Started with gobotrpc autogenerated parser and ctest (not working)

Started implementing cpp
generation
2025-01-19 11:45:41 +01:00 · 2025-01-12 15:57:29 +01:00 · 2025-01-12 14:53:37 +01:00 · 2025-01-12 00:16:00 +01:00 · 2024-10-03 19:53:27 +02:00
408 changed files with 179707 additions and 281 deletions
--- a/.gitignore
+++ b/.gitignore
--- a/.gitmodules
+++ b/.gitmodules
--- a/3D-Print-Files/RPi_Mount/RPi
+++ b/3D-Print-Files/RPi_Mount/RPi
--- a/3D-Print-Files/RPi_Mount/RPi
+++ b/3D-Print-Files/RPi_Mount/RPi
--- a/3D-Print-Files/RPi_Mount/RPi_Mount.3mf
+++ b/3D-Print-Files/RPi_Mount/RPi_Mount.3mf
--- a/3d-print/RPi_Mount.3mf
+++ b/3d-print/RPi_Mount.3mf
--- a/3d-print/models/PerfBoardHolder/PerfBoardHolder
+++ b/3d-print/models/PerfBoardHolder/PerfBoardHolder
--- a/3d-print/models/PerfBoardHolder/PerfBoardHolder
+++ b/3d-print/models/PerfBoardHolder/PerfBoardHolder
--- a/3d-print/models/PerfBoardHolder/PerfBoardHolder
+++ b/3d-print/models/PerfBoardHolder/PerfBoardHolder
--- a/3d-print/models/PerfBoardHolder/PerfBoardHolder.3mf
+++ b/3d-print/models/PerfBoardHolder/PerfBoardHolder.3mf
--- a/3d-print/slicers/HeadPipeMount.3mf
+++ b/3d-print/slicers/HeadPipeMount.3mf
--- a/3d-print/slicers/YGantryMount.3mf
+++ b/3d-print/slicers/YGantryMount.3mf
--- a/can-interface/.gitignore
+++ b/can-interface/.gitignore
--- a/can-interface/.vscode/settings.json
+++ b/can-interface/.vscode/settings.json
@@ -13,5 +13,20 @@
    "idf.port": "/dev/ttyUSB0",
    "idf.pythonBinPath": "/home/alexander/.espressif/python_env/idf5.3_py3.12_env/bin/python",
    "idf.toolsPath": "/home/alexander/.espressif",
-    "idf.flashType": "UART"
+    "idf.flashType": "UART",
+    "idf.openOcdLaunchArgs": ["-c", "adapter_khz 1000"],
+    "idf.openOcdDebugLevel": 2,
+    "files.associations": {
+        "*.tcc": "cpp",
+        "cstdint": "cpp",
+        "random": "cpp",
+        "future": "cpp",
+        "bitset": "cpp",
+        "string_view": "cpp",
+        "regex": "cpp",
+        "array": "cpp",
+        "string": "cpp",
+        "span": "cpp",
+        "cstring": "cpp"
+    }
 }
--- a/can-interface/a
+++ b/can-interface/a
@@ -1,26 +0,0 @@
-
-
-
-    txBuffer[0] = 0b00000011; // Read Instruction
-    txBuffer[1] = 0x0f; // CANCTRL Register Address
-
-    spi_transaction_t transaction0 = { // RESET
-        .cmd = 0b11000000,
-        .length = 3 * 8,
-        .rxlength = 3 * 8,
-        .tx_buffer = txBuffer,
-        .rx_buffer = rxBuffer
-    };
-
-    spi_transaction_t transaction1 = { // READ STAT/S
-        .cmd = 0b10110000,
-        .length = 2 * 8,
-        .rxlength = 2 * 8,
-        .tx_buffer = txBuffer,
-        .rx_buffer = rxBuffer
-    };
-
-
-    vTaskDelay(100 / portTICK_PERIOD_MS);
-    gpio_set_level(EXTERNAL_TRIGGER, false);
-    spi_device_transmit(mp2125_handle, &transaction0);
--- a/can-interface/circuit/CanIntefacePerfboard.fzz
+++ b/can-interface/circuit/CanIntefacePerfboard.fzz
--- a/can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/ESP32-DEVKIT-V1.kicad_sym
+++ b/can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/ESP32-DEVKIT-V1.kicad_sym
--- a/can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/ESP32-DEVKIT-V1.step
+++ b/can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/ESP32-DEVKIT-V1.step
--- a/can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/MODULE_ESP32_DEVKIT_V1.kicad_mod
+++ b/can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/MODULE_ESP32_DEVKIT_V1.kicad_mod
--- a/can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/how-to-import.htm
+++ b/can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/how-to-import.htm
@@ -0,0 +1 @@
+<!DOCTYPE HTML><html lang="en-US"> <head> <meta charset="UTF-8"> <meta http-equiv="refresh" content="0; url=https://www.snapeda.com/about/import/#"> <script type="text/javascript">window.location.href="https://www.snapeda.com/about/import/#" </script> <title>Page Redirection</title> </head> <body> If you are not redirected automatically, follow this <a href="https://www.snapeda.com/about/import/#">link to the import guide</a>. </body></html>
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-08_133537.zip
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-08_133537.zip
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-12_000642.zip
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-12_000642.zip
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-12_001228.zip
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-12_001228.zip
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-12_010429.zip
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-12_010429.zip
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-12_011347.zip
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-12_011347.zip
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-14_202426.zip
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-14_202426.zip
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-15_170909.zip
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-15_170909.zip
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-15_204011.zip
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-15_204011.zip
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-21_223757.zip
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-21_223757.zip
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-30_000501.zip
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-30_000501.zip
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-30_140231.zip
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-30_140231.zip
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-12-22_095043.zip
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-12-22_095043.zip
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-12-27_204815.zip
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-12-27_204815.zip
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_pcb
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_pcb
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_prl
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_prl
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_pro
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_pro
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_sch
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_sch
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_sch-bak
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_sch-bak
--- a/can-interface/circuit/gobot-can-interface/sym-lib-table
+++ b/can-interface/circuit/gobot-can-interface/sym-lib-table
@@ -0,0 +1,4 @@
+(sym_lib_table
+  (version 7)
+  (lib (name "ESP32-DEVKIT-V1")(type "KiCad")(uri "${KIPRJMOD}/external/ESP32-DEVKIT-V1/ESP32-DEVKIT-V1.kicad_sym")(options "")(descr ""))
+)
--- a/can-interface/circuit/i2c-hub/i2c-hub-backups/i2c-hub-2024-12-28_225050.zip
+++ b/can-interface/circuit/i2c-hub/i2c-hub-backups/i2c-hub-2024-12-28_225050.zip
--- a/can-interface/circuit/i2c-hub/i2c-hub.kicad_prl
+++ b/can-interface/circuit/i2c-hub/i2c-hub.kicad_prl
--- a/can-interface/circuit/i2c-hub/i2c-hub.kicad_pro
+++ b/can-interface/circuit/i2c-hub/i2c-hub.kicad_pro
--- a/can-interface/components/gobot_rpc
+++ b/can-interface/components/gobot_rpc
@@ -0,0 +1 @@
+/home/alexander/Projects/gobot/common-libaries/gobot_rpc
--- a/can-interface/components/mcp2521
+++ b/can-interface/components/mcp2521
@@ -0,0 +1 @@
+/home/alexander/Projects/gobot/common-libaries/mcp2521
--- a/can-interface/components/mcp2521/CMakeLists.txt
+++ b/can-interface/components/mcp2521/CMakeLists.txt
@@ -1,6 +0,0 @@
-idf_component_register(SRCS "operations.cpp" 
-                            "spi_interface_init.cpp"
-                            "spi_interface_commands.cpp"
-                            "register_interface.cpp"
-                       INCLUDE_DIRS "include"
-                       REQUIRES driver)
--- a/can-interface/components/mcp2521/include/mcp2521.hpp
+++ b/can-interface/components/mcp2521/include/mcp2521.hpp
@@ -1,98 +0,0 @@
-#pragma once
-#include "reg.hpp"
-
-#include <stdint.h>
-
-#include "driver/gpio.h"
-#include "driver/spi_master.h"
-
-bool dummy_function(bool flag);
-
-
-enum MCP2521_RX_BUFFER {
-    RXB0 = 0,
-    RXB1 = 1
-};
-
-enum MCP2521_TX_BUFFER {
-    TXB0 = 0,
-    TXB1 = 1,
-    TXB2 = 2
-};
-
-enum MCP2521_BUFFER_TYPE {
-    ID = 0,
-    DATA = 1
-};
-
-class MCP2521_SPI_Interface {
-private:
-    char spi_rx_buffer[32];
-    char spi_tx_buffer[32];
-
-    spi_bus_config_t * spi_bus_config;
-    spi_device_interface_config_t spi_device_config;
-    spi_device_handle_t spi_device_handle;
-
-public:
-    spi_bus_config_t * getSPI_bus_config();
-
-    MCP2521_SPI_Interface(
-        spi_host_device_t spi_host,
-        spi_bus_config_t *bus_config,
-        gpio_num_t mosi, 
-        gpio_num_t miso, 
-        gpio_num_t sclk, 
-        gpio_num_t cs, 
-        gpio_num_t int_pin
-    );
-    MCP2521_SPI_Interface(
-        spi_host_device_t spi_host,
-        spi_bus_config_t *bus_config,
-        gpio_num_t cs, 
-        gpio_num_t int_pin
-    );
-
-    ~MCP2521_SPI_Interface();
-
-    static void initSPIBus(
-        spi_host_device_t spi_host,
-        gpio_num_t mosi, 
-        gpio_num_t miso, 
-        gpio_num_t sclk, 
-        spi_bus_config_t *bus_config
-    );
-
-    void initSPIDevice(
-        spi_host_device_t spi_host,
-        gpio_num_t cs
-    );
-
-    void deinitSPI();
-
-    void initPins(
-        gpio_num_t int_pin
-    );
-    void deinitPins();
-
-    void reset();
-    
-    void read_reg(uint8_t address, uint8_t *data, size_t length);
-    uint8_t read_reg(uint8_t address);
-
-    void read_rx_buf(MCP2521_RX_BUFFER buffer, MCP2521_BUFFER_TYPE type, uint8_t *data, size_t length);
-    
-    void write_reg(uint8_t address, uint8_t *data, size_t length);
-    void write_reg(uint8_t address, uint8_t data);
-
-    void write_tx_buf(MCP2521_TX_BUFFER buffer, MCP2521_BUFFER_TYPE type, uint8_t *data, size_t length);
-
-    void request_to_send(bool txb2, bool txb1, bool txb0);
-    void request_to_send(MCP2521_TX_BUFFER buffer);
-
-    uint8_t read_status();
-    uint8_t read_rx_status();
-
-    void bit_modify(uint8_t address, uint8_t mask, uint8_t data);
-};
-
--- a/can-interface/components/mcp2521/include/register_interface.hpp
+++ b/can-interface/components/mcp2521/include/register_interface.hpp
@@ -1,10 +0,0 @@
-#pragma once
-#include <stdint.h>
-
-class MCP2515 {
-    private:
-    
-    public:
-        uint8_t get_TransmitErrorCounter();
-        uint8_t get_ReceiveErrorCounter();
-};
--- a/can-interface/components/mcp2521/operations.cpp
+++ b/can-interface/components/mcp2521/operations.cpp
@@ -1,4 +0,0 @@
-
-bool dummy_function(bool flag) {
-    return !flag;
-}
--- a/can-interface/components/mcp2521/register_interface.cpp
+++ b/can-interface/components/mcp2521/register_interface.cpp
@@ -1,2 +0,0 @@
-#include "mcp2515.hpp"
-#include "register_interface.hpp"
--- a/can-interface/components/mcp2521/spi_interface_commands.cpp
+++ b/can-interface/components/mcp2521/spi_interface_commands.cpp
@@ -1,49 +0,0 @@
-#include <string.h>
-
-#include "mcp2521.hpp"
-#include "reg.hpp"
-
-void MCP2521_SPI_Interface::reset() {
-    spi_transaction_ext_t t = {
-        .base = {
-            .flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
-            .cmd = MCP2521_OP_RESET,
-            .addr = 8,
-            .length = 0,
-            .rxlength = 0,
-            .tx_buffer = NULL,
-            .rx_buffer = NULL
-        },
-        .command_bits = 8,
-        .address_bits = 0,
-        .dummy_bits = 0,
-    };
-
-    spi_device_transmit(this->spi_device_handle, (spi_transaction_t*)(&t));
-}
-
-void MCP2521_SPI_Interface::read_reg(uint8_t address, uint8_t *data, size_t length) {
-    spi_transaction_ext_t t = {
-        .base = {
-            .flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
-            .cmd = MCP2521_OP_READ,
-            .addr = address,
-            .length = 8 * length,
-            .rxlength = 8 * length,
-            .tx_buffer = &this->spi_tx_buffer,
-            .rx_buffer = &this->spi_rx_buffer,
-        },
-        .command_bits = 8,
-        .address_bits = 8,
-        .dummy_bits = 0,
-    };
-
-    spi_device_transmit(this->spi_device_handle, (spi_transaction_t*)(&t));
-    memcpy(data, this->spi_rx_buffer, length);
-}
-
-uint8_t MCP2521_SPI_Interface::read_reg(uint8_t address) {
-    uint8_t data;
-    read_reg(address, &data, 1);
-    return data;
-}
--- a/can-interface/components/mcp2521_hardware_interface
+++ b/can-interface/components/mcp2521_hardware_interface
@@ -0,0 +1 @@
+/home/alexander/Projects/gobot/common-libaries/mcp2521_hardware_interface
--- a/can-interface/docs/Doxyfile
+++ b/can-interface/docs/Doxyfile
--- a/can-interface/docs/doxygen-awesome-css
+++ b/can-interface/docs/doxygen-awesome-css
--- a/can-interface/main/CMakeLists.txt
+++ b/can-interface/main/CMakeLists.txt
@@ -1,5 +1,7 @@
 idf_component_register(SRCS "hello_world_main.cpp"
                    REQUIRES driver
                    REQUIRES mcp2521
+                    REQUIRES mcp2521_hardware_interface
+                    REQUIRES gobot_rpc
                    REQUIRES spi_flash
                    INCLUDE_DIRS "")
--- a/can-interface/main/hello_world_main.cpp
+++ b/can-interface/main/hello_world_main.cpp
@@ -22,69 +22,113 @@
 #include "driver/spi_master.h"

