From 409ffa19a5d17d4e07a0fe93d6298c7a635a7252 Mon Sep 17 00:00:00 2001
From: Fischertechnik-OpenSource <fischertechnik-opensource@online.de>
Date: Wed, 12 Feb 2025 11:47:30 +0100
Subject: [PATCH] Update to 3.1.8

---
 bin/nightly_dev_installer             |  35 +++++
 bin/txt_compile                       |  38 +++++
 bin/txt_compile_exec                  |  26 +++-
 bin/txt_debug_qtmenu                  |   2 +
 bin/txt_lan_setup                     | 147 +++++++++++++++++++
 bin/txt_nodered                       |  61 +++++++-
 bin/txt_open_roberta                  |  98 +++++++++++++
 bin/txt_open_roberta_service.template |  40 ++++++
 bin/txt_run                           |  58 ++++++++
 bin/txt_servo                         | 181 ++++++++++++++++++++---
 bin/txt_servo_setpos                  |  38 +++++
 bin/txt_update_avahi                  |  10 +-
 bin/txt_usb_gadget                    |   1 +
 bin/txt_wifi_setup                    | 198 ++++++++++++++++++++++----
 src/txt_servo_setpos.cpp              |  75 ++++++++++
 15 files changed, 952 insertions(+), 56 deletions(-)
 create mode 100644 bin/nightly_dev_installer
 create mode 100644 bin/txt_compile
 create mode 100644 bin/txt_debug_qtmenu
 create mode 100644 bin/txt_lan_setup
 create mode 100755 bin/txt_open_roberta
 create mode 100755 bin/txt_open_roberta_service.template
 create mode 100644 bin/txt_run
 create mode 100644 bin/txt_servo_setpos
 create mode 100644 src/txt_servo_setpos.cpp

diff --git a/bin/nightly_dev_installer b/bin/nightly_dev_installer
new file mode 100644
index 0000000..7056e30
--- /dev/null
+++ b/bin/nightly_dev_installer
@@ -0,0 +1,35 @@
+#!/bin/bash
+
+get_volume()
+{
+  for dev in mmcblk1p1 sda sdb sdc sdd
+  do
+    vol="$(mount | grep /dev/$dev | awk '{print $3}')"
+    if [ "$vol" ]
+    then
+      echo "$vol"
+      return 0
+    fi
+  done
+  return 1
+}
+
+vol=$(get_volume)
+if [ ! "$vol" ]
+then
+  echo "Please insert USB-Stick or microSD card first..."
+  exit 1
+fi
+
+echo "entering $vol..."
+cd $vol
+
+echo "Starting download & update..."
+login="Wm1selkyaGxjblJsWTJodWFXczZSbFFoTWpOVVdGUTBNQW8K"
+url="Wm5RdGRIaDBOREF0WkdWaWRXY3VjMmx0Y0d4bExYVnliQzVqYjIwdk15NHhMalV2Q2c9PQo="
+webcontent="$(curl -s "http://$(echo $login | base64 -d 2>/dev/null  | base64 -d 2>/dev/null)@$(echo $url | base64 -d 2>/dev/null | base64 -d 2>/dev/null)")"
+fw="$(echo "$webcontent" | grep -Eo "image-\S+raucb")"
+
+echo "Using $fw for update..."
+rm image-*.raucb 2> /dev/null || true
+curl http://$(echo $login | base64 -d 2>/dev/null  | base64 -d 2>/dev/null)@$(echo $url | base64 -d 2>/dev/null | base64 -d 2>/dev/null)$fw -o $fw && rauc_install.sh -p $fw && reboot
\ No newline at end of file
diff --git a/bin/txt_compile b/bin/txt_compile
new file mode 100644
index 0000000..bded920
--- /dev/null
+++ b/bin/txt_compile
@@ -0,0 +1,38 @@
+#!/bin/bash
+# Script-helper to compile and execute cpp / c file
+#
+#  Copyright (c) 2023 Accso. All rights reserved.
+#
+#  SPDX-License-Identifier: Apache-2.0
+#
+#  Licensed under the Apache License, Version 2.0 (the "License");
+#  you may not use this file except in compliance with the License.
+#  You may obtain a copy of the License at
+#
+#      http://www.apache.org/licenses/LICENSE-2.0
+#
+#  Unless required by applicable law or agreed to in writing, software
+#  distributed under the License is distributed on an "AS IS" BASIS,
+#  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+#  See the License for the specific language governing permissions and
+#  limitations under the License.
+
+src_file_param="$1"
+src_file=$(realpath "$src_file_param")
+src_folder=$(dirname "$src_file")
+src_filename=$(basename -- "$src_file")
+extension="${src_filename##*.}"
+shift
+if [ "$extension" == "cpp" ]
+then
+  COMPILER="/usr/bin/g++"
+else
+
+  COMPILER="/usr/bin/gcc"
+fi
+
+binfile=$src_folder/"${src_filename%.*}"
+FLAGS="-Wall -Wpedantic -Wextra -Wfatal-errors -I/usr/include/ft/ -lm -lcftlock -lTxtControlLib -L/usr/lib -o $binfile"
+
+$COMPILER $FLAGS $src_file_param
+chmod +x $binfile
\ No newline at end of file
diff --git a/bin/txt_compile_exec b/bin/txt_compile_exec
index 86f5bd3..0372bf4 100644
--- a/bin/txt_compile_exec
+++ b/bin/txt_compile_exec
@@ -1,8 +1,28 @@
 #!/bin/bash
-src_file=$(realpath "$1")
+# Script-helper to compile and execute cpp / c file
+#
+#  Copyright (c) 2023 Accso. All rights reserved.
+#
+#  SPDX-License-Identifier: Apache-2.0
+#
+#  Licensed under the Apache License, Version 2.0 (the "License");
+#  you may not use this file except in compliance with the License.
+#  You may obtain a copy of the License at
+#
+#      http://www.apache.org/licenses/LICENSE-2.0
+#
+#  Unless required by applicable law or agreed to in writing, software
+#  distributed under the License is distributed on an "AS IS" BASIS,
+#  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+#  See the License for the specific language governing permissions and
+#  limitations under the License.
+
+src_file_param="$1"
+src_file=$(realpath "$src_file_param")
 src_folder=$(dirname "$src_file")
 src_filename=$(basename -- "$src_file")
 extension="${src_filename##*.}"
+shift
 if [ "$extension" == "cpp" ]
 then
   COMPILER="/usr/bin/g++"
@@ -14,7 +34,7 @@ fi
 binfile=$src_folder/"${src_filename%.*}"
 FLAGS="-Wall -Wpedantic -Wextra -Wfatal-errors -I/usr/include/ft/ -lm -lcftlock -lTxtControlLib -L/usr/lib -o $binfile"
 
