Merge pull request #2649 from blueluna/feat/radio-ieee802154
[embassy-nrf] IEEE 802.15.4 radio
This commit is contained in:
commit
0cedce4068
13 changed files with 650 additions and 51 deletions
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@ -99,6 +99,9 @@ embassy_hal_internal::peripherals! {
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// TEMP
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TEMP,
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// Radio
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RADIO,
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}
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impl_timer!(TIMER0, TIMER0, TIMER0);
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@ -140,6 +143,8 @@ impl_pin!(P0_29, 0, 29);
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impl_pin!(P0_30, 0, 30);
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impl_pin!(P0_31, 0, 31);
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impl_radio!(RADIO, RADIO, RADIO);
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embassy_hal_internal::interrupt_mod!(
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POWER_CLOCK,
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RADIO,
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@ -129,6 +129,9 @@ embassy_hal_internal::peripherals! {
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// QDEC
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QDEC,
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// Radio
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RADIO,
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}
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impl_uarte!(UARTE0, UARTE0, UARTE0_UART0);
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@ -209,6 +212,8 @@ impl_ppi_channel!(PPI_CH31, 31 => static);
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impl_saadc_input!(P0_04, ANALOG_INPUT2);
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impl_saadc_input!(P0_05, ANALOG_INPUT3);
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impl_radio!(RADIO, RADIO, RADIO);
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embassy_hal_internal::interrupt_mod!(
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POWER_CLOCK,
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RADIO,
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@ -135,6 +135,9 @@ embassy_hal_internal::peripherals! {
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// PDM
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PDM,
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// Radio
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RADIO,
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}
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impl_uarte!(UARTE0, UARTE0, UARTE0_UART0);
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@ -235,6 +238,8 @@ impl_saadc_input!(P0_29, ANALOG_INPUT5);
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impl_saadc_input!(P0_30, ANALOG_INPUT6);
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impl_saadc_input!(P0_31, ANALOG_INPUT7);
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impl_radio!(RADIO, RADIO, RADIO);
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embassy_hal_internal::interrupt_mod!(
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POWER_CLOCK,
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RADIO,
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@ -135,6 +135,9 @@ embassy_hal_internal::peripherals! {
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// PDM
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PDM,
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// Radio
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RADIO,
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}
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impl_uarte!(UARTE0, UARTE0, UARTE0_UART0);
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@ -237,6 +240,8 @@ impl_saadc_input!(P0_29, ANALOG_INPUT5);
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impl_saadc_input!(P0_30, ANALOG_INPUT6);
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impl_saadc_input!(P0_31, ANALOG_INPUT7);
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impl_radio!(RADIO, RADIO, RADIO);
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embassy_hal_internal::interrupt_mod!(
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POWER_CLOCK,
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RADIO,
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@ -130,6 +130,9 @@ embassy_hal_internal::peripherals! {
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// QDEC
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QDEC,
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// Radio
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RADIO,
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}
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impl_usb!(USBD, USBD, USBD);
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@ -224,6 +227,8 @@ impl_ppi_channel!(PPI_CH29, 29 => static);
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impl_ppi_channel!(PPI_CH30, 30 => static);
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impl_ppi_channel!(PPI_CH31, 31 => static);
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impl_radio!(RADIO, RADIO, RADIO);
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embassy_hal_internal::interrupt_mod!(
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POWER_CLOCK,
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RADIO,
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@ -150,6 +150,9 @@ embassy_hal_internal::peripherals! {
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// PDM
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PDM,
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// Radio
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RADIO,
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}
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impl_uarte!(UARTE0, UARTE0, UARTE0_UART0);
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@ -264,6 +267,8 @@ impl_saadc_input!(P0_31, ANALOG_INPUT7);
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impl_i2s!(I2S, I2S, I2S);
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impl_radio!(RADIO, RADIO, RADIO);
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embassy_hal_internal::interrupt_mod!(
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POWER_CLOCK,
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RADIO,
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@ -170,6 +170,9 @@ embassy_hal_internal::peripherals! {
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// I2S
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I2S,
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// Radio
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RADIO,
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}
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impl_usb!(USBD, USBD, USBD);
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@ -306,6 +309,8 @@ impl_saadc_input!(P0_31, ANALOG_INPUT7);
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impl_i2s!(I2S, I2S, I2S);
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impl_radio!(RADIO, RADIO, RADIO);
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embassy_hal_internal::interrupt_mod!(
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POWER_CLOCK,
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RADIO,
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@ -248,6 +248,9 @@ embassy_hal_internal::peripherals! {
