FW-866. OpenRadio Implementation for OpenMote-B

.gitignore

@@ -16,6 +16,7 @@ settings
 /.sconsign.dblite
 *.map
 *.lst
+*.bak
 *~
 /projects/telosb/00std_button/path.txt
 /projects/telosb/00std_xon_xoff/path.txt

bsp/boards/board.h

@@ -17,24 +17,57 @@
 
 //=========================== define ==========================================
 
+#define SLOTDURATION_MS     board_getSlotDuration()/PORT_TICS_PER_MS
+
 typedef enum {
-   DO_NOT_KICK_SCHEDULER = 0,
-   KICK_SCHEDULER        = 1,
+    DO_NOT_KICK_SCHEDULER = 0,
+    KICK_SCHEDULER        = 1,
 } kick_scheduler_t;
 
+
+
 //=========================== typedef =========================================
 
+typedef struct {
+    uint16_t slotDuration;
+
+    // execution speed related
+    // also implementation related (e.g. SoC radio or spi-connected radio because of the time to load a packet to/from radio)
+    uint16_t maxTxDataPrepare;
+    uint16_t maxRxAckPrepare;
+    uint16_t maxRxDataPrepare;
+    uint16_t maxTxAckPrepare;
+
+    // radio speed related
+    // also implementation related (because the time to execute the Tx/Rx command is highly dependent on the radio AND the configuration)
+    uint16_t delayTx;                       
+    uint16_t delayRx;
+} slot_board_vars_t; //board specific slot vars
+
+// available slot templates
+typedef enum{
+    SLOT_10ms_24GHZ,
+    SLOT_20ms_24GHZ,
+    SLOT_40ms_24GHZ,
+    SLOT_40ms_FSK_SUBGHZ,
+    SLOT_40ms_OFDM1MCS0_3_SUBGHZ,
+    MAX_SLOT_TYPES,
+} slotType_t;
+
 //=========================== variables =======================================
 
 //=========================== prototypes ======================================
 
-void board_init(void);
-void board_sleep(void);
-void board_reset(void);
-
+void              board_init(void);
+void              board_sleep(void);
+void              board_reset(void);
+uint16_t          board_getSlotDuration (void);
+slot_board_vars_t board_selectSlotTemplate(slotType_t slot_type);
 /**
 \}
 \}
 */
+//=========================== private =========================================
 
+void              board_init_slot_vars(void);
 #endif

bsp/boards/gina/board.c

@@ -26,6 +26,9 @@
 //#define ISR_BUTTON 1
 //=========================== variables =======================================
 
+slot_board_vars_t slot_board_vars [MAX_SLOT_TYPES];
+slotType_t selected_slot_type;
+
 //=========================== prototypes ======================================
 
 //=========================== main ============================================
@@ -77,8 +80,10 @@ void board_init(void) {
    i2c_init();
    radio_init();
    sctimer_init();
+
+   board_init_slot_vars();
    //ADC_init();
-
+      
    // enable interrupts
    __bis_SR_register(GIE);
 
@@ -99,6 +104,32 @@ void board_init(void) {
    }
 }
 
+//====  IEEE802154E timing: bootstrapping slot info lookup table
+// 1 clock tick = 30.5 us
+void board_init_slot_vars(void){
+
+    // 20ms slot
+    slot_board_vars [SLOT_20ms_24GHZ].slotDuration                   =  655   ; // tics  
+    slot_board_vars [SLOT_20ms_24GHZ].maxTxDataPrepare               =  110   ; // 3355us (based on measurement)
+    slot_board_vars [SLOT_20ms_24GHZ].maxRxAckPrepare                =  20    ; // 610us (based on measurement)
+    slot_board_vars [SLOT_20ms_24GHZ].maxRxDataPrepare               =  33    ; // 1000us (based on measurement)
+    slot_board_vars [SLOT_20ms_24GHZ].maxTxAckPrepare                =  50    ; // 1525us (based on measurement)
+    slot_board_vars [SLOT_20ms_24GHZ].delayTx                        =  18    ; // 549us (based on measurement)
+    slot_board_vars [SLOT_20ms_24GHZ].delayRx                        =  0     ; // 0us (can not measure)
+}  
+
+// To get the current slotDuration at any time (in tics)
+// if you need the value in MS, divide by PORT_TICS_PER_MS (which varies by board and clock frequency and defined in board_info.h)
+uint16_t board_getSlotDuration (void){
+    return slot_board_vars [selected_slot_type].slotDuration;
+}
+
+// Setter/Getter function for slot_board_vars
+slot_board_vars_t board_selectSlotTemplate (slotType_t slot_type){
+    selected_slot_type = slot_type;
+    return slot_board_vars [selected_slot_type];
+}
+
 void board_sleep(void) {
    __bis_SR_register(GIE+LPM3_bits);             // sleep, but leave ACLK on
 }

