Compare commits
63 Commits
can-interf
...
i2c-helper
| Author | SHA1 | Date | |
|---|---|---|---|
|
2824bdac6e | ||
|
|
b040662551 | ||
|
|
0b620a76ca | ||
|
|
89f494ba58 | ||
|
|
c73a9212eb | ||
|
|
9ab6cbe097 | ||
|
|
2a038367a8 | ||
|
|
1f5148dcdd | ||
|
|
1e317adedd | ||
|
|
caf7586b5b | ||
|
|
08154454fa | ||
|
|
7dd6686b01 | ||
|
|
db464efa36 | ||
|
|
aa9d00bf6e | ||
|
|
bac01e3a9b | ||
|
|
1fd8737fe4 | ||
|
|
cbf702c6d5 | ||
|
|
894d5f4380 | ||
|
|
78a5148a1e | ||
|
|
0bb125fad9 | ||
|
|
ad61e7e9b7 | ||
|
|
c136056ed2 | ||
|
|
edc2dd6294 | ||
|
|
58043ee0d5 | ||
|
|
65df7b1912 | ||
|
|
877040362c | ||
|
|
ec2225aa4e | ||
|
|
6ef60a3f2f | ||
|
|
6f107aea76 | ||
|
|
801e791199 | ||
|
|
51ce3af221 | ||
|
|
e091d4df18 | ||
|
|
f002a01308 | ||
|
|
6ba0535af9 | ||
|
|
46f3514c6a | ||
|
|
a755a954f6 | ||
|
|
c7c5cea341 | ||
|
|
f0ae696c4d | ||
|
|
51587757b1 | ||
|
|
f4b591a5e6 | ||
|
|
a2032d72fd | ||
|
|
57e73127cc | ||
|
|
53a5c10cee | ||
|
|
f5281e37c8 | ||
|
|
783799832c | ||
|
|
61abb16b83 | ||
|
|
0dc0f82938 | ||
|
|
1786fa0b41 | ||
|
|
f3490212bf | ||
|
|
84e351d154 | ||
|
|
986927d740 | ||
|
|
6be2dd0b7d | ||
|
|
b2ffcb5d72 | ||
|
|
1ad6c75788 | ||
|
|
e97472c2a3 | ||
|
|
bba35c9622 | ||
|
|
9640a5b747 | ||
|
|
49d52ca0ed | ||
|
|
08598ca7a3 | ||
|
|
36f6f1863b | ||
|
|
0c1b8f4e86 | ||
|
|
29af5335f5 | ||
|
|
8b97a1853d |
BIN
.gitignore
(Stored with Git LFS)
vendored
BIN
.gitignore
(Stored with Git LFS)
vendored
Binary file not shown.
BIN
.gitmodules
(Stored with Git LFS)
vendored
BIN
.gitmodules
(Stored with Git LFS)
vendored
Binary file not shown.
BIN
3D-Print-Files/RPi_Mount/RPi Mount Raw - MountPart.stl
Normal file
BIN
3D-Print-Files/RPi_Mount/RPi Mount Raw - MountPart.stl
Normal file
Binary file not shown.
BIN
3D-Print-Files/RPi_Mount/RPi Mount Raw - TopPart.stl
Normal file
BIN
3D-Print-Files/RPi_Mount/RPi Mount Raw - TopPart.stl
Normal file
Binary file not shown.
BIN
3D-Print-Files/RPi_Mount/RPi_Mount.3mf
Normal file
BIN
3D-Print-Files/RPi_Mount/RPi_Mount.3mf
Normal file
Binary file not shown.
BIN
3d-print/RPi_Mount.3mf
Normal file
BIN
3d-print/RPi_Mount.3mf
Normal file
Binary file not shown.
BIN
3d-print/models/PerfBoardHolder/PerfBoardHolder - BoarMount.stl
Normal file
BIN
3d-print/models/PerfBoardHolder/PerfBoardHolder - BoarMount.stl
Normal file
Binary file not shown.
BIN
3d-print/models/PerfBoardHolder/PerfBoardHolder - Mount0.stl
Normal file
BIN
3d-print/models/PerfBoardHolder/PerfBoardHolder - Mount0.stl
Normal file
Binary file not shown.
BIN
3d-print/models/PerfBoardHolder/PerfBoardHolder - Mount1.stl
Normal file
BIN
3d-print/models/PerfBoardHolder/PerfBoardHolder - Mount1.stl
Normal file
Binary file not shown.
BIN
3d-print/models/PerfBoardHolder/PerfBoardHolder.3mf
Normal file
BIN
3d-print/models/PerfBoardHolder/PerfBoardHolder.3mf
Normal file
Binary file not shown.
7
can-interface/.vscode/settings.json
vendored
7
can-interface/.vscode/settings.json
vendored
@@ -10,11 +10,12 @@
|
|||||||
"idf.openOcdConfigs": [
|
"idf.openOcdConfigs": [
|
||||||
"board/esp32-wrover-kit-3.3v.cfg"
|
"board/esp32-wrover-kit-3.3v.cfg"
|
||||||
],
|
],
|
||||||
"idf.port": "/dev/ttyUSB1",
|
"idf.port": "/dev/ttyUSB0",
|
||||||
"idf.pythonBinPath": "/home/alexander/.espressif/python_env/idf5.3_py3.12_env/bin/python",
|
"idf.pythonBinPath": "/home/alexander/.espressif/python_env/idf5.3_py3.12_env/bin/python",
|
||||||
"idf.toolsPath": "/home/alexander/.espressif",
|
"idf.toolsPath": "/home/alexander/.espressif",
|
||||||
"idf.flashType": "JTAG",
|
"idf.flashType": "UART",
|
||||||
"idf.openOcdLaunchArgs": ["-c", "adapter_khz 10000"],
|
"idf.openOcdLaunchArgs": ["-c", "adapter_khz 1000"],
|
||||||
|
"idf.openOcdDebugLevel": 2,
|
||||||
"files.associations": {
|
"files.associations": {
|
||||||
"*.tcc": "cpp",
|
"*.tcc": "cpp",
|
||||||
"cstdint": "cpp",
|
"cstdint": "cpp",
|
||||||
|
|||||||
BIN
can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-30_000501.zip
(Stored with Git LFS)
Normal file
BIN
can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-30_000501.zip
(Stored with Git LFS)
Normal file
Binary file not shown.
BIN
can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-30_140231.zip
(Stored with Git LFS)
Normal file
BIN
can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-30_140231.zip
(Stored with Git LFS)
Normal file
Binary file not shown.
BIN
can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-12-22_095043.zip
(Stored with Git LFS)
Normal file
BIN
can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-12-22_095043.zip
(Stored with Git LFS)
Normal file
Binary file not shown.
BIN
can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-12-27_204815.zip
(Stored with Git LFS)
Normal file
BIN
can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-12-27_204815.zip
(Stored with Git LFS)
Normal file
Binary file not shown.
BIN
can-interface/circuit/i2c-hub/i2c-hub-backups/i2c-hub-2024-12-28_225050.zip
(Stored with Git LFS)
Normal file
BIN
can-interface/circuit/i2c-hub/i2c-hub-backups/i2c-hub-2024-12-28_225050.zip
(Stored with Git LFS)
Normal file
Binary file not shown.
BIN
can-interface/circuit/i2c-hub/i2c-hub.kicad_prl
(Stored with Git LFS)
Normal file
BIN
can-interface/circuit/i2c-hub/i2c-hub.kicad_prl
(Stored with Git LFS)
Normal file
Binary file not shown.
BIN
can-interface/circuit/i2c-hub/i2c-hub.kicad_pro
(Stored with Git LFS)
Normal file
BIN
can-interface/circuit/i2c-hub/i2c-hub.kicad_pro
(Stored with Git LFS)
Normal file
Binary file not shown.
@@ -1,8 +0,0 @@
|
|||||||
idf_component_register(SRCS
|
|
||||||
"canTP.cpp"
|
|
||||||
"gobotRPC.cpp"
|
|
||||||
INCLUDE_DIRS "include"
|
|
||||||
REQUIRES driver
|
|
||||||
REQUIRES mcp2521
|
|
||||||
REQUIRES mcp2521_hardware_interface
|
|
||||||
)
|
|
||||||
@@ -1,75 +0,0 @@
|
|||||||
#include "canTP.hpp"
|
|
||||||
#include <math.h>
|
|
||||||
#include <cstring>
|
|
||||||
|
|
||||||
void onRxHandlerWrapper(void *arg) {
|
|
||||||
SocketCANTP *socket = (SocketCANTP *)arg;
|
|
||||||
socket->onRxHandler();
|
|
||||||
}
|
|
||||||
|
|
||||||
void SocketCANTP::onRxHandler() {
|
|
||||||
uint8_t tmpBuffer[8];
|
|
||||||
rx_info info = mcp2521->get_rx_id(MCP2521_RX_BUFFER::RXB0);
|
|
||||||
mcp2521->read_rx_buf(MCP2521_RX_BUFFER::RXB0, MCP2521_BUFFER_TYPE::DATA, tmpBuffer, info.length);
|
|
||||||
|
|
||||||
CANTP_FRAME_TYPE ft = static_cast<CANTP_FRAME_TYPE>((tmpBuffer[0] & 0xF0) >> 4);
|
|
||||||
|
|
||||||
switch (ft) {
|
|
||||||
case CANTP_FRAME_TYPE::SINGLE_FRAME:
|
|
||||||
if (userHandler) {
|
|
||||||
userHandler(tmpBuffer + 1, info.length - 1, userArg);
|
|
||||||
}
|
|
||||||
break;
|
|
||||||
|
|
||||||
case CANTP_FRAME_TYPE::FIRST_FRAME:
|
|
||||||
int sizeTotal = ((tmpBuffer[0] & 0x0F) << 8 | tmpBuffer[1]) - 6;
|
|
||||||
consecitonFrameCounter = ceil(((float)(sizeTotal)) / 7.0);
|
|
||||||
memcpy(rxBuffer, tmpBuffer + 1, 6);
|
|
||||||
|
|
||||||
sendFlowControl(CANTP_FLOW_STATUS::CLEAR_TO_SEND, blockSizes, 0);
|
|
||||||
|
|
||||||
break;
|
|
||||||
|
|
||||||
case CANTP_FRAME_TYPE::CONSECUTIVE_FRAME:
|
|
||||||
|
|
||||||
|
|
||||||
consecitonFrameCounter--;
|
|
||||||
if(consecitonFrameCounter == 0) {
|
|
||||||
if (userHandler) {
|
|
||||||
userHandler(rxBuffer, rxLength, userArg);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
break;
|
|
||||||
|
|
||||||
case CANTP_FRAME_TYPE::FLOW_CONTROL:
|
|
||||||
break;
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
|
|
||||||
SocketCANTP::SocketCANTP(
|
|
||||||
MCP2521 *mcp2521,
|
|
||||||
uint32_t address,
|
|
||||||
bool is_extended,
|
|
||||||
uint8_t blockSizes
|
|
||||||
) {
|
|
||||||
this->mcp2521 = mcp2521;
|
|
||||||
this->address = address;
|
|
||||||
this->is_extended = is_extended;
|
|
||||||
this->rxLength = 0;
|
|
||||||
this->consecitonFrameCounter = 0;
|
|
||||||
this->blockSizes = 0;
|
|
||||||
|
|
||||||
mcp2521->register_rx0_handler(onRxHandlerWrapper, this);
|
|
||||||
}
|
|
||||||
|
|
||||||
void SocketCANTP::send(uint8_t *data, uint8_t length) {
|
|
||||||
mcp2521->prepare_tx(
|
|
||||||
MCP2521_TX_BUFFER::TXB0, address, data, length, is_extended, false);
|
|
||||||
mcp2521->request_to_send(MCP2521_TX_BUFFER::TXB0);
|
|
||||||
}
|
|
||||||
|
|
||||||
void SocketCANTP::register_rx_handler(rx_handler handler, void *arg) {
|
|
||||||
userHandler = handler;
|
|
||||||
userArg = arg;
|
|
||||||
}
|
|
||||||
@@ -1,556 +0,0 @@
|
|||||||
<mxfile host="Electron" agent="Mozilla/5.0 (X11; Linux x86_64) AppleWebKit/537.36 (KHTML, like Gecko) draw.io/24.7.17 Chrome/128.0.6613.36 Electron/32.0.1 Safari/537.36" version="24.7.17">
|
|
||||||
<diagram name="Page-1" id="VLDBnTalcAr4j7jpmEzg">
|
|
||||||
<mxGraphModel dx="1024" dy="599" 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" />
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-1" value="GoBot RPC Protocol" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="60" width="120" height="120" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-2" value="CAN" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="180" width="120" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-3" value="CAN" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="220" width="120" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-4" value="Physical" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="40" y="220" width="80" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-6" value="Data Link" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="40" y="180" width="80" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-7" value="Network" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="40" y="140" width="80" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-8" value="Transport" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="40" y="100" width="80" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-10" value="Application" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="40" y="60" width="80" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-11" value="1" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="440" y="220" width="80" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-12" value="2" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="520" y="220" width="80" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-13" value="3" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="600" y="220" width="80" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-15" value="4" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="680" y="220" width="80" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-16" value="5" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="760" y="220" width="80" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-17" value="6" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="840" y="220" width="80" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-19" value="7" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="920" y="220" width="80" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-20" value="0" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="360" y="220" width="80" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-22" value="Bit" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="320" y="220" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-23" value="RPC Number" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="360" y="240" width="320" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-25" value="RPC Segment Number" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="760" y="240" width="240" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-27" value="0" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="360" y="60" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-28" value="1" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="400" y="60" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-29" value="2" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="440" y="60" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-30" value="3" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="480" y="60" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-35" value="4" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="520" y="60" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-36" value="5" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="560" y="60" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-37" value="6" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="600" y="60" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-38" value="7" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="640" y="60" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-39" value="Parameter Data" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="400" y="80" width="280" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-40" value="Header" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="360" y="80" width="40" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-41" value="" style="endArrow=none;html=1;rounded=0;entryX=0;entryY=1;entryDx=0;entryDy=0;exitX=1;exitY=0;exitDx=0;exitDy=0;dashed=1;dashPattern=8 8;" edge="1" parent="1" source="VN9_mGhUesFHwJ--pmr3-22" target="VN9_mGhUesFHwJ--pmr3-40">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="320" y="190" as="sourcePoint" />
|
|
||||||
<mxPoint x="370" y="140" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-42" value="" style="endArrow=none;html=1;rounded=0;entryX=0;entryY=1;entryDx=0;entryDy=0;exitX=1;exitY=0;exitDx=0;exitDy=0;dashed=1;dashPattern=8 8;" edge="1" parent="1" source="VN9_mGhUesFHwJ--pmr3-19" target="VN9_mGhUesFHwJ--pmr3-39">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="370" y="190" as="sourcePoint" />
|
|
||||||
<mxPoint x="370" y="130" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-43" value="Byte" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="320" y="60" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-44" value="CAN Package" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="360" y="30" width="320" height="30" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-46" value="Response/<div>Request</div>" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="680" y="240" width="80" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-63" value="RPC Number" style="text;html=1;align=right;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontStyle=1" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="78.57" y="900" width="80" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-64" value="Description" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontStyle=1" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="158.57" y="900" width="120" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-65" value="Request Segments" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontStyle=1" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="278.57" y="880" width="640" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-67" value="0" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontStyle=1" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="278.57" y="900" width="80" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-68" value="1" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontStyle=1" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="358.57" y="900" width="80" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-69" value="2" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontStyle=1" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="438.57" y="900" width="80" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-70" value="3" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontStyle=1" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="518.57" y="900" width="80" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-71" value="4" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontStyle=1" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="598.57" y="900" width="80" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-72" value="5" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontStyle=1" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="678.57" y="900" width="80" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-73" value="6" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontStyle=1" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="758.57" y="900" width="80" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-74" value="7" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontStyle=1" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="838.57" y="900" width="80" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-76" value="" style="endArrow=none;html=1;rounded=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="160" y="1560" as="sourcePoint" />
|
|
||||||
<mxPoint x="160" y="880" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-77" value="" style="endArrow=none;html=1;rounded=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="277.57" y="1560" as="sourcePoint" />
|
|
||||||
<mxPoint x="277.8" y="880" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-78" value="" style="endArrow=none;html=1;rounded=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="358.57" y="1560" as="sourcePoint" />
|
|
||||||
<mxPoint x="358.57" y="900" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-79" value="" style="endArrow=none;html=1;rounded=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="438.57" y="1560" as="sourcePoint" />
|
|
||||||
<mxPoint x="437.8" y="900" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-80" value="" style="endArrow=none;html=1;rounded=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="517.57" y="1560" as="sourcePoint" />
|
|
||||||
<mxPoint x="517.8000000000001" y="900" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-81" value="" style="endArrow=none;html=1;rounded=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="597.57" y="1560" as="sourcePoint" />
|
|
||||||
<mxPoint x="597.8000000000001" y="900" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-82" value="" style="endArrow=none;html=1;rounded=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="678.57" y="1560" as="sourcePoint" />
|
|
||||||
<mxPoint x="678.57" y="900" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-83" value="" style="endArrow=none;html=1;rounded=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="758.57" y="1560" as="sourcePoint" />
|
|
||||||
<mxPoint x="758.57" y="900" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-84" value="" style="endArrow=none;html=1;rounded=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="838.57" y="1560" as="sourcePoint" />
|
|
||||||
<mxPoint x="838.57" y="900" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-85" value="" style="endArrow=none;html=1;rounded=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="918.57" y="1560" as="sourcePoint" />
|
|
||||||
<mxPoint x="918.57" y="880" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-86" value="RPC Number" style="text;html=1;align=right;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontStyle=1" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="1040" y="70" width="80" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-87" value="" style="endArrow=none;html=1;rounded=0;entryX=0;entryY=1;entryDx=0;entryDy=0;" edge="1" parent="1" target="VN9_mGhUesFHwJ--pmr3-63">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="918.57" y="920" as="sourcePoint" />
|
|
||||||
<mxPoint x="928.57" y="890" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-89" value="" style="endArrow=none;html=1;rounded=0;entryX=0;entryY=1;entryDx=0;entryDy=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="918.57" y="999.86" as="sourcePoint" />
|
|
||||||
<mxPoint x="78.57" y="999.86" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-90" value="" style="endArrow=none;html=1;rounded=0;entryX=0;entryY=1;entryDx=0;entryDy=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="918.57" y="960" as="sourcePoint" />
|
|
||||||
<mxPoint x="78.57" y="960" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-91" value="" style="endArrow=none;html=1;rounded=0;entryX=0;entryY=1;entryDx=0;entryDy=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="918.57" y="1040" as="sourcePoint" />
|
|
||||||
<mxPoint x="78.57" y="1040" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-92" value="" style="endArrow=none;html=1;rounded=0;entryX=0;entryY=1;entryDx=0;entryDy=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="918.57" y="1080" as="sourcePoint" />
|
|
||||||
<mxPoint x="78.57" y="1080" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-93" value="" style="endArrow=none;html=1;rounded=0;entryX=0;entryY=1;entryDx=0;entryDy=0;fontStyle=1" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="918.57" y="1160" as="sourcePoint" />
|
|
||||||
<mxPoint x="78.57" y="1160" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-94" value="" style="endArrow=none;html=1;rounded=0;entryX=0;entryY=1;entryDx=0;entryDy=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="918.57" y="1120" as="sourcePoint" />
|
|
||||||
<mxPoint x="78.57" y="1120" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-95" value="" style="endArrow=none;html=1;rounded=0;entryX=0;entryY=1;entryDx=0;entryDy=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="918.57" y="1200" as="sourcePoint" />
|
|
||||||
<mxPoint x="78.57" y="1200" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-96" value="" style="endArrow=none;html=1;rounded=0;entryX=0;entryY=1;entryDx=0;entryDy=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="918.57" y="1240" as="sourcePoint" />
|
|
||||||
<mxPoint x="78.57" y="1240" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-97" value="" style="endArrow=none;html=1;rounded=0;entryX=0;entryY=1;entryDx=0;entryDy=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="918.57" y="1280" as="sourcePoint" />
|
|
||||||
<mxPoint x="78.57" y="1280" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-98" value="" style="endArrow=none;html=1;rounded=0;entryX=0;entryY=1;entryDx=0;entryDy=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="918.57" y="1320" as="sourcePoint" />
|
|
||||||
<mxPoint x="78.57" y="1320" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-99" value="" style="endArrow=none;html=1;rounded=0;entryX=0;entryY=1;entryDx=0;entryDy=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="918.57" y="1360" as="sourcePoint" />
|
|
||||||
<mxPoint x="78.57" y="1360" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-100" value="" style="endArrow=none;html=1;rounded=0;entryX=0;entryY=1;entryDx=0;entryDy=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="918.57" y="1400" as="sourcePoint" />
|
|
||||||
<mxPoint x="78.57" y="1400" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-101" value="" style="endArrow=none;html=1;rounded=0;entryX=0;entryY=1;entryDx=0;entryDy=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="918.57" y="1440" as="sourcePoint" />
|
|
||||||
<mxPoint x="78.57" y="1440" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-102" value="" style="endArrow=none;html=1;rounded=0;entryX=0;entryY=1;entryDx=0;entryDy=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="918.57" y="1480" as="sourcePoint" />
|
|
||||||
<mxPoint x="78.57" y="1480" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-103" value="" style="endArrow=none;html=1;rounded=0;entryX=0;entryY=1;entryDx=0;entryDy=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="918.57" y="1520" as="sourcePoint" />
|
|
||||||
<mxPoint x="78.57" y="1520" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-104" value="" style="endArrow=none;html=1;rounded=0;entryX=0;entryY=1;entryDx=0;entryDy=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="918.57" y="1559.9999999999998" as="sourcePoint" />
|
|
||||||
<mxPoint x="78.57" y="1559.9999999999998" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-176" value="0xC" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="78.57" y="1400" width="40" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-177" value="0xD" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="78.57" y="1440" width="40" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-178" value="0xE" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="78.57" y="1480" width="40" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-180" value="0xF" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="78.57" y="1520" width="40" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-183" value="0x0" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="78.57" y="920" width="40" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-184" value="0x1" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="78.57" y="960" width="40" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-185" value="0x2" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="78.57" y="1000" width="40" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-186" value="0x3" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="78.57" y="1040" width="40" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-187" value="0x4" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="78.57" y="1080" width="40" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-188" value="0x5" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="78.57" y="1120" width="40" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-189" value="0x6" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="78.57" y="1160" width="40" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-190" value="0x7" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="78.57" y="1200" width="40" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-191" value="0x8" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="78.57" y="1240" width="40" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-192" value="0x9" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="78.57" y="1280" width="40" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-193" value="0xA" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="78.57" y="1320" width="40" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-194" value="0xB" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="78.57" y="1360" width="40" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-195" value="REQ" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="920" width="38.57" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-196" value="RES" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="940" width="38.57" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-197" value="REQ" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="960" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-198" value="RES" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="980" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-199" value="REQ" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="1000" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-200" value="RES" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="1020" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-201" value="REQ" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="1040" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-202" value="RES" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="1060" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-203" value="REQ" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="1080" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-204" value="RES" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="1100" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-205" value="REQ" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="1120" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-206" value="RES" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="1140" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-207" value="REQ" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="1160" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-208" value="RES" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="1180" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-209" value="REQ" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="1200" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-210" value="RES" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="1220" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-211" value="REQ" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="1241" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-212" value="RES" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="1261" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-213" value="REQ" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="1280" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-214" value="RES" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="1300" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-215" value="REQ" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="1320" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-216" value="RES" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="1340" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-217" value="REQ" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="1360" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-218" value="RES" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="1380" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-219" value="REQ" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="1400" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-220" value="RES" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="1420" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-221" value="REQ" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="1440" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-222" value="RES" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="1460" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-223" value="REQ" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="1480" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-224" value="RES" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="1500" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-225" value="REQ" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="1520" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-226" value="RES" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="1540" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-227" value="" style="endArrow=none;html=1;rounded=0;entryX=0;entryY=1;entryDx=0;entryDy=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="920" y="1540" as="sourcePoint" />
|
|
||||||
<mxPoint x="118.57" y="1539.9999999999998" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-228" value="" style="endArrow=none;html=1;rounded=0;entryX=0;entryY=1;entryDx=0;entryDy=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="920.7199999999999" y="1499.65" as="sourcePoint" />
|
|
||||||
<mxPoint x="119.28999999999999" y="1499.6499999999999" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-229" value="" style="endArrow=none;html=1;rounded=0;entryX=0;entryY=1;entryDx=0;entryDy=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="921.43" y="1460" as="sourcePoint" />
|
|
||||||
<mxPoint x="120" y="1459.9999999999998" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-230" value="" style="endArrow=none;html=1;rounded=0;entryX=0;entryY=1;entryDx=0;entryDy=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="921.43" y="1420" as="sourcePoint" />
|
|
||||||
<mxPoint x="120" y="1419.9999999999998" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-231" value="" style="endArrow=none;html=1;rounded=0;entryX=0;entryY=1;entryDx=0;entryDy=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="921.43" y="1379.8" as="sourcePoint" />
|
|
||||||
<mxPoint x="120" y="1379.7999999999997" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-232" value="" style="endArrow=none;html=1;rounded=0;entryX=0;entryY=1;entryDx=0;entryDy=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="921.43" y="1339.8" as="sourcePoint" />
|
|
||||||
<mxPoint x="120" y="1339.7999999999997" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-233" value="" style="endArrow=none;html=1;rounded=0;entryX=0;entryY=1;entryDx=0;entryDy=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="921.43" y="1299.5" as="sourcePoint" />
|
|
||||||
<mxPoint x="120" y="1299.4999999999998" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-234" value="" style="endArrow=none;html=1;rounded=0;entryX=0;entryY=1;entryDx=0;entryDy=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="921.43" y="1259.75" as="sourcePoint" />
|
|
||||||
<mxPoint x="119.99999999999999" y="1259.7499999999998" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-235" value="" style="endArrow=none;html=1;rounded=0;entryX=0;entryY=1;entryDx=0;entryDy=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="921.43" y="1219.5" as="sourcePoint" />
|
|
||||||
<mxPoint x="119.99999999999999" y="1219.4999999999998" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-236" value="" style="endArrow=none;html=1;rounded=0;entryX=0;entryY=1;entryDx=0;entryDy=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="921.43" y="1179.75" as="sourcePoint" />
|
|
||||||
<mxPoint x="120" y="1179.7499999999998" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-237" value="" style="endArrow=none;html=1;rounded=0;entryX=0;entryY=1;entryDx=0;entryDy=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="921.43" y="1139.75" as="sourcePoint" />
|
|
||||||
<mxPoint x="120" y="1139.7499999999998" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-238" value="" style="endArrow=none;html=1;rounded=0;entryX=0;entryY=1;entryDx=0;entryDy=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="921.43" y="1100" as="sourcePoint" />
|
|
||||||
<mxPoint x="120" y="1099.9999999999998" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-239" value="" style="endArrow=none;html=1;rounded=0;entryX=0;entryY=1;entryDx=0;entryDy=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="921.43" y="1059.75" as="sourcePoint" />
|
|
||||||
<mxPoint x="120" y="1059.7499999999998" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-240" value="" style="endArrow=none;html=1;rounded=0;entryX=0;entryY=1;entryDx=0;entryDy=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="923.43" y="1019.76" as="sourcePoint" />
|
|
||||||
<mxPoint x="122" y="1019.7599999999998" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-241" value="" style="endArrow=none;html=1;rounded=0;entryX=0;entryY=1;entryDx=0;entryDy=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="921.43" y="979.75" as="sourcePoint" />
|
|
||||||
<mxPoint x="120" y="979.7499999999998" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-242" value="" style="endArrow=none;html=1;rounded=0;entryX=0;entryY=1;entryDx=0;entryDy=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="921.43" y="939.75" as="sourcePoint" />
|
|
||||||
<mxPoint x="120" y="939.7499999999998" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
</root>
|
|
||||||
</mxGraphModel>
|
|
||||||
</diagram>
|
|
||||||
</mxfile>
|
|
||||||
@@ -1,697 +0,0 @@
|
|||||||
<mxfile host="Electron" agent="Mozilla/5.0 (X11; Linux x86_64) AppleWebKit/537.36 (KHTML, like Gecko) draw.io/24.7.17 Chrome/128.0.6613.36 Electron/32.0.1 Safari/537.36" version="24.7.17">
|
|
||||||
<diagram name="Page-1" id="VLDBnTalcAr4j7jpmEzg">
|
|
||||||
<mxGraphModel dx="2390" dy="1397" 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" />
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-1" value="GoBot RPC Protocol" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="60" width="120" height="120" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-2" value="CAN" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="180" width="120" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-3" value="CAN" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="220" width="120" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-4" value="Physical" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="40" y="220" width="80" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-6" value="Data Link" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="40" y="180" width="80" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-7" value="Network" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="40" y="140" width="80" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-8" value="Transport" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="40" y="100" width="80" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-10" value="Application" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="40" y="60" width="80" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-11" value="1" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="440" y="220" width="80" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-12" value="2" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="520" y="220" width="80" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-13" value="3" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="600" y="220" width="80" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-15" value="4" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="680" y="220" width="80" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-16" value="5" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="760" y="220" width="80" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-17" value="6" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="840" y="220" width="80" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-19" value="7" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="920" y="220" width="80" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-20" value="0" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="360" y="220" width="80" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-22" value="Bit" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="320" y="220" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-23" value="RPC Number" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="360" y="240" width="320" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-25" value="RPC Segment Number" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="760" y="240" width="240" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-27" value="0" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="360" y="60" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-28" value="1" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="400" y="60" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-29" value="2" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="440" y="60" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-30" value="3" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="480" y="60" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-35" value="4" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="520" y="60" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-36" value="5" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="560" y="60" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-37" value="6" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="600" y="60" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-38" value="7" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="640" y="60" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-39" value="Parameter Data" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="400" y="80" width="280" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-40" value="Header" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="360" y="80" width="40" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-41" value="" style="endArrow=none;html=1;rounded=0;entryX=0;entryY=1;entryDx=0;entryDy=0;exitX=1;exitY=0;exitDx=0;exitDy=0;dashed=1;dashPattern=8 8;" edge="1" parent="1" source="VN9_mGhUesFHwJ--pmr3-22" target="VN9_mGhUesFHwJ--pmr3-40">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="320" y="190" as="sourcePoint" />
