latest test changes

* add heltec-mesh-node-t1

* fixed low power

* Update the sensor enumeration values.

Co-authored-by: Copilot Autofix powered by AI <175728472+Copilot@users.noreply.github.com>

* Fix memory leak in ICM42607PSensor

* fix  ST7735_MISO  error

---------

Co-authored-by: Ben Meadors <benmmeadors@gmail.com>
Co-authored-by: Copilot Autofix powered by AI <175728472+Copilot@users.noreply.github.com>

boards/heltec_mesh_node_t1.json

@@ -0,0 +1,54 @@
+{
+  "build": {
+    "arduino": {
+      "ldscript": "nrf52840_s140_v6.ld"
+    },
+    "core": "nRF5",
+    "cpu": "cortex-m4",
+    "extra_flags": "-DNRF52840_XXAA",
+    "f_cpu": "64000000L",
+    "hwids": [
+      ["0x239A", "0x4405"],
+      ["0x239A", "0x0029"],
+      ["0x239A", "0x002A"],
+      ["0x2886", "0x1667"]
+    ],
+    "usb_product": "HT-n5262",
+    "mcu": "nrf52840",
+    "variant": "heltec_mesh_node_t1",
+    "variants_dir": "variants",
+    "bsp": {
+      "name": "adafruit"
+    },
+    "softdevice": {
+      "sd_flags": "-DS140",
+      "sd_name": "s140",
+      "sd_version": "6.1.1",
+      "sd_fwid": "0x00B6"
+    },
+    "bootloader": {
+      "settings_addr": "0xFF000"
+    }
+  },
+  "connectivity": ["bluetooth"],
+  "debug": {
+    "jlink_device": "nRF52840_xxAA",
+    "onboard_tools": ["jlink"],
+    "svd_path": "nrf52840.svd",
+    "openocd_target": "nrf52840-mdk-rs"
+  },
+  "frameworks": ["arduino"],
+  "name": "Heltec Mesh Node T1",
+  "upload": {
+    "maximum_ram_size": 248832,
+    "maximum_size": 815104,
+    "speed": 115200,
+    "protocol": "nrfutil",
+    "protocols": ["jlink", "nrfjprog", "nrfutil", "stlink"],
+    "use_1200bps_touch": true,
+    "require_upload_port": true,
+    "wait_for_upload_port": true
+  },
+  "url": "https://heltec.org",
+  "vendor": "Heltec"
+}

platformio.ini

@@ -186,12 +186,16 @@ lib_deps =
 	https://github.com/sparkfun/SparkFun_MAX3010x_Sensor_Library/archive/refs/tags/v1.1.2.zip
 	# renovate: datasource=github-tags depName=SparkFun 9DoF IMU Breakout ICM 20948 packageName=sparkfun/SparkFun_ICM-20948_ArduinoLibrary
 	https://github.com/sparkfun/SparkFun_ICM-20948_ArduinoLibrary/archive/refs/tags/v1.3.2.zip
+	# renovate: datasource=github-tags depName=TDK InvenSense ICM42670P packageName=tdk-invn-oss/motion.arduino.ICM42670P
+	https://github.com/tdk-invn-oss/motion.arduino.ICM42670P/archive/refs/tags/1.0.8.zip
 	# renovate: datasource=github-tags depName=Adafruit LTR390 Library packageName=adafruit/Adafruit_LTR390
 	https://github.com/adafruit/Adafruit_LTR390/archive/refs/tags/1.1.2.zip
 	# renovate: datasource=github-tags depName=Adafruit PCT2075 packageName=adafruit/Adafruit_PCT2075
 	https://github.com/adafruit/Adafruit_PCT2075/archive/refs/tags/1.0.6.zip
 	# renovate: datasource=github-tags depName=DFRobot_BMM150 packageName=dfrobot/DFRobot_BMM150
 	https://github.com/DFRobot/DFRobot_BMM150/archive/refs/tags/V1.0.0.zip
+	# renovate: datasource=github-tags depName=SparkFun MMC5983MA Magnetometer packageName=sparkfun/SparkFun_MMC5983MA_Magnetometer_Arduino_Library
+	https://github.com/sparkfun/SparkFun_MMC5983MA_Magnetometer_Arduino_Library/archive/refs/tags/v1.1.4.zip
 	# renovate: datasource=github-tags depName=Adafruit_TSL2561 packageName=adafruit/Adafruit_TSL2561
 	https://github.com/adafruit/Adafruit_TSL2561/archive/refs/tags/1.1.3.zip
 	# renovate: datasource=github-tags depName=BH1750_WE packageName=wollewald/BH1750_WE

src/concurrency/Lock.cpp

@@ -1,6 +1,7 @@
 #include "Lock.h"
 #include "configuration.h"
 #include <cassert>
+#include <logging.h>
 
 namespace concurrency
 {
@@ -33,13 +34,33 @@ void Lock::unlock()
     }
 }
 #else
-Lock::Lock() {}
+Lock::Lock()
+{
+    pthread_mutex_init(&mutex, NULL);
+}
 
-Lock::~Lock() {}
+void Lock::lock()
+{
+    if (locked) {
+        LOG_INFO("Attempt to lock an already locked Lock!");
+    }
+    pthread_mutex_lock(&mutex);
+    locked = true;
 
-void Lock::lock() {}
+    if (console)
+        LOG_WARN("Lock");
+}
 
-void Lock::unlock() {}
+void Lock::unlock()
+{
+    pthread_mutex_unlock(&mutex);
+    locked = false;
+}
+
+Lock::~Lock()
+{
+    pthread_mutex_destroy(&mutex);
+}
 #endif
 
 } // namespace concurrency

src/concurrency/Lock.h

@@ -30,6 +30,9 @@ class Lock
   private:
 #ifdef HAS_FREE_RTOS
     SemaphoreHandle_t handle;
+#else
+    pthread_mutex_t mutex;
+    bool locked = false;
 #endif
 };
 

src/configuration.h

@@ -243,6 +243,7 @@ along with this program.  If not, see <http://www.gnu.org/licenses/>.
 #define QMI8658_ADDR 0x6B
 #define QMC5883L_ADDR 0x0D
 #define HMC5883L_ADDR 0x1E
+#define MMC5983MA_ADDR 0x30
 #define SHTC3_ADDR 0x70
 #define LPS22HB_ADDR 0x5C
 #define LPS22HB_ADDR_ALT 0x5D
@@ -292,6 +293,8 @@ along with this program.  If not, see <http://www.gnu.org/licenses/>.
 #define DA217_ADDR 0x26
 #define BMI270_ADDR 0x68
 #define BMI270_ADDR_ALT 0x69
+#define ICM42607P_ADDR 0x68
+#define ICM42607P_ADDR_ALT 0x69
 
 // -----------------------------------------------------------------------------
 // LED

src/detect/ScanI2C.cpp

@@ -37,8 +37,15 @@ ScanI2C::FoundDevice ScanI2C::firstKeyboard() const
 
 ScanI2C::FoundDevice ScanI2C::firstAccelerometer() const
 {
-    ScanI2C::DeviceType types[] = {MPU6050, LIS3DH, BMA423, LSM6DS3, BMX160, STK8BAXX, ICM20948, QMA6100P, BMM150, BMI270};
-    return firstOfOrNONE(10, types);
+    ScanI2C::DeviceType types[] = {MPU6050, LIS3DH, BMA423, LSM6DS3, BMX160, STK8BAXX,
+                                   ICM20948, QMA6100P, BMM150,  BMI270,  ICM42607P};
+    return firstOfOrNONE(11, types);
+}
+
+ScanI2C::FoundDevice ScanI2C::firstMagnetometer() const
+{
+    ScanI2C::DeviceType types[] = {MMC5983MA};
+    return firstOfOrNONE(1, types);
 }
 
 ScanI2C::FoundDevice ScanI2C::firstAQI() const

src/detect/ScanI2C.h

@@ -41,6 +41,7 @@ class ScanI2C
         QMI8658,
         QMC5883L,
         HMC5883L,
+        MMC5983MA,
         PMSA003I,
         QMA6100P,
         MPU6050,
@@ -65,6 +66,7 @@ class ScanI2C
         FT6336U,
         STK8BAXX,
         ICM20948,
+        ICM42607P,
         SCD4X,
         MAX30102,
         TPS65233,
@@ -149,6 +151,8 @@ class ScanI2C
 
     FoundDevice firstAccelerometer() const;
 
+    FoundDevice firstMagnetometer() const;
+
     FoundDevice firstAQI() const;
 
     FoundDevice firstRGBLED() const;

src/detect/ScanI2CTwoWire.cpp

@@ -360,9 +360,6 @@ void ScanI2CTwoWire::scanPort(I2CPort port, uint8_t *address, uint8_t asize)
                 SCAN_SIMPLE_CASE(ST7567_ADDRESS, SCREEN_ST7567, "ST7567", (uint8_t)addr.address);
 #ifdef HAS_NCP5623
                 SCAN_SIMPLE_CASE(NCP5623_ADDR, NCP5623, "NCP5623", (uint8_t)addr.address);
-#endif
-#ifdef HAS_LP5562
-                SCAN_SIMPLE_CASE(LP5562_ADDR, LP5562, "LP5562", (uint8_t)addr.address);
 #endif
             case XPOWERS_AXP192_AXP2101_ADDRESS:
                 // Do we have the axp2101/192 or the TCA8418
@@ -600,6 +597,18 @@ void ScanI2CTwoWire::scanPort(I2CPort port, uint8_t *address, uint8_t asize)
 #else
                 SCAN_SIMPLE_CASE(PMSA003I_ADDR, PMSA003I, "PMSA003I", (uint8_t)addr.address)
 #endif
+            case MMC5983MA_ADDR:
+                registerValue = getRegisterValue(ScanI2CTwoWire::RegisterLocation(addr, 0x2F), 1);
+                if (registerValue == 0x30) {
+                    type = MMC5983MA;
+                    logFoundDevice("MMC5983MA", (uint8_t)addr.address);
+#ifdef HAS_LP5562
+                } else {
+                    type = LP5562;
+                    logFoundDevice("LP5562", (uint8_t)addr.address);
+#endif
+                }
+                break;
             case BMA423_ADDR: // this can also be LIS3DH_ADDR_ALT
                 registerValue = getRegisterValue(ScanI2CTwoWire::RegisterLocation(addr, 0x0F), 2);
                 if (registerValue == 0x3300 || registerValue == 0x3333) { // RAK4631 WisBlock has LIS3DH register at 0x3333
@@ -754,8 +763,8 @@ void ScanI2CTwoWire::scanPort(I2CPort port, uint8_t *address, uint8_t asize)
                 }
                 break;
 
-            case ICM20948_ADDR:     // same as BMX160_ADDR, BMI270_ADDR_ALT, and SEN5X_ADDR
-            case ICM20948_ADDR_ALT: // same as MPU6050_ADDR, BMI270_ADDR
+            case ICM20948_ADDR:     // same as BMX160_ADDR, BMI270_ADDR_ALT, ICM42607P_ADDR_ALT, and SEN5X_ADDR
+            case ICM20948_ADDR_ALT: // same as MPU6050_ADDR, BMI270_ADDR, and ICM42607P_ADDR
                 registerValue = getRegisterValue(ScanI2CTwoWire::RegisterLocation(addr, 0x00), 1);
 #ifdef HAS_ICM20948
                 type = ICM20948;
@@ -775,6 +784,12 @@ void ScanI2CTwoWire::scanPort(I2CPort port, uint8_t *address, uint8_t asize)
                     logFoundDevice("BMX160", (uint8_t)addr.address);
                     break;
                 } else {
+                    registerValue = getRegisterValue(ScanI2CTwoWire::RegisterLocation(addr, 0x75), 1); // WHO_AM_I
+                    if (registerValue == 0x60) {
+                        type = ICM42607P;
+                        logFoundDevice("ICM-42607-P", (uint8_t)addr.address);
+                        break;
+                    }
 #if HAS_TELEMETRY && !MESHTASTIC_EXCLUDE_AIR_QUALITY_SENSOR
                     String prod = "";
                     prod = readSEN5xProductName(i2cBus, addr.address);

