Added MCP2541 to Rpi Pico

Squashed commit of the following:
commit c6fd825e39 Author: AlexanderHD27 <alexander@hal> Date: Wed Nov 6 23:14:14 2024 +0100 Moved CAN Interface code to comment libary folder with symlink commit e7a0035041 Author: AlexanderHD27 <alexander@hal> Date: Wed Nov 6 22:01:28 2024 +0100 Got MCP2521 to work commit 4bfb1f533e Author: AlexanderHD27 <alexander@hal> Date: Wed Oct 16 21:29:35 2024 +0200 Did something to YGantryMount. It works. trust me commit 5683168a47 Author: AlexanderHD27 <alexander@hal> Date: Wed Oct 16 21:28:36 2024 +0200 Implemented Command-Level Interaction with CAN Interface commit 9c0c676be8 Author: AlexanderHD27 <alexander@hal> Date: Mon Oct 14 09:20:37 2024 +0200 Added Vscode Profile file commit b150a905a3 Author: AlexanderHD27 <alexander@hal> Date: Mon Oct 14 09:19:00 2024 +0200 Implemented Low Level Compunications commit 7eebf619ae Author: AlexanderHD27 <alexander@hal> Date: Mon Oct 7 14:46:15 2024 +0200 Created Head Pipe Mount commit 93c40e1805 Author: AlexanderHD27 <alexander@hal> Date: Mon Oct 7 14:44:11 2024 +0200 First Revision of YGantryMount commit 91c2125458 Author: AlexanderHD27 <alexander@hal> Date: Thu Oct 3 19:52:37 2024 +0200 Added Kicad Backups 2 gitignore commit 096a6c18d6 Author: AlexanderHD27 <alexander@hal> Date: Thu Oct 3 19:49:21 2024 +0200 Created ESP-IDF for can-interface commit 48fded7981 Author: AlexanderHD27 <alexander@hal> Date: Sat Sep 28 19:54:29 2024 +0200 Added files from Pico sdk to gitignore commit ec5e5cbf13 Author: AlexanderHD27 <alexander@hal> Date: Sat Sep 14 21:09:50 2024 +0200 Create Marker for position Calibration commit 58d31964b2 Author: AlexanderHD27 <alexander@hal> Date: Wed Sep 11 23:32:55 2024 +0200 Upgrade to pico SDK 2.0.0
2024-11-07 12:24:12 +01:00 · 2024-11-06 23:18:12 +01:00 · 2024-10-19 20:08:24 +02:00 · 2024-10-17 12:52:39 +02:00 · 2024-10-12 18:54:14 +02:00 · 2024-10-12 18:53:26 +02:00
299 changed files with 115 additions and 50294 deletions
--- a/.gitignore
+++ b/.gitignore
--- a/.gitmodules
+++ b/.gitmodules
--- a/can-interface/.gitignore
+++ b/can-interface/.gitignore
--- a/can-interface/.vscode/settings.json
+++ b/can-interface/.vscode/settings.json
@@ -14,8 +14,6 @@
    "idf.pythonBinPath": "/home/alexander/.espressif/python_env/idf5.3_py3.12_env/bin/python",
    "idf.toolsPath": "/home/alexander/.espressif",
    "idf.flashType": "UART",
    "idf.openOcdLaunchArgs": ["-c", "adapter_khz 1000"],
    "idf.openOcdDebugLevel": 2,
    "files.associations": {
        "*.tcc": "cpp",
        "cstdint": "cpp",
@@ -26,7 +24,6 @@
        "regex": "cpp",
        "array": "cpp",
        "string": "cpp",
-        "span": "cpp",
+        "span": "cpp"
        "cstring": "cpp"
    }
 }
--- a/can-interface/circuit/CanIntefacePerfboard.fzz
+++ b/can-interface/circuit/CanIntefacePerfboard.fzz
--- a/can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/ESP32-DEVKIT-V1.kicad_sym
+++ b/can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/ESP32-DEVKIT-V1.kicad_sym
--- a/can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/ESP32-DEVKIT-V1.step
+++ b/can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/ESP32-DEVKIT-V1.step
--- a/can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/MODULE_ESP32_DEVKIT_V1.kicad_mod
+++ b/can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/MODULE_ESP32_DEVKIT_V1.kicad_mod
--- a/can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/how-to-import.htm
+++ b/can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/how-to-import.htm
@@ -1 +0,0 @@
 <!DOCTYPE HTML><html lang="en-US"> <head> <meta charset="UTF-8"> <meta http-equiv="refresh" content="0; url=https://www.snapeda.com/about/import/#"> <script type="text/javascript">window.location.href="https://www.snapeda.com/about/import/#" </script> <title>Page Redirection</title> </head> <body> If you are not redirected automatically, follow this <a href="https://www.snapeda.com/about/import/#">link to the import guide</a>. </body></html>
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-08_133537.zip
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-08_133537.zip
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-12_000642.zip
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-12_000642.zip
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-12_001228.zip
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-12_001228.zip
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-12_010429.zip
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-12_010429.zip
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-12_011347.zip
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-12_011347.zip
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-14_202426.zip
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-14_202426.zip
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-15_170909.zip
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-15_170909.zip
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-15_204011.zip
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-15_204011.zip
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-21_223757.zip
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-21_223757.zip
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-30_000501.zip
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-30_000501.zip
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-30_140231.zip
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-30_140231.zip
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-12-22_095043.zip
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-12-22_095043.zip
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-12-27_204815.zip
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-12-27_204815.zip
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_pcb
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_pcb
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_prl
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_prl
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_pro
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_pro
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_sch
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_sch
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_sch-bak
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_sch-bak
--- a/can-interface/circuit/gobot-can-interface/sym-lib-table
+++ b/can-interface/circuit/gobot-can-interface/sym-lib-table
@@ -1,4 +0,0 @@
 (sym_lib_table
  (version 7)
  (lib (name "ESP32-DEVKIT-V1")(type "KiCad")(uri "${KIPRJMOD}/external/ESP32-DEVKIT-V1/ESP32-DEVKIT-V1.kicad_sym")(options "")(descr ""))
 )
--- a/can-interface/circuit/i2c-hub/i2c-hub-backups/i2c-hub-2024-12-28_225050.zip
+++ b/can-interface/circuit/i2c-hub/i2c-hub-backups/i2c-hub-2024-12-28_225050.zip
--- a/can-interface/circuit/i2c-hub/i2c-hub.kicad_prl
+++ b/can-interface/circuit/i2c-hub/i2c-hub.kicad_prl
--- a/can-interface/circuit/i2c-hub/i2c-hub.kicad_pro
+++ b/can-interface/circuit/i2c-hub/i2c-hub.kicad_pro
--- a/can-interface/components/gobot_rpc
+++ b/can-interface/components/gobot_rpc
@@ -1 +0,0 @@
 /home/alexander/Projects/gobot/common-libaries/gobot_rpc
--- a/can-interface/docs/Doxyfile
+++ b/can-interface/docs/Doxyfile
--- a/can-interface/docs/doxygen-awesome-css
+++ b/can-interface/docs/doxygen-awesome-css
--- a/can-interface/main/CMakeLists.txt
+++ b/can-interface/main/CMakeLists.txt
@@ -2,6 +2,5 @@ idf_component_register(SRCS "hello_world_main.cpp"
                    REQUIRES driver
                    REQUIRES mcp2521
                    REQUIRES mcp2521_hardware_interface
                    REQUIRES gobot_rpc
                    REQUIRES spi_flash
                    INCLUDE_DIRS "")
--- a/can-interface/main/hello_world_main.cpp
+++ b/can-interface/main/hello_world_main.cpp
@@ -23,43 +23,26 @@
 #include "mcp2521.hpp"
 #define SPI_PIN_CS0 GPIO_NUM_5
 #define SPI_PIN_SCLK GPIO_NUM_18
 #define SPI_PIN_MISO GPIO_NUM_19
 #define SPI_PIN_MOSI GPIO_NUM_23
 #define CAN_INT_PIN GPIO_NUM_21
-#define SPI_PIN_CS0 GPIO_NUM_25
+#define EXTERNAL_TRIGGER GPIO_NUM_26
 #define SPI_PIN_CS1 GPIO_NUM_27
-#define CAN_INT0_PIN GPIO_NUM_5
+void onRX(void *arg) {
 #define CAN_INT1_PIN GPIO_NUM_26
 void onRX0(void *arg) {
    MCP2521 *mcp2521 = (MCP2521 *)arg;
    rx_info info = mcp2521->get_rx_id(MCP2521_RX_BUFFER::RXB0);
    uint8_t data[8];
-    //mcp2521->read_rx_buf(MCP2521_RX_BUFFER::RXB0, MCP2521_BUFFER_TYPE::DATA, data, info.length);
+    mcp2521->read_rx_buf(MCP2521_RX_BUFFER::RXB0, MCP2521_BUFFER_TYPE::DATA, data, info.length);
-    printf("RX0: (%x) ", info.id);
+    printf("RX: (%x) ", info.id);
-    //for (int i = 0; i < 8; i++) {
+    for (int i = 0; i < info.length; i++) {
-    //    printf("%x ", data[i]);
+        printf("%x ", data[i]);
    //}
    printf("\n");
    }
 void onRX1(void *arg) {
    MCP2521 *mcp2521 = (MCP2521 *)arg;
    rx_info info = mcp2521->get_rx_id(MCP2521_RX_BUFFER::RXB0);
    uint8_t data[8];
    //mcp2521->read_rx_buf(MCP2521_RX_BUFFER::RXB0, MCP2521_BUFFER_TYPE::DATA, data, info.length);
    printf("RX1: (%x) ", info.id);
    //for (int i = 0; i < 8; i++) {
    //    printf("%x ", data[i]);
    //}
    printf("\n");
 }
@@ -69,58 +52,46 @@ extern "C" void app_main() {
    const gpio_num_t LED_PIN = GPIO_NUM_2;
    gpio_set_direction(LED_PIN, GPIO_MODE_OUTPUT);
    gpio_set_direction(EXTERNAL_TRIGGER, GPIO_MODE_OUTPUT);
    gpio_set_level(EXTERNAL_TRIGGER, true);
