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Trond-F-ChristiansenTrond-F-Christiansen
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samples: zbus: add ZBus multidomain IPC forwarder sample
Add sample application demonstrating ZBus multidomain communication over IPC between CPU cores. Shows practical usage of shadow channels and proxy agents for inter-core message forwarding. The sample consists of two applications: - CPUAPP: Acts as request publisher with master request_channel - CPURAD: Acts as request listener/responder with shadow request_channel CPUAPP publishes periodic requests which are automatically forwarded via IPC to CPURAD. CPURAD processes requests and sends responses back through the response_channel, demonstrating bidirectional multidomain zbus communication. Key features demonstrated: - ZBUS_MULTIDOMAIN_CHAN_DEFINE for shared conditional channel definitions - ZBUS_PROXY_AGENT_DEFINE for IPC backend configuration - Shadow vs master channel behavior across CPU cores - Automatic message forwarding via proxy agents - Sysbuild configuration for multi-core applications Supports nRF5340DK and nRF54H20DK platforms with appropriate device tree overlays for IPC configuration. Signed-off-by: Trond F. Christiansen <[email protected]>
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‎samples/subsys/zbus/ipc_forwarder/CMakeLists.txt‎

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#
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# Copyright (c) 2025 Nordic Semiconductor ASA
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#
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# SPDX-License-Identifier: LicenseRef-Nordic-5-Clause
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#
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cmake_minimum_required(VERSION 3.20.0)
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find_package(Zephyr REQUIRED HINTS $ENV{ZEPHYR_BASE})
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project(zbus_ipc_forwarder)
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zephyr_library_include_directories(
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src
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common
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)
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# Define which device this is
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zephyr_compile_definitions(ZBUS_DEVICE_A=1)
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target_sources(app PRIVATE src/main.c)

‎samples/subsys/zbus/ipc_forwarder/Kconfig‎

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#
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# Copyright (c) 2025 Nordic Semiconductor ASA
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#
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# SPDX-License-Identifier: LicenseRef-Nordic-5-Clause
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#
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source "Kconfig.zephyr"

‎samples/subsys/zbus/ipc_forwarder/Kconfig.sysbuild‎

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#
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# Copyright (c) 2025 Nordic Semiconductor ASA
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#
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# SPDX-License-Identifier: LicenseRef-Nordic-5-Clause
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#
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source "share/sysbuild/Kconfig"
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choice
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prompt "Remote board target"
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default REMOTE_BOARD_NRF54H20_CPURAD if BOARD = "nrf54h20dk"
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default REMOTE_BOARD_NRF5340_CPUNET if BOARD = "nrf5340dk"
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config REMOTE_BOARD_NRF54H20_CPURAD
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bool "nrf54h20dk/nrf54h20/cpurad"
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config REMOTE_BOARD_NRF54H20_CPUPPR
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bool "nrf54h20dk/nrf54h20/cpuppr"
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config REMOTE_BOARD_NRF54H20_CPUPPR_XIP
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bool "nrf54h20dk/nrf54h20/cpuppr/xip"
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## Do not fit on nRF54H20_CPUFLPR without XIP
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config REMOTE_BOARD_NRF54H20_CPUFLPR_XIP
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bool "nrf54h20dk/nrf54h20/cpuflpr/xip"
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config REMOTE_BOARD_NRF5340_CPUNET
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bool "nrf5340dk/nrf5340/cpunet"
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endchoice
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config REMOTE_BOARD
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string "The board used for remote target"
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default "nrf54h20dk/nrf54h20/cpurad" if REMOTE_BOARD_NRF54H20_CPURAD
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default "nrf54h20dk/nrf54h20/cpuppr" if REMOTE_BOARD_NRF54H20_CPUPPR
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default "nrf54h20dk/nrf54h20/cpuppr/xip" if REMOTE_BOARD_NRF54H20_CPUPPR_XIP
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default "nrf54h20dk/nrf54h20/cpuflpr/xip" if REMOTE_BOARD_NRF54H20_CPUFLPR_XIP
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default "nrf5340dk/nrf5340/cpunet" if REMOTE_BOARD_NRF5340_CPUNET

‎samples/subsys/zbus/ipc_forwarder/boards/nrf5340dk_nrf5340_cpuapp.conf‎

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# Copyright (c) 2025 Nordic Semiconductor ASA
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# SPDX-License-Identifier: LicenseRef-Nordic-5-Clause
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CONFIG_SOC_NRF53_CPUNET_ENABLE=y

‎samples/subsys/zbus/ipc_forwarder/boards/nrf54h20dk_nrf54h20_cpuapp.overlay‎

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/*
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* Copyright (c) 2025 Nordic Semiconductor ASA
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* SPDX-License-Identifier: LicenseRef-Nordic-5-Clause
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*/
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&cpuapp_bellboard {
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status = "okay";
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};
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/ {
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chosen {
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/delete-property/ zephyr,bt-hci;
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};
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};

‎samples/subsys/zbus/ipc_forwarder/boards/nrf54h20dk_nrf54h20_cpuapp_cpuflpr_xip.overlay‎

