Build text base interface

Implemented RPCs for CoreXY
Got GoRPC on Head working
2025-01-09 03:10:03 +01:00 · 2025-01-08 21:19:03 +01:00 · 2025-01-08 01:00:13 +01:00 · 2025-01-07 23:59:21 +01:00 · 2025-01-07 23:33:01 +01:00 · 2025-01-07 21:13:38 +01:00
275 changed files with 49858 additions and 116 deletions
--- a/.gitignore
+++ b/.gitignore
--- a/.gitmodules
+++ b/.gitmodules
--- a/can-interface/.gitignore
+++ b/can-interface/.gitignore
--- a/can-interface/.vscode/settings.json
+++ b/can-interface/.vscode/settings.json
@@ -14,6 +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);
+    vTaskDelay(100 / portTICK_PERIOD_MS);
-    gpio_set_level(EXTERNAL_TRIGGER, true);
+    
    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(
+    mcp2521_0.reset();
-        VSPI_HOST,
+    mcp2521_1.reset();
-        &spi_bus,
+    mcp2521_0.enable_interrupts(true, true, true, true, true, true, true, true);
-        SPI_PIN_MOSI,
+    mcp2521_1.enable_interrupts(true, true, true, true, true, true, true, true);
        SPI_PIN_MISO,
        SPI_PIN_SCLK,
        SPI_PIN_CS0,
        CAN_INT_PIN
    );
-    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);
+    //printf("CANSTAT0: %x\n", mcp2521_0.read_reg(MCP2521_CANSTAT));
-    mcp2521.reset();
+    //printf("CANSTAT1: %x\n", mcp2521_1.read_reg(MCP2521_CANSTAT));
    mcp2521.enable_interrupts(true, true, true, true, true, true, true, true);
-    mcp2521.register_rx0_handler(onRX, &mcp2521);
+    vTaskDelay(20 / portTICK_PERIOD_MS);
    mcp2521.register_rx1_handler(onRX, &mcp2521);
    mcp2521.set_mode_of_operation(MCP2521_OPERATION_MODE::LOOPBACK, true);
-    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);
+    //vTaskDelay(20 / portTICK_PERIOD_MS);
    mcp2521.request_to_send(MCP2521_TX_BUFFER::TXB0);
    //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);
 };
--- a/common-libaries/mcp2521/docs/.$MCP2521_Libary_ClassDiagram.drawio.bkp
+++ 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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--- 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_CommandInterface(
-        MCP2521_Hardware_Handle * hardware_handle
+        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_CommandInterface::MCP2521_CommandInterface(
-    MCP2521_Hardware_Handle * hardware_handle
+    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 {
+static void handleInteruptTaskCallerFn(void *arg);
-    char spi_tmp_buffer;
+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;
+ * @brief Hardware handle for MCP2521 over SPI on ESP32
-    spi_device_handle_t spi_device_handle;
+ * 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/asd
+++ b/i2c-hub/asd
--- a/i2c-hub/backend/Protocol.md
+++ b/i2c-hub/backend/Protocol.md
--- a/i2c-hub/backend/src/gobotRPC_ctrl_interface.py
+++ b/i2c-hub/backend/src/gobotRPC_ctrl_interface.py
--- a/i2c-hub/backend/src/main.py
+++ b/i2c-hub/backend/src/main.py
--- a/i2c-hub/backend/test.txt
+++ b/i2c-hub/backend/test.txt
@@ -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
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 3f 00 84 01 01 00 42 00 00 00 73 00 00 00 bf
 81 10 40 42 00 00 00 01 02 03 04 05 06 00 11
 13 14 fe fe fe fe fe fe fc
--- a/i2c-hub/circuit/.$I2CHubCircuit.drawio.bkp
+++ b/i2c-hub/circuit/.$I2CHubCircuit.drawio.bkp
@@ -0,0 +1,372 @@
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            <mxPoint x="720" y="180" as="targetPoint" />
            <Array as="points">
              <mxPoint x="880" y="180" />
            </Array>
          </mxGeometry>
        </mxCell>
        <mxCell id="3qXY1K8jvDizOHU8Sasa-69" value="O" style="rounded=0;whiteSpace=wrap;html=1;" vertex="1" parent="1">
          <mxGeometry x="880" y="170" width="20" height="20" as="geometry" />
        </mxCell>