bsp/boards/gina/board_info.h

@@ -60,24 +60,6 @@ to return the board's description.
 #define PORT_PIN_RADIO_RESET_HIGH()    // nothing
 #define PORT_PIN_RADIO_RESET_LOW()     // nothing
 
-//===== IEEE802154E timing
-
-#define SLOTDURATION 20 // in miliseconds
-
-// time-slot related
-#define PORT_TsSlotDuration                 655   //    20ms
-
-// execution speed related
-#define PORT_maxTxDataPrepare               110   //  3355us (not measured)
-#define PORT_maxRxAckPrepare                20    //   610us (not measured)
-#define PORT_maxRxDataPrepare               33    //  1000us (not measured)
-#define PORT_maxTxAckPrepare                50    //  1525us (not measured)
-
-// radio speed related
-#define PORT_delayTx                        18    //   549us (not measured)
-#define PORT_delayRx                        0     //     0us (can not measure)
-// radio watchdog
-
 //===== adaptive_sync accuracy
 
 #define SYNC_ACCURACY                       1     // ticks

bsp/boards/iot-lab_A8-M3/board.c

@@ -18,7 +18,10 @@
 #include "nvic.h"
 #include "debugpins.h"
 
-//=========================== variable ========================================
+//=========================== variables =======================================
+
+slot_board_vars_t slot_board_vars [MAX_SLOT_TYPES];
+slotType_t selected_slot_type;
 
 //=========================== private =========================================
 
@@ -98,12 +101,38 @@ void board_init(void){
     debugpins_init();
     //enable nvic for the radio
     NVIC_radio();
-
+    board_init_slot_vars();
 #if defined(BOARD_CRYPTOENGINE_ENABLED)
     cryptoengine_init();
 #endif
 }
 
+
+//==== bootstrapping slot info lookup table
+void board_init_slot_vars(void){
+
+    // 20ms slot
+    slot_board_vars [SLOT_20ms_24GHZ].slotDuration                   =  655   ; // ms  
+    slot_board_vars [SLOT_20ms_24GHZ].maxTxDataPrepare               =  110  ; //  3355us (not measured)
+    slot_board_vars [SLOT_20ms_24GHZ].maxRxAckPrepare                =  20   ; //   610us (not measured)
+    slot_board_vars [SLOT_20ms_24GHZ].maxRxDataPrepare               =  33   ; //  1000us (not measured)
+    slot_board_vars [SLOT_20ms_24GHZ].maxTxAckPrepare                =  50   ; //  1525us (not measured)
+    slot_board_vars [SLOT_20ms_24GHZ].delayTx                        =  18   ; //   549us (not measured)
+    slot_board_vars [SLOT_20ms_24GHZ].delayRx                        =  0    ; //     0us (can not measure)
+}
+
+// To get the current slotDuration at any time
+// used during initialization by sixtop to fire the first sixtop EB
+uint16_t board_getSlotDuration (void){
+    return slot_board_vars [selected_slot_type].slotDuration;
+}
+
+// Setter/Getter function for slot_board_vars
+slot_board_vars_t board_selectSlotTemplate (slotType_t slot_type){
+  selected_slot_type = slot_type;
+  return slot_board_vars [selected_slot_type];
+}
+
 void board_sleep(void) {
     DBGMCU_Config(DBGMCU_STOP, ENABLE);
     // Enable PWR and BKP clock

bsp/boards/iot-lab_A8-M3/board_info.h

@@ -50,23 +50,6 @@ to return the board's description.
 #define PORT_PIN_RADIO_RESET_HIGH()       //GPIOC->ODR |= 0X0040;// nothing
 #define PORT_PIN_RADIO_RESET_LOW()        //GPIOC->ODR &= ~0X0040;// nothing
 
