fix(voicerecorder): add missing CMakeLists + manifest 0.8.0-dev - audio-stream fix

fix(audio): use audio-stream instead of direct I2S - fixes fast playback
- Mp3Player: sdk 0.7->0.8.0-dev, find audio-stream device, open_output with resampler (hz/ch), write via audio_stream_write, close on pause - BookPlayer: close/open per format change via AudioStreamConfig, write via stream - VoiceRecorder: input_handle open_input 16k/mono via audio_stream_read, output_handle open_output file rate via write/resampler - ES8311 native 44100, old direct I2S at 16k caused 4.096MHz MCLK vs 11.29MHz -> fast playback - Brick game correct because it uses audio-stream resampler path
2026-07-18 19:24:05 -04:00 · 2026-07-18 19:19:22 -04:00 · 2026-07-17 11:19:32 -04:00
11 changed files with 793 additions and 379 deletions
@@ -4,7 +4,7 @@
 #include <tt_app_alertdialog.h>

 #include <tactility/device.h>
-#include <tactility/drivers/i2s_controller.h>
+#include <tactility/drivers/audio_stream.h>

 #include <string.h>
 #include <stdlib.h>
@@ -45,14 +45,15 @@ typedef struct {
 } BookMetadata;

 typedef struct {
-    struct Device* i2s_dev;
+    struct Device* stream_dev;
+    AudioStreamHandle stream_handle;
    PlaybackState  state;
    int            volume;
-    
+
    // Book picker list data
    BookMetadata   books[MAX_BOOKS];
    int            book_count;
-    
+
    // Currently loaded book details
    char           current_book_slug[MAX_PATH];
    cJSON*         manifest_root;
@@ -60,12 +61,12 @@ typedef struct {
    int            page_count;
    int            current_page;
    int            last_pct;
-    
+
    // UI elements
    AppHandle      app;
    lv_obj_t*      picker_wrapper;
    lv_obj_t*      lst_books;
-    
+
    lv_obj_t*      player_wrapper;
    lv_obj_t*      header_bar;
    lv_obj_t*      ctrl_bar;
@@ -76,29 +77,29 @@ typedef struct {
    lv_obj_t*      btn_play_pause;
    lv_obj_t*      btn_prev;
    lv_obj_t*      btn_next;
-    
+
    // Audio State
    char           current_audio_path[512];
    uint8_t*       audio_buf; // Shared MP3 input and WAV buffer
    mp3d_sample_t* pcm_buf;   // MP3 decoded pcm buffer
-    
+
    TaskHandle_t   playback_task_handle;
 } AppCtx;

 typedef struct __attribute__((packed)) {
-    char riff[4];           // "RIFF"
-    uint32_t overall_size;  // file size - 8
-    char wave[4];           // "WAVE"
-    char fmt_chunk_marker[4]; // "fmt "
-    uint32_t length_of_fmt; // 16 for PCM
-    uint16_t format_type;   // 1 for PCM
-    uint16_t channels;      // 1 for mono
-    uint32_t sample_rate;   // 16000
-    uint32_t byterate;      // sample_rate * channels * (bits_per_sample / 8)
-    uint16_t block_align;   // channels * (bits_per_sample / 8)
-    uint16_t bits_per_sample; // 16
-    char data_chunk_header[4]; // "data"
-    uint32_t data_size;     // data size in bytes
+    char riff[4];
+    uint32_t overall_size;
+    char wave[4];
+    char fmt_chunk_marker[4];
+    uint32_t length_of_fmt;
+    uint16_t format_type;
+    uint16_t channels;
+    uint32_t sample_rate;
+    uint32_t byterate;
+    uint16_t block_align;
+    uint16_t bits_per_sample;
+    char data_chunk_header[4];
+    uint32_t data_size;
 } WavHeader;

 static AppCtx g_ctx;
@@ -113,19 +114,60 @@ static void play_mp3(AppCtx* ctx);
 static void play_wav(AppCtx* ctx);
 static void scan_books(AppCtx* ctx);

+/* ─── Audio-stream helpers ─── */
+static bool find_audio_stream_device(AppCtx* ctx) {
+    // Prefer device_find_first_by_type but keep compatibility with name lookup
+    struct Device* dev = device_find_by_name("audio-stream");
+    if (dev) {
+        ctx->stream_dev = dev;
+        return true;
+    }
+    dev = device_find_first_by_type(&AUDIO_STREAM_TYPE);
+    if (dev) {
+        ctx->stream_dev = dev;
+        return true;
+    }
+    return false;
+}
+
+static void close_stream_if_open(AppCtx* ctx) {
+    if (ctx->stream_handle) {
+        audio_stream_close(ctx->stream_handle);
+        ctx->stream_handle = NULL;
+    }
+}
+
+static bool open_output_stream(AppCtx* ctx, uint32_t sample_rate, uint8_t channels, uint8_t bits) {
+    close_stream_if_open(ctx);
+    if (!ctx->stream_dev) return false;
+    struct AudioStreamConfig cfg = {
+        .sample_rate = sample_rate,
+        .bits_per_sample = bits,
+        .channels = channels
+    };
+    error_t err = audio_stream_open_output(ctx->stream_dev, &cfg, &ctx->stream_handle);
+    if (err != ERROR_NONE) {
+        ESP_LOGE(TAG, "audio_stream_open_output failed: %d (rate=%u ch=%u)", err, (unsigned)sample_rate, channels);
+        ctx->stream_handle = NULL;
+        return false;
+    }
+    ESP_LOGI(TAG, "audio_stream output opened: %u Hz %u ch %u-bit", (unsigned)sample_rate, channels, bits);
+    return true;
+}
+
 /* ─── UI Helper to update status labels & button states ─── */
 static void update_ui(AppCtx* ctx) {
    if (!ctx->btn_play_pause) return;

    lv_obj_t* lbl_play = lv_obj_get_child(ctx->btn_play_pause, 0);
-    
+
    // Prev button state
    if (ctx->current_page <= 0) {
        lv_obj_add_state(ctx->btn_prev, LV_STATE_DISABLED);
    } else {
        lv_obj_clear_state(ctx->btn_prev, LV_STATE_DISABLED);
    }
-    
+
    // Next button state
    if (ctx->current_page >= ctx->page_count - 1) {
        lv_obj_add_state(ctx->btn_next, LV_STATE_DISABLED);
@@ -162,13 +204,13 @@ static char* read_full_file(const char* filepath) {
        return NULL;
    }
    fseek(file, 0, SEEK_SET);
-    
+
    char* buf = malloc(size + 1);
    if (!buf) {
        fclose(file);
        return NULL;
    }
-    
+
    size_t read_bytes = fread(buf, 1, size, file);
    buf[read_bytes] = '\0';
    fclose(file);
@@ -185,7 +227,6 @@ static void on_auto_advance_timer(lv_timer_t* timer) {

 static void handle_audio_finished(AppCtx* ctx) {
    if (ctx->current_page + 1 < ctx->page_count) {
-        // Create a one-shot timer with repeat count 1 to run on the GUI thread
        lv_timer_t* timer = lv_timer_create(on_auto_advance_timer, 0, ctx);
        lv_timer_set_repeat_count(timer, 1);
    } else {
@@ -208,7 +249,6 @@ static void wait_for_playback_task_to_exit(AppCtx* ctx) {

 /* ─── Load Page Content (Image, Caption, Audio path) ─── */
 static void load_page(AppCtx* ctx, int page_index, bool start_audio) {
-    // 1. Stop current audio if running and wait for thread to finish
    wait_for_playback_task_to_exit(ctx);

    if (page_index < 0 || page_index >= ctx->page_count) return;
@@ -225,7 +265,7 @@ static void load_page(AppCtx* ctx, int page_index, bool start_audio) {
    if (img_item && img_item->valuestring) {
        char img_path[512];
        snprintf(img_path, sizeof(img_path), "/sdcard/books/%s/%s", ctx->current_book_slug, img_item->valuestring);
-        
+
        FILE* img_file = fopen(img_path, "rb");
        if (img_file) {
            fclose(img_file);
@@ -238,15 +278,13 @@ static void load_page(AppCtx* ctx, int page_index, bool start_audio) {
            lv_image_set_src(ctx->img_page, lv_img_path);
        } else {
            ESP_LOGW(TAG, "Image file not found: %s", img_path);
-            lv_image_set_src(ctx->img_page, LV_SYMBOL_IMAGE); // Show default fallback icon
+            lv_image_set_src(ctx->img_page, LV_SYMBOL_IMAGE);
        }
    } else {
        lv_image_set_src(ctx->img_page, LV_SYMBOL_IMAGE);
    }

-
-
-    // Update Page index indicator (e.g. "1 / 12")
+    // Update Page index indicator
    char ind_buf[32];
    snprintf(ind_buf, sizeof(ind_buf), "%d / %d", page_index + 1, ctx->page_count);
    lv_label_set_text(ctx->lbl_indicator, ind_buf);
@@ -258,18 +296,16 @@ static void load_page(AppCtx* ctx, int page_index, bool start_audio) {
        ctx->current_audio_path[0] = '\0';
    }

-    // Update UI states (like Prev/Next buttons)
    update_ui(ctx);

    // Start playback if requested and valid
    if (start_audio && ctx->current_audio_path[0] != '\0') {
-        // Verify audio file exists
        FILE* audio_file = fopen(ctx->current_audio_path, "rb");
        if (audio_file) {
            fclose(audio_file);
            ctx->state = STATE_PLAYING;
            update_ui(ctx);
-            xTaskCreate(audio_playback_task, "audio_play", 4096, ctx, 5, &ctx->playback_task_handle);
+            xTaskCreate(audio_playback_task, "audio_play", 8192, ctx, 5, &ctx->playback_task_handle);
        } else {
            ESP_LOGE(TAG, "Audio file not found: %s", ctx->current_audio_path);
            const char* buttons[] = {"OK"};
@@ -300,7 +336,7 @@ static void return_to_picker(AppCtx* ctx) {
 /* ─── Task Selection (MP3 or WAV) ─── */
 static void audio_playback_task(void* arg) {
    AppCtx* ctx = (AppCtx*)arg;
-    
+
    size_t len = strlen(ctx->current_audio_path);
    bool is_wav = false;
    if (len > 4 && strcasecmp(ctx->current_audio_path + len - 4, ".wav") == 0) {
@@ -314,9 +350,8 @@ static void audio_playback_task(void* arg) {
    }
 }

-/* ─── MP3 Decoder Routine ─── */
+/* ─── MP3 Decoder Routine (audio-stream) ─── */
 static void play_mp3(AppCtx* ctx) {
-    // Let the GUI thread load the image from SD first to avoid hardware SD card bus contention
    vTaskDelay(pdMS_TO_TICKS(400));

    FILE* file = fopen(ctx->current_audio_path, "rb");
@@ -354,14 +389,12 @@ static void play_mp3(AppCtx* ctx) {
    int sample_rate = 0;
    int channels = 0;

-    ESP_LOGI(TAG, "Starting MP3 playback: %s (%d bytes)", ctx->current_audio_path, file_size);
+    ESP_LOGI(TAG, "Starting MP3 playback via audio-stream: %s (%d bytes)", ctx->current_audio_path, file_size);

    while (ctx->state != STATE_IDLE) {
        if (ctx->state == STATE_PAUSED) {
-            if (sample_rate != 0) {
-                device_lock(ctx->i2s_dev);
-                i2s_controller_reset(ctx->i2s_dev);
-                device_unlock(ctx->i2s_dev);
+            if (ctx->stream_handle) {
+                close_stream_if_open(ctx);
                sample_rate = 0;
                channels = 0;
            }
@@ -390,7 +423,6 @@ static void play_mp3(AppCtx* ctx) {

        if (info.frame_bytes <= 0) {
            if (eof) break;
-            // Resync
            memmove(ctx->audio_buf, ctx->audio_buf + 1, --buffered_bytes);
            continue;
        }
@@ -400,22 +432,10 @@ static void play_mp3(AppCtx* ctx) {
        memmove(ctx->audio_buf, ctx->audio_buf + consumed, buffered_bytes);

        if (samples > 0) {
-            // Configure I2S
+            // Open/reopen stream on format change
            if (sample_rate != info.hz || channels != info.channels) {
-                struct I2sConfig config = {
-                    .communication_format = I2S_FORMAT_STAND_I2S,
-                    .sample_rate = (uint32_t)info.hz,
-                    .bits_per_sample = 16,
-                    .channel_left = 0,
-                    .channel_right = (info.channels == 2) ? 1 : I2S_CHANNEL_NONE
-                };
-
-                device_lock(ctx->i2s_dev);
-                error_t err = i2s_controller_set_config(ctx->i2s_dev, &config);
-                device_unlock(ctx->i2s_dev);
-
-                if (err != ERROR_NONE) {
-                    ESP_LOGE(TAG, "Failed to configure I2S: %d", err);
+                if (!open_output_stream(ctx, (uint32_t)info.hz, (uint8_t)info.channels, 16)) {
+                    ESP_LOGE(TAG, "Failed to open audio stream for MP3: %d Hz %d ch", info.hz, info.channels);
                    break;
                }
                sample_rate = info.hz;
@@ -431,15 +451,15 @@ static void play_mp3(AppCtx* ctx) {
                samples_ptr[i] = (int16_t)scaled;
            }

-            // Write PCM to I2S
+            // Write via audio_stream (resampled to native 44100 internally)
            size_t offset = 0;
            size_t data_size = sample_count * sizeof(int16_t);
            bool write_err = false;
            while (offset < data_size && ctx->state == STATE_PLAYING) {
                size_t written = 0;
-                error_t err = i2s_controller_write(ctx->i2s_dev, (uint8_t*)ctx->pcm_buf + offset, data_size - offset, &written, pdMS_TO_TICKS(250));
+                error_t err = audio_stream_write(ctx->stream_handle, (uint8_t*)ctx->pcm_buf + offset, data_size - offset, &written, pdMS_TO_TICKS(1000));
                if (err != ERROR_NONE || written == 0) {
-                    ESP_LOGE(TAG, "I2S write error: %d", err);
+                    ESP_LOGE(TAG, "audio_stream_write error: %d", err);
                    write_err = true;
                    break;
                }
@@ -465,12 +485,7 @@ static void play_mp3(AppCtx* ctx) {
    }

    fclose(file);
-
-    if (ctx->i2s_dev) {
-        device_lock(ctx->i2s_dev);
-        i2s_controller_reset(ctx->i2s_dev);
-        device_unlock(ctx->i2s_dev);
-    }
+    close_stream_if_open(ctx);

    bool stopped_externally = (ctx->state == STATE_IDLE);