src/gps/GPS.cpp

@@ -505,15 +505,12 @@ bool GPS::setup()
         int msglen = 0;
         if (tx_gpio && gnssModel == GNSS_MODEL_UNKNOWN) {
             if (probeTries < GPS_PROBETRIES) {
-                bootString = "Probing GPS...";
                 gnssModel = probe(serialSpeeds[speedSelect]);
                 if (gnssModel == GNSS_MODEL_UNKNOWN) {
                     if (currentStep == 0 && ++speedSelect == array_count(serialSpeeds)) {
                         speedSelect = 0;
                         ++probeTries;
                     }
-                } else {
-                    currentStep = 0;
                 }
             }
             // Rare Serial Speeds
@@ -525,8 +522,6 @@ bool GPS::setup()
                         LOG_WARN("Give up on GPS probe and set to %d", GPS_BAUDRATE);
                         return true;
                     }
-                } else {
-                    currentStep = 0;
                 }
             }
 #endif
@@ -543,133 +538,86 @@ bool GPS::setup()
              * t-beam-s3-core uses the same L76K GNSS module as t-echo.
              * Unlike t-echo, L76K uses 9600 baud rate for communication by default.
              * */
-            if (currentStep == 0) {
-                // Initialize the L76K Chip, use GPS + GLONASS + BEIDOU
-                _serial_gps->write("$PCAS04,7*1E\r\n");
-                currentStep++;
-                currentDelay = 250;
-                return false;
-            } else if (currentStep == 1) {
-                // only ask for RMC and GGA
-                _serial_gps->write("$PCAS03,1,0,0,0,1,0,0,0,0,0,,,0,0*02\r\n");
-                currentStep++;
-                currentDelay = 250;
-                return false;
-            } else if (currentStep == 2) {
-                // Switch to Vehicle Mode, since SoftRF enables Aviation < 2g
-                _serial_gps->write("$PCAS11,3*1E\r\n");
-                currentDelay = 250;
-            }
+
+            // Initialize the L76K Chip, use GPS + GLONASS + BEIDOU
+            _serial_gps->write("$PCAS04,7*1E\r\n");
+            delay(250);
+            // only ask for RMC and GGA
+            _serial_gps->write("$PCAS03,1,0,0,0,1,0,0,0,0,0,,,0,0*02\r\n");
+            delay(250);
+            // Switch to Vehicle Mode, since SoftRF enables Aviation < 2g
+            _serial_gps->write("$PCAS11,3*1E\r\n");
+            delay(250);
         } else if (gnssModel == GNSS_MODEL_MTK_L76B) {
             // Waveshare Pico-GPS hat uses the L76B with 9600 baud
             // Initialize the L76B Chip, use GPS + GLONASS
             // See note in L76_Series_GNSS_Protocol_Specification, chapter 3.29
-            if (currentStep == 0) {
-                _serial_gps->write("$PMTK353,1,1,0,0,0*2B\r\n");
-                currentStep++;
-                currentDelay = 1000;
-                return false;
-            } else if (currentStep == 1) {
-                // Above command will reset the GPS and takes longer before it will accept new commands
-                // only ask for RMC and GGA (GNRMC and GNGGA)
-                // See note in L76_Series_GNSS_Protocol_Specification, chapter 2.1
-                _serial_gps->write("$PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28\r\n");
-                currentStep++;
-                currentDelay = 250;
-                return false;
-            } else if (currentStep == 2) {
-                // Enable SBAS
-                _serial_gps->write("$PMTK301,2*2E\r\n");
-                currentStep++;
-                currentDelay = 250;
-                return false;
-            } else if (currentStep == 3) {
-                // Enable PPS for 2D/3D fix only
-                _serial_gps->write("$PMTK285,3,100*3F\r\n");
-                currentStep++;
-                currentDelay = 250;
-                return false;
-            } else if (currentStep == 4) {
-                // Switch to Fitness Mode, for running and walking purpose with low speed (<5 m/s)
-                _serial_gps->write("$PMTK886,1*29\r\n");
-                currentDelay = 250;
-            }
+            _serial_gps->write("$PMTK353,1,1,0,0,0*2B\r\n");
+            // Above command will reset the GPS and takes longer before it will accept new commands
+            delay(1000);
+            // only ask for RMC and GGA (GNRMC and GNGGA)
+            // See note in L76_Series_GNSS_Protocol_Specification, chapter 2.1
+            _serial_gps->write("$PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28\r\n");
+            delay(250);
+            // Enable SBAS
+            _serial_gps->write("$PMTK301,2*2E\r\n");
+            delay(250);
+            // Enable PPS for 2D/3D fix only
+            _serial_gps->write("$PMTK285,3,100*3F\r\n");
+            delay(250);
+            // Switch to Fitness Mode, for running and walking purpose with low speed (<5 m/s)
+            _serial_gps->write("$PMTK886,1*29\r\n");
+            delay(250);
         } else if (gnssModel == GNSS_MODEL_MTK_PA1010D) {
             // PA1010D is used in the Pimoroni GPS board.
-            if (currentStep == 0) {
-                // Enable all constellations.
-                _serial_gps->write("$PMTK353,1,1,1,1,1*2A\r\n");
-                currentStep++;
-                currentDelay = 1000;
-                return false;
-            } else if (currentStep == 1) {
-                // Above command will reset the GPS and takes longer before it will accept new commands
-                // Only ask for RMC and GGA (GNRMC and GNGGA)
-                _serial_gps->write("$PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28\r\n");
-                currentStep++;
-                currentDelay = 250;
-                return false;
-            } else if (currentStep == 2) {
-                // Enable SBAS / WAAS
-                _serial_gps->write("$PMTK301,2*2E\r\n");
-                currentDelay = 250;
-            }
+
+            // Enable all constellations.
+            _serial_gps->write("$PMTK353,1,1,1,1,1*2A\r\n");
+            // Above command will reset the GPS and takes longer before it will accept new commands
+            delay(1000);
+            // Only ask for RMC and GGA (GNRMC and GNGGA)
+            _serial_gps->write("$PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28\r\n");
+            delay(250);
+            // Enable SBAS / WAAS
+            _serial_gps->write("$PMTK301,2*2E\r\n");
+            delay(250);
         } else if (gnssModel == GNSS_MODEL_MTK_PA1616S) {
             // PA1616S is used in some GPS breakout boards from Adafruit
             // PA1616S does not have GLONASS capability. PA1616D does, but is not implemented here.
-            if (currentStep == 0) {
-                _serial_gps->write("$PMTK353,1,0,0,0,0*2A\r\n");
-                currentStep++;
-                currentDelay = 1000;
-                return false;
-            } else if (currentStep == 1) {
-                // Above command will reset the GPS and takes longer before it will accept new commands
-                // Only ask for RMC and GGA (GNRMC and GNGGA)
-                _serial_gps->write("$PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28\r\n");
-                currentStep++;
-                currentDelay = 250;
-                return false;
-            } else if (currentStep == 2) {
-                // Enable SBAS / WAAS
-                _serial_gps->write("$PMTK301,2*2E\r\n");
-                currentDelay = 250;
-            }
+            _serial_gps->write("$PMTK353,1,0,0,0,0*2A\r\n");
+            // Above command will reset the GPS and takes longer before it will accept new commands
+            delay(1000);
+            // Only ask for RMC and GGA (GNRMC and GNGGA)
+            _serial_gps->write("$PMTK314,0,1,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0*28\r\n");
+            delay(250);
+            // Enable SBAS / WAAS
+            _serial_gps->write("$PMTK301,2*2E\r\n");
+            delay(250);
         } else if (gnssModel == GNSS_MODEL_ATGM336H) {
-            if (currentStep == 0) {
-                // Set the initial configuration of the device - these _should_ work for most AT6558 devices
-                msglen = makeCASPacket(0x06, 0x07, sizeof(_message_CAS_CFG_NAVX_CONF), _message_CAS_CFG_NAVX_CONF);
-                _serial_gps->write(UBXscratch, msglen);
-                if (getACKCas(0x06, 0x07, 250) != GNSS_RESPONSE_OK) {
-                    LOG_WARN("ATGM336H: Could not set Config");
-                }
-                currentStep++;
-                return false;
-            } else if (currentStep == 1) {
-                // Set the update frequency to 1Hz
-                msglen = makeCASPacket(0x06, 0x04, sizeof(_message_CAS_CFG_RATE_1HZ), _message_CAS_CFG_RATE_1HZ);
-                _serial_gps->write(UBXscratch, msglen);
-                if (getACKCas(0x06, 0x04, 250) != GNSS_RESPONSE_OK) {
-                    LOG_WARN("ATGM336H: Could not set Update Frequency");
-                }
-                currentStep++;
-                return false;
-            } else if (currentStep == 2) {
-                // Set the NEMA output messages - Ask for only RMC and GGA
+            // Set the initial configuration of the device - these _should_ work for most AT6558 devices
+            msglen = makeCASPacket(0x06, 0x07, sizeof(_message_CAS_CFG_NAVX_CONF), _message_CAS_CFG_NAVX_CONF);
+            _serial_gps->write(UBXscratch, msglen);
+            if (getACKCas(0x06, 0x07, 250) != GNSS_RESPONSE_OK) {
+                LOG_WARN("ATGM336H: Could not set Config");
+            }
+
+            // Set the update frequency to 1Hz
+            msglen = makeCASPacket(0x06, 0x04, sizeof(_message_CAS_CFG_RATE_1HZ), _message_CAS_CFG_RATE_1HZ);
+            _serial_gps->write(UBXscratch, msglen);
+            if (getACKCas(0x06, 0x04, 250) != GNSS_RESPONSE_OK) {
+                LOG_WARN("ATGM336H: Could not set Update Frequency");
+            }
+
+            // Set the NEMA output messages
+            // Ask for only RMC and GGA
+            uint8_t fields[] = {CAS_NEMA_RMC, CAS_NEMA_GGA};
+            for (unsigned int i = 0; i < sizeof(fields); i++) {
                 // Construct a CAS-CFG-MSG packet
-                uint8_t cas_cfg_msg_packet[] = {0x4e, CAS_NEMA_RMC, 0x01, 0x00};
+                uint8_t cas_cfg_msg_packet[] = {0x4e, fields[i], 0x01, 0x00};
                 msglen = makeCASPacket(0x06, 0x01, sizeof(cas_cfg_msg_packet), cas_cfg_msg_packet);
                 _serial_gps->write(UBXscratch, msglen);
                 if (getACKCas(0x06, 0x01, 250) != GNSS_RESPONSE_OK) {
-                    LOG_WARN("ATGM336H: Could not enable NMEA MSG: %d", CAS_NEMA_RMC);
-                }
-                currentStep++;
-                return false;
-            } else if (currentStep == 3) {
-                uint8_t cas_cfg_msg_packet[] = {0x4e, CAS_NEMA_GGA, 0x01, 0x00};
-                msglen = makeCASPacket(0x06, 0x01, sizeof(cas_cfg_msg_packet), cas_cfg_msg_packet);
-                _serial_gps->write(UBXscratch, msglen);
-                if (getACKCas(0x06, 0x01, 250) != GNSS_RESPONSE_OK) {
-                    LOG_WARN("ATGM336H: Could not enable NMEA MSG: %d", CAS_NEMA_GGA);
+                    LOG_WARN("ATGM336H: Could not enable NMEA MSG: %d", fields[i]);
                 }
             }
         } else if (gnssModel == GNSS_MODEL_UC6580) {
@@ -677,363 +625,195 @@ bool GPS::setup()
             // use GPS L1 & L5 + BDS B1I & B2a + GLONASS L1 + GALILEO E1 & E5a + SBAS + QZSS
             // This will reset the receiver, so wait a bit afterwards
             // The paranoid will wait for the OK*04 confirmation response after each command.
-            if (currentStep == 0) {
-                _serial_gps->write("$CFGSYS,h35155\r\n");
-                currentStep++;
-                currentDelay = 750;
-                return false;
-            } else if (currentStep == 1) {
-                // Must be done after the CFGSYS command
-                // Turn off GSV messages, we don't really care about which and where the sats are, maybe someday.
-                _serial_gps->write("$CFGMSG,0,3,0\r\n");
-                currentStep++;
-                currentDelay = 250;
-                return false;
-            } else if (currentStep == 2) {
-                // Turn off GSA messages, TinyGPS++ doesn't use this message.
-                _serial_gps->write("$CFGMSG,0,2,0\r\n");
-                currentStep++;
-                currentDelay = 250;
-                return false;
-            } else if (currentStep == 3) {
-                // Turn off NOTICE __TXT messages, these may provide Unicore some info but we don't care.
-                _serial_gps->write("$CFGMSG,6,0,0\r\n");
-                currentStep++;
-                currentDelay = 250;
-                return false;
-            } else if (currentStep == 4) {
-                _serial_gps->write("$CFGMSG,6,1,0\r\n");
-                currentDelay = 250;
-            }
+            _serial_gps->write("$CFGSYS,h35155\r\n");
+            delay(750);
+            // Must be done after the CFGSYS command
+            // Turn off GSV messages, we don't really care about which and where the sats are, maybe someday.
+            _serial_gps->write("$CFGMSG,0,3,0\r\n");
+            delay(250);
+            // Turn off GSA messages, TinyGPS++ doesn't use this message.
+            _serial_gps->write("$CFGMSG,0,2,0\r\n");
+            delay(250);
+            // Turn off NOTICE __TXT messages, these may provide Unicore some info but we don't care.
+            _serial_gps->write("$CFGMSG,6,0,0\r\n");
+            delay(250);
+            _serial_gps->write("$CFGMSG,6,1,0\r\n");
+            delay(250);
         } else if (IS_ONE_OF(gnssModel, GNSS_MODEL_AG3335, GNSS_MODEL_AG3352)) {
-            if (currentStep == 0) {
-                if (config.lora.region == meshtastic_Config_LoRaConfig_RegionCode_IN ||
-                    config.lora.region == meshtastic_Config_LoRaConfig_RegionCode_NP_865) {
-                    _serial_gps->write("$PAIR066,1,0,1,0,0,1*3B\r\n"); // Enable GPS+GALILEO+NAVIC
-                    // GPS GLONASS GALILEO BDS QZSS NAVIC
-                    //  1    0       1      0   0    1
-                } else {
-                    _serial_gps->write("$PAIR066,1,1,1,1,0,0*3A\r\n"); // Enable GPS+GLONASS+GALILEO+BDS
-                    // GPS GLONASS GALILEO BDS QZSS NAVIC
-                    //  1    1       1      1   0    0
-                }
-                currentStep++;
-                return false;
-            } else if (currentStep == 1) {
-                // Configure NMEA (sentences will output once per fix)
-                _serial_gps->write("$PAIR062,0,1*3F\r\n"); // GGA ON
-                currentStep++;
-                return false;
-            } else if (currentStep == 2) {
-                _serial_gps->write("$PAIR062,1,0*3F\r\n"); // GLL OFF
-                currentStep++;
-                return false;
-            } else if (currentStep == 3) {
-                _serial_gps->write("$PAIR062,2,0*3C\r\n"); // GSA OFF
-                currentStep++;
-                return false;
-            } else if (currentStep == 4) {
-                _serial_gps->write("$PAIR062,3,0*3D\r\n"); // GSV OFF
-                currentStep++;
-                return false;
-            } else if (currentStep == 5) {
-                _serial_gps->write("$PAIR062,4,1*3B\r\n"); // RMC ON
-                currentStep++;
-                return false;
-            } else if (currentStep == 6) {
-                _serial_gps->write("$PAIR062,5,0*3B\r\n"); // VTG OFF
-                currentStep++;
-                return false;
-            } else if (currentStep == 7) {
-                _serial_gps->write("$PAIR062,6,0*38\r\n"); // ZDA ON
-                currentStep++;
-                currentDelay = 250;
-                return false;
-            } else if (currentStep == 8) {
-                _serial_gps->write("$PAIR513*3D\r\n"); // save configuration
+
+            if (config.lora.region == meshtastic_Config_LoRaConfig_RegionCode_IN ||
+                config.lora.region == meshtastic_Config_LoRaConfig_RegionCode_NP_865) {
+                _serial_gps->write("$PAIR066,1,0,1,0,0,1*3B\r\n"); // Enable GPS+GALILEO+NAVIC
+                // GPS GLONASS GALILEO BDS QZSS NAVIC
+                //  1    0       1      0   0    1
+            } else {
+                _serial_gps->write("$PAIR066,1,1,1,1,0,0*3A\r\n"); // Enable GPS+GLONASS+GALILEO+BDS
+                // GPS GLONASS GALILEO BDS QZSS NAVIC
+                //  1    1       1      1   0    0
             }
+            // Configure NMEA (sentences will output once per fix)
+            _serial_gps->write("$PAIR062,0,1*3F\r\n"); // GGA ON
+            _serial_gps->write("$PAIR062,1,0*3F\r\n"); // GLL OFF
+            _serial_gps->write("$PAIR062,2,0*3C\r\n"); // GSA OFF
+            _serial_gps->write("$PAIR062,3,0*3D\r\n"); // GSV OFF
+            _serial_gps->write("$PAIR062,4,1*3B\r\n"); // RMC ON
+            _serial_gps->write("$PAIR062,5,0*3B\r\n"); // VTG OFF
+            _serial_gps->write("$PAIR062,6,0*38\r\n"); // ZDA ON
+
+            delay(250);
+            _serial_gps->write("$PAIR513*3D\r\n"); // save configuration
         } else if (gnssModel == GNSS_MODEL_UBLOX6) {
-            if (currentStep == 0) {
-                clearBuffer();
-                SEND_UBX_PACKET(0x06, 0x02, _message_DISABLE_TXT_INFO, "disable text info messages", 500);
-                currentStep++;
-                return false;
-            } else if (currentStep == 1) {
-                SEND_UBX_PACKET(0x06, 0x39, _message_JAM_6_7, "enable interference resistance", 500);
-                currentStep++;
-                return false;
-            } else if (currentStep == 2) {
-                SEND_UBX_PACKET(0x06, 0x23, _message_NAVX5, "configure NAVX5 settings", 500);
-                currentStep++;
-                return false;
-            } else if (currentStep == 3) {
-                // Turn off unwanted NMEA messages, set update rate
-                SEND_UBX_PACKET(0x06, 0x08, _message_1HZ, "set GPS update rate", 500);
-                currentStep++;
-                return false;
-            } else if (currentStep == 4) {
-                SEND_UBX_PACKET(0x06, 0x01, _message_GLL, "disable NMEA GLL", 500);
-                currentStep++;
-                return false;
-            } else if (currentStep == 5) {
-                SEND_UBX_PACKET(0x06, 0x01, _message_GSA, "enable NMEA GSA", 500);
-                currentStep++;
-                return false;
-            } else if (currentStep == 6) {
-                SEND_UBX_PACKET(0x06, 0x01, _message_GSV, "disable NMEA GSV", 500);
-                currentStep++;
-                return false;
-            } else if (currentStep == 7) {
-                SEND_UBX_PACKET(0x06, 0x01, _message_VTG, "disable NMEA VTG", 500);
-                currentStep++;
-                return false;
-            } else if (currentStep == 8) {
-                SEND_UBX_PACKET(0x06, 0x01, _message_RMC, "enable NMEA RMC", 500);
-                currentStep++;
-                return false;
-            } else if (currentStep == 9) {
-                SEND_UBX_PACKET(0x06, 0x01, _message_GGA, "enable NMEA GGA", 500);
-                currentStep++;
-                return false;
-            } else if (currentStep == 10) {
-                clearBuffer();
-                SEND_UBX_PACKET(0x06, 0x11, _message_CFG_RXM_ECO, "enable powersave ECO mode for Neo-6", 500);
-                currentStep++;
-                return false;
-            } else if (currentStep == 11) {
-                SEND_UBX_PACKET(0x06, 0x3B, _message_CFG_PM2, "enable powersave details for GPS", 500);
-                currentStep++;
-                return false;
-            } else if (currentStep == 12) {
-                SEND_UBX_PACKET(0x06, 0x01, _message_AID, "disable UBX-AID", 500);
-                currentStep++;
-                return false;
-            } else if (currentStep == 13) {
-                msglen = makeUBXPacket(0x06, 0x09, sizeof(_message_SAVE), _message_SAVE);
-                _serial_gps->write(UBXscratch, msglen);
-                if (getACK(0x06, 0x09, 2000) != GNSS_RESPONSE_OK) {
-                    LOG_WARN("Unable to save GNSS module config");
-                } else {
-                    LOG_INFO("GNSS module config saved!");
-                }
+            clearBuffer();
+            SEND_UBX_PACKET(0x06, 0x02, _message_DISABLE_TXT_INFO, "disable text info messages", 500);
+            SEND_UBX_PACKET(0x06, 0x39, _message_JAM_6_7, "enable interference resistance", 500);
+            SEND_UBX_PACKET(0x06, 0x23, _message_NAVX5, "configure NAVX5 settings", 500);
+
+            // Turn off unwanted NMEA messages, set update rate
+            SEND_UBX_PACKET(0x06, 0x08, _message_1HZ, "set GPS update rate", 500);
+            SEND_UBX_PACKET(0x06, 0x01, _message_GLL, "disable NMEA GLL", 500);
+            SEND_UBX_PACKET(0x06, 0x01, _message_GSA, "enable NMEA GSA", 500);
+            SEND_UBX_PACKET(0x06, 0x01, _message_GSV, "disable NMEA GSV", 500);
+            SEND_UBX_PACKET(0x06, 0x01, _message_VTG, "disable NMEA VTG", 500);
+            SEND_UBX_PACKET(0x06, 0x01, _message_RMC, "enable NMEA RMC", 500);
+            SEND_UBX_PACKET(0x06, 0x01, _message_GGA, "enable NMEA GGA", 500);
+
+            clearBuffer();
+            SEND_UBX_PACKET(0x06, 0x11, _message_CFG_RXM_ECO, "enable powersave ECO mode for Neo-6", 500);
+            SEND_UBX_PACKET(0x06, 0x3B, _message_CFG_PM2, "enable powersave details for GPS", 500);
+            SEND_UBX_PACKET(0x06, 0x01, _message_AID, "disable UBX-AID", 500);
+
+            msglen = makeUBXPacket(0x06, 0x09, sizeof(_message_SAVE), _message_SAVE);
+            _serial_gps->write(UBXscratch, msglen);
+            if (getACK(0x06, 0x09, 2000) != GNSS_RESPONSE_OK) {
+                LOG_WARN("Unable to save GNSS module config");
+            } else {
+                LOG_INFO("GNSS module config saved!");
             }
         } else if (IS_ONE_OF(gnssModel, GNSS_MODEL_UBLOX7, GNSS_MODEL_UBLOX8, GNSS_MODEL_UBLOX9)) {
-            if (currentStep == 0) {
+            if (gnssModel == GNSS_MODEL_UBLOX7) {
+                LOG_DEBUG("Set GPS+SBAS");
+                msglen = makeUBXPacket(0x06, 0x3e, sizeof(_message_GNSS_7), _message_GNSS_7);
+                _serial_gps->write(UBXscratch, msglen);
+            } else { // 8,9
+                msglen = makeUBXPacket(0x06, 0x3e, sizeof(_message_GNSS_8), _message_GNSS_8);
+                _serial_gps->write(UBXscratch, msglen);
+            }
+
+            if (getACK(0x06, 0x3e, 800) == GNSS_RESPONSE_NAK) {
+                // It's not critical if the module doesn't acknowledge this configuration.
+                LOG_DEBUG("reconfigure GNSS - defaults maintained. Is this module GPS-only?");
+            } else {
                 if (gnssModel == GNSS_MODEL_UBLOX7) {
-                    LOG_DEBUG("Set GPS+SBAS");
-                    msglen = makeUBXPacket(0x06, 0x3e, sizeof(_message_GNSS_7), _message_GNSS_7);
-                    _serial_gps->write(UBXscratch, msglen);
+                    LOG_INFO("GPS+SBAS configured");
                 } else { // 8,9
-                    msglen = makeUBXPacket(0x06, 0x3e, sizeof(_message_GNSS_8), _message_GNSS_8);
-                    _serial_gps->write(UBXscratch, msglen);
+                    LOG_INFO("GPS+SBAS+GLONASS+Galileo configured");
                 }
-                if (getACK(0x06, 0x3e, 800) == GNSS_RESPONSE_NAK) {
-                    // It's not critical if the module doesn't acknowledge this configuration.
-                    LOG_DEBUG("reconfigure GNSS - defaults maintained. Is this module GPS-only?");
-                } else {
-                    if (gnssModel == GNSS_MODEL_UBLOX7) {
-                        LOG_INFO("GPS+SBAS configured");
-                    } else { // 8,9
-                        LOG_INFO("GPS+SBAS+GLONASS+Galileo configured");
-                    }
-                    // Documentation say, we need wait at least 0.5s after reconfiguration of GNSS module, before sending next
-                    // commands for the M8 it tends to be more... 1 sec should be enough ;>)
-                    delay(1000);
-                }
-                currentStep++;
-                return false;
-            } else if (currentStep == 1) {
-                // Disable Text Info messages //6,7,8,9
+                // Documentation say, we need wait at least 0.5s after reconfiguration of GNSS module, before sending next
+                // commands for the M8 it tends to be more... 1 sec should be enough ;>)
+                delay(1000);
+            }
+
+            // Disable Text Info messages //6,7,8,9
+            clearBuffer();
+            SEND_UBX_PACKET(0x06, 0x02, _message_DISABLE_TXT_INFO, "disable text info messages", 500);
+
+            if (gnssModel == GNSS_MODEL_UBLOX8) { // 8
                 clearBuffer();
-                SEND_UBX_PACKET(0x06, 0x02, _message_DISABLE_TXT_INFO, "disable text info messages", 500);
-                currentStep++;
-                return false;
-            } else if (currentStep == 2) {
-                if (gnssModel == GNSS_MODEL_UBLOX8) { // 8
-                    clearBuffer();
-                    SEND_UBX_PACKET(0x06, 0x39, _message_JAM_8, "enable interference resistance", 500);
-                } else { // 7,9
-                    SEND_UBX_PACKET(0x06, 0x39, _message_JAM_6_7, "enable interference resistance", 500);
-                }
-                currentStep++;
-                return false;
-            } else if (currentStep == 3) {
-                if (gnssModel == GNSS_MODEL_UBLOX8) { // 8
-                    clearBuffer();
-                    SEND_UBX_PACKET(0x06, 0x23, _message_NAVX5_8, "configure NAVX5_8 settings", 500);
-                } else { // 7,9
-                    SEND_UBX_PACKET(0x06, 0x23, _message_NAVX5, "configure NAVX5 settings", 500);
-                }
-                currentStep++;
-                return false;
-            } else if (currentStep == 4) {
-                // Turn off unwanted NMEA messages, set update rate
-                SEND_UBX_PACKET(0x06, 0x08, _message_1HZ, "set GPS update rate", 500);
-                currentStep++;
-                return false;
-            } else if (currentStep == 5) {
-                SEND_UBX_PACKET(0x06, 0x01, _message_GLL, "disable NMEA GLL", 500);
-                currentStep++;
-                return false;
-            } else if (currentStep == 6) {
-                SEND_UBX_PACKET(0x06, 0x01, _message_GSA, "enable NMEA GSA", 500);
-                currentStep++;
-                return false;
-            } else if (currentStep == 7) {
-                SEND_UBX_PACKET(0x06, 0x01, _message_GSV, "disable NMEA GSV", 500);
-                currentStep++;
-                return false;
-            } else if (currentStep == 8) {
-                SEND_UBX_PACKET(0x06, 0x01, _message_VTG, "disable NMEA VTG", 500);
-                currentStep++;
-                return false;
-            } else if (currentStep == 9) {
-                SEND_UBX_PACKET(0x06, 0x01, _message_RMC, "enable NMEA RMC", 500);
-                currentStep++;
-                return false;
-            } else if (currentStep == 10) {
-                SEND_UBX_PACKET(0x06, 0x01, _message_GGA, "enable NMEA GGA", 500);
-                currentStep++;
-                return false;
-            } else if (currentStep == 11) {
-                if (ublox_info.protocol_version >= 18) {
-                    clearBuffer();
-                    SEND_UBX_PACKET(0x06, 0x86, _message_PMS, "enable powersave for GPS", 500);
-                } else {
-                    SEND_UBX_PACKET(0x06, 0x11, _message_CFG_RXM_PSM, "enable powersave mode for GPS", 500);
-                }
-                currentStep++;
-                return false;
-            } else if (currentStep == 12) {
+                SEND_UBX_PACKET(0x06, 0x39, _message_JAM_8, "enable interference resistance", 500);
+
+                clearBuffer();
+                SEND_UBX_PACKET(0x06, 0x23, _message_NAVX5_8, "configure NAVX5_8 settings", 500);
+            } else { // 6,7,9
+                SEND_UBX_PACKET(0x06, 0x39, _message_JAM_6_7, "enable interference resistance", 500);
+                SEND_UBX_PACKET(0x06, 0x23, _message_NAVX5, "configure NAVX5 settings", 500);
+            }
+            // Turn off unwanted NMEA messages, set update rate
+            SEND_UBX_PACKET(0x06, 0x08, _message_1HZ, "set GPS update rate", 500);
+            SEND_UBX_PACKET(0x06, 0x01, _message_GLL, "disable NMEA GLL", 500);
+            SEND_UBX_PACKET(0x06, 0x01, _message_GSA, "enable NMEA GSA", 500);
+            SEND_UBX_PACKET(0x06, 0x01, _message_GSV, "disable NMEA GSV", 500);
+            SEND_UBX_PACKET(0x06, 0x01, _message_VTG, "disable NMEA VTG", 500);
+            SEND_UBX_PACKET(0x06, 0x01, _message_RMC, "enable NMEA RMC", 500);
+            SEND_UBX_PACKET(0x06, 0x01, _message_GGA, "enable NMEA GGA", 500);
+
+            if (ublox_info.protocol_version >= 18) {
+                clearBuffer();
+                SEND_UBX_PACKET(0x06, 0x86, _message_PMS, "enable powersave for GPS", 500);
                 SEND_UBX_PACKET(0x06, 0x3B, _message_CFG_PM2, "enable powersave details for GPS", 500);
-                currentStep++;
-                return false;
-            } else if (currentStep == 13) {
+
                 // For M8 we want to enable NMEA version 4.10 so we can see the additional sats.
-                if (ublox_info.protocol_version >= 18 && gnssModel == GNSS_MODEL_UBLOX8) {
+                if (gnssModel == GNSS_MODEL_UBLOX8) {
                     clearBuffer();
                     SEND_UBX_PACKET(0x06, 0x17, _message_NMEA, "enable NMEA 4.10", 500);
-                    currentStep++;
-                    return false;
-                }
-                msglen = makeUBXPacket(0x06, 0x09, sizeof(_message_SAVE), _message_SAVE);
-                _serial_gps->write(UBXscratch, msglen);
-                if (getACK(0x06, 0x09, 2000) != GNSS_RESPONSE_OK) {
-                    LOG_WARN("Unable to save GNSS module config");
-                } else {
-                    LOG_INFO("GNSS module configuration saved!");
-                }
-            } else if (currentStep == 14) {
-                msglen = makeUBXPacket(0x06, 0x09, sizeof(_message_SAVE), _message_SAVE);
-                _serial_gps->write(UBXscratch, msglen);
-                if (getACK(0x06, 0x09, 2000) != GNSS_RESPONSE_OK) {
-                    LOG_WARN("Unable to save GNSS module config");
-                } else {
-                    LOG_INFO("GNSS module configuration saved!");
                 }
+            } else {
+                SEND_UBX_PACKET(0x06, 0x11, _message_CFG_RXM_PSM, "enable powersave mode for GPS", 500);
+                SEND_UBX_PACKET(0x06, 0x3B, _message_CFG_PM2, "enable powersave details for GPS", 500);
+            }
+
+            msglen = makeUBXPacket(0x06, 0x09, sizeof(_message_SAVE), _message_SAVE);
+            _serial_gps->write(UBXscratch, msglen);
+            if (getACK(0x06, 0x09, 2000) != GNSS_RESPONSE_OK) {
+                LOG_WARN("Unable to save GNSS module config");
+            } else {
+                LOG_INFO("GNSS module configuration saved!");
             }
         } else if (gnssModel == GNSS_MODEL_UBLOX10) {
-            if (currentStep == 0) {
-                LOG_INFO("Configuring M10 GPS step 0");
-                delay(1000);
-                clearBuffer();
-                SEND_UBX_PACKET(0x06, 0x8A, _message_VALSET_DISABLE_NMEA_RAM, "disable NMEA messages in M10 RAM", 300);
-                currentStep++;
-                currentDelay = 750;
-                return false;
-            } else if (currentStep == 1) {
-                LOG_INFO("Configuring M10 GPS step 1");
-                clearBuffer();
-                SEND_UBX_PACKET(0x06, 0x8A, _message_VALSET_DISABLE_NMEA_BBR, "disable NMEA messages in M10 BBR", 300);
-                currentStep++;
-                currentDelay = 750;
-                return false;
-            } else if (currentStep == 2) {
-                clearBuffer();
-                SEND_UBX_PACKET(0x06, 0x8A, _message_VALSET_DISABLE_TXT_INFO_RAM, "disable Info messages for M10 GPS RAM", 300);
-                currentStep++;
-                currentDelay = 750;
-                return false;
-            } else if (currentStep == 3) {
-                // Next disable Info txt messages in BBR layer
-                clearBuffer();
-                SEND_UBX_PACKET(0x06, 0x8A, _message_VALSET_DISABLE_TXT_INFO_BBR, "disable Info messages for M10 GPS BBR", 300);
-                currentStep++;
-                currentDelay = 750;
-                return false;
-            } else if (currentStep == 4) {
-                // Do M10 configuration for Power Management.
-                SEND_UBX_PACKET(0x06, 0x8A, _message_VALSET_PM_RAM, "enable powersave for M10 GPS RAM", 300);
-                currentStep++;
-                currentDelay = 750;
-                return false;
-            } else if (currentStep == 5) {
-                // Next enable powersave in BBR layer
-                SEND_UBX_PACKET(0x06, 0x8A, _message_VALSET_PM_BBR, "enable powersave for M10 GPS BBR", 300);
-                currentStep++;
-                currentDelay = 750;
-                return false;
-            } else if (currentStep == 6) {
-                SEND_UBX_PACKET(0x06, 0x8A, _message_VALSET_ITFM_RAM, "enable jam detection M10 GPS RAM", 300);
-                currentStep++;
-                currentDelay = 750;
-                return false;
-            } else if (currentStep == 7) {
-                SEND_UBX_PACKET(0x06, 0x8A, _message_VALSET_ITFM_BBR, "enable jam detection M10 GPS BBR", 300);
-                currentStep++;
-                currentDelay = 750;
-                return false;
-            } else if (currentStep == 8) {
-                // Here is where the init commands should go to do further M10 initialization.
-                SEND_UBX_PACKET(0x06, 0x8A, _message_VALSET_DISABLE_SBAS_RAM, "disable SBAS M10 GPS RAM", 300);
-                currentStep++;
-                currentDelay = 750;
-                return false;
-            } else if (currentStep == 9) {
-                // will cause a receiver restart so wait a bit
-                SEND_UBX_PACKET(0x06, 0x8A, _message_VALSET_DISABLE_SBAS_BBR, "disable SBAS M10 GPS BBR", 300);
-                currentStep++;
-                currentDelay = 750;
-                return false;
-            } else if (currentStep == 10) {
-                // Done with initialization, Now enable wanted NMEA messages in BBR layer so they will survive a periodic
-                // sleep.
-                SEND_UBX_PACKET(0x06, 0x8A, _message_VALSET_ENABLE_NMEA_BBR, "enable messages for M10 GPS BBR", 300);
-                currentStep++;
-                currentDelay = 750;
-                return false;
-            } else if (currentStep == 11) {
-                // Next enable wanted NMEA messages in RAM layer
-                SEND_UBX_PACKET(0x06, 0x8A, _message_VALSET_ENABLE_NMEA_RAM, "enable messages for M10 GPS RAM", 500);
-                currentStep++;
-                currentDelay = 750;
-                return false;
-            } else if (currentStep == 12) {
-                // As the M10 has no flash, the best we can do to preserve the config is to set it in RAM and BBR.
-                // BBR will survive a restart, and power off for a while, but modules with small backup
-                // batteries or super caps will not retain the config for a long power off time.
-                msglen = makeUBXPacket(0x06, 0x09, sizeof(_message_SAVE_10), _message_SAVE_10);
-                _serial_gps->write(UBXscratch, msglen);
-                if (getACK(0x06, 0x09, 2000) != GNSS_RESPONSE_OK) {
-                    LOG_WARN("Unable to save GNSS module config");
-                } else {
-                    LOG_INFO("GNSS module configuration saved!");
-                }
-                didSerialInit = true;
+            delay(1000);
+            clearBuffer();
+            SEND_UBX_PACKET(0x06, 0x8A, _message_VALSET_DISABLE_NMEA_RAM, "disable NMEA messages in M10 RAM", 300);
+            delay(750);
+            clearBuffer();
+            SEND_UBX_PACKET(0x06, 0x8A, _message_VALSET_DISABLE_NMEA_BBR, "disable NMEA messages in M10 BBR", 300);
+            delay(750);
+            clearBuffer();
+            SEND_UBX_PACKET(0x06, 0x8A, _message_VALSET_DISABLE_TXT_INFO_RAM, "disable Info messages for M10 GPS RAM", 300);
+            delay(750);
+            // Next disable Info txt messages in BBR layer
+            clearBuffer();
+            SEND_UBX_PACKET(0x06, 0x8A, _message_VALSET_DISABLE_TXT_INFO_BBR, "disable Info messages for M10 GPS BBR", 300);
+            delay(750);
+            // Do M10 configuration for Power Management.
+            SEND_UBX_PACKET(0x06, 0x8A, _message_VALSET_PM_RAM, "enable powersave for M10 GPS RAM", 300);
+            delay(750);
+            SEND_UBX_PACKET(0x06, 0x8A, _message_VALSET_PM_BBR, "enable powersave for M10 GPS BBR", 300);
+            delay(750);
+            SEND_UBX_PACKET(0x06, 0x8A, _message_VALSET_ITFM_RAM, "enable jam detection M10 GPS RAM", 300);
+            delay(750);
+            SEND_UBX_PACKET(0x06, 0x8A, _message_VALSET_ITFM_BBR, "enable jam detection M10 GPS BBR", 300);
+            delay(750);
+            // Here is where the init commands should go to do further M10 initialization.
+            SEND_UBX_PACKET(0x06, 0x8A, _message_VALSET_DISABLE_SBAS_RAM, "disable SBAS M10 GPS RAM", 300);
+            delay(750); // will cause a receiver restart so wait a bit
+            SEND_UBX_PACKET(0x06, 0x8A, _message_VALSET_DISABLE_SBAS_BBR, "disable SBAS M10 GPS BBR", 300);
+            delay(750); // will cause a receiver restart so wait a bit
+
+            // Done with initialization, Now enable wanted NMEA messages in BBR layer so they will survive a periodic
+            // sleep.
+            SEND_UBX_PACKET(0x06, 0x8A, _message_VALSET_ENABLE_NMEA_BBR, "enable messages for M10 GPS BBR", 300);
+            delay(750);
+            // Next enable wanted NMEA messages in RAM layer
+            SEND_UBX_PACKET(0x06, 0x8A, _message_VALSET_ENABLE_NMEA_RAM, "enable messages for M10 GPS RAM", 500);
+            delay(750);
+
+            // As the M10 has no flash, the best we can do to preserve the config is to set it in RAM and BBR.
+            // BBR will survive a restart, and power off for a while, but modules with small backup
+            // batteries or super caps will not retain the config for a long power off time.
+            msglen = makeUBXPacket(0x06, 0x09, sizeof(_message_SAVE_10), _message_SAVE_10);
+            _serial_gps->write(UBXscratch, msglen);
+            if (getACK(0x06, 0x09, 2000) != GNSS_RESPONSE_OK) {
+                LOG_WARN("Unable to save GNSS module config");
+            } else {
+                LOG_INFO("GNSS module configuration saved!");
             }
         } else if (gnssModel == GNSS_MODEL_CM121) {
             // only ask for RMC and GGA
-            if (currentStep == 0) {
-                // enable GGA
-                _serial_gps->write("$CFGMSG,0,0,1,1*1B\r\n");
-                currentStep++;
-                currentDelay = 250;
-                return false;
-            } else if (currentStep == 1) {
-                // enable RMC
-                _serial_gps->write("$CFGMSG,0,4,1,1*1F\r\n");
-                currentDelay = 250;
-            }
+            // enable GGA
+            _serial_gps->write("$CFGMSG,0,0,1,1*1B\r\n");
+            delay(250);
+            // enable RMC
+            _serial_gps->write("$CFGMSG,0,4,1,1*1F\r\n");
+            delay(250);
         }
         didSerialInit = true;
     }

src/gps/GPS.h

@@ -128,8 +128,6 @@ class GPS : private concurrency::OSThread
     // Let the GPS hardware save power between updates
     void down();
 
-    bool initFinished() const { return GPSInitFinished; };
-
   private:
     GPS() : concurrency::OSThread("GPS") {}
 

src/graphics/Screen.cpp

@@ -891,7 +891,7 @@ int32_t Screen::runOnce()
     // Show boot screen for first logo_timeout seconds, then switch to normal operation.
     // serialSinceMsec adjusts for additional serial wait time during nRF52 bootup
     static bool showingBootScreen = true;
-    if (showingBootScreen && (!gps || gps->initFinished()) && (millis() > (logo_timeout + serialSinceMsec))) {
+    if (showingBootScreen && (millis() > (logo_timeout + serialSinceMsec))) {
         LOG_INFO("Done with boot screen");
         stopBootScreen();
         showingBootScreen = false;

src/graphics/TFTDisplay.cpp

@@ -1458,7 +1458,8 @@ void TFTDisplay::sendCommand(uint8_t com)
             digitalWrite(portduino_config.displayBacklight.pin, TFT_BACKLIGHT_ON);
 #elif defined(HACKADAY_COMMUNICATOR)
         tft->displayOn();
-#elif !defined(RAK14014) && !defined(M5STACK) && !defined(UNPHONE) && !defined(HELTEC_MESH_NODE_T096)
+#elif !defined(RAK14014) && !defined(M5STACK) && !defined(UNPHONE) && !defined(HELTEC_MESH_NODE_T096) &&                         \
+    !defined(HELTEC_MESH_NODE_T1)
         tft->wakeup();
         tft->powerSaveOff();
 #endif
@@ -1469,7 +1470,7 @@ void TFTDisplay::sendCommand(uint8_t com)
 #ifdef UNPHONE
         unphone.backlight(true); // using unPhone library
 #endif
-#if defined(RAK14014) || defined(HELTEC_MESH_NODE_T096)
+#if defined(RAK14014) || defined(HELTEC_MESH_NODE_T096) || defined(HELTEC_MESH_NODE_T1)
 #elif !defined(M5STACK) && !defined(ST7789_CS) &&                                                                                \
     !defined(HACKADAY_COMMUNICATOR) // T-Deck gets brightness set in Screen.cpp in the handleSetOn function
         tft->setBrightness(172);
@@ -1485,7 +1486,8 @@ void TFTDisplay::sendCommand(uint8_t com)
             digitalWrite(portduino_config.displayBacklight.pin, !TFT_BACKLIGHT_ON);
 #elif defined(HACKADAY_COMMUNICATOR)
         tft->displayOff();
-#elif !defined(RAK14014) && !defined(M5STACK) && !defined(UNPHONE) && !defined(HELTEC_MESH_NODE_T096)
+#elif !defined(RAK14014) && !defined(M5STACK) && !defined(UNPHONE) && !defined(HELTEC_MESH_NODE_T096) &&                         \
+    !defined(HELTEC_MESH_NODE_T1)
         tft->sleep();
         tft->powerSaveOn();
 #endif
@@ -1496,7 +1498,7 @@ void TFTDisplay::sendCommand(uint8_t com)
 #ifdef UNPHONE
         unphone.backlight(false); // using unPhone library
 #endif
-#if defined(RAK14014) || defined(HELTEC_MESH_NODE_T096)
+#if defined(RAK14014) || defined(HELTEC_MESH_NODE_T096) || defined(HELTEC_MESH_NODE_T1)
 #elif !defined(M5STACK) && !defined(HACKADAY_COMMUNICATOR)
         tft->setBrightness(0);
 #endif
@@ -1511,7 +1513,7 @@ void TFTDisplay::sendCommand(uint8_t com)
 
 void TFTDisplay::setDisplayBrightness(uint8_t _brightness)
 {
-#if defined(RAK14014) || defined(HELTEC_MESH_NODE_T096)
+#if defined(RAK14014) || defined(HELTEC_MESH_NODE_T096) || defined(HELTEC_MESH_NODE_T1)
     // todo
 #elif !defined(HACKADAY_COMMUNICATOR)
     tft->setBrightness(_brightness);
@@ -1531,7 +1533,8 @@ bool TFTDisplay::hasTouch(void)
 {
 #ifdef RAK14014
     return true;
-#elif !defined(M5STACK) && !defined(HACKADAY_COMMUNICATOR) && !defined(HELTEC_MESH_NODE_T096)
+#elif !defined(M5STACK) && !defined(HACKADAY_COMMUNICATOR) && !defined(HELTEC_MESH_NODE_T096) &&                                 \
+    !defined(HELTEC_MESH_NODE_T1)
     return tft->touch() != nullptr;
 #else
     return false;
@@ -1550,7 +1553,8 @@ bool TFTDisplay::getTouch(int16_t *x, int16_t *y)
     } else {
         return false;
     }
-#elif !defined(M5STACK) && !defined(HACKADAY_COMMUNICATOR) && !defined(HELTEC_MESH_NODE_T096)
+#elif !defined(M5STACK) && !defined(HACKADAY_COMMUNICATOR) && !defined(HELTEC_MESH_NODE_T096) &&                                 \
+    !defined(HELTEC_MESH_NODE_T1)
     return tft->getTouch(x, y);
 #else
     return false;
@@ -1567,7 +1571,7 @@ bool TFTDisplay::connect()
 {
     concurrency::LockGuard g(spiLock);
     LOG_INFO("Do TFT init");
-#if defined(RAK14014) || defined(HELTEC_MESH_NODE_T096)
+#if defined(RAK14014) || defined(HELTEC_MESH_NODE_T096) || defined(HELTEC_MESH_NODE_T1)
     tft = new TFT_eSPI;
 #elif defined(HACKADAY_COMMUNICATOR)
     bus = new Arduino_ESP32SPI(TFT_DC, TFT_CS, 38 /* SCK */, 21 /* MOSI */, GFX_NOT_DEFINED /* MISO */, HSPI /* spi_num */);

src/graphics/draw/MenuHandler.cpp

@@ -1333,6 +1333,11 @@ void menuHandler::positionBaseMenu()
             if (accelerometerThread) {
                 accelerometerThread->calibrate(30);
             }
+#endif
+#if !defined(ARCH_STM32WL) && !MESHTASTIC_EXCLUDE_I2C && !MESHTASTIC_EXCLUDE_MAGNETOMETER
+            if (magnetometerThread) {
+                magnetometerThread->calibrate(30);
+            }
 #endif
             break;
         case PositionAction::GPSSmartPosition:

src/graphics/draw/UIRenderer.cpp

@@ -1505,24 +1505,6 @@ void UIRenderer::drawIconScreen(const char *upperMsg, OLEDDisplay *display, OLED
         display->drawString(x + getStringCenteredX(title) + 1, y + SCREEN_HEIGHT - FONT_HEIGHT_MEDIUM - 5, title);
     }
     display->setFont(FONT_SMALL);
-    if (bootString != nullptr) {
-        static uint8_t bootStringStep = 0;
-        char stringCharacter = '.';
-        uint32_t stringWidth = getStringCenteredX(bootString);
-        if (bootStringStep == 0) {
-            stringCharacter = '.';
-            bootStringStep++;
-        } else if (bootStringStep == 1) {
-            stringCharacter = 'o';
-            bootStringStep++;
-        } else if (bootStringStep == 2) {
-            stringCharacter = 'O';
-            bootStringStep = 0;
-        }
-        char tmpBootString[40];
-        snprintf(tmpBootString, sizeof(tmpBootString), "%s %c", bootString, stringCharacter);
-        display->drawString(x + stringWidth, y + SCREEN_HEIGHT - 2 * FONT_HEIGHT_MEDIUM, tmpBootString);
-    }
     // Draw region in upper left
     if (upperMsg) {
         display->drawString(x + 5, y + 5, upperMsg);

src/main.cpp

@@ -92,8 +92,6 @@ NRF54L15Bluetooth *nrf54l15Bluetooth = nullptr;
 #include <string>
 #endif
 
-const char *bootString =
-    nullptr; // Pointer to a string that will be drawn on the boot screen, if set (used for GPS probing status)
 #ifdef ARCH_ESP32
 #ifdef DEBUG_PARTITION_TABLE
 #include "esp_partition.h"
@@ -138,6 +136,10 @@ void printPartitionTable()
 #include "motion/AccelerometerThread.h"
 AccelerometerThread *accelerometerThread = nullptr;
 #endif
+#if !defined(ARCH_STM32WL) && !MESHTASTIC_EXCLUDE_I2C && !MESHTASTIC_EXCLUDE_MAGNETOMETER
+#include "motion/MagnetometerThread.h"
+MagnetometerThread *magnetometerThread = nullptr;
+#endif
 
 #ifdef HAS_I2S
 #include "AudioThread.h"
@@ -208,6 +210,8 @@ bool osk_found = false;
 ScanI2C::DeviceAddress rtc_found = ScanI2C::ADDRESS_NONE;
 // The I2C address of the Accelerometer (if found)
 ScanI2C::DeviceAddress accelerometer_found = ScanI2C::ADDRESS_NONE;
+// The I2C address of the Magnetometer (if found)
+ScanI2C::DeviceAddress magnetometer_found = ScanI2C::ADDRESS_NONE;
 // The I2C address of the RGB LED (if found)
 ScanI2C::FoundDevice rgb_found = ScanI2C::FoundDevice(ScanI2C::DeviceType::NONE, ScanI2C::ADDRESS_NONE);
 /// The I2C address of our Air Quality Indicator (if found)
@@ -433,6 +437,11 @@ void setup()
     digitalWrite(VEXT_ENABLE, VEXT_ON_VALUE); // turn on the display power
 #endif
 
+#if defined(PIN_SENSOR_EN)
+    pinMode(PIN_SENSOR_EN, OUTPUT);
+    digitalWrite(PIN_SENSOR_EN, PIN_SENSOR_EN_ACTIVE); // turn on sensor power
+#endif
+
 #if defined(BIAS_T_ENABLE)
     pinMode(BIAS_T_ENABLE, OUTPUT);
     digitalWrite(BIAS_T_ENABLE, BIAS_T_VALUE); // turn on 5V for GPS Antenna
@@ -673,6 +682,11 @@ void setup()
     accelerometer_found = acc_info.type != ScanI2C::DeviceType::NONE ? acc_info.address : accelerometer_found;
     LOG_DEBUG("acc_info = %i", acc_info.type);
 #endif
+#if !defined(ARCH_STM32WL) && !MESHTASTIC_EXCLUDE_MAGNETOMETER
+    auto mag_info = i2cScanner->firstMagnetometer();
+    magnetometer_found = mag_info.type != ScanI2C::DeviceType::NONE ? mag_info.address : magnetometer_found;
+    LOG_DEBUG("mag_info = %i", mag_info.type);
+#endif
 
     scannerToSensorsMap(i2cScanner, ScanI2C::DeviceType::INA260, meshtastic_TelemetrySensorType_INA260);
     scannerToSensorsMap(i2cScanner, ScanI2C::DeviceType::INA226, meshtastic_TelemetrySensorType_INA226);
@@ -685,6 +699,8 @@ void setup()
     scannerToSensorsMap(i2cScanner, ScanI2C::DeviceType::QMI8658, meshtastic_TelemetrySensorType_QMI8658);
     scannerToSensorsMap(i2cScanner, ScanI2C::DeviceType::QMC5883L, meshtastic_TelemetrySensorType_QMC5883L);
     scannerToSensorsMap(i2cScanner, ScanI2C::DeviceType::HMC5883L, meshtastic_TelemetrySensorType_QMC5883L);
+    scannerToSensorsMap(i2cScanner, ScanI2C::DeviceType::MMC5983MA, meshtastic_TelemetrySensorType_MMC5983MA);
+    scannerToSensorsMap(i2cScanner, ScanI2C::DeviceType::ICM42607P, meshtastic_TelemetrySensorType_ICM42607P);
     scannerToSensorsMap(i2cScanner, ScanI2C::DeviceType::MLX90614, meshtastic_TelemetrySensorType_MLX90614);
     scannerToSensorsMap(i2cScanner, ScanI2C::DeviceType::ICM20948, meshtastic_TelemetrySensorType_ICM20948);
     scannerToSensorsMap(i2cScanner, ScanI2C::DeviceType::MAX30102, meshtastic_TelemetrySensorType_MAX30102);
@@ -768,6 +784,11 @@ void setup()
         accelerometerThread = new AccelerometerThread(acc_info.type);
     }
 #endif
+#if !defined(ARCH_STM32WL) && !MESHTASTIC_EXCLUDE_MAGNETOMETER
+    if (mag_info.type != ScanI2C::DeviceType::NONE) {
+        magnetometerThread = new MagnetometerThread(mag_info.type);
+    }
+#endif
 
 #if defined(HAS_NEOPIXEL) || defined(UNPHONE) || defined(RGBLED_RED)
     ambientLightingThread = new AmbientLightingThread(ScanI2C::DeviceType::NONE);

src/main.h

@@ -39,6 +39,7 @@ extern bool kb_found;
 extern bool osk_found;
 extern ScanI2C::DeviceAddress rtc_found;
 extern ScanI2C::DeviceAddress accelerometer_found;
+extern ScanI2C::DeviceAddress magnetometer_found;
 extern ScanI2C::FoundDevice rgb_found;
 extern ScanI2C::DeviceAddress aqi_found;
 
@@ -73,6 +74,10 @@ extern graphics::Screen *screen;
 #include "motion/AccelerometerThread.h"
 extern AccelerometerThread *accelerometerThread;
 #endif
+#if !defined(ARCH_STM32WL) && !MESHTASTIC_EXCLUDE_I2C && !MESHTASTIC_EXCLUDE_MAGNETOMETER
+#include "motion/MagnetometerThread.h"
+extern MagnetometerThread *magnetometerThread;
+#endif
 
 extern bool isVibrating;
 
@@ -105,5 +110,3 @@ void scannerToSensorsMap(const std::unique_ptr<ScanI2CTwoWire> &i2cScanner, Scan
 
 // We default to 4MHz SPI, SPI mode 0
 extern SPISettings spiSettings;
-
-extern const char *bootString;

src/mesh/NodeDB.h

@@ -132,7 +132,7 @@ inline bool shouldDropPacketForPreHop(const meshtastic_MeshPacket &p)
     if (isFromUs(&p)) {
         return false; // local-originated packets should never be dropped by pre-hop drop policy
     }
-    return classifyHopStart(p) != HopStartStatus::VALID;
+    return classifyHopStart(p) == HopStartStatus::INVALID;
 #endif
 }
 

src/mesh/RadioLibInterface.h

@@ -210,6 +210,8 @@ class RadioLibInterface : public RadioInterface, protected concurrency::Notified
     /** Attempt to find a packet in the TxQueue. Returns true if the packet was found. */
     virtual bool findInTxQueue(NodeNum from, PacketId id) override;
 
+    uint8_t packetsInTxQueue() { return txQueue.getMaxLen() - txQueue.getFree(); }
+
     /**
      * Update the noise floor measurement by sampling RSSI from a slow path.
      * This should not be called from radio interrupt or TX/RX critical paths.

