Fixed major UART Issue, I hate it

i2c-hub/firmware/i2c-hub-firmware/docs/.$NetworkStack.drawio.bkp

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+        <mxCell id="weFQkCekfF49Ojb9-c9R-373" value="" style="endArrow=classic;html=1;rounded=0;entryX=-0.009;entryY=0.431;entryDx=0;entryDy=0;entryPerimeter=0;exitX=0.935;exitY=0.449;exitDx=0;exitDy=0;exitPerimeter=0;" edge="1" parent="1" source="weFQkCekfF49Ojb9-c9R-367" target="weFQkCekfF49Ojb9-c9R-371">
+          <mxGeometry width="50" height="50" relative="1" as="geometry">
+            <mxPoint x="1750" y="1790" as="sourcePoint" />
+            <mxPoint x="1800" y="1740" as="targetPoint" />
+          </mxGeometry>
+        </mxCell>
       </root>
     </mxGraphModel>
   </diagram>

i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/cmake/CMakeLists.txt

@@ -1,8 +1,9 @@
 add_library(GobotRPC STATIC
     ${CMAKE_CURRENT_LIST_DIR}/../ctrl_interface/base.cpp
-    ${CMAKE_CURRENT_LIST_DIR}/../ctrl_interface/hardware_rp2040_uart.cpp
+    ${CMAKE_CURRENT_LIST_DIR}/../ctrl_interface/uart_rp2040/hardware_rp2040_uart.cpp
-    ${CMAKE_CURRENT_LIST_DIR}/../ctrl_interface/hardware_base.cpp
+    ${CMAKE_CURRENT_LIST_DIR}/../ctrl_interface/uart_rp2040/rx.cpp
     ${CMAKE_CURRENT_LIST_DIR}/../crc16.cpp
+    ${CMAKE_CURRENT_LIST_DIR}/../protocol_base.cpp
 )
 
 target_include_directories(GobotRPC PUBLIC 

i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/ctrl_interface/base.cpp

@@ -21,10 +21,12 @@ void GobotRPC_CI_rxData_cb(void * args, char *data, size_t len) {
 
 void GobotRPC_CI::onRxData(char *data, size_t len) {
     GobotRPC_CI_CMD cmd = (GobotRPC_CI_CMD)data[0];
+
     switch (cmd) {
         case TX_CI_PACKET:
             if(this->cb_TxPacket != NULL) {
-                this->cb_TxPacket(this->cb_TxPacket_args, data+1, len-1);
+                uint32_t addr = (data[2] << 24) | (data[3] << 16) | (data[4] << 8) | data[5];
+                this->cb_TxPacket(this->cb_TxPacket_args, data+6, len-6, addr);
             }
             break;
         default:
@@ -37,10 +39,16 @@ void GobotRPC_CI::registerCB_TxPacket(callback_TxPacket cb, void *args) {
     this->cb_TxPacket_args = args;
 }
 
-void GobotRPC_CI::send_RxPacket(char *data, size_t len) {
+void GobotRPC_CI::send_RxPacket(char *data, size_t len, uint32_t addr) {
     data[0] = RX_CI_PACKET;
+    data[1] = len + CI_RX_PACKAGE_DATA_OFFSET;
 
-    this->hardware->send(data, len+1);
+    data[2] = (addr >> 24) & 0xff;
+    data[3] = (addr >> 16) & 0xff;
+    data[4] = (addr >> 8) & 0xff;
+    data[5] = addr & 0xff;
+
+    this->hardware->send(data, len+6);
 }
 
 // Heartbeat Task
@@ -51,9 +59,9 @@ void GobotRPC_CI_heartBeatTaskFn(void *args) {
 }
 
 void GobotRPC_CI::heartBeartTaskFn() {
-    char heartBeatPacket[] = {0xff};
+    char heartBeatPacket[] = {0xff, 0x02};
     while(1) {
-        this->hardware->send(heartBeatPacket, 1);
+        this->hardware->send(heartBeatPacket, 2);
         vTaskDelay(GOBOTRPC_HEARTBEAT_INTERVAL / portTICK_PERIOD_MS);
     }
 }

i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/ctrl_interface/hardware_base.cpp

