93c748cc74
Added protection of packet timestamp across interrupts. Note that race condition can still occur as interrupts and self-scheduled reads of the RX FIFO interleave in certain unusual patterns. More investigation is needed.
771 lines
20 KiB
C
771 lines
20 KiB
C
/*
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* Copyright (c) 2007, Swedish Institute of Computer Science
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* 3. Neither the name of the Institute nor the names of its contributors
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* may be used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
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* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
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* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
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* OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
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* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
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* OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
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* SUCH DAMAGE.
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*
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* This file is part of the Contiki operating system.
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*
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* @(#)$Id: cc2420.c,v 1.36 2009/12/11 18:32:54 zhitao Exp $
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*/
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/*
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* This code is almost device independent and should be easy to port.
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*/
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#include <stdio.h>
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#include <string.h>
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#include "contiki.h"
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#if defined(__AVR__)
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#include <avr/io.h>
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#elif defined(__MSP430__)
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#include <io.h>
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#endif
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#include "dev/leds.h"
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#include "dev/spi.h"
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#include "dev/cc2420.h"
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#include "dev/cc2420_const.h"
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#include "net/rime/packetbuf.h"
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#include "net/rime/rimestats.h"
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#include "sys/timetable.h"
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#define WITH_SEND_CCA 0
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#if CC2420_CONF_TIMESTAMPS
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#include "net/rime/timesynch.h"
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#define TIMESTAMP_LEN 3
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#else /* CC2420_CONF_TIMESTAMPS */
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#define TIMESTAMP_LEN 0
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#endif /* CC2420_CONF_TIMESTAMPS */
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#define FOOTER_LEN 2
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#ifndef CC2420_CONF_CHECKSUM
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#define CC2420_CONF_CHECKSUM 0
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#endif /* CC2420_CONF_CHECKSUM */
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#ifndef CC2420_CONF_AUTOACK
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#define CC2420_CONF_AUTOACK 0
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#endif /* CC2420_CONF_AUTOACK */
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#if CC2420_CONF_CHECKSUM
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#include "lib/crc16.h"
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#define CHECKSUM_LEN 2
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#else
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#define CHECKSUM_LEN 0
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#endif /* CC2420_CONF_CHECKSUM */
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#define AUX_LEN (CHECKSUM_LEN + TIMESTAMP_LEN + FOOTER_LEN)
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struct timestamp {
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uint16_t time;
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uint8_t authority_level;
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};
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#define FOOTER1_CRC_OK 0x80
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#define FOOTER1_CORRELATION 0x7f
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#define DEBUG 0
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#if DEBUG
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#define PRINTF(...) printf(__VA_ARGS__)
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#else
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#define PRINTF(...) do {} while (0)
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#endif
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void cc2420_arch_init(void);
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/* XXX hack: these will be made as Chameleon packet attributes */
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rtimer_clock_t cc2420_time_of_arrival, cc2420_time_of_departure;
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int cc2420_authority_level_of_sender;
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#if CC2420_CONF_TIMESTAMPS
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static rtimer_clock_t setup_time_for_transmission;
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static unsigned long total_time_for_transmission, total_transmission_len;
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static int num_transmissions;
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#endif /* CC2420_CONF_TIMESTAMPS */
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/*---------------------------------------------------------------------------*/
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PROCESS(cc2420_process, "CC2420 driver");
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/*---------------------------------------------------------------------------*/
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static void (* receiver_callback)(const struct radio_driver *);
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int cc2420_on(void);
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int cc2420_off(void);
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int cc2420_read(void *buf, unsigned short bufsize);
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int cc2420_send(const void *data, unsigned short len);
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void cc2420_set_receiver(void (* recv)(const struct radio_driver *d));
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signed char cc2420_last_rssi;
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uint8_t cc2420_last_correlation;
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const struct radio_driver cc2420_driver =
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{
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cc2420_send,
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cc2420_read,
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cc2420_set_receiver,
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cc2420_on,
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cc2420_off,
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};
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static uint8_t receive_on;
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/* Radio stuff in network byte order. */
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static uint16_t pan_id;
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static int channel;
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/*---------------------------------------------------------------------------*/
