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",
-        "cstring": "cpp"
+        "span": "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 SPI_PIN_CS1 GPIO_NUM_27
+#define EXTERNAL_TRIGGER GPIO_NUM_26

-#define CAN_INT0_PIN GPIO_NUM_5
-#define CAN_INT1_PIN GPIO_NUM_26
-
-void onRX0(void *arg) {
+void onRX(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);
-    //for (int i = 0; i < 8; i++) {
-    //    printf("%x ", data[i]);
-    //}
-    printf("\n");
+    printf("RX: (%x) ", info.id);
+    for (int i = 0; i < info.length; i++) {
+        printf("%x ", data[i]);
    }
-
-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_HardwareHandle_ESPBus hardware_mcp2521_1 = mcp2521_hardware_factory.create(CAN_INT1_PIN, SPI_PIN_CS1);
+    MCP2521 mcp2521(&hardware_mcp2521);

-    vTaskDelay(100 / portTICK_PERIOD_MS);
+    uint8_t data[4] = {0xf0, 0x42, 0x13, 0x37};

-    MCP2521 mcp2521_0(&hardware_mcp2521_0);
-    MCP2521 mcp2521_1(&hardware_mcp2521_1);
+    gpio_set_level(EXTERNAL_TRIGGER, false);
+    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();
-    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);
+    vTaskDelay(3 / portTICK_PERIOD_MS);

-    mcp2521_0.register_rx0_handler(onRX0, &mcp2521_0);
-    mcp2521_1.register_rx0_handler(onRX1, &mcp2521_1);
-    mcp2521_0.register_rx1_handler(onRX0, &mcp2521_0);
-    mcp2521_1.register_rx1_handler(onRX1, &mcp2521_1);
+    mcp2521.prepare_tx(
+        MCP2521_TX_BUFFER::TXB0, 0x042, data, 4, false, false);

-    mcp2521_0.set_mode_of_operation(MCP2521_OPERATION_MODE::LOOPBACK, true);
-    mcp2521_1.set_mode_of_operation(MCP2521_OPERATION_MODE::LOOPBACK, true);
+    mcp2521.request_to_send(MCP2521_TX_BUFFER::TXB0);

-    //printf("CANSTAT0: %x\n", mcp2521_0.read_reg(MCP2521_CANSTAT));
-    //printf("CANSTAT1: %x\n", mcp2521_1.read_reg(MCP2521_CANSTAT));
+    mcp2521.set_tx_id(MCP2521_TX_BUFFER::TXB0, 0x041, false);
+    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 @@
-<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="FmQN2vLuPXQQGOlHbBG4">
-    <mxGraphModel dx="1434" dy="838" 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="xzzxaMGRirp7Gwq30BhV-21" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=0.75;exitY=1;exitDx=0;exitDy=0;entryX=0.75;entryY=0;entryDx=0;entryDy=0;endArrow=diamondThin;endFill=0;" parent="1" source="xzzxaMGRirp7Gwq30BhV-1" target="xzzxaMGRirp7Gwq30BhV-18" edge="1">
-          <mxGeometry relative="1" as="geometry" />
-        </mxCell>
-        <mxCell id="xzzxaMGRirp7Gwq30BhV-1" value="«interface»&lt;br&gt;&lt;font face=&quot;Courier New&quot;&gt;&lt;b&gt;I_MCP2521_&lt;/b&gt;&lt;b&gt;HardwareHandle&lt;/b&gt;&lt;/font&gt;" style="html=1;whiteSpace=wrap;" parent="1" vertex="1">
-          <mxGeometry x="520" y="120" width="200" height="60" as="geometry" />
-        </mxCell>
-        <mxCell id="xzzxaMGRirp7Gwq30BhV-9" value="&lt;b&gt;&lt;font face=&quot;Courier New&quot;&gt;MCP2521_HardwareHandle_ESP&lt;/font&gt;&lt;/b&gt;" style="html=1;whiteSpace=wrap;" parent="1" vertex="1">
-          <mxGeometry x="230" y="260" width="250" height="40" as="geometry" />
-        </mxCell>
-        <mxCell id="xzzxaMGRirp7Gwq30BhV-11" value="&lt;b&gt;&lt;font face=&quot;Courier New&quot;&gt;MCP2521_&lt;/font&gt;&lt;/b&gt;&lt;b&gt;&lt;font face=&quot;Courier New&quot;&gt;HardwareHandle_ESPBus&lt;/font&gt;&lt;/b&gt;" style="html=1;whiteSpace=wrap;" parent="1" vertex="1">
-          <mxGeometry x="230" y="200" width="250" height="40" as="geometry" />
-        </mxCell>