 #include "mcp2521.hpp"
-#include "reg.hpp"

-#define SPI_PIN_CS0 GPIO_NUM_5
 #define SPI_PIN_SCLK GPIO_NUM_18
 #define SPI_PIN_MISO GPIO_NUM_19
 #define SPI_PIN_MOSI GPIO_NUM_23
-#define CAN_INT_PIN GPIO_NUM_21

-#define EXTERNAL_TRIGGER GPIO_NUM_26
+#define SPI_PIN_CS0 GPIO_NUM_25
+#define SPI_PIN_CS1 GPIO_NUM_27

-#ifdef __cplusplus
-extern "C" {
-#endif
+#define CAN_INT0_PIN GPIO_NUM_5
+#define CAN_INT1_PIN GPIO_NUM_26

-void app_main() {
+void onRX0(void *arg) {
+    MCP2521 *mcp2521 = (MCP2521 *)arg;
+
+    rx_info info = mcp2521->get_rx_id(MCP2521_RX_BUFFER::RXB0);
+    uint8_t data[8];
+
+    //mcp2521->read_rx_buf(MCP2521_RX_BUFFER::RXB0, MCP2521_BUFFER_TYPE::DATA, data, info.length);
+
+    printf("RX0: (%x) ", info.id);
+    //for (int i = 0; i < 8; i++) {
+    //    printf("%x ", data[i]);
+    //}
+    printf("\n");
+}
+
+void onRX1(void *arg) {
+    MCP2521 *mcp2521 = (MCP2521 *)arg;
+
+    rx_info info = mcp2521->get_rx_id(MCP2521_RX_BUFFER::RXB0);
+    uint8_t data[8];
+
+    //mcp2521->read_rx_buf(MCP2521_RX_BUFFER::RXB0, MCP2521_BUFFER_TYPE::DATA, data, info.length);
+    printf("RX1: (%x) ", info.id);
+    //for (int i = 0; i < 8; i++) {
+    //    printf("%x ", data[i]);
+    //}
+
+    printf("\n");
+}
+
+extern "C" void app_main() {
    printf("Hello world!\n");

    const gpio_num_t LED_PIN = GPIO_NUM_2;
    gpio_set_direction(LED_PIN, GPIO_MODE_OUTPUT);

-    gpio_set_direction(EXTERNAL_TRIGGER, GPIO_MODE_OUTPUT);
-    gpio_set_level(EXTERNAL_TRIGGER, true);
-
    vTaskDelay(100 / portTICK_PERIOD_MS);
-    gpio_set_level(EXTERNAL_TRIGGER, false);
-
-    spi_bus_config_t spi_bus;
-
-    MCP2521_SPI_Interface mcp2521_spi(
+    
+    MCP2521_HardwareHandleFactory_ESPBus mcp2521_hardware_factory(
        VSPI_HOST,
-        &spi_bus,
        SPI_PIN_MOSI,
        SPI_PIN_MISO,
-        SPI_PIN_SCLK,
-        SPI_PIN_CS0,
-        CAN_INT_PIN
+        SPI_PIN_SCLK
    );

-    mcp2521_spi.reset();
-    printf("%x\n", mcp2521_spi.read_reg(MCP2521_CANCTRL));
+    MCP2521_HardwareHandle_ESPBus hardware_mcp2521_0 = mcp2521_hardware_factory.create(CAN_INT0_PIN, SPI_PIN_CS0);
+    MCP2521_HardwareHandle_ESPBus hardware_mcp2521_1 = mcp2521_hardware_factory.create(CAN_INT1_PIN, SPI_PIN_CS1);

-    uint8_t data[16];
-    mcp2521_spi.read_reg(MCP2521_CANSTAT, data, 16);
+    vTaskDelay(100 / portTICK_PERIOD_MS);

-    for(int i=0; i<0x10; i++) {
-        printf("%x ", i);
-        for(int j=0; j<8; j++) {
-            printf("%u", (data[i] >> (7-j)) & 1);
-        }
-        printf("\n");
-    }
+    MCP2521 mcp2521_0(&hardware_mcp2521_0);
+    MCP2521 mcp2521_1(&hardware_mcp2521_1);

-    gpio_set_level(EXTERNAL_TRIGGER, true);
+    uint8_t data[8] = {0x1, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08};
+
+    mcp2521_0.reset();
+    mcp2521_1.reset();
+    mcp2521_0.enable_interrupts(true, true, true, true, true, true, true, true);
+    mcp2521_1.enable_interrupts(true, true, true, true, true, true, true, true);
+
+    mcp2521_0.register_rx0_handler(onRX0, &mcp2521_0);
+    mcp2521_1.register_rx0_handler(onRX1, &mcp2521_1);
+    mcp2521_0.register_rx1_handler(onRX0, &mcp2521_0);
+    mcp2521_1.register_rx1_handler(onRX1, &mcp2521_1);
+    
+    mcp2521_0.set_mode_of_operation(MCP2521_OPERATION_MODE::LOOPBACK, true);
+    mcp2521_1.set_mode_of_operation(MCP2521_OPERATION_MODE::LOOPBACK, true);
+    
+    //printf("CANSTAT0: %x\n", mcp2521_0.read_reg(MCP2521_CANSTAT));
+    //printf("CANSTAT1: %x\n", mcp2521_1.read_reg(MCP2521_CANSTAT));
+
+    vTaskDelay(20 / portTICK_PERIOD_MS);
+
+    mcp2521_1.prepare_tx(
+        MCP2521_TX_BUFFER::TXB0, 0x042, data, 8, false, false);
+    //mcp2521_1.prepare_tx(
+    //    MCP2521_TX_BUFFER::TXB0, 0x041, data, 4, false, false);
+
+
+    vTaskDelay(20 / portTICK_PERIOD_MS);
+    mcp2521_1.request_to_send(MCP2521_TX_BUFFER::TXB0);
+    //vTaskDelay(10 / portTICK_PERIOD_MS);
+    //mcp2521_1.request_to_send(MCP2521_TX_BUFFER::TXB0);
+
+    //vTaskDelay(20 / portTICK_PERIOD_MS);
+
+    //mcp2521_0.set_tx_id(MCP2521_TX_BUFFER::TXB0, 0x042, false);
+    //mcp2521_0.request_to_send(MCP2521_TX_BUFFER::TXB0);
+
+    vTaskDelay(20 / portTICK_PERIOD_MS);

    bool flag = true;
    while (true) {
        gpio_set_level(LED_PIN, flag);
-        flag = dummy_function(flag);
+        flag = !flag;

