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BLE RX 명령 큐 모듈 분리

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jhchun
2026-07-21 13:44:11 +09:00
parent b8fa7831c7
commit b086b0f366
3 changed files with 113 additions and 107 deletions
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src/command/ble_cmd_queue.c
+97
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@@ -0,0 +1,97 @@
/*******************************************************************************
* @file ble_cmd_queue.c
* @brief BLE RX command queue
******************************************************************************/
#include <stdint.h>
#include <string.h>
#include <zephyr/kernel.h>
#include "ble_cmd_queue.h"
#include "debug_print.h"
#include "parser.h"
#define BLE_CMD_MAX_LEN 256
#define BLE_CMD_QUEUE_DEPTH 8 // RX command ring buffer depth
#define BLE_CMD_WORKQ_STACK_SZ 8192
#define BLE_CMD_WORKQ_PRIORITY 10
static struct k_work_q ble_cmd_work_q;
K_THREAD_STACK_DEFINE(ble_cmd_workq_stack, BLE_CMD_WORKQ_STACK_SZ);
static struct k_work ble_cmd_work; // BLE command worker
static struct k_spinlock ble_cmd_lock; // RX queue lock
static uint8_t ble_cmd_q_buf[BLE_CMD_QUEUE_DEPTH][BLE_CMD_MAX_LEN]; // command data
static uint16_t ble_cmd_q_len[BLE_CMD_QUEUE_DEPTH]; // command length
static uint8_t ble_cmd_q_head; // next pop slot
static uint8_t ble_cmd_q_tail; // next push slot
static uint8_t ble_cmd_q_count; // queued command count
/* Queue에 쌓인 BLE 명령을 parser로 전달 */
static void ble_cmd_work_handler(struct k_work *work)
{
ARG_UNUSED(work);
uint8_t local_buf[BLE_CMD_MAX_LEN];
uint16_t local_len;
for (;;)
{
k_spinlock_key_t key = k_spin_lock(&ble_cmd_lock);
if (ble_cmd_q_count == 0U)
{
k_spin_unlock(&ble_cmd_lock, key);
break;
}
local_len = ble_cmd_q_len[ble_cmd_q_head];
memcpy(local_buf, ble_cmd_q_buf[ble_cmd_q_head], local_len);
ble_cmd_q_head = (uint8_t)((ble_cmd_q_head + 1U) % BLE_CMD_QUEUE_DEPTH);
ble_cmd_q_count--;
k_spin_unlock(&ble_cmd_lock, key);
if (local_len == 0U)
{
DBG_ERR("[BLE RX] worker: empty\r\n");
continue;
}
ble_cmd_dispatch(local_buf, local_len);
}
}
/* BLE RX 명령 처리 queue 초기화 */
void ble_cmd_queue_init(void)
{
k_work_init(&ble_cmd_work, ble_cmd_work_handler);
k_work_queue_start(&ble_cmd_work_q, ble_cmd_workq_stack, K_THREAD_STACK_SIZEOF(ble_cmd_workq_stack), BLE_CMD_WORKQ_PRIORITY, NULL);
}
/* BLE RX 콜백에서 호출되는 명령 enqueue 함수 */
void ble_cmd_queue_rx_handler(const uint8_t *data, uint16_t len)
{
if (len > BLE_CMD_MAX_LEN)
{
DBG_ERR("[BLE RX] drop: len=%u exceeds %d\r\n", len, BLE_CMD_MAX_LEN);
return;
}