-        <mxCell id="xzzxaMGRirp7Gwq30BhV-12" value="" style="endArrow=none;dashed=1;html=1;rounded=0;exitX=1;exitY=1;exitDx=0;exitDy=0;strokeWidth=1;dashPattern=1 1;" parent="1" source="xzzxaMGRirp7Gwq30BhV-14" edge="1">
-          <mxGeometry width="50" height="50" relative="1" as="geometry">
-            <mxPoint x="1060" y="320" as="sourcePoint" />
-            <mxPoint x="120" y="320" as="targetPoint" />
-          </mxGeometry>
-        </mxCell>
-        <mxCell id="xzzxaMGRirp7Gwq30BhV-14" value="SPI - Hardware Level" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" parent="1" vertex="1">
-          <mxGeometry x="760" y="280" width="160" height="40" as="geometry" />
-        </mxCell>
-        <mxCell id="xzzxaMGRirp7Gwq30BhV-15" value="" style="endArrow=block;html=1;rounded=0;dashed=1;endFill=0;exitX=1;exitY=0.5;exitDx=0;exitDy=0;entryX=0.25;entryY=1;entryDx=0;entryDy=0;" parent="1" source="xzzxaMGRirp7Gwq30BhV-11" target="xzzxaMGRirp7Gwq30BhV-1" edge="1">
-          <mxGeometry width="50" height="50" relative="1" as="geometry">
-            <mxPoint x="590" y="290" as="sourcePoint" />
-            <mxPoint x="640" y="240" as="targetPoint" />
-            <Array as="points">
-              <mxPoint x="570" y="220" />
-            </Array>
-          </mxGeometry>
-        </mxCell>
-        <mxCell id="xzzxaMGRirp7Gwq30BhV-16" value="" style="endArrow=block;html=1;rounded=0;dashed=1;endFill=0;entryX=0.5;entryY=1;entryDx=0;entryDy=0;" parent="1" source="xzzxaMGRirp7Gwq30BhV-9" target="xzzxaMGRirp7Gwq30BhV-1" edge="1">
-          <mxGeometry width="50" height="50" relative="1" as="geometry">
-            <mxPoint x="520" y="280" as="sourcePoint" />
-            <mxPoint x="580" y="250" as="targetPoint" />
-            <Array as="points">
-              <mxPoint x="620" y="280" />
-            </Array>
-          </mxGeometry>
-        </mxCell>
-        <mxCell id="xzzxaMGRirp7Gwq30BhV-17" value="MCP2521 - Device Level" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" parent="1" vertex="1">
-          <mxGeometry x="760" y="388" width="160" height="32" as="geometry" />
-        </mxCell>
-        <mxCell id="xzzxaMGRirp7Gwq30BhV-18" value="&lt;b&gt;&lt;font face=&quot;Courier New&quot;&gt;MCP2521_CommandInterface&lt;/font&gt;&lt;/b&gt;" style="html=1;whiteSpace=wrap;" parent="1" vertex="1">
-          <mxGeometry x="520" y="340" width="200" height="40" as="geometry" />
-        </mxCell>
-        <mxCell id="xzzxaMGRirp7Gwq30BhV-19" value="&lt;b&gt;MCP2521&lt;/b&gt;" style="html=1;whiteSpace=wrap;" parent="1" vertex="1">
-          <mxGeometry x="520" y="420" width="200" height="40" as="geometry" />
-        </mxCell>
-        <mxCell id="xzzxaMGRirp7Gwq30BhV-20" value="" style="endArrow=block;html=1;rounded=0;endFill=0;exitX=0.5;exitY=0;exitDx=0;exitDy=0;entryX=0.5;entryY=1;entryDx=0;entryDy=0;" parent="1" source="xzzxaMGRirp7Gwq30BhV-19" target="xzzxaMGRirp7Gwq30BhV-18" edge="1">
-          <mxGeometry width="50" height="50" relative="1" as="geometry">
-            <mxPoint x="670" y="544" as="sourcePoint" />
-            <mxPoint x="720" y="494" as="targetPoint" />
-          </mxGeometry>
-        </mxCell>
-        <mxCell id="xzzxaMGRirp7Gwq30BhV-23" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.746;entryY=0.064;entryDx=0;entryDy=0;entryPerimeter=0;" parent="1" source="xzzxaMGRirp7Gwq30BhV-22" target="xzzxaMGRirp7Gwq30BhV-11" edge="1">
-          <mxGeometry relative="1" as="geometry" />
-        </mxCell>
