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Fixed Issue: emptyQueue in Hub was not filled correctly

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This commit is contained in:
AlexanderHD27
2025-01-07 21:13:38 +01:00
parent 2a038367a8
commit 9ab6cbe097
30 changed files with 2365 additions and 701 deletions
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24
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/ctrl_interface/base.cpp
View File

@@ -17,6 +17,11 @@ GobotRPC_CI::GobotRPC_CI(I_GobotRPC_CI_Hardware *hardware, UBaseType_t core, Que
this->hardware = hardware;
this->hardware->registerCB_RxData(GobotRPC_CI_rxData_cb, this);
this->cb_TxPacket = NULL;
this->cb_TxPacket_args = NULL;
this->cb_SetAddressMap = NULL;
this->cb_SetAddressMap_args = NULL;
xTaskCreateAffinitySet(GobotRPC_CI_heartBeatTaskFn, "Heartbeat Task", 2048, this, 2, core, &this->heartBeatTaskHandle);
xTaskCreateAffinitySet(GobotRPC_CI_txCIInstructionTaskFn, "Tx CI Instruction Task", 2048, this, 3, core, &this->txCIInstructionTaskHandle);
}
@@ -37,10 +42,20 @@ void GobotRPC_CI::onRxData(char *data, size_t len) {
this->cb_TxPacket(this->cb_TxPacket_args, data+6, len-6, addr);
}
break;
case RESET_CI_PACKET:
// Register Reset Magic
softwareReset();
//softwareReset();
break;
case SET_ADDR_PORT_MAP: {
if(this->cb_SetAddressMap != NULL) {
uint32_t addr = (data[1] << 24) | (data[2] << 16) | (data[3] << 8) | data[4];
uint8_t port = data[5];
this->cb_SetAddressMap(cb_SetAddressMap_args, addr, port);
}
break;
}
default:
break;
}
@@ -51,6 +66,11 @@ void GobotRPC_CI::registerCB_TxPacket(callback_TxPacket cb, void *args) {
this->cb_TxPacket_args = args;
}
void GobotRPC_CI::registerCB_SetAddress(callback_SetAddress cb, void *args) {
this->cb_SetAddressMap = cb;
this->cb_SetAddressMap_args = args;
}
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;

1
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/ctrl_interface/uart_rp2040/rx.cpp
View File

@@ -116,6 +116,7 @@ void GobotRPC_CI_Hardware_RP2040_UART::rxProcessingTaskFn() {
this->cb_rxData(this->cb_rxData_args, inputBuffer->data, inputBuffer->len);
}
xQueueSend(emptyInputBuffersQueue, &inputBuffer, portMAX_DELAY);
vTaskDelay(1000);
}
}

8
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/include/ci/base.hpp
View File

@@ -5,6 +5,7 @@
enum GobotRPC_CI_CMD {
TX_CI_PACKET = 0x01,
RX_CI_PACKET = 0x02,
SET_ADDR_PORT_MAP = 0x03,
SUCESS_TRANMISSION = 0xfc,
ERROR_TRANMISSION = 0xfd,
@@ -21,6 +22,8 @@ enum GobotRPC_CI_CMD {
#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);
typedef void (*callback_SetAddress)(void * args, uint32_t addr, uint8_t port);
void GobotRPC_CI_rxData_cb(void * args, char *data, size_t len);
void GobotRPC_CI_heartBeatTaskFn(void *args);
void GobotRPC_CI_txCIInstructionTaskFn(void *args);
@@ -32,6 +35,9 @@ private:
callback_TxPacket cb_TxPacket;
void * cb_TxPacket_args;
callback_SetAddress cb_SetAddressMap;
void * cb_SetAddressMap_args;
TaskHandle_t heartBeatTaskHandle;
TaskHandle_t txCIInstructionTaskHandle;
@@ -40,6 +46,8 @@ public:
GobotRPC_CI(I_GobotRPC_CI_Hardware *hardware, UBaseType_t core, QueueHandle_t ciInstructionQueue);
void registerCB_TxPacket(callback_TxPacket cb, void *args);
void registerCB_SetAddress(callback_SetAddress cb, void *args);
void send_RxPacket(char *data, size_t len, uint32_t addr);
void onRxData(char *data, size_t len);

3
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/include/util/protocol.hpp
View File

@@ -4,7 +4,8 @@
enum GobotRPCNumber {
VACUM = 0x8,
RESET = 0xc
RESET = 0xc,
GET_INFO = 0xd
};
enum GobotRPCTypes {

17
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/node_interface/include/node_interface.hpp
View File

