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.gitignore

@@ -6,6 +6,11 @@ __pycache__/
 *.py[cod]
 *$py.class
 .pio
+managed_components/
+dependencies.lock
+sdkconfig
+sdkconfig.*
+!sdkconfig.defaults
 esp32/src/platform_shared/*
 !esp32/src/platform_shared/.gitkeep
 app/src/lib/platform_shared/*

.vscode/settings.json

@@ -13,7 +13,7 @@
     },
     "editor.tabSize": 4,
     "editor.detectIndentation": false,
-    "cmake.sourceDirectory": "C:/data/repos/Hardware/Spot Micro - Leika/.pio/libdeps/esp32cam/esp32-camera",
+    "cmake.sourceDirectory": "C:/data/repos/Hardware/Spot_Micro_Leika",
     "cSpell.words": [
       "Adafruit",
       "IRAM",

CMakeLists.txt

@@ -0,0 +1,3 @@
+cmake_minimum_required(VERSION 3.16.0)
+include($ENV{IDF_PATH}/tools/cmake/project.cmake)
+project(Spot_Micro_Leika)

app/src/lib/components/Visualization.svelte

@@ -262,8 +262,9 @@
         const rotatedXm = settings.xm * cosTotal - settings.zm * sinTotal
         const rotatedZm = settings.xm * sinTotal + settings.zm * cosTotal
 
-        const cosHead = Math.cos(headingYaw)
-        const sinHead = Math.sin(headingYaw)
+        const mpuHeadingRad = degToRad($mpu.heading)
+        const cosHead = Math.cos(mpuHeadingRad)
+        const sinHead = Math.sin(mpuHeadingRad)
         const rotatedCumX = body_state.cumulative_x * cosHead - body_state.cumulative_z * sinHead
         const rotatedCumZ = body_state.cumulative_x * sinHead + body_state.cumulative_z * cosHead
 

app/src/routes/peripherals/imu/imu.svelte

@@ -245,10 +245,6 @@
             angleChart.update('none')
         }
 
-        if ($features.mag) {
-            updateChartData(magnetometerChart, $imu.heading)
-        }
-
         if ($features.bmp && tempChart && altitudeChart) {
             updateChartData(
                 tempChart,

boards/esp32p4_dev.json

@@ -0,0 +1,33 @@
+{
+  "build": {
+    "core": "esp32",
+    "extra_flags": [
+      "-DBOARD_HAS_PSRAM"
+    ],
+    "f_cpu": "360000000L",
+    "f_flash": "80000000L",
+    "f_psram": "200000000L",
+    "flash_mode": "qio",
+    "mcu": "esp32p4",
+    "variant": "esp32p4"
+  },
+  "connectivity": [
+    "wifi"
+  ],
+  "debug": {
+    "openocd_target": "esp32p4.cfg"
+  },
+  "frameworks": [
+    "espidf"
+  ],
+  "name": "ESP32-P4 Dev Board (32MB PSRAM + 32MB Flash, C6 coprocessor)",
+  "upload": {
+    "flash_size": "32MB",
+    "maximum_ram_size": 786432,
+    "maximum_size": 33554432,
+    "require_upload_port": true,
+    "speed": 1500000
+  },
+  "url": "https://docs.espressif.com/projects/esp-dev-kits/en/latest/esp32p4/",
+  "vendor": "Espressif"
+}

esp32/features.ini

@@ -13,8 +13,6 @@ build_flags =
   -D USE_HMC5883=0
   -D USE_BMP180=0
   -D USE_MPU6050=0
-  -D USE_ICM20948=1
-  -D USE_ICM20948_SPIMODE=0
   -D USE_WS2812=1
   -D USE_BNO055=0
   -D USE_USS=0

esp32/include/ap_service.h

@@ -2,11 +2,13 @@
 
 #include <template/stateful_service.h>
 #include <template/stateful_proto_endpoint.h>
-#include <template/stateful_persistence_pb.h>
+#include <template/stateful_persistence.h>
 #include <settings/ap_settings.h>
 #include <utils/timing.h>
-#include <WiFi.h>
-#include "esp_timer.h"
+#include <wifi/wifi_idf.h>
+#include <wifi/dns_server.h>
+#include <esp_timer.h>
+#include <string>
 
 class APService : public StatefulService<APSettings> {
   public:
@@ -28,8 +30,8 @@ class APService : public StatefulService<APSettings> {
     DNSServer *_dnsServer;
 
     volatile unsigned long _lastManaged;
-    volatile boolean _reconfigureAp;
-    volatile boolean _recoveryMode = false;
+    volatile bool _reconfigureAp;
+    volatile bool _recoveryMode = false;
 
     void reconfigureAP();
     void manageAP();

esp32/include/communication/comm_base.hpp

@@ -1,5 +1,8 @@
 #pragma once
 
+#include <esp_log.h>
+#include <freertos/FreeRTOS.h>
+#include <freertos/semphr.h>
 #include <functional>
 #include <list>
 #include <map>

esp32/include/communication/webserver.h

@@ -1,6 +1,13 @@
 #pragma once
 
+#ifndef CONFIG_HTTPD_WS_SUPPORT
+#define CONFIG_HTTPD_WS_SUPPORT 1
+#endif
+
 #include <esp_http_server.h>
+#include <esp_log.h>
+#include <freertos/FreeRTOS.h>
+#include <freertos/semphr.h>
 #include <functional>
 #include <vector>
 #include <string>

esp32/include/communication/websocket.h

@@ -1,6 +1,6 @@
 #pragma once
 
-#include <Arduino.h>
+#include <cstdint>
 #include <communication/webserver.h>
 #include <communication/comm_base.hpp>
 

esp32/include/compat/pgmspace.h

@@ -0,0 +1,21 @@
+#pragma once
+
+#ifndef PROGMEM
+#define PROGMEM
+#endif
+
+#ifndef PGM_P
+#define PGM_P const char *
+#endif
+
+#ifndef pgm_read_byte
+#define pgm_read_byte(addr) (*(const unsigned char *)(addr))
+#endif
+
+#ifndef pgm_read_word
+#define pgm_read_word(addr) (*(const unsigned short *)(addr))
+#endif
+
+#ifndef pgm_read_dword
+#define pgm_read_dword(addr) (*(const unsigned long *)(addr))
+#endif

esp32/include/features.h

@@ -1,7 +1,7 @@
 #pragma once
 
-#include <WiFi.h>
-#include <ArduinoJson.h>
+#include <sdkconfig.h>
+#include <wifi/wifi_idf.h>
 #include <esp_http_server.h>
 #include "platform_shared/message.pb.h"
 
@@ -19,15 +19,6 @@
 #define USE_BNO055 1
 #endif
 
-// ESP32 IMU off by default
-#ifndef USE_ICM20948
-#define USE_ICM20948 0
-#endif
-#ifndef USE_ICM20948_SPIMODE // I2C on by default
-#define USE_ICM20948_SPIMODE 0
-#endif
-
-// ESP32 magnetometer on by default
 #ifndef USE_HMC5883
 #define USE_HMC5883 0
 #endif

esp32/include/filesystem.h

@@ -1,29 +1,39 @@
 #pragma once
 
 #include <esp_http_server.h>
-#include <ArduinoJson.h>
-#include <LittleFS.h>
+#include <esp_littlefs.h>
+#include <esp_vfs.h>
+#include <dirent.h>
+#include <sys/stat.h>
 #include <string>
+#include <cstdio>
 #include <platform_shared/api.pb.h>
 
-#define ESP_FS LittleFS
-
-#define FS_CONFIG_DIRECTORY "/config"
-#define DEVICE_CONFIG_FILE "/config/peripheral.json"
-#define CAMERA_SETTINGS_FILE "/config/cameraSettings.pb"
-#define AP_SETTINGS_FILE "/config/apSettings.pb"
-#define MDNS_SETTINGS_FILE "/config/mdnsSettings.pb"
-#define WIFI_SETTINGS_FILE "/config/wifiSettings.pb"
-#define PERIPHERAL_SETTINGS_FILE "/config/peripheralSettings.pb"
-#define SERVO_SETTINGS_FILE "/config/servoSettings.pb"
+#define MOUNT_POINT "/littlefs"
 
+#define FS_CONFIG_DIRECTORY MOUNT_POINT "/config"
+#define DEVICE_CONFIG_FILE MOUNT_POINT "/config/peripheral.pb"
+#define CAMERA_SETTINGS_FILE MOUNT_POINT "/config/cameraSettings.pb"
+#define AP_SETTINGS_FILE MOUNT_POINT "/config/apSettings.pb"
+#define MDNS_SETTINGS_FILE MOUNT_POINT "/config/mdnsSettings.pb"
+#define WIFI_SETTINGS_FILE MOUNT_POINT "/config/wifiSettings.pb"
+#define PERIPHERAL_SETTINGS_FILE MOUNT_POINT "/config/peripheralSettings.pb"
+#define SERVO_SETTINGS_FILE MOUNT_POINT "/config/servoSettings.pb"
 
 namespace FileSystem {
 
+bool init();
+
 void listFilesProto(const std::string &directory, api_FileEntry *entry);
 std::string listFiles(const std::string &directory, bool isRoot = true);
 bool deleteFile(const char *filename);
 bool editFile(const char *filename, const uint8_t *content, size_t size);
+bool editFile(const char *filename, const char *content);
+bool fileExists(const char *filename);
+std::string readFile(const char *filename);
+bool writeFile(const char *filename, const char *content);
+bool writeFile(const char *filename, const uint8_t *content, size_t size);
+bool mkdirRecursive(const char *path);
 
 esp_err_t getFilesProto(httpd_req_t *request);
 esp_err_t getFiles(httpd_req_t *request);

esp32/include/filesystem_ws.h

@@ -1,20 +1,20 @@
 #pragma once
 
-#include <LittleFS.h>
 #include <platform_shared/message.pb.h>
+#include <filesystem.h>
 #include <map>
 #include <string>
 #include <functional>
+#include <cstdio>
 
-// Make sure that this aligns with socket_message.FSDownloadData.data max_size (and for upload)
-#define FS_MAX_CHUNK_SIZE 16384      // ~= 16 kb
-#define FS_TRANSFER_TIMEOUT_MS 30000 // 30 seconds
+#define FS_MAX_CHUNK_SIZE 16384
+#define FS_TRANSFER_TIMEOUT_MS 30000
 
 namespace FileSystemWS {
 
 struct DownloadState {
     std::string path;
-    File file;
+    FILE* file;
     uint32_t fileSize;
     uint32_t chunkSize;
     uint32_t totalChunks;
@@ -25,7 +25,7 @@ struct DownloadState {
 
 struct UploadState {
     std::string path;
-    File file;
+    FILE* file;
     uint32_t fileSize;
     uint32_t totalChunks;
     uint32_t chunksReceived;
@@ -36,7 +36,6 @@ struct UploadState {
     std::string errorMessage;
 };
 
-// Callback type for sending messages to clients
 using SendMetadataCallback = std::function<void(const socket_message_FSDownloadMetadata&, int clientId)>;
 using SendCallback = std::function<void(const socket_message_FSDownloadData&, int clientId)>;
 using SendCompleteCallback = std::function<void(const socket_message_FSDownloadComplete&, int clientId)>;
@@ -46,35 +45,17 @@ class FileSystemHandler {
   public:
     FileSystemHandler();
 
-    // Set callbacks for sending streaming data
     void setSendCallbacks(SendMetadataCallback sendMetadata, SendCallback sendData, SendCompleteCallback sendComplete,
                           SendUploadCompleteCallback sendUploadComplete);
 
-    // Delete file/directory
     socket_message_FSDeleteResponse handleDelete(const socket_message_FSDeleteRequest& req);
-
-    // Create directory
     socket_message_FSMkdirResponse handleMkdir(const socket_message_FSMkdirRequest& req);
-
-    // List directory
     socket_message_FSListResponse handleList(const socket_message_FSListRequest& req);
-
-    // Streaming download - starts the download and streams all chunks
     void handleDownloadRequest(const socket_message_FSDownloadRequest& req, int clientId);
-
-    // Streaming upload - start upload session
     socket_message_FSUploadStartResponse handleUploadStart(const socket_message_FSUploadStart& req, int clientId);
-
-    // Streaming upload - receive chunk data (fire-and-forget from client)
     void handleUploadData(const socket_message_FSUploadData& req);
-
-    // Cancel transfer
     socket_message_FSCancelTransferResponse handleCancelTransfer(const socket_message_FSCancelTransfer& req);
-
-    // Cleanup expired transfers
     void cleanupExpiredTransfers();
-
-    // Process pending downloads (call from main loop)
     void processPendingDownloads();
 
   private:
@@ -91,9 +72,7 @@ class FileSystemHandler {
 
     void listDirectory(const std::string& path, socket_message_FSListResponse& response);
     bool deleteRecursive(const std::string& path);
-
     bool sendNextDownloadChunk(uint32_t transferId);
-
     void finalizeUpload(uint32_t transferId, bool success, const std::string& error = "");
 };
 

esp32/include/global.h

@@ -1,14 +1,15 @@
 #pragma once
 
-#include <esp32-hal.h>
+#include <sdkconfig.h>
+#include <esp_system.h>
 
-#if CONFIG_IDF_TARGET_ESP32 // ESP32/PICO-D4
+#if CONFIG_IDF_TARGET_ESP32
 #include "esp32/rom/rtc.h"
 #ifndef ESP_PLATFORM_NAME
 #define ESP_PLATFORM_NAME "ESP32"
 #endif
 #elif CONFIG_IDF_TARGET_ESP32S2
-#include "esp32/rom/rtc.h"
+#include "esp32s2/rom/rtc.h"
 #ifndef ESP_PLATFORM_NAME
 #define ESP_PLATFORM_NAME "ESP32-S2"
 #endif
@@ -22,28 +23,39 @@
 #ifndef ESP_PLATFORM_NAME
 #define ESP_PLATFORM_NAME "ESP32-S3"
 #endif
+#elif CONFIG_IDF_TARGET_ESP32C6
+#include "esp32c6/rom/rtc.h"
+#ifndef ESP_PLATFORM_NAME
+#define ESP_PLATFORM_NAME "ESP32-C6"
+#endif
+#elif CONFIG_IDF_TARGET_ESP32P4
+#include "esp32p4/rom/rtc.h"
+#ifndef ESP_PLATFORM_NAME
+#define ESP_PLATFORM_NAME "ESP32-P4"
+#endif
+#define ESP32P4_USES_C6_COPROCESSOR 1
 #else
 #error Target CONFIG_IDF_TARGET is not supported
 #endif
 
-#ifndef ARDUINO_VERSION
-#ifndef STRINGIFY
-#define STRINGIFY(s) #s
-#endif
-#define ARDUINO_VERSION_STR(major, minor, patch) "v" STRINGIFY(major) "." STRINGIFY(minor) "." STRINGIFY(patch)
-#define ARDUINO_VERSION \
-    ARDUINO_VERSION_STR(ESP_ARDUINO_VERSION_MAJOR, ESP_ARDUINO_VERSION_MINOR, ESP_ARDUINO_VERSION_PATCH)
-#endif
-
 /*
  * I2C software connection
  */
+#if CONFIG_IDF_TARGET_ESP32P4
 #ifndef SDA_PIN
-#define SDA_PIN SDA
+#define SDA_PIN 7
 #endif
 #ifndef SCL_PIN
-#define SCL_PIN SCL
+#define SCL_PIN 8
+#endif
+#else
+#ifndef SDA_PIN
+#define SDA_PIN 21
+#endif
+#ifndef SCL_PIN
+#define SCL_PIN 22
+#endif
 #endif
 #ifndef I2C_FREQUENCY
-#define I2C_FREQUENCY 100000UL
-#endif
+#define I2C_FREQUENCY 1000000UL
+#endif

esp32/include/mdns_service.h

@@ -1,23 +1,14 @@
 #pragma once
 
 #include <esp_http_server.h>
-#include <ESPmDNS.h>
+#include <mdns.h>
 #include <template/stateful_service.h>
 #include <template/stateful_proto_endpoint.h>
-#include <template/stateful_persistence_pb.h>
+#include <template/stateful_persistence.h>
 #include <settings/mdns_settings.h>
 #include <utils/timing.h>
 
 class MDNSService : public StatefulService<MDNSSettings> {
-  private:
-    FSPersistencePB<MDNSSettings> _persistence;
-    bool _started {false};
-
-    void reconfigureMDNS();
-    void startMDNS();
-    void stopMDNS();
-    void addServices();
-
   public:
     MDNSService();
     ~MDNSService();
@@ -28,4 +19,13 @@ class MDNSService : public StatefulService<MDNSSettings> {
     esp_err_t queryServices(httpd_req_t *request, api_Request *protoReq);
 
     StatefulProtoEndpoint<MDNSSettings, api_MDNSSettings> protoEndpoint;
+
+  private:
+    FSPersistencePB<MDNSSettings> _persistence;
+    bool _started {false};
+
+    void reconfigureMDNS();
+    void startMDNS();
+    void stopMDNS();
+    void addServices();
 };

esp32/include/motion_states/state.h

@@ -2,6 +2,8 @@
 
 #include <kinematics.h>
 #include <message_types.h>
+#include <utils/math_utils.h>
+#include <cstring>
 
 class MotionState {
   protected:
@@ -26,15 +28,15 @@ class MotionState {
     }
 
     void updateFeet(body_state_t& body_state, const float smoothing_factor = default_smoothing_factor) {
-        if (target_body_state.feet != body_state.feet) {
+        if (std::memcmp(target_body_state.feet, body_state.feet, sizeof(body_state.feet)) != 0) {
             body_state.updateFeet(target_body_state.feet);
         }
     }
 
   public:
     void updateImuOffsets(const float new_omega, const float new_psi) {
-        omega_offset = new_omega * RAD_TO_DEG;
-        psi_offset = new_psi * RAD_TO_DEG;
+        omega_offset = RAD_TO_DEG_F(new_omega);
+        psi_offset = RAD_TO_DEG_F(new_psi);
     }
     virtual ~MotionState() {}
 

esp32/include/motion_states/walk_state.h

@@ -2,6 +2,7 @@
 
 #include <motion_states/state.h>
 #include <utils/math_utils.h>
+#include <algorithm>
 #include <array>
 #include <functional>
 

esp32/include/peripherals/barometer.h

@@ -13,7 +13,7 @@ struct BarometerMsg {
 
 class Barometer : public SensorBase<BarometerMsg> {
   public:
-    bool initialize(void* _) {
+    bool initialize() override {
         _msg.success = _bmp.begin();
         if (_msg.success) {
             ESP_LOGI("BMP", "BMP180 initialized successfully");

esp32/include/peripherals/camera_service.h

@@ -1,30 +1,35 @@
 #pragma once
 
 #include <esp_http_server.h>
-#include <WiFi.h>
 
 #include <features.h>
 #include <template/stateful_service.h>
 #include <template/stateful_proto_endpoint.h>
-#include <template/stateful_persistence_pb.h>
+#include <template/stateful_persistence.h>
 
 #include <settings/camera_settings.h>
 
 namespace Camera {
 
+#define USE_DVP_CAMERA (USE_CAMERA && !CONFIG_IDF_TARGET_ESP32P4)
+#define USE_CSI_CAMERA (USE_CAMERA && CONFIG_IDF_TARGET_ESP32P4)
+
+#if USE_DVP_CAMERA
 #include <esp_camera.h>
-
-#if USE_CAMERA
 #include <peripherals/camera_pins.h>
-#endif
-
-#define PART_BOUNDARY "frame"
 
 camera_fb_t *safe_camera_fb_get();
 sensor_t *safe_sensor_get();
 void safe_sensor_return();
+#endif
 
-class CameraService : public StatefulService<CameraSettings> {
+#define PART_BOUNDARY "frame"
+
+class CameraService
+#if USE_DVP_CAMERA
+    : public StatefulService<CameraSettings>
+#endif
+{
   public:
     CameraService();
 
@@ -33,10 +38,12 @@ class CameraService : public StatefulService<CameraSettings> {
     esp_err_t cameraStill(httpd_req_t *request);
     esp_err_t cameraStream(httpd_req_t *request);
 
+#if USE_DVP_CAMERA
     StatefulProtoEndpoint<CameraSettings, api_CameraSettings> protoEndpoint;
 
   private:
     FSPersistencePB<CameraSettings> _persistence;
     void updateCamera();
+#endif
 };
 } // namespace Camera

esp32/include/peripherals/drivers/mpu6050.h

@@ -316,8 +316,7 @@ class MPU6050Driver {
             i += chunkSize;
             address += chunkSize;
 
-            if (address == 0 || address >= 256) {
-                address = 0;
+            if (address == 0) {
                 bank++;
                 setMemoryBank(bank);
             }

esp32/include/peripherals/i2c_bus.h

@@ -1,11 +1,12 @@
 #pragma once
 
-#include <driver/i2c.h>
+#include <driver/i2c_master.h>
 #include <esp_log.h>
 #include <freertos/FreeRTOS.h>
 #include <freertos/semphr.h>
 #include <functional>
 #include <vector>
+#include <cstring>
 
 class I2CBus {
   public:
@@ -24,30 +25,21 @@ class I2CBus {
         _scl = scl;
         _freq = freq;
 
-        i2c_config_t conf = {};
-        conf.mode = I2C_MODE_MASTER;
-        conf.sda_io_num = sda;
-        conf.scl_io_num = scl;
-        conf.sda_pullup_en = GPIO_PULLUP_ENABLE;
-        conf.scl_pullup_en = GPIO_PULLUP_ENABLE;
-        conf.master.clk_speed = freq;
+        i2c_master_bus_config_t bus_cfg = {};
+        bus_cfg.i2c_port = port;
+        bus_cfg.sda_io_num = sda;
+        bus_cfg.scl_io_num = scl;
+        bus_cfg.clk_source = I2C_CLK_SRC_DEFAULT;
+        bus_cfg.glitch_ignore_cnt = 7;
+#if CONFIG_IDF_TARGET_ESP32P4
+        bus_cfg.flags.enable_internal_pullup = false;
+#else
+        bus_cfg.flags.enable_internal_pullup = true;
+#endif
 
-        esp_err_t err = i2c_param_config(_port, &conf);
+        esp_err_t err = i2c_new_master_bus(&bus_cfg, &_bus);
         if (err != ESP_OK) {
-            ESP_LOGE(TAG, "i2c_param_config failed: %s", esp_err_to_name(err));
-            return err;
-        }
-
-        err = i2c_driver_install(_port, I2C_MODE_MASTER, 0, 0, 0);
-        if (err == ESP_ERR_INVALID_STATE) {
-            ESP_LOGW(TAG, "I2C driver already installed for port %d, reconfiguring", _port);
-            i2c_driver_delete(_port);
-            err = i2c_param_config(_port, &conf);
-            if (err != ESP_OK) return err;
-            err = i2c_driver_install(_port, I2C_MODE_MASTER, 0, 0, 0);
-        }
-        if (err != ESP_OK) {
-            ESP_LOGE(TAG, "i2c_driver_install failed: %s", esp_err_to_name(err));
+            ESP_LOGE(TAG, "i2c_new_master_bus failed: %s", esp_err_to_name(err));
             return err;
         }
 
@@ -57,73 +49,51 @@ class I2CBus {
 
     void end() {
         if (_initialized) {
-            i2c_driver_delete(_port);
+            if (_dev) {
+                i2c_master_bus_rm_device(_dev);
+                _dev = NULL;
+                _dev_addr = 0xFF;
+            }
+            i2c_del_master_bus(_bus);
+            _bus = NULL;
             _initialized = false;
         }
     }
 
     bool isInitialized() const { return _initialized; }
 
+    i2c_master_bus_handle_t busHandle() const { return _bus; }
+
     esp_err_t writeBytes(uint8_t addr, const uint8_t* data, size_t len) {
         if (!_initialized) return ESP_ERR_INVALID_STATE;
-
-        i2c_cmd_handle_t cmd = i2c_cmd_link_create();
-        i2c_master_start(cmd);
-        i2c_master_write_byte(cmd, (addr << 1) | I2C_MASTER_WRITE, true);
-        if (len > 0 && data != nullptr) {
-            i2c_master_write(cmd, data, len, true);
-        }
-        i2c_master_stop(cmd);
-        esp_err_t ret = i2c_master_cmd_begin(_port, cmd, pdMS_TO_TICKS(100));
-        i2c_cmd_link_delete(cmd);
-        return ret;
+        esp_err_t err = ensureDevice(addr);
+        if (err != ESP_OK) return err;
+        return i2c_master_transmit(_dev, data, len, pdMS_TO_TICKS(200));
     }
 
     esp_err_t writeReg(uint8_t addr, uint8_t reg, const uint8_t* data, size_t len) {
         if (!_initialized) return ESP_ERR_INVALID_STATE;
+        esp_err_t err = ensureDevice(addr);
+        if (err != ESP_OK) return err;
 
-        i2c_cmd_handle_t cmd = i2c_cmd_link_create();
-        i2c_master_start(cmd);
-        i2c_master_write_byte(cmd, (addr << 1) | I2C_MASTER_WRITE, true);
-        i2c_master_write_byte(cmd, reg, true);
+        uint8_t buf[len + 1];
+        buf[0] = reg;
         if (len > 0 && data != nullptr) {
-            i2c_master_write(cmd, data, len, true);
+            memcpy(buf + 1, data, len);
         }
-        i2c_master_stop(cmd);
-        esp_err_t ret = i2c_master_cmd_begin(_port, cmd, pdMS_TO_TICKS(100));
-        i2c_cmd_link_delete(cmd);
-        return ret;
+        return i2c_master_transmit(_dev, buf, len + 1, pdMS_TO_TICKS(200));
     }
 
     esp_err_t readReg(uint8_t addr, uint8_t reg, uint8_t* data, size_t len) {
         if (!_initialized) return ESP_ERR_INVALID_STATE;
-
-        i2c_cmd_handle_t cmd = i2c_cmd_link_create();
-        i2c_master_start(cmd);
-        i2c_master_write_byte(cmd, (addr << 1) | I2C_MASTER_WRITE, true);
-        i2c_master_write_byte(cmd, reg, true);
-        i2c_master_start(cmd);
-        i2c_master_write_byte(cmd, (addr << 1) | I2C_MASTER_READ, true);
-        if (len > 1) {
-            i2c_master_read(cmd, data, len - 1, I2C_MASTER_ACK);
-        }
-        i2c_master_read_byte(cmd, data + len - 1, I2C_MASTER_NACK);
-        i2c_master_stop(cmd);
-        esp_err_t ret = i2c_master_cmd_begin(_port, cmd, pdMS_TO_TICKS(100));
-        i2c_cmd_link_delete(cmd);
-        return ret;
+        esp_err_t err = ensureDevice(addr);
+        if (err != ESP_OK) return err;
+        return i2c_master_transmit_receive(_dev, &reg, 1, data, len, pdMS_TO_TICKS(200));
     }
 
     bool probe(uint8_t addr) {
         if (!_initialized) return false;
-
-        i2c_cmd_handle_t cmd = i2c_cmd_link_create();
-        i2c_master_start(cmd);
-        i2c_master_write_byte(cmd, (addr << 1) | I2C_MASTER_WRITE, true);
-        i2c_master_stop(cmd);
-        esp_err_t ret = i2c_master_cmd_begin(_port, cmd, pdMS_TO_TICKS(50));
-        i2c_cmd_link_delete(cmd);
-        return ret == ESP_OK;
+        return i2c_master_probe(_bus, addr, pdMS_TO_TICKS(200)) == ESP_OK;
     }
 
     std::vector<uint8_t> scan(uint8_t lower = 1, uint8_t upper = 127) {
@@ -157,4 +127,23 @@ class I2CBus {
     gpio_num_t _scl = GPIO_NUM_NC;
     uint32_t _freq = 100000;
     bool _initialized = false;
+
+    i2c_master_bus_handle_t _bus = NULL;
+    i2c_master_dev_handle_t _dev = NULL;
+    uint8_t _dev_addr = 0xFF;
+
+    esp_err_t ensureDevice(uint8_t addr) {
+        if (_dev && _dev_addr == addr) return ESP_OK;
+        if (_dev) {
+            i2c_master_bus_rm_device(_dev);
+            _dev = NULL;
+        }
+        i2c_device_config_t dev_cfg = {};
+        dev_cfg.dev_addr_length = I2C_ADDR_BIT_LEN_7;
+        dev_cfg.device_address = addr;
+        dev_cfg.scl_speed_hz = _freq;
+        esp_err_t err = i2c_master_bus_add_device(_bus, &dev_cfg, &_dev);
+        if (err == ESP_OK) _dev_addr = addr;
+        return err;
+    }
 };

esp32/include/peripherals/imu.h

@@ -4,10 +4,6 @@
 #include <features.h>
 #include <peripherals/sensor.hpp>
 
-#if FT_ENABLED(USE_ICM20948)
-#include "ICM_20948.h"
-#endif
-
 #if FT_ENABLED(USE_MPU6050)
 #include <peripherals/drivers/mpu6050.h>
 #endif
@@ -24,7 +20,7 @@ struct IMUAnglesMsg {
 
