simple tdma rtimer implemetation
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fros4943
parent
19b3035e36
commit
aa99049af0
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@ -28,169 +28,185 @@
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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: tdma_mac.c,v 1.1 2007/08/31 13:42:22 fros4943 Exp $
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* $Id: tdma_mac.c,v 1.2 2007/09/18 10:37:17 fros4943 Exp $
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*/
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#include "contiki.h"
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#include "net/mac/tdma_mac.h"
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#include "net/rime/rimebuf.h"
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#include "net/uip-fw.h"
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#include "sys/rtimer.h"
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#include "net/rime.h"
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#include "lib/memb.h"
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#include "lib/list.h"
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#include "dev/leds.h"
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#include "node-id.h"
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#include <string.h>
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#include <stdio.h>
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static const struct radio_driver *radio;
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static void (* receiver_callback)(const struct mac_driver *);
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static int id_counter = 0;
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#define DEBUG 1
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#if DEBUG
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/*#include "printf2log.h"*/ /* XXX COOJA specifics */
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#define DLEDS_ON(x) leds_on(x)
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#define DLEDS_OFF(x) leds_off(x)
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#define DLEDS_TOGGLE(x) leds_toggle(x)
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#define PRINTF(...) printf(__VA_ARGS__)
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#else
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#define DLEDS_ON(x)
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#define DLEDS_OFF(x)
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#define DLEDS_TOGGLE(x)
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#define PRINTF(...)
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#endif
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/* TDMA configuration */
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#define MAX_BUFFERED_PACKETS 6
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#define NR_SLOTS 10
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#define SLOT_LENGTH (CLOCK_SECOND) /* Slot length */
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#define GUARD_PERIOD (CLOCK_SECOND / 2) /* Approx. packet transmission time */
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#define NR_SLOTS 3
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#define SLOT_LENGTH (RTIMER_SECOND/3)
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#define GUARD_PERIOD (RTIMER_SECOND/12)
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#define MY_SLOT (node_id % NR_SLOTS)
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#define PERIOD_LENGTH (SLOT_LENGTH*NR_SLOTS)
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#define PERIOD_LENGTH RTIMER_SECOND
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enum {
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EVENT_PACKET_BUFFERED
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};
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/* Buffers */
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#define NUM_PACKETS 8
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u8_t lastqueued = 0;
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u8_t nextsend = 0;
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u8_t freeslot = 0;
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struct queuebuf* data[NUM_PACKETS];
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int id[NUM_PACKETS];
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struct buf_packet {
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struct buf_packet *next;
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struct queuebuf *queued_packet;
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int id;
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struct etimer etimer;
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};
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static struct rtimer rtimer;
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u8_t timer_on = 0;
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LIST(buf_packet_list);
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MEMB(buf_packet_mem, struct buf_packet, MAX_BUFFERED_PACKETS);
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PROCESS(tdma_process, "TDMA process");
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static const struct radio_driver *radio;
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static void (* receiver_callback)(const struct mac_driver *);
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static int id_counter = 0;
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static int sent_counter = 0;
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/*---------------------------------------------------------------------------*/
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PROCESS_THREAD(tdma_process, ev, data)
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static char
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transmitter(struct rtimer *t, void *ptr)
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{
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PROCESS_BEGIN();
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int r;
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rtimer_clock_t now, rest, period_start, slot_start;
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while(1) {
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PROCESS_YIELD();
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if(ev == EVENT_PACKET_BUFFERED || ev == PROCESS_EVENT_TIMER) {
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struct buf_packet *packet;
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/* Locate packet */
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for(packet = list_head(buf_packet_list); packet != NULL; packet = packet->next) {
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if (etimer_expired(&packet->etimer)) {
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int ret, rest, period_start, my_next_slot;
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clock_time_t now;
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/* Calculate time of our next slot */
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now = clock_time();
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/* Calculate slot start time */
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now = RTIMER_NOW();
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rest = now % PERIOD_LENGTH;
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period_start = now - rest;
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my_next_slot = period_start + MY_SLOT*SLOT_LENGTH;
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slot_start = period_start + MY_SLOT*SLOT_LENGTH;
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/* Transmit if inside our slot, with enough time left */
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if ((now == my_next_slot) ||
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(now > my_next_slot && (now - my_next_slot) < (SLOT_LENGTH-GUARD_PERIOD)))
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/* Check if we are inside our slot */
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if (now < slot_start ||
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now > slot_start + SLOT_LENGTH - GUARD_PERIOD)
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{
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PRINTF("SCHEDULE We can deliver right now (%i), slot = (%i <-> %i)\n", now, my_next_slot, my_next_slot + SLOT_LENGTH);
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PRINTF("TIMER We are outside our slot: %u != [%u,%u]\n", now, slot_start, slot_start + SLOT_LENGTH);
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while (now > slot_start + SLOT_LENGTH - GUARD_PERIOD)
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{
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slot_start += PERIOD_LENGTH;
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}
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PRINTF("TIMER Rescheduling until %u\n", slot_start);
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r = rtimer_set(&rtimer, slot_start, 1,
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(void (*)(struct rtimer *, void *))transmitter, NULL);
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if(r)
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{
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PRINTF("TIMER Error #1: %d\n", r);
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}
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return 1;
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}
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/* Transmit queued packets */
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while (nextsend != freeslot)
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{
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PRINTF("RADIO Transmitting packet #%i\n", id[nextsend]);
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if(!radio->send(
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queuebuf_dataptr(data[nextsend]),
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queuebuf_datalen(data[nextsend])))
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{
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sent_counter++;
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PRINTF("RADIO Transmit OK for #%i, total=%i\n", id[nextsend], sent_counter);
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DLEDS_TOGGLE(LEDS_GREEN);
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}
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else
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{
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if (now > my_next_slot) {