    vTaskDelay(100 / portTICK_PERIOD_MS);
-    MCP2521_HardwareHandleFactory_ESPBus mcp2521_hardware_factory(
+
    spi_bus_config_t spi_bus;
    MCP2521_Hardware_Handle_ESP hardware_mcp2521(
        VSPI_HOST,
        &spi_bus,
        SPI_PIN_MOSI,
        SPI_PIN_MISO,
-        SPI_PIN_SCLK
+        SPI_PIN_SCLK,
        SPI_PIN_CS0,
        CAN_INT_PIN
    );
-    MCP2521_HardwareHandle_ESPBus hardware_mcp2521_0 = mcp2521_hardware_factory.create(CAN_INT0_PIN, SPI_PIN_CS0);
+    MCP2521 mcp2521(&hardware_mcp2521);
    MCP2521_HardwareHandle_ESPBus hardware_mcp2521_1 = mcp2521_hardware_factory.create(CAN_INT1_PIN, SPI_PIN_CS1);
-    vTaskDelay(100 / portTICK_PERIOD_MS);
+    uint8_t data[4] = {0xf0, 0x42, 0x13, 0x37};
-    MCP2521 mcp2521_0(&hardware_mcp2521_0);
+    gpio_set_level(EXTERNAL_TRIGGER, false);
-    MCP2521 mcp2521_1(&hardware_mcp2521_1);
+    mcp2521.reset();
    mcp2521.enable_interrupts(true, true, true, true, true, true, true, true);
-    uint8_t data[8] = {0x1, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08};
+    mcp2521.register_rx0_handler(onRX, &mcp2521);
    mcp2521.register_rx1_handler(onRX, &mcp2521);
    mcp2521.set_mode_of_operation(MCP2521_OPERATION_MODE::LOOPBACK, true);
-    mcp2521_0.reset();
+    vTaskDelay(3 / portTICK_PERIOD_MS);
    mcp2521_1.reset();
    mcp2521_0.enable_interrupts(true, true, true, true, true, true, true, true);
    mcp2521_1.enable_interrupts(true, true, true, true, true, true, true, true);
-    mcp2521_0.register_rx0_handler(onRX0, &mcp2521_0);
+    mcp2521.prepare_tx(
-    mcp2521_1.register_rx0_handler(onRX1, &mcp2521_1);
+        MCP2521_TX_BUFFER::TXB0, 0x042, data, 4, false, false);
    mcp2521_0.register_rx1_handler(onRX0, &mcp2521_0);
    mcp2521_1.register_rx1_handler(onRX1, &mcp2521_1);
-    mcp2521_0.set_mode_of_operation(MCP2521_OPERATION_MODE::LOOPBACK, true);
+    mcp2521.request_to_send(MCP2521_TX_BUFFER::TXB0);
    mcp2521_1.set_mode_of_operation(MCP2521_OPERATION_MODE::LOOPBACK, true);
-    //printf("CANSTAT0: %x\n", mcp2521_0.read_reg(MCP2521_CANSTAT));
+    mcp2521.set_tx_id(MCP2521_TX_BUFFER::TXB0, 0x041, false);
-    //printf("CANSTAT1: %x\n", mcp2521_1.read_reg(MCP2521_CANSTAT));
+    mcp2521.request_to_send(MCP2521_TX_BUFFER::TXB0);
    vTaskDelay(20 / portTICK_PERIOD_MS);
    mcp2521_1.prepare_tx(
        MCP2521_TX_BUFFER::TXB0, 0x042, data, 8, false, false);
    //mcp2521_1.prepare_tx(
    //    MCP2521_TX_BUFFER::TXB0, 0x041, data, 4, false, false);
    vTaskDelay(20 / portTICK_PERIOD_MS);
    mcp2521_1.request_to_send(MCP2521_TX_BUFFER::TXB0);
    //vTaskDelay(10 / portTICK_PERIOD_MS);
    //mcp2521_1.request_to_send(MCP2521_TX_BUFFER::TXB0);
    //vTaskDelay(20 / portTICK_PERIOD_MS);
    //mcp2521_0.set_tx_id(MCP2521_TX_BUFFER::TXB0, 0x042, false);
    //mcp2521_0.request_to_send(MCP2521_TX_BUFFER::TXB0);
    vTaskDelay(20 / portTICK_PERIOD_MS);
@@ -129,6 +100,6 @@ extern "C" void app_main() {
        gpio_set_level(LED_PIN, flag);
        flag = !flag;
-        vTaskDelay(500 / portTICK_PERIOD_MS);
+        vTaskDelay(100 / portTICK_PERIOD_MS);
    }
 }
--- a/can-interface/sdkconfig.old
+++ b/can-interface/sdkconfig.old
--- a/can-interface/session-setup
+++ b/can-interface/session-setup
@@ -1,152 +0,0 @@
 [General]
 decode_signals=2
 meta_objs=0
 views=1
 [D0]
 color=4291714048
 conv_options=0
 conversion_type=0
 enabled=true
 name=INT0
 [D1]
 color=4281623972
 conv_options=0
 conversion_type=0
 enabled=true
 name=CLK
 [D2]
 color=4281623972
 conv_options=0
 conversion_type=0
 enabled=true
 name=MOSI
 [D3]
 color=4281623972
 conv_options=0
 conversion_type=0
 enabled=true
 name=MISO
 [D4]
 color=4294277376
 conv_options=0
 conversion_type=0
 enabled=true
 name=CE0
 [D5]
 color=4279638298
 conv_options=0
 conversion_type=0
 enabled=true
 name=INT1
 [D6]
 color=4279638298
 conv_options=0
 conversion_type=0
 enabled=true
 name=CE1
 [D7]
 color=4285878395
 conv_options=0
 conversion_type=0
 enabled=true
 name=D7
 [decode_signal0]
 channel0\assigned_signal_name=CLK
 channel0\initial_pin_state=2
 channel0\name=CLK
 channel1\assigned_signal_name=MISO
 channel1\initial_pin_state=2
 channel1\name=MISO
 channel2\assigned_signal_name=MOSI
 channel2\initial_pin_state=2
 channel2\name=MOSI
 channel3\assigned_signal_name=CE0
 channel3\initial_pin_state=2
 channel3\name=CS#
 channels=4
 color=4294277376
 conv_options=0
 conversion_type=0
 decoder0\ann_class0\visible=true
 decoder0\ann_class1\visible=true
 decoder0\ann_class2\visible=true
 decoder0\ann_class3\visible=true
 decoder0\ann_class4\visible=true
 decoder0\ann_class5\visible=true
 decoder0\ann_class6\visible=true
 decoder0\id=spi
 decoder0\options=0
 decoder0\row0\visible=true
 decoder0\row1\visible=true
 decoder0\row2\visible=true
 decoder0\row3\visible=true
 decoder0\row4\visible=true
 decoder0\row5\visible=true
 decoder0\row6\visible=true
 decoder0\visible=true
 decoders=1
 enabled=true
 name=SPI0
 [decode_signal1]
 channel0\assigned_signal_name=CLK
 channel0\initial_pin_state=2
 channel0\name=CLK
 channel1\assigned_signal_name=MISO
 channel1\initial_pin_state=2
 channel1\name=MISO
 channel2\assigned_signal_name=MOSI
 channel2\initial_pin_state=2
 channel2\name=MOSI
 channel3\assigned_signal_name=CE1
 channel3\initial_pin_state=2
 channel3\name=CS#
 channels=4
 color=4279638298
 conv_options=0
 conversion_type=0
 decoder0\ann_class0\visible=true
 decoder0\ann_class1\visible=true
 decoder0\ann_class2\visible=true
 decoder0\ann_class3\visible=true
 decoder0\ann_class4\visible=true
 decoder0\ann_class5\visible=true
 decoder0\ann_class6\visible=true
 decoder0\id=spi
 decoder0\options=0
 decoder0\row0\visible=true
 decoder0\row1\visible=true
 decoder0\row2\visible=true
 decoder0\row3\visible=true
 decoder0\row4\visible=true
 decoder0\row5\visible=true
 decoder0\row6\visible=true
 decoder0\visible=true
 decoders=1
 enabled=true
 name=SPI1
 [view0]
 D0\trace_height=38
 D1\trace_height=38
 D2\trace_height=38
 D3\trace_height=38
 D4\trace_height=38
 D5\trace_height=38
 D6\trace_height=38
 D7\trace_height=38
 offset=22 serialization::archive 19 0 0 0 0 52315583 48568089 25582163 47181659 91047901 0 -8 1 0 6
 scale=0.0021854614351496547
 segment_display_mode=1
 splitter_state=@ByteArray(\0\0\0\xff\0\0\0\x1\0\0\0\x2\0\0\0Z\0\0\x5\xa2\x1\0\0\0\x1\x1\0\0\0\x1\0)
 v_offset=-10
 zero_offset=22 serialization::archive 19 0 0 0 0 0 0 0 0 0 0 0 0 0 6
--- a/common-libaries/gobot_rpc/CMakeLists.txt
+++ b/common-libaries/gobot_rpc/CMakeLists.txt
@@ -1,10 +0,0 @@
 idf_component_register(SRCS
                        "gobot_rpc_sender.cpp"
                        "gobot_rpc_receiver.cpp"
                        "gobot_rpc_statemaschine.cpp"
                        "gobot_rpc_numberMap.cpp"
                        "gobot_rpc_transiver.cpp"
                    REQUIRES mcp2521
                    REQUIRES mcp2521_hardware_interface
                    REQUIRES driver
                    INCLUDE_DIRS "include")
--- a/common-libaries/gobot_rpc/gobot_rpc_numberMap.cpp
+++ b/common-libaries/gobot_rpc/gobot_rpc_numberMap.cpp
@@ -1,19 +0,0 @@
 #include "gobot_rpc.hpp"
 #include "protocol_spec.hpp"
 #include <string.h>
 GobotRPCNumberMap::GobotRPCNumberMap() {
    memset(rpc_number_map, 0xffffffff, 16);
 }
 GobotRPCNumberMap::~GobotRPCNumberMap() {
 }
 void GobotRPCNumberMap::set(RpcNum rpc_num, uint32_t id) {
    rpc_number_map[(int)rpc_num] = id;
 }
 uint32_t GobotRPCNumberMap::get(RpcNum rpc_num) {
    return rpc_number_map[(int)rpc_num];
 }
--- a/common-libaries/gobot_rpc/gobot_rpc_receiver.cpp
+++ b/common-libaries/gobot_rpc/gobot_rpc_receiver.cpp
@@ -1,43 +0,0 @@
 #include <string.h>
 #include "gobot_rpc.hpp"
 #include "sm.hpp"
 #include "protocol_spec.hpp"
 #include "freertos/FreeRTOS.h"
 GobotRPCReciver::GobotRPCReciver(MCP2521 * can_interface) {
    this->can_interface = can_interface;
    this->state_mashine = GobotRPCStateMashine();
    can_interface->register_rx0_handler(onRX0_GoboRPC, can_interface);
 }
 void onRX0_GoboRPC(void *arg) {
    GobotRPCReciver *rpc_socket = (GobotRPCReciver *)arg;
    rpc_socket->onRX();
 }
 void GobotRPCReciver::onRX() {
    rx_info info = can_interface->get_rx_id(MCP2521_RX_BUFFER::RXB0);
    uint8_t data[8];
    can_interface->read_rx_buf(MCP2521_RX_BUFFER::RXB0, MCP2521_BUFFER_TYPE::DATA, data, info.length);
    RPCFrame frame;
    memcpy(((char *)data) + 1, (char *)frame.data, 7);
    frame.header = (RPCHeader)(data[0]);
    SMResult smResult;
    state_mashine.submitFrame(&frame, &smResult);
    if(smResult.done) {
    }
 }
 void GobotRPCReciver::registerOnDoneFrameHandler(GobotRPCHandler_t handler, void * arg) {
    onDoneFrameHandler = handler;
    argOnDoneFrameHandler = arg;
 }
--- a/common-libaries/gobot_rpc/gobot_rpc_sender.cpp
+++ b/common-libaries/gobot_rpc/gobot_rpc_sender.cpp
--- a/common-libaries/gobot_rpc/gobot_rpc_statemaschine.cpp
+++ b/common-libaries/gobot_rpc/gobot_rpc_statemaschine.cpp
@@ -1,74 +0,0 @@
 #include "sm.hpp"
 #include "protocol_spec.hpp"
 #include <string.h>
 GobotRPCStateMashine::GobotRPCStateMashine() {
    memset(requestDataBuffer, 0, REQUEST_DATA_BUFFER_SIZE*sizeof(uint8_t)*SLOTS);
    memset(responseDataBuffer, 0, RESPONSE_DATA_BUFFER_SIZE*sizeof(uint8_t)*SLOTS);
    memset(errorDataBuffer, 0, RESPONSE_DATA_BUFFER_SIZE*sizeof(uint8_t)*SLOTS);
    memset(requestSegmentArrivedFlags, 0, sizeof(uint8_t)*SLOTS);
    memset(responseSegmentArrivedFlags, 0, sizeof(uint8_t)*SLOTS);
