diff --git a/embassy-nrf/src/chips/nrf51.rs b/embassy-nrf/src/chips/nrf51.rs index 016352fb8..cc1cbc8a0 100644 --- a/embassy-nrf/src/chips/nrf51.rs +++ b/embassy-nrf/src/chips/nrf51.rs @@ -99,6 +99,9 @@ embassy_hal_internal::peripherals! { // TEMP TEMP, + + // Radio + RADIO, } impl_timer!(TIMER0, TIMER0, TIMER0); @@ -140,6 +143,8 @@ impl_pin!(P0_29, 0, 29); impl_pin!(P0_30, 0, 30); impl_pin!(P0_31, 0, 31); +impl_radio!(RADIO, RADIO, RADIO); + embassy_hal_internal::interrupt_mod!( POWER_CLOCK, RADIO, diff --git a/embassy-nrf/src/chips/nrf52805.rs b/embassy-nrf/src/chips/nrf52805.rs index 624d6613d..14c3f9b1a 100644 --- a/embassy-nrf/src/chips/nrf52805.rs +++ b/embassy-nrf/src/chips/nrf52805.rs @@ -129,6 +129,9 @@ embassy_hal_internal::peripherals! { // QDEC QDEC, + + // Radio + RADIO, } impl_uarte!(UARTE0, UARTE0, UARTE0_UART0); @@ -209,6 +212,8 @@ impl_ppi_channel!(PPI_CH31, 31 => static); impl_saadc_input!(P0_04, ANALOG_INPUT2); impl_saadc_input!(P0_05, ANALOG_INPUT3); +impl_radio!(RADIO, RADIO, RADIO); + embassy_hal_internal::interrupt_mod!( POWER_CLOCK, RADIO, diff --git a/embassy-nrf/src/chips/nrf52810.rs b/embassy-nrf/src/chips/nrf52810.rs index 002feab3b..c607586db 100644 --- a/embassy-nrf/src/chips/nrf52810.rs +++ b/embassy-nrf/src/chips/nrf52810.rs @@ -135,6 +135,9 @@ embassy_hal_internal::peripherals! { // PDM PDM, + + // Radio + RADIO, } impl_uarte!(UARTE0, UARTE0, UARTE0_UART0); @@ -235,6 +238,8 @@ impl_saadc_input!(P0_29, ANALOG_INPUT5); impl_saadc_input!(P0_30, ANALOG_INPUT6); impl_saadc_input!(P0_31, ANALOG_INPUT7); +impl_radio!(RADIO, RADIO, RADIO); + embassy_hal_internal::interrupt_mod!( POWER_CLOCK, RADIO, diff --git a/embassy-nrf/src/chips/nrf52811.rs b/embassy-nrf/src/chips/nrf52811.rs index 5952907f8..5f70365b4 100644 --- a/embassy-nrf/src/chips/nrf52811.rs +++ b/embassy-nrf/src/chips/nrf52811.rs @@ -135,6 +135,9 @@ embassy_hal_internal::peripherals! { // PDM PDM, + + // Radio + RADIO, } impl_uarte!(UARTE0, UARTE0, UARTE0_UART0); @@ -237,6 +240,8 @@ impl_saadc_input!(P0_29, ANALOG_INPUT5); impl_saadc_input!(P0_30, ANALOG_INPUT6); impl_saadc_input!(P0_31, ANALOG_INPUT7); +impl_radio!(RADIO, RADIO, RADIO); + embassy_hal_internal::interrupt_mod!( POWER_CLOCK, RADIO, diff --git a/embassy-nrf/src/chips/nrf52820.rs b/embassy-nrf/src/chips/nrf52820.rs index c2f792cb9..82d097407 100644 --- a/embassy-nrf/src/chips/nrf52820.rs +++ b/embassy-nrf/src/chips/nrf52820.rs @@ -130,6 +130,9 @@ embassy_hal_internal::peripherals! { // QDEC QDEC, + + // Radio + RADIO, } impl_usb!(USBD, USBD, USBD); @@ -224,6 +227,8 @@ impl_ppi_channel!(PPI_CH29, 29 => static); impl_ppi_channel!(PPI_CH30, 30 => static); impl_ppi_channel!(PPI_CH31, 31 => static); +impl_radio!(RADIO, RADIO, RADIO); + embassy_hal_internal::interrupt_mod!( POWER_CLOCK, RADIO, diff --git a/embassy-nrf/src/chips/nrf52832.rs b/embassy-nrf/src/chips/nrf52832.rs index 65d52364d..67b32fe5f 100644 --- a/embassy-nrf/src/chips/nrf52832.rs +++ b/embassy-nrf/src/chips/nrf52832.rs @@ -150,6 +150,9 @@ embassy_hal_internal::peripherals! { // PDM PDM, + + // Radio + RADIO, } impl_uarte!(UARTE0, UARTE0, UARTE0_UART0); @@ -264,6 +267,8 @@ impl_saadc_input!(P0_31, ANALOG_INPUT7); impl_i2s!(I2S, I2S, I2S); +impl_radio!(RADIO, RADIO, RADIO); + embassy_hal_internal::interrupt_mod!( POWER_CLOCK, RADIO, diff --git a/embassy-nrf/src/chips/nrf52833.rs b/embassy-nrf/src/chips/nrf52833.rs index 7c9b66d69..20f14e2d6 100644 --- a/embassy-nrf/src/chips/nrf52833.rs +++ b/embassy-nrf/src/chips/nrf52833.rs @@ -170,6 +170,9 @@ embassy_hal_internal::peripherals! { // I2S I2S, + + // Radio + RADIO, } impl_usb!