@@ -1,2 +0,0 @@
-#include "ctrl_interface_hardware.hpp"
-

i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/ctrl_interface/hardware_rp2040_uart.cpp

@@ -1,107 +0,0 @@
-#include "ctrl_interface_hardware.hpp"
-#include "pinConfig.hpp"
-
-#include "pico/stdlib.h"
-#include "hardware/uart.h"
-
-#include "FreeRTOS.h"
-#include "task.h"
-#include "queue.h"
-#include <string.h>
-
-// Initialize stuff
-GobotRPC_CI_Hardware_RP2040_UART * g_GobotRPC_CI_Hardware_RP2040_UART;
-
-GobotRPC_CI_Hardware_RP2040_UART::GobotRPC_CI_Hardware_RP2040_UART(uart_inst_t *uart, uint baudrate) {
-    g_GobotRPC_CI_Hardware_RP2040_UART = this;
-
-    emptyInputBuffersQueue = xQueueCreate(NUM_INPUT_BUFFERS, sizeof(inputBuffers_t *));
-    filledInputBuffersQueue = xQueueCreate(NUM_INPUT_BUFFERS, sizeof(inputBuffers_t *));
-
-    for(int i = 0; i < NUM_INPUT_BUFFERS; i++) {
-        inputBuffers_t * p = &inputBufferPool[i];
-        memset(p->data, 0xff, 256);
-        p->len = 0;
-        xQueueSend(emptyInputBuffersQueue, &p, portMAX_DELAY);
-    }
-
-    txMutex = xSemaphoreCreateMutex();
-
-    this->uart = uart;
-    uart_init(this->uart, baudrate);
-    
-    gpio_set_function(GOBOTRPC_CI_UART_RX, UART_FUNCSEL_NUM(uart, GOBOTRPC_CI_UART_RX));
-    gpio_set_function(GOBOTRPC_CI_UART_TX, UART_FUNCSEL_NUM(uart, GOBOTRPC_CI_UART_TX));
-    
-    uart_set_hw_flow(uart, false, false);
-    uart_set_format(uart, 8, 1, UART_PARITY_NONE);
-    uart_set_baudrate(uart, baudrate);
-    uart_set_fifo_enabled(uart, true);
-
-    int UART_IRQ = uart == uart0 ? UART0_IRQ : UART1_IRQ;
-
-    irq_set_exclusive_handler(UART_IRQ, GobotRPC_CI_Hardware_RP2040_UART_isr);
-    irq_set_enabled(UART_IRQ, true);
-
-    uart_set_irq_enables(uart, true, false);
-
-
-    xTaskCreate(GobotRPC_CI_Hardware_RP2040_UART_RXTaskFn, "UART RX Task", 2048, this, 4, &this->rxTaskHandle);
-}
-
-void GobotRPC_CI_Hardware_RP2040_UART::registerCB_RxData(callback_rxData cb, void *args) {
-    this->cb_rxData = cb;
-    this->cb_rxData_args = args;
-}
-
-
-// Sending data
-void GobotRPC_CI_Hardware_RP2040_UART::send(char *data, size_t len) {
-    xSemaphoreTake(txMutex, portMAX_DELAY);
-    uart_write_blocking(this->uart, (uint8_t *)(data), len);
-    xSemaphoreGive(txMutex);
-}
-
-// Rx ISR
-void GobotRPC_CI_Hardware_RP2040_UART_isr() {
-    GobotRPC_CI_Hardware_RP2040_UART *uart = (GobotRPC_CI_Hardware_RP2040_UART *)g_GobotRPC_CI_Hardware_RP2040_UART;
-    uart->rxISR();
-};
-
-void GobotRPC_CI_Hardware_RP2040_UART::rxISR() {
-    BaseType_t xHigherPriorityTaskWoken = pdFALSE;
-
-    inputBuffers_t * inputBuffer;
-
-    xQueueReceiveFromISR(emptyInputBuffersQueue, &inputBuffer, &xHigherPriorityTaskWoken);
-
-    int i;
-    for(i = 0; uart_is_readable(this->uart) && i < 256; i++) {
-        volatile uint8_t c = uart_getc(this->uart);
-        inputBuffer->data[i] = c;
-    }
-    inputBuffer->len = i;
-
-    xQueueSendFromISR(filledInputBuffersQueue, &inputBuffer, &xHigherPriorityTaskWoken);
-    portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
-}
-
-// Rx Task
-void GobotRPC_CI_Hardware_RP2040_UART_RXTaskFn(void *args) {
-    GobotRPC_CI_Hardware_RP2040_UART *uart = (GobotRPC_CI_Hardware_RP2040_UART *)args;
-    uart->rxTask();
-};
-
-void GobotRPC_CI_Hardware_RP2040_UART::rxTask() {
-    inputBuffers_t * inputBuffer;
-
-    while (1) {
-        xQueueReceive(filledInputBuffersQueue, &inputBuffer, portMAX_DELAY);
-
-        if(inputBuffer->len > 0) {
-            cb_rxData(cb_rxData_args, inputBuffer->data, inputBuffer->len);
-        }
-
-        xQueueSend(emptyInputBuffersQueue, &inputBuffer, portMAX_DELAY);
-    }
-}

