From bca047fa687494b1e738c74a156a915fa5077690 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kiovics=20D=C3=A1niel?= <dkiovics@gmail.com>
Date: Tue, 2 May 2023 19:03:03 +0200
Subject: [PATCH 01/31] uart send circular buffer added, baudrate increased to
 1Mb/s, motor switched to brake_mode

---
 firmware/Drivers/uart/uart.c | 183 +++++++++++++++++++++++++++++++++++
 firmware/Drivers/uart/uart.h |  66 +++++++++++++
 2 files changed, 249 insertions(+)
 create mode 100644 firmware/Drivers/uart/uart.c
 create mode 100644 firmware/Drivers/uart/uart.h

diff --git a/firmware/Drivers/uart/uart.c b/firmware/Drivers/uart/uart.c
new file mode 100644
index 0000000..0bbf6b7
--- /dev/null
+++ b/firmware/Drivers/uart/uart.c
@@ -0,0 +1,183 @@
+/*
+ * uart.c
+ *
+ *  Created on: Apr 11, 2023
+ *      Author: dkiovics
+ */
+
+#include "uart.h"
+
+
+#include <stdlib.h>
+#include <stdio.h>
+#include <stdarg.h>
+#include <string.h>
+
+
+
+void uart_init(volatile Uart *uart, UART_HandleTypeDef *huart, IRQn_Type uartIr, IRQn_Type sendDMAIr, uint16_t writeBufferLenght, uint16_t readBufferLenght){
+	uart->huart = huart;
+	uart->writeBufferLenght = writeBufferLenght;
+	uart->readBufferLenght = readBufferLenght;
+	uart->mostRecentNewLinePos = -1;
+	uart->startOfReadData = 0;
+	uart->readPtr = 0;
+	uart->readPtrOverflow = 0;
+	uart->uartIr = uartIr;
+	uart->sendDMAIr = sendDMAIr;
+
+	uart->startOfWriteData = -1;
+	uart->endOfWriteData = writeBufferLenght - 1;
+	uart->transmissionInProgress = 0;
+
+	uart->writeBuffer = (char*)malloc(writeBufferLenght+1);
+	uart->writeCircularBuffer = (char*)malloc(writeBufferLenght+1);
+	uart->readCircularBuffer = (char*)malloc(readBufferLenght+1);
+
+	HAL_UART_Receive_IT(uart->huart, (uint8_t*)uart->readCircularBuffer, 1);
+	uart->ok = 1;
+}
+
+
+void uart_handleTransmitCplt(volatile Uart *uart, UART_HandleTypeDef *huart){
+	if(uart->huart != huart || !uart->ok)
+		return;
+	if(uart->startOfWriteData == -1){
+		uart->transmissionInProgress = 0;
+		return;
+	}
+	int charCount;
+	if(uart->startOfWriteData <= uart->endOfWriteData){
+		charCount = uart->endOfWriteData - uart->startOfWriteData + 1;
+		HAL_UART_Transmit_DMA(uart->huart, (uint8_t*)uart->writeCircularBuffer + uart->startOfWriteData, charCount);
+		uart->startOfWriteData = -1;
+	}
+	else{
+		charCount = uart->writeBufferLenght - uart->startOfWriteData;
+		HAL_UART_Transmit_DMA(uart->huart, (uint8_t*)uart->writeCircularBuffer + uart->startOfWriteData, charCount);
+		uart->startOfWriteData = 0;
+	}
+}
+
+
+void uart_transmit(volatile Uart *uart, const char *fmt, ...){
+	va_list args;
+	va_start(args, fmt);
+
+	int size = vsprintf((char*)uart->writeBuffer, fmt, args);
+	if(size<=0)
+		return;
+
+	int spaceTillBufferEnd = uart->writeBufferLenght - uart->endOfWriteData - 1;
+
+	if(spaceTillBufferEnd >= size){
+		memcpy((void*)uart->writeCircularBuffer + uart->endOfWriteData + 1, (const void*)uart->writeBuffer, size);
+		HAL_NVIC_DisableIRQ(uart->uartIr);
+		HAL_NVIC_DisableIRQ(uart->sendDMAIr);
+		if(uart->startOfWriteData == -1){
+			if(uart->transmissionInProgress){
+				uart->startOfWriteData = uart->endOfWriteData + 1;
+			}else{
+				HAL_UART_Transmit_DMA(uart->huart, (uint8_t*)uart->writeCircularBuffer + uart->endOfWriteData + 1, size);
+				uart->transmissionInProgress = 1;
+			}
+		}
+		uart->endOfWriteData = uart->endOfWriteData + size;
+		HAL_NVIC_EnableIRQ(uart->uartIr);
+		HAL_NVIC_EnableIRQ(uart->sendDMAIr);
+	}else{
+		if(spaceTillBufferEnd > 0)
+			memcpy((void*)uart->writeCircularBuffer + uart->endOfWriteData + 1, (const void*)uart->writeBuffer, spaceTillBufferEnd);
+		memcpy((void*)uart->writeCircularBuffer, (const void*)uart->writeBuffer + spaceTillBufferEnd, size - spaceTillBufferEnd);
+		HAL_NVIC_DisableIRQ(uart->uartIr);
+		HAL_NVIC_DisableIRQ(uart->sendDMAIr);
+		if(uart->startOfWriteData == -1){
+			if(spaceTillBufferEnd == 0){
+				if(uart->transmissionInProgress){
+					uart->startOfWriteData = 0;
+				}else{
+					uart->transmissionInProgress = 1;
+					HAL_UART_Transmit_DMA(uart->huart, (uint8_t*)uart->writeCircularBuffer, size);
+				}
+				uart->endOfWriteData = size - 1;
+			}else{
+				if(uart->transmissionInProgress){
+					uart->startOfWriteData = uart->endOfWriteData + 1;
+				}else{
+					uart->transmissionInProgress = 1;
+					uart->startOfWriteData = 0;
+					HAL_UART_Transmit_DMA(uart->huart, (uint8_t*)uart->writeCircularBuffer + uart->endOfWriteData + 1, spaceTillBufferEnd);
+				}
+				uart->endOfWriteData = size - spaceTillBufferEnd - 1;
+			}
+		}else{
+			uart->endOfWriteData = size - spaceTillBufferEnd - 1;
+		}
+		HAL_NVIC_EnableIRQ(uart->uartIr);
+		HAL_NVIC_EnableIRQ(uart->sendDMAIr);
+	}
+}
+
+
+void uart_handleReceiveCplt(volatile Uart *uart, UART_HandleTypeDef *huart){
+	if(uart->huart != huart)
+		return;
+
+	char c = uart->readCircularBuffer[uart->readPtr];
+
+	if(c == '\r'){
+		HAL_UART_Receive_IT(uart->huart, (uint8_t*)uart->readCircularBuffer + uart->readPtr, 1);
+		return;
+	}
+
+	if(uart->readCircularBuffer[uart->readPtr] == '\n'){
+		uart->mostRecentNewLinePos = uart->readPtr;
+	}
+
+	uart->readPtr++;
+	if(uart->readPtr == uart->readBufferLenght){
+		uart->readPtrOverflow = 1;
+		uart->readPtr = 0;
+	}
+
+	if(uart->readPtr == uart->mostRecentNewLinePos)
+		uart->mostRecentNewLinePos = -1;
+
+	if(uart->readPtr == uart->startOfReadData){
+		uart->startOfReadData++;
+		if(uart->startOfReadData == uart->readBufferLenght)
+			uart->startOfReadData = 0;
+	}
+
+	HAL_UART_Receive_IT(uart->huart, (uint8_t*)uart->readCircularBuffer + uart->readPtr, 1);
+}
+
+
+uint8_t uart_receive(volatile Uart *uart, char* data){
+	HAL_NVIC_DisableIRQ(uart->uartIr);
+	int32_t newLine = uart->mostRecentNewLinePos;
+	uint16_t startOfData = uart->startOfReadData;
+	if(newLine == -1){
+		HAL_NVIC_EnableIRQ(uart->uartIr);
+		return 0;
+	}
+	uart->mostRecentNewLinePos = -1;
+	uart->startOfReadData = newLine+1;
+	if(uart->startOfReadData == uart->readBufferLenght)
+		uart->startOfReadData = 0;
+	HAL_NVIC_EnableIRQ(uart->uartIr);
+
+	if(startOfData > newLine){
+		uint16_t diff = uart->readBufferLenght - startOfData;
+		memcpy(data, (const void*)uart->readCircularBuffer + startOfData, diff);
+		memcpy(data + diff, (const void*)uart->readCircularBuffer, newLine + 1);
+		data[diff + newLine + 1] = '\0';
+	}else{
+		memcpy(data, (const void*)uart->readCircularBuffer + startOfData, newLine - startOfData + 1);
+		data[newLine - startOfData + 1] = '\0';
+	}
+
+	return 1;
+}
+
+
diff --git a/firmware/Drivers/uart/uart.h b/firmware/Drivers/uart/uart.h
new file mode 100644
index 0000000..1c3e021
--- /dev/null
+++ b/firmware/Drivers/uart/uart.h
@@ -0,0 +1,66 @@
+/*
+ * uart.h
+ *
+ *  Created on: Apr 11, 2023
+ *      Author: dkiovics
+ */
+
+#ifndef UART_UART_H_
+#define UART_UART_H_
+
+
+#include "stm32f1xx_hal.h"
+
+
+typedef struct {
+	UART_HandleTypeDef* huart;
+	IRQn_Type uartIr;
+	IRQn_Type sendDMAIr;
+
+	uint16_t writeBufferLenght;
+	uint16_t readBufferLenght;
+
+	char* writeCircularBuffer;
+	int32_t startOfWriteData;
+	int32_t endOfWriteData;
+	char* writeBuffer;
+	uint8_t transmissionInProgress;
+
+	char* readCircularBuffer;
+	uint16_t startOfReadData;
+	uint16_t readPtr;
+	uint8_t readPtrOverflow;
+	int32_t mostRecentNewLinePos;
+	uint8_t ok;
+} Uart;
+
+
+/*
+ * Initializes the UART object
+ */
+void uart_init(volatile Uart* uart, UART_HandleTypeDef *huart, IRQn_Type uartIr, IRQn_Type sendDMAIr, uint16_t writeBufferLenght, uint16_t readBufferLenght);
+
+/*
+ * Call when the HAL_UART_TxCpltCallback function is called
+ */
+void uart_handleTransmitCplt(volatile Uart* uart, UART_HandleTypeDef *huart);
+
+/*
+ * Call when the HAL_UART_RxCpltCallback function is called
+ */
+void uart_handleReceiveCplt(volatile Uart* uart, UART_HandleTypeDef *huart);
+
+/*
+ * Transmits the data (max lenght is writeBufferLenght)
+ */
+void uart_transmit(volatile Uart* uart, const char *fmt, ...);
+
+/*
+ * Receives the data until the last received \n, ignores \r (max lenght is readBufferLenght)
+ * Puts a \0 at the end of the data, returns false, if no data is available
+ */
+uint8_t uart_receive(volatile Uart* uart, char* data);
+
+
+
+#endif /* UART_UART_H_ */

From 18b0f4be958d06e5d06ff652ec82c6fb380d85de Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kiovics=20D=C3=A1niel?= <dkiovics@gmail.com>
Date: Tue, 2 May 2023 19:04:49 +0200
Subject: [PATCH 02/31] uart send circular buffer added, baudrate increased to
 1Mb/s, motor switched to brake_mode 2

---
 firmware/Application/application.c     |  6 ++++
 firmware/Core/Inc/robotcontrol.h       |  3 +-
 firmware/Core/Inc/stm32f1xx_hal_conf.h |  2 +-
 firmware/Core/Inc/stm32f1xx_it.h       |  1 +
 firmware/Core/Src/main.c               | 34 +++++++++++++++++++++--
 firmware/Core/Src/robotcontrol.c       | 15 +++++-----
 firmware/Core/Src/stm32f1xx_hal_msp.c  | 21 ++++++++++++++
 firmware/Core/Src/stm32f1xx_it.c       | 15 ++++++++++
 firmware/Drivers/motor/motor.c         |  2 +-
 firmware/tanfolyamrobot.ioc            | 38 ++++++++++++++++++--------
 10 files changed, 113 insertions(+), 24 deletions(-)

diff --git a/firmware/Application/application.c b/firmware/Application/application.c
index c1c7a57..19f45cd 100644
--- a/firmware/Application/application.c
+++ b/firmware/Application/application.c
@@ -8,6 +8,12 @@ int application() {
     lcdPrintf(0, 0, "Hello");
     lcdPrintf(1, 5, "World!");
 
+    for(int p = 0; p < 50; p++){
+    	uartPrintf("Na csaa\n");
+    	uartPrintf("Szia ");
+    	uartPrintf("hello!\n");
+    }
+
     delayMs(2000);
 
     return 0;
diff --git a/firmware/Core/Inc/robotcontrol.h b/firmware/Core/Inc/robotcontrol.h
index 6baa6a1..785de8f 100644
--- a/firmware/Core/Inc/robotcontrol.h
+++ b/firmware/Core/Inc/robotcontrol.h
@@ -15,12 +15,13 @@
 #include "speed_control.h"
 #include "encoder.h"
 #include "color_sensor.h"
+#include "uart.h"
 
 #include "robotcontrol-api.h"
 
 void robotControlInit(volatile Servo* usServo, volatile UltraSonic* usSensor, volatile ColorSensor* colorSensor,
                       volatile SpeedControl* scLeft, volatile SpeedControl* scRight,
                       volatile Encoder* encoderLeft, volatile Encoder* encoderRight,
-                      UART_HandleTypeDef* usbUart);
+                      volatile Uart* usbUart);
 
 #endif /* INC_ROBOTCONTROL_H_ */
diff --git a/firmware/Core/Inc/stm32f1xx_hal_conf.h b/firmware/Core/Inc/stm32f1xx_hal_conf.h
index 80f8ec4..d439748 100644
--- a/firmware/Core/Inc/stm32f1xx_hal_conf.h
+++ b/firmware/Core/Inc/stm32f1xx_hal_conf.h
@@ -41,7 +41,7 @@
 /*#define HAL_CORTEX_MODULE_ENABLED   */
 /*#define HAL_CRC_MODULE_ENABLED   */
 /*#define HAL_DAC_MODULE_ENABLED   */
-/*#define HAL_DMA_MODULE_ENABLED   */
+#define HAL_DMA_MODULE_ENABLED
 /*#define HAL_ETH_MODULE_ENABLED   */
 /*#define HAL_FLASH_MODULE_ENABLED   */
 #define HAL_GPIO_MODULE_ENABLED
diff --git a/firmware/Core/Inc/stm32f1xx_it.h b/firmware/Core/Inc/stm32f1xx_it.h
index f0580b4..825cd6e 100644
--- a/firmware/Core/Inc/stm32f1xx_it.h
+++ b/firmware/Core/Inc/stm32f1xx_it.h
@@ -57,6 +57,7 @@ void DebugMon_Handler(void);
 void PendSV_Handler(void);
 void SysTick_Handler(void);
 void EXTI0_IRQHandler(void);
+void DMA1_Channel4_IRQHandler(void);
 void ADC1_2_IRQHandler(void);
 void EXTI9_5_IRQHandler(void);
 void TIM1_UP_IRQHandler(void);
diff --git a/firmware/Core/Src/main.c b/firmware/Core/Src/main.c
index 8c72201..7b37f0e 100644
--- a/firmware/Core/Src/main.c
+++ b/firmware/Core/Src/main.c
@@ -35,6 +35,7 @@
 #include "ultrasonic.h"
 #include "servo.h"
 #include "motor.h"
+#include "uart.h"
 #include "speed_control.h"
 #include "application.h"
 /* USER CODE END Includes */
@@ -59,6 +60,8 @@
 #define LCD_BL_PWM_INVERTED     0
 
 #define USB_UART (&huart1)
+#define USB_UART_IR USART1_IRQn
+#define USB_UART_DMA_IR DMA1_Channel4_IRQn
 
 #define VBAT_ADC                 (&hadc1)
 #define VBAT_ADC_TIMER           (&htim4)
@@ -135,6 +138,7 @@ TIM_HandleTypeDef htim4;
 
 UART_HandleTypeDef huart1;
 UART_HandleTypeDef huart3;
+DMA_HandleTypeDef hdma_usart1_tx;
 
 /* USER CODE BEGIN PV */
 const uint8_t lcdRows = 2;
@@ -157,6 +161,8 @@ volatile Motor* motor2;
 volatile SpeedControl* speedControl1;
 volatile SpeedControl* speedControl2;
 
+volatile Uart uart1;
+
 volatile uint16_t batteryVoltage = 0;
 volatile uint8_t batteryAdcBusy = 0;
 
@@ -166,6 +172,7 @@ volatile SoftPwm* lcdBacklightPwm;
 /* Private function prototypes -----------------------------------------------*/
 void SystemClock_Config(void);
 static void MX_GPIO_Init(void);
+static void MX_DMA_Init(void);
 static void MX_TIM4_Init(void);
 static void MX_USART1_UART_Init(void);
 static void MX_USART3_UART_Init(void);
@@ -295,6 +302,10 @@ void HAL_UART_RxCpltCallback(UART_HandleTypeDef* huart) {
     }
 }
 
+void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart) {
+	uart_handleTransmitCplt(&uart1, huart);
+}
+
 void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {
     switch (GPIO_Pin) {
         case ENC1_A_Pin: encoderHandlerA(&encoder1); break;
@@ -369,6 +380,7 @@ int main(void)
 
   /* Initialize all configured peripherals */
   MX_GPIO_Init();
+  MX_DMA_Init();
   MX_TIM4_Init();
   MX_USART1_UART_Init();
   MX_USART3_UART_Init();
@@ -402,6 +414,8 @@ int main(void)
           LCD_D6_GPIO_Port, LCD_D6_Pin, LCD_D7_GPIO_Port, LCD_D7_Pin,
           lcdRows, lcdCols);
 
+  uart_init(&uart1, USB_UART, USB_UART_IR, USB_UART_DMA_IR, 500, 10);
+
   if (exitDfu) {
       lcdPuts(0, 0, "Exit DFU mode...");
       HAL_Delay(1000);
@@ -481,7 +495,7 @@ int main(void)
 
   servo = servoCreate(SERVO_TIMER, SERVO_CHANNEL, SERVO_PWM_PERIOD, PwmOutput_P, SERVO_START_POS, SERVO_END_POS);
 
-  robotControlInit(servo, &us, &colorSensor, speedControl2, speedControl1, &encoder2, &encoder1, USB_UART);
+  robotControlInit(servo, &us, &colorSensor, speedControl2, speedControl1, &encoder2, &encoder1, &uart1);
 
   HAL_Delay(1000);
   lcdClear();
@@ -916,7 +930,7 @@ static void MX_USART1_UART_Init(void)
 
   /* USER CODE END USART1_Init 1 */
   huart1.Instance = USART1;
-  huart1.Init.BaudRate = 115200;
+  huart1.Init.BaudRate = 1000000;
   huart1.Init.WordLength = UART_WORDLENGTH_8B;
   huart1.Init.StopBits = UART_STOPBITS_1;
   huart1.Init.Parity = UART_PARITY_NONE;
@@ -966,6 +980,22 @@ static void MX_USART3_UART_Init(void)
 
 }
 
+/**
+  * Enable DMA controller clock
+  */
+static void MX_DMA_Init(void)
+{
+
+  /* DMA controller clock enable */
+  __HAL_RCC_DMA1_CLK_ENABLE();
+
+  /* DMA interrupt init */
+  /* DMA1_Channel4_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(DMA1_Channel4_IRQn, 0, 0);
+  HAL_NVIC_EnableIRQ(DMA1_Channel4_IRQn);
+
+}
+
 /**
   * @brief GPIO Initialization Function
   * @param None
diff --git a/firmware/Core/Src/robotcontrol.c b/firmware/Core/Src/robotcontrol.c
index cf76c5b..d86c3f6 100644
--- a/firmware/Core/Src/robotcontrol.c
+++ b/firmware/Core/Src/robotcontrol.c
@@ -15,7 +15,7 @@ static volatile SpeedControl* scL;
 static volatile SpeedControl* scR;
 static volatile Encoder* encoderL;
 static volatile Encoder* encoderR;
-static UART_HandleTypeDef* uart;
+static volatile Uart* uart1;
 
 /**
  * Save the pointer to every driver instance used here
@@ -23,7 +23,7 @@ static UART_HandleTypeDef* uart;
 void robotControlInit(volatile Servo* usServo, volatile UltraSonic* usSensor, volatile ColorSensor* colorSensor,
                       volatile SpeedControl* scLeft, volatile SpeedControl* scRight,
                       volatile Encoder* encoderLeft, volatile Encoder* encoderRight,
-                      UART_HandleTypeDef* usbUart) {
+					  volatile Uart* usbUart) {
     servo = usServo;
     us = usSensor;
     cs = colorSensor;
@@ -31,7 +31,7 @@ void robotControlInit(volatile Servo* usServo, volatile UltraSonic* usSensor, vo
     scR = scRight;
     encoderL = encoderLeft;
     encoderR = encoderRight;
-    uart = usbUart;
+    uart1 = usbUart;
 }
 
 
@@ -83,13 +83,14 @@ uint32_t getEncoderPosition(uint8_t mot_lr) {
 int uartPrintf(const char *fmt, ...) {
     va_list args;
     va_start(args, fmt);
-
+/*
     char str[256];
     int size = vsprintf(str, fmt, args);
+    str[size] = '\0';
+*/
+    uart_transmit(uart1, fmt, args);
 
-    HAL_UART_Transmit_IT(uart, (uint8_t*)str, size);
-
-    return size;
+    return 0;
 }
 
 
diff --git a/firmware/Core/Src/stm32f1xx_hal_msp.c b/firmware/Core/Src/stm32f1xx_hal_msp.c
index 8c48a14..3482cb9 100644
--- a/firmware/Core/Src/stm32f1xx_hal_msp.c
+++ b/firmware/Core/Src/stm32f1xx_hal_msp.c
@@ -24,6 +24,7 @@
 /* USER CODE BEGIN Includes */
 
 /* USER CODE END Includes */
+extern DMA_HandleTypeDef hdma_usart1_tx;
 
 /* Private typedef -----------------------------------------------------------*/
 /* USER CODE BEGIN TD */
@@ -397,6 +398,23 @@ void HAL_UART_MspInit(UART_HandleTypeDef* huart)
     GPIO_InitStruct.Pull = GPIO_NOPULL;
     HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
 
+    /* USART1 DMA Init */
+    /* USART1_TX Init */
+    hdma_usart1_tx.Instance = DMA1_Channel4;
+    hdma_usart1_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
+    hdma_usart1_tx.Init.PeriphInc = DMA_PINC_DISABLE;
+    hdma_usart1_tx.Init.MemInc = DMA_MINC_ENABLE;
+    hdma_usart1_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
+    hdma_usart1_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
+    hdma_usart1_tx.Init.Mode = DMA_NORMAL;
+    hdma_usart1_tx.Init.Priority = DMA_PRIORITY_LOW;
+    if (HAL_DMA_Init(&hdma_usart1_tx) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    __HAL_LINKDMA(huart,hdmatx,hdma_usart1_tx);
+
     /* USART1 interrupt Init */
     HAL_NVIC_SetPriority(USART1_IRQn, 1, 0);
     HAL_NVIC_EnableIRQ(USART1_IRQn);
@@ -458,6 +476,9 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* huart)
     */
     HAL_GPIO_DeInit(GPIOA, GPIO_PIN_9|GPIO_PIN_10);
 
+    /* USART1 DMA DeInit */
+    HAL_DMA_DeInit(huart->hdmatx);
+
     /* USART1 interrupt DeInit */
     HAL_NVIC_DisableIRQ(USART1_IRQn);
   /* USER CODE BEGIN USART1_MspDeInit 1 */
diff --git a/firmware/Core/Src/stm32f1xx_it.c b/firmware/Core/Src/stm32f1xx_it.c
index 0643dbc..cd7fa00 100644
--- a/firmware/Core/Src/stm32f1xx_it.c
+++ b/firmware/Core/Src/stm32f1xx_it.c
@@ -61,6 +61,7 @@ extern TIM_HandleTypeDef htim1;
 extern TIM_HandleTypeDef htim2;
 extern TIM_HandleTypeDef htim3;
 extern TIM_HandleTypeDef htim4;
+extern DMA_HandleTypeDef hdma_usart1_tx;
 extern UART_HandleTypeDef huart1;
 /* USER CODE BEGIN EV */
 
@@ -216,6 +217,20 @@ void EXTI0_IRQHandler(void)
   /* USER CODE END EXTI0_IRQn 1 */
 }
 
+/**
+  * @brief This function handles DMA1 channel4 global interrupt.
+  */
+void DMA1_Channel4_IRQHandler(void)
+{
+  /* USER CODE BEGIN DMA1_Channel4_IRQn 0 */
+
+  /* USER CODE END DMA1_Channel4_IRQn 0 */
+  HAL_DMA_IRQHandler(&hdma_usart1_tx);
+  /* USER CODE BEGIN DMA1_Channel4_IRQn 1 */
+
+  /* USER CODE END DMA1_Channel4_IRQn 1 */
+}
+
 /**
   * @brief This function handles ADC1 and ADC2 global interrupts.
   */
diff --git a/firmware/Drivers/motor/motor.c b/firmware/Drivers/motor/motor.c
index 2c882e1..e6f71c2 100644
--- a/firmware/Drivers/motor/motor.c
+++ b/firmware/Drivers/motor/motor.c
@@ -41,7 +41,7 @@ void motorInit(Motor* motor, Pwm* pwm1, Pwm* pwm2, uint8_t reversed) {
     motor->pwm1 = pwm1;
     motor->pwm2 = pwm2;
     motor->reversed = reversed;
-    motor->runMode = MotorRunMode_Coast;
+    motor->runMode = MotorRunMode_Brake;
     motor->speed = 0;
     motorSetSpeed(motor, motor->speed);
 }
diff --git a/firmware/tanfolyamrobot.ioc b/firmware/tanfolyamrobot.ioc
index 0e920d5..fabc361 100644
--- a/firmware/tanfolyamrobot.ioc
+++ b/firmware/tanfolyamrobot.ioc
@@ -7,22 +7,34 @@ ADC1.NbrOfConversionFlag=1
 ADC1.Rank-0\#ChannelRegularConversion=1
 ADC1.SamplingTime-0\#ChannelRegularConversion=ADC_SAMPLETIME_239CYCLES_5
 ADC1.master=1
+Dma.Request0=USART1_TX
+Dma.RequestsNb=1
+Dma.USART1_TX.0.Direction=DMA_MEMORY_TO_PERIPH
+Dma.USART1_TX.0.Instance=DMA1_Channel4
+Dma.USART1_TX.0.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.USART1_TX.0.MemInc=DMA_MINC_ENABLE
+Dma.USART1_TX.0.Mode=DMA_NORMAL
+Dma.USART1_TX.0.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.USART1_TX.0.PeriphInc=DMA_PINC_DISABLE
+Dma.USART1_TX.0.Priority=DMA_PRIORITY_LOW
+Dma.USART1_TX.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority
 File.Version=6
 GPIO.groupedBy=Group By Peripherals
 KeepUserPlacement=false
 Mcu.CPN=STM32F103R8T6
 Mcu.Family=STM32F1
 Mcu.IP0=ADC1
-Mcu.IP1=NVIC
-Mcu.IP2=RCC
-Mcu.IP3=SYS
-Mcu.IP4=TIM1
-Mcu.IP5=TIM2
-Mcu.IP6=TIM3
-Mcu.IP7=TIM4
-Mcu.IP8=USART1
-Mcu.IP9=USART3
-Mcu.IPNb=10
+Mcu.IP1=DMA
+Mcu.IP10=USART3
+Mcu.IP2=NVIC
+Mcu.IP3=RCC
+Mcu.IP4=SYS
+Mcu.IP5=TIM1
+Mcu.IP6=TIM2
+Mcu.IP7=TIM3
+Mcu.IP8=TIM4
+Mcu.IP9=USART1
+Mcu.IPNb=11
 Mcu.Name=STM32F103R(8-B)Tx
 Mcu.Package=LQFP64
 Mcu.Pin0=PC13-TAMPER-RTC
@@ -77,6 +89,7 @@ MxCube.Version=5.6.0
 MxDb.Version=DB.5.0.60
 NVIC.ADC1_2_IRQn=true\:15\:0\:true\:false\:true\:true\:true\:true
 NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
+NVIC.DMA1_Channel4_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true
 NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.EXTI0_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
 NVIC.EXTI9_5_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
@@ -264,7 +277,7 @@ ProjectManager.StackSize=0x400
 ProjectManager.TargetToolchain=STM32CubeIDE
 ProjectManager.ToolChainLocation=
 ProjectManager.UnderRoot=true
-ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-SystemClock_Config-RCC-false-HAL-false,3-MX_TIM4_Init-TIM4-false-HAL-true,4-MX_USART1_UART_Init-USART1-false-HAL-true,5-MX_USART3_UART_Init-USART3-false-HAL-true,6-MX_TIM3_Init-TIM3-false-HAL-true,7-MX_TIM1_Init-TIM1-false-HAL-true,8-MX_TIM2_Init-TIM2-false-HAL-true,9-MX_ADC1_Init-ADC1-false-HAL-true
+ProjectManager.functionlistsort=1-MX_GPIO_Init-GPIO-false-HAL-true,2-SystemClock_Config-RCC-false-HAL-false,3-MX_DMA_Init-DMA-false-HAL-true,4-MX_TIM4_Init-TIM4-false-HAL-true,5-MX_USART1_UART_Init-USART1-false-HAL-true,6-MX_USART3_UART_Init-USART3-false-HAL-true,7-MX_TIM3_Init-TIM3-false-HAL-true,8-MX_TIM1_Init-TIM1-false-HAL-true,9-MX_TIM2_Init-TIM2-false-HAL-true,10-MX_ADC1_Init-ADC1-false-HAL-true
 RCC.ADCFreqValue=8000000
 RCC.ADCPresc=RCC_ADCPCLK2_DIV8
 RCC.AHBFreq_Value=64000000
@@ -334,7 +347,8 @@ TIM4.ICPolarity_CH2=TIM_INPUTCHANNELPOLARITY_FALLING
 TIM4.IPParameters=Prescaler,Period,AutoReloadPreload,CounterMode,Channel-Input_Capture1_from_TI1,ICPolarity_CH1,Channel-Input_Capture2_from_TI1,ICPolarity_CH2,Channel-Output Compare4 No Output,Channel-Input_Capture3_from_TI3
 TIM4.Period=0xffff
 TIM4.Prescaler=32
-USART1.IPParameters=VirtualMode
+USART1.BaudRate=1000000
+USART1.IPParameters=VirtualMode,BaudRate
 USART1.VirtualMode=VM_ASYNC
 USART3.IPParameters=VirtualMode
 USART3.VirtualMode=VM_ASYNC

From 73308ee8c13094a9d9cbc92381ac64e1af110468 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kiovics=20D=C3=A1niel?= <dkiovics@gmail.com>
Date: Sat, 17 Jun 2023 16:50:58 +0200
Subject: [PATCH 03/31] environment settings fix

---
 firmware/.cproject                       | 16 +++++++++++-----
 firmware/.settings/language.settings.xml |  4 ++--
 firmware/Application/application.c       |  6 ------
 3 files changed, 13 insertions(+), 13 deletions(-)

diff --git a/firmware/.cproject b/firmware/.cproject
index d4b30b6..41cc071 100644
--- a/firmware/.cproject
+++ b/firmware/.cproject
@@ -14,7 +14,7 @@
 				</extensions>
 			</storageModule>
 			<storageModule moduleId="cdtBuildSystem" version="4.0.0">
-				<configuration artifactExtension="elf" artifactName="${ProjName}" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.debug" cleanCommand="rm -rf" description="" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.1074848502" name="Debug" parent="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug">
+				<configuration artifactExtension="elf" artifactName="${ProjName}" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.debug" cleanCommand="rm -rf" description="" errorParsers="org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GmakeErrorParser;org.eclipse.cdt.core.GLDErrorParser;org.eclipse.cdt.core.CWDLocator;org.eclipse.cdt.core.GCCErrorParser" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.1074848502" name="Debug" parent="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug">
 					<folderInfo id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.1074848502." name="/" resourcePath="">
 						<toolChain id="com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.exe.debug.377437903" name="MCU ARM GCC" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.exe.debug">
 							<option id="com.st.stm32cube.ide.mcu.option.internal.toolchain.type.1283452258" name="Internal Toolchain Type" superClass="com.st.stm32cube.ide.mcu.option.internal.toolchain.type" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.base.gnu-tools-for-stm32" valueType="string"/>
@@ -58,6 +58,7 @@
 									<listOptionValue builtIn="false" value="../Drivers/ultrasonic/"/>
 									<listOptionValue builtIn="false" value="../Drivers/servo/"/>
 									<listOptionValue builtIn="false" value="../Drivers/motor/"/>
+									<listOptionValue builtIn="false" value="../Drivers/uart/"/>
 									<listOptionValue builtIn="false" value="../Application/"/>
 								</option>
 								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c.133896599" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c"/>
@@ -117,22 +118,26 @@
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_cpuid.990882140" name="CPU" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_cpuid" useByScannerDiscovery="false" value="0" valueType="string"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_coreid.581538025" name="Core" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_coreid" useByScannerDiscovery="false" value="0" valueType="string"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board.125819757" name="Board" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board" useByScannerDiscovery="false" value="genericBoard" valueType="string"/>
-							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.2962563" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.5 || Release || false || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.base.gnu-tools-for-stm32 || STM32F103R8Tx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Drivers/CMSIS/Device/ST/STM32F1xx/Include | ../Drivers/CMSIS/Include | ../Core/Inc | ../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy | ../Drivers/STM32F1xx_HAL_Driver/Inc ||  ||  || USE_HAL_DRIVER | STM32F103xB ||  || Drivers | Core/Startup | Core ||  ||  || ${workspace_loc:/${ProjName}/STM32F103R8TX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o ||  || None || " valueType="string"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.2962563" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.5 || Debug || true || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.base.gnu-tools-for-stm32 || STM32F103R8Tx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Drivers/CMSIS/Device/ST/STM32F1xx/Include | ../Drivers/CMSIS/Include | ../Core/Inc | ../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy | ../Drivers/STM32F1xx_HAL_Driver/Inc ||  ||  || USE_HAL_DRIVER | STM32F103xB ||  || Drivers | Core/Startup | Core ||  ||  || ${workspace_loc:/${ProjName}/STM32F103R8TX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o ||  || None || " valueType="string"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoprintffloat.377154912" name="Use float with printf from newlib-nano (-u _printf_float)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoprintffloat" useByScannerDiscovery="false" value="true" valueType="boolean"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.converthex.1945823917" name="Convert to Intel Hex file (-O ihex)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.converthex" useByScannerDiscovery="false" value="true" valueType="boolean"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.convertbinary.389742334" name="Convert to binary file (-O binary)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.convertbinary" useByScannerDiscovery="false" value="true" valueType="boolean"/>
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform.1024469545" isAbstract="false" osList="all" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform"/>
 							<builder buildPath="${workspace_loc:/tanfolyamrobot}/Release" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.541582858" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.852978513" name="MCU GCC Assembler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler">
-								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.debuglevel.1364243672" name="Debug level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.debuglevel" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.debuglevel.value.g0" valueType="enumerated"/>
+								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.debuglevel.1364243672" name="Debug level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.debuglevel" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.debuglevel.value.g3" valueType="enumerated"/>
+								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.definedsymbols.638374311" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.definedsymbols" valueType="definedSymbols">
+									<listOptionValue builtIn="false" value="DEBUG"/>
+								</option>
 								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.input.1686488338" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.input"/>
 							</tool>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1454357132" name="MCU GCC Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler">
-								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel.696643617" name="Debug level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel.value.g0" valueType="enumerated"/>
-								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.999143397" name="Optimization level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.value.os" valueType="enumerated"/>
+								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel.696643617" name="Debug level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.debuglevel.value.g3" valueType="enumerated"/>
+								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.999143397" name="Optimization level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.optimization.level.value.o0" valueType="enumerated"/>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols.1245108847" name="Define symbols (-D)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.definedsymbols" useByScannerDiscovery="false" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="USE_HAL_DRIVER"/>
 									<listOptionValue builtIn="false" value="STM32F103xB"/>
+									<listOptionValue builtIn="false" value="DEBUG"/>
 								</option>
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.includepaths.1972703832" name="Include paths (-I)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.option.includepaths" useByScannerDiscovery="false" valueType="includePath">
 									<listOptionValue builtIn="false" value="../Drivers/CMSIS/Device/ST/STM32F1xx/Include"/>
@@ -148,6 +153,7 @@
 									<listOptionValue builtIn="false" value="../Drivers/ultrasonic/"/>
 									<listOptionValue builtIn="false" value="../Drivers/servo/"/>
 									<listOptionValue builtIn="false" value="../Drivers/motor/"/>
+									<listOptionValue builtIn="false" value="../Drivers/uart/"/>
 									<listOptionValue builtIn="false" value="../Application/"/>
 								</option>
 								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c.1181318450" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.input.c"/>
diff --git a/firmware/.settings/language.settings.xml b/firmware/.settings/language.settings.xml
index a3099f2..7e1cf3f 100644
--- a/firmware/.settings/language.settings.xml
+++ b/firmware/.settings/language.settings.xml
@@ -5,7 +5,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="125865788800999422" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-578547838866813502" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
@@ -16,7 +16,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="125865788800999422" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-578547838866813502" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
diff --git a/firmware/Application/application.c b/firmware/Application/application.c
index 19f45cd..c1c7a57 100644
--- a/firmware/Application/application.c
+++ b/firmware/Application/application.c
@@ -8,12 +8,6 @@ int application() {
     lcdPrintf(0, 0, "Hello");
     lcdPrintf(1, 5, "World!");
 