 class IMU : public SensorBase<IMUAnglesMsg> {
   public:
-    bool initialize(void* _arg = nullptr) override {
+    bool initialize() override {
 #if FT_ENABLED(USE_MPU6050)
         _msg.success = _imu.begin();
         if (!_msg.success) {
@@ -39,43 +35,13 @@ class IMU : public SensorBase<IMUAnglesMsg> {
             ESP_LOGE("IMU", "BNO055 initialization failed");
             return false;
         }
-#endif
-#if FT_ENABLED(USE_ICM20948)
-    #if FT_ENABLED(USE_ICM20948_SPIMODE) > 0
-        #define ICM_20948_USE_DMP // TODO: Move to features.ini
-        SPI_PORT.begin(SPI_SCK, SPI_MISO, SPI_MOSI, -1); // TODO: Move to global spi start
-        _imu = (ICM_20948_SPI*)_arg;
-        #ifndef ICM20948_ALIVE
-        #define ICM20948_ALIVE
-        _imu->begin(ICM20948_SPI_CS, SPI_PORT); ESP_LOGI("IMU", "Beginning ICM20948 in SPI mode");
-        _imu->initializeDMP();
-        #endif
-    #else
-        _imu = (ICM_20948_I2C*)_arg;
-        #ifndef ICM20948_ALIVE
-        #define ICM20948_ALIVE
-        _imu->begin(Wire, 1, 0xFF); ESP_LOGI("IMU", "Beginning ICM20948 in I2C mode");
-        #endif
-        
-    #endif
-    if (_imu->status != ICM_20948_Stat_Ok){ ESP_LOGW("IMU", "Failed to start ICM20948: begin failed"); return false; }
-    
-    _imu->setSampleMode((ICM_20948_Internal_Acc | ICM_20948_Internal_Gyr), ICM_20948_Sample_Mode_Continuous);
-    if (_imu->status != ICM_20948_Stat_Ok){ ESP_LOGW("IMU", "Failed to start ICM20948: set sample failed"); return false; }
-    
-    ICM_20948_fss_t myFSS;
-    myFSS.a = gpm2;
-    myFSS.g = dps250;
-    _imu->setFullScale((ICM_20948_Internal_Acc | ICM_20948_Internal_Gyr), myFSS);
-    if (_imu->status != ICM_20948_Stat_Ok){ ESP_LOGW("IMU", "Failed to start ICM20948: set full scale failed"); return false; }
-    // TODO: Setup low pass filter config
-    _msg.success = true;
+        ESP_LOGI("IMU", "BNO055 initialized successfully");
 #endif
         return _msg.success;
     }
 
     bool update() override {
-        //if (!_msg.success) return false;
+        if (!_msg.success) return false;
 #if FT_ENABLED(USE_MPU6050)
         if (!_imu.update()) return false;
         _msg.rpy[0] = _imu.getYaw();
@@ -83,22 +49,11 @@ class IMU : public SensorBase<IMUAnglesMsg> {
         _msg.rpy[2] = _imu.getRoll();
         _msg.temperature = _imu.getTemperature();
 #endif
-#if FT_ENABLED(USE_ICM20948)
-          
-        #ifndef ICM20948_GET_AGMT_UPDATED_ONCE_PER_LOOP
-        #define ICM20948_GET_AGMT_UPDATED_ONCE_PER_LOOP
-        if (_imu->dataReady())
-        {
-            _imu->getAGMT();
-        } else {
-            return false;
-        }
-        #endif
-        _msg.rpy[0] = _imu->accX();
-        _msg.rpy[1] = _imu->accY();
-        _msg.rpy[2] = _imu->accZ();
-#endif
 #if FT_ENABLED(USE_BNO055)
+        if (!_imu.update()) return false;
+        _msg.rpy[0] = _imu.getHeading();
+        _msg.rpy[1] = _imu.getPitch();
+        _msg.rpy[2] = _imu.getRoll();
 #endif
         return true;
     }
@@ -133,12 +88,4 @@ class IMU : public SensorBase<IMUAnglesMsg> {
 #if FT_ENABLED(USE_BNO055)
     BNO055Driver _imu;
 #endif
-#if FT_ENABLED(USE_ICM20948)
-    #if FT_ENABLED(USE_ICM20948_SPIMODE) > 0
-        ICM_20948_SPI* _imu;
-    #else
-        //#define WIRE_PORT Wire 
-        ICM_20948_I2C* _imu;
-    #endif
-#endif
 };

esp32/include/peripherals/led_service.h

@@ -1,56 +1,110 @@
 #ifndef LEDService_h
 #define LEDService_h
 
-#include <FastLED.h>
+#include <sdkconfig.h>
+#include <driver/rmt_tx.h>
+#include <led_strip.h>
+#include <led_strip_rmt.h>
+#include <wifi/wifi_idf.h>
+#include <utils/timing.h>
+#include <esp_log.h>
 
 #ifndef WS2812_PIN
+#if CONFIG_IDF_TARGET_ESP32P4
+#define WS2812_PIN 27
+#else
 #define WS2812_PIN 12
 #endif
+#endif
 
 #ifndef WS2812_NUM_LEDS
-#define WS2812_NUM_LEDS 1 + 12
+#define WS2812_NUM_LEDS 13
 #endif
 
-#define COLOR_ORDER GRB
-#define CHIPSET WS2811
-
 class LEDService {
   private:
-    CRGB leds[WS2812_NUM_LEDS];
-    CRGBPalette16 currentPalette;
-    TBlendType currentBlending;
-
+    led_strip_handle_t led_strip = nullptr;
     int _brightness = 255;
     int direction = 1;
+    bool initialized = false;
+
+    struct RGB {
+        uint8_t r, g, b;
+    };
+
+    RGB oceanColor = {0, 119, 190};
+    RGB forestColor = {34, 139, 34};
 
   public:
-    LEDService() {
-        FastLED.addLeds<CHIPSET, WS2812_PIN, COLOR_ORDER>(leds, WS2812_NUM_LEDS).setCorrection(TypicalLEDStrip);
-        currentPalette = OceanColors_p;
-        currentBlending = LINEARBLEND;
+    LEDService() {}
+
+    ~LEDService() {
+        if (initialized && led_strip) {
+            led_strip_del(led_strip);
+        }
+    }
+
+    void begin() {
+        if (initialized) return;
+
+        led_strip_config_t strip_config = {
+            .strip_gpio_num = WS2812_PIN,
+            .max_leds = WS2812_NUM_LEDS,
+            .led_pixel_format = LED_PIXEL_FORMAT_GRB,
+            .led_model = LED_MODEL_WS2812,
+            .flags = {.invert_out = false},
+        };
+
+        led_strip_rmt_config_t rmt_config = {
+            .clk_src = RMT_CLK_SRC_DEFAULT,
+            .resolution_hz = 10 * 1000 * 1000,
+            .mem_block_symbols = 64,
+            .flags = {.with_dma = false},
+        };
+
+        esp_err_t err = led_strip_new_rmt_device(&strip_config, &rmt_config, &led_strip);
+        if (err == ESP_OK) {
+            initialized = true;
+            led_strip_clear(led_strip);
+            ESP_LOGI("LEDService", "LED strip initialized on GPIO %d", WS2812_PIN);
+        } else {
+            ESP_LOGE("LEDService", "Failed to initialize LED strip: %s", esp_err_to_name(err));
+        }
     }
-    ~LEDService() {}
 
     void loop() {
+        if (!initialized) return;
+
         EXECUTE_EVERY_N_MS(1000 / 60, {
             if (_brightness >= 200) direction = -5;
             if (_brightness <= 50) direction = 5;
             _brightness += direction;
-            if (WiFi.isConnected()) {
-                fillFromPallette(OceanColors_p, 0);
-            } else {
-                fillFromPallette(ForestColors_p, 128);
+
+            RGB color = WiFi.isConnected() ? oceanColor : forestColor;
+
+            uint8_t r = (color.r * _brightness) / 255;
+            uint8_t g = (color.g * _brightness) / 255;
+            uint8_t b = (color.b * _brightness) / 255;
+
+            for (int i = 0; i < WS2812_NUM_LEDS; ++i) {
+                led_strip_set_pixel(led_strip, i, r, g, b);
             }
-            FastLED.show();
+            led_strip_refresh(led_strip);
         });
     }
 
-    void fillFromPallette(CRGBPalette16 colorPalette, uint8_t colorIndex) {
-        CRGB color = ColorFromPalette(colorPalette, colorIndex, _brightness, currentBlending);
+    void setColor(uint8_t r, uint8_t g, uint8_t b) {
+        if (!initialized) return;
         for (int i = 0; i < WS2812_NUM_LEDS; ++i) {
-            leds[i] = color;
+            led_strip_set_pixel(led_strip, i, r, g, b);
         }
+        led_strip_refresh(led_strip);
+    }
+
+    void clear() {
+        if (!initialized) return;
+        led_strip_clear(led_strip);
     }
 };
 
-#endif
+#endif

esp32/include/peripherals/magnetometer.h

@@ -12,63 +12,23 @@ struct MagnetometerMsg {
 
 class Magnetometer : public SensorBase<MagnetometerMsg> {
   public:
-    bool initialize(void* _arg) override {
-        #if FT_ENABLED(USE_ICM20948)
-            #if FT_ENABLED(USE_ICM20948_SPIMODE) > 0
-                SPI_PORT.begin(SPI_SCK, SPI_MISO, SPI_MOSI, -1);
-                _mag = (ICM_20948_SPI*)_arg;
-                #ifndef ICM20948_ALIVE
-                #define ICM20948_ALIVE
-                _imu->begin(ICM20948_SPI_CS, SPI_PORT); ESP_LOGI("Magnetometer", "Beginning ICM20948 in SPI mode");
-                #endif
-            #else
-                _mag = (ICM_20948_I2C*)_arg;
-                #ifndef ICM20948_ALIVE
-                #define ICM20948_ALIVE
-                if (!_mag->isConnected()) { _mag->begin(Wire, 1, 0xFF); ESP_LOGI("Magnetometer", "Beginning ICM20948 in I2C mode"); }
-                #endif
-                
-            #endif
-            if (_mag->status != ICM_20948_Stat_Ok){ return false; }
-            
-            _mag->startupMagnetometer();
-            if (_mag->status != ICM_20948_Stat_Ok){ return false; }
-            _msg.success = true;
-        #elif FT_ENABLED(USE_HMC5883)
-            _msg.success = _mag.begin();
-        #endif
+    bool initialize() override {
+        _msg.success = _mag.begin();
+        if (_msg.success) {
+            ESP_LOGI("MAG", "HMC5883L initialized successfully");
+        } else {
+            ESP_LOGE("MAG", "HMC5883L initialization failed");
+        }
         return _msg.success;
     }
 
     bool update() override {
         if (!_msg.success) return false;
-        #if FT_ENABLED(USE_ICM20948)
-        #ifndef ICM20948_GET_AGMT_UPDATED_ONCE_PER_LOOP
-        #define ICM20948_GET_AGMT_UPDATED_ONCE_PER_LOOP
-        if (_imu->dataReady())
-        { 
-            _imu->getAGMT();
-        } else {
-            return false;
-        }
-        #endif
-        _msg.rpy[0] = _mag->magX();
-        _msg.rpy[1] = _mag->magY();
-        _msg.rpy[2] = _mag->magZ();
-
-        #elif FT_ENABLED(USE_HMC5883)
-            sensors_event_t event;
-            bool updated = _mag.getEvent(&event);
-            if (!updated) return false;
-            _msg.rpy[0] = event.magnetic.x;
-            _msg.rpy[1] = event.magnetic.y;
-            _msg.rpy[2] = event.magnetic.z;
-        #endif
-        _msg.heading = atan2(_msg.rpy[1], _msg.rpy[0]); // atan2(y, x)
-        _msg.heading += declinationAngle;
-        if (_msg.heading < 0) _msg.heading += 2 * PI;
-        if (_msg.heading > 2 * PI) _msg.heading -= 2 * PI;
-        _msg.heading *= 180 / M_PI;
+        if (!_mag.update()) return false;
+        _msg.rpy[0] = _mag.getMagX();
+        _msg.rpy[1] = _mag.getMagY();
+        _msg.rpy[2] = _mag.getMagZ();
+        _msg.heading = _mag.getHeading();
         return true;
     }
 
@@ -78,18 +38,5 @@ class Magnetometer : public SensorBase<MagnetometerMsg> {
     float getHeading() { return _msg.heading; }
 
   private:
-    
-    #if FT_ENABLED(USE_ICM20948)
-        #if FT_ENABLED(USE_ICM20948_SPIMODE) > 0
-            #define SPI_PORT SPI // TODO in periphearals_seetings.h
-            #define CS_PIN 2 
-            ICM_20948_SPI* _mag;
-        #else
-            //#define WIRE_PORT Wire 
-            ICM_20948_I2C* _mag;
-        #endif
-    #elif FT_ENABLED(USE_HMC5883)
-        Adafruit_HMC5883_Unified _mag {12345};
-    #endif
-    const float declinationAngle = 0.22;
+    HMC5883LDriver _mag;
 };

esp32/include/peripherals/peripherals.h

@@ -1,6 +1,6 @@
 #pragma once
 
-#include <template/stateful_persistence_pb.h>
+#include <template/stateful_persistence.h>
 #include <template/stateful_service.h>
 #include <template/stateful_proto_endpoint.h>
 #include <utils/math_utils.h>
@@ -12,7 +12,9 @@
 
 #include <list>
 
+#if FT_ENABLED(USE_USS)
 #include <NewPing.h>
+#endif
 #include <peripherals/i2c_bus.h>
 #include <peripherals/imu.h>
 #include <peripherals/magnetometer.h>
@@ -74,10 +76,10 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
 
     inline void endTransaction() { xSemaphoreGiveRecursive(_accessMutex); }
 
-#if FT_ENABLED(USE_MPU6050 || USE_BNO055 || USE_ICM20948)
+#if FT_ENABLED(USE_MPU6050 || USE_BNO055)
     IMU _imu;
 #endif
-#if FT_ENABLED(USE_HMC5883) || FT_ENABLED(USE_ICM20948)
+#if FT_ENABLED(USE_HMC5883)
     Magnetometer _mag;
 #endif
 #if FT_ENABLED(USE_BMP180)

esp32/include/peripherals/sensor.hpp

@@ -3,7 +3,7 @@
 template <class T>
 class SensorBase {
   public:
-    virtual bool initialize(void* _arg) = 0;
+    virtual bool initialize() = 0;
     virtual bool update() = 0;
     virtual bool isActive() { return _msg.success; }
 

esp32/include/peripherals/servo_controller.h

@@ -2,7 +2,7 @@
 #define ServoController_h
 
 #include <peripherals/drivers/pca9685.h>
-#include <template/stateful_persistence_pb.h>
+#include <template/stateful_persistence.h>
 #include <template/stateful_proto_endpoint.h>
 #include <template/stateful_service.h>
 #include <utils/math_utils.h>
@@ -24,22 +24,17 @@ inline ServoSettings ServoSettings_defaults() {
     ServoSettings settings = {};
     settings.servos_count = 12;
     const api_Servo defaults[12] = {
-        {306, -1, 0, 2.0f, "Servo1"},   {306, 1, -45, 2.0f, "Servo2"},
-        {306, 1, 90, 2.0f, "Servo3"}, {306, -1, 0, 2.0f, "Servo4"},
-        {306, -1, 45, 2.0f, "Servo5"}, {306, -1, -90, 2.0f, "Servo6"},
-        {306, 1, 0, 2.0f, "Servo7"},   {306, 1, -45, 2.0f, "Servo8"},
-        {306, 1, 90, 2.0f, "Servo9"}, {306, 1, 0, 2.0f, "Servo10"},
-        {306, -1, 45, 2.0f, "Servo11"}, {306, -1, -90, 2.0f, "Servo12"}
-    };
+        {306, -1, 0, 2.0f, "Servo1"}, {306, 1, -45, 2.0f, "Servo2"},  {306, 1, 90, 2.0f, "Servo3"},
+        {306, -1, 0, 2.0f, "Servo4"}, {306, -1, 45, 2.0f, "Servo5"},  {306, -1, -90, 2.0f, "Servo6"},
+        {306, 1, 0, 2.0f, "Servo7"},  {306, 1, -45, 2.0f, "Servo8"},  {306, 1, 90, 2.0f, "Servo9"},
+        {306, 1, 0, 2.0f, "Servo10"}, {306, -1, 45, 2.0f, "Servo11"}, {306, -1, -90, 2.0f, "Servo12"}};
     for (int i = 0; i < 12; i++) {
         settings.servos[i] = defaults[i];
     }
     return settings;
 }
 
-inline void ServoSettings_read(const ServoSettings &settings, ServoSettings &proto) {
-    proto = settings;
-}
+inline void ServoSettings_read(const ServoSettings &settings, ServoSettings &proto) { proto = settings; }
 
 inline StateUpdateResult ServoSettings_update(const ServoSettings &proto, ServoSettings &settings) {
     settings = proto;
@@ -52,9 +47,8 @@ class ServoController : public StatefulService<ServoSettings> {
         : protoEndpoint(ServoSettings_read, ServoSettings_update, this,
                         API_REQUEST_EXTRACTOR(servo_settings, ServoSettings),
                         API_RESPONSE_ASSIGNER(servo_settings, ServoSettings)),
-          _persistence(ServoSettings_read, ServoSettings_update, this,
-                       SERVO_SETTINGS_FILE, api_ServoSettings_fields, api_ServoSettings_size,
-                       ServoSettings_defaults()) {}
+          _persistence(ServoSettings_read, ServoSettings_update, this, SERVO_SETTINGS_FILE, api_ServoSettings_fields,
+                       api_ServoSettings_size, ServoSettings_defaults()) {}
 
     void begin() {
         _persistence.readFromFS();

esp32/include/settings/ap_settings.h

@@ -1,12 +1,11 @@
 #pragma once
 
-#include <WiFi.h>
+#include <wifi/wifi_idf.h>
+#include <wifi/dns_server.h>
 #include <template/state_result.h>
 #include <platform_shared/api.pb.h>
 #include <cstring>
 
-#include <DNSServer.h>
-
 #ifndef FACTORY_AP_PROVISION_MODE
 #define FACTORY_AP_PROVISION_MODE api_APProvisionMode_AP_MODE_DISCONNECTED
 #endif
@@ -77,11 +76,9 @@ inline APSettings APSettings_defaults() {
     return settings;
 }
 
-inline void APSettings_read(const APSettings &settings, APSettings &proto) {
-    proto = settings;
-}
+inline void APSettings_read(const APSettings &settings, APSettings &proto) { proto = settings; }
 
 inline StateUpdateResult APSettings_update(const APSettings &proto, APSettings &settings) {
     settings = proto;
     return StateUpdateResult::CHANGED;
-}
+}

esp32/include/settings/camera_settings.h

@@ -1,15 +1,20 @@
 #pragma once
 
-#include <template/state_result.h>
+#include <sdkconfig.h>
 #include <platform_shared/api.pb.h>
+
+#if !CONFIG_IDF_TARGET_ESP32P4
 #include <esp_camera.h>
+#else
+#define PIXFORMAT_JPEG 0
+#define FRAMESIZE_VGA 0
+#define GAINCEILING_2X 0
+#endif
 
 namespace Camera {
 
-// Use proto type directly as settings type
 using CameraSettings = api_CameraSettings;
 
-// Default factory settings
 inline CameraSettings CameraSettings_defaults() {
     CameraSettings settings = api_CameraSettings_init_zero;
     settings.pixformat = PIXFORMAT_JPEG;

esp32/include/settings/ntp_settings.h

@@ -1,4 +1,3 @@
-#include <Arduino.h>
 #include <template/state_result.h>
 #include <ArduinoJson.h>
 #include <string>

esp32/include/settings/peripherals_settings.h

@@ -1,20 +1,9 @@
 #pragma once
 
 #include <template/state_result.h>
+#include <sdkconfig.h>
 #include <platform_shared/api.pb.h>
-
-/*
- * I2C software connection
- */
-#ifndef SDA_PIN
-#define SDA_PIN SDA
-#endif
-#ifndef SCL_PIN
-#define SCL_PIN SCL
-#endif
-#ifndef I2C_FREQUENCY
-#define I2C_FREQUENCY 400000UL
-#endif
+#include <global.h>
 
 // Use proto types directly
 using PinConfig = api_PinConfig;
@@ -35,7 +24,8 @@ inline void PeripheralsConfiguration_read(const PeripheralsConfiguration& settin
     proto = settings;
 }
 
-inline StateUpdateResult PeripheralsConfiguration_update(const PeripheralsConfiguration& proto, PeripheralsConfiguration& settings) {
+inline StateUpdateResult PeripheralsConfiguration_update(const PeripheralsConfiguration& proto,
+                                                         PeripheralsConfiguration& settings) {
     settings = proto;
     return StateUpdateResult::CHANGED;
 }

esp32/include/settings/wifi_settings.h

@@ -1,6 +1,6 @@
 #pragma once
 
-#include <WiFi.h>
+#include <wifi/wifi_idf.h>
 #include <template/state_result.h>
 #include <platform_shared/api.pb.h>
 #include <cstring>
@@ -42,6 +42,7 @@ inline WiFiSettings WiFiSettings_defaults() {
     strncpy(settings.hostname, FACTORY_WIFI_HOSTNAME, sizeof(settings.hostname) - 1);
     settings.priority_rssi = true;
     settings.wifi_networks_count = 0;
+    settings.selected_network = 0;
     if (strlen(FACTORY_WIFI_SSID) > 0) {
         settings.wifi_networks[0] = WiFiNetwork_defaults();
         settings.wifi_networks_count = 1;
@@ -49,9 +50,7 @@ inline WiFiSettings WiFiSettings_defaults() {
     return settings;
 }
 
-inline void WiFiSettings_read(const WiFiSettings &settings, WiFiSettings &proto) {
-    proto = settings;
-}
+inline void WiFiSettings_read(const WiFiSettings &settings, WiFiSettings &proto) { proto = settings; }
 
 inline StateUpdateResult WiFiSettings_update(const WiFiSettings &proto, WiFiSettings &settings) {
     settings = proto;

esp32/include/system_service.h

@@ -1,8 +1,8 @@
 #pragma once
 
-#include <ESPmDNS.h>
+#include <mdns.h>
 #include <esp_http_server.h>
-#include <WiFi.h>
+#include <wifi/wifi_idf.h>
 #include <filesystem.h>
 #include <global.h>
 #include <esp_timer.h>
@@ -20,7 +20,6 @@ esp_err_t handleSleep(httpd_req_t *request);
 void reset();
 void restart();
 void sleep();
-void status(JsonObject &root);
 void getAnalytics(socket_message_AnalyticsData &analytics);
 void getStaticSystemInformation(socket_message_StaticSystemInformation &info);
 

esp32/include/template/stateful_persistence.h

@@ -1,76 +1,102 @@
-#ifndef FSPersistence_h
-#define FSPersistence_h
+#pragma once
 
-/**
- *   ESP32 SvelteKit
- *
- *   A simple, secure and extensible framework for IoT projects for ESP32 platforms
- *   with responsive Sveltekit front-end built with TailwindCSS and DaisyUI.
- *   https://github.com/theelims/ESP32-sveltekit
- *
- *   Copyright (C) 2018 - 2023 rjwats
- *   Copyright (C) 2023 theelims
- *   Copyright (C) 2025 runeharlyk
- *
- *   All Rights Reserved. This software may be modified and distributed under
- *   the terms of the LGPL v3 license. See the LICENSE file for details.
- **/
-
-#include <FS.h>
 #include <template/stateful_service.h>
+#include <template/state_result.h>
 #include <filesystem.h>
+#include <pb_encode.h>
+#include <pb_decode.h>
+#include <cstdio>
+#include <sys/stat.h>
+#include <esp_log.h>
+
+static const char *TAG_PERSISTENCE = "FSPersistencePB";
 
 template <class T>
-class FSPersistence {
+class FSPersistencePB {
   public:
-    FSPersistence(JsonStateReader<T> stateReader, JsonStateUpdater<T> stateUpdater, StatefulService<T> *statefulService,
-                  const char *filePath)
+    using ProtoStateReader = std::function<void(const T &, T &)>;
+    using ProtoStateUpdater = std::function<StateUpdateResult(const T &, T &)>;
+
+    FSPersistencePB(ProtoStateReader stateReader, ProtoStateUpdater stateUpdater, StatefulService<T> *statefulService,
+                    const char *filePath, const pb_msgdesc_t *msgDescriptor, size_t maxSize, const T &defaultState)
         : _stateReader(stateReader),
           _stateUpdater(stateUpdater),
           _statefulService(statefulService),
           _filePath(filePath),
+          _msgDescriptor(msgDescriptor),
+          _maxSize(maxSize),
+          _defaultState(defaultState),
           _updateHandlerId(0) {
         enableUpdateHandler();
     }
 
     void readFromFS() {
-        File settingsFile = _fs->open(_filePath, "r");
+        FILE *file = fopen(_filePath, "rb");
 
-        if (settingsFile) {
-            JsonDocument jsonDocument;
-            DeserializationError error = deserializeJson(jsonDocument, settingsFile);
-            if (error == DeserializationError::Ok) {
-                JsonVariant jsonObject = jsonDocument.as<JsonVariant>();
-                _statefulService->updateWithoutPropagation(jsonObject, _stateUpdater);
-                settingsFile.close();
-                return;
+        if (file) {
+            fseek(file, 0, SEEK_END);
+            size_t fileSize = ftell(file);
+            fseek(file, 0, SEEK_SET);
+
+            if (fileSize > 0 && fileSize <= _maxSize) {
+                uint8_t *buffer = new uint8_t[fileSize];
+                size_t bytesRead = fread(buffer, 1, fileSize, file);
+                fclose(file);
+
+                if (bytesRead == fileSize) {
+                    T *protoMsg = new T();
+                    *protoMsg = {};
+                    pb_istream_t stream = pb_istream_from_buffer(buffer, bytesRead);
+
+                    if (pb_decode(&stream, _msgDescriptor, protoMsg)) {
+                        _statefulService->updateWithoutPropagation(
+                            [this, protoMsg](T &state) { return _stateUpdater(*protoMsg, state); });
+                        delete protoMsg;
+                        delete[] buffer;
+                        return;
+                    }
+                    delete protoMsg;
+                }
+                delete[] buffer;
+            } else {
+                fclose(file);
             }
-            settingsFile.close();
         }
 
-        // If we reach here we have not been successful in loading the config
-        // and hard-coded defaults are now applied. The settings are then
-        // written back to the file system so the defaults persist between
-        // resets. This last step is required as in some cases defaults contain
-        // randomly generated values which would otherwise be modified on reset.
         applyDefaults();
         writeToFS();
     }
 
     bool writeToFS() {
-        JsonDocument jsonDocument;
-        JsonVariant jsonObject = jsonDocument.to<JsonVariant>();
-        _statefulService->read(jsonObject, _stateReader);
+        uint8_t *buffer = new uint8_t[_maxSize];
+        pb_ostream_t stream = pb_ostream_from_buffer(buffer, _maxSize);
+
+        T *protoMsg = new T();
+        *protoMsg = {};
+        _statefulService->read([this, protoMsg](const T &state) { _stateReader(state, *protoMsg); });
+
+        bool encodeSuccess = pb_encode(&stream, _msgDescriptor, protoMsg);
+        delete protoMsg;
+
+        if (!encodeSuccess) {
+            delete[] buffer;
+            return false;
+        }
 
         mkdirs();
 
-        File file = _fs->open(_filePath, "w");
+        FILE *file = fopen(_filePath, "wb");
+        if (!file) {
+            ESP_LOGE(TAG_PERSISTENCE, "Failed to open file for writing: %s", _filePath);
+            delete[] buffer;
+            return false;
+        }
 
-        if (!file) return false;
+        size_t written = fwrite(buffer, 1, stream.bytes_written, file);
+        fclose(file);
+        delete[] buffer;
 
-        serializeJson(jsonDocument, file);
-        file.close();
-        return true;
+        return written == stream.bytes_written;
     }
 
     void disableUpdateHandler() {
@@ -87,34 +113,29 @@ class FSPersistence {
     }
 
   private:
-    JsonStateReader<T> _stateReader;
-    JsonStateUpdater<T> _stateUpdater;
+    ProtoStateReader _stateReader;
+    ProtoStateUpdater _stateUpdater;
     StatefulService<T> *_statefulService;
-    FS *_fs {&ESP_FS};
     const char *_filePath;
-    size_t _bufferSize;
+    const pb_msgdesc_t *_msgDescriptor;
+    size_t _maxSize;
+    T _defaultState;
     HandlerId _updateHandlerId;
 
