add board-defined custom handler support to libjabi and pyjabi

Author: dragonlock2

clients/libjabi/device.h

@@ -130,6 +130,7 @@ class Device {
     std::string echo(std::string str);
     size_t req_max_size();
     size_t resp_max_size();
+    std::vector<uint8_t> custom(std::vector<uint8_t> data);
 
     /* CAN */
     void can_set_filter(int id, int id_mask, bool rtr, bool rtr_mask, int idx=0);

clients/libjabi/peripherals/metadata.cpp

@@ -102,4 +102,23 @@ size_t Device::resp_max_size() {
     return letoh<uint16_t>(ret->size);
 }
 
+std::vector<uint8_t> Device::custom(std::vector<uint8_t> data) {
+    if (data.size() > interface->get_req_max_size()) {
+        throw std::runtime_error("data too long");
+    }
+    iface_dynamic_req_t req = {
+        .msg = {
+            .periph_id   = PERIPH_METADATA_ID,
+            .periph_idx  = 0,
+            .periph_fn   = METADATA_CUSTOM_ID,
+            .payload_len = static_cast<uint16_t>(data.size()),
+            .payload     = {0},
+        },
+        .payload = data,
+    };
+
+    iface_dynamic_resp_t resp = interface->send_request(req);
+    return resp.payload;
+}
+
 };

clients/pyjabi/jabi.cpp

@@ -136,6 +136,7 @@ PYBIND11_MODULE(jabi, m) {
         .def("echo", &Device::echo)
         .def("req_max_size", &Device::req_max_size)
         .def("resp_max_size", &Device::resp_max_size)
+        .def("custom", &Device::custom)
 
         /* CAN */
         .def("can_set_filter", &Device::can_set_filter,

examples/pyjabi/usb_pdmon.py

@@ -0,0 +1,24 @@
+import jabi
+import time
+
+# see zephyrboards/boards/riscv/usb_pdmon/board.c
+
+def set(d, mV, mA):
+    d.custom(list(b'\x00' + mV.to_bytes(2, 'big') + mA.to_bytes(2, 'big')))
+
+def get(d):
+    raw = d.custom([1])
+    mV = int.from_bytes(raw[0:2], 'big')
+    mA = int.from_bytes(raw[2:4], 'big')
+    return { "mV": mV, "mA": mA }
+
+if __name__ == "__main__":
+    d = jabi.USBInterface.list_devices()[0]
+    set(d, 20000, 5000)
+    time.sleep(1.0) # wait for request to happen
+    print("actual: ", get(d))
+    while True:
+        mV = d.adc_read(1)
+        mA = (d.adc_read(0) - 1500) * 1000 / 200 # ACS70331EESATR-005B3
+        print(mV, "\bmV", mA, "\bmA")
+        time.sleep(0.5)

firmware/boards/usb_pdmon.conf

@@ -1,4 +1,5 @@
 CONFIG_LOG=y
+CONFIG_LOG_DEFAULT_LEVEL=2
 CONFIG_LOG_MODE_IMMEDIATE=n
 CONFIG_LOG_PROCESS_TRIGGER_THRESHOLD=0
 CONFIG_LOG_PROCESS_THREAD_SLEEP_MS=100

firmware/src/peripherals/metadata.c

@@ -85,12 +85,20 @@ PERIPH_FUNC_DEF(resp_max_size) {
     return JABI_NO_ERR;
 }
 
+__attribute__((weak)) // allow boards to override
+int16_t jabi_metadata_custom(uint16_t idx, uint8_t *req, uint16_t req_len,
+        uint8_t *resp, uint16_t *resp_len) {
+    LOG_ERR("board doesn't support custom commands");
+    return JABI_NOT_SUPPORTED_ERR;
+}
+
 static const periph_func_t metadata_periph_fns[] = {
     serial,
     num_inst,
     echo,
     req_max_size,
     resp_max_size,
+    jabi_metadata_custom,
 };
 
 const struct periph_api_t metadata_periph_api = {

include/jabi/peripherals/metadata.h

@@ -24,11 +24,15 @@ PACKED(metadata_resp_max_size_resp_t,
     uint16_t size;
 );
 
+typedef uint8_t metadata_custom_req_t;
+typedef uint8_t metadata_custom_resp_t;
+
 /* Function indices */
 #define METADATA_SERIAL_ID        0
 #define METADATA_NUM_INST_ID      1
 #define METADATA_ECHO_ID          2
 #define METADATA_REQ_MAX_SIZE_ID  3
 #define METADATA_RESP_MAX_SIZE_ID 4
+#define METADATA_CUSTOM_ID        5
 
 #endif // JABI_PERIPHERALS_METADATA_H

west.yml

@@ -6,7 +6,7 @@ manifest:
   projects:
     - name: zephyrboards
       remote: dragonlock2
-      revision: 912db0139ca1bfc6db0c629d7264d5befb2acd4e
+      revision: d901566c60aa1d83032c6348e8ee6ee8094604ee
       import: true
 
   self: