alexander/gobot
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Fixed further issues

Browse Source
This commit is contained in:
AlexanderHD27
2025-01-07 23:33:01 +01:00
parent 9ab6cbe097
commit c73a9212eb
28 changed files with 137 additions and 51 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
i2c-hub/firmware/i2c-hub-firmware/FreeRTOSConfig.h
View File

@@ -73,7 +73,7 @@
#define configSUPPORT_STATIC_ALLOCATION 0
#define configSUPPORT_DYNAMIC_ALLOCATION 1
#define configTOTAL_HEAP_SIZE (1024 * 128)
#define configAPPLICATION_ALLOCATED_HEAP (1024 * 64)
#define configAPPLICATION_ALLOCATED_HEAP (1024 * 84)
/* Hook function related definitions. */
#define configCHECK_FOR_STACK_OVERFLOW 0

14
i2c-hub/firmware/i2c-hub-firmware/docs/.$NetworkStack.drawio.bkp
View File

@@ -1,6 +1,6 @@
<mxfile host="Electron" agent="Mozilla/5.0 (X11; Linux x86_64) AppleWebKit/537.36 (KHTML, like Gecko) draw.io/26.0.4 Chrome/128.0.6613.186 Electron/32.2.5 Safari/537.36" version="26.0.4">
<diagram name="Page-1" id="VLDBnTalcAr4j7jpmEzg">
<mxGraphModel dx="869" dy="527" grid="1" gridSize="10" guides="1" tooltips="1" connect="1" arrows="1" fold="1" page="1" pageScale="1" pageWidth="1169" pageHeight="827" math="0" shadow="0">
<mxGraphModel dx="819" dy="497" grid="1" gridSize="10" guides="1" tooltips="1" connect="1" arrows="1" fold="1" page="1" pageScale="1" pageWidth="1169" pageHeight="827" math="0" shadow="0">
<root>
<mxCell id="0" />
<mxCell id="1" parent="0" />
@@ -131,19 +131,13 @@
<mxGeometry x="321.95" y="580" width="160" height="20" as="geometry" />
</mxCell>
<mxCell id="weFQkCekfF49Ojb9-c9R-5" value="Node Type" style="rounded=0;whiteSpace=wrap;html=1;" parent="1" vertex="1">
<mxGeometry x="481.95" y="580" width="118.05" height="20" as="geometry" />
<mxGeometry x="481.95" y="580" width="78.05" height="20" as="geometry" />
</mxCell>
<mxCell id="weFQkCekfF49Ojb9-c9R-6" value="4" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" parent="1" vertex="1">
<mxGeometry x="321.95" y="560" width="160" height="20" as="geometry" />
</mxCell>
<mxCell id="weFQkCekfF49Ojb9-c9R-8" value="3" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" parent="1" vertex="1">
<mxGeometry x="481.95" y="560" width="118.05" height="20" as="geometry" />
</mxCell>
<mxCell id="weFQkCekfF49Ojb9-c9R-9" value="Status" style="rounded=0;whiteSpace=wrap;html=1;" parent="1" vertex="1">
<mxGeometry x="600" y="580" width="81.95" height="20" as="geometry" />
</mxCell>
<mxCell id="weFQkCekfF49Ojb9-c9R-10" value="2" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" parent="1" vertex="1">
<mxGeometry x="600" y="560" width="81.95" height="20" as="geometry" />
<mxCell id="weFQkCekfF49Ojb9-c9R-8" value="1" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" parent="1" vertex="1">
<mxGeometry x="481.95" y="560" width="78.05" height="20" as="geometry" />
</mxCell>
<mxCell id="weFQkCekfF49Ojb9-c9R-12" value="Get Info" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" parent="1" vertex="1">
<mxGeometry x="241.95" y="560" width="81" height="40" as="geometry" />

