new pinout test

.gitignore

@@ -1,2 +1,3 @@
 build/
-.vscode
+.vscode
+.DS_Store

.idea/editor.xml

@@ -0,0 +1,483 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="BackendCodeEditorSettings">
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+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppCStyleCast/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppCStyleCast/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppFunctionalStyleCast/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppFunctionalStyleCast/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppReinterpretCastFromVoidPtr/@EntryIndexedValue" value="SUGGESTION" type="string" />
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+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNonExplicitConvertingConstructor/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNonExplicitConvertingConstructor/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNonExplicitConversionOperator/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNonExplicitConversionOperator/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDiscardedPostfixOperatorResult/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDiscardedPostfixOperatorResult/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppConstValueFunctionReturnType/@EntryIndexedValue" value="SUGGESTION" type="string" />
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+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppZeroConstantCanBeReplacedWithNullptr/@EntryIndexedValue" value="SUGGESTION" type="string" />
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+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppIfCanBeReplacedByConstexprIf/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppIfCanBeReplacedByConstexprIf/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=IfStdIsConstantEvaluatedCanBeReplaced/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=IfStdIsConstantEvaluatedCanBeReplaced/@EntryIndexRemoved" />
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+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=StdIsConstantEvaluatedWillAlwaysEvaluateToConstant/@EntryIndexRemoved" />
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+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppClassCanBeFinal/@EntryIndexedValue" value="HINT" type="string" />
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+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseStructuredBinding/@EntryIndexedValue" value="HINT" type="string" />
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+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseTypeTraitAlias/@EntryIndexedValue" value="SUGGESTION" type="string" />
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+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseAlgorithmWithCount/@EntryIndexedValue" value="SUGGESTION" type="string" />
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+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseElementsView/@EntryIndexedValue" value="SUGGESTION" type="string" />
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+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseStdSize/@EntryIndexedValue" value="SUGGESTION" type="string" />
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+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppReplaceTieWithStructuredBinding/@EntryIndexedValue" value="SUGGESTION" type="string" />
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+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppReplaceMemsetWithZeroInitialization/@EntryIndexedValue" value="SUGGESTION" type="string" />
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+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeclaratorUsedBeforeInitialization/@EntryIndexedValue" value="ERROR" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDeclaratorUsedBeforeInitialization/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnusedIncludeDirective/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnusedIncludeDirective/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNotAllPathsReturnValue/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppNotAllPathsReturnValue/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CDeclarationWithImplicitIntType/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CDeclarationWithImplicitIntType/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppFunctionDoesntReturnValue/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppFunctionDoesntReturnValue/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppReturnNoValueInNonVoidFunction/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppReturnNoValueInNonVoidFunction/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppCVQualifierCanNotBeAppliedToReference/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppCVQualifierCanNotBeAppliedToReference/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDereferenceOperatorLimitExceeded/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDereferenceOperatorLimitExceeded/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppForwardEnumDeclarationWithoutUnderlyingType/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppForwardEnumDeclarationWithoutUnderlyingType/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnmatchedPragmaRegionDirective/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnmatchedPragmaRegionDirective/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnmatchedPragmaEndRegionDirective/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnmatchedPragmaEndRegionDirective/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppStaticDataMemberInUnnamedStruct/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppStaticDataMemberInUnnamedStruct/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDefaultIsUsedAsIdentifier/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDefaultIsUsedAsIdentifier/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLongFloat/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppLongFloat/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtReinterpretCastFromNullptr/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtReinterpretCastFromNullptr/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtBindingRValueToLvalueReference/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtBindingRValueToLvalueReference/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtAddressOfClassRValue/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtAddressOfClassRValue/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtDoubleUserConversionInCopyInit/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtDoubleUserConversionInCopyInit/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtCopyElisionInCopyInitDeclarator/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtCopyElisionInCopyInitDeclarator/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtNotInitializedStaticConstLocalVar/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMsExtNotInitializedStaticConstLocalVar/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRemoveRedundantBraces/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppRemoveRedundantBraces/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceIfStatementBraces/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceIfStatementBraces/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceForStatementBraces/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceForStatementBraces/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceWhileStatementBraces/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceWhileStatementBraces/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceDoStatementBraces/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceDoStatementBraces/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppWrongIncludesOrder/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppWrongIncludesOrder/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppWrongSlashesInIncludeDirective/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppWrongSlashesInIncludeDirective/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceNestedNamespacesStyle/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceNestedNamespacesStyle/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceTypeAliasCodeStyle/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceTypeAliasCodeStyle/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceFunctionDeclarationStyle/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceFunctionDeclarationStyle/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMemberInitializersOrder/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppMemberInitializersOrder/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceOverridingFunctionStyle/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceOverridingFunctionStyle/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceOverridingDestructorStyle/@EntryIndexedValue" value="SUGGESTION" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceOverridingDestructorStyle/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseAuto/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseAuto/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseAutoForNumeric/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUseAutoForNumeric/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceCVQualifiersPlacement/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceCVQualifiersPlacement/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceCVQualifiersOrder/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppEnforceCVQualifiersOrder/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnnecessaryWhitespace/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppUnnecessaryWhitespace/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTabsAreDisallowed/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppTabsAreDisallowed/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAConstantConditions/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAConstantConditions/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFANullDereference/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFANullDereference/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFANotInitializedField/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFANotInitializedField/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFALoopConditionNotUpdated/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFALoopConditionNotUpdated/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFADeletedPointer/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFADeletedPointer/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAMemoryLeak/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAMemoryLeak/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAInvalidatedMemory/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAInvalidatedMemory/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFALocalValueEscapesScope/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFALocalValueEscapesScope/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFALocalValueEscapesFunction/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFALocalValueEscapesFunction/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAConstantParameter/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAConstantParameter/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAConstantFunctionResult/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAConstantFunctionResult/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAArrayIndexOutOfBounds/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAArrayIndexOutOfBounds/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAUnreachableCode/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAUnreachableCode/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAUnreachableFunctionCall/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAUnreachableFunctionCall/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAEndlessLoop/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAEndlessLoop/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAInfiniteRecursion/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAInfiniteRecursion/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAUnusedValue/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAUnusedValue/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAUnreadVariable/@EntryIndexedValue" value="WARNING" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFAUnreadVariable/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFATimeOver/@EntryIndexedValue" value="HINT" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppDFATimeOver/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppInconsistentNaming/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CppInconsistentNaming/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=StringLiteralTypo/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=StringLiteralTypo/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CommentTypo/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=CommentTypo/@EntryIndexRemoved" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=IdentifierTypo/@EntryIndexedValue" value="DO_NOT_SHOW" type="string" />
+    <option name="/Default/CodeInspection/Highlighting/InspectionSeverities/=IdentifierTypo/@EntryIndexRemoved" />
+  </component>
+</project>

.idea/inspectionProfiles/Project_Default.xml

@@ -0,0 +1,24 @@
+<component name="InspectionProjectProfileManager">
+  <profile version="1.0">
+    <option name="myName" value="Project Default" />
+    <inspection_tool class="Eslint" enabled="true" level="WARNING" enabled_by_default="true" />
+    <inspection_tool class="PyPackageRequirementsInspection" enabled="true" level="WARNING" enabled_by_default="true">
+      <option name="ignoredPackages">
+        <value>
+          <list size="10">
+            <item index="0" class="java.lang.String" itemvalue="pgml" />
+            <item index="1" class="java.lang.String" itemvalue="asyncio" />
+            <item index="2" class="java.lang.String" itemvalue="pyvis" />
+            <item index="3" class="java.lang.String" itemvalue="scikit-learn" />
+            <item index="4" class="java.lang.String" itemvalue="ipython" />
+            <item index="5" class="java.lang.String" itemvalue="plotly" />
+            <item index="6" class="java.lang.String" itemvalue="PyPDF2" />
+            <item index="7" class="java.lang.String" itemvalue="pypdf" />
+            <item index="8" class="java.lang.String" itemvalue="numpy" />
+            <item index="9" class="java.lang.String" itemvalue="datasets" />
+          </list>
+        </value>
+      </option>
+    </inspection_tool>
+  </profile>
+</component>

.idea/vcs.xml

@@ -0,0 +1,6 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="VcsDirectoryMappings">
+    <mapping directory="" vcs="Git" />
+  </component>
+</project>

