/* * Copyright (c) 2015, Texas Instruments Incorporated - http://www.ti.com/ * All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * 1. Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * 2. Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in the * documentation and/or other materials provided with the distribution. * 3. Neither the name of the copyright holder nor the names of its * contributors may be used to endorse or promote products derived * from this software without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS * ``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED * OF THE POSSIBILITY OF SUCH DAMAGE. */ /*---------------------------------------------------------------------------*/ /** * \addtogroup rf-core * @{ * * \file * Implementation of the CC13xx/CC26xx RF core driver */ /*---------------------------------------------------------------------------*/ #include "contiki-conf.h" #include "dev/watchdog.h" #include "sys/process.h" #include "sys/energest.h" #include "sys/cc.h" #include "net/netstack.h" #include "net/packetbuf.h" #include "net/rime/rimestats.h" #include "rf-core/rf-core.h" #include "ti-lib.h" /*---------------------------------------------------------------------------*/ /* RF core and RF HAL API */ #include "hw_rfc_dbell.h" #include "hw_rfc_pwr.h" /*---------------------------------------------------------------------------*/ /* RF Core Mailbox API */ #include "rf-core/api/mailbox.h" #include "rf-core/api/common_cmd.h" #include "rf-core/api/ble_cmd.h" #include "rf-core/api/ieee_cmd.h" #include "rf-core/api/data_entry.h" #include "rf-core/api/ble_mailbox.h" #include "rf-core/api/ieee_mailbox.h" #include "rf-core/api/prop_mailbox.h" #include "rf-core/api/prop_cmd.h" /*---------------------------------------------------------------------------*/ #include #include #include #include /*---------------------------------------------------------------------------*/ #define DEBUG 0 #if DEBUG #define PRINTF(...) printf(__VA_ARGS__) #else #define PRINTF(...) #endif /*---------------------------------------------------------------------------*/ #ifdef RF_CORE_CONF_DEBUG_CRC #define RF_CORE_DEBUG_CRC RF_CORE_CONF_DEBUG_CRC #else #define RF_CORE_DEBUG_CRC DEBUG #endif /*---------------------------------------------------------------------------*/ /* RF interrupts */ #define RX_FRAME_IRQ IRQ_RX_ENTRY_DONE #define ERROR_IRQ IRQ_INTERNAL_ERROR #define RX_NOK_IRQ IRQ_RX_NOK /* Those IRQs are enabled all the time */ #if RF_CORE_DEBUG_CRC #define ENABLED_IRQS (RX_FRAME_IRQ | ERROR_IRQ | RX_NOK_IRQ) #else #define ENABLED_IRQS (RX_FRAME_IRQ | ERROR_IRQ) #endif #define ENABLED_IRQS_POLL_MODE (ENABLED_IRQS & ~(RX_FRAME_IRQ | ERROR_IRQ)) #define cc26xx_rf_cpe0_isr RFCCPE0IntHandler #define cc26xx_rf_cpe1_isr RFCCPE1IntHandler /*---------------------------------------------------------------------------*/ /* Remember the last Radio Op issued to the radio */ static rfc_radioOp_t *last_radio_op = NULL; /*---------------------------------------------------------------------------*/ /* A struct holding pointers to the primary mode's abort() and restore() */ static const rf_core_primary_mode_t *primary_mode = NULL; /*---------------------------------------------------------------------------*/ /* Radio timer (RAT) offset as compared to the rtimer counter (RTC) */ int32_t rat_offset = 0; static bool rat_offset_known = false; /*---------------------------------------------------------------------------*/ PROCESS(rf_core_process, "CC13xx / CC26xx RF driver"); /*---------------------------------------------------------------------------*/ #define RF_CORE_CLOCKS_MASK (RFC_PWR_PWMCLKEN_RFC_M | RFC_PWR_PWMCLKEN_CPE_M \ | RFC_PWR_PWMCLKEN_CPERAM_M) /*---------------------------------------------------------------------------*/ uint8_t rf_core_is_accessible() { if(ti_lib_prcm_rf_ready()) { return RF_CORE_ACCESSIBLE; } return RF_CORE_NOT_ACCESSIBLE; } /*---------------------------------------------------------------------------*/ uint_fast8_t rf_core_send_cmd(uint32_t cmd, uint32_t *status) { uint32_t timeout_count = 0; bool interrupts_disabled; bool is_radio_op = false; /* * If cmd is 4-byte aligned, then it's either a radio OP or an immediate * command. Clear the status field if it's a radio OP */ if((cmd & 0x03) == 0) { uint32_t cmd_type; cmd_type = ((rfc_command_t *)cmd)->commandNo & RF_CORE_COMMAND_TYPE_MASK; if(cmd_type == RF_CORE_COMMAND_TYPE_IEEE_FG_RADIO_OP || cmd_type == RF_CORE_COMMAND_TYPE_RADIO_OP) { is_radio_op = true; ((rfc_radioOp_t *)cmd)->status = RF_CORE_RADIO_OP_STATUS_IDLE; } } /* * Make sure ContikiMAC doesn't turn us off from within an interrupt while * we are accessing RF Core registers */ interrupts_disabled = ti_lib_int_master_disable(); if(!rf_core_is_accessible()) { PRINTF("rf_core_send_cmd: RF was off\n"); if(!interrupts_disabled) { ti_lib_int_master_enable(); } return RF_CORE_CMD_ERROR; } if(is_radio_op) { uint16_t command_no = ((rfc_radioOp_t *)cmd)->commandNo; if((command_no & RF_CORE_COMMAND_PROTOCOL_MASK) != RF_CORE_COMMAND_PROTOCOL_COMMON && (command_no & RF_CORE_COMMAND_TYPE_MASK) == RF_CORE_COMMAND_TYPE_RADIO_OP) { last_radio_op = (rfc_radioOp_t *)cmd; } } HWREG(RFC_DBELL_BASE + RFC_DBELL_O_CMDR) = cmd; do { *status = HWREG(RFC_DBELL_BASE + RFC_DBELL_O_CMDSTA); if(++timeout_count > 50000) { PRINTF("rf_core_send_cmd: 0x%08lx Timeout\n", cmd); if(!interrupts_disabled) { ti_lib_int_master_enable(); } return RF_CORE_CMD_ERROR; } } while((*status & RF_CORE_CMDSTA_RESULT_MASK) == RF_CORE_CMDSTA_PENDING); if(!interrupts_disabled) { ti_lib_int_master_enable(); } /* * If we reach here the command is no longer pending. It is either completed * successfully or with error */ return (*status & RF_CORE_CMDSTA_RESULT_MASK) == RF_CORE_CMDSTA_DONE; } /*---------------------------------------------------------------------------*/ uint_fast8_t rf_core_wait_cmd_done(void *cmd) { volatile rfc_radioOp_t *command = (rfc_radioOp_t *)cmd; uint32_t timeout_cnt = 0; /* * 0xn4nn=DONE, 0x0400=DONE_OK while all other "DONE" values means done * but with some kind of error (ref. "Common radio operation status codes") */ do { if(++timeout_cnt > 500000) { return RF_CORE_CMD_ERROR; } } while((command->status & RF_CORE_RADIO_OP_MASKED_STATUS) != RF_CORE_RADIO_OP_MASKED_STATUS_DONE); return (command->status & RF_CORE_RADIO_OP_MASKED_STATUS) == RF_CORE_RADIO_OP_STATUS_DONE_OK; } /*---------------------------------------------------------------------------*/ static int fs_powerdown(void) { rfc_CMD_FS_POWERDOWN_t cmd; uint32_t cmd_status; rf_core_init_radio_op((rfc_radioOp_t *)&cmd, sizeof(cmd), CMD_FS_POWERDOWN); if(rf_core_send_cmd((uint32_t)&cmd, &cmd_status) != RF_CORE_CMD_OK) { PRINTF("fs_powerdown: CMDSTA=0x%08lx\n", cmd_status); return RF_CORE_CMD_ERROR; } if(rf_core_wait_cmd_done(&cmd) != RF_CORE_CMD_OK) { PRINTF("fs_powerdown: CMDSTA=0x%08lx, status=0x%04x\n", cmd_status, cmd.status); return