    memset(errorSegmentArrivedFlags, 0, sizeof(uint8_t)*SLOTS);
    slotCounter = 0;
    rpc_number_map = GobotRPCNumberMap();
 }
 void GobotRPCStateMashine::registerRPC(RpcNum rpc_num) {
    rpc_number_map.set(rpc_num, slotCounter);
    slotCounter = (slotCounter + 1) % SLOTS;
 }
 void GobotRPCStateMashine::submitFrame(RPCFrame * frame, SMResult * result) {
    RpcNum rpcNum = (RpcNum)(frame->header.rpc_num);
    result->done = false;
    result->rpc_num = rpcNum;
    if(rpcNum == RpcNum::INVALID)
        return;
    size_t slot = rpc_number_map.get(rpcNum);
    if (slot == 0xffffffff)
        return;
    uint8_t segNum = frame->header.rpc_segement;
    if(frame->header.error) {
        memcpy(result->data, frame->data, 7);
        errorSegmentArrivedFlags[slot] |= (1 << segNum);
        result->done = true;
        result->type = RPCPackageType::ERROR;
    } else if(frame->header.response) {
        memcpy(responseDataBuffer[slot] + segNum, frame->data, 7);
        responseSegmentArrivedFlags[slot] |= (1 << segNum);
        uint8_t mask = SEGMENT_MASK_RESPONSE[(int)rpcNum];
        if(((responseSegmentArrivedFlags[slot] & mask) ^ mask) == 0) {
            responseSegmentArrivedFlags[slot] = 0;
            result->done = true;
            memcpy(result->data, responseDataBuffer[slot], 7*4);
            result->type = RPCPackageType::RESPONSE;
        }
    } else {
        memcpy(requestDataBuffer[slot] + segNum, frame->data, 7);
        requestSegmentArrivedFlags[slot] |= (1 << segNum);
        uint8_t mask = SEGMENT_MASK_RESPONSE[(int)rpcNum];
        if(((requestSegmentArrivedFlags[slot] & mask) ^ mask) == 0) {
            requestSegmentArrivedFlags[slot] = 0;
            result->done = true;
            memcpy(result->data, requestDataBuffer[slot], 7*4);
            result->type = RPCPackageType::REQUEST;
        }
    }
 }
--- a/common-libaries/gobot_rpc/gobot_rpc_transiver.cpp
+++ b/common-libaries/gobot_rpc/gobot_rpc_transiver.cpp
--- a/common-libaries/gobot_rpc/include/gobot_rpc.hpp
+++ b/common-libaries/gobot_rpc/include/gobot_rpc.hpp
@@ -1,56 +0,0 @@
 #pragma once
 #include "protocol_spec.hpp"
 #include "mcp2521.hpp"
 #include "sm.hpp"
 #include "freertos/FreeRTOS.h"
 typedef void (*GobotRPCHandler_t)(void *);
 typedef void (*GobotRPCFrameHandler)(void *, RPCFrame *);
 class GobotRPCReciver {
 protected:
    MCP2521 * can_interface;
    GobotRPCStateMashine state_mashine;
    GobotRPCHandler_t onDoneFrameHandler;
    void * argOnDoneFrameHandler;
 public:
    GobotRPCReciver(MCP2521 * can_interface);
    ~GobotRPCReciver();
    void onRX();
    void registerOnDoneFrameHandler(GobotRPCHandler_t handler, void * arg);
 };
 void onRX0_GoboRPC(void *arg);
 class GoboRPCTransiver {
 private:
    MCP2521 * can_interface;
    GobotRPCReciver rx;
    GobotRPCHandler_t onRequestHandler;
    GobotRPCHandler_t onResponseHandler;
    GobotRPCHandler_t onResponseErrorHandler;
    void * argOnRequestHandler;
    void * argOnResponseHandler;
    void * argOnResponseErrorHandler;
 public:
    GoboRPCTransiver(MCP2521 * can_interface);
    ~GoboRPCTransiver();
    void send(RPCFrame * frame);
    void registerOnRequestHandler(GobotRPCHandler_t handler, void * arg);
    void registerOnResponseHandler(GobotRPCHandler_t handler, void * arg);
    void registerOnResponseErrorHandler(GobotRPCHandler_t handler, void * arg);
 };
--- a/common-libaries/gobot_rpc/include/protocol_spec.hpp
+++ b/common-libaries/gobot_rpc/include/protocol_spec.hpp
@@ -1,123 +0,0 @@
 #pragma once
 #include <stdint.h>
 enum RpcNum {
    Get_Info            = 0x0,
    Home                = 0x1,
    Move_Step           = 0x2,
    Move_XY             = 0x3,
    Set_Padding         = 0x4,
    Release_Motors      = 0x5,
    Drop_Stones         = 0x6,
    Get_Stone_Status    = 0x7,
    Mov_Z_Axis          = 0x8,
    Set_Vacum           = 0x9,
    INVALID             = 0xF,
 };
 struct RPCHeader {
    unsigned char rpc_num : 4;
    unsigned char response : 1;
    unsigned char error : 1;
    unsigned char rpc_segement : 1;
 };
 struct RPCFrame {
    RPCHeader header;
    uint8_t data[7];
 };
 enum RPC_Node_Type {
    NODE_ALL        = 0x0,
    NODE_CORE_XY    = 0x1,
    NODE_HEAD       = 0x2,
    NODE_VACUM      = 0x3,
 };
 // RPC Request and Response structures
 struct RPC_RES_Get_Info {
    uint32_t can_address;
    RPC_Node_Type node_type;
    uint32_t status;
    uint32_t error;
 };
 enum RPC_Home_Corner {
    HOME_CORNER_0 = 0b00,
    HOME_CORNER_1 = 0b01,
    HOME_CORNER_2 = 0b10,
    HOME_CORNER_3 = 0b11,
 };
 struct RPC_REQ_Home {
    RPC_Home_Corner corner;
 };
 struct RPC_RES_Home {
    uint32_t x;
    uint32_t y;
 };
 struct RPC_REQ_Move_Step {
    int32_t x;
    int32_t y;
 };
 struct RPC_RES_Move_Step {
    uint32_t x;
    uint32_t y;
 };
 struct RPC_REQ_Set_Padding {
    uint32_t c_1x;
    uint32_t c_1y;
    uint32_t c_2x;
    uint32_t c_2y;
    uint8_t n_x;
    uint8_t n_y;
 };
 struct RPC_REQ_Move_Z_Axis {
    bool up;
 };
 struct RPC_REQ_Set_Vacum {
    bool on;
 };
 // Segment3, Segment2, Segment1, Segment0
 const uint8_t SEGMENT_MASK_REQUEST[16] = {
    0b0001, // Get_Info
    0b0001, // Home
    0b0001, // Move_Step
    0b0001, // Move_XY
    0b0111, // Set_Padding
    0b0001, // Release_Motors
    0b0001, // Drop_Stones
    0b0001, // Get_Stone_Status
    0b0001, // Mov_Z_Axis
    0b0001, // Set_Vacum
    0b0001, //
    0b0001, //
    0b0001, //
    0b0001, //
    0b0001, //
 };
 const uint8_t SEGMENT_MASK_RESPONSE[16] = {
    0b0001, // Get_Info
    0b0001, // Home
    0b0001, // Move_Step
    0b0001, // Move_XY
    0b0001, // Set_Padding
    0b0001, // Release_Motors
    0b0001, // Drop_Stones
    0b0001, // Get_Stone_Status
    0b0001, // Mov_Z_Axis
    0b0001, // Set_Vacum
    0b0001, //
    0b0001, //
    0b0001, //
    0b0001, //
    0b0001, //
 };
--- a/common-libaries/gobot_rpc/include/sm.hpp
+++ b/common-libaries/gobot_rpc/include/sm.hpp
@@ -1,58 +0,0 @@
 #pragma once
 #include <stdint.h>
 #include "protocol_spec.hpp"
 #include <strings.h>
 class GobotRPCNumberMap {
 private:
    int32_t rpc_number_map[16];
 public:
    GobotRPCNumberMap();
    ~GobotRPCNumberMap();
    void set(RpcNum rpc_num, uint32_t id);
    uint32_t get(RpcNum rpc_num);
 };
 enum RPCPackageType {
    REQUEST,
    RESPONSE,
    ERROR
 };
 struct SMResult {
    bool done;
    uint8_t data[7*4];
    RpcNum rpc_num;
    RPCPackageType type;
 };
 class GobotRPCStateMashine {
 private:
    static const size_t SLOTS = 6;
    static const size_t REQUEST_DATA_BUFFER_SIZE = 7*4;
    static const size_t RESPONSE_DATA_BUFFER_SIZE = 7*4;
    GobotRPCNumberMap rpc_number_map;
    size_t slotCounter;
    uint8_t requestDataBuffer[REQUEST_DATA_BUFFER_SIZE][SLOTS];
    bool requestSegmentArrivedFlags [SLOTS];
    uint8_t responseDataBuffer[RESPONSE_DATA_BUFFER_SIZE][SLOTS];
    uint8_t responseSegmentArrivedFlags [SLOTS];
    uint8_t errorDataBuffer[RESPONSE_DATA_BUFFER_SIZE][SLOTS];
    uint8_t errorSegmentArrivedFlags [SLOTS];
 public:
    GobotRPCStateMashine();
    ~GobotRPCStateMashine();
    void registerRPC(RpcNum rpc_num);
    void submitFrame(RPCFrame * frame, SMResult * result);
 };
--- a/common-libaries/mcp2521/docs/.$MCP2521_Libary_ClassDiagram.drawio.bkp
+++ b/common-libaries/mcp2521/docs/.$MCP2521_Libary_ClassDiagram.drawio.bkp
@@ -1,102 +0,0 @@
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--- a/common-libaries/mcp2521/include/mcp2521.hpp
+++ b/common-libaries/mcp2521/include/mcp2521.hpp
@@ -3,5 +3,4 @@
 #include "mcp2521_toplevel.hpp"
 #include "mcp2521_command.hpp"
 #include "mcp2521_hardware_esp.hpp"
 #include "mcp2521_hardware_esp_bus_factory.hpp"
 #include "mcp2521_addresses.hpp"
--- a/common-libaries/mcp2521/include/mcp2521_command.hpp
+++ b/common-libaries/mcp2521/include/mcp2521_command.hpp
@@ -40,9 +40,9 @@ struct rx_info {
    uint8_t length;
 };
-class MCP2521_CommandInterface {
+class MCP2521_Command_Interface {
 private:
-    I_MCP2521_HardwareHandle * hardware_handle;
+    MCP2521_Hardware_Handle * hardware_handle;
    intHandlerFunction_t rx0_handler;
    intHandlerFunction_t rx1_handler;
@@ -63,8 +63,8 @@ private:
    void * message_error_handler_arg;
 public:
-    MCP2521_CommandInterface(
+    MCP2521_Command_Interface(
-        I_MCP2521_HardwareHandle * hardware_handle
+        MCP2521_Hardware_Handle * hardware_handle
    );
    void handleInterrupt();
--- a/common-libaries/mcp2521/include/mcp2521_toplevel.hpp
+++ b/common-libaries/mcp2521/include/mcp2521_toplevel.hpp
@@ -5,7 +5,7 @@
 #include "mcp2521_command.hpp"
 #include "mcp2521_addresses.hpp"
-class MCP2521 : public MCP2521_CommandInterface {
+class MCP2521 : public MCP2521_Command_Interface {
    private:
    public:
        void set_tx_id(MCP2521_TX_BUFFER buffer, uint16_t id, bool extended);
--- a/common-libaries/mcp2521/interface_commands.cpp
+++ b/common-libaries/mcp2521/interface_commands.cpp
@@ -4,12 +4,12 @@
 #include "mcp2521_addresses.hpp"
 void runIntHandler(void *arg) {
-    MCP2521_CommandInterface *command_interface = (MCP2521_CommandInterface *)arg;
+    MCP2521_Command_Interface *command_interface = (MCP2521_Command_Interface *)arg;
    command_interface->handleInterrupt();
 }
-MCP2521_CommandInterface::MCP2521_CommandInterface(
+MCP2521_Command_Interface::MCP2521_Command_Interface(
-    I_MCP2521_HardwareHandle * hardware_handle
+    MCP2521_Hardware_Handle * hardware_handle
 ) {
    this->hardware_handle = hardware_handle;