i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/ctrl_interface/uart_rp2040/hardware_rp2040_uart.cpp

@@ -0,0 +1,53 @@
+#include "ctrl_interface_hardware.hpp"
+#include "pinConfig.hpp"
+
+#include "pico/stdlib.h"
+#include "hardware/uart.h"
+
+#include "FreeRTOS.h"
+#include "task.h"
+#include "queue.h"
+#include <string.h>
+
+// Initialize stuff
+GobotRPC_CI_Hardware_RP2040_UART * g_GobotRPC_CI_Hardware_RP2040_UART;
+
+GobotRPC_CI_Hardware_RP2040_UART::GobotRPC_CI_Hardware_RP2040_UART(uart_inst_t *uart, uint baudrate) {
+    g_GobotRPC_CI_Hardware_RP2040_UART = this;
+
+    initRxTaskAndQueues();
+
+    txMutex = xSemaphoreCreateMutex();
+
+    this->uart = uart;
+    uart_init(this->uart, baudrate);
+    
+    gpio_set_function(GOBOTRPC_CI_UART_RX, UART_FUNCSEL_NUM(uart, GOBOTRPC_CI_UART_RX));
+    gpio_set_function(GOBOTRPC_CI_UART_TX, UART_FUNCSEL_NUM(uart, GOBOTRPC_CI_UART_TX));
+    
+    uart_set_hw_flow(uart, false, false);
+    uart_set_format(uart, 8, 1, UART_PARITY_NONE);
+    uart_set_baudrate(uart, baudrate);
+    uart_set_fifo_enabled(uart, true);
+
+    int UART_IRQ = uart == uart0 ? UART0_IRQ : UART1_IRQ;
+
+    irq_set_exclusive_handler(UART_IRQ, GobotRPC_CI_Hardware_RP2040_UART_isr);
+    irq_set_enabled(UART_IRQ, true);
+
+    uart_set_irq_enables(uart, true, false);
+}
+
+void GobotRPC_CI_Hardware_RP2040_UART::registerCB_RxData(callback_rxData cb, void *args) {
+    this->cb_rxData = cb;
+    this->cb_rxData_args = args;
+}
+
+
+// Sending data
+void GobotRPC_CI_Hardware_RP2040_UART::send(char *data, size_t len) {
+    xSemaphoreTake(txMutex, portMAX_DELAY);
+    uart_write_blocking(this->uart, (uint8_t *)(data), len);
+    uart_tx_wait_blocking(this->uart);
+    xSemaphoreGive(txMutex);
+}

i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/ctrl_interface/uart_rp2040/rx.cpp

