Added Transmission Sucess

Implement I2C
Switched hub Freertos to multicore
2025-01-03 20:10:15 +01:00 · 2025-01-03 19:54:13 +01:00 · 2025-01-03 12:48:10 +01:00 · 2025-01-03 12:33:51 +01:00 · 2025-01-03 02:24:34 +01:00 · 2025-01-02 23:03:23 +01:00
257 changed files with 47774 additions and 114 deletions
--- a/.gitmodules
+++ b/.gitmodules
--- a/can-interface/.gitignore
+++ b/can-interface/.gitignore
--- a/can-interface/.vscode/settings.json
+++ b/can-interface/.vscode/settings.json
@@ -14,6 +14,8 @@
    "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",
@@ -24,6 +26,7 @@
        "regex": "cpp",
        "array": "cpp",
        "string": "cpp",
-        "span": "cpp"
+        "span": "cpp",
+        "cstring": "cpp"
    }
 }
--- a/can-interface/circuit/CanIntefacePerfboard.fzz
+++ b/can-interface/circuit/CanIntefacePerfboard.fzz
--- a/can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/ESP32-DEVKIT-V1.kicad_sym
+++ b/can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/ESP32-DEVKIT-V1.kicad_sym
--- a/can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/ESP32-DEVKIT-V1.step
+++ b/can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/ESP32-DEVKIT-V1.step
--- a/can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/MODULE_ESP32_DEVKIT_V1.kicad_mod
+++ b/can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/MODULE_ESP32_DEVKIT_V1.kicad_mod
--- a/can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/how-to-import.htm
+++ b/can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/how-to-import.htm
@@ -0,0 +1 @@
+<!DOCTYPE HTML><html lang="en-US"> <head> <meta charset="UTF-8"> <meta http-equiv="refresh" content="0; url=https://www.snapeda.com/about/import/#"> <script type="text/javascript">window.location.href="https://www.snapeda.com/about/import/#" </script> <title>Page Redirection</title> </head> <body> If you are not redirected automatically, follow this <a href="https://www.snapeda.com/about/import/#">link to the import guide</a>. </body></html>
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-08_133537.zip
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-08_133537.zip
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-12_000642.zip
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-12_000642.zip
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-12_001228.zip
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-12_001228.zip
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-12_010429.zip
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-12_010429.zip
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-12_011347.zip
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-12_011347.zip
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-14_202426.zip
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-14_202426.zip
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-15_170909.zip
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-15_170909.zip
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-15_204011.zip
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-15_204011.zip
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-21_223757.zip
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-21_223757.zip
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-30_000501.zip
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-30_000501.zip
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-30_140231.zip
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-30_140231.zip
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-12-22_095043.zip
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-12-22_095043.zip
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-12-27_204815.zip
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-12-27_204815.zip
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_pcb
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_pcb
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_prl
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_prl
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_pro
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_pro
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_sch
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_sch
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_sch-bak
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_sch-bak
--- a/can-interface/circuit/gobot-can-interface/sym-lib-table
+++ b/can-interface/circuit/gobot-can-interface/sym-lib-table
@@ -0,0 +1,4 @@
+(sym_lib_table
+  (version 7)
+  (lib (name "ESP32-DEVKIT-V1")(type "KiCad")(uri "${KIPRJMOD}/external/ESP32-DEVKIT-V1/ESP32-DEVKIT-V1.kicad_sym")(options "")(descr ""))
+)
--- a/can-interface/circuit/i2c-hub/i2c-hub-backups/i2c-hub-2024-12-28_225050.zip
+++ b/can-interface/circuit/i2c-hub/i2c-hub-backups/i2c-hub-2024-12-28_225050.zip
--- a/can-interface/circuit/i2c-hub/i2c-hub.kicad_prl
+++ b/can-interface/circuit/i2c-hub/i2c-hub.kicad_prl
--- a/can-interface/circuit/i2c-hub/i2c-hub.kicad_pro
+++ b/can-interface/circuit/i2c-hub/i2c-hub.kicad_pro
--- a/can-interface/components/gobot_rpc
+++ b/can-interface/components/gobot_rpc
@@ -0,0 +1 @@
+/home/alexander/Projects/gobot/common-libaries/gobot_rpc
--- a/can-interface/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
@@ -2,5 +2,6 @@ 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
@@ -23,26 +23,43 @@

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

-void onRX(void *arg) {
+#define CAN_INT0_PIN GPIO_NUM_5
+#define CAN_INT1_PIN GPIO_NUM_26
+
+void onRX0(void *arg) {
    MCP2521 *mcp2521 = (MCP2521 *)arg;

    rx_info info = mcp2521->get_rx_id(MCP2521_RX_BUFFER::RXB0);
    uint8_t data[8];

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

-    printf("RX: (%x) ", info.id);
-    for (int i = 0; i < info.length; i++) {
-        printf("%x ", data[i]);
-    }
    printf("\n");
 }

@@ -52,46 +69,58 @@ 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(
+        VSPI_HOST,
+        SPI_PIN_MOSI,
+        SPI_PIN_MISO,
+        SPI_PIN_SCLK
+    );
+
+    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);

    vTaskDelay(100 / portTICK_PERIOD_MS);

+    MCP2521 mcp2521_0(&hardware_mcp2521_0);
+    MCP2521 mcp2521_1(&hardware_mcp2521_1);

-    spi_bus_config_t spi_bus;
+    uint8_t data[8] = {0x1, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08};

-    MCP2521_Hardware_Handle_ESP hardware_mcp2521(
-        VSPI_HOST,
-        &spi_bus,
-        SPI_PIN_MOSI,
-        SPI_PIN_MISO,
-        SPI_PIN_SCLK,
-        SPI_PIN_CS0,
-        CAN_INT_PIN
-    );
+    mcp2521_0.reset();
+    mcp2521_1.reset();
+    mcp2521_0.enable_interrupts(true, true, true, true, true, true, true, true);
+    mcp2521_1.enable_interrupts(true, true, true, true, true, true, true, true);

-    MCP2521 mcp2521(&hardware_mcp2521);
+    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);
    
-    uint8_t data[4] = {0xf0, 0x42, 0x13, 0x37};
+    mcp2521_0.set_mode_of_operation(MCP2521_OPERATION_MODE::LOOPBACK, true);
+    mcp2521_1.set_mode_of_operation(MCP2521_OPERATION_MODE::LOOPBACK, true);
    
-    gpio_set_level(EXTERNAL_TRIGGER, false);
-    mcp2521.reset();
-    mcp2521.enable_interrupts(true, true, true, true, true, true, true, true);
+    //printf("CANSTAT0: %x\n", mcp2521_0.read_reg(MCP2521_CANSTAT));
+    //printf("CANSTAT1: %x\n", mcp2521_1.read_reg(MCP2521_CANSTAT));

-    mcp2521.register_rx0_handler(onRX, &mcp2521);
-    mcp2521.register_rx1_handler(onRX, &mcp2521);
-    mcp2521.set_mode_of_operation(MCP2521_OPERATION_MODE::LOOPBACK, true);
+    vTaskDelay(20 / portTICK_PERIOD_MS);

-    vTaskDelay(3 / 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);

-    mcp2521.prepare_tx(
-        MCP2521_TX_BUFFER::TXB0, 0x042, data, 4, false, false);

-    mcp2521.request_to_send(MCP2521_TX_BUFFER::TXB0);
+    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);

-    mcp2521.set_tx_id(MCP2521_TX_BUFFER::TXB0, 0x041, false);
-    mcp2521.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);

@@ -100,6 +129,6 @@ extern "C" void app_main() {
        gpio_set_level(LED_PIN, flag);
        flag = !flag;