-$COMPILER $FLAGS $1
+$COMPILER $FLAGS $src_file_param
 chmod +x $binfile
 
-sudo -u ftgui $binfile
\ No newline at end of file
+sudo -u ftgui $binfile $@
\ No newline at end of file
diff --git a/bin/txt_debug_qtmenu b/bin/txt_debug_qtmenu
new file mode 100644
index 0000000..8c25493
--- /dev/null
+++ b/bin/txt_debug_qtmenu
@@ -0,0 +1,2 @@
+#!/bin/sh
+journalctl --follow -u qtmenu
\ No newline at end of file
diff --git a/bin/txt_lan_setup b/bin/txt_lan_setup
new file mode 100644
index 0000000..19b7f39
--- /dev/null
+++ b/bin/txt_lan_setup
@@ -0,0 +1,147 @@
+#!/bin/bash
+# Main script to configure LAN settings
+#
+#  Copyright (c) 2023 Accso. All rights reserved.
+#
+#  SPDX-License-Identifier: Apache-2.0
+#
+#  Licensed under the Apache License, Version 2.0 (the "License");
+#  you may not use this file except in compliance with the License.
+#  You may obtain a copy of the License at
+#
+#      http://www.apache.org/licenses/LICENSE-2.0
+#
+#  Unless required by applicable law or agreed to in writing, software
+#  distributed under the License is distributed on an "AS IS" BASIS,
+#  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+#  See the License for the specific language governing permissions and
+#  limitations under the License.
+
+# Usage
+
+usage()
+{
+  echo "Usage: txt_lan_setup status"
+  echo "       txt_lan_setup ping <host>"
+  echo "       txt_lan_setup init"
+}
+
+# Assigning arguments
+
+parse_args()
+{
+  action="${1}"
+  case "${action}" in
+    'ping')
+      host="${2}"
+      ;;
+  esac
+}
+
+iface_get_flags()
+{
+    iface="$1"
+    if [ -d "/sys/class/net/${iface}" ]; then
+        cat "/sys/class/net/${iface}/flags"
+    else
+        echo "0x1002"
+    fi
+}
+
+iface_get_operstate()
+{
+    iface="$1"
+    if [ -d "/sys/class/net/${iface}" ]; then
+        cat "/sys/class/net/${iface}/operstate"
+    else
+        echo "down"
+    fi
+}
+
+iface_client_lan=eth0
+flags_client_lan=$(iface_get_flags "${iface_client_lan}")
+status_client_lan=$(iface_get_operstate "${iface_client_lan}")
+
+# Arguments verification
+
+. /usr/share/txt2-utils/txt_aux_functions
+
+check_args()
+{
+  case "${action}" in
+    'status'|'init')
+      check_nargs "$#" 1
+      ;;
+    'ping')
+      check_nargs "$#" 2
+      check_notempty "${host}"
+      ;;
+    *)
+      usage
+      echo "BUG: Unsupported action: ${action}" >&2
+      exit 22 # EINVAL
+      ;;
+  esac
+}
+
+do_status()
+{
+  if [ ! -L "/sys/class/net/${iface_client_lan}" ]
+  then
+    echo 'ERROR'
+    exit 0
+    # exit 19 # ENODEV
+  fi
+  flags_client_lan=$(iface_get_flags "${iface_client_lan}")
+  status_client_lan=$(iface_get_operstate "${iface_client_lan}")
+
+  if [ "${flags_client_lan}" = '0x1003' ] && [ "${status_client_lan}" = 'up' ]; then
+      # Interface fully configured, link ready
+      echo 'CLIENT_LAN:ON'
+      echo "CLIENT_IP:$(expr match "$(/sbin/ip -4 address show dev "${iface_client_lan}")" '.*inet \([0-9.]*/[0-9]*\)')"
+      return
+  fi
+  echo 'OFF'
+}
+
+do_ping()
+{
+  if [ "${flags_client_lan}" = '0x1003' ] && [ "${status_client_lan}" = 'up' ]; then
+    if /bin/ping -I"${iface_client_lan}" -c1 -W2 "${host}" >&2 > /dev/null; then
+      echo 'PING:OK'
+      return
+    fi
+  fi
+  echo 'PING:FAILED'
+}
+
+do_init()
+{
+  if [ ! -L "/sys/class/net/${iface_client_lan}" ]
+  then
+    echo 'INIT:ERROR'
+    exit 19 # ENODEV
+  fi
+  echo 'INIT:OK'
+}
+
+# Main
+
+# - check arguments
+parse_args "$@"
+check_args "$@"
+
+# - do what is requested
+
+case "${action}" in
+  'status')
+    do_status
+    ;;
+  'ping')
+    do_ping
+    ;;
+  'init')
+    do_init
+    ;;
+esac
+exit 0
diff --git a/bin/txt_nodered b/bin/txt_nodered
index b311f6c..c23db75 100755
--- a/bin/txt_nodered
+++ b/bin/txt_nodered
@@ -1,4 +1,4 @@
-#!/bin/sh
+#!/bin/bash
 # Script-helper to control node-red server service
 #
 #  Copyright (c) 2023 Manuel Schreiner, Accso. All rights reserved.
@@ -36,12 +36,71 @@ nodered_service='node-red'
 
