i2c command added data logger ui is much more condncsed, redy for decoding

configure_session_widget.py

@@ -100,8 +100,17 @@ class ConfigureSessionWidget(QWidget):
         add_layout = QVBoxLayout()
 
         add_form = QFormLayout()
+
+        # Command type selector
+        self.cmd_type_combo = QComboBox()
+        self.cmd_type_combo.addItem("UART", "uart")
+        self.cmd_type_combo.addItem("I2C", "i2c")
+        self.cmd_type_combo.currentIndexChanged.connect(self._on_command_type_changed)
+        add_form.addRow("Command Type:", self.cmd_type_combo)
+
+        # Command selector (will be populated based on type)
         self.cmd_combo = QComboBox()
-        add_form.addRow("UART Command:", self.cmd_combo)
+        add_form.addRow("Command:", self.cmd_combo)
 
         self.delay_spin = QSpinBox()
         self.delay_spin.setRange(0, 60000)
@@ -156,6 +165,14 @@ class ConfigureSessionWidget(QWidget):
         widget.setLayout(layout)
         return widget
     
+    def _on_command_type_changed(self):
+        """Load commands when type changes."""
+        cmd_type = self.cmd_type_combo.currentData()
+        if cmd_type == "uart":
+            self._load_uart_commands()
+        else:
+            self._load_i2c_commands()
+
     def _load_uart_commands(self):
         """Load UART commands into dropdown."""
         self.cmd_combo.clear()
@@ -165,6 +182,15 @@ class ConfigureSessionWidget(QWidget):
         for row in cursor.fetchall():
             self.cmd_combo.addItem(row[1], row[0])
 
+    def _load_i2c_commands(self):
+        """Load I2C commands into dropdown."""
+        self.cmd_combo.clear()
+        cursor = self.db_conn.execute(
+            "SELECT command_id, command_name FROM i2c_commands WHERE is_active=1 ORDER BY command_name"
+        )
+        for row in cursor.fetchall():
+            self.cmd_combo.addItem(row[1], row[0])
+    
     def _load_profiles(self):
         """Load profiles from database."""
         self.profile_list.clear()
@@ -197,13 +223,22 @@ class ConfigureSessionWidget(QWidget):
                 self.command_sequence = []
                 for cmd in json_obj.get("commands", []):
                     cmd_id = cmd["command_id"]
-                    # Get command name from database
-                    c = self.db_conn.execute(
-                        "SELECT command_name FROM uart_commands WHERE command_id = ?", (cmd_id,)
-                    )
+                    cmd_type = cmd.get("command_type", "uart")  # Default to uart for backwards compatibility
+
+                    # Get command name from correct table based on type
+                    if cmd_type == "i2c":
+                        c = self.db_conn.execute(
+                            "SELECT command_name FROM i2c_commands WHERE command_id = ?", (cmd_id,)
+                        )
+                    else:
+                        c = self.db_conn.execute(
+                            "SELECT command_name FROM uart_commands WHERE command_id = ?", (cmd_id,)
+                        )
+
                     cmd_row = c.fetchone()
                     if cmd_row:
                         self.command_sequence.append({
+                            "command_type": cmd_type,
                             "command_id": cmd_id,
                             "command_name": cmd_row[0],
                             "delay_ms": cmd["delay_ms"]
@@ -220,20 +255,24 @@ class ConfigureSessionWidget(QWidget):
         """Update sequence list display."""
         self.sequence_list.clear()
         for i, cmd in enumerate(self.command_sequence, 1):
-            text = f"{i}. {cmd['command_name']} ({cmd['delay_ms']}ms)"
+            cmd_type = cmd.get('command_type', 'uart')
+            type_label = "UART" if cmd_type == "uart" else "I2C"
+            text = f"{i}. [{type_label}] {cmd['command_name']} ({cmd['delay_ms']}ms)"
             self.sequence_list.addItem(text)
 
     def _on_add_command(self):
         """Add command to sequence."""
         if self.cmd_combo.count() == 0:
-            QMessageBox.warning(self, "Error", "No UART commands available")
+            QMessageBox.warning(self, "Error", "No commands available")
             return
 
+        cmd_type = self.cmd_type_combo.currentData()
         cmd_id = self.cmd_combo.currentData()
         cmd_name = self.cmd_combo.currentText()
         delay = self.delay_spin.value()
 
         self.command_sequence.append({
+            "command_type": cmd_type,
             "command_id": cmd_id,
             "command_name": cmd_name,
             "delay_ms": delay
@@ -339,7 +378,11 @@ class ConfigureSessionWidget(QWidget):
         # Build JSON
         json_obj = {
             "commands": [
-                {"command_id": cmd["command_id"], "delay_ms": cmd["delay_ms"]}
+                {
+                    "command_id": cmd["command_id"],
+                    "command_type": cmd.get("command_type", "uart"),
+                    "delay_ms": cmd["delay_ms"]
+                }
                 for cmd in self.command_sequence
             ]
         }

database/init_database.py

@@ -163,6 +163,7 @@ CREATE TABLE IF NOT EXISTS "telemetry_raw" (
 
     "uart_raw_packet" BLOB,
     "i2c_raw_bytes" BLOB,
+    "i2c_zero_ref" INTEGER DEFAULT 0,
 
     FOREIGN KEY ("session_id") REFERENCES "sessions"("session_id"),
     FOREIGN KEY ("run_command_id") REFERENCES "uart_commands"("command_id")
@@ -196,6 +197,7 @@ CREATE TABLE IF NOT EXISTS "telemetry_decoded" (
     "i2c_delta_raw14" INTEGER,
     "i2c_angle_deg" REAL,
     "i2c_zero_angle_deg" REAL,
+    "i2c_zero_ref" INTEGER DEFAULT 0,
 
     -- Derived
     "angular_velocity" REAL,

i2c_old/i2c_command_editor.py

@@ -0,0 +1,76 @@
+# File: components/i2c/i2c_command_editor.py
+
+from PyQt6.QtWidgets import (
+    QDialog,
+    QVBoxLayout,
+    QHBoxLayout,
+    QLineEdit,
+    QPushButton,
+    QFormLayout,
+    QComboBox,
+    QSpinBox,
+)
+from PyQt6.QtCore import Qt
+
+
+class I2CCommandEditorDialog(QDialog):
+    def __init__(self, command=None):
+        super().__init__()
+
+        self.setWindowTitle("Modify I2C Command" if command else "Add I2C Command")
+
+        form_layout = QFormLayout()
+        form_layout.setLabelAlignment(Qt.AlignmentFlag.AlignRight)
+        form_layout.setFormAlignment(Qt.AlignmentFlag.AlignTop)
+        form_layout.setSpacing(10)
+
+        # === Input Fields ===
+        self.name_input = QLineEdit()
+        self.description_input = QLineEdit()
+        self.category_input = QLineEdit()
+        self.operation_input = QComboBox()
+        self.operation_input.addItems(["read", "write"])
+        self.register_input = QSpinBox()
+        self.register_input.setRange(0, 255)
+        self.hex_input = QLineEdit()
+        self.hex_input.setPlaceholderText("0x01,0x02")
+
+        if command:
+            self.name_input.setText(command.get("name", ""))
+            self.description_input.setText(command.get("description", ""))
+            self.category_input.setText(command.get("category", ""))
+            self.operation_input.setCurrentText(command.get("operation", "read"))
+            self.register_input.setValue(command.get("register", 0))
+            self.hex_input.setText(command.get("hex_string", ""))
+
+        form_layout.addRow("Name:", self.name_input)
+        form_layout.addRow("Description:", self.description_input)
+        form_layout.addRow("Category:", self.category_input)
+        form_layout.addRow("Operation:", self.operation_input)
+        form_layout.addRow("Register:", self.register_input)
+        form_layout.addRow("Hex:", self.hex_input)
+
+        button_layout = QHBoxLayout()
+        self.ok_button = QPushButton("OK")
+        self.cancel_button = QPushButton("Cancel")
+        self.ok_button.clicked.connect(self.accept)
+        self.cancel_button.clicked.connect(self.reject)
+        button_layout.addStretch()
+        button_layout.addWidget(self.ok_button)
+        button_layout.addWidget(self.cancel_button)
+
+        layout = QVBoxLayout(self)
+        layout.addLayout(form_layout)
+        layout.addLayout(button_layout)
+
+        self.setMinimumWidth(400)
+
+    def get_data(self):
+        return {
+            "name": self.name_input.text().strip(),
+            "description": self.description_input.text().strip(),
+            "category": self.category_input.text().strip(),
+            "operation": self.operation_input.currentText(),
+            "register": self.register_input.value(),
+            "hex_string": self.hex_input.text().strip(),
+        }