-        vTaskDelay(100 / portTICK_PERIOD_MS);
+        vTaskDelay(500 / portTICK_PERIOD_MS);
    }
 }
--- a/can-interface/sdkconfig.old
+++ b/can-interface/sdkconfig.old
--- a/can-interface/session-setup
+++ b/can-interface/session-setup
@@ -0,0 +1,152 @@
+[General]
+decode_signals=2
+meta_objs=0
+views=1
+
+[D0]
+color=4291714048
+conv_options=0
+conversion_type=0
+enabled=true
+name=INT0
+
+[D1]
+color=4281623972
+conv_options=0
+conversion_type=0
+enabled=true
+name=CLK
+
+[D2]
+color=4281623972
+conv_options=0
+conversion_type=0
+enabled=true
+name=MOSI
+
+[D3]
+color=4281623972
+conv_options=0
+conversion_type=0
+enabled=true
+name=MISO
+
+[D4]
+color=4294277376
+conv_options=0
+conversion_type=0
+enabled=true
+name=CE0
+
+[D5]
+color=4279638298
+conv_options=0
+conversion_type=0
+enabled=true
+name=INT1
+
+[D6]
+color=4279638298
+conv_options=0
+conversion_type=0
+enabled=true
+name=CE1
+
+[D7]
+color=4285878395
+conv_options=0
+conversion_type=0
+enabled=true
+name=D7
+
+[decode_signal0]
+channel0\assigned_signal_name=CLK
+channel0\initial_pin_state=2
+channel0\name=CLK
+channel1\assigned_signal_name=MISO
+channel1\initial_pin_state=2
+channel1\name=MISO
+channel2\assigned_signal_name=MOSI
+channel2\initial_pin_state=2
+channel2\name=MOSI
+channel3\assigned_signal_name=CE0
+channel3\initial_pin_state=2
+channel3\name=CS#
+channels=4
+color=4294277376
+conv_options=0
+conversion_type=0
+decoder0\ann_class0\visible=true
+decoder0\ann_class1\visible=true
+decoder0\ann_class2\visible=true
+decoder0\ann_class3\visible=true
+decoder0\ann_class4\visible=true
+decoder0\ann_class5\visible=true
+decoder0\ann_class6\visible=true
+decoder0\id=spi
+decoder0\options=0
+decoder0\row0\visible=true
+decoder0\row1\visible=true
+decoder0\row2\visible=true
+decoder0\row3\visible=true
+decoder0\row4\visible=true
+decoder0\row5\visible=true
+decoder0\row6\visible=true
+decoder0\visible=true
+decoders=1
+enabled=true
+name=SPI0
+
+[decode_signal1]
+channel0\assigned_signal_name=CLK
+channel0\initial_pin_state=2
+channel0\name=CLK
+channel1\assigned_signal_name=MISO
+channel1\initial_pin_state=2
+channel1\name=MISO
+channel2\assigned_signal_name=MOSI
+channel2\initial_pin_state=2
+channel2\name=MOSI
+channel3\assigned_signal_name=CE1
+channel3\initial_pin_state=2
+channel3\name=CS#
+channels=4
+color=4279638298
+conv_options=0
+conversion_type=0
+decoder0\ann_class0\visible=true
+decoder0\ann_class1\visible=true
+decoder0\ann_class2\visible=true
+decoder0\ann_class3\visible=true
+decoder0\ann_class4\visible=true
+decoder0\ann_class5\visible=true
+decoder0\ann_class6\visible=true
+decoder0\id=spi
+decoder0\options=0
+decoder0\row0\visible=true
+decoder0\row1\visible=true
+decoder0\row2\visible=true
+decoder0\row3\visible=true
+decoder0\row4\visible=true
+decoder0\row5\visible=true
+decoder0\row6\visible=true
+decoder0\visible=true
+decoders=1
+enabled=true
+name=SPI1
+
+[view0]
+D0\trace_height=38
+D1\trace_height=38
+D2\trace_height=38
+D3\trace_height=38
+D4\trace_height=38
+D5\trace_height=38
+D6\trace_height=38
+D7\trace_height=38
+offset=22 serialization::archive 19 0 0 0 0 52315583 48568089 25582163 47181659 91047901 0 -8 1 0 6
+scale=0.0021854614351496547
+segment_display_mode=1
+splitter_state=@ByteArray(\0\0\0\xff\0\0\0\x1\0\0\0\x2\0\0\0Z\0\0\x5\xa2\x1\0\0\0\x1\x1\0\0\0\x1\0)
+v_offset=-10
+zero_offset=22 serialization::archive 19 0 0 0 0 0 0 0 0 0 0 0 0 0 6
--- a/common-libaries/gobot_rpc/CMakeLists.txt
+++ b/common-libaries/gobot_rpc/CMakeLists.txt
@@ -0,0 +1,10 @@
+idf_component_register(SRCS
+                        "gobot_rpc_sender.cpp"
+                        "gobot_rpc_receiver.cpp"
+                        "gobot_rpc_statemaschine.cpp"
+                        "gobot_rpc_numberMap.cpp"
+                        "gobot_rpc_transiver.cpp"
+                    REQUIRES mcp2521
+                    REQUIRES mcp2521_hardware_interface
+                    REQUIRES driver
+                    INCLUDE_DIRS "include")
--- a/common-libaries/gobot_rpc/gobot_rpc_numberMap.cpp
+++ b/common-libaries/gobot_rpc/gobot_rpc_numberMap.cpp
@@ -0,0 +1,19 @@
+#include "gobot_rpc.hpp"
+#include "protocol_spec.hpp"
+#include <string.h>
+
+GobotRPCNumberMap::GobotRPCNumberMap() {
+    memset(rpc_number_map, 0xffffffff, 16);
+}
+
+GobotRPCNumberMap::~GobotRPCNumberMap() {
+
+}
+
+void GobotRPCNumberMap::set(RpcNum rpc_num, uint32_t id) {
+    rpc_number_map[(int)rpc_num] = id;
+}
+
+uint32_t GobotRPCNumberMap::get(RpcNum rpc_num) {
+    return rpc_number_map[(int)rpc_num];
+}
--- a/common-libaries/gobot_rpc/gobot_rpc_receiver.cpp
+++ b/common-libaries/gobot_rpc/gobot_rpc_receiver.cpp
@@ -0,0 +1,43 @@
+#include <string.h>
+#include "gobot_rpc.hpp"
+#include "sm.hpp"
+#include "protocol_spec.hpp"
+
+#include "freertos/FreeRTOS.h"
+
+GobotRPCReciver::GobotRPCReciver(MCP2521 * can_interface) {
+    this->can_interface = can_interface;
+    this->state_mashine = GobotRPCStateMashine();
+
+    can_interface->register_rx0_handler(onRX0_GoboRPC, can_interface);
+}
+
+
+void onRX0_GoboRPC(void *arg) {
+    GobotRPCReciver *rpc_socket = (GobotRPCReciver *)arg;
+    rpc_socket->onRX();
+}
+
+void GobotRPCReciver::onRX() {
+    rx_info info = can_interface->get_rx_id(MCP2521_RX_BUFFER::RXB0);
+    uint8_t data[8];
+
+    can_interface->read_rx_buf(MCP2521_RX_BUFFER::RXB0, MCP2521_BUFFER_TYPE::DATA, data, info.length);
+
+    RPCFrame frame;
+    memcpy(((char *)data) + 1, (char *)frame.data, 7);
+    frame.header = (RPCHeader)(data[0]);
+
+    SMResult smResult;
+    state_mashine.submitFrame(&frame, &smResult);
+
+    if(smResult.done) {
+        
+    }
+}
+
+void GobotRPCReciver::registerOnDoneFrameHandler(GobotRPCHandler_t handler, void * arg) {
+    onDoneFrameHandler = handler;
+    argOnDoneFrameHandler = arg;
+}
+
--- a/common-libaries/gobot_rpc/gobot_rpc_sender.cpp
+++ b/common-libaries/gobot_rpc/gobot_rpc_sender.cpp
--- a/common-libaries/gobot_rpc/gobot_rpc_statemaschine.cpp
+++ b/common-libaries/gobot_rpc/gobot_rpc_statemaschine.cpp
@@ -0,0 +1,74 @@
+#include "sm.hpp"
+#include "protocol_spec.hpp"
+#include <string.h>
+
+GobotRPCStateMashine::GobotRPCStateMashine() {
+    memset(requestDataBuffer, 0, REQUEST_DATA_BUFFER_SIZE*sizeof(uint8_t)*SLOTS);
+    memset(responseDataBuffer, 0, RESPONSE_DATA_BUFFER_SIZE*sizeof(uint8_t)*SLOTS);
+    memset(errorDataBuffer, 0, RESPONSE_DATA_BUFFER_SIZE*sizeof(uint8_t)*SLOTS);
+
+    memset(requestSegmentArrivedFlags, 0, sizeof(uint8_t)*SLOTS);
+    memset(responseSegmentArrivedFlags, 0, sizeof(uint8_t)*SLOTS);
+    memset(errorSegmentArrivedFlags, 0, sizeof(uint8_t)*SLOTS);
+
+    slotCounter = 0;
+    rpc_number_map = GobotRPCNumberMap();
+}
+
+void GobotRPCStateMashine::registerRPC(RpcNum rpc_num) {
+    rpc_number_map.set(rpc_num, slotCounter);
+    slotCounter = (slotCounter + 1) % SLOTS;
+}
+
+void GobotRPCStateMashine::submitFrame(RPCFrame * frame, SMResult * result) {
+    RpcNum rpcNum = (RpcNum)(frame->header.rpc_num);
+
+    result->done = false;
+    result->rpc_num = rpcNum;
+
+    if(rpcNum == RpcNum::INVALID)
+        return;
+
+    size_t slot = rpc_number_map.get(rpcNum);
+    if (slot == 0xffffffff)
+        return;
+
+    uint8_t segNum = frame->header.rpc_segement;
+
+    if(frame->header.error) {
+        memcpy(result->data, frame->data, 7);
+        errorSegmentArrivedFlags[slot] |= (1 << segNum);
+
+        result->done = true;
+        result->type = RPCPackageType::ERROR;
+
+    } else if(frame->header.response) {
+        memcpy(responseDataBuffer[slot] + segNum, frame->data, 7);
+        responseSegmentArrivedFlags[slot] |= (1 << segNum);
+        
+        uint8_t mask = SEGMENT_MASK_RESPONSE[(int)rpcNum];
+
+        if(((responseSegmentArrivedFlags[slot] & mask) ^ mask) == 0) {
+            responseSegmentArrivedFlags[slot] = 0;
+
+            result->done = true;
+            memcpy(result->data, responseDataBuffer[slot], 7*4);
+            result->type = RPCPackageType::RESPONSE;
+        }
+
+    } else {
+        memcpy(requestDataBuffer[slot] + segNum, frame->data, 7);
+        requestSegmentArrivedFlags[slot] |= (1 << segNum);
+        
+        uint8_t mask = SEGMENT_MASK_RESPONSE[(int)rpcNum];
+        
+        if(((requestSegmentArrivedFlags[slot] & mask) ^ mask) == 0) {
+            requestSegmentArrivedFlags[slot] = 0;
+
+            result->done = true;
+            memcpy(result->data, requestDataBuffer[slot], 7*4);
+            result->type = RPCPackageType::REQUEST;
+        }
+    }
+
+}
--- a/common-libaries/gobot_rpc/gobot_rpc_transiver.cpp
+++ b/common-libaries/gobot_rpc/gobot_rpc_transiver.cpp
--- a/common-libaries/gobot_rpc/include/gobot_rpc.hpp
+++ b/common-libaries/gobot_rpc/include/gobot_rpc.hpp
@@ -0,0 +1,56 @@
+#pragma once
+#include "protocol_spec.hpp"
+#include "mcp2521.hpp"
+#include "sm.hpp"
+
+#include "freertos/FreeRTOS.h"
+
+
+
+typedef void (*GobotRPCHandler_t)(void *);
+typedef void (*GobotRPCFrameHandler)(void *, RPCFrame *);
+
+class GobotRPCReciver {
+protected:
+    MCP2521 * can_interface;
+    GobotRPCStateMashine state_mashine;
+
+    GobotRPCHandler_t onDoneFrameHandler;
+    void * argOnDoneFrameHandler;
+
+public:
+    GobotRPCReciver(MCP2521 * can_interface);
+    ~GobotRPCReciver();
+
+    void onRX();
+
+    void registerOnDoneFrameHandler(GobotRPCHandler_t handler, void * arg);
+};
+
+void onRX0_GoboRPC(void *arg);
+
+class GoboRPCTransiver {
+private:
+    MCP2521 * can_interface;
+    GobotRPCReciver rx;
+
+    GobotRPCHandler_t onRequestHandler;
+    GobotRPCHandler_t onResponseHandler;
+    GobotRPCHandler_t onResponseErrorHandler;
+
+    void * argOnRequestHandler;
+    void * argOnResponseHandler;
+    void * argOnResponseErrorHandler;
+
+
+
+public:
+    GoboRPCTransiver(MCP2521 * can_interface);
+    ~GoboRPCTransiver();
+
+    void send(RPCFrame * frame);
+
+    void registerOnRequestHandler(GobotRPCHandler_t handler, void * arg);
+    void registerOnResponseHandler(GobotRPCHandler_t handler, void * arg);
+    void registerOnResponseErrorHandler(GobotRPCHandler_t handler, void * arg);
+};
--- a/common-libaries/gobot_rpc/include/protocol_spec.hpp
+++ b/common-libaries/gobot_rpc/include/protocol_spec.hpp
@@ -0,0 +1,123 @@
+#pragma once
+#include <stdint.h>
+
+enum RpcNum {
+    Get_Info            = 0x0,
+    Home                = 0x1,
+    Move_Step           = 0x2,
+    Move_XY             = 0x3,
+    Set_Padding         = 0x4,
+    Release_Motors      = 0x5,
+    Drop_Stones         = 0x6,
+    Get_Stone_Status    = 0x7,
+    Mov_Z_Axis          = 0x8,
+    Set_Vacum           = 0x9,
+    INVALID             = 0xF,
+};
+
+struct RPCHeader {
+    unsigned char rpc_num : 4;
+    unsigned char response : 1;
+    unsigned char error : 1;
+    unsigned char rpc_segement : 1;
+};
+
+struct RPCFrame {
+    RPCHeader header;
+    uint8_t data[7];
+};
+
+enum RPC_Node_Type {
+    NODE_ALL        = 0x0,
+    NODE_CORE_XY    = 0x1,
+    NODE_HEAD       = 0x2,
+    NODE_VACUM      = 0x3,
+};
+
+// RPC Request and Response structures
+struct RPC_RES_Get_Info {
+    uint32_t can_address;
+    RPC_Node_Type node_type;
+    uint32_t status;
+    uint32_t error;
+};
+
+enum RPC_Home_Corner {
+    HOME_CORNER_0 = 0b00,
+    HOME_CORNER_1 = 0b01,
+    HOME_CORNER_2 = 0b10,
+    HOME_CORNER_3 = 0b11,
+};
+
+struct RPC_REQ_Home {
+    RPC_Home_Corner corner;
+};
+
+struct RPC_RES_Home {
+    uint32_t x;
+    uint32_t y;
+};
+
+struct RPC_REQ_Move_Step {
+    int32_t x;
+    int32_t y;
+};
+
+struct RPC_RES_Move_Step {
+    uint32_t x;
+    uint32_t y;
+};
+
+struct RPC_REQ_Set_Padding {
+    uint32_t c_1x;
+    uint32_t c_1y;
+    uint32_t c_2x;
+    uint32_t c_2y;
+    uint8_t n_x;
+    uint8_t n_y;
+};
+
+struct RPC_REQ_Move_Z_Axis {
+    bool up;
+};
+
+struct RPC_REQ_Set_Vacum {
+    bool on;
+};
+
+// Segment3, Segment2, Segment1, Segment0
+const uint8_t SEGMENT_MASK_REQUEST[16] = {
+    0b0001, // Get_Info
+    0b0001, // Home
+    0b0001, // Move_Step
+    0b0001, // Move_XY
+    0b0111, // Set_Padding
+    0b0001, // Release_Motors
+    0b0001, // Drop_Stones
+    0b0001, // Get_Stone_Status
+    0b0001, // Mov_Z_Axis
+    0b0001, // Set_Vacum
+    0b0001, //
+    0b0001, //
+    0b0001, //
+    0b0001, //
+    0b0001, //
+};
+
+const uint8_t SEGMENT_MASK_RESPONSE[16] = {
+    0b0001, // Get_Info
+    0b0001, // Home
+    0b0001, // Move_Step
+    0b0001, // Move_XY
+    0b0001, // Set_Padding
+    0b0001, // Release_Motors
+    0b0001, // Drop_Stones
+    0b0001, // Get_Stone_Status
+    0b0001, // Mov_Z_Axis
+    0b0001, // Set_Vacum
+    0b0001, //
+    0b0001, //
+    0b0001, //
+    0b0001, //
+    0b0001, //
+};
--- a/common-libaries/gobot_rpc/include/sm.hpp
+++ b/common-libaries/gobot_rpc/include/sm.hpp
@@ -0,0 +1,58 @@
+#pragma once
+#include <stdint.h>
+#include "protocol_spec.hpp"
+#include <strings.h>
+
+class GobotRPCNumberMap {
+private:
+    int32_t rpc_number_map[16];
+public:
+    GobotRPCNumberMap();
+    ~GobotRPCNumberMap();
+
+    void set(RpcNum rpc_num, uint32_t id);
+    uint32_t get(RpcNum rpc_num);
+};
+
+
+enum RPCPackageType {
+    REQUEST,
+    RESPONSE,
+    ERROR
+};
+
+struct SMResult {
+    bool done;
+    uint8_t data[7*4];
+    RpcNum rpc_num;
+    RPCPackageType type;
+};
+
+class GobotRPCStateMashine {
+private:
+    static const size_t SLOTS = 6;
+    static const size_t REQUEST_DATA_BUFFER_SIZE = 7*4;
+    static const size_t RESPONSE_DATA_BUFFER_SIZE = 7*4;
+
+
+    GobotRPCNumberMap rpc_number_map;
+    size_t slotCounter;
+
+    uint8_t requestDataBuffer[REQUEST_DATA_BUFFER_SIZE][SLOTS];
+    bool requestSegmentArrivedFlags [SLOTS];
+    
+    uint8_t responseDataBuffer[RESPONSE_DATA_BUFFER_SIZE][SLOTS];
+    uint8_t responseSegmentArrivedFlags [SLOTS];
+
+    uint8_t errorDataBuffer[RESPONSE_DATA_BUFFER_SIZE][SLOTS];
+    uint8_t errorSegmentArrivedFlags [SLOTS];
+
+public:
+    GobotRPCStateMashine();
+    ~GobotRPCStateMashine();
+
+    void registerRPC(RpcNum rpc_num);
+
+    void submitFrame(RPCFrame * frame, SMResult * result);
+
+};
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+++ b/common-libaries/mcp2521/docs/.$MCP2521_Libary_ClassDiagram.drawio.bkp
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--- a/common-libaries/mcp2521/docs/MCP2521_Libary_ClassDiagram.drawio
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+        </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">
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+          <mxGeometry width="50" height="50" relative="1" as="geometry">
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+            <mxPoint x="640" y="240" as="targetPoint" />
+            <Array as="points">
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+          </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">
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+          <mxGeometry relative="1" as="geometry" />
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+          <mxGeometry x="-0.3135" y="1" relative="1" as="geometry">
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+        </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
@@ -3,4 +3,5 @@
 #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_Command_Interface {
+class MCP2521_CommandInterface {
 private:
-    MCP2521_Hardware_Handle * hardware_handle;
+    I_MCP2521_HardwareHandle * hardware_handle;

    intHandlerFunction_t rx0_handler;
    intHandlerFunction_t rx1_handler;
@@ -63,8 +63,8 @@ private:
    void * message_error_handler_arg;
 public:

-    MCP2521_Command_Interface(
-        MCP2521_Hardware_Handle * hardware_handle
+    MCP2521_CommandInterface(
+        I_MCP2521_HardwareHandle * 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_Command_Interface {
+class MCP2521 : public MCP2521_CommandInterface {
    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_Command_Interface *command_interface = (MCP2521_Command_Interface *)arg;
+    MCP2521_CommandInterface *command_interface = (MCP2521_CommandInterface *)arg;
    command_interface->handleInterrupt();
 }

-MCP2521_Command_Interface::MCP2521_Command_Interface(
-    MCP2521_Hardware_Handle * hardware_handle
+MCP2521_CommandInterface::MCP2521_CommandInterface(
+    I_MCP2521_HardwareHandle * hardware_handle
 ) {
    this->hardware_handle = hardware_handle;
    this->hardware_handle->registerIntHandler(runIntHandler, (void *)this);
@@ -33,42 +33,42 @@ MCP2521_Command_Interface::MCP2521_Command_Interface(
    message_error_handler_arg = NULL;
 }

-void MCP2521_Command_Interface::reset() {
+void MCP2521_CommandInterface::reset() {
    hardware_handle->execute(MCP2521_OP_RESET);
 }

-void MCP2521_Command_Interface::read_reg(uint8_t address, uint8_t *data, size_t length) {
+void MCP2521_CommandInterface::read_reg(uint8_t address, uint8_t *data, size_t length) {
    hardware_handle->read(MCP2521_OP_READ, data, length, address);
 }

-uint8_t MCP2521_Command_Interface::read_reg(uint8_t address) {
+uint8_t MCP2521_CommandInterface::read_reg(uint8_t address) {
    return hardware_handle->read(MCP2521_OP_READ, address);
 }

-void MCP2521_Command_Interface::read_rx_buf(MCP2521_RX_BUFFER buffer, MCP2521_BUFFER_TYPE type, uint8_t *data, size_t length) {
+void MCP2521_CommandInterface::read_rx_buf(MCP2521_RX_BUFFER buffer, MCP2521_BUFFER_TYPE type, uint8_t *data, size_t length) {
    uint8_t address = (buffer << 1) | (type << 2);
    hardware_handle->read(MCP2521_OP_READ_RX_BUFFER | address, data, length);
 }

-void MCP2521_Command_Interface::write_reg(uint8_t address, uint8_t *data, size_t length) {
+void MCP2521_CommandInterface::write_reg(uint8_t address, uint8_t *data, size_t length) {
    hardware_handle->write(MCP2521_OP_WRITE, data, length, address);
 }

-void MCP2521_Command_Interface::write_reg(uint8_t address, uint8_t data) {
+void MCP2521_CommandInterface::write_reg(uint8_t address, uint8_t data) {
    hardware_handle->write(MCP2521_OP_WRITE, data, address);
 }

-void MCP2521_Command_Interface::write_tx_buf(MCP2521_TX_BUFFER buffer, MCP2521_BUFFER_TYPE type, uint8_t *data, size_t length) {
+void MCP2521_CommandInterface::write_tx_buf(MCP2521_TX_BUFFER buffer, MCP2521_BUFFER_TYPE type, uint8_t *data, size_t length) {
    uint8_t address = (buffer << 1) | (type);
    hardware_handle->write(MCP2521_OP_LOAD_TX_BUFFER | address, data, length);
 }