-    for(int p = 0; p < 50; p++){
-    	uartPrintf("Na csaa\n");
-    	uartPrintf("Szia ");
-    	uartPrintf("hello!\n");
-    }
-
     delayMs(2000);
 
     return 0;

From 8900078f09a47e5ff0f5676270db5b16ada7388d Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kiovics=20D=C3=A1niel?= <dkiovics@gmail.com>
Date: Sat, 17 Jun 2023 18:00:33 +0200
Subject: [PATCH 04/31] uart fix

---
 firmware/Core/Src/robotcontrol.c |  8 +++++---
 firmware/Drivers/uart/uart.c     | 16 +++++-----------
 firmware/Drivers/uart/uart.h     |  3 +--
 3 files changed, 11 insertions(+), 16 deletions(-)

diff --git a/firmware/Core/Src/robotcontrol.c b/firmware/Core/Src/robotcontrol.c
index d86c3f6..3f8b20c 100644
--- a/firmware/Core/Src/robotcontrol.c
+++ b/firmware/Core/Src/robotcontrol.c
@@ -83,12 +83,14 @@ uint32_t getEncoderPosition(uint8_t mot_lr) {
 int uartPrintf(const char *fmt, ...) {
     va_list args;
     va_start(args, fmt);
-/*
+
     char str[256];
     int size = vsprintf(str, fmt, args);
+    if(size <= 0)
+    	return;
     str[size] = '\0';
-*/
-    uart_transmit(uart1, fmt, args);
+
+    uart_transmit(uart1, str);
 
     return 0;
 }
diff --git a/firmware/Drivers/uart/uart.c b/firmware/Drivers/uart/uart.c
index 0bbf6b7..a1fb787 100644
--- a/firmware/Drivers/uart/uart.c
+++ b/firmware/Drivers/uart/uart.c
@@ -30,7 +30,6 @@ void uart_init(volatile Uart *uart, UART_HandleTypeDef *huart, IRQn_Type uartIr,
 	uart->endOfWriteData = writeBufferLenght - 1;
 	uart->transmissionInProgress = 0;
 
-	uart->writeBuffer = (char*)malloc(writeBufferLenght+1);
 	uart->writeCircularBuffer = (char*)malloc(writeBufferLenght+1);
 	uart->readCircularBuffer = (char*)malloc(readBufferLenght+1);
 
@@ -60,18 +59,13 @@ void uart_handleTransmitCplt(volatile Uart *uart, UART_HandleTypeDef *huart){
 }
 
 
-void uart_transmit(volatile Uart *uart, const char *fmt, ...){
-	va_list args;
-	va_start(args, fmt);
-
-	int size = vsprintf((char*)uart->writeBuffer, fmt, args);
-	if(size<=0)
-		return;
+void uart_transmit(volatile Uart *uart, const char *str){
+	int size = strlen(str);
 
 	int spaceTillBufferEnd = uart->writeBufferLenght - uart->endOfWriteData - 1;
 
 	if(spaceTillBufferEnd >= size){
-		memcpy((void*)uart->writeCircularBuffer + uart->endOfWriteData + 1, (const void*)uart->writeBuffer, size);
+		memcpy((void*)uart->writeCircularBuffer + uart->endOfWriteData + 1, (const void*)str, size);
 		HAL_NVIC_DisableIRQ(uart->uartIr);
 		HAL_NVIC_DisableIRQ(uart->sendDMAIr);
 		if(uart->startOfWriteData == -1){
@@ -87,8 +81,8 @@ void uart_transmit(volatile Uart *uart, const char *fmt, ...){
 		HAL_NVIC_EnableIRQ(uart->sendDMAIr);
 	}else{
 		if(spaceTillBufferEnd > 0)
-			memcpy((void*)uart->writeCircularBuffer + uart->endOfWriteData + 1, (const void*)uart->writeBuffer, spaceTillBufferEnd);
-		memcpy((void*)uart->writeCircularBuffer, (const void*)uart->writeBuffer + spaceTillBufferEnd, size - spaceTillBufferEnd);
+			memcpy((void*)uart->writeCircularBuffer + uart->endOfWriteData + 1, (const void*)str, spaceTillBufferEnd);
+		memcpy((void*)uart->writeCircularBuffer, (const void*)str + spaceTillBufferEnd, size - spaceTillBufferEnd);
 		HAL_NVIC_DisableIRQ(uart->uartIr);
 		HAL_NVIC_DisableIRQ(uart->sendDMAIr);
 		if(uart->startOfWriteData == -1){
diff --git a/firmware/Drivers/uart/uart.h b/firmware/Drivers/uart/uart.h
index 1c3e021..3dfafd6 100644
--- a/firmware/Drivers/uart/uart.h
+++ b/firmware/Drivers/uart/uart.h
@@ -23,7 +23,6 @@ typedef struct {
 	char* writeCircularBuffer;
 	int32_t startOfWriteData;
 	int32_t endOfWriteData;
-	char* writeBuffer;
 	uint8_t transmissionInProgress;
 
 	char* readCircularBuffer;
@@ -53,7 +52,7 @@ void uart_handleReceiveCplt(volatile Uart* uart, UART_HandleTypeDef *huart);
 /*
  * Transmits the data (max lenght is writeBufferLenght)
  */
-void uart_transmit(volatile Uart* uart, const char *fmt, ...);
+void uart_transmit(volatile Uart* uart, const char *str);
 
 /*
  * Receives the data until the last received \n, ignores \r (max lenght is readBufferLenght)

From a8402f31f194b2245269f5e3ffebfb8a34fa4b26 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kiovics=20D=C3=A1niel?= <dkiovics@gmail.com>
Date: Sat, 17 Jun 2023 19:50:47 +0200
Subject: [PATCH 05/31] encoder bug fix

---
 firmware/Drivers/encoder/encoder.c | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/firmware/Drivers/encoder/encoder.c b/firmware/Drivers/encoder/encoder.c
index dc48139..9619855 100644
--- a/firmware/Drivers/encoder/encoder.c
+++ b/firmware/Drivers/encoder/encoder.c
@@ -95,12 +95,13 @@ void encoderHandlerA(volatile Encoder* encoder) {
     uint32_t timerVal = encoder->timer->Instance->CNT;
     uint32_t overflowCount = encoder->overflowCount;
 
-    encoder->lastTimerVal = timerVal;
     encoder->overflowCount = 0;
 
 	// Calculate elapsed time since last update
 	uint32_t elapsed = overflowCount * encoder->timerPeriod - encoder->lastTimerVal + timerVal;
 
+	encoder->lastTimerVal = timerVal;
+
 	GPIO_PinState risingEdgeA = HAL_GPIO_ReadPin(encoder->portA, encoder->pinA);
 	GPIO_PinState stateB = HAL_GPIO_ReadPin(encoder->portB, encoder->pinB);
 

From 343ae94b0ec3a997ae3fa151b5ffb934eec6d37b Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kiovics=20D=C3=A1niel?= <dkiovics@gmail.com>
Date: Tue, 4 Jul 2023 19:01:42 +0200
Subject: [PATCH 06/31] Upload method V2.1 - COM port no longer needs to be
 (but can be) specified

---
 firmware/tools/Tanfolyamrobot FTDI.exe        | Bin 20480 -> 24064 bytes
 firmware/tools/Tanfolyamrobot FTDI/.gitignore |   1 +
 .../Tanfolyamrobot FTDI/.gitignore            |   1 +
 .../Tanfolyamrobot FTDI.cpp                   |  56 +++++++++++++-----
 .../Tanfolyamrobot FTDI.vcxproj               |   2 +-
 .../Tanfolyamrobot FTDI.vcxproj.filters       |   2 +-
 .../Tanfolyamrobot FTDI.vcxproj.user          |   4 +-
 .../Tanfolyamrobot FTDI/ftd2xx.lib            | Bin 0 -> 20260 bytes
 8 files changed, 47 insertions(+), 19 deletions(-)
 create mode 100644 firmware/tools/Tanfolyamrobot FTDI/.gitignore
 create mode 100644 firmware/tools/Tanfolyamrobot FTDI/Tanfolyamrobot FTDI/.gitignore
 create mode 100644 firmware/tools/Tanfolyamrobot FTDI/Tanfolyamrobot FTDI/ftd2xx.lib

diff --git a/firmware/tools/Tanfolyamrobot FTDI.exe b/firmware/tools/Tanfolyamrobot FTDI.exe
index 2bcfb49e5f07985be42676e4a22ad07b4be22aa1..446dfa8c3cddf5240bbb432002f4e1a13bf57590 100644
GIT binary patch
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diff --git a/firmware/tools/Tanfolyamrobot FTDI/.gitignore b/firmware/tools/Tanfolyamrobot FTDI/.gitignore
new file mode 100644
index 0000000..0a34381
--- /dev/null
+++ b/firmware/tools/Tanfolyamrobot FTDI/.gitignore	
@@ -0,0 +1 @@
+.vs
\ No newline at end of file
diff --git a/firmware/tools/Tanfolyamrobot FTDI/Tanfolyamrobot FTDI/.gitignore b/firmware/tools/Tanfolyamrobot FTDI/Tanfolyamrobot FTDI/.gitignore
new file mode 100644
index 0000000..36efc41
--- /dev/null
+++ b/firmware/tools/Tanfolyamrobot FTDI/Tanfolyamrobot FTDI/.gitignore	
@@ -0,0 +1 @@
+!ftd2xx.lib
\ No newline at end of file
diff --git a/firmware/tools/Tanfolyamrobot FTDI/Tanfolyamrobot FTDI/Tanfolyamrobot FTDI.cpp b/firmware/tools/Tanfolyamrobot FTDI/Tanfolyamrobot FTDI/Tanfolyamrobot FTDI.cpp
index a2608f5..d97cd69 100644
--- a/firmware/tools/Tanfolyamrobot FTDI/Tanfolyamrobot FTDI/Tanfolyamrobot FTDI.cpp	
+++ b/firmware/tools/Tanfolyamrobot FTDI/Tanfolyamrobot FTDI/Tanfolyamrobot FTDI.cpp	
@@ -12,52 +12,78 @@
 #include <stdexcept>
 #include <chrono>
 #include <thread>
+#include <string>
 
 
 
 int main(int argc, char* argv[]) {                          //COM port     Baud rate      BIN file path
-
-    if (argc != 4) {
-        std::cout << "Num of arguments: %d\n" << argc << "Error: Upload params should be: COM_PORT BAUD_RATE BIN_FILE_PATH\n" << std::endl;
+                                                            //                                                  OR
+                                                            //Baud rate      BIN file path          <--------- use default (first FTDI device) COM port number
+    if (argc != 4 && argc != 3) {
+        std::cout << "Num of arguments: %d\n" << argc << "Error: Upload params should be: COM_PORT BAUD_RATE BIN_FILE_PATH   or   BAUD_RATE BIN_FILE_PATH\n" << std::endl;
         return -1;
     }
     
-    FT_STATUS ft_status;
-    FT_HANDLE ft_handle;
-    ft_status = FT_Open(0, &ft_handle);
-    if (ft_status != FT_OK) {
+    FT_STATUS ftStatus;
+    FT_HANDLE ftHandle;
+
+    std::cout << "TanfolyamRobot loader V2.1\n" << std::endl;
+    std::cout << "WARNING: Make sure only one FTDI device is plugged in!\n" << std::endl;
+
+    ftStatus = FT_Open(0, &ftHandle);
+    if (ftStatus != FT_OK) {
         std::cout << "FT232 device not found!\n" << std::endl;
-        return -1;
+        return 1;
     }
     else {
         std::cout << "Connection with FT232 successfull\n" << std::endl;
     }
 
     try {
-        if (FT_SetBitMode(ft_handle, 0xCC, 0x20) != FT_OK)
+        if (FT_SetBitMode(ftHandle, 0xCC, 0x20) != FT_OK)
             throw std::runtime_error("Failed to reset device");
         std::cout << "Device reset successfull\n" << std::endl;
 
         std::this_thread::sleep_for(std::chrono::milliseconds(400));
 
-        if (FT_SetBitMode(ft_handle, 0xC4, 0x20) != FT_OK)
+        if (FT_SetBitMode(ftHandle, 0xC4, 0x20) != FT_OK)
             throw std::runtime_error("Failed to init device");
         std::cout << "Device in bootloader mode\n" << std::endl;
 
-        FT_Close(ft_handle);
+        LONG comPortNumber = 0;
+        if (argc == 3) {
+            if ((ftStatus = FT_GetComPortNumber(ftHandle, &comPortNumber)) == FT_OK) {
+                if (comPortNumber == -1) {
+                    throw std::runtime_error("Failed to detect device COM port number");
+                }
+                else {
+                    std::cout << "Detected device COM port number is " << comPortNumber << std::endl;
+                }
+            }
+            else {
+                std::cout << "FT_GetComPortNumber failed with error " << ftStatus << std::endl;
+                return 1;
+            }
+        }
+
+        FT_Close(ftHandle);
 
         std::this_thread::sleep_for(std::chrono::milliseconds(400));
 
-        std::string cmd = std::string("stm32flash") + " -b " + argv[2] + " -w " + argv[3] + " -v -g 0x0 " + argv[1];
+        std::string cmd;
+        if(argc == 4)
+            cmd = std::string("stm32flash") + " -b " + argv[2] + " -w " + argv[3] + " -v -g 0x0 " + argv[1];
+        else
+            cmd = std::string("stm32flash") + " -b " + argv[1] + " -w " + argv[2] + " -v -g 0x0 " + "COM" + std::to_string(comPortNumber);
         system(cmd.c_str());
 
-        if (FT_Open(0, &ft_handle) != FT_OK || FT_SetBitMode(ft_handle, 0xC8, 0x20) != FT_OK)
+        if (FT_Open(0, &ftHandle) != FT_OK || FT_SetBitMode(ftHandle, 0xC8, 0x20) != FT_OK)
             throw std::runtime_error("Failed to reset device");
         std::cout << "Device reset successfull\n" << std::endl;
 
         std::this_thread::sleep_for(std::chrono::milliseconds(200));
 
-        if (FT_SetBitMode(ft_handle, 0x00, 0x20) != FT_OK)
+        if (FT_SetBitMode(ftHandle, 0x00, 0x20) != FT_OK)
             throw std::runtime_error("Failed to start device");
         std::cout << "Device init successfull\n" << std::endl;
     }
@@ -65,7 +91,7 @@ int main(int argc, char* argv[]) {                          //COM port     Baud
         std::cout << e.what() << std::endl;
     }
 
-    FT_Close(ft_handle);
+    FT_Close(ftHandle);
 
     return 0;
 }
diff --git a/firmware/tools/Tanfolyamrobot FTDI/Tanfolyamrobot FTDI/Tanfolyamrobot FTDI.vcxproj b/firmware/tools/Tanfolyamrobot FTDI/Tanfolyamrobot FTDI/Tanfolyamrobot FTDI.vcxproj
index 774331c..af17ff6 100644
--- a/firmware/tools/Tanfolyamrobot FTDI/Tanfolyamrobot FTDI/Tanfolyamrobot FTDI.vcxproj	
+++ b/firmware/tools/Tanfolyamrobot FTDI/Tanfolyamrobot FTDI/Tanfolyamrobot FTDI.vcxproj	
@@ -133,7 +133,7 @@
     <ClInclude Include="ftd2xx.h" />
   </ItemGroup>
   <ItemGroup>
-    <Library Include="..\ftd2xx.lib" />
+    <Library Include="ftd2xx.lib" />
   </ItemGroup>
   <Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
   <ImportGroup Label="ExtensionTargets">
diff --git a/firmware/tools/Tanfolyamrobot FTDI/Tanfolyamrobot FTDI/Tanfolyamrobot FTDI.vcxproj.filters b/firmware/tools/Tanfolyamrobot FTDI/Tanfolyamrobot FTDI/Tanfolyamrobot FTDI.vcxproj.filters
index 736ba01..2600742 100644
--- a/firmware/tools/Tanfolyamrobot FTDI/Tanfolyamrobot FTDI/Tanfolyamrobot FTDI.vcxproj.filters	
+++ b/firmware/tools/Tanfolyamrobot FTDI/Tanfolyamrobot FTDI/Tanfolyamrobot FTDI.vcxproj.filters	
@@ -25,7 +25,7 @@
     </ClInclude>
   </ItemGroup>
   <ItemGroup>
-    <Library Include="..\ftd2xx.lib">
+    <Library Include="ftd2xx.lib">
       <Filter>Resource Files</Filter>
     </Library>
   </ItemGroup>
diff --git a/firmware/tools/Tanfolyamrobot FTDI/Tanfolyamrobot FTDI/Tanfolyamrobot FTDI.vcxproj.user b/firmware/tools/Tanfolyamrobot FTDI/Tanfolyamrobot FTDI/Tanfolyamrobot FTDI.vcxproj.user
index 379111f..69feab0 100644
--- a/firmware/tools/Tanfolyamrobot FTDI/Tanfolyamrobot FTDI/Tanfolyamrobot FTDI.vcxproj.user	
+++ b/firmware/tools/Tanfolyamrobot FTDI/Tanfolyamrobot FTDI/Tanfolyamrobot FTDI.vcxproj.user	
@@ -1,11 +1,11 @@
 <?xml version="1.0" encoding="utf-8"?>
 <Project ToolsVersion="Current" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|x64'">
-    <LocalDebuggerCommandArguments>COM3 500000 C:\Users\dkiovics\Documents\LEGO\TanfolyamRobot\firmware\Debug\tanfolyamrobot.bin</LocalDebuggerCommandArguments>
+    <LocalDebuggerCommandArguments>500000 C:\Users\dkiovics\Documents\LEGO\TanfolyamRobot\TanfolyamRobot\firmware\Debug\tanfolyamrobot.bin</LocalDebuggerCommandArguments>
     <DebuggerFlavor>WindowsLocalDebugger</DebuggerFlavor>
   </PropertyGroup>
   <PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|x64'">
-    <LocalDebuggerCommandArguments>COM3 500000 C:\Users\dkiovics\Documents\LEGO\TanfolyamRobot\firmware\Debug\tanfolyamrobot.bin</LocalDebuggerCommandArguments>
+    <LocalDebuggerCommandArguments>500000 C:\Users\dkiovics\Documents\LEGO\TanfolyamRobot\TanfolyamRobot\firmware\Debug\tanfolyamrobot.bin</LocalDebuggerCommandArguments>
     <DebuggerFlavor>WindowsLocalDebugger</DebuggerFlavor>
   </PropertyGroup>
 </Project>
\ No newline at end of file
diff --git a/firmware/tools/Tanfolyamrobot FTDI/Tanfolyamrobot FTDI/ftd2xx.lib b/firmware/tools/Tanfolyamrobot FTDI/Tanfolyamrobot FTDI/ftd2xx.lib
new file mode 100644
index 0000000000000000000000000000000000000000..7b28fab0dbe62abcd38b6588f3702be7decbe218
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gwOPJ<zCp@J_Jf~Q*Ho@SO|duVVTFNfze<(=0o>vm*8l(j

literal 0
HcmV?d00001


From 081ce4cce30d012e3a7dd4aef5ed2a392703792e Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kiovics=20D=C3=A1niel?= <dkiovics@gmail.com>
Date: Tue, 4 Jul 2023 19:08:58 +0200
Subject: [PATCH 07/31] launch config fix

---
 firmware/LaunchConfig/Upload with DFU 2.0 (Windows).launch | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/firmware/LaunchConfig/Upload with DFU 2.0 (Windows).launch b/firmware/LaunchConfig/Upload with DFU 2.0 (Windows).launch
index f74aaf9..078346f 100644
--- a/firmware/LaunchConfig/Upload with DFU 2.0 (Windows).launch	
+++ b/firmware/LaunchConfig/Upload with DFU 2.0 (Windows).launch	
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8" standalone="no"?>
 <launchConfiguration type="org.eclipse.ui.externaltools.ProgramLaunchConfigurationType">
     <stringAttribute key="org.eclipse.ui.externaltools.ATTR_LOCATION" value="${workspace_loc:/tanfolyamrobot/tools/Tanfolyamrobot FTDI.exe}"/>
-    <stringAttribute key="org.eclipse.ui.externaltools.ATTR_TOOL_ARGUMENTS" value="COM3 500000 ../Debug/tanfolyamrobot.bin"/>
+    <stringAttribute key="org.eclipse.ui.externaltools.ATTR_TOOL_ARGUMENTS" value="500000 ../Debug/tanfolyamrobot.bin"/>
     <stringAttribute key="org.eclipse.ui.externaltools.ATTR_WORKING_DIRECTORY" value="${workspace_loc:/tanfolyamrobot/tools}"/>
 </launchConfiguration>

From 4c443fa57e08f7126e2fff7ac90bed6c48bb6b31 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kiovics=20D=C3=A1niel?= <dkiovics@gmail.com>
Date: Sat, 22 Jul 2023 15:37:30 +0200
Subject: [PATCH 08/31] gitignore for LICENSE.txt

---
 firmware/Drivers/CMSIS/.gitignore | 1 +
 1 file changed, 1 insertion(+)
 create mode 100644 firmware/Drivers/CMSIS/.gitignore

diff --git a/firmware/Drivers/CMSIS/.gitignore b/firmware/Drivers/CMSIS/.gitignore
new file mode 100644
index 0000000..85de3d4
--- /dev/null
+++ b/firmware/Drivers/CMSIS/.gitignore
@@ -0,0 +1 @@
+LICENSE.txt
\ No newline at end of file

From 261b2729bf176d47862167ea1925fecbc7d8ba60 Mon Sep 17 00:00:00 2001
From: Andrada Serban <andi.andrada@gmail.com>
Date: Tue, 8 Aug 2023 20:11:48 +0200
Subject: [PATCH 09/31] =?UTF-8?q?uart=20m=C3=BCxik=20xd?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 firmware/.cproject                       |  2 +-
 firmware/.mxproject                      | 16 ++++++-------
 firmware/.settings/language.settings.xml |  4 ++--
 firmware/Core/Inc/robotcontrol-api.h     | 10 ++++++++
 firmware/Core/Inc/robotcontrol.h         |  2 +-
 firmware/Core/Inc/stm32f1xx_it.h         |  2 ++
 firmware/Core/Src/main.c                 | 28 ++++++++++++++++++----
 firmware/Core/Src/robotcontrol.c         | 22 ++++++++++++++++-
 firmware/Core/Src/stm32f1xx_hal_msp.c    | 27 +++++++++++++++++++++
 firmware/Core/Src/stm32f1xx_it.c         | 30 ++++++++++++++++++++++++
 firmware/tanfolyamrobot.ioc              | 14 ++++++++++-
 11 files changed, 139 insertions(+), 18 deletions(-)

diff --git a/firmware/.cproject b/firmware/.cproject
index 41cc071..69342e9 100644
--- a/firmware/.cproject
+++ b/firmware/.cproject
@@ -118,7 +118,7 @@
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_cpuid.990882140" name="CPU" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_cpuid" useByScannerDiscovery="false" value="0" valueType="string"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_coreid.581538025" name="Core" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_coreid" useByScannerDiscovery="false" value="0" valueType="string"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board.125819757" name="Board" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board" useByScannerDiscovery="false" value="genericBoard" valueType="string"/>
-							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.2962563" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.5 || Debug || true || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.base.gnu-tools-for-stm32 || STM32F103R8Tx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Drivers/CMSIS/Device/ST/STM32F1xx/Include | ../Drivers/CMSIS/Include | ../Core/Inc | ../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy | ../Drivers/STM32F1xx_HAL_Driver/Inc ||  ||  || USE_HAL_DRIVER | STM32F103xB ||  || Drivers | Core/Startup | Core ||  ||  || ${workspace_loc:/${ProjName}/STM32F103R8TX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o ||  || None || " valueType="string"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.2962563" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.5 || Release || true || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.base.gnu-tools-for-stm32 || STM32F103R8Tx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Drivers/CMSIS/Device/ST/STM32F1xx/Include | ../Drivers/CMSIS/Include | ../Core/Inc | ../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy | ../Drivers/STM32F1xx_HAL_Driver/Inc ||  ||  || USE_HAL_DRIVER | STM32F103xB ||  || Drivers | Core/Startup | Core ||  ||  || ${workspace_loc:/${ProjName}/STM32F103R8TX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o ||  || None || " valueType="string"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoprintffloat.377154912" name="Use float with printf from newlib-nano (-u _printf_float)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoprintffloat" useByScannerDiscovery="false" value="true" valueType="boolean"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.converthex.1945823917" name="Convert to Intel Hex file (-O ihex)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.converthex" useByScannerDiscovery="false" value="true" valueType="boolean"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.convertbinary.389742334" name="Convert to binary file (-O binary)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.convertbinary" useByScannerDiscovery="false" value="true" valueType="boolean"/>
diff --git a/firmware/.mxproject b/firmware/.mxproject
index 1666522..adc2883 100644
--- a/firmware/.mxproject
+++ b/firmware/.mxproject
@@ -9,17 +9,17 @@ CDefines=USE_HAL_DRIVER;STM32F103xB;USE_HAL_DRIVER;USE_HAL_DRIVER;
 [PreviousGenFiles]
 AdvancedFolderStructure=true
 HeaderFileListSize=3
-HeaderFiles#0=..\Core\Inc\stm32f1xx_it.h
-HeaderFiles#1=..\Core\Inc\stm32f1xx_hal_conf.h
-HeaderFiles#2=..\Core\Inc\main.h
+HeaderFiles#0=C:/Users/Andi/Documents/GitHub/TanfolyamRobot/firmware/Core/Inc/stm32f1xx_it.h
+HeaderFiles#1=C:/Users/Andi/Documents/GitHub/TanfolyamRobot/firmware/Core/Inc/stm32f1xx_hal_conf.h
+HeaderFiles#2=C:/Users/Andi/Documents/GitHub/TanfolyamRobot/firmware/Core/Inc/main.h
 HeaderFolderListSize=1
-HeaderPath#0=..\Core\Inc
+HeaderPath#0=C:/Users/Andi/Documents/GitHub/TanfolyamRobot/firmware/Core/Inc
 HeaderFiles=;
 SourceFileListSize=3
-SourceFiles#0=..\Core\Src\stm32f1xx_it.c
-SourceFiles#1=..\Core\Src\stm32f1xx_hal_msp.c
-SourceFiles#2=..\Core\Src\main.c
+SourceFiles#0=C:/Users/Andi/Documents/GitHub/TanfolyamRobot/firmware/Core/Src/stm32f1xx_it.c
+SourceFiles#1=C:/Users/Andi/Documents/GitHub/TanfolyamRobot/firmware/Core/Src/stm32f1xx_hal_msp.c
+SourceFiles#2=C:/Users/Andi/Documents/GitHub/TanfolyamRobot/firmware/Core/Src/main.c
 SourceFolderListSize=1
-SourcePath#0=..\Core\Src
+SourcePath#0=C:/Users/Andi/Documents/GitHub/TanfolyamRobot/firmware/Core/Src
 SourceFiles=;
 
diff --git a/firmware/.settings/language.settings.xml b/firmware/.settings/language.settings.xml
index 7e1cf3f..f669cb0 100644
--- a/firmware/.settings/language.settings.xml
+++ b/firmware/.settings/language.settings.xml
@@ -5,7 +5,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-578547838866813502" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="997929953051893052" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
@@ -16,7 +16,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="-578547838866813502" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="997929953051893052" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
diff --git a/firmware/Core/Inc/robotcontrol-api.h b/firmware/Core/Inc/robotcontrol-api.h
index ad89285..8b71fd6 100644
--- a/firmware/Core/Inc/robotcontrol-api.h
+++ b/firmware/Core/Inc/robotcontrol-api.h
@@ -47,6 +47,16 @@ int lcdPrintf(uint8_t row, uint8_t col, const char *fmt, ...);
  */
 int uartPrintf(const char *fmt, ...);
 
+/**
+ * Print to the ESP serial port. Works just like regular printf.
+ */
+int espPrintf(const char *fmt, ...);
+
+/**
+ * Read from the ESP serial port.
+ */
+int espRead(char* data);
+
 /**
  * Read color in HSV format
  * @param color
diff --git a/firmware/Core/Inc/robotcontrol.h b/firmware/Core/Inc/robotcontrol.h
index 785de8f..f7213b8 100644
--- a/firmware/Core/Inc/robotcontrol.h
+++ b/firmware/Core/Inc/robotcontrol.h
@@ -22,6 +22,6 @@
 void robotControlInit(volatile Servo* usServo, volatile UltraSonic* usSensor, volatile ColorSensor* colorSensor,
                       volatile SpeedControl* scLeft, volatile SpeedControl* scRight,
                       volatile Encoder* encoderLeft, volatile Encoder* encoderRight,
-                      volatile Uart* usbUart);
+                      volatile Uart* usbUart, volatile Uart* espUart);
 
 #endif /* INC_ROBOTCONTROL_H_ */
diff --git a/firmware/Core/Inc/stm32f1xx_it.h b/firmware/Core/Inc/stm32f1xx_it.h
index 825cd6e..65ed6fd 100644
--- a/firmware/Core/Inc/stm32f1xx_it.h
+++ b/firmware/Core/Inc/stm32f1xx_it.h
@@ -57,6 +57,7 @@ void DebugMon_Handler(void);
 void PendSV_Handler(void);
 void SysTick_Handler(void);
 void EXTI0_IRQHandler(void);
+void DMA1_Channel2_IRQHandler(void);
 void DMA1_Channel4_IRQHandler(void);
 void ADC1_2_IRQHandler(void);
 void EXTI9_5_IRQHandler(void);
@@ -65,6 +66,7 @@ void TIM2_IRQHandler(void);
 void TIM3_IRQHandler(void);
 void TIM4_IRQHandler(void);
 void USART1_IRQHandler(void);
+void USART3_IRQHandler(void);
 /* USER CODE BEGIN EFP */
 
 /* USER CODE END EFP */
diff --git a/firmware/Core/Src/main.c b/firmware/Core/Src/main.c
index 7b37f0e..fe771ed 100644
--- a/firmware/Core/Src/main.c
+++ b/firmware/Core/Src/main.c
@@ -63,6 +63,10 @@
 #define USB_UART_IR USART1_IRQn
 #define USB_UART_DMA_IR DMA1_Channel4_IRQn
 
+#define ESP_UART (&huart3)
+#define ESP_UART_IR USART3_IRQn
+#define ESP_UART_DMA_IR DMA1_Channel2_IRQn
+
 #define VBAT_ADC                 (&hadc1)
 #define VBAT_ADC_TIMER           (&htim4)
 #define ADC_TO_VBAT_MULTIPLIER   (3300 * 5 / 4096)
@@ -139,6 +143,7 @@ TIM_HandleTypeDef htim4;
 UART_HandleTypeDef huart1;
 UART_HandleTypeDef huart3;
 DMA_HandleTypeDef hdma_usart1_tx;
+DMA_HandleTypeDef hdma_usart3_tx;
 
 /* USER CODE BEGIN PV */
 const uint8_t lcdRows = 2;
@@ -162,6 +167,7 @@ volatile SpeedControl* speedControl1;
 volatile SpeedControl* speedControl2;
 
 volatile Uart uart1;
+volatile Uart uart3;
 
 volatile uint16_t batteryVoltage = 0;
 volatile uint8_t batteryAdcBusy = 0;
@@ -298,12 +304,22 @@ void HAL_UART_RxCpltCallback(UART_HandleTypeDef* huart) {
         }
 
         // Receive next byte
-        HAL_UART_Receive_IT(USB_UART, &uartRxData, 1);
+        uart_handleReceiveCplt(&uart1, USB_UART);
+    }
+    if (huart == ESP_UART) {
+
+        // Receive next byte
+    	uart_handleReceiveCplt(&uart3, ESP_UART);
     }
 }
 
 void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart) {
-	uart_handleTransmitCplt(&uart1, huart);
+	if (huart == USB_UART) {
+		uart_handleTransmitCplt(&uart1, huart);
+	}
+	if (huart == ESP_UART) {
+		uart_handleTransmitCplt(&uart3, huart);
+	}
 }
 
 void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {
@@ -414,7 +430,8 @@ int main(void)
           LCD_D6_GPIO_Port, LCD_D6_Pin, LCD_D7_GPIO_Port, LCD_D7_Pin,
           lcdRows, lcdCols);
 
-  uart_init(&uart1, USB_UART, USB_UART_IR, USB_UART_DMA_IR, 500, 10);
+  uart_init(&uart1, USB_UART, USB_UART_IR, USB_UART_DMA_IR, 500, 500);
+  uart_init(&uart3, ESP_UART, ESP_UART_IR, ESP_UART_DMA_IR, 500, 500);
 
   if (exitDfu) {
       lcdPuts(0, 0, "Exit DFU mode...");
@@ -495,7 +512,7 @@ int main(void)
 
   servo = servoCreate(SERVO_TIMER, SERVO_CHANNEL, SERVO_PWM_PERIOD, PwmOutput_P, SERVO_START_POS, SERVO_END_POS);
 
-  robotControlInit(servo, &us, &colorSensor, speedControl2, speedControl1, &encoder2, &encoder1, &uart1);
+  robotControlInit(servo, &us, &colorSensor, speedControl2, speedControl1, &encoder2, &encoder1, &uart1, &uart3);
 
   HAL_Delay(1000);
   lcdClear();
@@ -990,6 +1007,9 @@ static void MX_DMA_Init(void)
   __HAL_RCC_DMA1_CLK_ENABLE();
 
   /* DMA interrupt init */
+  /* DMA1_Channel2_IRQn interrupt configuration */
+  HAL_NVIC_SetPriority(DMA1_Channel2_IRQn, 0, 0);
+  HAL_NVIC_EnableIRQ(DMA1_Channel2_IRQn);
   /* DMA1_Channel4_IRQn interrupt configuration */
   HAL_NVIC_SetPriority(DMA1_Channel4_IRQn, 0, 0);
   HAL_NVIC_EnableIRQ(DMA1_Channel4_IRQn);
diff --git a/firmware/Core/Src/robotcontrol.c b/firmware/Core/Src/robotcontrol.c
index 3f8b20c..3628d29 100644
--- a/firmware/Core/Src/robotcontrol.c
+++ b/firmware/Core/Src/robotcontrol.c
@@ -16,6 +16,7 @@ static volatile SpeedControl* scR;
 static volatile Encoder* encoderL;
 static volatile Encoder* encoderR;
 static volatile Uart* uart1;
+static volatile Uart* uart3;
 
 /**
  * Save the pointer to every driver instance used here
@@ -23,7 +24,7 @@ static volatile Uart* uart1;
 void robotControlInit(volatile Servo* usServo, volatile UltraSonic* usSensor, volatile ColorSensor* colorSensor,
                       volatile SpeedControl* scLeft, volatile SpeedControl* scRight,
                       volatile Encoder* encoderLeft, volatile Encoder* encoderRight,
-					  volatile Uart* usbUart) {
+					  volatile Uart* usbUart, volatile Uart* espUart) {
     servo = usServo;
     us = usSensor;
     cs = colorSensor;
@@ -32,6 +33,7 @@ void robotControlInit(volatile Servo* usServo, volatile UltraSonic* usSensor, vo
     encoderL = encoderLeft;
     encoderR = encoderRight;
     uart1 = usbUart;
+    uart3 = espUart;
 }
 
 
@@ -95,6 +97,24 @@ int uartPrintf(const char *fmt, ...) {
     return 0;
 }
 
+int espPrintf(const char *fmt, ...) {
+    va_list args;
+    va_start(args, fmt);
+
+    char str[256];
+    int size = vsprintf(str, fmt, args);
+    if(size <= 0)
+    	return;
+    str[size] = '\0';
+
+    uart_transmit(uart3, str);
+
+    return 0;
+}
+
+int espRead(char* data) {
+    return uart_receive(uart3, data);
+}
 
 void delayMs(uint32_t delay) {
     HAL_Delay(delay);
diff --git a/firmware/Core/Src/stm32f1xx_hal_msp.c b/firmware/Core/Src/stm32f1xx_hal_msp.c
index 3482cb9..0e75f58 100644
--- a/firmware/Core/Src/stm32f1xx_hal_msp.c
+++ b/firmware/Core/Src/stm32f1xx_hal_msp.c
@@ -26,6 +26,8 @@
 /* USER CODE END Includes */
 extern DMA_HandleTypeDef hdma_usart1_tx;
 