-//===== IEEE802154E timing
-
-#define SLOTDURATION 20 // in miliseconds
-
-// time-slot related
-#define PORT_TsSlotDuration                 655   //    20ms
-
-// execution speed related
-#define PORT_maxTxDataPrepare               110   //  3355us (not measured)
-#define PORT_maxRxAckPrepare                20    //   610us (not measured)
-#define PORT_maxRxDataPrepare               33    //  1000us (not measured)
-#define PORT_maxTxAckPrepare                50    //  1525us (not measured)
-
-// radio speed related
-#define PORT_delayTx                        18    //   549us (not measured)
-#define PORT_delayRx                        0     //     0us (can not measure)
-// radio watchdog
 
 //===== adaptive_sync accuracy
 

bsp/boards/iot-lab_M3/board.c

@@ -21,6 +21,10 @@
 #include "gpio.h"
 #include "cryptoengine.h"
 
+//=========================== variables =======================================
+slot_board_vars_t slot_board_vars [MAX_SLOT_TYPES];
+slotType_t selected_slot_type;
+
 //=========================== main ============================================
 
 extern int mote_main(void);
@@ -36,8 +40,7 @@ void board_enableHardFaultExceptionHandler(void);
 
 //=========================== public ==========================================
 
-void board_init(void)
-{
+void board_init(void){
     RCC_Configuration();//Configure rcc
     NVIC_Configuration();//configure NVIC and Vector Table
 
@@ -94,12 +97,39 @@ void board_init(void)
     debugpins_init();
     //enable nvic for the radio
     NVIC_radio();
+    board_init_slot_vars();
 
 #if defined(BOARD_CRYPTOENGINE_ENABLED)
     cryptoengine_init();
 #endif
 }
 
+
+//==== bootstrapping slot info lookup table
+void board_init_slot_vars(void){
+
+    // 20ms slot
+    slot_board_vars [SLOT_20ms_24GHZ].slotDuration                   =  655   ; // ms  
+    slot_board_vars [SLOT_20ms_24GHZ].maxTxDataPrepare               =  110  ; //  3355us (not measured)
+    slot_board_vars [SLOT_20ms_24GHZ].maxRxAckPrepare                =  20   ; //   610us (not measured)
+    slot_board_vars [SLOT_20ms_24GHZ].maxRxDataPrepare               =  33   ; //  1000us (not measured)
+    slot_board_vars [SLOT_20ms_24GHZ].maxTxAckPrepare                =  50   ; //  1525us (not measured)
+    slot_board_vars [SLOT_20ms_24GHZ].delayTx                        =  18   ; //   549us (not measured)
+    slot_board_vars [SLOT_20ms_24GHZ].delayRx                        =  0    ; //     0us (can not measure)
+}
+
+// To get the current slotDuration at any time
+// used during initialization by sixtop to fire the first sixtop EB
+uint16_t board_getSlotDuration (void){
+    return slot_board_vars [selected_slot_type].slotDuration;
+}
+
+// Setter/Getter function for slot_board_vars
+slot_board_vars_t board_selectSlotTemplate (slotType_t slot_type){
+  selected_slot_type = slot_type;
+  return slot_board_vars [selected_slot_type];
+}
+
 void board_sleep(void) {
     DBGMCU_Config(DBGMCU_STOP, ENABLE);
     // Enable PWR and BKP clock

bsp/boards/iot-lab_M3/board_info.h

@@ -49,23 +49,6 @@ to return the board's description.
 #define PORT_PIN_RADIO_RESET_LOW()        //GPIOC->ODR &= ~0X0040;// nothing
 //#define PORT_PIN_RADIO_RESET_LOW()            GPIOC->ODR &= ~(1<<1);
 
-//===== IEEE802154E timing
-
-#define SLOTDURATION 20 // in miliseconds
-
-// time-slot related
-#define PORT_TsSlotDuration                 655   //    20ms
-
-// execution speed related
-#define PORT_maxTxDataPrepare               110   //  3355us (not measured)
-#define PORT_maxRxAckPrepare                20    //   610us (not measured)
-#define PORT_maxRxDataPrepare               33    //  1000us (not measured)
-#define PORT_maxTxAckPrepare                50    //  1525us (not measured)
-
-// radio speed related
-#define PORT_delayTx                        18    //   549us (not measured)
-#define PORT_delayRx                        0     //     0us (can not measure)
-// radio watchdog
 
