revert mission timer to 32 bit, add signal level monitoring

.vscode/settings.json

@@ -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"
     }
 }

components/ra01s/CMakeLists.txt

@@ -1,5 +0,0 @@
-set(component_srcs "ra01s.c")
-
-idf_component_register(SRCS "${component_srcs}"
-                       PRIV_REQUIRES driver
-                       INCLUDE_DIRS ".")

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

main/CMakeLists.txt

@@ -13,8 +13,20 @@ 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"
+"components/sdcard.c"
+"components/sdcard.h"
     "main.c"
 
     INCLUDE_DIRS ".")

main/components/packets.h

@@ -0,0 +1,127 @@
+#ifndef PACKETS_STRUCTS
+#define PACKETS_STRUCTS
+#include "stdint.h"
+
+#define UplinkSync "PlechHore"
+#define DownlinkSync "PlechDole"
+
+#define UplinkPacketType_SystemControl 0
+#define UplinkPacketType_Ping 1
+#define UplinkPacketType_ACK 255
+
+#define DownlinkPacketType_Telemetry 0
+#define DownlinkPacketType_Ping 1
+#define DownlinkPacketType_ACK 255
+
+typedef struct __attribute__((packed))
+{
+    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;//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;//41
+    uint16_t tvoc;//43
+    uint8_t currentCCS;//44
+    uint16_t rawCCSData;//46
+
+    // INA data
+    uint16_t volts;//48
+    uint16_t current;//50
+    uint16_t power;//52
+
+    // BME DATA
+    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 */ //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 //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 //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; //130
+    int32_t CO; //134
+    int32_t NO2; //138
+    int32_t UVC; //142
+
+    int16_t currentServoA; //144
+    int16_t targetServoA; //146
+    int16_t currentServoB; //148
+    int16_t targetServoB; //150
+
+    uint8_t presentDevices;
+
+    uint8_t telemetryIndex; //151
+
+} TelemetryPacket;
+
+typedef struct __attribute__((packed))
+{
+    char syncPhrase[10];
+    uint32_t packetIndex;
+    uint8_t packetType;
+    uint32_t CRCCheck;
+} UplinkPacket;
+
+typedef struct __attribute__((packed))
+{
+    uint8_t powerMode;
+    uint8_t controlMode;
+    uint16_t servoA;
+    uint16_t servoB;
+} SystemControlPacket;
+
+typedef struct __attribute__((packed))
+{
+    uint8_t PingData[20];
+} PingPacket;
+
+typedef struct __attribute__((packed))
+{
+    uint32_t packetIndex;
+    uint32_t crc32Checksum;
+} ACKPacket;
+
+#endif