-void MCP2521_Command_Interface::request_to_send(bool txb2, bool txb1, bool txb0) {
+void MCP2521_CommandInterface::request_to_send(bool txb2, bool txb1, bool txb0) {
    uint8_t data = (txb2 << 2) | (txb1 << 1) | txb0;
    hardware_handle->execute(MCP2521_OP_RTS | data);
 }

-void MCP2521_Command_Interface::request_to_send(MCP2521_TX_BUFFER buffer) {
+void MCP2521_CommandInterface::request_to_send(MCP2521_TX_BUFFER buffer) {
    uint8_t mask = 0;

    switch (buffer) {
@@ -86,15 +86,15 @@ void MCP2521_Command_Interface::request_to_send(MCP2521_TX_BUFFER buffer) {
    hardware_handle->execute(MCP2521_OP_RTS | mask);
 }

-uint8_t MCP2521_Command_Interface::read_status() {
+uint8_t MCP2521_CommandInterface::read_status() {
    return hardware_handle->read(MCP2521_OP_READ_STATUS);
 }

-uint8_t MCP2521_Command_Interface::read_rx_status() {
+uint8_t MCP2521_CommandInterface::read_rx_status() {
    return hardware_handle->read(MCP2521_OP_RX_STATUS);
 }

-void MCP2521_Command_Interface::bit_modify(uint8_t address, uint8_t mask, uint8_t data) {
+void MCP2521_CommandInterface::bit_modify(uint8_t address, uint8_t mask, uint8_t data) {
    uint8_t data_array[3] = {address, mask, data};
    hardware_handle->write(MCP2521_OP_BIT_MODIFY, data_array, 3);
 }
--- a/common-libaries/mcp2521/interface_interrupts.cpp
+++ b/common-libaries/mcp2521/interface_interrupts.cpp
@@ -1,47 +1,47 @@
 #include "mcp2521.hpp"
 #include "mcp2521_addresses.hpp"

-void MCP2521_Command_Interface::register_rx0_handler(intHandlerFunction_t handler, void* args) {
+void MCP2521_CommandInterface::register_rx0_handler(intHandlerFunction_t handler, void* args) {
    rx0_handler = handler;
    rx0_handler_arg = args;
 }

-void MCP2521_Command_Interface::register_rx1_handler(intHandlerFunction_t handler, void* args) {
+void MCP2521_CommandInterface::register_rx1_handler(intHandlerFunction_t handler, void* args) {
    rx1_handler = handler;
    rx1_handler_arg = args;
 }

-void MCP2521_Command_Interface::register_tx0_handler(intHandlerFunction_t handler, void* args) {
+void MCP2521_CommandInterface::register_tx0_handler(intHandlerFunction_t handler, void* args) {
    tx0_handler = handler;
    tx0_handler_arg = args;
 }

-void MCP2521_Command_Interface::register_tx1_handler(intHandlerFunction_t handler, void* args) {
+void MCP2521_CommandInterface::register_tx1_handler(intHandlerFunction_t handler, void* args) {
    tx1_handler = handler;
    tx1_handler_arg = args;
 }

-void MCP2521_Command_Interface::register_tx2_handler(intHandlerFunction_t handler, void* args) {
+void MCP2521_CommandInterface::register_tx2_handler(intHandlerFunction_t handler, void* args) {
    tx2_handler = handler;
    tx2_handler_arg = args;
 }

-void MCP2521_Command_Interface::register_error_handler(intHandlerFunction_t handler, void* args) {
+void MCP2521_CommandInterface::register_error_handler(intHandlerFunction_t handler, void* args) {
    error_handler = handler;
    error_handler_arg = args;
 }

-void MCP2521_Command_Interface::register_wakeup_handler(intHandlerFunction_t handler, void* args) {
+void MCP2521_CommandInterface::register_wakeup_handler(intHandlerFunction_t handler, void* args) {
    wakeup_handler = handler;
    wakeup_handler_arg = args;
 }

-void MCP2521_Command_Interface::register_message_error_handler(intHandlerFunction_t handler, void* args) {
+void MCP2521_CommandInterface::register_message_error_handler(intHandlerFunction_t handler, void* args) {
    message_error_handler = handler;
    message_error_handler_arg = args;
 }

-void MCP2521_Command_Interface::handleInterrupt() {
+void MCP2521_CommandInterface::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
@@ -1,5 +1,7 @@
 idf_component_register(SRCS "esp_implementation_init.cpp"
                            "esp_implementation_cmd.cpp"
                            "esp_implementation_int.cpp"
+                            "esp_implementation_bus.cpp"
+                            "esp_implementation_bus_factory.cpp"
                       INCLUDE_DIRS "include"
                       REQUIRES driver)
--- a/common-libaries/mcp2521_hardware_interface/esp_implementation_bus.cpp
+++ b/common-libaries/mcp2521_hardware_interface/esp_implementation_bus.cpp
@@ -0,0 +1,58 @@
+#ifdef ESP_PLATFORM
+#include "freertos/FreeRTOS.h"
+
+#include "mcp2521_hardware_esp_bus.hpp"
+#include "mcp2521_hardware_esp.hpp"
+
+MCP2521_HardwareHandle_ESPBus::MCP2521_HardwareHandle_ESPBus(
+        QueueHandle_t send_queue,
+        spi_host_device_t spi_host,
+        spi_bus_config_t * bus_config,
+        gpio_num_t cs, 
+        gpio_num_t int_pin
+) : MCP2521_HardwareHandle_ESP(spi_host, bus_config, cs, int_pin) {
+    this->send_queue = send_queue;
+    this->receive_queue = xQueueCreate(3, sizeof(spi_message_t));
+}
+
+void MCP2521_HardwareHandle_ESPBus::spi_transmit(spi_transaction_t *t) {
+    spi_message_t message = {
+        .transaction = t,
+        .queue = send_queue,
+        .spi_device_handle = spi_device_handle
+    };
+
+    xQueueSend(send_queue, &message, portMAX_DELAY);
+    xQueueReceive(receive_queue, &message, portMAX_DELAY);
+}
+
+void MCP2521_HardwareHandle_ESPBus::initPins(
+    gpio_num_t int_pin
+) {
+    canInterruptSemaphore = xSemaphoreCreateBinary();
+
+    gpio_config_t io_conf;
+    io_conf.intr_type = GPIO_INTR_NEGEDGE;
+    io_conf.mode = GPIO_MODE_INPUT;
+    io_conf.pin_bit_mask = 1 << int_pin;
+    io_conf.pull_down_en = GPIO_PULLDOWN_DISABLE;
+    io_conf.pull_up_en = GPIO_PULLUP_ENABLE;
+    gpio_config(&io_conf);
+
+    gpio_isr_handler_add(int_pin, gpio_isr_can_handler, this);
+
+    char taskName[32];
+    sprintf(taskName, "canInterruptTask_%d", int_pin);
+
+    xTaskCreatePinnedToCore(
+        (TaskFunction_t)&handleInteruptTaskCallerFn,
+        taskName,
+        2048,
+        this,
+        5,
+        &canInterruptTaskHandle,
+        0
+    );
+}
+
+#endif
--- a/common-libaries/mcp2521_hardware_interface/esp_implementation_bus_factory.cpp
+++ b/common-libaries/mcp2521_hardware_interface/esp_implementation_bus_factory.cpp
@@ -0,0 +1,67 @@
+#pragma once
+
+#ifdef ESP_PLATFORM
+#include "freertos/FreeRTOS.h"
+
+#include "mcp2521_hardware_esp_bus_factory.hpp"
+#include "mcp2521_hardware_esp_bus.hpp"
+#include "mcp2521_hardware_esp.hpp"
+
+void transactionTaskWrapperFn(void *pvParameters) {
+    MCP2521_HardwareHandleFactory_ESPBus *factory = (MCP2521_HardwareHandleFactory_ESPBus *)pvParameters;
+    factory->transactionTaskFn();
+
+}
+
+MCP2521_HardwareHandleFactory_ESPBus::MCP2521_HardwareHandleFactory_ESPBus(
+    spi_host_device_t spi_host,
+    gpio_num_t mosi, 
+    gpio_num_t miso, 
+    gpio_num_t sclk
+) {
+    this->spi_host = spi_host;
+    this->mosi = mosi;
+    this->miso = miso;
+    this->sclk = sclk;
+
+    
+    gpio_install_isr_service(0);
+
+    MCP2521_HardwareHandle_ESP::initSPIBus(spi_host, mosi, miso, sclk, &bus_config);
+    
+    spi_queue = xQueueCreate(12, sizeof(spi_message_t));
+    xTaskCreatePinnedToCore(
+        (TaskFunction_t)&transactionTaskWrapperFn,
+        "transactionTask",
+        2048,
+        this,
+        3,
+        &transactionTaskHandle,
+        0
+    );
+}
+
+void MCP2521_HardwareHandleFactory_ESPBus::transactionTaskFn() {
+    spi_message_t message;
+
+    while(true) {
+        xQueueReceive(spi_queue, &message, portMAX_DELAY);
+        spi_device_transmit(message.spi_device_handle, message.transaction);
+    }
+}
+
+MCP2521_HardwareHandle_ESPBus MCP2521_HardwareHandleFactory_ESPBus::create(
+    gpio_num_t int_pin,
+    gpio_num_t cs
+) {
+    return MCP2521_HardwareHandle_ESPBus(
+        spi_queue,
+        spi_host,
+        &bus_config,
+        cs,
+        int_pin
+    );
+}
+
+
+#endif
--- a/common-libaries/mcp2521_hardware_interface/esp_implementation_cmd.cpp
+++ b/common-libaries/mcp2521_hardware_interface/esp_implementation_cmd.cpp
@@ -5,13 +5,13 @@

 const uint8_t null_buffer[32] = {0};

-void MCP2521_Hardware_Handle_ESP::spi_transmit(spi_transaction_t *t) {
+void MCP2521_HardwareHandle_ESP::spi_transmit(spi_transaction_t *t) {
    xSemaphoreTake(spiMutex, portMAX_DELAY);
    spi_device_transmit(this->spi_device_handle, t);
    xSemaphoreGive(spiMutex);
 }

-void MCP2521_Hardware_Handle_ESP::execute(uint8_t cmd) {
+void MCP2521_HardwareHandle_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_Hardware_Handle_ESP::execute(uint8_t cmd) {
    spi_transmit((spi_transaction_t*)(&t));
 }

-void MCP2521_Hardware_Handle_ESP::execute(uint8_t cmd, uint8_t address) {
+void MCP2521_HardwareHandle_ESP::execute(uint8_t cmd, uint8_t address) {
    spi_transaction_ext_t t = {
        .base = {
            .flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
@@ -49,7 +49,7 @@ void MCP2521_Hardware_Handle_ESP::execute(uint8_t cmd, uint8_t address) {
    spi_transmit((spi_transaction_t*)(&t));
 }

-void MCP2521_Hardware_Handle_ESP::read(uint8_t cmd, uint8_t *data, size_t length, uint8_t address) {
+void MCP2521_HardwareHandle_ESP::read(uint8_t cmd, uint8_t *data, size_t length, uint8_t address) {
    spi_transaction_ext_t t = {
        .base = {
            .flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
@@ -68,7 +68,7 @@ void MCP2521_Hardware_Handle_ESP::read(uint8_t cmd, uint8_t *data, size_t length
    spi_transmit((spi_transaction_t*)(&t));
 }

-void MCP2521_Hardware_Handle_ESP::read(uint8_t cmd, uint8_t *data, size_t length) {
+void MCP2521_HardwareHandle_ESP::read(uint8_t cmd, uint8_t *data, size_t length) {
    spi_transaction_ext_t t = {
        .base = {
            .flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
@@ -76,7 +76,7 @@ void MCP2521_Hardware_Handle_ESP::read(uint8_t cmd, uint8_t *data, size_t length
            .addr = 0,
            .length = 8*length,
            .rxlength = 8*length,
-            .tx_buffer = NULL,
+            .tx_buffer = null_buffer,
            .rx_buffer = data
        },
        .command_bits = 8,
@@ -87,7 +87,7 @@ void MCP2521_Hardware_Handle_ESP::read(uint8_t cmd, uint8_t *data, size_t length
    spi_transmit((spi_transaction_t*)(&t));
 }

-uint8_t MCP2521_Hardware_Handle_ESP::read(uint8_t cmd, uint8_t address) {
+uint8_t MCP2521_HardwareHandle_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_Hardware_Handle_ESP::read(uint8_t cmd, uint8_t address) {
    return result;
 }

-uint8_t MCP2521_Hardware_Handle_ESP::read(uint8_t cmd) {
+uint8_t MCP2521_HardwareHandle_ESP::read(uint8_t cmd) {
    uint8_t result;
    spi_transaction_ext_t t = {
        .base = {
@@ -129,7 +129,7 @@ uint8_t MCP2521_Hardware_Handle_ESP::read(uint8_t cmd) {
    return result;
 }

-void MCP2521_Hardware_Handle_ESP::write(uint8_t cmd, uint8_t *data, size_t length, uint8_t address) {
+void MCP2521_HardwareHandle_ESP::write(uint8_t cmd, uint8_t *data, size_t length, uint8_t address) {
    uint8_t result;
    spi_transaction_ext_t t = {
        .base = {
@@ -149,7 +149,7 @@ void MCP2521_Hardware_Handle_ESP::write(uint8_t cmd, uint8_t *data, size_t lengt
    spi_transmit((spi_transaction_t*)(&t));
 }

-void MCP2521_Hardware_Handle_ESP::write(uint8_t cmd, uint8_t *data, size_t length) {
+void MCP2521_HardwareHandle_ESP::write(uint8_t cmd, uint8_t *data, size_t length) {
    spi_transaction_ext_t t = {
        .base = {
            .flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
@@ -168,7 +168,7 @@ void MCP2521_Hardware_Handle_ESP::write(uint8_t cmd, uint8_t *data, size_t lengt
    spi_transmit((spi_transaction_t*)(&t));
 }

-void MCP2521_Hardware_Handle_ESP::write(uint8_t cmd, uint8_t data, uint8_t address) {
+void MCP2521_HardwareHandle_ESP::write(uint8_t cmd, uint8_t data, uint8_t address) {
    spi_transaction_ext_t t = {
        .base = {
            .flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
@@ -187,7 +187,7 @@ void MCP2521_Hardware_Handle_ESP::write(uint8_t cmd, uint8_t data, uint8_t addre
    spi_transmit((spi_transaction_t*)(&t));
 }

-void MCP2521_Hardware_Handle_ESP::write(uint8_t cmd, uint8_t data) {
+void MCP2521_HardwareHandle_ESP::write(uint8_t cmd, uint8_t data) {
    spi_transaction_ext_t t = {
        .base = {
            .flags = SPI_TRANS_VARIABLE_CMD | SPI_TRANS_VARIABLE_ADDR,
--- 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_Hardware_Handle_ESP::MCP2521_Hardware_Handle_ESP(
+MCP2521_HardwareHandle_ESP::MCP2521_HardwareHandle_ESP(
    spi_host_device_t spi_host,
    spi_bus_config_t *bus_config,
    gpio_num_t mosi, 
@@ -23,7 +23,7 @@ MCP2521_Hardware_Handle_ESP::MCP2521_Hardware_Handle_ESP(
    initSPIDevice(spi_host, cs);
 }

