--- /dev/null
+/*
+* Copyright (c) 2009, University of Szeged
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions
+* are met:
+*
+* - Redistributions of source code must retain the above copyright
+* notice, this list of conditions and the following disclaimer.
+* - Redistributions in binary form must reproduce the above
+* copyright notice, this list of conditions and the following
+* disclaimer in the documentation and/or other materials provided
+* with the distribution.
+* - Neither the name of University of Szeged nor the names of its
+* contributors may be used to endorse or promote products derived
+* from this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+* (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
+* STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+* ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
+* OF THE POSSIBILITY OF SUCH DAMAGE.
+*
+* Author: Miklos Maroti
+*/
+
+#include <RF230DriverLayer.h>
+#include <Tasklet.h>
+#include <RadioAssert.h>
+#include <TimeSyncMessageLayer.h>
+#include <RadioConfig.h>
+
+module RF230DriverHwAckP
+{
+ provides
+ {
+ interface Init as PlatformInit @exactlyonce();
+ interface Init as SoftwareInit @exactlyonce();
+
+ interface RadioState;
+ interface RadioSend;
+ interface RadioReceive;
+ interface RadioCCA;
+ interface RadioPacket;
+
+ interface PacketField<uint8_t> as PacketTransmitPower;
+ interface PacketField<uint8_t> as PacketRSSI;
+ interface PacketField<uint8_t> as PacketTimeSyncOffset;
+ interface PacketField<uint8_t> as PacketLinkQuality;
+
+ interface PacketAcknowledgements;
+ }
+
+ uses
+ {
+ interface GeneralIO as SELN;
+ interface Resource as SpiResource;
+
+ interface FastSpiByte;
+
+ interface GeneralIO as SLP_TR;
+ interface GeneralIO as RSTN;
+
+ interface GpioCapture as IRQ;
+
+ interface BusyWait<TMicro, uint16_t>;
+ interface LocalTime<TRadio>;
+
+ interface RF230DriverConfig as Config;
+
+ interface PacketFlag as TransmitPowerFlag;
+ interface PacketFlag as RSSIFlag;
+ interface PacketFlag as TimeSyncFlag;
+
+ interface PacketTimeStamp<TRadio, uint32_t>;
+
+ interface Tasklet;
+ interface RadioAlarm;
+
+ interface PacketFlag as AckReceivedFlag;
+ interface Ieee154PacketLayer;
+ interface ActiveMessageAddress;
+
+#ifdef RADIO_DEBUG
+ interface DiagMsg;
+#endif
+ }
+}
+
+implementation
+{
+ rf230_header_t* getHeader(message_t* msg)
+ {
+ return ((void*)msg) + call Config.headerLength(msg);
+ }
+
+ void* getPayload(message_t* msg)
+ {
+ return ((void*)msg) + call RadioPacket.headerLength(msg);
+ }
+
+ rf230_metadata_t* getMeta(message_t* msg)
+ {
+ return ((void*)msg) + sizeof(message_t) - call RadioPacket.metadataLength(msg);
+ }
+
+/*----------------- STATE -----------------*/
+
+ tasklet_norace uint8_t state;
+ enum
+ {
+ STATE_P_ON = 0,
+ STATE_SLEEP = 1,
+ STATE_SLEEP_2_TRX_OFF = 2,
+ STATE_TRX_OFF = 3,