+extern DMA_HandleTypeDef hdma_usart3_tx;
+
 /* Private typedef -----------------------------------------------------------*/
 /* USER CODE BEGIN TD */
 
@@ -447,6 +449,26 @@ void HAL_UART_MspInit(UART_HandleTypeDef* huart)
 
     __HAL_AFIO_REMAP_USART3_PARTIAL();
 
+    /* USART3 DMA Init */
+    /* USART3_TX Init */
+    hdma_usart3_tx.Instance = DMA1_Channel2;
+    hdma_usart3_tx.Init.Direction = DMA_MEMORY_TO_PERIPH;
+    hdma_usart3_tx.Init.PeriphInc = DMA_PINC_DISABLE;
+    hdma_usart3_tx.Init.MemInc = DMA_MINC_ENABLE;
+    hdma_usart3_tx.Init.PeriphDataAlignment = DMA_PDATAALIGN_BYTE;
+    hdma_usart3_tx.Init.MemDataAlignment = DMA_MDATAALIGN_BYTE;
+    hdma_usart3_tx.Init.Mode = DMA_NORMAL;
+    hdma_usart3_tx.Init.Priority = DMA_PRIORITY_LOW;
+    if (HAL_DMA_Init(&hdma_usart3_tx) != HAL_OK)
+    {
+      Error_Handler();
+    }
+
+    __HAL_LINKDMA(huart,hdmatx,hdma_usart3_tx);
+
+    /* USART3 interrupt Init */
+    HAL_NVIC_SetPriority(USART3_IRQn, 0, 0);
+    HAL_NVIC_EnableIRQ(USART3_IRQn);
   /* USER CODE BEGIN USART3_MspInit 1 */
 
   /* USER CODE END USART3_MspInit 1 */
@@ -499,6 +521,11 @@ void HAL_UART_MspDeInit(UART_HandleTypeDef* huart)
     */
     HAL_GPIO_DeInit(GPIOC, GPIO_PIN_10|GPIO_PIN_11);
 
+    /* USART3 DMA DeInit */
+    HAL_DMA_DeInit(huart->hdmatx);
+
+    /* USART3 interrupt DeInit */
+    HAL_NVIC_DisableIRQ(USART3_IRQn);
   /* USER CODE BEGIN USART3_MspDeInit 1 */
 
   /* USER CODE END USART3_MspDeInit 1 */
diff --git a/firmware/Core/Src/stm32f1xx_it.c b/firmware/Core/Src/stm32f1xx_it.c
index cd7fa00..c0ef2b8 100644
--- a/firmware/Core/Src/stm32f1xx_it.c
+++ b/firmware/Core/Src/stm32f1xx_it.c
@@ -62,7 +62,9 @@ extern TIM_HandleTypeDef htim2;
 extern TIM_HandleTypeDef htim3;
 extern TIM_HandleTypeDef htim4;
 extern DMA_HandleTypeDef hdma_usart1_tx;
+extern DMA_HandleTypeDef hdma_usart3_tx;
 extern UART_HandleTypeDef huart1;
+extern UART_HandleTypeDef huart3;
 /* USER CODE BEGIN EV */
 
 /* USER CODE END EV */
@@ -217,6 +219,20 @@ void EXTI0_IRQHandler(void)
   /* USER CODE END EXTI0_IRQn 1 */
 }
 
+/**
+  * @brief This function handles DMA1 channel2 global interrupt.
+  */
+void DMA1_Channel2_IRQHandler(void)
+{
+  /* USER CODE BEGIN DMA1_Channel2_IRQn 0 */
+
+  /* USER CODE END DMA1_Channel2_IRQn 0 */
+  HAL_DMA_IRQHandler(&hdma_usart3_tx);
+  /* USER CODE BEGIN DMA1_Channel2_IRQn 1 */
+
+  /* USER CODE END DMA1_Channel2_IRQn 1 */
+}
+
 /**
   * @brief This function handles DMA1 channel4 global interrupt.
   */
@@ -329,6 +345,20 @@ void USART1_IRQHandler(void)
   /* USER CODE END USART1_IRQn 1 */
 }
 
+/**
+  * @brief This function handles USART3 global interrupt.
+  */
+void USART3_IRQHandler(void)
+{
+  /* USER CODE BEGIN USART3_IRQn 0 */
+
+  /* USER CODE END USART3_IRQn 0 */
+  HAL_UART_IRQHandler(&huart3);
+  /* USER CODE BEGIN USART3_IRQn 1 */
+
+  /* USER CODE END USART3_IRQn 1 */
+}
+
 /* USER CODE BEGIN 1 */
 
 /* USER CODE END 1 */
diff --git a/firmware/tanfolyamrobot.ioc b/firmware/tanfolyamrobot.ioc
index fabc361..10a9845 100644
--- a/firmware/tanfolyamrobot.ioc
+++ b/firmware/tanfolyamrobot.ioc
@@ -8,7 +8,8 @@ ADC1.Rank-0\#ChannelRegularConversion=1
 ADC1.SamplingTime-0\#ChannelRegularConversion=ADC_SAMPLETIME_239CYCLES_5
 ADC1.master=1
 Dma.Request0=USART1_TX
-Dma.RequestsNb=1
+Dma.Request1=USART3_TX
+Dma.RequestsNb=2
 Dma.USART1_TX.0.Direction=DMA_MEMORY_TO_PERIPH
 Dma.USART1_TX.0.Instance=DMA1_Channel4
 Dma.USART1_TX.0.MemDataAlignment=DMA_MDATAALIGN_BYTE
@@ -18,6 +19,15 @@ Dma.USART1_TX.0.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
 Dma.USART1_TX.0.PeriphInc=DMA_PINC_DISABLE
 Dma.USART1_TX.0.Priority=DMA_PRIORITY_LOW
 Dma.USART1_TX.0.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority
+Dma.USART3_TX.1.Direction=DMA_MEMORY_TO_PERIPH
+Dma.USART3_TX.1.Instance=DMA1_Channel2
+Dma.USART3_TX.1.MemDataAlignment=DMA_MDATAALIGN_BYTE
+Dma.USART3_TX.1.MemInc=DMA_MINC_ENABLE
+Dma.USART3_TX.1.Mode=DMA_NORMAL
+Dma.USART3_TX.1.PeriphDataAlignment=DMA_PDATAALIGN_BYTE
+Dma.USART3_TX.1.PeriphInc=DMA_PINC_DISABLE
+Dma.USART3_TX.1.Priority=DMA_PRIORITY_LOW
+Dma.USART3_TX.1.RequestParameters=Instance,Direction,PeriphInc,MemInc,PeriphDataAlignment,MemDataAlignment,Mode,Priority
 File.Version=6
 GPIO.groupedBy=Group By Peripherals
 KeepUserPlacement=false
@@ -89,6 +99,7 @@ MxCube.Version=5.6.0
 MxDb.Version=DB.5.0.60
 NVIC.ADC1_2_IRQn=true\:15\:0\:true\:false\:true\:true\:true\:true
 NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
+NVIC.DMA1_Channel2_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true
 NVIC.DMA1_Channel4_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true
 NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.EXTI0_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
@@ -106,6 +117,7 @@ NVIC.TIM2_IRQn=true\:2\:0\:true\:false\:true\:true\:true\:true
 NVIC.TIM3_IRQn=true\:2\:0\:true\:false\:true\:true\:true\:true
 NVIC.TIM4_IRQn=true\:2\:0\:true\:false\:true\:true\:true\:true
 NVIC.USART1_IRQn=true\:1\:0\:true\:false\:true\:true\:true\:true
+NVIC.USART3_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
 NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 PA0-WKUP.GPIOParameters=GPIO_Label,GPIO_ModeDefaultEXTI
 PA0-WKUP.GPIO_Label=ENC1_A

From a420c4fa5398105b5937348aa8ec1b7bb5fdcb5c Mon Sep 17 00:00:00 2001
From: Andrada Serban <andi.andrada@gmail.com>
Date: Thu, 23 Nov 2023 16:56:47 +0100
Subject: [PATCH 10/31] Added STM side UART communication for wireless debug
 interface

---
 firmware/.gitignore            |  5 ++++-
 firmware/Core/Src/main.c       | 24 +++++++++++++-----------
 firmware/Drivers/servo/servo.c |  7 ++++---
 firmware/Drivers/servo/servo.h |  5 +++--
 firmware/Drivers/uart/uart.c   | 13 +++++++++++++
 firmware/Drivers/uart/uart.h   | 10 +++++++++-
 firmware/tanfolyamrobot.ioc    |  1 -
 7 files changed, 46 insertions(+), 19 deletions(-)

diff --git a/firmware/.gitignore b/firmware/.gitignore
index 14a0427..4a3f2f1 100644
--- a/firmware/.gitignore
+++ b/firmware/.gitignore
@@ -51,4 +51,7 @@ Release/
 
 # Enable exe for stm32flash and uploader
 !tools/Tanfolyamrobot FTDI.exe
-!tools/stm32flash.exe
\ No newline at end of file
+!tools/stm32flash.exe
+
+# language settings
+**language.settings.xml
\ No newline at end of file
diff --git a/firmware/Core/Src/main.c b/firmware/Core/Src/main.c
index fe771ed..facee48 100644
--- a/firmware/Core/Src/main.c
+++ b/firmware/Core/Src/main.c
@@ -83,8 +83,9 @@
 #define SERVO_PWM_PERIOD       20000
 #define SERVO_START_POS         680           // TODO: calibrate endpoints
 #define SERVO_END_POS           2640
+#define SERVO_INIT_POS 			90
 
-#define US_AND_COLOR_CAPTURE_TIMER (&htim4)
+#define US_COLOR_ESP_TX_CAPTURE_TIMER (&htim4)
 #define US_TIMER_FREQUENCY_HZ      (2*1000*1000)
 #define US_RISING_CHANNEL          TIM_CHANNEL_1
 #define US_RISING_ACTIVE_CHANNEL   HAL_TIM_ACTIVE_CHANNEL_1
@@ -216,8 +217,9 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {
         }
     }
 
-    if(htim == US_AND_COLOR_CAPTURE_TIMER){
+    if(htim == US_COLOR_ESP_TX_CAPTURE_TIMER){
     	usStartMeasurementPulseAsync(&us);
+    	uart_SendDataToEsp(&uart3, &colorSensor, &speedControl1, &speedControl2, &servo, &us);
     }
 }
 
@@ -246,7 +248,7 @@ void HAL_ADC_ConvCpltCallback(ADC_HandleTypeDef* hadc) {
 }
 
 void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim) {
-    if (htim == US_AND_COLOR_CAPTURE_TIMER) {
+    if (htim == US_COLOR_ESP_TX_CAPTURE_TIMER) {
         switch (htim->Channel) {
             case US_RISING_ACTIVE_CHANNEL : {
                 uint16_t captureVal = HAL_TIM_ReadCapturedValue(htim, US_RISING_CHANNEL);
@@ -276,7 +278,7 @@ void HAL_TIM_OC_DelayElapsedCallback(TIM_HandleTypeDef *htim) {
         }
     }*/
 
-    if(htim == US_AND_COLOR_CAPTURE_TIMER && htim->Channel == US_ASYNC_ACTIVE_CHANNEL){
+    if(htim == US_COLOR_ESP_TX_CAPTURE_TIMER && htim->Channel == US_ASYNC_ACTIVE_CHANNEL){
     	usHandleCompareAsync(&us);
     }
 }
@@ -445,16 +447,16 @@ int main(void)
   lcdPuts(1, 8, "K\xefR");
 
   usInit(&us, US_TRIG_GPIO_Port, US_TRIG_Pin,
-         US_AND_COLOR_CAPTURE_TIMER, US_TIMER_FREQUENCY_HZ,
-         US_AND_COLOR_CAPTURE_TIMER, US_TIMER_FREQUENCY_HZ);
+         US_COLOR_ESP_TX_CAPTURE_TIMER, US_TIMER_FREQUENCY_HZ,
+         US_COLOR_ESP_TX_CAPTURE_TIMER, US_TIMER_FREQUENCY_HZ);
 
-  if (HAL_TIM_IC_Start_IT(US_AND_COLOR_CAPTURE_TIMER, US_RISING_CHANNEL) != HAL_OK) {
+  if (HAL_TIM_IC_Start_IT(US_COLOR_ESP_TX_CAPTURE_TIMER, US_RISING_CHANNEL) != HAL_OK) {
       FAIL;
   }
-  if (HAL_TIM_IC_Start_IT(US_AND_COLOR_CAPTURE_TIMER, US_FALLING_CHANNEL) != HAL_OK) {
+  if (HAL_TIM_IC_Start_IT(US_COLOR_ESP_TX_CAPTURE_TIMER, US_FALLING_CHANNEL) != HAL_OK) {
       FAIL;
   }
-  if (HAL_TIM_OC_Start_IT(US_AND_COLOR_CAPTURE_TIMER, US_ASYNC_CHANNEL) != HAL_OK) {
+  if (HAL_TIM_OC_Start_IT(US_COLOR_ESP_TX_CAPTURE_TIMER, US_ASYNC_CHANNEL) != HAL_OK) {
 	  FAIL;
   }
 
@@ -463,7 +465,7 @@ int main(void)
                   COLOR_S2_GPIO_Port, COLOR_S2_Pin, COLOR_S3_GPIO_Port, COLOR_S3_Pin,
                   16);
 
-  if (HAL_TIM_IC_Start_IT(US_AND_COLOR_CAPTURE_TIMER, COLOR_CHANNEL) != HAL_OK) {
+  if (HAL_TIM_IC_Start_IT(US_COLOR_ESP_TX_CAPTURE_TIMER, COLOR_CHANNEL) != HAL_OK) {
       FAIL;
   }
 
@@ -510,7 +512,7 @@ int main(void)
 
   HAL_GPIO_WritePin(MOTOR_SLEEPN_GPIO_Port, MOTOR_SLEEPN_Pin, GPIO_PIN_SET);
 
-  servo = servoCreate(SERVO_TIMER, SERVO_CHANNEL, SERVO_PWM_PERIOD, PwmOutput_P, SERVO_START_POS, SERVO_END_POS);
+  servo = servoCreate(SERVO_TIMER, SERVO_CHANNEL, SERVO_PWM_PERIOD, PwmOutput_P, SERVO_START_POS, SERVO_END_POS, SERVO_INIT_POS);
 
   robotControlInit(servo, &us, &colorSensor, speedControl2, speedControl1, &encoder2, &encoder1, &uart1, &uart3);
 
diff --git a/firmware/Drivers/servo/servo.c b/firmware/Drivers/servo/servo.c
index e1ceeaa..e47354b 100644
--- a/firmware/Drivers/servo/servo.c
+++ b/firmware/Drivers/servo/servo.c
@@ -21,7 +21,7 @@
  * @param compareStart timer output compare value for -90 degree position (1 ms)
  * @param compareEnd timer output compare value for +90 degree position (2 ms)
  */
-void servoInit(Servo* servo, Pwm* pwm, uint16_t compareStart, uint16_t compareEnd) {
+void servoInit(Servo* servo, Pwm* pwm, uint16_t compareStart, uint16_t compareEnd, uint8_t position) {
     servo->pwm = pwm;
     servo->compareStart = compareStart;
     servo->compareEnd = compareEnd;
@@ -46,7 +46,7 @@ void servoInit(Servo* servo, Pwm* pwm, uint16_t compareStart, uint16_t compareEn
  * @return pointer to the created struct, NULL on error
  */
 Servo* servoCreate(TIM_HandleTypeDef* timer, uint32_t timerChannel, uint16_t timerPeriod,
-                   PwmOutput outputType, uint16_t compareStart, uint16_t compareEnd) {
+                   PwmOutput outputType, uint16_t compareStart, uint16_t compareEnd, uint8_t position) {
 
     Pwm* pwm = pwmCreate(timer, timerChannel, timerPeriod, outputType);
 
@@ -57,7 +57,7 @@ Servo* servoCreate(TIM_HandleTypeDef* timer, uint32_t timerChannel, uint16_t tim
     Servo* servo = (Servo*) malloc(sizeof(Servo));
 
     if (servo != NULL) {
-        servoInit(servo, pwm, compareStart, compareEnd);
+        servoInit(servo, pwm, compareStart, compareEnd, position);
     }
 
     return servo;
@@ -75,6 +75,7 @@ void servoSetPosition(Servo* servo, int8_t position) {
     if (position < -90) {
         position = -90;
     }
+    servo->position = position;
 
     int32_t s = servo->compareStart;
     int32_t e = servo->compareEnd;
diff --git a/firmware/Drivers/servo/servo.h b/firmware/Drivers/servo/servo.h
index 5192ff8..f8e1743 100644
--- a/firmware/Drivers/servo/servo.h
+++ b/firmware/Drivers/servo/servo.h
@@ -17,11 +17,12 @@ typedef struct {
     Pwm* pwm;
     uint16_t compareStart;
     uint16_t compareEnd;
+    uint8_t position;
 } Servo;
 
-void servoInit(Servo* servo, Pwm* pwm, uint16_t compareStart, uint16_t compareEnd);
+void servoInit(Servo* servo, Pwm* pwm, uint16_t compareStart, uint16_t compareEnd, uint8_t position);
 Servo* servoCreate(TIM_HandleTypeDef* timer, uint32_t timerChannel, uint16_t timerPeriod,
-                   PwmOutput outputType, uint16_t compareStart, uint16_t compareEnd);
+                   PwmOutput outputType, uint16_t compareStart, uint16_t compareEnd, uint8_t position);
 void servoSetPosition(Servo* servo, int8_t position);
 
 #endif /* SERVO_SERVO_H_ */
diff --git a/firmware/Drivers/uart/uart.c b/firmware/Drivers/uart/uart.c
index a1fb787..288f703 100644
--- a/firmware/Drivers/uart/uart.c
+++ b/firmware/Drivers/uart/uart.c
@@ -174,4 +174,17 @@ uint8_t uart_receive(volatile Uart *uart, char* data){
 	return 1;
 }
 
+void uart_SendDataToEsp(volatile Uart* espUart, volatile ColorSensor* colorSensor, volatile SpeedControl* speedControl1, volatile SpeedControl* speedControl2, volatile Servo* servo, volatile UltraSonic* us){
+	char data[256];
+	uint8_t r, g, b;
+	uint32_t enc1, enc2;
+	colorSensorGetRgb(colorSensor, &r, &g, &b);
+	enc1 = encoderGetCountsPerSecond(speedControl1->encoder);
+	enc2 = encoderGetCountsPerSecond(speedControl2->encoder);
+	//D: R G B Speed1 Speed2 CPS1 CPS2 Servo US
+	sprintf(data, "D: %d %d %d %.1f %.1f %ld %ld %d %d",
+				r, g, b, speedControl1->setPoint, speedControl2->setPoint, enc1, enc2, servo->position, us->lastDistance);
+
+	uart_transmit(espUart, data);
+}
 
diff --git a/firmware/Drivers/uart/uart.h b/firmware/Drivers/uart/uart.h
index 3dfafd6..bcac014 100644
--- a/firmware/Drivers/uart/uart.h
+++ b/firmware/Drivers/uart/uart.h
@@ -10,6 +10,10 @@
 
 
 #include "stm32f1xx_hal.h"
+#include "color_sensor.h"
+#include "speed_control.h"
+#include "servo.h"
+#include "ultrasonic.h"
 
 
 typedef struct {
@@ -60,6 +64,10 @@ void uart_transmit(volatile Uart* uart, const char *str);
  */
 uint8_t uart_receive(volatile Uart* uart, char* data);
 
-
+void uart_SendDataToEsp(volatile Uart* espUart,
+						volatile ColorSensor* colorSensor,
+						volatile SpeedControl* speedControl1, volatile SpeedControl* speedControl2,
+						volatile Servo* servo,
+						volatile UltraSonic* us);
 
 #endif /* UART_UART_H_ */
diff --git a/firmware/tanfolyamrobot.ioc b/firmware/tanfolyamrobot.ioc
index 10a9845..61bc8bf 100644
--- a/firmware/tanfolyamrobot.ioc
+++ b/firmware/tanfolyamrobot.ioc
@@ -379,4 +379,3 @@ VP_TIM4_VS_ClockSourceINT.Signal=TIM4_VS_ClockSourceINT
 VP_TIM4_VS_no_output4.Mode=Output Compare4 No Output
 VP_TIM4_VS_no_output4.Signal=TIM4_VS_no_output4
 board=custom
-isbadioc=false

From 3ef80a6f881b8454cebb487751c3cf2709677a2c Mon Sep 17 00:00:00 2001
From: Andrada Serban <andi.andrada@gmail.com>
Date: Thu, 23 Nov 2023 17:00:51 +0100
Subject: [PATCH 11/31] language settings added to gitignore

---
 firmware/.gitignore | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/firmware/.gitignore b/firmware/.gitignore
index 4a3f2f1..c228a11 100644
--- a/firmware/.gitignore
+++ b/firmware/.gitignore
@@ -54,4 +54,4 @@ Release/
 !tools/stm32flash.exe
 
 # language settings
-**language.settings.xml
\ No newline at end of file
+.settings/language.settings.xml
\ No newline at end of file

From 1eaeb3ce48302361f7f32fab8a62122c29656d26 Mon Sep 17 00:00:00 2001
From: Andrada Serban <andi.andrada@gmail.com>
Date: Sun, 14 Jan 2024 17:22:16 +0100
Subject: [PATCH 12/31] Started development of esp side comms

---
 esp/serial_test/serial_test.ino | 9 +++++++++
 firmware/Drivers/uart/uart.c    | 2 +-
 2 files changed, 10 insertions(+), 1 deletion(-)
 create mode 100644 esp/serial_test/serial_test.ino

diff --git a/esp/serial_test/serial_test.ino b/esp/serial_test/serial_test.ino
new file mode 100644
index 0000000..95c2b6e
--- /dev/null
+++ b/esp/serial_test/serial_test.ino
@@ -0,0 +1,9 @@
+void setup() {
+  // put your setup code here, to run once:
+
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+
+}
diff --git a/firmware/Drivers/uart/uart.c b/firmware/Drivers/uart/uart.c
index 288f703..d8af61e 100644
--- a/firmware/Drivers/uart/uart.c
+++ b/firmware/Drivers/uart/uart.c
@@ -182,7 +182,7 @@ void uart_SendDataToEsp(volatile Uart* espUart, volatile ColorSensor* colorSenso
 	enc1 = encoderGetCountsPerSecond(speedControl1->encoder);
 	enc2 = encoderGetCountsPerSecond(speedControl2->encoder);
 	//D: R G B Speed1 Speed2 CPS1 CPS2 Servo US
-	sprintf(data, "D: %d %d %d %.1f %.1f %ld %ld %d %d",
+	sprintf(data, "D: %d %d %d %.1f %.1f %ld %ld %d %d\n",
 				r, g, b, speedControl1->setPoint, speedControl2->setPoint, enc1, enc2, servo->position, us->lastDistance);
 
 	uart_transmit(espUart, data);

From fc414c4eccdada300b629fa8a2423f02b901bbb6 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kiovics=20D=C3=A1niel?= <dkiovics@gmail.com>
Date: Sun, 14 Jan 2024 18:32:03 +0100
Subject: [PATCH 13/31] ESP initial config upload added

---
 firmware/Application/application.c   | 4 ++++
 firmware/Core/Inc/robotcontrol-api.h | 6 +++++-
 firmware/Core/Src/main.c             | 2 ++
 firmware/Core/Src/robotcontrol.c     | 2 ++
 firmware/Drivers/uart/uart.c         | 6 ++++++
 firmware/Drivers/uart/uart.h         | 5 +++++
 6 files changed, 24 insertions(+), 1 deletion(-)

diff --git a/firmware/Application/application.c b/firmware/Application/application.c
index c1c7a57..fc34957 100644
--- a/firmware/Application/application.c
+++ b/firmware/Application/application.c
@@ -3,6 +3,10 @@
  */
 #include "robotcontrol-api.h"
 
+const char* WIFI_SSID = "Andi_Vs_ESP_rematch";
+const char* WIFI_PASSWORD = "NE FOGD MEG ;)";
+const char* SERVER_IP = "192.168.4.1";
+
 int application() {
 
     lcdPrintf(0, 0, "Hello");
diff --git a/firmware/Core/Inc/robotcontrol-api.h b/firmware/Core/Inc/robotcontrol-api.h
index 8b71fd6..afdfde4 100644
--- a/firmware/Core/Inc/robotcontrol-api.h
+++ b/firmware/Core/Inc/robotcontrol-api.h
@@ -13,6 +13,10 @@
 #define MOT_R 0
 #define MOT_L 1
 
+extern const char* WIFI_SSID;
+extern const char* WIFI_PASSWORD;
+extern const char* SERVER_IP;
+
 typedef struct {
     uint16_t h;
     uint8_t s;
@@ -50,7 +54,7 @@ int uartPrintf(const char *fmt, ...);
 /**
  * Print to the ESP serial port. Works just like regular printf.
  */
-int espPrintf(const char *fmt, ...);
+//int espPrintf(const char *fmt, ...);  TODO: someone implement it pls.
 
 /**
  * Read from the ESP serial port.
diff --git a/firmware/Core/Src/main.c b/firmware/Core/Src/main.c
index facee48..d1a9889 100644
--- a/firmware/Core/Src/main.c
+++ b/firmware/Core/Src/main.c
@@ -520,6 +520,8 @@ int main(void)
   lcdClear();
   batteryIndicatorEnable();
 
+  uart_SendConfigToEsp(&uart3, WIFI_SSID, WIFI_PASSWORD, SERVER_IP);
+
   /* USER CODE END 2 */
 
   /* Infinite loop */
diff --git a/firmware/Core/Src/robotcontrol.c b/firmware/Core/Src/robotcontrol.c
index 3628d29..36af4ab 100644
--- a/firmware/Core/Src/robotcontrol.c
+++ b/firmware/Core/Src/robotcontrol.c
@@ -97,6 +97,7 @@ int uartPrintf(const char *fmt, ...) {
     return 0;
 }
 
+/*
 int espPrintf(const char *fmt, ...) {
     va_list args;
     va_start(args, fmt);
@@ -111,6 +112,7 @@ int espPrintf(const char *fmt, ...) {
 
     return 0;
 }
+*/
 
 int espRead(char* data) {
     return uart_receive(uart3, data);
diff --git a/firmware/Drivers/uart/uart.c b/firmware/Drivers/uart/uart.c
index d8af61e..b3a0133 100644
--- a/firmware/Drivers/uart/uart.c
+++ b/firmware/Drivers/uart/uart.c
@@ -188,3 +188,9 @@ void uart_SendDataToEsp(volatile Uart* espUart, volatile ColorSensor* colorSenso
 	uart_transmit(espUart, data);
 }
 
+void uart_SendConfigToEsp(volatile Uart* espUart, const char* SSID, const char* password, const char* IP){
+	char data[256];
+	sprintf(data, "C:\t%s\t%s\t%s\n", SSID, password, IP);
+	uart_transmit(espUart, data);
+}
+
diff --git a/firmware/Drivers/uart/uart.h b/firmware/Drivers/uart/uart.h
index bcac014..8b3ba78 100644
--- a/firmware/Drivers/uart/uart.h
+++ b/firmware/Drivers/uart/uart.h
@@ -70,4 +70,9 @@ void uart_SendDataToEsp(volatile Uart* espUart,
 						volatile Servo* servo,
 						volatile UltraSonic* us);
 
+/*
+ * Send initial config to ESP
+ */
+void uart_SendConfigToEsp(volatile Uart* espUart, const char* SSID, const char* password, const char* IP);
+
 #endif /* UART_UART_H_ */

From b0ec6b6e39c4a68bbd5a66964121876ec3b51fdf Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kiovics=20D=C3=A1niel?= <dkiovics@gmail.com>
Date: Tue, 16 Jan 2024 23:06:37 +0100
Subject: [PATCH 14/31] Encoder, ESP and speedcontrol bug fixes

---
 firmware/.mxproject                    | 16 +++++-----
 firmware/Core/Src/main.c               | 39 ++++++++++++++++++------
 firmware/Core/Src/robotcontrol.c       |  2 +-
 firmware/Drivers/encoder/encoder.c     | 41 ++++++++------------------
 firmware/Drivers/encoder/encoder.h     |  5 +---
 firmware/Drivers/motor/speed_control.c |  6 ++--
 firmware/Drivers/uart/uart.c           |  2 ++
 firmware/tanfolyamrobot.ioc            |  5 ++--
 8 files changed, 60 insertions(+), 56 deletions(-)

diff --git a/firmware/.mxproject b/firmware/.mxproject
index adc2883..1666522 100644
--- a/firmware/.mxproject
+++ b/firmware/.mxproject
@@ -9,17 +9,17 @@ CDefines=USE_HAL_DRIVER;STM32F103xB;USE_HAL_DRIVER;USE_HAL_DRIVER;
 [PreviousGenFiles]
 AdvancedFolderStructure=true
 HeaderFileListSize=3
-HeaderFiles#0=C:/Users/Andi/Documents/GitHub/TanfolyamRobot/firmware/Core/Inc/stm32f1xx_it.h
-HeaderFiles#1=C:/Users/Andi/Documents/GitHub/TanfolyamRobot/firmware/Core/Inc/stm32f1xx_hal_conf.h
-HeaderFiles#2=C:/Users/Andi/Documents/GitHub/TanfolyamRobot/firmware/Core/Inc/main.h
+HeaderFiles#0=..\Core\Inc\stm32f1xx_it.h
+HeaderFiles#1=..\Core\Inc\stm32f1xx_hal_conf.h
+HeaderFiles#2=..\Core\Inc\main.h
 HeaderFolderListSize=1
-HeaderPath#0=C:/Users/Andi/Documents/GitHub/TanfolyamRobot/firmware/Core/Inc
+HeaderPath#0=..\Core\Inc
 HeaderFiles=;
 SourceFileListSize=3
-SourceFiles#0=C:/Users/Andi/Documents/GitHub/TanfolyamRobot/firmware/Core/Src/stm32f1xx_it.c
-SourceFiles#1=C:/Users/Andi/Documents/GitHub/TanfolyamRobot/firmware/Core/Src/stm32f1xx_hal_msp.c
-SourceFiles#2=C:/Users/Andi/Documents/GitHub/TanfolyamRobot/firmware/Core/Src/main.c
+SourceFiles#0=..\Core\Src\stm32f1xx_it.c
+SourceFiles#1=..\Core\Src\stm32f1xx_hal_msp.c
+SourceFiles#2=..\Core\Src\main.c
 SourceFolderListSize=1
-SourcePath#0=C:/Users/Andi/Documents/GitHub/TanfolyamRobot/firmware/Core/Src
+SourcePath#0=..\Core\Src
 SourceFiles=;
 
diff --git a/firmware/Core/Src/main.c b/firmware/Core/Src/main.c
index d1a9889..3b590a6 100644
--- a/firmware/Core/Src/main.c
+++ b/firmware/Core/Src/main.c
@@ -173,6 +173,8 @@ volatile Uart uart3;
 volatile uint16_t batteryVoltage = 0;
 volatile uint8_t batteryAdcBusy = 0;
 
+volatile uint8_t pgm_ready = 0;
+
 volatile SoftPwm* lcdBacklightPwm;
 /* USER CODE END PV */
 
@@ -196,6 +198,9 @@ static void MX_ADC1_Init(void);
 void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {
     static uint32_t adcTimerItCount = 0;
 
+    if(!pgm_ready)
+    	return;
+
     if(htim == MOTOR_ENCODER_TIMER){
     	encoderTimerOverflowHandler(&encoder1);
     	encoderTimerOverflowHandler(&encoder2);
@@ -219,11 +224,14 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {
 
     if(htim == US_COLOR_ESP_TX_CAPTURE_TIMER){
     	usStartMeasurementPulseAsync(&us);
-    	uart_SendDataToEsp(&uart3, &colorSensor, &speedControl1, &speedControl2, &servo, &us);
+    	uart_SendDataToEsp(&uart3, &colorSensor, speedControl1, speedControl2, servo, &us);
     }
 }
 
 void HAL_TIM_PWM_PulseFinishedCallback(TIM_HandleTypeDef *htim) {
+	if(!pgm_ready)
+	    return;
+
     static uint8_t scPsc = 0;
     if (htim == MOTOR_CONTROL_TIMER) {        // TODO: maybe use the period interrupt insted of the pulse finished interrupt
         scPsc++;
@@ -240,6 +248,9 @@ void HAL_TIM_PWM_PulseFinishedCallback(TIM_HandleTypeDef *htim) {
 }
 
 void HAL_ADC_ConvCpltCallback(ADC_HandleTypeDef* hadc) {
+	if(!pgm_ready)
+	    return;
+
     if (hadc == VBAT_ADC) {
         uint16_t adcVal = HAL_ADC_GetValue(VBAT_ADC);
         batteryVoltage =  adcVal * ADC_TO_VBAT_MULTIPLIER + ADC_TO_VBAT_OFFSET;
@@ -248,6 +259,9 @@ void HAL_ADC_ConvCpltCallback(ADC_HandleTypeDef* hadc) {
 }
 
 void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim) {
+	if(!pgm_ready)
+	    return;
+
     if (htim == US_COLOR_ESP_TX_CAPTURE_TIMER) {
         switch (htim->Channel) {
             case US_RISING_ACTIVE_CHANNEL : {
@@ -271,12 +285,8 @@ void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim) {
 }
 
 void HAL_TIM_OC_DelayElapsedCallback(TIM_HandleTypeDef *htim) {
-    // TODO
-    /*else if (htim == LCD_BL_TIMER && htim->Channel==LCD_BL_ACTIVE_CHANNEL) {
-        if (lcdBacklightPwm != NULL) {
-            softPwmHandler(lcdBacklightPwm);
-        }
-    }*/
+	if(!pgm_ready)
+	    return;
 
     if(htim == US_COLOR_ESP_TX_CAPTURE_TIMER && htim->Channel == US_ASYNC_ACTIVE_CHANNEL){
     	usHandleCompareAsync(&us);
@@ -284,6 +294,9 @@ void HAL_TIM_OC_DelayElapsedCallback(TIM_HandleTypeDef *htim) {
 }
 
 void HAL_UART_RxCpltCallback(UART_HandleTypeDef* huart) {
+	if(!pgm_ready)
+	    return;
+
     static uint8_t dfuReceived = 0;
 
     if (huart == USB_UART) {
@@ -316,6 +329,9 @@ void HAL_UART_RxCpltCallback(UART_HandleTypeDef* huart) {
 }
 
 void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart) {
+	if(!pgm_ready)
+	    return;
+
 	if (huart == USB_UART) {
 		uart_handleTransmitCplt(&uart1, huart);
 	}
@@ -325,6 +341,9 @@ void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart) {
 }
 
 void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {
+	if(!pgm_ready)
+	    return;
+
     switch (GPIO_Pin) {
         case ENC1_A_Pin: encoderHandlerA(&encoder1); break;
         //case ENC1_B_Pin: encoderHandlerB(&encoder1); break;
@@ -516,6 +535,8 @@ int main(void)
 
   robotControlInit(servo, &us, &colorSensor, speedControl2, speedControl1, &encoder2, &encoder1, &uart1, &uart3);
 
+  pgm_ready = 1;
+
   HAL_Delay(1000);
   lcdClear();
   batteryIndicatorEnable();
@@ -1106,10 +1127,10 @@ static void MX_GPIO_Init(void)
   HAL_GPIO_Init(US_TRIG_GPIO_Port, &GPIO_InitStruct);
 
   /* EXTI interrupt init*/
-  HAL_NVIC_SetPriority(EXTI0_IRQn, 0, 0);
+  HAL_NVIC_SetPriority(EXTI0_IRQn, 2, 0);
   HAL_NVIC_EnableIRQ(EXTI0_IRQn);
 
-  HAL_NVIC_SetPriority(EXTI9_5_IRQn, 0, 0);
+  HAL_NVIC_SetPriority(EXTI9_5_IRQn, 2, 0);
   HAL_NVIC_EnableIRQ(EXTI9_5_IRQn);
 
 }
diff --git a/firmware/Core/Src/robotcontrol.c b/firmware/Core/Src/robotcontrol.c
index 36af4ab..460f68f 100644
--- a/firmware/Core/Src/robotcontrol.c
+++ b/firmware/Core/Src/robotcontrol.c
@@ -89,7 +89,7 @@ int uartPrintf(const char *fmt, ...) {
     char str[256];
     int size = vsprintf(str, fmt, args);
     if(size <= 0)
-    	return;
+    	return -1;
     str[size] = '\0';
 
     uart_transmit(uart1, str);
diff --git a/firmware/Drivers/encoder/encoder.c b/firmware/Drivers/encoder/encoder.c
index 9619855..ef3493e 100644
--- a/firmware/Drivers/encoder/encoder.c
+++ b/firmware/Drivers/encoder/encoder.c
@@ -75,8 +75,7 @@ void encoderInit(volatile Encoder* encoder,
     encoder->overflowCount = 0;
     encoder->overflowWasReset = 1;
     encoder->lastTimerVal = 0;
-    memset(encoder->countInterval, 0, sizeof(encoder->countInterval));
-    encoder->filterIndex = 0;
+    encoder->countInterval = 0;
     encoder->maxSpeedCps = maxSpeedCps / 100;
 
     encoder->initialized = 1;
@@ -98,7 +97,7 @@ void encoderHandlerA(volatile Encoder* encoder) {
     encoder->overflowCount = 0;
 