26
i2c-hub/firmware/i2c-hub-firmware/docs/.$NetworkStack.drawio.dtmp
View File

@@ -1,6 +1,6 @@
<mxfile host="Electron" agent="Mozilla/5.0 (X11; Linux x86_64) AppleWebKit/537.36 (KHTML, like Gecko) draw.io/26.0.4 Chrome/128.0.6613.186 Electron/32.2.5 Safari/537.36" version="26.0.4">
<diagram name="Page-1" id="VLDBnTalcAr4j7jpmEzg">
<mxGraphModel dx="1304" dy="791" grid="1" gridSize="10" guides="1" tooltips="1" connect="1" arrows="1" fold="1" page="1" pageScale="1" pageWidth="1169" pageHeight="827" math="0" shadow="0">
<mxGraphModel dx="869" dy="527" grid="1" gridSize="10" guides="1" tooltips="1" connect="1" arrows="1" fold="1" page="1" pageScale="1" pageWidth="1169" pageHeight="827" math="0" shadow="0">
<root>
<mxCell id="0" />
<mxCell id="1" parent="0" />
@@ -1083,7 +1083,7 @@
<mxPoint x="1800" y="2410" />
<mxPoint x="1800" y="2630" />
<mxPoint x="1830" y="2630" />
<mxPoint x="1830" y="2935" />
<mxPoint x="1830" y="2825" />
</Array>
</mxGeometry>
</mxCell>
@@ -1371,16 +1371,17 @@
<mxCell id="weFQkCekfF49Ojb9-c9R-515" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=1;exitY=0.51;exitDx=0;exitDy=0;exitPerimeter=0;entryX=1;entryY=0;entryDx=0;entryDy=0;" parent="1" source="weFQkCekfF49Ojb9-c9R-501" target="weFQkCekfF49Ojb9-c9R-514" edge="1">
<mxGeometry relative="1" as="geometry">
<Array as="points">
<mxPoint x="1279" y="2908" />
<mxPoint x="1279" y="2848" />
<mxPoint x="1279" y="2850" />
<mxPoint x="1260" y="2850" />
</Array>
</mxGeometry>
</mxCell>
<mxCell id="weFQkCekfF49Ojb9-c9R-501" value="CI_Instructions Queue" style="sketch=0;aspect=fixed;pointerEvents=1;shadow=0;dashed=0;html=1;strokeColor=none;labelPosition=center;verticalLabelPosition=bottom;verticalAlign=top;align=center;fillColor=#000000;shape=mxgraph.azure.queue_generic;labelBackgroundColor=default;flipH=1;" parent="1" vertex="1">
<mxGeometry x="1335" y="2880" width="183.33" height="55" as="geometry" />
<mxGeometry x="1335.01" y="2820" width="183.33" height="55" as="geometry" />
</mxCell>
<mxCell id="weFQkCekfF49Ojb9-c9R-505" value="CI_Instruction_Transport" style="swimlane;fontStyle=1;align=center;verticalAlign=middle;childLayout=stackLayout;horizontal=1;startSize=29;horizontalStack=0;resizeParent=1;resizeParentMax=0;resizeLast=0;collapsible=0;marginBottom=0;html=1;whiteSpace=wrap;labelBackgroundColor=default;" parent="1" vertex="1">
<mxGeometry x="1347.8400000000001" y="2760" width="180" height="104" as="geometry" />
<mxGeometry x="1342.6200000000001" y="2680" width="180" height="104" as="geometry" />
</mxCell>
<mxCell id="weFQkCekfF49Ojb9-c9R-506" value="data[16]" style="text;html=1;strokeColor=none;fillColor=none;align=center;verticalAlign=middle;spacingLeft=4;spacingRight=4;overflow=hidden;rotatable=0;points=[[0,0.5],[1,0.5]];portConstraint=eastwest;whiteSpace=wrap;" parent="weFQkCekfF49Ojb9-c9R-505" vertex="1">
<mxGeometry y="29" width="180" height="25" as="geometry" />
@@ -1392,7 +1393,7 @@
<mxGeometry y="79" width="180" height="25" as="geometry" />
</mxCell>
<mxCell id="weFQkCekfF49Ojb9-c9R-509" value="&lt;div style=&quot;color: rgb(204, 204, 204); background-color: rgb(31, 31, 31); font-family: &amp;quot;Droid Sans Mono&amp;quot;, &amp;quot;monospace&amp;quot;, monospace; font-size: 14px; line-height: 19px; white-space: pre;&quot;&gt;&lt;span style=&quot;color: #9cdcfe;&quot;&gt;pushCIInstruction&lt;/span&gt;&lt;/div&gt;" style="rounded=0;whiteSpace=wrap;html=1;" parent="1" vertex="1">
<mxGeometry x="1580" y="2890" width="210" height="60" as="geometry" />
<mxGeometry x="1575.63" y="2780" width="184.37" height="60" as="geometry" />
</mxCell>
<mxCell id="weFQkCekfF49Ojb9-c9R-512" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0;entryY=0.5;entryDx=0;entryDy=0;entryPerimeter=0;" parent="1" source="weFQkCekfF49Ojb9-c9R-509" target="weFQkCekfF49Ojb9-c9R-501" edge="1">