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static uint8_t rxptr; /* Pointer to the next byte in the rxfifo. */
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static void
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getrxdata(void *buf, int len)
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{
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FASTSPI_READ_FIFO_NO_WAIT(buf, len);
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rxptr = (rxptr + len) & 0x7f;
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}
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static void
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getrxbyte(uint8_t *byte)
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{
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FASTSPI_READ_FIFO_BYTE(*byte);
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rxptr = (rxptr + 1) & 0x7f;
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}
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static void
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flushrx(void)
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{
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uint8_t dummy;
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FASTSPI_READ_FIFO_BYTE(dummy);
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FASTSPI_STROBE(CC2420_SFLUSHRX);
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FASTSPI_STROBE(CC2420_SFLUSHRX);
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rxptr = 0;
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}
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/*---------------------------------------------------------------------------*/
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static void
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strobe(enum cc2420_register regname)
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{
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FASTSPI_STROBE(regname);
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}
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/*---------------------------------------------------------------------------*/
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static unsigned int
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status(void)
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{
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uint8_t status;
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FASTSPI_UPD_STATUS(status);
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return status;
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}
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/*---------------------------------------------------------------------------*/
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static uint8_t locked, lock_on, lock_off;
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static void
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on(void)
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{
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ENERGEST_ON(ENERGEST_TYPE_LISTEN);
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PRINTF("on\n");
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receive_on = 1;
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ENABLE_FIFOP_INT();
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strobe(CC2420_SRXON);
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flushrx();
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}
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static void
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off(void)
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{
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PRINTF("off\n");
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receive_on = 0;
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/* Wait for transmission to end before turning radio off. */
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while(status() & BV(CC2420_TX_ACTIVE));
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strobe(CC2420_SRFOFF);
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DISABLE_FIFOP_INT();
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ENERGEST_OFF(ENERGEST_TYPE_LISTEN);
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}
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/*---------------------------------------------------------------------------*/
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#define GET_LOCK() locked = 1
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static void RELEASE_LOCK(void) {
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if(lock_on) {
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on();
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lock_on = 0;
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}
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if(lock_off) {
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off();
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lock_off = 0;
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}
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locked = 0;
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}
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/*---------------------------------------------------------------------------*/
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static unsigned
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getreg(enum cc2420_register regname)
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{
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unsigned reg;
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FASTSPI_GETREG(regname, reg);
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return reg;
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}
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/*---------------------------------------------------------------------------*/
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static void
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setreg(enum cc2420_register regname, unsigned value)
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{
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FASTSPI_SETREG(regname, value);
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}
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/*---------------------------------------------------------------------------*/
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static void
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set_txpower(uint8_t power)
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{
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uint16_t reg;
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reg = getreg(CC2420_TXCTRL);
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reg = (reg & 0xffe0) | (power & 0x1f);
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setreg(CC2420_TXCTRL, reg);
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}
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/*---------------------------------------------------------------------------*/
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#define AUTOACK (1 << 4)
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#define ADR_DECODE (1 << 11)
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#define RXFIFO_PROTECTION (1 << 9)
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#define CORR_THR(n) (((n) & 0x1f) << 6)
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#define FIFOP_THR(n) ((n) & 0x7f)
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#define RXBPF_LOCUR (1 << 13);
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/*---------------------------------------------------------------------------*/
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void
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cc2420_set_receiver(void (* recv)(const struct radio_driver *))
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{
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receiver_callback = recv;
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}
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/*---------------------------------------------------------------------------*/
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void
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cc2420_init(void)
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{
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uint16_t reg;
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{
