revert mission timer to 32 bit, add signal level monitoring

.vscode/settings.json

@@ -1,6 +1,6 @@
 {
     "C_Cpp.intelliSenseEngine": "default",
-    "idf.espIdfPath": "/home/bruno/esp/master/esp-idf",
+    "idf.espIdfPath": "/home/bruno/esp/v5.4.1/esp-idf",
     "idf.pythonInstallPath": "/usr/bin/python",
     "idf.openOcdConfigs": [
         "board/esp32s3-builtin.cfg"

dependencies.lock

@@ -2,7 +2,7 @@ dependencies:
   idf:
     source:
       type: idf
-    version: 5.5.0
+    version: 5.4.1
   k0i05/esp_bme680:
     component_hash: 2df0cb14d4425565a8745d4a96bfaa8ff7e90bbec3e208a073821406dded23c8
     dependencies:

main/CMakeLists.txt

@@ -25,6 +25,8 @@ idf_component_register(SRCS
 "components/servocontroller.h"
 "components/radio.c"
 "components/radio.h"
+"components/sdcard.c"
+"components/sdcard.h"
     "main.c"
 
     INCLUDE_DIRS ".")

main/components/packets.h

@@ -15,80 +15,85 @@
 
 typedef struct __attribute__((packed))
 {
-    char syncPhrase[10];
-    uint32_t packetIndex;
-    uint8_t packetType;
-    uint32_t missionTimer;
+    char syncPhrase[10]; //10
+    uint32_t packetIndex; //14
+    uint8_t packetType; //15
+    uint32_t missionTimer; //19
+    uint32_t CRCCheck;
 } DownBoundPacket;
 
 typedef struct __attribute__((packed))
 {
     // MPU data
-    int16_t accelerationX;
-    int16_t accelerationY;
-    int16_t accelerationZ;
-    int16_t gyroX;
-    int16_t gyroY;
-    int16_t gyroZ;
-    int16_t magnetX;
-    int16_t magnetY;
-    int16_t magnetZ;
-    int16_t accelerometer_temperature;
+    int16_t accelerationX;//21
+    int16_t accelerationY; //23
+    int16_t accelerationZ;//25
+    int16_t gyroX;//27
+    int16_t gyroY;//29
+    int16_t gyroZ;//31
+    int16_t magnetX;//33
+    int16_t magnetY;//35
+    int16_t magnetZ;//37
+    int16_t accelerometer_temperature;//39
 
     // CCS data
-    uint16_t eCO2;
-    uint16_t tvoc;
-    uint8_t currentCCS;
-    uint16_t rawCCSData;
+    uint16_t eCO2;//41
+    uint16_t tvoc;//43
+    uint8_t currentCCS;//44
+    uint16_t rawCCSData;//46
 
     // INA data
-    uint16_t volts;
-    uint16_t current;
-    uint16_t power;
+    uint16_t volts;//48
+    uint16_t current;//50
+    uint16_t power;//52
 
     // BME DATA
-    uint32_t temperature;
-    uint16_t humidity;
-    uint32_t pressure;
-    uint16_t gas;
-    bool gas_valid;
-    bool heater_stable;
-    uint8_t gas_range;
-    uint8_t gas_index;
+    uint32_t temperature;//56
+    uint16_t humidity;//58
+    uint32_t pressure;//62
+    uint16_t gas;//64
+    bool gas_valid;//later
+    bool heater_stable;//later
+    uint8_t gas_range;//65
+    uint8_t gas_index;//66
 
-    float    air_temperature;       /*!< air temperature in degrees celsius */
-    float    relative_humidity;     /*!< relative humidity in percent */
-    float    barometric_pressure;   /*!< barometric pressure in hecto-pascal */
-    float    gas_resistance;        /*!< gas resistance in ohms */
-    uint16_t iaq_score;             /*!< air quality index (0..500) */
-    float    temperature_score;
-    float    humidity_score;
-    float    gas_score;
+    float    air_temperature;       /*!< air temperature in degrees celsius */ //70
+    float    relative_humidity;     /*!< relative humidity in percent */ //74
+    float    barometric_pressure;   /*!< barometric pressure in hecto-pascal */ //78
+    float    gas_resistance;        /*!< gas resistance in ohms */ //82
+    uint16_t iaq_score;             /*!< air quality index (0..500) */ //84
+    float    temperature_score; //88
+    float    humidity_score; //92
+    float    gas_score; //96
 
     // GPS DATA
-    uint32_t time_seconds;           // Seconds since start of day
-    int32_t latitude_centi_degrees;  // Latitude * 10,000
-    int32_t longitude_centi_degrees; // Longitude * 10,000
-    int16_t altitude_centi_meters; // Altitude * 100
-    uint8_t fix_quality;
-    uint8_t num_satellites;
-    uint16_t date_yyddmm;          // YYDDMM (from GPRMC)
-    uint16_t speed_centi_knots;    // Speed * 100 (from GPRMC)
+    uint32_t time_seconds;           // Seconds since start of day //100
+    int32_t latitude_centi_degrees;  // Latitude * 10,000 //104
+    int32_t longitude_centi_degrees; // Longitude * 10,000 //108
+    int16_t altitude_centi_meters; // Altitude * 100 //110
+    uint8_t fix_quality; //111
+    uint8_t num_satellites; //112
+    uint16_t date_yyddmm;          // YYDDMM (from GPRMC) //114
+    uint16_t speed_centi_knots;    // Speed * 100 (from GPRMC) //116
 
-    int32_t predicted_latitude_centi_degrees;  // Latitude * 10,000
-    int32_t predicted_longitude_centi_degrees; // Longitude * 10,000
-    int16_t predicted_altitude_centi_meters; // Altitude * 100
+    int32_t predicted_latitude_centi_degrees;  // Latitude * 10,000 //120
+    int32_t predicted_longitude_centi_degrees; // Longitude * 10,000 //124
+    int16_t predicted_altitude_centi_meters; // Altitude * 100 //126
 
     // ADC DATA
-    int32_t NH3;
-    int32_t CO;
-    int32_t NO2;
-    int32_t UVC;
+    int32_t NH3; //130
+    int32_t CO; //134
+    int32_t NO2; //138
+    int32_t UVC; //142
 
-    int16_t currentServoA;
-    int16_t targetServoA;
-    int16_t currentServoB;
-    int16_t targetServoB;
+    int16_t currentServoA; //144
+    int16_t targetServoA; //146
+    int16_t currentServoB; //148
+    int16_t targetServoB; //150
+
+    uint8_t presentDevices;
+
+    uint8_t telemetryIndex; //151
 
 } TelemetryPacket;
 
@@ -97,6 +102,7 @@ typedef struct __attribute__((packed))
     char syncPhrase[10];
     uint32_t packetIndex;
     uint8_t packetType;
+    uint32_t CRCCheck;
 } UplinkPacket;
 
 typedef struct __attribute__((packed))

main/components/radio.c

@@ -6,11 +6,14 @@
 #include "string.h"
 #include "esp_timer.h"
 #include "esp_rom_crc.h"
+#include <hw/buscfg.h>
+#include "sensors.h"
+#include "sdcard.h"
 
 #define TAG "LoRa"
 
-#define ACK_TIMEOUT_MS 500 // Wait 300ms for ACK
-#define MAX_RETRIES 3
+#define ACK_TIMEOUT_MS 250 // Wait 300ms for ACK
+#define MAX_RETRIES 1
 
 uint32_t packetIndexTX = 0;
 uint32_t packetIndexRX = 0;
@@ -44,31 +47,52 @@ void setup_lora(void)
         }
     }
 
-    uint8_t spreadingFactor = 6;
+    uint8_t spreadingFactor = 8;
     uint8_t bandwidth = SX126X_LORA_BW_250_0;
     uint8_t codingRate = SX126X_LORA_CR_4_8;
-    uint16_t preambleLength = 8;
+    uint16_t preambleLength = 4;
     bool crcOn = true;
     bool invertIrq = false;
 
     LoRaConfig(spreadingFactor, bandwidth, codingRate, preambleLength, 0, crcOn, invertIrq);
 }
 
-static void prepare_downbound_packet(DownBoundPacket *packet, uint8_t type, uint64_t missionTimer)
+static void prepare_downbound_packet(DownBoundPacket *packet, uint8_t type, uint64_t missionTimer, uint32_t crc)
 {
     memset(packet, 0, sizeof(DownBoundPacket));
     packet->missionTimer = missionTimer;
     packet->packetIndex = packetIndexTX++;
     ESP_LOGI(TAG_RADIO, "Sending downbound packet with index %ld", packetIndexTX - 1);
     packet->packetType = type;
+    packet->CRCCheck = crc;
     strcpy(packet->syncPhrase, "PlechDole");
 }
 
