     .owner = &rx8130ce_module,
     .internal = nullptr
 };

Drivers/rx8130ce-module/source/symbols.c

@@ -1,9 +0,0 @@
-// SPDX-License-Identifier: Apache-2.0
-#include <drivers/rx8130ce.h>
-#include <tactility/module.h>
-
-const struct ModuleSymbol rx8130ce_module_symbols[] = {
-    DEFINE_MODULE_SYMBOL(rx8130ce_get_datetime),
-    DEFINE_MODULE_SYMBOL(rx8130ce_set_datetime),
-    MODULE_SYMBOL_TERMINATOR
-};

Drivers/sc2356-module/CMakeLists.txt

@@ -0,0 +1,11 @@
+cmake_minimum_required(VERSION 3.20)
+
+include("${CMAKE_CURRENT_LIST_DIR}/../../Buildscripts/module.cmake")
+
+file(GLOB_RECURSE SOURCE_FILES "source/*.c*")
+
+tactility_add_module(sc2356-module
+    SRCS ${SOURCE_FILES}
+    INCLUDE_DIRS include/
+    REQUIRES TactilityKernel platform-esp32 esp_video esp_cam_sensor driver esp_driver_jpeg esp_driver_ppa
+)

Drivers/sc2356-module/LICENSE-Apache-2.0.md

@@ -0,0 +1,195 @@
+Apache License
+==============
+
+_Version 2.0, January 2004_  
+_&lt;<http://www.apache.org/licenses/>&gt;_
+
+### Terms and Conditions for use, reproduction, and distribution
+
+#### 1. Definitions
+
+“License” shall mean the terms and conditions for use, reproduction, and
+distribution as defined by Sections 1 through 9 of this document.
+
+“Licensor” shall mean the copyright owner or entity authorized by the copyright
+owner that is granting the License.
+
+“Legal Entity” shall mean the union of the acting entity and all other entities
+that control, are controlled by, or are under common control with that entity.
+For the purposes of this definition, “control” means **(i)** the power, direct or
+indirect, to cause the direction or management of such entity, whether by
+contract or otherwise, or **(ii)** ownership of fifty percent (50%) or more of the
+outstanding shares, or **(iii)** beneficial ownership of such entity.
+
+“You” (or “Your”) shall mean an individual or Legal Entity exercising
+permissions granted by this License.
+
+“Source” form shall mean the preferred form for making modifications, including
+but not limited to software source code, documentation source, and configuration
+files.
+
+“Object” form shall mean any form resulting from mechanical transformation or
+translation of a Source form, including but not limited to compiled object code,
+generated documentation, and conversions to other media types.
+
+“Work” shall mean the work of authorship, whether in Source or Object form, made
+available under the License, as indicated by a copyright notice that is included
+in or attached to the work (an example is provided in the Appendix below).
+
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+“Contributor” shall mean Licensor and any individual or Legal Entity on behalf
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+
+#### 2. Grant of Copyright License
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+

Drivers/sc2356-module/README.md

@@ -0,0 +1,9 @@
+# SC2356 MIPI CSI Camera Driver
+
+A driver for the `SC2356` (also known as SC202CS) 2MP MIPI CSI camera sensor by Smartsens.
+
+- Datasheet: https://www.smartsens.com/en/product/SC2356/
+- M5Stack Tab5 hardware: https://docs.m5stack.com/en/core/Tab5
+- ESP Video Components: https://github.com/espressif/esp-video-components
+
+License: [Apache v2.0](LICENSE-Apache-2.0.md)

Drivers/sc2356-module/bindings/smartsens,sc2356.yaml

@@ -0,0 +1,5 @@
+description: Smartsens SC2356 2MP MIPI CSI camera sensor
+
+include: [ "i2c-device.yaml" ]
+
+compatible: "smartsens,sc2356"

Drivers/sc2356-module/devicetree.yaml

@@ -0,0 +1,3 @@
+dependencies:
+- TactilityKernel
+bindings: bindings

Drivers/sc2356-module/include/bindings/sc2356.h

@@ -0,0 +1,15 @@
+// SPDX-License-Identifier: Apache-2.0
+#pragma once
+
+#include <tactility/bindings/bindings.h>
+#include <drivers/sc2356.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+DEFINE_DEVICETREE(sc2356, struct Sc2356Config)
+
+#ifdef __cplusplus
+}
+#endif

Drivers/sc2356-module/include/drivers/sc2356.h

@@ -0,0 +1,102 @@
+// SPDX-License-Identifier: Apache-2.0
+#pragma once
+
+#include <stdint.h>
+#include <stdbool.h>
+#include <stddef.h>
+#include <tactility/drivers/camera.h>
+#include <tactility/error.h>
+
+struct Device;
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+struct Sc2356Config {
+    /** SCCB I2C address (0x36) */
+    uint8_t address;
+};
+
+/**
+ * Opaque camera handle returned by sc2356_open().
+ * Not thread-safe: the capture flow (sc2356_get_frame/sc2356_capture_jpeg + sc2356_release_frame)
+ * must be driven from a single consumer at a time. state->last_dqbuf_index and the shared PPA
+ * output buffer are not guarded by a lock, so overlapping calls from multiple tasks on the same
+ * handle will race.
+ */
+typedef CameraHandle Sc2356Handle;
+
+/**
+ * Initialize the esp_video subsystem and open the MIPI CSI video device.
+ * Reuses the parent I2C controller's bus handle for SCCB communication.
+ * Must be called before any other sc2356_* functions.
+ * @param device  the sc2356 device from the device tree
+ * @param handle  out: opaque handle to pass to subsequent calls
+ * @return ERROR_NONE on success
+ */
+error_t sc2356_open(struct Device* device, Sc2356Handle* handle);
+
+/**
+ * Stop streaming, unmap frame buffers, and release all resources.
+ * @param handle  handle returned by sc2356_open()
+ * @return ERROR_NONE on success
+ */
+error_t sc2356_close(Sc2356Handle handle);
+
+/**
+ * Dequeue one RGB565 frame. Blocks until a frame is available or the timeout expires.
+ * The caller must call sc2356_release_frame() to return the buffer to the camera queue.
+ * @param handle      handle returned by sc2356_open()
+ * @param buf         out: pointer to the DMA-mapped RGB565 frame buffer
+ * @param len         out: byte length of buf (width * height * 2)
+ * @param timeout_ms  maximum time to wait in milliseconds
+ * @param out_width   optional out: width of buf at the moment it was produced, atomic with the frame data (may be NULL)
+ * @param out_height  optional out: height of buf at the moment it was produced, atomic with the frame data (may be NULL)
+ * @return ERROR_NONE on success, ERROR_TIMEOUT if no frame arrived in time
+ */
+error_t sc2356_get_frame(Sc2356Handle handle, uint8_t** buf, size_t* len, uint32_t timeout_ms, uint32_t* out_width, uint32_t* out_height);
+
+/**
+ * Return the last dequeued frame buffer to the V4L2 capture queue.
+ * Must be called after each successful sc2356_get_frame().
+ * @param handle  handle returned by sc2356_open()
+ * @return ERROR_NONE on success
+ */
+error_t sc2356_release_frame(Sc2356Handle handle);
+
+/**
+ * Return the frame width in pixels (1280 for the default 720p config).
+ * @param handle  handle returned by sc2356_open()
+ */
+uint32_t sc2356_get_width(Sc2356Handle handle);
+
+/**
+ * Return the frame height in pixels (720 for the default 720p config).
+ * @param handle  handle returned by sc2356_open()
+ */
+uint32_t sc2356_get_height(Sc2356Handle handle);
+
+/**
+ * Change the clockwise rotation applied to subsequent frames.
+ * Can be called at any time while the handle is open, including during streaming.
+ * @param handle    handle returned by sc2356_open()
+ * @param rotation  new rotation
+ * @return ERROR_NONE on success
+ */
+error_t sc2356_set_rotation(Sc2356Handle handle, CameraRotation rotation);
+
+/**
+ * Capture one frame and JPEG-encode it using the hardware JPEG encoder.
+ * Allocates output buffer in SPIRAM; caller must free it with heap_caps_free().
+ * @param handle     handle returned by sc2356_open()
+ * @param out_buf    out: pointer to JPEG-encoded data (caller must free)
+ * @param out_len    out: byte length of JPEG data
+ * @param quality    JPEG quality 1-100
+ * @return ERROR_NONE on success
+ */
+error_t sc2356_capture_jpeg(Sc2356Handle handle, uint8_t** out_buf, size_t* out_len, uint8_t quality);
+
+#ifdef __cplusplus
+}
+#endif

Drivers/sc2356-module/include/sc2356_module.h

@@ -0,0 +1,14 @@
+// SPDX-License-Identifier: Apache-2.0
+#pragma once
+
+#include <tactility/module.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+extern struct Module sc2356_module;
+
+#ifdef __cplusplus
+}
+#endif

Drivers/sc2356-module/source/module.cpp

@@ -0,0 +1,28 @@
+// SPDX-License-Identifier: Apache-2.0
+#include <tactility/check.h>
+#include <tactility/driver.h>
+#include <tactility/module.h>
+
+extern "C" {
+
+extern Driver sc2356_driver;
+
+static error_t start() {
+    check(driver_construct_add(&sc2356_driver) == ERROR_NONE);
+    return ERROR_NONE;
+}
+
+static error_t stop() {
+    check(driver_remove_destruct(&sc2356_driver) == ERROR_NONE);
+    return ERROR_NONE;
+}
+
+Module sc2356_module = {
+    .name = "sc2356",
+    .start = start,
+    .stop = stop,
+    .symbols = nullptr,
+    .internal = nullptr
+};
+
+} // extern "C"

Drivers/sc2356-module/source/sc2356.cpp

@@ -0,0 +1,562 @@
+// SPDX-License-Identifier: Apache-2.0
+#include <drivers/sc2356.h>
+#include <sc2356_module.h>
+
+#include <tactility/device.h>
+#include <tactility/drivers/esp32_i2c_master.h>
+#include <tactility/drivers/i2c_controller.h>
+#include <tactility/log.h>
+
+#include <esp_heap_caps.h>
+#include <esp_video_device.h>
+#include <esp_video_init.h>
+#include <freertos/task.h>
+
+#include <fcntl.h>
+#include <linux/videodev2.h>
+#include <sys/errno.h>
+#include <sys/ioctl.h>
+#include <sys/mman.h>
+#include <sys/poll.h>
+
+#include <driver/jpeg_encode.h>
+#include <driver/ppa.h>
+
+#include <cstring>
+#include <freertos/semphr.h>
+
+#define TAG "SC2356"
+
+// SC2356 (SC202CS) chip ID registers (16-bit address, 8-bit value)
+// PID = 0xEB52: high byte 0xEB at register 0x3107, low byte 0x52 at 0x3108
+static constexpr uint8_t SC2356_REG_CHIP_ID_H[2] = { 0x31, 0x07 };
+static constexpr uint8_t SC2356_CHIP_ID_H = 0xEB;
+static constexpr uint8_t SC2356_REG_CHIP_ID_L[2] = { 0x31, 0x08 };
+static constexpr uint8_t SC2356_CHIP_ID_L = 0x52;
+
+static constexpr TickType_t I2C_TIMEOUT = pdMS_TO_TICKS(20);
+static constexpr int VIDEO_BUFFER_COUNT = 2;
+
+static bool s_video_initialized = false;
+static SemaphoreHandle_t s_video_init_mutex = nullptr;
+
+struct Sc2356State : CameraHandleData {
+    int fd;
+    // Native sensor output dimensions (always 1280×720 from the sensor)
+    uint32_t native_width;
+    uint32_t native_height;
+    // Post-rotation dimensions (swapped for 90/270)
+    uint32_t width;
+    uint32_t height;
+    uint8_t* buffers[VIDEO_BUFFER_COUNT];
+    size_t buf_lengths[VIDEO_BUFFER_COUNT];
+    int last_dqbuf_index;
+    jpeg_encoder_handle_t enc;
+    i2c_master_bus_handle_t sccb_bus;
+    CameraRotation rotation;
+    ppa_client_handle_t ppa;
+    // PPA output buffer — fixed size, large enough for any rotation (native_width * native_height * 2)
+    uint8_t* ppa_out_buf;
+    size_t ppa_out_buf_size;
+    SemaphoreHandle_t rotation_mutex; // protects rotation, width, height
+};
+
+#define GET_CONFIG(device) (static_cast<const Sc2356Config*>((device)->config))
+
+static error_t start(Device* device) {
+    auto* i2c = device_get_parent(device);
+    if (device_get_type(i2c) != &I2C_CONTROLLER_TYPE) {
+        LOG_E(TAG, "Parent is not an I2C controller");
+        return ERROR_RESOURCE;
+    }
+
+    auto address = GET_CONFIG(device)->address;
+
+    uint8_t chip_id_h = 0, chip_id_l = 0;
+    error_t err = i2c_controller_write_read(i2c, address, SC2356_REG_CHIP_ID_H, sizeof(SC2356_REG_CHIP_ID_H), &chip_id_h, 1, I2C_TIMEOUT);
+    if (err != ERROR_NONE) {
+        LOG_W(TAG, "WHO_AM_I read failed: %s — sensor may still be starting up", error_to_string(err));
+        return ERROR_NONE;
+    }
+
+    err = i2c_controller_write_read(i2c, address, SC2356_REG_CHIP_ID_L, sizeof(SC2356_REG_CHIP_ID_L), &chip_id_l, 1, I2C_TIMEOUT);
+    if (err != ERROR_NONE) {
+        LOG_W(TAG, "WHO_AM_I read (low) failed: %s", error_to_string(err));
+        return ERROR_NONE;
+    }
+
+    if (chip_id_h != SC2356_CHIP_ID_H || chip_id_l != SC2356_CHIP_ID_L) {
+        LOG_E(TAG, "WHO_AM_I mismatch: got 0x%02X%02X, expected 0x%02X%02X", chip_id_h, chip_id_l, SC2356_CHIP_ID_H, SC2356_CHIP_ID_L);
+        return ERROR_RESOURCE;
+    }
+    LOG_I(TAG, "WHO_AM_I OK (0x%02X%02X)", chip_id_h, chip_id_l);
+    return ERROR_NONE;
+}
+
+static error_t stop([[maybe_unused]] Device* device) {
+    return ERROR_NONE;
+}
+
+static SemaphoreHandle_t get_video_init_mutex() {
+    static portMUX_TYPE creation_lock = portMUX_INITIALIZER_UNLOCKED;
+    portENTER_CRITICAL(&creation_lock);
+    if (!s_video_init_mutex) {
+        s_video_init_mutex = xSemaphoreCreateMutex();
+        if (!s_video_init_mutex) {
+            LOG_E(TAG, "Failed to create video init mutex");
+        }
+    }
+    portEXIT_CRITICAL(&creation_lock);
+    return s_video_init_mutex;
+}
+
+static ppa_srm_rotation_angle_t to_ppa_rotation(CameraRotation rotation) {
+    switch (rotation) {
+        case CAMERA_ROTATION_90:  return PPA_SRM_ROTATION_ANGLE_90;
+        case CAMERA_ROTATION_180: return PPA_SRM_ROTATION_ANGLE_180;
+        case CAMERA_ROTATION_270: return PPA_SRM_ROTATION_ANGLE_270;
+        default:                  return PPA_SRM_ROTATION_ANGLE_0;
+    }
+}
+
+extern "C" {
+
+error_t sc2356_open(Device* device, Sc2356Handle* out_handle) {
+    if (!device || !out_handle) return ERROR_INVALID_ARGUMENT;
+
+    auto* state = static_cast<Sc2356State*>(heap_caps_calloc(1, sizeof(Sc2356State), MALLOC_CAP_DEFAULT));
+    if (!state) return ERROR_OUT_OF_MEMORY;
+    state->device = device;
+    state->fd = -1;
+    state->last_dqbuf_index = -1;
+    state->rotation_mutex = xSemaphoreCreateMutex();
+    if (!state->rotation_mutex) {
+        heap_caps_free(state);
+        return ERROR_OUT_OF_MEMORY;
+    }
+
+    state->rotation = CAMERA_ROTATION_0;
+
+    // Retrieve bus handle from the parent I2C controller
+    auto* i2c = device_get_parent(device);
+    state->sccb_bus = esp32_i2c_master_get_bus_handle(i2c);
+    if (!state->sccb_bus) {
+        LOG_E(TAG, "Failed to get i2c_master bus handle from parent device");
+        vSemaphoreDelete(state->rotation_mutex);
+        heap_caps_free(state);
+        return ERROR_RESOURCE;
+    }
+
+    // esp_video_init only needs to run once across all sc2356_open calls
+    {
+        SemaphoreHandle_t init_mutex = get_video_init_mutex();
+        if (!init_mutex) {
+            vSemaphoreDelete(state->rotation_mutex);
+            heap_caps_free(state);
+            return ERROR_OUT_OF_MEMORY;
+        }
+        xSemaphoreTake(init_mutex, portMAX_DELAY);
+        if (!s_video_initialized) {
+            esp_video_init_csi_config_t csi_config = {};
+            csi_config.sccb_config.init_sccb  = false;
+            csi_config.sccb_config.i2c_handle = state->sccb_bus;
+            csi_config.sccb_config.freq       = 400000;
+            csi_config.reset_pin              = static_cast<gpio_num_t>(-1);
+            csi_config.pwdn_pin               = static_cast<gpio_num_t>(-1);
+
+            esp_video_init_config_t cam_config = {};
+            cam_config.csi = &csi_config;
+
+            esp_err_t esp_err = esp_video_init(&cam_config);
+            if (esp_err != ESP_OK) {
+                LOG_E(TAG, "esp_video_init failed: %s", esp_err_to_name(esp_err));
+                xSemaphoreGive(init_mutex);
+                vSemaphoreDelete(state->rotation_mutex);
+                heap_caps_free(state);
+                return ERROR_RESOURCE;
+            }
+            s_video_initialized = true;
+        }
+        xSemaphoreGive(init_mutex);
+    }
+
+    // Open the CSI video device. The ISP pipeline controller (running in the background
+    // after esp_video_init) applies AE/AWB/demosaicing automatically; pixel output
+    // is still on /dev/video0, which delivers processed RGB565 frames.
+    state->fd = open(ESP_VIDEO_MIPI_CSI_DEVICE_NAME, O_RDONLY);
+    if (state->fd < 0) {
+        LOG_E(TAG, "Failed to open %s", ESP_VIDEO_MIPI_CSI_DEVICE_NAME);
+        vSemaphoreDelete(state->rotation_mutex);
+        heap_caps_free(state);
+        return ERROR_RESOURCE;
+    }
+
+    // Query current format to get sensor dimensions
+    struct v4l2_format fmt = {};
+    fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
+    if (ioctl(state->fd, VIDIOC_G_FMT, &fmt) != 0) {
+        LOG_E(TAG, "VIDIOC_G_FMT failed");
+        goto err_close;
+    }
+
+    // Set RGB565 output format
+    if (fmt.fmt.pix.pixelformat != V4L2_PIX_FMT_RGB565) {
+        fmt.fmt.pix.pixelformat = V4L2_PIX_FMT_RGB565;
+        if (ioctl(state->fd, VIDIOC_S_FMT, &fmt) != 0) {
+            LOG_E(TAG, "VIDIOC_S_FMT RGB565 failed");
+            goto err_close;
+        }
+        // Re-read to get the actual negotiated dimensions
+        memset(&fmt, 0, sizeof(fmt));
+        fmt.type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
+        if (ioctl(state->fd, VIDIOC_G_FMT, &fmt) != 0) {
+            LOG_E(TAG, "VIDIOC_G_FMT after set failed");
+            goto err_close;
+        }
+    }
+
+    state->native_width  = fmt.fmt.pix.width;
+    state->native_height = fmt.fmt.pix.height;
+
+    // Post-rotation dimensions (swapped for 90/270)
+    if (state->rotation == CAMERA_ROTATION_90 || state->rotation == CAMERA_ROTATION_270) {
+        state->width  = state->native_height;
+        state->height = state->native_width;
+    } else {
+        state->width  = state->native_width;
+        state->height = state->native_height;
+    }
+    LOG_I(TAG, "Video format: %lux%lu native",
+          (unsigned long)state->native_width, (unsigned long)state->native_height);
+
+    // PPA output buffer — fixed size (max of any rotation), cache-line aligned per PPA requirements
+    state->ppa_out_buf_size = (size_t)state->native_width * state->native_height * 2;
+    state->ppa_out_buf = static_cast<uint8_t*>(
+        heap_caps_aligned_alloc(64, state->ppa_out_buf_size, MALLOC_CAP_SPIRAM));
+    if (!state->ppa_out_buf) {
+        LOG_E(TAG, "Failed to alloc PPA output buffer (%zu bytes)", state->ppa_out_buf_size);
+        goto err_close;
+    }
+
+    // PPA client for hardware-accelerated rotation
+    {
+        ppa_client_config_t ppa_cfg = {};
+        ppa_cfg.oper_type = PPA_OPERATION_SRM;
+        ppa_cfg.max_pending_trans_num = 1;
+        if (ppa_register_client(&ppa_cfg, &state->ppa) != ESP_OK) {
+            LOG_E(TAG, "ppa_register_client failed");
+            goto err_close;
+        }
+    }
+
+    // Request mmap buffers
+    {
+        struct v4l2_requestbuffers req = {};
+        req.count  = VIDEO_BUFFER_COUNT;
+        req.type   = V4L2_BUF_TYPE_VIDEO_CAPTURE;
+        req.memory = V4L2_MEMORY_MMAP;
+        if (ioctl(state->fd, VIDIOC_REQBUFS, &req) != 0) {
+            LOG_E(TAG, "VIDIOC_REQBUFS failed");
+            goto err_close;
+        }
+    }
+
+    // Query, mmap, and queue each buffer
+    for (int i = 0; i < VIDEO_BUFFER_COUNT; i++) {
+        struct v4l2_buffer buf = {};
+        buf.type   = V4L2_BUF_TYPE_VIDEO_CAPTURE;
+        buf.memory = V4L2_MEMORY_MMAP;
+        buf.index  = i;
+        if (ioctl(state->fd, VIDIOC_QUERYBUF, &buf) != 0) {
+            LOG_E(TAG, "VIDIOC_QUERYBUF[%d] failed", i);
+            goto err_unmap;
+        }
+
+        state->buf_lengths[i] = buf.length;
+        state->buffers[i] = static_cast<uint8_t*>(
+            mmap(nullptr, buf.length, PROT_READ | PROT_WRITE, MAP_SHARED, state->fd, buf.m.offset)
+        );
