git bug

fix bugs
concept for config edit form
2025-08-14 21:05:47 +02:00 · 2025-08-14 20:51:28 +02:00 · 2025-08-14 17:14:39 +00:00 · 2025-07-03 20:56:59 +02:00 · 2025-07-03 20:56:43 +02:00 · 2025-07-03 20:55:37 +02:00
27 changed files with 1706 additions and 522 deletions
--- a/.gitignore
+++ b/.gitignore
@@ -1,2 +1,3 @@
 /.vscode
-build
+build
+.cache
--- a/commander.html
+++ b/commander.html
@@ -25,6 +25,22 @@
         padding: calc(50vh - 150px) 50px;
         height: 200px;
      }
+      .btn {
+         padding: 5px 10px;
+         cursor: pointer;
+         display: inline-block;
+      }
+      #edit_config {
+         position: absolute;
+         background-color: var(--background-second);
+         top: 0;
+         left: 0;
+         right: 0;
+         /* height: 100%; */
+      }
+      #edit_config form {
+         margin: 40px auto;
+      }
   </style>
 </head>
 <body>
@@ -33,8 +49,47 @@
      <button id="login">login</button>
   </div>
   <main>
-      <div id="boatjes"></div>
-      <div id="clients"></div>
+      <div id="refresh" class="btn">
+         <svg xmlns="http://www.w3.org/2000/svg" width="16" height="16" fill="currentColor" class="bi bi-arrow-clockwise" viewBox="0 0 16 16">
+            <path fill-rule="evenodd" d="M8 3a5 5 0 1 0 4.546 2.914.5.5 0 0 1 .908-.417A6 6 0 1 1 8 2z"/>
+            <path d="M8 4.466V.534a.25.25 0 0 1 .41-.192l2.36 1.966c.12.1.12.284 0 .384L8.41 4.658A.25.25 0 0 1 8 4.466"/>
+          </svg>
+      </div>
+      <table>
+         <thead>
+            <caption>bootjes</caption>
+            <tr>
+               <th>id</th>
+               <th>naam</th>
+               <th>status</th>
+            </tr>
+         </thead>
+         <tbody id="boatjes"></tbody>
+      </table>
+      <table>
+         <thead>
+            <caption>clients</caption>
+            <tr>
+               <th>id</th>
+               <th>boat</th>
+               <th>status</th>
+            </tr>
+         </thead>
+         <tbody id="clients"></tbody>
+      </table>
+      <div id="edit_config" style="display:none">
+         <form>
+            <input type="hidden" name="boart" />
+            name: <input type="text" name="name" id="edit_name" /><br/>
+            stuur trim max: <input type="range" name="ch0_max" id="edit_ch0_max" max="8192" min="4096" /><br/>
+            stuur trim mid: <input type="range" name="ch0_mid" id="edit_ch0_mid" max="8192" min="0" /><br/>
+            stuur trim min: <input type="range" name="ch0_min" id="edit_ch0_min" max="4096" min="0" /><br/>
+            motor trim max: <input type="range" name="ch1_max" id="edit_ch1_max" max="8192" min="4096" /><br/>
+            motor trim mid: <input type="range" name="ch1_mid" id="edit_ch1_mid" max="8192" min="0" /><br/>
+            motor trim min: <input type="range" name="ch1_min" id="edit_ch1_min" max="4096" min="0" /><br/>
+            <button class="btn" onclick="updateConfig()">toepassen</button> <button class="btn" onclick="document.getElementById('edit_config').style.display = 'none'">anulleren</button>
+         </form>
+      </div>
   </main>
   <script>
      const passEl = document.getElementById('pass');
@@ -42,16 +97,26 @@
      const boatjesEl = document.getElementById('boatjes');
      const clientsEl = document.getElementById('clients');

-      // const serverURL = 'ws://10.254.0.1:8080/';
-      const serverURL = 'ws://localhost:8080/';
+      const kickIcon = "<svg xmlns=\"http://www.w3.org/2000/svg\" width=\"16\" height=\"16\" fill=\"currentColor\" class=\"bi bi-hand-thumbs-down\" viewBox=\"0 0 16 16\"><path d=\"M8.864 15.674c-.956.24-1.843-.484-1.908-1.42-.072-1.05-.23-2.015-.428-2.59-.125-.36-.479-1.012-1.04-1.638-.557-.624-1.282-1.179-2.131-1.41C2.685 8.432 2 7.85 2 7V3c0-.845.682-1.464 1.448-1.546 1.07-.113 1.564-.415 2.068-.723l.048-.029c.272-.166.578-.349.97-.484C6.931.08 7.395 0 8 0h3.5c.937 0 1.599.478 1.934 1.064.164.287.254.607.254.913 0 .152-.023.312-.077.464.201.262.38.577.488.9.11.33.172.762.004 1.15.069.13.12.268.159.403.077.27.113.567.113.856s-.036.586-.113.856c-.035.12-.08.244-.138.363.394.571.418 1.2.234 1.733-.206.592-.682 1.1-1.2 1.272-.847.283-1.803.276-2.516.211a10 10 0 0 1-.443-.05 9.36 9.36 0 0 1-.062 4.51c-.138.508-.55.848-1.012.964zM11.5 1H8c-.51 0-.863.068-1.14.163-.281.097-.506.229-.776.393l-.04.025c-.555.338-1.198.73-2.49.868-.333.035-.554.29-.554.55V7c0 .255.226.543.62.65 1.095.3 1.977.997 2.614 1.709.635.71 1.064 1.475 1.238 1.977.243.7.407 1.768.482 2.85.025.362.36.595.667.518l.262-.065c.16-.04.258-.144.288-.255a8.34 8.34 0 0 0-.145-4.726.5.5 0 0 1 .595-.643h.003l.014.004.058.013a9 9 0 0 0 1.036.157c.663.06 1.457.054 2.11-.163.175-.059.45-.301.57-.651.107-.308.087-.67-.266-1.021L12.793 7l.353-.354c.043-.042.105-.14.154-.315.048-.167.075-.37.075-.581s-.027-.414-.075-.581c-.05-.174-.111-.273-.154-.315l-.353-.354.353-.354c.047-.047.109-.176.005-.488a2.2 2.2 0 0 0-.505-.804l-.353-.354.353-.354c.006-.005.041-.05.041-.17a.9.9 0 0 0-.121-.415C12.4 1.272 12.063 1 11.5 1\"/></svg>"
+      const banIcon = "<svg xmlns=\"http://www.w3.org/2000/svg\" width=\"16\" height=\"16\" fill=\"currentColor\" class=\"bi bi-slash-circle\" viewBox=\"0 0 16 16\"><path d=\"M8 15A7 7 0 1 1 8 1a7 7 0 0 1 0 14m0 1A8 8 0 1 0 8 0a8 8 0 0 0 0 16\"/><path d=\"M11.354 4.646a.5.5 0 0 0-.708 0l-6 6a.5.5 0 0 0 .708.708l6-6a.5.5 0 0 0 0-.708\"/></svg>";
+      const openIcon = "<svg xmlns=\"http://www.w3.org/2000/svg\" width=\"16\" height=\"16\" fill=\"currentColor\" class=\"bi bi-key\" viewBox=\"0 0 16 16\"><path d=\"M0 8a4 4 0 0 1 7.465-2H14a.5.5 0 0 1 .354.146l1.5 1.5a.5.5 0 0 1 0 .708l-1.5 1.5a.5.5 0 0 1-.708 0L13 9.207l-.646.647a.5.5 0 0 1-.708 0L11 9.207l-.646.647a.5.5 0 0 1-.708 0L9 9.207l-.646.647A.5.5 0 0 1 8 10h-.535A4 4 0 0 1 0 8m4-3a3 3 0 1 0 2.712 4.285A.5.5 0 0 1 7.163 9h.63l.853-.854a.5.5 0 0 1 .708 0l.646.647.646-.647a.5.5 0 0 1 .708 0l.646.647.646-.647a.5.5 0 0 1 .708 0l.646.647.793-.793-1-1h-6.63a.5.5 0 0 1-.451-.285A3 3 0 0 0 4 5\"/><path d=\"M4 8a1 1 0 1 1-2 0 1 1 0 0 1 2 0\"/></svg>";
+      const lockIcon = "<svg xmlns=\"http://www.w3.org/2000/svg\" width=\"16\" height=\"16\" fill=\"currentColor\" class=\"bi bi-lock\" viewBox=\"0 0 16 16\"><path d=\"M8 1a2 2 0 0 1 2 2v4H6V3a2 2 0 0 1 2-2m3 6V3a3 3 0 0 0-6 0v4a2 2 0 0 0-2 2v5a2 2 0 0 0 2 2h6a2 2 0 0 0 2-2V9a2 2 0 0 0-2-2M5 8h6a1 1 0 0 1 1 1v5a1 1 0 0 1-1 1H5a1 1 0 0 1-1-1V9a1 1 0 0 1 1-1\"/></svg>";
+      const freeIcon = "<svg xmlns=\"http://www.w3.org/2000/svg\" width=\"16\" height=\"16\" fill=\"currentColor\" class=\"bi bi-calendar-event\" viewBox=\"0 0 16 16\"><path d=\"M11 6.5a.5.5 0 0 1 .5-.5h1a.5.5 0 0 1 .5.5v1a.5.5 0 0 1-.5.5h-1a.5.5 0 0 1-.5-.5z\"/><path d=\"M3.5 0a.5.5 0 0 1 .5.5V1h8V.5a.5.5 0 0 1 1 0V1h1a2 2 0 0 1 2 2v11a2 2 0 0 1-2 2H2a2 2 0 0 1-2-2V3a2 2 0 0 1 2-2h1V.5a.5.5 0 0 1 .5-.5M1 4v10a1 1 0 0 0 1 1h12a1 1 0 0 0 1-1V4z\"/></svg>"
+      const logIcon = "<svg xmlns=\"http://www.w3.org/2000/svg\" width=\"16\" height=\"16\" fill=\"currentColor\" class=\"bi bi-list-check\" viewBox=\"0 0 16 16\">  <path fill-rule=\"evenodd\" d=\"M5 11.5a.5.5 0 0 1 .5-.5h9a.5.5 0 0 1 0 1h-9a.5.5 0 0 1-.5-.5m0-4a.5.5 0 0 1 .5-.5h9a.5.5 0 0 1 0 1h-9a.5.5 0 0 1-.5-.5m0-4a.5.5 0 0 1 .5-.5h9a.5.5 0 0 1 0 1h-9a.5.5 0 0 1-.5-.5M3.854 2.146a.5.5 0 0 1 0 .708l-1.5 1.5a.5.5 0 0 1-.708 0l-.5-.5a.5.5 0 1 1 .708-.708L2 3.293l1.146-1.147a.5.5 0 0 1 .708 0m0 4a.5.5 0 0 1 0 .708l-1.5 1.5a.5.5 0 0 1-.708 0l-.5-.5a.5.5 0 1 1 .708-.708L2 7.293l1.146-1.147a.5.5 0 0 1 .708 0m0 4a.5.5 0 0 1 0 .708l-1.5 1.5a.5.5 0 0 1-.708 0l-.5-.5a.5.5 0 0 1 .708-.708l.146.147 1.146-1.147a.5.5 0 0 1 .708 0\"/></svg>"

-      var conn = new WebSocket(serverURL, ['mbcRcRf']);

-      loginEl.addEventListener('click', login)
+      const serverURL = 'ws://10.254.0.1:8080/';
+
+      var conn = false;
+      var boats = [];
+      var boatsLocked = [];
+
+      loginEl.addEventListener('click', login);
+      document.getElementById('refresh').addEventListener('click', refreshAll);

      function login(e)
      {
-         conn.close();
+         if (conn) conn.close();
         conn = new WebSocket(serverURL, ['mbcRcRf']);
         conn.addEventListener('open', onOpen);
         conn.addEventListener('message', onMessage);
@@ -59,7 +124,15 @@

      function onOpen(e)
      {
-         conn.send(passEl.value);
+         conn.send(passEl.value + ";4675;" + Math.floor(new Date().getTime()/1000.0));
+         refreshAll()
+      }
+
+      function refreshAll()
+      {
+         reqBoats();
+         reqLockedBoats();
+         reqClients();
      }

      function onMessage(e)
@@ -72,7 +145,16 @@
         switch (data)
         {
            case 'boats':
+               boatjesEl.innerHTML = "";
               addBoats(msg);
+               addBoats(boatsLocked);
+               boats = msg;
+               break;
+            case 'lockedBoats':
+               boatjesEl.innerHTML = "";
+               addBoats(boats);
+               addBoats(msg);
+               boatsLocked = msg;
               passEl.parentElement.style.display = 'none';
               break;
            case 'clients':
@@ -84,13 +166,69 @@
         }
      }

+      function getDataFomEl(el)
+      {
+         while (el.tagName != "BODY" && el.dataset['id'] == null)
+         {
+            el = el.parentElement;
+         }
+         return el.dataset;
+      }
+
+      function kickClient(e)
+      {
+         let client = getDataFomEl(e.target);
+         console.log("kickClient", client);
+         conn.send(passEl.value + ";kick;" + client['id']);
+      }
+
+      function freeBoat(e)
+      {
+         let boat = getDataFomEl(e.target);
+         console.log("unlockBoat", boat);
+         conn.send(passEl.value + ";free;" + boat['id']);
+      }
+
+      function lockBoat(e)
+      {
+         let boat = getDataFomEl(e.target);
+         console.log("lockBoat", boat);
+         conn.send(passEl.value + ";lock;" + boat['id']);
+      }
+
+      function getBoatLog(e)
+      {
+         // let cmd = prompt("enter command");
+         let boat = getDataFomEl(e.target);
+         // console.log("send cmd", boat, cmd);
+         // conn.send(passEl.value + ";sendcmd;" + boat['id'] + ";" + cmd);
+
+         conn.send(passEl.value + ";sendcmd;" + boat['id'] + ";servotrim:0");
+         conn.send(passEl.value + ";sendcmd;" + boat['id'] + ";servotrim:1");
+
+      }
+
      function reqBoats()
      {
         conn.send(passEl.value + ";boats");
      }

+      function reqLockedBoats()
+      {
+         conn.send(passEl.value + ";locked");
+      }
+
+      function reqClients()
+      {
+         conn.send(passEl.value + ";clients");
+      }
+
      function addBoats(boats)
      {
+         if (boats == "")
+         {
+            return;
+         }
         boats = boats.split(':');
         for (let boat in boats)
         {
@@ -106,12 +244,43 @@
         boat = boat.split(';')
         if (boat.length == 3)
         {
-            let boatEl = document.createElement("div");
-            boatEl.className = "boat";
-            boatEl.dataset['id'] = boat[0];
-            boatEl.dataset['availible'] = boat[2];
-            boatEl.innerText = boat[1];
-            boatjesEl.append(boatEl);
+            let boatRow = document.createElement("tr");
+            boatRow.className = "boat";
+            boatRow.dataset['id'] = boat[0];
+            boatRow.dataset['name'] = boat[1];
+            boatRow.dataset['state'] = boat[2];
+            let boatCells = [
+               document.createElement("td"),
+               document.createElement("td"),
+               document.createElement("td"),
+               document.createElement("td")
+            ]
+            boatCells[0].innerText = boat[0];
+            boatCells[1].innerText = boat[1];
+            boatCells[2].innerText = boat[2];
+            let lockBtn = document.createElement("div");
+            lockBtn.className = "btn";
+            lockBtn.innerHTML = lockIcon;
+            lockBtn.ariaLabel = "lock";
+            lockBtn.addEventListener('click', lockBoat);
+            boatCells[3].append(lockBtn);
+            let freeBtn = document.createElement("div");
+            freeBtn.className = "btn";
+            freeBtn.innerHTML = freeIcon;
+            lockBtn.ariaLabel = "free";
+            freeBtn.addEventListener('click', freeBoat);
+            boatCells[3].append(freeBtn);
+            let logBtn = document.createElement("div");
+            logBtn.className = "btn";
+            logBtn.innerHTML = logIcon;
+            lockBtn.ariaLabel = "view log";
+            logBtn.addEventListener('click', getBoatLog);
+            boatCells[3].append(logBtn);
+            for (cell in boatCells)
+            {
+               boatRow.append(boatCells[cell]);
+            }
+            boatjesEl.append(boatRow);
         }
         else
         {
@@ -121,6 +290,7 @@

      function addClients(clients)
      {
+         clientsEl.innerHTML = "";
         clients = clients.split(':');
         for (let client in clients)
         {
@@ -134,19 +304,38 @@
      function addClient(client)
      {
         client = client.split(';')
-         if (client.length == 2)
+         if (client.length == 3)
         {
-            let clientEl = document.createElement("div");
-            clientEl.className = "client";
-            clientEl.dataset['id'] = client[0];
-            clientEl.innerText = client[0] + " controlls " + client[1];
-            clientsEl.append(clientEl);
+            let clientRow = document.createElement("tr");
+            clientRow.className = "client";
+            clientRow.dataset['id'] = client[0];
+            clientRow.dataset['boat'] = client[1];
+            clientRow.dataset['state'] = client[2];
+            let clientCells = [
+               document.createElement("td"),
+               document.createElement("td"),
+               document.createElement("td"),
+               document.createElement("td")
+            ]
+            clientCells[0].innerText = client[0];
+            clientCells[1].innerText = client[1];
+            clientCells[2].innerText = client[2];
+            let kickBtn = document.createElement("div");
+            kickBtn.className = "btn";
+            kickBtn.innerHTML = kickIcon;
+            kickBtn.addEventListener('click', kickClient);
+            clientCells[3].append(kickBtn);
+            for (cell in clientCells)
+            {
+               clientRow.append(clientCells[cell]);
+            }
+            clientsEl.append(clientRow);
         }
         else
         {
-            console.warn("addBoat(): incorect number of args (" + client.length.toString() + "; " + client.toString() + ")");
+            console.warn("addClient(): incorect number of args (" + client.length.toString() + "; " + client.toString() + ")");
         }
      }
   </script>
 </body>
-</html>
+</html>
--- a/ground-station.py
+++ b/ground-station.py
@@ -1,179 +1,280 @@
 #!/usr/bin/env python

 import asyncio
+import websockets
 from websockets.server import serve
+from datetime import datetime
+import json

-adminId = "1234"
+ADMIN_ID = "1234"
+BOAT_DATA_INTERVAL_MAX = 0.1 # seconds

-BOAT_STATE_INCTRL = 1
-BOAT_STATE_AVAILABLE = 0
-BOAT_STATE_LOCKED = -1
+BOAT_STATE_INCTRL = 2
+BOAT_STATE_AVAILABLE = 1
+BOAT_STATE_LOCKED = 0
+BOAT_STATE_TERMINATED = -1
+BOAT_STATE_DELETE = -2

-boats = []
-clients = []
+Boats = []
+Clients = []

-def onCMD(data):
-    global boats, adminId
-    print("command:" + str(data))
-    if (len(data) != 4):
-        return
-    if (data[1] != adminId):
-        return
-    boot = int(data[2])
-    if (boot >= 0 and boot <= 3):
-        boats[boot] = data[3]
-    print(boats)
+def client_disconnect(client):
+    if client['state'] != 'kicked':
+        client['state'] = 'del'
+    if client['boat'] is not None:
+        client['boat']['state'] = BOAT_STATE_AVAILABLE
+        client['boat'] = None
+    for i, cli in enumerate(Clients):
+        if cli['state'] == 'del':
+            del Clients[i]

-def sendData(data):
-    global boats
-    print("data to send: " + str(data))
+def boat_disconnect(boat):
+    boat['state'] = BOAT_STATE_DELETE
+    for i, cli in enumerate(Boats):
+        if cli['state'] == BOAT_STATE_DELETE:
+            del Boats[i]

-async def echoBoats(client):
-    global boats
+async def sendToClient(client, msg):
+    try:
+        await client['ws'].send(msg)
+    except websockets.exceptions.ConnectionClosed:
+        client_disconnect(client)
+
+async def sendToBoat(boat, cmd):
+    boat['log'].append({"t": datetime.timestamp(datetime.now()), "type": "tx", "msg": cmd})
+    await boat['ws'].send(cmd)
+
+async def echo_boats(client):
+    """echo list of all not locked boats to client"""
    data = "boats:"
-    for boat in boats:
-        if (boat['state'] != BOAT_STATE_LOCKED):
-            data += str(boat['id']) + ";" + str(boat['name']) + ";"
-            if (boat["state"] == BOAT_STATE_AVAILABLE):
-                data += 'available:'
-            elif (boat["state"] == BOAT_STATE_INCTRL):
-                data += 'inctrl:'
-    await client['ws'].send(data)
+    if client['state'] != "kicked":
+        for boat in Boats:
+            if boat['state'] != BOAT_STATE_LOCKED and boat['state'] != BOAT_STATE_TERMINATED:
+                data += str(boat['id']) + ";" + str(boat['name']) + ";"
+                if boat["state"] == BOAT_STATE_AVAILABLE:
+                    data += 'available:'
+                elif boat["state"] == BOAT_STATE_INCTRL:
+                    data += 'inctrl:'
+    await sendToClient(client, data)