i2c_old/i2c_logger_ui.py

@@ -0,0 +1,331 @@
+# components/i2c/i2c_logger_ui.py
+#
+from PyQt6.QtWidgets import (
+    QWidget,
+    QVBoxLayout,
+    QHBoxLayout,
+    QPushButton,
+    QComboBox,
+    QLineEdit,
+    QSplitter,
+)
+from PyQt6.QtCore import QObject, pyqtSignal
+from PyQt6.QtCore import Qt
+
+
+from components.console.console_ui import console_widget
+from components.console.console_registry import log_main_console
+import components.items.elements as elements
+import config.config as config
+
+from components.i2c.i2c_logic import I2CLogic, _coerce_int
+
+
+class _SafeConsoleProxy(QObject):
+    log_signal = pyqtSignal(str, str)  # level, message
+
+    def __init__(self, console):
+        super().__init__()
+        self.log_signal.connect(console.log)
+
+    def __call__(self, level, msg):
+        self.log_signal.emit(level, msg)
+
+
+class I2CLoggerWidget(QWidget):
+    """Drop-in single-page I2C widget with table | console splitter."""
+
+    def __init__(self, parent=None):
+        super().__init__(parent)
+        self.i2c_logic = I2CLogic()
+        self.commands = self.i2c_logic.get_predefined_commands()
+        self.comboboxes = {}
+        self.connection_status = False
+        self.init_ui()
+
+    def init_ui(self):
+        # Top controls
+        top_controls = QWidget()
+        top_controls_layout = QHBoxLayout(top_controls)
+        top_controls_layout.setContentsMargins(0, 0, 0, 0)
+        top_controls_layout.setSpacing(12)
+        top_controls_layout.setAlignment(Qt.AlignmentFlag.AlignTop)
+        # Port
+        self.comboboxes["port"] = QComboBox()
+        self.comboboxes["port"].addItems(self.i2c_logic.get_channels())
+        top_controls_layout.addWidget(
+            elements.label_and_widget("Port", self.comboboxes["port"])
+        )
+
+        self.button_refresh_channels = elements.create_icon_button(
+            config.REFRESH_BUTTON_ICON_LINK, icon_size=30, border_size=4
+        )
+        top_controls_layout.addWidget(self.button_refresh_channels)
+
+        # Address (empty until connected → scan)
+        self.comboboxes["address"] = QComboBox()
+        top_controls_layout.addWidget(
+            elements.label_and_widget("Address", self.comboboxes["address"])
+        )
+
+        self.button_refresh_address = elements.create_icon_button(
+            config.REFRESH_BUTTON_ICON_LINK, icon_size=30, border_size=4
+        )
+        top_controls_layout.addWidget(self.button_refresh_address)
+
+        self.input_register = QLineEdit()
+        self.input_register.setPlaceholderText("0x04")
+        top_controls_layout.addWidget(
+            elements.label_and_widget("Register", self.input_register)
+        )
+
+        self.input_length = QLineEdit()
+        self.input_length.setPlaceholderText("1")
+        top_controls_layout.addWidget(
+            elements.label_and_widget("Length", self.input_length)
+        )
+
+        # Set Zero / Connect / start / Disconnect
+        self.button_set_zero = QPushButton("Set Zero")
+        top_controls_layout.addWidget(
+            elements.label_and_widget("", self.button_set_zero)
+        )
+
+        self.button_connect = QPushButton("Connect")
+        top_controls_layout.addWidget(
+            elements.label_and_widget("", self.button_connect)
+        )
+
+        self.button_start = QPushButton("Start")
+        top_controls_layout.addWidget(elements.label_and_widget("", self.button_start))
+
+        self.button_disconnect = QPushButton("Disconnect")
+        top_controls_layout.addWidget(
+            elements.label_and_widget("", self.button_disconnect)
+        )
+
+        col1_widget = QWidget()
+        col1_layout = QVBoxLayout(col1_widget)
+        # col1_layout.setContentsMargins(0, 0, 0, 0)
+        col1_layout.setSpacing(4)
+
+        # Console
+        self.console = console_widget()
+
+        # IMPORTANT: keep a strong reference so it isn’t GC’d
+        self._i2c_console_proxy = _SafeConsoleProxy(self.console)
+        self.i2c_logic.set_logger(self._i2c_console_proxy)
+
+        # === Console only ===
+        console_stack_widget = QWidget()
+        console_stack_layout = QVBoxLayout(console_stack_widget)
+        console_stack_layout.setContentsMargins(0, 0, 0, 0)
+        console_stack_layout.setSpacing(4)
+        console_stack_layout.addWidget(self.console)
+
+        # === Splitter (kept for consistency, only console pane) ===
+        splitter = QSplitter(Qt.Orientation.Horizontal)
+        splitter.addWidget(console_stack_widget)
+        splitter.setStretchFactor(0, 1)
+
+        # === Main Layout ===
+        main_layout = QVBoxLayout()
+        main_layout.setContentsMargins(4, 4, 4, 4)
+        main_layout.setSpacing(6)
+        main_layout.addWidget(top_controls)
+        main_layout.addWidget(splitter, stretch=1)
+        self.setLayout(main_layout)
+
+        # Signals
+        self.button_refresh_channels.clicked.connect(self.refresh_channels)
+        self.button_refresh_address.clicked.connect(self.refresh_address)
+        self.button_set_zero.clicked.connect(self.set_zero)
+        self.button_connect.clicked.connect(self.connect)
+        self.button_start.clicked.connect(self.start_logging)
+        self.button_disconnect.clicked.connect(self.disconnect)
+
+        self.disconnected_enable_status()
+
+    # --- UI state toggles ---
+    def disconnected_enable_status(self):
+        elements.set_enabled_state(True, self.button_refresh_channels, grayOut=False)
+        elements.set_enabled_state(True, self.comboboxes["port"], grayOut=False)
+        elements.set_enabled_state(False, self.button_disconnect, grayOut=True)
+        elements.set_enabled_state(True, self.button_connect, grayOut=False)
+        elements.set_enabled_state(False, self.button_refresh_address, grayOut=True)
+        elements.set_enabled_state(False, self.comboboxes["address"], grayOut=True)
+        elements.set_enabled_state(False, self.input_register, grayOut=True)
+        elements.set_enabled_state(False, self.button_start, grayOut=True)
+        elements.set_enabled_state(False, self.input_length, grayOut=True)
+
+    def connected_enable_status(self):
+        elements.set_enabled_state(False, self.button_refresh_channels, grayOut=True)
+        elements.set_enabled_state(False, self.comboboxes["port"], grayOut=True)
+        elements.set_enabled_state(True, self.button_disconnect, grayOut=False)
+        elements.set_enabled_state(False, self.button_connect, grayOut=True)
+        elements.set_enabled_state(True, self.button_refresh_address, grayOut=False)
+        elements.set_enabled_state(True, self.comboboxes["address"], grayOut=False)
+        elements.set_enabled_state(True, self.input_register, grayOut=False)
+        elements.set_enabled_state(True, self.button_start, grayOut=False)
+        elements.set_enabled_state(True, self.input_length, grayOut=False)
+
+    def started_enable_status(self):
+        elements.set_enabled_state(False, self.button_refresh_channels, grayOut=True)
+        elements.set_enabled_state(False, self.comboboxes["port"], grayOut=True)
+        elements.set_enabled_state(True, self.button_disconnect, grayOut=False)
+        elements.set_enabled_state(False, self.button_connect, grayOut=True)
+        elements.set_enabled_state(False, self.button_refresh_address, grayOut=True)
+        elements.set_enabled_state(False, self.comboboxes["address"], grayOut=True)
+        elements.set_enabled_state(False, self.input_register, grayOut=True)
+        elements.set_enabled_state(False, self.button_start, grayOut=True)
+        elements.set_enabled_state(False, self.input_length, grayOut=True)
+
+    # --- Buttons ---
+    def set_zero(self):
+        log_main_console("info", "Stting Zero")
+        self.i2c_logic.measure_zero_raw14()
+
+    def connect(self):
+        log_main_console("info", "🔗 Connecting...")
+        success = self.i2c_logic.connect(self.comboboxes["port"].currentText())
+        if success:
+            self.connected_enable_status()
+            self.refresh_address(silent=True)
+            self.connection_status = True
+        else:
+            elements.flash_button(
+                self.button_connect, flash_style="background-color: red;"
+            )
+
+    def start_logging(self):
+        # use the combobox address and user fields (reg, length)
+        addr = self._current_address_int()
+        reg_txt = (self.input_register.text() or "").strip()
+        len_txt = (self.input_length.text() or "").strip() or "1"
+
+        def _to_int_any(s, default=None):
+            try:
+                return int(str(s), 0)
+            except Exception:
+                return default
+
+        reg = _to_int_any(reg_txt)
+        length = _to_int_any(len_txt, default=1)
+        if reg is None or length is None or length <= 0:
+            self.console.log("warning", "⚠️ Invalid register or length")
+            return
+
+        # start the logic-side logger (read-only continuous)
+        if self.i2c_logic.start_logger(
+            device_address=addr, reg=reg, length=length, interval_ms=100
+        ):
+            self.started_enable_status()
+        else:
+            elements.flash_button(
+                self.button_start, flash_style="background-color: red;"
+            )
+
+    def disconnect(self):
+        log_main_console("info", "🔌 Disconnecting...")
+        if self.i2c_logic.disconnect():
+            self.disconnected_enable_status()
+            self.connection_status = False
+            self.refresh_channels(silent=True)
+        else:
+            elements.flash_button(
+                self.button_disconnect, flash_style="background-color: red;"
+            )
+
+    def refresh_channels(self, silent: bool = False):
+        log_main_console("info", "🔄 Refreshing buses...")
+        self.comboboxes["port"].clear()
+        ports = self.i2c_logic.get_channels()
+        if ports:
+            self.comboboxes["port"].addItems(ports)
+            if not silent:
+                elements.flash_button(self.button_refresh_channels)
+            log_main_console("success", "🔄 Bus list refreshed")
+        else:
+            elements.flash_button(
+                self.button_refresh_channels, flash_style="background-color: red;"
+            )
+            log_main_console("warn", "No I2C buses found")
+
+    def refresh_address(self, silent: bool = False):
+        log_main_console("info", "🔄 Scanning bus for devices...")
+        self.comboboxes["address"].clear()
+        addresses = self.i2c_logic.scan_bus()
+        if addresses:
+            self.comboboxes["address"].addItems(addresses)
+            if not silent:
+                elements.flash_button(self.button_refresh_address)
+            log_main_console("success", "🔄 Bus scan complete")
+        else:
+            elements.flash_button(
+                self.button_refresh_address, flash_style="background-color: red;"
+            )
+            log_main_console("info", "No devices detected")
+
+    def get_current_config(self):
+        return {key: cb.currentText() for key, cb in self.comboboxes.items()}
+
+    def _current_address_int(self) -> int:
+        txt = self.comboboxes["address"].currentText().strip() or "0x40"
+        return _coerce_int(txt)
+
+    def send_command(self, command: dict):
+        self.i2c_logic.send_command(command, device_address=self._current_address_int())
+
+    def send_command_raw(self):
+        action = self.comboboxes["action"].currentText().strip().upper()
+        reg_txt = (self.input_register.text() or "").strip()
+        data_txt = (self.input_hex.text() or "").strip()
+        length_txt = (self.input_length.text() or "").strip()
+
+        # --- helpers ---
+        def _to_int_any(s, default=None):
+            try:
+                return int(str(s), 0)  # accepts "0xFE", "254"
+            except Exception:
+                return default
+
+        def _split_tokens(s: str):
+            return [t for t in s.replace(",", " ").split() if t]
+
+        # --- validate register ---
+        reg = _to_int_any(reg_txt)
+        if reg is None:
+            self.console.log("warning", "⚠️ Invalid or missing register (e.g. 0xFE).")
+            return
+
+        cmd = {
+            "action": action.lower(),
+            "reg": reg,
+        }
+
+        if action == "READ":
+            ln = _to_int_any(length_txt, default=1)
+            if ln is None or ln <= 0:
+                self.console.log("warning", "⚠️ Invalid length (must be >0).")
+                return
+            cmd["length"] = ln
+
+        elif action == "WRITE":
+            toks = _split_tokens(data_txt)
+            if not toks:
+                self.console.log(
+                    "warning", "⚠️ WRITE requires data (e.g. 00 or 01,02,03)."
+                )
+                return
+            if len(toks) == 1:
+                v = _to_int_any(toks[0])
+                if v is None:
+                    self.console.log(
+                        "warning", "⚠️ Invalid byte. Use hex/dec like 0x00 or 0."
+                    )
+                    return
+                cmd["value"] = v
+            else:
+                cmd["bytes"] = data_txt  # leave as string; logic will parse
+
+        self.i2c_logic.send_command(cmd, device_address=self._current_address_int())