(USBD, USBD, USBD); @@ -306,6 +309,8 @@ impl_saadc_input!(P0_31, ANALOG_INPUT7); impl_i2s!(I2S, I2S, I2S); +impl_radio!(RADIO, RADIO, RADIO); + embassy_hal_internal::interrupt_mod!( POWER_CLOCK, RADIO, diff --git a/embassy-nrf/src/chips/nrf5340_net.rs b/embassy-nrf/src/chips/nrf5340_net.rs index a7cf82872..65e8f9653 100644 --- a/embassy-nrf/src/chips/nrf5340_net.rs +++ b/embassy-nrf/src/chips/nrf5340_net.rs @@ -248,6 +248,9 @@ embassy_hal_internal::peripherals! { P1_13, P1_14, P1_15, + + // Radio + RADIO, } impl_uarte!(SERIAL0, UARTE0, SERIAL0); @@ -345,6 +348,8 @@ impl_ppi_channel!(PPI_CH29, 29 => configurable); impl_ppi_channel!(PPI_CH30, 30 => configurable); impl_ppi_channel!(PPI_CH31, 31 => configurable); +impl_radio!(RADIO, RADIO, RADIO); + embassy_hal_internal::interrupt_mod!( CLOCK_POWER, RADIO, diff --git a/embassy-nrf/src/lib.rs b/embassy-nrf/src/lib.rs index 04a6293a4..718f229a3 100644 --- a/embassy-nrf/src/lib.rs +++ b/embassy-nrf/src/lib.rs @@ -47,7 +47,7 @@ pub mod gpio; pub mod gpiote; // TODO: tested on other chips -#[cfg(any(feature = "nrf52840"))] +#[cfg(not(any(feature = "_nrf9160", feature = "_nrf5340-app")))] pub mod radio; #[cfg(any(feature = "nrf52832", feature = "nrf52833", feature = "nrf52840"))] diff --git a/embassy-nrf/src/radio/ble.rs b/embassy-nrf/src/radio/ble.rs index 24dba582f..93003fb19 100644 --- a/embassy-nrf/src/radio/ble.rs +++ b/embassy-nrf/src/radio/ble.rs @@ -7,27 +7,14 @@ use core::task::Poll; use embassy_hal_internal::drop::OnDrop; use embassy_hal_internal::{into_ref, PeripheralRef}; pub use pac::radio::mode::MODE_A as Mode; +#[cfg(not(feature = "nrf51"))] use pac::radio::pcnf0::PLEN_A as PreambleLength; -use pac::radio::state::STATE_A as RadioState; -pub use pac::radio::txpower::TXPOWER_A as TxPower; use crate::interrupt::typelevel::Interrupt; use crate::radio::*; +pub use crate::radio::{Error, TxPower}; use crate::util::slice_in_ram_or; -/// RADIO error. -#[derive(Debug, Clone, Copy, PartialEq, Eq)] -#[cfg_attr(feature = "defmt", derive(defmt::Format))] -#[non_exhaustive] -pub enum Error { - /// Buffer was too long. - BufferTooLong, - /// Buffer was to short. - BufferTooShort, - /// The buffer is not in data RAM. It is most likely in flash, and nRF's DMA cannot access flash. - BufferNotInRAM, -} - /// Radio driver. pub struct Radio<'d, T: Instance> { _p: PeripheralRef<'d, T>, @@ -98,6 +85,7 @@ impl<'d, T: Instance> Radio<'d, T> { // Ch map between 2400 MHZ .. 2500 MHz // All modes use this range + #[cfg(not(feature = "nrf51"))] r.frequency.write(|w| w.map().default()); // Configure shortcuts to simplify and speed up sending and receiving packets. @@ -115,25 +103,7 @@ impl<'d, T: Instance> Radio<'d, T> { } fn state(&self) -> RadioState { - match T::regs().state.read().state().variant() { - Some(s) => s, - None => unreachable!(), - } - } - - #[allow(dead_code)] - fn trace_state(&self) { - match self.state() { - RadioState::DISABLED => trace!("radio:state:DISABLED"), - RadioState::RX_RU => trace!("radio:state:RX_RU"), - RadioState::RX_IDLE => trace!("radio:state:RX_IDLE"), - RadioState::RX => trace!("radio:state:RX"), - RadioState::RX_DISABLE => trace!("radio:state:RX_DISABLE"), - RadioState::TX_RU => trace!("radio:state:TX_RU"), - RadioState::TX_IDLE => trace!("radio:state:TX_IDLE"), - RadioState::TX => trace!("radio:state:TX"), - RadioState::TX_DISABLE => trace!