src/modules/DMShell.cpp

@@ -0,0 +1,804 @@
+#include "DMShell.h"
+
+#if defined(ARCH_PORTDUINO)
+
+#include "Channels.h"
+#include "MeshService.h"
+#include "NodeDB.h"
+#include "Throttle.h"
+#include "configuration.h"
+#include "mesh/generated/meshtastic/mesh.pb.h"
+#include "mesh/mesh-pb-constants.h"
+#include "pb_decode.h"
+#include "pb_encode.h"
+#include <errno.h>
+#include <fcntl.h>
+#include <poll.h>
+#include <pty.h>
+#include <signal.h>
+#include <stdlib.h>
+#include <string.h>
+#include <sys/ioctl.h>
+#include <sys/types.h>
+#include <sys/wait.h>
+#include <unistd.h>
+
+DMShellModule *dmShellModule;
+
+namespace
+{
+constexpr uint16_t PTY_COLS_DEFAULT = 120;
+constexpr uint16_t PTY_ROWS_DEFAULT = 40;
+constexpr size_t MAX_MESSAGE_SIZE = 200;
+
+// --- Half-duplex turn-taking ("talking stick") protocol, carried in RemoteShell.flags ---
+// On a 2-party LoRa link, Meshtastic's CSMA-CA breaks down when both ends transmit at once
+// (synchronized same-slot collisions that CAD can't prevent). These flags let exactly one
+// side transmit at a time, eliminating those collisions. The client is the master/idle-owner.
+constexpr uint32_t TURN_FLAG_GRANT = 0x01; // I am handing you the turn; you may transmit now
+constexpr uint32_t TURN_FLAG_MORE = 0x02;  // I yielded under a budget but still have data queued
+constexpr uint32_t TURN_FLAG_RTS = 0x04;   // I have output but no turn; please grant me one
+constexpr size_t TURN_BUDGET_FRAMES = 8;   // max output frames per granted turn before yielding (bounds interrupt latency)
+constexpr uint32_t RTS_RETRY_MS = 250;     // min interval between request-to-send frames
+// After being granted the turn we keep it for a short "linger" window, continuing to drain shell
+// output as it appears, instead of yielding the instant the PTY drains. This lets a command's
+// output (and the next prompt) ride the same turn as the keystroke that triggered it, avoiding a
+// full RTS->grant round-trip per command. The turn still ends promptly once the PTY is idle this
+// long, or once TURN_BUDGET_FRAMES is hit (so the client can interject, e.g. Ctrl-C).
+constexpr uint32_t TURN_LINGER_MS = 120;
+} // namespace
+
+DMShellModule::DMShellModule()
+    : SinglePortModule("DMShellModule", meshtastic_PortNum_REMOTE_SHELL_APP), concurrency::OSThread("DMShell", 100)
+{
+    LOG_WARN("DMShell enabled on Portduino: remote shell access is dangerous and intended for trusted debugging only");
+}
+
+ProcessMessage DMShellModule::handleReceived(const meshtastic_MeshPacket &mp)
+{
+    meshtastic_RemoteShell frame = meshtastic_RemoteShell_init_zero;
+    if (!mp.pki_encrypted) {
+        LOG_WARN("DMShell: ignoring packet without PKI from 0x%x", mp.from);
+        return ProcessMessage::STOP;
+    }
+
+    if (!parseFrame(mp, frame)) {
+        LOG_WARN("DMShell: ignoring malformed frame");
+        return ProcessMessage::STOP;
+    }
+
+    if (frame.op == meshtastic_RemoteShell_OpCode_ACK) {
+        if (session.active && frame.session_id == session.sessionId && getFrom(&mp) == session.peer) {
+            LOG_WARN("DMShell: Received ack from 0x%x 0x%x", getFrom(&mp), session.peer);
+            applyTurnFlags(frame);
+            if (frame.last_rx_seq > 0) {
+                resendFramesFrom(frame.last_rx_seq + 1);
+            }
+            // A standalone grant (client re-granting for MORE, replying to our RTS, or a heartbeat
+            // poll) is our cue to flush any pending shell output during this turn.
+            serviceTurn();
+        }
+        return ProcessMessage::CONTINUE;
+    }
+
+    if (frame.op >= 64) {
+        LOG_WARN("DMShell: ignoring frame with op code %d, seq %d", frame.op, frame.seq);
+        return ProcessMessage::CONTINUE;
+    }
+
+    if (!isAuthorizedPacket(mp)) {
+        LOG_WARN("DMShell: unauthorized sender 0x%x, %u", mp.from, frame.op);
+        myReply = allocErrorResponse(meshtastic_Routing_Error_NOT_AUTHORIZED, &mp);
+        return ProcessMessage::STOP;
+    }
+
+    if (frame.op == meshtastic_RemoteShell_OpCode_OPEN) {
+        LOG_WARN("DMShell: received OPEN from 0x%x sessionId=0x%x", mp.from, frame.session_id);
+        if (!openSession(mp, frame)) {
+            sendError("open_failed", getFrom(&mp));
+        }
+        return ProcessMessage::STOP;
+    }
+
+    if (!session.active || frame.session_id != session.sessionId || getFrom(&mp) != session.peer) {
+        if (!session.active) {
+            LOG_WARN("DMShell: no active session, rejecting op %d from 0x%x", frame.op, mp.from);
+        } else {
+            LOG_WARN("DMShell: session ID mismatch (got 0x%x expected 0x%x) or peer mismatch (got 0x%x expected 0x%x), rejecting "
+                     "op %d",
+                     frame.session_id, session.sessionId, mp.from, session.peer, frame.op);
+        }
+        sendError("invalid_session", getFrom(&mp));
+        return ProcessMessage::STOP;
+    }
+
+    // Honor channel-access flags before ordering checks: a GRANT transfers the turn regardless of
+    // whether this frame's payload is in order.
+    applyTurnFlags(frame);
+
+    if (!shouldProcessIncomingFrame(frame)) {
+        // We won't process the payload (gap/duplicate), but we may now hold the turn, so flush
+        // output and/or hand it back rather than stalling the link.
+        serviceTurn();
+        return ProcessMessage::STOP;
+    }
+
+    session.lastActivityMs = millis();
+
+    switch (frame.op) {
+    case meshtastic_RemoteShell_OpCode_INPUT:
+        if (!writeSessionInput(frame)) {
+            sendError("input_write_failed");
+        } else if (!session.turnManaged) {
+            // Legacy peer (no turn-taking): echo immediately as before. In managed mode the
+            // serviceTurn() call at the end of handleReceived drains the echo and yields the turn.
+            uint8_t outBuf[MAX_MESSAGE_SIZE];
+            const ssize_t bytesRead = read(session.masterFd, outBuf, sizeof(outBuf));
+            if (bytesRead > 0) {
+                LOG_WARN("DMShell: read %zd bytes from PTY", bytesRead);
+                meshtastic_RemoteShell frame = {
+                    .op = meshtastic_RemoteShell_OpCode_OUTPUT,
+                    .session_id = session.sessionId,
+                    .seq = session.nextTxSeq++,
+                    .ack_seq = session.lastAckedRxSeq,
+                    .cols = 0,
+                    .rows = 0,
+                    .flags = 0,
+                };
+                assert(bytesRead <= sizeof(frame.payload.bytes));
+                memcpy(frame.payload.bytes, outBuf, bytesRead);
+                frame.payload.size = bytesRead;
+                sendFrameToPeer(session.peer, frame, true);
+                session.lastActivityMs = millis();
+            }
+        }
+        break;
+    case meshtastic_RemoteShell_OpCode_RESIZE:
+        if (frame.rows > 0 && frame.cols > 0) {
+            struct winsize ws = {};
+            ws.ws_row = frame.rows;
+            ws.ws_col = frame.cols;
+            if (session.masterFd >= 0) {
+                ioctl(session.masterFd, TIOCSWINSZ, &ws);
+            }
+        }
+        break;
+    case meshtastic_RemoteShell_OpCode_PING: {
+        uint32_t peerLastRxSeq = frame.ack_seq;
+        if (frame.last_rx_seq > 0) {
+            peerLastRxSeq = frame.last_rx_seq;
+        }
+
+        const uint32_t nextMissingForPeer = peerLastRxSeq + 1;
+        if (nextMissingForPeer > 0 && nextMissingForPeer < session.nextTxSeq) {
+            resendFramesFrom(nextMissingForPeer);
+        }
+
+        meshtastic_RemoteShell frame = {
+            .op = meshtastic_RemoteShell_OpCode_PONG,
+            .session_id = session.sessionId,
+            .seq = session.nextTxSeq++,
+            .ack_seq = session.lastAckedRxSeq,
+            .cols = 0,
+            .rows = 0,
+            .flags = 0,
+            .last_tx_seq = session.nextTxSeq > 0 ? session.nextTxSeq - 1 : 0,
+            .last_rx_seq = session.lastAckedRxSeq,
+        };
+        frame.payload.size = 0;
+        sendFrameToPeer(session.peer, frame, true);
+        break;
+    }
+    case meshtastic_RemoteShell_OpCode_CLOSE:
+        closeSession("peer_close", true);
+        break;
+    default:
+        sendError("unsupported_op");
+        break;
+    }
+
+    // If the peer granted us the turn, flush pending shell output and hand the turn back.
+    serviceTurn();
+
+    return ProcessMessage::STOP;
+}
+
+int32_t DMShellModule::runOnce()
+{
+    processPendingChildReap();
+
+    if (!session.active) {
+        return 100;
+    }
+
+    reapChildIfExited();
+    if (!session.active) {
+        return 100;
+    }
+
+    if (Throttle::isWithinTimespanMs(session.lastActivityMs, SESSION_IDLE_TIMEOUT_MS) == false) {
+        closeSession("idle_timeout", true);
+        return 100;
+    }
+
+    if (RadioLibInterface::instance->packetsInTxQueue() > 1) {
+        return 50;
+    }
+
+    if (session.turnManaged) {
+        if (session.hasToken) {
+            // We hold the turn: flush output and hand it back.
+            serviceTurn();
+        } else if (ptyHasOutput() && !Throttle::isWithinTimespanMs(session.lastRtsMs, RTS_RETRY_MS)) {
+            // Unsolicited shell output but no turn: ask the client to grant us one.
+            sendRts();
+            session.lastRtsMs = millis();
+        }
+        return 50;
+    }
+
+    // Legacy free-send path (peer is not using turn-taking).
+    uint8_t outBuf[MAX_MESSAGE_SIZE];
+    while (session.masterFd >= 0) {
+        const ssize_t bytesRead = read(session.masterFd, outBuf, sizeof(outBuf));
+        if (bytesRead > 0) {
+            LOG_WARN("DMShell: read %zd bytes from PTY", bytesRead);
+
+            meshtastic_RemoteShell frame = {
+                .op = meshtastic_RemoteShell_OpCode_OUTPUT,
+                .session_id = session.sessionId,
+                .seq = session.nextTxSeq++,
+                .ack_seq = session.lastAckedRxSeq,
+                .cols = 0,
+                .rows = 0,
+                .flags = 0,
+            };
+            assert(bytesRead <= sizeof(frame.payload.bytes));
+            memcpy(frame.payload.bytes, outBuf, bytesRead);
+            frame.payload.size = bytesRead;
+            sendFrameToPeer(session.peer, frame, true);
+
+            session.lastActivityMs = millis();
+            // continue;
+            // do we want to ack every data message, and only send the next on ack?
+            // would require some retry logic. Maybe re-use the wantAck bit
+            return 50;
+        }
+
+        if (bytesRead == 0) {
+            closeSession("pty_eof", true);
+            break;
+        }
+
+        if (errno == EAGAIN || errno == EWOULDBLOCK) {
+            break;
+        }
+
+        LOG_WARN("DMShell: PTY read error errno=%d", errno);
+        closeSession("pty_read_error", true);
+        break;
+    }
+
+    return 100;
+}
+
+bool DMShellModule::parseFrame(const meshtastic_MeshPacket &mp, meshtastic_RemoteShell &outFrame)
+{
+    if (mp.which_payload_variant != meshtastic_MeshPacket_decoded_tag) {
+        return false;
+    }
+
+    if (pb_decode_from_bytes(mp.decoded.payload.bytes, mp.decoded.payload.size, meshtastic_RemoteShell_fields, &outFrame)) {
+        LOG_INFO("Received a DMShell message");
+    } else {
+        LOG_ERROR("Error decoding DMShell message!");
+        return false;
+    }
+
+    return true;
+}
+
+bool DMShellModule::isAuthorizedPacket(const meshtastic_MeshPacket &mp) const
+{
+    if (mp.from == 0) {
+        return !config.security.is_managed;
+    }
+
+    const meshtastic_Channel *ch = &channels.getByIndex(mp.channel);
+    if (strcasecmp(ch->settings.name, Channels::adminChannel) == 0) {
+        return config.security.admin_channel_enabled;
+    }
+
+    if (mp.pki_encrypted) {
+        for (uint8_t i = 0; i < 3; ++i) {
+            if (config.security.admin_key[i].size == 32 &&
+                memcmp(mp.public_key.bytes, config.security.admin_key[i].bytes, 32) == 0) {
+                return true;
+            }
+        }
+    }
+
+    return false;
+}
+
+bool DMShellModule::openSession(const meshtastic_MeshPacket &mp, const meshtastic_RemoteShell &frame)
+{
+    if (session.active) {
+        closeSession("preempted", false);
+    }
+
+    int masterFd = -1;
+    struct winsize ws = {};
+    if (frame.rows > 0) {
+        ws.ws_row = frame.rows;
+    } else {
+        ws.ws_row = PTY_ROWS_DEFAULT;
+    }
+    if (frame.cols > 0) {
+        ws.ws_col = frame.cols;
+    } else {
+        ws.ws_col = PTY_COLS_DEFAULT;
+    }
+    const pid_t childPid = forkpty(&masterFd, nullptr, nullptr, &ws);
+    if (childPid < 0) {
+        LOG_ERROR("DMShell: forkpty failed errno=%d", errno);
+        return false;
+    }
+
+    if (childPid == 0) {
+        const char *shell = getenv("SHELL");
+        if (!shell || !*shell) {
+            shell = "/bin/sh";
+        }
+        execl(shell, shell, "-i", static_cast<char *>(nullptr));
+        _exit(127);
+    }
+
+    const int flags = fcntl(masterFd, F_GETFL, 0);
+    if (flags >= 0) {
+        fcntl(masterFd, F_SETFL, flags | O_NONBLOCK);
+    }
+
+    session.active = true;
+    session.sessionId = (frame.session_id != 0) ? frame.session_id : static_cast<uint32_t>(random(1, 0x7fffffff));
+    session.peer = getFrom(&mp);
+    session.channel = mp.channel;
+    session.masterFd = masterFd;
+    session.childPid = childPid;
+    session.nextTxSeq = 1;
+    session.lastAckedRxSeq = frame.seq;
+    session.nextExpectedRxSeq = frame.seq + 1;
+    session.highestSeenRxSeq = frame.seq;
+    session.lastActivityMs = millis();
+    session.turnManaged = true;
+    session.hasToken = false;
+    session.lastRtsMs = 0;
+
+    // Honor any GRANT the client put on OPEN (opts this session into turn-taking).
+    applyTurnFlags(frame);
+
+    meshtastic_RemoteShell newFrame = {
+        .op = meshtastic_RemoteShell_OpCode_OPEN_OK,
+        .session_id = session.sessionId,
+        .seq = session.nextTxSeq++,
+        .ack_seq = frame.seq,
+        .cols = ws.ws_col,
+        .rows = ws.ws_row,
+        .flags = session.turnManaged ? TURN_FLAG_GRANT : 0u,
+    };
+    newFrame.payload.size = 0;
+    sendFrameToPeer(session.peer, newFrame, true);
+    if (session.turnManaged) {
+        // OPEN_OK handed the turn back to the client; it is now the idle-owner.
+        session.hasToken = false;
+    }
+
+    LOG_INFO("DMShell: opened session=0x%x peer=0x%x pid=%d", session.sessionId, session.peer, session.childPid);
+    return true;
+}
+
+bool DMShellModule::writeSessionInput(const meshtastic_RemoteShell &frame)
+{
+    if (session.masterFd < 0) {
+        return false;
+    }
+    if (frame.payload.size == 0) {
+        return true;
+    }
+
+    const ssize_t bytesWritten = write(session.masterFd, frame.payload.bytes, frame.payload.size);
+    return bytesWritten >= 0;
+}
+
+void DMShellModule::closeSession(const char *reason, bool notifyPeer)
+{
+    if (!session.active) {
+        return;
+    }
+
+    if (notifyPeer) {
+        const size_t reasonLen = strnlen(reason, 256);
+        meshtastic_RemoteShell frame = {
+            .op = meshtastic_RemoteShell_OpCode_CLOSED,
+            .session_id = session.sessionId,
+            .seq = session.nextTxSeq++,
+            .ack_seq = session.lastAckedRxSeq,
+            .cols = 0,
+            .rows = 0,
+            .flags = 0,
+        };
+        assert(reasonLen <= sizeof(frame.payload.bytes));
+        memcpy(frame.payload.bytes, reason, reasonLen);
+        frame.payload.size = reasonLen;
+        sendFrameToPeer(session.peer, frame, true);
+    }
+
+    if (session.masterFd >= 0) {
+        close(session.masterFd);
+        session.masterFd = -1;
+    }
+
+    if (session.childPid > 0) {
+        // Run this to avoid forgetting a child
+        processPendingChildReap();
+
+        if (kill(session.childPid, SIGTERM) < 0 && errno != ESRCH) {
+            LOG_WARN("DMShell: failed to send SIGTERM to pid=%d errno=%d", session.childPid, errno);
+        }
+
+        pendingChildPid = session.childPid;
+        session.childPid = -1;
+    }
+
+    LOG_INFO("DMShell: closed session=0x%x reason=%s", session.sessionId, reason);
+    session = DMShellSession{};
+}
+
+void DMShellModule::reapChildIfExited()
+{
+    if (!session.active || session.childPid <= 0) {
+        return;
+    }
+
+    int status = 0;
+    const pid_t result = waitpid(session.childPid, &status, WNOHANG);
+    if (result == session.childPid) {
+        closeSession("shell_exited", true);
+    }
+}
+
+void DMShellModule::processPendingChildReap()
+{
+    if (pendingChildPid <= 0) {
+        return;
+    }
+
+    int status = 0;
+    const pid_t result = waitpid(pendingChildPid, &status, WNOHANG);
+
+    if (result == pendingChildPid || (result < 0 && errno == ECHILD)) {
+        pendingChildPid = -1;
+        return;
+    }
+
+    if (result < 0) {
+        LOG_WARN("DMShell: waitpid failed for pid=%d errno=%d", pendingChildPid, errno);
+        pendingChildPid = -1;
+        return;
+    }
+
+    if (pendingChildPid > 0) {
+        if (kill(pendingChildPid, SIGKILL) < 0 && errno != ESRCH) {
+            LOG_WARN("DMShell: failed to send SIGKILL to pid=%d errno=%d", pendingChildPid, errno);
+        }
+        pendingChildPid = -1;
+    }
+}
+
+void DMShellModule::rememberSentFrame(meshtastic_RemoteShell frame)
+{
+    if (frame.seq == 0 || frame.op == meshtastic_RemoteShell_OpCode_ACK) {
+        return;
+    }
+
+    auto &entry = session.txHistory[session.txHistoryNext];
+    entry.valid = true;
+    entry.op = frame.op;
+    entry.sessionId = frame.session_id;
+    entry.seq = frame.seq;
+    entry.ackSeq = frame.ack_seq;
+    entry.cols = frame.cols;
+    entry.rows = frame.rows;
+    entry.flags = frame.flags;
+    entry.payloadLen = frame.payload.size;
+    if (frame.payload.size > 0) {
+        memcpy(entry.payload, frame.payload.bytes, frame.payload.size);
+    }
+
+    session.txHistoryNext = (session.txHistoryNext + 1) % session.txHistory.size();
+}
+
+void DMShellModule::resendFramesFrom(uint32_t startSeq)
+{
+    if (startSeq == 0) {
+        return;
+    }
+
+    DMShellSession::SentFrame *match = nullptr;
+    for (auto &entry : session.txHistory) {
+        if (!entry.valid || entry.seq != startSeq) {
+            continue;
+        }
+        match = &entry;
+        break;
+    }
+
+    if (!match) {
+        LOG_WARN("DMShell: replay request for seq=%u not found in history", startSeq);
+        return;
+    }
+
+    LOG_INFO("DMShell: replaying frame seq=%u op=%d", match->seq, match->op);
+    meshtastic_RemoteShell frame = {
+        .op = match->op,
+        .session_id = match->sessionId,
+        .seq = match->seq,
+        .ack_seq = match->ackSeq,
+        .cols = match->cols,
+        .rows = match->rows,
+        .flags = match->flags,
+    };
+    assert(match->payloadLen <= sizeof(frame.payload.bytes));
+    memcpy(frame.payload.bytes, match->payload, match->payloadLen);
+    frame.payload.size = match->payloadLen;
+    sendFrameToPeer(session.peer, frame, false);
+}
+
+void DMShellModule::sendAck(uint32_t replayFromSeq)
+{
+    if (replayFromSeq > 0) {
+        LOG_WARN("DMShell: requesting replay from seq=%u", replayFromSeq);
+    }
+    meshtastic_RemoteShell frame = {
+        .op = meshtastic_RemoteShell_OpCode_ACK,
+        .session_id = session.sessionId,
+        .seq = 0,
+        .ack_seq = session.lastAckedRxSeq,
+        .cols = 0,
+        .rows = 0,
+        .flags = 0,
+        .last_rx_seq = replayFromSeq - 1,
+    };
+    frame.payload.size = 0;
+    sendFrameToPeer(session.peer, frame, false);
+}
+
+bool DMShellModule::shouldProcessIncomingFrame(const meshtastic_RemoteShell &frame)
+{
+    if (frame.seq == 0) {
+        return true;
+    }
+
+    if (frame.seq < session.nextExpectedRxSeq) {
+        if (session.highestSeenRxSeq >= session.nextExpectedRxSeq) {
+            sendAck(session.nextExpectedRxSeq);
+        } else {
+            sendAck();
+        }
+        return false;
+    }
+
+    if (frame.seq > session.nextExpectedRxSeq) {
+        if (frame.seq > session.highestSeenRxSeq) {
+            session.highestSeenRxSeq = frame.seq;
+        }
+        sendAck(session.nextExpectedRxSeq);
+        return false;
+    }
+
+    session.lastAckedRxSeq = frame.seq;
+    session.nextExpectedRxSeq = frame.seq + 1;
+    if (frame.seq > session.highestSeenRxSeq) {
+        session.highestSeenRxSeq = frame.seq;
+    }
+    if (session.highestSeenRxSeq >= session.nextExpectedRxSeq) {
+        sendAck(session.nextExpectedRxSeq);
+    } else {
+        session.highestSeenRxSeq = 0;
+    }
+    return true;
+}
+
+void DMShellModule::sendFrameToPeer(NodeNum peer, meshtastic_RemoteShell frame, bool remember)
+{
+    meshtastic_MeshPacket *packet = allocDataPacket();
+    if (!packet) {
+        return;
+    }
+    LOG_WARN("DMShell: building packet op=%u session=0x%x seq=%u payloadLen=%zu", frame.op, frame.session_id, frame.seq,
+             frame.payload.size);
+    const size_t encoded = pb_encode_to_bytes(packet->decoded.payload.bytes, sizeof(packet->decoded.payload.bytes),
+                                              meshtastic_RemoteShell_fields, &frame);
+    if (encoded == 0) {
+        return;
+    }
+    packet->decoded.payload.size = encoded;
+
+    if (remember) {
+        rememberSentFrame(frame);
+    }
+
+    packet->to = peer;
+    packet->hop_limit = 0;
+    packet->hop_start = 0;
+    packet->channel = 0;
+    packet->want_ack = false;
+    packet->pki_encrypted = true;
+    packet->priority = meshtastic_MeshPacket_Priority_RELIABLE;
+    service->sendToMesh(packet);
+}
+
+void DMShellModule::applyTurnFlags(const meshtastic_RemoteShell &frame)
+{
+    if (frame.flags & (TURN_FLAG_GRANT | TURN_FLAG_MORE | TURN_FLAG_RTS)) {
+        session.turnManaged = true; // peer speaks turn-taking; enable gating for this session
+    }
+    if (frame.flags & TURN_FLAG_GRANT) {
+        if (!session.hasToken) {
+            // Fresh turn: start the linger window and reset the per-turn budget.
+            session.turnDeadlineMs = millis() + TURN_LINGER_MS;
+            session.turnFramesSent = 0;
+        }
+        session.hasToken = true;
+    }
+}
+
+bool DMShellModule::ptyHasOutput()
+{
+    if (session.masterFd < 0) {
+        return false;
+    }
+    struct pollfd pfd = {};
+    pfd.fd = session.masterFd;
+    pfd.events = POLLIN;
+    return poll(&pfd, 1, 0) > 0 && (pfd.revents & POLLIN);
+}
+
+void DMShellModule::sendOutputFrame(const uint8_t *data, size_t len, uint32_t extraFlags)
+{
+    meshtastic_RemoteShell frame = {
+        .op = meshtastic_RemoteShell_OpCode_OUTPUT,
+        .session_id = session.sessionId,
+        .seq = session.nextTxSeq++,
+        .ack_seq = session.lastAckedRxSeq,
+        .cols = 0,
+        .rows = 0,
+        .flags = extraFlags,
+    };
+    assert(len <= sizeof(frame.payload.bytes));
+    memcpy(frame.payload.bytes, data, len);
+    frame.payload.size = len;
+    sendFrameToPeer(session.peer, frame, true);
+}
+
+void DMShellModule::sendTurnGrant(bool more)
+{
+    meshtastic_RemoteShell frame = {
+        .op = meshtastic_RemoteShell_OpCode_ACK,
+        .session_id = session.sessionId,
+        .seq = 0,
+        .ack_seq = session.lastAckedRxSeq,
+        .cols = 0,
+        .rows = 0,
+        .flags = TURN_FLAG_GRANT | (more ? TURN_FLAG_MORE : 0u),
+        .last_rx_seq = 0,
+    };
+    frame.payload.size = 0;
+    sendFrameToPeer(session.peer, frame, false);
+}
+
+void DMShellModule::sendRts()
+{
+    meshtastic_RemoteShell frame = {
+        .op = meshtastic_RemoteShell_OpCode_ACK,
+        .session_id = session.sessionId,
+        .seq = 0,
+        .ack_seq = session.lastAckedRxSeq,
+        .cols = 0,
+        .rows = 0,
+        .flags = TURN_FLAG_RTS,
+        .last_rx_seq = 0,
+    };
+    frame.payload.size = 0;
+    sendFrameToPeer(session.peer, frame, false);
+}
+
+// Called (every tick) while we hold the turn. Drains available shell output and sends it
+// immediately, then decides whether to keep the turn (linger, to catch output that is about to
+// appear) or hand it back. The turn is yielded once the per-turn budget is hit (so the client can
+// interject, e.g. Ctrl-C) or once the PTY has been idle past the linger window. Output frames go
+// out as soon as they are read (no extra delay); the grant is a trailing ACK.
+void DMShellModule::serviceTurn()
+{
+    if (!session.active || !session.turnManaged || !session.hasToken) {
+        return;
+    }
+
+    uint8_t buf[MAX_MESSAGE_SIZE];
+    bool eof = false;
+    bool readError = false;
+
+    // Drain whatever is available right now, up to the remaining per-turn budget.
+    while (session.turnFramesSent < TURN_BUDGET_FRAMES && session.masterFd >= 0) {
+        const ssize_t n = read(session.masterFd, buf, sizeof(buf));
+        if (n > 0) {
+            sendOutputFrame(buf, (size_t)n, 0u);
+            session.turnFramesSent++;
+            session.lastActivityMs = millis();
+            session.turnDeadlineMs = millis() + TURN_LINGER_MS; // extend the linger while output flows
+        } else if (n == 0) {
+            eof = true;
+            break;
+        } else {
+            if (errno != EAGAIN && errno != EWOULDBLOCK) {
+                readError = true;
+            }
+            break;
+        }
+    }
+
+    if (eof || readError) {
+        session.hasToken = false;
+        sendTurnGrant(false);
+        if (eof) {
+            closeSession("pty_eof", true);
+        } else {
+            LOG_WARN("DMShell: PTY read error errno=%d", errno);
+            closeSession("pty_read_error", true);
+        }
+        return;
+    }
+
+    const bool morePending = ptyHasOutput();
+
+    if (session.turnFramesSent >= TURN_BUDGET_FRAMES) {
+        // Hit the per-turn budget: yield so the client gets a chance to interject (e.g. Ctrl-C).
+        session.hasToken = false;
+        sendTurnGrant(morePending);
+        return;
+    }
+
+    if (!morePending && (int32_t)(millis() - session.turnDeadlineMs) >= 0) {
+        // PTY has been idle past the linger window: hand the turn back.
+        session.hasToken = false;
+        sendTurnGrant(false);
+        return;
+    }
+
+    // Otherwise keep holding the turn: there is more to drain next pass, or we are lingering for
+    // output that may be about to appear. runOnce re-enters serviceTurn on the next tick.
+}
+
+void DMShellModule::sendError(const char *message, NodeNum peer)
+{
+    const size_t len = strnlen(message, MAX_MESSAGE_SIZE);
+    meshtastic_RemoteShell frame = {
+        .op = meshtastic_RemoteShell_OpCode_ERROR,
+        .session_id = session.sessionId,
+        .seq = session.nextTxSeq++,
+        .ack_seq = session.lastAckedRxSeq,
+        .cols = 0,
+        .rows = 0,
+        .flags = 0,
+    };
+    if (message && len > 0) {
+        assert(len <= sizeof(frame.payload.bytes));
+        memcpy(frame.payload.bytes, message, len);
+        frame.payload.size = len;
+    }
+    if (peer == 0) {
+        peer = session.peer;
+    }
+    sendFrameToPeer(peer, frame, true);
+}
+#endif