-        <mxCell id="xzzxaMGRirp7Gwq30BhV-24" value="creates" style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];" parent="xzzxaMGRirp7Gwq30BhV-23" vertex="1" connectable="0">
-          <mxGeometry x="-0.3135" y="1" relative="1" as="geometry">
-            <mxPoint x="16" y="1" as="offset" />
-          </mxGeometry>
-        </mxCell>
-        <mxCell id="xzzxaMGRirp7Gwq30BhV-22" value="&lt;b&gt;&lt;font face=&quot;Courier New&quot;&gt;MCP2521_HardwareHandleFactory_ESPBus&lt;/font&gt;&lt;/b&gt;" style="html=1;whiteSpace=wrap;" parent="1" vertex="1">
-          <mxGeometry x="180" y="120" width="300" height="40" as="geometry" />
-        </mxCell>
-        <mxCell id="xzzxaMGRirp7Gwq30BhV-25" value="" style="endArrow=none;dashed=1;html=1;rounded=0;exitX=1;exitY=1;exitDx=0;exitDy=0;strokeWidth=1;dashPattern=1 1;" parent="1" edge="1">
-          <mxGeometry width="50" height="50" relative="1" as="geometry">
-            <mxPoint x="920" y="480" as="sourcePoint" />
-            <mxPoint x="120" y="480" as="targetPoint" />
-          </mxGeometry>
-        </mxCell>
-        <mxCell id="xzzxaMGRirp7Gwq30BhV-26" value="Network Stack" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" parent="1" vertex="1">
-          <mxGeometry x="760" y="480" width="160" height="40" as="geometry" />
-        </mxCell>
-        <mxCell id="xzzxaMGRirp7Gwq30BhV-27" value="&lt;b&gt;Socket_CANTP&lt;/b&gt;" style="html=1;whiteSpace=wrap;" parent="1" vertex="1">
-          <mxGeometry x="520" y="500" width="200" height="40" as="geometry" />
-        </mxCell>
-        <mxCell id="xzzxaMGRirp7Gwq30BhV-28" value="&lt;b&gt;Socket_GoBotRPC&lt;/b&gt;" style="html=1;whiteSpace=wrap;" parent="1" vertex="1">
-          <mxGeometry x="520" y="580" width="200" height="40" as="geometry" />
-        </mxCell>
-        <mxCell id="xzzxaMGRirp7Gwq30BhV-29" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=0.75;exitY=1;exitDx=0;exitDy=0;endArrow=diamondThin;endFill=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;" parent="1" target="xzzxaMGRirp7Gwq30BhV-27" edge="1">
-          <mxGeometry relative="1" as="geometry">
-            <mxPoint x="619.76" y="460" as="sourcePoint" />
-            <mxPoint x="640" y="520" as="targetPoint" />
-          </mxGeometry>
-        </mxCell>
-        <mxCell id="xzzxaMGRirp7Gwq30BhV-30" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=0.75;exitY=1;exitDx=0;exitDy=0;endArrow=diamondThin;endFill=0;" parent="1" edge="1">
-          <mxGeometry relative="1" as="geometry">
-            <mxPoint x="619.5799999999999" y="540" as="sourcePoint" />
-            <mxPoint x="619.9699999999999" y="580" as="targetPoint" />
-          </mxGeometry>
-        </mxCell>
-      </root>
-    </mxGraphModel>
-  </diagram>
-</mxfile>
--- a/common-libaries/mcp2521/docs/MCP2521_Libary_ClassDiagram.drawio
+++ b/common-libaries/mcp2521/docs/MCP2521_Libary_ClassDiagram.drawio
@@ -1,93 +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="FmQN2vLuPXQQGOlHbBG4">
-    <mxGraphModel dx="1195" dy="698" 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="xzzxaMGRirp7Gwq30BhV-21" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=0.75;exitY=1;exitDx=0;exitDy=0;entryX=0.75;entryY=0;entryDx=0;entryDy=0;endArrow=diamondThin;endFill=0;" parent="1" source="xzzxaMGRirp7Gwq30BhV-1" target="xzzxaMGRirp7Gwq30BhV-18" edge="1">
-          <mxGeometry relative="1" as="geometry" />
-        </mxCell>
-        <mxCell id="xzzxaMGRirp7Gwq30BhV-1" value="«interface»&lt;br&gt;&lt;font face=&quot;Courier New&quot;&gt;&lt;b&gt;I_MCP2521_&lt;/b&gt;&lt;b&gt;HardwareHandle&lt;/b&gt;&lt;/font&gt;" style="html=1;whiteSpace=wrap;" parent="1" vertex="1">