-async def echoLockedBoats(client):
-    global boats
-    if (client['id'] == adminId):
+async def echo_locked_boats(client):
+    """echo list of all locked boats to client"""
+    if client['id'] == ADMIN_ID:
        data = "lockedBoats:"
-        for boat in boats:
-            if (boat['state'] == BOAT_STATE_LOCKED):
+        for boat in Boats:
+            if boat['state'] == BOAT_STATE_LOCKED:
                data += str(boat['id']) + ";" + str(boat['name']) + ";locked:"
-        await client['ws'].send(data + '\n')
+        await sendToClient(client, data)

-async def echoClients(client):
-    global clients
-    if (client['id'] == adminId):
+async def echo_clients(client):
+    """echo list of all clients to client"""
+    if client['id'] == ADMIN_ID:
        data = "clients:"
-        for client in clients:
-            data += str(client['id']) + ";" + str(client['boat']) + ";" + str(client['state']) + ":"
-        await client['ws'].send(data + '\n')
+        for clie in Clients:
+            clientId = clie['id']
+            if (clie['id'] == ADMIN_ID):
+                clientId = "admin"
+            boatId = "----"
+            if (clie['boat'] is not None):
+                boatId = clie['boat']['id']
+            data += clientId + ";" + boatId + ";" + str(clie['state']) + ":"
+        await sendToClient(client, data)

-async def takeControll(client, boat):
-    global boats
-    if (client['boat'] is not None):
-        boat["state"] = BOAT_STATE_AVAILABLE
+async def take_controll(client, boat):
+    """let a client take controll a boat"""
+    if client['boat'] is not None:
+        client['boat']["state"] = BOAT_STATE_AVAILABLE
        client["boat"] = None
-    for b in boats:
-        if (b['id'] == int(boat)):
-            if (boat['state'] == BOAT_STATE_AVAILABLE):
-                boat["state"] = BOAT_STATE_INCTRL
-                print("take controll: " + str(client["id"]) + " -> " + boat["name"])
+    for b in Boats:
+        if b['id'] == boat and b['state'] != BOAT_STATE_TERMINATED:
+            if b['state'] == BOAT_STATE_AVAILABLE:
+                b["state"] = BOAT_STATE_INCTRL
+                print("take controll: " + str(client["id"]) + " -> " + b["name"])
                client["boat"] = b
+                await sendToClient(client, "OK")
                return
            else:
-                print("WARN: takeControll: " + boat["name"] + " not available (" + str(client["id"]) + ")")
                break
+    await sendToClient(client, "FAIL")

-async def freeBoat(boat):
-    global boats, clients
-    for client in clients:
-        if (client["boat"]['id'] == boat):
+async def free_boat(boat):
+    """make boat available for next client"""
+    for client in Clients:
+        if client["boat"] is not None and client["boat"]['id'] == boat:
            client["boat"] = None
+            await sendToClient(client, "FAIL")
            break
-    for b in boats:
-        if (b['id'] == int(boat)):
-            if (boat['state'] == BOAT_STATE_INCTRL):
-                boat["state"] = BOAT_STATE_AVAILABLE
+    for b in Boats:
+        if b['id'] == boat and b['state'] != BOAT_STATE_TERMINATED:
+            b["state"] = BOAT_STATE_AVAILABLE
            break

-async def lockBoat(boat):
-    global boats, clients
-    for client in clients:
-        if (client["boat"]['id'] == boat):
+async def lock_boat(boat):
+    """lock a boat so client can't take controll over it"""
+    for client in Clients:
+        if client["boat"] is not None and client["boat"]['id'] == boat:
            client["boat"] = None
+            await sendToClient(client, "FAIL")
            break
-    for b in boats:
-        if (b['id'] == int(boat)):
-            boat["state"] = BOAT_STATE_LOCKED
+    for b in Boats:
+        if b['id'] == boat and b['state'] != BOAT_STATE_TERMINATED:
+            b["state"] = BOAT_STATE_LOCKED
            break
-    
-    

-async def onMessage(message, client):
-    global boats
+async def getlog(client, data):
+    """send boat log to client"""
+    for b in Boats:
+        if b['id'] == data[2]:
+            await sendToClient(client, "log;" + b['id'] + ";" + json.dumps(b['log']))
+            return
+
+async def sendcmd(data):
+    """send command to boat"""
+    if len(data) > 3:
+        for b in Boats:
+            if b['id'] == data[2]:
+                del data[2]
+                del data[1]
+                del data[0]
+                print(data)
+                data = ";".join(data)
+                await sendToBoat(b, data + "\n")
+                return
+
+async def kick_client(clientId):
+    """kick a client"""
+    for client in Clients:
+        if client['id'] == client and client['state'] != "terminated":
+            if client['boat'] is not None:
+                client['boat']['state'] = BOAT_STATE_AVAILABLE
+                client['boat'] = None
+            client['state'] = "kicked"
+            await client['ws'].send("FAIL")
+            return
+
+
+
+
+async def on_message(message, client):
+    """handel for client messages"""
    data = message.replace('\n', '').split(';')
-    if(data[0] != client["id"]):
+    if data[0] != client["id"]:
        print("invalid id: " + str(data[0]) + " != " + str(client["id"]))
-    else:
-        if  (data[1] == "boats"):
-            await echoBoats(client)
-        elif(data[1] == "ctrl"):
-            takeControll(client, data[2])
-        elif(data[1] == "end"):
-            takeControll(client, -1)
-        elif(data[1] == "free"):
-            if (client["id"] == adminId):
-                freeBoat(data[2])
-        elif(data[1] == "lock"):
-            if (client["id"] == adminId):
-                lockBoat(data[2])
-        elif(data[1] == "locked"):
-            await echoLockedBoats(client)
-        elif(data[1] == "kick"):
-            print("kick")
-        elif(data[1] == "clients"):
-            await echoClients(client)
-        elif(data[1] == "d"):
-            if (client['boat'] is None):
+    elif len(data) >= 2:
+        if   data[1] == "boats":
+            await echo_boats(client)
+        elif data[1] == "ctrl":
+            await take_controll(client, data[2])
+        elif data[1] == "end":
+            await take_controll(client, "noBoat")
+        elif data[1] == "free" and client["id"] == ADMIN_ID:
+            await free_boat(data[2])
+        elif data[1] == "lock" and client["id"] == ADMIN_ID:
+            await lock_boat(data[2])
+        elif data[1] == "locked" and client["id"] == ADMIN_ID:
+            await echo_locked_boats(client)
+        elif data[1] == "kick" and client["id"] == ADMIN_ID:
+            await kick_client(data[2])
+        elif data[1] == "clients":
+            await echo_clients(client)
+        elif data[1] == "d":
+            if client['boat'] is None:
                print("WARN: controll cmd (" + client['id'] + ") to None: " + data[2])
-            else:
-                print("INFO: controll cmd (" + client['id'] + ") to " + client['boat']['name'] + ": " + data[2])
+                await client['ws'].send("FAIL")
+            elif client['boat']['lastMsg'] + BOAT_DATA_INTERVAL_MAX < datetime.timestamp(datetime.now()):
+                # print("INFO: controll cmd (" + client['id'] + ") to " + client['boat']['name'] + ": " + data[2])
+                await sendToBoat(client['boat'], "d:" + data[2] + "\n")
+                client['boat']['lastMsg'] = datetime.timestamp(datetime.now())
+        elif data[1] == "getlog" and client['id'] == ADMIN_ID:
+            await getlog(client, data)
+        elif data[1] == "sendcmd" and client['id'] == ADMIN_ID:
+            await sendcmd(data)
+        elif client['id'] == ADMIN_ID:
+            print("WARN: invalid command (admin): '" + data[1] + "'")
        else:
            print("WARN: invalid command (" + client['id'] + "): '" + data[1] + "'")
+    else:
+        print("WARN: to little arguments")

-async def newClient(clientId, ws):
+async def new_client(clientId, ws):
+    """handler for every new client connection"""
    client = { "id": clientId, "boat": None, "ws": ws, "state": "active" }
-    print("new client connected: " + client['id'])
-    for clie in clients:
-        if (clie['id'] == client['id']):
+    if client['id'] == ADMIN_ID:
+        print("INFO: new client connected: admin")
+    else:
+        print("INFO: new client connected: " + client['id'])
+    for clie in Clients:
+        if clie['id'] == client['id']:
+            if client['state'] == "kicked":
+                client['state'] = "kicked"
            clie['state'] = 'terminated'
-    clients.append(client)
-    if (client['id'] == adminId):
-        await echoBoats(client)
-        await echoLockedBoats(client)
-        await echoClients(client)
+    Clients.append(client)
    return client

-async def newBoat(boatId, name, ws):
-    boat = { "id": boatId, "name": name, "ws": ws, "state": BOAT_STATE_AVAILABLE }
-    print("new boat connected: " + boatId)
-    for bo in boats:
-        if (bo['id'] == boat['id']):
-            bo['state'] = 'terminated'
-    boats.append(boat)
+async def new_boat(boatId, name, ws):
+    """handler for every new boat connection"""
+    boat = { "id": boatId, "name": name, "ws": ws, "state": BOAT_STATE_AVAILABLE, "lastMsg": 0, "log": [] }
+    print("INFO: new boat connected: " + boatId)
+    for i, bo in enumerate(Boats):
+        if bo['id'] == boat['id']:
+            bo['state'] = BOAT_STATE_TERMINATED
+            # await bo['ws'].close()
+            # del Boats[i]
+    Boats.append(boat)
    return boat

 async def run(ws, path):
+    """hadeler for every new websocket connection"""
    client = None
-    async for message in ws:
-        message = message.split(';')
-        if (len(message) == 3 and message[1] == "4675"):
-            client = await newClient(message[0], ws)
-            if (client is not None):
-                break
-        elif (len(message) == 3 and message[1] == "3440"):
-            client = await newBoat(message[0], message[2], ws)
-            if (client is not None):
-                break
-
-    async for message in ws:
-        if (client['state'] == 'active'):
-            await onMessage(message, client)
-        else:
-            break
+    try:
+        print("INFO: new connection")
+        async for msg in ws:
+            for message in msg.split("\n"):
+                if len(message) == 0:
+                    continue
+                message = message.split(';')
+                if len(message) == 3 and message[1] == "4675":
+                    client = await new_client(message[0], ws)
+                    if client is not None:
+                        try:
+                            async for msg in ws:
+                                for message in msg.split("\n"):
+                                    if len(message) == 0:
+                                        continue
+                                    if client['state'] == 'active':
+                                        await on_message(message, client)
+                                    else:
+                                        break
+                        except websockets.exceptions.ConnectionClosed:
+                            print("INFO: client " + client['id'] + ": execption")
+                        print("INFO: client " + client['id'] + ": disconnected")
+                        client_disconnect(client)
+                    break
+                elif (len(message) == 3 and message[1] == "3440"):
+                    client = await new_boat(message[0], message[2], ws)
+                    if client is not None:
+                        try:
+                            async for msg in ws:
+                                for message in msg.split("\n"):
+                                    if len(message) == 0:
+                                        continue
+                                    print("boat" + client['id'] + " says '" + message + "'")
+                                    client['log'].append({
+                                        "t": datetime.timestamp(datetime.now()), 
+                                        "type": "rx", 
+                                        "msg": message
+                                    })
+                        except websockets.exceptions.ConnectionClosed:
+                            print("INFO: boat " + client['id'] + ": execption")
+                        print("INFO: boat " + client['id'] + ": disconnected")
+                        boat_disconnect(client)
+                    break
+    except websockets.exceptions.ConnectionClosed:
+        print("WARN: connection disconected")

 async def main():
+    """main"""
    async with serve(run, "0.0.0.0", 8080):
        await asyncio.Future()

 asyncio.run(main())
-
--- a/index.html
+++ b/index.html
@@ -29,71 +29,108 @@
        var boatListEl = document.getElementById('boats');
        var stickEl = document.getElementById('canvas');

-        var connection = new WebSocket('ws://' + "10.254.0.1" + ':8080/', ['mbcRcRf']);
+        var connection = false;
+        var refresh_timer = false;
+        var state = "connecting";
        
-        connection.onopen = function () 
+        function conn_onopen() 
        {
            connection.send(clientId + ';4675;' + Math.floor(new Date().getTime()/1000.0).toString());
            setTimeout(() => { connection.send(clientId + ';boats'); }, 100);
+            state = "connected";
        };

-        connection.onerror = function (error)
+        function conn_onerror(error)
        {
            console.log('WebSocket Error ', error);
            alert('WebSocket Error ', error);
-
-            //connection.onmessage({ data: "boats:50;test 1;available:164;tosti;available" })
        };

-        connection.onmessage = function (e)
+        function conn_onmessage(e)
        {
            let data = e.data.split(':');
            if (data[0] == "boats")
            {
-                console.log("boats: ", data);
-                boatListEl.innerHTML = "";
-                stickEl.style.display = 'none';
-                boatListEl.style.display  = 'block';
-                for (let boat in data)
+                if (state == 'connected')
                {
-                    boat = data[boat].split(';');
-                    if ((boat.length == 3) && (boat[2] == 'available'))
+                    console.log("boats: ", data);
+                    boatListEl.innerHTML = "";
+                    stickEl.style.display = 'none';
+                    boatListEl.style.display  = 'block';
+                    for (let boat in data)
                    {
-                        console.log("render boat", boat);
-                        let el = document.createElement("div");
-                        el.style.textAlign = "center";
-                        el.style.borderRadius = "10px";
-                        el.style.backgroundColor = "#242495";
-                        el.style.padding = "10px";
-                        el.style.margin = "5px 25%";
-                        el.style.color = "white";
-                        el.style.cursor = "pointer";
-                        el.id = "boat" + boat[0];
-                        el.innerHTML = boat[1];
-                        el.addEventListener('click', selectBoat);
-                        boatListEl.appendChild(el);
+                        boat = data[boat].split(';');
+                        if ((boat.length == 3) && (boat[2] == 'available'))
+                        {
+                            console.log("render boat", boat);
+                            let el = document.createElement("div");
+                            el.style.textAlign = "center";
+                            el.style.borderRadius = "10px";
+                            el.style.padding = "10px";
+                            el.style.margin = "5px 25%";
+                            if (boat[2] == 'available')
+                            {
+                                el.style.backgroundColor = "#242495";
+                                el.style.color = "white";
+                                el.style.cursor = "pointer";
+                                el.addEventListener('click', selectBoat);
+                            }
+                            else
+                            {
+                                el.style.backgroundColor = "#CCCCCC";
+                                el.style.color = "black";
+                                el.style.cursor = "not-allowed";
+                            }
+                            el.id = "boat" + boat[0];
+                            el.innerHTML = boat[1];
+                            boatListEl.appendChild(el);
+                        }
                    }
+                    if (refresh_timer)
+                    {
+                        clearTimeout(refresh_timer);
+                    }
+                    refresh_timer = setTimeout(()=>{connection.send(clientId + ';boats')}, 1000)
                }
            }
+            else if (data[0] == "FAIL")
+            {
+                console.error("ground station send FAIL");
+                connection.send(clientId + ';boats');
+                state = "connected";
+            }
            else
            {
                console.log('Server: ', e.data);
            }
        };

+        function connect()
+        {
+            connection = new WebSocket('ws://10.254.0.1:8080/', ['mbcRcRf']);
+            connection.onopen = conn_onopen;
+            connection.onerror = conn_onerror;
+            connection.onmessage = conn_onmessage;
+        }
+
        function selectBoat(e)
        {
+            clearTimeout(refresh_timer);
+            connection.send(clientId + ';ctrl;' + e.target.id.split('boat')[1]);
            console.log('ctrl:', e.target.id.split('boat')[1]);
            stickEl.style.display = 'block';
            boatListEl.style.display  = 'none';
        }

        function send(x,y,angle){
+            factor = (2**8-1)/400;
+            x = Math.round((x + 200) * factor);
+            y = Math.round((y + 200) * factor);
            var data = clientId + ";d;" + x.toString() + "," + y.toString();
            connection.send(data);
        }

-
+        connect();
    </script>
    <script>
        var canvas, ctx;
--- a/plot.sh
+++ b/plot.sh
@@ -0,0 +1,24 @@
+#!/bin/bash
+
+function sample() {
+	sigrok-cli -d fx2lafw:conn=1.13 --config 'samplerate=1 MHz' -C D5,D7 --time 400ms -P servo:data=D5 -P servo:data=D7
+}
+
+samples=$(sample | head -n2 | sed -e 's/servo-[12]: //')
+
+cha=$(echo "$samples" | head -n1)
+cha_c=$(( ( `echo $cha | tr -d '.'` - 1000 ) / 10 ))
+chb=$(echo "$samples" | tail -n1)
+chb_c=$(( ( `echo $chb | tr -d '.'` - 1000 ) / 10 ))
+
+echo -n "         |"
+printf "%0.s " $(seq 1 49)
+echo -n "|"
+printf "%0.s " $(seq 1 49)
+echo "|"
+echo -n "A: $cha "
+printf "%0.s#" $(seq 1 $cha_c)
+echo
+echo -n "B: $chb "
+printf "%0.s#" $(seq 1 $chb_c)
+echo
--- a/rcrf-gs.service
+++ b/rcrf-gs.service
@@ -0,0 +1,15 @@
+[Unit]
+Description=rcrf ground station
+After=network-online.target
+
+[Install]
+WantedBy=multi-user.target
+
+[Service]
+Type=simple
+User=root
+RemainAfterExit=yes
+WorkingDirectory=/opt/rcrf-wifi
+ExecStart=/usr/bin/python3 /opt/rcrf-wifi/ground-station.py
+Restart=always
+RestartSec=10
--- a/rx_esp32/.gitignore
+++ b/rx_esp32/.gitignore
@@ -5,4 +5,9 @@
 .vscode/ipch