+ STATE_TRX_OFF_2_RX_ON = 4,
+ STATE_RX_ON = 5,
+ STATE_BUSY_TX_2_RX_ON = 6,
+ };
+
+ tasklet_norace uint8_t cmd;
+ enum
+ {
+ CMD_NONE = 0, // the state machine has stopped
+ CMD_TURNOFF = 1, // goto SLEEP state
+ CMD_STANDBY = 2, // goto TRX_OFF state
+ CMD_TURNON = 3, // goto RX_ON state
+ CMD_TRANSMIT = 4, // currently transmitting a message
+ CMD_CCA = 6, // performing clear chanel assesment
+ CMD_CHANNEL = 7, // changing the channel
+ CMD_SIGNAL_DONE = 8, // signal the end of the state transition
+ CMD_DOWNLOAD = 9, // download the received message
+ };
+
+ norace bool radioIrq;
+
+ tasklet_norace uint8_t txPower;
+ tasklet_norace uint8_t channel;
+
+ tasklet_norace message_t* rxMsg;
+ message_t rxMsgBuffer;
+
+ uint16_t capturedTime; // the current time when the last interrupt has occured
+
+/*----------------- REGISTER -----------------*/
+
+ inline void writeRegister(uint8_t reg, uint8_t value)
+ {
+ ASSERT( call SpiResource.isOwner() );
+ ASSERT( reg == (reg & RF230_CMD_REGISTER_MASK) );
+
+ call SELN.clr();
+ call FastSpiByte.splitWrite(RF230_CMD_REGISTER_WRITE | reg);
+ call FastSpiByte.splitReadWrite(value);
+ call FastSpiByte.splitRead();
+ call SELN.set();
+ }
+
+ inline uint8_t readRegister(uint8_t reg)
+ {
+ ASSERT( call SpiResource.isOwner() );
+ ASSERT( reg == (reg & RF230_CMD_REGISTER_MASK) );
+
+ call SELN.clr();
+ call FastSpiByte.splitWrite(RF230_CMD_REGISTER_READ | reg);
+ call FastSpiByte.splitReadWrite(0);
+ reg = call FastSpiByte.splitRead();
+ call SELN.set();
+
+ return reg;
+ }
+
+/*----------------- ALARM -----------------*/
+
+ enum
+ {
+ SLEEP_WAKEUP_TIME = (uint16_t)(880 * RADIO_ALARM_MICROSEC),
+ PLL_CALIBRATION_TIME = (uint16_t)(180 * RADIO_ALARM_MICROSEC),
+ CCA_REQUEST_TIME = (uint16_t)(140 * RADIO_ALARM_MICROSEC),
+
+ // 8 undocumented delay, 128 for CSMA, 16 for delay, 5*32 for preamble and SFD
+ TX_SFD_DELAY = (uint16_t)((8 + 128 + 16 + 5*32) * RADIO_ALARM_MICROSEC),
+
+ // 32 for frame length, 16 for delay
+ RX_SFD_DELAY = (uint16_t)((32 + 16) * RADIO_ALARM_MICROSEC),
+ };
+
+ tasklet_async event void RadioAlarm.fired()
+ {
+ if( state == STATE_SLEEP_2_TRX_OFF )
+ state = STATE_TRX_OFF;
+ else if( state == STATE_TRX_OFF_2_RX_ON )
+ {
+ ASSERT( cmd == CMD_TURNON || cmd == CMD_CHANNEL );
+
+ state = STATE_RX_ON;
+ cmd = CMD_SIGNAL_DONE;
+ }
+ else if( cmd == CMD_CCA )
+ {
+ uint8_t cca;
+
+ ASSERT( state == STATE_RX_ON );
+
+ cmd = CMD_NONE;
+ cca = readRegister(RF230_TRX_STATUS);
+
+ ASSERT( (cca & RF230_TRX_STATUS_MASK) == RF230_RX_AACK_ON );
+
+ signal RadioCCA.done( (cca & RF230_CCA_DONE) ? ((cca & RF230_CCA_STATUS) ? SUCCESS : EBUSY) : FAIL );
+ }
+ else
+ ASSERT(FALSE);
+
+ // make sure the rest of the command processing is called
+ call Tasklet.schedule();
+ }
+
+/*----------------- INIT -----------------*/
+
+ command error_t PlatformInit.init()
+ {