-MCP2521_Hardware_Handle_ESP::MCP2521_Hardware_Handle_ESP(
+MCP2521_HardwareHandle_ESP::MCP2521_HardwareHandle_ESP(
    spi_host_device_t spi_host,
    spi_bus_config_t *bus_config,
    gpio_num_t cs, 
@@ -34,11 +34,11 @@ MCP2521_Hardware_Handle_ESP::MCP2521_Hardware_Handle_ESP(
    initSPIDevice(spi_host, cs);
 }

-MCP2521_Hardware_Handle_ESP::~MCP2521_Hardware_Handle_ESP() {
+MCP2521_HardwareHandle_ESP::~MCP2521_HardwareHandle_ESP() {

 }

-void MCP2521_Hardware_Handle_ESP::initSPIBus(
+void MCP2521_HardwareHandle_ESP::initSPIBus(
    spi_host_device_t spi_host,
    gpio_num_t mosi, 
    gpio_num_t miso, 
@@ -57,7 +57,7 @@ void MCP2521_Hardware_Handle_ESP::initSPIBus(
    spi_bus_initialize(spi_host, bus_config, SPI_DMA_CH_AUTO);
 }

-void MCP2521_Hardware_Handle_ESP::initSPIDevice(
+void MCP2521_HardwareHandle_ESP::initSPIDevice(
    spi_host_device_t spi_host,
    gpio_num_t cs
 ) {
@@ -73,7 +73,7 @@ void MCP2521_Hardware_Handle_ESP::initSPIDevice(
        // Learned this the hard way
        .cs_ena_pretrans = 0,
        .cs_ena_posttrans = 0,
-        .clock_speed_hz = 10000,
+        .clock_speed_hz = 2000,

        .spics_io_num = cs,
        .flags = SPI_DEVICE_NO_DUMMY,
@@ -85,7 +85,7 @@ void MCP2521_Hardware_Handle_ESP::initSPIDevice(
    spiMutex = xSemaphoreCreateMutex();
 }

-spi_bus_config_t * MCP2521_Hardware_Handle_ESP::getSPI_bus_config() {
+spi_bus_config_t * MCP2521_HardwareHandle_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_Hardware_Handle_ESP * handle = (MCP2521_Hardware_Handle_ESP *)arg;
+    MCP2521_HardwareHandle_ESP * handle = (MCP2521_HardwareHandle_ESP *)arg;
    handle->isr_can_interrupt();
 }

 static void handleInteruptTaskCallerFn(void *arg) {
-    MCP2521_Hardware_Handle_ESP * handle = (MCP2521_Hardware_Handle_ESP *)arg;
+    MCP2521_HardwareHandle_ESP * handle = (MCP2521_HardwareHandle_ESP *)arg;
    handle->handleIntteruptTaskFn();
 }

-void MCP2521_Hardware_Handle_ESP::initPins(
+void MCP2521_HardwareHandle_ESP::initPins(
    gpio_num_t int_pin
 ) {
    canInterruptSemaphore = xSemaphoreCreateBinary();
@@ -31,24 +31,25 @@ void MCP2521_Hardware_Handle_ESP::initPins(
    gpio_install_isr_service(0);
    gpio_isr_handler_add(int_pin, gpio_isr_can_handler, this);

-    xTaskCreate(
+    xTaskCreatePinnedToCore(
        (TaskFunction_t)&handleInteruptTaskCallerFn,
        "canInterruptTask",
        2048,
        this,
        5,
-        &canInterruptTaskHandle
+        &canInterruptTaskHandle,
+        0
    );
 }

-void MCP2521_Hardware_Handle_ESP::handleIntteruptTaskFn() {
+void MCP2521_HardwareHandle_ESP::handleIntteruptTaskFn() {
    while(true) {
        xSemaphoreTake(canInterruptSemaphore, portMAX_DELAY);
        intHandler(intHandlerArg);
    }
 }

-void MCP2521_Hardware_Handle_ESP::isr_can_interrupt() {
+void MCP2521_HardwareHandle_ESP::isr_can_interrupt() {
    BaseType_t wokenTask = pdFALSE;
    xSemaphoreGiveFromISR(canInterruptSemaphore, &wokenTask);

@@ -57,7 +58,7 @@ void MCP2521_Hardware_Handle_ESP::isr_can_interrupt() {
    }
 }

-void MCP2521_Hardware_Handle_ESP::registerIntHandler(intHandlerFunction_t handler, void * arg) {
+void MCP2521_HardwareHandle_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
@@ -1,3 +1,13 @@
+/**
+ * @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"

@@ -8,24 +18,48 @@
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"

-class MCP2521_Hardware_Handle_ESP : public MCP2521_Hardware_Handle {
-    char spi_tmp_buffer;
+static void handleInteruptTaskCallerFn(void *arg);
+static void IRAM_ATTR gpio_isr_can_handler(void* arg);

-    spi_bus_config_t * spi_bus_config;
-    spi_device_interface_config_t spi_device_config;
-    spi_device_handle_t spi_device_handle;
+/**
+ * @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;
-    SemaphoreHandle_t spiMutex = NULL;
+
+
+    /**
+     * @brief Handle to task that handles the MCP2521 interrupt
+     * A Handle can be registered via the registerIntHandler method
+     */
    TaskHandle_t canInterruptTaskHandle = NULL;

-    void spi_transmit(spi_transaction_t *t);
+    spi_device_handle_t spi_device_handle;
+    
+private:
+    spi_bus_config_t * spi_bus_config;
+    char spi_tmp_buffer;
+    
+    spi_device_interface_config_t spi_device_config;
+
+    /**
+     * @brief Sempahore, that protects the SPI bus from being accessed by multiple tasks at the same time
+     * 
+     */
+    SemaphoreHandle_t spiMutex = NULL;

    void * intHandlerArg = NULL;
    intHandlerFunction_t intHandler = NULL;

 public:
-    MCP2521_Hardware_Handle_ESP(
+    MCP2521_HardwareHandle_ESP(
        spi_host_device_t spi_host,
        spi_bus_config_t *bus_config,
        gpio_num_t mosi, 
@@ -35,7 +69,7 @@ public:
        gpio_num_t int_pin
    );

-    MCP2521_Hardware_Handle_ESP(
+    MCP2521_HardwareHandle_ESP(
        spi_host_device_t spi_host,
        spi_bus_config_t *bus_config,
        gpio_num_t cs, 
@@ -59,12 +93,22 @@ public:
        gpio_num_t int_pin
    );

-    ~MCP2521_Hardware_Handle_ESP();
+    ~MCP2521_HardwareHandle_ESP();

    spi_bus_config_t * getSPI_bus_config();

    // ISR Stuff
+    /**
+     * @brief This function is called by the ISR, that is triggered by the MCP2521
+     * This function just set the canInterruptSemaphore, that then unblocks the canInterruptTaskHandle.
+     * So this function should be as short as possible, let the reset of the work be done in the canInterruptTaskHandle
+     */
    void isr_can_interrupt();
+
+    /**
+     * This is the methode run as canInterruptTaskHandle.
+     * It should continously aquire the canInterruptSemaphore and then call the intHandler
+     */
    void handleIntteruptTaskFn();

    // Inherited from MCP2521_Hardware_Handle
--- a/common-libaries/mcp2521_hardware_interface/include/mcp2521_hardware_esp_bus.hpp
+++ b/common-libaries/mcp2521_hardware_interface/include/mcp2521_hardware_esp_bus.hpp
@@ -0,0 +1,46 @@
+#pragma once
+
+#include "mcp2521_hardware_esp.hpp"
+
+#include "driver/gpio.h"
+#include "driver/spi_master.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+
+struct spi_message_t {
+    spi_transaction_t *transaction;
+    QueueHandle_t queue;
+    spi_device_handle_t spi_device_handle;
+};
+
+/**
+ * @brief Hardware handle for MCP2521 over SPI in a multi-Bus-Setup on ESP32 
+ * This should not be created directly, use the MCP2521_HardwareHandleFactory_ESPBus instead
+ */
+class MCP2521_HardwareHandle_ESPBus : public MCP2521_HardwareHandle_ESP {
+    using MCP2521_HardwareHandle_ESP::MCP2521_HardwareHandle_ESP;
+private:
+    QueueHandle_t send_queue;
+    QueueHandle_t receive_queue;
+
+    /**
+     * @brief Wrapper around the spi_transmit function, that locks the spiMutex before calling spi_transmit.
+     * The muxtex is shared with all other MCP2521_HardwareHandle_ESPBus instances created by the same MCP2521_HardwareHandleFactory_ESPBus
+     * @overload
+     * 
+     * @param t ESP32 SPI Transaction struct
+     */
+    void spi_transmit(spi_transaction_t *t);
+public:
+    MCP2521_HardwareHandle_ESPBus(
+        QueueHandle_t send_queue,
+        spi_host_device_t spi_host,
+        spi_bus_config_t * bus_config,
+        gpio_num_t cs, 
+        gpio_num_t int_pin
+    );
+
+    void initPins(
+        gpio_num_t int_pin
+    );
+};
--- a/common-libaries/mcp2521_hardware_interface/include/mcp2521_hardware_esp_bus_factory.hpp
+++ b/common-libaries/mcp2521_hardware_interface/include/mcp2521_hardware_esp_bus_factory.hpp
@@ -0,0 +1,41 @@
+#pragma once
+
+#ifdef ESP_PLATFORM
+#include "mcp2521_hardware_handle.hpp"
+#include "mcp2521_hardware_esp_bus.hpp"
+
+#include "driver/gpio.h"
+#include "driver/spi_master.h"
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "freertos/queue.h"
+
+class MCP2521_HardwareHandleFactory_ESPBus {
+private:
+    spi_bus_config_t bus_config;
+    spi_host_device_t spi_host;
+
+    gpio_num_t mosi; 
+    gpio_num_t miso;
+    gpio_num_t sclk;
+
+    QueueHandle_t spi_queue;
+    TaskHandle_t transactionTaskHandle;
+
+public:
+    MCP2521_HardwareHandleFactory_ESPBus(
+        spi_host_device_t spi_host,
+        gpio_num_t mosi, 
+        gpio_num_t miso, 
+        gpio_num_t sclk
+    );
+
+    void transactionTaskFn();
+
+    MCP2521_HardwareHandle_ESPBus create(
+        gpio_num_t int_pin,
+        gpio_num_t cs
+    );
+};
+
+#endif
--- a/common-libaries/mcp2521_hardware_interface/include/mcp2521_hardware_handle.hpp
+++ b/common-libaries/mcp2521_hardware_interface/include/mcp2521_hardware_handle.hpp
@@ -2,23 +2,118 @@
 #include <cstdint>
 #include <strings.h>

+/**
+ * @brief Handler function pointer type
+ * 
+ */
 typedef void (*intHandlerFunction_t)(void *); 

-class MCP2521_Hardware_Handle {
+/**
+ * @brief Hardware handle for MCP2521
+ * @interface
+ * This is an abstraction over the sepific hardware setup, eg. SPI@ESP32 or RP2040
+ * 
+ */
+class I_MCP2521_HardwareHandle {
 public:
+    /**
+     * @brief Registeres a function that is called when the MCP2521 triggers an interrupt
+     * 
+     * @param handler This function is called when the MCP2521 triggers an interrupt
+     * @param arg Arguments passed to the handler-function
+     */
    virtual void registerIntHandler(intHandlerFunction_t handler, void * arg) = 0;

+    /**
+     * @overload
+     * @brief justed sends a 8bit command to the MCP2521
+     * 
+     * @param cmd command to send
+     */
    virtual void execute(uint8_t cmd) = 0;
+
+    /**
+     * @overload
+     * @brief executes a command (8 bit) with an address (8 bit)
+     * 
+     * @param cmd 8 bit command
+     * @param address 8 bit address
+     */
    virtual void execute(uint8_t cmd, uint8_t address) = 0;

+    /**
+     * 
+     * @brief Executes a read from the MCP2521 with command, data buffer, length and address
+     * @overload
+     * 
+     * @param cmd Command to MCP2521
+     * @param data Data buffer to store the read data
+     * @param length How many bytes to read
+     * @param address Address to read from
+     */
    virtual void read(uint8_t cmd, uint8_t *data, size_t length, uint8_t address) = 0;
+
+    /**
+     * @brief Executes a read from the MCP2521 with command, data buffer and length
+     * @overload
+     * 
+     * @param cmd Command to MCP2521
+     * @param data Data buffer to store the read data
+     * @param length How many bytes to read
+     */
    virtual void read(uint8_t cmd, uint8_t *data, size_t length) = 0;
+    
+    /**
+     * @brief Executes a read from the MCP2521 with command and address, returns just one byte
+     * 
+     * @param cmd Command to MCP2521
+     * @param address Address to read from
+     * @return uint8_t 
+     */
    virtual uint8_t read(uint8_t cmd, uint8_t address) = 0;
+    
+    /**
+     * @brief Executes a read from the MCP2521 with command, returns just one byte
+     * 
+     * @param cmd Command to MCP2521
+     * @return uint8_t 
+     */
    virtual uint8_t read(uint8_t cmd) = 0;
    
+    /**
+     * @brief Writes data to the MCP2521 with command, data buffer, length and address
+     * 
+     * @param cmd Command to MCP2521
+     * @param data Data buffer to write
+     * @param length Length of the data buffer
+     * @param address Where to write the data
+     */
    virtual void write(uint8_t cmd, uint8_t *data, size_t length, uint8_t address) = 0;
+    
+    /**
+     * @brief Wirites data to the MCP2521 with command, data buffer and length
+     * 
+     * @param cmd Command to MCP2521
+     * @param data Data buffer to write
+     * @param length Length of the data buffer
+     */
    virtual void write(uint8_t cmd, uint8_t *data, size_t length) = 0;
+    
+    /**
+     * @brief Writes data to the MCP2521 with command, data (on byte) and address
+     * 
+     * @param cmd Command to MCP2521
+     * @param data Data byte to write
+     * @param address Where to write the data
+     */
    virtual void write(uint8_t cmd, uint8_t data, uint8_t address) = 0;
+    
+    /**
+     * @brief Writes to the MCP2521 with command and data (one byte)
+     * 
+     * @param cmd Command to MCP2521
+     * @param data Data byte to write
+     */
    virtual void write(uint8_t cmd, uint8_t data) = 0;
 };