main/components/radio.c

@@ -0,0 +1,396 @@
+#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"
+#include "esp_rom_crc.h"
+#include <hw/buscfg.h>
+#include "sensors.h"
+#include "sdcard.h"
+
+#define TAG "LoRa"
+
+#define ACK_TIMEOUT_MS 250 // Wait 300ms for ACK
+#define MAX_RETRIES 1
+
+uint32_t packetIndexTX = 0;
+uint32_t packetIndexRX = 0;
+
+TelemetryPacket telemetryPacket;
+uint8_t packetReadiness = 0;
+
+volatile bool ackReceived = false;
+uint32_t lastAckIndex = 0;
+
+SemaphoreHandle_t loraRadioMutex;
+
+void setup_lora(void)
+{
+    LoRaInit();
+
+    int8_t txPowerInDbm = 20;
+    uint32_t frequencyInHz = 869525000;
+    float tcxoVoltage = 2.2;
+    bool useRegulatorLDO = true;
+
+    ESP_LOGW(TAG, "Enable TCXO");
+    LoRaDebugPrint(false);
+
+    if (LoRaBegin(frequencyInHz, txPowerInDbm, tcxoVoltage, useRegulatorLDO) != 0)
+    {
+        ESP_LOGE(TAG, "LoRa module not recognized. Halting.");
+        while (1)
+        {
+            vTaskDelay(1);
+        }
+    }
+
+    uint8_t spreadingFactor = 8;
+    uint8_t bandwidth = SX126X_LORA_BW_250_0;
+    uint8_t codingRate = SX126X_LORA_CR_4_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, 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)
+{
+    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))
+            {
+                ESP_LOGW(TAG, "LoRaSend failed, retry %d", retry);
+                xSemaphoreGive(loraRadioMutex);
+            }
+            else
+            {
+                ESP_LOGI(TAG, "%d byte packet sent (attempt %d)", size, retry + 1);
+                xSemaphoreGive(loraRadioMutex);
+
+                // Wait for ACK
+                ackReceived = false;
+                uint64_t start_wait = esp_timer_get_time();
+                while ((esp_timer_get_time() - start_wait) < (ACK_TIMEOUT_MS * 1000))
+                {
+                    if (ackReceived)
+                    {
+                        ESP_LOGI(TAG, "ACK received for packet.");
+                        return;
+                    }
+                    vTaskDelay(pdMS_TO_TICKS(10));
+                }
+
+                ESP_LOGW(TAG, "ACK timeout, retrying...");
+            }
+        }
+    }
+
+    ESP_LOGE(TAG, "Failed to send packet after %d retries", MAX_RETRIES);
+}
+
+void prepare_and_send_telemetry(uint64_t missionTimer)
+{
+    uint8_t bufOut[256] = {0};
+
+    DownBoundPacket downboundPacket;
+    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));
+    offset += sizeof(downboundPacket);
+    memcpy(bufOut + offset, &telemetryPacket, sizeof(telemetryPacket));
+    offset += sizeof(telemetryPacket);
+
+    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;
+}
+
+static void build_and_send_ack(uint32_t ackIndex, uint32_t crc32Checksum, uint64_t missionTimer)
+{
+    uint8_t bufOut[256] = {0};
+
+    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);
+    memcpy(bufOut + offset, &ackPacket, sizeof(ackPacket));
+    offset += sizeof(ackPacket);
+
+    if (xSemaphoreTake(loraRadioMutex, portMAX_DELAY) == pdTRUE)
+    {
+        if (!LoRaSend(bufOut, offset, SX126x_TXMODE_SYNC))
+        {
+            ESP_LOGE(TAG, "Failed to send ACK");
+        }
+        else
+        {
+            ESP_LOGI(TAG, "%d byte ACK sent", offset);
+        }
+        xSemaphoreGive(loraRadioMutex);
+    }
+}
+
+void process_uplink_packet(uint8_t *data, uint8_t len, uint64_t missionTimer)
+{
+    if (len < sizeof(UplinkPacket))
+    {
+        ESP_LOGW(TAG, "Uplink packet too small: %d bytes", len);
+        return;
+    }
+
+    UplinkPacket uplinkPacket;
+    memcpy(&uplinkPacket, data, sizeof(UplinkPacket));
+
+    if (strcmp(UplinkSync, uplinkPacket.syncPhrase) != 0)
+    {
+        ESP_LOGW(TAG, "Invalid sync phrase");
+        return;
+    }
+
+    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 %ld", uplinkPacket.packetIndex);
+        ackReceived = true;
+        lastAckIndex = uplinkPacket.packetIndex;
+        return;
+    }
+
+    if (uplinkPacket.packetIndex == packetIndexRX + 1)
+    {
+        ESP_LOGI(TAG, "Packet arrived in correct order");
+        packetIndexRX = uplinkPacket.packetIndex;
+
+        uint32_t crc = esp_rom_crc32_le(0, data + sizeof(UplinkPacket), payloadRXLen);
+        build_and_send_ack(packetIndexRX, crc, missionTimer);
+
+        switch (uplinkPacket.packetType)
+        {
+        case UplinkPacketType_SystemControl:
+            if (payloadRXLen == sizeof(SystemControlPacket))
+            {
+                SystemControlPacket sysCtrl;
+                memcpy(&sysCtrl, data + sizeof(UplinkPacket), sizeof(SystemControlPacket));
+                setPowerMode(sysCtrl.powerMode);
+                // TODO: Process sysCtrl
+            }
+            else
+            {
+                ESP_LOGW(TAG, "SystemControlPacket size mismatch");
+            }
+            break;
+
+        case UplinkPacketType_Ping:
+            // TODO: handle Ping
+            break;
+
+        default:
+            ESP_LOGW(TAG, "Unknown uplink packet type %d", uplinkPacket.packetType);
+            break;
+        }
+    }
+    else if (uplinkPacket.packetIndex > packetIndexRX + 1)
+    {
+        ESP_LOGW(TAG, "Skipped %ld packets", uplinkPacket.packetIndex - (packetIndexRX + 1));
+        packetIndexRX = uplinkPacket.packetIndex;
+    }
+    else
+    {
+        ESP_LOGW(TAG, "Duplicate packet: %ld", (packetIndexRX + 1) - uplinkPacket.packetIndex);
+    }
+}
+
+void lora_receive_task(void *pvParameters)
+{
+    ESP_LOGI(TAG, "lora_receive_task started");
+    uint8_t bufIn[256];
+    while (1)
+    {
+        // Wait to take the semaphore before accessing LoRa
+        if (xSemaphoreTake(loraRadioMutex, 0) == pdTRUE)
+        {
+            uint8_t rxLen = LoRaReceive(bufIn, sizeof(bufIn));
+            if (rxLen > 0)
+            {
+                ESP_LOGI(TAG, "%d byte packet received", rxLen);
+                process_uplink_packet(bufIn, rxLen, esp_timer_get_time());
+                int8_t rssi, snr;
+                GetPacketStatus(&rssi, &snr);
+                ESP_LOGI(TAG, "rssi=%d[dBm], snr=%d[dB]", rssi, snr);
+            }
+
+            // Release the semaphore when done with LoRa RX
+            xSemaphoreGive(loraRadioMutex);
+        }
+        vTaskDelay(pdMS_TO_TICKS(10)); // Delay to prevent busy-waiting
+    }
+}
+
+void lora_comms_task(void *pvParameters)
+{
+
+    // while (foundDevices[0] != 2) {
+    //     vTaskDelay(10);
+    // }
+
+    // Initialize the semaphore for radio access (binary semaphore, 1 = available)
+    loraRadioMutex = xSemaphoreCreateMutex();
+    xSemaphoreGive(loraRadioMutex); // Set semaphore as available
+
+    ESP_LOGI(TAG, "lora_comms_task started");
+    setup_lora();
+    ESP_LOGI(TAG, "lora_comms_task continuing");
+    xTaskCreate(
+        lora_receive_task,
+        "LoraReceiveTask",
+        8192,
+        NULL,
+        (tskIDLE_PRIORITY + 2),
+        NULL);
+    ESP_LOGI(TAG, "loraInit");
+    while (1)
+    {
+        int64_t start_time = esp_timer_get_time();
+
+        if (packetReadiness)
+        {
+            ESP_LOGI(TAG, "Preparing telemetry");
+
+            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;
+
+        if (elapsed < interval_us)
+        {
+            vTaskDelay(pdMS_TO_TICKS((interval_us - elapsed) / 1000));
+        }
+    }
+}

main/components/radio.h

@@ -0,0 +1,21 @@
+#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);
+void lora_receive_task(void *pvParameters);
+
+extern TelemetryPacket telemetryPacket;
+extern uint8_t packetReadiness;
+extern SemaphoreHandle_t loraRadioMutex;
+
+#endif

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

@@ -1,76 +1,237 @@
 #include "sensors.h"
+#include "esp_timer.h"
+#include "radio.h"
+#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 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)
 {
     gpio_reset_pin(BLINK_GPIO);
     gpio_set_direction(BLINK_GPIO, GPIO_MODE_OUTPUT);
 }
 
