Got homing sequenc to work, ....again

i2c-hub/backend/test.txt

@@ -0,0 +1,9 @@
+fe fe fe fe fc 10 10 10 20 ff 48 65 6c 6c 6f 20
+6f 72 6c 64 21 0a 84 00 01 00 42 00 00 00 12
+00 00 00 c0 84 01 01 01 43 00 00 00 22 00 00
+3f 00 84 00 01 00 42 00 00 00 32 00 00 00 80
+54 68 69 73 20 69 73 20 52 61 6e 64 6f 6d 20
+65 78 74 0a 84 01 01 02 43 00 00 00 63 00 00
+3f 00 84 01 01 00 42 00 00 00 73 00 00 00 bf
+81 10 40 42 00 00 00 01 02 03 04 05 06 00 11
+13 14 fe fe fe fe fe fe fc

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

@@ -6,7 +6,7 @@ void GobotRPC_CtrlInterface::pushPacket(RPCPackage package) {
     char buffer[MAX_PAGE_SIZES + 7];
 
     buffer[0] = GOBOTRPC_CTRL_CMD_PACKET;
-    buffer[1] = package.length;
+    buffer[1] = package.length - 7;
     buffer[2] = package.type | (package.rpcNum << 4);
     memcpy(&buffer[3], &package.addr, 4);
     memcpy(&buffer[7], package.buffer, package.length);

i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/rx.cpp

@@ -56,7 +56,7 @@ FrameSubmitionResult GobotRPCParser::submit_frame(char *data, size_t length, uin
     // Push the update to the control interface
     ctrlInterface->pushPackageSlotUpdate(res == COMPLEATE, this->buffer[slotNum].is_in_use, slotNum, addr, timestamp, this->buffer[slotNum].used_bit_masked);
 
-    if (res == COMPLEATE) {
+y    if (res == COMPLEATE) {
         this->buffer[slotNum].is_complete = true;
     }
 
@@ -118,6 +118,7 @@ void GobotRPCParser::retrivePackage(RPCPackage *dest, int index) {
     dest->type = buffer[index].type;
     dest->length = buffer[index].length;
 
+    this->ctrlInterface->pushPacket(*dest);
     freePackageSlot(index);
 }
 

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

@@ -12,7 +12,7 @@
 #include "ctrl_interface_hardware.hpp"
 
 void vTaskMain(void * args) {
-    GobotRPC_CtrlInterface_HardwareHandler_RP2040 uartHandler(uart0, 115200, 500, 0, 1);
+    GobotRPC_CtrlInterface_HardwareHandler_RP2040 uartHandler(uart0, 9600, 1500, 0, 1);
     GobotRPC_CtrlInterface ctrlInterface(&uartHandler);
     GobotRPCParser rpcRXParser(&ctrlInterface);
 
@@ -27,6 +27,9 @@ void vTaskMain(void * args) {
     rpcRXParser.submit_frame(data3, 7, 0x43, xTaskGetTickCount());
     rpcRXParser.submit_frame(data1, 7, 0x42, xTaskGetTickCount());
 
+
+    ctrlInterface.printf("This is Random Text\n");
+
     vTaskDelay(10 / portTICK_PERIOD_MS);
 
     rpcRXParser.submit_frame(data3, 7, 0x43, xTaskGetTickCount());