Merged i2c-helper in Main

vacum-control/vacum-control-firmware/.vscode/c_cpp_properties.json

@@ -0,0 +1,22 @@
+{
+    "configurations": [
+        {
+            "name": "Pico",
+            "includePath": [
+                "${workspaceFolder}/**",
+                "${userHome}/.pico-sdk/sdk/2.1.0/**"
+            ],
+            "forcedInclude": [
+                "${workspaceFolder}/build/generated/pico_base/pico/config_autogen.h",
+                "${userHome}/.pico-sdk/sdk/2.1.0/src/common/pico_base_headers/include/pico.h"
+            ],
+            "defines": [],
+            "compilerPath": "${userHome}/.pico-sdk/toolchain/13_3_Rel1/bin/arm-none-eabi-gcc",
+            "compileCommands": "${workspaceFolder}/build/compile_commands.json",
+            "cStandard": "c17",
+            "cppStandard": "c++14",
+            "intelliSenseMode": "linux-gcc-arm"
+        }
+    ],
+    "version": 4
+}

vacum-control/vacum-control-firmware/.vscode/cmake-kits.json

@@ -0,0 +1,15 @@
+[
+    {
+        "name": "Pico",
+        "compilers": {
+            "C": "${command:raspberry-pi-pico.getCompilerPath}",
+            "CXX": "${command:raspberry-pi-pico.getCxxCompilerPath}"
+        },
+        "environmentVariables": {
+            "PATH": "${command:raspberry-pi-pico.getEnvPath};${env:PATH}"
+        },
+        "cmakeSettings": {
+            "Python3_EXECUTABLE": "${command:raspberry-pi-pico.getPythonPath}"
+        }
+    }
+]

vacum-control/vacum-control-firmware/.vscode/extensions.json

@@ -0,0 +1,9 @@
+{
+    "recommendations": [
+        "marus25.cortex-debug",
+        "ms-vscode.cpptools",
+        "ms-vscode.cpptools-extension-pack",
+        "ms-vscode.vscode-serial-monitor",
+        "raspberry-pi.raspberry-pi-pico"
+    ]
+}

vacum-control/vacum-control-firmware/.vscode/launch.json

@@ -0,0 +1,70 @@
+{
+    "version": "0.2.0",
+    "configurations": [
+        {
+            "name": "Pico Debug (Cortex-Debug)",
+            "cwd": "${userHome}/.pico-sdk/openocd/0.12.0+dev/scripts",
+            "executable": "${command:raspberry-pi-pico.launchTargetPath}",
+            "request": "launch",
+            "type": "cortex-debug",
+            "servertype": "openocd",
+            "serverpath": "${userHome}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
+            "gdbPath": "${command:raspberry-pi-pico.getGDBPath}",
+            "device": "${command:raspberry-pi-pico.getChipUppercase}",
+            "configFiles": [
+                "interface/cmsis-dap.cfg",
+                "target/${command:raspberry-pi-pico.getTarget}.cfg"
+            ],
+            "svdFile": "${userHome}/.pico-sdk/sdk/2.1.0/src/${command:raspberry-pi-pico.getChip}/hardware_regs/${command:raspberry-pi-pico.getChipUppercase}.svd",
+            "runToEntryPoint": "main",
+            // Fix for no_flash binaries, where monitor reset halt doesn't do what is expected
+            // Also works fine for flash binaries
+            "overrideLaunchCommands": [
+                "monitor reset init",
+                "load \"${command:raspberry-pi-pico.launchTargetPath}\""
+            ],
+            "openOCDLaunchCommands": [
+                "adapter speed 5000"
+            ]
+        },
+        {
+            "name": "Pico Debug (Cortex-Debug with external OpenOCD)",
+            "cwd": "${workspaceRoot}",
+            "executable": "${command:raspberry-pi-pico.launchTargetPath}",
+            "request": "launch",
+            "type": "cortex-debug",
+            "servertype": "external",
+            "gdbTarget": "localhost:3333",
+            "gdbPath": "${command:raspberry-pi-pico.getGDBPath}",
+            "device": "${command:raspberry-pi-pico.getChipUppercase}",
+            "svdFile": "${userHome}/.pico-sdk/sdk/2.1.0/src/${command:raspberry-pi-pico.getChip}/hardware_regs/${command:raspberry-pi-pico.getChipUppercase}.svd",
+            "runToEntryPoint": "main",
+            // Fix for no_flash binaries, where monitor reset halt doesn't do what is expected
+            // Also works fine for flash binaries
+            "overrideLaunchCommands": [
+                "monitor reset init",
+                "load \"${command:raspberry-pi-pico.launchTargetPath}\""
+            ]
+        },
+        {
+            "name": "Pico Debug (C++ Debugger)",
+            "type": "cppdbg",
+            "request": "launch",
+            "cwd": "${workspaceRoot}",
+            "program": "${command:raspberry-pi-pico.launchTargetPath}",
+            "MIMode": "gdb",
+            "miDebuggerPath": "${command:raspberry-pi-pico.getGDBPath}",
+            "miDebuggerServerAddress": "localhost:3333",
+            "debugServerPath": "${userHome}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
+            "debugServerArgs": "-f interface/cmsis-dap.cfg -f target/${command:raspberry-pi-pico.getTarget}.cfg -c \"adapter speed 5000\"",
+            "serverStarted": "Listening on port .* for gdb connections",
+            "filterStderr": true,
+            "hardwareBreakpoints": {
+                "require": true,
+                "limit": 4
+            },
+            "preLaunchTask": "Flash",
+            "svdPath": "${userHome}/.pico-sdk/sdk/2.1.0/src/${command:raspberry-pi-pico.getChip}/hardware_regs/${command:raspberry-pi-pico.getChipUppercase}.svd"
+        },
+    ]
+}