-    // We assume we have a _filePath with format
-    // "/directory1/directory2/filename" We create a directory for each missing
-    // parent
     void mkdirs() {
         std::string path(_filePath);
         size_t index = 0;
         while ((index = path.find('/', index + 1)) != std::string::npos) {
             std::string segment = path.substr(0, index);
-            if (!_fs->exists(segment.c_str())) _fs->mkdir(segment.c_str());
+            struct stat st;
+            if (stat(segment.c_str(), &st) != 0) {
+                FileSystem::mkdirRecursive(segment.c_str());
+            }
         }
     }
 
   protected:
-    // We assume the updater supplies sensible defaults if an empty object
-    // is supplied, this virtual function allows that to be changed.
-    virtual void applyDefaults() {
-        JsonDocument jsonDocument;
-        JsonVariant jsonObject = jsonDocument.as<JsonVariant>();
-        _statefulService->updateWithoutPropagation(jsonObject, _stateUpdater);
+    void applyDefaults() {
+        _statefulService->updateWithoutPropagation([this](T &state) { return _stateUpdater(_defaultState, state); });
     }
 };
-
-#endif // end FSPersistence

esp32/include/template/stateful_persistence_pb.h

@@ -1,144 +0,0 @@
-#pragma once
-
-#include <FS.h>
-#include <template/stateful_service.h>
-#include <template/state_result.h>
-#include <filesystem.h>
-#include <pb_encode.h>
-#include <pb_decode.h>
-
-/**
- * Protobuf-based filesystem persistence for StatefulService.
- *
- * @tparam T The state type (should be a nanopb-generated struct like api_APSettings)
- */
-template <class T>
-class FSPersistencePB {
-  public:
-    // Formats are passed as referenced const (local variable) we want to read from, and a reference (proto) we write to
-    using ProtoStateReader = std::function<void(const T&, T&)>;
-    // Formats are passed as referenced const (new object) we read from, and a reference to the local variable we  write to
-    using ProtoStateUpdater = std::function<StateUpdateResult(const T&, T&)>;
-
-    FSPersistencePB(ProtoStateReader stateReader, ProtoStateUpdater stateUpdater,
-                    StatefulService<T> *statefulService, const char *filePath,
-                    const pb_msgdesc_t *msgDescriptor, size_t maxSize,
-                    const T &defaultState)
-        : _stateReader(stateReader),
-          _stateUpdater(stateUpdater),
-          _statefulService(statefulService),
-          _filePath(filePath),
-          _msgDescriptor(msgDescriptor),
-          _maxSize(maxSize),
-          _defaultState(defaultState),
-          _updateHandlerId(0) {
-        enableUpdateHandler();
-    }
-
-    void readFromFS() {
-        File file = _fs->open(_filePath, "r");
-
-        if (file) {
-            size_t fileSize = file.size();
-            if (fileSize > 0 && fileSize <= _maxSize) {
-                uint8_t *buffer = new uint8_t[fileSize];
-                size_t bytesRead = file.read(buffer, fileSize);
-                file.close();
-
-                if (bytesRead == fileSize) {
-                    // Allocate on heap to avoid stack overflow with large proto messages
-                    T *protoMsg = new T();
-                    *protoMsg = {};
-                    pb_istream_t stream = pb_istream_from_buffer(buffer, bytesRead);
-
-                    if (pb_decode(&stream, _msgDescriptor, protoMsg)) {
-                        _statefulService->updateWithoutPropagation(
-                            [this, protoMsg](T &state) { return _stateUpdater(*protoMsg, state); });
-                        delete protoMsg;
-                        delete[] buffer;
-                        return;
-                    }
-                    delete protoMsg;
-                }
-                delete[] buffer;
-            } else {
-                file.close();
-            }
-        }
-
-        applyDefaults();
-        writeToFS();
-    }
-
-    bool writeToFS() {
-        uint8_t *buffer = new uint8_t[_maxSize];
-        pb_ostream_t stream = pb_ostream_from_buffer(buffer, _maxSize);
-
-        // Allocate on heap to avoid stack overflow with large proto messages
-        T *protoMsg = new T();
-        *protoMsg = {};
-        _statefulService->read([this, protoMsg](const T &state) { _stateReader(state, *protoMsg); });
-
-        bool encodeSuccess = pb_encode(&stream, _msgDescriptor, protoMsg);
-        delete protoMsg;
-
-        if (!encodeSuccess) {
-            delete[] buffer;
-            return false;
-        }
-
-        mkdirs();
-
-        File file = _fs->open(_filePath, "w");
-        if (!file) {
-            delete[] buffer;
-            return false;
-        }
-
-        size_t written = file.write(buffer, stream.bytes_written);
-        file.close();
-        delete[] buffer;
-
-        return written == stream.bytes_written;
-    }
-
-    void disableUpdateHandler() {
-        if (_updateHandlerId) {
-            _statefulService->removeUpdateHandler(_updateHandlerId);
-            _updateHandlerId = 0;
-        }
-    }
-
-    void enableUpdateHandler() {
-        if (!_updateHandlerId) {
-            _updateHandlerId = _statefulService->addUpdateHandler(
-                [&](const std::string &originId) { writeToFS(); });
-        }
-    }
-
-  private:
-    ProtoStateReader _stateReader;
-    ProtoStateUpdater _stateUpdater;
-    StatefulService<T> *_statefulService;
-    FS *_fs{&ESP_FS};
-    const char *_filePath;
-    const pb_msgdesc_t *_msgDescriptor;
-    size_t _maxSize;
-    T _defaultState;
-    HandlerId _updateHandlerId;
-
-    void mkdirs() {
-        std::string path(_filePath);
-        size_t index = 0;
-        while ((index = path.find('/', index + 1)) != std::string::npos) {
-            std::string segment = path.substr(0, index);
-            if (!_fs->exists(segment.c_str())) _fs->mkdir(segment.c_str());
-        }
-    }
-
-  protected:
-    void applyDefaults() {
-        _statefulService->updateWithoutPropagation(
-            [this](T &state) { return _stateUpdater(_defaultState, state); });
-    }
-};

esp32/include/template/stateful_service.h

@@ -1,8 +1,5 @@
 #pragma once
 
-#include <Arduino.h>
-#include <ArduinoJson.h>
-
 #include <list>
 #include <functional>
 #include <freertos/FreeRTOS.h>
@@ -11,19 +8,13 @@
 
 #include <template/state_result.h>
 
-template <typename T>
-using JsonStateUpdater = std::function<StateUpdateResult(JsonVariant &root, T &settings)>;
-
-template <typename T>
-using JsonStateReader = std::function<void(T &settings, JsonVariant &root)>;
-
 using HandlerId = size_t;
 using StateUpdateCallback = std::function<void(const std::string &originId)>;
 using StateHookCallback = std::function<void(const std::string &originId, StateUpdateResult &result)>;
 
 class HandlerBase {
   protected:
-    static inline HandlerId nextId_ = 1; // Start from 1, 0 is invalid
+    static inline HandlerId nextId_ = 1;
     HandlerId id_;
     bool allowRemove_;
 
@@ -99,31 +90,16 @@ class StatefulService {
         return result;
     }
 
-    StateUpdateResult update(JsonVariant &jsonObject, JsonStateUpdater<T> stateUpdater, const std::string &originId) {
-        lock();
-        StateUpdateResult result = stateUpdater(jsonObject, state_);
-        unlock();
-        notifyStateChange(originId, result);
-        return result;
-    }
-
-    StateUpdateResult updateWithoutPropagation(JsonVariant &jsonObject, JsonStateUpdater<T> stateUpdater) {
-        lock();
-        StateUpdateResult result = stateUpdater(jsonObject, state_);
-        unlock();
-        return result;
-    }
-
     void read(std::function<void(T &)> stateReader) {
         lock();
         stateReader(state_);
         unlock();
     }
 
-    void read(JsonVariant &jsonObject, JsonStateReader<T> stateReader) {
-        lock();
-        stateReader(state_, jsonObject);
-        unlock();
+    void read(std::function<void(const T &)> stateReader) const {
+        const_cast<StatefulService *>(this)->lock();
+        stateReader(state_);
+        const_cast<StatefulService *>(this)->unlock();
     }
 
     void callUpdateHandlers(const std::string &originId) {

esp32/include/utils/ip_address.h

@@ -0,0 +1,76 @@
+#pragma once
+
+#include <cstdint>
+#include <cstring>
+#include <string>
+#include <esp_netif.h>
+
+class IPAddress {
+  public:
+    IPAddress() : _addr {0, 0, 0, 0} {}
+
+    IPAddress(uint8_t a, uint8_t b, uint8_t c, uint8_t d) : _addr {a, b, c, d} {}
+
+    IPAddress(uint32_t addr) {
+        _addr[0] = addr & 0xFF;
+        _addr[1] = (addr >> 8) & 0xFF;
+        _addr[2] = (addr >> 16) & 0xFF;
+        _addr[3] = (addr >> 24) & 0xFF;
+    }
+
+    IPAddress(const esp_ip4_addr_t& ip4) {
+        _addr[0] = ip4.addr & 0xFF;
+        _addr[1] = (ip4.addr >> 8) & 0xFF;
+        _addr[2] = (ip4.addr >> 16) & 0xFF;
+        _addr[3] = (ip4.addr >> 24) & 0xFF;
+    }
+
+    operator uint32_t() const {
+        return static_cast<uint32_t>(_addr[0]) | (static_cast<uint32_t>(_addr[1]) << 8) |
+               (static_cast<uint32_t>(_addr[2]) << 16) | (static_cast<uint32_t>(_addr[3]) << 24);
+    }
+
+    operator esp_ip4_addr_t() const {
+        esp_ip4_addr_t ip4;
+        ip4.addr = static_cast<uint32_t>(*this);
+        return ip4;
+    }
+
+    bool operator==(const IPAddress& other) const {
+        return _addr[0] == other._addr[0] && _addr[1] == other._addr[1] && _addr[2] == other._addr[2] &&
+               _addr[3] == other._addr[3];
+    }
+
+    bool operator!=(const IPAddress& other) const { return !(*this == other); }
+
+    uint8_t operator[](int index) const { return _addr[index]; }
+
+    uint8_t& operator[](int index) { return _addr[index]; }
+
+    bool fromString(const char* str) {
+        int parts[4];
+        if (sscanf(str, "%d.%d.%d.%d", &parts[0], &parts[1], &parts[2], &parts[3]) != 4) {
+            return false;
+        }
+        for (int i = 0; i < 4; i++) {
+            if (parts[i] < 0 || parts[i] > 255) return false;
+            _addr[i] = static_cast<uint8_t>(parts[i]);
+        }
+        return true;
+    }
+
+    std::string toString() const {
+        char buf[16];
+        snprintf(buf, sizeof(buf), "%d.%d.%d.%d", _addr[0], _addr[1], _addr[2], _addr[3]);
+        return std::string(buf);
+    }
+
+    const char* c_str() const {
+        static char buf[16];
+        snprintf(buf, sizeof(buf), "%d.%d.%d.%d", _addr[0], _addr[1], _addr[2], _addr[3]);
+        return buf;
+    }
+
+  private:
+    uint8_t _addr[4];
+};

esp32/include/utils/timing.h

@@ -40,51 +40,6 @@
         last_time = esp_timer_get_time() / 1000;                             \
     }
 
-#define CALLS_PER_SECOND_TIMED_START_TICK(name, function)                        \
-    static uint64_t name##_##function##_start = 0;                           \
-    static uint64_t name##_##function##_total_time = 0;                      \
-    static uint64_t name##_##function##_call_count = 0;                      \
-    name##_##function##_start = esp_timer_get_time();
-
-#define CALLS_PER_SECOND_TIMED_END_TICK(name, function)                          \
-    name##_##function##_total_time += (esp_timer_get_time() - name##_##function##_start); \
-    name##_##function##_call_count++;
-
-#define CALLS_PER_SECOND_TIMED_CALL(name, function, call)                        \
-    static uint64_t name##_##function##_total_time = 0;                          \
-    static uint64_t name##_##function##_call_count = 0;                          \
-    do {                                                                         \
-        uint64_t name##_##function##_start = esp_timer_get_time();               \
-        call;                                                                    \
-        name##_##function##_total_time += (esp_timer_get_time() - name##_##function##_start); \
-        name##_##function##_call_count++;                                        \
-    } while (0)
-
-#define CALLS_PER_SECOND_TIMED_FUNC_PRINT(name, function)                        \
-    if (name##_##function##_call_count > 0) {                                    \
-        uint64_t avg = name##_##function##_total_time / name##_##function##_call_count; \
-        if (avg < 1000) {                                                        \
-            ESP_LOGI("Timing", "  %s: %llu us (avg over %llu calls)",            \
-                     #function, avg, name##_##function##_call_count);            \
-        } else {                                                                 \
-            ESP_LOGI("Timing", "  %s: %llu ms (avg over %llu calls)",            \
-                     #function, avg / 1000, name##_##function##_call_count);     \
-        }                                                                        \
-        name##_##function##_total_time = 0;                                      \
-        name##_##function##_call_count = 0;                                      \
-    }
-
-#define CALLS_PER_SECOND_TIMED(name, ...)                                        \
-    do {                                                                         \
-        static uint64_t name##_last_print = 0;                                   \
-        uint64_t name##_current_time = esp_timer_get_time() / 1000;              \
-        if (name##_current_time - name##_last_print >= 1000) {                   \
-            ESP_LOGI("Timing", "=== %s Average Timings ===", #name);             \
-            __VA_ARGS__                                                          \
-            name##_last_print = name##_current_time;                             \
-        }                                                                        \
-    } while (0)
-
 #define WARN_IF_SLOW(name, period_ms)                                                                    \
     static uint64_t name##_slow_count = 0;                                                               \
     static uint64_t name##_slow_last_time = 0;                                                           \

esp32/include/wifi/dns_server.h

@@ -0,0 +1,144 @@
+#pragma once
+
+#include <lwip/sockets.h>
+#include <lwip/netdb.h>
+#include <esp_log.h>
+#include <utils/ip_address.h>
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
+#include <string>
+#include <atomic>
+
+#define DNS_PORT 53
+#define DNS_MAX_PACKET_SIZE 512
+
+class DNSServer {
+  public:
+    DNSServer() : _socket(-1), _running(false), _task(nullptr) {}
+    ~DNSServer() { stop(); }
+
+    bool start(uint16_t port, const char* domainName, const IPAddress& resolvedIP) {
+        if (_running) return true;
+
+        _port = port;
+        _resolvedIP = resolvedIP;
+        _domainName = domainName ? domainName : "*";
+
+        _socket = socket(AF_INET, SOCK_DGRAM, IPPROTO_UDP);
+        if (_socket < 0) {
+            ESP_LOGE("DNSServer", "Failed to create socket");
+            return false;
+        }
+
+        int opt = 1;
+        setsockopt(_socket, SOL_SOCKET, SO_REUSEADDR, &opt, sizeof(opt));
+
+        struct timeval tv;
+        tv.tv_sec = 1;
+        tv.tv_usec = 0;
+        setsockopt(_socket, SOL_SOCKET, SO_RCVTIMEO, &tv, sizeof(tv));
+
+        struct sockaddr_in serverAddr = {};
+        serverAddr.sin_family = AF_INET;
+        serverAddr.sin_addr.s_addr = INADDR_ANY;
+        serverAddr.sin_port = htons(_port);
+
+        if (bind(_socket, (struct sockaddr*)&serverAddr, sizeof(serverAddr)) < 0) {
+            ESP_LOGE("DNSServer", "Failed to bind socket");
+            close(_socket);
+            _socket = -1;
+            return false;
+        }
+
+        _running = true;
+        xTaskCreate(dnsTask, "dns_server", 4096, this, 3, &_task);
+
+        ESP_LOGI("DNSServer", "Started on port %d, resolving to %s", _port, _resolvedIP.toString().c_str());
+        return true;
+    }
+
+    void stop() {
+        _running = false;
+        if (_task) {
+            vTaskDelay(100 / portTICK_PERIOD_MS);
+            _task = nullptr;
+        }
+        if (_socket >= 0) {
+            close(_socket);
+            _socket = -1;
+        }
+        ESP_LOGI("DNSServer", "Stopped");
+    }
+
+    void processNextRequest() {}
+
+  private:
+    static void dnsTask(void* param) {
+        DNSServer* self = static_cast<DNSServer*>(param);
+        self->run();
+        vTaskDelete(nullptr);
+    }
+
+    void run() {
+        uint8_t buffer[DNS_MAX_PACKET_SIZE];
+        struct sockaddr_in clientAddr;
+        socklen_t clientAddrLen = sizeof(clientAddr);
+
+        while (_running) {
+            int len = recvfrom(_socket, buffer, DNS_MAX_PACKET_SIZE, 0, (struct sockaddr*)&clientAddr, &clientAddrLen);
+            if (len > 0) {
+                processRequest(buffer, len, &clientAddr);
+            }
+        }
+    }
+
+    void processRequest(uint8_t* buffer, int len, struct sockaddr_in* clientAddr) {
+        if (len < 12) return;
+
+        uint16_t flags = (buffer[2] << 8) | buffer[3];
+        if ((flags & 0x8000) != 0) return;
+
+        uint8_t response[DNS_MAX_PACKET_SIZE];
+        memcpy(response, buffer, len);
+
+        response[2] = 0x81;
+        response[3] = 0x80;
+
+        response[6] = 0x00;
+        response[7] = 0x01;
+
+        int responseLen = len;
+
+        response[responseLen++] = 0xC0;
+        response[responseLen++] = 0x0C;
+
+        response[responseLen++] = 0x00;
+        response[responseLen++] = 0x01;
+
+        response[responseLen++] = 0x00;
+        response[responseLen++] = 0x01;
+
+        response[responseLen++] = 0x00;
+        response[responseLen++] = 0x00;
+        response[responseLen++] = 0x00;
+        response[responseLen++] = 0x3C;
+
+        response[responseLen++] = 0x00;
+        response[responseLen++] = 0x04;
+
+        uint32_t ip = static_cast<uint32_t>(_resolvedIP);
+        response[responseLen++] = ip & 0xFF;
+        response[responseLen++] = (ip >> 8) & 0xFF;
+        response[responseLen++] = (ip >> 16) & 0xFF;
+        response[responseLen++] = (ip >> 24) & 0xFF;
+
+        sendto(_socket, response, responseLen, 0, (struct sockaddr*)clientAddr, sizeof(*clientAddr));
+    }
+
+    int _socket;
+    uint16_t _port;
+    IPAddress _resolvedIP;
+    std::string _domainName;
+    std::atomic<bool> _running;
+    TaskHandle_t _task;
+};

esp32/include/wifi/wifi_idf.h

@@ -0,0 +1,127 @@
+#pragma once
+
+#include <esp_wifi.h>
+#include <esp_event.h>
+#include <esp_netif.h>
+#include <esp_log.h>
+#include <nvs_flash.h>
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
+#include <freertos/event_groups.h>
+#include <utils/ip_address.h>
+#include <string>
+#include <cstring>
+#include <functional>
+#include <vector>
+
+typedef enum {
+    WL_NO_SHIELD = 255,
+    WL_IDLE_STATUS = 0,
+    WL_NO_SSID_AVAIL = 1,
+    WL_SCAN_COMPLETED = 2,
+    WL_CONNECTED = 3,
+    WL_CONNECT_FAILED = 4,
+    WL_CONNECTION_LOST = 5,
+    WL_DISCONNECTED = 6
+} wl_status_t;
+
+typedef enum {
+    WIFI_AUTH_OPEN_IDF = 0,
+    WIFI_AUTH_WEP_IDF,
+    WIFI_AUTH_WPA_PSK_IDF,
+    WIFI_AUTH_WPA2_PSK_IDF
+} wifi_enc_type_t;
+
+using WiFiEventCb = std::function<void(int32_t event, void* event_data)>;
+
+struct WiFiEventHandler {
+    int32_t event_id;
+    WiFiEventCb callback;
+};
+
+class WiFiClass {
+  public:
+    WiFiClass();
+    ~WiFiClass();
+
+    bool init();
+
+    bool mode(wifi_mode_t mode);
+    wifi_mode_t getMode();
+
+    bool begin(const char* ssid, const char* password = nullptr, int32_t channel = 0, const uint8_t* bssid = nullptr);
+    bool disconnect(bool wifiOff = false);
+    bool reconnect();
+
+    bool config(IPAddress local_ip, IPAddress gateway, IPAddress subnet, IPAddress dns1 = IPAddress(),
+                IPAddress dns2 = IPAddress());
+    bool setHostname(const char* hostname);
+    const char* getHostname();
+
+    wl_status_t status();
+    bool isConnected();
+
+    IPAddress localIP();
+    IPAddress subnetMask();
+    IPAddress gatewayIP();
+    IPAddress dnsIP(uint8_t dns_no = 0);
+
+    std::string macAddress();
+    std::string SSID();
+    std::string BSSIDstr();
+    int32_t RSSI();
+    uint8_t channel();
+
+    int16_t scanNetworks(bool async = false);
+    int16_t scanComplete();
+    void scanDelete();
+
+    std::string SSID(uint8_t i);
+    int32_t RSSI(uint8_t i);
+    wifi_enc_type_t encryptionType(uint8_t i);
+    std::string BSSIDstr(uint8_t i);
+    int32_t channel(uint8_t i);
+    void getNetworkInfo(uint8_t i, std::string& ssid, uint8_t& encType, int32_t& rssi, uint8_t*& bssid, int32_t& ch);
+
+    bool softAP(const char* ssid, const char* password = nullptr, int channel = 1, bool ssid_hidden = false,
+                int max_connection = 4);
+    bool softAPConfig(IPAddress local_ip, IPAddress gateway, IPAddress subnet);
+    bool softAPdisconnect(bool wifiOff = false);
+    IPAddress softAPIP();
+    std::string softAPmacAddress();
+    uint8_t softAPgetStationNum();
+
+    bool setAutoReconnect(bool autoReconnect);
+    bool persistent(bool persistent);
+    bool setTxPower(int8_t power);
+
+    void onEvent(WiFiEventCb callback, int32_t event_id);
+
+  private:
+    static void eventHandler(void* arg, esp_event_base_t event_base, int32_t event_id, void* event_data);
+    void dispatchEvent(int32_t event_id, void* event_data);
+
+    esp_netif_t* _sta_netif;
+    esp_netif_t* _ap_netif;
+    bool _initialized;
+    bool _autoReconnect;
+    bool _persistent;
+    wl_status_t _status;
+    wifi_mode_t _mode;
+
+    std::string _hostname;
+    wifi_ap_record_t* _scanResult;
+    uint16_t _scanCount;
+    int16_t _scanStatus;
+
+    std::vector<WiFiEventHandler> _eventHandlers;
+
+    IPAddress _sta_static_ip;
+    IPAddress _sta_static_gw;
+    IPAddress _sta_static_sn;
+    IPAddress _sta_static_dns1;
+    IPAddress _sta_static_dns2;
+    bool _useStaticIp;
+};
+
+extern WiFiClass WiFi;

esp32/include/wifi_service.h

@@ -1,35 +1,22 @@
 #pragma once
 
 #include <esp_http_server.h>
-#include <WiFi.h>
-#include <ESPmDNS.h>
+#include <wifi/wifi_idf.h>
+#include <mdns.h>
 #include <string>
 
 #include <filesystem.h>
 #include <utils/timing.h>
 #include <template/stateful_service.h>
-#include <template/stateful_persistence_pb.h>
+#include <template/stateful_persistence.h>
 #include <template/stateful_proto_endpoint.h>
 #include <settings/wifi_settings.h>
 
+#define WIFI_EVENT_STA_DISCONNECTED_IDF WIFI_EVENT_STA_DISCONNECTED
+#define WIFI_EVENT_STA_STOP_IDF WIFI_EVENT_STA_STOP
+#define IP_EVENT_STA_GOT_IP_IDF 1000
+
 class WiFiService : public StatefulService<WiFiSettings> {
-  private:
-    void onStationModeDisconnected(WiFiEvent_t event, WiFiEventInfo_t info);
-    void onStationModeStop(WiFiEvent_t event, WiFiEventInfo_t info);
-    static void onStationModeGotIP(WiFiEvent_t event, WiFiEventInfo_t info);
-
-    FSPersistencePB<WiFiSettings> _persistence;
-
-    void reconfigureWiFiConnection();
-    void manageSTA();
-    void connectToWiFi();
-    void configureNetwork(WiFiNetwork &network);
-
-    unsigned long _lastConnectionAttempt;
-    bool _stopping;
-
-    constexpr static uint16_t reconnectDelay {10000};
-
   public:
     WiFiService();
     ~WiFiService();
@@ -38,6 +25,7 @@ class WiFiService : public StatefulService<WiFiSettings> {
     void loop();
 
     void setupMDNS(const char *hostname);
+    void selectNetwork(uint32_t index);
 
     const char *getHostname() { return state().hostname; }
 
@@ -46,4 +34,20 @@ class WiFiService : public StatefulService<WiFiSettings> {
     static esp_err_t getNetworkStatus(httpd_req_t *request);
 
     StatefulProtoEndpoint<WiFiSettings, api_WifiSettings> protoEndpoint;
+
+  private:
+    void onStationModeDisconnected(int32_t event, void *event_data);
+    void onStationModeStop(int32_t event, void *event_data);
+    static void onStationModeGotIP(int32_t event, void *event_data);
+
+    FSPersistencePB<WiFiSettings> _persistence;
+
+    void reconfigureWiFiConnection();
+    void manageSTA();
+    void configureNetwork(WiFiNetwork &network);
+
+    unsigned long _lastConnectionAttempt;
+    bool _stopping;
+
+    constexpr static uint16_t reconnectDelay {10000};
 };

esp32/include/www_mount.hpp

@@ -3,3 +3,4 @@
 #include "WWWData.h"
 
 void mountStaticAssets(WebServer& s);
+void mountSpaFallback(WebServer& s);

esp32/partition_table/default_32MB.csv

@@ -0,0 +1,8 @@
+# Name,   Type, SubType, Offset,   Size, Flags
+# 32MB Flash partition table for ESP32-P4
+nvs,      data, nvs,     0x9000,   0x5000,
+otadata,  data, ota,     0xe000,   0x2000,
+app0,     app,  ota_0,   0x10000,  0xC80000,
+app1,     app,  ota_1,   0xC90000, 0xC80000,
+spiffs,   data, spiffs,  0x1910000,0x6E0000,
+coredump, data, coredump,0x1FF0000,0x10000,

esp32/scripts/build_app.py

@@ -114,7 +114,7 @@ def write_header():
 
     with open(output_file, "w", newline="\n") as f:
         f.write("#pragma once\n")
-        f.write("#include <Arduino.h>\n\n")
+        f.write("#include <compat/pgmspace.h>\n\n")
         f.write(
             "struct WebAsset { const char* uri; const char* mime; const uint8_t* data; uint32_t len; uint32_t etag; uint8_t gz; };\n")
         f.write(

esp32/src/CMakeLists.txt

@@ -0,0 +1,36 @@
+set(COMPONENT_REQUIRES
+    driver
+    esp_driver_i2c
+    esp_http_server
+    nvs_flash
+    esp_wifi
+    esp_event
+    esp_netif
+    mdns
+    esp_timer
+    esp_psram
+    spi_flash
+    littlefs
+    esp-dsp
+)
+
+if(IDF_TARGET STREQUAL "esp32p4")
+    list(APPEND COMPONENT_REQUIRES esp_wifi_remote esp_hosted esp_driver_cam esp_driver_isp esp_driver_jpeg espressif__esp_sccb_intf espressif__esp_cam_sensor)
+else()
+    list(APPEND COMPONENT_REQUIRES esp32-camera)
+endif()
+
+idf_component_register(
+    SRC_DIRS 
+        "."
+        "communication"
+        "peripherals"
+        "wifi"
+        "platform_shared"
+        "../../submodules/nanopb"
+    INCLUDE_DIRS 
+        "../include"
+        "../../submodules/nanopb"
+    REQUIRES
+        ${COMPONENT_REQUIRES}
+)

esp32/src/ap_service.cpp

@@ -4,21 +4,26 @@
 static const char *TAG = "APService";
 
 APService::APService()
-    : protoEndpoint(APSettings_read, APSettings_update, this,
-                    API_REQUEST_EXTRACTOR(ap_settings, api_APSettings),
+    : protoEndpoint(APSettings_read, APSettings_update, this, API_REQUEST_EXTRACTOR(ap_settings, api_APSettings),
                     API_RESPONSE_ASSIGNER(ap_settings, api_APSettings)),
-      _persistence(APSettings_read, APSettings_update, this,
-                   AP_SETTINGS_FILE, api_APSettings_fields, api_APSettings_size,
-                   APSettings_defaults()) {
+      _persistence(APSettings_read, APSettings_update, this, AP_SETTINGS_FILE, api_APSettings_fields,
+                   api_APSettings_size, APSettings_defaults()),
+      _dnsServer(nullptr),
+      _lastManaged(0),
+      _reconfigureAp(false),
+      _recoveryMode(false) {
     addUpdateHandler([&](const std::string &originId) { reconfigureAP(); }, false);
 }
 
-APService::~APService() {}
-
-void APService::begin() {
-    _persistence.readFromFS();
+APService::~APService() {
+    if (_dnsServer) {
+        delete _dnsServer;
+        _dnsServer = nullptr;
+    }
 }
 
+void APService::begin() { _persistence.readFromFS(); }
+
 esp_err_t APService::getStatusProto(httpd_req_t *request) {
     api_Response res = api_Response_init_zero;
     res.status_code = 200;
@@ -30,15 +35,15 @@ esp_err_t APService::getStatusProto(httpd_req_t *request) {
 void APService::statusProto(api_APStatus &proto) {
     proto.status = getAPNetworkStatus();
     proto.ip_address = static_cast<uint32_t>(WiFi.softAPIP());
-    String mac = WiFi.softAPmacAddress();
+    std::string mac = WiFi.softAPmacAddress();
     strncpy(proto.mac_address, mac.c_str(), sizeof(proto.mac_address) - 1);
     proto.mac_address[sizeof(proto.mac_address) - 1] = '\0';
     proto.station_num = WiFi.softAPgetStationNum();
 }
 