    this->hardware_handle->registerIntHandler(runIntHandler, (void *)this);
@@ -33,42 +33,42 @@ MCP2521_CommandInterface::MCP2521_CommandInterface(
    message_error_handler_arg = NULL;
 }
-void MCP2521_CommandInterface::reset() {
+void MCP2521_Command_Interface::reset() {
    hardware_handle->execute(MCP2521_OP_RESET);
 }
-void MCP2521_CommandInterface::read_reg(uint8_t address, uint8_t *data, size_t length) {
+void MCP2521_Command_Interface::read_reg(uint8_t address, uint8_t *data, size_t length) {
    hardware_handle->read(MCP2521_OP_READ, data, length, address);
 }
-uint8_t MCP2521_CommandInterface::read_reg(uint8_t address) {
+uint8_t MCP2521_Command_Interface::read_reg(uint8_t address) {
    return hardware_handle->read(MCP2521_OP_READ, address);
 }
-void MCP2521_CommandInterface::read_rx_buf(MCP2521_RX_BUFFER buffer, MCP2521_BUFFER_TYPE type, uint8_t *data, size_t length) {
+void MCP2521_Command_Interface::read_rx_buf(MCP2521_RX_BUFFER buffer, MCP2521_BUFFER_TYPE type, uint8_t *data, size_t length) {
    uint8_t address = (buffer << 1) | (type << 2);
    hardware_handle->read(MCP2521_OP_READ_RX_BUFFER | address, data, length);
 }
-void MCP2521_CommandInterface::write_reg(uint8_t address, uint8_t *data, size_t length) {
+void MCP2521_Command_Interface::write_reg(uint8_t address, uint8_t *data, size_t length) {
    hardware_handle->write(MCP2521_OP_WRITE, data, length, address);
 }
-void MCP2521_CommandInterface::write_reg(uint8_t address, uint8_t data) {
+void MCP2521_Command_Interface::write_reg(uint8_t address, uint8_t data) {
    hardware_handle->write(MCP2521_OP_WRITE, data, address);
 }
-void MCP2521_CommandInterface::write_tx_buf(MCP2521_TX_BUFFER buffer, MCP2521_BUFFER_TYPE type, uint8_t *data, size_t length) {
+void MCP2521_Command_Interface::write_tx_buf(MCP2521_TX_BUFFER buffer, MCP2521_BUFFER_TYPE type, uint8_t *data, size_t length) {
    uint8_t address = (buffer << 1) | (type);
    hardware_handle->write(MCP2521_OP_LOAD_TX_BUFFER | address, data, length);
 }
-void MCP2521_CommandInterface::request_to_send(bool txb2, bool txb1, bool txb0) {
+void MCP2521_Command_Interface::request_to_send(bool txb2, bool txb1, bool txb0) {
    uint8_t data = (txb2 << 2) | (txb1 << 1) | txb0;
    hardware_handle->execute(MCP2521_OP_RTS | data);
 }
-void MCP2521_CommandInterface::request_to_send(MCP2521_TX_BUFFER buffer) {
+void MCP2521_Command_Interface::request_to_send(MCP2521_TX_BUFFER buffer) {
    uint8_t mask = 0;
    switch (buffer) {
@@ -86,15 +86,15 @@ void MCP2521_CommandInterface::request_to_send(MCP2521_TX_BUFFER buffer) {
    hardware_handle->execute(MCP2521_OP_RTS | mask);
 }
-uint8_t MCP2521_CommandInterface::read_status() {
+uint8_t MCP2521_Command_Interface::read_status() {
    return hardware_handle->read(MCP2521_OP_READ_STATUS);
 }
-uint8_t MCP2521_CommandInterface::read_rx_status() {
+uint8_t MCP2521_Command_Interface::read_rx_status() {
    return hardware_handle->read(MCP2521_OP_RX_STATUS);
 }
-void MCP2521_CommandInterface::bit_modify(uint8_t address, uint8_t mask, uint8_t data) {
+void MCP2521_Command_Interface::bit_modify(uint8_t address, uint8_t mask, uint8_t data) {
    uint8_t data_array[3] = {address, mask, data};
    hardware_handle->write(MCP2521_OP_BIT_MODIFY, data_array, 3);
 }
--- a/common-libaries/mcp2521/interface_interrupts.cpp
+++ b/common-libaries/mcp2521/interface_interrupts.cpp
@@ -1,47 +1,47 @@
 #include "mcp2521.hpp"
 #include "mcp2521_addresses.hpp"
-void MCP2521_CommandInterface::register_rx0_handler(intHandlerFunction_t handler, void* args) {
+void MCP2521_Command_Interface::register_rx0_handler(intHandlerFunction_t handler, void* args) {
    rx0_handler = handler;
    rx0_handler_arg = args;
 }
-void MCP2521_CommandInterface::register_rx1_handler(intHandlerFunction_t handler, void* args) {
+void MCP2521_Command_Interface::register_rx1_handler(intHandlerFunction_t handler, void* args) {
    rx1_handler = handler;
    rx1_handler_arg = args;
 }
-void MCP2521_CommandInterface::register_tx0_handler(intHandlerFunction_t handler, void* args) {
+void MCP2521_Command_Interface::register_tx0_handler(intHandlerFunction_t handler, void* args) {
    tx0_handler = handler;
    tx0_handler_arg = args;
 }
-void MCP2521_CommandInterface::register_tx1_handler(intHandlerFunction_t handler, void* args) {
+void MCP2521_Command_Interface::register_tx1_handler(intHandlerFunction_t handler, void* args) {
    tx1_handler = handler;
    tx1_handler_arg = args;
 }
-void MCP2521_CommandInterface::register_tx2_handler(intHandlerFunction_t handler, void* args) {
+void MCP2521_Command_Interface::register_tx2_handler(intHandlerFunction_t handler, void* args) {
    tx2_handler = handler;
    tx2_handler_arg = args;
 }
-void MCP2521_CommandInterface::register_error_handler(intHandlerFunction_t handler, void* args) {
+void MCP2521_Command_Interface::register_error_handler(intHandlerFunction_t handler, void* args) {
    error_handler = handler;
    error_handler_arg = args;
 }
-void MCP2521_CommandInterface::register_wakeup_handler(intHandlerFunction_t handler, void* args) {
+void MCP2521_Command_Interface::register_wakeup_handler(intHandlerFunction_t handler, void* args) {
    wakeup_handler = handler;
    wakeup_handler_arg = args;
 }
-void MCP2521_CommandInterface::register_message_error_handler(intHandlerFunction_t handler, void* args) {
+void MCP2521_Command_Interface::register_message_error_handler(intHandlerFunction_t handler, void* args) {
    message_error_handler = handler;
    message_error_handler_arg = args;
 }
-void MCP2521_CommandInterface::handleInterrupt() {
+void MCP2521_Command_Interface::handleInterrupt() {
    uint8_t flags = read_reg(MCP2521_CANINTF);
    uint8_t clearBits = 0;
--- a/common-libaries/mcp2521_hardware_interface/CMakeLists.txt
+++ b/common-libaries/mcp2521_hardware_interface/CMakeLists.txt
@@ -1,7 +1,5 @@
 idf_component_register(SRCS "esp_implementation_init.cpp"
                            "esp_implementation_cmd.cpp"
                            "esp_implementation_int.cpp"
                            "esp_implementation_bus.cpp"
                            "esp_implementation_bus_factory.cpp"
                       INCLUDE_DIRS "include"
                       REQUIRES driver)
--- a/common-libaries/mcp2521_hardware_interface/esp_implementation_bus.cpp
+++ b/common-libaries/mcp2521_hardware_interface/esp_implementation_bus.cpp
@@ -1,58 +0,0 @@
 #ifdef ESP_PLATFORM
 #include "freertos/FreeRTOS.h"
 #include "mcp2521_hardware_esp_bus.hpp"
 #include "mcp2521_hardware_esp.hpp"
 MCP2521_HardwareHandle_ESPBus::MCP2521_HardwareHandle_ESPBus(
        QueueHandle_t send_queue,
        spi_host_device_t spi_host,
        spi_bus_config_t * bus_config,
        gpio_num_t cs, 
        gpio_num_t int_pin
 ) : MCP2521_HardwareHandle_ESP(spi_host, bus_config, cs, int_pin) {
    this->send_queue = send_queue;
    this->receive_queue = xQueueCreate(3, sizeof(spi_message_t));
 }
 void MCP2521_HardwareHandle_ESPBus::spi_transmit(spi_transaction_t *t) {
    spi_message_t message = {
        .transaction = t,
        .queue = send_queue,
        .spi_device_handle = spi_device_handle
    };
    xQueueSend(send_queue, &message, portMAX_DELAY);
    xQueueReceive(receive_queue, &message, portMAX_DELAY);
 }
 void MCP2521_HardwareHandle_ESPBus::initPins(
    gpio_num_t int_pin
 ) {
    canInterruptSemaphore = xSemaphoreCreateBinary();
    gpio_config_t io_conf;
    io_conf.intr_type = GPIO_INTR_NEGEDGE;
    io_conf.mode = GPIO_MODE_INPUT;
    io_conf.pin_bit_mask = 1 << int_pin;
    io_conf.pull_down_en = GPIO_PULLDOWN_DISABLE;
    io_conf.pull_up_en = GPIO_PULLUP_ENABLE;
    gpio_config(&io_conf);
    gpio_isr_handler_add(int_pin, gpio_isr_can_handler, this);
    char taskName[32];
    sprintf(taskName, "canInterruptTask_%d", int_pin);
    xTaskCreatePinnedToCore(
        (TaskFunction_t)&handleInteruptTaskCallerFn,
        taskName,
        2048,
        this,
        5,
        &canInterruptTaskHandle,
        0
    );
 }
 #endif
--- a/common-libaries/mcp2521_hardware_interface/esp_implementation_bus_factory.cpp
+++ b/common-libaries/mcp2521_hardware_interface/esp_implementation_bus_factory.cpp
@@ -1,67 +0,0 @@
 #pragma once
 #ifdef ESP_PLATFORM
 #include "freertos/FreeRTOS.h"
 #include "mcp2521_hardware_esp_bus_factory.hpp"
 #include "mcp2521_hardware_esp_bus.hpp"
 #include "mcp2521_hardware_esp.hpp"
 void transactionTaskWrapperFn(void *pvParameters) {
    MCP2521_HardwareHandleFactory_ESPBus *factory = (MCP2521_HardwareHandleFactory_ESPBus *)pvParameters;
    factory->transactionTaskFn();
 }
 MCP2521_HardwareHandleFactory_ESPBus::MCP2521_HardwareHandleFactory_ESPBus(
    spi_host_device_t spi_host,
    gpio_num_t mosi, 
    gpio_num_t miso, 
    gpio_num_t sclk
 ) {
    this->spi_host = spi_host;
    this->mosi = mosi;
    this->miso = miso;
    this->sclk = sclk;
    gpio_install_isr_service(0);
    MCP2521_HardwareHandle_ESP::initSPIBus(spi_host, mosi, miso, sclk, &bus_config);
    spi_queue = xQueueCreate(12, sizeof(spi_message_t));
    xTaskCreatePinnedToCore(
        (TaskFunction_t)&transactionTaskWrapperFn,
        "transactionTask",
        2048,
        this,
        3,
        &transactionTaskHandle,
        0
    );
 }
 void MCP2521_HardwareHandleFactory_ESPBus::transactionTaskFn() {
    spi_message_t message;
    while(true) {
        xQueueReceive(spi_queue, &message, portMAX_DELAY);
        spi_device_transmit(message.spi_device_handle, message.transaction);