+ call SELN.makeOutput();
+ call SELN.set();
+ call SLP_TR.makeOutput();
+ call SLP_TR.clr();
+ call RSTN.makeOutput();
+ call RSTN.set();
+
+ rxMsg = &rxMsgBuffer;
+
+ return SUCCESS;
+ }
+
+ command error_t SoftwareInit.init()
+ {
+ // for powering up the radio
+ return call SpiResource.request();
+ }
+
+ void initRadio()
+ {
+ uint16_t temp;
+
+ call BusyWait.wait(510);
+
+ call RSTN.clr();
+ call SLP_TR.clr();
+ call BusyWait.wait(6);
+ call RSTN.set();
+
+ writeRegister(RF230_TRX_CTRL_0, RF230_TRX_CTRL_0_VALUE);
+ writeRegister(RF230_TRX_STATE, RF230_TRX_OFF);
+
+ call BusyWait.wait(510);
+
+ writeRegister(RF230_IRQ_MASK, RF230_IRQ_TRX_UR | RF230_IRQ_TRX_END );
+ writeRegister(RF230_CCA_THRES, RF230_CCA_THRES_VALUE);
+ writeRegister(RF230_PHY_TX_PWR, RF230_TX_AUTO_CRC_ON | (RF230_DEF_RFPOWER & RF230_TX_PWR_MASK));
+
+ txPower = RF230_DEF_RFPOWER & RF230_TX_PWR_MASK;
+ channel = RF230_DEF_CHANNEL & RF230_CHANNEL_MASK;
+ writeRegister(RF230_PHY_CC_CCA, RF230_CCA_MODE_VALUE | channel);
+
+ writeRegister(RF230_XAH_CTRL, 0);
+ writeRegister(RF230_CSMA_SEED_1, 0);
+
+ temp = call ActiveMessageAddress.amGroup();
+ writeRegister(RF230_PAN_ID_0, temp);
+ writeRegister(RF230_PAN_ID_1, temp >> 8);
+
+ call SLP_TR.set();
+ state = STATE_SLEEP;
+ }
+
+/*----------------- SPI -----------------*/
+
+ event void SpiResource.granted()
+ {
+ call SELN.makeOutput();
+ call SELN.set();
+
+ if( state == STATE_P_ON )
+ {
+ initRadio();
+ call SpiResource.release();
+ }
+ else
+ call Tasklet.schedule();
+ }
+
+ bool isSpiAcquired()
+ {
+ if( call SpiResource.isOwner() )
+ return TRUE;
+
+ if( call SpiResource.immediateRequest() == SUCCESS )
+ {
+ call SELN.makeOutput();
+ call SELN.set();
+
+ return TRUE;
+ }
+
+ call SpiResource.request();
+ return FALSE;
+ }
+
+/*----------------- CHANNEL -----------------*/
+
+tasklet_async command uint8_t RadioState.getChannel()
+ {
+ return channel;
+ }
+
+ tasklet_async command error_t RadioState.setChannel(uint8_t c)
+ {
+ c &= RF230_CHANNEL_MASK;
+
+ if( cmd != CMD_NONE )
+ return EBUSY;
+ else if( channel == c )
+ return EALREADY;
+
+ channel = c;
+ cmd = CMD_CHANNEL;
+ call Tasklet.schedule();
+
+ return SUCCESS;
+ }
+
+ inline void changeChannel()
+ {
+ ASSERT( cmd == CMD_CHANNEL );
+ ASSERT( state == STATE_SLEEP || state == STATE_TRX_OFF || state == STATE_RX_ON );
+
+ if( isSpiAcquired() && call RadioAlarm.isFree() )
+ {
+ writeRegister(RF230_PHY_CC_CCA, RF230_CCA_MODE_VALUE | channel);
+
+ if( state == STATE_RX_ON )
+ {
+ call RadioAlarm.wait(PLL_CALIBRATION_TIME);
+ state = STATE_TRX_OFF_2_RX_ON;
+ }
+ else
+ cmd = CMD_SIGNAL_DONE;
+ }
+ }
+
+/*----------------- TURN ON/OFF -----------------*/
+
+ inline void changeState()
+ {
+ if( (cmd == CMD_STANDBY || cmd == CMD_TURNON)
+ && state == STATE_SLEEP && call RadioAlarm.isFree() )
+ {
+ call SLP_TR.clr();
+