 APNetworkStatus APService::getAPNetworkStatus() {
-    WiFiMode_t currentWiFiMode = WiFi.getMode();
-    bool apActive = currentWiFiMode == WIFI_AP || currentWiFiMode == WIFI_AP_STA;
+    wifi_mode_t currentWiFiMode = WiFi.getMode();
+    bool apActive = currentWiFiMode == WIFI_MODE_AP || currentWiFiMode == WIFI_MODE_APSTA;
     if (apActive && state().provision_mode != AP_MODE_ALWAYS && WiFi.status() == WL_CONNECTED) {
         return LINGERING;
     }
@@ -64,13 +69,13 @@ void APService::loop() {
 }
 
 void APService::manageAP() {
-    WiFiMode_t currentWiFiMode = WiFi.getMode();
+    wifi_mode_t currentWiFiMode = WiFi.getMode();
     if (state().provision_mode == AP_MODE_ALWAYS ||
         (state().provision_mode == AP_MODE_DISCONNECTED && WiFi.status() != WL_CONNECTED) || _recoveryMode) {
-        if (_reconfigureAp || currentWiFiMode == WIFI_OFF || currentWiFiMode == WIFI_STA) {
+        if (_reconfigureAp || currentWiFiMode == WIFI_MODE_NULL || currentWiFiMode == WIFI_MODE_STA) {
             startAP();
         }
-    } else if ((currentWiFiMode == WIFI_AP || currentWiFiMode == WIFI_AP_STA) &&
+    } else if ((currentWiFiMode == WIFI_MODE_AP || currentWiFiMode == WIFI_MODE_APSTA) &&
                (_reconfigureAp || !WiFi.softAPgetStationNum())) {
         stopAP();
     }
@@ -82,7 +87,7 @@ void APService::startAP() {
     WiFi.softAPConfig(IPAddress(state().local_ip), IPAddress(state().gateway_ip), IPAddress(state().subnet_mask));
     WiFi.softAP(state().ssid, state().password, state().channel, state().ssid_hidden, state().max_clients);
 #if CONFIG_IDF_TARGET_ESP32C3
-    WiFi.setTxPower(WIFI_POWER_8_5dBm);
+    WiFi.setTxPower(8);
 #endif
     if (!_dnsServer) {
         IPAddress apIp = WiFi.softAPIP();
@@ -103,8 +108,4 @@ void APService::stopAP() {
     WiFi.softAPdisconnect(true);
 }
 
-void APService::handleDNS() {
-    if (_dnsServer) {
-        _dnsServer->processNextRequest();
-    }
-}
+void APService::handleDNS() {}

esp32/src/communication/webserver.cpp

@@ -278,7 +278,7 @@ esp_err_t WebServer::wsSendAll(const uint8_t* data, size_t len) {
 }
 
 esp_err_t WebServer::sendError(httpd_req_t* req, int status, const char* message) {
-    return send(req, status, (uint8_t*) message, strlen(message));
+    return send(req, status, (uint8_t*)message, strlen(message));
 }
 
 esp_err_t WebServer::sendOk(httpd_req_t* req) { return send(req, 200, nullptr, 0); }

esp32/src/features.cpp

@@ -10,14 +10,11 @@ void printFeatureConfiguration() {
     ESP_LOGI("Features", "USE_CAMERA: %s", USE_CAMERA ? "enabled" : "disabled");
     ESP_LOGI("Features", "USE_MOTION: %s", USE_MOTION ? "enabled" : "disabled");
 
-    ESP_LOGI("Features", "USE_ICM20948: %s", USE_ICM20948 ? "enabled" : "disabled");
     ESP_LOGI("Features", "USE_BNO055: %s", USE_BNO055 ? "enabled" : "disabled");
     ESP_LOGI("Features", "USE_MPU6050: %s", USE_MPU6050 ? "enabled" : "disabled");
     ESP_LOGI("Features", "USE_HMC5883: %s", USE_HMC5883 ? "enabled" : "disabled");
     ESP_LOGI("Features", "USE_BMP180: %s", USE_BMP180 ? "enabled" : "disabled");
     ESP_LOGI("Features", "USE_USS: %s", USE_USS ? "enabled" : "disabled");
-    ESP_LOGI("Features", "USE_PAJ7620U2: %s", USE_PAJ7620U2 ? "enabled" : "disabled");
-    
 
     ESP_LOGI("Features", "USE_PCA9685: %s", USE_PCA9685 ? "enabled" : "disabled");
     ESP_LOGI("Features", "USE_WS2812: %s", USE_WS2812 ? "enabled" : "disabled");
@@ -30,8 +27,8 @@ void printFeatureConfiguration() {
 
 void features_request(const socket_message_FeaturesDataRequest& fd_req, socket_message_FeaturesDataResponse& fd_res) {
     fd_res.camera = USE_CAMERA ? true : false;
-    fd_res.imu = (USE_MPU6050 || USE_BNO055 || USE_ICM20948) ? true : false;
-    fd_res.mag = (USE_HMC5883 || USE_BNO055 || USE_ICM20948) ? true : false;
+    fd_res.imu = (USE_MPU6050 || USE_BNO055) ? true : false;
+    fd_res.mag = (USE_HMC5883 || USE_BNO055) ? true : false;
     fd_res.bmp = USE_BMP180 ? true : false;
     fd_res.sonar = USE_USS ? true : false;
     fd_res.servo = USE_PCA9685 ? true : false;

esp32/src/filesystem.cpp

@@ -3,13 +3,15 @@
 #include <vector>
 #include <cstring>
 #include "utils/string_utils.hpp"
+#include <esp_log.h>
+#include <pb_encode.h>
+#include <pb_decode.h>
 
-static const char *TAG = "FileService";
+static const char *TAG = "FileSystem";
 
 namespace FileSystem {
 
-// Storage for dynamically allocated FileEntry arrays
-static std::vector<api_FileEntry*> allocatedEntries;
+static std::vector<api_FileEntry *> allocatedEntries;
 
 static void freeAllocatedEntries() {
     for (auto ptr : allocatedEntries) {
@@ -18,67 +20,81 @@ static void freeAllocatedEntries() {
     allocatedEntries.clear();
 }
 
-void listFilesProto(const std::string &directory, api_FileEntry *entry) {
-    File root = ESP_FS.open(directory.find("/") == 0 ? directory.c_str() : ("/" + directory).c_str());
-    if (!root.isDirectory()) {
+static void listFilesProtoRecursive(const std::string &directory, api_FileEntry *entry) {
+    DIR *dir = opendir(directory.c_str());
+    if (!dir) {
         entry->children_count = 0;
         entry->children = nullptr;
         return;
     }
 
-    // First pass: count children
-    std::vector<File> files;
-    File file = root.openNextFile();
-    while (file) {
-        files.push_back(file);
-        file = root.openNextFile();
-    }
+    std::vector<std::string> names;
+    std::vector<bool> isDirs;
+    std::vector<size_t> sizes;
 
-    if (files.empty()) {
+    struct dirent *d;
+    while ((d = readdir(dir)) != nullptr) {
+        if (strcmp(d->d_name, ".") == 0 || strcmp(d->d_name, "..") == 0) continue;
+        std::string fullPath = directory + "/" + d->d_name;
+        struct stat st;
+        if (stat(fullPath.c_str(), &st) == 0) {
+            names.push_back(d->d_name);
+            isDirs.push_back(S_ISDIR(st.st_mode));
+            sizes.push_back(st.st_size);
+        }
+    }
+    closedir(dir);
+
+    if (names.empty()) {
         entry->children_count = 0;
         entry->children = nullptr;
         return;
     }
 
-    // Allocate children array
-    entry->children_count = files.size();
-    entry->children = new api_FileEntry[files.size()];
+    entry->children_count = names.size();
+    entry->children = new api_FileEntry[names.size()];
     allocatedEntries.push_back(entry->children);
 
-    // Fill children
-    for (size_t i = 0; i < files.size(); i++) {
+    for (size_t i = 0; i < names.size(); i++) {
         api_FileEntry &child = entry->children[i];
         memset(&child, 0, sizeof(child));
 
-        std::string name = std::string(files[i].name());
-        strncpy(child.name, name.c_str(), sizeof(child.name) - 1);
+        strncpy(child.name, names[i].c_str(), sizeof(child.name) - 1);
         child.name[sizeof(child.name) - 1] = '\0';
 
-        child.is_directory = files[i].isDirectory();
+        child.is_directory = isDirs[i];
         if (child.is_directory) {
-            listFilesProto(name, &child);
+            std::string childPath = directory + "/" + names[i];
+            listFilesProtoRecursive(childPath, &child);
         } else {
-            child.size = files[i].size();
+            child.size = sizes[i];
             child.children_count = 0;
             child.children = nullptr;
         }
     }
 }
 
+void listFilesProto(const std::string &directory, api_FileEntry *entry) {
+    std::string path = directory;
+    if (path.empty() || path[0] != '/') {
+        path = "/" + directory;
+    }
+    std::string fullPath = std::string(MOUNT_POINT) + path;
+    listFilesProtoRecursive(fullPath, entry);
+}
+
 esp_err_t getFilesProto(httpd_req_t *request) {
-    freeAllocatedEntries();  // Clean up any previous allocations
+    freeAllocatedEntries();
 
     api_Response res = api_Response_init_zero;
     res.status_code = 200;
     res.which_payload = api_Response_file_list_tag;
 
-    // Create root entry
     api_FileEntry rootEntry = api_FileEntry_init_zero;
     strncpy(rootEntry.name, "root", sizeof(rootEntry.name) - 1);
     rootEntry.is_directory = true;
-    listFilesProto("/", &rootEntry);
+    listFilesProtoRecursive(MOUNT_POINT, &rootEntry);
 
-    // Allocate entries array for FileList
     res.payload.file_list.entries_count = 1;
     res.payload.file_list.entries = new api_FileEntry[1];
     allocatedEntries.push_back(res.payload.file_list.entries);
@@ -86,28 +102,146 @@ esp_err_t getFilesProto(httpd_req_t *request) {
 
     esp_err_t result = WebServer::send(request, 200, res, api_Response_fields);
 
-    freeAllocatedEntries();  // Clean up after sending
+    freeAllocatedEntries();
     return result;
 }
 
+bool init() {
+    esp_vfs_littlefs_conf_t conf = {
+        .base_path = MOUNT_POINT,
+        .partition_label = "spiffs",
+        .format_if_mount_failed = true,
+        .dont_mount = false,
+    };
+
+    esp_err_t ret = esp_vfs_littlefs_register(&conf);
+    if (ret != ESP_OK) {
+        if (ret == ESP_FAIL) {
+            ESP_LOGE(TAG, "Failed to mount or format filesystem");
+        } else if (ret == ESP_ERR_NOT_FOUND) {
+            ESP_LOGE(TAG, "Failed to find LittleFS partition");
+        } else {
+            ESP_LOGE(TAG, "Failed to initialize LittleFS (%s)", esp_err_to_name(ret));
+        }
+        return false;
+    }
+
+    size_t total = 0, used = 0;
+    ret = esp_littlefs_info("spiffs", &total, &used);
+    if (ret == ESP_OK) {
+        ESP_LOGI(TAG, "Partition size: total: %d, used: %d", total, used);
+    }
+
+    mkdirRecursive(FS_CONFIG_DIRECTORY);
+
+    return true;
+}
+
+bool fileExists(const char *filename) {
+    struct stat st;
+    return stat(filename, &st) == 0;
+}
+
+std::string readFile(const char *filename) {
+    FILE *f = fopen(filename, "r");
+    if (!f) {
+        return "";
+    }
+
+    fseek(f, 0, SEEK_END);
+    long size = ftell(f);
+    fseek(f, 0, SEEK_SET);
+
+    std::string content;
+    content.resize(size);
+    fread(&content[0], 1, size, f);
+    fclose(f);
+
+    return content;
+}
+
+bool writeFile(const char *filename, const char *content) {
+    FILE *f = fopen(filename, "w");
+    if (!f) {
+        ESP_LOGE(TAG, "Failed to open file for writing: %s", filename);
+        return false;
+    }
+
+    size_t len = strlen(content);
+    size_t written = fwrite(content, 1, len, f);
+    fclose(f);
+
+    return written == len;
+}
+
+bool writeFile(const char *filename, const uint8_t *content, size_t size) {
+    FILE *f = fopen(filename, "wb");
+    if (!f) {
+        ESP_LOGE(TAG, "Failed to open file for writing: %s", filename);
+        return false;
+    }
+
+    size_t written = fwrite(content, 1, size, f);
+    fclose(f);
+
+    return written == size;
+}
+
+bool mkdirRecursive(const char *path) {
+    char tmp[256];
+    char *p = nullptr;
+    size_t len;
+
+    snprintf(tmp, sizeof(tmp), "%s", path);
+    len = strlen(tmp);
+    if (tmp[len - 1] == '/') {
+        tmp[len - 1] = 0;
+    }
+
+    for (p = tmp + 1; *p; p++) {
+        if (*p == '/') {
+            *p = 0;
+            struct stat st;
+            if (stat(tmp, &st) != 0) {
+                if (::mkdir(tmp, 0755) != 0) {
+                    ESP_LOGE(TAG, "Failed to create directory: %s", tmp);
+                    return false;
+                }
+            }
+            *p = '/';
+        }
+    }
+
+    struct stat st;
+    if (stat(tmp, &st) != 0) {
+        if (::mkdir(tmp, 0755) != 0) {
+            ESP_LOGE(TAG, "Failed to create directory: %s", tmp);
+            return false;
+        }
+    }
+
+    return true;
+}
+
 esp_err_t getFiles(httpd_req_t *request) {
-    std::string files = listFiles("/");
+    std::string files = listFiles(MOUNT_POINT);
     httpd_resp_set_type(request, "application/json");
     return httpd_resp_send(request, files.c_str(), files.length());
 }
 
 esp_err_t getConfigFile(httpd_req_t *request) {
     const char *uri = request->uri;
-    std::string path = "/config" + std::string(uri).substr(11);
-    if (!ESP_FS.exists(path.c_str())) {
+    std::string path = std::string(MOUNT_POINT) + "/config" + std::string(uri).substr(11);
+
+    if (!fileExists(path.c_str())) {
         return WebServer::sendError(request, 404, "File not found");
     }
-    File file = ESP_FS.open(path.c_str(), "r");
-    if (!file) {
-        return WebServer::sendError(request, 500, "Failed to open file");
+
+    std::string content = readFile(path.c_str());
+    if (content.empty()) {
+        return WebServer::sendError(request, 500, "Failed to read file");
     }
-    String content = file.readString();
-    file.close();
+
     if (ends_with(path, ".pb")) {
         httpd_resp_set_type(request, "application/x-protobuf");
     } else if (ends_with(path, ".json")) {
@@ -119,10 +253,11 @@ esp_err_t getConfigFile(httpd_req_t *request) {
 }
 
 esp_err_t handleDelete(httpd_req_t *request, const api_FileDeleteRequest &req) {
-    ESP_LOGI(TAG, "Deleting file: %s", req.path);
+    std::string fullPath = std::string(MOUNT_POINT) + req.path;
+    ESP_LOGI(TAG, "Deleting file: %s", fullPath.c_str());
 
     api_Response res = api_Response_init_zero;
-    if (deleteFile(req.path)) {
+    if (deleteFile(fullPath.c_str())) {
         res.status_code = 200;
         res.which_payload = api_Response_empty_message_tag;
         return WebServer::send(request, 200, res, api_Response_fields);
@@ -132,10 +267,11 @@ esp_err_t handleDelete(httpd_req_t *request, const api_FileDeleteRequest &req) {
 }
 
 esp_err_t handleEdit(httpd_req_t *request, const api_FileEditRequest &req) {
-    ESP_LOGI(TAG, "Editing file: %s", req.path);
+    std::string fullPath = std::string(MOUNT_POINT) + req.path;
+    ESP_LOGI(TAG, "Editing file: %s", fullPath.c_str());
 
     api_Response res = api_Response_init_zero;
-    if (editFile(req.path, req.content->bytes, req.content->size)) {
+    if (editFile(fullPath.c_str(), req.content->bytes, req.content->size)) {
         res.status_code = 200;
         res.which_payload = api_Response_empty_message_tag;
         return WebServer::send(request, 200, res, api_Response_fields);
@@ -144,52 +280,57 @@ esp_err_t handleEdit(httpd_req_t *request, const api_FileEditRequest &req) {
     }
 }
 
-bool deleteFile(const char *filename) { return ESP_FS.remove(filename); }
+bool deleteFile(const char *filename) { return remove(filename) == 0; }
 
 std::string listFiles(const std::string &directory, bool isRoot) {
-    File root = ESP_FS.open(directory.find("/") == 0 ? directory.c_str() : ("/" + directory).c_str());
-    if (!root.isDirectory()) return "{}";
-
-    File file = root.openNextFile();
-    if (!file) {
+    DIR *dir = opendir(directory.c_str());
+    if (!dir) {
         return isRoot ? "{ \"root\": {} }" : "{}";
     }
 
     std::string output = isRoot ? "{ \"root\": {" : "{";
+    bool first = true;
 
-    while (file) {
-        std::string name = std::string(file.name());
-        if (file.isDirectory()) {
-            output += "\"" + name + "\": " + listFiles(name, false);
-        } else {
-            output += "\"" + name + "\": " + std::to_string(file.size());
+    struct dirent *entry;
+    while ((entry = readdir(dir)) != nullptr) {
+        if (strcmp(entry->d_name, ".") == 0 || strcmp(entry->d_name, "..") == 0) {
+            continue;
         }
 
-        File next = root.openNextFile();
-        if (next) output += ", ";
-        file = next;
+        if (!first) {
+            output += ", ";
+        }
+        first = false;
+
+        std::string fullPath = directory + "/" + entry->d_name;
+        struct stat st;
+        if (stat(fullPath.c_str(), &st) == 0) {
+            if (S_ISDIR(st.st_mode)) {
+                output += "\"" + std::string(entry->d_name) + "\": " + listFiles(fullPath, false);
+            } else {
+                output += "\"" + std::string(entry->d_name) + "\": " + std::to_string(st.st_size);
+            }
+        }
     }
 
+    closedir(dir);
+
     output += "}";
     if (isRoot) output += "}";
 
     return output;
 }
 
-bool editFile(const char *filename, const uint8_t *content, size_t size) {
-    File file = ESP_FS.open(filename, FILE_WRITE);
-    if (!file) return false;
+bool editFile(const char *filename, const uint8_t *content, size_t size) { return writeFile(filename, content, size); }
 
-    file.write(content, size);
-    file.close();
-    return true;
-}
+bool editFile(const char *filename, const char *content) { return writeFile(filename, content); }
 
 esp_err_t mkdir(httpd_req_t *request, const api_FileMkdirRequest &req) {
-    ESP_LOGI(TAG, "Creating directory: %s", req.path);
+    std::string fullPath = std::string(MOUNT_POINT) + req.path;
+    ESP_LOGI(TAG, "Creating directory: %s", fullPath.c_str());
 
     api_Response res = api_Response_init_zero;
-    if (ESP_FS.mkdir(req.path)) {
+    if (mkdirRecursive(fullPath.c_str())) {
         res.status_code = 200;
         res.which_payload = api_Response_empty_message_tag;
         return WebServer::send(request, 200, res, api_Response_fields);

esp32/src/filesystem_ws.cpp

@@ -1,9 +1,12 @@
 #include <filesystem_ws.h>
-#include <filesystem.h>
 #include <pb_encode.h>
 #include <pb_decode.h>
 #include <esp_littlefs.h>
 #include <esp_timer.h>
+#include <esp_log.h>
+#include <dirent.h>
+#include <sys/stat.h>
+#include <cstring>
 
 static const char* TAG = "FileSystemWS";
 
@@ -29,7 +32,7 @@ void FileSystemHandler::cleanupExpiredTransfers() {
     while (dlIt != downloads_.end()) {
         if (now - dlIt->second.lastActivityTime > FS_TRANSFER_TIMEOUT_MS) {
             if (dlIt->second.file) {
-                dlIt->second.file.close();
+                fclose(dlIt->second.file);
             }
             ESP_LOGW(TAG, "Download %u timed out", dlIt->first);
 
@@ -53,9 +56,9 @@ void FileSystemHandler::cleanupExpiredTransfers() {
     while (ulIt != uploads_.end()) {
         if (now - ulIt->second.lastActivityTime > FS_TRANSFER_TIMEOUT_MS) {
             if (ulIt->second.file) {
-                ulIt->second.file.close();
+                fclose(ulIt->second.file);
             }
-            ESP_FS.remove(ulIt->second.path.c_str());
+            remove(ulIt->second.path.c_str());
             ESP_LOGW(TAG, "Upload %u timed out, deleted partial file", ulIt->first);
 
             if (sendUploadCompleteCallback_) {
@@ -77,10 +80,11 @@ void FileSystemHandler::cleanupExpiredTransfers() {
 socket_message_FSDeleteResponse FileSystemHandler::handleDelete(const socket_message_FSDeleteRequest& req) {
     socket_message_FSDeleteResponse response = socket_message_FSDeleteResponse_init_zero;
 
-    std::string path(req.path);
+    std::string path = std::string(MOUNT_POINT) + req.path;
     ESP_LOGI(TAG, "Delete request: %s", path.c_str());
 
-    if (!ESP_FS.exists(path.c_str())) {
+    struct stat st;
+    if (stat(path.c_str(), &st) != 0) {
         response.success = false;
         strncpy(response.error, "File or directory not found", sizeof(response.error) - 1);
         return response;
@@ -97,41 +101,45 @@ socket_message_FSDeleteResponse FileSystemHandler::handleDelete(const socket_mes
 }
 
 bool FileSystemHandler::deleteRecursive(const std::string& path) {
-    File file = ESP_FS.open(path.c_str());
-    if (!file) return false;
+    struct stat st;
+    if (stat(path.c_str(), &st) != 0) return false;
 
-    if (file.isDirectory()) {
-        File child = file.openNextFile();
-        while (child) {
-            std::string childPath = std::string(child.name());
-            child.close();
+    if (S_ISDIR(st.st_mode)) {
+        DIR* dir = opendir(path.c_str());
+        if (!dir) return false;
+
+        struct dirent* entry;
+        while ((entry = readdir(dir)) != nullptr) {
+            if (strcmp(entry->d_name, ".") == 0 || strcmp(entry->d_name, "..") == 0) {
+                continue;
+            }
+            std::string childPath = path + "/" + entry->d_name;
             if (!deleteRecursive(childPath)) {
-                file.close();
+                closedir(dir);
                 return false;
             }
-            child = file.openNextFile();
         }
-        file.close();
-        return ESP_FS.rmdir(path.c_str());
+        closedir(dir);
+        return rmdir(path.c_str()) == 0;
     } else {
-        file.close();
-        return ESP_FS.remove(path.c_str());
+        return remove(path.c_str()) == 0;
     }
 }
 
 socket_message_FSMkdirResponse FileSystemHandler::handleMkdir(const socket_message_FSMkdirRequest& req) {
     socket_message_FSMkdirResponse response = socket_message_FSMkdirResponse_init_zero;
 
-    std::string path(req.path);
+    std::string path = std::string(MOUNT_POINT) + req.path;
     ESP_LOGI(TAG, "Mkdir request: %s", path.c_str());
 
-    if (ESP_FS.exists(path.c_str())) {
+    struct stat st;
+    if (stat(path.c_str(), &st) == 0) {
         response.success = false;
         strncpy(response.error, "Path already exists", sizeof(response.error) - 1);
         return response;
     }
 
-    if (ESP_FS.mkdir(path.c_str())) {
+    if (FileSystem::mkdirRecursive(path.c_str())) {
         response.success = true;
     } else {
         response.success = false;
@@ -142,32 +150,40 @@ socket_message_FSMkdirResponse FileSystemHandler::handleMkdir(const socket_messa
 }
 
 void FileSystemHandler::listDirectory(const std::string& path, socket_message_FSListResponse& response) {
-    File dir = ESP_FS.open(path.c_str());
-    if (!dir || !dir.isDirectory()) {
+    DIR* dir = opendir(path.c_str());
+    if (!dir) {
         return;
     }
 
-    File file = dir.openNextFile();
+    struct dirent* entry;
     int fileCount = 0;
     int dirCount = 0;
 
-    while (file && fileCount < 20 && dirCount < 20) { // Limit to match protobuf max_count
-        if (file.isDirectory()) {
+    while ((entry = readdir(dir)) != nullptr && fileCount < 20 && dirCount < 20) {
+        if (strcmp(entry->d_name, ".") == 0 || strcmp(entry->d_name, "..") == 0) {
+            continue;
+        }
+
+        std::string fullPath = path + "/" + entry->d_name;
+        struct stat st;
+        if (stat(fullPath.c_str(), &st) != 0) continue;
+
+        if (S_ISDIR(st.st_mode)) {
             if (dirCount < 20) {
-                strncpy(response.directories[dirCount].name, file.name(),
+                strncpy(response.directories[dirCount].name, entry->d_name,
                         sizeof(response.directories[dirCount].name) - 1);
                 dirCount++;
             }
         } else {
             if (fileCount < 20) {
-                strncpy(response.files[fileCount].name, file.name(), sizeof(response.files[fileCount].name) - 1);
-                response.files[fileCount].size = file.size();
+                strncpy(response.files[fileCount].name, entry->d_name, sizeof(response.files[fileCount].name) - 1);
+                response.files[fileCount].size = st.st_size;
                 fileCount++;
             }
         }
-        file = dir.openNextFile();
     }
 
+    closedir(dir);
     response.files_count = fileCount;
     response.directories_count = dirCount;
 }
@@ -175,12 +191,15 @@ void FileSystemHandler::listDirectory(const std::string& path, socket_message_FS
 socket_message_FSListResponse FileSystemHandler::handleList(const socket_message_FSListRequest& req) {
     socket_message_FSListResponse response = socket_message_FSListResponse_init_zero;
 
-    std::string path(req.path);
-    if (path.empty()) path = "/";
+    std::string path = std::string(MOUNT_POINT);
+    if (strlen(req.path) > 0 && req.path[0] != '\0') {
+        path += req.path;
+    }
 
     ESP_LOGI(TAG, "List request: %s", path.c_str());
 
-    if (!ESP_FS.exists(path.c_str())) {
+    struct stat st;
+    if (stat(path.c_str(), &st) != 0) {
         response.success = false;
         strncpy(response.error, "Path not found", sizeof(response.error) - 1);
         return response;
@@ -192,14 +211,12 @@ socket_message_FSListResponse FileSystemHandler::handleList(const socket_message
     return response;
 }
 
-// ===== STREAMING DOWNLOAD =====
-
 void FileSystemHandler::handleDownloadRequest(const socket_message_FSDownloadRequest& req, int clientId) {
-    std::string path(req.path);
+    std::string path = std::string(MOUNT_POINT) + req.path;
     ESP_LOGI(TAG, "Download request: %s", path.c_str());
 
-    // Validate file exists
-    if (!ESP_FS.exists(path.c_str())) {
+    struct stat st;
+    if (stat(path.c_str(), &st) != 0 || S_ISDIR(st.st_mode)) {
         if (sendMetadataCallback_) {
             socket_message_FSDownloadMetadata metadata = socket_message_FSDownloadMetadata_init_zero;
             metadata.success = false;
@@ -209,8 +226,8 @@ void FileSystemHandler::handleDownloadRequest(const socket_message_FSDownloadReq
         return;
     }
 
-    File file = ESP_FS.open(path.c_str(), "r");
-    if (!file || file.isDirectory()) {
+    FILE* file = fopen(path.c_str(), "rb");
+    if (!file) {
         if (sendMetadataCallback_) {
             socket_message_FSDownloadMetadata metadata = socket_message_FSDownloadMetadata_init_zero;
             metadata.success = false;
@@ -220,11 +237,7 @@ void FileSystemHandler::handleDownloadRequest(const socket_message_FSDownloadReq
         return;
     }
 
-    // Set file buffer size large, so we use ram to read from
-    // Set buffer size so 1 mb (static) TODO: Check that there is enough ram to do this
-    file.setBufferSize(1000000);
-
-    uint32_t fileSize = file.size();
+    uint32_t fileSize = st.st_size;
     uint32_t chunkSize = FS_MAX_CHUNK_SIZE;
     uint32_t totalChunks = (fileSize + chunkSize - 1) / chunkSize;
     if (totalChunks == 0) totalChunks = 1;
@@ -254,10 +267,8 @@ void FileSystemHandler::handleDownloadRequest(const socket_message_FSDownloadReq
 
     ESP_LOGI(TAG, "Download started: %s, size=%u, chunks=%u, id=%u", path.c_str(), fileSize, totalChunks, transferId);
 
-    // Start streaming chunks immediately
     while (sendNextDownloadChunk(transferId)) {
-        // Keep sending until done or error
-        taskYIELD(); // Allow other tasks to run
+        taskYIELD();
     }
 }
 
@@ -280,7 +291,7 @@ bool FileSystemHandler::sendNextDownloadChunk(uint32_t transferId) {
             sendCompleteCallback_(complete, state.clientId);
         }
 
-        state.file.close();
+        fclose(state.file);
         downloads_.erase(it);
         ESP_LOGI(TAG, "Download completed: %u", transferId);
         return false;
@@ -297,7 +308,7 @@ bool FileSystemHandler::sendNextDownloadChunk(uint32_t transferId) {
         bytesToRead = state.fileSize - position;
     }
 
-    size_t bytesRead = state.file.read(data->data.bytes, bytesToRead);
+    size_t bytesRead = fread(data->data.bytes, 1, bytesToRead, state.file);
     if (bytesRead == 0 && bytesToRead > 0) {
         delete data;
         if (sendCompleteCallback_) {
@@ -310,7 +321,7 @@ bool FileSystemHandler::sendNextDownloadChunk(uint32_t transferId) {
             sendCompleteCallback_(complete, state.clientId);
         }
 