<mxGeometry relative="1" as="geometry" />
@@ -1404,13 +1405,13 @@
<mxGeometry relative="1" as="geometry" />
</mxCell>
<mxCell id="weFQkCekfF49Ojb9-c9R-514" value="\/" style="rounded=0;whiteSpace=wrap;html=1;" parent="1" vertex="1">
<mxGeometry x="1245.0000000000002" y="2847.5" width="15" height="160" as="geometry" />
<mxGeometry x="1245" y="2847.5" width="15" height="42.5" as="geometry" />
</mxCell>
<mxCell id="weFQkCekfF49Ojb9-c9R-518" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=0;exitY=0.5;exitDx=0;exitDy=0;" parent="1" source="weFQkCekfF49Ojb9-c9R-522" target="weFQkCekfF49Ojb9-c9R-517" edge="1">
<mxGeometry relative="1" as="geometry" />
</mxCell>
<mxCell id="weFQkCekfF49Ojb9-c9R-516" value="&lt;div style=&quot;color: rgb(204, 204, 204); background-color: rgb(31, 31, 31); font-family: &amp;quot;Droid Sans Mono&amp;quot;, &amp;quot;monospace&amp;quot;, monospace; font-size: 14px; line-height: 19px; white-space: pre;&quot;&gt;&lt;div style=&quot;line-height: 19px;&quot;&gt;&lt;div style=&quot;line-height: 19px;&quot;&gt;&lt;div style=&quot;line-height: 19px;&quot;&gt;&lt;span style=&quot;color: #dcdcaa;&quot;&gt;send_ErrorTransmission&lt;/span&gt;&lt;/div&gt;&lt;/div&gt;&lt;/div&gt;&lt;/div&gt;" style="rounded=1;whiteSpace=wrap;html=1;" parent="1" vertex="1">
<mxGeometry x="1000" y="2907.5" width="220.61" height="40" as="geometry" />
<mxGeometry x="1002.19" y="2847.5" width="220.61" height="40" as="geometry" />
</mxCell>
<mxCell id="weFQkCekfF49Ojb9-c9R-519" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=0;exitY=0.5;exitDx=0;exitDy=0;entryX=1;entryY=0.5;entryDx=0;entryDy=0;" parent="1" source="weFQkCekfF49Ojb9-c9R-517" target="weFQkCekfF49Ojb9-c9R-468" edge="1">
<mxGeometry relative="1" as="geometry" />
@@ -1611,6 +1612,9 @@
<mxCell id="xHqxyqidxHPQPkM2u2fy-11" value="size" style="rounded=0;whiteSpace=wrap;html=1;" parent="1" vertex="1">
<mxGeometry x="1282.21" y="1419.5" width="80.95" height="20" as="geometry" />
</mxCell>
<mxCell id="ZwaYYf2tyudIqjw2MeNF-4" value="i2C Package Rx Task" style="rounded=0;whiteSpace=wrap;html=1;fillColor=none;dashed=1;strokeWidth=2;movable=1;resizable=1;rotatable=1;deletable=1;editable=1;locked=0;connectable=1;labelPosition=center;verticalLabelPosition=top;align=center;verticalAlign=bottom;" vertex="1" parent="1">
<mxGeometry x="1000" y="2810" width="270" height="100" as="geometry" />
</mxCell>
<mxCell id="xHqxyqidxHPQPkM2u2fy-12" value="1" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" parent="1" vertex="1">
<mxGeometry x="1282.6200000000003" y="1398.5" width="79.66" height="20" as="geometry" />
</mxCell>
@@ -1629,6 +1633,12 @@
<mxCell id="ZwaYYf2tyudIqjw2MeNF-2" value="Port" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
<mxGeometry x="1523.16" y="1241" width="76.84" height="20" as="geometry" />
</mxCell>
<mxCell id="ZwaYYf2tyudIqjw2MeNF-5" value="i2C Package Rx Task" style="rounded=0;whiteSpace=wrap;html=1;fillColor=none;dashed=1;strokeWidth=2;movable=1;resizable=1;rotatable=1;deletable=1;editable=1;locked=0;connectable=1;labelPosition=center;verticalLabelPosition=top;align=center;verticalAlign=bottom;" vertex="1" parent="1">
<mxGeometry x="1570.28" y="2917.5" width="270" height="100" as="geometry" />
</mxCell>
<mxCell id="ZwaYYf2tyudIqjw2MeNF-6" value="CI_Rev_Instructions Queue" style="sketch=0;aspect=fixed;pointerEvents=1;shadow=0;dashed=0;html=1;strokeColor=none;labelPosition=center;verticalLabelPosition=bottom;verticalAlign=top;align=center;fillColor=#000000;shape=mxgraph.azure.queue_generic;labelBackgroundColor=default;flipH=0;" vertex="1" parent="1">
<mxGeometry x="1328.33" y="2940" width="183.33" height="55" as="geometry" />
</mxCell>
</root>
</mxGraphModel>
</diagram>