+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, expectedAdresses[i], 20);
+
+        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 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);
+        }
+    }
+}
+
+void init_connected()
+{
+
+    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 INA260_ADDRESS:
+                    ret = ina260_init();
+                    /* code */
+                    break;
+
+                case CCS811_ADDRESS:
+                    ret = ccs811_init();
+                    /* code */
+                    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)
 {
-    // initialize the xLastWakeTime variable with the current time.
+
-    TickType_t last_wake_time = xTaskGetTickCount();
+
-    const TickType_t I2C0_TASK_SAMPLING_RATE = 5;
+    
-    //
+    memset(foundDevices, 0, sizeof(foundDevices));
-    // initialize i2c device configuration
+    memset(prevDevices, 0, sizeof(prevDevices));
 
     bme680b_init();
     mpu9250_init();
-    mcp23018_init();
-    ina260_init();
     ccs811_init();
+    ina260_init();
+
+    // update_devices();
+    // init_connected();
+    // initialize the xLastWakeTime variable with the current time.
+    const int64_t interval_us = 50000; // 50 ms
+    int64_t start_time, end_time, elapsed;
+
+    //
+    // initialize i2c device configuration
 
     configure_led();
 
-    int16_t accel[3], gyro[3], temp;
+    int16_t accel[3], gyro[3], temp, magnet[3];
-    float accel_f[3], gyro_f[3], temp_f;
+    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;
+
+    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)
         {
-            bme680_data_t data;
+            esp_err_t result = bme680_get_data(BME680_DEV_HANDLE, &bmeData);
-            esp_err_t result = bme680_get_data(BME680_DEV_HANDLE, &data);
             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;
+                bmeData.barometric_pressure = bmeData.barometric_pressure / 100;
-                // ESP_LOGI(TAG, "dewpoint temperature:%.2f °C", data.dewpoint_temperature);
+                ESP_LOGI(TAG_BME, "dewpoint temperature:%.2f °C", bmeData.dewpoint_temperature);
-                ESP_LOGI(TAG_BME, "air temperature:     %.2f °C", data.air_temperature);
+                ESP_LOGI(TAG_BME, "air temperature:     %.2f °C", bmeData.air_temperature);
-                ESP_LOGI(TAG_BME, "relative humidity:   %.2f %%", data.relative_humidity);
+                ESP_LOGI(TAG_BME, "relative humidity:   %.2f %%", bmeData.relative_humidity);
-                ESP_LOGI(TAG_BME, "barometric pressure: %.2f hPa", data.barometric_pressure);
+                ESP_LOGI(TAG_BME, "barometric pressure: %.2f hPa", bmeData.barometric_pressure);
-                // ESP_LOGI(TAG, "gas resistance:      %.2f kOhms", data.gas_resistance / 1000);
+                ccs811_set_env_data(bmeData.air_temperature, bmeData.relative_humidity);
-                // ESP_LOGI(TAG, "iaq score:           %u (%s)", data.iaq_score, bme680_air_quality_to_string(data.iaq_score));
+                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);
+        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);
 
-        if (mpu9250_read_sensor_data(MPU9250_DEV_HANDLE, accel, gyro, &temp) == ESP_OK)
+        presentDevices |= MPU9250_PRESENT_BIT;
+        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
@@ -78,13 +239,97 @@ 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);
 
-        gpio_set_level(BLINK_GPIO, s_led_state);
+        presentDevices |= MCP23018_PRESENT_BIT;
-        /* Toggle the LED state */
+        float VREFVoltage = 2.5;
+        ADCData = mcp3550_read_all(VREFVoltage);
+
+        log_mics_adc_values(&ADCData);
+
+        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.air_temperature = bmeData.air_temperature;
+            telemetryPacket.relative_humidity = bmeData.relative_humidity;
+            telemetryPacket.barometric_pressure = bmeData.barometric_pressure;
+            telemetryPacket.gas_resistance = bmeData.gas_resistance;
+            telemetryPacket.iaq_score = bmeData.iaq_score;
+            telemetryPacket.temperature_score = bmeData.temperature_score;
+            telemetryPacket.humidity_score = bmeData.humidity_score;
+            telemetryPacket.gas_score = bmeData.gas_score;
+
+            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;
+
+            telemetryPacket.presentDevices = presentDevices;
+
+            telemetryPacket.telemetryIndex = telemetryIndex++;
+        }
+        packetReadiness = 1;
+
         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));
+        }
     }
     //
     // free resources

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"
@@ -16,8 +18,18 @@
 #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[5];
+extern uint8_t prevDevices[5];
+
+void init_connected();
+void update_devices();
+void setPowerMode(uint8_t powerModeIn);
+
 void i2c_sensors_task(void *pvParameters);
 
 #endif

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));
+}

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

main/hw/bme680b.c

@@ -38,14 +38,15 @@ void bme680_print_registers(bme680_handle_t handle)
     ESP_LOGI(TAG_BME, "Control Gas 1       (0x%02x): %s", ctrl_gas1_reg.reg, uint8_to_binary(ctrl_gas1_reg.reg));
 }
 
-void bme680b_init() {
+esp_err_t bme680b_init() {
     // init device
-    bme680_init(i2c0_bus_hdl, &BME680_DEV_CFG, &BME680_DEV_HANDLE);
+    esp_err_t ret = bme680_init(i2c0_bus_hdl, &BME680_DEV_CFG, &BME680_DEV_HANDLE);
     if (BME680_DEV_HANDLE == NULL)
     {
         ESP_LOGE(TAG_BME, "bme680 handle init failed");
     } else {
         bme680_print_registers(BME680_DEV_HANDLE);
     }
+    return ret;
 
 }

main/hw/bme680b.h

@@ -8,6 +8,6 @@ extern bme680_config_t BME680_DEV_CFG;
 extern bme680_handle_t BME680_DEV_HANDLE;
 
 void bme680_print_registers(bme680_handle_t handle);
-void bme680b_init();
+esp_err_t bme680b_init();
 
 #endif

main/hw/buscfg.h

@@ -0,0 +1,80 @@
+#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 BME680_ADDRESS 0x76
+#define CCS811_ADDRESS 0x5A
+#define MPU9250_ADDRESS 0x68
+#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
+#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_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

main/hw/ccs811.c

@@ -1,46 +1,86 @@
 #include "ccs811.h"
 
-#define CONFIG_FREERTOS_HZ 100
-
 i2c_device_config_t CCS811_DEV_CFG = {
     .dev_addr_length = I2C_ADDR_BIT_LEN_7,
-    .device_address = 0x5A,
+    .device_address = CCS811_ADDRESS,
     .scl_speed_hz = 100000,
 };
 
 i2c_master_dev_handle_t CCS811_DEV_HANDLE;
 