 . /usr/share/txt2-utils/txt_aux_functions
 
+
+settings="/opt/ft/workspaces/.node-red/settings.js"
+username="ft"
+password='$2b$08$F4amApJEf8Sa0InwzKMDV.wM89rQW1NfKP/otryBuHp8ifTK1mGr6'
+
+gen_admin_auth()
+{
+cat << EOF >> "$settings".new
+    adminAuth: {
+        type: "credentials",
+        users: [{
+            username: "$username",
+            password: "$password",
+            permissions: "*"
+        }]
+    },
+EOF
+}
+
+gen_settings()
+{
+  if [ ! -f $settings ]; then
+    node-red &
+    pid_nodered=$!
+    sleep 30
+    kill $pid_nodered
+  fi
+
+  #password=$(echo "fischertechnik" | node-red admin hash-pw)
+  #password="${password:10}"
+
+  if [ -f "$settings".new ]; then
+    rm "$settings".new
+  fi
+
+  block_auth=""
+  while read p; do
+    if grep -q "adminAuth:" <<< "$p"; then
+      block_auth="start"
+    fi
+    if [ "$block_auth" == "start" ]; then
+      gen_admin_auth
+      block_auth="written"
+    fi
+    if [ ! "$block_auth" ]; then
+      echo "$p" >> "$settings".new
+    fi
+
+    if grep -q "}," <<< "$p"; then
+      block_auth=""
+    fi
+  done <$settings
+
+  if [ -f "$settings".new ]; then
+    mv "$settings".new "$settings"
+  fi
+}
+
 # Main
 
 check_nargs "$#" 1
 case "${action}" in
   'on')
     err=0
+    gen_settings
     /bin/systemctl start "${nodered_service}" || err=$?
     ;;
   'off')
diff --git a/bin/txt_open_roberta b/bin/txt_open_roberta
new file mode 100755
index 0000000..94f93d2
--- /dev/null
+++ b/bin/txt_open_roberta
@@ -0,0 +1,98 @@
+#!/bin/sh
+# Script-helper to control openroberta server service
+#
+#  Copyright (c) 2023 Manuel Schreiner, Accso. All rights reserved.
+#
+#  SPDX-License-Identifier: Apache-2.0
+#
+#  Licensed under the Apache License, Version 2.0 (the "License");
+#  you may not use this file except in compliance with the License.
+#  You may obtain a copy of the License at
+#
+#      http://www.apache.org/licenses/LICENSE-2.0
+#
+#  Unless required by applicable law or agreed to in writing, software
+#  distributed under the License is distributed on an "AS IS" BASIS,
+#  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+#  See the License for the specific language governing permissions and
+#  limitations under the License.
+
+# Usage
+
+usage()
+{
+  echo "Usage: sudo txt_open_roberta <on|off|status>"
+}
+
+# Assigning arguments
+
+action="${1}"
+
+# Setttings
+
+openroberta_service='openroberta'
+openroberta_sessions='openroberta@*.service'
+openroberta_config_template='/usr/share/openroberta/openrobertaconfig.json'
+openroberta_config='/opt/ft/config/openrobertaconfig.json'
+
+# Arguments verification
+
+. /usr/share/txt2-utils/txt_aux_functions
+
+# Main
+
+if [ ! -f "${openroberta_config}" ];
+then
+    cp "${openroberta_config_template}" "${openroberta_config}"
+    chown ftgui:ftgui "${openroberta_config}"
+    chmod 640 "${openroberta_config}"
+fi
+
+# make sure template is used to copy all new fields
+
+/usr/bin/jq -s 'reduce .[] as $item ({}; . *= $item)' "${openroberta_config_template}" "${openroberta_config}" > "${openroberta_config}.tmp"
+cp "${openroberta_config}.tmp" "${openroberta_config}"
+rm -Rf ${openroberta_config}.tmp
+
+check_nargs "$#" 1
+case "${action}" in
+  'on')
+    err=0
+    chown ftgui:ftgui "${openroberta_config}"
+    /bin/systemctl start "${openroberta_service}" || err=$?
+    ;;
+  'off')
+    err=0
+    /bin/systemctl kill "${openroberta_sessions}" || err=$?
+    /bin/systemctl stop "${openroberta_service}" || err=$?
+    ;;
+  'restart')
+    err=0
+    chown ftgui:ftgui "${openroberta_config}"
+    /bin/systemctl kill "${openroberta_sessions}" || true
+    /bin/systemctl stop "${openroberta_service}" || true
+    /bin/systemctl start "${openroberta_service}" || err=$?
+    ;;
+  'status')
+    state1="$(/bin/systemctl is-active "${openroberta_service}")"
+    err=0
+    if [ "${state1}" = 'active' ]; then
+      echo "OpenRoberta:ON"
+    elif [ "${state1}" = 'inactive' ]; then
+      echo "OpenRoberta:OFF"
+    else
+      echo "OpenRoberta:ERROR"
+      err=22 # EINVAL
+    fi
+    ;;
+  '--help')
+    usage
+    err=0
+    ;;
+  *)
+    usage
+    echo "BUG: Unsupported action: ${action}" >&2
+    err=22 # EINVAL
+    ;;
+esac
+exit ${err}
diff --git a/bin/txt_open_roberta_service.template b/bin/txt_open_roberta_service.template
new file mode 100755
index 0000000..456c57f
--- /dev/null
+++ b/bin/txt_open_roberta_service.template
@@ -0,0 +1,40 @@
+#!/usr/bin/env python3
+##########################################
+#
+# Python template...
+#
+# (c) Manuel Schreiner, Accso
+#
+
+##########################################
+# Import section...
+##########################################
+
+import time
+import signal
+import sys
+
+##########################################
+# Functions section...
+##########################################
+
+def _exit(sig, frame):
+    print("exit...")
+    appRunning = False
+    sys.exit(0)
+
+def heartBeat():
+    print("Heart-Beat from Python...")
+
+##########################################
+# Main script ...
+##########################################
+
+appRunning = True
+
+signal.signal(signal.SIGINT, _exit)
+signal.signal(signal.SIGTERM, _exit)
+
+while appRunning:
+    heartBeat()
+    time.sleep(1)
diff --git a/bin/txt_run b/bin/txt_run
new file mode 100644
index 0000000..43ea132
--- /dev/null
+++ b/bin/txt_run
@@ -0,0 +1,58 @@
+#!/bin/bash
+# Script-helper to compile and execute cpp / c file
+#
+#  Copyright (c) 2023 Accso. All rights reserved.
+#
+#  SPDX-License-Identifier: Apache-2.0
+#
+#  Licensed under the Apache License, Version 2.0 (the "License");
+#  you may not use this file except in compliance with the License.
+#  You may obtain a copy of the License at
+#
+#      http://www.apache.org/licenses/LICENSE-2.0
+#
+#  Unless required by applicable law or agreed to in writing, software
+#  distributed under the License is distributed on an "AS IS" BASIS,
+#  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+#  See the License for the specific language governing permissions and
+#  limitations under the License.
+
+src_file_param="$1"
+src_file=$(realpath "$src_file_param")
+src_folder=$(dirname "$src_file")
+src_filename=$(basename -- "$src_file")
+filename="${src_filename%.*}"
+extension="${src_filename##*.}"
+extension=${extension,,}
+username=$(whoami)
+shift
+
+cd "$src_folder"
+
+case "${extension}" in
+    "ft")
+        echo "Running FT project..."
+        mkdir -p "$filename"
+        unzip "$src_filename" -d "$filename"
+        cd "$filename"
+        sudo -u ftgui python3 "${filename}.py" $@
+    ;;
+    "py")
+        echo "Running python script..."
+        sudo -u ftgui python3 "$src_filename" $@
+    ;;
+    "c")
+        echo "Compiling and running C program..."
+        txt_compile_exec "$src_filename" $@
+    ;;
+    "cpp")
+        echo "Compiling and running C++ program..."
+        txt_compile_exec "$src_filename" $@
+    ;;
+    *)
+        echo 'Please specify a file to run (*.ft, *.py, *.c, *.cpp)'
+        exit 1
+    ;;
+esac
+
+exit 0
diff --git a/bin/txt_servo b/bin/txt_servo
index c3e3a94..3ec77ee 100644
--- a/bin/txt_servo
+++ b/bin/txt_servo
@@ -2,13 +2,31 @@
 