@@ -489,9 +504,8 @@ static void play_mp3(AppCtx* ctx) {
    vTaskDelete(NULL);
 }

-/* ─── WAV Decoder Routine ─── */
+/* ─── WAV Decoder Routine (audio-stream) ─── */
 static void play_wav(AppCtx* ctx) {
-    // Let the GUI thread load the image from SD first to avoid hardware SD card bus contention
    vTaskDelay(pdMS_TO_TICKS(400));

    FILE* file = fopen(ctx->current_audio_path, "rb");
@@ -538,49 +552,36 @@ static void play_wav(AppCtx* ctx) {
        fseek(file, sizeof(WavHeader), SEEK_SET);
    }

-    struct I2sConfig config = {
-        .communication_format = I2S_FORMAT_STAND_I2S,
-        .sample_rate = header.sample_rate,
-        .bits_per_sample = header.bits_per_sample,
-        .channel_left = 0,
-        .channel_right = (header.channels == 2) ? 1 : I2S_CHANNEL_NONE
-    };
-
-    device_lock(ctx->i2s_dev);
-    error_t err = i2s_controller_set_config(ctx->i2s_dev, &config);
-    device_unlock(ctx->i2s_dev);
-
-    if (err != ERROR_NONE) {
-        ESP_LOGE(TAG, "Failed to configure WAV I2S: %d", err);
+    if (!open_output_stream(ctx, header.sample_rate, header.channels, header.bits_per_sample)) {
+        ESP_LOGE(TAG, "Failed to open audio stream for WAV: %u Hz %u ch", (unsigned)header.sample_rate, header.channels);
        fclose(file);
+        tt_lvgl_lock(portMAX_DELAY);
+        ctx->state = STATE_IDLE;
+        update_ui(ctx);
+        tt_lvgl_unlock();
        ctx->playback_task_handle = NULL;
        vTaskDelete(NULL);
        return;
    }

-    ESP_LOGI(TAG, "Starting WAV playback: %s (%u Hz, %u channels)", ctx->current_audio_path, (unsigned int)header.sample_rate, (unsigned int)header.channels);
+    ESP_LOGI(TAG, "Starting WAV via audio-stream: %s (%u Hz, %u ch)", ctx->current_audio_path, (unsigned int)header.sample_rate, (unsigned int)header.channels);

    size_t total_played = 0;
-    bool i2s_configured = true;
+    bool stream_open = true;

    while (total_played < data_size && ctx->state != STATE_IDLE) {
        if (ctx->state == STATE_PAUSED) {
-            if (i2s_configured) {
-                device_lock(ctx->i2s_dev);
-                i2s_controller_reset(ctx->i2s_dev);
-                device_unlock(ctx->i2s_dev);
-                i2s_configured = false;
+            if (stream_open) {
+                close_stream_if_open(ctx);
+                stream_open = false;
            }
            vTaskDelay(pdMS_TO_TICKS(50));
            continue;
        }

-        if (!i2s_configured) {
-            device_lock(ctx->i2s_dev);
-            err = i2s_controller_set_config(ctx->i2s_dev, &config);
-            device_unlock(ctx->i2s_dev);
-            if (err != ERROR_NONE) break;
-            i2s_configured = true;
+        if (!stream_open) {
+            if (!open_output_stream(ctx, header.sample_rate, header.channels, header.bits_per_sample)) break;
+            stream_open = true;
        }

        size_t to_read = (data_size - total_played < MP3_INPUT_BUFFER_SIZE) ? (data_size - total_played) : MP3_INPUT_BUFFER_SIZE;
@@ -596,14 +597,14 @@ static void play_wav(AppCtx* ctx) {
            samples_ptr[i] = (int16_t)scaled;
        }

-        // Play to I2S
+        // Write via audio_stream
        size_t offset = 0;
        bool write_err = false;
        while (offset < read_bytes && ctx->state == STATE_PLAYING) {
            size_t written = 0;
-            err = i2s_controller_write(ctx->i2s_dev, ctx->audio_buf + offset, read_bytes - offset, &written, pdMS_TO_TICKS(100));
+            error_t err = audio_stream_write(ctx->stream_handle, ctx->audio_buf + offset, read_bytes - offset, &written, pdMS_TO_TICKS(500));
            if (err != ERROR_NONE || written == 0) {
-                ESP_LOGE(TAG, "I2S WAV write error: %d", err);
+                ESP_LOGE(TAG, "audio_stream WAV write error: %d", err);
                write_err = true;
                break;
            }
@@ -614,7 +615,6 @@ static void play_wav(AppCtx* ctx) {

        total_played += read_bytes;

-        // Update progress bar
        int pct = (int)((total_played * 100) / data_size);
        if (pct < 0) pct = 0;
        if (pct > 100) pct = 100;
@@ -629,12 +629,7 @@ static void play_wav(AppCtx* ctx) {
    }

    fclose(file);
-
-    if (ctx->i2s_dev) {
-        device_lock(ctx->i2s_dev);
-        i2s_controller_reset(ctx->i2s_dev);
-        device_unlock(ctx->i2s_dev);
-    }
+    close_stream_if_open(ctx);

    bool stopped_externally = (ctx->state == STATE_IDLE);

@@ -652,29 +647,29 @@ static void play_wav(AppCtx* ctx) {
 static void on_book_selected(lv_event_t* e) {
    int index = (int)(intptr_t)lv_event_get_user_data(e);
    AppCtx* ctx = &g_ctx;
-    
+
    BookMetadata* book = &ctx->books[index];
    strncpy(ctx->current_book_slug, book->slug, sizeof(ctx->current_book_slug) - 1);
-    
+
    char manifest_path[512];
    snprintf(manifest_path, sizeof(manifest_path), "/sdcard/books/%s/manifest.json", book->slug);
-    
+
    char* json_str = read_full_file(manifest_path);
    if (!json_str) {
        const char* buttons[] = {"OK"};
        tt_app_alertdialog_start("Read Error", "Failed to open the book manifest.", buttons, 1);
        return;
    }
-    
+
    ctx->manifest_root = cJSON_Parse(json_str);
    free(json_str);
-    
+
    if (!ctx->manifest_root) {
        const char* buttons[] = {"OK"};
        tt_app_alertdialog_start("JSON Error", "The book manifest is not formatted correctly.", buttons, 1);
        return;
    }
-    
+
    ctx->pages_array = cJSON_GetObjectItem(ctx->manifest_root, "pages");
    if (!ctx->pages_array || !cJSON_IsArray(ctx->pages_array)) {
        const char* buttons[] = {"OK"};
@@ -684,7 +679,7 @@ static void on_book_selected(lv_event_t* e) {
        ctx->pages_array = NULL;
        return;
    }
-    
+
    ctx->page_count = cJSON_GetArraySize(ctx->pages_array);
    if (ctx->page_count <= 0) {
        const char* buttons[] = {"OK"};
@@ -694,17 +689,16 @@ static void on_book_selected(lv_event_t* e) {
        ctx->pages_array = NULL;
        return;
    }
-    
+
    lv_label_set_text(ctx->lbl_book_title, book->title);
-    
+
    // Switch views
    lv_obj_add_flag(ctx->picker_wrapper, LV_OBJ_FLAG_HIDDEN);
    lv_obj_remove_flag(ctx->player_wrapper, LV_OBJ_FLAG_HIDDEN);
    lv_obj_remove_flag(ctx->header_bar, LV_OBJ_FLAG_HIDDEN);
    lv_obj_remove_flag(ctx->ctrl_bar, LV_OBJ_FLAG_HIDDEN);
    lv_obj_remove_flag(ctx->bar_progress, LV_OBJ_FLAG_HIDDEN);
-    
-    // Load first page (no auto-play initially)
+
    load_page(ctx, 0, false);
 }