+static void send_packet_without_retries(uint8_t *data, uint16_t size)
+{
+    if (xSemaphoreTake(loraRadioMutex, portMAX_DELAY) == pdTRUE)
+    {
+        writeFile(sensFile, data, size);
+
+        if (!LoRaSend(data, size, SX126x_TXMODE_SYNC))
+        {
+            ESP_LOGW(TAG, "LoRaSend failed");
+            xSemaphoreGive(loraRadioMutex);
+        }
+        else
+        {
+            ESP_LOGI(TAG, "%d byte packet sent", size);
+            xSemaphoreGive(loraRadioMutex);
+        }
+    }
+}
+
 static void send_packet_with_retries(uint8_t *data, uint16_t size)
-{
-    for (int retry = 0; retry <= MAX_RETRIES; retry++)
 {
     if (xSemaphoreTake(loraRadioMutex, portMAX_DELAY) == pdTRUE)
+    {
+        writeFile(sensFile, data, size);
+        for (int retry = 0; retry <= MAX_RETRIES; retry++)
         {
             if (!LoRaSend(data, size, SX126x_TXMODE_SYNC))
             {
@@ -106,7 +130,8 @@ void prepare_and_send_telemetry(uint64_t missionTimer)
     uint8_t bufOut[256] = {0};
 
     DownBoundPacket downboundPacket;
-    prepare_downbound_packet(&downboundPacket, DownlinkPacketType_Telemetry, missionTimer);
+    uint32_t crc = esp_rom_crc32_le(0, (uint8_t *)&telemetryPacket, sizeof(telemetryPacket));
+    prepare_downbound_packet(&downboundPacket, DownlinkPacketType_Telemetry, missionTimer, crc);
 
     uint16_t offset = 0;
     memcpy(bufOut + offset, &downboundPacket, sizeof(downboundPacket));
@@ -114,7 +139,71 @@ void prepare_and_send_telemetry(uint64_t missionTimer)
     memcpy(bufOut + offset, &telemetryPacket, sizeof(telemetryPacket));
     offset += sizeof(telemetryPacket);
 
-    send_packet_with_retries(bufOut, offset);
+    if (csvFile != NULL) {
+    fprintf(csvFile,
+            "%llu,%lu,%u,%u,"                // missionTimer, packetIndex, telemetryIndex, packetType
+            "%d,%d,%d,%d,%d,%d,%d,%d,%d,%d," // MPU
+            "%u,%u,%d,%u,"                   // CCS
+            "%u,%u,%u,%lu,%u,%lu,%u,"          // INA, BME basic
+            "%s,%s,%u,%u,"                   // bools and gas index/range
+            "%.2f,%.2f,%.2f,%.2f,"           // Bosch env data
+            "%u,%.2f,%.2f,%.2f,"             // IAQ + scores
+            "%lu,%ld,%ld,%d,%u,%u,%u,%u,"       // GPS data
+            "%ld,%ld,%d,"                      // Predicted GPS
+            "%ld,%ld,%ld,%ld,"                   // ADC
+            "%d,%d,%d,%d,"                   // Servo
+            "%u\n",                          // presentDevices
+
+            missionTimer,
+            downboundPacket.packetIndex,
+            telemetryPacket.telemetryIndex,
+            downboundPacket.packetType,
+
+            telemetryPacket.accelerationX, telemetryPacket.accelerationY, telemetryPacket.accelerationZ,
+            telemetryPacket.gyroX, telemetryPacket.gyroY, telemetryPacket.gyroZ,
+            telemetryPacket.magnetX, telemetryPacket.magnetY, telemetryPacket.magnetZ,
+            telemetryPacket.accelerometer_temperature,
+
+            telemetryPacket.eCO2, telemetryPacket.tvoc, telemetryPacket.currentCCS, telemetryPacket.rawCCSData,
+
+            telemetryPacket.volts, telemetryPacket.current, telemetryPacket.power,
+            telemetryPacket.temperature, telemetryPacket.humidity, telemetryPacket.pressure, telemetryPacket.gas,
+
+            telemetryPacket.gas_valid ? "Yes" : "No",
+            telemetryPacket.heater_stable ? "Yes" : "No",
+            telemetryPacket.gas_range, telemetryPacket.gas_index,
+
+            telemetryPacket.air_temperature, telemetryPacket.relative_humidity,
+            telemetryPacket.barometric_pressure, telemetryPacket.gas_resistance,
+
+            telemetryPacket.iaq_score,
+            telemetryPacket.temperature_score, telemetryPacket.humidity_score, telemetryPacket.gas_score,
+
+            telemetryPacket.time_seconds,
+            telemetryPacket.latitude_centi_degrees,
+            telemetryPacket.longitude_centi_degrees,
+            telemetryPacket.altitude_centi_meters,
+            telemetryPacket.fix_quality,
+            telemetryPacket.num_satellites,
+            telemetryPacket.date_yyddmm,
+            telemetryPacket.speed_centi_knots,
+
+            telemetryPacket.predicted_latitude_centi_degrees,
+            telemetryPacket.predicted_longitude_centi_degrees,
+            telemetryPacket.predicted_altitude_centi_meters,
+
+            telemetryPacket.NH3, telemetryPacket.CO, telemetryPacket.NO2, telemetryPacket.UVC,
+
+            telemetryPacket.currentServoA, telemetryPacket.targetServoA,
+            telemetryPacket.currentServoB, telemetryPacket.targetServoB,
+
+            telemetryPacket.presentDevices);
+            fflush(csvFile);
+            fsync(fileno(csvFile)); // Critical: this ensures actual write to disk
+        }
+
+    printf("Sending %d byte packet hehe\n", offset);
+    send_packet_without_retries(bufOut, offset);
     packetReadiness = 0;
 }
 
@@ -122,14 +211,16 @@ static void build_and_send_ack(uint32_t ackIndex, uint32_t crc32Checksum, uint64
 {
     uint8_t bufOut[256] = {0};
 
-    DownBoundPacket downboundPacket;
-    prepare_downbound_packet(&downboundPacket, DownlinkPacketType_ACK, missionTimer);
-
     ACKPacket ackPacket = {
         .packetIndex = ackIndex,
         .crc32Checksum = crc32Checksum,
     };
 
+    uint32_t crc = esp_rom_crc32_le(0, (uint8_t *)&ackPacket, sizeof(ackPacket));
+
+    DownBoundPacket downboundPacket;
+    prepare_downbound_packet(&downboundPacket, DownlinkPacketType_ACK, missionTimer, crc);
+
     uint16_t offset = 0;
     memcpy(bufOut + offset, &downboundPacket, sizeof(downboundPacket));
     offset += sizeof(downboundPacket);
@@ -167,13 +258,23 @@ void process_uplink_packet(uint8_t *data, uint8_t len, uint64_t missionTimer)
         return;
     }
 
-    ESP_LOGI(TAG, "Got uplink packet of type %d, index %d", uplinkPacket.packetType, uplinkPacket.packetIndex);
+    ESP_LOGI(TAG, "Got uplink packet of type %d, index %ld", uplinkPacket.packetType, uplinkPacket.packetIndex);
+
+    uint8_t *payload = data + sizeof(UplinkPacket);
 
     uint8_t payloadRXLen = len - sizeof(UplinkPacket);
 
