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doom-node — DOOMAGOTCHI renderer (M5Stack Tab5 / ESP32-P4)

Runs unmodified doomgeneric (vendored at third_party/doomgeneric/, ADR 0001). Our code is main/doomgeneric_esp32p4.c (the six DG_* functions) plus glue.

Build & flash

git submodule update --init --recursive        # from repo root
. $IDF_PATH/export.sh                           # ESP-IDF v6.1+
cd doom-node
idf.py set-target esp32p4
idf.py -p /dev/cu.usbmodem1101 flash monitor

First boot with no /sdcard/freedoom1.wad: the firmware enters "WAD receive mode" — run python ../tools/send-wad.py /dev/cu.usbmodem1101 ../assets/freedoom1.wad (needs pyserial), it writes the IWAD to the SD over the console and reboots.

Phases 0 & 1 — DONE ✅

Gate: Freedoom is playable on the Tab5 by hand.

  • doomgeneric vendored as submodule, unmodified
  • ESP-IDF project builds and links (esp32p4, chip rev v1.3 @ 360 MHz)
  • Freedoom IWAD on SD, loaded via fopen on /sdcard/freedoom1.wad
  • DG_DrawFrame: DPI framebuffer + PPA HW rotate(90 CCW)/scale/XRGB→RGB565, full-screen 720×1280, ~19 ms/frame
  • DG_GetTicksMs / DG_SleepMs → esp_timer / FreeRTOS
  • DG_GetKey: three sources merged — touch zones (GT911/ST7123), USB HID keyboard (USB-A host port), and the official M5 Tab5 Keyboard (A164): STM32 keypad @ I2C 0x6D on GPIO 0/1, driven in HID mode. DOOM's own cheat responder means iddqd / idkfa / idclevXX work with no extra code.
  • E1M1 renders, playable (~15 tics/s end to end), stable, no leak — first level completed by hand on the keyboard

The A164's event stream is one-key-at-a-time (release = HID usage 0), so forward+turn can't be held together. Fine for now; Phase 1's autoplayer doesn't use DG_GetKey.

Phase 1 — the autoplayer (main/autoplay.c)

autoplay_step() runs once per frame before doomgeneric_Tick(). All output is D_PostEvent keypresses (KEY_UP/DOWN/LEFT/RIGHT, KEY_STRAFE_L/R, KEY_FIRE, KEY_USE, weapon digits 1–7) — the human key path, zero engine edits.

Each frame, in order:

  1. acquire — one thinker-list pass for the cheapest monster, where cost = 2-D distance + 4 × height gap. The 4× Z weight keeps it on same-floor targets and off monsters stuck down a pit until they're all that's left. The lock is re-validated against the list every frame (no dangling mobj) and held unless something is clearly cheaper.
  2. shoot — sweep DOOM's own autoaim trace (P_AimLineAttack) across ±54°. A hit is a real unobstructed shot (the trace stops at walls), so this is the fire gate — P_CheckSight is unusable in the Freedoom IWAD (its REJECT lump rejects almost everything). On a hit: turn onto it, pick the weapon for its mobjtype (weap_for() — pistol/shotgun/chaingun/plasma/rockets/BFG, close range downgrades rockets/BFG), hold the trigger, creep to the standoff.
  3. drop — target ≥56 units below and near in 2-D → we're on a pit rim; walk straight off it (don't treat the rim as a door), sliding along if a rail blocks the first spot.
  4. navigate — route to the target through the sector graph (nav.c, below). The waypoint is the next doorway; steer at it, hold forward through a wide cone, and lean on USE when the graph says the crossing is a door/lift. No route (same room / unreachable) → steer straight at the monster and let DOOM's wall-slide carry the glancing contact; pick_dir() nudges the aim around a grazed corner (read-only P_CheckPosition probes).
  5. wedge kick — genuinely not moving → short alternating turn+strafe+fwd burst, USE tapped fast. No RNG.
  6. give up — ~8 s with no ground gained (or stuck at a pit rim for ~3 s, or 2 failed kicks) → blacklist the target ~10 s and let acquire pick another.

nav.c — the level graph. Built once per level (rebuilt on E?M? change), all read-only queries into sectors[] / lines[] / R_PointInSubsector — no engine edits. Nodes are sectors (centre = soundorg); an edge is a two-sided linedef the player can cross: opening ≥ 56, step-up ≤ 24 or the line has a special (door/lift — passable after a USE, cost-penalised). A* (heuristic = centre-to-centre distance) from the player's sector to the target's; the result is a list of doorway midpoints to walk. E1M1: 182 sectors, 942 edges, ~32 KiB PSRAM, sub-ms to build.

Human control. Any physical keypress (DG_GetKey) suspends the autoplayer for 5 s — it releases every key and posts nothing, so you can type cheats (idclip, iddqd, …) or steer manually with a clean channel, no fighting the bot and no stomped cheat sequences. Resumes on its own once the keyboard is quiet. Cheats are also re-entered by the bot on every level start (+ periodic idfa).

Keepalive spawn (KEEPALIVE_SPAWN, on). No kill in ~30 s → P_SpawnMobj an imp ~220 units in front of the player. Stand-in for the Phase 3 RF feed (same spawn call AP_SEEN will make); flip the define off once the LoRa RX lands.

  • ticcmd generator replaces human input; hunts + kills (autoaim-gated fire)
  • a different weapon per monster type
  • routes through the level via an A* sector graph (doors/lifts/stairs)
  • Z-aware target choice + walk-off-the-ledge for monsters below
  • human keypress → autoplayer stands down for clean manual / cheat input
  • keepalive imp spawn when nothing's reachable
  • Hardware (Tab5, 2026-09-07): ~12 kills / 2 min on E1M1, weapon switches correct, recovers from every stuck spot. Fully walled pits still need the keepalive / RF feed rather than a path. Boot fault not seen again.

Runtime footprint: 6.00 MiB zone + 1.00 MiB DG_ScreenBuffer + ~1.8 MiB DPI framebuffer, all PSRAM (23 MiB free). Internal SRAM ~170 KiB free.

Notes / follow-ups

  • -warp 1 1 in app_main.c jumps straight to E1M1 (skips title/demo).
  • esp_lcd_touch_get_coordinates is deprecated (removed in touch comp 2.0); swap for esp_lcd_touch_get_data on a later pass.
  • idf.py build sometimes doesn't notice edits — touch main/<file>.c first.
  • Framerate: doomgeneric is built -Os; -O2 + PPA non-blocking are the obvious wins if Phase 1's autoplayer wants it smoother.