.idea/workspace.xml

@@ -0,0 +1,153 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project version="4">
+  <component name="AutoImportSettings">
+    <option name="autoReloadType" value="SELECTIVE" />
+  </component>
+  <component name="BackendCodeEditorMiscSettings">
+    <option name="/Default/RiderDebugger/RiderRestoreDecompile/RestoreDecompileSetting/@EntryValue" value="false" type="bool" />
+    <option name="/Default/Housekeeping/GlobalSettingsUpgraded/IsUpgraded/@EntryValue" value="true" type="bool" />
+    <option name="/Default/Housekeeping/FeatureSuggestion/FeatureSuggestionManager/DisabledSuggesters/=SwitchToGoToActionSuggester/@EntryIndexedValue" value="true" type="bool" />
+    <option name="/Default/Housekeeping/FeatureSuggestion/FeatureSuggestionManager/DisabledSuggesters/=SwitchToGoToActionSuggester/@EntryIndexRemoved" />
+    <option name="/Default/Environment/Hierarchy/GeneratedFilesCacheKey/Timestamp/@EntryValue" value="3" type="long" />
+  </component>
+  <component name="CMakePresetLoader">{
+  &quot;useNewFormat&quot;: true
+}</component>
+  <component name="CMakeProjectFlavorService">
+    <option name="flavorId" value="CMakePlainProjectFlavor" />
+  </component>
+  <component name="CMakeReloadState">
+    <option name="reloaded" value="true" />
+  </component>
+  <component name="CMakeRunConfigurationManager">
+    <generated>
+      <config projectName="PicoIris" targetName="PicoIris_i2c_pio_h" />
+      <config projectName="PicoIris" targetName="PicoIris" />
+      <config projectName="PicoIris" targetName="bs2_default_library" />
+      <config projectName="PicoIris" targetName="cyw43_driver_picow_cyw43_bus_pio_spi_pio_h" />
+      <config projectName="PicoIris" targetName="bs2_default_bin" />
+      <config projectName="PicoIris" targetName="bs2_default" />
+    </generated>
+  </component>
+  <component name="CMakeSettings">
+    <configurations>
+      <configuration PROFILE_NAME="Debug" ENABLED="true" CONFIG_NAME="Debug" />
+    </configurations>
+  </component>
+  <component name="ChangeListManager">
+    <list default="true" id="51a5c9c0-ebfe-4d31-b391-1b542071ebbc" name="Changes" comment="">
+      <change beforePath="$PROJECT_DIR$/src/PicoIris.cpp" beforeDir="false" afterPath="$PROJECT_DIR$/src/PicoIris.cpp" afterDir="false" />
+    </list>
+    <option name="SHOW_DIALOG" value="false" />
+    <option name="HIGHLIGHT_CONFLICTS" value="true" />
+    <option name="HIGHLIGHT_NON_ACTIVE_CHANGELIST" value="false" />
+    <option name="LAST_RESOLUTION" value="IGNORE" />
+  </component>
+  <component name="ClangdSettings">
+    <option name="formatViaClangd" value="false" />
+  </component>
+  <component name="ExecutionTargetManager" SELECTED_TARGET="CMakeBuildProfile:Debug" />
+  <component name="Git.Settings">
+    <option name="RECENT_GIT_ROOT_PATH" value="$PROJECT_DIR$" />
+  </component>
+  <component name="ProjectApplicationVersion">
+    <option name="ide" value="CLion" />
+    <option name="majorVersion" value="2024" />
+    <option name="minorVersion" value="3.4" />
+    <option name="productBranch" value="Classic" />
+  </component>
+  <component name="ProjectColorInfo">{
+  &quot;associatedIndex&quot;: 5
+}</component>
+  <component name="ProjectId" id="2udZkhEv91jWtQ4K8Rvo6Hv3c7Y" />
+  <component name="ProjectViewState">
+    <option name="hideEmptyMiddlePackages" value="true" />
+    <option name="showLibraryContents" value="true" />
+  </component>
+  <component name="PropertiesComponent">{
+  &quot;keyToString&quot;: {
+    &quot;RunOnceActivity.RadMigrateCodeStyle&quot;: &quot;true&quot;,
+    &quot;RunOnceActivity.ShowReadmeOnStart&quot;: &quot;true&quot;,
+    &quot;RunOnceActivity.cidr.known.project.marker&quot;: &quot;true&quot;,
+    &quot;RunOnceActivity.git.unshallow&quot;: &quot;true&quot;,
+    &quot;RunOnceActivity.readMode.enableVisualFormatting&quot;: &quot;true&quot;,
+    &quot;RunOnceActivity.west.config.association.type.startup.service&quot;: &quot;true&quot;,
+    &quot;cf.first.check.clang-format&quot;: &quot;false&quot;,
+    &quot;cidr.known.project.marker&quot;: &quot;true&quot;,
+    &quot;git-widget-placeholder&quot;: &quot;main&quot;,
+    &quot;node.js.detected.package.eslint&quot;: &quot;true&quot;,
+    &quot;node.js.detected.package.tslint&quot;: &quot;true&quot;,
+    &quot;node.js.selected.package.eslint&quot;: &quot;(autodetect)&quot;,
+    &quot;node.js.selected.package.tslint&quot;: &quot;(autodetect)&quot;,
+    &quot;nodejs_package_manager_path&quot;: &quot;npm&quot;,
+    &quot;settings.editor.selected.configurable&quot;: &quot;clion.platformio.config&quot;,
+    &quot;vue.rearranger.settings.migration&quot;: &quot;true&quot;
+  }
+}</component>
+  <component name="RunManager" selected="CMake Application.PicoIris">
+    <configuration name="PicoIris" type="CMakeRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" PASS_PARENT_ENVS_2="true" PROJECT_NAME="PicoIris" TARGET_NAME="PicoIris" CONFIG_NAME="Debug" RUN_TARGET_PROJECT_NAME="PicoIris" RUN_TARGET_NAME="PicoIris">
+      <method v="2">
+        <option name="com.jetbrains.cidr.execution.CidrBuildBeforeRunTaskProvider$BuildBeforeRunTask" enabled="true" />
+      </method>
+    </configuration>
+    <configuration name="PicoIris_i2c_pio_h" type="CMakeRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" PASS_PARENT_ENVS_2="true" PROJECT_NAME="PicoIris" TARGET_NAME="PicoIris_i2c_pio_h" CONFIG_NAME="Debug">
+      <method v="2">
+        <option name="com.jetbrains.cidr.execution.CidrBuildBeforeRunTaskProvider$BuildBeforeRunTask" enabled="true" />
+      </method>
+    </configuration>
+    <configuration name="bs2_default" type="CMakeRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" PASS_PARENT_ENVS_2="true" PROJECT_NAME="PicoIris" TARGET_NAME="bs2_default" CONFIG_NAME="Debug" RUN_TARGET_PROJECT_NAME="PicoIris" RUN_TARGET_NAME="bs2_default">
+      <method v="2">
+        <option name="com.jetbrains.cidr.execution.CidrBuildBeforeRunTaskProvider$BuildBeforeRunTask" enabled="true" />
+      </method>
+    </configuration>
+    <configuration name="bs2_default_bin" type="CMakeRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" PASS_PARENT_ENVS_2="true" PROJECT_NAME="PicoIris" TARGET_NAME="bs2_default_bin" CONFIG_NAME="Debug">
+      <method v="2">
+        <option name="com.jetbrains.cidr.execution.CidrBuildBeforeRunTaskProvider$BuildBeforeRunTask" enabled="true" />
+      </method>
+    </configuration>
+    <configuration name="bs2_default_library" type="CMakeRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" PASS_PARENT_ENVS_2="true" PROJECT_NAME="PicoIris" TARGET_NAME="bs2_default_library" CONFIG_NAME="Debug">
+      <method v="2">
+        <option name="com.jetbrains.cidr.execution.CidrBuildBeforeRunTaskProvider$BuildBeforeRunTask" enabled="true" />
+      </method>
+    </configuration>
+    <configuration name="cyw43_driver_picow_cyw43_bus_pio_spi_pio_h" type="CMakeRunConfiguration" factoryName="Application" REDIRECT_INPUT="false" ELEVATE="false" USE_EXTERNAL_CONSOLE="false" EMULATE_TERMINAL="false" PASS_PARENT_ENVS_2="true" PROJECT_NAME="PicoIris" TARGET_NAME="cyw43_driver_picow_cyw43_bus_pio_spi_pio_h" CONFIG_NAME="Debug">
+      <method v="2">
+        <option name="com.jetbrains.cidr.execution.CidrBuildBeforeRunTaskProvider$BuildBeforeRunTask" enabled="true" />
+      </method>
+    </configuration>
+    <list>
+      <item itemvalue="CMake Application.PicoIris" />
+      <item itemvalue="CMake Application.bs2_default" />
+      <item itemvalue="CMake Application.bs2_default_bin" />
+      <item itemvalue="CMake Application.bs2_default_library" />
+      <item itemvalue="CMake Application.cyw43_driver_picow_cyw43_bus_pio_spi_pio_h" />
+      <item itemvalue="CMake Application.PicoIris_i2c_pio_h" />
+    </list>
+  </component>
+  <component name="SpellCheckerSettings" RuntimeDictionaries="0" Folders="0" CustomDictionaries="0" DefaultDictionary="application-level" UseSingleDictionary="true" transferred="true" />
+  <component name="TaskManager">
+    <task active="true" id="Default" summary="Default task">
+      <changelist id="51a5c9c0-ebfe-4d31-b391-1b542071ebbc" name="Changes" comment="" />
+      <created>1742580557791</created>
+      <option name="number" value="Default" />
+      <option name="presentableId" value="Default" />
+      <updated>1742580557791</updated>
+      <workItem from="1742580559816" duration="794000" />
+      <workItem from="1742750595682" duration="59000" />
+      <workItem from="1742756844093" duration="379000" />
+    </task>
+    <servers />
+  </component>
+  <component name="TypeScriptGeneratedFilesManager">
+    <option name="version" value="3" />
+  </component>
+  <component name="VCPKGProject">
+    <isAutomaticCheckingOnLaunch value="false" />
+    <isAutomaticFoundErrors value="true" />
+    <isAutomaticReloadCMake value="true" />
+  </component>
+  <component name="XSLT-Support.FileAssociations.UIState">
+    <expand />
+    <select />
+  </component>
+</project>

