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Trond-F-ChristiansenTrond-F-Christiansen
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zbus: add UART backend for multidomain communication
Implement UART backend for ZBus multidomain communication, enabling message forwarding between domains over UART connections. - UART-specific configuration structure with async buffers - Error handling and UART recovery mechanisms - Integration with proxy agent framework via API structure - Configurable buffer count for UART operations - Schedule ACK sending as work to avoid blocking RX callback The UART backend uses async UART APIs for non-blocking communication and implements proper buffer cycling for continuous reception. Signed-off-by: Trond F. Christiansen <[email protected]>
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‎include/zephyr/zbus/multidomain/zbus_multidomain.h‎

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#include <zephyr/zbus/zbus.h>
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#include <zephyr/zbus/multidomain/zbus_multidomain_types.h>
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#if defined(CONFIG_ZBUS_MULTIDOMAIN_UART)
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#include <zephyr/zbus/multidomain/zbus_multidomain_uart.h>
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#endif
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#ifdef __cplusplus
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extern "C" {
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#endif

‎include/zephyr/zbus/multidomain/zbus_multidomain_types.h‎

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* Zbus setup. Each type corresponds to a different communication backend.
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*/
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enum zbus_multidomain_type {
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ZBUS_MULTIDOMAIN_TYPE_UART
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};
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/**

‎include/zephyr/zbus/multidomain/zbus_multidomain_uart.h‎

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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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#ifndef ZEPHYR_INCLUDE_ZBUS_MULTIDOMAIN_UART_H_
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#define ZEPHYR_INCLUDE_ZBUS_MULTIDOMAIN_UART_H_
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#include <zephyr/zbus/zbus.h>
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#include <zephyr/device.h>
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#include <string.h>
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#include <zephyr/drivers/uart.h>
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#include <zephyr/zbus/multidomain/zbus_multidomain_types.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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/**
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* @brief Zbus Multi-domain API
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* @defgroup zbus_multidomain_apis Zbus Multi-domain APIs
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* @ingroup zbus_apis
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* @since 3.3.0
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* @version 1.0.0
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* @ingroup os_services
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* @{
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*/
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struct zbus_multidomain_uart_config {
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/** UART device */
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const struct device *dev;
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/** Asynchronous RX buffer */
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uint8_t async_rx_buf[CONFIG_ZBUS_MULTIDOMAIN_UART_BUF_COUNT]
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[sizeof(struct zbus_proxy_agent_msg)];
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/** Index of the current async RX buffer */
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volatile uint8_t async_rx_buf_idx;
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/** Semaphore to signal when TX is done */
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struct k_sem tx_busy_sem;
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struct zbus_proxy_agent_msg tx_msg_copy;
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/** Callback function for received messages */
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int (*recv_cb)(const struct zbus_proxy_agent_msg *msg);
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/** Callback function for ACKs */
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int (*ack_cb)(uint32_t msg_id, void *user_data);
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/** User data for the ACK callback */
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void *ack_cb_user_data;
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/** Work item for sending ACKs */
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struct k_work ack_work;
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/** Message ID to ACK */
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uint32_t ack_msg_id;
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};
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/** @cond INTERNAL_HIDDEN */
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/* UART backend API structure */
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extern const struct zbus_proxy_agent_api zbus_multidomain_uart_api;
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/**
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* @brief Macros to get the API and configuration for the UART backend.
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*
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* These macros are used to retrieve the API and configuration for the UART backend
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* of the proxy agent. The macros are used in "zbus_multidomain.h" to define the
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* backend specific configurations and API for the UART type of proxy agent.
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*
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* @param _name The name of the proxy agent.
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*/
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#define _ZBUS_GET_API_ZBUS_MULTIDOMAIN_TYPE_UART() &zbus_multidomain_uart_api
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#define _ZBUS_GET_CONFIG_ZBUS_MULTIDOMAIN_TYPE_UART(_name) (void *)&_name##_uart_config
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/**
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* @brief Macros to generate device specific backend configurations for the UART type.
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*
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* This macro generates the backend specific configurations for the UART type of
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* proxy agent. The macro is used in "zbus_multidomain.h" to create the
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* backend specific configurations for the UART type of proxy agent.
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*/
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#define _ZBUS_GENERATE_BACKEND_CONFIG_ZBUS_MULTIDOMAIN_TYPE_UART(_name, _nodelabel) \
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struct zbus_multidomain_uart_config _name##_uart_config = { \
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.dev = DEVICE_DT_GET(DT_NODELABEL(_nodelabel)), \
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.async_rx_buf = {{0}}, \
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.async_rx_buf_idx = 0, \
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}
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/** @endcond */
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/**
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* @}
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*/
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#ifdef __cplusplus
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}
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#endif
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#endif /* ZEPHYR_INCLUDE_ZBUS_MULTIDOMAIN_UART_H_ */

‎subsys/zbus/CMakeLists.txt‎

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zephyr_library_sources(multidomain/zbus_multidomain.c)
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endif()
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if(CONFIG_ZBUS_MULTIDOMAIN_UART)
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zephyr_library_sources(multidomain/zbus_multidomain_uart.c)
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endif()
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zephyr_library_sources(zbus_iterable_sections.c)

‎subsys/zbus/multidomain/Kconfig‎

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proxy agent. If an acknowledgment is not received after this many attempts, the message
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will be dropped. Setting this to 1 means no retransmissions will be attempted.
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config ZBUS_MULTIDOMAIN_UART
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bool "ZBus multidomain UART backend"
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depends on UART_ASYNC_API
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help
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Enables the ZBus multidomain UART backend, allowing for ZBus between domains over UART.
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This feature is useful for systems that require inter-domain communication via UART.
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if ZBUS_MULTIDOMAIN_UART
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config ZBUS_MULTIDOMAIN_UART_BUF_COUNT
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int "ZBus multidomain UART buffer count"
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default 2
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range 2 128
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help
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Configures the number of buffers used for the ZBus multidomain UART backend.
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A minimum of 2 buffers is required for proper operation.
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endif # ZBUS_MULTIDOMAIN_UART
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module = ZBUS_MULTIDOMAIN
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module-str = zbus_multidomain
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source "subsys/logging/Kconfig.template.log_config"
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endmenu # ZBus multidomain support
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endmenu # ZBus multidomain support

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