i2c_old/i2c_logic.py

@@ -0,0 +1,639 @@
+# -----------------------
+# File: components/i2c/i2c_logic.py
+#
+# Purpose
+# -------
+# Unified I²C logic that supports:
+#   1) One-shot command send under an exclusive "capture window"
+#   2) A continuous background logger (thread) that politely backs off during capture
+#
+# Key Ideas
+# ---------
+# - We reuse the global coordinator (components.scheduler.coordinator) to mark an
+#   exclusive "capture window" while a one-shot I²C command is in flight.
+#   During this window, other sends are rejected, and the logger throttles
+#   output to keep the console readable and the UI snappy — same as UART.
+# - The logger runs in its own daemon thread and performs periodic READs from a
+#   chosen register/length at a configurable interval.
+# - All SMBus interactions are serialized by a single RLock so disconnect/close
+#   cannot race against in-flight reads/writes (prevents SIGSEGV).
+#
+# Tuning / Knobs
+# --------------
+# - self._logger_sleep_s: how often the logger loop yields when idle/throttled
+#   (default ~50 Hz). Increase for less CPU, decrease for more responsiveness.
+# - _throttle_ns (inside _logger_loop): during capture, the logger emits at most
+#   once every 50 ms. Increase to further reduce noise.
+# - The default capture window in send_command() is ~300 ms; adjust if needed.
+#
+# Logging Format
+# --------------
+# - TX (read):   "➡️ | addr 0xAA | reg 0xRR | action READ  | len N"
+# - RX (n bytes): "⬅️ | addr 0xAA | reg 0xRR | data [0xV0, 0xV1, ...]"
+# - TX (write1): "➡️ | addr 0xAA | reg 0xRR | action WRITE | value 0xVV"
+# - TX (writeN): "➡️ | addr 0xAA | reg 0xRR | action WRITE | bytes [0x.., ...]"
+# - OK (write):  "✅ | addr 0xAA | reg 0xRR | status OK"
+# - Errors:      "❌ | addr 0xAA | reg 0xRR | error <text>"
+#
+# ------------------------------------------------------------------------------
+
+from __future__ import annotations
+
+import os
+import time
+import threading
+from enum import Enum, auto
+from typing import List, Optional, Union
+import statistics
+import smbus2
+import config.config as config
+
+from components.console.console_registry import log_main_console
+from components.data.db import get_i2c_commands
+
+# Shared coordinator + timebase (UART-style exclusivity/throttling)
+from components.scheduler.coordinator import (
+    claim_i2c_capture,
+    release_i2c_capture,
+    i2c_capture_active,
+)
+from components.scheduler.timebase import now_ns
+
+
+# ---------------------------
+# Helpers (parsing and formatting)
+# ---------------------------
+
+
+def _coerce_int(val: Union[str, int], base: int = 10) -> int:
+    """Turn '1', '0x40', '64' or 1 into int. Raises ValueError on failure."""
+    if isinstance(val, int):
+        return val
+    s = str(val).strip().lower()
+    if s.startswith("0x"):
+        return int(s, 16)
+    return int(s, base)
+
+
+def _parse_hex_bytes_list(s: str) -> List[int]:
+    """
+    Parse strings like '0x01,0x02,0x03' or '01 02 03' or '01, 02, 03' into a list of ints.
+    """
+    if not s:
+        return []
+    raw = [tok.strip() for tok in s.replace(",", " ").split()]
+    out = []
+    for t in raw:
+        if not t:
+            continue
+        # accept '0x..' or plain hex/dec
+        out.append(int(t, 0))
+    return out
+
+
+# ---------------------------
+# State Machine
+# ---------------------------
+
+
+class I2CState(Enum):
+    DISCONNECTED = auto()
+    CONNECTED_IDLE = auto()
+    LOGGING = auto()
+    CAPTURE_ACTIVE = auto()
+
+
+# ---------------------------
+# Main logic
+# ---------------------------
+
+
+class I2CLogic:
+    """
+    Single class for:
+      - Connecting / disconnecting an I²C bus
+      - Sending one-shot register read/write commands under an exclusive capture window
+      - Running a continuous logger on the same bus (polls reg/length at an interval)
+
+    Threading model
+    ---------------
+    - The logger runs in a background daemon thread started by start_logger().
+    - All SMBus calls (read/write/close) are serialized by self._bus_lock (RLock).
+    - The command send path (send_command) runs in the UI/main thread, but it
+      briefly "claims" exclusivity via the shared coordinator so:
+        * Other sends are rejected during capture,
+        * The logger throttles its output during the capture window.
+    """
+
+    def __init__(self):
+        # Connection
+        self.bus: Optional[smbus2.SMBus] = None
+        self.bus_id: int = 1  # Raspberry Pi default /dev/i2c-1
+
+        # Threading & safety
+        self._bus_lock = threading.RLock()  # serialize ALL SMBus I/O
+        self._logger_thread: Optional[threading.Thread] = None
+        self._logger_running: bool = False
+        self._logger_sleep_s: float = 0.05  # ~20 Hz idle yield
+        self._throttle_ns: int = 50_000_000  # 50 ms between emissions during capture
+
+        # Logger configuration
+        self._log_addr: Optional[int] = None
+        self._log_reg: int = 0
+        self._log_len: int = 1
+        self._log_interval_s: float = 0.20  # default 200 ms between polls
+        self._shutting_down = False  # prevent new work during disconnects
+        self._2_bytes_read_counter = (
+            0  # to cinfurm how many times we were in the read 2 bytes function
+        )
+        # State
+        self._state = I2CState.DISCONNECTED
+
+        # Logger injection (UI provides console logger)
+        self.log = lambda level, msg: None  # default: drop logs until UI injects one
+
+    # Inject the console logger (must be a callable: (type, message) -> None)
+    # components/i2c/i2c_logic.py
+    def set_logger(self, log_func):
+        if callable(log_func):
+            self.log = log_func
+
+    # ----- convenience formatters -----
+    def _fmt_hex(self, v: int, width: int = 2) -> str:
+        return f"0x{v:0{width}X}"
+
+    def _fmt_bytes(self, data) -> str:
+        if data is None:
+            return "[]"
+        return "[" + ", ".join(f"0x{b:02X}" for b in data) + "]"
+
+    def _to_int_any(self, v, default=None):
+        try:
+            return int(str(v).strip(), 0)  # accepts "0xFE" or "254"
+        except Exception:
+            return default
+
+    def _parse_hex_list(self, s: str) -> List[int]:
+        return _parse_hex_bytes_list(s)
+
+    # ---------------------------
+    # State & Channels
+    # ---------------------------
+
+    def state(self) -> I2CState:
+        return self._state
+
+    def get_channels(self) -> List[str]:
+        """List available /dev/i2c-* buses as strings of bus ids."""
+        i2c_devices = []
+        try:
+            for entry in os.listdir("/dev"):
+                if entry.startswith("i2c-"):
+                    try:
+                        bus_id = int(entry.split("-")[1])
+                        i2c_devices.append(str(bus_id))
+                    except ValueError:
+                        continue
+        except Exception as e:
+            self.log("warn", f"Could not list /dev for i2c buses: {e}")
+        return sorted(i2c_devices)
+
+    def scan_bus(self) -> List[str]:
+        """
+        Scan the currently opened bus for devices.
+        Returns like ['0x40', '0x41'].
+        """
+        found: List[str] = []
+        with self._bus_lock:
+            if self.bus is None:
+                return found
+            try:
+                for address in range(0x03, 0x78):  # valid 7-bit range
+                    try:
+                        # write_quick is the classic probe; some devices NACK writes.
+                        self.bus.write_quick(address)
+                        found.append(f"0x{address:02X}")
+                    except OSError:
+                        continue
+                    except Exception as e:
+                        self.log("warn", f"Unexpected at 0x{address:02X}: {e}")
+                        continue
+                self.log("info", f"Scan complete. Found devices: {found}")
+            except Exception as e:
+                self.log("error", f"Scan failed: {e}")
+        return found
+
+    # ---------------------------
+    # Connection lifecycle
+    # ---------------------------
+
+    def connect(self, port: Union[int, str]) -> bool:
+        """
+        Open the I²C bus. 'port' can be an int or string ('1' -> /dev/i2c-1).
+        """
+        if config.DEBUG_MODE:
+            self._state = I2CState.CONNECTED_IDLE
+            self.log("info", "DEBUG: simulate I²C connect")
+            self.log("success", f"🔗 Connected to I²C bus {port} (DEBUG)")
+            return True
+
+        try:
+            self.bus_id = _coerce_int(port)
+            with self._bus_lock:
+                self.bus = smbus2.SMBus(self.bus_id)
+            self._state = I2CState.CONNECTED_IDLE
+            self.log("success", f"🔗 Connected to I²C bus {self.bus_id}")
+            return True
+        except FileNotFoundError:
+            self.log("error", f"I²C bus {port} not found (no /dev/i2c-{port}).")
+        except Exception as e:
+            self.log("error", f"❌ Connection failed: {e}")
+
+        self._state = I2CState.DISCONNECTED
+        return False
+
+    def disconnect(self) -> bool:
+        """
+        Stop logger (join) and close the bus cleanly.
+        Safe to call even if already disconnected.
+        """
+        if config.DEBUG_MODE:
+            self._state = I2CState.DISCONNECTED
+            self.log("info", "DEBUG: simulate I²C disconnect")
+            return True
+
+        try:
+            # 1) Stop logger first so no thread touches the bus.
+            self.stop_logger()
+
+            # 2) Close the bus under the same lock used for I/O.
+            with self._bus_lock:
+                if self.bus:
+                    try:
+                        self.bus.close()
+                    except Exception:
+                        pass
+                    self.bus = None
+
+            self._state = I2CState.DISCONNECTED
+            self.log("info", f"🔌 Disconnected from I²C bus {self.bus_id}")
+            return True
+        except Exception as e:
+            self.log("error", f"❌ Disconnection error: {e}")
+            return False
+
+    # ---------------------------
+    # One-shot command + capture window (UART-style)
+    # ---------------------------
+
+    def send_command(self, command, device_address=0x40):
+        """
+        Execute a single I²C action under an exclusive capture window.
+
+        command: either
+          - str (raw): "01,02,03" (block write to reg 0x00)
+          - dict: {
+                'action'/'operation': 'read'|'write',
+                'reg'/'register': int|str,
+                'length': int (for read),
+                'value': int (single-byte write),
+                'bytes': '01,02,03' (block write string)
+            }
+        device_address: int or str ('0x40' accepted). If None, attempt to read
+                        from command['address'] if present.
+        """
+        if self._shutting_down:
+            self.log("warning", "⛔ I²C is shutting down; command ignored.")
+            return None
+
+        # must be connected in real mode
+        if not config.DEBUG_MODE and not self.bus:
+            self.log("error", "❌ | bus not connected")
+            return None
+
+        # Claim capture (exclusive) — reject if already in use
+        deadline_ns = now_ns() + 300_000_000  # ~300 ms default window
+        if not claim_i2c_capture(deadline_ns, owner="I2C_CMD"):
+            self.log("warning", "⛔ Busy: capture window active. Try again shortly.")
+            return None
+
+        prev_state = self._state
+        self._state = I2CState.CAPTURE_ACTIVE
+        try:
+            # Normalize device address
+            if device_address is not None:
+                addr = self._to_int_any(device_address, default=0x40)
+            elif isinstance(command, dict) and "address" in command:
+                addr = self._to_int_any(command["address"], default=0x40)
+            else:
+                self.log("error", "❌ | no device address provided")
+                return None
+
+            # RAW string mode (block write to reg 0x00)
+            if isinstance(command, str):
+                data = self._parse_hex_list(command)
+                self.log(
+                    "info",