-        state.file.close();
+        fclose(state.file);
         downloads_.erase(it);
         ESP_LOGE(TAG, "Download failed - read error: %u", transferId);
         return false;
@@ -328,45 +339,40 @@ bool FileSystemHandler::sendNextDownloadChunk(uint32_t transferId) {
     return true;
 }
 
-// ===== STREAMING UPLOAD =====
-
 socket_message_FSUploadStartResponse FileSystemHandler::handleUploadStart(const socket_message_FSUploadStart& req,
                                                                           int clientId) {
     socket_message_FSUploadStartResponse response = socket_message_FSUploadStartResponse_init_zero;
 
-    std::string path(req.path);
+    std::string path = std::string(MOUNT_POINT) + req.path;
     ESP_LOGI(TAG, "Upload start request: %s, size=%u, chunks=%u", path.c_str(), req.file_size, req.total_chunks);
 
-    // Check available space
     size_t fs_total = 0, fs_used = 0;
     esp_littlefs_info("spiffs", &fs_total, &fs_used);
     size_t freeSpace = fs_total - fs_used;
-    if (freeSpace < req.file_size + 4096) { // 4KB safety margin
+    if (freeSpace < req.file_size + 4096) {
         response.success = false;
         strncpy(response.error, "Insufficient storage space", sizeof(response.error) - 1);
         return response;
     }
 
-    // Ensure parent directory exists
     size_t lastSlash = path.find_last_of('/');
     if (lastSlash != std::string::npos && lastSlash > 0) {
         std::string parentDir = path.substr(0, lastSlash);
-        if (!ESP_FS.exists(parentDir.c_str())) {
+        struct stat st;
+        if (stat(parentDir.c_str(), &st) != 0) {
             response.success = false;
             strncpy(response.error, "Parent directory does not exist", sizeof(response.error) - 1);
             return response;
         }
     }
 
-    File file = ESP_FS.open(path.c_str(), FILE_WRITE);
+    FILE* file = fopen(path.c_str(), "wb");
     if (!file) {
         response.success = false;
         strncpy(response.error, "Cannot open file for writing", sizeof(response.error) - 1);
         return response;
     }
 
-    file.setBufferSize(1000000);
-
     uint32_t transferId = generateTransferId();
 
     UploadState state;
@@ -402,20 +408,15 @@ void FileSystemHandler::handleUploadData(const socket_message_FSUploadData& req)
     UploadState& state = it->second;
     state.lastActivityTime = esp_timer_get_time() / 1000;
 
-    // Skip if we already have an error
     if (state.hasError) {
         return;
     }
 
-    // Validate chunk index (allow out-of-order but warn)
     if (req.chunk_index != state.chunksReceived) {
         ESP_LOGW(TAG, "Upload chunk out of order: expected %u, got %u", state.chunksReceived, req.chunk_index);
-        // For now, we'll accept it anyway and write sequentially
-        // A more robust implementation would buffer out-of-order chunks
     }
 
-    // Write chunk data
-    size_t bytesWritten = state.file.write(req.data.bytes, req.data.size);
+    size_t bytesWritten = fwrite(req.data.bytes, 1, req.data.size, state.file);
     if (bytesWritten != req.data.size) {
         state.hasError = true;
         state.errorMessage = "Failed to write chunk";
@@ -426,15 +427,13 @@ void FileSystemHandler::handleUploadData(const socket_message_FSUploadData& req)
     state.chunksReceived++;
     state.bytesReceived += bytesWritten;
 
-    // Flush periodically to prevent LittleFS buffer issues
     if (state.chunksReceived > 0 && state.chunksReceived % 64 == 0) {
         ESP_LOGD(TAG, "Flushing file at chunk %u", state.chunksReceived);
-        state.file.flush();
+        fflush(state.file);
     }
 
     ESP_LOGD(TAG, "Upload chunk %u/%u: %u bytes", state.chunksReceived, state.totalChunks, bytesWritten);
 
-    // Check if upload is complete
     if (state.chunksReceived >= state.totalChunks) {
         finalizeUpload(transferId, true);
     }
@@ -449,11 +448,11 @@ void FileSystemHandler::finalizeUpload(uint32_t transferId, bool success, const
     UploadState& state = it->second;
 
     if (state.file) {
-        state.file.close();
+        fclose(state.file);
     }
 
     if (!success) {
-        ESP_FS.remove(state.path.c_str());
+        remove(state.path.c_str());
         ESP_LOGW(TAG, "Upload failed, deleted partial file: %s", state.path.c_str());
     } else {
         ESP_LOGI(TAG, "Upload completed: %s (%u bytes)", state.path.c_str(), state.bytesReceived);
@@ -473,8 +472,6 @@ void FileSystemHandler::finalizeUpload(uint32_t transferId, bool success, const
     uploads_.erase(it);
 }
 
-// ===== TRANSFER CONTROL =====
-
 socket_message_FSCancelTransferResponse FileSystemHandler::handleCancelTransfer(
     const socket_message_FSCancelTransfer& req) {
     socket_message_FSCancelTransferResponse response = socket_message_FSCancelTransferResponse_init_zero;
@@ -484,7 +481,7 @@ socket_message_FSCancelTransferResponse FileSystemHandler::handleCancelTransfer(
     auto dlIt = downloads_.find(transferId);
     if (dlIt != downloads_.end()) {
         if (dlIt->second.file) {
-            dlIt->second.file.close();
+            fclose(dlIt->second.file);
         }
         downloads_.erase(dlIt);
         response.success = true;
@@ -495,9 +492,9 @@ socket_message_FSCancelTransferResponse FileSystemHandler::handleCancelTransfer(
     auto ulIt = uploads_.find(transferId);
     if (ulIt != uploads_.end()) {
         if (ulIt->second.file) {
-            ulIt->second.file.close();
+            fclose(ulIt->second.file);
         }
-        ESP_FS.remove(ulIt->second.path.c_str());
+        remove(ulIt->second.path.c_str());
         uploads_.erase(ulIt);
         response.success = true;
         ESP_LOGI(TAG, "Upload cancelled: %u", transferId);
@@ -508,4 +505,6 @@ socket_message_FSCancelTransferResponse FileSystemHandler::handleCancelTransfer(
     return response;
 }
 
+void FileSystemHandler::processPendingDownloads() {}
+
 } // namespace FileSystemWS

esp32/src/idf_component.yml

@@ -0,0 +1,36 @@
+dependencies:
+  idf:
+    version: ">=5.0.0"
+    
+  espressif/mdns:
+    version: "^1.3.0"
+    
+  joltwallet/littlefs:
+    version: "^1.14.0"
+    
+  espressif/esp-dsp:
+    version: "^1.4.0"
+    
+  espressif/led_strip:
+    version: "^2.5.0"
+    
+  espressif/esp32-camera:
+    version: "^2.0.0"
+    rules:
+      - if: "idf_version >=5.0.0"
+      - if: "target not in [esp32p4]"
+      
+  espressif/esp_wifi_remote:
+    version: ">=0.3.0"
+    rules:
+      - if: "target in [esp32p4]"
+      
+  espressif/esp_hosted:
+    version: ">=0.0.6"
+    rules:
+      - if: "target in [esp32p4]"
+
+  espressif/esp_cam_sensor:
+    version: ">=0.5.0"
+    rules:
+      - if: "target in [esp32p4]"

esp32/src/main.cpp

@@ -1,6 +1,9 @@
-#include <Arduino.h>
-#include <ESPmDNS.h>
-#include <WiFi.h>
+#include <freertos/FreeRTOS.h>
+#include <freertos/task.h>
+#include <esp_log.h>
+#include <nvs_flash.h>
+#include <wifi/wifi_idf.h>
+#include <mdns.h>
 #include <map>
 
 #include <filesystem.h>
@@ -18,9 +21,13 @@
 #include <mdns_service.h>
 #include <system_service.h>
 
+#if CONFIG_IDF_TARGET_ESP32P4
+#include <esp_hosted.h>
+#endif
+
 #include <www_mount.hpp>
 
-Websocket socket {server, "/api/ws"};
+Websocket wsSocket {server, "/api/ws"};
 
 Peripherals peripherals;
 ServoController servoController;
@@ -39,7 +46,7 @@ WiFiService wifiService;
 APService apService;
 
 void setupServer() {
-    server.config(50 + WWW_ASSETS_COUNT, 32768);
+    server.config(50 + WWW_ASSETS_COUNT, 16384);
     server.listen(80);
 
     server.on("/api/system/reset", HTTP_POST,
@@ -52,11 +59,13 @@ void setupServer() {
     server.on("/api/camera/still", HTTP_GET, [&](httpd_req_t *request) { return cameraService.cameraStill(request); });
     server.on("/api/camera/stream", HTTP_GET,
               [&](httpd_req_t *request) { return cameraService.cameraStream(request); });
+#if USE_DVP_CAMERA
     server.on("/api/camera/settings", HTTP_GET,
               [&](httpd_req_t *request) { return cameraService.protoEndpoint.getState(request); });
     server.on("/api/camera/settings", HTTP_POST, [&](httpd_req_t *request, api_Request *protoReq) {
         return cameraService.protoEndpoint.handleStateUpdate(request, protoReq);
     });
+#endif
 #endif
     server.on("/api/servo/config", HTTP_GET,
               [&](httpd_req_t *request) { return servoController.protoEndpoint.getState(request); });
@@ -73,42 +82,41 @@ void setupServer() {
     server.on("/api/wifi/networks", HTTP_GET, [&](httpd_req_t *request) { return wifiService.getNetworks(request); });
     server.on("/api/wifi/sta/status", HTTP_GET,
               [&](httpd_req_t *request) { return wifiService.getNetworkStatus(request); });
-	
+
     server.on("/api/ap/status", HTTP_GET, [&](httpd_req_t *request) { return apService.getStatusProto(request); });
     server.on("/api/ap/settings", HTTP_GET,
-                    [&](httpd_req_t *request) { return apService.protoEndpoint.getState(request); });
-    server.on("/api/ap/settings", HTTP_POST,
-                         [&](httpd_req_t *request, api_Request *protoReq) {
-                             return apService.protoEndpoint.handleStateUpdate(request, protoReq);
-                         });
-    
+              [&](httpd_req_t *request) { return apService.protoEndpoint.getState(request); });
+    server.on("/api/ap/settings", HTTP_POST, [&](httpd_req_t *request, api_Request *protoReq) {
+        return apService.protoEndpoint.handleStateUpdate(request, protoReq);
+    });
+
     server.on("/api/peripherals/settings", HTTP_GET,
               [&](httpd_req_t *request) { return peripherals.protoEndpoint.getState(request); });
-    server.on("/api/peripherals/settings", HTTP_POST,
-                   [&](httpd_req_t *request, api_Request *protoReq) {
-                       return peripherals.protoEndpoint.handleStateUpdate(request, protoReq);
-                   });
+    server.on("/api/peripherals/settings", HTTP_POST, [&](httpd_req_t *request, api_Request *protoReq) {
+        return peripherals.protoEndpoint.handleStateUpdate(request, protoReq);
+    });
 
 #if FT_ENABLED(USE_MDNS)
-    server.on("/api/mdns/settings", HTTP_GET, [&](httpd_req_t *request) { return mdnsService.protoEndpoint.getState(request); });
-    server.on("/api/mdns/settings", HTTP_POST,
-                   [&](httpd_req_t *request, api_Request *protoReq) {
-                       return mdnsService.protoEndpoint.handleStateUpdate(request, protoReq);
-                   });
+    server.on("/api/mdns/settings", HTTP_GET,
+              [&](httpd_req_t *request) { return mdnsService.protoEndpoint.getState(request); });
+    server.on("/api/mdns/settings", HTTP_POST, [&](httpd_req_t *request, api_Request *protoReq) {
+        return mdnsService.protoEndpoint.handleStateUpdate(request, protoReq);
+    });
     server.on("/api/mdns/status", HTTP_GET, [&](httpd_req_t *request) { return mdnsService.getStatus(request); });
-    server.on("/api/mdns/query", HTTP_POST,
-                   [&](httpd_req_t *request, api_Request *protoReq) {
-                       return mdnsService.queryServices(request, protoReq);
-                   });
+    server.on("/api/mdns/query", HTTP_POST, [&](httpd_req_t *request, api_Request *protoReq) {
+        return mdnsService.queryServices(request, protoReq);
+    });
 #endif
-    
+
     server.on("/api/config/*", HTTP_GET, [](httpd_req_t *request) { return FileSystem::getConfigFile(request); });
     server.on("/api/files", HTTP_GET, [&](httpd_req_t *request) { return FileSystem::getFilesProto(request); });
     STAITC_PROTO_POST_ENDPOINT(server, "/api/files/delete", file_delete_request, FileSystem::handleDelete);
     STAITC_PROTO_POST_ENDPOINT(server, "/api/files/edit", file_edit_request, FileSystem::handleEdit);
     STAITC_PROTO_POST_ENDPOINT(server, "/api/files/mkdir", file_mkdir_request, FileSystem::mkdir);
+    wsSocket.begin();
 #if EMBED_WEBAPP
     mountStaticAssets(server);
+    mountSpaFallback(server);
 #endif
     server.on("/*", HTTP_OPTIONS, [](httpd_req_t *request) {
         httpd_resp_set_status(request, "200 OK");
@@ -123,35 +131,35 @@ void setupServer() {
 
 void setupEventSocket() {
     FileSystemWS::fsHandler.setSendCallbacks(
-        [](const socket_message_FSDownloadMetadata &metadata, int clientId) { socket.emit(metadata, clientId); },
-        [](const socket_message_FSDownloadData &data, int clientId) { socket.emit(data, clientId); },
-        [](const socket_message_FSDownloadComplete &complete, int clientId) { socket.emit(complete, clientId); },
-        [](const socket_message_FSUploadComplete &complete, int clientId) { socket.emit(complete, clientId); });
+        [](const socket_message_FSDownloadMetadata &metadata, int clientId) { wsSocket.emit(metadata, clientId); },
+        [](const socket_message_FSDownloadData &data, int clientId) { wsSocket.emit(data, clientId); },
+        [](const socket_message_FSDownloadComplete &complete, int clientId) { wsSocket.emit(complete, clientId); },
+        [](const socket_message_FSUploadComplete &complete, int clientId) { wsSocket.emit(complete, clientId); });
 
-    socket.on<socket_message_ControllerData>(
+    wsSocket.on<socket_message_ControllerData>(
         [&](const socket_message_ControllerData &data, int clientId) { motionService.handleInput(data); });
 
-    socket.on<socket_message_ModeData>([&](const socket_message_ModeData &data, int clientId) {
+    wsSocket.on<socket_message_ModeData>([&](const socket_message_ModeData &data, int clientId) {
         servoController.setMode(SERVO_CONTROL_STATE::ANGLE);
         motionService.handleMode(data);
         motionService.isActive() ? servoController.activate() : servoController.deactivate();
     });
 
-    socket.on<socket_message_WalkGaitData>(
+    wsSocket.on<socket_message_WalkGaitData>(
         [&](const socket_message_WalkGaitData &data, int clientId) { motionService.handleWalkGait(data); });
 
-    socket.on<socket_message_AnglesData>(
+    wsSocket.on<socket_message_AnglesData>(
         [&](const socket_message_AnglesData &data, int clientId) { motionService.handleAngles(data); });
 
-    socket.on<socket_message_ServoPWMData>([&](const socket_message_ServoPWMData &data, int clientId) {
+    wsSocket.on<socket_message_ServoPWMData>([&](const socket_message_ServoPWMData &data, int clientId) {
         servoController.setServoPWM(data.servo_id, data.servo_pwm);
     });
 
-    socket.on<socket_message_ServoStateData>([&](const socket_message_ServoStateData &data, int clientId) {
+    wsSocket.on<socket_message_ServoStateData>([&](const socket_message_ServoStateData &data, int clientId) {
         data.active ? servoController.activate() : servoController.deactivate();
     });
 
-    socket.on<socket_message_FSUploadData>(
+    wsSocket.on<socket_message_FSUploadData>(
         [&](const socket_message_FSUploadData &data, int clientId) { FileSystemWS::fsHandler.handleUploadData(data); });
 
     using CorrelationHandler =
@@ -225,7 +233,7 @@ void setupEventSocket() {
          }},
     };
 
-    socket.on<socket_message_CorrelationRequest>([&](const socket_message_CorrelationRequest &data, int clientId) {
+    wsSocket.on<socket_message_CorrelationRequest>([&](const socket_message_CorrelationRequest &data, int clientId) {
         auto res = new socket_message_CorrelationResponse();
         *res = socket_message_CorrelationResponse_init_default;
         res->correlation_id = data.correlation_id;
@@ -235,7 +243,7 @@ void setupEventSocket() {
         if (it != correlationHandlers.end()) {
             it->second(data, *res, clientId);
             if (res->status_code != 0) {
-                socket.emit(*res, clientId);
+                wsSocket.emit(*res, clientId);
             }
         } else {
             printf("WARNING: no handler for correlation request: %d\n", data.which_request);
@@ -248,15 +256,18 @@ void setupEventSocket() {
 void IRAM_ATTR SpotControlLoopEntry(void *) {
     ESP_LOGI("main", "Control task starting");
     TickType_t xLastWakeTime = xTaskGetTickCount();
-    const TickType_t xFrequency = 5 / portTICK_PERIOD_MS;
+    const TickType_t xFrequency = pdMS_TO_TICKS(10);
 
     peripherals.begin();
     servoController.begin();
     motionService.begin();
+#if FT_ENABLED(USE_WS2812)
+    ledService.begin();
+#endif
     peripherals.calibrateIMU();
 
     for (;;) {
-        WARN_IF_SLOW(SpotControlLoopEntry, 5);
+        WARN_IF_SLOW(SpotControlLoopEntry, 10);
         peripherals.update();
         motionService.update(&peripherals);
         servoController.setAngles(motionService.getAngles());
@@ -264,22 +275,33 @@ void IRAM_ATTR SpotControlLoopEntry(void *) {
 #if FT_ENABLED(USE_WS2812)
         ledService.loop();
 #endif
-        // CALLS_PER_SECOND_TIMED(SpotControlLoopEntry,
-        //     CALLS_PER_SECOND_TIMED_FUNC_PRINT(SpotControlLoopEntry, peripherals_update)
-        //     CALLS_PER_SECOND_TIMED_FUNC_PRINT(SpotControlLoopEntry, motionService_update)
-        //     CALLS_PER_SECOND_TIMED_FUNC_PRINT(SpotControlLoopEntry, servoController_setAngles)
-        //     CALLS_PER_SECOND_TIMED_FUNC_PRINT(SpotControlLoopEntry, servoController_update)
-        // );
-        // vTaskDelayUntil(&xLastWakeTime, xFrequency);
+        vTaskDelayUntil(&xLastWakeTime, xFrequency);
     }
 }
 
 void IRAM_ATTR serviceLoopEntry(void *) {
     ESP_LOGI("main", "Service task starting");
+#if CONFIG_IDF_TARGET_ESP32P4
+    ESP_LOGI("main", "Initializing ESP-Hosted for C6 coprocessor WiFi...");
+    int ret = esp_hosted_init();
+    if (ret != 0) {
+        ESP_LOGE("main", "ESP-Hosted init failed: %d", ret);
+    } else {
+        ESP_LOGI("main", "ESP-Hosted initialized, connecting to C6...");
+        ret = esp_hosted_connect_to_slave();
+        if (ret != 0) {
+            ESP_LOGW("main", "ESP-Hosted connect failed: %d - WiFi may not work", ret);
+        } else {
+            ESP_LOGI("main", "ESP-Hosted link established with C6");
+        }
+    }
+#endif
 
+    WiFi.init();
     wifiService.begin();
-    MDNS.begin(APP_NAME);
-    MDNS.setInstanceName(APP_NAME);
+    mdns_init();
+    mdns_hostname_set(APP_NAME);
+    mdns_instance_name_set(APP_NAME);
     apService.begin();
 
 #if FT_ENABLED(USE_CAMERA)
@@ -287,33 +309,32 @@ void IRAM_ATTR serviceLoopEntry(void *) {
 #endif
 
     setupServer();
-
-    socket.begin();
     setupEventSocket();
 
     ESP_LOGI("main", "Service task started");
+
     for (;;) {
         wifiService.loop();
         apService.loop();
 
         EXECUTE_EVERY_N_MS(2000, {
-            if (socket.hasSubscribers(socket_message_Message_analytics_tag)) {
+            if (wsSocket.hasSubscribers(socket_message_Message_analytics_tag)) {
                 socket_message_AnalyticsData analytics = socket_message_AnalyticsData_init_zero;
                 system_service::getAnalytics(analytics);
-                socket.emit(analytics);
+                wsSocket.emit(analytics);
             }
         });
 
         EXECUTE_EVERY_N_MS(100, {
-            if (socket.hasSubscribers(socket_message_Message_imu_tag)) {
+            if (wsSocket.hasSubscribers(socket_message_Message_imu_tag)) {
                 socket_message_IMUData imu = socket_message_IMUData_init_zero;
                 peripherals.getIMUProto(imu);
-                socket.emit(imu);
+                wsSocket.emit(imu);
             }
 
-            if (socket.hasSubscribers(socket_message_Message_rssi_tag)) {
+            if (wsSocket.hasSubscribers(socket_message_Message_rssi_tag)) {
                 socket_message_RSSIData rssi = {.rssi = WiFi.RSSI()};
-                socket.emit(rssi);
+                wsSocket.emit(rssi);
             }
         });
 
@@ -323,18 +344,23 @@ void IRAM_ATTR serviceLoopEntry(void *) {
     }
 }
 
-void setup() {
-    ESP_FS.begin();
+extern "C" void app_main(void) {
+    esp_err_t ret = nvs_flash_init();
+    if (ret == ESP_ERR_NVS_NO_FREE_PAGES || ret == ESP_ERR_NVS_NEW_VERSION_FOUND) {
+        ESP_ERROR_CHECK(nvs_flash_erase());
+        ret = nvs_flash_init();
+    }
+    ESP_ERROR_CHECK(ret);
+
+    FileSystem::init();
 
     ESP_LOGI("main", "Booting robot");
 
     feature_service::printFeatureConfiguration();
 
-    xTaskCreate(serviceLoopEntry, "Service task", 4096, nullptr, 2, nullptr);
+    xTaskCreate(serviceLoopEntry, "Service task", 8192, nullptr, 2, nullptr);
 
-    xTaskCreatePinnedToCore(SpotControlLoopEntry, "Control task", 4096, nullptr, 5, nullptr, 1);
+    xTaskCreatePinnedToCore(SpotControlLoopEntry, "Control task", 8192, nullptr, 5, nullptr, 1);
 
     ESP_LOGI("main", "Finished booting");
 }
-
-void loop() { vTaskDelete(nullptr); }

esp32/src/mdns_service.cpp

@@ -1,5 +1,6 @@
 #include <mdns_service.h>
 #include <communication/webserver.h>
+#include <esp_netif.h>
 
 static const char *TAG = "MDNSService";
 
@@ -7,9 +8,8 @@ MDNSService::MDNSService()
     : protoEndpoint(MDNSSettings_read, MDNSSettings_update, this,
                     API_REQUEST_EXTRACTOR(mdns_settings, api_MDNSSettings),
                     API_RESPONSE_ASSIGNER(mdns_settings, api_MDNSSettings)),
-      _persistence(MDNSSettings_read, MDNSSettings_update, this,
-                   MDNS_SETTINGS_FILE, api_MDNSSettings_fields, api_MDNSSettings_size,
-                   MDNSSettings_defaults()) {
+      _persistence(MDNSSettings_read, MDNSSettings_update, this, MDNS_SETTINGS_FILE, api_MDNSSettings_fields,
+                   api_MDNSSettings_size, MDNSSettings_defaults()) {
     addUpdateHandler([&](const std::string &originId) { reconfigureMDNS(); }, false);
 }
 
@@ -34,33 +34,50 @@ void MDNSService::reconfigureMDNS() {
 void MDNSService::startMDNS() {
     ESP_LOGV(TAG, "Starting MDNS with hostname: %s", state().hostname);
 
-    if (MDNS.begin(state().hostname)) {
-        _started = true;
-        MDNS.setInstanceName(state().instance);
-
-        addServices();
-
-        ESP_LOGI(TAG, "MDNS started successfully with hostname: %s", state().hostname);
-    } else {
+    esp_err_t err = mdns_init();
+    if (err != ESP_OK) {
+        ESP_LOGE(TAG, "Failed to initialize MDNS: %s", esp_err_to_name(err));
         _started = false;
-        ESP_LOGE(TAG, "Failed to start MDNS");
+        return;
     }
+
+    err = mdns_hostname_set(state().hostname);
+    if (err != ESP_OK) {
+        ESP_LOGE(TAG, "Failed to set MDNS hostname: %s", esp_err_to_name(err));
+        mdns_free();
+        _started = false;
+        return;
+    }
+
+    err = mdns_instance_name_set(state().instance);
+    if (err != ESP_OK) {
+        ESP_LOGW(TAG, "Failed to set MDNS instance name: %s", esp_err_to_name(err));
+    }
+
+    _started = true;
+    addServices();
+
+    ESP_LOGI(TAG, "MDNS started successfully with hostname: %s", state().hostname);
 }
 
 void MDNSService::stopMDNS() {
     ESP_LOGV(TAG, "Stopping MDNS");
-    MDNS.end();
+    mdns_free();
     _started = false;
 }
 
 void MDNSService::addServices() {
     for (size_t i = 0; i < state().services_count; i++) {
         const auto &service = state().services[i];
-        MDNS.addService(service.service, service.protocol, service.port);
+        esp_err_t err = mdns_service_add(nullptr, service.service, service.protocol, service.port, nullptr, 0);
+        if (err != ESP_OK) {
+            ESP_LOGW(TAG, "Failed to add service %s: %s", service.service, esp_err_to_name(err));
+            continue;
+        }
 
         for (size_t j = 0; j < service.txt_records_count; j++) {
             const auto &txt = service.txt_records[j];
-            MDNS.addServiceTxt(service.service, service.protocol, txt.key, txt.value);
+            mdns_service_txt_item_set(service.service, service.protocol, txt.key, txt.value);
         }
     }
 
@@ -68,7 +85,7 @@ void MDNSService::addServices() {
         const auto &txt = state().global_txt_records[i];
         for (size_t j = 0; j < state().services_count; j++) {
             const auto &service = state().services[j];
-            MDNS.addServiceTxt(service.service, service.protocol, txt.key, txt.value);
+            mdns_service_txt_item_set(service.service, service.protocol, txt.key, txt.value);
         }
     }
 }
@@ -103,22 +120,46 @@ esp_err_t MDNSService::queryServices(httpd_req_t *request, api_Request *protoReq
     const api_MDNSQueryRequest &queryReq = protoReq->payload.mdns_query_request;
     ESP_LOGI(TAG, "Querying for service: %s, protocol: %s", queryReq.service, queryReq.protocol);
 
-    int n = MDNS.queryService(queryReq.service, queryReq.protocol);
-    ESP_LOGI(TAG, "Found %d services", n);
+    mdns_result_t *results = nullptr;
+    esp_err_t err = mdns_query_ptr(queryReq.service, queryReq.protocol, 3000, 20, &results);
 
     api_Response response = api_Response_init_zero;
     response.which_payload = api_Response_mdns_query_response_tag;
     api_MDNSQueryResponse &queryResp = response.payload.mdns_query_response;
 
-    // Limit to max_count from options file (16)
-    size_t count = (n > 16) ? 16 : static_cast<size_t>(n);
-    queryResp.services_count = count;
-
-    for (size_t i = 0; i < count; i++) {
-        strncpy(queryResp.services[i].name, MDNS.hostname(i).c_str(), sizeof(queryResp.services[i].name) - 1);
-        strncpy(queryResp.services[i].ip, MDNS.IP(i).toString().c_str(), sizeof(queryResp.services[i].ip) - 1);
-        queryResp.services[i].port = MDNS.port(i);
+    if (err != ESP_OK) {
+        ESP_LOGW(TAG, "MDNS query failed: %s", esp_err_to_name(err));
+        queryResp.services_count = 0;
+        return WebServer::send(request, 200, response, api_Response_fields);
     }
 
+    int count = 0;
+    mdns_result_t *r = results;
+    while (r && count < 16) {
+        count++;
+        r = r->next;
+    }
+
+    ESP_LOGI(TAG, "Found %d services", count);
+
+    queryResp.services_count = count;
+    r = results;
+    size_t i = 0;
+    while (r && i < 16) {
+        if (r->hostname) {
+            strncpy(queryResp.services[i].name, r->hostname, sizeof(queryResp.services[i].name) - 1);
+        }
+        if (r->addr) {
+            char ip_str[16];
+            esp_ip4addr_ntoa(&r->addr->addr.u_addr.ip4, ip_str, sizeof(ip_str));
+            strncpy(queryResp.services[i].ip, ip_str, sizeof(queryResp.services[i].ip) - 1);
+        }
+        queryResp.services[i].port = r->port;
+        r = r->next;
+        i++;
+    }
+
+    mdns_query_results_free(results);
+
     return WebServer::send(request, 200, response, api_Response_fields);
 }

esp32/src/peripherals/camera_service.cpp

@@ -1,13 +1,18 @@
 #include <peripherals/camera_service.h>
 #include <communication/webserver.h>
+#include <esp_heap_caps.h>
 
 namespace Camera {
 
 static const char *const TAG = "CameraService";
 