vacum-control/vacum-control-firmware/.vscode/settings.json

@@ -0,0 +1,39 @@
+{
+    "cmake.options.statusBarVisibility": "hidden",
+    "cmake.options.advanced": {
+        "build": {
+            "statusBarVisibility": "hidden"
+        },
+        "launch": {
+            "statusBarVisibility": "hidden"
+        },
+        "debug": {
+            "statusBarVisibility": "hidden"
+        }
+    },
+    "cmake.configureOnEdit": true,
+    "cmake.automaticReconfigure": true,
+    "cmake.configureOnOpen": true,
+    "cmake.generator": "Ninja",
+    "cmake.cmakePath": "${userHome}/.pico-sdk/cmake/v3.29.9/bin/cmake",
+    "C_Cpp.debugShortcut": false,
+    "terminal.integrated.env.windows": {
+        "PICO_SDK_PATH": "${env:USERPROFILE}/.pico-sdk/sdk/2.1.0",
+        "PICO_TOOLCHAIN_PATH": "${env:USERPROFILE}/.pico-sdk/toolchain/13_3_Rel1",
+        "Path": "${env:USERPROFILE}/.pico-sdk/toolchain/13_3_Rel1/bin;${env:USERPROFILE}/.pico-sdk/picotool/2.1.0/picotool;${env:USERPROFILE}/.pico-sdk/cmake/v3.29.9/bin;${env:USERPROFILE}/.pico-sdk/ninja/v1.12.1;${env:PATH}"
+    },
+    "terminal.integrated.env.osx": {
+        "PICO_SDK_PATH": "${env:HOME}/.pico-sdk/sdk/2.1.0",
+        "PICO_TOOLCHAIN_PATH": "${env:HOME}/.pico-sdk/toolchain/13_3_Rel1",
+        "PATH": "${env:HOME}/.pico-sdk/toolchain/13_3_Rel1/bin:${env:HOME}/.pico-sdk/picotool/2.1.0/picotool:${env:HOME}/.pico-sdk/cmake/v3.29.9/bin:${env:HOME}/.pico-sdk/ninja/v1.12.1:${env:PATH}"
+    },
+    "terminal.integrated.env.linux": {
+        "PICO_SDK_PATH": "${env:HOME}/.pico-sdk/sdk/2.1.0",
+        "PICO_TOOLCHAIN_PATH": "${env:HOME}/.pico-sdk/toolchain/13_3_Rel1",
+        "PATH": "${env:HOME}/.pico-sdk/toolchain/13_3_Rel1/bin:${env:HOME}/.pico-sdk/picotool/2.1.0/picotool:${env:HOME}/.pico-sdk/cmake/v3.29.9/bin:${env:HOME}/.pico-sdk/ninja/v1.12.1:${env:PATH}"
+    },
+    "raspberry-pi-pico.cmakeAutoConfigure": false,
+    "raspberry-pi-pico.useCmakeTools": true,
+    "raspberry-pi-pico.cmakePath": "${HOME}/.pico-sdk/cmake/v3.29.9/bin/cmake",
+    "raspberry-pi-pico.ninjaPath": "${HOME}/.pico-sdk/ninja/v1.12.1/ninja"
+}