+ call RadioAlarm.wait(SLEEP_WAKEUP_TIME);
+ state = STATE_SLEEP_2_TRX_OFF;
+ }
+ else if( cmd == CMD_TURNON && state == STATE_TRX_OFF
+ && isSpiAcquired() && call RadioAlarm.isFree() )
+ {
+ uint16_t temp;
+
+ ASSERT( ! radioIrq );
+
+ readRegister(RF230_IRQ_STATUS); // clear the interrupt register
+ call IRQ.captureRisingEdge();
+
+ // setChannel was ignored in SLEEP because the SPI was not working, so do it here
+ writeRegister(RF230_PHY_CC_CCA, RF230_CCA_MODE_VALUE | channel);
+
+ temp = call ActiveMessageAddress.amAddress();
+ writeRegister(RF230_SHORT_ADDR_0, temp);
+ writeRegister(RF230_SHORT_ADDR_1, temp >> 8);
+
+ call RadioAlarm.wait(PLL_CALIBRATION_TIME);
+ writeRegister(RF230_TRX_STATE, RF230_RX_AACK_ON);
+ state = STATE_TRX_OFF_2_RX_ON;
+ }
+ else if( (cmd == CMD_TURNOFF || cmd == CMD_STANDBY)
+ && state == STATE_RX_ON && isSpiAcquired() )
+ {
+ writeRegister(RF230_TRX_STATE, RF230_FORCE_TRX_OFF);
+
+ call IRQ.disable();
+ radioIrq = FALSE;
+
+ state = STATE_TRX_OFF;
+ }
+
+ if( cmd == CMD_TURNOFF && state == STATE_TRX_OFF )
+ {
+ call SLP_TR.set();
+ state = STATE_SLEEP;
+ cmd = CMD_SIGNAL_DONE;
+ }
+ else if( cmd == CMD_STANDBY && state == STATE_TRX_OFF )
+ cmd = CMD_SIGNAL_DONE;
+ }
+
+ tasklet_async command error_t RadioState.turnOff()
+ {
+ if( cmd != CMD_NONE )
+ return EBUSY;
+ else if( state == STATE_SLEEP )
+ return EALREADY;
+
+ cmd = CMD_TURNOFF;
+ call Tasklet.schedule();
+
+ return SUCCESS;
+ }
+
+ tasklet_async command error_t RadioState.standby()
+ {
+ if( cmd != CMD_NONE || (state == STATE_SLEEP && ! call RadioAlarm.isFree()) )
+ return EBUSY;
+ else if( state == STATE_TRX_OFF )
+ return EALREADY;
+
+ cmd = CMD_STANDBY;
+ call Tasklet.schedule();
+
+ return SUCCESS;
+ }
+
+ tasklet_async command error_t RadioState.turnOn()
+ {
+ if( cmd != CMD_NONE || (state == STATE_SLEEP && ! call RadioAlarm.isFree()) )
+ return EBUSY;
+ else if( state == STATE_RX_ON )
+ return EALREADY;
+
+ cmd = CMD_TURNON;
+ call Tasklet.schedule();
+
+ return SUCCESS;
+ }
+
+ default tasklet_async event void RadioState.done() { }
+
+ task void changeAddress()
+ {
+ call Tasklet.suspend();
+
+ if( isSpiAcquired() )
+ {
+ uint16_t temp = call ActiveMessageAddress.amAddress();
+ writeRegister(RF230_SHORT_ADDR_0, temp);
+ writeRegister(RF230_SHORT_ADDR_1, temp >> 8);
+ }
+ else
+ post changeAddress();
+
+ call Tasklet.resume();
+ }
+
+ async event void ActiveMessageAddress.changed()
+ {
+ post changeAddress();
+ }
+
+/*----------------- TRANSMIT -----------------*/
+
+ tasklet_norace message_t* txMsg;
+
+ tasklet_async command error_t RadioSend.send(message_t* msg)
+ {
+ uint16_t time;
+ uint8_t length;
+ uint8_t* data;
+ uint8_t header;
+ uint32_t time32;
+ void* timesync;
+
+ if( cmd != CMD_NONE || state != STATE_RX_ON || ! isSpiAcquired() || radioIrq )
+ return EBUSY;
+
+ length = (call PacketTransmitPower.isSet(msg) ?
