add icm to imt feature list

.gitignore

@@ -6,11 +6,6 @@ __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/*

CMakeLists.txt

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

app/src/lib/filesystem/chunkedTransfer.ts

@@ -15,7 +15,7 @@ import type {
 } from '$lib/platform_shared/filesystem'
 import type { Result, DataResult, ListResult, ProgressCallback } from '$lib/types/models'
 
-const MAX_CHUNK_SIZE = 1024 * 64 // 64KB - must match ESP32 FS_MAX_CHUNK_SIZE
+const MAX_CHUNK_SIZE = 2 ** 14
 
 type TimeoutId = ReturnType<typeof setTimeout>
 type CleanupFn = (() => void) | null
@@ -51,7 +51,7 @@ export class FileSystemClient {
 	private downloadListenerCleanup: CleanupFn = null
 	private completeListenerCleanup: CleanupFn = null
 	private uploadCompleteListenerCleanup: CleanupFn = null
-	private transferTimeout = 300000
+	private transferTimeout = 60000
 
 	constructor() {
 		this.setupListeners()

app/src/lib/stores/socket.ts

@@ -153,8 +153,6 @@ function createWebSocket() {
             }
 
             const { tag, msg } = decodeMessage(frame.data)
-            const key: keyof Message = (MESSAGE_TAG_TO_KEY.get(tag) ?? "") as keyof Message;
-            console.log(key + ": ", msg[key])
             if (msg.correlationResponse) {
                 const pending = pending_requests.get(msg.correlationResponse.correlationId)
                 if (pending) {

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

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

app/vite.config.ts

@@ -21,7 +21,7 @@ export default defineConfig({
     server: {
         proxy: {
             '/api': {
-                target: 'http://192.168.50.141/',
+                target: 'http://spot-micro.local/',
                 changeOrigin: true,
                 ws: true
             }

esp32/features.ini

@@ -13,6 +13,8 @@ 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

@@ -5,10 +5,8 @@
 #include <template/stateful_persistence_pb.h>
 #include <settings/ap_settings.h>
 #include <utils/timing.h>
-#include <wifi/wifi_idf.h>
-#include <wifi/dns_server.h>
-#include <esp_timer.h>
-#include <string>
+#include <WiFi.h>
+#include "esp_timer.h"
 
 class APService : public StatefulService<APSettings> {
   public:
@@ -30,8 +28,8 @@ class APService : public StatefulService<APSettings> {
     DNSServer *_dnsServer;
 
     volatile unsigned long _lastManaged;
-    volatile bool _reconfigureAp;
-    volatile bool _recoveryMode = false;
+    volatile boolean _reconfigureAp;
+    volatile boolean _recoveryMode = false;
 
     void reconfigureAP();
     void manageAP();

esp32/include/communication/comm_base.hpp

@@ -1,14 +1,10 @@
 #pragma once
 
-#include <esp_log.h>
-#include <freertos/FreeRTOS.h>
-#include <freertos/semphr.h>
 #include <functional>
 #include <list>
 #include <map>
 #include <type_traits>
 #include <communication/proto_helpers.h>
-#include <utils/timing.h>
 
 class CommAdapterBase {
   public:
@@ -55,8 +51,7 @@ class CommAdapterBase {
 
         pb_ostream_t stream = pb_ostream_from_buffer(buffer, out_size);
         if (!pb_encode(&stream, socket_message_Message_fields, &msg_)) {
-            ESP_LOGE("ProtoComm", "Failed to encode message (tag %d): %s (calc=%u, written=%u)",
-                     (int)tag, PB_GET_ERROR(&stream), out_size, stream.bytes_written);
+            ESP_LOGE("ProtoComm", "Failed to encode message (tag %d), buffer too small?", (int)tag);
             return;
         }
 
@@ -97,11 +92,9 @@ class CommAdapterBase {
     }
 
     void handleIncoming(const uint8_t* data, size_t len, int cid) {
-        TIME_IT(
         if (!decoder_.decode(data, len, cid)) {
             ESP_LOGE("ProtoComm", "Failed to decode incoming message from client %d", cid);
         }
-        , INCOMING_DECODE)
     }
 
     void sendPong(int cid) {

esp32/include/communication/proto_helpers.h

@@ -3,7 +3,6 @@
 #include <pb_encode.h>
 #include <pb_decode.h>
 #include <platform_shared/message.pb.h>
-#include <esp_log.h>
 #include <functional>
 #include <map>
 
@@ -72,48 +71,32 @@ class ProtoDecoder {
     bool decode(const uint8_t* data, size_t len, int clientId) {
         pb_istream_t stream = pb_istream_from_buffer(data, len);
 
-        // Reset message before decoding (nanopb will malloc FT_POINTER fields)
-        msg_ = socket_message_Message_init_zero;
-
-        bool success = pb_decode(&stream, socket_message_Message_fields, &msg_);
-
-        if (!success) {
-            ESP_LOGE("ProtoHelpers", "Decode failed: %s (len=%u)", PB_GET_ERROR(&stream), len);
-            pb_release(socket_message_Message_fields, &msg_);
+        if (!pb_decode(&stream, socket_message_Message_fields, &msg_)) {
             return false;
         }
 
-        bool handled = false;
         switch (msg_.which_message) {
             case socket_message_Message_sub_notif_tag:
                 if (subscribeHandler_) subscribeHandler_(msg_.message.sub_notif.tag, clientId);
-                handled = true;
-                break;
+                return true;
 
             case socket_message_Message_unsub_notif_tag:
                 if (unsubscribeHandler_) unsubscribeHandler_(msg_.message.unsub_notif.tag, clientId);
-                handled = true;
-                break;
+                return true;
 
             case socket_message_Message_pingmsg_tag:
                 if (pingHandler_) pingHandler_(clientId);
-                handled = true;
-                break;
+                return true;
 
             default: {
                 auto it = handlers_.find(msg_.which_message);
                 if (it != handlers_.end()) {
                     it->second(clientId);
-                    handled = true;
+                    return true;
                 }
-                break;
+                return false;
             }
         }
-
-        // Free any malloc'd FT_POINTER fields
-        pb_release(socket_message_Message_fields, &msg_);
-
-        return handled;
     }
 
   private:

esp32/include/communication/webserver.h

@@ -1,13 +1,6 @@
 #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 <cstdint>
+#include <Arduino.h>
 #include <communication/webserver.h>
 #include <communication/comm_base.hpp>
 

esp32/include/compat/pgmspace.h

@@ -1,21 +0,0 @@
-#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

@@ -1,6 +1,7 @@
 #pragma once
 
-#include <wifi/wifi_idf.h>
+#include <WiFi.h>
+#include <ArduinoJson.h>
 #include <esp_http_server.h>
 #include "platform_shared/message.pb.h"
 
@@ -18,6 +19,15 @@
 #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

@@ -1,41 +1,29 @@
 #pragma once
 
 #include <esp_http_server.h>
-#include <esp_littlefs.h>
-#include <esp_vfs.h>
-#include <dirent.h>
-#include <sys/stat.h>
+#include <ArduinoJson.h>
+#include <LittleFS.h>
 #include <string>
-#include <cstdio>
 #include <platform_shared/api.pb.h>
 
-#define MOUNT_POINT "/"
-#define LITTLEFS_MOUNT_POINT "/littlefs"
-#define SD_MOUNT_POINT "/sdcard"
+#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 FS_CONFIG_DIRECTORY LITTLEFS_MOUNT_POINT "/config"
-#define DEVICE_CONFIG_FILE LITTLEFS_MOUNT_POINT "/config/peripheral.pb"
-#define CAMERA_SETTINGS_FILE LITTLEFS_MOUNT_POINT "/config/cameraSettings.pb"
-#define AP_SETTINGS_FILE LITTLEFS_MOUNT_POINT "/config/apSettings.pb"
-#define MDNS_SETTINGS_FILE LITTLEFS_MOUNT_POINT "/config/mdnsSettings.pb"
-#define WIFI_SETTINGS_FILE LITTLEFS_MOUNT_POINT "/config/wifiSettings.pb"
-#define PERIPHERAL_SETTINGS_FILE LITTLEFS_MOUNT_POINT "/config/peripheralSettings.pb"
-#define SERVO_SETTINGS_FILE LITTLEFS_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

@@ -1,27 +1,20 @@
 #pragma once
 
+#include <LittleFS.h>
 #include <platform_shared/message.pb.h>
-#include <filesystem.h>
 #include <map>
 #include <string>
 #include <functional>
-#include <cstdio>
-#include <freertos/FreeRTOS.h>
-#include <freertos/queue.h>
-#include <freertos/task.h>
-#include <freertos/semphr.h>
 
-#define FS_MAX_CHUNK_SIZE (1024 * 64)
-#define FS_TRANSFER_TIMEOUT_MS 30000
-#define FS_WRITE_QUEUE_SIZE 4
-#define FS_WRITER_TASK_STACK_SIZE 4096
-#define FS_WRITER_TASK_PRIORITY 5
+// 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
 
 namespace FileSystemWS {
 
 struct DownloadState {
     std::string path;
-    FILE* file;
+    File file;
     uint32_t fileSize;
     uint32_t chunkSize;
     uint32_t totalChunks;
@@ -32,11 +25,10 @@ struct DownloadState {
 
 struct UploadState {
     std::string path;
-    FILE* file;
+    File file;
     uint32_t fileSize;
     uint32_t totalChunks;
     uint32_t chunksReceived;
-    uint32_t chunksWritten;
     uint32_t bytesReceived;
     uint32_t lastActivityTime;
     int clientId;
@@ -44,14 +36,7 @@ struct UploadState {
     std::string errorMessage;
 };
 
-struct WriteRequest {
-    uint32_t transferId;
-    uint8_t* data;
-    size_t size;
-    uint32_t chunkIndex;
-    bool isLastChunk;
-};
-
+// 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)>;
@@ -60,22 +45,36 @@ using SendUploadCompleteCallback = std::function<void(const socket_message_FSUpl
 class FileSystemHandler {
   public:
     FileSystemHandler();
-    ~FileSystemHandler();
-
-    void startWriterTask();
-    void stopWriterTask();
 
+    // 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:
@@ -83,12 +82,6 @@ class FileSystemHandler {
     std::map<uint32_t, UploadState> uploads_;
     uint32_t transferIdCounter_;
 
-    // Async writer task
-    QueueHandle_t writeQueue_;
-    TaskHandle_t writerTaskHandle_;
-    SemaphoreHandle_t uploadsMutex_;
-    volatile bool writerTaskRunning_;
-
     inline uint32_t generateTransferId() { return ++transferIdCounter_; }
 