    }
 }
 MCP2521_HardwareHandle_ESPBus MCP2521_HardwareHandleFactory_ESPBus::create(
    gpio_num_t int_pin,
    gpio_num_t cs
 ) {
    return MCP2521_HardwareHandle_ESPBus(
        spi_queue,
        spi_host,
        &bus_config,
        cs,
        int_pin
    );
 }
 #endif
--- a/common-libaries/mcp2521_hardware_interface/esp_implementation_cmd.cpp
+++ b/common-libaries/mcp2521_hardware_interface/esp_implementation_cmd.cpp
@@ -5,13 +5,13 @@
 const uint8_t null_buffer[32] = {0};
-void MCP2521_HardwareHandle_ESP::spi_transmit(spi_transaction_t *t) {
+void MCP2521_Hardware_Handle_ESP::spi_transmit(spi_transaction_t *t) {
    xSemaphoreTake(spiMutex, portMAX_DELAY);
    spi_device_transmit(this->spi_device_handle, t);
    xSemaphoreGive(spiMutex);
 }
-void MCP2521_HardwareHandle_ESP::execute(uint8_t cmd) {
+void MCP2521_Hardware_Handle_ESP::execute(uint8_t cmd) {
    spi_transaction_ext_t t = {
        .base = {
            .flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
@@ -30,7 +30,7 @@ void MCP2521_HardwareHandle_ESP::execute(uint8_t cmd) {
    spi_transmit((spi_transaction_t*)(&t));
 }
-void MCP2521_HardwareHandle_ESP::execute(uint8_t cmd, uint8_t address) {
+void MCP2521_Hardware_Handle_ESP::execute(uint8_t cmd, uint8_t address) {
    spi_transaction_ext_t t = {
        .base = {
            .flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
@@ -49,7 +49,7 @@ void MCP2521_HardwareHandle_ESP::execute(uint8_t cmd, uint8_t address) {
    spi_transmit((spi_transaction_t*)(&t));
 }
-void MCP2521_HardwareHandle_ESP::read(uint8_t cmd, uint8_t *data, size_t length, uint8_t address) {
+void MCP2521_Hardware_Handle_ESP::read(uint8_t cmd, uint8_t *data, size_t length, uint8_t address) {
    spi_transaction_ext_t t = {
        .base = {
            .flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
@@ -68,7 +68,7 @@ void MCP2521_HardwareHandle_ESP::read(uint8_t cmd, uint8_t *data, size_t length,
    spi_transmit((spi_transaction_t*)(&t));
 }
-void MCP2521_HardwareHandle_ESP::read(uint8_t cmd, uint8_t *data, size_t length) {
+void MCP2521_Hardware_Handle_ESP::read(uint8_t cmd, uint8_t *data, size_t length) {
    spi_transaction_ext_t t = {
        .base = {
            .flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
@@ -76,7 +76,7 @@ void MCP2521_HardwareHandle_ESP::read(uint8_t cmd, uint8_t *data, size_t length)
            .addr = 0,
            .length = 8*length,
            .rxlength = 8*length,
-            .tx_buffer = null_buffer,
+            .tx_buffer = NULL,
            .rx_buffer = data
        },
        .command_bits = 8,
@@ -87,7 +87,7 @@ void MCP2521_HardwareHandle_ESP::read(uint8_t cmd, uint8_t *data, size_t length)
    spi_transmit((spi_transaction_t*)(&t));
 }
-uint8_t MCP2521_HardwareHandle_ESP::read(uint8_t cmd, uint8_t address) {
+uint8_t MCP2521_Hardware_Handle_ESP::read(uint8_t cmd, uint8_t address) {
    uint8_t result = 0;
    spi_transaction_ext_t t = {
        .base = {
@@ -108,7 +108,7 @@ uint8_t MCP2521_HardwareHandle_ESP::read(uint8_t cmd, uint8_t address) {
    return result;
 }
-uint8_t MCP2521_HardwareHandle_ESP::read(uint8_t cmd) {
+uint8_t MCP2521_Hardware_Handle_ESP::read(uint8_t cmd) {
    uint8_t result;
    spi_transaction_ext_t t = {
        .base = {
@@ -129,7 +129,7 @@ uint8_t MCP2521_HardwareHandle_ESP::read(uint8_t cmd) {
    return result;
 }
-void MCP2521_HardwareHandle_ESP::write(uint8_t cmd, uint8_t *data, size_t length, uint8_t address) {
+void MCP2521_Hardware_Handle_ESP::write(uint8_t cmd, uint8_t *data, size_t length, uint8_t address) {
    uint8_t result;
    spi_transaction_ext_t t = {
        .base = {
@@ -149,7 +149,7 @@ void MCP2521_HardwareHandle_ESP::write(uint8_t cmd, uint8_t *data, size_t length
    spi_transmit((spi_transaction_t*)(&t));
 }
-void MCP2521_HardwareHandle_ESP::write(uint8_t cmd, uint8_t *data, size_t length) {
+void MCP2521_Hardware_Handle_ESP::write(uint8_t cmd, uint8_t *data, size_t length) {
    spi_transaction_ext_t t = {
        .base = {
            .flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
@@ -168,7 +168,7 @@ void MCP2521_HardwareHandle_ESP::write(uint8_t cmd, uint8_t *data, size_t length
    spi_transmit((spi_transaction_t*)(&t));
 }
-void MCP2521_HardwareHandle_ESP::write(uint8_t cmd, uint8_t data, uint8_t address) {
+void MCP2521_Hardware_Handle_ESP::write(uint8_t cmd, uint8_t data, uint8_t address) {
    spi_transaction_ext_t t = {
        .base = {
            .flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
@@ -187,7 +187,7 @@ void MCP2521_HardwareHandle_ESP::write(uint8_t cmd, uint8_t data, uint8_t addres
    spi_transmit((spi_transaction_t*)(&t));
 }
-void MCP2521_HardwareHandle_ESP::write(uint8_t cmd, uint8_t data) {
+void MCP2521_Hardware_Handle_ESP::write(uint8_t cmd, uint8_t data) {
    spi_transaction_ext_t t = {
        .base = {
            .flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
--- a/common-libaries/mcp2521_hardware_interface/esp_implementation_init.cpp
+++ b/common-libaries/mcp2521_hardware_interface/esp_implementation_init.cpp
@@ -8,7 +8,7 @@
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
-MCP2521_HardwareHandle_ESP::MCP2521_HardwareHandle_ESP(
+MCP2521_Hardware_Handle_ESP::MCP2521_Hardware_Handle_ESP(
    spi_host_device_t spi_host,
    spi_bus_config_t *bus_config,
    gpio_num_t mosi, 
@@ -23,7 +23,7 @@ MCP2521_HardwareHandle_ESP::MCP2521_HardwareHandle_ESP(
    initSPIDevice(spi_host, cs);
 }
-MCP2521_HardwareHandle_ESP::MCP2521_HardwareHandle_ESP(
+MCP2521_Hardware_Handle_ESP::MCP2521_Hardware_Handle_ESP(
    spi_host_device_t spi_host,
    spi_bus_config_t *bus_config,
    gpio_num_t cs, 
@@ -34,11 +34,11 @@ MCP2521_HardwareHandle_ESP::MCP2521_HardwareHandle_ESP(
    initSPIDevice(spi_host, cs);
 }
-MCP2521_HardwareHandle_ESP::~MCP2521_HardwareHandle_ESP() {
+MCP2521_Hardware_Handle_ESP::~MCP2521_Hardware_Handle_ESP() {
 }
-void MCP2521_HardwareHandle_ESP::initSPIBus(
+void MCP2521_Hardware_Handle_ESP::initSPIBus(
    spi_host_device_t spi_host,
    gpio_num_t mosi, 
    gpio_num_t miso, 
@@ -57,7 +57,7 @@ void MCP2521_HardwareHandle_ESP::initSPIBus(
    spi_bus_initialize(spi_host, bus_config, SPI_DMA_CH_AUTO);
 }
-void MCP2521_HardwareHandle_ESP::initSPIDevice(
+void MCP2521_Hardware_Handle_ESP::initSPIDevice(
    spi_host_device_t spi_host,
    gpio_num_t cs
 ) {
@@ -73,7 +73,7 @@ void MCP2521_HardwareHandle_ESP::initSPIDevice(
        // Learned this the hard way
        .cs_ena_pretrans = 0,
        .cs_ena_posttrans = 0,
-        .clock_speed_hz = 2000,
+        .clock_speed_hz = 10000,
        .spics_io_num = cs,
        .flags = SPI_DEVICE_NO_DUMMY,
@@ -85,7 +85,7 @@ void MCP2521_HardwareHandle_ESP::initSPIDevice(
    spiMutex = xSemaphoreCreateMutex();
 }
-spi_bus_config_t * MCP2521_HardwareHandle_ESP::getSPI_bus_config() {
+spi_bus_config_t * MCP2521_Hardware_Handle_ESP::getSPI_bus_config() {
    return this->spi_bus_config;
 }
--- a/common-libaries/mcp2521_hardware_interface/esp_implementation_int.cpp
+++ b/common-libaries/mcp2521_hardware_interface/esp_implementation_int.cpp
@@ -6,16 +6,16 @@
 #include "mcp2521_hardware_esp.hpp"
 static void IRAM_ATTR gpio_isr_can_handler(void* arg) {
-    MCP2521_HardwareHandle_ESP * handle = (MCP2521_HardwareHandle_ESP *)arg;
+    MCP2521_Hardware_Handle_ESP * handle = (MCP2521_Hardware_Handle_ESP *)arg;
    handle->isr_can_interrupt();
 }
 static void handleInteruptTaskCallerFn(void *arg) {
-    MCP2521_HardwareHandle_ESP * handle = (MCP2521_HardwareHandle_ESP *)arg;
+    MCP2521_Hardware_Handle_ESP * handle = (MCP2521_Hardware_Handle_ESP *)arg;
    handle->handleIntteruptTaskFn();
 }
-void MCP2521_HardwareHandle_ESP::initPins(
+void MCP2521_Hardware_Handle_ESP::initPins(
    gpio_num_t int_pin
 ) {
    canInterruptSemaphore = xSemaphoreCreateBinary();
@@ -31,25 +31,24 @@ void MCP2521_HardwareHandle_ESP::initPins(
    gpio_install_isr_service(0);
    gpio_isr_handler_add(int_pin, gpio_isr_can_handler, this);
-    xTaskCreatePinnedToCore(
+    xTaskCreate(
        (TaskFunction_t)&handleInteruptTaskCallerFn,
        "canInterruptTask",
        2048,
        this,
        5,
-        &canInterruptTaskHandle,
+        &canInterruptTaskHandle
        0
    );
 }
-void MCP2521_HardwareHandle_ESP::handleIntteruptTaskFn() {
+void MCP2521_Hardware_Handle_ESP::handleIntteruptTaskFn() {
    while(true) {
        xSemaphoreTake(canInterruptSemaphore, portMAX_DELAY);
        intHandler(intHandlerArg);
    }
 }
-void MCP2521_HardwareHandle_ESP::isr_can_interrupt() {
+void MCP2521_Hardware_Handle_ESP::isr_can_interrupt() {
    BaseType_t wokenTask = pdFALSE;
    xSemaphoreGiveFromISR(canInterruptSemaphore, &wokenTask);
@@ -58,7 +57,7 @@ void MCP2521_HardwareHandle_ESP::isr_can_interrupt() {
    }
 }
-void MCP2521_HardwareHandle_ESP::registerIntHandler(intHandlerFunction_t handler, void * arg) {
+void MCP2521_Hardware_Handle_ESP::registerIntHandler(intHandlerFunction_t handler, void * arg) {
    intHandlerArg = arg;
    intHandler = handler;
 }
--- a/common-libaries/mcp2521_hardware_interface/include/mcp2521_hardware_esp.hpp
+++ b/common-libaries/mcp2521_hardware_interface/include/mcp2521_hardware_esp.hpp
@@ -1,13 +1,3 @@
 /**
 * @file mcp2521_hardware_esp.hpp
 * @author AlexanderHD27
 * @brief 
 * @version 0.1
 * @date 2024-11-16
 * 
 * @copyright Copyright (c) 2024
 * 
 */
 #pragma once
 #include "mcp2521_hardware_handle.hpp"
@@ -18,48 +8,24 @@