src/modules/DMShell.h

@@ -0,0 +1,91 @@
+#pragma once
+
+#include "MeshModule.h"
+#include "Router.h"
+#include "SinglePortModule.h"
+#include "concurrency/OSThread.h"
+#include "configuration.h"
+#include "mesh/generated/meshtastic/mesh.pb.h"
+#include <Arduino.h>
+#include <array>
+#include <functional>
+
+#if defined(ARCH_PORTDUINO)
+
+struct DMShellSession {
+    bool active = false;
+    uint32_t sessionId = 0;
+    NodeNum peer = 0;
+    uint8_t channel = 0;
+    int masterFd = -1;
+    int childPid = -1;
+    uint32_t nextTxSeq = 1;
+    uint32_t lastAckedRxSeq = 0;
+    uint32_t nextExpectedRxSeq = 1;
+    uint32_t highestSeenRxSeq = 0;
+    uint32_t lastActivityMs = 0;
+    // --- Half-duplex turn-taking ("talking stick") state ---
+    bool turnManaged = false;    // becomes true once the peer uses turn-taking flags; enables gating
+    bool hasToken = false;       // do we currently hold the right to transmit?
+    uint32_t lastRtsMs = 0;      // last time we asked the client for a turn (rate-limit)
+    uint32_t turnDeadlineMs = 0; // while holding the turn, keep it until this time (extended on output)
+    uint32_t turnFramesSent = 0; // output frames sent in the current held turn (vs TURN_BUDGET_FRAMES)
+    struct SentFrame {
+        bool valid = false;
+        meshtastic_RemoteShell_OpCode op = meshtastic_RemoteShell_OpCode_ERROR;
+        uint32_t sessionId = 0;
+        uint32_t seq = 0;
+        uint32_t ackSeq = 0;
+        uint32_t cols = 0;
+        uint32_t rows = 0;
+        uint32_t flags = 0;
+        uint8_t payload[meshtastic_Constants_DATA_PAYLOAD_LEN] = {0};
+        size_t payloadLen = 0;
+    };
+    std::array<SentFrame, 50> txHistory = {};
+    size_t txHistoryNext = 0;
+};
+
+class DMShellModule : private concurrency::OSThread, public SinglePortModule
+{
+
+  public:
+    DMShellModule();
+
+  protected:
+    virtual ProcessMessage handleReceived(const meshtastic_MeshPacket &mp) override;
+    virtual int32_t runOnce() override;
+
+  private:
+    static constexpr uint32_t SESSION_IDLE_TIMEOUT_MS = 5 * 60 * 1000;
+
+    DMShellSession session;
+    pid_t pendingChildPid = -1;
+
+    bool parseFrame(const meshtastic_MeshPacket &mp, meshtastic_RemoteShell &outFrame);
+    bool isAuthorizedPacket(const meshtastic_MeshPacket &mp) const;
+    bool openSession(const meshtastic_MeshPacket &mp, const meshtastic_RemoteShell &frame);
+    bool shouldProcessIncomingFrame(const meshtastic_RemoteShell &frame);
+    bool writeSessionInput(const meshtastic_RemoteShell &frame);
+    void closeSession(const char *reason, bool notifyPeer);
+    void reapChildIfExited();
+    void processPendingChildReap();
+
+    void rememberSentFrame(meshtastic_RemoteShell frame);
+    void resendFramesFrom(uint32_t startSeq);
+    void sendAck(uint32_t replayFromSeq = 0);
+    void sendFrameToPeer(NodeNum peer, meshtastic_RemoteShell frame, bool remember = true);
+    void sendError(const char *message, NodeNum peer = 0);
+
+    // --- Turn-taking helpers ---
+    void applyTurnFlags(const meshtastic_RemoteShell &frame);
+    bool ptyHasOutput();
+    void serviceTurn();
+    void sendOutputFrame(const uint8_t *data, size_t len, uint32_t extraFlags);
+    void sendTurnGrant(bool more);
+    void sendRts();
+};
+
+extern DMShellModule *dmShellModule;
+
+#endif

src/modules/Modules.cpp

@@ -49,6 +49,7 @@
 #include "modules/WaypointModule.h"
 #endif
 #if ARCH_PORTDUINO
+#include "modules/DMShell.h"
 #include "modules/Telemetry/HostMetrics.h"
 #if !MESHTASTIC_EXCLUDE_STOREFORWARD
 #include "modules/StoreForwardModule.h"
@@ -195,6 +196,7 @@ void setupModules()
 #endif
 #if ARCH_PORTDUINO
     new HostMetricsModule();
+    dmShellModule = new DMShellModule();
 #endif
 #if HAS_TELEMETRY
     new DeviceTelemetryModule();

src/modules/PositionModule.cpp

@@ -332,8 +332,6 @@ meshtastic_MeshPacket *PositionModule::allocAtakPli()
         takPacket.geo_src = meshtastic_GeoPointSource_GeoPointSource_GPS;
         takPacket.alt_src = meshtastic_GeoPointSource_GeoPointSource_GPS;
     }
-    takPacket.which_payload_variant = meshtastic_TAKPacketV2_pli_tag;
-    takPacket.payload_variant.pli = true;
 
     // Callsign - stored as plain string (no compression, apps handle that)
     strncpy(takPacket.callsign, owner.long_name, sizeof(takPacket.callsign) - 1);

src/motion/AccelerometerThread.h

@@ -15,6 +15,7 @@
 #endif
 #include "BMM150Sensor.h"
 #include "BMX160Sensor.h"
+#include "ICM42607PSensor.h"
 #include "ICM20948Sensor.h"
 #include "LIS3DHSensor.h"
 #include "LSM6DS3Sensor.h"
@@ -111,6 +112,9 @@ class AccelerometerThread : public concurrency::OSThread
         case ScanI2C::DeviceType::ICM20948:
             sensor = new ICM20948Sensor(device);
             break;
+        case ScanI2C::DeviceType::ICM42607P:
+            sensor = new ICM42607PSensor(device);
+            break;
         case ScanI2C::DeviceType::BMM150:
             sensor = new BMM150Sensor(device);
             break;

src/motion/ICM42607PSensor.cpp

@@ -0,0 +1,98 @@
+#include "ICM42607PSensor.h"
+
+#if !defined(ARCH_STM32WL) && !MESHTASTIC_EXCLUDE_I2C && __has_include(<ICM42670P.h>)
+
+#include "detect/ScanI2CTwoWire.h"
+#include <ICM42670P.h>
+
+static constexpr uint16_t ICM42607P_ACCEL_ODR_HZ = 50;
+static constexpr uint16_t ICM42607P_ACCEL_FSR_G = 2;
+static constexpr float ICM42607P_COUNTS_PER_G = 32768.0f / ICM42607P_ACCEL_FSR_G;
+
+#ifdef ICM_42607P_INT_PIN
+volatile static bool ICM42607P_IRQ = false;
+
+void ICM42607PSetInterrupt()
+{
+    ICM42607P_IRQ = true;
+}
+#endif
+
+ICM42607PSensor::ICM42607PSensor(ScanI2C::FoundDevice foundDevice) : MotionSensor::MotionSensor(foundDevice)
+{
+    wire = ScanI2CTwoWire::fetchI2CBus(foundDevice.address);
+}
+
+ICM42607PSensor::~ICM42607PSensor() = default;
+
+bool ICM42607PSensor::init()
+{
+    bool addressLsb = deviceAddress() == ICM42607P_ADDR_ALT;
+
+    LOG_DEBUG("ICM-42607-P begin on addr 0x%02X (port=%d)", deviceAddress(), devicePort());
+    sensor.reset();
+    auto newSensor = std::make_unique<ICM42670>(*wire, addressLsb);
+
+    int status = newSensor->begin();
+    // ICM42670P library returns -3 for ICM42607P because WHO_AM_I differs; the register map is compatible.
+    if (status != 0 && status != -3) {
+        LOG_DEBUG("ICM-42607-P init error %d", status);
+        return false;
+    }
+
+    status = newSensor->startAccel(ICM42607P_ACCEL_ODR_HZ, ICM42607P_ACCEL_FSR_G);
+    if (status != 0) {
+        LOG_DEBUG("ICM-42607-P accel start error %d", status);
+        return false;
+    }
+
+#ifdef ICM_42607P_INT_PIN
+    ICM42607P_IRQ = false;
+    status = newSensor->startWakeOnMotion(ICM_42607P_INT_PIN, ICM42607PSetInterrupt);
+    if (status != 0) {
+        LOG_DEBUG("ICM-42607-P wake-on-motion start error %d", status);
+        return false;
+    }
+    LOG_DEBUG("ICM-42607-P wake-on-motion interrupt ok pin=%d", ICM_42607P_INT_PIN);
+#endif
+
+    sensor = std::move(newSensor);
+    LOG_DEBUG("ICM-42607-P init ok");
+    return true;
+}
+
+int32_t ICM42607PSensor::runOnce()
+{
+#ifdef ICM_42607P_INT_PIN
+    if (ICM42607P_IRQ) {
+        ICM42607P_IRQ = false;
+        LOG_DEBUG("ICM-42607-P motion interrupt");
+        wakeScreen();
+    }
+    return MOTION_SENSOR_CHECK_INTERVAL_MS;
+#else
+    int16_t x = 0;
+    int16_t y = 0;
+    int16_t z = 0;
+    inv_imu_sensor_event_t event = {};
+
+    if (sensor == nullptr || sensor->getDataFromRegisters(event) != 0) {
+        return MOTION_SENSOR_CHECK_INTERVAL_MS;
+    }
+
+    // getDataFromRegisters() fills accel[] but does not set sensor_mask in this library version.
+    if (event.accel[0] == 0 && event.accel[1] == 0 && event.accel[2] == 0) {
+        return MOTION_SENSOR_CHECK_INTERVAL_MS;
+    }
+
+    x = event.accel[0];
+    y = event.accel[1];
+    z = event.accel[2];
+    // LOG_DEBUG("ICM-42607-P accel read x=%.3fg y=%.3fg z=%.3fg", (float)x / ICM42607P_COUNTS_PER_G,
+    //           (float)y / ICM42607P_COUNTS_PER_G, (float)z / ICM42607P_COUNTS_PER_G);
+
+    return MOTION_SENSOR_CHECK_INTERVAL_MS;
+#endif
+}
+
+#endif