@@ -0,0 +1,120 @@
+#include "ctrl_interface_hardware.hpp"
+#include "pico/stdlib.h"
+
+#include <string.h>
+
+#include "FreeRTOS.h"
+#include "FreeRTOSConfig.h"
+
+// External Functions
+void GobotRPC_CI_Hardware_RP2040_UART_isr() {
+    GobotRPC_CI_Hardware_RP2040_UART *uart = (GobotRPC_CI_Hardware_RP2040_UART *)g_GobotRPC_CI_Hardware_RP2040_UART;
+    uart->onRx_ISR();
+};
+
+void GobotRPC_CI_Hardware_RP2040_UART_Task_RXProcessing(void *args) {
+    GobotRPC_CI_Hardware_RP2040_UART *uart = (GobotRPC_CI_Hardware_RP2040_UART *)args;
+    uart->rxProcessingTaskFn();
+}
+
+// Init
+
+void GobotRPC_CI_Hardware_RP2040_UART::initRxTaskAndQueues() {
+    emptyInputBuffersQueue = xQueueCreate(NUM_INPUT_BUFFERS, sizeof(inputBuffers_t *));
+    filledInputBuffersQueue = xQueueCreate(NUM_INPUT_BUFFERS, sizeof(inputBuffers_t *));
+
+    for(int i = 0; i < NUM_INPUT_BUFFERS; i++) {
+        inputBuffers_t * p = &inputBufferPool[i];
+        memset(p->data, 0xff, 256);
+        p->len = 0;
+        p->state = NEW;
+        p->expected_length = 0;
+        xQueueSend(emptyInputBuffersQueue, &p, portMAX_DELAY);
+    }
+
+    rxSignalSemaphore = xSemaphoreCreateBinary();
+    xTaskCreate(GobotRPC_CI_Hardware_RP2040_UART_Task_RXProcessing, "UART RX Processing", 1024, this, 3, &this->rxProcessingTaskHandle);
+}
+
+inputBufferRXState_t fillBuffer(inputBuffers_t * buffer, char data) {
+    switch(buffer->state) {
+        case NEW:
+            buffer->data[0] = data;
+            buffer->len = 1;
+            buffer->state = READ_SIZE;
+            break;
+        
+        case READ_SIZE:
+            buffer->data[1] = data;
+            buffer->expected_length = data;
+            buffer->len += 1;
+
+            if(buffer->len == buffer->expected_length) {
+                buffer->state = FULL;
+            } else {
+                buffer->state = READ_DATA;
+            }
+            break;
+
+        case READ_DATA:
+            buffer->data[buffer->len] = data;
+            buffer->len += 1;
+
+            if(buffer->len == buffer->expected_length) {
+                buffer->state = FULL;
+            } else {
+                buffer->state = READ_DATA;
+            }
+            break;
+
+        case FULL:
+            break;
+    }
+    return buffer->state;
+}
+
+// real Task Fns
+void GobotRPC_CI_Hardware_RP2040_UART::onRx_ISR() {
+    BaseType_t xHigherPriorityTaskWoken = pdFALSE;
+
+    static inputBuffers_t * inputBuffer = NULL;
+
+    while (uart_is_readable(this->uart)) {
+
+        if(inputBuffer == NULL) {
+            xQueueReceiveFromISR(emptyInputBuffersQueue, &inputBuffer, &xHigherPriorityTaskWoken);
+
+            if(inputBuffer == NULL) {
+                return; // No more buffers -> device overload
+            }
+
+            inputBuffer->state = NEW;
+            inputBuffer->len = 0;
+            inputBuffer->expected_length = 0;
+        }
+
+        inputBufferRXState_t state = fillBuffer(inputBuffer, uart_getc(this->uart));
+
+        if (state == FULL) {
+            xQueueSendFromISR(filledInputBuffersQueue, &inputBuffer, &xHigherPriorityTaskWoken);
+            inputBuffer = NULL;
+        }
+    }
+
+    portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
+}
+
+
+void GobotRPC_CI_Hardware_RP2040_UART::rxProcessingTaskFn() {
+    inputBuffers_t * inputBuffer = NULL;
+
+    while(1) {
+        xQueueReceive(filledInputBuffersQueue, &inputBuffer, portMAX_DELAY);
+
+        if(this->cb_rxData != NULL) {
+            this->cb_rxData(this->cb_rxData_args, inputBuffer->data, inputBuffer->len);
+        }
+
+        vTaskDelay(1000);
+    }
+}  

i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/include/ctrl_interface.hpp