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
-static void handleInteruptTaskCallerFn(void *arg);
+class MCP2521_Hardware_Handle_ESP : public MCP2521_Hardware_Handle {
 static void IRAM_ATTR gpio_isr_can_handler(void* arg);
 /**
 * @brief Hardware handle for MCP2521 over SPI on ESP32
 * This is should not be used if multiple MCP2521 are on the same SPI bus
 */
 class MCP2521_HardwareHandle_ESP : public I_MCP2521_HardwareHandle {
 protected:
    void spi_transmit(spi_transaction_t *t);
    /**
     * @brief Sempahore, that is set every time the MCP2521 triggers an interrupt by the canInterruptTaskHandle
     */
    SemaphoreHandle_t canInterruptSemaphore = NULL;
    /**
     * @brief Handle to task that handles the MCP2521 interrupt
     * A Handle can be registered via the registerIntHandler method
     */
    TaskHandle_t canInterruptTaskHandle = NULL;
    spi_device_handle_t spi_device_handle;
 private:
    spi_bus_config_t * spi_bus_config;
    char spi_tmp_buffer;
    spi_bus_config_t * spi_bus_config;
    spi_device_interface_config_t spi_device_config;
    spi_device_handle_t spi_device_handle;
-    /**
+    SemaphoreHandle_t canInterruptSemaphore = NULL;
     * @brief Sempahore, that protects the SPI bus from being accessed by multiple tasks at the same time
     * 
     */
    SemaphoreHandle_t spiMutex = NULL;
    TaskHandle_t canInterruptTaskHandle = NULL;
    void spi_transmit(spi_transaction_t *t);
    void * intHandlerArg = NULL;
    intHandlerFunction_t intHandler = NULL;
 public:
-    MCP2521_HardwareHandle_ESP(
+    MCP2521_Hardware_Handle_ESP(
        spi_host_device_t spi_host,
        spi_bus_config_t *bus_config,
        gpio_num_t mosi, 
@@ -69,7 +35,7 @@ public:
        gpio_num_t int_pin
    );
-    MCP2521_HardwareHandle_ESP(
+    MCP2521_Hardware_Handle_ESP(
        spi_host_device_t spi_host,
        spi_bus_config_t *bus_config,
        gpio_num_t cs, 
@@ -93,22 +59,12 @@ public:
        gpio_num_t int_pin
    );
-    ~MCP2521_HardwareHandle_ESP();
+    ~MCP2521_Hardware_Handle_ESP();
    spi_bus_config_t * getSPI_bus_config();
    // ISR Stuff
    /**
     * @brief This function is called by the ISR, that is triggered by the MCP2521
     * This function just set the canInterruptSemaphore, that then unblocks the canInterruptTaskHandle.
     * So this function should be as short as possible, let the reset of the work be done in the canInterruptTaskHandle
     */
    void isr_can_interrupt();
    /**
     * This is the methode run as canInterruptTaskHandle.
     * It should continously aquire the canInterruptSemaphore and then call the intHandler
     */
    void handleIntteruptTaskFn();
    // Inherited from MCP2521_Hardware_Handle
--- a/common-libaries/mcp2521_hardware_interface/include/mcp2521_hardware_esp_bus.hpp
+++ b/common-libaries/mcp2521_hardware_interface/include/mcp2521_hardware_esp_bus.hpp
@@ -1,46 +0,0 @@
 #pragma once
 #include "mcp2521_hardware_esp.hpp"
 #include "driver/gpio.h"
 #include "driver/spi_master.h"
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
 struct spi_message_t {
    spi_transaction_t *transaction;
    QueueHandle_t queue;
    spi_device_handle_t spi_device_handle;
 };
 /**
 * @brief Hardware handle for MCP2521 over SPI in a multi-Bus-Setup on ESP32 
 * This should not be created directly, use the MCP2521_HardwareHandleFactory_ESPBus instead
 */
 class MCP2521_HardwareHandle_ESPBus : public MCP2521_HardwareHandle_ESP {
    using MCP2521_HardwareHandle_ESP::MCP2521_HardwareHandle_ESP;
 private:
    QueueHandle_t send_queue;
    QueueHandle_t receive_queue;
    /**
     * @brief Wrapper around the spi_transmit function, that locks the spiMutex before calling spi_transmit.
     * The muxtex is shared with all other MCP2521_HardwareHandle_ESPBus instances created by the same MCP2521_HardwareHandleFactory_ESPBus
     * @overload
     * 
     * @param t ESP32 SPI Transaction struct
     */
    void spi_transmit(spi_transaction_t *t);
 public:
    MCP2521_HardwareHandle_ESPBus(
        QueueHandle_t send_queue,
        spi_host_device_t spi_host,
        spi_bus_config_t * bus_config,
        gpio_num_t cs, 
        gpio_num_t int_pin
    );
    void initPins(
        gpio_num_t int_pin
    );
 };
--- a/common-libaries/mcp2521_hardware_interface/include/mcp2521_hardware_esp_bus_factory.hpp
+++ b/common-libaries/mcp2521_hardware_interface/include/mcp2521_hardware_esp_bus_factory.hpp
@@ -1,41 +0,0 @@
 #pragma once
 #ifdef ESP_PLATFORM
 #include "mcp2521_hardware_handle.hpp"
 #include "mcp2521_hardware_esp_bus.hpp"
 #include "driver/gpio.h"
 #include "driver/spi_master.h"
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
 #include "freertos/queue.h"
 class MCP2521_HardwareHandleFactory_ESPBus {
 private:
    spi_bus_config_t bus_config;
    spi_host_device_t spi_host;
    gpio_num_t mosi; 
    gpio_num_t miso;
    gpio_num_t sclk;
    QueueHandle_t spi_queue;
    TaskHandle_t transactionTaskHandle;
 public:
    MCP2521_HardwareHandleFactory_ESPBus(
        spi_host_device_t spi_host,
        gpio_num_t mosi, 
        gpio_num_t miso, 
        gpio_num_t sclk
    );
    void transactionTaskFn();
    MCP2521_HardwareHandle_ESPBus create(
        gpio_num_t int_pin,
        gpio_num_t cs
    );
 };
 #endif
--- a/common-libaries/mcp2521_hardware_interface/include/mcp2521_hardware_handle.hpp
+++ b/common-libaries/mcp2521_hardware_interface/include/mcp2521_hardware_handle.hpp
@@ -2,118 +2,23 @@
 #include <cstdint>
 #include <strings.h>
 /**
 * @brief Handler function pointer type
 * 
 */
 typedef void (*intHandlerFunction_t)(void *); 
-/**
+class MCP2521_Hardware_Handle {
 * @brief Hardware handle for MCP2521
 * @interface
 * This is an abstraction over the sepific hardware setup, eg. SPI@ESP32 or RP2040
 * 
 */
 class I_MCP2521_HardwareHandle {
 public:
    /**
     * @brief Registeres a function that is called when the MCP2521 triggers an interrupt
     * 
     * @param handler This function is called when the MCP2521 triggers an interrupt
     * @param arg Arguments passed to the handler-function
     */
    virtual void registerIntHandler(intHandlerFunction_t handler, void * arg) = 0;
    /**
     * @overload
     * @brief justed sends a 8bit command to the MCP2521
     * 
     * @param cmd command to send
     */
    virtual void execute(uint8_t cmd) = 0;
    /**
     * @overload
     * @brief executes a command (8 bit) with an address (8 bit)
     * 
     * @param cmd 8 bit command
     * @param address 8 bit address
     */
    virtual void execute(uint8_t cmd, uint8_t address) = 0;
    /**
     * 
     * @brief Executes a read from the MCP2521 with command, data buffer, length and address
     * @overload
     * 
     * @param cmd Command to MCP2521
     * @param data Data buffer to store the read data
     * @param length How many bytes to read
     * @param address Address to read from
     */
    virtual void read(uint8_t cmd, uint8_t *data, size_t length, uint8_t address) = 0;
    /**
     * @brief Executes a read from the MCP2521 with command, data buffer and length
     * @overload
     * 
     * @param cmd Command to MCP2521
     * @param data Data buffer to store the read data
     * @param length How many bytes to read
     */
    virtual void read(uint8_t cmd, uint8_t *data, size_t length) = 0;
    /**
     * @brief Executes a read from the MCP2521 with command and address, returns just one byte
     * 
     * @param cmd Command to MCP2521
     * @param address Address to read from
     * @return uint8_t 
     */
    virtual uint8_t read(uint8_t cmd, uint8_t address) = 0;
    /**
     * @brief Executes a read from the MCP2521 with command, returns just one byte
     * 
     * @param cmd Command to MCP2521
     * @return uint8_t 
     */
    virtual uint8_t read(uint8_t cmd) = 0;
    /**
     * @brief Writes data to the MCP2521 with command, data buffer, length and address
     * 
     * @param cmd Command to MCP2521
     * @param data Data buffer to write
     * @param length Length of the data buffer
     * @param address Where to write the data
     */
    virtual void write(uint8_t cmd, uint8_t *data, size_t length, uint8_t address) = 0;
    /**
     * @brief Wirites data to the MCP2521 with command, data buffer and length
     * 
     * @param cmd Command to MCP2521
     * @param data Data buffer to write
     * @param length Length of the data buffer
     */
    virtual void write(uint8_t cmd, uint8_t *data, size_t length) = 0;
    /**
     * @brief Writes data to the MCP2521 with command, data (on byte) and address
     * 
     * @param cmd Command to MCP2521
     * @param data Data byte to write
     * @param address Where to write the data
     */
    virtual void write(uint8_t cmd, uint8_t data, uint8_t address) = 0;
    /**
     * @brief Writes to the MCP2521 with command and data (one byte)
     * 
     * @param cmd Command to MCP2521
     * @param data Data byte to write
     */
    virtual void write(uint8_t cmd, uint8_t data) = 0;
 };
--- a/gobotrpc/.gitignore
+++ b/gobotrpc/.gitignore
--- a/gobotrpc/.vscode/tasks.json
+++ b/gobotrpc/.vscode/tasks.json
@@ -1,22 +0,0 @@
 {
    // See https://go.microsoft.com/fwlink/?LinkId=733558
    // for the documentation about the tasks.json format
    "version": "2.0.0",
    "tasks": [
        {
            "taskName": "Run Main",
            "command": "python3 generator/main.py",
            "type": "shell",
            "group": {
                "kind": "build",
