From 847b8be81480b249a2e8b1ff502e6188d2dadf04 Mon Sep 17 00:00:00 2001
From: "Guilherme S. Salustiano" <guissalustiano@gmail.com>
Date: Wed, 7 Feb 2024 15:25:07 +0100
Subject: [PATCH 01/13] feat/implement ble radio on nrf
---
embassy-nrf/Cargo.toml | 5 +
embassy-nrf/src/chips/nrf52805.rs | 6 +
embassy-nrf/src/chips/nrf52810.rs | 6 +
embassy-nrf/src/chips/nrf52811.rs | 6 +
embassy-nrf/src/chips/nrf52820.rs | 6 +
embassy-nrf/src/chips/nrf52832.rs | 6 +
embassy-nrf/src/chips/nrf52833.rs | 6 +
embassy-nrf/src/chips/nrf52840.rs | 6 +
embassy-nrf/src/chips/nrf5340_net.rs | 6 +
embassy-nrf/src/lib.rs | 6 +
embassy-nrf/src/radio/ble.rs | 432 ++++++++++++++++++
embassy-nrf/src/radio/mod.rs | 89 ++++
examples/nrf52840/Cargo.toml | 8 +-
.../nrf52840/src/bin/radio_ble_advertising.rs | 42 ++
14 files changed, 628 insertions(+), 2 deletions(-)
create mode 100644 embassy-nrf/src/radio/ble.rs
create mode 100644 embassy-nrf/src/radio/mod.rs
create mode 100644 examples/nrf52840/src/bin/radio_ble_advertising.rs
diff --git a/embassy-nrf/Cargo.toml b/embassy-nrf/Cargo.toml
index 7e161df9b..dcdc7f313 100644
--- a/embassy-nrf/Cargo.toml
+++ b/embassy-nrf/Cargo.toml
@@ -57,6 +57,9 @@ unstable-pac = []
## Enable GPIO tasks and events
gpiote = []
+## Enable radio driver
+radio = ["dep:jewel"]
+
## Use RTC1 as the time driver for `embassy-time`, with a tick rate of 32.768khz
time-driver-rtc1 = ["_time-driver"]
@@ -150,6 +153,8 @@ embedded-storage-async = "0.4.0"
cfg-if = "1.0.0"
document-features = "0.2.7"
+jewel = { version = "0.1.0", git = "https://github.com/jewel-rs/jewel", optional = true }
+
nrf51-pac = { version = "0.12.0", optional = true }
nrf52805-pac = { version = "0.12.0", optional = true }
nrf52810-pac = { version = "0.12.0", optional = true }
diff --git a/embassy-nrf/src/chips/nrf52805.rs b/embassy-nrf/src/chips/nrf52805.rs
index 624d6613d..b97c85f9e 100644
--- a/embassy-nrf/src/chips/nrf52805.rs
+++ b/embassy-nrf/src/chips/nrf52805.rs
@@ -129,6 +129,9 @@ embassy_hal_internal::peripherals! {
// QDEC
QDEC,
+
+ // RADIO
+ RADIO,
}
impl_uarte!(UARTE0, UARTE0, UARTE0_UART0);
@@ -209,6 +212,9 @@ impl_ppi_channel!(PPI_CH31, 31 => static);
impl_saadc_input!(P0_04, ANALOG_INPUT2);
impl_saadc_input!(P0_05, ANALOG_INPUT3);
+#[cfg(feature = "radio")]
+impl_radio!(RADIO, RADIO, RADIO);
+
embassy_hal_internal::interrupt_mod!(
POWER_CLOCK,
RADIO,
diff --git a/embassy-nrf/src/chips/nrf52810.rs b/embassy-nrf/src/chips/nrf52810.rs
index 002feab3b..03548d03f 100644
--- a/embassy-nrf/src/chips/nrf52810.rs
+++ b/embassy-nrf/src/chips/nrf52810.rs
@@ -135,6 +135,9 @@ embassy_hal_internal::peripherals! {
// PDM
PDM,
+
+ // Radio
+ RADIO,
}
impl_uarte!(UARTE0, UARTE0, UARTE0_UART0);
@@ -235,6 +238,9 @@ impl_saadc_input!(P0_29, ANALOG_INPUT5);
impl_saadc_input!(P0_30, ANALOG_INPUT6);
impl_saadc_input!(P0_31, ANALOG_INPUT7);
+#[cfg(feature = "radio")]
+impl_radio!(RADIO, RADIO, RADIO);
+
embassy_hal_internal::interrupt_mod!(
POWER_CLOCK,
RADIO,
diff --git a/embassy-nrf/src/chips/nrf52811.rs b/embassy-nrf/src/chips/nrf52811.rs
index 5952907f8..992fbd129 100644
--- a/embassy-nrf/src/chips/nrf52811.rs
+++ b/embassy-nrf/src/chips/nrf52811.rs
@@ -135,6 +135,9 @@ embassy_hal_internal::peripherals! {
// PDM
PDM,
+
+ // Radio
+ RADIO,
}
impl_uarte!(UARTE0, UARTE0, UARTE0_UART0);
@@ -237,6 +240,9 @@ impl_saadc_input!(P0_29, ANALOG_INPUT5);
impl_saadc_input!(P0_30, ANALOG_INPUT6);
impl_saadc_input!(P0_31, ANALOG_INPUT7);
+#[cfg(feature = "radio")]
+impl_radio!(RADIO, RADIO, RADIO);
+
embassy_hal_internal::interrupt_mod!(
POWER_CLOCK,
RADIO,
diff --git a/embassy-nrf/src/chips/nrf52820.rs b/embassy-nrf/src/chips/nrf52820.rs
index c2f792cb9..f241f4ea3 100644
--- a/embassy-nrf/src/chips/nrf52820.rs
+++ b/embassy-nrf/src/chips/nrf52820.rs
@@ -130,6 +130,9 @@ embassy_hal_internal::peripherals! {
// QDEC
QDEC,
+
+ // Radio
+ RADIO,
}
impl_usb!(USBD, USBD, USBD);
@@ -224,6 +227,9 @@ impl_ppi_channel!(PPI_CH29, 29 => static);
impl_ppi_channel!(PPI_CH30, 30 => static);
impl_ppi_channel!(PPI_CH31, 31 => static);
+#[cfg(feature = "radio")]
+impl_radio!(RADIO, RADIO, RADIO);
+
embassy_hal_internal::interrupt_mod!(
POWER_CLOCK,
RADIO,
diff --git a/embassy-nrf/src/chips/nrf52832.rs b/embassy-nrf/src/chips/nrf52832.rs
index 65d52364d..6bbdd9a63 100644
--- a/embassy-nrf/src/chips/nrf52832.rs
+++ b/embassy-nrf/src/chips/nrf52832.rs
@@ -150,6 +150,9 @@ embassy_hal_internal::peripherals! {
// PDM
PDM,
+
+ // Radio
+ RADIO,
}
impl_uarte!(UARTE0, UARTE0, UARTE0_UART0);
@@ -264,6 +267,9 @@ impl_saadc_input!(P0_31, ANALOG_INPUT7);
impl_i2s!(I2S, I2S, I2S);
+#[cfg(feature = "radio")]
+impl_radio!(RADIO, RADIO, RADIO);
+
embassy_hal_internal::interrupt_mod!(
POWER_CLOCK,
RADIO,
diff --git a/embassy-nrf/src/chips/nrf52833.rs b/embassy-nrf/src/chips/nrf52833.rs
index 7c9b66d69..e137e4dc6 100644
--- a/embassy-nrf/src/chips/nrf52833.rs
+++ b/embassy-nrf/src/chips/nrf52833.rs
@@ -170,6 +170,9 @@ embassy_hal_internal::peripherals! {
// I2S
I2S,
+
+ // Radio
+ RADIO,
}
impl_usb!(USBD, USBD, USBD);
@@ -306,6 +309,9 @@ impl_saadc_input!(P0_31, ANALOG_INPUT7);
impl_i2s!(I2S, I2S, I2S);
+#[cfg(feature = "radio")]
+impl_radio!(RADIO, RADIO, RADIO);
+
embassy_hal_internal::interrupt_mod!(
POWER_CLOCK,
RADIO,
diff --git a/embassy-nrf/src/chips/nrf52840.rs b/embassy-nrf/src/chips/nrf52840.rs
index 51c55cd4d..2d805f871 100644
--- a/embassy-nrf/src/chips/nrf52840.rs
+++ b/embassy-nrf/src/chips/nrf52840.rs
@@ -173,6 +173,9 @@ embassy_hal_internal::peripherals! {
// I2S
I2S,
+
+ // Radio
+ RADIO,
}
impl_usb!(USBD, USBD, USBD);
@@ -311,6 +314,9 @@ impl_saadc_input!(P0_31, ANALOG_INPUT7);
impl_i2s!(I2S, I2S, I2S);
+#[cfg(feature = "radio")]
+impl_radio!(RADIO, RADIO, RADIO);
+
embassy_hal_internal::interrupt_mod!(
POWER_CLOCK,
RADIO,
diff --git a/embassy-nrf/src/chips/nrf5340_net.rs b/embassy-nrf/src/chips/nrf5340_net.rs
index a7cf82872..3248bde52 100644
--- a/embassy-nrf/src/chips/nrf5340_net.rs
+++ b/embassy-nrf/src/chips/nrf5340_net.rs
@@ -248,6 +248,9 @@ embassy_hal_internal::peripherals! {
P1_13,
P1_14,
P1_15,
+
+ // Radio
+ RADIO,
}
impl_uarte!(SERIAL0, UARTE0, SERIAL0);
@@ -345,6 +348,9 @@ impl_ppi_channel!(PPI_CH29, 29 => configurable);
impl_ppi_channel!(PPI_CH30, 30 => configurable);
impl_ppi_channel!(PPI_CH31, 31 => configurable);
+#[cfg(feature = "radio")]
+impl_radio!(RADIO, RADIO, RADIO);
+
embassy_hal_internal::interrupt_mod!(
CLOCK_POWER,
RADIO,
diff --git a/embassy-nrf/src/lib.rs b/embassy-nrf/src/lib.rs
index 358a7cc27..961928d11 100644
--- a/embassy-nrf/src/lib.rs
+++ b/embassy-nrf/src/lib.rs
@@ -45,6 +45,12 @@ pub mod buffered_uarte;
pub mod gpio;
#[cfg(feature = "gpiote")]
pub mod gpiote;
+
+#[cfg(feature = "radio")]
+pub mod radio;
+#[cfg(all(feature = "radio", feature = "_nrf9160"))]
+compile_error!("feature `radio` is not valid for nRF91 series chips.");
+
#[cfg(any(feature = "nrf52832", feature = "nrf52833", feature = "nrf52840"))]
pub mod i2s;
pub mod nvmc;
diff --git a/embassy-nrf/src/radio/ble.rs b/embassy-nrf/src/radio/ble.rs
new file mode 100644
index 000000000..a5d9f447b
--- /dev/null
+++ b/embassy-nrf/src/radio/ble.rs
@@ -0,0 +1,432 @@
+//! Radio driver implementation focused on Bluetooth Low-Energy transmission.
+//!
+//! The radio can calculate the CRC, perform data whitening,
+//! automatically send the right preamble.
+//! Most of the configuration is done automatically when you choose the mode and this driver.
+//!
+//! Some configuration can just be done when de device is disabled,
+//! and the configuration varies depending if is a transmitter or a receiver.
+//! Because of that we have a state machine to keep track of the state of the radio.
+//! The Radio is the disable radio which configure the common parameters between
+//! the bluetooth protocols, like the package format, the CRC and the whitening.
+//! The TxRadio radio enable and configured as a transmitter with the specific parameters.
