Merged i2c-helper in Main

i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/ctrl_interface/ci_instruction.cpp

@@ -0,0 +1,90 @@
+#include "ci/base.hpp"
+
+#include "ci/instructions.hpp"
+
+#include "FreeRTOS.h"
+#include "task.h"
+#include "queue.h"
+
+void GobotRPC_CI_txCIInstructionTaskFn(void *args) {
+    GobotRPC_CI *gobotRPC = (GobotRPC_CI *)args;
+    gobotRPC->txCIInstructionTask();
+}
+
+void GobotRPC_CI::txCIInstructionTask() {
+    while(1) {
+        CI_Instruction_Transport ciInstruction;
+        xQueueReceive(ciInstructionQueue, &ciInstruction, portMAX_DELAY);
+
+        switch (ciInstruction.type) {
+            case CI_INSTRUCTION_SEND_TRANMISSION_ERROR: {
+                uint32_t addr = ciInstruction.data[1] | (ciInstruction.data[2] << 8) | (ciInstruction.data[3] << 16) | (ciInstruction.data[4] << 24);
+                uint8_t rx = ciInstruction.data[0];
+                send_ErrorTransmission(rx, addr);
+                break;
+            }
+
+            case CI_INSTRUCTION_SEND_TRANMISSION_SUCCESS: {
+                uint32_t addr = ciInstruction.data[0] \
+                    | (ciInstruction.data[1] << 8) \
+                    | (ciInstruction.data[2] << 16) \
+                    | (ciInstruction.data[3] << 24);
+                send_SuccessTransmission(addr);
+                break;
+            }
+
+            case CI_INSTRUCTION_SEND_INFO_RESET:
+                send_InfoReset();
+                break;
+        }
+    }
+}
+
+void GobotRPC_CI::send_ErrorTransmission(bool rx, uint64_t addr) {
+    char errorPacket[7];
+
+    errorPacket[0] = ERROR_TRANMISSION;
+    errorPacket[1] = 7;
+    errorPacket[2] = rx ? 0x01 : 0x00;
+    errorPacket[3] = (addr >> 24) & 0xff;
+    errorPacket[4] = (addr >> 16) & 0xff;
+    errorPacket[5] = (addr >> 8) & 0xff;
+    errorPacket[6] = addr & 0xff;
+
+    this->hardware->send(errorPacket, 7);
+}
+
+void GobotRPC_CI::send_SuccessTransmission(uint64_t addr) {
+    char successPacket[6];
+
+    successPacket[0] = SUCESS_TRANMISSION;
+    successPacket[1] = 6;
+    successPacket[2] = (addr >> 24) & 0xff;
+    successPacket[3] = (addr >> 16) & 0xff;
+    successPacket[4] = (addr >> 8) & 0xff;
+    successPacket[5] = addr & 0xff;
+
+    this->hardware->send(successPacket, 6);
+}
+
+void GobotRPC_CI::send_InfoReset() {
+    char resetPacket[2];
+
+    resetPacket[0] = RESET_INFO_CI_PACKET;
+    resetPacket[1] = 2;
+
+    this->hardware->send(resetPacket, 2);
+}
+
+// CI Reverse Instructions (CI -> TI)
+void GobotRPC_CI::send_rev_SetAddrMap(uint32_t addr, uint8_t port) {
+    CI_Instruction_Transport ciInstruction;
+    ciInstruction.type = CI_INSTRUCTION_REV_SEND_SET_ADDR_MAP;
+    ciInstruction.data[0] = addr & 0xff;
+    ciInstruction.data[1] = (addr >> 8) & 0xff;
+    ciInstruction.data[2] = (addr >> 16) & 0xff;
+    ciInstruction.data[3] = (addr >> 24) & 0xff;
+    ciInstruction.data[4] = port;
+
+    xQueueSend(ciInstructionReverseQueue, &ciInstruction, portMAX_DELAY);
+}