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P1_13,
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P1_14,
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P1_15,
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// Radio
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RADIO,
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}
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impl_uarte!(SERIAL0, UARTE0, SERIAL0);
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@ -345,6 +348,8 @@ impl_ppi_channel!(PPI_CH29, 29 => configurable);
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impl_ppi_channel!(PPI_CH30, 30 => configurable);
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impl_ppi_channel!(PPI_CH31, 31 => configurable);
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impl_radio!(RADIO, RADIO, RADIO);
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embassy_hal_internal::interrupt_mod!(
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CLOCK_POWER,
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RADIO,
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@ -47,7 +47,7 @@ pub mod gpio;
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pub mod gpiote;
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// TODO: tested on other chips
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#[cfg(any(feature = "nrf52840"))]
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#[cfg(not(any(feature = "_nrf9160", feature = "_nrf5340-app")))]
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pub mod radio;
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#[cfg(any(feature = "nrf52832", feature = "nrf52833", feature = "nrf52840"))]
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@ -7,27 +7,14 @@ use core::task::Poll;
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use embassy_hal_internal::drop::OnDrop;
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use embassy_hal_internal::{into_ref, PeripheralRef};
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pub use pac::radio::mode::MODE_A as Mode;
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#[cfg(not(feature = "nrf51"))]
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use pac::radio::pcnf0::PLEN_A as PreambleLength;
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use pac::radio::state::STATE_A as RadioState;
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pub use pac::radio::txpower::TXPOWER_A as TxPower;
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use crate::interrupt::typelevel::Interrupt;
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use crate::radio::*;
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pub use crate::radio::{Error, TxPower};
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use crate::util::slice_in_ram_or;
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/// RADIO error.
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#[derive(Debug, Clone, Copy, PartialEq, Eq)]
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#[cfg_attr(feature = "defmt", derive(defmt::Format))]
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#[non_exhaustive]
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pub enum Error {
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/// Buffer was too long.
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BufferTooLong,
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/// Buffer was to short.
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BufferTooShort,
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/// The buffer is not in data RAM. It is most likely in flash, and nRF's DMA cannot access flash.
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BufferNotInRAM,
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}
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/// Radio driver.
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pub struct Radio<'d, T: Instance> {
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_p: PeripheralRef<'d, T>,
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@ -98,6 +85,7 @@ impl<'d, T: Instance> Radio<'d, T> {
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// Ch map between 2400 MHZ .. 2500 MHz
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// All modes use this range
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#[cfg(not(feature = "nrf51"))]
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r.frequency.write(|w| w.map().default());
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// Configure shortcuts to simplify and speed up sending and receiving packets.
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@ -115,25 +103,7 @@ impl<'d, T: Instance> Radio<'d, T> {
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}
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fn state(&self) -> RadioState {
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match T::regs().state.read().state().variant() {
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Some(s) => s,
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None => unreachable!(),
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}
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}
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#[allow(dead_code)]
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fn trace_state(&self) {
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match self.state() {
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RadioState::DISABLED => trace!("radio:state:DISABLED"),
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RadioState::RX_RU => trace!("radio:state:RX_RU"),
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RadioState::RX_IDLE => trace!("radio:state:RX_IDLE"),
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RadioState::RX => trace!("radio:state:RX"),
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RadioState::RX_DISABLE => trace!("radio:state:RX_DISABLE"),
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RadioState::TX_RU => trace!("radio:state:TX_RU"),
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RadioState::TX_IDLE => trace!("radio:state:TX_IDLE"),
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RadioState::TX => trace!("radio:state:TX"),
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RadioState::TX_DISABLE => trace!("radio:state:TX_DISABLE"),
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}
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super::state(T::regs())
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}
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/// Set the radio mode
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@ -145,10 +115,18 @@ impl<'d, T: Instance> Radio<'d, T> {
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let r = T::regs();
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r.mode.write(|w| w.mode().variant(mode));
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#[cfg(not(feature = "nrf51"))]
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r.pcnf0.write(|w| {
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w.plen().variant(match mode {
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Mode::BLE_1MBIT => PreambleLength::_8BIT,
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Mode::BLE_2MBIT => PreambleLength::_16BIT,
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#[cfg(any(
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feature = "nrf52811",
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feature = "nrf52820",
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feature = "nrf52833",
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feature = "nrf52840",