+#if USE_DVP_CAMERA || USE_CSI_CAMERA
 static constexpr const char *_STREAM_CONTENT_TYPE = "multipart/x-mixed-replace;boundary=" PART_BOUNDARY;
 static constexpr const char *_STREAM_BOUNDARY = "\r\n--" PART_BOUNDARY "\r\n";
 static constexpr const char *_STREAM_PART = "Content-Type: image/jpeg\r\nContent-Length: %u\r\n\r\n";
+#endif
+
+#if USE_DVP_CAMERA
 
 SemaphoreHandle_t cameraMutex = xSemaphoreCreateMutex();
 
@@ -34,9 +39,8 @@ CameraService::CameraService()
     : protoEndpoint(CameraSettings_read, CameraSettings_update, this,
                     API_REQUEST_EXTRACTOR(camera_settings, api_CameraSettings),
                     API_RESPONSE_ASSIGNER(camera_settings, api_CameraSettings)),
-      _persistence(CameraSettings_read, CameraSettings_update, this,
-                   CAMERA_SETTINGS_FILE, api_CameraSettings_fields, api_CameraSettings_size,
-                   CameraSettings_defaults()) {
+      _persistence(CameraSettings_read, CameraSettings_update, this, CAMERA_SETTINGS_FILE, api_CameraSettings_fields,
+                   api_CameraSettings_size, CameraSettings_defaults()) {
     addUpdateHandler([&](const std::string &originId) { updateCamera(); }, false);
 }
 
@@ -45,7 +49,6 @@ esp_err_t CameraService::begin() {
     camera_config_t camera_config;
     camera_config.ledc_channel = LEDC_CHANNEL_0;
     camera_config.ledc_timer = LEDC_TIMER_0;
-#if FT_ENABLED(USE_CAMERA)
     camera_config.pin_d0 = Y2_GPIO_NUM;
     camera_config.pin_d1 = Y3_GPIO_NUM;
     camera_config.pin_d2 = Y4_GPIO_NUM;
@@ -62,11 +65,10 @@ esp_err_t CameraService::begin() {
     camera_config.pin_sccb_scl = SIOC_GPIO_NUM;
     camera_config.pin_pwdn = PWDN_GPIO_NUM;
     camera_config.pin_reset = RESET_GPIO_NUM;
-#endif
     camera_config.xclk_freq_hz = 20000000;
     camera_config.pixel_format = PIXFORMAT_JPEG;
 
-    if (psramFound()) {
+    if (heap_caps_get_total_size(MALLOC_CAP_SPIRAM) > 0) {
         camera_config.frame_size = FRAMESIZE_SVGA;
         camera_config.jpeg_quality = 10;
         camera_config.fb_location = CAMERA_FB_IN_PSRAM;
@@ -78,7 +80,7 @@ esp_err_t CameraService::begin() {
         camera_config.fb_count = 1;
     }
 
-    log_i("Initializing camera");
+    ESP_LOGI(TAG, "Initializing camera");
     esp_err_t err = esp_camera_init(&camera_config);
     if (err == ESP_OK)
         ESP_LOGI(TAG, "Camera probe successful");
@@ -180,4 +182,463 @@ void CameraService::updateCamera() {
     safe_sensor_return();
 }
 
+#elif USE_CSI_CAMERA
+}
+
+extern "C" {
+#include "esp_cam_ctlr.h"
+#include "esp_cam_ctlr_csi.h"
+#include "esp_cam_ctlr_types.h"
+#include "driver/isp.h"
+#include "driver/jpeg_encode.h"
+#include "esp_sccb_intf.h"
+#include "esp_sccb_i2c.h"
+#include "esp_cam_sensor.h"
+#include "ov5647.h"
+#include "esp_ldo_regulator.h"
+#include "driver/isp_demosaic.h"
+#include "driver/isp_bf.h"
+#include "driver/isp_sharpen.h"
+}
+
+#include <peripherals/i2c_bus.h>
+
+namespace Camera {
+
+#ifndef MIPI_CSI_HRES
+#define MIPI_CSI_HRES 640
+#endif
+#ifndef MIPI_CSI_VRES
+#define MIPI_CSI_VRES 480
+#endif
+#ifndef MIPI_CSI_LANE_BITRATE_MBPS
+#define MIPI_CSI_LANE_BITRATE_MBPS 200
+#endif
+#ifndef MIPI_CSI_DATA_LANES
+#define MIPI_CSI_DATA_LANES 2
+#endif
+#ifndef CAM_SCCB_FREQ_HZ
+#define CAM_SCCB_FREQ_HZ 100000
+#endif
+#ifndef CAM_SENSOR_ADDR
+#define CAM_SENSOR_ADDR 0x36
+#endif
+#ifndef CAM_XCLK_PIN
+#define CAM_XCLK_PIN -1
+#endif
+#ifndef CAM_XCLK_FREQ_HZ
+#define CAM_XCLK_FREQ_HZ 25000000
+#endif
+#ifndef CAM_RESET_PIN
+#define CAM_RESET_PIN -1
+#endif
+#ifndef CAM_PWDN_PIN
+#define CAM_PWDN_PIN -1
+#endif
+#ifndef CSI_JPEG_QUALITY
+#define CSI_JPEG_QUALITY 80
+#endif
+
+#define NUM_FRAME_BUFS 2
+static constexpr size_t CACHE_LINE_SIZE = 64;
+#define ALIGN_UP(n, a) (((n) + ((a) - 1)) & ~((a) - 1))
+
+static esp_cam_ctlr_handle_t s_cam_handle = NULL;
+static isp_proc_handle_t s_isp_proc = NULL;
+static jpeg_encoder_handle_t s_jpeg_enc = NULL;
+
+static uint8_t *s_frame_bufs[NUM_FRAME_BUFS] = {};
+static size_t s_frame_buf_size = 0;
+static uint8_t *s_jpeg_bufs[NUM_FRAME_BUFS] = {};
+static size_t s_jpeg_buf_alloc = 0;
+
+static bool s_cam_initialized = false;
+static uint16_t s_frame_hres = MIPI_CSI_HRES;
+static uint16_t s_frame_vres = MIPI_CSI_VRES;
+
+static SemaphoreHandle_t s_frame_done = NULL;
+static SemaphoreHandle_t s_jpeg_lock = NULL;
+static SemaphoreHandle_t s_jpeg_ready = NULL;
+static TaskHandle_t s_capture_task = NULL;
+static volatile bool s_capture_running = false;
+
+static int s_write_idx = 0;
+static int s_ready_idx = -1;
+static size_t s_ready_jpeg_len = 0;
+
+static uint8_t *s_send_buf = NULL;
+static size_t s_send_buf_size = 0;
+
+static bool on_trans_finished(esp_cam_ctlr_handle_t handle, esp_cam_ctlr_trans_t *trans, void *user_data) {
+    BaseType_t woken = pdFALSE;
+    xSemaphoreGiveFromISR(s_frame_done, &woken);
+    return (woken == pdTRUE);
+}
+
+static void capture_task_fn(void *arg) {
+    while (s_capture_running) {
+        int idx = s_write_idx;
+
+        esp_cam_ctlr_trans_t trans = {};
+        trans.buffer = s_frame_bufs[idx];
+        trans.buflen = s_frame_buf_size;
+
+        if (esp_cam_ctlr_receive(s_cam_handle, &trans, 2000) != ESP_OK) {
+            vTaskDelay(pdMS_TO_TICKS(5));
+            continue;
+        }
+
+        if (xSemaphoreTake(s_frame_done, pdMS_TO_TICKS(2000)) != pdTRUE) {
+            continue;
+        }
+
+        jpeg_encode_cfg_t enc_cfg = {};
+        enc_cfg.src_type = JPEG_ENCODE_IN_FORMAT_RGB565;
+        enc_cfg.sub_sample = JPEG_DOWN_SAMPLING_YUV420;
+        enc_cfg.image_quality = CSI_JPEG_QUALITY;
+        enc_cfg.width = s_frame_hres;
+        enc_cfg.height = s_frame_vres;
+
+        uint32_t out_size = 0;
+        esp_err_t err = jpeg_encoder_process(s_jpeg_enc, &enc_cfg, s_frame_bufs[idx], trans.received_size,
+                                             s_jpeg_bufs[idx], s_jpeg_buf_alloc, &out_size);
+        if (err != ESP_OK) {
+            continue;
+        }
+
+        xSemaphoreTake(s_jpeg_lock, portMAX_DELAY);
+        s_ready_idx = idx;
+        s_ready_jpeg_len = out_size;
+        xSemaphoreGive(s_jpeg_lock);
+
+        s_write_idx = (idx + 1) % NUM_FRAME_BUFS;
+
+        xSemaphoreGive(s_jpeg_ready);
+    }
+    vTaskDelete(NULL);
+}
+
+CameraService::CameraService() {
+    s_frame_done = xSemaphoreCreateBinary();
+    s_jpeg_lock = xSemaphoreCreateMutex();
+    s_jpeg_ready = xSemaphoreCreateBinary();
+}
+
+esp_err_t CameraService::begin() {
+    ESP_LOGI(TAG, "Initializing MIPI-CSI camera for ESP32-P4");
+
+    esp_ldo_channel_handle_t ldo_mipi_phy = NULL;
+    esp_ldo_channel_config_t ldo_cfg = {};
+    ldo_cfg.chan_id = 3;
+    ldo_cfg.voltage_mv = 2500;
+    esp_err_t ldo_err = esp_ldo_acquire_channel(&ldo_cfg, &ldo_mipi_phy);
+    if (ldo_err != ESP_OK) {
+        ESP_LOGE(TAG, "Failed to acquire MIPI PHY LDO: %s", esp_err_to_name(ldo_err));
+        return ldo_err;
+    }
+
+    i2c_master_bus_handle_t i2c_bus = I2CBus::instance().busHandle();
+    if (!i2c_bus) {
+        ESP_LOGE(TAG, "I2C bus not initialized, cannot init camera SCCB");
+        return ESP_ERR_INVALID_STATE;
+    }
+
+    esp_sccb_io_handle_t sccb_io = NULL;
+    sccb_i2c_config_t sccb_cfg = {};
+    sccb_cfg.scl_speed_hz = CAM_SCCB_FREQ_HZ;
+    sccb_cfg.device_address = CAM_SENSOR_ADDR;
+    sccb_cfg.dev_addr_length = I2C_ADDR_BIT_LEN_7;
+
+    esp_err_t err = sccb_new_i2c_io(i2c_bus, &sccb_cfg, &sccb_io);
+    if (err != ESP_OK) {
+        ESP_LOGE(TAG, "Failed to create SCCB I/O handle: %s", esp_err_to_name(err));
+        return err;
+    }
+
+    esp_cam_sensor_config_t cam_sensor_cfg = {};
+    cam_sensor_cfg.sccb_handle = sccb_io;
+    cam_sensor_cfg.reset_pin = static_cast<gpio_num_t>(CAM_RESET_PIN);
+    cam_sensor_cfg.pwdn_pin = static_cast<gpio_num_t>(CAM_PWDN_PIN);
+    cam_sensor_cfg.xclk_pin = static_cast<gpio_num_t>(CAM_XCLK_PIN);
+    cam_sensor_cfg.xclk_freq_hz = CAM_XCLK_FREQ_HZ;
+    cam_sensor_cfg.sensor_port = ESP_CAM_SENSOR_MIPI_CSI;
+
+    esp_cam_sensor_device_t *cam_sensor = ov5647_detect(&cam_sensor_cfg);
+    if (!cam_sensor) {
+        ESP_LOGE(TAG, "OV5647 detection failed");
+        return ESP_FAIL;
+    }
+    ESP_LOGI(TAG, "OV5647 camera sensor detected");
+
+    esp_cam_sensor_format_array_t fmt_array = {};
+    err = esp_cam_sensor_query_format(cam_sensor, &fmt_array);
+    if (err != ESP_OK) {
+        ESP_LOGE(TAG, "Failed to query sensor formats: %s", esp_err_to_name(err));
+        return err;
+    }
+
+    const esp_cam_sensor_format_t *selected_format = NULL;
+    uint32_t best_area = 0;
+    for (uint32_t i = 0; i < fmt_array.count; i++) {
+        const auto &f = fmt_array.format_array[i];
+        ESP_LOGI(TAG, "Sensor format[%u]: %dx%d mipi_clk=%uHz lanes=%d", (unsigned)i, f.width, f.height,
+                 (unsigned)f.mipi_info.mipi_clk, f.mipi_info.lane_num);
+    }
+    for (uint32_t i = 0; i < fmt_array.count; i++) {
+        const uint16_t w = fmt_array.format_array[i].width;
+        const uint16_t h = fmt_array.format_array[i].height;
+        if (w <= MIPI_CSI_HRES && h <= MIPI_CSI_VRES) {
+            const uint32_t area = (uint32_t)w * (uint32_t)h;
+            if (!selected_format || area > best_area) {
+                selected_format = &fmt_array.format_array[i];
+                best_area = area;
+            }
+        }
+    }
+    if (!selected_format && fmt_array.count > 0) {
+        uint32_t min_area = UINT32_MAX;
+        for (uint32_t i = 0; i < fmt_array.count; i++) {
+            const uint32_t area =
+                (uint32_t)fmt_array.format_array[i].width * (uint32_t)fmt_array.format_array[i].height;
+            if (area < min_area) {
+                selected_format = &fmt_array.format_array[i];
+                min_area = area;
+            }
+        }
+    }
+    if (!selected_format) {
+        ESP_LOGE(TAG, "No sensor formats available");
+        return ESP_FAIL;
+    }
+
+    err = esp_cam_sensor_set_format(cam_sensor, selected_format);
+    if (err != ESP_OK) {
+        ESP_LOGE(TAG, "Failed to set sensor format: %s", esp_err_to_name(err));
+        return err;
+    }
+
+    s_frame_hres = selected_format->width;
+    s_frame_vres = selected_format->height;
+    ESP_LOGI(TAG, "Sensor format set: %dx%d", s_frame_hres, s_frame_vres);
+
+    esp_cam_sensor_format_t cur_fmt = {};
+    if (esp_cam_sensor_get_format(cam_sensor, &cur_fmt) == ESP_OK) {
+        ESP_LOGI(TAG, "Active format: %dx%d, mipi_clk=%uHz, lanes=%d", cur_fmt.width, cur_fmt.height,
+                 (unsigned)cur_fmt.mipi_info.mipi_clk, cur_fmt.mipi_info.lane_num);
+    }
+
+    int stream_on = 1;
+    err = esp_cam_sensor_ioctl(cam_sensor, ESP_CAM_SENSOR_IOC_S_STREAM, &stream_on);
+    if (err != ESP_OK) {
+        ESP_LOGE(TAG, "Failed to start sensor stream: %s", esp_err_to_name(err));
+        return err;
+    }
+
+    esp_isp_processor_cfg_t isp_cfg = {};
+    isp_cfg.clk_src = static_cast<isp_clk_src_t>(0);
+    isp_cfg.clk_hz = 80 * 1000 * 1000;
+    isp_cfg.input_data_source = ISP_INPUT_DATA_SOURCE_CSI;
+    isp_cfg.input_data_color_type = ISP_COLOR_RAW8;
+    isp_cfg.output_data_color_type = ISP_COLOR_RGB565;
+    isp_cfg.has_line_start_packet = false;
+    isp_cfg.has_line_end_packet = false;
+    isp_cfg.h_res = s_frame_hres;
+    isp_cfg.v_res = s_frame_vres;
+    isp_cfg.bayer_order = COLOR_RAW_ELEMENT_ORDER_GBRG;
+
+    err = esp_isp_new_processor(&isp_cfg, &s_isp_proc);
+    if (err != ESP_OK) {
+        ESP_LOGE(TAG, "ISP processor init failed: %s", esp_err_to_name(err));
+        return err;
+    }
+
+    err = esp_isp_enable(s_isp_proc);
+    if (err != ESP_OK) {
+        ESP_LOGE(TAG, "ISP enable failed: %s", esp_err_to_name(err));
+        return err;
+    }
+
+    esp_isp_demosaic_config_t demosaic_cfg = {};
+    demosaic_cfg.grad_ratio.val = 16;
+    demosaic_cfg.padding_mode = ISP_DEMOSAIC_EDGE_PADDING_MODE_SRND_DATA;
+    esp_isp_demosaic_configure(s_isp_proc, &demosaic_cfg);
+    esp_isp_demosaic_enable(s_isp_proc);
+
+    esp_isp_bf_config_t bf_cfg = {};
+    bf_cfg.denoising_level = 10;
+    bf_cfg.padding_mode = ISP_BF_EDGE_PADDING_MODE_SRND_DATA;
+    uint8_t bf_tpl[ISP_BF_TEMPLATE_X_NUMS][ISP_BF_TEMPLATE_Y_NUMS] = {{1, 2, 1}, {2, 4, 2}, {1, 2, 1}};
+    memcpy(bf_cfg.bf_template, bf_tpl, sizeof(bf_tpl));
+    esp_isp_bf_configure(s_isp_proc, &bf_cfg);
+    esp_isp_bf_enable(s_isp_proc);
+
+    esp_isp_sharpen_config_t sharp_cfg = {};
+    sharp_cfg.h_thresh = 255;
+    sharp_cfg.l_thresh = 20;
+    sharp_cfg.padding_mode = ISP_SHARPEN_EDGE_PADDING_MODE_SRND_DATA;
+    uint8_t sharp_m[ISP_SHARPEN_TEMPLATE_X_NUMS][ISP_SHARPEN_TEMPLATE_Y_NUMS] = {{1, 2, 1}, {2, 4, 2}, {1, 2, 1}};
+    memcpy(sharp_cfg.sharpen_template, sharp_m, sizeof(sharp_m));
+    sharp_cfg.h_freq_coeff.integer = 1;
+    sharp_cfg.h_freq_coeff.decimal = 0;
+    sharp_cfg.m_freq_coeff.integer = 1;
+    sharp_cfg.m_freq_coeff.decimal = 0;
+    esp_isp_sharpen_configure(s_isp_proc, &sharp_cfg);
+    esp_isp_sharpen_enable(s_isp_proc);
+
+    esp_cam_ctlr_csi_config_t csi_cfg = {};
+    csi_cfg.ctlr_id = 0;
+    csi_cfg.h_res = s_frame_hres;
+    csi_cfg.v_res = s_frame_vres;
+    csi_cfg.lane_bit_rate_mbps = MIPI_CSI_LANE_BITRATE_MBPS;
+    csi_cfg.input_data_color_type = CAM_CTLR_COLOR_RAW8;
+    csi_cfg.output_data_color_type = CAM_CTLR_COLOR_RGB565;
+    csi_cfg.data_lane_num = MIPI_CSI_DATA_LANES;
+    csi_cfg.byte_swap_en = false;
+    csi_cfg.queue_items = NUM_FRAME_BUFS;
+
+    err = esp_cam_new_csi_ctlr(&csi_cfg, &s_cam_handle);
+    if (err != ESP_OK) {
+        ESP_LOGE(TAG, "CSI controller init failed: %s", esp_err_to_name(err));
+        return err;
+    }
+
+    esp_cam_ctlr_evt_cbs_t cbs = {};
+    cbs.on_trans_finished = on_trans_finished;
+    err = esp_cam_ctlr_register_event_callbacks(s_cam_handle, &cbs, NULL);
+    if (err != ESP_OK) {
+        ESP_LOGE(TAG, "CSI register callbacks failed: %s", esp_err_to_name(err));
+        return err;
+    }
+
+    s_frame_buf_size = ALIGN_UP((size_t)s_frame_hres * s_frame_vres * 2, CACHE_LINE_SIZE);
+    for (int i = 0; i < NUM_FRAME_BUFS; i++) {
+        s_frame_bufs[i] = (uint8_t *)heap_caps_aligned_alloc(CACHE_LINE_SIZE, s_frame_buf_size, MALLOC_CAP_SPIRAM);
+        if (!s_frame_bufs[i]) {
+            ESP_LOGE(TAG, "Failed to allocate frame buffer %d (%d bytes)", i, (int)s_frame_buf_size);
+            return ESP_ERR_NO_MEM;
+        }
+    }
+
+    jpeg_encode_memory_alloc_cfg_t jpeg_mem_cfg = {};
+    jpeg_mem_cfg.buffer_direction = JPEG_ENC_ALLOC_OUTPUT_BUFFER;
+    for (int i = 0; i < NUM_FRAME_BUFS; i++) {
+        size_t alloc_sz = 0;
+        s_jpeg_bufs[i] = (uint8_t *)jpeg_alloc_encoder_mem(s_frame_hres * s_frame_vres, &jpeg_mem_cfg, &alloc_sz);
+        if (!s_jpeg_bufs[i]) {
+            ESP_LOGE(TAG, "Failed to allocate JPEG buffer %d", i);
+            return ESP_ERR_NO_MEM;
+        }
+        if (i == 0) s_jpeg_buf_alloc = alloc_sz;
+    }
+
+    s_send_buf_size = s_jpeg_buf_alloc;
+    s_send_buf = (uint8_t *)heap_caps_aligned_alloc(CACHE_LINE_SIZE, s_send_buf_size, MALLOC_CAP_SPIRAM);
+    if (!s_send_buf) {
+        ESP_LOGE(TAG, "Failed to allocate send buffer");
+        return ESP_ERR_NO_MEM;
+    }
+
+    jpeg_encode_engine_cfg_t enc_eng_cfg = {};
+    enc_eng_cfg.timeout_ms = 500;
+    err = jpeg_new_encoder_engine(&enc_eng_cfg, &s_jpeg_enc);
+    if (err != ESP_OK) {
+        ESP_LOGE(TAG, "JPEG encoder init failed: %s", esp_err_to_name(err));
+        return err;
+    }
+
+    err = esp_cam_ctlr_enable(s_cam_handle);
+    if (err != ESP_OK) {
+        ESP_LOGE(TAG, "CSI controller enable failed: %s", esp_err_to_name(err));
+        return err;
+    }
+
+    err = esp_cam_ctlr_start(s_cam_handle);
+    if (err != ESP_OK) {
+        ESP_LOGE(TAG, "CSI controller start failed: %s", esp_err_to_name(err));
+        return err;
+    }
+
+    s_cam_initialized = true;
+
+    s_capture_running = true;
+    xTaskCreatePinnedToCore(capture_task_fn, "csi_cap", 4096, NULL, 6, &s_capture_task, 1);
+
+    ESP_LOGI(TAG, "MIPI-CSI camera initialized (%dx%d, %d-lane, %d Mbps)", s_frame_hres, s_frame_vres,
+             MIPI_CSI_DATA_LANES, MIPI_CSI_LANE_BITRATE_MBPS);
+    return ESP_OK;
+}
+
+esp_err_t CameraService::cameraStill(httpd_req_t *request) {
+    if (!s_cam_initialized) {
+        return WebServer::sendError(request, 503, "Camera not initialized");
+    }
+
+    if (xSemaphoreTake(s_jpeg_ready, pdMS_TO_TICKS(3000)) != pdTRUE) {
+        return WebServer::sendError(request, 500, "Camera capture timed out");
+    }
+
+    xSemaphoreTake(s_jpeg_lock, portMAX_DELAY);
+    size_t len = s_ready_jpeg_len;
+    if (s_ready_idx >= 0 && len > 0) {
+        memcpy(s_send_buf, s_jpeg_bufs[s_ready_idx], len);
+    }
+    xSemaphoreGive(s_jpeg_lock);
+
+    if (len == 0) {
+        return WebServer::sendError(request, 500, "No frame available");
+    }
+
+    httpd_resp_set_type(request, "image/jpeg");
+    httpd_resp_set_hdr(request, "Content-Disposition", "inline; filename=capture.jpg");
+    return httpd_resp_send(request, (const char *)s_send_buf, len);
+}
+
+esp_err_t CameraService::cameraStream(httpd_req_t *request) {
+    if (!s_cam_initialized) {
+        return WebServer::sendError(request, 503, "Camera not initialized");
+    }
+
+    httpd_resp_set_type(request, _STREAM_CONTENT_TYPE);
+
+    char part_buf[64];
+    esp_err_t res = ESP_OK;
+
+    while (res == ESP_OK) {
+        if (xSemaphoreTake(s_jpeg_ready, pdMS_TO_TICKS(3000)) != pdTRUE) {
+            break;
+        }
+
+        xSemaphoreTake(s_jpeg_lock, portMAX_DELAY);
+        size_t jpeg_len = s_ready_jpeg_len;
+        if (s_ready_idx >= 0 && jpeg_len > 0) {
+            memcpy(s_send_buf, s_jpeg_bufs[s_ready_idx], jpeg_len);
+        }
+        xSemaphoreGive(s_jpeg_lock);
+
+        if (jpeg_len == 0) continue;
+
+        size_t hlen = snprintf(part_buf, 64, _STREAM_PART, (unsigned int)jpeg_len);
+        res = httpd_resp_send_chunk(request, part_buf, hlen);
+        if (res == ESP_OK) res = httpd_resp_send_chunk(request, (const char *)s_send_buf, jpeg_len);
+        if (res == ESP_OK) res = httpd_resp_send_chunk(request, _STREAM_BOUNDARY, strlen(_STREAM_BOUNDARY));
+    }
+
+    ESP_LOGI(TAG, "Stream ended");
+    httpd_resp_send_chunk(request, NULL, 0);
+    return ESP_OK;
+}
+
+#else
+
+CameraService::CameraService() {}
+esp_err_t CameraService::begin() { return ESP_ERR_NOT_SUPPORTED; }
+esp_err_t CameraService::cameraStill(httpd_req_t *request) {
+    return WebServer::sendError(request, 501, "Camera not supported on this platform");
+}
+esp_err_t CameraService::cameraStream(httpd_req_t *request) {
+    return WebServer::sendError(request, 501, "Camera not supported on this platform");
+}
+
+#endif
+
 } // namespace Camera

esp32/src/peripherals/peripherals.cpp

@@ -16,40 +16,18 @@ void Peripherals::begin() {
 
     updatePins();
 