CMakeLists.txt

@@ -44,7 +44,7 @@ pico_set_program_version(PicoIris "0.1")
 # Generate PIO header
 pico_generate_pio_header(PicoIris ${CMAKE_CURRENT_LIST_DIR}/src/pio/i2c/i2c.pio)
 
-# Modify the below lines to enable/disable output over UART/USB
+#Disable debug messages on UART by redirecting them to USB
 pico_enable_stdio_uart(PicoIris 0)
 pico_enable_stdio_usb(PicoIris 1)
 

bus_scan.c

@@ -38,7 +38,8 @@
 bool reserved_addr(uint8_t addr) {
     return (addr & 0x78) == 0 || (addr & 0x78) == 0x78;
 }
-
+#define PICO_DEFAULT_I2C_SDA_PIN 22
+#define PICO_DEFAULT_I2C_SCL_PIN 19
 int main() {
     // Enable UART so we can print status output
     stdio_init_all();
@@ -47,47 +48,51 @@ int main() {
     puts("Default I2C pins were not defined");
 #else
     // This example will use I2C0 on the default SDA and SCL pins (GP4, GP5 on a Pico)
-    gpio_set_function(3, GPIO_FUNC_PWM);
+    gpio_set_function(11, GPIO_FUNC_PWM);
-    uint slice_num = pwm_gpio_to_slice_num(3);
+    uint slice_num = pwm_gpio_to_slice_num(11);
     // 6 cycles (0 to 5), 125 MHz / 6 = ~20.83 MHz wrap rate
     pwm_set_wrap(slice_num, 5);
-    pwm_set_gpio_level(3, 3);
+    pwm_set_gpio_level(11, 3);
     pwm_set_enabled(slice_num, true);
     sleep_ms(1000);
 
-    i2c_init(i2c_default, 100 * 1000);
+    i2c_init(i2c1, 100 * 1000);
-    gpio_set_function(PICO_DEFAULT_I2C_SDA_PIN, GPIO_FUNC_I2C);
+    gpio_set_function(22, GPIO_FUNC_I2C);
-    gpio_set_function(PICO_DEFAULT_I2C_SCL_PIN, GPIO_FUNC_I2C);
+    gpio_set_function(19, GPIO_FUNC_I2C);
-    gpio_pull_up(PICO_DEFAULT_I2C_SDA_PIN);
+    gpio_pull_up(22);
-    gpio_pull_up(PICO_DEFAULT_I2C_SCL_PIN);
+    gpio_pull_up(19);
     // Make the I2C pins available to picotool
-    bi_decl(bi_2pins_with_func(PICO_DEFAULT_I2C_SDA_PIN, PICO_DEFAULT_I2C_SCL_PIN, GPIO_FUNC_I2C));
+    bi_decl(bi_2pins_with_func(22, 19, GPIO_FUNC_I2C));
+    while(true){
+        printf("\nI2C Bus Scan\n");
+        printf("   0  1  2  3  4  5  6  7  8  9  A  B  C  D  E  F\n");
 
-    printf("\nI2C Bus Scan\n");
+        for (int addr = 0; addr < (1 << 7); ++addr) {
-    printf("   0  1  2  3  4  5  6  7  8  9  A  B  C  D  E  F\n");
+            if (addr % 16 == 0) {
+                printf("%02x ", addr);
+            }
 
-    for (int addr = 0; addr < (1 << 7); ++addr) {
+            // Perform a 1-byte dummy read from the probe address. If a slave
-        if (addr % 16 == 0) {
+            // acknowledges this address, the function returns the number of bytes
-            printf("%02x ", addr);
+            // transferred. If the address byte is ignored, the function returns
+            // -1.
+
+            // Skip over any reserved addresses.
+            int ret;
+            uint8_t rxdata;
+            if (reserved_addr(addr))
+                ret = PICO_ERROR_GENERIC;
+            else
+                ret = i2c_read_blocking(i2c1, addr, &rxdata, 1, false);
+                
+
+            printf(ret < 0 ? "." : "@");
+            printf(addr % 16 == 15 ? "\n" : "  ");
         }
-
+        printf("Done.\n");
-        // Perform a 1-byte dummy read from the probe address. If a slave
+        sleep_ms(1000);
-        // acknowledges this address, the function returns the number of bytes
-        // transferred. If the address byte is ignored, the function returns
-        // -1.
-
-        // Skip over any reserved addresses.
-        int ret;
-        uint8_t rxdata;
-        if (reserved_addr(addr))
-            ret = PICO_ERROR_GENERIC;
-        else
-            ret = i2c_read_blocking(i2c_default, addr, &rxdata, 1, false);
-
-        printf(ret < 0 ? "." : "@");
-        printf(addr % 16 == 15 ? "\n" : "  ");
     }
-    printf("Done.\n");
+
     return 0;
 #endif
 }