     SendMetadataCallback sendMetadataCallback_;
@@ -98,10 +91,10 @@ 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 = "");
-    void processWriteRequest(const WriteRequest& req);
-    static void writerTaskFunc(void* param);
 };
 
 extern FileSystemHandler fsHandler;

esp32/include/global.h

@@ -1,15 +1,14 @@
 #pragma once
 
-#include <sdkconfig.h>
-#include <esp_system.h>
+#include <esp32-hal.h>
 
-#if CONFIG_IDF_TARGET_ESP32
+#if CONFIG_IDF_TARGET_ESP32 // ESP32/PICO-D4
 #include "esp32/rom/rtc.h"
 #ifndef ESP_PLATFORM_NAME
 #define ESP_PLATFORM_NAME "ESP32"
 #endif
 #elif CONFIG_IDF_TARGET_ESP32S2
-#include "esp32s2/rom/rtc.h"
+#include "esp32/rom/rtc.h"
 #ifndef ESP_PLATFORM_NAME
 #define ESP_PLATFORM_NAME "ESP32-S2"
 #endif
@@ -27,25 +26,24 @@
 #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
+ */
 #ifndef SDA_PIN
-#define SDA_PIN 21
+#define SDA_PIN SDA
 #endif
 #ifndef SCL_PIN
-#define SCL_PIN 22
+#define SCL_PIN SCL
 #endif
 #ifndef I2C_FREQUENCY
 #define I2C_FREQUENCY 100000UL
-#endif
-
-// Optional SD card mounting via SDMMC (1-bit mode for ESP32-S3-CAM)
-// Pin definitions - override in build flags if needed
-#ifndef SD_CMD_PIN
-#define SD_CMD_PIN GPIO_NUM_38
-#endif
-#ifndef SD_CLK_PIN
-#define SD_CLK_PIN GPIO_NUM_39
-#endif
-#ifndef SD_DATA_PIN
-#define SD_DATA_PIN GPIO_NUM_40
-#endif
-
+#endif

esp32/include/mdns_service.h

@@ -1,7 +1,7 @@
 #pragma once
 
 #include <esp_http_server.h>
-#include <mdns.h>
+#include <ESPmDNS.h>
 #include <template/stateful_service.h>
 #include <template/stateful_proto_endpoint.h>
 #include <template/stateful_persistence_pb.h>
@@ -9,6 +9,15 @@
 #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();
@@ -19,13 +28,4 @@ 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

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

esp32/include/peripherals/barometer.h

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

esp32/include/peripherals/camera_service.h

@@ -1,6 +1,7 @@
 #pragma once
 
 #include <esp_http_server.h>
+#include <WiFi.h>
 
 #include <features.h>
 #include <template/stateful_service.h>

esp32/include/peripherals/drivers/mpu6050.h

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

esp32/include/peripherals/imu.h

@@ -4,6 +4,10 @@
 #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
@@ -20,7 +24,7 @@ struct IMUAnglesMsg {
 
 class IMU : public SensorBase<IMUAnglesMsg> {
   public:
-    bool initialize() override {
+    bool initialize(void* _arg = nullptr) override {
 #if FT_ENABLED(USE_MPU6050)
         _msg.success = _imu.begin();
         if (!_msg.success) {
@@ -35,13 +39,43 @@ class IMU : public SensorBase<IMUAnglesMsg> {
             ESP_LOGE("IMU", "BNO055 initialization failed");
             return false;
         }
-        ESP_LOGI("IMU", "BNO055 initialized successfully");
+#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;
 #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();
@@ -49,11 +83,22 @@ 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;
     }
@@ -88,4 +133,12 @@ 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

@@ -1,105 +1,56 @@
 #ifndef LEDService_h
 #define LEDService_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>
+#include <FastLED.h>
 
 #ifndef WS2812_PIN
 #define WS2812_PIN 12
 #endif
 
 #ifndef WS2812_NUM_LEDS
-#define WS2812_NUM_LEDS 13
+#define WS2812_NUM_LEDS 1 + 12
 #endif
 
+#define COLOR_ORDER GRB
+#define CHIPSET WS2811
+
 class LEDService {
   private:
-    led_strip_handle_t led_strip = nullptr;
+    CRGB leds[WS2812_NUM_LEDS];
+    CRGBPalette16 currentPalette;
+    TBlendType currentBlending;
+
     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() {}
-
-    ~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() {
+        FastLED.addLeds<CHIPSET, WS2812_PIN, COLOR_ORDER>(leds, WS2812_NUM_LEDS).setCorrection(TypicalLEDStrip);
+        currentPalette = OceanColors_p;
+        currentBlending = LINEARBLEND;
     }
+    ~LEDService() {}
 
     void loop() {
-        if (!initialized) return;
-
         EXECUTE_EVERY_N_MS(1000 / 60, {
             if (_brightness >= 200) direction = -5;
             if (_brightness <= 50) direction = 5;
             _brightness += direction;
-
-            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);
+            if (WiFi.isConnected()) {
+                fillFromPallette(OceanColors_p, 0);
+            } else {
+                fillFromPallette(ForestColors_p, 128);
             }
-            led_strip_refresh(led_strip);
+            FastLED.show();
         });
     }
 
-    void setColor(uint8_t r, uint8_t g, uint8_t b) {
-        if (!initialized) return;
+    void fillFromPallette(CRGBPalette16 colorPalette, uint8_t colorIndex) {
+        CRGB color = ColorFromPalette(colorPalette, colorIndex, _brightness, currentBlending);
         for (int i = 0; i < WS2812_NUM_LEDS; ++i) {
-            led_strip_set_pixel(led_strip, i, r, g, b);
+            leds[i] = color;
         }
-        led_strip_refresh(led_strip);
-    }
-
-    void clear() {
-        if (!initialized) return;
-        led_strip_clear(led_strip);
     }
 };
 
-#endif
+#endif

esp32/include/peripherals/magnetometer.h

@@ -12,23 +12,63 @@ struct MagnetometerMsg {
 
 class Magnetometer : public SensorBase<MagnetometerMsg> {
   public:
-    bool initialize() override {
-        _msg.success = _mag.begin();
-        if (_msg.success) {
-            ESP_LOGI("MAG", "HMC5883L initialized successfully");
-        } else {
-            ESP_LOGE("MAG", "HMC5883L initialization failed");
-        }
+    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
         return _msg.success;
     }
 
     bool update() override {
         if (!_msg.success) return false;
-        if (!_mag.update()) return false;
-        _msg.rpy[0] = _mag.getMagX();
-        _msg.rpy[1] = _mag.getMagY();
-        _msg.rpy[2] = _mag.getMagZ();
-        _msg.heading = _mag.getHeading();
+        #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;
         return true;
     }
 
@@ -38,5 +78,18 @@ class Magnetometer : public SensorBase<MagnetometerMsg> {
     float getHeading() { return _msg.heading; }
 
   private:
-    HMC5883LDriver _mag;
+    
+    #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;
 };

esp32/include/peripherals/peripherals.h

@@ -12,9 +12,7 @@
 
 #include <list>
 
-#if FT_ENABLED(USE_USS)
 #include <NewPing.h>
-#endif
 #include <peripherals/i2c_bus.h>
 #include <peripherals/imu.h>
 #include <peripherals/magnetometer.h>
@@ -76,10 +74,10 @@ class Peripherals : public StatefulService<PeripheralsConfiguration> {
 
     inline void endTransaction() { xSemaphoreGiveRecursive(_accessMutex); }
 
-#if FT_ENABLED(USE_MPU6050 || USE_BNO055)
+#if FT_ENABLED(USE_MPU6050 || USE_BNO055 || USE_ICM20948)
     IMU _imu;
 #endif
-#if FT_ENABLED(USE_HMC5883)
+#if FT_ENABLED(USE_HMC5883) || FT_ENABLED(USE_ICM20948)
     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() = 0;
+    virtual bool initialize(void* _arg) = 0;
     virtual bool update() = 0;
     virtual bool isActive() { return _msg.success; }
 

esp32/include/settings/ap_settings.h

@@ -1,11 +1,12 @@
 #pragma once
 
-#include <wifi/wifi_idf.h>
-#include <wifi/dns_server.h>
+#include <WiFi.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
@@ -76,9 +77,11 @@ 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/ntp_settings.h

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

esp32/include/settings/peripherals_settings.h

@@ -7,13 +7,13 @@
  * I2C software connection
  */
 #ifndef SDA_PIN
-#define SDA_PIN 21
+#define SDA_PIN SDA
 #endif
 #ifndef SCL_PIN
-#define SCL_PIN 22
+#define SCL_PIN SCL
 #endif
 #ifndef I2C_FREQUENCY
-#define I2C_FREQUENCY 1000000UL
+#define I2C_FREQUENCY 400000UL
 #endif
 
 // Use proto types directly
@@ -35,8 +35,7 @@ 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/wifi_idf.h>
+#include <WiFi.h>
 #include <template/state_result.h>
 #include <platform_shared/api.pb.h>
 #include <cstring>
@@ -42,7 +42,6 @@ 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;
@@ -50,7 +49,9 @@ 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 <mdns.h>
+#include <ESPmDNS.h>
 #include <esp_http_server.h>
-#include <wifi/wifi_idf.h>
+#include <WiFi.h>
 #include <filesystem.h>
 #include <global.h>
 #include <esp_timer.h>
@@ -20,6 +20,7 @@ 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

@@ -1,11 +1,24 @@
 #ifndef FSPersistence_h
 #define FSPersistence_h
 
+/**
+ *   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 <filesystem.h>
-#include <ArduinoJson.h>
-#include <cstdio>
-#include <sys/stat.h>
 
 template <class T>
 class FSPersistence {
@@ -21,18 +34,25 @@ class FSPersistence {
     }
 
     void readFromFS() {
-        std::string content = FileSystem::readFile(_filePath);
+        File settingsFile = _fs->open(_filePath, "r");
 
-        if (!content.empty()) {
+        if (settingsFile) {
             JsonDocument jsonDocument;
-            DeserializationError error = deserializeJson(jsonDocument, content);
+            DeserializationError error = deserializeJson(jsonDocument, settingsFile);
             if (error == DeserializationError::Ok) {
                 JsonVariant jsonObject = jsonDocument.as<JsonVariant>();
                 _statefulService->updateWithoutPropagation(jsonObject, _stateUpdater);
+                settingsFile.close();
                 return;
             }
+            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();
     }
@@ -44,10 +64,13 @@ class FSPersistence {
 
         mkdirs();
 
-        std::string content;
-        serializeJson(jsonDocument, content);
+        File file = _fs->open(_filePath, "w");
 
-        return FileSystem::writeFile(_filePath, content.c_str());
+        if (!file) return false;
+
+        serializeJson(jsonDocument, file);
+        file.close();
+        return true;
     }
 
     void disableUpdateHandler() {
@@ -67,23 +90,26 @@ class FSPersistence {
     JsonStateReader<T> _stateReader;
     JsonStateUpdater<T> _stateUpdater;
     StatefulService<T> *_statefulService;
+    FS *_fs {&ESP_FS};
     const char *_filePath;
     size_t _bufferSize;
     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);
-            struct stat st;
-            if (stat(segment.c_str(), &st) != 0) {
-                FileSystem::mkdirRecursive(segment.c_str());
-            }
+            if (!_fs->exists(segment.c_str())) _fs->mkdir(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>();
@@ -91,4 +117,4 @@ class FSPersistence {
     }
 };
 
-#endif
+#endif // end FSPersistence

esp32/include/template/stateful_persistence_pb.h

@@ -1,24 +1,29 @@
 #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>
-#include <cstdio>
-#include <sys/stat.h>
-#include <esp_log.h>
-
-static const char *TAG_PERSISTENCE = "FSPersistencePB";
 
+/**
+ * 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:
-    using ProtoStateReader = std::function<void(const T &, T &)>;
-    using ProtoStateUpdater = std::function<StateUpdateResult(const T &, T &)>;
+    // 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)
+    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),
@@ -31,19 +36,17 @@ class FSPersistencePB {
     }
 
     void readFromFS() {
-        FILE *file = fopen(_filePath, "rb");
+        File file = _fs->open(_filePath, "r");
 
         if (file) {
-            fseek(file, 0, SEEK_END);
-            size_t fileSize = ftell(file);
-            fseek(file, 0, SEEK_SET);
-
+            size_t fileSize = file.size();
             if (fileSize > 0 && fileSize <= _maxSize) {
                 uint8_t *buffer = new uint8_t[fileSize];
-                size_t bytesRead = fread(buffer, 1, fileSize, file);
-                fclose(file);
+                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);
@@ -59,7 +62,7 @@ class FSPersistencePB {
                 }
                 delete[] buffer;
             } else {
-                fclose(file);
+                file.close();
             }
         }
 