        <mxCell id="3qXY1K8jvDizOHU8Sasa-72" value="GND" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
          <mxGeometry x="900" y="150" width="40" height="20" as="geometry" />
        </mxCell>
        <mxCell id="3qXY1K8jvDizOHU8Sasa-74" value="5V+" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
          <mxGeometry x="900" y="170" width="40" height="20" as="geometry" />
        </mxCell>
        <mxCell id="3qXY1K8jvDizOHU8Sasa-78" style="edgeStyle=orthogonalEdgeStyle;rounded=0;orthogonalLoop=1;jettySize=auto;html=1;" edge="1" parent="1" source="3qXY1K8jvDizOHU8Sasa-77">
          <mxGeometry relative="1" as="geometry">
            <mxPoint x="320" y="540" as="targetPoint" />
            <Array as="points">
              <mxPoint x="321" y="505" />
              <mxPoint x="321" y="540" />
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          </mxGeometry>
        </mxCell>
        <mxCell id="3qXY1K8jvDizOHU8Sasa-77" value="3V&amp;nbsp;" style="text;html=1;align=center;verticalAlign=middle;whiteSpace=wrap;rounded=0;" vertex="1" parent="1">
          <mxGeometry x="400" y="490" width="60" height="30" as="geometry" />
        </mxCell>
      </root>
    </mxGraphModel>
  </diagram>
 </mxfile>
--- a/i2c-hub/circuit/external/KiCad-RP-Pico
+++ b/i2c-hub/circuit/external/KiCad-RP-Pico
--- a/i2c-hub/circuit/external/RP_Silicon_KiCad
+++ b/i2c-hub/circuit/external/RP_Silicon_KiCad
--- a/i2c-hub/circuit/i2c-hub/#auto_saved_files#
+++ b/i2c-hub/circuit/i2c-hub/#auto_saved_files#
@@ -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": "dedicated",
                "showReuseMessage": true,
                "clear": true
            },
            "problemMatcher": "$gcc",
            "windows": {
                "command": "${env:USERPROFILE}/.pico-sdk/ninja/v1.12.1/ninja.exe"
            }
        },
        {
            "label": "Run Project",
            "type": "process",
            "command": "${env:HOME}/.pico-sdk/picotool/2.1.0/picotool/picotool",
            "args": [
                "load",
                "${command:raspberry-pi-pico.launchTargetPath}",
                "-fx"
            ],
            "presentation": {
                "echo": true,
                "reveal": "always",
                "focus": true,
                "panel": "shared",
                "showReuseMessage": true,
                "clear": true
            },
            "problemMatcher": [],
            "windows": {
                "command": "${env:USERPROFILE}/.pico-sdk/picotool/2.1.0/picotool/picotool.exe"
            }
        },
        {
            "label": "Flash",
            "type": "process",
            "command": "${userHome}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
            "args": [
                "-s",
                "${userHome}/.pico-sdk/openocd/0.12.0+dev/scripts",
                "-f",
                "interface/cmsis-dap.cfg",
                "-f",
                "target/${command:raspberry-pi-pico.getTarget}.cfg",
                "-c", "adapter speed 5000; program \"${command:raspberry-pi-pico.launchTargetPath}\" verify",
                "-c", "reset halt",
                "-c", "rp2040.core1 arp_reset assert 0",
                "-c", "rp2040.core0 arp_reset assert 0",
                "-c", "exit"
            ],
            "presentation": {
                "echo": true,
                "reveal": "always",
                "focus": true,
                "panel": "shared",
                "showReuseMessage": true,
                "clear": true
            },
            "dependsOn": ["Compile Project"],
            "problemMatcher": [],
            "windows": {
                "command": "${env:USERPROFILE}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
            }
        },
        {
            "label": "Reset",
            "type": "process",
