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cpu/nrf52: add 802.15.4 radio driver

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This commit is contained in:
Semjon Kerner 2019-03-04 13:18:47 +01:00
parent c2a40be458
commit 91787dcb5c
6 changed files with 525 additions and 0 deletions
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5
cpu/nrf52/Makefile
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@ -7,4 +7,9 @@ DIRS = periph $(RIOTCPU)/cortexm_common $(RIOTCPU)/nrf5x_common
# (file triggers compiler bug. see #5775)
SRC_NOLTO += vectors.c
# build the nrf802154 driver if selected
ifneq (,$(filter nrf802154,$(USEMODULE)))
DIRS += radio/nrf802154
endif
include $(RIOTBASE)/Makefile.base

6
cpu/nrf52/Makefile.dep Normal file
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@ -0,0 +1,6 @@
ifneq (,$(filter nrf802154,$(USEMODULE)))
FEATURES_REQUIRED += periph_timer
FEATURES_REQUIRED += radio_nrf802154
USEMODULE += luid
USEMODULE += netdev_ieee802154
endif

4
cpu/nrf52/Makefile.include
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@ -7,5 +7,9 @@ export MCUBOOT_SLOT0_SIZE = 0x8000
export MCUBOOT_SLOT1_SIZE = 0x3C000
export MCUBOOT_SLOT2_SIZE = 0x3C000
ifneq (,$(filter nrf802154,$(USEMODULE)))
CFLAGS += -DGNRC_NETIF_MSG_QUEUE_SIZE=16
endif
include $(RIOTCPU)/nrf5x_common/Makefile.include
include $(RIOTMAKE)/arch/cortexm.inc.mk

61
cpu/nrf52/include/nrf802154.h Normal file
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@ -0,0 +1,61 @@
/*
* Copyright (C) 2019 Freie Universität Berlin
*
* 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.
*/
/**
* @defgroup drivers_nrf52_802154 IEEE802.15.4 Driver for nRF52840 SoCs
* @ingroup drivers_netdev
* @brief Driver for using the nRF52's radio in IEEE802.15.4 mode
*
* ## Implementation state ##
* Netdev events supported:
*
* - NETDEV_EVENT_RX_COMPLETE
* - NETDEV_EVENT_TX_COMPLETE
*
* Transmission options not yet impemented:
* - Send acknowledgement for packages
* - Request acknowledgement
* - Retransmit unacked packages
* - Carrier Sense Multiple Access (CSMA) and Implementation of Clear Channel
* Assessment Control (CCACTRL)
*
* @{
*
* @file
* @brief Driver interface for using the nRF52 in IEEE802.15.4 mode
*
* @author Hauke Petersen <hauke.petersen@fu-berlin.de>
* @author Semjon Kerner <semjon.kerner@fu-berlin.de>
*/
#ifndef NRF802154_H
#define NRF802154_H
#include "net/netdev/ieee802154.h"
#ifdef __cplusplus
extern "C" {
#endif
/**
* @brief Export the netdev device descriptor
*/
extern netdev_ieee802154_t nrf802154_dev;
/**
* @brief IEEE 802.15.4 radio timer configuration
*
* this radio relies on a dedicated hardware timer to maintain IFS
* the default timer may be overwritten in the board configuration
*/
#ifndef NRF802154_TIMER
#define NRF802154_TIMER TIMER_DEV(1)
#endif
#endif /* NRF802154_H */
/** @} */

3
cpu/nrf52/radio/nrf802154/Makefile Normal file
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@ -0,0 +1,3 @@
MODULE = nrf802154
include $(RIOTBASE)/Makefile.base

446
cpu/nrf52/radio/nrf802154/nrf802154.c Normal file
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@ -0,0 +1,446 @@
/*
* Copyright (C) 2019 Freie Universität Berlin
* 2019 HAW Hamburg
*
* 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 drivers_nrf52_802154
* @{
*
* @file
