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
Added Circuit
2024-12-29 11:40:22 +01:00 · 2024-12-29 11:37:43 +01:00 · 2024-12-28 22:47:46 +01:00 · 2024-11-27 23:29:05 +01:00 · 2024-11-23 01:25:29 +01:00 · 2024-11-12 00:20:48 +01:00
115 changed files with 37485 additions and 112 deletions
--- a/.gitmodules
+++ b/.gitmodules
--- a/can-interface/.gitignore
+++ b/can-interface/.gitignore
--- a/can-interface/.vscode/settings.json
+++ b/can-interface/.vscode/settings.json
@@ -14,6 +14,8 @@
    "idf.pythonBinPath": "/home/alexander/.espressif/python_env/idf5.3_py3.12_env/bin/python",
    "idf.toolsPath": "/home/alexander/.espressif",
    "idf.flashType": "UART",
    "idf.openOcdLaunchArgs": ["-c", "adapter_khz 1000"],
    "idf.openOcdDebugLevel": 2,
    "files.associations": {
        "*.tcc": "cpp",
        "cstdint": "cpp",
@@ -24,6 +26,7 @@
        "regex": "cpp",
        "array": "cpp",
        "string": "cpp",
-        "span": "cpp"
+        "span": "cpp",
        "cstring": "cpp"
    }
 }
--- a/can-interface/circuit/CanIntefacePerfboard.fzz
+++ b/can-interface/circuit/CanIntefacePerfboard.fzz
--- a/can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/ESP32-DEVKIT-V1.kicad_sym
+++ b/can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/ESP32-DEVKIT-V1.kicad_sym
--- a/can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/ESP32-DEVKIT-V1.step
+++ b/can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/ESP32-DEVKIT-V1.step
--- a/can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/MODULE_ESP32_DEVKIT_V1.kicad_mod
+++ b/can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/MODULE_ESP32_DEVKIT_V1.kicad_mod
--- a/can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/how-to-import.htm
+++ b/can-interface/circuit/gobot-can-interface/external/ESP32-DEVKIT-V1/how-to-import.htm
@@ -0,0 +1 @@
 <!DOCTYPE HTML><html lang="en-US"> <head> <meta charset="UTF-8"> <meta http-equiv="refresh" content="0; url=https://www.snapeda.com/about/import/#"> <script type="text/javascript">window.location.href="https://www.snapeda.com/about/import/#" </script> <title>Page Redirection</title> </head> <body> If you are not redirected automatically, follow this <a href="https://www.snapeda.com/about/import/#">link to the import guide</a>. </body></html>
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-08_133537.zip
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-08_133537.zip
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-12_000642.zip
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-12_000642.zip
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-12_001228.zip
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-12_001228.zip
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-12_010429.zip
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-12_010429.zip
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-12_011347.zip
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-12_011347.zip
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-14_202426.zip
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-14_202426.zip
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-15_170909.zip
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-15_170909.zip
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-15_204011.zip
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-15_204011.zip
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-21_223757.zip
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-21_223757.zip
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-30_000501.zip
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-30_000501.zip
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-30_140231.zip
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-11-30_140231.zip
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-12-22_095043.zip
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-12-22_095043.zip
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-12-27_204815.zip
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface-backups/gobot-can-interface-2024-12-27_204815.zip
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_pcb
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_pcb
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_prl
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_prl
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_pro
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_pro
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_sch
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_sch
--- a/can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_sch-bak
+++ b/can-interface/circuit/gobot-can-interface/gobot-can-interface.kicad_sch-bak
--- a/can-interface/circuit/gobot-can-interface/sym-lib-table
+++ b/can-interface/circuit/gobot-can-interface/sym-lib-table
@@ -0,0 +1,4 @@
 (sym_lib_table
  (version 7)
  (lib (name "ESP32-DEVKIT-V1")(type "KiCad")(uri "${KIPRJMOD}/external/ESP32-DEVKIT-V1/ESP32-DEVKIT-V1.kicad_sym")(options "")(descr ""))
 )
--- a/can-interface/circuit/i2c-hub/i2c-hub-backups/i2c-hub-2024-12-28_225050.zip
+++ b/can-interface/circuit/i2c-hub/i2c-hub-backups/i2c-hub-2024-12-28_225050.zip
--- a/can-interface/circuit/i2c-hub/i2c-hub.kicad_prl
+++ b/can-interface/circuit/i2c-hub/i2c-hub.kicad_prl
--- a/can-interface/circuit/i2c-hub/i2c-hub.kicad_pro
+++ b/can-interface/circuit/i2c-hub/i2c-hub.kicad_pro
--- a/can-interface/components/gobot_rpc
+++ b/can-interface/components/gobot_rpc
@@ -0,0 +1 @@
 /home/alexander/Projects/gobot/common-libaries/gobot_rpc
--- a/can-interface/docs/Doxyfile
+++ b/can-interface/docs/Doxyfile
--- a/can-interface/docs/doxygen-awesome-css
+++ b/can-interface/docs/doxygen-awesome-css
--- a/can-interface/main/CMakeLists.txt
+++ b/can-interface/main/CMakeLists.txt
@@ -2,5 +2,6 @@ idf_component_register(SRCS "hello_world_main.cpp"
                    REQUIRES driver
                    REQUIRES mcp2521
                    REQUIRES mcp2521_hardware_interface
                    REQUIRES gobot_rpc
                    REQUIRES spi_flash
                    INCLUDE_DIRS "")
--- a/can-interface/main/hello_world_main.cpp
+++ b/can-interface/main/hello_world_main.cpp
@@ -23,26 +23,43 @@
 #include "mcp2521.hpp"
 #define SPI_PIN_CS0 GPIO_NUM_5
 #define SPI_PIN_SCLK GPIO_NUM_18
 #define SPI_PIN_MISO GPIO_NUM_19
 #define SPI_PIN_MOSI GPIO_NUM_23