("radio:state:TX_DISABLE"), - } + super::state(T::regs()) } /// Set the radio mode @@ -145,10 +115,18 @@ impl<'d, T: Instance> Radio<'d, T> { let r = T::regs(); r.mode.write(|w| w.mode().variant(mode)); + #[cfg(not(feature = "nrf51"))] r.pcnf0.write(|w| { w.plen().variant(match mode { Mode::BLE_1MBIT => PreambleLength::_8BIT, Mode::BLE_2MBIT => PreambleLength::_16BIT, + #[cfg(any( + feature = "nrf52811", + feature = "nrf52820", + feature = "nrf52833", + feature = "nrf52840", + feature = "_nrf5340-net" + ))] Mode::BLE_LR125KBIT | Mode::BLE_LR500KBIT => PreambleLength::LONG_RANGE, _ => unimplemented!(), }) @@ -331,7 +309,8 @@ impl<'d, T: Instance> Radio<'d, T> { self.trigger_and_wait_end(move || { // Initialize the transmission // trace!("txen"); - r.tasks_txen.write(|w| w.tasks_txen().set_bit()); + + r.tasks_txen.write(|w| unsafe { w.bits(1) }); }) .await; @@ -348,7 +327,7 @@ impl<'d, T: Instance> Radio<'d, T> { self.trigger_and_wait_end(move || { // Initialize the transmission // trace!("rxen"); - r.tasks_rxen.write(|w| w.tasks_rxen().set_bit()); + r.tasks_rxen.write(|w| unsafe { w.bits(1) }); }) .await; @@ -370,10 +349,10 @@ impl<'d, T: Instance> Radio<'d, T> { r.intenclr.write(|w| w.end().clear()); r.events_end.reset(); - r.tasks_stop.write(|w| w.tasks_stop().set_bit()); + r.tasks_stop.write(|w| unsafe { w.bits(1) }); // The docs don't explicitly mention any event to acknowledge the stop task - while r.events_end.read().events_end().bit_is_clear() {} + while r.events_end.read().bits() == 0 {} trace!("radio drop: stopped"); }); @@ -393,8 +372,8 @@ impl<'d, T: Instance> Radio<'d, T> { // On poll check if interrupt happen poll_fn(|cx| { - s.end_waker.register(cx.waker()); - if r.events_end.read().events_end().bit_is_set() { + s.event_waker.register(cx.waker()); + if r.events_end.read().bits() == 1 { // trace!("radio:end"); return core::task::Poll::Ready(()); } @@ -418,10 +397,10 @@ impl<'d, T: Instance> Radio<'d, T> { if self.state() != RadioState::DISABLED { trace!("radio:disable"); // Trigger the disable task - r.tasks_disable.write(|w| w.tasks_disable().set_bit()); + r.tasks_disable.write(|w| unsafe { w.bits(1) }); // Wait until the radio is disabled - while r.events_disabled.read().events_disabled().bit_is_clear() {} + while r.events_disabled.read().bits() == 0 {} compiler_fence(Ordering::SeqCst); diff --git a/embassy-nrf/src/radio/ieee802154.rs b/embassy-nrf/src/radio/ieee802154.rs new file mode 100644 index 000000000..298f8a574 --- /dev/null +++ b/embassy-nrf/src/radio/ieee802154.rs @@ -0,0 +1,546 @@ +//! IEEE 802.15.4 radio driver + +use core::sync::atomic::{compiler_fence, Ordering}; +use core::task::Poll; + +use embassy_hal_internal::drop::OnDrop; +use embassy_hal_internal::{into_ref, PeripheralRef}; + +use super::{state, Error, Instance, InterruptHandler, RadioState, TxPower}; +use crate::interrupt::typelevel::Interrupt; +use crate::interrupt::{self}; +use crate::Peripheral; + +/// Default (IEEE compliant) Start of Frame Delimiter +pub const DEFAULT_SFD: u8 = 0xA7; + +// TODO expose the other variants in `pac::CCAMODE_A` +/// Clear Channel Assessment method +pub enum Cca { + /// Carrier sense + CarrierSense, + /// Energy Detection / Energy Above Threshold + EnergyDetection { + /// Energy measurements above this value mean that the channel is assumed to be busy. + /// Note the measurement range is 0..0xFF - where 0 means that the received power was + /// less than 10 dB above the selected receiver sensitivity. This value is not given in dBm, + /// but can be converted. See the nrf52840 Product Specification Section 6.20.12.4 + /// for details. + ed_threshold: u8, + }, +} + +/// IEEE 802.15.4 radio driver. +pub struct Radio<'d, T: Instance> { + _p: PeripheralRef<'d, T>, + needs_enable: bool, +} + +impl<'d, T: Instance> Radio<'d, T> { + /// Create a new IEEE 802.15.4 radio driver. + pub fn new( + radio: impl Peripheral