image_receiver.py

@@ -0,0 +1,314 @@
+import serial
+import struct
+import numpy as np
+import os
+import binascii
+import time
+import cv2  # Added OpenCV for image processing
+
+# Configure serial port - this will connect to the USB serial port from the Pico
+PORT = '/dev/tty.usbmodem101'  # Adjust for your system
+BAUD_RATE = 3000  # Reduced to match the Pico's baud rate for debugging
+TIMEOUT = 60  # Increased timeout for slower data transfer
+
+# Enable detailed debugging information
+DEBUG_MODE = True  # Set to True for verbose output, False for normal operation
+
+# Frame constants - match the values in the C++ code
+FRAME_HEADER = b'\xDE\xAD\xBE\xEF'  # Distinctive header
+FRAME_FOOTER = b'\xCA\xFE\xBA\xBE'  # Distinctive footer
+BINARY_START_MARKER = "BINARY_START"
+BINARY_END_MARKER = "###BINARY_END###"  # Updated to match the new format
+
+# Directory to save the frames
+output_dir = "frames"
+os.makedirs(output_dir, exist_ok=True)
+
+def debug_hex(data):
+    """Print data in hexadecimal format for debugging."""
+    return binascii.hexlify(data).decode('ascii')
+
+def save_as_image(frame_data, filename_base, frame_size=(160, 120)):
+    """Save the frame data as both PNG and raw file formats."""
+    try:
+        # Convert the raw data to a numpy array
+        img_array = np.frombuffer(frame_data, dtype=np.uint16)
+        
+        # Reshape to the expected dimensions
+        width, height = frame_size
+        img_array = img_array.reshape(height, width)
+        
+        # Convert from RGB565 to BGR format that OpenCV uses
+        # This conversion depends on your exact pixel format
+        # RGB565: 5 bits red, 6 bits green, 5 bits blue
+        img_rgb = np.zeros((height, width, 3), dtype=np.uint8)
+        
+        # Extract R, G, B components from RGB565
+        r = ((img_array & 0xF800) >> 11) * 8  # 5 bits for red (0-31) scaled to 0-255
+        g = ((img_array & 0x07E0) >> 5) * 4   # 6 bits for green (0-63) scaled to 0-255
+        b = (img_array & 0x001F) * 8          # 5 bits for blue (0-31) scaled to 0-255
+        
+        img_rgb[:,:,0] = b  # OpenCV uses BGR order
+        img_rgb[:,:,1] = g
+        img_rgb[:,:,2] = r
+        
+        # Save as PNG
+        png_filename = f"{filename_base}.png"
+        cv2.imwrite(png_filename, img_rgb)
+        print(f"Saved PNG image: {png_filename}")
+        
+        # Save as JPG with 90% quality
+        jpg_filename = f"{filename_base}.jpg"
+        cv2.imwrite(jpg_filename, img_rgb, [cv2.IMWRITE_JPEG_QUALITY, 90])
+        print(f"Saved JPG image: {jpg_filename}")
+        
+        # Also save the raw numpy array for further analysis if needed
+        np_filename = f"{filename_base}.npy"
+        np.save(np_filename, img_array)
+        print(f"Saved NumPy array: {np_filename}")
+        
+        # Save raw binary data too
+        raw_filename = f"{filename_base}.raw"
+        with open(raw_filename, "wb") as f:
+            f.write(frame_data)
+        print(f"Saved raw data: {raw_filename}")
+        
+        return True
+    
+    except Exception as e:
+        print(f"Error saving image: {e}")
+        import traceback
+        traceback.print_exc()
+        return False
+
+def receive_frame():
+    """Receive a complete frame from the serial port."""
+    try:
+        with serial.Serial(PORT, BAUD_RATE, timeout=TIMEOUT) as ser:
+            print(f"Monitoring serial port: {ser.name}")
+            
+            line = ""
+            in_binary_section = False
+            binary_data = bytearray()
+            
+            # Safety check - maximum buffer size to prevent infinite collection
+            MAX_BUFFER_SIZE = 500000  # 500KB should be more than enough for a 160x120 frame
+            
+            while True:
+                # Read data from serial port
+                if ser.in_waiting > 0:
+                    # Try to read a line first to check for markers
+                    c = ser.read(1)
+                    
+                    # If in binary section, collect binary data
+                    if in_binary_section:
+                        binary_data.append(c[0])
+                        
+                        # Safety check - if buffer gets too large, abort
+                        if len(binary_data) > MAX_BUFFER_SIZE:
+                            print(f"WARNING: Binary data exceeded maximum buffer size ({MAX_BUFFER_SIZE})")
+                            print("Aborting binary collection to prevent memory issues")
+                            return None
+                        
+                        # Show progress for large binary sections
+                        if len(binary_data) % 1000 == 0:
+                            print(f"Collected {len(binary_data)} bytes of binary data")
+                        
+                        # Check if we've accumulated enough data to check for the end marker
+                        # Add the character to our text buffer as well for end marker detection
+                        if c.isascii() and not c.isspace():
+                            line += c.decode('ascii', errors='replace')
+                        else:
+                            # For whitespace characters, we need special handling
+                            if c == b'\n':
+                                # If the current line contains our end marker
+                                if BINARY_END_MARKER in line:
+                                    print(f"Binary end marker detected in line: {line}")
+                                    in_binary_section = False
+                                    print(f"Total binary data collected: {len(binary_data)} bytes")
+                                    
+                                    # Print binary data summary
+                                    print("First 32 bytes:", debug_hex(binary_data[:32]))
+                                    print("Last 32 bytes:", debug_hex(binary_data[-32:]))
+                                    
+                                    # Find the last occurrence of FRAME_FOOTER
+                                    footer_pos = -1
+                                    for i in range(len(binary_data) - len(FRAME_FOOTER)):
+                                        if binary_data[i:i+len(FRAME_FOOTER)] == FRAME_FOOTER:
+                                            footer_pos = i
+                                    
+                                    if footer_pos >= 0:
+                                        print(f"Frame footer found at position {footer_pos}: {debug_hex(FRAME_FOOTER)}")
+                                        # Trim the binary data to end at the footer + footer length
+                                        binary_data = binary_data[:footer_pos + len(FRAME_FOOTER)]
+                                    else:
+                                        print(f"WARNING: Frame footer {debug_hex(FRAME_FOOTER)} not found in binary data")
+                                    
+                                    # Process the binary data
+                                    return process_binary_data(binary_data)
+                                line = ""
+                            elif c == b'\r':
+                                pass  # Ignore CR characters
+                    else:
+                        # Normal text processing
+                        if c == b'\n':
+                            # Check if this line is the start marker
+                            if BINARY_START_MARKER in line:
+                                print("Binary start marker detected")
+                                in_binary_section = True
+                                binary_data = bytearray()
+                                line = ""
+                            else:
+                                print(f"Log: {line}")
+                                line = ""
+                        else:
+                            line += c.decode('ascii', errors='replace')
+                else:
+                    # No data available, sleep briefly
+                    time.sleep(0.01)
+                    
+    except serial.SerialException as e:
+        print(f"Serial error: {e}")
+        return None
+    except Exception as e:
+        print(f"Unexpected error: {e}")
+        import traceback
+        traceback.print_exc()
+        return None
+
+def process_binary_data(data):
+    """Process the binary data to extract the frame."""
+    print(f"Processing {len(data)} bytes of binary data")
+    
+    # Search for the frame header
+    header_pos = -1
+    for i in range(len(data) - len(FRAME_HEADER)):
+        if data[i:i+len(FRAME_HEADER)] == FRAME_HEADER:
+            header_pos = i
+            break
+    
+    if header_pos == -1:
+        print("Error: Frame header not found")
+        return None
+    
+    print(f"Frame header found at position {header_pos}")
+    
+    # Extract the frame size
+    size_start = header_pos + len(FRAME_HEADER)
+    size_bytes = data[size_start:size_start+4]
+    if len(size_bytes) < 4:
+        print("Error: Incomplete size bytes")
+        return None
+    
+    frame_size = struct.unpack('<I', size_bytes)[0]
+    print(f"Frame size: {frame_size} bytes")
+    
+    # Extract the frame data
+    data_start = size_start + 4
+    frame_data = data[data_start:data_start+frame_size]
+    
+    if len(frame_data) != frame_size:
+        print(f"Warning: Incomplete frame data (got {len(frame_data)} of {frame_size} bytes)")
+        
+        # Save the incomplete frame data for debugging
+        incomplete_filename = os.path.join(output_dir, "incomplete_frame.raw")
+        with open(incomplete_filename, "wb") as f:
+            f.write(frame_data)
+        print(f"Saved incomplete frame data: {incomplete_filename}")
+        
+        return None
+    
+    # Extract and verify checksum
+    checksum_start = data_start + frame_size
+    checksum_bytes = data[checksum_start:checksum_start+4]
+    if len(checksum_bytes) < 4:
+        print("Error: Incomplete checksum bytes")
+        return None
+    
+    received_checksum = struct.unpack('<I', checksum_bytes)[0]
+    calculated_checksum = sum(frame_data) & 0xFFFFFFFF
+    print(f"Checksum: received={received_checksum}, calculated={calculated_checksum}")
+    
+    if received_checksum != calculated_checksum:
+        print("Error: Checksum mismatch")
+        #return None
+    
+    # Verify frame footer
+    footer_start = checksum_start + 4
+    footer = data[footer_start:footer_start+len(FRAME_FOOTER)]
+    if footer != FRAME_FOOTER:
+        print("Error: Invalid frame footer")
+        #return None
+    
+    print("Frame successfully extracted and verified!")
+    return frame_data
+
+def find_serial_port():
+    """Find the Pico's serial port by scanning available ports."""
+    import serial.tools.list_ports
+    
+    # Look for common Pico identifiers
+    pico_identifiers = ['usbmodem', 'ttyACM']
+    
+    ports = list(serial.tools.list_ports.comports())
+    for port in ports:
+        for identifier in pico_identifiers:
+            if identifier in port.device.lower():
+                print(f"Found likely Pico device at {port.device}")
+                return port.device
+    
+    # If no specific Pico port was found, return the first available port if any
+    if ports:
+        print(f"No specific Pico device found. Using first available port: {ports[0].device}")
+        return ports[0].device
+    
+    return None
+
+def main():
+    """Main function to receive and save frames."""
+    frame_count = 0
+    max_retries = 5
+    
+    while True:
+        try:
+            print("\n====== Waiting for new frame ======")
+            # Try to find a serial port if not already connected
+            try:
+                port = find_serial_port()
+                if port:
+                    print(f"Using serial port: {port}")
+                    global PORT
+                    PORT = port
+                else:
+                    print("No serial port found. Retrying in 5 seconds...")
+                    time.sleep(5)
+                    continue
+                    
+                frame_data = receive_frame()
+                
+                if frame_data is not None:
+                    # Create base filename for this frame
+                    base_filename = os.path.join(output_dir, f"frame_{frame_count:04d}")
+                    
+                    # Save the frame data as images
+                    if save_as_image(frame_data, base_filename):
+                        print(f"Successfully saved frame {frame_count}")
+                        frame_count += 1
+            
+            except serial.SerialException as e:
+                print(f"Serial connection error: {e}")
+                print("Waiting 5 seconds before retrying...")
+                time.sleep(5)
+                continue
+                
+        except KeyboardInterrupt:
+            print("\nProcess interrupted by user. Exiting...")
+            break
+        except Exception as e:
+            print(f"Error: {e}")
+            import traceback
+            traceback.print_exc()
+            time.sleep(5)  # Wait before retrying
+
+if __name__ == "__main__":
+    main()

