Build text base interface

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

@@ -1696,6 +1696,12 @@
         <mxCell id="PalTPUc4YgjrWZW5Ocwr-7" value="" style="sketch=0;html=1;aspect=fixed;strokeColor=none;shadow=0;align=center;fillColor=#2D9C5E;verticalAlign=top;labelPosition=center;verticalLabelPosition=bottom;shape=mxgraph.gcp2.check" vertex="1" parent="1">
           <mxGeometry x="101.32999999999993" y="1021" width="40" height="32" as="geometry" />
         </mxCell>
+        <mxCell id="PalTPUc4YgjrWZW5Ocwr-8" value="" style="sketch=0;html=1;aspect=fixed;strokeColor=none;shadow=0;align=center;fillColor=#2D9C5E;verticalAlign=top;labelPosition=center;verticalLabelPosition=bottom;shape=mxgraph.gcp2.check" vertex="1" parent="1">
+          <mxGeometry x="85.37999999999994" y="940" width="40" height="32" as="geometry" />
+        </mxCell>
+        <mxCell id="PalTPUc4YgjrWZW5Ocwr-9" value="Missing Offset:" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
+          <mxGeometry x="840" y="956" width="60" height="30" as="geometry" />
+        </mxCell>
       </root>
     </mxGraphModel>
   </diagram>

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

@@ -1,6 +1,6 @@
 <mxfile host="Electron" agent="Mozilla/5.0 (X11; Linux x86_64) AppleWebKit/537.36 (KHTML, like Gecko) draw.io/26.0.4 Chrome/128.0.6613.186 Electron/32.2.5 Safari/537.36" version="26.0.4">
   <diagram name="Page-1" id="VLDBnTalcAr4j7jpmEzg">
-    <mxGraphModel dx="989" dy="600" grid="1" gridSize="10" guides="1" tooltips="1" connect="1" arrows="1" fold="1" page="1" pageScale="1" pageWidth="1169" pageHeight="827" math="0" shadow="0">
+    <mxGraphModel dx="14340" dy="8380" grid="1" gridSize="10" guides="1" tooltips="1" connect="1" arrows="1" fold="1" page="1" pageScale="1" pageWidth="1169" pageHeight="827" math="0" shadow="0">
       <root>
         <mxCell id="0" />
         <mxCell id="1" parent="0" />

i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/transmission_interface/rp2040_i2c_rx.cpp

@@ -31,6 +31,9 @@ void GobotRPC_TI_Hardware_RP2040_I2C::i2cRxTask() {
                     bool read_res = readI2C(&pkg, addr);
                     xSemaphoreGive(i2cMutex);
 
+                    if(!read_res)
+                        continue;
+
                     pkg.addr |= (i) << 8;
 
                     if(pushPackageCB != NULL)
@@ -54,6 +57,10 @@ bool GobotRPC_TI_Hardware_RP2040_I2C::readI2C(GoRPCPackage_Transport * pkg, uint
 
     size_t len = pkg->data[CI_RX_PACKAGE_DATA_OFFSET + 1];
 
+    if(len > 64) {
+        return false;
+    }
+
     res = i2c_read_blocking(i2c, addr, ((uint8_t *)pkg->data) + CI_RX_PACKAGE_DATA_OFFSET, len, false);
     pkg->len = len;
     pkg->addr = addr;

i2c-hub/uart-adapter/cache/boardpos_1736386482.json

@@ -0,0 +1 @@
+{"pos1": {"x": 1026, "y": 2096}, "pos2": {"x": 16651, "y": 18856}, "pos3": {"x": 1901, "y": 131}}

i2c-hub/uart-adapter/cache/scan_result.json

@@ -0,0 +1 @@
+{"corexy_available": true, "head_available": true, "vacuum_available": true, "corexy_port": 0, "head_port": 2, "vacuum_port": 1}

motor-control/core-xy-firmware/include/CoreXY.hpp

@@ -52,12 +52,15 @@ struct BoardMessurements {
     int x_num;
     int y_num;
     
+    int x_offset;
+    int y_offset;
+
     int cell_x;
     int cell_y;
 };
 