vacum-control/vacum-control-firmware/.vscode/tasks.json

@@ -0,0 +1,101 @@
+{
+    "version": "2.0.0",
+    "tasks": [
+        {
+            "label": "Compile Project",
+            "type": "process",
+            "isBuildCommand": true,
+            "command": "${userHome}/.pico-sdk/ninja/v1.12.1/ninja",
+            "args": ["-C", "${workspaceFolder}/build"],
+            "group": "build",
+            "presentation": {
+                "echo": true,
+                "reveal": "always",
+                "focus": true,
+                "panel": "dedicated",
+                "showReuseMessage": true,
+                "clear": true
+            },
+            "problemMatcher": "$gcc",
+            "windows": {
+                "command": "${env:USERPROFILE}/.pico-sdk/ninja/v1.12.1/ninja.exe"
+            }
+        },
+        {
+            "label": "Run Project",
+            "type": "process",
+            "command": "${env:HOME}/.pico-sdk/picotool/2.1.0/picotool/picotool",
+            "args": [
+                "load",
+                "${command:raspberry-pi-pico.launchTargetPath}",
+                "-fx"
+            ],
+            "presentation": {
+                "echo": true,
+                "reveal": "always",
+                "focus": true,
+                "panel": "shared",
+                "showReuseMessage": true,
+                "clear": true
+            },
+            "problemMatcher": [],
+            "windows": {
+                "command": "${env:USERPROFILE}/.pico-sdk/picotool/2.1.0/picotool/picotool.exe"
+            }
+        },
+        {
+            "label": "Flash",
+            "type": "process",
+            "command": "${userHome}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
+            "args": [
+                "-s",
+                "${userHome}/.pico-sdk/openocd/0.12.0+dev/scripts",
+                "-f", "interface/cmsis-dap.cfg",
+                "-f", "target/${command:raspberry-pi-pico.getTarget}.cfg",
+                "-c", "adapter speed 5000; program \"${command:raspberry-pi-pico.launchTargetPath}\" reset exit",
+
+            ],
+            "presentation": {
+                "echo": true,
+                "reveal": "always",
+                "focus": true,
+                "panel": "shared",
+                "showReuseMessage": true,
+                "clear": true
+            },
+            "dependsOn": ["Compile Project"],
+            "problemMatcher": [],
+            "windows": {
+                "command": "${env:USERPROFILE}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
+            }
+        },
+        {
+            "label": "Reset",
+            "type": "process",
+            "command": "${userHome}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
+            "args": [
+                "-s",
+                "${userHome}/.pico-sdk/openocd/0.12.0+dev/scripts",
+                "-f",
+                "interface/cmsis-dap.cfg",
+                "-f", "target/${command:raspberry-pi-pico.getTarget}.cfg",
+                "-c", "adapter speed 5000; init; reset halt;",
+                "-c", "rp2040.core1 arp_reset assert 0",
+                "-c", "rp2040.core0 arp_reset assert 0",
+                "-c", "exit"
+            ],
+            "presentation": {
+                "echo": true,
+                "reveal": "always",
+                "focus": true,
+                "panel": "shared",
+                "showReuseMessage": true,
+                "clear": true
+            },
+            "problemMatcher": [],
+            "windows": {
+                "command": "${env:USERPROFILE}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
+            }
+        }
+    ]
+}

vacum-control/vacum-control-firmware/CMakeLists.txt

@@ -0,0 +1,76 @@
+# Generated Cmake Pico project file
+
+cmake_minimum_required(VERSION 3.13)
+
+set(CMAKE_C_STANDARD 11)
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+
+# Initialise pico_sdk from installed location
+# (note this can come from environment, CMake cache etc)
+
+# == DO NOT EDIT THE FOLLOWING LINES for the Raspberry Pi Pico VS Code Extension to work ==
+if(WIN32)
+    set(USERHOME $ENV{USERPROFILE})
+else()
+    set(USERHOME $ENV{HOME})
+endif()
+set(sdkVersion 2.1.0)
+set(toolchainVersion 13_3_Rel1)
+set(picotoolVersion 2.1.0)
+set(picoVscode ${USERHOME}/.pico-sdk/cmake/pico-vscode.cmake)
+if (EXISTS ${picoVscode})
+    include(${picoVscode})
+endif()
+# ====================================================================================
+set(PICO_BOARD pico CACHE STRING "Board type")
+
+# Pull in Raspberry Pi Pico SDK (must be before project)
+include(pico_sdk_import.cmake)
+
+project(vacum-control-firmware C CXX ASM)
+
+# Add FreeRTOS
+set(FREERTOS_KERNEL_PATH ${CMAKE_CURRENT_LIST_DIR}/lib/FreeRTOS-Kernel)
+include(cmake/FreeRTOS_Kernel_import.cmake)
+
+# Adding GobotRPC Node Library
+include(lib/gobotrpc/cmake/gobotRPC_Node.cmake)
+
+# Initialise the Raspberry Pi Pico SDK
+pico_sdk_init()
+
+# Add executable. Default name is the project name, version 0.1
+
+add_executable(vacum-control-firmware 
+    src/main.cpp
+    src/base.cpp
+)
+
+pico_set_program_name(vacum-control-firmware "vacum-control-firmware")
+pico_set_program_version(vacum-control-firmware "0.1")
+
+# Modify the below lines to enable/disable output over UART/USB
+pico_enable_stdio_uart(vacum-control-firmware 1)
+pico_enable_stdio_usb(vacum-control-firmware 0)
+
+# Add the standard library to the build
+target_link_libraries(vacum-control-firmware
+    pico_stdlib
+    GobotRPC_Node_RP2040_I2C
+    FreeRTOS-Kernel-Heap4
+)
+
+target_include_directories(vacum-control-firmware PUBLIC
+    include/
+    build/
+    ./
+)
+
+# Add the standard include files to the build
+target_include_directories(vacum-control-firmware PRIVATE
+  ${CMAKE_CURRENT_LIST_DIR}
+)
+
+pico_add_extra_outputs(vacum-control-firmware)
+

vacum-control/vacum-control-firmware/FreeRTOSConfig.h

@@ -0,0 +1,143 @@
+/*
+ * FreeRTOS V202111.00
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+#ifndef FREERTOS_CONFIG_H
+#define FREERTOS_CONFIG_H
+
+/*-----------------------------------------------------------
+ * Application specific definitions.
+ *
+ * These definitions should be adjusted for your particular hardware and
+ * application requirements.
+ *
+ * THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
+ * FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
+ *
+ * See http://www.freertos.org/a00110.html
+ *----------------------------------------------------------*/
+
+/* Scheduler Related */
+#define configUSE_PREEMPTION                    1
+#define configUSE_TICKLESS_IDLE                 0
+#define configUSE_IDLE_HOOK                     0
+#define configUSE_TICK_HOOK                     0
+#define configTICK_RATE_HZ                      ( ( TickType_t ) 1000 )
+#define configMAX_PRIORITIES                    32
+#define configMINIMAL_STACK_SIZE                ( configSTACK_DEPTH_TYPE ) 256
+#define configUSE_16_BIT_TICKS                  0
+
+#define configIDLE_SHOULD_YIELD                 1
+
+/* Synchronization Related */
+#define configUSE_MUTEXES                       1
+#define configUSE_RECURSIVE_MUTEXES             1
+#define configUSE_APPLICATION_TASK_TAG          0
+#define configUSE_COUNTING_SEMAPHORES           1
+#define configQUEUE_REGISTRY_SIZE               8
+#define configUSE_QUEUE_SETS                    1
+#define configUSE_TIME_SLICING                  1
+#define configUSE_NEWLIB_REENTRANT              0
+// todo need this for lwip FreeRTOS sys_arch to compile
+#define configENABLE_BACKWARD_COMPATIBILITY     1
+#define configNUM_THREAD_LOCAL_STORAGE_POINTERS 5
+
+/* System */
+#define configSTACK_DEPTH_TYPE                  uint32_t
+#define configMESSAGE_BUFFER_LENGTH_TYPE        size_t
+
+/* Memory allocation related definitions. */
+#define configSUPPORT_STATIC_ALLOCATION         0
+#define configSUPPORT_DYNAMIC_ALLOCATION        1
+#define configTOTAL_HEAP_SIZE                   (1024 * 128)
+#define configAPPLICATION_ALLOCATED_HEAP        (1024 * 64)
+
+/* Hook function related definitions. */
+#define configCHECK_FOR_STACK_OVERFLOW          0
+#define configUSE_MALLOC_FAILED_HOOK            0
+#define configUSE_DAEMON_TASK_STARTUP_HOOK      0
+
+/* Run time and task stats gathering related definitions. */
+#define configGENERATE_RUN_TIME_STATS           0
+#define configUSE_TRACE_FACILITY                1
+#define configUSE_STATS_FORMATTING_FUNCTIONS    0
+
+/* Co-routine related definitions. */
+#define configUSE_CO_ROUTINES                   0
+#define configMAX_CO_ROUTINE_PRIORITIES         1
+
+/* Software timer related definitions. */
+#define configUSE_TIMERS                        1
+#define configTIMER_TASK_PRIORITY               ( configMAX_PRIORITIES - 1 )
+#define configTIMER_QUEUE_LENGTH                10
+#define configTIMER_TASK_STACK_DEPTH            1024
+
+/* Interrupt nesting behaviour configuration. */
+/*
+#define configKERNEL_INTERRUPT_PRIORITY         [dependent of processor]
+#define configMAX_SYSCALL_INTERRUPT_PRIORITY    [dependent on processor and application]
+#define configMAX_API_CALL_INTERRUPT_PRIORITY   [dependent on processor and application]
+*/
+
+#if FREE_RTOS_KERNEL_SMP // set by the RP2040 SMP port of FreeRTOS
+/* SMP port only */
+#define configNUMBER_OF_CORES                   2
+#define configTICK_CORE                         0
+#define configRUN_MULTIPLE_PRIORITIES           1
+#define configUSE_CORE_AFFINITY                 1
+#define configUSE_PASSIVE_IDLE_HOOK             0
+#endif
+
+/* RP2040 specific */
+#define configSUPPORT_PICO_SYNC_INTEROP         1
+#define configSUPPORT_PICO_TIME_INTEROP         1
+
+#include <assert.h>
+/* Define to trap errors during development. */
+#define configASSERT(x)                         assert(x)
+
+/* Set the following definitions to 1 to include the API function, or zero
+to exclude the API function. */
+#define INCLUDE_vTaskPrioritySet                1
+#define INCLUDE_uxTaskPriorityGet               1
+#define INCLUDE_vTaskDelete                     1
+#define INCLUDE_vTaskSuspend                    1
+#define INCLUDE_vTaskDelayUntil                 1
+#define INCLUDE_vTaskDelay                      1
+#define INCLUDE_xTaskGetSchedulerState          1
+#define INCLUDE_xTaskGetCurrentTaskHandle       1
+#define INCLUDE_uxTaskGetStackHighWaterMark     1
+#define INCLUDE_xTaskGetIdleTaskHandle          1
+#define INCLUDE_eTaskGetState                   1
+#define INCLUDE_xTimerPendFunctionCall          1
+#define INCLUDE_xTaskAbortDelay                 1
+#define INCLUDE_xTaskGetHandle                  1
+#define INCLUDE_xTaskResumeFromISR              1
+#define INCLUDE_xQueueGetMutexHolder            1
+
+/* A header file that defines trace macro can be included here. */
+
+#endif /* FREERTOS_CONFIG_H */

vacum-control/vacum-control-firmware/cmake/FreeRTOS_Kernel_import.cmake

@@ -0,0 +1,61 @@
+# This is a copy of <FREERTOS_KERNEL_PATH>/portable/ThirdParty/GCC/RP2040/FREERTOS_KERNEL_import.cmake
+
+# This can be dropped into an external project to help locate the FreeRTOS kernel
+# It should be include()ed prior to project(). Alternatively this file may
+# or the CMakeLists.txt in this directory may be included or added via add_subdirectory
+# respectively.
+
+if (DEFINED ENV{FREERTOS_KERNEL_PATH} AND (NOT FREERTOS_KERNEL_PATH))
+    set(FREERTOS_KERNEL_PATH $ENV{FREERTOS_KERNEL_PATH})
+    message("Using FREERTOS_KERNEL_PATH from environment ('${FREERTOS_KERNEL_PATH}')")
+endif ()
+
+set(FREERTOS_KERNEL_RP2040_RELATIVE_PATH "portable/ThirdParty/GCC/RP2040")
+# undo the above
+set(FREERTOS_KERNEL_RP2040_BACK_PATH "../../../..")
+
+if (NOT FREERTOS_KERNEL_PATH)
+    # check if we are inside the FreeRTOS kernel tree (i.e. this file has been included directly)
+    get_filename_component(_ACTUAL_PATH ${CMAKE_CURRENT_LIST_DIR} REALPATH)
+    get_filename_component(_POSSIBLE_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH} REALPATH)
+    if (_ACTUAL_PATH STREQUAL _POSSIBLE_PATH)
+        get_filename_component(FREERTOS_KERNEL_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH} REALPATH)
+    endif()
+    if (_ACTUAL_PATH STREQUAL _POSSIBLE_PATH)
+        get_filename_component(FREERTOS_KERNEL_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH} REALPATH)
+        message("Setting FREERTOS_KERNEL_PATH to ${FREERTOS_KERNEL_PATH} based on location of FreeRTOS-Kernel-import.cmake")
+    elseif (PICO_SDK_PATH AND EXISTS "${PICO_SDK_PATH}/../FreeRTOS-Kernel")
+        set(FREERTOS_KERNEL_PATH ${PICO_SDK_PATH}/../FreeRTOS-Kernel)
+        message("Defaulting FREERTOS_KERNEL_PATH as sibling of PICO_SDK_PATH: ${FREERTOS_KERNEL_PATH}")
+    endif()
+endif ()
+
+if (NOT FREERTOS_KERNEL_PATH)
+    foreach(POSSIBLE_SUFFIX Source FreeRTOS-Kernel FreeRTOS/Source)
+        # check if FreeRTOS-Kernel exists under directory that included us
+        set(SEARCH_ROOT ${CMAKE_CURRENT_SOURCE_DIR})
+        get_filename_component(_POSSIBLE_PATH ${SEARCH_ROOT}/${POSSIBLE_SUFFIX} REALPATH)
+        if (EXISTS ${_POSSIBLE_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}/CMakeLists.txt)
+            get_filename_component(FREERTOS_KERNEL_PATH ${_POSSIBLE_PATH} REALPATH)
+            message("Setting FREERTOS_KERNEL_PATH to '${FREERTOS_KERNEL_PATH}' found relative to enclosing project")
+            break()
+        endif()
+    endforeach()
+endif()
+
+if (NOT FREERTOS_KERNEL_PATH)
+    message(FATAL_ERROR "FreeRTOS location was not specified. Please set FREERTOS_KERNEL_PATH.")
+endif()
+
+set(FREERTOS_KERNEL_PATH "${FREERTOS_KERNEL_PATH}" CACHE PATH "Path to the FreeRTOS Kernel")
+
+get_filename_component(FREERTOS_KERNEL_PATH "${FREERTOS_KERNEL_PATH}" REALPATH BASE_DIR "${CMAKE_BINARY_DIR}")
+if (NOT EXISTS ${FREERTOS_KERNEL_PATH})
+    message(FATAL_ERROR "Directory '${FREERTOS_KERNEL_PATH}' not found")
+endif()
+if (NOT EXISTS ${FREERTOS_KERNEL_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}/CMakeLists.txt)
+    message(FATAL_ERROR "Directory '${FREERTOS_KERNEL_PATH}' does not contain an RP2040 port here: ${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}")
+endif()
+set(FREERTOS_KERNEL_PATH ${FREERTOS_KERNEL_PATH} CACHE PATH "Path to the FreeRTOS_KERNEL" FORCE)
+
+add_subdirectory(${FREERTOS_KERNEL_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH} FREERTOS_KERNEL)