src/PicoIris.cpp

@@ -14,37 +14,141 @@
 #include <ov2640/camera.hpp>
 #include "cstring"
 
-// PIO2 is reserved for the cam data retreive functions
+// Frame header and footer markers for synchronization - using distinctive values
+const uint8_t FRAME_HEADER[] = {0xDE, 0xAD, 0xBE, 0xEF}; // Distinctive header
+const uint8_t FRAME_FOOTER[] = {0xCA, 0xFE, 0xBA, 0xBE}; // Distinctive footer
+const int FRAME_MARKER_SIZE = 4;
 
+// Reduced baud rate for slower, more reliable debugging
+#define BAUD_RATE 57600  // Reduced for debugging (standard options: 9600, 19200, 38400, 57600, 115200)
+
+// PIO2 is reserved for the cam data retrieve functions
 camera_config_t left_eye_config = {
-    .pin_pwdn = -1,                   /*!< GPIO pin for camera power down line */ //? Also called PWDN, or set to -1 and tie to GND
+    .pin_pwdn = -1,                   /*!< GPIO pin for camera power down line */
-    .pin_reset = -1,                  /*!< GPIO pin for camera reset line */ //? Cam reset, or set to -1 and tie to 3.3V
+    .pin_reset = -1,                  /*!< GPIO pin for camera reset line */
-    .pin_xclk = 3,                   /*!< GPIO pin for camera XCLK line */ //? in theory could be shared or perhaps ommited?
+    .pin_xclk = 11,                   /*!< GPIO pin for camera XCLK line */
-    .pin_sccb_sda = 4,               /*!< GPIO pin for camera SDA line */
+    .pin_sccb_sda = 22,               /*!< GPIO pin for camera SDA line */
-    .pin_sccb_scl = 5,               /*!< GPIO pin for camera SCL line */
+    .pin_sccb_scl = 19,               /*!< GPIO pin for camera SCL line */
-    .pin_data_base = 6,              /*!< this pin + 7 consecutive will be used D0-D7 PCLK HREF */
+    .pin_data_9 = 14,              /*!< this pin + 7 consecutive will be used D0-D7 PCLK HREF */
-    .pin_vsync = 16,                  /*!< GPIO pin for camera VSYNC line */
+    .pin_data_8 = 12, 
-    .xclk_freq_hz = 0,               /*!< Frequency of XCLK signal, in Hz. */ //! Figure out the highest it can go to
+    .pin_data_7 = 10, 
-    .sccb_ctrl = 0,              /* Select i2c controller ctrl: 0 - i2c0, 1 - i2c1, 2 - pio0, 3 - pio1, 4 - pio2 */
+    .pin_data_6 = 8, 
+    .pin_data_5 = 6, 
+    .pin_data_4 = 5, 
+    .pin_data_3 = 4, 
+    .pin_data_2 = 3, 
+    .pin_vsync = 17,                  /*!< GPIO pin for camera VSYNC line */
+    .pin_hsync = 15,                  /*!< GPIO pin for camera VSYNC line */
+
+    .xclk_freq_hz = 0,               /*!< Frequency of XCLK signal, in Hz. */
+    .sccb_ctrl = 1,              /* Select i2c controller ctrl: 0 - i2c0, 1 - i2c1, 2 - pio0, 3 - pio1, 4 - pio2 */
 };
 
+// Send a properly framed image using printf for binary data
+void send_frame(const void* buffer, size_t size) {
+    // Ensure UART output buffer is flushed before sending binary data
+    printf("\n\nBINARY_START\n\n");
+    sleep_ms(100);  // Small delay to ensure the text is transmitted separately
+    
+    // Send binary data using fwrite directly to stdout
+    // This avoids any text processing that printf might do
+    
+    // Send frame header
+    fwrite(FRAME_HEADER, 1, FRAME_MARKER_SIZE, stdout);
+    sleep_ms(100);  // Small delay to ensure the text is transmitted separately
+    printf("test....");
+
+    // Send frame size (4 bytes, little-endian)
+    uint8_t size_bytes[4];
+    size_bytes[0] = size & 0xFF;
+    size_bytes[1] = (size >> 8) & 0xFF;
+    size_bytes[2] = (size >> 16) & 0xFF;
+    size_bytes[3] = (size >> 24) & 0xFF;
+    fwrite(size_bytes, 1, 4, stdout);
+    printf("test2....");
+
+    // Calculate checksum
+    uint32_t checksum = 0;
+    const uint8_t* buf = (const uint8_t*)buffer;
+    for (size_t i = 0; i < size; i++) {
+        checksum += buf[i];
+    }
+    
+    // Send frame data
+    fwrite(buf, 1, size, stdout);
+    sleep_ms(100);  // Small delay to ensure the text is transmitted separately
+
+    // Send checksum (4 bytes)
+    uint8_t checksum_bytes[4];
+    checksum_bytes[0] = checksum & 0xFF;
+    checksum_bytes[1] = (checksum >> 8) & 0xFF;
+    checksum_bytes[2] = (checksum >> 16) & 0xFF;
+    checksum_bytes[3] = (checksum >> 24) & 0xFF;
+    fwrite(checksum_bytes, 1, 4, stdout);
+    sleep_ms(100);  // Small delay to ensure the text is transmitted separately
+    // Send frame footer
+    fwrite(FRAME_FOOTER, 1, FRAME_MARKER_SIZE, stdout);
+    sleep_ms(100);  // Small delay to ensure the text is transmitted separately
+
+    // Flush to ensure all binary data is sent
+    fflush(stdout);
+    
+    // Make the end marker very distinctive with multiple newlines and unique pattern
+    sleep_ms(100);
+    printf("\n\n###BINARY_END###\n\n");
+}
+
+// Test function to verify binary data transmission
+void test_binary_transfer() {
+    printf("Testing binary transfer...\n");
+    
+    // Create a small test buffer
+    uint8_t test_data[16];
+    for (int i = 0; i < 16; i++) {
+        test_data[i] = i;
+    }
+    
+    // Send it as a frame
+    send_frame(test_data, sizeof(test_data));
+    
+    printf("Binary test complete\n");
+}
+
 int main()
 {
     stdio_init_all();
-
+    
-    sleep_ms(4000);
+    printf("\n\n=== PicoIris Starting ===\n");
-    //printf("Hello World!");
+    sleep_ms(1000);
+    
+    // Test binary transfer
+    test_binary_transfer();
+    sleep_ms(1000);
+    
+    printf("Configuring Camera...\n");
     
     OV2640 left_cam = OV2640(left_eye_config);
     left_cam.begin(DMA_IRQ_0);
-    //left_cam.capture_frame();
+    printf("Camera Configured!...\n");
-    //fwrite(left_cam.fb, 1, sizeof(left_cam.fb), stdout);
+    
+    // Image size (160 x 120 x 2 bytes per pixel for RGB565)
+    const size_t frame_size = 160 * 120 * 2;
+    
     while (true) {
-        //printf("Hello, world!\n");
+        // Capture a frame
-        //sleep_ms(1000);
+        printf("Attempting to capture frame...\n");
         left_cam.capture_frame();
-        //fwrite(&left_cam.fb, 1, sizeof(left_cam.fb), stdout);
+        
-        memset(&left_cam.fb, 0x00, sizeof(left_cam.fb));
+        // Once the frame is ready, send it over UART
-        sleep_ms(1000);
+        printf("Checking if frame is ready...\n");
-     }
+            printf("Frame ready, sending...\n");
-}
+            send_frame(left_cam.fb, frame_size);
+            left_cam.resetFrameReady();
+            printf("Frame sent...\n");
+
+        
+        // Small delay to allow processing time
+        printf("Waiting before next attempt...\n");
+        sleep_ms(3000);  // Increased delay for debugging
+    }
+}

src/ov2640/SCCB.cpp

@@ -100,6 +100,6 @@ void SCCB::writeList(const register_val_t *cfg,
     for (int i = 0; i < len; i++)
     {
         writeRegister(cfg[i].reg, cfg[i].value);
-        sleep_ms(2); // Some cams require, else lockup on init
+        sleep_ms(10); // Some cams require, else lockup on init
     }
 }

src/ov2640/camera.cpp

@@ -14,29 +14,31 @@
 #include "src/pio/image/image.pio.h"
 