            "command": "${userHome}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
            "args": [
                "-s",
                "${userHome}/.pico-sdk/openocd/0.12.0+dev/scripts",
                "-f",
                "interface/cmsis-dap.cfg",
                "-f", "target/${command:raspberry-pi-pico.getTarget}.cfg",
                "-c", "adapter speed 5000; init; reset halt;",
                "-c", "rp2040.core1 arp_reset assert 0",
                "-c", "rp2040.core0 arp_reset assert 0",
                "-c", "exit"
            ],
            "presentation": {
                "echo": true,
                "reveal": "always",
                "focus": true,
                "panel": "shared",
                "showReuseMessage": true,
                "clear": true
            },
            "problemMatcher": [],
            "windows": {
                "command": "${env:USERPROFILE}/.pico-sdk/openocd/0.12.0+dev/openocd.exe",
            }
        }
    ]
 }
--- a/i2c-hub/firmware/i2c-hub-firmware/CMakeLists.txt
+++ b/i2c-hub/firmware/i2c-hub-firmware/CMakeLists.txt
@@ -0,0 +1,75 @@
 # Generated Cmake Pico project file
 set(CMAKE_VERBOSE_MAKEFILE ON CACHE BOOL "ON")
 cmake_minimum_required(VERSION 3.13)
 set(CMAKE_C_STANDARD 11)
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 # Initialise pico_sdk from installed location
 # (note this can come from environment, CMake cache etc)
 # == DO NOT EDIT THE FOLLOWING LINES for the Raspberry Pi Pico VS Code Extension to work ==
 if(WIN32)
    set(USERHOME $ENV{USERPROFILE})
 else()
    set(USERHOME $ENV{HOME})
 endif()
 set(sdkVersion 2.1.0)
 set(toolchainVersion 13_3_Rel1)
 set(picotoolVersion 2.1.0)
 set(picoVscode ${USERHOME}/.pico-sdk/cmake/pico-vscode.cmake)
 if (EXISTS ${picoVscode})
    include(${picoVscode})
 endif()
 # ====================================================================================
 set(PICO_BOARD pico CACHE STRING "Board type")
 # Pull in Raspberry Pi Pico SDK (must be before project)
 include(pico_sdk_import.cmake)
 # Adding FreeRTOS
 set(FREERTOS_KERNEL_PATH ../lib/FreeRTOS-Kernel)
 include(cmake/FreeRTOS_Kernel_import.cmake)
 include(src/gobotrpc/cmake/CMakeLists.txt)
 project(i2c-hub-firmware C CXX ASM)
 # Initialise the Raspberry Pi Pico SDK
 pico_sdk_init()
 # Add executable. Default name is the project name, version 0.1
 add_executable(i2c-hub-firmware 
    src/main_core0.cpp
    src/main_core1.cpp
    #src/freeRTOS_impl.c
    )
 pico_set_program_name(i2c-hub-firmware "i2c-hub-firmware")
 pico_set_program_version(i2c-hub-firmware "0.1")
 # Modify the below lines to enable/disable output over UART/USB
 pico_enable_stdio_uart(i2c-hub-firmware 1)
 pico_enable_stdio_usb(i2c-hub-firmware 0)
 # Add the standard library to the build
 target_link_libraries(i2c-hub-firmware
        FreeRTOS-Kernel-Heap4
        GobotRPC
        pico_stdlib
    )
 # Add the standard include files to the build
 target_include_directories(i2c-hub-firmware PRIVATE
  ${CMAKE_CURRENT_LIST_DIR}
  ${CMAKE_CURRENT_LIST_DIR}/include
 )
 # Add any user requested libraries
 target_link_libraries(i2c-hub-firmware 
        hardware_i2c
        )
 pico_add_extra_outputs(i2c-hub-firmware)
--- 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 * 84)
 /* Hook function related definitions. */
 #define configCHECK_FOR_STACK_OVERFLOW          0
 #define configUSE_MALLOC_FAILED_HOOK            0
 #define configUSE_DAEMON_TASK_STARTUP_HOOK      0
 /* Run time and task stats gathering related definitions. */
 #define configGENERATE_RUN_TIME_STATS           0
 #define configUSE_TRACE_FACILITY                1
 #define configUSE_STATS_FORMATTING_FUNCTIONS    0
 /* Co-routine related definitions. */
 #define configUSE_CO_ROUTINES                   0
 #define configMAX_CO_ROUTINE_PRIORITIES         1
 /* Software timer related definitions. */
 #define configUSE_TIMERS                        1
