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osd-contiki/platform/esb/dev/tr1001.c

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/*
* Copyright (c) 2005, Swedish Institute of Computer Science
* 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 Institute 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 INSTITUTE 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 INSTITUTE 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.
*
* This file is part of the Contiki operating system.
*
*/
/**
* \addtogroup esb
* @{
*/
/**
* \defgroup tr1001 TR1001 radio tranciever device driver
* @{
*/
/**
* \file
* Device driver and packet framing for the RFM-TR1001 radio module.
* \author Adam Dunkels <adam@sics.se>
*
* This file implements a device driver for the RFM-TR1001 radio
* tranciever.
*
*/
#include "contiki.h"
#include "contiki-esb.h"
#include "dev/tr1001.h"
#include "dev/radio-sensor.h"
#include "lib/me.h"
#include "lib/crc16.h"
#include "net/netstack.h"
#include "net/rime/rimestats.h"
#include "isr_compat.h"
#include <string.h>
#ifdef TR1001_CONF_BEEP_ON_BAD_CRC
#define BEEP_ON_BAD_CRC TR1001_CONF_BEEP_ON_BAD_CRC
#else
#define BEEP_ON_BAD_CRC 1
#endif /* TR1001_CONF_BEEP_ON_BAD_CRC */
#if BEEP_ON_BAD_CRC
#include "dev/beep.h"
#define BEEP_BEEP(t) beep_beep(t)
#else
#define BEEP_BEEP(t)
#endif /* BEEP_ON_BAD_CRC */
#define RXSTATE_READY 0
#define RXSTATE_RECEIVING 1
#define RXSTATE_FULL 2
#define SYNCH1 0x3c
#define SYNCH2 0x03
#ifdef TR1001_CONF_BUFFER_SIZE
#define RXBUFSIZE TR1001_CONF_BUFFER_SIZE
#else
#define RXBUFSIZE PACKETBUF_SIZE
#endif /* TR1001_CONF_BUFFER_SIZE */
/*
* Pending data to send when using prepare/transmit functions.
*/
static const void *pending_data;
/*
* The buffer which holds incoming data.
*/
unsigned char tr1001_rxbuf[RXBUFSIZE];
/*
* The length of the packet that currently is being received.
*/
static unsigned short tr1001_rxlen = 0;
/*
* The reception state.
*/
volatile unsigned char tr1001_rxstate = RXSTATE_READY;
static uint16_t rxcrc, rxcrctmp;
/*
* The structure of the packet header.
*/
struct tr1001_hdr {
uint8_t len[2]; /**< The 16-bit length of the packet in network byte
order. */
};
/*
* The length of the packet header.
*/
#define TR1001_HDRLEN sizeof(struct tr1001_hdr)
#define OFF 0
#define ON 1
static uint8_t onoroff = OFF;
#define NUM_SYNCHBYTES 4
void tr1001_default_rxhandler(unsigned char c);
PT_THREAD(tr1001_default_rxhandler_pt(unsigned char c));
static struct pt rxhandler_pt;
/*
* This timer is used to keep track of when the last byte was received
* over the radio. If the inter-byte time is too large, the packet
* currently being received is discarded and a new packet reception is
* initiated.
*/
static struct timer rxtimer;
static unsigned short tmp_sstrength, sstrength;
static unsigned short tmp_count;
#define DEBUG 0
#if DEBUG
#include <stdio.h>
#define LOG(...) printf(__VA_ARGS__)
#else
#define LOG(...)
#endif
/*---------------------------------------------------------------------------*/
PROCESS(tr1001_process, "TR1001 driver");
/*---------------------------------------------------------------------------*/
static int prepare_packet(const void *data, unsigned short len);
static int transmit_packet(unsigned short len);
static int receiving_packet(void);
static int pending_packet(void);
static int channel_clear(void);
static int tr1001_on(void);
static int tr1001_off(void);
const struct radio_driver tr1001_driver = {
tr1001_init,
prepare_packet,
transmit_packet,
tr1001_send,
tr1001_read,
channel_clear,
receiving_packet,
pending_packet,
tr1001_on,
tr1001_off
};
/*---------------------------------------------------------------------------*/
/*
* Turn on data transmission in On-Off-Keyed mode.
*/
static void
txook(void)
{
P3SEL = 0xf0;
P5OUT |= 0x40;
P5OUT &= 0x7f;
}
/*---------------------------------------------------------------------------*/
/*
* Turn on data reception for the radio tranceiver.
*/
static void
rxon(void)
{
P3SEL = 0xe0;
P5OUT |= 0xc0;
/* Enable the receiver. */
ME1 |= URXE0;
/* Turn on receive interrupt. */
IE1 |= URXIE0;
}
/*---------------------------------------------------------------------------*/
/*
* Turn off data reception for the radio tranceiver.
*/
static void
rxoff(void)
{
P5OUT &= 0x3f;
/* Disable the receiver. */
ME1 &= ~URXE0;
/* Turn off receive interrupt. */
IE1 &= ~URXIE0;
}
/*---------------------------------------------------------------------------*/
/*
* Clear the recevie buffer and reset the receiver state.
*/
static void
rxclear(void)
{
tr1001_rxstate = RXSTATE_READY;
}
/*---------------------------------------------------------------------------*/
/*
* Turn TR1001 radio transceiver off.
*/
/*---------------------------------------------------------------------------*/
static int
tr1001_off(void)
{
if(onoroff == OFF) {
return 1;
}
onoroff = OFF;
rxoff();
rxclear();
ENERGEST_OFF(ENERGEST_TYPE_LISTEN);
return 1;
}
/*---------------------------------------------------------------------------*/
/*
* Turn TR1001 radio transceiver on.
*/
/*---------------------------------------------------------------------------*/
static int
tr1001_on(void)
{
if(onoroff == ON) {
return 1;
}
ENERGEST_ON(ENERGEST_TYPE_LISTEN);
onoroff = ON;
rxon();
rxclear();
return 1;
}
/*---------------------------------------------------------------------------*/
/*
* Send a byte of data over the radio.
*
* \param b The byte to be sent.
*/
static void
send(unsigned char b)
{
clock_time_t start;
start = clock_time();
/* Wait until the USART0 TX buffer is ready. */
while((IFG1 & UTXIFG0) == 0) {
/* Wait no more than one second. */
if((clock_time_t)(clock_time() - start) > (clock_time_t)CLOCK_SECOND) {
break;
}
}
/* Send the byte. */
TXBUF0 = b;
}
/*---------------------------------------------------------------------------*/
/*
* Send a byte of data and its logical negation (all bits inverted)
* over the radio.
*
* \param b The byte to be sent.
*/
static void
send2(unsigned char b)
{
uint16_t m;
m = me_encode(b);
send(m >> 8);
send(m & 0xff);
}
static uint16_t
send2_crc16(unsigned char b, uint16_t crcacc)
{
uint16_t m;
m = me_encode(b);
send(m >> 8);
send(m & 0xff);
return crc16_add(b, crcacc);
}
/*---------------------------------------------------------------------------*/
void
tr1001_set_txpower(unsigned char p)
{
int i;
/* Clamp maximum power. */
if(p > 100) {
p = 100;
}
/* First, run the potentiometer down to zero so that we know the
start value of the potentiometer. */
P2OUT &= 0xDF; /* P25 = 0 (down selected) */
P2OUT &= 0xBF; /* P26 = 0 (chipselect on) */
for(i = 0; i < 102; ++i) {
P2OUT &= 0xEF; /* P24 = 0 (inc) */
P2OUT |= 0x10;
}
/* Now, start to increase the value of the potentiometer until it
reaches the desired value.*/
P2OUT |= 0x20; /* P25 = 1 (up selected) */
for(i = 0; i < p; ++i) {
P2OUT &= 0xEF; /* P24 = 0 (inc) */
P2OUT |= 0x10;
}
P2OUT |= 0x40; /* P26 = 1 (chipselect off) */
}