vacum-control/vacum-control-firmware/include/pinConfigNode.hpp

@@ -0,0 +1,19 @@
+#pragma once
+#define CORE_MASK_GOBOTRPC 0b10
+#define CORE_MASK_VACUM    0b01
+
+#define LED1_PIN 16
+#define LED2_PIN 25
+
+#define RELAY_PIN 15
+
+#define GORPC_INT_PIN 2
+#define GORPC_SDA_PIN 4
+#define GORPC_SCL_PIN 5
+
+#define BUTTON_PIN 17
+
+#define INTERRUPTION_DURATION ((int)(2.5 * 1000))
+#define INTERRUPTION_DELAY 5 * 1000
+
+#define I2C_ADDR 0x21

vacum-control/vacum-control-firmware/include/vacum.hpp

@@ -0,0 +1,29 @@
+#pragma once
+#include "pinConfigNode.hpp"
+#include "FreeRTOS.h"
+#include "task.h"
+#include "semphr.h"
+
+void vInterruptionTaskFn(void *pvParameters);
+void vButtonTaskFn(void *pvParameters);
+
+class VacumControl {
+private:
+    uint coreMask;
+    bool state = false;
+    xSemaphoreHandle vacumMutex;
+    xSemaphoreHandle interruptionSemaphore;
+
+    xTaskHandle interruptionTask;
+    xTaskHandle buttonTask;
+public:
+    VacumControl(uint coreMask);
+
+    void initVacumPins();
+    void setState(bool on);
+
+    void interruptionTaskFn();
+    void buttonTaskFn();
+
+};
+

vacum-control/vacum-control-firmware/lib/gobotrpc

@@ -0,0 +1 @@
+/home/alexander/Projects/gobot/i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc

vacum-control/vacum-control-firmware/pico_sdk_import.cmake

@@ -0,0 +1,84 @@
+# This is a copy of <PICO_SDK_PATH>/external/pico_sdk_import.cmake
+
+# This can be dropped into an external project to help locate this SDK
+# It should be include()ed prior to project()
+
+if (DEFINED ENV{PICO_SDK_PATH} AND (NOT PICO_SDK_PATH))
+    set(PICO_SDK_PATH $ENV{PICO_SDK_PATH})
+    message("Using PICO_SDK_PATH from environment ('${PICO_SDK_PATH}')")
+endif ()
+
+if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT} AND (NOT PICO_SDK_FETCH_FROM_GIT))
+    set(PICO_SDK_FETCH_FROM_GIT $ENV{PICO_SDK_FETCH_FROM_GIT})
+    message("Using PICO_SDK_FETCH_FROM_GIT from environment ('${PICO_SDK_FETCH_FROM_GIT}')")
+endif ()
+
+if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT_PATH} AND (NOT PICO_SDK_FETCH_FROM_GIT_PATH))
+    set(PICO_SDK_FETCH_FROM_GIT_PATH $ENV{PICO_SDK_FETCH_FROM_GIT_PATH})
+    message("Using PICO_SDK_FETCH_FROM_GIT_PATH from environment ('${PICO_SDK_FETCH_FROM_GIT_PATH}')")
+endif ()
+
+if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT_TAG} AND (NOT PICO_SDK_FETCH_FROM_GIT_TAG))
+    set(PICO_SDK_FETCH_FROM_GIT_TAG $ENV{PICO_SDK_FETCH_FROM_GIT_TAG})
+    message("Using PICO_SDK_FETCH_FROM_GIT_TAG from environment ('${PICO_SDK_FETCH_FROM_GIT_TAG}')")
+endif ()
+
+if (PICO_SDK_FETCH_FROM_GIT AND NOT PICO_SDK_FETCH_FROM_GIT_TAG)
+  set(PICO_SDK_FETCH_FROM_GIT_TAG "master")
+  message("Using master as default value for PICO_SDK_FETCH_FROM_GIT_TAG")
+endif()
+
+set(PICO_SDK_PATH "${PICO_SDK_PATH}" CACHE PATH "Path to the Raspberry Pi Pico SDK")
+set(PICO_SDK_FETCH_FROM_GIT "${PICO_SDK_FETCH_FROM_GIT}" CACHE BOOL "Set to ON to fetch copy of SDK from git if not otherwise locatable")
+set(PICO_SDK_FETCH_FROM_GIT_PATH "${PICO_SDK_FETCH_FROM_GIT_PATH}" CACHE FILEPATH "location to download SDK")
+set(PICO_SDK_FETCH_FROM_GIT_TAG "${PICO_SDK_FETCH_FROM_GIT_TAG}" CACHE FILEPATH "release tag for SDK")
+
+if (NOT PICO_SDK_PATH)
+    if (PICO_SDK_FETCH_FROM_GIT)
+        include(FetchContent)
+        set(FETCHCONTENT_BASE_DIR_SAVE ${FETCHCONTENT_BASE_DIR})
+        if (PICO_SDK_FETCH_FROM_GIT_PATH)
+            get_filename_component(FETCHCONTENT_BASE_DIR "${PICO_SDK_FETCH_FROM_GIT_PATH}" REALPATH BASE_DIR "${CMAKE_SOURCE_DIR}")
+        endif ()
+        # GIT_SUBMODULES_RECURSE was added in 3.17
+        if (${CMAKE_VERSION} VERSION_GREATER_EQUAL "3.17.0")
+            FetchContent_Declare(
+                    pico_sdk
+                    GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk
+                    GIT_TAG ${PICO_SDK_FETCH_FROM_GIT_TAG}
+                    GIT_SUBMODULES_RECURSE FALSE
+            )
+        else ()
+            FetchContent_Declare(
+                    pico_sdk
+                    GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk
+                    GIT_TAG ${PICO_SDK_FETCH_FROM_GIT_TAG}
+            )
+        endif ()
+
+        if (NOT pico_sdk)
+            message("Downloading Raspberry Pi Pico SDK")
+            FetchContent_Populate(pico_sdk)
+            set(PICO_SDK_PATH ${pico_sdk_SOURCE_DIR})
+        endif ()
+        set(FETCHCONTENT_BASE_DIR ${FETCHCONTENT_BASE_DIR_SAVE})
+    else ()
+        message(FATAL_ERROR
+                "SDK location was not specified. Please set PICO_SDK_PATH or set PICO_SDK_FETCH_FROM_GIT to on to fetch from git."
+                )
+    endif ()
+endif ()
+
+get_filename_component(PICO_SDK_PATH "${PICO_SDK_PATH}" REALPATH BASE_DIR "${CMAKE_BINARY_DIR}")
+if (NOT EXISTS ${PICO_SDK_PATH})
+    message(FATAL_ERROR "Directory '${PICO_SDK_PATH}' not found")
+endif ()
+
+set(PICO_SDK_INIT_CMAKE_FILE ${PICO_SDK_PATH}/pico_sdk_init.cmake)
+if (NOT EXISTS ${PICO_SDK_INIT_CMAKE_FILE})
+    message(FATAL_ERROR "Directory '${PICO_SDK_PATH}' does not appear to contain the Raspberry Pi Pico SDK")
+endif ()
+
+set(PICO_SDK_PATH ${PICO_SDK_PATH} CACHE PATH "Path to the Raspberry Pi Pico SDK" FORCE)
+
+include(${PICO_SDK_INIT_CMAKE_FILE})