8
i2c-hub/firmware/i2c-hub-firmware/docs/NetworkStack.drawio
View File

@@ -1,6 +1,6 @@
<mxfile host="Electron" agent="Mozilla/5.0 (X11; Linux x86_64) AppleWebKit/537.36 (KHTML, like Gecko) draw.io/26.0.4 Chrome/128.0.6613.186 Electron/32.2.5 Safari/537.36" version="26.0.4">
<diagram name="Page-1" id="VLDBnTalcAr4j7jpmEzg">
<mxGraphModel dx="819" dy="497" grid="1" gridSize="10" guides="1" tooltips="1" connect="1" arrows="1" fold="1" page="1" pageScale="1" pageWidth="1169" pageHeight="827" math="0" shadow="0">
<mxGraphModel dx="4097" dy="2486" grid="1" gridSize="10" guides="1" tooltips="1" connect="1" arrows="1" fold="1" page="1" pageScale="1" pageWidth="1169" pageHeight="827" math="0" shadow="0">
<root>
<mxCell id="0" />
<mxCell id="1" parent="0" />
@@ -670,7 +670,7 @@
<mxCell id="weFQkCekfF49Ojb9-c9R-209" value="Node&lt;div&gt;(Slave)&lt;/div&gt;" style="rounded=0;whiteSpace=wrap;html=1;" parent="1" vertex="1">
<mxGeometry x="1920" y="400" width="120" height="40" as="geometry" />
</mxCell>
<mxCell id="weFQkCekfF49Ojb9-c9R-210" value="00 I2C Hub&lt;div&gt;01 CoreXy&lt;/div&gt;&lt;div&gt;02 HeadSystem&lt;/div&gt;&lt;div&gt;03 Vacum&lt;/div&gt;" style="text;html=1;align=left;verticalAlign=top;whiteSpace=wrap;rounded=0;" parent="1" vertex="1">
<mxCell id="weFQkCekfF49Ojb9-c9R-210" value="00 I2C Hub&lt;div&gt;a3 CoreXy&lt;/div&gt;&lt;div&gt;a2 HeadSystem&lt;/div&gt;&lt;div&gt;a1 Vacum&lt;/div&gt;" style="text;html=1;align=left;verticalAlign=top;whiteSpace=wrap;rounded=0;" parent="1" vertex="1">
<mxGeometry x="880" y="580" width="120" height="70" as="geometry" />
</mxCell>
<mxCell id="weFQkCekfF49Ojb9-c9R-211" value="&lt;b&gt;Node Type Enum&lt;/b&gt;" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" parent="1" vertex="1">
@@ -894,13 +894,13 @@
<mxCell id="weFQkCekfF49Ojb9-c9R-345" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=1;entryY=0.5;entryDx=0;entryDy=0;" parent="1" source="weFQkCekfF49Ojb9-c9R-338" target="weFQkCekfF49Ojb9-c9R-344" edge="1">
<mxGeometry relative="1" as="geometry" />
</mxCell>
<mxCell id="weFQkCekfF49Ojb9-c9R-338" value="Full Buffer Queue" style="sketch=0;aspect=fixed;pointerEvents=1;shadow=0;dashed=0;html=1;strokeColor=none;labelPosition=center;verticalLabelPosition=bottom;verticalAlign=top;align=center;fillColor=#00188D;shape=mxgraph.azure.queue_generic;flipH=1;" parent="1" vertex="1">
<mxCell id="weFQkCekfF49Ojb9-c9R-338" value="Empty Buffer Queue" style="sketch=0;aspect=fixed;pointerEvents=1;shadow=0;dashed=0;html=1;strokeColor=none;labelPosition=center;verticalLabelPosition=bottom;verticalAlign=top;align=center;fillColor=#00188D;shape=mxgraph.azure.queue_generic;flipH=1;" parent="1" vertex="1">
<mxGeometry x="602.8399999999999" y="2230" width="183.33" height="55" as="geometry" />
</mxCell>
<mxCell id="weFQkCekfF49Ojb9-c9R-366" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=1;exitY=0.51;exitDx=0;exitDy=0;exitPerimeter=0;" parent="1" source="weFQkCekfF49Ojb9-c9R-339" target="weFQkCekfF49Ojb9-c9R-365" edge="1">
<mxGeometry relative="1" as="geometry" />
</mxCell>
<mxCell id="weFQkCekfF49Ojb9-c9R-339" value="Empty Buffer Queue" style="sketch=0;aspect=fixed;pointerEvents=1;shadow=0;dashed=0;html=1;strokeColor=none;labelPosition=center;verticalLabelPosition=bottom;verticalAlign=top;align=center;fillColor=#00188D;shape=mxgraph.azure.queue_generic" parent="1" vertex="1">
<mxCell id="weFQkCekfF49Ojb9-c9R-339" value="Full Buffer Queue" style="sketch=0;aspect=fixed;pointerEvents=1;shadow=0;dashed=0;html=1;strokeColor=none;labelPosition=center;verticalLabelPosition=bottom;verticalAlign=top;align=center;fillColor=#00188D;shape=mxgraph.azure.queue_generic" parent="1" vertex="1">
<mxGeometry x="610" y="2380" width="183.33" height="55" as="geometry" />
</mxCell>
<mxCell id="weFQkCekfF49Ojb9-c9R-341" value="" style="endArrow=none;dashed=1;html=1;rounded=0;" parent="1" edge="1">