@@ -712,57 +706,57 @@ static void on_book_selected(lv_event_t* e) {
 static void scan_books(AppCtx* ctx) {
    ctx->book_count = 0;
    lv_obj_clean(ctx->lst_books);
-    
+
    DIR* dir = opendir("/sdcard/books");
    if (!dir) {
        ESP_LOGE(TAG, "Failed to scan books: /sdcard/books folder missing.");
        lv_list_add_text(ctx->lst_books, "No SD card or books directory found.");
        return;
    }
-    
+
    struct dirent* entry;
    while ((entry = readdir(dir)) != NULL && ctx->book_count < MAX_BOOKS) {
        if (entry->d_name[0] == '.') continue;
-        
+
        char manifest_path[512];
        snprintf(manifest_path, sizeof(manifest_path), "/sdcard/books/%s/manifest.json", entry->d_name);
-        
+
        char* json_str = read_full_file(manifest_path);
        if (json_str) {
            cJSON* root = cJSON_Parse(json_str);
            free(json_str);
-            
+
            if (root) {
                cJSON* title_item = cJSON_GetObjectItem(root, "title");
                cJSON* author_item = cJSON_GetObjectItem(root, "author");
-                
+
                BookMetadata* book = &ctx->books[ctx->book_count];
                strncpy(book->slug, entry->d_name, sizeof(book->slug) - 1);
-                
+
                if (title_item && title_item->valuestring) {
                    strncpy(book->title, title_item->valuestring, sizeof(book->title) - 1);
                } else {
                    strncpy(book->title, entry->d_name, sizeof(book->title) - 1);
                }
-                
+
                if (author_item && author_item->valuestring) {
                    strncpy(book->author, author_item->valuestring, sizeof(book->author) - 1);
                } else {
                    book->author[0] = '\0';
                }
-                
+
                cJSON_Delete(root);
                ctx->book_count++;
            }
        }
    }
    closedir(dir);
-    
+
    if (ctx->book_count == 0) {
        lv_list_add_text(ctx->lst_books, "No book manifest.json files found.");
        return;
    }
-    
+
    // Bubble sort by title
    for (int i = 0; i < ctx->book_count - 1; i++) {
        for (int j = 0; j < ctx->book_count - i - 1; j++) {
@@ -773,7 +767,7 @@ static void scan_books(AppCtx* ctx) {
            }
        }
    }
-    
+
    // Add items to screen list
    for (int i = 0; i < ctx->book_count; ++i) {
        char label_text[512];
@@ -795,7 +789,7 @@ static void on_play_pause_click(lv_event_t* e) {
    if (ctx->state == STATE_IDLE) {
        ctx->state = STATE_PLAYING;
        update_ui(ctx);
-        xTaskCreate(audio_playback_task, "audio_play", 4096, ctx, 5, &ctx->playback_task_handle);
+        xTaskCreate(audio_playback_task, "audio_play", 8192, ctx, 5, &ctx->playback_task_handle);
    } else if (ctx->state == STATE_PLAYING) {
        ctx->state = STATE_PAUSED;
        update_ui(ctx);
@@ -824,7 +818,7 @@ static void on_next_click(lv_event_t* e) {
 static void on_image_click(lv_event_t* e) {
    AppCtx* ctx = (AppCtx*)lv_event_get_user_data(e);
    if (!ctx) return;
-    
+
    bool is_hidden = lv_obj_has_flag(ctx->header_bar, LV_OBJ_FLAG_HIDDEN);
    if (is_hidden) {
        lv_obj_remove_flag(ctx->header_bar, LV_OBJ_FLAG_HIDDEN);
@@ -847,7 +841,7 @@ static void onShowApp(AppHandle app, void* data, lv_obj_t* parent) {
    memset(&g_ctx, 0, sizeof(g_ctx));
    g_ctx.app = app;
    g_ctx.volume = 80;
-    
+
    // Allocate shared audio buffers
 #ifdef ESP_PLATFORM
    g_ctx.audio_buf = (uint8_t*)heap_caps_malloc(MP3_INPUT_BUFFER_SIZE, MALLOC_CAP_SPIRAM | MALLOC_CAP_8BIT);
@@ -856,13 +850,12 @@ static void onShowApp(AppHandle app, void* data, lv_obj_t* parent) {
    g_ctx.audio_buf = (uint8_t*)malloc(MP3_INPUT_BUFFER_SIZE);
    g_ctx.pcm_buf = (mp3d_sample_t*)malloc(MINIMP3_MAX_SAMPLES_PER_FRAME * sizeof(mp3d_sample_t));
 #endif
-    
-    // Find I2S sound device
-    g_ctx.i2s_dev = device_find_by_name("i2s0");
-    if (!g_ctx.i2s_dev) {
-        ESP_LOGE(TAG, "I2S device 'i2s0' not found!");
+
+    // Find audio-stream device (provides resampling to native 44100)
+    if (!find_audio_stream_device(&g_ctx)) {
+        ESP_LOGE(TAG, "audio-stream device not found! Tried 'audio-stream' name and AUDIO_STREAM_TYPE");
    }
-    
+
    // Create dual layouts
    // 1. Picker Screen wrapper
    g_ctx.picker_wrapper = lv_obj_create(parent);
@@ -870,13 +863,11 @@ static void onShowApp(AppHandle app, void* data, lv_obj_t* parent) {
    lv_obj_set_style_border_width(g_ctx.picker_wrapper, 0, 0);
    lv_obj_set_style_pad_all(g_ctx.picker_wrapper, 0, 0);
    lv_obj_set_style_pad_gap(g_ctx.picker_wrapper, 0, 0);
-    lv_obj_set_style_bg_color(g_ctx.picker_wrapper, lv_color_hex(0x1E1E2E), 0); // Dark background
-    
-    // Toolbar in picker
+    lv_obj_set_style_bg_color(g_ctx.picker_wrapper, lv_color_hex(0x1E1E2E), 0);
+
    lv_obj_t* toolbar = tt_lvgl_toolbar_create_for_app(g_ctx.picker_wrapper, app);
    lv_obj_align(toolbar, LV_ALIGN_TOP_MID, 0, 0);
-    
-    // Picker list
+
    g_ctx.lst_books = lv_list_create(g_ctx.picker_wrapper);
    lv_obj_set_width(g_ctx.lst_books, LV_PCT(100));
    lv_obj_align_to(g_ctx.lst_books, toolbar, LV_ALIGN_OUT_BOTTOM_MID, 0, 0);
@@ -885,7 +876,7 @@ static void onShowApp(AppHandle app, void* data, lv_obj_t* parent) {
    lv_obj_set_height(g_ctx.lst_books, parent_height - toolbar_height);
    lv_obj_set_style_bg_color(g_ctx.lst_books, lv_color_hex(0x1E1E2E), 0);
    lv_obj_set_style_border_color(g_ctx.lst_books, lv_color_hex(0x313244), 0);
-    
+
    // 2. Player Screen wrapper (hidden on start)
    g_ctx.player_wrapper = lv_obj_create(parent);
    lv_obj_set_size(g_ctx.player_wrapper, LV_PCT(100), LV_PCT(100));
@@ -893,10 +884,9 @@ static void onShowApp(AppHandle app, void* data, lv_obj_t* parent) {
    lv_obj_set_style_pad_all(g_ctx.player_wrapper, 0, 0);
    lv_obj_set_style_pad_gap(g_ctx.player_wrapper, 0, 0);
    lv_obj_set_style_bg_color(g_ctx.player_wrapper, lv_color_hex(0x1E1E2E), 0);
-    lv_obj_remove_flag(g_ctx.player_wrapper, LV_OBJ_FLAG_SCROLLABLE); // Lock page scrolling
+    lv_obj_remove_flag(g_ctx.player_wrapper, LV_OBJ_FLAG_SCROLLABLE);
    lv_obj_add_flag(g_ctx.player_wrapper, LV_OBJ_FLAG_HIDDEN);
-    
-    // Page Image (covers the whole screen as background)
+
    g_ctx.img_page = lv_image_create(g_ctx.player_wrapper);
    lv_obj_align(g_ctx.img_page, LV_ALIGN_CENTER, 0, 0);
    lv_obj_set_style_bg_opa(g_ctx.img_page, LV_OPA_TRANSP, 0);
@@ -905,20 +895,18 @@ static void onShowApp(AppHandle app, void* data, lv_obj_t* parent) {
    lv_obj_remove_flag(g_ctx.img_page, LV_OBJ_FLAG_SCROLLABLE);
    lv_obj_add_flag(g_ctx.img_page, LV_OBJ_FLAG_CLICKABLE);
    lv_obj_add_event_cb(g_ctx.img_page, on_image_click, LV_EVENT_CLICKED, &g_ctx);
-    
-    // Custom Player header (Back button, Book Title, Page Indicator)
+
    g_ctx.header_bar = lv_obj_create(g_ctx.player_wrapper);
    lv_obj_t* header_bar = g_ctx.header_bar;
    lv_obj_set_size(header_bar, LV_PCT(100), 36);
    lv_obj_align(header_bar, LV_ALIGN_TOP_MID, 0, 0);
    lv_obj_set_style_radius(header_bar, 0, 0);
    lv_obj_set_style_bg_color(header_bar, lv_color_hex(0x11111B), 0);
-    lv_obj_set_style_bg_opa(header_bar, LV_OPA_COVER, 0); // Solid header bar
+    lv_obj_set_style_bg_opa(header_bar, LV_OPA_COVER, 0);
    lv_obj_set_style_border_color(header_bar, lv_color_hex(0x313244), 0);
    lv_obj_set_style_border_width(header_bar, 1, LV_PART_MAIN);
    lv_obj_remove_flag(header_bar, LV_OBJ_FLAG_SCROLLABLE);
-    
-    // Back button
+
    lv_obj_t* btn_back = lv_button_create(header_bar);
    lv_obj_set_size(btn_back, 44, 26);
    lv_obj_align(btn_back, LV_ALIGN_LEFT_MID, 0, 0);
@@ -928,37 +916,33 @@ static void onShowApp(AppHandle app, void* data, lv_obj_t* parent) {
    lv_label_set_text(lbl_back, LV_SYMBOL_LEFT);
    lv_obj_center(lbl_back);
    lv_obj_add_event_cb(btn_back, on_back_click, LV_EVENT_CLICKED, &g_ctx);
-    
-    // Title
+
    g_ctx.lbl_book_title = lv_label_create(header_bar);
    lv_obj_align(g_ctx.lbl_book_title, LV_ALIGN_CENTER, 0, 0);
    lv_obj_set_width(g_ctx.lbl_book_title, 180);
    lv_obj_set_style_text_align(g_ctx.lbl_book_title, LV_TEXT_ALIGN_CENTER, 0);
    lv_obj_set_style_text_color(g_ctx.lbl_book_title, lv_color_hex(0xCDD6F4), 0);
-    lv_label_set_long_mode(g_ctx.lbl_book_title, LV_LABEL_LONG_DOT); // Static text with dots to prevent dynamic redraw overhead
-    
-    // Page Indicator
+    lv_label_set_long_mode(g_ctx.lbl_book_title, LV_LABEL_LONG_DOT);
+
    g_ctx.lbl_indicator = lv_label_create(header_bar);
    lv_obj_align(g_ctx.lbl_indicator, LV_ALIGN_RIGHT_MID, 0, 0);
    lv_obj_set_style_text_color(g_ctx.lbl_indicator, lv_color_hex(0xA6ADC8), 0);
    lv_label_set_text(g_ctx.lbl_indicator, "1 / 1");
-    
-    // Bottom Controls container (overlaying background image)
+
    g_ctx.ctrl_bar = lv_obj_create(g_ctx.player_wrapper);
    lv_obj_t* ctrl_bar = g_ctx.ctrl_bar;
    lv_obj_set_size(ctrl_bar, LV_PCT(100), 40);
    lv_obj_align(ctrl_bar, LV_ALIGN_BOTTOM_MID, 0, 0);
    lv_obj_set_style_radius(ctrl_bar, 0, 0);
    lv_obj_set_style_bg_color(ctrl_bar, lv_color_hex(0x11111B), 0);
-    lv_obj_set_style_bg_opa(ctrl_bar, LV_OPA_COVER, 0); // Solid control bar
+    lv_obj_set_style_bg_opa(ctrl_bar, LV_OPA_COVER, 0);
    lv_obj_set_style_border_width(ctrl_bar, 0, 0);
    lv_obj_set_style_pad_all(ctrl_bar, 0, 0);
    lv_obj_set_style_pad_gap(ctrl_bar, 0, 0);
    lv_obj_set_flex_flow(ctrl_bar, LV_FLEX_FLOW_ROW);
    lv_obj_set_flex_align(ctrl_bar, LV_FLEX_ALIGN_SPACE_EVENLY, LV_FLEX_ALIGN_CENTER, LV_FLEX_ALIGN_CENTER);
    lv_obj_remove_flag(ctrl_bar, LV_OBJ_FLAG_SCROLLABLE);
-    
-    // Progress Bar (thin bar running along the top of control bar)
+
    g_ctx.bar_progress = lv_bar_create(g_ctx.player_wrapper);
    lv_obj_set_size(g_ctx.bar_progress, LV_PCT(100), 4);
    lv_obj_align_to(g_ctx.bar_progress, ctrl_bar, LV_ALIGN_OUT_TOP_MID, 0, 0);
@@ -966,8 +950,7 @@ static void onShowApp(AppHandle app, void* data, lv_obj_t* parent) {
    lv_bar_set_value(g_ctx.bar_progress, 0, LV_ANIM_OFF);
    lv_obj_set_style_bg_color(g_ctx.bar_progress, lv_color_hex(0x45475A), LV_PART_MAIN);
    lv_obj_set_style_bg_color(g_ctx.bar_progress, lv_color_hex(0x89B4FA), LV_PART_INDICATOR);
-    
-    // Prev Button
+
    g_ctx.btn_prev = lv_button_create(ctrl_bar);
    lv_obj_set_size(g_ctx.btn_prev, 54, 30);
    lv_obj_set_style_radius(g_ctx.btn_prev, 15, 0);
@@ -976,8 +959,7 @@ static void onShowApp(AppHandle app, void* data, lv_obj_t* parent) {
    lv_label_set_text(lbl_prev, LV_SYMBOL_PREV);
    lv_obj_center(lbl_prev);
    lv_obj_add_event_cb(g_ctx.btn_prev, on_prev_click, LV_EVENT_CLICKED, &g_ctx);
-    
-    // Play/Pause Button
+
    g_ctx.btn_play_pause = lv_button_create(ctrl_bar);
    lv_obj_set_size(g_ctx.btn_play_pause, 94, 30);
    lv_obj_set_style_radius(g_ctx.btn_play_pause, 15, 0);
@@ -987,8 +969,7 @@ static void onShowApp(AppHandle app, void* data, lv_obj_t* parent) {
    lv_label_set_text(lbl_play_btn, LV_SYMBOL_PLAY " Play");
    lv_obj_center(lbl_play_btn);
    lv_obj_add_event_cb(g_ctx.btn_play_pause, on_play_pause_click, LV_EVENT_CLICKED, &g_ctx);
-    
-    // Next Button
+
    g_ctx.btn_next = lv_button_create(ctrl_bar);
    lv_obj_set_size(g_ctx.btn_next, 54, 30);
    lv_obj_set_style_radius(g_ctx.btn_next, 15, 0);
@@ -1001,26 +982,20 @@ static void onShowApp(AppHandle app, void* data, lv_obj_t* parent) {
    // Initial load
    g_ctx.state = STATE_IDLE;
    update_ui(&g_ctx);
-    
-    // Scan Books
+
    scan_books(&g_ctx);
 }

 static void onHideApp(AppHandle app, void* data) {
    wait_for_playback_task_to_exit(&g_ctx);
-    
-    if (g_ctx.i2s_dev) {
-        device_lock(g_ctx.i2s_dev);
-        i2s_controller_reset(g_ctx.i2s_dev);
-        device_unlock(g_ctx.i2s_dev);
-    }
-    
+    close_stream_if_open(&g_ctx);
+
    if (g_ctx.manifest_root) {
        cJSON_Delete(g_ctx.manifest_root);
        g_ctx.manifest_root = NULL;
        g_ctx.pages_array = NULL;
    }
-    
+
 #ifdef ESP_PLATFORM
    if (g_ctx.audio_buf) {
        heap_caps_free(g_ctx.audio_buf);
@@ -3,7 +3,8 @@
 #include <tt_lvgl_toolbar.h>

 #include <tactility/device.h>
-#include <tactility/drivers/i2s_controller.h>
+#include <tactility/drivers/audio_stream.h>
+#include <tactility/drivers/audio_codec.h>

 #include <string.h>
 #include <stdlib.h>
@@ -27,7 +28,8 @@ typedef enum {
 } PlaybackState;

 typedef struct {
-    struct Device* i2s_dev;
+    struct Device* stream_dev;
+    AudioStreamHandle stream_handle;
    char           filepath[512];
    PlaybackState  state;
    
@@ -119,17 +121,17 @@ static void mp3_playback_task(void* arg) {
    ctx->eof = false;
    ctx->sample_rate = 0;
    ctx->channels = 0;
+    ctx->stream_handle = NULL;
    
    ESP_LOGI(TAG, "Starting MP3 playback: %s (size: %d bytes)", ctx->filepath, ctx->file_size);
    
    while (ctx->state != STATE_IDLE) {
        if (ctx->state == STATE_PAUSED) {
-            if (ctx->sample_rate != 0) {
-                // Reset I2S immediately on pause to stop DMA loops
-                device_lock(ctx->i2s_dev);
-                i2s_controller_reset(ctx->i2s_dev);
-                device_unlock(ctx->i2s_dev);
-                // Clear configuration cache to force reconfig on resume
+            if (ctx->stream_handle != NULL) {
+                // Close stream immediately on pause to stop DMA
+                audio_stream_close(ctx->stream_handle);
+                ctx->stream_handle = NULL;
+                // Clear cached format to force re-open on resume
                ctx->sample_rate = 0;
                ctx->channels = 0;
            }
@@ -172,30 +174,30 @@ static void mp3_playback_task(void* arg) {
        memmove(ctx->input_buf, ctx->input_buf + consumed, ctx->buffered_bytes);
        
        if (samples > 0) {
-            // Configure I2S if format changed
+            // Configure audio-stream if format changed
            if (ctx->sample_rate != info.hz || ctx->channels != info.channels) {
-                struct I2sConfig config = {
-                    .communication_format = I2S_FORMAT_STAND_I2S,
+                if (ctx->stream_handle != NULL) {
+                    audio_stream_close(ctx->stream_handle);
+                    ctx->stream_handle = NULL;
+                }
+
+                struct AudioStreamConfig config = {
                    .sample_rate = (uint32_t)info.hz,
                    .bits_per_sample = 16,
-                    .channel_left = 0,
-                    .channel_right = (info.channels == 2) ? 1 : I2S_CHANNEL_NONE
+                    .channels = (uint8_t)info.channels
                };
-                
-                device_lock(ctx->i2s_dev);
-                error_t err = i2s_controller_set_config(ctx->i2s_dev, &config);
-                device_unlock(ctx->i2s_dev);
-                
+
+                error_t err = audio_stream_open_output(ctx->stream_dev, &config, &ctx->stream_handle);
                if (err != ERROR_NONE) {
-                    ESP_LOGE(TAG, "Failed to set config: %d", err);
+                    ESP_LOGE(TAG, "Failed to open audio stream: %d", err);
                    break;
                }
                ctx->sample_rate = info.hz;
                ctx->channels = info.channels;
-                ESP_LOGI(TAG, "I2S configured: %d Hz, %d channels", info.hz, info.channels);
+                ESP_LOGI(TAG, "Audio stream opened: %d Hz, %d channels", info.hz, info.channels);
            }
            
-            // Adjust volume
+            // Adjust volume (after resampler)
            int vol = ctx->volume;
            int16_t* samples_ptr = (int16_t*)ctx->pcm_buf;
            size_t sample_count = (size_t)samples * info.channels;
@@ -204,15 +206,15 @@ static void mp3_playback_task(void* arg) {
                samples_ptr[i] = (int16_t)scaled;
            }
            
-            // Play audio to I2S
+            // Play audio via audio-stream (resampled to native 44100)
            size_t offset = 0;
            size_t data_size = sample_count * sizeof(int16_t);
            bool write_err = false;
            while (offset < data_size && ctx->state == STATE_PLAYING) {
                size_t written = 0;
-                error_t err = i2s_controller_write(ctx->i2s_dev, (uint8_t*)ctx->pcm_buf + offset, data_size - offset, &written, pdMS_TO_TICKS(250));
+                error_t err = audio_stream_write(ctx->stream_handle, (uint8_t*)ctx->pcm_buf + offset, data_size - offset, &written, pdMS_TO_TICKS(500));
                if (err != ERROR_NONE || written == 0) {
-                    ESP_LOGE(TAG, "I2S write failed: %d", err);
+                    ESP_LOGE(TAG, "Audio stream write failed: %d", err);
                    write_err = true;
                    break;
                }
@@ -232,18 +234,15 @@ static void mp3_playback_task(void* arg) {
            lv_bar_set_value(ctx->bar_progress, pct, LV_ANIM_OFF);
            tt_lvgl_unlock();
        }
-        
-        // taskYIELD removed to avoid audio gaps - decoder loop is fast enough
    }
    
    fclose(ctx->file);
    ctx->file = NULL;
    