|
|
||||||
<mxPoint x="370" y="140" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-42" value="" style="endArrow=none;html=1;rounded=0;entryX=0;entryY=1;entryDx=0;entryDy=0;exitX=1;exitY=0;exitDx=0;exitDy=0;dashed=1;dashPattern=8 8;" edge="1" parent="1" source="VN9_mGhUesFHwJ--pmr3-19" target="VN9_mGhUesFHwJ--pmr3-39">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="370" y="190" as="sourcePoint" />
|
|
||||||
<mxPoint x="370" y="130" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-43" value="Byte" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="320" y="60" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-44" value="CAN Package" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="360" y="30" width="320" height="30" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-46" value="Response/<div>Request</div>" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="680" y="240" width="80" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-63" value="RPC Number" style="text;html=1;align=right;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontStyle=1" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="78.57" y="900" width="80" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-64" value="Description" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontStyle=1" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="158.57" y="900" width="120" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-65" value="Request Segments" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontStyle=1" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="278.57" y="880" width="640" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-67" value="0" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontStyle=1" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="280" y="900" width="120" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-68" value="1" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontStyle=1" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="400" y="900" width="120" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-69" value="2" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontStyle=1" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="520.77" y="900" width="119.23" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-70" value="3" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontStyle=1" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="641" y="900" width="119" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-76" value="" style="endArrow=none;html=1;rounded=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="160" y="1560" as="sourcePoint" />
|
|
||||||
<mxPoint x="160" y="880" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-77" value="" style="endArrow=none;html=1;rounded=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="280" y="1560" as="sourcePoint" />
|
|
||||||
<mxPoint x="280.23" y="880" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-78" value="" style="endArrow=none;html=1;rounded=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="399.74" y="1560" as="sourcePoint" />
|
|
||||||
<mxPoint x="399.74" y="900" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-79" value="" style="endArrow=none;html=1;rounded=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="520.77" y="1560" as="sourcePoint" />
|
|
||||||
<mxPoint x="520" y="900" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-80" value="" style="endArrow=none;html=1;rounded=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="640" y="1560" as="sourcePoint" />
|
|
||||||
<mxPoint x="640.23" y="900" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-81" value="" style="endArrow=none;html=1;rounded=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="760" y="1560" as="sourcePoint" />
|
|
||||||
<mxPoint x="760.23" y="900" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-86" value="RPC Number" style="text;html=1;align=right;verticalAlign=middle;whiteSpace=wrap;rounded=0;fontStyle=1" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="1040" y="70" width="80" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-87" value="" style="endArrow=none;html=1;rounded=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="760" y="920" as="sourcePoint" />
|
|
||||||
<mxPoint x="40" y="920" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-89" value="" style="endArrow=none;html=1;rounded=0;entryX=0;entryY=1;entryDx=0;entryDy=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="760" y="1000" as="sourcePoint" />
|
|
||||||
<mxPoint x="78.57" y="999.86" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-90" value="" style="endArrow=none;html=1;rounded=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="760" y="960" as="sourcePoint" />
|
|
||||||
<mxPoint x="40" y="960" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-91" value="" style="endArrow=none;html=1;rounded=0;entryX=0;entryY=1;entryDx=0;entryDy=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="760" y="1040" as="sourcePoint" />
|
|
||||||
<mxPoint x="78.57" y="1040" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-92" value="" style="endArrow=none;html=1;rounded=0;entryX=0;entryY=1;entryDx=0;entryDy=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="760" y="1080" as="sourcePoint" />
|
|
||||||
<mxPoint x="78.57" y="1080" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-93" value="" style="endArrow=none;html=1;rounded=0;entryX=0;entryY=0;entryDx=0;entryDy=0;fontStyle=1" edge="1" parent="1" target="VN9_mGhUesFHwJ--pmr3-255">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="760" y="1160" as="sourcePoint" />
|
|
||||||
<mxPoint x="78.57" y="1160" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-94" value="" style="endArrow=none;html=1;rounded=0;entryX=0;entryY=1;entryDx=0;entryDy=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="760" y="1120" as="sourcePoint" />
|
|
||||||
<mxPoint x="78.57" y="1120" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-95" value="" style="endArrow=none;html=1;rounded=0;entryX=0;entryY=1;entryDx=0;entryDy=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="760" y="1200" as="sourcePoint" />
|
|
||||||
<mxPoint x="78.57" y="1200" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-96" value="" style="endArrow=none;html=1;rounded=0;entryX=0;entryY=1;entryDx=0;entryDy=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="760" y="1240" as="sourcePoint" />
|
|
||||||
<mxPoint x="78.57" y="1240" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-97" value="" style="endArrow=none;html=1;rounded=0;entryX=0;entryY=0;entryDx=0;entryDy=0;" edge="1" parent="1" target="VN9_mGhUesFHwJ--pmr3-294">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="760" y="1280" as="sourcePoint" />
|
|
||||||
<mxPoint x="78.57" y="1280" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-98" value="" style="endArrow=none;html=1;rounded=0;entryX=0;entryY=0;entryDx=0;entryDy=0;" edge="1" parent="1" target="VN9_mGhUesFHwJ--pmr3-295">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="760" y="1320" as="sourcePoint" />
|
|
||||||
<mxPoint x="78.57" y="1320" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-99" value="" style="endArrow=none;html=1;rounded=0;entryX=0;entryY=1;entryDx=0;entryDy=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="760" y="1360" as="sourcePoint" />
|
|
||||||
<mxPoint x="78.57" y="1360" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-100" value="" style="endArrow=none;html=1;rounded=0;entryX=0;entryY=1;entryDx=0;entryDy=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="760" y="1400" as="sourcePoint" />
|
|
||||||
<mxPoint x="78.57" y="1400" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-101" value="" style="endArrow=none;html=1;rounded=0;entryX=0;entryY=1;entryDx=0;entryDy=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="760" y="1440" as="sourcePoint" />
|
|
||||||
<mxPoint x="78.57" y="1440" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-102" value="" style="endArrow=none;html=1;rounded=0;entryX=0;entryY=1;entryDx=0;entryDy=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="760" y="1480" as="sourcePoint" />
|
|
||||||
<mxPoint x="78.57" y="1480" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-103" value="" style="endArrow=none;html=1;rounded=0;entryX=0;entryY=1;entryDx=0;entryDy=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="760" y="1520" as="sourcePoint" />
|
|
||||||
<mxPoint x="78.57" y="1520" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-104" value="" style="endArrow=none;html=1;rounded=0;entryX=0;entryY=1;entryDx=0;entryDy=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="760" y="1560" as="sourcePoint" />
|
|
||||||
<mxPoint x="78.57" y="1559.9999999999998" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-176" value="0xC" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="78.57" y="1400" width="40" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-177" value="0xD" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="78.57" y="1440" width="40" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-178" value="0xE" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="78.57" y="1480" width="40" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-180" value="0xF" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="78.57" y="1520" width="40" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-183" value="0x0" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="78.57" y="920" width="40" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-184" value="0x1" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="78.57" y="960" width="40" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-185" value="0x2" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="78.57" y="1000" width="40" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-186" value="0x3" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="78.57" y="1040" width="40" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-187" value="0x4" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="78.57" y="1080" width="40" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-188" value="0x5" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="78.57" y="1120" width="40" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-189" value="0x6" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="78.57" y="1160" width="40" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-190" value="0x7" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="78.57" y="1200" width="40" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-191" value="0x8" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="78.57" y="1240" width="40" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-192" value="0x9" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="78.57" y="1280" width="40" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-193" value="0xA" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="78.57" y="1320" width="40" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-194" value="0xB" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="78.57" y="1360" width="40" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-195" value="REQ" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="920" width="38.57" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-196" value="RES" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="940" width="38.57" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-197" value="REQ" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="960" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-198" value="RES" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="980" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-199" value="REQ" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="1000" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-200" value="RES" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="1020" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-201" value="REQ" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="1040" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-202" value="RES" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="1060" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-203" value="REQ" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="1080" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-204" value="RES" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="1100" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-205" value="REQ" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="1120" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-206" value="RES" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="1140" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-207" value="REQ" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="1160" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-208" value="RES" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="1180" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-209" value="REQ" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="1200" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-210" value="RES" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="1220" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-211" value="REQ" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="1241" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-212" value="RES" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="1261" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-213" value="REQ" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="1280" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-214" value="RES" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="1300" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-215" value="REQ" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="1320" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-216" value="RES" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="1340" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-217" value="REQ" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="1360" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-218" value="RES" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="1380" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-219" value="REQ" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="1400" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-220" value="RES" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="1420" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-221" value="REQ" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="1440" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-222" value="RES" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="1460" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-223" value="REQ" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="1480" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-224" value="RES" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="1500" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-225" value="REQ" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="1520" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-226" value="RES" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="120" y="1540" width="40" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-227" value="" style="endArrow=none;html=1;rounded=0;entryX=0;entryY=1;entryDx=0;entryDy=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="760" y="1540" as="sourcePoint" />
|
|
||||||
<mxPoint x="118.57" y="1539.9999999999998" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-228" value="" style="endArrow=none;html=1;rounded=0;entryX=0;entryY=1;entryDx=0;entryDy=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="760" y="1500" as="sourcePoint" />
|
|
||||||
<mxPoint x="119.28999999999999" y="1499.6499999999999" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-229" value="" style="endArrow=none;html=1;rounded=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="760" y="1460" as="sourcePoint" />
|
|
||||||
<mxPoint x="280" y="1460" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-230" value="" style="endArrow=none;html=1;rounded=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="760" y="1420" as="sourcePoint" />
|
|
||||||
<mxPoint x="280" y="1420" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-231" value="" style="endArrow=none;html=1;rounded=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="760" y="1380" as="sourcePoint" />
|
|
||||||
<mxPoint x="280" y="1380" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-232" value="" style="endArrow=none;html=1;rounded=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="760" y="1340" as="sourcePoint" />
|
|
||||||
<mxPoint x="280" y="1340" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-233" value="" style="endArrow=none;html=1;rounded=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="760" y="1299" as="sourcePoint" />
|
|
||||||
<mxPoint x="280" y="1299" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-234" value="" style="endArrow=none;html=1;rounded=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="760" y="1260" as="sourcePoint" />
|
|
||||||
<mxPoint x="280" y="1260" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-235" value="" style="endArrow=none;html=1;rounded=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="760" y="1220" as="sourcePoint" />
|
|
||||||
<mxPoint x="280" y="1220" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-236" value="" style="endArrow=none;html=1;rounded=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="760" y="1180" as="sourcePoint" />
|
|
||||||
<mxPoint x="280" y="1180" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-237" value="" style="endArrow=none;html=1;rounded=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="760" y="1140" as="sourcePoint" />
|
|
||||||
<mxPoint x="280" y="1140" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-238" value="" style="endArrow=none;html=1;rounded=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="760" y="1100" as="sourcePoint" />
|
|
||||||
<mxPoint x="280" y="1100" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-239" value="" style="endArrow=none;html=1;rounded=0;entryX=1;entryY=0.5;entryDx=0;entryDy=0;" edge="1" parent="1" target="VN9_mGhUesFHwJ--pmr3-245">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="760" y="1060" as="sourcePoint" />
|
|
||||||
<mxPoint x="120" y="1059.7499999999998" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-240" value="" style="endArrow=none;html=1;rounded=0;entryX=0;entryY=1;entryDx=0;entryDy=0;" edge="1" parent="1" target="VN9_mGhUesFHwJ--pmr3-247">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="760" y="1020" as="sourcePoint" />
|
|
||||||
<mxPoint x="122" y="1019.7599999999998" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-241" value="" style="endArrow=none;html=1;rounded=0;entryX=0;entryY=1;entryDx=0;entryDy=0;" edge="1" parent="1" target="VN9_mGhUesFHwJ--pmr3-246">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="760" y="980" as="sourcePoint" />
|
|
||||||
<mxPoint x="120" y="979.7499999999998" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-242" value="" style="endArrow=none;html=1;rounded=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="760" y="940" as="sourcePoint" />
|
|
||||||
<mxPoint x="280" y="940" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-243" value="Home" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="160" y="960" width="120" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-244" value="Mov Step" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="160" y="1000" width="120" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-245" value="Mov XY" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="161" y="1040" width="120" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-246" value="Corner: 00, 01, 10, 11" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="281" y="960" width="120" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-247" value="X:3b, Y: 3b" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="281" y="1000" width="120" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-249" value="X: 3b,Y: 3b" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="282" y="1040" width="118.57" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-250" value="Set Padding" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="161" y="1080" width="120" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-251" value="C<sub>1X</sub>: 3b, C<sub>1Y</sub>: 3b" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="282" y="1080" width="120" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-253" value="C<sub>2X</sub>: 3b, C<sub>2Y</sub>: 3b" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="402" y="1080" width="120" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-254" value="N<sub>X</sub>: 1b, N<sub>Y</sub>: 1b" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="522" y="1080" width="120" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-255" value="CORE-XY" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;rotation=-90;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="-41.4" y="1039.99" width="200" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-256" value="X:3b, Y: 3b" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="281" y="980" width="120" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-259" value="" style="endArrow=none;html=1;rounded=0;exitX=0;exitY=0;exitDx=0;exitDy=0;" edge="1" parent="1" source="VN9_mGhUesFHwJ--pmr3-198">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="110" y="1030" as="sourcePoint" />
|
|
||||||
<mxPoint x="160" y="980" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-260" value="" style="endArrow=none;html=1;rounded=0;exitX=0;exitY=0;exitDx=0;exitDy=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="118.57" y="940" as="sourcePoint" />
|
|
||||||
<mxPoint x="158.57" y="940" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-261" value="" style="endArrow=none;html=1;rounded=0;exitX=0;exitY=0;exitDx=0;exitDy=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="121" y="1019.79" as="sourcePoint" />
|
|
||||||
<mxPoint x="161" y="1019.79" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-262" value="" style="endArrow=none;html=1;rounded=0;exitX=0;exitY=0;exitDx=0;exitDy=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="121" y="1060" as="sourcePoint" />
|
|
||||||
<mxPoint x="161" y="1060" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-263" value="Release Motors" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="160" y="1120" width="120" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-264" value="Drop Stone" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="158.57" y="1160" width="120" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-266" value="Get Stone Status" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="161" y="1200" width="120" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-267" value="Mov Z-Axis" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="160" y="1240" width="120" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-269" value="Set Vacum" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="160" y="1280" width="120" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-270" value="Up (0) / Down (1)" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="281" y="1240" width="120" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-271" value="Off (0) / On (1)" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="281.29" y="1281" width="120" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-273" value="" style="endArrow=none;html=1;rounded=0;exitX=0;exitY=0;exitDx=0;exitDy=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="119.28" y="1099.71" as="sourcePoint" />
|
|
||||||
<mxPoint x="159.28" y="1099.71" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-274" value="" style="endArrow=none;html=1;rounded=0;exitX=0;exitY=0;exitDx=0;exitDy=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="119.28" y="1139.71" as="sourcePoint" />
|
|
||||||
<mxPoint x="159.28" y="1139.71" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-275" value="" style="endArrow=none;html=1;rounded=0;exitX=0;exitY=0;exitDx=0;exitDy=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="118.57" y="1220" as="sourcePoint" />
|
|
||||||
<mxPoint x="158.57" y="1220" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-276" value="" style="endArrow=none;html=1;rounded=0;exitX=0;exitY=0;exitDx=0;exitDy=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="119.28" y="1180" as="sourcePoint" />
|
|
||||||
<mxPoint x="159.28" y="1180" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-277" value="" style="endArrow=none;html=1;rounded=0;exitX=0;exitY=0;exitDx=0;exitDy=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="118.57" y="1300" as="sourcePoint" />
|
|
||||||
<mxPoint x="158.57" y="1300" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-278" value="" style="endArrow=none;html=1;rounded=0;exitX=0;exitY=0;exitDx=0;exitDy=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="181" y="1120" as="sourcePoint" />
|
|
||||||
<mxPoint x="221" y="1120" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-279" value="" style="endArrow=none;html=1;rounded=0;exitX=0;exitY=0;exitDx=0;exitDy=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="119.28999999999999" y="1259.86" as="sourcePoint" />
|
|
||||||
<mxPoint x="159.29" y="1259.86" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-282" value="" style="endArrow=none;html=1;rounded=0;exitX=0;exitY=0;exitDx=0;exitDy=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="120" y="1340" as="sourcePoint" />
|
|
||||||
<mxPoint x="160" y="1340" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-283" value="" style="endArrow=none;html=1;rounded=0;exitX=0;exitY=0;exitDx=0;exitDy=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="121" y="1379.6699999999998" as="sourcePoint" />
|
|
||||||
<mxPoint x="161" y="1379.6699999999998" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-284" value="" style="endArrow=none;html=1;rounded=0;exitX=0;exitY=0;exitDx=0;exitDy=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="120" y="1420" as="sourcePoint" />
|
|
||||||
<mxPoint x="160" y="1420" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-285" value="" style="endArrow=none;html=1;rounded=0;exitX=0;exitY=0;exitDx=0;exitDy=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="120" y="1499.83" as="sourcePoint" />
|
|
||||||
<mxPoint x="160" y="1499.83" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-286" value="" style="endArrow=none;html=1;rounded=0;exitX=0;exitY=0;exitDx=0;exitDy=0;" edge="1" parent="1">
|
|
||||||
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
|
||||||
<mxPoint x="118.57" y="1459.76" as="sourcePoint" />
|
|
||||||
<mxPoint x="158.57" y="1459.76" as="targetPoint" />
|
|
||||||
</mxGeometry>
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-288" value="Get Info" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="158.57" y="920" width="120" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-289" value="CAN-Address" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="280" y="940" width="120" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-290" value="Node Type" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="400" y="940" width="120" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-292" value="Status Bits" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="520" y="940" width="120" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-293" value="Error Code" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="640" y="940" width="120" height="20" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-294" value="Head" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;rotation=-90;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="-0.71" y="1200.29" width="118.57" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-295" value="Vacum" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;rotation=-90;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="40.5" y="1280.5" width="41" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
<mxCell id="VN9_mGhUesFHwJ--pmr3-296" value="ALL" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;rotation=0;" vertex="1" parent="1">
|
|
||||||
<mxGeometry x="40" y="920" width="36.36" height="40" as="geometry" />
|
|
||||||
</mxCell>
|
|
||||||
</root>
|
|
||||||
</mxGraphModel>
|
|
||||||
</diagram>
|
|
||||||
</mxfile>
|
|
||||||
@@ -1,51 +0,0 @@
|
|||||||
#pragma once
|
|
||||||
#include "mcp2521_toplevel.hpp"
|
|
||||||
|
|
||||||
typedef void (*rx_handler)(uint8_t *data, uint8_t length, void *arg);
|
|
||||||
|
|
||||||
enum CANTP_FRAME_TYPE {
|
|
||||||
SINGLE_FRAME = 0b00,
|
|
||||||
FIRST_FRAME = 0b01,
|
|
||||||
CONSECUTIVE_FRAME = 0b10,
|
|
||||||
FLOW_CONTROL = 0b11
|
|
||||||
};
|
|
||||||
|
|
||||||
enum CANTP_FLOW_STATUS {
|
|
||||||
CLEAR_TO_SEND = 0b0000,
|
|
||||||
WAIT = 0b0001,
|
|
||||||
OVERLOAD = 0b0010
|
|
||||||
};
|
|
||||||
|
|
||||||
enum CAN_MULTI_FRAME_STATES {
|
|
||||||
WAITING_FOR_FIRST_FRAME,
|
|
||||||
WAITING_FOR_CONSECUTIVE_FRAME,
|
|
||||||
}
|
|
||||||
|
|
||||||
class SocketCANTP {
|
|
||||||
private:
|
|
||||||
rx_handler userHandler;
|
|
||||||
void *userArg;
|
|
||||||
|
|
||||||
MCP2521 *mcp2521;
|
|
||||||
uint32_t address;
|
|
||||||
bool is_extended;
|
|
||||||
|
|
||||||
uint8_t rxBuffer[4096];
|
|
||||||
uint8_t txBuffer[4096];
|
|
||||||
|
|
||||||
size_t rxLength;
|
|
||||||
|
|
||||||
int consecitonFrameCounter;
|
|
||||||
uint8_t blockSizes;
|
|
||||||
|
|
||||||
protected:
|
|
||||||
void sendFlowControl(CANTP_FLOW_STATUS status, uint8_t blockSize, uint8_t separationTime);
|
|
||||||
|
|
||||||
public:
|
|
||||||
SocketCANTP(MCP2521 *mcp2521, uint32_t address, bool is_extended, uint8_t blockSizes);
|
|
||||||
|
|
||||||
void send(uint8_t *data, uint8_t length);
|
|
||||||
void register_rx_handler(rx_handler handler, void *arg);
|
|
||||||
|
|
||||||
void onRxHandler();
|
|
||||||
}
|
|
||||||
1
can-interface/components/gobot_rpc
Symbolic link
1
can-interface/components/gobot_rpc
Symbolic link
@@ -0,0 +1 @@
|
|||||||
|
/home/alexander/Projects/gobot/common-libaries/gobot_rpc
|
||||||
@@ -2,6 +2,6 @@ idf_component_register(SRCS "hello_world_main.cpp"
|
|||||||
REQUIRES driver
|
REQUIRES driver
|
||||||
REQUIRES mcp2521
|
REQUIRES mcp2521
|
||||||
REQUIRES mcp2521_hardware_interface
|
REQUIRES mcp2521_hardware_interface
|
||||||
REQUIRES CAN-Protocol-Stack
|
REQUIRES gobot_rpc
|
||||||
REQUIRES spi_flash
|
REQUIRES spi_flash
|
||||||
INCLUDE_DIRS "")
|
INCLUDE_DIRS "")
|
||||||
|
|||||||
@@ -34,32 +34,32 @@
|
|||||||
#define CAN_INT1_PIN GPIO_NUM_26
|
#define CAN_INT1_PIN GPIO_NUM_26
|
||||||
|
|
||||||
void onRX0(void *arg) {
|
void onRX0(void *arg) {
|
||||||
MCP2521 *mcp2521_0 = (MCP2521 *)arg;
|
MCP2521 *mcp2521 = (MCP2521 *)arg;
|
||||||
|
|
||||||
rx_info info = mcp2521_0->get_rx_id(MCP2521_RX_BUFFER::RXB0);
|
rx_info info = mcp2521->get_rx_id(MCP2521_RX_BUFFER::RXB0);
|
||||||
uint8_t data[8];
|
uint8_t data[8];
|
||||||
|
|
||||||
mcp2521_0->read_rx_buf(MCP2521_RX_BUFFER::RXB0, MCP2521_BUFFER_TYPE::DATA, data, info.length);
|
//mcp2521->read_rx_buf(MCP2521_RX_BUFFER::RXB0, MCP2521_BUFFER_TYPE::DATA, data, info.length);
|
||||||
|
|
||||||
printf("RX0: (%x) ", info.id);
|
printf("RX0: (%x) ", info.id);
|
||||||
for (int i = 0; i < info.length; i++) {
|
//for (int i = 0; i < 8; i++) {
|
||||||
printf("%x ", data[i]);
|
// printf("%x ", data[i]);
|
||||||
}
|
//}
|
||||||
printf("\n");
|
printf("\n");
|
||||||
}
|
}
|
||||||
|
|
||||||
void onRX1(void *arg) {
|
void onRX1(void *arg) {
|
||||||
MCP2521 *mcp2521_0 = (MCP2521 *)arg;
|
MCP2521 *mcp2521 = (MCP2521 *)arg;
|
||||||
|
|
||||||
rx_info info = mcp2521_0->get_rx_id(MCP2521_RX_BUFFER::RXB0);
|
rx_info info = mcp2521->get_rx_id(MCP2521_RX_BUFFER::RXB0);
|
||||||
uint8_t data[8];
|
uint8_t data[8];
|
||||||
|
|
||||||
mcp2521_0->read_rx_buf(MCP2521_RX_BUFFER::RXB0, MCP2521_BUFFER_TYPE::DATA, data, info.length);
|
//mcp2521->read_rx_buf(MCP2521_RX_BUFFER::RXB0, MCP2521_BUFFER_TYPE::DATA, data, info.length);
|
||||||
|
|
||||||
printf("RX1: (%x) ", info.id);
|
printf("RX1: (%x) ", info.id);
|
||||||
for (int i = 0; i < info.length; i++) {
|
//for (int i = 0; i < 8; i++) {
|
||||||
printf("%x ", data[i]);
|
// printf("%x ", data[i]);
|
||||||
}
|
//}
|
||||||
|
|
||||||
printf("\n");
|
printf("\n");
|
||||||
}
|
}
|
||||||
|
|
||||||
@@ -86,7 +86,7 @@ extern "C" void app_main() {
|
|||||||
MCP2521 mcp2521_0(&hardware_mcp2521_0);
|
MCP2521 mcp2521_0(&hardware_mcp2521_0);
|
||||||
MCP2521 mcp2521_1(&hardware_mcp2521_1);
|
MCP2521 mcp2521_1(&hardware_mcp2521_1);
|
||||||
|
|
||||||
uint8_t data[4] = {0xf0, 0x42, 0x13, 0x37};
|
uint8_t data[8] = {0x1, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08};
|
||||||
|
|
||||||
mcp2521_0.reset();
|
mcp2521_0.reset();
|
||||||
mcp2521_1.reset();
|
mcp2521_1.reset();
|
||||||
@@ -98,23 +98,28 @@ extern "C" void app_main() {
|
|||||||
mcp2521_0.register_rx1_handler(onRX0, &mcp2521_0);
|
mcp2521_0.register_rx1_handler(onRX0, &mcp2521_0);
|
||||||
mcp2521_1.register_rx1_handler(onRX1, &mcp2521_1);
|
mcp2521_1.register_rx1_handler(onRX1, &mcp2521_1);
|
||||||
|
|
||||||
mcp2521_0.set_mode_of_operation(MCP2521_OPERATION_MODE::NORMAL, true);
|
mcp2521_0.set_mode_of_operation(MCP2521_OPERATION_MODE::LOOPBACK, true);
|
||||||
mcp2521_1.set_mode_of_operation(MCP2521_OPERATION_MODE::NORMAL, true);
|
mcp2521_1.set_mode_of_operation(MCP2521_OPERATION_MODE::LOOPBACK, true);
|
||||||
|
|
||||||
printf("CANSTAT0: %x\n", mcp2521_0.read_reg(MCP2521_CANSTAT));
|
//printf("CANSTAT0: %x\n", mcp2521_0.read_reg(MCP2521_CANSTAT));
|
||||||
printf("CANSTAT1: %x\n", mcp2521_1.read_reg(MCP2521_CANSTAT));
|
//printf("CANSTAT1: %x\n", mcp2521_1.read_reg(MCP2521_CANSTAT));
|
||||||
|
|
||||||
vTaskDelay(20 / portTICK_PERIOD_MS);
|
vTaskDelay(20 / portTICK_PERIOD_MS);
|
||||||
|
|
||||||
mcp2521_0.prepare_tx(
|
mcp2521_1.prepare_tx(
|
||||||
MCP2521_TX_BUFFER::TXB0, 0x042, data, 4, false, false);
|
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);
|
vTaskDelay(20 / portTICK_PERIOD_MS);
|
||||||
mcp2521_0.request_to_send(MCP2521_TX_BUFFER::TXB0);
|
mcp2521_1.request_to_send(MCP2521_TX_BUFFER::TXB0);
|
||||||
//vTaskDelay(10 / portTICK_PERIOD_MS);
|
//vTaskDelay(10 / portTICK_PERIOD_MS);
|
||||||
//mcp2521_1.request_to_send(MCP2521_TX_BUFFER::TXB0);
|
//mcp2521_1.request_to_send(MCP2521_TX_BUFFER::TXB0);
|
||||||
|
|
||||||
//mcp2521_0.set_tx_id(MCP2521_TX_BUFFER::TXB0, 0x041, false);
|
//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);
|
//mcp2521_0.request_to_send(MCP2521_TX_BUFFER::TXB0);
|
||||||
|
|
||||||
vTaskDelay(20 / portTICK_PERIOD_MS);
|
vTaskDelay(20 / portTICK_PERIOD_MS);
|
||||||
|
|||||||
10
common-libaries/gobot_rpc/CMakeLists.txt
Normal file
10
common-libaries/gobot_rpc/CMakeLists.txt
Normal file
@@ -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")
|
||||||
19
common-libaries/gobot_rpc/gobot_rpc_numberMap.cpp
Normal file
19
common-libaries/gobot_rpc/gobot_rpc_numberMap.cpp
Normal file
@@ -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];
|
||||||
|
}
|
||||||
43
common-libaries/gobot_rpc/gobot_rpc_receiver.cpp
Normal file
43
common-libaries/gobot_rpc/gobot_rpc_receiver.cpp
Normal file
@@ -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;
|
||||||
|
}
|
||||||
|
|
||||||
74
common-libaries/gobot_rpc/gobot_rpc_statemaschine.cpp
Normal file
74
common-libaries/gobot_rpc/gobot_rpc_statemaschine.cpp
Normal file
@@ -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;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
}
|
||||||
56
common-libaries/gobot_rpc/include/gobot_rpc.hpp
Normal file
56
common-libaries/gobot_rpc/include/gobot_rpc.hpp
Normal file
@@ -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);
|
||||||
|
};
|
||||||
123
common-libaries/gobot_rpc/include/protocol_spec.hpp
Normal file
123
common-libaries/gobot_rpc/include/protocol_spec.hpp
Normal file
@@ -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, //
|
||||||
|
};
|
||||||
58
common-libaries/gobot_rpc/include/sm.hpp
Normal file
58
common-libaries/gobot_rpc/include/sm.hpp
Normal file
@@ -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);
|
||||||
|
|
||||||
|
};
|
||||||
0
common-libaries/mcp2521/cmake/pico.cmake
Normal file
0
common-libaries/mcp2521/cmake/pico.cmake
Normal file
@@ -76,7 +76,7 @@ void MCP2521_HardwareHandle_ESP::read(uint8_t cmd, uint8_t *data, size_t length)
|
|||||||
.addr = 0,
|
.addr = 0,
|
||||||
.length = 8*length,
|
.length = 8*length,
|
||||||
.rxlength = 8*length,
|
.rxlength = 8*length,
|
||||||
.tx_buffer = NULL,
|
.tx_buffer = null_buffer,
|
||||||
.rx_buffer = data
|
.rx_buffer = data
|
||||||
},
|
},
|
||||||
.command_bits = 8,
|
.command_bits = 8,
|
||||||
|
|||||||
@@ -73,7 +73,7 @@ void MCP2521_HardwareHandle_ESP::initSPIDevice(
|
|||||||
// Learned this the hard way
|
// Learned this the hard way
|
||||||
.cs_ena_pretrans = 0,
|
.cs_ena_pretrans = 0,
|
||||||
.cs_ena_posttrans = 0,
|
.cs_ena_posttrans = 0,
|
||||||
.clock_speed_hz = 10000,
|
.clock_speed_hz = 2000,
|
||||||
|
|
||||||
.spics_io_num = cs,
|
.spics_io_num = cs,
|
||||||
.flags = SPI_DEVICE_NO_DUMMY,
|
.flags = SPI_DEVICE_NO_DUMMY,
|
||||||
|
|||||||
BIN
i2c-hub/asd
Normal file
BIN
i2c-hub/asd
Normal file
Binary file not shown.
