diff --git a/AHRSensor/AHRSensor.sc b/AHRSensor/AHRSensor.sc
new file mode 100644
index 0000000..04e4361
--- /dev/null
+++ b/AHRSensor/AHRSensor.sc
@@ -0,0 +1,104 @@
+AHRSensor {
+  var <id,
+  <>calibrationQuat,
+  <>quat,
+  <>euler,
+  <>accel,
+
+  <battery,
+
+  <gEx,
+  <gEy,
+  <gEz;
+
+  *new { |id|
+    ^super.newCopyArgs(id).init;
+  }
+
+  quat2euler { |quat|
+    var w = quat.a, x = quat.b, y = quat.c, z = quat.d,
+
+    x2 = x + x,  y2 = y + y,  z2 = z + z,
+    xx = x * x2, xy = x * y2, xz = x * z2,
+    yy = y * y2, yz = y * z2, zz = z * z2,
+    wx = w * x2, wy = w * y2, wz = w * z2,
+
+    matrix = [
+        1 - ( yy + zz ), xy + wz,         xz - wy,         0,
+        xy - wz,         1 - ( xx + zz ), yz + wx,         0,
+        xz + wy,         yz - wx,         1 - ( xx + yy ), 0,
+        0,               0,               0,               1
+    ];
+
+    var m11 = matrix[0], m12 = matrix[4], m13 = matrix[8];
+    var m21 = matrix[1], m22 = matrix[5], m23 = matrix[9];
+    var m31 = matrix[2], m32 = matrix[6], m33 = matrix[10];
+
+    var euler = [0, 0, 0];
+
+    euler[1] = asin(m13.clip(- 1, 1));
+
+    if ((m13.abs < 0.9999999), {
+        euler[0] = atan2(m23.neg, m33);
+        euler[2] = atan2(m12.neg, m11);
+    }, {
+        euler[0] = atan2(m32, m22);
+        euler[2] = 0;
+    });
+
+    euler.postln;
+    euler;
+  }
+
+  init {
+	quat = Quaternion;
+	calibrationQuat = Quaternion;
+	euler = [0, 0, 0];
+	accel = [0, 0, 0];
+	battery = 0;
+
+	this.guiInit;
+  }
+
+  guiInit {
+	// Barve
+	var cRed, cGreen, cBlue, cPurple, cI;
+	// Intenziteta
+	cI = 0.8;
+
+	cRed = Color.new(cI, 0, 0);
+	cGreen = Color.new(0, cI, 0);
+	cBlue = Color.new(0, 0, cI);
+	cPurple = Color.new(cI, 0, cI);
+
+	gEx = StaticText().string_(0).stringColor_(cRed);
+	gEy = StaticText().string_(0).stringColor_(cGreen);
+	gEz = StaticText().string_(0).stringColor_(cBlue);
+  }
+
+  getGui {
+	^VLayout(
+      StaticText().string_("Sensor " ++ id),
+	  HLayout(
+		StaticText().string_("euler: "),
+		[StaticText().string_("x: "), align: \left],
+		[gEx, align: \left],
+		StaticText().string_("y: "),
+		gEy,
+		StaticText().string_("z: "),
+		gEz,
+	  )
+	);
+  }
+
+  updateEuler { |newQuat|
+    var quatDiff = newQuat / quat;
+    euler += quat2euler(quatDiff);
+  }
+
+  refreshGui {
+	gEx.string_(euler[0]);
+	gEy.string_(euler[1]);
+	gEz.string_(euler[2]);
+  }
+}
\ No newline at end of file
diff --git a/README.org b/README.org
index 2417efc..78735ea 100644
--- a/README.org
+++ b/README.org
@@ -6,6 +6,16 @@ Ryuzo Fukohara dancing and triggering / modulating sounds and projections by Sim
 We plan to plant 5-6 sensors on Ryuzota, the IMU signals will be converted
 into midi for Borut in Simon.
 