+        if (state->buffers[i] == MAP_FAILED) {
+            state->buffers[i] = nullptr;
+            LOG_E(TAG, "mmap[%d] failed", i);
+            goto err_unmap;
+        }
+
+        if (ioctl(state->fd, VIDIOC_QBUF, &buf) != 0) {
+            LOG_E(TAG, "VIDIOC_QBUF[%d] failed", i);
+            goto err_unmap;
+        }
+    }
+
+    // Start streaming
+    {
+        int type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
+        if (ioctl(state->fd, VIDIOC_STREAMON, &type) != 0) {
+            LOG_E(TAG, "VIDIOC_STREAMON failed");
+            goto err_unmap;
+        }
+    }
+
+    // Create hardware JPEG encoder once; reused across all sc2356_capture_jpeg() calls
+    {
+        jpeg_encode_engine_cfg_t eng_cfg = { .intr_priority = 0, .timeout_ms = 1000 };
+        esp_err_t je = jpeg_new_encoder_engine(&eng_cfg, &state->enc);
+        if (je != ESP_OK) {
+            LOG_E(TAG, "jpeg_new_encoder_engine failed: %s", esp_err_to_name(je));
+            goto err_unmap;
+        }
+    }
+
+    *out_handle = state;
+    return ERROR_NONE;
+
+err_unmap:
+    {
+        // Stop streaming before unmapping - correct V4L2 cleanup order, avoids DMA-into-
+        // unmapped-buffer races. Harmless no-op if STREAMON never succeeded (e.g. it's the
+        // failure that brought us here).
+        int type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
+        ioctl(state->fd, VIDIOC_STREAMOFF, &type);
+    }
+    for (int i = 0; i < VIDEO_BUFFER_COUNT; i++) {
+        if (state->buffers[i]) munmap(state->buffers[i], state->buf_lengths[i]);
+    }
+err_close:
+    if (state->ppa) ppa_unregister_client(state->ppa);
+    if (state->ppa_out_buf) heap_caps_free(state->ppa_out_buf);
+    if (state->rotation_mutex) vSemaphoreDelete(state->rotation_mutex);
+    close(state->fd);
+    heap_caps_free(state);
+    return ERROR_RESOURCE;
+}
+
+error_t sc2356_close(Sc2356Handle handle) {
+    if (!handle) return ERROR_INVALID_ARGUMENT;
+    auto* state = static_cast<Sc2356State*>(handle);
+
+    if (state->enc) jpeg_del_encoder_engine(state->enc);
+    if (state->ppa) ppa_unregister_client(state->ppa);
+
+    int type = V4L2_BUF_TYPE_VIDEO_CAPTURE;
+    ioctl(state->fd, VIDIOC_STREAMOFF, &type);
+
+    for (int i = 0; i < VIDEO_BUFFER_COUNT; i++) {
+        if (state->buffers[i]) munmap(state->buffers[i], state->buf_lengths[i]);
+    }
+
+    if (state->ppa_out_buf) heap_caps_free(state->ppa_out_buf);
+    if (state->rotation_mutex) vSemaphoreDelete(state->rotation_mutex);
+    close(state->fd);
+    // Bus handle is owned by esp32_i2c_master driver - do not delete it
+    heap_caps_free(state);
+    return ERROR_NONE;
+}
+
+error_t sc2356_set_rotation(Sc2356Handle handle, CameraRotation rotation) {
+    if (!handle) return ERROR_INVALID_ARGUMENT;
+    auto* state = static_cast<Sc2356State*>(handle);
+
+    xSemaphoreTake(state->rotation_mutex, portMAX_DELAY);
+
+    if (state->rotation == rotation) {
+        xSemaphoreGive(state->rotation_mutex);
+        return ERROR_NONE;
+    }
+
+    bool needs_swap = (rotation == CAMERA_ROTATION_90 || rotation == CAMERA_ROTATION_270);
+
+    state->rotation = rotation;
+    if (needs_swap) {
+        state->width  = state->native_height;
+        state->height = state->native_width;
+    } else {
+        state->width  = state->native_width;
+        state->height = state->native_height;
+    }
+
+    xSemaphoreGive(state->rotation_mutex);
+    return ERROR_NONE;
+}
+
+error_t sc2356_get_frame(Sc2356Handle handle, uint8_t** buf, size_t* len, uint32_t timeout_ms, uint32_t* out_width, uint32_t* out_height) {
+    if (!handle || !buf || !len) return ERROR_INVALID_ARGUMENT;
+    auto* state = static_cast<Sc2356State*>(handle);
+
+    // Use poll to enforce timeout
+    struct pollfd pfd = {};
+    pfd.fd     = state->fd;
+    pfd.events = POLLIN;
+    int ret = poll(&pfd, 1, static_cast<int>(timeout_ms));
+    if (ret == 0) return ERROR_TIMEOUT;
+    if (ret < 0) {
+        LOG_E(TAG, "poll failed: %d", errno);
+        return ERROR_RESOURCE;
+    }
+
+    struct v4l2_buffer vbuf = {};
+    vbuf.type   = V4L2_BUF_TYPE_VIDEO_CAPTURE;
+    vbuf.memory = V4L2_MEMORY_MMAP;
+    if (ioctl(state->fd, VIDIOC_DQBUF, &vbuf) != 0) {
+        LOG_E(TAG, "VIDIOC_DQBUF failed: %d", errno);
+        return ERROR_RESOURCE;
+    }
+
+    state->last_dqbuf_index = static_cast<int>(vbuf.index);
+    uint8_t* raw = state->buffers[vbuf.index];
+
+    xSemaphoreTake(state->rotation_mutex, portMAX_DELAY);
+
+    uint32_t frame_width  = state->width;
+    uint32_t frame_height = state->height;
+
+    ppa_srm_oper_config_t srm_cfg = {};
+    srm_cfg.in.buffer  = raw;
+    srm_cfg.in.pic_w   = srm_cfg.in.block_w = state->native_width;
+    srm_cfg.in.pic_h   = srm_cfg.in.block_h = state->native_height;
+    srm_cfg.in.srm_cm  = PPA_SRM_COLOR_MODE_RGB565;
+    srm_cfg.out.buffer      = state->ppa_out_buf;
+    srm_cfg.out.buffer_size = state->ppa_out_buf_size;
+    srm_cfg.out.pic_w  = frame_width;
+    srm_cfg.out.pic_h  = frame_height;
+    srm_cfg.out.srm_cm = PPA_SRM_COLOR_MODE_RGB565;
+    srm_cfg.rotation_angle = to_ppa_rotation(state->rotation);
+    srm_cfg.scale_x = srm_cfg.scale_y = 1.0f;
+    srm_cfg.mode = PPA_TRANS_MODE_BLOCKING;
+
+    esp_err_t ppa_err = ppa_do_scale_rotate_mirror(state->ppa, &srm_cfg);
+    xSemaphoreGive(state->rotation_mutex);
+
+    if (ppa_err != ESP_OK) {
+        LOG_E(TAG, "ppa_do_scale_rotate_mirror failed: %s", esp_err_to_name(ppa_err));
+        // Buffer was already dequeued (VIDIOC_DQBUF above) - the caller receives an error
+        // and may never call sc2356_release_frame(), so return it to the queue here or
+        // repeated PPA failures exhaust VIDEO_BUFFER_COUNT and poll() blocks forever.
+        sc2356_release_frame(handle);
+        return ERROR_RESOURCE;
+    }
+
+    *buf = state->ppa_out_buf;
+    *len = (size_t)frame_width * frame_height * 2;
+    if (out_width != nullptr) {
+        *out_width = frame_width;
+    }
+    if (out_height != nullptr) {
+        *out_height = frame_height;
+    }
+    return ERROR_NONE;
+}
+
+error_t sc2356_release_frame(Sc2356Handle handle) {
+    if (!handle) return ERROR_INVALID_ARGUMENT;
+    auto* state = static_cast<Sc2356State*>(handle);
+
+    if (state->last_dqbuf_index < 0) return ERROR_INVALID_STATE;
+
+    struct v4l2_buffer vbuf = {};
+    vbuf.type   = V4L2_BUF_TYPE_VIDEO_CAPTURE;
+    vbuf.memory = V4L2_MEMORY_MMAP;
+    vbuf.index  = static_cast<uint32_t>(state->last_dqbuf_index);
+    state->last_dqbuf_index = -1;
+
+    if (ioctl(state->fd, VIDIOC_QBUF, &vbuf) != 0) {
+        LOG_E(TAG, "VIDIOC_QBUF failed: %d", errno);
+        return ERROR_RESOURCE;
+    }
+    return ERROR_NONE;
+}
+
+uint32_t sc2356_get_width(Sc2356Handle handle) {
+    if (!handle) return 0;
+    auto* state = static_cast<Sc2356State*>(handle);
+    xSemaphoreTake(state->rotation_mutex, portMAX_DELAY);
+    uint32_t width = state->width;
+    xSemaphoreGive(state->rotation_mutex);
+    return width;
+}
+
+uint32_t sc2356_get_height(Sc2356Handle handle) {
+    if (!handle) return 0;
+    auto* state = static_cast<Sc2356State*>(handle);
+    xSemaphoreTake(state->rotation_mutex, portMAX_DELAY);
+    uint32_t height = state->height;
+    xSemaphoreGive(state->rotation_mutex);
+    return height;
+}
+
+error_t sc2356_capture_jpeg(Sc2356Handle handle, uint8_t** out_buf, size_t* out_len, uint8_t quality) {
+    if (!handle || !out_buf || !out_len) return ERROR_INVALID_ARGUMENT;
+    auto* state = static_cast<Sc2356State*>(handle);
+
+    // Dequeue one frame. Dimensions come back atomically with the frame data itself,
+    // so they can't drift if a concurrent sc2356_set_rotation() changes state->width/height.
+    uint8_t* frame = nullptr;
+    size_t frame_len = 0;
+    uint32_t capture_width = 0;
+    uint32_t capture_height = 0;
+    error_t err = sc2356_get_frame(handle, &frame, &frame_len, 500, &capture_width, &capture_height);
+    if (err != ERROR_NONE) return err;
+
+    // Output buffer must be allocated with jpeg_alloc_encoder_mem for DMA alignment.
+    // jpeg_alloc_encoder_mem() allocates exactly the requested size with no headroom, so the
+    // hint must cover the worst case, not the typical case. At high quality settings (low
+    // compression) on detailed/noisy images, a width*height (1 byte/pixel) hint can be smaller
+    // than the actual encoded output, causing the DMA write to overrun the buffer - this was
+    // observed as JPEG corruption confined to the tail of the image. width*height*2 matches
+    // the uncompressed RGB565 source size, which JPEG output can never exceed.
+    size_t out_sz = 0;
+    jpeg_encode_memory_alloc_cfg_t mem_cfg = { .buffer_direction = JPEG_ENC_ALLOC_OUTPUT_BUFFER };
+    uint8_t* jpeg_buf = static_cast<uint8_t*>(
+        jpeg_alloc_encoder_mem(capture_width * capture_height * 2, &mem_cfg, &out_sz));
+    if (!jpeg_buf) {
+        sc2356_release_frame(handle);
+        return ERROR_OUT_OF_MEMORY;
+    }
+
+    jpeg_encode_cfg_t enc_cfg = {
+        .height        = capture_height,
+        .width         = capture_width,
+        .src_type      = JPEG_ENCODE_IN_FORMAT_RGB565,
+        .sub_sample    = JPEG_DOWN_SAMPLING_YUV420,
+        .image_quality = quality,
+    };
+    uint32_t encoded_size = 0;
+    esp_err_t esp_err = jpeg_encoder_process(state->enc, &enc_cfg, frame,
+                                             static_cast<uint32_t>(frame_len),
+                                             jpeg_buf, static_cast<uint32_t>(out_sz),
+                                             &encoded_size);
+    sc2356_release_frame(handle);
+
+    if (esp_err != ESP_OK || encoded_size == 0) {
+        LOG_E(TAG, "jpeg_encoder_process failed: %s", esp_err_to_name(esp_err));
+        heap_caps_free(jpeg_buf);
+        return ERROR_RESOURCE;
+    }
+
+    *out_buf = jpeg_buf;
+    *out_len = static_cast<size_t>(encoded_size);
+    return ERROR_NONE;
+}
+
+CameraApi sc2356_camera_api = {
+    .open = sc2356_open,
+    .close = sc2356_close,
+    .get_frame = sc2356_get_frame,
+    .release_frame = sc2356_release_frame,
+    .get_width = sc2356_get_width,
+    .get_height = sc2356_get_height,
+    .set_rotation = sc2356_set_rotation,
+    .capture_jpeg = sc2356_capture_jpeg
+};
+
+Driver sc2356_driver = {
+    .name = "sc2356",
+    .compatible = (const char*[]) { "smartsens,sc2356", nullptr },
+    .start_device = start,
+    .stop_device = stop,
+    .api = &sc2356_camera_api,
+    .device_type = &CAMERA_TYPE,
+    .owner = &sc2356_module,
+    .internal = nullptr
+};
+
+} // extern "C"