 build
-.cache
+.cache
+
+/sdkconfig
+/dependencies.lock
+/src/config.h
+*.old
--- a/rx_esp32/dependencies.lock.j2
+++ b/rx_esp32/dependencies.lock.j2
@@ -3,7 +3,7 @@ dependencies:
    component_hash: null
    source:
      type: idf
-    version: 5.4.0
+    version: 5.3.0
 manifest_hash: 0646c148cf0e35f84678cd2cb46e9929051a1c6db31905f3a584cca01fd1e49a
-target: esp32c3
+target: {{ IC }}
 version: 1.0.0
--- a/rx_esp32/lib/cli
+++ b/rx_esp32/lib/cli
--- a/rx_esp32/sdkconfig.esp32c3
+++ b/rx_esp32/sdkconfig.esp32c3
@@ -1,6 +1,6 @@
 #
 # Automatically generated file. DO NOT EDIT.
-# Espressif IoT Development Framework (ESP-IDF) 5.2.2 Project Configuration
+# Espressif IoT Development Framework (ESP-IDF) 5.3.0 Project Configuration
 #
 CONFIG_SOC_ADC_SUPPORTED=y
 CONFIG_SOC_DEDICATED_GPIO_SUPPORTED=y
@@ -14,6 +14,7 @@ CONFIG_SOC_ASYNC_MEMCPY_SUPPORTED=y
 CONFIG_SOC_USB_SERIAL_JTAG_SUPPORTED=y
 CONFIG_SOC_TEMP_SENSOR_SUPPORTED=y
 CONFIG_SOC_XT_WDT_SUPPORTED=y
+CONFIG_SOC_PHY_SUPPORTED=y
 CONFIG_SOC_WIFI_SUPPORTED=y
 CONFIG_SOC_SUPPORTS_SECURE_DL_MODE=y
 CONFIG_SOC_EFUSE_KEY_PURPOSE_FIELD=y
@@ -42,6 +43,11 @@ CONFIG_SOC_CLK_TREE_SUPPORTED=y
 CONFIG_SOC_ASSIST_DEBUG_SUPPORTED=y
 CONFIG_SOC_WDT_SUPPORTED=y
 CONFIG_SOC_SPI_FLASH_SUPPORTED=y
+CONFIG_SOC_RNG_SUPPORTED=y
+CONFIG_SOC_LIGHT_SLEEP_SUPPORTED=y
+CONFIG_SOC_DEEP_SLEEP_SUPPORTED=y
+CONFIG_SOC_LP_PERIPH_SHARE_INTERRUPT=y
+CONFIG_SOC_PM_SUPPORTED=y
 CONFIG_SOC_XTAL_SUPPORT_40M=y
 CONFIG_SOC_AES_SUPPORT_DMA=y
 CONFIG_SOC_AES_GDMA=y
@@ -77,6 +83,7 @@ CONFIG_SOC_CACHE_MEMORY_IBANK_SIZE=0x4000
 CONFIG_SOC_CPU_CORES_NUM=1
 CONFIG_SOC_CPU_INTR_NUM=32
 CONFIG_SOC_CPU_HAS_FLEXIBLE_INTC=y
+CONFIG_SOC_CPU_HAS_CSR_PC=y
 CONFIG_SOC_CPU_BREAKPOINTS_NUM=8
 CONFIG_SOC_CPU_WATCHPOINTS_NUM=8
 CONFIG_SOC_CPU_WATCHPOINT_MAX_REGION_SIZE=0x80000000
@@ -95,12 +102,15 @@ CONFIG_SOC_GPIO_SUPPORT_DEEPSLEEP_WAKEUP=y
 CONFIG_SOC_GPIO_IN_RANGE_MAX=21
 CONFIG_SOC_GPIO_OUT_RANGE_MAX=21
 CONFIG_SOC_GPIO_DEEP_SLEEP_WAKE_VALID_GPIO_MASK=0
+CONFIG_SOC_GPIO_DEEP_SLEEP_WAKE_SUPPORTED_PIN_CNT=6
 CONFIG_SOC_GPIO_VALID_DIGITAL_IO_PAD_MASK=0x00000000003FFFC0
 CONFIG_SOC_GPIO_CLOCKOUT_BY_GPIO_MATRIX=y
+CONFIG_SOC_GPIO_CLOCKOUT_CHANNEL_NUM=3
 CONFIG_SOC_DEDIC_GPIO_OUT_CHANNELS_NUM=8
 CONFIG_SOC_DEDIC_GPIO_IN_CHANNELS_NUM=8
 CONFIG_SOC_DEDIC_PERIPH_ALWAYS_ENABLE=y
 CONFIG_SOC_I2C_NUM=1
+CONFIG_SOC_HP_I2C_NUM=1
 CONFIG_SOC_I2C_FIFO_LEN=32
 CONFIG_SOC_I2C_CMD_REG_NUM=8
 CONFIG_SOC_I2C_SUPPORT_SLAVE=y
@@ -145,6 +155,8 @@ CONFIG_SOC_RMT_SUPPORT_APB=y
 CONFIG_SOC_RMT_SUPPORT_RC_FAST=y
 CONFIG_SOC_RTC_CNTL_CPU_PD_DMA_BUS_WIDTH=128
 CONFIG_SOC_RTC_CNTL_CPU_PD_REG_FILE_NUM=108
+CONFIG_SOC_SLEEP_SYSTIMER_STALL_WORKAROUND=y
+CONFIG_SOC_SLEEP_TGWDT_STOP_WORKAROUND=y
 CONFIG_SOC_RTCIO_PIN_COUNT=0
 CONFIG_SOC_MPI_MEM_BLOCKS_NUM=4
 CONFIG_SOC_MPI_OPERATIONS_NUM=3
@@ -170,6 +182,10 @@ CONFIG_SOC_SPI_SUPPORT_SLAVE_HD_VER2=y
 CONFIG_SOC_SPI_SUPPORT_CLK_APB=y
 CONFIG_SOC_SPI_SUPPORT_CLK_XTAL=y
 CONFIG_SOC_SPI_PERIPH_SUPPORT_CONTROL_DUMMY_OUT=y
+CONFIG_SOC_SPI_SCT_SUPPORTED=y
+CONFIG_SOC_SPI_SCT_REG_NUM=14
+CONFIG_SOC_SPI_SCT_BUFFER_NUM_MAX=y
+CONFIG_SOC_SPI_SCT_CONF_BITLEN_MAX=0x3FFFA
 CONFIG_SOC_MEMSPI_IS_INDEPENDENT=y
 CONFIG_SOC_SPI_MAX_PRE_DIVIDER=16
 CONFIG_SOC_SPI_MEM_SUPPORT_AUTO_WAIT_IDLE=y
@@ -267,7 +283,7 @@ CONFIG_IDF_TOOLCHAIN="gcc"
 CONFIG_IDF_TARGET_ARCH_RISCV=y
 CONFIG_IDF_TARGET_ARCH="riscv"
 CONFIG_IDF_TARGET="esp32c3"
-CONFIG_IDF_INIT_VERSION="5.2.2"
+CONFIG_IDF_INIT_VERSION="5.3.0"
 CONFIG_IDF_TARGET_ESP32C3=y
 CONFIG_IDF_FIRMWARE_CHIP_ID=0x0005

@@ -363,10 +379,15 @@ CONFIG_ESP_ROM_NEEDS_SWSETUP_WORKAROUND=y
 CONFIG_ESP_ROM_HAS_LAYOUT_TABLE=y
 CONFIG_ESP_ROM_HAS_SPI_FLASH=y
 CONFIG_ESP_ROM_HAS_ETS_PRINTF_BUG=y
+CONFIG_ESP_ROM_HAS_NEWLIB=y
 CONFIG_ESP_ROM_HAS_NEWLIB_NANO_FORMAT=y
+CONFIG_ESP_ROM_HAS_NEWLIB_32BIT_TIME=y
 CONFIG_ESP_ROM_NEEDS_SET_CACHE_MMU_SIZE=y
 CONFIG_ESP_ROM_RAM_APP_NEEDS_MMU_INIT=y
 CONFIG_ESP_ROM_HAS_SW_FLOAT=y
+CONFIG_ESP_ROM_USB_OTG_NUM=-1
+CONFIG_ESP_ROM_HAS_VERSION=y
+CONFIG_ESP_ROM_SUPPORT_DEEP_SLEEP_WAKEUP_STUB=y

 #
 # Boot ROM Behavior
@@ -452,6 +473,8 @@ CONFIG_COMPILER_STACK_CHECK_MODE_NONE=y
 # CONFIG_COMPILER_DUMP_RTL_FILES is not set
 CONFIG_COMPILER_RT_LIB_GCCLIB=y
 CONFIG_COMPILER_RT_LIB_NAME="gcc"
+# CONFIG_COMPILER_ORPHAN_SECTIONS_WARNING is not set
+CONFIG_COMPILER_ORPHAN_SECTIONS_PLACE=y
 # end of Compiler options

 #
@@ -477,31 +500,16 @@ CONFIG_APPTRACE_LOCK_ENABLE=y
 CONFIG_BT_ALARM_MAX_NUM=50
 # end of Bluetooth

+#
+# Console Library
+#
+# CONFIG_CONSOLE_SORTED_HELP is not set
+# end of Console Library
+
 #
 # Driver Configurations
 #

-#
-# Legacy ADC Configuration
-#
-# CONFIG_ADC_SUPPRESS_DEPRECATE_WARN is not set
-
-#
-# Legacy ADC Calibration Configuration
-#
-# CONFIG_ADC_CALI_SUPPRESS_DEPRECATE_WARN is not set
-# end of Legacy ADC Calibration Configuration
-# end of Legacy ADC Configuration
-
-#
-# SPI Configuration
-#
-# CONFIG_SPI_MASTER_IN_IRAM is not set
-CONFIG_SPI_MASTER_ISR_IN_IRAM=y
-# CONFIG_SPI_SLAVE_IN_IRAM is not set
-CONFIG_SPI_SLAVE_ISR_IN_IRAM=y
-# end of SPI Configuration
-
 #
 # TWAI Configuration
 #
@@ -510,76 +518,46 @@ CONFIG_TWAI_ERRATA_FIX_LISTEN_ONLY_DOM=y
 # end of TWAI Configuration

 #
-# Temperature sensor Configuration
+# Legacy ADC Driver Configuration
+#
+# CONFIG_ADC_SUPPRESS_DEPRECATE_WARN is not set
+
+#
+# Legacy ADC Calibration Configuration
+#
+# CONFIG_ADC_CALI_SUPPRESS_DEPRECATE_WARN is not set
+# end of Legacy ADC Calibration Configuration
+# end of Legacy ADC Driver Configuration
+
+#
+# Legacy Timer Group Driver Configurations
+#
+# CONFIG_GPTIMER_SUPPRESS_DEPRECATE_WARN is not set
+# end of Legacy Timer Group Driver Configurations
+
+#
+# Legacy RMT Driver Configurations
+#
+# CONFIG_RMT_SUPPRESS_DEPRECATE_WARN is not set
+# end of Legacy RMT Driver Configurations
+
+#
+# Legacy I2S Driver Configurations
+#
+# CONFIG_I2S_SUPPRESS_DEPRECATE_WARN is not set
+# end of Legacy I2S Driver Configurations
+
+#
+# Legacy SDM Driver Configurations
+#
+# CONFIG_SDM_SUPPRESS_DEPRECATE_WARN is not set
+# end of Legacy SDM Driver Configurations
+
+#
+# Legacy Temperature Sensor Driver Configurations
 #
 # CONFIG_TEMP_SENSOR_SUPPRESS_DEPRECATE_WARN is not set
-# CONFIG_TEMP_SENSOR_ENABLE_DEBUG_LOG is not set
-# end of Temperature sensor Configuration
-
-#
-# UART Configuration
-#
-# CONFIG_UART_ISR_IN_IRAM is not set
-# end of UART Configuration
-
-#
-# GPIO Configuration
-#
-# CONFIG_GPIO_CTRL_FUNC_IN_IRAM is not set
-# end of GPIO Configuration
-
-#
-# Sigma Delta Modulator Configuration
-#
-# CONFIG_SDM_CTRL_FUNC_IN_IRAM is not set
-# CONFIG_SDM_SUPPRESS_DEPRECATE_WARN is not set
-# CONFIG_SDM_ENABLE_DEBUG_LOG is not set
-# end of Sigma Delta Modulator Configuration
-
-#
-# GPTimer Configuration
-#
-CONFIG_GPTIMER_ISR_HANDLER_IN_IRAM=y
-# CONFIG_GPTIMER_CTRL_FUNC_IN_IRAM is not set
-# CONFIG_GPTIMER_ISR_IRAM_SAFE is not set
-# CONFIG_GPTIMER_SUPPRESS_DEPRECATE_WARN is not set
-# CONFIG_GPTIMER_ENABLE_DEBUG_LOG is not set
-# end of GPTimer Configuration
-
-#
-# RMT Configuration
-#
-# CONFIG_RMT_ISR_IRAM_SAFE is not set
-# CONFIG_RMT_RECV_FUNC_IN_IRAM is not set
-# CONFIG_RMT_SUPPRESS_DEPRECATE_WARN is not set
-# CONFIG_RMT_ENABLE_DEBUG_LOG is not set
-# end of RMT Configuration
-
-#
-# I2S Configuration
-#
-# CONFIG_I2S_ISR_IRAM_SAFE is not set
-# CONFIG_I2S_SUPPRESS_DEPRECATE_WARN is not set
-# CONFIG_I2S_ENABLE_DEBUG_LOG is not set
-# end of I2S Configuration
-
-#
-# USB Serial/JTAG Configuration
-#
-# end of USB Serial/JTAG Configuration
-
-#
-# LEDC Configuration
-#
-# CONFIG_LEDC_CTRL_FUNC_IN_IRAM is not set
-# end of LEDC Configuration
-
-#
-# I2C Configuration
-#
-# CONFIG_I2C_ISR_IRAM_SAFE is not set
-# CONFIG_I2C_ENABLE_DEBUG_LOG is not set
-# end of I2C Configuration
+# end of Legacy Temperature Sensor Driver Configurations
 # end of Driver Configurations

 #
@@ -596,7 +574,9 @@ CONFIG_EFUSE_MAX_BLK_LEN=256
 CONFIG_ESP_TLS_USING_MBEDTLS=y
 CONFIG_ESP_TLS_USE_DS_PERIPHERAL=y
 # CONFIG_ESP_TLS_CLIENT_SESSION_TICKETS is not set
-# CONFIG_ESP_TLS_SERVER is not set
+# CONFIG_ESP_TLS_SERVER_SESSION_TICKETS is not set
+# CONFIG_ESP_TLS_SERVER_CERT_SELECT_HOOK is not set
+# CONFIG_ESP_TLS_SERVER_MIN_AUTH_MODE_OPTIONAL is not set
 # CONFIG_ESP_TLS_PSK_VERIFICATION is not set
 # CONFIG_ESP_TLS_INSECURE is not set
 # end of ESP-TLS
@@ -608,11 +588,13 @@ CONFIG_ESP_TLS_USE_DS_PERIPHERAL=y
 # CONFIG_ADC_CONTINUOUS_ISR_IRAM_SAFE is not set
 # CONFIG_ADC_CONTINUOUS_FORCE_USE_ADC2_ON_C3_S3 is not set
 # CONFIG_ADC_ONESHOT_FORCE_USE_ADC2_ON_C3 is not set
+# CONFIG_ADC_ENABLE_DEBUG_LOG is not set
 # end of ADC and ADC Calibration

 #
 # Wireless Coexistence
 #
+CONFIG_ESP_COEX_ENABLED=y
 # CONFIG_ESP_COEX_EXTERNAL_COEXIST_ENABLE is not set
 # end of Wireless Coexistence

@@ -622,6 +604,83 @@ CONFIG_ESP_TLS_USE_DS_PERIPHERAL=y
 CONFIG_ESP_ERR_TO_NAME_LOOKUP=y
 # end of Common ESP-related

+#
+# ESP-Driver:GPIO Configurations
+#
+# CONFIG_GPIO_CTRL_FUNC_IN_IRAM is not set
+# end of ESP-Driver:GPIO Configurations
+
+#
+# ESP-Driver:GPTimer Configurations
+#
+CONFIG_GPTIMER_ISR_HANDLER_IN_IRAM=y
+# CONFIG_GPTIMER_CTRL_FUNC_IN_IRAM is not set
+# CONFIG_GPTIMER_ISR_IRAM_SAFE is not set
+# CONFIG_GPTIMER_ENABLE_DEBUG_LOG is not set
+# end of ESP-Driver:GPTimer Configurations
+
+#
+# ESP-Driver:I2C Configurations
+#
+# CONFIG_I2C_ISR_IRAM_SAFE is not set
+# CONFIG_I2C_ENABLE_DEBUG_LOG is not set
+# end of ESP-Driver:I2C Configurations
+
+#
+# ESP-Driver:I2S Configurations
+#
+# CONFIG_I2S_ISR_IRAM_SAFE is not set
+# CONFIG_I2S_ENABLE_DEBUG_LOG is not set
+# end of ESP-Driver:I2S Configurations
+
+#
+# ESP-Driver:LEDC Configurations
+#
+# CONFIG_LEDC_CTRL_FUNC_IN_IRAM is not set
+# end of ESP-Driver:LEDC Configurations
+
+#
+# ESP-Driver:RMT Configurations
+#
+# CONFIG_RMT_ISR_IRAM_SAFE is not set
+# CONFIG_RMT_RECV_FUNC_IN_IRAM is not set
+# CONFIG_RMT_ENABLE_DEBUG_LOG is not set
+# end of ESP-Driver:RMT Configurations
+
+#
+# ESP-Driver:Sigma Delta Modulator Configurations
+#
+# CONFIG_SDM_CTRL_FUNC_IN_IRAM is not set
+# CONFIG_SDM_ENABLE_DEBUG_LOG is not set
+# end of ESP-Driver:Sigma Delta Modulator Configurations
+
+#
+# ESP-Driver:SPI Configurations
+#
+# CONFIG_SPI_MASTER_IN_IRAM is not set
+CONFIG_SPI_MASTER_ISR_IN_IRAM=y
+# CONFIG_SPI_SLAVE_IN_IRAM is not set
+CONFIG_SPI_SLAVE_ISR_IN_IRAM=y
+# end of ESP-Driver:SPI Configurations
+
+#
+# ESP-Driver:Temperature Sensor Configurations
+#
+# CONFIG_TEMP_SENSOR_ENABLE_DEBUG_LOG is not set
+# end of ESP-Driver:Temperature Sensor Configurations
+
+#
+# ESP-Driver:UART Configurations
+#
+# CONFIG_UART_ISR_IN_IRAM is not set
+# end of ESP-Driver:UART Configurations
+
+#
+# ESP-Driver:USB Serial/JTAG Configuration
+#
+CONFIG_USJ_ENABLE_USB_SERIAL_JTAG=y
+# end of ESP-Driver:USB Serial/JTAG Configuration
+
 #
 # Ethernet
 #
@@ -657,6 +716,7 @@ CONFIG_ESP_GDBSTUB_MAX_TASKS=32
 CONFIG_ESP_HTTP_CLIENT_ENABLE_HTTPS=y
 # CONFIG_ESP_HTTP_CLIENT_ENABLE_BASIC_AUTH is not set
 # CONFIG_ESP_HTTP_CLIENT_ENABLE_DIGEST_AUTH is not set
+# CONFIG_ESP_HTTP_CLIENT_ENABLE_CUSTOM_TRANSPORT is not set
 # end of ESP HTTP client

 #
@@ -715,6 +775,7 @@ CONFIG_ESP_MAC_ADDR_UNIVERSE_WIFI_AP=y
 CONFIG_ESP_MAC_ADDR_UNIVERSE_BT=y
 CONFIG_ESP_MAC_ADDR_UNIVERSE_ETH=y
 CONFIG_ESP_MAC_UNIVERSAL_MAC_ADDRESSES_FOUR=y
+CONFIG_ESP_MAC_UNIVERSAL_MAC_ADDRESSES=4
 # CONFIG_ESP32C3_UNIVERSAL_MAC_ADDRESSES_TWO is not set
 CONFIG_ESP32C3_UNIVERSAL_MAC_ADDRESSES_FOUR=y
 CONFIG_ESP32C3_UNIVERSAL_MAC_ADDRESSES=4
@@ -734,8 +795,6 @@ CONFIG_ESP_SLEEP_WAIT_FLASH_READY_EXTRA_DELAY=0
 CONFIG_ESP_SLEEP_GPIO_ENABLE_INTERNAL_RESISTORS=y
 # end of Sleep Config

-CONFIG_ESP_SLEEP_SYSTIMER_STALL_WORKAROUND=y
-
 #
 # RTC Clock Config
 #
@@ -753,12 +812,12 @@ CONFIG_PERIPH_CTRL_FUNC_IN_IRAM=y
 # end of Peripheral Control

 #
-# GDMA Configuration
+# GDMA Configurations
 #
-# CONFIG_GDMA_CTRL_FUNC_IN_IRAM is not set
+CONFIG_GDMA_CTRL_FUNC_IN_IRAM=y
 # CONFIG_GDMA_ISR_IRAM_SAFE is not set
 # CONFIG_GDMA_ENABLE_DEBUG_LOG is not set
-# end of GDMA Configuration
+# end of GDMA Configurations

 #
 # Main XTAL Config
@@ -766,6 +825,8 @@ CONFIG_PERIPH_CTRL_FUNC_IN_IRAM=y
 CONFIG_XTAL_FREQ_40=y
 CONFIG_XTAL_FREQ=40
 # end of Main XTAL Config
+
+CONFIG_ESP_SPI_BUS_LOCK_ISR_FUNCS_IN_IRAM=y
 # end of Hardware Settings

 #
@@ -779,7 +840,6 @@ CONFIG_XTAL_FREQ=40
 #
 # LCD Peripheral Configuration
 #
-CONFIG_LCD_PANEL_IO_FORMAT_BUF_SIZE=32
 # CONFIG_LCD_ENABLE_DEBUG_LOG is not set
 # end of LCD Peripheral Configuration
 # end of LCD and Touch Panel
@@ -804,6 +864,7 @@ CONFIG_ESP_NETIF_USES_TCPIP_WITH_BSD_API=y
 #
 # PHY
 #
+CONFIG_ESP_PHY_ENABLED=y
 CONFIG_ESP_PHY_CALIBRATION_AND_DATA_STORAGE=y
 # CONFIG_ESP_PHY_INIT_DATA_IN_PARTITION is not set
 CONFIG_ESP_PHY_MAX_WIFI_TX_POWER=20
@@ -874,6 +935,7 @@ CONFIG_ESP_CONSOLE_SECONDARY_USB_SERIAL_JTAG=y
 CONFIG_ESP_CONSOLE_USB_SERIAL_JTAG_ENABLED=y
 CONFIG_ESP_CONSOLE_UART=y
 CONFIG_ESP_CONSOLE_UART_NUM=0
+CONFIG_ESP_CONSOLE_ROM_SERIAL_PORT_NUM=0
 CONFIG_ESP_CONSOLE_UART_BAUDRATE=115200
 CONFIG_ESP_INT_WDT=y
 CONFIG_ESP_INT_WDT_TIMEOUT_MS=300
@@ -902,6 +964,7 @@ CONFIG_ESP_BROWNOUT_DET_LVL=7