+ 'd, + _irq: impl interrupt::typelevel::Binding> + 'd, + ) -> Self { + into_ref!(radio); + + let r = T::regs(); + + // Disable and enable to reset peripheral + r.power.write(|w| w.power().disabled()); + r.power.write(|w| w.power().enabled()); + + // Enable 802.15.4 mode + r.mode.write(|w| w.mode().ieee802154_250kbit()); + // Configure CRC skip address + r.crccnf.write(|w| w.len().two().skipaddr().ieee802154()); + unsafe { + // Configure CRC polynomial and init + r.crcpoly.write(|w| w.crcpoly().bits(0x0001_1021)); + r.crcinit.write(|w| w.crcinit().bits(0)); + r.pcnf0.write(|w| { + // 8-bit on air length + w.lflen() + .bits(8) + // Zero bytes S0 field length + .s0len() + .clear_bit() + // Zero bytes S1 field length + .s1len() + .bits(0) + // Do not include S1 field in RAM if S1 length > 0 + .s1incl() + .clear_bit() + // Zero code Indicator length + .cilen() + .bits(0) + // 32-bit zero preamble + .plen() + ._32bit_zero() + // Include CRC in length + .crcinc() + .include() + }); + r.pcnf1.write(|w| { + // Maximum packet length + w.maxlen() + .bits(Packet::MAX_PSDU_LEN) + // Zero static length + .statlen() + .bits(0) + // Zero base address length + .balen() + .bits(0) + // Little-endian + .endian() + .clear_bit() + // Disable packet whitening + .whiteen() + .clear_bit() + }); + } + + // Enable NVIC interrupt + T::Interrupt::unpend(); + unsafe { T::Interrupt::enable() }; + + let mut radio = Self { + _p: radio, + needs_enable: false, + }; + + radio.set_sfd(DEFAULT_SFD); + radio.set_transmission_power(0); + radio.set_channel(11); + radio.set_cca(Cca::CarrierSense); + + radio + } + + /// Changes the radio channel + pub fn set_channel(&mut self, channel: u8) { + let r = T::regs(); + if channel < 11 || channel > 26 { + panic!("Bad 802.15.4 channel"); + } + let frequency_offset = (channel - 10) * 5; + self.needs_enable = true; + r.frequency + .write(|w| unsafe { w.frequency().bits(frequency_offset).map().default() }); + } + + /// Changes the Clear Channel Assessment method + pub fn set_cca(&mut self, cca: Cca) { + let r = T::regs(); + self.needs_enable = true; + match cca { + Cca::CarrierSense => r.ccactrl.write(|w| w.ccamode().carrier_mode()), + Cca::EnergyDetection { ed_threshold } => { + // "[ED] is enabled by first configuring the field CCAMODE=EdMode in CCACTRL + // and writing the CCAEDTHRES field to a chosen value." + r.ccactrl + .write(|w| unsafe { w.ccamode().ed_mode().ccaedthres().bits(ed_threshold) }); + } + } + } + + /// Changes the Start of Frame Delimiter (SFD) + pub fn set_sfd(&mut self, sfd: u8) { + let r = T::regs(); + r.sfd.write(|w| unsafe { w.sfd().bits(sfd) }); + } + + /// Clear interrupts + pub fn clear_all_interrupts(&mut self) { + let r = T::regs(); + r.intenclr.write(|w| unsafe { w.bits(0xffff_ffff) }); + } + + /// Changes the radio transmission power + pub fn set_transmission_power(&mut self, power: i8) { + let r = T::regs(); + self.needs_enable = true; + + let tx_power: TxPower = match power { + #[cfg(not(any(feature = "nrf52811", feature = "_nrf5340-net")))] + 8 => TxPower::POS8D_BM, + #[cfg(not(any(feature = "nrf52811", feature = "_nrf5340-net")))] + 7 => TxPower::POS7D_BM, + #[cfg(not(any(feature = "nrf52811", feature = "_nrf5340-net")))] + 6 => TxPower::POS6D_BM, + #[cfg(not(any(feature = "nrf52811", feature = "_nrf5340-net")))] + 5 => TxPower::POS5D_BM, + #[cfg(not(feature = "_nrf5340-net"))] + 4 => TxPower::POS4D_BM, + #[cfg(not(feature = "_nrf5340-net"))] + 3 => TxPower::POS3D_BM, + #[cfg(not(any(feature = "nrf52811", feature = "_nrf5340-net")))] + 2 => TxPower::POS2D_BM, + 0 => TxPower::_0D_BM, + #[cfg(feature = "_nrf5340-net")] + -1 => TxPower::NEG1D_BM, + #[cfg(feature = "_nrf5340-net")] + -2 => TxPower::NEG2D_BM, + #[cfg(feature = "_nrf5340-net")] + -3 => TxPower::NEG3D_BM, + -4 => TxPower::NEG4D_BM, + #[cfg(feature = "_nrf5340-net")] + -5 => TxPower::NEG5D_BM, + #[cfg(feature = "_nrf5340-net")] + -6 => TxPower::NEG6D_BM, + #[cfg(feature = "_nrf5340-net")] + -7 => TxPower::NEG7D_BM, + -8 => TxPower::NEG8D_BM, + -12 => TxPower::NEG12D_BM, + -16 => TxPower::NEG16D_BM, + -20 => TxPower::NEG20D_BM, + -30 => TxPower::NEG30D_BM, + -40 => TxPower::NEG40D_BM, + _ => panic!("Invalid transmission power value"), + }; + + r.txpower.write(|w| w.txpower().variant(tx_power)); + } + + /// Waits until the radio state matches the given `state` + fn wait_for_radio_state(&self, state: RadioState) { + while self.state() != state {} + } + + /// Get the current radio state + fn state(&self) -> RadioState { + state(T::regs()) + } + + /// Moves the radio from any state to the DISABLED state + fn disable(&mut self) { + let r = T::regs(); + // See figure 110 in nRF52840-PS + loop { + match self.state() { + RadioState::DISABLED => return, + // idle or ramping up + RadioState::RX_RU | RadioState::RX_IDLE | RadioState::TX_RU | RadioState::TX_IDLE => { + r.tasks_disable.write(|w| w.tasks_disable().set_bit()); + self.wait_for_radio_state(RadioState::DISABLED); + return; + } + // ramping down + RadioState::RX_DISABLE | RadioState::TX_DISABLE => { + self.wait_for_radio_state(RadioState::DISABLED); + return; + } + // cancel ongoing transfer or ongoing CCA + RadioState::RX => { + r.tasks_ccastop.write(|w| w.tasks_ccastop().set_bit()); + r.tasks_stop.write(|w| w.tasks_stop().set_bit()); + self.wait_for_radio_state(RadioState::RX_IDLE); + } + RadioState::TX => { + r.tasks_stop.write(|w| w.tasks_stop().set_bit()); + self.wait_for_radio_state(RadioState::TX_IDLE); + } + } + } + } + + fn set_buffer(&mut self, buffer: &[u8]) { + let r = T::regs(); + r.packetptr.write(|w| unsafe { w.bits(buffer.as_ptr() as u32) }); + } + + /// Moves the radio to the RXIDLE state + fn receive_prepare(&mut self) { + // clear related events + T::regs().events_ccabusy.reset(); + T::regs().events_phyend.reset(); + // NOTE to avoid errata 204 (see rev1 v1.4) we do TX_IDLE -> DISABLED -> RX_IDLE + let disable = match self.state() { + RadioState::DISABLED => false, + RadioState::RX_IDLE => self.needs_enable, + _ => true, + }; + if disable { + self.disable(); + } + self.needs_enable = false; + } + + /// Prepare radio for receiving a packet + fn receive_start(&mut self, packet: &mut Packet) { + // NOTE we do NOT check the address of `packet` because the mutable reference ensures it's + // allocated in RAM + let r = T::regs(); + + self.receive_prepare(); + + // Configure shortcuts + // + // The radio goes through following states when receiving a 802.15.4 packet + // + // enable RX → ramp up RX → RX idle → Receive → end (PHYEND) + r.shorts.write(|w| w.rxready_start().enabled()); + + // set up RX buffer + self.set_buffer(packet.buffer.as_mut()); + + // start transfer + dma_start_fence(); + + match