 //===== adaptive_sync accuracy
 

bsp/boards/nrf52840/board.c

@@ -90,11 +90,57 @@ void board_init(void) {
 
     i2c_init();
 
+    board_init_slot_vars();
+
 #if defined(BOARD_SENSORS_ENABLED)
     sensors_init();
 #endif
 }
 
+//====  IEEE802154E timing: bootstrapping slot info lookup table
+// 1 clock tick = 30.5 us
+void board_init_slot_vars(void){
+
+
+    //10ms slot
+    slot_board_vars [SLOT_10ms_24GHZ].slotDuration                   = 328    ;  // tics
+    slot_board_vars [SLOT_10ms_24GHZ].maxTxDataPrepare               = 13     ;  // ~397us (measured 364us)
+    slot_board_vars [SLOT_10ms_24GHZ].maxRxAckPrepare                = 13     ;  // ~397us (measured 364us)
+    slot_board_vars [SLOT_10ms_24GHZ].maxRxDataPrepare               = 13     ;  // ~397us (measured 364us)
+    slot_board_vars [SLOT_10ms_24GHZ].maxTxAckPrepare                = 13     ;  // ~397us (measured 364us)                                                                
+    slot_board_vars [SLOT_10ms_24GHZ].delayTx                        = 10     ;  //  305us (measured 282us; radio_txNow() to RADIO_IRQHandler() / NRF_RADIO->EVENTS_READY)
+    slot_board_vars [SLOT_10ms_24GHZ].delayRx                        =  5     ;  // ~153us (measured 147us; radio_rxNow() to RADIO_IRQHandler() / NRF_RADIO->EVENTS_READY)
+
+    // 20ms slot
+    slot_board_vars [SLOT_20ms_24GHZ].slotDuration                   =  655   ; // tics  
+    slot_board_vars [SLOT_20ms_24GHZ].maxTxDataPrepare               =  13    ; // ~397us (measured 364us)
+    slot_board_vars [SLOT_20ms_24GHZ].maxRxAckPrepare                =  13    ; // ~397us (measured 364us)
+    slot_board_vars [SLOT_20ms_24GHZ].maxRxDataPrepare               =  13    ; // ~397us (measured 364us)
+    slot_board_vars [SLOT_20ms_24GHZ].maxTxAckPrepare                =  13    ; // ~397us (measured 364us)
+    #if BOARD_PCA10056
+    // nrf52840-DK
+        slot_board_vars [SLOT_20ms_24GHZ].delayTx                    =  1     ; // 305us (measured 282us; radio_txNow() to RADIO_IRQHandler() / NRF_RADIO->EVENTS_READY)
+        slot_board_vars [SLOT_20ms_24GHZ].delayRx                    =  0     ; // ~153us (measured 147us; radio_rxNow() to RADIO_IRQHandler() / NRF_RADIO->EVENTS_READY)
+    #endif
+    #if BOARD_PCA10059
+    // nrf52840-DONGLE
+        slot_board_vars [SLOT_20ms_24GHZ].delayTx                    = 10     ; // 305us (measured 282us; radio_txNow() to RADIO_IRQHandler() / NRF_RADIO->EVENTS_READY)
+        slot_board_vars [SLOT_20ms_24GHZ].delayRx                    =  5     ; // ~153us (measured 147us; radio_rxNow() to RADIO_IRQHandler() / NRF_RADIO->EVENTS_READY)
+    #endif
+}
+
+// To get the current slotDuration at any time (in tics)
+// if you need the value in MS, divide by PORT_TICS_PER_MS (which varies by board and clock frequency and defined in board_info.h)
+uint16_t board_getSlotDuration (void){
+    return slot_board_vars [selected_slot_type].slotDuration;
+}
+
+// Setter/Getter function for slot_board_vars
+slot_board_vars_t board_selectSlotTemplate (slotType_t slot_type){
+    selected_slot_type = slot_type;
+    return slot_board_vars [selected_slot_type];
+}
+
 /**
  * Puts the board to sleep
  */