 CONFIG_ESP_SYSTEM_BROWNOUT_INTR=y
 CONFIG_ESP_SYSTEM_HW_STACK_GUARD=y
+CONFIG_ESP_SYSTEM_HW_PC_RECORD=y
 # end of ESP System Settings

 #
@@ -911,7 +974,7 @@ CONFIG_ESP_IPC_TASK_STACK_SIZE=1024
 # end of IPC (Inter-Processor Call)

 #
-# High resolution timer (esp_timer)
+# ESP Timer (High Resolution Timer)
 #
 # CONFIG_ESP_TIMER_PROFILING is not set
 CONFIG_ESP_TIME_FUNCS_USE_RTC_TIMER=y
@@ -921,11 +984,10 @@ CONFIG_ESP_TIMER_INTERRUPT_LEVEL=1
 # CONFIG_ESP_TIMER_SHOW_EXPERIMENTAL is not set
 CONFIG_ESP_TIMER_TASK_AFFINITY=0x0
 CONFIG_ESP_TIMER_TASK_AFFINITY_CPU0=y
-CONFIG_ESP_TIMER_ISR_AFFINITY=0x1
 CONFIG_ESP_TIMER_ISR_AFFINITY_CPU0=y
 # CONFIG_ESP_TIMER_SUPPORTS_ISR_DISPATCH_METHOD is not set
 CONFIG_ESP_TIMER_IMPL_SYSTIMER=y
-# end of High resolution timer (esp_timer)
+# end of ESP Timer (High Resolution Timer)

 #
 # Wi-Fi
@@ -957,10 +1019,13 @@ CONFIG_ESP_WIFI_ENABLE_SAE_PK=y
 CONFIG_ESP_WIFI_SOFTAP_SAE_SUPPORT=y
 CONFIG_ESP_WIFI_ENABLE_WPA3_OWE_STA=y
 # CONFIG_ESP_WIFI_SLP_IRAM_OPT is not set
+CONFIG_ESP_WIFI_SLP_DEFAULT_MIN_ACTIVE_TIME=50
+CONFIG_ESP_WIFI_SLP_DEFAULT_MAX_ACTIVE_TIME=10
+CONFIG_ESP_WIFI_SLP_DEFAULT_WAIT_BROADCAST_DATA_TIME=15
 # CONFIG_ESP_WIFI_FTM_ENABLE is not set
 CONFIG_ESP_WIFI_STA_DISCONNECTED_PM_ENABLE=y
 # CONFIG_ESP_WIFI_GCMP_SUPPORT is not set
-# CONFIG_ESP_WIFI_GMAC_SUPPORT is not set
+CONFIG_ESP_WIFI_GMAC_SUPPORT=y
 CONFIG_ESP_WIFI_SOFTAP_SUPPORT=y
 # CONFIG_ESP_WIFI_SLP_BEACON_LOST_OPT is not set
 CONFIG_ESP_WIFI_ESPNOW_MAX_ENCRYPT_NUM=7
@@ -1033,6 +1098,8 @@ CONFIG_FATFS_PER_FILE_CACHE=y
 # CONFIG_FATFS_USE_FASTSEEK is not set
 CONFIG_FATFS_VFS_FSTAT_BLKSIZE=0
 # CONFIG_FATFS_IMMEDIATE_FSYNC is not set
+# CONFIG_FATFS_USE_LABEL is not set
+CONFIG_FATFS_LINK_LOCK=y
 # end of FAT Filesystem support

 #
@@ -1056,12 +1123,16 @@ CONFIG_FREERTOS_IDLE_TASK_STACKSIZE=1536
 CONFIG_FREERTOS_MAX_TASK_NAME_LEN=16
 # CONFIG_FREERTOS_ENABLE_BACKWARD_COMPATIBILITY is not set
 CONFIG_FREERTOS_TIMER_SERVICE_TASK_NAME="Tmr Svc"
+# CONFIG_FREERTOS_TIMER_TASK_AFFINITY_CPU0 is not set
+CONFIG_FREERTOS_TIMER_TASK_NO_AFFINITY=y
+CONFIG_FREERTOS_TIMER_SERVICE_TASK_CORE_AFFINITY=0x7FFFFFFF
 CONFIG_FREERTOS_TIMER_TASK_PRIORITY=1
 CONFIG_FREERTOS_TIMER_TASK_STACK_DEPTH=2048
 CONFIG_FREERTOS_TIMER_QUEUE_LENGTH=10
 CONFIG_FREERTOS_QUEUE_REGISTRY_SIZE=0
 CONFIG_FREERTOS_TASK_NOTIFICATION_ARRAY_ENTRIES=1
 # CONFIG_FREERTOS_USE_TRACE_FACILITY is not set
+# CONFIG_FREERTOS_USE_LIST_DATA_INTEGRITY_CHECK_BYTES is not set
 # CONFIG_FREERTOS_GENERATE_RUN_TIME_STATS is not set
 # CONFIG_FREERTOS_USE_APPLICATION_TASK_TAG is not set
 # end of Kernel
@@ -1091,6 +1162,7 @@ CONFIG_FREERTOS_SUPPORT_STATIC_ALLOCATION=y
 CONFIG_FREERTOS_DEBUG_OCDAWARE=y
 CONFIG_FREERTOS_ENABLE_TASK_SNAPSHOT=y
 CONFIG_FREERTOS_PLACE_SNAPSHOT_FUNS_INTO_FLASH=y
+CONFIG_FREERTOS_NUMBER_OF_CORES=1
 # end of FreeRTOS

 #
@@ -1218,6 +1290,7 @@ CONFIG_LWIP_TCP_FIN_WAIT_TIMEOUT=20000
 CONFIG_LWIP_TCP_SND_BUF_DEFAULT=5760
 CONFIG_LWIP_TCP_WND_DEFAULT=5760
 CONFIG_LWIP_TCP_RECVMBOX_SIZE=6
+CONFIG_LWIP_TCP_ACCEPTMBOX_SIZE=6
 CONFIG_LWIP_TCP_QUEUE_OOSEQ=y
 CONFIG_LWIP_TCP_OOSEQ_TIMEOUT=6
 CONFIG_LWIP_TCP_OOSEQ_MAX_PBUFS=4
@@ -1272,6 +1345,8 @@ CONFIG_LWIP_MAX_RAW_PCBS=16
 CONFIG_LWIP_SNTP_MAX_SERVERS=1
 # CONFIG_LWIP_DHCP_GET_NTP_SRV is not set
 CONFIG_LWIP_SNTP_UPDATE_DELAY=3600000
+CONFIG_LWIP_SNTP_STARTUP_DELAY=y
+CONFIG_LWIP_SNTP_MAXIMUM_STARTUP_DELAY=5000
 # end of SNTP

 #
@@ -1341,6 +1416,7 @@ CONFIG_MBEDTLS_CERTIFICATE_BUNDLE_DEFAULT_FULL=y
 # CONFIG_MBEDTLS_CERTIFICATE_BUNDLE_DEFAULT_CMN is not set
 # CONFIG_MBEDTLS_CERTIFICATE_BUNDLE_DEFAULT_NONE is not set
 # CONFIG_MBEDTLS_CUSTOM_CERTIFICATE_BUNDLE is not set
+# CONFIG_MBEDTLS_CERTIFICATE_BUNDLE_DEPRECATED_LIST is not set
 CONFIG_MBEDTLS_CERTIFICATE_BUNDLE_MAX_CERTS=200
 # end of Certificate Bundle

@@ -1349,7 +1425,7 @@ CONFIG_MBEDTLS_CMAC_C=y
 CONFIG_MBEDTLS_HARDWARE_AES=y
 CONFIG_MBEDTLS_AES_USE_INTERRUPT=y
 CONFIG_MBEDTLS_AES_INTERRUPT_LEVEL=0
-# CONFIG_MBEDTLS_GCM_SUPPORT_NON_AES_CIPHER is not set
+CONFIG_MBEDTLS_GCM_SUPPORT_NON_AES_CIPHER=y
 CONFIG_MBEDTLS_HARDWARE_MPI=y
 CONFIG_MBEDTLS_LARGE_KEY_SOFTWARE_MPI=y
 CONFIG_MBEDTLS_MPI_USE_INTERRUPT=y
@@ -1554,6 +1630,7 @@ CONFIG_SPI_FLASH_BROWNOUT_RESET=y
 #
 CONFIG_SPI_FLASH_SUSPEND_QVL_SUPPORTED=y
 # CONFIG_SPI_FLASH_AUTO_SUSPEND is not set
+CONFIG_SPI_FLASH_SUSPEND_TSUS_VAL_US=50
 # end of Optional and Experimental Features (READ DOCS FIRST)
 # end of Main Flash configuration

--- a/rx_esp32/sdkconfig.esp32c6
+++ b/rx_esp32/sdkconfig.esp32c6
@@ -1,6 +1,6 @@
 #
 # Automatically generated file. DO NOT EDIT.
-# Espressif IoT Development Framework (ESP-IDF) 5.2.2 Project Configuration
+# Espressif IoT Development Framework (ESP-IDF) 5.3.0 Project Configuration
 #
 CONFIG_SOC_ADC_SUPPORTED=y
 CONFIG_SOC_DEDICATED_GPIO_SUPPORTED=y
@@ -18,6 +18,7 @@ CONFIG_SOC_IEEE802154_SUPPORTED=y
 CONFIG_SOC_ASYNC_MEMCPY_SUPPORTED=y
 CONFIG_SOC_USB_SERIAL_JTAG_SUPPORTED=y
 CONFIG_SOC_TEMP_SENSOR_SUPPORTED=y
+CONFIG_SOC_PHY_SUPPORTED=y
 CONFIG_SOC_WIFI_SUPPORTED=y
 CONFIG_SOC_SUPPORTS_SECURE_DL_MODE=y
 CONFIG_SOC_ULP_SUPPORTED=y
@@ -45,6 +46,7 @@ CONFIG_SOC_SECURE_BOOT_SUPPORTED=y
 CONFIG_SOC_SDIO_SLAVE_SUPPORTED=y
 CONFIG_SOC_BOD_SUPPORTED=y
 CONFIG_SOC_APM_SUPPORTED=y
+CONFIG_SOC_APM_CTRL_FILTER_SUPPORTED=y
 CONFIG_SOC_PMU_SUPPORTED=y
 CONFIG_SOC_PAU_SUPPORTED=y
 CONFIG_SOC_LP_TIMER_SUPPORTED=y
@@ -56,6 +58,11 @@ CONFIG_SOC_CLK_TREE_SUPPORTED=y
 CONFIG_SOC_ASSIST_DEBUG_SUPPORTED=y
 CONFIG_SOC_WDT_SUPPORTED=y
 CONFIG_SOC_SPI_FLASH_SUPPORTED=y
+CONFIG_SOC_RNG_SUPPORTED=y
+CONFIG_SOC_LIGHT_SLEEP_SUPPORTED=y
+CONFIG_SOC_DEEP_SLEEP_SUPPORTED=y
+CONFIG_SOC_MODEM_CLOCK_SUPPORTED=y
+CONFIG_SOC_PM_SUPPORTED=y
 CONFIG_SOC_XTAL_SUPPORT_40M=y
 CONFIG_SOC_AES_SUPPORT_DMA=y
 CONFIG_SOC_AES_GDMA=y
@@ -92,6 +99,7 @@ CONFIG_SOC_CPU_CORES_NUM=1
 CONFIG_SOC_CPU_INTR_NUM=32
 CONFIG_SOC_CPU_HAS_FLEXIBLE_INTC=y
 CONFIG_SOC_INT_PLIC_SUPPORTED=y
+CONFIG_SOC_CPU_HAS_CSR_PC=y
 CONFIG_SOC_CPU_BREAKPOINTS_NUM=4
 CONFIG_SOC_CPU_WATCHPOINTS_NUM=4
 CONFIG_SOC_CPU_WATCHPOINT_MAX_REGION_SIZE=0x80000000
@@ -104,6 +112,7 @@ CONFIG_SOC_AHB_GDMA_VERSION=1
 CONFIG_SOC_GDMA_NUM_GROUPS_MAX=1
 CONFIG_SOC_GDMA_PAIRS_PER_GROUP_MAX=3
 CONFIG_SOC_GDMA_SUPPORT_ETM=y
+CONFIG_SOC_GDMA_SUPPORT_SLEEP_RETENTION=y
 CONFIG_SOC_ETM_GROUPS=1
 CONFIG_SOC_ETM_CHANNELS_PER_GROUP=50
 CONFIG_SOC_GPIO_PORT=1
@@ -113,21 +122,27 @@ CONFIG_SOC_GPIO_FLEX_GLITCH_FILTER_NUM=8
 CONFIG_SOC_GPIO_SUPPORT_ETM=y
 CONFIG_SOC_GPIO_SUPPORT_RTC_INDEPENDENT=y
 CONFIG_SOC_GPIO_SUPPORT_DEEPSLEEP_WAKEUP=y
+CONFIG_SOC_LP_IO_CLOCK_IS_INDEPENDENT=y
 CONFIG_SOC_GPIO_IN_RANGE_MAX=30
 CONFIG_SOC_GPIO_OUT_RANGE_MAX=30
 CONFIG_SOC_GPIO_DEEP_SLEEP_WAKE_VALID_GPIO_MASK=0
+CONFIG_SOC_GPIO_DEEP_SLEEP_WAKE_SUPPORTED_PIN_CNT=8
 CONFIG_SOC_GPIO_VALID_DIGITAL_IO_PAD_MASK=0x000000007FFFFF00
 CONFIG_SOC_GPIO_SUPPORT_FORCE_HOLD=y
 CONFIG_SOC_GPIO_SUPPORT_HOLD_SINGLE_IO_IN_DSLP=y
 CONFIG_SOC_GPIO_CLOCKOUT_BY_GPIO_MATRIX=y
+CONFIG_SOC_CLOCKOUT_HAS_SOURCE_GATE=y
+CONFIG_SOC_GPIO_CLOCKOUT_CHANNEL_NUM=3
 CONFIG_SOC_RTCIO_PIN_COUNT=8
 CONFIG_SOC_RTCIO_INPUT_OUTPUT_SUPPORTED=y
 CONFIG_SOC_RTCIO_HOLD_SUPPORTED=y
 CONFIG_SOC_RTCIO_WAKE_SUPPORTED=y
+CONFIG_SOC_RTCIO_VALID_RTCIO_MASK=0xFF
 CONFIG_SOC_DEDIC_GPIO_OUT_CHANNELS_NUM=8
 CONFIG_SOC_DEDIC_GPIO_IN_CHANNELS_NUM=8
 CONFIG_SOC_DEDIC_PERIPH_ALWAYS_ENABLE=y
-CONFIG_SOC_I2C_NUM=1
+CONFIG_SOC_I2C_NUM=2
+CONFIG_SOC_HP_I2C_NUM=1
 CONFIG_SOC_I2C_FIFO_LEN=32
 CONFIG_SOC_I2C_CMD_REG_NUM=8
 CONFIG_SOC_I2C_SUPPORT_SLAVE=y
@@ -140,6 +155,7 @@ CONFIG_SOC_I2C_SLAVE_SUPPORT_BROADCAST=y
 CONFIG_SOC_I2C_SLAVE_CAN_GET_STRETCH_CAUSE=y
 CONFIG_SOC_I2C_SLAVE_SUPPORT_I2CRAM_ACCESS=y
 CONFIG_SOC_I2C_SLAVE_SUPPORT_SLAVE_UNMATCH=y
+CONFIG_SOC_I2C_SUPPORT_SLEEP_RETENTION=y
 CONFIG_SOC_LP_I2C_NUM=1
 CONFIG_SOC_LP_I2C_FIFO_LEN=16
 CONFIG_SOC_I2S_NUM=1
@@ -228,6 +244,10 @@ CONFIG_SOC_SPI_SUPPORT_SLAVE_HD_VER2=y
 CONFIG_SOC_SPI_SUPPORT_CLK_XTAL=y
 CONFIG_SOC_SPI_SUPPORT_CLK_PLL_F80M=y
 CONFIG_SOC_SPI_SUPPORT_CLK_RC_FAST=y
+CONFIG_SOC_SPI_SCT_SUPPORTED=y
+CONFIG_SOC_SPI_SCT_REG_NUM=14
+CONFIG_SOC_SPI_SCT_BUFFER_NUM_MAX=y
+CONFIG_SOC_SPI_SCT_CONF_BITLEN_MAX=0x3FFFA
 CONFIG_SOC_MEMSPI_IS_INDEPENDENT=y
 CONFIG_SOC_SPI_MAX_PRE_DIVIDER=16
 CONFIG_SOC_SPI_MEM_SUPPORT_AUTO_WAIT_IDLE=y
@@ -258,6 +278,7 @@ CONFIG_SOC_TIMER_GROUP_SUPPORT_XTAL=y
 CONFIG_SOC_TIMER_GROUP_SUPPORT_RC_FAST=y
 CONFIG_SOC_TIMER_GROUP_TOTAL_TIMERS=2
 CONFIG_SOC_TIMER_SUPPORT_ETM=y
+CONFIG_SOC_TIMER_SUPPORT_SLEEP_RETENTION=y
 CONFIG_SOC_MWDT_SUPPORT_XTAL=y
 CONFIG_SOC_TWAI_CONTROLLER_NUM=2
 CONFIG_SOC_TWAI_CLK_SUPPORT_XTAL=y
@@ -276,7 +297,7 @@ CONFIG_SOC_SECURE_BOOT_V2_ECC=y
 CONFIG_SOC_EFUSE_SECURE_BOOT_KEY_DIGESTS=3
 CONFIG_SOC_EFUSE_REVOKE_BOOT_KEY_DIGESTS=y
 CONFIG_SOC_SUPPORT_SECURE_BOOT_REVOKE_KEY=y
-CONFIG_SOC_FLASH_ENCRYPTED_XTS_AES_BLOCK_MAX=32
+CONFIG_SOC_FLASH_ENCRYPTED_XTS_AES_BLOCK_MAX=64
 CONFIG_SOC_FLASH_ENCRYPTION_XTS_AES=y
 CONFIG_SOC_FLASH_ENCRYPTION_XTS_AES_128=y
 CONFIG_SOC_CRYPTO_DPA_PROTECTION_SUPPORTED=y
@@ -291,6 +312,7 @@ CONFIG_SOC_UART_SUPPORT_RTC_CLK=y
 CONFIG_SOC_UART_SUPPORT_XTAL_CLK=y
 CONFIG_SOC_UART_SUPPORT_WAKEUP_INT=y
 CONFIG_SOC_UART_HAS_LP_UART=y
+CONFIG_SOC_UART_SUPPORT_SLEEP_RETENTION=y
 CONFIG_SOC_UART_SUPPORT_FSM_TX_WAIT_SEND=y
 CONFIG_SOC_COEX_HW_PTI=y
 CONFIG_SOC_EXTERNAL_COEX_ADVANCE=y
@@ -326,6 +348,8 @@ CONFIG_SOC_RCC_IS_INDEPENDENT=y
 CONFIG_SOC_TEMPERATURE_SENSOR_SUPPORT_FAST_RC=y
 CONFIG_SOC_TEMPERATURE_SENSOR_SUPPORT_XTAL=y
 CONFIG_SOC_TEMPERATURE_SENSOR_INTR_SUPPORT=y
+CONFIG_SOC_TEMPERATURE_SENSOR_SUPPORT_ETM=y
+CONFIG_SOC_RNG_CLOCK_IS_INDEPENDENT=y
 CONFIG_SOC_WIFI_HW_TSF=y
 CONFIG_SOC_WIFI_FTM_SUPPORT=y
 CONFIG_SOC_WIFI_GCMP_SUPPORT=y
@@ -345,12 +369,14 @@ CONFIG_SOC_BLE_MULTI_CONN_OPTIMIZATION=y
 CONFIG_SOC_BLE_USE_WIFI_PWR_CLK_WORKAROUND=y
 CONFIG_SOC_PHY_COMBO_MODULE=y
 CONFIG_SOC_CAPS_NO_RESET_BY_ANA_BOD=y
+CONFIG_SOC_LP_CORE_SINGLE_INTERRUPT_VECTOR=y
+CONFIG_SOC_LP_CORE_SUPPORT_ETM=y
 CONFIG_IDF_CMAKE=y
 CONFIG_IDF_TOOLCHAIN="gcc"
 CONFIG_IDF_TARGET_ARCH_RISCV=y
 CONFIG_IDF_TARGET_ARCH="riscv"
 CONFIG_IDF_TARGET="esp32c6"
-CONFIG_IDF_INIT_VERSION="5.2.2"
+CONFIG_IDF_INIT_VERSION="5.3.0"
 CONFIG_IDF_TARGET_ESP32C6=y
 CONFIG_IDF_FIRMWARE_CHIP_ID=0x000D