+                    f"➡️ | addr {self._fmt_hex(addr)} | reg 0x00 | action WRITE | bytes {self._fmt_bytes(data)}",
+                )
+                with self._bus_lock:
+                    if not config.DEBUG_MODE:
+                        self.bus.write_i2c_block_data(addr, 0x00, data)
+                self.log(
+                    "success", f"✅ | addr {self._fmt_hex(addr)} | reg 0x00 | status OK"
+                )
+                return True
+
+            # Dict mode
+            action = (
+                command.get("action") or command.get("operation") or "read"
+            ).upper()
+            reg = self._to_int_any(
+                command.get("reg", command.get("register", 0)), default=0
+            )
+
+            if action == "READ":
+                length = int(command.get("length", 1))
+                self.log(
+                    "info",
+                    f"➡️ | addr {self._fmt_hex(addr)} | reg {self._fmt_hex(reg)} | action READ  | len {length}",
+                )
+                with self._bus_lock:
+                    if not config.DEBUG_MODE:
+                        if length <= 1:
+                            data = [self.bus.read_byte_data(addr, reg)]
+                        else:
+                            data = self.bus.read_i2c_block_data(addr, reg, length)
+                    else:
+                        # synthetic data in DEBUG
+                        data = [0xBE] if length <= 1 else list(range(length))
+                self.log(
+                    "success",
+                    f"⬅️ | addr {self._fmt_hex(addr)} | reg {self._fmt_hex(reg)} | data {self._fmt_bytes(data)}",
+                )
+                return data if length > 1 else data[0]
+
+            elif action == "WRITE":
+                if "bytes" in command and command["bytes"]:
+                    data = self._parse_hex_list(command["bytes"])
+                    self.log(
+                        "info",
+                        f"➡️ | addr {self._fmt_hex(addr)} | reg {self._fmt_hex(reg)} | action WRITE | bytes {self._fmt_bytes(data)}",
+                    )
+                    with self._bus_lock:
+                        if not config.DEBUG_MODE:
+                            self.bus.write_i2c_block_data(addr, reg, data)
+                    self.log(
+                        "success",
+                        f"✅ | addr {self._fmt_hex(addr)} | reg {self._fmt_hex(reg)} | status OK",
+                    )
+                    return True
+                else:
+                    value = self._to_int_any(command.get("value", 0))
+                    self.log(
+                        "info",
+                        f"➡️ | addr {self._fmt_hex(addr)} | reg {self._fmt_hex(reg)} | action WRITE | value {self._fmt_hex(value)}",
+                    )
+                    with self._bus_lock:
+                        if not config.DEBUG_MODE:
+                            self.bus.write_byte_data(addr, reg, value)
+                    self.log(
+                        "success",
+                        f"✅ | addr {self._fmt_hex(addr)} | reg {self._fmt_hex(reg)} | status OK",
+                    )
+                    return True
+
+            else:
+                self.log(
+                    "warning",
+                    f"⚠️ | addr {self._fmt_hex(addr)} | reg {self._fmt_hex(reg)} | unknown action '{action}'",
+                )
+                return None
+
+        except Exception as e:
+            self.log("error", f"❌ | error: {e}")
+            return None
+        finally:
+            release_i2c_capture()
+            # restore state (back to LOGGING if logger is on)
+            self._state = (
+                I2CState.LOGGING if self._logger_running else I2CState.CONNECTED_IDLE
+            )
+
+    # ---------------------------
+    # Hot-path primitive (no logging, no waits)
+    # ---------------------------
+    def read_2_bytes(self, addr_7bit: int, reg: int) -> dict:
+        """
+        Fast, on-demand I²C read of exactly 2 bytes from 'reg' at 7-bit address.
+        - Immediate-or-skip capture; no waits, no prints, no retries.
+        """
+        # must be connected in real (non-debug) mode
+        if not config.DEBUG_MODE and self.bus is None:
+            return {"status": "ERR_NOT_CONNECTED", "addr": addr_7bit, "reg": reg}
+
+        # Give the coordinator a tiny future window so claim is valid
+        deadline_ns = now_ns() + 5_000
+        if not claim_i2c_capture(deadline_ns, owner="I2C_PKT"):
+            return {"status": "SKIPPED_BUSY", "addr": addr_7bit, "reg": reg}
+
+        try:
+            with self._bus_lock:
+                data = self.bus.read_i2c_block_data(addr_7bit, reg, 2)
+            if not isinstance(data, list) or len(data) != 2:
+                return {"status": "ERR", "addr": addr_7bit, "reg": reg}
+            return {
+                "status": "OK",
+                "bytes": [data[0], data[1]],
+            }
+        except Exception:
+            return {"status": "ERR", "addr": addr_7bit, "reg": reg}
+        finally:
+            release_i2c_capture()
+
+    def measure_zero_raw14(self, duration_ms: int = 200, interval_ms: int = 10):
+        """
+        Measure zero for the I²C angle sensor.
+        Saves the result bytes into config.SESSION_ZERO = [MSB, LSB] (big-endian).
+        Returns the median raw14 (int) or None.
+        """
+        samples = []
+        deadline = time.time() + (duration_ms / 1000.0)
+
+        try:
+            if self.connect(1):
+                self.log("info", "I²C auto-initialized on /dev/i2c-1 to set zero")
+                while time.time() < deadline:
+                    rep = self.read_2_bytes(
+                        0x40, 0xFE
+                    )  # dict: {"status":"OK","bytes":[b0,b1]}
+                    if isinstance(rep, dict) and rep.get("status") == "OK":
+                        by = rep.get("bytes")
+                        if isinstance(by, list) and len(by) == 2:
+                            raw16 = ((by[0] & 0xFF) << 8) | (by[1] & 0xFF)  # big-endian
+                            raw14 = raw16 & 0x3FFF
+                            samples.append(raw14)
+                    time.sleep(interval_ms / 1000.0)
+
+            if not samples:
+                self.log("warn", "I²C zero measurement collected no valid samples")
+                return None
+
+            med = int(statistics.median(samples))
+            msb = (med >> 8) & 0xFF
+            lsb = med & 0xFF
+
+            # Store exactly the two bytes
+            config.SESSION_ZERO = [msb, lsb]
+
+            self.log(
+                "info", f"I²C zero raw14={med} -> SESSION_ZERO={msb:02X} {lsb:02X}"
+            )
+            return med
+
+        except Exception as e:
+            self.log("error", f"I²C zero measurement exception: {e}")
+            return None
+
+    # ---------------------------
+    # Continuous Logger (thread) — UART-style
+    # ---------------------------
+
+    def start_logger(self, device_address, reg, length, interval_ms: int = 200) -> bool:
+        """
+        Start the background I²C logger thread.
+
+        - If already running: no-op, returns True.
+        - If not connected (and not in DEBUG): returns False.
+
+        Behavior:
+        - At each interval, performs a READ of 'length' bytes at 'reg' from 'device_address'.
+        - During a capture window, emissions are throttled to at most once every _throttle_ns.
+        """
+        if self._logger_running:
+            self.log("info", "ℹ️ I²C logger already running.")
+            return True
+        if not config.DEBUG_MODE and not self.bus:
+            self.log("error", "⚠️ Cannot start I²C logger: not connected.")
+            return False
+
+        addr = self._to_int_any(device_address)
+        r = self._to_int_any(reg)
+        ln = self._to_int_any(length, default=1)
+        if addr is None or r is None or ln is None or ln <= 0:
+            self.log("warning", "⚠️ Invalid logger params (addr/reg/length).")
+            return False
+
+        self._log_addr = addr
+        self._log_reg = r
+        self._log_len = ln
+        self._log_interval_s = max(0.001, (interval_ms or 200) / 1000.0)
+
+        self._logger_running = True
+        self._logger_thread = threading.Thread(
+            target=self._logger_loop, name="I2CLogger", daemon=True
+        )
+        self._logger_thread.start()
+        self._state = I2CState.LOGGING
+        self.log(
+            "success",
+            f"🟢 I²C logger started | addr 0x{addr:02X} | reg 0x{r:02X} | len {ln} | interval {interval_ms}ms",
+        )
+        return True
+
+    def stop_logger(self) -> bool:
+        """
+        Stop the background I²C logger thread if running.
+        Joins with a short timeout so shutdown remains responsive.
+        """
+        if not self._logger_running:
+            return True
+        self._logger_running = False
+        t = self._logger_thread
+        self._logger_thread = None
+
+        # Wait up to ~2s for a clean exit (covers a read that’s mid-call + pacing sleep)
+        if t and t.is_alive():
+            t.join(timeout=2.0)
+            # If still alive, wait a tiny bit more — but don't hang the UI
+            if t.is_alive():
+                time.sleep(0.05)
+
+        if self.bus:
+            self._state = I2CState.CONNECTED_IDLE
+        self.log("info", "🔴 I²C logger stopped.")
+        return True
+
+    def _logger_loop(self):
+        """
+        Background poller (daemon thread):
+        - DEBUG_MODE: emits synthetic lines periodically so you can test the UI without hardware.
+        - Real bus: performs read(s) at ~_log_interval_s cadence.
+        - During capture: throttle emissions (drop extras) to one per _throttle_ns.
+        """
+        addr = self._log_addr
+        r = self._log_reg
+        ln = self._log_len
+        pace = self._log_interval_s
+
+        last_emit_ns = now_ns()
+        try:
+            while self._logger_running:
+                try:
+                    # Respect capture throttle (like UART)
+                    if self._shutting_down:
+                        break  # exit ASAP on shutdown
+                    if i2c_capture_active():
+                        now = now_ns()
+                        if now - last_emit_ns < self._throttle_ns:
+                            time.sleep(self._logger_sleep_s)
+                            continue
+                        last_emit_ns = now
+
+                    # TX line
+                    self.log(
+                        "info",
+                        f"➡️ | addr 0x{addr:02X} | reg 0x{r:02X} | action READ  | len {ln}",
+                    )
+
+                    # Perform read under the same bus lock as send_command
+                    with self._bus_lock:
+                        if not self.bus and not config.DEBUG_MODE:
+                            break
+                        if not self.bus and not config.DEBUG_MODE:
+                            break
+
+                        if config.DEBUG_MODE:
+                            data = [0xBE] if ln <= 1 else list(range(ln))
+                        else:
+                            if ln <= 1:
+                                data = [self.bus.read_byte_data(addr, r)]
+                            else:
+                                data = self.bus.read_i2c_block_data(addr, r, ln)
+
+                    # RX line
+                    self.log(
+                        "success",
+                        f"⬅️ | addr 0x{addr:02X} | reg 0x{r:02X} | data {self._fmt_bytes(data)}",
+                    )
+
+                except Exception as e:
+                    self.log(
+                        "error", f"❌ | addr 0x{addr:02X} | reg 0x{r:02X} | error {e}"
+                    )
+
+                # pacing
+                time.sleep(pace or self._logger_sleep_s)
+        finally:
+            self._logger_running = False
+
+    # ---------------------------
+    # Commands catalog passthrough
+    # ---------------------------
+
+    def get_predefined_commands(self):
+        """
+        Load predefined I²C commands for your command table.
+        The DB returns rows mapped by components.data.db.get_i2c_commands().
+        """
+        return get_i2c_commands()

