I will develop esp32 firmware in esp idf and freertos for your sensor prototype

I write ESP32 firmware in C on ESP-IDF and FreeRTOS: sensors read on time, task priorities chosen on purpose, and links that report stale data instead of acting on it.

Shipped on my own bench: a two-board ADAS/ECU system over ESP-NOW. Ultrasonic distance read by GPIO interrupt, with filtering that removed two kinds of phantom braking; a 100 Hz control loop with 0 missed deadlines; framed radio messages with sequence numbers and re-pairing after a reboot; a supervisor that can tell a silent sender from a receiver that can't act; 6-7 ms from sensor to confirmed action.

What I can build for you: sensor drivers with filtering (GPIO, UART, I2C, SPI); FreeRTOS task design with priorities, core pinning, queues and ISR hand-off; ESP-NOW links between boards; watchdogs, heartbeats and fault reporting; and CMake/Kconfig builds with one firmware per board role.

What you get: source in a Git repo, build steps, a README of the design decisions, and logs from the board.

Tell me your sensors and radio, and I'll say plainly what I've done before and what will be new.