@@ -9,7 +9,13 @@ enum GobotRPC_CI_CMD {
     SCAN_RESULT_CI_PACKET = 0x04,
 };
 
-typedef void (*callback_TxPacket)(void * args, char *data, size_t len);
+#define CI_TX_PACKAGE_DATA_OFFSET 6
+#define CI_TX_PACKAGE_SIZE(data_len) (data_len + CI_TX_PACKAGE_SIZE)
+
+#define CI_RX_PACKAGE_DATA_OFFSET 6
+#define CI_RX_PACKAGE_SIZE(data_len) (data_len + CI_RX_PACKAGE_DATA_OFFSET)
+
+typedef void (*callback_TxPacket)(void * args, char *data, size_t len, uint32_t addr);
 void GobotRPC_CI_rxData_cb(void * args, char *data, size_t len);
 void GobotRPC_CI_heartBeatTaskFn(void *args);
 
@@ -26,7 +32,7 @@ public:
     GobotRPC_CI(I_GobotRPC_CI_Hardware *hardware);
 
     void registerCB_TxPacket(callback_TxPacket cb, void *args);
-    void send_RxPacket(char *data, size_t len);
+    void send_RxPacket(char *data, size_t len, uint32_t addr);
 
     void onRxData(char *data, size_t len);
 

i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/include/ctrl_interface_hardware.hpp

@@ -19,13 +19,23 @@ public:
 #include "hardware/uart.h"
 
 void GobotRPC_CI_Hardware_RP2040_UART_isr();
-void GobotRPC_CI_Hardware_RP2040_UART_RXTaskFn(void *args);
+void GobotRPC_CI_Hardware_RP2040_UART_Task_RXBuffering(void *args);
+void GobotRPC_CI_Hardware_RP2040_UART_Task_RXProcessing(void *args);
 
 #define NUM_INPUT_BUFFERS 16
 
+enum inputBufferRXState_t {
+    NEW,
+    READ_SIZE,
+    READ_DATA,
+    FULL
+};
+
 struct inputBuffers_t {
     char data[256];
+    size_t expected_length;
     size_t len;
+    inputBufferRXState_t state;
 };
 
 class GobotRPC_CI_Hardware_RP2040_UART : public I_GobotRPC_CI_Hardware {
@@ -34,22 +44,28 @@ private:
 
     inputBuffers_t inputBufferPool[NUM_INPUT_BUFFERS];
 
-    TaskHandle_t rxTaskHandle;
+    TaskHandle_t rxProcessingTaskHandle;
-    SemaphoreHandle_t txMutex;
 
+    
+    SemaphoreHandle_t rxSignalSemaphore;
     QueueHandle_t emptyInputBuffersQueue;
     QueueHandle_t filledInputBuffersQueue;
 
     callback_rxData cb_rxData;
     void * cb_rxData_args;
 
+    SemaphoreHandle_t txMutex;
+
 public:
     GobotRPC_CI_Hardware_RP2040_UART(uart_inst_t *uart, uint baudrate);
     void send(char *data, size_t len) override;
     void registerCB_RxData(callback_rxData cb, void *args);
     