--- a/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
@@ -0,0 +1,9 @@
+fe fe fe fe fc 10 10 10 20 ff 48 65 6c 6c 6f 20
+6f 72 6c 64 21 0a 84 00 01 00 42 00 00 00 12
+00 00 00 c0 84 01 01 01 43 00 00 00 22 00 00
+3f 00 84 00 01 00 42 00 00 00 32 00 00 00 80
+54 68 69 73 20 69 73 20 52 61 6e 64 6f 6d 20
+65 78 74 0a 84 01 01 02 43 00 00 00 63 00 00
+3f 00 84 01 01 00 42 00 00 00 73 00 00 00 bf
+81 10 40 42 00 00 00 01 02 03 04 05 06 00 11
+13 14 fe fe fe fe fe fe fc
--- 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#
@@ -0,0 +1 @@
+/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/i2c-hub/circuit/i2c-hub/i2c-hub.kicad_pcb
+++ b/i2c-hub/circuit/i2c-hub/i2c-hub.kicad_pcb
--- a/i2c-hub/circuit/i2c-hub/i2c-hub.kicad_prl
+++ b/i2c-hub/circuit/i2c-hub/i2c-hub.kicad_prl
--- a/i2c-hub/circuit/i2c-hub/i2c-hub.kicad_pro
+++ b/i2c-hub/circuit/i2c-hub/i2c-hub.kicad_pro
--- a/i2c-hub/circuit/i2c-hub/i2c-hub.kicad_sch
+++ b/i2c-hub/circuit/i2c-hub/i2c-hub.kicad_sch
--- a/i2c-hub/circuit/i2c-hub/sym-lib-table
+++ b/i2c-hub/circuit/i2c-hub/sym-lib-table
@@ -0,0 +1,4 @@
+(sym_lib_table
+  (version 7)
+  (lib (name "MCU_RaspberryPi_and_Boards")(type "KiCad")(uri "/home/alexander/Projects/gobot/i2c-hub/circuit/external/KiCad-RP-Pico/RP-Pico Libraries/MCU_RaspberryPi_and_Boards.kicad_sym")(options "")(descr ""))
+)
--- a/i2c-hub/circuit/i2c-hub/~i2c-hub.kicad_sch.lck
+++ b/i2c-hub/circuit/i2c-hub/~i2c-hub.kicad_sch.lck
@@ -0,0 +1 @@
+{"hostname":"hal","username":"alexander"}
--- a/i2c-hub/firmware/i2c-hub-firmware/.gitignore
+++ b/i2c-hub/firmware/i2c-hub-firmware/.gitignore
--- a/i2c-hub/firmware/i2c-hub-firmware/.vscode/c_cpp_properties.json
+++ b/i2c-hub/firmware/i2c-hub-firmware/.vscode/c_cpp_properties.json
@@ -0,0 +1,23 @@
+{
+    "configurations": [
+        {
+            "name": "Pico",
+            "includePath": [
+                "${workspaceFolder}/**",
+                "${userHome}/.pico-sdk/sdk/2.1.0/**"
+            ],
+            "forcedInclude": [
+                "${userHome}/.pico-sdk/sdk/2.1.0/src/common/pico_base_headers/include/pico.h",
+                "${workspaceFolder}/build/generated/pico_base/pico/config_autogen.h"
+            ],
+            "defines": [],
+            "compilerPath": "${userHome}/.pico-sdk/toolchain/13_3_Rel1/bin/arm-none-eabi-gcc",
+            "compileCommands": "${workspaceFolder}/build/compile_commands.json",
+            "cStandard": "c17",
+            "cppStandard": "c++14",
+            "intelliSenseMode": "linux-gcc-arm",
+            "configurationProvider": "ms-vscode.cmake-tools"
+        }
+    ],
+    "version": 4
+}
--- a/i2c-hub/firmware/i2c-hub-firmware/.vscode/cmake-kits.json
+++ b/i2c-hub/firmware/i2c-hub-firmware/.vscode/cmake-kits.json
@@ -0,0 +1,15 @@
+[
+    {
+        "name": "Pico",
+        "compilers": {
+            "C": "${command:raspberry-pi-pico.getCompilerPath}",
+            "CXX": "${command:raspberry-pi-pico.getCxxCompilerPath}"
+        },
+        "environmentVariables": {
+            "PATH": "${command:raspberry-pi-pico.getEnvPath};${env:PATH}"
+        },
+        "cmakeSettings": {
+            "Python3_EXECUTABLE": "${command:raspberry-pi-pico.getPythonPath}"
+        }
+    }
+]
--- a/i2c-hub/firmware/i2c-hub-firmware/.vscode/extensions.json
+++ b/i2c-hub/firmware/i2c-hub-firmware/.vscode/extensions.json
@@ -0,0 +1,9 @@
+{
+    "recommendations": [
+        "marus25.cortex-debug",
+        "ms-vscode.cpptools",
+        "ms-vscode.cpptools-extension-pack",
+        "ms-vscode.vscode-serial-monitor",
+        "raspberry-pi.raspberry-pi-pico"
+    ]
+}
--- a/i2c-hub/firmware/i2c-hub-firmware/.vscode/launch.json
+++ b/i2c-hub/firmware/i2c-hub-firmware/.vscode/launch.json
@@ -0,0 +1,70 @@
+{
+    "version": "0.2.0",
+    "configurations": [
+        {
+            "name": "Pico Debug (Cortex-Debug)",
+            "cwd": "${userHome}/.pico-sdk/openocd/0.12.0+dev/scripts",
+            "executable": "${command:raspberry-pi-pico.launchTargetPath}",
+            "request": "launch",
+            "type": "cortex-debug",
+            "servertype": "openocd",
+            "serverpath": "${userHome}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
+            "gdbPath": "${command:raspberry-pi-pico.getGDBPath}",
+            "device": "${command:raspberry-pi-pico.getChipUppercase}",
+            "configFiles": [
+                "interface/cmsis-dap.cfg",
+                "target/${command:raspberry-pi-pico.getTarget}.cfg"
+            ],
+            "svdFile": "${userHome}/.pico-sdk/sdk/2.1.0/src/${command:raspberry-pi-pico.getChip}/hardware_regs/${command:raspberry-pi-pico.getChipUppercase}.svd",
+            "runToEntryPoint": "main",
+            // Fix for no_flash binaries, where monitor reset halt doesn't do what is expected
+            // Also works fine for flash binaries
+            "overrideLaunchCommands": [
+                "monitor reset init",
+                "load \"${command:raspberry-pi-pico.launchTargetPath}\""
+            ],
+            "openOCDLaunchCommands": [
+                "adapter speed 5000"
+            ]
+        },
+        {
+            "name": "Pico Debug (Cortex-Debug with external OpenOCD)",
+            "cwd": "${workspaceRoot}",
+            "executable": "${command:raspberry-pi-pico.launchTargetPath}",
+            "request": "launch",
+            "type": "cortex-debug",
+            "servertype": "external",
+            "gdbTarget": "localhost:3333",
+            "gdbPath": "${command:raspberry-pi-pico.getGDBPath}",
+            "device": "${command:raspberry-pi-pico.getChipUppercase}",
+            "svdFile": "${userHome}/.pico-sdk/sdk/2.1.0/src/${command:raspberry-pi-pico.getChip}/hardware_regs/${command:raspberry-pi-pico.getChipUppercase}.svd",
+            "runToEntryPoint": "main",
+            // Fix for no_flash binaries, where monitor reset halt doesn't do what is expected
+            // Also works fine for flash binaries
+            "overrideLaunchCommands": [
+                "monitor reset init",
+                "load \"${command:raspberry-pi-pico.launchTargetPath}\""
+            ]
+        },
+        {
+            "name": "Pico Debug (C++ Debugger)",
+            "type": "cppdbg",
+            "request": "launch",
+            "cwd": "${workspaceRoot}",
+            "program": "${command:raspberry-pi-pico.launchTargetPath}",
+            "MIMode": "gdb",
+            "miDebuggerPath": "${command:raspberry-pi-pico.getGDBPath}",
+            "miDebuggerServerAddress": "localhost:3333",
+            "debugServerPath": "${userHome}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
+            "debugServerArgs": "-f interface/cmsis-dap.cfg -f target/${command:raspberry-pi-pico.getTarget}.cfg -c \"adapter speed 5000\"",
+            "serverStarted": "Listening on port .* for gdb connections",
+            "filterStderr": true,
+            "hardwareBreakpoints": {
+                "require": true,
+                "limit": 4
+            },
+            "preLaunchTask": "Flash",
+            "svdPath": "${userHome}/.pico-sdk/sdk/2.1.0/src/${command:raspberry-pi-pico.getChip}/hardware_regs/${command:raspberry-pi-pico.getChipUppercase}.svd"
+        },
+    ]
+}
--- a/i2c-hub/firmware/i2c-hub-firmware/.vscode/settings.json
+++ b/i2c-hub/firmware/i2c-hub-firmware/.vscode/settings.json
@@ -0,0 +1,87 @@
+{
+    "cmake.options.statusBarVisibility": "hidden",
+    "cmake.options.advanced": {
+        "build": {
+            "statusBarVisibility": "hidden"
+        },
+        "launch": {
+            "statusBarVisibility": "hidden"
+        },
+        "debug": {
+            "statusBarVisibility": "hidden"
+        }
+    },
+    "cmake.configureOnEdit": true,
+    "cmake.automaticReconfigure": true,
+    "cmake.configureOnOpen": true,
+    "cmake.generator": "Ninja",
+    "cmake.cmakePath": "${userHome}/.pico-sdk/cmake/v3.29.9/bin/cmake",
+    "C_Cpp.debugShortcut": false,
+    "terminal.integrated.env.windows": {
+        "PICO_SDK_PATH": "${env:USERPROFILE}/.pico-sdk/sdk/2.1.0",
+        "PICO_TOOLCHAIN_PATH": "${env:USERPROFILE}/.pico-sdk/toolchain/13_3_Rel1",
+        "Path": "${env:USERPROFILE}/.pico-sdk/toolchain/13_3_Rel1/bin;${env:USERPROFILE}/.pico-sdk/picotool/2.1.0/picotool;${env:USERPROFILE}/.pico-sdk/cmake/v3.29.9/bin;${env:USERPROFILE}/.pico-sdk/ninja/v1.12.1;${env:PATH}"
+    },
+    "terminal.integrated.env.osx": {
+        "PICO_SDK_PATH": "${env:HOME}/.pico-sdk/sdk/2.1.0",
+        "PICO_TOOLCHAIN_PATH": "${env:HOME}/.pico-sdk/toolchain/13_3_Rel1",
+        "PATH": "${env:HOME}/.pico-sdk/toolchain/13_3_Rel1/bin:${env:HOME}/.pico-sdk/picotool/2.1.0/picotool:${env:HOME}/.pico-sdk/cmake/v3.29.9/bin:${env:HOME}/.pico-sdk/ninja/v1.12.1:${env:PATH}"
+    },
+    "terminal.integrated.env.linux": {
+        "PICO_SDK_PATH": "${env:HOME}/.pico-sdk/sdk/2.1.0",
+        "PICO_TOOLCHAIN_PATH": "${env:HOME}/.pico-sdk/toolchain/13_3_Rel1",
+        "PATH": "${env:HOME}/.pico-sdk/toolchain/13_3_Rel1/bin:${env:HOME}/.pico-sdk/picotool/2.1.0/picotool:${env:HOME}/.pico-sdk/cmake/v3.29.9/bin:${env:HOME}/.pico-sdk/ninja/v1.12.1:${env:PATH}"
+    },
+    "raspberry-pi-pico.cmakeAutoConfigure": false,
+    "raspberry-pi-pico.useCmakeTools": true,
+    "raspberry-pi-pico.cmakePath": "${HOME}/.pico-sdk/cmake/v3.29.9/bin/cmake",
+    "raspberry-pi-pico.ninjaPath": "${HOME}/.pico-sdk/ninja/v1.12.1/ninja",
+    "files.associations": {
+        "uart.h": "c",
+        "freertos.h": "c",
+        "array": "cpp",
+        "atomic": "cpp",
+        "bit": "cpp",
+        "*.tcc": "cpp",
+        "cctype": "cpp",
+        "clocale": "cpp",
+        "cmath": "cpp",
+        "compare": "cpp",
+        "concepts": "cpp",
+        "cstdarg": "cpp",
+        "cstddef": "cpp",
+        "cstdint": "cpp",
+        "cstdio": "cpp",
+        "cstdlib": "cpp",
+        "cwchar": "cpp",
+        "cwctype": "cpp",
+        "deque": "cpp",
+        "map": "cpp",
+        "string": "cpp",
+        "unordered_map": "cpp",
+        "vector": "cpp",
+        "exception": "cpp",
+        "algorithm": "cpp",
+        "functional": "cpp",
+        "iterator": "cpp",
+        "memory": "cpp",
+        "memory_resource": "cpp",
+        "numeric": "cpp",
+        "optional": "cpp",
+        "random": "cpp",
+        "string_view": "cpp",
+        "system_error": "cpp",
+        "tuple": "cpp",
+        "type_traits": "cpp",
+        "utility": "cpp",
+        "initializer_list": "cpp",
+        "iosfwd": "cpp",
+        "limits": "cpp",
+        "new": "cpp",
+        "numbers": "cpp",
+        "ostream": "cpp",
+        "stdexcept": "cpp",
+        "streambuf": "cpp",
+        "typeinfo": "cpp"
+    }
+}
--- a/i2c-hub/firmware/i2c-hub-firmware/.vscode/tasks.json
+++ b/i2c-hub/firmware/i2c-hub-firmware/.vscode/tasks.json
@@ -0,0 +1,106 @@
+{
+    "version": "2.0.0",
+    "tasks": [
+        {
+            "label": "Compile Project",
+            "type": "process",
+            "isBuildCommand": true,
+            "command": "${userHome}/.pico-sdk/ninja/v1.12.1/ninja",
+            "args": ["-C", "${workspaceFolder}/build"],
+            "group": "build",
+            "presentation": {
+                "echo": true,
+                "reveal": "always",
+                "focus": true,
+                "panel": "shared",
+                "showReuseMessage": true,
+                "clear": true
+            },
+            "problemMatcher": "$gcc",
+            "windows": {
+                "command": "${env:USERPROFILE}/.pico-sdk/ninja/v1.12.1/ninja.exe"
+            }
+        },
+        {
+            "label": "Run Project",
+            "type": "process",
+            "command": "${env:HOME}/.pico-sdk/picotool/2.1.0/picotool/picotool",
+            "args": [
+                "load",
+                "${command:raspberry-pi-pico.launchTargetPath}",
+                "-fx"
+            ],
+            "presentation": {
+                "echo": true,
+                "reveal": "always",
+                "focus": true,
+                "panel": "shared",
+                "showReuseMessage": true,
+                "clear": true
+            },
+            "problemMatcher": [],
+            "windows": {
+                "command": "${env:USERPROFILE}/.pico-sdk/picotool/2.1.0/picotool/picotool.exe"
+            }
+        },
+        {
+            "label": "Flash",
+            "type": "process",
+            "command": "${userHome}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
+            "args": [
+                "-s",
