fixes

save some implementation
2025-04-22 20:35:29 +02:00 · 2025-04-22 14:27:07 +02:00
31 changed files with 1191 additions and 373 deletions
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@@ -1,6 +1,6 @@
 {
    "C_Cpp.intelliSenseEngine": "default",
-    "idf.espIdfPath": "/home/bruno/esp/v5.4.1/esp-idf",
+    "idf.espIdfPath": "/home/bruno/esp/master/esp-idf",
    "idf.pythonInstallPath": "/usr/bin/python",
    "idf.openOcdConfigs": [
        "board/esp32s3-builtin.cfg"
@@ -29,6 +29,19 @@
        "esp_mac.h": "c",
        "gpio.h": "c",
        "chrono": "c",
-        "cstdint": "c"
+        "cstdint": "c",
+        "task.h": "c",
+        "compare": "c",
+        "uart_struct.h": "c",
+        "uart.h": "c",
+        "gpio_num.h": "c",
+        "mcp3550.h": "c",
+        "esp_timer.h": "c",
+        "math.h": "c",
+        "esp_check.h": "c",
+        "radio.h": "c",
+        "sx1262.h": "c",
+        "gps.h": "c",
+        "servocontroller.h": "c"
    }
 }
--- a/components/ra01s/CMakeLists.txt
+++ b/components/ra01s/CMakeLists.txt
@@ -1,5 +0,0 @@
-set(component_srcs "ra01s.c")
-
-idf_component_register(SRCS "${component_srcs}"
-                       PRIV_REQUIRES driver
-                       INCLUDE_DIRS ".")
--- a/components/ra01s/Kconfig.projbuild
+++ b/components/ra01s/Kconfig.projbuild
@@ -1,163 +0,0 @@
-menu "SX126X Configuration"
-
-	config GPIO_RANGE_MAX
-		int
-		default 33 if IDF_TARGET_ESP32
-		default 46 if IDF_TARGET_ESP32S2
-		default 48 if IDF_TARGET_ESP32S3
-		default 18 if IDF_TARGET_ESP32C2
-		default 19 if IDF_TARGET_ESP32C3
-		default 30 if IDF_TARGET_ESP32C6
-
-	choice FREQUENCY
-		prompt "Frequency to use"
-		default 433MHZ
-		help
-			Select Frequency to use.
-		config 433MHZ
-			bool "433MHz"
-			help
-				Frequency is 433MHz.
-		config 866MHZ
-			bool "866MHz"
-			help
-				Frequency is 866MHz.
-		config 915MHZ
-			bool "915MHz"
-			help
-				Frequency is 915MHz.
-		config OTHER
-			bool "Other"
-			help
-				Other Frequency.
-	endchoice
-
-	config OTHER_FREQUENCY
-		depends on OTHER
-		int "Frequency to use[MHz]"
-		range 1 999
-		default 433
-		help
-			Frequency to use[MHz].
-
-	config ADVANCED
-		bool "Enable Advanced settings"
-		default false
-		help
-			Enable Advanced settings.
-
-	config CODING_RATE
-		depends on ADVANCED
-		int "Error coding rate"
-		range 1 4
-		default 1
-		help
-			Error coding rate.
-
-	config BANDWIDTH
-		depends on ADVANCED
-		int "Signal Bandwidth"
-		range 0 6
-		default 4
-		help
-			Signal Bandwidth.
-
-	config SF_RATE
-		depends on ADVANCED
-		int "Spreading Factor"
-		range 5 12
-		default 7
-		help
-			Spreading Factor.
-
-	config USE_TCXO
-		bool "Enable TCXO"
-		default false
-		help
-			Enable Temperature-Compensated Crystal Oscillator.
-
-	config MISO_GPIO
-		int "SX126X MISO GPIO"
-		range 0 GPIO_RANGE_MAX
-		default 19 if IDF_TARGET_ESP32
-		default 37 if IDF_TARGET_ESP32S2 || IDF_TARGET_ESP32S3
-		default  4 # C3 and others
-		help
-			Pin Number to be used as the MISO SPI signal.
-
-	config SCLK_GPIO
-		int "SX126X SCLK GPIO"
-		range 0 GPIO_RANGE_MAX
-		default 18 if IDF_TARGET_ESP32
-		default 36 if IDF_TARGET_ESP32S2 || IDF_TARGET_ESP32S3
-		default  5 # C3 and others
-		help
-			Pin Number to be used as the SCLK SPI signal.
-
-	config MOSI_GPIO
-		int "SX126X MOSI GPIO"
-		range 0 GPIO_RANGE_MAX
-		default 23 if IDF_TARGET_ESP32
-		default 35 if IDF_TARGET_ESP32S2 || IDF_TARGET_ESP32S3
-		default  6 # C3 and others
-		help
-			Pin Number to be used as the MOSI SPI signal.
-
-	config NSS_GPIO
-		int "SX126X NSS GPIO"
-		range 0 GPIO_RANGE_MAX
-		default 15 if IDF_TARGET_ESP32
-		default 34 if IDF_TARGET_ESP32S2 || IDF_TARGET_ESP32S3
-		default  7 # C3 and others
-		help
-			Pin Number to be used as the NSS SPI signal.
-
-	config RST_GPIO
-		int "SX126X RST GPIO"
-		range 0 GPIO_RANGE_MAX
-		default 16 if IDF_TARGET_ESP32
-		default 38 if IDF_TARGET_ESP32S2 || IDF_TARGET_ESP32S3
-		default  2 # C3 and others
-		help
-			Pin Number to be used as the RST signal.
-
-	config BUSY_GPIO
-		int "SX126X BUSY GPIO"
-		range 0 GPIO_RANGE_MAX
-		default 17 if IDF_TARGET_ESP32
-		default 39 if IDF_TARGET_ESP32S2 || IDF_TARGET_ESP32S3
-		default  3 # C3 and others
-		help
-			Pin Number to be used as the BUSY signal.
-
-	config TXEN_GPIO
-		int "SX126X TXEN GPIO"
-		range -1 GPIO_RANGE_MAX
-		default -1
-		help
-			Pin Number to be used as the TXEN signal.
-
-	config RXEN_GPIO
-		int "SX126X RXEN GPIO"
-		range -1 GPIO_RANGE_MAX
-		default -1
-		help
-			Pin Number to be used as the RXEN signal.
-
-	choice SPI_HOST
-		prompt "SPI peripheral that controls this bus"
-		default SPI2_HOST
-		help
-			Select SPI peripheral that controls this bus.
-		config SPI2_HOST
-			bool "SPI2_HOST"
-			help
-				Use SPI2_HOST. This is also called HSPI_HOST.
-		config SPI3_HOST
-			depends on IDF_TARGET_ESP32 || IDF_TARGET_ESP32S2 || IDF_TARGET_ESP32S3
-			bool "SPI3_HOST"
-			help
-				USE SPI3_HOST. This is also called VSPI_HOST
-	endchoice
-
-endmenu
--- a/dependencies.lock
+++ b/dependencies.lock
@@ -2,7 +2,7 @@ dependencies:
  idf:
    source:
      type: idf
-    version: 5.4.1
+    version: 5.5.0
  k0i05/esp_bme680:
    component_hash: 2df0cb14d4425565a8745d4a96bfaa8ff7e90bbec3e208a073821406dded23c8
    dependencies:
--- a/main/CMakeLists.txt
+++ b/main/CMakeLists.txt
@@ -13,8 +13,18 @@ idf_component_register(SRCS
 "hw/mcp23018.h"
 "hw/mpu9250.c"
 "hw/mpu9250.h"
+"hw/gps.c"
+"hw/gps.h"
+"hw/mcp3550.c"
+"hw/mcp3550.h"
+"hw/sx1262.c"
+"hw/sx1262.h"
 "components/sensors.c"
 "components/sensors.h"
+"components/servocontroller.c"
+"components/servocontroller.h"
+"components/radio.c"
+"components/radio.h"
    "main.c"