i2c_old/i2c_polling.py

@@ -0,0 +1,151 @@
+# File: components/i2c/i2c_polling.py
+
+from PyQt6.QtWidgets import QWidget, QVBoxLayout, QLabel, QPushButton, QHBoxLayout
+from PyQt6.QtCore import QTimer, Qt
+from PyQt6.QtGui import QPainter, QColor, QPen
+from components.console.console_registry import log_main_console
+from smbus2 import SMBus
+import config.config as config
+import math
+
+AS5048_ADDR = 0x40
+REG_ANGLE_MSB = 0xFE
+REG_ANGLE_LSB = 0xFF
+
+
+class AngleGauge(QWidget):
+    def __init__(self, parent=None):
+        super().__init__(parent)
+        self.setMinimumSize(200, 200)
+        self.angle = 0  # degrees
+
+    def set_angle(self, angle):
+        self.angle = max(0.0, min(90.0, angle))
+        self.update()
+
+    def paintEvent(self, event):
+        painter = QPainter(self)
+        painter.setRenderHint(QPainter.RenderHint.Antialiasing)
+
+        rect = self.rect()
+        width = rect.width()
+        height = rect.height()
+        center_x = width // 2
+        bottom_y = height - 10
+        length = height - 40
+
+        # Draw vertical Y axis
+        pen = QPen(QColor(180, 180, 180), 2)
+        painter.setPen(pen)
+        painter.drawLine(center_x, bottom_y, center_x, bottom_y - length)
+
+        # Draw needle
+        radians = math.radians(self.angle)
+        end_x = int(center_x + length * math.sin(radians))
+        end_y = int(bottom_y - length * math.cos(radians))
+
+        pen = QPen(QColor(0, 100, 200), 4)
+        painter.setPen(pen)
+        painter.drawLine(center_x, bottom_y, end_x, end_y)
+
+        # Draw angle value
+        painter.setPen(Qt.GlobalColor.black)
+        painter.drawText(
+            rect,
+            int(Qt.AlignmentFlag.AlignTop | Qt.AlignmentFlag.AlignHCenter),
+            f"{self.angle:.1f}°",
+        )
+
+
+class I2CPollingWidget(QWidget):
+    def __init__(self, bus_id=1, parent=None):
+        super().__init__(parent)
+
+        self.label = QLabel("AS5048A Angle Sensor")
+        self.gauge = AngleGauge()
+        self.zero_raw = None
+
+        self.start_button = QPushButton("Start")
+        self.stop_button = QPushButton("Stop")
+        self.set_zero_button = QPushButton("Set Zero")
+
+        self.start_button.clicked.connect(self.start_polling)
+        self.stop_button.clicked.connect(self.stop_polling)
+        self.set_zero_button.clicked.connect(self.set_zero)
+
+        button_layout = QHBoxLayout()
+        button_layout.addWidget(self.start_button)
+        button_layout.addWidget(self.stop_button)
+        button_layout.addWidget(self.set_zero_button)
+
+        layout = QVBoxLayout()
+        layout.addWidget(self.label)
+        layout.addWidget(self.gauge)
+        layout.addLayout(button_layout)
+        self.setLayout(layout)
+
+        self.bus_id = bus_id
+        self.bus = None
+        self.timer = QTimer(self)
+        self.timer.timeout.connect(self.read_angle)
+
+        if not config.DEBUG_MODE:
+            try:
+                self.bus = SMBus(self.bus_id)
+                log_main_console("success", f"AS5048A ready on bus {self.bus_id}")
+            except Exception as e:
+                log_main_console("error", f"Failed to open I2C bus {self.bus_id}: {e}")
+        else:
+            log_main_console("info", "DEBUG_MODE: fake polling setup complete")
+
+    def start_polling(self):
+        self.timer.start(50)
+        log_main_console("info", "Started I2C angle polling")
+
+    def stop_polling(self):
+        self.timer.stop()
+        log_main_console("info", "Stopped I2C angle polling")
+
+    def set_zero(self):
+        raw = self._read_raw_angle()
+        if raw is not None:
+            self.zero_raw = raw
+            log_main_console("info", f"Zero set to raw value: {self.zero_raw}")
+
+    def _read_raw_angle(self):
+        if config.DEBUG_MODE:
+            import random
+
+            return random.randint(0, 16383)
+        try:
+            msb = self.bus.read_byte_data(AS5048_ADDR, REG_ANGLE_MSB)
+            lsb = self.bus.read_byte_data(AS5048_ADDR, REG_ANGLE_LSB)
+            raw = ((msb << 6) | (lsb & 0x3F)) & 0x3FFF
+            return raw
+        except Exception as e:
+            log_main_console("error", f"I2C read failed: {e}")
+            return None
+
+    def read_angle(self):
+        current_raw = self._read_raw_angle()
+        if current_raw is None or self.zero_raw is None:
+            return
+
+        # Calculate signed delta
+        diff = (current_raw - self.zero_raw + 8192) % 16384 - 8192
+        angle_deg = -((diff * 360.0) / 16384.0)
+
+        # Clamp to 0–90° range for display
+        angle_clamped = max(0.0, min(90.0, angle_deg))
+
+        log_main_console(
+            "info",
+            f"Read raw: {current_raw}, Δ: {diff}, Degrees: {angle_deg:.2f}° → Gauge: {angle_clamped:.2f}°",
+        )
+        self.gauge.set_angle(angle_clamped)
+
+    def closeEvent(self, event):
+        self.timer.stop()
+        if self.bus:
+            self.bus.close()
+        super().closeEvent(event)