+ call PacketTransmitPower.get(msg) : RF230_DEF_RFPOWER) & RF230_TX_PWR_MASK;
+
+ if( length != txPower )
+ {
+ txPower = length;
+ writeRegister(RF230_PHY_TX_PWR, RF230_TX_AUTO_CRC_ON | txPower);
+ }
+
+ writeRegister(RF230_TRX_STATE, RF230_TX_ARET_ON);
+
+ // do something useful, just to wait a little
+ time32 = call LocalTime.get();
+ timesync = call PacketTimeSyncOffset.isSet(msg) ? ((void*)msg) + call PacketTimeSyncOffset.get(msg) : 0;
+
+ // we have missed an incoming message in this short amount of time
+ if( (readRegister(RF230_TRX_STATUS) & RF230_TRX_STATUS_MASK) != RF230_TX_ARET_ON )
+ {
+ ASSERT( (readRegister(RF230_TRX_STATUS) & RF230_TRX_STATUS_MASK) == RF230_BUSY_RX_AACK );
+
+ writeRegister(RF230_TRX_STATE, RF230_RX_AACK_ON);
+ return EBUSY;
+ }
+
+#ifndef RF230_SLOW_SPI
+ atomic
+ {
+ call SLP_TR.set();
+ time = call RadioAlarm.getNow();
+ }
+ call SLP_TR.clr();
+#endif
+
+ ASSERT( ! radioIrq );
+
+ call SELN.clr();
+ call FastSpiByte.splitWrite(RF230_CMD_FRAME_WRITE);
+
+ data = getPayload(msg);
+ length = getHeader(msg)->length;
+
+ // length | data[0] ... data[length-3] | automatically generated FCS
+ call FastSpiByte.splitReadWrite(length);
+
+ // the FCS is atomatically generated (2 bytes)
+ length -= 2;
+
+ header = call Config.headerPreloadLength();
+ if( header > length )
+ header = length;
+
+ length -= header;
+
+ // first upload the header to gain some time
+ do {
+ call FastSpiByte.splitReadWrite(*(data++));
+ }
+ while( --header != 0 );
+
+#ifdef RF230_SLOW_SPI
+ atomic
+ {
+ call SLP_TR.set();
+ time = call RadioAlarm.getNow();
+ }
+ call SLP_TR.clr();
+#endif
+
+ time32 += (int16_t)(time + TX_SFD_DELAY) - (int16_t)(time32);
+
+ if( timesync != 0 )
+ *(timesync_relative_t*)timesync = (*(timesync_absolute_t*)timesync) - time32;
+
+ while( length-- != 0 )
+ call FastSpiByte.splitReadWrite(*(data++));
+
+ // wait for the SPI transfer to finish
+ call FastSpiByte.splitRead();
+ call SELN.set();
+
+ /*
+ * There is a very small window (~1 microsecond) when the RF230 went
+ * into PLL_ON state but was somehow not properly initialized because
+ * of an incoming message and could not go into BUSY_TX. I think the
+ * radio can even receive a message, and generate a TRX_UR interrupt
+ * because of concurrent access, but that message probably cannot be
+ * recovered.
+ *
+ * TODO: this needs to be verified, and make sure that the chip is
+ * not locked up in this case.
+ */
+
+ // go back to RX_ON state when finished
+ writeRegister(RF230_TRX_STATE, RF230_RX_AACK_ON);
+
+ if( timesync != 0 )
+ *(timesync_absolute_t*)timesync = (*(timesync_relative_t*)timesync) + time32;
+
+ call PacketTimeStamp.set(msg, time32);
+
+#ifdef RADIO_DEBUG_MESSAGES
+ if( call DiagMsg.record() )
+ {
+ length = getHeader(msg)->length;
+
+ call DiagMsg.chr('t');
+ call DiagMsg.uint32(call PacketTimeStamp.isValid(rxMsg) ? call PacketTimeStamp.timestamp(rxMsg) : 0);
+ call DiagMsg.uint16(call RadioAlarm.getNow());
+ call DiagMsg.int8(length);
+ call DiagMsg.hex8s(getPayload(msg), length - 2);
+ call DiagMsg.send();
+ }
+#endif
+
+ // wait for the TRX_END interrupt
+ txMsg = msg;
+ state = STATE_BUSY_TX_2_RX_ON;
+ cmd = CMD_TRANSMIT;
+
+ return SUCCESS;
+ }
+
+ default tasklet_async event void RadioSend.sendDone(error_t error) { }
+ default tasklet_async event void RadioSend.ready() { }
+
+/*----------------- CCA -----------------*/
+
+ tasklet_async command error_t RadioCCA.request()
+ {
+ if( cmd != CMD_NONE || state != STATE_RX_ON || ! isSpiAcquired() || ! call RadioAlarm.isFree() )
+ return EBUSY;
+
+ // see Errata B7 of the datasheet
+ // writeRegister(RF230_TRX_STATE, RF230_PLL_ON);
+ // writeRegister(RF230_TRX_STATE, RF230_RX_AACK_ON);
+
+ writeRegister(RF230_PHY_CC_CCA, RF230_CCA_REQUEST | RF230_CCA_MODE_VALUE | channel);
+ call RadioAlarm.wait(CCA_REQUEST_TIME);
+ cmd = CMD_CCA;
+
+ return SUCCESS;
+ }
+
+ default tasklet_async event void RadioCCA.done(error_t error) { }
+
+/*----------------- RECEIVE -----------------*/
+
+ inline void downloadMessage()
+ {
+ uint8_t length;
+ bool crcValid = FALSE;
+
+ call SELN.clr();
+ call FastSpiByte.write(RF230_CMD_FRAME_READ);
+
+ // read the length byte
+ length = call FastSpiByte.write(0);
+
+ // if correct length
+ if( length >= 3 && length <= call RadioPacket.maxPayloadLength() + 2 )
+ {
+ uint8_t read;
+ uint8_t* data;
+
+ // initiate the reading
+ call FastSpiByte.splitWrite(0);
+
+ data = getPayload(rxMsg);
+ getHeader(rxMsg)->length = length;
+
+ // we do not store the CRC field
+ length -= 2;
+
+ read = call Config.headerPreloadLength();
+ if( length < read )
+ read = length;
+
+ length -= read;
+
+ do {
+ *(data++) = call FastSpiByte.splitReadWrite(0);
+ }
+ while( --read != 0 );
+
+ if( signal RadioReceive.header(rxMsg) )
+ {
+ while( length-- != 0 )
+ *(data++) = call FastSpiByte.splitReadWrite(0);
+
+ call FastSpiByte.splitReadWrite(0); // two CRC bytes
+ call FastSpiByte.splitReadWrite(0);
+
+ call PacketLinkQuality.set(rxMsg, call FastSpiByte.splitRead());
+
+ // we should have no other incoming message or buffer underflow
+ crcValid = ! radioIrq;
+ }
+ }
+
+ call SELN.set();
+
+ if( crcValid && call PacketTimeStamp.isValid(rxMsg) )
+ {
+ uint32_t time32 = call PacketTimeStamp.timestamp(rxMsg);
+ length = getHeader(rxMsg)->length;
+
+/*
+ * If you hate floating point arithmetics and do not care of up to 400 microsecond time stamping errors,
+ * then define RF230_HWACK_SLOPPY_TIMESTAMP, which will be significantly faster.
+ */
+#ifdef RF230_HWACK_SLOPPY_TIMESTAMP
+ time32 -= (uint16_t)(RX_SFD_DELAY) + ((uint16_t)(length) << (RADIO_ALARM_MILLI_EXP - 5));
+#else
+ time32 -= (uint16_t)(RX_SFD_DELAY) + (uint16_t)(32.0 * RADIO_ALARM_MICROSEC * (uint16_t)length);
+#endif
+
+ call PacketTimeStamp.set(rxMsg, time32);
+ }
+
+#ifdef RADIO_DEBUG_MESSAGES
+ if( call DiagMsg.record() )
+ {
+ length = getHeader(rxMsg)->length;
+
+ call DiagMsg.chr('r');
+ call DiagMsg.uint32(call PacketTimeStamp.isValid(rxMsg) ? call PacketTimeStamp.timestamp(rxMsg) : 0);
+ call DiagMsg.uint16(call RadioAlarm.getNow());
+ call DiagMsg.int8(crcValid ? length : -length);
+ call DiagMsg.hex8s(getPayload(rxMsg), length - 2);
+ call DiagMsg.int8(call PacketRSSI.isSet(rxMsg) ? call PacketRSSI.get(rxMsg) : -1);
+ call DiagMsg.uint8(call PacketLinkQuality.isSet(rxMsg) ? call PacketLinkQuality.get(rxMsg) : 0);
+ call DiagMsg.send();
+ }
+#endif
+
+ state = STATE_RX_ON;
+ cmd = CMD_NONE;
+
+ // signal only if it has passed the CRC check
+ if( crcValid )
+ rxMsg = signal RadioReceive.receive(rxMsg);
+ }
+
+/*----------------- IRQ -----------------*/