 #define CAN_INT_PIN GPIO_NUM_21
-#define EXTERNAL_TRIGGER GPIO_NUM_26
+#define SPI_PIN_CS0 GPIO_NUM_25
 #define SPI_PIN_CS1 GPIO_NUM_27
-void onRX(void *arg) {
+#define CAN_INT0_PIN GPIO_NUM_5
 #define CAN_INT1_PIN GPIO_NUM_26
 void onRX0(void *arg) {
    MCP2521 *mcp2521 = (MCP2521 *)arg;
    rx_info info = mcp2521->get_rx_id(MCP2521_RX_BUFFER::RXB0);
    uint8_t data[8];
-    mcp2521->read_rx_buf(MCP2521_RX_BUFFER::RXB0, MCP2521_BUFFER_TYPE::DATA, data, info.length);
+    //mcp2521->read_rx_buf(MCP2521_RX_BUFFER::RXB0, MCP2521_BUFFER_TYPE::DATA, data, info.length);
    printf("RX0: (%x) ", info.id);
    //for (int i = 0; i < 8; i++) {
    //    printf("%x ", data[i]);
    //}
    printf("\n");
 }
 void onRX1(void *arg) {
    MCP2521 *mcp2521 = (MCP2521 *)arg;
    rx_info info = mcp2521->get_rx_id(MCP2521_RX_BUFFER::RXB0);
    uint8_t data[8];
    //mcp2521->read_rx_buf(MCP2521_RX_BUFFER::RXB0, MCP2521_BUFFER_TYPE::DATA, data, info.length);
    printf("RX1: (%x) ", info.id);
    //for (int i = 0; i < 8; i++) {
    //    printf("%x ", data[i]);
    //}
    printf("RX: (%x) ", info.id);
    for (int i = 0; i < info.length; i++) {
        printf("%x ", data[i]);
    }
    printf("\n");
 }
@@ -52,47 +69,59 @@ extern "C" void app_main() {
    const gpio_num_t LED_PIN = GPIO_NUM_2;
    gpio_set_direction(LED_PIN, GPIO_MODE_OUTPUT);
    gpio_set_direction(EXTERNAL_TRIGGER, GPIO_MODE_OUTPUT);
    gpio_set_level(EXTERNAL_TRIGGER, true);
    vTaskDelay(100 / portTICK_PERIOD_MS);
-
+    MCP2521_HardwareHandleFactory_ESPBus mcp2521_hardware_factory(
    spi_bus_config_t spi_bus;
    MCP2521_Hardware_Handle_ESP hardware_mcp2521(
        VSPI_HOST,
        &spi_bus,
        SPI_PIN_MOSI,
        SPI_PIN_MISO,
-        SPI_PIN_SCLK,
+        SPI_PIN_SCLK
        SPI_PIN_CS0,
        CAN_INT_PIN
    );
-    MCP2521 mcp2521(&hardware_mcp2521);
+    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);
-    uint8_t data[4] = {0xf0, 0x42, 0x13, 0x37};
+    vTaskDelay(100 / portTICK_PERIOD_MS);
-    gpio_set_level(EXTERNAL_TRIGGER, false);
+    MCP2521 mcp2521_0(&hardware_mcp2521_0);
-    mcp2521.reset();
+    MCP2521 mcp2521_1(&hardware_mcp2521_1);
    mcp2521.enable_interrupts(true, true, true, true, true, true, true, true);
-    mcp2521.register_rx0_handler(onRX, &mcp2521);
+    uint8_t data[8] = {0x1, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07, 0x08};
    mcp2521.register_rx1_handler(onRX, &mcp2521);
    mcp2521.set_mode_of_operation(MCP2521_OPERATION_MODE::LOOPBACK, true);
-    vTaskDelay(3 / portTICK_PERIOD_MS);
+    mcp2521_0.reset();
    mcp2521_1.reset();
    mcp2521_0.enable_interrupts(true, true, true, true, true, true, true, true);
    mcp2521_1.enable_interrupts(true, true, true, true, true, true, true, true);
-    mcp2521.prepare_tx(
+    mcp2521_0.register_rx0_handler(onRX0, &mcp2521_0);
-        MCP2521_TX_BUFFER::TXB0, 0x042, data, 4, false, false);
+    mcp2521_1.register_rx0_handler(onRX1, &mcp2521_1);
    mcp2521_0.register_rx1_handler(onRX0, &mcp2521_0);
    mcp2521_1.register_rx1_handler(onRX1, &mcp2521_1);
    mcp2521_0.set_mode_of_operation(MCP2521_OPERATION_MODE::LOOPBACK, true);
    mcp2521_1.set_mode_of_operation(MCP2521_OPERATION_MODE::LOOPBACK, true);
    //printf("CANSTAT0: %x\n", mcp2521_0.read_reg(MCP2521_CANSTAT));
    //printf("CANSTAT1: %x\n", mcp2521_1.read_reg(MCP2521_CANSTAT));
-    mcp2521.request_to_send(MCP2521_TX_BUFFER::TXB0);
+    vTaskDelay(20 / portTICK_PERIOD_MS);
-    mcp2521.set_tx_id(MCP2521_TX_BUFFER::TXB0, 0x041, false);
+    mcp2521_1.prepare_tx(
-    mcp2521.request_to_send(MCP2521_TX_BUFFER::TXB0);
+        MCP2521_TX_BUFFER::TXB0, 0x042, data, 8, false, false);
    //mcp2521_1.prepare_tx(
    //    MCP2521_TX_BUFFER::TXB0, 0x041, data, 4, false, false);
    vTaskDelay(20 / portTICK_PERIOD_MS);
    mcp2521_1.request_to_send(MCP2521_TX_BUFFER::TXB0);
    //vTaskDelay(10 / portTICK_PERIOD_MS);
    //mcp2521_1.request_to_send(MCP2521_TX_BUFFER::TXB0);
    //vTaskDelay(20 / portTICK_PERIOD_MS);
    //mcp2521_0.set_tx_id(MCP2521_TX_BUFFER::TXB0, 0x042, false);
    //mcp2521_0.request_to_send(MCP2521_TX_BUFFER::TXB0);
    vTaskDelay(20 / portTICK_PERIOD_MS);
    bool flag = true;
@@ -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
@@ -0,0 +1,102 @@
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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;
    spi_device_handle_t spi_device_handle;
 /**
 * @brief Hardware handle for MCP2521 over SPI on ESP32
 * This is should not be used if multiple MCP2521 are on the same SPI bus
 */
 class MCP2521_HardwareHandle_ESP : public I_MCP2521_HardwareHandle {
 protected:
    void spi_transmit(spi_transaction_t *t);
    /**
     * @brief Sempahore, that is set every time the MCP2521 triggers an interrupt by the canInterruptTaskHandle
     */
    SemaphoreHandle_t canInterruptSemaphore = NULL;
-    SemaphoreHandle_t spiMutex = NULL;
+
    /**
     * @brief Handle to task that handles the MCP2521 interrupt
     * A Handle can be registered via the registerIntHandler method
     */
    TaskHandle_t canInterruptTaskHandle = NULL;
-    void spi_transmit(spi_transaction_t *t);
+    spi_device_handle_t spi_device_handle;
 private:
    spi_bus_config_t * spi_bus_config;
    char spi_tmp_buffer;
    spi_device_interface_config_t spi_device_config;
    /**
     * @brief Sempahore, that protects the SPI bus from being accessed by multiple tasks at the same time
     * 
     */
    SemaphoreHandle_t spiMutex = NULL;
    void * intHandlerArg = NULL;
    intHandlerFunction_t intHandler = NULL;
 public:
-    MCP2521_Hardware_Handle_ESP(
+    MCP2521_HardwareHandle_ESP(
        spi_host_device_t spi_host,
        spi_bus_config_t *bus_config,
        gpio_num_t mosi, 
@@ -35,7 +69,7 @@ public:
        gpio_num_t int_pin
    );
-    MCP2521_Hardware_Handle_ESP(
+    MCP2521_HardwareHandle_ESP(
        spi_host_device_t spi_host,
        spi_bus_config_t *bus_config,
        gpio_num_t cs, 
@@ -59,12 +93,22 @@ public:
        gpio_num_t int_pin
    );
-    ~MCP2521_Hardware_Handle_ESP();
+    ~MCP2521_HardwareHandle_ESP();
    spi_bus_config_t * getSPI_bus_config();
    // ISR Stuff
    /**
     * @brief This function is called by the ISR, that is triggered by the MCP2521
     * This function just set the canInterruptSemaphore, that then unblocks the canInterruptTaskHandle.