i2c_old/i2c_ui.py

@@ -0,0 +1,342 @@
+from PyQt6.QtWidgets import (
+    QWidget,
+    QVBoxLayout,
+    QHBoxLayout,
+    QPushButton,
+    QComboBox,
+    QLineEdit,
+    QSplitter,
+)
+from PyQt6.QtCore import Qt
+from PyQt6.QtCore import QObject, pyqtSignal
+
+from components.console.console_ui import console_widget
+from components.console.console_registry import log_main_console
+import components.items.elements as elements
+from components.commands.command_table_ui import command_table_widget
+import config.config as config
+
+from components.i2c.i2c_logic import I2CLogic, _coerce_int
+from components.i2c.i2c_command_editor import I2CCommandEditorDialog
+from components.data import db
+
+
+class _SafeConsoleProxy(QObject):
+    log_signal = pyqtSignal(str, str)
+
+    def __init__(self, console):
+        super().__init__()
+        self.log_signal.connect(console.log)
+
+    def __call__(self, level, msg):
+        # called from worker thread → emits safely into UI thread
+        self.log_signal.emit(level, msg)
+
+
+class I2CHandler:
+    """Adapter used by command_table_widget → forwards to the I2CWidget."""
+
+    def __init__(self, widget: "I2CWidget"):
+        self.w = widget
+
+    def get_command_list(self):
+        return self.w.i2c_logic.get_predefined_commands()
+
+    def send_command(self, command: dict):
+        self.w.send_command(command)
+
+    def add_command(self):
+        dialog = I2CCommandEditorDialog()
+        if dialog.exec():
+            command = dialog.get_data()
+            db.add_i2c_command(command)
+
+    def modify_command(self, command):
+        dialog = I2CCommandEditorDialog(command=command)
+        if dialog.exec():
+            updated = dialog.get_data()
+            updated["id"] = command["id"]
+            db.modify_i2c_command(updated)
+
+    def delete_command(self, command):
+        db.delete_i2c_command(command)
+
+
+class I2CWidget(QWidget):
+    """Drop-in single-page I2C widget with table | console splitter."""
+
+    def __init__(self, parent=None):
+        super().__init__(parent)
+        self.i2c_logic = I2CLogic()
+        self.handler = I2CHandler(self)
+        self.commands = self.i2c_logic.get_predefined_commands()
+        self.comboboxes = {}
+        self.connection_status = False
+        self.init_ui()
+
+    def init_ui(self):
+        # Top controls
+        top_controls = QWidget()
+        top_controls_layout = QHBoxLayout(top_controls)
+        top_controls_layout.setContentsMargins(0, 0, 0, 0)
+        top_controls_layout.setSpacing(12)
+        top_controls_layout.setAlignment(Qt.AlignmentFlag.AlignTop)
+
+        # Port
+        self.comboboxes["port"] = QComboBox()
+        self.comboboxes["port"].addItems(self.i2c_logic.get_channels())
+        top_controls_layout.addWidget(
+            elements.label_and_widget("Port", self.comboboxes["port"])
+        )
+
+        self.button_refresh_channels = elements.create_icon_button(
+            config.REFRESH_BUTTON_ICON_LINK, icon_size=30, border_size=4
+        )
+        top_controls_layout.addWidget(self.button_refresh_channels)
+
+        # Address (empty until connected → scan)
+        self.comboboxes["address"] = QComboBox()
+        top_controls_layout.addWidget(
+            elements.label_and_widget("Address", self.comboboxes["address"])
+        )
+
+        self.button_refresh_address = elements.create_icon_button(
+            config.REFRESH_BUTTON_ICON_LINK, icon_size=30, border_size=4
+        )
+        top_controls_layout.addWidget(self.button_refresh_address)
+
+        # Connect / Disconnect
+        self.button_connect = QPushButton("Connect")
+        top_controls_layout.addWidget(
+            elements.label_and_widget("", self.button_connect)
+        )
+
+        self.button_disconnect = QPushButton("Disconnect")
+        top_controls_layout.addWidget(
+            elements.label_and_widget("", self.button_disconnect)
+        )
+
+        # Command table
+        self.command_table = command_table_widget(
+            commands=self.commands, handler=self.handler
+        )
+
+        col1_widget = QWidget()
+        col1_layout = QVBoxLayout(col1_widget)
+        col1_layout.setContentsMargins(0, 0, 0, 0)
+        col1_layout.setSpacing(4)
+        col1_layout.addWidget(self.command_table)
+
+        # Input + Send
+        input_line_layout = QHBoxLayout()
+        input_line_layout.setContentsMargins(0, 0, 0, 0)
+        input_line_layout.setSpacing(4)
+
+        self.comboboxes["action"] = QComboBox()
+        self.comboboxes["action"].addItems(["Read", "Write"])
+        input_line_layout.addWidget(
+            elements.label_and_widget("Action", self.comboboxes["action"])
+        )
+        self.input_register = QLineEdit()
+        self.input_register.setPlaceholderText("0x04")
+        input_line_layout.addWidget(
+            elements.label_and_widget("Register", self.input_register)
+        )
+
+        self.input_hex = QLineEdit()
+        self.input_hex.setPlaceholderText(
+            "Hex bytes (e.g. 0x01,0x02,0x03) → block write to reg 0x00"
+        )
+        input_line_layout.addWidget(elements.label_and_widget("Data", self.input_hex))
+        self.input_length = QLineEdit()
+
+        self.input_length.setPlaceholderText("1")
+        input_line_layout.addWidget(
+            elements.label_and_widget("Length", self.input_length)
+        )
+
+        self.button_send_raw = QPushButton("Send Raw")
+        input_line_layout.addWidget(elements.label_and_widget("", self.button_send_raw))
+
+        # Console
+        self.console = console_widget()
+        self.i2c_logic.set_logger(self.console.log)
+
+        console_stack_widget = QWidget()
+        console_stack_layout = QVBoxLayout(console_stack_widget)
+        console_stack_layout.setContentsMargins(0, 0, 0, 0)
+        console_stack_layout.setSpacing(4)
+        console_stack_layout.addLayout(input_line_layout)
+        console_stack_layout.addWidget(self.console)
+
+        # Splitter: table | console
+        splitter = QSplitter(Qt.Orientation.Horizontal)
+        splitter.addWidget(col1_widget)
+        splitter.addWidget(console_stack_widget)
+        splitter.setSizes([740, 1200])
+        splitter.setStretchFactor(0, 0)
+        splitter.setStretchFactor(1, 1)
+
+        # Main layout
+        main_layout = QVBoxLayout()
+        main_layout.setContentsMargins(4, 4, 4, 4)
+        main_layout.setSpacing(6)
+        main_layout.addWidget(top_controls)
+        main_layout.addWidget(splitter, stretch=1)
+        self.setLayout(main_layout)
+
+        # Signals
+        self.button_refresh_channels.clicked.connect(self.refresh_channels)
+        self.button_refresh_address.clicked.connect(self.refresh_address)
+        self.button_connect.clicked.connect(self.connect)
+        self.button_disconnect.clicked.connect(self.disconnect)
+        self.button_send_raw.clicked.connect(self.send_command_raw)
+
+        self.disconnected_enable_status()
+
+    # --- UI state toggles ---
+    def disconnected_enable_status(self):
+        elements.set_enabled_state(True, self.button_refresh_channels, grayOut=False)
+        elements.set_enabled_state(True, self.comboboxes["port"], grayOut=False)
+        elements.set_enabled_state(True, self.command_table, grayOut=False)
+        elements.set_enabled_state(False, self.input_hex, grayOut=True)
+        elements.set_enabled_state(False, self.button_send_raw, grayOut=True)
+        elements.set_enabled_state(False, self.button_disconnect, grayOut=True)
+        elements.set_enabled_state(True, self.button_connect, grayOut=False)
+        elements.set_enabled_state(False, self.button_refresh_address, grayOut=True)
+        elements.set_enabled_state(False, self.comboboxes["address"], grayOut=True)
+        elements.set_enabled_state(False, self.comboboxes["action"], grayOut=True)
+        elements.set_enabled_state(False, self.input_register, grayOut=True)
+
+    def connected_enable_status(self):
+        elements.set_enabled_state(False, self.button_refresh_channels, grayOut=True)
+        elements.set_enabled_state(False, self.comboboxes["port"], grayOut=True)
+        elements.set_enabled_state(True, self.command_table, grayOut=False)
+        elements.set_enabled_state(True, self.input_hex, grayOut=False)
+        elements.set_enabled_state(True, self.button_send_raw, grayOut=False)
+        elements.set_enabled_state(True, self.button_disconnect, grayOut=False)
+        elements.set_enabled_state(False, self.button_connect, grayOut=True)
+        elements.set_enabled_state(True, self.button_refresh_address, grayOut=False)
+        elements.set_enabled_state(True, self.comboboxes["address"], grayOut=False)
+        elements.set_enabled_state(True, self.comboboxes["action"], grayOut=False)
+        elements.set_enabled_state(True, self.input_register, grayOut=False)
+
+    # --- Buttons ---
+    def connect(self):
+        log_main_console("info", "🔗 Connecting...")
+        success = self.i2c_logic.connect(self.comboboxes["port"].currentText())
+        if success:
+            self.connected_enable_status()
+            self.command_table.set_connected_state()
+            self.refresh_address(silent=True)
+            self.connection_status = True
+        else:
+            elements.flash_button(
+                self.button_connect, flash_style="background-color: red;"
+            )
+
+    def disconnect(self):
+        log_main_console("info", "🔌 Disconnecting...")
+        if self.i2c_logic.stop_logger():
+            self.disconnected_enable_status()
+            self.command_table.set_disconnected_state()
+            self.connection_status = False
+            self.refresh_channels(silent=True)
+        else:
+            elements.flash_button(
+                self.button_disconnect, flash_style="background-color: red;"
+            )
+
+    def refresh_channels(self, silent: bool = False):
+        log_main_console("info", "🔄 Refreshing buses...")
+        self.comboboxes["port"].clear()
+        ports = self.i2c_logic.get_channels()
+        if ports:
+            self.comboboxes["port"].addItems(ports)
+            if not silent:
+                elements.flash_button(self.button_refresh_channels)
+            log_main_console("success", "🔄 Bus list refreshed")
+        else:
+            elements.flash_button(
+                self.button_refresh_channels, flash_style="background-color: red;"
+            )
+            log_main_console("warn", "No I2C buses found")
+
+    def refresh_address(self, silent: bool = False):
+        log_main_console("info", "🔄 Scanning bus for devices...")
+        self.comboboxes["address"].clear()
+        addresses = self.i2c_logic.scan_bus()
+        if addresses:
+            self.comboboxes["address"].addItems(addresses)
+            if not silent:
+                elements.flash_button(self.button_refresh_address)
+            log_main_console("success", "🔄 Bus scan complete")
+        else:
+            elements.flash_button(
+                self.button_refresh_address, flash_style="background-color: red;"
+            )
+            log_main_console("info", "No devices detected")
+
+    def get_current_config(self):
+        return {key: cb.currentText() for key, cb in self.comboboxes.items()}
+
+    def _current_address_int(self) -> int:
+        txt = self.comboboxes["address"].currentText().strip() or "0x40"
+        return _coerce_int(txt)
+
+    def send_command(self, command: dict):
+        self.i2c_logic.send_command(command, device_address=self._current_address_int())
+
+    def send_command_raw(self):
+        action = self.comboboxes["action"].currentText().strip().upper()
+        reg_txt = (self.input_register.text() or "").strip()
+        data_txt = (self.input_hex.text() or "").strip()
+        length_txt = (self.input_length.text() or "").strip()
+
+        # --- helpers ---
+        def _to_int_any(s, default=None):
+            try:
+                return int(str(s), 0)  # accepts "0xFE", "254"
+            except Exception:
+                return default
+
+        def _split_tokens(s: str):
+            return [t for t in s.replace(",", " ").split() if t]
+
+        # --- validate register ---
+        reg = _to_int_any(reg_txt)
+        if reg is None:
+            self.console.log("warning", "⚠️ Invalid or missing register (e.g. 0xFE).")
+            return
+
+        cmd = {
+            "action": action.lower(),
+            "reg": reg,
+        }
+
+        if action == "READ":
+            ln = _to_int_any(length_txt, default=1)
+            if ln is None or ln <= 0:
+                self.console.log("warning", "⚠️ Invalid length (must be >0).")
+                return
+            cmd["length"] = ln
+
+        elif action == "WRITE":
+            toks = _split_tokens(data_txt)
+            if not toks:
+                self.console.log(
+                    "warning", "⚠️ WRITE requires data (e.g. 00 or 01,02,03)."
+                )
+                return
+            if len(toks) == 1:
+                v = _to_int_any(toks[0])
+                if v is None:
+                    self.console.log(
+                        "warning", "⚠️ Invalid byte. Use hex/dec like 0x00 or 0."
+                    )
+                    return
+                cmd["value"] = v
+            else:
+                cmd["bytes"] = data_txt  # leave as string; logic will parse
+
+        self.i2c_logic.send_command(cmd, device_address=self._current_address_int())

run.py

@@ -56,7 +56,7 @@ class RunExecutor:
     Executes a single RUN.
 
     A RUN consists of:
-    - Send UART command
+    - Send UART command OR execute I2C command
     - Collect UART packets (with timestamps)
     - Trigger I2C reads via callback (correlated timestamps)
     - Wait for stop condition
@@ -74,6 +74,7 @@ class RunExecutor:
         self.db_conn = db_connection
         self.i2c_readings = []  # Storage for I2C readings from callback
         self.i2c_failures = 0  # Counter for I2C read failures
+        self.i2c_zero_reference = 0  # Absolute angle used as zero (0 = not zeroed)
     
     def execute_run(
         self,
@@ -391,6 +392,145 @@ class RunExecutor:
             
             return ("error", 0, f"Exception during run: {str(e)}")
 
+    def execute_i2c_command(
+        self,
+        session_id: str,
+        session_name: str,
+        run_no: int,
+        command_id: int,
+        command_name: str,
+        operation: str,
+        device_address: int,
+        register: int,
+        hex_string: str,
+        i2c_port: Optional[I2CHandle],
+        raw_data_callback = None
+    ) -> Tuple[str, int, str]:
+        """
+        Execute a single I2C command.
+
+        Args:
+            session_id: Session ID
+            session_name: Session name
+            run_no: Run number
+            command_id: I2C command ID from database
+            command_name: Command name (e.g., "zero", "read angle")
+            operation: Operation type (e.g., "read", "write", "zero")
+            device_address: I2C device address (e.g., 0x40)
+            register: Register address (e.g., 0xFE)
+            hex_string: Number of bytes to read/write
+            i2c_port: I2C handle
+            raw_data_callback: Callback for status updates
+
+        Returns:
+            (status, data_count, error_msg)
+        """
+        try:
+            if not i2c_port:
+                return ("error", 0, "I2C port not available")
+
+            run_start_ns = time.time_ns()
+
+            # Parse hex_string as byte count for reads
+            try:
+                byte_count = int(hex_string, 16) if isinstance(hex_string, str) else int(hex_string)
+            except:
+                byte_count = 2  # Default to 2 bytes
+
+            # Special handling for "zero" operation
+            if operation.lower() == "zero" or "zero" in command_name.lower():
+                return self._execute_i2c_zero(
+                    session_id=session_id,
+                    session_name=session_name,
+                    run_no=run_no,
+                    command_id=command_id,
+                    device_address=device_address,
+                    register=register,
+                    i2c_port=i2c_port,
+                    run_start_ns=run_start_ns,
+                    raw_data_callback=raw_data_callback
+                )
+
+            # Regular I2C read
+            elif operation.lower() == "read":
+                if raw_data_callback:
+                    raw_data_callback("INFO", f"Read: addr=0x{device_address:02X} reg=0x{register:02X} len={byte_count}")
+
+                status, data = i2c_read_block(i2c_port, device_address, register, byte_count)
+
+                if status == I2CStatus.OK:
+                    hex_data = ' '.join(f'{b:02X}' for b in data)
+                    if raw_data_callback:
+                        raw_data_callback("RX", f"{hex_data}")
+                    return ("success", len(data), "")
+                else:
+                    return ("error", 0, f"I2C read failed: {status}")
+
+            else:
+                return ("error", 0, f"Unsupported I2C operation: {operation}")
+
+        except Exception as e:
+            return ("error", 0, f"Exception during I2C command: {str(e)}")
+
+    def _execute_i2c_zero(
+        self,
+        session_id: str,
+        session_name: str,
+        run_no: int,
+        command_id: int,
+        device_address: int,
+        register: int,
+        i2c_port: I2CHandle,
+        run_start_ns: int,
+        raw_data_callback = None
+    ) -> Tuple[str, int, str]:
+        """
+        Execute I2C zeroing: take 50 samples, calculate median as zero reference.
+
+        Returns:
+            (status, sample_count, error_msg)
+        """
+        import statistics
+
+        if raw_data_callback:
+            raw_data_callback("INFO", "Zeroing: Collecting 50 samples...")
+
+        samples = []
+        duration_ms = 500  # 500ms total
+        interval_ms = 10   # 10ms between samples (50 samples)
+        deadline = time.time() + (duration_ms / 1000.0)
+
+        while time.time() < deadline and len(samples) < 50:
+            status, data = i2c_read_block(i2c_port, device_address, register, 2)
+
+            if status == I2CStatus.OK and len(data) == 2:
+                # Convert to 14-bit raw value (big-endian)
+                raw16 = ((data[0] & 0xFF) << 8) | (data[1] & 0xFF)
+                raw14 = raw16 & 0x3FFF
+                samples.append(raw14)
+
+            time.sleep(interval_ms / 1000.0)
+
+        if not samples:
+            if raw_data_callback:
+                raw_data_callback("ERROR", "I2C Zeroing failed: No valid samples")
+            return ("error", 0, "No valid samples collected")
+
+        # Calculate median (better than average for outlier rejection)
+        median_raw14 = int(statistics.median(samples))
+        self.i2c_zero_reference = median_raw14
+
+        # Convert to angle (360° / 16384 counts)
+        zero_angle_deg = (median_raw14 * 360.0) / 16384.0
+
+        if raw_data_callback:
+            raw_data_callback("INFO", f"✓ Zero set: raw14={median_raw14} ({zero_angle_deg:.2f}°) from {len(samples)} samples")
+
+        # Zero reference stored in memory only (self.i2c_zero_reference)
+        # Will be saved to telemetry tables when UART commands execute
+
+        return ("success", len(samples), "")
+
     def _parse_hex_string(self, hex_str: str) -> Optional[bytes]:
         """
         Parse hex string to bytes.
@@ -436,8 +576,8 @@ class RunExecutor:
         cursor.execute("""
             INSERT INTO telemetry_raw (
                 session_id, session_name, run_no, run_command_id,
-                t_ns, time_ms, uart_raw_packet, i2c_raw_bytes
-            ) VALUES (?, ?, ?, ?, ?, ?, ?, ?)
+                t_ns, time_ms, uart_raw_packet, i2c_raw_bytes, i2c_zero_ref
+            ) VALUES (?, ?, ?, ?, ?, ?, ?, ?, ?)
         """, (
             session_id,
             session_name,
@@ -446,7 +586,8 @@ class RunExecutor:
             packet_info.start_timestamp,
             time_ms,
             packet_info.data,
-            i2c_bytes  # Can be None if no I2C
+            i2c_bytes,  # Can be None if no I2C
+            self.i2c_zero_reference  # Zero reference (0 if not zeroed)
         ))
 
