.. _module-pw_hdlc: ------- pw_hdlc ------- `High-Level Data Link Control (HDLC) `_ is a data link layer protocol intended for serial communication between devices. HDLC is standardized as `ISO/IEC 13239:2002 `_. The ``pw_hdlc`` module provides a simple, robust frame-oriented transport that uses a subset of the HDLC protocol. ``pw_hdlc`` supports sending between embedded devices or the host. It can be used with :ref:`module-pw_rpc` to enable remote procedure calls (RPCs) on embedded on devices. **Why use the pw_hdlc module?** * Enables the transmission of RPCs and other data between devices over serial. * Detects corruption and data loss. * Light-weight, simple, and easy to use. * Supports streaming to transport without buffering, since the length is not encoded. .. admonition:: Try it out! For an example of how to use HDLC with :ref:`module-pw_rpc`, see the :ref:`module-pw_hdlc-rpc-example`. .. toctree:: :maxdepth: 1 :hidden: rpc_example/docs Protocol Description ==================== Frames ------ The HDLC implementation in ``pw_hdlc`` supports only HDLC unnumbered information frames. These frames are encoded as follows: .. code-block:: text _________________________________________ | | | | | | |... | | | | | | |... [More frames] |_|_|_|__________________________|____|_|... F A C Payload FCS F F = flag byte (0x7e, the ~ character) A = address field C = control field FCS = frame check sequence (CRC-32) Encoding and sending data ------------------------- This module first writes an initial frame delimiter byte (0x7E) to indicate the beginning of the frame. Before sending any of the payload data through serial, the special bytes are escaped: +-------------------------+-----------------------+ | Unescaped Special Bytes | Escaped Special Bytes | +=========================+=======================+ | 7E | 7D 5E | +-------------------------+-----------------------+ | 7D | 7D 5D | +-------------------------+-----------------------+ The bytes of the payload are escaped and written in a single pass. The frame check sequence is calculated, escaped, and written after. After this, a final frame delimiter byte (0x7E) is written to mark the end of the frame. Decoding received bytes ----------------------- Frames may be received in multiple parts, so we need to store the received data in a buffer until the ending frame delimiter (0x7E) is read. When the ``pw_hdlc`` decoder receives data, it unescapes it and adds it to a buffer. When the frame is complete, it calculates and verifies the frame check sequence and does the following: * If correctly verified, the decoder returns the decoded frame. * If the checksum verification fails, the frame is discarded and an error is reported. API Usage ========= There are two primary functions of the ``pw_hdlc`` module: * **Encoding** data by constructing a frame with the escaped payload bytes and frame check sequence. * **Decoding** data by unescaping the received bytes, verifying the frame check sequence, and returning successfully decoded frames. Encoder ------- The Encoder API provides a single function that encodes data as an HDLC unnumbered information frame. C++ ^^^ .. cpp:namespace:: pw .. cpp:function:: Status hdlc::WriteUIFrame(uint64_t address, ConstByteSpan data, stream::Writer& writer) Writes a span of data to a :ref:`pw::stream::Writer ` and returns the status. This implementation uses the :ref:`module-pw_checksum` module to compute the CRC-32 frame check sequence. .. code-block:: cpp #include "pw_hdlc/encoder.h" #include "pw_hdlc/sys_io_stream.h" int main() { pw::stream::SysIoWriter serial_writer; Status status = WriteUIFrame(123 /* address */, data, serial_writer); if (!status.ok()) { PW_LOG_INFO("Writing frame failed! %s", status.str()); } } Python ^^^^^^ .. automodule:: pw_hdlc.encode :members: .. code-block:: python import serial from pw_hdlc import encode ser = serial.Serial() address = 123 ser.write(encode.ui_frame(address, b'your data here!')) Typescript ^^^^^^^^^^ Encoder ------- The Encoder class provides a way to build complete, escaped HDLC UI frames. .. js:method:: Encoder.uiFrame(address, data) :param number address: frame address. :param Uint8Array data: frame data. :returns: Uint8Array containing a complete HDLC frame. Decoder ------- The decoder class unescapes received bytes and adds them to a buffer. Complete, valid HDLC frames are yielded as they are received. .. js:method:: Decoder.process(bytes) :param Uint8Array bytes: bytes received from the medium. :yields: Frame complete frames. C++ ^^^ .. cpp:class:: pw::hdlc::Decoder .. cpp:function:: pw::Result Process(std::byte b) Parses a single byte of an HDLC stream. Returns a Result with the complete frame if the byte completes a frame. The status is the following: - OK - A frame was successfully decoded. The Result contains the Frame, which is invalidated by the next Process call. - UNAVAILABLE - No frame is available. - RESOURCE_EXHAUSTED - A frame completed, but it was too large to fit in the decoder's buffer. - DATA_LOSS - A frame completed, but it was invalid. The frame was incomplete or the frame check sequence verification failed. .. cpp:function:: void Process(pw::ConstByteSpan data, F&& callback, Args&&... args) Processes a span of data and calls the provided callback with each frame or error. This example demonstrates reading individual bytes from ``pw::sys_io`` and decoding HDLC frames: .. code-block:: cpp #include "pw_hdlc/decoder.h" #include "pw_sys_io/sys_io.h" int main() { std::byte data; while (true) { if (!pw::sys_io::ReadByte(&data).ok()) { // Log serial reading error } Result decoded_frame = decoder.Process(data); if (decoded_frame.ok()) { // Handle the decoded frame } } } Python ^^^^^^ .. autoclass:: pw_hdlc.decode.FrameDecoder :members: Below is an example using the decoder class to decode data read from serial: .. code-block:: python import serial from pw_hdlc import decode ser = serial.Serial() decoder = decode.FrameDecoder() while True: for frame in decoder.process_valid_frames(ser.read()): # Handle the decoded frame Typescript ^^^^^^^^^^ Decodes one or more HDLC frames from a stream of data. .. js:method:: process(data) :param Uint8Array data: bytes to be decoded. :yields: HDLC frames, including corrupt frames. The Frame.ok() method whether the frame is valid. .. js:method:: processValidFrames(data) :param Uint8Array data: bytes to be decoded. :yields: Valid HDLC frames, logging any errors. Additional features =================== pw::stream::SysIoWriter ------------------------ The ``SysIoWriter`` C++ class implements the ``Writer`` interface with ``pw::sys_io``. This Writer may be used by the C++ encoder to send HDLC frames over serial. HdlcRpcClient ------------- .. autoclass:: pw_hdlc.rpc.HdlcRpcClient :members: .. autoclass:: pw_hdlc.rpc.HdlcRpcLocalServerAndClient :members: Roadmap ======= - **Expanded protocol support** - ``pw_hdlc`` currently only supports unnumbered information frames. Support for different frame types and extended control fields may be added in the future. - **Higher performance** - We plan to improve the overall performance of the decoder and encoder implementations by using SIMD/NEON. Compatibility ============= C++17 Zephyr ====== To enable ``pw_hdlc`` for Zephyr add ``CONFIG_PIGWEED_HDLC=y`` to the project's configuration.