vacum-control/vacum-control-firmware/src/base.cpp

@@ -0,0 +1,101 @@
+#include "vacum.hpp"
+#include "pinConfigNode.hpp"
+
+#include "FreeRTOS.h"
+#include "task.h"
+#include "semphr.h"
+
+#include "pico/stdlib.h"
+
+void vInterruptionTaskFn(void *pvParameters) {
+    VacumControl *vacumControl = (VacumControl *)pvParameters;
+    vacumControl->interruptionTaskFn();
+}
+
+void vButtonTaskFn(void *pvParameters) {
+    VacumControl *vacumControl = (VacumControl *)pvParameters;
+    vacumControl->buttonTaskFn();
+}
+
+VacumControl::VacumControl(uint coreMask) {
+    this->coreMask = coreMask;
+    initVacumPins();
+    state = false;
+    vacumMutex = xSemaphoreCreateMutex();
+    interruptionSemaphore = xSemaphoreCreateBinary();
+    xTaskCreateAffinitySet(vInterruptionTaskFn, "Interruption Task", 1024, this, 3, coreMask, &interruptionTask);
+    xTaskCreateAffinitySet(vButtonTaskFn, "Button Task", 1024, this, 2, coreMask, &buttonTask);
+}
+
+void VacumControl::initVacumPins() {
+    gpio_init(LED1_PIN);
+    gpio_set_dir(LED1_PIN, GPIO_OUT);
+    gpio_put(LED1_PIN, 0);
+
+    gpio_init(LED2_PIN);
+    gpio_set_dir(LED2_PIN, GPIO_OUT);
+    gpio_put(LED2_PIN, 0);
+
+    gpio_init(RELAY_PIN);
+    gpio_set_dir(RELAY_PIN, GPIO_OUT);
+    gpio_put(RELAY_PIN, 0);
+
+    gpio_init(BUTTON_PIN);
+    gpio_set_dir(BUTTON_PIN, GPIO_IN);
+    gpio_pull_up(BUTTON_PIN);
+}
+
+void VacumControl::setState(bool on) {
+    xSemaphoreTake(vacumMutex, portMAX_DELAY);
+    if(on) {
+        gpio_put(RELAY_PIN, 1);
+        gpio_put(LED1_PIN, 1);
+        state = true;
+        xSemaphoreGive(interruptionSemaphore);
+    } else {
+        gpio_put(RELAY_PIN, 0);
+        gpio_put(LED1_PIN, 0);
+        state = false;
+    }
+    xSemaphoreGive(vacumMutex);
+}
+
+void VacumControl::interruptionTaskFn() {
+    while(true) {
+        xSemaphoreTake(interruptionSemaphore, portMAX_DELAY);
+        if(state) {
+            while(state) {
+                vTaskDelay(INTERRUPTION_DELAY / portTICK_PERIOD_MS);               
+                if(state) {
+                    gpio_put(RELAY_PIN, 0);
+                    gpio_put(LED1_PIN, 0);
+                } else
+                    break;
+
+                vTaskDelay(INTERRUPTION_DURATION / portTICK_PERIOD_MS);
+                if(state) {
+                    gpio_put(RELAY_PIN, 1);
+                    gpio_put(LED1_PIN, 1);
+                }
+            }
+        }
+    }
+}
+
+void VacumControl::buttonTaskFn() {
+    bool buttonLastState = gpio_get(BUTTON_PIN);
+
+    while(true) {
+        bool buttonState = gpio_get(BUTTON_PIN);
+
+        if(!buttonState && buttonLastState) {
+            setState(true);
+            vTaskDelay(250 / portTICK_PERIOD_MS);
+        } else if(buttonState && !buttonLastState) {
+            setState(false);
+        }
+
+        buttonLastState = buttonState;
+        vTaskDelay(250 / portTICK_PERIOD_MS);
+    }
+}