-void ccs811_init()
+esp_err_t ccs811_getStatus()
 {
-    ESP_ERROR_CHECK(i2c_master_bus_add_device(i2c0_bus_hdl, &CCS811_DEV_CFG, &CCS811_DEV_HANDLE));
+    uint8_t errorID;
-    mcp23018_set_pin(MCP23018_DEV_HANDLE, MCP_CCS811_WAKE, 0);
-    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
-    vTaskDelay(10 / portTICK_PERIOD_MS);
     uint8_t status;
+    uint8_t hardwareVersion;
     uint16_t version;
-    i2c_read_register_8(CCS811_DEV_HANDLE, 0x00, &status);
+    uint16_t bootVersion;
-    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)
+    esp_err_t ret = i2c_read_register_8(CCS811_DEV_HANDLE, CCS811_REG_STATUS, &status);
-{
+    if (ret != ESP_OK) {return ret;}
-    uint8_t ccsResult[8];
+    ret = i2c_read_register_16(CCS811_DEV_HANDLE, CCS811_REG_FW_APP_VERSION, &version);
-    esp_err_t ret = i2c_read_register(CCS811_DEV_HANDLE, 0x05, ccsResult, 8);
+    if (ret != ESP_OK) {return ret;}
-    if (ret == ESP_OK)
+    ret = i2c_read_register_16(CCS811_DEV_HANDLE, CCS811_REG_FW_BOOT_VERSION, &bootVersion);
-    {
+    if (ret != ESP_OK) {return ret;}
-        *eCO2 = (((uint16_t)(ccsResult[0] & 0xFF)) << 8) | (ccsResult[1] & 0xFF);
+    ret = i2c_read_register_8(CCS811_DEV_HANDLE, CCS811_REG_HW_VERSION, &hardwareVersion);
-        *tvoc = (((uint16_t)(ccsResult[2] & 0xFF)) << 8) | (ccsResult[3] & 0xFF);
+    if (ret != ESP_OK) {return ret;}
-        ESP_LOGI(TAG_CCS, "CCS Status: %d, Error %d", ccsResult[4], ccsResult[5]);
+    ret = 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);
     return ret;
 }
+
+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;}
+    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
+    if (ret != ESP_OK) {return ret;}
+    vTaskDelay(10 / portTICK_PERIOD_MS);
+
+    ret = ccs811_getStatus();
+    if (ret != ESP_OK) {return ret;}
+    ret = i2c_write_register(CCS811_DEV_HANDLE, CCS811_REG_APP_START, NULL, 0); // start
+    if (ret != ESP_OK) {return ret;}
+    vTaskDelay(10 / portTICK_PERIOD_MS);
+    ret = i2c_write_register_8(CCS811_DEV_HANDLE, CCS811_REG_MEAS_MODE, 0x40); // MODE 1 interrupts vypnuté
+    if (ret != ESP_OK) {return ret;}
+    ret = ccs811_getStatus();
+    return ret;
+}
+esp_err_t ccs811_get_data(uint16_t *eCO2, uint16_t *tvoc, uint8_t *current, uint16_t *rawData)
+{
+    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)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);
+}

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_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

main/hw/gps.c

@@ -0,0 +1,245 @@
+#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_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_WITHOUT_ABORT(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] == '$') {
+                    ESP_LOGI(TAG, "Received NMEA: %s", line);
+
+                    if (strstr(line, "$GNGGA") == 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];
+
+    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) {
+    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];
+
+    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);
+}
+
+
+// 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 data_str[20] = {0};
+    char *dataStr = data_str;
+    for (int i = 0; i < 20; i++) {
+        if (dms_str[i] == 0) {
+            break;
+        }
+        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
+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 {
+        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) {
+    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 {
+        printf("GPRMC: Not enough fields to parse struct");
+    }
+}

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

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,
+    .scl_io_num = HWI2C_SCL,
-    .sda_io_num = GPIO_NUM_8,
+    .sda_io_num = HWI2C_SDA,
-    .glitch_ignore_cnt = 7,
+    .glitch_ignore_cnt = 1,
     .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)
+// esp_err_t i2c_master_bus_detect_devices(i2c_master_bus_handle_t handle)
-{
+// {
-    const uint16_t probe_timeout_ms = 50; // timeout in milliseconds
+//     const uint16_t probe_timeout_ms = 20; // timeout in milliseconds
-    uint8_t address;
+//     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)
+//     for (int i = 0; i < 128; i += 16)
-    {
+//     {
-        printf("%02x: ", i);
+//         printf("%02x: ", i);
 
-        for (int j = 0; j < 16; j++)
+//         for (int j = 0; j < 16; j++)
-        {
+//         {
-            fflush(stdout);
+//             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)
+//             if (ret == ESP_OK)
-            {
+//             {
-                printf("%02x ", address);
+//                 printf("%02x ", address);
-            }
+//             }
-            else if (ret == ESP_ERR_TIMEOUT)
+//             else if (ret == ESP_ERR_TIMEOUT)
-            {
+//             {
-                printf("UU ");
+//                 printf("UU ");
-            }
+//             }
-            else
+//             else
-            {
+//             {
-                printf("-- ");
+//                 printf("-- ");
-            }
+//             }
-        }
+//         }
-        printf("\r\n");
+//         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.