    INCLUDE_DIRS ".")
--- a/main/components/packets.h
+++ b/main/components/packets.h
@@ -0,0 +1,88 @@
+#ifndef PACKETS_STRUCTS
+#define PACKETS_STRUCTS
+#include "stdint.h"
+
+typedef struct __attribute__((packed))
+{
+    uint32_t packetIndex;
+    uint8_t packetType;
+    uint32_t missionTimer;
+} 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;
+
+    // CCS data
+    uint16_t eCO2;
+    uint16_t tvoc;
+    uint8_t currentCCS;
+    uint16_t rawCCSData;
+
+    // INA data
+    uint16_t volts;
+    uint16_t current;
+    uint16_t power;
+
+    // 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;
+
+    // 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)
+
+    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
+
+    // ADC DATA
+    int32_t NH3;
+    int32_t CO;
+    int32_t NO2;
+    int32_t UVC;
+
+    int16_t currentServoA;
+    int16_t targetServoA;
+    int16_t currentServoB;
+    int16_t targetServoB;
+
+} TelemetryPacket;
+
+typedef struct __attribute__((packed))
+{
+    uint32_t packetIndex;
+    uint8_t packetType;
+} UplinkPacket;
+
+typedef struct __attribute__((packed))
+{
+    uint8_t powerMode;
+    uint8_t controlMode;
+    uint16_t servoA;
+    uint16_t servoB;
+} SystemControlPacket;
+
+#endif
--- a/main/components/radio.c
+++ b/main/components/radio.c
@@ -0,0 +1,108 @@
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "../hw/sx1262.h"
+#include "radio.h"
+#include "esp_log.h"
+#include "string.h"
+#include "esp_timer.h"
+
+const char *msg = "Testing 123 test why is this not on air";
+
+#define TAG "LoRa"
+
+uint32_t packetIndex = 0;
+
+TelemetryPacket telemetryPacket;
+uint8_t packetReadiness = 0;
+
+void lora_comms_task(void *pvParameters)
+{
+
+    const int64_t interval_us = 100000; // 100 ms
+    int64_t start_time, end_time, elapsed;
+    LoRaInit();
+    int8_t txPowerInDbm = 20;
+
+    uint32_t frequencyInHz = 0;
+    frequencyInHz = 869525000;
+    ESP_LOGW(TAG, "Enable TCXO");
+    float tcxoVoltage = 2.2;     // use TCXO
+    bool useRegulatorLDO = true; // use DCDC + LDO
+
+    // LoRaDebugPrint(true);
+    if (LoRaBegin(frequencyInHz, txPowerInDbm, tcxoVoltage, useRegulatorLDO) != 0)
+    {
+        ESP_LOGE(TAG, "Does not recognize the module");
+        while (1)
+        {
+            vTaskDelay(1);
+        }
+    }
+
+    uint8_t spreadingFactor = 7;
+    uint8_t bandwidth = SX126X_LORA_BW_250_0;
+    uint8_t codingRate = SX126X_LORA_CR_4_8;
+    uint16_t preambleLength = 8;
+    uint8_t payloadLen = 0;
+    bool crcOn = true;
+    bool invertIrq = false;
+    LoRaConfig(spreadingFactor, bandwidth, codingRate, preambleLength, payloadLen, crcOn, invertIrq);
+    uint8_t bufIn[256];  // Maximum Payload size of SX1261/62/68 is 255
+    uint8_t bufOut[256]; // Maximum Payload size of SX1261/62/68 is 255
+
+    DownBoundPacket downboundPacket;
+    UplinkPacket uplinkPacket;
+    SystemControlPacket systemControlPacket;
+
+    while (1)
+    {
+        start_time = esp_timer_get_time(); // µs since boot
+        if (packetReadiness == 1)
+        {
+            uint8_t downPacketSize = 0;
+            memset(bufOut, 0, sizeof(bufOut));
+            downboundPacket.missionTimer = start_time;
+            downboundPacket.packetIndex = packetIndex++;
+            downboundPacket.packetType = 1;
+
+            memcpy(bufOut, &downboundPacket, sizeof(downboundPacket));
+            downPacketSize += sizeof(downboundPacket);
+            memcpy(((uint8_t *)bufOut) + downPacketSize, &telemetryPacket, sizeof(telemetryPacket));
+            downPacketSize += sizeof(telemetryPacket);
+
+            ESP_LOGI(pcTaskGetName(NULL), "%d byte packet sent...", downPacketSize);
+
+            // Wait for transmission to complete
+            if (LoRaSend(bufOut, downPacketSize, SX126x_TXMODE_SYNC) == false)
+            {
+                ESP_LOGE(pcTaskGetName(NULL), "LoRaSend fail");
+            } else {
+                packetReadiness = 0;
+            }
+        }
+
+        uint8_t rxLen = LoRaReceive(bufIn, sizeof(bufIn));
+        if (rxLen > 0)
+        {
+            ESP_LOGI(pcTaskGetName(NULL), "%d byte packet received:[%.*s]", rxLen, rxLen, bufIn);
+
+            int8_t rssi, snr;
+            GetPacketStatus(&rssi, &snr);
+            ESP_LOGI(pcTaskGetName(NULL), "rssi=%d[dBm] snr=%d[dB]", rssi, snr);
+        }
+
+        int lost = GetPacketLost();
+        if (lost != 0)
+        {
+            ESP_LOGW(pcTaskGetName(NULL), "%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));
+        }
+    }
+}
--- a/main/components/radio.h
+++ b/main/components/radio.h
@@ -0,0 +1,19 @@
+#ifndef RADIO_COMPONENT
+#define RADIO_COMPONENT
+
+#define LORA_POWER_LOW 2
+#define LORA_POWER_HIGH 20
+#define LORA_POWER_MAX_MAYBE_UNSAFE 22
+
+#define LORA_TX_POWER LORA_POWER_LOW
+
+#define TAG_RADIO "RADIO"
+
+#include "packets.h"
+
+void lora_comms_task(void *pvParameters);
+
+extern TelemetryPacket telemetryPacket;
+extern uint8_t packetReadiness;
+
+#endif
--- a/main/components/sensors.c
+++ b/main/components/sensors.c
@@ -1,4 +1,8 @@
 #include "sensors.h"
+#include "esp_timer.h"
+#include "radio.h"
+#include "../hw/gps.h"
+#include "servocontroller.h"

 #define BLINK_GPIO 2

@@ -13,64 +17,76 @@ static void configure_led(void)
 void i2c_sensors_task(void *pvParameters)
 {
    // initialize the xLastWakeTime variable with the current time.
-    TickType_t last_wake_time = xTaskGetTickCount();
-    const TickType_t I2C0_TASK_SAMPLING_RATE = 5;
+    const int64_t interval_us = 100000; // 100 ms
+    int64_t start_time, end_time, elapsed;
+
    //
    // initialize i2c device configuration

    bme680b_init();
    mpu9250_init();
-    mcp23018_init();
    ina260_init();
    ccs811_init();

+    mcp3550_spi_init();
    configure_led();

-    int16_t accel[3], gyro[3], temp;
-    float accel_f[3], gyro_f[3], temp_f;
+    int16_t accel[3], gyro[3], temp, magnet[3];
+    float accel_f[3], gyro_f[3], temp_f, magnet_f[3];
+
    uint16_t eCO2;
    uint16_t tvoc;
+    uint8_t currentCCS;
+    uint16_t rawData;
+
    uint16_t volts;
    uint16_t current;
    uint16_t power;

+    bme680_data_t bmeData;
    // task loop entry point
    for (;;)
    {
+        packetReadiness = 2;
+        start_time = esp_timer_get_time(); // µs since boot
        //
        // handle sensor

        if (BME680_DEV_HANDLE)
        {
-            bme680_data_t data;
-            esp_err_t result = bme680_get_data(BME680_DEV_HANDLE, &data);
+            esp_err_t result = bme680_get_data(BME680_DEV_HANDLE, &bmeData);
            if (result != ESP_OK)
            {
                ESP_LOGE(TAG_BME, "bme680 device read failed (%s)", esp_err_to_name(result));
            }
            else
            {
-                data.barometric_pressure = data.barometric_pressure / 100;
-                // ESP_LOGI(TAG, "dewpoint temperature:%.2f °C", data.dewpoint_temperature);
-                ESP_LOGI(TAG_BME, "air temperature:     %.2f °C", data.air_temperature);
-                ESP_LOGI(TAG_BME, "relative humidity:   %.2f %%", data.relative_humidity);
-                ESP_LOGI(TAG_BME, "barometric pressure: %.2f hPa", data.barometric_pressure);
-                // ESP_LOGI(TAG, "gas resistance:      %.2f kOhms", data.gas_resistance / 1000);
-                // ESP_LOGI(TAG, "iaq score:           %u (%s)", data.iaq_score, bme680_air_quality_to_string(data.iaq_score));
+                bmeData.barometric_pressure = bmeData.barometric_pressure / 100;
+                ESP_LOGI(TAG_BME, "dewpoint temperature:%.2f °C", bmeData.dewpoint_temperature);
+                ESP_LOGI(TAG_BME, "air temperature:     %.2f °C", bmeData.air_temperature);
+                ESP_LOGI(TAG_BME, "relative humidity:   %.2f %%", bmeData.relative_humidity);
+                ESP_LOGI(TAG_BME, "barometric pressure: %.2f hPa", bmeData.barometric_pressure);
+                ccs811_set_env_data(bmeData.air_temperature, bmeData.relative_humidity);
+                ESP_LOGI(TAG_BME, "gas resistance:      %.2f kOhms", bmeData.gas_resistance / 1000);
+                ESP_LOGI(TAG_BME, "iaq score:           %u (%s)", bmeData.iaq_score, bme680_air_quality_to_string(bmeData.iaq_score));
            }
-        } else {
+        }
+        else
+        {
            bme680b_init();
        }

-        ccs811_get_data(&eCO2, &tvoc);
+        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);

-        if (mpu9250_read_sensor_data(MPU9250_DEV_HANDLE, accel, gyro, &temp) == ESP_OK)
+        if (mpu9250_read_sensor_data(MPU9250_DEV_HANDLE, accel, gyro, &temp, magnet) == ESP_OK)
        {
-            mpu9250_convert_data(accel, gyro, temp, accel_f, gyro_f, &temp_f);
+            mpu9250_convert_data(accel, gyro, temp, magnet, accel_f, gyro_f, &temp_f, magnet_f);

            ESP_LOGI(TAG_MPU, "Accel: X=%.2f g, Y=%.2f g, Z=%.2f g", accel_f[0], accel_f[1], accel_f[2]);
            ESP_LOGI(TAG_MPU, "Gyro: X=%.2f°/s, Y=%.2f°/s, Z=%.2f°/s", gyro_f[0], gyro_f[1], gyro_f[2]);
+            ESP_LOGI(TAG_MPU, "Magnet: X=%.2fμT, Y=%.2fμT, Z=%.2fμT", magnet_f[0], magnet_f[1], magnet_f[2]);
            ESP_LOGI(TAG_MPU, "Temperature: %.2f °C", temp_f);
        }
        else
@@ -81,10 +97,86 @@ void i2c_sensors_task(void *pvParameters)
        ina260_readParams(&volts, &current, &power);
        ina260_printParams(volts, current, power);

