명령 오류 응답(rxs:, rxn:) 추가

src/parser.c

@@ -1,11 +1,8 @@
 /*******************************************************************************
  * @file    parser.c
- * @brief   BLE command parser (Zephyr port)
+ * @brief   BLE command parser
  *
- * 원본: pc_firm/parser.c
+ * Packet format : [TAG 4B] [DATA NB] [CRC16 2B]
- * 패킷 포맷: [TAG 4B] [DATA NB] [CRC16 2B]
- *
- * 현재 구현된 커맨드: msn? (배터리 측정), mls? (LED 상태 설정)
  ******************************************************************************/
 #include <zephyr/kernel.h>
 #include <zephyr/sys/util.h>
@@ -41,13 +38,14 @@
 #define ECHO_STATUS_IMU       0x0006
 #define ECHO_STATUS_TEMP      0x0007
 
-#define PIEZO_CFG_FREQ_DEFAULT     1
+#define PIEZO_CFG_FREQ_DEFAULT       1
-#define PIEZO_CFG_CYCLES_DEFAULT   7
+#define PIEZO_CFG_CYCLES_DEFAULT     7
-#define PIEZO_CFG_DELAY_DEFAULT    10
+#define PIEZO_CFG_DELAY_DEFAULT      10
-#define PIEZO_CFG_SAMPLES_DEFAULT  100
+#define PIEZO_CFG_SAMPLES_DEFAULT    100
-#define PIEZO_CFG_AVG_DEFAULT      10
+#define PIEZO_CFG_AVG_DEFAULT        3
-#define PIEZO_CFG_AVG_MAX          20
+
-#define PIEZO_CFG_DELAY_MAX_US     100
+#define PIEZO_CFG_AVG_MAX            10
+#define PIEZO_CFG_DELAY_MAX_US       50
 #define PIEZO_POST_SELECT_SETTLE_US  500
 #define PIEZO_AVG_INTER_BURST_GAP_US 500
 #define PIEZO_DUMMY_CAPTURE_COUNT    5
@@ -1580,33 +1578,36 @@ int dr_parser(const uint8_t *buf, uint16_t len)
 {
     DBG_CORE("[PARSER] enter len=%u\r\n", len);
     DBG_CORE("[CMD] RX len=%u\r\n", len);
-    /* 최소 4바이트 TAG 필요 */
+
-    if (len < 4)
+    char raw_tag[5] = { '?', '?', '?', '?', '\0' };
+    for (uint16_t i = 0; i < len && i < 4U; i++)
+    {
+        raw_tag[i] = (char)buf[i];
+    }
+
+    if (len < 7U)
     {
         DBG_ERR("[CMD] Too short (%u)\r\n", len);
+        if (send_response_tag_echo("rxs:", raw_tag) != 0)
+        {
+            DBG_ERR("[CMD] rxs tx failed\r\n");
+        }
         return -1;
     }
 
-    char raw_tag[5] = { buf[0], buf[1], buf[2], buf[3], '\0' };
+    uint16_t calc_crc = dr_crc16_compute(buf, len - 2U);
+    uint16_t recv_crc = (uint16_t)(buf[len - 2U]) | ((uint16_t)(buf[len - 1U]) << 8);
 
-    /* CRC16 검증 (6바이트 이상이면 마지막 2바이트가 CRC) */
+    if (calc_crc != recv_crc)
-    if (len >= 6)
     {
-        uint16_t calc_crc = dr_crc16_compute(buf, len - 2);
+        DBG_ERR("[CMD] CRC fail tag=%s calc=0x%04X recv=0x%04X\r\n", raw_tag, calc_crc, recv_crc);
-        uint16_t recv_crc = (uint16_t)(buf[len - 2]) | ((uint16_t)(buf[len - 1]) << 8);
+        if (send_response_tag_echo("rxc:", raw_tag) != 0)
-
-        if (calc_crc != recv_crc)
         {
-            DBG_ERR("[CMD] CRC fail tag=%s calc=0x%04X recv=0x%04X\r\n", raw_tag, calc_crc, recv_crc);
+            DBG_ERR("[CMD] rxc tx failed\r\n");
-            if (send_response_tag_echo("rxc:", raw_tag) != 0)
-            {
-                DBG_ERR("[CMD] rxc tx failed\r\n");
-            }
-            return -1;
         }
+        return -1;
     }
 
-    /* TAG 추출 (4바이트) */
     char tag[5] =
     {
         ascii_to_lower((char)buf[0]),
@@ -1617,15 +1618,23 @@ int dr_parser(const uint8_t *buf, uint16_t len)
     };
     DBG_CORE("[CMD] tag=%s\r\n", tag);
 
-    /* 데이터 부분 (TAG 이후, CRC 이전) */
     const uint8_t *data = buf + 4;
-    uint8_t data_len = (len >= 6) ? (len - 4 - 2) : (len - 4);
+    uint8_t data_len = (uint8_t)(len - 4U - 2U);
 
-    /* 테이블 검색 + 디스패치 */
     for (int i = 0; i < CMD_TABLE_SIZE; i++)
     {
         if (memcmp(tag, cmd_table[i].tag, 4) == 0)
         {
+            if (cmd_table[i].handler == NULL)
+            {
+                DBG_ERR("[CMD] Null handler: %s\r\n", cmd_table[i].tag);
+                if (send_response_tag_echo("rxn:", raw_tag) != 0)
+                {
+                    DBG_ERR("[CMD] rxn tx failed\r\n");
+                }
+                return -1;
+            }
+
             DBG_CORE("[CMD] dispatch -> %s\r\n", cmd_table[i].tag);
             return cmd_table[i].handler(data, data_len);
         }