RF_CORE_CMD_ERROR; } return RF_CORE_CMD_OK; } /*---------------------------------------------------------------------------*/ int rf_core_power_up() { uint32_t cmd_status; bool interrupts_disabled = ti_lib_int_master_disable(); ti_lib_int_pend_clear(INT_RFC_CPE_0); ti_lib_int_pend_clear(INT_RFC_CPE_1); ti_lib_int_disable(INT_RFC_CPE_0); ti_lib_int_disable(INT_RFC_CPE_1); /* Enable RF Core power domain */ ti_lib_prcm_power_domain_on(PRCM_DOMAIN_RFCORE); while(ti_lib_prcm_power_domain_status(PRCM_DOMAIN_RFCORE) != PRCM_DOMAIN_POWER_ON); ti_lib_prcm_domain_enable(PRCM_DOMAIN_RFCORE); ti_lib_prcm_load_set(); while(!ti_lib_prcm_load_get()); HWREG(RFC_DBELL_NONBUF_BASE + RFC_DBELL_O_RFCPEIFG) = 0x0; HWREG(RFC_DBELL_NONBUF_BASE + RFC_DBELL_O_RFCPEIEN) = 0x0; ti_lib_int_enable(INT_RFC_CPE_0); ti_lib_int_enable(INT_RFC_CPE_1); if(!interrupts_disabled) { ti_lib_int_master_enable(); } /* Let CPE boot */ HWREG(RFC_PWR_NONBUF_BASE + RFC_PWR_O_PWMCLKEN) = RF_CORE_CLOCKS_MASK; /* Send ping (to verify RFCore is ready and alive) */ if(rf_core_send_cmd(CMDR_DIR_CMD(CMD_PING), &cmd_status) != RF_CORE_CMD_OK) { PRINTF("rf_core_power_up: CMD_PING fail, CMDSTA=0x%08lx\n", cmd_status); return RF_CORE_CMD_ERROR; } return RF_CORE_CMD_OK; } /*---------------------------------------------------------------------------*/ uint8_t rf_core_start_rat(void) { uint32_t cmd_status; rfc_CMD_SYNC_START_RAT_t cmd_start; /* Start radio timer (RAT) */ rf_core_init_radio_op((rfc_radioOp_t *)&cmd_start, sizeof(cmd_start), CMD_SYNC_START_RAT); /* copy the value and send back */ cmd_start.rat0 = rat_offset; if(rf_core_send_cmd((uint32_t)&cmd_start, &cmd_status) != RF_CORE_CMD_OK) { PRINTF("rf_core_get_rat_rtc_offset: SYNC_START_RAT fail, CMDSTA=0x%08lx\n", cmd_status); return RF_CORE_CMD_ERROR; } /* Wait until done (?) */ if(rf_core_wait_cmd_done(&cmd_start) != RF_CORE_CMD_OK) { PRINTF("rf_core_cmd_ok: SYNC_START_RAT wait, CMDSTA=0x%08lx, status=0x%04x\n", cmd_status, cmd_start.status); return RF_CORE_CMD_ERROR; } return RF_CORE_CMD_OK; } /*---------------------------------------------------------------------------*/ uint8_t rf_core_stop_rat(void) { rfc_CMD_SYNC_STOP_RAT_t cmd_stop; uint32_t cmd_status; rf_core_init_radio_op((rfc_radioOp_t *)&cmd_stop, sizeof(cmd_stop), CMD_SYNC_STOP_RAT); int ret = rf_core_send_cmd((uint32_t)&cmd_stop, &cmd_status); if(ret != RF_CORE_CMD_OK) { PRINTF("rf_core_get_rat_rtc_offset: SYNC_STOP_RAT fail, ret %d CMDSTA=0x%08lx\n", ret, cmd_status); return ret; } /* Wait until done */ ret = rf_core_wait_cmd_done(&cmd_stop); if(ret != RF_CORE_CMD_OK) { PRINTF("rf_core_cmd_ok: SYNC_STOP_RAT wait, CMDSTA=0x%08lx, status=0x%04x\n", cmd_status, cmd_stop.status); return ret; } if(!rat_offset_known) { /* save the offset, but only if this is the first time */ rat_offset_known = true; rat_offset = cmd_stop.rat0; } return RF_CORE_CMD_OK; } /*---------------------------------------------------------------------------*/ void rf_core_power_down() { bool interrupts_disabled = ti_lib_int_master_disable(); ti_lib_int_disable(INT_RFC_CPE_0); ti_lib_int_disable(INT_RFC_CPE_1); if(rf_core_is_accessible()) { HWREG(RFC_DBELL_NONBUF_BASE + RFC_DBELL_O_RFCPEIFG) = 0x0; HWREG(RFC_DBELL_NONBUF_BASE + RFC_DBELL_O_RFCPEIEN) = 0x0; /* need to send FS_POWERDOWN or analog components will use power */ fs_powerdown(); } rf_core_stop_rat(); /* Shut down the RFCORE clock domain in the MCU VD */ ti_lib_prcm_domain_disable(PRCM_DOMAIN_RFCORE); ti_lib_prcm_load_set(); while(!ti_lib_prcm_load_get()); /* Turn