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"
 

main/hw/ina260.c

@@ -2,25 +2,32 @@
 
 i2c_device_config_t INA260_DEV_CFG = {
     .dev_addr_length = I2C_ADDR_BIT_LEN_7,
-    .device_address = 0x40,
+    .device_address = INA260_ADDRESS,
     .scl_speed_hz = 100000,
 };
 
 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
 }
 
-void ina260_init()
+esp_err_t ina260_init()
 {
-    ESP_ERROR_CHECK(i2c_master_bus_add_device(i2c0_bus_hdl, &INA260_DEV_CFG, &INA260_DEV_HANDLE));
+    esp_err_t ret = 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
+    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)
@@ -33,11 +40,12 @@ esp_err_t i2c_master_read_register_transmit_receive(i2c_master_dev_handle_t devi
 
     // Perform the combined write (register address) and read (register value)
     ret = i2c_master_transmit_receive(INA260_DEV_HANDLE,
-                                       write_buffer, write_size,
+                                      write_buffer, write_size,
-                                       read_buffer, read_size,
+                                      read_buffer, read_size,
-                                       I2C_TIMEOUT_MS_VALUE);
+                                      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);
     }
@@ -47,29 +55,32 @@ 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)
 {
-    *volt = 0;
+    if (INA260_DEV_HANDLE)
-    *cur = 0;
-    *pow = 0;
-    for (uint8_t reg_addr = 1; reg_addr <= 3; reg_addr++)
     {
-        uint8_t reg_value[2] = {0}; // Buffer for storing register data
+        *volt = 0;
-
+        *cur = 0;
-        ESP_ERROR_CHECK(i2c_master_read_register_transmit_receive(INA260_DEV_HANDLE, reg_addr, reg_value, sizeof(reg_value)));
+        *pow = 0;
-        // Perform the register read
+        for (uint8_t reg_addr = 1; reg_addr <= 3; reg_addr++)
-        switch (reg_addr)
         {
-        case 1:
+            uint8_t reg_value[2] = {0}; // Buffer for storing register data
-            *cur = (((uint16_t)(reg_value[0] & 0xFF)) << 8) | (reg_value[1] & 0xFF);
+
-            //*cur = *((uint16_t *)reg_value);
+            ESP_ERROR_CHECK_WITHOUT_ABORT(i2c_master_read_register_transmit_receive(INA260_DEV_HANDLE, reg_addr, reg_value, sizeof(reg_value)));
-            break;
+            // Perform the register read
-        case 2:
+            switch (reg_addr)
-            *volt = (((uint16_t)(reg_value[0] & 0xFF)) << 8) | (reg_value[1] & 0xFF);
+            {
-            break;
+            case 1:
-        case 3:
+                *cur = (((uint16_t)(reg_value[0] & 0xFF)) << 8) | (reg_value[1] & 0xFF);
-            *pow = (((uint16_t)(reg_value[0] & 0xFF)) << 8) | (reg_value[1] & 0xFF);
+                //*cur = *((uint16_t *)reg_value);
-            break;
+                break;
-        default:
+            case 2:
-            break;
+                *volt = (((uint16_t)(reg_value[0] & 0xFF)) << 8) | (reg_value[1] & 0xFF);
+                break;
+            case 3:
+                *pow = (((uint16_t)(reg_value[0] & 0xFF)) << 8) | (reg_value[1] & 0xFF);
+                break;
+            default:
+                break;
+            }
         }
     }
 }
@@ -79,9 +90,7 @@ void ina260_printParams(uint16_t volt, uint16_t cur, uint16_t pow)
     float miliVolts = volt * 1.25;
     float miliAmps = cur * 1.25;
     float power = pow * 10;
-    cur *= 125;
+    ESP_LOGI(TAG_INA, "Current: %.3f mA (raw %d)", miliAmps, cur);
-    ESP_LOGI(TAG_INA, "Current: %.3f mA (raw %d)", miliAmps, volt);
+    ESP_LOGI(TAG_INA, "Voltage: %.3f mV (raw %d)", miliVolts, volt);
-    cur *= 125;
-    ESP_LOGI(TAG_INA, "Voltage: %.3f mV (raw %d)", miliVolts, cur);
     ESP_LOGI(TAG_INA, "Power: %.3f mW (raw %d)", power, pow);
 }

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_RST_BIT (1 << 15)
-#define CONFIG_AVG_MASK          (0x7 << 9)
+#define CONFIG_AVG_MASK (0x7 << 9)
-#define CONFIG_VBUSCT_MASK       (0x7 << 6)
+#define CONFIG_VBUSCT_MASK (0x7 << 6)
-#define CONFIG_ISHCT_MASK        (0x7 << 3)
+#define CONFIG_ISHCT_MASK (0x7 << 3)
-#define CONFIG_MODE_MASK         (0x7 << 0)
+#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_1 (0x0 << 9)
-#define CONFIG_AVG_4             (0x1 << 9)
+#define CONFIG_AVG_4 (0x1 << 9)
-#define CONFIG_AVG_16            (0x2 << 9)
+#define CONFIG_AVG_16 (0x2 << 9)
-#define CONFIG_AVG_64            (0x3 << 9)
+#define CONFIG_AVG_64 (0x3 << 9)
-#define CONFIG_AVG_128           (0x4 << 9)
+#define CONFIG_AVG_128 (0x4 << 9)
-#define CONFIG_AVG_256           (0x5 << 9)
+#define CONFIG_AVG_256 (0x5 << 9)
-#define CONFIG_AVG_512           (0x6 << 9)
+#define CONFIG_AVG_512 (0x6 << 9)
-#define CONFIG_AVG_1024          (0x7 << 9)
+#define CONFIG_AVG_1024 (0x7 << 9)
 
 // Bus voltage conversion time (VBUSCT)
-#define CONFIG_VBUSCT_140US      (0x0 << 6)
+#define CONFIG_VBUSCT_140US (0x0 << 6)
-#define CONFIG_VBUSCT_204US      (0x1 << 6)
+#define CONFIG_VBUSCT_204US (0x1 << 6)
-#define CONFIG_VBUSCT_332US      (0x2 << 6)
+#define CONFIG_VBUSCT_332US (0x2 << 6)
-#define CONFIG_VBUSCT_588US      (0x3 << 6)
+#define CONFIG_VBUSCT_588US (0x3 << 6)
-#define CONFIG_VBUSCT_1_1MS      (0x4 << 6)
+#define CONFIG_VBUSCT_1_1MS (0x4 << 6)
-#define CONFIG_VBUSCT_2_116MS    (0x5 << 6)
+#define CONFIG_VBUSCT_2_116MS (0x5 << 6)
-#define CONFIG_VBUSCT_4_156MS    (0x6 << 6)
+#define CONFIG_VBUSCT_4_156MS (0x6 << 6)
-#define CONFIG_VBUSCT_8_244MS    (0x7 << 6)
+#define CONFIG_VBUSCT_8_244MS (0x7 << 6)
 