k_spinlock_key_t key = k_spin_lock(&ble_cmd_lock);
if (ble_cmd_q_count >= BLE_CMD_QUEUE_DEPTH)
{
k_spin_unlock(&ble_cmd_lock, key);
DBG_ERR("[BLE RX] drop: queue full\r\n");
return;
}
memcpy(ble_cmd_q_buf[ble_cmd_q_tail], data, len);
ble_cmd_q_len[ble_cmd_q_tail] = len;
ble_cmd_q_tail = (uint8_t)((ble_cmd_q_tail + 1U) % BLE_CMD_QUEUE_DEPTH);
ble_cmd_q_count++;
k_spin_unlock(&ble_cmd_lock, key);
int err = k_work_submit_to_queue(&ble_cmd_work_q, &ble_cmd_work);
if (err < 0)
{
DBG_ERR("[BLE RX] queue submit fail err=%d\r\n", err);
}
}
src/command/ble_cmd_queue.h
+13
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@@ -0,0 +1,13 @@
/*******************************************************************************
* @file ble_cmd_queue.h
* @brief BLE RX command queue
******************************************************************************/
#ifndef BLE_CMD_QUEUE_H__
#define BLE_CMD_QUEUE_H__
#include <stdint.h>
void ble_cmd_queue_init(void);
void ble_cmd_queue_rx_handler(const uint8_t *data, uint16_t len);
#endif /* BLE_CMD_QUEUE_H__ */
src/main.c
+3 -107
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@@ -14,24 +14,12 @@
#include "led_control.h"
#include "ble_service.h"
#include "battery_adc.h"
#include "parser.h"
#include "ble_cmd_queue.h"
#include "imu_i2c.h"
#include "piezo_measure.h"
LOG_MODULE_REGISTER(vesiscan, LOG_LEVEL_INF);
#define BLE_CMD_MAX_LEN 256
#define BLE_CMD_QUEUE_DEPTH 8 // RX 명령 링버퍼 깊이(버스트 흡수)
#define BLE_CMD_WORKQ_STACK_SZ 8192
/*
* BLE 명령 처리 스택
* - piezo sweep
* - ADC capture
* - BLE 응답 패킷 조립
* - 디버깅 여유분 포함
*/
#define BLE_CMD_WORKQ_PRIORITY 10
volatile bool ble_connection_st = false; // BLE 연결 상태
volatile bool processing = false; // 센서 데이터 처리 중 플래그
bool bond_data_delete = true; // 본딩 데이터 삭제 요청
@@ -46,87 +34,6 @@ static bool resume_without_power_button; // 리셋 후 버튼 없이 복귀
static bool dfu_confirm_pending_boot; // DFU test 이미지 확인 전 자동 복귀
static bool dfu_reset_resume_request; // DFU 완료 리셋 후 자동 복귀
static uint32_t boot_reset_reason; // RESETREAS 원본 값
static struct k_work_q ble_cmd_work_q;
K_THREAD_STACK_DEFINE(ble_cmd_workq_stack, BLE_CMD_WORKQ_STACK_SZ);
static struct k_work ble_cmd_work; // BLE 명령 처리 work
static struct k_spinlock ble_cmd_lock; // RX 큐 보호
// RX 명령 링버퍼: 들어온 순서대로 쌓고 워커가 순차 처리 (head=꺼낼 위치, tail=넣을 위치)
static uint8_t ble_cmd_q_buf[BLE_CMD_QUEUE_DEPTH][BLE_CMD_MAX_LEN]; // 명령 데이터
static uint16_t ble_cmd_q_len[BLE_CMD_QUEUE_DEPTH]; // 각 명령 길이
static uint8_t ble_cmd_q_head; // 다음에 꺼낼 슬롯
static uint8_t ble_cmd_q_tail; // 다음에 넣을 슬롯
static uint8_t ble_cmd_q_count; // 큐에 쌓인 명령 수