+
+use core::future::poll_fn;
+use core::sync::atomic::{compiler_fence, Ordering};
+use core::task::Poll;
+
+use embassy_hal_internal::drop::OnDrop;
+use embassy_hal_internal::{into_ref, PeripheralRef};
+use jewel::phy::{
+ AdvertisingChannel, Channel, ChannelTrait, HeaderSize, Mode, Radio as BleRadio, ADV_ADDRESS, ADV_CRC_INIT,
+ CRC_POLY, MAX_PDU_LENGTH,
+};
+use pac::radio::mode::MODE_A as PacMode;
+use pac::radio::pcnf0::PLEN_A as PreambleLength;
+// Re-export SVD variants to allow user to directly set values.
+pub use pac::radio::{state::STATE_A as RadioState, txpower::TXPOWER_A as TxPower};
+
+use crate::interrupt::typelevel::Interrupt;
+use crate::radio::*;
+use crate::util::slice_in_ram_or;
+
+/// UART error.
+#[derive(Debug, Clone, Copy, PartialEq, Eq)]
+#[cfg_attr(feature = "defmt", derive(defmt::Format))]
+#[non_exhaustive]
+pub enum Error {
+ /// Buffer was too long.
+ BufferTooLong,
+ /// Buffer was to short.
+ BufferTooShort,
+ /// The buffer is not in data RAM. It's most likely in flash, and nRF's DMA cannot access flash.
+ BufferNotInRAM,
+}
+
+/// Radio driver.
+pub struct Radio<'d, T: Instance> {
+ _p: PeripheralRef<'d, T>,
+}
+
+impl<'d, T: Instance> Radio<'d, T> {
+ /// Create a new radio driver.
+ pub fn new(
+ radio: impl Peripheral<P = T> + 'd,
+ _irq: impl interrupt::typelevel::Binding<T::Interrupt, InterruptHandler<T>> + 'd,
+ ) -> Self {
+ // From 5.4.1 of the nRF52840 Product Specification:
+ // > The HFXO must be running to use the RADIO or the calibration mechanism associated with the 32.768 kHz RC oscillator.
+ // Currently the jewel crate don't implement the calibration mechanism, so we need to ensure that the HFXO is running
+ utils::check_xtal();
+
+ into_ref!(radio);
+
+ let r = T::regs();
+
+ r.pcnf1.write(|w| unsafe {
+ // It is 0 bytes long in a standard BLE packet
+ w.statlen()
+ .bits(0)
+ // MaxLen configures the maximum packet payload plus add-on size in
+ // number of bytes that can be transmitted or received by the RADIO. This feature can be used to ensure
+ // that the RADIO does not overwrite, or read beyond, the RAM assigned to the packet payload. This means
+ // that if the packet payload length defined by PCNF1.STATLEN and the LENGTH field in the packet specifies a
+ // packet larger than MAXLEN, the payload will be truncated at MAXLEN
+ //
+ // To simplify the implementation, I'm setting the max length to the maximum value
+ // and I'm using only the length field to truncate the payload
+ .maxlen()
+ .bits(255)
+ // Configure the length of the address field in the packet
+ // The prefix after the address fields is always appended, so is always 1 byte less than the size of the address
+ // The base address is truncated from the least significant byte if the BALEN is less than 4
+ //
+ // BLE address is always 4 bytes long
+ .balen()
+ .bits(3) // 3 bytes base address (+ 1 prefix);
+ // Configure the endianess
+ // For BLE is always little endian (LSB first)
+ .endian()
+ .little()
+ // Data whitening is used to avoid long sequences of zeros or
+ // ones, e.g., 0b0000000 or 0b1111111, in the data bit stream.
+ // The whitener and de-whitener are defined the same way,
+ // using a 7-bit linear feedback shift register with the
+ // polynomial x7 + x4 + 1.
+ //
+ // In BLE Whitening shall be applied on the PDU and CRC of all
+ // Link Layer packets and is performed after the CRC generation
+ // in the transmitter. No other parts of the packets are whitened.
+ // De-whitening is performed before the CRC checking in the receiver
+ // Before whitening or de-whitening, the shift register should be
+ // initialized based on the channel index.
+ .whiteen()
+ .set_bit() // Enable whitening
+ });
+
+ // Configure CRC
+ r.crccnf.write(|w| {
+ // In BLE the CRC shall be calculated on the PDU of all Link Layer
+ // packets (even if the packet is encrypted).
+ // So here we skip the address field
+ w.skipaddr()
+ .skip()
+ // In BLE 24-bit CRC = 3 bytes
+ .len()
+ .three()
+ });
+
+ r.crcpoly.write(|w| unsafe {
+ // Configure the CRC polynomial
+ // Each term in the CRC polynomial is mapped to a bit in this
+ // register which index corresponds to the term's exponent.
+ // The least significant term/bit is hard-wired internally to
+ // 1, and bit number 0 of the register content is ignored by
+ // the hardware. The following example is for an 8 bit CRC
+ // polynomial: x8 + x7 + x3 + x2 + 1 = 1 1000 1101 .
+ w.crcpoly().bits(CRC_POLY & 0xFFFFFF)
+ });
+ // The CRC initial value varies depending of the PDU type
+
+ // Ch map between 2400 MHZ .. 2500 MHz
+ // All modes use this range
+ r.frequency.write(|w| w.map().default());
+
+ // Configure shortcuts to simplify and speed up sending and receiving packets.
+ r.shorts.write(|w| {
+ // start transmission/recv immediately after ramp-up
+ // disable radio when transmission/recv is done
+ w.ready_start().enabled().end_disable().enabled()
+ });
+
+ // Enable NVIC interrupt
+ T::Interrupt::unpend();
+ unsafe { T::Interrupt::enable() };
+
+ let mut radio = Self { _p: radio };
+
+ // set defaults
+ radio.set_mode(Mode::Ble1mbit);
+ radio.set_tx_power(0);
+ radio.set_header_size(HeaderSize::TwoBytes);
+ radio.set_access_address(ADV_ADDRESS);
+ radio.set_crc_init(ADV_CRC_INIT);
+ radio.set_channel(AdvertisingChannel::Ch39.into());
+
+ radio
+ }
+
+ #[allow(dead_code)]
+ fn trace_state(&self) {
+ let r = T::regs();
+
+ match r.state.read().state().variant().unwrap() {
+ RadioState::DISABLED => trace!("radio:state:DISABLED"),
+ RadioState::RX_RU => trace!("radio:state:RX_RU"),
+ RadioState::RX_IDLE => trace!("radio:state:RX_IDLE"),
+ RadioState::RX => trace!("radio:state:RX"),
+ RadioState::RX_DISABLE => trace!("radio:state:RX_DISABLE"),
+ RadioState::TX_RU => trace!("radio:state:TX_RU"),
+ RadioState::TX_IDLE => trace!("radio:state:TX_IDLE"),
+ RadioState::TX => trace!("radio:state:TX"),
+ RadioState::TX_DISABLE => trace!("radio:state:TX_DISABLE"),
+ }
+ }
+
+ async fn trigger_and_wait_end(&mut self, trigger: impl FnOnce() -> ()) {
+ //self.trace_state();
+
+ let r = T::regs();
+ let s = T::state();
+
+ // If the Future is dropped before the end of the transmission
+ // we need to disable the interrupt and stop the transmission
+ // to keep the state consistent
+ let drop = OnDrop::new(|| {
+ trace!("radio drop: stopping");
+
+ r.intenclr.write(|w| w.end().clear());
+ r.events_end.reset();
+
+ r.tasks_stop.write(|w| w.tasks_stop().set_bit());
+
+ // The docs don't explicitly mention any event to acknowledge the stop task
+ // So I guess it's the same as end
+ while r.events_end.read().events_end().bit_is_clear() {}
+
+ trace!("radio drop: stopped");
+ });
+
+ /* Config interrupt */
+ // trace!("radio:enable interrupt");
+ // Clear some remnant side-effects (I'm unsure if this is needed)
+ r.events_end.reset();
+
+ // Enable interrupt
+ r.intenset.write(|w| w.end().set());
+
+ compiler_fence(Ordering::SeqCst);
+
+ // Trigger the transmission
+ trigger();
+ // self.trace_state();
+
+ // On poll check if interrupt happen
+ poll_fn(|cx| {
+ s.end_waker.register(cx.waker());
+ if r.events_end.read().events_end().bit_is_set() {
+ // trace!("radio:end");
+ return core::task::Poll::Ready(());
+ }
+ Poll::Pending
+ })
+ .await;
+
+ compiler_fence(Ordering::SeqCst);
+ r.events_disabled.reset(); // ACK
+
+ // Everthing ends fine, so we can disable the drop
+ drop.defuse();
+ }
+
+ /// Disable the radio.
+ fn disable(&mut self) {
+ let r = T::regs();
+
+ compiler_fence(Ordering::SeqCst);
+ // If is already disabled, do nothing
+ if !r.state.read().state().is_disabled() {
+ trace!("radio:disable");
+ // Trigger the disable task
+ r.tasks_disable.write(|w| w.tasks_disable().set_bit());
+
+ // Wait until the radio is disabled
+ while r.events_disabled.read().events_disabled().bit_is_clear() {}
+
+ compiler_fence(Ordering::SeqCst);
+
+ // Acknowledge it
+ r.events_disabled.reset();
+ }
+ }
+}
+
+impl<'d, T: Instance> BleRadio for Radio<'d, T> {
+ type Error = Error;
+
+ fn set_mode(&mut self, mode: Mode) {
+ let r = T::regs();
+ r.mode.write(|w| {
+ w.mode().variant(match mode {
+ Mode::Ble1mbit => PacMode::BLE_1MBIT,
+ //Mode::Ble2mbit => PacMode::BLE_2MBIT,
+ })
+ });
+
+ r.pcnf0.write(|w| {
+ w.plen().variant(match mode {
+ Mode::Ble1mbit => PreambleLength::_8BIT,
+ //Mode::Ble2mbit => PreambleLength::_16BIT,
+ })
+ });
+ }
+
+ fn set_header_size(&mut self, header_size: HeaderSize) {
+ let r = T::regs();
+
+ let s1len: u8 = match header_size {
+ HeaderSize::TwoBytes => 0,
+ HeaderSize::ThreeBytes => 8, // bits
+ };
+
+ r.pcnf0.write(|w| unsafe {
+ w
+ // Configure S0 to 1 byte length, this will represent the Data/Adv header flags
+ .s0len()
+ .set_bit()
+ // Configure the length (in bits) field to 1 byte length, this will represent the length of the payload
+ // and also be used to know how many bytes to read/write from/to the buffer
+ .lflen()
+ .bits(8)
+ // Configure the lengh (in bits) of bits in the S1 field. It could be used to represent the CTEInfo for data packages in BLE.