@@ -443,15 +469,21 @@ CONFIG_ESP_ROM_HAS_RVFPLIB=y
 CONFIG_ESP_ROM_HAS_HAL_WDT=y
 CONFIG_ESP_ROM_HAS_HAL_SYSTIMER=y
 CONFIG_ESP_ROM_HAS_HEAP_TLSF=y
+CONFIG_ESP_ROM_TLSF_CHECK_PATCH=y
+CONFIG_ESP_ROM_MULTI_HEAP_WALK_PATCH=y
 CONFIG_ESP_ROM_HAS_LAYOUT_TABLE=y
 CONFIG_ESP_ROM_HAS_SPI_FLASH=y
 CONFIG_ESP_ROM_HAS_REGI2C_BUG=y
+CONFIG_ESP_ROM_HAS_NEWLIB=y
 CONFIG_ESP_ROM_HAS_NEWLIB_NORMAL_FORMAT=y
 CONFIG_ESP_ROM_REV0_HAS_NO_ECDSA_INTERFACE=y
 CONFIG_ESP_ROM_WDT_INIT_PATCH=y
 CONFIG_ESP_ROM_NEEDS_SET_CACHE_MMU_SIZE=y
 CONFIG_ESP_ROM_RAM_APP_NEEDS_MMU_INIT=y
 CONFIG_ESP_ROM_HAS_SW_FLOAT=y
+CONFIG_ESP_ROM_USB_OTG_NUM=-1
+CONFIG_ESP_ROM_HAS_VERSION=y
+CONFIG_ESP_ROM_SUPPORT_DEEP_SLEEP_WAKEUP_STUB=y

 #
 # Boot ROM Behavior
@@ -537,6 +569,8 @@ CONFIG_COMPILER_STACK_CHECK_MODE_NONE=y
 # CONFIG_COMPILER_DUMP_RTL_FILES is not set
 CONFIG_COMPILER_RT_LIB_GCCLIB=y
 CONFIG_COMPILER_RT_LIB_NAME="gcc"
+# CONFIG_COMPILER_ORPHAN_SECTIONS_WARNING is not set
+CONFIG_COMPILER_ORPHAN_SECTIONS_PLACE=y
 # end of Compiler options

 #
@@ -562,31 +596,16 @@ CONFIG_APPTRACE_LOCK_ENABLE=y
 CONFIG_BT_ALARM_MAX_NUM=50
 # end of Bluetooth

+#
+# Console Library
+#
+# CONFIG_CONSOLE_SORTED_HELP is not set
+# end of Console Library
+
 #
 # Driver Configurations
 #

-#
-# Legacy ADC Configuration
-#
-# CONFIG_ADC_SUPPRESS_DEPRECATE_WARN is not set
-
-#
-# Legacy ADC Calibration Configuration
-#
-# CONFIG_ADC_CALI_SUPPRESS_DEPRECATE_WARN is not set
-# end of Legacy ADC Calibration Configuration
-# end of Legacy ADC Configuration
-
-#
-# SPI Configuration
-#
-# CONFIG_SPI_MASTER_IN_IRAM is not set
-CONFIG_SPI_MASTER_ISR_IN_IRAM=y
-# CONFIG_SPI_SLAVE_IN_IRAM is not set
-CONFIG_SPI_SLAVE_ISR_IN_IRAM=y
-# end of SPI Configuration
-
 #
 # TWAI Configuration
 #
@@ -594,102 +613,58 @@ CONFIG_SPI_SLAVE_ISR_IN_IRAM=y
 # end of TWAI Configuration

 #
-# Temperature sensor Configuration
+# Legacy ADC Driver Configuration
+#
+# CONFIG_ADC_SUPPRESS_DEPRECATE_WARN is not set
+
+#
+# Legacy ADC Calibration Configuration
+#
+# CONFIG_ADC_CALI_SUPPRESS_DEPRECATE_WARN is not set
+# end of Legacy ADC Calibration Configuration
+# end of Legacy ADC Driver Configuration
+
+#
+# Legacy MCPWM Driver Configurations
+#
+# CONFIG_MCPWM_SUPPRESS_DEPRECATE_WARN is not set
+# end of Legacy MCPWM Driver Configurations
+
+#
+# Legacy Timer Group Driver Configurations
+#
+# CONFIG_GPTIMER_SUPPRESS_DEPRECATE_WARN is not set
+# end of Legacy Timer Group Driver Configurations
+
+#
+# Legacy RMT Driver Configurations
+#
+# CONFIG_RMT_SUPPRESS_DEPRECATE_WARN is not set
+# end of Legacy RMT Driver Configurations
+
+#
+# Legacy I2S Driver Configurations
+#
+# CONFIG_I2S_SUPPRESS_DEPRECATE_WARN is not set
+# end of Legacy I2S Driver Configurations
+
+#
+# Legacy PCNT Driver Configurations
+#
+# CONFIG_PCNT_SUPPRESS_DEPRECATE_WARN is not set
+# end of Legacy PCNT Driver Configurations
+
+#
+# Legacy SDM Driver Configurations
+#
+# CONFIG_SDM_SUPPRESS_DEPRECATE_WARN is not set
+# end of Legacy SDM Driver Configurations
+
+#
+# Legacy Temperature Sensor Driver Configurations
 #
 # CONFIG_TEMP_SENSOR_SUPPRESS_DEPRECATE_WARN is not set
-# CONFIG_TEMP_SENSOR_ENABLE_DEBUG_LOG is not set
-# CONFIG_TEMP_SENSOR_ISR_IRAM_SAFE is not set
-# end of Temperature sensor Configuration
-
-#
-# UART Configuration
-#
-# CONFIG_UART_ISR_IN_IRAM is not set
-# end of UART Configuration
-
-#
-# GPIO Configuration
-#
-# CONFIG_GPIO_CTRL_FUNC_IN_IRAM is not set
-# end of GPIO Configuration
-
-#
-# Sigma Delta Modulator Configuration
-#
-# CONFIG_SDM_CTRL_FUNC_IN_IRAM is not set
-# CONFIG_SDM_SUPPRESS_DEPRECATE_WARN is not set
-# CONFIG_SDM_ENABLE_DEBUG_LOG is not set
-# end of Sigma Delta Modulator Configuration
-
-#
-# GPTimer Configuration
-#
-CONFIG_GPTIMER_ISR_HANDLER_IN_IRAM=y
-# CONFIG_GPTIMER_CTRL_FUNC_IN_IRAM is not set
-# CONFIG_GPTIMER_ISR_IRAM_SAFE is not set
-# CONFIG_GPTIMER_SUPPRESS_DEPRECATE_WARN is not set
-# CONFIG_GPTIMER_ENABLE_DEBUG_LOG is not set
-# end of GPTimer Configuration
-
-#
-# PCNT Configuration
-#
-# CONFIG_PCNT_CTRL_FUNC_IN_IRAM is not set
-# CONFIG_PCNT_ISR_IRAM_SAFE is not set
-# CONFIG_PCNT_SUPPRESS_DEPRECATE_WARN is not set
-# CONFIG_PCNT_ENABLE_DEBUG_LOG is not set
-# end of PCNT Configuration
-
-#
-# RMT Configuration
-#
-# CONFIG_RMT_ISR_IRAM_SAFE is not set
-# CONFIG_RMT_RECV_FUNC_IN_IRAM is not set
-# CONFIG_RMT_SUPPRESS_DEPRECATE_WARN is not set
-# CONFIG_RMT_ENABLE_DEBUG_LOG is not set
-# end of RMT Configuration
-
-#
-# MCPWM Configuration
-#
-# CONFIG_MCPWM_ISR_IRAM_SAFE is not set
-# CONFIG_MCPWM_CTRL_FUNC_IN_IRAM is not set
-# CONFIG_MCPWM_SUPPRESS_DEPRECATE_WARN is not set
-# CONFIG_MCPWM_ENABLE_DEBUG_LOG is not set
-# end of MCPWM Configuration
-
-#
-# I2S Configuration
-#
-# CONFIG_I2S_ISR_IRAM_SAFE is not set
-# CONFIG_I2S_SUPPRESS_DEPRECATE_WARN is not set
-# CONFIG_I2S_ENABLE_DEBUG_LOG is not set
-# end of I2S Configuration
-
-#
-# USB Serial/JTAG Configuration
-#
-# end of USB Serial/JTAG Configuration
-
-#
-# Parallel IO Configuration
-#
-# CONFIG_PARLIO_ENABLE_DEBUG_LOG is not set
-# CONFIG_PARLIO_ISR_IRAM_SAFE is not set
-# end of Parallel IO Configuration
-
-#
-# LEDC Configuration
-#
-# CONFIG_LEDC_CTRL_FUNC_IN_IRAM is not set
-# end of LEDC Configuration
-
-#
-# I2C Configuration
-#
-# CONFIG_I2C_ISR_IRAM_SAFE is not set
-# CONFIG_I2C_ENABLE_DEBUG_LOG is not set
-# end of I2C Configuration
+# end of Legacy Temperature Sensor Driver Configurations
 # end of Driver Configurations

 #
@@ -706,7 +681,9 @@ CONFIG_EFUSE_MAX_BLK_LEN=256
 CONFIG_ESP_TLS_USING_MBEDTLS=y
 CONFIG_ESP_TLS_USE_DS_PERIPHERAL=y
 # CONFIG_ESP_TLS_CLIENT_SESSION_TICKETS is not set
-# CONFIG_ESP_TLS_SERVER is not set
+# CONFIG_ESP_TLS_SERVER_SESSION_TICKETS is not set
+# CONFIG_ESP_TLS_SERVER_CERT_SELECT_HOOK is not set
+# CONFIG_ESP_TLS_SERVER_MIN_AUTH_MODE_OPTIONAL is not set
 # CONFIG_ESP_TLS_PSK_VERIFICATION is not set
 # CONFIG_ESP_TLS_INSECURE is not set
 # end of ESP-TLS
@@ -716,13 +693,16 @@ CONFIG_ESP_TLS_USE_DS_PERIPHERAL=y
 #
 # CONFIG_ADC_ONESHOT_CTRL_FUNC_IN_IRAM is not set
 # CONFIG_ADC_CONTINUOUS_ISR_IRAM_SAFE is not set
+# CONFIG_ADC_ENABLE_DEBUG_LOG is not set
 # end of ADC and ADC Calibration

 #
 # Wireless Coexistence
 #
+CONFIG_ESP_COEX_ENABLED=y
 CONFIG_ESP_COEX_SW_COEXIST_ENABLE=y
 # CONFIG_ESP_COEX_EXTERNAL_COEXIST_ENABLE is not set
+# CONFIG_ESP_COEX_POWER_MANAGEMENT is not set
 # end of Wireless Coexistence

 #
@@ -731,6 +711,107 @@ CONFIG_ESP_COEX_SW_COEXIST_ENABLE=y
 CONFIG_ESP_ERR_TO_NAME_LOOKUP=y
 # end of Common ESP-related

+#
+# ESP-Driver:GPIO Configurations
+#
+# CONFIG_GPIO_CTRL_FUNC_IN_IRAM is not set
+# end of ESP-Driver:GPIO Configurations
+
+#
+# ESP-Driver:GPTimer Configurations
+#
+CONFIG_GPTIMER_ISR_HANDLER_IN_IRAM=y
+# CONFIG_GPTIMER_CTRL_FUNC_IN_IRAM is not set
+# CONFIG_GPTIMER_ISR_IRAM_SAFE is not set
+# CONFIG_GPTIMER_ENABLE_DEBUG_LOG is not set
+# end of ESP-Driver:GPTimer Configurations
+
+#
+# ESP-Driver:I2C Configurations
+#
+# CONFIG_I2C_ISR_IRAM_SAFE is not set
+# CONFIG_I2C_ENABLE_DEBUG_LOG is not set
+# end of ESP-Driver:I2C Configurations
+
+#
+# ESP-Driver:I2S Configurations
+#
+# CONFIG_I2S_ISR_IRAM_SAFE is not set
+# CONFIG_I2S_ENABLE_DEBUG_LOG is not set
+# end of ESP-Driver:I2S Configurations
+
+#
+# ESP-Driver:LEDC Configurations
+#
+# CONFIG_LEDC_CTRL_FUNC_IN_IRAM is not set
+# end of ESP-Driver:LEDC Configurations
+
+#
+# ESP-Driver:MCPWM Configurations
+#
+# CONFIG_MCPWM_ISR_IRAM_SAFE is not set
+# CONFIG_MCPWM_CTRL_FUNC_IN_IRAM is not set
+# CONFIG_MCPWM_ENABLE_DEBUG_LOG is not set
+# end of ESP-Driver:MCPWM Configurations
+
+#
+# ESP-Driver:Parallel IO Configurations
+#
+# CONFIG_PARLIO_ENABLE_DEBUG_LOG is not set
+# CONFIG_PARLIO_ISR_IRAM_SAFE is not set
+# end of ESP-Driver:Parallel IO Configurations
+
+#
+# ESP-Driver:PCNT Configurations
+#
+# CONFIG_PCNT_CTRL_FUNC_IN_IRAM is not set
+# CONFIG_PCNT_ISR_IRAM_SAFE is not set
+# CONFIG_PCNT_ENABLE_DEBUG_LOG is not set
+# end of ESP-Driver:PCNT Configurations
+
+#
+# ESP-Driver:RMT Configurations
+#
+# CONFIG_RMT_ISR_IRAM_SAFE is not set
+# CONFIG_RMT_RECV_FUNC_IN_IRAM is not set
+# CONFIG_RMT_ENABLE_DEBUG_LOG is not set
+# end of ESP-Driver:RMT Configurations
+
+#
+# ESP-Driver:Sigma Delta Modulator Configurations
+#
+# CONFIG_SDM_CTRL_FUNC_IN_IRAM is not set
+# CONFIG_SDM_ENABLE_DEBUG_LOG is not set
+# end of ESP-Driver:Sigma Delta Modulator Configurations
+
+#
+# ESP-Driver:SPI Configurations
+#
+# CONFIG_SPI_MASTER_IN_IRAM is not set
+CONFIG_SPI_MASTER_ISR_IN_IRAM=y
+# CONFIG_SPI_SLAVE_IN_IRAM is not set
+CONFIG_SPI_SLAVE_ISR_IN_IRAM=y
+# end of ESP-Driver:SPI Configurations
+
+#
+# ESP-Driver:Temperature Sensor Configurations
+#
+# CONFIG_TEMP_SENSOR_ENABLE_DEBUG_LOG is not set
+# CONFIG_TEMP_SENSOR_ISR_IRAM_SAFE is not set
+# end of ESP-Driver:Temperature Sensor Configurations
+
+#
+# ESP-Driver:UART Configurations
+#
+# CONFIG_UART_ISR_IN_IRAM is not set
+# end of ESP-Driver:UART Configurations
+
+#
+# ESP-Driver:USB Serial/JTAG Configuration
+#
+CONFIG_USJ_ENABLE_USB_SERIAL_JTAG=y
+# end of ESP-Driver:USB Serial/JTAG Configuration
+
 #
 # Ethernet
 #
@@ -766,6 +847,7 @@ CONFIG_ESP_GDBSTUB_MAX_TASKS=32
 CONFIG_ESP_HTTP_CLIENT_ENABLE_HTTPS=y
 # CONFIG_ESP_HTTP_CLIENT_ENABLE_BASIC_AUTH is not set
 # CONFIG_ESP_HTTP_CLIENT_ENABLE_DIGEST_AUTH is not set
+# CONFIG_ESP_HTTP_CLIENT_ENABLE_CUSTOM_TRANSPORT is not set
 # end of ESP HTTP client

 #
@@ -821,6 +903,7 @@ CONFIG_ESP_MAC_ADDR_UNIVERSE_BT=y
 CONFIG_ESP_MAC_ADDR_UNIVERSE_ETH=y
 CONFIG_ESP_MAC_ADDR_UNIVERSE_IEEE802154=y
 CONFIG_ESP_MAC_UNIVERSAL_MAC_ADDRESSES_FOUR=y
+CONFIG_ESP_MAC_UNIVERSAL_MAC_ADDRESSES=4
 # CONFIG_ESP32C6_UNIVERSAL_MAC_ADDRESSES_TWO is not set
 CONFIG_ESP32C6_UNIVERSAL_MAC_ADDRESSES_FOUR=y
 CONFIG_ESP32C6_UNIVERSAL_MAC_ADDRESSES=4
@@ -863,12 +946,12 @@ CONFIG_PERIPH_CTRL_FUNC_IN_IRAM=y
 # end of ETM Configuration

 #
-# GDMA Configuration
+# GDMA Configurations
 #
-# CONFIG_GDMA_CTRL_FUNC_IN_IRAM is not set
+CONFIG_GDMA_CTRL_FUNC_IN_IRAM=y
 # CONFIG_GDMA_ISR_IRAM_SAFE is not set
 # CONFIG_GDMA_ENABLE_DEBUG_LOG is not set
-# end of GDMA Configuration
+# end of GDMA Configurations

 #
 # Main XTAL Config
@@ -886,6 +969,8 @@ CONFIG_ESP_CRYPTO_DPA_PROTECTION_LEVEL_LOW=y
 # CONFIG_ESP_CRYPTO_DPA_PROTECTION_LEVEL_HIGH is not set
 CONFIG_ESP_CRYPTO_DPA_PROTECTION_LEVEL=1
 # end of Crypto DPA Protection
+
+CONFIG_ESP_SPI_BUS_LOCK_ISR_FUNCS_IN_IRAM=y
 # end of Hardware Settings

 #
@@ -899,7 +984,6 @@ CONFIG_ESP_CRYPTO_DPA_PROTECTION_LEVEL=1
 #
 # LCD Peripheral Configuration
 #
-CONFIG_LCD_PANEL_IO_FORMAT_BUF_SIZE=32
 # CONFIG_LCD_ENABLE_DEBUG_LOG is not set
 # end of LCD Peripheral Configuration
 # end of LCD and Touch Panel
@@ -924,6 +1008,7 @@ CONFIG_ESP_NETIF_USES_TCPIP_WITH_BSD_API=y
 #
 # PHY
 #
+CONFIG_ESP_PHY_ENABLED=y
 CONFIG_ESP_PHY_CALIBRATION_AND_DATA_STORAGE=y
 # CONFIG_ESP_PHY_INIT_DATA_IN_PARTITION is not set
 CONFIG_ESP_PHY_MAX_WIFI_TX_POWER=20
@@ -940,6 +1025,7 @@ CONFIG_ESP_PHY_CALIBRATION_MODE=0
 # Power Management
 #
 # CONFIG_PM_ENABLE is not set
+CONFIG_PM_SLP_DEFAULT_PARAMS_OPT=y
 CONFIG_PM_POWER_DOWN_CPU_IN_LIGHT_SLEEP=y
 # CONFIG_PM_POWER_DOWN_PERIPHERAL_IN_LIGHT_SLEEP is not set
 # end of Power Management
@@ -993,6 +1079,7 @@ CONFIG_ESP_CONSOLE_SECONDARY_USB_SERIAL_JTAG=y
 CONFIG_ESP_CONSOLE_USB_SERIAL_JTAG_ENABLED=y
 CONFIG_ESP_CONSOLE_UART=y
 CONFIG_ESP_CONSOLE_UART_NUM=0
+CONFIG_ESP_CONSOLE_ROM_SERIAL_PORT_NUM=0
 CONFIG_ESP_CONSOLE_UART_BAUDRATE=115200
 CONFIG_ESP_INT_WDT=y
 CONFIG_ESP_INT_WDT_TIMEOUT_MS=300
@@ -1022,6 +1109,7 @@ CONFIG_ESP_BROWNOUT_DET_LVL=7
 CONFIG_ESP_SYSTEM_BROWNOUT_INTR=y
 CONFIG_ESP_SYSTEM_HW_STACK_GUARD=y
 CONFIG_ESP_SYSTEM_BBPLL_RECALIB=y
+CONFIG_ESP_SYSTEM_HW_PC_RECORD=y
 # end of ESP System Settings