     * So this function should be as short as possible, let the reset of the work be done in the canInterruptTaskHandle
     */
    void isr_can_interrupt();
    /**
     * This is the methode run as canInterruptTaskHandle.
     * It should continously aquire the canInterruptSemaphore and then call the intHandler
     */
    void handleIntteruptTaskFn();
    // Inherited from MCP2521_Hardware_Handle
--- a/common-libaries/mcp2521_hardware_interface/include/mcp2521_hardware_esp_bus.hpp
+++ b/common-libaries/mcp2521_hardware_interface/include/mcp2521_hardware_esp_bus.hpp
@@ -0,0 +1,46 @@
 #pragma once
 #include "mcp2521_hardware_esp.hpp"
 #include "driver/gpio.h"
 #include "driver/spi_master.h"
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
 struct spi_message_t {
    spi_transaction_t *transaction;
    QueueHandle_t queue;
    spi_device_handle_t spi_device_handle;
 };
 /**
 * @brief Hardware handle for MCP2521 over SPI in a multi-Bus-Setup on ESP32 
 * This should not be created directly, use the MCP2521_HardwareHandleFactory_ESPBus instead
 */
 class MCP2521_HardwareHandle_ESPBus : public MCP2521_HardwareHandle_ESP {
    using MCP2521_HardwareHandle_ESP::MCP2521_HardwareHandle_ESP;
 private:
    QueueHandle_t send_queue;
    QueueHandle_t receive_queue;
    /**
     * @brief Wrapper around the spi_transmit function, that locks the spiMutex before calling spi_transmit.
     * The muxtex is shared with all other MCP2521_HardwareHandle_ESPBus instances created by the same MCP2521_HardwareHandleFactory_ESPBus
     * @overload
     * 
     * @param t ESP32 SPI Transaction struct
     */
    void spi_transmit(spi_transaction_t *t);
 public:
    MCP2521_HardwareHandle_ESPBus(
        QueueHandle_t send_queue,
        spi_host_device_t spi_host,
        spi_bus_config_t * bus_config,
        gpio_num_t cs, 
        gpio_num_t int_pin
    );
    void initPins(
        gpio_num_t int_pin
    );
 };
--- a/common-libaries/mcp2521_hardware_interface/include/mcp2521_hardware_esp_bus_factory.hpp
+++ b/common-libaries/mcp2521_hardware_interface/include/mcp2521_hardware_esp_bus_factory.hpp
@@ -0,0 +1,41 @@
 #pragma once
 #ifdef ESP_PLATFORM
 #include "mcp2521_hardware_handle.hpp"
 #include "mcp2521_hardware_esp_bus.hpp"
 #include "driver/gpio.h"
 #include "driver/spi_master.h"
 #include "freertos/FreeRTOS.h"
 #include "freertos/task.h"
 #include "freertos/queue.h"
 class MCP2521_HardwareHandleFactory_ESPBus {
 private:
    spi_bus_config_t bus_config;
    spi_host_device_t spi_host;
    gpio_num_t mosi; 
    gpio_num_t miso;
    gpio_num_t sclk;
    QueueHandle_t spi_queue;
    TaskHandle_t transactionTaskHandle;
 public:
    MCP2521_HardwareHandleFactory_ESPBus(
        spi_host_device_t spi_host,
        gpio_num_t mosi, 
        gpio_num_t miso, 
        gpio_num_t sclk
    );
    void transactionTaskFn();
    MCP2521_HardwareHandle_ESPBus create(
        gpio_num_t int_pin,
        gpio_num_t cs
    );
 };
 #endif
--- a/common-libaries/mcp2521_hardware_interface/include/mcp2521_hardware_handle.hpp
+++ b/common-libaries/mcp2521_hardware_interface/include/mcp2521_hardware_handle.hpp
@@ -2,23 +2,118 @@
 #include <cstdint>
 #include <strings.h>
 /**
 * @brief Handler function pointer type
 * 
 */
 typedef void (*intHandlerFunction_t)(void *); 
-class MCP2521_Hardware_Handle {
+/**
 * @brief Hardware handle for MCP2521
 * @interface
 * This is an abstraction over the sepific hardware setup, eg. SPI@ESP32 or RP2040
 * 
 */
 class I_MCP2521_HardwareHandle {
 public:
    /**
     * @brief Registeres a function that is called when the MCP2521 triggers an interrupt
     * 
     * @param handler This function is called when the MCP2521 triggers an interrupt
     * @param arg Arguments passed to the handler-function
     */
    virtual void registerIntHandler(intHandlerFunction_t handler, void * arg) = 0;
    /**
     * @overload
     * @brief justed sends a 8bit command to the MCP2521
     * 
     * @param cmd command to send
     */
    virtual void execute(uint8_t cmd) = 0;
    /**
     * @overload
     * @brief executes a command (8 bit) with an address (8 bit)
     * 
     * @param cmd 8 bit command
     * @param address 8 bit address
     */
    virtual void execute(uint8_t cmd, uint8_t address) = 0;
    /**
     * 
     * @brief Executes a read from the MCP2521 with command, data buffer, length and address
     * @overload
     * 
     * @param cmd Command to MCP2521
     * @param data Data buffer to store the read data
     * @param length How many bytes to read
     * @param address Address to read from
     */
    virtual void read(uint8_t cmd, uint8_t *data, size_t length, uint8_t address) = 0;
    /**
     * @brief Executes a read from the MCP2521 with command, data buffer and length
     * @overload
     * 
     * @param cmd Command to MCP2521
     * @param data Data buffer to store the read data
     * @param length How many bytes to read
     */
    virtual void read(uint8_t cmd, uint8_t *data, size_t length) = 0;
    /**
     * @brief Executes a read from the MCP2521 with command and address, returns just one byte
     * 
     * @param cmd Command to MCP2521
     * @param address Address to read from
     * @return uint8_t 
     */
    virtual uint8_t read(uint8_t cmd, uint8_t address) = 0;
    /**
     * @brief Executes a read from the MCP2521 with command, returns just one byte
     * 
     * @param cmd Command to MCP2521
     * @return uint8_t 
     */
    virtual uint8_t read(uint8_t cmd) = 0;
    /**
     * @brief Writes data to the MCP2521 with command, data buffer, length and address
     * 
     * @param cmd Command to MCP2521
     * @param data Data buffer to write
     * @param length Length of the data buffer
     * @param address Where to write the data
     */
    virtual void write(uint8_t cmd, uint8_t *data, size_t length, uint8_t address) = 0;
    /**
