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pkg/openwsn: add ieee802154 hal based radio

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This commit is contained in:
Francisco Molina 2020-09-30 11:33:26 +02:00
parent 75eee27c72
commit 82e06ef8f4
No known key found for this signature in database
GPG Key ID: 3E94EAC3DBDEEDA8
10 changed files with 478 additions and 40 deletions
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17
cpu/nrf52/include/cpu_conf.h
View File

@ -125,6 +125,23 @@ extern "C" {
#endif /* SOFTDEVICE_PRESENT */
/** @} */
#ifdef CPU_MODEL_NRF52840XXAA
/**
* @name OpenWSN timing constants
*
* @{
*/
/* Taken from OpenWSN @32.768Hz */
#define PORT_maxTxDataPrepare (400/PORT_US_PER_TICK)
#define PORT_maxRxAckPrepare (400/PORT_US_PER_TICK)
#define PORT_maxRxDataPrepare (400/PORT_US_PER_TICK)
#define PORT_maxTxAckPrepare (400/PORT_US_PER_TICK)
/* Measured 40us @32.768Hz */
#define PORT_delayTx (40/PORT_US_PER_TICK)
/** @} */
#endif
/**
* @brief Put the CPU in the low-power 'wait for event' state
*/

19
pkg/openwsn/Makefile.dep
View File

@ -16,8 +16,6 @@ ifneq (,$(filter openwsn_openstack,$(USEMODULE)))
DEFAULT_MODULE += auto_init_openwsn
USEMODULE += luid
USEMODULE += netdev_default
endif
ifneq (,$(filter openwsn_scheduler,$(USEMODULE)))
@ -50,6 +48,23 @@ ifneq (,$(filter openwsn_crypto,$(USEMODULE)))
USEMODULE += cipher_modes
endif
ifneq (,$(filter openwsn_radio,$(USEMODULE)))
USEMODULE += netdev_default
USEMODULE += luid
ifneq (,$(filter cc2538_rf nrf802154,$(USEMODULE)))
USEMODULE += openwsn_radio_hal
endif
ifneq (,$(filter at86rf2xx,$(USEMODULE)))
USEMODULE += openwsn_radio_netdev
endif
endif
ifneq (,$(filter openwsn_radio_hal,$(USEMODULE)))
USEMODULE += ieee802154_radio_hal
# Used here only for dependency resolution
DISABLE_MODULE += auto_init_gnrc_netif
endif
ifneq (,$(filter openwsn_sctimer,$(USEMODULE)))
ifeq (,$(filter openwsn_sctimer_ztimer,$(USEMODULE)))
USEMODULE += openwsn_sctimer_rtt

10
pkg/openwsn/contrib/Makefile
View File

@ -1,6 +1,6 @@
MODULE = openwsn
SRC := $(filter-out sctimer_% ,$(wildcard *.c))
SRC := $(filter-out sctimer_% radio_%,$(wildcard *.c))
ifneq (,$(filter openwsn_sctimer_rtt,$(USEMODULE)))
SRC += sctimer_rtt.c
@ -10,4 +10,12 @@ ifneq (,$(filter openwsn_sctimer_ztimer,$(USEMODULE)))
SRC += sctimer_ztimer.c
endif
ifneq (,$(filter openwsn_radio_hal,$(USEMODULE)))
SRC += radio_hal.c
endif
ifneq (,$(filter openwsn_radio_netdev,$(USEMODULE)))
SRC += radio_netdev.c
endif
include $(RIOTBASE)/Makefile.base

14
pkg/openwsn/contrib/eui64.c
View File

@ -29,8 +29,21 @@
extern openwsn_radio_t openwsn_radio;
#ifdef MODULE_OPENWSN_RADIO_HAL
/* HACK: temporary hack while eui_provider still depends on netdev */
static eui64_t _eui64;
static bool _eui64_is_set = false;
#endif
void eui64_get(uint8_t *addressToWrite)
{
#ifdef MODULE_OPENWSN_RADIO_HAL
if (!_eui64_is_set) {
luid_get_eui64(&_eui64);
_eui64_is_set = true;
}
memcpy(addressToWrite, _eui64.uint8, sizeof(_eui64.uint8));
#else
eui64_t eui64;
if (openwsn_radio.dev->driver->get(openwsn_radio.dev, NETOPT_ADDRESS_LONG,
@ -41,4 +54,5 @@ void eui64_get(uint8_t *addressToWrite)
else {
luid_get_eui64((eui64_t *) addressToWrite);
}
#endif
}