+    uint32_t crc = esp_rom_crc32_le(0, payload, payloadRXLen);
+
+    if (crc != uplinkPacket.CRCCheck)
+    {
+        ESP_LOGE(TAG, "Received BAD CRC for packet %ld, crc is %ld, should be %ld", uplinkPacket.packetIndex, crc, uplinkPacket.CRCCheck);
+        return;
+    }
+
     if (uplinkPacket.packetType == UplinkPacketType_ACK)
     {
-        ESP_LOGI(TAG, "Received ACK for packet %d", uplinkPacket.packetIndex);
+        ESP_LOGI(TAG, "Received ACK for packet %ld", uplinkPacket.packetIndex);
         ackReceived = true;
         lastAckIndex = uplinkPacket.packetIndex;
         return;
@@ -194,6 +295,7 @@ void process_uplink_packet(uint8_t *data, uint8_t len, uint64_t missionTimer)
             {
                 SystemControlPacket sysCtrl;
                 memcpy(&sysCtrl, data + sizeof(UplinkPacket), sizeof(SystemControlPacket));
+                setPowerMode(sysCtrl.powerMode);
                 // TODO: Process sysCtrl
             }
             else
@@ -213,12 +315,12 @@ void process_uplink_packet(uint8_t *data, uint8_t len, uint64_t missionTimer)
     }
     else if (uplinkPacket.packetIndex > packetIndexRX + 1)
     {
-        ESP_LOGW(TAG, "Skipped %d packets", uplinkPacket.packetIndex - (packetIndexRX + 1));
+        ESP_LOGW(TAG, "Skipped %ld packets", uplinkPacket.packetIndex - (packetIndexRX + 1));
         packetIndexRX = uplinkPacket.packetIndex;
     }
     else
     {
-        ESP_LOGW(TAG, "Duplicate packet: %d", (packetIndexRX + 1) - uplinkPacket.packetIndex);
+        ESP_LOGW(TAG, "Duplicate packet: %ld", (packetIndexRX + 1) - uplinkPacket.packetIndex);
     }
 }
 
@@ -251,14 +353,17 @@ void lora_receive_task(void *pvParameters)
 void lora_comms_task(void *pvParameters)
 {
 
-    ESP_LOGI(TAG, "lora_comms_task started");
+    // while (foundDevices[0] != 2) {
+    //     vTaskDelay(10);
+    // }
+
     // Initialize the semaphore for radio access (binary semaphore, 1 = available)
     loraRadioMutex = xSemaphoreCreateMutex();
     xSemaphoreGive(loraRadioMutex); // Set semaphore as available
 
-    const int64_t interval_us = 400000; // 400 ms
-
+    ESP_LOGI(TAG, "lora_comms_task started");
     setup_lora();
+    ESP_LOGI(TAG, "lora_comms_task continuing");
     xTaskCreate(
         lora_receive_task,
         "LoraReceiveTask",
@@ -266,6 +371,7 @@ void lora_comms_task(void *pvParameters)
         NULL,
         (tskIDLE_PRIORITY + 2),
         NULL);
+    ESP_LOGI(TAG, "loraInit");
     while (1)
     {
         int64_t start_time = esp_timer_get_time();
@@ -277,6 +383,8 @@ void lora_comms_task(void *pvParameters)
             prepare_and_send_telemetry(start_time);
         }
 
+        const int64_t interval_us = ((powerMode == HIGH_POWER_MODE) ? 10000 : 10000000); // 10 ms or 10 000 ms
+
         int64_t end_time = esp_timer_get_time();
         int64_t elapsed = end_time - start_time;
 
@@ -286,49 +394,3 @@ void lora_comms_task(void *pvParameters)
         }
     }
 }
-
-// void lora_comms_task(void *pvParameters)
-// {
-//     const int64_t interval_us = 400000; // 100 ms
-//     int64_t start_time, end_time, elapsed;
-
-//     setup_lora();
-
-//     uint8_t bufIn[256];
-
-//     while (1)
-//     {
-//         start_time = esp_timer_get_time();
-
-//         if (packetReadiness)
-//         {
-//             ESP_LOGI(TAG, "Preparing telemetry");
-//             prepare_and_send_telemetry(start_time);
-//         }
-
-//         uint8_t rxLen = LoRaReceive(bufIn, sizeof(bufIn));
-//         if (rxLen > 0)
-//         {
-//             ESP_LOGI(TAG, "%d byte packet received", rxLen);
-//             process_uplink_packet(bufIn, rxLen, start_time);
-
-//             int8_t rssi, snr;
-//             GetPacketStatus(&rssi, &snr);
-//             ESP_LOGI(TAG, "rssi=%d[dBm], snr=%d[dB]", rssi, snr);
-//         }
-
-//         int lost = GetPacketLost();
-//         if (lost != 0)
-//         {
-//             ESP_LOGW(TAG, "%d packets lost", lost);
-//         }
-
-//         end_time = esp_timer_get_time();
-//         elapsed = end_time - start_time;
-
-//         if (elapsed < interval_us)
-//         {
-//             vTaskDelay(pdMS_TO_TICKS((interval_us - elapsed) / 1000));
-//         }
-//     }
-// }

main/components/sdcard.c

@@ -0,0 +1,128 @@
+#include "sdcard.h"
+
+void writeFile(FILE *f, const void *data, size_t size)
+{
+    if (f != NULL)
+    {
+        fwrite(data, size, 1, f);
+        fflush(f);
+        fsync(fileno(f)); // Critical: this ensures actual write to disk
+    }
+}
+
+FILE *csvFile = NULL;
+FILE *sensFile = NULL;
+
+void initSD(void)
+{
+    esp_err_t ret;
+
+    // Options for mounting the filesystem.
+    // If format_if_mount_failed is set to true, SD card will be partitioned and
+    // formatted in case when mounting fails.
+    esp_vfs_fat_sdmmc_mount_config_t mount_config = {
+        .format_if_mount_failed = true,
+        .max_files = 100,
+        .allocation_unit_size = 16 * 1024};
+    sdmmc_card_t *card;
+    const char mount_point[] = MOUNT_POINT;
+    ESP_LOGI(TAGSD, "Initializing SD card");
+
+    // Use settings defined above to initialize SD card and mount FAT filesystem.
+    // Note: esp_vfs_fat_sdmmc/sdspi_mount is all-in-one convenience functions.
+    // Please check its source code and implement error recovery when developing
+    // production applications.
+    ESP_LOGI(TAGSD, "Using SPI peripheral");
+
+    // By default, SD card frequency is initialized to SDMMC_FREQ_DEFAULT (20MHz)
+    // For setting a specific frequency, use host.max_freq_khz (range 400kHz - 20MHz for SDSPI)
+    // Example: for fixed frequency of 10MHz, use host.max_freq_khz = 10000;
+    sdmmc_host_t host = SDSPI_HOST_DEFAULT();
+    host.slot = SPI3_HOST;
+
+    // This initializes the slot without card detect (CD) and write protect (WP) signals.
+    // Modify slot_config.gpio_cd and slot_config.gpio_wp if your board has these signals.
+    sdspi_device_config_t slot_config = SDSPI_DEVICE_CONFIG_DEFAULT();
+    slot_config.gpio_cs = HSPI_SD_CS;
+    slot_config.host_id = host.slot;
+
+    ESP_LOGI(TAGSD, "Mounting filesystem");
+    ret = esp_vfs_fat_sdspi_mount(mount_point, &host, &slot_config, &mount_config, &card);
+
+    if (ret != ESP_OK)
+    {
+        if (ret == ESP_FAIL)
+        {
+            ESP_LOGE(TAGSD, "Failed to mount filesystem. "
+                            "If you want the card to be formatted, set the CONFIG_EXAMPLE_FORMAT_IF_MOUNT_FAILED menuconfig option.");
+        }
+        else
+        {
+            ESP_LOGE(TAGSD, "Failed to initialize the card (%s). "
+                            "Make sure SD card lines have pull-up resistors in place.",
+                     esp_err_to_name(ret));
+        }
+        return;
+    }
+    ESP_LOGI(TAGSD, "Filesystem mounted");
+
+    // Card has been initialized, print its properties
+    sdmmc_card_print_info(stdout, card);
+
+    int index = 0;
+    FILE *f = fopen(COUNTER_FILE, "r");
+    if (f)
+    {
+        fscanf(f, "%d", &index);
+        fclose(f);
+    }
+
+    // === 2. Increment and write back ===
+    f = fopen(COUNTER_FILE, "w");
+    if (!f)
+    {
+        ESP_LOGE(TAGSD, "Failed to open counter file");
+        return;
+    }
+    index++;
+    if (f != NULL)
+    {
+
+        fprintf(f, "%d", index);
+        fflush(f);
+        fsync(fileno(f)); // Critical: this ensures actual write to disk
+        fclose(f);
+        ESP_LOGI(TAGSD, "Index is now %d", index);
+    }
+
+    // === 3. Make folder ===
+    char folder_path[MAX_PATH - 20];
+    snprintf(folder_path, MAX_PATH, MOUNT_POINT "/%d", index);
+    mkdir(folder_path, 0777); // safe if exists already
+
+    // === 4. Create CSV and BIN ===
+    char csv_path[MAX_PATH], bin_path[MAX_PATH];
+    snprintf(csv_path, MAX_PATH, "%s/data.csv", folder_path);
+    snprintf(bin_path, MAX_PATH, "%s/data.bin", folder_path);
+
+    csvFile = fopen(csv_path, "w");
+    sensFile = fopen(bin_path, "wb");
+    if (csvFile != NULL)
+    {
+        fprintf(csvFile,
+                "missionTimer,packetIndex,telemetryIndex,packetType,"
+                "accX,accY,accZ,gyroX,gyroY,gyroZ,magX,magY,magZ,accTemp,"
+                "eCO2,tVOC,currentCCS,rawCCS,"
+                "volts,current,power,rawtemperature,rawhumidity,rawpressure,rawgas,"
+                "gasValid,heaterStable,gasRange,gasIndex,"
+                "airTemp,relHumidity,baroPressure,gasResistance,"
+                "iaqScore,tempScore,humidityScore,gasScore,"
+                "gpsTime,latitude,longitude,altitude,fixQuality,numSatellites,date,speed,"
+                "predLatitude,predLongitude,predAltitude,"
+                "NH3,CO,NO2,UVC,"
+                "currentServoA,targetServoA,currentServoB,targetServoB,"
+                "presentDevices\n");
+        fflush(csvFile);
+        fsync(fileno(csvFile)); // Critical: this ensures actual write to disk
+    }
+}