     * @brief Wirites data to the MCP2521 with command, data buffer and length
     * 
     * @param cmd Command to MCP2521
     * @param data Data buffer to write
     * @param length Length of the data buffer
     */
    virtual void write(uint8_t cmd, uint8_t *data, size_t length) = 0;
    /**
     * @brief Writes data to the MCP2521 with command, data (on byte) and address
     * 
     * @param cmd Command to MCP2521
     * @param data Data byte to write
     * @param address Where to write the data
     */
    virtual void write(uint8_t cmd, uint8_t data, uint8_t address) = 0;
    /**
     * @brief Writes to the MCP2521 with command and data (one byte)
     * 
     * @param cmd Command to MCP2521
     * @param data Data byte to write
     */
    virtual void write(uint8_t cmd, uint8_t data) = 0;
 };
--- a/i2c-hub/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.kicad_pcb
+++ b/i2c-hub/circuit/i2c-hub/i2c-hub.kicad_pcb
--- 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/motor-control/firmware/cmake/tmc2209.cmake
+++ b/motor-control/firmware/cmake/tmc2209.cmake
@@ -1,16 +1,13 @@
 add_library(tmc2209_driver STATIC
    src/tmc2209/uart_interface.cpp
    src/tmc2209/uart_registers.cpp
    src/tmc2209/step.cpp
 )
 target_include_directories(tmc2209_driver PRIVATE
    include/tmc2209/
    build/
 )
 target_link_libraries(tmc2209_driver
    pico_stdlib
    hardware_uart
    hardware_pio
 )
--- a/spec/CAN-Protocl-Spec.md
+++ b/spec/CAN-Protocl-Spec.md
--- a/spec/gobot-spec/.obsidian/app.json
+++ b/spec/gobot-spec/.obsidian/app.json
@@ -0,0 +1 @@
 {}
--- a/spec/gobot-spec/.obsidian/appearance.json
+++ b/spec/gobot-spec/.obsidian/appearance.json
@@ -0,0 +1 @@
 {}
--- a/spec/gobot-spec/.obsidian/community-plugins.json
+++ b/spec/gobot-spec/.obsidian/community-plugins.json
@@ -0,0 +1,4 @@
 [
  "table-editor-obsidian",
  "dataview"
 ]
--- a/spec/gobot-spec/.obsidian/core-plugins.json
+++ b/spec/gobot-spec/.obsidian/core-plugins.json
@@ -0,0 +1,30 @@
 {
  "file-explorer": true,
  "global-search": true,
  "switcher": true,
  "graph": true,
  "backlink": true,
  "canvas": true,
  "outgoing-link": true,
  "tag-pane": true,
  "properties": false,
  "page-preview": true,
  "daily-notes": true,
  "templates": true,
  "note-composer": true,
  "command-palette": true,
  "slash-command": false,
  "editor-status": true,
  "bookmarks": true,
  "markdown-importer": false,
  "zk-prefixer": false,
  "random-note": false,
  "outline": true,
  "word-count": true,
  "slides": false,
  "audio-recorder": false,
  "workspaces": false,
  "file-recovery": true,
  "publish": false,
  "sync": false
 }
--- a/spec/gobot-spec/.obsidian/graph.json
+++ b/spec/gobot-spec/.obsidian/graph.json
@@ -0,0 +1,22 @@
 {
  "collapse-filter": true,
  "search": "",
  "showTags": false,
  "showAttachments": false,
  "hideUnresolved": false,
  "showOrphans": true,
  "collapse-color-groups": true,
  "colorGroups": [],
  "collapse-display": true,
  "showArrow": false,
  "textFadeMultiplier": 0,
  "nodeSizeMultiplier": 1,
  "lineSizeMultiplier": 1,
  "collapse-forces": true,
  "centerStrength": 0.518713248970312,
  "repelStrength": 10,
  "linkStrength": 1,
  "linkDistance": 250,
  "scale": 1,
  "close": true
 }
--- a/spec/gobot-spec/.obsidian/plugins/dataview/main.js
+++ b/spec/gobot-spec/.obsidian/plugins/dataview/main.js
--- a/spec/gobot-spec/.obsidian/plugins/dataview/manifest.json
+++ b/spec/gobot-spec/.obsidian/plugins/dataview/manifest.json
@@ -0,0 +1,11 @@
 {
  "id": "dataview",
  "name": "Dataview",
  "version": "0.5.67",
  "minAppVersion": "0.13.11",
  "description": "Complex data views for the data-obsessed.",
  "author": "Michael Brenan <blacksmithgu@gmail.com>",
  "authorUrl": "https://github.com/blacksmithgu",
  "helpUrl": "https://blacksmithgu.github.io/obsidian-dataview/",
  "isDesktopOnly": false
 }
--- a/spec/gobot-spec/.obsidian/plugins/dataview/styles.css
+++ b/spec/gobot-spec/.obsidian/plugins/dataview/styles.css
@@ -0,0 +1,146 @@
 /** Live Preview padding fixes, specifically for DataviewJS custom HTML elements. */
 .is-live-preview .block-language-dataviewjs > p, .is-live-preview .block-language-dataviewjs > span {
    line-height: 1.0;
 }
 .block-language-dataview {
    overflow-y: auto;
 }
 /*****************/
 /** Table Views **/
 /*****************/
 /* List View Default Styling; rendered internally as a table. */
 .table-view-table {
    width: 100%;
 }
 .table-view-table > thead > tr, .table-view-table > tbody > tr {
    margin-top: 1em;
    margin-bottom: 1em;
    text-align: left;
 }
 .table-view-table > tbody > tr:hover {
    background-color: var(--table-row-background-hover);
 }
 .table-view-table > thead > tr > th {
    font-weight: 700;
    font-size: larger;
    border-top: none;
    border-left: none;
    border-right: none;
    border-bottom: solid;
    max-width: 100%;
 }
 .table-view-table > tbody > tr > td {
    text-align: left;
    border: none;
    font-weight: 400;
    max-width: 100%;
 }
 .table-view-table ul, .table-view-table ol {
    margin-block-start: 0.2em !important;
    margin-block-end: 0.2em !important;
 }
 /** Rendered value styling for any view. */
 .dataview-result-list-root-ul {
    padding: 0em !important;
    margin: 0em !important;
 }
 .dataview-result-list-ul {
    margin-block-start: 0.2em !important;
    margin-block-end: 0.2em !important;
 }
 /** Generic grouping styling. */
 .dataview.result-group {
    padding-left: 8px;
 }
 /*******************/
 /** Inline Fields **/
 /*******************/
 .dataview.inline-field-key {
    padding-left: 8px;
    padding-right: 8px;
    font-family: var(--font-monospace);
    background-color: var(--background-primary-alt);
    color: var(--text-nav-selected);
 }
 .dataview.inline-field-value {
    padding-left: 8px;
    padding-right: 8px;
    font-family: var(--font-monospace);
    background-color: var(--background-secondary-alt);