Firmware/idf_component.yml

@@ -1,4 +1,8 @@
 dependencies:
+  espressif/esp_video:
+    version: "2.2.0"
+    rules:
+      - if: "target in [esp32s3, esp32c6, esp32p4]"
   espressif/esp_hosted:
     version: "*"
     rules:

Modules/lvgl-module/source/symbols.c

@@ -43,6 +43,7 @@ const struct ModuleSymbol lvgl_module_symbols[] = {
     DEFINE_MODULE_SYMBOL(lv_color_darken),
     DEFINE_MODULE_SYMBOL(lv_color_hsv_to_rgb),
     DEFINE_MODULE_SYMBOL(lv_color_to_32),
+    DEFINE_MODULE_SYMBOL(lv_color_mix),
     DEFINE_MODULE_SYMBOL(lv_obj_center),
     DEFINE_MODULE_SYMBOL(lv_obj_clean),
     DEFINE_MODULE_SYMBOL(lv_obj_create),
@@ -334,6 +335,8 @@ const struct ModuleSymbol lvgl_module_symbols[] = {
     DEFINE_MODULE_SYMBOL(lv_display_set_rotation),
     DEFINE_MODULE_SYMBOL(lv_display_set_offset),
     DEFINE_MODULE_SYMBOL(lv_display_trigger_activity),
+    DEFINE_MODULE_SYMBOL(lv_display_add_event_cb),
+    DEFINE_MODULE_SYMBOL(lv_display_remove_event_cb_with_user_data),
     // lv_pct
     DEFINE_MODULE_SYMBOL(lv_pct),
     DEFINE_MODULE_SYMBOL(lv_pct_to_px),

Tactility/Include/Tactility/lvgl/SliderBox.h

@@ -0,0 +1,36 @@
+#pragma once
+
+#include <lvgl.h>
+
+namespace tt::lvgl {
+
+/**
+ * Create a SliderBox: a slider flanked by "-" and "+" buttons with a value label.
+ * @param parent the parent object
+ * @param min minimum value (inclusive)
+ * @param max maximum value (inclusive)
+ * @param step the amount each +/- button press changes the value by
+ * @param value the initial value
+ * @return the created SliderBox instance
+ */
+lv_obj_t* sliderbox_create(lv_obj_t* parent, int32_t min, int32_t max, int32_t step, int32_t value);
+
+/** @return the current value of the SliderBox */
+int32_t sliderbox_get_value(lv_obj_t* obj);
+
+/**
+ * Set the current value of the SliderBox (clamped to its [min, max] range).
+ * Updates the slider position and the value label.
+ */
+void sliderbox_set_value(lv_obj_t* obj, int32_t value, lv_anim_enable_t anim);
+
+/**
+ * Register a callback that is fired with LV_EVENT_VALUE_CHANGED whenever the value
+ * changes, whether the change came from the slider or from the +/- buttons.
+ * @param obj the SliderBox instance
+ * @param callback the callback to invoke
+ * @param userData user data that is attached to the event
+ */
+void sliderbox_add_value_changed_cb(lv_obj_t* obj, lv_event_cb_t callback, void* userData);
+
+} // namespace tt::lvgl