63
pkg/openwsn/contrib/openwsn.c
View File

@ -19,7 +19,6 @@
#include "scheduler.h"
#include "openstack.h"
#include "radio.h"
#include "idmanager.h"
#include "openwsn.h"
#include "openwsn_board.h"
@ -30,6 +29,14 @@
#include "at86rf2xx_params.h"
#endif
#ifdef MODULE_CC2538_RF
#include "cc2538_rf.h"
#endif
#ifdef MODULE_NRF802154
#include "nrf802154.h"
#endif
#define LOG_LEVEL LOG_NONE
#include "log.h"
@ -37,9 +44,11 @@
#define OPENWSN_SCHED_PRIO (THREAD_PRIORITY_MAIN - 4)
#define OPENWSN_SCHED_STACKSIZE (2048)
#ifdef MODULE_OPENWSN_RADIO_NETDEV
#ifdef MODULE_AT86RF2XX
static at86rf2xx_t at86rf2xx_dev;
#endif
#endif
static char _stack[OPENWSN_SCHED_STACKSIZE];
@ -52,46 +61,42 @@ kernel_pid_t openwsn_get_pid(void)
return _pid;
}
#ifdef MODULE_OPENWSN_RADIO
void openwsn_set_addr_16b(netdev_t* dev)
void* _radio_init_dev(void)
{
uint8_t addr[IEEE802154_SHORT_ADDRESS_LEN];
dev->driver->get(dev, NETOPT_ADDRESS, addr, IEEE802154_SHORT_ADDRESS_LEN);
open_addr_t id;
id.type = ADDR_16B;
memcpy(&id.addr_16b, addr, IEEE802154_SHORT_ADDRESS_LEN);
idmanager_setMyID(&id);
}
void* dev = NULL;
/* avoid cppcheck style (redundantAssignment)*/
(void) dev;
#ifdef MODULE_OPENWSN_RADIO_NETDEV
#ifdef MODULE_AT86RF2XX
dev = &at86rf2xx_dev.netdev.netdev;
at86rf2xx_setup(&at86rf2xx_dev, &at86rf2xx_params[0], 0);
#endif
#else
#ifdef MODULE_CC2538_RF
extern ieee802154_dev_t cc2538_rf_dev;
dev = &cc2538_rf_dev;
cc2538_init();
#endif
#ifdef MODULE_NRF802154
extern ieee802154_dev_t nrf802154_hal_dev;
dev = &nrf802154_hal_dev;
nrf802154_init();
#endif
#endif
return dev;
}
int openwsn_bootstrap(void)
{
LOG_DEBUG("[openwsn]: init RIOT board\n");
board_init_openwsn();
#ifdef MODULE_AT86RF2XX
netdev_t *netdev = (netdev_t *)&at86rf2xx_dev.netdev.netdev;
at86rf2xx_setup(&at86rf2xx_dev, &at86rf2xx_params[0], 0);
(void) netdev;
#endif
#ifdef MODULE_OPENWSN_RADIO
LOG_DEBUG("[openwsn]: init radio\n");
if (openwsn_radio_init(netdev)) {
void* dev = _radio_init_dev();
if (openwsn_radio_init(dev)) {
LOG_ERROR("[openwsn]: failed to init radio\n");
return -1;
}
#endif
/* Initiate Id manager here and not in `openstack_init` function to allow
overriding the short id address before additional stack components are
initiated */
idmanager_init();
#ifdef MODULE_OPENWSN_RADIO
/* override 16b address to avoid short address collision */
openwsn_set_addr_16b(netdev);
#endif
LOG_DEBUG("[openwsn]: network thread\n");
_pid = thread_create(_stack, OPENWSN_SCHED_STACKSIZE, OPENWSN_SCHED_PRIO,