    color: var(--text-nav-selected);
 }
 .dataview.inline-field-standalone-value {
    padding-left: 8px;
    padding-right: 8px;
    font-family: var(--font-monospace);
    background-color: var(--background-secondary-alt);
    color: var(--text-nav-selected);
 }
 /***************/
 /** Task View **/
 /***************/
 .dataview.task-list-item, .dataview.task-list-basic-item {
    margin-top: 3px;
    margin-bottom: 3px;
    transition: 0.4s;
 }
 .dataview.task-list-item:hover, .dataview.task-list-basic-item:hover {
    background-color: var(--text-selection);
    box-shadow: -40px 0 0 var(--text-selection);
    cursor: pointer;
 }
 /*****************/
 /** Error Views **/
 /*****************/
 div.dataview-error-box {
    width: 100%;
    min-height: 150px;
    display: flex;
    align-items: center;
    justify-content: center;
    border: 4px dashed var(--background-secondary);
 }
 .dataview-error-message {
    color: var(--text-muted);
    text-align: center;
 }
 /*************************/
 /** Additional Metadata **/
 /*************************/
 .dataview.small-text {
    font-size: smaller;
    color: var(--text-muted);
    margin-left: 3px;
 }
 .dataview.small-text::before {
 	content: "(";
 }
 .dataview.small-text::after {
 	content: ")";
 }
--- a/spec/gobot-spec/.obsidian/plugins/table-editor-obsidian/data.json
+++ b/spec/gobot-spec/.obsidian/plugins/table-editor-obsidian/data.json
@@ -0,0 +1,6 @@
 {
  "formatType": "normal",
  "showRibbonIcon": true,
  "bindEnter": true,
  "bindTab": true
 }
--- a/spec/gobot-spec/.obsidian/plugins/table-editor-obsidian/main.js
+++ b/spec/gobot-spec/.obsidian/plugins/table-editor-obsidian/main.js
--- a/spec/gobot-spec/.obsidian/plugins/table-editor-obsidian/manifest.json
+++ b/spec/gobot-spec/.obsidian/plugins/table-editor-obsidian/manifest.json
@@ -0,0 +1,17 @@
 {
  "id": "table-editor-obsidian",
  "name": "Advanced Tables",
  "author": "Tony Grosinger",
  "authorUrl": "https://grosinger.net",
  "description": "Improved table navigation, formatting, manipulation, and formulas",
  "isDesktopOnly": false,
  "minAppVersion": "1.0.0",
  "version": "0.22.1",
  "js": "main.js",
  "fundingUrl": {
    "Github Sponsor": "https://github.com/sponsors/tgrosinger",
    "Buy me a Coffee": "https://buymeacoffee.com/tgrosinger",
    "Paypal": "https://paypal.me/tgrosinger"
  },
  "donation": "https://buymeacoffee.com/tgrosinger"
 }
--- a/spec/gobot-spec/.obsidian/plugins/table-editor-obsidian/styles.css
+++ b/spec/gobot-spec/.obsidian/plugins/table-editor-obsidian/styles.css
@@ -0,0 +1,78 @@
 :root {
  --advanced-tables-helper-size: 28px;
 }
 .HyperMD-table-row span.cm-inline-code {
  font-size: 100%;
  padding: 0px;
 }
 .advanced-tables-buttons>div>.title {
  font-weight: var(--font-medium);
  font-size: var(--nav-item-size);
  color: var(--nav-item-color);
  text-decoration: underline;
 }
 [data-type="advanced-tables-toolbar"] .nav-buttons-container {
  column-gap: 0.2rem;
  margin: 0.2rem 0 0.2rem 0;
  justify-content: start;
 }
 [data-type="advanced-tables-toolbar"] .nav-buttons-container::before {
  min-width: 2.6rem;
  line-height: var(--advanced-tables-helper-size);
  font-size: var(--nav-item-size);
  font-weight: var(--nav-item-weight);
  color: var(--nav-item-color);
 }
 [data-type="advanced-tables-toolbar"] .nav-buttons-container>* {
  height: var(--advanced-tables-helper-size);
  line-height: var(--advanced-tables-helper-size);
 }
 [data-type="advanced-tables-toolbar"] .nav-buttons-container .nav-action-button {
  width: var(--advanced-tables-helper-size);
  height: var(--advanced-tables-helper-size);
  display: flex;
  justify-content: center;
  align-items: center;
  border-radius: var(--radius-s);
 }
 [data-type="advanced-tables-toolbar"] .nav-buttons-container .nav-action-button:hover {
  background-color: var(--nav-item-background-hover);
  color: var(--nav-item-color-hover);
  font-weight: var(--nav-item-weight-hover);
 }
 .advanced-tables-row-label {
  width: 50px;
 }
 .widget-icon {
  width: 20px;
  height: 20px;
  fill: var(--text-muted);
 }
 .widget-icon:hover {
  fill: var(--text-normal);
 }
 .advanced-tables-csv-export textarea {
  height: 200px;
  width: 100%;
 }
 .advanced-tables-donation {
  width: 70%;
  margin: 0 auto;
  text-align: center;
 }
 .advanced-tables-donate-button {
  margin: 10px;
 }
--- a/spec/gobot-spec/.obsidian/workspace.json
+++ b/spec/gobot-spec/.obsidian/workspace.json
@@ -0,0 +1,188 @@
 {
  "main": {
    "id": "6f76e152e1d4b58f",
    "type": "split",
    "children": [
      {
        "id": "0b9727bfb81ea513",
        "type": "tabs",
        "children": [
          {
            "id": "b07ed06960c77b44",
            "type": "leaf",
            "state": {
              "type": "markdown",
              "state": {
                "file": "CAN Protocol.md",
                "mode": "source",
                "source": false
              },
              "icon": "lucide-file",
              "title": "CAN Protocol"
            }
          },
          {
            "id": "e41a6e6ed9e71bfa",
            "type": "leaf",
            "state": {
              "type": "markdown",
              "state": {
                "file": "CAN Protocol.md",
                "mode": "source",
                "source": false
              },
              "icon": "lucide-file",
              "title": "CAN Protocol"
            }
          }
        ],
        "currentTab": 1
      }
    ],
    "direction": "vertical"
  },
  "left": {
    "id": "05c7eb586a8f4dfc",
    "type": "split",
    "children": [
      {
        "id": "043c67092471cf31",
        "type": "tabs",
        "children": [
          {
            "id": "4e6c66a54203b5ef",
            "type": "leaf",
            "state": {
              "type": "file-explorer",
              "state": {
                "sortOrder": "alphabetical"
              },
              "icon": "lucide-folder-closed",
