diff --git a/drivers/rpmsg/rpmsg_ping.c b/drivers/rpmsg/rpmsg_ping.c
index d615c3547aebf..9996285c4c254 100644
--- a/drivers/rpmsg/rpmsg_ping.c
+++ b/drivers/rpmsg/rpmsg_ping.c
@@ -24,6 +24,7 @@
 
 #include <nuttx/config.h>
 #include <nuttx/arch.h>
+#include <nuttx/lib/lib.h>
 #include <nuttx/signal.h>
 
 #include <inttypes.h>
@@ -39,11 +40,14 @@
  ****************************************************************************/
 
 #define RPMSG_PING_EPT_NAME         "rpmsg-ping"
-#define RPMSG_PING_SEND             1
-#define RPMSG_PING_SEND_CHECK       2
-#define RPMSG_PING_SEND_NOACK       3
-#define RPMSG_PING_SEND_ACK         4
-#define RPMSG_PING_ACK              5
+
+#define RPMSG_PING_ACK_MASK         0x00000001
+#define RPMSG_PING_CHECK_MASK       0x00000002
+#define RPMSG_PING_RANDOMLEN_MASK   0x00000004
+
+#define RPMSG_PING_CMD_MASK         0x000000f0
+#  define RPMSG_PING_CMD_REQ        0x00000000
+#  define RPMSG_PING_CMD_RSP        0x00000020
 
 /****************************************************************************
  * Private Types
@@ -68,12 +72,22 @@ static int rpmsg_ping_ept_cb(FAR struct rpmsg_endpoint *ept,
   FAR struct rpmsg_ping_msg_s *msg = data;
   FAR sem_t *sem = (FAR sem_t *)(uintptr_t)msg->cookie;
 
-  if (msg->cmd == RPMSG_PING_SEND)
+  /* Handle the ping response */
+
+  if ((msg->cmd & RPMSG_PING_CMD_MASK) == RPMSG_PING_CMD_RSP)
+    {
+      nxsem_post(sem);
+      return 0;
+    }
+
+  /* Handle the ping request */
+
+  if ((msg->cmd & RPMSG_PING_ACK_MASK) == 0)
     {
-      msg->cmd = RPMSG_PING_ACK;
-      rpmsg_send(ept, msg, len);
+      return 0;
     }
-  else if (msg->cmd == RPMSG_PING_SEND_CHECK)
+
+  if ((msg->cmd & RPMSG_PING_CHECK_MASK) != 0)
     {
       size_t data_len;
       size_t i;
@@ -90,25 +104,24 @@ static int rpmsg_ping_ept_cb(FAR struct rpmsg_endpoint *ept,
 
           msg->data[i] = 0;
         }
-
-      msg->cmd = RPMSG_PING_ACK;
-      rpmsg_send(ept, msg, len);
     }
-  else if (msg->cmd == RPMSG_PING_SEND_ACK)
+
+  if ((msg->cmd & RPMSG_PING_CMD_MASK) == RPMSG_PING_CMD_REQ)
     {
-      msg->cmd = RPMSG_PING_ACK;
-      rpmsg_send(ept, msg, sizeof(*msg));
+      msg->len = len;
     }
-  else if (msg->cmd == RPMSG_PING_ACK)
+  else
     {
-      nxsem_post(sem);
+      msg->len = sizeof(*msg);
     }
 
+  msg->cmd = RPMSG_PING_CMD_RSP;
+  rpmsg_send(ept, msg, msg->len);
   return 0;
 }
 
 static int rpmsg_ping_once(FAR struct rpmsg_endpoint *ept, int len,
-                           int ack, uint32_t *buf_len, char i)
+                           int cmd, uint32_t *buf_len, char i)
 {
   FAR struct rpmsg_ping_msg_s *msg;
   int ret;
@@ -122,36 +135,34 @@ static int rpmsg_ping_once(FAR struct rpmsg_endpoint *ept, int len,
   len = MAX(len, sizeof(struct rpmsg_ping_msg_s));
   len = MIN(len, *buf_len);
 
-  memset(msg, 0, len);
+  msg->cmd = cmd;
 
-  if (ack)
+  if ((msg->cmd & RPMSG_PING_RANDOMLEN_MASK) != 0)
     {
-      sem_t sem;
-
-      if (ack == 1)
-        {
-          msg->cmd = RPMSG_PING_SEND;
-        }
-      else if (ack == 2)
-        {
-          msg->cmd = RPMSG_PING_SEND_CHECK;
-        }
-      else
-        {
-          msg->cmd = RPMSG_PING_SEND_ACK;
-        }
+      msg->len = nrand(len);
+    }
+  else
+    {
+      msg->len = len;
+    }
 
-      msg->len    = len;
-      msg->cookie = (uintptr_t)&sem;
+  if ((msg->cmd & RPMSG_PING_CHECK_MASK) != 0)
+    {
+      memset(msg->data, i, msg->len - sizeof(struct rpmsg_ping_msg_s) + 1);
+    }
+  else
+    {
+      memset(msg->data, 0, msg->len);
+    }
 
-      if (msg->cmd == RPMSG_PING_SEND_CHECK)
-        {
-          memset(msg->data, i, len - sizeof(struct rpmsg_ping_msg_s) + 1);
-        }
+  if ((msg->cmd & RPMSG_PING_ACK_MASK) != 0)
+    {
+      sem_t sem;
 
+      msg->cookie = (uintptr_t)&sem;
       nxsem_init(&sem, 0, 0);
 
-      ret = rpmsg_send_nocopy(ept, msg, len);
+      ret = rpmsg_send_nocopy(ept, msg, msg->len);
       if (ret >= 0)
         {
           nxsem_wait_uninterruptible(&sem);
@@ -161,9 +172,7 @@ static int rpmsg_ping_once(FAR struct rpmsg_endpoint *ept, int len,
     }
   else
     {
-      msg->cmd = RPMSG_PING_SEND_NOACK;
-      msg->len = len;
-      ret = rpmsg_send_nocopy(ept, msg, len);
+      ret = rpmsg_send_nocopy(ept, msg, msg->len);
     }
 
   if (ret < 0)
@@ -226,7 +235,7 @@ int rpmsg_ping(FAR struct rpmsg_endpoint *ept,
     {
       clock_t tm = perf_gettime();
 
-      send_len = rpmsg_ping_once(ept, ping->len, ping->ack, &buf_len, i);
+      send_len = rpmsg_ping_once(ept, ping->len, ping->cmd, &buf_len, i);
       if (send_len < 0)
         {
           return send_len;
diff --git a/include/nuttx/rpmsg/rpmsg_ping.h b/include/nuttx/rpmsg/rpmsg_ping.h
index 4e1367f234735..f6b7cccf343ed 100644
--- a/include/nuttx/rpmsg/rpmsg_ping.h
+++ b/include/nuttx/rpmsg/rpmsg_ping.h
@@ -41,7 +41,7 @@ struct rpmsg_ping_s
 {
   int  times;
   int  len;
-  int  ack;
+  int  cmd;
   int  sleep; /* unit: ms */
 };