-        vTaskDelay(100 / portTICK_PERIOD_MS);
-    }    
+        vTaskDelay(500 / portTICK_PERIOD_MS);
+    }
 }
-
-#ifdef __cplusplus
-}
-#endif
--- a/can-interface/pulseView-debug-session
+++ b/can-interface/pulseView-debug-session
--- a/can-interface/pulseview-session
+++ b/can-interface/pulseview-session
--- a/can-interface/sdkconfig.old
+++ b/can-interface/sdkconfig.old
--- a/can-interface/session-setup
+++ b/can-interface/session-setup
@@ -0,0 +1,152 @@
+[General]
+decode_signals=2
+meta_objs=0
+views=1
+
+[D0]
+color=4291714048
+conv_options=0
+conversion_type=0
+enabled=true
+name=INT0
+
+[D1]
+color=4281623972
+conv_options=0
+conversion_type=0
+enabled=true
+name=CLK
+
+[D2]
+color=4281623972
+conv_options=0
+conversion_type=0
+enabled=true
+name=MOSI
+
+[D3]
+color=4281623972
+conv_options=0
+conversion_type=0
+enabled=true
+name=MISO
+
+[D4]
+color=4294277376
+conv_options=0
+conversion_type=0
+enabled=true
+name=CE0
+
+[D5]
+color=4279638298
+conv_options=0
+conversion_type=0
+enabled=true
+name=INT1
+
+[D6]
+color=4279638298
+conv_options=0
+conversion_type=0
+enabled=true
+name=CE1
+
+[D7]
+color=4285878395
+conv_options=0
+conversion_type=0
+enabled=true
+name=D7
+
+[decode_signal0]
+channel0\assigned_signal_name=CLK
+channel0\initial_pin_state=2
+channel0\name=CLK
+channel1\assigned_signal_name=MISO
+channel1\initial_pin_state=2
+channel1\name=MISO
+channel2\assigned_signal_name=MOSI
+channel2\initial_pin_state=2
+channel2\name=MOSI
+channel3\assigned_signal_name=CE0
+channel3\initial_pin_state=2
+channel3\name=CS#
+channels=4
+color=4294277376
+conv_options=0
+conversion_type=0
+decoder0\ann_class0\visible=true
+decoder0\ann_class1\visible=true
+decoder0\ann_class2\visible=true
+decoder0\ann_class3\visible=true
+decoder0\ann_class4\visible=true
+decoder0\ann_class5\visible=true
+decoder0\ann_class6\visible=true
+decoder0\id=spi
+decoder0\options=0
+decoder0\row0\visible=true
+decoder0\row1\visible=true
+decoder0\row2\visible=true
+decoder0\row3\visible=true
+decoder0\row4\visible=true
+decoder0\row5\visible=true
+decoder0\row6\visible=true
+decoder0\visible=true
+decoders=1
+enabled=true
+name=SPI0
+
+[decode_signal1]
+channel0\assigned_signal_name=CLK
+channel0\initial_pin_state=2
+channel0\name=CLK
+channel1\assigned_signal_name=MISO
+channel1\initial_pin_state=2
+channel1\name=MISO
+channel2\assigned_signal_name=MOSI
+channel2\initial_pin_state=2
+channel2\name=MOSI
+channel3\assigned_signal_name=CE1
+channel3\initial_pin_state=2
+channel3\name=CS#
+channels=4
+color=4279638298
+conv_options=0
+conversion_type=0
+decoder0\ann_class0\visible=true
+decoder0\ann_class1\visible=true
+decoder0\ann_class2\visible=true
+decoder0\ann_class3\visible=true
+decoder0\ann_class4\visible=true
+decoder0\ann_class5\visible=true
+decoder0\ann_class6\visible=true
+decoder0\id=spi
+decoder0\options=0
+decoder0\row0\visible=true
+decoder0\row1\visible=true
+decoder0\row2\visible=true
+decoder0\row3\visible=true
+decoder0\row4\visible=true
+decoder0\row5\visible=true
+decoder0\row6\visible=true
+decoder0\visible=true
+decoders=1
+enabled=true
+name=SPI1
+
+[view0]
+D0\trace_height=38
+D1\trace_height=38
+D2\trace_height=38
+D3\trace_height=38
+D4\trace_height=38
+D5\trace_height=38
+D6\trace_height=38
+D7\trace_height=38
+offset=22 serialization::archive 19 0 0 0 0 52315583 48568089 25582163 47181659 91047901 0 -8 1 0 6
+scale=0.0021854614351496547
+segment_display_mode=1
+splitter_state=@ByteArray(\0\0\0\xff\0\0\0\x1\0\0\0\x2\0\0\0Z\0\0\x5\xa2\x1\0\0\0\x1\x1\0\0\0\x1\0)
+v_offset=-10
+zero_offset=22 serialization::archive 19 0 0 0 0 0 0 0 0 0 0 0 0 0 6
--- a/common-libaries/gobot_rpc/CMakeLists.txt
+++ b/common-libaries/gobot_rpc/CMakeLists.txt
@@ -0,0 +1,10 @@
+idf_component_register(SRCS
+                        "gobot_rpc_sender.cpp"
+                        "gobot_rpc_receiver.cpp"
+                        "gobot_rpc_statemaschine.cpp"
+                        "gobot_rpc_numberMap.cpp"
+                        "gobot_rpc_transiver.cpp"
+                    REQUIRES mcp2521
+                    REQUIRES mcp2521_hardware_interface
+                    REQUIRES driver
+                    INCLUDE_DIRS "include")
--- a/common-libaries/gobot_rpc/gobot_rpc_numberMap.cpp
+++ b/common-libaries/gobot_rpc/gobot_rpc_numberMap.cpp
@@ -0,0 +1,19 @@
+#include "gobot_rpc.hpp"
+#include "protocol_spec.hpp"
+#include <string.h>
+
+GobotRPCNumberMap::GobotRPCNumberMap() {
+    memset(rpc_number_map, 0xffffffff, 16);
+}
+
+GobotRPCNumberMap::~GobotRPCNumberMap() {
+
+}
+
+void GobotRPCNumberMap::set(RpcNum rpc_num, uint32_t id) {
+    rpc_number_map[(int)rpc_num] = id;
+}
+
+uint32_t GobotRPCNumberMap::get(RpcNum rpc_num) {
+    return rpc_number_map[(int)rpc_num];
+}
--- a/common-libaries/gobot_rpc/gobot_rpc_receiver.cpp
+++ b/common-libaries/gobot_rpc/gobot_rpc_receiver.cpp
@@ -0,0 +1,43 @@
+#include <string.h>
+#include "gobot_rpc.hpp"
+#include "sm.hpp"
+#include "protocol_spec.hpp"
+
+#include "freertos/FreeRTOS.h"
+
+GobotRPCReciver::GobotRPCReciver(MCP2521 * can_interface) {
+    this->can_interface = can_interface;
+    this->state_mashine = GobotRPCStateMashine();
+
+    can_interface->register_rx0_handler(onRX0_GoboRPC, can_interface);
+}
+
+
+void onRX0_GoboRPC(void *arg) {
+    GobotRPCReciver *rpc_socket = (GobotRPCReciver *)arg;
+    rpc_socket->onRX();
+}
+
+void GobotRPCReciver::onRX() {
+    rx_info info = can_interface->get_rx_id(MCP2521_RX_BUFFER::RXB0);
+    uint8_t data[8];
+
+    can_interface->read_rx_buf(MCP2521_RX_BUFFER::RXB0, MCP2521_BUFFER_TYPE::DATA, data, info.length);
+
+    RPCFrame frame;
+    memcpy(((char *)data) + 1, (char *)frame.data, 7);
+    frame.header = (RPCHeader)(data[0]);
+
+    SMResult smResult;
+    state_mashine.submitFrame(&frame, &smResult);
+
+    if(smResult.done) {
+        
+    }
+}
+
+void GobotRPCReciver::registerOnDoneFrameHandler(GobotRPCHandler_t handler, void * arg) {
+    onDoneFrameHandler = handler;
+    argOnDoneFrameHandler = arg;
+}
+
--- a/common-libaries/gobot_rpc/gobot_rpc_sender.cpp
+++ b/common-libaries/gobot_rpc/gobot_rpc_sender.cpp
--- a/common-libaries/gobot_rpc/gobot_rpc_statemaschine.cpp
+++ b/common-libaries/gobot_rpc/gobot_rpc_statemaschine.cpp
@@ -0,0 +1,74 @@
+#include "sm.hpp"
+#include "protocol_spec.hpp"
+#include <string.h>
+
+GobotRPCStateMashine::GobotRPCStateMashine() {
+    memset(requestDataBuffer, 0, REQUEST_DATA_BUFFER_SIZE*sizeof(uint8_t)*SLOTS);
+    memset(responseDataBuffer, 0, RESPONSE_DATA_BUFFER_SIZE*sizeof(uint8_t)*SLOTS);
+    memset(errorDataBuffer, 0, RESPONSE_DATA_BUFFER_SIZE*sizeof(uint8_t)*SLOTS);
+
+    memset(requestSegmentArrivedFlags, 0, sizeof(uint8_t)*SLOTS);
+    memset(responseSegmentArrivedFlags, 0, sizeof(uint8_t)*SLOTS);
+    memset(errorSegmentArrivedFlags, 0, sizeof(uint8_t)*SLOTS);
+
+    slotCounter = 0;
+    rpc_number_map = GobotRPCNumberMap();
+}
+
+void GobotRPCStateMashine::registerRPC(RpcNum rpc_num) {
+    rpc_number_map.set(rpc_num, slotCounter);
+    slotCounter = (slotCounter + 1) % SLOTS;
+}
+
+void GobotRPCStateMashine::submitFrame(RPCFrame * frame, SMResult * result) {
+    RpcNum rpcNum = (RpcNum)(frame->header.rpc_num);
+
+    result->done = false;
+    result->rpc_num = rpcNum;
+
+    if(rpcNum == RpcNum::INVALID)
+        return;
+
+    size_t slot = rpc_number_map.get(rpcNum);
+    if (slot == 0xffffffff)
+        return;
+
+    uint8_t segNum = frame->header.rpc_segement;
+
+    if(frame->header.error) {
+        memcpy(result->data, frame->data, 7);
+        errorSegmentArrivedFlags[slot] |= (1 << segNum);
+
+        result->done = true;
+        result->type = RPCPackageType::ERROR;
+
+    } else if(frame->header.response) {
+        memcpy(responseDataBuffer[slot] + segNum, frame->data, 7);
+        responseSegmentArrivedFlags[slot] |= (1 << segNum);
+        
+        uint8_t mask = SEGMENT_MASK_RESPONSE[(int)rpcNum];
+
+        if(((responseSegmentArrivedFlags[slot] & mask) ^ mask) == 0) {
+            responseSegmentArrivedFlags[slot] = 0;
+
+            result->done = true;
+            memcpy(result->data, responseDataBuffer[slot], 7*4);
+            result->type = RPCPackageType::RESPONSE;
+        }
+
+    } else {
+        memcpy(requestDataBuffer[slot] + segNum, frame->data, 7);
+        requestSegmentArrivedFlags[slot] |= (1 << segNum);
+        
+        uint8_t mask = SEGMENT_MASK_RESPONSE[(int)rpcNum];
+        
+        if(((requestSegmentArrivedFlags[slot] & mask) ^ mask) == 0) {
+            requestSegmentArrivedFlags[slot] = 0;
+
+            result->done = true;
+            memcpy(result->data, requestDataBuffer[slot], 7*4);
+            result->type = RPCPackageType::REQUEST;
+        }
+    }
+
+}
--- a/common-libaries/gobot_rpc/gobot_rpc_transiver.cpp
+++ b/common-libaries/gobot_rpc/gobot_rpc_transiver.cpp
--- a/common-libaries/gobot_rpc/include/gobot_rpc.hpp
+++ b/common-libaries/gobot_rpc/include/gobot_rpc.hpp
@@ -0,0 +1,56 @@
+#pragma once
+#include "protocol_spec.hpp"
+#include "mcp2521.hpp"
+#include "sm.hpp"
+
+#include "freertos/FreeRTOS.h"
+
+
+
+typedef void (*GobotRPCHandler_t)(void *);
+typedef void (*GobotRPCFrameHandler)(void *, RPCFrame *);
+
+class GobotRPCReciver {
+protected:
+    MCP2521 * can_interface;
+    GobotRPCStateMashine state_mashine;
+
+    GobotRPCHandler_t onDoneFrameHandler;
+    void * argOnDoneFrameHandler;
+
+public:
+    GobotRPCReciver(MCP2521 * can_interface);
+    ~GobotRPCReciver();
+
+    void onRX();
+
+    void registerOnDoneFrameHandler(GobotRPCHandler_t handler, void * arg);
+};
+
+void onRX0_GoboRPC(void *arg);
+
+class GoboRPCTransiver {
+private:
+    MCP2521 * can_interface;
+    GobotRPCReciver rx;
+
+    GobotRPCHandler_t onRequestHandler;
+    GobotRPCHandler_t onResponseHandler;
+    GobotRPCHandler_t onResponseErrorHandler;
+
+    void * argOnRequestHandler;
+    void * argOnResponseHandler;
+    void * argOnResponseErrorHandler;
+
+
+
+public:
+    GoboRPCTransiver(MCP2521 * can_interface);
+    ~GoboRPCTransiver();
+
+    void send(RPCFrame * frame);
+
+    void registerOnRequestHandler(GobotRPCHandler_t handler, void * arg);
+    void registerOnResponseHandler(GobotRPCHandler_t handler, void * arg);
+    void registerOnResponseErrorHandler(GobotRPCHandler_t handler, void * arg);
+};
--- a/common-libaries/gobot_rpc/include/protocol_spec.hpp
+++ b/common-libaries/gobot_rpc/include/protocol_spec.hpp
@@ -0,0 +1,123 @@
+#pragma once
+#include <stdint.h>
+
+enum RpcNum {
+    Get_Info            = 0x0,
+    Home                = 0x1,
+    Move_Step           = 0x2,
+    Move_XY             = 0x3,
+    Set_Padding         = 0x4,
+    Release_Motors      = 0x5,
+    Drop_Stones         = 0x6,
+    Get_Stone_Status    = 0x7,
+    Mov_Z_Axis          = 0x8,
+    Set_Vacum           = 0x9,
+    INVALID             = 0xF,
+};
+
+struct RPCHeader {
+    unsigned char rpc_num : 4;
+    unsigned char response : 1;
+    unsigned char error : 1;
+    unsigned char rpc_segement : 1;
+};
+
+struct RPCFrame {
+    RPCHeader header;
+    uint8_t data[7];
+};
+
+enum RPC_Node_Type {
+    NODE_ALL        = 0x0,
+    NODE_CORE_XY    = 0x1,
+    NODE_HEAD       = 0x2,
+    NODE_VACUM      = 0x3,
+};
+
+// RPC Request and Response structures
+struct RPC_RES_Get_Info {
+    uint32_t can_address;
+    RPC_Node_Type node_type;
+    uint32_t status;
+    uint32_t error;
+};
+
+enum RPC_Home_Corner {
+    HOME_CORNER_0 = 0b00,
+    HOME_CORNER_1 = 0b01,
+    HOME_CORNER_2 = 0b10,
+    HOME_CORNER_3 = 0b11,
+};
+
+struct RPC_REQ_Home {
+    RPC_Home_Corner corner;
+};
+
+struct RPC_RES_Home {
+    uint32_t x;
+    uint32_t y;
+};
+
+struct RPC_REQ_Move_Step {
+    int32_t x;
+    int32_t y;
+};
+
+struct RPC_RES_Move_Step {
+    uint32_t x;
+    uint32_t y;
+};
+
+struct RPC_REQ_Set_Padding {
+    uint32_t c_1x;
+    uint32_t c_1y;
+    uint32_t c_2x;
+    uint32_t c_2y;
+    uint8_t n_x;
+    uint8_t n_y;
+};
+
+struct RPC_REQ_Move_Z_Axis {
+    bool up;
+};
+
+struct RPC_REQ_Set_Vacum {
+    bool on;
+};
+
+// Segment3, Segment2, Segment1, Segment0
+const uint8_t SEGMENT_MASK_REQUEST[16] = {
+    0b0001, // Get_Info
+    0b0001, // Home
+    0b0001, // Move_Step
+    0b0001, // Move_XY
+    0b0111, // Set_Padding
+    0b0001, // Release_Motors
+    0b0001, // Drop_Stones
+    0b0001, // Get_Stone_Status
+    0b0001, // Mov_Z_Axis
+    0b0001, // Set_Vacum
+    0b0001, //
+    0b0001, //
+    0b0001, //
+    0b0001, //
+    0b0001, //
+};
+
+const uint8_t SEGMENT_MASK_RESPONSE[16] = {
+    0b0001, // Get_Info
+    0b0001, // Home
+    0b0001, // Move_Step
+    0b0001, // Move_XY
+    0b0001, // Set_Padding
+    0b0001, // Release_Motors
+    0b0001, // Drop_Stones
+    0b0001, // Get_Stone_Status
+    0b0001, // Mov_Z_Axis
+    0b0001, // Set_Vacum
+    0b0001, //
+    0b0001, //
+    0b0001, //
+    0b0001, //
+    0b0001, //
+};
--- a/common-libaries/gobot_rpc/include/sm.hpp
+++ b/common-libaries/gobot_rpc/include/sm.hpp
@@ -0,0 +1,58 @@
+#pragma once
+#include <stdint.h>
+#include "protocol_spec.hpp"
+#include <strings.h>
+
+class GobotRPCNumberMap {
+private:
+    int32_t rpc_number_map[16];
+public:
+    GobotRPCNumberMap();
+    ~GobotRPCNumberMap();
+
+    void set(RpcNum rpc_num, uint32_t id);
+    uint32_t get(RpcNum rpc_num);
+};
+
+
+enum RPCPackageType {
+    REQUEST,
+    RESPONSE,
+    ERROR
+};
+
+struct SMResult {
+    bool done;
+    uint8_t data[7*4];
+    RpcNum rpc_num;
+    RPCPackageType type;
+};
+
+class GobotRPCStateMashine {
+private:
+    static const size_t SLOTS = 6;
+    static const size_t REQUEST_DATA_BUFFER_SIZE = 7*4;
+    static const size_t RESPONSE_DATA_BUFFER_SIZE = 7*4;
+
+
+    GobotRPCNumberMap rpc_number_map;
+    size_t slotCounter;
+
+    uint8_t requestDataBuffer[REQUEST_DATA_BUFFER_SIZE][SLOTS];
+    bool requestSegmentArrivedFlags [SLOTS];
+    
+    uint8_t responseDataBuffer[RESPONSE_DATA_BUFFER_SIZE][SLOTS];
+    uint8_t responseSegmentArrivedFlags [SLOTS];
+
+    uint8_t errorDataBuffer[RESPONSE_DATA_BUFFER_SIZE][SLOTS];
+    uint8_t errorSegmentArrivedFlags [SLOTS];
+
+public:
+    GobotRPCStateMashine();
+    ~GobotRPCStateMashine();
+
+    void registerRPC(RpcNum rpc_num);
+
+    void submitFrame(RPCFrame * frame, SMResult * result);
+
+};
--- a/common-libaries/mcp2521/CMakeLists.txt
+++ b/common-libaries/mcp2521/CMakeLists.txt
@@ -0,0 +1,8 @@
+idf_component_register(SRCS
+                         "interface_commands.cpp"
+                         "interface_interrupts.cpp"
+                         "toplevel_commands.cpp"
+                       INCLUDE_DIRS "include"
+                       REQUIRES driver
+                       REQUIRES mcp2521_hardware_interface
+                       )
--- a/common-libaries/mcp2521/cmake/pico.cmake
+++ b/common-libaries/mcp2521/cmake/pico.cmake
--- a/common-libaries/mcp2521/docs/.$MCP2521_Libary_ClassDiagram.drawio.bkp
+++ b/common-libaries/mcp2521/docs/.$MCP2521_Libary_ClassDiagram.drawio.bkp
@@ -0,0 +1,102 @@
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+  <diagram name="Page-1" id="FmQN2vLuPXQQGOlHbBG4">
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+        </mxCell>
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+        </mxCell>
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--- a/common-libaries/mcp2521/docs/MCP2521_Libary_ClassDiagram.drawio
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@@ -0,0 +1,93 @@
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--- a/can-interface/components/mcp2521/include/bitfields.hpp
+++ b/can-interface/components/mcp2521/include/bitfields.hpp
--- a/common-libaries/mcp2521/include/mcp2521.hpp
+++ b/common-libaries/mcp2521/include/mcp2521.hpp
@@ -0,0 +1,7 @@
+#pragma once
+
+#include "mcp2521_toplevel.hpp"
+#include "mcp2521_command.hpp"
+#include "mcp2521_hardware_esp.hpp"
+#include "mcp2521_hardware_esp_bus_factory.hpp"
+#include "mcp2521_addresses.hpp"
--- a/common-libaries/mcp2521/include/mcp2521_addresses.hpp
+++ b/common-libaries/mcp2521/include/mcp2521_addresses.hpp
@@ -1,4 +1,5 @@
 #pragma once
+#include <stdint.h> 

 #define MCP2521_BFPCTRL 0x0C
 #define MCP2521_BFPCTRL_B1BFS (1 << 5)
@@ -20,9 +21,16 @@
 #define MCP2521_CANSTAT_OPMOD2 (1 << 7)
 #define MCP2521_CANSTAT_OPMOD1 (1 << 6)
 #define MCP2521_CANSTAT_OPMOD0 (1 << 5)
-#define MCP2521_CANSTAT_ICOD2 (1 << 3)
-#define MCP2521_CANSTAT_ICOD1 (1 << 2)
-#define MCP2521_CANSTAT_ICOD0 (1 << 1)
+#define MCP2521_CANSTAT_ICOD2 (1 << 2)
+#define MCP2521_CANSTAT_ICOD1 (1 << 1)
+#define MCP2521_CANSTAT_ICOD0 (1 << 0)
+
+struct CANSTAT_Register {
+    uint8_t ICOD : 3;
+    uint8_t : 1; // Unused bit
+    uint8_t OPMOD : 3;
+    uint8_t : 1; // Unused bit
+};

 #define MCP2521_CANCTRL 0x0F
 #define MCP2521_CANCTRL_REQOP2 (1 << 7)
@@ -103,6 +111,10 @@
 #define MCP2521_TXB0CTRL_TXP1 (1 << 1)
 #define MCP2521_TXB0CTRL_TXP0 (1 << 0)

+#define MCP2521_TXB0DLC 0x35
+#define MCP2521_TXB1DLC 0x45
+#define MCP2521_TXB2DLC 0x55
+
 #define MCP2521_TXB1CTRL 0x40
 #define MCP2521_TXB1CTRL_ABTF (1 << 6)
 #define MCP2521_TXB1CTRL_MLOA (1 << 5)
@@ -119,6 +131,17 @@
 #define MCP2521_TXB2CTRL_TXP1 (1 << 1)
 #define MCP2521_TXB2CTRL_TXP0 (1 << 0)