BIN
i2c-hub/backend/Protocol.md
(Stored with Git LFS)
Normal file
BIN
i2c-hub/backend/Protocol.md
(Stored with Git LFS)
Normal file
Binary file not shown.
BIN
i2c-hub/backend/src/gobotRPC_ctrl_interface.py
(Stored with Git LFS)
Normal file
BIN
i2c-hub/backend/src/gobotRPC_ctrl_interface.py
(Stored with Git LFS)
Normal file
Binary file not shown.
0
i2c-hub/backend/src/main.py
Normal file
0
i2c-hub/backend/src/main.py
Normal file
9
i2c-hub/backend/test.txt
Normal file
9
i2c-hub/backend/test.txt
Normal file
@@ -0,0 +1,9 @@
|
|||||||
|
fe fe fe fe fc 10 10 10 20 ff 48 65 6c 6c 6f 20
|
||||||
|
6f 72 6c 64 21 0a 84 00 01 00 42 00 00 00 12
|
||||||
|
00 00 00 c0 84 01 01 01 43 00 00 00 22 00 00
|
||||||
|
3f 00 84 00 01 00 42 00 00 00 32 00 00 00 80
|
||||||
|
54 68 69 73 20 69 73 20 52 61 6e 64 6f 6d 20
|
||||||
|
65 78 74 0a 84 01 01 02 43 00 00 00 63 00 00
|
||||||
|
3f 00 84 01 01 00 42 00 00 00 73 00 00 00 bf
|
||||||
|
81 10 40 42 00 00 00 01 02 03 04 05 06 00 11
|
||||||
|
13 14 fe fe fe fe fe fe fc
|
||||||
372
i2c-hub/circuit/.$I2CHubCircuit.drawio.bkp
Normal file
372
i2c-hub/circuit/.$I2CHubCircuit.drawio.bkp
Normal file
@@ -0,0 +1,372 @@
|
|||||||
|
<mxfile host="Electron" agent="Mozilla/5.0 (X11; Linux x86_64) AppleWebKit/537.36 (KHTML, like Gecko) draw.io/26.0.3 Chrome/130.0.6723.137 Electron/33.2.1 Safari/537.36" version="26.0.3">
|
||||||
|
<diagram name="Page-1" id="AMVLBRZDkjnkadgTC83C">
|
||||||
|
<mxGraphModel dx="1366" dy="798" 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" />
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-1" value="" style="shape=image;verticalLabelPosition=bottom;labelBackgroundColor=default;verticalAlign=top;aspect=fixed;imageAspect=0;image=https://www.elektronik-kompendium.de/sites/raspberry-pi/bilder/raspberry-pi-pico-gpio.png;movable=0;resizable=0;rotatable=0;deletable=0;editable=0;locked=1;connectable=0;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="343" y="150" width="522.06" height="306" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-2" value="" style="shape=image;verticalLabelPosition=bottom;labelBackgroundColor=default;verticalAlign=top;aspect=fixed;imageAspect=0;image=https://www.build-electronic-circuits.com/wp-content/uploads/2023/04/7432-pinout.png;movable=0;resizable=0;rotatable=0;deletable=0;editable=0;locked=1;connectable=0;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="190" y="520" width="166.39" height="170" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-54" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=1;exitY=0.5;exitDx=0;exitDy=0;entryX=1;entryY=0.5;entryDx=0;entryDy=0;endArrow=none;endFill=0;" edge="1" parent="1" source="3qXY1K8jvDizOHU8Sasa-3" target="3qXY1K8jvDizOHU8Sasa-12">
|
||||||
|
<mxGeometry relative="1" as="geometry">
|
||||||
|
<Array as="points">
|
||||||
|
<mxPoint x="180" y="170" />
|
||||||
|
<mxPoint x="180" y="290" />
|
||||||
|
</Array>
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-3" value="O" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="80" y="160" width="20" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-49" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=1;exitY=0.5;exitDx=0;exitDy=0;strokeColor=#CC0000;" edge="1" parent="1" source="3qXY1K8jvDizOHU8Sasa-4">
|
||||||
|
<mxGeometry relative="1" as="geometry">
|
||||||
|
<mxPoint x="390" y="240" as="targetPoint" />
|
||||||
|
<Array as="points">
|
||||||
|
<mxPoint x="220" y="190" />
|
||||||
|
<mxPoint x="220" y="240" />
|
||||||
|
</Array>
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-4" value="O" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="80" y="180" width="20" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-45" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;strokeColor=#FFFF00;" edge="1" parent="1" source="3qXY1K8jvDizOHU8Sasa-5">
|
||||||
|
<mxGeometry relative="1" as="geometry">
|
||||||
|
<mxPoint x="390" y="260" as="targetPoint" />
|
||||||
|
<Array as="points">
|
||||||
|
<mxPoint x="230" y="210" />
|
||||||
|
<mxPoint x="230" y="260" />
|
||||||
|
</Array>
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-5" value="O" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="80" y="200" width="20" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-31" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=1;exitY=0.5;exitDx=0;exitDy=0;strokeColor=#0000FF;" edge="1" parent="1" source="3qXY1K8jvDizOHU8Sasa-6">
|
||||||
|
<mxGeometry relative="1" as="geometry">
|
||||||
|
<mxPoint x="220" y="600" as="targetPoint" />
|
||||||
|
<Array as="points">
|
||||||
|
<mxPoint x="130" y="230" />
|
||||||
|
<mxPoint x="130" y="600" />
|
||||||
|
</Array>
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-6" value="O" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="80" y="220" width="20" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-8" value="<font color="#ffffff">SDA</font>" style="rounded=0;whiteSpace=wrap;html=1;strokeColor=default;fillColor=#CC0000;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="40" y="180" width="40" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-9" value="<font>SCL</font>" style="rounded=0;whiteSpace=wrap;html=1;strokeColor=default;fillColor=#FFFF00;fontColor=#000000;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="40" y="200" width="40" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-10" value="<font color="#ffffff">GND</font>" style="rounded=0;whiteSpace=wrap;html=1;strokeColor=default;fillColor=#000000;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="40" y="160" width="40" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-11" value="INT" style="rounded=0;whiteSpace=wrap;html=1;strokeColor=default;fillColor=#FFFFFF;fontColor=#000000;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="40" y="220" width="40" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-55" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=1;exitY=0.5;exitDx=0;exitDy=0;entryX=1;entryY=0.5;entryDx=0;entryDy=0;endArrow=none;endFill=0;" edge="1" parent="1" source="3qXY1K8jvDizOHU8Sasa-12" target="3qXY1K8jvDizOHU8Sasa-20">
|
||||||
|
<mxGeometry relative="1" as="geometry">
|
||||||
|
<Array as="points">
|
||||||
|
<mxPoint x="180" y="290" />
|
||||||
|
<mxPoint x="180" y="410" />
|
||||||
|
</Array>
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-12" value="O" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="80" y="280" width="20" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-47" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;strokeColor=#CC0000;" edge="1" parent="1" source="3qXY1K8jvDizOHU8Sasa-13">
|
||||||
|
<mxGeometry relative="1" as="geometry">
|
||||||
|
<mxPoint x="390" y="240" as="targetPoint" />
|
||||||
|
<Array as="points">
|
||||||
|
<mxPoint x="220" y="310" />
|
||||||
|
<mxPoint x="220" y="240" />
|
||||||
|
</Array>
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-13" value="O" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="80" y="300" width="20" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-44" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;strokeColor=#FFFF00;" edge="1" parent="1" source="3qXY1K8jvDizOHU8Sasa-14">
|
||||||
|
<mxGeometry relative="1" as="geometry">
|
||||||
|
<mxPoint x="390" y="260" as="targetPoint" />
|
||||||
|
<Array as="points">
|
||||||
|
<mxPoint x="230" y="330" />
|
||||||
|
<mxPoint x="230" y="260" />
|
||||||
|
</Array>
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-14" value="O" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="80" y="320" width="20" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-30" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;strokeColor=#0000FF;" edge="1" parent="1" source="3qXY1K8jvDizOHU8Sasa-15">
|
||||||
|
<mxGeometry relative="1" as="geometry">
|
||||||
|
<mxPoint x="220" y="560" as="targetPoint" />
|
||||||
|
<Array as="points">
|
||||||
|
<mxPoint x="120" y="350" />
|
||||||
|
<mxPoint x="120" y="560" />
|
||||||
|
</Array>
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-15" value="O" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="80" y="340" width="20" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-16" value="<font color="#ffffff">SDA</font>" style="rounded=0;whiteSpace=wrap;html=1;strokeColor=default;fillColor=#CC0000;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="40" y="300" width="40" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-17" value="<font>SCL</font>" style="rounded=0;whiteSpace=wrap;html=1;strokeColor=default;fillColor=#FFFF00;fontColor=#000000;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="40" y="320" width="40" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-18" value="<font color="#ffffff">GND</font>" style="rounded=0;whiteSpace=wrap;html=1;strokeColor=default;fillColor=#000000;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="40" y="280" width="40" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-19" value="INT" style="rounded=0;whiteSpace=wrap;html=1;strokeColor=default;fillColor=#FFFFFF;fontColor=#000000;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="40" y="340" width="40" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-20" value="O" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="80" y="400" width="20" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-48" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;strokeColor=#CC0000;" edge="1" parent="1" source="3qXY1K8jvDizOHU8Sasa-21">
|
||||||
|
<mxGeometry relative="1" as="geometry">
|
||||||
|
<mxPoint x="390" y="240" as="targetPoint" />
|
||||||
|
<Array as="points">
|
||||||
|
<mxPoint x="220" y="430" />
|
||||||
|
<mxPoint x="220" y="240" />
|
||||||
|
</Array>
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-21" value="O" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="80" y="420" width="20" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-46" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=1;exitY=0.5;exitDx=0;exitDy=0;strokeColor=#FFFF00;" edge="1" parent="1" source="3qXY1K8jvDizOHU8Sasa-22">
|
||||||
|
<mxGeometry relative="1" as="geometry">
|
||||||
|
<mxPoint x="390" y="260" as="targetPoint" />
|
||||||
|
<Array as="points">
|
||||||
|
<mxPoint x="230" y="450" />
|
||||||
|
<mxPoint x="230" y="260" />
|
||||||
|
</Array>
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-22" value="O" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="80" y="440" width="20" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-29" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=1;exitY=0.5;exitDx=0;exitDy=0;strokeColor=#0000FF;" edge="1" parent="1" source="3qXY1K8jvDizOHU8Sasa-23">
|
||||||
|
<mxGeometry relative="1" as="geometry">
|
||||||
|
<mxPoint x="220" y="540" as="targetPoint" />
|
||||||
|
<Array as="points">
|
||||||
|
<mxPoint x="110" y="470" />
|
||||||
|
<mxPoint x="110" y="540" />
|
||||||
|
</Array>
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-23" value="O" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="80" y="460" width="20" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-24" value="<font color="#ffffff">SDA</font>" style="rounded=0;whiteSpace=wrap;html=1;strokeColor=default;fillColor=#CC0000;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="40" y="420" width="40" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-25" value="<font>SCL</font>" style="rounded=0;whiteSpace=wrap;html=1;strokeColor=default;fillColor=#FFFF00;fontColor=#000000;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="40" y="440" width="40" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-26" value="<font color="#ffffff">GND</font>" style="rounded=0;whiteSpace=wrap;html=1;strokeColor=default;fillColor=#000000;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="40" y="400" width="40" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-27" value="INT" style="rounded=0;whiteSpace=wrap;html=1;strokeColor=default;fillColor=#FFFFFF;fontColor=#000000;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="40" y="460" width="40" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-53" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=1;entryY=0.5;entryDx=0;entryDy=0;endArrow=none;endFill=0;" edge="1" parent="1" source="3qXY1K8jvDizOHU8Sasa-32" target="3qXY1K8jvDizOHU8Sasa-3">
|
||||||
|
<mxGeometry relative="1" as="geometry">
|
||||||
|
<Array as="points">
|
||||||
|
<mxPoint x="180" y="50" />
|
||||||
|
<mxPoint x="180" y="170" />
|
||||||
|
</Array>
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-32" value="O" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="80" y="40" width="20" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-50" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=1;exitY=0.5;exitDx=0;exitDy=0;strokeColor=#CC0000;" edge="1" parent="1" source="3qXY1K8jvDizOHU8Sasa-33">
|
||||||
|
<mxGeometry relative="1" as="geometry">
|
||||||
|
<mxPoint x="390" y="240" as="targetPoint" />
|
||||||
|
<Array as="points">
|
||||||
|
<mxPoint x="220" y="70" />
|
||||||
|
<mxPoint x="220" y="240" />
|
||||||
|
</Array>
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-33" value="O" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="80" y="60" width="20" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-43" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;strokeColor=#FFFF00;" edge="1" parent="1" source="3qXY1K8jvDizOHU8Sasa-34">
|
||||||
|
<mxGeometry relative="1" as="geometry">
|
||||||
|
<mxPoint x="390" y="260" as="targetPoint" />
|
||||||
|
<Array as="points">
|
||||||
|
<mxPoint x="230" y="90" />
|
||||||
|
<mxPoint x="230" y="260" />
|
||||||
|
</Array>
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-34" value="O" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="80" y="80" width="20" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-40" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;strokeColor=#0000FF;" edge="1" parent="1" source="3qXY1K8jvDizOHU8Sasa-35">
|
||||||
|
<mxGeometry relative="1" as="geometry">
|
||||||
|
<mxPoint x="220" y="620" as="targetPoint" />
|
||||||
|
<Array as="points">
|
||||||
|
<mxPoint x="140" y="110" />
|
||||||
|
<mxPoint x="140" y="620" />
|
||||||
|
</Array>
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-35" value="O" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="80" y="100" width="20" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-36" value="<font color="#ffffff">SDA</font>" style="rounded=0;whiteSpace=wrap;html=1;strokeColor=default;fillColor=#CC0000;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="40" y="60" width="40" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-37" value="<font>SCL</font>" style="rounded=0;whiteSpace=wrap;html=1;strokeColor=default;fillColor=#FFFF00;fontColor=#000000;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="40" y="80" width="40" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-38" value="<font color="#ffffff">GND</font>" style="rounded=0;whiteSpace=wrap;html=1;strokeColor=default;fillColor=#000000;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="40" y="40" width="40" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-39" value="INT" style="rounded=0;whiteSpace=wrap;html=1;strokeColor=default;fillColor=#FFFFFF;fontColor=#000000;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="40" y="100" width="40" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-41" value="" style="endArrow=classic;html=1;rounded=0;strokeColor=#0000FF;" edge="1" parent="1">
|
||||||
|
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
||||||
|
<mxPoint x="220" y="580" as="sourcePoint" />
|
||||||
|
<mxPoint x="330" y="560" as="targetPoint" />
|
||||||
|
<Array as="points">
|
||||||
|
<mxPoint x="190" y="580" />
|
||||||
|
<mxPoint x="190" y="510" />
|
||||||
|
<mxPoint x="360" y="510" />
|
||||||
|
<mxPoint x="360" y="560" />
|
||||||
|
</Array>
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-42" value="" style="endArrow=classic;html=1;rounded=0;strokeColor=#0000FF;" edge="1" parent="1">
|
||||||
|
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
||||||
|
<mxPoint x="220" y="640" as="sourcePoint" />
|
||||||
|
<mxPoint x="330" y="580" as="targetPoint" />
|
||||||
|
<Array as="points">
|
||||||
|
<mxPoint x="180" y="640" />
|
||||||
|
<mxPoint x="180" y="500" />
|
||||||
|
<mxPoint x="370" y="500" />
|
||||||
|
<mxPoint x="370" y="580" />
|
||||||
|
</Array>
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-51" value="" style="endArrow=classic;html=1;rounded=0;edgeStyle=orthogonalEdgeStyle;strokeColor=#0000FF;" edge="1" parent="1">
|
||||||
|
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
||||||
|
<mxPoint x="330" y="600" as="sourcePoint" />
|
||||||
|
<mxPoint x="480" y="210" as="targetPoint" />
|
||||||
|
<Array as="points">
|
||||||
|
<mxPoint x="390" y="600" />
|
||||||
|
<mxPoint x="390" y="480" />
|
||||||
|
<mxPoint x="250" y="480" />
|
||||||
|
<mxPoint x="250" y="210" />
|
||||||
|
</Array>
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-56" value="" style="endArrow=none;html=1;rounded=0;" edge="1" parent="1">
|
||||||
|
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
||||||
|
<mxPoint x="180" y="170" as="sourcePoint" />
|
||||||
|
<mxPoint x="480" y="200" as="targetPoint" />
|
||||||
|
<Array as="points">
|
||||||
|
<mxPoint x="320" y="170" />
|
||||||
|
<mxPoint x="320" y="200" />
|
||||||
|
</Array>
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-58" value="." style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="420" y="80" width="20" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-59" value="." style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="440" y="80" width="20" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-61" value="" style="endArrow=none;html=1;rounded=0;exitX=0.5;exitY=1;exitDx=0;exitDy=0;" edge="1" parent="1" source="3qXY1K8jvDizOHU8Sasa-59">
|
||||||
|
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
||||||
|
<mxPoint x="440" y="220" as="sourcePoint" />
|
||||||
|
<mxPoint x="490" y="170" as="targetPoint" />
|
||||||
|
<Array as="points">
|
||||||
|
<mxPoint x="450" y="170" />
|
||||||
|
</Array>
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-62" value="" style="endArrow=none;html=1;rounded=0;entryX=0.5;entryY=1;entryDx=0;entryDy=0;" edge="1" parent="1" target="3qXY1K8jvDizOHU8Sasa-58">
|
||||||
|
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
||||||
|
<mxPoint x="490" y="180" as="sourcePoint" />
|
||||||
|
<mxPoint x="540" y="130" as="targetPoint" />
|
||||||
|
<Array as="points">
|
||||||
|
<mxPoint x="430" y="180" />
|
||||||
|
</Array>
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-63" value="RX" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="440" y="60" width="20" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-64" value="TX" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="420" y="60" width="20" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-66" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;startArrow=classic;startFill=1;endArrow=none;endFill=0;" edge="1" parent="1" source="3qXY1K8jvDizOHU8Sasa-65">
|
||||||
|
<mxGeometry relative="1" as="geometry">
|
||||||
|
<mxPoint x="719.9999999999998" y="450" as="targetPoint" />
|
||||||
|
<Array as="points">
|
||||||
|
<mxPoint x="720" y="500" />
|
||||||
|
</Array>
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-65" value="LED" style="ellipse;whiteSpace=wrap;html=1;aspect=fixed;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="760" y="480" width="40" height="40" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-75" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;" edge="1" parent="1" source="3qXY1K8jvDizOHU8Sasa-68">
|
||||||
|
<mxGeometry relative="1" as="geometry">
|
||||||
|
<mxPoint x="720" y="200" as="targetPoint" />
|
||||||
|
<Array as="points">
|
||||||
|
<mxPoint x="830" y="160" />
|
||||||
|
<mxPoint x="830" y="200" />
|
||||||
|
</Array>
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-68" value="O" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="880" y="150" width="20" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-76" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=0;exitY=0.5;exitDx=0;exitDy=0;" edge="1" parent="1" source="3qXY1K8jvDizOHU8Sasa-69">
|
||||||
|
<mxGeometry relative="1" as="geometry">
|
||||||
|
<mxPoint x="720" y="180" as="targetPoint" />
|
||||||
|
<Array as="points">
|
||||||
|
<mxPoint x="880" y="180" />
|
||||||
|
</Array>
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-69" value="O" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="880" y="170" width="20" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-72" value="GND" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="900" y="150" width="40" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-74" value="5V+" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="900" y="170" width="40" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-78" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;" edge="1" parent="1" source="3qXY1K8jvDizOHU8Sasa-77">
|
||||||
|
<mxGeometry relative="1" as="geometry">
|
||||||
|
<mxPoint x="320" y="540" as="targetPoint" />
|
||||||
|
<Array as="points">
|
||||||
|
<mxPoint x="321" y="505" />
|
||||||
|
<mxPoint x="321" y="540" />
|
||||||
|
</Array>
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-77" value="3V&nbsp;" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="400" y="490" width="60" height="30" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
</root>
|
||||||
|
</mxGraphModel>
|
||||||
|
</diagram>
|
||||||
|
</mxfile>
|
||||||
372
i2c-hub/circuit/I2CHubCircuit.drawio
Normal file
372
i2c-hub/circuit/I2CHubCircuit.drawio
Normal file
@@ -0,0 +1,372 @@
|
|||||||
|
<mxfile host="Electron" agent="Mozilla/5.0 (X11; Linux x86_64) AppleWebKit/537.36 (KHTML, like Gecko) draw.io/26.0.3 Chrome/130.0.6723.137 Electron/33.2.1 Safari/537.36" version="26.0.3">
|
||||||
|
<diagram name="Page-1" id="AMVLBRZDkjnkadgTC83C">
|
||||||
|
<mxGraphModel dx="1366" dy="798" 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" />
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-1" value="" style="shape=image;verticalLabelPosition=bottom;labelBackgroundColor=default;verticalAlign=top;aspect=fixed;imageAspect=0;image=https://www.elektronik-kompendium.de/sites/raspberry-pi/bilder/raspberry-pi-pico-gpio.png;movable=0;resizable=0;rotatable=0;deletable=0;editable=0;locked=1;connectable=0;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="343" y="150" width="522.06" height="306" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-2" value="" style="shape=image;verticalLabelPosition=bottom;labelBackgroundColor=default;verticalAlign=top;aspect=fixed;imageAspect=0;image=https://www.build-electronic-circuits.com/wp-content/uploads/2023/04/7432-pinout.png;movable=0;resizable=0;rotatable=0;deletable=0;editable=0;locked=1;connectable=0;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="190" y="520" width="166.39" height="170" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-54" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=1;exitY=0.5;exitDx=0;exitDy=0;entryX=1;entryY=0.5;entryDx=0;entryDy=0;endArrow=none;endFill=0;" edge="1" parent="1" source="3qXY1K8jvDizOHU8Sasa-3" target="3qXY1K8jvDizOHU8Sasa-12">
|
||||||
|
<mxGeometry relative="1" as="geometry">
|
||||||
|
<Array as="points">
|
||||||
|
<mxPoint x="180" y="170" />
|
||||||
|
<mxPoint x="180" y="290" />
|
||||||
|
</Array>