              "title": "Files"
            }
          },
          {
            "id": "f51d953182f691ca",
            "type": "leaf",
            "state": {
              "type": "search",
              "state": {
                "query": "",
                "matchingCase": false,
                "explainSearch": false,
                "collapseAll": false,
                "extraContext": false,
                "sortOrder": "alphabetical"
              },
              "icon": "lucide-search",
              "title": "Search"
            }
          },
          {
            "id": "c95d5a4d330c3fbe",
            "type": "leaf",
            "state": {
              "type": "bookmarks",
              "state": {},
              "icon": "lucide-bookmark",
              "title": "Bookmarks"
            }
          }
        ]
      }
    ],
    "direction": "horizontal",
    "width": 300
  },
  "right": {
    "id": "49414f9775b345dc",
    "type": "split",
    "children": [
      {
        "id": "a573369191872484",
        "type": "tabs",
        "children": [
          {
            "id": "0b40e811b46b6812",
            "type": "leaf",
            "state": {
              "type": "backlink",
              "state": {
                "file": "CAN Protocol.md",
                "collapseAll": false,
                "extraContext": false,
                "sortOrder": "alphabetical",
                "showSearch": false,
                "searchQuery": "",
                "backlinkCollapsed": false,
                "unlinkedCollapsed": true
              },
              "icon": "links-coming-in",
              "title": "Backlinks for CAN Protocol"
            }
          },
          {
            "id": "2d018b9ca566140c",
            "type": "leaf",
            "state": {
              "type": "outgoing-link",
              "state": {
                "file": "CAN Protocol.md",
                "linksCollapsed": false,
                "unlinkedCollapsed": true
              },
              "icon": "links-going-out",
              "title": "Outgoing links from CAN Protocol"
            }
          },
          {
            "id": "26e2fb993d4ddbb6",
            "type": "leaf",
            "state": {
              "type": "tag",
              "state": {
                "sortOrder": "frequency",
                "useHierarchy": true
              },
              "icon": "lucide-tags",
              "title": "Tags"
            }
          },
          {
            "id": "824f9c345e01959b",
            "type": "leaf",
            "state": {
              "type": "outline",
              "state": {
                "file": "CAN Protocol.md"
              },
              "icon": "lucide-list",
              "title": "Outline of CAN Protocol"
            }
          }
        ]
      }
    ],
    "direction": "horizontal",
    "width": 300,
    "collapsed": true
  },
  "left-ribbon": {
    "hiddenItems": {
      "table-editor-obsidian:Advanced Tables Toolbar": false,
      "switcher:Open quick switcher": false,
      "graph:Open graph view": false,
      "canvas:Create new canvas": false,
      "daily-notes:Open today's daily note": false,
      "templates:Insert template": false,
      "command-palette:Open command palette": false
    }
  },
  "active": "e41a6e6ed9e71bfa",
  "lastOpenFiles": [
    "Untitled.canvas",
    "CAN Protocol.md",
    "Welcome.md",
    "create a link.md"
  ]
 }
--- a/spec/gobot-spec/CAN
+++ b/spec/gobot-spec/CAN
--- a/stone-dispencer/.devcontainer/Dockerfile
+++ b/stone-dispencer/.devcontainer/Dockerfile
@@ -0,0 +1,47 @@
 FROM espressif/idf
 ARG DEBIAN_FRONTEND=nointeractive
 ARG CONTAINER_USER=esp
 ARG USER_UID=1050
 ARG USER_GID=$USER_UID
 RUN apt-get update \
  && apt install -y -q \
  cmake \
  git \
  libglib2.0-0 \
  libnuma1 \
  libpixman-1-0 \
  && rm -rf /var/lib/apt/lists/*
 # QEMU
 ENV QEMU_REL=esp_develop_8.2.0_20240122
 ENV QEMU_SHA256=e7c72ef5705ad1444d391711088c8717fc89f42e9bf6d1487f9c2a326b8cfa83
 ENV QEMU_DIST=qemu-xtensa-softmmu-${QEMU_REL}-x86_64-linux-gnu.tar.xz
 ENV QEMU_URL=https://github.com/espressif/qemu/releases/download/esp-develop-8.2.0-20240122/${QEMU_DIST}
 ENV LC_ALL=C.UTF-8
 ENV LANG=C.UTF-8
 RUN wget --no-verbose ${QEMU_URL} \
  && echo "${QEMU_SHA256} *${QEMU_DIST}" | sha256sum --check --strict - \
  && tar -xf $QEMU_DIST -C /opt \
  && rm ${QEMU_DIST}
 ENV PATH=/opt/qemu/bin:${PATH}
 RUN groupadd --gid $USER_GID $CONTAINER_USER \
  && adduser --uid $USER_UID --gid $USER_GID --disabled-password --gecos "" ${CONTAINER_USER} \
  && usermod -a -G root $CONTAINER_USER && usermod -a -G dialout $CONTAINER_USER
 RUN chmod -R 775 /opt/esp/python_env/
 USER ${CONTAINER_USER}
 ENV USER=${CONTAINER_USER}
 WORKDIR /home/${CONTAINER_USER}
 RUN echo "source /opt/esp/idf/export.sh > /dev/null 2>&1" >> ~/.bashrc
 ENTRYPOINT [ "/opt/esp/entrypoint.sh" ]
 CMD ["/bin/bash", "-c"]
--- a/stone-dispencer/.devcontainer/devcontainer.json
+++ b/stone-dispencer/.devcontainer/devcontainer.json
@@ -0,0 +1,36 @@
 {
 	"name": "ESP-IDF QEMU",
 	"build": {
 		"dockerfile": "Dockerfile"
 	},
 	"customizations": {
 		"vscode": {
 			"settings": {
 				"terminal.integrated.defaultProfile.linux": "bash",
 				"idf.espIdfPath": "/opt/esp/idf",
 				"idf.customExtraPaths": "",
 				"idf.pythonBinPath": "/opt/esp/python_env/idf5.4_py3.12_env/bin/python",
 				"idf.toolsPath": "/opt/esp",
 				"idf.gitPath": "/usr/bin/git"
 			},
 			"extensions": [
 				"espressif.esp-idf-extension"
 			]
 		},
 		"codespaces": {
 			"settings": {
 				"terminal.integrated.defaultProfile.linux": "bash",
 				"idf.espIdfPath": "/opt/esp/idf",
 				"idf.customExtraPaths": "",
 				"idf.pythonBinPath": "/opt/esp/python_env/idf5.4_py3.12_env/bin/python",
 				"idf.toolsPath": "/opt/esp",
 				"idf.gitPath": "/usr/bin/git"
 			},
 			"extensions": [
 				"espressif.esp-idf-extension",