 	// Calculate elapsed time since last update
-	uint32_t elapsed = overflowCount * encoder->timerPeriod - encoder->lastTimerVal + timerVal;
+	int32_t elapsed = overflowCount * encoder->timerPeriod + timerVal - encoder->lastTimerVal;
 
 	encoder->lastTimerVal = timerVal;
 
@@ -136,11 +135,7 @@ void encoderHandlerA(volatile Encoder* encoder) {
 	if(encoder->overflowWasReset){
 	    encoder->overflowWasReset = 0;
 	}else{
-		encoder->countInterval[encoder->filterIndex] = elapsed;         // TODO: store timestamps instead
-		encoder->filterIndex++;
-		if (encoder->filterIndex == SPEED_FILTER) {
-			encoder->filterIndex = 0;
-		}
+		encoder->countInterval = elapsed;
 	}
 }
 
@@ -161,11 +156,12 @@ void encoderHandlerB(volatile Encoder* encoder) {
     uint32_t timerVal = encoder->timer->Instance->CNT;
     uint32_t overflowCount = encoder->overflowCount;
 
-    encoder->lastTimerVal = timerVal;
     encoder->overflowCount = 0;
 
     // Calculate elapsed time since last update
-    uint32_t elapsed = overflowCount * encoder->timerPeriod - encoder->lastTimerVal + timerVal;
+    int32_t elapsed = overflowCount * encoder->timerPeriod + timerVal - encoder->lastTimerVal;
+
+    encoder->lastTimerVal = timerVal;
 
     GPIO_PinState risingEdgeB = HAL_GPIO_ReadPin(encoder->portB, encoder->pinB);
     GPIO_PinState stateA = HAL_GPIO_ReadPin(encoder->portA, encoder->pinA);
@@ -199,11 +195,7 @@ void encoderHandlerB(volatile Encoder* encoder) {
     if(encoder->overflowWasReset){
 		encoder->overflowWasReset = 0;
 	}else{
-		encoder->countInterval[encoder->filterIndex] = elapsed;         // TODO: store timestamps instead
-		encoder->filterIndex++;
-		if (encoder->filterIndex == SPEED_FILTER) {
-			encoder->filterIndex = 0;
-		}
+		encoder->countInterval = elapsed;
 	}
 }
 
@@ -218,7 +210,7 @@ void encoderTimerOverflowHandler(Encoder* encoder) {
 
     encoder->overflowCount++;
     if (encoder->overflowCount == SPEED_TICK_TIMEOUT) {
-        memset(encoder->countInterval, 0, sizeof(encoder->countInterval));
+        encoder->countInterval = 0;
         encoder->overflowCount = 0;
         encoder->overflowWasReset = 1;
     }
@@ -239,28 +231,19 @@ uint32_t encoderGetCounterValue(volatile const Encoder* encoder) {
  * @return speed in CPS
  */
 int32_t encoderGetCountsPerSecond(Encoder* encoder) {
-    uint32_t x[SPEED_FILTER];          // TODO: store timestamps instead
-
     __disable_irq();
-    memcpy(x, encoder->countInterval, sizeof(encoder->countInterval));
+    int32_t counts = encoder->countInterval;
     __enable_irq();
 
-    int32_t avg = 0;
-    for (uint8_t i=0; i<SPEED_FILTER; i++) {
-        avg += x[i];
-    }
-
-    avg /= SPEED_FILTER;
-
     if (encoder->direction == -1) {
-        avg = -avg;
+    	counts = -counts;
     }
 
-    if (avg == 0) {
+    if (counts == 0) {
         return 0;
     }
 
-    return 64000000.0f / avg;
+    return 64000000.0f / counts;
 }
 
 /**
diff --git a/firmware/Drivers/encoder/encoder.h b/firmware/Drivers/encoder/encoder.h
index d5a7013..fef6882 100644
--- a/firmware/Drivers/encoder/encoder.h
+++ b/firmware/Drivers/encoder/encoder.h
@@ -10,8 +10,6 @@
 
 #include "stm32f1xx_hal.h"
 
-#define SPEED_FILTER 1
-
 /**
  * Resolution of the decoder
  */
@@ -42,8 +40,7 @@ typedef struct {
     uint8_t overflowWasReset;
     uint32_t lastTimerVal;
 
-    uint8_t filterIndex;
-    int32_t countInterval[SPEED_FILTER];
+    int32_t countInterval;
     uint16_t maxSpeedCps;
 } Encoder;
 
diff --git a/firmware/Drivers/motor/speed_control.c b/firmware/Drivers/motor/speed_control.c
index 12857fc..56f6936 100644
--- a/firmware/Drivers/motor/speed_control.c
+++ b/firmware/Drivers/motor/speed_control.c
@@ -12,10 +12,10 @@
 
 // TODO: put these somewhere else
 #define K_P 15.0
-#define K_I 15.0
+#define K_I 30.0
 #define DT 0.001
-#define I_LIM_MAX  1
-#define I_LIM_MIN -1
+#define I_LIM_MAX  70
+#define I_LIM_MIN -70
 
 /**
  * Initialize the speed control struct
diff --git a/firmware/Drivers/uart/uart.c b/firmware/Drivers/uart/uart.c
index b3a0133..620ccd4 100644
--- a/firmware/Drivers/uart/uart.c
+++ b/firmware/Drivers/uart/uart.c
@@ -185,6 +185,8 @@ void uart_SendDataToEsp(volatile Uart* espUart, volatile ColorSensor* colorSenso
 	sprintf(data, "D: %d %d %d %.1f %.1f %ld %ld %d %d\n",
 				r, g, b, speedControl1->setPoint, speedControl2->setPoint, enc1, enc2, servo->position, us->lastDistance);
 
+	//uartPrintf("Setpoints: %.1f %.1f   Cps: %ld %ld\n", speedControl1->setPoint, speedControl2->setPoint, enc1, enc2);
+
 	uart_transmit(espUart, data);
 }
 
diff --git a/firmware/tanfolyamrobot.ioc b/firmware/tanfolyamrobot.ioc
index 61bc8bf..2ddcc34 100644
--- a/firmware/tanfolyamrobot.ioc
+++ b/firmware/tanfolyamrobot.ioc
@@ -102,8 +102,8 @@ NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.DMA1_Channel2_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true
 NVIC.DMA1_Channel4_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true
 NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
-NVIC.EXTI0_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
-NVIC.EXTI9_5_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
+NVIC.EXTI0_IRQn=true\:2\:0\:true\:false\:true\:true\:true\:true
+NVIC.EXTI9_5_IRQn=true\:2\:0\:true\:false\:true\:true\:true\:true
 NVIC.ForceEnableDMAVector=true
 NVIC.HardFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.MemoryManagement_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
@@ -379,3 +379,4 @@ VP_TIM4_VS_ClockSourceINT.Signal=TIM4_VS_ClockSourceINT
 VP_TIM4_VS_no_output4.Mode=Output Compare4 No Output
 VP_TIM4_VS_no_output4.Signal=TIM4_VS_no_output4
 board=custom
+isbadioc=false

From 9e777df7ebc1f539fc9eb810cd99e17965043488 Mon Sep 17 00:00:00 2001
From: Andrada Serban <andi.andrada@gmail.com>
Date: Thu, 18 Jan 2024 16:38:38 +0100
Subject: [PATCH 15/31] added script for receiving serial telemetrics from stm

---
 esp/serial_test/serial_test.ino | 74 ++++++++++++++++++++++++++++++++-
 1 file changed, 72 insertions(+), 2 deletions(-)

diff --git a/esp/serial_test/serial_test.ino b/esp/serial_test/serial_test.ino
index 95c2b6e..8c132c2 100644
--- a/esp/serial_test/serial_test.ino
+++ b/esp/serial_test/serial_test.ino
@@ -1,9 +1,79 @@
+
+#include <ESP8266WiFi.h>
+#include <WiFiClient.h>
+#include <ESP8266WebServer.h>
+
+#ifndef APSSID
+#define APSSID "ESP_test"
+#define APPSK "sendhelp"
+#endif
+
+
+const char *ssid = APSSID;
+const char *password = APPSK;
+
+ESP8266WebServer server(80);
+
+const int bufferSize = 128;  // Adjust the buffer size as needed
+char serialBuffer[bufferSize] = {};
+char htmlMessage[bufferSize] = {};
+int bufferIndex = 0;
+
+enum State {
+  IDLE,
+  READING
+};
+
+State currentState = IDLE;
+
+void handleRoot() {
+  server.send(200, "text/html", htmlMessage);
+}
+
 void setup() {
-  // put your setup code here, to run once:
+  Serial.begin(115200);
+  Serial.println();
+  Serial.println("Serial started");
+  
+  WiFi.softAP(ssid, password);
 
+  IPAddress myIP = WiFi.softAPIP();
+  Serial.print("AP IP address: ");
+  Serial.println(myIP);
+  server.on("/", handleRoot);
+  server.begin();
+  Serial.println("HTTP server started");
 }
 
 void loop() {
-  // put your main code here, to run repeatedly:
+  server.handleClient();
+  if (Serial.available() > 0) {
+    char incomingChar = Serial.read();
+
+    switch (currentState) {
+      case IDLE:
+        if (incomingChar == 'D') {
+          currentState = READING;
+          bufferIndex = 0;
+        }
+        break;
+
+      case READING:
+        if (incomingChar == '\n') {
+          serialBuffer[bufferIndex] = '\0';  // Null-terminate the string
+          processSerialData(serialBuffer);
+          currentState = IDLE;
+        } else {
+            serialBuffer[bufferIndex] = incomingChar;
+            bufferIndex++;
+        }
+        break;
+    }
+  }
+}
 
+void processSerialData(const char *data) {
+  //Serial.print("Received Data: ");
+  //Serial.println(data);
+  strcpy(htmlMessage, data);
 }

From 3dd4e678b8566715e4ea47692298646d51ad1e18 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kiovics=20D=C3=A1niel?= <dkiovics@gmail.com>
Date: Thu, 18 Jan 2024 18:08:26 +0100
Subject: [PATCH 16/31] ESP telemetry integration started

---
 esp/serial_test/serial_test.ino          | 79 ------------------------
 firmware/.settings/language.settings.xml |  4 +-
 2 files changed, 2 insertions(+), 81 deletions(-)
 delete mode 100644 esp/serial_test/serial_test.ino

diff --git a/esp/serial_test/serial_test.ino b/esp/serial_test/serial_test.ino
deleted file mode 100644
index 8c132c2..0000000
--- a/esp/serial_test/serial_test.ino
+++ /dev/null
@@ -1,79 +0,0 @@
-
-#include <ESP8266WiFi.h>
-#include <WiFiClient.h>
-#include <ESP8266WebServer.h>
-
-#ifndef APSSID
-#define APSSID "ESP_test"
-#define APPSK "sendhelp"
-#endif
-
-
-const char *ssid = APSSID;
-const char *password = APPSK;
-
-ESP8266WebServer server(80);
-
-const int bufferSize = 128;  // Adjust the buffer size as needed
-char serialBuffer[bufferSize] = {};
-char htmlMessage[bufferSize] = {};
-int bufferIndex = 0;
-
-enum State {
-  IDLE,
-  READING
-};
-
-State currentState = IDLE;
-
-void handleRoot() {
-  server.send(200, "text/html", htmlMessage);
-}
-
-void setup() {
-  Serial.begin(115200);
-  Serial.println();
-  Serial.println("Serial started");
-  
-  WiFi.softAP(ssid, password);
-
-  IPAddress myIP = WiFi.softAPIP();
-  Serial.print("AP IP address: ");
-  Serial.println(myIP);
-  server.on("/", handleRoot);
-  server.begin();
-  Serial.println("HTTP server started");
-}
-
-void loop() {
-  server.handleClient();
-  if (Serial.available() > 0) {
-    char incomingChar = Serial.read();
-
-    switch (currentState) {
-      case IDLE:
-        if (incomingChar == 'D') {
-          currentState = READING;
-          bufferIndex = 0;
-        }
-        break;
-
-      case READING:
-        if (incomingChar == '\n') {
-          serialBuffer[bufferIndex] = '\0';  // Null-terminate the string
-          processSerialData(serialBuffer);
-          currentState = IDLE;
-        } else {
-            serialBuffer[bufferIndex] = incomingChar;
-            bufferIndex++;
-        }
-        break;
-    }
-  }
-}
-
-void processSerialData(const char *data) {
-  //Serial.print("Received Data: ");
-  //Serial.println(data);
-  strcpy(htmlMessage, data);
-}
diff --git a/firmware/.settings/language.settings.xml b/firmware/.settings/language.settings.xml
index f669cb0..0a17c16 100644
--- a/firmware/.settings/language.settings.xml
+++ b/firmware/.settings/language.settings.xml
@@ -5,7 +5,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="997929953051893052" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="245023216054466195" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
@@ -16,7 +16,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="997929953051893052" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="245023216054466195" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>

From 98fcf35e21f64ff89100c24146d287dd481f9241 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kiovics=20D=C3=A1niel?= <dkiovics@gmail.com>
Date: Thu, 18 Jan 2024 18:11:03 +0100
Subject: [PATCH 17/31] fixup! ESP telemetry integration started

---
 esp/ESP_firmware/ESP_firmware.ino | 166 ++++++++++++++++++++++++++++++
 1 file changed, 166 insertions(+)
 create mode 100644 esp/ESP_firmware/ESP_firmware.ino

diff --git a/esp/ESP_firmware/ESP_firmware.ino b/esp/ESP_firmware/ESP_firmware.ino
new file mode 100644
index 0000000..251da13
--- /dev/null
+++ b/esp/ESP_firmware/ESP_firmware.ino
@@ -0,0 +1,166 @@
+#include <ESP8266WiFi.h>
+#include <WiFiClient.h>
+#include <ArduinoJson.h>
+
+const char* ssid = "Andi";
+const char* password = "Gomboc02";
+
+
+const int bufferSize = 128;  // Adjust the buffer size as needed
+char serialBuffer[bufferSize] = {};
+char htmlMessage[bufferSize] = {};
+int bufferIndex = 0;
+
+enum State {
+  IDLE,
+  READING
+};
+
+State currentState = IDLE;
+
+void setup() {
+    Serial.begin(115200);
+    Serial.println();
+    Serial.println("Serial started");
+
+    WiFi.begin(ssid, password);
+
+    while (WiFi.status() != WL_CONNECTED) {
+        delay(1000);
+        Serial.println("Connecting to WiFi...");
+    }
+
+    Serial.println("Connected to WiFi");
+}
+
+void loop() {
+  if (Serial.available() > 0) {
+    char incomingChar = Serial.read();
+
+    switch (currentState) {
+      case IDLE:
+        if (incomingChar == 'D') {
+          currentState = READING;
+          bufferIndex = 0;
+        }
+        break;
+
+      case READING:
+        if (incomingChar == '\n') {
+          serialBuffer[bufferIndex] = '\0';  // Null-terminate the string
+          processSerialData(serialBuffer);
+          currentState = IDLE;
+        } else {
+            serialBuffer[bufferIndex] = incomingChar;
+            bufferIndex++;
+        }
+        break;
+    }
+  }
+}
+
+void rgb2hsv(int r, int g, int b, int* hue, int* sat, int* val){
+    int max, min;
+    float hue_f;
+
+    min = (r < g) ? r : g;
+    max = (r > g) ? r : g;
+    min = (min < b) ? min : b;
+    max = (max > b) ? max : b;
+
+    *val = (int)max * 100 / 255;
+
+    int delta = max - min;
+
+    if (delta == 0) {
+        *sat = 0;
+        *hue = 0;
+    } else {
+        *sat = 100 * delta / max;
+
+        if (max == r) {
+            hue_f = 60 * ( ( ((float)g - (float)b) / delta )    );    // TODO: optimize
+        } else if (max == g) {
+            hue_f = 60 * ( ( ((float)b - (float)r) / delta ) + 2);    // TODO: optimize
+        } else {
+            hue_f = 60 * ( ( ((float)r - (float)g) / delta ) + 4);    // TODO: optimize
+        }
+        if (hue_f < 0) {
+                hue_f += 360;
+		}
+        *hue = (int)hue_f % 360;
+    }
+
+    
+    // TODO: is this necessary? Isn't the output of % always +?
+
+}
+
+void processSerialData(const char *data) {
+  //Serial.print("Received Data: ");
+  //Serial.println(data);
+  //strcpy(htmlMessage, data);
+  int servo, motora, motorb, usonic, hsv_h, hsv_s, hsv_v, rgb_r, rgb_g, rgb_b;
+  float wheelaspeed, wheelbspeed, imu_acc_a, imu_acc_b, imu_acc_c, imu_gyro_x, imu_gyro_y, imu_gyro_z, imu_temp;
+  sscanf(data, ": %d %d %d %f %f %ld %ld %d %d", &rgb_r, &rgb_g, &rgb_b, &wheelaspeed, &wheelbspeed, &motora, &motorb, &servo, &usonic);
+    rgb2hsv(rgb_r, rgb_g, rgb_b, &hsv_h, &hsv_s, &hsv_v);
+    sendJson(servo, motora, motorb, wheelaspeed, wheelbspeed, usonic, hsv_h, hsv_s, hsv_v, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0) ;
+
+}
+
+
+void sendJson(int servo, int motora, int motorb, float wheelaspeed, float wheelbspeed, int usonic, int hsv_h, int hsv_s, int hsv_v, float imu_acc_a, float imu_acc_b, float imu_acc_c, float imu_gyro_x, float imu_gyro_y, float imu_gyro_z, float imu_temp) {
+    WiFiClient client;
+    
+    if (!client.connect("192.168.168.102", 5000)) {
+        Serial.println("Connection failed");
+        return;
+    }
+    Serial.println("NA CSAAAAA");
+    
+    StaticJsonDocument<256> doc;
+    
+    doc["servo"] = servo;
+    doc["motora"] = motora;
+    doc["motorb"] = motorb;
+    doc["wheelaspeed"] = wheelaspeed;
+    doc["wheelbspeed"] = wheelbspeed;
+    doc["usonic"] = usonic;
+    
+    JsonObject hsv = doc.createNestedObject("hsv");
+    hsv["h"] = hsv_h;
+    hsv["s"] = hsv_s;
+    hsv["v"] = hsv_v;
+    
+    JsonObject imu = doc.createNestedObject("imu");
+    
+    JsonObject imu_acc = imu.createNestedObject("acc");
+    imu_acc["a"] = imu_acc_a;
+    imu_acc["b"] = imu_acc_b;
+    imu_acc["c"] = imu_acc_c;
+    
+    JsonObject imu_gyro = imu.createNestedObject("gyro");
+    imu_gyro["x"] = imu_gyro_x;
+    imu_gyro["y"] = imu_gyro_y;
+    imu_gyro["z"] = imu_gyro_z;
+    
+    imu["temp"] = imu_temp;
+    
+    String jsonStr;
+    serializeJson(doc, jsonStr);
+    
+    client.println("POST /publishData HTTP/1.1");
+    client.println("Host: 192.168.168.102");
+    client.println("Content-Type: application/json");
+    client.print("Content-Length: ");
+    client.println(jsonStr.length());
+    client.println();
+    client.println(jsonStr);
+    
+    while (client.available()) {
+        String line = client.readStringUntil('\r');
+        Serial.print(line);
+    }
+    
+    client.stop();
+}

From 453dea53d8b4918bcb18df0b47faf23131e570c2 Mon Sep 17 00:00:00 2001
From: ABEeNI <andrasi.beni@gmail.com>
Date: Thu, 18 Jan 2024 18:45:06 +0100
Subject: [PATCH 18/31] Add server functionality to handle POST requests

---
 esp/ESP_firmware/ESP_firmware.ino | 19 +++++++++++++++++++
 1 file changed, 19 insertions(+)

diff --git a/esp/ESP_firmware/ESP_firmware.ino b/esp/ESP_firmware/ESP_firmware.ino
index 251da13..c03a71e 100644
--- a/esp/ESP_firmware/ESP_firmware.ino
+++ b/esp/ESP_firmware/ESP_firmware.ino
@@ -18,6 +18,8 @@ enum State {
 
 State currentState = IDLE;
 
+ESP8266WebServer server(80); // Server on port 80
+
 void setup() {
     Serial.begin(115200);
     Serial.println();
@@ -31,9 +33,26 @@ void setup() {
     }
 
     Serial.println("Connected to WiFi");
+
+        // Handle POST requests
+    server.on("/receiveData", HTTP_POST, []() {
+      if (server.hasArg("plain")) {
+        String message = server.arg("plain");
+        // Handle the received message
+        // For example, print it to the serial monitor
+        Serial.println("Received message: " + message);
+      }
+      server.send(200, "text/plain", "Data received");
+    });
+
+    server.begin(); // Start the server
+
 }
 
 void loop() {
+
+  server.handleClient();
+
   if (Serial.available() > 0) {
     char incomingChar = Serial.read();
 

From 5c6c99183d2f0bff3ba1760077aff2c492b3d361 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kiovics=20D=C3=A1niel?= <dkiovics@gmail.com>
Date: Thu, 18 Jan 2024 20:04:29 +0100
Subject: [PATCH 19/31] ESP integration: buggy ESPscanf

---
 esp/ESP_firmware/ESP_firmware.ino  | 31 +++++++++++++++++++++---------
 firmware/Application/application.c |  9 +++++++++
 2 files changed, 31 insertions(+), 9 deletions(-)

diff --git a/esp/ESP_firmware/ESP_firmware.ino b/esp/ESP_firmware/ESP_firmware.ino
index c03a71e..1c64a22 100644
--- a/esp/ESP_firmware/ESP_firmware.ino
+++ b/esp/ESP_firmware/ESP_firmware.ino
@@ -1,6 +1,16 @@
 #include <ESP8266WiFi.h>
 #include <WiFiClient.h>
 #include <ArduinoJson.h>
+#include <ESP8266WebServer.h>
+
+constexpr bool DEBUG_ENABLED = false;
+
+void dlog(String str){
+    if(DEBUG_ENABLED){
+        Serial.print("DEBUG: ");
+        Serial.println(str);
+    }
+}
 
 const char* ssid = "Andi";
 const char* password = "Gomboc02";
@@ -22,17 +32,17 @@ ESP8266WebServer server(80); // Server on port 80
 
 void setup() {
     Serial.begin(115200);
-    Serial.println();
-    Serial.println("Serial started");
+    dlog("");
+    dlog("Serial started");
 
     WiFi.begin(ssid, password);
 
     while (WiFi.status() != WL_CONNECTED) {
         delay(1000);
-        Serial.println("Connecting to WiFi...");
+        dlog("Connecting to WiFi...");
     }
 
-    Serial.println("Connected to WiFi");
+    dlog("Connected to WiFi");
 
         // Handle POST requests
     server.on("/receiveData", HTTP_POST, []() {
@@ -40,7 +50,11 @@ void setup() {
         String message = server.arg("plain");
         // Handle the received message
         // For example, print it to the serial monitor
-        Serial.println("Received message: " + message);
+        dlog("Received message: " + message);
+        char msg[500];
+        sscanf(message.c_str(), "{\"message\":\"%[^\"]\"}", msg);
+        strcat(msg, "\n");
+        Serial.println(msg);
       }
       server.send(200, "text/plain", "Data received");
     });
@@ -117,7 +131,7 @@ void rgb2hsv(int r, int g, int b, int* hue, int* sat, int* val){
 
 void processSerialData(const char *data) {
   //Serial.print("Received Data: ");
-  //Serial.println(data);
+  //dlog(data);
   //strcpy(htmlMessage, data);
   int servo, motora, motorb, usonic, hsv_h, hsv_s, hsv_v, rgb_r, rgb_g, rgb_b;
   float wheelaspeed, wheelbspeed, imu_acc_a, imu_acc_b, imu_acc_c, imu_gyro_x, imu_gyro_y, imu_gyro_z, imu_temp;
@@ -132,10 +146,9 @@ void sendJson(int servo, int motora, int motorb, float wheelaspeed, float wheelb
     WiFiClient client;
     
     if (!client.connect("192.168.168.102", 5000)) {
-        Serial.println("Connection failed");
+        dlog("Connection failed");
         return;
     }
-    Serial.println("NA CSAAAAA");
     
     StaticJsonDocument<256> doc;
     
@@ -178,7 +191,7 @@ void sendJson(int servo, int motora, int motorb, float wheelaspeed, float wheelb
     
     while (client.available()) {
         String line = client.readStringUntil('\r');
-        Serial.print(line);
+        dlog(line);
     }
     
     client.stop();
diff --git a/firmware/Application/application.c b/firmware/Application/application.c
index fc34957..697cc19 100644
--- a/firmware/Application/application.c
+++ b/firmware/Application/application.c
@@ -14,5 +14,14 @@ int application() {
 
     delayMs(2000);
 
+    while(1){
+    	char data[300];
+    	if(espRead(data)){
+    		lcdPrintf(0, 0, "                ");
+    		lcdPrintf(1, 0, "                ");
+    		lcdPrintf(0, 0, data);
+    	}
+    }
+
     return 0;
 }

From 4029870e8ff00dc8af12bcc6bfaf1b56fa95c90c Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kiovics=20D=C3=A1niel?= <dkiovics@gmail.com>
Date: Mon, 5 Feb 2024 21:14:36 +0100
Subject: [PATCH 20/31] =?UTF-8?q?EHHEZ=20SE=20NY=C3=9ALJ=20HOZZ=C3=81?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 firmware/Core/Src/main.c     | 93 ++++++------------------------------
 firmware/Drivers/uart/uart.c |  6 ++-
 firmware/Drivers/uart/uart.h |  2 +-
 3 files changed, 20 insertions(+), 81 deletions(-)

diff --git a/firmware/Core/Src/main.c b/firmware/Core/Src/main.c
index 3b590a6..001ac74 100644
--- a/firmware/Core/Src/main.c
+++ b/firmware/Core/Src/main.c
@@ -29,7 +29,6 @@
 #include "lcd.h"
 #include "soft-pwm.h"
 #include "battery_indicator.h"
-#include "dfu.h"
 #include "color_sensor.h"
 #include "encoder.h"
 #include "ultrasonic.h"
@@ -47,10 +46,6 @@
 
 /* Private define ------------------------------------------------------------*/
 /* USER CODE BEGIN PD */
-#define DFU_MAGIC_WORD     "LEGO"
-#define DFU_NON_MAGIC_WORD "NOPE"
-#define UART_DFU_COMMAND   "ENTER_DFU"
-
 #define LCD_TIMER              (&htim1)
 #define LCD_BL_TIMER           (&htim3)
 #define LCD_BL_CHANNEL         TIM_CHANNEL_1
@@ -150,10 +145,6 @@ DMA_HandleTypeDef hdma_usart3_tx;
 const uint8_t lcdRows = 2;
 const uint8_t lcdCols = 16;
 
-const char uartDfuCommand[] = UART_DFU_COMMAND;
-const uint8_t uartDfuCommandLen = strlen(uartDfuCommand);
-volatile uint8_t uartRxData;
-
 volatile Encoder encoder1;
 volatile Encoder encoder2;
 
@@ -173,7 +164,8 @@ volatile Uart uart3;
 volatile uint16_t batteryVoltage = 0;
 volatile uint8_t batteryAdcBusy = 0;
 
-volatile uint8_t pgm_ready = 0;
+volatile uint8_t pgmReady = 0;
+volatile uint8_t espReady = 0;
 
 volatile SoftPwm* lcdBacklightPwm;
 /* USER CODE END PV */
@@ -198,7 +190,7 @@ static void MX_ADC1_Init(void);
 void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {
     static uint32_t adcTimerItCount = 0;
 
-    if(!pgm_ready)
+    if(!pgmReady)
     	return;
 
     if(htim == MOTOR_ENCODER_TIMER){
@@ -229,7 +221,7 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {
 }
 
 void HAL_TIM_PWM_PulseFinishedCallback(TIM_HandleTypeDef *htim) {
-	if(!pgm_ready)
+	if(!pgmReady)
 	    return;
 
     static uint8_t scPsc = 0;
@@ -248,7 +240,7 @@ void HAL_TIM_PWM_PulseFinishedCallback(TIM_HandleTypeDef *htim) {
 }
 
 void HAL_ADC_ConvCpltCallback(ADC_HandleTypeDef* hadc) {
-	if(!pgm_ready)
+	if(!pgmReady)
 	    return;
 
     if (hadc == VBAT_ADC) {
@@ -259,7 +251,7 @@ void HAL_ADC_ConvCpltCallback(ADC_HandleTypeDef* hadc) {
 }
 
 void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim) {
-	if(!pgm_ready)
+	if(!pgmReady)
 	    return;
 
     if (htim == US_COLOR_ESP_TX_CAPTURE_TIMER) {
@@ -285,7 +277,7 @@ void HAL_TIM_IC_CaptureCallback(TIM_HandleTypeDef *htim) {
 }
 
 void HAL_TIM_OC_DelayElapsedCallback(TIM_HandleTypeDef *htim) {
-	if(!pgm_ready)
+	if(!pgmReady)
 	    return;
 
     if(htim == US_COLOR_ESP_TX_CAPTURE_TIMER && htim->Channel == US_ASYNC_ACTIVE_CHANNEL){
@@ -294,42 +286,12 @@ void HAL_TIM_OC_DelayElapsedCallback(TIM_HandleTypeDef *htim) {
 }
 
 void HAL_UART_RxCpltCallback(UART_HandleTypeDef* huart) {
-	if(!pgm_ready)
-	    return;
-
-    static uint8_t dfuReceived = 0;
-
-    if (huart == USB_UART) {
-        /*
-         * Parse UART DFU command
-         */
-        if (uartRxData == uartDfuCommand[dfuReceived]) {
-            dfuReceived++;
-        } else {
-            dfuReceived = 0;
-        }
-        if (dfuReceived == uartDfuCommandLen) {
-            dfuReceived = 0;
-
-            batteryIndicatorDisable();
-            lcdClear();
-            lcdPuts(0, 4, "DFU mode");
-            HAL_Delay(100);
-            rebootIntoDfu(DFU_MAGIC_WORD);
-        }
-
-        // Receive next byte
-        uart_handleReceiveCplt(&uart1, USB_UART);
-    }
-    if (huart == ESP_UART) {
-
-        // Receive next byte
-    	uart_handleReceiveCplt(&uart3, ESP_UART);
-    }
+	uart_handleReceiveCplt(&uart1, USB_UART, pgmReady);
+	uart_handleReceiveCplt(&uart3, ESP_UART, pgmReady && espReady);
 }
 
 void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart) {
-	if(!pgm_ready)
+	if(!pgmReady)
 	    return;
 
 	if (huart == USB_UART) {
@@ -341,7 +303,7 @@ void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart) {
 }
 
 void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {
-	if(!pgm_ready)
+	if(!pgmReady)
 	    return;
 
     switch (GPIO_Pin) {
@@ -380,23 +342,6 @@ int main(void)
 {
   /* USER CODE BEGIN 1 */
 
-  /*
-   * Reboot into DFU if the magic word is set
-   */
-  if (checkMagicWord(DFU_MAGIC_WORD)) {
-      setMagicWord(DFU_NON_MAGIC_WORD);
-      enterDfuMode();
-  }
-
-  /*
-   * When leaving DFU, the non-magic word is set
-   */
-  uint8_t exitDfu = 0;
-  if (checkMagicWord(DFU_NON_MAGIC_WORD)) {
-      setMagicWord("\x00\x00\x00\x00");
-      exitDfu = 1;
-  }
-
   /* USER CODE END 1 */
 
   /* MCU Configuration--------------------------------------------------------*/
@@ -430,10 +375,6 @@ int main(void)
       FAIL;
   }
 
-  if (HAL_UART_Receive_IT(USB_UART, &uartRxData, 1) != HAL_OK) {
-      FAIL;
-  }
-
   // TODO
 /*
   lcdBacklightPwm = softPwmCreate(LCD_BL_TIMER, LCD_BL_CHANNEL, LCD_BL_TIMER_PERIOD,
@@ -454,12 +395,6 @@ int main(void)
   uart_init(&uart1, USB_UART, USB_UART_IR, USB_UART_DMA_IR, 500, 500);
   uart_init(&uart3, ESP_UART, ESP_UART_IR, ESP_UART_DMA_IR, 500, 500);
 
-  if (exitDfu) {
-      lcdPuts(0, 0, "Exit DFU mode...");
-      HAL_Delay(1000);
-      lcdClear();
-  }
-
   batteryIndicatorInit();
 
   lcdPuts(0, 4, "LEGO");
@@ -535,9 +470,9 @@ int main(void)
 
   robotControlInit(servo, &us, &colorSensor, speedControl2, speedControl1, &encoder2, &encoder1, &uart1, &uart3);
 
-  pgm_ready = 1;
-
-  HAL_Delay(1000);
+  pgmReady = 1;
+  HAL_Delay(1200);
+  espReady = 1;
   lcdClear();
   batteryIndicatorEnable();
 
diff --git a/firmware/Drivers/uart/uart.c b/firmware/Drivers/uart/uart.c
index 620ccd4..a8d0f29 100644
--- a/firmware/Drivers/uart/uart.c
+++ b/firmware/Drivers/uart/uart.c
@@ -113,10 +113,14 @@ void uart_transmit(volatile Uart *uart, const char *str){
 }
 
 
-void uart_handleReceiveCplt(volatile Uart *uart, UART_HandleTypeDef *huart){
+void uart_handleReceiveCplt(volatile Uart *uart, UART_HandleTypeDef *huart, uint8_t initCplt){
 	if(uart->huart != huart)
 		return;
 
+	if(!initCplt){
+		HAL_UART_Receive_IT(uart->huart, (uint8_t*)uart->readCircularBuffer, 1);
+		return;
+	}
 	char c = uart->readCircularBuffer[uart->readPtr];
 
 	if(c == '\r'){
diff --git a/firmware/Drivers/uart/uart.h b/firmware/Drivers/uart/uart.h
index 8b3ba78..0f8c987 100644
--- a/firmware/Drivers/uart/uart.h
+++ b/firmware/Drivers/uart/uart.h
@@ -51,7 +51,7 @@ void uart_handleTransmitCplt(volatile Uart* uart, UART_HandleTypeDef *huart);
 /*
  * Call when the HAL_UART_RxCpltCallback function is called
  */
-void uart_handleReceiveCplt(volatile Uart* uart, UART_HandleTypeDef *huart);
+void uart_handleReceiveCplt(volatile Uart* uart, UART_HandleTypeDef *huart, uint8_t initCplt);
 
 /*
  * Transmits the data (max lenght is writeBufferLenght)

From 292d088c2dec17bdd65d01c1ca48d92b56c4b206 Mon Sep 17 00:00:00 2001
From: Andrada Serban <andi.andrada@gmail.com>
Date: Mon, 5 Feb 2024 18:17:41 +0100
Subject: [PATCH 21/31] added esp configuration through stm

---
 esp/ESP_firmware/ESP_firmware.ino | 87 ++++++++++++++++---------------
 1 file changed, 44 insertions(+), 43 deletions(-)

diff --git a/esp/ESP_firmware/ESP_firmware.ino b/esp/ESP_firmware/ESP_firmware.ino
index 1c64a22..a1e42d8 100644
--- a/esp/ESP_firmware/ESP_firmware.ino
+++ b/esp/ESP_firmware/ESP_firmware.ino
@@ -1,19 +1,11 @@
 #include <ESP8266WiFi.h>
 #include <WiFiClient.h>
 #include <ArduinoJson.h>
-#include <ESP8266WebServer.h>
-
-constexpr bool DEBUG_ENABLED = false;
-
-void dlog(String str){
-    if(DEBUG_ENABLED){
-        Serial.print("DEBUG: ");
-        Serial.println(str);
-    }
-}
 
 const char* ssid = "Andi";
 const char* password = "Gomboc02";
+const char* ipaddr = "192.168.0.100";
+char[30] host = "Host: ";
 
 
 const int bufferSize = 128;  // Adjust the buffer size as needed
@@ -22,51 +14,59 @@ char htmlMessage[bufferSize] = {};
 int bufferIndex = 0;
 
 enum State {
+  PRECONFIG,
   IDLE,
   READING
 };
 