+struct TXBnCTRL_Register {
+    uint8_t TXP : 2;
+    uint8_t : 1; // Unused bit
+    uint8_t TXREQ : 1;
+    uint8_t TXERR : 1;
+    uint8_t MLOA : 1;
+    uint8_t ABTF : 1;
+    uint8_t : 1; // Unused bit
+};
+
+
 #define MCP2521_RXB0CTRL 0x60
 #define MCP2521_RXB0CTRL_RXM1 (1 << 6)
 #define MCP2521_RXB0CTRL_RXM0 (1 << 5)
@@ -143,4 +166,27 @@
 #define MCP2521_OP_RTS              0b10000000
 #define MCP2521_OP_READ_STATUS      0b10100000
 #define MCP2521_OP_RX_STATUS        0b10110000
-#define MCP2521_OP_BIT_MODIFY       0b00000101
+#define MCP2521_OP_BIT_MODIFY       0b00000101
+
+#define MCP2521_TXB0SIDH 0x31
+#define MCP2521_TXB1SIDH 0x41
+#define MCP2521_TXB2SIDH 0x51
+
+#define MCP2521_TXB0SIDL 0x32
+#define MCP2521_TXB1SIDL 0x42
+#define MCP2521_TXB2SIDL 0x52
+
+#define MCP2521_RXB0SIDH 0x61
+#define MCP2521_RXB1SIDH 0x71
+
+#define MCP2521_RXB0SIDL 0x62
+#define MCP2521_RXB1SIDL 0x72
+
+#define MCP2521_RXB0EID8 0x63
+#define MCP2521_RXB1EID8 0x73
+
+#define MCP2521_RXB0EID0 0x64
+#define MCP2521_RXB1EID0 0x74
+
+#define MCP2521_RXB0DLC 0x65
+#define MCP2521_RXB1DLC 0x75
--- a/common-libaries/mcp2521/include/mcp2521_command.hpp
+++ b/common-libaries/mcp2521/include/mcp2521_command.hpp
@@ -0,0 +1,102 @@
+#pragma once
+#include "mcp2521_addresses.hpp"
+#include "mcp2521_hardware_handle.hpp"
+
+#include <stdint.h>
+
+enum MCP2521_RX_BUFFER {
+    RXB0 = 0,
+    RXB1 = 1
+};
+
+enum MCP2521_TX_BUFFER {
+    TXB0 = 0,
+    TXB1 = 1,
+    TXB2 = 2
+};
+
+enum MCP2521_BUFFER_TYPE {
+    ID = 0,
+    DATA = 1
+};
+
+enum MCP2521_OPERATION_MODE {
+    NORMAL      = 0b000,
+    SLEEP       = 0b001,
+    LOOPBACK    = 0b010,
+    LISTEN_ONLY = 0b011,
+    CONFIG      = 0b100
+};
+
+struct rx_info {
+    bool extended;
+
+    uint16_t id;
+    uint32_t extended_id;
+
+    bool rtr;
+    bool extended_rtr;
+
+    uint8_t length;
+};
+
+class MCP2521_CommandInterface {
+private:
+    I_MCP2521_HardwareHandle * hardware_handle;
+
+    intHandlerFunction_t rx0_handler;
+    intHandlerFunction_t rx1_handler;
+    intHandlerFunction_t tx0_handler;
+    intHandlerFunction_t tx1_handler;
+    intHandlerFunction_t tx2_handler;
+    intHandlerFunction_t error_handler;
+    intHandlerFunction_t wakeup_handler;
+    intHandlerFunction_t message_error_handler;
+
+    void * rx0_handler_arg;
+    void * rx1_handler_arg;
+    void * tx0_handler_arg;
+    void * tx1_handler_arg;
+    void * tx2_handler_arg;
+    void * error_handler_arg;
+    void * wakeup_handler_arg;
+    void * message_error_handler_arg;
+public:
+
+    MCP2521_CommandInterface(
+        I_MCP2521_HardwareHandle * hardware_handle
+    );
+
+    void handleInterrupt();
+    
+    void reset();
+    
+    void read_reg(uint8_t address, uint8_t *data, size_t length);
+    uint8_t read_reg(uint8_t address);
+
+    void read_rx_buf(MCP2521_RX_BUFFER buffer, MCP2521_BUFFER_TYPE type, uint8_t *data, size_t length);
+    
+    void write_reg(uint8_t address, uint8_t *data, size_t length);
+    void write_reg(uint8_t address, uint8_t data);
+
+    void write_tx_buf(MCP2521_TX_BUFFER buffer, MCP2521_BUFFER_TYPE type, uint8_t *data, size_t length);
+
+    void request_to_send(bool txb2, bool txb1, bool txb0);
+    void request_to_send(MCP2521_TX_BUFFER buffer);
+
+    uint8_t read_status();
+    uint8_t read_rx_status();
+
+    void bit_modify(uint8_t address, uint8_t mask, uint8_t data);
+
+    // Registering Handlers for Interrupts
+    void register_rx0_handler(intHandlerFunction_t handler, void * arg);
+    void register_rx1_handler(intHandlerFunction_t handler, void * arg);
+    void register_tx0_handler(intHandlerFunction_t handler, void * arg);
+    void register_tx1_handler(intHandlerFunction_t handler, void * arg);
+    void register_tx2_handler(intHandlerFunction_t handler, void * arg);
+    void register_error_handler(intHandlerFunction_t handler, void * arg);
+    void register_wakeup_handler(intHandlerFunction_t handler, void * arg);
+    void register_message_error_handler(intHandlerFunction_t handler, void * arg);
+};
+
--- a/common-libaries/mcp2521/include/mcp2521_toplevel.hpp
+++ b/common-libaries/mcp2521/include/mcp2521_toplevel.hpp
@@ -0,0 +1,38 @@
+#pragma once
+#include <stdint.h>
+
+#include "mcp2521.hpp"
+#include "mcp2521_command.hpp"
+#include "mcp2521_addresses.hpp"
+
+class MCP2521 : public MCP2521_CommandInterface {
+    private:
+    public:
+        void set_tx_id(MCP2521_TX_BUFFER buffer, uint16_t id, bool extended);
+
+        /**
+         * @brief Loads the Data Length Code register for the specified buffer
+         * 
+         * @param buffer What Buffer to load the DLC register for
+         * @param length How many bytes are in the message (0-8)
+         * @param rtr: Remote Transmission Request
+         */
+        void set_DLC_reg(MCP2521_TX_BUFFER buffer, uint8_t length, bool rtr);
+
+        /**
+         * @brief Loads the data and id into the specified buffer
+         * 
+         * @param buffer 
+         * @param id 
+         * @param data 
+         * @param length 
+         */
+        void prepare_tx(MCP2521_TX_BUFFER buffer, uint32_t id, uint8_t *data, size_t length, bool rtr, bool extended);
+
+        void set_mode_of_operation(MCP2521_OPERATION_MODE mode, bool singleshot);
+        void set_singleshot_mode(bool enable);
+        
+        void enable_interrupts(bool MessageError, bool ErrorInterrupt, bool WakeUp, bool TXB0, bool TXB1, bool TXB2, bool RXB0, bool RXB1);
+        rx_info get_rx_id(MCP2521_RX_BUFFER buffer);
+
+};
--- a/common-libaries/mcp2521/interface_commands.cpp
+++ b/common-libaries/mcp2521/interface_commands.cpp
@@ -0,0 +1,100 @@
+#include <cstring>
+
+#include "mcp2521.hpp"
+#include "mcp2521_addresses.hpp"
+
+void runIntHandler(void *arg) {
+    MCP2521_CommandInterface *command_interface = (MCP2521_CommandInterface *)arg;
+    command_interface->handleInterrupt();
+}
+
+MCP2521_CommandInterface::MCP2521_CommandInterface(
+    I_MCP2521_HardwareHandle * hardware_handle
+) {
+    this->hardware_handle = hardware_handle;
+    this->hardware_handle->registerIntHandler(runIntHandler, (void *)this);
+
+    rx0_handler = NULL;
+    rx1_handler = NULL;
+    tx0_handler = NULL;
+    tx1_handler = NULL;
+    tx2_handler = NULL;
+    error_handler = NULL;
+    wakeup_handler = NULL;
+    message_error_handler = NULL;
+
+    rx0_handler_arg = NULL;
+    rx1_handler_arg = NULL;
+    tx0_handler_arg = NULL;
+    tx1_handler_arg = NULL;
+    tx2_handler_arg = NULL;
+    error_handler_arg = NULL;
+    wakeup_handler_arg = NULL;
+    message_error_handler_arg = NULL;
+}
+
+void MCP2521_CommandInterface::reset() {
+    hardware_handle->execute(MCP2521_OP_RESET);
+}
+
+void MCP2521_CommandInterface::read_reg(uint8_t address, uint8_t *data, size_t length) {
+    hardware_handle->read(MCP2521_OP_READ, data, length, address);
+}
+
+uint8_t MCP2521_CommandInterface::read_reg(uint8_t address) {
+    return hardware_handle->read(MCP2521_OP_READ, address);
+}
+
+void MCP2521_CommandInterface::read_rx_buf(MCP2521_RX_BUFFER buffer, MCP2521_BUFFER_TYPE type, uint8_t *data, size_t length) {
+    uint8_t address = (buffer << 1) | (type << 2);
+    hardware_handle->read(MCP2521_OP_READ_RX_BUFFER | address, data, length);
+}
+
+void MCP2521_CommandInterface::write_reg(uint8_t address, uint8_t *data, size_t length) {
+    hardware_handle->write(MCP2521_OP_WRITE, data, length, address);
+}
+
+void MCP2521_CommandInterface::write_reg(uint8_t address, uint8_t data) {
+    hardware_handle->write(MCP2521_OP_WRITE, data, address);
+}
+
+void MCP2521_CommandInterface::write_tx_buf(MCP2521_TX_BUFFER buffer, MCP2521_BUFFER_TYPE type, uint8_t *data, size_t length) {
+    uint8_t address = (buffer << 1) | (type);
+    hardware_handle->write(MCP2521_OP_LOAD_TX_BUFFER | address, data, length);
+}
+
+void MCP2521_CommandInterface::request_to_send(bool txb2, bool txb1, bool txb0) {
+    uint8_t data = (txb2 << 2) | (txb1 << 1) | txb0;
+    hardware_handle->execute(MCP2521_OP_RTS | data);
+}
+
+void MCP2521_CommandInterface::request_to_send(MCP2521_TX_BUFFER buffer) {
+    uint8_t mask = 0;
+
+    switch (buffer) {
+        case MCP2521_TX_BUFFER::TXB0:
+            mask = 0b001;
+            break;
+        case MCP2521_TX_BUFFER::TXB1:
+            mask = 0b010;
+            break;
+        case MCP2521_TX_BUFFER::TXB2:
+            mask = 0b100;
+            break;
+    }
+
+    hardware_handle->execute(MCP2521_OP_RTS | mask);
+}
+
+uint8_t MCP2521_CommandInterface::read_status() {
+    return hardware_handle->read(MCP2521_OP_READ_STATUS);
+}
+
+uint8_t MCP2521_CommandInterface::read_rx_status() {
+    return hardware_handle->read(MCP2521_OP_RX_STATUS);
+}
+
+void MCP2521_CommandInterface::bit_modify(uint8_t address, uint8_t mask, uint8_t data) {
+    uint8_t data_array[3] = {address, mask, data};
+    hardware_handle->write(MCP2521_OP_BIT_MODIFY, data_array, 3);
+}
--- a/common-libaries/mcp2521/interface_interrupts.cpp
+++ b/common-libaries/mcp2521/interface_interrupts.cpp
@@ -0,0 +1,113 @@
+#include "mcp2521.hpp"
+#include "mcp2521_addresses.hpp"
+
+void MCP2521_CommandInterface::register_rx0_handler(intHandlerFunction_t handler, void* args) {
+    rx0_handler = handler;
+    rx0_handler_arg = args;
+}
+
+void MCP2521_CommandInterface::register_rx1_handler(intHandlerFunction_t handler, void* args) {
+    rx1_handler = handler;
+    rx1_handler_arg = args;
+}
+
+void MCP2521_CommandInterface::register_tx0_handler(intHandlerFunction_t handler, void* args) {
+    tx0_handler = handler;
+    tx0_handler_arg = args;
+}
+
+void MCP2521_CommandInterface::register_tx1_handler(intHandlerFunction_t handler, void* args) {
+    tx1_handler = handler;
+    tx1_handler_arg = args;
+}
+
+void MCP2521_CommandInterface::register_tx2_handler(intHandlerFunction_t handler, void* args) {
+    tx2_handler = handler;
+    tx2_handler_arg = args;
+}
+
+void MCP2521_CommandInterface::register_error_handler(intHandlerFunction_t handler, void* args) {
+    error_handler = handler;
+    error_handler_arg = args;
+}
+
+void MCP2521_CommandInterface::register_wakeup_handler(intHandlerFunction_t handler, void* args) {
+    wakeup_handler = handler;
+    wakeup_handler_arg = args;
+}
+
+void MCP2521_CommandInterface::register_message_error_handler(intHandlerFunction_t handler, void* args) {
+    message_error_handler = handler;
+    message_error_handler_arg = args;
+}
+
+void MCP2521_CommandInterface::handleInterrupt() {
+    uint8_t flags = read_reg(MCP2521_CANINTF);
+    uint8_t clearBits = 0;
+
+    if (flags & MCP2521_CANINTF_RX0IF) {
+        if (rx0_handler) {
+            rx0_handler(rx0_handler_arg);
+        }
+        flags &= ~MCP2521_CANINTF_RX0IF;
+        clearBits |= MCP2521_CANINTF_RX0IF;
+    }
+
+    if (flags & MCP2521_CANINTF_RX1IF) {
+        if (rx1_handler) {
+            rx1_handler(rx1_handler_arg);
+        }
+        flags &= ~MCP2521_CANINTF_RX1IF;
+        clearBits |= MCP2521_CANINTF_RX1IF;
+    }
+
+    if (flags & MCP2521_CANINTF_TX0IF) {
+        if (tx0_handler) {
+            tx0_handler(tx0_handler_arg);
+        }
+        flags &= ~MCP2521_CANINTF_TX0IF;
+        clearBits |= MCP2521_CANINTF_TX0IF;
+    }
+
+    if (flags & MCP2521_CANINTF_TX1IF) {
+        if (tx1_handler) {
+            tx1_handler(tx1_handler_arg);
+        }
+        flags &= ~MCP2521_CANINTF_TX1IF;
+        clearBits |= MCP2521_CANINTF_TX1IF;
+    }
+
+    if (flags & MCP2521_CANINTF_TX2IF) {
+        if (tx2_handler) {
+            tx2_handler(tx2_handler_arg);
+        }
+        flags &= ~MCP2521_CANINTF_TX2IF;
+        clearBits |= MCP2521_CANINTF_TX2IF;
+    }
+
+    if (flags & MCP2521_CANINTF_ERRIF) {
+        if (error_handler) {
+            error_handler(error_handler_arg);
+        }
+        flags &= ~MCP2521_CANINTF_ERRIF;
+        clearBits |= MCP2521_CANINTF_ERRIF;
+    }
+
+    if (flags & MCP2521_CANINTF_WAKIF) {
+        if (wakeup_handler) {
+            wakeup_handler(wakeup_handler_arg);
+        }
+        flags &= ~MCP2521_CANINTF_WAKIF;
+        clearBits |= MCP2521_CANINTF_WAKIF;
+    }
+
+    if (flags & MCP2521_CANINTF_MERRF) {
+        if (message_error_handler) {
+            message_error_handler(message_error_handler_arg);
+        }
+        flags &= ~MCP2521_CANINTF_MERRF;
+        clearBits |= MCP2521_CANINTF_MERRF;
+    }
+
+    bit_modify(MCP2521_CANINTF, clearBits, 0);
+}
--- a/common-libaries/mcp2521/toplevel_commands.cpp
+++ b/common-libaries/mcp2521/toplevel_commands.cpp
@@ -0,0 +1,119 @@
+#include <cstring>
+
+#include "mcp2521.hpp"
+#include "mcp2521_addresses.hpp"
+
+void MCP2521::set_tx_id(MCP2521_TX_BUFFER buffer, uint16_t id, bool extended) {
+    uint8_t addr_offset = 0;
+    switch (buffer)
+    {
+    case MCP2521_TX_BUFFER::TXB0:
+        addr_offset = 0x00;
+        break;
+    case MCP2521_TX_BUFFER::TXB1:
+        addr_offset = 0x10;
+        break;
+    case MCP2521_TX_BUFFER::TXB2:
+        addr_offset = 0x20;
+        break;
+    }
+
+    uint8_t upper_id = (id >> 3) & 0xFF;
+    uint8_t lower_id = ((id & 0b111) << 5);
+
+    if(extended) {
+        lower_id |= 0b1000;
+        lower_id |= (id >> 8) & 0b11;
+    }
+
+    write_reg(MCP2521_TXB0SIDH | addr_offset, upper_id);