 				"espressif.esp-idf-web"
 			]
 		}
 	},
 	"runArgs": ["--privileged"]
 }
--- a/stone-dispencer/.gitignore
+++ b/stone-dispencer/.gitignore
--- a/stone-dispencer/.vscode/c_cpp_properties.json
+++ b/stone-dispencer/.vscode/c_cpp_properties.json
@@ -0,0 +1,23 @@
 {
    "configurations": [
        {
            "name": "ESP-IDF",
            "compilerPath": "${config:idf.toolsPath}/tools/xtensa-esp-elf/esp-13.2.0_20240530/xtensa-esp-elf/bin/xtensa-esp32-elf-gcc",
            "compileCommands": "${config:idf.buildPath}/compile_commands.json",
            "includePath": [
                "${config:idf.espIdfPath}/components/**",
                "${config:idf.espIdfPathWin}/components/**",
                "${workspaceFolder}/**"
            ],
            "browse": {
                "path": [
                    "${config:idf.espIdfPath}/components",
                    "${config:idf.espIdfPathWin}/components",
                    "${workspaceFolder}"
                ],
                "limitSymbolsToIncludedHeaders": true
            }
        }
    ],
    "version": 4
 }
--- a/stone-dispencer/.vscode/launch.json
+++ b/stone-dispencer/.vscode/launch.json
@@ -0,0 +1,15 @@
 {
  "version": "0.2.0",
  "configurations": [
    {
      "type": "gdbtarget",
      "request": "attach",
      "name": "Eclipse CDT GDB Adapter"
    },
    {
      "type": "espidf",
      "name": "Launch",
      "request": "launch"
    }
  ]
 }
--- a/stone-dispencer/.vscode/settings.json
+++ b/stone-dispencer/.vscode/settings.json
@@ -0,0 +1,38 @@
 {
    "C_Cpp.intelliSenseEngine": "default",
    "idf.adapterTargetName": "esp32",
    "idf.customExtraPaths": "/home/alexander/.espressif/tools/xtensa-esp-elf-gdb/14.2_20240403/xtensa-esp-elf-gdb/bin:/home/alexander/.espressif/tools/riscv32-esp-elf-gdb/14.2_20240403/riscv32-esp-elf-gdb/bin:/home/alexander/.espressif/tools/xtensa-esp-elf/esp-13.2.0_20240530/xtensa-esp-elf/bin:/home/alexander/.espressif/tools/riscv32-esp-elf/esp-13.2.0_20240530/riscv32-esp-elf/bin:/home/alexander/.espressif/tools/esp32ulp-elf/2.38_20240113/esp32ulp-elf/bin:/home/alexander/.espressif/tools/openocd-esp32/v0.12.0-esp32-20240318/openocd-esp32/bin:/home/alexander/.espressif/tools/esp-rom-elfs/20240305",
    "idf.customExtraVars": {
        "OPENOCD_SCRIPTS": "/home/alexander/.espressif/tools/openocd-esp32/v0.12.0-esp32-20240318/openocd-esp32/share/openocd/scripts",
        "ESP_ROM_ELF_DIR": "/home/alexander/.espressif/tools/esp-rom-elfs/20240305/"
    },
    "idf.espIdfPath": "/opt/esp/v5.3.2/esp-idf",
    "idf.openOcdConfigs": [
        "board/esp32-wrover-kit-3.3v.cfg"
    ],
    "idf.port": "/dev/ttyUSB1",
    "idf.toolsPath": "/home/alexander/.espressif",
    "idf.flashType": "JTAG",
    "idf.openOcdLaunchArgs": [
        "-c",
        "adapter speed 1000"
    ],
    "files.associations": {
        "*.tcc": "c",
        "charconv": "c",
        "chrono": "c",
        "optional": "c",
        "format": "c",
        "ratio": "c",
        "system_error": "c",
        "array": "c",
        "functional": "c",
        "regex": "c",
        "tuple": "c",
        "type_traits": "c",
        "utility": "c",
        "esp_chip_info.h": "c",
        "random": "cpp",
        "future": "cpp"
    },
 }
--- a/stone-dispencer/.vscode/tasks.json
+++ b/stone-dispencer/.vscode/tasks.json
@@ -0,0 +1,259 @@
 {
  "version": "2.0.0",
  "tasks": [
    {
      "label": "Build - Build project",
      "type": "shell",
      "command": "${config:idf.pythonBinPath} ${config:idf.espIdfPath}/tools/idf.py build",
      "windows": {
        "command": "${config:idf.pythonBinPathWin} ${config:idf.espIdfPathWin}\\tools\\idf.py build",
        "options": {
          "env": {
            "PATH": "${env:PATH};${config:idf.customExtraPaths}"
          }
        }
      },
      "options": {
        "env": {
          "PATH": "${env:PATH}:${config:idf.customExtraPaths}"
        }
      },
      "problemMatcher": [
        {
          "owner": "cpp",
          "fileLocation": [
            "autoDetect",
            "${workspaceFolder}"
          ],
          "pattern": {
            "regexp": "^(.*?):(\\d+):(\\d*):?\\s+(?:fatal\\s+)?(warning|error):\\s+(.*)$",
            "file": 1,
            "line": 2,
            "column": 3,
            "severity": 4,
            "message": 5
          }
        }
      ],
      "group": {
        "kind": "build",
        "isDefault": true
      }
    },
    {
      "label": "Set ESP-IDF Target",
      "type": "shell",
      "command": "${command:espIdf.setTarget}",
      "problemMatcher": {
        "owner": "cpp",
        "fileLocation": [
          "autoDetect",
          "${workspaceFolder}"
        ],
        "pattern": {
          "regexp": "^(.*?):(\\d+):(\\d*):?\\s+(?:fatal\\s+)?(warning|error):\\s+(.*)$",
          "file": 1,
          "line": 2,
          "column": 3,
          "severity": 4,
          "message": 5
        }
      }
    },
    {
      "label": "Clean - Clean the project",
      "type": "shell",
      "command": "${config:idf.pythonBinPath} ${config:idf.espIdfPath}/tools/idf.py fullclean",
      "windows": {
        "command": "${config:idf.pythonBinPathWin} ${config:idf.espIdfPathWin}\\tools\\idf.py fullclean",
        "options": {
          "env": {
            "PATH": "${env:PATH};${config:idf.customExtraPaths}"
          }
        }
      },
      "options": {
        "env": {
          "PATH": "${env:PATH}:${config:idf.customExtraPaths}"
        }
      },
      "problemMatcher": [
        {
          "owner": "cpp",
          "fileLocation": [
            "autoDetect",
            "${workspaceFolder}"
          ],
          "pattern": {
            "regexp": "^(.*?):(\\d+):(\\d*):?\\s+(?:fatal\\s+)?(warning|error):\\s+(.*)$",
            "file": 1,
            "line": 2,
            "column": 3,
            "severity": 4,
            "message": 5
          }