/*---------------------------------------------------------------------------*/
int
tr1001_init(void)
{
PT_INIT(&rxhandler_pt);
onoroff = OFF;
UCTL0 = CHAR; /* 8-bit character */
UTCTL0 = SSEL1; /* UCLK = SMCLK */
tr1001_set_speed(TR1001_19200);
ME1 |= UTXE0 + URXE0; /* Enable USART0 TXD/RXD */
/* Turn on receive interrupt. */
IE1 |= URXIE0;
timer_set(&rxtimer, CLOCK_SECOND / 4);
tr1001_on();
tr1001_set_txpower(100);
/* Reset reception state. */
rxclear();
process_start(&tr1001_process, NULL);
return 1;
}
/*---------------------------------------------------------------------------*/
ISR(UART0RX, tr1001_rxhandler)
{
ENERGEST_ON(ENERGEST_TYPE_IRQ);
tr1001_default_rxhandler_pt(RXBUF0);
if(tr1001_rxstate == RXSTATE_FULL) {
LPM4_EXIT;
}
ENERGEST_OFF(ENERGEST_TYPE_IRQ);
}
/*---------------------------------------------------------------------------*/
#if DEBUG
static void
dump_packet(int len)
{
int i;
for(i = 0; i < len; ++i) {
LOG("%d: 0x%02x\n", i, tr1001_rxbuf[i]);
}
}
#endif /* DEBUG */
/*---------------------------------------------------------------------------*/
PT_THREAD(tr1001_default_rxhandler_pt(unsigned char incoming_byte))
{
static unsigned char rxtmp, tmppos;
if(timer_expired(&rxtimer) && tr1001_rxstate != RXSTATE_FULL) {
PT_INIT(&rxhandler_pt);
}
timer_restart(&rxtimer);
if(tr1001_rxstate == RXSTATE_RECEIVING) {
unsigned short signal = radio_sensor.value(0);
tmp_sstrength += (signal >> 2);
tmp_count++;
}
PT_BEGIN(&rxhandler_pt);
while(1) {
/* Reset reception state. */
rxclear();
/* Wait until we receive the first syncronization byte. */
PT_WAIT_UNTIL(&rxhandler_pt, incoming_byte == SYNCH1);
tr1001_rxstate = RXSTATE_RECEIVING;
/* Read all incoming syncronization bytes. */
PT_WAIT_WHILE(&rxhandler_pt, incoming_byte == SYNCH1);
/* We should receive the second synch byte by now, otherwise we'll
restart the protothread. */
if(incoming_byte != SYNCH2) {
PT_RESTART(&rxhandler_pt);
}
/* Start signal strength measurement */
tmp_sstrength = 0;
tmp_count = 0;
/* Reset the CRC. */
rxcrc = 0xffff;
/* Read packet header. */
for(tmppos = 0; tmppos < TR1001_HDRLEN; ++tmppos) {
/* Wait for the first byte of the packet to arrive. */
PT_YIELD(&rxhandler_pt);
/* If the incoming byte isn't a valid Manchester encoded byte,
we start again from the beginning. */
if(!me_valid(incoming_byte)) {
BEEP_BEEP(1000);
LOG("Incorrect manchester in header at byte %d/1\n", tmppos);
RIMESTATS_ADD(badsynch);
PT_RESTART(&rxhandler_pt);
}
rxtmp = me_decode8(incoming_byte);
/* Wait for the next byte to arrive. */
PT_YIELD(&rxhandler_pt);
if(!me_valid(incoming_byte)) {
BEEP_BEEP(1000);
LOG("Incorrect manchester in header at byte %d/2\n", tmppos);
RIMESTATS_ADD(badsynch);
PT_RESTART(&rxhandler_pt);
}
/* Put together the two bytes into a single Manchester decoded
byte. */
tr1001_rxbuf[tmppos] = (rxtmp << 4) | me_decode8(incoming_byte);
/* Calculate the CRC. */
rxcrc = crc16_add(tr1001_rxbuf[tmppos], rxcrc);
}
/* Since we've got the header, we can grab the length from it. */
tr1001_rxlen = ((((struct tr1001_hdr *)tr1001_rxbuf)->len[0] << 8) +
((struct tr1001_hdr *)tr1001_rxbuf)->len[1]);
/* If the length is longer than we can handle, we'll start from
the beginning. */
if(tmppos + tr1001_rxlen > sizeof(tr1001_rxbuf)) {
RIMESTATS_ADD(toolong);
PT_RESTART(&rxhandler_pt);
}
/* Read packet data. */
for(; tmppos < tr1001_rxlen + TR1001_HDRLEN; ++tmppos) {
PT_YIELD(&rxhandler_pt);
if(!me_valid(incoming_byte)) {
LOG("Incorrect manchester 0x%02x at byte %d/1\n", incoming_byte,
tmppos - TR1001_HDRLEN);
BEEP_BEEP(1000);
RIMESTATS_ADD(badsynch);
PT_RESTART(&rxhandler_pt);
}
rxtmp = me_decode8(incoming_byte);
PT_YIELD(&rxhandler_pt);
if(!me_valid(incoming_byte)) {
LOG("Incorrect manchester at byte %d/2\n", tmppos - TR1001_HDRLEN);
BEEP_BEEP(1000);
RIMESTATS_ADD(badsynch);
PT_RESTART(&rxhandler_pt);
}
tr1001_rxbuf[tmppos] = (rxtmp << 4) | me_decode8(incoming_byte);
rxcrc = crc16_add(tr1001_rxbuf[tmppos], rxcrc);
}
/* Read the frame CRC. */
for(tmppos = 0; tmppos < 4; ++tmppos) {
PT_YIELD(&rxhandler_pt);
if(!me_valid(incoming_byte)) {
BEEP_BEEP(1000);
RIMESTATS_ADD(badsynch);
PT_RESTART(&rxhandler_pt);
}
rxcrctmp = (rxcrctmp << 4) | me_decode8(incoming_byte);
}
if(rxcrctmp == rxcrc) {
/* A full packet has been received and the CRC checks out. We'll
request the driver to take care of the incoming data. */
RIMESTATS_ADD(llrx);
process_poll(&tr1001_process);
/* We'll set the receive state flag to signal that a full frame
is present in the buffer, and we'll wait until the buffer has
been taken care of. */
tr1001_rxstate = RXSTATE_FULL;
PT_WAIT_UNTIL(&rxhandler_pt, tr1001_rxstate != RXSTATE_FULL);
} else {
LOG("Incorrect CRC\n");
BEEP_BEEP(1000);
RIMESTATS_ADD(badcrc);
}
}
PT_END(&rxhandler_pt);
}
/*---------------------------------------------------------------------------*/
static int
prepare_packet(const void *data, unsigned short len)
{
pending_data = data;
return 0;
}
/*---------------------------------------------------------------------------*/
static int
transmit_packet(unsigned short len)
{
int ret = RADIO_TX_ERR;
if(pending_data != NULL) {
ret = tr1001_send(pending_data, len);
pending_data = NULL;
}
return ret;
}
/*---------------------------------------------------------------------------*/
int
tr1001_send(const void *packet, unsigned short len)
{
int i;
uint16_t crc16;
LOG("tr1001_send: sending %d bytes\n", len);
if(onoroff == ON) {
ENERGEST_OFF(ENERGEST_TYPE_LISTEN);
}
ENERGEST_ON(ENERGEST_TYPE_TRANSMIT);
/* Prepare the transmission. */
/* Delay the transmission for a short random duration. */
clock_delay(random_rand() & 0x3ff);
/* Check that we don't currently are receiving a packet, and if so
we wait until the reception has been completed. Reception is done
with interrupts so it is OK for us to wait in a while() loop. */
while(tr1001_rxstate == RXSTATE_RECEIVING &&
!timer_expired(&rxtimer)) {
/* Delay the transmission for a short random duration. */
clock_delay(random_rand() & 0x7ff);
}
/* Turn on OOK mode with transmission. */
txook();
/* According to the datasheet, the transmitter must wait for 12 us
in order to settle. Empirical tests show that is it better to
wait for something like 283 us... */
clock_delay(200);
/* Transmit preamble and synch bytes. */
for(i = 0; i < 20; ++i) {
send(0xaa);
}
/* send(0xaa);
send(0xaa);*/
send(0xff);
for(i = 0; i < NUM_SYNCHBYTES; ++i) {
send(SYNCH1);
}
send(SYNCH2);
crc16 = 0xffff;