-State currentState = IDLE;
-
-ESP8266WebServer server(80); // Server on port 80
+State currentState = PRECONFIG;
 
 void setup() {
     Serial.begin(115200);
-    dlog("");
-    dlog("Serial started");
+    Serial.println();
+    Serial.println("Serial started");
+
+
+    while(currentState != IDLE){        
+      if (Serial.available() > 0) {
+        char incomingChar = Serial.read();
+    
+        switch (currentState) {
+          case PRECONFIG:
+            if (incomingChar == 'C') {
+              currentState = READING;
+              bufferIndex = 0;
+            }
+            break;
+    
+          case READING:
+            if (incomingChar == '\n') {
+              serialBuffer[bufferIndex] = '\0';  // Null-terminate the string
+              currentState = IDLE;
+              break;
+            } else {
+                serialBuffer[bufferIndex] = incomingChar;
+                bufferIndex++;
+            }
+            break;
+        }
+  }  
+    }
+
+    sscanf(serialBuffer, ":\t%s\t%s\t%s", ssid, password, ipaddr);
+    strcat(host, ipaddr);
 
     WiFi.begin(ssid, password);
 
     while (WiFi.status() != WL_CONNECTED) {
         delay(1000);
-        dlog("Connecting to WiFi...");
+        Serial.println("Connecting to WiFi...");
     }
 
-    dlog("Connected to WiFi");
-
-        // Handle POST requests
-    server.on("/receiveData", HTTP_POST, []() {
-      if (server.hasArg("plain")) {
-        String message = server.arg("plain");
-        // Handle the received message
-        // For example, print it to the serial monitor
-        dlog("Received message: " + message);
-        char msg[500];
-        sscanf(message.c_str(), "{\"message\":\"%[^\"]\"}", msg);
-        strcat(msg, "\n");
-        Serial.println(msg);
-      }
-      server.send(200, "text/plain", "Data received");
-    });
-
-    server.begin(); // Start the server
-
+    Serial.println("Connected to WiFi");
 }
 
 void loop() {
-
-  server.handleClient();
-
   if (Serial.available() > 0) {
     char incomingChar = Serial.read();
 
@@ -131,7 +131,7 @@ void rgb2hsv(int r, int g, int b, int* hue, int* sat, int* val){
 
 void processSerialData(const char *data) {
   //Serial.print("Received Data: ");
-  //dlog(data);
+  //Serial.println(data);
   //strcpy(htmlMessage, data);
   int servo, motora, motorb, usonic, hsv_h, hsv_s, hsv_v, rgb_r, rgb_g, rgb_b;
   float wheelaspeed, wheelbspeed, imu_acc_a, imu_acc_b, imu_acc_c, imu_gyro_x, imu_gyro_y, imu_gyro_z, imu_temp;
@@ -145,10 +145,11 @@ void processSerialData(const char *data) {
 void sendJson(int servo, int motora, int motorb, float wheelaspeed, float wheelbspeed, int usonic, int hsv_h, int hsv_s, int hsv_v, float imu_acc_a, float imu_acc_b, float imu_acc_c, float imu_gyro_x, float imu_gyro_y, float imu_gyro_z, float imu_temp) {
     WiFiClient client;
     
-    if (!client.connect("192.168.168.102", 5000)) {
-        dlog("Connection failed");
+    if (!client.connect(ipaddr, 5000)) {
+        Serial.println("Connection failed");
         return;
     }
+    Serial.println("NA CSAAAAA");
     
     StaticJsonDocument<256> doc;
     
@@ -182,7 +183,7 @@ void sendJson(int servo, int motora, int motorb, float wheelaspeed, float wheelb
     serializeJson(doc, jsonStr);
     
     client.println("POST /publishData HTTP/1.1");
-    client.println("Host: 192.168.168.102");
+    client.println(host);
     client.println("Content-Type: application/json");
     client.print("Content-Length: ");
     client.println(jsonStr.length());
@@ -191,7 +192,7 @@ void sendJson(int servo, int motora, int motorb, float wheelaspeed, float wheelb
     
     while (client.available()) {
         String line = client.readStringUntil('\r');
-        dlog(line);
+        Serial.print(line);
     }
     
     client.stop();

From e9bede3515d0b8a65683b3f98c96d8325ccea2bf Mon Sep 17 00:00:00 2001
From: Andrada Serban <andi.andrada@gmail.com>
Date: Mon, 5 Feb 2024 21:09:49 +0100
Subject: [PATCH 22/31] =?UTF-8?q?M=C5=B0K=C3=96DIK=20A=20TELEMETRIA,=20NE?=
 =?UTF-8?q?=20NY=C3=9ALJ=20HOZZ=C3=81?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 esp/ESP_firmware/ESP_firmware.ino | 248 ++++++++++++++++++++----------
 1 file changed, 164 insertions(+), 84 deletions(-)

diff --git a/esp/ESP_firmware/ESP_firmware.ino b/esp/ESP_firmware/ESP_firmware.ino
index a1e42d8..534148c 100644
--- a/esp/ESP_firmware/ESP_firmware.ino
+++ b/esp/ESP_firmware/ESP_firmware.ino
@@ -1,84 +1,108 @@
 #include <ESP8266WiFi.h>
 #include <WiFiClient.h>
 #include <ArduinoJson.h>
-
+#include <ESP8266WebServer.h>
+/*
 const char* ssid = "Andi";
 const char* password = "Gomboc02";
 const char* ipaddr = "192.168.0.100";
-char[30] host = "Host: ";
-
+*/
 
-const int bufferSize = 128;  // Adjust the buffer size as needed
+const int bufferSize = 128; 
 char serialBuffer[bufferSize] = {};
 char htmlMessage[bufferSize] = {};
 int bufferIndex = 0;
 
+char host[30] = "Host: ";
+char ssid[bufferSize] = {};
+char password[bufferSize] = {};
+char ipaddr[16] = {};
+char tmp_ssid[bufferSize] = {};
+char tmp_password[bufferSize] = {};
+char tmp_ipaddr[16] = {};
+
 enum State {
   PRECONFIG,
   IDLE,
-  READING
+  READING_C1,
+  READING_C2,
+  READING_D1,
+  READING_D2
 };
 
 State currentState = PRECONFIG;
 
-void setup() {
-    Serial.begin(115200);
-    Serial.println();
-    Serial.println("Serial started");
+ESP8266WebServer server(80); // Server on port 80
 
+constexpr bool DEBUG_ENABLED = false;
 
-    while(currentState != IDLE){        
-      if (Serial.available() > 0) {
-        char incomingChar = Serial.read();
-    
-        switch (currentState) {
-          case PRECONFIG:
-            if (incomingChar == 'C') {
-              currentState = READING;
-              bufferIndex = 0;
-            }
-            break;
-    
-          case READING:
-            if (incomingChar == '\n') {
-              serialBuffer[bufferIndex] = '\0';  // Null-terminate the string
-              currentState = IDLE;
-              break;
-            } else {
-                serialBuffer[bufferIndex] = incomingChar;
-                bufferIndex++;
-            }
-            break;
-        }
-  }  
+void dlog(const String& str){
+    if(DEBUG_ENABLED){
+        Serial.print("DEBUG: ");
+        Serial.println(str);
     }
+}
+
+void setup() {
+  Serial.begin(115200);
+  dlog("");
+  dlog("Serial started");
 
-    sscanf(serialBuffer, ":\t%s\t%s\t%s", ssid, password, ipaddr);
-    strcat(host, ipaddr);
+  getConfig();
 
-    WiFi.begin(ssid, password);
+  sscanf(serialBuffer, "\t%s\t%s\t%s", ssid, password, ipaddr);
+  strcat(host, ipaddr);
 
-    while (WiFi.status() != WL_CONNECTED) {
-        delay(1000);
-        Serial.println("Connecting to WiFi...");
+  WiFi.begin(ssid, password);
+
+  while (WiFi.status() != WL_CONNECTED) {
+    delay(1000);
+    dlog("Connecting to WiFi...");
+  }
+
+  dlog("Connected to WiFi");
+  // Handle POST requests
+  server.on("/receiveData", HTTP_POST, []() {
+    if (server.hasArg("plain")) {
+    String message = server.arg("plain");
+    char msg[500];
+    
+    dlog("Received message: " + message);
+    sscanf(message.c_str(), "{\"message\":\"%[^\"]\"}", msg);
+    Serial.println(msg);
     }
+    server.send(200, "text/plain", "Data received");
+  });
 
-    Serial.println("Connected to WiFi");
+  server.begin(); // Start the server
 }
 
 void loop() {
+  server.handleClient();
+  
   if (Serial.available() > 0) {
     char incomingChar = Serial.read();
 
     switch (currentState) {
       case IDLE:
         if (incomingChar == 'D') {
-          currentState = READING;
+          currentState = READING_D1;
+          bufferIndex = 0;
+        }
+        if (incomingChar == 'C') {
+          currentState = READING_C1;
+          bufferIndex = 0;
+        }
+        break;
+        
+      case READING_D1:
+        if (incomingChar == ':') {
+          currentState = READING_D2;
           bufferIndex = 0;
         }
         break;
 
-      case READING:
+      case READING_D2:
         if (incomingChar == '\n') {
           serialBuffer[bufferIndex] = '\0';  // Null-terminate the string
           processSerialData(serialBuffer);
@@ -88,59 +112,116 @@ void loop() {
             bufferIndex++;
         }
         break;
+     
+        case READING_C1:
+          if (incomingChar == ':') {
+            currentState = READING_C2;
+            bufferIndex = 0;
+          }
+          break;
+  
+        case READING_C2:
+          if (incomingChar == '\n') {
+            serialBuffer[bufferIndex] = '\0';  // Null-terminate the string
+            currentState = IDLE;
+            sscanf(serialBuffer, "\t%s\t%s\t%s", tmp_ssid, tmp_password, tmp_ipaddr);
+            if(strcmp(tmp_ssid, ssid) != 0 || strcmp(tmp_password, password) != 0 || strcmp(tmp_ipaddr, ipaddr) != 0){
+              strcpy(ssid, tmp_ssid);
+              strcpy(password, tmp_password);
+              strcpy(ipaddr, tmp_ipaddr);
+              strcat(host, ipaddr);
+              WiFi.begin(ssid, password);
+              while (WiFi.status() != WL_CONNECTED) {
+                delay(1000);
+                dlog("Connecting to WiFi...");
+              }
+              dlog("Connected to WiFi");
+            }
+            break;
+          } else {
+              serialBuffer[bufferIndex] = incomingChar;
+              bufferIndex++;
+          }
+          break;
     }
   }
 }
 
-void rgb2hsv(int r, int g, int b, int* hue, int* sat, int* val){
-    int max, min;
-    float hue_f;
-
-    min = (r < g) ? r : g;
-    max = (r > g) ? r : g;
-    min = (min < b) ? min : b;
-    max = (max > b) ? max : b;
-
-    *val = (int)max * 100 / 255;
-
-    int delta = max - min;
-
-    if (delta == 0) {
-        *sat = 0;
-        *hue = 0;
-    } else {
-        *sat = 100 * delta / max;
-
-        if (max == r) {
-            hue_f = 60 * ( ( ((float)g - (float)b) / delta )    );    // TODO: optimize
-        } else if (max == g) {
-            hue_f = 60 * ( ( ((float)b - (float)r) / delta ) + 2);    // TODO: optimize
-        } else {
-            hue_f = 60 * ( ( ((float)r - (float)g) / delta ) + 4);    // TODO: optimize
+void getConfig(){
+    while(currentState != IDLE){        
+      if (Serial.available() > 0) {
+        char incomingChar = Serial.read();
+    
+        switch (currentState) {
+          case PRECONFIG:
+            if (incomingChar == 'C') {
+              currentState = READING_C1;
+              bufferIndex = 0;
+            }
+            break;
+          case READING_C1:
+            if (incomingChar == ':') {
+              currentState = READING_C2;
+              bufferIndex = 0;
+            }
+            break;
+    
+          case READING_C2:
+            if (incomingChar == '\n') {
+              serialBuffer[bufferIndex] = '\0';  // Null-terminate the string
+              currentState = IDLE;
+              break;
+            } else {
+                serialBuffer[bufferIndex] = incomingChar;
+                bufferIndex++;
+            }
+            break;
         }
-        if (hue_f < 0) {
-                hue_f += 360;
-		}
-        *hue = (int)hue_f % 360;
+      }  
     }
-
-    
-    // TODO: is this necessary? Isn't the output of % always +?
-
 }
 
 void processSerialData(const char *data) {
-  //Serial.print("Received Data: ");
-  //Serial.println(data);
-  //strcpy(htmlMessage, data);
   int servo, motora, motorb, usonic, hsv_h, hsv_s, hsv_v, rgb_r, rgb_g, rgb_b;
   float wheelaspeed, wheelbspeed, imu_acc_a, imu_acc_b, imu_acc_c, imu_gyro_x, imu_gyro_y, imu_gyro_z, imu_temp;
-  sscanf(data, ": %d %d %d %f %f %ld %ld %d %d", &rgb_r, &rgb_g, &rgb_b, &wheelaspeed, &wheelbspeed, &motora, &motorb, &servo, &usonic);
-    rgb2hsv(rgb_r, rgb_g, rgb_b, &hsv_h, &hsv_s, &hsv_v);
-    sendJson(servo, motora, motorb, wheelaspeed, wheelbspeed, usonic, hsv_h, hsv_s, hsv_v, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0) ;
-
+  
+  sscanf(data, " %d %d %d %f %f %ld %ld %d %d", &rgb_r, &rgb_g, &rgb_b, &wheelaspeed, &wheelbspeed, &motora, &motorb, &servo, &usonic);
+  rgb2hsv(rgb_r, rgb_g, rgb_b, &hsv_h, &hsv_s, &hsv_v);
+  sendJson(servo, motora, motorb, wheelaspeed, wheelbspeed, usonic, hsv_h, hsv_s, hsv_v, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
 }
 
+void rgb2hsv(int r, int g, int b, int* hue, int* sat, int* val){
+  int max, min;
+  float hue_f;
+
+  min = (r < g) ? r : g;
+  max = (r > g) ? r : g;
+  min = (min < b) ? min : b;
+  max = (max > b) ? max : b;
+
+  *val = (int)max * 100 / 255;
+
+  int delta = max - min;
+
+  if (delta == 0) {
+    *sat = 0;
+    *hue = 0;
+  } else {
+    *sat = 100 * delta / max;
+
+    if (max == r) {
+      hue_f = 60 * ( ( ((float)g - (float)b) / delta )    );    // TODO: optimize
+    } else if (max == g) {
+      hue_f = 60 * ( ( ((float)b - (float)r) / delta ) + 2);    // TODO: optimize
+    } else {
+      hue_f = 60 * ( ( ((float)r - (float)g) / delta ) + 4);    // TODO: optimize
+    }
+    if (hue_f < 0) {
+      hue_f += 360;
+    }
+      *hue = (int)hue_f % 360;
+  }
+}
 
 void sendJson(int servo, int motora, int motorb, float wheelaspeed, float wheelbspeed, int usonic, int hsv_h, int hsv_s, int hsv_v, float imu_acc_a, float imu_acc_b, float imu_acc_c, float imu_gyro_x, float imu_gyro_y, float imu_gyro_z, float imu_temp) {
     WiFiClient client;
@@ -149,8 +230,7 @@ void sendJson(int servo, int motora, int motorb, float wheelaspeed, float wheelb
         Serial.println("Connection failed");
         return;
     }
-    Serial.println("NA CSAAAAA");
-    
+  
     StaticJsonDocument<256> doc;
     
     doc["servo"] = servo;

From e41b4826e140f40f93f0dd62c4884ceeb38a0e9b Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kiovics=20D=C3=A1niel?= <dkiovics@gmail.com>
Date: Thu, 8 Feb 2024 23:42:19 +0100
Subject: [PATCH 23/31] telemetry software and start script added

---
 react-robot-dashboard/.gitignore              |    34 +
 .../my-robot-server/package-lock.json         |  1347 ++
 .../my-robot-server/package.json              |    23 +
 .../my-robot-server/server.js                 |    88 +
 .../robot-dashboard/package-lock.json         | 19124 ++++++++++++++++
 .../robot-dashboard/package.json              |    45 +
 .../robot-dashboard/public/favicon.ico        |   Bin 0 -> 3870 bytes
 .../robot-dashboard/public/index.html         |    43 +
 .../robot-dashboard/public/logo192.png        |   Bin 0 -> 5347 bytes
 .../robot-dashboard/public/logo512.png        |   Bin 0 -> 9664 bytes
 .../robot-dashboard/public/manifest.json      |    25 +
 .../robot-dashboard/public/robots.txt         |     3 +
 .../robot-dashboard/src/App.css               |    40 +
 .../robot-dashboard/src/App.js                |    30 +
 .../robot-dashboard/src/App.test.js           |     8 +
 .../robot-dashboard/src/HSVColorDisplay.css   |    28 +
 .../robot-dashboard/src/HSVColorDisplay.js    |    30 +
 .../robot-dashboard/src/IMUSensorDisplay.css  |    51 +
 .../robot-dashboard/src/IMUSensorDisplay.js   |    36 +
 .../robot-dashboard/src/MotorServoDisplay.css |    39 +
 .../robot-dashboard/src/MotorServoDisplay.js  |    28 +
 .../robot-dashboard/src/RobotPage.js          |    65 +
 .../robot-dashboard/src/Terminal.js           |    52 +
 .../robot-dashboard/src/UltrasonicSensor.css  |    15 +
 .../robot-dashboard/src/UltrasonicSensor.js   |    13 +
 .../robot-dashboard/src/index.css             |    13 +
 .../robot-dashboard/src/index.js              |    17 +
 .../robot-dashboard/src/logo.svg              |     1 +
 .../src/reportWebVitals copy.js               |    13 +
 .../robot-dashboard/src/reportWebVitals.js    |    13 +
 .../robot-dashboard/src/setupTests.js         |     5 +
 start_telemetry.bat                           |    13 +
 32 files changed, 21242 insertions(+)
 create mode 100644 react-robot-dashboard/.gitignore
 create mode 100644 react-robot-dashboard/my-robot-server/package-lock.json
 create mode 100644 react-robot-dashboard/my-robot-server/package.json
 create mode 100644 react-robot-dashboard/my-robot-server/server.js
 create mode 100644 react-robot-dashboard/robot-dashboard/package-lock.json
 create mode 100644 react-robot-dashboard/robot-dashboard/package.json
 create mode 100644 react-robot-dashboard/robot-dashboard/public/favicon.ico
 create mode 100644 react-robot-dashboard/robot-dashboard/public/index.html
 create mode 100644 react-robot-dashboard/robot-dashboard/public/logo192.png
 create mode 100644 react-robot-dashboard/robot-dashboard/public/logo512.png
 create mode 100644 react-robot-dashboard/robot-dashboard/public/manifest.json
 create mode 100644 react-robot-dashboard/robot-dashboard/public/robots.txt
 create mode 100644 react-robot-dashboard/robot-dashboard/src/App.css
 create mode 100644 react-robot-dashboard/robot-dashboard/src/App.js
 create mode 100644 react-robot-dashboard/robot-dashboard/src/App.test.js
 create mode 100644 react-robot-dashboard/robot-dashboard/src/HSVColorDisplay.css
 create mode 100644 react-robot-dashboard/robot-dashboard/src/HSVColorDisplay.js
 create mode 100644 react-robot-dashboard/robot-dashboard/src/IMUSensorDisplay.css
 create mode 100644 react-robot-dashboard/robot-dashboard/src/IMUSensorDisplay.js
 create mode 100644 react-robot-dashboard/robot-dashboard/src/MotorServoDisplay.css
 create mode 100644 react-robot-dashboard/robot-dashboard/src/MotorServoDisplay.js
 create mode 100644 react-robot-dashboard/robot-dashboard/src/RobotPage.js
 create mode 100644 react-robot-dashboard/robot-dashboard/src/Terminal.js
 create mode 100644 react-robot-dashboard/robot-dashboard/src/UltrasonicSensor.css
 create mode 100644 react-robot-dashboard/robot-dashboard/src/UltrasonicSensor.js
 create mode 100644 react-robot-dashboard/robot-dashboard/src/index.css
 create mode 100644 react-robot-dashboard/robot-dashboard/src/index.js
 create mode 100644 react-robot-dashboard/robot-dashboard/src/logo.svg
 create mode 100644 react-robot-dashboard/robot-dashboard/src/reportWebVitals copy.js
 create mode 100644 react-robot-dashboard/robot-dashboard/src/reportWebVitals.js
 create mode 100644 react-robot-dashboard/robot-dashboard/src/setupTests.js
 create mode 100644 start_telemetry.bat