 # Usage
 
+# Disclaimer:  Servo calibration can be stored within U-Boot with use_uboot_pre_config=1 
+#              to potential catch critical servo positions before boot
+#              This feature is not implemented in U-boot, so servo calibration values 
+#              are moving into a config file in /opt/ft/config/servo.conf
+
 servo_min_min=300
 servo_min_max=1100
-servo_min_default=600
+servo_min_default=610
 
 servo_max_min=1900
 servo_max_max=2700
-servo_max_default=2400
+servo_max_default=2360
+
+use_uboot_pre_config=0
+
+debug=0
+
+config_file="/opt/ft/config/servo.conf"
+
+debug_print()
+{
+  if [ "$debug" -eq "1" ]; then
+    echo $@
+  fi
+}
 
 usage()
 {
@@ -23,61 +41,179 @@ usage()
 
 # Assigning arguments
 
+while(true)
+do
+  if [ "${1}" == "--uboot-env" ]; then
+    use_uboot_pre_config=1
+    shift
+  elif [ "${1}" == "--file-env" ]; then
+    use_uboot_pre_config=0
+    shift
+  elif [ "${1}" == "-d" ]; then
+    debug=1
+    shift
+  else
+    break;
+  fi
+done
+
 operation="${1}"
 servo_num="${2}"
 
+configFile_setEnv()
+{
+    env_key="$1"
+    env_value="$2"
+
+    if ! grep -q "^${env_key}=" ${config_file}; then
+        echo "${env_key}=" >> ${config_file}
+    fi
+    sed -i "s/$env_key=.*/$env_key=$env_value/" "${config_file}" 
+}
+
+uboot_setEnv()
+{
+    env_key="$1"
+    env_value="$2"
+
+    /sbin/fw_setenv "$env_key" "$env_value"  2>/dev/null
+}
+
+setEnv()
+{
+    env_key="$1"
+    env_value="$2"
+    if [ "$use_uboot_pre_config" == "1" ]; then
+        /sbin/fw_setenv "$env_key" "$env_value"  2>/dev/null
+    else
+        configFile_setEnv "$env_key" "$env_value"
+    fi
+}
+
+configFile_getEnv()
+{
+    env_key="$1"
+    env_value="$(cat "$config_file" | grep "^${env_key}=" | cut -f2- -d"=")"
+    #source ${config_file}
+    #eval env_value=\$\{${env_key}\}
+    echo $env_value
+}
+
+uboot_getEnv()
+{
+    env_key=$1
+    echo "$(/sbin/fw_printenv -n "${env_key}" 2>/dev/null)"
+}
+
+getEnv()
+{
+    env_key="$1"
+    if [ "$use_uboot_pre_config" == "1" ]; then
+        uboot_getEnv "$env_key"
+    else
+        configFile_getEnv "$env_key"
+    fi
+}
+
+copyEnvUbootToFile()
+{
+    debug_print "Copy u-boot to config-file..."
+    for i in 1 2 3
+    do
+        err=0
+        servo_min="$(uboot_getEnv "servo${i}_min")"
+        if [ ! $? -eq 0 ] || [ ! "$servo_min" ]; then
+            err=1
+        fi
+        servo_max="$(uboot_getEnv "servo${i}_max")"
+        if [ ! $? -eq 0 ] || [ ! "$servo_max" ]; then
+            err=1
+        fi
+        if [ $err -eq 0 ]; then
+            configFile_setEnv "servo${i}_min" "$servo_min"
+            configFile_setEnv "servo${i}_max" "$servo_max"
+        fi
+    done
+
+}
+
 getServoValues()
 {
-    servo_num="${1}"
-    min_val="$(/sbin/fw_printenv -n "servo${servo_num}_min" 2>/dev/null)"
+    servo_num_index="${1}"
+    min_val="$(getEnv "servo${servo_num_index}_min" 2>/dev/null)"
     if [ ! $? -eq 0 ]
     then
         min_val=$servo_min_default
-        /sbin/fw_setenv "servo${servo_num}_min" "${min_val}" 2>/dev/null
+        setEnv "servo${servo_num_index}_min" "${min_val}" 2>/dev/null
     fi
 