317
pkg/openwsn/contrib/radio_hal.c Normal file
View File

@ -0,0 +1,317 @@
/*
* Copyright (C) 2020 Inria
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
* directory for more details.
*/
/**
* @ingroup pkg_openwsn
* @{
*
* @file
* @brief RIOT adaption of the "radio" bsp module
*
* @author Francisco Molina <francois-xavier.molina@inria.fr>
* @}
*/
#include <sys/uio.h>
#include "leds.h"
#include "debugpins.h"
#include "sctimer.h"
#include "idmanager.h"
#include "eui64.h"
#include "byteorder.h"
#include "luid.h"
#include "net/ieee802154.h"
#include "net/ieee802154/radio.h"
#include "openwsn.h"
#include "openwsn_radio.h"
#define LOG_LEVEL LOG_NONE
#include "log.h"
openwsn_radio_t openwsn_radio;
/* stores the event capture time */
static PORT_TIMER_WIDTH _txrx_event_capture_time = 0;
void _idmanager_addr_override(void)
{
/* Initiate Id manager here and not in `openstack_init` function to
allow overriding the short id address before additional stack
components are initiated */
idmanager_init();
/* override 16b address to avoid short address collision */
network_uint16_t short_addr;
luid_get_short(&short_addr);
open_addr_t id;
id.type = ADDR_16B;
memcpy(&id.addr_16b, short_addr.u8, IEEE802154_SHORT_ADDRESS_LEN);
idmanager_setMyID(&id);
/* override PANID */
id.type = ADDR_PANID;
network_uint16_t panid_be = byteorder_htons(OPENWSN_PANID);
memcpy(&id.panid, &panid_be, IEEE802154_SHORT_ADDRESS_LEN);
idmanager_setMyID(&id);
/* recover ADDR_64B */
eui64_t eui64;
eui64_get(eui64.uint8);
/* Set all IEEE addresses */
uint16_t panid = OPENWSN_PANID;
ieee802154_radio_set_hw_addr_filter(openwsn_radio.dev, &short_addr,
&eui64, &panid);
}
static void _hal_radio_cb(ieee802154_dev_t *dev, ieee802154_trx_ev_t status)
{
(void)dev;
debugpins_isr_set();
_txrx_event_capture_time = sctimer_readCounter();
debugpins_isr_clr();
switch (status) {
case IEEE802154_RADIO_CONFIRM_TX_DONE:
ieee802154_radio_confirm_transmit(openwsn_radio.dev, NULL);
ieee802154_radio_request_set_trx_state(openwsn_radio.dev,
IEEE802154_TRX_STATE_TRX_OFF);
while (ieee802154_radio_confirm_set_trx_state(openwsn_radio.dev) == -EAGAIN) {}
openwsn_radio.endFrame_cb(_txrx_event_capture_time);
break;
case IEEE802154_RADIO_INDICATION_RX_DONE:
openwsn_radio.endFrame_cb(_txrx_event_capture_time);
break;
case IEEE802154_RADIO_INDICATION_TX_START:
openwsn_radio.startFrame_cb(_txrx_event_capture_time);
break;
case IEEE802154_RADIO_INDICATION_RX_START:
openwsn_radio.startFrame_cb(_txrx_event_capture_time);
break;
default:
break;
}
}
int openwsn_radio_init(void *radio_dev)
{
assert(radio_dev);
ieee802154_dev_t *dev = (ieee802154_dev_t *)radio_dev;
LOG_DEBUG("[openwsn/radio]: initialize riot-adaptation\n");
openwsn_radio.dev = dev;
/* override short_address and panid*/
_idmanager_addr_override();
if (ieee802154_radio_request_on(dev)) {
LOG_ERROR("[openwsn/radio]: unable to initialize device\n");
return -1;
}
/* Set the Event Notification */
dev->cb = _hal_radio_cb;
/* If the radio is still not in TRX_OFF state, spin */
while (ieee802154_radio_confirm_on(dev) == -EAGAIN) {}
/* Enable basic mode, no AUTOACK. no CSMA */
ieee802154_radio_set_rx_mode(dev, IEEE802154_RX_AACK_DISABLED);
/* MAC layer retransmissions are disabled by _set_csma_params() */
ieee802154_radio_set_csma_params(dev, NULL, -1);
if (IS_USED(MODULE_CC2538_RF)) {
/* If frame filtering is enabled cc2538 will not accept beacons
where the destination-address mode is 0 (no destination address).
per rfc8180 4.5.1 the destination address must be set, which means
the destination-address mode can't be 0 */
ieee802154_radio_set_rx_mode(dev, IEEE802154_RX_PROMISC);
}
/* Configure PHY settings (channel, TX power) */
ieee802154_phy_conf_t conf =
{ .channel = CONFIG_IEEE802154_DEFAULT_CHANNEL,
.page = CONFIG_IEEE802154_DEFAULT_CHANNEL,
.pow = CONFIG_IEEE802154_DEFAULT_TXPOWER };
ieee802154_radio_config_phy(dev, &conf);
return 0;
}
void radio_setStartFrameCb(radio_capture_cbt cb)
{
openwsn_radio.startFrame_cb = cb;
}
void radio_setEndFrameCb(radio_capture_cbt cb)