main/components/sdcard.h

@@ -0,0 +1,26 @@
+#ifndef SDCARD_COMPONENT
+#define SDCARD_COMPONENT
+
+#include <string.h>
+#include <sys/unistd.h>
+#include <sys/stat.h>
+#include "esp_vfs_fat.h"
+#include "sdmmc_cmd.h"
+#include "../hw/buscfg.h"
+
+#define TAGSD "SDSubsys"
+
+#define COUNTER_FILE "cnt.txt"
+
+#define MOUNT_POINT "/sdcard"
+
+void writeFile(FILE *f, const void *data, size_t size);
+
+extern FILE *csvFile;
+extern FILE *sensFile;
+
+#define MAX_PATH 80
+
+void initSD(void);
+
+#endif

main/components/sensors.c

@@ -4,12 +4,28 @@
 #include "../hw/gps.h"
 #include "servocontroller.h"
 
+#include <sys/unistd.h>
+#include <sys/stat.h>
+#include "esp_vfs_fat.h"
+#include "sdmmc_cmd.h"
+
+#define MOUNT_POINT "/sdcard"
+#define MAX_LINE_LENGTH 64
+
 #define BLINK_GPIO 2
 
+// uint8_t powerMode = LOW_POWER_MODE;
+uint8_t powerMode = HIGH_POWER_MODE;
+
 static uint8_t s_led_state = 0;
 
-uint8_t foundDevices[128];
-uint8_t prevDevices[128];
+uint8_t telemetryIndex = 1;
+
+const uint8_t expectedAdressesCount = 5;
+const uint8_t expectedAdresses[] = {MCP23018_ADDRESS, BME680_ADDRESS, CCS811_ADDRESS, MPU9250_ADDRESS, INA260_ADDRESS};
+
+uint8_t foundDevices[5];
+uint8_t prevDevices[5];
 
 static void configure_led(void)
 {
@@ -17,74 +33,120 @@ static void configure_led(void)
     gpio_set_direction(BLINK_GPIO, GPIO_MODE_OUTPUT);
 }
 
-// void update_devices() {
-//     memcpy(prevDevices, foundDevices, sizeof(prevDevices));
-//     memset(foundDevices, 0, sizeof(foundDevices));
-//     for (uint8_t i = 0; i < 128; i++)
-//      {
-//          fflush(stdout);
+void update_devices()
+{
+    memcpy(prevDevices, foundDevices, sizeof(prevDevices));
+    for (uint8_t i = 0; i < expectedAdressesCount; i++)
+    {
+        fflush(stdout);
 
-//          esp_err_t ret = i2c_master_probe(i2c0_bus_hdl, i, 20);
+        esp_err_t ret = i2c_master_probe(i2c0_bus_hdl, expectedAdresses[i], 20);
 
-//          if (ret == ESP_OK)
-//          {
-//             foundDevices[i] = 1;
+        if (ret == ESP_OK)
+        {
+            if (foundDevices[i] == 0)
+            {
+                foundDevices[i] = 1;
+            }
             // printf("Found device at 0x%02X\n", i);
-//          }
-//      }
-// }
+        }
+        else
+        {
+            foundDevices[i] = 0;
+            if (i == 1 && powerMode != HIGH_POWER_MODE)
+            {
+                continue;
+            }
+            printf("Not found device at 0x%02X\n", expectedAdresses[i]);
+        }
+    }
+}
 
-// void init_connected() {
-//     for (uint8_t i = 0; i < 128; i++) {
-//         if (foundDevices[i] != prevDevices[i]) {
-//             if (foundDevices[i]) {
-//                 switch (i)
-//                 {
-//                 case MCP23018_ADDRESS:
-//                     /* code */
-//                     if (mcp23018_init() == ESP_OK) {
-//                         foundDevices[i] = 2;
-//                     }
-//                     break;
+void setPowerMode(uint8_t powerModeIn)
+{
+    powerMode = powerModeIn;
+    if (foundDevices[0] == 2)
+    {
+        if (powerMode == HIGH_POWER_MODE)
+        {
+            mcp23018_set_pin(MCP23018_DEV_HANDLE, MCP_CCS811_WAKE, 0);
+            mcp23018_set_pin(MCP23018_DEV_HANDLE, MCP_CCS811_POWER, 1);
+            mcp23018_set_pin(MCP23018_DEV_HANDLE, MCP_MICS_POWER, 1);
+        }
+        else
+        {
+            mcp23018_set_pin(MCP23018_DEV_HANDLE, MCP_CCS811_WAKE, 1);
+            mcp23018_set_pin(MCP23018_DEV_HANDLE, MCP_CCS811_POWER, 0);
+            mcp23018_set_pin(MCP23018_DEV_HANDLE, MCP_MICS_POWER, 0);
+        }
+    }
+}
 
-//                     case INA260_ADDRESS:
-//                     if (ina260_init() == ESP_OK) {
-//                         foundDevices[i] = 2;
-//                     }
-//                     /* code */
-//                     break;
+void init_connected()
+{
 
-//                     case CCS811_ADDRESS:
-//                     if (ccs811_init() == ESP_OK) {
-//                         foundDevices[i] = 2;
-//                     }
-//                     /* code */
-//                     break;
+    for (uint8_t i = 0; i < expectedAdressesCount; i++)
+    {
+        if (foundDevices[i] != prevDevices[i])
+        {
+            if (foundDevices[i])
+            {
+                esp_err_t ret = ESP_FAIL;
+                bool foundUsed = true;
+                switch (i)
+                {
+                case MCP23018_ADDRESS:
+                    /* code */
+                    ret = mcp23018_init();
+                    setPowerMode(powerMode);
+                    mcp3550_spi_init();
+                    break;
 
-//                     case MPU9250_ADDRESS:
-//                     if (mpu9250_init() == ESP_OK) {
-//                         foundDevices[i] = 2;
-//                     }
-//                     /* code */
-//                     break;
+                case INA260_ADDRESS:
+                    ret = ina260_init();
+                    /* code */
+                    break;
 
-//                     case BME680_ADDRESS:
-//                     if (bme680b_init() == ESP_OK) {
-//                         foundDevices[i] = 2;
-//                     }
-//                     /* code */
-//                     break;
+                case CCS811_ADDRESS:
+                    ret = ccs811_init();
+                    /* code */
+                    break;
 
-//                 default:
-//                     break;
-//                 }
-//             }
-//         }
-//     }
-// }
+                case MPU9250_ADDRESS:
+                    ret = mpu9250_init();
+                    /* code */
+                    break;
+
+                case BME680_ADDRESS:
+                    ret = bme680b_init();
+                    /* code */
+                    break;
+
+                default:
+                    foundUsed = false;
+                    break;
+                }
+                if (foundUsed)
+                {
+                    if (ret == ESP_OK)
+                    {
+                        foundDevices[i] = 2;
+                    }
+                    else
+                    {
+                        printf("Device init error at 0x%02X - %s\n", expectedAdresses[i], esp_err_to_name(ret));
+                    }
+                }
+            }
+        }
+    }
+}
 
 void i2c_sensors_task(void *pvParameters)
 {
+
+
+    
     memset(foundDevices, 0, sizeof(foundDevices));
     memset(prevDevices, 0, sizeof(prevDevices));
 