-    max_val="$(/sbin/fw_printenv -n "servo${servo_num}_max" 2>/dev/null)"
+    max_val="$(getEnv "servo${servo_num_index}_max" 2>/dev/null)"
     if [ ! $? -eq 0 ]
     then
         max_val=$servo_max_default
-        /sbin/fw_setenv "servo${servo_num}_max" "${max_val}" 2>/dev/null
+        setEnv "servo${servo_num_index}_max" "${max_val}" 2>/dev/null
     fi
 
     if [ ! "$min_val" ]
     then
         min_val=$servo_min_default
-        /sbin/fw_setenv "servo${servo_num}_min" "${min_val}" 2>/dev/null
+        setEnv "servo${servo_num_index}_min" "${min_val}" 2>/dev/null
     fi
     if [ $min_val -gt $servo_min_max ]
     then
         min_val=$servo_min_max
-        /sbin/fw_setenv "servo${servo_num}_min" "${min_val}" 2>/dev/null
+        setEnv "servo${servo_num_index}_min" "${min_val}" 2>/dev/null
     fi
     if [ $min_val -lt $servo_min_min ]
     then
         min_val=$servo_min_min
-        /sbin/fw_setenv "servo${servo_num}_min" "${min_val}" 2>/dev/null
+        setEnv "servo${servo_num_index}_min" "${min_val}" 2>/dev/null
     fi
 
     if [ ! "$max_val" ]
     then
         max_val=$servo_max_default
-        /sbin/fw_setenv "servo${servo_num}_max" "${max_val}" 2>/dev/null
+        setEnv "servo${servo_num_index}_max" "${max_val}" 2>/dev/null
     fi
     if [ $max_val -lt $servo_max_min ]
     then
         max_val=$servo_max_min
-        /sbin/fw_setenv "servo${servo_num}_max" "${max_val}" 2>/dev/null
+        setEnv "servo${servo_num_index}_max" "${max_val}" 2>/dev/null
     fi
     if [ $max_val -gt $servo_max_max ]
     then
         max_val=$servo_max_max
-        /sbin/fw_setenv "servo${servo_num}_max" "${max_val}" 2>/dev/null
+        setEnv "servo${servo_num_index}_max" "${max_val}" 2>/dev/null
     fi
 
-    echo "{\"servo\":\"$servo_num\",\"min\":\"${min_val}\",\"max\":\"${max_val}\"}" 2>/dev/null || :
+    echo "{\"servo\":\"$servo_num_index\",\"min\":\"${min_val}\",\"max\":\"${max_val}\"}" 2>/dev/null || :
 }
 
+if [ ! "$servo_num" ] || [ "$servo_num" -lt 1 ] || [ "$servo_num" -gt 3 ]; then
+    echo "ERROR: Only servo numbers from 1 to 3 are allowed..."
+    usage
+    exit 1
+fi
+
+if [ ! -e "${config_file}" ] ; then
+    touch $config_file
+    for i in 1 2 3
+    do
+        echo "servo${i}_min=${servo_min_default}" >> $config_file
+        echo "servo${i}_max=${servo_max_default}" >> $config_file
+    done
+fi
+
+uboot_ported=$(configFile_getEnv "ubootported")
+if [ ! "$uboot_ported" ]; then
+    copyEnvUbootToFile
+    configFile_setEnv "ubootported" "1"
+fi
+
+debug_print "Arguments: $@"
+debug_print "Operation: ${operation}"
+debug_print "Servo-Num: ${servo_num}"
+
 case "${operation}" in
     "init")
         echo "{"
@@ -89,18 +225,25 @@ case "${operation}" in
     "setcalibration")
         servo_min="${3}"
         servo_max="${4}"
-        /sbin/fw_setenv "servo${servo_num}_min" "${servo_min}" 2>/dev/null
-        /sbin/fw_setenv "servo${servo_num}_max" "${servo_max}" 2>/dev/null
+        debug_print "setcalibration"
+        debug_print "Min: ${servo_min}"
+        debug_print "Max: ${servo_max}"
+        setEnv "servo${servo_num}_min" "${servo_min}" 2>/dev/null
+        setEnv "servo${servo_num}_max" "${servo_max}" 2>/dev/null
         getServoValues "${servo_num}"
     ;;
     "setmin")
         servo_min="${3}"
-        /sbin/fw_setenv "servo${servo_num}_min" "${servo_min}" 2>/dev/null
+        debug_print "servo_min"
+        debug_print "Min: ${servo_min}"
+        setEnv "servo${servo_num}_min" "${servo_min}" 2>/dev/null
         getServoValues "${servo_num}"
     ;;
     "setmax")
         servo_max="${3}"
-        /sbin/fw_setenv "servo${servo_num}_max" "${servo_max}" 2>/dev/null
+        debug_print "setmax"
+        debug_print "Max: ${servo_max}"
+        setEnv "servo${servo_num}_max" "${servo_max}" 2>/dev/null
         getServoValues "${servo_num}"
     ;;
     "getmin")
@@ -118,4 +261,4 @@ case "${operation}" in
     ;;
 esac
 
-exit 0
+exit 0
\ No newline at end of file
diff --git a/bin/txt_servo_setpos b/bin/txt_servo_setpos
new file mode 100644
index 0000000..c783751
--- /dev/null
+++ b/bin/txt_servo_setpos
@@ -0,0 +1,38 @@
+#!/usr/bin/python3
+# Set Servo Position
+#
+#  Copyright (c) 2023 Accso. All rights reserved.
+#
+#  SPDX-License-Identifier: Apache-2.0
+#
+#  Licensed under the Apache License, Version 2.0 (the "License");
+#  you may not use this file except in compliance with the License.
+#  You may obtain a copy of the License at
+#
+#      http://www.apache.org/licenses/LICENSE-2.0
+#
+#  Unless required by applicable law or agreed to in writing, software
+#  distributed under the License is distributed on an "AS IS" BASIS,
+#  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+#  See the License for the specific language governing permissions and
+#  limitations under the License.
+import ftlock
+import sys
+import time
+import ft
+
+servoNum=int(sys.argv[1])
+servoPos=int(sys.argv[2])
+
+if servoNum < 1 or servoNum > 3:
+  print("ERROR")
+  exit(1)
+if servoPos < 300 or servoPos > 2700:
+  print("ERROR")
+  exit(1)
+
+txt2=ft.fttxt2()
+s1=txt2.servo(servoNum)
+txt2.update_config()
+s1.pwm_set_us(servoPos)
+print("OK")
\ No newline at end of file
diff --git a/bin/txt_update_avahi b/bin/txt_update_avahi
index b1b6cf7..03b67d3 100644
--- a/bin/txt_update_avahi
+++ b/bin/txt_update_avahi
@@ -12,7 +12,6 @@ get_hostname()
 
 get_hostnames()
 {
-    echo "blablub.local"
     echo "$(get_hostname)"
     echo "$(get_hostname).local"
     if [ "$(get_domain_search)" ]; then
@@ -40,7 +39,14 @@ get_ip_hostnames()
 