* @brief Implementation of the radio driver for nRF52 radios
*
* @author Hauke Petersen <hauke.petersen@fu-berlin.de>
* @author Dimitri Nahm <dimitri.nahm@haw-hamburg.de>
* @author Semjon Kerner <semjon.kerner@fu-berlin.de>
* @}
*/
#include <string.h>
#include <errno.h>
#include "cpu.h"
#include "luid.h"
#include "mutex.h"
#include "net/ieee802154.h"
#include "periph/timer.h"
#include "net/netdev/ieee802154.h"
#include "nrf802154.h"
#define ENABLE_DEBUG (0)
#include "debug.h"
static const netdev_driver_t nrf802154_netdev_driver;
netdev_ieee802154_t nrf802154_dev = {
{
.driver = &nrf802154_netdev_driver,
.event_callback = NULL,
.context = NULL,
},
#ifdef MODULE_GNRC
#ifdef MODULE_GNRC_SIXLOWPAN
.proto = GNRC_NETTYPE_SIXLOWPAN,
#else
.proto = GNRC_NETTYPE_UNDEF,
#endif
#endif
.pan = IEEE802154_DEFAULT_PANID,
.short_addr = { 0, 0 },
.long_addr = { 0, 0, 0, 0, 0, 0, 0, 0 },
.chan = IEEE802154_DEFAULT_CHANNEL,
.flags = 0
};
static uint8_t rxbuf[IEEE802154_FRAME_LEN_MAX + 3]; /* len PHR + PSDU + LQI */
static uint8_t txbuf[IEEE802154_FRAME_LEN_MAX + 3]; /* len PHR + PSDU + LQI */
#define RX_COMPLETE (0x1)
#define TX_COMPLETE (0x2)
#define LIFS (40U)
#define SIFS (12U)
#define SIFS_MAXPKTSIZE (18U)
#define TIMER_FREQ (250000UL)
static volatile uint8_t _state;
static mutex_t _txlock;
/**
* @brief Set radio into DISABLED state
*/
static void _disable(void)
{
/* set device into DISABLED state */
if (NRF_RADIO->STATE != RADIO_STATE_STATE_Disabled) {
NRF_RADIO->EVENTS_DISABLED = 0;
NRF_RADIO->TASKS_DISABLE = 1;
while (!(NRF_RADIO->EVENTS_DISABLED)) {};
DEBUG("[nrf802154] Device state: DISABLED\n");
}
}
/**
* @brief Set radio into RXIDLE state
*/
static void _enable_rx(void)
{
DEBUG("[nrf802154] Set device state to RXIDLE\n");
/* set device into RXIDLE state */
if (NRF_RADIO->STATE != RADIO_STATE_STATE_RxIdle) {
_disable();
}
NRF_RADIO->PACKETPTR = (uint32_t)rxbuf;
NRF_RADIO->EVENTS_RXREADY = 0;
NRF_RADIO->TASKS_RXEN = 1;
while (!(NRF_RADIO->EVENTS_RXREADY)) {};
DEBUG("[nrf802154] Device state: RXIDLE\n");
}
/**
* @brief Set radio into TXIDLE state
*/
static void _enable_tx(void)
{
DEBUG("[nrf802154] Set device state to TXIDLE\n");
/* set device into TXIDLE state */
if (NRF_RADIO->STATE != RADIO_STATE_STATE_TxIdle) {
_disable();
}
NRF_RADIO->PACKETPTR = (uint32_t)txbuf;
NRF_RADIO->EVENTS_TXREADY = 0;
NRF_RADIO->TASKS_TXEN = 1;
while (!(NRF_RADIO->EVENTS_TXREADY)) {};
DEBUG("[nrf802154] Device state: TXIDLE\n");
}
/**
* @brief Reset the RXIDLE state
*/
static void _reset_rx(void)
{
if (NRF_RADIO->STATE != RADIO_STATE_STATE_RxIdle) {
return;
}
/* reset RX state and listen for new packets */
_state &= ~RX_COMPLETE;
NRF_RADIO->TASKS_START = 1;
}
static void _set_chan(uint16_t chan)
{
assert((chan >= IEEE802154_CHANNEL_MIN) && (chan <= IEEE802154_CHANNEL_MAX));
/* Channel map between 2400 MHZ ... 2500 MHz
* -> Frequency = 2400 + FREQUENCY (MHz) */
NRF_RADIO->FREQUENCY = (chan - 10) * 5;
nrf802154_dev.chan = chan;
}
static int16_t _get_txpower(void)
{
int8_t txpower = (int8_t)NRF_RADIO->TXPOWER;
if (txpower < 0) {
return (int16_t)(0xff00 | txpower);
}
return (int16_t)txpower;
}
static void _set_txpower(int16_t txpower)
{
if (txpower > 8) {
NRF_RADIO->TXPOWER = RADIO_TXPOWER_TXPOWER_Pos8dBm;
}
if (txpower > 1) {
NRF_RADIO->TXPOWER = (uint32_t)txpower;
}