+
+ async event void IRQ.captured(uint16_t time)
+ {
+ ASSERT( ! radioIrq );
+
+ atomic
+ {
+ capturedTime = time;
+ radioIrq = TRUE;
+ }
+
+ call Tasklet.schedule();
+ }
+
+ void serviceRadio()
+ {
+ if( isSpiAcquired() )
+ {
+ uint16_t time;
+ uint32_t time32;
+ uint8_t irq;
+ uint8_t temp;
+
+ atomic time = capturedTime;
+ radioIrq = FALSE;
+ irq = readRegister(RF230_IRQ_STATUS);
+
+#ifdef RADIO_DEBUG
+ // TODO: handle this interrupt
+ if( irq & RF230_IRQ_TRX_UR )
+ {
+ if( call DiagMsg.record() )
+ {
+ call DiagMsg.str("assert ur");
+ call DiagMsg.uint16(call RadioAlarm.getNow());
+ call DiagMsg.hex8(readRegister(RF230_TRX_STATUS));
+ call DiagMsg.hex8(readRegister(RF230_TRX_STATE));
+ call DiagMsg.hex8(irq);
+ call DiagMsg.uint8(state);
+ call DiagMsg.uint8(cmd);
+ call DiagMsg.send();
+ }
+ }
+#endif
+
+ if( irq & RF230_IRQ_TRX_END )
+ {
+ if( cmd == CMD_TRANSMIT )
+ {
+ ASSERT( state == STATE_BUSY_TX_2_RX_ON );
+
+ temp = readRegister(RF230_TRX_STATE) & RF230_TRAC_STATUS_MASK;
+
+ if( call Ieee154PacketLayer.getAckRequired(txMsg) )
+ call AckReceivedFlag.setValue(txMsg, temp != RF230_TRAC_NO_ACK);
+
+ state = STATE_RX_ON;
+ cmd = CMD_NONE;
+
+ signal RadioSend.sendDone(temp != RF230_TRAC_CHANNEL_ACCESS_FAILURE ? SUCCESS : EBUSY);
+
+ // TODO: we could have missed a received message
+ ASSERT( ! (irq & RF230_IRQ_RX_START) );
+ }
+ else if( cmd == CMD_NONE )
+ {
+ ASSERT( state == STATE_RX_ON );
+
+ if( irq == RF230_IRQ_TRX_END )
+ {
+ call PacketRSSI.set(rxMsg, readRegister(RF230_PHY_ED_LEVEL));
+
+ // TODO: compensate for packet transmission time when downloading
+ time32 = call LocalTime.get();
+ time32 += (int16_t)(time) - (int16_t)(time32);
+ call PacketTimeStamp.set(rxMsg, time32);
+ }
+ else
+ {
+ call PacketRSSI.clear(rxMsg);
+ call PacketTimeStamp.clear(rxMsg);
+ }
+
+ cmd = CMD_DOWNLOAD;
+ }
+ else
+ ASSERT(FALSE);
+ }
+ }
+ }
+
+ default tasklet_async event bool RadioReceive.header(message_t* msg)
+ {
+ return TRUE;
+ }
+
+ default tasklet_async event message_t* RadioReceive.receive(message_t* msg)
+ {
+ return msg;
+ }
+
+/*----------------- TASKLET -----------------*/
+
+ tasklet_async event void Tasklet.run()
+ {
+ if( radioIrq )
+ serviceRadio();
+
+ if( cmd != CMD_NONE )
+ {
+ if( cmd == CMD_DOWNLOAD )
+ downloadMessage();
+ else if( CMD_TURNOFF <= cmd && cmd <= CMD_TURNON )
+ changeState();
+ else if( cmd == CMD_CHANNEL )
+ changeChannel();
+
+ if( cmd == CMD_SIGNAL_DONE )
+ {
+ cmd = CMD_NONE;
+ signal RadioState.done();
+ }
+ }
+
+ if( cmd == CMD_NONE && state == STATE_RX_ON && ! radioIrq )
+ signal RadioSend.ready();
+
+ if( cmd == CMD_NONE )
+ call SpiResource.release();
+ }
+
+/*----------------- RadioPacket -----------------*/
+
+ async command uint8_t RadioPacket.headerLength(message_t* msg)
+ {
+ return call Config.headerLength(msg) + sizeof(rf230_header_t);
+ }
+
+ async command uint8_t RadioPacket.payloadLength(message_t* msg)
+ {
+ return getHeader(msg)->length - 2;
+ }
+
+ async command void RadioPacket.setPayloadLength(message_t* msg, uint8_t length)
+ {
+ ASSERT( 1 <= length && length <= 125 );
+ ASSERT( call RadioPacket.headerLength(msg) + length + call RadioPacket.metadataLength(msg) <= sizeof(message_t) );
+
+ // we add the length of the CRC, which is automatically generated