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int s = splhigh();
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cc2420_arch_init(); /* Initalize ports and SPI. */
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DISABLE_FIFOP_INT();
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FIFOP_INT_INIT();
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splx(s);
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}
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/* Turn on voltage regulator and reset. */
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SET_VREG_ACTIVE();
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//clock_delay(250); OK
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SET_RESET_ACTIVE();
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clock_delay(127);
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SET_RESET_INACTIVE();
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//clock_delay(125); OK
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/* Turn on the crystal oscillator. */
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strobe(CC2420_SXOSCON);
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/* Turn on/off automatic packet acknowledgment and address decoding. */
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reg = getreg(CC2420_MDMCTRL0);
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#if CC2420_CONF_AUTOACK
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reg |= AUTOACK | ADR_DECODE;
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#else
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reg &= ~(AUTOACK | ADR_DECODE);
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#endif /* CC2420_CONF_AUTOACK */
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setreg(CC2420_MDMCTRL0, reg);
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/* Change default values as recomended in the data sheet, */
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/* correlation threshold = 20, RX bandpass filter = 1.3uA. */
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setreg(CC2420_MDMCTRL1, CORR_THR(20));
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reg = getreg(CC2420_RXCTRL1);
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reg |= RXBPF_LOCUR;
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setreg(CC2420_RXCTRL1, reg);
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/* Set the FIFOP threshold to maximum. */
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setreg(CC2420_IOCFG0, FIFOP_THR(127));
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/* Turn off "Security enable" (page 32). */
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reg = getreg(CC2420_SECCTRL0);
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reg &= ~RXFIFO_PROTECTION;
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setreg(CC2420_SECCTRL0, reg);
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cc2420_set_pan_addr(0xffff, 0x0000, NULL);
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cc2420_set_channel(26);
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process_start(&cc2420_process, NULL);
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}
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/*---------------------------------------------------------------------------*/
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int
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cc2420_send(const void *payload, unsigned short payload_len)
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{
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int i, txpower;
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uint8_t total_len;
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#if CC2420_CONF_TIMESTAMPS
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struct timestamp timestamp;
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#endif /* CC2420_CONF_TIMESTAMPS */
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#if CC2420_CONF_CHECKSUM
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uint16_t checksum;
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#endif /* CC2420_CONF_CHECKSUM */
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GET_LOCK();
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txpower = 0;
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if(packetbuf_attr(PACKETBUF_ATTR_RADIO_TXPOWER) > 0) {
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/* Remember the current transmission power */
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txpower = cc2420_get_txpower();
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/* Set the specified transmission power */
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set_txpower(packetbuf_attr(PACKETBUF_ATTR_RADIO_TXPOWER) - 1);
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}
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PRINTF("cc2420: sending %d bytes\n", payload_len);
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RIMESTATS_ADD(lltx);
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/* Wait for any previous transmission to finish. */
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while(status() & BV(CC2420_TX_ACTIVE));
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/* Write packet to TX FIFO. */
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strobe(CC2420_SFLUSHTX);
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#if CC2420_CONF_CHECKSUM
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checksum = crc16_data(payload, payload_len, 0);
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#endif /* CC2420_CONF_CHECKSUM */
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total_len = payload_len + AUX_LEN;
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FASTSPI_WRITE_FIFO(&total_len, 1);
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FASTSPI_WRITE_FIFO(payload, payload_len);
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#if CC2420_CONF_CHECKSUM
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FASTSPI_WRITE_FIFO(&checksum, CHECKSUM_LEN);
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#endif /* CC2420_CONF_CHECKSUM */
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#if CC2420_CONF_TIMESTAMPS
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timestamp.authority_level = timesynch_authority_level();
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timestamp.time = timesynch_time();
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FASTSPI_WRITE_FIFO(×tamp, TIMESTAMP_LEN);
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#endif /* CC2420_CONF_TIMESTAMPS */
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/* The TX FIFO can only hold one packet. Make sure to not overrun
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* FIFO by waiting for transmission to start here and synchronizing
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* with the CC2420_TX_ACTIVE check in cc2420_send.
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*
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* Note that we may have to wait up to 320 us (20 symbols) before
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* transmission starts.
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*/
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#ifdef TMOTE_SKY
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#define LOOP_20_SYMBOLS 400 /* 326us (msp430 @ 2.4576MHz) */
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#elif __AVR__
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#define LOOP_20_SYMBOLS 500 /* XXX */
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#endif
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#if WITH_SEND_CCA
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strobe(CC2420_SRXON);
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while(!(status() & BV(CC2420_RSSI_VALID)));
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strobe(CC2420_STXONCCA);
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#else /* WITH_SEND_CCA */
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strobe(CC2420_STXON);
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#endif /* WITH_SEND_CCA */
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for(i = LOOP_20_SYMBOLS; i > 0; i--) {
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if(SFD_IS_1) {
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if(!(status() & BV(CC2420_TX_ACTIVE))) {
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/* SFD went high yet we are not transmitting!