{
openwsn_radio.endFrame_cb = cb;
}
void radio_reset(void)
{
/* TODO: this is not handled correctly since not all radios implement
this */
ieee802154_radio_off(openwsn_radio.dev);
ieee802154_radio_request_on(openwsn_radio.dev);
/* If the radio is still not in TRX_OFF state, spin */
while (ieee802154_radio_confirm_on(openwsn_radio.dev) == -EAGAIN) {}
}
void radio_setFrequency(uint8_t frequency, radio_freq_t tx_or_rx)
{
(void)tx_or_rx;
ieee802154_phy_conf_t conf =
{ .channel = frequency,
.page = CONFIG_IEEE802154_DEFAULT_CHANNEL,
.pow = CONFIG_IEEE802154_DEFAULT_TXPOWER };
ieee802154_radio_config_phy(openwsn_radio.dev, &conf);
}
void radio_rfOn(void)
{
ieee802154_radio_request_on(openwsn_radio.dev);
/* If the radio is still not in TRX_OFF state, spin */
while (ieee802154_radio_confirm_on(openwsn_radio.dev) == -EAGAIN) {}
/* HACK: cc2538 does not implement on() correctly, remove when it does*/
ieee802154_radio_request_set_trx_state(openwsn_radio.dev,
IEEE802154_TRX_STATE_TRX_OFF);
while (ieee802154_radio_confirm_set_trx_state(openwsn_radio.dev) == -EAGAIN) {}
}
void radio_rfOff(void)
{
/* radio_rfOff is called in the middle of a slot and is not always
followed by an `radio_rfOn`, so don't call `ieee802154_radio_off`
and only send the radio to `TrxOFF` instead */
int ret = ieee802154_radio_request_set_trx_state(openwsn_radio.dev,
IEEE802154_TRX_STATE_TRX_OFF);
if (ret) {
LOG_ERROR("[openwsn/radio]: request_set_trx_state failed %s\n",
__FUNCTION__);
}
else {
debugpins_radio_clr();
leds_radio_off();
while (ieee802154_radio_confirm_set_trx_state(openwsn_radio.dev) ==
-EAGAIN) {}
}
}
void radio_loadPacket(uint8_t *packet, uint16_t len)
{
/* OpenWSN `len` accounts for the FCS field which is set by default by
netdev, so remove from the actual packet `len` */
iolist_t pkt = {
.iol_base = (void *)packet,
.iol_len = (size_t)(len - IEEE802154_FCS_LEN),
};
if (ieee802154_radio_write(openwsn_radio.dev, &pkt) < 0) {
LOG_ERROR("[openwsn/radio]: couldn't load pkt\n");
}
}
void radio_txEnable(void)
{
int ret = ieee802154_radio_request_set_trx_state(openwsn_radio.dev,
IEEE802154_TRX_STATE_TX_ON);
if (ret) {
LOG_ERROR("[openwsn/radio]: request_set_trx_state failed %s\n",
__FUNCTION__);
}
else {
while (ieee802154_radio_confirm_set_trx_state(openwsn_radio.dev) ==
-EAGAIN) {}
debugpins_radio_set();
leds_radio_on();
}
}
void radio_txNow(void)
{
int ret = ieee802154_radio_request_transmit(openwsn_radio.dev);
if (ret) {
LOG_ERROR("[openwsn/radio]: request_set_trx_state failed %s\n",
__FUNCTION__);
}
else {
/* Trigger startFrame manually if no IEEE802154_CAP_IRQ_TX_START */
if (!ieee802154_radio_has_irq_tx_start(openwsn_radio.dev)) {
debugpins_isr_set();
_txrx_event_capture_time = sctimer_readCounter();
debugpins_isr_clr();
openwsn_radio.startFrame_cb(_txrx_event_capture_time);
}
}
}
void radio_rxEnable(void)
{
int ret = ieee802154_radio_request_set_trx_state(openwsn_radio.dev,
IEEE802154_TRX_STATE_TRX_OFF);
if (ret) {
LOG_ERROR("[openwsn/radio]: request_set_trx_state failed %s\n",
__FUNCTION__);
}
else {
while (ieee802154_radio_confirm_set_trx_state(openwsn_radio.dev) ==
-EAGAIN) {}
debugpins_radio_set();
leds_radio_on();
}
}
void radio_rxNow(void)
{
int ret = ieee802154_radio_request_set_trx_state(openwsn_radio.dev,
IEEE802154_TRX_STATE_RX_ON);
if (ret) {
LOG_ERROR("[openwsn/radio]: request_set_trx_state failed %s\n",
__FUNCTION__);
}
else {
while (ieee802154_radio_confirm_set_trx_state(openwsn_radio.dev) ==
-EAGAIN) {}
}
}
void radio_getReceivedFrame(uint8_t *bufRead,
uint8_t *lenRead,
uint8_t maxBufLen,
int8_t *rssi,
uint8_t *lqi,
bool *crc)
{
ieee802154_rx_info_t rx_info;
size_t size = ieee802154_radio_read(openwsn_radio.dev, bufRead,
maxBufLen, &rx_info);
/* FCS is skipped by the radio-hal in the returned length, but
OpenWSN includes IEEE802154_FCS_LEN in its length value */
*lenRead = size + IEEE802154_FCS_LEN;
/* get rssi, lqi & crc */
*rssi = rx_info.rssi;
*lqi = rx_info.lqi;
/* only valid crc frames are currently accepted */
*crc = 1;
}