Tactility/Include/Tactility/service/rtctime/RtcTime.h

@@ -0,0 +1,8 @@
+#pragma once
+
+namespace tt::service::rtctime {
+
+/** @return true when an RTC_TYPE device is bound and ready */
+bool isAvailable();
+
+} // namespace tt::service::rtctime

Tactility/Include/Tactility/service/rtctime/RtcTimeService.h

@@ -0,0 +1,32 @@
+#pragma once
+
+#include <Tactility/kernel/SystemEvents.h>
+#include <Tactility/service/Service.h>
+#include <Tactility/service/ServiceContext.h>
+#include <Tactility/service/rtctime/RtcTime.h>
+
+#include <memory>
+
+struct Device;
+
+namespace tt::service::rtctime {
+
+class RtcTimeService final : public Service {
+
+    kernel::SystemEventSubscription timeEventSubscription = 0;
+    Device* rtcDevice = nullptr;
+
+    Device* findRtcDevice();
+    void onTimeChanged(kernel::SystemEvent event);
+
+public:
+
+    bool onStart(ServiceContext& serviceContext) override;
+    void onStop(ServiceContext& serviceContext) override;
+
+    bool isAvailable() const;
+};
+
+std::shared_ptr<RtcTimeService> findRtcTimeService();
+
+} // namespace tt::service::rtctime

Tactility/Private/Tactility/service/gui/GuiService.h

@@ -7,6 +7,8 @@
 #include <Tactility/service/Service.h>
 #include <Tactility/service/loader/Loader.h>
 
+#include <Tactility/Semaphore.h>
+
 #include <tactility/concurrent/dispatcher.h>
 
 #include <cstdio>
@@ -30,6 +32,16 @@ class GuiService final : public Service {
     RecursiveMutex mutex;
     PubSub<loader::LoaderService::Event>::SubscriptionHandle loader_pubsub_subscription = nullptr;
 
+    // Signaled by hideApp() once App::onHide() has actually finished running on the GUI
+    // task. onLoaderEvent() blocks on this (still on the Loader thread, inside the
+    // synchronous pubsub publish() call) before returning from the ApplicationHiding
+    // branch, so LoaderService::transitionAppToState(Hiding) can't return - and therefore
+    // the immediately-following Destroyed transition (which unloads an ELF app's code via
+    // esp_elf_deinit) can't run - until onHide() has fully completed. Without this, the
+    // ELF's code/data can be unmapped while onHide() (and anything it spawned, like a
+    // camera capture task) is still executing it.
+    Semaphore hideDoneSem { 1, 0 };
+
     // Layers and Canvas
     lv_obj_t* appRootWidget = nullptr;
     lv_obj_t* statusbarWidget = nullptr;

Tactility/Source/Tactility.cpp

@@ -24,6 +24,7 @@
 #include <tactility/concurrent/thread.h>
 #include <tactility/crypt_module.h>
 #include <tactility/drivers/grove.h>
+#include <tactility/drivers/rtc.h>
 #include <tactility/drivers/uart_controller.h>
 #include <tactility/filesystem/file_system.h>
 #include <tactility/hal_device_module.h>
@@ -85,6 +86,7 @@ namespace service {
 #ifdef ESP_PLATFORM
     namespace displayidle { extern const ServiceManifest manifest; }
     namespace keyboardidle { extern const ServiceManifest manifest; }
+    namespace rtctime { extern const ServiceManifest manifest; }
 #endif
 #if TT_FEATURE_SCREENSHOT_ENABLED
     namespace screenshot { extern const ServiceManifest manifest; }
@@ -280,6 +282,9 @@ static void registerAndStartSecondaryServices() {
     addService(service::statusbar::manifest);
     addService(service::memorychecker::manifest);
 #if defined(ESP_PLATFORM)
+    if (device_exists_of_type(&RTC_TYPE)) {
+        addService(service::rtctime::manifest);
+    }
     addService(service::displayidle::manifest);
 #if defined(CONFIG_TT_TDECK_WORKAROUND)
     addService(service::keyboardidle::manifest);

Tactility/Source/app/AppPaths.cpp

@@ -16,9 +16,9 @@ namespace tt::app {
 
 std::string AppPaths::getUserDataPath() const {
     if (manifest.appLocation.isInternal()) {
-        return std::format("{}{}/user/app/{}", PARTITION_PREFIX, file::DATA_PARTITION_NAME, manifest.appId);
+        return std::format("{}{}/tactility/user/app/{}", PARTITION_PREFIX, file::DATA_PARTITION_NAME, manifest.appId);
     } else {
-        return std::format("{}/user/app/{}", file::getFirstPathSegment(manifest.appLocation.getPath()), manifest.appId);
+        return std::format("{}/tactility/user/app/{}", file::getFirstPathSegment(manifest.appLocation.getPath()), manifest.appId);
     }
 }
 