        }
      ]
    },
    {
      "label": "Flash - Flash the device",
      "type": "shell",
      "command": "${config:idf.pythonBinPath} ${config:idf.espIdfPath}/tools/idf.py -p ${config:idf.port} -b ${config:idf.flashBaudRate} flash",
      "windows": {
        "command": "${config:idf.pythonBinPathWin} ${config:idf.espIdfPathWin}\\tools\\idf.py flash -p ${config:idf.portWin} -b ${config:idf.flashBaudRate}",
        "options": {
          "env": {
            "PATH": "${env:PATH};${config:idf.customExtraPaths}"
          }
        }
      },
      "options": {
        "env": {
          "PATH": "${env:PATH}:${config:idf.customExtraPaths}"
        }
      },
      "problemMatcher": [
        {
          "owner": "cpp",
          "fileLocation": [
            "autoDetect",
            "${workspaceFolder}"
          ],
          "pattern": {
            "regexp": "^(.*?):(\\d+):(\\d*):?\\s+(?:fatal\\s+)?(warning|error):\\s+(.*)$",
            "file": 1,
            "line": 2,
            "column": 3,
            "severity": 4,
            "message": 5
          }
        }
      ]
    },
    {
      "label": "Monitor: Start the monitor",
      "type": "shell",
      "command": "${config:idf.pythonBinPath} ${config:idf.espIdfPath}/tools/idf.py -p ${config:idf.port} monitor",
      "windows": {
        "command": "${config:idf.pythonBinPathWin} ${config:idf.espIdfPathWin}\\tools\\idf.py -p ${config:idf.portWin} monitor",
        "options": {
          "env": {
            "PATH": "${env:PATH};${config:idf.customExtraPaths}"
          }
        }
      },
      "options": {
        "env": {
          "PATH": "${env:PATH}:${config:idf.customExtraPaths}"
        }
      },
      "problemMatcher": [
        {
          "owner": "cpp",
          "fileLocation": [
            "autoDetect",
            "${workspaceFolder}"
          ],
          "pattern": {
            "regexp": "^(.*?):(\\d+):(\\d*):?\\s+(?:fatal\\s+)?(warning|error):\\s+(.*)$",
            "file": 1,
            "line": 2,
            "column": 3,
            "severity": 4,
            "message": 5
          }
        }
      ],
      "dependsOn": "Flash - Flash the device"
    },
    {
      "label": "OpenOCD: Start openOCD",
      "type": "shell",
      "presentation": {
        "echo": true,
        "reveal": "never",
        "focus": false,
        "panel": "new"
      },
      "command": "openocd -s ${command:espIdf.getOpenOcdScriptValue} ${command:espIdf.getOpenOcdConfigs}",
      "windows": {
        "command": "openocd.exe -s ${command:espIdf.getOpenOcdScriptValue} ${command:espIdf.getOpenOcdConfigs}",
        "options": {
          "env": {
            "PATH": "${env:PATH};${config:idf.customExtraPaths}"
          }
        }
      },
      "options": {
        "env": {
          "PATH": "${env:PATH}:${config:idf.customExtraPaths}"
        }
      },
      "problemMatcher": {
        "owner": "cpp",
        "fileLocation": [
          "autoDetect",
          "${workspaceFolder}"
        ],
        "pattern": {
          "regexp": "^(.*?):(\\d+):(\\d*):?\\s+(?:fatal\\s+)?(warning|error):\\s+(.*)$",
          "file": 1,
          "line": 2,
          "column": 3,
          "severity": 4,
          "message": 5
        }
      }
    },
    {
      "label": "adapter",
      "type": "shell",
      "command": "${config:idf.pythonBinPath}",
      "isBackground": true,
      "options": {
        "env": {
          "PATH": "${env:PATH}:${config:idf.customExtraPaths}",
          "PYTHONPATH": "${command:espIdf.getExtensionPath}/esp_debug_adapter/debug_adapter"
        }
      },
      "problemMatcher": {
        "background": {
          "beginsPattern": "\bDEBUG_ADAPTER_STARTED\b",
          "endsPattern": "DEBUG_ADAPTER_READY2CONNECT",
          "activeOnStart": true
        },
        "pattern": {
          "regexp": "(\\d+)-(\\d+)-(\\d+)\\s(\\d+):(\\d+):(\\d+),(\\d+)\\s-(.+)\\s(ERROR)",
          "file": 8,
          "line": 2,
          "column": 3,
          "severity": 4,
          "message": 9
        }
      },
      "args": [
        "${command:espIdf.getExtensionPath}/esp_debug_adapter/debug_adapter_main.py",
        "-e",
        "${workspaceFolder}/build/${command:espIdf.getProjectName}.elf",
        "-s",
        "$OPENOCD_SCRIPTS",
        "-dn",
        "esp32",
        "-om",
        "connect_to_instance",
        "-t",
        "xtensa-esp32-elf-"
      ],
      "windows": {
        "command": "${config:idf.pythonBinPathWin}",
        "options": {
          "env": {
            "PATH": "${env:PATH};${config:idf.customExtraPaths}",
            "PYTHONPATH": "${command:espIdf.getExtensionPath}/esp_debug_adapter/debug_adapter"
          }
        }
      }
    }
  ]
 }
--- a/stone-dispencer/CMakeLists.txt
+++ b/stone-dispencer/CMakeLists.txt
@@ -0,0 +1,6 @@
 # The following lines of boilerplate have to be in your project's
 # CMakeLists in this exact order for cmake to work correctly
 cmake_minimum_required(VERSION 3.16)
 include($ENV{IDF_PATH}/tools/cmake/project.cmake)
 project(stone-dispencer)
--- a/stone-dispencer/README.md
+++ b/stone-dispencer/README.md
--- a/stone-dispencer/circuit/stone-dispencer/stone-dispencer-backups/stone-dispencer-2024-11-30_000515.zip
+++ b/stone-dispencer/circuit/stone-dispencer/stone-dispencer-backups/stone-dispencer-2024-11-30_000515.zip
--- a/stone-dispencer/circuit/stone-dispencer/stone-dispencer-backups/stone-dispencer-2024-11-30_012246.zip
+++ b/stone-dispencer/circuit/stone-dispencer/stone-dispencer-backups/stone-dispencer-2024-11-30_012246.zip
--- a/stone-dispencer/circuit/stone-dispencer/stone-dispencer-backups/stone-dispencer-2024-11-30_162859.zip
+++ b/stone-dispencer/circuit/stone-dispencer/stone-dispencer-backups/stone-dispencer-2024-11-30_162859.zip
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
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`