+    write_reg(MCP2521_TXB0SIDL | addr_offset, lower_id);
+}
+
+void MCP2521::set_DLC_reg(MCP2521_TX_BUFFER buffer, uint8_t length, bool rtr) {
+    uint8_t data = length;
+
+    if (rtr)
+        data |= 0b01000000;
+
+    uint8_t reg_address = 0;
+
+    switch (buffer) {
+        case MCP2521_TX_BUFFER::TXB0:
+            reg_address = MCP2521_TXB0DLC;
+            break;
+        case MCP2521_TX_BUFFER::TXB1:
+            reg_address = MCP2521_TXB1DLC;
+            break;
+        case MCP2521_TX_BUFFER::TXB2:
+            reg_address = MCP2521_TXB2DLC;
+            break;
+    }
+
+    write_reg(reg_address, data);
+}
+
+void MCP2521::set_mode_of_operation(MCP2521_OPERATION_MODE mode, bool singleshot) {
+    
+    uint8_t single = singleshot ? 0b00001000 : 0x0;
+
+    bit_modify(MCP2521_CANCTRL, 0b11101000 , (mode << 5) | single);
+}
+
+void MCP2521::set_singleshot_mode(bool enable) {
+    uint8_t data = enable ? 0x08 : 0x00;
+    bit_modify(MCP2521_CANCTRL, 0x08, data);
+}
+
+void MCP2521::enable_interrupts(bool MessageError, bool ErrorInterrupt, bool WakeUp, bool TXB0, bool TXB1, bool TXB2, bool RXB0, bool RXB1) {
+    uint8_t interrupt_flags = 0;
+
+    if (MessageError) interrupt_flags   |= 0b10000000;
+    if (WakeUp) interrupt_flags         |= 0b01000000;
+    if (ErrorInterrupt) interrupt_flags |= 0b00100000;
+    if (TXB2) interrupt_flags           |= 0b00010000;
+    if (TXB1) interrupt_flags           |= 0b00001000;
+    if (TXB0) interrupt_flags           |= 0b00000100;
+    if (RXB1) interrupt_flags           |= 0b00000010;
+    if (RXB0) interrupt_flags           |= 0b00000001;
+
+    write_reg(MCP2521_CANINTE, interrupt_flags);
+}
+
+rx_info MCP2521::get_rx_id(MCP2521_RX_BUFFER buffer) {
+    uint8_t data[5];
+    uint8_t addr_offset = MCP2521_RXB0SIDH;
+
+    switch (buffer) {
+    case MCP2521_RX_BUFFER::RXB0:
+        addr_offset |= 0x00;
+        break;
+    case MCP2521_RX_BUFFER::RXB1:
+        addr_offset |= 0x10;
+        break;
+    }
+
+    read_reg(addr_offset, data, 5);
+
+    rx_info res;
+    res.extended = data[1] & 0b1000;
+    res.id = (data[0] << 3) | (data[1] >> 5);
+    res.extended_id = ((data[1] & 0b11) << 16) | (data[2] << 8) | data[3];
+    res.rtr = data[1] & 0b10000;
+    res.extended_rtr = (data[4] & 0b1000000);
+    res.length = (data[4] & 0b1111);
+
+    return res;
+}
+
+void MCP2521::prepare_tx(
+    MCP2521_TX_BUFFER buffer, 
+    uint32_t id, 
+    uint8_t *data, 
+    size_t length, 
+    bool rtr, bool extended) {
+
+    set_tx_id(buffer, id, extended);
+    set_DLC_reg(buffer, length, rtr);
+    write_tx_buf(buffer, MCP2521_BUFFER_TYPE::DATA, data, length);
+}
--- a/common-libaries/mcp2521_hardware_interface/CMakeLists.txt
+++ b/common-libaries/mcp2521_hardware_interface/CMakeLists.txt
@@ -0,0 +1,7 @@
+idf_component_register(SRCS "esp_implementation_init.cpp"
+                            "esp_implementation_cmd.cpp"
+                            "esp_implementation_int.cpp"
+                            "esp_implementation_bus.cpp"
+                            "esp_implementation_bus_factory.cpp"
+                       INCLUDE_DIRS "include"
+                       REQUIRES driver)
--- a/common-libaries/mcp2521_hardware_interface/cmake/pico.cmake
+++ b/common-libaries/mcp2521_hardware_interface/cmake/pico.cmake
--- a/common-libaries/mcp2521_hardware_interface/esp_implementation_bus.cpp
+++ b/common-libaries/mcp2521_hardware_interface/esp_implementation_bus.cpp
@@ -0,0 +1,58 @@
+#ifdef ESP_PLATFORM
+#include "freertos/FreeRTOS.h"
+
+#include "mcp2521_hardware_esp_bus.hpp"
+#include "mcp2521_hardware_esp.hpp"
+
+MCP2521_HardwareHandle_ESPBus::MCP2521_HardwareHandle_ESPBus(
+        QueueHandle_t send_queue,
+        spi_host_device_t spi_host,
+        spi_bus_config_t * bus_config,
+        gpio_num_t cs, 
+        gpio_num_t int_pin
+) : MCP2521_HardwareHandle_ESP(spi_host, bus_config, cs, int_pin) {
+    this->send_queue = send_queue;
+    this->receive_queue = xQueueCreate(3, sizeof(spi_message_t));
+}
+
+void MCP2521_HardwareHandle_ESPBus::spi_transmit(spi_transaction_t *t) {
+    spi_message_t message = {
+        .transaction = t,
+        .queue = send_queue,
+        .spi_device_handle = spi_device_handle
+    };
+
+    xQueueSend(send_queue, &message, portMAX_DELAY);
+    xQueueReceive(receive_queue, &message, portMAX_DELAY);
+}
+
+void MCP2521_HardwareHandle_ESPBus::initPins(
+    gpio_num_t int_pin
+) {
+    canInterruptSemaphore = xSemaphoreCreateBinary();
+
+    gpio_config_t io_conf;
+    io_conf.intr_type = GPIO_INTR_NEGEDGE;
+    io_conf.mode = GPIO_MODE_INPUT;
+    io_conf.pin_bit_mask = 1 << int_pin;
+    io_conf.pull_down_en = GPIO_PULLDOWN_DISABLE;
+    io_conf.pull_up_en = GPIO_PULLUP_ENABLE;
+    gpio_config(&io_conf);
+
+    gpio_isr_handler_add(int_pin, gpio_isr_can_handler, this);
+
+    char taskName[32];
+    sprintf(taskName, "canInterruptTask_%d", int_pin);
+
+    xTaskCreatePinnedToCore(
+        (TaskFunction_t)&handleInteruptTaskCallerFn,
+        taskName,
+        2048,
+        this,
+        5,
+        &canInterruptTaskHandle,
+        0
+    );
+}
+
+#endif
--- a/common-libaries/mcp2521_hardware_interface/esp_implementation_bus_factory.cpp
+++ b/common-libaries/mcp2521_hardware_interface/esp_implementation_bus_factory.cpp
@@ -0,0 +1,67 @@
+#pragma once
+
+#ifdef ESP_PLATFORM
+#include "freertos/FreeRTOS.h"
+
+#include "mcp2521_hardware_esp_bus_factory.hpp"
+#include "mcp2521_hardware_esp_bus.hpp"
+#include "mcp2521_hardware_esp.hpp"
+
+void transactionTaskWrapperFn(void *pvParameters) {
+    MCP2521_HardwareHandleFactory_ESPBus *factory = (MCP2521_HardwareHandleFactory_ESPBus *)pvParameters;
+    factory->transactionTaskFn();
+
+}
+
+MCP2521_HardwareHandleFactory_ESPBus::MCP2521_HardwareHandleFactory_ESPBus(
+    spi_host_device_t spi_host,
+    gpio_num_t mosi, 
+    gpio_num_t miso, 
+    gpio_num_t sclk
+) {
+    this->spi_host = spi_host;
+    this->mosi = mosi;
+    this->miso = miso;
+    this->sclk = sclk;
+
+    
+    gpio_install_isr_service(0);
+
+    MCP2521_HardwareHandle_ESP::initSPIBus(spi_host, mosi, miso, sclk, &bus_config);
+    
+    spi_queue = xQueueCreate(12, sizeof(spi_message_t));
+    xTaskCreatePinnedToCore(
+        (TaskFunction_t)&transactionTaskWrapperFn,
+        "transactionTask",
+        2048,
+        this,
+        3,
+        &transactionTaskHandle,
+        0
+    );
+}
+
+void MCP2521_HardwareHandleFactory_ESPBus::transactionTaskFn() {
+    spi_message_t message;
+
+    while(true) {
+        xQueueReceive(spi_queue, &message, portMAX_DELAY);
+        spi_device_transmit(message.spi_device_handle, message.transaction);
+    }
+}
+
+MCP2521_HardwareHandle_ESPBus MCP2521_HardwareHandleFactory_ESPBus::create(
+    gpio_num_t int_pin,
+    gpio_num_t cs
+) {
+    return MCP2521_HardwareHandle_ESPBus(
+        spi_queue,
+        spi_host,
+        &bus_config,
+        cs,
+        int_pin
+    );
+}
+
+
+#endif
--- a/common-libaries/mcp2521_hardware_interface/esp_implementation_cmd.cpp
+++ b/common-libaries/mcp2521_hardware_interface/esp_implementation_cmd.cpp
@@ -0,0 +1,209 @@
+#include "mcp2521_hardware_handle.hpp"
+
+#ifdef ESP_PLATFORM
+#include "mcp2521_hardware_esp.hpp"
+
+const uint8_t null_buffer[32] = {0};
+
+void MCP2521_HardwareHandle_ESP::spi_transmit(spi_transaction_t *t) {
+    xSemaphoreTake(spiMutex, portMAX_DELAY);
+    spi_device_transmit(this->spi_device_handle, t);
+    xSemaphoreGive(spiMutex);
+}
+
+void MCP2521_HardwareHandle_ESP::execute(uint8_t cmd) {
+    spi_transaction_ext_t t = {
+        .base = {
+            .flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
+            .cmd = cmd,
+            .addr = 0,
+            .length = 0,
+            .rxlength = 0,
+            .tx_buffer = NULL,
+            .rx_buffer = NULL
+        },
+        .command_bits = 8,
+        .address_bits = 0,
+        .dummy_bits = 0,
+    };
+
+    spi_transmit((spi_transaction_t*)(&t));
+}
+
+void MCP2521_HardwareHandle_ESP::execute(uint8_t cmd, uint8_t address) {
+    spi_transaction_ext_t t = {
+        .base = {
+            .flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
+            .cmd = cmd,
+            .addr = address,
+            .length = 0,
+            .rxlength = 0,
+            .tx_buffer = NULL,
+            .rx_buffer = NULL
+        },
+        .command_bits = 8,
+        .address_bits = 8,
+        .dummy_bits = 0,
+    };
+
+    spi_transmit((spi_transaction_t*)(&t));
+}
+
+void MCP2521_HardwareHandle_ESP::read(uint8_t cmd, uint8_t *data, size_t length, uint8_t address) {
+    spi_transaction_ext_t t = {
+        .base = {
+            .flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
+            .cmd = cmd,
+            .addr = address,
+            .length = 8*length,
+            .rxlength = 8*length,
+            .tx_buffer = null_buffer,
+            .rx_buffer = data
+        },
+        .command_bits = 8,
+        .address_bits = 8,
+        .dummy_bits = 0,
+    };
+
+    spi_transmit((spi_transaction_t*)(&t));
+}
+
+void MCP2521_HardwareHandle_ESP::read(uint8_t cmd, uint8_t *data, size_t length) {
+    spi_transaction_ext_t t = {
+        .base = {
+            .flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
+            .cmd = cmd,
+            .addr = 0,
+            .length = 8*length,
+            .rxlength = 8*length,
+            .tx_buffer = null_buffer,
+            .rx_buffer = data
+        },
+        .command_bits = 8,
+        .address_bits = 0,
+        .dummy_bits = 0,
+    };
+
+    spi_transmit((spi_transaction_t*)(&t));
+}
+
+uint8_t MCP2521_HardwareHandle_ESP::read(uint8_t cmd, uint8_t address) {
+    uint8_t result = 0;
+    spi_transaction_ext_t t = {
+        .base = {
+            .flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
+            .cmd = cmd,
+            .addr = address,
+            .length = 8,
+            .rxlength = 8,
+            .tx_buffer = null_buffer,
+            .rx_buffer = &result
+        },
+        .command_bits = 8,
+        .address_bits = 8,
+        .dummy_bits = 0,
+    };
+
+    spi_transmit((spi_transaction_t*)(&t));
+    return result;
+}
+
+uint8_t MCP2521_HardwareHandle_ESP::read(uint8_t cmd) {
+    uint8_t result;
+    spi_transaction_ext_t t = {
+        .base = {
+            .flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
+            .cmd = cmd,
+            .addr = 0,
+            .length = 8,
+            .rxlength = 8,
+            .tx_buffer = null_buffer,
+            .rx_buffer = &result
+        },
+        .command_bits = 8,
+        .address_bits = 0,
+        .dummy_bits = 0,
+    };
+
+    spi_transmit((spi_transaction_t*)(&t));
+    return result;
+}
+
+void MCP2521_HardwareHandle_ESP::write(uint8_t cmd, uint8_t *data, size_t length, uint8_t address) {
+    uint8_t result;
+    spi_transaction_ext_t t = {
+        .base = {
+            .flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
+            .cmd = cmd,
+            .addr = address,
+            .length = 8*length,
+            .rxlength = 0,
+            .tx_buffer = data,
+            .rx_buffer = NULL
+        },
+        .command_bits = 8,
+        .address_bits = 8,
+        .dummy_bits = 0,
+    };
+
+    spi_transmit((spi_transaction_t*)(&t));
+}
+
+void MCP2521_HardwareHandle_ESP::write(uint8_t cmd, uint8_t *data, size_t length) {
+    spi_transaction_ext_t t = {
+        .base = {
+            .flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
+            .cmd = cmd,
+            .addr = 0,
+            .length = 8*length,
+            .rxlength = 0,
+            .tx_buffer = data,
+            .rx_buffer = NULL
+        },
+        .command_bits = 8,
+        .address_bits = 0,
+        .dummy_bits = 0,
+    };
+
+    spi_transmit((spi_transaction_t*)(&t));
+}
+
+void MCP2521_HardwareHandle_ESP::write(uint8_t cmd, uint8_t data, uint8_t address) {
+    spi_transaction_ext_t t = {
+        .base = {
+            .flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
+            .cmd = cmd,
+            .addr = address,
+            .length = 8,
+            .rxlength = 0,
+            .tx_buffer = &data,
+            .rx_buffer = NULL
+        },
+        .command_bits = 8,
+        .address_bits = 8,
+        .dummy_bits = 0,
+    };
+
+    spi_transmit((spi_transaction_t*)(&t));
+}
+
+void MCP2521_HardwareHandle_ESP::write(uint8_t cmd, uint8_t data) {
+    spi_transaction_ext_t t = {
+        .base = {
+            .flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
+            .cmd = cmd,
+            .addr = 0,
+            .length = 8,
+            .rxlength = 0,
+            .tx_buffer = &data,
+            .rx_buffer = NULL
+        },
+        .command_bits = 8,
+        .address_bits = 0,
+        .dummy_bits = 0,
+    };
+
+    spi_transmit((spi_transaction_t*)(&t));
+}
+
+#endif
--- a/common-libaries/mcp2521_hardware_interface/esp_implementation_init.cpp
+++ b/common-libaries/mcp2521_hardware_interface/esp_implementation_init.cpp
@@ -1,11 +1,14 @@
-#include "mcp2521.hpp"
-#include <stdint.h>
+#include "mcp2521_hardware_handle.hpp"
+
+#ifdef ESP_PLATFORM
+#include "mcp2521_hardware_esp.hpp"
+#include "driver/gpio.h"
 #include <string.h>