+        float VREFVoltage = volts * 1.25 / 1000; // Mame vobec nieco na VREFE? Na scheme su len medzi sebou prepojene
+
+        mics_adc_data_t ADCData = mcp3550_read_all(5.0); // vref = 5.0V
+        log_mics_adc_values(&ADCData);
+
+        ADCData = mcp3550_read_all(VREFVoltage);
+
+        log_mics_adc_values(&ADCData);
+
        gpio_set_level(BLINK_GPIO, s_led_state);
        /* Toggle the LED state */
        s_led_state = !s_led_state;
-        vTaskDelaySecUntil(&last_wake_time, I2C0_TASK_SAMPLING_RATE);
+        end_time = esp_timer_get_time();
+        elapsed = end_time - start_time;
+
+        if (elapsed < interval_us)
+        {
+            vTaskDelay(pdMS_TO_TICKS((interval_us - elapsed) / 1000));
+        }
+        if (packetReadiness == 0) {
+            memset(&telemetryPacket, 0, sizeof(telemetryPacket));
+            telemetryPacket.accelerationX = accel[0];
+            telemetryPacket.accelerationY = accel[1];
+            telemetryPacket.accelerationZ = accel[2];
+
+            telemetryPacket.gyroX = gyro[0];
+            telemetryPacket.gyroX = gyro[1];
+            telemetryPacket.gyroX = gyro[2];
+
+            telemetryPacket.magnetX = gyro[0];
+            telemetryPacket.magnetX = gyro[1];
+            telemetryPacket.magnetX = gyro[2];
+
+            telemetryPacket.accelerometer_temperature = temp;
+
+            telemetryPacket.eCO2 = eCO2;
+            telemetryPacket.tvoc = tvoc;
+            telemetryPacket.currentCCS = currentCCS;
+            telemetryPacket.rawCCSData = rawData;
+
+            telemetryPacket.volts = volts;
+            telemetryPacket.current = current;
+            telemetryPacket.power = power;
+
+
+            telemetryPacket.temperature = bmeData.raw_data.temperature;
+            telemetryPacket.humidity = bmeData.raw_data.humidity;
+            telemetryPacket.pressure = bmeData.raw_data.pressure;
+            telemetryPacket.gas = bmeData.raw_data.gas;
+            telemetryPacket.gas_range = bmeData.raw_data.gas_range;
+            telemetryPacket.heater_stable = bmeData.raw_data.heater_stable;
+            telemetryPacket.gas_valid = bmeData.raw_data.gas_valid;
+            
+            telemetryPacket.NH3 = ADCData.raw_nh3;
+            telemetryPacket.CO = ADCData.raw_co;
+            telemetryPacket.NO2 = ADCData.raw_no2;
+            telemetryPacket.UVC = ADCData.raw_uvc;
+
+            //TODO MOVE THIS TO A BETTER PLACE FOR SYNC
+            telemetryPacket.time_seconds = gpsDataOut.time_seconds;
+            telemetryPacket.latitude_centi_degrees = gpsDataOut.latitude_centi_degrees;
+            telemetryPacket.longitude_centi_degrees = gpsDataOut.longitude_centi_degrees;
+            telemetryPacket.fix_quality = gpsDataOut.fix_quality;
+            telemetryPacket.num_satellites = gpsDataOut.num_satellites;
+            telemetryPacket.altitude_centi_meters = gpsDataOut.altitude_centi_meters;
+            telemetryPacket.date_yyddmm = gpsDataOut.date_yyddmm;
+            telemetryPacket.speed_centi_knots = gpsDataOut.speed_centi_knots;
+
+            telemetryPacket.predicted_altitude_centi_meters = predictedPosition.altitude_centi_meters;
+            telemetryPacket.predicted_latitude_centi_degrees = predictedPosition.latitude_centi_degrees;
+            telemetryPacket.predicted_longitude_centi_degrees = predictedPosition.longitude_centi_degrees;
+
+            telemetryPacket.targetServoA = servoState.targetServoA;
+            telemetryPacket.targetServoB = servoState.targetServoB;
+            telemetryPacket.currentServoA = servoState.currentServoA;
+            telemetryPacket.currentServoB = servoState.currentServoB;
+
+
+        }
+        packetReadiness = 1;
    }
    //
    // free resources
--- a/main/components/sensors.h
+++ b/main/components/sensors.h
@@ -7,6 +7,8 @@
 #include <bme680.h>
 #include "esp_mac.h"

+#include "../hw/mcp3550.h"
+
 #include "../hw/bme680b.h"
 #include "../hw/ccs811.h"
 #include "../hw/i2cbrn.h"
--- a/main/components/servocontroller.c
+++ b/main/components/servocontroller.c
@@ -0,0 +1,10 @@
+#include "servocontroller.h"
+#include "string.h"
+
+ServoState servoState;
+
+//TODO add a task and implement
+
+void servoControllerInit() {
+    memset(&servoState, 0, sizeof(servoState));
+}
--- a/main/components/servocontroller.h
+++ b/main/components/servocontroller.h
@@ -0,0 +1,19 @@
+#ifndef SERVO_CONTROLLER_COMPONENT
+#define SERVO_CONTROLLER_COMPONENT
+
+#include "stdint.h"
+
+typedef struct
+{
+    int16_t currentServoA;
+    int16_t targetServoA;
+    int16_t currentServoB;
+    int16_t targetServoB;
+} ServoState;
+
+
+extern ServoState servoState;
+
+void servoControllerInit();
+
+#endif
--- a/main/hw/buscfg.h
+++ b/main/hw/buscfg.h
@@ -0,0 +1,70 @@
+#ifndef BUSCFG_FILE
+#define BUSCFG_FILE
+
+#include "soc/gpio_num.h"
+
+#define ESP_USB_DP GPIO_NUM_20
+#define ESP_USB_DM GPIO_NUM_19
+#define ESP_RXD0 GPIO_NUM_44
+#define ESP_TXD0 GPIO_NUM_43
+
+#define ESP_CONNECTOR_P1 MCP3550_MISO_GPIO
+#define ESP_CONNECTOR_P2 MCP3550_MOSI_GPIO
+#define ESP_CONNECTOR_P3 MCP3550_SCK_GPIO
+#define ESP_CONNECTOR_P4 GPIO_NUM_39
+#define ESP_CONNECTOR_P5 GPIO_NUM_38
+#define ESP_CONNECTOR_P6 HSPI_UNKNOWN_CS
+#define ESP_CONNECTOR_P9 HSPI_MISO_GPIO
+#define ESP_CONNECTOR_P10 MCP3550_MOSI_GPIO
+#define ESP_CONNECTOR_P11 MCP3550_SCK_GPIO
+#define ESP_CONNECTOR_P12 HSPI_SD_CS
+#define ESP_CONNECTOR_P13 HSPI_LORA_CS
+#define ESP_CONNECTOR_P17 HWI2C_SDA
+#define ESP_CONNECTOR_P18 HWI2C_SCL
+#define ESP_CONNECTOR_P19 I2C2_SDA
+#define ESP_CONNECTOR_P20 I2C2_SCL
+#define ESP_CONNECTOR_P25 LORA_DIO1
+#define ESP_CONNECTOR_P26 LORA_BUSY
+#define ESP_CONNECTOR_P27 LORA_RXEN_MANUAL
+#define ESP_CONNECTOR_P28 GPIO_NUM_6
+#define ESP_CONNECTOR_P29 GPIO_NUM_5
+#define ESP_CONNECTOR_P30 GPIO_NUM_4
+#define ESP_CONNECTOR_P47 GPS_RXD
+#define ESP_CONNECTOR_P48 GPS_TXD
+#define ESP_CONNECTOR_P51 ESP_RXD0
+#define ESP_CONNECTOR_P52 ESP_TXD0
+#define ESP_CONNECTOR_P57 ESP_USB_DP
+#define ESP_CONNECTOR_P58 ESP_USB_DM
+
+
+#define HSPI_UNKNOWN_CS GPIO_NUM_42
+#define LORA_RXEN_MANUAL GPIO_NUM_7
+
+#define HSPI_MISO_GPIO GPIO_NUM_13
+#define HSPI_MOSI_GPIO GPIO_NUM_11
+//#define HSPI_MISO_GPIO GPIO_NUM_11
+//#define HSPI_MOSI_GPIO GPIO_NUM_13
+
+#define HSPI_SCK_GPIO GPIO_NUM_12
+#define HSPI_LORA_CS GPIO_NUM_48
+#define LORA_DIO1 GPIO_NUM_16
+#define LORA_BUSY GPIO_NUM_15
+#define HSPI_SD_CS GPIO_NUM_10
+
+#define MCP3550_MOSI_GPIO GPIO_NUM_35
+#define MCP3550_SCK_GPIO GPIO_NUM_36
+#define MCP3550_MISO_GPIO GPIO_NUM_37
+
+#define GPS_TXD  GPIO_NUM_17
+#define GPS_RXD  GPIO_NUM_18
+#define GPS_RTS  UART_PIN_NO_CHANGE
+#define GPS_CTS  UART_PIN_NO_CHANGE
+
+#define GPS_UART_NUM UART_NUM_2
+
+#define HWI2C_SDA GPIO_NUM_8
+#define HWI2C_SCL GPIO_NUM_9
+#define I2C2_SDA GPIO_NUM_40
+#define I2C2_SCL GPIO_NUM_41
+
+#endif
--- a/main/hw/ccs811.c
+++ b/main/hw/ccs811.c
@@ -10,6 +10,22 @@ i2c_device_config_t CCS811_DEV_CFG = {

 i2c_master_dev_handle_t CCS811_DEV_HANDLE;