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feature = "_nrf5340-net"
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))]
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Mode::BLE_LR125KBIT | Mode::BLE_LR500KBIT => PreambleLength::LONG_RANGE,
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_ => unimplemented!(),
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})
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@ -331,7 +309,8 @@ impl<'d, T: Instance> Radio<'d, T> {
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self.trigger_and_wait_end(move || {
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// Initialize the transmission
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// trace!("txen");
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r.tasks_txen.write(|w| w.tasks_txen().set_bit());
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r.tasks_txen.write(|w| unsafe { w.bits(1) });
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})
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.await;
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@ -348,7 +327,7 @@ impl<'d, T: Instance> Radio<'d, T> {
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self.trigger_and_wait_end(move || {
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// Initialize the transmission
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// trace!("rxen");
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r.tasks_rxen.write(|w| w.tasks_rxen().set_bit());
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r.tasks_rxen.write(|w| unsafe { w.bits(1) });
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})
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.await;
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@ -370,10 +349,10 @@ impl<'d, T: Instance> Radio<'d, T> {
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r.intenclr.write(|w| w.end().clear());
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r.events_end.reset();
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r.tasks_stop.write(|w| w.tasks_stop().set_bit());
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r.tasks_stop.write(|w| unsafe { w.bits(1) });
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// The docs don't explicitly mention any event to acknowledge the stop task
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while r.events_end.read().events_end().bit_is_clear() {}
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while r.events_end.read().bits() == 0 {}
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trace!("radio drop: stopped");
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});
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@ -393,8 +372,8 @@ impl<'d, T: Instance> Radio<'d, T> {
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// On poll check if interrupt happen
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poll_fn(|cx| {
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s.end_waker.register(cx.waker());
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if r.events_end.read().events_end().bit_is_set() {
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s.event_waker.register(cx.waker());
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if r.events_end.read().bits() == 1 {
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// trace!("radio:end");
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return core::task::Poll::Ready(());
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}
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@ -418,10 +397,10 @@ impl<'d, T: Instance> Radio<'d, T> {
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if self.state() != RadioState::DISABLED {
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trace!("radio:disable");
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// Trigger the disable task
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r.tasks_disable.write(|w| w.tasks_disable().set_bit());
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r.tasks_disable.write(|w| unsafe { w.bits(1) });
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// Wait until the radio is disabled
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while r.events_disabled.read().events_disabled().bit_is_clear() {}
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while r.events_disabled.read().bits() == 0 {}
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compiler_fence(Ordering::SeqCst);
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546
embassy-nrf/src/radio/ieee802154.rs
Normal file
546
embassy-nrf/src/radio/ieee802154.rs
Normal file
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@ -0,0 +1,546 @@
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//! IEEE 802.15.4 radio driver
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use core::sync::atomic::{compiler_fence, Ordering};
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use core::task::Poll;
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use embassy_hal_internal::drop::OnDrop;
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use embassy_hal_internal::{into_ref, PeripheralRef};
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use super::{state, Error, Instance, InterruptHandler, RadioState, TxPower};
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use crate::interrupt::typelevel::Interrupt;
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use crate::interrupt::{self};
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use crate::Peripheral;
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/// Default (IEEE compliant) Start of Frame Delimiter
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pub const DEFAULT_SFD: u8 = 0xA7;
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// TODO expose the other variants in `pac::CCAMODE_A`
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/// Clear Channel Assessment method
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pub enum Cca {
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/// Carrier sense
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CarrierSense,
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/// Energy Detection / Energy Above Threshold
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EnergyDetection {
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/// Energy measurements above this value mean that the channel is assumed to be busy.
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/// Note the measurement range is 0..0xFF - where 0 means that the received power was
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/// less than 10 dB above the selected receiver sensitivity. This value is not given in dBm,
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/// but can be converted. See the nrf52840 Product Specification Section 6.20.12.4
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/// for details.
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ed_threshold: u8,
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},
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}
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/// IEEE 802.15.4 radio driver.
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pub struct Radio<'d, T: Instance> {
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_p: PeripheralRef<'d, T>,
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needs_enable: bool,
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}
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impl<'d, T: Instance> Radio<'d, T> {
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/// Create a new IEEE 802.15.4 radio driver.