+                "${userHome}/.pico-sdk/openocd/0.12.0+dev/scripts",
+                "-f",
+                "interface/cmsis-dap.cfg",
+                "-f",
+                "target/${command:raspberry-pi-pico.getTarget}.cfg",
+                "-c", "adapter speed 5000; program \"${command:raspberry-pi-pico.launchTargetPath}\" verify",
+                "-c", "reset halt",
+                "-c", "rp2040.core1 arp_reset assert 0",
+                "-c", "rp2040.core0 arp_reset assert 0",
+                "-c", "exit"
+            ],
+            "presentation": {
+                "echo": true,
+                "reveal": "always",
+                "focus": true,
+                "panel": "shared",
+                "showReuseMessage": true,
+                "clear": true
+            },
+            "dependsOn": ["Compile Project"],
+            "problemMatcher": [],
+            "windows": {
+                "command": "${env:USERPROFILE}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
+            }
+        },
+        {
+            "label": "Reset",
+            "type": "process",
+            "command": "${userHome}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
+            "args": [
+                "-s",
+                "${userHome}/.pico-sdk/openocd/0.12.0+dev/scripts",
+                "-f",
+                "interface/cmsis-dap.cfg",
+                "-f", "target/${command:raspberry-pi-pico.getTarget}.cfg",
+                "-c", "adapter speed 5000; init; reset halt;",
+                "-c", "rp2040.core1 arp_reset assert 0",
+                "-c", "rp2040.core0 arp_reset assert 0",
+                "-c", "exit"
+            ],
+            "presentation": {
+                "echo": true,
+                "reveal": "always",
+                "focus": true,
+                "panel": "shared",
+                "showReuseMessage": true,
+                "clear": true
+            },
+            "problemMatcher": [],
+            "windows": {
+                "command": "${env:USERPROFILE}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
+            }
+        }
+    ]
+}
--- a/i2c-hub/firmware/i2c-hub-firmware/CMakeLists.txt
+++ b/i2c-hub/firmware/i2c-hub-firmware/CMakeLists.txt
@@ -0,0 +1,74 @@
+# Generated Cmake Pico project file
+
+cmake_minimum_required(VERSION 3.13)
+
+set(CMAKE_C_STANDARD 11)
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+
+# Initialise pico_sdk from installed location
+# (note this can come from environment, CMake cache etc)
+
+# == DO NOT EDIT THE FOLLOWING LINES for the Raspberry Pi Pico VS Code Extension to work ==
+if(WIN32)
+    set(USERHOME $ENV{USERPROFILE})
+else()
+    set(USERHOME $ENV{HOME})
+endif()
+set(sdkVersion 2.1.0)
+set(toolchainVersion 13_3_Rel1)
+set(picotoolVersion 2.1.0)
+set(picoVscode ${USERHOME}/.pico-sdk/cmake/pico-vscode.cmake)
+if (EXISTS ${picoVscode})
+    include(${picoVscode})
+endif()
+# ====================================================================================
+set(PICO_BOARD pico CACHE STRING "Board type")
+
+# Pull in Raspberry Pi Pico SDK (must be before project)
+include(pico_sdk_import.cmake)
+
+# Adding FreeRTOS
+set(FREERTOS_KERNEL_PATH ../lib/FreeRTOS-Kernel)
+include(cmake/FreeRTOS_Kernel_import.cmake)
+include(src/gobotrpc/cmake/CMakeLists.txt)
+
+project(i2c-hub-firmware C CXX ASM)
+
+# Initialise the Raspberry Pi Pico SDK
+pico_sdk_init()
+
+# Add executable. Default name is the project name, version 0.1
+
+add_executable(i2c-hub-firmware 
+    src/main_core0.cpp
+    src/main_core1.cpp
+    #src/freeRTOS_impl.c
+    )
+
+pico_set_program_name(i2c-hub-firmware "i2c-hub-firmware")
+pico_set_program_version(i2c-hub-firmware "0.1")
+
+# Modify the below lines to enable/disable output over UART/USB
+pico_enable_stdio_uart(i2c-hub-firmware 1)
+pico_enable_stdio_usb(i2c-hub-firmware 0)
+
+# Add the standard library to the build
+target_link_libraries(i2c-hub-firmware
+        FreeRTOS-Kernel-Heap4
+        GobotRPC
+        pico_stdlib
+    )
+    
+# Add the standard include files to the build
+target_include_directories(i2c-hub-firmware PRIVATE
+  ${CMAKE_CURRENT_LIST_DIR}
+)
+
+# Add any user requested libraries
+target_link_libraries(i2c-hub-firmware 
+        hardware_i2c
+        )
+
+pico_add_extra_outputs(i2c-hub-firmware)
+
--- a/i2c-hub/firmware/i2c-hub-firmware/FreeRTOSConfig.h
+++ b/i2c-hub/firmware/i2c-hub-firmware/FreeRTOSConfig.h
@@ -0,0 +1,143 @@
+/*
+ * FreeRTOS V202111.00
+ * Copyright (C) 2020 Amazon.com, Inc. or its affiliates.  All Rights Reserved.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of
+ * this software and associated documentation files (the "Software"), to deal in
+ * the Software without restriction, including without limitation the rights to
+ * use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of
+ * the Software, and to permit persons to whom the Software is furnished to do so,
+ * subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all
+ * copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS
+ * FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR
+ * COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER
+ * IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN
+ * CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ * http://www.FreeRTOS.org
+ * http://aws.amazon.com/freertos
+ *
+ * 1 tab == 4 spaces!
+ */
+
+#ifndef FREERTOS_CONFIG_H
+#define FREERTOS_CONFIG_H
+
+/*-----------------------------------------------------------
+ * Application specific definitions.
+ *
+ * These definitions should be adjusted for your particular hardware and
+ * application requirements.
+ *
+ * THESE PARAMETERS ARE DESCRIBED WITHIN THE 'CONFIGURATION' SECTION OF THE
+ * FreeRTOS API DOCUMENTATION AVAILABLE ON THE FreeRTOS.org WEB SITE.
+ *
+ * See http://www.freertos.org/a00110.html
+ *----------------------------------------------------------*/
+
+/* Scheduler Related */
+#define configUSE_PREEMPTION                    1
+#define configUSE_TICKLESS_IDLE                 0
+#define configUSE_IDLE_HOOK                     0
+#define configUSE_TICK_HOOK                     0
+#define configTICK_RATE_HZ                      ( ( TickType_t ) 1000 )
+#define configMAX_PRIORITIES                    32
+#define configMINIMAL_STACK_SIZE                ( configSTACK_DEPTH_TYPE ) 256
+#define configUSE_16_BIT_TICKS                  0
+
+#define configIDLE_SHOULD_YIELD                 1
+
+/* Synchronization Related */
+#define configUSE_MUTEXES                       1
+#define configUSE_RECURSIVE_MUTEXES             1
+#define configUSE_APPLICATION_TASK_TAG          0
+#define configUSE_COUNTING_SEMAPHORES           1
+#define configQUEUE_REGISTRY_SIZE               8
+#define configUSE_QUEUE_SETS                    1
+#define configUSE_TIME_SLICING                  1
+#define configUSE_NEWLIB_REENTRANT              0
+// todo need this for lwip FreeRTOS sys_arch to compile
+#define configENABLE_BACKWARD_COMPATIBILITY     1
+#define configNUM_THREAD_LOCAL_STORAGE_POINTERS 5
+
+/* System */
+#define configSTACK_DEPTH_TYPE                  uint32_t
+#define configMESSAGE_BUFFER_LENGTH_TYPE        size_t
+
+/* Memory allocation related definitions. */
+#define configSUPPORT_STATIC_ALLOCATION         0
+#define configSUPPORT_DYNAMIC_ALLOCATION        1
+#define configTOTAL_HEAP_SIZE                   (1024 * 128)
+#define configAPPLICATION_ALLOCATED_HEAP        (1024 * 64)
+
+/* Hook function related definitions. */
+#define configCHECK_FOR_STACK_OVERFLOW          0
+#define configUSE_MALLOC_FAILED_HOOK            0
+#define configUSE_DAEMON_TASK_STARTUP_HOOK      0
+
+/* Run time and task stats gathering related definitions. */
+#define configGENERATE_RUN_TIME_STATS           0
+#define configUSE_TRACE_FACILITY                1
+#define configUSE_STATS_FORMATTING_FUNCTIONS    0
+
+/* Co-routine related definitions. */
+#define configUSE_CO_ROUTINES                   0
+#define configMAX_CO_ROUTINE_PRIORITIES         1
+
+/* Software timer related definitions. */
+#define configUSE_TIMERS                        1
+#define configTIMER_TASK_PRIORITY               ( configMAX_PRIORITIES - 1 )
+#define configTIMER_QUEUE_LENGTH                10
+#define configTIMER_TASK_STACK_DEPTH            1024
+
+/* Interrupt nesting behaviour configuration. */
+/*
+#define configKERNEL_INTERRUPT_PRIORITY         [dependent of processor]
+#define configMAX_SYSCALL_INTERRUPT_PRIORITY    [dependent on processor and application]
+#define configMAX_API_CALL_INTERRUPT_PRIORITY   [dependent on processor and application]
+*/
+
+#if FREE_RTOS_KERNEL_SMP // set by the RP2040 SMP port of FreeRTOS
+/* SMP port only */
+#define configNUMBER_OF_CORES                   2
+#define configTICK_CORE                         0
+#define configRUN_MULTIPLE_PRIORITIES           1
+#define configUSE_CORE_AFFINITY                 1
+#define configUSE_PASSIVE_IDLE_HOOK             0
+#endif
+
+/* RP2040 specific */
+#define configSUPPORT_PICO_SYNC_INTEROP         1
+#define configSUPPORT_PICO_TIME_INTEROP         1
+
+#include <assert.h>
+/* Define to trap errors during development. */
+#define configASSERT(x)                         assert(x)
+
+/* Set the following definitions to 1 to include the API function, or zero
+to exclude the API function. */
+#define INCLUDE_vTaskPrioritySet                1
+#define INCLUDE_uxTaskPriorityGet               1
+#define INCLUDE_vTaskDelete                     1
+#define INCLUDE_vTaskSuspend                    1
+#define INCLUDE_vTaskDelayUntil                 1
+#define INCLUDE_vTaskDelay                      1
+#define INCLUDE_xTaskGetSchedulerState          1
+#define INCLUDE_xTaskGetCurrentTaskHandle       1
+#define INCLUDE_uxTaskGetStackHighWaterMark     1
+#define INCLUDE_xTaskGetIdleTaskHandle          1
+#define INCLUDE_eTaskGetState                   1
+#define INCLUDE_xTimerPendFunctionCall          1
+#define INCLUDE_xTaskAbortDelay                 1
+#define INCLUDE_xTaskGetHandle                  1
+#define INCLUDE_xTaskResumeFromISR              1
+#define INCLUDE_xQueueGetMutexHolder            1
+
+/* A header file that defines trace macro can be included here. */
+
+#endif /* FREERTOS_CONFIG_H */
--- a/i2c-hub/firmware/i2c-hub-firmware/cmake/FreeRTOS_Kernel_import.cmake
+++ b/i2c-hub/firmware/i2c-hub-firmware/cmake/FreeRTOS_Kernel_import.cmake
@@ -0,0 +1,61 @@
+# This is a copy of <FREERTOS_KERNEL_PATH>/portable/ThirdParty/GCC/RP2040/FREERTOS_KERNEL_import.cmake
+
+# This can be dropped into an external project to help locate the FreeRTOS kernel
+# It should be include()ed prior to project(). Alternatively this file may
+# or the CMakeLists.txt in this directory may be included or added via add_subdirectory
+# respectively.
+
+if (DEFINED ENV{FREERTOS_KERNEL_PATH} AND (NOT FREERTOS_KERNEL_PATH))
+    set(FREERTOS_KERNEL_PATH $ENV{FREERTOS_KERNEL_PATH})
+    message("Using FREERTOS_KERNEL_PATH from environment ('${FREERTOS_KERNEL_PATH}')")
+endif ()
+
+set(FREERTOS_KERNEL_RP2040_RELATIVE_PATH "portable/ThirdParty/GCC/RP2040")
+# undo the above
+set(FREERTOS_KERNEL_RP2040_BACK_PATH "../../../..")
+
+if (NOT FREERTOS_KERNEL_PATH)
+    # check if we are inside the FreeRTOS kernel tree (i.e. this file has been included directly)
+    get_filename_component(_ACTUAL_PATH ${CMAKE_CURRENT_LIST_DIR} REALPATH)
+    get_filename_component(_POSSIBLE_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH} REALPATH)
+    if (_ACTUAL_PATH STREQUAL _POSSIBLE_PATH)
+        get_filename_component(FREERTOS_KERNEL_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH} REALPATH)
+    endif()
+    if (_ACTUAL_PATH STREQUAL _POSSIBLE_PATH)
+        get_filename_component(FREERTOS_KERNEL_PATH ${CMAKE_CURRENT_LIST_DIR}/${FREERTOS_KERNEL_RP2040_BACK_PATH} REALPATH)
+        message("Setting FREERTOS_KERNEL_PATH to ${FREERTOS_KERNEL_PATH} based on location of FreeRTOS-Kernel-import.cmake")
+    elseif (PICO_SDK_PATH AND EXISTS "${PICO_SDK_PATH}/../FreeRTOS-Kernel")
+        set(FREERTOS_KERNEL_PATH ${PICO_SDK_PATH}/../FreeRTOS-Kernel)
+        message("Defaulting FREERTOS_KERNEL_PATH as sibling of PICO_SDK_PATH: ${FREERTOS_KERNEL_PATH}")
+    endif()
+endif ()
+
+if (NOT FREERTOS_KERNEL_PATH)
+    foreach(POSSIBLE_SUFFIX Source FreeRTOS-Kernel FreeRTOS/Source)
+        # check if FreeRTOS-Kernel exists under directory that included us
+        set(SEARCH_ROOT ${CMAKE_CURRENT_SOURCE_DIR})
+        get_filename_component(_POSSIBLE_PATH ${SEARCH_ROOT}/${POSSIBLE_SUFFIX} REALPATH)