+void ccs811_getStatus()
+{
+    uint8_t errorID;
+    uint8_t status;
+    uint8_t hardwareVersion;
+    uint16_t version;
+    uint16_t bootVersion;
+
+    i2c_read_register_8(CCS811_DEV_HANDLE, CCS811_REG_STATUS, &status);
+    i2c_read_register_16(CCS811_DEV_HANDLE, CCS811_REG_FW_APP_VERSION, &version);
+    i2c_read_register_16(CCS811_DEV_HANDLE, CCS811_REG_FW_BOOT_VERSION, &bootVersion);
+    i2c_read_register_8(CCS811_DEV_HANDLE, CCS811_REG_HW_VERSION, &hardwareVersion);
+    i2c_read_register_8(CCS811_DEV_HANDLE, CCS811_REG_ERROR_ID, &errorID);
+    ESP_LOGW(TAG_CCS, "CCS811 status: %d, version: %d, boot version: %d, hardware version: %d, error ID: %d", status, version, bootVersion, hardwareVersion, errorID);
+}
+
 void ccs811_init()
 {
    ESP_ERROR_CHECK(i2c_master_bus_add_device(i2c0_bus_hdl, &CCS811_DEV_CFG, &CCS811_DEV_HANDLE));
@@ -17,30 +33,47 @@ void ccs811_init()
    mcp23018_set_pin(MCP23018_DEV_HANDLE, MCP_CCS811_POWER, 1);
    vTaskDelay(10 / portTICK_PERIOD_MS);
    uint8_t reset_seq[4] = {0x11, 0xE5, 0x72, 0x8A};
-    i2c_write_register(CCS811_DEV_HANDLE, 0xFF, reset_seq, sizeof(reset_seq)); //Reset
+    i2c_write_register(CCS811_DEV_HANDLE, CCS811_REG_SW_RESET, reset_seq, sizeof(reset_seq)); // Reset
    vTaskDelay(10 / portTICK_PERIOD_MS);
-    uint8_t status;
-    uint16_t version;
-    i2c_read_register_8(CCS811_DEV_HANDLE, 0x00, &status);
-    i2c_read_register_16(CCS811_DEV_HANDLE, 0x24, &version);
-    ESP_LOGW(TAG_CCS, "CCS811 status: %d, version: %d", status, version);
-    i2c_write_register(CCS811_DEV_HANDLE, 0xF4, NULL, 0); //start
-    vTaskDelay(10 / portTICK_PERIOD_MS);
-    i2c_write_register_8(CCS811_DEV_HANDLE, 0x10, 0x0001); // MODE 1 interrupts vypnuté
-    i2c_read_register_8(CCS811_DEV_HANDLE, 0x00, &status);
-    i2c_read_register_16(CCS811_DEV_HANDLE, 0x24, &version);
-    ESP_LOGW(TAG_CCS, "CCS811 status: %d, version: %d", status, version);
-}

-esp_err_t ccs811_get_data(uint16_t * eCO2, uint16_t * tvoc)
+    ccs811_getStatus();
+    i2c_write_register(CCS811_DEV_HANDLE, CCS811_REG_APP_START, NULL, 0); // start
+    vTaskDelay(10 / portTICK_PERIOD_MS);
+    i2c_write_register_8(CCS811_DEV_HANDLE, CCS811_REG_MEAS_MODE, 0x40); // MODE 1 interrupts vypnuté
+    ccs811_getStatus();
+}
+esp_err_t ccs811_get_data(uint16_t *eCO2, uint16_t *tvoc, uint8_t *current, uint16_t *rawData)
 {
-    uint8_t ccsResult[8];
-    esp_err_t ret = i2c_read_register(CCS811_DEV_HANDLE, 0x05, ccsResult, 8);
+    uint8_t algResultData[8];
+    esp_err_t ret = i2c_read_register(CCS811_DEV_HANDLE, CCS811_REG_ALG_RESULT_DATA, algResultData, 8);
+
    if (ret == ESP_OK)
    {
-        *eCO2 = (((uint16_t)(ccsResult[0] & 0xFF)) << 8) | (ccsResult[1] & 0xFF);
-        *tvoc = (((uint16_t)(ccsResult[2] & 0xFF)) << 8) | (ccsResult[3] & 0xFF);
-        ESP_LOGI(TAG_CCS, "CCS Status: %d, Error %d", ccsResult[4], ccsResult[5]);
+        *eCO2 = ((uint16_t)algResultData[0] << 8) | algResultData[1];
+        *tvoc = ((uint16_t)algResultData[2] << 8) | algResultData[3];
+        *current = algResultData[6] >> 2;
+        *rawData = ((uint16_t)(algResultData[6] & 0x03) << 8) | algResultData[7];
+
+        ESP_LOGI(TAG_CCS, "CCS Status: %d, Error: %d", algResultData[4], algResultData[5]);
+        return ESP_OK;
    }
+
    return ret;
-}
+}
+
+esp_err_t ccs811_set_env_data(float temperature, float humidity)
+{
+    uint8_t envData[4];
+
+    // Convert humidity: %RH × 512 (rounding)
+    uint16_t hum_conv = (uint16_t)(humidity * 512.0f + 0.5f);
+    envData[0] = (hum_conv >> 8) & 0xFF;
+    envData[1] = hum_conv & 0xFF;
+
+    // Convert temperature: (°C + 25) × 512
+    uint16_t temp_conv = (uint16_t)((temperature + 25.0f) * 512.0f + 0.5f);
+    envData[2] = (temp_conv >> 8) & 0xFF;
+    envData[3] = temp_conv & 0xFF;
+
+    return i2c_write_register(CCS811_DEV_HANDLE, CCS811_REG_ENV_DATA, envData, 4);
+}
--- a/main/hw/ccs811.h
+++ b/main/hw/ccs811.h
@@ -5,11 +5,39 @@
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
 #define TAG_CCS "CCS811"
+
+// CCS811 Registers
+#define CCS811_REG_STATUS 0x00
+#define CCS811_REG_MEAS_MODE 0x01
+#define CCS811_REG_ALG_RESULT_DATA 0x02
+#define CCS811_REG_RAW_DATA 0x03
+#define CCS811_REG_ENV_DATA 0x05
+#define CCS811_REG_THRESHOLDS 0x10
+#define CCS811_REG_BASELINE 0x11
+#define CCS811_REG_HW_ID 0x20
+#define CCS811_REG_HW_VERSION 0x21
+#define CCS811_REG_FW_BOOT_VERSION 0x23
+#define CCS811_REG_FW_APP_VERSION 0x24
+#define CCS811_REG_INTERNAL_STATE 0xA0
+#define CCS811_REG_ERROR_ID 0xE0
+#define CCS811_REG_APP_ERASE 0xF1
+#define CCS811_REG_APP_DATA 0xF2
+#define CCS811_REG_APP_VERIFY 0xF3
+#define CCS811_REG_APP_START 0xF4
+#define CCS811_REG_SW_RESET 0xFF
+
+// Measurement Modes
+#define CCS811_MODE_IDLE 0x00
+#define CCS811_MODE_CONSTANT_1S 0x10
+#define CCS811_MODE_CONSTANT_10S 0x20
+#define CCS811_MODE_CONSTANT_60S 0x30
+#define CCS811_MODE_WAKEUP 0x40
+
 extern i2c_device_config_t CCS811_DEV_CFG;

 extern i2c_master_dev_handle_t CCS811_DEV_HANDLE;