-#if FT_ENABLED(USE_ICM20948)
-    #if FT_ENABLED(USE_ICM20948_SPIMODE) > 0
-        ICM_20948_SPI* icm20948 = new ICM_20948_SPI;
-    #else
-        ICM_20948_I2C* icm20948 = new ICM_20948_I2C;
-    #endif
-#endif
-
-// --- IMU ---
 #if FT_ENABLED(USE_MPU6050 || USE_BNO055)
-    if (!_imu.initialize(nullptr)) ESP_LOGE("Peripherals", "IMU initialize failed");
-#elif FT_ENABLED(USE_ICM20948)
-    if (!_imu.initialize(icm20948)) ESP_LOGE("Peripherals", "IMU initialize failed (ICM20948)");
+    if (!_imu.initialize()) ESP_LOGE("IMUService", "IMU initialize failed");
 #endif
-
-// --- MAGNETOMETER ---
 #if FT_ENABLED(USE_HMC5883)
-    if (!_mag.initialize(nullptr)) ESP_LOGE("Peripherals", "MAG initialize failed");
-#elif FT_ENABLED(USE_ICM20948)
-    if (!_mag.initialize(icm20948)) ESP_LOGE("Peripherals", "MAG initialize failed (ICM20948)");
+    if (!_mag.initialize()) ESP_LOGE("IMUService", "MAG initialize failed");
 #endif
-
-// --- BMP ---
 #if FT_ENABLED(USE_BMP180)
-    if (!_bmp.initialize(nullptr)) ESP_LOGE("Peripherals", "BMP initialize failed");
+    if (!_bmp.initialize()) ESP_LOGE("IMUService", "BMP initialize failed");
 #endif
-
-
-// --- GESTURE ---
 #if FT_ENABLED(USE_PAJ7620U2)
-    if (!_gesture.initialize(nullptr)) ESP_LOGE("Peripherals", "Gesture initialize failed");
+    if (!_gesture.initialize()) ESP_LOGE("IMUService", "Gesture initialize failed");
 #endif
-
-// --- SONAR ---
 #if FT_ENABLED(USE_USS)
     _left_sonar = std::make_unique<NewPing>(USS_LEFT_PIN, USS_LEFT_PIN, MAX_DISTANCE);
     _right_sonar = std::make_unique<NewPing>(USS_RIGHT_PIN, USS_RIGHT_PIN, MAX_DISTANCE);
@@ -96,7 +74,7 @@ void Peripherals::scanI2C(uint8_t lower, uint8_t higher) {
 }
 
 void Peripherals::getIMUProto(socket_message_IMUData &data) {
-#if FT_ENABLED(USE_MPU6050 || USE_BNO055 || USE_ICM20948)
+#if FT_ENABLED(USE_MPU6050 || USE_BNO055)
     data.x = _imu.getAngleX();
     data.y = _imu.getAngleY();
     data.z = _imu.getAngleZ();
@@ -123,7 +101,7 @@ void Peripherals::getSettingsProto(socket_message_PeripheralSettingsData &data)
 /* IMU FUNCTIONS */
 bool Peripherals::readImu() {
     bool updated = false;
-#if FT_ENABLED(USE_MPU6050 || USE_BNO055 || USE_ICM20948)
+#if FT_ENABLED(USE_MPU6050 || USE_BNO055)
     beginTransaction();
     updated = _imu.update();
     endTransaction();
@@ -133,7 +111,7 @@ bool Peripherals::readImu() {
 
 bool Peripherals::readMag() {
     bool updated = false;
-#if FT_ENABLED(USE_HMC5883 || USE_ICM20948)
+#if FT_ENABLED(USE_HMC5883)
     beginTransaction();
     updated = _mag.update();
     endTransaction();
@@ -171,7 +149,7 @@ void Peripherals::readSonar() {
 
 float Peripherals::angleX() {
     return
-#if FT_ENABLED(USE_MPU6050 || USE_BNO055 || USE_ICM20948)
+#if FT_ENABLED(USE_MPU6050 || USE_BNO055)
         _imu.getAngleX();
 #else
         0;
@@ -180,7 +158,7 @@ float Peripherals::angleX() {
 
 float Peripherals::angleY() {
     return
-#if FT_ENABLED(USE_MPU6050 || USE_BNO055 || USE_ICM20948)
+#if FT_ENABLED(USE_MPU6050 || USE_BNO055)
         _imu.getAngleY();
 #else
         0;
@@ -189,7 +167,7 @@ float Peripherals::angleY() {
 
 float Peripherals::angleZ() {
     return
-#if FT_ENABLED(USE_MPU6050 || USE_BNO055 || USE_ICM20948)
+#if FT_ENABLED(USE_MPU6050 || USE_BNO055)
         _imu.getAngleZ();
 #else
         0;
@@ -209,7 +187,7 @@ float Peripherals::leftDistance() { return _left_distance; }
 float Peripherals::rightDistance() { return _right_distance; }
 
 bool Peripherals::calibrateIMU() {
-#if FT_ENABLED(USE_MPU6050 || USE_BNO055 || USE_ICM20948)
+#if FT_ENABLED(USE_MPU6050 || USE_BNO055)
     beginTransaction();
     bool result = _imu.calibrate();
     endTransaction();

esp32/src/system_service.cpp

@@ -1,5 +1,44 @@
 #include "system_service.h"
 #include <communication/webserver.h>
+#include <dirent.h>
+#include <esp_chip_info.h>
+#include <esp_flash.h>
+#include <esp_ota_ops.h>
+#include <esp_system.h>
+#include <esp_sleep.h>
+#include <soc/soc.h>
+
+#if CONFIG_IDF_TARGET_ESP32S2 || CONFIG_IDF_TARGET_ESP32S3 || CONFIG_IDF_TARGET_ESP32C3 || \
+    CONFIG_IDF_TARGET_ESP32C6 || CONFIG_IDF_TARGET_ESP32P4
+#include <driver/temperature_sensor.h>
+
+static float temperatureRead() {
+    static temperature_sensor_handle_t temp_sensor = nullptr;
+    static bool initialized = false;
+
+    if (!initialized) {
+        temperature_sensor_config_t temp_sensor_config = {
+            .range_min = -10,
+            .range_max = 80,
+            .clk_src = TEMPERATURE_SENSOR_CLK_SRC_DEFAULT,
+        };
+        if (temperature_sensor_install(&temp_sensor_config, &temp_sensor) == ESP_OK) {
+            temperature_sensor_enable(temp_sensor);
+            initialized = true;
+        }
+    }
+
+    if (initialized && temp_sensor) {
+        float temp = 0;
+        if (temperature_sensor_get_celsius(temp_sensor, &temp) == ESP_OK) {
+            return temp;
+        }
+    }
+    return 0.0f;
+}
+#else
+static inline float temperatureRead() { return 0.0f; }
+#endif
 
 namespace system_service {
 
@@ -22,12 +61,15 @@ esp_err_t handleSleep(httpd_req_t *request) {
 
 void reset() {
     ESP_LOGI(TAG, "Resetting device");
-    File root = ESP_FS.open(FS_CONFIG_DIRECTORY);
-    File file;
-    while (file = root.openNextFile()) {
-        std::string path = file.path();
-        file.close();
-        ESP_FS.remove(path.c_str());
+    DIR *dir = opendir(FS_CONFIG_DIRECTORY);
+    if (dir) {
+        struct dirent *entry;
+        while ((entry = readdir(dir)) != nullptr) {
+            if (strcmp(entry->d_name, ".") == 0 || strcmp(entry->d_name, "..") == 0) continue;
+            std::string path = std::string(FS_CONFIG_DIRECTORY) + "/" + entry->d_name;
+            remove(path.c_str());
+        }
+        closedir(dir);
     }
     restart();
 }
@@ -37,11 +79,11 @@ void restart() {
         [](void *pvParameters) {
             for (;;) {
                 vTaskDelay(250 / portTICK_PERIOD_MS);
-                MDNS.end();
+                mdns_free();
                 vTaskDelay(100 / portTICK_PERIOD_MS);
                 WiFi.disconnect(true);
                 vTaskDelay(500 / portTICK_PERIOD_MS);
-                ESP.restart();
+                esp_restart();
             }
         },
         "Restart task", 4096, nullptr, 10, nullptr);
@@ -52,14 +94,14 @@ void sleep() {
         [](void *pvParameters) {
             for (;;) {
                 vTaskDelay(250 / portTICK_PERIOD_MS);
-                MDNS.end();
+                mdns_free();
                 vTaskDelay(100 / portTICK_PERIOD_MS);
                 WiFi.disconnect(true);
                 vTaskDelay(500 / portTICK_PERIOD_MS);
 
                 uint64_t bitmask = (uint64_t)1 << (WAKEUP_PIN_NUMBER);
 
-#ifdef CONFIG_IDF_TARGET_ESP32C3
+#if CONFIG_IDF_TARGET_ESP32C3 || CONFIG_IDF_TARGET_ESP32C6 || CONFIG_IDF_TARGET_ESP32P4
                 esp_deep_sleep_enable_gpio_wakeup(bitmask, (esp_deepsleep_gpio_wake_up_mode_t)WAKEUP_SIGNAL);
 #else
                 esp_sleep_enable_ext1_wakeup(bitmask, (esp_sleep_ext1_wakeup_mode_t)WAKEUP_SIGNAL);
@@ -72,22 +114,98 @@ void sleep() {
     ESP_LOGI(TAG, "Setting device to sleep");
 }
 
+static const char *getChipModel() {
+    esp_chip_info_t chip_info;
+    esp_chip_info(&chip_info);
+    switch (chip_info.model) {
+        case CHIP_ESP32: return "ESP32";
+        case CHIP_ESP32S2: return "ESP32-S2";
+        case CHIP_ESP32S3: return "ESP32-S3";
+        case CHIP_ESP32C3: return "ESP32-C3";
+        case CHIP_ESP32C2: return "ESP32-C2";
+        case CHIP_ESP32C6: return "ESP32-C6";
+        case CHIP_ESP32H2: return "ESP32-H2";
+        case CHIP_ESP32P4: return "ESP32-P4";
+        default: return "Unknown";
+    }
+}
+
+static uint32_t getCpuFreqMHz() { return CONFIG_ESP_DEFAULT_CPU_FREQ_MHZ; }
+
+static uint8_t getChipCores() {
+    esp_chip_info_t chip_info;
+    esp_chip_info(&chip_info);
+    return chip_info.cores;
+}
+
+static uint8_t getChipRevision() {
+    esp_chip_info_t chip_info;
+    esp_chip_info(&chip_info);
+    return chip_info.revision;
+}
+
+static uint32_t getFlashChipSize() {
+    uint32_t size = 0;
+    esp_flash_get_size(NULL, &size);
+    return size;
+}
+
+static uint32_t getFlashChipSpeed() {
+#if defined(CONFIG_ESPTOOLPY_FLASHFREQ_120M)
+    return 120000000;
+#elif defined(CONFIG_ESPTOOLPY_FLASHFREQ_80M)
+    return 80000000;
+#elif defined(CONFIG_ESPTOOLPY_FLASHFREQ_64M)
+    return 64000000;
+#elif defined(CONFIG_ESPTOOLPY_FLASHFREQ_60M)
+    return 60000000;
+#elif defined(CONFIG_ESPTOOLPY_FLASHFREQ_48M)
+    return 48000000;
+#elif defined(CONFIG_ESPTOOLPY_FLASHFREQ_40M)
+    return 40000000;
+#elif defined(CONFIG_ESPTOOLPY_FLASHFREQ_30M)
+    return 30000000;
+#elif defined(CONFIG_ESPTOOLPY_FLASHFREQ_26M)
+    return 26000000;
+#elif defined(CONFIG_ESPTOOLPY_FLASHFREQ_20M)
+    return 20000000;
+#else
+    return 80000000;
+#endif
+}
+
+static uint32_t getSketchSize() {
+    const esp_partition_t *running = esp_ota_get_running_partition();
+    if (running) {
+        return running->size;
+    }
+    return 0;
+}
+
+static uint32_t getFreeSketchSpace() {
+    const esp_partition_t *next = esp_ota_get_next_update_partition(NULL);
+    if (next) {
+        return next->size;
+    }
+    return 0;
+}
+
 void getStaticSystemInformation(socket_message_StaticSystemInformation &info) {
     size_t fs_total = 0, fs_used = 0;
     esp_littlefs_info("spiffs", &fs_total, &fs_used);
 
     info.esp_platform = (char *)ESP_PLATFORM_NAME;
     info.firmware_version = APP_VERSION;
-    info.cpu_freq_mhz = ESP.getCpuFreqMHz();
-    info.cpu_type = (char *)ESP.getChipModel();
-    info.cpu_rev = ESP.getChipRevision();
-    info.cpu_cores = ESP.getChipCores();
-    info.sketch_size = ESP.getSketchSize();
-    info.free_sketch_space = ESP.getFreeSketchSpace();
-    info.sdk_version = (char *)ESP.getSdkVersion();
-    info.arduino_version = ARDUINO_VERSION;
-    info.flash_chip_size = ESP.getFlashChipSize();
-    info.flash_chip_speed = ESP.getFlashChipSpeed();
+    info.cpu_freq_mhz = getCpuFreqMHz();
+    info.cpu_type = (char *)getChipModel();
+    info.cpu_rev = getChipRevision();
+    info.cpu_cores = getChipCores();
+    info.sketch_size = getSketchSize();
+    info.free_sketch_space = getFreeSketchSpace();
+    info.sdk_version = (char *)esp_get_idf_version();
+    info.arduino_version = "";
+    info.flash_chip_size = getFlashChipSize();
+    info.flash_chip_speed = getFlashChipSpeed();
     info.cpu_reset_reason = (char *)resetReason(esp_reset_reason());
 }
 

esp32/src/wifi/wifi_idf.cpp

@@ -0,0 +1,571 @@
+#include <wifi/wifi_idf.h>
+
+static const char* TAG = "WiFiIDF";
+
+WiFiClass WiFi;
+
+WiFiClass::WiFiClass()
+    : _sta_netif(nullptr),
+      _ap_netif(nullptr),
+      _initialized(false),
+      _autoReconnect(false),
+      _persistent(false),
+      _status(WL_DISCONNECTED),
+      _mode(WIFI_MODE_NULL),
+      _scanResult(nullptr),
+      _scanCount(0),
+      _scanStatus(-2),
+      _useStaticIp(false) {}
+
+WiFiClass::~WiFiClass() {
+    if (_scanResult) {
+        free(_scanResult);
+        _scanResult = nullptr;
+    }
+}
+
+bool WiFiClass::init() {
+    if (_initialized) return true;
+
+    esp_err_t ret = nvs_flash_init();
+    if (ret == ESP_ERR_NVS_NO_FREE_PAGES || ret == ESP_ERR_NVS_NEW_VERSION_FOUND) {
+        nvs_flash_erase();
+        ret = nvs_flash_init();
+    }
+
+    ret = esp_netif_init();
+    if (ret != ESP_OK && ret != ESP_ERR_INVALID_STATE) {
+        ESP_LOGE(TAG, "esp_netif_init failed: %s", esp_err_to_name(ret));
+    }
+
+    ret = esp_event_loop_create_default();
+    if (ret != ESP_OK && ret != ESP_ERR_INVALID_STATE) {
+        ESP_LOGE(TAG, "Event loop create failed: %s", esp_err_to_name(ret));
+    }
+
+    _sta_netif = esp_netif_get_handle_from_ifkey("WIFI_STA_DEF");
+    if (!_sta_netif) {
+        _sta_netif = esp_netif_create_default_wifi_sta();
+    }
+
+    _ap_netif = esp_netif_get_handle_from_ifkey("WIFI_AP_DEF");
+    if (!_ap_netif) {
+        _ap_netif = esp_netif_create_default_wifi_ap();
+    }
+
+    wifi_init_config_t cfg = WIFI_INIT_CONFIG_DEFAULT();
+    ret = esp_wifi_init(&cfg);
+    if (ret != ESP_OK && ret != ESP_ERR_INVALID_STATE) {
+        ESP_LOGE(TAG, "esp_wifi_init failed: %s", esp_err_to_name(ret));
+        return false;
+    }
+
+    esp_event_handler_instance_register(WIFI_EVENT, ESP_EVENT_ANY_ID, &WiFiClass::eventHandler, this, nullptr);
+    esp_event_handler_instance_register(IP_EVENT, ESP_EVENT_ANY_ID, &WiFiClass::eventHandler, this, nullptr);
+
+    esp_wifi_set_storage(_persistent ? WIFI_STORAGE_FLASH : WIFI_STORAGE_RAM);
+
+    _initialized = true;
+    return true;
+}
+
+void WiFiClass::eventHandler(void* arg, esp_event_base_t event_base, int32_t event_id, void* event_data) {
+    WiFiClass* self = static_cast<WiFiClass*>(arg);
+
+    if (event_base == WIFI_EVENT) {
+        switch (event_id) {
+            case WIFI_EVENT_STA_START: ESP_LOGI(TAG, "STA Started"); break;
+            case WIFI_EVENT_STA_STOP:
+                ESP_LOGI(TAG, "STA Stopped");
+                self->_status = WL_DISCONNECTED;
+                break;
+            case WIFI_EVENT_STA_CONNECTED: ESP_LOGI(TAG, "STA Connected"); break;
+            case WIFI_EVENT_STA_DISCONNECTED: {
+                wifi_event_sta_disconnected_t* event = (wifi_event_sta_disconnected_t*)event_data;
+                ESP_LOGI(TAG, "STA Disconnected, reason: %d", event->reason);
+                self->_status = WL_DISCONNECTED;
+                if (self->_autoReconnect) {
+                    esp_wifi_connect();
+                }
+                break;
+            }
+            case WIFI_EVENT_AP_START: ESP_LOGI(TAG, "AP Started"); break;
+            case WIFI_EVENT_AP_STOP: ESP_LOGI(TAG, "AP Stopped"); break;
+            case WIFI_EVENT_AP_STACONNECTED: {
+                wifi_event_ap_staconnected_t* event = (wifi_event_ap_staconnected_t*)event_data;
+                ESP_LOGI(TAG, "Station connected, AID=%d", event->aid);
+                break;
+            }
+            case WIFI_EVENT_AP_STADISCONNECTED: {
+                wifi_event_ap_stadisconnected_t* event = (wifi_event_ap_stadisconnected_t*)event_data;
+                ESP_LOGI(TAG, "Station disconnected, AID=%d", event->aid);
+                break;
+            }
+            case WIFI_EVENT_SCAN_DONE: {
+                wifi_event_sta_scan_done_t* event = (wifi_event_sta_scan_done_t*)event_data;
+                if (event->status == 0) {
+                    self->_scanCount = event->number;
+                    if (self->_scanResult) {
+                        free(self->_scanResult);
+                    }
+                    self->_scanResult = (wifi_ap_record_t*)malloc(sizeof(wifi_ap_record_t) * self->_scanCount);
+                    if (self->_scanResult) {
+                        esp_wifi_scan_get_ap_records(&self->_scanCount, self->_scanResult);
+                    }
+                    self->_scanStatus = self->_scanCount;
+                } else {
+                    self->_scanStatus = -2;
+                }
+                break;
+            }
+        }
+        self->dispatchEvent(event_id, event_data);
+    } else if (event_base == IP_EVENT) {
+        if (event_id == IP_EVENT_STA_GOT_IP) {
+            ip_event_got_ip_t* event = (ip_event_got_ip_t*)event_data;
+            ESP_LOGI(TAG, "Got IP: " IPSTR, IP2STR(&event->ip_info.ip));
+            self->_status = WL_CONNECTED;
+            self->dispatchEvent(event_id + 1000, event_data);
+        } else if (event_id == IP_EVENT_STA_LOST_IP) {
+            ESP_LOGI(TAG, "Lost IP");
+            self->_status = WL_DISCONNECTED;
+            self->dispatchEvent(event_id + 1000, event_data);
+        }
+    }
+}
+
+void WiFiClass::dispatchEvent(int32_t event_id, void* event_data) {
+    for (auto& handler : _eventHandlers) {
+        if (handler.event_id == event_id || handler.event_id == -1) {
+            handler.callback(event_id, event_data);
+        }
+    }
+}
+
+void WiFiClass::onEvent(WiFiEventCb callback, int32_t event_id) { _eventHandlers.push_back({event_id, callback}); }
+
+bool WiFiClass::mode(wifi_mode_t m) {
+    if (!_initialized) init();
+
+    if (_mode == m) return true;
+
+    esp_err_t err;
+    if (_mode == WIFI_MODE_NULL) {
+        err = esp_wifi_set_mode(m);
+        if (err == ESP_OK) {
+            err = esp_wifi_start();
+        }
+    } else if (m == WIFI_MODE_NULL) {
+        err = esp_wifi_stop();
+    } else {
+        err = esp_wifi_set_mode(m);
+    }
+
+    if (err == ESP_OK) {
+        _mode = m;
+        return true;
+    }
+    ESP_LOGE(TAG, "Failed to set mode: %s", esp_err_to_name(err));
+    return false;
+}
+
+wifi_mode_t WiFiClass::getMode() {
+    if (!_initialized) return WIFI_MODE_NULL;
+    wifi_mode_t m;
+    if (esp_wifi_get_mode(&m) == ESP_OK) {
+        return m;
+    }
+    return WIFI_MODE_NULL;
+}
+
+bool WiFiClass::begin(const char* ssid, const char* password, int32_t channel, const uint8_t* bssid) {
+    if (!_initialized) init();
+
+    wifi_mode_t currentMode = getMode();
+    if (currentMode == WIFI_MODE_NULL || currentMode == WIFI_MODE_AP) {
+        mode(currentMode == WIFI_MODE_AP ? WIFI_MODE_APSTA : WIFI_MODE_STA);
+        vTaskDelay(500 / portTICK_PERIOD_MS);
+    }
+
+    wifi_config_t wifi_config = {};
+    strncpy((char*)wifi_config.sta.ssid, ssid, sizeof(wifi_config.sta.ssid) - 1);
+    if (password) {
+        strncpy((char*)wifi_config.sta.password, password, sizeof(wifi_config.sta.password) - 1);
+    }
+    if (channel > 0) {
+        wifi_config.sta.channel = channel;
+    }
+    if (bssid) {
+        memcpy(wifi_config.sta.bssid, bssid, 6);
+        wifi_config.sta.bssid_set = true;
+    }
+
+    wifi_config.sta.scan_method = WIFI_ALL_CHANNEL_SCAN;
+    wifi_config.sta.sort_method = WIFI_CONNECT_AP_BY_SIGNAL;
+    wifi_config.sta.threshold.authmode = password && strlen(password) > 0 ? WIFI_AUTH_WPA2_PSK : WIFI_AUTH_OPEN;
+
+    esp_err_t err = esp_wifi_set_config(WIFI_IF_STA, &wifi_config);
+    if (err != ESP_OK) {
+        ESP_LOGE(TAG, "Failed to set STA config: %s", esp_err_to_name(err));
+        return false;
+    }
+
+    if (_useStaticIp) {
+        esp_netif_dhcpc_stop(_sta_netif);
+        esp_netif_ip_info_t ip_info = {};
+        ip_info.ip = _sta_static_ip;
+        ip_info.gw = _sta_static_gw;
+        ip_info.netmask = _sta_static_sn;
+        esp_netif_set_ip_info(_sta_netif, &ip_info);
+
+        if (static_cast<uint32_t>(_sta_static_dns1) != 0) {
+            esp_netif_dns_info_t dns;
+            dns.ip.u_addr.ip4 = _sta_static_dns1;
+            dns.ip.type = ESP_IPADDR_TYPE_V4;
+            esp_netif_set_dns_info(_sta_netif, ESP_NETIF_DNS_MAIN, &dns);
+        }
+        if (static_cast<uint32_t>(_sta_static_dns2) != 0) {
+            esp_netif_dns_info_t dns;
+            dns.ip.u_addr.ip4 = _sta_static_dns2;
+            dns.ip.type = ESP_IPADDR_TYPE_V4;
+            esp_netif_set_dns_info(_sta_netif, ESP_NETIF_DNS_BACKUP, &dns);
+        }
+    } else {
+        esp_netif_dhcpc_start(_sta_netif);
+    }
+
+    err = esp_wifi_connect();
+    if (err != ESP_OK) {
+        ESP_LOGE(TAG, "Failed to connect: %s", esp_err_to_name(err));
+        return false;
+    }
+
+    return true;
+}
+
+bool WiFiClass::disconnect(bool wifiOff) {
+    esp_err_t err = esp_wifi_disconnect();
+    if (wifiOff) {
+        wifi_mode_t m = getMode();
+        if (m == WIFI_MODE_APSTA) {
+            mode(WIFI_MODE_AP);
+        } else if (m == WIFI_MODE_STA) {
+            mode(WIFI_MODE_NULL);
+        }
+    }
+    _status = WL_DISCONNECTED;
+    return err == ESP_OK;
+}
+
+bool WiFiClass::reconnect() { return esp_wifi_connect() == ESP_OK; }
+
+bool WiFiClass::config(IPAddress local_ip, IPAddress gateway, IPAddress subnet, IPAddress dns1, IPAddress dns2) {
+    _sta_static_ip = local_ip;
+    _sta_static_gw = gateway;
+    _sta_static_sn = subnet;
+    _sta_static_dns1 = dns1;
+    _sta_static_dns2 = dns2;
+    _useStaticIp = (static_cast<uint32_t>(local_ip) != 0);
+    return true;
+}
+
+bool WiFiClass::setHostname(const char* hostname) {
+    _hostname = hostname;
+    if (_sta_netif) {
+        return esp_netif_set_hostname(_sta_netif, hostname) == ESP_OK;
+    }
+    return true;
+}
+
+const char* WiFiClass::getHostname() {
+    const char* hostname = nullptr;
+    if (_sta_netif) {
+        esp_netif_get_hostname(_sta_netif, &hostname);
+    }
+    return hostname ? hostname : _hostname.c_str();
+}
+
+wl_status_t WiFiClass::status() { return _status; }
+
+bool WiFiClass::isConnected() { return _status == WL_CONNECTED; }
+
+IPAddress WiFiClass::localIP() {
+    esp_netif_ip_info_t ip_info;
+    if (_sta_netif && esp_netif_get_ip_info(_sta_netif, &ip_info) == ESP_OK) {
+        return IPAddress(ip_info.ip);
+    }
+    return IPAddress();
+}
+
+IPAddress WiFiClass::subnetMask() {
+    esp_netif_ip_info_t ip_info;
+    if (_sta_netif && esp_netif_get_ip_info(_sta_netif, &ip_info) == ESP_OK) {
+        return IPAddress(ip_info.netmask);
+    }
+    return IPAddress();
+}
+
+IPAddress WiFiClass::gatewayIP() {
+    esp_netif_ip_info_t ip_info;
+    if (_sta_netif && esp_netif_get_ip_info(_sta_netif, &ip_info) == ESP_OK) {
+        return IPAddress(ip_info.gw);
+    }
+    return IPAddress();
+}
+
+IPAddress WiFiClass::dnsIP(uint8_t dns_no) {
+    esp_netif_dns_info_t dns;
+    esp_netif_dns_type_t type = dns_no == 0 ? ESP_NETIF_DNS_MAIN : ESP_NETIF_DNS_BACKUP;
+    if (_sta_netif && esp_netif_get_dns_info(_sta_netif, type, &dns) == ESP_OK) {
+        return IPAddress(dns.ip.u_addr.ip4);
+    }
+    return IPAddress();
+}
+
+std::string WiFiClass::macAddress() {
+    uint8_t mac[6];
+    char buf[18];
+    esp_wifi_get_mac(WIFI_IF_STA, mac);
+    snprintf(buf, sizeof(buf), "%02X:%02X:%02X:%02X:%02X:%02X", mac[0], mac[1], mac[2], mac[3], mac[4], mac[5]);
+    return std::string(buf);
+}
+
+std::string WiFiClass::SSID() {
+    wifi_ap_record_t info;
+    if (esp_wifi_sta_get_ap_info(&info) == ESP_OK) {
+        return std::string((char*)info.ssid);
+    }
+    return "";
+}
+
+std::string WiFiClass::BSSIDstr() {
+    wifi_ap_record_t info;
+    if (esp_wifi_sta_get_ap_info(&info) == ESP_OK) {
+        char buf[18];
+        snprintf(buf, sizeof(buf), "%02X:%02X:%02X:%02X:%02X:%02X", info.bssid[0], info.bssid[1], info.bssid[2],
+                 info.bssid[3], info.bssid[4], info.bssid[5]);
+        return std::string(buf);
+    }
+    return "";
+}
+
+int32_t WiFiClass::RSSI() {
+    wifi_ap_record_t info;
+    if (esp_wifi_sta_get_ap_info(&info) == ESP_OK) {
+        return info.rssi;
+    }
+    return 0;
+}
+
+uint8_t WiFiClass::channel() {
+    wifi_ap_record_t info;
+    if (esp_wifi_sta_get_ap_info(&info) == ESP_OK) {
+        return info.primary;
+    }
+    return 0;
+}
+
+int16_t WiFiClass::scanNetworks(bool async) {
+    if (!_initialized) init();
+
+    wifi_mode_t currentMode = getMode();
+    if (currentMode == WIFI_MODE_NULL || currentMode == WIFI_MODE_AP) {
+        mode(currentMode == WIFI_MODE_AP ? WIFI_MODE_APSTA : WIFI_MODE_STA);
+        vTaskDelay(500 / portTICK_PERIOD_MS);
+    }
+
+    _scanStatus = -1;
+
+    wifi_scan_config_t scan_config = {};
+    scan_config.show_hidden = true;
+
+    esp_err_t err = esp_wifi_scan_start(&scan_config, !async);
+    if (err != ESP_OK) {
+        ESP_LOGE(TAG, "Scan start failed: %s", esp_err_to_name(err));
+        _scanStatus = -2;
+        return -2;
+    }
+
+    if (!async) {
+        if (_scanResult) {
+            free(_scanResult);
+            _scanResult = nullptr;
+        }
+        esp_wifi_scan_get_ap_num(&_scanCount);
+        _scanResult = (wifi_ap_record_t*)malloc(sizeof(wifi_ap_record_t) * _scanCount);
+        if (_scanResult) {
+            esp_wifi_scan_get_ap_records(&_scanCount, _scanResult);
+        }
+        _scanStatus = _scanCount;
+        return _scanCount;
+    }
+
+    return -1;
+}
+
+int16_t WiFiClass::scanComplete() { return _scanStatus; }
+
+void WiFiClass::scanDelete() {
+    if (_scanResult) {
+        free(_scanResult);
+        _scanResult = nullptr;
+    }
+    _scanCount = 0;
+    _scanStatus = -2;
+}
+
+std::string WiFiClass::SSID(uint8_t i) {
+    if (i < _scanCount && _scanResult) {
+        return std::string((char*)_scanResult[i].ssid);
+    }
+    return "";
+}
+
+int32_t WiFiClass::RSSI(uint8_t i) {
+    if (i < _scanCount && _scanResult) {
+        return _scanResult[i].rssi;
+    }
+    return 0;
+}
+
+wifi_enc_type_t WiFiClass::encryptionType(uint8_t i) {
+    if (i < _scanCount && _scanResult) {
+        switch (_scanResult[i].authmode) {
+            case WIFI_AUTH_OPEN: return WIFI_AUTH_OPEN_IDF;
+            case WIFI_AUTH_WEP: return WIFI_AUTH_WEP_IDF;
+            case WIFI_AUTH_WPA_PSK: return WIFI_AUTH_WPA_PSK_IDF;
+            default: return WIFI_AUTH_WPA2_PSK_IDF;
+        }
+    }
+    return WIFI_AUTH_OPEN_IDF;
+}
+
+std::string WiFiClass::BSSIDstr(uint8_t i) {
+    if (i < _scanCount && _scanResult) {
+        char buf[18];
+        snprintf(buf, sizeof(buf), "%02X:%02X:%02X:%02X:%02X:%02X", _scanResult[i].bssid[0], _scanResult[i].bssid[1],
+                 _scanResult[i].bssid[2], _scanResult[i].bssid[3], _scanResult[i].bssid[4], _scanResult[i].bssid[5]);
+        return std::string(buf);
+    }
+    return "";
+}
+
+int32_t WiFiClass::channel(uint8_t i) {
+    if (i < _scanCount && _scanResult) {
+        return _scanResult[i].primary;
+    }
+    return 0;
+}
+
+void WiFiClass::getNetworkInfo(uint8_t i, std::string& ssid, uint8_t& encType, int32_t& rssi, uint8_t*& bssid,
+                               int32_t& ch) {
+    if (i < _scanCount && _scanResult) {
+        ssid = std::string((char*)_scanResult[i].ssid);
+        encType = static_cast<uint8_t>(encryptionType(i));
+        rssi = _scanResult[i].rssi;
+        bssid = _scanResult[i].bssid;
+        ch = _scanResult[i].primary;
+    }
+}
+
+bool WiFiClass::softAP(const char* ssid, const char* password, int channel, bool ssid_hidden, int max_connection) {
+    if (!_initialized) init();
+
+    wifi_mode_t currentMode = getMode();
+    if (currentMode == WIFI_MODE_NULL || currentMode == WIFI_MODE_STA) {
+        mode(currentMode == WIFI_MODE_STA ? WIFI_MODE_APSTA : WIFI_MODE_AP);
+    }
+
+    wifi_config_t wifi_config = {};
+    strncpy((char*)wifi_config.ap.ssid, ssid, sizeof(wifi_config.ap.ssid) - 1);
+    wifi_config.ap.ssid_len = strlen(ssid);
+    wifi_config.ap.channel = channel;
+    wifi_config.ap.ssid_hidden = ssid_hidden ? 1 : 0;
+    wifi_config.ap.max_connection = max_connection;
+
+    if (password && strlen(password) > 0) {
+        strncpy((char*)wifi_config.ap.password, password, sizeof(wifi_config.ap.password) - 1);
+        wifi_config.ap.authmode = WIFI_AUTH_WPA2_PSK;
+    } else {
+        wifi_config.ap.authmode = WIFI_AUTH_OPEN;
+    }
+
+    esp_err_t err = esp_wifi_set_config(WIFI_IF_AP, &wifi_config);
+    if (err != ESP_OK) {
+        ESP_LOGE(TAG, "Failed to set AP config: %s", esp_err_to_name(err));
+        return false;
+    }
+
+    return true;
+}
+
+bool WiFiClass::softAPConfig(IPAddress local_ip, IPAddress gateway, IPAddress subnet) {
+    if (!_ap_netif) return false;
+
+    esp_netif_dhcps_stop(_ap_netif);
+
+    esp_netif_ip_info_t ip_info = {};
+    ip_info.ip = local_ip;
+    ip_info.gw = gateway;
+    ip_info.netmask = subnet;
+
+    esp_err_t err = esp_netif_set_ip_info(_ap_netif, &ip_info);
+    if (err != ESP_OK) {
+        ESP_LOGE(TAG, "Failed to set AP IP info: %s", esp_err_to_name(err));
+        return false;
+    }
+
+    esp_netif_dhcps_start(_ap_netif);
+    return true;
+}
+
+bool WiFiClass::softAPdisconnect(bool wifiOff) {
+    wifi_mode_t m = getMode();
+    if (wifiOff) {
+        if (m == WIFI_MODE_APSTA) {
+            return mode(WIFI_MODE_STA);
+        } else if (m == WIFI_MODE_AP) {
+            return mode(WIFI_MODE_NULL);
+        }
+    }
+    return true;
+}
+
+IPAddress WiFiClass::softAPIP() {
+    esp_netif_ip_info_t ip_info;
+    if (_ap_netif && esp_netif_get_ip_info(_ap_netif, &ip_info) == ESP_OK) {
+        return IPAddress(ip_info.ip);
+    }
+    return IPAddress();
+}
+
+std::string WiFiClass::softAPmacAddress() {
+    uint8_t mac[6];
+    char buf[18];
+    esp_wifi_get_mac(WIFI_IF_AP, mac);
+    snprintf(buf, sizeof(buf), "%02X:%02X:%02X:%02X:%02X:%02X", mac[0], mac[1], mac[2], mac[3], mac[4], mac[5]);
+    return std::string(buf);
+}
+
+uint8_t WiFiClass::softAPgetStationNum() {
+    wifi_sta_list_t sta_list;
+    if (esp_wifi_ap_get_sta_list(&sta_list) == ESP_OK) {
+        return sta_list.num;
+    }
+    return 0;
+}
+
+bool WiFiClass::setAutoReconnect(bool autoReconnect) {
+    _autoReconnect = autoReconnect;
+    return true;
+}
+
+bool WiFiClass::persistent(bool persistent) {
+    _persistent = persistent;
+    if (_initialized) {
+        return esp_wifi_set_storage(persistent ? WIFI_STORAGE_FLASH : WIFI_STORAGE_RAM) == ESP_OK;
+    }
+    return true;
+}
+
+bool WiFiClass::setTxPower(int8_t power) { return esp_wifi_set_max_tx_power(power * 4) == ESP_OK; }