static void ble_cmd_work_handler(struct k_work *work)
{
ARG_UNUSED(work);
// work queue 로컬 복사본
uint8_t local_buf[BLE_CMD_MAX_LEN];
uint16_t local_len;
// 큐가 빌 때까지 head에서 하나씩 꺼내 순차 처리 (dispatch는 락 밖에서)
for (;;)
{
k_spinlock_key_t key = k_spin_lock(&ble_cmd_lock);
if (ble_cmd_q_count == 0U)
{
k_spin_unlock(&ble_cmd_lock, key);
break;
}
local_len = ble_cmd_q_len[ble_cmd_q_head];
memcpy(local_buf, ble_cmd_q_buf[ble_cmd_q_head], local_len);
ble_cmd_q_head = (uint8_t)((ble_cmd_q_head + 1U) % BLE_CMD_QUEUE_DEPTH);
ble_cmd_q_count--;
k_spin_unlock(&ble_cmd_lock, key);
if (local_len == 0U)
{
DBG_ERR("[BLE RX] worker: empty\r\n");
continue;
}
// 일반 스레드 문맥 명령 처리
//DBG_CORE("[BLE RX] worker dispatch len=%u\r\n", local_len);
ble_cmd_dispatch(local_buf, local_len);
}
}
/* BLE RX 콜백 */
static void ble_rx_handler(const uint8_t *data, uint16_t len)
{
if (len > BLE_CMD_MAX_LEN)
{
DBG_ERR("[BLE RX] drop: len=%u exceeds %d\r\n", len, BLE_CMD_MAX_LEN);
return;
}
// 공유 RX 큐 보호: tail 슬롯에 명령 적재 (FIFO)
k_spinlock_key_t key = k_spin_lock(&ble_cmd_lock);
if (ble_cmd_q_count >= BLE_CMD_QUEUE_DEPTH)
{
k_spin_unlock(&ble_cmd_lock, key);
DBG_ERR("[BLE RX] drop: queue full\r\n");
return;
}
// 명령 버퍼 복사
memcpy(ble_cmd_q_buf[ble_cmd_q_tail], data, len);
ble_cmd_q_len[ble_cmd_q_tail] = len;
ble_cmd_q_tail = (uint8_t)((ble_cmd_q_tail + 1U) % BLE_CMD_QUEUE_DEPTH);
ble_cmd_q_count++;
k_spin_unlock(&ble_cmd_lock, key);
// 명령 처리 work 예약 (워커는 큐가 빌 때까지 처리하므로 중복 예약은 무해)
// 실패해도 항목은 큐에 유효하게 남아 있고, 다음 RX의 submit이 함께 처리하므로 롤백하지 않음
int err = k_work_submit_to_queue(&ble_cmd_work_q, &ble_cmd_work);
if (err < 0)
{
DBG_ERR("[BLE RX] queue submit fail err=%d\r\n", err);
}
}
/* 전원 유지 (POWER_HOLD) 제어 */
static void boot_context_detect(void)
{
@@ -197,17 +104,6 @@ static void load_default_config(void)
DBG_CORE("[INIT] Default (S/N=%s)\r\n", SERIAL_NO);
}
/* 타이머 초기화 */
static void timers_init(void)
{
// BLE 명령 처리 work queue
k_work_init(&ble_cmd_work, ble_cmd_work_handler);
k_work_queue_start(&ble_cmd_work_q, ble_cmd_workq_stack, K_THREAD_STACK_SIZEOF(ble_cmd_workq_stack), BLE_CMD_WORKQ_PRIORITY, NULL);
}
/* 메인 함수 */
int main(void)
{
@@ -232,7 +128,7 @@ int main(void)
DBG_CORE("[INIT] HW Init\r\n");
// 기본 하드웨어/센서 초기화
power_control_init();
timers_init();
ble_cmd_queue_init();
dfu_manager_init();
dfu_log_mcuboot_state();
load_default_config();
@@ -245,7 +141,7 @@ int main(void)
// BLE 스택 + NUS
DBG_CORE("[INIT] BLE Init\r\n");
if (ble_service_init(ble_rx_handler) == 0)
if (ble_service_init(ble_cmd_queue_rx_handler) == 0)
{
DBG_CORE("[INIT] BLE - ble/nus OK\r\n");
// 소프트 리셋 후 서비스 복구