-#include "driver/gpio.h"
-#include "driver/spi_master.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"

-MCP2521_SPI_Interface::MCP2521_SPI_Interface(
+MCP2521_HardwareHandle_ESP::MCP2521_HardwareHandle_ESP(
    spi_host_device_t spi_host,
    spi_bus_config_t *bus_config,
    gpio_num_t mosi, 
@@ -20,7 +23,7 @@ MCP2521_SPI_Interface::MCP2521_SPI_Interface(
    initSPIDevice(spi_host, cs);
 }

-MCP2521_SPI_Interface::MCP2521_SPI_Interface(
+MCP2521_HardwareHandle_ESP::MCP2521_HardwareHandle_ESP(
    spi_host_device_t spi_host,
    spi_bus_config_t *bus_config,
    gpio_num_t cs, 
@@ -31,7 +34,11 @@ MCP2521_SPI_Interface::MCP2521_SPI_Interface(
    initSPIDevice(spi_host, cs);
 }

-void MCP2521_SPI_Interface::initSPIBus(
+MCP2521_HardwareHandle_ESP::~MCP2521_HardwareHandle_ESP() {
+
+}
+
+void MCP2521_HardwareHandle_ESP::initSPIBus(
    spi_host_device_t spi_host,
    gpio_num_t mosi, 
    gpio_num_t miso, 
@@ -50,7 +57,7 @@ void MCP2521_SPI_Interface::initSPIBus(
    spi_bus_initialize(spi_host, bus_config, SPI_DMA_CH_AUTO);
 }

-void MCP2521_SPI_Interface::initSPIDevice(
+void MCP2521_HardwareHandle_ESP::initSPIDevice(
    spi_host_device_t spi_host,
    gpio_num_t cs
 ) {
@@ -66,7 +73,7 @@ void MCP2521_SPI_Interface::initSPIDevice(
        // Learned this the hard way
        .cs_ena_pretrans = 0,
        .cs_ena_posttrans = 0,
-        .clock_speed_hz = 10000,
+        .clock_speed_hz = 2000,

        .spics_io_num = cs,
        .flags = SPI_DEVICE_NO_DUMMY,
@@ -75,25 +82,11 @@ void MCP2521_SPI_Interface::initSPIDevice(

    spi_bus_add_device(spi_host, &this->spi_device_config, &this->spi_device_handle);

-    memset(&this->spi_tx_buffer, 0, sizeof(this->spi_tx_buffer));
-    memset(&this->spi_rx_buffer, 0, sizeof(this->spi_rx_buffer));
+    spiMutex = xSemaphoreCreateMutex();
 }

-spi_bus_config_t * MCP2521_SPI_Interface::getSPI_bus_config() {
+spi_bus_config_t * MCP2521_HardwareHandle_ESP::getSPI_bus_config() {
    return this->spi_bus_config;
-}   
-
-MCP2521_SPI_Interface::~MCP2521_SPI_Interface() {
-    deinitSPI();
-    deinitPins();
-}
-
-void MCP2521_SPI_Interface::initPins(gpio_num_t int_pin) {
-
-}
-
-void MCP2521_SPI_Interface::deinitPins() {
-
-
 }