+ getHeader(msg)->length = length + 2;
+ }
+
+ async command uint8_t RadioPacket.maxPayloadLength()
+ {
+ ASSERT( call Config.maxPayloadLength() <= 125 );
+
+ return call Config.maxPayloadLength() - sizeof(rf230_header_t);
+ }
+
+ async command uint8_t RadioPacket.metadataLength(message_t* msg)
+ {
+ return call Config.metadataLength(msg) + sizeof(rf230_metadata_t);
+ }
+
+ async command void RadioPacket.clear(message_t* msg)
+ {
+ // all flags are automatically cleared
+ }
+
+/*----------------- PacketTransmitPower -----------------*/
+
+ async command bool PacketTransmitPower.isSet(message_t* msg)
+ {
+ return call TransmitPowerFlag.get(msg);
+ }
+
+ async command uint8_t PacketTransmitPower.get(message_t* msg)
+ {
+ return getMeta(msg)->power;
+ }
+
+ async command void PacketTransmitPower.clear(message_t* msg)
+ {
+ call TransmitPowerFlag.clear(msg);
+ }
+
+ async command void PacketTransmitPower.set(message_t* msg, uint8_t value)
+ {
+ call TransmitPowerFlag.set(msg);
+ getMeta(msg)->power = value;
+ }
+
+/*----------------- PacketRSSI -----------------*/
+
+ async command bool PacketRSSI.isSet(message_t* msg)
+ {
+ return call RSSIFlag.get(msg);
+ }
+
+ async command uint8_t PacketRSSI.get(message_t* msg)
+ {
+ return getMeta(msg)->rssi;
+ }
+
+ async command void PacketRSSI.clear(message_t* msg)
+ {
+ call RSSIFlag.clear(msg);
+ }
+
+ async command void PacketRSSI.set(message_t* msg, uint8_t value)
+ {
+ // just to be safe if the user fails to clear the packet
+ call TransmitPowerFlag.clear(msg);
+
+ call RSSIFlag.set(msg);
+ getMeta(msg)->rssi = value;
+ }
+
+/*----------------- PacketTimeSyncOffset -----------------*/
+
+ async command bool PacketTimeSyncOffset.isSet(message_t* msg)
+ {
+ return call TimeSyncFlag.get(msg);
+ }
+
+ async command uint8_t PacketTimeSyncOffset.get(message_t* msg)
+ {
+ return call RadioPacket.headerLength(msg) + call RadioPacket.payloadLength(msg) - sizeof(timesync_absolute_t);
+ }
+
+ async command void PacketTimeSyncOffset.clear(message_t* msg)
+ {
+ call TimeSyncFlag.clear(msg);
+ }
+
+ async command void PacketTimeSyncOffset.set(message_t* msg, uint8_t value)
+ {
+ // we do not store the value, the time sync field is always the last 4 bytes
+ ASSERT( call PacketTimeSyncOffset.get(msg) == value );
+
+ call TimeSyncFlag.set(msg);
+ }
+
+/*----------------- PacketLinkQuality -----------------*/
+
+ async command bool PacketLinkQuality.isSet(message_t* msg)
+ {
+ return TRUE;
+ }
+
+ async command uint8_t PacketLinkQuality.get(message_t* msg)
+ {
+ return getMeta(msg)->lqi;
+ }
+
+ async command void PacketLinkQuality.clear(message_t* msg)
+ {
+ }
+
+ async command void PacketLinkQuality.set(message_t* msg, uint8_t value)
+ {
+ getMeta(msg)->lqi = value;
+ }
+
+/*----------------- PacketAcknowledgements -----------------*/
+
+ async command error_t PacketAcknowledgements.requestAck(message_t* msg)
+ {
+ call Ieee154PacketLayer.setAckRequired(msg, TRUE);
+
+ return SUCCESS;
+ }
+
+ async command error_t PacketAcknowledgements.noAck(message_t* msg)
+ {
+ call Ieee154PacketLayer.setAckRequired(msg, FALSE);
+
+ return SUCCESS;
+ }
+
+ async command bool PacketAcknowledgements.wasAcked(message_t* msg)
+ {
+ return call AckReceivedFlag.get(msg);
+ }
+}
projects / tinyos-2.x.git / blobdiff