Zephyr_reference/command_handler
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Improved the comm

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2026-07-31 14:04:28 +03:00
parent 973b8bdf39
commit 4328a76e29
7 changed files with 94 additions and 120 deletions
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prj.conf
+3 -6
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@@ -11,23 +11,20 @@ CONFIG_UART_LINE_CTRL=y
# USB
CONFIG_USB_DEVICE_STACK_NEXT=y
CONFIG_CDC_ACM_SERIAL_INITIALIZE_AT_BOOT=n
# CONFIG_CDC_ACM_SERIAL_PRODUCT_STRING="USB CDC ACM"
# CONFIG_CDC_ACM_SERIAL_PID=
CONFIG_USBD_VID=0xffff
CONFIG_USBD_PID=0x0420
CONFIG_USBD_MANUFACTURER="Zephyr Project"
CONFIG_USBD_PRODUCT="USBD sample"
CONFIG_USBD_SELF_POWERED=y
# CONFIG_USBD_REMOTE_WAKEUP=
CONFIG_USBD_MAX_POWER=125
# LOG
CONFIG_LOG=y
CONFIG_LOG=n
CONFIG_USBD_CDC_ACM_LOG_LEVEL_OFF=y # This removes a pointless warning
CONFIG_LOG_DEFAULT_LEVEL=3
CONFIG_LOG_MODE_IMMEDIATE=y
# CONFIG_USBD_LOG_LEVEL_ERR=y
# CONFIG_UDC_DRIVER_LOG_LEVEL_ERR=y
# DEBUG
CONFIG_DEBUG_THREAD_INFO=y
# CONFIG_DEBUG=y
# CONFIG_DEBUG_OPTIMIZATIONS=y
scripts/led_blink.py
+3 -4
View File
@@ -10,10 +10,9 @@ BAUDRATE = 115200
COMMAND_PREFIX = 0x69
COMMAND_ERROR = 0
COMMAND_ACK = 1
COMMAND_NACK = 2
LED = 3
COMMAND_ACK = 0
COMMAND_NACK = 1
LED = 2
DEVICE_ID = 0
src/command_handler.c
-5
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@@ -14,11 +14,6 @@ int command_handler(struct command_message_t *msg) {
LOG_DBG("Processing command: %d, length: %d", msg->command, msg->length);
switch (msg->command) {
case COMMAND_ERROR: {
LOG_WRN("Received COMMAND_ERROR");
break;
}
case LED: {
// Toggle LED with the LED command
led_toggle();
src/command_message.h
+2 -2
View File
@@ -7,9 +7,9 @@
#define COMMAND_PREFIX 0x69
#define COMMAND_ID 0x00
#define COMMAND_DATA_SIZE 160
typedef enum {
COMMAND_ERROR,
COMMAND_ACK,
COMMAND_NACK,
LED,
@@ -21,7 +21,7 @@ struct command_message_t {
uint8_t id;
uint8_t command;
uint8_t crc;
uint8_t data[160];
uint8_t data[COMMAND_DATA_SIZE];
} __attribute__((packed));
/**
src/usb.c
+84 -65
View File
@@ -6,8 +6,9 @@
#include <zephyr/device.h>
#include <zephyr/drivers/uart.h>
#include <zephyr/kernel.h>
#include <zephyr/sys/ring_buffer.h>
LOG_MODULE_REGISTER(usb, LOG_LEVEL_DBG);
LOG_MODULE_REGISTER(usb, LOG_LEVEL_INF);
// DEVICE
const struct device *const uart_dev = DEVICE_DT_GET_ONE(zephyr_cdc_acm_uart);
@@ -20,15 +21,15 @@ static k_tid_t usb_thread_id = NULL;
K_THREAD_STACK_DEFINE(usb_thread_stack, USB_THREAD_STACK_SIZE);
// RX BUFFER
#define RX_BUF_SIZE 4
struct rx_buffer_t {
int current_read;
int current_write;
struct k_sem semaphore;
struct command_message_t buffer[RX_BUF_SIZE];
};
#define RING_BUF_SIZE 255
static uint8_t ring_buffer[RING_BUF_SIZE];
static struct ring_buf ringbuf;
struct k_sem rx_semaphore;
static struct rx_buffer_t rx_buf;
// ACK / NACK messages
#define RETURN_ACK true
struct command_message_t ack_msg;
struct command_message_t nack_msg;
static void interrupt_handler(const struct device *dev, void *user_data) {
@@ -42,26 +43,29 @@ static void interrupt_handler(const struct device *dev, void *user_data) {
}
if (uart_irq_rx_ready(dev)) {
size_t len = sizeof(struct command_message_t);
int recv_len, rb_len;
uint8_t buffer[64];
size_t len = MIN(ring_buf_space_get(&ringbuf), sizeof(buffer));
int recv_len = uart_fifo_read(dev, (uint8_t *)&rx_buf.buffer[rx_buf.current_write], len);
if (len == 0) {
// ring buffer full, drops package(s)
uart_irq_rx_disable(dev);
k_sem_give(&rx_semaphore);
break;
}
recv_len = uart_fifo_read(dev, buffer, len);
if (recv_len < 0) {
LOG_ERR("Failed to read UART FIFO");
recv_len = 0;
};
rx_buf.current_write += 1;
if (rx_buf.current_write >= RX_BUF_SIZE) {
rx_buf.current_write = 0;
rx_buf.current_read = (RX_BUF_SIZE - 1);
}
else {
rx_buf.current_read = (rx_buf.current_write - 1);