+** Code
+*** Arduino sensor
+[[file:src/ada.cpp][Arduino source (adafruit on ESP32S2)]]
+*** Arduino receiver
+[[file:src/sprejemnik.cpp][Arduino source (ESP32S3 receiver)]]
+*** Supercollider receiver code
+[[file:utopia.scd][Utopia receiver]]
+*** SLIPDecoder source
+[[file:~/.local/share/SuperCollider/downloaded-quarks/SLIPDecoder/SLIPDecoder.sc][SLIPDecoder source]]
+
 ** Microcontrollers
 *** LilyGo ESP32-S3
   https://www.lilygo.cc/products/t7-s3
diff --git a/guix-shell.sh b/guix-shell.sh
index 772e0bd..8479c85 100755
--- a/guix-shell.sh
+++ b/guix-shell.sh
@@ -1,5 +1,12 @@
 #!/usr/bin/env sh
 
-guix shell --container --network --emulate-fhs --share=$HOME/.platformio python-platformio coreutils bash nss-certs less gcc-toolchain glibc vim sudo
+# Zakaj noce zbildat 32 bit verzije platformio??
+guix shell --container --network --share=$HOME/.platformio python-platformio coreutils bash nss-certs zopfli python-zopfli --system=i686-linux --emulate-fhs -e '(list (@@ (gnu packages commencement) gcc) "lib")'
+#guix shell --container --network --share=$HOME/.platformio coreutils bash nss-certs zopfli python-zopfli --system=i686-linux --emulate-fhs -e '(list (@@ (gnu packages commencement) gcc) "lib")'
+
+
+
+
+#guix shell --container --network --emulate-fhs --share=$HOME/.platformio python-platformio coreutils bash nss-certs less vim sudo patchelf
 #guix shell --container --network -s i686-linux --emulate-fhs --share=$HOME/.platformio python-virtualenv coreutils bash nss-certs less gcc-toolchain glibc python
 #guix shell --container --network -s i686-linux --emulate-fhs --share=$HOME/.platformio python-virtualenv coreutils bash nss-certs less gcc-toolchain python
diff --git a/lib/OSC/library.json b/lib/OSC/library.json
index d5662fd..ef43905 100644
--- a/lib/OSC/library.json
+++ b/lib/OSC/library.json
@@ -21,5 +21,4 @@
   },
   "frameworks": "arduino",
   "platforms": "*"
-  ]
 }
diff --git a/platformio.ini b/platformio.ini
index 79bdcae..9936df5 100644
--- a/platformio.ini
+++ b/platformio.ini
@@ -27,7 +27,7 @@ board = lilygo-t7-s3
 upload_protocol = esptool
 upload_speed = 921600
 monitor_speed = 115200
-build_flags = -D ARDUINO_USB_CDC_ON_BOOT=1 -D CORE_DEBUG_LEVEL=1
+build_flags = -D ARDUINO_USB_CDC_ON_BOOT=1
 build_src_filter = 
 	+<sprejemnik.cpp>
 
diff --git a/src/ada.cpp b/src/ada.cpp
index 8fd8592..9c97074 100644
--- a/src/ada.cpp
+++ b/src/ada.cpp
@@ -46,7 +46,7 @@ void setup() {
 
   Wire.begin(SDApin, SCLpin);
   // Fast mode
-  Wire.setClock(1000000);
+  Wire.setClock(400000);
   bno = Adafruit_BNO055(55, 0x28, &Wire);
 
    /* Initialise the sensor */
diff --git a/src/main.cpp b/src/main.cpp
index e2d4455..f3daef1 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -1,6 +1,8 @@
 #include <Arduino.h>
 #include <Wire.h>
 
+#define __x86_64__
+
 // ID kegla mora bit unikaten za vsakega! (se poslje poleg parametrov)
 #define SENSOR_ID 1
 
diff --git a/src/sprejemnik.cpp b/src/sprejemnik.cpp
index c625cb4..91c54ec 100644
--- a/src/sprejemnik.cpp
+++ b/src/sprejemnik.cpp
@@ -11,7 +11,6 @@
 
 //#define DEBUG
 
-// Ponavadi imamo navaden serial
 #include "SLIPEncodedSerial.h"
 SLIPEncodedUSBSerial SLIPSerial(Serial);
  
@@ -20,11 +19,11 @@ SLIPEncodedUSBSerial SLIPSerial(Serial);
 uint8_t newMACAddress[] = {0x08, 0x3A, 0xF2, 0x50, 0xEF, 0x6C};
 