+#endif
--- a/common-libaries/mcp2521_hardware_interface/esp_implementation_int.cpp
+++ b/common-libaries/mcp2521_hardware_interface/esp_implementation_int.cpp
@@ -0,0 +1,66 @@
+#include "mcp2521_hardware_handle.hpp"
+
+#ifdef ESP_PLATFORM
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "mcp2521_hardware_esp.hpp"
+
+static void IRAM_ATTR gpio_isr_can_handler(void* arg) {
+    MCP2521_HardwareHandle_ESP * handle = (MCP2521_HardwareHandle_ESP *)arg;
+    handle->isr_can_interrupt();
+}
+
+static void handleInteruptTaskCallerFn(void *arg) {
+    MCP2521_HardwareHandle_ESP * handle = (MCP2521_HardwareHandle_ESP *)arg;
+    handle->handleIntteruptTaskFn();
+}
+
+void MCP2521_HardwareHandle_ESP::initPins(
+    gpio_num_t int_pin
+) {
+    canInterruptSemaphore = xSemaphoreCreateBinary();
+
+    gpio_config_t io_conf;
+    io_conf.intr_type = GPIO_INTR_NEGEDGE;
+    io_conf.mode = GPIO_MODE_INPUT;
+    io_conf.pin_bit_mask = 1 << int_pin;
+    io_conf.pull_down_en = GPIO_PULLDOWN_DISABLE;
+    io_conf.pull_up_en = GPIO_PULLUP_ENABLE;
+    gpio_config(&io_conf);
+
+    gpio_install_isr_service(0);
+    gpio_isr_handler_add(int_pin, gpio_isr_can_handler, this);
+
+    xTaskCreatePinnedToCore(
+        (TaskFunction_t)&handleInteruptTaskCallerFn,
+        "canInterruptTask",
+        2048,
+        this,
+        5,
+        &canInterruptTaskHandle,
+        0
+    );
+}
+
+void MCP2521_HardwareHandle_ESP::handleIntteruptTaskFn() {
+    while(true) {
+        xSemaphoreTake(canInterruptSemaphore, portMAX_DELAY);
+        intHandler(intHandlerArg);
+    }
+}
+
+void MCP2521_HardwareHandle_ESP::isr_can_interrupt() {
+    BaseType_t wokenTask = pdFALSE;
+    xSemaphoreGiveFromISR(canInterruptSemaphore, &wokenTask);
+
+    if(wokenTask) {
+        portYIELD_FROM_ISR();
+    }
+}
+
+void MCP2521_HardwareHandle_ESP::registerIntHandler(intHandlerFunction_t handler, void * arg) {
+    intHandlerArg = arg;
+    intHandler = handler;
+}
+
+#endif
--- a/common-libaries/mcp2521_hardware_interface/include/mcp2521_hardware_esp.hpp
+++ b/common-libaries/mcp2521_hardware_interface/include/mcp2521_hardware_esp.hpp
@@ -0,0 +1,131 @@
+/**
+ * @file mcp2521_hardware_esp.hpp
+ * @author AlexanderHD27
+ * @brief 
+ * @version 0.1
+ * @date 2024-11-16
+ * 
+ * @copyright Copyright (c) 2024
+ * 
+ */
+#pragma once
+#include "mcp2521_hardware_handle.hpp"
+
+#ifdef ESP_PLATFORM
+
+#include "driver/gpio.h"
+#include "driver/spi_master.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+
+static void handleInteruptTaskCallerFn(void *arg);
+static void IRAM_ATTR gpio_isr_can_handler(void* arg);
+
+/**
+ * @brief Hardware handle for MCP2521 over SPI on ESP32
+ * This is should not be used if multiple MCP2521 are on the same SPI bus
+ */
+class MCP2521_HardwareHandle_ESP : public I_MCP2521_HardwareHandle {
+protected:
+    void spi_transmit(spi_transaction_t *t);
+    
+    /**
+     * @brief Sempahore, that is set every time the MCP2521 triggers an interrupt by the canInterruptTaskHandle
+     */
+    SemaphoreHandle_t canInterruptSemaphore = NULL;
+
+
+    /**
+     * @brief Handle to task that handles the MCP2521 interrupt
+     * A Handle can be registered via the registerIntHandler method
+     */
+    TaskHandle_t canInterruptTaskHandle = NULL;
+
+    spi_device_handle_t spi_device_handle;
+    
+private:
+    spi_bus_config_t * spi_bus_config;
+    char spi_tmp_buffer;
+    
+    spi_device_interface_config_t spi_device_config;
+
+    /**
+     * @brief Sempahore, that protects the SPI bus from being accessed by multiple tasks at the same time
+     * 
+     */
+    SemaphoreHandle_t spiMutex = NULL;
+
+    void * intHandlerArg = NULL;
+    intHandlerFunction_t intHandler = NULL;
+
+public:
+    MCP2521_HardwareHandle_ESP(
+        spi_host_device_t spi_host,
+        spi_bus_config_t *bus_config,
+        gpio_num_t mosi, 
+        gpio_num_t miso, 
+        gpio_num_t sclk, 
+        gpio_num_t cs, 
+        gpio_num_t int_pin
+    );
+
+    MCP2521_HardwareHandle_ESP(
+        spi_host_device_t spi_host,
+        spi_bus_config_t *bus_config,
+        gpio_num_t cs, 
+        gpio_num_t int_pin
+    );
+
+    static void initSPIBus(
+        spi_host_device_t spi_host,
+        gpio_num_t mosi, 
+        gpio_num_t miso, 
+        gpio_num_t sclk, 
+        spi_bus_config_t *bus_config
+    );
+
+    void initSPIDevice(
+        spi_host_device_t spi_host,
+        gpio_num_t cs
+    );
+
+    void initPins(
+        gpio_num_t int_pin
+    );
+
+    ~MCP2521_HardwareHandle_ESP();
+
+    spi_bus_config_t * getSPI_bus_config();
+
+    // ISR Stuff
+    /**
+     * @brief This function is called by the ISR, that is triggered by the MCP2521
+     * This function just set the canInterruptSemaphore, that then unblocks the canInterruptTaskHandle.
+     * So this function should be as short as possible, let the reset of the work be done in the canInterruptTaskHandle
+     */
+    void isr_can_interrupt();
+
+    /**
+     * This is the methode run as canInterruptTaskHandle.
+     * It should continously aquire the canInterruptSemaphore and then call the intHandler
+     */
+    void handleIntteruptTaskFn();
+
+    // Inherited from MCP2521_Hardware_Handle
+    void execute(uint8_t cmd);
+    void execute(uint8_t cmd, uint8_t address);
+
+    void read(uint8_t cmd, uint8_t *data, size_t length, uint8_t address);
+    void read(uint8_t cmd, uint8_t *data, size_t length);
+    uint8_t read(uint8_t cmd, uint8_t address);
+    uint8_t read(uint8_t cmd);
+    
+    void write(uint8_t cmd, uint8_t *data, size_t length, uint8_t address);
+    void write(uint8_t cmd, uint8_t *data, size_t length);
+    void write(uint8_t cmd, uint8_t data, uint8_t address);
+    void write(uint8_t cmd, uint8_t data);
+
+    void registerIntHandler(intHandlerFunction_t handler, void * arg);
+};
+
+#endif
--- a/common-libaries/mcp2521_hardware_interface/include/mcp2521_hardware_esp_bus.hpp
+++ b/common-libaries/mcp2521_hardware_interface/include/mcp2521_hardware_esp_bus.hpp
@@ -0,0 +1,46 @@
+#pragma once
+
+#include "mcp2521_hardware_esp.hpp"
+
+#include "driver/gpio.h"
+#include "driver/spi_master.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+
+struct spi_message_t {
+    spi_transaction_t *transaction;
+    QueueHandle_t queue;
+    spi_device_handle_t spi_device_handle;
+};
+
+/**
+ * @brief Hardware handle for MCP2521 over SPI in a multi-Bus-Setup on ESP32 
+ * This should not be created directly, use the MCP2521_HardwareHandleFactory_ESPBus instead
+ */
+class MCP2521_HardwareHandle_ESPBus : public MCP2521_HardwareHandle_ESP {
+    using MCP2521_HardwareHandle_ESP::MCP2521_HardwareHandle_ESP;
+private:
+    QueueHandle_t send_queue;
+    QueueHandle_t receive_queue;
+
+    /**
+     * @brief Wrapper around the spi_transmit function, that locks the spiMutex before calling spi_transmit.
+     * The muxtex is shared with all other MCP2521_HardwareHandle_ESPBus instances created by the same MCP2521_HardwareHandleFactory_ESPBus
+     * @overload
+     * 
+     * @param t ESP32 SPI Transaction struct
+     */
+    void spi_transmit(spi_transaction_t *t);
+public:
+    MCP2521_HardwareHandle_ESPBus(
+        QueueHandle_t send_queue,
+        spi_host_device_t spi_host,
+        spi_bus_config_t * bus_config,
+        gpio_num_t cs, 
+        gpio_num_t int_pin
+    );
+
+    void initPins(
+        gpio_num_t int_pin
+    );
+};
--- a/common-libaries/mcp2521_hardware_interface/include/mcp2521_hardware_esp_bus_factory.hpp
+++ b/common-libaries/mcp2521_hardware_interface/include/mcp2521_hardware_esp_bus_factory.hpp
@@ -0,0 +1,41 @@
+#pragma once
+
+#ifdef ESP_PLATFORM
+#include "mcp2521_hardware_handle.hpp"
+#include "mcp2521_hardware_esp_bus.hpp"
+
+#include "driver/gpio.h"
+#include "driver/spi_master.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/queue.h"
+
+class MCP2521_HardwareHandleFactory_ESPBus {
+private:
+    spi_bus_config_t bus_config;
+    spi_host_device_t spi_host;
+
+    gpio_num_t mosi; 
+    gpio_num_t miso;
+    gpio_num_t sclk;
+
+    QueueHandle_t spi_queue;
+    TaskHandle_t transactionTaskHandle;
+
+public:
+    MCP2521_HardwareHandleFactory_ESPBus(
+        spi_host_device_t spi_host,
+        gpio_num_t mosi, 
+        gpio_num_t miso, 
+        gpio_num_t sclk
+    );
+
+    void transactionTaskFn();
+
+    MCP2521_HardwareHandle_ESPBus create(
+        gpio_num_t int_pin,
+        gpio_num_t cs
+    );
+};
+
+#endif
--- a/common-libaries/mcp2521_hardware_interface/include/mcp2521_hardware_handle.hpp
+++ b/common-libaries/mcp2521_hardware_interface/include/mcp2521_hardware_handle.hpp
@@ -0,0 +1,119 @@
+#pragma once
+#include <cstdint>
+#include <strings.h>
+
+/**
+ * @brief Handler function pointer type
+ * 
+ */
+typedef void (*intHandlerFunction_t)(void *); 
+
+/**
+ * @brief Hardware handle for MCP2521
+ * @interface
+ * This is an abstraction over the sepific hardware setup, eg. SPI@ESP32 or RP2040
+ * 
+ */
+class I_MCP2521_HardwareHandle {
+public:
+    /**
+     * @brief Registeres a function that is called when the MCP2521 triggers an interrupt
+     * 
+     * @param handler This function is called when the MCP2521 triggers an interrupt
+     * @param arg Arguments passed to the handler-function
+     */
+    virtual void registerIntHandler(intHandlerFunction_t handler, void * arg) = 0;
+
+    /**
+     * @overload
+     * @brief justed sends a 8bit command to the MCP2521
+     * 
+     * @param cmd command to send
+     */
+    virtual void execute(uint8_t cmd) = 0;
+
+    /**
+     * @overload
+     * @brief executes a command (8 bit) with an address (8 bit)
+     * 
+     * @param cmd 8 bit command
+     * @param address 8 bit address
+     */
+    virtual void execute(uint8_t cmd, uint8_t address) = 0;
+
+    /**
+     * 
+     * @brief Executes a read from the MCP2521 with command, data buffer, length and address
+     * @overload
+     * 
+     * @param cmd Command to MCP2521
+     * @param data Data buffer to store the read data
+     * @param length How many bytes to read
+     * @param address Address to read from
+     */
+    virtual void read(uint8_t cmd, uint8_t *data, size_t length, uint8_t address) = 0;
+
+    /**
+     * @brief Executes a read from the MCP2521 with command, data buffer and length
+     * @overload
+     * 
+     * @param cmd Command to MCP2521
+     * @param data Data buffer to store the read data
+     * @param length How many bytes to read
+     */
+    virtual void read(uint8_t cmd, uint8_t *data, size_t length) = 0;
+    
+    /**
+     * @brief Executes a read from the MCP2521 with command and address, returns just one byte
+     * 
+     * @param cmd Command to MCP2521
+     * @param address Address to read from
+     * @return uint8_t 
+     */
+    virtual uint8_t read(uint8_t cmd, uint8_t address) = 0;
+    
+    /**
+     * @brief Executes a read from the MCP2521 with command, returns just one byte
+     * 
+     * @param cmd Command to MCP2521
+     * @return uint8_t 
+     */
+    virtual uint8_t read(uint8_t cmd) = 0;
+    
+    /**
+     * @brief Writes data to the MCP2521 with command, data buffer, length and address
+     * 
+     * @param cmd Command to MCP2521
+     * @param data Data buffer to write
+     * @param length Length of the data buffer
+     * @param address Where to write the data
+     */
+    virtual void write(uint8_t cmd, uint8_t *data, size_t length, uint8_t address) = 0;
+    
+    /**
+     * @brief Wirites data to the MCP2521 with command, data buffer and length
+     * 
+     * @param cmd Command to MCP2521
+     * @param data Data buffer to write
+     * @param length Length of the data buffer
+     */
+    virtual void write(uint8_t cmd, uint8_t *data, size_t length) = 0;
+    
+    /**
+     * @brief Writes data to the MCP2521 with command, data (on byte) and address
+     * 
+     * @param cmd Command to MCP2521
+     * @param data Data byte to write
+     * @param address Where to write the data
+     */
+    virtual void write(uint8_t cmd, uint8_t data, uint8_t address) = 0;
+    
+    /**
+     * @brief Writes to the MCP2521 with command and data (one byte)
+     * 
+     * @param cmd Command to MCP2521
+     * @param data Data byte to write
+     */
+    virtual void write(uint8_t cmd, uint8_t data) = 0;
+};
+
--- a/gobotrpc/.gitignore
+++ b/gobotrpc/.gitignore
--- a/gobotrpc/.vscode/tasks.json
+++ b/gobotrpc/.vscode/tasks.json
@@ -0,0 +1,22 @@
+{
+    // See https://go.microsoft.com/fwlink/?LinkId=733558
+    // for the documentation about the tasks.json format
+    "version": "2.0.0",
+    "tasks": [
+        {
+            "taskName": "Run Main",
+            "command": "python3 generator/main.py",
+            "type": "shell",
+            "group": {
+                "kind": "build",
+                "isDefault": true
+            },
+            "presentation": {
+                "reveal": "always",
+                "panel": "dedicated",
+                "focus": true,
+                "clear": true
+            },
+        },
+    ]
+}
--- a/gobotrpc/docs/Gobot
+++ b/gobotrpc/docs/Gobot
--- a/gobotrpc/generator/main.py
+++ b/gobotrpc/generator/main.py
--- a/gobotrpc/generator/src/init.py
+++ b/gobotrpc/generator/src/init.py
--- a/gobotrpc/generator/src/backend/init.py
+++ b/gobotrpc/generator/src/backend/init.py
--- a/gobotrpc/generator/src/backend/cpp/converter.py
+++ b/gobotrpc/generator/src/backend/cpp/converter.py
--- a/gobotrpc/generator/src/backend/cpp/render.py
+++ b/gobotrpc/generator/src/backend/cpp/render.py
--- a/gobotrpc/generator/src/defintion_input.py
+++ b/gobotrpc/generator/src/defintion_input.py
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
AlexanderHD27	33d3dc0608	Started with gobotrpc autogenerated parser and ctest (not working)	2025-01-19 11:45:41 +01:00
AlexanderHD27	346e6a52b7	Started implementing cpp generation	2025-01-12 15:57:29 +01:00
AlexanderHD27	33e7f4afac	Implemented basic parser from .ods into internal format	2025-01-12 14:53:37 +01:00
AlexanderHD27	b5c7e5b4c1	Merged i2c-helper in Main	2025-01-12 00:16:00 +01:00
AlexanderHD27	f4792de050	Added Kicad Backups 2 gitignore	2024-10-03 19:53:27 +02:00
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				`<!DOCTYPE HTML><html lang="en-US"> <head> <meta charset="UTF-8"> <meta http-equiv="refresh" content="0; url=https://www.snapeda.com/about/import/#"> <script type="text/javascript">window.location.href="https://www.snapeda.com/about/import/#" </script> <title>Page Redirection</title> </head> <body> If you are not redirected automatically, follow this <a href="https://www.snapeda.com/about/import/#">link to the import guide</a>. </body></html>`
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				`/home/alexander/Projects/gobot/common-libaries/gobot_rpc`