@@ -93,17 +155,15 @@ void i2c_sensors_task(void *pvParameters)
     ccs811_init();
     ina260_init();
 
-
     // update_devices();
     // init_connected();
     // initialize the xLastWakeTime variable with the current time.
-    const int64_t interval_us = 100000; // 100 ms
+    const int64_t interval_us = 50000; // 50 ms
     int64_t start_time, end_time, elapsed;
 
     //
     // initialize i2c device configuration
 
-    mcp3550_spi_init();
     configure_led();
 
     int16_t accel[3], gyro[3], temp, magnet[3];
@@ -119,13 +179,22 @@ void i2c_sensors_task(void *pvParameters)
     uint16_t power;
 
     bme680_data_t bmeData;
+
+    mics_adc_data_t ADCData;
     // task loop entry point
     for (;;)
     {
         start_time = esp_timer_get_time(); // µs since boot
+
+        uint8_t presentDevices = 0xFF;
+        // update_devices();
+        // init_connected();
+
         //
         // handle sensor
 
+        presentDevices |= BME680_PRESENT_BIT;
+
         if (BME680_DEV_HANDLE)
         {
             esp_err_t result = bme680_get_data(BME680_DEV_HANDLE, &bmeData);
@@ -150,10 +219,12 @@ void i2c_sensors_task(void *pvParameters)
             bme680b_init();
         }
 
+        presentDevices |= CCS811_PRESENT_BIT;
         ccs811_get_data(&eCO2, &tvoc, &currentCCS, &rawData);
         ESP_LOGI(TAG_CCS, "eCO₂: %d ppm, TVOC: %d ppb", eCO2, tvoc);
         ESP_LOGI(TAG_CCS, "Current: %d μA, Raw voltage: %d V", currentCCS, rawData);
 
+        presentDevices |= MPU9250_PRESENT_BIT;
         if (mpu9250_read_sensor_data(MPU9250_DEV_HANDLE, accel, gyro, &temp, magnet) == ESP_OK)
         {
             mpu9250_convert_data(accel, gyro, temp, magnet, accel_f, gyro_f, &temp_f, magnet_f);
@@ -168,33 +239,18 @@ void i2c_sensors_task(void *pvParameters)
             ESP_LOGE(TAG_MPU, "Failed to read sensor data");
         }
 
+        presentDevices |= INA260_PRESENT_BIT;
         ina260_readParams(&volts, &current, &power);
         ina260_printParams(volts, current, power);
 
+        presentDevices |= MCP23018_PRESENT_BIT;
         float VREFVoltage = 2.5;
-
-        // mics_adc_data_t ADCData;
-        // memset(&ADCData, 0, sizeof(ADCData));
-        mics_adc_data_t ADCData = mcp3550_read_all(VREFVoltage);
+        ADCData = mcp3550_read_all(VREFVoltage);
 
         log_mics_adc_values(&ADCData);
 
-        //int32_t nh3val = mcp3550_read(MCP_CS_ADC_NH3);
-
-        //ESP_LOGI(TAG_BME, "MICS NH3: %ld -> %fV", nh3val, mcp3550_to_voltage(nh3val, VREFVoltage));
-
-        //gpio_set_level(BLINK_GPIO, s_led_state);
-        mcp23018_set_pin(MCP23018_DEV_HANDLE, MCP_CS_ADC_UVC, s_led_state);
-        /* Toggle the LED state */
-        s_led_state = !s_led_state;
-        end_time = esp_timer_get_time();
-        elapsed = end_time - start_time;
-
-        if (elapsed < interval_us)
+        if (packetReadiness == 0)
         {
-            vTaskDelay(pdMS_TO_TICKS((interval_us - elapsed) / 1000));
-        }
-        if (packetReadiness == 0) {
             memset(&telemetryPacket, 0, sizeof(telemetryPacket));
             telemetryPacket.accelerationX = accel[0];
             telemetryPacket.accelerationY = accel[1];
@@ -219,7 +275,6 @@ void i2c_sensors_task(void *pvParameters)
             telemetryPacket.current = current;
             telemetryPacket.power = power;
 
-
             telemetryPacket.temperature = bmeData.raw_data.temperature;
             telemetryPacket.humidity = bmeData.raw_data.humidity;
             telemetryPacket.pressure = bmeData.raw_data.pressure;
@@ -261,9 +316,20 @@ void i2c_sensors_task(void *pvParameters)
             telemetryPacket.currentServoA = servoState.currentServoA;
             telemetryPacket.currentServoB = servoState.currentServoB;
 
+            telemetryPacket.presentDevices = presentDevices;
 
+            telemetryPacket.telemetryIndex = telemetryIndex++;
         }
         packetReadiness = 1;
+
+        s_led_state = !s_led_state;
+        end_time = esp_timer_get_time();
+        elapsed = end_time - start_time;
+
+        if (elapsed < interval_us)
+        {
+            vTaskDelay(pdMS_TO_TICKS((interval_us - elapsed) / 1000));
+        }
     }
     //
     // free resources

main/components/sensors.h

@@ -18,9 +18,17 @@
 #include "../hw/mpu9250.h"
 #include "esp_log.h"
 
+#define LOW_POWER_MODE 0
+#define HIGH_POWER_MODE 1
+extern uint8_t powerMode;
 
-extern uint8_t foundDevices[128];
-extern uint8_t prevDevices[128];
+
+extern uint8_t foundDevices[5];
+extern uint8_t prevDevices[5];
+
+void init_connected();
+void update_devices();
+void setPowerMode(uint8_t powerModeIn);
 
 void i2c_sensors_task(void *pvParameters);
 

main/hw/buscfg.h

@@ -8,11 +8,17 @@
 #define ESP_RXD0 GPIO_NUM_44
 #define ESP_TXD0 GPIO_NUM_43
 
-#define MCP23018_ADDRESS 0x20
-#define INA260_ADDRESS 0x40
+#define BME680_ADDRESS 0x76
 #define CCS811_ADDRESS 0x5A
 #define MPU9250_ADDRESS 0x68
-#define BME680_ADDRESS 0x76
+#define INA260_ADDRESS 0x40
+#define MCP23018_ADDRESS 0x20
+
+#define BME680_PRESENT_BIT (1 << 0)
+#define CCS811_PRESENT_BIT (1 << 1)
+#define MPU9250_PRESENT_BIT (1 << 2)
+#define INA260_PRESENT_BIT (1 << 3)
+#define MCP23018_PRESENT_BIT (1 << 4)
 
 #define ESP_CONNECTOR_P1 MCP3550_MISO_GPIO
 #define ESP_CONNECTOR_P2 MCP3550_MOSI_GPIO

main/hw/ccs811.c

@@ -33,10 +33,6 @@ esp_err_t ccs811_init()
 {
     esp_err_t ret =i2c_master_bus_add_device(i2c0_bus_hdl, &CCS811_DEV_CFG, &CCS811_DEV_HANDLE);
     if (ret != ESP_OK) {return ret;}
-    ret = mcp23018_set_pin(MCP23018_DEV_HANDLE, MCP_CCS811_WAKE, 0);
-    if (ret != ESP_OK) {return ret;}
-    ret = mcp23018_set_pin(MCP23018_DEV_HANDLE, MCP_CCS811_POWER, 1);
-    if (ret != ESP_OK) {return ret;}
     vTaskDelay(10 / portTICK_PERIOD_MS);
     uint8_t reset_seq[4] = {0x11, 0xE5, 0x72, 0x8A};
     ret = i2c_write_register(CCS811_DEV_HANDLE, CCS811_REG_SW_RESET, reset_seq, sizeof(reset_seq)); // Reset

main/hw/gps.c

@@ -26,11 +26,11 @@ void gps_init()
         .flow_ctrl = UART_HW_FLOWCTRL_CTS_RTS,
         .rx_flow_ctrl_thresh = 122,
     };
-    ESP_ERROR_CHECK(uart_param_config(GPS_UART_NUM, &uart_config));
-    ESP_ERROR_CHECK(uart_set_pin(GPS_UART_NUM, GPS_TXD, GPS_RXD, GPS_RTS, GPS_CTS));
+    ESP_ERROR_CHECK_WITHOUT_ABORT(uart_param_config(GPS_UART_NUM, &uart_config));
+    ESP_ERROR_CHECK_WITHOUT_ABORT(uart_set_pin(GPS_UART_NUM, GPS_TXD, GPS_RXD, GPS_RTS, GPS_CTS));
 
     const int uart_buffer_size = (1024 * 2);
-    ESP_ERROR_CHECK(uart_driver_install(GPS_UART_NUM, uart_buffer_size, uart_buffer_size, 10, &uart_queue, 0));
+    ESP_ERROR_CHECK_WITHOUT_ABORT(uart_driver_install(GPS_UART_NUM, uart_buffer_size, uart_buffer_size, 10, &uart_queue, 0));
 }
 