 void ccs811_init();
-esp_err_t ccs811_get_data(uint16_t * eCO2, uint16_t * tvoc);
-
+esp_err_t ccs811_get_data(uint16_t *eCO2, uint16_t *tvoc, uint8_t *current, uint16_t *rawData);
+esp_err_t ccs811_set_env_data(float temperature, float humidity);
 #endif
--- a/main/hw/gps.c
+++ b/main/hw/gps.c
@@ -0,0 +1,244 @@
+#include "driver/uart.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "esp_log.h"
+#include "string.h"
+#include "gps.h"
+
+#define TAG "GPS"
+#define BUF_SIZE 1024
+#define GPS_LINE_MAX_LEN 128
+
+gps_binary_struct_t gpsDataOut;
+static QueueHandle_t uart_queue;
+
+predicted_binary_position_struct_t predictedPosition;
+
+// Initializes UART for GPS
+void gps_init()
+{
+    memset(&gpsDataOut, 0, sizeof(gpsDataOut));
+    uart_config_t uart_config = {
+        .baud_rate = 9600,
+        .data_bits = UART_DATA_8_BITS,
+        .parity = UART_PARITY_DISABLE,
+        .stop_bits = UART_STOP_BITS_1,
+        .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));
+
+    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));
+}
+
+
+void gps_task(void *arg)
+{
+    uint8_t byte;
+    char line[GPS_LINE_MAX_LEN];
+    size_t line_pos = 0;
+
+    gps_init();
+
+    while (1) {
+        int len = uart_read_bytes(GPS_UART_NUM, &byte, 1, pdMS_TO_TICKS(1000));
+        if (len > 0) {
+            if (byte == '\n') {
+                line[line_pos] = '\0';
+
+                if (line[0] == '$') {
+                    ESP_LOGV(TAG, "Received NMEA: %s", line);
+
+                    if (strstr(line, "$GPGGA") == line) {
+                        parse_gpgga(line);
+                        parse_gpgga_to_struct(line, &gpsDataOut);
+                    } else if (strstr(line, "$GPRMC") == line) {
+                        parse_gprmc(line);
+                        parse_gprmc_to_struct(line, &gpsDataOut);
+                    }
+
+                }
+
+                line_pos = 0;
+            } else if (byte != '\r' && line_pos < (GPS_LINE_MAX_LEN - 1)) {
+                line[line_pos++] = byte;
+            } else if (line_pos >= GPS_LINE_MAX_LEN - 1) {
+                ESP_LOGW(TAG, "Line too long, discarded");
+                line_pos = 0;
+            }
+        }
+    }
+}
+
+void parse_gpgga(const char *nmea)
+{
+    char *fields[15];
+    char temp[GPS_LINE_MAX_LEN];
+    strncpy(temp, nmea, GPS_LINE_MAX_LEN);
+    temp[GPS_LINE_MAX_LEN - 1] = '\0';
+
+    int i = 0;
+    char *token = strtok(temp, ",");
+    while (token != NULL && i < 15) {
+        fields[i++] = token;
+        token = strtok(NULL, ",");
+    }
+
+    if (i < 10) return; // Not enough fields
+
+    // Time (hhmmss.sss)
+    const char *utc_time = fields[1];
+
+    // Latitude (ddmm.mmmm)
+    const char *lat = fields[2];
+    const char *lat_dir = fields[3];
+
+    // Longitude (dddmm.mmmm)
+    const char *lon = fields[4];
+    const char *lon_dir = fields[5];
+
+    // Fix quality (0 = invalid, 1 = GPS fix, 2 = DGPS fix)
+    const char *fix_quality = fields[6];
+
+    // Number of satellites
+    const char *num_satellites = fields[7];
+
+    // Altitude
+    const char *altitude = fields[9];
+
+    ESP_LOGI(TAG, "[GPGGA] Time: %s, Lat: %s %s, Lon: %s %s, Fix: %s, Sats: %s, Alt: %sm",
+             utc_time, lat, lat_dir, lon, lon_dir, fix_quality, num_satellites, altitude);
+}
+
+void parse_gprmc(const char *nmea)
+{
+    char *fields[13];
+    char temp[GPS_LINE_MAX_LEN];
+    strncpy(temp, nmea, GPS_LINE_MAX_LEN);
+    temp[GPS_LINE_MAX_LEN - 1] = '\0';
+
+    int i = 0;
+    char *token = strtok(temp, ",");
+    while (token != NULL && i < 13) {
+        fields[i++] = token;
+        token = strtok(NULL, ",");
+    }
+
+    if (i < 12) return;
+
+    const char *utc_time = fields[1];
+    const char *status = fields[2]; // A = active, V = void
+    const char *lat = fields[3];
+    const char *lat_dir = fields[4];
+    const char *lon = fields[5];
+    const char *lon_dir = fields[6];
+    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",
+             date, utc_time, lat, lat_dir, lon, lon_dir, speed_knots, status);
+}
+
+
+// Function to convert time string (hhmmss.sss) to seconds since start of day
+static uint32_t time_to_seconds_struct(const char *time_str) {
+    if (time_str == NULL || strlen(time_str) < 6) return 0;
+    uint32_t hours = (time_str[0] - '0') * 10 + (time_str[1] - '0');
+    uint32_t minutes = (time_str[2] - '0') * 10 + (time_str[3] - '0');
+    uint32_t seconds = (time_str[4] - '0') * 10 + (time_str[5] - '0');
+    return hours * 3600 + minutes * 60 + seconds;
+}
+
+// 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;
+    }
+    return (int32_t)(decimal_degrees * 10000);
+}
+
+// Function to convert altitude string to centi-meters
+static int16_t altitude_to_centi_meters_struct(const char *alt_str) {
+    if (alt_str == NULL) return 0;
+    return (int16_t)(atof(alt_str) * 100);
+}
+
+// Function to convert speed from knots to centi-knots
+static uint16_t speed_to_centi_knots_struct(const char *speed_str) {
+    if (speed_str == NULL) return 0;
+    return (uint16_t)(atof(speed_str) * 100);
+}
+
+// Function to convert date string (ddmmyy) to yymmdd integer
+static uint16_t date_to_yyddmm_struct(const char *date_str) {
+    if (date_str == NULL || strlen(date_str) != 6) return 0;
+    uint16_t day = (date_str[0] - '0') * 10 + (date_str[1] - '0');
+    uint16_t month = (date_str[2] - '0') * 10 + (date_str[3] - '0');
+    uint16_t year_short = (date_str[4] - '0') * 10 + (date_str[5] - '0');
+    // Assuming year is in the 21st century for simplicity
+    return (2000 + year_short) * 10000 + month * 100 + day;
+}
+
+// Function to parse GPGGA NMEA string and return the struct
+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);
+    temp[GPS_LINE_MAX_LEN - 1] = '\0';
+
+    int i = 0;
+    char *token = strtok(temp, ",");
+    while (token != NULL && i < 15) {
+        fields[i++] = token;
+        token = strtok(NULL, ",");
+    }
+
+    if (i >= 10) {
+        data->time_seconds = time_to_seconds_struct(fields[1]);
+        data->latitude_centi_degrees = dms_to_centi_degrees_struct(fields[2], fields[3]);
+        data->longitude_centi_degrees = dms_to_centi_degrees_struct(fields[4], fields[5]);
+        data->fix_quality = atoi(fields[6]);
+        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");
+    }
+}
+
+// Function to parse GPRMC NMEA string and return the struct
+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);
+    temp[GPS_LINE_MAX_LEN - 1] = '\0';
+
+    int i = 0;
+    char *token = strtok(temp, ",");
+    while (token != NULL && i < 13) {
+        fields[i++] = token;
+        token = strtok(NULL, ",");
+    }
+
+    if (i >= 12) {
+        data->time_seconds = time_to_seconds_struct(fields[1]);
+        data->latitude_centi_degrees = dms_to_centi_degrees_struct(fields[3], fields[4]);
+        data->longitude_centi_degrees = dms_to_centi_degrees_struct(fields[5], fields[6]);
+        data->date_yyddmm = date_to_yyddmm_struct(fields[9]);
+        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");
+    }
+}
--- a/main/hw/gps.h
+++ b/main/hw/gps.h
@@ -0,0 +1,39 @@
+#ifndef GPS_COMPONENT
+#define GPS_COMPONENT
+
+#include "driver/uart.h"
+#include "soc/uart_struct.h"
+#include "buscfg.h"
+
+// Structure to hold parsed GPS data in a compact binary format
+typedef struct {
+    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
+    uint8_t fix_quality;
+    uint8_t num_satellites;
+    int16_t altitude_centi_meters;    // Altitude * 100
+    uint16_t date_yyddmm;       // YYDDMM (from GPRMC)
+    uint16_t speed_centi_knots;  // Speed * 100 (from GPRMC)
+} gps_binary_struct_t;
+
+typedef struct {
+    int32_t latitude_centi_degrees;  // Latitude * 10,000
+    int32_t longitude_centi_degrees; // Longitude * 10,000
+    int16_t altitude_centi_meters; // Altitude * 100
+} predicted_binary_position_struct_t;
+
+extern gps_binary_struct_t gpsDataOut;
+
+extern predicted_binary_position_struct_t predictedPosition;
+
+void gps_task(void *arg);
+void parse_gpgga(const char *nmea);
+void parse_gprmc(const char *nmea);
+
+void parse_gprmc_to_struct(const char *nmea, gps_binary_struct_t *data);
+void parse_gpgga_to_struct(const char *nmea, gps_binary_struct_t *data);
+
+
+
+#endif
--- a/main/hw/i2cbrn.c
+++ b/main/hw/i2cbrn.c
@@ -3,50 +3,84 @@
 i2c_master_bus_config_t i2c0_bus_cfg = {
    .clk_source = I2C_CLK_SRC_DEFAULT,
    .i2c_port = I2C_NUM_0,
-    .scl_io_num = GPIO_NUM_9,
-    .sda_io_num = GPIO_NUM_8,
+    .scl_io_num = HWI2C_SCL,
+    .sda_io_num = HWI2C_SDA,
    .glitch_ignore_cnt = 7,
    .flags.enable_internal_pullup = true,
 };
 i2c_master_bus_handle_t i2c0_bus_hdl;

-esp_err_t i2c_master_bus_detect_devices(i2c_master_bus_handle_t handle)
-{
-    const uint16_t probe_timeout_ms = 50; // timeout in milliseconds
-    uint8_t address;
+// esp_err_t i2c_master_bus_detect_devices(i2c_master_bus_handle_t handle)
+// {
+//     const uint16_t probe_timeout_ms = 20; // timeout in milliseconds
+//     uint8_t address;

-    printf("     0  1  2  3  4  5  6  7  8  9  a  b  c  d  e  f\r\n");
+//     printf("     0  1  2  3  4  5  6  7  8  9  a  b  c  d  e  f\r\n");

-    for (int i = 0; i < 128; i += 16)
-    {
-        printf("%02x: ", i);
+//     for (int i = 0; i < 128; i += 16)
+//     {
+//         printf("%02x: ", i);

-        for (int j = 0; j < 16; j++)
-        {
-            fflush(stdout);
+//         for (int j = 0; j < 16; j++)
+//         {
+//             fflush(stdout);

-            address = i + j;
+//             address = i + j;

-            esp_err_t ret = i2c_master_probe(handle, address, probe_timeout_ms);
+//             esp_err_t ret = i2c_master_probe(handle, address, probe_timeout_ms);

-            if (ret == ESP_OK)
-            {
-                printf("%02x ", address);
-            }
-            else if (ret == ESP_ERR_TIMEOUT)
-            {
-                printf("UU ");
-            }
-            else
-            {
-                printf("-- ");
-            }
-        }
-        printf("\r\n");
-    }
+//             if (ret == ESP_OK)
+//             {
+//                 printf("%02x ", address);
+//             }
+//             else if (ret == ESP_ERR_TIMEOUT)
+//             {
+//                 printf("UU ");
+//             }
+//             else
+//             {
+//                 printf("-- ");
+//             }
+//         }
+//         printf("\r\n");
+//     }

-    return ESP_OK;
-}
+//     return ESP_OK;
+// }
+
+
+/**
+ * i2c master initialization
+ */
+
+ esp_err_t i2c_master_bus_detect_devices(i2c_master_bus_handle_t handle)
+ {
+     uint8_t address;
+     bool found_any = false;
+ 
+     printf("Scanning I2C bus...\n");
+ 
+     for (int i = 0; i < 128; i++)
+     {
+         fflush(stdout);
+         address = i;
+ 
+         esp_err_t ret = i2c_master_probe(handle, address, 20);
+ 
+         if (ret == ESP_OK)
+         {
+             printf("Found device at 0x%02X\n", address);
+             found_any = true;
+         }
+     }
+ 
+     if (!found_any)
+     {
+         printf("No I2C devices found.\n");
+     }
+ 
+     return ESP_OK;
+ }

 /**
 * @brief Writes data to a specific register of an I2C device.
--- a/main/hw/i2cbrn.h
+++ b/main/hw/i2cbrn.h
@@ -3,6 +3,7 @@
 #define I2C_TIMEOUT_MS_VALUE 20
 #include <string.h>
 #include "esp_log.h"
+#include "buscfg.h"

 #define TAG_I2C "cani2c"

--- a/main/hw/ina260.c
+++ b/main/hw/ina260.c
@@ -16,7 +16,8 @@ void ina260_reset() {
 void ina260_init()
 {
    ESP_ERROR_CHECK(i2c_master_bus_add_device(i2c0_bus_hdl, &INA260_DEV_CFG, &INA260_DEV_HANDLE));
-    i2c_write_register_16(INA260_DEV_HANDLE, INA260_CONFIG_REGISTER, 0x0FFF); // set ina max averaging and max time
+    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
 }