self.state() { + // Re-start receiver + RadioState::RX_IDLE => r.tasks_start.write(|w| w.tasks_start().set_bit()), + // Enable receiver + _ => r.tasks_rxen.write(|w| w.tasks_rxen().set_bit()), + } + } + + /// Cancel receiving packet + fn receive_cancel() { + let r = T::regs(); + r.shorts.reset(); + r.tasks_stop.write(|w| w.tasks_stop().set_bit()); + loop { + match state(r) { + RadioState::DISABLED | RadioState::RX_IDLE => break, + _ => (), + } + } + // DMA transfer may have been in progress so synchronize with its memory operations + dma_end_fence(); + } + + /// Receives one radio packet and copies its contents into the given `packet` buffer + /// + /// This methods returns the `Ok` variant if the CRC included the packet was successfully + /// validated by the hardware; otherwise it returns the `Err` variant. In either case, `packet` + /// will be updated with the received packet's data + pub async fn receive(&mut self, packet: &mut Packet) -> Result<(), Error> { + let s = T::state(); + let r = T::regs(); + + // Start the read + self.receive_start(packet); + + let dropper = OnDrop::new(|| Self::receive_cancel()); + + self.clear_all_interrupts(); + // wait until we have received something + core::future::poll_fn(|cx| { + s.event_waker.register(cx.waker()); + + if r.events_phyend.read().events_phyend().bit_is_set() { + r.events_phyend.reset(); + trace!("RX done poll"); + return Poll::Ready(()); + } else { + r.intenset.write(|w| w.phyend().set()); + }; + + Poll::Pending + }) + .await; + + dma_end_fence(); + dropper.defuse(); + + let crc = r.rxcrc.read().rxcrc().bits() as u16; + if r.crcstatus.read().crcstatus().bit_is_set() { + Ok(()) + } else { + Err(Error::CrcFailed(crc)) + } + } + + /// Tries to send the given `packet` + /// + /// This method performs Clear Channel Assessment (CCA) first and sends the `packet` only if the + /// channel is observed to be *clear* (no transmission is currently ongoing), otherwise no + /// packet is transmitted and the `Err` variant is returned + /// + /// NOTE this method will *not* modify the `packet` argument. The mutable reference is used to + /// ensure the `packet` buffer is allocated in RAM, which is required by the RADIO peripheral + // NOTE we do NOT check the address of `packet` because the mutable reference ensures it's + // allocated in RAM + pub async fn try_send(&mut self, packet: &mut Packet) -> Result<(), Error> { + let s = T::state(); + let r = T::regs(); + + // enable radio to perform cca + self.receive_prepare(); + + /// transmit result + #[derive(Debug, Clone, Copy, PartialEq, Eq)] + #[cfg_attr(feature = "defmt", derive(defmt::Format))] + pub enum TransmitResult { + /// Success + Success, + /// Clear channel assessment reported channel in use + ChannelInUse, + } + + // Configure shortcuts + // + // The radio goes through following states when sending a 802.15.4 packet + // + // enable RX → ramp up RX → clear channel assessment (CCA) → CCA result + // CCA idle → enable TX → start TX → TX → end (PHYEND) → disabled + // + // CCA might end up in the event CCABUSY in which there will be no transmission + r.shorts.write(|w| { + w.rxready_ccastart() + .enabled() + .ccaidle_txen() + .enabled() + .txready_start() + .enabled() + .ccabusy_disable() + .enabled() + .phyend_disable() + .enabled() + }); + + // Set transmission buffer + self.set_buffer(packet.buffer.as_mut()); + + // the DMA transfer will start at some point after the following write operation so + // we place the compiler fence here + dma_start_fence(); + // start CCA. In case the channel is clear, the data at packetptr will be sent automatically + + match self.state() { + // Re-start receiver + RadioState::RX_IDLE => r.tasks_ccastart.write(|w| w.tasks_ccastart().set_bit()), + // Enable receiver + _ => r.tasks_rxen.write(|w| w.tasks_rxen().set_bit()), + } + + self.clear_all_interrupts(); + let result = core::future::poll_fn(|cx| { + s.event_waker.register(cx.waker()); + + if r.events_phyend.read().events_phyend().bit_is_set() { + r.events_phyend.reset(); + r.events_ccabusy.reset(); + trace!("TX done poll"); + return Poll::Ready(TransmitResult::Success); + } else if r.events_ccabusy.read().events_ccabusy().bit_is_set() { + r.events_ccabusy.reset(); + trace!("TX no CCA"); + return Poll::Ready(TransmitResult::ChannelInUse); + } + + r.intenset.write(|w| w.phyend().set().ccabusy().set()); + + Poll::Pending + }) + .await; + + match result { + TransmitResult::Success => Ok(()), + TransmitResult::ChannelInUse => Err(Error::ChannelInUse), + } + } +} + +/// An IEEE 802.15.4 packet +/// +/// This `Packet` is a PHY layer packet. It's made up of the physical header (PHR) and the PSDU +/// (PHY service data unit). The PSDU of this `Packet` will always include the MAC level CRC, AKA +/// the FCS (Frame Control Sequence) -- the CRC is fully computed in hardware and automatically +/// appended on transmission and verified on reception. +/// +/// The API lets users modify the usable part (not the CRC) of the PSDU via the `deref` and +/// `copy_from_slice` methods. These methods will automatically update the PHR. +/// +/// See figure 119 in the Product Specification of the nRF52840 for more details +pub struct Packet { + buffer: [u8; Self::SIZE], +} + +// See figure 124 in nRF52840-PS +impl Packet { + // for indexing purposes + const PHY_HDR: usize = 0; + const DATA: core::ops::RangeFrom = 1..; + + /// Maximum amount of usable payload (CRC excluded) a single packet can contain, in bytes + pub const CAPACITY: u8 = 125; + const CRC: u8 = 2; // size of the CRC, which is *never* copied to / from RAM + const MAX_PSDU_LEN: u8 = Self::CAPACITY + Self::CRC; + const SIZE: usize = 1 /* PHR */ + Self::MAX_PSDU_LEN as usize; + + /// Returns an empty packet (length = 0) + pub fn new() -> Self { + let mut packet = Self { + buffer: [0; Self::SIZE], + }; + packet.set_len(0); + packet + } + + /// Fills the packet payload with given `src` data + /// + /// # Panics + /// + /// This function panics if `src` is larger than `Self::CAPACITY` + pub fn copy_from_slice(&mut self, src: &[u8]) { + assert!(src.len() <= Self::CAPACITY as usize); + let len = src.len() as u8; + self.buffer[Self::DATA][..len as usize].copy_from_slice(&src[..len.into()]); + self.set_len(len); + } + + /// Returns the size of this packet's payload + pub fn len(&self) -> u8 { + self.buffer[Self::PHY_HDR] - Self::CRC + } + + /// Changes the size of the packet's payload + /// + /// # Panics + /// + /// This function panics if `len` is larger than `Self::CAPACITY` + pub fn set_len(&mut self, len: u8) { + assert!