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2026-10-08 13:27:57 +03:00
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servo_controller/COMMANDS.md
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# USB Command Handler
Implementation of command handler for this project.
### ACK
Every command returns either an ACK or NACK.
### Commands
```c
typedef enum {
COMMAND_ACK,
COMMAND_NACK,
LED_TOGGLE,
LED_SET,
SERVO_SET,
SERVO_SET_ALL,
ADC_READ_RAW,
ADC_READ_RAW_ALL,
ADC_READ,
ADC_READ_ALL,
ADC_SET_READ,
DIGITAL_IN,
DIGITAL_LEG_OUT,
POWER_MONITOR_SET_READ,
POWER_MONITOR_READ,
SETTINGS_TEST_SAVE,
SETTINGS_TEST_READ,
MOVE_COMMAND_START,
// All the commands going to robot thread go here
TEST_COMMAND, // 16
MOVE_COMMAND_END
} commands_e;
```
### Command Structure
```c
#define COMMAND_PREFIX 0x69
#define COMMAND_ID 0x00
#define COMMAND_DATA_SIZE 160
#define COMMAND_HEADER_SIZE 13
struct command_message_t {
uint8_t prefix;
uint8_t length;
uint8_t id;
uint8_t command;
int64_t tick;
uint8_t crc;
uint8_t data[COMMAND_DATA_SIZE];
} __attribute__((packed));
```
### CRC Calculation Function
```c
uint8_t command_calculate_crc(struct command_message_t *msg) {
uint32_t sum = 0;
uint8_t crc = 0;
uint8_t *byte_ptr = (uint8_t *)msg;
int loop_length = (sizeof(struct command_message_t) - sizeof(msg->data) + msg->length);
for (int i = 0; i < loop_length; i++) {
if (i == (COMMAND_HEADER_SIZE - 1)) { continue; }
sum += byte_ptr[i];
}
crc = 0x100 - (sum & 0xff);
return crc;
}
```
### Python test script (AI generated)
**Command Usage:**
```bash
python3 scripts/send_cmd.py --help
```
This script sends/reads commands
servo_controller/README.md
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# Zephyr USB Command Handler
# Servo controller for Servo2350 board
This repository contains the implementation of a USB command handler for the Zephyr RTOS. The system allows devices to communicate via USB using custom command messages.
### Components
1. **command_handler.c/h**: Handles incoming commands, processes them, and performs actions based on the command type.
2. **command_message.c/h**: Manages the creation, validation, and logging of command messages, including CRC calculation.
3. **usb.c/h**: Manages USB initialization, data reception via UART, and sending responses. Includes a USB thread.
4. **usb_conf.c/h**: Configures the USB device.
### ACK
Every command returns either an ACK or NACK.
### Command Structure
A zephyr app for a hexapod project.
```c
struct command_message_t {
uint8_t prefix; // 0x69
uint8_t length;
uint8_t id;
uint8_t command;
uint8_t crc;
uint8_t data[160];
} __attribute__((packed));
/*
(1) (6)
\ /
\ /
\ /
*---(F)---*
/ \
/ \
/ \
(2)---* o *---(5)
\ /
\ /
\ /
*---(B)---*
/ \
/ \
/ \
(3) (4)
*/
```
### CRC Calculation Function
## Project overview
From [../pins.drawio](../pins.drawio)
![image](project_overview.png)
```c
uint8_t calculate_crc(struct command_message_t *msg) {
uint32_t sum = 0;
uint8_t crc = 0;
## Hardware
This project uses custom open source RP2350B board developed in [Servo2350](https://git.aintmina.org/aintgit/servo2350).
uint8_t *byte_ptr = (uint8_t *)msg;
Schematics can be found in [boards/arm/servo2350/docs/Servo2350.pdf](boards/arm/servo2350/docs/Servo2350.pdf).
for (int i = 0; i < (sizeof(struct command_message_t) - sizeof(msg->data) + msg->length) - 1; i++) {
sum += byte_ptr[i];
}
## Zephyr environment setup
See [SETUP.md](SETUP.md)
crc = 0x100 - (sum & 0xff);
return crc;
}
```
### Python test script (AI generated)
**Command Usage:**
```bash
python3 scripts/led_blink.py
```
This script sends LED toggle commands to the device connected via USB.
## Communication
See [COMMANDS.md](COMMANDS.md)
servo_controller/SETUP.md
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# Installation Guide
## Prerequisites
Install required tools:
```bash
python -m venv venv
source venv/bin/activate
pip install west pyserial pyocd
```
## Project Structure
```
zephyr/
├── venv/ # Python virtual environment
├── sdk/zephyr/ # Zephyr source code
├── zephyr-sdk-1.0.1/ # Zephyr SDK installation
├── project/ # Git root
| └── servo_controller # Zephyr project
└── env.sh # Environment setup script
```
## Setup
### 1. Clone Zephyr SDK
```bash
# in zephyr/
mkdir sdk
cd sdk
git clone https://github.com/zephyrproject-rtos/zephyr.git
```
### 2. Install Zephyr SDK
```bash
# in zephyr/
wget https://github.com/zephyrproject-rtos/sdk-ng/releases/download/v1.0.1/zephyr-sdk-1.0.1_linux-x86_64_gnu.tar.xz
tar xf zephyr-sdk-1.0.1_linux-x86_64_gnu.tar.xz
```
### 3. Initialize West
```bash
# in zephyr/sdk/zephyr
west init -l .
west update
```
### 4. Export a Zephyr CMake package.
```bash
# in zephyr/sdk/zephyr
west zephyr-export
```
### 5. Install Python dependencies using west packages.
```bash
# in zephyr/sdk/zephyr
west packages pip --install
```
### 6. Create env.sh
Create `zephyr/env.sh` with the following content:
```bash
#!/bin/bash
SCRIPT_DIR=$(dirname "$(readlink -f "$0")")
export ZEPHYR_BASE="${SCRIPT_DIR}/sdk/zephyr"
echo "export ZEPHYR_BASE=\"${SCRIPT_DIR}/sdk/zephyr\""
export ZEPHYR_SDK_INSTALL_DIR="${SCRIPT_DIR}/zephyr-sdk-1.0.1"
echo "export ZEPHYR_SDK_INSTALL_DIR=\"${SCRIPT_DIR}/zephyr-sdk-1.0.1\""
source "${SCRIPT_DIR}/venv/bin/activate"
echo "source \"${SCRIPT_DIR}/venv/bin/activate\""
```
### 7. Build the zephyr app
```bash
cd <project_name>/servo_controller
# Source the environment
source ../../zephyr/env.sh
# Build the app
west build -p -b servo2350/rp2350b/m33
```
servo_controller/project_overview.png
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servo_controller/scripts/PYTHONS.md
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# Python codes
> [!NOTE]
> These python test scripts are all vibe coded to save time.