else if (txpower > -1) {
NRF_RADIO->TXPOWER = RADIO_TXPOWER_TXPOWER_0dBm;
}
else if (txpower > -5) {
NRF_RADIO->TXPOWER = RADIO_TXPOWER_TXPOWER_Neg4dBm;
}
else if (txpower > -9) {
NRF_RADIO->TXPOWER = RADIO_TXPOWER_TXPOWER_Neg8dBm;
}
else if (txpower > -13) {
NRF_RADIO->TXPOWER = RADIO_TXPOWER_TXPOWER_Neg12dBm;
}
else if (txpower > -17) {
NRF_RADIO->TXPOWER = RADIO_TXPOWER_TXPOWER_Neg16dBm;
}
else if (txpower > -21) {
NRF_RADIO->TXPOWER = RADIO_TXPOWER_TXPOWER_Neg20dBm;
}
else {
NRF_RADIO->TXPOWER = RADIO_TXPOWER_TXPOWER_Neg40dBm;
}
}
static void _timer_cb(void *arg, int chan)
{
(void)arg;
(void)chan;
mutex_unlock(&_txlock);
timer_stop(NRF802154_TIMER);
timer_clear(NRF802154_TIMER, 0);
}
static int _init(netdev_t *dev)
{
(void)dev;
int result = timer_init(NRF802154_TIMER, TIMER_FREQ, _timer_cb, NULL);
assert(result >= 0);
(void)result;
/* initialize local variables */
mutex_init(&_txlock);
/* reset buffer */
rxbuf[0] = 0;
txbuf[0] = 0;
_state = 0;
/* power on peripheral */
NRF_RADIO->POWER = 1;
/* make sure the radio is disabled/stopped */
_disable();
/* we configure it to run in IEEE802.15.4 mode */
NRF_RADIO->MODE = RADIO_MODE_MODE_Ieee802154_250Kbit;
/* and set some fitting configuration */
NRF_RADIO->PCNF0 = ((8 << RADIO_PCNF0_LFLEN_Pos) |
(RADIO_PCNF0_PLEN_32bitZero << RADIO_PCNF0_PLEN_Pos) |
(RADIO_PCNF0_CRCINC_Include << RADIO_PCNF0_CRCINC_Pos));
NRF_RADIO->PCNF1 = IEEE802154_FRAME_LEN_MAX;
/* set start frame delimiter */
NRF_RADIO->SFD = IEEE802154_SFD;
/* set MHR filters */
NRF_RADIO->MHRMATCHCONF = 0; /* Search Pattern Configuration */
NRF_RADIO->MHRMATCHMAS = 0xff0007ff; /* Pattern mask */
/* configure CRC conform to IEEE802154 */
NRF_RADIO->CRCCNF = ((RADIO_CRCCNF_LEN_Two << RADIO_CRCCNF_LEN_Pos) |
(RADIO_CRCCNF_SKIPADDR_Ieee802154 << RADIO_CRCCNF_SKIPADDR_Pos));
NRF_RADIO->CRCPOLY = 0x011021;
NRF_RADIO->CRCINIT = 0;
/* assign default addresses */
luid_get(nrf802154_dev.short_addr, IEEE802154_SHORT_ADDRESS_LEN);
luid_get(nrf802154_dev.long_addr, IEEE802154_LONG_ADDRESS_LEN);
/* set default channel */
_set_chan(nrf802154_dev.chan);
/* configure some shortcuts */
NRF_RADIO->SHORTS = RADIO_SHORTS_RXREADY_START_Msk | RADIO_SHORTS_TXREADY_START_Msk;
/* enable interrupts */
NVIC_EnableIRQ(RADIO_IRQn);
NRF_RADIO->INTENSET = RADIO_INTENSET_END_Msk;
/* switch to RX mode */
_enable_rx();
return 0;
}
static int _send(netdev_t *dev, const iolist_t *iolist)
{
(void)dev;
DEBUG("[nrf802154] Send a packet\n");
assert(iolist);
mutex_lock(&_txlock);
/* copy packet data into the transmit buffer */
unsigned int len = 0;
for (; iolist; iolist = iolist->iol_next) {
if ((IEEE802154_FCS_LEN + len + iolist->iol_len) > (IEEE802154_FRAME_LEN_MAX)) {
DEBUG("[nrf802154] send: unable to do so, packet is too large!\n");
mutex_unlock(&_txlock);
return -EOVERFLOW;
}
memcpy(&txbuf[len + 1], iolist->iol_base, iolist->iol_len);
len += iolist->iol_len;
}
/* specify the length of the package. */
txbuf[0] = len + IEEE802154_FCS_LEN;
/* trigger the actual transmission */
_enable_tx();
DEBUG("[nrf802154] send: putting %i byte into the ether\n", len);
/* set interframe spacing based on packet size */
unsigned int ifs = (len > SIFS_MAXPKTSIZE) ? LIFS : SIFS;
timer_set_absolute(NRF802154_TIMER, 0, ifs);
return len;
}
static int _recv(netdev_t *dev, void *buf, size_t len, void *info)