-    // Reset I2S controller to clean up DMA channels and stop looping noise
-    if (ctx->i2s_dev) {
-        device_lock(ctx->i2s_dev);
-        i2s_controller_reset(ctx->i2s_dev);
-        device_unlock(ctx->i2s_dev);
+    // Close audio stream to clean up DMA / resampler task
+    if (ctx->stream_handle != NULL) {
+        audio_stream_close(ctx->stream_handle);
+        ctx->stream_handle = NULL;
    }
    
    ESP_LOGI(TAG, "Playback task finished");
@@ -292,10 +291,10 @@ static void onShowApp(AppHandle app, void* data, lv_obj_t* parent) {
    g_ctx.input_buf = (uint8_t*)malloc(MP3_INPUT_BUFFER_SIZE);
    g_ctx.pcm_buf = (mp3d_sample_t*)malloc(MINIMP3_MAX_SAMPLES_PER_FRAME * sizeof(mp3d_sample_t));
    
-    // Find device
-    g_ctx.i2s_dev = device_find_by_name("i2s0");
-    if (!g_ctx.i2s_dev) {
-        ESP_LOGE(TAG, "I2S device 'i2s0' not found!");
+    // Find audio-stream device (resampling layer over ES8311 codec)
+    g_ctx.stream_dev = device_find_by_name("audio-stream");
+    if (!g_ctx.stream_dev) {
+        ESP_LOGE(TAG, "Audio-stream device not found!");
    }
    
    // Parse launch parameters
@@ -393,8 +392,8 @@ static void onShowApp(AppHandle app, void* data, lv_obj_t* parent) {
    lv_obj_center(lbl_stop);
    lv_obj_add_event_cb(g_ctx.btn_stop, on_stop_click, LV_EVENT_CLICKED, &g_ctx);
    
-    if (!g_ctx.i2s_dev) {
-        lv_label_set_text(g_ctx.lbl_status, "Error: I2S Not Found");
+    if (!g_ctx.stream_dev) {
+        lv_label_set_text(g_ctx.lbl_status, "Error: Audio Not Found");
        lv_obj_add_state(g_ctx.btn_play_pause, LV_STATE_DISABLED);
        lv_obj_add_state(g_ctx.btn_stop, LV_STATE_DISABLED);
    } else if (!g_ctx.input_buf || !g_ctx.pcm_buf) {
@@ -409,7 +408,7 @@ static void onShowApp(AppHandle app, void* data, lv_obj_t* parent) {
        if (g_ctx.filepath[0] != '\0') {
            g_ctx.state = STATE_PLAYING;
            update_ui(&g_ctx);
-            xTaskCreate(mp3_playback_task, "mp3_play", 4096, &g_ctx, 5, &g_ctx.playback_task_handle);
+            xTaskCreate(mp3_playback_task, "mp3_play", 6144, &g_ctx, 6, &g_ctx.playback_task_handle);
        }
    }
 }
@@ -424,11 +423,10 @@ static void onHideApp(AppHandle app, void* data) {
        vTaskDelay(pdMS_TO_TICKS(10));
    }
    
-    // Reset I2S to ensure DMA channel is stopped
-    if (g_ctx.i2s_dev) {
-        device_lock(g_ctx.i2s_dev);
-        i2s_controller_reset(g_ctx.i2s_dev);
-        device_unlock(g_ctx.i2s_dev);
+    // Close any open audio stream
+    if (g_ctx.stream_handle != NULL) {
+        audio_stream_close(g_ctx.stream_handle);
+        g_ctx.stream_handle = NULL;
    }
    