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-3" value="O" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="80" y="160" width="20" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-49" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=1;exitY=0.5;exitDx=0;exitDy=0;strokeColor=#CC0000;" edge="1" parent="1" source="3qXY1K8jvDizOHU8Sasa-4">
|
||||||
|
<mxGeometry relative="1" as="geometry">
|
||||||
|
<mxPoint x="390" y="240" as="targetPoint" />
|
||||||
|
<Array as="points">
|
||||||
|
<mxPoint x="220" y="190" />
|
||||||
|
<mxPoint x="220" y="240" />
|
||||||
|
</Array>
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-4" value="O" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="80" y="180" width="20" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-45" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;strokeColor=#FFFF00;" edge="1" parent="1" source="3qXY1K8jvDizOHU8Sasa-5">
|
||||||
|
<mxGeometry relative="1" as="geometry">
|
||||||
|
<mxPoint x="390" y="260" as="targetPoint" />
|
||||||
|
<Array as="points">
|
||||||
|
<mxPoint x="230" y="210" />
|
||||||
|
<mxPoint x="230" y="260" />
|
||||||
|
</Array>
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-5" value="O" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="80" y="200" width="20" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-31" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=1;exitY=0.5;exitDx=0;exitDy=0;strokeColor=#0000FF;" edge="1" parent="1" source="3qXY1K8jvDizOHU8Sasa-6">
|
||||||
|
<mxGeometry relative="1" as="geometry">
|
||||||
|
<mxPoint x="220" y="600" as="targetPoint" />
|
||||||
|
<Array as="points">
|
||||||
|
<mxPoint x="130" y="230" />
|
||||||
|
<mxPoint x="130" y="600" />
|
||||||
|
</Array>
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-6" value="O" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="80" y="220" width="20" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-8" value="<font color="#ffffff">SDA</font>" style="rounded=0;whiteSpace=wrap;html=1;strokeColor=default;fillColor=#CC0000;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="40" y="180" width="40" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-9" value="<font>SCL</font>" style="rounded=0;whiteSpace=wrap;html=1;strokeColor=default;fillColor=#FFFF00;fontColor=#000000;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="40" y="200" width="40" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-10" value="<font color="#ffffff">GND</font>" style="rounded=0;whiteSpace=wrap;html=1;strokeColor=default;fillColor=#000000;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="40" y="160" width="40" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-11" value="INT" style="rounded=0;whiteSpace=wrap;html=1;strokeColor=default;fillColor=#FFFFFF;fontColor=#000000;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="40" y="220" width="40" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-55" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=1;exitY=0.5;exitDx=0;exitDy=0;entryX=1;entryY=0.5;entryDx=0;entryDy=0;endArrow=none;endFill=0;" edge="1" parent="1" source="3qXY1K8jvDizOHU8Sasa-12" target="3qXY1K8jvDizOHU8Sasa-20">
|
||||||
|
<mxGeometry relative="1" as="geometry">
|
||||||
|
<Array as="points">
|
||||||
|
<mxPoint x="180" y="290" />
|
||||||
|
<mxPoint x="180" y="410" />
|
||||||
|
</Array>
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-12" value="O" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="80" y="280" width="20" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-47" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;strokeColor=#CC0000;" edge="1" parent="1" source="3qXY1K8jvDizOHU8Sasa-13">
|
||||||
|
<mxGeometry relative="1" as="geometry">
|
||||||
|
<mxPoint x="390" y="240" as="targetPoint" />
|
||||||
|
<Array as="points">
|
||||||
|
<mxPoint x="220" y="310" />
|
||||||
|
<mxPoint x="220" y="240" />
|
||||||
|
</Array>
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-13" value="O" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="80" y="300" width="20" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-44" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;strokeColor=#FFFF00;" edge="1" parent="1" source="3qXY1K8jvDizOHU8Sasa-14">
|
||||||
|
<mxGeometry relative="1" as="geometry">
|
||||||
|
<mxPoint x="390" y="260" as="targetPoint" />
|
||||||
|
<Array as="points">
|
||||||
|
<mxPoint x="230" y="330" />
|
||||||
|
<mxPoint x="230" y="260" />
|
||||||
|
</Array>
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-14" value="O" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="80" y="320" width="20" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-30" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;strokeColor=#0000FF;" edge="1" parent="1" source="3qXY1K8jvDizOHU8Sasa-15">
|
||||||
|
<mxGeometry relative="1" as="geometry">
|
||||||
|
<mxPoint x="220" y="560" as="targetPoint" />
|
||||||
|
<Array as="points">
|
||||||
|
<mxPoint x="120" y="350" />
|
||||||
|
<mxPoint x="120" y="560" />
|
||||||
|
</Array>
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-15" value="O" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="80" y="340" width="20" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-16" value="<font color="#ffffff">SDA</font>" style="rounded=0;whiteSpace=wrap;html=1;strokeColor=default;fillColor=#CC0000;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="40" y="300" width="40" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-17" value="<font>SCL</font>" style="rounded=0;whiteSpace=wrap;html=1;strokeColor=default;fillColor=#FFFF00;fontColor=#000000;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="40" y="320" width="40" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-18" value="<font color="#ffffff">GND</font>" style="rounded=0;whiteSpace=wrap;html=1;strokeColor=default;fillColor=#000000;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="40" y="280" width="40" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-19" value="INT" style="rounded=0;whiteSpace=wrap;html=1;strokeColor=default;fillColor=#FFFFFF;fontColor=#000000;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="40" y="340" width="40" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-20" value="O" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="80" y="400" width="20" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-48" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;strokeColor=#CC0000;" edge="1" parent="1" source="3qXY1K8jvDizOHU8Sasa-21">
|
||||||
|
<mxGeometry relative="1" as="geometry">
|
||||||
|
<mxPoint x="390" y="240" as="targetPoint" />
|
||||||
|
<Array as="points">
|
||||||
|
<mxPoint x="220" y="430" />
|
||||||
|
<mxPoint x="220" y="240" />
|
||||||
|
</Array>
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-21" value="O" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="80" y="420" width="20" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-46" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=1;exitY=0.5;exitDx=0;exitDy=0;strokeColor=#FFFF00;" edge="1" parent="1" source="3qXY1K8jvDizOHU8Sasa-22">
|
||||||
|
<mxGeometry relative="1" as="geometry">
|
||||||
|
<mxPoint x="390" y="260" as="targetPoint" />
|
||||||
|
<Array as="points">
|
||||||
|
<mxPoint x="230" y="450" />
|
||||||
|
<mxPoint x="230" y="260" />
|
||||||
|
</Array>
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-22" value="O" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="80" y="440" width="20" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-29" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=1;exitY=0.5;exitDx=0;exitDy=0;strokeColor=#0000FF;" edge="1" parent="1" source="3qXY1K8jvDizOHU8Sasa-23">
|
||||||
|
<mxGeometry relative="1" as="geometry">
|
||||||
|
<mxPoint x="220" y="540" as="targetPoint" />
|
||||||
|
<Array as="points">
|
||||||
|
<mxPoint x="110" y="470" />
|
||||||
|
<mxPoint x="110" y="540" />
|
||||||
|
</Array>
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-23" value="O" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="80" y="460" width="20" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-24" value="<font color="#ffffff">SDA</font>" style="rounded=0;whiteSpace=wrap;html=1;strokeColor=default;fillColor=#CC0000;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="40" y="420" width="40" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-25" value="<font>SCL</font>" style="rounded=0;whiteSpace=wrap;html=1;strokeColor=default;fillColor=#FFFF00;fontColor=#000000;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="40" y="440" width="40" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-26" value="<font color="#ffffff">GND</font>" style="rounded=0;whiteSpace=wrap;html=1;strokeColor=default;fillColor=#000000;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="40" y="400" width="40" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-27" value="INT" style="rounded=0;whiteSpace=wrap;html=1;strokeColor=default;fillColor=#FFFFFF;fontColor=#000000;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="40" y="460" width="40" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-53" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=1;entryY=0.5;entryDx=0;entryDy=0;endArrow=none;endFill=0;" edge="1" parent="1" source="3qXY1K8jvDizOHU8Sasa-32" target="3qXY1K8jvDizOHU8Sasa-3">
|
||||||
|
<mxGeometry relative="1" as="geometry">
|
||||||
|
<Array as="points">
|
||||||
|
<mxPoint x="180" y="50" />
|
||||||
|
<mxPoint x="180" y="170" />
|
||||||
|
</Array>
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-32" value="O" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="80" y="40" width="20" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-50" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=1;exitY=0.5;exitDx=0;exitDy=0;strokeColor=#CC0000;" edge="1" parent="1" source="3qXY1K8jvDizOHU8Sasa-33">
|
||||||
|
<mxGeometry relative="1" as="geometry">
|
||||||
|
<mxPoint x="390" y="240" as="targetPoint" />
|
||||||
|
<Array as="points">
|
||||||
|
<mxPoint x="220" y="70" />
|
||||||
|
<mxPoint x="220" y="240" />
|
||||||
|
</Array>
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-33" value="O" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="80" y="60" width="20" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-43" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;strokeColor=#FFFF00;" edge="1" parent="1" source="3qXY1K8jvDizOHU8Sasa-34">
|
||||||
|
<mxGeometry relative="1" as="geometry">
|
||||||
|
<mxPoint x="390" y="260" as="targetPoint" />
|
||||||
|
<Array as="points">
|
||||||
|
<mxPoint x="230" y="90" />
|
||||||
|
<mxPoint x="230" y="260" />
|
||||||
|
</Array>
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-34" value="O" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="80" y="80" width="20" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-40" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;strokeColor=#0000FF;" edge="1" parent="1" source="3qXY1K8jvDizOHU8Sasa-35">
|
||||||
|
<mxGeometry relative="1" as="geometry">
|
||||||
|
<mxPoint x="220" y="620" as="targetPoint" />
|
||||||
|
<Array as="points">
|
||||||
|
<mxPoint x="140" y="110" />
|
||||||
|
<mxPoint x="140" y="620" />
|
||||||
|
</Array>
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-35" value="O" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="80" y="100" width="20" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-36" value="<font color="#ffffff">SDA</font>" style="rounded=0;whiteSpace=wrap;html=1;strokeColor=default;fillColor=#CC0000;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="40" y="60" width="40" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-37" value="<font>SCL</font>" style="rounded=0;whiteSpace=wrap;html=1;strokeColor=default;fillColor=#FFFF00;fontColor=#000000;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="40" y="80" width="40" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-38" value="<font color="#ffffff">GND</font>" style="rounded=0;whiteSpace=wrap;html=1;strokeColor=default;fillColor=#000000;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="40" y="40" width="40" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-39" value="INT" style="rounded=0;whiteSpace=wrap;html=1;strokeColor=default;fillColor=#FFFFFF;fontColor=#000000;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="40" y="100" width="40" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-41" value="" style="endArrow=classic;html=1;rounded=0;strokeColor=#0000FF;" edge="1" parent="1">
|
||||||
|
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
||||||
|
<mxPoint x="220" y="580" as="sourcePoint" />
|
||||||
|
<mxPoint x="330" y="560" as="targetPoint" />
|
||||||
|
<Array as="points">
|
||||||
|
<mxPoint x="190" y="580" />
|
||||||
|
<mxPoint x="190" y="510" />
|
||||||
|
<mxPoint x="360" y="510" />
|
||||||
|
<mxPoint x="360" y="560" />
|
||||||
|
</Array>
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-42" value="" style="endArrow=classic;html=1;rounded=0;strokeColor=#0000FF;" edge="1" parent="1">
|
||||||
|
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
||||||
|
<mxPoint x="220" y="640" as="sourcePoint" />
|
||||||
|
<mxPoint x="330" y="580" as="targetPoint" />
|
||||||
|
<Array as="points">
|
||||||
|
<mxPoint x="180" y="640" />
|
||||||
|
<mxPoint x="180" y="500" />
|
||||||
|
<mxPoint x="370" y="500" />
|
||||||
|
<mxPoint x="370" y="580" />
|
||||||
|
</Array>
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-51" value="" style="endArrow=classic;html=1;rounded=0;edgeStyle=orthogonalEdgeStyle;strokeColor=#0000FF;" edge="1" parent="1">
|
||||||
|
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
||||||
|
<mxPoint x="330" y="600" as="sourcePoint" />
|
||||||
|
<mxPoint x="480" y="210" as="targetPoint" />
|
||||||
|
<Array as="points">
|
||||||
|
<mxPoint x="390" y="600" />
|
||||||
|
<mxPoint x="390" y="480" />
|
||||||
|
<mxPoint x="250" y="480" />
|
||||||
|
<mxPoint x="250" y="210" />
|
||||||
|
</Array>
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-56" value="" style="endArrow=none;html=1;rounded=0;" edge="1" parent="1">
|
||||||
|
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
||||||
|
<mxPoint x="180" y="170" as="sourcePoint" />
|
||||||
|
<mxPoint x="480" y="200" as="targetPoint" />
|
||||||
|
<Array as="points">
|
||||||
|
<mxPoint x="320" y="170" />
|
||||||
|
<mxPoint x="320" y="200" />
|
||||||
|
</Array>
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-58" value="." style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="420" y="80" width="20" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-59" value="." style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="440" y="80" width="20" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-61" value="" style="endArrow=none;html=1;rounded=0;exitX=0.5;exitY=1;exitDx=0;exitDy=0;" edge="1" parent="1" source="3qXY1K8jvDizOHU8Sasa-59">
|
||||||
|
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
||||||
|
<mxPoint x="440" y="220" as="sourcePoint" />
|
||||||
|
<mxPoint x="490" y="170" as="targetPoint" />
|
||||||
|
<Array as="points">
|
||||||
|
<mxPoint x="450" y="170" />
|
||||||
|
</Array>
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-62" value="" style="endArrow=none;html=1;rounded=0;entryX=0.5;entryY=1;entryDx=0;entryDy=0;" edge="1" parent="1" target="3qXY1K8jvDizOHU8Sasa-58">
|
||||||
|
<mxGeometry width="50" height="50" relative="1" as="geometry">
|
||||||
|
<mxPoint x="490" y="180" as="sourcePoint" />
|
||||||
|
<mxPoint x="540" y="130" as="targetPoint" />
|
||||||
|
<Array as="points">
|
||||||
|
<mxPoint x="430" y="180" />
|
||||||
|
</Array>
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-63" value="RX" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="440" y="60" width="20" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-64" value="TX" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="420" y="60" width="20" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-66" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;startArrow=classic;startFill=1;endArrow=none;endFill=0;" edge="1" parent="1" source="3qXY1K8jvDizOHU8Sasa-65">
|
||||||
|
<mxGeometry relative="1" as="geometry">
|
||||||
|
<mxPoint x="719.9999999999998" y="450" as="targetPoint" />
|
||||||
|
<Array as="points">
|
||||||
|
<mxPoint x="720" y="500" />
|
||||||
|
</Array>
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-65" value="LED" style="ellipse;whiteSpace=wrap;html=1;aspect=fixed;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="760" y="480" width="40" height="40" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-75" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;" edge="1" parent="1" source="3qXY1K8jvDizOHU8Sasa-68">
|
||||||
|
<mxGeometry relative="1" as="geometry">
|
||||||
|
<mxPoint x="720" y="200" as="targetPoint" />
|
||||||
|
<Array as="points">
|
||||||
|
<mxPoint x="830" y="160" />
|
||||||
|
<mxPoint x="830" y="200" />
|
||||||
|
</Array>
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-68" value="O" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="880" y="150" width="20" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-76" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=0;exitY=0.5;exitDx=0;exitDy=0;" edge="1" parent="1" source="3qXY1K8jvDizOHU8Sasa-69">
|
||||||
|
<mxGeometry relative="1" as="geometry">
|
||||||
|
<mxPoint x="720" y="180" as="targetPoint" />
|
||||||
|
<Array as="points">
|
||||||
|
<mxPoint x="880" y="180" />
|
||||||
|
</Array>
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-69" value="O" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="880" y="170" width="20" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-72" value="GND" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="900" y="150" width="40" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-74" value="5V+" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="900" y="170" width="40" height="20" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-78" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;" edge="1" parent="1" source="3qXY1K8jvDizOHU8Sasa-77">
|
||||||
|
<mxGeometry relative="1" as="geometry">
|
||||||
|
<mxPoint x="320" y="540" as="targetPoint" />
|
||||||
|
<Array as="points">
|
||||||
|
<mxPoint x="321" y="505" />
|
||||||
|
<mxPoint x="321" y="540" />
|
||||||
|
</Array>
|
||||||
|
</mxGeometry>
|
||||||
|
</mxCell>
|
||||||
|
<mxCell id="3qXY1K8jvDizOHU8Sasa-77" value="3V&nbsp;" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
|
||||||
|
<mxGeometry x="400" y="490" width="60" height="30" as="geometry" />
|
||||||
|
</mxCell>
|
||||||
|
</root>
|
||||||
|
</mxGraphModel>
|
||||||
|
</diagram>
|
||||||
|
</mxfile>
|
||||||
1
i2c-hub/circuit/external/KiCad-RP-Pico
vendored
Submodule
1
i2c-hub/circuit/external/KiCad-RP-Pico
vendored
Submodule
Submodule i2c-hub/circuit/external/KiCad-RP-Pico added at dc6f9b9f21
1
i2c-hub/circuit/external/RP_Silicon_KiCad
vendored
Submodule
1
i2c-hub/circuit/external/RP_Silicon_KiCad
vendored
Submodule
Submodule i2c-hub/circuit/external/RP_Silicon_KiCad added at 8ab84dd99d
1
i2c-hub/circuit/i2c-hub/#auto_saved_files#
Normal file
1
i2c-hub/circuit/i2c-hub/#auto_saved_files#
Normal file
@@ -0,0 +1 @@
|
|||||||
|
/home/alexander/Projects/gobot/i2c-hub/circuit/i2c-hub/_autosave-i2c-hub.kicad_sch
|
||||||
BIN
i2c-hub/circuit/i2c-hub/_autosave-i2c-hub.kicad_sch
(Stored with Git LFS)
Normal file
BIN
i2c-hub/circuit/i2c-hub/_autosave-i2c-hub.kicad_sch
(Stored with Git LFS)
Normal file
Binary file not shown.
BIN
i2c-hub/circuit/i2c-hub/i2c-hub-backups/i2c-hub-2024-12-30_211118.zip
(Stored with Git LFS)
Normal file
BIN
i2c-hub/circuit/i2c-hub/i2c-hub-backups/i2c-hub-2024-12-30_211118.zip
(Stored with Git LFS)
Normal file
Binary file not shown.
BIN
i2c-hub/circuit/i2c-hub/i2c-hub.kicad_pcb
(Stored with Git LFS)
Normal file
BIN
i2c-hub/circuit/i2c-hub/i2c-hub.kicad_pcb
(Stored with Git LFS)
Normal file
Binary file not shown.
BIN
i2c-hub/circuit/i2c-hub/i2c-hub.kicad_prl
(Stored with Git LFS)
Normal file
BIN
i2c-hub/circuit/i2c-hub/i2c-hub.kicad_prl
(Stored with Git LFS)
Normal file
Binary file not shown.
BIN
i2c-hub/circuit/i2c-hub/i2c-hub.kicad_pro
(Stored with Git LFS)
Normal file
BIN
i2c-hub/circuit/i2c-hub/i2c-hub.kicad_pro
(Stored with Git LFS)
Normal file
Binary file not shown.
BIN
i2c-hub/circuit/i2c-hub/i2c-hub.kicad_sch
(Stored with Git LFS)
Normal file
BIN
i2c-hub/circuit/i2c-hub/i2c-hub.kicad_sch
(Stored with Git LFS)
Normal file
Binary file not shown.
4
i2c-hub/circuit/i2c-hub/sym-lib-table
Normal file
4
i2c-hub/circuit/i2c-hub/sym-lib-table
Normal file
@@ -0,0 +1,4 @@
|
|||||||
|
(sym_lib_table
|
||||||
|
(version 7)
|
||||||
|
(lib (name "MCU_RaspberryPi_and_Boards")(type "KiCad")(uri "/home/alexander/Projects/gobot/i2c-hub/circuit/external/KiCad-RP-Pico/RP-Pico Libraries/MCU_RaspberryPi_and_Boards.kicad_sym")(options "")(descr ""))
|
||||||
|
)
|
||||||
BIN
i2c-hub/firmware/i2c-hub-firmware/.gitignore
(Stored with Git LFS)
vendored
Normal file
BIN
i2c-hub/firmware/i2c-hub-firmware/.gitignore
(Stored with Git LFS)
vendored
Normal file
Binary file not shown.
23
i2c-hub/firmware/i2c-hub-firmware/.vscode/c_cpp_properties.json
vendored
Normal file
23
i2c-hub/firmware/i2c-hub-firmware/.vscode/c_cpp_properties.json
vendored
Normal file
@@ -0,0 +1,23 @@
|
|||||||
|
{
|
||||||
|
"configurations": [
|
||||||
|
{
|
||||||
|
"name": "Pico",
|
||||||
|
"includePath": [
|
||||||
|
"${workspaceFolder}/**",
|
||||||
|
"${userHome}/.pico-sdk/sdk/2.1.0/**"
|
||||||
|
],
|
||||||
|
"forcedInclude": [
|
||||||
|
"${userHome}/.pico-sdk/sdk/2.1.0/src/common/pico_base_headers/include/pico.h",
|
||||||
|
"${workspaceFolder}/build/generated/pico_base/pico/config_autogen.h"
|
||||||
|
],
|
||||||
|
"defines": [],
|
||||||
|
"compilerPath": "${userHome}/.pico-sdk/toolchain/13_3_Rel1/bin/arm-none-eabi-gcc",
|
||||||
|
"compileCommands": "${workspaceFolder}/build/compile_commands.json",
|
||||||
|
"cStandard": "c17",
|
||||||
|
"cppStandard": "c++14",
|
||||||
|
"intelliSenseMode": "linux-gcc-arm",
|
||||||
|
"configurationProvider": "ms-vscode.cmake-tools"
|
||||||
|
}
|
||||||
|
],
|
||||||
|
"version": 4
|
||||||
|
}
|
||||||
15
i2c-hub/firmware/i2c-hub-firmware/.vscode/cmake-kits.json
vendored
Normal file
15
i2c-hub/firmware/i2c-hub-firmware/.vscode/cmake-kits.json
vendored
Normal file
@@ -0,0 +1,15 @@
|
|||||||
|
[
|
||||||
|
{
|
||||||
|
"name": "Pico",
|
||||||
|
"compilers": {
|
||||||
|
"C": "${command:raspberry-pi-pico.getCompilerPath}",
|
||||||
|
"CXX": "${command:raspberry-pi-pico.getCxxCompilerPath}"
|
||||||
|
},
|
||||||
|
"environmentVariables": {
|
||||||
|
"PATH": "${command:raspberry-pi-pico.getEnvPath};${env:PATH}"
|
||||||
|
},
|
||||||
|
"cmakeSettings": {
|
||||||
|
"Python3_EXECUTABLE": "${command:raspberry-pi-pico.getPythonPath}"
|
||||||
|
}
|
||||||
|
}
|
||||||
|
]
|
||||||
9
i2c-hub/firmware/i2c-hub-firmware/.vscode/extensions.json
vendored
Normal file
9
i2c-hub/firmware/i2c-hub-firmware/.vscode/extensions.json
vendored
Normal file
@@ -0,0 +1,9 @@
|
|||||||
|
{
|
||||||
|
"recommendations": [
|
||||||
|
"marus25.cortex-debug",
|
||||||
|
"ms-vscode.cpptools",
|
||||||
|
"ms-vscode.cpptools-extension-pack",
|
||||||
|
"ms-vscode.vscode-serial-monitor",
|
||||||
|
"raspberry-pi.raspberry-pi-pico"
|
||||||
|
]
|
||||||
|
}
|
||||||
70
i2c-hub/firmware/i2c-hub-firmware/.vscode/launch.json
vendored
Normal file
70
i2c-hub/firmware/i2c-hub-firmware/.vscode/launch.json