diff --git a/react-robot-dashboard/.gitignore b/react-robot-dashboard/.gitignore
new file mode 100644
index 0000000..72d575c
--- /dev/null
+++ b/react-robot-dashboard/.gitignore
@@ -0,0 +1,34 @@
+### react ###
+.DS_*
+*.log
+logs
+**/*.backup.*
+**/*.back.*
+
+node_modules
+bower_components
+
+*.sublime*
+
+psd
+thumb
+sketch
+
+### VisualStudioCode ###
+.vscode/*
+!.vscode/settings.json
+!.vscode/tasks.json
+!.vscode/launch.json
+!.vscode/extensions.json
+!.vscode/*.code-snippets
+
+# Local History for Visual Studio Code
+.history/
+
+# Built Visual Studio Code Extensions
+*.vsix
+
+### VisualStudioCode Patch ###
+# Ignore all local history of files
+.history
+.ionide
\ No newline at end of file
diff --git a/react-robot-dashboard/my-robot-server/package-lock.json b/react-robot-dashboard/my-robot-server/package-lock.json
new file mode 100644
index 0000000..c385f2e
--- /dev/null
+++ b/react-robot-dashboard/my-robot-server/package-lock.json
@@ -0,0 +1,1347 @@
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+}
diff --git a/react-robot-dashboard/my-robot-server/package.json b/react-robot-dashboard/my-robot-server/package.json
new file mode 100644
index 0000000..c50ac10
--- /dev/null
+++ b/react-robot-dashboard/my-robot-server/package.json
@@ -0,0 +1,23 @@
+{
+  "name": "my-robot-server",
+  "version": "1.0.0",
+  "description": "A server for handling robot data with Express and Socket.io.",
+  "main": "server.js",
+  "scripts": {
+    "start": "node server.js",
+    "dev": "nodemon server.js",
+    "test": "echo \"Error: no test specified\" && exit 1"
+  },
+  "keywords": [],
+  "author": "",
+  "license": "ISC",
+  "dependencies": {
+    "axios": "^1.6.2",
+    "cors": "^2.8.5",
+    "express": "^4.17.1",
+    "socket.io": "^4.0.0"
+  },
+  "devDependencies": {
+    "nodemon": "^2.0.7"
+  }
+}
diff --git a/react-robot-dashboard/my-robot-server/server.js b/react-robot-dashboard/my-robot-server/server.js
new file mode 100644
index 0000000..de5918b
--- /dev/null
+++ b/react-robot-dashboard/my-robot-server/server.js
@@ -0,0 +1,88 @@
+const express = require('express');
+const cors = require('cors');
+const http = require('http');
+const { Server } = require("socket.io");
+const axios = require('axios');
+
+const app = express();
+const port = 5000;
+var targetUrl = 'http://127.0.0.1:80/receiveData';
+
+// Enable CORS for all routes and all origins
+app.use(cors({ origin: '*' }));
+
+// For parsing application/json
+app.use(express.json());
+
+// Create server using http and attach socket.io to it
+const server = http.createServer(app);
+const io = new Server(server, {
+  cors: {
+    origin: "*", // Allow all origins
+    methods: ["GET", "POST"] // Allow only GET and POST requests
+  }
+});
+
+io.on('connection', (socket) => {
+  console.log('a user connected');
+
+  // Handle message event from client
+  socket.on('sendMessage', async (message) => {
+    console.log('Message received:', message);
+
+    try {
+      // Construct JSON payload from the message
+      const payload = { message: message };
+
+      // Send POST request to the specified URL with the payload
+      const response = await axios.post(targetUrl, payload);
+      console.log('POST request sent to target URL:', response.data);
+    } catch (error) {
+      console.error('Error sending POST request:', error);
+    }
+  });
+
+  socket.on('disconnect', () => {
+    console.log('user disconnected');
+  });
+});
+
+// HTTP POST endpoint for receiving data
+app.post('/publishData', (req, res) => {
+  const data = req.body;
+  const clientIp = req.socket.remoteAddress.split(":").pop();    // Get client IP address from request object
+  targetUrl = `http://${clientIp}:80/receiveData`;
+  console.log('Received data from IP:', clientIp);
+  console.log('Send data to URL:', targetUrl);
+  // Validate data here
+  if (validateData(data)) {
+    // If valid, emit to all WebSocket clients
+    io.emit('Data recieved', data);
+    console.log(data)
+    res.status(200).send('Data received and broadcasted');
+  } else {
+    // If invalid, send back an error message
+    res.status(400).send('Invalid data format');
+  }
+});
+
+// Function to validate incoming data
+function validateData(data) {
+  // Implement actual validation logic according to your requirements
+  // This is a basic example
+  // if(data && data.id && typeof data.status === 'string') {
+  //   return true;
+  // }
+  // return false;
+  return true;
+}
+
+// Example REST endpoint
+app.get('/status', (req, res) => {
+  res.send('Server is up and running');
+});
+
+// Start the server
+server.listen(port, () => {
+  console.log(`Server running on port ${port}`);
+});
diff --git a/react-robot-dashboard/robot-dashboard/package-lock.json b/react-robot-dashboard/robot-dashboard/package-lock.json
new file mode 100644
index 0000000..254470c
--- /dev/null
+++ b/react-robot-dashboard/robot-dashboard/package-lock.json
@@ -0,0 +1,19124 @@
+{
+  "name": "robot-dashboard",
+  "version": "0.1.0",
+  "lockfileVersion": 3,
+  "requires": true,
+  "packages": {
+    "": {
+      "name": "robot-dashboard",
+      "version": "0.1.0",
+      "dependencies": {
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+        "@testing-library/react": "^13.4.0",
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+        "chart.js": "^4.4.0",
+        "react": "^18.2.0",
+        "react-chartjs-2": "^5.2.0",
+        "react-color": "^2.19.3",
+        "react-dom": "^18.2.0",
+        "react-gauge-chart": "^0.4.1",
+        "react-scripts": "5.0.1",
+        "recharts": "^2.10.1",
+        "socket.io-client": "^4.7.2",
+        "victory": "^36.6.12",
+        "web-vitals": "^2.1.4"
+      }
+    },
+    "node_modules/@aashutoshrathi/word-wrap": {
+      "version": "1.2.6",
+      "resolved": "https://registry.npmjs.org/@aashutoshrathi/word-wrap/-/word-wrap-1.2.6.tgz",
+      "integrity": "sha512-1Yjs2SvM8TflER/OD3cOjhWWOZb58A2t7wpE2S9XfBYTiIl+XFhQG2bjy4Pu1I+EAlCNUzRDYDdFwFYUKvXcIA==",
+      "engines": {
+        "node": ">=0.10.0"
+      }
+    },
+    "node_modules/@adobe/css-tools": {
+      "version": "4.3.1",
+      "resolved": "https://registry.npmjs.org/@adobe/css-tools/-/css-tools-4.3.1.tgz",
+      "integrity": "sha512-/62yikz7NLScCGAAST5SHdnjaDJQBDq0M2muyRTpf2VQhw6StBg2ALiu73zSJQ4fMVLA+0uBhBHAle7Wg+2kSg=="
+    },
+    "node_modules/@alloc/quick-lru": {
+      "version": "5.2.0",
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diff --git a/react-robot-dashboard/robot-dashboard/package.json b/react-robot-dashboard/robot-dashboard/package.json
new file mode 100644
index 0000000..d94fd04
--- /dev/null
+++ b/react-robot-dashboard/robot-dashboard/package.json
@@ -0,0 +1,45 @@
+{
+  "name": "robot-dashboard",
+  "version": "0.1.0",
+  "private": true,
+  "dependencies": {
+    "@testing-library/jest-dom": "^5.17.0",
+    "@testing-library/react": "^13.4.0",
+    "@testing-library/user-event": "^13.5.0",
+    "chart.js": "^4.4.0",
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+    "react-dom": "^18.2.0",
+    "react-gauge-chart": "^0.4.1",
+    "react-scripts": "5.0.1",
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+    "build": "react-scripts build",
+    "test": "react-scripts test",
+    "eject": "react-scripts eject"
+  },
+  "eslintConfig": {
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+      "react-app/jest"
+    ]
+  },
+  "browserslist": {
+    "production": [
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+      "not op_mini all"
+    ],
+    "development": [
+      "last 1 chrome version",
+      "last 1 firefox version",
+      "last 1 safari version"
+    ]
+  }
+}
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diff --git a/react-robot-dashboard/robot-dashboard/public/index.html b/react-robot-dashboard/robot-dashboard/public/index.html
new file mode 100644
index 0000000..aa069f2
--- /dev/null
+++ b/react-robot-dashboard/robot-dashboard/public/index.html
@@ -0,0 +1,43 @@
+<!DOCTYPE html>
+<html lang="en">
+  <head>
+    <meta charset="utf-8" />
+    <link rel="icon" href="%PUBLIC_URL%/favicon.ico" />
+    <meta name="viewport" content="width=device-width, initial-scale=1" />
+    <meta name="theme-color" content="#000000" />
+    <meta
+      name="description"
+      content="Web site created using create-react-app"
+    />
+    <link rel="apple-touch-icon" href="%PUBLIC_URL%/logo192.png" />
+    <!--
+      manifest.json provides metadata used when your web app is installed on a
+      user's mobile device or desktop. See https://developers.google.com/web/fundamentals/web-app-manifest/
+    -->
+    <link rel="manifest" href="%PUBLIC_URL%/manifest.json" />
+    <!--
+      Notice the use of %PUBLIC_URL% in the tags above.
+      It will be replaced with the URL of the `public` folder during the build.
+      Only files inside the `public` folder can be referenced from the HTML.
+
+      Unlike "/favicon.ico" or "favicon.ico", "%PUBLIC_URL%/favicon.ico" will
+      work correctly both with client-side routing and a non-root public URL.
+      Learn how to configure a non-root public URL by running `npm run build`.
+    -->
+    <title>React App</title>
+  </head>
+  <body>
+    <noscript>You need to enable JavaScript to run this app.</noscript>
+    <div id="root"></div>
+    <!--
+      This HTML file is a template.
+      If you open it directly in the browser, you will see an empty page.
+
+      You can add webfonts, meta tags, or analytics to this file.
+      The build step will place the bundled scripts into the <body> tag.
+
+      To begin the development, run `npm start` or `yarn start`.
+      To create a production bundle, use `npm run build` or `yarn build`.
+    -->
+  </body>
+</html>
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diff --git a/react-robot-dashboard/robot-dashboard/public/manifest.json b/react-robot-dashboard/robot-dashboard/public/manifest.json
new file mode 100644
index 0000000..080d6c7
--- /dev/null
+++ b/react-robot-dashboard/robot-dashboard/public/manifest.json
@@ -0,0 +1,25 @@
+{
+  "short_name": "React App",
+  "name": "Create React App Sample",
+  "icons": [
+    {
+      "src": "favicon.ico",
+      "sizes": "64x64 32x32 24x24 16x16",
+      "type": "image/x-icon"
+    },
+    {
+      "src": "logo192.png",
+      "type": "image/png",
+      "sizes": "192x192"
+    },
+    {
+      "src": "logo512.png",
+      "type": "image/png",
+      "sizes": "512x512"
+    }
+  ],
+  "start_url": ".",
+  "display": "standalone",
+  "theme_color": "#000000",
+  "background_color": "#ffffff"
+}
diff --git a/react-robot-dashboard/robot-dashboard/public/robots.txt b/react-robot-dashboard/robot-dashboard/public/robots.txt
new file mode 100644
index 0000000..e9e57dc
--- /dev/null
+++ b/react-robot-dashboard/robot-dashboard/public/robots.txt
@@ -0,0 +1,3 @@
+# https://www.robotstxt.org/robotstxt.html
+User-agent: *
+Disallow:
diff --git a/react-robot-dashboard/robot-dashboard/src/App.css b/react-robot-dashboard/robot-dashboard/src/App.css
new file mode 100644
index 0000000..6a4d2d4
--- /dev/null
+++ b/react-robot-dashboard/robot-dashboard/src/App.css
@@ -0,0 +1,40 @@
+.App {
+  text-align: center;
+}
+
+.App-logo {
+  height: 40vmin;
+  pointer-events: none;
+}
+
+@media (prefers-reduced-motion: no-preference) {
+  .App-logo {
+    animation: App-logo-spin infinite 20s linear;
+  }
+}
+
+.App-header {
+  background-color: #282c34;
+  min-height: 100vh;
+  display: flex;
+  flex-direction: column;
+  align-items: center;
+  justify-content: center;
+  font-size: calc(10px + 2vmin);
+  color: white;
+}
+
+.App-link {
+  color: #61dafb;
+}
+
+@keyframes App-logo-spin {
+  from {
+    transform: rotate(0deg);
+  }
+  to {
+    transform: rotate(360deg);
+  }
+}
+
+/* Rest of your styles */
diff --git a/react-robot-dashboard/robot-dashboard/src/App.js b/react-robot-dashboard/robot-dashboard/src/App.js
new file mode 100644
index 0000000..1c57de9
--- /dev/null
+++ b/react-robot-dashboard/robot-dashboard/src/App.js
@@ -0,0 +1,30 @@
+import React from 'react';
+import './App.css';
+import RobotPage from './RobotPage'; // Import RobotPage component
+
+function App() {
+  return (
+    <div className="App">
+      <header className="App-header">
+        <h1 style={titleStyle}>LEGO Tanfolyam Robot Dashboard</h1>
+        <RobotPage />
+      </header>
+    </div>
+  );
+}
+
+// Inline style for the title
+const titleStyle = {
+  fontFamily: "'Montserrat', sans-serif",
+  fontSize: '3rem', // Responsive font size
+  color: '#ffcc00', // LEGO yellow color
+  textTransform: 'uppercase',
+  letterSpacing: '0.1em',
+  margin: '0.5em 0',
+  padding: '0.5em',
+  borderRadius: '10px',
+  backgroundColor: 'rgba(0, 0, 0, 0.7)',
+  border: '2px solid #ffcc00',
+};
+
+export default App;
diff --git a/react-robot-dashboard/robot-dashboard/src/App.test.js b/react-robot-dashboard/robot-dashboard/src/App.test.js
new file mode 100644
index 0000000..1f03afe
--- /dev/null
+++ b/react-robot-dashboard/robot-dashboard/src/App.test.js
@@ -0,0 +1,8 @@
+import { render, screen } from '@testing-library/react';
+import App from './App';
+
+test('renders learn react link', () => {
+  render(<App />);
+  const linkElement = screen.getByText(/learn react/i);
+  expect(linkElement).toBeInTheDocument();
+});
diff --git a/react-robot-dashboard/robot-dashboard/src/HSVColorDisplay.css b/react-robot-dashboard/robot-dashboard/src/HSVColorDisplay.css
new file mode 100644
index 0000000..0a53616
--- /dev/null
+++ b/react-robot-dashboard/robot-dashboard/src/HSVColorDisplay.css
@@ -0,0 +1,28 @@
+.hsv-color-display {
+    color: #fff;
+    background-color: #333; /* Adjust the color to match your theme */
+    padding: 20px;
+    border-radius: 10px;
+    font-family: 'Arial', sans-serif;
+    margin-bottom: 20px; /* Space between sections */
+  }
+  
+  .hsv-content {
+    display: flex;
+    align-items: center;
+    justify-content: space-between;
+  }
+  
+  .color-preview {
+    width: 50px;
+    height: 50px;
+    border-radius: 25px;
+    display: inline-block;
+    margin-left: 20px;
+  }
+  
+  /* If you want to style the paragraphs for better spacing */
+  .hsv-content p {
+    margin: 5px 0; /* Adjust the margin as needed */
+  }
+  
\ No newline at end of file
diff --git a/react-robot-dashboard/robot-dashboard/src/HSVColorDisplay.js b/react-robot-dashboard/robot-dashboard/src/HSVColorDisplay.js
new file mode 100644
index 0000000..62500fd
--- /dev/null
+++ b/react-robot-dashboard/robot-dashboard/src/HSVColorDisplay.js
@@ -0,0 +1,30 @@
+import React from 'react';
+import './HSVColorDisplay.css'; // Make sure to create this CSS file
+
+const HSVColorDisplay = ({ hsv }) => {
+  const hsvToCSS = (h, s, v) => {
+    const f = (n, k = (n + h / 60) % 6) => v - v * s * Math.max(Math.min(k, 4 - k, 1), 0);
+    const rgb = [f(5), f(3), f(1)].map(x => Math.round(x * 255));
+    return `rgb(${rgb.join(',')})`;
+  };
+
+  const colorStyle = {
+    backgroundColor: hsvToCSS(hsv.h, hsv.s / 100, hsv.v / 100),
+  };
+
+  return (
+    <div className="hsv-color-display">
+      <h2>HSV</h2>
+      <div className="hsv-content">
+        <div>
+          <p>H: {hsv.h}</p>
+          <p>S: {hsv.s}</p>
+          <p>V: {hsv.v}</p>
+        </div>
+        <div className="color-preview" style={colorStyle}></div>
+      </div>
+    </div>
+  );
+};
+
+export default HSVColorDisplay;
diff --git a/react-robot-dashboard/robot-dashboard/src/IMUSensorDisplay.css b/react-robot-dashboard/robot-dashboard/src/IMUSensorDisplay.css
new file mode 100644
index 0000000..1952121
--- /dev/null
+++ b/react-robot-dashboard/robot-dashboard/src/IMUSensorDisplay.css
@@ -0,0 +1,51 @@
+.imu-sensor-display {
+    color: #fff;
+    background-color: #333; /* Adjust the color to match your theme */
+    padding: 20px;
+    border-radius: 10px;
+    font-family: 'Arial', sans-serif;
+    text-align: center;
+    margin-bottom: 20px; /* Space between sections */
+  }
+  
+  .imu-matrix {
+    display: flex;
+    justify-content: space-between;
+  }
+  
+  .imu-column {
+    background-color: #222; /* Adjust the color to match your theme */
+    border: 1px solid #555; /* Adjust the color to match your theme */
+    padding: 10px;
+    border-radius: 5px;
+    margin: 0 5px;
+    flex: 1; /* Equal width */
+  }
+  
+  .imu-header {
+    font-weight: bold;
+    margin-bottom: 10px;
+  }
+  
+  .imu-value {
+    background-color: #333; /* Slightly different background for values */
+    padding: 5px;
+    margin-bottom: 5px;
+    border-radius: 5px;
+  }
+  
+  /* Last value margin adjustment */
+  .imu-value:last-child {
+    margin-bottom: 0;
+  }
+  
+  @media (max-width: 600px) {
+    .imu-matrix {
+      flex-direction: column;
+    }
+  
+    .imu-column {
+      margin-bottom: 10px;
+    }
+  }
+  
\ No newline at end of file
diff --git a/react-robot-dashboard/robot-dashboard/src/IMUSensorDisplay.js b/react-robot-dashboard/robot-dashboard/src/IMUSensorDisplay.js
new file mode 100644
index 0000000..fb32648
--- /dev/null
+++ b/react-robot-dashboard/robot-dashboard/src/IMUSensorDisplay.js
@@ -0,0 +1,36 @@
+import React from 'react';
+import './IMUSensorDisplay.css'; // Make sure to create this CSS file
+
+const IMUSensorDisplay = ({ imuData }) => {
+  if (!imuData) {
+    return <div>Loading...</div>; // or some placeholder content
+  }
+
+  const { acc, gyro, temp } = imuData;
+
+  return (
+    <div className="imu-sensor-display">
+      <h2>IMU Sensor</h2>
+      <div className="imu-matrix">
+        <div className="imu-column">
+          <div className="imu-header">Acc <br />(m/s²)</div>
+          <div className="imu-value">{acc.a}</div>
+          <div className="imu-value">{acc.b}</div>
+          <div className="imu-value">{acc.c}</div>
+        </div>
+        <div className="imu-column">
+          <div className="imu-header">Gyroscope (°/s)</div>
+          <div className="imu-value">{gyro.x}</div>
+          <div className="imu-value">{gyro.y}</div>
+          <div className="imu-value">{gyro.z}</div>
+        </div>
+        <div className="imu-column">
+          <div className="imu-header">Temperature (°C)</div>
+          <div className="imu-value">{temp}</div>
+        </div>
+      </div>
+    </div>
+  );
+};
+
+export default IMUSensorDisplay;
diff --git a/react-robot-dashboard/robot-dashboard/src/MotorServoDisplay.css b/react-robot-dashboard/robot-dashboard/src/MotorServoDisplay.css
new file mode 100644
index 0000000..b38130f
--- /dev/null
+++ b/react-robot-dashboard/robot-dashboard/src/MotorServoDisplay.css
@@ -0,0 +1,39 @@
+.motor-servo-display {
+    color: #fff;
+    background-color: #333; /* Adjust the color to match your theme */
+    padding: 20px;
+    border-radius: 10px;
+    font-family: 'Arial', sans-serif;
+    margin-bottom: 30px; /* Increase space between components */
+  }
+  
+  .data-matrix {
+    display: flex;
+    justify-content: space-around;
+    flex-wrap: wrap;
+    gap: 20px; /* This adds space between the columns */
+  }
+  
+  .data-column {
+    background-color: #222; /* Adjust the color to match your theme */
+    border: 1px solid #555; /* Adjust the color to match your theme */
+    padding: 10px;
+    border-radius: 5px;
+    flex-basis: calc(33% - 10px); /* Adjust the width of columns, assuming 3 columns */
+  }
+  
+  .data-header {
+    font-weight: bold;
+    margin-bottom: 10px;
+  }
+  
+  .data-value {
+    background-color: #333; /* Slightly different background for values */
+    padding: 5px;
+    margin-bottom: 5px;
+    border-radius: 5px;
+    text-align: center;
+  }
+  
+  /* Rest of your styles for responsiveness */
+  
\ No newline at end of file
diff --git a/react-robot-dashboard/robot-dashboard/src/MotorServoDisplay.js b/react-robot-dashboard/robot-dashboard/src/MotorServoDisplay.js
new file mode 100644
index 0000000..03971b0
--- /dev/null
+++ b/react-robot-dashboard/robot-dashboard/src/MotorServoDisplay.js
@@ -0,0 +1,28 @@
+import React from 'react';
+import './MotorServoDisplay.css'; // Make sure to include this CSS file
+
+const MotorServoDisplay = ({ motora, motorb, wheelaspeed, wheelbspeed, servo }) => {
+  return (
+    <div className="motor-servo-display">
+      <h2>Motor and Servo Data</h2>
+      <div className="data-matrix">
+        <div className="data-column">
+          <div className="data-header">Motors Power</div>
+          <div className="data-value">Motor A: {motora}</div>
+          <div className="data-value">Motor B: {motorb}</div>
+        </div>
+        <div className="data-column">
+          <div className="data-header">Wheels Speed</div>
+          <div className="data-value">Wheel A: {wheelaspeed} RPM</div>
+          <div className="data-value">Wheel B: {wheelbspeed} RPM</div>
+        </div>
+        <div className="data-column">
+          <div className="data-header">Servo Position</div>
+          <div className="data-value">{servo}°</div>
+        </div>
+      </div>
+    </div>
+  );
+};
+
+export default MotorServoDisplay;
diff --git a/react-robot-dashboard/robot-dashboard/src/RobotPage.js b/react-robot-dashboard/robot-dashboard/src/RobotPage.js
new file mode 100644
index 0000000..bb57b84
--- /dev/null
+++ b/react-robot-dashboard/robot-dashboard/src/RobotPage.js
@@ -0,0 +1,65 @@
+import React, { useState, useEffect } from 'react';
+import openSocket from 'socket.io-client';
+import UltrasonicSensor from './UltrasonicSensor';
+import HSVColorDisplay from './HSVColorDisplay';
+import IMUSensorDisplay from './IMUSensorDisplay';
+import MotorServoDisplay from './MotorServoDisplay';
+import Terminal from './Terminal';
+
+const RobotPage = () => {
+  const [data, setData] = useState(null);
+  const [socket, setSocket] = useState(null);
+
+  useEffect(() => {
+    const newSocket = openSocket('http://localhost:5000');
+    setSocket(newSocket);
+
+    newSocket.on('Data recieved', (robotData) => {
+      setData(robotData);
+    });
+
+    return () => newSocket.close();
+  }, [setData]);
+
+  const sendMessage = (message) => {
+    if (socket) {
+      socket.emit('sendMessage', message); // Replace 'sendMessage' with your server's listening event
+    }
+  };
+
+  return (
+    <div>
+      <div style={{ display: 'flex', justifyContent: 'space-around' }}>
+        {data && <IMUSensorDisplay imuData={data.imu} />}
+        <div style={sensorWrapperStyle}>
+          {data && <UltrasonicSensor distance={data.usonic} />}
+          {data && <HSVColorDisplay hsv={data.hsv} />}
+        </div>
+      </div>
+      <div style={{ display: 'flex', justifyContent: 'space-around' }}>
+        
+        {data && (
+          <MotorServoDisplay
+            motora={data.motora}
+            motorb={data.motorb}
+            wheelaspeed={data.wheelaspeed}
+            wheelbspeed={data.wheelbspeed}
+            servo={data.servo}
+          />
+        )}
+      </div>
+      <div style={{ justifyContent: 'space-around',  bottom: 0, width: '100%' }}>
+        <Terminal onSendMessage={sendMessage} />
+      </div>
+    </div>
+  );
+};
+
+const sensorWrapperStyle = {
+  backgroundColor: '#333', // Adjust the color to match your theme
+  borderRadius: '10px',
+  overflow: 'hidden', // This ensures the child components do not overflow the rounded corners
+  marginBottom: '20px', // Space between this component and others, adjust as needed
+};
+
+export default RobotPage;
diff --git a/react-robot-dashboard/robot-dashboard/src/Terminal.js b/react-robot-dashboard/robot-dashboard/src/Terminal.js
new file mode 100644
index 0000000..cf34d53
--- /dev/null
+++ b/react-robot-dashboard/robot-dashboard/src/Terminal.js
@@ -0,0 +1,52 @@
+import React, { useState } from 'react';
+
+const Terminal = ({ onSendMessage }) => {
+    const [input, setInput] = useState('');
+  
+    const handleInputChange = (e) => {
+      setInput(e.target.value);
+    };
+  
+    const handleKeyDown = (e) => {
+      if (e.key === 'Enter' && input.trim()) {
+        onSendMessage(input);
+        setInput('');
+      }
+    };
+  
+    return (
+      <div className="terminal" style={terminalStyle}>
+        <input
+          type="text"
+          value={input}
+          onChange={handleInputChange}
+          onKeyDown={handleKeyDown}
+          style={inputStyle}
+          placeholder="Type a command..."
+        />
+      </div>
+    );
+};
+
+// Define your styles here to keep JSX clean
+const terminalStyle = {
+  backgroundColor: '#333',
+  color: '#fff',
+  padding: '20px',
+  marginTop: '30px', // Adds space between this and other components
+  borderRadius: '10px',
+  boxShadow: '0 4px 8px rgba(0, 0, 0, 0.3)' // Adds a subtle shadow for depth
+};
+
+const inputStyle = {
+  width: 'calc(100% - 10px)', // Accounts for padding
+  padding: '10px',
+  color: '#fff',
+  backgroundColor: '#222',
+  border: '1px solid #555',
+  borderRadius: '5px',
+  fontSize: '1.1em', // Makes text larger
+  boxSizing: 'border-box' // Ensures padding doesn't add to width
+};
+
+export default Terminal;
diff --git a/react-robot-dashboard/robot-dashboard/src/UltrasonicSensor.css b/react-robot-dashboard/robot-dashboard/src/UltrasonicSensor.css
new file mode 100644
index 0000000..46e05b1
--- /dev/null
+++ b/react-robot-dashboard/robot-dashboard/src/UltrasonicSensor.css
@@ -0,0 +1,15 @@
+.ultrasonic-sensor {
+    color: #fff;
+    background-color: #333; /* Adjust the color to match your theme */
+    padding: 20px;
+    border-radius: 10px;
+    font-family: 'Arial', sans-serif;
+    margin-bottom: 20px; /* Space between sections */
+    text-align: center;
+  }
+  
+  /* If you want to add more styles to the <p> tag */
+  .ultrasonic-sensor p {
+    margin: 10px 0; /* Adjust the margin as needed */
+  }
+  
\ No newline at end of file
diff --git a/react-robot-dashboard/robot-dashboard/src/UltrasonicSensor.js b/react-robot-dashboard/robot-dashboard/src/UltrasonicSensor.js
new file mode 100644
index 0000000..c77d676
--- /dev/null
+++ b/react-robot-dashboard/robot-dashboard/src/UltrasonicSensor.js
@@ -0,0 +1,13 @@
+import React from 'react';
+import './UltrasonicSensor.css'; // Ensure this CSS file is created
+
+const UltrasonicSensor = ({ distance }) => {
+  return (
+    <div className="ultrasonic-sensor">
+      <h2>Ultrasonic Sensor</h2>
+      <p>Distance: {distance} cm</p>
+    </div>
+  );
+};
+
+export default UltrasonicSensor;
diff --git a/react-robot-dashboard/robot-dashboard/src/index.css b/react-robot-dashboard/robot-dashboard/src/index.css
new file mode 100644
index 0000000..ec2585e
--- /dev/null
+++ b/react-robot-dashboard/robot-dashboard/src/index.css
@@ -0,0 +1,13 @@
+body {
+  margin: 0;
+  font-family: -apple-system, BlinkMacSystemFont, 'Segoe UI', 'Roboto', 'Oxygen',
+    'Ubuntu', 'Cantarell', 'Fira Sans', 'Droid Sans', 'Helvetica Neue',
+    sans-serif;
+  -webkit-font-smoothing: antialiased;
+  -moz-osx-font-smoothing: grayscale;
+}
+
+code {
+  font-family: source-code-pro, Menlo, Monaco, Consolas, 'Courier New',
+    monospace;
+}
diff --git a/react-robot-dashboard/robot-dashboard/src/index.js b/react-robot-dashboard/robot-dashboard/src/index.js
new file mode 100644
index 0000000..d563c0f
--- /dev/null
+++ b/react-robot-dashboard/robot-dashboard/src/index.js
@@ -0,0 +1,17 @@
+import React from 'react';
+import ReactDOM from 'react-dom/client';
+import './index.css';
+import App from './App';
+import reportWebVitals from './reportWebVitals';
+
+const root = ReactDOM.createRoot(document.getElementById('root'));
+root.render(
+  <React.StrictMode>
+    <App />
+  </React.StrictMode>
+);
+
+// If you want to start measuring performance in your app, pass a function
+// to log results (for example: reportWebVitals(console.log))
+// or send to an analytics endpoint. Learn more: https://bit.ly/CRA-vitals
+reportWebVitals();
diff --git a/react-robot-dashboard/robot-dashboard/src/logo.svg b/react-robot-dashboard/robot-dashboard/src/logo.svg
new file mode 100644
index 0000000..9dfc1c0
--- /dev/null
+++ b/react-robot-dashboard/robot-dashboard/src/logo.svg
@@ -0,0 +1 @@
+<svg xmlns="http://www.w3.org/2000/svg" viewBox="0 0 841.9 595.3"><g fill="#61DAFB"><path d="M666.3 296.5c0-32.5-40.7-63.3-103.1-82.4 14.4-63.6 8-114.2-20.2-130.4-6.5-3.8-14.1-5.6-22.4-5.6v22.3c4.6 0 8.3.9 11.4 2.6 13.6 7.8 19.5 37.5 14.9 75.7-1.1 9.4-2.9 19.3-5.1 29.4-19.6-4.8-41-8.5-63.5-10.9-13.5-18.5-27.5-35.3-41.6-50 32.6-30.3 63.2-46.9 84-46.9V78c-27.5 0-63.5 19.6-99.9 53.6-36.4-33.8-72.4-53.2-99.9-53.2v22.3c20.7 0 51.4 16.5 84 46.6-14 14.7-28 31.4-41.3 49.9-22.6 2.4-44 6.1-63.6 11-2.3-10-4-19.7-5.2-29-4.7-38.2 1.1-67.9 14.6-75.8 3-1.8 6.9-2.6 11.5-2.6V78.5c-8.4 0-16 1.8-22.6 5.6-28.1 16.2-34.4 66.7-19.9 130.1-62.2 19.2-102.7 49.9-102.7 82.3 0 32.5 40.7 63.3 103.1 82.4-14.4 63.6-8 114.2 20.2 130.4 6.5 3.8 14.1 5.6 22.5 5.6 27.5 0 63.5-19.6 99.9-53.6 36.4 33.8 72.4 53.2 99.9 53.2 8.4 0 16-1.8 22.6-5.6 28.1-16.2 34.4-66.7 19.9-130.1 62-19.1 102.5-49.9 102.5-82.3zm-130.2-66.7c-3.7 12.9-8.3 26.2-13.5 39.5-4.1-8-8.4-16-13.1-24-4.6-8-9.5-15.8-14.4-23.4 14.2 2.1 27.9 4.7 41 7.9zm-45.8 106.5c-7.8 13.5-15.8 26.3-24.1 38.2-14.9 1.3-30 2-45.2 2-15.1 0-30.2-.7-45-1.9-8.3-11.9-16.4-24.6-24.2-38-7.6-13.1-14.5-26.4-20.8-39.8 6.2-13.4 13.2-26.8 20.7-39.9 7.8-13.5 15.8-26.3 24.1-38.2 14.9-1.3 30-2 45.2-2 15.1 0 30.2.7 45 1.9 8.3 11.9 16.4 24.6 24.2 38 7.6 13.1 14.5 26.4 20.8 39.8-6.3 13.4-13.2 26.8-20.7 39.9zm32.3-13c5.4 13.4 10 26.8 13.8 39.8-13.1 3.2-26.9 5.9-41.2 8 4.9-7.7 9.8-15.6 14.4-23.7 4.6-8 8.9-16.1 13-24.1zM421.2 430c-9.3-9.6-18.6-20.3-27.8-32 9 .4 18.2.7 27.5.7 9.4 0 18.7-.2 27.8-.7-9 11.7-18.3 22.4-27.5 32zm-74.4-58.9c-14.2-2.1-27.9-4.7-41-7.9 3.7-12.9 8.3-26.2 13.5-39.5 4.1 8 8.4 16 13.1 24 4.7 8 9.5 15.8 14.4 23.4zM420.7 163c9.3 9.6 18.6 20.3 27.8 32-9-.4-18.2-.7-27.5-.7-9.4 0-18.7.2-27.8.7 9-11.7 18.3-22.4 27.5-32zm-74 58.9c-4.9 7.7-9.8 15.6-14.4 23.7-4.6 8-8.9 16-13 24-5.4-13.4-10-26.8-13.8-39.8 13.1-3.1 26.9-5.8 41.2-7.9zm-90.5 125.2c-35.4-15.1-58.3-34.9-58.3-50.6 0-15.7 22.9-35.6 58.3-50.6 8.6-3.7 18-7 27.7-10.1 5.7 19.6 13.2 40 22.5 60.9-9.2 20.8-16.6 41.1-22.2 60.6-9.9-3.1-19.3-6.5-28-10.2zM310 490c-13.6-7.8-19.5-37.5-14.9-75.7 1.1-9.4 2.9-19.3 5.1-29.4 19.6 4.8 41 8.5 63.5 10.9 13.5 18.5 27.5 35.3 41.6 50-32.6 30.3-63.2 46.9-84 46.9-4.5-.1-8.3-1-11.3-2.7zm237.2-76.2c4.7 38.2-1.1 67.9-14.6 75.8-3 1.8-6.9 2.6-11.5 2.6-20.7 0-51.4-16.5-84-46.6 14-14.7 28-31.4 41.3-49.9 22.6-2.4 44-6.1 63.6-11 2.3 10.1 4.1 19.8 5.2 29.1zm38.5-66.7c-8.6 3.7-18 7-27.7 10.1-5.7-19.6-13.2-40-22.5-60.9 9.2-20.8 16.6-41.1 22.2-60.6 9.9 3.1 19.3 6.5 28.1 10.2 35.4 15.1 58.3 34.9 58.3 50.6-.1 15.7-23 35.6-58.4 50.6zM320.8 78.4z"/><circle cx="420.9" cy="296.5" r="45.7"/><path d="M520.5 78.1z"/></g></svg>
\ No newline at end of file
diff --git a/react-robot-dashboard/robot-dashboard/src/reportWebVitals copy.js b/react-robot-dashboard/robot-dashboard/src/reportWebVitals copy.js
new file mode 100644
index 0000000..5253d3a
--- /dev/null
+++ b/react-robot-dashboard/robot-dashboard/src/reportWebVitals copy.js	
@@ -0,0 +1,13 @@
+const reportWebVitals = onPerfEntry => {
+  if (onPerfEntry && onPerfEntry instanceof Function) {
+    import('web-vitals').then(({ getCLS, getFID, getFCP, getLCP, getTTFB }) => {
+      getCLS(onPerfEntry);
+      getFID(onPerfEntry);
+      getFCP(onPerfEntry);
+      getLCP(onPerfEntry);
+      getTTFB(onPerfEntry);
+    });
+  }
+};
+
+export default reportWebVitals;
diff --git a/react-robot-dashboard/robot-dashboard/src/reportWebVitals.js b/react-robot-dashboard/robot-dashboard/src/reportWebVitals.js
new file mode 100644
index 0000000..5253d3a
--- /dev/null
+++ b/react-robot-dashboard/robot-dashboard/src/reportWebVitals.js
@@ -0,0 +1,13 @@
+const reportWebVitals = onPerfEntry => {
+  if (onPerfEntry && onPerfEntry instanceof Function) {
+    import('web-vitals').then(({ getCLS, getFID, getFCP, getLCP, getTTFB }) => {
+      getCLS(onPerfEntry);
+      getFID(onPerfEntry);
+      getFCP(onPerfEntry);
+      getLCP(onPerfEntry);
+      getTTFB(onPerfEntry);
+    });
+  }
+};
+
+export default reportWebVitals;
diff --git a/react-robot-dashboard/robot-dashboard/src/setupTests.js b/react-robot-dashboard/robot-dashboard/src/setupTests.js
new file mode 100644
index 0000000..8f2609b
--- /dev/null
+++ b/react-robot-dashboard/robot-dashboard/src/setupTests.js
@@ -0,0 +1,5 @@
+// jest-dom adds custom jest matchers for asserting on DOM nodes.
+// allows you to do things like:
+// expect(element).toHaveTextContent(/react/i)
+// learn more: https://github.com/testing-library/jest-dom
+import '@testing-library/jest-dom';
diff --git a/start_telemetry.bat b/start_telemetry.bat
new file mode 100644
index 0000000..9b0275c
--- /dev/null
+++ b/start_telemetry.bat
@@ -0,0 +1,13 @@
+cd react-robot-dashboard/my-robot-server
+echo "Installing server dependencies..."
+call npm install
+echo "Starting server..."
+start call npm start
+
+cd ../../react-robot-dashboard/robot-dashboard
+echo "Installing dashboard dependencies..."
+call npm install
+echo "Starting dashboard..."
+
+call npm start
+

From eeda49a13dcd14996a09d297c18bd50333f9caaa Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kiovics=20D=C3=A1niel?= <dkiovics@gmail.com>
Date: Sun, 11 Feb 2024 22:14:25 +0100
Subject: [PATCH 24/31] Telemetry bug fixes, upload config update

---
 esp/ESP_firmware/ESP_firmware.ino             | 21 ++++++++++++-------
 firmware/.cproject                            | 10 ++++++++-
 firmware/Core/Src/main.c                      |  9 ++++++--
 firmware/Core/Src/stm32f1xx_hal_msp.c         |  2 +-
 firmware/Drivers/encoder/encoder.c            |  2 +-
 firmware/Drivers/encoder/encoder.h            |  4 ++--
 firmware/Drivers/servo/servo.c                |  9 ++++----
 firmware/Drivers/servo/servo.h                |  6 +++---
 firmware/Drivers/uart/uart.c                  | 21 +++++++++++--------
 .../Upload with DFU (Linux).launch            |  6 ------
 .../Upload with DFU (Windows).launch          |  6 ------
 ...nch => Upload with DFU 2.0 - Debug.launch} |  0
 .../Upload with DFU 2.0 - Release.launch      |  6 ++++++
 firmware/tanfolyamrobot.ioc                   |  6 +++---
 .../robot-dashboard/src/App.js                |  2 +-
 .../robot-dashboard/src/MotorServoDisplay.js  | 15 ++++++++-----
 .../robot-dashboard/src/RobotPage.js          |  6 ++++--
 17 files changed, 76 insertions(+), 55 deletions(-)
 delete mode 100644 firmware/LaunchConfig/Upload with DFU (Linux).launch
 delete mode 100644 firmware/LaunchConfig/Upload with DFU (Windows).launch
 rename firmware/LaunchConfig/{Upload with DFU 2.0 (Windows).launch => Upload with DFU 2.0 - Debug.launch} (100%)
 create mode 100644 firmware/LaunchConfig/Upload with DFU 2.0 - Release.launch

diff --git a/esp/ESP_firmware/ESP_firmware.ino b/esp/ESP_firmware/ESP_firmware.ino
index 534148c..a7eafaf 100644
--- a/esp/ESP_firmware/ESP_firmware.ino
+++ b/esp/ESP_firmware/ESP_firmware.ino
@@ -79,6 +79,10 @@ void setup() {
 
 void loop() {
   server.handleClient();
+
+//   sendJson(88, 69, 75, 1, 2, 3, 4, 22, 33, 44, 55, 1.2, 2.3, 3.4, 4.5, 5.6, 6.7, 7.8);
+//   delay(100);
+//   return;
   
   if (Serial.available() > 0) {
     char incomingChar = Serial.read();
@@ -182,12 +186,11 @@ void getConfig(){
 }
 
 void processSerialData(const char *data) {
-  int servo, motora, motorb, usonic, hsv_h, hsv_s, hsv_v, rgb_r, rgb_g, rgb_b;
-  float wheelaspeed, wheelbspeed, imu_acc_a, imu_acc_b, imu_acc_c, imu_gyro_x, imu_gyro_y, imu_gyro_z, imu_temp;
+  int servo, motora, motorb, cpsa, cpsb, cnta, cntb, usonic, hsv_h, hsv_s, hsv_v, rgb_r, rgb_g, rgb_b;
   
-  sscanf(data, " %d %d %d %f %f %ld %ld %d %d", &rgb_r, &rgb_g, &rgb_b, &wheelaspeed, &wheelbspeed, &motora, &motorb, &servo, &usonic);
+  sscanf(data, " %d %d %d %d %d %d %d %d %d %d %d", &rgb_r, &rgb_g, &rgb_b, &motora, &motorb, &cpsa, &cpsb, &cnta, &cntb, &servo, &usonic);
   rgb2hsv(rgb_r, rgb_g, rgb_b, &hsv_h, &hsv_s, &hsv_v);
-  sendJson(servo, motora, motorb, wheelaspeed, wheelbspeed, usonic, hsv_h, hsv_s, hsv_v, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
+  sendJson(servo, motora, motorb, cpsa, cpsb, cnta, cntb, usonic, hsv_h, hsv_s, hsv_v, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
 }
 
 void rgb2hsv(int r, int g, int b, int* hue, int* sat, int* val){
@@ -223,11 +226,11 @@ void rgb2hsv(int r, int g, int b, int* hue, int* sat, int* val){
   }
 }
 
-void sendJson(int servo, int motora, int motorb, float wheelaspeed, float wheelbspeed, int usonic, int hsv_h, int hsv_s, int hsv_v, float imu_acc_a, float imu_acc_b, float imu_acc_c, float imu_gyro_x, float imu_gyro_y, float imu_gyro_z, float imu_temp) {
+void sendJson(int servo, int motora, int motorb, int cpsa, int cpsb, int cnta, int cntb, int usonic, int hsv_h, int hsv_s, int hsv_v, float imu_acc_a, float imu_acc_b, float imu_acc_c, float imu_gyro_x, float imu_gyro_y, float imu_gyro_z, float imu_temp) {
     WiFiClient client;
     
     if (!client.connect(ipaddr, 5000)) {
-        Serial.println("Connection failed");
+        dlog("Connection failed");
         return;
     }
   
@@ -236,8 +239,10 @@ void sendJson(int servo, int motora, int motorb, float wheelaspeed, float wheelb
     doc["servo"] = servo;
     doc["motora"] = motora;
     doc["motorb"] = motorb;
-    doc["wheelaspeed"] = wheelaspeed;
-    doc["wheelbspeed"] = wheelbspeed;
+    doc["cpsa"] = cpsa;
+    doc["cpsb"] = cpsb;
+    doc["cnta"] = cnta;
+    doc["cntb"] = cntb;
     doc["usonic"] = usonic;
     
     JsonObject hsv = doc.createNestedObject("hsv");
diff --git a/firmware/.cproject b/firmware/.cproject
index 69342e9..6faacb8 100644
--- a/firmware/.cproject
+++ b/firmware/.cproject
@@ -27,6 +27,7 @@
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoprintffloat.208908394" name="Use float with printf from newlib-nano (-u _printf_float)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoprintffloat" useByScannerDiscovery="false" value="true" valueType="boolean"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.converthex.1903668827" name="Convert to Intel Hex file (-O ihex)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.converthex" useByScannerDiscovery="false" value="true" valueType="boolean"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.convertbinary.995671883" name="Convert to binary file (-O binary)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.convertbinary" useByScannerDiscovery="false" value="true" valueType="boolean"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoscanffloat.889712199" name="Use float with scanf from newlib-nano (-u _scanf_float)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoscanffloat" useByScannerDiscovery="false" value="true" valueType="boolean"/>
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform.1171873609" isAbstract="false" osList="all" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform"/>
 							<builder buildPath="${workspace_loc:/tanfolyamrobot}/Debug" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.374330356" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.896031698" name="MCU GCC Assembler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler">
@@ -34,6 +35,9 @@
 								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.definedsymbols.1219383337" name="Define symbols (-D)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.definedsymbols" useByScannerDiscovery="false" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="DEBUG"/>
 								</option>
+								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.includepaths.1237376530" name="Include paths (-I)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.includepaths" useByScannerDiscovery="false" valueType="includePath">
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Drivers/sprintf}&quot;"/>
+								</option>
 								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.input.483105848" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.input"/>
 							</tool>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1509650709" name="MCU GCC Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler">
@@ -122,13 +126,17 @@
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoprintffloat.377154912" name="Use float with printf from newlib-nano (-u _printf_float)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoprintffloat" useByScannerDiscovery="false" value="true" valueType="boolean"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.converthex.1945823917" name="Convert to Intel Hex file (-O ihex)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.converthex" useByScannerDiscovery="false" value="true" valueType="boolean"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.convertbinary.389742334" name="Convert to binary file (-O binary)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.convertbinary" useByScannerDiscovery="false" value="true" valueType="boolean"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoscanffloat.978263921" name="Use float with scanf from newlib-nano (-u _scanf_float)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoscanffloat" useByScannerDiscovery="false" value="true" valueType="boolean"/>
 							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform.1024469545" isAbstract="false" osList="all" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.targetplatform"/>
 							<builder buildPath="${workspace_loc:/tanfolyamrobot}/Release" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder.541582858" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="Gnu Make Builder" parallelBuildOn="true" parallelizationNumber="optimal" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.builder"/>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.852978513" name="MCU GCC Assembler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler">
 								<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.debuglevel.1364243672" name="Debug level" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.debuglevel" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.debuglevel.value.g3" valueType="enumerated"/>
-								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.definedsymbols.638374311" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.definedsymbols" valueType="definedSymbols">
+								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.definedsymbols.638374311" name="Define symbols (-D)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.definedsymbols" useByScannerDiscovery="false" valueType="definedSymbols">
 									<listOptionValue builtIn="false" value="DEBUG"/>
 								</option>
+								<option IS_BUILTIN_EMPTY="false" IS_VALUE_EMPTY="false" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.includepaths.2124265390" name="Include paths (-I)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.option.includepaths" valueType="includePath">
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/Drivers/sprintf}&quot;"/>
+								</option>
 								<inputType id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.input.1686488338" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.assembler.input"/>
 							</tool>
 							<tool id="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler.1454357132" name="MCU GCC Compiler" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.tool.c.compiler">
diff --git a/firmware/Core/Src/main.c b/firmware/Core/Src/main.c
index 001ac74..004d4b6 100644
--- a/firmware/Core/Src/main.c
+++ b/firmware/Core/Src/main.c
@@ -78,7 +78,7 @@
 #define SERVO_PWM_PERIOD       20000
 #define SERVO_START_POS         680           // TODO: calibrate endpoints
 #define SERVO_END_POS           2640
-#define SERVO_INIT_POS 			90
+#define SERVO_INIT_POS 			0
 
 #define US_COLOR_ESP_TX_CAPTURE_TIMER (&htim4)
 #define US_TIMER_FREQUENCY_HZ      (2*1000*1000)
@@ -189,6 +189,7 @@ static void MX_ADC1_Init(void);
 /* USER CODE BEGIN 0 */
 void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {
     static uint32_t adcTimerItCount = 0;
+    static uint32_t telemetryItCounter = 0;
 
     if(!pgmReady)
     	return;
@@ -216,7 +217,11 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {
 
     if(htim == US_COLOR_ESP_TX_CAPTURE_TIMER){
     	usStartMeasurementPulseAsync(&us);
-    	uart_SendDataToEsp(&uart3, &colorSensor, speedControl1, speedControl2, servo, &us);
+    	telemetryItCounter++;
+    	if(telemetryItCounter == 4){
+    		telemetryItCounter = 0;
+    		uart_SendDataToEsp(&uart3, &colorSensor, speedControl1, speedControl2, servo, &us);
+    	}
     }
 }
 
diff --git a/firmware/Core/Src/stm32f1xx_hal_msp.c b/firmware/Core/Src/stm32f1xx_hal_msp.c
index 0e75f58..5371cc9 100644
--- a/firmware/Core/Src/stm32f1xx_hal_msp.c
+++ b/firmware/Core/Src/stm32f1xx_hal_msp.c
@@ -418,7 +418,7 @@ void HAL_UART_MspInit(UART_HandleTypeDef* huart)
     __HAL_LINKDMA(huart,hdmatx,hdma_usart1_tx);
 
     /* USART1 interrupt Init */
-    HAL_NVIC_SetPriority(USART1_IRQn, 1, 0);
+    HAL_NVIC_SetPriority(USART1_IRQn, 0, 0);
     HAL_NVIC_EnableIRQ(USART1_IRQn);
   /* USER CODE BEGIN USART1_MspInit 1 */
 
diff --git a/firmware/Drivers/encoder/encoder.c b/firmware/Drivers/encoder/encoder.c
index ef3493e..589ed5f 100644
--- a/firmware/Drivers/encoder/encoder.c
+++ b/firmware/Drivers/encoder/encoder.c
@@ -221,7 +221,7 @@ void encoderTimerOverflowHandler(Encoder* encoder) {
  * @param encoder
  * @return counter value
  */
-uint32_t encoderGetCounterValue(volatile const Encoder* encoder) {
+int32_t encoderGetCounterValue(volatile const Encoder* encoder) {
     return encoder->counter;
 }
 
diff --git a/firmware/Drivers/encoder/encoder.h b/firmware/Drivers/encoder/encoder.h
index fef6882..5b1ae4a 100644
--- a/firmware/Drivers/encoder/encoder.h
+++ b/firmware/Drivers/encoder/encoder.h
@@ -32,7 +32,7 @@ typedef struct {
     int8_t direction;
 
     uint8_t initialized;
-    uint32_t counter;
+    int32_t counter;
 
     TIM_HandleTypeDef* timer;
     uint32_t timerPeriod;
@@ -52,7 +52,7 @@ void encoderInit(volatile Encoder* encoder,
 void encoderHandlerA(volatile Encoder* encoder);
 void encoderHandlerB(volatile Encoder* encoder);
 void encoderTimerOverflowHandler(Encoder* encoder);
-uint32_t encoderGetCounterValue(volatile const Encoder* encoder);
+int32_t encoderGetCounterValue(volatile const Encoder* encoder);
 int32_t encoderGetCountsPerSecond(Encoder* encoder);
 float encoderGetSpeed(Encoder* encoder);
 
diff --git a/firmware/Drivers/servo/servo.c b/firmware/Drivers/servo/servo.c
index e47354b..b4d24ae 100644
--- a/firmware/Drivers/servo/servo.c
+++ b/firmware/Drivers/servo/servo.c
@@ -21,14 +21,13 @@
  * @param compareStart timer output compare value for -90 degree position (1 ms)
  * @param compareEnd timer output compare value for +90 degree position (2 ms)
  */
-void servoInit(Servo* servo, Pwm* pwm, uint16_t compareStart, uint16_t compareEnd, uint8_t position) {
+void servoInit(Servo* servo, Pwm* pwm, uint16_t compareStart, uint16_t compareEnd, int8_t position) {
     servo->pwm = pwm;
     servo->compareStart = compareStart;
     servo->compareEnd = compareEnd;
+    servo->position = position;
 
-    uint16_t mid = compareStart + (compareEnd - compareStart)/2;
-
-    pwmSetCompareValue(servo->pwm, mid);
+    servoSetPosition(servo, position);
 }
 
 /**
@@ -46,7 +45,7 @@ void servoInit(Servo* servo, Pwm* pwm, uint16_t compareStart, uint16_t compareEn
  * @return pointer to the created struct, NULL on error
  */
 Servo* servoCreate(TIM_HandleTypeDef* timer, uint32_t timerChannel, uint16_t timerPeriod,
-                   PwmOutput outputType, uint16_t compareStart, uint16_t compareEnd, uint8_t position) {
+                   PwmOutput outputType, uint16_t compareStart, uint16_t compareEnd, int8_t position) {
 
