Added first documentation

pins.drawio

@@ -1,6 +1,6 @@
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servo_controller/COMMANDS.md

@@ -0,0 +1,88 @@
+# 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

@@ -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.
+A zephyr app for a hexapod project.
-
-### 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
 
 ```c
-struct command_message_t {
+/*
-    uint8_t prefix;     // 0x69
+
-    uint8_t length;
+     (1)               (6)
-    uint8_t id;
+       \               /
-    uint8_t command;
+        \             /
-    uint8_t crc;
+         \           /
-    uint8_t data[160];
+          *---(F)---*
-} __attribute__((packed));
+         /           \
+        /             \
+       /               \
+(2)---*        o        *---(5)
+       \               /
+        \             /
+         \           /
+          *---(B)---*
+         /           \
+        /             \
+       /               \
+     (3)               (4)
+
+*/
 ```
 
-### CRC Calculation Function
+## Project overview
+From [../pins.drawio](../pins.drawio)
+![image](project_overview.png)
 
-```c
+## Hardware
-uint8_t calculate_crc(struct command_message_t *msg) {
+This project uses custom open source RP2350B board developed in [Servo2350](https://git.aintmina.org/aintgit/servo2350).
-    uint32_t sum = 0;
-    uint8_t crc = 0;
 
-    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++) {
+## Zephyr environment setup
-        sum += byte_ptr[i];
+See [SETUP.md](SETUP.md)
-    }
 
-    crc = 0x100 - (sum & 0xff);
+## Communication
-
+See [COMMANDS.md](COMMANDS.md)
-    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.

servo_controller/SETUP.md

@@ -0,0 +1,95 @@
+# 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/scripts/PYTHONS.md

@@ -0,0 +1,4 @@
+# Python codes
+
+> [!NOTE]
+> These python test scripts are all vibe coded to save time.