+ .s1len()
+ .bits(s1len)
+ });
+ }
+
+ fn set_channel(&mut self, channel: Channel) {
+ let r = T::regs();
+
+ r.frequency
+ .write(|w| unsafe { w.frequency().bits((channel.central_frequency() - 2400) as u8) });
+ r.datawhiteiv
+ .write(|w| unsafe { w.datawhiteiv().bits(channel.whitening_init()) });
+ }
+
+ fn set_access_address(&mut self, access_address: u32) {
+ let r = T::regs();
+
+ // Configure logical address
+ // The byte ordering on air is always least significant byte first for the address
+ // So for the address 0xAA_BB_CC_DD, the address on air will be DD CC BB AA
+ // The package order is BASE, PREFIX so BASE=0xBB_CC_DD and PREFIX=0xAA
+ r.prefix0
+ .write(|w| unsafe { w.ap0().bits((access_address >> 24) as u8) });
+
+ // The base address is truncated from the least significant byte (because the BALEN is less than 4)
+ // So we need to shift the address to the right
+ r.base0.write(|w| unsafe { w.bits(access_address << 8) });
+
+ // Don't match tx address
+ r.txaddress.write(|w| unsafe { w.txaddress().bits(0) });
+
+ // Match on logical address
+ // For what I understand, this config only filter the packets
+ // by the address, so only packages send to the previous address
+ // will finish the reception
+ r.rxaddresses.write(|w| {
+ w.addr0()
+ .enabled()
+ .addr1()
+ .enabled()
+ .addr2()
+ .enabled()
+ .addr3()
+ .enabled()
+ .addr4()
+ .enabled()
+ });
+ }
+
+ fn set_crc_init(&mut self, crc_init: u32) {
+ let r = T::regs();
+
+ r.crcinit.write(|w| unsafe { w.crcinit().bits(crc_init & 0xFFFFFF) });
+ }
+
+ fn set_tx_power(&mut self, power_db: i8) {
+ let r = T::regs();
+
+ let tx_power: TxPower = match power_db {
+ 8..=i8::MAX => TxPower::POS8D_BM,
+ 7 => TxPower::POS7D_BM,
+ 6 => TxPower::POS6D_BM,
+ 5 => TxPower::POS5D_BM,
+ 4 => TxPower::POS4D_BM,
+ 3 => TxPower::POS3D_BM,
+ 1..=2 => TxPower::POS2D_BM,
+ -3..=0 => TxPower::_0D_BM,
+ -7..=-4 => TxPower::NEG4D_BM,
+ -11..=-8 => TxPower::NEG8D_BM,
+ -15..=-12 => TxPower::NEG12D_BM,
+ -19..=-16 => TxPower::NEG16D_BM,
+ -29..=-20 => TxPower::NEG20D_BM,
+ -39..=-30 => TxPower::NEG30D_BM,
+ i8::MIN..=-40 => TxPower::NEG40D_BM,
+ };
+
+ r.txpower.write(|w| w.txpower().variant(tx_power));
+ }
+
+ fn set_buffer(&mut self, buffer: &[u8]) -> Result<(), Self::Error> {
+ // Because we are serializing the buffer, we should always have the buffer in RAM
+ slice_in_ram_or(buffer, Error::BufferNotInRAM)?;
+
+ if buffer.len() > MAX_PDU_LENGTH {
+ return Err(Error::BufferTooLong);
+ }
+
+ let r = T::regs();
+
+ // Here we are considering that the length of the packet is
+ // correctly set in the buffer, otherwise we will sending
+ // unowned regions of memory
+ let ptr = buffer.as_ptr();
+
+ // Configure the payload
+ r.packetptr.write(|w| unsafe { w.bits(ptr as u32) });
+
+ Ok(())
+ }
+
+ /// Send packet
+ async fn transmit(&mut self) {
+ let r = T::regs();
+
+ self.trigger_and_wait_end(move || {
+ // Initialize the transmission
+ // trace!("txen");
+ r.tasks_txen.write(|w| w.tasks_txen().set_bit());
+ })
+ .await;
+ }
+
+ /// Send packet
+ async fn receive(&mut self) {
+ let r = T::regs();
+
+ self.trigger_and_wait_end(move || {
+ // Initialize the transmission
+ // trace!("rxen");
+ r.tasks_rxen.write(|w| w.tasks_rxen().set_bit());
+
+ // Await until ready
+ while r.events_ready.read().events_ready().bit_is_clear() {}
+
+ compiler_fence(Ordering::SeqCst);
+
+ // Acknowledge it
+ r.events_ready.reset();
+
+ // trace!("radio:start");
+ r.tasks_start.write(|w| w.tasks_start().set_bit());
+ })
+ .await;
+ }
+}
+
+impl<'d, T: Instance> Drop for Radio<'d, T> {
+ fn drop(&mut self) {
+ self.disable();
+ }
+}
diff --git a/embassy-nrf/src/radio/mod.rs b/embassy-nrf/src/radio/mod.rs
new file mode 100644
index 000000000..91cc2c0a7
--- /dev/null
+++ b/embassy-nrf/src/radio/mod.rs
@@ -0,0 +1,89 @@
+//! Integrated 2.4 GHz Radio
+//!
+//! The 2.4 GHz radio transceiver is compatible with multiple radio standards
+//! such as 1Mbps, 2Mbps and Long Range Bluetooth Low Energy.
+
+#![macro_use]
+
+/// Bluetooth Low Energy Radio driver.
+pub mod ble;
+
+use core::marker::PhantomData;
+
+use crate::{interrupt, pac, Peripheral};
+
+/// Interrupt handler
+pub struct InterruptHandler<T: Instance> {
+ _phantom: PhantomData<T>,
+}
+
+impl<T: Instance> interrupt::typelevel::Handler<T::Interrupt> for InterruptHandler<T> {
+ 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());
+ }
+ }
+}
+
+pub(crate) mod utils {
+ use super::*;
+
+ // Check if the HFCLK is XTAL is enabled
+ pub fn check_xtal() {
+ // safe: only reading the value
+ let is_xtal = unsafe {
+ let r = &*pac::CLOCK::ptr();
+ r.hfclkstat.read().src().is_xtal()
+ };
+ assert!(is_xtal, "HFCLK must be XTAL");
+ }
+}
+
+pub(crate) mod sealed {
+ use embassy_sync::waitqueue::AtomicWaker;
+
+ pub struct State {
+ /// end packet transmission or reception
+ pub end_waker: AtomicWaker,
+ }
+ impl State {
+ pub const fn new() -> Self {
+ Self {
+ end_waker: AtomicWaker::new(),
+ }
+ }
+ }
+
+ pub trait Instance {
+ fn regs() -> &'static crate::pac::radio::RegisterBlock;
+ fn state() -> &'static State;
+ }
+}
+
+macro_rules! impl_radio {
+ ($type:ident, $pac_type:ident, $irq:ident) => {
+ impl crate::radio::sealed::Instance for peripherals::$type {
+ fn regs() -> &'static pac::radio::RegisterBlock {
+ unsafe { &*pac::$pac_type::ptr() }
+ }
+
+ fn state() -> &'static crate::radio::sealed::State {
+ static STATE: crate::radio::sealed::State = crate::radio::sealed::State::new();
+ &STATE
+ }
+ }
+ impl crate::radio::Instance for peripherals::$type {
+ type Interrupt = crate::interrupt::typelevel::$irq;
+ }
+ };
+}
+
+/// Radio peripheral instance.
+pub trait Instance: Peripheral<P = Self> + sealed::Instance + 'static + Send {
+ /// Interrupt for this peripheral.
+ type Interrupt: interrupt::typelevel::Interrupt;
+}
diff --git a/examples/nrf52840/Cargo.toml b/examples/nrf52840/Cargo.toml
index abb995be6..0239583cd 100644
--- a/examples/nrf52840/Cargo.toml
+++ b/examples/nrf52840/Cargo.toml
@@ -8,8 +8,8 @@ license = "MIT OR Apache-2.0"
embassy-futures = { version = "0.1.0", path = "../../embassy-futures" }
embassy-sync = { version = "0.5.0", path = "../../embassy-sync", features = ["defmt"] }
embassy-executor = { version = "0.5.0", path = "../../embassy-executor", features = ["task-arena-size-32768", "arch-cortex-m", "executor-thread", "executor-interrupt", "defmt", "integrated-timers"] }
-embassy-time = { version = "0.3.0", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime"] }
-embassy-nrf = { version = "0.1.0", path = "../../embassy-nrf", features = ["defmt", "nrf52840", "time-driver-rtc1", "gpiote", "unstable-pac", "time"] }
+embassy-time = { version = "0.3.0", features = ["defmt", "defmt-timestamp-uptime"] }
+embassy-nrf = { version = "0.1.0", path = "../../embassy-nrf", features = ["defmt", "nrf52840", "time-driver-rtc1", "gpiote", "unstable-pac", "time", "radio"]}
embassy-net = { version = "0.4.0", path = "../../embassy-net", features = ["defmt", "tcp", "dhcpv4", "medium-ethernet"] }
embassy-usb = { version = "0.1.0", path = "../../embassy-usb", features = ["defmt"] }
embedded-io = { version = "0.6.0", features = ["defmt-03"] }
@@ -35,6 +35,10 @@ embedded-hal-async = { version = "1.0" }
embedded-hal-bus = { version = "0.1", features = ["async"] }
num-integer = { version = "0.1.45", default-features = false }
microfft = "0.5.0"
+jewel = { version = "0.1.0", git = "https://github.com/jewel-rs/jewel"}
+
+[patch.crates-io]
+embassy-time = { version = "0.3.0", path = "../../embassy-time"}
[profile.release]
debug = 2
diff --git a/examples/nrf52840/src/bin/radio_ble_advertising.rs b/examples/nrf52840/src/bin/radio_ble_advertising.rs
new file mode 100644
index 000000000..8898c2418
--- /dev/null
+++ b/examples/nrf52840/src/bin/radio_ble_advertising.rs
@@ -0,0 +1,42 @@
+#![no_std]
+#![no_main]
+
+use defmt::{info, unwrap};
+use embassy_executor::Spawner;
+use embassy_nrf::{bind_interrupts, peripherals, radio};
+use embassy_time::Timer;
+use jewel::phy::Radio;
+use {defmt_rtt as _, panic_probe as _};
+
+bind_interrupts!(struct Irqs {
+ RADIO => radio::InterruptHandler<peripherals::RADIO>;
+});
+
+// For a high-level API look on jewel examples
+#[embassy_executor::main]
+async fn main(_spawner: Spawner) {
+ let mut config = embassy_nrf::config::Config::default();
+ config.hfclk_source = embassy_nrf::config::HfclkSource::ExternalXtal;
+ let p = embassy_nrf::init(config);
+
+ info!("Starting BLE radio");
+ let mut radio = radio::ble::Radio::new(p.RADIO, Irqs);
+
+ let pdu = [
+ 0x46u8, // ADV_NONCONN_IND, Random address,
+ 0x18, // Length of payload
+ 0x27, 0xdc, 0xd0, 0xe8, 0xe1, 0xff, // Adress
+ 0x02, 0x01, 0x06, // Flags
+ 0x03, 0x03, 0x09, 0x18, // Complete list of 16-bit UUIDs available
+ 0x0A, 0x09, // Length, Type: Device name
+ b'H', b'e', b'l', b'l', b'o', b'R', b'u', b's', b't',
+ ];
+
+ unwrap!(radio.set_buffer(pdu.as_ref()));
+
+ loop {
+ info!("Sending packet");
+ radio.transmit().await;
+ Timer::after_millis(500).await;
+ }
+}
From d408056a66be2183dbcde6840e69e53beb4a764b Mon Sep 17 00:00:00 2001
From: "Guilherme S. Salustiano" <guissalustiano@gmail.com>
Date: Wed, 7 Feb 2024 17:16:46 +0100
Subject: [PATCH 02/13] remove default on radio
---
embassy-nrf/src/radio/ble.rs | 13 +------------
1 file changed, 1 insertion(+), 12 deletions(-)
diff --git a/embassy-nrf/src/radio/ble.rs b/embassy-nrf/src/radio/ble.rs
index a5d9f447b..64428fff5 100644
--- a/embassy-nrf/src/radio/ble.rs
+++ b/embassy-nrf/src/radio/ble.rs
@@ -17,10 +17,7 @@ use core::task::Poll;
use embassy_hal_internal::drop::OnDrop;
use embassy_hal_internal::{into_ref, PeripheralRef};
-use jewel::phy::{
- AdvertisingChannel, Channel, ChannelTrait, HeaderSize, Mode, Radio as BleRadio, ADV_ADDRESS, ADV_CRC_INIT,
- CRC_POLY, MAX_PDU_LENGTH,
-};
+use jewel::phy::{Channel, ChannelTrait, HeaderSize, Mode, Radio as BleRadio, CRC_POLY, MAX_PDU_LENGTH};
use pac::radio::mode::MODE_A as PacMode;
use pac::radio::pcnf0::PLEN_A as PreambleLength;
// Re-export SVD variants to allow user to directly set values.