off RFCORE PD */ ti_lib_prcm_power_domain_off(PRCM_DOMAIN_RFCORE); while(ti_lib_prcm_power_domain_status(PRCM_DOMAIN_RFCORE) != PRCM_DOMAIN_POWER_OFF); ti_lib_int_pend_clear(INT_RFC_CPE_0); ti_lib_int_pend_clear(INT_RFC_CPE_1); ti_lib_int_enable(INT_RFC_CPE_0); ti_lib_int_enable(INT_RFC_CPE_1); if(!interrupts_disabled) { ti_lib_int_master_enable(); } } /*---------------------------------------------------------------------------*/ uint8_t rf_core_set_modesel() { uint8_t rv = RF_CORE_CMD_ERROR; if(ti_lib_chipinfo_chip_family_is_cc26xx()) { if(ti_lib_chipinfo_supports_ble() == true && ti_lib_chipinfo_supports_ieee_802_15_4() == true) { /* CC2650 */ HWREG(PRCM_BASE + PRCM_O_RFCMODESEL) = PRCM_RFCMODESEL_CURR_MODE5; rv = RF_CORE_CMD_OK; } else if(ti_lib_chipinfo_supports_ble() == false && ti_lib_chipinfo_supports_ieee_802_15_4() == true) { /* CC2630 */ HWREG(PRCM_BASE + PRCM_O_RFCMODESEL) = PRCM_RFCMODESEL_CURR_MODE2; rv = RF_CORE_CMD_OK; } } else if(ti_lib_chipinfo_chip_family_is_cc13xx()) { if(ti_lib_chipinfo_supports_ble() == false && ti_lib_chipinfo_supports_ieee_802_15_4() == false) { /* CC1310 */ HWREG(PRCM_BASE + PRCM_O_RFCMODESEL) = PRCM_RFCMODESEL_CURR_MODE3; rv = RF_CORE_CMD_OK; } } return rv; } /*---------------------------------------------------------------------------*/ uint8_t rf_core_boot() { if(rf_core_power_up() != RF_CORE_CMD_OK) { PRINTF("rf_core_boot: rf_core_power_up() failed\n"); rf_core_power_down(); return RF_CORE_CMD_ERROR; } if(rf_core_start_rat() != RF_CORE_CMD_OK) { PRINTF("rf_core_boot: rf_core_start_rat() failed\n"); rf_core_power_down(); return RF_CORE_CMD_ERROR; } return RF_CORE_CMD_OK; } /*---------------------------------------------------------------------------*/ uint8_t rf_core_restart_rat(void) { if(rf_core_stop_rat() != RF_CORE_CMD_OK) { PRINTF("rf_core_restart_rat: rf_core_stop_rat() failed\n"); return RF_CORE_CMD_ERROR; } if(rf_core_start_rat() != RF_CORE_CMD_OK) { PRINTF("rf_core_restart_rat: rf_core_start_rat() failed\n"); rf_core_power_down(); return RF_CORE_CMD_ERROR; } return RF_CORE_CMD_OK; } /*---------------------------------------------------------------------------*/ void rf_core_setup_interrupts(bool poll_mode) { bool interrupts_disabled; const uint32_t enabled_irqs = poll_mode ? ENABLED_IRQS_POLL_MODE : ENABLED_IRQS; /* We are already turned on by the caller, so this should not happen */ if(!rf_core_is_accessible()) { PRINTF("setup_interrupts: No access\n"); return; } /* Disable interrupts */ interrupts_disabled = ti_lib_int_master_disable(); /* Set all interrupt channels to CPE0 channel, error to CPE1 */ HWREG(RFC_DBELL_NONBUF_BASE + RFC_DBELL_O_RFCPEISL) = ERROR_IRQ; /* Acknowledge configured interrupts */ HWREG(RFC_DBELL_NONBUF_BASE + RFC_DBELL_O_RFCPEIEN) = enabled_irqs; /* Clear interrupt flags, active low clear(?) */ HWREG(RFC_DBELL_NONBUF_BASE + RFC_DBELL_O_RFCPEIFG) = 0x0; ti_lib_int_pend_clear(INT_RFC_CPE_0); ti_lib_int_pend_clear(INT_RFC_CPE_1); ti_lib_int_enable(INT_RFC_CPE_0); ti_lib_int_enable(INT_RFC_CPE_1); if(!interrupts_disabled) { ti_lib_int_master_enable(); } } /*---------------------------------------------------------------------------*/ void rf_core_cmd_done_en(bool fg, bool poll_mode) { uint32_t irq = fg ? IRQ_LAST_FG_COMMAND_DONE : IRQ_LAST_COMMAND_DONE; const uint32_t enabled_irqs = poll_mode ? ENABLED_IRQS_POLL_MODE : ENABLED_IRQS; HWREG(RFC_DBELL_NONBUF_BASE + RFC_DBELL_O_RFCPEIFG) = enabled_irqs; HWREG(RFC_DBELL_NONBUF_BASE + RFC_DBELL_O_RFCPEIEN) = enabled_irqs | irq; } /*---------------------------------------------------------------------------*/ void rf_core_cmd_done_dis(bool poll_mode) { const uint32_t enabled_irqs = poll_mode ? ENABLED_IRQS_POLL_MODE : ENABLED_IRQS; HWREG(RFC_DBELL_NONBUF_BASE + RFC_DBELL_O_RFCPEIEN) = enabled_irqs; } /*---------------------------------------------------------------------------*/ rfc_radioOp_t * rf_core_get_last_radio_op() { return last_radio_op; } /*---------------------------------------------------------------------------*/ void rf_core_init_radio_op(rfc_radioOp_t *op, uint16_t len, uint16_t command) { memset(op, 0, len); op->commandNo = command; op->condition.rule = COND_NEVER; } /*---------------------------------------------------------------------------*/ void rf_core_primary_mode_register(const rf_core_primary_mode_t *mode) { primary_mode = mode; } /*---------------------------------------------------------------------------*/ void rf_core_primary_mode_abort() { if(primary_mode) { if(primary_mode->abort) { primary_mode->abort(); } } } /*---------------------------------------------------------------------------*/ uint8_t rf_core_primary_mode_restore() { if(primary_mode) { if(primary_mode->restore) { return primary_mode->restore(); } } return RF_CORE_CMD_ERROR; } /*---------------------------------------------------------------------------*/ PROCESS_THREAD(rf_core_process, ev, data) { int len; PROCESS_BEGIN(); while(1) { PROCESS_YIELD_UNTIL(ev == PROCESS_EVENT_POLL); do { watchdog_periodic(); packetbuf_clear(); len = NETSTACK_RADIO.read(packetbuf_dataptr(), PACKETBUF_SIZE); if(len > 0) { packetbuf_set_datalen(len); NETSTACK_RDC.input(); } } while(len > 0); } PROCESS_END(); } /*---------------------------------------------------------------------------*/ static void rx_nok_isr(void) { RIMESTATS_ADD(badcrc); PRINTF("RF: Bad CRC\n"); } /*---------------------------------------------------------------------------*/ void cc26xx_rf_cpe1_isr(void) { ENERGEST_ON(ENERGEST_TYPE_IRQ); PRINTF("RF Error\n"); if(!rf_core_is_accessible()) { if(rf_core_power_up() != RF_CORE_CMD_OK) { return; } } /* Clear INTERNAL_ERROR interrupt flag */ HWREG(RFC_DBELL_NONBUF_BASE + RFC_DBELL_O_RFCPEIFG) = 0x7FFFFFFF; ENERGEST_OFF(ENERGEST_TYPE_IRQ); } /*---------------------------------------------------------------------------*/ void cc26xx_rf_cpe0_isr(void) { ENERGEST_ON(ENERGEST_TYPE_IRQ); if(!rf_core_is_accessible()) { printf("RF ISR called but RF not ready... PANIC!!\n"); if(rf_core_power_up() != RF_CORE_CMD_OK) { PRINTF("rf_core_power_up() failed\n"); return; } } ti_lib_int_master_disable(); if(HWREG(RFC_DBELL_NONBUF_BASE + RFC_DBELL_O_RFCPEIFG) & RX_FRAME_IRQ) { /* Clear the RX_ENTRY_DONE interrupt flag */ HWREG(RFC_DBELL_NONBUF_BASE + RFC_DBELL_O_RFCPEIFG) = 0xFF7FFFFF; process_poll(&rf_core_process); } if(RF_CORE_DEBUG_CRC) { if(HWREG(RFC_DBELL_NONBUF_BASE + RFC_DBELL_O_RFCPEIFG) & RX_NOK_IRQ) { /* Clear the RX_NOK interrupt flag */ HWREG(RFC_DBELL_NONBUF_BASE + RFC_DBELL_O_RFCPEIFG) = 0xFFFDFFFF; rx_nok_isr(); } } if(HWREG(RFC_DBELL_NONBUF_BASE + RFC_DBELL_O_RFCPEIFG) & (IRQ_LAST_FG_COMMAND_DONE | IRQ_LAST_COMMAND_DONE)) { /* Clear the two TX-related interrupt flags */ HWREG(RFC_DBELL_NONBUF_BASE + RFC_DBELL_O_RFCPEIFG) = 0xFFFFFFF5; } ti_lib_int_master_enable(); ENERGEST_OFF(ENERGEST_TYPE_IRQ); } /*---------------------------------------------------------------------------*/ /** @} */