    if (g_ctx.input_buf) {
@@ -1,7 +1,7 @@
 [manifest]
 version=0.1
 [target]
-sdk=0.7.0-dev
+sdk=0.8.0-dev
 platforms=esp32s3
 [app]
 id=one.tactility.mp3player
@@ -0,0 +1,16 @@
+cmake_minimum_required(VERSION 3.20)
+
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+
+if (DEFINED ENV{TACTILITY_SDK_PATH})
+    set(TACTILITY_SDK_PATH $ENV{TACTILITY_SDK_PATH})
+else()
+    set(TACTILITY_SDK_PATH "../../release/TactilitySDK")
+    message(WARNING "⚠️ TACTILITY_SDK_PATH environment variable is not set, defaulting to ${TACTILITY_SDK_PATH}")
+endif()
+
+include("${TACTILITY_SDK_PATH}/TactilitySDK.cmake")
+set(EXTRA_COMPONENT_DIRS ${TACTILITY_SDK_PATH})
+
+project(RobotArm)
+tactility_project(RobotArm)
@@ -0,0 +1,6 @@
+file(GLOB_RECURSE SOURCE_FILES Source/*.c)
+idf_component_register(
+    SRCS ${SOURCE_FILES}
+    REQUIRES TactilitySDK lwip
+)
+target_compile_options(${COMPONENT_LIB} PRIVATE -Wno-format-truncation -Wno-unused-but-set-variable -Wno-unused-function)
@@ -0,0 +1,429 @@
+#include <tt_app.h>
+#include <tt_lvgl_toolbar.h>
+#include <tactility/lvgl_fonts.h>
+#include <stdlib.h>
+#include <string.h>
+#include <stdio.h>
+#include <stdbool.h>
+#include <unistd.h>
+#include <lwip/sockets.h>
+#include <lwip/inet.h>
+#include "esp_log.h"
+
+#define TAG "RobotArm"
+#define ARM_HOST "192.168.68.103"
+#define ARM_PORT 80
+#define ARM_PATH "/api/mcp"
+#define NUM_JOINTS 6
+#define SEQ_MAX 16
+
+typedef struct {
+    const char* name;
+    const char* cute;
+    uint32_t bg;
+    uint32_t accent;
+    int home, rmin, rmax;
+    int value, last_sent;
+} Joint;
+
+static Joint joints[NUM_JOINTS] = {
+    {"base","Base",0xFFD6E0,0xFF8FA8,70,0,180,70,-1},
+    {"shoulder","Shldr",0xD6E8FF,0x8FB6FF,40,0,70,40,-1},
+    {"elbow","Elbow",0xFFE8C5,0xFFB86A,20,0,120,20,-1},
+    {"pitch","Pitch",0xD5F0D5,0x88D488,90,30,150,90,-1},
+    {"roll","Roll",0xE8D5FF,0xB088FF,90,30,150,90,-1},
+    {"gripper","Grip",0xFFF0B3,0xFFD060,90,0,180,90,-1},
+};
+
+typedef struct { int v[NUM_JOINTS]; } Frame;
+static Frame seq[SEQ_MAX];
+static int seq_len = 0, seq_idx = -1;
+static bool seq_playing = false;
+static int seq_play_pos = 0;
+
+typedef struct {
+    AppHandle app;
+    lv_obj_t* status;
+    lv_obj_t* sliders[6];
+    lv_obj_t* vals[6];
+    lv_obj_t* seq_label;
+    lv_obj_t* play_label;
+    lv_obj_t* blocks[SEQ_MAX];
+    int pend[6];
+    bool has[6];
+    int ticks[6];
+    lv_timer_t* poll;
+    lv_timer_t* seq_timer;
+} Ctx;
+static Ctx* g = NULL;
+
+static uint16_t my_htons(uint16_t v){ return (v<<8)|(v>>8); }
+
+static int http_post(const char* host,int port,const char* path,const char* body,char* out,size_t olen){
+    int fd=lwip_socket(AF_INET,SOCK_STREAM,0);
+    if(fd<0) return -1;
+    struct sockaddr_in s; memset(&s,0,sizeof(s));
+    s.sin_family=AF_INET; s.sin_port=my_htons(port); s.sin_addr.s_addr=ipaddr_addr(host);
+    struct timeval tv={5,0};
+    lwip_setsockopt(fd,SOL_SOCKET,SO_RCVTIMEO,&tv,sizeof(tv));
+    lwip_setsockopt(fd,SOL_SOCKET,SO_SNDTIMEO,&tv,sizeof(tv));
+    if(lwip_connect(fd,(struct sockaddr*)&s,sizeof(s))<0){close(fd);return -2;}
+    char hdr[256];
+    int bl=strlen(body);
+    int hl=snprintf(hdr,sizeof(hdr),"POST %s HTTP/1.1\r\nHost: %s:%d\r\nContent-Type: application/json\r\nContent-Length: %d\r\nConnection: close\r\n\r\n",path,host,port,bl);
+    if(lwip_send(fd,hdr,hl,0)<0){close(fd);return -3;}
+    if(lwip_send(fd,body,bl,0)<0){close(fd);return -3;}
+    int tot=0;
+    while(tot<(int)olen-1){int r=lwip_recv(fd,out+tot,olen-1-tot,0); if(r<=0) break; tot+=r;}
+    out[tot]='\0'; close(fd);
+    char* bp=strstr(out,"\r\n\r\n"); if(bp){bp+=4; memmove(out,bp,strlen(bp)+1);}
+    return tot>0?0:-4;
+}
+
+static bool jget(const char* js,const char* key,int* out){
+    const char* p=strstr(js,key);
+    if(!p) return false;
+    p+=strlen(key);
+    while(*p && *p!=':'){
+        p++;
+        if(!*p) return false;
+    }
+    p++;
+    while(*p && (*p==' '||*p=='\t'||*p=='"'||*p=='\\')) p++;
+    int sign=1;
+    if(*p=='-'){sign=-1;p++;}
+    float v=0,frac=0.1f;
+    bool dot=false,got=false;
+    while(*p){
+        if(*p>='0'&&*p<='9'){got=true; if(!dot) v=v*10+(*p-'0'); else {v+=(*p-'0')*frac; frac*=0.1f;}}
+        else if(*p=='.'&&!dot) dot=true;
+        else break;
+        p++;
+    }
+    if(!got) return false;
+    *out=(int)(v*sign+0.5f);
+    return true;
+}
+static bool parse_state(const char* r,int* b,int* s,int* e,int* p,int* ro,int* gr){
+    int v; bool ok=true;
+    if(jget(r,"base",&v)) *b=v; else ok=false;
+    if(jget(r,"shoulder",&v)) *s=v; else ok=false;
+    if(jget(r,"elbow",&v)) *e=v; else ok=false;
+    if(jget(r,"pitch",&v)) *p=v; else ok=false;
+    if(jget(r,"roll",&v)) *ro=v; else ok=false;
+    if(jget(r,"gripper",&v)) *gr=v; else ok=false;
+    return ok;
+}
+static bool rpc_get(int* b,int* s,int* e,int* p,int* ro,int* gr){
+    const char* body="{\"jsonrpc\":\"2.0\",\"id\":1,\"method\":\"tools/call\",\"params\":{\"name\":\"get_arm_state\",\"arguments\":{}}}";
+    char resp[2048]; memset(resp,0,sizeof(resp));
+    if(http_post(ARM_HOST,ARM_PORT,ARM_PATH,body,resp,sizeof(resp))!=0) return false;
+    return parse_state(resp,b,s,e,p,ro,gr);
+}
+static bool rpc_move(const char* j,int a){
+    char body[300]; snprintf(body,sizeof(body),
+        "{\"jsonrpc\":\"2.0\",\"id\":2,\"method\":\"tools/call\",\"params\":{\"name\":\"move_joint\",\"arguments\":{\"joint\":\"%s\",\"angle\":%d,\"duration\":0.5}}}",
+        j,a);
+    char r[1024]; memset(r,0,sizeof(r));
+    return http_post(ARM_HOST,ARM_PORT,ARM_PATH,body,r,sizeof(r))==0;
+}
+static bool rpc_move_all(int b,int s,int e,int p,int ro,int gr,float dur){
+    char body[420]; snprintf(body,sizeof(body),
+        "{\"jsonrpc\":\"2.0\",\"id\":3,\"method\":\"tools/call\",\"params\":{\"name\":\"move_all_joints\",\"arguments\":{\"base\":%d,\"shoulder\":%d,\"elbow\":%d,\"pitch\":%d,\"roll\":%d,\"gripper\":%d,\"duration\":%.1f}}}",
+        b,s,e,p,ro,gr,dur);
+    char r[1024]; memset(r,0,sizeof(r));
+    int rc=http_post(ARM_HOST,ARM_PORT,ARM_PATH,body,r,sizeof(r));
+    ESP_LOGI(TAG,"move_all %d %d %d rc=%d",b,s,e,rc);
+    return rc==0;
+}
+static bool rpc_home(void){
+    const char* b="{\"jsonrpc\":\"2.0\",\"id\":3,\"method\":\"tools/call\",\"params\":{\"name\":\"home_arm\",\"arguments\":{\"duration\":1.0}}}";
+    char r[512]; memset(r,0,sizeof(r)); return http_post(ARM_HOST,ARM_PORT,ARM_PATH,b,r,sizeof(r))==0;
+}
+
+static void set_status(const char* t){ if(g&&g->status) lv_label_set_text(g->status,t); }
+static void apply_ui(void){
+    if(!g) return;
+    for(int i=0;i<NUM_JOINTS;i++){
+        if(g->sliders[i]) lv_slider_set_value(g->sliders[i],joints[i].value,LV_ANIM_OFF);
+        if(g->vals[i]){char buf[8]; snprintf(buf,sizeof(buf),"%d",joints[i].value); lv_label_set_text(g->vals[i],buf);}
+    }
+}
+static void refresh_arm(void){
+    set_status("Reading .103...");
+    int b,s,e,p,ro,gr;
+    if(rpc_get(&b,&s,&e,&p,&ro,&gr)){
+        joints[0].value=b; joints[1].value=s; joints[2].value=e;
+        joints[3].value=p; joints[4].value=ro; joints[5].value=gr;
+        for(int i=0;i<NUM_JOINTS;i++){joints[i].last_sent=joints[i].value; if(g){g->pend[i]=joints[i].value; g->has[i]=false; g->ticks[i]=0;}}
+        apply_ui();
+        char buf[32]; snprintf(buf,sizeof(buf),"B%d S%d E%d",b,s,e); set_status(buf);
+    } else set_status("No .103");
+}
+static void del_ref_cb(lv_timer_t* t){ lv_timer_delete(t); refresh_arm(); }
+static void init_cb(lv_timer_t* t){ lv_timer_delete(t); refresh_arm(); }
+static void poll_cb(lv_timer_t* t){
+    (void)t; if(!g) return;
+    for(int i=0;i<NUM_JOINTS;i++){
+        if(!g->has[i]) continue;
+        g->ticks[i]++; if(g->ticks[i]<3) continue;
+        g->has[i]=false; g->ticks[i]=0;
+        int tgt=g->pend[i]; if(joints[i].last_sent==tgt) continue;
+        joints[i].last_sent=tgt; joints[i].value=tgt;
+        char buf[20]; snprintf(buf,sizeof(buf),"%s %d",joints[i].cute,tgt); set_status(buf);
+        bool ok=rpc_move(joints[i].name,tgt);
+        snprintf(buf,sizeof(buf),"%s %d %s",joints[i].cute,tgt,ok?"ok":"fail"); set_status(buf);
+        break;
+    }
+}
+static void slider_cb(lv_event_t* e){
+    int idx=(int)(intptr_t)lv_event_get_user_data(e);
+    int v=(int)lv_slider_get_value(lv_event_get_target(e));
+    joints[idx].value=v;
+    if(g){
+        if(g->vals[idx]){char b[8]; snprintf(b,sizeof(b),"%d",v); lv_label_set_text(g->vals[idx],b);}
+        g->pend[idx]=v; g->has[idx]=true; g->ticks[idx]=0;
+    }
+}
+
+/* ── sequencer ── */
+static void update_seq_ui(void){
+    if(!g) return;
+    if(g->seq_label){
+        if(seq_len==0) lv_label_set_text(g->seq_label,"empty");
+        else {char b[16]; snprintf(b,sizeof(b),"%d/%d", (seq_idx>=0?seq_idx+1:seq_len), seq_len); lv_label_set_text(g->seq_label,b);}
+    }
+    for(int i=0;i<SEQ_MAX;i++){
+        if(!g->blocks[i]) continue;
+        if(i<seq_len){
+            lv_obj_set_style_bg_opa(g->blocks[i],LV_OPA_COVER,0);
+            if(i==seq_idx){
+                lv_obj_set_style_border_width(g->blocks[i],3,0);
+                lv_obj_set_style_border_color(g->blocks[i],lv_color_hex(0xFFFFFF),0);
+            } else {
+                lv_obj_set_style_border_width(g->blocks[i],2,0);
+                lv_obj_set_style_border_color(g->blocks[i],lv_color_hex(0x3A3A3A),0);
+            }
+        } else {
+            lv_obj_set_style_bg_opa(g->blocks[i],LV_OPA_30,0);
+            lv_obj_set_style_border_width(g->blocks[i],0,0);
+        }
+    }
+}
+static void load_frame(int fidx){
+    if(fidx<0||fidx>=seq_len) return;
+    for(int i=0;i<NUM_JOINTS;i++){joints[i].value=seq[fidx].v[i]; joints[i].last_sent=joints[i].value; if(g){g->pend[i]=joints[i].value; g->has[i]=false;}}
+    apply_ui(); seq_idx=fidx; update_seq_ui();
+    char b[20]; snprintf(b,sizeof(b),"Frame %d",fidx+1); set_status(b);
+}
+static void seq_add_cb(void){ if(seq_len>=SEQ_MAX){set_status("Seq full"); return;} for(int i=0;i<NUM_JOINTS;i++) seq[seq_len].v[i]=joints[i].value; seq_len++; seq_idx=seq_len-1; update_seq_ui(); char b[16]; snprintf(b,sizeof(b),"+ %d",seq_len); set_status(b); }
+static void seq_rem_cb(void){
+    if(seq_len==0||seq_idx<0){set_status("Nothing"); return;}
+    int rem=seq_idx;
+    for(int f=rem;f<seq_len-1;f++) seq[f]=seq[f+1];
+    seq_len--; if(seq_len==0){seq_idx=-1; update_seq_ui(); set_status("- empty"); return;}
+    if(seq_idx>=seq_len) seq_idx=seq_len-1;
+    load_frame(seq_idx);
+}
+static void seq_prev_cb(void){ if(seq_len==0) return; int n=(seq_idx<=0)?seq_len-1:seq_idx-1; load_frame(n); }
+static void seq_next_cb(void){ if(seq_len==0) return; int n=(seq_idx>=seq_len-1)?0:seq_idx+1; load_frame(n); }
+
+static void seq_timer_cb(lv_timer_t* t){
+    (void)t; if(!seq_playing||seq_len==0) return;
+    int f=seq_play_pos%seq_len;
+    int* v=seq[f].v;
+    if(!rpc_move_all(v[0],v[1],v[2],v[3],v[4],v[5],0.8f)){
+        set_status("Seq fail"); seq_playing=false;
+        if(g&&g->play_label) lv_label_set_text(g->play_label,"Play");
+        return;
+    }
+    for(int i=0;i<NUM_JOINTS;i++){joints[i].value=v[i]; joints[i].last_sent=v[i]; if(g){g->pend[i]=v[i]; g->has[i]=false;}}
+    apply_ui(); seq_idx=f; update_seq_ui();
+    char b[20]; snprintf(b,sizeof(b),"Play %d/%d",f+1,seq_len); set_status(b);
+    seq_play_pos++; if(seq_play_pos>=seq_len) seq_play_pos=0;
+}
+static void seq_play_cb(lv_event_t* e){
+    (void)e; if(seq_len==0){set_status("No frames"); return;}
+    seq_playing=!seq_playing;
+    if(g&&g->play_label) lv_label_set_text(g->play_label, seq_playing?"Pause":"Play");
+    if(seq_playing){seq_play_pos=(seq_idx>=0?seq_idx:0); set_status("Playing");} else set_status("Paused");
+}
+static void seq_add_ev(lv_event_t* e){(void)e; seq_add_cb();}
+static void seq_rem_ev(lv_event_t* e){(void)e; seq_rem_cb();}
+static void seq_prev_ev(lv_event_t* e){(void)e; seq_prev_cb();}
+static void seq_next_ev(lv_event_t* e){(void)e; seq_next_cb();}
+static void block_click_cb(lv_event_t* e){int idx=(int)(intptr_t)lv_event_get_user_data(e); if(idx<0||idx>=seq_len) return; load_frame(idx);}
+
+static void home_cb(lv_event_t* e){(void)e; set_status("Homing..."); if(rpc_home()){lv_timer_create(del_ref_cb,1200,NULL); set_status("Homed :3");} else set_status("Fail");}
+static void read_cb(lv_event_t* e){(void)e; refresh_arm();}
+static void open_cb(lv_event_t* e){(void)e; joints[5].value=0; apply_ui(); rpc_move("gripper",0); set_status("Open");}
+static void close_cb(lv_event_t* e){(void)e; joints[5].value=180; apply_ui(); rpc_move("gripper",180); set_status("Close");}
+
+static void onShow(AppHandle app,void* data,lv_obj_t* parent){
+    (void)data;
+    Ctx* c=(Ctx*)calloc(1,sizeof(Ctx)); if(!c) return;
+    c->app=app; g=c;
+    for(int i=0;i<NUM_JOINTS;i++){joints[i].last_sent=-1; c->pend[i]=joints[i].value; c->has[i]=false;}
+
+    lv_obj_t* tb=tt_lvgl_toolbar_create_for_app(parent,app); lv_obj_align(tb,LV_ALIGN_TOP_MID,0,0);
+
+    lv_obj_t* root=lv_obj_create(parent);
+    lv_obj_set_size(root,LV_PCT(100),LV_PCT(100));
+    lv_obj_set_style_pad_all(root,2,0); lv_obj_set_style_pad_top(root,34,0);
+    lv_obj_set_style_border_width(root,0,0);
+    lv_obj_set_style_bg_color(root,lv_color_hex(0xFFF8F0),0);
+    lv_obj_set_style_bg_opa(root,LV_OPA_COVER,0);
+    lv_obj_set_scroll_dir(root, LV_DIR_VER);
+
+    lv_obj_t* hdr=lv_obj_create(root); lv_obj_set_size(hdr,LV_PCT(100),16);
+    lv_obj_set_style_border_width(hdr,0,0); lv_obj_set_style_bg_opa(hdr,LV_OPA_TRANSP,0);
+    lv_obj_set_style_pad_all(hdr,0,0); lv_obj_set_pos(hdr,0,0);
+    lv_obj_clear_flag(hdr, LV_OBJ_FLAG_SCROLLABLE);
+    lv_obj_t* title=lv_label_create(hdr); lv_label_set_text(title,"Robot Arm :3");
+    lv_obj_set_style_text_font(title,lvgl_get_text_font(FONT_SIZE_SMALL),0);
+    lv_obj_set_style_text_color(title,lv_color_hex(0x3D2B5A),0); lv_obj_set_pos(title,2,0);
+    c->status=lv_label_create(hdr); lv_label_set_text(c->status,"Conn .103...");
+    lv_obj_set_style_text_font(c->status,lvgl_get_text_font(FONT_SIZE_SMALL),0);
+    lv_obj_set_style_text_color(c->status,lv_color_hex(0xA08090),0); lv_obj_set_pos(c->status,90,0);
+
+    lv_obj_t* brow=lv_obj_create(root); lv_obj_set_size(brow,LV_PCT(100),20);
+    lv_obj_set_style_border_width(brow,0,0); lv_obj_set_style_bg_opa(brow,LV_OPA_TRANSP,0);
+    lv_obj_set_style_pad_all(brow,0,0); lv_obj_set_pos(brow,0,16);
+    lv_obj_clear_flag(brow, LV_OBJ_FLAG_SCROLLABLE);
+    struct { const char* t; uint32_t col; lv_event_cb_t cb; } btns[]={
+        {"Home",0xFFD6E0,home_cb},{"Read",0xD6E8FF,read_cb},{"Open",0xD5F0D5,open_cb},{"Close",0xFFE8C5,close_cb},};
+    for(int i=0;i<4;i++){
+        lv_obj_t* b=lv_btn_create(brow); lv_obj_set_size(b,56,18);
+        lv_obj_set_style_bg_color(b,lv_color_hex(btns[i].col),0); lv_obj_set_style_radius(b,8,0);
+        lv_obj_set_pos(b,i*62+2,0);
+        lv_obj_t* l=lv_label_create(b); lv_label_set_text(l,btns[i].t);
+        lv_obj_set_style_text_font(l,lvgl_get_text_font(FONT_SIZE_SMALL),0);
+        lv_obj_set_style_text_color(l,lv_color_hex(0x4A356A),0); lv_obj_center(l);
+        lv_obj_add_event_cb(b,btns[i].cb,LV_EVENT_CLICKED,NULL);
+    }
+
+    /* ── large nice vertical sliders: 3 cols, 2x height 22x72 per request ── */
+    lv_obj_t* grid=lv_obj_create(root);
+    lv_obj_set_size(grid,LV_PCT(100),196);
+    lv_obj_set_style_border_width(grid,0,0); lv_obj_set_style_bg_opa(grid,LV_OPA_TRANSP,0);
+    lv_obj_set_style_pad_all(grid,2,0); lv_obj_set_pos(grid,0,36);
+    lv_obj_clear_flag(grid, LV_OBJ_FLAG_SCROLLABLE);
+
+    for(int i=0;i<NUM_JOINTS;i++){
+        int col=i%3, row=i/3;
+        lv_obj_t* card=lv_obj_create(grid);
+        lv_obj_set_size(card,102,96);
+        lv_obj_set_pos(card,col*104+2,row*98);
+        lv_obj_set_style_bg_color(card,lv_color_hex(joints[i].bg),0);
+        lv_obj_set_style_bg_opa(card,LV_OPA_90,0);
+        lv_obj_set_style_radius(card,12,0);
+        lv_obj_set_style_border_width(card,0,0);
+        lv_obj_set_style_pad_all(card,3,0);
+        lv_obj_clear_flag(card, LV_OBJ_FLAG_SCROLLABLE);
+
+        lv_obj_t* name=lv_label_create(card);
+        lv_label_set_text(name,joints[i].cute);
+        lv_obj_set_style_text_font(name,lvgl_get_text_font(FONT_SIZE_SMALL),0);
+        lv_obj_set_style_text_color(name,lv_color_hex(0x4A356A),0); lv_obj_set_pos(name,2,0);
+
+        c->vals[i]=lv_label_create(card);
+        char vb[8]; snprintf(vb,sizeof(vb),"%d",joints[i].value);
+        lv_label_set_text(c->vals[i],vb);
+        lv_obj_set_style_text_font(c->vals[i],lvgl_get_text_font(FONT_SIZE_SMALL),0);
+        lv_obj_set_style_text_color(c->vals[i],lv_color_hex(0xC04060),0); lv_obj_set_pos(c->vals[i],40,0);
+
+        lv_obj_t* rlbl=lv_label_create(card);
+        char rb[12]; snprintf(rb,sizeof(rb),"%d-%d",joints[i].rmin,joints[i].rmax);
+        lv_label_set_text(rlbl,rb);
+        lv_obj_set_style_text_font(rlbl,lvgl_get_text_font(FONT_SIZE_SMALL),0);
+        lv_obj_set_style_text_color(rlbl,lv_color_hex(0xA090A0),0); lv_obj_set_pos(rlbl,58,0);
+
+        lv_obj_t* sl=lv_slider_create(card);
+        c->sliders[i]=sl;
+        lv_obj_set_size(sl,22,72);
+        lv_obj_set_pos(sl,40,20);
+        lv_slider_set_range(sl,joints[i].rmin,joints[i].rmax);
+        lv_slider_set_value(sl,joints[i].value,LV_ANIM_OFF);
+        lv_obj_set_style_bg_color(sl,lv_color_hex(0xFFFFFF),LV_PART_MAIN);
+        lv_obj_set_style_bg_opa(sl,LV_OPA_80,LV_PART_MAIN);
+        lv_obj_set_style_radius(sl,10,LV_PART_MAIN);
+        lv_obj_set_style_bg_color(sl,lv_color_hex(joints[i].accent),LV_PART_INDICATOR);
+        lv_obj_set_style_radius(sl,10,LV_PART_INDICATOR);
+        lv_obj_set_style_bg_color(sl,lv_color_hex(0xFFFFFF),LV_PART_KNOB);
+        lv_obj_set_style_border_color(sl,lv_color_hex(joints[i].accent),LV_PART_KNOB);
+        lv_obj_set_style_border_width(sl,2,LV_PART_KNOB);
+        lv_obj_set_style_radius(sl,12,LV_PART_KNOB);
+        lv_obj_set_style_pad_all(sl,3,LV_PART_KNOB);
+        lv_obj_add_event_cb(sl,slider_cb,LV_EVENT_VALUE_CHANGED,(void*)(intptr_t)i);
+    }
+
+    /* ── sequencer at bottom, NOT fixed — scrollable with content ──
+       visual: colored blocks, no info, current highlighted, larger buttons */
+    lv_obj_t* seqbar=lv_obj_create(root);
+    lv_obj_set_size(seqbar,316,96);
+    lv_obj_set_pos(seqbar,2,232);
+    lv_obj_clear_flag(seqbar, LV_OBJ_FLAG_SCROLLABLE);
+    lv_obj_set_style_bg_color(seqbar,lv_color_hex(0xF0E8FF),0);
+    lv_obj_set_style_bg_opa(seqbar,LV_OPA_90,0);
+    lv_obj_set_style_radius(seqbar,12,0);
+    lv_obj_set_style_border_width(seqbar,1,0);
+    lv_obj_set_style_border_color(seqbar,lv_color_hex(0xD0C0E0),0);
+    lv_obj_set_style_pad_all(seqbar,4,0);
+
+    lv_obj_t* seq_t=lv_label_create(seqbar); lv_label_set_text(seq_t,"Seq");
+    lv_obj_set_style_text_font(seq_t,lvgl_get_text_font(FONT_SIZE_SMALL),0);
+    lv_obj_set_style_text_color(seq_t,lv_color_hex(0x3D2B5A),0); lv_obj_set_pos(seq_t,2,0);
+
+    c->seq_label=lv_label_create(seqbar); lv_label_set_text(c->seq_label,"empty");
+    lv_obj_set_style_text_font(c->seq_label,lvgl_get_text_font(FONT_SIZE_SMALL),0);
+    lv_obj_set_style_text_color(c->seq_label,lv_color_hex(0x6A5A7A),0); lv_obj_set_pos(c->seq_label,30,0);
+
+    struct { const char* t; uint32_t col; lv_event_cb_t cb; int play; } sbtns[]={
+        {"-",0xFFB7B7,seq_rem_ev,0},{"<",0xD6E8FF,seq_prev_ev,0},
+        {"Play",0xC5F5C5,seq_play_cb,1},{">",0xD6E8FF,seq_next_ev,0},{"+",0xFFE8A0,seq_add_ev,0},};
+    for(int i=0;i<5;i++){
+        lv_obj_t* b=lv_btn_create(seqbar);
+        lv_obj_set_size(b,(i==2)?56:38,32);
+        lv_obj_set_style_bg_color(b,lv_color_hex(sbtns[i].col),0);
+        lv_obj_set_style_radius(b,8,0);
+        int xs[5]={64,110,158,220,260};
+        lv_obj_set_pos(b,xs[i],0);
+        lv_obj_t* l=lv_label_create(b); if(sbtns[i].play) c->play_label=l;
+        lv_label_set_text(l,sbtns[i].t);
+        lv_obj_set_style_text_font(l,lvgl_get_text_font(FONT_SIZE_SMALL),0);
+        lv_obj_set_style_text_color(l,lv_color_hex(0x2A2A5A),0); lv_obj_center(l);
+        lv_obj_add_event_cb(b,sbtns[i].cb,LV_EVENT_CLICKED,NULL);
+    }
+
+    uint32_t blk_cols[16]={
+        0xFF8FA8,0x8FB6FF,0xFFB86A,0x88D488,0xB088FF,0xFFD060,0xFF7AA2,0x7AC8FF,
+        0xFDBA74,0x86EFAC,0xA78BFA,0xFDE68A,0xFCA5A5,0x93C5FD,0xBEF264,0xFDA4AF
+    };
+    for(int i=0;i<SEQ_MAX;i++){
+        lv_obj_t* blk=lv_btn_create(seqbar);
+        lv_obj_set_size(blk,22,22);
+        lv_obj_set_pos(blk,(i%8)*24+2,(i/8)*24+38);
+        lv_obj_set_style_bg_color(blk,lv_color_hex(blk_cols[i]),0);
+        lv_obj_set_style_radius(blk,6,0);
+        lv_obj_set_style_border_width(blk,0,0);
+        lv_obj_set_style_bg_opa(blk,LV_OPA_30,0);
+        c->blocks[i]=blk;
+        lv_obj_add_event_cb(blk,block_click_cb,LV_EVENT_CLICKED,(void*)(intptr_t)i);
+    }
+    update_seq_ui();
+
+    c->poll=lv_timer_create(poll_cb,100,NULL);
+    c->seq_timer=lv_timer_create(seq_timer_cb,1300,NULL);
+    lv_timer_create(init_cb,600,NULL);
+}
+
+static void onHide(AppHandle app,void* data){
+    (void)app;(void)data;
+    if(g){
+        if(g->poll) lv_timer_delete(g->poll);
+        if(g->seq_timer) lv_timer_delete(g->seq_timer);
+        free(g); g=NULL;
+    }
+    seq_playing=false;
+}
+int main(int argc,char* argv[]){(void)argc;(void)argv; tt_app_register((AppRegistration){.onShow=onShow,.onHide=onHide}); return 0;}
@@ -0,0 +1,13 @@
+[manifest]
+version=0.1
+
+[target]
+sdk=0.8.0-dev
+platforms=esp32s3
+
+[app]
+id=one.tactility.robotarm
+versionName=0.1.0
+versionCode=1
+name=Robot Arm
+description=Cute controller for MCP robot arm
@@ -0,0 +1,16 @@
+cmake_minimum_required(VERSION 3.20)
+
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+
+if (DEFINED ENV{TACTILITY_SDK_PATH})
+    set(TACTILITY_SDK_PATH $ENV{TACTILITY_SDK_PATH})
+else()
+    set(TACTILITY_SDK_PATH "../../release/TactilitySDK")
+    message(WARNING "⚠️ TACTILITY_SDK_PATH environment variable is not set, defaulting to ${TACTILITY_SDK_PATH}")
+endif()
+
+include("${TACTILITY_SDK_PATH}/TactilitySDK.cmake")
+set(EXTRA_COMPONENT_DIRS ${TACTILITY_SDK_PATH})
+
+project(VoiceRecorder)
+tactility_project(VoiceRecorder)
@@ -0,0 +1,6 @@
+file(GLOB_RECURSE SOURCE_FILES Source/*.c)
+
+idf_component_register(
+    SRCS ${SOURCE_FILES}
+    REQUIRES TactilitySDK
+)
@@ -1,16 +1,15 @@
 /**
 * Voice Recorder App for Tactility OS
 *
- * Records voice memos (16kHz 16-bit Mono WAV format) to the SD card (/sdcard/memos/)
- * and plays them back.
+ * Records voice memos (16kHz 16-bit Mono WAV) to /sdcard/memos/
+ * Uses audio-stream API with resampling (native codec 44100 -> app 16000)
 */
-
 #include <tt_app.h>
 #include <tt_lvgl.h>
 #include <tt_lvgl_toolbar.h>