vendored
Normal file
@@ -0,0 +1,70 @@
|
|||||||
|
{
|
||||||
|
"version": "0.2.0",
|
||||||
|
"configurations": [
|
||||||
|
{
|
||||||
|
"name": "Pico Debug (Cortex-Debug)",
|
||||||
|
"cwd": "${userHome}/.pico-sdk/openocd/0.12.0+dev/scripts",
|
||||||
|
"executable": "${command:raspberry-pi-pico.launchTargetPath}",
|
||||||
|
"request": "launch",
|
||||||
|
"type": "cortex-debug",
|
||||||
|
"servertype": "openocd",
|
||||||
|
"serverpath": "${userHome}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
|
||||||
|
"gdbPath": "${command:raspberry-pi-pico.getGDBPath}",
|
||||||
|
"device": "${command:raspberry-pi-pico.getChipUppercase}",
|
||||||
|
"configFiles": [
|
||||||
|
"interface/cmsis-dap.cfg",
|
||||||
|
"target/${command:raspberry-pi-pico.getTarget}.cfg"
|
||||||
|
],
|
||||||
|
"svdFile": "${userHome}/.pico-sdk/sdk/2.1.0/src/${command:raspberry-pi-pico.getChip}/hardware_regs/${command:raspberry-pi-pico.getChipUppercase}.svd",
|
||||||
|
"runToEntryPoint": "main",
|
||||||
|
// Fix for no_flash binaries, where monitor reset halt doesn't do what is expected
|
||||||
|
// Also works fine for flash binaries
|
||||||
|
"overrideLaunchCommands": [
|
||||||
|
"monitor reset init",
|
||||||
|
"load \"${command:raspberry-pi-pico.launchTargetPath}\""
|
||||||
|
],
|
||||||
|
"openOCDLaunchCommands": [
|
||||||
|
"adapter speed 5000"
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"name": "Pico Debug (Cortex-Debug with external OpenOCD)",
|
||||||
|
"cwd": "${workspaceRoot}",
|
||||||
|
"executable": "${command:raspberry-pi-pico.launchTargetPath}",
|
||||||
|
"request": "launch",
|
||||||
|
"type": "cortex-debug",
|
||||||
|
"servertype": "external",
|
||||||
|
"gdbTarget": "localhost:3333",
|
||||||
|
"gdbPath": "${command:raspberry-pi-pico.getGDBPath}",
|
||||||
|
"device": "${command:raspberry-pi-pico.getChipUppercase}",
|
||||||
|
"svdFile": "${userHome}/.pico-sdk/sdk/2.1.0/src/${command:raspberry-pi-pico.getChip}/hardware_regs/${command:raspberry-pi-pico.getChipUppercase}.svd",
|
||||||
|
"runToEntryPoint": "main",
|
||||||
|
// Fix for no_flash binaries, where monitor reset halt doesn't do what is expected
|
||||||
|
// Also works fine for flash binaries
|
||||||
|
"overrideLaunchCommands": [
|
||||||
|
"monitor reset init",
|
||||||
|
"load \"${command:raspberry-pi-pico.launchTargetPath}\""
|
||||||
|
]
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"name": "Pico Debug (C++ Debugger)",
|
||||||
|
"type": "cppdbg",
|
||||||
|
"request": "launch",
|
||||||
|
"cwd": "${workspaceRoot}",
|
||||||
|
"program": "${command:raspberry-pi-pico.launchTargetPath}",
|
||||||
|
"MIMode": "gdb",
|
||||||
|
"miDebuggerPath": "${command:raspberry-pi-pico.getGDBPath}",
|
||||||
|
"miDebuggerServerAddress": "localhost:3333",
|
||||||
|
"debugServerPath": "${userHome}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
|
||||||
|
"debugServerArgs": "-f interface/cmsis-dap.cfg -f target/${command:raspberry-pi-pico.getTarget}.cfg -c \"adapter speed 5000\"",
|
||||||
|
"serverStarted": "Listening on port .* for gdb connections",
|
||||||
|
"filterStderr": true,
|
||||||
|
"hardwareBreakpoints": {
|
||||||
|
"require": true,
|
||||||
|
"limit": 4
|
||||||
|
},
|
||||||
|
"preLaunchTask": "Flash",
|
||||||
|
"svdPath": "${userHome}/.pico-sdk/sdk/2.1.0/src/${command:raspberry-pi-pico.getChip}/hardware_regs/${command:raspberry-pi-pico.getChipUppercase}.svd"
|
||||||
|
},
|
||||||
|
]
|
||||||
|
}
|
||||||
87
i2c-hub/firmware/i2c-hub-firmware/.vscode/settings.json
vendored
Normal file
87
i2c-hub/firmware/i2c-hub-firmware/.vscode/settings.json
vendored
Normal file
@@ -0,0 +1,87 @@
|
|||||||
|
{
|
||||||
|
"cmake.options.statusBarVisibility": "hidden",
|
||||||
|
"cmake.options.advanced": {
|
||||||
|
"build": {
|
||||||
|
"statusBarVisibility": "hidden"
|
||||||
|
},
|
||||||
|
"launch": {
|
||||||
|
"statusBarVisibility": "hidden"
|
||||||
|
},
|
||||||
|
"debug": {
|
||||||
|
"statusBarVisibility": "hidden"
|
||||||
|
}
|
||||||
|
},
|
||||||
|
"cmake.configureOnEdit": true,
|
||||||
|
"cmake.automaticReconfigure": true,
|
||||||
|
"cmake.configureOnOpen": true,
|
||||||
|
"cmake.generator": "Ninja",
|
||||||
|
"cmake.cmakePath": "${userHome}/.pico-sdk/cmake/v3.29.9/bin/cmake",
|
||||||
|
"C_Cpp.debugShortcut": false,
|
||||||
|
"terminal.integrated.env.windows": {
|
||||||
|
"PICO_SDK_PATH": "${env:USERPROFILE}/.pico-sdk/sdk/2.1.0",
|
||||||
|
"PICO_TOOLCHAIN_PATH": "${env:USERPROFILE}/.pico-sdk/toolchain/13_3_Rel1",
|
||||||
|
"Path": "${env:USERPROFILE}/.pico-sdk/toolchain/13_3_Rel1/bin;${env:USERPROFILE}/.pico-sdk/picotool/2.1.0/picotool;${env:USERPROFILE}/.pico-sdk/cmake/v3.29.9/bin;${env:USERPROFILE}/.pico-sdk/ninja/v1.12.1;${env:PATH}"
|
||||||
|
},
|
||||||
|
"terminal.integrated.env.osx": {
|
||||||
|
"PICO_SDK_PATH": "${env:HOME}/.pico-sdk/sdk/2.1.0",
|
||||||
|
"PICO_TOOLCHAIN_PATH": "${env:HOME}/.pico-sdk/toolchain/13_3_Rel1",
|
||||||
|
"PATH": "${env:HOME}/.pico-sdk/toolchain/13_3_Rel1/bin:${env:HOME}/.pico-sdk/picotool/2.1.0/picotool:${env:HOME}/.pico-sdk/cmake/v3.29.9/bin:${env:HOME}/.pico-sdk/ninja/v1.12.1:${env:PATH}"
|
||||||
|
},
|
||||||
|
"terminal.integrated.env.linux": {
|
||||||
|
"PICO_SDK_PATH": "${env:HOME}/.pico-sdk/sdk/2.1.0",
|
||||||
|
"PICO_TOOLCHAIN_PATH": "${env:HOME}/.pico-sdk/toolchain/13_3_Rel1",
|
||||||
|
"PATH": "${env:HOME}/.pico-sdk/toolchain/13_3_Rel1/bin:${env:HOME}/.pico-sdk/picotool/2.1.0/picotool:${env:HOME}/.pico-sdk/cmake/v3.29.9/bin:${env:HOME}/.pico-sdk/ninja/v1.12.1:${env:PATH}"
|
||||||
|
},
|
||||||
|
"raspberry-pi-pico.cmakeAutoConfigure": false,
|
||||||
|
"raspberry-pi-pico.useCmakeTools": true,
|
||||||
|
"raspberry-pi-pico.cmakePath": "${HOME}/.pico-sdk/cmake/v3.29.9/bin/cmake",
|
||||||
|
"raspberry-pi-pico.ninjaPath": "${HOME}/.pico-sdk/ninja/v1.12.1/ninja",
|
||||||
|
"files.associations": {
|
||||||
|
"uart.h": "c",
|
||||||
|
"freertos.h": "c",
|
||||||
|
"array": "cpp",
|
||||||
|
"atomic": "cpp",
|
||||||
|
"bit": "cpp",
|
||||||
|
"*.tcc": "cpp",
|
||||||
|
"cctype": "cpp",
|
||||||
|
"clocale": "cpp",
|
||||||
|
"cmath": "cpp",
|
||||||
|
"compare": "cpp",
|
||||||
|
"concepts": "cpp",
|
||||||
|
"cstdarg": "cpp",
|
||||||
|
"cstddef": "cpp",
|
||||||
|
"cstdint": "cpp",
|
||||||
|
"cstdio": "cpp",
|
||||||
|
"cstdlib": "cpp",
|
||||||
|
"cwchar": "cpp",
|
||||||
|
"cwctype": "cpp",
|
||||||
|
"deque": "cpp",
|
||||||
|
"map": "cpp",
|
||||||
|
"string": "cpp",
|
||||||
|
"unordered_map": "cpp",
|
||||||
|
"vector": "cpp",
|
||||||
|
"exception": "cpp",
|
||||||
|
"algorithm": "cpp",
|
||||||
|
"functional": "cpp",
|
||||||
|
"iterator": "cpp",
|
||||||
|
"memory": "cpp",
|
||||||
|
"memory_resource": "cpp",
|
||||||
|
"numeric": "cpp",
|
||||||
|
"optional": "cpp",
|
||||||
|
"random": "cpp",
|
||||||
|
"string_view": "cpp",
|
||||||
|
"system_error": "cpp",
|
||||||
|
"tuple": "cpp",
|
||||||
|
"type_traits": "cpp",
|
||||||
|
"utility": "cpp",
|
||||||
|
"initializer_list": "cpp",
|
||||||
|
"iosfwd": "cpp",
|
||||||
|
"limits": "cpp",
|
||||||
|
"new": "cpp",
|
||||||
|
"numbers": "cpp",
|
||||||
|
"ostream": "cpp",
|
||||||
|
"stdexcept": "cpp",
|
||||||
|
"streambuf": "cpp",
|
||||||
|
"typeinfo": "cpp"
|
||||||
|
}
|
||||||
|
}
|
||||||
106
i2c-hub/firmware/i2c-hub-firmware/.vscode/tasks.json
vendored
Normal file
106
i2c-hub/firmware/i2c-hub-firmware/.vscode/tasks.json
vendored
Normal file
@@ -0,0 +1,106 @@
|
|||||||
|
{
|
||||||
|
"version": "2.0.0",
|
||||||
|
"tasks": [
|
||||||
|
{
|
||||||
|
"label": "Compile Project",
|
||||||
|
"type": "process",
|
||||||
|
"isBuildCommand": true,
|
||||||
|
"command": "${userHome}/.pico-sdk/ninja/v1.12.1/ninja",
|
||||||
|
"args": ["-C", "${workspaceFolder}/build"],
|
||||||
|
"group": "build",
|
||||||
|
"presentation": {
|
||||||
|
"echo": true,
|
||||||
|
"reveal": "always",
|
||||||
|
"focus": true,
|
||||||
|
"panel": "dedicated",
|
||||||
|
"showReuseMessage": true,
|
||||||
|
"clear": true
|
||||||
|
},
|
||||||
|
"problemMatcher": "$gcc",
|
||||||
|
"windows": {
|
||||||
|
"command": "${env:USERPROFILE}/.pico-sdk/ninja/v1.12.1/ninja.exe"
|
||||||
|
}
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"label": "Run Project",
|
||||||
|
"type": "process",
|
||||||
|
"command": "${env:HOME}/.pico-sdk/picotool/2.1.0/picotool/picotool",
|
||||||
|
"args": [
|
||||||
|
"load",
|
||||||
|
"${command:raspberry-pi-pico.launchTargetPath}",
|
||||||
|
"-fx"
|
||||||
|
],
|
||||||
|
"presentation": {
|
||||||
|
"echo": true,
|
||||||
|
"reveal": "always",
|
||||||
|
"focus": true,
|
||||||
|
"panel": "shared",
|
||||||
|
"showReuseMessage": true,
|
||||||
|
"clear": true
|
||||||
|
},
|
||||||
|
"problemMatcher": [],
|
||||||
|
"windows": {
|
||||||
|
"command": "${env:USERPROFILE}/.pico-sdk/picotool/2.1.0/picotool/picotool.exe"
|
||||||
|
}
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"label": "Flash",
|
||||||
|
"type": "process",
|
||||||
|
"command": "${userHome}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
|
||||||
|
"args": [
|
||||||
|
"-s",
|
||||||
|
"${userHome}/.pico-sdk/openocd/0.12.0+dev/scripts",
|
||||||
|
"-f",
|
||||||
|
"interface/cmsis-dap.cfg",
|
||||||
|
"-f",
|
||||||
|
"target/${command:raspberry-pi-pico.getTarget}.cfg",
|
||||||
|
"-c", "adapter speed 5000; program \"${command:raspberry-pi-pico.launchTargetPath}\" verify",
|
||||||
|
"-c", "reset halt",
|
||||||
|
"-c", "rp2040.core1 arp_reset assert 0",
|
||||||
|
"-c", "rp2040.core0 arp_reset assert 0",
|
||||||
|
"-c", "exit"
|
||||||
|
],
|
||||||
|
"presentation": {
|
||||||
|
"echo": true,
|
||||||
|
"reveal": "always",
|
||||||
|
"focus": true,
|
||||||
|
"panel": "shared",
|
||||||
|
"showReuseMessage": true,
|
||||||
|
"clear": true
|
||||||
|
},
|
||||||
|
"dependsOn": ["Compile Project"],
|
||||||
|
"problemMatcher": [],
|
||||||
|
"windows": {
|
||||||
|
"command": "${env:USERPROFILE}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
|
||||||
|
}
|
||||||
|
},
|
||||||
|
{
|
||||||
|
"label": "Reset",
|
||||||
|
"type": "process",
|
||||||
|
"command": "${userHome}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
|
||||||
|
"args": [
|
||||||
|
"-s",
|
||||||
|
"${userHome}/.pico-sdk/openocd/0.12.0+dev/scripts",
|
||||||
|
"-f",
|
||||||
|
"interface/cmsis-dap.cfg",
|
||||||
|
"-f", "target/${command:raspberry-pi-pico.getTarget}.cfg",
|
||||||
|
"-c", "adapter speed 5000; init; reset halt;",
|
||||||
|
"-c", "rp2040.core1 arp_reset assert 0",
|
||||||
|
"-c", "rp2040.core0 arp_reset assert 0",
|
||||||
|
"-c", "exit"
|
||||||
|
],
|
||||||
|
"presentation": {
|
||||||
|
"echo": true,
|
||||||
|
"reveal": "always",
|
||||||
|
"focus": true,
|
||||||
|
"panel": "shared",
|
||||||
|
"showReuseMessage": true,
|
||||||
|
"clear": true
|
||||||
|
},
|
||||||
|
"problemMatcher": [],
|
||||||
|
"windows": {
|
||||||
|
"command": "${env:USERPROFILE}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
|
||||||
|
}
|
||||||
|
}
|
||||||
|
]
|
||||||
|
}
|
||||||
75
i2c-hub/firmware/i2c-hub-firmware/CMakeLists.txt
Normal file
75
i2c-hub/firmware/i2c-hub-firmware/CMakeLists.txt
Normal file
@@ -0,0 +1,75 @@
|
|||||||
|
# Generated Cmake Pico project file
|
||||||
|
set(CMAKE_VERBOSE_MAKEFILE ON CACHE BOOL "ON")
|
||||||
|
cmake_minimum_required(VERSION 3.13)
|
||||||
|
|
||||||
|
set(CMAKE_C_STANDARD 11)
|
||||||
|
set(CMAKE_CXX_STANDARD 17)
|
||||||
|
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
|
||||||
|
|
||||||
|
# Initialise pico_sdk from installed location
|
||||||
|
# (note this can come from environment, CMake cache etc)
|
||||||
|
|
||||||
|
# == DO NOT EDIT THE FOLLOWING LINES for the Raspberry Pi Pico VS Code Extension to work ==
|
||||||
|
if(WIN32)
|
||||||
|
set(USERHOME $ENV{USERPROFILE})
|
||||||
|
else()
|
||||||
|
set(USERHOME $ENV{HOME})
|
||||||
|
endif()
|
||||||
|
set(sdkVersion 2.1.0)
|
||||||
|
set(toolchainVersion 13_3_Rel1)
|
||||||
|
set(picotoolVersion 2.1.0)
|
||||||
|
set(picoVscode ${USERHOME}/.pico-sdk/cmake/pico-vscode.cmake)
|
||||||
|
if (EXISTS ${picoVscode})
|
||||||
|
include(${picoVscode})
|
||||||
|
endif()
|
||||||
|
# ====================================================================================
|
||||||
|
set(PICO_BOARD pico CACHE STRING "Board type")
|
||||||
|
|
||||||
|
# Pull in Raspberry Pi Pico SDK (must be before project)
|
||||||
|
include(pico_sdk_import.cmake)
|
||||||
|
|
||||||
|
# Adding FreeRTOS
|
||||||
|
set(FREERTOS_KERNEL_PATH ../lib/FreeRTOS-Kernel)
|
||||||
|
include(cmake/FreeRTOS_Kernel_import.cmake)
|
||||||
|
include(src/gobotrpc/cmake/CMakeLists.txt)
|
||||||
|
|
||||||
|
project(i2c-hub-firmware C CXX ASM)
|
||||||
|
|
||||||
|
# Initialise the Raspberry Pi Pico SDK
|
||||||
|
pico_sdk_init()
|
||||||
|
|
||||||
|
# Add executable. Default name is the project name, version 0.1
|
||||||
|
|
||||||
|
add_executable(i2c-hub-firmware
|
||||||
|
src/main_core0.cpp
|
||||||
|
src/main_core1.cpp
|
||||||
|
#src/freeRTOS_impl.c
|
||||||
|
)
|
||||||
|
|
||||||
|
pico_set_program_name(i2c-hub-firmware "i2c-hub-firmware")
|
||||||
|
pico_set_program_version(i2c-hub-firmware "0.1")
|
||||||
|
|
||||||
|
# Modify the below lines to enable/disable output over UART/USB
|
||||||
|
pico_enable_stdio_uart(i2c-hub-firmware 1)
|
||||||
|
pico_enable_stdio_usb(i2c-hub-firmware 0)
|
||||||
|
|
||||||
|
# Add the standard library to the build
|
||||||
|
target_link_libraries(i2c-hub-firmware
|
||||||
|
FreeRTOS-Kernel-Heap4
|
||||||
|
GobotRPC
|
||||||
|
pico_stdlib
|
||||||
|
)
|
||||||
|
|
||||||
|
# Add the standard include files to the build
|
||||||
|
target_include_directories(i2c-hub-firmware PRIVATE
|
||||||
|
${CMAKE_CURRENT_LIST_DIR}
|
||||||
|
${CMAKE_CURRENT_LIST_DIR}/include
|
||||||
|
)
|
||||||
|
|
||||||
|
# Add any user requested libraries
|
||||||
|
target_link_libraries(i2c-hub-firmware
|
||||||
|
hardware_i2c
|
||||||
|
)
|
||||||
|
|
||||||
|
pico_add_extra_outputs(i2c-hub-firmware)
|
||||||
|
|
||||||
143
i2c-hub/firmware/i2c-hub-firmware/FreeRTOSConfig.h
Normal file
143
i2c-hub/firmware/i2c-hub-firmware/FreeRTOSConfig.h
Normal file
@@ -0,0 +1,143 @@
|
|||||||
|
/*
|
||||||
|
* FreeRTOS V202111.00
|
||||||
|
* Copyright (C) 2020 Amazon.com, Inc. or its affiliates. All Rights Reserved.
|
||||||
|
*
|
||||||
|
* Permission is hereby granted, free of charge, to any person obtaining a copy of
|
||||||
|
* this software and associated documentation files (the "Software"), to deal in
|
||||||
|
* the Software without restriction, including without limitation the rights to
|
||||||
|
* use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
|
||||||
|
* the Software, and to permit persons to whom the Software is furnished to do so,
|
||||||
|
* subject to the following conditions:
|
||||||
|
*
|
||||||
|
* The above copyright notice and this permission notice shall be included in all
|
||||||
|
* copies or substantial portions of the Software.
|
||||||
|
*
|
||||||
|
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
|
||||||
|
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
|
||||||
|
* FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
|
||||||
|
* COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
|
||||||
|
* IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
|
||||||
|
* CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
|
||||||
|
*
|
||||||
|
* http://www.FreeRTOS.org
|
||||||
|
* http://aws.amazon.com/freertos
|
||||||
|
*
|
||||||
|
* 1 tab == 4 spaces!
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef FREERTOS_CONFIG_H
|
||||||
|
#define FREERTOS_CONFIG_H
|
||||||
|
|
||||||
|
/*-----------------------------------------------------------
|
||||||
|
* Application specific definitions.
|
||||||
|
*
|
||||||
|
* These definitions should be adjusted for your particular hardware and
|
||||||
|
* application requirements.
|
||||||
|
*
|
||||||
|
* THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
|
||||||
|
* FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
|
||||||
|
*
|
||||||
|
* See http://www.freertos.org/a00110.html
|
||||||
|
*----------------------------------------------------------*/
|
||||||
|
|
||||||
|
/* Scheduler Related */
|
||||||
|
#define configUSE_PREEMPTION 1
|
||||||
|
#define configUSE_TICKLESS_IDLE 0
|
||||||
|
#define configUSE_IDLE_HOOK 0
|
||||||
|
#define configUSE_TICK_HOOK 0
|
||||||
|
#define configTICK_RATE_HZ ( ( TickType_t ) 1000 )
|
||||||
|
#define configMAX_PRIORITIES 32
|
||||||
|
#define configMINIMAL_STACK_SIZE ( configSTACK_DEPTH_TYPE ) 256
|
||||||
|
#define configUSE_16_BIT_TICKS 0
|
||||||
|
|
||||||
|
#define configIDLE_SHOULD_YIELD 1
|
||||||
|
|
||||||
|
/* Synchronization Related */
|
||||||
|
#define configUSE_MUTEXES 1
|
||||||
|
#define configUSE_RECURSIVE_MUTEXES 1
|
||||||
|
#define configUSE_APPLICATION_TASK_TAG 0
|
||||||
|
#define configUSE_COUNTING_SEMAPHORES 1
|
||||||
|
#define configQUEUE_REGISTRY_SIZE 8
|
||||||
|
#define configUSE_QUEUE_SETS 1
|
||||||
|
#define configUSE_TIME_SLICING 1
|
||||||
|
#define configUSE_NEWLIB_REENTRANT 0
|
||||||
|
// todo need this for lwip FreeRTOS sys_arch to compile
|
||||||
|
#define configENABLE_BACKWARD_COMPATIBILITY 1
|
||||||
|
#define configNUM_THREAD_LOCAL_STORAGE_POINTERS 5
|
||||||
|
|
||||||
|
/* System */
|
||||||
|
#define configSTACK_DEPTH_TYPE uint32_t
|
||||||
|
#define configMESSAGE_BUFFER_LENGTH_TYPE size_t
|
||||||
|
|
||||||
|
/* Memory allocation related definitions. */
|
||||||
|
#define configSUPPORT_STATIC_ALLOCATION 0
|
||||||
|
#define configSUPPORT_DYNAMIC_ALLOCATION 1
|
||||||
|
#define configTOTAL_HEAP_SIZE (1024 * 128)
|
||||||
|
#define configAPPLICATION_ALLOCATED_HEAP (1024 * 84)
|
||||||
|
|
||||||
|
/* Hook function related definitions. */
|
||||||
|
#define configCHECK_FOR_STACK_OVERFLOW 0
|
||||||
|
#define configUSE_MALLOC_FAILED_HOOK 0
|
||||||
|
#define configUSE_DAEMON_TASK_STARTUP_HOOK 0
|
||||||
|
|
||||||
|
/* Run time and task stats gathering related definitions. */
|
||||||
|
#define configGENERATE_RUN_TIME_STATS 0
|
||||||
|
#define configUSE_TRACE_FACILITY 1
|
||||||
|
#define configUSE_STATS_FORMATTING_FUNCTIONS 0
|
||||||
|
|
||||||
|
/* Co-routine related definitions. */
|
||||||
|
#define configUSE_CO_ROUTINES 0
|
||||||
|
#define configMAX_CO_ROUTINE_PRIORITIES 1
|
||||||
|
|
||||||
|
/* Software timer related definitions. */
|
||||||
|
#define configUSE_TIMERS 1
|
||||||
|
#define configTIMER_TASK_PRIORITY ( configMAX_PRIORITIES - 1 )
|
||||||
|
#define configTIMER_QUEUE_LENGTH 10
|
||||||
|
#define configTIMER_TASK_STACK_DEPTH 1024
|
||||||
|
|
||||||
|
/* Interrupt nesting behaviour configuration. */
|
||||||
|
/*
|
||||||
|
#define configKERNEL_INTERRUPT_PRIORITY [dependent of processor]
|
||||||
|
#define configMAX_SYSCALL_INTERRUPT_PRIORITY [dependent on processor and application]
|
||||||
|
#define configMAX_API_CALL_INTERRUPT_PRIORITY [dependent on processor and application]
|
||||||
|
*/
|
||||||
|
|
||||||
|
#if FREE_RTOS_KERNEL_SMP // set by the RP2040 SMP port of FreeRTOS
|
||||||
|
/* SMP port only */
|
||||||
|
#define configNUMBER_OF_CORES 2
|
||||||
|
#define configTICK_CORE 0
|
||||||
|
#define configRUN_MULTIPLE_PRIORITIES 1
|
||||||
|
#define configUSE_CORE_AFFINITY 1
|
||||||
|
#define configUSE_PASSIVE_IDLE_HOOK 0
|
||||||
|
#endif
|
||||||
|
|
||||||
|
/* RP2040 specific */
|
||||||
|
#define configSUPPORT_PICO_SYNC_INTEROP 1
|
||||||
|
#define configSUPPORT_PICO_TIME_INTEROP 1
|
||||||
|
|
||||||
|
#include <assert.h>
|
||||||
|
/* Define to trap errors during development. */
|
||||||
|
#define configASSERT(x) assert(x)
|
||||||
|
|
||||||
|
/* Set the following definitions to 1 to include the API function, or zero
|
||||||
|
to exclude the API function. */
|
||||||
|
#define INCLUDE_vTaskPrioritySet 1
|
||||||
|
#define INCLUDE_uxTaskPriorityGet 1
|
||||||
|
#define INCLUDE_vTaskDelete 1
|
||||||
|
#define INCLUDE_vTaskSuspend 1
|
||||||
|
#define INCLUDE_vTaskDelayUntil 1
|
||||||
|
#define INCLUDE_vTaskDelay 1
|
||||||
|
#define INCLUDE_xTaskGetSchedulerState 1
|
||||||
|
#define INCLUDE_xTaskGetCurrentTaskHandle 1
|
||||||
|
#define INCLUDE_uxTaskGetStackHighWaterMark 1
|
||||||
|
#define INCLUDE_xTaskGetIdleTaskHandle 1
|
||||||
|
#define INCLUDE_eTaskGetState 1
|
||||||
|
#define INCLUDE_xTimerPendFunctionCall 1
|
||||||
|
#define INCLUDE_xTaskAbortDelay 1
|
||||||
|
#define INCLUDE_xTaskGetHandle 1
|
||||||
|
#define INCLUDE_xTaskResumeFromISR 1
|
||||||
|
#define INCLUDE_xQueueGetMutexHolder 1
|
||||||
|
|
||||||
|
/* A header file that defines trace macro can be included here. */
|
||||||
|
|
||||||
|
#endif /* FREERTOS_CONFIG_H */
|
||||||
@@ -0,0 +1,61 @@
|
|||||||
|
# This is a copy of <FREERTOS_KERNEL_PATH>/portable/ThirdParty/GCC/RP2040/FREERTOS_KERNEL_import.cmake
|
||||||
|
|
||||||
|
# This can be dropped into an external project to help locate the FreeRTOS kernel
|
||||||
|
# It should be include()ed prior to project(). Alternatively this file may
|
||||||
|
# or the CMakeLists.txt in this directory may be included or added via add_subdirectory
|
||||||
|
# respectively.
|
||||||
|
|
||||||
|
if (DEFINED ENV{FREERTOS_KERNEL_PATH} AND (NOT FREERTOS_KERNEL_PATH))
|
||||||
|
set(FREERTOS_KERNEL_PATH $ENV{FREERTOS_KERNEL_PATH})
|
||||||
|
message("Using FREERTOS_KERNEL_PATH from environment ('${FREERTOS_KERNEL_PATH}')")
|
||||||
|
endif ()
|
||||||
|
|
||||||
|
set(FREERTOS_KERNEL_RP2040_RELATIVE_PATH "portable/ThirdParty/GCC/RP2040")
|
||||||
|
# undo the above
|
||||||
|
set(FREERTOS_KERNEL_RP2040_BACK_PATH "../../../..")
|
||||||
|
|
||||||
|
if (NOT FREERTOS_KERNEL_PATH)
|
||||||
|
# check if we are inside the FreeRTOS kernel tree (i.e. this file has been included directly)
|
||||||
|
get_filename_component(_ACTUAL_PATH ${CMAKE_CURRENT_LIST_DIR} REALPATH)
|
||||||
|
get_filename_component(_POSSIBLE_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH} REALPATH)
|
||||||
|
if (_ACTUAL_PATH STREQUAL _POSSIBLE_PATH)
|
||||||
|
get_filename_component(FREERTOS_KERNEL_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH} REALPATH)
|
||||||
|
endif()
|
||||||
|
if (_ACTUAL_PATH STREQUAL _POSSIBLE_PATH)
|
||||||
|
get_filename_component(FREERTOS_KERNEL_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH} REALPATH)
|
||||||
|
message("Setting FREERTOS_KERNEL_PATH to ${FREERTOS_KERNEL_PATH} based on location of FreeRTOS-Kernel-import.cmake")
|
||||||
|
elseif (PICO_SDK_PATH AND EXISTS "${PICO_SDK_PATH}/../FreeRTOS-Kernel")
|
||||||
|
set(FREERTOS_KERNEL_PATH ${PICO_SDK_PATH}/../FreeRTOS-Kernel)
|
||||||
|
message("Defaulting FREERTOS_KERNEL_PATH as sibling of PICO_SDK_PATH: ${FREERTOS_KERNEL_PATH}")
|
||||||
|
endif()
|
||||||
|
endif ()
|
||||||
|
|
||||||
|
if (NOT FREERTOS_KERNEL_PATH)
|
||||||
|
foreach(POSSIBLE_SUFFIX Source FreeRTOS-Kernel FreeRTOS/Source)
|
||||||
|
# check if FreeRTOS-Kernel exists under directory that included us
|
||||||
|
set(SEARCH_ROOT ${CMAKE_CURRENT_SOURCE_DIR})
|
||||||
|
get_filename_component(_POSSIBLE_PATH ${SEARCH_ROOT}/${POSSIBLE_SUFFIX} REALPATH)
|
||||||
|
if (EXISTS ${_POSSIBLE_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}/CMakeLists.txt)
|
||||||
|
get_filename_component(FREERTOS_KERNEL_PATH ${_POSSIBLE_PATH} REALPATH)
|
||||||
|
message("Setting FREERTOS_KERNEL_PATH to '${FREERTOS_KERNEL_PATH}' found relative to enclosing project")
|
||||||
|
break()
|
||||||
|
endif()
|
||||||
|
endforeach()
|
||||||
|
endif()
|
||||||
|
|
||||||
|
if (NOT FREERTOS_KERNEL_PATH)
|
||||||
|
message(FATAL_ERROR "FreeRTOS location was not specified. Please set FREERTOS_KERNEL_PATH.")