--- a/main/hw/ina260.h
+++ b/main/hw/ina260.h
@@ -16,60 +16,57 @@ extern i2c_master_dev_handle_t INA260_DEV_HANDLE;
 #define INA260_DIE_ID_REGISTER (0xFF)

 // Bit masks
-#define CONFIG_RST_BIT           (1 << 15)
-#define CONFIG_AVG_MASK          (0x7 << 9)
-#define CONFIG_VBUSCT_MASK       (0x7 << 6)
-#define CONFIG_ISHCT_MASK        (0x7 << 3)
-#define CONFIG_MODE_MASK         (0x7 << 0)
+#define CONFIG_RST_BIT (1 << 15)
+#define CONFIG_AVG_MASK (0x7 << 9)
+#define CONFIG_VBUSCT_MASK (0x7 << 6)
+#define CONFIG_ISHCT_MASK (0x7 << 3)
+#define CONFIG_MODE_MASK (0x7 << 0)

 // Read-only bits
-#define CONFIG_RESERVED_BITS     (0x7 << 12)  // Bits 14–12 = 110b
+#define CONFIG_RESERVED_BITS (0x7 << 12) // Bits 14–12 = 110b

 // Averaging modes (AVG)
-#define CONFIG_AVG_1             (0x0 << 9)
-#define CONFIG_AVG_4             (0x1 << 9)
-#define CONFIG_AVG_16            (0x2 << 9)
-#define CONFIG_AVG_64            (0x3 << 9)
-#define CONFIG_AVG_128           (0x4 << 9)
-#define CONFIG_AVG_256           (0x5 << 9)
-#define CONFIG_AVG_512           (0x6 << 9)
-#define CONFIG_AVG_1024          (0x7 << 9)
+#define CONFIG_AVG_1 (0x0 << 9)
+#define CONFIG_AVG_4 (0x1 << 9)
+#define CONFIG_AVG_16 (0x2 << 9)
+#define CONFIG_AVG_64 (0x3 << 9)
+#define CONFIG_AVG_128 (0x4 << 9)
+#define CONFIG_AVG_256 (0x5 << 9)
+#define CONFIG_AVG_512 (0x6 << 9)
+#define CONFIG_AVG_1024 (0x7 << 9)

 // Bus voltage conversion time (VBUSCT)
-#define CONFIG_VBUSCT_140US      (0x0 << 6)
-#define CONFIG_VBUSCT_204US      (0x1 << 6)
-#define CONFIG_VBUSCT_332US      (0x2 << 6)
-#define CONFIG_VBUSCT_588US      (0x3 << 6)
-#define CONFIG_VBUSCT_1_1MS      (0x4 << 6)
-#define CONFIG_VBUSCT_2_116MS    (0x5 << 6)
-#define CONFIG_VBUSCT_4_156MS    (0x6 << 6)
-#define CONFIG_VBUSCT_8_244MS    (0x7 << 6)
+#define CONFIG_VBUSCT_140US (0x0 << 6)
+#define CONFIG_VBUSCT_204US (0x1 << 6)
+#define CONFIG_VBUSCT_332US (0x2 << 6)
+#define CONFIG_VBUSCT_588US (0x3 << 6)
+#define CONFIG_VBUSCT_1_1MS (0x4 << 6)
+#define CONFIG_VBUSCT_2_116MS (0x5 << 6)
+#define CONFIG_VBUSCT_4_156MS (0x6 << 6)
+#define CONFIG_VBUSCT_8_244MS (0x7 << 6)

 // Shunt current conversion time (ISHCT)
-#define CONFIG_ISHCT_140US       (0x0 << 3)
-#define CONFIG_ISHCT_204US       (0x1 << 3)
-#define CONFIG_ISHCT_332US       (0x2 << 3)
-#define CONFIG_ISHCT_588US       (0x3 << 3)
-#define CONFIG_ISHCT_1_1MS       (0x4 << 3)
-#define CONFIG_ISHCT_2_116MS     (0x5 << 3)
-#define CONFIG_ISHCT_4_156MS     (0x6 << 3)
-#define CONFIG_ISHCT_8_244MS     (0x7 << 3)
+#define CONFIG_ISHCT_140US (0x0 << 3)
+#define CONFIG_ISHCT_204US (0x1 << 3)
+#define CONFIG_ISHCT_332US (0x2 << 3)
+#define CONFIG_ISHCT_588US (0x3 << 3)
+#define CONFIG_ISHCT_1_1MS (0x4 << 3)
+#define CONFIG_ISHCT_2_116MS (0x5 << 3)
+#define CONFIG_ISHCT_4_156MS (0x6 << 3)
+#define CONFIG_ISHCT_8_244MS (0x7 << 3)

 // Operating mode (MODE)
-#define CONFIG_MODE_POWERDOWN     (0x0 << 0)
-#define CONFIG_MODE_CURRENT_TRIGGER     (0x1 << 0)
-#define CONFIG_MODE_VOLTAGE_TRIGGER     (0x2 << 0)
-#define CONFIG_MODE_CURRENT_VOLTAGE_TRIGGER     (0x3 << 0)
-#define CONFIG_MODE_POWERDOWN2     (0x4 << 0)
-#define CONFIG_MODE_POWERDOWN     (0x5 << 0)
-#define CONFIG_MODE_POWERDOWN     (0x6 << 0)
-#define CONFIG_MODE_POWERDOWN     (0x7 << 0)
-
-
+#define CONFIG_MODE_POWERDOWN 0x00
+#define CONFIG_MODE_CURRENT_TRIGGER 0x01
+#define CONFIG_MODE_VOLTAGE_TRIGGER 0x02
+#define CONFIG_MODE_CURRENT_VOLTAGE_TRIGGER 0x03
+#define CONFIG_MODE_POWERDOWN2 0x04
+#define CONFIG_MODE_CURRENT_CONTINOUS 0x05
+#define CONFIG_MODE_VOLTAGE_CONTINOUS 0x06
+#define CONFIG_MODE_CURRENT_VOLTAGE_CONTINOUS 0x07

 void ina260_init();
 void ina260_readParams(uint16_t *volt, uint16_t *cur, uint16_t *pow);
 void ina260_printParams(uint16_t volt, uint16_t cur, uint16_t pow);

-
 #endif
--- a/main/hw/mcp23018.c
+++ b/main/hw/mcp23018.c
@@ -1,4 +1,6 @@
 #include "mcp23018.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
 // Local buffer for tracking GPIO state

 i2c_device_config_t MCP23018_DEV_CFG = {
@@ -36,6 +38,7 @@ void mcp23018_set_pin(i2c_master_dev_handle_t dev_handle, uint8_t pin, uint8_t v
        // Write updated buffer to MCP23018
        i2c_write_register_8(dev_handle, MCP23018_GPIOB, gpiob_state);
    }
+    vTaskDelay(1 / portTICK_PERIOD_MS);
 }

 void mcp23018_init()
--- a/main/hw/mcp3550.c
+++ b/main/hw/mcp3550.c
@@ -0,0 +1,118 @@
+#include "mcp3550.h"
+#include "mcp23018.h"
+#include "driver/gpio.h"
+#include <esp_timer.h>
+
+
+#define TAG_MICS "MICS_ADC"
+#define MCP3550_SPS 3.75f
+#define MCP3550_CONVERSION_MS ((int)(1000.0f / MCP3550_SPS)) // ~267ms
+#define MCP3550_TIMEOUT_MS 400
+
+#define ADC_COUNT 4
+const uint8_t adc_cs_pins[ADC_COUNT] = {
+    MCP_CS_ADC_NH3, MCP_CS_ADC_CO, MCP_CS_ADC_NO2, MCP_CS_ADC_UVC
+};
+
+
+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,
+    };
+
+    ESP_ERROR_CHECK(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
+}
+
+
+int32_t mcp3550_read(uint8_t cs_pin)
+{
+    uint8_t rx_buf[4] = {0}; // 25 bits fits in 4 bytes
+
+    int64_t start = esp_timer_get_time(); // in microseconds
+    while (true) {
+        mcp23018_set_pin(MCP23018_DEV_HANDLE, cs_pin, 0); // CS LOW
+
+        spi_transaction_t trans = {
+            .length = 25,
+            .rx_buffer = rx_buf,
+        };
+
+        esp_err_t err = spi_device_transmit(mcp3550_handle, &trans);
+
+        mcp23018_set_pin(MCP23018_DEV_HANDLE, cs_pin, 1); // CS HIGH
+
+        if (err != ESP_OK) {
+            ESP_LOGE(TAG_MICS, "SPI transmit failed on CS pin %u", cs_pin);
+            return INT32_MIN;
+        }
+
+        bool dr = (rx_buf[0] & 0x80) != 0;
+        if (!dr) break;
+
+        if ((esp_timer_get_time() - start) > (MCP3550_TIMEOUT_MS * 1000)) {
+            ESP_LOGW(TAG_MICS, "Timeout waiting for DR=0 on CS pin %u", cs_pin);
+            return INT32_MIN;
+        }
+
+        vTaskDelay(pdMS_TO_TICKS(10)); // Wait before retrying
+    }
+
+    // Combine 22-bit result (drop DR + status bits)
+    uint32_t raw = ((rx_buf[0] & 0x3F) << 16) | (rx_buf[1] << 8) | rx_buf[2];
+
+    // Sign-extend 22-bit value
+    int32_t value = raw;
+    if (value & (1 << 21)) value |= 0xFFC00000;
+
+    return value;
+}
+
+
+float mcp3550_to_voltage(int32_t value, float vref)
+{
+    return ((float)value / (1 << 21)) * vref;
+}
+
+mics_adc_data_t mcp3550_read_all(float vref)
+{
+    mics_adc_data_t data;
+    int32_t raw[ADC_COUNT];
+    float volts[ADC_COUNT];
+
+    for (int i = 0; i < ADC_COUNT; i++) {
+        raw[i] = mcp3550_read(adc_cs_pins[i]);
+        vTaskDelay(pdMS_TO_TICKS(10)); // Wait before retrying
+        volts[i] = mcp3550_to_voltage(raw[i], vref);
+    }
+
+    data.raw_nh3 = raw[0]; data.volts_nh3 = volts[0];
+    data.raw_co  = raw[1]; data.volts_co  = volts[1];
+    data.raw_no2 = raw[2]; data.volts_no2 = volts[2];
+    data.raw_uvc = raw[3]; data.volts_uvc = volts[3];
+
+    return data;
+}
+
+void log_mics_adc_values(mics_adc_data_t *data)
+{
+    ESP_LOGI(TAG_MICS,
+             "ADC Readings:\n"
+             "  NH3  -> Raw: %8d, Voltage: %7.6f V\n"
+             "  CO   -> Raw: %8d, Voltage: %7.6f V\n"
+             "  NO2  -> Raw: %8d, Voltage: %7.6f V\n"
+             "  UVC  -> Raw: %8d, Voltage: %7.6f V",
+             data->raw_nh3, data->volts_nh3,
+             data->raw_co,  data->volts_co,
+             data->raw_no2, data->volts_no2,
+             data->raw_uvc, data->volts_uvc);
+}
--- a/main/hw/mcp3550.h
+++ b/main/hw/mcp3550.h
@@ -0,0 +1,38 @@
+#ifndef MPC3550_COMPONENT
+#define MPC3550_COMPONENT
+
+#include "driver/spi_master.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "esp_log.h"
+#include "buscfg.h"
+
+#define CONFIG_FREERTOS_HZ 100
+
+#define MCP3550_SPS 3.75f
+#define MCP3550_CONVERSION_MS ((int)(1000.0f / MCP3550_SPS)) // ~267ms
+
+
+extern spi_device_handle_t mcp3550_handle;
+
+void mcp3550_spi_init();
+int32_t mcp3550_read(uint8_t cs_pin);
+float mcp3550_to_voltage(int32_t value, float vref);
+
+typedef struct {
+    int32_t raw_nh3;
+    int32_t raw_co;
+    int32_t raw_no2;
+    int32_t raw_uvc;
+    float volts_nh3;
+    float volts_co;
+    float volts_no2;
+    float volts_uvc;
+} mics_adc_data_t;
+
+extern spi_device_handle_t mcp3550_handle;
+
+void log_mics_adc_values(mics_adc_data_t *data);
+mics_adc_data_t mcp3550_read_all(float vref);
+
+#endif
--- a/main/hw/mpu9250.c
+++ b/main/hw/mpu9250.c
@@ -1,4 +1,5 @@
 #include "mpu9250.h"
+#include "esp_timer.h"