-          <mxGeometry x="520" y="120" width="200" height="60" as="geometry" />
-        </mxCell>
-        <mxCell id="xzzxaMGRirp7Gwq30BhV-9" value="&lt;b&gt;&lt;font face=&quot;Courier New&quot;&gt;MCP2521_HardwareHandle_ESP&lt;/font&gt;&lt;/b&gt;" style="html=1;whiteSpace=wrap;" parent="1" vertex="1">
-          <mxGeometry x="230" y="260" width="250" height="40" as="geometry" />
-        </mxCell>
-        <mxCell id="xzzxaMGRirp7Gwq30BhV-11" value="&lt;b&gt;&lt;font face=&quot;Courier New&quot;&gt;MCP2521_&lt;/font&gt;&lt;/b&gt;&lt;b&gt;&lt;font face=&quot;Courier New&quot;&gt;HardwareHandle_ESPBus&lt;/font&gt;&lt;/b&gt;" style="html=1;whiteSpace=wrap;" parent="1" vertex="1">
-          <mxGeometry x="230" y="200" width="250" height="40" as="geometry" />
-        </mxCell>
-        <mxCell id="xzzxaMGRirp7Gwq30BhV-12" value="" style="endArrow=none;dashed=1;html=1;rounded=0;exitX=1;exitY=1;exitDx=0;exitDy=0;strokeWidth=1;dashPattern=1 1;" parent="1" source="xzzxaMGRirp7Gwq30BhV-14" edge="1">
-          <mxGeometry width="50" height="50" relative="1" as="geometry">
-            <mxPoint x="1060" y="320" as="sourcePoint" />
-            <mxPoint x="120" y="320" as="targetPoint" />
-          </mxGeometry>
-        </mxCell>
-        <mxCell id="xzzxaMGRirp7Gwq30BhV-14" value="SPI - Hardware Level" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" parent="1" vertex="1">
-          <mxGeometry x="760" y="280" width="160" height="40" as="geometry" />
-        </mxCell>
-        <mxCell id="xzzxaMGRirp7Gwq30BhV-15" value="" style="endArrow=block;html=1;rounded=0;dashed=1;endFill=0;exitX=1;exitY=0.5;exitDx=0;exitDy=0;entryX=0.25;entryY=1;entryDx=0;entryDy=0;" parent="1" source="xzzxaMGRirp7Gwq30BhV-11" target="xzzxaMGRirp7Gwq30BhV-1" edge="1">
-          <mxGeometry width="50" height="50" relative="1" as="geometry">
-            <mxPoint x="590" y="290" as="sourcePoint" />
-            <mxPoint x="640" y="240" as="targetPoint" />
-            <Array as="points">
-              <mxPoint x="570" y="220" />
-            </Array>
-          </mxGeometry>
-        </mxCell>
-        <mxCell id="xzzxaMGRirp7Gwq30BhV-16" value="" style="endArrow=block;html=1;rounded=0;dashed=1;endFill=0;entryX=0.5;entryY=1;entryDx=0;entryDy=0;" parent="1" source="xzzxaMGRirp7Gwq30BhV-9" target="xzzxaMGRirp7Gwq30BhV-1" edge="1">
-          <mxGeometry width="50" height="50" relative="1" as="geometry">
-            <mxPoint x="520" y="280" as="sourcePoint" />
-            <mxPoint x="580" y="250" as="targetPoint" />
-            <Array as="points">
-              <mxPoint x="620" y="280" />
-            </Array>
-          </mxGeometry>
-        </mxCell>
-        <mxCell id="xzzxaMGRirp7Gwq30BhV-17" value="MCP2521 - Device Level" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" parent="1" vertex="1">
-          <mxGeometry x="760" y="388" width="160" height="32" as="geometry" />
-        </mxCell>
-        <mxCell id="xzzxaMGRirp7Gwq30BhV-18" value="&lt;b&gt;&lt;font face=&quot;Courier New&quot;&gt;MCP2521_CommandInterface&lt;/font&gt;&lt;/b&gt;" style="html=1;whiteSpace=wrap;" parent="1" vertex="1">
-          <mxGeometry x="520" y="340" width="200" height="40" as="geometry" />
-        </mxCell>
-        <mxCell id="xzzxaMGRirp7Gwq30BhV-19" value="&lt;b&gt;MCP2521&lt;/b&gt;" style="html=1;whiteSpace=wrap;" parent="1" vertex="1">
-          <mxGeometry x="520" y="420" width="200" height="40" as="geometry" />
-        </mxCell>