@@ -71,6 +74,7 @@ class FSPersistencePB {
         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); });
@@ -85,15 +89,14 @@ class FSPersistencePB {
 
         mkdirs();
 
-        FILE *file = fopen(_filePath, "wb");
+        File file = _fs->open(_filePath, "w");
         if (!file) {
-            ESP_LOGE(TAG_PERSISTENCE, "Failed to open file for writing: %s", _filePath);
             delete[] buffer;
             return false;
         }
 
-        size_t written = fwrite(buffer, 1, stream.bytes_written, file);
-        fclose(file);
+        size_t written = file.write(buffer, stream.bytes_written);
+        file.close();
         delete[] buffer;
 
         return written == stream.bytes_written;
@@ -108,7 +111,8 @@ class FSPersistencePB {
 
     void enableUpdateHandler() {
         if (!_updateHandlerId) {
-            _updateHandlerId = _statefulService->addUpdateHandler([&](const std::string &originId) { writeToFS(); });
+            _updateHandlerId = _statefulService->addUpdateHandler(
+                [&](const std::string &originId) { writeToFS(); });
         }
     }
 
@@ -116,6 +120,7 @@ class FSPersistencePB {
     ProtoStateReader _stateReader;
     ProtoStateUpdater _stateUpdater;
     StatefulService<T> *_statefulService;
+    FS *_fs{&ESP_FS};
     const char *_filePath;
     const pb_msgdesc_t *_msgDescriptor;
     size_t _maxSize;
@@ -127,15 +132,13 @@ class FSPersistencePB {
         size_t index = 0;
         while ((index = path.find('/', index + 1)) != std::string::npos) {
             std::string segment = path.substr(0, index);
-            struct stat st;
-            if (stat(segment.c_str(), &st) != 0) {
-                FileSystem::mkdirRecursive(segment.c_str());
-            }
+            if (!_fs->exists(segment.c_str())) _fs->mkdir(segment.c_str());
         }
     }
 
   protected:
     void applyDefaults() {
-        _statefulService->updateWithoutPropagation([this](T &state) { return _stateUpdater(_defaultState, state); });
+        _statefulService->updateWithoutPropagation(
+            [this](T &state) { return _stateUpdater(_defaultState, state); });
     }
 };

esp32/include/template/stateful_service.h

@@ -1,5 +1,8 @@
 #pragma once
 
+#include <Arduino.h>
+#include <ArduinoJson.h>
+
 #include <list>
 #include <functional>
 #include <freertos/FreeRTOS.h>
@@ -8,13 +11,19 @@
 
 #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;
+    static inline HandlerId nextId_ = 1; // Start from 1, 0 is invalid
     HandlerId id_;
     bool allowRemove_;
 
@@ -90,16 +99,31 @@ 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(std::function<void(const T &)> stateReader) const {
-        const_cast<StatefulService *>(this)->lock();
-        stateReader(state_);
-        const_cast<StatefulService *>(this)->unlock();
+    void read(JsonVariant &jsonObject, JsonStateReader<T> stateReader) {
+        lock();
+        stateReader(state_, jsonObject);
+        unlock();
     }
 
     void callUpdateHandlers(const std::string &originId) {

esp32/include/utils/ip_address.h

@@ -1,76 +0,0 @@
-#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

@@ -16,18 +16,17 @@
         }                                                                                         \
     } while (0)
 
-    // Note: name must be a valid variable name too
-#define TIME_IT(code, name)                                                                       \
+#define TIME_IT(code)                                                                       \
     {                                                                                       \
-        uint64_t time_it_start##name = esp_timer_get_time();                                      \
+        uint64_t time_it_start = esp_timer_get_time();                                      \
         code;                                                                               \
-        uint64_t time_it_elapsed##name = esp_timer_get_time() - time_it_start##name;                    \
-        if (time_it_elapsed##name < 1000) {                                                       \
-            ESP_LOGI("Time It - " #name, "Time elapsed: %llu microseconds", time_it_elapsed##name);        \
-        } else if (time_it_elapsed##name < 1000000) {                                             \
-            ESP_LOGI("Time It - " #name, "Time elapsed: %llu milliseconds", time_it_elapsed##name / 1000); \
+        uint64_t time_it_elapsed = esp_timer_get_time() - time_it_start;                    \
+        if (time_it_elapsed < 1000) {                                                       \
+            ESP_LOGI("Time It", "Time elapsed: %llu microseconds", time_it_elapsed);        \
+        } else if (time_it_elapsed < 1000000) {                                             \
+            ESP_LOGI("Time It", "Time elapsed: %llu milliseconds", time_it_elapsed / 1000); \
         } else {                                                                            \
-            ESP_LOGI("Time It - " #name, "Time elapsed: %.2f seconds", time_it_elapsed##name / 1000000.0); \
+            ESP_LOGI("Time It", "Time elapsed: %.2f seconds", time_it_elapsed / 1000000.0); \
         }                                                                                   \
     }
 
@@ -41,6 +40,51 @@
         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

@@ -1,144 +0,0 @@
-#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

@@ -1,127 +0,0 @@
-#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

@@ -1,8 +1,8 @@
 #pragma once
 
 #include <esp_http_server.h>
-#include <wifi/wifi_idf.h>
-#include <mdns.h>
+#include <WiFi.h>
+#include <ESPmDNS.h>
 #include <string>
 
 #include <filesystem.h>
@@ -12,11 +12,24 @@
 #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();
@@ -25,7 +38,6 @@ class WiFiService : public StatefulService<WiFiSettings> {
     void loop();
 
     void setupMDNS(const char *hostname);
-    void selectNetwork(uint32_t index);
 
     const char *getHostname() { return state().hostname; }
 
@@ -34,20 +46,4 @@ 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

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

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 <compat/pgmspace.h>\n\n")
+        f.write("#include <Arduino.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

@@ -1,26 +0,0 @@
-idf_component_register(
-    SRC_DIRS 
-        "."
-        "communication"
-        "peripherals"
-        "wifi"
-        "platform_shared"
-        "../../submodules/nanopb"
-    INCLUDE_DIRS 
-        "../include"
-        "../../submodules/nanopb"
-    REQUIRES
-        driver
-        esp_http_server
-        nvs_flash
-        esp_wifi
-        esp_event
-        esp_netif
-        mdns
-        esp_timer
-        esp_psram
-        spi_flash
-        littlefs
-        esp32-camera
-        esp-dsp
-)

esp32/src/ap_service.cpp

@@ -4,25 +4,20 @@
 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()),
-      _dnsServer(nullptr),
-      _lastManaged(0),
-      _reconfigureAp(false),
-      _recoveryMode(false) {
+      _persistence(APSettings_read, APSettings_update, this,
+                   AP_SETTINGS_FILE, api_APSettings_fields, api_APSettings_size,
+                   APSettings_defaults()) {
     addUpdateHandler([&](const std::string &originId) { reconfigureAP(); }, false);
 }
 
-APService::~APService() {
-    if (_dnsServer) {
-        delete _dnsServer;
-        _dnsServer = nullptr;
-    }
-}
+APService::~APService() {}
 
-void APService::begin() { _persistence.readFromFS(); }
+void APService::begin() {
+    _persistence.readFromFS();
+}
 
 esp_err_t APService::getStatusProto(httpd_req_t *request) {
     api_Response res = api_Response_init_zero;
@@ -35,15 +30,15 @@ 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());
-    std::string mac = WiFi.softAPmacAddress();
+    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() {
-    wifi_mode_t currentWiFiMode = WiFi.getMode();
-    bool apActive = currentWiFiMode == WIFI_MODE_AP || currentWiFiMode == WIFI_MODE_APSTA;
+    WiFiMode_t currentWiFiMode = WiFi.getMode();
+    bool apActive = currentWiFiMode == WIFI_AP || currentWiFiMode == WIFI_AP_STA;
     if (apActive && state().provision_mode != AP_MODE_ALWAYS && WiFi.status() == WL_CONNECTED) {
         return LINGERING;
     }
@@ -69,13 +64,13 @@ void APService::loop() {
 }
 
 void APService::manageAP() {
-    wifi_mode_t currentWiFiMode = WiFi.getMode();
+    WiFiMode_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_MODE_NULL || currentWiFiMode == WIFI_MODE_STA) {
+        if (_reconfigureAp || currentWiFiMode == WIFI_OFF || currentWiFiMode == WIFI_STA) {
             startAP();
         }
-    } else if ((currentWiFiMode == WIFI_MODE_AP || currentWiFiMode == WIFI_MODE_APSTA) &&
+    } else if ((currentWiFiMode == WIFI_AP || currentWiFiMode == WIFI_AP_STA) &&
                (_reconfigureAp || !WiFi.softAPgetStationNum())) {
         stopAP();
     }
@@ -87,7 +82,7 @@ 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(8);
+    WiFi.setTxPower(WIFI_POWER_8_5dBm);
 #endif
     if (!_dnsServer) {
         IPAddress apIp = WiFi.softAPIP();
@@ -108,4 +103,8 @@ void APService::stopAP() {
     WiFi.softAPdisconnect(true);
 }
 
-void APService::handleDNS() {}
+void APService::handleDNS() {
+    if (_dnsServer) {
+        _dnsServer->processNextRequest();
+    }
+}

esp32/src/communication/webserver.cpp

@@ -2,7 +2,6 @@
 #include <esp_log.h>
 #include <cstring>
 #include <algorithm>
-#include <utils/timing.h>
 
 static const char* TAG = "WebServer";
 
@@ -122,10 +121,6 @@ esp_err_t WebServer::httpHandler(httpd_req_t* req) {
 }
 
 esp_err_t WebServer::wsHandler(httpd_req_t* req) {
-    esp_err_t result;
-    httpd_ws_frame_t frame;
-    esp_err_t ret;
-    TIME_IT(
     WebServer* self = static_cast<WebServer*>(req->user_ctx);
 
     if (req->method == HTTP_GET) {
@@ -138,21 +133,17 @@ esp_err_t WebServer::wsHandler(httpd_req_t* req) {
         return ESP_OK;
     }
 
-    
+    httpd_ws_frame_t frame;
     memset(&frame, 0, sizeof(httpd_ws_frame_t));
     frame.type = HTTPD_WS_TYPE_BINARY;
 
-    
-    TIME_IT(
-    ret = httpd_ws_recv_frame(req, &frame, 0);
+    esp_err_t ret = httpd_ws_recv_frame(req, &frame, 0);
     if (ret != ESP_OK) {
         ESP_LOGE(TAG, "Failed to get frame len: %s", esp_err_to_name(ret));
         return ret;
     }
-    , FRAME_LEN)
 
     if (frame.len > 0) {
-        TIME_IT(
         frame.payload = (uint8_t*)malloc(frame.len);
         if (!frame.payload) {
             ESP_LOGE(TAG, "Failed to allocate frame payload");
@@ -165,7 +156,6 @@ esp_err_t WebServer::wsHandler(httpd_req_t* req) {
             free(frame.payload);
             return ret;
         }
-        , FRAME_RECEIVE)
     }
 
     if (frame.type == HTTPD_WS_TYPE_CLOSE) {
@@ -179,18 +169,15 @@ esp_err_t WebServer::wsHandler(httpd_req_t* req) {
         return ESP_OK;
     }
 