 #define configTIMER_TASK_PRIORITY               ( configMAX_PRIORITIES - 1 )
 #define configTIMER_QUEUE_LENGTH                10
 #define configTIMER_TASK_STACK_DEPTH            1024
 /* Interrupt nesting behaviour configuration. */
 /*
 #define configKERNEL_INTERRUPT_PRIORITY         [dependent of processor]
 #define configMAX_SYSCALL_INTERRUPT_PRIORITY    [dependent on processor and application]
 #define configMAX_API_CALL_INTERRUPT_PRIORITY   [dependent on processor and application]
 */
 #if FREE_RTOS_KERNEL_SMP // set by the RP2040 SMP port of FreeRTOS
 /* SMP port only */
 #define configNUMBER_OF_CORES                   2
 #define configTICK_CORE                         0
 #define configRUN_MULTIPLE_PRIORITIES           1
 #define configUSE_CORE_AFFINITY                 1
 #define configUSE_PASSIVE_IDLE_HOOK             0
 #endif
 /* RP2040 specific */
 #define configSUPPORT_PICO_SYNC_INTEROP         1
 #define configSUPPORT_PICO_TIME_INTEROP         1
 #include <assert.h>
 /* Define to trap errors during development. */
 #define configASSERT(x)                         assert(x)
 /* Set the following definitions to 1 to include the API function, or zero
 to exclude the API function. */
 #define INCLUDE_vTaskPrioritySet                1
 #define INCLUDE_uxTaskPriorityGet               1
 #define INCLUDE_vTaskDelete                     1
 #define INCLUDE_vTaskSuspend                    1
 #define INCLUDE_vTaskDelayUntil                 1
 #define INCLUDE_vTaskDelay                      1
 #define INCLUDE_xTaskGetSchedulerState          1
 #define INCLUDE_xTaskGetCurrentTaskHandle       1
 #define INCLUDE_uxTaskGetStackHighWaterMark     1
 #define INCLUDE_xTaskGetIdleTaskHandle          1
 #define INCLUDE_eTaskGetState                   1
 #define INCLUDE_xTimerPendFunctionCall          1
 #define INCLUDE_xTaskAbortDelay                 1
 #define INCLUDE_xTaskGetHandle                  1
 #define INCLUDE_xTaskResumeFromISR              1
 #define INCLUDE_xQueueGetMutexHolder            1
 /* A header file that defines trace macro can be included here. */
 #endif /* FREERTOS_CONFIG_H */
--- 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/include/pinConfig.hpp
+++ b/i2c-hub/firmware/i2c-hub-firmware/include/pinConfig.hpp
@@ -0,0 +1,23 @@
 #pragma once
 #define LED1_PIN 8
 #define LED2_PIN 9
 #define LED3_PIN 25
 #define GOBOTRPC_CI_UART_RX 0
 #define GOBOTRPC_CI_UART_TX 1
 #define GOBOTRPC_TI_I2C_SDA 4
 #define GOBOTRPC_TI_I2C_SCL 5
 #define GOBOTRPC_TI_CLOCK_SPEED 10000
 #define GOBOTRPC_TI_INT_PIN_START 10
 #define GOBOTRPC_TI_INT_NUM 4
 #define GOBOTRPC_TI_COMBINED_INT_PIN 18
 #define GOBOTRPC_TI_EXTERNAL_PULLUP 1
 #define GOBOTRPC_HEARTBEAT_INTERVAL 3000
 #define UART_CORE_MASK 0b01
 #define I2C_CORE_MASK  0b01
--- 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 +1,29 @@
 add_library(GobotRPC STATIC
    ${CMAKE_CURRENT_LIST_DIR}/../ctrl_interface/base.cpp
    ${CMAKE_CURRENT_LIST_DIR}/../ctrl_interface/ci_instruction.cpp
    ${CMAKE_CURRENT_LIST_DIR}/../ctrl_interface/uart_rp2040/hardware_rp2040_uart.cpp
    ${CMAKE_CURRENT_LIST_DIR}/../ctrl_interface/uart_rp2040/rx.cpp
    ${CMAKE_CURRENT_LIST_DIR}/../crc16.cpp
    ${CMAKE_CURRENT_LIST_DIR}/../protocol_base.cpp
    ${CMAKE_CURRENT_LIST_DIR}/../transmission_interface/rp2040_i2c_init.cpp
    ${CMAKE_CURRENT_LIST_DIR}/../transmission_interface/rp2040_i2c_tx.cpp
    ${CMAKE_CURRENT_LIST_DIR}/../transmission_interface/rp2040_i2c_rx.cpp
    ${CMAKE_CURRENT_LIST_DIR}/../transmission_interface/rp2040_i2c_int.cpp
    ${CMAKE_CURRENT_LIST_DIR}/../transmission_interface/rp2040_i2c_ci_instructions.cpp
 )
 target_include_directories(GobotRPC PUBLIC 
    ${CMAKE_CURRENT_LIST_DIR}/../include
    ${CMAKE_CURRENT_LIST_DIR}/../include/util
    ${CMAKE_CURRENT_LIST_DIR}/../include/ti
    ${CMAKE_CURRENT_LIST_DIR}/../../..