@@ -145,14 +142,6 @@ impl<'d, T: Instance> Radio<'d, T> {
let mut radio = Self { _p: radio };
- // set defaults
- radio.set_mode(Mode::Ble1mbit);
- radio.set_tx_power(0);
- radio.set_header_size(HeaderSize::TwoBytes);
- radio.set_access_address(ADV_ADDRESS);
- radio.set_crc_init(ADV_CRC_INIT);
- radio.set_channel(AdvertisingChannel::Ch39.into());
-
radio
}
From 5f1b80d40b6d2ae1636fa46e8e5334c03adeb67d Mon Sep 17 00:00:00 2001
From: "Guilherme S. Salustiano" <guissalustiano@gmail.com>
Date: Wed, 7 Feb 2024 18:04:29 +0100
Subject: [PATCH 03/13] remove jewel dependency
---
embassy-nrf/Cargo.toml | 4 +-
embassy-nrf/src/radio/ble.rs | 160 ++++++++++--------
embassy-nrf/src/radio/mod.rs | 14 --
examples/nrf52840/Cargo.toml | 4 -
.../nrf52840/src/bin/radio_ble_advertising.rs | 42 -----
5 files changed, 86 insertions(+), 138 deletions(-)
delete mode 100644 examples/nrf52840/src/bin/radio_ble_advertising.rs
diff --git a/embassy-nrf/Cargo.toml b/embassy-nrf/Cargo.toml
index dcdc7f313..9f35bd241 100644
--- a/embassy-nrf/Cargo.toml
+++ b/embassy-nrf/Cargo.toml
@@ -58,7 +58,7 @@ unstable-pac = []
gpiote = []
## Enable radio driver
-radio = ["dep:jewel"]
+radio = []
## Use RTC1 as the time driver for `embassy-time`, with a tick rate of 32.768khz
time-driver-rtc1 = ["_time-driver"]
@@ -153,8 +153,6 @@ embedded-storage-async = "0.4.0"
cfg-if = "1.0.0"
document-features = "0.2.7"
-jewel = { version = "0.1.0", git = "https://github.com/jewel-rs/jewel", optional = true }
-
nrf51-pac = { version = "0.12.0", optional = true }
nrf52805-pac = { version = "0.12.0", optional = true }
nrf52810-pac = { version = "0.12.0", optional = true }
diff --git a/embassy-nrf/src/radio/ble.rs b/embassy-nrf/src/radio/ble.rs
index 64428fff5..def941796 100644
--- a/embassy-nrf/src/radio/ble.rs
+++ b/embassy-nrf/src/radio/ble.rs
@@ -17,11 +17,10 @@ use core::task::Poll;
use embassy_hal_internal::drop::OnDrop;
use embassy_hal_internal::{into_ref, PeripheralRef};
-use jewel::phy::{Channel, ChannelTrait, HeaderSize, Mode, Radio as BleRadio, CRC_POLY, MAX_PDU_LENGTH};
-use pac::radio::mode::MODE_A as PacMode;
+pub use pac::radio::mode::MODE_A as Mode;
use pac::radio::pcnf0::PLEN_A as PreambleLength;
-// Re-export SVD variants to allow user to directly set values.
-pub use pac::radio::{state::STATE_A as RadioState, txpower::TXPOWER_A as TxPower};
+use pac::radio::state::STATE_A as RadioState;
+pub use pac::radio::txpower::TXPOWER_A as TxPower;
use crate::interrupt::typelevel::Interrupt;
use crate::radio::*;
@@ -51,11 +50,6 @@ impl<'d, T: Instance> Radio<'d, T> {
radio: impl Peripheral<P = T> + 'd,
_irq: impl interrupt::typelevel::Binding<T::Interrupt, InterruptHandler<T>> + 'd,
) -> Self {
- // From 5.4.1 of the nRF52840 Product Specification:
- // > The HFXO must be running to use the RADIO or the calibration mechanism associated with the 32.768 kHz RC oscillator.
- // Currently the jewel crate don't implement the calibration mechanism, so we need to ensure that the HFXO is running
- utils::check_xtal();
-
into_ref!(radio);
let r = T::regs();
@@ -113,18 +107,6 @@ impl<'d, T: Instance> Radio<'d, T> {
.three()
});
- r.crcpoly.write(|w| unsafe {
- // Configure the CRC polynomial
- // Each term in the CRC polynomial is mapped to a bit in this
- // register which index corresponds to the term's exponent.
- // The least significant term/bit is hard-wired internally to
- // 1, and bit number 0 of the register content is ignored by
- // the hardware. The following example is for an 8 bit CRC
- // polynomial: x8 + x7 + x3 + x2 + 1 = 1 1000 1101 .
- w.crcpoly().bits(CRC_POLY & 0xFFFFFF)
- });
- // The CRC initial value varies depending of the PDU type
-
// Ch map between 2400 MHZ .. 2500 MHz
// All modes use this range
r.frequency.write(|w| w.map().default());
@@ -140,9 +122,7 @@ impl<'d, T: Instance> Radio<'d, T> {
T::Interrupt::unpend();
unsafe { T::Interrupt::enable() };
- let mut radio = Self { _p: radio };
-
- radio
+ Self { _p: radio }
}
#[allow(dead_code)]
@@ -186,7 +166,6 @@ impl<'d, T: Instance> Radio<'d, T> {
trace!("radio drop: stopped");
});
- /* Config interrupt */
// trace!("radio:enable interrupt");
// Clear some remnant side-effects (I'm unsure if this is needed)
r.events_end.reset();
@@ -238,34 +217,34 @@ impl<'d, T: Instance> Radio<'d, T> {
r.events_disabled.reset();
}
}
-}
-impl<'d, T: Instance> BleRadio for Radio<'d, T> {
- type Error = Error;
-
- fn set_mode(&mut self, mode: Mode) {
+ /// Set the radio mode
+ ///
+ /// The radio must be disabled before calling this function
+ pub fn set_mode(&mut self, mode: Mode) {
let r = T::regs();
- r.mode.write(|w| {
- w.mode().variant(match mode {
- Mode::Ble1mbit => PacMode::BLE_1MBIT,
- //Mode::Ble2mbit => PacMode::BLE_2MBIT,
- })
- });
+ r.mode.write(|w| w.mode().variant(mode));
r.pcnf0.write(|w| {
w.plen().variant(match mode {
- Mode::Ble1mbit => PreambleLength::_8BIT,
- //Mode::Ble2mbit => PreambleLength::_16BIT,
+ Mode::BLE_1MBIT => PreambleLength::_8BIT,
+ Mode::BLE_2MBIT => PreambleLength::_16BIT,
+ Mode::BLE_LR125KBIT | Mode::BLE_LR500KBIT => PreambleLength::LONG_RANGE,
+ _ => unimplemented!(),
})
});
}
- fn set_header_size(&mut self, header_size: HeaderSize) {
+ /// Set the header size changing the S1 field
+ ///
+ /// The radio must be disabled before calling this function
+ pub fn set_header_expansion(&mut self, use_s1_field: bool) {
let r = T::regs();
- let s1len: u8 = match header_size {
- HeaderSize::TwoBytes => 0,
- HeaderSize::ThreeBytes => 8, // bits
+ // s1 len in bits
+ let s1len: u8 = match use_s1_field {
+ false => 0,
+ true => 8,
};
r.pcnf0.write(|w| unsafe {
@@ -283,16 +262,36 @@ impl<'d, T: Instance> BleRadio for Radio<'d, T> {
});
}
- fn set_channel(&mut self, channel: Channel) {
+ /// Set initial data whitening value
+ /// Data whitening is used to avoid long sequences of zeros or ones, e.g., 0b0000000 or 0b1111111, in the data bit stream
+ /// On BLE the initial value is the channel index | 0x40
+ ///
+ /// The radio must be disabled before calling this function
+ pub fn set_whitening_init(&mut self, whitening_init: u8) {
+ let r = T::regs();
+
+ r.datawhiteiv.write(|w| unsafe { w.datawhiteiv().bits(whitening_init) });
+ }
+
+ /// Set the central frequency to be used
+ /// It should be in the range 2400..2500
+ ///
+ /// The radio must be disabled before calling this function
+ pub fn set_frequency(&mut self, frequency: u32) {
+ assert!(2400 <= frequency && frequency <= 2500);
let r = T::regs();
r.frequency
- .write(|w| unsafe { w.frequency().bits((channel.central_frequency() - 2400) as u8) });
- r.datawhiteiv
- .write(|w| unsafe { w.datawhiteiv().bits(channel.whitening_init()) });
+ .write(|w| unsafe { w.frequency().bits((frequency - 2400) as u8) });
}
- fn set_access_address(&mut self, access_address: u32) {
+ /// Set the acess address
+ /// This address is always constants for advertising
+ /// And a random value generate on each connection
+ /// It is used to filter the packages
+ ///
+ /// The radio must be disabled before calling this function
+ pub fn set_access_address(&mut self, access_address: u32) {
let r = T::regs();
// Configure logical address
@@ -327,44 +326,55 @@ impl<'d, T: Instance> BleRadio for Radio<'d, T> {
});
}
- fn set_crc_init(&mut self, crc_init: u32) {
+ /// Set the CRC polynomial
+ /// It only uses the 24 least significant bits
+ ///
+ /// The radio must be disabled before calling this function
+ pub fn set_crc_poly(&mut self, crc_poly: u32) {
+ let r = T::regs();
+
+ r.crcpoly.write(|w| unsafe {
+ // Configure the CRC polynomial
+ // Each term in the CRC polynomial is mapped to a bit in this
+ // register which index corresponds to the term's exponent.
+ // The least significant term/bit is hard-wired internally to
+ // 1, and bit number 0 of the register content is ignored by
+ // the hardware. The following example is for an 8 bit CRC
+ // polynomial: x8 + x7 + x3 + x2 + 1 = 1 1000 1101 .
+ w.crcpoly().bits(crc_poly & 0xFFFFFF)
+ });
+ }
+
+ /// Set the CRC init value
+ /// It only uses the 24 least significant bits
+ /// The CRC initial value varies depending of the PDU type
+ ///
+ /// The radio must be disabled before calling this function
+ pub fn set_crc_init(&mut self, crc_init: u32) {
let r = T::regs();
r.crcinit.write(|w| unsafe { w.crcinit().bits(crc_init & 0xFFFFFF) });
}
- fn set_tx_power(&mut self, power_db: i8) {
+ /// Set the radio tx power
+ ///
+ /// The radio must be disabled before calling this function
+ pub fn set_tx_power(&mut self, tx_power: TxPower) {
let r = T::regs();
- let tx_power: TxPower = match power_db {
- 8..=i8::MAX => TxPower::POS8D_BM,
- 7 => TxPower::POS7D_BM,
- 6 => TxPower::POS6D_BM,
- 5 => TxPower::POS5D_BM,
- 4 => TxPower::POS4D_BM,
- 3 => TxPower::POS3D_BM,
- 1..=2 => TxPower::POS2D_BM,
- -3..=0 => TxPower::_0D_BM,
- -7..=-4 => TxPower::NEG4D_BM,
- -11..=-8 => TxPower::NEG8D_BM,
- -15..=-12 => TxPower::NEG12D_BM,
- -19..=-16 => TxPower::NEG16D_BM,
- -29..=-20 => TxPower::NEG20D_BM,
- -39..=-30 => TxPower::NEG30D_BM,
- i8::MIN..=-40 => TxPower::NEG40D_BM,
- };
-
r.txpower.write(|w| w.txpower().variant(tx_power));
}
- fn set_buffer(&mut self, buffer: &[u8]) -> Result<(), Self::Error> {
+ /// Set buffer to read/write
+ ///
+ /// This method is unsound. You should guarantee that the buffer will live
+ /// for the life time of the transmission or if the buffer will be modified.