 // Shunt current conversion time (ISHCT)
-#define CONFIG_ISHCT_140US       (0x0 << 3)
+#define CONFIG_ISHCT_140US (0x0 << 3)
-#define CONFIG_ISHCT_204US       (0x1 << 3)
+#define CONFIG_ISHCT_204US (0x1 << 3)
-#define CONFIG_ISHCT_332US       (0x2 << 3)
+#define CONFIG_ISHCT_332US (0x2 << 3)
-#define CONFIG_ISHCT_588US       (0x3 << 3)
+#define CONFIG_ISHCT_588US (0x3 << 3)
-#define CONFIG_ISHCT_1_1MS       (0x4 << 3)
+#define CONFIG_ISHCT_1_1MS (0x4 << 3)
-#define CONFIG_ISHCT_2_116MS     (0x5 << 3)
+#define CONFIG_ISHCT_2_116MS (0x5 << 3)
-#define CONFIG_ISHCT_4_156MS     (0x6 << 3)
+#define CONFIG_ISHCT_4_156MS (0x6 << 3)
-#define CONFIG_ISHCT_8_244MS     (0x7 << 3)
+#define CONFIG_ISHCT_8_244MS (0x7 << 3)
 
 // Operating mode (MODE)
-#define CONFIG_MODE_POWERDOWN     (0x0 << 0)
+#define CONFIG_MODE_POWERDOWN 0x00
-#define CONFIG_MODE_CURRENT_TRIGGER     (0x1 << 0)
+#define CONFIG_MODE_CURRENT_TRIGGER 0x01
-#define CONFIG_MODE_VOLTAGE_TRIGGER     (0x2 << 0)
+#define CONFIG_MODE_VOLTAGE_TRIGGER 0x02
-#define CONFIG_MODE_CURRENT_VOLTAGE_TRIGGER     (0x3 << 0)
+#define CONFIG_MODE_CURRENT_VOLTAGE_TRIGGER 0x03
-#define CONFIG_MODE_POWERDOWN2     (0x4 << 0)
+#define CONFIG_MODE_POWERDOWN2 0x04
-#define CONFIG_MODE_POWERDOWN     (0x5 << 0)
+#define CONFIG_MODE_CURRENT_CONTINOUS 0x05
-#define CONFIG_MODE_POWERDOWN     (0x6 << 0)
+#define CONFIG_MODE_VOLTAGE_CONTINOUS 0x06
-#define CONFIG_MODE_POWERDOWN     (0x7 << 0)
+#define CONFIG_MODE_CURRENT_VOLTAGE_CONTINOUS 0x07
 
-
+esp_err_t ina260_init();
-
-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

main/hw/mcp23018.c

@@ -1,9 +1,12 @@
 #include "mcp23018.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "../components/sensors.h"
 // Local buffer for tracking GPIO state
 
 i2c_device_config_t MCP23018_DEV_CFG = {
     .dev_addr_length = I2C_ADDR_BIT_LEN_7,
-    .device_address = 0x20,
+    .device_address = MCP23018_ADDRESS,
     .scl_speed_hz = 100000,
 };
 
@@ -11,8 +14,10 @@ i2c_master_dev_handle_t MCP23018_DEV_HANDLE;
 uint8_t gpioa_state = 0x00; // All LOW initially
 uint8_t gpiob_state = 0x00; // All LOW initially
 
-void mcp23018_set_pin(i2c_master_dev_handle_t dev_handle, uint8_t pin, uint8_t value)
+esp_err_t mcp23018_set_pin(i2c_master_dev_handle_t dev_handle, uint8_t pin, uint8_t value)
 {
+    ESP_LOGI(TAG_MCP, "Setting %d to %d", pin, value);
+    esp_err_t ret = ESP_FAIL;
     if (pin < 8)
     {
         // GPIOA (Pins 0-7)
@@ -22,7 +27,7 @@ void mcp23018_set_pin(i2c_master_dev_handle_t dev_handle, uint8_t pin, uint8_t v
             gpioa_state &= ~(1 << pin); // Clear bit
 
         // Write updated buffer to MCP23018
-        i2c_write_register_8(dev_handle, MCP23018_GPIOA, gpioa_state);
+        ret = i2c_write_register_8(dev_handle, MCP23018_GPIOA, gpioa_state);
     }
     else if (pin < 16)
     {
@@ -34,18 +39,28 @@ void mcp23018_set_pin(i2c_master_dev_handle_t dev_handle, uint8_t pin, uint8_t v
             gpiob_state &= ~(1 << pinB); // Clear bit
 
         // Write updated buffer to MCP23018
-        i2c_write_register_8(dev_handle, MCP23018_GPIOB, gpiob_state);
+        ret = i2c_write_register_8(dev_handle, MCP23018_GPIOB, gpiob_state);
     }
+    vTaskDelay(1 / portTICK_PERIOD_MS);
+    return ret;
 }
 
-void mcp23018_init()
+esp_err_t mcp23018_init()
 {
-    ESP_ERROR_CHECK(i2c_master_bus_add_device(i2c0_bus_hdl, &MCP23018_DEV_CFG, &MCP23018_DEV_HANDLE));
+    esp_err_t ret = i2c_master_bus_add_device(i2c0_bus_hdl, &MCP23018_DEV_CFG, &MCP23018_DEV_HANDLE);
+    if (ret != ESP_OK) {return ret;}
     i2c_write_register_8(MCP23018_DEV_HANDLE, MCP23018_IODIRA, gpioa_state);
+    if (ret != ESP_OK) {return ret;}
     i2c_write_register_8(MCP23018_DEV_HANDLE, MCP23018_IODIRB, gpiob_state);
+    if (ret != ESP_OK) {return ret;}
     mcp23018_set_pin(MCP23018_DEV_HANDLE, MCP_CS_ADC_CO, 1);
+    if (ret != ESP_OK) {return ret;}
     mcp23018_set_pin(MCP23018_DEV_HANDLE, MCP_CS_ADC_NH3, 1);
+    if (ret != ESP_OK) {return ret;}
     mcp23018_set_pin(MCP23018_DEV_HANDLE, MCP_CS_ADC_NO2, 1);
+    if (ret != ESP_OK) {return ret;}
     mcp23018_set_pin(MCP23018_DEV_HANDLE, MCP_CS_ADC_UVC, 1);
+    if (ret != ESP_OK) {return ret;}
     mcp23018_set_pin(MCP23018_DEV_HANDLE, MCP_LORA_RST, 1);
+    return ret;
 }

main/hw/mcp23018.h

@@ -7,6 +7,7 @@
 #define MCP23018_GPIOA   0x12  // GPIO Output A
 #define MCP23018_GPIOB   0x13  // GPIO Output B
 