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* => We started receiving a packet right now */
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return RADIO_TX_ERR;
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}
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#if CC2420_CONF_TIMESTAMPS
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rtimer_clock_t txtime = timesynch_time();
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#endif /* CC2420_CONF_TIMESTAMPS */
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if(receive_on) {
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ENERGEST_OFF(ENERGEST_TYPE_LISTEN);
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}
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ENERGEST_ON(ENERGEST_TYPE_TRANSMIT);
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/* We wait until transmission has ended so that we get an
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accurate measurement of the transmission time.*/
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while(status() & BV(CC2420_TX_ACTIVE));
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#if CC2420_CONF_TIMESTAMPS
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setup_time_for_transmission = txtime - timestamp.time;
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if(num_transmissions < 10000) {
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total_time_for_transmission += timesynch_time() - txtime;
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total_transmission_len += total_len;
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num_transmissions++;
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}
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#endif /* CC2420_CONF_TIMESTAMPS */
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#ifdef ENERGEST_CONF_LEVELDEVICE_LEVELS
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ENERGEST_OFF_LEVEL(ENERGEST_TYPE_TRANSMIT,cc2420_get_txpower());
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#endif
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ENERGEST_OFF(ENERGEST_TYPE_TRANSMIT);
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if(receive_on) {
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ENERGEST_ON(ENERGEST_TYPE_LISTEN);
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} else {
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/* We need to explicitly turn off the radio,
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* since STXON[CCA] -> TX_ACTIVE -> RX_ACTIVE */
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off();
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}
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if(packetbuf_attr(PACKETBUF_ATTR_RADIO_TXPOWER) > 0) {
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/* Restore the transmission power */
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set_txpower(txpower & 0xff);
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}
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RELEASE_LOCK();
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return RADIO_TX_OK;
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}
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}
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/* If we are using WITH_SEND_CCA, we get here if the packet wasn't
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transmitted because of other channel activity. */
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RIMESTATS_ADD(contentiondrop);
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PRINTF("cc2420: do_send() transmission never started\n");
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if(packetbuf_attr(PACKETBUF_ATTR_RADIO_TXPOWER) > 0) {
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/* Restore the transmission power */
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set_txpower(txpower & 0xff);
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}
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RELEASE_LOCK();
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return RADIO_TX_ERR; /* Transmission never started! */
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}
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/*---------------------------------------------------------------------------*/
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int
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cc2420_off(void)
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{
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/* Don't do anything if we are already turned off. */
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if(receive_on == 0) {
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return 1;
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}
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/* If we are called when the driver is locked, we indicate that the
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radio should be turned off when the lock is unlocked. */
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if(locked) {
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lock_off = 1;
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return 1;
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}
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/* If we are currently receiving a packet (indicated by SFD == 1),
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we don't actually switch the radio off now, but signal that the
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driver should switch off the radio once the packet has been
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received and processed, by setting the 'lock_off' variable. */
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if(SFD_IS_1) {
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lock_off = 1;
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return 1;
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}
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off();
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return 1;
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}
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/*---------------------------------------------------------------------------*/
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int
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cc2420_on(void)
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{
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if(receive_on) {
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return 1;
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}
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if(locked) {
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lock_on = 1;
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return 1;
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}
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on();
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return 1;
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}
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/*---------------------------------------------------------------------------*/
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int
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cc2420_get_channel(void)
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{
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return channel;
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}
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/*---------------------------------------------------------------------------*/
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void
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cc2420_set_channel(int c)
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{
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uint16_t f;
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/*
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* Subtract the base channel (11), multiply by 5, which is the
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* channel spacing. 357 is 2405-2048 and 0x4000 is LOCK_THR = 1.
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*/
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channel = c;
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f = 5 * (c - 11) + 357 + 0x4000;
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/*
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* Writing RAM requires crystal oscillator to be stable.
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*/
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while(!(status() & (BV(CC2420_XOSC16M_STABLE))));
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/* Wait for any transmission to end. */
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while(status() & BV(CC2420_TX_ACTIVE));
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setreg(CC2420_FSCTRL, f);
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/* If we are in receive mode, we issue an SRXON command to ensure
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that the VCO is calibrated. */
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if(receive_on) {
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strobe(CC2420_SRXON);
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}
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}
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/*---------------------------------------------------------------------------*/
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void
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cc2420_set_pan_addr(unsigned pan,
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unsigned addr,
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const uint8_t *ieee_addr)
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{
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uint16_t f = 0;
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/*
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* Writing RAM requires crystal oscillator to be stable.