 #
@@ -1031,7 +1119,7 @@ CONFIG_ESP_IPC_TASK_STACK_SIZE=1024
 # end of IPC (Inter-Processor Call)

 #
-# High resolution timer (esp_timer)
+# ESP Timer (High Resolution Timer)
 #
 # CONFIG_ESP_TIMER_PROFILING is not set
 CONFIG_ESP_TIME_FUNCS_USE_RTC_TIMER=y
@@ -1041,11 +1129,10 @@ CONFIG_ESP_TIMER_INTERRUPT_LEVEL=1
 # CONFIG_ESP_TIMER_SHOW_EXPERIMENTAL is not set
 CONFIG_ESP_TIMER_TASK_AFFINITY=0x0
 CONFIG_ESP_TIMER_TASK_AFFINITY_CPU0=y
-CONFIG_ESP_TIMER_ISR_AFFINITY=0x1
 CONFIG_ESP_TIMER_ISR_AFFINITY_CPU0=y
 # CONFIG_ESP_TIMER_SUPPORTS_ISR_DISPATCH_METHOD is not set
 CONFIG_ESP_TIMER_IMPL_SYSTIMER=y
-# end of High resolution timer (esp_timer)
+# end of ESP Timer (High Resolution Timer)

 #
 # Wi-Fi
@@ -1076,15 +1163,17 @@ CONFIG_ESP_WIFI_ENABLE_WPA3_SAE=y
 CONFIG_ESP_WIFI_ENABLE_SAE_PK=y
 CONFIG_ESP_WIFI_SOFTAP_SAE_SUPPORT=y
 CONFIG_ESP_WIFI_ENABLE_WPA3_OWE_STA=y
-# CONFIG_ESP_WIFI_SLP_IRAM_OPT is not set
+CONFIG_ESP_WIFI_SLP_IRAM_OPT=y
+CONFIG_ESP_WIFI_SLP_DEFAULT_MIN_ACTIVE_TIME=50
+CONFIG_ESP_WIFI_SLP_DEFAULT_MAX_ACTIVE_TIME=10
+CONFIG_ESP_WIFI_SLP_DEFAULT_WAIT_BROADCAST_DATA_TIME=15
 # CONFIG_ESP_WIFI_FTM_ENABLE is not set
 CONFIG_ESP_WIFI_STA_DISCONNECTED_PM_ENABLE=y
 # CONFIG_ESP_WIFI_GCMP_SUPPORT is not set
-# CONFIG_ESP_WIFI_GMAC_SUPPORT is not set
+CONFIG_ESP_WIFI_GMAC_SUPPORT=y
 CONFIG_ESP_WIFI_SOFTAP_SUPPORT=y
 # CONFIG_ESP_WIFI_SLP_BEACON_LOST_OPT is not set
 CONFIG_ESP_WIFI_ESPNOW_MAX_ENCRYPT_NUM=7
-CONFIG_ESP_WIFI_ENABLE_WIFI_TX_STATS=y
 CONFIG_ESP_WIFI_MBEDTLS_CRYPTO=y
 CONFIG_ESP_WIFI_MBEDTLS_TLS_CLIENT=y
 # CONFIG_ESP_WIFI_WAPI_PSK is not set
@@ -1094,8 +1183,9 @@ CONFIG_ESP_WIFI_MBEDTLS_TLS_CLIENT=y
 # CONFIG_ESP_WIFI_DPP_SUPPORT is not set
 # CONFIG_ESP_WIFI_11R_SUPPORT is not set
 # CONFIG_ESP_WIFI_WPS_SOFTAP_REGISTRAR is not set
-CONFIG_ESP_WIFI_ENABLE_WIFI_RX_STATS=y
-CONFIG_ESP_WIFI_ENABLE_WIFI_RX_MU_STATS=y
+# CONFIG_ESP_WIFI_ENABLE_WIFI_TX_STATS is not set
+# CONFIG_ESP_WIFI_ENABLE_WIFI_RX_STATS is not set
+CONFIG_ESP_WIFI_TX_HETB_QUEUE_NUM=3

 #
 # WPS Configuration Options
@@ -1156,6 +1246,8 @@ CONFIG_FATFS_PER_FILE_CACHE=y
 # CONFIG_FATFS_USE_FASTSEEK is not set
 CONFIG_FATFS_VFS_FSTAT_BLKSIZE=0
 # CONFIG_FATFS_IMMEDIATE_FSYNC is not set
+# CONFIG_FATFS_USE_LABEL is not set
+CONFIG_FATFS_LINK_LOCK=y
 # end of FAT Filesystem support

 #
@@ -1179,12 +1271,16 @@ CONFIG_FREERTOS_IDLE_TASK_STACKSIZE=1536
 CONFIG_FREERTOS_MAX_TASK_NAME_LEN=16
 # CONFIG_FREERTOS_ENABLE_BACKWARD_COMPATIBILITY is not set
 CONFIG_FREERTOS_TIMER_SERVICE_TASK_NAME="Tmr Svc"
+# CONFIG_FREERTOS_TIMER_TASK_AFFINITY_CPU0 is not set
+CONFIG_FREERTOS_TIMER_TASK_NO_AFFINITY=y
+CONFIG_FREERTOS_TIMER_SERVICE_TASK_CORE_AFFINITY=0x7FFFFFFF
 CONFIG_FREERTOS_TIMER_TASK_PRIORITY=1
 CONFIG_FREERTOS_TIMER_TASK_STACK_DEPTH=2048
 CONFIG_FREERTOS_TIMER_QUEUE_LENGTH=10
 CONFIG_FREERTOS_QUEUE_REGISTRY_SIZE=0
 CONFIG_FREERTOS_TASK_NOTIFICATION_ARRAY_ENTRIES=1
 # CONFIG_FREERTOS_USE_TRACE_FACILITY is not set
+# CONFIG_FREERTOS_USE_LIST_DATA_INTEGRITY_CHECK_BYTES is not set
 # CONFIG_FREERTOS_GENERATE_RUN_TIME_STATS is not set
 # CONFIG_FREERTOS_USE_APPLICATION_TASK_TAG is not set
 # end of Kernel
@@ -1214,6 +1310,7 @@ CONFIG_FREERTOS_SUPPORT_STATIC_ALLOCATION=y
 CONFIG_FREERTOS_DEBUG_OCDAWARE=y
 CONFIG_FREERTOS_ENABLE_TASK_SNAPSHOT=y
 CONFIG_FREERTOS_PLACE_SNAPSHOT_FUNS_INTO_FLASH=y
+CONFIG_FREERTOS_NUMBER_OF_CORES=1
 # end of FreeRTOS

 #
@@ -1360,6 +1457,7 @@ CONFIG_LWIP_TCP_FIN_WAIT_TIMEOUT=20000
 CONFIG_LWIP_TCP_SND_BUF_DEFAULT=5760
 CONFIG_LWIP_TCP_WND_DEFAULT=5760
 CONFIG_LWIP_TCP_RECVMBOX_SIZE=6
+CONFIG_LWIP_TCP_ACCEPTMBOX_SIZE=6
 CONFIG_LWIP_TCP_QUEUE_OOSEQ=y
 CONFIG_LWIP_TCP_OOSEQ_TIMEOUT=6
 CONFIG_LWIP_TCP_OOSEQ_MAX_PBUFS=4
@@ -1414,6 +1512,8 @@ CONFIG_LWIP_MAX_RAW_PCBS=16
 CONFIG_LWIP_SNTP_MAX_SERVERS=1
 # CONFIG_LWIP_DHCP_GET_NTP_SRV is not set
 CONFIG_LWIP_SNTP_UPDATE_DELAY=3600000
+CONFIG_LWIP_SNTP_STARTUP_DELAY=y
+CONFIG_LWIP_SNTP_MAXIMUM_STARTUP_DELAY=5000
 # end of SNTP

 #
@@ -1483,6 +1583,7 @@ CONFIG_MBEDTLS_CERTIFICATE_BUNDLE_DEFAULT_FULL=y
 # CONFIG_MBEDTLS_CERTIFICATE_BUNDLE_DEFAULT_CMN is not set
 # CONFIG_MBEDTLS_CERTIFICATE_BUNDLE_DEFAULT_NONE is not set
 # CONFIG_MBEDTLS_CUSTOM_CERTIFICATE_BUNDLE is not set
+# CONFIG_MBEDTLS_CERTIFICATE_BUNDLE_DEPRECATED_LIST is not set
 CONFIG_MBEDTLS_CERTIFICATE_BUNDLE_MAX_CERTS=200
 # end of Certificate Bundle

@@ -1491,7 +1592,7 @@ CONFIG_MBEDTLS_CMAC_C=y
 CONFIG_MBEDTLS_HARDWARE_AES=y
 CONFIG_MBEDTLS_AES_USE_INTERRUPT=y
 CONFIG_MBEDTLS_AES_INTERRUPT_LEVEL=0
-# CONFIG_MBEDTLS_GCM_SUPPORT_NON_AES_CIPHER is not set
+CONFIG_MBEDTLS_GCM_SUPPORT_NON_AES_CIPHER=y
 CONFIG_MBEDTLS_HARDWARE_MPI=y
 CONFIG_MBEDTLS_LARGE_KEY_SOFTWARE_MPI=y
 CONFIG_MBEDTLS_MPI_USE_INTERRUPT=y
@@ -1696,6 +1797,7 @@ CONFIG_SPI_FLASH_BROWNOUT_RESET=y
 #
 # Features here require specific hardware (READ DOCS FIRST!)
 #
+CONFIG_SPI_FLASH_SUSPEND_TSUS_VAL_US=50
 # end of Optional and Experimental Features (READ DOCS FIRST)
 # end of Main Flash configuration

@@ -1786,6 +1888,11 @@ CONFIG_WS_BUFFER_SIZE=1024
 # Ultra Low Power (ULP) Co-processor
 #
 # CONFIG_ULP_COPROC_ENABLED is not set
+
+#
+# ULP Debugging Options
+#
+# end of ULP Debugging Options
 # end of Ultra Low Power (ULP) Co-processor

 #
@@ -1880,12 +1987,12 @@ CONFIG_STACK_CHECK_NONE=y
 # CONFIG_ESP32_APPTRACE_DEST_TRAX is not set
 CONFIG_ESP32_APPTRACE_DEST_NONE=y
 CONFIG_ESP32_APPTRACE_LOCK_ENABLE=y
-# CONFIG_MCPWM_ISR_IN_IRAM is not set
 CONFIG_SW_COEXIST_ENABLE=y
 CONFIG_ESP32_WIFI_SW_COEXIST_ENABLE=y
 CONFIG_ESP_WIFI_SW_COEXIST_ENABLE=y
 # CONFIG_EXTERNAL_COEX_ENABLE is not set
 # CONFIG_ESP_WIFI_EXTERNAL_COEXIST_ENABLE is not set
+# CONFIG_MCPWM_ISR_IN_IRAM is not set
 # CONFIG_EVENT_LOOP_PROFILING is not set
 CONFIG_POST_EVENTS_FROM_ISR=y
 CONFIG_POST_EVENTS_FROM_IRAM_ISR=y
--- a/rx_esp32/servo/init.py
+++ b/rx_esp32/servo/init.py
@@ -0,0 +1,24 @@
+##
+## This file is part of the libsigrokdecode project.
+##
+## Copyright (C) 2014 Torsten Duwe <duwe@suse.de>
+##
+## This program is free software; you can redistribute it and/or modify
+## it under the terms of the GNU General Public License as published by
+## the Free Software Foundation; either version 2 of the License, or
+## (at your option) any later version.
+##
+## This program is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU General Public License for more details.
+##
+## You should have received a copy of the GNU General Public License
+## along with this program; if not, see <http://www.gnu.org/licenses/>.
+##
+
+'''
+Servo decoder
+'''
+
+from .pd import Decoder
--- a/rx_esp32/servo/pd.py
+++ b/rx_esp32/servo/pd.py
@@ -0,0 +1,141 @@
+
+##
+## This file is base of the timeing decoder from the libsigrokdecode project made by 
+## Torsten Duwe <duwe@suse.de> and Sebastien Bourdelin <sebastien.bourdelin@savoirfairelinux.com>
+## and converted to a Servo decoder by FReenen <git@finnvanreenen.nl>
+##
+## This program is free software; you can redistribute it and/or modify
+## it under the terms of the GNU General Public License as published by
+## the Free Software Foundation; either version 2 of the License, or
+## (at your option) any later version.
+##
+## This program is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU General Public License for more details.
+##
+## You should have received a copy of the GNU General Public License
+## along with this program; if not, see <http://www.gnu.org/licenses/>.
+##
+
+import sigrokdecode as srd
+
+class SamplerateError(Exception):
+    pass
+
+class Decoder(srd.Decoder):
+    api_version = 3
+    id = 'servo'
+    name = 'Servo'
+    longname = 'Servo PWM signal (1 to 2 ms pulses every 20 ms)'
+    desc = '1 to 2 ms pulses every 20 ms'
+    license = 'gplv2+'
+    inputs = ['logic']
+    outputs = []
+    tags = ['Encoding']
+    channels = (
+        {'id': 'data', 'name': 'Data', 'desc': 'Data line'},
+    )
+    options = (
+        {'id': 'polarity', 'desc': 'Polarity', 'default': 'active-high',
+            'values': ('active-low', 'active-high')},
+    )
+    annotations = (
+        ('duty-cycle', 'Duty cycle'),
+        ('period', 'Period'),
+    )
+    annotation_rows = (
+         ('duty-cycle', 'Duty cycle', (0,)),
+         ('period', 'Period', (1,)),
+    )
+    # binary = (
+    #     ('raw', 'RAW file'),
+    # )
+
+    def __init__(self):
+        self.reset()
+
+    def reset(self):
+        self.samplerate = None
+        self.ss_block = self.es_block = None
+
+    def metadata(self, key, value):
+        if key == srd.SRD_CONF_SAMPLERATE:
+            self.samplerate = value
+
+    def start(self):
+        self.out_ann = self.register(srd.OUTPUT_ANN)
+        self.out_binary = self.register(srd.OUTPUT_BINARY)
+        self.out_average = \
+            self.register(srd.OUTPUT_META,
+                          meta=(float, 'Average', 'PWM base (cycle) frequency'))
+
+    def putx(self, data):
+        self.put(self.ss_block, self.es_block, self.out_ann, data)
+
+    def putp(self, period_t):
+        # Adjust granularity.
+        # if period_t == 0 or period_t >= 1:
+        #     period_s = '%.1f s' % (period_t)
+        # elif period_t <= 1e-12:
+        #     period_s = '%.1f fs' % (period_t * 1e15)
+        # elif period_t <= 1e-9:
+        #     period_s = '%.1f ps' % (period_t * 1e12)
+        # elif period_t <= 1e-6:
+        #     period_s = '%.1f ns' % (period_t * 1e9)
+        # elif period_t <= 1e-3:
+        #     period_s = '%.1f μs' % (period_t * 1e6)
+        # else:
+        #     period_s = '%.1f ms' % (period_t * 1e3)
+
+        period_s = '%.3f' % (period_t * 1e3)
+
+        self.put(self.ss_block, self.es_block, self.out_ann, [1, [period_s]])
+
+    def putb(self, data):
+        self.put(self.ss_block, self.es_block, self.out_binary, data)
+
+    def decode(self):
+        if not self.samplerate:
+            raise SamplerateError('Cannot decode without samplerate.')
+
+        num_cycles = 0
+        average = 0
+
+        # Wait for an "active" edge (depends on config). This starts
+        # the first full period of the inspected signal waveform.
+        self.wait({0: 'f' if self.options['polarity'] == 'active-low' else 'r'})
+        self.first_samplenum = self.samplenum
+
+        # Keep getting samples for the period's middle and terminal edges.
+        # At the same time that last sample starts the next period.
+        while True:
+
+            # Get the next two edges. Setup some variables that get
+            # referenced in the calculation and in put() routines.
+            start_samplenum = self.samplenum
+            self.wait({0: 'f'})
+            end_samplenum = self.samplenum
+            self.wait({0: 'r'})
+            self.ss_block = start_samplenum
+            self.es_block = self.samplenum
+
+            pulse = float((end_samplenum - start_samplenum) / self.samplerate)
+            ratio = (pulse - 0.0015) / 0.0005
+
+            # Report the duty cycle in percent.
+            # percent = float(ratio * 100)
+            # self.putx([0, ['%f%%' % percent]])
+
+            # Report the duty cycle in the binary output.
+            # self.putb([0, bytes([int(ratio * 128)])])
+
+            # Report the period in units of time.
+            # print("servo pulse: " + str(pulse))
+            self.putp(pulse)
+
+            # Update and report the new duty cycle average.
+            # num_cycles += 1
+            # average += percent
+            # self.put(self.first_samplenum, self.es_block, self.out_average,
+            #          float(average / num_cycles))
--- a/rx_esp32/set-target.sh
+++ b/rx_esp32/set-target.sh
@@ -0,0 +1,35 @@
+
+case $1 in
+	"rx")
+		IC="esp32c3"
+		opts="-D IC=$IC -D target=rx"
+		;;
+	"tx")
+		IC="esp32c6"
+		opts="-D IC=$IC -D target=tx"
+		;;
+	*)
+      echo "Use 'rx' or 'tx'."
+		return
+		;;
+esac
+
+if [ -f sdkconfig.$IC ]
+then
+	rm sdkconfig dependencies.lock
+
+	idf.py fullclean
+
+	cp sdkconfig.$IC sdkconfig
+	jinja2 $opts dependencies.lock.j2 >dependencies.lock
+	jinja2 $opts src/config.h.j2 >src/config.h
+
+	idf.py --version &>/dev/null || {
+		. $IDF_TOOLS_PATH/esp-idf/export.sh
+	}
+
+	idf.py set-target $IC
+	# idf.py build $2
+else
+   echo "SDK config file for $IC not found."
+fi
--- a/rx_esp32/src/CMakeLists.txt
+++ b/rx_esp32/src/CMakeLists.txt
@@ -12,6 +12,7 @@ idf_component_register(
 		./servos.c
 		./logger.c
 		./ws.c
+		./adc.c
 	INCLUDE_DIRS "./"
 	PRIV_REQUIRES
 		# project components
@@ -19,6 +20,6 @@ idf_component_register(
 		# idf extra components
 		led_strip
 		# idf base components
-		esp_websocket_client
+		esp_websocket_client esp_adc
 		spi_flash driver nvs_flash esp_wifi
 )
--- a/rx_esp32/src/adc.c
+++ b/rx_esp32/src/adc.c
@@ -0,0 +1,80 @@
+#include <stdint.h>
+#include <stdbool.h>
+
+#include <esp_adc/adc_continuous.h>
+
+#include "adc.h"
+#include "hal/adc_types.h"
+
+adc_digi_output_data_t ADC_Buffer[6][10];
+uint8_t ADC_conf_available = 0;
+adc_continuous_handle_t adc_handle;
+
+static bool IRAM_ATTR s_conv_done_cb(adc_continuous_handle_t handle, const adc_continuous_evt_data_t *edata, void *user_data)
+{
+	// BaseType_t mustYield = pdFALSE;
+	// //Notify that ADC continuous driver has done enough number of conversions
+	// vTaskNotifyGiveFromISR(s_task_handle, &mustYield);
+	// return (mustYield == pdTRUE);
+	ADC_conf_available++;
+	return true;
+}
+
+void adc_init()
+{
+	adc_continuous_handle_cfg_t adc_config = {
+		.max_store_buf_size = sizeof(ADC_Buffer),
+		.conv_frame_size = sizeof(adc_digi_output_data_t) * 6,
+	};
+	adc_continuous_new_handle(&adc_config, &adc_handle);
+
+	adc_continuous_config_t dig_cfg = {
+		.sample_freq_hz = 611, //100 * 6,
+		.conv_mode = ADC_CONV_SINGLE_UNIT_1,
+		.format = ADC_DIGI_OUTPUT_FORMAT_TYPE2,
+	};
+
+	adc_digi_pattern_config_t adc_pattern[SOC_ADC_PATT_LEN_MAX] = {0};
+	dig_cfg.pattern_num = 6;
+	for (int i = 0; i < 6; i++) {
+		adc_pattern[i].atten = ADC_ATTEN_DB_12;
+		adc_pattern[i].unit = ADC_UNIT_1;
+		adc_pattern[i].bit_width = ADC_BITWIDTH_12;
+	}
+	adc_pattern[0].channel = ADC_CHANNEL_0 & 0x7;
+	adc_pattern[1].channel = ADC_CHANNEL_1 & 0x7;
+	adc_pattern[2].channel = ADC_CHANNEL_2 & 0x7;
+	adc_pattern[3].channel = ADC_CHANNEL_3 & 0x7;
+	adc_pattern[4].channel = ADC_CHANNEL_4 & 0x7;
+	adc_pattern[5].channel = ADC_CHANNEL_5 & 0x7;
+	dig_cfg.adc_pattern = adc_pattern;
+	adc_continuous_config(adc_handle, &dig_cfg);
+
+	adc_continuous_evt_cbs_t cbs = {
+		.on_conv_done = s_conv_done_cb,
+	};
+	adc_continuous_register_event_callbacks(adc_handle, &cbs, NULL);
+	adc_continuous_start(adc_handle);
+}
+
+bool adc_read(ADC_Data_t* out_data)
+{
+	adc_digi_output_data_t data[6];
+	uint32_t ret_num = 0;
+   esp_err_t ret = adc_continuous_read(
+							adc_handle,
+							(uint8_t*)&data,
+							sizeof(adc_digi_output_data_t) * 6,
+							&ret_num,
+							0
+	);
+	if (ret == ESP_OK)
+	{
+		for (uint8_t i=0; i<3; i++) {
+			for (uint8_t ii=0; ii<2; ii++) {
+				out_data->value[i][ii] = data[i*2 + ii].type2.data;
+			}
+		}
+	}
+	return (ret == ESP_OK);
+}
--- a/rx_esp32/src/adc.h
+++ b/rx_esp32/src/adc.h
@@ -0,0 +1,14 @@
+#ifndef ADC_H
+#define ADC_H
+
+#include <stdint.h>
+#include <stdbool.h>
+
+typedef struct {
+	uint16_t value[3][2];
+} ADC_Data_t;
+
+void adc_init();
+bool adc_read(ADC_Data_t* data);
+
+#endif  // ADC_H
--- a/rx_esp32/src/commands.c
+++ b/rx_esp32/src/commands.c
@@ -59,8 +59,8 @@ int cmd_contrl(char* line, void* cli)
 		{
 			readInt(arg, &ch_d[1]);