39
pkg/openwsn/contrib/radio.c → pkg/openwsn/contrib/radio_netdev.c
View File

@ -26,6 +26,7 @@
#include "leds.h"
#include "debugpins.h"
#include "sctimer.h"
#include "idmanager.h"
#include "net/netopt.h"
#include "net/ieee802154.h"
@ -34,6 +35,15 @@
#include "openwsn.h"
#include "openwsn_radio.h"
#ifdef MODULE_AT86RF2XX
#include "at86rf2xx.h"
#include "at86rf2xx_params.h"
#endif
#ifdef MODULE_CC2538_RF
#include "cc2538_rf.h"
#endif
#define LOG_LEVEL LOG_NONE
#include "log.h"
@ -44,9 +54,32 @@ static void _event_cb(netdev_t *dev, netdev_event_t event);
/* stores the NETDEV_EVENT_ISR capture time to tag the following NETDEV_EVENT */
static PORT_TIMER_WIDTH _txrx_event_capture_time = 0;
int openwsn_radio_init(netdev_t *netdev)
static void _set_addr(void)
{
assert(netdev);
netdev_t* dev = openwsn_radio.dev;
/* Initiate Id manager here and not in `openstack_init` function to allow
overriding the short id address before additional stack components are
initiated */
idmanager_init();
/* override 16b address to avoid short address collision */
uint8_t addr[IEEE802154_SHORT_ADDRESS_LEN];
dev->driver->get(dev, NETOPT_ADDRESS, addr, IEEE802154_SHORT_ADDRESS_LEN);
open_addr_t id;
id.type = ADDR_16B;
memcpy(&id.addr_16b, addr, IEEE802154_SHORT_ADDRESS_LEN);
idmanager_setMyID(&id);
/* override PANID */
id.type = ADDR_PANID;
uint16_t panid = OPENWSN_PANID;
memcpy(&id.addr_16b, &panid, IEEE802154_SHORT_ADDRESS_LEN);
idmanager_setMyID(&id);
}
int openwsn_radio_init(void *radio_dev)
{
assert(radio_dev);
netdev_t *netdev = (netdev_t *)radio_dev;
LOG_DEBUG("[openwsn/radio]: initialize riot-adaptation\n");
openwsn_radio.dev = netdev;
@ -89,6 +122,8 @@ int openwsn_radio_init(netdev_t *netdev)
uint16_t panid = OPENWSN_PANID;
netdev->driver->set(netdev, NETOPT_NID, &(panid), sizeof(uint16_t));
_set_addr();
return 0;
}