 
-static volatile bool frameReady = false;     // true at end-of-frame
+static volatile bool frameReady = false;
-static volatile bool suspended = true; 
+static volatile bool suspended = true;
+static volatile bool dma_busy = false;
 void* pointer;
 
-static void iCap_vsync_irq(uint gpio, uint32_t events) {
+// VSYNC interrupt handler
-    if (!suspended) {
+void iCap_vsync_irq(uint gpio, uint32_t events) {
-      // Clear PIO FIFOs and start DMA transfer
+    if (!suspended && !dma_busy) {
-      pio_sm_clear_fifos(pio2, 0);
+        pio_sm_clear_fifos(pio2, 0);  // Clear PIO FIFOs
-      dma_channel_start(0);
+        dma_busy = true;              // Mark DMA as busy
+        dma_channel_start(0);         // Start DMA transfer
     }
-  }
+}
 
-static void iCap_dma_finish_irq() {
+// DMA completion interrupt handler
-    frameReady = true;
+void iCap_dma_finish_irq() {
-    suspended = true;
+    frameReady = true;                // Signal frame is ready
-    //printf("iCap_dma_finish_irq");
+    suspended = true;                 // Suspend further captures
-    dma_channel_set_write_addr(0, (uint8_t *)(pointer), false);
+    dma_busy = false;                 // DMA is no longer busy
-    printf("0x%\n", (uintptr_t)pointer);
+    dma_channel_set_write_addr(0, pointer, false);  // Reset write address
-    dma_hw->ints0 = 1u << 0;
+    dma_hw->ints0 = 1u << 0;          // Clear DMA interrupt flag
-  }
+}
-  
 // TODO: Stolen from Adafruit repo (Check if correct)
 
+
 // PIO code in this table is modified at runtime so that PCLK is
 // configurable (rather than fixed GP## or PIN offset). Data pins
 // must be contiguous but are otherwise configurable.
@@ -605,14 +607,16 @@ register_val_t OV2640_qqvga[] = {
 // };
 
 
+
 OV2640::OV2640(camera_config_t config)
 {
     this->config = config;
-    memset(&this->fb, 0x00, sizeof(this->fb));
+        memset(&this->fb, 0x00, sizeof(this->fb));
     pointer = &this->fb;
     //this->fb = image_buf;
 }
 
+
 // Pin interrupt on VSYNC calls this to start DMA transfer (unless suspended).
 // static void vsync_irq(uint gpio, uint32_t events)
 // {
@@ -642,173 +646,134 @@ int OV2640::begin(int dma_irq)
     pwm_set_gpio_level(this->config.pin_xclk, 4);
     pwm_set_enabled(slice_num, true);
 
+    printf("PWM clock setup for XCLK complete (9.375 MHz)\n");
+
     // Init SCCB
-    //prtintf("Init SCCB\n");
+    printf("Initializing SCCB on SDA=%d, SCL=%d...\n", 
+           this->config.pin_sccb_sda, this->config.pin_sccb_scl);
     this->sccb = SCCB(this->config.pin_sccb_sda, this->config.pin_sccb_scl);
     this->sccb.begin(this->config.sccb_ctrl);
-    //prtintf("Inited SCCB\n");
+    printf("SCCB initialization complete\n");
 
     // ENABLE AND/OR RESET CAMERA --------------------------------------------
     // Unsure of camera startup time from beginning of input clock.
     // Let's guess it's similar to tS:REG (300 ms) from datasheet.
+    printf("Waiting for camera to stabilize...\n");
     sleep_ms(300);
 
-    // Perform a soft reset (we dont wanna waste GPIO on wiring in reset pins)
+    // Perform a soft reset
+    printf("Sending camera reset command...\n");
     this->sccb.writeRegister(OV2640_REG_RA_DLMT, OV2640_RA_DLMT_SENSOR); // Bank select 1
     this->sccb.writeRegister(OV2640_REG1_COM7, OV2640_COM7_SRST);        // System reset
-    sleep_ms(300);                                                         // Datasheet: tS:RESET = 1 ms
+    sleep_ms(1000);                                                       // Datasheet: tS:RESET = 1 ms
+    printf("Camera reset complete\n");
 
-    // Init main camera settings
+    printf("Initializing camera registers...\n");
-    //printf("Stolemjpg init\n");
-    //this->sccb.writeList(OV2640_stolem_jpeg_init, sizeof(OV2640_stolem_jpeg_init)/sizeof(OV2640_stolem_jpeg_init[0]));
-    //printf("Stolemjpg init DONE\n");
     this->sccb.writeList(OV2640_init, sizeof(OV2640_init)/sizeof(OV2640_init[0]));
     this->sccb.writeList(OV2640_qqvga, sizeof(OV2640_qqvga)/sizeof(OV2640_qqvga[0]));
     this->sccb.writeList(OV2640_rgb, sizeof(OV2640_rgb)/sizeof(OV2640_rgb[0]));
-    //this->sccb.writeList(OV2640_jpeg, sizeof(OV2640_jpeg)/sizeof(OV2640_jpeg[0]));
+    
-    //this->sccb.writeRegister(0xd3, 0x0f);
+    // // Enable color bar test pattern for debugging
+    //printf("Enabling color bar test pattern...\n");
+    //this->sccb.writeRegister(OV2640_REG_RA_DLMT, OV2640_RA_DLMT_SENSOR);
+    //this->sccb.writeRegister(OV2640_REG1_COM7, OV2640_COM7_COLORBAR); // Output test pattern
+    //printf("Test pattern enabled\n");
 
-
+    // GPIO pin setup
-    // this->set_framesize();
+    printf("Setting up GPIO pins for camera data...\n");
-    //  sleep_ms(10);
-    // this->sccb.writeList(OV2640_jpeg, sizeof(OV2640_jpeg)/sizeof(OV2640_jpeg[0]));
-
-    //this->set_gainceiling(GAINCEILING_2X);
-    //sleep_ms(10);
-    //this->set_bpc(false);
-    //sleep_ms(10);
-    //this->set_wpc(true);
-    //sleep_ms(10);
-    //this->set_lenc(true);
-    //sleep_ms(10);
-    // this->set_quality(5);
-    // sleep_ms(10);
-    // this->sccb.writeList(OV2640_jpeg, sizeof(OV2640_jpeg)/sizeof(OV2640_jpeg[0]));
-
-    // this->set_quality(5);
-
-    // //prtintf("Write list of init\n");
-    // // sleep_ms(10);
-    // // this->sccb.writeRegister(OV2640_REG_RA_DLMT, OV2640_RA_DLMT_DSP);
-    //  sleep_ms(10);
-    // //this->sccb.writeRegister(0xd3, 0x05);
-    //  sleep_ms(10);
-
-
-    // // for (int i=0; i<5; i++) {
-    // //     this->sccb.writeRegister(0xff, 0x00);
-    // //     this->sccb.writeRegister(special_effects_regs[0][i], special_effects_regs[3][i]);
-    // // }
-
-    // this->sccb.writeRegister(0xff, 0x00);
-    // this->sccb.writeRegister(0xd3, 0x05); // try 0x80 next
-
-
-    //prtintf("Gpio init\n");
     gpio_init(this->config.pin_vsync);
     gpio_set_dir(this->config.pin_vsync, GPIO_IN);
     gpio_pull_down(this->config.pin_vsync);
-    for (uint8_t i = 0; i < 10; i++)
+    
-    {
-        gpio_init(this->config.pin_data_base + i);
-        gpio_set_dir(this->config.pin_data_base + i, GPIO_IN);
-        //gpio_pull_down(this->config.pin_data_base + i);
-    }
-    //prtintf("Gpio init done\n");
 
-    // PIO periph to use is currently specified by the user in the arch struct,
-    // but I suppose this could be written to use whatever PIO has resources.
 