{
(void)dev;
(void)info;
size_t pktlen = (size_t)rxbuf[0] - IEEE802154_FCS_LEN;
/* check if packet data is readable */
if (!(_state & RX_COMPLETE)) {
DEBUG("[nrf802154] recv: no packet data available\n");
return 0;
}
if (buf == NULL) {
if (len > 0) {
/* drop packet */
DEBUG("[nrf802154] recv: dropping packet of length %i\n", pktlen);
}
else {
/* return packet length */
DEBUG("[nrf802154] recv: return packet length: %i\n", pktlen);
return pktlen;
}
}
else if (len < pktlen) {
DEBUG("[nrf802154] recv: buffer is to small\n");
return -ENOBUFS;
}
else {
DEBUG("[nrf802154] recv: reading packet of length %i\n", pktlen);
memcpy(buf, &rxbuf[1], pktlen);
}
_reset_rx();
return (int)pktlen;
}
static void _isr(netdev_t *dev)
{
if (!nrf802154_dev.netdev.event_callback) {
return;
}
if (_state & RX_COMPLETE) {
nrf802154_dev.netdev.event_callback(dev, NETDEV_EVENT_RX_COMPLETE);
}
if (_state & TX_COMPLETE) {
nrf802154_dev.netdev.event_callback(dev, NETDEV_EVENT_TX_COMPLETE);
_state &= ~TX_COMPLETE;
}
}
static int _get(netdev_t *dev, netopt_t opt, void *value, size_t max_len)
{
assert(dev);
#ifdef MODULE_NETOPT
DEBUG("[nrf802154] get: %s\n", netopt2str(opt));
#else
DEBUG("[nrf802154] get: %d\n", opt);
#endif
switch (opt) {
case NETOPT_CHANNEL:
assert(max_len >= sizeof(uint16_t));
*((uint16_t *)value) = nrf802154_dev.chan;
return sizeof(uint16_t);
case NETOPT_TX_POWER:
assert(max_len >= sizeof(int16_t));
*((int16_t *)value) = _get_txpower();
return sizeof(int16_t);
default:
return netdev_ieee802154_get((netdev_ieee802154_t *)dev,
opt, value, max_len);
}
}
static int _set(netdev_t *dev, netopt_t opt,
const void *value, size_t value_len)
{
assert(dev);
#ifdef MODULE_NETOPT
DEBUG("[nrf802154] set: %s\n", netopt2str(opt));
#else
DEBUG("[nrf802154] set: %d\n", opt);
#endif
switch (opt) {
case NETOPT_CHANNEL:
assert(value_len == sizeof(uint16_t));
_set_chan(*((uint16_t *)value));
return sizeof(uint16_t);
case NETOPT_TX_POWER:
assert(value_len == sizeof(int16_t));
_set_txpower(*((int16_t *)value));
return sizeof(int16_t);
default:
return netdev_ieee802154_set((netdev_ieee802154_t *)dev,
opt, value, value_len);
}
}
void isr_radio(void)
{
/* Clear flag */
if (NRF_RADIO->EVENTS_END) {
NRF_RADIO->EVENTS_END = 0;
/* did we just send or receive something? */
uint8_t state = (uint8_t)NRF_RADIO->STATE;
switch(state) {
case RADIO_STATE_STATE_RxIdle:
/* only process packet if event callback is set and CRC is valid */
if ((nrf802154_dev.netdev.event_callback) &&
(NRF_RADIO->CRCSTATUS == 1) &&
(netdev_ieee802154_dst_filter(&nrf802154_dev,
&rxbuf[1]) == 0)) {
_state |= RX_COMPLETE;
}
else {
_reset_rx();
}
break;
case RADIO_STATE_STATE_Tx:
case RADIO_STATE_STATE_TxIdle:
case RADIO_STATE_STATE_TxDisable:
timer_start(NRF802154_TIMER);
DEBUG("[nrf802154] TX state: %x\n", (uint8_t)NRF_RADIO->STATE);
_state |= TX_COMPLETE;
_enable_rx();
break;
default:
DEBUG("[nrf802154] Unhandled state: %x\n", (uint8_t)NRF_RADIO->STATE);
}
if (_state) {
nrf802154_dev.netdev.event_callback(&nrf802154_dev.netdev, NETDEV_EVENT_ISR);
}
}
else {
DEBUG("[nrf802154] Unknown interrupt triggered\n");
}
cortexm_isr_end();
}
/**
* @brief Export of the netdev interface
*/
static const netdev_driver_t nrf802154_netdev_driver = {
.send = _send,
.recv = _recv,
.init = _init,
.isr = _isr,
.get = _get,
.set = _set
};