/* Send packet header. */
crc16 = send2_crc16(len >> 8, crc16);
crc16 = send2_crc16(len & 0xff, crc16);
/* Send packet data. */
for(i = 0; i < len; ++i) {
crc16 = send2_crc16(((uint8_t *)packet)[i], crc16);
}
/* Send CRC */
send2(crc16 >> 8);
send2(crc16 & 0xff);
/* Send trailing bytes. */
send(0x33);
send(0xcc);
send(0x33);
send(0xcc);
/* Turn on (or off) reception again. */
if(onoroff == ON) {
ENERGEST_ON(ENERGEST_TYPE_LISTEN);
rxon();
rxclear();
} else {
rxoff();
rxclear();
}
ENERGEST_OFF(ENERGEST_TYPE_TRANSMIT);
RIMESTATS_ADD(lltx);
return RADIO_TX_OK;
}
/*---------------------------------------------------------------------------*/
int
tr1001_read(void *buf, unsigned short bufsize)
{
unsigned short tmplen;
if(tr1001_rxstate == RXSTATE_FULL) {
#if DEBUG
dump_packet(tr1001_rxlen + 2);
#endif /* DEBUG */
tmplen = tr1001_rxlen;
if(tmplen > bufsize) {
LOG("tr1001_read: too large packet: %d/%d bytes\n", tmplen, bufsize);
rxclear();
RIMESTATS_ADD(toolong);
return -1;
}
memcpy(buf, &tr1001_rxbuf[TR1001_HDRLEN], tmplen);
/* header + content + CRC */
sstrength = (tmp_count ? ((tmp_sstrength / tmp_count) << 2) : 0);
rxclear();
LOG("tr1001_read: got %d bytes\n", tmplen);
return tmplen;
}
return 0;
}
/*---------------------------------------------------------------------------*/
static int
receiving_packet(void)
{
return tr1001_rxstate == RXSTATE_RECEIVING &&
!timer_expired(&rxtimer);
}
/*---------------------------------------------------------------------------*/
static int
pending_packet(void)
{
return tr1001_rxstate == RXSTATE_FULL;
}
/*---------------------------------------------------------------------------*/
static int
channel_clear(void)
{
/* TODO add CCA functionality */
return 0;
}
/*---------------------------------------------------------------------------*/
PROCESS_THREAD(tr1001_process, ev, data)
{
int len;
PROCESS_BEGIN();
/* Reset reception state now that the process is ready to receive data. */
rxclear();
while(1) {
PROCESS_YIELD_UNTIL(ev == PROCESS_EVENT_POLL);
packetbuf_clear();
len = tr1001_read(packetbuf_dataptr(), PACKETBUF_SIZE);
if(len > 0) {
packetbuf_set_datalen(len);
NETSTACK_RDC.input();
}
}
PROCESS_END();
}
/*---------------------------------------------------------------------------*/
void
tr1001_set_speed(unsigned char speed)
{
if(speed == TR1001_19200) {
/* Set TR1001 to 19200 */
UBR00 = 0x80; /* 2,457MHz/19200 = 128 -> 0x80 */
UBR10 = 0x00; /* */
UMCTL0 = 0x00; /* no modulation */
} else if(speed == TR1001_38400) {
/* Set TR1001 to 38400 */
UBR00 = 0x40; /* 2,457MHz/38400 = 64 -> 0x40 */
UBR10 = 0x00; /* */
UMCTL0 = 0x00; /* no modulation */
} else if(speed == TR1001_57600) {
UBR00 = 0x2a; /* 2,457MHz/57600 = 42.7 -> 0x2A */
UBR10 = 0x00; /* */
UMCTL0 = 0x5b; /* */
} else if(speed == TR1001_115200) {
UBR00 = 0x15; /* 2,457MHz/115200 = 21.4 -> 0x15 */
UBR10 = 0x00; /* */
UMCTL0 = 0x4a; /* */
} else {
tr1001_set_speed(TR1001_19200);
}
}
/*---------------------------------------------------------------------------*/
unsigned short
tr1001_sstrength(void)
{
return sstrength;
}
/*---------------------------------------------------------------------------*/
/** @} */
/** @} */
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