-    // Mask the GPIO pin used PCLK into the PIO opcodes -- see notes at top
+    gpio_init(this->config.pin_data_9 );
-    // TODO: check if this is correct (code made for rp2040 not rp2350 so it might differ)
+    gpio_set_dir(this->config.pin_data_9, GPIO_IN);
-    //prtintf("PIO init\n");
+    gpio_init(this->config.pin_data_8 );
-    //! Temporary replace with the image.pio from known working library rp2040_ov2640
+    gpio_set_dir(this->config.pin_data_8, GPIO_IN);
-    /*capture_pio_opcodes[0] |= (this->config.pin_href & 31);
+    gpio_init(this->config.pin_data_7 );
-    capture_pio_opcodes[1] |= (this->config.pin_pclk & 31);
+    gpio_set_dir(this->config.pin_data_7, GPIO_IN);
-    capture_pio_opcodes[3] |= (this->config.pin_pclk & 31);
+    gpio_init(this->config.pin_data_6 );
+    gpio_set_dir(this->config.pin_data_6, GPIO_IN);
+    gpio_init(this->config.pin_data_5 );
+    gpio_set_dir(this->config.pin_data_5, GPIO_IN);
+    gpio_init(this->config.pin_data_4 );
+    gpio_set_dir(this->config.pin_data_4, GPIO_IN);
+    gpio_init(this->config.pin_data_3 );
+    gpio_set_dir(this->config.pin_data_3, GPIO_IN);
+    gpio_init(this->config.pin_data_2 );
+    gpio_set_dir(this->config.pin_data_2, GPIO_IN);
 
-    uint offset = pio_add_program(pio2, &cap_pio_program);
-    this->sm = pio_claim_unused_sm(pio2, true); // 0-3
-    sm = this->sm;
-    pio_sm_set_consecutive_pindirs(pio2, this->sm, this->config.pin_data_base, 8, false);
 
-    pio_sm_config c = pio_get_default_sm_config();
-    c.pinctrl = 0; // SDK fails to set this
-    sm_config_set_wrap(&c, offset, offset + cap_pio_program.length - 1);
 
-    sm_config_set_in_pins(&c, this->config.pin_data_base);
-    sm_config_set_in_shift(&c, false, true, 16); // 1 pixel (16b) ISR to FIFO
-    sm_config_set_fifo_join(&c, PIO_FIFO_JOIN_RX);
 
-    pio_sm_init(pio2, this->sm, offset, &c);
+    
-    pio_sm_set_enabled(pio2, this->sm, true);
-    //prtintf("PIO init done\n");
 
-    // SET UP DMA ------------------------------------------------------------
-    //prtintf("DMA init\n");
-    this->dma_channel = dma_claim_unused_channel(false); // don't panic
-    dma_channel = this->dma_channel;
-    this->dma_config = dma_channel_get_default_config(this->dma_channel);
-    channel_config_set_transfer_data_size(&this->dma_config, DMA_SIZE_16);
-    channel_config_set_read_increment(&this->dma_config, false);
-    channel_config_set_write_increment(&this->dma_config, true);
-    channel_config_set_bswap(&this->dma_config, true);
 
-    // Set PIO RX as DMA trigger. Input shift register saturates at 16 bits
+    printf("GPIO initialization complete\n");
-    // (1 pixel), configured in data size above and in PIO setup elsewhere.
-    channel_config_set_dreq(&this->dma_config,
-                            pio_get_dreq(pio2, this->sm, false));
-    // Set up baseline DMA configuration...it's initially lacking destination
-    // and count, set later (dma_change()) after resolution is known. DMA
-    // isn't started until later, and is triggered in the vsync interrupt.
-    dma_channel_configure(this->dma_channel, &this->dma_config, NULL,
-                          &pio2->rxf[this->sm], 0, false);
-
-    // Set up end-of-DMA interrupt
-    dma_channel_set_irq0_enabled(this->dma_channel, true);
-    //prtintf("DMA init done\n");
-    //? setup diffrent handlers for each cam???
-    //? check with a button or smth if this fires all events or only one
-    //? cuz then I would be able to do dma_finish_irq_cam1, dma_finish_irq_cam2, dma_finish_irq_cam3
-    //? That would have hardcoded values for the buffers 
-    irq_set_exclusive_handler(dma_irq, dma_finish_irq);
-    irq_set_enabled(dma_irq, true);
-
-    // SET UP VSYNC INTERRUPT ------------------------------------------------
-    //? This also could be redone with hardcoded values
-    gpio_set_irq_enabled_with_callback(this->config.pin_vsync, GPIO_IRQ_EDGE_RISE, true,
-                                       &vsync_irq);*/
 
+    // PIO setup for image capture
+    printf("Setting up PIO for image capture...\n");
     uint offset = pio_add_program(pio2, &image_program);
-    image_program_init(pio2, 0, offset, this->config.pin_data_base);
 
-    //printf("IRQ init done\n");
+    image_program_init(pio2, 0, offset, this->config.pin_data_9);
+    image_program_init(pio2, 0, offset, this->config.pin_data_8);
+    image_program_init(pio2, 0, offset, this->config.pin_data_7);
+    image_program_init(pio2, 0, offset, this->config.pin_data_6);
+    image_program_init(pio2, 0, offset, this->config.pin_data_5);
+    image_program_init(pio2, 0, offset, this->config.pin_data_4);
+    image_program_init(pio2, 0, offset, this->config.pin_data_3);
+    image_program_init(pio2, 0, offset, this->config.pin_data_2);
+    image_program_init(pio2, 0, offset, this->config.pin_hsync);
 
-    //printf("config done");
+    printf("PIO setup complete\n");
+
+    // DMA setup
+    printf("Configuring DMA for image capture...\n");
     dma_channel_config c = dma_channel_get_default_config(0);
     channel_config_set_transfer_data_size(&c, DMA_SIZE_16);
     channel_config_set_read_increment(&c, false);
     channel_config_set_write_increment(&c, true);
     channel_config_set_bswap(&c, true);
-    // Set PIO RX as DMA trigger. Input shift register saturates at 16 bits
+    channel_config_set_dreq(&c, pio_get_dreq(pio2, 0, false));
-    // (1 pixel), configured in data size above and in PIO setup elsewhere.
+    dma_channel_configure(0, &c, this->fb, &pio2->rxf[0], 160 * 120, false);
-    channel_config_set_dreq(&c,
+    printf("DMA configuration complete\n");
-                            pio_get_dreq(pio2, 0, false));
+
-    // Set up baseline DMA configuration...it's initially lacking destination
+    // Set up DMA interrupt
-    // and count, set later (dma_change()) after resolution is known. DMA
+    printf("Setting up DMA interrupt...\n");
-    // isn't started until later, and is triggered in the vsync interrupt.
-    dma_channel_configure(0, &c, &this->fb,
-                          &pio2->rxf[0], sizeof(this->fb), false);
-  
-    // Set up end-of-DMA interrupt
     dma_channel_set_irq0_enabled(0, true);
-    irq_set_exclusive_handler(DMA_IRQ_0, iCap_dma_finish_irq);
+    irq_set_exclusive_handler(DMA_IRQ_0, iCap_dma_finish_irq);  // Register DMA handler
     irq_set_enabled(DMA_IRQ_0, true);
-  
+    printf("DMA interrupt setup complete\n");
-    // SET UP VSYNC INTERRUPT ------------------------------------------------
+
-  
+    // Set up VSYNC interrupt
+    printf("Setting up VSYNC interrupt on pin %d...\n", this->config.pin_vsync);
     gpio_set_irq_enabled_with_callback(this->config.pin_vsync, GPIO_IRQ_EDGE_RISE, true,
-                                       &iCap_vsync_irq);
+                                      &iCap_vsync_irq);  // Register VSYNC handler
+    printf("VSYNC interrupt setup complete\n");
+
+    // Test if VSYNC is toggling
+    printf("Checking if VSYNC is toggling...\n");
+    bool initial_vsync = gpio_get(this->config.pin_vsync);
+    uint32_t start_time = time_us_32();
+    bool vsync_changed = false;
+    while ((time_us_32() - start_time) < 1000000) { // 1 second timeout
+        bool current_vsync = gpio_get(this->config.pin_vsync);
+        if (current_vsync != initial_vsync) {
+            vsync_changed = true;
+            printf("VSYNC toggled from %d to %d\n", initial_vsync, current_vsync);
+            break;
+        }
+        sleep_ms(1);
+    }
+    
+    if (!vsync_changed) {
+        printf("WARNING: VSYNC signal not detected during initialization\n");
+    } else {
+        printf("VSYNC signal detected successfully\n");
+    }
+
+    printf("Camera initialization complete\n");
     return 0;
 }
 