     Pwm* pwm = pwmCreate(timer, timerChannel, timerPeriod, outputType);
 
diff --git a/firmware/Drivers/servo/servo.h b/firmware/Drivers/servo/servo.h
index f8e1743..5bf88f0 100644
--- a/firmware/Drivers/servo/servo.h
+++ b/firmware/Drivers/servo/servo.h
@@ -17,12 +17,12 @@ typedef struct {
     Pwm* pwm;
     uint16_t compareStart;
     uint16_t compareEnd;
-    uint8_t position;
+    int8_t position;
 } Servo;
 
-void servoInit(Servo* servo, Pwm* pwm, uint16_t compareStart, uint16_t compareEnd, uint8_t position);
+void servoInit(Servo* servo, Pwm* pwm, uint16_t compareStart, uint16_t compareEnd, int8_t position);
 Servo* servoCreate(TIM_HandleTypeDef* timer, uint32_t timerChannel, uint16_t timerPeriod,
-                   PwmOutput outputType, uint16_t compareStart, uint16_t compareEnd, uint8_t position);
+                   PwmOutput outputType, uint16_t compareStart, uint16_t compareEnd, int8_t position);
 void servoSetPosition(Servo* servo, int8_t position);
 
 #endif /* SERVO_SERVO_H_ */
diff --git a/firmware/Drivers/uart/uart.c b/firmware/Drivers/uart/uart.c
index a8d0f29..f1af07a 100644
--- a/firmware/Drivers/uart/uart.c
+++ b/firmware/Drivers/uart/uart.c
@@ -9,9 +9,9 @@
 
 
 #include <stdlib.h>
-#include <stdio.h>
 #include <stdarg.h>
 #include <string.h>
+#include <stdio.h>
 
 
 
@@ -179,17 +179,20 @@ uint8_t uart_receive(volatile Uart *uart, char* data){
 }
 
 void uart_SendDataToEsp(volatile Uart* espUart, volatile ColorSensor* colorSensor, volatile SpeedControl* speedControl1, volatile SpeedControl* speedControl2, volatile Servo* servo, volatile UltraSonic* us){
-	char data[256];
 	uint8_t r, g, b;
-	uint32_t enc1, enc2;
 	colorSensorGetRgb(colorSensor, &r, &g, &b);
-	enc1 = encoderGetCountsPerSecond(speedControl1->encoder);
-	enc2 = encoderGetCountsPerSecond(speedControl2->encoder);
-	//D: R G B Speed1 Speed2 CPS1 CPS2 Servo US
-	sprintf(data, "D: %d %d %d %.1f %.1f %ld %ld %d %d\n",
-				r, g, b, speedControl1->setPoint, speedControl2->setPoint, enc1, enc2, servo->position, us->lastDistance);
+	int cps1 = encoderGetCountsPerSecond(speedControl1->encoder);
+	int cps2 = encoderGetCountsPerSecond(speedControl2->encoder);
+	int cnt1 = encoderGetCounterValue(speedControl1->encoder);
+	int cnt2 = encoderGetCounterValue(speedControl2->encoder);
 
-	//uartPrintf("Setpoints: %.1f %.1f   Cps: %ld %ld\n", speedControl1->setPoint, speedControl2->setPoint, enc1, enc2);
+	char data[256];
+	//D: R G B Setpoint1 Setpoint2 CPS1 CPS2 CNT1 CNT2 Servo US
+	//For some reason when sprintf is called from an interrupt handler it cannot contain any %f formatted values
+	//otherwise it sometimes produces garbage output
+	sprintf(data, "D: %d %d %d %d %d %d %d %d %d %d %d\n", (int)r, (int)g, (int)b,
+			(int)speedControl1->setPoint, (int)speedControl2->setPoint,
+			cps1, cps2, cnt1, cnt2, servo->position, us->lastDistance);
 
 	uart_transmit(espUart, data);
 }
diff --git a/firmware/LaunchConfig/Upload with DFU (Linux).launch b/firmware/LaunchConfig/Upload with DFU (Linux).launch
deleted file mode 100644
index 174dba3..0000000
--- a/firmware/LaunchConfig/Upload with DFU (Linux).launch	
+++ /dev/null
@@ -1,6 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?>
-<launchConfiguration type="org.eclipse.ui.externaltools.ProgramLaunchConfigurationType">
-<stringAttribute key="org.eclipse.ui.externaltools.ATTR_LOCATION" value="${workspace_loc:/tanfolyamrobot/tools/upload.sh}"/>
-<stringAttribute key="org.eclipse.ui.externaltools.ATTR_TOOL_ARGUMENTS" value="/dev/ttyUSB0"/>
-<stringAttribute key="org.eclipse.ui.externaltools.ATTR_WORKING_DIRECTORY" value="${workspace_loc:/tanfolyamrobot/tools}"/>
-</launchConfiguration>
diff --git a/firmware/LaunchConfig/Upload with DFU (Windows).launch b/firmware/LaunchConfig/Upload with DFU (Windows).launch
deleted file mode 100644
index 996a3d5..0000000
--- a/firmware/LaunchConfig/Upload with DFU (Windows).launch	
+++ /dev/null
@@ -1,6 +0,0 @@
-<?xml version="1.0" encoding="UTF-8" standalone="no"?>
-<launchConfiguration type="org.eclipse.ui.externaltools.ProgramLaunchConfigurationType">
-<stringAttribute key="org.eclipse.ui.externaltools.ATTR_LOCATION" value="${workspace_loc:/tanfolyamrobot/tools/upload.bat}"/>
-<stringAttribute key="org.eclipse.ui.externaltools.ATTR_TOOL_ARGUMENTS" value="COM3"/>
-<stringAttribute key="org.eclipse.ui.externaltools.ATTR_WORKING_DIRECTORY" value="${workspace_loc:/tanfolyamrobot/tools}"/>
-</launchConfiguration>
diff --git a/firmware/LaunchConfig/Upload with DFU 2.0 (Windows).launch b/firmware/LaunchConfig/Upload with DFU 2.0 - Debug.launch
similarity index 100%
rename from firmware/LaunchConfig/Upload with DFU 2.0 (Windows).launch
rename to firmware/LaunchConfig/Upload with DFU 2.0 - Debug.launch
diff --git a/firmware/LaunchConfig/Upload with DFU 2.0 - Release.launch b/firmware/LaunchConfig/Upload with DFU 2.0 - Release.launch
new file mode 100644
index 0000000..1f2ee5c
--- /dev/null
+++ b/firmware/LaunchConfig/Upload with DFU 2.0 - Release.launch	
@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<launchConfiguration type="org.eclipse.ui.externaltools.ProgramLaunchConfigurationType">
+    <stringAttribute key="org.eclipse.ui.externaltools.ATTR_LOCATION" value="${workspace_loc:/tanfolyamrobot/tools/Tanfolyamrobot FTDI.exe}"/>
+    <stringAttribute key="org.eclipse.ui.externaltools.ATTR_TOOL_ARGUMENTS" value="500000 ../Release/tanfolyamrobot.bin"/>
+    <stringAttribute key="org.eclipse.ui.externaltools.ATTR_WORKING_DIRECTORY" value="${workspace_loc:/tanfolyamrobot/tools}"/>
+</launchConfiguration>
diff --git a/firmware/tanfolyamrobot.ioc b/firmware/tanfolyamrobot.ioc
index 2ddcc34..e95f575 100644
--- a/firmware/tanfolyamrobot.ioc
+++ b/firmware/tanfolyamrobot.ioc
@@ -99,8 +99,8 @@ MxCube.Version=5.6.0
 MxDb.Version=DB.5.0.60
 NVIC.ADC1_2_IRQn=true\:15\:0\:true\:false\:true\:true\:true\:true
 NVIC.BusFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
-NVIC.DMA1_Channel2_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true
-NVIC.DMA1_Channel4_IRQn=true\:0\:0\:false\:false\:true\:false\:true\:true
+NVIC.DMA1_Channel2_IRQn=true\:0\:0\:true\:false\:true\:false\:true\:true
+NVIC.DMA1_Channel4_IRQn=true\:0\:0\:true\:false\:true\:false\:true\:true
 NVIC.DebugMonitor_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 NVIC.EXTI0_IRQn=true\:2\:0\:true\:false\:true\:true\:true\:true
 NVIC.EXTI9_5_IRQn=true\:2\:0\:true\:false\:true\:true\:true\:true
@@ -116,7 +116,7 @@ NVIC.TIM1_UP_IRQn=true\:2\:0\:true\:false\:true\:true\:true\:true
 NVIC.TIM2_IRQn=true\:2\:0\:true\:false\:true\:true\:true\:true
 NVIC.TIM3_IRQn=true\:2\:0\:true\:false\:true\:true\:true\:true
 NVIC.TIM4_IRQn=true\:2\:0\:true\:false\:true\:true\:true\:true
-NVIC.USART1_IRQn=true\:1\:0\:true\:false\:true\:true\:true\:true
+NVIC.USART1_IRQn=true\:0\:0\:true\:false\:true\:true\:true\:true
 NVIC.USART3_IRQn=true\:0\:0\:false\:false\:true\:true\:true\:true
 NVIC.UsageFault_IRQn=true\:0\:0\:false\:false\:true\:false\:false\:false
 PA0-WKUP.GPIOParameters=GPIO_Label,GPIO_ModeDefaultEXTI
diff --git a/react-robot-dashboard/robot-dashboard/src/App.js b/react-robot-dashboard/robot-dashboard/src/App.js
index 1c57de9..0bd634e 100644
--- a/react-robot-dashboard/robot-dashboard/src/App.js
+++ b/react-robot-dashboard/robot-dashboard/src/App.js
@@ -6,7 +6,7 @@ function App() {
   return (
     <div className="App">
       <header className="App-header">
-        <h1 style={titleStyle}>LEGO Tanfolyam Robot Dashboard</h1>
+        <h1 style={titleStyle}>LEGO TanfolyamRobot Dashboard</h1>
         <RobotPage />
       </header>
     </div>
diff --git a/react-robot-dashboard/robot-dashboard/src/MotorServoDisplay.js b/react-robot-dashboard/robot-dashboard/src/MotorServoDisplay.js
index 03971b0..c014d34 100644
--- a/react-robot-dashboard/robot-dashboard/src/MotorServoDisplay.js
+++ b/react-robot-dashboard/robot-dashboard/src/MotorServoDisplay.js
@@ -1,20 +1,25 @@
 import React from 'react';
 import './MotorServoDisplay.css'; // Make sure to include this CSS file
 
-const MotorServoDisplay = ({ motora, motorb, wheelaspeed, wheelbspeed, servo }) => {
+const MotorServoDisplay = ({ motora, motorb, cpsa, cpsb, cnta, cntb, servo }) => {
   return (
     <div className="motor-servo-display">
       <h2>Motor and Servo Data</h2>
       <div className="data-matrix">
         <div className="data-column">
-          <div className="data-header">Motors Power</div>
+          <div className="data-header">Motor Setpoint</div>
           <div className="data-value">Motor A: {motora}</div>
           <div className="data-value">Motor B: {motorb}</div>
         </div>
         <div className="data-column">
-          <div className="data-header">Wheels Speed</div>
-          <div className="data-value">Wheel A: {wheelaspeed} RPM</div>
-          <div className="data-value">Wheel B: {wheelbspeed} RPM</div>
+          <div className="data-header">Encoder Speed</div>
+          <div className="data-value">Encoder A: {cpsa} CP/s</div>
+          <div className="data-value">Encoder B: {cpsb} CP/s</div>
+        </div>
+        <div className="data-column">
+          <div className="data-header">Encoder Position</div>
+          <div className="data-value">Encoder A: {cnta}</div>
+          <div className="data-value">Encoder B: {cntb}</div>
         </div>
         <div className="data-column">
           <div className="data-header">Servo Position</div>
diff --git a/react-robot-dashboard/robot-dashboard/src/RobotPage.js b/react-robot-dashboard/robot-dashboard/src/RobotPage.js
index bb57b84..dc6532d 100644
--- a/react-robot-dashboard/robot-dashboard/src/RobotPage.js
+++ b/react-robot-dashboard/robot-dashboard/src/RobotPage.js
@@ -42,8 +42,10 @@ const RobotPage = () => {
           <MotorServoDisplay
             motora={data.motora}
             motorb={data.motorb}
-            wheelaspeed={data.wheelaspeed}
-            wheelbspeed={data.wheelbspeed}
+            cpsa={data.cpsa}
+            cpsb={data.cpsb}
+            cnta={data.cnta}
+            cntb={data.cntb}
             servo={data.servo}
           />
         )}

From 0ecfb867e3aa4b8d83298d5eed2d724ed79a2c1d Mon Sep 17 00:00:00 2001
From: ABEeNI <andrasi.beni2001@gmail.com>
Date: Mon, 12 Feb 2024 23:04:55 +0100
Subject: [PATCH 25/31] Log component console added

---
 .../robot-dashboard/src/Console.js            | 47 +++++++++++++++++++
 .../robot-dashboard/src/RobotPage.js          |  4 ++
 2 files changed, 51 insertions(+)
 create mode 100644 react-robot-dashboard/robot-dashboard/src/Console.js

diff --git a/react-robot-dashboard/robot-dashboard/src/Console.js b/react-robot-dashboard/robot-dashboard/src/Console.js
new file mode 100644
index 0000000..d539d1f
--- /dev/null
+++ b/react-robot-dashboard/robot-dashboard/src/Console.js
@@ -0,0 +1,47 @@
+import React, { useState, useEffect } from 'react';
+
+const Console = ({ data }) => {
+  const [messages, setMessages] = useState([]);
+
+  useEffect(() => {
+    if (data && data.consolemessage && data.consolemessage !== "") {
+      setMessages(prevMessages => [...prevMessages, data.consolemessage]);
+    }
+  }, [data]);
+
+  return (
+    <div style={{
+      height: '300px',
+      width: '100%',
+      overflowY: 'scroll',
+      backgroundColor: '#0e0e0e',
+      color: '#FFFFFF', // Corrected color value
+      fontFamily: 'monospace',
+      fontSize: '50px',
+      padding: '10px',
+      boxSizing: 'border-box',
+      textAlign: 'left', // Ensure text aligns to the left
+      /* Custom Scrollbar styles */
+      scrollbarWidth: 'thin',
+      scrollbarColor: '#ffcc00 #0e0e0e',
+      /* Webkit Scrollbar styles */
+      WebkitOverflowScrolling: 'touch',
+      '&::-webkit-scrollbar': {
+        width: '12px',
+      },
+      '&::-webkit-scrollbar-track': {
+        background: '#0e0e0e',
+      },
+      '&::-webkit-scrollbar-thumb': {
+        background: '#ffcc00',
+        borderRadius: '10px',
+      }
+    }}>
+      {messages.map((message, index) => (
+        <div key={index}>{message}</div>
+      ))}
+    </div>
+  );
+};
+
+export default Console;
diff --git a/react-robot-dashboard/robot-dashboard/src/RobotPage.js b/react-robot-dashboard/robot-dashboard/src/RobotPage.js
index dc6532d..ccc9583 100644
--- a/react-robot-dashboard/robot-dashboard/src/RobotPage.js
+++ b/react-robot-dashboard/robot-dashboard/src/RobotPage.js
@@ -5,6 +5,7 @@ import HSVColorDisplay from './HSVColorDisplay';
 import IMUSensorDisplay from './IMUSensorDisplay';
 import MotorServoDisplay from './MotorServoDisplay';
 import Terminal from './Terminal';
+import Console from './Console';
 
 const RobotPage = () => {
   const [data, setData] = useState(null);
@@ -50,6 +51,9 @@ const RobotPage = () => {
           />
         )}
       </div>
+      <div style={{ display: 'flex', justifyContent: 'space-around' }}>
+        <Console data={data} />
+      </div>
       <div style={{ justifyContent: 'space-around',  bottom: 0, width: '100%' }}>
         <Terminal onSendMessage={sendMessage} />
       </div>

From bf9d16ee331acd1e0df72d22bb6f3baae5e36525 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kiovics=20D=C3=A1niel?= <dkiovics@gmail.com>
Date: Thu, 15 Feb 2024 16:48:03 +0100
Subject: [PATCH 26/31] initial esp printf

---
 esp/ESP_firmware/ESP_firmware.ino    |  9 ++++++---
 firmware/Application/application.c   |  7 ++++---
 firmware/Core/Inc/robotcontrol-api.h |  2 +-
 firmware/Core/Src/main.c             |  4 ++--
 firmware/Core/Src/robotcontrol.c     | 12 ++++++++----
 firmware/Drivers/uart/uart.c         | 22 +++++++++++++++++++---
 firmware/Drivers/uart/uart.h         |  7 +++++--
 7 files changed, 45 insertions(+), 18 deletions(-)

diff --git a/esp/ESP_firmware/ESP_firmware.ino b/esp/ESP_firmware/ESP_firmware.ino
index a7eafaf..9f2777f 100644
--- a/esp/ESP_firmware/ESP_firmware.ino
+++ b/esp/ESP_firmware/ESP_firmware.ino
@@ -187,10 +187,11 @@ void getConfig(){
 
 void processSerialData(const char *data) {
   int servo, motora, motorb, cpsa, cpsb, cnta, cntb, usonic, hsv_h, hsv_s, hsv_v, rgb_r, rgb_g, rgb_b;
+  char text[256] = "";
   
-  sscanf(data, " %d %d %d %d %d %d %d %d %d %d %d", &rgb_r, &rgb_g, &rgb_b, &motora, &motorb, &cpsa, &cpsb, &cnta, &cntb, &servo, &usonic);
+  sscanf(data, " %d %d %d %d %d %d %d %d %d %d %d %[^\"]", &rgb_r, &rgb_g, &rgb_b, &motora, &motorb, &cpsa, &cpsb, &cnta, &cntb, &servo, &usonic, text);
   rgb2hsv(rgb_r, rgb_g, rgb_b, &hsv_h, &hsv_s, &hsv_v);
-  sendJson(servo, motora, motorb, cpsa, cpsb, cnta, cntb, usonic, hsv_h, hsv_s, hsv_v, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
+  sendJson(servo, motora, motorb, cpsa, cpsb, cnta, cntb, usonic, hsv_h, hsv_s, hsv_v, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, text);
 }
 
 void rgb2hsv(int r, int g, int b, int* hue, int* sat, int* val){
@@ -226,7 +227,7 @@ void rgb2hsv(int r, int g, int b, int* hue, int* sat, int* val){
   }
 }
 
-void sendJson(int servo, int motora, int motorb, int cpsa, int cpsb, int cnta, int cntb, int usonic, int hsv_h, int hsv_s, int hsv_v, float imu_acc_a, float imu_acc_b, float imu_acc_c, float imu_gyro_x, float imu_gyro_y, float imu_gyro_z, float imu_temp) {
+void sendJson(int servo, int motora, int motorb, int cpsa, int cpsb, int cnta, int cntb, int usonic, int hsv_h, int hsv_s, int hsv_v, float imu_acc_a, float imu_acc_b, float imu_acc_c, float imu_gyro_x, float imu_gyro_y, float imu_gyro_z, float imu_temp, const char* text) {
     WiFiClient client;
     
     if (!client.connect(ipaddr, 5000)) {
@@ -244,6 +245,8 @@ void sendJson(int servo, int motora, int motorb, int cpsa, int cpsb, int cnta, i
     doc["cnta"] = cnta;
     doc["cntb"] = cntb;
     doc["usonic"] = usonic;
+    if(strlen(text) > 0)
+        doc["consolemessage"] = String(text);
     
     JsonObject hsv = doc.createNestedObject("hsv");
     hsv["h"] = hsv_h;
diff --git a/firmware/Application/application.c b/firmware/Application/application.c
index 697cc19..32f8fc7 100644
--- a/firmware/Application/application.c
+++ b/firmware/Application/application.c
@@ -3,9 +3,9 @@
  */
 #include "robotcontrol-api.h"
 
-const char* WIFI_SSID = "Andi_Vs_ESP_rematch";
-const char* WIFI_PASSWORD = "NE FOGD MEG ;)";
-const char* SERVER_IP = "192.168.4.1";
+const char* WIFI_SSID = "Andi";
+const char* WIFI_PASSWORD = "Gomboc02";
+const char* SERVER_IP = "192.168.45.102";
 
 int application() {
 
@@ -20,6 +20,7 @@ int application() {
     		lcdPrintf(0, 0, "                ");
     		lcdPrintf(1, 0, "                ");
     		lcdPrintf(0, 0, data);
+    		espPrintf("I received: %s", data);
     	}
     }
 
diff --git a/firmware/Core/Inc/robotcontrol-api.h b/firmware/Core/Inc/robotcontrol-api.h
index afdfde4..a10131c 100644
--- a/firmware/Core/Inc/robotcontrol-api.h
+++ b/firmware/Core/Inc/robotcontrol-api.h
@@ -54,7 +54,7 @@ int uartPrintf(const char *fmt, ...);
 /**
  * Print to the ESP serial port. Works just like regular printf.
  */
-//int espPrintf(const char *fmt, ...);  TODO: someone implement it pls.
+int espPrintf(const char *fmt, ...);
 
 /**
  * Read from the ESP serial port.
diff --git a/firmware/Core/Src/main.c b/firmware/Core/Src/main.c
index 004d4b6..0edfcba 100644
--- a/firmware/Core/Src/main.c
+++ b/firmware/Core/Src/main.c
@@ -220,7 +220,7 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {
     	telemetryItCounter++;
     	if(telemetryItCounter == 4){
     		telemetryItCounter = 0;
-    		uart_SendDataToEsp(&uart3, &colorSensor, speedControl1, speedControl2, servo, &us);
+    		uart_sendDataToEsp(&uart3, &colorSensor, speedControl1, speedControl2, servo, &us);
     	}
     }
 }
@@ -481,7 +481,7 @@ int main(void)
   lcdClear();
   batteryIndicatorEnable();
 
-  uart_SendConfigToEsp(&uart3, WIFI_SSID, WIFI_PASSWORD, SERVER_IP);
+  uart_sendConfigToEsp(&uart3, WIFI_SSID, WIFI_PASSWORD, SERVER_IP);
 
   /* USER CODE END 2 */
 
diff --git a/firmware/Core/Src/robotcontrol.c b/firmware/Core/Src/robotcontrol.c
index 460f68f..b3fbce3 100644
--- a/firmware/Core/Src/robotcontrol.c
+++ b/firmware/Core/Src/robotcontrol.c
@@ -97,7 +97,7 @@ int uartPrintf(const char *fmt, ...) {
     return 0;
 }
 
-/*
+
 int espPrintf(const char *fmt, ...) {
     va_list args;
     va_start(args, fmt);
@@ -105,14 +105,18 @@ int espPrintf(const char *fmt, ...) {
     char str[256];
     int size = vsprintf(str, fmt, args);
     if(size <= 0)
-    	return;
+    	return -1;
     str[size] = '\0';
 
-    uart_transmit(uart3, str);
+    for(int p = 0; p < size; p++){
+    	if(str[p] == '\n')
+    		str[p] = ' ';
+    }
+
+    uart_sendTextToEsp(uart3, str);
 
     return 0;
 }
-*/
 
 int espRead(char* data) {
     return uart_receive(uart3, data);
diff --git a/firmware/Drivers/uart/uart.c b/firmware/Drivers/uart/uart.c
index f1af07a..25b7ae1 100644
--- a/firmware/Drivers/uart/uart.c
+++ b/firmware/Drivers/uart/uart.c
@@ -178,7 +178,12 @@ uint8_t uart_receive(volatile Uart *uart, char* data){
 	return 1;
 }
 
-void uart_SendDataToEsp(volatile Uart* espUart, volatile ColorSensor* colorSensor, volatile SpeedControl* speedControl1, volatile SpeedControl* speedControl2, volatile Servo* servo, volatile UltraSonic* us){
+static volatile char prevData[256] = "";
+static volatile uint8_t sendDataEnabled = 1;
+
+void uart_sendDataToEsp(volatile Uart* espUart, volatile ColorSensor* colorSensor, volatile SpeedControl* speedControl1, volatile SpeedControl* speedControl2, volatile Servo* servo, volatile UltraSonic* us){
+	if(!sendDataEnabled)
+		return;
 	uint8_t r, g, b;
 	colorSensorGetRgb(colorSensor, &r, &g, &b);
 	int cps1 = encoderGetCountsPerSecond(speedControl1->encoder);
@@ -190,14 +195,25 @@ void uart_SendDataToEsp(volatile Uart* espUart, volatile ColorSensor* colorSenso
 	//D: R G B Setpoint1 Setpoint2 CPS1 CPS2 CNT1 CNT2 Servo US
 	//For some reason when sprintf is called from an interrupt handler it cannot contain any %f formatted values
 	//otherwise it sometimes produces garbage output
-	sprintf(data, "D: %d %d %d %d %d %d %d %d %d %d %d\n", (int)r, (int)g, (int)b,
+	sprintf(prevData, "D: %d %d %d %d %d %d %d %d %d %d %d", (int)r, (int)g, (int)b,
 			(int)speedControl1->setPoint, (int)speedControl2->setPoint,
 			cps1, cps2, cnt1, cnt2, servo->position, us->lastDistance);
 
+	strcpy(data, prevData);
+	strcat(data, "\n");
+
+	uart_transmit(espUart, data);
+}
+
+void uart_sendTextToEsp(volatile Uart* espUart, const char* text){
+	char data[512];
+	sendDataEnabled = 0;
+	sprintf(data, "%s %s\n", prevData, text);
+	sendDataEnabled = 1;
 	uart_transmit(espUart, data);
 }
 
-void uart_SendConfigToEsp(volatile Uart* espUart, const char* SSID, const char* password, const char* IP){
+void uart_sendConfigToEsp(volatile Uart* espUart, const char* SSID, const char* password, const char* IP){
 	char data[256];
 	sprintf(data, "C:\t%s\t%s\t%s\n", SSID, password, IP);
 	uart_transmit(espUart, data);
diff --git a/firmware/Drivers/uart/uart.h b/firmware/Drivers/uart/uart.h
index 0f8c987..e843738 100644
--- a/firmware/Drivers/uart/uart.h
+++ b/firmware/Drivers/uart/uart.h
@@ -64,15 +64,18 @@ void uart_transmit(volatile Uart* uart, const char *str);
  */
 uint8_t uart_receive(volatile Uart* uart, char* data);
 
-void uart_SendDataToEsp(volatile Uart* espUart,
+void uart_sendDataToEsp(volatile Uart* espUart,
 						volatile ColorSensor* colorSensor,
 						volatile SpeedControl* speedControl1, volatile SpeedControl* speedControl2,
 						volatile Servo* servo,
 						volatile UltraSonic* us);
 
+//text must not contain any \n characters
+void uart_sendTextToEsp(volatile Uart* espUart, const char* text);
+
 /*
  * Send initial config to ESP
  */
-void uart_SendConfigToEsp(volatile Uart* espUart, const char* SSID, const char* password, const char* IP);
+void uart_sendConfigToEsp(volatile Uart* espUart, const char* SSID, const char* password, const char* IP);
 
 #endif /* UART_UART_H_ */

From d09161f9a6afac98e9a0a77a7411a686e0929bbe Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kiovics=20D=C3=A1niel?= <dkiovics@gmail.com>
Date: Sat, 17 Feb 2024 13:31:05 +0100
Subject: [PATCH 27/31] Auto server IP setter script

---
 firmware/.cproject                 |  6 ++--
 firmware/Application/application.c |  4 ++-
 firmware/tools/ip_setter.bat       | 55 ++++++++++++++++++++++++++++++
 3 files changed, 61 insertions(+), 4 deletions(-)
 create mode 100644 firmware/tools/ip_setter.bat

diff --git a/firmware/.cproject b/firmware/.cproject
index 6faacb8..7218a92 100644
--- a/firmware/.cproject
+++ b/firmware/.cproject
@@ -14,7 +14,7 @@
 				</extensions>
 			</storageModule>
 			<storageModule moduleId="cdtBuildSystem" version="4.0.0">
-				<configuration artifactExtension="elf" artifactName="${ProjName}" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.debug" cleanCommand="rm -rf" description="" errorParsers="org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GmakeErrorParser;org.eclipse.cdt.core.GLDErrorParser;org.eclipse.cdt.core.CWDLocator;org.eclipse.cdt.core.GCCErrorParser" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.1074848502" name="Debug" parent="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug">
+				<configuration artifactExtension="elf" artifactName="${ProjName}" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.debug" cleanCommand="rm -rf" description="" errorParsers="org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GmakeErrorParser;org.eclipse.cdt.core.GLDErrorParser;org.eclipse.cdt.core.CWDLocator;org.eclipse.cdt.core.GCCErrorParser" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.1074848502" name="Debug" parent="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug" prebuildStep="${workspace_loc:/tanfolyamrobot/tools/ip_setter.bat}">
 					<folderInfo id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.debug.1074848502." name="/" resourcePath="">
 						<toolChain id="com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.exe.debug.377437903" name="MCU ARM GCC" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.exe.debug">
 							<option id="com.st.stm32cube.ide.mcu.option.internal.toolchain.type.1283452258" name="Internal Toolchain Type" superClass="com.st.stm32cube.ide.mcu.option.internal.toolchain.type" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.base.gnu-tools-for-stm32" valueType="string"/>
@@ -23,7 +23,7 @@
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_cpuid.677214298" name="CPU" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_cpuid" useByScannerDiscovery="false" value="0" valueType="string"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_coreid.165122462" name="Core" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_coreid" useByScannerDiscovery="false" value="0" valueType="string"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board.2108309830" name="Board" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.target_board" useByScannerDiscovery="false" value="genericBoard" valueType="string"/>
-							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.2011846607" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.5 || Debug || true || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.base.gnu-tools-for-stm32 || STM32F103R8Tx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Drivers/CMSIS/Device/ST/STM32F1xx/Include | ../Drivers/CMSIS/Include | ../Core/Inc | ../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy | ../Drivers/STM32F1xx_HAL_Driver/Inc ||  ||  || USE_HAL_DRIVER | STM32F103xB ||  || Drivers | Core/Startup | Core ||  ||  || ${workspace_loc:/${ProjName}/STM32F103R8TX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o ||  || None || " valueType="string"/>
+							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults.2011846607" name="Defaults" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.defaults" useByScannerDiscovery="false" value="com.st.stm32cube.ide.common.services.build.inputs.revA.1.0.5 || Release || true || Executable || com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.base.gnu-tools-for-stm32 || STM32F103R8Tx || 0 || 0 || arm-none-eabi- || ${gnu_tools_for_stm32_compiler_path} || ../Drivers/CMSIS/Device/ST/STM32F1xx/Include | ../Drivers/CMSIS/Include | ../Core/Inc | ../Drivers/STM32F1xx_HAL_Driver/Inc/Legacy | ../Drivers/STM32F1xx_HAL_Driver/Inc ||  ||  || USE_HAL_DRIVER | STM32F103xB ||  || Drivers | Core/Startup | Core ||  ||  || ${workspace_loc:/${ProjName}/STM32F103R8TX_FLASH.ld} || true || NonSecure ||  || secure_nsclib.o ||  || None || " valueType="string"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoprintffloat.208908394" name="Use float with printf from newlib-nano (-u _printf_float)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.nanoprintffloat" useByScannerDiscovery="false" value="true" valueType="boolean"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.converthex.1903668827" name="Convert to Intel Hex file (-O ihex)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.converthex" useByScannerDiscovery="false" value="true" valueType="boolean"/>
 							<option id="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.convertbinary.995671883" name="Convert to binary file (-O binary)" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.option.convertbinary" useByScannerDiscovery="false" value="true" valueType="boolean"/>
@@ -113,7 +113,7 @@
 				</extensions>
 			</storageModule>
 			<storageModule moduleId="cdtBuildSystem" version="4.0.0">
-				<configuration artifactExtension="elf" artifactName="${ProjName}" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.release" cleanCommand="rm -rf" description="" errorParsers="org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GmakeErrorParser;org.eclipse.cdt.core.GLDErrorParser;org.eclipse.cdt.core.CWDLocator;org.eclipse.cdt.core.GCCErrorParser" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.release.321607562" name="Release" parent="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.release">
+				<configuration artifactExtension="elf" artifactName="${ProjName}" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.release" cleanCommand="rm -rf" description="" errorParsers="org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GmakeErrorParser;org.eclipse.cdt.core.GLDErrorParser;org.eclipse.cdt.core.CWDLocator;org.eclipse.cdt.core.GCCErrorParser" id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.release.321607562" name="Release" parent="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.release" prebuildStep="${workspace_loc:/tanfolyamrobot/tools/ip_setter.bat}">
 					<folderInfo id="com.st.stm32cube.ide.mcu.gnu.managedbuild.config.exe.release.321607562." name="/" resourcePath="">
 						<toolChain id="com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.exe.release.248404900" name="MCU ARM GCC" superClass="com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.exe.release">
 							<option id="com.st.stm32cube.ide.mcu.option.internal.toolchain.type.29753757" name="Internal Toolchain Type" superClass="com.st.stm32cube.ide.mcu.option.internal.toolchain.type" useByScannerDiscovery="false" value="com.st.stm32cube.ide.mcu.gnu.managedbuild.toolchain.base.gnu-tools-for-stm32" valueType="string"/>
diff --git a/firmware/Application/application.c b/firmware/Application/application.c
index 32f8fc7..552585e 100644
--- a/firmware/Application/application.c
+++ b/firmware/Application/application.c
@@ -5,7 +5,9 @@
 
 const char* WIFI_SSID = "Andi";
 const char* WIFI_PASSWORD = "Gomboc02";
-const char* SERVER_IP = "192.168.45.102";
+
+#define MANUAL_IP FALSE
+const char* SERVER_IP = "192.168.1.239";
 
 int application() {
 
diff --git a/firmware/tools/ip_setter.bat b/firmware/tools/ip_setter.bat
new file mode 100644
index 0000000..f1128a5
--- /dev/null
+++ b/firmware/tools/ip_setter.bat
@@ -0,0 +1,55 @@
+@echo off
+setlocal enabledelayedexpansion
+
+set FILE=..\Application\application.c
+
+
+
+findstr /C:"MANUAL_IP TRUE" "%FILE%" >nul && (
+    echo Manual IP address mode detected
+	goto :eof
+)
+
+findstr /C:"SERVER_IP" "%FILE%" >nul
+if %errorlevel% neq 0 (
+	echo SERVER_IP line not found in the file
+	goto :eof
+)
+
+
+
+rem Run ipconfig command and filter for WiFi interface IP address
+for /f "tokens=2 delims=:" %%a in ('ipconfig ^| findstr /c:"Wireless LAN adapter Wi-Fi" /c:"IPv4 Address"') do (
+    set "ip=%%a"
+)
+rem Remove leading and trailing spaces
+set "ip=%ip:~1%"
+set "ip=%ip: =%"
+
+echo WiFi Interface IP Address: %ip%
+echo Auto setting SERVER_IP to %ip%
+
+set NEW_SERVER_IP=%ip%
+
+setlocal DisableDelayedExpansion
+FOR /F "delims=" %%L in ('findstr /N "^" "%FILE%"') DO (
+	set "line=%%L"
+	setlocal EnableDelayedExpansion
+	set "line=!line:*:=!" & rem Remove all characters to the first colon
+	echo !line! | findstr /c:"SERVER_IP" >nul
+	if !errorlevel! equ 0 (
+		echo const char^* SERVER_IP = "%NEW_SERVER_IP%";>> temp.c
+		echo !line! | findstr /c:"%NEW_SERVER_IP%" >nul
+		if !errorlevel! equ 0 (
+			echo SERVER_IP is already up to date
+			del temp.c
+			goto :eof
+		)
+	) else (
+		echo(!line!>> temp.c
+	)
+	endlocal
+)
+setlocal enabledelayedexpansion
+move /Y temp.c %FILE% >nul
+echo Server IP address set to %NEW_SERVER_IP%.