+ /// Also if the buffer is smaller than the packet length, the radio will
+ /// read/write memory out of the buffer bounds.
+ pub fn set_buffer(&mut self, buffer: &[u8]) -> Result<(), Error> {
// Because we are serializing the buffer, we should always have the buffer in RAM
slice_in_ram_or(buffer, Error::BufferNotInRAM)?;
- if buffer.len() > MAX_PDU_LENGTH {
- return Err(Error::BufferTooLong);
- }
-
let r = T::regs();
// Here we are considering that the length of the packet is
@@ -379,7 +389,7 @@ impl<'d, T: Instance> BleRadio for Radio<'d, T> {
}
/// Send packet
- async fn transmit(&mut self) {
+ pub async fn transmit(&mut self) {
let r = T::regs();
self.trigger_and_wait_end(move || {
@@ -390,8 +400,8 @@ impl<'d, T: Instance> BleRadio for Radio<'d, T> {
.await;
}
- /// Send packet
- async fn receive(&mut self) {
+ /// Receive packet
+ pub async fn receive(&mut self) {
let r = T::regs();
self.trigger_and_wait_end(move || {
diff --git a/embassy-nrf/src/radio/mod.rs b/embassy-nrf/src/radio/mod.rs
index 91cc2c0a7..03f967f87 100644
--- a/embassy-nrf/src/radio/mod.rs
+++ b/embassy-nrf/src/radio/mod.rs
@@ -29,20 +29,6 @@ impl<T: Instance> interrupt::typelevel::Handler<T::Interrupt> for InterruptHandl
}
}
-pub(crate) mod utils {
- use super::*;
-
- // Check if the HFCLK is XTAL is enabled
- pub fn check_xtal() {
- // safe: only reading the value
- let is_xtal = unsafe {
- let r = &*pac::CLOCK::ptr();
- r.hfclkstat.read().src().is_xtal()
- };
- assert!(is_xtal, "HFCLK must be XTAL");
- }
-}
-
pub(crate) mod sealed {
use embassy_sync::waitqueue::AtomicWaker;
diff --git a/examples/nrf52840/Cargo.toml b/examples/nrf52840/Cargo.toml
index 0239583cd..78dabe347 100644
--- a/examples/nrf52840/Cargo.toml
+++ b/examples/nrf52840/Cargo.toml
@@ -35,10 +35,6 @@ embedded-hal-async = { version = "1.0" }
embedded-hal-bus = { version = "0.1", features = ["async"] }
num-integer = { version = "0.1.45", default-features = false }
microfft = "0.5.0"
-jewel = { version = "0.1.0", git = "https://github.com/jewel-rs/jewel"}
-
-[patch.crates-io]
-embassy-time = { version = "0.3.0", path = "../../embassy-time"}
[profile.release]
debug = 2
diff --git a/examples/nrf52840/src/bin/radio_ble_advertising.rs b/examples/nrf52840/src/bin/radio_ble_advertising.rs
deleted file mode 100644
index 8898c2418..000000000
--- a/examples/nrf52840/src/bin/radio_ble_advertising.rs
+++ /dev/null
@@ -1,42 +0,0 @@
-#![no_std]
-#![no_main]
-
-use defmt::{info, unwrap};
-use embassy_executor::Spawner;
-use embassy_nrf::{bind_interrupts, peripherals, radio};
-use embassy_time::Timer;
-use jewel::phy::Radio;
-use {defmt_rtt as _, panic_probe as _};
-
-bind_interrupts!(struct Irqs {
- RADIO => radio::InterruptHandler<peripherals::RADIO>;
-});
-
-// For a high-level API look on jewel examples
-#[embassy_executor::main]
-async fn main(_spawner: Spawner) {
- let mut config = embassy_nrf::config::Config::default();
- config.hfclk_source = embassy_nrf::config::HfclkSource::ExternalXtal;
- let p = embassy_nrf::init(config);
-
- info!("Starting BLE radio");
- let mut radio = radio::ble::Radio::new(p.RADIO, Irqs);
-
- let pdu = [
- 0x46u8, // ADV_NONCONN_IND, Random address,
- 0x18, // Length of payload
- 0x27, 0xdc, 0xd0, 0xe8, 0xe1, 0xff, // Adress
- 0x02, 0x01, 0x06, // Flags
- 0x03, 0x03, 0x09, 0x18, // Complete list of 16-bit UUIDs available
- 0x0A, 0x09, // Length, Type: Device name
- b'H', b'e', b'l', b'l', b'o', b'R', b'u', b's', b't',
- ];
-
- unwrap!(radio.set_buffer(pdu.as_ref()));
-
- loop {
- info!("Sending packet");
- radio.transmit().await;
- Timer::after_millis(500).await;
- }
-}
From add78943146cb929d51830c1f1c74c51dd3a5d57 Mon Sep 17 00:00:00 2001
From: "Guilherme S. Salustiano" <guissalustiano@gmail.com>
Date: Wed, 7 Feb 2024 18:09:10 +0100
Subject: [PATCH 04/13] remove radio feature
---
embassy-nrf/Cargo.toml | 3 ---
embassy-nrf/src/chips/nrf52805.rs | 1 -
embassy-nrf/src/chips/nrf52810.rs | 1 -
embassy-nrf/src/chips/nrf52811.rs | 1 -
embassy-nrf/src/chips/nrf52820.rs | 1 -
embassy-nrf/src/chips/nrf52832.rs | 1 -
embassy-nrf/src/chips/nrf52833.rs | 1 -
embassy-nrf/src/chips/nrf52840.rs | 1 -
embassy-nrf/src/chips/nrf5340_net.rs | 1 -
embassy-nrf/src/lib.rs | 13 ++++++++++---
examples/nrf52840/Cargo.toml | 4 ++--
11 files changed, 12 insertions(+), 16 deletions(-)
diff --git a/embassy-nrf/Cargo.toml b/embassy-nrf/Cargo.toml
index 9f35bd241..7e161df9b 100644
--- a/embassy-nrf/Cargo.toml
+++ b/embassy-nrf/Cargo.toml
@@ -57,9 +57,6 @@ unstable-pac = []
## Enable GPIO tasks and events
gpiote = []
-## Enable radio driver
-radio = []
-
## Use RTC1 as the time driver for `embassy-time`, with a tick rate of 32.768khz
time-driver-rtc1 = ["_time-driver"]
diff --git a/embassy-nrf/src/chips/nrf52805.rs b/embassy-nrf/src/chips/nrf52805.rs
index b97c85f9e..c172dd107 100644
--- a/embassy-nrf/src/chips/nrf52805.rs
+++ b/embassy-nrf/src/chips/nrf52805.rs
@@ -212,7 +212,6 @@ impl_ppi_channel!(PPI_CH31, 31 => static);
impl_saadc_input!(P0_04, ANALOG_INPUT2);
impl_saadc_input!(P0_05, ANALOG_INPUT3);
-#[cfg(feature = "radio")]
impl_radio!(RADIO, RADIO, RADIO);
embassy_hal_internal::interrupt_mod!(
diff --git a/embassy-nrf/src/chips/nrf52810.rs b/embassy-nrf/src/chips/nrf52810.rs
index 03548d03f..c607586db 100644
--- a/embassy-nrf/src/chips/nrf52810.rs
+++ b/embassy-nrf/src/chips/nrf52810.rs
@@ -238,7 +238,6 @@ impl_saadc_input!(P0_29, ANALOG_INPUT5);
impl_saadc_input!(P0_30, ANALOG_INPUT6);
impl_saadc_input!(P0_31, ANALOG_INPUT7);
-#[cfg(feature = "radio")]
impl_radio!(RADIO, RADIO, RADIO);
embassy_hal_internal::interrupt_mod!(
diff --git a/embassy-nrf/src/chips/nrf52811.rs b/embassy-nrf/src/chips/nrf52811.rs
index 992fbd129..5f70365b4 100644
--- a/embassy-nrf/src/chips/nrf52811.rs
+++ b/embassy-nrf/src/chips/nrf52811.rs
@@ -240,7 +240,6 @@ impl_saadc_input!(P0_29, ANALOG_INPUT5);
impl_saadc_input!(P0_30, ANALOG_INPUT6);
impl_saadc_input!(P0_31, ANALOG_INPUT7);
-#[cfg(feature = "radio")]
impl_radio!(RADIO, RADIO, RADIO);
embassy_hal_internal::interrupt_mod!(
diff --git a/embassy-nrf/src/chips/nrf52820.rs b/embassy-nrf/src/chips/nrf52820.rs
index f241f4ea3..82d097407 100644
--- a/embassy-nrf/src/chips/nrf52820.rs
+++ b/embassy-nrf/src/chips/nrf52820.rs
@@ -227,7 +227,6 @@ impl_ppi_channel!(PPI_CH29, 29 => static);
impl_ppi_channel!(PPI_CH30, 30 => static);
impl_ppi_channel!(PPI_CH31, 31 => static);
-#[cfg(feature = "radio")]
impl_radio!(RADIO, RADIO, RADIO);
embassy_hal_internal::interrupt_mod!(
diff --git a/embassy-nrf/src/chips/nrf52832.rs b/embassy-nrf/src/chips/nrf52832.rs
index 6bbdd9a63..67b32fe5f 100644
--- a/embassy-nrf/src/chips/nrf52832.rs
+++ b/embassy-nrf/src/chips/nrf52832.rs
@@ -267,7 +267,6 @@ impl_saadc_input!(P0_31, ANALOG_INPUT7);
impl_i2s!(I2S, I2S, I2S);
-#[cfg(feature = "radio")]
impl_radio!(RADIO, RADIO, RADIO);
embassy_hal_internal::interrupt_mod!(
diff --git a/embassy-nrf/src/chips/nrf52833.rs b/embassy-nrf/src/chips/nrf52833.rs
index e137e4dc6..20f14e2d6 100644
--- a/embassy-nrf/src/chips/nrf52833.rs
+++ b/embassy-nrf/src/chips/nrf52833.rs
@@ -309,7 +309,6 @@ impl_saadc_input!(P0_31, ANALOG_INPUT7);
impl_i2s!(I2S, I2S, I2S);
-#[cfg(feature = "radio")]
impl_radio!(RADIO, RADIO, RADIO);
embassy_hal_internal::interrupt_mod!(
diff --git a/embassy-nrf/src/chips/nrf52840.rs b/embassy-nrf/src/chips/nrf52840.rs
index 2d805f871..d3272b2e8 100644
--- a/embassy-nrf/src/chips/nrf52840.rs
+++ b/embassy-nrf/src/chips/nrf52840.rs
@@ -314,7 +314,6 @@ impl_saadc_input!(P0_31, ANALOG_INPUT7);
impl_i2s!(I2S, I2S, I2S);
-#[cfg(feature = "radio")]
impl_radio!(RADIO, RADIO, RADIO);
embassy_hal_internal::interrupt_mod!(
diff --git a/embassy-nrf/src/chips/nrf5340_net.rs b/embassy-nrf/src/chips/nrf5340_net.rs
index 3248bde52..65e8f9653 100644
--- a/embassy-nrf/src/chips/nrf5340_net.rs
+++ b/embassy-nrf/src/chips/nrf5340_net.rs
@@ -348,7 +348,6 @@ impl_ppi_channel!(PPI_CH29, 29 => configurable);
impl_ppi_channel!(PPI_CH30, 30 => configurable);
impl_ppi_channel!(PPI_CH31, 31 => configurable);
-#[cfg(feature = "radio")]
impl_radio!(RADIO, RADIO, RADIO);
embassy_hal_internal::interrupt_mod!(
diff --git a/embassy-nrf/src/lib.rs b/embassy-nrf/src/lib.rs
index 961928d11..0f64f30f2 100644
--- a/embassy-nrf/src/lib.rs
+++ b/embassy-nrf/src/lib.rs
@@ -46,10 +46,17 @@ pub mod gpio;
#[cfg(feature = "gpiote")]
pub mod gpiote;
-#[cfg(feature = "radio")]
+#[cfg(any(
+ feature = "nrf52805",
+ feature = "nrf52810",
+ feature = "nrf52811",
+ feature = "nrf52820",
+ feature = "nrf52832",
+ feature = "nrf52833",
+ feature = "nrf52840",
+ feature = "_nrf5340-net"
+))]
pub mod radio;
-#[cfg(all(feature = "radio", feature = "_nrf9160"))]
-compile_error!("feature `radio` is not valid for nRF91 series chips.");
#[cfg(any(feature = "nrf52832", feature = "nrf52833", feature = "nrf52840"))]
pub mod i2s;
diff --git a/examples/nrf52840/Cargo.toml b/examples/nrf52840/Cargo.toml
index 78dabe347..abb995be6 100644
--- a/examples/nrf52840/Cargo.toml
+++ b/examples/nrf52840/Cargo.toml
@@ -8,8 +8,8 @@ license = "MIT OR Apache-2.0"
embassy-futures = { version = "0.1.0", path = "../../embassy-futures" }
embassy-sync = { version = "0.5.0", path = "../../embassy-sync", features = ["defmt"] }
embassy-executor = { version = "0.5.0", path = "../../embassy-executor", features = ["task-arena-size-32768", "arch-cortex-m", "executor-thread", "executor-interrupt", "defmt", "integrated-timers"] }