src/motion/ICM42607PSensor.h

@@ -0,0 +1,28 @@
+#pragma once
+#ifndef _ICM42607P_SENSOR_H_
+#define _ICM42607P_SENSOR_H_
+
+#include "MotionSensor.h"
+
+#if !defined(ARCH_STM32WL) && !MESHTASTIC_EXCLUDE_I2C && __has_include(<ICM42670P.h>)
+
+#include <memory>
+
+class ICM42670;
+
+class ICM42607PSensor : public MotionSensor
+{
+  private:
+    std::unique_ptr<ICM42670> sensor;
+    TwoWire *wire = nullptr;
+
+  public:
+    explicit ICM42607PSensor(ScanI2C::FoundDevice foundDevice);
+    ~ICM42607PSensor() override;
+    virtual bool init() override;
+    virtual int32_t runOnce() override;
+};
+
+#endif
+
+#endif

src/motion/MMC5983MASensor.cpp

@@ -0,0 +1,115 @@
+#include "MMC5983MASensor.h"
+
+#if !defined(ARCH_STM32WL) && !MESHTASTIC_EXCLUDE_I2C && __has_include(<SparkFun_MMC5983MA_Arduino_Library.h>)
+
+#include "detect/ScanI2CTwoWire.h"
+
+#if !defined(MESHTASTIC_EXCLUDE_SCREEN)
+extern graphics::Screen *screen;
+#endif
+
+static constexpr float MMC5983MA_ZERO_FIELD = 131072.0f;
+static constexpr float MMC5983MA_COUNTS_PER_GAUSS = 16384.0f;
+static constexpr uint16_t MMC5983MA_CONTINUOUS_FREQUENCY_HZ = 10;
+static constexpr float MMC5983MA_HEADING_OFFSET_DEG = 180.0f;
+
+MMC5983MASensor::MMC5983MASensor(ScanI2C::FoundDevice foundDevice) : MotionSensor::MotionSensor(foundDevice) {}
+
+bool MMC5983MASensor::init()
+{
+    LOG_DEBUG("MMC5983MA begin on addr 0x%02X (port=%d)", device.address.address, device.address.port);
+    TwoWire *wire = ScanI2CTwoWire::fetchI2CBus(device.address);
+
+    if (!sensor.begin(*wire)) {
+        LOG_DEBUG("MMC5983MA init error");
+        return false;
+    }
+
+    sensor.softReset();
+    sensor.setFilterBandwidth(100);
+    sensor.performSetOperation();
+    sensor.enableAutomaticSetReset();
+    continuousMode = sensor.setContinuousModeFrequency(MMC5983MA_CONTINUOUS_FREQUENCY_HZ);
+    continuousMode &= sensor.enableContinuousMode();
+
+    if (!continuousMode) {
+        LOG_DEBUG("MMC5983MA continuous mode failed, using single-shot reads");
+        sensor.disableContinuousMode();
+    }
+
+    loadMagnetometerCalibration(compassCalibrationFileName, highestX, lowestX, highestY, lowestY, highestZ, lowestZ);
+    return true;
+}
+
+bool MMC5983MASensor::readMagnetometer(float &xGauss, float &yGauss, float &zGauss)
+{
+    uint32_t rawX = 0;
+    uint32_t rawY = 0;
+    uint32_t rawZ = 0;
+
+    if (!(continuousMode ? sensor.readFieldsXYZ(&rawX, &rawY, &rawZ) : sensor.getMeasurementXYZ(&rawX, &rawY, &rawZ))) {
+        LOG_DEBUG("MMC5983MA read failed");
+        return false;
+    }
+
+    xGauss = ((float)rawX - MMC5983MA_ZERO_FIELD) / MMC5983MA_COUNTS_PER_GAUSS;
+    yGauss = ((float)rawY - MMC5983MA_ZERO_FIELD) / MMC5983MA_COUNTS_PER_GAUSS;
+    zGauss = ((float)rawZ - MMC5983MA_ZERO_FIELD) / MMC5983MA_COUNTS_PER_GAUSS;
+    return true;
+}
+
+int32_t MMC5983MASensor::runOnce()
+    {
+        float magX = 0, magY = 0, magZ = 0;
+        if (!readMagnetometer(magX, magY, magZ)) {
+            return MOTION_SENSOR_CHECK_INTERVAL_MS;
+        }
+
+    #if !defined(MESHTASTIC_EXCLUDE_SCREEN)
+        if (doCalibration) {
+            beginCalibrationDisplay(showingScreen);
+            updateCalibrationExtrema(magX, magY, magZ, highestX, lowestX, highestY, lowestY, highestZ, lowestZ);
+            finishCalibrationIfExpired(showingScreen, compassCalibrationFileName, highestX, lowestX, highestY, lowestY, highestZ,
+                                    lowestZ);
+        }
+    #endif
+
+        magX -= (highestX + lowestX) / 2;
+        magY -= (highestY + lowestY) / 2;
+        magZ -= (highestZ + lowestZ) / 2;
+
+    #if !defined(MESHTASTIC_EXCLUDE_SCREEN) && HAS_SCREEN
+        float heading = atan2f(magY, magX) * RAD_TO_DEG + MMC5983MA_HEADING_OFFSET_DEG;
+        if (heading < 0.0f) {
+            heading += 360.0f;
+        } else if (heading >= 360.0f) {
+            heading -= 360.0f;
+        }
+
+        heading = applyCompassOrientation(heading);
+        if (screen) {
+            screen->setHeading(heading);
+        }
+    #endif
+
+        return MOTION_SENSOR_CHECK_INTERVAL_MS;
+}
+
+void MMC5983MASensor::calibrate(uint16_t forSeconds)
+{
+#if !defined(MESHTASTIC_EXCLUDE_SCREEN)
+    float xGauss = 0.0f;
+    float yGauss = 0.0f;
+    float zGauss = 0.0f;
+
+    LOG_DEBUG("MMC5983MA calibration started for %is", forSeconds);
+    if (readMagnetometer(xGauss, yGauss, zGauss)) {
+        seedCalibrationExtrema(xGauss, yGauss, zGauss, highestX, lowestX, highestY, lowestY, highestZ, lowestZ);
+    } else {
+        seedCalibrationExtrema(0.0f, 0.0f, 0.0f, highestX, lowestX, highestY, lowestY, highestZ, lowestZ);
+    }
+    startCalibrationWindow(forSeconds);
+#endif
+}
+
+#endif

src/motion/MMC5983MASensor.h

@@ -0,0 +1,31 @@
+#pragma once
+#ifndef _MMC5983MA_SENSOR_H_
+#define _MMC5983MA_SENSOR_H_
+
+#include "MotionSensor.h"
+
+#if !defined(ARCH_STM32WL) && !MESHTASTIC_EXCLUDE_I2C && __has_include(<SparkFun_MMC5983MA_Arduino_Library.h>)
+
+#include <SparkFun_MMC5983MA_Arduino_Library.h>
+
+class MMC5983MASensor : public MotionSensor
+{
+  private:
+    SFE_MMC5983MA sensor;
+    bool continuousMode = false;
+    bool showingScreen = false;
+    static constexpr const char *compassCalibrationFileName = "/prefs/compass_mmc5983ma.dat";
+    float highestX = 0, lowestX = 0, highestY = 0, lowestY = 0, highestZ = 0, lowestZ = 0;
+
+    bool readMagnetometer(float &xGauss, float &yGauss, float &zGauss);
+
+  public:
+    explicit MMC5983MASensor(ScanI2C::FoundDevice foundDevice);
+    virtual bool init() override;
+    virtual int32_t runOnce() override;
+    virtual void calibrate(uint16_t forSeconds) override;
+};
+
+#endif
+
+#endif

src/motion/MagnetometerThread.h

@@ -0,0 +1,115 @@
+#pragma once
+#ifndef _MAGNETOMETER_THREAD_H_
+#define _MAGNETOMETER_THREAD_H_
+
+#include "configuration.h"
+
+#if !defined(ARCH_STM32WL) && !MESHTASTIC_EXCLUDE_I2C && !MESHTASTIC_EXCLUDE_MAGNETOMETER
+
+#include "../concurrency/OSThread.h"
+#include "MMC5983MASensor.h"
+#include "MotionSensor.h"
+
+extern ScanI2C::DeviceAddress magnetometer_found;
+
+class MagnetometerThread : public concurrency::OSThread
+{
+  private:
+    MotionSensor *sensor = nullptr;
+    ScanI2C::FoundDevice device;
+    bool isInitialised = false;
+
+  public:
+    explicit MagnetometerThread(ScanI2C::FoundDevice foundDevice) : OSThread("Magnetometer")
+    {
+        device = foundDevice;
+        init();
+    }
+
+    explicit MagnetometerThread(ScanI2C::DeviceType type) : MagnetometerThread(ScanI2C::FoundDevice{type, magnetometer_found}) {}
+
+    void start()
+    {
+        init();
+        setIntervalFromNow(0);
+    };
+
+    void calibrate(uint16_t forSeconds)
+    {
+        if (sensor) {
+            sensor->calibrate(forSeconds);
+            setIntervalFromNow(0);
+        }
+    }
+
+  protected:
+    int32_t runOnce() override
+    {
+        canSleep = true;
+
+        if (isInitialised) {
+            return sensor->runOnce();
+        }
+
+        return MOTION_SENSOR_CHECK_INTERVAL_MS;
+    }
+
+  private:
+    void init()
+    {
+        if (isInitialised) {
+            return;
+        }
+
+        if (device.address.port == ScanI2C::I2CPort::NO_I2C || device.address.address == 0 || device.type == ScanI2C::NONE) {
+            LOG_DEBUG("MagnetometerThread Disable due to no sensors found");
+            disable();
+            return;
+        }
+
+        switch (device.type) {
+        case ScanI2C::DeviceType::MMC5983MA:
+            sensor = new MMC5983MASensor(device);
+            break;
+        default:
+            disable();
+            return;
+        }
+
+        isInitialised = sensor->init();
+        if (!isInitialised) {
+            clean();
+        }
+        LOG_DEBUG("MagnetometerThread::init %s", isInitialised ? "ok" : "failed");
+    }
+
+    MagnetometerThread(const MagnetometerThread &other) : OSThread::OSThread("Magnetometer") { this->copy(other); }
+
+    virtual ~MagnetometerThread() { clean(); }
+
+    MagnetometerThread &operator=(const MagnetometerThread &other)
+    {
+        this->copy(other);
+        return *this;
+    }
+
+    void copy(const MagnetometerThread &other)
+    {
+        if (this != &other) {
+            clean();
+            this->device = ScanI2C::FoundDevice(other.device.type,
+                                                ScanI2C::DeviceAddress(other.device.address.port, other.device.address.address));
+        }
+    }
+
+    void clean()
+    {
+        isInitialised = false;
+        delete sensor;
+        sensor = nullptr;
+    }
+};
+
+#endif
+
+#endif

src/nimble/NimbleBluetooth.cpp

@@ -187,11 +187,9 @@ class BluetoothPhoneAPI : public PhoneAPI, public concurrency::OSThread
         LOG_INFO("BLE onConfigStart");
 
         // Prefer high throughput during config/setup, at the cost of high power consumption (for a few seconds)
-        if (bleServer && isConnected()) {
-            uint16_t conn_handle = nimbleBluetoothConnHandle.load();
-            if (conn_handle != BLE_HS_CONN_HANDLE_NONE) {
-                requestHighThroughputConnection(conn_handle);
-            }
+        uint16_t conn_handle = nimbleBluetoothConnHandle.load();
+        if (conn_handle != BLE_HS_CONN_HANDLE_NONE) {
+            requestHighThroughputConnection(conn_handle);
         }
     }
 
@@ -200,11 +198,9 @@ class BluetoothPhoneAPI : public PhoneAPI, public concurrency::OSThread
         LOG_INFO("BLE onConfigComplete");
 
         // Switch to lower power consumption BLE connection params for steady-state use after config/setup is complete
-        if (bleServer && isConnected()) {
-            uint16_t conn_handle = nimbleBluetoothConnHandle.load();
-            if (conn_handle != BLE_HS_CONN_HANDLE_NONE) {
-                requestLowerPowerConnection(conn_handle);
-            }
+        uint16_t conn_handle = nimbleBluetoothConnHandle.load();
+        if (conn_handle != BLE_HS_CONN_HANDLE_NONE) {
+            requestLowerPowerConnection(conn_handle);
         }
     }
 
@@ -337,7 +333,7 @@ class BluetoothPhoneAPI : public PhoneAPI, public concurrency::OSThread
     }
 
     /// Check the current underlying physical link to see if the client is currently connected
-    virtual bool checkIsConnected() override { return bleServer && bleServer->getConnectedCount() > 0; }
+    virtual bool checkIsConnected() override { return nimbleBluetoothConnHandle.load() != BLE_HS_CONN_HANDLE_NONE; }
 
     void requestHighThroughputConnection(uint16_t conn_handle)
     {
@@ -732,32 +728,19 @@ bool NimbleBluetooth::isActive()
 
 bool NimbleBluetooth::isConnected()
 {
-    return bleServer && bleServer->getConnectedCount() > 0;
+    return nimbleBluetoothConnHandle.load() != BLE_HS_CONN_HANDLE_NONE;
 }
 
 int NimbleBluetooth::getRssi()
 {
 #if defined(CONFIG_IDF_TARGET_ESP32S3) || defined(CONFIG_IDF_TARGET_ESP32C6)
-    if (!bleServer || !isConnected()) {
+    uint16_t conn_handle = nimbleBluetoothConnHandle.load();
+    if (conn_handle != BLE_HS_CONN_HANDLE_NONE) {
         return 0; // No active BLE connection
     }
 