 i2c_device_config_t MPU9250_DEV_CFG = {
    .dev_addr_length = I2C_ADDR_BIT_LEN_7,
@@ -6,9 +7,11 @@ i2c_device_config_t MPU9250_DEV_CFG = {
    .scl_speed_hz = 100000,
 };

+#define MAG_SCALE (4912.0f / 32760.0f)
+
 i2c_master_dev_handle_t MPU9250_DEV_HANDLE;

-esp_err_t mpu9250_read_sensor_data(i2c_master_dev_handle_t dev_handle, int16_t *accel, int16_t *gyro, int16_t *temp)
+esp_err_t mpu9250_read_sensor_data(i2c_master_dev_handle_t dev_handle, int16_t *accel, int16_t *gyro, int16_t *temp, int16_t *magnet)
 {
    uint8_t buffer[14]; // 6 (Accel) + 2 (Temp) + 6 (Gyro)
    esp_err_t ret = i2c_read_register(dev_handle, 0x3B, buffer, 14);
@@ -16,18 +19,28 @@ esp_err_t mpu9250_read_sensor_data(i2c_master_dev_handle_t dev_handle, int16_t *
        return ret;

    // Convert raw data (Big-Endian)
-    accel[0] = (((uint16_t)(buffer[0] & 0xFF)) << 8) | (buffer[1] & 0xFF);  // Accel X
-    accel[1] = (((uint16_t)(buffer[2] & 0xFF)) << 8) | (buffer[3] & 0xFF);  // Accel Y
-    accel[2] = (((uint16_t)(buffer[4] & 0xFF)) << 8) | (buffer[5] & 0xFF);  // Accel Z
-    *temp = (((uint16_t)(buffer[6] & 0xFF)) << 8) | (buffer[7] & 0xFF);     // Temperature
-    gyro[0] = (((uint16_t)(buffer[8] & 0xFF)) << 8) | (buffer[9] & 0xFF);;   // Gyro X
-    gyro[1] = (((uint16_t)(buffer[10] & 0xFF)) << 8) | (buffer[11] & 0xFF);; // Gyro Y
-    gyro[2] = (((uint16_t)(buffer[12] & 0xFF)) << 8) | (buffer[13] & 0xFF);; // Gyro Z
+    accel[0] = (((uint16_t)(buffer[0] & 0xFF)) << 8) | (buffer[1] & 0xFF); // Accel X
+    accel[1] = (((uint16_t)(buffer[2] & 0xFF)) << 8) | (buffer[3] & 0xFF); // Accel Y
+    accel[2] = (((uint16_t)(buffer[4] & 0xFF)) << 8) | (buffer[5] & 0xFF); // Accel Z
+    *temp = (((uint16_t)(buffer[6] & 0xFF)) << 8) | (buffer[7] & 0xFF);    // Temperature
+    gyro[0] = (((uint16_t)(buffer[8] & 0xFF)) << 8) | (buffer[9] & 0xFF);
+    ; // Gyro X
+    gyro[1] = (((uint16_t)(buffer[10] & 0xFF)) << 8) | (buffer[11] & 0xFF);
+    ; // Gyro Y
+    gyro[2] = (((uint16_t)(buffer[12] & 0xFF)) << 8) | (buffer[13] & 0xFF);
+    ; // Gyro Z
+
+    ret = i2c_read_register(dev_handle, 0x03, buffer, 6);
+    if (ret != ESP_OK)
+        return ret;
+    magnet[0] = (((uint16_t)(buffer[0] & 0xFF)) << 8) | (buffer[1] & 0xFF); // Magnet X
+    magnet[1] = (((uint16_t)(buffer[2] & 0xFF)) << 8) | (buffer[3] & 0xFF); // Magnet Y
+    magnet[2] = (((uint16_t)(buffer[4] & 0xFF)) << 8) | (buffer[5] & 0xFF); // Magnet Z

    return ESP_OK;
 }

-void mpu9250_convert_data(int16_t *accel, int16_t *gyro, int16_t temp, float *accel_out, float *gyro_out, float *temp_out)
+void mpu9250_convert_data(int16_t *accel, int16_t *gyro, int16_t temp, int16_t *magnet, float *accel_out, float *gyro_out, float *temp_out, float *magnet_out)
 {
    accel_out[0] = accel[0] / 16384.0; // Accel X in g
    accel_out[1] = accel[1] / 16384.0; // Accel Y in g
@@ -37,10 +50,16 @@ void mpu9250_convert_data(int16_t *accel, int16_t *gyro, int16_t temp, float *ac
    gyro_out[1] = gyro[1] / 131.0; // Gyro Y in deg/s
    gyro_out[2] = gyro[2] / 131.0; // Gyro Z in deg/s

+    magnet_out[0] = magnet[0] * MAG_SCALE; // Gyro X in deg/s
+    magnet_out[1] = magnet[1] * MAG_SCALE; // Gyro Y in deg/s
+    magnet_out[2] = magnet[2] * MAG_SCALE; // Gyro Z in deg/s
+
    *temp_out = (temp / 333.87) + 21.0; // Temperature in °C
 }

-void mpu9250_init() {
+void mpu9250_init()
+{
    ESP_ERROR_CHECK(i2c_master_bus_add_device(i2c0_bus_hdl, &MPU9250_DEV_CFG, &MPU9250_DEV_HANDLE));
    i2c_write_register_16(MPU9250_DEV_HANDLE, 0x6B, 0x0001); // zapni uz tu hovadinu
+    i2c_write_register_16(MPU9250_DEV_HANDLE, 0x0A, 0x0012); // zapni uz tu hovadinu
 }
--- a/main/hw/mpu9250.h
+++ b/main/hw/mpu9250.h
@@ -8,8 +8,8 @@ extern i2c_device_config_t MPU9250_DEV_CFG;
 extern i2c_master_dev_handle_t MPU9250_DEV_HANDLE;


-esp_err_t mpu9250_read_sensor_data(i2c_master_dev_handle_t dev_handle, int16_t *accel, int16_t *gyro, int16_t *temp);
-void mpu9250_convert_data(int16_t *accel, int16_t *gyro, int16_t temp, float *accel_out, float *gyro_out, float *temp_out);
+esp_err_t mpu9250_read_sensor_data(i2c_master_dev_handle_t dev_handle, int16_t *accel, int16_t *gyro, int16_t *temp, int16_t *magnet);
+void mpu9250_convert_data(int16_t *accel, int16_t *gyro, int16_t temp, int16_t *magnet, float *accel_out, float *gyro_out, float *temp_out, float *magnet_out);
 void mpu9250_init();

 #endif
--- a/components/ra01s/ra01s.c
+++ b/components/ra01s/ra01s.c
@@ -11,16 +11,18 @@
 #include <driver/gpio.h>
 #include "esp_log.h"

-#include "ra01s.h"
+#include "sx1262.h"

-#define TAG "RA01S"
+#define TAG "SX1262"

-// SPI Stuff
-#if CONFIG_SPI2_HOST
-#define HOST_ID SPI2_HOST
-#elif CONFIG_SPI3_HOST
 #define HOST_ID SPI3_HOST
-#endif
+
+#define CONFIG_MISO_GPIO GPIO_NUM_11
+#define CONFIG_MOSI_GPIO GPIO_NUM_10
+#define CONFIG_SCLK_GPIO GPIO_NUM_9
+#define CONFIG_NSS_GPIO GPIO_NUM_8
+#define CONFIG_RST_GPIO GPIO_NUM_12
+#define CONFIG_BUSY_GPIO GPIO_NUM_13

 static spi_device_handle_t SpiHandle;