|
||||||
|
endif()
|
||||||
|
|
||||||
|
set(FREERTOS_KERNEL_PATH "${FREERTOS_KERNEL_PATH}" CACHE PATH "Path to the FreeRTOS Kernel")
|
||||||
|
|
||||||
|
get_filename_component(FREERTOS_KERNEL_PATH "${FREERTOS_KERNEL_PATH}" REALPATH BASE_DIR "${CMAKE_BINARY_DIR}")
|
||||||
|
if (NOT EXISTS ${FREERTOS_KERNEL_PATH})
|
||||||
|
message(FATAL_ERROR "Directory '${FREERTOS_KERNEL_PATH}' not found")
|
||||||
|
endif()
|
||||||
|
if (NOT EXISTS ${FREERTOS_KERNEL_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}/CMakeLists.txt)
|
||||||
|
message(FATAL_ERROR "Directory '${FREERTOS_KERNEL_PATH}' does not contain an RP2040 port here: ${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}")
|
||||||
|
endif()
|
||||||
|
set(FREERTOS_KERNEL_PATH ${FREERTOS_KERNEL_PATH} CACHE PATH "Path to the FreeRTOS_KERNEL" FORCE)
|
||||||
|
|
||||||
|
add_subdirectory(${FREERTOS_KERNEL_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH} FREERTOS_KERNEL)
|
||||||
1708
i2c-hub/firmware/i2c-hub-firmware/docs/.$NetworkStack.drawio.bkp
Normal file
1708
i2c-hub/firmware/i2c-hub-firmware/docs/.$NetworkStack.drawio.bkp
Normal file
File diff suppressed because it is too large
Load Diff
1708
i2c-hub/firmware/i2c-hub-firmware/docs/NetworkStack.drawio
Normal file
1708
i2c-hub/firmware/i2c-hub-firmware/docs/NetworkStack.drawio
Normal file
File diff suppressed because it is too large
Load Diff
23
i2c-hub/firmware/i2c-hub-firmware/include/pinConfig.hpp
Normal file
23
i2c-hub/firmware/i2c-hub-firmware/include/pinConfig.hpp
Normal file
@@ -0,0 +1,23 @@
|
|||||||
|
#pragma once
|
||||||
|
|
||||||
|
#define LED1_PIN 8
|
||||||
|
#define LED2_PIN 9
|
||||||
|
#define LED3_PIN 25
|
||||||
|
|
||||||
|
#define GOBOTRPC_CI_UART_RX 0
|
||||||
|
#define GOBOTRPC_CI_UART_TX 1
|
||||||
|
|
||||||
|
#define GOBOTRPC_TI_I2C_SDA 4
|
||||||
|
#define GOBOTRPC_TI_I2C_SCL 5
|
||||||
|
#define GOBOTRPC_TI_CLOCK_SPEED 10000
|
||||||
|
|
||||||
|
#define GOBOTRPC_TI_INT_PIN_START 10
|
||||||
|
#define GOBOTRPC_TI_INT_NUM 4
|
||||||
|
#define GOBOTRPC_TI_COMBINED_INT_PIN 18
|
||||||
|
|
||||||
|
#define GOBOTRPC_TI_EXTERNAL_PULLUP 1
|
||||||
|
|
||||||
|
#define GOBOTRPC_HEARTBEAT_INTERVAL 3000
|
||||||
|
|
||||||
|
#define UART_CORE_MASK 0b01
|
||||||
|
#define I2C_CORE_MASK 0b01
|
||||||
Submodule i2c-hub/firmware/i2c-hub-firmware/lib/FreeRTOS-Kernel added at dbf70559b2
84
i2c-hub/firmware/i2c-hub-firmware/pico_sdk_import.cmake
Normal file
84
i2c-hub/firmware/i2c-hub-firmware/pico_sdk_import.cmake
Normal file
@@ -0,0 +1,84 @@
|
|||||||
|
# This is a copy of <PICO_SDK_PATH>/external/pico_sdk_import.cmake
|
||||||
|
|
||||||
|
# This can be dropped into an external project to help locate this SDK
|
||||||
|
# It should be include()ed prior to project()
|
||||||
|
|
||||||
|
if (DEFINED ENV{PICO_SDK_PATH} AND (NOT PICO_SDK_PATH))
|
||||||
|
set(PICO_SDK_PATH $ENV{PICO_SDK_PATH})
|
||||||
|
message("Using PICO_SDK_PATH from environment ('${PICO_SDK_PATH}')")
|
||||||
|
endif ()
|
||||||
|
|
||||||
|
if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT} AND (NOT PICO_SDK_FETCH_FROM_GIT))
|
||||||
|
set(PICO_SDK_FETCH_FROM_GIT $ENV{PICO_SDK_FETCH_FROM_GIT})
|
||||||
|
message("Using PICO_SDK_FETCH_FROM_GIT from environment ('${PICO_SDK_FETCH_FROM_GIT}')")
|
||||||
|
endif ()
|
||||||
|
|
||||||
|
if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT_PATH} AND (NOT PICO_SDK_FETCH_FROM_GIT_PATH))
|
||||||
|
set(PICO_SDK_FETCH_FROM_GIT_PATH $ENV{PICO_SDK_FETCH_FROM_GIT_PATH})
|
||||||
|
message("Using PICO_SDK_FETCH_FROM_GIT_PATH from environment ('${PICO_SDK_FETCH_FROM_GIT_PATH}')")
|
||||||
|
endif ()
|
||||||
|
|
||||||
|
if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT_TAG} AND (NOT PICO_SDK_FETCH_FROM_GIT_TAG))
|
||||||
|
set(PICO_SDK_FETCH_FROM_GIT_TAG $ENV{PICO_SDK_FETCH_FROM_GIT_TAG})
|
||||||
|
message("Using PICO_SDK_FETCH_FROM_GIT_TAG from environment ('${PICO_SDK_FETCH_FROM_GIT_TAG}')")
|
||||||
|
endif ()
|
||||||
|
|
||||||
|
if (PICO_SDK_FETCH_FROM_GIT AND NOT PICO_SDK_FETCH_FROM_GIT_TAG)
|
||||||
|
set(PICO_SDK_FETCH_FROM_GIT_TAG "master")
|
||||||
|
message("Using master as default value for PICO_SDK_FETCH_FROM_GIT_TAG")
|
||||||
|
endif()
|
||||||
|
|
||||||
|
set(PICO_SDK_PATH "${PICO_SDK_PATH}" CACHE PATH "Path to the Raspberry Pi Pico SDK")
|
||||||
|
set(PICO_SDK_FETCH_FROM_GIT "${PICO_SDK_FETCH_FROM_GIT}" CACHE BOOL "Set to ON to fetch copy of SDK from git if not otherwise locatable")
|
||||||
|
set(PICO_SDK_FETCH_FROM_GIT_PATH "${PICO_SDK_FETCH_FROM_GIT_PATH}" CACHE FILEPATH "location to download SDK")
|
||||||
|
set(PICO_SDK_FETCH_FROM_GIT_TAG "${PICO_SDK_FETCH_FROM_GIT_TAG}" CACHE FILEPATH "release tag for SDK")
|
||||||
|
|
||||||
|
if (NOT PICO_SDK_PATH)
|
||||||
|
if (PICO_SDK_FETCH_FROM_GIT)
|
||||||
|
include(FetchContent)
|
||||||
|
set(FETCHCONTENT_BASE_DIR_SAVE ${FETCHCONTENT_BASE_DIR})
|
||||||
|
if (PICO_SDK_FETCH_FROM_GIT_PATH)
|
||||||
|
get_filename_component(FETCHCONTENT_BASE_DIR "${PICO_SDK_FETCH_FROM_GIT_PATH}" REALPATH BASE_DIR "${CMAKE_SOURCE_DIR}")
|
||||||
|
endif ()
|
||||||
|
# GIT_SUBMODULES_RECURSE was added in 3.17
|
||||||
|
if (${CMAKE_VERSION} VERSION_GREATER_EQUAL "3.17.0")
|
||||||
|
FetchContent_Declare(
|
||||||
|
pico_sdk
|
||||||
|
GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk
|
||||||
|
GIT_TAG ${PICO_SDK_FETCH_FROM_GIT_TAG}
|
||||||
|
GIT_SUBMODULES_RECURSE FALSE
|
||||||
|
)
|
||||||
|
else ()
|
||||||
|
FetchContent_Declare(
|
||||||
|
pico_sdk
|
||||||
|
GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk
|
||||||
|
GIT_TAG ${PICO_SDK_FETCH_FROM_GIT_TAG}
|
||||||
|
)
|
||||||
|
endif ()
|
||||||
|
|
||||||
|
if (NOT pico_sdk)
|
||||||
|
message("Downloading Raspberry Pi Pico SDK")
|
||||||
|
FetchContent_Populate(pico_sdk)
|
||||||
|
set(PICO_SDK_PATH ${pico_sdk_SOURCE_DIR})
|
||||||
|
endif ()
|
||||||
|
set(FETCHCONTENT_BASE_DIR ${FETCHCONTENT_BASE_DIR_SAVE})
|
||||||
|
else ()
|
||||||
|
message(FATAL_ERROR
|
||||||
|
"SDK location was not specified. Please set PICO_SDK_PATH or set PICO_SDK_FETCH_FROM_GIT to on to fetch from git."
|
||||||
|
)
|
||||||
|
endif ()
|
||||||
|
endif ()
|
||||||
|
|
||||||
|
get_filename_component(PICO_SDK_PATH "${PICO_SDK_PATH}" REALPATH BASE_DIR "${CMAKE_BINARY_DIR}")
|
||||||
|
if (NOT EXISTS ${PICO_SDK_PATH})
|
||||||
|
message(FATAL_ERROR "Directory '${PICO_SDK_PATH}' not found")
|
||||||
|
endif ()
|
||||||
|
|
||||||
|
set(PICO_SDK_INIT_CMAKE_FILE ${PICO_SDK_PATH}/pico_sdk_init.cmake)
|
||||||
|
if (NOT EXISTS ${PICO_SDK_INIT_CMAKE_FILE})
|
||||||
|
message(FATAL_ERROR "Directory '${PICO_SDK_PATH}' does not appear to contain the Raspberry Pi Pico SDK")
|
||||||
|
endif ()
|
||||||
|
|
||||||
|
set(PICO_SDK_PATH ${PICO_SDK_PATH} CACHE PATH "Path to the Raspberry Pi Pico SDK" FORCE)
|
||||||
|
|
||||||
|
include(${PICO_SDK_INIT_CMAKE_FILE})
|
||||||
@@ -0,0 +1,29 @@
|
|||||||
|
add_library(GobotRPC STATIC
|
||||||
|
${CMAKE_CURRENT_LIST_DIR}/../ctrl_interface/base.cpp
|
||||||
|
${CMAKE_CURRENT_LIST_DIR}/../ctrl_interface/ci_instruction.cpp
|
||||||
|
${CMAKE_CURRENT_LIST_DIR}/../ctrl_interface/uart_rp2040/hardware_rp2040_uart.cpp
|
||||||
|
${CMAKE_CURRENT_LIST_DIR}/../ctrl_interface/uart_rp2040/rx.cpp
|
||||||
|
${CMAKE_CURRENT_LIST_DIR}/../crc16.cpp
|
||||||
|
${CMAKE_CURRENT_LIST_DIR}/../protocol_base.cpp
|
||||||
|
${CMAKE_CURRENT_LIST_DIR}/../transmission_interface/rp2040_i2c_init.cpp
|
||||||
|
${CMAKE_CURRENT_LIST_DIR}/../transmission_interface/rp2040_i2c_tx.cpp
|
||||||
|
${CMAKE_CURRENT_LIST_DIR}/../transmission_interface/rp2040_i2c_rx.cpp
|
||||||
|
${CMAKE_CURRENT_LIST_DIR}/../transmission_interface/rp2040_i2c_int.cpp
|
||||||
|
${CMAKE_CURRENT_LIST_DIR}/../transmission_interface/rp2040_i2c_ci_instructions.cpp
|
||||||
|
)
|
||||||
|
|
||||||
|
target_include_directories(GobotRPC PUBLIC
|
||||||
|
${CMAKE_CURRENT_LIST_DIR}/../include
|
||||||
|
${CMAKE_CURRENT_LIST_DIR}/../include/util
|
||||||
|
${CMAKE_CURRENT_LIST_DIR}/../include/ti
|
||||||
|
${CMAKE_CURRENT_LIST_DIR}/../../..
|
||||||
|
${CMAKE_CURRENT_LIST_DIR}/../../../include
|
||||||
|
)
|
||||||
|
|
||||||
|
target_link_libraries(GobotRPC
|
||||||
|
FreeRTOS-Kernel-Heap4
|
||||||
|
pico_stdlib
|
||||||
|
hardware_uart
|
||||||
|
hardware_irq
|
||||||
|
hardware_i2c
|
||||||
|
)
|
||||||
@@ -0,0 +1,19 @@
|
|||||||
|
add_library(GobotRPC_Node_RP2040_I2C STATIC
|
||||||
|
${CMAKE_CURRENT_LIST_DIR}/../node_interface/rp2040/i2c/init.cpp
|
||||||
|
${CMAKE_CURRENT_LIST_DIR}/../node_interface/rp2040/i2c/rx_tx.cpp
|
||||||
|
${CMAKE_CURRENT_LIST_DIR}/../crc16.cpp
|
||||||
|
${CMAKE_CURRENT_LIST_DIR}/../protocol_base.cpp
|
||||||
|
${CMAKE_CURRENT_LIST_DIR}/../node_interface/init.cpp
|
||||||
|
)
|
||||||
|
target_include_directories(GobotRPC_Node_RP2040_I2C PUBLIC
|
||||||
|
${CMAKE_CURRENT_LIST_DIR}/../node_interface/include
|
||||||
|
${CMAKE_CURRENT_LIST_DIR}/../include/util
|
||||||
|
${CMAKE_CURRENT_LIST_DIR}/../../..
|
||||||
|
)
|
||||||
|
|
||||||
|
target_link_libraries(GobotRPC_Node_RP2040_I2C
|
||||||
|
FreeRTOS-Kernel-Heap4
|
||||||
|
pico_stdlib
|
||||||
|
hardware_i2c
|
||||||
|
hardware_irq
|
||||||
|
)
|
||||||
39
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/crc16.cpp
Normal file
39
i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/crc16.cpp
Normal file
@@ -0,0 +1,39 @@
|
|||||||
|
#include "crc16.hpp"
|
||||||
|
|
||||||
|
#define POLY 0x8408
|
||||||
|
/*
|
||||||
|
// 16 12 5
|
||||||
|
// this is the CCITT CRC 16 polynomial X + X + X + 1.
|
||||||
|
// This works out to be 0x1021, but the way the algorithm works
|
||||||
|
// lets us use 0x8408 (the reverse of the bit pattern). The high
|
||||||
|
// bit is always assumed to be set, thus we only use 16 bits to
|
||||||
|
// represent the 17 bit value.
|
||||||
|
*/
|
||||||
|
|
||||||
|
unsigned short crc16(char *data_p, unsigned short length)
|
||||||
|
{
|
||||||
|
unsigned char i;
|
||||||
|
unsigned int data;
|
||||||
|
unsigned int crc = 0xffff;
|
||||||
|
|
||||||
|
if (length == 0)
|
||||||
|
return (~crc);
|
||||||
|
|
||||||
|
do
|
||||||
|
{
|
||||||
|
for (i=0, data=(unsigned int)0xff & *data_p++;
|
||||||
|
i < 8;
|
||||||
|
i++, data >>= 1)
|
||||||
|
{
|
||||||
|
if ((crc & 0x0001) ^ (data & 0x0001))
|
||||||
|
crc = (crc >> 1) ^ POLY;
|
||||||
|
else crc >>= 1;
|
||||||
|
}
|
||||||
|
} while (--length);
|
||||||
|
|
||||||
|
crc = ~crc;
|
||||||
|
data = crc;
|
||||||
|
crc = (crc << 8) | (data >> 8 & 0xff);
|
||||||
|
|
||||||
|
return (crc);
|
||||||
|
}
|
||||||
@@ -0,0 +1,100 @@
|
|||||||
|
#include "ci/base.hpp"
|
||||||
|
#include "pinConfig.hpp"
|
||||||
|
|
||||||
|
#include "protocol.hpp"
|
||||||
|
|
||||||
|
#include "pico/stdlib.h"
|
||||||
|
#include "hardware/watchdog.h"
|
||||||
|
|
||||||
|
#include "FreeRTOSConfig.h"
|
||||||
|
#include "FreeRTOS.h"
|
||||||
|
#include "task.h"
|
||||||
|
|
||||||
|
|
||||||
|
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);
|
||||||
|
|
||||||
|
this->cb_TxPacket = NULL;
|
||||||
|
this->cb_TxPacket_args = NULL;
|
||||||
|
this->cb_SetAddressMap = NULL;
|
||||||
|
this->cb_SetAddressMap_args = NULL;
|
||||||
|
|
||||||
|
xTaskCreateAffinitySet(GobotRPC_CI_heartBeatTaskFn, "Heartbeat Task", 2048, this, 2, core, &this->heartBeatTaskHandle);
|
||||||
|
xTaskCreateAffinitySet(GobotRPC_CI_txCIInstructionTaskFn, "Tx CI Instruction Task", 2048, this, 3, core, &this->txCIInstructionTaskHandle);
|
||||||
|
}
|
||||||
|
|
||||||
|
// Rx Side
|
||||||
|
void GobotRPC_CI_rxData_cb(void * args, char *data, size_t len) {
|
||||||
|
GobotRPC_CI *gobotRPC = (GobotRPC_CI *)args;
|
||||||
|
gobotRPC->onRxData(data, len);
|
||||||
|
}
|
||||||
|
|
||||||
|
void GobotRPC_CI::onRxData(char *data, size_t len) {
|
||||||
|
GobotRPC_CI_CMD cmd = (GobotRPC_CI_CMD)data[0];
|
||||||
|
|
||||||
|
switch (cmd) {
|
||||||
|
case TX_CI_PACKET:
|
||||||
|
if(this->cb_TxPacket != NULL) {
|
||||||
|
uint32_t addr = (data[2] << 24) | (data[3] << 16) | (data[4] << 8) | data[5];
|
||||||
|
this->cb_TxPacket(this->cb_TxPacket_args, data+6, len-6, addr);
|
||||||
|
}
|
||||||
|
break;
|
||||||
|
|
||||||
|
case RESET_CI_PACKET:
|
||||||
|
//softwareReset();
|
||||||
|
break;
|
||||||
|
|
||||||
|
case SET_ADDR_PORT_MAP: {
|
||||||
|
if(this->cb_SetAddressMap != NULL) {
|
||||||
|
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;
|
||||||
|
}
|
||||||
|
|
||||||
|
default:
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void GobotRPC_CI::registerCB_TxPacket(callback_TxPacket cb, void *args) {
|
||||||
|
this->cb_TxPacket = cb;
|
||||||
|
this->cb_TxPacket_args = args;
|
||||||
|
}
|
||||||
|
|
||||||
|
void GobotRPC_CI::registerCB_SetAddress(callback_SetAddress cb, void *args) {
|
||||||
|
this->cb_SetAddressMap = cb;
|
||||||
|
this->cb_SetAddressMap_args = args;
|
||||||
|
}
|
||||||
|
|
||||||
|
void GobotRPC_CI::send_RxPacket(char *data, size_t len, uint32_t addr) {
|
||||||
|
data[0] = RX_CI_PACKET;
|
||||||
|
data[1] = len + CI_RX_PACKAGE_DATA_OFFSET;
|
||||||
|
|
||||||
|
data[2] = (addr >> 24) & 0xff;
|
||||||
|
data[3] = (addr >> 16) & 0xff;
|
||||||
|
data[4] = (addr >> 8) & 0xff;
|
||||||
|
data[5] = addr & 0xff;
|
||||||
|
|
||||||
|
this->hardware->send(data, len+6);
|
||||||
|
}
|
||||||
|
|
||||||
|
// Heartbeat Task
|
||||||
|
|
||||||
|
void GobotRPC_CI_heartBeatTaskFn(void *args) {
|
||||||
|
GobotRPC_CI *gobotRPC = (GobotRPC_CI *)args;
|
||||||
|
gobotRPC->heartBeartTaskFn();
|
||||||
|
}
|
||||||
|
|
||||||
|
void GobotRPC_CI::heartBeartTaskFn() {
|
||||||
|
char heartBeatPacket[] = {HEARTBEAT, 0x02};
|
||||||
|
while(1) {
|
||||||
|
this->hardware->send(heartBeatPacket, 2);
|
||||||
|
vTaskDelay(GOBOTRPC_HEARTBEAT_INTERVAL / portTICK_PERIOD_MS);
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -0,0 +1,90 @@
|
|||||||
|
#include "ci/base.hpp"
|
||||||
|
|
||||||
|
#include "ci/instructions.hpp"
|
||||||
|
|
||||||
|
#include "FreeRTOS.h"
|
||||||
|
#include "task.h"
|
||||||
|
#include "queue.h"
|
||||||
|
|
||||||
|
void GobotRPC_CI_txCIInstructionTaskFn(void *args) {
|
||||||
|
GobotRPC_CI *gobotRPC = (GobotRPC_CI *)args;
|
||||||
|
gobotRPC->txCIInstructionTask();
|
||||||
|
}
|
||||||
|
|
||||||
|
void GobotRPC_CI::txCIInstructionTask() {
|
||||||
|
while(1) {
|
||||||
|
CI_Instruction_Transport ciInstruction;
|
||||||
|
xQueueReceive(ciInstructionQueue, &ciInstruction, portMAX_DELAY);
|
||||||
|
|
||||||
|
switch (ciInstruction.type) {
|
||||||
|
case CI_INSTRUCTION_SEND_TRANMISSION_ERROR: {
|
||||||
|
uint32_t addr = ciInstruction.data[1] | (ciInstruction.data[2] << 8) | (ciInstruction.data[3] << 16) | (ciInstruction.data[4] << 24);
|
||||||
|
uint8_t rx = ciInstruction.data[0];
|
||||||
|
send_ErrorTransmission(rx, addr);
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
|
||||||
|
case CI_INSTRUCTION_SEND_TRANMISSION_SUCCESS: {
|
||||||
|
uint32_t addr = ciInstruction.data[0] \
|
||||||
|
| (ciInstruction.data[1] << 8) \
|
||||||
|
| (ciInstruction.data[2] << 16) \
|
||||||
|
| (ciInstruction.data[3] << 24);
|
||||||
|
send_SuccessTransmission(addr);
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
|
||||||
|
case CI_INSTRUCTION_SEND_INFO_RESET:
|
||||||
|
send_InfoReset();
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void GobotRPC_CI::send_ErrorTransmission(bool rx, uint64_t addr) {
|
||||||
|
char errorPacket[7];
|
||||||
|
|
||||||
|
errorPacket[0] = ERROR_TRANMISSION;
|
||||||
|
errorPacket[1] = 7;
|
||||||
|
errorPacket[2] = rx ? 0x01 : 0x00;
|
||||||
|
errorPacket[3] = (addr >> 24) & 0xff;
|
||||||
|
errorPacket[4] = (addr >> 16) & 0xff;
|
||||||
|
errorPacket[5] = (addr >> 8) & 0xff;
|
||||||
|
errorPacket[6] = addr & 0xff;
|
||||||
|
|
||||||
|
this->hardware->send(errorPacket, 7);
|
||||||
|
}
|
||||||
|
|
||||||
|
void GobotRPC_CI::send_SuccessTransmission(uint64_t addr) {
|
||||||
|
char successPacket[6];
|
||||||
|
|
||||||
|
successPacket[0] = SUCESS_TRANMISSION;
|
||||||
|
successPacket[1] = 6;
|
||||||
|
successPacket[2] = (addr >> 24) & 0xff;
|
||||||
|
successPacket[3] = (addr >> 16) & 0xff;
|
||||||
|
successPacket[4] = (addr >> 8) & 0xff;
|
||||||
|
successPacket[5] = addr & 0xff;
|
||||||
|
|
||||||
|
this->hardware->send(successPacket, 6);
|
||||||
|
}
|
||||||
|
|
||||||
|
void GobotRPC_CI::send_InfoReset() {
|
||||||
|
char resetPacket[2];
|
||||||
|
|
||||||
|
resetPacket[0] = RESET_INFO_CI_PACKET;
|
||||||
|
resetPacket[1] = 2;
|
||||||
|
|
||||||
|
this->hardware->send(resetPacket, 2);
|
||||||
|
}
|
||||||
|
|
||||||
|
// CI Reverse Instructions (CI -> TI)
|
||||||
|
void GobotRPC_CI::send_rev_SetAddrMap(uint32_t addr, uint8_t port) {
|
||||||
|
CI_Instruction_Transport ciInstruction;
|
||||||
|
ciInstruction.type = CI_INSTRUCTION_REV_SEND_SET_ADDR_MAP;
|
||||||
|
ciInstruction.data[0] = addr & 0xff;
|
||||||
|
ciInstruction.data[1] = (addr >> 8) & 0xff;
|
||||||
|
ciInstruction.data[2] = (addr >> 16) & 0xff;
|
||||||
|
ciInstruction.data[3] = (addr >> 24) & 0xff;
|
||||||
|
ciInstruction.data[4] = port;
|
||||||
|
|
||||||
|
xQueueSend(ciInstructionReverseQueue, &ciInstruction, portMAX_DELAY);
|
||||||
|
}
|
||||||
@@ -0,0 +1,54 @@
|
|||||||
|
#include "ci/hardware.hpp"
|
||||||
|
#include "pinConfig.hpp"
|
||||||
|
|
||||||
|
#include "pico/stdlib.h"
|
||||||
|
#include "hardware/uart.h"
|
||||||
|
|
||||||
|
#include "FreeRTOS.h"
|
||||||
|
#include "task.h"
|
||||||
|
#include "queue.h"
|
||||||
|
#include <string.h>
|
||||||
|
|
||||||
|
// Initialize stuff
|
||||||
|
GobotRPC_CI_Hardware_RP2040_UART * g_GobotRPC_CI_Hardware_RP2040_UART;
|
||||||
|
|
||||||
|
GobotRPC_CI_Hardware_RP2040_UART::GobotRPC_CI_Hardware_RP2040_UART(uart_inst_t *uart, uint baudrate, UBaseType_t core) {
|
||||||
|
g_GobotRPC_CI_Hardware_RP2040_UART = this;
|
||||||
|
this->core = core;
|
||||||
|
|
||||||
|
initRxTaskAndQueues();
|
||||||
|
|
||||||
|
uartTxMutex = xSemaphoreCreateMutex();
|
||||||
|
|
||||||
|
this->uart = uart;
|
||||||
|
uart_init(this->uart, baudrate);
|
||||||
|
|
||||||
|
gpio_set_function(GOBOTRPC_CI_UART_RX, UART_FUNCSEL_NUM(uart, GOBOTRPC_CI_UART_RX));
|
||||||
|
gpio_set_function(GOBOTRPC_CI_UART_TX, UART_FUNCSEL_NUM(uart, GOBOTRPC_CI_UART_TX));
|
||||||
|
|
||||||
|
uart_set_hw_flow(uart, false, false);
|
||||||
|
uart_set_format(uart, 8, 1, UART_PARITY_NONE);
|
||||||
|
uart_set_baudrate(uart, baudrate);
|
||||||
|
uart_set_fifo_enabled(uart, true);
|
||||||
|
|
||||||
|
int UART_IRQ = uart == uart0 ? UART0_IRQ : UART1_IRQ;
|
||||||
|
|
||||||
|
irq_set_exclusive_handler(UART_IRQ, GobotRPC_CI_Hardware_RP2040_UART_isr);
|
||||||
|
irq_set_enabled(UART_IRQ, true);
|
||||||
|
|
||||||
|
uart_set_irq_enables(uart, true, false);
|
||||||
|
}
|
||||||
|
|
||||||
|
void GobotRPC_CI_Hardware_RP2040_UART::registerCB_RxData(callback_rxData cb, void *args) {
|
||||||
|
this->cb_rxData = cb;
|
||||||
|
this->cb_rxData_args = args;
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
// Sending data
|
||||||
|
void GobotRPC_CI_Hardware_RP2040_UART::send(char *data, size_t len) {
|
||||||
|
xSemaphoreTake(uartTxMutex, portMAX_DELAY);
|
||||||
|
uart_write_blocking(this->uart, (uint8_t *)(data), len);
|
||||||
|
uart_tx_wait_blocking(this->uart);
|
||||||
|
xSemaphoreGive(uartTxMutex);
|
||||||
|
}
|
||||||
@@ -0,0 +1,122 @@
|
|||||||
|
#include "ci/hardware.hpp"
|
||||||
|
#include "pico/stdlib.h"
|
||||||
|
|
||||||
|
#include <string.h>
|
||||||
|
|
||||||
|
#include "FreeRTOS.h"
|
||||||
|
#include "FreeRTOSConfig.h"
|
||||||
|
|
||||||
|
// External Functions
|
||||||
|
void GobotRPC_CI_Hardware_RP2040_UART_isr() {
|
||||||
|
GobotRPC_CI_Hardware_RP2040_UART *uart = (GobotRPC_CI_Hardware_RP2040_UART *)g_GobotRPC_CI_Hardware_RP2040_UART;
|
||||||
|
uart->onRx_ISR();
|
||||||
|
};
|
||||||
|
|
||||||
|
void GobotRPC_CI_Hardware_RP2040_UART_Task_RXProcessing(void *args) {
|
||||||
|
GobotRPC_CI_Hardware_RP2040_UART *uart = (GobotRPC_CI_Hardware_RP2040_UART *)args;
|
||||||
|
uart->rxProcessingTaskFn();
|
||||||
|
}
|
||||||
|
|
||||||
|
// Init
|
||||||
|
|
||||||
|
void GobotRPC_CI_Hardware_RP2040_UART::initRxTaskAndQueues() {
|
||||||
|
emptyInputBuffersQueue = xQueueCreate(NUM_INPUT_BUFFERS, sizeof(inputBuffers_t *));
|
||||||
|
filledInputBuffersQueue = xQueueCreate(NUM_INPUT_BUFFERS, sizeof(inputBuffers_t *));
|
||||||
|
|
||||||
|
for(int i = 0; i < NUM_INPUT_BUFFERS; i++) {
|
||||||
|
inputBuffers_t * p = &inputBufferPool[i];
|
||||||
|
memset(p->data, 0xff, 256);
|
||||||
|
p->len = 0;
|
||||||
|
p->state = NEW;
|
||||||
|
p->expected_length = 0;
|
||||||
|
xQueueSend(emptyInputBuffersQueue, &p, portMAX_DELAY);
|
||||||
|
}
|
||||||
|
|
||||||
|
rxSignalSemaphore = xSemaphoreCreateBinary();
|
||||||
|
|
||||||
|
xTaskCreateAffinitySet(GobotRPC_CI_Hardware_RP2040_UART_Task_RXProcessing, "UART RX Processing", 1024, this, 3, core, &this->rxProcessingTaskHandle);
|
||||||
|
}
|
||||||
|
|
||||||
|
inputBufferRXState_t fillBuffer(inputBuffers_t * buffer, char data) {
|
||||||
|
switch(buffer->state) {
|
||||||
|
case NEW:
|
||||||
|
buffer->data[0] = data;
|
||||||
|
buffer->len = 1;
|
||||||
|
buffer->state = READ_SIZE;
|
||||||
|
break;
|
||||||
|
|
||||||
|
case READ_SIZE:
|
||||||
|
buffer->data[1] = data;
|
||||||
|
buffer->expected_length = data;
|
||||||
|
buffer->len += 1;
|
||||||
|
|
||||||
|
if(buffer->len == buffer->expected_length) {
|
||||||
|
buffer->state = FULL;
|
||||||
|
} else {
|
||||||
|
buffer->state = READ_DATA;
|
||||||
|
}
|
||||||
|
break;
|
||||||
|
|
||||||
|
case READ_DATA:
|
||||||
|
buffer->data[buffer->len] = data;
|
||||||
|
buffer->len += 1;
|
||||||
|
|
||||||
|
if(buffer->len == buffer->expected_length) {
|
||||||
|
buffer->state = FULL;
|
||||||
|
} else {
|
||||||
|
buffer->state = READ_DATA;
|
||||||
|
}
|
||||||
|
break;
|
||||||
|
|
||||||
|
case FULL:
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
return buffer->state;
|
||||||
|
}
|
||||||
|
|
||||||
|
// real Task Fns
|
||||||
|
void GobotRPC_CI_Hardware_RP2040_UART::onRx_ISR() {
|
||||||
|
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
|
||||||
|
|
||||||
|
static inputBuffers_t * inputBuffer = NULL;
|
||||||
|
|
||||||
|
while (uart_is_readable(this->uart)) {
|
||||||
|
|
||||||
|
if(inputBuffer == NULL) {
|
||||||
|
xQueueReceiveFromISR(emptyInputBuffersQueue, &inputBuffer, &xHigherPriorityTaskWoken);
|
||||||
|
|
||||||
|
if(inputBuffer == NULL) {
|
||||||
|
return; // No more buffers -> device overload
|
||||||
|
}
|
||||||
|
|
||||||
|
inputBuffer->state = NEW;
|
||||||
|
inputBuffer->len = 0;
|
||||||
|
inputBuffer->expected_length = 0;
|
||||||
|
}
|
||||||
|
|
||||||
|
inputBufferRXState_t state = fillBuffer(inputBuffer, uart_getc(this->uart));
|
||||||
|
|
||||||
|
if (state == FULL) {
|
||||||
|
xQueueSendFromISR(filledInputBuffersQueue, &inputBuffer, &xHigherPriorityTaskWoken);
|
||||||
|
inputBuffer = NULL;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
void GobotRPC_CI_Hardware_RP2040_UART::rxProcessingTaskFn() {
|
||||||
|
inputBuffers_t * inputBuffer = NULL;
|
||||||
|
|
||||||
|
while(1) {
|
||||||
|
xQueueReceive(filledInputBuffersQueue, &inputBuffer, portMAX_DELAY);
|
||||||
|
|
||||||
|
if(this->cb_rxData != NULL) {
|
||||||
|
this->cb_rxData(this->cb_rxData_args, inputBuffer->data, inputBuffer->len);
|
||||||
|
}
|
||||||
|
|
||||||
|
xQueueSend(emptyInputBuffersQueue, &inputBuffer, portMAX_DELAY);
|
||||||
|
vTaskDelay(1000);
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -0,0 +1,64 @@
|
|||||||
|
#pragma once
|
||||||
|
#include "ci/hardware.hpp"
|
||||||
|
#include <strings.h>
|
||||||
|
|
||||||
|
enum GobotRPC_CI_CMD {
|
||||||
|
TX_CI_PACKET = 0x01,
|
||||||
|
RX_CI_PACKET = 0x02,
|
||||||
|
SET_ADDR_PORT_MAP = 0x03,
|
||||||
|
|
||||||
|
SUCESS_TRANMISSION = 0xfc,
|
||||||
|
ERROR_TRANMISSION = 0xfd,
|
||||||
|
HEARTBEAT = 0xff,
|
||||||
|
|
||||||
|
RESET_CI_PACKET = 0xcc,
|
||||||
|
RESET_INFO_CI_PACKET = 0xcd
|
||||||
|
};
|
||||||
|
|
||||||
|
#define CI_TX_PACKAGE_DATA_OFFSET 6
|
||||||
|
#define CI_TX_PACKAGE_SIZE(data_len) (data_len + CI_TX_PACKAGE_SIZE)
|
||||||
|
|
||||||
|
#define CI_RX_PACKAGE_DATA_OFFSET 6
|
||||||
|
#define CI_RX_PACKAGE_SIZE(data_len) (data_len + CI_RX_PACKAGE_DATA_OFFSET)
|
||||||
|
|
||||||
|
typedef void (*callback_TxPacket)(void * args, char *data, size_t len, uint32_t addr);
|
||||||
|
typedef void (*callback_SetAddress)(void * args, uint32_t addr, uint8_t port);
|
||||||
|
|
||||||
|
void GobotRPC_CI_rxData_cb(void * args, char *data, size_t len);
|
||||||
|
void GobotRPC_CI_heartBeatTaskFn(void *args);
|
||||||
|
void GobotRPC_CI_txCIInstructionTaskFn(void *args);
|
||||||
|
|
||||||
|
class GobotRPC_CI {
|
||||||
|
private:
|
||||||
|
I_GobotRPC_CI_Hardware *hardware;
|
||||||
|
|
||||||
|
callback_TxPacket cb_TxPacket;
|
||||||
|
void * cb_TxPacket_args;
|
||||||
|
|
||||||
|
callback_SetAddress cb_SetAddressMap;
|
||||||
|
void * cb_SetAddressMap_args;
|
||||||
|
|
||||||
|
TaskHandle_t heartBeatTaskHandle;
|
||||||
|
TaskHandle_t txCIInstructionTaskHandle;
|
||||||
|
|
||||||
|
QueueHandle_t ciInstructionQueue;
|
||||||
|
QueueHandle_t ciInstructionReverseQueue;
|
||||||
|
public:
|
||||||
|
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);
|
||||||
|
|
||||||
|
void send_RxPacket(char *data, size_t len, uint32_t addr);
|
||||||
|
|
||||||
|
void onRxData(char *data, size_t len);
|
||||||
|
|
||||||
|
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);
|
||||||
|
void send_InfoReset();
|
||||||
|
};
|
||||||
@@ -0,0 +1,73 @@
|
|||||||
|
#pragma once
|
||||||
|
#include <strings.h>
|
||||||
|
|
||||||
|
#include "FreeRTOSConfig.h"
|
||||||
|
#include "FreeRTOS.h"
|
||||||
|
#include "task.h"
|
||||||
|
#include "semphr.h"
|
||||||
|
#include "queue.h"
|
||||||
|
|
||||||
|
typedef void (*callback_rxData)(void * args, char *data, size_t len);
|
||||||
|
|
||||||
|
class I_GobotRPC_CI_Hardware {
|
||||||
|
public:
|
||||||
|
virtual void send(char *data, size_t len) = 0;
|
||||||
|
virtual void registerCB_RxData(callback_rxData cb, void *args) = 0;
|
||||||
|
};
|
||||||
|
|
||||||
|
|
||||||
|
#include "hardware/uart.h"
|
||||||
|
|
||||||
|
void GobotRPC_CI_Hardware_RP2040_UART_isr();
|
||||||
|
void GobotRPC_CI_Hardware_RP2040_UART_Task_RXBuffering(void *args);
|
||||||
|
void GobotRPC_CI_Hardware_RP2040_UART_Task_RXProcessing(void *args);
|
||||||
|
|
||||||
|
#define NUM_INPUT_BUFFERS 16
|
||||||
|
|
||||||
|
enum inputBufferRXState_t {
|
||||||
|
NEW,
|
||||||
|
READ_SIZE,
|
||||||
|
READ_DATA,
|
||||||
|
FULL
|
||||||
|
};
|
||||||
|
|
||||||
|
struct inputBuffers_t {
|
||||||
|
char data[256];
|
||||||
|
size_t expected_length;
|
||||||
|
size_t len;
|
||||||
|
inputBufferRXState_t state;
|
||||||
|
};
|
||||||
|
|
||||||
|
class GobotRPC_CI_Hardware_RP2040_UART : public I_GobotRPC_CI_Hardware {
|
||||||
|
private:
|
||||||
|
uart_inst_t *uart;
|
||||||
|
|
||||||
|
inputBuffers_t inputBufferPool[NUM_INPUT_BUFFERS];
|
||||||
|
|
||||||
|
TaskHandle_t rxProcessingTaskHandle;
|
||||||
|
|
||||||
|
SemaphoreHandle_t rxSignalSemaphore;
|
||||||
|
QueueHandle_t emptyInputBuffersQueue;
|
||||||
|
QueueHandle_t filledInputBuffersQueue;
|
||||||
|
|
||||||
|
callback_rxData cb_rxData;
|
||||||
|
void * cb_rxData_args;
|
||||||
|
|
||||||
|
SemaphoreHandle_t uartTxMutex;
|
||||||
|
|
||||||
|
UBaseType_t core;
|
||||||
|
|
||||||
|
public:
|
||||||
|
GobotRPC_CI_Hardware_RP2040_UART(uart_inst_t *uart, uint baudrate, UBaseType_t core);
|
||||||
|
void send(char *data, size_t len) override;
|
||||||
|
void registerCB_RxData(callback_rxData cb, void *args);
|
||||||
|
|
||||||
|
void initRxTaskAndQueues();
|
||||||
|
|
||||||
|
void onRx_ISR();
|
||||||
|
void rxBufferingTaskFn();
|
||||||
|
void rxProcessingTaskFn();
|
||||||
|
};
|
||||||
|
|
||||||
|
extern GobotRPC_CI_Hardware_RP2040_UART * g_GobotRPC_CI_Hardware_RP2040_UART;
|
||||||
|
|
||||||
@@ -0,0 +1,17 @@
|
|||||||
|
enum CI_Instruction_Type {
|
||||||
|
CI_INSTRUCTION_SEND_TRANMISSION_ERROR,
|
||||||
|
CI_INSTRUCTION_SEND_TRANMISSION_SUCCESS,
|
||||||
|
CI_INSTRUCTION_SEND_INFO_RESET,
|
||||||
|
CI_INSTRUCTION_REV_SEND_SET_ADDR_MAP,
|
||||||
|
};
|
||||||
|
|
||||||
|
struct CI_Instruction_Transport {
|
||||||
|
CI_Instruction_Type type;
|
||||||
|
uint32_t addr;
|
||||||
|
char data[16];
|
||||||
|
};
|
||||||
|
|
||||||
|
struct CI_Instruction_Data_SEND_TRANMISSION_ERROR {
|
||||||
|
bool rx;
|
||||||
|
uint32_t addr;
|
||||||
|
};
|
||||||
@@ -0,0 +1,15 @@
|
|||||||
|
#pragma once
|
||||||
|
|
||||||
|
#include "FreeRTOSConfig.h"
|
||||||
|
#include "FreeRTOS.h"
|
||||||
|
#include "task.h"
|
||||||
|
#include "queue.h"
|
||||||
|
|
||||||
|
struct AppData {
|
||||||
|
QueueHandle_t txQueue;
|
||||||
|
QueueHandle_t rxQueue;
|
||||||
|
QueueHandle_t ciInstructionQueue;
|
||||||
|
QueueHandle_t ciInstructionReverseQueue;
|
||||||
|
};
|
||||||
|
|
||||||
|
void main_core2(void * pvParameters);
|
||||||
@@ -0,0 +1,98 @@
|
|||||||
|
#pragma once
|
||||||
|
|
||||||
|
#include "FreeRTOS.h"
|
||||||
|
#include "task.h"
|
||||||
|
#include "semphr.h"
|
||||||
|
|
||||||
|
#include <stdint.h>
|
||||||
|
#include <strings.h>
|
||||||
|
|
||||||
|
#include "pico/stdlib.h"
|
||||||
|
#include "hardware/i2c.h"
|
||||||
|
|
||||||
|
#include "pinConfig.hpp"
|
||||||
|
|
||||||
|
#include "ci/instructions.hpp"
|
||||||
|
|
||||||
|
struct GoRPCPackage_Transport {
|
||||||
|
uint32_t addr;
|
||||||
|
uint32_t len;
|
||||||
|
char data[256];
|
||||||
|
};
|
||||||
|
|
||||||
|
typedef void (*callback_pullPackage)(GoRPCPackage_Transport *src, void *args);
|
||||||
|
typedef void (*callback_pushPackage)(GoRPCPackage_Transport *dest, void *args);
|
||||||
|
typedef void (*callback_pushCIInstruction)(CI_Instruction_Transport *src, void *args);
|
||||||
|
|
||||||
|
class GobotRPC_TI_Hardware {
|
||||||
|
public:
|
||||||
|
virtual void registerPullPackageCB(callback_pullPackage cb, void *args) = 0;
|
||||||
|
virtual void registerPushPackageCB(callback_pushPackage cb, void *args) = 0;
|
||||||
|
virtual void registerPushCIInstructionCB(callback_pushCIInstruction cb, void *args) = 0;
|
||||||
|
virtual void setAddrMap(uint32_t addr, int intNum) = 0;
|
||||||
|
|
||||||
|
void raiseTranmissionError(bool rx, uint32_t addr);
|
||||||
|
void raiseTransmissionSuceess(uint32_t addr);
|
||||||
|
void raiseInfoReset();
|
||||||
|
};
|
||||||
|
|
||||||
|
void i2cRxTaskFn(void * args);
|
||||||
|
void i2cTxTaskFn(void * args);
|
||||||
|
|
||||||
|
void intPin_ISR(uint gpio, uint32_t events);
|
||||||
|
|
||||||
|
class GobotRPC_TI_Hardware_RP2040_I2C : public GobotRPC_TI_Hardware {
|
||||||
|
private:
|
||||||
|
callback_pullPackage pullPackageCB;
|
||||||
|
void *pullPackageCBArgs;
|
||||||
|
|
||||||
|
callback_pushPackage pushPackageCB;
|
||||||
|
void *pushPackageCBArgs;
|
||||||
|
|
||||||
|
callback_pushCIInstruction pushCIInstructionCB;
|
||||||
|
void *pushCIInstructionCBArgs;
|
||||||
|
|
||||||
|
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;
|
||||||
|
|
||||||
|
uint32_t intAddressMap[GOBOTRPC_TI_INT_NUM];
|
||||||
|
|
||||||
|
void initTasks();
|
||||||
|
bool readI2C(GoRPCPackage_Transport * pkg, uint32_t addr);
|
||||||
|
|
||||||
|
public:
|
||||||
|
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);
|
||||||
|
void registerPushCIInstructionCB(callback_pushCIInstruction cb, void *args);
|
||||||
|
|
||||||
|
void setAddrMap(uint32_t addr, int intNum);
|
||||||
|
|
||||||
|
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();
|
||||||
|
};
|
||||||
|
|
||||||
|
|
||||||
|
extern GobotRPC_TI_Hardware_RP2040_I2C * g_GobotRPC_TI_Hardware_RP2040_I2C;
|
||||||
@@ -0,0 +1,2 @@
|
|||||||
|
#pragma once
|
||||||
|
unsigned short crc16(char *data_p, unsigned short length);
|
||||||
@@ -0,0 +1,45 @@
|
|||||||
|
#pragma once
|
||||||
|
#include <stdint.h>
|
||||||
|
#include <strings.h>
|
||||||
|
|
||||||
|
enum GobotRPCNumber {
|
||||||
|
HOME_XY = 0x1,
|
||||||
|
SET_PADDING = 0x2,
|
||||||
|
GOTO = 0x3,
|
||||||
|
RELEASE_MOTORS = 0x4,
|
||||||
|
|
||||||
|
DROP_STONE = 0x5,
|
||||||
|
MOVE_Z_AXIS = 0x7,
|
||||||
|
|
||||||
|
VACUM = 0x8,
|
||||||
|
RESET = 0xc,
|
||||||
|
GET_INFO = 0xd
|
||||||
|
};
|
||||||
|
|
||||||
|
enum GobotRPCTypes {
|
||||||
|
REQUEST = 0b00,
|
||||||
|
RESPONSE = 0b01,
|
||||||
|
ERROR = 0b10
|
||||||
|
};
|
||||||
|
|
||||||
|
struct GobotRPCPackage_Req_Vacum {
|
||||||
|
uint8_t enable : 8;
|
||||||
|
};
|
||||||
|
|
||||||
|
#define GobotRPC_Package_DATA_OFFSET 2
|
||||||
|
#define CALC_SIZE_GobotRPC_PACKAGE(data_len) (data_len + GobotRPC_Package_DATA_OFFSET + 2)
|
||||||
|
|
||||||
|
struct GobotRPCHeaderInfo {
|
||||||
|
public:
|
||||||
|
GobotRPCNumber number;
|
||||||
|
GobotRPCTypes type;
|
||||||
|
size_t len;
|
||||||
|
};
|
||||||
|
|
||||||
|
void assembleGobotRPCHeader(char * buffer, GobotRPCNumber number, GobotRPCTypes data_size, size_t);
|
||||||
|
void assembleCRC(char * buffer, size_t data_len);
|
||||||
|
bool checkCRC(char * buffer, size_t data_len);
|
||||||
|
|
||||||
|
GobotRPCHeaderInfo extractGobotRPCHeader(char * buffer);
|
||||||
|
|
||||||
|
void softwareReset();
|
||||||
@@ -0,0 +1,45 @@
|
|||||||
|
#pragma once
|
||||||
|
#include "protocol.hpp"
|
||||||
|
#include "node_interface_hardware.hpp"
|
||||||
|
|
||||||
|
#include "FreeRTOSConfig.h"
|
||||||
|
#include "FreeRTOS.h"
|
||||||
|
#include "task.h"
|
||||||
|
#include "queue.h"
|
||||||
|
|
||||||
|
typedef void (*onPackageRxCallback)(void * args, char *data, uint16_t len, GobotRPCTypes type, GobotRPCNumber number);
|
||||||
|
|
||||||
|
enum NODE_TYPE: uint8_t {
|
||||||
|
NODE_TYPE_VACUM = 0xa1,
|
||||||
|
NODE_TYPE_HEAD = 0xa2,
|
||||||
|
NODE_TYPE_COREXY = 0xa3,
|
||||||
|
};
|
||||||
|
|
||||||
|
struct InfoData {
|
||||||
|
uint32_t addr;
|
||||||
|
NODE_TYPE type;
|
||||||
|
};
|
||||||
|
|
||||||
|
class GobotRPC_NI {
|
||||||
|
private:
|
||||||
|
onPackageRxCallback onPackageRx;
|
||||||
|
void *onPackageRxArgs;
|
||||||
|
|
||||||
|
QueueHandle_t txQueue;
|
||||||
|
QueueHandle_t rxQueue;
|
||||||
|
TaskHandle_t rxTaskHandle;
|
||||||
|
|
||||||
|
InfoData info;
|
||||||
|
|
||||||
|
unsigned int core;
|
||||||
|
|
||||||
|
public:
|
||||||
|
GobotRPC_NI(unsigned int core, QueueHandle_t txQueue, QueueHandle_t rxQueue, InfoData info);
|
||||||
|
|
||||||
|
void registerOnPackageRxCallback(onPackageRxCallback callback, void *context);
|
||||||
|
void sendPackage(char *data, size_t len, GobotRPCTypes type, GobotRPCNumber number);
|
||||||
|
|
||||||
|
InfoData getInfo();
|
||||||
|
|
||||||
|
void rxTask();
|
||||||
|
};
|
||||||
@@ -0,0 +1,78 @@
|
|||||||
|
#pragma once
|
||||||
|
|
||||||
|
#include "FreeRTOSConfig.h"
|
||||||
|
#include "FreeRTOS.h"
|
||||||
|
#include "queue.h"
|
||||||
|
|
||||||
|
#include "pico/stdlib.h"
|
||||||
|
#include "hardware/i2c.h"
|
||||||
|
#include "hardware/irq.h"
|
||||||
|
|
||||||
|
struct GobotRPC_NI_Package_Transport {
|
||||||
|
char data[256];
|
||||||
|
uint length;
|
||||||
|
uint index;
|
||||||
|
};
|
||||||
|
|
||||||
|
enum I2C_WRITE_STATE {
|
||||||
|
I2C_WRITE_STATE_FIRST,
|
||||||
|
I2C_WRITE_STATE_LENGTH,
|
||||||
|
I2C_WRITE_STATE_DATA,
|
||||||
|
};
|
||||||
|
|
||||||
|
enum I2C_READ_STATE {
|
||||||
|
I2C_READ_STAGE_FIRST,
|
||||||
|
I2C_READ_STAGE_DONE,
|
||||||
|
I2C_READ_STAGE_WIP,
|
||||||
|
I2C_READ_STAGE_INVALID
|
||||||
|
};
|
||||||
|
|
||||||
|
enum I2C_SLAVE_EVENT {
|
||||||
|
I2C_SLAVE_RECEIVE,
|
||||||
|
I2C_SLAVE_REQUEST,
|
||||||
|
I2C_SLAVE_FINISH
|
||||||
|
};
|
||||||
|
|
||||||
|
class GobotRPC_NI_Hardware {
|
||||||
|
|
||||||
|
};
|
||||||
|
|
||||||
|
struct GobotRPC_NI_Hardware_RP2040_I2C_PreTxQueues {
|
||||||
|
QueueHandle_t isrPreTxQueue;
|
||||||
|
QueueHandle_t isrTXQueue;
|
||||||
|
};
|
||||||
|
|
||||||
|
class GobotRPC_NI_Hardware_RP2040_I2C : public GobotRPC_NI_Hardware {
|
||||||
|
uint core;
|
||||||
|
|
||||||
|
QueueHandle_t isrPreTxQueue;
|
||||||
|
QueueHandle_t isrTXQueue;
|
||||||
|
QueueHandle_t isrRXQueue;
|
||||||
|
TaskHandle_t preTxTaskHandle;
|
||||||
|
|
||||||
|
uint i2cSDA_PIN;
|
||||||
|
uint i2cSCL_PIN;
|
||||||
|
uint int_PIN;
|
||||||
|
uint8_t i2cAddress;
|
||||||
|
|
||||||
|
I2C_WRITE_STATE writeState = I2C_WRITE_STATE_FIRST;
|
||||||
|
I2C_READ_STATE readState = I2C_READ_STAGE_INVALID;
|
||||||
|
|
||||||
|
GobotRPC_NI_Package_Transport rxPackage;
|
||||||
|
GobotRPC_NI_Package_Transport txPackage;
|
||||||
|
|
||||||
|
public:
|
||||||
|
i2c_inst_t * i2c_inst;
|
||||||
|
|
||||||
|
GobotRPC_NI_Hardware_RP2040_I2C(
|
||||||
|
xQueueHandle TXQueue, xQueueHandle RXQueue, uint core,
|
||||||
|
i2c_inst_t * i2c_inst,
|
||||||
|
uint8_t i2cAddress,
|
||||||
|
uint i2cSDA_PIN, uint i2cSCL_PIN, uint int_PIN
|
||||||
|
);
|
||||||
|
|
||||||
|
void onI2CIRQ(I2C_SLAVE_EVENT event, BaseType_t * xHigherPriorityTaskWoken);
|
||||||
|
void preTxTask();
|
||||||
|
};
|
||||||
|
|
||||||
|
extern GobotRPC_NI_Hardware_RP2040_I2C * g_gobotrpc_ni_hardware_rp2040_i2c;
|
||||||
@@ -0,0 +1,73 @@
|
|||||||
|
#include "node_interface.hpp"
|
||||||
|
|
||||||
|
#include "FreeRTOSConfig.h"
|
||||||
|
#include "FreeRTOS.h"
|
||||||
|
#include "task.h"
|
||||||
|
#include <string.h>
|
||||||
|
|
||||||
|
static void rxTaskFn(void *pvParameters) {
|
||||||
|
GobotRPC_NI *ni = (GobotRPC_NI *)pvParameters;
|
||||||
|
ni->rxTask();
|
||||||
|
}
|
||||||
|
|
||||||
|
GobotRPC_NI::GobotRPC_NI(unsigned int core, QueueHandle_t txQueue, QueueHandle_t rxQueue, InfoData info) {
|
||||||
|
this->core = core;
|
||||||
|
this->info = info;
|
||||||
|
|
||||||
|
this->txQueue = txQueue;
|
||||||
|
this->rxQueue = rxQueue;
|
||||||
|
|
||||||
|
this->onPackageRx = NULL;
|
||||||
|
this->onPackageRxArgs = NULL;
|
||||||
|
|
||||||
|
xTaskCreateAffinitySet(
|
||||||
|
rxTaskFn,
|
||||||
|
"GobotRPC_NI RX Task",
|
||||||
|
2048,
|
||||||
|
this,
|
||||||
|
4,
|
||||||
|
this->core,
|
||||||
|
&this->rxTaskHandle
|
||||||
|
);
|
||||||
|
}
|
||||||
|
|
||||||
|
void GobotRPC_NI::registerOnPackageRxCallback(onPackageRxCallback callback, void *context) {
|
||||||
|
this->onPackageRx = callback;
|
||||||
|
this->onPackageRxArgs = context;
|
||||||
|
}
|
||||||
|
|
||||||
|
void GobotRPC_NI::rxTask() {
|
||||||
|
while (true) {
|
||||||
|
GobotRPC_NI_Package_Transport package;
|
||||||
|
|
||||||
|
if (xQueueReceive(this->rxQueue, &package, portMAX_DELAY) == pdTRUE) {
|
||||||
|
GobotRPCHeaderInfo header = extractGobotRPCHeader(package.data);
|
||||||
|
|
||||||
|
if(this->onPackageRx != NULL) {
|
||||||
|
if (!checkCRC(package.data, header.len)) {
|
||||||
|
volatile int a = 0;
|
||||||
|
continue;
|
||||||
|
}
|
||||||
|
|
||||||
|
this->onPackageRx(
|
||||||
|
onPackageRxArgs,
|
||||||
|
package.data + GobotRPC_Package_DATA_OFFSET,
|
||||||
|
header.len, header.type, header.number
|
||||||
|
);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void GobotRPC_NI::sendPackage(char *data, size_t len, GobotRPCTypes type, GobotRPCNumber number) {
|
||||||
|
GobotRPC_NI_Package_Transport package;
|
||||||
|
package.length = len + GobotRPC_Package_DATA_OFFSET + 2;
|
||||||
|
memcpy(package.data + GobotRPC_Package_DATA_OFFSET, data, len);
|
||||||
|
assembleGobotRPCHeader(package.data, number, type, len);
|
||||||
|
assembleCRC(package.data, len);
|
||||||
|
xQueueSend(this->txQueue, &package, portMAX_DELAY);
|
||||||
|
}
|
||||||
|
|
||||||
|
InfoData GobotRPC_NI::getInfo() {
|
||||||
|
return info;
|
||||||
|
}
|
||||||
@@ -0,0 +1,127 @@
|
|||||||
|
#include "node_interface_hardware.hpp"
|
||||||
|
#include "pico/stdlib.h"
|
||||||
|
#include "hardware/i2c.h"
|
||||||
|
#include <string.h>
|
||||||
|
|
||||||
|
GobotRPC_NI_Hardware_RP2040_I2C * g_gobotrpc_ni_hardware_rp2040_i2c;
|
||||||
|
i2c_inst_t * g_i2c_inst;
|
||||||
|
bool g_transfer_in_progress = false;
|
||||||
|
|
||||||
|
static void finish_transfer(BaseType_t * xHigherPriorityTaskWoken) {
|
||||||
|
if(g_transfer_in_progress) {
|
||||||
|
GobotRPC_NI_Hardware_RP2040_I2C * gobotrpc_ni = g_gobotrpc_ni_hardware_rp2040_i2c;
|
||||||
|
g_transfer_in_progress = false;
|
||||||
|
gobotrpc_ni->onI2CIRQ(I2C_SLAVE_FINISH, xHigherPriorityTaskWoken);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
static void i2c_isr() {
|
||||||
|
GobotRPC_NI_Hardware_RP2040_I2C * gobotrpc_ni = g_gobotrpc_ni_hardware_rp2040_i2c;
|
||||||
|
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
|
||||||
|
|
||||||
|
i2c_hw_t * hw = i2c_get_hw(g_i2c_inst);
|
||||||
|
uint32_t intr_stat = hw->intr_stat;
|
||||||
|
|
||||||
|
if (intr_stat == 0) {
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (intr_stat & I2C_IC_INTR_STAT_R_TX_ABRT_BITS) {
|
||||||
|
hw->clr_tx_abrt;
|
||||||
|
finish_transfer(&xHigherPriorityTaskWoken);
|
||||||
|
}
|
||||||
|
|
||||||
|
if (intr_stat & I2C_IC_INTR_STAT_R_START_DET_BITS) {
|
||||||
|
hw->clr_start_det;
|
||||||
|
finish_transfer(&xHigherPriorityTaskWoken);
|
||||||
|
}
|
||||||
|
|
||||||
|
if (intr_stat & I2C_IC_INTR_STAT_R_STOP_DET_BITS) {
|
||||||
|
hw->clr_stop_det;
|
||||||
|
finish_transfer(&xHigherPriorityTaskWoken);
|
||||||
|
}
|
||||||
|
|
||||||
|
if (intr_stat & I2C_IC_INTR_STAT_R_RX_FULL_BITS) {
|
||||||
|
g_transfer_in_progress = true;
|
||||||
|
gobotrpc_ni->onI2CIRQ(I2C_SLAVE_RECEIVE, &xHigherPriorityTaskWoken);
|
||||||
|
}
|
||||||
|
|
||||||
|
if (intr_stat & I2C_IC_INTR_STAT_R_RD_REQ_BITS) {
|
||||||
|
hw->clr_rd_req;
|
||||||
|
g_transfer_in_progress = true;
|
||||||
|
gobotrpc_ni->onI2CIRQ(I2C_SLAVE_REQUEST, &xHigherPriorityTaskWoken);
|
||||||
|
}
|
||||||
|
|
||||||
|
portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
|
||||||
|
}
|
||||||
|
|
||||||
|
static void preTxTaskFn(void *pvParameters) {
|
||||||
|
GobotRPC_NI_Hardware_RP2040_I2C * hw = (GobotRPC_NI_Hardware_RP2040_I2C *)(pvParameters);
|
||||||
|
hw->preTxTask();
|
||||||
|
};
|
||||||
|
|
||||||
|
GobotRPC_NI_Hardware_RP2040_I2C::GobotRPC_NI_Hardware_RP2040_I2C(
|
||||||
|
xQueueHandle TXQueue, xQueueHandle RXQueue, uint core,
|
||||||
|
i2c_inst_t * i2c_inst,
|
||||||
|
uint8_t i2cAddress,
|
||||||
|
uint i2cSDA_PIN, uint i2cSCL_PIN, uint int_PIN
|
||||||
|
) {
|
||||||
|
g_gobotrpc_ni_hardware_rp2040_i2c = this;
|
||||||
|
g_i2c_inst = i2c_inst;
|
||||||
|
|
||||||
|
this->core = core;
|
||||||
|
|
||||||
|
this->readState = I2C_READ_STAGE_FIRST;
|
||||||
|
this->writeState = I2C_WRITE_STATE_FIRST;
|
||||||
|
|
||||||
|
this->isrRXQueue = RXQueue;
|
||||||
|
this->isrPreTxQueue = TXQueue;
|
||||||
|
this->isrTXQueue = xQueueCreate(3, sizeof(GobotRPC_NI_Package_Transport));
|
||||||
|
|
||||||
|
xTaskCreateAffinitySet(
|
||||||
|
preTxTaskFn,
|
||||||
|
"GobotRPC_NI Hardware RP2040 I2C PreTx Task",
|
||||||
|
2048,
|
||||||
|
this,
|
||||||
|
4,
|
||||||
|
this->core,
|
||||||
|
&this->preTxTaskHandle
|
||||||
|
);
|
||||||
|
|
||||||
|
this->i2cSDA_PIN = i2cSDA_PIN;
|
||||||
|
this->i2cSCL_PIN = i2cSCL_PIN;
|
||||||
|
this->int_PIN = int_PIN;
|
||||||
|
|
||||||
|
this->i2cAddress = i2cAddress;
|
||||||
|
this->i2c_inst = i2c_inst;
|
||||||
|
|
||||||
|
memset(&rxPackage.data, 0, sizeof(GobotRPC_NI_Package_Transport::data));
|
||||||
|
memset(&txPackage.data, 0, sizeof(GobotRPC_NI_Package_Transport::data));
|
||||||
|
|
||||||
|
gpio_init(i2cSDA_PIN);
|
||||||
|
gpio_init(i2cSCL_PIN);
|
||||||
|
gpio_set_function(i2cSDA_PIN, GPIO_FUNC_I2C);
|
||||||
|
gpio_set_function(i2cSCL_PIN, GPIO_FUNC_I2C);
|
||||||
|
|
||||||
|
gpio_init(int_PIN);
|
||||||
|
gpio_set_dir(int_PIN, GPIO_OUT);
|
||||||
|
gpio_put(int_PIN, 0);
|
||||||
|
|
||||||
|
// Note: The I2C slave does clock stretching implicitly after a RD_REQ, while the Tx FIFO is empty.
