Added first documentation

2026-10-08 13:27:57 +03:00
parent 3cc32639d5
commit 35ebba09e0
6 changed files with 223 additions and 50 deletions
@@ -1,56 +1,42 @@
-# 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)