11
pkg/openwsn/include/openwsn_radio.h
View File

@ -55,25 +55,30 @@ extern "C" {
#endif
#include "net/netdev.h"
#include "net/ieee802154/radio.h"
#include "radio.h"
/**
* @brief Initialize OpenWSN radio
*
* @param[in] netdev pointer to a netdev interface
* @param[in] radio_dev pointer to a dev interface
*
* @return PID of OpenWSN thread
* @return -1 on initialization error
*/
int openwsn_radio_init(netdev_t *netdev);
int openwsn_radio_init(void *radio_dev);
/**
* @brief OpenWSN radio variables structure
*/
typedef struct {
#if IS_ACTIVE(MODULE_OPENWSN_RADIO_NETDEV)
netdev_t *dev; /**< netdev device */
#else
ieee802154_dev_t *dev; /**< radio hal */
#endif
radio_capture_cbt startFrame_cb; /**< start of frame capture callback */
radio_capture_cbt endFrame_cb; /**< end of frame capture callback */
netdev_t *dev; /**< netdev device */
} openwsn_radio_t;
#ifdef __cplusplus

3
sys/Makefile.dep
View File

@ -550,6 +550,9 @@ ifneq (,$(filter shell_commands,$(USEMODULE)))
USEMODULE += nimble_scanlist
USEMODULE += fmt
endif
ifneq (,$(filter openwsn_%,$(USEMODULE)))
USEMODULE += netif
endif
endif
ifneq (,$(filter posix_semaphore,$(USEMODULE)))

25
tests/pkg_openwsn/Makefile
View File

@ -2,14 +2,33 @@ BOARD ?= iotlab-m3
include ../Makefile.tests_common
# list of arm boards that provide at86rf2xx radios, can't require it so
# add whitelist
# list of arm boards that provide at86rf2xx radios, cc2538_rf or nrf52840
# radios
BOARD_WHITELIST = \
adafruit-clue \
adafruit-itsybitsy-nrf52 \
arduino-nano-33-ble \
cc2538dk \
feather-nrf52840 \
firefly \
fox \
iotlab-m3 \
iotlab-a8-m3 \
nrf52840-mdk \
nrf52840dk \
nrf52840dongle \
omote \
openmote-b \
openmote-cc2538 \
particle-argon \
particle-boron \
particle-xenon \
samr21-xpro \
samr30-xpro \
reel \
remote-pa \
remote-reva \
remote-revb \
#
# OpenWSN Modules
@ -36,7 +55,7 @@ USEMODULE += openwsn_debugpins
ifneq (,$(filter openwsn_serial,$(USEMODULE)))
# Uncomment to use STDIO_UART_DEV as the uart for OpenWSN openserial
# USEMODULE += stdio_null
ifneq (,$(filter iotlab-m3 iotlab-a8-m3,$(BOARD)))
ifneq (,$(filter iotlab-% openmote-b,$(BOARD)))
USEMODULE += stdio_null
endif
# OpenWSN serial module can't handle data at more than 115200 bauds/s,