-BoardMessurements calcBoardMessurements(MotorPosition p0, MotorPosition p1, int grid_x, int grid_y);
+BoardMessurements calcBoardMessurements(MotorPosition p0, MotorPosition p1, int grid_x, int grid_y, MotorPosition offset);
-MotorPosition calcPosition(BoardMessurements * messurements, int x, int y);
+MotorPosition calcPosition(BoardMessurements * messurements, int x, int y, bool offset);
 
 void vTaskInitMotorHome(void *pvParameters);
 
@@ -94,7 +97,7 @@ public:
     bool getMotorEnabled();
 
     void setBoardMessurements(BoardMessurements messurements);
-    void gotoPosition(int x, int y);
+    void gotoPosition(int x, int y, bool offset);
 };
 
 void homeXY(TMC2209_step_dual * driver, HOME_AXIS_DIRECTION direction, unsigned int speed, unsigned int backupSpace, MotorPosition * last_pos);

motor-control/core-xy-firmware/src/corexy/motorFunctions.cpp

@@ -41,9 +41,9 @@ void CoreXYMaschine::setBoardMessurements(BoardMessurements messurements) {
     this->boardMessurements = messurements;
 }
 
-void CoreXYMaschine::gotoPosition(int x, int y) {
+void CoreXYMaschine::gotoPosition(int x, int y, bool offset) {
     xSemaphoreTake(xMoveMutex, portMAX_DELAY);
-    MotorPosition pos = calcPosition(&this->boardMessurements, x, y);
+    MotorPosition pos = calcPosition(&this->boardMessurements, x, y, offset);
 
     if(posUnknow || untilNextHome == 0) {
         homeFast(&current_pos, true);

motor-control/core-xy-firmware/src/corexy/position.cpp

@@ -2,7 +2,7 @@
 
 #include <math.h>
 
-BoardMessurements calcBoardMessurements(MotorPosition p0, MotorPosition p1, int grid_x, int grid_y) {
+BoardMessurements calcBoardMessurements(MotorPosition p0, MotorPosition p1, int grid_x, int grid_y, MotorPosition offset) {
     BoardMessurements res;
 
     MotorPosition * smaller;
@@ -16,6 +16,9 @@ BoardMessurements calcBoardMessurements(MotorPosition p0, MotorPosition p1, int
         bigger = &p0;
     }
 
+    res.x_offset = smaller->x - offset.x;
+    res.y_offset = smaller->y - offset.y;
+
     res.x_num = grid_x;
     res.y_num = grid_y;
 
@@ -31,11 +34,16 @@ BoardMessurements calcBoardMessurements(MotorPosition p0, MotorPosition p1, int
     return res;
 }
 
-MotorPosition calcPosition(BoardMessurements * messurements, int x, int y) {
+MotorPosition calcPosition(BoardMessurements * messurements, int x, int y, bool offset) {
     MotorPosition res;
 
     res.x = messurements->x_padding + (x * messurements->cell_x);
     res.y = messurements->y_padding + (y * messurements->cell_y);
 
+    if(offset) {
+        res.x -= messurements->x_offset;
+        res.y -= messurements->y_offset;
+    }
+
     return res;
 }

motor-control/core-xy-firmware/src/main.cpp

@@ -155,7 +155,7 @@ void onRxPackage(void * args, char *data, uint16_t len, GobotRPCTypes type, Gobo
             uint8_t cellX = data[24];
             uint8_t cellY = data[25];
 
-            BoardMessurements messurements = calcBoardMessurements(p1, p2, cellX, cellY);
+            BoardMessurements messurements = calcBoardMessurements(p1, p2, cellX, cellY, p3);
             appData->machine->setBoardMessurements(messurements);
             g_appData.gobotrpc_ni->sendPackage(txBuffer, 0, GobotRPCTypes::RESPONSE, GobotRPCNumber::SET_PADDING);
             break;
@@ -165,7 +165,7 @@ void onRxPackage(void * args, char *data, uint16_t len, GobotRPCTypes type, Gobo
             int x = (data[0] << 24) | (data[1] << 16) | (data[2] << 8) | data[3];
             int y = (data[4] << 24) | (data[5] << 16) | (data[6] << 8) | data[7];
             bool offset = data[8] > 0;
-            appData->machine->gotoPosition(x, y);
+            appData->machine->gotoPosition(x, y, offset);
             g_appData.gobotrpc_ni->sendPackage(txBuffer, 0, GobotRPCTypes::RESPONSE, GobotRPCNumber::GOTO);
             break;
         }