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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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4
vacum-control/vacum-control-firmware/include/pinConfigNode.hpp
View File

@@ -14,4 +14,6 @@
#define BUTTON_PIN 17
#define INTERRUPTION_DURATION ((int)(2.5 * 1000))
#define INTERRUPTION_DELAY 5 * 1000
#define INTERRUPTION_DELAY 5 * 1000
#define I2C_ADDR 0x21

18
vacum-control/vacum-control-firmware/src/main.cpp
View File

@@ -37,6 +37,18 @@ void onRxPackage(void * args, char *data, uint16_t len, GobotRPCTypes type, Gobo
break;
}
case GobotRPCNumber::GET_INFO: {
InfoData info = appData->gobotrpc_ni->getInfo();
txBuffer[0] = (info.addr >> 24) & 0xFF;
txBuffer[1] = (info.addr >> 16) & 0xFF;
txBuffer[2] = (info.addr >> 8) & 0xFF;
txBuffer[3] = info.addr & 0xFF;
txBuffer[4] = info.type;
g_appData.gobotrpc_ni->sendPackage(txBuffer, 5, GobotRPCTypes::RESPONSE, GobotRPCNumber::GET_INFO);
break;
}
case GobotRPCNumber::RESET: {
softwareReset();
break;
@@ -52,7 +64,7 @@ void core1_main(void *pvParameters) {
AppData * appData = (AppData *) pvParameters;
GobotRPC_NI_Hardware_RP2040_I2C gobotrpc_ni_hardware(
appData->txQueue, appData->rxQueue, CORE_MASK_VACUM,
i2c0, 0x21, GORPC_SDA_PIN, GORPC_SCL_PIN, GORPC_INT_PIN
i2c0, I2C_ADDR, GORPC_SDA_PIN, GORPC_SCL_PIN, GORPC_INT_PIN
);
while (true) {
@@ -85,7 +97,9 @@ int main() {
vacumControl.setState(false);
g_appData.vacumControl = &vacumControl;
GobotRPC_NI gobotrpc_ni(CORE_MASK_VACUM, g_appData.txQueue, g_appData.rxQueue);
InfoData info = {.addr=I2C_ADDR, .type=NODE_TYPE_VACUM};
GobotRPC_NI gobotrpc_ni(CORE_MASK_VACUM, g_appData.txQueue, g_appData.rxQueue, info);
gobotrpc_ni.registerOnPackageRxCallback(onRxPackage, &g_appData);
g_appData.gobotrpc_ni = &gobotrpc_ni;