-			servo_set(0, (int16_t)ch_d[0]);
-			servo_set(1, (int16_t)ch_d[1]);
+			servo_set(0, (uint8_t)ch_d[0]);
+			servo_set(1, (uint8_t)ch_d[1]);
 			snprintf(&msg[0], 40, "channel data: 0:%lu, 1:%lu\n", ch_d[0], ch_d[1]);
 			CLI_stringOut((CLI_t*)cli, &msg[0]);
 		}
@@ -68,6 +68,38 @@ int cmd_contrl(char* line, void* cli)
 	return out;
 }

+// servotrim:0 410;614;819
+int cmd_servotrim(char* line, void* cli)
+{
+	uint8_t ch;
+	int out = 0;
+	char msg[40];
+
+	char* arg = getNextArg(line, ':');
+	if (arg == NULL)
+	{
+		snprintf(&msg[0], 40, "no arguments given, expect at least one\n");
+		CLI_stringOut((CLI_t*)cli, &msg[0]);
+		out = -1;
+	}
+	else
+	{
+		readInt(arg, &ch);
+		arg = getNextArg(arg, ' ');
+		if (arg != NULL)
+		{
+			readInt(arg, &Servos[ch].pulse_min);
+			arg = getNextArg(arg, ':');
+			readInt(arg, &Servos[ch].pulse_mid);
+			arg = getNextArg(arg, ':');
+			readInt(arg, &Servos[ch].pulse_max);
+		}
+		snprintf(&msg[0], 40, "servo ch %d: %d:%d:%d\n", Servos[ch].pulse_min, Servos[ch].pulse_mid, Servos[ch].pulse_max);
+		CLI_stringOut((CLI_t*)cli, &msg[0]);
+	}
+	return out;
+}
+
 extern volatile bool running;
 int cmd_shutdown(char* line, void* cli)
 {
@@ -158,11 +190,15 @@ int cmd_clearlog(char* line, void* cli)
 }

 const CMD_t Commands[] = {
-	{ "history", &cmd_history },
+#if TARGET == TARGET_RX
 	{ "d", &cmd_contrl },
-	{ "shutdown", &cmd_shutdown },
 	{ "status", &cmd_status },
+	{ "servotrim", &cmd_servotrim},
+#elif TARGET == TARGET_TX
 	{ "led", &setLed },
+#endif
+	{ "history", &cmd_history },
+	{ "shutdown", &cmd_shutdown },
 	{ "log", &cmd_showlog },
 	{ "logclear", &cmd_clearlog }
 };
--- a/rx_esp32/src/config.h
+++ b/rx_esp32/src/config.h
@@ -1,36 +0,0 @@
-#ifndef CONFIG_H
-#define CONFIG_H
-
-#include <stdint.h>
-
-// #define WIFI_SSID "UPC46273"
-// #define WIFI_AUTH WIFI_AUTH_WPA_PSK
-// #define WIFI_PASS "SPHZHKRY"
-// #define WIFI_SSID "Wifi Ding"
-// #define WIFI_AUTH WIFI_AUTH_WPA_WPA2_PSK
-// #define WIFI_PASS "Weet ik niet."
-#define WIFI_SSID "MBCBootjes"
-#define WIFI_AUTH WIFI_AUTH_WPA_WPA2_PSK
-#define WIFI_PASS "hetgrootedok"
-
-// #define UDP_PORT 1234
-
-#define BOAT_NAME "Test boat"
-static uint8_t BoatId = 1;
-
-#define HISTORY // enable cli history
-
-#define SERVOS_CH0 {LEDC_CHANNEL_0, 5},
-#define SERVOS_CH1 {LEDC_CHANNEL_1, 6}
-#define SERVOS_CH2
-#define SERVOS_CH3
-#define SERVOS_CH4
-#define SERVOS_CH5
-#define SERVOS_CH6
-
-#define WS_RX_BUFFER_LEN 512
-#define WS_URL "ws://10.254.0.1:8080/"
-
-#define LOGGER_BUFFER_SIZE 65536
-
-#endif
--- a/rx_esp32/src/config.h.j2
+++ b/rx_esp32/src/config.h.j2
@@ -0,0 +1,28 @@
+#ifndef CONFIG_H
+#define CONFIG_H
+
+#include <stdint.h>
+
+#define TARGET_TX 0
+#define TARGET_RX 1
+#define TARGET {% if target == "tx" %}TARGET_TX{% else %}TARGET_RX{% endif %}
+
+#define WIFI_SSID "MBCBootjes"
+#define WIFI_AUTH WIFI_AUTH_WPA_WPA2_PSK
+#define WIFI_PASS "hetgrootedok"
+
+#define BOAT_NAME "Test boat"
+static uint8_t BoatId = 1;
+
+#define HISTORY // enable cli history
+
+#define SERVOS_CH0_PIN 7
+#define SERVOS_CH1_PIN 21
+
+#define WS_RX_BUFFER_LEN 1024
+#define WS_TX_BUFFER_LEN 128
+#define WS_URL "ws://10.254.0.1:8080/"
+
+#define LOGGER_BUFFER_SIZE 65536
+
+#endif
--- a/rx_esp32/src/logger.c
+++ b/rx_esp32/src/logger.c
@@ -21,6 +21,12 @@ void logger_printf(const char *fmt, ...)

 	puts(&Logger_buff[Logger_buff_wp]);
 	Logger_buff_wp += len + 1;
+
+	if (Logger_buff_wp >= LOGGER_BUFFER_SIZE)
+	{
+		logger_clearBuffer();
+		LOG_W("buffer cleard, becouse it was full");
+	}
 }

 void logger_printFullLog(CLI_t* cli)
--- a/rx_esp32/src/main.c
+++ b/rx_esp32/src/main.c
@@ -14,10 +14,14 @@
 #include "utils.h"
 #include "commands.h"
 #include "wifi.h"
-#include "led.h"
-#include "servos.h"
 #include "logger.h"
 #include "ws.h"
+#if TARGET == TARGET_TX
+#include "led.h"
+#include "adc.h"
+#elif TARGET == TARGET_RX
+#include "servos.h"
+#endif

 bool volatile running = true;
 CMDList_t* cmdList;
@@ -27,14 +31,33 @@ bool rxBuffer_overflow = false;
 typedef enum {
 	STATE_WIFI_CONNECTING,
 	STATE_WIFI_WAIT_CONNECTION,
+#if TARGET == TARGET_RX
 	STATE_WS_CONNECTING,
 	STATE_WS_WAIT_CONNECTION,
 	STATE_IDEL,
 	STATE_DRIVING
+#elif TARGET == TARGET_TX
+	STATE_WIFI_CONNECTED,
+#endif
 } MainState_t;
 MainState_t MainState = STATE_WIFI_CONNECTING;

+#if TARGET == TARGET_TX
+typedef enum {
+	STATE_WS_CONNECTING,
+	STATE_WS_WAIT_CONNECTION,
+	STATE_IDEL,
+	STATE_DRIVING
+} WSState_t;
+WSState_t WSStates[3] = {STATE_WS_CONNECTING, STATE_WS_CONNECTING, STATE_WS_CONNECTING};
+uint8_t WS_conn_proc = 0;
+#endif
+
+#if TARGET == TARGET_RX
 ws_client_t ws_client;
+#elif TARGET == TARGET_TX
+ws_client_t ws_client[3];
+#endif

 int charOut_uart(const char* c)
 {
@@ -42,23 +65,18 @@ int charOut_uart(const char* c)
 	return 0;
 }

+#if TARGET == TARGET_RX
 int charOut_ws(const char* c)
 {
 	ws_putchar(ws_client, *c);
 	return 0;
 }
+#endif

 void app_main() {
 	// disable watchdog
 	ESP_ERROR_CHECK(esp_task_wdt_deinit());

-	// wait so I have time to open the serial monitor
-	// for (unsigned long i=0; i < 10000; i++)
-	// {
-	// 	printf(".");
-	// }
-	// printf("\n");
-
 	/* Initialize NVS — it is used to store PHY calibration data */
 	esp_err_t ret = nvs_flash_init();
 	if (ret == ESP_ERR_NVS_NO_FREE_PAGES || ret == ESP_ERR_NVS_NEW_VERSION_FOUND)
@@ -70,11 +88,16 @@ void app_main() {

 	printChipInfo();

+#if TARGET == TARGET_TX
 	led_init();
 	led_setRGB(0, 0, 20);
+#elif TARGET == TARGET_RX
 	servo_init();
+#endif

 	wifiInit();
+	bool adc_inited = false;
+	uint8_t adc_counter = 0;

 	running = true;

@@ -85,7 +108,12 @@ void app_main() {
 	uint8_t charIn = 0;
 	EventBits_t bits;
 	MainState_t lastMainState = MainState;
+#if TARGET == TARGET_RX
 	CLI_t cli_ws_client;
+#elif TARGET == TARGET_TX
+	CLI_t cli_ws_client[3];
+#endif
+
 	LOG_D("main: main loop starting in state %d", MainState);
 	while (running)
 	{
@@ -111,59 +139,163 @@ void app_main() {
 				bits = xEventGroupGetBits(s_wifi_event_group);
 				if ((bits & WIFI_CONNECTED_BIT) != 0)
 				{
+#if TARGET == TARGET_TX
 					led_setRGB(0, 20, 0);
+					MainState = STATE_WIFI_CONNECTED;
+#elif TARGET == TARGET_RX
 					MainState = STATE_WS_CONNECTING;
+#endif
 					LOG_I("main: connected to ap SSID '%s'", WIFI_SSID);
 				}
 				else if ((bits & WIFI_FAIL_BIT) != 0)
 				{
+#if TARGET == TARGET_TX
 					led_setRGB(2, 0, 0);
+#endif
 					MainState = STATE_WIFI_CONNECTING;
 					// wifi_reconnect();
 					LOG_E("main: Failed to connect to SSID '%s'", WIFI_SSID);
 				}
 				else if (bits != 0)
 				{
-					led_setRGB(2, 0, 0);
+#if TARGET == TARGET_TX
+					led_setRGB(20, 0, 0);
+#endif
 					// MainState = STATE_WIFI_CONNECTING;
 					LOG_C("main: UNEXPECTED EVENT (bits: 0x%04x)", bits);
 				}
 				break;

+#if TARGET == TARGET_TX
+      case STATE_WIFI_CONNECTED:
+			if (!adc_inited)
+			{
+				adc_init();
+				adc_inited = true;
+			}
+			ADC_Data_t adc_data;
+			bool adc_data_valid = false;
+			if (adc_read(&adc_data))
+			{
+				adc_counter++;
+				if (adc_counter >= 20)
+				{
+					// LOG_D("ADC_DATA: %d, %d, %d, %d, %d, %d", adc_data.value[0], adc_data.value[1], adc_data.value[2], adc_data.value[3], adc_data.value[4], adc_data.value[5]);
+					adc_data_valid = true;
+					adc_counter = 0;
+				}
+			}

+			for (WS_conn_proc = 0; WS_conn_proc <3; WS_conn_proc++)
+			{
+				switch (WSStates[WS_conn_proc])
+				{
+					case STATE_WS_CONNECTING:
+						LOG_I("main: websocket %d: connecting", WS_conn_proc);
+						ws_client[WS_conn_proc] = ws_connect(WS_URL, BoatId + WS_conn_proc, WS_DEV_CODE_CLIENT);
+						WSStates[WS_conn_proc] = STATE_WS_WAIT_CONNECTION;
+						break;
+					case STATE_WS_WAIT_CONNECTION:
+						if (ws_client[WS_conn_proc]->connected)
+						{
+							LOG_I("main: websocket %d: connected", WS_conn_proc);
+							WSStates[WS_conn_proc] = STATE_IDEL;
+						}
+						break;

+					case STATE_IDEL:
+					   if (adc_data_valid)
+						{
+							char cmd[100];
+							snprintf(&cmd[0], 100, "%04u;ctrl;%04u",
+								ws_client[WS_conn_proc]->id,
+								ws_client[WS_conn_proc]->id
+							);
+							ws_sendString(ws_client[WS_conn_proc], &cmd[0]);
+						}
+					case STATE_DRIVING:
+						if (!ws_client[WS_conn_proc]->connected)
+						{
+							WSStates[WS_conn_proc] = STATE_WS_WAIT_CONNECTION;
+						}
+
+						char ws_resp[10];
+						uint16_t ws_resp_len;
+						while ((ws_resp_len = ws_getstr(ws_client[WS_conn_proc], 10, &ws_resp[0])) > 0)
+						{
+							LOG_D("main: websocket %d: resv: %.*s", WS_conn_proc, ws_resp_len, ws_resp);
+							if (ws_resp_len == 4)
+							{
+								ws_resp[4] = 0;
+								if (strcmp(&ws_resp[0], "FAIL") == 0)
+								{
+									WSStates[WS_conn_proc] = STATE_IDEL;
+								}
+							}
+							else if (ws_resp_len == 2)
+							{
+								ws_resp[2] = 0;
+								if (strcmp(&ws_resp[0], "OK") == 0)
+								{
+									WSStates[WS_conn_proc] = STATE_DRIVING;
+								}
+							}
+						}
+
+						if ((WSStates[WS_conn_proc] == STATE_DRIVING) && adc_data_valid)
+						{
+							char ctrl_cmd[100];
+							snprintf(&ctrl_cmd[0], 100, "%04u;d;%u,%u",
+								ws_client[WS_conn_proc]->id,
+								adc_data.value[WS_conn_proc][0] >> 4,
+								adc_data.value[WS_conn_proc][1] >> 4
+							);
+							ws_sendString(ws_client[WS_conn_proc], &ctrl_cmd[0]);
+						}
+
+						break;
+				}
+			}
+			break;
+#elif TARGET == TARGET_RX
 			case STATE_WS_CONNECTING:
-				ws_client = ws_connect(WS_URL);
-				cli_ws_client = CLI_init((CLI_charOutFn)&ws_putchar, cmdList);
+				ws_client = ws_connect(WS_URL, BoatId, WS_DEV_CODE_BOAT);
 				MainState = STATE_WS_WAIT_CONNECTION;
 				break;
 			case STATE_WS_WAIT_CONNECTION:
 				if (ws_client->connected)
 				{
+					cli_ws_client = CLI_init((CLI_charOutFn)&charOut_ws, cmdList);
+					cli_ws_client.echo = false;
 					MainState = STATE_IDEL;
 				}
 				break;

-
 			case STATE_IDEL:
 			case STATE_DRIVING:
 				if (!ws_client->connected)
 				{
+					CLI_deinit(&cli_ws_client);
 					MainState = STATE_WS_WAIT_CONNECTION;
 				}

-				charIn = ws_getchar(ws_client);
-				if (charIn != 255)
+				while ((charIn = ws_getchar(ws_client)) != 255)
 				{
 					CLI_charIn(&cli_ws_client, charIn);
 				}
+				ws_sendData(ws_client);
 				break;
+#endif
 		}
 	}

+#if TARGET == TARGET_TX
 	led_setRGB(0, 0, 0);
+#endif

+#if TARGET == TARGET_RX
 	servo_deinit();
+#endif
 	CLI_deinit(&cli_uart);
 	CMDList_deinit(cmdList);

--- a/rx_esp32/src/servos.c
+++ b/rx_esp32/src/servos.c
@@ -14,27 +14,33 @@
 #define SERVO_DUTY_MIN          ( 410) // 2**13 * (1000/20000) // 1000us of the 20ms
 #define SERVO_DUTY_MAX          ( 819) // 2**13 * (2000/20000) // 2000us of the 20ms
 // #define SERVO_DUTY_MAX          (1024) // 2**13 * (2500/20000) // 2500us of the 20ms
-#define SERVO_DUTY_DEFUALT      ( 614) // 2**13 * (1500/20000) // 2500us of the 20ms
+#define SERVO_DUTY_MID          ( 614) // 2**13 * (1500/20000) // 1500us of the 20ms

 #define SERVO_DUTY_DIFF (SERVO_DUTY_MAX - SERVO_DUTY_MIN)

-typedef struct ServoCh_t {
-	ledc_channel_t channel;
-	int gpio;
-} ServoCh_t;
-
-static ServoCh_t Server_chs[] = {
-	SERVOS_CH0
-	SERVOS_CH1
-	SERVOS_CH2
-	SERVOS_CH3
-	SERVOS_CH4
-	SERVOS_CH5
-	SERVOS_CH6
-};
+servo_config_t Servos[2];
+bool Servos_ch_swap = false;

 void servo_init(void)
 {
+	Servos[0].pin = SERVOS_CH0_PIN;
+	Servos[0].ledc_ch = LEDC_CHANNEL_0;
+	Servos[0].pulse_min = SERVO_DUTY_MIN;
+	Servos[0].pulse_mid = SERVO_DUTY_MID;
+	Servos[0].pulse_max = SERVO_DUTY_MAX;
+	Servos[0].mid_delay = 0;
+	Servos[0].mid_delay_timer = 0;
+	Servos[0].reversed = false;
+
+	Servos[1].pin = SERVOS_CH1_PIN;
+	Servos[1].ledc_ch = LEDC_CHANNEL_1;
+	Servos[1].pulse_min = SERVO_DUTY_MIN;
+	Servos[1].pulse_mid = SERVO_DUTY_MID;
+	Servos[1].pulse_max = SERVO_DUTY_MAX;
+	Servos[1].mid_delay = 5;
+	Servos[1].mid_delay_timer = 0;
+	Servos[1].reversed = true;
+
 	// Prepare and then apply the LEDC PWM timer configuration
 	ledc_timer_config_t ledc_timer = {
 		.speed_mode       = SERVO_LEDC_MODE,
@@ -45,35 +51,81 @@ void servo_init(void)
 	};
 	ledc_timer_config(&ledc_timer);

