From 9bdacdc77e85bb7cf6f0ea5183d4df3fb09333f4 Mon Sep 17 00:00:00 2001
From: Alexander B <alexandre.bobkov@gmail.com>
Date: Mon, 5 Jan 2026 02:34:53 -0500
Subject: [PATCH] NovaGlide ultrasonic + i2c mutex

---
 ESP-IDF_NovaGlide/main/ESP-IDF_NovaGlide.c | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/ESP-IDF_NovaGlide/main/ESP-IDF_NovaGlide.c b/ESP-IDF_NovaGlide/main/ESP-IDF_NovaGlide.c
index 0ff9c7688c..dea9df72fa 100644
--- a/ESP-IDF_NovaGlide/main/ESP-IDF_NovaGlide.c
+++ b/ESP-IDF_NovaGlide/main/ESP-IDF_NovaGlide.c
@@ -82,6 +82,10 @@ void app_main(void)
     // Initialize I2C bus FIRST
     ESP_ERROR_CHECK(i2c_bus_init());
     i2c_bus_scan();
+    uint8_t val = 0;
+    esp_err_t ret = i2c_bus_read_byte(&ultra, 0x00, &val);
+    ESP_LOGI("ULTRA", "reg0 = 0x%02X (ret=%s)", val, esp_err_to_name(ret));
+
 
     // Initialize all subsystems
     motor_system_init(&motors);