Tactility/Source/lvgl/SliderBox.cpp

@@ -0,0 +1,207 @@
+#define LV_USE_PRIVATE_API 1 // For actual lv_obj_t declaration
+
+#include <Tactility/lvgl/SliderBox.h>
+
+#include <tactility/lvgl_fonts.h>
+
+namespace tt::lvgl {
+
+typedef struct {
+    lv_obj_t obj;
+    lv_obj_t* minusButton;
+    lv_obj_t* slider;
+    lv_obj_t* valueLabel;
+    lv_obj_t* plusButton;
+    int32_t min;
+    int32_t max;
+    int32_t step;
+} SliderBox;
+
+static void sliderbox_constructor(const lv_obj_class_t* classPointer, lv_obj_t* obj);
+
+static lv_obj_class_t sliderbox_class = {
+    .base_class = &lv_obj_class,
+    .constructor_cb = &sliderbox_constructor,
+    .destructor_cb = nullptr,
+    .event_cb = nullptr,
+    .user_data = nullptr,
+    .name = "tt_sliderbox",
+    .width_def = LV_PCT(100),
+    .height_def = LV_SIZE_CONTENT,
+    .editable = false,
+    .group_def = LV_OBJ_CLASS_GROUP_DEF_TRUE,
+    .instance_size = sizeof(SliderBox),
+    .theme_inheritable = false
+};
+
+static void sliderbox_constructor(const lv_obj_class_t* classPointer, lv_obj_t* obj) {
+    LV_UNUSED(classPointer);
+    lv_obj_remove_flag(obj, LV_OBJ_FLAG_SCROLLABLE);
+    lv_obj_set_flex_flow(obj, LV_FLEX_FLOW_ROW);
+    lv_obj_set_flex_align(obj, LV_FLEX_ALIGN_START, LV_FLEX_ALIGN_CENTER, LV_FLEX_ALIGN_CENTER);
+    lv_obj_set_style_pad_all(obj, 0, LV_STATE_DEFAULT);
+    lv_obj_set_style_pad_column(obj, 4, LV_STATE_DEFAULT);
+    lv_obj_set_style_border_width(obj, 0, LV_STATE_DEFAULT);
+    lv_obj_set_style_bg_opa(obj, 0, LV_STATE_DEFAULT);
+}
+
+static void update_value_label(SliderBox* sliderBox) {
+    auto value = lv_slider_get_value(sliderBox->slider);
+    lv_label_set_text_fmt(sliderBox->valueLabel, "%" LV_PRId32, value);
+}
+
+static void update_button_states(SliderBox* sliderBox) {
+    auto value = lv_slider_get_value(sliderBox->slider);
+
+    if (value <= sliderBox->min) {
+        lv_obj_add_state(sliderBox->minusButton, LV_STATE_DISABLED);
+    } else {
+        lv_obj_remove_state(sliderBox->minusButton, LV_STATE_DISABLED);
+    }
+
+    if (value >= sliderBox->max) {
+        lv_obj_add_state(sliderBox->plusButton, LV_STATE_DISABLED);
+    } else {
+        lv_obj_remove_state(sliderBox->plusButton, LV_STATE_DISABLED);
+    }
+}
+
+static void notify_value_changed(lv_obj_t* obj) {
+    lv_obj_send_event(obj, LV_EVENT_VALUE_CHANGED, nullptr);
+}
+
+static void on_slider_value_changed(lv_event_t* event) {
+    auto* obj = static_cast<lv_obj_t*>(lv_event_get_user_data(event));
+    auto* sliderBox = reinterpret_cast<SliderBox*>(obj);
+
+    auto raw_value = lv_slider_get_value(sliderBox->slider);
+    auto steps_from_min = (raw_value - sliderBox->min + sliderBox->step / 2) / sliderBox->step;
+    auto snapped_value = sliderBox->min + steps_from_min * sliderBox->step;
+    if (snapped_value > sliderBox->max) {
+        snapped_value = sliderBox->max;
+    }
+
+    if (snapped_value != raw_value) {
+        lv_slider_set_value(sliderBox->slider, snapped_value, LV_ANIM_OFF);
+    }
+
+    update_value_label(sliderBox);
+    update_button_states(sliderBox);
+    notify_value_changed(obj);
+}
+
+static void on_step_button_clicked(lv_event_t* event, int32_t direction) {
+    auto* obj = static_cast<lv_obj_t*>(lv_event_get_user_data(event));
+    auto* sliderBox = reinterpret_cast<SliderBox*>(obj);
+
+    auto value = lv_slider_get_value(sliderBox->slider);
+    auto new_value = value + direction * sliderBox->step;
+    if (new_value < sliderBox->min) {
+        new_value = sliderBox->min;
+    } else if (new_value > sliderBox->max) {
+        new_value = sliderBox->max;
+    }
+
+    if (new_value != value) {
+        lv_slider_set_value(sliderBox->slider, new_value, LV_ANIM_ON);
+        update_value_label(sliderBox);
+        notify_value_changed(obj);
+    }
+
+    update_button_states(sliderBox);
+}
+
+static void on_minus_button_clicked(lv_event_t* event) {
+    on_step_button_clicked(event, -1);
+}
+
+static void on_plus_button_clicked(lv_event_t* event) {
+    on_step_button_clicked(event, 1);
+}
+
+static lv_obj_t* create_step_button(lv_obj_t* parent, const char* symbol, lv_event_cb_t callback, void* userData, uint32_t size) {
+    auto* button = lv_button_create(parent);
+    lv_obj_remove_flag(button, LV_OBJ_FLAG_SCROLLABLE);
+    lv_obj_set_size(button, size, size);
+    lv_obj_set_style_pad_all(button, 0, LV_STATE_DEFAULT);
+    lv_obj_add_event_cb(button, callback, LV_EVENT_SHORT_CLICKED, userData);
+
+    auto* label = lv_label_create(button);
+    lv_label_set_text(label, symbol);
+    lv_obj_center(label);
+
+    return button;
+}
+
+lv_obj_t* sliderbox_create(lv_obj_t* parent, int32_t min, int32_t max, int32_t step, int32_t value) {
+    if (max <= min) {
+        max = min + 1;
+    }
+    if (step <= 0) {
+        step = 1;
+    }
+
+    lv_obj_t* obj = lv_obj_class_create_obj(&sliderbox_class, parent);
+    lv_obj_class_init_obj(obj);
+
+    auto* sliderBox = reinterpret_cast<SliderBox*>(obj);
+    sliderBox->min = min;
+    sliderBox->max = max;
+    sliderBox->step = step;
+
+    auto button_size = lvgl_get_text_font_height(FONT_SIZE_DEFAULT) + 8;
+
+    sliderBox->minusButton = create_step_button(obj, LV_SYMBOL_MINUS, &on_minus_button_clicked, obj, button_size);
+
+    sliderBox->slider = lv_slider_create(obj);
+    lv_obj_remove_flag(sliderBox->slider, LV_OBJ_FLAG_SCROLLABLE);
+    lv_obj_set_flex_grow(sliderBox->slider, 1);
+    lv_slider_set_range(sliderBox->slider, min, max);
+    lv_obj_add_event_cb(sliderBox->slider, &on_slider_value_changed, LV_EVENT_VALUE_CHANGED, obj);
+
+    sliderBox->valueLabel = lv_label_create(obj);
+    lv_obj_set_style_text_align(sliderBox->valueLabel, LV_TEXT_ALIGN_RIGHT, LV_STATE_DEFAULT);
+    lv_label_set_long_mode(sliderBox->valueLabel, LV_LABEL_LONG_MODE_CLIP);
+
+    // Reserve enough width for the largest value so the layout doesn't jump around.
+    // +4 padding wasn't enough margin for 3-digit values to never wrap; widened to
+    // a flat per-character estimate instead of trusting raw glyph width too tightly.
+    char buffer[16];
+    lv_snprintf(buffer, sizeof(buffer), "%" LV_PRId32, min);
+    auto width_min = lv_text_get_width(buffer, lv_strlen(buffer), lv_obj_get_style_text_font(sliderBox->valueLabel, LV_PART_MAIN), 0);
+    lv_snprintf(buffer, sizeof(buffer), "%" LV_PRId32, max);
+    auto width_max = lv_text_get_width(buffer, lv_strlen(buffer), lv_obj_get_style_text_font(sliderBox->valueLabel, LV_PART_MAIN), 0);
+    auto max_width = (width_min > width_max) ? width_min : width_max;
+    lv_obj_set_width(sliderBox->valueLabel, max_width + 8);
+
+    sliderBox->plusButton = create_step_button(obj, LV_SYMBOL_PLUS, &on_plus_button_clicked, obj, button_size);
+
+    sliderbox_set_value(obj, value, LV_ANIM_OFF);
+
+    return obj;
+}
+
+int32_t sliderbox_get_value(lv_obj_t* obj) {
+    auto* sliderBox = reinterpret_cast<SliderBox*>(obj);
+    return lv_slider_get_value(sliderBox->slider);
+}
+
+void sliderbox_set_value(lv_obj_t* obj, int32_t value, lv_anim_enable_t anim) {
+    auto* sliderBox = reinterpret_cast<SliderBox*>(obj);
+
+    if (value < sliderBox->min) {
+        value = sliderBox->min;
+    } else if (value > sliderBox->max) {
+        value = sliderBox->max;
+    }
+
+    lv_slider_set_value(sliderBox->slider, value, anim);
+    update_value_label(sliderBox);
+    update_button_states(sliderBox);
+}
+
+void sliderbox_add_value_changed_cb(lv_obj_t* obj, lv_event_cb_t callback, void* userData) {
+    lv_obj_add_event_cb(obj, callback, LV_EVENT_VALUE_CHANGED, userData);
+}
+
+} // namespace tt::lvgl

Tactility/Source/service/gui/GuiService.cpp

@@ -63,6 +63,14 @@ void GuiService::onLoaderEvent(LoaderService::Event event) {
         auto app_instance = std::static_pointer_cast<app::AppInstance>(app::getCurrentAppContext());
         item = new GuiDispatchItem{this, GuiDispatchType::Show, app_instance};
     } else if (event == LoaderService::Event::ApplicationHiding) {
+        // hideDoneSem is a binary semaphore signaled by every hideApp() completion,
+        // including the one showApp() triggers internally (GuiDispatchType::Show, when an
+        // app is already being shown) - that release has no waiter and leaves a stale
+        // permit sitting available. Drain it before dispatching, or the acquire() below
+        // could consume that leftover permit instead of the one this specific Hide
+        // dispatch is about to produce, letting Destroyed run before the real onHide()
+        // for this app has finished.
+        hideDoneSem.acquire(0);
         item = new GuiDispatchItem{this, GuiDispatchType::Hide, nullptr};
     } else {
         return;
@@ -71,6 +79,19 @@ void GuiService::onLoaderEvent(LoaderService::Event event) {
     if (dispatcher_dispatch(dispatcher, item, onGuiDispatch) != ERROR_NONE) {
         LOG_E(TAG, "Failed to dispatch gui event");
         delete item;
+        return;
+    }
+
+    if (event == LoaderService::Event::ApplicationHiding) {
+        // Block here (still on the Loader thread, inside publish()'s synchronous
+        // subscriber call) until hideApp() has actually run to completion on the GUI
+        // task. LoaderService::transitionAppToState(Hiding) must not return - and
+        // therefore the Destroyed transition right after it, which unloads an ELF app's
+        // code, must not run - until App::onHide() has fully finished. Bounded so a stuck
+        // GUI task can't wedge app shutdown forever.
+        if (!hideDoneSem.acquire(pdMS_TO_TICKS(5000))) {
+            LOG_E(TAG, "Timed out waiting for hideApp() to complete");
+        }
     }
 }
 
@@ -282,6 +303,14 @@ void GuiService::showApp(std::shared_ptr<app::AppInstance> app) {
 }
 
 void GuiService::hideApp() {
+    // Signals hideDoneSem on every return path (including the early-return guards below) -
+    // onLoaderEvent() blocks on this to know App::onHide() has actually finished before
+    // Loader proceeds to destroy the app (see hideDoneSem's declaration for why).
+    struct SignalOnExit {
+        Semaphore& sem;
+        ~SignalOnExit() { sem.release(); }
+    } signal_on_exit { hideDoneSem };
+
     auto lock = mutex.asScopedLock();
     lock.lock();
 

Tactility/Source/service/rtctime/RtcTime.cpp

@@ -0,0 +1,26 @@
+#include <Tactility/service/rtctime/RtcTime.h>
+
+#ifdef ESP_PLATFORM
+#include <Tactility/service/rtctime/RtcTimeService.h>
+#include <Tactility/service/ServiceManifest.h>
+#include <Tactility/service/ServiceRegistration.h>
+#endif
+
+namespace tt::service::rtctime {
+
+#ifdef ESP_PLATFORM
+extern const ServiceManifest manifest;
+#endif
+
+bool isAvailable() {
+#ifdef ESP_PLATFORM
+    // The service is only registered when an RTC device is present (see Tactility.cpp);
+    // treat "not registered" the same as "no device bound" rather than asserting.
+    auto service = findServiceById<RtcTimeService>(manifest.id);
+    return service != nullptr && service->isAvailable();
+#else
+    return false;
+#endif
+}
+
+} // namespace tt::service::rtctime