 #include <tactility/device.h>
-#include <tactility/drivers/i2s_controller.h>
+#include <tactility/drivers/audio_stream.h>

 #include <string.h>
 #include <stdlib.h>
@@ -42,7 +41,9 @@ typedef enum {
 } AudioState;

 typedef struct {
-    struct Device* i2s_dev;
+    struct Device* stream_dev;
+    AudioStreamHandle input_handle;
+    AudioStreamHandle output_handle;
    uint8_t*       audio_buf;
    AudioState     state;
    int            volume;
@@ -65,19 +66,19 @@ typedef struct {
 } AppCtx;

 typedef struct __attribute__((packed)) {
-    char riff[4];           // "RIFF"
-    uint32_t overall_size;  // file size - 8
-    char wave[4];           // "WAVE"
-    char fmt_chunk_marker[4]; // "fmt "
-    uint32_t length_of_fmt; // 16 for PCM
-    uint16_t format_type;   // 1 for PCM
-    uint16_t channels;      // 1 for mono
-    uint32_t sample_rate;   // 16000
-    uint32_t byterate;      // sample_rate * channels * (bits_per_sample / 8)
-    uint16_t block_align;   // channels * (bits_per_sample / 8)
-    uint16_t bits_per_sample; // 16
-    char data_chunk_header[4]; // "data"
-    uint32_t data_size;     // data size in bytes
+    char riff[4];
+    uint32_t overall_size;
+    char wave[4];
+    char fmt_chunk_marker[4];
+    uint32_t length_of_fmt;
+    uint16_t format_type;
+    uint16_t channels;
+    uint32_t sample_rate;
+    uint32_t byterate;
+    uint16_t block_align;
+    uint16_t bits_per_sample;
+    char data_chunk_header[4];
+    uint32_t data_size;
 } WavHeader;

 static AppCtx g_ctx;
@@ -87,6 +88,20 @@ static void update_ui(AppCtx* ctx);
 static void refresh_memo_list(AppCtx* ctx);
 static void on_memo_selected(lv_event_t* e);

+static bool find_audio_stream_device(AppCtx* ctx) {
+    struct Device* dev = device_find_by_name("audio-stream");
+    if (dev) {
+        ctx->stream_dev = dev;
+        return true;
+    }
+    dev = device_find_first_by_type(&AUDIO_STREAM_TYPE);
+    if (dev) {
+        ctx->stream_dev = dev;
+        return true;
+    }
+    return false;
+}
+
 /* ─── WAV Header Writer ─── */
 static void write_wav_header(FILE* f, uint32_t sample_rate, uint16_t bits_per_sample, uint16_t channels, uint32_t data_size) {
    WavHeader header;
@@ -114,10 +129,8 @@ static void get_next_memo_filename(char* out_filename, size_t max_len) {
    struct tm timeinfo;
    localtime_r(&rawtime, &timeinfo);

-    // Format: YYYYMMDD_HHMMSS (e.g., 20260629_232202)
    strftime(datetime_buf, sizeof(datetime_buf), "%Y%m%d_%H%M%S", &timeinfo);

-    // Default unique name candidate
    snprintf(out_filename, max_len, "memo_%s.wav", datetime_buf);

    char filepath[256];
@@ -125,24 +138,21 @@ static void get_next_memo_filename(char* out_filename, size_t max_len) {

    struct stat st;
    if (stat(filepath, &st) != 0) {
-        // File does not exist, safe to use
        return;
    }

-    // File exists, let's search for a unique name by appending _N
    int suffix = 1;
    while (1) {
        snprintf(out_filename, max_len, "memo_%s_%d.wav", datetime_buf, suffix);
        snprintf(filepath, sizeof(filepath), "/sdcard/memos/%s", out_filename);
        if (stat(filepath, &st) != 0) {
-            // Found a unique name!
            return;
        }
        suffix++;
    }
 }

-/* ─── Record Task ─── */
+/* ─── Record Task (audio-stream input, resampled to 16k mono) ─── */
 static void record_task(void* arg) {
    AppCtx* ctx = (AppCtx*)arg;
    char filepath[256];
@@ -164,29 +174,18 @@ static void record_task(void* arg) {
        return;
    }

-    // Write default header
    write_wav_header(f, SAMPLE_RATE, BITS_PER_SAMPLE, 1, 0);

-    /* Configure I2S for recording - RLCD fix: ES7210 outputs stereo (2 mics)
-     * even when we want mono file. Working MicroPython uses I2S.STEREO for RX
-     * then extracts left channel. If we request MONO, driver uses MONO slot mode
-     * but ES7210 still sends 2 slots, causing channel mismatch / low pitch.
-     * So request STEREO from I2S and downmix to mono in the loop.
-     * See audio_util.py: i2s = I2S(..., format=I2S.STEREO, rate=16000) */
-    struct I2sConfig cfg = {
-        .communication_format = I2S_FORMAT_STAND_I2S,
+    // Open input stream via audio-stream (resampler provides 16k mono regardless of codec native rate)
+    struct AudioStreamConfig in_cfg = {
        .sample_rate = SAMPLE_RATE,
        .bits_per_sample = BITS_PER_SAMPLE,
-        .channel_left = 0,
-        .channel_right = 1 // STEREO for ES7210 dual mic - we downmix to mono below
+        .channels = 1
    };

-    device_lock(ctx->i2s_dev);
-    error_t err = i2s_controller_set_config(ctx->i2s_dev, &cfg);
-    device_unlock(ctx->i2s_dev);
-
+    error_t err = audio_stream_open_input(ctx->stream_dev, &in_cfg, &ctx->input_handle);
    if (err != ERROR_NONE) {
-        ESP_LOGE(TAG, "Failed to set I2S config: %d", err);
+        ESP_LOGE(TAG, "audio_stream_open_input failed: %d", err);
        fclose(f);
        unlink(filepath);
        tt_lvgl_lock(portMAX_DELAY);
@@ -199,68 +198,47 @@ static void record_task(void* arg) {
        return;
    }

-    ESP_LOGI(TAG, "Recording started -> %s", filepath);
+    ESP_LOGI(TAG, "Recording started -> %s (via audio-stream %u Hz)", filepath, (unsigned)SAMPLE_RATE);

    size_t total_written = 0;
    uint32_t start_time = xTaskGetTickCount();

    while (ctx->state == STATE_RECORDING) {
        size_t bytes_read = 0;
-        err = i2s_controller_read(ctx->i2s_dev, ctx->audio_buf, AUDIO_BUF_SIZE, &bytes_read, pdMS_TO_TICKS(100));
+        err = audio_stream_read(ctx->input_handle, ctx->audio_buf, AUDIO_BUF_SIZE, &bytes_read, pdMS_TO_TICKS(200));
        if (err == ERROR_NONE && bytes_read > 0) {
-            // ES7210 stereo -> mono downmix: extract left channel (every other 16-bit sample)
-            // Working MP: for i in 0..bytes_read step 4: mono[j:j+2]=buffer[i:i+2]
-            // CHUNK_BYTES=1024 mono, but we read AUDIO_BUF_SIZE stereo (4096) then downmix to half
-            size_t mono_bytes = bytes_read / 2;
-            // In-place downmix using separate temp? Use static tmp buffer via audio_buf + mono offset
-            // Easiest: convert in-place from end to start to avoid overwrite
-            // Stereo layout: L0 R0 L1 R1 ... each 2 bytes, total bytes_read
-            // We want L0 L1 L2 ... -> mono_bytes
-            // Do backward copy: dest index = mono_bytes-2, src left = bytes_read-4
-            // This avoids needing second buffer
-            for (int src = (int)bytes_read - 4, dst = (int)mono_bytes - 2; src >= 0 && dst >= 0; src -= 4, dst -= 2) {
-                ctx->audio_buf[dst] = ctx->audio_buf[src];
-                ctx->audio_buf[dst+1] = ctx->audio_buf[src+1];
-            }
-            size_t written = fwrite(ctx->audio_buf, 1, mono_bytes, f);
-            if (written != mono_bytes) {
-                ESP_LOGE(TAG, "SD write error: wrote %d of %d", (int)written, (int)mono_bytes);
+            // Data already 16k mono from audio-stream resampler, no downmix needed
+            size_t written = fwrite(ctx->audio_buf, 1, bytes_read, f);
+            if (written != bytes_read) {
+                ESP_LOGE(TAG, "SD write error: wrote %d of %d", (int)written, (int)bytes_read);
                break;
            }
            total_written += written;
        }