|
||||||
|
// There is also an option to enable clock stretching while the Rx FIFO is full, but we leave it
|
||||||
|
// disabled since the Rx FIFO should never fill up (unless slave->handler() is way too slow).
|
||||||
|
i2c_set_slave_mode(i2c_inst, true, i2cAddress);
|
||||||
|
|
||||||
|
i2c_hw_t *hw = i2c_get_hw(i2c_inst);
|
||||||
|
// unmask necessary interrupts
|
||||||
|
hw->intr_mask = I2C_IC_INTR_MASK_M_RX_FULL_BITS |\
|
||||||
|
I2C_IC_INTR_MASK_M_RD_REQ_BITS |\
|
||||||
|
I2C_IC_RAW_INTR_STAT_TX_ABRT_BITS |\
|
||||||
|
I2C_IC_INTR_MASK_M_STOP_DET_BITS |\
|
||||||
|
I2C_IC_INTR_MASK_M_START_DET_BITS;
|
||||||
|
|
||||||
|
// enable interrupt for current core
|
||||||
|
unsigned int intNum = i2c_inst == i2c0 ? I2C0_IRQ : I2C1_IRQ;
|
||||||
|
irq_set_exclusive_handler(intNum, i2c_isr);
|
||||||
|
irq_set_enabled(intNum, true);
|
||||||
|
}
|
||||||
@@ -0,0 +1,99 @@
|
|||||||
|
#include "node_interface_hardware.hpp"
|
||||||
|
#include "hardware/irq.h"
|
||||||
|
|
||||||
|
void GobotRPC_NI_Hardware_RP2040_I2C::onI2CIRQ(I2C_SLAVE_EVENT event, BaseType_t * xHigherPriorityTaskWoken) {
|
||||||
|
|
||||||
|
switch (event) {
|
||||||
|
case I2C_SLAVE_RECEIVE: { // I2C Write from Master
|
||||||
|
char data = i2c_read_byte_raw(i2c_inst);
|
||||||
|
|
||||||
|
switch (writeState) {
|
||||||
|
case I2C_WRITE_STATE_FIRST:
|
||||||
|
writeState = I2C_WRITE_STATE_LENGTH;
|
||||||
|
rxPackage.index = 0;
|
||||||
|
rxPackage.length = 0;
|
||||||
|
rxPackage.data[rxPackage.index++] = data;
|
||||||
|
break;
|
||||||
|
|
||||||
|
case I2C_WRITE_STATE_LENGTH:
|
||||||
|
rxPackage.data[rxPackage.index++] = data;
|
||||||
|
rxPackage.length = data;
|
||||||
|
writeState = I2C_WRITE_STATE_DATA;
|
||||||
|
break;
|
||||||
|
|
||||||
|
case I2C_WRITE_STATE_DATA:
|
||||||
|
rxPackage.data[rxPackage.index++] = data;
|
||||||
|
|
||||||
|
if(rxPackage.index == rxPackage.length) {
|
||||||
|
xQueueSendFromISR(isrRXQueue, &rxPackage, xHigherPriorityTaskWoken);
|
||||||
|
writeState = I2C_WRITE_STATE_FIRST;
|
||||||
|
} else {
|
||||||
|
writeState = I2C_WRITE_STATE_DATA;
|
||||||
|
}
|
||||||
|
|
||||||
|
break;
|
||||||
|
|
||||||
|
default:
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
|
||||||
|
case I2C_SLAVE_REQUEST: {
|
||||||
|
// I2C Read from Master
|
||||||
|
//if(xQueueIsQueueEmptyFromISR(isrTXQueue) == pdTRUE) {
|
||||||
|
// readState = I2C_READ_STAGE_INVALID;
|
||||||
|
//}
|
||||||
|
|
||||||
|
switch (readState) {
|
||||||
|
case I2C_READ_STAGE_INVALID:
|
||||||
|
i2c_write_byte_raw(i2c_inst, 0x01);
|
||||||
|
break;
|
||||||
|
|
||||||
|
case I2C_READ_STAGE_FIRST:
|
||||||
|
xQueueReceiveFromISR(isrTXQueue, &txPackage, xHigherPriorityTaskWoken);
|
||||||
|
txPackage.index = 0;
|
||||||
|
i2c_write_byte_raw(i2c_inst, txPackage.data[txPackage.index++]);
|
||||||
|
readState = I2C_READ_STAGE_WIP;
|
||||||
|
break;
|
||||||
|
|
||||||
|
case I2C_READ_STAGE_WIP:
|
||||||
|
i2c_write_byte_raw(i2c_inst, txPackage.data[txPackage.index++]);
|
||||||
|
|
||||||
|
if(txPackage.index == txPackage.length) {
|
||||||
|
readState = I2C_READ_STAGE_FIRST;
|
||||||
|
gpio_put(int_PIN, 0);
|
||||||
|
}
|
||||||
|
|
||||||
|
break;
|
||||||
|
|
||||||
|
default:
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
|
||||||
|
case I2C_SLAVE_FINISH:
|
||||||
|
writeState = I2C_WRITE_STATE_FIRST;
|
||||||
|
|
||||||
|
rxPackage.index = 0;
|
||||||
|
txPackage.index = 0;
|
||||||
|
break;
|
||||||
|
|
||||||
|
default:
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void GobotRPC_NI_Hardware_RP2040_I2C::preTxTask() {
|
||||||
|
GobotRPC_NI_Package_Transport pkg;
|
||||||
|
|
||||||
|
while (1) {
|
||||||
|
xQueueReceive(isrPreTxQueue, &pkg, portMAX_DELAY);
|
||||||
|
xQueueSend(isrTXQueue, &pkg, portMAX_DELAY);
|
||||||
|
vTaskDelay(5 / portTICK_PERIOD_MS);
|
||||||
|
gpio_put(int_PIN, 1);
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -0,0 +1,37 @@
|
|||||||
|
#include "protocol.hpp"
|
||||||
|
#include <stdint.h>
|
||||||
|
|
||||||
|
#include "pico/stdlib.h"
|
||||||
|
#include "hardware/watchdog.h"
|
||||||
|
|
||||||
|
#include "crc16.hpp"
|
||||||
|
|
||||||
|
void assembleGobotRPCHeader(char * buffer, GobotRPCNumber number, GobotRPCTypes type, size_t len) {
|
||||||
|
buffer[0] = ((number & 0b1111) << 4) | ((type & 0b11) << 2);
|
||||||
|
buffer[1] = (len + 4) & 0xff;
|
||||||
|
}
|
||||||
|
|
||||||
|
GobotRPCHeaderInfo extractGobotRPCHeader(char * buffer) {
|
||||||
|
GobotRPCHeaderInfo info;
|
||||||
|
info.number = (GobotRPCNumber)((buffer[0] >> 4) & 0b1111);
|
||||||
|
info.type = (GobotRPCTypes)((buffer[0] >> 2) & 0b11);
|
||||||
|
info.len = buffer[1];
|
||||||
|
return info;
|
||||||
|
}
|
||||||
|
|
||||||
|
void assembleCRC(char * buffer, size_t data_len) {
|
||||||
|
unsigned short crc = crc16(buffer, data_len + GobotRPC_Package_DATA_OFFSET);
|
||||||
|
buffer[GobotRPC_Package_DATA_OFFSET + data_len + 1] = crc & 0xff;
|
||||||
|
buffer[GobotRPC_Package_DATA_OFFSET + data_len + 0] = (crc >> 8) & 0xff;
|
||||||
|
}
|
||||||
|
|
||||||
|
bool checkCRC(char * buffer, size_t data_len) {
|
||||||
|
unsigned short crc = crc16(buffer, data_len - 2);
|
||||||
|
unsigned short crc_received = buffer[data_len - GobotRPC_Package_DATA_OFFSET + 1] | (buffer[data_len - GobotRPC_Package_DATA_OFFSET + 0] << 8);
|
||||||
|
return crc == crc_received;
|
||||||
|
}
|
||||||
|
|
||||||
|
void softwareReset() {
|
||||||
|
watchdog_enable(1, 1);
|
||||||
|
while(1);
|
||||||
|
}
|
||||||
@@ -0,0 +1,53 @@
|
|||||||
|
#include "transmission_interface.hpp"
|
||||||
|
|
||||||
|
#include "FreeRTOS.h"
|
||||||
|
#include "queue.h"
|
||||||
|
|
||||||
|
void GobotRPC_TI_Hardware_RP2040_I2C::raiseTranmissionError(bool rx, uint32_t addr) {
|
||||||
|
CI_Instruction_Transport ciInstruction;
|
||||||
|
ciInstruction.type = CI_INSTRUCTION_SEND_TRANMISSION_ERROR;
|
||||||
|
ciInstruction.data[0] = rx;
|
||||||
|
ciInstruction.data[1] = addr & 0xff;
|
||||||
|
ciInstruction.data[2] = (addr >> 8) & 0xff;
|
||||||
|
ciInstruction.data[3] = (addr >> 16) & 0xff;
|
||||||
|
ciInstruction.data[4] = (addr >> 24) & 0xff;
|
||||||
|
|
||||||
|
this->pushCIInstructionCB(&ciInstruction, pushCIInstructionCBArgs);
|
||||||
|
}
|
||||||
|
|
||||||
|
void GobotRPC_TI_Hardware_RP2040_I2C::raiseTransmissionSuceess(uint32_t addr) {
|
||||||
|
CI_Instruction_Transport ciInstruction;
|
||||||
|
ciInstruction.type = CI_INSTRUCTION_SEND_TRANMISSION_SUCCESS;
|
||||||
|
ciInstruction.data[0] = addr & 0xff;
|
||||||
|
ciInstruction.data[1] = (addr >> 8) & 0xff;
|
||||||
|
ciInstruction.data[2] = (addr >> 16) & 0xff;
|
||||||
|
ciInstruction.data[3] = (addr >> 24) & 0xff;
|
||||||
|
|
||||||
|
this->pushCIInstructionCB(&ciInstruction, pushCIInstructionCBArgs);
|
||||||
|
}
|
||||||
|
|
||||||
|
void GobotRPC_TI_Hardware_RP2040_I2C::raiseInfoReset() {
|
||||||
|
CI_Instruction_Transport ciInstruction;
|
||||||
|
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;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
@@ -0,0 +1,87 @@
|
|||||||
|
#include "transmission_interface.hpp"
|
||||||
|
#include "hardware/i2c.h"
|
||||||
|
|
||||||
|
#include <string.h>
|
||||||
|
|
||||||
|
#include "pinConfig.hpp"
|
||||||
|
|
||||||
|
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, QueueHandle_t revCIInstructionQueue) {
|
||||||
|
this->core = core;
|
||||||
|
this->i2c = i2c0;
|
||||||
|
this->revCIInstructionQueue = revCIInstructionQueue;
|
||||||
|
|
||||||
|
g_GobotRPC_TI_Hardware_RP2040_I2C = this;
|
||||||
|
|
||||||
|
i2c_init(i2c, GOBOTRPC_TI_CLOCK_SPEED);
|
||||||
|
gpio_set_function(GOBOTRPC_TI_I2C_SDA, GPIO_FUNC_I2C);
|
||||||
|
gpio_set_function(GOBOTRPC_TI_I2C_SCL, GPIO_FUNC_I2C);
|
||||||
|
|
||||||
|
if(!GOBOTRPC_TI_EXTERNAL_PULLUP) {
|
||||||
|
gpio_pull_up(GOBOTRPC_TI_I2C_SDA);
|
||||||
|
gpio_pull_up(GOBOTRPC_TI_I2C_SCL);
|
||||||
|
}
|
||||||
|
|
||||||
|
for(int i=0; i<GOBOTRPC_TI_INT_NUM; i++) {
|
||||||
|
intAddressMap[i] = 0xffffffff;
|
||||||
|
gpio_init(GOBOTRPC_TI_INT_PIN_START + i);
|
||||||
|
gpio_set_dir(GOBOTRPC_TI_INT_PIN_START + i, GPIO_IN);
|
||||||
|
//gpio_pull_down(GOBOTRPC_TI_INT_PIN_START + i);
|
||||||
|
gpio_set_irq_enabled_with_callback(GOBOTRPC_TI_INT_PIN_START + i, GPIO_IRQ_EDGE_RISE, true, intPin_ISR);
|
||||||
|
}
|
||||||
|
|
||||||
|
initTasks();
|
||||||
|
|
||||||
|
//gpio_init(GOBOTRPC_TI_COMBINED_INT_PIN);
|
||||||
|
//gpio_set_dir(GOBOTRPC_TI_COMBINED_INT_PIN, GPIO_IN);
|
||||||
|
//gpio_pull_down(GOBOTRPC_TI_COMBINED_INT_PIN);
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
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();
|
||||||
|
|
||||||
|
pushPackageCB = NULL;
|
||||||
|
pullPackageCB = NULL;
|
||||||
|
pushPackageCBArgs = NULL;
|
||||||
|
pullPackageCBArgs = NULL;
|
||||||
|
|
||||||
|
volatile int a = xPortGetFreeHeapSize();
|
||||||
|
|
||||||
|
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) {
|
||||||
|
pullPackageCB = cb;
|
||||||
|
pullPackageCBArgs = args;
|
||||||
|
}
|
||||||
|
|
||||||
|
void GobotRPC_TI_Hardware_RP2040_I2C::registerPushPackageCB(callback_pushPackage cb, void *args) {
|
||||||
|
pushPackageCB = cb;
|
||||||
|
pushPackageCBArgs = args;
|
||||||
|
}
|
||||||
|
|
||||||
|
void GobotRPC_TI_Hardware_RP2040_I2C::registerPushCIInstructionCB(callback_pushCIInstruction cb, void *args) {
|
||||||
|
pushCIInstructionCB = cb;
|
||||||
|
pushCIInstructionCBArgs = args;
|
||||||
|
}
|
||||||
|
|
||||||
|
void GobotRPC_TI_Hardware_RP2040_I2C::setAddrMap(uint32_t addr, int intNum) {
|
||||||
|
intAddressMap[intNum] = addr;
|
||||||
|
}
|
||||||
|
|
||||||
@@ -0,0 +1,49 @@
|
|||||||
|
#include "transmission_interface.hpp"
|
||||||
|
|
||||||
|
#include "FreeRTOSConfig.h"
|
||||||
|
#include "FreeRTOS.h"
|
||||||
|
#include "task.h"
|
||||||
|
|
||||||
|
uint32_t GobotRPC_TI_Hardware_RP2040_I2C::readIntPins() {
|
||||||
|
uint32_t intPinsStates = 0;
|
||||||
|
|
||||||
|
for(int i=0; i<GOBOTRPC_TI_INT_NUM; i++) {
|
||||||
|
intPinsStates |= gpio_get(GOBOTRPC_TI_INT_PIN_START + i) << i;
|
||||||
|
}
|
||||||
|
return intPinsStates;
|
||||||
|
}
|
||||||
|
|
||||||
|
void intPin_ISR(uint gpio, uint32_t events) {
|
||||||
|
GobotRPC_TI_Hardware_RP2040_I2C * hw = g_GobotRPC_TI_Hardware_RP2040_I2C;
|
||||||
|
|
||||||
|
uint32_t intPinsStates = hw->readIntPins();
|
||||||
|
|
||||||
|
if(intPinsStates == 0) {
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
|
||||||
|
hw->intPinISR(&xHigherPriorityTaskWoken);
|
||||||
|
portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
|
||||||
|
}
|
||||||
|
|
||||||
|
void GobotRPC_TI_Hardware_RP2040_I2C::intPinISR(BaseType_t * xHigherPriorityTaskWoken) {
|
||||||
|
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);
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
}
|
||||||
@@ -0,0 +1,69 @@
|
|||||||
|
#include "transmission_interface.hpp"
|
||||||
|
#include "ci/base.hpp"
|
||||||
|
|
||||||
|
void i2cRxTaskFn(void * args) {
|
||||||
|
GobotRPC_TI_Hardware_RP2040_I2C * hw = (GobotRPC_TI_Hardware_RP2040_I2C *)args;
|
||||||
|
hw->i2cRxTask();
|
||||||
|
}
|
||||||
|
|
||||||
|
void GobotRPC_TI_Hardware_RP2040_I2C::i2cRxTask() {
|
||||||
|
while (1) {
|
||||||
|
xSemaphoreTake(i2cRXSemaphore, portMAX_DELAY);
|
||||||
|
|
||||||
|
uint32_t done_mask = 0xffffffff;
|
||||||
|
|
||||||
|
uint32_t pinStates = readIntPins();
|
||||||
|
|
||||||
|
do {
|
||||||
|
for(int i=0; i<GOBOTRPC_TI_INT_NUM; i++) {
|
||||||
|
if((pinStates & done_mask) & (1 << i)) {
|
||||||
|
done_mask &= ~(1 << i);
|
||||||
|
|
||||||
|
|
||||||
|
uint32_t addr = intAddressMap[i];
|
||||||
|
|
||||||
|
if(addr > 0xff)
|
||||||
|
continue;
|
||||||
|
|
||||||
|
GoRPCPackage_Transport pkg;
|
||||||
|
|
||||||
|
xSemaphoreTake(i2cMutex, portMAX_DELAY);
|
||||||
|
bool read_res = readI2C(&pkg, addr);
|
||||||
|
xSemaphoreGive(i2cMutex);
|
||||||
|
|
||||||
|
if(!read_res)
|
||||||
|
continue;
|
||||||
|
|
||||||
|
pkg.addr |= (i) << 8;
|
||||||
|
|
||||||
|
if(pushPackageCB != NULL)
|
||||||
|
pushPackageCB(&pkg, pushPackageCBArgs);
|
||||||
|
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
pinStates = readIntPins();
|
||||||
|
} while(pinStates & done_mask);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
bool GobotRPC_TI_Hardware_RP2040_I2C::readI2C(GoRPCPackage_Transport * pkg, uint32_t addr) {
|
||||||
|
unsigned int res;
|
||||||
|
//uint res = i2c_read_blocking(i2c, addr, (uint8_t *)pkg->data, 2, true);
|
||||||
|
|
||||||
|
i2c_read_blocking(i2c, addr, (uint8_t *)pkg->data + CI_RX_PACKAGE_DATA_OFFSET, 2, true);
|
||||||
|
|
||||||
|
|
||||||
|
size_t len = pkg->data[CI_RX_PACKAGE_DATA_OFFSET + 1];
|
||||||
|
|
||||||
|
if(len > 64) {
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
|
||||||
|
res = i2c_read_blocking(i2c, addr, ((uint8_t *)pkg->data) + CI_RX_PACKAGE_DATA_OFFSET, len, false);
|
||||||
|
pkg->len = len;
|
||||||
|
pkg->addr = addr;
|
||||||
|
|
||||||
|
return true;
|
||||||
|
}
|
||||||
@@ -0,0 +1,29 @@
|
|||||||
|
#include "transmission_interface.hpp"
|
||||||
|
|
||||||
|
void i2cTxTaskFn(void * args) {
|
||||||
|
GobotRPC_TI_Hardware_RP2040_I2C * hw = (GobotRPC_TI_Hardware_RP2040_I2C *)args;
|
||||||
|
hw->i2cTxTask();
|
||||||
|
}
|
||||||
|
|
||||||
|
void GobotRPC_TI_Hardware_RP2040_I2C::i2cTxTask() {
|
||||||
|
while (1) {
|
||||||
|
GoRPCPackage_Transport pkg;
|
||||||
|
|
||||||
|
if(pullPackageCB == NULL) {
|
||||||
|
vTaskDelay(pdMS_TO_TICKS(100));
|
||||||
|
continue;
|
||||||
|
}
|
||||||
|
|
||||||
|
pullPackageCB(&pkg, pullPackageCBArgs);
|
||||||
|
|
||||||
|
xSemaphoreTake(i2cMutex, portMAX_DELAY);
|
||||||
|
unsigned int res = i2c_write_blocking(i2c, pkg.addr & 0x7f, (uint8_t * )(pkg.data), pkg.len, false);
|
||||||
|
xSemaphoreGive(i2cMutex);
|
||||||
|
|
||||||
|
if(res == PICO_ERROR_GENERIC) {
|
||||||
|
raiseTranmissionError(false, pkg.addr);
|
||||||
|
} else {
|
||||||
|
raiseTransmissionSuceess(pkg.addr);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
86
i2c-hub/firmware/i2c-hub-firmware/src/main_core0.cpp
Normal file
86
i2c-hub/firmware/i2c-hub-firmware/src/main_core0.cpp
Normal file
@@ -0,0 +1,86 @@
|
|||||||
|
#include <stdio.h>
|
||||||
|
#include <string.h>
|
||||||
|
#include "pico/stdlib.h"
|
||||||
|
|
||||||
|
#include "ci/base.hpp"
|
||||||
|
#include "ci/hardware.hpp"
|
||||||
|
#include "transmission_interface.hpp"
|
||||||
|
|
||||||
|
#include "main.hpp"
|
||||||
|
|
||||||
|
#include "FreeRTOSConfig.h"
|
||||||
|
#include "FreeRTOS.h"
|
||||||
|
#include "task.h"
|
||||||
|
#include "message_buffer.h"
|
||||||
|
|
||||||
|
#include "protocol.hpp"
|
||||||
|
|
||||||
|
#define LED_PIN 25
|
||||||
|
|
||||||
|
AppData appData;
|
||||||
|
|
||||||
|
void vTaskMain(void * pvParameters) {
|
||||||
|
while(1) {
|
||||||
|
gpio_put(LED_PIN, 1);
|
||||||
|
vTaskDelay(pdMS_TO_TICKS(500));
|
||||||
|
gpio_put(LED_PIN, 0);
|
||||||
|
vTaskDelay(pdMS_TO_TICKS(500));
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void onTxPacket(void * args, char *data, size_t len, uint32_t addr) {
|
||||||
|
GobotRPC_CI * gobotRPC_ci = (GobotRPC_CI *)args;
|
||||||
|
|
||||||
|
GoRPCPackage_Transport pkg;
|
||||||
|
|
||||||
|
memcpy(pkg.data, data, len);
|
||||||
|
pkg.len = len;
|
||||||
|
pkg.addr = addr;
|
||||||
|
|
||||||
|
xQueueSend(appData.txQueue, &pkg, portMAX_DELAY);
|
||||||
|
|
||||||
|
//gobotRPC_ci->send_RxPacket(pkg.data, CALC_SIZE_GobotRPC_PACKAGE(0), addr);
|
||||||
|
}
|
||||||
|
|
||||||
|
void onRXFromI2CTask(void * pvParameters) {
|
||||||
|
GobotRPC_CI * gobotRPC_ci = (GobotRPC_CI *)pvParameters;
|
||||||
|
|
||||||
|
GoRPCPackage_Transport pkg;
|
||||||
|
while (true) {
|
||||||
|
xQueueReceive(appData.rxQueue, &pkg, portMAX_DELAY);
|
||||||
|
|
||||||
|
gobotRPC_ci->send_RxPacket(pkg.data, pkg.len, pkg.addr);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
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(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, 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, &appData, 1, UART_CORE_MASK, &taskHandleCore1);
|
||||||
|
xTaskCreateAffinitySet(onRXFromI2CTask, "RX From I2C Task", 2048, &gobotRPC_ci, 3, UART_CORE_MASK, &taskRXFromI2CTask);
|
||||||
|
|
||||||
|
vTaskStartScheduler();
|
||||||
|
|
||||||
|
while(1) {}
|
||||||
|
}
|
||||||
43
i2c-hub/firmware/i2c-hub-firmware/src/main_core1.cpp
Normal file
43
i2c-hub/firmware/i2c-hub-firmware/src/main_core1.cpp
Normal file
@@ -0,0 +1,43 @@
|
|||||||
|
#include "main.hpp"
|
||||||
|
#include "transmission_interface.hpp"
|
||||||
|
|
||||||
|
#include "FreeRTOSConfig.h"
|
||||||
|
#include "FreeRTOS.h"
|
||||||
|
#include "task.h"
|
||||||
|
#include "queue.h"
|
||||||
|
|
||||||
|
#include "pinConfig.hpp"
|
||||||
|
|
||||||
|
extern AppData appData;
|
||||||
|
|
||||||
|
void pullPackageCB(GoRPCPackage_Transport * dest, void *args) {
|
||||||
|
QueueHandle_t queue = appData.txQueue;
|
||||||
|
xQueueReceive(queue, dest, portMAX_DELAY);
|
||||||
|
}
|
||||||
|
|
||||||
|
void pushPackageCB(GoRPCPackage_Transport * src, void *args) {
|
||||||
|
QueueHandle_t queue = appData.rxQueue;
|
||||||
|
xQueueSend(queue, src, portMAX_DELAY);
|
||||||
|
}
|
||||||
|
|
||||||
|
void pushCIInstruction(CI_Instruction_Transport * src, void *args) {
|
||||||
|
QueueHandle_t queue = appData.ciInstructionQueue;
|
||||||
|
xQueueSend(queue, src, portMAX_DELAY);
|
||||||
|
}
|
||||||
|
|
||||||
|
void main_core2(void * pvParameters) {
|
||||||
|
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);
|
||||||
|
gobotrpc_ti_hardware.registerPushPackageCB(pushPackageCB, appData.rxQueue);
|
||||||
|
gobotrpc_ti_hardware.registerPushCIInstructionCB(pushCIInstruction, appData.ciInstructionQueue);
|
||||||
|
|
||||||
|
gobotrpc_ti_hardware.raiseInfoReset();
|
||||||
|
|
||||||
|
while(1) {
|
||||||
|
vTaskDelay(pdMS_TO_TICKS(10000));
|
||||||
|
}
|
||||||
|
}
|
||||||
BIN
i2c-hub/pulseview-i2c-session
Normal file
BIN
i2c-hub/pulseview-i2c-session
Normal file
Binary file not shown.
Some files were not shown because too many files have changed in this diff Show More
Reference in New Issue
Block a user