7
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/ctrl_interface/base.cpp
View File

@@ -11,8 +11,9 @@
#include "task.h"
GobotRPC_CI::GobotRPC_CI(I_GobotRPC_CI_Hardware *hardware, UBaseType_t core, QueueHandle_t ciInstructionQueue) {
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);
@@ -49,8 +50,8 @@ void GobotRPC_CI::onRxData(char *data, size_t len) {
case SET_ADDR_PORT_MAP: {
if(this->cb_SetAddressMap != NULL) {
uint32_t addr = (data[1] << 24) | (data[2] << 16) | (data[3] << 8) | data[4];
uint8_t port = data[5];
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;

13
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/ctrl_interface/ci_instruction.cpp
View File

@@ -74,4 +74,17 @@ void GobotRPC_CI::send_InfoReset() {
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);
}

4
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/include/ci/base.hpp
View File

@@ -42,8 +42,9 @@ private:
TaskHandle_t txCIInstructionTaskHandle;
QueueHandle_t ciInstructionQueue;
QueueHandle_t ciInstructionReverseQueue;
public:
GobotRPC_CI(I_GobotRPC_CI_Hardware *hardware, UBaseType_t core, QueueHandle_t ciInstructionQueue);
GobotRPC_CI(I_GobotRPC_CI_Hardware *hardware, UBaseType_t core, QueueHandle_t ciInstructionQueue, QueueHandle_t ciInstructionReverseQueue);
void registerCB_TxPacket(callback_TxPacket cb, void *args);
void registerCB_SetAddress(callback_SetAddress cb, void *args);
@@ -55,6 +56,7 @@ public:
void heartBeartTaskFn();
// CI Instruction Stuff
void send_rev_SetAddrMap(uint32_t addr, uint8_t port);
void txCIInstructionTask();
void send_ErrorTransmission(bool rx, uint64_t addr);
void send_SuccessTransmission(uint64_t addr);

3
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/include/ci/hardware.hpp
View File