-	for (int i = sizeof(Server_chs)/sizeof(ServoCh_t)-1; i >= 0; i--)
+	for (int i = sizeof(Servos)/sizeof(servo_config_t)-1; i >= 0; i--)
 	{
 		// Prepare and then apply the LEDC PWM channel configuration
 		ledc_channel_config_t ledc_channel = {
 			.speed_mode     = SERVO_LEDC_MODE,
-			.channel        = Server_chs[i].channel,
+			.channel        = Servos[i].ledc_ch,
 			.timer_sel      = SERVO_LEDC_TIMER,
 			.intr_type      = LEDC_INTR_DISABLE,
-			.gpio_num       = Server_chs[i].gpio,
-			.duty           = SERVO_DUTY_DEFUALT, // Set duty to 0%
+			.gpio_num       = Servos[i].pin,
+			.duty           = Servos[i].pulse_mid,
 			.hpoint         = 0
 		};
 		ledc_channel_config(&ledc_channel);
-		LOG_D("servo_init: inited servo channel %d (ledc: %u, gpio: %d)", i, Server_chs[i].channel, Server_chs[i].gpio);
+		LOG_D("servo_init: inited servo channel %d (ledc: %u, gpio: %d)", i, Servos[i].ledc_ch, Servos[i].pin);
 	}
 }
 void servo_deinit(void)
 {
 	ledc_timer_pause(SERVO_LEDC_MODE, SERVO_LEDC_TIMER);
-	for (int i = sizeof(Server_chs)/sizeof(ServoCh_t)-1; i > 0; i--)
+	for (int i = sizeof(Servos)/sizeof(servo_config_t)-1; i >= 0; i--)
 	{
-		ledc_stop(SERVO_LEDC_MODE, Server_chs[i].channel, 0);
+		ledc_stop(SERVO_LEDC_MODE, Servos[i].ledc_ch, 0);
 	}
 }

-void servo_set(uint8_t ch, int16_t pos)
+void servo_set(uint8_t ch, uint8_t pos)
 {
-	uint32_t duty = (uint32_t) ((double)pos * (double)SERVO_DUTY_DIFF/(double)INT16_MAX);
-	duty += (SERVO_DUTY_MIN + SERVO_DUTY_DIFF/2);
+	if (Servos_ch_swap)
+	{ 
+	 	ch = (ch == 0) ? 1 : 0;
+	}
+
+	double pos_double = ((int16_t)pos - 128) / 128.0;
+
+   if (Servos[ch].reversed)
+	{
+		pos_double = -pos_double;
+	}
+
+
+	if (pos_double < 0.0)
+	{
+		if (Servos[ch].mid_delay_timer > 0)
+		{
+			Servos[ch].mid_delay_timer--;
+			pos_double = 0.0;
+		}
+		else
+		{
+			Servos[ch].mid_delay_timer = -Servos[ch].mid_delay;
+		}
+	}
+	else if (pos_double > 0.0)
+	{
+		if (Servos[ch].mid_delay_timer < 0)
+		{
+			Servos[ch].mid_delay_timer++;
+			pos_double = 0.0;
+		}
+		else
+		{
+			Servos[ch].mid_delay_timer = Servos[ch].mid_delay;
+		}
+	}
+
+	uint32_t duty;
+	if (pos_double > 0.0)
+	{
+		duty = (pos_double * (Servos[ch].pulse_max - Servos[ch].pulse_mid)) + Servos[ch].pulse_mid;
+	}
+	else 
+	{
+		duty = (pos_double * (Servos[ch].pulse_mid - Servos[ch].pulse_min)) + Servos[ch].pulse_mid;
+	}
+
 	if (duty < SERVO_DUTY_MIN)
 	{
 		duty = SERVO_DUTY_MIN;
@@ -82,6 +134,6 @@ void servo_set(uint8_t ch, int16_t pos)
 	{
 		duty = SERVO_DUTY_MAX;
 	}
-	ledc_set_duty(SERVO_LEDC_MODE, Server_chs[ch].channel, duty);
-	ledc_update_duty(SERVO_LEDC_MODE, Server_chs[ch].channel);
+	ledc_set_duty(SERVO_LEDC_MODE, Servos[ch].ledc_ch, duty);
+	ledc_update_duty(SERVO_LEDC_MODE, Servos[ch].ledc_ch);
 }
--- a/rx_esp32/src/servos.h
+++ b/rx_esp32/src/servos.h
@@ -2,9 +2,26 @@
 #define SERVOS_H

 #include <stdint.h>
+#include <stdbool.h>
+
+#include <driver/ledc.h>
+
+typedef struct {
+	int pin;
+	ledc_channel_t ledc_ch;
+	uint16_t pulse_min;
+	uint16_t pulse_mid;
+	uint16_t pulse_max;
+	uint8_t mid_delay;
+	int16_t mid_delay_timer;
+	bool reversed;
+} servo_config_t;
+extern servo_config_t Servos[2];
+
+extern bool Servos_ch_swap;

 void servo_init(void);
 void servo_deinit(void);
-void servo_set(uint8_t ch, int16_t pos);
+void servo_set(uint8_t ch, uint8_t pos);

 #endif // SERVOS_H
--- a/rx_esp32/src/ws.c
+++ b/rx_esp32/src/ws.c
@@ -16,12 +16,12 @@ static void ws_event_handler(void* handler_args, esp_event_base_t base, int32_t
 	{
 		case WEBSOCKET_EVENT_CONNECTED:
 			LOG_I("ws_event_handler: connected");
-			client->connected = true;

 			char str[100];
-			snprintf(&str[0], 100, "%04d;3440;" BOAT_NAME "\n", BoatId);
-			esp_websocket_client_send_text(client->handle, &str[0], strlen(str), 1000); 
+			snprintf(&str[0], 100, "%04u;%04u;" BOAT_NAME "\n", client->id, client->dev_code);
+			esp_websocket_client_send_text(client->handle, &str[0], strlen(str), 1000);

+			client->connected = true;
 			break;
 		case WEBSOCKET_EVENT_DISCONNECTED:
 			LOG_W("ws_event_handler: disconnected");
@@ -42,21 +42,23 @@ static void ws_event_handler(void* handler_args, esp_event_base_t base, int32_t
 			break;

 		case WEBSOCKET_EVENT_DATA:
-			LOG_D("ws_event_handler: data recieved (opcode=%02x)", data->op_code);
-			if (data->op_code == 0x2) 
+			LOG_D("ws_event_handler: data recieved opcode %d", data->op_code);
+			if (data->op_code == 0x02)
 			{
 				LOG_D("ws_event_handler: binary data recieved");
-				// ESP_LOG_BUFFER_HEX("Received binary data", data->data_ptr, data->data_len);
-			} 
+			}
 			else if (data->op_code == 0x08 && data->data_len == 2) 
 			{
 				LOG_W("ws_event_handler: recieved closed message (code: %d)", (((int16_t)(data->data_ptr[0]))<<8) + data->data_ptr[1]);
-				// ESP_LOGW(TAG, "Received closed message with code=%d", 256 * data->data_ptr[0] + data->data_ptr[1]);
-			} 
-			else 
+			}
+			else if (data->op_code == 0x09 || data->op_code == 0x0A)
+			{ // pong or pong packet
+				// do nothing, handled by esp_websocket
+			}
+			else if (data->op_code == 0x01 && data->data_len > 0)
 			{
-				LOG_D("ws_event_handler: data recieved (opcode: %d, size: %d): %.*s", data->op_code, data->data_len, data->data_len, (char*) data->data_ptr);
-				uint16_t sizeLeft = WS_RX_BUFFER_LEN + client->rxBuffer_rp - client->rxBuffer_wp;
+				// LOG_D("ws_event_handler: cmd recieved (len: %d): '%.*s'", data->data_len, data->data_len, (char*) data->data_ptr);
+				uint16_t sizeLeft = WS_RX_BUFFER_LEN + client->rxBuffer_rp - client->rxBuffer_wp - 1;
 				if (sizeLeft > WS_RX_BUFFER_LEN)
 				{
 					sizeLeft -= WS_RX_BUFFER_LEN;
@@ -64,22 +66,31 @@ static void ws_event_handler(void* handler_args, esp_event_base_t base, int32_t

 				if (data->data_len <= sizeLeft)
 				{
-					if (WS_RX_BUFFER_LEN - client->rxBuffer_wp <= data->data_len)
+					uint16_t leftOnEnd = WS_RX_BUFFER_LEN - client->rxBuffer_wp;
+					if (leftOnEnd > data->data_len)
 					{
 						memcpy(&client->rxBuffer[client->rxBuffer_wp], data->data_ptr, data->data_len);
 					}
 					else
 					{
-						memcpy(&client->rxBuffer[client->rxBuffer_wp], data->data_ptr, sizeLeft);
-						memcpy(&client->rxBuffer[0], data->data_ptr + sizeLeft, data->data_len - sizeLeft);
+						memcpy(&client->rxBuffer[client->rxBuffer_wp], data->data_ptr, leftOnEnd);
+						memcpy(&client->rxBuffer[0], data->data_ptr + leftOnEnd, data->data_len - leftOnEnd);
 					}
 					client->rxBuffer_wp += data->data_len;
+					if (client->rxBuffer_wp >= WS_RX_BUFFER_LEN)
+					{
+						client->rxBuffer_wp -= WS_RX_BUFFER_LEN;
+					}
 				}
 				else 
 				{
 					LOG_E("ws_event_handler: no space left in buffer. data ignored (free space: %u)", data->data_len, sizeLeft + client->rxBuffer_rp);
 				}
 			}
+			else
+			{
+				LOG_D("ws_event_handler: data recieved (opcode: 0x%02x, size: %d): '%.*s'", data->op_code, data->data_len, data->data_len, (char*) data->data_ptr);
+			}
 			break;
 		case WEBSOCKET_EVENT_ERROR:
 			if (data->error_handle.esp_ws_handshake_status_code != 0)
@@ -94,14 +105,23 @@ static void ws_event_handler(void* handler_args, esp_event_base_t base, int32_t
 					LOG_E("ws_event_handler: captured as transport's socket errno %d",  data->error_handle.esp_transport_sock_errno);
 			}
 			break;
+		case WEBSOCKET_EVENT_BEFORE_CONNECT:
+			LOG_D("ws_event_handler: event before connect fired");
+			break;
+		default:
+			LOG_D("ws_event_handler: a unkown event happened: %d", event_id);
+			break;
 	}
 }

-ws_client_t ws_connect(char *url)
+ws_client_t ws_connect(char *url, uint16_t id, uint16_t dev_code)
 {
 	ws_client_t client = malloc(sizeof(ws_client_data_t));
+	client->id = id;
+	client->dev_code = dev_code;
 	client->rxBuffer_rp = 0;
 	client->rxBuffer_wp = 0;
+	client->txBuffer_wp = 0;
 	memset(&(client->rxBuffer[0]), 0, WS_RX_BUFFER_LEN);

 	const esp_websocket_client_config_t ws_conf = {
@@ -121,7 +141,7 @@ int ws_getchar(ws_client_t client)
 	if (client->rxBuffer_rp != client->rxBuffer_wp)
 	{
 		out = client->rxBuffer[client->rxBuffer_rp];
-      client->rxBuffer_rp++;
+		client->rxBuffer_rp++;
 		if (client->rxBuffer_rp >= WS_RX_BUFFER_LEN)
 		{
 			client->rxBuffer_rp = 0;
@@ -130,7 +150,75 @@ int ws_getchar(ws_client_t client)
 	return out;
 }

+int ws_getstr(ws_client_t client, uint16_t max_size, char *str)
+{
+	uint16_t out = 0;
+	if (client->rxBuffer_rp != client->rxBuffer_wp)
+	{
+		out = WS_RX_BUFFER_LEN + client->rxBuffer_wp - client->rxBuffer_rp;
+		if (out > WS_RX_BUFFER_LEN)
+		{
+			out -= WS_RX_BUFFER_LEN;
+		}
+		if (out > max_size)
+		{
+			out = max_size;
+		}
+
+		if (client->rxBuffer_rp < client->rxBuffer_wp)
+		{
+			memcpy(str, &client->rxBuffer[client->rxBuffer_rp], out);
+		}
+		else
+		{
+			uint16_t sizeUntilEnd = WS_RX_BUFFER_LEN - client->rxBuffer_rp;
+			if (sizeUntilEnd >= out)
+			{
+				memcpy(str, &client->rxBuffer[client->rxBuffer_rp], out);
+			}
+			else
+			{
+				memcpy(str, &client->rxBuffer[client->rxBuffer_rp], sizeUntilEnd);
+				memcpy(str + sizeUntilEnd, &client->rxBuffer[0], out - sizeUntilEnd);
+			}
+		}
+		client->rxBuffer_rp += out;
+		if (client->rxBuffer_rp >= WS_RX_BUFFER_LEN)
+		{
+			client->rxBuffer_rp -= WS_RX_BUFFER_LEN;
+		}
+	}
+	return out;
+}
+
 void ws_putchar(ws_client_t client, char c)
 {
-	esp_websocket_client_send_text(client->handle, &c, 1, 1000); //TODO: convert RTOS tick in ms
+	if (client->txBuffer_wp == WS_TX_BUFFER_LEN)
+	{
+		ws_sendData(client);
+
+		if (client->txBuffer_wp == WS_TX_BUFFER_LEN)
+		{
+			LOG_E("ws_sendData: no space left in tx buffer. data ignored");
+         return;
+		}
+	}
+
+	client->txBuffer[client->txBuffer_wp] = c;
+	client->txBuffer_wp++;
+}
+
+void ws_sendData(ws_client_t client)
+{
+	if ((client->txBuffer_wp > 0) && esp_websocket_client_is_connected(client->handle))
+	{
+		LOG_D("ws_sendData: (%d b) '%.*s'", client->txBuffer_wp, client->txBuffer_wp, (char *)&client->txBuffer[0]);
+		esp_websocket_client_send_text(client->handle, (char *)&client->txBuffer[0], client->txBuffer_wp, 1000 * portTICK_PERIOD_MS);
+		client->txBuffer_wp = 0;
+	}
+}
+
+void ws_sendString(ws_client_t client, const char *str)
+{
+	esp_websocket_client_send_text(client->handle, str, strlen(str), 1000 * portTICK_PERIOD_MS);
 }
--- a/rx_esp32/src/ws.h
+++ b/rx_esp32/src/ws.h
@@ -7,17 +7,27 @@

 #include "config.h"

+#define WS_DEV_CODE_BOAT 3440
+#define WS_DEV_CODE_CLIENT 4675
+
 typedef struct {
 	esp_websocket_client_handle_t handle;
   int connected;
   unsigned char rxBuffer[WS_RX_BUFFER_LEN];
 	uint16_t rxBuffer_wp;
 	uint16_t rxBuffer_rp;
+   unsigned char txBuffer[WS_TX_BUFFER_LEN];
+	uint16_t txBuffer_wp;
+	uint16_t id;
+	uint16_t dev_code;
 } ws_client_data_t;
 typedef ws_client_data_t* ws_client_t;

-ws_client_t ws_connect(char *url);
+ws_client_t ws_connect(char *url, uint16_t id, uint16_t dev_code);
 int ws_getchar(ws_client_t client);
+int ws_getstr(ws_client_t client, uint16_t max_len, char *str);
 void ws_putchar(ws_client_t client, char c);
+void ws_sendData(ws_client_t client);
+void ws_sendString(ws_client_t client, const char *str);

 #endif
--- a/tx_case/tx_case.FCStd
+++ b/tx_case/tx_case.FCStd
Author	SHA1	Message	Date
LailaTheElf	88fbbc103b	git bug	2025-08-14 21:05:47 +02:00
LailaTheElf	76fe86a3bc	fix bugs	2025-08-14 20:51:28 +02:00
Laila van Reenen	6bf43409e4	concept for config edit form	2025-08-14 17:14:39 +00:00
LailaTheElf	2374365f0e	Merge remote-tracking branch 'rpi/master'	2025-07-03 20:56:59 +02:00
LailaTheElf	f5f7184965	minor notes update	2025-07-03 20:56:43 +02:00
FReenen	a2eb47bc59	allow to send commands to boat	2025-07-03 20:55:37 +02:00
FReenen	c84d17a4d9	update servo trim settings	2024-12-05 21:28:44 +01:00
FReenen	3fecb101b7	add edits from vesting dagen	2024-09-09 10:17:58 +02:00
FReenen	4ce7cc1475	fix servo error	2024-08-16 16:09:29 +02:00
FReenen	0f80e087da	update	2024-08-16 01:11:02 +02:00
FReenen	ddba2120e1	tx works	2024-08-15 17:43:48 +02:00
FReenen	da75d0a2a0	gs: improve disconnect handeling	2024-08-15 15:24:13 +02:00
FReenen	07144c04eb	update	2024-08-15 15:06:13 +02:00
FReenen	3cda1316ae	gs: more error catching	2024-08-15 14:57:11 +02:00
FReenen	5beb79b51b	supress connection errors errors	2024-08-15 14:51:37 +02:00
FReenen	45298bd360	gs: fix service file	2024-08-15 14:18:22 +02:00
FReenen	e1c38f4dc7	gs: add systemd service file	2024-08-15 14:13:57 +02:00
FReenen	4f47712d27	inital code for adc	2024-08-14 15:29:57 +02:00
FReenen	80ffc67790	update sdkconfig	2024-08-14 14:24:29 +02:00
FReenen	7501ece574	add target switching for tx and rx	2024-08-14 14:19:57 +02:00
FReenen	e1359f78b5	fix kick	2024-08-13 21:08:24 +02:00
FReenen	543e67929b	gs: fix conn check	2024-08-12 23:35:07 +02:00
FReenen	b2dfdcc14a	update	2024-08-12 22:07:28 +02:00
FReenen	dc24bdfa6d	update	2024-08-12 21:43:14 +02:00
FReenen	1b24417acb	fix typo	2024-08-12 21:25:16 +02:00
FReenen	baf3f3c0f8	fix client connection	2024-08-12 21:23:56 +02:00
FReenen	c3737936c4	update	2024-08-12 21:22:06 +02:00
FReenen	3adec932bf	gs: fix client echo	2024-08-12 20:03:49 +02:00
FReenen	fb0f49fdd5	commander update	2024-08-12 19:55:26 +02:00
FReenen	8b0735fca2	commander update	2024-08-12 19:53:15 +02:00
FReenen	8619022374	gs: fix lock and free cmd	2024-08-12 19:38:58 +02:00
FReenen	6064bd3f70	commander update	2024-08-12 19:36:28 +02:00
FReenen	72b08b631d	commander update	2024-08-12 19:31:04 +02:00
FReenen	ac6d94d4a3	commander update	2024-08-12 19:15:35 +02:00
FReenen	54659389e1	commander: fix tables	2024-08-12 18:55:25 +02:00
FReenen	25d4a96f10	commander update	2024-08-12 16:58:26 +02:00
FReenen	414396bc3e	commander: fix conn	2024-08-12 16:39:46 +02:00
FReenen	c1fa8bda61	commander: convert divs to tables	2024-08-12 16:35:11 +02:00
FReenen	bbdbed5c25	commander: update ws login	2024-08-12 16:23:34 +02:00
FReenen	27b3f114f0	gs: add log commands	2024-08-12 16:14:44 +02:00
FReenen	a846058098	add options for servo controll	2024-08-11 11:14:38 +02:00
FReenen	259d4b91d8	move to 8 bit communication	2024-08-10 19:23:18 +02:00
FReenen	43b23ec1ad	fix servo scaling	2024-08-10 19:14:50 +02:00
FReenen	b9f8e90dd7	ws works	2024-08-10 16:05:44 +02:00
FReenen	c104a44f32	gs things	2024-08-10 14:37:02 +02:00
FReenen	a94a15230f	gs: allow multiple line in one packet	2024-08-10 14:30:28 +02:00
FReenen	0a7801bf7c	trottel controll commands	2024-08-10 14:21:23 +02:00
FReenen	7844c38e51	fix some websocket shit	2024-08-10 14:13:01 +02:00
FReenen	6d22572a75	add boat state terminated	2024-08-10 10:58:06 +02:00
FReenen	33cee85edb	make pylint happy	2024-08-10 10:45:35 +02:00
FReenen	c418ebcc53	fix bug	2024-08-08 21:17:17 +02:00
FReenen	815779129a	fix bugs	2024-08-08 21:09:40 +02:00
FReenen	463843bf8b	fix bugs ?? tromgeroffel	2024-08-08 20:55:40 +02:00
FReenen	56d26cd751	fix bug	2024-08-08 20:47:23 +02:00
FReenen	038c8752dd	fix bugs	2024-08-08 20:44:59 +02:00
FReenen	1c90656508	debug	2024-08-08 20:41:12 +02:00
FReenen	d0c0da7ef4	fix bug	2024-08-08 20:36:40 +02:00
FReenen	1fb3cba972	fix bug	2024-08-08 20:32:33 +02:00
FReenen	d5c4dc004c	fix bug	2024-08-08 20:30:22 +02:00
FReenen	265e29d2cf	fx bugs	2024-08-08 20:29:02 +02:00