                "isDefault": true
            },
            "presentation": {
                "reveal": "always",
                "panel": "dedicated",
                "focus": true,
                "clear": true
            },
        },
    ]
 }
--- a/gobotrpc/docs/Gobot
+++ b/gobotrpc/docs/Gobot
--- a/gobotrpc/generator/main.py
+++ b/gobotrpc/generator/main.py
--- a/gobotrpc/generator/src/init.py
+++ b/gobotrpc/generator/src/init.py
--- a/gobotrpc/generator/src/backend/init.py
+++ b/gobotrpc/generator/src/backend/init.py
--- a/gobotrpc/generator/src/backend/cpp/converter.py
+++ b/gobotrpc/generator/src/backend/cpp/converter.py
--- a/gobotrpc/generator/src/backend/cpp/render.py
+++ b/gobotrpc/generator/src/backend/cpp/render.py
--- a/gobotrpc/generator/src/defintion_input.py
+++ b/gobotrpc/generator/src/defintion_input.py
--- a/gobotrpc/generator/src/odf_source.py
+++ b/gobotrpc/generator/src/odf_source.py
--- a/gobotrpc/generator/src/util.py
+++ b/gobotrpc/generator/src/util.py
--- a/gobotrpc/generator/templates/CMakeLists.txt.j2
+++ b/gobotrpc/generator/templates/CMakeLists.txt.j2
@@ -1,13 +0,0 @@
 add_libary(gobotrpc STATIC)
 target_sources(gobotrpc
    PRIVATE
        {%- for n in cpp_files %}
        {{ n }}
        {%- endfor %}
 )
 target_include_directories(gobotrpc
    PUBLIC
        include
 )
--- a/gobotrpc/generator/templates/enum_template.hpp.j2
+++ b/gobotrpc/generator/templates/enum_template.hpp.j2
@@ -1,12 +0,0 @@
 #pragma once
 /**
 * This Header file was auto-generated by the GobotRPC-Protocol-Generator-Tool
 */
 {% for enum in enum_list -%}
 enum class {{ enum.name }} {{ "{" }}
 {% for key in enum.map -%}
 {{ "\t" }}{{ key }} = {{ enum.map[key] }},
 {% endfor %}{{ "}" }};
 {% endfor %}
--- a/gobotrpc/generator/templates/package_struct_template.hpp.j2
+++ b/gobotrpc/generator/templates/package_struct_template.hpp.j2
@@ -1,29 +0,0 @@
 #pragma once
 /**
 * This Header file was auto-generated by the GobotRPC-Protocol-Generator-Tool
 */
 #include {{ "<stdint.h>" }}
 #include "{{ enum_header_file }}"
 enum {{ prefix }}RPCNames {{"{"}}
 {%- for n in rpcNames %}
    {{ n }} = {{ rpcNames[n] }}, 
 {%- endfor %}
 {{"}"}};
 enum {{ prefix }}RPCTypes {{"{"}}
 {%- for n in rpcTypes %}
    {{ n }} = {{ rpcTypes[n] }},
 {%- endfor %}
 {{"}"}};
 int getPackageSize(uint8_t data);
 {% for struct in package_list  %}
 struct {{ struct.name }} {{ "{" }}
 {% for field in struct.fields -%}
 {{ "\t" }}{{ field.type }} {{ field.name }} : {{ field.size_bits }};
 {% endfor -%}
 {{ "}" }};
 {% endfor %}
--- a/gobotrpc/generator/templates/package_util.cpp.j2
+++ b/gobotrpc/generator/templates/package_util.cpp.j2
@@ -1,20 +0,0 @@
 #pragma once
 /**
 * This Header file was auto-generated by the GobotRPC-Protocol-Generator-Tool
 */
 #include {{ "<stdint.h>" }}
 {%- for h in headers %}
 #include {{ "\"" + h + "\"" }}
 {%- endfor %}
 int getPackageSize(uint8_t data) {
    switch(data) {
        {%- for n in rpcSizes %}
        case {{ prefix }}RPCNames::{{ n }}:
            return {{ rpcSizes[n] }};
        {%- endfor %}
        default:
            return -1;
    }
 };
--- a/gobotrpc/out/cpp/.vscode/tasks.json
+++ b/gobotrpc/out/cpp/.vscode/tasks.json
@@ -1,25 +0,0 @@
 {
 	"version": "2.0.0",
 	"tasks": [
 		{
 			"type": "cmake",
 			"label": "CMake: build",
 			"command": "build",
 			"targets": [
 				"all"
 			],
 			"group": "build",
 			"problemMatcher": [],
 			"detail": "CMake template build task",
 			"presentation": {
 				"echo": true,
 				"reveal": "always",
 				"focus": false,
 				"panel": "dedicated",
 				"showReuseMessage": true,
 				"clear": true
 			}
 		},
 	]
 }
--- a/gobotrpc/out/cpp/CMakeLists.txt
+++ b/gobotrpc/out/cpp/CMakeLists.txt
@@ -1,20 +0,0 @@
 cmake_minimum_required(VERSION 3.28.3)
 project(TestingGobotRPCParser)
 # GoogleTest requires at least C++23
 set(CMAKE_CXX_STANDARD 23)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 # Adding gtest
 include(FetchContent)
 FetchContent_Declare(
  googletest
  gcov
  URL https://github.com/google/googletest/archive/03597a01ee50ed33e9dfd640b249b4be3799d395.zip
 )
 FetchContent_MakeAvailable(googletest)
 add_executable(TestingGobotRPCParser test/main.cpp)
 target_link_libraries(TestingGobotRPCParser gtest_main)
--- a/gobotrpc/out/cpp/cov.info
+++ b/gobotrpc/out/cpp/cov.info
--- a/gobotrpc/out/cpp/gobotrpc.cmake
+++ b/gobotrpc/out/cpp/gobotrpc.cmake
@@ -1,11 +0,0 @@
 add_libary(gobotrpc STATIC)
 target_sources(gobotrpc
    PRIVATE
        src/package_util.cpp
 )
 target_include_directories(gobotrpc
    PUBLIC
        include
 )
--- a/gobotrpc/out/cpp/include/enums.hpp
+++ b/gobotrpc/out/cpp/include/enums.hpp
@@ -1,33 +0,0 @@
 #pragma once
 /**
 * This Header file was auto-generated by the GobotRPC-Protocol-Generator-Tool
 */
 enum class GOBOTRPC_ENUM_NodeType {
 	kHub = 0,
 	kHead = 1,
 	kCorexy = 2,
 	kVacun = 3,
 };
 enum class GOBOTRPC_ENUM_NodeStatus {
 	kReady = 0,
 	kWorking = 1,
 	kBusy = 2,
 	kError = 3,
 };
 enum class GOBOTRPC_ENUM_ErrorCode {
 };
 enum class GOBOTRPC_ENUM_HeadPos {
 	kUp = 0,
 	kDown = 1,
 };
 enum class GOBOTRPC_ENUM_StoneStatus {
 	kEmpty = 0,
 	kLow = 1,
 	kFill = 2,
 };
--- a/gobotrpc/out/cpp/include/package_structs.hpp
+++ b/gobotrpc/out/cpp/include/package_structs.hpp
@@ -1,127 +0,0 @@
 #pragma once
 /**
 * This Header file was auto-generated by the GobotRPC-Protocol-Generator-Tool
 */
 #include <stdint.h>
 #include "enums.hpp"
 enum GOBOTRPC_RPCNames {
    kInvalid = 255,
    kGetInfo = 1,
    kReset = 2,
    kResetInfo = 3,
    kStatusUpdate = 4,
    kError = 5,
    kHome = 7,
    kGoto = 9,
    kSetBoardCorner = 11,
    kSetVacumOffset = 13,
    kReleaseMotors = 15,
    kDrop = 17,
    kStoneStatus = 19,
    kMoveZAxis = 21,
    kSetVacum = 23,
 };
 enum GOBOTRPC_RPCTypes {
    kReq = 0,
    kRes = 1,
 };
 int getPackageSize(uint8_t data);
 struct GOBOTRPC_GetInfoReq {
 };
 struct GOBOTRPC_GetInfoRes {
 	int32_t addr : 32;
 	GOBOTRPC_ENUM_NodeType type : 8;
 	GOBOTRPC_ENUM_NodeStatus status : 8;
 };
 struct GOBOTRPC_ResetReq {
 };
 struct GOBOTRPC_ResetInfoRes {
 	GOBOTRPC_ENUM_NodeStatus status : 8;
 };
 struct GOBOTRPC_StatusUpdateRes {
 	GOBOTRPC_ENUM_NodeStatus status : 8;
 };
 struct GOBOTRPC_ErrorRes {
 	GOBOTRPC_ENUM_ErrorCode error : 8;
 };
 struct GOBOTRPC_HomeReq {
 };
 struct GOBOTRPC_HomeRes {
 	int32_t x : 32;
 	int32_t y : 32;
 };
 struct GOBOTRPC_GotoReq {
 	int8_t x : 8;
 	int8_t y : 8;
 	bool offset : 8;
 };
 struct GOBOTRPC_GotoRes {
 };
 struct GOBOTRPC_SetBoardCornerReq {
 	int32_t x1 : 32;
 	int32_t y1 : 32;
 	int32_t x2 : 32;
 	int32_t y2 : 32;
 };
 struct GOBOTRPC_SetBoardCornerRes {
 };
 struct GOBOTRPC_SetVacumOffsetReq {
 	int32_t x : 32;
 	int32_t y : 32;
 };
 struct GOBOTRPC_SetVacumOffsetRes {
 };
 struct GOBOTRPC_ReleaseMotorsReq {
 	bool enable : 8;
 };
 struct GOBOTRPC_ReleaseMotorsRes {
 };
 struct GOBOTRPC_DropReq {
 };
 struct GOBOTRPC_DropRes {
 	GOBOTRPC_ENUM_StoneStatus status : 8;
 };
 struct GOBOTRPC_StoneStatusReq {
 };
 struct GOBOTRPC_StoneStatusRes {
 	GOBOTRPC_ENUM_StoneStatus status : 8;
 };
 struct GOBOTRPC_MoveZAxisReq {
 	GOBOTRPC_ENUM_HeadPos pos : 8;
 };
 struct GOBOTRPC_MoveZAxisRes {
 };
 struct GOBOTRPC_SetVacumReq {
 	bool enable : 8;
 };
 struct GOBOTRPC_SetVacumRes {
 };
--- a/gobotrpc/out/cpp/src/package_util.cpp
+++ b/gobotrpc/out/cpp/src/package_util.cpp
@@ -1,63 +0,0 @@
 #pragma once
 /**
 * This Header file was auto-generated by the GobotRPC-Protocol-Generator-Tool
 */
 #include <stdint.h>
 #include "package_structs.hpp"
 #include "enums.hpp"
 int getPackageSize(uint8_t data) {
    switch(data) {
        case RPCNames::GOBOTRPC_GetInfoReq:
            return 0;
        case RPCNames::GOBOTRPC_GetInfoRes:
            return 6;
        case RPCNames::GOBOTRPC_ResetReq:
            return 0;
        case RPCNames::GOBOTRPC_ResetInfoRes:
            return 1;
        case RPCNames::GOBOTRPC_StatusUpdateRes:
            return 1;
        case RPCNames::GOBOTRPC_ErrorRes:
            return 1;
        case RPCNames::GOBOTRPC_HomeReq:
            return 0;
        case RPCNames::GOBOTRPC_HomeRes:
            return 8;
        case RPCNames::GOBOTRPC_GotoReq:
            return 3;
        case RPCNames::GOBOTRPC_GotoRes:
            return 0;
        case RPCNames::GOBOTRPC_SetBoardCornerReq:
            return 16;
        case RPCNames::GOBOTRPC_SetBoardCornerRes:
            return 0;
        case RPCNames::GOBOTRPC_SetVacumOffsetReq:
            return 8;
        case RPCNames::GOBOTRPC_SetVacumOffsetRes:
            return 0;
        case RPCNames::GOBOTRPC_ReleaseMotorsReq:
            return 1;
        case RPCNames::GOBOTRPC_ReleaseMotorsRes:
            return 0;
        case RPCNames::GOBOTRPC_DropReq:
            return 0;
        case RPCNames::GOBOTRPC_DropRes:
            return 1;
        case RPCNames::GOBOTRPC_StoneStatusReq:
            return 0;
        case RPCNames::GOBOTRPC_StoneStatusRes:
            return 1;
        case RPCNames::GOBOTRPC_MoveZAxisReq:
            return 1;
        case RPCNames::GOBOTRPC_MoveZAxisRes:
            return 0;
        case RPCNames::GOBOTRPC_SetVacumReq:
            return 1;
        case RPCNames::GOBOTRPC_SetVacumRes:
            return 0;
        default:
            return -1;
    }
 };
--- a/gobotrpc/out/cpp/test/main.cpp
+++ b/gobotrpc/out/cpp/test/main.cpp
@@ -1,14 +0,0 @@
 #include <gtest/gtest.h>
 TEST(DummyTest, BasicAssertions) {
 // Expect two strings not to be equal.