-        <mxCell id="xzzxaMGRirp7Gwq30BhV-20" value="" style="endArrow=block;html=1;rounded=0;endFill=0;exitX=0.5;exitY=0;exitDx=0;exitDy=0;entryX=0.5;entryY=1;entryDx=0;entryDy=0;" parent="1" source="xzzxaMGRirp7Gwq30BhV-19" target="xzzxaMGRirp7Gwq30BhV-18" edge="1">
-          <mxGeometry width="50" height="50" relative="1" as="geometry">
-            <mxPoint x="670" y="544" as="sourcePoint" />
-            <mxPoint x="720" y="494" as="targetPoint" />
-          </mxGeometry>
-        </mxCell>
-        <mxCell id="xzzxaMGRirp7Gwq30BhV-23" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;entryX=0.746;entryY=0.064;entryDx=0;entryDy=0;entryPerimeter=0;" parent="1" source="xzzxaMGRirp7Gwq30BhV-22" target="xzzxaMGRirp7Gwq30BhV-11" edge="1">
-          <mxGeometry relative="1" as="geometry" />
-        </mxCell>
-        <mxCell id="xzzxaMGRirp7Gwq30BhV-24" value="creates" style="edgeLabel;html=1;align=center;verticalAlign=middle;resizable=0;points=[];" parent="xzzxaMGRirp7Gwq30BhV-23" vertex="1" connectable="0">
-          <mxGeometry x="-0.3135" y="1" relative="1" as="geometry">
-            <mxPoint x="16" y="1" as="offset" />
-          </mxGeometry>
-        </mxCell>
-        <mxCell id="xzzxaMGRirp7Gwq30BhV-22" value="&lt;b&gt;&lt;font face=&quot;Courier New&quot;&gt;MCP2521_HardwareHandleFactory_ESPBus&lt;/font&gt;&lt;/b&gt;" style="html=1;whiteSpace=wrap;" parent="1" vertex="1">
-          <mxGeometry x="180" y="120" width="300" height="40" as="geometry" />
-        </mxCell>
-        <mxCell id="xzzxaMGRirp7Gwq30BhV-25" value="" style="endArrow=none;dashed=1;html=1;rounded=0;exitX=1;exitY=1;exitDx=0;exitDy=0;strokeWidth=1;dashPattern=1 1;" parent="1" edge="1">
-          <mxGeometry width="50" height="50" relative="1" as="geometry">
-            <mxPoint x="920" y="480" as="sourcePoint" />
-            <mxPoint x="120" y="480" as="targetPoint" />
-          </mxGeometry>
-        </mxCell>
-        <mxCell id="xzzxaMGRirp7Gwq30BhV-26" value="Network Stack" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" parent="1" vertex="1">
-          <mxGeometry x="760" y="480" width="160" height="40" as="geometry" />
-        </mxCell>
-        <mxCell id="xzzxaMGRirp7Gwq30BhV-28" value="&lt;b&gt;Socket_GoBotRPC&lt;/b&gt;" style="html=1;whiteSpace=wrap;" parent="1" vertex="1">
-          <mxGeometry x="520" y="500" width="200" height="40" as="geometry" />
-        </mxCell>
-        <mxCell id="xzzxaMGRirp7Gwq30BhV-29" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;exitX=0.75;exitY=1;exitDx=0;exitDy=0;endArrow=diamondThin;endFill=0;entryX=0.5;entryY=0;entryDx=0;entryDy=0;" parent="1" target="xzzxaMGRirp7Gwq30BhV-28" edge="1">
-          <mxGeometry relative="1" as="geometry">
-            <mxPoint x="619.76" y="460" as="sourcePoint" />
-            <mxPoint x="620" y="500" as="targetPoint" />
-          </mxGeometry>
-        </mxCell>
-      </root>
-    </mxGraphModel>
-  </diagram>
-</mxfile>
--- 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(
-        I_MCP2521_HardwareHandle * hardware_handle
+    MCP2521_Command_Interface(
+        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(
-    I_MCP2521_HardwareHandle * hardware_handle
+MCP2521_Command_Interface::MCP2521_Command_Interface(
+    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,
-        0
+        &canInterruptTaskHandle
    );
 }

-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);
-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;
+class MCP2521_Hardware_Handle_ESP : public MCP2521_Hardware_Handle {
    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;