@@ -9,6 +9,15 @@
typedef void (*onPackageRxCallback)(void * args, char *data, uint16_t len, GobotRPCTypes type, GobotRPCNumber number);
enum NODE_TYPE: uint8_t {
NODE_TYPE_VACUM = 0xa1
};
struct InfoData {
uint32_t addr;
NODE_TYPE type;
};
class GobotRPC_NI {
private:
onPackageRxCallback onPackageRx;
@@ -17,16 +26,18 @@ private:
QueueHandle_t txQueue;
QueueHandle_t rxQueue;
TaskHandle_t rxTaskHandle;
InfoData info;
unsigned int core;
public:
GobotRPC_NI(unsigned int core, QueueHandle_t txQueue, QueueHandle_t rxQueue);
GobotRPC_NI(unsigned int core, QueueHandle_t txQueue, QueueHandle_t rxQueue, InfoData info);
void registerOnPackageRxCallback(onPackageRxCallback callback, void *context);
void sendPackage(char *data, size_t len, GobotRPCTypes type, GobotRPCNumber number);
InfoData getInfo();
void rxTask();
};

8
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/node_interface/init.cpp
View File

@@ -1,5 +1,6 @@
#include "node_interface.hpp"
#include "FreeRTOSConfig.h"
#include "FreeRTOS.h"
#include "task.h"
#include <string.h>
@@ -9,8 +10,9 @@ static void rxTaskFn(void *pvParameters) {
ni->rxTask();
}
GobotRPC_NI::GobotRPC_NI(unsigned int core, QueueHandle_t txQueue, QueueHandle_t rxQueue) {
GobotRPC_NI::GobotRPC_NI(unsigned int core, QueueHandle_t txQueue, QueueHandle_t rxQueue, InfoData info) {
this->core = core;
this->info = info;
this->txQueue = txQueue;
this->rxQueue = rxQueue;
@@ -65,3 +67,7 @@ void GobotRPC_NI::sendPackage(char *data, size_t len, GobotRPCTypes type, GobotR
assembleCRC(package.data, len);
xQueueSend(this->txQueue, &package, portMAX_DELAY);
}
InfoData GobotRPC_NI::getInfo() {
return info;
}

2
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/transmission_interface/rp2040_i2c_init.cpp
View File

@@ -1,6 +1,8 @@
#include "transmission_interface.hpp"
#include "hardware/i2c.h"
#include <string.h>
#include "pinConfig.hpp"
GobotRPC_TI_Hardware_RP2040_I2C * g_GobotRPC_TI_Hardware_RP2040_I2C;

8
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/transmission_interface/rp2040_i2c_rx.cpp
View File

@@ -20,22 +20,24 @@ void GobotRPC_TI_Hardware_RP2040_I2C::i2cRxTask() {
uint32_t addr = intAddressMap[i];
if(addr > 0xff)
continue;
GoRPCPackage_Transport pkg;
xSemaphoreTake(i2cMutex, portMAX_DELAY);
bool read_res = readI2C(&pkg, addr);
xSemaphoreGive(i2cMutex);
//if(read_res) {
pkg.addr |= (i) << 8;
if(pushPackageCB != NULL)
pushPackageCB(&pkg, pushPackageCBArgs);
//}
break;
}
}
pinStates = readIntPins();
} while(pinStates & done_mask);
}

1
i2c-hub/firmware/i2c-hub-firmware/src/main_core0.cpp
View File

@@ -32,6 +32,7 @@ void onTxPacket(void * args, char *data, size_t len, uint32_t addr) {
GobotRPC_CI * gobotRPC_ci = (GobotRPC_CI *)args;
GoRPCPackage_Transport pkg;
memcpy(pkg.data, data, len);
pkg.len = len;
pkg.addr = addr;

6
i2c-hub/firmware/i2c-hub-firmware/src/main_core1.cpp
View File

@@ -15,7 +15,7 @@ void pullPackageCB(GoRPCPackage_Transport * dest, void *args) {
xQueueReceive(queue, dest, portMAX_DELAY);
}
void pushPackage(GoRPCPackage_Transport * src, void *args) {
void pushPackageCB(GoRPCPackage_Transport * src, void *args) {
QueueHandle_t queue = appData.rxQueue;
xQueueSend(queue, src, portMAX_DELAY);
}
@@ -28,10 +28,10 @@ void pushCIInstruction(CI_Instruction_Transport * src, void *args) {
void main_core2(void * pvParameters) {
AppData appData = *((AppData *)pvParameters);
GobotRPC_TI_Hardware_RP2040_I2C gobotrpc_ti_hardware(UART_CORE_MASK, i2c0);
gobotrpc_ti_hardware.setAddrMap(0x21, 0);
//gobotrpc_ti_hardware.setAddrMap(0x21, 0);
gobotrpc_ti_hardware.registerPullPackageCB(pullPackageCB, appData.txQueue);
gobotrpc_ti_hardware.registerPushPackageCB(pushPackage, appData.rxQueue);
gobotrpc_ti_hardware.registerPushPackageCB(pushPackageCB, appData.rxQueue);
gobotrpc_ti_hardware.registerPushCIInstructionCB(pushCIInstruction, appData.ciInstructionQueue);
gobotrpc_ti_hardware.raiseInfoReset();