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my_next_slot += PERIOD_LENGTH;
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PRINTF("RADIO Transmit failed for #%i, total=%i\n", id[nextsend], sent_counter);
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DLEDS_TOGGLE(LEDS_RED);
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}
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int distance = my_next_slot - now;
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etimer_set(&packet->etimer, distance);
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PRINTF("SCHEDULE Packet #%i rescheduled at %i to %i\n", packet->id, clock_time(), my_next_slot);
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continue;
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nextsend = (nextsend + 1) % NUM_PACKETS;
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/* Recalculate new slot */
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if (RTIMER_NOW() > slot_start + SLOT_LENGTH - GUARD_PERIOD)
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{
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PRINTF("TIMER No more time to transmit\n");
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break;
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}
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}
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/* Clear Rime buffer */
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rimebuf_clear();
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/* Restore packet from buffer */
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if(packet->queued_packet != NULL) {
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queuebuf_to_rimebuf(packet->queued_packet);
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queuebuf_free(packet->queued_packet);
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/* Calculate time of our next slot */
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slot_start += PERIOD_LENGTH;
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PRINTF("TIMER Rescheduling until %u\n", slot_start);
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r = rtimer_set(&rtimer, slot_start, 1,
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(void (*)(struct rtimer *, void *))transmitter, NULL);
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if(r)
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{
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PRINTF("TIMER Error #2: %d\n", r);
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}
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/* Send packet */
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PRINTF("TDMA_PROC Packet #%i send starting at %i\n", packet->id, clock_time());
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ret = radio->send(rimebuf_hdrptr(), rimebuf_totlen());
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if (ret == UIP_FW_OK) {
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/* Remove transmitted packet */
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list_remove(buf_packet_list, packet);
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memb_free(&buf_packet_mem, packet);
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PRINTF("BUFFER Packet removed, memory freed\n");
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PRINTF("TDMA_PROC Packet #%i sent at %i\n", packet->id, clock_time());
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} else {
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/* Reschedule packet */
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etimer_set(&packet->etimer, SLOT_LENGTH);
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PRINTF("TDMA_PROC Packet #%i forced rescheduled\n", packet->id);
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}
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}
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}
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}
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}
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PROCESS_END();
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return 0;
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}
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/*---------------------------------------------------------------------------*/
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static int
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send(void)
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{
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struct buf_packet *packet;
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int r;
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id_counter++;
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packet = (struct buf_packet *)memb_alloc(&buf_packet_mem);
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if (packet == NULL) {
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PRINTF("BUFFER No memory available, packet dropped\n");
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/* Clean up already sent packets */
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while (lastqueued != nextsend)
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{
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PRINTF("BUFFER Cleaning up packet #%i\n", id[lastqueued]);
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queuebuf_free(data[lastqueued]);
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data[lastqueued] = NULL;
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lastqueued = (lastqueued + 1) % NUM_PACKETS;
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}
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if ((freeslot + 1) % NUM_PACKETS == lastqueued)
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{
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PRINTF("BUFFER Buffer full, dropping packet #%i\n", (id_counter+1));
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return UIP_FW_DROPPED;
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}
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/* Add to buffered packets list */
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list_add(buf_packet_list, packet);
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PRINTF("BUFFER Packet added, memory allocated\n");
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/* Store packet data */
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packet->queued_packet = queuebuf_new_from_rimebuf();
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if (packet->queued_packet == NULL) {
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list_remove(buf_packet_list, packet);
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memb_free(&buf_packet_mem, packet);
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PRINTF("BUFFER No queue memory available, packet dropped\n");
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/* Allocate queue buf for packet */
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data[freeslot] = queuebuf_new_from_rimebuf();
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id[freeslot] = id_counter;
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if (data[freeslot] == NULL)
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{
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PRINTF("BUFFER Queuebuffer full, dropping packet #%i\n", id[freeslot]);
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return UIP_FW_DROPPED;
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}
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PRINTF("BUFFER Wrote packet #%i to buffer \n", id[freeslot]);
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PROCESS_CONTEXT_BEGIN(&tdma_process);
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etimer_set(&packet->etimer, 0);
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PROCESS_CONTEXT_END(&tdma_process);
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freeslot = (freeslot + 1) % NUM_PACKETS;
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/* TODO ID only used for debugging */
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packet->id = id_counter++;
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/* Clear Rime buffer */
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rimebuf_clear();
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process_post(&tdma_process, EVENT_PACKET_BUFFERED, NULL);
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if (!timer_on)
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{
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PRINTF("TIMER Starting timer\n");
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r = rtimer_set(&rtimer, RTIMER_NOW() + RTIMER_SECOND, 1,
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(void (*)(struct rtimer *, void *))transmitter, NULL);
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if(r)
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{
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PRINTF("TIMER Error #3: %d\n", r);
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}
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else
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{
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timer_on = 1;
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}
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}
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return UIP_FW_OK; /* TODO Return what? */
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}
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/*---------------------------------------------------------------------------*/
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static void
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@ -230,9 +246,11 @@ off(void)
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void
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tdma_mac_init(const struct radio_driver *d)
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{
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memb_init(&buf_packet_mem);
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list_init(buf_packet_list);
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process_start(&tdma_process, NULL);
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int i;
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for (i=0; i < NUM_PACKETS; i++)
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{
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data[i] = NULL;
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}
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radio = d;
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radio->set_receive_function(input);
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