-    result = ESP_OK;
+    esp_err_t result = ESP_OK;
     if (self->wsFrameHandler_) {
-        TIME_IT(
         result = self->wsFrameHandler_(req, &frame);
-        , FRAME_HANDLER)
     }
 
     if (frame.payload) {
         free(frame.payload);
     }
 
-    , WS_HANDLER)
     return result;
 }
 
@@ -278,19 +265,7 @@ esp_err_t WebServer::wsSend(int sockfd, const uint8_t* data, size_t len) {
                               .type = HTTPD_WS_TYPE_BINARY,
                               .payload = const_cast<uint8_t*>(data),
                               .len = len};
-    xSemaphoreTake(wsMutex_, portMAX_DELAY);
-    esp_err_t ret = httpd_ws_send_frame_async(server_, sockfd, &frame);
-    xSemaphoreGive(wsMutex_);
-
-    if (ret != ESP_OK) {
-        if (httpd_ws_get_fd_info(server_, sockfd) != HTTPD_WS_CLIENT_WEBSOCKET) {
-        ESP_LOGW(TAG, "Removing disconnected client %d", sockfd);
-        removeWsClient(sockfd);
-            return ESP_ERR_INVALID_STATE;
-        } 
-    }
-
-    return ret;
+    return httpd_ws_send_frame_async(server_, sockfd, &frame);
 }
 
 esp_err_t WebServer::wsSendAll(const uint8_t* data, size_t len) {
@@ -303,7 +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/communication/websocket.cpp

@@ -24,26 +24,8 @@ void Websocket::onWsClose(int sockfd) {
 }
 
 esp_err_t Websocket::onFrame(httpd_req_t* req, httpd_ws_frame_t* frame) {
-    // Handle PING - respond with PONG
-    if (frame->type == HTTPD_WS_TYPE_PING) {
-        httpd_ws_frame_t pong = {
-            .final = true,
-            .fragmented = false,
-            .type = HTTPD_WS_TYPE_PONG,
-            .payload = frame->payload,
-            .len = frame->len
-        };
-        return httpd_ws_send_frame(req, &pong);
-    }
-
-    // Ignore PONG frames
-    if (frame->type == HTTPD_WS_TYPE_PONG) {
-        return ESP_OK;
-    }
-
-    // Ignore other non-binary frames
     if (frame->type != HTTPD_WS_TYPE_BINARY) {
-        ESP_LOGD(TAG, "Ignoring frame type %d", frame->type);
+        ESP_LOGW(TAG, "Expected binary frame, got type %d", frame->type);
         return ESP_OK;
     }
 

esp32/src/features.cpp

@@ -10,11 +10,14 @@ 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");
@@ -27,8 +30,8 @@ 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) ? true : false;
-    fd_res.mag = (USE_HMC5883 || USE_BNO055) ? 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.bmp = USE_BMP180 ? true : false;
     fd_res.sonar = USE_USS ? true : false;
     fd_res.servo = USE_PCA9685 ? true : false;

esp32/src/filesystem.cpp

@@ -3,18 +3,13 @@
 #include <vector>
 #include <cstring>
 #include "utils/string_utils.hpp"
-#include <esp_log.h>
-#include <pb_encode.h>
-#include <pb_decode.h>
-#include "esp_vfs_fat.h"
-#include <sdmmc_cmd.h>
-#include <driver/sdmmc_host.h>
 
-static const char *TAG = "FileSystem";
+static const char *TAG = "FileService";
 
 namespace FileSystem {
 
-static std::vector<api_FileEntry *> allocatedEntries;
+// Storage for dynamically allocated FileEntry arrays
+static std::vector<api_FileEntry*> allocatedEntries;
 
 static void freeAllocatedEntries() {
     for (auto ptr : allocatedEntries) {
@@ -23,81 +18,67 @@ static void freeAllocatedEntries() {
     allocatedEntries.clear();
 }
 
-static void listFilesProtoRecursive(const std::string &directory, api_FileEntry *entry) {
-    DIR *dir = opendir(directory.c_str());
-    if (!dir) {
+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()) {
         entry->children_count = 0;
         entry->children = nullptr;
         return;
     }
 
-    std::vector<std::string> names;
-    std::vector<bool> isDirs;
-    std::vector<size_t> sizes;
-
-    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);
-        }
+    // First pass: count children
+    std::vector<File> files;
+    File file = root.openNextFile();
+    while (file) {
+        files.push_back(file);
+        file = root.openNextFile();
     }
-    closedir(dir);
 
-    if (names.empty()) {
+    if (files.empty()) {
         entry->children_count = 0;
         entry->children = nullptr;
         return;
     }
 
-    entry->children_count = names.size();
-    entry->children = new api_FileEntry[names.size()];
+    // Allocate children array
+    entry->children_count = files.size();
+    entry->children = new api_FileEntry[files.size()];
     allocatedEntries.push_back(entry->children);
 
-    for (size_t i = 0; i < names.size(); i++) {
+    // Fill children
+    for (size_t i = 0; i < files.size(); i++) {
         api_FileEntry &child = entry->children[i];
         memset(&child, 0, sizeof(child));
 
-        strncpy(child.name, names[i].c_str(), sizeof(child.name) - 1);
+        std::string name = std::string(files[i].name());
+        strncpy(child.name, name.c_str(), sizeof(child.name) - 1);
         child.name[sizeof(child.name) - 1] = '\0';
 
-        child.is_directory = isDirs[i];
+        child.is_directory = files[i].isDirectory();
         if (child.is_directory) {
-            std::string childPath = directory + "/" + names[i];
-            listFilesProtoRecursive(childPath, &child);
+            listFilesProto(name, &child);
         } else {
-            child.size = sizes[i];
+            child.size = files[i].size();
             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 = path;
-    listFilesProtoRecursive(fullPath, entry);
-}
-
 esp_err_t getFilesProto(httpd_req_t *request) {
-    freeAllocatedEntries();
+    freeAllocatedEntries();  // Clean up any previous allocations
 
     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;
-    listFilesProtoRecursive(MOUNT_POINT, &rootEntry);
+    listFilesProto("/", &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);
@@ -105,178 +86,28 @@ esp_err_t getFilesProto(httpd_req_t *request) {
 
     esp_err_t result = WebServer::send(request, 200, res, api_Response_fields);
 
-    freeAllocatedEntries();
+    freeAllocatedEntries();  // Clean up after sending
     return result;
 }
 
-bool init() {
-    esp_vfs_littlefs_conf_t conf = {
-        .base_path = LITTLEFS_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);
-
-    esp_vfs_fat_sdmmc_mount_config_t sd_mount_config = {
-        .format_if_mount_failed = false,
-        .max_files = 4,
-        .allocation_unit_size = 16 * 1024,
-    };
-
-    sdmmc_host_t host = SDMMC_HOST_DEFAULT();
-    host.flags = SDMMC_HOST_FLAG_1BIT;  // Use 1-bit mode
-    host.max_freq_khz = SDMMC_FREQ_DEFAULT;
-
-    sdmmc_slot_config_t slot_config = SDMMC_SLOT_CONFIG_DEFAULT();
-    slot_config.width = 1;  // 1-bit mode
-    slot_config.clk = SD_CLK_PIN;
-    slot_config.cmd = SD_CMD_PIN;
-    slot_config.d0 = SD_DATA_PIN;
-    slot_config.flags |= SDMMC_SLOT_FLAG_INTERNAL_PULLUP;
-
-    sdmmc_card_t *card = nullptr;
-    esp_err_t err = esp_vfs_fat_sdmmc_mount(SD_MOUNT_POINT, &host, &slot_config, &sd_mount_config, &card);
-    if (err != ESP_OK) {
-        if (err == ESP_FAIL) {
-            ESP_LOGW(TAG, "Failed to mount SD card filesystem");
-        } else {
-            ESP_LOGW(TAG, "SD card not present or failed to initialize (%s)", esp_err_to_name(err));
-        }
-        // Don't fail - SD card is optional
-    } else {
-        ESP_LOGI(TAG, "SD card mounted at %s", SD_MOUNT_POINT);
-        ESP_LOGI(TAG, "SD card: %s, %lluMB", card->cid.name,
-                 ((uint64_t)card->csd.capacity) * card->csd.sector_size / (1024 * 1024));
-    }
-
-    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(MOUNT_POINT);
+    std::string files = listFiles("/");
     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 = std::string(LITTLEFS_MOUNT_POINT) + "/config" + std::string(uri).substr(11);
-
-    if (!fileExists(path.c_str())) {
+    std::string path = "/config" + std::string(uri).substr(11);
+    if (!ESP_FS.exists(path.c_str())) {
         return WebServer::sendError(request, 404, "File not found");
     }
-
-    std::string content = readFile(path.c_str());
-    if (content.empty()) {
-        return WebServer::sendError(request, 500, "Failed to read file");
+    File file = ESP_FS.open(path.c_str(), "r");
+    if (!file) {
+        return WebServer::sendError(request, 500, "Failed to open 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")) {
@@ -288,11 +119,10 @@ esp_err_t getConfigFile(httpd_req_t *request) {
 }
 
 esp_err_t handleDelete(httpd_req_t *request, const api_FileDeleteRequest &req) {
-    std::string fullPath = req.path;
-    ESP_LOGI(TAG, "Deleting file: %s", fullPath.c_str());
+    ESP_LOGI(TAG, "Deleting file: %s", req.path);
 
     api_Response res = api_Response_init_zero;
-    if (deleteFile(fullPath.c_str())) {
+    if (deleteFile(req.path)) {
         res.status_code = 200;
         res.which_payload = api_Response_empty_message_tag;
         return WebServer::send(request, 200, res, api_Response_fields);
@@ -302,11 +132,10 @@ esp_err_t handleDelete(httpd_req_t *request, const api_FileDeleteRequest &req) {
 }
 
 esp_err_t handleEdit(httpd_req_t *request, const api_FileEditRequest &req) {
-    std::string fullPath = req.path;
-    ESP_LOGI(TAG, "Editing file: %s", fullPath.c_str());
+    ESP_LOGI(TAG, "Editing file: %s", req.path);
 
     api_Response res = api_Response_init_zero;
-    if (editFile(fullPath.c_str(), req.content->bytes, req.content->size)) {
+    if (editFile(req.path, 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);
@@ -315,57 +144,52 @@ esp_err_t handleEdit(httpd_req_t *request, const api_FileEditRequest &req) {
     }
 }
 
-bool deleteFile(const char *filename) { return remove(filename) == 0; }
+bool deleteFile(const char *filename) { return ESP_FS.remove(filename); }
 
 std::string listFiles(const std::string &directory, bool isRoot) {
-    DIR *dir = opendir(directory.c_str());
-    if (!dir) {
+    File root = ESP_FS.open(directory.find("/") == 0 ? directory.c_str() : ("/" + directory).c_str());
+    if (!root.isDirectory()) return "{}";
+
+    File file = root.openNextFile();
+    if (!file) {
         return isRoot ? "{ \"root\": {} }" : "{}";
     }
 
     std::string output = isRoot ? "{ \"root\": {" : "{";
-    bool first = true;
 
-    struct dirent *entry;
-    while ((entry = readdir(dir)) != nullptr) {
-        if (strcmp(entry->d_name, ".") == 0 || strcmp(entry->d_name, "..") == 0) {
-            continue;
+    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());
         }
 