+        if (EXISTS ${_POSSIBLE_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}/CMakeLists.txt)
+            get_filename_component(FREERTOS_KERNEL_PATH ${_POSSIBLE_PATH} REALPATH)
+            message("Setting FREERTOS_KERNEL_PATH to '${FREERTOS_KERNEL_PATH}' found relative to enclosing project")
+            break()
+        endif()
+    endforeach()
+endif()
+
+if (NOT FREERTOS_KERNEL_PATH)
+    message(FATAL_ERROR "FreeRTOS location was not specified. Please set FREERTOS_KERNEL_PATH.")
+endif()
+
+set(FREERTOS_KERNEL_PATH "${FREERTOS_KERNEL_PATH}" CACHE PATH "Path to the FreeRTOS Kernel")
+
+get_filename_component(FREERTOS_KERNEL_PATH "${FREERTOS_KERNEL_PATH}" REALPATH BASE_DIR "${CMAKE_BINARY_DIR}")
+if (NOT EXISTS ${FREERTOS_KERNEL_PATH})
+    message(FATAL_ERROR "Directory '${FREERTOS_KERNEL_PATH}' not found")
+endif()
+if (NOT EXISTS ${FREERTOS_KERNEL_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}/CMakeLists.txt)
+    message(FATAL_ERROR "Directory '${FREERTOS_KERNEL_PATH}' does not contain an RP2040 port here: ${FREERTOS_KERNEL_RP2040_RELATIVE_PATH}")
+endif()
+set(FREERTOS_KERNEL_PATH ${FREERTOS_KERNEL_PATH} CACHE PATH "Path to the FreeRTOS_KERNEL" FORCE)
+
+add_subdirectory(${FREERTOS_KERNEL_PATH}/${FREERTOS_KERNEL_RP2040_RELATIVE_PATH} FREERTOS_KERNEL)
--- a/i2c-hub/firmware/i2c-hub-firmware/docs/.$NetworkStack.drawio.bkp
+++ b/i2c-hub/firmware/i2c-hub-firmware/docs/.$NetworkStack.drawio.bkp
--- a/i2c-hub/firmware/i2c-hub-firmware/docs/NetworkStack.drawio
+++ b/i2c-hub/firmware/i2c-hub-firmware/docs/NetworkStack.drawio
--- a/i2c-hub/firmware/i2c-hub-firmware/lib/FreeRTOS-Kernel
+++ b/i2c-hub/firmware/i2c-hub-firmware/lib/FreeRTOS-Kernel
--- a/i2c-hub/firmware/i2c-hub-firmware/pico_sdk_import.cmake
+++ b/i2c-hub/firmware/i2c-hub-firmware/pico_sdk_import.cmake
@@ -0,0 +1,84 @@
+# This is a copy of <PICO_SDK_PATH>/external/pico_sdk_import.cmake
+
+# This can be dropped into an external project to help locate this SDK
+# It should be include()ed prior to project()
+
+if (DEFINED ENV{PICO_SDK_PATH} AND (NOT PICO_SDK_PATH))
+    set(PICO_SDK_PATH $ENV{PICO_SDK_PATH})
+    message("Using PICO_SDK_PATH from environment ('${PICO_SDK_PATH}')")
+endif ()
+
+if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT} AND (NOT PICO_SDK_FETCH_FROM_GIT))
+    set(PICO_SDK_FETCH_FROM_GIT $ENV{PICO_SDK_FETCH_FROM_GIT})
+    message("Using PICO_SDK_FETCH_FROM_GIT from environment ('${PICO_SDK_FETCH_FROM_GIT}')")
+endif ()
+
+if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT_PATH} AND (NOT PICO_SDK_FETCH_FROM_GIT_PATH))
+    set(PICO_SDK_FETCH_FROM_GIT_PATH $ENV{PICO_SDK_FETCH_FROM_GIT_PATH})
+    message("Using PICO_SDK_FETCH_FROM_GIT_PATH from environment ('${PICO_SDK_FETCH_FROM_GIT_PATH}')")
+endif ()
+
+if (DEFINED ENV{PICO_SDK_FETCH_FROM_GIT_TAG} AND (NOT PICO_SDK_FETCH_FROM_GIT_TAG))
+    set(PICO_SDK_FETCH_FROM_GIT_TAG $ENV{PICO_SDK_FETCH_FROM_GIT_TAG})
+    message("Using PICO_SDK_FETCH_FROM_GIT_TAG from environment ('${PICO_SDK_FETCH_FROM_GIT_TAG}')")
+endif ()
+
+if (PICO_SDK_FETCH_FROM_GIT AND NOT PICO_SDK_FETCH_FROM_GIT_TAG)
+  set(PICO_SDK_FETCH_FROM_GIT_TAG "master")
+  message("Using master as default value for PICO_SDK_FETCH_FROM_GIT_TAG")
+endif()
+
+set(PICO_SDK_PATH "${PICO_SDK_PATH}" CACHE PATH "Path to the Raspberry Pi Pico SDK")
+set(PICO_SDK_FETCH_FROM_GIT "${PICO_SDK_FETCH_FROM_GIT}" CACHE BOOL "Set to ON to fetch copy of SDK from git if not otherwise locatable")
+set(PICO_SDK_FETCH_FROM_GIT_PATH "${PICO_SDK_FETCH_FROM_GIT_PATH}" CACHE FILEPATH "location to download SDK")
+set(PICO_SDK_FETCH_FROM_GIT_TAG "${PICO_SDK_FETCH_FROM_GIT_TAG}" CACHE FILEPATH "release tag for SDK")
+
+if (NOT PICO_SDK_PATH)
+    if (PICO_SDK_FETCH_FROM_GIT)
+        include(FetchContent)
+        set(FETCHCONTENT_BASE_DIR_SAVE ${FETCHCONTENT_BASE_DIR})
+        if (PICO_SDK_FETCH_FROM_GIT_PATH)
+            get_filename_component(FETCHCONTENT_BASE_DIR "${PICO_SDK_FETCH_FROM_GIT_PATH}" REALPATH BASE_DIR "${CMAKE_SOURCE_DIR}")
+        endif ()
+        # GIT_SUBMODULES_RECURSE was added in 3.17
+        if (${CMAKE_VERSION} VERSION_GREATER_EQUAL "3.17.0")
+            FetchContent_Declare(
+                    pico_sdk
+                    GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk
+                    GIT_TAG ${PICO_SDK_FETCH_FROM_GIT_TAG}
+                    GIT_SUBMODULES_RECURSE FALSE
+            )
+        else ()
+            FetchContent_Declare(
+                    pico_sdk
+                    GIT_REPOSITORY https://github.com/raspberrypi/pico-sdk
+                    GIT_TAG ${PICO_SDK_FETCH_FROM_GIT_TAG}
+            )
+        endif ()
+
+        if (NOT pico_sdk)
+            message("Downloading Raspberry Pi Pico SDK")
+            FetchContent_Populate(pico_sdk)
+            set(PICO_SDK_PATH ${pico_sdk_SOURCE_DIR})
+        endif ()
+        set(FETCHCONTENT_BASE_DIR ${FETCHCONTENT_BASE_DIR_SAVE})
+    else ()
+        message(FATAL_ERROR
+                "SDK location was not specified. Please set PICO_SDK_PATH or set PICO_SDK_FETCH_FROM_GIT to on to fetch from git."
+                )
+    endif ()
+endif ()
+
+get_filename_component(PICO_SDK_PATH "${PICO_SDK_PATH}" REALPATH BASE_DIR "${CMAKE_BINARY_DIR}")
+if (NOT EXISTS ${PICO_SDK_PATH})
+    message(FATAL_ERROR "Directory '${PICO_SDK_PATH}' not found")
+endif ()
+
+set(PICO_SDK_INIT_CMAKE_FILE ${PICO_SDK_PATH}/pico_sdk_init.cmake)
+if (NOT EXISTS ${PICO_SDK_INIT_CMAKE_FILE})
+    message(FATAL_ERROR "Directory '${PICO_SDK_PATH}' does not appear to contain the Raspberry Pi Pico SDK")
+endif ()
+
+set(PICO_SDK_PATH ${PICO_SDK_PATH} CACHE PATH "Path to the Raspberry Pi Pico SDK" FORCE)
+
+include(${PICO_SDK_INIT_CMAKE_FILE})
--- a/i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/cmake/CMakeLists.txt
+++ b/i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/cmake/CMakeLists.txt
@@ -0,0 +1,27 @@
+add_library(GobotRPC STATIC
+    ${CMAKE_CURRENT_LIST_DIR}/../ctrl_interface/base.cpp
+    ${CMAKE_CURRENT_LIST_DIR}/../ctrl_interface/ci_instruction.cpp
+    ${CMAKE_CURRENT_LIST_DIR}/../ctrl_interface/uart_rp2040/hardware_rp2040_uart.cpp
+    ${CMAKE_CURRENT_LIST_DIR}/../ctrl_interface/uart_rp2040/rx.cpp
+    ${CMAKE_CURRENT_LIST_DIR}/../crc16.cpp
+    ${CMAKE_CURRENT_LIST_DIR}/../protocol_base.cpp
+    ${CMAKE_CURRENT_LIST_DIR}/../transmission_interface/rp2040_i2c_init.cpp
+    ${CMAKE_CURRENT_LIST_DIR}/../transmission_interface/rp2040_i2c_tx.cpp
+    ${CMAKE_CURRENT_LIST_DIR}/../transmission_interface/rp2040_i2c_rx.cpp
+    ${CMAKE_CURRENT_LIST_DIR}/../transmission_interface/rp2040_i2c_int.cpp
+    ${CMAKE_CURRENT_LIST_DIR}/../transmission_interface/rp2040_i2c_ci_instructions.cpp
+)
+
+target_include_directories(GobotRPC PUBLIC 
+    ${CMAKE_CURRENT_LIST_DIR}/../include
+    ${CMAKE_CURRENT_LIST_DIR}/../include/ti
+    ${CMAKE_CURRENT_LIST_DIR}/../../..
+)
+
+target_link_libraries(GobotRPC
+    FreeRTOS-Kernel-Heap4
+    pico_stdlib
+    hardware_uart
+    hardware_irq
+    hardware_i2c
+)
--- a/i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/crc16.cpp
+++ b/i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/crc16.cpp
@@ -0,0 +1,37 @@
+#define POLY 0x8408
+/*
+//                                      16   12   5
+// this is the CCITT CRC 16 polynomial X  + X  + X  + 1.
+// This works out to be 0x1021, but the way the algorithm works
+// lets us use 0x8408 (the reverse of the bit pattern).  The high
+// bit is always assumed to be set, thus we only use 16 bits to
+// represent the 17 bit value.
+*/
+
+unsigned short crc16(char *data_p, unsigned short length)
+{
+      unsigned char i;
+      unsigned int data;
+      unsigned int crc = 0xffff;
+
+      if (length == 0)
+            return (~crc);
+
+      do
+      {
+            for (i=0, data=(unsigned int)0xff & *data_p++;
+                 i < 8; 
+                 i++, data >>= 1)
+            {
+                  if ((crc & 0x0001) ^ (data & 0x0001))
+                        crc = (crc >> 1) ^ POLY;
+                  else  crc >>= 1;
+            }
+      } while (--length);
+
+      crc = ~crc;
+      data = crc;
+      crc = (crc << 8) | (data >> 8 & 0xff);
+
+      return (crc);
+}
--- a/i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/ctrl_interface/base.cpp
+++ b/i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/ctrl_interface/base.cpp
@@ -0,0 +1,70 @@
+#include "ctrl_interface.hpp"
+#include "pinConfig.hpp"
+
+#include "FreeRTOSConfig.h"
+#include "FreeRTOS.h"
+#include "task.h"
+
+
+GobotRPC_CI::GobotRPC_CI(I_GobotRPC_CI_Hardware *hardware, UBaseType_t core, QueueHandle_t ciInstructionQueue) {
+    this->ciInstructionQueue = ciInstructionQueue;
+    
+    this->hardware = hardware;
+    this->hardware->registerCB_RxData(GobotRPC_CI_rxData_cb, this);
+
+    xTaskCreateAffinitySet(GobotRPC_CI_heartBeatTaskFn, "Heartbeat Task", 2048, this, 2, core, &this->heartBeatTaskHandle);
+    xTaskCreateAffinitySet(GobotRPC_CI_txCIInstructionTaskFn, "Tx CI Instruction Task", 2048, this, 3, core, &this->txCIInstructionTaskHandle);
+}
+
+// Rx Side
+void GobotRPC_CI_rxData_cb(void * args, char *data, size_t len) {
+    GobotRPC_CI *gobotRPC = (GobotRPC_CI *)args;
+    gobotRPC->onRxData(data, len);
+}
+
+void GobotRPC_CI::onRxData(char *data, size_t len) {
+    GobotRPC_CI_CMD cmd = (GobotRPC_CI_CMD)data[0];
+
+    switch (cmd) {
+        case TX_CI_PACKET:
+            if(this->cb_TxPacket != NULL) {
+                uint32_t addr = (data[2] << 24) | (data[3] << 16) | (data[4] << 8) | data[5];
+                this->cb_TxPacket(this->cb_TxPacket_args, data+6, len-6, addr);
+            }
+            break;
+        default:
+            break;
+    }
+}
+
+void GobotRPC_CI::registerCB_TxPacket(callback_TxPacket cb, void *args) {
+    this->cb_TxPacket = cb;
+    this->cb_TxPacket_args = args;
+}
+
+void GobotRPC_CI::send_RxPacket(char *data, size_t len, uint32_t addr) {
+    data[0] = RX_CI_PACKET;
+    data[1] = len + CI_RX_PACKAGE_DATA_OFFSET;
+
+    data[2] = (addr >> 24) & 0xff;
+    data[3] = (addr >> 16) & 0xff;
+    data[4] = (addr >> 8) & 0xff;
+    data[5] = addr & 0xff;
+
+    this->hardware->send(data, len+6);
+}
+
+// Heartbeat Task
+
+void GobotRPC_CI_heartBeatTaskFn(void *args) {
+    GobotRPC_CI *gobotRPC = (GobotRPC_CI *)args;
+    gobotRPC->heartBeartTaskFn();
+}
+
+void GobotRPC_CI::heartBeartTaskFn() {
+    char heartBeatPacket[] = {HEARTBEAT, 0x02};
+    while(1) {
+        this->hardware->send(heartBeatPacket, 2);
+        vTaskDelay(GOBOTRPC_HEARTBEAT_INTERVAL / portTICK_PERIOD_MS);
+    }
+}
--- a/i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/ctrl_interface/ci_instruction.cpp
+++ b/i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/ctrl_interface/ci_instruction.cpp
@@ -0,0 +1,60 @@
+#include "ctrl_interface.hpp"
+
+#include "ctrl_interface_instructions.hpp"
+
+#include "FreeRTOS.h"
+#include "task.h"
+#include "queue.h"
+
+void GobotRPC_CI_txCIInstructionTaskFn(void *args) {
+    GobotRPC_CI *gobotRPC = (GobotRPC_CI *)args;
+    gobotRPC->txCIInstructionTask();
+}
+
+void GobotRPC_CI::txCIInstructionTask() {
+    while(1) {
+        CI_Instruction_Transport ciInstruction;
+        xQueueReceive(ciInstructionQueue, &ciInstruction, portMAX_DELAY);
+
+        switch (ciInstruction.type) {
+            case CI_INSTRUCTION_SEND_TRANMISSION_ERROR: {
+                uint32_t addr = ciInstruction.data[1] | (ciInstruction.data[2] << 8) | (ciInstruction.data[3] << 16) | (ciInstruction.data[4] << 24);
+                uint8_t rx = ciInstruction.data[0];
+                send_ErrorTransmission(rx, addr);
+                break;
+            }
+            case CI_INSTRUCTION_SEND_TRANMISSION_SUCCESS: {
+                uint32_t addr = ciInstruction.data[1] | (ciInstruction.data[2] << 8) | (ciInstruction.data[3] << 16) | (ciInstruction.data[4] << 24);
+                send_SuccessTransmission(addr);
+                break;
+            }
+        }
+    }
+}
+
+void GobotRPC_CI::send_ErrorTransmission(bool rx, uint64_t addr) {
+    char errorPacket[7];
+
+    errorPacket[0] = ERROR_TRANMISSION;
+    errorPacket[1] = 7;
+    errorPacket[2] = rx ? 0x01 : 0x00;
+    errorPacket[3] = (addr >> 24) & 0xff;
+    errorPacket[4] = (addr >> 16) & 0xff;
+    errorPacket[5] = (addr >> 8) & 0xff;
+    errorPacket[6] = addr & 0xff;
+
+    this->hardware->send(errorPacket, 7);
+}
+
+void GobotRPC_CI::send_SuccessTransmission(uint64_t addr) {
+    char successPacket[6];
+
+    successPacket[0] = SUCESS_TRANMISSION;
+    successPacket[1] = 6;
+    successPacket[2] = (addr >> 24) & 0xff;
