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usb: unify companion + repeater CDC ACM init, drop boot waits

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Single ZephyrUSBCDC module owns the usbd context, 1200-baud DFU
detection, and DTR transitions for both roles. The boot banner
now blocks on a k_event signalled by the usbd_msg_callback when
DTR transitions high — host attached → wakes immediately; no host
→ bounded timeout (2 s repeater, 1 s companion). Replaces the
fixed k_sleep delays in both mains.

Deletes the companion's 10 s DTR-polling work — line state changes
arrive as events now, same callback handles disconnect (resets V3
parser, flips active_iface) and DFU touch (reboots to bootloader).

Side effect: prod companion no longer enumerates a phantom CDC ACM
port (CONFIG_LOG=n skips the whole stack instead of auto-initing
an unused device).
This commit is contained in:
liquidraver committed 2026-05-27 09:04:32 +02:00
1 parent 99279fd9fa
commit f06c472e87
10 files changed
+363 -317
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zephcore/adapters/usb/ZephyrCompanionUSB.cpp
+21 -61
View File
@@ -4,6 +4,10 @@
*
* V3-framed USB CDC for companion mode. Extracted from main_companion.cpp.
* Only compiled when CONFIG_LOG is enabled (debug builds).
*
* USBD lifecycle + 1200-baud DFU detection + DTR state tracking live in
* the shared ZephyrUSBCDC module; this file just runs the V3 frame parser
* on top of the CDC ACM UART and reacts to DTR-drop events from there.
*/
#include <zephyr/kernel.h>
@@ -16,14 +20,13 @@
LOG_MODULE_REGISTER(zephcore_usb, CONFIG_ZEPHCORE_USB_LOG_LEVEL);
#include <ZephyrBLE.h>
#include <adapters/board/ZephyrBoard.h>
#include <app/CompanionMesh.h>
#include "ZephyrCompanionUSB.h"
#include "ZephyrUSBCDC.h"
/* MAX_FRAME_SIZE defined in CompanionMesh.h */
#define USB_DTR_CHECK_MS 10000 /* USB DTR poll interval - 10s for power savings */
#define USB_RING_BUF_SIZE 512 /* USB RX ring buffer size */
#define USB_FRAME_TIMEOUT_MS 2000 /* Partial frame timeout - reset parser after 2s of no completion */
@@ -35,31 +38,16 @@ static uint8_t usb_rx_buf[MAX_FRAME_SIZE + 2]; /* +2 for length prefix */
static uint16_t usb_rx_idx;
static uint16_t usb_frame_len; /* Expected frame length (0 = waiting for header) */
static uint32_t usb_frame_start_time; /* Timestamp of first byte in current frame */
static bool usb_dtr_active;
/* Pointers to mesh event infrastructure (set by init) */
static struct k_event *s_mesh_events;
static struct k_work *s_rx_work;
static uint32_t s_mesh_event_ble_rx;
static mesh::ZephyrBoard *s_board;
/* Work items */
static void usb_rx_work_fn(struct k_work *work);
static void usb_dtr_check_work_fn(struct k_work *work);
K_WORK_DEFINE(usb_rx_work, usb_rx_work_fn);
K_WORK_DELAYABLE_DEFINE(usb_dtr_check_work, usb_dtr_check_work_fn);
/**
* Reboot into the Adafruit nRF52 bootloader DFU mode.
* Triggered by host opening USB CDC at 1200 baud then dropping DTR.
*/
static void reboot_to_bootloader_dfu(void)
{
LOG_INF("*** REBOOTING TO BOOTLOADER DFU ***");
s_board->rebootToBootloader();
CODE_UNREACHABLE;
}
/* USB CDC UART interrupt callback - puts bytes in ring buffer */
static void usb_uart_isr(const struct device *dev, void *user_data)
@@ -160,51 +148,21 @@ static void usb_rx_work_fn(struct k_work *work)
}
}
/* USB DTR check - monitors DTR signal for disconnect detection
* AND detects 1200bps baud rate for bootloader DFU trigger. */
static void usb_dtr_check_work_fn(struct k_work *work)
/* DTR-transition callback from the shared ZephyrUSBCDC module.
* On drop: host closed the port → reset parser, hand control back to BLE. */
static void on_dtr_change(bool dtr_active)
{
ARG_UNUSED(work);
if (!usb_dev) {
if (dtr_active) {
return;
}
uint32_t dtr = 0;
int err = uart_line_ctrl_get(usb_dev, UART_LINE_CTRL_DTR, &dtr);
if (err) {
/* Line control not supported or error */
k_work_schedule(&usb_dtr_check_work, K_MSEC(USB_DTR_CHECK_MS));
return;
LOG_INF("usb_dtr: DTR dropped, USB disconnected");
if (zephcore_ble_get_active_iface() == ZEPHCORE_IFACE_USB) {
zephcore_ble_set_active_iface(ZEPHCORE_IFACE_NONE);
LOG_INF("usb_dtr: active_iface = IFACE_NONE");
}
bool dtr_now = (dtr != 0);
/* 1200bps DFU trigger: when host opens port at 1200 baud then
* drops DTR, reboot into bootloader DFU mode.
* This is the Arduino convention used by Adafruit nRF52 boards. */
if (usb_dtr_active && !dtr_now) {
uint32_t baud = 0;
uart_line_ctrl_get(usb_dev, UART_LINE_CTRL_BAUD_RATE, &baud);
if (baud == 1200) {
reboot_to_bootloader_dfu();
/* Never returns */
}
/* Normal DTR drop - USB disconnected */
LOG_INF("usb_dtr: DTR dropped, USB disconnected");
if (zephcore_ble_get_active_iface() == ZEPHCORE_IFACE_USB) {
zephcore_ble_set_active_iface(ZEPHCORE_IFACE_NONE);
LOG_INF("usb_dtr: active_iface = IFACE_NONE");
}
/* Reset RX state */
ring_buf_reset(&usb_ring_buf);
usb_frame_len = 0;
usb_rx_idx = 0;
}
usb_dtr_active = dtr_now;
k_work_schedule(&usb_dtr_check_work, K_MSEC(USB_DTR_CHECK_MS));
ring_buf_reset(&usb_ring_buf);
usb_frame_len = 0;
usb_rx_idx = 0;
}
/* Send frame over USB with V3 length prefix */
@@ -242,10 +200,11 @@ void zephcore_usb_companion_init(struct k_event *mesh_events,
uint32_t mesh_event_ble_rx,
void *board)
{
ARG_UNUSED(board);
s_mesh_events = mesh_events;
s_rx_work = rx_work;
s_mesh_event_ble_rx = mesh_event_ble_rx;
s_board = static_cast<mesh::ZephyrBoard *>(board);
#if DT_HAS_COMPAT_STATUS_OKAY(zephyr_cdc_acm_uart)
usb_dev = DEVICE_DT_GET_ONE(zephyr_cdc_acm_uart);
@@ -257,8 +216,9 @@ void zephcore_usb_companion_init(struct k_event *mesh_events,
uart_irq_callback_set(usb_dev, usb_uart_isr);
uart_irq_rx_enable(usb_dev);
/* Start DTR monitoring to detect terminal disconnect */
k_work_schedule(&usb_dtr_check_work, K_MSEC(USB_DTR_CHECK_MS));
/* DTR state changes (including disconnect) reach us via the
* shared usbd_msg_callback — no polling work needed. */
zephcore_usbd_set_dtr_cb(on_dtr_change);
} else {
LOG_WRN("USB CDC device not ready");
usb_dev = NULL;