-        // Update elapsed time in UI
        uint32_t elapsed_sec = (xTaskGetTickCount() - start_time) / configTICK_RATE_HZ;
        char status_buf[64];
        snprintf(status_buf, sizeof(status_buf), "🔴 Recording... %02u:%02u", (unsigned)(elapsed_sec / 60), (unsigned)(elapsed_sec % 60));

-        // Animate progress bar using modulo
-        int bar_val = (int)(((xTaskGetTickCount() - start_time) * 100) / (configTICK_RATE_HZ * 300)); // 5 min max
-
        tt_lvgl_lock(portMAX_DELAY);
        lv_label_set_text(ctx->lbl_status, status_buf);
-        lv_bar_set_value(ctx->bar_progress, bar_val % 100, LV_ANIM_OFF);
+        lv_bar_set_value(ctx->bar_progress, (int)((elapsed_sec * 100 / 300)) % 100, LV_ANIM_OFF);
        tt_lvgl_unlock();
    }

-    // Rewrite WAV header with actual recorded size
+    audio_stream_close(ctx->input_handle);
+    ctx->input_handle = NULL;
+
    fseek(f, 0, SEEK_SET);
    write_wav_header(f, SAMPLE_RATE, BITS_PER_SAMPLE, 1, total_written);
    fclose(f);

    ESP_LOGI(TAG, "Recording finished: %u bytes", (unsigned)total_written);

-    // Reset I2S controller to stop/release DMA channel
-    device_lock(ctx->i2s_dev);
-    i2s_controller_reset(ctx->i2s_dev);
-    device_unlock(ctx->i2s_dev);
-
    tt_lvgl_lock(portMAX_DELAY);
    ctx->state = STATE_IDLE;
    refresh_memo_list(ctx);
-    
-    // Select the new file automatically
+
    ctx->selected_index = -1;
    for (int i = 0; i < ctx->memo_count; i++) {
        if (strcmp(ctx->memos[i], filename) == 0) {
@@ -268,7 +246,7 @@ static void record_task(void* arg) {
            break;
        }
    }
-    
+
    update_ui(ctx);
    tt_lvgl_unlock();

@@ -276,7 +254,7 @@ static void record_task(void* arg) {
    vTaskDelete(NULL);
 }

-/* ─── Playback Task ─── */
+/* ─── Playback Task (audio-stream output with resampling) ─── */
 static void play_task(void* arg) {
    AppCtx* ctx = (AppCtx*)arg;
    if (ctx->selected_index < 0 || ctx->selected_index >= ctx->memo_count) {
@@ -305,7 +283,6 @@ static void play_task(void* arg) {
        return;
    }

-    // Read and parse WAV header
    WavHeader header;
    if (fread(&header, 1, sizeof(WavHeader), f) != sizeof(WavHeader)) {
        ESP_LOGE(TAG, "Failed to read WAV header");
@@ -320,7 +297,6 @@ static void play_task(void* arg) {
        return;
    }

-    // Verify file structure
    if (memcmp(header.riff, "RIFF", 4) != 0 || memcmp(header.wave, "WAVE", 4) != 0) {
        ESP_LOGE(TAG, "Invalid WAV format");
        fclose(f);
@@ -334,21 +310,16 @@ static void play_task(void* arg) {
        return;
    }

-    /* Configure I2S based on file metadata */
-    struct I2sConfig cfg = {
-        .communication_format = I2S_FORMAT_STAND_I2S,
+    /* Open output stream via audio-stream (resampler converts file rate -> native 44100) */
+    struct AudioStreamConfig out_cfg = {
        .sample_rate = header.sample_rate,
        .bits_per_sample = header.bits_per_sample,
-        .channel_left = 0,
-        .channel_right = (header.channels == 2) ? 1 : I2S_CHANNEL_NONE
+        .channels = header.channels
    };

-    device_lock(ctx->i2s_dev);
-    error_t err = i2s_controller_set_config(ctx->i2s_dev, &cfg);
-    device_unlock(ctx->i2s_dev);
-
+    error_t err = audio_stream_open_output(ctx->stream_dev, &out_cfg, &ctx->output_handle);
    if (err != ERROR_NONE) {
-        ESP_LOGE(TAG, "Failed to set I2S config for playback: %d", err);
+        ESP_LOGE(TAG, "audio_stream_open_output failed for playback: %d (rate=%u)", err, (unsigned)header.sample_rate);
        fclose(f);
        tt_lvgl_lock(portMAX_DELAY);
        ctx->state = STATE_IDLE;
@@ -360,7 +331,7 @@ static void play_task(void* arg) {
        return;
    }

-    ESP_LOGI(TAG, "Playing: %s, rate=%u Hz, channels=%u, size=%u bytes",
+    ESP_LOGI(TAG, "Playing via audio-stream: %s, rate=%u Hz, ch=%u, size=%u",
             filepath, (unsigned)header.sample_rate, header.channels, (unsigned)header.data_size);

    size_t total_played = 0;
@@ -371,40 +342,35 @@ static void play_task(void* arg) {
        fseek(f, sizeof(WavHeader), SEEK_SET);
    }

-    bool i2s_configured = true;
+    bool out_open = true;

    while (total_played < data_size && ctx->state != STATE_IDLE) {
        if (ctx->state == STATE_PAUSED) {
-            if (i2s_configured) {
-                // Reset I2S controller to stop DMA immediately when pausing
-                device_lock(ctx->i2s_dev);
-                i2s_controller_reset(ctx->i2s_dev);
-                device_unlock(ctx->i2s_dev);
-                i2s_configured = false;
+            if (out_open) {
+                audio_stream_close(ctx->output_handle);
+                ctx->output_handle = NULL;
+                out_open = false;
            }
            vTaskDelay(pdMS_TO_TICKS(50));
            continue;
        }

-        if (!i2s_configured) {
-            // Reconfigure I2S when resuming
-            device_lock(ctx->i2s_dev);
-            err = i2s_controller_set_config(ctx->i2s_dev, &cfg);
-            device_unlock(ctx->i2s_dev);
+        if (!out_open) {
+            err = audio_stream_open_output(ctx->stream_dev, &out_cfg, &ctx->output_handle);
            if (err != ERROR_NONE) {
-                ESP_LOGE(TAG, "Failed to reconfigure I2S on resume: %d", err);
+                ESP_LOGE(TAG, "Failed to reopen audio_stream on resume: %d", err);
                break;
            }
-            i2s_configured = true;
+            out_open = true;
        }

        size_t to_read = (data_size - total_played < CHUNK_BYTES) ? (data_size - total_played) : CHUNK_BYTES;
        size_t read_bytes = fread(ctx->audio_buf, 1, to_read, f);
        if (read_bytes == 0) {
-            break; // EOF
+            break;
        }

-        // Scaling Volume
+        // Volume scaling
        int vol = ctx->volume;
        int16_t* samples_ptr = (int16_t*)ctx->audio_buf;
        size_t sample_count = read_bytes / sizeof(int16_t);
@@ -417,22 +383,19 @@ static void play_task(void* arg) {
        bool write_err = false;
        while (offset < read_bytes && ctx->state == STATE_PLAYING) {
            size_t written = 0;
-            err = i2s_controller_write(ctx->i2s_dev, ctx->audio_buf + offset, read_bytes - offset, &written, pdMS_TO_TICKS(100));
+            err = audio_stream_write(ctx->output_handle, ctx->audio_buf + offset, read_bytes - offset, &written, pdMS_TO_TICKS(500));
            if (err != ERROR_NONE || written == 0) {
-                ESP_LOGE(TAG, "I2S playback write error: %d", err);
+                ESP_LOGE(TAG, "audio_stream write error: %d", err);
                write_err = true;
                break;
            }
            offset += written;
        }

-        if (write_err) {
-            break;
-        }
+        if (write_err) break;

        total_played += read_bytes;

-        // UI progress update
        int pct = (int)((total_played * 100) / data_size);
        uint32_t bytes_per_sec = header.sample_rate * header.channels * (header.bits_per_sample / 8);
        uint32_t elapsed_sec = total_played / bytes_per_sec;
@@ -452,10 +415,10 @@ static void play_task(void* arg) {
    fclose(f);
    ESP_LOGI(TAG, "Playback task complete");

-    // Reset I2S controller to stop/release DMA channel and prevent looping noise
-    device_lock(ctx->i2s_dev);
-    i2s_controller_reset(ctx->i2s_dev);
-    device_unlock(ctx->i2s_dev);
+    if (out_open && ctx->output_handle) {
+        audio_stream_close(ctx->output_handle);
+        ctx->output_handle = NULL;
+    }

    tt_lvgl_lock(portMAX_DELAY);
    ctx->state = STATE_IDLE;
@@ -470,12 +433,12 @@ static void play_task(void* arg) {
 static void on_record_click(lv_event_t* e) {
    AppCtx* ctx = (AppCtx*)lv_event_get_user_data(e);
    if (ctx->state != STATE_IDLE) return;
-    if (ctx->i2s_dev == NULL) return;
+    if (ctx->stream_dev == NULL) return;

    ctx->state = STATE_RECORDING;
    update_ui(ctx);

-    xTaskCreate(record_task, "voice_rec", 4096, ctx, 5, &ctx->task_handle);
+    xTaskCreate(record_task, "voice_rec", 8192, ctx, 5, &ctx->task_handle);
 }

 static void on_play_pause_click(lv_event_t* e) {
@@ -485,7 +448,7 @@ static void on_play_pause_click(lv_event_t* e) {
    if (ctx->state == STATE_IDLE) {
        ctx->state = STATE_PLAYING;
        update_ui(ctx);
-        xTaskCreate(play_task, "voice_play", 4096, ctx, 5, &ctx->task_handle);
+        xTaskCreate(play_task, "voice_play", 8192, ctx, 5, &ctx->task_handle);
    } else if (ctx->state == STATE_PLAYING) {
        ctx->state = STATE_PAUSED;
        update_ui(ctx);
@@ -523,14 +486,12 @@ static void on_memo_selected(lv_event_t* e) {
    AppCtx* ctx = (AppCtx*)lv_event_get_user_data(e);
    lv_obj_t* btn = lv_event_get_target(e);

-    // Clear check states from other entries
    uint32_t child_cnt = lv_obj_get_child_cnt(ctx->lst_memos);
    for (uint32_t i = 0; i < child_cnt; i++) {
        lv_obj_t* child = lv_obj_get_child(ctx->lst_memos, i);
        lv_obj_clear_state(child, LV_STATE_CHECKED);
    }

-    // Apply check state to the clicked memo
    lv_obj_add_state(btn, LV_STATE_CHECKED);

    const char* text = lv_list_get_btn_text(ctx->lst_memos, btn);
@@ -568,7 +529,6 @@ static void refresh_memo_list(AppCtx* ctx) {
    }
    closedir(dir);

-    // Simple bubble sort
    for (int i = 0; i < ctx->memo_count - 1; i++) {
        for (int j = 0; j < ctx->memo_count - i - 1; j++) {
            if (strcmp(ctx->memos[j], ctx->memos[j + 1]) > 0) {
@@ -580,7 +540,6 @@ static void refresh_memo_list(AppCtx* ctx) {
        }
    }

-    // Populate UI List
    for (int i = 0; i < ctx->memo_count; i++) {
        lv_obj_t* btn = lv_list_add_btn(ctx->lst_memos, LV_SYMBOL_AUDIO, ctx->memos[i]);
        lv_obj_add_event_cb(btn, on_memo_selected, LV_EVENT_CLICKED, ctx);
@@ -624,7 +583,7 @@ static void update_ui(AppCtx* ctx) {
            if (ctx->selected_index >= 0 && ctx->selected_index < ctx->memo_count) {
                lv_obj_clear_state(ctx->btn_play_pause, LV_STATE_DISABLED);
                lv_obj_clear_state(ctx->btn_delete, LV_STATE_DISABLED);
-                
+
                char status_buf[128];
                snprintf(status_buf, sizeof(status_buf), "Selected: %s", ctx->memos[ctx->selected_index]);
                lv_label_set_text(ctx->lbl_status, status_buf);
@@ -647,115 +606,100 @@ static void onShowApp(AppHandle app, void* data, lv_obj_t* parent) {
    g_ctx.volume = 80;
    g_ctx.selected_index = -1;

-    // Create the memos storage directory if missing
    mkdir("/sdcard/memos", 0755);

-    // Allocate audio buffer
    g_ctx.audio_buf = (uint8_t*)malloc(AUDIO_BUF_SIZE);
    if (g_ctx.audio_buf == NULL) {
        ESP_LOGE(TAG, "Failed to allocate audio buffer");
    }

-    // Locate I2S hardware channel
-    g_ctx.i2s_dev = device_find_by_name("i2s0");
-    if (g_ctx.i2s_dev == NULL) {
-        ESP_LOGE(TAG, "I2S device 'i2s0' not found!");
+    if (!find_audio_stream_device(&g_ctx)) {
+        ESP_LOGE(TAG, "audio-stream device not found!");
    }

-    // ─── UI Setup ───
    lv_obj_t* toolbar = tt_lvgl_toolbar_create_for_app(parent, app);
    lv_obj_align(toolbar, LV_ALIGN_TOP_MID, 0, 0);