 get_txtapi_version()
 {
-    SW_VERS="$(cat /usr/lib/python3.5/site-packages/txtapi/VERSION | grep "^VERSION_NUM=" | awk -F'=' '{print $2}')"
+    PYTHON_PATH=""
+    if [ -d "/usr/lib/python3.5" ]; then
+        PYTHON_PATH="/usr/lib/python3.5"
+    elif [ -d "/usr/lib/python3.8" ]; then
+        PYTHON_PATH="/usr/lib/python3.8"
+    fi
+
+    SW_VERS="$(cat $PYTHON_PATH/site-packages/txtapi/VERSION | grep "^VERSION_NUM=" | awk -F'=' '{print $2}')"
     if [ ! "$SW_VERS" ]
     then
         echo "unknown"
diff --git a/bin/txt_usb_gadget b/bin/txt_usb_gadget
index 5f3e908..f4ca7a5 100755
--- a/bin/txt_usb_gadget
+++ b/bin/txt_usb_gadget
@@ -103,6 +103,7 @@ check_udc() {
 
 do_start() {
   check_udc
+  /sbin/modprobe -a g_ether
   #/sbin/modprobe -a libcomposite
   if [ -d "${syspath_gadget}" ]; then
     read udc < "${syspath_gadget}/UDC"
diff --git a/bin/txt_wifi_setup b/bin/txt_wifi_setup
index c38dc80..f635e2a 100755
--- a/bin/txt_wifi_setup
+++ b/bin/txt_wifi_setup
@@ -77,34 +77,106 @@ parse_args()
   esac
 }
 
+iface_get_flags()
+{
+    iface="$1"
+    if [ -d "/sys/class/net/${iface}" ]; then
+        cat "/sys/class/net/${iface}/flags"
+    else
+        echo "0x1002"
+    fi
+}
+
+iface_get_operstate()
+{
+    iface="$1"
+    if [ -d "/sys/class/net/${iface}" ]; then
+        cat "/sys/class/net/${iface}/operstate"
+    else
+        echo "down"
+    fi
+}
+
 # Settings
 
+kernel_version=$(uname -r)
+
+iface_client_lan=eth0
 iface_client=mlan0
-if [ "$(lsusb | grep "RT5370")" ]
+iface_apoint=uap0
+iface_com_mode=sdcard
+if [ "$(lsusb 2>/dev/null | grep "RT5370")" ] || [ "$(lsusb -v 2>/dev/null | grep "802.11")" ] || [ -d "/sys/class/net/wlan0" ] || [ -d "/sys/class/net/wlanap0" ] 
 then
-    flags=$(cat /sys/class/net/mlan0/flags)
+    flags=$(iface_get_flags "mlan0")
     if [ "${flags}" = "0x1003" ]
     then
       /usr/bin/sudo -n /sbin/ifconfig mlan0 down
     fi
     iface_client=wlan0
+    iface_apoint=wlanap0
+    iface_com_mode=usb
 fi
 
+
+flags_client=$(iface_get_flags "${iface_client}")
+status_client=$(iface_get_operstate "${iface_client}")
+
+flags_client_lan=$(iface_get_flags "${iface_client_lan}")
+status_client_lan=$(iface_get_operstate "${iface_client_lan}")
+
+
 iface_client_metric=1
 iface_client_timeout=12 # 12 seconds to establish the link
-iface_apoint=uap0
 iface_apoint_timeout=12 # 12 seconds to establish the link
 
 temp_conf_dir=/tmp/txt2-utils
 hostap_conf_work="${temp_conf_dir}/hostapd.conf"
 wpasup_conf_work="${temp_conf_dir}/wpa_supplicant.conf"
 hostap_conf_template=/etc/hostapd.conf
+if [ "${iface_com_mode}" == "usb" ]; then
+    hostap_conf_template=/etc/hostapd_rt.conf
+fi
 wpasup_conf_template=/etc/wpa_supplicant.conf
 
 # Arguments verification
 
 . /usr/share/txt2-utils/txt_aux_functions
 
+ensure_usb_wlan_station_iface()
+{
+  #echo "#### ensure_usb_wlan_station_iface ####"
+  #echo iface_com_mode: ${iface_com_mode}
+  #echo iface_client: ${iface_client}
+  #echo iface_apoint: ${iface_apoint}
+  if [ "${iface_com_mode}" == "usb" ]; then
+    if [ -d "/sys/class/net/${iface_client}" ] && [ ! -d "/sys/class/net/${iface_apoint}" ]; then
+        echo "${iface_client} -> ${iface_apoint}"
+        /usr/bin/sudo -n /sbin/ip link set dev ${iface_client} name ${iface_apoint}
+        sleep 2
+        /usr/bin/sudo -n /bin/systemctl restart systemd-networkd
+        sleep 2
+    fi
+  fi
+}
+
+ensure_usb_wlan_client_iface()
+{
+  echo "#### ensure_usb_wlan_client_iface ####"
+  echo iface_com_mode: ${iface_com_mode}
+  echo iface_client: ${iface_client}
+  echo iface_apoint: ${iface_apoint}
+
+  if [ "${iface_com_mode}" == "usb" ]; then
+    if [ ! -d "/sys/class/net/${iface_client}" ] && [ -d "/sys/class/net/${iface_apoint}" ]; then
+        echo "${iface_apoint} -> ${iface_client}"
+        /usr/bin/sudo -n /sbin/ip link set dev ${iface_apoint} name ${iface_client}
+        sleep 2
+        /usr/bin/sudo -n /bin/systemctl restart systemd-networkd
+        sleep 2
+    fi
+  fi
+}
+
 check_args()
 {
   case "${action}" in
@@ -290,8 +362,11 @@ get_gateway()
     echo "$(netstat -r -n | grep "${iface_client}" | grep "UG" | awk '{print $2}')"
 }
 
-wifi_recovery()
+force_wifi_recovery()
 {
+    if [ ! "${iface_client}" == "mlan0" ]; then
+       return
+    fi
     /usr/bin/sudo -n /usr/bin/killall -q dhcpcd  || true
     /usr/bin/sudo -n /usr/bin/killall -q wpa_supplicant || true
     /usr/bin/sudo -n /usr/bin/killall -q hostapd || true
@@ -315,6 +390,15 @@ wifi_recovery()
     /usr/bin/sudo -n /usr/bin/killall -q hostapd || true
 }
 