esp32/src/wifi_service.cpp

@@ -1,45 +1,57 @@
 #include <wifi_service.h>
 #include <communication/webserver.h>
 
+static const char *TAG = "WiFiService";
+
 WiFiService::WiFiService()
-    : _persistence(WiFiSettings_read, WiFiSettings_update, this, WIFI_SETTINGS_FILE,
-                   api_WifiSettings_fields, api_WifiSettings_size, WiFiSettings_defaults()),
-      protoEndpoint(WiFiSettings_read, WiFiSettings_update, this,
+    : protoEndpoint(WiFiSettings_read, WiFiSettings_update, this,
                     API_REQUEST_EXTRACTOR(wifi_settings, api_WifiSettings),
-                    API_RESPONSE_ASSIGNER(wifi_settings, api_WifiSettings)) {
+                    API_RESPONSE_ASSIGNER(wifi_settings, api_WifiSettings)),
+      _persistence(WiFiSettings_read, WiFiSettings_update, this, WIFI_SETTINGS_FILE, api_WifiSettings_fields,
+                   api_WifiSettings_size, WiFiSettings_defaults()),
+      _lastConnectionAttempt(0),
+      _stopping(false) {
     addUpdateHandler([&](const std::string &originId) { reconfigureWiFiConnection(); }, false);
 }
 
 WiFiService::~WiFiService() {}
 
 void WiFiService::begin() {
-    WiFi.mode(WIFI_MODE_STA);
-
     WiFi.persistent(false);
     WiFi.setAutoReconnect(false);
 
-    WiFi.onEvent(std::bind(&WiFiService::onStationModeDisconnected, this, std::placeholders::_1, std::placeholders::_2),
-                 WiFiEvent_t::ARDUINO_EVENT_WIFI_STA_DISCONNECTED);
-    WiFi.onEvent(std::bind(&WiFiService::onStationModeStop, this, std::placeholders::_1, std::placeholders::_2),
-                 WiFiEvent_t::ARDUINO_EVENT_WIFI_STA_STOP);
-
-    WiFi.onEvent(onStationModeGotIP, WiFiEvent_t::ARDUINO_EVENT_WIFI_STA_GOT_IP);
+    WiFi.onEvent([this](int32_t event, void *data) { this->onStationModeDisconnected(event, data); },
+                 WIFI_EVENT_STA_DISCONNECTED);
+    WiFi.onEvent([this](int32_t event, void *data) { this->onStationModeStop(event, data); }, WIFI_EVENT_STA_STOP);
+    WiFi.onEvent(onStationModeGotIP, IP_EVENT_STA_GOT_IP_IDF);
 
     _persistence.readFromFS();
-    reconfigureWiFiConnection();
+    _lastConnectionAttempt = 0;
 
-    if (state().wifi_networks_count == 1) {
-        configureNetwork(state().wifi_networks[0]);
-        vTaskDelay(500 / portTICK_PERIOD_MS);
+    if (state().wifi_networks_count >= 1) {
+        WiFi.mode(WIFI_MODE_STA);
+        vTaskDelay(100 / portTICK_PERIOD_MS);
+        uint32_t idx = state().selected_network;
+        if (idx >= state().wifi_networks_count) idx = 0;
+        configureNetwork(state().wifi_networks[idx]);
     }
 }
 
 void WiFiService::reconfigureWiFiConnection() {
     _lastConnectionAttempt = 0;
-
     if (WiFi.disconnect(true)) _stopping = true;
 }
 
+void WiFiService::selectNetwork(uint32_t index) {
+    if (index >= state().wifi_networks_count) return;
+    updateWithoutPropagation([&](WiFiSettings &settings) {
+        settings.selected_network = index;
+        return StateUpdateResult::CHANGED;
+    });
+    _persistence.writeToFS();
+    reconfigureWiFiConnection();
+}
+
 void WiFiService::loop() { EXECUTE_EVERY_N_MS(reconnectDelay, manageSTA()); }
 
 esp_err_t WiFiService::handleScan(httpd_req_t *request) {
@@ -47,7 +59,6 @@ esp_err_t WiFiService::handleScan(httpd_req_t *request) {
         WiFi.scanDelete();
         WiFi.scanNetworks(true);
     }
-    // Return 202 with empty_message payload (no pointer fields to encode)
     api_Response response = api_Response_init_zero;
     response.status_code = 202;
     response.which_payload = api_Response_empty_message_tag;
@@ -57,7 +68,6 @@ esp_err_t WiFiService::handleScan(httpd_req_t *request) {
 esp_err_t WiFiService::getNetworks(httpd_req_t *request) {
     int numNetworks = WiFi.scanComplete();
     if (numNetworks == -1) {
-        // Scan in progress - return 202 with empty_message payload
         api_Response response = api_Response_init_zero;
         response.status_code = 202;
         response.which_payload = api_Response_empty_message_tag;
@@ -66,10 +76,8 @@ esp_err_t WiFiService::getNetworks(httpd_req_t *request) {
         return handleScan(request);
     }
 
-    // Limit to 20 networks max
     size_t count = (numNetworks > 20) ? 20 : static_cast<size_t>(numNetworks);
 
-    // Allocate networks array on stack (pointer type in proto)
     api_WifiNetworkScan networks[20] = {};
 
     for (size_t i = 0; i < count; i++) {
@@ -90,11 +98,13 @@ esp_err_t WiFiService::getNetworks(httpd_req_t *request) {
 }
 
 void WiFiService::setupMDNS(const char *hostname) {
-    MDNS.begin(state().hostname);
-    MDNS.setInstanceName(hostname);
-    MDNS.addService("http", "tcp", 80);
-    MDNS.addService("ws", "tcp", 80);
-    MDNS.addServiceTxt("http", "tcp", "Firmware Version", APP_VERSION);
+    mdns_init();
+    mdns_hostname_set(state().hostname);
+    mdns_instance_name_set(hostname);
+    mdns_service_add(nullptr, "_http", "_tcp", 80, nullptr, 0);
+    mdns_service_add(nullptr, "_ws", "_tcp", 80, nullptr, 0);
+    mdns_txt_item_t txtData = {"Firmware Version", APP_VERSION};
+    mdns_service_txt_set("_http", "_tcp", &txtData, 1);
 }
 
 esp_err_t WiFiService::getNetworkStatus(httpd_req_t *request) {
@@ -114,7 +124,6 @@ esp_err_t WiFiService::getNetworkStatus(httpd_req_t *request) {
         wifiStatus.channel = WiFi.channel();
         wifiStatus.subnet_mask = static_cast<uint32_t>(WiFi.subnetMask());
         wifiStatus.gateway_ip = static_cast<uint32_t>(WiFi.gatewayIP());
-
         IPAddress dnsIP1 = WiFi.dnsIP(0);
         IPAddress dnsIP2 = WiFi.dnsIP(1);
         if (dnsIP1 != IPAddress(0, 0, 0, 0)) {
@@ -130,98 +139,58 @@ esp_err_t WiFiService::getNetworkStatus(httpd_req_t *request) {
 
 void WiFiService::manageSTA() {
     if (WiFi.isConnected() || state().wifi_networks_count == 0) return;
-    if ((WiFi.getMode() & WIFI_STA) == 0) connectToWiFi();
-}
+    wifi_mode_t mode = WiFi.getMode();
+    if (mode == WIFI_MODE_NULL || mode == WIFI_MODE_AP) return;
 
-void WiFiService::connectToWiFi() {
-    int scanResult = WiFi.scanNetworks();
-    if (scanResult == WIFI_SCAN_FAILED) {
-        ESP_LOGE("WiFiSettingsService", "WiFi scan failed.");
-    } else if (scanResult == 0) {
-        ESP_LOGI("WiFiSettingsService", "No networks found.");
-    } else {
-        ESP_LOGI("WiFiSettingsService", "%d networks found.", scanResult);
+    static uint32_t startTime = 0;
+    static bool attempted = false;
 
-        WiFiNetwork *bestNetwork = nullptr;
-        int32_t bestNetworkDb = FACTORY_WIFI_RSSI_THRESHOLD;
+    if (startTime == 0) {
+        startTime = esp_timer_get_time() / 1000;
+        return;
+    }
 
-        for (int i = 0; i < scanResult; ++i) {
-            String ssid_scan;
-            int32_t rssi_scan;
-            uint8_t sec_scan;
-            uint8_t *BSSID_scan;
-            int32_t chan_scan;
+    uint32_t now = esp_timer_get_time() / 1000;
+    if (now - startTime < 3000) return;
 
-            WiFi.getNetworkInfo(i, ssid_scan, sec_scan, rssi_scan, BSSID_scan, chan_scan);
-
-            for (pb_size_t j = 0; j < state().wifi_networks_count; j++) {
-                WiFiNetwork &network = state().wifi_networks[j];
-                if (ssid_scan == network.ssid) {
-                    if (rssi_scan >= FACTORY_WIFI_RSSI_THRESHOLD) {
-                        // Network is available
-                    }
-                    if (rssi_scan > bestNetworkDb) {
-                        bestNetworkDb = rssi_scan;
-                        bestNetwork = &network;
-                    }
-                }
-            }
-        }
-
-        if (!state().priority_rssi) {
-            for (pb_size_t j = 0; j < state().wifi_networks_count; j++) {
-                WiFiNetwork &network = state().wifi_networks[j];
-                // Check if this network was found in scan
-                for (int i = 0; i < scanResult; ++i) {
-                    if (WiFi.SSID(i) == network.ssid) {
-                        ESP_LOGI("WiFiSettingsService", "Connecting to first available network: %s", network.ssid);
-                        configureNetwork(network);
-                        WiFi.scanDelete();
-                        return;
-                    }
-                }
-            }
-        } else if (bestNetwork) {
-            ESP_LOGI("WiFiSettingsService", "Connecting to strongest network: %s", bestNetwork->ssid);
-            configureNetwork(*bestNetwork);
-        } else {
-            ESP_LOGI("WiFiSettingsService", "No known networks found.");
-        }
-
-        WiFi.scanDelete();
+    if (!attempted && state().wifi_networks_count > 0) {
+        attempted = true;
+        uint32_t idx = state().selected_network;
+        if (idx >= state().wifi_networks_count) idx = 0;
+        ESP_LOGI(TAG, "Connecting to: %s", state().wifi_networks[idx].ssid);
+        configureNetwork(state().wifi_networks[idx]);
     }
 }
 
 void WiFiService::configureNetwork(WiFiNetwork &network) {
     if (network.static_ip_config) {
-        WiFi.config(IPAddress(network.local_ip), IPAddress(network.gateway_ip),
-                    IPAddress(network.subnet_mask), IPAddress(network.dns_ip_1), IPAddress(network.dns_ip_2));
+        WiFi.config(IPAddress(network.local_ip), IPAddress(network.gateway_ip), IPAddress(network.subnet_mask),
+                    IPAddress(network.dns_ip_1), IPAddress(network.dns_ip_2));
     } else {
         WiFi.config(IPAddress(0, 0, 0, 0), IPAddress(0, 0, 0, 0), IPAddress(0, 0, 0, 0));
     }
     WiFi.setHostname(state().hostname);
-
     WiFi.begin(network.ssid, network.password);
 
 #if CONFIG_IDF_TARGET_ESP32C3
-    WiFi.setTxPower(WIFI_POWER_8_5dBm);
+    WiFi.setTxPower(8);
 #endif
 }
 
-void WiFiService::onStationModeDisconnected(WiFiEvent_t event, WiFiEventInfo_t info) {
+void WiFiService::onStationModeDisconnected(int32_t event, void *event_data) {
     WiFi.disconnect(true);
-    ESP_LOGI("WiFiStatus", "WiFi Disconnected. Reason code=%d", info.wifi_sta_disconnected.reason);
+    wifi_event_sta_disconnected_t *info = static_cast<wifi_event_sta_disconnected_t *>(event_data);
+    ESP_LOGI(TAG, "WiFi Disconnected. Reason code=%d", info ? info->reason : 0);
 }
 
-void WiFiService::onStationModeStop(WiFiEvent_t event, WiFiEventInfo_t info) {
+void WiFiService::onStationModeStop(int32_t event, void *event_data) {
     if (_stopping) {
         _lastConnectionAttempt = 0;
         _stopping = false;
     }
-    ESP_LOGI("WiFiStatus", "WiFi Connected.");
+    ESP_LOGI(TAG, "WiFi STA stopped.");
 }
 
-void WiFiService::onStationModeGotIP(WiFiEvent_t event, WiFiEventInfo_t info) {
-    ESP_LOGI("WiFiStatus", "WiFi Got IP. localIP=%s, hostName=%s", WiFi.localIP().toString().c_str(),
-             WiFi.getHostname());
+void WiFiService::onStationModeGotIP(int32_t event, void *event_data) {
+    ESP_LOGI(TAG, "WiFi Got IP. localIP=%s, hostName=%s", WiFi.localIP().toString().c_str(), WiFi.getHostname());
 }

esp32/src/www_mount.cpp

@@ -1,4 +1,14 @@
 #include "www_mount.hpp"
+#include <cstring>
+
+static const WebAsset* findAsset(const char* uri) {
+    for (size_t i = 0; i < WWW_ASSETS_COUNT; i++) {
+        if (strcmp(WWW_ASSETS[i].uri, uri) == 0) {
+            return &WWW_ASSETS[i];
+        }
+    }
+    return nullptr;
+}
 
 static esp_err_t web_send(httpd_req_t* req, const WebAsset& asset) {
     httpd_resp_set_status(req, "200 OK");
@@ -7,11 +17,11 @@ static esp_err_t web_send(httpd_req_t* req, const WebAsset& asset) {
     if (WWW_OPT.add_vary) httpd_resp_set_hdr(req, "Vary", "Accept-Encoding");
 
     char cc[64];
-    snprintf(cc, sizeof(cc), "public, immutable, max-age=%u", WWW_OPT.max_age);
+    snprintf(cc, sizeof(cc), "public, immutable, max-age=%lu", (unsigned long)WWW_OPT.max_age);
     httpd_resp_set_hdr(req, "Cache-Control", cc);
 
     char et[34];
-    snprintf(et, sizeof(et), "\"%08x\"", asset.etag);
+    snprintf(et, sizeof(et), "\"%08lx\"", (unsigned long)asset.etag);
     httpd_resp_set_hdr(req, "ETag", et);
 
     return httpd_resp_send(req, (const char*)asset.data, asset.len);
@@ -23,3 +33,16 @@ void mountStaticAssets(WebServer& server) {
         server.on(a->uri, HTTP_GET, [a](httpd_req_t* req) { return web_send(req, *a); });
     }
 }
+
+void mountSpaFallback(WebServer& server) {
+    const WebAsset* indexAsset = findAsset(WWW_OPT.default_uri);
+    if (indexAsset) {
+        server.on("/*", HTTP_GET, [indexAsset](httpd_req_t* req) {
+            if (strncmp(req->uri, "/api/", 5) == 0) {
+                httpd_resp_send_err(req, HTTPD_404_NOT_FOUND, "Not found");
+                return ESP_FAIL;
+            }
+            return web_send(req, *indexAsset);
+        });
+    }
+}

platform_shared/api.proto

@@ -82,6 +82,7 @@ message WifiSettings {
     string hostname = 1;
     bool priority_rssi = 2;
     repeated WifiNetwork wifi_networks = 3; // max 5 networks
+    uint32 selected_network = 4;
 }
 
 message WifiSettingsRequest {}

platformio.ini

@@ -15,6 +15,7 @@ src_dir = esp32/src
 include_dir = esp32/include
 lib_dir = esp32/lib
 test_dir = esp32/test
+boards_dir = boards
 extra_configs = 
 	esp32/factory_settings.ini
 	esp32/features.ini
@@ -40,14 +41,13 @@ build_flags=
 
 [env:esp32-wroom-camera]
 board = esp32-s3-devkitc-1
-board_build.arduino.memory_type = qio_opi 
+board_build.flash_mode = qio
 board_upload.flash_size = 8MB
 upload_speed = 921600 
 board_build.partitions = esp32/partition_table/default_8MB.csv
 build_flags =
 	${env.build_flags}
 	-DBOARD_HAS_PSRAM
-	-mfix-esp32-psram-cache-issue
 	-D USE_CAMERA=1
 	-D CAMERA_MODEL_ESP32S3_EYE=1
 	-D WS2812_PIN=48
@@ -55,10 +55,6 @@ build_flags =
 	-D USS_RIGHT_PIN=14
 	-D SDA_PIN=47
 	-D SCL_PIN=21
-    -D SPI_SCK=41
-    -D SPI_MISO=19
-    -D SPI_MOSI=20
-    -D ICM20948_SPI_CS=2 # Only needed if ICM20948 is in SPI mode
 
 [env:seeed-xiao-esp32s3]
 platform = espressif32
@@ -78,23 +74,60 @@ board_build.partitions = esp32/partition_table/min_spiffs.csv
 build_flags =
     ${env.build_flags}
 
+[env:esp32-p4]
+platform = https://github.com/pioarduino/platform-espressif32.git
+framework = espidf
+board = esp32p4_dev
+board_build.mcu = esp32p4
+board_build.f_cpu = 360000000L
+board_build.f_flash = 80000000L
+board_build.f_psram = 200000000L
+board_build.flash_mode = qio
+board_upload.flash_size = 32MB
+board_build.partitions = esp32/partition_table/default_32MB.csv
+board_build.filesystem = littlefs
+board_build.sdkconfig_defaults =
+    esp32/sdkconfig.defaults
+    esp32/sdkconfig.defaults.esp32p4
+upload_speed = 921600
+monitor_speed = 115200
+monitor_filters =
+    direct
+    esp32_exception_decoder
+extra_scripts =
+    pre:esp32/scripts/pre_build.py
+    pre:esp32/scripts/build_app.py
+build_flags =
+    ${env.build_flags}
+    -D USE_CAMERA=1
+    -D CAM_XCLK_PIN=-1
+    -D CAM_RESET_PIN=-1
+    -D CAM_PWDN_PIN=-1
+    -D MIPI_CSI_HRES=800
+    -D MIPI_CSI_VRES=640
+    -D MIPI_CSI_LANE_BITRATE_MBPS=400
+    -D MIPI_CSI_DATA_LANES=2
+    -D CSI_JPEG_QUALITY=65
+    -D BOARD_HAS_PSRAM
+    -D SDA_PIN=7
+    -D SCL_PIN=8
+    -D WS2812_PIN=27
+
 
 ; ================================================================
 ; General environment section
 
 [env]
 platform = espressif32 @ 6.8.1
-framework = arduino
+framework = espidf
 monitor_speed = 115200
-monitor_filters = 
-	esp32_exception_decoder
-	default
-	colorize
+monitor_filters =
+    direct
+    esp32_exception_decoder
 build_flags =
 	${factory_settings.build_flags}
     ${features.build_flags}
 	${build_settings.build_flags}
-    -D SPI_PORT=SPI # Define which spi port to use for external components
 	-D CORE_DEBUG_LEVEL=4
 	-D register=
 	-std=gnu++2a
@@ -103,26 +136,25 @@ build_flags =
     -fdata-sections
     -Wl,--gc-sections
     -I submodules/nanopb
-    -Wno-missing-braces ; Added to suppress protobufs extra nested braces causing warning
+    -Wno-missing-braces
+    -Wno-format
+    -D CONFIG_HTTPD_WS_SUPPORT=1
 build_unflags = -std=gnu++11
-build_src_filter =
-    +<*>
-    +<../../submodules/nanopb/pb_*.c>
 build_src_flags = 
 	-Wformat=2
 	-Wformat-truncation
 	-Wstack-usage=4096
+	-Wno-format
 test_ignore = test_embedded
 board_build.filesystem = littlefs
+board_build.embed_txtfiles =
+board_build.sdkconfig_defaults = esp32/sdkconfig.defaults
 lib_deps = 
-	ArduinoJson@>=7.0.0
-	teckel12/NewPing@^1.9.7
-	FastLED@3.5.0
-    sparkfun/SparkFun 9DoF IMU Breakout - ICM 20948 - Arduino Library@^1.3.2
+lib_ldf_mode = deep
+lib_compat_mode = strict
 extra_scripts = 
 	pre:esp32/scripts/pre_build.py
     pre:esp32/scripts/build_app.py
-lib_compat_mode = strict
 ; debug_tool = esp-builtin
 ; debug_init_break = 
-; upload_port = COM[13] # Only use this when upload port is not correctly detected due to multiple COM ports attached.
+; upload_port = COM[13] # Only use this when upload port is not correctly detected due to multiple COM ports attached.

readme.md

@@ -143,8 +143,8 @@ A PyBullet-based physics simulation is available for algorithm development and r
 
 ```bash
 cd simulation
-pip install -r requirements.txt
-python play.py
+uv sync
+uv run play.py
 ```
 
 Features:
@@ -245,7 +245,7 @@ Complete build instructions are available in the documentation:
 **Build and flash:**
 
 ```bash
-git clone https://github.com/runeharlyk/SpotMicroESP32-Leika
+git clone --recurse-submodules https://github.com/runeharlyk/SpotMicroESP32-Leika
 cd SpotMicroESP32-Leika
 
 cd app
@@ -264,8 +264,8 @@ To experiment with the simulation environments without hardware:
 
 ```bash
 cd simulation
-pip install -r requirements.txt
-python play.py
+uv sync
+uv run play.py
 ```
 
 For development workflows and contribution guidelines, see [docs/6_developing.md](docs/6_developing.md) and [docs/7_contributing.md](docs/7_contributing.md).

sdkconfig.defaults

@@ -0,0 +1,40 @@
+# HTTP Server WebSocket support
+CONFIG_HTTPD_WS_SUPPORT=y
+CONFIG_HTTPD_MAX_REQ_HDR_LEN=2048
+CONFIG_HTTPD_MAX_URI_LEN=1024
+
+# mDNS
+CONFIG_MDNS_MAX_SERVICES=10
+
+# LittleFS
+CONFIG_LITTLEFS_MAX_PARTITIONS=3
+
+#
+# ESP System Settings
+#
+# CONFIG_ESP_DEFAULT_CPU_FREQ_MHZ_80 is not set
+# CONFIG_ESP_DEFAULT_CPU_FREQ_MHZ_160 is not set
+CONFIG_ESP_DEFAULT_CPU_FREQ_MHZ_240=y
+CONFIG_ESP_DEFAULT_CPU_FREQ_MHZ=240
+
+# Main task stack
+CONFIG_ESP_MAIN_TASK_STACK_SIZE=8192
+CONFIG_PTHREAD_TASK_STACK_SIZE_DEFAULT=4096
+
+# PSRAM for S3
+CONFIG_SPIRAM=y
+CONFIG_SPIRAM_MODE_OCT=y
+CONFIG_SPIRAM_SPEED_80M=y
+
+# DSP library
+CONFIG_DSP_MAX_FFT_SIZE_4096=y
+
+# Compiler
+CONFIG_COMPILER_OPTIMIZATION_PERF=y
+
+# Partition table
+CONFIG_PARTITION_TABLE_CUSTOM=y
+
+# CONFIG_FATFS_LFN_NONE is not set
+# CONFIG_FATFS_LFN_HEAP is not set
+CONFIG_FATFS_LFN_STACK=y

simulation/.python-version

@@ -0,0 +1 @@
+3.13

simulation/pyproject.toml

@@ -0,0 +1,21 @@
+[project]
+name = "simulation-leika"
+version = "0.1.0"
+description = "Add your description here"
+readme = "README.md"
+requires-python = ">=3.13"
+dependencies = [
+    "gymnasium>=1.2.3",
+    "matplotlib>=3.10.9",
+    "msgpack>=1.1.2",
+    "numpy>=2.4.4",
+    "onnx>=1.21.0",
+    "onnxruntime>=1.26.0",
+    "pybullet>=3.2.7",
+    "stable-baselines3[extra]>=2.0.0",
+    "tensorboard>=2.20.0",
+    "tensorflow>=2.21.0",
+    "torch>=2.11.0",
+    "tqdm>=4.67.3",
+    "websockets>=16.0",
+]

simulation/requirements.txt

@@ -1,14 +0,0 @@
-torch
-onnx
-onnxruntime
-tensorflow
-numpy
-matplotlib
-pybullet
-websockets
-msgpack
-asyncio
-gymnasium
-stable-baselines3[extra]>=2.0.0
-tensorboard
-tqdm

simulation/test.py

@@ -1,24 +0,0 @@
-from src.envs.quadruped_env import QuadrupedEnv
-from training.model import SimpleNN
-
-import resources as resources
-
-
-def main():
-    env = QuadrupedEnv(resources.getDataPath() + "/spot.urdf")
-    env.reset()
-
-    input_size = env.robot.get_observation().shape[0]
-    output_size = env.robot.get_observation().shape[0]
-    agent = SimpleNN(input_size, output_size)
-
-    done = False
-    observation = []
-
-    while not done:
-        action = agent.select_action(observation)
-        observation, reward, done = env.step(action)
-
-
-if __name__ == "__main__":
-    main()