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*/
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while(!(status() & (BV(CC2420_XOSC16M_STABLE))));
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pan_id = pan;
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FASTSPI_WRITE_RAM_LE(&pan, CC2420RAM_PANID, 2, f);
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FASTSPI_WRITE_RAM_LE(&addr, CC2420RAM_SHORTADDR, 2, f);
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if(ieee_addr != NULL) {
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uint8_t addr[8];
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/* LSB first, MSB last for 802.15.4 addresses in CC2420 */
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for (f = 0; f < 8; f++) {
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addr[7 - f] = ieee_addr[f];
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}
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FASTSPI_WRITE_RAM_LE(addr, CC2420RAM_IEEEADDR, 8, f);
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}
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}
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/*---------------------------------------------------------------------------*/
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/*
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* Interrupt leaves frame intact in FIFO.
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*/
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#if CC2420_CONF_TIMESTAMPS
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static volatile rtimer_clock_t interrupt_time;
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static volatile int interrupt_time_set;
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#endif /* CC2420_CONF_TIMESTAMPS */
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#if CC2420_TIMETABLE_PROFILING
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#define cc2420_timetable_size 16
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TIMETABLE(cc2420_timetable);
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TIMETABLE_AGGREGATE(aggregate_time, 10);
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#endif /* CC2420_TIMETABLE_PROFILING */
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int
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cc2420_interrupt(void)
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{
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#if CC2420_CONF_TIMESTAMPS
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if(!interrupt_time_set) {
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interrupt_time = timesynch_time();
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interrupt_time_set = 1;
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}
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#endif /* CC2420_CONF_TIMESTAMPS */
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CLEAR_FIFOP_INT();
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process_poll(&cc2420_process);
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#if CC2420_TIMETABLE_PROFILING
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timetable_clear(&cc2420_timetable);
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TIMETABLE_TIMESTAMP(cc2420_timetable, "interrupt");
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#endif /* CC2420_TIMETABLE_PROFILING */
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return 1;
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}
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/*---------------------------------------------------------------------------*/
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PROCESS_THREAD(cc2420_process, ev, data)
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{
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PROCESS_BEGIN();
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PRINTF("cc2420_process: started\n");
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while(1) {
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PROCESS_YIELD_UNTIL(ev == PROCESS_EVENT_POLL);
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#if CC2420_TIMETABLE_PROFILING
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TIMETABLE_TIMESTAMP(cc2420_timetable, "poll");
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#endif /* CC2420_TIMETABLE_PROFILING */
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if(receiver_callback != NULL) {
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PRINTF("cc2420_process: calling receiver callback\n");
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receiver_callback(&cc2420_driver);
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#if CC2420_TIMETABLE_PROFILING
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TIMETABLE_TIMESTAMP(cc2420_timetable, "end");
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timetable_aggregate_compute_detailed(&aggregate_time,
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&cc2420_timetable);
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timetable_clear(&cc2420_timetable);
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#endif /* CC2420_TIMETABLE_PROFILING */
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} else {
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PRINTF("cc2420_process not receiving function\n");
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flushrx();
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}
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}
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PROCESS_END();
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}
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/*---------------------------------------------------------------------------*/
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int
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cc2420_read(void *buf, unsigned short bufsize)
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{
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uint8_t footer[2];
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uint8_t len;
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#if CC2420_CONF_CHECKSUM
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uint16_t checksum;
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#endif /* CC2420_CONF_CHECKSUM */
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#if CC2420_CONF_TIMESTAMPS
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struct timestamp t;
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#endif /* CC2420_CONF_TIMESTAMPS */
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if(!FIFO_IS_1) {
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/* If FIFO is 0, there is no packet in the RXFIFO. */
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return 0;
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}
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GET_LOCK();
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getrxbyte(&len);
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if(len > CC2420_MAX_PACKET_LEN) {
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/* Oops, we must be out of sync. */
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flushrx();
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RIMESTATS_ADD(badsynch);
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RELEASE_LOCK();
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return 0;
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}