@@ -878,36 +843,78 @@ void OV2640::set_lenc(bool enable) {
     this->sccb.writeMaskRegister(0xC3, 1, 1, enable?1:0);
 }
 
-
+bool OV2640::isFrameReady() const {
-void OV2640::capture_frame() {
+    return frameReady;
-    suspended = false;
-    while(!frameReady);
-    return;
-    // dma_channel_config c = dma_channel_get_default_config(0);
-    // channel_config_set_read_increment(&c, false);
-    // channel_config_set_write_increment(&c, true);
-    // channel_config_set_dreq(&c, pio_get_dreq(pio2, 0, false));
-    // channel_config_set_transfer_data_size(&c, DMA_SIZE_16);
-    
-    // dma_channel_configure(
-    //     0, &c,
-    //     &this->fb,
-    //     &pio2->rxf[0],
-    //     sizeof(this->fb),
-    //     false
-    // );
-
-    // // Wait for vsync rising edge to start frame
-    // ////prtintf("pin_vsync) == true\n");
-    // while (gpio_get(this->config.pin_vsync) == true);
-    // ////prtintf("pin_vsync) == false\n");
-    // while (gpio_get(this->config.pin_vsync) == false);
-    // ////prtintf("after while loops\n");
-
-    // dma_channel_start(0);
-    // dma_channel_wait_for_finish_blocking(0);
 }
 
+void OV2640::resetFrameReady() {
+    frameReady = false;
+}
+void OV2640::capture_frame() {
+    // Reset frame ready flag before starting capture
+    frameReady = false;
+    
+    // Allow captures to proceed
+    suspended = false;
+    
+    // Wait for frame with timeout to prevent infinite loops
+    uint32_t start_time = time_us_32();
+    uint32_t timeout_us = 2000000; // 2 second timeout
+    
+    while(!frameReady) {
+        // Check for timeout
+        if ((time_us_32() - start_time) > timeout_us) {
+            printf("Frame capture timeout! Sending incomplete frame...\n");
+            // Reset DMA in case it's stuck
+            dma_channel_abort(0);
+            dma_channel_set_write_addr(0, pointer, false);
+            dma_busy = false;
+            suspended = true;
+            return; // Exit without waiting for frameReady
+        }
+        // Small yield to avoid tight loop
+        sleep_us(100);
+    }
+    
+    // Frame is ready, no need to do anything else
+    // The DMA handler has already set frameReady = true
+    printf("Frame captured successfully\n");
+}
+
+// void OV2640::set_resolution(uint16_t width, uint16_t height) {
+//     // Set resolution registers
+//     this->sccb.writeRegister(OV2640_REG_RA_DLMT, OV2640_RA_DLMT_DSP); // DSP bank select 0
+//     this->sccb.writeRegister(OV2640_REG0_HSIZE8, (width >> 3) & 0xFF); // HSIZE high bits
+//     this->sccb.writeRegister(OV2640_REG0_VSIZE8, (height >> 3) & 0xFF); // VSIZE high bits
+//     this->sccb.writeRegister(OV2640_REG0_HSIZE, width & 0xFF); // HSIZE low bits
+//     this->sccb.writeRegister(OV2640_REG0_VSIZE, height & 0xFF); // VSIZE low bits
+//     this->sccb.writeRegister(OV2640_REG0_ZMOW, width & 0xFF); // OUTW low bits
+//     this->sccb.writeRegister(OV2640_REG0_ZMOH, height & 0xFF); // OUTH low bits
+//     this->sccb.writeRegister(OV2640_REG0_ZMHH, ((height >> 8) & 0x04) | ((width >> 8) & 0x03)); // OUTW/H high bits
+//     printf("Resolution set to %dx%d\n", width, height);
+// }
+
+// void OV2640::set_resolution_vga() {
+//     // Set resolution to VGA (640x480)
+//     uint16_t width = 640;
+//     uint16_t height = 480;
+
+//     // Adjust frame buffer size for VGA resolution
+//     this->fb = new uint8_t[width * height * 2]; // Assuming 2 bytes per pixel (RGB565)
+//     pointer = this->fb;
+
+//     // Set resolution registers
+//     this->sccb.writeRegister(OV2640_REG_RA_DLMT, OV2640_RA_DLMT_DSP); // DSP bank select 0
+//     this->sccb.writeRegister(OV2640_REG0_HSIZE8, (width >> 3) & 0xFF); // HSIZE high bits
+//     this->sccb.writeRegister(OV2640_REG0_VSIZE8, (height >> 3) & 0xFF); // VSIZE high bits
+//     this->sccb.writeRegister(OV2640_REG0_HSIZE, width & 0xFF); // HSIZE low bits
+//     this->sccb.writeRegister(OV2640_REG0_VSIZE, height & 0xFF); // VSIZE low bits
+//     this->sccb.writeRegister(OV2640_REG0_ZMOW, width & 0xFF); // OUTW low bits
+//     this->sccb.writeRegister(OV2640_REG0_ZMOH, height & 0xFF); // OUTH low bits
+//     this->sccb.writeRegister(OV2640_REG0_ZMHH, ((height >> 8) & 0x04) | ((width >> 8) & 0x03)); // OUTW/H high bits
+
+//     printf("Resolution set to VGA (640x480)\n");
+// }
 
 //! https://forums.raspberrypi.com/viewtopic.php?t=339299
 // TODO: change to switches and experiment with state machines, check if I can kinda reserve dma's so 0-3 would indicate state machines 0-3 

src/ov2640/camera.hpp

@@ -9,8 +9,16 @@ typedef struct {
     int pin_xclk;                   /*!< GPIO pin for camera XCLK line */ //? in theory could be shared or perhaps ommited?
     int pin_sccb_sda;               /*!< GPIO pin for camera SDA line */
     int pin_sccb_scl;               /*!< GPIO pin for camera SCL line */
-    int pin_data_base;              /*!< this pin + 9 consecutive will be used D0-D7 PCLK HREF */
+    int pin_data_9;              /*!< this pin + 9 consecutive will be used D0-D7 PCLK HREF */
+    int pin_data_8;              /*!< this pin + 9 consecutive will be used D0-D7 PCLK HREF */
+    int pin_data_7;              /*!< this pin + 9 consecutive will be used D0-D7 PCLK HREF */
+    int pin_data_6;              /*!< this pin + 9 consecutive will be used D0-D7 PCLK HREF */
+    int pin_data_5;              /*!< this pin + 9 consecutive will be used D0-D7 PCLK HREF */
+    int pin_data_4;              /*!< this pin + 9 consecutive will be used D0-D7 PCLK HREF */
+    int pin_data_3;              /*!< this pin + 9 consecutive will be used D0-D7 PCLK HREF */
+    int pin_data_2;              /*!< this pin + 9 consecutive will be used D0-D7 PCLK HREF */
     int pin_vsync;                  /*!< GPIO pin for camera VSYNC line */
+    int pin_hsync;                  /*!< GPIO pin for camera VSYNC line */
     int xclk_freq_hz;               /*!< Frequency of XCLK signal, in Hz. */ //! Figure out the highest it can go to
     uint8_t sccb_ctrl;              /* Select i2c controller ctrl: 0 - i2c0, 1 - i2c1, 2 - pio0, 3 - pio1, 4 - pio2 */
 } camera_config_t;
@@ -34,6 +42,11 @@ class OV2640 {
 public:
     OV2640(camera_config_t config);
     ~OV2640();
+        // Check if a new frame is ready
+        bool isFrameReady() const;
+    
+        // Reset the frame ready flag after processing
+        void resetFrameReady();
 
     int begin(int dma_irq);
     void set_quality(int quality);
@@ -44,7 +57,7 @@ public:
     void set_framesize();
     void capture_frame();
 
-    uint8_t fb[(352*288)];
+    uint8_t* fb; // Changed from fixed array to pointer
     camera_config_t config;
 
 private:

src/pio/image/image.pio.h

@@ -60,5 +60,7 @@ void image_program_init(PIO pio, uint sm, uint offset, uint pin_base) {
 	pio_sm_set_enabled(pio, sm, true);
 }
 
+// New function to initialize PIO with camera configuration pins - declaration only
+// In image.pio.h, replace the implementation with a declaration
 #endif