    ${CMAKE_CURRENT_LIST_DIR}/../../../include
 )
 target_link_libraries(GobotRPC
    FreeRTOS-Kernel-Heap4
    pico_stdlib
    hardware_uart
    hardware_irq
    hardware_i2c
 )
--- a/i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/cmake/gobotRPC_Node.cmake
+++ b/i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/cmake/gobotRPC_Node.cmake
@@ -0,0 +1,19 @@
 add_library(GobotRPC_Node_RP2040_I2C STATIC
    ${CMAKE_CURRENT_LIST_DIR}/../node_interface/rp2040/i2c/init.cpp  
    ${CMAKE_CURRENT_LIST_DIR}/../node_interface/rp2040/i2c/rx_tx.cpp  
    ${CMAKE_CURRENT_LIST_DIR}/../crc16.cpp   
    ${CMAKE_CURRENT_LIST_DIR}/../protocol_base.cpp
    ${CMAKE_CURRENT_LIST_DIR}/../node_interface/init.cpp
 )
 target_include_directories(GobotRPC_Node_RP2040_I2C PUBLIC 
    ${CMAKE_CURRENT_LIST_DIR}/../node_interface/include
    ${CMAKE_CURRENT_LIST_DIR}/../include/util
    ${CMAKE_CURRENT_LIST_DIR}/../../..
 )
 target_link_libraries(GobotRPC_Node_RP2040_I2C
    FreeRTOS-Kernel-Heap4
    pico_stdlib
    hardware_i2c
    hardware_irq
 )
--- a/i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/crc16.cpp
+++ b/i2c-hub/firmware/i2c-hub-firmware/src/gobotrpc/crc16.cpp
@@ -0,0 +1,39 @@
 #include "crc16.hpp"
 #define POLY 0x8408
 /*
 //                                      16   12   5
 // this is the CCITT CRC 16 polynomial X  + X  + X  + 1.
 // This works out to be 0x1021, but the way the algorithm works
 // lets us use 0x8408 (the reverse of the bit pattern).  The high
 // bit is always assumed to be set, thus we only use 16 bits to
 // represent the 17 bit value.
 */
 unsigned short crc16(char *data_p, unsigned short length)
 {
      unsigned char i;
      unsigned int data;
      unsigned int crc = 0xffff;
      if (length == 0)
            return (~crc);
      do
      {
            for (i=0, data=(unsigned int)0xff & *data_p++;
                 i < 8; 
                 i++, data >>= 1)
            {
                  if ((crc & 0x0001) ^ (data & 0x0001))
                        crc = (crc >> 1) ^ POLY;
                  else  crc >>= 1;
            }
      } while (--length);
      crc = ~crc;
      data = crc;
      crc = (crc << 8) | (data >> 8 & 0xff);
      return (crc);
 }
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
AlexanderHD27	2824bdac6e	Build text base interface	2025-01-09 03:10:03 +01:00
AlexanderHD27	b040662551	Implemented RPCs for CoreXY	2025-01-08 21:19:03 +01:00
AlexanderHD27	0b620a76ca	Got GoRPC on Head working	2025-01-08 01:00:13 +01:00
AlexanderHD27	89f494ba58	Removed Pycach files and added RPC Packages for drop and mov z-axis	2025-01-07 23:59:21 +01:00
AlexanderHD27	c73a9212eb	Fixed further issues	2025-01-07 23:33:01 +01:00
AlexanderHD27	9ab6cbe097	Fixed Issue: emptyQueue in Hub was not filled correctly	2025-01-07 21:13:38 +01:00
AlexanderHD27	2a038367a8	Fixed Python Interface	2025-01-07 17:10:28 +01:00
AlexanderHD27	1f5148dcdd	Got Hub to read from Node on interrupt	2025-01-06 04:17:59 +01:00
AlexanderHD27	1e317adedd	Implemented RX on Node	2025-01-06 03:28:10 +01:00
AlexanderHD27	caf7586b5b	Few minor changes	2025-01-04 13:32:23 +01:00
AlexanderHD27	08154454fa	moved controll interface to seperate folder	2025-01-04 04:14:03 +01:00
AlexanderHD27	7dd6686b01	Update PinConfig (BUild Board)	2025-01-04 04:08:43 +01:00
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`