-embassy-time = { version = "0.3.0", features = ["defmt", "defmt-timestamp-uptime"] }
-embassy-nrf = { version = "0.1.0", path = "../../embassy-nrf", features = ["defmt", "nrf52840", "time-driver-rtc1", "gpiote", "unstable-pac", "time", "radio"]}
+embassy-time = { version = "0.3.0", path = "../../embassy-time", features = ["defmt", "defmt-timestamp-uptime"] }
+embassy-nrf = { version = "0.1.0", path = "../../embassy-nrf", features = ["defmt", "nrf52840", "time-driver-rtc1", "gpiote", "unstable-pac", "time"] }
embassy-net = { version = "0.4.0", path = "../../embassy-net", features = ["defmt", "tcp", "dhcpv4", "medium-ethernet"] }
embassy-usb = { version = "0.1.0", path = "../../embassy-usb", features = ["defmt"] }
embedded-io = { version = "0.6.0", features = ["defmt-03"] }
From 3ad45655ecea36d54f8024b5fbdad461dc07ed69 Mon Sep 17 00:00:00 2001
From: "Guilherme S. Salustiano" <guissalustiano@gmail.com>
Date: Wed, 7 Feb 2024 18:22:47 +0100
Subject: [PATCH 05/13] ci rerun
---
embassy-nrf/src/radio/ble.rs | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/embassy-nrf/src/radio/ble.rs b/embassy-nrf/src/radio/ble.rs
index def941796..369b49c55 100644
--- a/embassy-nrf/src/radio/ble.rs
+++ b/embassy-nrf/src/radio/ble.rs
@@ -35,7 +35,7 @@ pub enum Error {
BufferTooLong,
/// Buffer was to short.
BufferTooShort,
- /// The buffer is not in data RAM. It's most likely in flash, and nRF's DMA cannot access flash.
+ /// The buffer is not in data RAM. It is most likely in flash, and nRF's DMA cannot access flash.
BufferNotInRAM,
}
From ea8bfb4f382bddda2ca5fbe5ce4c595cd0421bd1 Mon Sep 17 00:00:00 2001
From: "Guilherme S. Salustiano" <guissalustiano@gmail.com>
Date: Wed, 7 Feb 2024 18:25:06 +0100
Subject: [PATCH 06/13] remove some supports
---
embassy-nrf/src/lib.rs | 6 +++---
1 file changed, 3 insertions(+), 3 deletions(-)
diff --git a/embassy-nrf/src/lib.rs b/embassy-nrf/src/lib.rs
index 0f64f30f2..767293230 100644
--- a/embassy-nrf/src/lib.rs
+++ b/embassy-nrf/src/lib.rs
@@ -47,11 +47,11 @@ pub mod gpio;
pub mod gpiote;
#[cfg(any(
- feature = "nrf52805",
- feature = "nrf52810",
+ //feature = "nrf52805",
+ //feature = "nrf52810",
feature = "nrf52811",
feature = "nrf52820",
- feature = "nrf52832",
+ //feature = "nrf52832",
feature = "nrf52833",
feature = "nrf52840",
feature = "_nrf5340-net"
From 9527d1d934a46a50bfc8f26bd942c6f6e5c5b31b Mon Sep 17 00:00:00 2001
From: "Guilherme S. Salustiano" <guissalustiano@gmail.com>
Date: Wed, 7 Feb 2024 18:31:05 +0100
Subject: [PATCH 07/13] remove radio implementation on chips not tested
---
embassy-nrf/src/chips/nrf52805.rs | 5 -----
embassy-nrf/src/chips/nrf52810.rs | 5 -----
embassy-nrf/src/chips/nrf52811.rs | 5 -----
embassy-nrf/src/chips/nrf52820.rs | 5 -----
embassy-nrf/src/chips/nrf52832.rs | 5 -----
embassy-nrf/src/chips/nrf52833.rs | 5 -----
embassy-nrf/src/chips/nrf5340_net.rs | 5 -----
embassy-nrf/src/lib.rs | 11 +----------
8 files changed, 1 insertion(+), 45 deletions(-)
diff --git a/embassy-nrf/src/chips/nrf52805.rs b/embassy-nrf/src/chips/nrf52805.rs
index c172dd107..624d6613d 100644
--- a/embassy-nrf/src/chips/nrf52805.rs
+++ b/embassy-nrf/src/chips/nrf52805.rs
@@ -129,9 +129,6 @@ embassy_hal_internal::peripherals! {
// QDEC
QDEC,
-
- // RADIO
- RADIO,
}
impl_uarte!(UARTE0, UARTE0, UARTE0_UART0);
@@ -212,8 +209,6 @@ impl_ppi_channel!(PPI_CH31, 31 => static);
impl_saadc_input!(P0_04, ANALOG_INPUT2);
impl_saadc_input!(P0_05, ANALOG_INPUT3);
-impl_radio!(RADIO, RADIO, RADIO);
-
embassy_hal_internal::interrupt_mod!(
POWER_CLOCK,
RADIO,
diff --git a/embassy-nrf/src/chips/nrf52810.rs b/embassy-nrf/src/chips/nrf52810.rs
index c607586db..002feab3b 100644
--- a/embassy-nrf/src/chips/nrf52810.rs
+++ b/embassy-nrf/src/chips/nrf52810.rs
@@ -135,9 +135,6 @@ embassy_hal_internal::peripherals! {
// PDM
PDM,
-
- // Radio
- RADIO,
}
impl_uarte!(UARTE0, UARTE0, UARTE0_UART0);
@@ -238,8 +235,6 @@ impl_saadc_input!(P0_29, ANALOG_INPUT5);
impl_saadc_input!(P0_30, ANALOG_INPUT6);
impl_saadc_input!(P0_31, ANALOG_INPUT7);
-impl_radio!(RADIO, RADIO, RADIO);
-
embassy_hal_internal::interrupt_mod!(
POWER_CLOCK,
RADIO,
diff --git a/embassy-nrf/src/chips/nrf52811.rs b/embassy-nrf/src/chips/nrf52811.rs
index 5f70365b4..5952907f8 100644
--- a/embassy-nrf/src/chips/nrf52811.rs
+++ b/embassy-nrf/src/chips/nrf52811.rs
@@ -135,9 +135,6 @@ embassy_hal_internal::peripherals! {
// PDM
PDM,
-
- // Radio
- RADIO,
}
impl_uarte!(UARTE0, UARTE0, UARTE0_UART0);
@@ -240,8 +237,6 @@ impl_saadc_input!(P0_29, ANALOG_INPUT5);
impl_saadc_input!(P0_30, ANALOG_INPUT6);
impl_saadc_input!(P0_31, ANALOG_INPUT7);
-impl_radio!(RADIO, RADIO, RADIO);
-
embassy_hal_internal::interrupt_mod!(
POWER_CLOCK,
RADIO,
diff --git a/embassy-nrf/src/chips/nrf52820.rs b/embassy-nrf/src/chips/nrf52820.rs
index 82d097407..c2f792cb9 100644
--- a/embassy-nrf/src/chips/nrf52820.rs
+++ b/embassy-nrf/src/chips/nrf52820.rs
@@ -130,9 +130,6 @@ embassy_hal_internal::peripherals! {
// QDEC
QDEC,
-
- // Radio
- RADIO,
}
impl_usb!(USBD, USBD, USBD);
@@ -227,8 +224,6 @@ impl_ppi_channel!(PPI_CH29, 29 => static);
impl_ppi_channel!(PPI_CH30, 30 => static);
impl_ppi_channel!(PPI_CH31, 31 => static);
-impl_radio!(RADIO, RADIO, RADIO);
-
embassy_hal_internal::interrupt_mod!(
POWER_CLOCK,
RADIO,
diff --git a/embassy-nrf/src/chips/nrf52832.rs b/embassy-nrf/src/chips/nrf52832.rs
index 67b32fe5f..65d52364d 100644
--- a/embassy-nrf/src/chips/nrf52832.rs
+++ b/embassy-nrf/src/chips/nrf52832.rs
@@ -150,9 +150,6 @@ embassy_hal_internal::peripherals! {
// PDM
PDM,
-
- // Radio
- RADIO,
}
impl_uarte!(UARTE0, UARTE0, UARTE0_UART0);
@@ -267,8 +264,6 @@ impl_saadc_input!(P0_31, ANALOG_INPUT7);
impl_i2s!(I2S, I2S, I2S);
-impl_radio!(RADIO, RADIO, RADIO);
-
embassy_hal_internal::interrupt_mod!(
POWER_CLOCK,
RADIO,
diff --git a/embassy-nrf/src/chips/nrf52833.rs b/embassy-nrf/src/chips/nrf52833.rs
index 20f14e2d6..7c9b66d69 100644
--- a/embassy-nrf/src/chips/nrf52833.rs
+++ b/embassy-nrf/src/chips/nrf52833.rs
@@ -170,9 +170,6 @@ embassy_hal_internal::peripherals! {
// I2S
I2S,
-
- // Radio
- RADIO,
}
impl_usb!(USBD, USBD, USBD);
@@ -309,8 +306,6 @@ impl_saadc_input!(P0_31, ANALOG_INPUT7);
impl_i2s!(I2S, I2S, I2S);
-impl_radio!(RADIO, RADIO, RADIO);
-
embassy_hal_internal::interrupt_mod!(
POWER_CLOCK,
RADIO,
diff --git a/embassy-nrf/src/chips/nrf5340_net.rs b/embassy-nrf/src/chips/nrf5340_net.rs
index 65e8f9653..a7cf82872 100644
--- a/embassy-nrf/src/chips/nrf5340_net.rs
+++ b/embassy-nrf/src/chips/nrf5340_net.rs
@@ -248,9 +248,6 @@ embassy_hal_internal::peripherals! {
P1_13,
P1_14,
P1_15,
-
- // Radio
- RADIO,
}
impl_uarte!(SERIAL0, UARTE0, SERIAL0);
@@ -348,8 +345,6 @@ impl_ppi_channel!(PPI_CH29, 29 => configurable);
impl_ppi_channel!(PPI_CH30, 30 => configurable);
impl_ppi_channel!(PPI_CH31, 31 => configurable);
-impl_radio!(RADIO, RADIO, RADIO);
-
embassy_hal_internal::interrupt_mod!(
CLOCK_POWER,
RADIO,
diff --git a/embassy-nrf/src/lib.rs b/embassy-nrf/src/lib.rs
index 767293230..5dba6f975 100644
--- a/embassy-nrf/src/lib.rs
+++ b/embassy-nrf/src/lib.rs
@@ -46,16 +46,7 @@ pub mod gpio;
#[cfg(feature = "gpiote")]
pub mod gpiote;
-#[cfg(any(
- //feature = "nrf52805",
- //feature = "nrf52810",
- feature = "nrf52811",
- feature = "nrf52820",
- //feature = "nrf52832",
- feature = "nrf52833",
- feature = "nrf52840",
- feature = "_nrf5340-net"
-))]
+#[cfg(any(feature = "nrf52840"))] // needs to be tested on other chips
pub mod radio;
#[cfg(any(feature = "nrf52832", feature = "nrf52833", feature = "nrf52840"))]
From 802bdd1af86829482d6b847f73f02e6973bb68ea Mon Sep 17 00:00:00 2001
From: "Guilherme S. Salustiano" <guissalustiano@gmail.com>
Date: Sat, 10 Feb 2024 08:09:08 +0100
Subject: [PATCH 08/13] remove first person comments and assert disable state
when it's necessary
---
embassy-nrf/src/radio/ble.rs | 201 ++++++++++++++++++-----------------
1 file changed, 106 insertions(+), 95 deletions(-)
diff --git a/embassy-nrf/src/radio/ble.rs b/embassy-nrf/src/radio/ble.rs
index 369b49c55..b0d374579 100644
--- a/embassy-nrf/src/radio/ble.rs
+++ b/embassy-nrf/src/radio/ble.rs
@@ -64,13 +64,13 @@ impl<'d, T: Instance> Radio<'d, T> {
// that if the packet payload length defined by PCNF1.STATLEN and the LENGTH field in the packet specifies a
// packet larger than MAXLEN, the payload will be truncated at MAXLEN
//
- // To simplify the implementation, I'm setting the max length to the maximum value
- // and I'm using only the length field to truncate the payload
+ // To simplify the implementation, It is setted as the maximum value
+ // and the length of the packet is controlled only by the LENGTH field in the packet
.maxlen()
.bits(255)
// Configure the length of the address field in the packet
// The prefix after the address fields is always appended, so is always 1 byte less than the size of the address
- // The base address is truncated from the least significant byte if the BALEN is less than 4
+ // The base address is truncated from the least significant byte if the BALEN is less than 4
//
// BLE address is always 4 bytes long
.balen()
@@ -92,14 +92,14 @@ impl<'d, T: Instance> Radio<'d, T> {
// Before whitening or de-whitening, the shift register should be
// initialized based on the channel index.