-        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);
-            }
-        }
+        File next = root.openNextFile();
+        if (next) output += ", ";
+        file = next;
     }
 
-    closedir(dir);
-
     output += "}";
     if (isRoot) output += "}";
 
     return output;
 }
 
-bool editFile(const char *filename, const uint8_t *content, size_t size) { return writeFile(filename, content, size); }
+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 char *content) { return writeFile(filename, content); }
+    file.write(content, size);
+    file.close();
+    return true;
+}
 
 esp_err_t mkdir(httpd_req_t *request, const api_FileMkdirRequest &req) {
-    std::string fullPath = req.path;
-    ESP_LOGI(TAG, "Creating directory: %s", fullPath.c_str());
+    ESP_LOGI(TAG, "Creating directory: %s", req.path);
 
     api_Response res = api_Response_init_zero;
-    if (mkdirRecursive(fullPath.c_str())) {
+    if (ESP_FS.mkdir(req.path)) {
         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

@@ -1,14 +1,9 @@
 #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>
-#include <cerrno>
-#include <utils/timing.h>
 
 static const char* TAG = "FileSystemWS";
 
@@ -16,137 +11,7 @@ namespace FileSystemWS {
 
 FileSystemHandler fsHandler;
 
-FileSystemHandler::FileSystemHandler()
-    : transferIdCounter_(0), writeQueue_(nullptr), writerTaskHandle_(nullptr), uploadsMutex_(nullptr),
-      writerTaskRunning_(false) {
-    uploadsMutex_ = xSemaphoreCreateMutex();
-}
-
-FileSystemHandler::~FileSystemHandler() {
-    stopWriterTask();
-    if (uploadsMutex_) {
-        vSemaphoreDelete(uploadsMutex_);
-    }
-}
-
-void FileSystemHandler::startWriterTask() {
-    if (writerTaskHandle_ != nullptr) {
-        return;
-    }
-
-    writeQueue_ = xQueueCreate(FS_WRITE_QUEUE_SIZE, sizeof(WriteRequest));
-    if (!writeQueue_) {
-        ESP_LOGE(TAG, "Failed to create write queue");
-        return;
-    }
-
-    writerTaskRunning_ = true;
-    BaseType_t result =
-        xTaskCreate(writerTaskFunc, "fs_writer", FS_WRITER_TASK_STACK_SIZE, this, FS_WRITER_TASK_PRIORITY, &writerTaskHandle_);
-
-    if (result != pdPASS) {
-        ESP_LOGE(TAG, "Failed to create writer task");
-        vQueueDelete(writeQueue_);
-        writeQueue_ = nullptr;
-        writerTaskRunning_ = false;
-    } else {
-        ESP_LOGI(TAG, "Writer task started");
-    }
-}
-
-void FileSystemHandler::stopWriterTask() {
-    if (!writerTaskRunning_) {
-        return;
-    }
-
-    writerTaskRunning_ = false;
-
-    // Send a poison pill to wake up the task
-    WriteRequest poison = {0, nullptr, 0, 0, false};
-    if (writeQueue_) {
-        xQueueSend(writeQueue_, &poison, portMAX_DELAY);
-    }
-
-    // Wait for task to finish
-    if (writerTaskHandle_) {
-        vTaskDelay(pdMS_TO_TICKS(100));
-        writerTaskHandle_ = nullptr;
-    }
-
-    if (writeQueue_) {
-        // Drain any remaining requests and free their data
-        WriteRequest req;
-        while (xQueueReceive(writeQueue_, &req, 0) == pdTRUE) {
-            if (req.data) {
-                free(req.data);
-            }
-        }
-        vQueueDelete(writeQueue_);
-        writeQueue_ = nullptr;
-    }
-
-    ESP_LOGI(TAG, "Writer task stopped");
-}
-
-void FileSystemHandler::writerTaskFunc(void* param) {
-    FileSystemHandler* self = static_cast<FileSystemHandler*>(param);
-    WriteRequest req;
-
-    while (self->writerTaskRunning_) {
-        if (xQueueReceive(self->writeQueue_, &req, pdMS_TO_TICKS(10)) == pdTRUE) {
-            if (req.data == nullptr) {
-                // Poison pill - exit
-                break;
-            }
-            self->processWriteRequest(req);
-            free(req.data);
-        }
-    }
-
-    vTaskDelete(nullptr);
-}
-
-void FileSystemHandler::processWriteRequest(const WriteRequest& req) {
-    xSemaphoreTake(uploadsMutex_, portMAX_DELAY);
-
-    auto it = uploads_.find(req.transferId);
-    if (it == uploads_.end()) {
-        xSemaphoreGive(uploadsMutex_);
-        return;
-    }
-
-    UploadState& state = it->second;
-
-    if (state.hasError) {
-        xSemaphoreGive(uploadsMutex_);
-        return;
-    }
-
-    size_t bytesWritten = fwrite(req.data, 1, req.size, state.file);
-
-    if (bytesWritten != req.size) {
-        state.hasError = true;
-        state.errorMessage = "Failed to write chunk";
-        xSemaphoreGive(uploadsMutex_);
-        finalizeUpload(req.transferId, false, state.errorMessage);
-        return;
-    }
-
-    state.chunksWritten++;
-    ESP_LOGD(TAG, "Async write chunk %u/%u: %u bytes", state.chunksWritten, state.totalChunks, bytesWritten);
-
-    // Periodic flush
-    if (state.chunksWritten > 0 && state.chunksWritten % 64 == 0) {
-        fflush(state.file);
-    }
-
-    bool shouldFinalize = req.isLastChunk;
-    xSemaphoreGive(uploadsMutex_);
-
-    if (shouldFinalize) {
-        finalizeUpload(req.transferId, true);
-    }
-}
+FileSystemHandler::FileSystemHandler() : transferIdCounter_(0) {}
 
 void FileSystemHandler::setSendCallbacks(SendMetadataCallback sendMetadata, SendCallback sendData,
                                          SendCompleteCallback sendComplete,
@@ -164,7 +29,7 @@ void FileSystemHandler::cleanupExpiredTransfers() {
     while (dlIt != downloads_.end()) {
         if (now - dlIt->second.lastActivityTime > FS_TRANSFER_TIMEOUT_MS) {
             if (dlIt->second.file) {
-                fclose(dlIt->second.file);
+                dlIt->second.file.close();
             }
             ESP_LOGW(TAG, "Download %u timed out", dlIt->first);
 
@@ -184,50 +49,38 @@ void FileSystemHandler::cleanupExpiredTransfers() {
         }
     }
 
-    xSemaphoreTake(uploadsMutex_, portMAX_DELAY);
     auto ulIt = uploads_.begin();
     while (ulIt != uploads_.end()) {
         if (now - ulIt->second.lastActivityTime > FS_TRANSFER_TIMEOUT_MS) {
             if (ulIt->second.file) {
-                fclose(ulIt->second.file);
-                ulIt->second.file = nullptr;
+                ulIt->second.file.close();
             }
-            std::string path = ulIt->second.path;
-            uint32_t chunksReceived = ulIt->second.chunksReceived;
-            int clientId = ulIt->second.clientId;
-            uint32_t transferId = ulIt->first;
-
-            ulIt = uploads_.erase(ulIt);
-            xSemaphoreGive(uploadsMutex_);
-
-            remove(path.c_str());
-            ESP_LOGW(TAG, "Upload %u timed out, deleted partial file", transferId);
+            ESP_FS.remove(ulIt->second.path.c_str());
+            ESP_LOGW(TAG, "Upload %u timed out, deleted partial file", ulIt->first);
 
             if (sendUploadCompleteCallback_) {
                 socket_message_FSUploadComplete complete = socket_message_FSUploadComplete_init_zero;
-                complete.transfer_id = transferId;
+                complete.transfer_id = ulIt->first;
                 complete.success = false;
                 strncpy(complete.error, "Transfer timed out", sizeof(complete.error) - 1);
-                complete.chunks_received = chunksReceived;
-                sendUploadCompleteCallback_(complete, clientId);
+                complete.chunks_received = ulIt->second.chunksReceived;
+                sendUploadCompleteCallback_(complete, ulIt->second.clientId);
             }
 
-            xSemaphoreTake(uploadsMutex_, portMAX_DELAY);
+            ulIt = uploads_.erase(ulIt);
         } else {
             ++ulIt;
         }
     }
-    xSemaphoreGive(uploadsMutex_);
 }
 
 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(req.path);
     ESP_LOGI(TAG, "Delete request: %s", path.c_str());
 
-    struct stat st;
-    if (stat(path.c_str(), &st) != 0) {
+    if (!ESP_FS.exists(path.c_str())) {
         response.success = false;
         strncpy(response.error, "File or directory not found", sizeof(response.error) - 1);
         return response;
@@ -244,45 +97,41 @@ socket_message_FSDeleteResponse FileSystemHandler::handleDelete(const socket_mes
 }
 
 bool FileSystemHandler::deleteRecursive(const std::string& path) {
-    struct stat st;
-    if (stat(path.c_str(), &st) != 0) return false;
+    File file = ESP_FS.open(path.c_str());
+    if (!file) return false;
 
-    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 (file.isDirectory()) {
+        File child = file.openNextFile();
+        while (child) {
+            std::string childPath = std::string(child.name());
+            child.close();
             if (!deleteRecursive(childPath)) {
-                closedir(dir);
+                file.close();
                 return false;
             }
+            child = file.openNextFile();
         }
-        closedir(dir);
-        return rmdir(path.c_str()) == 0;
+        file.close();
+        return ESP_FS.rmdir(path.c_str());
     } else {
-        return remove(path.c_str()) == 0;
+        file.close();
+        return ESP_FS.remove(path.c_str());
     }
 }
 
 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(req.path);
     ESP_LOGI(TAG, "Mkdir request: %s", path.c_str());
 
-    struct stat st;
-    if (stat(path.c_str(), &st) == 0) {
+    if (ESP_FS.exists(path.c_str())) {
         response.success = false;
         strncpy(response.error, "Path already exists", sizeof(response.error) - 1);
         return response;
     }
 
-    if (FileSystem::mkdirRecursive(path.c_str())) {
+    if (ESP_FS.mkdir(path.c_str())) {
         response.success = true;
     } else {
         response.success = false;
@@ -293,49 +142,32 @@ socket_message_FSMkdirResponse FileSystemHandler::handleMkdir(const socket_messa
 }
 
 void FileSystemHandler::listDirectory(const std::string& path, socket_message_FSListResponse& response) {
-
-    // Root "/" is virtual - list mount points instead
-    if (strcmp(path.c_str(), "/") == 0) {
-        strncpy(response.directories[0].name, LITTLEFS_MOUNT_POINT + 1, sizeof(response.directories[0].name) - 1);
-        strncpy(response.directories[1].name, SD_MOUNT_POINT + 1, sizeof(response.directories[1].name) - 1);
-        response.directories_count = 2;
+    File dir = ESP_FS.open(path.c_str());
+    if (!dir || !dir.isDirectory()) {
         return;
     }
 
-    DIR* dir = opendir(path.c_str());
-    if (!dir) {
-        return;
-    }
-
-    struct dirent* entry;
+    File file = dir.openNextFile();
     int fileCount = 0;
     int dirCount = 0;
 