+    successPacket[3] = (addr >> 16) & 0xff;
+    successPacket[4] = (addr >> 8) & 0xff;
+    successPacket[5] = addr & 0xff;
+
+    this->hardware->send(successPacket, 6);
+}
--- a/i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/ctrl_interface/uart_rp2040/hardware_rp2040_uart.cpp
+++ b/i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/ctrl_interface/uart_rp2040/hardware_rp2040_uart.cpp
@@ -0,0 +1,54 @@
+#include "ctrl_interface_hardware.hpp"
+#include "pinConfig.hpp"
+
+#include "pico/stdlib.h"
+#include "hardware/uart.h"
+
+#include "FreeRTOS.h"
+#include "task.h"
+#include "queue.h"
+#include <string.h>
+
+// Initialize stuff
+GobotRPC_CI_Hardware_RP2040_UART * g_GobotRPC_CI_Hardware_RP2040_UART;
+
+GobotRPC_CI_Hardware_RP2040_UART::GobotRPC_CI_Hardware_RP2040_UART(uart_inst_t *uart, uint baudrate, UBaseType_t core) {
+    g_GobotRPC_CI_Hardware_RP2040_UART = this;
+    this->core = core;
+
+    initRxTaskAndQueues();
+
+    uartTxMutex = xSemaphoreCreateMutex();
+
+    this->uart = uart;
+    uart_init(this->uart, baudrate);
+    
+    gpio_set_function(GOBOTRPC_CI_UART_RX, UART_FUNCSEL_NUM(uart, GOBOTRPC_CI_UART_RX));
+    gpio_set_function(GOBOTRPC_CI_UART_TX, UART_FUNCSEL_NUM(uart, GOBOTRPC_CI_UART_TX));
+    
+    uart_set_hw_flow(uart, false, false);
+    uart_set_format(uart, 8, 1, UART_PARITY_NONE);
+    uart_set_baudrate(uart, baudrate);
+    uart_set_fifo_enabled(uart, true);
+
+    int UART_IRQ = uart == uart0 ? UART0_IRQ : UART1_IRQ;
+
+    irq_set_exclusive_handler(UART_IRQ, GobotRPC_CI_Hardware_RP2040_UART_isr);
+    irq_set_enabled(UART_IRQ, true);
+
+    uart_set_irq_enables(uart, true, false);
+}
+
+void GobotRPC_CI_Hardware_RP2040_UART::registerCB_RxData(callback_rxData cb, void *args) {
+    this->cb_rxData = cb;
+    this->cb_rxData_args = args;
+}
+
+
+// Sending data
+void GobotRPC_CI_Hardware_RP2040_UART::send(char *data, size_t len) {
+    xSemaphoreTake(uartTxMutex, portMAX_DELAY);
+    uart_write_blocking(this->uart, (uint8_t *)(data), len);
+    uart_tx_wait_blocking(this->uart);
+    xSemaphoreGive(uartTxMutex);
+}
--- a/i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/ctrl_interface/uart_rp2040/rx.cpp
+++ b/i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/ctrl_interface/uart_rp2040/rx.cpp
@@ -0,0 +1,121 @@
+#include "ctrl_interface_hardware.hpp"
+#include "pico/stdlib.h"
+
+#include <string.h>
+
+#include "FreeRTOS.h"
+#include "FreeRTOSConfig.h"
+
+// External Functions
+void GobotRPC_CI_Hardware_RP2040_UART_isr() {
+    GobotRPC_CI_Hardware_RP2040_UART *uart = (GobotRPC_CI_Hardware_RP2040_UART *)g_GobotRPC_CI_Hardware_RP2040_UART;
+    uart->onRx_ISR();
+};
+
+void GobotRPC_CI_Hardware_RP2040_UART_Task_RXProcessing(void *args) {
+    GobotRPC_CI_Hardware_RP2040_UART *uart = (GobotRPC_CI_Hardware_RP2040_UART *)args;
+    uart->rxProcessingTaskFn();
+}
+
+// Init
+
+void GobotRPC_CI_Hardware_RP2040_UART::initRxTaskAndQueues() {
+    emptyInputBuffersQueue = xQueueCreate(NUM_INPUT_BUFFERS, sizeof(inputBuffers_t *));
+    filledInputBuffersQueue = xQueueCreate(NUM_INPUT_BUFFERS, sizeof(inputBuffers_t *));
+
+    for(int i = 0; i < NUM_INPUT_BUFFERS; i++) {
+        inputBuffers_t * p = &inputBufferPool[i];
+        memset(p->data, 0xff, 256);
+        p->len = 0;
+        p->state = NEW;
+        p->expected_length = 0;
+        xQueueSend(emptyInputBuffersQueue, &p, portMAX_DELAY);
+    }
+
+    rxSignalSemaphore = xSemaphoreCreateBinary();
+    
+    xTaskCreateAffinitySet(GobotRPC_CI_Hardware_RP2040_UART_Task_RXProcessing, "UART RX Processing", 1024, this, 3, core, &this->rxProcessingTaskHandle);
+}
+
+inputBufferRXState_t fillBuffer(inputBuffers_t * buffer, char data) {
+    switch(buffer->state) {
+        case NEW:
+            buffer->data[0] = data;
+            buffer->len = 1;
+            buffer->state = READ_SIZE;
+            break;
+        
+        case READ_SIZE:
+            buffer->data[1] = data;
+            buffer->expected_length = data;
+            buffer->len += 1;
+
+            if(buffer->len == buffer->expected_length) {
+                buffer->state = FULL;
+            } else {
+                buffer->state = READ_DATA;
+            }
+            break;
+
+        case READ_DATA:
+            buffer->data[buffer->len] = data;
+            buffer->len += 1;
+
+            if(buffer->len == buffer->expected_length) {
+                buffer->state = FULL;
+            } else {
+                buffer->state = READ_DATA;
+            }
+            break;
+
+        case FULL:
+            break;
+    }
+    return buffer->state;
+}
+
+// real Task Fns
+void GobotRPC_CI_Hardware_RP2040_UART::onRx_ISR() {
+    BaseType_t xHigherPriorityTaskWoken = pdFALSE;
+
+    static inputBuffers_t * inputBuffer = NULL;
+
+    while (uart_is_readable(this->uart)) {
+
+        if(inputBuffer == NULL) {
+            xQueueReceiveFromISR(emptyInputBuffersQueue, &inputBuffer, &xHigherPriorityTaskWoken);
+
+            if(inputBuffer == NULL) {
+                return; // No more buffers -> device overload
+            }
+
+            inputBuffer->state = NEW;
+            inputBuffer->len = 0;
+            inputBuffer->expected_length = 0;
+        }
+
+        inputBufferRXState_t state = fillBuffer(inputBuffer, uart_getc(this->uart));
+
+        if (state == FULL) {
+            xQueueSendFromISR(filledInputBuffersQueue, &inputBuffer, &xHigherPriorityTaskWoken);
+            inputBuffer = NULL;
+        }
+    }
+
+    portYIELD_FROM_ISR(xHigherPriorityTaskWoken);
+}
+
+
+void GobotRPC_CI_Hardware_RP2040_UART::rxProcessingTaskFn() {
+    inputBuffers_t * inputBuffer = NULL;
+
+    while(1) {
+        xQueueReceive(filledInputBuffersQueue, &inputBuffer, portMAX_DELAY);
+
+        if(this->cb_rxData != NULL) {
+            this->cb_rxData(this->cb_rxData_args, inputBuffer->data, inputBuffer->len);
+        }
+
+        vTaskDelay(1000);
+    }
+}  
--- a/i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/include/crc16.hpp
+++ b/i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/include/crc16.hpp
@@ -0,0 +1,2 @@
+#pragma once
+unsigned short crc16(char *data_p, unsigned short length);
--- a/i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/include/ctrl_interface.hpp
+++ b/i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/include/ctrl_interface.hpp
@@ -0,0 +1,51 @@
+#pragma once
+#include "ctrl_interface_hardware.hpp"
+#include <strings.h>
+
+enum GobotRPC_CI_CMD {
+    TX_CI_PACKET = 0x01,
+    RX_CI_PACKET = 0x02,
+    PERFORM_SCAN_CI_PACKET = 0x03,
+    SCAN_RESULT_CI_PACKET = 0x04,
+    SUCESS_TRANMISSION = 0xfc,
+    ERROR_TRANMISSION = 0xfd,
+    HEARTBEAT = 0xff
+};
+
+#define CI_TX_PACKAGE_DATA_OFFSET 6
+#define CI_TX_PACKAGE_SIZE(data_len) (data_len + CI_TX_PACKAGE_SIZE)
+
+#define CI_RX_PACKAGE_DATA_OFFSET 6
+#define CI_RX_PACKAGE_SIZE(data_len) (data_len + CI_RX_PACKAGE_DATA_OFFSET)
+
+typedef void (*callback_TxPacket)(void * args, char *data, size_t len, uint32_t addr);
+void GobotRPC_CI_rxData_cb(void * args, char *data, size_t len);
+void GobotRPC_CI_heartBeatTaskFn(void *args);
+void GobotRPC_CI_txCIInstructionTaskFn(void *args);
+
+class GobotRPC_CI {
+private:
+    I_GobotRPC_CI_Hardware *hardware;
+
+    callback_TxPacket cb_TxPacket;
+    void * cb_TxPacket_args;
+
+    TaskHandle_t heartBeatTaskHandle;
+    TaskHandle_t txCIInstructionTaskHandle;
+
+    QueueHandle_t ciInstructionQueue;
+public:
+    GobotRPC_CI(I_GobotRPC_CI_Hardware *hardware, UBaseType_t core, QueueHandle_t ciInstructionQueue);
+
+    void registerCB_TxPacket(callback_TxPacket cb, void *args);
+    void send_RxPacket(char *data, size_t len, uint32_t addr);
+
+    void onRxData(char *data, size_t len);
+
+    void heartBeartTaskFn();
+
+    // CI Instruction Stuff
+    void txCIInstructionTask();
+    void send_ErrorTransmission(bool rx, uint64_t addr);
+    void send_SuccessTransmission(uint64_t addr);
+};
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
AlexanderHD27	db464efa36	Added Transmission Sucess	2025-01-03 20:10:15 +01:00
AlexanderHD27	aa9d00bf6e	Implement I2C	2025-01-03 19:54:13 +01:00
AlexanderHD27	bac01e3a9b	Switched hub Freertos to multicore	2025-01-03 12:48:10 +01:00
AlexanderHD27	1fd8737fe4	Fixed major UART Issue, I hate it	2025-01-03 12:33:51 +01:00
AlexanderHD27	cbf702c6d5	Implemented PACKET_RX,PACKET_TX and Heartbeat of GobotRPC_CtrlInterface	2025-01-03 02:24:34 +01:00
AlexanderHD27	894d5f4380	Implement First Message for Gobot Ctrl Interface	2025-01-02 23:03:23 +01:00
AlexanderHD27	78a5148a1e	Finished Head Softaware	2025-01-02 19:10:59 +01:00
AlexanderHD27	0bb125fad9	Finished Firmware for Vacum	2025-01-02 03:55:45 +01:00
AlexanderHD27	ad61e7e9b7	Goto CoreXY to work	2025-01-01 19:44:15 +01:00
AlexanderHD27	c136056ed2	Got homing sequenc to work, ....again	2025-01-01 16:47:53 +01:00
AlexanderHD27	edc2dd6294	Renamed Files and added Heart beat	2024-12-30 17:17:07 +01:00
AlexanderHD27	58043ee0d5	Paritailly implement UART for RP2040 for the GobotRPC Controller Interface	2024-12-30 16:09:39 +01:00
AlexanderHD27	65df7b1912	Implemented UART_CTRL Interface (missing Hardware implementation)	2024-12-30 02:23:38 +01:00
AlexanderHD27	877040362c	Build RPC Parsers	2024-12-30 00:46:36 +01:00
AlexanderHD27	ec2225aa4e	Got Pico SDK + FreeRTOS to work	2024-12-29 17:30:22 +01:00
AlexanderHD27	6ef60a3f2f	Merge branch 'motor-ctrl-firmware' into i2c-helpere # Conflicts: # .gitmodules # can-interface/.gitignore # can-interface/.vscode/settings.json # can-interface/main/CMakeLists.txt # can-interface/main/hello_world_main.cpp # common-libaries/mcp2521/include/mcp2521.hpp # common-libaries/mcp2521/include/mcp2521_command.hpp # common-libaries/mcp2521/include/mcp2521_toplevel.hpp # common-libaries/mcp2521/interface_commands.cpp # common-libaries/mcp2521/interface_interrupts.cpp # common-libaries/mcp2521_hardware_interface/CMakeLists.txt # common-libaries/mcp2521_hardware_interface/esp_implementation_cmd.cpp # common-libaries/mcp2521_hardware_interface/esp_implementation_init.cpp # common-libaries/mcp2521_hardware_interface/esp_implementation_int.cpp # common-libaries/mcp2521_hardware_interface/include/mcp2521_hardware_esp.hpp # common-libaries/mcp2521_hardware_interface/include/mcp2521_hardware_handle.hpp # motor-control/firmware/cmake/tmc2209.cmake	2024-12-29 11:40:22 +01:00
AlexanderHD27	6f107aea76	Added Circuit	2024-12-29 11:37:43 +01:00
AlexanderHD27	801e791199	Did stuff	2024-12-28 22:47:46 +01:00
AlexanderHD27	bdec2db94d	Gobot RPC Stack	2024-11-27 23:29:05 +01:00
AlexanderHD27	c1dc89eb58	Implement Multi-Bus CAN Interfaces	2024-11-23 01:25:29 +01:00
AlexanderHD27	f26cc07558	Create Spec for CAN-Protocol Stack and Doc of CAN-Interface Circuit	2024-11-12 00:20:48 +01:00
AlexanderHD27	c6fd825e39	Moved CAN Interface code to comment libary folder with symlink	2024-11-06 23:14:14 +01:00
AlexanderHD27	e7a0035041	Got MCP2521 to work	2024-11-06 22:01:28 +01:00
AlexanderHD27	4bfb1f533e	Did something to YGantryMount. It works. trust me	2024-10-16 21:29:35 +02:00
AlexanderHD27	5683168a47	Implemented Command-Level Interaction with CAN Interface	2024-10-16 21:28:36 +02:00
AlexanderHD27	9c0c676be8	Added Vscode Profile file	2024-10-14 09:20:37 +02:00
AlexanderHD27	b150a905a3	Implemented Low Level Compunications	2024-10-14 09:19:00 +02:00
AlexanderHD27	7eebf619ae	Created Head Pipe Mount	2024-10-07 14:46:15 +02:00
AlexanderHD27	93c40e1805	First Revision of YGantryMount	2024-10-07 14:44:11 +02:00
AlexanderHD27	91c2125458	Added Kicad Backups 2 gitignore	2024-10-03 19:53:11 +02:00
AlexanderHD27	096a6c18d6	Created ESP-IDF for can-interface	2024-10-03 19:49:21 +02:00
AlexanderHD27	48fded7981	Added files from Pico sdk to gitignore	2024-09-28 19:54:29 +02:00
AlexanderHD27	ec5e5cbf13	Create Marker for position Calibration	2024-09-14 21:09:50 +02:00
AlexanderHD27	58d31964b2	Upgrade to pico SDK 2.0.0	2024-09-13 22:15:15 +02:00
				`@@ -0,0 +1 @@`
				`<!DOCTYPE HTML><html lang="en-US"> <head> <meta charset="UTF-8"> <meta http-equiv="refresh" content="0; url=https://www.snapeda.com/about/import/#"> <script type="text/javascript">window.location.href="https://www.snapeda.com/about/import/#" </script> <title>Page Redirection</title> </head> <body> If you are not redirected automatically, follow this <a href="https://www.snapeda.com/about/import/#">link to the import guide</a>. </body></html>`
				`@@ -0,0 +1 @@`
				`/home/alexander/Projects/gobot/common-libaries/gobot_rpc`
				`@@ -0,0 +1 @@`
				`/home/alexander/Projects/gobot/i2c-hub/circuit/i2c-hub/_autosave-i2c-hub.kicad_sch`