 
@@ -49,9 +49,9 @@ void gps_task(void *arg)
                 line[line_pos] = '\0';
 
                 if (line[0] == '$') {
-                    ESP_LOGV(TAG, "Received NMEA: %s", line);
+                    ESP_LOGI(TAG, "Received NMEA: %s", line);
 
-                    if (strstr(line, "$GPGGA") == line) {
+                    if (strstr(line, "$GNGGA") == line) {
                         parse_gpgga(line);
                         parse_gpgga_to_struct(line, &gpsDataOut);
                     } else if (strstr(line, "$GPRMC") == line) {
@@ -72,8 +72,7 @@ void gps_task(void *arg)
     }
 }
 
-void parse_gpgga(const char *nmea)
-{
+void parse_gpgga(const char *nmea) {
     char *fields[15];
     char temp[GPS_LINE_MAX_LEN];
     strncpy(temp, nmea, GPS_LINE_MAX_LEN);
@@ -108,12 +107,11 @@ void parse_gpgga(const char *nmea)
     // Altitude
     const char *altitude = fields[9];
 
-    ESP_LOGI(TAG, "[GPGGA] Time: %s, Lat: %s %s, Lon: %s %s, Fix: %s, Sats: %s, Alt: %sm",
+    printf("[GPGGA] Time: %s, Lat: %s %s, Lon: %s %s, Fix: %s, Sats: %s, Alt: %sm\n",
            utc_time, lat, lat_dir, lon, lon_dir, fix_quality, num_satellites, altitude);
 }
 
-void parse_gprmc(const char *nmea)
-{
+void parse_gprmc(const char *nmea) {
     char *fields[13];
     char temp[GPS_LINE_MAX_LEN];
     strncpy(temp, nmea, GPS_LINE_MAX_LEN);
@@ -137,7 +135,7 @@ void parse_gprmc(const char *nmea)
     const char *speed_knots = fields[7];
     const char *date = fields[9];
 
-    ESP_LOGI(TAG, "[GPRMC] Date: %s, Time: %s, Lat: %s %s, Lon: %s %s, Speed: %s knots, Status: %s",
+    printf("[GPRMC] Date: %s, Time: %s, Lat: %s %s, Lon: %s %s, Speed: %s knots, Status: %s\n",
            date, utc_time, lat, lat_dir, lon, lon_dir, speed_knots, status);
 }
 
@@ -154,17 +152,22 @@ static uint32_t time_to_seconds_struct(const char *time_str) {
 // Function to convert DMS (degrees minutes.decimalminutes) to centi-degrees
 static int32_t dms_to_centi_degrees_struct(const char *dms_str, const char *direction) {
     if (dms_str == NULL || direction == NULL || strlen(dms_str) < 7) return 0;
-    char degrees_str[4] = {0};
-    char minutes_decimal_str[10] = {0};
-    strncpy(degrees_str, dms_str, 2);
-    strncpy(minutes_decimal_str, dms_str + 2, strlen(dms_str) - 2);
-    double degrees = atof(degrees_str);
-    double minutes = atof(minutes_decimal_str);
-    double decimal_degrees = degrees + (minutes / 60.0);
-    if (direction[0] == 'S' || direction[0] == 'W') {
-        decimal_degrees *= -1.0;
+    char data_str[20] = {0};
+    char *dataStr = data_str;
+    for (int i = 0; i < 20; i++) {
+        if (dms_str[i] == 0) {
+            break;
         }
-    return (int32_t)(decimal_degrees * 10000);
+        if (dms_str[i] == '.') {
+            continue;
+        }
+        *(dataStr++) = dms_str[i];
+    }
+    int32_t degrees = atoi(data_str);
+    if (direction[0] == 'S' || direction[0] == 'W') {
+        degrees *= -1;
+    }
+    return degrees;
 }
 
 // Function to convert altitude string to centi-meters
@@ -190,8 +193,7 @@ static uint16_t date_to_yyddmm_struct(const char *date_str) {
 }
 
 // Function to parse GPGGA NMEA string and return the struct
-void parse_gpgga_to_struct(const char *nmea, gps_binary_struct_t *data)
-{
+void parse_gpgga_to_struct(const char *nmea, gps_binary_struct_t *data) {
     char *fields[15];
     char temp[GPS_LINE_MAX_LEN];
     strncpy(temp, nmea, GPS_LINE_MAX_LEN);
@@ -212,13 +214,12 @@ void parse_gpgga_to_struct(const char *nmea, gps_binary_struct_t *data)
         data->num_satellites = atoi(fields[7]);
         data->altitude_centi_meters = altitude_to_centi_meters_struct(fields[9]);
     } else {
-        ESP_LOGW(TAG, "GPGGA: Not enough fields to parse struct");
+        printf("GPGGA: Not enough fields to parse struct");
     }
 }
 
 // Function to parse GPRMC NMEA string and return the struct
-void parse_gprmc_to_struct(const char *nmea, gps_binary_struct_t *data)
-{
+void parse_gprmc_to_struct(const char *nmea, gps_binary_struct_t *data) {
     char *fields[13];
     char temp[GPS_LINE_MAX_LEN];
     strncpy(temp, nmea, GPS_LINE_MAX_LEN);
@@ -239,6 +240,6 @@ void parse_gprmc_to_struct(const char *nmea, gps_binary_struct_t *data)
         data->speed_centi_knots = speed_to_centi_knots_struct(fields[7]);
         // Fix quality and num_satellites are typically in GPGGA, so they might be 0 here.
     } else {
-        ESP_LOGW(TAG, "GPRMC: Not enough fields to parse struct");
+        printf("GPRMC: Not enough fields to parse struct");
     }
 }

main/hw/ina260.c

@@ -8,21 +8,26 @@ i2c_device_config_t INA260_DEV_CFG = {
 
 i2c_master_dev_handle_t INA260_DEV_HANDLE;
 
-
-void ina260_reset() {
+void ina260_reset()
+{
     i2c_write_register_16(INA260_DEV_HANDLE, 0x00, 0x0FFF); // set ina max averaging and max time
 }
 
 esp_err_t ina260_init()
 {
     esp_err_t ret = i2c_master_bus_add_device(i2c0_bus_hdl, &INA260_DEV_CFG, &INA260_DEV_HANDLE);
-    if (ret != ESP_OK) {return ret;}
+    if (ret != ESP_OK)
+    {
+        ESP_LOGE(TAG_INA, "%s", esp_err_to_name(ret));
+        return ret;
+    }
+    ESP_LOGI(TAG_INA, "hehedstesfsewscdsfsrgerpodsvhdrsivhriuvjdreiv");
     return i2c_write_register_16(INA260_DEV_HANDLE, INA260_CONFIG_REGISTER,
                                  CONFIG_AVG_1024 | CONFIG_VBUSCT_8_244MS | CONFIG_ISHCT_8_244MS | CONFIG_MODE_CURRENT_VOLTAGE_CONTINOUS); // set ina max averaging and max time
 }
 
-
-esp_err_t i2c_master_read_register_transmit_receive(i2c_master_dev_handle_t device_handle, uint8_t reg_addr, uint8_t *data, size_t data_len) {
+esp_err_t i2c_master_read_register_transmit_receive(i2c_master_dev_handle_t device_handle, uint8_t reg_addr, uint8_t *data, size_t data_len)
+{
     esp_err_t ret;
 
     // The register address is what we want to send first (the "transmit" part)
@@ -39,7 +44,8 @@ esp_err_t i2c_master_read_register_transmit_receive(i2c_master_dev_handle_t devi
                                       read_buffer, read_size,
                                       I2C_TIMEOUT_MS_VALUE);
 
-    if (ret == ESP_OK) {
+    if (ret == ESP_OK)
+    {
         // Copy the data from the temporary read buffer to the output buffer
         memcpy(data, read_buffer, read_size);
     }
@@ -48,6 +54,8 @@ esp_err_t i2c_master_read_register_transmit_receive(i2c_master_dev_handle_t devi
 }
 
 void ina260_readParams(uint16_t *volt, uint16_t *cur, uint16_t *pow)
+{
+    if (INA260_DEV_HANDLE)
     {
         *volt = 0;
         *cur = 0;
@@ -56,7 +64,7 @@ void ina260_readParams(uint16_t *volt, uint16_t *cur, uint16_t *pow)
         {
             uint8_t reg_value[2] = {0}; // Buffer for storing register data
 