-    /**
-     * @brief Sempahore, that protects the SPI bus from being accessed by multiple tasks at the same time
-     * 
-     */
+    SemaphoreHandle_t canInterruptSemaphore = NULL;
    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 *); 

-/**
- * @brief Hardware handle for MCP2521
- * @interface
- * This is an abstraction over the sepific hardware setup, eg. SPI@ESP32 or RP2040
- * 
- */
-class I_MCP2521_HardwareHandle {
+class MCP2521_Hardware_Handle {
 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
-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
--- a/i2c-hub/circuit/.$I2CHubCircuit.drawio.bkp
+++ b/i2c-hub/circuit/.$I2CHubCircuit.drawio.bkp
@@ -1,372 +0,0 @@
-<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="&lt;font color=&quot;#ffffff&quot;&gt;SDA&lt;/font&gt;" 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="&lt;font&gt;SCL&lt;/font&gt;" 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="&lt;font color=&quot;#ffffff&quot;&gt;GND&lt;/font&gt;" 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="&lt;font color=&quot;#ffffff&quot;&gt;SDA&lt;/font&gt;" 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="&lt;font&gt;SCL&lt;/font&gt;" 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="&lt;font color=&quot;#ffffff&quot;&gt;GND&lt;/font&gt;" 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="&lt;font color=&quot;#ffffff&quot;&gt;SDA&lt;/font&gt;" 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="&lt;font&gt;SCL&lt;/font&gt;" 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="&lt;font color=&quot;#ffffff&quot;&gt;GND&lt;/font&gt;" 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="&lt;font color=&quot;#ffffff&quot;&gt;SDA&lt;/font&gt;" 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="&lt;font&gt;SCL&lt;/font&gt;" 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="&lt;font color=&quot;#ffffff&quot;&gt;GND&lt;/font&gt;" 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&amp;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>
--- a/i2c-hub/circuit/I2CHubCircuit.drawio
+++ b/i2c-hub/circuit/I2CHubCircuit.drawio
@@ -1,372 +0,0 @@
-<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="&lt;font color=&quot;#ffffff&quot;&gt;SDA&lt;/font&gt;" 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="&lt;font&gt;SCL&lt;/font&gt;" 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="&lt;font color=&quot;#ffffff&quot;&gt;GND&lt;/font&gt;" 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="&lt;font color=&quot;#ffffff&quot;&gt;SDA&lt;/font&gt;" 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="&lt;font&gt;SCL&lt;/font&gt;" 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="&lt;font color=&quot;#ffffff&quot;&gt;GND&lt;/font&gt;" 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="&lt;font color=&quot;#ffffff&quot;&gt;SDA&lt;/font&gt;" 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="&lt;font&gt;SCL&lt;/font&gt;" 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="&lt;font color=&quot;#ffffff&quot;&gt;GND&lt;/font&gt;" 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="&lt;font color=&quot;#ffffff&quot;&gt;SDA&lt;/font&gt;" 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="&lt;font&gt;SCL&lt;/font&gt;" 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="&lt;font color=&quot;#ffffff&quot;&gt;GND&lt;/font&gt;" 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&amp;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>
--- 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`