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pub fn new(
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radio: impl Peripheral<P = T> + 'd,
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_irq: impl interrupt::typelevel::Binding<T::Interrupt, InterruptHandler<T>> + 'd,
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) -> Self {
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into_ref!(radio);
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let r = T::regs();
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// Disable and enable to reset peripheral
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r.power.write(|w| w.power().disabled());
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r.power.write(|w| w.power().enabled());
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// Enable 802.15.4 mode
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r.mode.write(|w| w.mode().ieee802154_250kbit());
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// Configure CRC skip address
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r.crccnf.write(|w| w.len().two().skipaddr().ieee802154());
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unsafe {
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// Configure CRC polynomial and init
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r.crcpoly.write(|w| w.crcpoly().bits(0x0001_1021));
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r.crcinit.write(|w| w.crcinit().bits(0));
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r.pcnf0.write(|w| {
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// 8-bit on air length
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w.lflen()
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.bits(8)
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// Zero bytes S0 field length
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.s0len()
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.clear_bit()
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// Zero bytes S1 field length
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.s1len()
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.bits(0)
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// Do not include S1 field in RAM if S1 length > 0
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.s1incl()
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.clear_bit()
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// Zero code Indicator length
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.cilen()
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.bits(0)
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// 32-bit zero preamble
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.plen()
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._32bit_zero()
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// Include CRC in length
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.crcinc()
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.include()
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});
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r.pcnf1.write(|w| {
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// Maximum packet length
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w.maxlen()
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.bits(Packet::MAX_PSDU_LEN)
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// Zero static length
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.statlen()
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.bits(0)
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// Zero base address length
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.balen()
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.bits(0)
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// Little-endian
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.endian()
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.clear_bit()
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// Disable packet whitening
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.whiteen()
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.clear_bit()
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});
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}
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// Enable NVIC interrupt
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T::Interrupt::unpend();
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unsafe { T::Interrupt::enable() };
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let mut radio = Self {
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_p: radio,
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needs_enable: false,
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};
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radio.set_sfd(DEFAULT_SFD);
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radio.set_transmission_power(0);
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radio.set_channel(11);
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radio.set_cca(Cca::CarrierSense);
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radio
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}
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/// Changes the radio channel
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pub fn set_channel(&mut self, channel: u8) {
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let r = T::regs();
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if channel < 11 || channel > 26 {
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panic!("Bad 802.15.4 channel");
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}
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let frequency_offset = (channel - 10) * 5;
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self.needs_enable = true;
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r.frequency
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.write(|w| unsafe { w.frequency().bits(frequency_offset).map().default() });
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}
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/// Changes the Clear Channel Assessment method
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pub fn set_cca(&mut self, cca: Cca) {
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let r = T::regs();
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self.needs_enable = true;
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match cca {
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Cca::CarrierSense => r.ccactrl.write(|w| w.ccamode().carrier_mode()),
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Cca::EnergyDetection { ed_threshold } => {
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// "[ED] is enabled by first configuring the field CCAMODE=EdMode in CCACTRL
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// and writing the CCAEDTHRES field to a chosen value."
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r.ccactrl
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.write(|w| unsafe { w.ccamode().ed_mode().ccaedthres().bits(ed_threshold) });
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}
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}
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}
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/// Changes the Start of Frame Delimiter (SFD)
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pub fn set_sfd(&mut self, sfd: u8) {
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let r = T::regs();
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r.sfd.write(|w| unsafe { w.sfd().bits(sfd) });
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}
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/// Clear interrupts
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pub fn clear_all_interrupts(&mut self) {
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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<usize> = 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);
|
||||
}
|
|
@ -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<T: Instance> {
|
||||
_phantom: PhantomData<T>,
|
||||
|
@ -21,11 +50,9 @@ impl<T: Instance> interrupt::typelevel::Handler<T::Interrupt> 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<P = Self> + 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!(),
|
||||
}
|
||||
}
|
||||
|
|
|
@ -34,7 +34,6 @@ pub(crate) fn slice_in_ram<T>(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<T, E>(slice: *const [T], err: E) -> Result<(), E> {
|
||||
let (_, len) = slice_ptr_parts(slice);
|
||||
if len == 0 || slice_in_ram(slice) {
|
||||
|
|
Loading…
Add table
Reference in a new issue