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/*
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* Copyright (c) 2025 Nordic Semiconductor ASA
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* SPDX-License-Identifier: LicenseRef-Nordic-5-Clause
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*/
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/* Setup for cpuapp_cpuflpr_ipc */
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&cpuapp_bellboard {
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status = "okay";
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};
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/delete-node/ &cpuapp_cpurad_ipc;
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ipc0: &cpuapp_cpuflpr_ipc {
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status = "okay";
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};
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&cpuflpr_vevif {
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status = "okay";
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};
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/ {
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chosen {
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/delete-property/ zephyr,bt-hci;
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};
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};
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/* Necessary for the cpuflpr_xip to work */
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&cpuflpr_vpr {
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status = "okay";
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execution-memory = <&cpuflpr_code_partition>;
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/delete-property/ source-memory;
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};
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&uart120 {
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status = "reserved";
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interrupt-parent = <&cpuflpr_clic>;
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};

‎samples/subsys/zbus/ipc_forwarder/boards/nrf54h20dk_nrf54h20_cpuapp_cpuppr.overlay‎

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/*
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* Copyright (c) 2025 Nordic Semiconductor ASA
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* SPDX-License-Identifier: LicenseRef-Nordic-5-Clause
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*/
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/* Setup for cpuapp_cpuppr_ipc */
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&cpuapp_bellboard {
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status = "okay";
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};
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/delete-node/ &cpuapp_cpurad_ipc;
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ipc0: &cpuapp_cpuppr_ipc {
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status = "okay";
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};
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&cpuppr_vevif {
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status = "okay";
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};
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/ {
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chosen {
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/delete-property/ zephyr,bt-hci;
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};
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};
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/* Necessary for the cpuppr to work */
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&cpuppr_vpr {
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status = "okay";
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};
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&cpuppr_ram3x_region {
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status = "okay";
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};
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&uart135 {
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status = "reserved";
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};

‎samples/subsys/zbus/ipc_forwarder/boards/nrf54h20dk_nrf54h20_cpuapp_cpuppr_xip.overlay‎

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/*
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* Copyright (c) 2025 Nordic Semiconductor ASA
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* SPDX-License-Identifier: LicenseRef-Nordic-5-Clause
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*/
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/* Setup for cpuapp_cpuppr_ipc */
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&cpuapp_bellboard {
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status = "okay";
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};
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/delete-node/ &cpuapp_cpurad_ipc;
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ipc0: &cpuapp_cpuppr_ipc {
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status = "okay";
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};
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&cpuppr_vevif {
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status = "okay";
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};
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/ {
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chosen {
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/delete-property/ zephyr,bt-hci;
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};
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};
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/* Necessary for the cpuppr_xip to work */
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&cpuppr_vpr {
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status = "okay";
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execution-memory = <&cpuppr_code_partition>;
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/delete-property/ source-memory;
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};
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&cpuppr_ram3x_region {
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status = "okay";
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};
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&uart135 {
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status = "reserved";
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};

‎samples/subsys/zbus/ipc_forwarder/common/common.h‎

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#ifndef COMMON_H
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#define COMMON_H
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#include <zephyr/zbus/zbus.h>
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/* Sample data structures for request and response */
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struct request_data {
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int request_id;
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int min_value;
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int max_value;
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};
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struct response_data {
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int response_id;
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int value;
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};
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/* Conditional compilation for device-specific code, needed if channels should be included on a
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* subset of applications devices
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*/
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#if defined(ZBUS_DEVICE_A) || defined(ZBUS_DEVICE_B)
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#define include_on_device_a_b 1
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#else
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#define include_on_device_a_b 0
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#endif
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/* Define shared channels for request and response
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* request_channel is master on device A and shadow on device B
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* response_channel is shadow on device A and master on device B
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*/
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ZBUS_MULTIDOMAIN_CHAN_DEFINE(request_channel, struct request_data, NULL, NULL, ZBUS_OBSERVERS_EMPTY,
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ZBUS_MSG_INIT(0), IS_ENABLED(ZBUS_DEVICE_A), include_on_device_a_b);
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ZBUS_MULTIDOMAIN_CHAN_DEFINE(response_channel, struct response_data, NULL, NULL,
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ZBUS_OBSERVERS_EMPTY, ZBUS_MSG_INIT(0), IS_ENABLED(ZBUS_DEVICE_B),
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include_on_device_a_b);
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#endif /* COMMON_H */

‎samples/subsys/zbus/ipc_forwarder/prj.conf‎

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# Copyright (c) 2025 Nordic Semiconductor ASA
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# SPDX-License-Identifier: LicenseRef-Nordic-5-Clause
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CONFIG_LOG=y
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# CONFIG_LOG_MODE_MINIMAL=y
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CONFIG_LOG_DBG_COLOR_BLUE=y
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CONFIG_HEAP_MEM_POOL_SIZE=4096
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CONFIG_ZBUS=y
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CONFIG_MBOX=y
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CONFIG_IPC_SERVICE=y
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CONFIG_ZBUS_MULTIDOMAIN=y
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CONFIG_ZBUS_MULTIDOMAIN_IPC=y
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CONFIG_ZBUS_MULTIDOMAIN_LOG_LEVEL_INF=y
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# Increase the size of the receive buffer to accommodate larger messages
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CONFIG_PBUF_RX_READ_BUF_SIZE=384

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