+wifi_recovery()
+{
+    if [ ${kernel_version:0:1} == "5" ]; then
+      echo "Recovery is not available for Kernel >= 5.x"
+      return
+    fi
+    force_wifi_recovery
+}
+
 check_client_iface()
 {
   if [ ! -L "/sys/class/net/${iface_client}" ]
@@ -374,12 +458,12 @@ make_access_point_config()
     # Enable wpa and set wpa_psk
     script="s/^${spaces}wpa=.*$/wpa=2/;s/^${spaces}wpa_psk=.*$/wpa_psk=${psk}/;"
   fi
-
   /bin/sed -e "s/^${spaces}channel=.*$/channel=${channel}/" \
-           -e "s/^${spaces}ssid2\?=.*$/$(sed_escape "${ssid_expr}")/" \
-           -e "s/^${spaces}wpa_passphrase=.*$/#wpa_passphrase=/" \
-           -e "${script}" \
-           "${hostap_conf_template}"
+          -e "s/^${spaces}ssid2\?=.*$/$(sed_escape "${ssid_expr}")/" \
+          -e "s/^${spaces}wpa_passphrase=.*$/#wpa_passphrase=/" \
+          -e "s/^${spaces}interface=.*$/interface=${iface_apoint}/" \
+          -e "${script}" \
+          "${hostap_conf_template}"
 }
 
 do_set_mmc_speed()
@@ -399,6 +483,7 @@ do_get_gateway()
 
 do_start_client()
 {
+  ensure_usb_wlan_client_iface
   check_client_iface
   case "${ssid_type}" in
     'raw')
@@ -450,7 +535,7 @@ do_start_client()
 
   # Let system to establish the link before script exits
   while [ "${i:-0}" -lt "${iface_client_timeout}" ]; do
-    status_client=$(/bin/cat "/sys/class/net/${iface_client}/operstate")
+    status_client=$(iface_get_operstate "${iface_client}")
     if [ "${status_client}" = 'up' ]; then
       break
     fi
@@ -479,6 +564,7 @@ do_stop_client()
 
 do_start_access_point()
 {
+  ensure_usb_wlan_station_iface
   check_point_iface
   case "${ssid_type}" in
     'raw')
@@ -514,13 +600,16 @@ do_start_access_point()
 
   # Let system to establish the link before script exits
   while [ "${i:-0}" -lt "${iface_apoint_timeout}" ]; do
-    status_apoint=$(/bin/cat "/sys/class/net/${iface_apoint}/operstate")
+    status_apoint=$(iface_get_operstate "${iface_apoint}")
     if [ "${status_apoint}" = 'up' ]; then
       break
     fi
     /bin/sleep 1
     i=$((i+1))
   done
+  #/usr/bin/sudo -n /usr/sbin/dhcpcd --allowinterfaces ${iface_apoint}
+  #/usr/bin/sudo -n /sbin/ifconfig ${iface_apoint} 192.168.8.2
+  #/usr/bin/sudo -n /usr/sbin/dhcpcd --reconfigure
 }
 
 do_stop_access_point()
@@ -536,12 +625,14 @@ do_stop_access_point()
     /bin/rm -f -- "${hostap_conf_work}"
     /bin/rmdir --ignore-fail-on-non-empty -- "${temp_conf_dir}"
   fi
+  ensure_usb_wlan_client_iface
 }
 
 do_stop_all()
 {
   do_stop_client
   do_stop_access_point
+  ensure_usb_wlan_client_iface
 }
 
 check_host_online()
@@ -648,7 +739,7 @@ do_scan()
     fi
   fi
 
-  flags=$(/bin/cat "/sys/class/net/${iface_client}/flags")
+  flags=$(iface_get_flags "${iface_client}")
   if [ "${flags}" = "0x1002" ]
   then
     /usr/bin/sudo -n /sbin/ifconfig "${iface_client}" up 2> /dev/null > /dev/null
@@ -657,6 +748,23 @@ do_scan()
   if [ -f "/usr/bin/mlanutl" ] && [ "${iface_client}" == "mlan0" ]
   then
     /usr/bin/sudo -n /usr/bin/mlanutl "${iface_client}" setuserscan
+    # advanced wifi recovery only available for kernel >= 5.x.x
+    if [ ${kernel_version:0:1} == "5" ] && [ $? -eq 0 ]; then
+      success=0
+      for (( i = 0; i <= 10; i++ ))
+      do
+          /usr/bin/sudo -n /usr/bin/mlanutl "${iface_client}" setuserscan
+          if [ $? -eq 0 ]; then
+            success=1
+            break;
+          fi
+          sleep 1
+      done
+      if [ $success -eq 0 ]; then
+          force_wifi_recovery
+          /usr/bin/sudo -n /usr/bin/mlanutl "${iface_client}" setuserscan
+      fi
+    fi
   else
     # Fallback if mlanutl does not exist: WPA CLI requires a running wpa_supplicant, if not running use iw
     if [ "$(pidof wpa_supplicant)" ]
@@ -675,9 +783,16 @@ do_scan()
 
 do_status_client()
 {
-  flags_client=$(/bin/cat "/sys/class/net/${iface_client}/flags")
-  status_client=$(/bin/cat "/sys/class/net/${iface_client}/operstate")
-  if [ "${flags_client}" = '0x1003' ]; then
+  flags_client=$(iface_get_flags "${iface_client}")
+  status_client=$(iface_get_operstate "${iface_client}")
+  flags_client_lan=$(iface_get_flags "${iface_client_lan}")
+  status_client_lan=$(iface_get_operstate "${iface_client_lan}")
+  if [ "${flags_client_lan}" = '0x1003' ] && [ "${status_client_lan}" = 'up' ]; then
+      # Interface fully configured, link ready
+      echo 'CLIENT:ON'
+      echo "CLIENT_IP:$(expr match "$(/sbin/ip -4 address show dev "${iface_client_lan}")" '.*inet \([0-9.]*/[0-9]*\)')"
+      return
+  elif [ "${flags_client}" = '0x1003' ]; then
     # Client interface is up
     if [ "${status_client}" = 'up' ] && /bin/pidof wpa_supplicant >/dev/null; then
       # Interface fully configured, link ready
@@ -695,8 +810,8 @@ do_status_client()
 do_status_access_point()
 {
   if [ -L "/sys/class/net/${iface_apoint}" ]; then
-    flags_apoint=$(/bin/cat "/sys/class/net/${iface_apoint}/flags")
-    status_apoint=$(/bin/cat "/sys/class/net/${iface_apoint}/operstate")
+    flags_apoint=$(iface_get_flags "${iface_apoint}")
+    status_apoint=$(iface_get_operstate "${iface_apoint}")
     if [ "${flags_apoint}" = '0x1003' ]; then
       # Access point interface is up
       if [ "${status_apoint}" = 'up' ] && /bin/pidof hostapd >/dev/null; then
@@ -715,15 +830,23 @@ do_status_access_point()
 
 do_status()
 {
-  if [ ! -L "/sys/class/net/${iface_client}" ] || [ ! -L "/sys/class/net/${iface_apoint}" ]
-  then
-    echo 'ERROR'
-    exit 19 # ENODEV
+  if [ ! "${iface_com_mode}" == "usb" ]; then
+    if [ ! -L "/sys/class/net/${iface_client}" ] || [ ! -L "/sys/class/net/${iface_apoint}" ]
+    then
+      echo 'ERROR'
+      exit 19 # ENODEV
+    fi
   fi
-
-  flags_client=$(/bin/cat "/sys/class/net/${iface_client}/flags")
-  status_client=$(/bin/cat "/sys/class/net/${iface_client}/operstate")
-  if [ "${flags_client}" = '0x1003' ]; then
+  flags_client=$(iface_get_flags "${iface_client}")
+  status_client=$(iface_get_operstate "${iface_client}")
+  flags_client_lan=$(iface_get_flags "${iface_client_lan}")
+  status_client_lan=$(iface_get_operstate "${iface_client_lan}")
+  if [ "${flags_client_lan}" = '0x1003' ] && [ "${status_client_lan}" = 'up' ]; then
+      # Interface fully configured, link ready
+      echo 'CLIENT:ON'
+      echo "CLIENT_IP:$(expr match "$(/sbin/ip -4 address show dev "${iface_client_lan}")" '.*inet \([0-9.]*/[0-9]*\)')"
+      return
+  elif [ "${flags_client}" = '0x1003' ]; then
     # Client interface is up
     if [ "${status_client}" = 'up' ] && /bin/pidof wpa_supplicant >/dev/null; then
       # Interface fully configured, link ready
@@ -735,8 +858,8 @@ do_status()
     fi
     return
   else
-    flags_apoint=$(/bin/cat "/sys/class/net/${iface_apoint}/flags")
-    status_apoint=$(/bin/cat "/sys/class/net/${iface_apoint}/operstate")
+    flags_apoint=$(iface_get_flags "${iface_apoint}")
+    status_apoint=$(iface_get_operstate "${iface_apoint}")
     if [ "${flags_apoint}" = '0x1003' ]; then
       # Access point interface is up
       if [ "${status_apoint}" = 'up' ] && /bin/pidof hostapd >/dev/null; then
@@ -755,6 +878,12 @@ do_status()
 
 do_ping()
 {
+  if [ "${flags_client_lan}" = '0x1003' ] && [ "${status_client_lan}" = 'up' ]; then
+    if /bin/ping -I"${iface_client_lan}" -c1 -W2 "${host}" >&2 > /dev/null; then
+      echo 'PING:OK'
+      return
+    fi
+  fi
   if /bin/ping -I"${iface_client}" -c1 -W2 "${host}" >&2 > /dev/null; then
     echo 'PING:OK'
   else
@@ -776,10 +905,17 @@ do_init()
 {
   # PAN9026 modules should already have been loaded
   #/usr/bin/sudo -n /sbin/modprobe -a mlan sd8xxx
-  if [ ! -L "/sys/class/net/${iface_client}" ] || [ ! -L "/sys/class/net/${iface_apoint}" ]
-  then
-    echo 'INIT:ERROR'
-    exit 19 # ENODEV
+  if [ "${iface_com_mode}" == "usb" ]; then
+    if [ ! -L "/sys/class/net/${iface_client}" ] && [ ! -L "/sys/class/net/${iface_apoint}" ]; then
+      echo 'INIT:ERROR'
+      exit 19 # ENODEV
+    fi
+  else
+    if [ ! -L "/sys/class/net/${iface_client}" ] || [ ! -L "/sys/class/net/${iface_apoint}" ]
+    then
+      echo 'INIT:ERROR'
+      exit 19 # ENODEV
+    fi
   fi
   do_stop_all
   echo 'INIT:OK'
diff --git a/src/txt_servo_setpos.cpp b/src/txt_servo_setpos.cpp
new file mode 100644
index 0000000..fbf1460
--- /dev/null
+++ b/src/txt_servo_setpos.cpp
@@ -0,0 +1,75 @@
+/*
+ * Copyright (c) 2023 Accso. All rights reserved.
+ *
+ * SPDX-License-Identifier: Apache-2.0
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include <iostream>
+#include <string>
+#include <stdio.h>
+#include <unistd.h>
+
+extern "C" {
+#include "ftlock.h"
+}
+#include "ft.hpp"
+#include "ftop.h"
+
+using namespace ft;
+
+#define SERVO_MIN 300UL
+#define SERVO_MAX 2700UL
+
+int main(int argc, char **argv)
+{
+    int servoNum = 1;
+    int servoPos=1485;
+    if (argc < 2)
+    {
+        printf("ERROR\n");
+        return 1;
+    }
+
+    servoNum = atoi(argv[1]);
+    servoPos = atoi(argv[2]);
+
+    if ((servoNum < 1) || (servoNum > 3))
+    {
+        printf("ERROR\n");
+        return 1;
+    }
+
+    if ((servoPos < SERVO_MIN) || (servoPos > SERVO_MAX))
+    {
+        printf("ERROR\n");
+        return 1;
+    }
+
+    if (ftlock_open() < 0)
+    {
+        printf("ERROR\n");
+        return 1;
+    }
+    TXT txt2;
+    Servo s { txt2, servoNum };
+
+    txt2.update_config();
+    s.setPwmUs(servoPos);
+
+    ftlock_unlock(); // can be skipped in this case
+    ftlock_close();  // can be skipped in this case
+    printf("OK\n");
+    return 0;
+}
-- 
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