Tactility/Source/service/rtctime/RtcTimeService.cpp

@@ -0,0 +1,152 @@
+#ifdef ESP_PLATFORM
+
+#include <Tactility/service/rtctime/RtcTimeService.h>
+
+#include <Tactility/service/ServiceContext.h>
+#include <Tactility/service/ServiceManifest.h>
+#include <Tactility/service/ServiceRegistration.h>
+
+#include <tactility/device.h>
+#include <tactility/drivers/rtc.h>
+#include <tactility/log.h>
+
+#include <cassert>
+#include <ctime>
+#include <sys/time.h>
+
+namespace tt::service::rtctime {
+
+constexpr auto* TAG = "RtcTime";
+
+Device* RtcTimeService::findRtcDevice() {
+    if (!rtcDevice) {
+        rtcDevice = device_find_first_active_by_type(&RTC_TYPE);
+    }
+    return rtcDevice;
+}
+
+bool RtcTimeService::isAvailable() const {
+    return rtcDevice != nullptr;
+}
+
+static bool setSystemTimeFromRtc(Device* rtc) {
+    RtcDateTime dt = {};
+
+    error_t err = rtc_get_time(rtc, &dt);
+    if (err != ERROR_NONE) {
+        LOG_E(TAG, "Failed to read RTC datetime");
+        return false;
+    }
+
+    if (dt.year < 2024 || dt.year > 2199 ||
+        dt.month < 1 || dt.month > 12 ||
+        dt.day < 1 || dt.day > 31 ||
+        dt.hour > 23 || dt.minute > 59 || dt.second > 59) {
+        LOG_W(TAG, "Ignoring invalid RTC datetime: %02d-%02d-%02d %02d:%02d:%02d", dt.year, dt.month, dt.day, dt.hour, dt.minute, dt.second);
+        return false;
+    }
+
+    struct tm tm_struct = {};
+    tm_struct.tm_year = dt.year - 1900;
+    tm_struct.tm_mon = dt.month - 1;
+    tm_struct.tm_mday = dt.day;
+    tm_struct.tm_hour = dt.hour;
+    tm_struct.tm_min = dt.minute;
+    tm_struct.tm_sec = dt.second;
+    tm_struct.tm_isdst = -1;
+
+    time_t t = mktime(&tm_struct);
+    if (t == -1) {
+        LOG_E(TAG, "Failed to convert RTC datetime to time_t");
+        return false;
+    }
+
+    timeval tv = {.tv_sec = t, .tv_usec = 0};
+    int result = settimeofday(&tv, nullptr);
+    if (result != 0) {
+        LOG_E(TAG, "settimeofday failed");
+        return false;
+    }
+
+    LOG_I(TAG, "System time set from RTC: %02d-%02d-%02d %02d:%02d:%02d", dt.year, dt.month, dt.day, dt.hour, dt.minute, dt.second);
+    return true;
+}
+
+static void writeRtcFromSystemTime(Device* rtc) {
+    time_t now = time(nullptr);
+    tm tm_struct = {};
+    if (!localtime_r(&now, &tm_struct)) {
+        LOG_E(TAG, "localtime_r failed");
+        return;
+    }
+
+    RtcDateTime dt = {
+        .year = static_cast<uint16_t>(tm_struct.tm_year + 1900),
+        .month = static_cast<uint8_t>(tm_struct.tm_mon + 1),
+        .day = static_cast<uint8_t>(tm_struct.tm_mday),
+        .hour = static_cast<uint8_t>(tm_struct.tm_hour),
+        .minute = static_cast<uint8_t>(tm_struct.tm_min),
+        .second = static_cast<uint8_t>(tm_struct.tm_sec)
+    };
+
+    error_t err = rtc_set_time(rtc, &dt);
+    if (err != ERROR_NONE) {
+        LOG_E(TAG, "Failed to write system time to RTC");
+    } else {
+        LOG_I(TAG, "RTC updated from system time: %02d-%02d-%02d %02d:%02d:%02d", dt.year, dt.month, dt.day, dt.hour, dt.minute, dt.second);
+    }
+}
+
+void RtcTimeService::onTimeChanged(kernel::SystemEvent event) {
+    if (event == kernel::SystemEvent::Time) {
+        Device* rtc = findRtcDevice();
+        if (rtc) {
+            writeRtcFromSystemTime(rtc);
+        }
+    }
+}
+
+bool RtcTimeService::onStart(ServiceContext& serviceContext) {
+    Device* rtc = findRtcDevice();
+    if (!rtc) {
+        LOG_W(TAG, "No RTC device found");
+        return true; // Continue without RTC
+    }
+
+    if (setSystemTimeFromRtc(rtc)) {
+        // Publish time event so other components know time is now valid
+        kernel::publishSystemEvent(kernel::SystemEvent::Time);
+    }
+
+    timeEventSubscription = kernel::subscribeSystemEvent(
+        kernel::SystemEvent::Time,
+        [this](kernel::SystemEvent event) { onTimeChanged(event); }
+    );
+
+    return true;
+}
+
+void RtcTimeService::onStop(ServiceContext& serviceContext) {
+    if (timeEventSubscription != 0) {
+        kernel::unsubscribeSystemEvent(timeEventSubscription);
+        timeEventSubscription = 0;
+    }
+}
+
+extern const ServiceManifest manifest = {
+    .id = "RtcTime",
+    .createService = create<RtcTimeService>
+};
+
+// Precondition: RtcTimeService must already be registered and started. RtcTime.cpp's
+// isAvailable() does NOT use this (it must tolerate the service never having been
+// registered on RTC-less devices) - this is for callers that require the service to exist.
+std::shared_ptr<RtcTimeService> findRtcTimeService() {
+    auto service = findServiceById(manifest.id);
+    assert(service != nullptr);
+    return std::static_pointer_cast<RtcTimeService>(service);
+}
+
+} // namespace tt::service::rtctime
+
+#endif

TactilityKernel/include/tactility/device.h

@@ -299,6 +299,14 @@ struct Device* device_find_first_active_by_type(const struct DeviceType* type);
  */
 struct Device* device_find_first_by_type(const struct DeviceType* type);
 
+/**
+ * Find the first device whose driver matches the given compatible string.
+ *
+ * @param[in] compatible non-null compatible string to match
+ * @return the first matching device, or NULL if none found
+ */
+struct Device* device_find_first_by_compatible(const char* compatible);
+
 #ifdef __cplusplus
 }
 #endif

TactilityKernel/include/tactility/drivers/camera.h

@@ -0,0 +1,130 @@
+// SPDX-License-Identifier: Apache-2.0
+#pragma once
+
+#include <stdint.h>
+#include <stddef.h>
+#include <tactility/device.h>
+#include <tactility/error.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+/**
+ * @brief Handle to an open camera stream (see camera_open).
+ *
+ * The `device` field identifies the owning camera device so that camera_get_frame/
+ * camera_close/etc. can dispatch to the correct driver; implementations embed this as
+ * the first member (C) or base class (C++) of a larger private struct and may store
+ * additional state after it.
+ */
+struct CameraHandleData {
+    struct Device* device;
+};
+
+typedef struct CameraHandleData* CameraHandle;
+
+/** Clockwise rotation applied to frames */
+typedef enum {
+    CAMERA_ROTATION_0   = 0,
+    CAMERA_ROTATION_90  = 90,
+    CAMERA_ROTATION_180 = 180,
+    CAMERA_ROTATION_270 = 270,
+} CameraRotation;
+
+/**
+ * @brief API for camera drivers.
+ */
+struct CameraApi {
+    /**
+     * @brief Opens the camera and starts streaming.
+     * @param[in] device the camera device
+     * @param[out] out_handle receives the opened camera handle
+     * @return ERROR_NONE on success
+     */
+    error_t (*open)(struct Device* device, CameraHandle* out_handle);
+
+    /**
+     * @brief Stops streaming and releases all resources associated with the handle.
+     * @param[in] handle handle returned by open
+     * @return ERROR_NONE on success
+     */
+    error_t (*close)(CameraHandle handle);
+
+    /**
+     * @brief Dequeues one RGB565 frame. Blocks until a frame is available or the timeout expires.
+     * The caller must call release_frame to return the buffer to the camera queue.
+     * @param[in] handle handle returned by open
+     * @param[out] buf pointer to the frame buffer
+     * @param[out] len byte length of buf
+     * @param[in] timeout_ms maximum time to wait in milliseconds
+     * @param[out] out_width optional: width of buf at the moment it was produced (may be NULL)
+     * @param[out] out_height optional: height of buf at the moment it was produced (may be NULL)
+     * @retval ERROR_NONE on success
+     * @retval ERROR_TIMEOUT if no frame arrived in time
+     */
+    error_t (*get_frame)(CameraHandle handle, uint8_t** buf, size_t* len, uint32_t timeout_ms, uint32_t* out_width, uint32_t* out_height);
+
+    /**
+     * @brief Returns the last dequeued frame buffer to the capture queue.
+     * Must be called after each successful get_frame.
+     * @param[in] handle handle returned by open
+     * @return ERROR_NONE on success
+     */
+    error_t (*release_frame)(CameraHandle handle);
+
+    /** @brief Returns the current frame width in pixels. */
+    uint32_t (*get_width)(CameraHandle handle);
+
+    /** @brief Returns the current frame height in pixels. */
+    uint32_t (*get_height)(CameraHandle handle);
+
+    /**
+     * @brief Changes the clockwise rotation applied to subsequent frames.
+     * Can be called at any time while the handle is open, including during streaming.
+     * @param[in] handle handle returned by open
+     * @param[in] rotation new rotation
+     * @return ERROR_NONE on success
+     */
+    error_t (*set_rotation)(CameraHandle handle, CameraRotation rotation);
+
+    /**
+     * @brief Captures one frame and JPEG-encodes it.
+     * @param[in] handle handle returned by open
+     * @param[out] out_buf pointer to JPEG-encoded data (caller must free with heap_caps_free)
+     * @param[out] out_len byte length of JPEG data
+     * @param[in] quality JPEG quality 1-100
+     * @return ERROR_NONE on success
+     */
+    error_t (*capture_jpeg)(CameraHandle handle, uint8_t** out_buf, size_t* out_len, uint8_t quality);
+};
+
+/** @brief See CameraApi::open */
+error_t camera_open(struct Device* device, CameraHandle* out_handle);
+
+/** @brief See CameraApi::close */
+error_t camera_close(CameraHandle handle);
+
+/** @brief See CameraApi::get_frame */
+error_t camera_get_frame(CameraHandle handle, uint8_t** buf, size_t* len, uint32_t timeout_ms, uint32_t* out_width, uint32_t* out_height);
+
+/** @brief See CameraApi::release_frame */
+error_t camera_release_frame(CameraHandle handle);
+
+/** @brief See CameraApi::get_width */
+uint32_t camera_get_width(CameraHandle handle);
+
+/** @brief See CameraApi::get_height */
+uint32_t camera_get_height(CameraHandle handle);
+
+/** @brief See CameraApi::set_rotation */
+error_t camera_set_rotation(CameraHandle handle, CameraRotation rotation);
+
+/** @brief See CameraApi::capture_jpeg */
+error_t camera_capture_jpeg(CameraHandle handle, uint8_t** out_buf, size_t* out_len, uint8_t quality);
+
+extern const struct DeviceType CAMERA_TYPE;
+
+#ifdef __cplusplus
+}
+#endif