-    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)) {
+    while (file && fileCount < 20 && dirCount < 20) { // Limit to match protobuf max_count
+        if (file.isDirectory()) {
             if (dirCount < 20) {
-                strncpy(response.directories[dirCount].name, entry->d_name,
+                strncpy(response.directories[dirCount].name, file.name(),
                         sizeof(response.directories[dirCount].name) - 1);
                 dirCount++;
             }
         } else {
             if (fileCount < 20) {
-                strncpy(response.files[fileCount].name, entry->d_name, sizeof(response.files[fileCount].name) - 1);
-                response.files[fileCount].size = st.st_size;
+                strncpy(response.files[fileCount].name, file.name(), sizeof(response.files[fileCount].name) - 1);
+                response.files[fileCount].size = file.size();
                 fileCount++;
             }
         }
+        file = dir.openNextFile();
     }
 
-    closedir(dir);
     response.files_count = fileCount;
     response.directories_count = dirCount;
 }
@@ -343,13 +175,12 @@ 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;
+    std::string path(req.path);
+    if (path.empty()) path = "/";
 
     ESP_LOGI(TAG, "List request: %s", path.c_str());
 
-    struct stat st;
-    // Make sure that path exists, or that it is a root listing
-    if (strcmp(path.c_str(), "/") != 0 && stat(path.c_str(), &st) != 0) {
+    if (!ESP_FS.exists(path.c_str())) {
         response.success = false;
         strncpy(response.error, "Path not found", sizeof(response.error) - 1);
         return response;
@@ -361,12 +192,14 @@ 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(req.path);
     ESP_LOGI(TAG, "Download request: %s", path.c_str());
 
-    struct stat st;
-    if (stat(path.c_str(), &st) != 0 || S_ISDIR(st.st_mode)) {
+    // Validate file exists
+    if (!ESP_FS.exists(path.c_str())) {
         if (sendMetadataCallback_) {
             socket_message_FSDownloadMetadata metadata = socket_message_FSDownloadMetadata_init_zero;
             metadata.success = false;
@@ -376,8 +209,8 @@ void FileSystemHandler::handleDownloadRequest(const socket_message_FSDownloadReq
         return;
     }
 
-    FILE* file = fopen(path.c_str(), "rb");
-    if (!file) {
+    File file = ESP_FS.open(path.c_str(), "r");
+    if (!file || file.isDirectory()) {
         if (sendMetadataCallback_) {
             socket_message_FSDownloadMetadata metadata = socket_message_FSDownloadMetadata_init_zero;
             metadata.success = false;
@@ -387,7 +220,11 @@ void FileSystemHandler::handleDownloadRequest(const socket_message_FSDownloadReq
         return;
     }
 
-    uint32_t fileSize = st.st_size;
+    // 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 chunkSize = FS_MAX_CHUNK_SIZE;
     uint32_t totalChunks = (fileSize + chunkSize - 1) / chunkSize;
     if (totalChunks == 0) totalChunks = 1;
@@ -417,8 +254,10 @@ 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)) {
-        taskYIELD();
+        // Keep sending until done or error
+        taskYIELD(); // Allow other tasks to run
     }
 }
 
@@ -441,7 +280,7 @@ bool FileSystemHandler::sendNextDownloadChunk(uint32_t transferId) {
             sendCompleteCallback_(complete, state.clientId);
         }
 
-        fclose(state.file);
+        state.file.close();
         downloads_.erase(it);
         ESP_LOGI(TAG, "Download completed: %u", transferId);
         return false;
@@ -458,28 +297,8 @@ bool FileSystemHandler::sendNextDownloadChunk(uint32_t transferId) {
         bytesToRead = state.fileSize - position;
     }
 
-    // Allocate buffer for FT_POINTER data field
-    data->data = (pb_bytes_array_t*)malloc(PB_BYTES_ARRAY_T_ALLOCSIZE(bytesToRead));
-    if (!data->data) {
-        delete data;
-        if (sendCompleteCallback_) {
-            socket_message_FSDownloadComplete complete = socket_message_FSDownloadComplete_init_zero;
-            complete.transfer_id = transferId;
-            complete.success = false;
-            strncpy(complete.error, "Memory allocation failed", sizeof(complete.error) - 1);
-            complete.total_chunks = state.chunksSent;
-            complete.file_size = state.fileSize;
-            sendCompleteCallback_(complete, state.clientId);
-        }
-        fclose(state.file);
-        downloads_.erase(it);
-        ESP_LOGE(TAG, "Download failed - memory allocation: %u", transferId);
-        return false;
-    }
-
-    size_t bytesRead = fread(data->data->bytes, 1, bytesToRead, state.file);
+    size_t bytesRead = state.file.read(data->data.bytes, bytesToRead);
     if (bytesRead == 0 && bytesToRead > 0) {
-        free(data->data);
         delete data;
         if (sendCompleteCallback_) {
             socket_message_FSDownloadComplete complete = socket_message_FSDownloadComplete_init_zero;
@@ -491,18 +310,17 @@ bool FileSystemHandler::sendNextDownloadChunk(uint32_t transferId) {
             sendCompleteCallback_(complete, state.clientId);
         }
 
-        fclose(state.file);
+        state.file.close();
         downloads_.erase(it);
         ESP_LOGE(TAG, "Download failed - read error: %u", transferId);
         return false;
     }
-    data->data->size = bytesRead;
+    data->data.size = bytesRead;
 
     if (sendDataCallback_) {
         sendDataCallback_(*data, state.clientId);
     }
 
-    free(data->data);
     delete data;
     state.chunksSent++;
     ESP_LOGD(TAG, "Download chunk %u/%u sent: %u bytes", state.chunksSent, state.totalChunks, bytesRead);
@@ -510,48 +328,44 @@ 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(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 on the target filesystem
-    if (path.find(SD_MOUNT_POINT) != 0) {
-        // LittleFS path
-        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) {
-            response.success = false;
-            strncpy(response.error, "Insufficient storage space", sizeof(response.error) - 1);
-            return response;
-        }
+    // 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
+        response.success = false;
+        strncpy(response.error, "Insufficient storage space", sizeof(response.error) - 1);
+        return response;
     }
-    // TODO: SD card space check skipped - FAT doesn't have a simple API for this
 
+    // 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);
-        struct stat st;
-        if (stat(parentDir.c_str(), &st) != 0) {
+        if (!ESP_FS.exists(parentDir.c_str())) {
             response.success = false;
             strncpy(response.error, "Parent directory does not exist", sizeof(response.error) - 1);
             return response;
         }
     }
 
-    FILE* file = fopen(path.c_str(), "wb");
+    File file = ESP_FS.open(path.c_str(), FILE_WRITE);
     if (!file) {
-        ESP_LOGE(TAG, "fopen failed for '%s': %s (errno=%d)", path.c_str(), strerror(errno), errno);
         response.success = false;
-        snprintf(response.error, sizeof(response.error) - 1, "Cannot open file: %s", strerror(errno));
+        strncpy(response.error, "Cannot open file for writing", sizeof(response.error) - 1);
         return response;
     }
 
-    // Set larger buffer for better write performance
-    setvbuf(file, nullptr, _IOFBF, 32 * 1024);
+    file.setBufferSize(1000000);
 
     uint32_t transferId = generateTransferId();
 
@@ -561,15 +375,12 @@ socket_message_FSUploadStartResponse FileSystemHandler::handleUploadStart(const
     state.fileSize = req.file_size;
     state.totalChunks = req.total_chunks;
     state.chunksReceived = 0;
-    state.chunksWritten = 0;
     state.bytesReceived = 0;
     state.lastActivityTime = esp_timer_get_time() / 1000;
     state.clientId = clientId;
     state.hasError = false;
 
-    xSemaphoreTake(uploadsMutex_, portMAX_DELAY);
     uploads_[transferId] = state;
-    xSemaphoreGive(uploadsMutex_);
 
     response.success = true;
     response.transfer_id = transferId;
@@ -582,16 +393,8 @@ socket_message_FSUploadStartResponse FileSystemHandler::handleUploadStart(const
 void FileSystemHandler::handleUploadData(const socket_message_FSUploadData& req) {
     uint32_t transferId = req.transfer_id;
 
-    // Auto-start writer task if not running
-    if (!writerTaskRunning_) {
-        startWriterTask();
-    }
-
-    xSemaphoreTake(uploadsMutex_, portMAX_DELAY);
-
     auto it = uploads_.find(transferId);
     if (it == uploads_.end()) {
-        xSemaphoreGive(uploadsMutex_);
         ESP_LOGW(TAG, "Upload data for unknown transfer: %u", transferId);
         return;
     }
@@ -599,93 +402,61 @@ 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) {
-        xSemaphoreGive(uploadsMutex_);
         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
     }
 
-    if (!req.data || req.data->size == 0) {
+    // Write chunk data
+    size_t bytesWritten = state.file.write(req.data.bytes, req.data.size);
+    if (bytesWritten != req.data.size) {
         state.hasError = true;
-        state.errorMessage = "Empty or invalid data chunk";
-        xSemaphoreGive(uploadsMutex_);
+        state.errorMessage = "Failed to write chunk";
         finalizeUpload(transferId, false, state.errorMessage);
         return;
     }
 
-    // Copy data for async write
-    WriteRequest writeReq;
-    writeReq.transferId = transferId;
-    writeReq.size = req.data->size;
-    writeReq.chunkIndex = req.chunk_index;
-    writeReq.data = static_cast<uint8_t*>(malloc(req.data->size));
-
-    if (!writeReq.data) {
-        state.hasError = true;
-        state.errorMessage = "Memory allocation failed";
-        xSemaphoreGive(uploadsMutex_);
-        finalizeUpload(transferId, false, state.errorMessage);
-        return;
-    }
-
-    memcpy(writeReq.data, req.data->bytes, req.data->size);
-
     state.chunksReceived++;
-    state.bytesReceived += req.data->size;
-    writeReq.isLastChunk = (state.chunksReceived >= state.totalChunks);
+    state.bytesReceived += bytesWritten;
 
-    ESP_LOGD(TAG, "Queuing chunk %u/%u: %u bytes", state.chunksReceived, state.totalChunks, req.data->size);
-
-    xSemaphoreGive(uploadsMutex_);
-
-    // Check queue is valid
-    if (!writeQueue_) {
-        ESP_LOGE(TAG, "Write queue not initialized");
-        free(writeReq.data);
-        finalizeUpload(transferId, false, "Write queue not initialized");
-        return;
+    // 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();
     }
 
-    // Try to queue (non-blocking) - if full, do sync write to avoid blocking HTTP server
-    if (xQueueSend(writeQueue_, &writeReq, 0) != pdTRUE) {
-        ESP_LOGD(TAG, "Queue full, doing sync write for chunk %u", writeReq.chunkIndex);
-        processWriteRequest(writeReq);
-        free(writeReq.data);
+    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);
     }
 }
 
 void FileSystemHandler::finalizeUpload(uint32_t transferId, bool success, const std::string& error) {
-    xSemaphoreTake(uploadsMutex_, portMAX_DELAY);
-
     auto it = uploads_.find(transferId);
     if (it == uploads_.end()) {
-        xSemaphoreGive(uploadsMutex_);
         return;
     }
 
     UploadState& state = it->second;
 
     if (state.file) {
-        fclose(state.file);
-        state.file = nullptr;
+        state.file.close();
     }
 