rb_len = ring_buf_put(&ringbuf, buffer, recv_len);
if (rb_len < recv_len) {
LOG_ERR("Drop %u bytes", recv_len - rb_len);
}
// Give semaphore for usb read thread
k_sem_give(&rx_buf.semaphore);
k_sem_give(&rx_semaphore);
}
}
}
@@ -70,64 +74,81 @@ static void usb_thread(void *p1, void *p2, void *p3) {
ARG_UNUSED(p1);
ARG_UNUSED(p2);
ARG_UNUSED(p3);
struct command_message_t msg;
command_message_init(&msg);
LOG_INF("USB command processing thread started");
while (1) {
// Wait forever for the rx semaphore
k_sem_take(&rx_buf.semaphore, K_FOREVER);
k_sem_take(&rx_semaphore, K_FOREVER);
int read_index = rx_buf.current_read;
int len;
// Check the prefix
if (rx_buf.buffer[read_index].prefix != COMMAND_PREFIX) {
LOG_ERR("COMMAND_PREFIX does not match: %d", rx_buf.buffer[read_index].prefix);
// While ring buffer has data
do {
uint8_t buf_prefix;
len = ring_buf_get(&ringbuf, &buf_prefix, 1);
// Send NACK
struct command_message_t nack_buf;
command_create_nack(&nack_buf);
usb_send_command(&nack_buf);
continue;
}
if (len && (buf_prefix == COMMAND_PREFIX)) {
uint8_t buf_header[4];
len = ring_buf_get(&ringbuf, buf_header, 4);
// Check the CRC
uint8_t calculated_crc = command_calculate_crc(&rx_buf.buffer[read_index]);
if (calculated_crc != rx_buf.buffer[read_index].crc) {
LOG_ERR("CRC does not match:");
LOG_ERR("Calculated CRC: %d", calculated_crc);
LOG_ERR("Received CRC: %d", rx_buf.buffer[read_index].prefix);
if ((len == 4) && (buf_header[1] == COMMAND_ID) && (buf_header[0] <= COMMAND_DATA_SIZE)) {
msg.length = buf_header[0];
msg.command = buf_header[2];
msg.crc = buf_header[3];
// Send NACK
struct command_message_t nack_buf;
command_create_nack(&nack_buf);
usb_send_command(&nack_buf);
if (msg.length) {
len = ring_buf_get(&ringbuf, msg.data, msg.length);
}
continue;
}
uint8_t calculated_crc = command_calculate_crc(&msg);
if (calculated_crc != msg.crc) {
if (RETURN_ACK) {
// Send NACK
usb_send_command(&nack_msg);
}
continue;
}
int ret = command_handler(&rx_buf.buffer[read_index]);
if (ret == 0) {
// Send ACK
struct command_message_t ack_buf;
command_create_ack(&ack_buf);
usb_send_command(&ack_buf);
}
else {
// Send NACK
struct command_message_t nack_buf;
command_create_nack(&nack_buf);
usb_send_command(&nack_buf);
}
int ret = command_handler(&msg);
if (ret == 0) {
if (RETURN_ACK) {
// Send ACK
usb_send_command(&ack_msg);
}
}
else {
if (RETURN_ACK) {
// Send NACK
usb_send_command(&nack_msg);
}
}
}
else {
// Command_id did not match, ignore
continue;
}
}
else {
// Prefix did not match, ignore
continue;
}
} while (len > 0);
uart_irq_rx_enable(uart_dev);
}
LOG_INF("USB command processing thread exiting");
}
int usb_init() {
rx_buf.current_read = 0;
rx_buf.current_write = 0;
k_sem_init(&rx_buf.semaphore, 1, 1);
memset(rx_buf.buffer, 0, sizeof(rx_buf.buffer));
ring_buf_init(&ringbuf, sizeof(ring_buffer), ring_buffer);
k_sem_init(&rx_semaphore, 0, 1);
command_create_ack(&ack_msg);
command_create_nack(&nack_msg);
int ret;
@@ -174,8 +195,6 @@ int usb_init() {
}
int usb_send_command(struct command_message_t *msg) {
int ret = 0;
if (!device_is_ready(uart_dev)) {
return -ENODEV;
}
@@ -189,5 +208,5 @@ int usb_send_command(struct command_message_t *msg) {
uart_poll_out(uart_dev, msg_bytes[i]);
}
return ret;
return 0;
}
src/zbus_channels.c
-21
View File
@@ -1,21 +0,0 @@
#include "zbus_channels.h"
#include "command_message.h"
ZBUS_CHAN_DEFINE(
in_command_chan,
struct command_message_t,
NULL,
NULL,
ZBUS_OBSERVERS_EMPTY,
ZBUS_MSG_INIT(0)
);
ZBUS_CHAN_DEFINE(
out_command_chan,
struct command_message_t,
NULL,
NULL,
ZBUS_OBSERVERS_EMPTY,
ZBUS_MSG_INIT(0)
);
src/zbus_channels.h
-15
View File
@@ -1,15 +0,0 @@
#ifndef ZBUS_CHANNELS_H
#define ZBUS_CHANNELS_H
#include <zephyr/kernel.h>
#include <zephyr/zbus/zbus.h>
#include "command_message.h"
ZBUS_CHAN_DECLARE(in_command_chan);
ZBUS_CHAN_DECLARE(out_command_chan);
#endif // ZBUS_CHANNELS_H