TactilityKernel/include/tactility/drivers/rtc.h

@@ -0,0 +1,56 @@
+// SPDX-License-Identifier: Apache-2.0
+#pragma once
+
+#include <stdint.h>
+#include <tactility/device.h>
+#include <tactility/error.h>
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+struct RtcDateTime {
+    uint16_t year;   // 2000–2199
+    uint8_t  month;  // 1–12
+    uint8_t  day;    // 1–31
+    uint8_t  hour;   // 0–23
+    uint8_t  minute; // 0–59
+    uint8_t  second; // 0–59
+};
+
+/**
+ * @brief API for RTC (real-time clock) drivers.
+ */
+struct RtcApi {
+    /**
+     * @brief Reads the current date and time from the RTC.
+     * @param[in] device the RTC device
+     * @param[out] dt pointer to store the current date and time
+     * @return ERROR_NONE on success
+     */
+    error_t (*get_time)(struct Device* device, struct RtcDateTime* dt);
+
+    /**
+     * @brief Writes the date and time to the RTC.
+     * @param[in] device the RTC device
+     * @param[in] dt the date and time to write
+     * @return ERROR_NONE on success
+     */
+    error_t (*set_time)(struct Device* device, const struct RtcDateTime* dt);
+};
+
+/**
+ * @brief Reads the current date and time using the specified RTC device.
+ */
+error_t rtc_get_time(struct Device* device, struct RtcDateTime* dt);
+
+/**
+ * @brief Writes the date and time using the specified RTC device.
+ */
+error_t rtc_set_time(struct Device* device, const struct RtcDateTime* dt);
+
+extern const struct DeviceType RTC_TYPE;
+
+#ifdef __cplusplus
+}
+#endif

TactilityKernel/source/device.cpp

@@ -395,4 +395,18 @@ Device* device_find_first_by_type(const DeviceType* type) {
     return found;
 }
 
+Device* device_find_first_by_compatible(const char* compatible) {
+    struct Ctx { Device* found; const char* compatible; };
+    Ctx ctx = { nullptr, compatible };
+    device_for_each(&ctx, [](Device* dev, void* raw_ctx) -> bool {
+        auto* c = static_cast<Ctx*>(raw_ctx);
+        if (device_is_compatible(dev, c->compatible)) {
+            c->found = dev;
+            return false;
+        }
+        return true;
+    });
+    return ctx.found;
+}
+
 } // extern "C"

TactilityKernel/source/drivers/camera.cpp

@@ -0,0 +1,54 @@
+// SPDX-License-Identifier: Apache-2.0
+#include <tactility/drivers/camera.h>
+#include <tactility/error.h>
+#include <tactility/device.h>
+
+#define CAMERA_DRIVER_API(driver) ((struct CameraApi*)driver->api)
+
+extern "C" {
+
+error_t camera_open(Device* device, CameraHandle* out_handle) {
+    const auto* driver = device_get_driver(device);
+    return CAMERA_DRIVER_API(driver)->open(device, out_handle);
+}
+
+error_t camera_close(CameraHandle handle) {
+    const auto* driver = device_get_driver(handle->device);
+    return CAMERA_DRIVER_API(driver)->close(handle);
+}
+
+error_t camera_get_frame(CameraHandle handle, uint8_t** buf, size_t* len, uint32_t timeout_ms, uint32_t* out_width, uint32_t* out_height) {
+    const auto* driver = device_get_driver(handle->device);
+    return CAMERA_DRIVER_API(driver)->get_frame(handle, buf, len, timeout_ms, out_width, out_height);
+}
+
+error_t camera_release_frame(CameraHandle handle) {
+    const auto* driver = device_get_driver(handle->device);
+    return CAMERA_DRIVER_API(driver)->release_frame(handle);
+}
+
+uint32_t camera_get_width(CameraHandle handle) {
+    const auto* driver = device_get_driver(handle->device);
+    return CAMERA_DRIVER_API(driver)->get_width(handle);
+}
+
+uint32_t camera_get_height(CameraHandle handle) {
+    const auto* driver = device_get_driver(handle->device);
+    return CAMERA_DRIVER_API(driver)->get_height(handle);
+}
+
+error_t camera_set_rotation(CameraHandle handle, CameraRotation rotation) {
+    const auto* driver = device_get_driver(handle->device);
+    return CAMERA_DRIVER_API(driver)->set_rotation(handle, rotation);
+}
+
+error_t camera_capture_jpeg(CameraHandle handle, uint8_t** out_buf, size_t* out_len, uint8_t quality) {
+    const auto* driver = device_get_driver(handle->device);
+    return CAMERA_DRIVER_API(driver)->capture_jpeg(handle, out_buf, out_len, quality);
+}
+
+const struct DeviceType CAMERA_TYPE {
+    .name = "camera"
+};
+
+}

TactilityKernel/source/drivers/rtc.cpp

@@ -0,0 +1,23 @@
+// SPDX-License-Identifier: Apache-2.0
+#include <tactility/drivers/rtc.h>
+#include <tactility/device.h>
+
+#define RTC_DRIVER_API(driver) ((struct RtcApi*)driver->api)
+
+extern "C" {
+
+error_t rtc_get_time(struct Device* device, struct RtcDateTime* dt) {
+    const auto* driver = device_get_driver(device);
+    return RTC_DRIVER_API(driver)->get_time(device, dt);
+}
+
+error_t rtc_set_time(struct Device* device, const struct RtcDateTime* dt) {
+    const auto* driver = device_get_driver(device);
+    return RTC_DRIVER_API(driver)->set_time(device, dt);
+}
+
+const struct DeviceType RTC_TYPE {
+    .name = "rtc"
+};
+
+}

TactilityKernel/source/kernel_symbols.c

@@ -8,6 +8,7 @@
 #include <tactility/drivers/bluetooth_serial.h>
 #include <tactility/drivers/bluetooth_midi.h>
 #include <tactility/drivers/bluetooth_hid_device.h>
+#include <tactility/drivers/camera.h>
 #include <tactility/drivers/usb_host_hid.h>
 #include <tactility/drivers/usb_host_midi.h>
 #include <tactility/drivers/usb_host_msc.h>
@@ -16,6 +17,7 @@
 #include <tactility/drivers/i2c_controller.h>
 #include <tactility/drivers/i2s_controller.h>
 #include <tactility/drivers/root.h>
+#include <tactility/drivers/rtc.h>
 #include <tactility/drivers/spi_controller.h>
 #include <tactility/drivers/uart_controller.h>
 #include <tactility/drivers/wifi.h>
@@ -65,6 +67,7 @@ const struct ModuleSymbol KERNEL_SYMBOLS[] = {
     DEFINE_MODULE_SYMBOL(device_find_by_name),
     DEFINE_MODULE_SYMBOL(device_find_first_active_by_type),
     DEFINE_MODULE_SYMBOL(device_find_first_by_type),
+    DEFINE_MODULE_SYMBOL(device_find_first_by_compatible),
     // driver
     DEFINE_MODULE_SYMBOL(driver_construct),
     DEFINE_MODULE_SYMBOL(driver_destruct),
@@ -118,6 +121,10 @@ const struct ModuleSymbol KERNEL_SYMBOLS[] = {
     DEFINE_MODULE_SYMBOL(I2S_CONTROLLER_TYPE),
     // drivers/root
     DEFINE_MODULE_SYMBOL(root_is_model),
+    // drivers/rtc
+    DEFINE_MODULE_SYMBOL(rtc_get_time),
+    DEFINE_MODULE_SYMBOL(rtc_set_time),
+    DEFINE_MODULE_SYMBOL(RTC_TYPE),
     // drivers/spi_controller
     DEFINE_MODULE_SYMBOL(spi_controller_lock),
     DEFINE_MODULE_SYMBOL(spi_controller_try_lock),
@@ -182,6 +189,16 @@ const struct ModuleSymbol KERNEL_SYMBOLS[] = {
     DEFINE_MODULE_SYMBOL(bluetooth_hid_device_send_gamepad),
     DEFINE_MODULE_SYMBOL(bluetooth_hid_device_is_connected),
     DEFINE_MODULE_SYMBOL(BLUETOOTH_HID_DEVICE_TYPE),
+    // drivers/camera
+    DEFINE_MODULE_SYMBOL(camera_open),
+    DEFINE_MODULE_SYMBOL(camera_close),
+    DEFINE_MODULE_SYMBOL(camera_get_frame),
+    DEFINE_MODULE_SYMBOL(camera_release_frame),
+    DEFINE_MODULE_SYMBOL(camera_get_width),
+    DEFINE_MODULE_SYMBOL(camera_get_height),
+    DEFINE_MODULE_SYMBOL(camera_set_rotation),
+    DEFINE_MODULE_SYMBOL(camera_capture_jpeg),
+    DEFINE_MODULE_SYMBOL(CAMERA_TYPE),
     // drivers/wifi
     DEFINE_MODULE_SYMBOL(wifi_find_first_registered_device),
     DEFINE_MODULE_SYMBOL(wifi_get_radio_state),