-    uint16_t connHandle = nimbleBluetoothConnHandle.load();
-
-    if (connHandle == BLE_HS_CONN_HANDLE_NONE) {
-        const auto peers = bleServer->getPeerDevices(true);
-        if (!peers.empty()) {
-            connHandle = peers.begin()->first;
-            nimbleBluetoothConnHandle = connHandle;
-        }
-    }
-
-    if (connHandle == BLE_HS_CONN_HANDLE_NONE) {
-        return 0; // Connection handle not available yet
-    }
-
     int8_t rssi = 0;
-    const int rc = ble_gap_conn_rssi(connHandle, &rssi);
+    const int rc = ble_gap_conn_rssi(conn_handle, &rssi);
 
     if (rc == 0) {
         return rssi;
@@ -879,7 +862,7 @@ void NimbleBluetooth::setupService()
 /// Given a level between 0-100, update the BLE attribute
 void updateBatteryLevel(uint8_t level)
 {
-    if ((config.bluetooth.enabled == true) && bleServer && nimbleBluetooth->isConnected()) {
+    if ((config.bluetooth.enabled == true) && nimbleBluetooth->isConnected()) {
         BatteryCharacteristic->setValue(&level, 1);
         BatteryCharacteristic->notify();
     }
@@ -894,7 +877,7 @@ void NimbleBluetooth::clearBonds()
 
 void NimbleBluetooth::sendLog(const uint8_t *logMessage, size_t length)
 {
-    if (!bleServer || !isConnected() || length > 512) {
+    if (!isConnected() || length > 512) {
         return;
     }
     logRadioCharacteristic->setValue(logMessage, length);

src/platform/nrf52/architecture.h

@@ -117,6 +117,8 @@
 #define HW_VENDOR meshtastic_HardwareModel_PRIVATE_HW
 #elif defined(HELTEC_T114)
 #define HW_VENDOR meshtastic_HardwareModel_HELTEC_MESH_NODE_T114
+#elif defined(HELTEC_MESH_NODE_T1)
+#define HW_VENDOR meshtastic_HardwareModel_HELTEC_MESH_NODE_T1
 #elif defined(MESHLINK)
 #define HW_VENDOR meshtastic_HardwareModel_MESHLINK
 #elif defined(SEEED_XIAO_NRF52840_KIT)

test/test_meshpacket_serializer/ports/test_dmshell.cpp

@@ -0,0 +1,97 @@
+#include "../test_helpers.h"
+#include "mesh/mesh-pb-constants.h"
+
+namespace
+{
+struct BytesDecodeState {
+    uint8_t *buffer;
+    size_t capacity;
+    size_t length;
+};
+
+struct BytesEncodeState {
+    const uint8_t *buffer;
+    size_t length;
+};
+
+bool decodeBytesField(pb_istream_t *stream, const pb_field_iter_t *field, void **arg)
+{
+    (void)field;
+    auto *state = static_cast<BytesDecodeState *>(*arg);
+    if (!state) {
+        return false;
+    }
+
+    const size_t fieldLen = stream->bytes_left;
+    if (fieldLen > state->capacity) {
+        return false;
+    }
+
+    if (!pb_read(stream, state->buffer, fieldLen)) {
+        return false;
+    }
+
+    state->length = fieldLen;
+    return true;
+}
+
+bool encodeBytesField(pb_ostream_t *stream, const pb_field_iter_t *field, void *const *arg)
+{
+    auto *state = static_cast<const BytesEncodeState *>(*arg);
+    if (!state || !state->buffer || state->length == 0) {
+        return true;
+    }
+
+    if (!pb_encode_tag_for_field(stream, field)) {
+        return false;
+    }
+
+    return pb_encode_string(stream, state->buffer, state->length);
+}
+
+void assert_dmshell_roundtrip(meshtastic_RemoteShell_OpCode op, uint32_t sessionId, uint32_t seq, const uint8_t *payload,
+                              size_t payloadLen, uint32_t cols = 0, uint32_t rows = 0)
+{
+    meshtastic_RemoteShell tx = meshtastic_RemoteShell_init_zero;
+    tx.op = op;
+    tx.session_id = sessionId;
+    tx.seq = seq;
+    tx.cols = cols;
+    tx.rows = rows;
+
+    uint8_t encoded[meshtastic_Constants_DATA_PAYLOAD_LEN] = {0};
+    size_t encodedLen = pb_encode_to_bytes(encoded, sizeof(encoded), meshtastic_RemoteShell_fields, &tx);
+    TEST_ASSERT_GREATER_THAN_UINT32(0, encodedLen);
+
+    meshtastic_RemoteShell rx = meshtastic_RemoteShell_init_zero;
+
+    TEST_ASSERT_TRUE(pb_decode_from_bytes(encoded, encodedLen, meshtastic_RemoteShell_fields, &rx));
+    TEST_ASSERT_EQUAL(op, rx.op);
+    TEST_ASSERT_EQUAL_UINT32(sessionId, rx.session_id);
+    TEST_ASSERT_EQUAL_UINT32(seq, rx.seq);
+    TEST_ASSERT_EQUAL_UINT32(cols, rx.cols);
+    TEST_ASSERT_EQUAL_UINT32(rows, rx.rows);
+}
+} // namespace
+
+void test_dmshell_open_roundtrip()
+{
+    assert_dmshell_roundtrip(meshtastic_RemoteShell_OpCode_OPEN, 0x101, 1, nullptr, 0, 120, 40);
+}
+
+void test_dmshell_input_roundtrip()
+{
+    const uint8_t payload[] = {'l', 's', '\n'};
+    assert_dmshell_roundtrip(meshtastic_RemoteShell_OpCode_INPUT, 0x202, 2, payload, sizeof(payload));
+}
+
+void test_dmshell_resize_roundtrip()
+{
+    assert_dmshell_roundtrip(meshtastic_RemoteShell_OpCode_RESIZE, 0x303, 3, nullptr, 0, 180, 55);
+}
+
+void test_dmshell_close_roundtrip()
+{
+    const uint8_t reason[] = {'b', 'y', 'e'};
+    assert_dmshell_roundtrip(meshtastic_RemoteShell_OpCode_CLOSE, 0x404, 4, reason, sizeof(reason));
+}

test/test_meshpacket_serializer/test_serializer.cpp

@@ -19,6 +19,10 @@ void test_telemetry_environment_metrics_complete_coverage();
 void test_telemetry_environment_metrics_unset_fields();
 void test_encrypted_packet_serialization();
 void test_empty_encrypted_packet();
+void test_dmshell_open_roundtrip();
+void test_dmshell_input_roundtrip();
+void test_dmshell_resize_roundtrip();
+void test_dmshell_close_roundtrip();
 
 void setup()
 {
@@ -52,6 +56,12 @@ void setup()
     RUN_TEST(test_encrypted_packet_serialization);
     RUN_TEST(test_empty_encrypted_packet);
 
+    // DMShell protobuf transport tests
+    RUN_TEST(test_dmshell_open_roundtrip);
+    RUN_TEST(test_dmshell_input_roundtrip);
+    RUN_TEST(test_dmshell_resize_roundtrip);
+    RUN_TEST(test_dmshell_close_roundtrip);
+
     UNITY_END();
 }
 

variants/nrf52840/heltec_mesh_node_t1/platformio.ini

@@ -0,0 +1,35 @@
+; Heltec Mesh Node T1 nRF52840/SX1262 device
+[env:heltec-mesh-node-t1]
+custom_meshtastic_hw_model = 133
+custom_meshtastic_hw_model_slug = HELTEC_MESH_NODE_T1
+custom_meshtastic_architecture = nrf52840
+custom_meshtastic_actively_supported = true
+custom_meshtastic_support_level = 1
+custom_meshtastic_display_name = Heltec Mesh Node T1
+custom_meshtastic_images = heltec-mesh-node-t1.svg
+custom_meshtastic_tags = Heltec
+
+extends = nrf52840_base
+board = heltec_mesh_node_t1
+board_level = pr
+debug_tool = jlink
+
+build_flags = ${nrf52840_base.build_flags}
+  -Ivariants/nrf52840/heltec_mesh_node_t1
+  -DHELTEC_MESH_NODE_T1
+  -DUSE_TFTDISPLAY
+  -DUSER_SETUP_LOADED
+  -DST7735_DRIVER
+  -DST7735_REDTAB160x80
+  -D TFT_SPI_PORT=SPI1
+  -D TFT_CS=ST7735_CS
+  -D TFT_DC=ST7735_RS
+  -D TFT_RST=ST7735_RESET
+  -D TFT_BL=ST7735_BL
+  -D TFT_BACKLIGHT_ON=LOW
+
+build_src_filter = ${nrf52_base.build_src_filter} +<../variants/nrf52840/heltec_mesh_node_t1>
+lib_deps =
+  ${nrf52840_base.lib_deps}
+  lewisxhe/PCF8563_Library@^1.0.1
+  bodmer/TFT_eSPI@2.5.43

variants/nrf52840/heltec_mesh_node_t1/variant.cpp

@@ -0,0 +1,85 @@
+/*
+  Copyright (c) 2014-2015 Arduino LLC.  All right reserved.
+  Copyright (c) 2016 Sandeep Mistry All right reserved.
+  Copyright (c) 2018, Adafruit Industries (adafruit.com)
+
+  This library is free software; you can redistribute it and/or
+  modify it under the terms of the GNU Lesser General Public
+  License as published by the Free Software Foundation; either
+  version 2.1 of the License, or (at your option) any later version.
+
+  This library is distributed in the hope that it will be useful,
+  but WITHOUT ANY WARRANTY; without even the implied warranty of
+  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+  See the GNU Lesser General Public License for more details.
+
+  You should have received a copy of the GNU Lesser General Public
+  License along with this library; if not, write to the Free Software
+  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+*/
+
+#include "variant.h"
+#include "nrf.h"
+#include "wiring_constants.h"
+#include "wiring_digital.h"
+
+const uint32_t g_ADigitalPinMap[] = {
+    // P0 - pins 0 and 1 are hardwired for xtal and should never be enabled
+    0xff, 0xff, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25,
+    26,   27,   28, 29, 30, 31,
+
+    // P1
+    32, 33, 34, 35, 36, 37, 38, 39, 40, 41, 42, 43, 44, 45, 46, 47};
+
+void initVariant()
+{
+    pinMode(PIN_BUZZER_VOLTAGE_MULTIPLIER_1, OUTPUT);
+    pinMode(PIN_BUZZER_VOLTAGE_MULTIPLIER_2, OUTPUT);
+    digitalWrite(PIN_BUZZER_VOLTAGE_MULTIPLIER_1, HIGH);
+    digitalWrite(PIN_BUZZER_VOLTAGE_MULTIPLIER_2, HIGH);
+}
+
+void variant_shutdown()
+{
+    nrf_gpio_cfg_default(ST7735_CS);
+    nrf_gpio_cfg_default(ST7735_RS);
+    nrf_gpio_cfg_default(ST7735_SDA);
+    nrf_gpio_cfg_default(ST7735_SCK);
+    nrf_gpio_cfg_default(ST7735_RESET);
+    nrf_gpio_cfg_default(ST7735_BL);
+    nrf_gpio_cfg_default(VTFT_CTRL);
+
+    nrf_gpio_cfg_default(PIN_WIRE_SDA);
+    nrf_gpio_cfg_default(PIN_WIRE_SCL);
+
+    nrf_gpio_cfg_default(SX126X_CS);
+    nrf_gpio_cfg_default(SX126X_DIO1);
+    nrf_gpio_cfg_default(SX126X_BUSY);
+    nrf_gpio_cfg_default(SX126X_RESET);
+
+    nrf_gpio_cfg_default(PIN_SPI_MISO);
+    nrf_gpio_cfg_default(PIN_SPI_MOSI);
+    nrf_gpio_cfg_default(PIN_SPI_SCK);
+
+    // nrf_gpio_cfg_default(PIN_SPI1_MISO);// ST7735 doesn't support MISO, so we don't configure it at all
+    nrf_gpio_cfg_default(PIN_SPI1_MOSI);
+    nrf_gpio_cfg_default(PIN_SPI1_SCK);
+
+    nrf_gpio_cfg_default(PIN_GPS_RESET);
+    nrf_gpio_cfg_default(PIN_GPS_EN);
+    nrf_gpio_cfg_default(PIN_GPS_PPS);
+    nrf_gpio_cfg_default(GPS_TX_PIN);
+    nrf_gpio_cfg_default(GPS_RX_PIN);
+
+    nrf_gpio_cfg_default(PIN_BUZZER_VOLTAGE_MULTIPLIER_1);
+    nrf_gpio_cfg_default(PIN_BUZZER_VOLTAGE_MULTIPLIER_2);
+
+    pinMode(PIN_BUZZER, OUTPUT);
+    digitalWrite(PIN_BUZZER, LOW);
+
+    pinMode(PIN_SENSOR_EN, OUTPUT);
+    digitalWrite(PIN_SENSOR_EN, !PIN_SENSOR_EN_ACTIVE); // Turn off sensor power
+
+    pinMode(PIN_LED1, OUTPUT);
+    digitalWrite(PIN_LED1, HIGH);
+}

variants/nrf52840/heltec_mesh_node_t1/variant.h

@@ -0,0 +1,177 @@
+/*
+ Copyright (c) 2014-2015 Arduino LLC.  All right reserved.
+ Copyright (c) 2016 Sandeep Mistry All right reserved.
+ Copyright (c) 2018, Adafruit Industries (adafruit.com)
+
+ This library is free software; you can redistribute it and/or
+ modify it under the terms of the GNU Lesser General Public
+ License as published by the Free Software Foundation; either
+ version 2.1 of the License, or (at your option) any later version.
+ This library is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
+ See the GNU Lesser General Public License for more details.
+ You should have received a copy of the GNU Lesser General Public
+ License along with this library; if not, write to the Free Software
+ Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
+*/
+
+#ifndef _VARIANT_HELTEC_MESH_NODE_T1_
+#define _VARIANT_HELTEC_MESH_NODE_T1_
+/** Master clock frequency */
+#define VARIANT_MCK (64000000ul)
+
+#define USE_LFXO // Board uses 32khz crystal for LF
+
+/*----------------------------------------------------------------------------
+ *        Headers
+ *----------------------------------------------------------------------------*/
+
+#include "WVariant.h"
+
+#ifdef __cplusplus
+extern "C" {
+#endif // __cplusplus
+
+#define ST7735_CS (0 + 12)
+#define ST7735_RS (0 + 22) // DC
+#define ST7735_SDA (0 + 24)
+#define ST7735_SCK (32 + 0)
+#define ST7735_RESET (0 + 20)
+#define ST7735_MISO -1
+#define ST7735_BUSY -1
+#define ST7735_BL (0 + 15)
+#define VTFT_CTRL (0 + 13)  // Active HIGH, powers the ST7735 display
+#define SPI_FREQUENCY 80000000
+#define SPI_READ_FREQUENCY 16000000
+#define SCREEN_ROTATE
+#define TFT_HEIGHT 160
+#define TFT_WIDTH 80
+#define TFT_OFFSET_X 24
+#define TFT_OFFSET_Y 0
+#define TFT_INVERT false
+#define SCREEN_TRANSITION_FRAMERATE 3 // fps
+#define DISPLAY_FORCE_SMALL_FONTS
+
+// Number of pins defined in PinDescription array
+#define PINS_COUNT (48)
+#define NUM_DIGITAL_PINS (48)
+#define NUM_ANALOG_INPUTS (1)
+#define NUM_ANALOG_OUTPUTS (0)
+
+// LEDs
+#define PIN_LED1 (0 + 16)
+#define LED_BLUE PIN_LED1 // fake for bluefruit library
+#define LED_GREEN PIN_LED1
+#define LED_STATE_ON 0 // State when LED is lit
+
+/*
+ * Buttons
+ */
+#define PIN_BUTTON1 (32 + 10)
+#define PIN_BUTTON2 (0 + 14)
+
+/*
+No longer populated on PCB
+*/
+#define PIN_SERIAL2_RX (-1)
+#define PIN_SERIAL2_TX (-1)
+
+/*
+ * I2C
+ */
+
+#define WIRE_INTERFACES_COUNT 1
+
+// I2C bus 1
+#define PIN_WIRE_SDA (32 + 3)
+#define PIN_WIRE_SCL (0 + 10)
+
+#define PIN_SENSOR_EN (32 + 6)   // Power control pin for sensors
+#define PIN_SENSOR_EN_ACTIVE LOW // Power control active state
+// #define ICM_42607P_INT_PIN (32 + 1)  // ICM42607P INT1, Arduino pin 33 / nRF P1.01
+// #define ICM_42607P_INT2_PIN (32 + 7) // ICM42607P INT2, Arduino pin 39 / nRF P1.07
+
+/*
+ * Lora radio
+ */
+
+#define USE_SX1262
+#define SX126X_CS (32 + 11) // FIXME - we really should define LORA_CS instead
+#define LORA_CS SX126X_CS
+#define SX126X_DIO1 (0 + 31)
+#define SX126X_BUSY (0 + 29)
+#define SX126X_RESET (0 + 2)
+#define SX126X_DIO2_AS_RF_SWITCH
+#define SX126X_DIO3_TCXO_VOLTAGE 1.8
+
+/*
+ * SPI Interfaces
+ */
+#define SPI_INTERFACES_COUNT 2
+
+// For LORA, spi 0
+#define PIN_SPI_MISO (0 + 3)
+#define PIN_SPI_MOSI (32 + 14)
+#define PIN_SPI_SCK (32 + 13)
+
+#define PIN_SPI1_MISO ST7735_MISO 
+#define PIN_SPI1_MOSI ST7735_SDA
+#define PIN_SPI1_SCK  ST7735_SCK
+
+/*
+ * GPS pins
+ */
+#define GPS_UC6580
+#define GPS_BAUDRATE 115200
+#define PIN_GPS_RESET (0 + 26)
+#define GPS_RESET_MODE LOW
+#define PIN_GPS_EN (0 + 4)
+#define GPS_EN_ACTIVE LOW
+#define PERIPHERAL_WARMUP_MS 1000 // Make sure I2C QuickLink has stable power before continuing
+#define PIN_GPS_PPS (32 + 9)      // Pulse per second input from the GPS
+#define GPS_TX_PIN (0 + 7)
+#define GPS_RX_PIN (0 + 8)
+
+#define GPS_THREAD_INTERVAL 50
+
+#define PIN_SERIAL1_RX GPS_RX_PIN
+#define PIN_SERIAL1_TX GPS_TX_PIN
+
+#define PIN_BUZZER (0 + 9)
+#define PIN_BUZZER_VOLTAGE_MULTIPLIER_1 (32 + 2)
+#define PIN_BUZZER_VOLTAGE_MULTIPLIER_2 (32 + 5)
+
+#define ADC_CTRL 11
+#define ADC_CTRL_ENABLED HIGH
+#define BATTERY_PIN 5
+#define ADC_RESOLUTION 14
+
+#define BATTERY_SENSE_RESOLUTION_BITS 12
+#define BATTERY_SENSE_RESOLUTION 4096.0
+#undef AREF_VOLTAGE
+#define AREF_VOLTAGE 3.0
+#define VBAT_AR_INTERNAL AR_INTERNAL_3_0
+#define ADC_MULTIPLIER (4.916F)
+
+// nrf52840 AIN3 = Pin 5
+// commented out due to power leakage of 2.9mA in shutdown state see reported issue #8801
+#define BATTERY_LPCOMP_INPUT NRF_LPCOMP_INPUT_3
+
+// We have AIN3 with a VBAT divider so AIN3 = VBAT * (100/490)
+// We have the device going deep sleep under 3.1V, which is AIN3 = 0.63V
+// So we can wake up when VBAT>=VDD is restored to 3.3V, where AIN3 = 0.67V
+// Ratio 0.67/3.3 = 0.20, so we can pick a bit higher, 2/8 VDD, which means
+// VBAT=4.04V
+#define BATTERY_LPCOMP_THRESHOLD NRF_LPCOMP_REF_SUPPLY_2_8
+
+#define HAS_RTC 0
+#ifdef __cplusplus
+}
+#endif
+
+/*----------------------------------------------------------------------------
+ *        Arduino objects - C++ only
+ *----------------------------------------------------------------------------*/
+
+#endif