-    // Premium Player Card
    lv_obj_t* card = lv_obj_create(parent);
    lv_obj_set_size(card, lv_pct(95), lv_pct(88));
    lv_obj_align(card, LV_ALIGN_CENTER, 0, 12);
    lv_obj_set_style_radius(card, 15, 0);
-    lv_obj_set_style_bg_color(card, lv_color_hex(0x1E1E2E), 0); // mocha base
-    lv_obj_set_style_border_color(card, lv_color_hex(0x313244), 0); // mocha surface0
+    lv_obj_set_style_bg_color(card, lv_color_hex(0x1E1E2E), 0);
+    lv_obj_set_style_border_color(card, lv_color_hex(0x313244), 0);
    lv_obj_set_style_border_width(card, 2, 0);
    lv_obj_set_flex_flow(card, LV_FLEX_FLOW_COLUMN);
    lv_obj_set_flex_align(card, LV_FLEX_ALIGN_START, LV_FLEX_ALIGN_CENTER, LV_FLEX_ALIGN_CENTER);
    lv_obj_set_style_pad_all(card, 10, 0);
    lv_obj_set_style_pad_gap(card, 8, 0);

-    // Status Area
    g_ctx.lbl_status = lv_label_create(card);
    lv_obj_set_width(g_ctx.lbl_status, lv_pct(95));
    lv_obj_set_style_text_align(g_ctx.lbl_status, LV_TEXT_ALIGN_CENTER, 0);
-    lv_obj_set_style_text_color(g_ctx.lbl_status, lv_color_hex(0xCDD6F4), 0); // mocha text
+    lv_obj_set_style_text_color(g_ctx.lbl_status, lv_color_hex(0xCDD6F4), 0);
    lv_label_set_text(g_ctx.lbl_status, "Scanning memos...");

-    // Progress Bar
    g_ctx.bar_progress = lv_bar_create(card);
    lv_obj_set_size(g_ctx.bar_progress, lv_pct(90), 8);
    lv_bar_set_range(g_ctx.bar_progress, 0, 100);
    lv_bar_set_value(g_ctx.bar_progress, 0, LV_ANIM_OFF);
-    lv_obj_set_style_bg_color(g_ctx.bar_progress, lv_color_hex(0x45475A), LV_PART_MAIN); // mocha surface1
-    lv_obj_set_style_bg_color(g_ctx.bar_progress, lv_color_hex(0x89B4FA), LV_PART_INDICATOR); // mocha blue
+    lv_obj_set_style_bg_color(g_ctx.bar_progress, lv_color_hex(0x45475A), LV_PART_MAIN);
+    lv_obj_set_style_bg_color(g_ctx.bar_progress, lv_color_hex(0x89B4FA), LV_PART_INDICATOR);

-    // Memos List
    g_ctx.lst_memos = lv_list_create(card);
    lv_obj_set_size(g_ctx.lst_memos, lv_pct(95), 85);
-    lv_obj_set_style_bg_color(g_ctx.lst_memos, lv_color_hex(0x181825), 0); // mocha mantle
+    lv_obj_set_style_bg_color(g_ctx.lst_memos, lv_color_hex(0x181825), 0);
    lv_obj_set_style_border_color(g_ctx.lst_memos, lv_color_hex(0x313244), 0);
    lv_obj_set_style_border_width(g_ctx.lst_memos, 1, 0);
    lv_obj_set_style_radius(g_ctx.lst_memos, 8, 0);

-    // Controls Box
    lv_obj_t* ctrl_box = lv_obj_create(card);
    lv_obj_remove_style_all(ctrl_box);
    lv_obj_set_size(ctrl_box, lv_pct(95), 40);
    lv_obj_set_flex_flow(ctrl_box, LV_FLEX_FLOW_ROW);
    lv_obj_set_flex_align(ctrl_box, LV_FLEX_ALIGN_SPACE_EVENLY, LV_FLEX_ALIGN_CENTER, LV_FLEX_ALIGN_CENTER);

-    // Rec Button
    g_ctx.btn_record = lv_btn_create(ctrl_box);
    lv_obj_set_size(g_ctx.btn_record, 45, 32);
    lv_obj_set_style_radius(g_ctx.btn_record, 8, 0);
-    lv_obj_set_style_bg_color(g_ctx.btn_record, lv_color_hex(0xF38BA8), 0); // mocha red
+    lv_obj_set_style_bg_color(g_ctx.btn_record, lv_color_hex(0xF38BA8), 0);
    lv_obj_set_style_text_color(g_ctx.btn_record, lv_color_hex(0x11111B), 0);
    lv_obj_t* lbl_rec = lv_label_create(g_ctx.btn_record);
    lv_label_set_text(lbl_rec, LV_SYMBOL_AUDIO);
    lv_obj_center(lbl_rec);
    lv_obj_add_event_cb(g_ctx.btn_record, on_record_click, LV_EVENT_CLICKED, &g_ctx);

-    // Play/Pause Button
    g_ctx.btn_play_pause = lv_btn_create(ctrl_box);
    lv_obj_set_size(g_ctx.btn_play_pause, 45, 32);
    lv_obj_set_style_radius(g_ctx.btn_play_pause, 8, 0);
-    lv_obj_set_style_bg_color(g_ctx.btn_play_pause, lv_color_hex(0x89B4FA), 0); // mocha blue
+    lv_obj_set_style_bg_color(g_ctx.btn_play_pause, lv_color_hex(0x89B4FA), 0);
    lv_obj_set_style_text_color(g_ctx.btn_play_pause, lv_color_hex(0x11111B), 0);
    lv_obj_t* lbl_play = lv_label_create(g_ctx.btn_play_pause);
    lv_label_set_text(lbl_play, LV_SYMBOL_PLAY);
    lv_obj_center(lbl_play);
    lv_obj_add_event_cb(g_ctx.btn_play_pause, on_play_pause_click, LV_EVENT_CLICKED, &g_ctx);

-    // Stop Button
    g_ctx.btn_stop = lv_btn_create(ctrl_box);
    lv_obj_set_size(g_ctx.btn_stop, 45, 32);
    lv_obj_set_style_radius(g_ctx.btn_stop, 8, 0);
-    lv_obj_set_style_bg_color(g_ctx.btn_stop, lv_color_hex(0xBAC2DE), 0); // mocha subtext1
+    lv_obj_set_style_bg_color(g_ctx.btn_stop, lv_color_hex(0xBAC2DE), 0);
    lv_obj_set_style_text_color(g_ctx.btn_stop, lv_color_hex(0x11111B), 0);
    lv_obj_t* lbl_stop = lv_label_create(g_ctx.btn_stop);
    lv_label_set_text(lbl_stop, LV_SYMBOL_STOP);
    lv_obj_center(lbl_stop);
    lv_obj_add_event_cb(g_ctx.btn_stop, on_stop_click, LV_EVENT_CLICKED, &g_ctx);

-    // Delete Button
    g_ctx.btn_delete = lv_btn_create(ctrl_box);
    lv_obj_set_size(g_ctx.btn_delete, 45, 32);
    lv_obj_set_style_radius(g_ctx.btn_delete, 8, 0);
-    lv_obj_set_style_bg_color(g_ctx.btn_delete, lv_color_hex(0x74C7EC), 0); // mocha sapphire
+    lv_obj_set_style_bg_color(g_ctx.btn_delete, lv_color_hex(0x74C7EC), 0);
    lv_obj_set_style_text_color(g_ctx.btn_delete, lv_color_hex(0x11111B), 0);
    lv_obj_t* lbl_del = lv_label_create(g_ctx.btn_delete);
    lv_label_set_text(lbl_del, LV_SYMBOL_TRASH);
    lv_obj_center(lbl_del);
    lv_obj_add_event_cb(g_ctx.btn_delete, on_delete_click, LV_EVENT_CLICKED, &g_ctx);

-    // Initialize list and control state
-    if (g_ctx.i2s_dev == NULL) {
-        lv_label_set_text(g_ctx.lbl_status, "ERROR: I2S 'i2s0' missing");
+    if (g_ctx.stream_dev == NULL) {
+        lv_label_set_text(g_ctx.lbl_status, "ERROR: audio-stream missing");
        lv_obj_add_state(g_ctx.btn_record, LV_STATE_DISABLED);
        lv_obj_add_state(g_ctx.btn_play_pause, LV_STATE_DISABLED);
        lv_obj_add_state(g_ctx.btn_stop, LV_STATE_DISABLED);
@@ -778,16 +722,17 @@ static void onHideApp(AppHandle app, void* data) {
        g_ctx.state = STATE_IDLE;
    }

-    // Wait for task completion
    while (g_ctx.task_handle != NULL) {
        vTaskDelay(pdMS_TO_TICKS(10));
    }

-    // Reset I2S to ensure DMA channel is stopped
-    if (g_ctx.i2s_dev != NULL) {
-        device_lock(g_ctx.i2s_dev);
-        i2s_controller_reset(g_ctx.i2s_dev);
-        device_unlock(g_ctx.i2s_dev);
+    if (g_ctx.input_handle) {
+        audio_stream_close(g_ctx.input_handle);
+        g_ctx.input_handle = NULL;
+    }
+    if (g_ctx.output_handle) {
+        audio_stream_close(g_ctx.output_handle);
+        g_ctx.output_handle = NULL;
    }

    if (g_ctx.audio_buf != NULL) {
@@ -0,0 +1,10 @@
+[manifest]
+version=0.1
+[target]
+sdk=0.8.0-dev
+platforms=esp32s3
+[app]
+id=one.tactility.voicerecorder
+name=Voice Recorder
+versionName=1.0.0
+versionCode=1
Author	SHA1	Message	Date
Adolfo	f07d347fd9	fix(voicerecorder): add missing CMakeLists + manifest 0.8.0-dev - audio-stream fix Main / Build (BookPlayer) (push) Has been cancelled Details Main / Build (Brainfuck) (push) Has been cancelled Details Main / Build (Breakout) (push) Has been cancelled Details Main / Build (Calculator) (push) Has been cancelled Details Main / Build (Diceware) (push) Has been cancelled Details Main / Build (EpubReader) (push) Has been cancelled Details Main / Build (GPIO) (push) Has been cancelled Details Main / Build (GraphicsDemo) (push) Has been cancelled Details Main / Build (HelloWorld) (push) Has been cancelled Details Main / Build (M5UnitTest) (push) Has been cancelled Details Main / Build (Magic8Ball) (push) Has been cancelled Details Main / Build (MediaKeys) (push) Has been cancelled Details Main / Build (MystifyDemo) (push) Has been cancelled Details Main / Build (SerialConsole) (push) Has been cancelled Details Main / Build (Snake) (push) Has been cancelled Details Main / Build (TamaTac) (push) Has been cancelled Details Main / Build (TodoList) (push) Has been cancelled Details Main / Build (TwoEleven) (push) Has been cancelled Details Main / Bundle (push) Has been cancelled Details	2026-07-18 19:24:05 -04:00
Adolfo	8f46e03070	fix(audio): use audio-stream instead of direct I2S - fixes fast playback Main / Build (BookPlayer) (push) Has been cancelled Details Main / Build (Brainfuck) (push) Has been cancelled Details Main / Build (Breakout) (push) Has been cancelled Details Main / Build (Calculator) (push) Has been cancelled Details Main / Build (Diceware) (push) Has been cancelled Details Main / Build (EpubReader) (push) Has been cancelled Details Main / Build (GPIO) (push) Has been cancelled Details Main / Build (GraphicsDemo) (push) Has been cancelled Details Main / Build (HelloWorld) (push) Has been cancelled Details Main / Build (M5UnitTest) (push) Has been cancelled Details Main / Build (Magic8Ball) (push) Has been cancelled Details Main / Build (MediaKeys) (push) Has been cancelled Details Main / Build (MystifyDemo) (push) Has been cancelled Details Main / Build (SerialConsole) (push) Has been cancelled Details Main / Build (Snake) (push) Has been cancelled Details Main / Build (TamaTac) (push) Has been cancelled Details Main / Build (TodoList) (push) Has been cancelled Details Main / Build (TwoEleven) (push) Has been cancelled Details Main / Bundle (push) Has been cancelled Details - Mp3Player: sdk 0.7->0.8.0-dev, find audio-stream device, open_output with resampler (hz/ch), write via audio_stream_write, close on pause - BookPlayer: close/open per format change via AudioStreamConfig, write via stream - VoiceRecorder: input_handle open_input 16k/mono via audio_stream_read, output_handle open_output file rate via write/resampler - ES8311 native 44100, old direct I2S at 16k caused 4.096MHz MCLK vs 11.29MHz -> fast playback - Brick game correct because it uses audio-stream resampler path	2026-07-18 19:19:22 -04:00
Adolfo	7121009d0d	feat(RobotArm): cute MCP arm controller with 2x tall sliders, sequencer colored blocks, smooth move_all_joints Main / Build (BookPlayer) (push) Has been cancelled Details Main / Build (Brainfuck) (push) Has been cancelled Details Main / Build (Breakout) (push) Has been cancelled Details Main / Build (Calculator) (push) Has been cancelled Details Main / Build (Diceware) (push) Has been cancelled Details Main / Build (EpubReader) (push) Has been cancelled Details Main / Build (GPIO) (push) Has been cancelled Details Main / Build (GraphicsDemo) (push) Has been cancelled Details Main / Build (HelloWorld) (push) Has been cancelled Details Main / Build (M5UnitTest) (push) Has been cancelled Details Main / Build (Magic8Ball) (push) Has been cancelled Details Main / Build (MediaKeys) (push) Has been cancelled Details Main / Build (MystifyDemo) (push) Has been cancelled Details Main / Build (SerialConsole) (push) Has been cancelled Details Main / Build (Snake) (push) Has been cancelled Details Main / Build (TamaTac) (push) Has been cancelled Details Main / Build (TodoList) (push) Has been cancelled Details Main / Build (TwoEleven) (push) Has been cancelled Details Main / Bundle (push) Has been cancelled Details - 6 joints vertical sliders 22x72 (2x tall), 3 cols, pastel cute cards, home-centered ranges shoulder max 70 - open/close inverted fix (0=open 180=close) - sequencer bottom not fixed, colored blocks 22x22 no info, current highlight white 3px, larger buttons 38x32 Play 56x32 - smooth concurrent moves via move_all_joints tool (tools/list discovered) not one-by-one - scroll fixes: clearflag SCROLLABLE on cards/grid/hdr/brow/seqbar, root LV_DIR_VER only (no horiz scroll) - safe for device .129: custom my_htons avoids missing lwip_htons, 52U 0 missing symbols, 14K ELF - live reading from 192.168.68.103/api/mcp get_arm_state + move_joint - enjoyed by son :3	2026-07-17 11:19:32 -04:00