.whiteen()
- .set_bit() // Enable whitening
+ .set_bit()
});
// Configure CRC
r.crccnf.write(|w| {
// In BLE the CRC shall be calculated on the PDU of all Link Layer
// packets (even if the packet is encrypted).
- // So here we skip the address field
+ // It skips the address field
w.skipaddr()
.skip()
// In BLE 24-bit CRC = 3 bytes
@@ -125,11 +125,18 @@ impl<'d, T: Instance> Radio<'d, T> {
Self { _p: radio }
}
+ fn state(&self) -> RadioState {
+ match T::regs().state.read().state().variant() {
+ Ok(s) => s,
+ None => unreachable!(),
+ }
+ }
+
#[allow(dead_code)]
fn trace_state(&self) {
let r = T::regs();
- match r.state.read().state().variant().unwrap() {
+ match self.state() {
RadioState::DISABLED => trace!("radio:state:DISABLED"),
RadioState::RX_RU => trace!("radio:state:RX_RU"),
RadioState::RX_IDLE => trace!("radio:state:RX_IDLE"),
@@ -142,86 +149,12 @@ impl<'d, T: Instance> Radio<'d, T> {
}
}
- async fn trigger_and_wait_end(&mut self, trigger: impl FnOnce() -> ()) {
- //self.trace_state();
-
- let r = T::regs();
- let s = T::state();
-
- // If the Future is dropped before the end of the transmission
- // we need to disable the interrupt and stop the transmission
- // to keep the state consistent
- let drop = OnDrop::new(|| {
- trace!("radio drop: stopping");
-
- r.intenclr.write(|w| w.end().clear());
- r.events_end.reset();
-
- r.tasks_stop.write(|w| w.tasks_stop().set_bit());
-
- // The docs don't explicitly mention any event to acknowledge the stop task
- // So I guess it's the same as end
- while r.events_end.read().events_end().bit_is_clear() {}
-
- trace!("radio drop: stopped");
- });
-
- // trace!("radio:enable interrupt");
- // Clear some remnant side-effects (I'm unsure if this is needed)
- r.events_end.reset();
-
- // Enable interrupt
- r.intenset.write(|w| w.end().set());
-
- compiler_fence(Ordering::SeqCst);
-
- // Trigger the transmission
- trigger();
- // self.trace_state();
-
- // On poll check if interrupt happen
- poll_fn(|cx| {
- s.end_waker.register(cx.waker());
- if r.events_end.read().events_end().bit_is_set() {
- // trace!("radio:end");
- return core::task::Poll::Ready(());
- }
- Poll::Pending
- })
- .await;
-
- compiler_fence(Ordering::SeqCst);
- r.events_disabled.reset(); // ACK
-
- // Everthing ends fine, so we can disable the drop
- drop.defuse();
- }
-
- /// Disable the radio.
- fn disable(&mut self) {
- let r = T::regs();
-
- compiler_fence(Ordering::SeqCst);
- // If is already disabled, do nothing
- if !r.state.read().state().is_disabled() {
- trace!("radio:disable");
- // Trigger the disable task
- r.tasks_disable.write(|w| w.tasks_disable().set_bit());
-
- // Wait until the radio is disabled
- while r.events_disabled.read().events_disabled().bit_is_clear() {}
-
- compiler_fence(Ordering::SeqCst);
-
- // Acknowledge it
- r.events_disabled.reset();
- }
- }
-
/// Set the radio mode
///
/// The radio must be disabled before calling this function
pub fn set_mode(&mut self, mode: Mode) {
+ assert!(self.state() == RadioState::DISABLED);
+
let r = T::regs();
r.mode.write(|w| w.mode().variant(mode));
@@ -235,10 +168,12 @@ impl<'d, T: Instance> Radio<'d, T> {
});
}
- /// Set the header size changing the S1 field
+ /// Set the header size changing the S1's len field
///
/// The radio must be disabled before calling this function
pub fn set_header_expansion(&mut self, use_s1_field: bool) {
+ assert!(self.state() == RadioState::DISABLED);
+
let r = T::regs();
// s1 len in bits
@@ -268,6 +203,8 @@ impl<'d, T: Instance> Radio<'d, T> {
///
/// The radio must be disabled before calling this function
pub fn set_whitening_init(&mut self, whitening_init: u8) {
+ assert!(self.state() == RadioState::DISABLED);
+
let r = T::regs();
r.datawhiteiv.write(|w| unsafe { w.datawhiteiv().bits(whitening_init) });
@@ -276,9 +213,11 @@ impl<'d, T: Instance> Radio<'d, T> {
/// Set the central frequency to be used
/// It should be in the range 2400..2500
///
- /// The radio must be disabled before calling this function
+ /// [The radio must be disabled before calling this function](https://devzone.nordicsemi.com/f/nordic-q-a/15829/radio-frequency-change)
pub fn set_frequency(&mut self, frequency: u32) {
+ assert!(self.state() == RadioState::DISABLED);
assert!(2400 <= frequency && frequency <= 2500);
+
let r = T::regs();
r.frequency
@@ -292,6 +231,8 @@ impl<'d, T: Instance> Radio<'d, T> {
///
/// The radio must be disabled before calling this function
pub fn set_access_address(&mut self, access_address: u32) {
+ assert!(self.state() == RadioState::DISABLED);
+
let r = T::regs();
// Configure logical address
@@ -309,9 +250,9 @@ impl<'d, T: Instance> Radio<'d, T> {
r.txaddress.write(|w| unsafe { w.txaddress().bits(0) });
// Match on logical address
- // For what I understand, this config only filter the packets
- // by the address, so only packages send to the previous address
- // will finish the reception
+ // This config only filter the packets by the address,
+ // so only packages send to the previous address
+ // will finish the reception (TODO: check the explanation)
r.rxaddresses.write(|w| {
w.addr0()
.enabled()
@@ -331,6 +272,8 @@ impl<'d, T: Instance> Radio<'d, T> {
///
/// The radio must be disabled before calling this function
pub fn set_crc_poly(&mut self, crc_poly: u32) {
+ assert!(self.state() == RadioState::DISABLED);
+
let r = T::regs();
r.crcpoly.write(|w| unsafe {
@@ -351,6 +294,8 @@ impl<'d, T: Instance> Radio<'d, T> {
///
/// The radio must be disabled before calling this function
pub fn set_crc_init(&mut self, crc_init: u32) {
+ assert!(self.state() == RadioState::DISABLED);
+
let r = T::regs();
r.crcinit.write(|w| unsafe { w.crcinit().bits(crc_init & 0xFFFFFF) });
@@ -360,6 +305,8 @@ impl<'d, T: Instance> Radio<'d, T> {
///
/// The radio must be disabled before calling this function
pub fn set_tx_power(&mut self, tx_power: TxPower) {
+ assert!(self.state() == RadioState::DISABLED);
+
let r = T::regs();
r.txpower.write(|w| w.txpower().variant(tx_power));
@@ -408,19 +355,83 @@ impl<'d, T: Instance> Radio<'d, T> {
// Initialize the transmission
// trace!("rxen");
r.tasks_rxen.write(|w| w.tasks_rxen().set_bit());
+ })
+ .await;
+ }
- // Await until ready
- while r.events_ready.read().events_ready().bit_is_clear() {}
+ async fn trigger_and_wait_end(&mut self, trigger: impl FnOnce()) {
+ //self.trace_state();
+
+ let r = T::regs();
+ let s = T::state();
+
+ // If the Future is dropped before the end of the transmission
+ // we need to disable the interrupt and stop the transmission
+ // to keep the state consistent
+ let drop = OnDrop::new(|| {
+ trace!("radio drop: stopping");
+
+ r.intenclr.write(|w| w.end().clear());
+ r.events_end.reset();
+
+ r.tasks_stop.write(|w| w.tasks_stop().set_bit());
+
+ // The docs don't explicitly mention any event to acknowledge the stop task
+ while r.events_end.read().events_end().bit_is_clear() {}
+
+ trace!("radio drop: stopped");
+ });
+
+ // trace!("radio:enable interrupt");
+ // Clear some remnant side-effects (TODO: check if this is necessary)
+ r.events_end.reset();
+
+ // Enable interrupt
+ r.intenset.write(|w| w.end().set());
+
+ compiler_fence(Ordering::SeqCst);
+
+ // Trigger the transmission
+ trigger();
+ // self.trace_state();
+
+ // On poll check if interrupt happen
+ poll_fn(|cx| {
+ s.end_waker.register(cx.waker());
+ if r.events_end.read().events_end().bit_is_set() {
+ // trace!("radio:end");
+ return core::task::Poll::Ready(());
+ }
+ Poll::Pending
+ })
+ .await;
+
+ compiler_fence(Ordering::SeqCst);
+ r.events_disabled.reset(); // ACK
+
+ // Everthing ends fine, so we can disable the drop
+ drop.defuse();
+ }
+
+ /// Disable the radio
+ fn disable(&mut self) {
+ let r = T::regs();
+
+ compiler_fence(Ordering::SeqCst);
+ // If it is already disabled, do nothing
+ if self.state() != RadioState::DISABLED {
+ trace!("radio:disable");
+ // Trigger the disable task
+ r.tasks_disable.write(|w| w.tasks_disable().set_bit());
+
+ // Wait until the radio is disabled
+ while r.events_disabled.read().events_disabled().bit_is_clear() {}
compiler_fence(Ordering::SeqCst);
// Acknowledge it
- r.events_ready.reset();
-
- // trace!("radio:start");
- r.tasks_start.write(|w| w.tasks_start().set_bit());
- })
- .await;
+ r.events_disabled.reset();
+ }
}
}
From 37739284253699d3f087fd8e1f9282090e6aaf95 Mon Sep 17 00:00:00 2001
From: "Guilherme S. Salustiano" <guissalustiano@gmail.com>
