Implement I2C

i2c-hub/firmware/i2c-hub-firmware/src/main_core1.cpp

@@ -0,0 +1,39 @@
+#include "main.hpp"
+#include "transmission_interface.hpp"
+
+#include "FreeRTOSConfig.h"
+#include "FreeRTOS.h"
+#include "task.h"
+#include "queue.h"
+
+#include "pinConfig.hpp"
+
+extern AppData appData;
+
+void pullPackageCB(GoRPCPackage_Transport * dest, void *args) {
+    QueueHandle_t queue = appData.txQueue;
+    xQueueReceive(queue, dest, portMAX_DELAY);
+}
+
+void pushPackage(GoRPCPackage_Transport * src, void *args) {
+    QueueHandle_t queue = appData.rxQueue;
+    xQueueSend(queue, src, portMAX_DELAY);
+}
+
+void pushCIInstruction(CI_Instruction_Transport * src, void *args) {
+    QueueHandle_t queue = appData.ciInstructionQueue;
+    xQueueSend(queue, src, portMAX_DELAY);
+}
+
+void main_core2(void * pvParameters) {
+    AppData appData = *((AppData *)pvParameters);
+    GobotRPC_TI_Hardware_RP2040_I2C gobotrpc_ti_hardware(I2C_CORE_MASK, i2c0);
+
+    gobotrpc_ti_hardware.registerPullPackageCB(pullPackageCB, appData.txQueue);
+    gobotrpc_ti_hardware.registerPushPackageCB(pushPackage, appData.rxQueue);
+    gobotrpc_ti_hardware.registerPushCIInstructionCB(pushCIInstruction, appData.ciInstructionQueue);
+
+    while(1) {
+        vTaskDelay(pdMS_TO_TICKS(10000));
+    }
+}