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if(len <= AUX_LEN) {
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flushrx();
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RIMESTATS_ADD(tooshort);
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RELEASE_LOCK();
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return 0;
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}
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if(len - AUX_LEN > bufsize) {
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flushrx();
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RIMESTATS_ADD(toolong);
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RELEASE_LOCK();
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return 0;
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}
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getrxdata(buf, len - AUX_LEN);
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#if CC2420_CONF_CHECKSUM
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getrxdata(&checksum, CHECKSUM_LEN);
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#endif /* CC2420_CONF_CHECKSUM */
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#if CC2420_CONF_TIMESTAMPS
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getrxdata(&t, TIMESTAMP_LEN);
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#endif /* CC2420_CONF_TIMESTAMPS */
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getrxdata(footer, FOOTER_LEN);
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#if CC2420_CONF_CHECKSUM
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if(checksum != crc16_data(buf, len - AUX_LEN, 0)) {
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PRINTF("checksum failed 0x%04x != 0x%04x\n",
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checksum, crc16_data(buf, len - AUX_LEN, 0));
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}
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if(footer[1] & FOOTER1_CRC_OK &&
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checksum == crc16_data(buf, len - AUX_LEN, 0)) {
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#else
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if(footer[1] & FOOTER1_CRC_OK) {
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#endif /* CC2420_CONF_CHECKSUM */
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cc2420_last_rssi = footer[0];
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cc2420_last_correlation = footer[1] & FOOTER1_CORRELATION;
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|
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packetbuf_set_attr(PACKETBUF_ATTR_RSSI, cc2420_last_rssi);
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packetbuf_set_attr(PACKETBUF_ATTR_LINK_QUALITY, cc2420_last_correlation);
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RIMESTATS_ADD(llrx);
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#if CC2420_CONF_TIMESTAMPS
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if(interrupt_time_set) {
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cc2420_time_of_arrival = interrupt_time;
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cc2420_time_of_departure =
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t.time +
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setup_time_for_transmission +
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(total_time_for_transmission * (len - 2)) / total_transmission_len;
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cc2420_authority_level_of_sender = t.authority_level;
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interrupt_time_set = 0;
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} else {
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/* Bypass timesynch */
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cc2420_authority_level_of_sender = timesynch_authority_level();
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}
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packetbuf_set_attr(PACKETBUF_ATTR_TIMESTAMP, t.time);
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#endif /* CC2420_CONF_TIMESTAMPS */
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} else {
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RIMESTATS_ADD(badcrc);
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len = AUX_LEN;
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}
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/* Clean up in case of FIFO overflow! This happens for every full
|
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* length frame and is signaled by FIFOP = 1 and FIFO = 0.
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*/
|
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if(FIFOP_IS_1 && !FIFO_IS_1) {
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/* printf("cc2420_read: FIFOP_IS_1 1\n");*/
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flushrx();
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} else if(FIFO_IS_1) {
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/* Another packet has been received and needs attention. */
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process_poll(&cc2420_process);
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}
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RELEASE_LOCK();
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if(len < AUX_LEN) {
|
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return 0;
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}
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|
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return len - AUX_LEN;
|
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}
|
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/*---------------------------------------------------------------------------*/
|
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void
|
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cc2420_set_txpower(uint8_t power)
|
|
{
|
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GET_LOCK();
|
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set_txpower(power);
|
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RELEASE_LOCK();
|
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}
|
|
/*---------------------------------------------------------------------------*/
|
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int
|
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cc2420_get_txpower(void)
|
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{
|
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return (int)(getreg(CC2420_TXCTRL) & 0x001f);
|
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}
|
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/*---------------------------------------------------------------------------*/
|
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int
|
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cc2420_rssi(void)
|
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{
|
|
int rssi;
|
|
int radio_was_off = 0;
|
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|
|
if(!receive_on) {
|
|
radio_was_off = 1;
|
|
cc2420_on();
|
|
}
|
|
while(!(status() & BV(CC2420_RSSI_VALID))) {
|
|
/* printf("cc2420_rssi: RSSI not valid.\n");*/
|
|
}
|
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|
|
rssi = (int)((signed char)getreg(CC2420_RSSI));
|
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|
|
if(radio_was_off) {
|
|
cc2420_off();
|
|
}
|
|
return rssi;
|
|
}
|
|
/*---------------------------------------------------------------------------*/
|