vacum-control/vacum-control-firmware/src/main.cpp

@@ -0,0 +1,119 @@
+#include <stdio.h>
+#include <string.h>
+#include "pico/stdlib.h"
+
+#include "vacum.hpp"
+
+#include "FreeRTOSConfig.h"
+#include "FreeRTOS.h"
+#include "task.h"
+#include "queue.h"
+
+#include "hardware/i2c.h"
+
+#include "pinConfigNode.hpp"
+#include "node_interface_hardware.hpp"
+#include "node_interface.hpp"
+#include "protocol.hpp"
+
+struct AppData {
+    xQueueHandle txQueue;
+    xQueueHandle rxQueue;
+    VacumControl * vacumControl;
+    GobotRPC_NI * gobotrpc_ni;
+};
+
+AppData g_appData;
+
+void onRxPackage(void * args, char *data, uint16_t len, GobotRPCTypes type, GobotRPCNumber number) {
+    AppData * appData = (AppData *) args;
+    char txBuffer[32];
+
+    switch (number) {
+        case GobotRPCNumber::VACUM: {
+            GobotRPCPackage_Req_Vacum * pkg = (GobotRPCPackage_Req_Vacum *) data;
+            appData->vacumControl->setState(pkg->enable);
+            g_appData.gobotrpc_ni->sendPackage(txBuffer, 0, GobotRPCTypes::RESPONSE, GobotRPCNumber::VACUM);
+            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;
+        }
+        
+        default: {
+            break;
+        }
+    }
+}
+
+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, I2C_ADDR, GORPC_SDA_PIN, GORPC_SCL_PIN, GORPC_INT_PIN
+    );
+
+    while (true) {
+        gpio_put(LED2_PIN, 0);
+        vTaskDelay(500 / portTICK_PERIOD_MS);
+        gpio_put(LED2_PIN, 1);
+        vTaskDelay(500 / portTICK_PERIOD_MS);
+    }
+}
+
+TaskHandle_t xCore0TaskHandle = NULL;
+TaskHandle_t xCore1TaskHandle = NULL;
+
+int main() {
+    stdio_init_all();
+    printf("Hello, world!\n");
+
+    gpio_init(LED1_PIN);
+    gpio_set_dir(LED1_PIN, GPIO_OUT);
+    gpio_put(LED1_PIN, 1);
+
+    gpio_init(LED2_PIN);
+    gpio_set_dir(LED2_PIN, GPIO_OUT);
+    gpio_put(LED2_PIN, 1);
+
+    g_appData.txQueue = xQueueCreate(16, sizeof(GobotRPC_NI_Package_Transport));
+    g_appData.rxQueue = xQueueCreate(16, sizeof(GobotRPC_NI_Package_Transport));
+
+    VacumControl vacumControl = VacumControl(CORE_MASK_VACUM);
+    vacumControl.setState(false);
+    g_appData.vacumControl = &vacumControl;
+
+    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;
+
+    xTaskCreateAffinitySet(
+        core1_main, "Core 1 Main", 2048, &g_appData, 1, CORE_MASK_VACUM, &xCore1TaskHandle
+    );
+
+    char txBuffer[32];
+    g_appData.gobotrpc_ni->sendPackage(txBuffer, 0, GobotRPCTypes::RESPONSE, GobotRPCNumber::RESET);
+
+    vTaskStartScheduler();
+
+    while (true) {
+        tight_loop_contents();
+    }
+}