         # Save to telemetry_decoded (main data)
@@ -455,15 +596,16 @@ class RunExecutor:
         cursor.execute("""
             INSERT INTO telemetry_decoded (
                 session_id, session_name, run_no, run_command_id,
-                t_ns, time_ms
-            ) VALUES (?, ?, ?, ?, ?, ?)
+                t_ns, time_ms, i2c_zero_ref
+            ) VALUES (?, ?, ?, ?, ?, ?, ?)
         """, (
             session_id,
             session_name,
             run_no,
             run_command_id,
             packet_info.start_timestamp,
-            time_ms
+            time_ms,
+            self.i2c_zero_reference  # Zero reference (0 if not zeroed)
         ))
 
         # TODO: When decoder is fully implemented, also save:
@@ -490,6 +632,7 @@ def execute_run(
     i2c_register: int = 0xFE,
     stop_timeout_ms: int = 5000,
     grace_timeout_ms: int = 1500,
+    i2c_zero_ref: int = 0,
     raw_data_callback = None
 ) -> Tuple[str, int, str]:
     """
@@ -506,14 +649,18 @@ def execute_run(
         uart_logger_port: UART logger port (RX for telemetry, optional)
         i2c_port: I2C port (optional)
         packet_config: Packet detection configuration
+        i2c_address: I2C device address
+        i2c_register: I2C register address
         stop_timeout_ms: Stop condition timeout
         grace_timeout_ms: Grace period before first packet
+        i2c_zero_ref: I2C zero reference (0 = not zeroed)
         raw_data_callback: Callback for raw data display (direction, hex_string)
 
     Returns:
         (status, packet_count, error_msg)
     """
     executor = RunExecutor(db_connection)
+    executor.i2c_zero_reference = i2c_zero_ref  # Set zero reference from session
     return executor.execute_run(
         session_id=session_id,
         session_name=session_name,
@@ -532,6 +679,63 @@ def execute_run(
     )
 
 
+def execute_i2c_command(
+    db_connection: sqlite3.Connection,
+    session_id: str,
+    session_name: str,
+    run_no: int,
+    command_id: int,
+    command_name: str,
+    operation: str,
+    device_address: int,
+    register: int,
+    hex_string: str,
+    i2c_port: Optional[I2CHandle],
+    i2c_zero_ref: int = 0,
+    raw_data_callback = None
+) -> Tuple[str, int, str, int]:
+    """
+    Execute a single I2C command (convenience function).
+
+    Args:
+        db_connection: Database connection
+        session_id: Session ID
+        session_name: Session name
+        run_no: Run number
+        command_id: I2C command ID
+        command_name: Command name
+        operation: Operation type (read/write/zero)
+        device_address: I2C device address
+        register: Register address
+        hex_string: Byte count or data
+        i2c_port: I2C handle
+        i2c_zero_ref: Current I2C zero reference (0 = not zeroed)
+        raw_data_callback: Callback for status updates
+
+    Returns:
+        (status, data_count, error_msg, updated_i2c_zero_ref)
+    """
+    executor = RunExecutor(db_connection)
+    executor.i2c_zero_reference = i2c_zero_ref  # Set zero reference from session
+
+    status, data_count, error_msg = executor.execute_i2c_command(
+        session_id=session_id,
+        session_name=session_name,
+        run_no=run_no,
+        command_id=command_id,
+        command_name=command_name,
+        operation=operation,
+        device_address=device_address,
+        register=register,
+        hex_string=hex_string,
+        i2c_port=i2c_port,
+        raw_data_callback=raw_data_callback
+    )
+
+    # Return updated zero reference (may have changed if zero command)
+    return (status, data_count, error_msg, executor.i2c_zero_reference)
+
+
 if __name__ == "__main__":
     print("Run Module")
     print("=" * 60)

session.py

@@ -60,7 +60,7 @@ from i2c.i2c_kit.i2c_core import (
 )
 
 # Run executor
-from run import execute_run
+from run import execute_run, execute_i2c_command
 
 # Database manager
 from database.init_database import DatabaseManager
@@ -139,7 +139,13 @@ class Session(QObject):
         # Phase execution (multi-phase support: Init, Execute, De-init)
         self.phases: List[Dict[str, Any]] = []  # List of phase configs
         self.total_commands: int = 0  # Total commands across all phases
+        self.total_uart_runs: int = 0  # Total UART commands (actual runs)
+        self.total_i2c_commands: int = 0  # Total I2C commands (not runs)
         self.current_command_index: int = 0  # Global command counter
+        self.current_phase_name: str = ""  # Current executing phase name
+
+        # I2C zero reference (persists across all runs in session)
+        self.i2c_zero_reference: int = 0  # Absolute angle used as zero (0 = not zeroed)
 
         # Execution control flags
         self.is_running: bool = False
@@ -243,6 +249,8 @@ class Session(QObject):
             # Storage for phase configurations
             self.phases = []  # List of dicts: {'name': str, 'commands': list, 'profile_id': int}
             self.total_commands = 0
+            self.total_uart_runs = 0
+            self.total_i2c_commands = 0
 
             # Load Init phase
             if init_session_id is not None:
@@ -252,6 +260,12 @@ class Session(QObject):
                 if phase_config:
                     self.phases.append(phase_config)
                     self.total_commands += len(phase_config['commands'])
+                    # Count by type
+                    for cmd in phase_config['commands']:
+                        if cmd.get('command_type', 'uart') == 'i2c':
+                            self.total_i2c_commands += 1
+                        else:
+                            self.total_uart_runs += 1
 
             # Load Execute phase
             if execute_session_id is not None:
@@ -261,6 +275,12 @@ class Session(QObject):
                 if phase_config:
                     self.phases.append(phase_config)
                     self.total_commands += len(phase_config['commands'])
+                    # Count by type
+                    for cmd in phase_config['commands']:
+                        if cmd.get('command_type', 'uart') == 'i2c':
+                            self.total_i2c_commands += 1
+                        else:
+                            self.total_uart_runs += 1
 
             # Load De-init phase
             if deinit_session_id is not None:
@@ -270,6 +290,12 @@ class Session(QObject):
                 if phase_config:
                     self.phases.append(phase_config)
                     self.total_commands += len(phase_config['commands'])
+                    # Count by type
+                    for cmd in phase_config['commands']:
+                        if cmd.get('command_type', 'uart') == 'i2c':
+                            self.total_i2c_commands += 1
+                        else:
+                            self.total_uart_runs += 1
 
             # Check at least one phase loaded
             if len(self.phases) == 0:
@@ -295,7 +321,7 @@ class Session(QObject):
             self.status_changed.emit(f"Multi-phase session loaded: {self.session_name}")
             self.status_changed.emit(f"Interface: {self.interface_config['profile_name']}")
             self.status_changed.emit(f"Phases: {phase_summary}")
-            self.status_changed.emit(f"Total commands: {self.total_commands}")
+            self.status_changed.emit(f"Total: {self.total_uart_runs} UART runs, {self.total_i2c_commands} I2C commands")
             
             return True
             
@@ -352,21 +378,44 @@ class Session(QObject):
                     self.error_occurred.emit(f"{phase_name}: Command missing command_id")
                     return (False, None)
 
-                # Check if command exists and load details
-                cursor = self.db_conn.execute("""
-                    SELECT command_name, hex_string
-                    FROM uart_commands
-                    WHERE command_id = ?
-                """, (cmd_id,))
-
-                row = cursor.fetchone()
-                if not row:
-                    self.error_occurred.emit(f"{phase_name}: UART command {cmd_id} not found")
-                    return (False, None)
-
-                # Store command details
-                cmd['command_name'] = row[0]
-                cmd['hex_string'] = row[1]
+                # Check command type (default to 'uart' for backwards compatibility)
+                command_type = cmd.get('command_type', 'uart')
+
+                if command_type == 'i2c':
+                    # Load I2C command from database
+                    cursor = self.db_conn.execute("""
+                        SELECT command_name, operation, register, hex_string, device_address
+                        FROM i2c_commands
+                        WHERE command_id = ?
+                    """, (cmd_id,))
+
+                    row = cursor.fetchone()
+                    if not row:
+                        self.error_occurred.emit(f"{phase_name}: I2C command {cmd_id} not found")
+                        return (False, None)
+
+                    # Store I2C command details
+                    cmd['command_name'] = row[0]
+                    cmd['operation'] = row[1]
+                    cmd['register'] = row[2]
+                    cmd['hex_string'] = row[3]
+                    cmd['device_address'] = row[4]
+                else:
+                    # Load UART command from database (default)
+                    cursor = self.db_conn.execute("""
+                        SELECT command_name, hex_string
+                        FROM uart_commands
+                        WHERE command_id = ?
+                    """, (cmd_id,))
+
+                    row = cursor.fetchone()
+                    if not row:
+                        self.error_occurred.emit(f"{phase_name}: UART command {cmd_id} not found")
+                        return (False, None)
+
+                    # Store UART command details
+                    cmd['command_name'] = row[0]
+                    cmd['hex_string'] = row[1]
 
             # Create phase config
             phase_config = {
@@ -675,6 +724,7 @@ class Session(QObject):
             self.pause_queued = False
             self.stop_queued = False
             self.current_command_index = 0
+            self.i2c_zero_reference = 0  # Reset zero reference for new session
 
             # Emit session started
             self.session_started.emit(self.current_session_id)
@@ -710,11 +760,13 @@ class Session(QObject):
         ALL remaining phases.
         """
         try:
-            global_cmd_index = 0  # Track overall command number
+            global_cmd_index = 0  # Track UART run number
+            total_commands_executed = 0  # Track all commands (UART + I2C)
 