Date: Sat, 10 Feb 2024 08:18:32 +0100
Subject: [PATCH 09/13] apply clippy sugestions
---
embassy-nrf/src/radio/ble.rs | 6 ++----
1 file changed, 2 insertions(+), 4 deletions(-)
diff --git a/embassy-nrf/src/radio/ble.rs b/embassy-nrf/src/radio/ble.rs
index b0d374579..c74676f58 100644
--- a/embassy-nrf/src/radio/ble.rs
+++ b/embassy-nrf/src/radio/ble.rs
@@ -127,15 +127,13 @@ impl<'d, T: Instance> Radio<'d, T> {
fn state(&self) -> RadioState {
match T::regs().state.read().state().variant() {
- Ok(s) => s,
+ Some(s) => s,
None => unreachable!(),
}
}
#[allow(dead_code)]
fn trace_state(&self) {
- let r = T::regs();
-
match self.state() {
RadioState::DISABLED => trace!("radio:state:DISABLED"),
RadioState::RX_RU => trace!("radio:state:RX_RU"),
@@ -216,7 +214,7 @@ impl<'d, T: Instance> Radio<'d, T> {
/// [The radio must be disabled before calling this function](https://devzone.nordicsemi.com/f/nordic-q-a/15829/radio-frequency-change)
pub fn set_frequency(&mut self, frequency: u32) {
assert!(self.state() == RadioState::DISABLED);
- assert!(2400 <= frequency && frequency <= 2500);
+ assert!((2400..=2500).contains(&frequency));
let r = T::regs();
From 40282c2666f8b8bda5785b30a62ab352ff8e7498 Mon Sep 17 00:00:00 2001
From: "Guilherme S. Salustiano" <guissalustiano@gmail.com>
Date: Sat, 10 Feb 2024 08:49:14 +0100
Subject: [PATCH 10/13] add buffer input on transmit/receive
---
embassy-nrf/src/radio/ble.rs | 16 +++++++++++-----
1 file changed, 11 insertions(+), 5 deletions(-)
diff --git a/embassy-nrf/src/radio/ble.rs b/embassy-nrf/src/radio/ble.rs
index c74676f58..7718cfe14 100644
--- a/embassy-nrf/src/radio/ble.rs
+++ b/embassy-nrf/src/radio/ble.rs
@@ -316,7 +316,7 @@ impl<'d, T: Instance> Radio<'d, T> {
/// for the life time of the transmission or if the buffer will be modified.
/// Also if the buffer is smaller than the packet length, the radio will
/// read/write memory out of the buffer bounds.
- pub fn set_buffer(&mut self, buffer: &[u8]) -> Result<(), Error> {
+ fn set_buffer(&mut self, buffer: &[u8]) -> Result<(), Error> {
// Because we are serializing the buffer, we should always have the buffer in RAM
slice_in_ram_or(buffer, Error::BufferNotInRAM)?;
@@ -334,27 +334,33 @@ impl<'d, T: Instance> Radio<'d, T> {
}
/// Send packet
- pub async fn transmit(&mut self) {
- let r = T::regs();
+ pub async fn transmit(&mut self, buffer: &[u8]) -> Result<(), Error> {
+ self.set_buffer(buffer)?;
+ let r = T::regs();
self.trigger_and_wait_end(move || {
// Initialize the transmission
// trace!("txen");
r.tasks_txen.write(|w| w.tasks_txen().set_bit());
})
.await;
+
+ Ok(())
}
/// Receive packet
- pub async fn receive(&mut self) {
- let r = T::regs();
+ pub async fn receive(&mut self, buffer: &mut [u8]) -> Result<(), Error> {
+ self.set_buffer(buffer)?;
+ let r = T::regs();
self.trigger_and_wait_end(move || {
// Initialize the transmission
// trace!("rxen");
r.tasks_rxen.write(|w| w.tasks_rxen().set_bit());
})
.await;
+
+ Ok(())
}
async fn trigger_and_wait_end(&mut self, trigger: impl FnOnce()) {
From fdb15b205424e71107f18b43553d43691f3d8fb7 Mon Sep 17 00:00:00 2001
From: "Guilherme S. Salustiano" <guissalustiano@gmail.com>
Date: Sat, 10 Feb 2024 08:58:31 +0100
Subject: [PATCH 11/13] add comments about buffer unsound
---
embassy-nrf/src/radio/ble.rs | 4 ++++
1 file changed, 4 insertions(+)
diff --git a/embassy-nrf/src/radio/ble.rs b/embassy-nrf/src/radio/ble.rs
index 7718cfe14..ba9ac5f2e 100644
--- a/embassy-nrf/src/radio/ble.rs
+++ b/embassy-nrf/src/radio/ble.rs
@@ -334,6 +334,8 @@ impl<'d, T: Instance> Radio<'d, T> {
}
/// Send packet
+ /// If the length byte in the package is greater than the buffer length
+ /// the radio will read memory out of the buffer bounds
pub async fn transmit(&mut self, buffer: &[u8]) -> Result<(), Error> {
self.set_buffer(buffer)?;
@@ -349,6 +351,8 @@ impl<'d, T: Instance> Radio<'d, T> {
}
/// Receive packet
+ /// If the length byte in the received package is greater than the buffer length
+ /// the radio will write memory out of the buffer bounds
pub async fn receive(&mut self, buffer: &mut [u8]) -> Result<(), Error> {
self.set_buffer(buffer)?;
From b4f0f575388df405e4e7330f2e8cdac30c4d60d9 Mon Sep 17 00:00:00 2001
From: "Guilherme S. Salustiano" <guissalustiano@gmail.com>
Date: Mon, 12 Feb 2024 13:21:01 +0100
Subject: [PATCH 12/13] remove first person comments
---
embassy-nrf/src/lib.rs | 3 ++-
embassy-nrf/src/radio/ble.rs | 22 +++++-----------------
2 files changed, 7 insertions(+), 18 deletions(-)
diff --git a/embassy-nrf/src/lib.rs b/embassy-nrf/src/lib.rs
index 5dba6f975..04a6293a4 100644
--- a/embassy-nrf/src/lib.rs
+++ b/embassy-nrf/src/lib.rs
@@ -46,7 +46,8 @@ pub mod gpio;
#[cfg(feature = "gpiote")]
pub mod gpiote;
-#[cfg(any(feature = "nrf52840"))] // needs to be tested on other chips
+// TODO: tested on other chips
+#[cfg(any(feature = "nrf52840"))]
pub mod radio;
#[cfg(any(feature = "nrf52832", feature = "nrf52833", feature = "nrf52840"))]
diff --git a/embassy-nrf/src/radio/ble.rs b/embassy-nrf/src/radio/ble.rs
index ba9ac5f2e..81ef96b65 100644
--- a/embassy-nrf/src/radio/ble.rs
+++ b/embassy-nrf/src/radio/ble.rs
@@ -1,15 +1,4 @@
//! Radio driver implementation focused on Bluetooth Low-Energy transmission.
-//!
-//! The radio can calculate the CRC, perform data whitening,
-//! automatically send the right preamble.
-//! Most of the configuration is done automatically when you choose the mode and this driver.
-//!
-//! Some configuration can just be done when de device is disabled,
-//! and the configuration varies depending if is a transmitter or a receiver.
-//! Because of that we have a state machine to keep track of the state of the radio.
-//! The Radio is the disable radio which configure the common parameters between
-//! the bluetooth protocols, like the package format, the CRC and the whitening.
-//! The TxRadio radio enable and configured as a transmitter with the specific parameters.
use core::future::poll_fn;
use core::sync::atomic::{compiler_fence, Ordering};
@@ -241,7 +230,7 @@ impl<'d, T: Instance> Radio<'d, T> {
.write(|w| unsafe { w.ap0().bits((access_address >> 24) as u8) });
// The base address is truncated from the least significant byte (because the BALEN is less than 4)
- // So we need to shift the address to the right
+ // So it shifts the address to the right
r.base0.write(|w| unsafe { w.bits(access_address << 8) });
// Don't match tx address
@@ -317,13 +306,12 @@ impl<'d, T: Instance> Radio<'d, T> {
/// Also if the buffer is smaller than the packet length, the radio will
/// read/write memory out of the buffer bounds.
fn set_buffer(&mut self, buffer: &[u8]) -> Result<(), Error> {
- // Because we are serializing the buffer, we should always have the buffer in RAM
slice_in_ram_or(buffer, Error::BufferNotInRAM)?;
let r = T::regs();
- // Here we are considering that the length of the packet is
- // correctly set in the buffer, otherwise we will sending
+ // Here it consider that the length of the packet is
+ // correctly set in the buffer, otherwise it will send
// unowned regions of memory
let ptr = buffer.as_ptr();
@@ -374,7 +362,7 @@ impl<'d, T: Instance> Radio<'d, T> {
let s = T::state();
// If the Future is dropped before the end of the transmission
- // we need to disable the interrupt and stop the transmission
+ // it disable the interrupt and stop the transmission
// to keep the state consistent
let drop = OnDrop::new(|| {
trace!("radio drop: stopping");
@@ -417,7 +405,7 @@ impl<'d, T: Instance> Radio<'d, T> {
compiler_fence(Ordering::SeqCst);
r.events_disabled.reset(); // ACK
- // Everthing ends fine, so we can disable the drop
+ // Everthing ends fine, so it disable the drop
drop.defuse();
}
From 368b3a9aaf97a7662217b9ff2784e3648368586c Mon Sep 17 00:00:00 2001
From: "Guilherme S. Salustiano" <guissalustiano@gmail.com>
Date: Wed, 28 Feb 2024 14:54:54 +0100
Subject: [PATCH 13/13] fix: radio error
---
embassy-nrf/src/radio/ble.rs | 2 +-
1 file changed, 1 insertion(+), 1 deletion(-)
diff --git a/embassy-nrf/src/radio/ble.rs b/embassy-nrf/src/radio/ble.rs
index 81ef96b65..24dba582f 100644
--- a/embassy-nrf/src/radio/ble.rs
+++ b/embassy-nrf/src/radio/ble.rs
@@ -15,7 +15,7 @@ use crate::interrupt::typelevel::Interrupt;
use crate::radio::*;
use crate::util::slice_in_ram_or;
-/// UART error.
+/// RADIO error.
#[derive(Debug, Clone, Copy, PartialEq, Eq)]
#[cfg_attr(feature = "defmt", derive(defmt::Format))]
#[non_exhaustive]