@@ -32,8 +34,6 @@ static bool debugPrint;
 static int SX126x_SPI_SELECT;
 static int SX126x_RESET;
 static int SX126x_BUSY;
-static int SX126x_TXEN;
-static int SX126x_RXEN;

 // Arduino compatible macros
 #define delayMicroseconds(us) esp_rom_delay_us(us)
@@ -61,14 +61,10 @@ void LoRaInit(void)
 	ESP_LOGI(TAG, "CONFIG_NSS_GPIO=%d", CONFIG_NSS_GPIO);
 	ESP_LOGI(TAG, "CONFIG_RST_GPIO=%d", CONFIG_RST_GPIO);
 	ESP_LOGI(TAG, "CONFIG_BUSY_GPIO=%d", CONFIG_BUSY_GPIO);
-	ESP_LOGI(TAG, "CONFIG_TXEN_GPIO=%d", CONFIG_TXEN_GPIO);
-	ESP_LOGI(TAG, "CONFIG_RXEN_GPIO=%d", CONFIG_RXEN_GPIO);

 	SX126x_SPI_SELECT = CONFIG_NSS_GPIO;
 	SX126x_RESET = CONFIG_RST_GPIO;
 	SX126x_BUSY	= CONFIG_BUSY_GPIO;
-	SX126x_TXEN	= CONFIG_TXEN_GPIO;
-	SX126x_RXEN	= CONFIG_RXEN_GPIO;
 	
 	txActive = false;
 	debugPrint = false;
@@ -83,16 +79,6 @@ void LoRaInit(void)
 	gpio_reset_pin(SX126x_BUSY);
 	gpio_set_direction(SX126x_BUSY, GPIO_MODE_INPUT);

-	if (SX126x_TXEN != -1) {
-		gpio_reset_pin(SX126x_TXEN);
-		gpio_set_direction(SX126x_TXEN, GPIO_MODE_OUTPUT);
-	}
-
-	if (SX126x_RXEN != -1) {
-		gpio_reset_pin(SX126x_RXEN);
-		gpio_set_direction(SX126x_RXEN, GPIO_MODE_OUTPUT);
-	}
-
 	spi_bus_config_t spi_bus_config = {
 		.sclk_io_num = CONFIG_SCLK_GPIO,
 		.mosi_io_num = CONFIG_MOSI_GPIO,
@@ -102,10 +88,6 @@ void LoRaInit(void)
 	};

 	esp_err_t ret;
-	ret = spi_bus_initialize( HOST_ID, &spi_bus_config, SPI_DMA_CH_AUTO );
-	ESP_LOGI(TAG, "spi_bus_initialize=%d",ret);
-	assert(ret==ESP_OK);
-
 	spi_device_interface_config_t devcfg = {
 		.clock_speed_hz = 9000000,
 		.mode = 0,
@@ -705,7 +687,6 @@ void SetRx(uint32_t timeout)
 		ESP_LOGI(TAG, "----- SetRx timeout=%"PRIu32, timeout);
 	}
 	SetStandby(SX126X_STANDBY_RC);
-	SetRxEnable();
 	uint8_t buf[3];
 	buf[0] = (uint8_t)((timeout >> 16) & 0xFF);
 	buf[1] = (uint8_t)((timeout >> 8) & 0xFF);
@@ -723,25 +704,12 @@ void SetRx(uint32_t timeout)
 }


-void SetRxEnable(void)
-{
-	if (debugPrint) {
-		ESP_LOGI(TAG, "SetRxEnable:SX126x_TXEN=%d SX126x_RXEN=%d", SX126x_TXEN, SX126x_RXEN);
-	}
-	if ((SX126x_TXEN != -1) && (SX126x_RXEN != -1)) {
-		gpio_set_level(SX126x_RXEN, HIGH);
-		gpio_set_level(SX126x_TXEN, LOW);
-	}
-}
-
-
 void SetTx(uint32_t timeoutInMs)
 {
 	if (debugPrint) {
 		ESP_LOGI(TAG, "----- SetTx timeoutInMs=%"PRIu32, timeoutInMs);
 	}
 	SetStandby(SX126X_STANDBY_RC);
-	SetTxEnable();
 	uint8_t buf[3];
 	uint32_t tout = timeoutInMs;
 	if (timeoutInMs != 0) {
@@ -766,19 +734,6 @@ void SetTx(uint32_t timeoutInMs)
 	}
 }

-
-void SetTxEnable(void)
-{
-	if (debugPrint) {
-		ESP_LOGI(TAG, "SetTxEnable:SX126x_TXEN=%d SX126x_RXEN=%d", SX126x_TXEN, SX126x_RXEN);
-	}
-	if ((SX126x_TXEN != -1) && (SX126x_RXEN != -1)){
-		gpio_set_level(SX126x_RXEN, LOW);
-		gpio_set_level(SX126x_TXEN, HIGH);
-	}
-}
-
-
 int GetPacketLost()
 {
 	return txLost;
@@ -1018,4 +973,4 @@ void ReadCommand(uint8_t cmd, uint8_t* data, uint8_t numBytes) {
 	// wait for BUSY to go low
 	vTaskDelay(1);
 	WaitForIdle(BUSY_WAIT, "end ReadCommand", false);
-}
+}
--- a/components/ra01s/ra01s.h
+++ b/components/ra01s/ra01s.h
@@ -412,8 +412,6 @@ void     SetCad();
 uint8_t  GetStatus(void);
 uint16_t GetIrqStatus(void);
 void     ClearIrqStatus(uint16_t irq);
-void     SetTxEnable(void);
-void     SetRxEnable(void);
 void     SetRx(uint32_t timeout);
 void     SetTx(uint32_t timeoutInMs);
 int      GetPacketLost();
--- a/main/main.c
+++ b/main/main.c
@@ -15,6 +15,7 @@
 #include "esp_mac.h"
 #include <string.h>

+#include "components/radio.h"
 #include "components/sensors.h"
 #include "components/util.h"
 #include "hw/bme680b.h"
@@ -23,31 +24,72 @@
 #include "hw/ina260.h"
 #include "hw/mcp23018.h"
 #include "hw/mpu9250.h"
+#include "hw/buscfg.h"
+
+#include "hw/gps.h"

 #define TAG "cantest"

-
 #define CONFIG_FREERTOS_HZ 100

-
 void app_main(void)
 {

    /* instantiate i2c master bus 0 */
    ESP_ERROR_CHECK(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 HighSpeedBusCfg = {
+        // CONNECTED to LoRa and SD card
+        .mosi_io_num = HSPI_MOSI_GPIO,
+        .miso_io_num = HSPI_MISO_GPIO,
+        .sclk_io_num = HSPI_SCK_GPIO,
+        .quadwp_io_num = -1,
+        .quadhd_io_num = -1,
+        .max_transfer_sz = 64, // probably change
+    };
+    ESP_ERROR_CHECK(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));

+    mcp23018_init();
+
+    void servoControllerInit();
+
    /* create task pinned to the app core */
-    xTaskCreatePinnedToCore(
+    xTaskCreate(
        i2c_sensors_task,
        "I2CTaskBME",
        8192,
        NULL,
        (tskIDLE_PRIORITY + 2),
+        NULL);
+
+    xTaskCreate(
+        lora_comms_task,
+        "LoraCommsTask",
+        8192,
        NULL,
-        APP_CPU_NUM);
+        (tskIDLE_PRIORITY + 2),
+        NULL);
+
+    xTaskCreate(
+        gps_task,
+        "gps_task",
+        8192,
+        NULL,
+        (tskIDLE_PRIORITY + 2),
+        NULL);

    while (1)
    {
--- a/managed_components/k0i05__esp_bme680/bme680.c
+++ b/managed_components/k0i05__esp_bme680/bme680.c
@@ -1091,6 +1091,8 @@ esp_err_t bme680_get_data(bme680_handle_t handle, bme680_data_t *const data) {
    data->heater_stable         = adc_data.heater_stable;
    data->gas_valid             = adc_data.gas_valid;

+    data->raw_data = adc_data;
+
    /* compute scores */
    bme680_compute_iaq(data);

--- a/managed_components/k0i05__esp_bme680/include/bme680.h
+++ b/managed_components/k0i05__esp_bme680/include/bme680.h
@@ -308,6 +308,22 @@ typedef struct bme680_cal_factors_s {
    int8_t                  range_switching_error;
 } bme680_cal_factors_t;

+
+/**
+ * @brief BME680 ADC data structure definition.
+ */
+typedef struct bme680_adc_data_s {
+    uint32_t temperature;
+    uint16_t humidity;
+    uint32_t pressure;
+    uint16_t gas;
+    bool     gas_valid;
+    uint8_t  gas_range;
+    uint8_t  gas_index;
+    bool     heater_stable;
+} bme680_adc_data_t;
+
+
 /**
 * @brief BME680 data structure definition.
 */
@@ -325,22 +341,9 @@ typedef struct bme680_data_s {
    float    temperature_score;
    float    humidity_score;
    float    gas_score;
+    bme680_adc_data_t raw_data;
 } bme680_data_t;

-/**
- * @brief BME680 ADC data structure definition.
- */
-typedef struct bme680_adc_data_s {
-    uint32_t temperature;
-    uint16_t humidity;
-    uint32_t pressure;
-    uint16_t gas;
-    bool     gas_valid;
-    uint8_t  gas_range;
-    uint8_t  gas_index;
-    bool     heater_stable;
-} bme680_adc_data_t;
-
 /**
 * @brief BME680 configuration structure definition.
 */
Author	SHA1	Message	Date
Bruno Rybársky	5853bf849f	fixes	2025-04-22 20:35:29 +02:00
Bruno Rybársky	9104869ecf	save some implementation	2025-04-22 14:27:07 +02:00