             # Loop through phases
             for phase_index, phase in enumerate(self.phases, 1):
                 phase_name = phase['name']
+                self.current_phase_name = phase_name  # Track current phase
                 phase_commands = phase['commands']
                 total_phases = len(self.phases)
 
@@ -723,11 +775,9 @@ class Session(QObject):
 
                 # Loop through commands in this phase
                 for cmd_index_in_phase, cmd in enumerate(phase_commands, 1):
-                    global_cmd_index += 1
-                    self.current_command_index = global_cmd_index
-                
+                    total_commands_executed += 1  # Count all commands
                     # ===============================================================
-                    # 1. Check if stop was queued (before starting new run)
+                    # 1. Check if stop was queued (before starting new command)
                     # ===============================================================
 
                     if self.stop_queued:
@@ -736,57 +786,118 @@ class Session(QObject):
                         return
 
                     # ===============================================================
-                    # 2. Emit command started
+                    # 2. Check command type - I2C commands don't count as runs
                     # ===============================================================
 
+                    command_type = cmd.get('command_type', 'uart')
                     command_name = cmd['command_name']
-                    self.command_started.emit(global_cmd_index, command_name)
-                    self.status_changed.emit(
-                        f"[{phase_name}] Command {cmd_index_in_phase}/{len(phase_commands)} "
-                        f"(Total: {global_cmd_index}/{self.total_commands}): {command_name}"
-                    )
+
+                    # Only increment run number for UART commands
+                    if command_type == 'uart':
+                        global_cmd_index += 1
+                        self.current_command_index = global_cmd_index
 
                     # ===============================================================
-                    # 3. Execute run via run.py
+                    # 3. Emit command started
                     # ===============================================================
 
-                    status, packet_count, error_msg = execute_run(
-                        db_connection=self.db_conn,
-                        session_id=self.current_session_id,
-                        session_name=self.session_name,
-                        run_no=global_cmd_index,
-                        command_id=cmd['command_id'],
-                        command_hex=cmd['hex_string'],
-                        uart_command_port=self.uart_command_port,
-                        uart_logger_port=self.uart_logger_port,
-                        i2c_port=self.i2c_handle,
-                        packet_config=self.packet_config,
-                        i2c_address=int(self.interface_config['i2c_slave_address'], 16) if self.interface_config.get('i2c_slave_address') else 0x40,
-                        i2c_register=int(self.interface_config['i2c_slave_read_register'], 16) if self.interface_config.get('i2c_slave_read_register') else 0xFE,
-                        stop_timeout_ms=self.interface_config['uart_logger_timeout_ms'],
-                        grace_timeout_ms=self.interface_config['uart_logger_grace_ms'],
-                        raw_data_callback=lambda direction, hex_str: self.raw_data_received.emit(direction, hex_str)
-                    )
+                    if command_type == 'i2c':
+                        # I2C command - formatted output: [Phase] [I2C] [INFO] message
+                        self.raw_data_received.emit(
+                            f"[{phase_name}] [I2C] [INFO]",
+                            f"Command: {command_name}"
+                        )
+                    else:
+                        # UART command - formatted output: [Phase] [UART] [INFO] message
+                        self.command_started.emit(global_cmd_index, command_name)
+                        self.raw_data_received.emit(
+                            f"[{phase_name}] [UART] [INFO]",
+                            f"Run {global_cmd_index}: {command_name}"
+                        )
 
                     # ===============================================================
-                    # 4. Handle run result
+                    # 4. Execute command (UART or I2C) via run.py
+                    # ===============================================================
+
+                    if command_type == 'i2c':
+                        # Execute I2C command (doesn't count as run, no telemetry saved)
+                        # Callback formats as: [Phase] [I2C] [Action] message
+                        status, packet_count, error_msg, updated_zero_ref = execute_i2c_command(
+                            db_connection=self.db_conn,
+                            session_id=self.current_session_id,
+                            session_name=self.session_name,
+                            run_no=0,  # Not a run
+                            command_id=cmd['command_id'],
+                            command_name=cmd['command_name'],
+                            operation=cmd.get('operation', 'read'),
+                            device_address=int(cmd.get('device_address', '0x40'), 16),
+                            register=int(cmd.get('register', '0xFE'), 16),
+                            hex_string=cmd.get('hex_string', '02'),
+                            i2c_port=self.i2c_handle,
+                            i2c_zero_ref=self.i2c_zero_reference,
+                            raw_data_callback=lambda action, msg: self.raw_data_received.emit(
+                                f"[{phase_name}] [I2C] [{action}]", msg
+                            )
+                        )
+                        # Update session's zero reference (may have changed if zero command)
+                        self.i2c_zero_reference = updated_zero_ref
+                    else:
+                        # Execute UART command (counts as run, saves telemetry)
+                        # Callback formats as: [Phase] [UART] [Action] message
+                        status, packet_count, error_msg = execute_run(
+                            db_connection=self.db_conn,
+                            session_id=self.current_session_id,
+                            session_name=self.session_name,
+                            run_no=global_cmd_index,
+                            command_id=cmd['command_id'],
+                            command_hex=cmd['hex_string'],
+                            uart_command_port=self.uart_command_port,
+                            uart_logger_port=self.uart_logger_port,
+                            i2c_port=self.i2c_handle,
+                            packet_config=self.packet_config,
+                            i2c_address=int(self.interface_config['i2c_slave_address'], 16) if self.interface_config.get('i2c_slave_address') else 0x40,
+                            i2c_register=int(self.interface_config['i2c_slave_read_register'], 16) if self.interface_config.get('i2c_slave_read_register') else 0xFE,
+                            stop_timeout_ms=self.interface_config['uart_logger_timeout_ms'],
+                            grace_timeout_ms=self.interface_config['uart_logger_grace_ms'],
+                            i2c_zero_ref=self.i2c_zero_reference,
+                            raw_data_callback=lambda action, msg: self.raw_data_received.emit(
+                                f"[{phase_name}] [UART] [{action}]", msg
+                            )
+                        )
+
+                    # ===============================================================
+                    # 5. Handle command result
                     # ===============================================================
 
                     if status == "error":
-                        # Run failed - abort session (all phases)
-                        self.error_occurred.emit(f"[{phase_name}] Run {global_cmd_index} failed: {error_msg}")
+                        # Command failed - abort session (all phases)
+                        if command_type == 'i2c':
+                            self.error_occurred.emit(f"[{phase_name}] I2C command '{command_name}' failed: {error_msg}")
+                        else:
+                            self.error_occurred.emit(f"[{phase_name}] Run {global_cmd_index} failed: {error_msg}")
                         self._finalize_session('error')
                         return
 
-                    # Run succeeded - emit completion
-                    self.run_completed.emit(global_cmd_index, packet_count)
-                    self.status_changed.emit(f"[{phase_name}] Run {global_cmd_index} complete: {packet_count} packets")
-
-                    # Update total runs in database
-                    self.db_conn.execute("""
-                        UPDATE sessions SET total_runs = ? WHERE session_id = ?
-                    """, (global_cmd_index, self.current_session_id))
-                    self.db_conn.commit()
+                    # Command succeeded
+                    if command_type == 'uart':
+                        # UART run - emit completion and update database
+                        self.run_completed.emit(global_cmd_index, packet_count)
+                        self.raw_data_received.emit(
+                            f"[{phase_name}] [UART] [INFO]",
+                            f"Complete: {packet_count} packets"
+                        )
+
+                        # Update total runs in database
+                        self.db_conn.execute("""
+                            UPDATE sessions SET total_runs = ? WHERE session_id = ?
+                        """, (global_cmd_index, self.current_session_id))
+                        self.db_conn.commit()
+                    else:
+                        # I2C command - just log completion (no run counting)
+                        self.raw_data_received.emit(
+                            f"[{phase_name}] [I2C] [INFO]",
+                            f"Complete"
+                        )
                 
                     # ===============================================================
                     # 5. Delay between commands (with countdown and queue check)
@@ -796,7 +907,7 @@ class Session(QObject):
                     delay_ms = cmd.get('delay_ms', 3000)
 
                     # Only delay if not last command overall
-                    if global_cmd_index < self.total_commands:
+                    if total_commands_executed < self.total_commands:
                         self._execute_delay(delay_ms)
 
                         # Check if pause/stop was queued during delay

session_widget.py

@@ -468,14 +468,15 @@ class SessionWidget(QWidget):
     def _on_command_started(self, command_no: int, command_name: str):
         """Handle command started signal."""
         self.executing_label.setText(f"Executing: {command_name}")
-        total = self.session.total_commands
-        self.command_label.setText(f"Command: {command_no} / {total}")
-        self._log_info(f"[{command_no}/{total}] {command_name}")
+        total = self.session.total_uart_runs
+        self.command_label.setText(f"Run: {command_no} / {total}")
+        # Don't log here - already logged via raw_data_received with formatted tags
     
     @pyqtSlot(int, int)
     def _on_run_completed(self, run_no: int, packet_count: int):
         """Handle run completed signal."""
-        self._log_info(f"Run {run_no} complete: {packet_count} packets detected")
+        # Don't log here - already logged via raw_data_received with formatted tags
+        pass
     
     @pyqtSlot(int)
     def _on_delay_countdown(self, seconds_remaining: int):
@@ -531,25 +532,45 @@ class SessionWidget(QWidget):
         Handle raw UART data display.
 
         Args:
-            direction: "TX", "RX", or "ERROR"
+            direction: "TX", "RX", "ERROR", "INFO" or formatted "[Phase] [Interface] [Action]"
             hex_string: Hex bytes (e.g., "EF FE 01 02 03") or error message
         """
-        if direction == "TX":
-            color = "green"
-            prefix = "→ TX"
-        elif direction == "ERROR":
-            color = "red"
-            prefix = "✗ ERROR"
-        elif direction == "INFO":
-            color = "gray"
-            prefix = "ℹ INFO"
+        # Check if direction is already formatted (starts with '[')
+        if direction.startswith('['):
+            # New format: [Phase] [Interface] [Action] message
+            # Extract action for color coding
+            if '[TX]' in direction:
+                color = "green"
+            elif '[ERROR]' in direction:
+                color = "red"
+            elif '[INFO]' in direction:
+                color = "gray"
+            else:  # RX or other
+                color = "blue"
+
+            # Display full formatted string
+            self.log_display.append(
+                f"<span style='color: {color};'>{direction} {hex_string}</span>"
+            )
         else:
-            color = "blue"
-            prefix = "← RX"
+            # Old format: Simple direction + message
+            if direction == "TX":
+                color = "green"
+                prefix = "→ TX"
+            elif direction == "ERROR":
+                color = "red"
+                prefix = "✗ ERROR"
+            elif direction == "INFO":
+                color = "gray"
+                prefix = "ℹ INFO"
+            else:
+                color = "blue"
+                prefix = "← RX"
+
+            self.log_display.append(
+                f"<span style='color: {color};'>[{prefix}] {hex_string}</span>"
+            )
 
-        self.log_display.append(
-            f"<span style='color: {color};'>[{prefix}] {hex_string}</span>"
-        )
         # Auto-scroll to bottom
         self.log_display.verticalScrollBar().setValue(
             self.log_display.verticalScrollBar().maximum()