-    void rxISR();
+    void initRxTaskAndQueues();
-    void rxTask();
+    void onRx_ISR();
+    void rxBufferingTaskFn();
+    void rxProcessingTaskFn();
+
 };
 
 extern GobotRPC_CI_Hardware_RP2040_UART * g_GobotRPC_CI_Hardware_RP2040_UART;

i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/include/protocol.hpp

@@ -0,0 +1,28 @@
+#pragma once
+#include <stdint.h>
+#include <strings.h>
+
+enum GobotRPCNumber {
+    VACUM = 0x8
+};
+
+enum GobotRPCTypes {
+    REQUEST  = 0b00,
+    RESPONSE = 0b01,
+    ERROR    = 0b10
+};
+
+#define GobotRPC_Package_DATA_OFFSET 2
+#define CALC_SIZE_GobotRPC_PACKAGE(data_len) (data_len + GobotRPC_Package_DATA_OFFSET + 2)
+
+struct GobotRPCHeaderInfo {
+public:
+    GobotRPCNumber number;
+    GobotRPCTypes type;
+    size_t len;
+};
+
+void assembleGobotRPCHeader(char * buffer, GobotRPCNumber number, GobotRPCTypes data_size, size_t);
+void assembleCRC(char * buffer, size_t data_len);
+
+GobotRPCHeaderInfo extractGobotRPCHeader(char * buffer);

i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/protocol_base.cpp

@@ -0,0 +1,25 @@
+#include "protocol.hpp"
+#include <stdint.h>
+
+#include "pico/stdlib.h"
+
+#include "crc16.hpp"
+
+void assembleGobotRPCHeader(char * buffer, GobotRPCNumber number, GobotRPCTypes type, size_t len) {
+    buffer[0] = ((number & 0b1111) << 4) | ((type & 0b11) << 2);
+    buffer[1] = (len + 4) & 0xff;
+}
+
+GobotRPCHeaderInfo extractGobotRPCHeader(char * buffer) {
+    GobotRPCHeaderInfo info;
+    info.number = (GobotRPCNumber)((buffer[0] >> 4) & 0b1111);
+    info.type = (GobotRPCTypes)((buffer[0] >> 2) & 0b11);
+    info.len = buffer[1];
+    return info;
+}
+
+void assembleCRC(char * buffer, size_t data_len) {
+    unsigned short crc = crc16(buffer, data_len + GobotRPC_Package_DATA_OFFSET);
+    buffer[GobotRPC_Package_DATA_OFFSET + data_len + 1] = crc & 0xff;
+    buffer[GobotRPC_Package_DATA_OFFSET + data_len + 0] = (crc >> 8) & 0xff;
+}

i2c-hub/firmware/i2c-hub-firmware/src/main.cpp

@@ -8,7 +8,7 @@
 #include "FreeRTOS.h"
 #include "task.h"
 
-#include "crc16.hpp"
+#include "protocol.hpp"
 
 #define LED_PIN 25
 
@@ -21,16 +21,16 @@ void vTaskMain(void * pvParameters) {
     }
 }
 
-void onTxPacket(void * args, char *data, size_t len) {
+void onTxPacket(void * args, char *data, size_t len, uint32_t addr) {
     GobotRPC_CI * gobotRPC_ci = (GobotRPC_CI *)args;
 
-    char buffer[] = {0x00, 0x74, 0x04, 0x00, 0x00};
+    char bufferPackage[CI_RX_PACKAGE_SIZE(CALC_SIZE_GobotRPC_PACKAGE(0))];
-    unsigned short crc = crc16(buffer + 1, 2);
+    char * gorpcPackageOffset = bufferPackage + CI_RX_PACKAGE_DATA_OFFSET;
 
-    buffer[4] = crc & 0xff;
+    assembleGobotRPCHeader(gorpcPackageOffset, GobotRPCNumber::VACUM, GobotRPCTypes::RESPONSE, 0);
-    buffer[3] = (crc >> 8) & 0xff;
+    assembleCRC(gorpcPackageOffset, 0);
 
-    gobotRPC_ci->send_RxPacket(buffer, 4);
+    gobotRPC_ci->send_RxPacket(bufferPackage, CALC_SIZE_GobotRPC_PACKAGE(0), addr);
 }
 
 int main() {