From 665e6e908fb76bdcda94a142f4806f36318bd49b Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kiovics=20D=C3=A1niel?= <dkiovics@gmail.com>
Date: Sun, 18 Feb 2024 01:41:29 +0100
Subject: [PATCH 28/31] ESP code fixes, refactoring and state indicator

---
 esp/ESP_firmware/ESP_firmware.ino | 425 +++++++++++++++++-------------
 firmware/Core/Src/main.c          |  30 ++-
 firmware/Drivers/uart/uart.c      |  22 +-
 firmware/Drivers/uart/uart.h      |   7 +-
 4 files changed, 281 insertions(+), 203 deletions(-)

diff --git a/esp/ESP_firmware/ESP_firmware.ino b/esp/ESP_firmware/ESP_firmware.ino
index 9f2777f..c9a63eb 100644
--- a/esp/ESP_firmware/ESP_firmware.ino
+++ b/esp/ESP_firmware/ESP_firmware.ino
@@ -2,240 +2,283 @@
 #include <WiFiClient.h>
 #include <ArduinoJson.h>
 #include <ESP8266WebServer.h>
-/*
-const char* ssid = "Andi";
-const char* password = "Gomboc02";
-const char* ipaddr = "192.168.0.100";
-*/
 
-const int bufferSize = 128; 
-char serialBuffer[bufferSize] = {};
-char htmlMessage[bufferSize] = {};
-int bufferIndex = 0;
-
-char host[30] = "Host: ";
-char ssid[bufferSize] = {};
-char password[bufferSize] = {};
-char ipaddr[16] = {};
-char tmp_ssid[bufferSize] = {};
-char tmp_password[bufferSize] = {};
-char tmp_ipaddr[16] = {};
+constexpr bool DEBUG_ENABLED = false;
+constexpr int bufferSize = 128; 
+ESP8266WebServer server(80);
 
-enum State {
-  PRECONFIG,
-  IDLE,
-  READING_C1,
-  READING_C2,
-  READING_D1,
-  READING_D2
+enum class ReceiveState{
+    CONFIG1,
+    CONFIG2,
+    DATA1,
+    DATA2,
+    IDLE
 };
 
-State currentState = PRECONFIG;
+enum class EspState {
+    PRECONFIG,
+    WAITING_FOR_NETWORK,
+    CONNECTING,
+    CONNECTED
+};
 
-ESP8266WebServer server(80); // Server on port 80
+enum class ModuleStatus{
+    CONNECTING_TO_WIFI,
+    CONNECTING_TO_SERVER,
+    CONNECTED_TO_SERVER,
+    PRECONFIG
+};
 
-constexpr bool DEBUG_ENABLED = false;
+void setup() {
+    Serial.setRxBufferSize(2048);
+    Serial.begin(115200);
+    dlog("");
+    dlog("Serial started");
 
-void dlog(const String& str){
-    if(DEBUG_ENABLED){
-        Serial.print("DEBUG: ");
-        Serial.println(str);
-    }
-}
+    WiFi.persistent(false);
+    WiFi.mode(WIFI_STA);
+    WiFi.disconnect();
 
-void setup() {
-  Serial.begin(115200);
-  dlog("");
-  dlog("Serial started");
+    server.on("/receiveData", HTTP_POST, []() {
+        if (server.hasArg("plain")) {
+        String message = server.arg("plain");
+        char msg[500];
+        
+        dlog("Received message: " + message);
+        sscanf(message.c_str(), "{\"message\":\"%[^\"]\"}", msg);
+        Serial.println(msg);
+        }
+        server.send(200, "text/plain", "Data received");
+    });
 
-  getConfig();
+    server.begin();
+}
 
-  sscanf(serialBuffer, "\t%s\t%s\t%s", ssid, password, ipaddr);
-  strcat(host, ipaddr);
+ModuleStatus moduleStatus = ModuleStatus::PRECONFIG;
 
-  WiFi.begin(ssid, password);
+void loop() {
+    static ReceiveState receiveState = ReceiveState::IDLE;
+    static char serialBuffer[bufferSize];
+    static int serialPtr = 0;
+    static EspState espState = EspState::PRECONFIG;
+    
+    static char ssid[bufferSize / 2] = "";
+    static char password[bufferSize / 2] = "";
+    static char ipAddress[20] = "";
 
-  while (WiFi.status() != WL_CONNECTED) {
-    delay(1000);
-    dlog("Connecting to WiFi...");
-  }
+    bool configAvailable = false;
+    bool dataAvailable = false;
 
-  dlog("Connected to WiFi");
-  // Handle POST requests
-  server.on("/receiveData", HTTP_POST, []() {
-    if (server.hasArg("plain")) {
-    String message = server.arg("plain");
-    char msg[500];
+    unsigned long now = millis();
+    static unsigned long statusSendTime = 0;
+    if(statusSendTime <= now){
+        statusSendTime = now + 300;
+        sendStatus(moduleStatus);
+    }
     
-    dlog("Received message: " + message);
-    sscanf(message.c_str(), "{\"message\":\"%[^\"]\"}", msg);
-    Serial.println(msg);
+    while(Serial.available()){
+        char c = Serial.read();
+
+        switch(receiveState){
+            case ReceiveState::IDLE:
+                serialPtr = 0;
+                if(c == 'C')
+                    receiveState = ReceiveState::CONFIG1;
+                if(c == 'D' && !configAvailable)
+                    receiveState = ReceiveState::DATA1;
+                break;
+            case ReceiveState::CONFIG1:
+                if(c == ':')
+                    receiveState = ReceiveState::CONFIG2;
+                else
+                    receiveState = ReceiveState::IDLE;
+                break;
+            case ReceiveState::DATA1:
+                if(c == ':')
+                    receiveState = ReceiveState::DATA2;
+                else
+                    receiveState = ReceiveState::IDLE;
+                break;
+            case ReceiveState::CONFIG2:
+                if(c == '\n'){
+                    serialBuffer[serialPtr] = 0;
+                    receiveState = ReceiveState::IDLE;
+                    dataAvailable = false;
+                    configAvailable = true;
+                }else{
+                    serialBuffer[serialPtr++] = c;
+                    if(serialPtr == bufferSize)
+                        receiveState = ReceiveState::IDLE;
+                }
+                break;
+            case ReceiveState::DATA2:
+                if(c == '\n'){
+                    serialBuffer[serialPtr] = 0;
+                    receiveState = ReceiveState::IDLE;
+                    dataAvailable = true;
+                }else{
+                    serialBuffer[serialPtr++] = c;
+                    if(serialPtr == bufferSize)
+                        receiveState = ReceiveState::IDLE;
+                }
+                break;
+        }
     }
-    server.send(200, "text/plain", "Data received");
-  });
 
-  server.begin(); // Start the server
-}
+    yield();
 
-void loop() {
-  server.handleClient();
+    if(configAvailable){
+        char ssidTmp[bufferSize / 2];
+        char passwordTmp[bufferSize / 2];
+        if(sscanf(serialBuffer, "\t%s\t%s\t%s", ssidTmp, passwordTmp, ipAddress) == 3){
+            if(strcmp(ssidTmp, ssid) != 0 || strcmp(passwordTmp, password) != 0){
+                strcpy(ssid, ssidTmp);
+                strcpy(password, passwordTmp);
+                if(espState == EspState::CONNECTED || espState == EspState::CONNECTING)
+                    WiFi.disconnect();
+                dlog("Config received");
+                espState = EspState::WAITING_FOR_NETWORK;
+            }
+        }
+    }
 
-//   sendJson(88, 69, 75, 1, 2, 3, 4, 22, 33, 44, 55, 1.2, 2.3, 3.4, 4.5, 5.6, 6.7, 7.8);
-//   delay(100);
-//   return;
-  
-  if (Serial.available() > 0) {
-    char incomingChar = Serial.read();
+    switch(espState){
+        case EspState::PRECONFIG:
+            break;
 
-    switch (currentState) {
-      case IDLE:
-        if (incomingChar == 'D') {
-          currentState = READING_D1;
-          bufferIndex = 0;
-        }
-        if (incomingChar == 'C') {
-          currentState = READING_C1;
-          bufferIndex = 0;
-        }
-        break;
-        
-      case READING_D1:
-        if (incomingChar == ':') {
-          currentState = READING_D2;
-          bufferIndex = 0;
-        }
-        break;
+        case EspState::WAITING_FOR_NETWORK:
+            {
+                moduleStatus = ModuleStatus::CONNECTING_TO_WIFI;
+                int result = WiFi.scanComplete();
+                if(result == -2){
+                    dlog("Starting network scan...");
+                    WiFi.scanNetworks(true, true);
+                }else if(result >= 0){
+                    bool networkFound = false;
+                    for(int p = 0; p < result; p++){
+                        if(strcmp(WiFi.SSID(p).c_str(), ssid) == 0){
+                            networkFound = true;
+                            dlog("Target network found");
+                            dlog("Entering connecting state...");
+                            WiFi.begin(ssid, password);
+                            espState = EspState::CONNECTING;
+                            break;
+                        }
+                    }
+                    if(!networkFound){
+                        dlog("Restarting network scan...");
+                        WiFi.scanNetworks(true, true);
+                    }
+                }
+            }
+            break;
 
-      case READING_D2:
-        if (incomingChar == '\n') {
-          serialBuffer[bufferIndex] = '\0';  // Null-terminate the string
-          processSerialData(serialBuffer);
-          currentState = IDLE;
-        } else {
-            serialBuffer[bufferIndex] = incomingChar;
-            bufferIndex++;
-        }
-        break;
-     
-        case READING_C1:
-          if (incomingChar == ':') {
-            currentState = READING_C2;
-            bufferIndex = 0;
-          }
-          break;
-  
-        case READING_C2:
-          if (incomingChar == '\n') {
-            serialBuffer[bufferIndex] = '\0';  // Null-terminate the string
-            currentState = IDLE;
-            sscanf(serialBuffer, "\t%s\t%s\t%s", tmp_ssid, tmp_password, tmp_ipaddr);
-            if(strcmp(tmp_ssid, ssid) != 0 || strcmp(tmp_password, password) != 0 || strcmp(tmp_ipaddr, ipaddr) != 0){
-              strcpy(ssid, tmp_ssid);
-              strcpy(password, tmp_password);
-              strcpy(ipaddr, tmp_ipaddr);
-              strcat(host, ipaddr);
-              WiFi.begin(ssid, password);
-              while (WiFi.status() != WL_CONNECTED) {
-                delay(1000);
-                dlog("Connecting to WiFi...");
-              }
-              dlog("Connected to WiFi");
+        case EspState::CONNECTING:
+            if(WiFi.status() == WL_CONNECTED){
+                dlog("Connected to WiFi network");
+                espState = EspState::CONNECTED;
+                moduleStatus = ModuleStatus::CONNECTING_TO_SERVER;
+            }
+            break;
+
+        case EspState::CONNECTED:
+            if(dataAvailable){
+                dlog("Data received");
+                processSerialData(serialBuffer, ipAddress);
+            }
+            if(DEBUG_ENABLED){
+                static unsigned long debugSendTime = 0;
+                if(now >= debugSendTime){
+                    debugSendTime = now + 250;
+                    dlog("Sending dummy debug data...");
+                    sendJson(ipAddress, 88, 69, 75, 1, 2, 3, 4, 22, 33, 44, 55, 1.2, 2.3, 3.4, 4.5, 5.6, 6.7, 7.8, "");
+                }
             }
             break;
-          } else {
-              serialBuffer[bufferIndex] = incomingChar;
-              bufferIndex++;
-          }
-          break;
+    }   
+
+    server.handleClient();
+    yield();
+}
+
+void dlog(const String& str){
+    if(DEBUG_ENABLED){
+        Serial.print("DEBUG: ");
+        Serial.println(str);
     }
-  }
 }
 
-void getConfig(){
-    while(currentState != IDLE){        
-      if (Serial.available() > 0) {
-        char incomingChar = Serial.read();
-    
-        switch (currentState) {
-          case PRECONFIG:
-            if (incomingChar == 'C') {
-              currentState = READING_C1;
-              bufferIndex = 0;
-            }
+void sendStatus(ModuleStatus status){
+    if(DEBUG_ENABLED)
+        return;
+    switch(status){
+        case ModuleStatus::CONNECTING_TO_WIFI:
+            Serial.print((char)1);
             break;
-          case READING_C1:
-            if (incomingChar == ':') {
-              currentState = READING_C2;
-              bufferIndex = 0;
-            }
+        case ModuleStatus::CONNECTING_TO_SERVER:
+            Serial.print((char)2);
             break;
-    
-          case READING_C2:
-            if (incomingChar == '\n') {
-              serialBuffer[bufferIndex] = '\0';  // Null-terminate the string
-              currentState = IDLE;
-              break;
-            } else {
-                serialBuffer[bufferIndex] = incomingChar;
-                bufferIndex++;
-            }
+        case ModuleStatus::CONNECTED_TO_SERVER:
+            Serial.print((char)3);
+            break;
+        case ModuleStatus::PRECONFIG:
             break;
-        }
-      }  
     }
 }
 
-void processSerialData(const char *data) {
-  int servo, motora, motorb, cpsa, cpsb, cnta, cntb, usonic, hsv_h, hsv_s, hsv_v, rgb_r, rgb_g, rgb_b;
-  char text[256] = "";
-  
-  sscanf(data, " %d %d %d %d %d %d %d %d %d %d %d %[^\"]", &rgb_r, &rgb_g, &rgb_b, &motora, &motorb, &cpsa, &cpsb, &cnta, &cntb, &servo, &usonic, text);
-  rgb2hsv(rgb_r, rgb_g, rgb_b, &hsv_h, &hsv_s, &hsv_v);
-  sendJson(servo, motora, motorb, cpsa, cpsb, cnta, cntb, usonic, hsv_h, hsv_s, hsv_v, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, text);
+void processSerialData(const char *data, const char* ipaddr) {
+    int servo, motora, motorb, cpsa, cpsb, cnta, cntb, usonic, hsv_h, hsv_s, hsv_v, rgb_r, rgb_g, rgb_b;
+    char text[256] = "";
+    
+    sscanf(data, " %d %d %d %d %d %d %d %d %d %d %d %[^\"]", &rgb_r, &rgb_g, &rgb_b, &motora, &motorb, &cpsa, &cpsb, &cnta, &cntb, &servo, &usonic, text);
+    rgb2hsv(rgb_r, rgb_g, rgb_b, &hsv_h, &hsv_s, &hsv_v);
+    sendJson(ipaddr, servo, motora, motorb, cpsa, cpsb, cnta, cntb, usonic, hsv_h, hsv_s, hsv_v, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, text);
 }
 
 void rgb2hsv(int r, int g, int b, int* hue, int* sat, int* val){
-  int max, min;
-  float hue_f;
-
-  min = (r < g) ? r : g;
-  max = (r > g) ? r : g;
-  min = (min < b) ? min : b;
-  max = (max > b) ? max : b;
+    int max, min;
+    float hue_f;
 
-  *val = (int)max * 100 / 255;
+    min = (r < g) ? r : g;
+    max = (r > g) ? r : g;
+    min = (min < b) ? min : b;
+    max = (max > b) ? max : b;
 
-  int delta = max - min;
+    *val = (int)max * 100 / 255;
 
-  if (delta == 0) {
-    *sat = 0;
-    *hue = 0;
-  } else {
-    *sat = 100 * delta / max;
+    int delta = max - min;
 
-    if (max == r) {
-      hue_f = 60 * ( ( ((float)g - (float)b) / delta )    );    // TODO: optimize
-    } else if (max == g) {
-      hue_f = 60 * ( ( ((float)b - (float)r) / delta ) + 2);    // TODO: optimize
+    if (delta == 0) {
+        *sat = 0;
+        *hue = 0;
     } else {
-      hue_f = 60 * ( ( ((float)r - (float)g) / delta ) + 4);    // TODO: optimize
-    }
-    if (hue_f < 0) {
-      hue_f += 360;
+        *sat = 100 * delta / max;
+
+        if (max == r) {
+            hue_f = 60 * ( ( ((float)g - (float)b) / delta )    );    // TODO: optimize
+        } else if (max == g) {
+            hue_f = 60 * ( ( ((float)b - (float)r) / delta ) + 2);    // TODO: optimize
+        } else {
+            hue_f = 60 * ( ( ((float)r - (float)g) / delta ) + 4);    // TODO: optimize
+        }
+        if (hue_f < 0) {
+            hue_f += 360;
+        }
+        *hue = (int)hue_f % 360;
     }
-      *hue = (int)hue_f % 360;
-  }
 }
 
-void sendJson(int servo, int motora, int motorb, int cpsa, int cpsb, int cnta, int cntb, int usonic, int hsv_h, int hsv_s, int hsv_v, float imu_acc_a, float imu_acc_b, float imu_acc_c, float imu_gyro_x, float imu_gyro_y, float imu_gyro_z, float imu_temp, const char* text) {
+void sendJson(const char* ipaddr, int servo, int motora, int motorb, int cpsa, int cpsb, int cnta, int cntb, int usonic, int hsv_h, int hsv_s, int hsv_v, float imu_acc_a, float imu_acc_b, float imu_acc_c, float imu_gyro_x, float imu_gyro_y, float imu_gyro_z, float imu_temp, const char* text) {
     WiFiClient client;
     
     if (!client.connect(ipaddr, 5000)) {
+        moduleStatus = ModuleStatus::CONNECTING_TO_SERVER;
         dlog("Connection failed");
         return;
     }
-  
-    StaticJsonDocument<256> doc;
+    moduleStatus = ModuleStatus::CONNECTED_TO_SERVER;
+
+    StaticJsonDocument<512> doc;
     
     doc["servo"] = servo;
     doc["motora"] = motora;
@@ -270,6 +313,8 @@ void sendJson(int servo, int motora, int motorb, int cpsa, int cpsb, int cnta, i
     String jsonStr;
     serializeJson(doc, jsonStr);
     
+    char host[30] = "Host: ";
+    strcat(host, ipaddr);
     client.println("POST /publishData HTTP/1.1");
     client.println(host);
     client.println("Content-Type: application/json");
@@ -278,10 +323,10 @@ void sendJson(int servo, int motora, int motorb, int cpsa, int cpsb, int cnta, i
     client.println();
     client.println(jsonStr);
     
-    while (client.available()) {
-        String line = client.readStringUntil('\r');
-        Serial.print(line);
-    }
+    // while (client.available()) {
+    //     String line = client.readStringUntil('\r');
+    //     Serial.print(line);
+    // }
     
     client.stop();
 }
diff --git a/firmware/Core/Src/main.c b/firmware/Core/Src/main.c
index 0edfcba..4f9f585 100644
--- a/firmware/Core/Src/main.c
+++ b/firmware/Core/Src/main.c
@@ -168,6 +168,8 @@ volatile uint8_t pgmReady = 0;
 volatile uint8_t espReady = 0;
 
 volatile SoftPwm* lcdBacklightPwm;
+
+static volatile char espState = 0;
 /* USER CODE END PV */
 
 /* Private function prototypes -----------------------------------------------*/
@@ -187,6 +189,23 @@ static void MX_ADC1_Init(void);
 
 /* Private user code ---------------------------------------------------------*/
 /* USER CODE BEGIN 0 */
+void updateEspState(){
+	switch(espState){
+	case 0:
+		lcdPutc(1, 15, 'X');	//ESP not detected
+		break;
+	case 1:
+		lcdPutc(1, 15, '~');	//ESP connecting to WiFi
+		break;
+	case 2:
+		lcdPutc(1, 15, '.');	//ESP connecting to server
+		break;
+	case 3:
+		lcdPutc(1, 15, '+');	//ESP connected to server
+		break;
+	}
+}
+
 void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {
     static uint32_t adcTimerItCount = 0;
     static uint32_t telemetryItCounter = 0;
@@ -206,6 +225,7 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) {
 
         if (adcTimerItCount >= BATTERY_INDICATOR_PERIOD) {
             adcTimerItCount = 0;
+            updateEspState();
             batteryIndicatorDisplay(BATTERY_INDICATOR_ROW, BATTERY_INDICATOR_COL, batteryVoltage);
         }
 
@@ -292,7 +312,9 @@ void HAL_TIM_OC_DelayElapsedCallback(TIM_HandleTypeDef *htim) {
 
 void HAL_UART_RxCpltCallback(UART_HandleTypeDef* huart) {
 	uart_handleReceiveCplt(&uart1, USB_UART, pgmReady);
-	uart_handleReceiveCplt(&uart3, ESP_UART, pgmReady && espReady);
+	char c = uart_handleReceiveCplt(&uart3, ESP_UART, pgmReady && espReady);
+	if(c)
+		espState = c;
 }
 
 void HAL_UART_TxCpltCallback(UART_HandleTypeDef *huart) {
@@ -397,8 +419,10 @@ int main(void)
           LCD_D6_GPIO_Port, LCD_D6_Pin, LCD_D7_GPIO_Port, LCD_D7_Pin,
           lcdRows, lcdCols);
 
-  uart_init(&uart1, USB_UART, USB_UART_IR, USB_UART_DMA_IR, 500, 500);
-  uart_init(&uart3, ESP_UART, ESP_UART_IR, ESP_UART_DMA_IR, 500, 500);
+  char ignoreableChars[10] = {'\r', 1, 2, 3, 0};
+
+  uart_init(&uart1, USB_UART, USB_UART_IR, USB_UART_DMA_IR, 500, 500, ignoreableChars);
+  uart_init(&uart3, ESP_UART, ESP_UART_IR, ESP_UART_DMA_IR, 500, 500, ignoreableChars);
 
   batteryIndicatorInit();
 
diff --git a/firmware/Drivers/uart/uart.c b/firmware/Drivers/uart/uart.c
index 25b7ae1..4cd432c 100644
--- a/firmware/Drivers/uart/uart.c
+++ b/firmware/Drivers/uart/uart.c
@@ -15,7 +15,7 @@
 
 
 
-void uart_init(volatile Uart *uart, UART_HandleTypeDef *huart, IRQn_Type uartIr, IRQn_Type sendDMAIr, uint16_t writeBufferLenght, uint16_t readBufferLenght){
+void uart_init(volatile Uart *uart, UART_HandleTypeDef *huart, IRQn_Type uartIr, IRQn_Type sendDMAIr, uint16_t writeBufferLenght, uint16_t readBufferLenght, char* ignoreableChars){
 	uart->huart = huart;
 	uart->writeBufferLenght = writeBufferLenght;
 	uart->readBufferLenght = readBufferLenght;
@@ -35,6 +35,8 @@ void uart_init(volatile Uart *uart, UART_HandleTypeDef *huart, IRQn_Type uartIr,
 
 	HAL_UART_Receive_IT(uart->huart, (uint8_t*)uart->readCircularBuffer, 1);
 	uart->ok = 1;
+
+	uart->ignoreableChars = ignoreableChars;
 }
 
 
@@ -112,20 +114,23 @@ void uart_transmit(volatile Uart *uart, const char *str){
 	}
 }
 
-
-void uart_handleReceiveCplt(volatile Uart *uart, UART_HandleTypeDef *huart, uint8_t initCplt){
+char uart_handleReceiveCplt(volatile Uart *uart, UART_HandleTypeDef *huart, uint8_t initCplt){
 	if(uart->huart != huart)
-		return;
+		return 0;
 
 	if(!initCplt){
 		HAL_UART_Receive_IT(uart->huart, (uint8_t*)uart->readCircularBuffer, 1);
-		return;
+		return 0;
 	}
 	char c = uart->readCircularBuffer[uart->readPtr];
 
-	if(c == '\r'){
-		HAL_UART_Receive_IT(uart->huart, (uint8_t*)uart->readCircularBuffer + uart->readPtr, 1);
-		return;
+	char* ptr = uart->ignoreableChars;
+	while(*ptr){
+		if(c == *ptr){
+			HAL_UART_Receive_IT(uart->huart, (uint8_t*)uart->readCircularBuffer + uart->readPtr, 1);
+			return c;
+		}
+		ptr++;
 	}
 
 	if(uart->readCircularBuffer[uart->readPtr] == '\n'){
@@ -148,6 +153,7 @@ void uart_handleReceiveCplt(volatile Uart *uart, UART_HandleTypeDef *huart, uint
 	}
 
 	HAL_UART_Receive_IT(uart->huart, (uint8_t*)uart->readCircularBuffer + uart->readPtr, 1);
+	return 0;
 }
 
 
diff --git a/firmware/Drivers/uart/uart.h b/firmware/Drivers/uart/uart.h
index e843738..849560a 100644
--- a/firmware/Drivers/uart/uart.h
+++ b/firmware/Drivers/uart/uart.h
@@ -35,13 +35,15 @@ typedef struct {
 	uint8_t readPtrOverflow;
 	int32_t mostRecentNewLinePos;
 	uint8_t ok;
+
+	char* ignoreableChars;
 } Uart;
 
 
 /*
  * Initializes the UART object
  */
-void uart_init(volatile Uart* uart, UART_HandleTypeDef *huart, IRQn_Type uartIr, IRQn_Type sendDMAIr, uint16_t writeBufferLenght, uint16_t readBufferLenght);
+void uart_init(volatile Uart* uart, UART_HandleTypeDef *huart, IRQn_Type uartIr, IRQn_Type sendDMAIr, uint16_t writeBufferLenght, uint16_t readBufferLenght, char* ignoreableChars);
 
 /*
  * Call when the HAL_UART_TxCpltCallback function is called
@@ -50,8 +52,9 @@ void uart_handleTransmitCplt(volatile Uart* uart, UART_HandleTypeDef *huart);
 
 /*
  * Call when the HAL_UART_RxCpltCallback function is called
+ * Returns the received char if it is part of ignoreableChars, otherwise returns 0
  */
-void uart_handleReceiveCplt(volatile Uart* uart, UART_HandleTypeDef *huart, uint8_t initCplt);
+char uart_handleReceiveCplt(volatile Uart* uart, UART_HandleTypeDef *huart, uint8_t initCplt);
 
 /*
  * Transmits the data (max lenght is writeBufferLenght)

From ba19605a84d231c38c0d27ea88dcc7d11d0abd01 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kiovics=20D=C3=A1niel?= <dkiovics@gmail.com>
Date: Sun, 18 Feb 2024 11:09:14 +0100
Subject: [PATCH 29/31] ESP bug fix and console cosmetics

---
 esp/ESP_firmware/ESP_firmware.ino                   |  9 ++++++---
 .../robot-dashboard/src/Console.js                  | 13 ++++++++++---
 2 files changed, 16 insertions(+), 6 deletions(-)

diff --git a/esp/ESP_firmware/ESP_firmware.ino b/esp/ESP_firmware/ESP_firmware.ino
index c9a63eb..2aaed97 100644
--- a/esp/ESP_firmware/ESP_firmware.ino
+++ b/esp/ESP_firmware/ESP_firmware.ino
@@ -58,7 +58,7 @@ ModuleStatus moduleStatus = ModuleStatus::PRECONFIG;
 
 void loop() {
     static ReceiveState receiveState = ReceiveState::IDLE;
-    static char serialBuffer[bufferSize];
+    static char receiveOutBuffer[bufferSize];
     static int serialPtr = 0;
     static EspState espState = EspState::PRECONFIG;
     
@@ -77,6 +77,7 @@ void loop() {
     }
     
     while(Serial.available()){
+        static char serialBuffer[bufferSize];
         char c = Serial.read();
 
         switch(receiveState){
@@ -105,6 +106,7 @@ void loop() {
                     receiveState = ReceiveState::IDLE;
                     dataAvailable = false;
                     configAvailable = true;
+                    strcpy(receiveOutBuffer, serialBuffer);
                 }else{
                     serialBuffer[serialPtr++] = c;
                     if(serialPtr == bufferSize)
@@ -116,6 +118,7 @@ void loop() {
                     serialBuffer[serialPtr] = 0;
                     receiveState = ReceiveState::IDLE;
                     dataAvailable = true;
+                    strcpy(receiveOutBuffer, serialBuffer);
                 }else{
                     serialBuffer[serialPtr++] = c;
                     if(serialPtr == bufferSize)
@@ -130,7 +133,7 @@ void loop() {
     if(configAvailable){
         char ssidTmp[bufferSize / 2];
         char passwordTmp[bufferSize / 2];
-        if(sscanf(serialBuffer, "\t%s\t%s\t%s", ssidTmp, passwordTmp, ipAddress) == 3){
+        if(sscanf(receiveOutBuffer, "\t%s\t%s\t%s", ssidTmp, passwordTmp, ipAddress) == 3){
             if(strcmp(ssidTmp, ssid) != 0 || strcmp(passwordTmp, password) != 0){
                 strcpy(ssid, ssidTmp);
                 strcpy(password, passwordTmp);
@@ -184,7 +187,7 @@ void loop() {
         case EspState::CONNECTED:
             if(dataAvailable){
                 dlog("Data received");
-                processSerialData(serialBuffer, ipAddress);
+                processSerialData(receiveOutBuffer, ipAddress);
             }
             if(DEBUG_ENABLED){
                 static unsigned long debugSendTime = 0;
diff --git a/react-robot-dashboard/robot-dashboard/src/Console.js b/react-robot-dashboard/robot-dashboard/src/Console.js
index d539d1f..aa7894d 100644
--- a/react-robot-dashboard/robot-dashboard/src/Console.js
+++ b/react-robot-dashboard/robot-dashboard/src/Console.js
@@ -1,7 +1,8 @@
-import React, { useState, useEffect } from 'react';
+import React, { useState, useEffect, useRef } from 'react';
 
 const Console = ({ data }) => {
   const [messages, setMessages] = useState([]);
+  const consoleRef = useRef(null);
 
   useEffect(() => {
     if (data && data.consolemessage && data.consolemessage !== "") {
@@ -9,15 +10,21 @@ const Console = ({ data }) => {
     }
   }, [data]);
 
+  useEffect(() => {
+    if (consoleRef.current) {
+      consoleRef.current.scrollTop = consoleRef.current.scrollHeight;
+    }
+  }, [messages]);
+
   return (
-    <div style={{
+    <div ref={consoleRef} style={{
       height: '300px',
       width: '100%',
       overflowY: 'scroll',
       backgroundColor: '#0e0e0e',
       color: '#FFFFFF', // Corrected color value
       fontFamily: 'monospace',
-      fontSize: '50px',
+      fontSize: '40px',
       padding: '10px',
       boxSizing: 'border-box',
       textAlign: 'left', // Ensure text aligns to the left

From 4cce2e30c5c316172ef07f87bb442fae2cb7a5e9 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kiovics=20D=C3=A1niel?= <dkiovics@gmail.com>
Date: Wed, 21 Feb 2024 00:21:59 +0100
Subject: [PATCH 30/31] ESP bug fixes, IMU UI deactivated

---
 esp/ESP_firmware/ESP_firmware.ino             | 31 ++++++++++++++++---
 firmware/Application/application.c            |  9 ++----
 .../robot-dashboard/src/RobotPage.js          |  2 +-
 3 files changed, 30 insertions(+), 12 deletions(-)

diff --git a/esp/ESP_firmware/ESP_firmware.ino b/esp/ESP_firmware/ESP_firmware.ino
index 2aaed97..253e525 100644
--- a/esp/ESP_firmware/ESP_firmware.ino
+++ b/esp/ESP_firmware/ESP_firmware.ino
@@ -68,6 +68,7 @@ void loop() {
 
     bool configAvailable = false;
     bool dataAvailable = false;
+    bool prevSerialContainsText = false;
 
     unsigned long now = millis();
     static unsigned long statusSendTime = 0;
@@ -118,7 +119,13 @@ void loop() {
                     serialBuffer[serialPtr] = 0;
                     receiveState = ReceiveState::IDLE;
                     dataAvailable = true;
-                    strcpy(receiveOutBuffer, serialBuffer);
+                    bool containsText = serialDataContainsText(serialBuffer);
+                    if(containsText){
+                        strcpy(receiveOutBuffer, serialBuffer);
+                        prevSerialContainsText = true;
+                    }else if(!prevSerialContainsText){
+                        strcpy(receiveOutBuffer, serialBuffer);
+                    }
                 }else{
                     serialBuffer[serialPtr++] = c;
                     if(serialPtr == bufferSize)
@@ -231,11 +238,23 @@ void sendStatus(ModuleStatus status){
 
 void processSerialData(const char *data, const char* ipaddr) {
     int servo, motora, motorb, cpsa, cpsb, cnta, cntb, usonic, hsv_h, hsv_s, hsv_v, rgb_r, rgb_g, rgb_b;
-    char text[256] = "";
+    
+    static char text[256] = "";
     
     sscanf(data, " %d %d %d %d %d %d %d %d %d %d %d %[^\"]", &rgb_r, &rgb_g, &rgb_b, &motora, &motorb, &cpsa, &cpsb, &cnta, &cntb, &servo, &usonic, text);
     rgb2hsv(rgb_r, rgb_g, rgb_b, &hsv_h, &hsv_s, &hsv_v);
-    sendJson(ipaddr, servo, motora, motorb, cpsa, cpsb, cnta, cntb, usonic, hsv_h, hsv_s, hsv_v, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, text);
+    if(sendJson(ipaddr, servo, motora, motorb, cpsa, cpsb, cnta, cntb, usonic, hsv_h, hsv_s, hsv_v, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, text))
+        strcpy(text, "");
+}
+
+bool serialDataContainsText(const char *data){
+    int tokenNum = 0;
+    while(*data){
+        if(*data == ' ')
+            tokenNum++;
+        data++;
+    }
+    return tokenNum > 11;
 }
 
 void rgb2hsv(int r, int g, int b, int* hue, int* sat, int* val){
@@ -271,13 +290,14 @@ void rgb2hsv(int r, int g, int b, int* hue, int* sat, int* val){
     }
 }
 
-void sendJson(const char* ipaddr, int servo, int motora, int motorb, int cpsa, int cpsb, int cnta, int cntb, int usonic, int hsv_h, int hsv_s, int hsv_v, float imu_acc_a, float imu_acc_b, float imu_acc_c, float imu_gyro_x, float imu_gyro_y, float imu_gyro_z, float imu_temp, const char* text) {
+bool sendJson(const char* ipaddr, int servo, int motora, int motorb, int cpsa, int cpsb, int cnta, int cntb, int usonic, int hsv_h, int hsv_s, int hsv_v, float imu_acc_a, float imu_acc_b, float imu_acc_c, float imu_gyro_x, float imu_gyro_y, float imu_gyro_z, float imu_temp, const char* text) {
     WiFiClient client;
+    client.setTimeout(300);
     
     if (!client.connect(ipaddr, 5000)) {
         moduleStatus = ModuleStatus::CONNECTING_TO_SERVER;
         dlog("Connection failed");
-        return;
+        return false;
     }
     moduleStatus = ModuleStatus::CONNECTED_TO_SERVER;
 
@@ -332,4 +352,5 @@ void sendJson(const char* ipaddr, int servo, int motora, int motorb, int cpsa, i
     // }
     
     client.stop();
+    return true;
 }
diff --git a/firmware/Application/application.c b/firmware/Application/application.c
index 552585e..9661ed2 100644
--- a/firmware/Application/application.c
+++ b/firmware/Application/application.c
@@ -3,11 +3,11 @@
  */
 #include "robotcontrol-api.h"
 
-const char* WIFI_SSID = "Andi";
-const char* WIFI_PASSWORD = "Gomboc02";
+const char* WIFI_SSID = "Tanfolyam_WiFi";
+const char* WIFI_PASSWORD = "LegoFTW1";
 
 #define MANUAL_IP FALSE
-const char* SERVER_IP = "192.168.1.239";
+const char* SERVER_IP = "192.168.186.102";
 
 int application() {
 
@@ -19,9 +19,6 @@ int application() {
     while(1){
     	char data[300];
     	if(espRead(data)){
-    		lcdPrintf(0, 0, "                ");
-    		lcdPrintf(1, 0, "                ");
-    		lcdPrintf(0, 0, data);
     		espPrintf("I received: %s", data);
     	}
     }
diff --git a/react-robot-dashboard/robot-dashboard/src/RobotPage.js b/react-robot-dashboard/robot-dashboard/src/RobotPage.js
index ccc9583..680cdfc 100644
--- a/react-robot-dashboard/robot-dashboard/src/RobotPage.js
+++ b/react-robot-dashboard/robot-dashboard/src/RobotPage.js
@@ -31,7 +31,7 @@ const RobotPage = () => {
   return (
     <div>
       <div style={{ display: 'flex', justifyContent: 'space-around' }}>
-        {data && <IMUSensorDisplay imuData={data.imu} />}
+        {/* {data && <IMUSensorDisplay imuData={data.imu} />} */}
         <div style={sensorWrapperStyle}>
           {data && <UltrasonicSensor distance={data.usonic} />}
           {data && <HSVColorDisplay hsv={data.hsv} />}

From 2e0dc315ed1bee8d2cedd84ece78cf5615dddb7b Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Kiovics=20D=C3=A1niel?= <dkiovics@gmail.com>
Date: Wed, 21 Feb 2024 09:19:15 +0100
Subject: [PATCH 31/31] Motor I fix

---
 firmware/Drivers/motor/speed_control.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/firmware/Drivers/motor/speed_control.c b/firmware/Drivers/motor/speed_control.c
index 56f6936..5f398cd 100644
--- a/firmware/Drivers/motor/speed_control.c
+++ b/firmware/Drivers/motor/speed_control.c
@@ -12,7 +12,7 @@
 
 // TODO: put these somewhere else
 #define K_P 15.0
-#define K_I 30.0
+#define K_I 20.0
 #define DT 0.001
 #define I_LIM_MAX  70
 #define I_LIM_MIN -70
@@ -78,7 +78,7 @@ void speedControlHandler(SpeedControl* sc) {
     float proportional = K_P * error;
 
     // Integral part
-    sc->integrator = sc->integrator + 0.5f * K_I * DT * (error + sc->prevError);
+    sc->integrator = sc->integrator + 0.5f * K_I * DT * error;
 
     // Integrator anti-windup
     if (sc->integrator > I_LIM_MAX) {