 EXPECT_STRNE("hello", "world");
 // Expect equality.
 EXPECT_EQ(7 * 6, 42);
 }
 int main(int argc, char * argv[]) {
    testing::InitGoogleTest(&argc, argv);
    return RUN_ALL_TESTS();
 }
--- a/gobotrpc/requirements.txt
+++ b/gobotrpc/requirements.txt
@@ -1,9 +0,0 @@
 defusedxml==0.7.1
 ezodf==0.3.2
 Jinja2==3.1.5
 lxml==5.3.0
 MarkupSafe==3.0.2
 mkl-service==2.4.0
 odfpy==1.4.1
 setuptools==75.1.0
 wheel==0.44.0
--- a/i2c-hub/asd
+++ b/i2c-hub/asd
--- a/i2c-hub/backend/Protocol.md
+++ b/i2c-hub/backend/Protocol.md
--- a/i2c-hub/backend/src/gobotRPC_ctrl_interface.py
+++ b/i2c-hub/backend/src/gobotRPC_ctrl_interface.py
--- a/i2c-hub/backend/src/main.py
+++ b/i2c-hub/backend/src/main.py
--- a/i2c-hub/backend/test.txt
+++ b/i2c-hub/backend/test.txt
@@ -1,9 +0,0 @@
 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
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 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
--- a/i2c-hub/circuit/.$I2CHubCircuit.drawio.bkp
+++ b/i2c-hub/circuit/.$I2CHubCircuit.drawio.bkp
@@ -1,372 +0,0 @@
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--- a/i2c-hub/circuit/external/KiCad-RP-Pico
+++ b/i2c-hub/circuit/external/KiCad-RP-Pico
--- a/i2c-hub/circuit/external/RP_Silicon_KiCad
+++ b/i2c-hub/circuit/external/RP_Silicon_KiCad
--- a/i2c-hub/circuit/i2c-hub/#auto_saved_files#
+++ b/i2c-hub/circuit/i2c-hub/#auto_saved_files#
@@ -1 +0,0 @@
 /home/alexander/Projects/gobot/i2c-hub/circuit/i2c-hub/_autosave-i2c-hub.kicad_sch
--- a/i2c-hub/circuit/i2c-hub/_autosave-i2c-hub.kicad_sch
+++ b/i2c-hub/circuit/i2c-hub/_autosave-i2c-hub.kicad_sch
--- a/i2c-hub/circuit/i2c-hub/i2c-hub-backups/i2c-hub-2024-12-30_211118.zip
+++ b/i2c-hub/circuit/i2c-hub/i2c-hub-backups/i2c-hub-2024-12-30_211118.zip
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
AlexanderHD27	51ce3af221	Added MCP2541 to Rpi Pico	2024-11-07 12:24:12 +01:00
AlexanderHD27	e091d4df18	Squashed commit of the following: commit `c6fd825e39` Author: AlexanderHD27 <alexander@hal> Date: Wed Nov 6 23:14:14 2024 +0100 Moved CAN Interface code to comment libary folder with symlink commit `e7a0035041` Author: AlexanderHD27 <alexander@hal> Date: Wed Nov 6 22:01:28 2024 +0100 Got MCP2521 to work commit `4bfb1f533e` Author: AlexanderHD27 <alexander@hal> Date: Wed Oct 16 21:29:35 2024 +0200 Did something to YGantryMount. It works. trust me commit `5683168a47` Author: AlexanderHD27 <alexander@hal> Date: Wed Oct 16 21:28:36 2024 +0200 Implemented Command-Level Interaction with CAN Interface commit `9c0c676be8` Author: AlexanderHD27 <alexander@hal> Date: Mon Oct 14 09:20:37 2024 +0200 Added Vscode Profile file commit `b150a905a3` Author: AlexanderHD27 <alexander@hal> Date: Mon Oct 14 09:19:00 2024 +0200 Implemented Low Level Compunications commit `7eebf619ae` Author: AlexanderHD27 <alexander@hal> Date: Mon Oct 7 14:46:15 2024 +0200 Created Head Pipe Mount commit `93c40e1805` Author: AlexanderHD27 <alexander@hal> Date: Mon Oct 7 14:44:11 2024 +0200 First Revision of YGantryMount commit `91c2125458` Author: AlexanderHD27 <alexander@hal> Date: Thu Oct 3 19:52:37 2024 +0200 Added Kicad Backups 2 gitignore commit `096a6c18d6` Author: AlexanderHD27 <alexander@hal> Date: Thu Oct 3 19:49:21 2024 +0200 Created ESP-IDF for can-interface commit `48fded7981` Author: AlexanderHD27 <alexander@hal> Date: Sat Sep 28 19:54:29 2024 +0200 Added files from Pico sdk to gitignore commit `ec5e5cbf13` Author: AlexanderHD27 <alexander@hal> Date: Sat Sep 14 21:09:50 2024 +0200 Create Marker for position Calibration commit `58d31964b2` Author: AlexanderHD27 <alexander@hal> Date: Wed Sep 11 23:32:55 2024 +0200 Upgrade to pico SDK 2.0.0	2024-11-06 23:18:12 +01:00
AlexanderHD27	f002a01308	Updated gitmodeles	2024-10-19 20:08:24 +02:00
AlexanderHD27	6ba0535af9	Got Free RTOS 2 work	2024-10-17 12:52:39 +02:00
AlexanderHD27	46f3514c6a	Added constant for RGB LEd Pins	2024-10-12 18:54:14 +02:00
AlexanderHD27	a755a954f6	Update Motor Driver Board (fixed connection to RUN pin)	2024-10-12 18:53:26 +02:00
AlexanderHD27	c7c5cea341	Created v2.2 of Stepper Driver (added RGB Leds)	2024-10-07 14:19:12 +02:00
AlexanderHD27	f0ae696c4d	Added Kicad Backups 2 gitignore	2024-10-03 19:52:37 +02:00
AlexanderHD27	51587757b1	Create Mount for Raspberry Pi 4B#	2024-10-03 19:51:02 +02:00
AlexanderHD27	f4b591a5e6	Added some mystery kicad files	2024-10-03 19:46:21 +02:00
AlexanderHD27	a2032d72fd	Merge branch 'motor-ctrl-firmware' of gitea.mintcalc.com:alexander/gobot into motor-ctrl-firmware	2024-10-03 19:44:14 +02:00
AlexanderHD27	57e73127cc	Merge branch 'motor-ctrl-firmware' of gitea.mintcalc.com:alexander/gobot into motor-ctrl-firmware	2024-10-03 19:44:00 +02:00
AlexanderHD27	53a5c10cee	Merge branch 'motor-ctrl-firmware' of gitea.mintcalc.com:alexander/gobot into motor-ctrl-firmware # Conflicts: # motor-control/motor-driver-breakout-v2/motor-driver-breakout-v2.kicad_sch	2024-10-03 19:29:44 +02:00
AlexanderHD27	f5281e37c8	Created PCB for Driver Board	2024-10-03 19:28:53 +02:00
AlexanderHD27	783799832c	Created PCB for Driver Board	2024-10-03 19:20:02 +02:00
AlexanderHD27	61abb16b83	Create Mount for Raspberry Pi for 2020 Profiles	2024-09-28 19:53:05 +02:00
AlexanderHD27	0dc0f82938	Fixed invalid terminal symbol in expect script	2024-09-28 19:52:38 +02:00
AlexanderHD27	1786fa0b41	Merge branch 'motor-ctrl-firmware' of gitea.mintcalc.com:alexander/gobot into motor-ctrl-firmware	2024-09-27 23:37:57 +02:00
AlexanderHD27	f3490212bf	Fixed Race-Condtion problem with arming of done_flag	2024-09-27 23:37:44 +02:00
AlexanderHD27	84e351d154	Fixed Race-Condtion problem with arming of done_flag	2024-09-27 23:21:04 +02:00
AlexanderHD27	986927d740	Added docs for Circuit Board Pinout	2024-09-27 23:20:14 +02:00
AlexanderHD27	6be2dd0b7d	Added Scripts to remotly debug pico	2024-09-27 23:19:39 +02:00
AlexanderHD27	b2ffcb5d72	Added: Getting steps remaining on stop	2024-09-26 18:46:44 +02:00
AlexanderHD27	1ad6c75788	Implemented Stop on Zero Step	2024-09-25 19:46:52 +02:00
AlexanderHD27	e97472c2a3	Added Wait for compleation funcionality	2024-09-25 19:23:24 +02:00
AlexanderHD27	bba35c9622	Implement PIO-Pulser as Class for two channels Channel	2024-09-25 18:12:19 +02:00
AlexanderHD27	9640a5b747	Implement Controlled Pulses via PIO	2024-09-25 16:39:05 +02:00
AlexanderHD27	49d52ca0ed	Started Implementing UART Register interface	2024-09-13 22:09:15 +02:00
AlexanderHD27	08598ca7a3	Implemented TMC2209 Register Read/Write	2024-09-12 23:52:29 +02:00
AlexanderHD27	36f6f1863b	Swaped RX/TX Pins in Schematic and added 100uF Caps for drivers	2024-09-12 23:51:43 +02:00
AlexanderHD27	0c1b8f4e86	Upgrade to pico SDK 2.0.0	2024-09-11 23:32:55 +02:00
AlexanderHD27	29af5335f5	Added rpi-pico-sdk	2024-09-10 15:36:38 +02:00
AlexanderHD27	8b97a1853d	Added deps.	2024-09-10 15:33:15 +02:00
		`@@ -1 +0,0 @@`
			`<!DOCTYPE HTML><html lang="en-US"> <head> <meta charset="UTF-8"> <meta http-equiv="refresh" content="0; url=https://www.snapeda.com/about/import/#"> <script type="text/javascript">window.location.href="https://www.snapeda.com/about/import/#" </script> <title>Page Redirection</title> </head> <body> If you are not redirected automatically, follow this <a href="https://www.snapeda.com/about/import/#">link to the import guide</a>. </body></html>`
		`@@ -1 +0,0 @@`
			`/home/alexander/Projects/gobot/common-libaries/gobot_rpc`
		`@@ -1 +0,0 @@`
			`/home/alexander/Projects/gobot/i2c-hub/circuit/i2c-hub/_autosave-i2c-hub.kicad_sch`