@@ -45,7 +45,7 @@ private:
inputBuffers_t inputBufferPool[NUM_INPUT_BUFFERS];
TaskHandle_t rxProcessingTaskHandle;
SemaphoreHandle_t rxSignalSemaphore;
QueueHandle_t emptyInputBuffersQueue;
QueueHandle_t filledInputBuffersQueue;
@@ -67,7 +67,6 @@ public:
void onRx_ISR();
void rxBufferingTaskFn();
void rxProcessingTaskFn();
};
extern GobotRPC_CI_Hardware_RP2040_UART * g_GobotRPC_CI_Hardware_RP2040_UART;

3
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/include/ci/instructions.hpp
View File

@@ -1,7 +1,8 @@
enum CI_Instruction_Type {
CI_INSTRUCTION_SEND_TRANMISSION_ERROR,
CI_INSTRUCTION_SEND_TRANMISSION_SUCCESS,
CI_INSTRUCTION_SEND_INFO_RESET
CI_INSTRUCTION_SEND_INFO_RESET,
CI_INSTRUCTION_REV_SEND_SET_ADDR_MAP,
};
struct CI_Instruction_Transport {

1
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/include/main.hpp
View File

@@ -9,6 +9,7 @@ struct AppData {
QueueHandle_t txQueue;
QueueHandle_t rxQueue;
QueueHandle_t ciInstructionQueue;
QueueHandle_t ciInstructionReverseQueue;
};
void main_core2(void * pvParameters);

11
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/include/ti/transmission_interface.hpp
View File

@@ -55,8 +55,14 @@ private:
SemaphoreHandle_t i2cMutex;
SemaphoreHandle_t i2cRXSemaphore;
TaskHandle_t i2cRxTaskHandle;
TaskHandle_t i2cTxTaskHandle;
TaskHandle_t i2cIntTaskHandle;
TaskHandle_t revCIInstructionTaskHandle;
QueueHandle_t revCIInstructionQueue;
UBaseType_t core;
i2c_inst_t * i2c;
@@ -67,7 +73,7 @@ private:
bool readI2C(GoRPCPackage_Transport * pkg, uint32_t addr);
public:
GobotRPC_TI_Hardware_RP2040_I2C(UBaseType_t core, i2c_inst_t *i2c);
GobotRPC_TI_Hardware_RP2040_I2C(UBaseType_t core, i2c_inst_t *i2c, QueueHandle_t revCIInstructionQueue);
void registerPullPackageCB(callback_pullPackage cb, void *args);
void registerPushPackageCB(callback_pushPackage cb, void *args);
@@ -77,12 +83,15 @@ public:
void i2cRxTask();
void i2cTxTask();
void manualTriggerIntTask();
void intPinISR(BaseType_t * xHigherPriorityTaskWoken);
uint32_t readIntPins();
void raiseTranmissionError(bool rx, uint32_t addr);
void raiseTransmissionSuceess(uint32_t addr);
void raiseInfoReset();
void revCIInstructionTask();
};

19
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/transmission_interface/rp2040_i2c_ci_instructions.cpp
View File

@@ -31,4 +31,23 @@ void GobotRPC_TI_Hardware_RP2040_I2C::raiseInfoReset() {
ciInstruction.type = CI_INSTRUCTION_SEND_INFO_RESET;
this->pushCIInstructionCB(&ciInstruction, pushCIInstructionCBArgs);
}
void GobotRPC_TI_Hardware_RP2040_I2C::revCIInstructionTask() {
CI_Instruction_Transport ciInstruction;
while(1) {
xQueueReceive(revCIInstructionQueue, &ciInstruction, portMAX_DELAY);
switch (ciInstruction.type) {
case CI_INSTRUCTION_REV_SEND_SET_ADDR_MAP: {
uint32_t addr = ciInstruction.data[0] |\
(ciInstruction.data[1] << 8) |\
(ciInstruction.data[2] << 16) |\
(ciInstruction.data[3] << 24);
uint8_t port = ciInstruction.data[4];
this->setAddrMap(addr, port);
break;
}
}
}
}

15
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/transmission_interface/rp2040_i2c_init.cpp
View File