-        ESP_ERROR_CHECK(i2c_master_read_register_transmit_receive(INA260_DEV_HANDLE, reg_addr, reg_value, sizeof(reg_value)));
+            ESP_ERROR_CHECK_WITHOUT_ABORT(i2c_master_read_register_transmit_receive(INA260_DEV_HANDLE, reg_addr, reg_value, sizeof(reg_value)));
             // Perform the register read
             switch (reg_addr)
             {
@@ -75,6 +83,7 @@ void ina260_readParams(uint16_t *volt, uint16_t *cur, uint16_t *pow)
             }
         }
     }
+}
 
 void ina260_printParams(uint16_t volt, uint16_t cur, uint16_t pow)
 {

main/hw/mcp23018.c

@@ -16,9 +16,7 @@ uint8_t gpiob_state = 0x00; // All LOW initially
 
 esp_err_t mcp23018_set_pin(i2c_master_dev_handle_t dev_handle, uint8_t pin, uint8_t value)
 {
-    // while(foundDevices[MCP23018_ADDRESS] != 2) {
-    //     vTaskDelay(1);
-    // }
+    ESP_LOGI(TAG_MCP, "Setting %d to %d", pin, value);
     esp_err_t ret = ESP_FAIL;
     if (pin < 8)
     {

main/hw/mcp3550.c

@@ -19,18 +19,17 @@ spi_device_handle_t mcp3550_handle;
 
 void mcp3550_spi_init()
 {
-    spi_device_interface_config_t devcfg = {
-        .clock_speed_hz = 100000,
-        .mode = 0,
-        .spics_io_num = -1, // We handle CS manually
-        .queue_size = 1,
-    };
+    // spi_device_interface_config_t devcfg = {
+    //     .clock_speed_hz = 100000,
+    //     .mode = 0,
+    //     .spics_io_num = -1, // We handle CS manually
+    //     .queue_size = 1,
+    // };
 
-    ESP_ERROR_CHECK(spi_bus_add_device(SPI2_HOST, &devcfg, &mcp3550_handle));
+    // ESP_ERROR_CHECK_WITHOUT_ABORT(spi_bus_add_device(SPI2_HOST, &devcfg, &mcp3550_handle));
 
     // Set MISO pin for input (needed for polling)
     gpio_set_direction(MCP3550_MISO_GPIO, GPIO_MODE_INPUT);
-    mcp23018_set_pin(MCP23018_DEV_HANDLE, MCP_MICS_POWER, 1); // CS HIGH
 }
 
 
@@ -133,9 +132,13 @@ int32_t mcp3550_read(uint8_t cs_pin)
     int64_t start = esp_timer_get_time();
     uint32_t timeout_us = MCP3550_TIMEOUT_MS * 1000;
 
+    ESP_LOGI(TAG_MCP, "Starting read from ADC CS %d", cs_pin);
+
     // CS LOW
     mcp23018_set_pin(MCP23018_DEV_HANDLE, cs_pin, 0);
 
+    vTaskDelay(pdMS_TO_TICKS(10));
+
     // Wait for DR (MISO LOW)
     while (gpio_get_level(MCP3550_MISO_GPIO)) {
         if ((esp_timer_get_time() - start) > timeout_us) {

main/main.c

@@ -25,6 +25,7 @@
 #include "hw/mcp23018.h"
 #include "hw/mpu9250.h"
 #include "hw/buscfg.h"
+#include "components/sdcard.h"
 
 #include "hw/gps.h"
 
@@ -36,18 +37,20 @@ void app_main(void)
     ESP_LOGI("BOOT", "BRN Systems incorporated CanSat flight firmware build at %s %s", __DATE__, __TIME__);
 
     /* instantiate i2c master bus 0 */
-    ESP_ERROR_CHECK(i2c_new_master_bus(&i2c0_bus_cfg, &i2c0_bus_hdl));
+    ESP_ERROR_CHECK_WITHOUT_ABORT(i2c_new_master_bus(&i2c0_bus_cfg, &i2c0_bus_hdl));
 
-    spi_bus_config_t MCPBusCfg = {
-        .mosi_io_num = -1,
-        .miso_io_num = MCP3550_MISO_GPIO,
-        .sclk_io_num = MCP3550_SCK_GPIO,
-        .quadwp_io_num = -1,
-        .quadhd_io_num = -1,
-        .max_transfer_sz = 4,
-    };
-    ESP_ERROR_CHECK(spi_bus_initialize(SPI2_HOST, &MCPBusCfg, SPI_DMA_DISABLED));
+    // spi_bus_config_t MCPBusCfg = {
+    //     .mosi_io_num = -1,
+    //     .miso_io_num = MCP3550_MISO_GPIO,
+    //     .sclk_io_num = MCP3550_SCK_GPIO,
+    //     .quadwp_io_num = -1,
+    //     .quadhd_io_num = -1,
+    //     .max_transfer_sz = 4,
+    // };
+    // ESP_ERROR_CHECK_WITHOUT_ABORT(spi_bus_initialize(SPI2_HOST, &MCPBusCfg, SPI_DMA_DISABLED));
 
+    gpio_pullup_en(HSPI_MISO_GPIO);
+    gpio_pullup_en(HSPI_SD_CS);
     spi_bus_config_t HighSpeedBusCfg = {
         // CONNECTED to LoRa and SD card
         .mosi_io_num = HSPI_MOSI_GPIO,
@@ -57,12 +60,15 @@ void app_main(void)
         .quadhd_io_num = -1,
         .max_transfer_sz = 64, // probably change
     };
-    ESP_ERROR_CHECK(spi_bus_initialize(SPI3_HOST, &HighSpeedBusCfg, SPI_DMA_CH_AUTO));
+    ESP_ERROR_CHECK_WITHOUT_ABORT(spi_bus_initialize(SPI3_HOST, &HighSpeedBusCfg, SPI_DMA_CH_AUTO));
 
     /* scan i2c devices on i2c master bus 0 and print results */
-    ESP_ERROR_CHECK(i2c_master_bus_detect_devices(i2c0_bus_hdl));
+    ESP_ERROR_CHECK_WITHOUT_ABORT(i2c_master_bus_detect_devices(i2c0_bus_hdl));
+
     mcp23018_init();
 
+    initSD();
+
     void servoControllerInit();
 
     ESP_LOGI(TAG, "BEGIN ESP TASKS");

managed_components/k0i05__esp_bme680/bme680.c

@@ -426,39 +426,39 @@ static inline esp_err_t bme680_get_cal_factors(bme680_handle_t handle) {
     ESP_ARG_CHECK( handle );
 