+
 #define MCP_LORA_RST 4
 #define MCP_MICS_POWER 5
 #define MCP_CCS811_WAKE 6
@@ -25,7 +26,7 @@ extern i2c_master_dev_handle_t MCP23018_DEV_HANDLE;
 extern uint8_t gpioa_state;
 extern uint8_t gpiob_state;
 
-void mcp23018_set_pin(i2c_master_dev_handle_t dev_handle, uint8_t pin, uint8_t value);
+esp_err_t mcp23018_set_pin(i2c_master_dev_handle_t dev_handle, uint8_t pin, uint8_t value);
-void mcp23018_init();
+esp_err_t mcp23018_init();
 
 #endif

main/hw/mcp3550.c

@@ -0,0 +1,212 @@
+#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_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);
+}
+
+
+// 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
+//         vTaskDelay(pdMS_TO_TICKS(30)); // Wait before retrying
+//         mcp23018_set_pin(MCP23018_DEV_HANDLE, cs_pin, 1); // CS HIGH
+
+//         vTaskDelay(pdMS_TO_TICKS(200)); // Wait before retrying
+
+//         mcp23018_set_pin(MCP23018_DEV_HANDLE, cs_pin, 0); // CS LOW
+//         esp_rom_delay_us(1000); // Wait before retrying
+
+//         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;
+// }
+
+// int32_t mcp3550_read(uint8_t cs_pin)
+// {
+//     uint8_t rx_buf[4] = {0};
+//     uint32_t timeout_us = MCP3550_TIMEOUT_MS * 1000;
+//     int64_t start = esp_timer_get_time();
+
+//     // Start conversion
+//     mcp23018_set_pin(MCP23018_DEV_HANDLE, cs_pin, 0); // CS LOW
+
+//     // Wait until MISO/SDO goes LOW = DR ready
+//     while (gpio_get_level(MCP3550_MISO_GPIO)) {
+//         if ((esp_timer_get_time() - start) > timeout_us) {
+//             ESP_LOGW(TAG_MICS, "Timeout waiting for MISO=0 on CS %u", cs_pin);
+//             mcp23018_set_pin(MCP23018_DEV_HANDLE, cs_pin, 1); // CS HIGH
+//             return INT32_MIN;
+//         }
+//         esp_rom_delay_us(10); // micro delay
+//     }
+
+//     // Data is ready, do full SPI read
+//     spi_transaction_t trans = {
+//         .length = 25,  // 25 bits
+//         .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 to start next conversion
+
+//     if (err != ESP_OK) {
+//         ESP_LOGE(TAG_MICS, "SPI transmit failed");
+//         return INT32_MIN;
+//     }
+
+//     // Extract 22-bit result
+//     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;
+// }
+
+int32_t mcp3550_read(uint8_t cs_pin)
+{
+    uint32_t data = 0;
+    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) {
+            ESP_LOGW(TAG_MICS, "Timeout waiting for MISO=0 on CS %u", cs_pin);
+            mcp23018_set_pin(MCP23018_DEV_HANDLE, cs_pin, 1); // CS HIGH
+            return INT32_MIN;
+        }
+        vTaskDelay(pdMS_TO_TICKS(10)); // Wait 1 tick (e.g., 1ms)
+    }
+
+    // Clock out 25 bits
+    for (int i = 0; i < 25; i++) {
+        gpio_set_level(MCP3550_SCK_GPIO, 1);
+        esp_rom_delay_us(5); // small delay to simulate clock high
+        data = (data << 1) | gpio_get_level(MCP3550_MISO_GPIO);
+        gpio_set_level(MCP3550_SCK_GPIO, 0);
+        esp_rom_delay_us(5); // small delay to simulate clock low
+    }
+
+    mcp23018_set_pin(MCP23018_DEV_HANDLE, cs_pin, 1); // CS HIGH
+
+    // Extract 22-bit value (bits [23:2])
+    uint32_t raw = (data >> 2) & 0x3FFFFF;
+
+    // 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: %ld, Voltage: %f V\n"
+             "  CO   -> Raw: %ld, Voltage: %f V\n"
+             "  NO2  -> Raw: %ld, Voltage: %f V\n"
+             "  UVC  -> Raw: %ld, Voltage: %f 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);
+}

main/hw/mcp3550.h

@@ -0,0 +1,36 @@
+#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 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

main/hw/mpu9250.c

@@ -1,14 +1,17 @@
 #include "mpu9250.h"
+#include "esp_timer.h"
 
 i2c_device_config_t MPU9250_DEV_CFG = {
     .dev_addr_length = I2C_ADDR_BIT_LEN_7,
-    .device_address = 0x68,
+    .device_address = MPU9250_ADDRESS,
     .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[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[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
+    accel[2] = (((uint16_t)(buffer[4] & 0xFF)) << 8) | (buffer[5] & 0xFF); // Accel Z
-    *temp = (((uint16_t)(buffer[6] & 0xFF)) << 8) | (buffer[7] & 0xFF);     // Temperature
+    *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[0] = (((uint16_t)(buffer[8] & 0xFF)) << 8) | (buffer[9] & 0xFF);
-    gyro[1] = (((uint16_t)(buffer[10] & 0xFF)) << 8) | (buffer[11] & 0xFF);; // Gyro Y
+    ; // Gyro X
-    gyro[2] = (((uint16_t)(buffer[12] & 0xFF)) << 8) | (buffer[13] & 0xFF);; // Gyro Z
+    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 +50,19 @@ 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() {
+esp_err_t 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
+    esp_err_t ret = i2c_master_bus_add_device(i2c0_bus_hdl, &MPU9250_DEV_CFG, &MPU9250_DEV_HANDLE);
+    if (ret != ESP_OK) {return ret;}
+    ret = i2c_write_register_16(MPU9250_DEV_HANDLE, 0x6B, 0x0001); // zapni uz tu hovadinu
+    if (ret != ESP_OK) {return ret;}
+    ret = i2c_write_register_16(MPU9250_DEV_HANDLE, 0x0A, 0x0012); // zapni uz tu hovadinu
+    return ret;
 }