@@ -7,9 +7,10 @@
GobotRPC_TI_Hardware_RP2040_I2C * g_GobotRPC_TI_Hardware_RP2040_I2C;
GobotRPC_TI_Hardware_RP2040_I2C::GobotRPC_TI_Hardware_RP2040_I2C(UBaseType_t core, i2c_inst_t *i2c) {
GobotRPC_TI_Hardware_RP2040_I2C::GobotRPC_TI_Hardware_RP2040_I2C(UBaseType_t core, i2c_inst_t *i2c, QueueHandle_t revCIInstructionQueue) {
this->core = core;
this->i2c = i2c0;
this->revCIInstructionQueue = revCIInstructionQueue;
g_GobotRPC_TI_Hardware_RP2040_I2C = this;
@@ -38,6 +39,16 @@ GobotRPC_TI_Hardware_RP2040_I2C::GobotRPC_TI_Hardware_RP2040_I2C(UBaseType_t cor
}
static void i2cIntTaskFn(void * pvParameters) {
GobotRPC_TI_Hardware_RP2040_I2C * hw = (GobotRPC_TI_Hardware_RP2040_I2C *)pvParameters;
hw->manualTriggerIntTask();
}
static void revCIInstructionTaskFn(void * pvParameters) {
GobotRPC_TI_Hardware_RP2040_I2C * hw = (GobotRPC_TI_Hardware_RP2040_I2C *)pvParameters;
hw->revCIInstructionTask();
}
void GobotRPC_TI_Hardware_RP2040_I2C::initTasks() {
i2cMutex = xSemaphoreCreateMutex();
i2cRXSemaphore = xSemaphoreCreateBinary();
@@ -51,6 +62,8 @@ void GobotRPC_TI_Hardware_RP2040_I2C::initTasks() {
xTaskCreateAffinitySet(i2cRxTaskFn, "i2c Rx Task", 4096, this, 3, core, &i2cRxTaskHandle);
xTaskCreateAffinitySet(i2cTxTaskFn, "i2c Tx Task", 4096, this, 3, core, &i2cTxTaskHandle);
xTaskCreateAffinitySet(i2cIntTaskFn, "i2c Int Task", 4096, this, 3, core, &i2cIntTaskHandle);
xTaskCreateAffinitySet(revCIInstructionTaskFn, "Rev CI Instruction Task", 4096, this, 3, core, &revCIInstructionTaskHandle);
}
void GobotRPC_TI_Hardware_RP2040_I2C::registerPullPackageCB(callback_pullPackage cb, void *args) {

15
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/transmission_interface/rp2040_i2c_int.cpp
View File

@@ -31,4 +31,19 @@ void GobotRPC_TI_Hardware_RP2040_I2C::intPinISR(BaseType_t * xHigherPriorityTask
xSemaphoreGiveFromISR(i2cRXSemaphore, xHigherPriorityTaskWoken);
}
void GobotRPC_TI_Hardware_RP2040_I2C::manualTriggerIntTask() {
while (1) {
uint32_t intPinsStates = readIntPins();
if(intPinsStates == 0) {
vTaskDelay(500 / portTICK_PERIOD_MS);
continue;
}
vTaskDelay(500 / portTICK_PERIOD_MS);
xSemaphoreGive(i2cRXSemaphore);
}
}

2
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/transmission_interface/rp2040_i2c_rx.cpp
View File

@@ -11,6 +11,7 @@ void GobotRPC_TI_Hardware_RP2040_I2C::i2cRxTask() {
xSemaphoreTake(i2cRXSemaphore, portMAX_DELAY);
uint32_t done_mask = 0xffffffff;
uint32_t pinStates = readIntPins();
do {
@@ -18,6 +19,7 @@ void GobotRPC_TI_Hardware_RP2040_I2C::i2cRxTask() {
if((pinStates & done_mask) & (1 << i)) {
done_mask &= ~(1 << i);
uint32_t addr = intAddressMap[i];
if(addr > 0xff)