-    std::string path = state.path;
-    uint32_t bytesReceived = state.bytesReceived;
-    uint32_t chunksReceived = state.chunksReceived;
-    int clientId = state.clientId;
-
-    uploads_.erase(it);
-    xSemaphoreGive(uploadsMutex_);
-
     if (!success) {
-        remove(path.c_str());
-        ESP_LOGW(TAG, "Upload failed, deleted partial file: %s", path.c_str());
+        ESP_FS.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)", path.c_str(), bytesReceived);
+        ESP_LOGI(TAG, "Upload completed: %s (%u bytes)", state.path.c_str(), state.bytesReceived);
     }
 
     if (sendUploadCompleteCallback_) {
@@ -695,11 +466,15 @@ void FileSystemHandler::finalizeUpload(uint32_t transferId, bool success, const
         if (!error.empty()) {
             strncpy(complete.error, error.c_str(), sizeof(complete.error) - 1);
         }
-        complete.chunks_received = chunksReceived;
-        sendUploadCompleteCallback_(complete, clientId);
+        complete.chunks_received = state.chunksReceived;
+        sendUploadCompleteCallback_(complete, state.clientId);
     }
+
+    uploads_.erase(it);
 }
 
+// ===== TRANSFER CONTROL =====
+
 socket_message_FSCancelTransferResponse FileSystemHandler::handleCancelTransfer(
     const socket_message_FSCancelTransfer& req) {
     socket_message_FSCancelTransferResponse response = socket_message_FSCancelTransferResponse_init_zero;
@@ -709,7 +484,7 @@ socket_message_FSCancelTransferResponse FileSystemHandler::handleCancelTransfer(
     auto dlIt = downloads_.find(transferId);
     if (dlIt != downloads_.end()) {
         if (dlIt->second.file) {
-            fclose(dlIt->second.file);
+            dlIt->second.file.close();
         }
         downloads_.erase(dlIt);
         response.success = true;
@@ -717,27 +492,20 @@ socket_message_FSCancelTransferResponse FileSystemHandler::handleCancelTransfer(
         return response;
     }
 
-    xSemaphoreTake(uploadsMutex_, portMAX_DELAY);
     auto ulIt = uploads_.find(transferId);
     if (ulIt != uploads_.end()) {
         if (ulIt->second.file) {
-            fclose(ulIt->second.file);
-            ulIt->second.file = nullptr;
+            ulIt->second.file.close();
         }
-        std::string path = ulIt->second.path;
+        ESP_FS.remove(ulIt->second.path.c_str());
         uploads_.erase(ulIt);
-        xSemaphoreGive(uploadsMutex_);
-        remove(path.c_str());
         response.success = true;
         ESP_LOGI(TAG, "Upload cancelled: %u", transferId);
         return response;
     }
-    xSemaphoreGive(uploadsMutex_);
 
     response.success = false;
     return response;
 }
 
-void FileSystemHandler::processPendingDownloads() {}
-
 } // namespace FileSystemWS

esp32/src/idf_component.yml

@@ -1,18 +0,0 @@
-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"

esp32/src/main.cpp

@@ -1,10 +1,6 @@
-#include <freertos/FreeRTOS.h>
-#include <freertos/task.h>
-#include <esp_log.h>
-#include <esp_heap_caps.h>
-#include <nvs_flash.h>
-#include <wifi/wifi_idf.h>
-#include <mdns.h>
+#include <Arduino.h>
+#include <ESPmDNS.h>
+#include <WiFi.h>
 #include <map>
 
 #include <filesystem.h>
@@ -24,7 +20,7 @@
 
 #include <www_mount.hpp>
 
-Websocket wsSocket {server, "/api/ws"};
+Websocket socket {server, "/api/ws"};
 
 Peripherals peripherals;
 ServoController servoController;
@@ -43,9 +39,7 @@ WiFiService wifiService;
 APService apService;
 
 void setupServer() {
-    ESP_LOGI("Main", "Free heap before server: %lu, largest block: %lu",
-             esp_get_free_heap_size(), heap_caps_get_largest_free_block(MALLOC_CAP_8BIT));
-    server.config(50 + WWW_ASSETS_COUNT, 16384);
+    server.config(50 + WWW_ASSETS_COUNT, 32768);
     server.listen(80);
 
     server.on("/api/system/reset", HTTP_POST,
@@ -79,41 +73,42 @@ 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");
@@ -128,36 +123,36 @@ void setupServer() {
 
 void setupEventSocket() {
     FileSystemWS::fsHandler.setSendCallbacks(
-        [](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); });
+        [](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); });
 
-    wsSocket.on<socket_message_ControllerData>(
+    socket.on<socket_message_ControllerData>(
         [&](const socket_message_ControllerData &data, int clientId) { motionService.handleInput(data); });
 
-    wsSocket.on<socket_message_ModeData>([&](const socket_message_ModeData &data, int clientId) {
+    socket.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();
     });
 
-    wsSocket.on<socket_message_WalkGaitData>(
+    socket.on<socket_message_WalkGaitData>(
         [&](const socket_message_WalkGaitData &data, int clientId) { motionService.handleWalkGait(data); });
 
-    wsSocket.on<socket_message_AnglesData>(
+    socket.on<socket_message_AnglesData>(
         [&](const socket_message_AnglesData &data, int clientId) { motionService.handleAngles(data); });
 
-    wsSocket.on<socket_message_ServoPWMData>([&](const socket_message_ServoPWMData &data, int clientId) {
+    socket.on<socket_message_ServoPWMData>([&](const socket_message_ServoPWMData &data, int clientId) {
         servoController.setServoPWM(data.servo_id, data.servo_pwm);
     });
 
-    wsSocket.on<socket_message_ServoStateData>([&](const socket_message_ServoStateData &data, int clientId) {
+    socket.on<socket_message_ServoStateData>([&](const socket_message_ServoStateData &data, int clientId) {
         data.active ? servoController.activate() : servoController.deactivate();
     });
 
-    wsSocket.on<socket_message_FSUploadData>(
-        [&](const socket_message_FSUploadData &data, int clientId) { TIME_IT(FileSystemWS::fsHandler.handleUploadData(data), handle_upload) });
+    socket.on<socket_message_FSUploadData>(
+        [&](const socket_message_FSUploadData &data, int clientId) { FileSystemWS::fsHandler.handleUploadData(data); });
 
     using CorrelationHandler =
         std::function<void(const socket_message_CorrelationRequest &, socket_message_CorrelationResponse &, int)>;
@@ -230,7 +225,7 @@ void setupEventSocket() {
          }},
     };
 
-    wsSocket.on<socket_message_CorrelationRequest>([&](const socket_message_CorrelationRequest &data, int clientId) {
+    socket.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;
@@ -240,7 +235,7 @@ void setupEventSocket() {
         if (it != correlationHandlers.end()) {
             it->second(data, *res, clientId);
             if (res->status_code != 0) {
-                wsSocket.emit(*res, clientId);
+                socket.emit(*res, clientId);
             }
         } else {
             printf("WARNING: no handler for correlation request: %d\n", data.which_request);
@@ -253,18 +248,15 @@ void setupEventSocket() {
 void IRAM_ATTR SpotControlLoopEntry(void *) {
     ESP_LOGI("main", "Control task starting");
     TickType_t xLastWakeTime = xTaskGetTickCount();
-    const TickType_t xFrequency = pdMS_TO_TICKS(10);
+    const TickType_t xFrequency = 5 / portTICK_PERIOD_MS;
 
     peripherals.begin();
     servoController.begin();
     motionService.begin();
-#if FT_ENABLED(USE_WS2812)
-    ledService.begin();
-#endif
     peripherals.calibrateIMU();
 
     for (;;) {
-        WARN_IF_SLOW(SpotControlLoopEntry, 10);
+        WARN_IF_SLOW(SpotControlLoopEntry, 5);
         peripherals.update();
         motionService.update(&peripherals);
         servoController.setAngles(motionService.getAngles());
@@ -272,18 +264,22 @@ void IRAM_ATTR SpotControlLoopEntry(void *) {
 #if FT_ENABLED(USE_WS2812)
         ledService.loop();
 #endif
-        vTaskDelayUntil(&xLastWakeTime, xFrequency);
+        // 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);
     }
 }
 
 void IRAM_ATTR serviceLoopEntry(void *) {
     ESP_LOGI("main", "Service task starting");
 
-    WiFi.init();
     wifiService.begin();
-    mdns_init();
-    mdns_hostname_set(APP_NAME);
-    mdns_instance_name_set(APP_NAME);
+    MDNS.begin(APP_NAME);
+    MDNS.setInstanceName(APP_NAME);
     apService.begin();
 
 #if FT_ENABLED(USE_CAMERA)
@@ -291,6 +287,8 @@ void IRAM_ATTR serviceLoopEntry(void *) {
 #endif
 
     setupServer();
+
+    socket.begin();
     setupEventSocket();
 
     ESP_LOGI("main", "Service task started");
@@ -299,23 +297,23 @@ void IRAM_ATTR serviceLoopEntry(void *) {
         apService.loop();
 
         EXECUTE_EVERY_N_MS(2000, {
-            if (wsSocket.hasSubscribers(socket_message_Message_analytics_tag)) {
+            if (socket.hasSubscribers(socket_message_Message_analytics_tag)) {
                 socket_message_AnalyticsData analytics = socket_message_AnalyticsData_init_zero;
                 system_service::getAnalytics(analytics);
-                wsSocket.emit(analytics);
+                socket.emit(analytics);
             }
         });
 
         EXECUTE_EVERY_N_MS(100, {
-            if (wsSocket.hasSubscribers(socket_message_Message_imu_tag)) {
+            if (socket.hasSubscribers(socket_message_Message_imu_tag)) {
                 socket_message_IMUData imu = socket_message_IMUData_init_zero;
                 peripherals.getIMUProto(imu);
-                wsSocket.emit(imu);
+                socket.emit(imu);
             }
 
-            if (wsSocket.hasSubscribers(socket_message_Message_rssi_tag)) {
+            if (socket.hasSubscribers(socket_message_Message_rssi_tag)) {
                 socket_message_RSSIData rssi = {.rssi = WiFi.RSSI()};
-                wsSocket.emit(rssi);
+                socket.emit(rssi);
             }
         });
 
@@ -325,23 +323,18 @@ void IRAM_ATTR serviceLoopEntry(void *) {
     }
 }
 
-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();
+void setup() {
+    ESP_FS.begin();
 
     ESP_LOGI("main", "Booting robot");
 
     feature_service::printFeatureConfiguration();
 
-    xTaskCreate(serviceLoopEntry, "Service task", 8192, nullptr, 2, nullptr);
+    xTaskCreate(serviceLoopEntry, "Service task", 4096, nullptr, 2, nullptr);
 
-    xTaskCreatePinnedToCore(SpotControlLoopEntry, "Control task", 8192, nullptr, 5, nullptr, 1);
+    xTaskCreatePinnedToCore(SpotControlLoopEntry, "Control task", 4096, nullptr, 5, nullptr, 1);
 
     ESP_LOGI("main", "Finished booting");
 }
+
+void loop() { vTaskDelete(nullptr); }

esp32/src/mdns_service.cpp

@@ -1,6 +1,5 @@
 #include <mdns_service.h>
 #include <communication/webserver.h>
-#include <esp_netif.h>
 
 static const char *TAG = "MDNSService";
 
@@ -8,8 +7,9 @@ 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);
 }
 
@@ -34,50 +34,33 @@ void MDNSService::reconfigureMDNS() {
 void MDNSService::startMDNS() {
     ESP_LOGV(TAG, "Starting MDNS with hostname: %s", state().hostname);
 