(len <= Self::CAPACITY); + self.buffer[Self::PHY_HDR] = len + Self::CRC; + } + + /// Returns the LQI (Link Quality Indicator) of the received packet + /// + /// Note that the LQI is stored in the `Packet`'s internal buffer by the hardware so the value + /// returned by this method is only valid after a `Radio.recv` operation. Operations that + /// modify the `Packet`, like `copy_from_slice` or `set_len`+`deref_mut`, will overwrite the + /// stored LQI value. + /// + /// Also note that the hardware will *not* compute a LQI for packets smaller than 3 bytes so + /// this method will return an invalid value for those packets. + pub fn lqi(&self) -> u8 { + self.buffer[1 /* PHY_HDR */ + self.len() as usize /* data */] + } +} + +impl core::ops::Deref for Packet { + type Target = [u8]; + + fn deref(&self) -> &[u8] { + &self.buffer[Self::DATA][..self.len() as usize] + } +} + +impl core::ops::DerefMut for Packet { + fn deref_mut(&mut self) -> &mut [u8] { + let len = self.len(); + &mut self.buffer[Self::DATA][..len as usize] + } +} + +/// NOTE must be followed by a volatile write operation +fn dma_start_fence() { + compiler_fence(Ordering::Release); +} + +/// NOTE must be preceded by a volatile read operation +fn dma_end_fence() { + compiler_fence(Ordering::Acquire); +} diff --git a/embassy-nrf/src/radio/mod.rs b/embassy-nrf/src/radio/mod.rs index 03f967f87..4c0cc3280 100644 --- a/embassy-nrf/src/radio/mod.rs +++ b/embassy-nrf/src/radio/mod.rs @@ -7,11 +7,40 @@ /// Bluetooth Low Energy Radio driver. pub mod ble; +#[cfg(any( + feature = "nrf52811", + feature = "nrf52820", + feature = "nrf52833", + feature = "nrf52840", + feature = "_nrf5340-net" +))] +/// IEEE 802.15.4 +pub mod ieee802154; use core::marker::PhantomData; +use pac::radio::state::STATE_A as RadioState; +pub use pac::radio::txpower::TXPOWER_A as TxPower; + use crate::{interrupt, pac, Peripheral}; +/// RADIO error. +#[derive(Debug, Clone, Copy, PartialEq, Eq)] +#[cfg_attr(feature = "defmt", derive(defmt::Format))] +#[non_exhaustive] +pub enum Error { + /// Buffer was too long. + BufferTooLong, + /// Buffer was too short. + BufferTooShort, + /// The buffer is not in data RAM. It's most likely in flash, and nRF's DMA cannot access flash. + BufferNotInRAM, + /// Clear channel assessment reported channel in use + ChannelInUse, + /// CRC check failed + CrcFailed(u16), +} + /// Interrupt handler pub struct InterruptHandler { _phantom: PhantomData, @@ -21,11 +50,9 @@ impl interrupt::typelevel::Handler for InterruptHandl unsafe fn on_interrupt() { let r = T::regs(); let s = T::state(); - - if r.events_end.read().events_end().bit_is_set() { - s.end_waker.wake(); - r.intenclr.write(|w| w.end().clear()); - } + // clear all interrupts + r.intenclr.write(|w| w.bits(0xffff_ffff)); + s.event_waker.wake(); } } @@ -34,12 +61,12 @@ pub(crate) mod sealed { pub struct State { /// end packet transmission or reception - pub end_waker: AtomicWaker, + pub event_waker: AtomicWaker, } impl State { pub const fn new() -> Self { Self { - end_waker: AtomicWaker::new(), + event_waker: AtomicWaker::new(), } } } @@ -73,3 +100,11 @@ pub trait Instance: Peripheral

+ sealed::Instance + 'static + Send { /// Interrupt for this peripheral. type Interrupt: interrupt::typelevel::Interrupt; } + +/// Get the state of the radio +pub(crate) fn state(radio: &pac::radio::RegisterBlock) -> RadioState { + match radio.state.read().state().variant() { + Some(state) => state, + None => unreachable!(), + } +} diff --git a/embassy-nrf/src/util.rs b/embassy-nrf/src/util.rs index 6cdb97f08..13aba7dec 100644 --- a/embassy-nrf/src/util.rs +++ b/embassy-nrf/src/util.rs @@ -34,7 +34,6 @@ pub(crate) fn slice_in_ram(slice: *const [T]) -> bool { } /// Return an error if slice is not in RAM. Skips check if slice is zero-length. -#[cfg(not(feature = "nrf51"))] pub(crate) fn slice_in_ram_or(slice: *const [T], err: E) -> Result<(), E> { let (_, len) = slice_ptr_parts(slice); if len == 0 || slice_in_ram(slice) {