16
i2c-hub/firmware/i2c-hub-firmware/src/main_core0.cpp
View File

@@ -53,25 +53,31 @@ void onRXFromI2CTask(void * pvParameters) {
}
}
static void onSetAddrMap(void * args, uint32_t addr, uint8_t port) {
GobotRPC_CI * gobotrpc_ci = (GobotRPC_CI *)args;
gobotrpc_ci->send_rev_SetAddrMap(addr, port);
}
int main() {
gpio_init(LED_PIN);
gpio_set_dir(LED_PIN, true);
appData.txQueue = xQueueCreate(5, sizeof(GoRPCPackage_Transport));
appData.rxQueue = xQueueCreate(5, sizeof(GoRPCPackage_Transport));
appData.ciInstructionQueue = xQueueCreate(5, sizeof(CI_Instruction_Transport));
appData.ciInstructionQueue = xQueueCreate(3, sizeof(CI_Instruction_Transport));
appData.ciInstructionReverseQueue = xQueueCreate(3, sizeof(CI_Instruction_Transport));
GobotRPC_CI_Hardware_RP2040_UART gobotrpc_ci_hardware(uart0, 115200, UART_CORE_MASK);
GobotRPC_CI gobotRPC_ci(&gobotrpc_ci_hardware, UART_CORE_MASK, appData.ciInstructionQueue);
GobotRPC_CI gobotRPC_ci(&gobotrpc_ci_hardware, UART_CORE_MASK, appData.ciInstructionQueue, appData.ciInstructionReverseQueue);
gobotRPC_ci.registerCB_SetAddress(onSetAddrMap, &gobotRPC_ci);
gobotRPC_ci.registerCB_TxPacket(onTxPacket, &gobotRPC_ci);
TaskHandle_t taskHandleCore0;
TaskHandle_t taskHandleCore1;
TaskHandle_t taskRXFromI2CTask;
xTaskCreateAffinitySet(vTaskMain, "Main Task Core 0", 2048, &gobotRPC_ci, 1, UART_CORE_MASK, &taskHandleCore0);
xTaskCreateAffinitySet(main_core2, "Main Task Core 1", 2048, &gobotRPC_ci, 1, UART_CORE_MASK, &taskHandleCore1);
xTaskCreateAffinitySet(main_core2, "Main Task Core 1", 2048, &appData, 1, UART_CORE_MASK, &taskHandleCore1);
xTaskCreateAffinitySet(onRXFromI2CTask, "RX From I2C Task", 2048, &gobotRPC_ci, 3, UART_CORE_MASK, &taskRXFromI2CTask);
vTaskStartScheduler();

5
i2c-hub/firmware/i2c-hub-firmware/src/main_core1.cpp
View File

@@ -26,8 +26,9 @@ void pushCIInstruction(CI_Instruction_Transport * src, void *args) {
}
void main_core2(void * pvParameters) {
AppData appData = *((AppData *)pvParameters);
GobotRPC_TI_Hardware_RP2040_I2C gobotrpc_ti_hardware(UART_CORE_MASK, i2c0);
AppData appData1 = *(AppData *)pvParameters;
GobotRPC_TI_Hardware_RP2040_I2C gobotrpc_ti_hardware(UART_CORE_MASK, i2c0, appData1.ciInstructionReverseQueue);
//gobotrpc_ti_hardware.setAddrMap(0x21, 0);
gobotrpc_ti_hardware.registerPullPackageCB(pullPackageCB, appData.txQueue);

BIN
i2c-hub/uart-adapter/src/gobotrpc/__pycache__/rpc_packages.cpython-312.pyc
View File

Binary file not shown.

BIN
i2c-hub/uart-adapter/src/gobotrpc/rpc_packages.py LFS
View File

Binary file not shown.

BIN
i2c-hub/uart-adapter/src/main.py LFS
View File

Binary file not shown.

BIN
i2c-hub/uart-adapter/src/uart_interface/__init__.py LFS
View File

Binary file not shown.

BIN
i2c-hub/uart-adapter/src/uart_interface/__pycache__/__init__.cpython-312.pyc
View File

Binary file not shown.

BIN
i2c-hub/uart-adapter/src/uart_interface/__pycache__/ci_packages.cpython-312.pyc
View File

Binary file not shown.

BIN
i2c-hub/uart-adapter/src/uart_interface/__pycache__/pares_packages.cpython-312.pyc
View File

Binary file not shown.

BIN
i2c-hub/uart-adapter/src/uart_interface/__pycache__/serial.cpython-312.pyc
View File

Binary file not shown.

BIN
i2c-hub/uart-adapter/src/uart_interface/ci_packages.py LFS
View File

Binary file not shown.

BIN
i2c-hub/uart-adapter/src/uart_interface/pares_packages.py LFS
View File

Binary file not shown.

BIN
i2c-hub/uart-adapter/src/uart_interface/serial.py LFS
View File

Binary file not shown.