 // Maksimalno stevilo
-#define ST_KEGLOV 10
+#define ST_SPREJEMNIKOV 10
 
 int odcitekId;
-sensor_msg  odcitki[ST_KEGLOV];
-bool poslji[ST_KEGLOV];
+sensor_msg  odcitki[ST_SPREJEMNIKOV];
+bool poslji[ST_SPREJEMNIKOV];
 
 void prejemPodatkov(const uint8_t * mac_addr, const uint8_t * noviPodatki, int len) {
   
@@ -62,12 +61,14 @@ void prejemPodatkov(const uint8_t * mac_addr, const uint8_t * noviPodatki, int l
 }
 
 void setup() {
+  // Nizja CPU frekvenca
+  setCpuFrequencyMhz(80);
   SLIPSerial.begin(115200);
-  //Serial.begin(115200);
+
 
   // Ne posiljaj preden se podatki napolnijo
-  for (int i = 0; i < ST_KEGLOV; i++) {
-    poslji[0] = false;
+  for (int i = 0; i < ST_SPREJEMNIKOV; i++) {
+    poslji[i] = false;
   }
 
   for (int i = 0; i < 5; i++) {
@@ -101,8 +102,9 @@ void loop() {
   OSCBundle bundle;
   char glava[32];
 
-  for (int i = 0; i < ST_KEGLOV; i++) {
+  for (int i = 0; i < ST_SPREJEMNIKOV; i++) {
     if (poslji[i]) {
+      // Accel in quaternion v bundlu skupaj z ostalim sta velika 396 bytov!
       sprintf(glava, "/ww/%d/accel", i); 
       /*
       Serial.print("Posiljam ");
diff --git a/utopia.scd b/utopia.scd
new file mode 100644
index 0000000..0fad816
--- /dev/null
+++ b/utopia.scd
@@ -0,0 +1,74 @@
+// Dependencies:
+//  - SLIPDecoder (https://git.kompot.si/g1smo/SLIPDecoder)
+//  - MathLib (https://depts.washington.edu/dxscdoc/Help/Browse.html#Libraries%3EMathLib)
+
+(
+
+// Initialize the the receiver via SLIP decoder
+~receiverPath = "/dev/ttyACM0";
+~baudRate = 115200;
+
+~decoder = SLIPDecoder.new(~receiverPath, ~baudRate);
+OSCFunc.trace(false); // debug osc
+~decoder.trace(true); // debug slip decoder
+
+/*******
+ * GUI *
+ ******/
+~senzorji = [];
+~numSensors = 3;
+~numSensors.do({ |n|
+  ~senzorji.add(AHRSensor.new(n + 1));
+});
+
+~w = Window.new("Utopia || C²", Rect(300, 300, 640, ~numSensors * 20),true);
+
+~elementi = ~senzorji.collect({|s| s.getGui;});
+
+~ttyInput = TextField().string_("/dev/ttyACM0");
+
+~w.layout_(
+  VLayout(
+	HLayout(
+	  StaticText().string_("Serial path: "),
+	  ~ttyInput,
+	  Button().string_("Start").action_({ | butt |
+		if ((~decoder.running.not), {
+		  // If not running, start decoder
+          ~decoder.deviceName = "";
+		  ~decoder = SLIPDecoder.new(~receiverPath, ~baudRate);
+		  ~decoder.start;
+		  butt.string_("Stop")
+		}, {
+		  // Else stop the decoder
+		  ~decoder.stop;
+		  butt.string_("Start")
+		});
+	  })
+	),
+	// Elementi senzorjev
+	VLayout(*~elementi)
+  )
+);
+~w.front;
+
+q = OSCFunc({ |msg, time, addr, recvPort|
+  var q;
+  q = Quaternion.new(msg[4], msg[1], msg[2], msg[3]);
+  q.postln;
+  //~senzorji[0].updateEuler(q);
+  //~senzorji[0].euler.postln;
+  //~elementi[0].refreshGui;
+}, "/ww/1/quaternion");
+
+// Start the decoder!
+//~decoder.start;
+)
+
+
+~decoder.trace;
+~decoder.stop;
+~decoder.start;
+
+
+~decoder.rate;
\ No newline at end of file