-    esp_err_t err = mdns_init();
-    if (err != ESP_OK) {
-        ESP_LOGE(TAG, "Failed to initialize MDNS: %s", esp_err_to_name(err));
+    if (MDNS.begin(state().hostname)) {
+        _started = true;
+        MDNS.setInstanceName(state().instance);
+
+        addServices();
+
+        ESP_LOGI(TAG, "MDNS started successfully with hostname: %s", state().hostname);
+    } else {
         _started = false;
-        return;
+        ESP_LOGE(TAG, "Failed to start MDNS");
     }
-
-    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_free();
+    MDNS.end();
     _started = false;
 }
 
 void MDNSService::addServices() {
     for (size_t i = 0; i < state().services_count; i++) {
         const auto &service = state().services[i];
-        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;
-        }
+        MDNS.addService(service.service, service.protocol, service.port);
 
         for (size_t j = 0; j < service.txt_records_count; j++) {
             const auto &txt = service.txt_records[j];
-            mdns_service_txt_item_set(service.service, service.protocol, txt.key, txt.value);
+            MDNS.addServiceTxt(service.service, service.protocol, txt.key, txt.value);
         }
     }
 
@@ -85,7 +68,7 @@ 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_service_txt_item_set(service.service, service.protocol, txt.key, txt.value);
+            MDNS.addServiceTxt(service.service, service.protocol, txt.key, txt.value);
         }
     }
 }
@@ -120,46 +103,22 @@ 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);
 
-    mdns_result_t *results = nullptr;
-    esp_err_t err = mdns_query_ptr(queryReq.service, queryReq.protocol, 3000, 20, &results);
+    int n = MDNS.queryService(queryReq.service, queryReq.protocol);
+    ESP_LOGI(TAG, "Found %d services", n);
 
     api_Response response = api_Response_init_zero;
     response.which_payload = api_Response_mdns_query_response_tag;
     api_MDNSQueryResponse &queryResp = response.payload.mdns_query_response;
 
-    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);
-
+    // Limit to max_count from options file (16)
+    size_t count = (n > 16) ? 16 : static_cast<size_t>(n);
     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);
+    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);
+    }
 
     return WebServer::send(request, 200, response, api_Response_fields);
 }

esp32/src/peripherals/camera_service.cpp

@@ -1,6 +1,5 @@
 #include <peripherals/camera_service.h>
 #include <communication/webserver.h>
-#include <esp_heap_caps.h>
 
 namespace Camera {
 
@@ -67,7 +66,7 @@ esp_err_t CameraService::begin() {
     camera_config.xclk_freq_hz = 20000000;
     camera_config.pixel_format = PIXFORMAT_JPEG;
 
-    if (heap_caps_get_total_size(MALLOC_CAP_SPIRAM) > 0) {
+    if (psramFound()) {
         camera_config.frame_size = FRAMESIZE_SVGA;
         camera_config.jpeg_quality = 10;
         camera_config.fb_location = CAMERA_FB_IN_PSRAM;
@@ -79,7 +78,7 @@ esp_err_t CameraService::begin() {
         camera_config.fb_count = 1;
     }
 
-    ESP_LOGI(TAG, "Initializing camera");
+    log_i("Initializing camera");
     esp_err_t err = esp_camera_init(&camera_config);
     if (err == ESP_OK)
         ESP_LOGI(TAG, "Camera probe successful");

esp32/src/peripherals/peripherals.cpp

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

esp32/src/system_service.cpp

@@ -1,43 +1,5 @@
 #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
-#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 {
 
@@ -60,15 +22,12 @@ esp_err_t handleSleep(httpd_req_t *request) {
 
 void reset() {
     ESP_LOGI(TAG, "Resetting device");
-    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);
+    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());
     }
     restart();
 }
@@ -78,11 +37,11 @@ void restart() {
         [](void *pvParameters) {
             for (;;) {
                 vTaskDelay(250 / portTICK_PERIOD_MS);
-                mdns_free();
+                MDNS.end();
                 vTaskDelay(100 / portTICK_PERIOD_MS);
                 WiFi.disconnect(true);
                 vTaskDelay(500 / portTICK_PERIOD_MS);
-                esp_restart();
+                ESP.restart();
             }
         },
         "Restart task", 4096, nullptr, 10, nullptr);
@@ -93,7 +52,7 @@ void sleep() {
         [](void *pvParameters) {
             for (;;) {
                 vTaskDelay(250 / portTICK_PERIOD_MS);
-                mdns_free();
+                MDNS.end();
                 vTaskDelay(100 / portTICK_PERIOD_MS);
                 WiFi.disconnect(true);
                 vTaskDelay(500 / portTICK_PERIOD_MS);
@@ -113,97 +72,22 @@ 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";
-        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 = 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_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_reset_reason = (char *)resetReason(esp_reset_reason());
 }
 

esp32/src/wifi/wifi_idf.cpp

@@ -1,571 +0,0 @@
-#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

@@ -1,55 +1,43 @@
 #include <wifi_service.h>
 #include <communication/webserver.h>
 
-static const char *TAG = "WiFiService";
-
 WiFiService::WiFiService()
-    : protoEndpoint(WiFiSettings_read, WiFiSettings_update, this,
+    : _persistence(WiFiSettings_read, WiFiSettings_update, this, WIFI_SETTINGS_FILE,
+                   api_WifiSettings_fields, api_WifiSettings_size, WiFiSettings_defaults()),
+      protoEndpoint(WiFiSettings_read, WiFiSettings_update, this,
                     API_REQUEST_EXTRACTOR(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) {
+                    API_RESPONSE_ASSIGNER(wifi_settings, api_WifiSettings)) {
     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([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);
+    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);
 
     _persistence.readFromFS();
-    _lastConnectionAttempt = 0;
+    reconfigureWiFiConnection();
 
-    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]);
+    if (state().wifi_networks_count == 1) {
+        configureNetwork(state().wifi_networks[0]);
+        vTaskDelay(500 / portTICK_PERIOD_MS);
     }
 }
 
 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();
+    if (WiFi.disconnect(true)) _stopping = true;
 }
 
 void WiFiService::loop() { EXECUTE_EVERY_N_MS(reconnectDelay, manageSTA()); }
@@ -59,6 +47,7 @@ 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;
@@ -68,6 +57,7 @@ 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;
@@ -76,8 +66,10 @@ 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++) {
@@ -98,13 +90,11 @@ esp_err_t WiFiService::getNetworks(httpd_req_t *request) {
 }
 
 void WiFiService::setupMDNS(const char *hostname) {
-    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);
+    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);
 }
 
 esp_err_t WiFiService::getNetworkStatus(httpd_req_t *request) {
@@ -124,6 +114,7 @@ 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)) {
@@ -139,58 +130,98 @@ esp_err_t WiFiService::getNetworkStatus(httpd_req_t *request) {
 
 void WiFiService::manageSTA() {
     if (WiFi.isConnected() || state().wifi_networks_count == 0) return;
-    wifi_mode_t mode = WiFi.getMode();
-    if (mode == WIFI_MODE_NULL || mode == WIFI_MODE_AP) return;
+    if ((WiFi.getMode() & WIFI_STA) == 0) connectToWiFi();
+}
 
-    static uint32_t startTime = 0;
-    static bool attempted = false;
+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);
 
-    if (startTime == 0) {
-        startTime = esp_timer_get_time() / 1000;
-        return;
-    }
+        WiFiNetwork *bestNetwork = nullptr;
+        int32_t bestNetworkDb = FACTORY_WIFI_RSSI_THRESHOLD;
 
-    uint32_t now = esp_timer_get_time() / 1000;
-    if (now - startTime < 3000) 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;
 
-    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]);
+            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();
     }
 }
 
 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(8);
+    WiFi.setTxPower(WIFI_POWER_8_5dBm);
 #endif
 }
 
-void WiFiService::onStationModeDisconnected(int32_t event, void *event_data) {
+void WiFiService::onStationModeDisconnected(WiFiEvent_t event, WiFiEventInfo_t info) {
     WiFi.disconnect(true);
-    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);
+    ESP_LOGI("WiFiStatus", "WiFi Disconnected. Reason code=%d", info.wifi_sta_disconnected.reason);
 }
 
-void WiFiService::onStationModeStop(int32_t event, void *event_data) {
+void WiFiService::onStationModeStop(WiFiEvent_t event, WiFiEventInfo_t info) {
     if (_stopping) {
         _lastConnectionAttempt = 0;
         _stopping = false;
     }
-    ESP_LOGI(TAG, "WiFi STA stopped.");
+    ESP_LOGI("WiFiStatus", "WiFi Connected.");
 }
 
-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());
+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());
 }

esp32/src/www_mount.cpp

@@ -1,14 +1,4 @@
 #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");
@@ -17,11 +7,11 @@ 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=%lu", (unsigned long)WWW_OPT.max_age);
+    snprintf(cc, sizeof(cc), "public, immutable, max-age=%u", WWW_OPT.max_age);
     httpd_resp_set_hdr(req, "Cache-Control", cc);
 
     char et[34];
-    snprintf(et, sizeof(et), "\"%08lx\"", (unsigned long)asset.etag);
+    snprintf(et, sizeof(et), "\"%08x\"", asset.etag);
     httpd_resp_set_hdr(req, "ETag", et);
 
     return httpd_resp_send(req, (const char*)asset.data, asset.len);
@@ -33,16 +23,3 @@ 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

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

platform_shared/filesystem.options

@@ -16,11 +16,11 @@ socket_message.FSListResponse.directories max_count:20
 # Streaming download messages
 socket_message.FSDownloadRequest.path max_size:256
 socket_message.FSDownloadMetadata.error max_size:128
-socket_message.FSDownloadData.data type:FT_POINTER
+socket_message.FSDownloadData.data max_size:16384
 socket_message.FSDownloadComplete.error max_size:128
 
 # Streaming upload messages
 socket_message.FSUploadStart.path max_size:256
 socket_message.FSUploadStartResponse.error max_size:128
-socket_message.FSUploadData.data type:FT_POINTER
+socket_message.FSUploadData.data max_size:16384
 socket_message.FSUploadComplete.error max_size:128

platformio.ini

@@ -40,13 +40,14 @@ build_flags=
 
 [env:esp32-wroom-camera]
 board = esp32-s3-devkitc-1
-board_build.flash_mode = qio
+board_build.arduino.memory_type = qio_opi 
 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
@@ -54,12 +55,10 @@ build_flags =
 	-D USS_RIGHT_PIN=14
 	-D SDA_PIN=47
 	-D SCL_PIN=21
-    -D SD_CMD_PIN=GPIO_NUM_38
-    -D SD_CLK_PIN=GPIO_NUM_39
-    -D SD_DATA_PIN=GPIO_NUM_40
-
-
-    
+    -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
@@ -85,15 +84,17 @@ build_flags =
 
 [env]
 platform = espressif32 @ 6.8.1
-framework = espidf
+framework = arduino
 monitor_speed = 115200
-monitor_filters =
-	direct
+monitor_filters = 
 	esp32_exception_decoder
+	default
+	colorize
 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
@@ -102,27 +103,26 @@ build_flags =
     -fdata-sections
     -Wl,--gc-sections
     -I submodules/nanopb
-    -D PB_FIELD_32BIT=1
-    -D PB_ENABLE_MALLOC=1
-    -Wno-missing-braces
-    -Wno-format
-    -D CONFIG_HTTPD_WS_SUPPORT=1
+    -Wno-missing-braces ; Added to suppress protobufs extra nested braces causing warning
 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 = 
-lib_ldf_mode = deep
-lib_compat_mode = strict
+	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
 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.

sdkconfig.defaults

@@ -1,40 +0,0 @@
-# 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