     /* bme680 attempt to request T1-T3 calibration values from device */
-    ESP_ERROR_CHECK( bme680_i2c_read_word_from(handle, 0xe9, &handle->dev_cal_factors->par_T1) );
-    ESP_ERROR_CHECK( bme680_i2c_read_word_from(handle, 0x8a, (uint16_t *)&handle->dev_cal_factors->par_T2) );
-    ESP_ERROR_CHECK( bme680_i2c_read_byte_from(handle, 0x8c, (uint8_t *)&handle->dev_cal_factors->par_T3) );
+    ESP_ERROR_CHECK_WITHOUT_ABORT( bme680_i2c_read_word_from(handle, 0xe9, &handle->dev_cal_factors->par_T1) );
+    ESP_ERROR_CHECK_WITHOUT_ABORT( bme680_i2c_read_word_from(handle, 0x8a, (uint16_t *)&handle->dev_cal_factors->par_T2) );
+    ESP_ERROR_CHECK_WITHOUT_ABORT( bme680_i2c_read_byte_from(handle, 0x8c, (uint8_t *)&handle->dev_cal_factors->par_T3) );
     /* bme680 attempt to request H1-H7 calibration values from device */
-    ESP_ERROR_CHECK( bme680_i2c_read_from(handle, 0xe2, rx, BIT16_UINT8_BUFFER_SIZE) );
+    ESP_ERROR_CHECK_WITHOUT_ABORT( bme680_i2c_read_from(handle, 0xe2, rx, BIT16_UINT8_BUFFER_SIZE) );
     handle->dev_cal_factors->par_H1 = (uint16_t)(((uint16_t)rx[1] << 4) | (rx[0] & 0x0F));
-    ESP_ERROR_CHECK( bme680_i2c_read_from(handle, 0xe1, rx, BIT16_UINT8_BUFFER_SIZE) );
+    ESP_ERROR_CHECK_WITHOUT_ABORT( bme680_i2c_read_from(handle, 0xe1, rx, BIT16_UINT8_BUFFER_SIZE) );
     handle->dev_cal_factors->par_H2 = (uint16_t)(((uint16_t)rx[0] << 4) | (rx[1] >> 4));
-    ESP_ERROR_CHECK( bme680_i2c_read_byte_from(handle, 0xe4, (uint8_t *)&handle->dev_cal_factors->par_H3) );
-    ESP_ERROR_CHECK( bme680_i2c_read_byte_from(handle, 0xe5, (uint8_t *)&handle->dev_cal_factors->par_H4) );
-    ESP_ERROR_CHECK( bme680_i2c_read_byte_from(handle, 0xe6, (uint8_t *)&handle->dev_cal_factors->par_H5) );
-    ESP_ERROR_CHECK( bme680_i2c_read_byte_from(handle, 0xe7, &handle->dev_cal_factors->par_H6) );
-    ESP_ERROR_CHECK( bme680_i2c_read_byte_from(handle, 0xe8, (uint8_t *)&handle->dev_cal_factors->par_H7) );
+    ESP_ERROR_CHECK_WITHOUT_ABORT( bme680_i2c_read_byte_from(handle, 0xe4, (uint8_t *)&handle->dev_cal_factors->par_H3) );
+    ESP_ERROR_CHECK_WITHOUT_ABORT( bme680_i2c_read_byte_from(handle, 0xe5, (uint8_t *)&handle->dev_cal_factors->par_H4) );
+    ESP_ERROR_CHECK_WITHOUT_ABORT( bme680_i2c_read_byte_from(handle, 0xe6, (uint8_t *)&handle->dev_cal_factors->par_H5) );
+    ESP_ERROR_CHECK_WITHOUT_ABORT( bme680_i2c_read_byte_from(handle, 0xe7, &handle->dev_cal_factors->par_H6) );
+    ESP_ERROR_CHECK_WITHOUT_ABORT( bme680_i2c_read_byte_from(handle, 0xe8, (uint8_t *)&handle->dev_cal_factors->par_H7) );
     /* bme680 attempt to request P1-P10 calibration values from device */
-    ESP_ERROR_CHECK( bme680_i2c_read_word_from(handle, 0x8e, &handle->dev_cal_factors->par_P1) );
-    ESP_ERROR_CHECK( bme680_i2c_read_word_from(handle, 0x90, (uint16_t *)&handle->dev_cal_factors->par_P2) );
-    ESP_ERROR_CHECK( bme680_i2c_read_byte_from(handle, 0x92, (uint8_t *)&handle->dev_cal_factors->par_P3) );
-    ESP_ERROR_CHECK( bme680_i2c_read_word_from(handle, 0x94, (uint16_t *)&handle->dev_cal_factors->par_P4) );
-    ESP_ERROR_CHECK( bme680_i2c_read_word_from(handle, 0x96, (uint16_t *)&handle->dev_cal_factors->par_P5) );
-    ESP_ERROR_CHECK( bme680_i2c_read_byte_from(handle, 0x99, (uint8_t *)&handle->dev_cal_factors->par_P6) );
-    ESP_ERROR_CHECK( bme680_i2c_read_byte_from(handle, 0x98, (uint8_t *)&handle->dev_cal_factors->par_P7) );
-    ESP_ERROR_CHECK( bme680_i2c_read_word_from(handle, 0x9c, (uint16_t *)&handle->dev_cal_factors->par_P8) );
-    ESP_ERROR_CHECK( bme680_i2c_read_word_from(handle, 0x9e, (uint16_t *)&handle->dev_cal_factors->par_P9) );
-    ESP_ERROR_CHECK( bme680_i2c_read_byte_from(handle, 0xa0, &handle->dev_cal_factors->par_P10) );
+    ESP_ERROR_CHECK_WITHOUT_ABORT( bme680_i2c_read_word_from(handle, 0x8e, &handle->dev_cal_factors->par_P1) );
+    ESP_ERROR_CHECK_WITHOUT_ABORT( bme680_i2c_read_word_from(handle, 0x90, (uint16_t *)&handle->dev_cal_factors->par_P2) );
+    ESP_ERROR_CHECK_WITHOUT_ABORT( bme680_i2c_read_byte_from(handle, 0x92, (uint8_t *)&handle->dev_cal_factors->par_P3) );
+    ESP_ERROR_CHECK_WITHOUT_ABORT( bme680_i2c_read_word_from(handle, 0x94, (uint16_t *)&handle->dev_cal_factors->par_P4) );
+    ESP_ERROR_CHECK_WITHOUT_ABORT( bme680_i2c_read_word_from(handle, 0x96, (uint16_t *)&handle->dev_cal_factors->par_P5) );
+    ESP_ERROR_CHECK_WITHOUT_ABORT( bme680_i2c_read_byte_from(handle, 0x99, (uint8_t *)&handle->dev_cal_factors->par_P6) );
+    ESP_ERROR_CHECK_WITHOUT_ABORT( bme680_i2c_read_byte_from(handle, 0x98, (uint8_t *)&handle->dev_cal_factors->par_P7) );
+    ESP_ERROR_CHECK_WITHOUT_ABORT( bme680_i2c_read_word_from(handle, 0x9c, (uint16_t *)&handle->dev_cal_factors->par_P8) );
+    ESP_ERROR_CHECK_WITHOUT_ABORT( bme680_i2c_read_word_from(handle, 0x9e, (uint16_t *)&handle->dev_cal_factors->par_P9) );
+    ESP_ERROR_CHECK_WITHOUT_ABORT( bme680_i2c_read_byte_from(handle, 0xa0, &handle->dev_cal_factors->par_P10) );
     /* bme680 attempt to request G1-G3 calibration values from device */
-    ESP_ERROR_CHECK( bme680_i2c_read_byte_from(handle, 0xed, (uint8_t *)&handle->dev_cal_factors->par_G1) );
-    ESP_ERROR_CHECK( bme680_i2c_read_word_from(handle, 0xeb, (uint16_t *)&handle->dev_cal_factors->par_G2) );
-    ESP_ERROR_CHECK( bme680_i2c_read_byte_from(handle, 0xee, (uint8_t *)&handle->dev_cal_factors->par_G3) );
+    ESP_ERROR_CHECK_WITHOUT_ABORT( bme680_i2c_read_byte_from(handle, 0xed, (uint8_t *)&handle->dev_cal_factors->par_G1) );
+    ESP_ERROR_CHECK_WITHOUT_ABORT( bme680_i2c_read_word_from(handle, 0xeb, (uint16_t *)&handle->dev_cal_factors->par_G2) );
+    ESP_ERROR_CHECK_WITHOUT_ABORT( bme680_i2c_read_byte_from(handle, 0xee, (uint8_t *)&handle->dev_cal_factors->par_G3) );
     /* bme680 attempt to request gas range and switching error values from device */
-    ESP_ERROR_CHECK( bme680_i2c_read_byte_from(handle, 0x02, &handle->dev_cal_factors->res_heat_range) );
+    ESP_ERROR_CHECK_WITHOUT_ABORT( bme680_i2c_read_byte_from(handle, 0x02, &handle->dev_cal_factors->res_heat_range) );
     handle->dev_cal_factors->res_heat_range = (handle->dev_cal_factors->res_heat_range & 0x30) / 16;
-    ESP_ERROR_CHECK( bme680_i2c_read_byte_from(handle, 0x00, (uint8_t *)&handle->dev_cal_factors->res_heat_val) );
-    ESP_ERROR_CHECK( bme680_i2c_read_byte_from(handle, 0x04, (uint8_t *)&handle->dev_cal_factors->range_switching_error) );
+    ESP_ERROR_CHECK_WITHOUT_ABORT( bme680_i2c_read_byte_from(handle, 0x00, (uint8_t *)&handle->dev_cal_factors->res_heat_val) );
+    ESP_ERROR_CHECK_WITHOUT_ABORT( bme680_i2c_read_byte_from(handle, 0x04, (uint8_t *)&handle->dev_cal_factors->range_switching_error) );
     handle->dev_cal_factors->range_switching_error = (handle->dev_cal_factors->range_switching_error & 0xf0) / 16;
 
     /*