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);
+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, 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);
-void mpu9250_init();
+esp_err_t mpu9250_init();
 
 #endif

main/hw/sx1262.c

@@ -4,23 +4,21 @@
 #include <math.h>
 #include <stdlib.h>
 
+#include "../components/sensors.h"
+
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
 
 #include <driver/spi_master.h>
 #include <driver/gpio.h>
 #include "esp_log.h"
+#include "buscfg.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
 
 static spi_device_handle_t SpiHandle;
 
@@ -30,10 +28,7 @@ static bool txActive;
 static int txLost = 0;
 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)
@@ -55,20 +50,14 @@ __attribute__ ((weak, alias ("LoRaErrorDefault"))) void LoRaError(int error);
 
 void LoRaInit(void)
 {
-	ESP_LOGI(TAG, "CONFIG_MISO_GPIO=%d", CONFIG_MISO_GPIO);
+	ESP_LOGI(TAG, "HSPI_MISO_GPIO=%d", HSPI_MISO_GPIO);
-	ESP_LOGI(TAG, "CONFIG_MOSI_GPIO=%d", CONFIG_MOSI_GPIO);
+	ESP_LOGI(TAG, "HSPI_MOSI_GPIO=%d", HSPI_MOSI_GPIO);
-	ESP_LOGI(TAG, "CONFIG_SCLK_GPIO=%d", CONFIG_SCLK_GPIO);
+	ESP_LOGI(TAG, "HSPI_SCK_GPIO=%d", HSPI_SCK_GPIO);
-	ESP_LOGI(TAG, "CONFIG_NSS_GPIO=%d", CONFIG_NSS_GPIO);
+	ESP_LOGI(TAG, "HSPI_LORA_CS=%d", HSPI_LORA_CS);
-	ESP_LOGI(TAG, "CONFIG_RST_GPIO=%d", CONFIG_RST_GPIO);
+	ESP_LOGI(TAG, "LORA_BUSY=%d", LORA_BUSY);
-	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_SPI_SELECT = HSPI_LORA_CS;
-	SX126x_RESET = CONFIG_RST_GPIO;
+	SX126x_BUSY	= LORA_BUSY;
-	SX126x_BUSY	= CONFIG_BUSY_GPIO;
-	SX126x_TXEN	= CONFIG_TXEN_GPIO;
-	SX126x_RXEN	= CONFIG_RXEN_GPIO;
 	
 	txActive = false;
 	debugPrint = false;
@@ -77,39 +66,22 @@ void LoRaInit(void)
 	gpio_set_direction(SX126x_SPI_SELECT, GPIO_MODE_OUTPUT);
 	gpio_set_level(SX126x_SPI_SELECT, 1);
 	
-	gpio_reset_pin(SX126x_RESET);
-	gpio_set_direction(SX126x_RESET, GPIO_MODE_OUTPUT);
-	
 	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,
+		.sclk_io_num = HSPI_SCK_GPIO,
-		.mosi_io_num = CONFIG_MOSI_GPIO,
+		.mosi_io_num = HSPI_MOSI_GPIO,
-		.miso_io_num = CONFIG_MISO_GPIO,
+		.miso_io_num = HSPI_MISO_GPIO,
 		.quadwp_io_num = -1,
 		.quadhd_io_num = -1
 	};
 
 	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,
-		.spics_io_num = CONFIG_NSS_GPIO,
+		.spics_io_num = HSPI_LORA_CS,
 		.queue_size = 7,
 		.flags = 0,
 		.pre_cb = NULL
@@ -290,6 +262,8 @@ void LoRaConfig(uint8_t spreadingFactor, uint8_t bandwidth, uint8_t codingRate,
 		SX126X_IRQ_NONE //interrupts on DIO3
 	);
 
+
+	ESP_LOGI(TAG, "Almost done setting LoRa");
 	// Receive state no receive timeoout
 	SetRx(0xFFFFFF);
 }
@@ -417,9 +391,9 @@ void SetTxPower(int8_t txPowerInDbm)
 void Reset(void)
 {
 	delay(10);
-	gpio_set_level(SX126x_RESET,0);
+	mcp23018_set_pin(MCP23018_DEV_HANDLE, MCP_LORA_RST, 0);
 	delay(20);
-	gpio_set_level(SX126x_RESET,1);
+	mcp23018_set_pin(MCP23018_DEV_HANDLE, MCP_LORA_RST, 1);
 	delay(10);
 	// ensure BUSY is low (state meachine ready)
 	WaitForIdle(BUSY_WAIT, "Reset", true);
@@ -705,7 +679,6 @@ 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 +696,12 @@ 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 +726,6 @@ 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;

main/hw/sx1262.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();

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 +24,79 @@
 #include "hw/ina260.h"
 #include "hw/mcp23018.h"
 #include "hw/mpu9250.h"
+#include "hw/buscfg.h"
+#include "components/sdcard.h"
+
+#include "hw/gps.h"
 
 #define TAG "cantest"
 
-
-#define CONFIG_FREERTOS_HZ 100
-
-
 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_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,
+        .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_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");
 
     /* 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)
     {

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_WITHOUT_ABORT( 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_WITHOUT_ABORT( 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_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_WITHOUT_ABORT( 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_WITHOUT_ABORT( 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_WITHOUT_ABORT( 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_WITHOUT_ABORT( 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, 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_WITHOUT_ABORT( 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_WITHOUT_ABORT( 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_WITHOUT_ABORT( 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_WITHOUT_ABORT( 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_WITHOUT_ABORT( 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_WITHOUT_ABORT( 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_WITHOUT_ABORT( 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_WITHOUT_ABORT( 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_WITHOUT_ABORT( 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_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_WITHOUT_ABORT( 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_WITHOUT_ABORT( 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, 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_WITHOUT_ABORT( 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, 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;
 
     /*
@@ -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);
 

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.
  */