Merged i2c-helper in Main

2025-01-12 00:16:00 +01:00
parent f4792de050
commit b5c7e5b4c1
396 changed files with 182143 additions and 14 deletions
--- a/i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/ctrl_interface/base.cpp
+++ b/i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/ctrl_interface/base.cpp
@@ -0,0 +1,100 @@
+#include "ci/base.hpp"
+#include "pinConfig.hpp"
+
+#include "protocol.hpp"
+
+#include "pico/stdlib.h"
+#include "hardware/watchdog.h"
+
+#include "FreeRTOSConfig.h"
+#include "FreeRTOS.h"
+#include "task.h"
+
+
+GobotRPC_CI::GobotRPC_CI(I_GobotRPC_CI_Hardware *hardware, UBaseType_t core, QueueHandle_t ciInstructionQueue, QueueHandle_t ciInstructionReverseQueue) {
+    this->ciInstructionQueue = ciInstructionQueue;
+    this->ciInstructionReverseQueue = ciInstructionReverseQueue;
+    
+    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);
+}
+
+// Rx Side
+void GobotRPC_CI_rxData_cb(void * args, char *data, size_t len) {
+    GobotRPC_CI *gobotRPC = (GobotRPC_CI *)args;
+    gobotRPC->onRxData(data, 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) {
+                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;
+
+        case RESET_CI_PACKET:
+            //softwareReset();
+            break;
+
+        case SET_ADDR_PORT_MAP: {
+            if(this->cb_SetAddressMap != NULL) {
+                uint32_t addr = (data[2] << 24) | (data[3] << 16) | (data[4] << 8) | data[5];
+                uint8_t port = data[6];
+                this->cb_SetAddressMap(cb_SetAddressMap_args, addr, port);
+            }
+            break;
+        }
+
+        default:
+            break;
+    }
+}
+
+void GobotRPC_CI::registerCB_TxPacket(callback_TxPacket cb, void *args) {
+    this->cb_TxPacket = cb;
+    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;
+
+    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
+
+void GobotRPC_CI_heartBeatTaskFn(void *args) {
+    GobotRPC_CI *gobotRPC = (GobotRPC_CI *)args;
+    gobotRPC->heartBeartTaskFn();
+}
+
+void GobotRPC_CI::heartBeartTaskFn() {
+    char heartBeatPacket[] = {HEARTBEAT, 0x02};
+    while(1) {
+        this->hardware->send(heartBeatPacket, 2);
+        vTaskDelay(GOBOTRPC_HEARTBEAT_INTERVAL / portTICK_PERIOD_MS);
+    }
+}