/*---------------------------------------------------------------------------*/
void
rf1a_cb_tx_ended(rtimer_clock_t *timestamp)
{
GLOSSY_TX_STOPPED;
g.t_tx_stop = *timestamp;
if(WITH_SYNC()) {
/* store the relay counter of this last transmission */
g.relay_cnt_last_tx = g.header.relay_cnt;
if(g.t_ref_updated == 0) {
/* t_ref has not been updated yet: update it */
update_t_ref(g.t_tx_start, g.header.relay_cnt);
}
if((g.relay_cnt_last_tx == g.relay_cnt_last_rx + 1) && (g.n_rx > 0)) {
/* this transmission immediately followed a reception: measure T_slot */
add_T_slot_measurement(g.t_tx_start - g.t_rx_start +
NS_TO_RTIMER_HF(TAU1));
}
}
/* increment the transmission counter */
g.n_tx++;
if((g.n_tx == GET_N_TX_MAX(g.header.pkt_type)) &&
(GET_N_TX_MAX(g.header.pkt_type) > 1 || (!IS_INITIATOR()))) {
/* we have reached N_tx_max and either N_tx_max > 1 or we are a receiver:
* stop Glossy */
glossy_stop();
} else {
#if GLOSSY_CONF_RETRANSMISSION_TIMEOUT
if((IS_INITIATOR()) && (g.n_rx == 0)) {
/* we are the initiator and we still have not received any packet:
* schedule the timeout */
schedule_timeout();
}
#endif /* GLOSSY_CONF_RETRANSMISSION_TIMEOUT */
}
}
char glossy_scheduler(struct rtimer *t, void *ptr) {
PT_BEGIN(&pt);
if (IS_INITIATOR()) { // Glossy initiator.
while (1) {
printf("[SCHEDULER]: Get Data from queue\n");
// Increment sequence number.
glossy_data.seq_no++;
// Glossy phase.
leds_on(LEDS_GREEN);
rtimer_clock_t t_stop = RTIMER_TIME(t) + GLOSSY_DURATION;
// Start Glossy.
glossy_start((uint8_t *)&glossy_data, DATA_LEN, GLOSSY_INITIATOR, GLOSSY_SYNC, N_TX,
APPLICATION_HEADER, t_stop, (rtimer_callback_t)glossy_scheduler, t, ptr);
// Store time at which Glossy has started.
t_start = RTIMER_TIME(t);
// Yield the protothread. It will be resumed when Glossy terminates.
PT_YIELD(&pt);
// Off phase.
leds_off(LEDS_GREEN);
// Stop Glossy.
glossy_stop();
if (!GLOSSY_IS_BOOTSTRAPPING()) {
// Glossy has already successfully bootstrapped.
if (!GLOSSY_IS_SYNCED()) {
// The reference time was not updated: increment reference time by GLOSSY_PERIOD.
set_t_ref_l(GLOSSY_REFERENCE_TIME + GLOSSY_PERIOD);
set_t_ref_l_updated(1);
}
}
// Schedule begin of next Glossy phase based on GLOSSY_PERIOD.
rtimer_set(t, t_start + GLOSSY_PERIOD, 1, (rtimer_callback_t)glossy_scheduler, ptr);
// Estimate the clock skew over the last period.
estimate_period_skew();
// Poll the process that prints statistics (will be activated later by Contiki).
process_poll(&glossy_print_stats_process);
// Yield the protothread.
PT_YIELD(&pt);
}
} else { // Glossy receiver.
while (1) {
// Glossy phase.
leds_on(LEDS_GREEN);
rtimer_clock_t t_stop;
if (GLOSSY_IS_BOOTSTRAPPING()) {
// Glossy is still bootstrapping:
// Schedule end of Glossy phase based on GLOSSY_INIT_DURATION.
t_stop = RTIMER_TIME(t) + GLOSSY_INIT_DURATION;
} else {
// Glossy has already successfully bootstrapped:
// Schedule end of Glossy phase based on GLOSSY_DURATION.
t_stop = RTIMER_TIME(t) + GLOSSY_DURATION;
}
// Start Glossy.
glossy_start((uint8_t *)&glossy_data, DATA_LEN, GLOSSY_RECEIVER, GLOSSY_SYNC, N_TX,
APPLICATION_HEADER, t_stop, (rtimer_callback_t)glossy_scheduler, t, ptr);
// Yield the protothread. It will be resumed when Glossy terminates.
PT_YIELD(&pt);
// Off phase.
leds_off(LEDS_GREEN);
// Stop Glossy.
glossy_stop();
if (GLOSSY_IS_BOOTSTRAPPING()) {
// Glossy is still bootstrapping.
if (!GLOSSY_IS_SYNCED()) {
// The reference time was not updated: reset skew_estimated to zero.
skew_estimated = 0;
}
} else {
// Glossy has already successfully bootstrapped.
if (!GLOSSY_IS_SYNCED()) {
// The reference time was not updated:
// increment reference time by GLOSSY_PERIOD + period_skew.
set_t_ref_l(GLOSSY_REFERENCE_TIME + GLOSSY_PERIOD + period_skew);
set_t_ref_l_updated(1);
// Increment sync_missed.
sync_missed++;
} else {
// The reference time was not updated: reset sync_missed to zero.
sync_missed = 0;
}
}
// Estimate the clock skew over the last period.
estimate_period_skew();
if (GLOSSY_IS_BOOTSTRAPPING()) {
// Glossy is still bootstrapping.
if (skew_estimated == 0) {
// The reference time was not updated:
// Schedule begin of next Glossy phase based on last begin and GLOSSY_INIT_PERIOD.
rtimer_set(t, RTIMER_TIME(t) + GLOSSY_INIT_PERIOD, 1,
(rtimer_callback_t)glossy_scheduler, ptr);
} else {
// The reference time was updated:
// Schedule begin of next Glossy phase based on reference time and GLOSSY_INIT_PERIOD.
rtimer_set(t, GLOSSY_REFERENCE_TIME + GLOSSY_PERIOD - GLOSSY_INIT_GUARD_TIME, 1,
(rtimer_callback_t)glossy_scheduler, ptr);
}
} else {
// Glossy has already successfully bootstrapped:
// Schedule begin of next Glossy phase based on reference time and GLOSSY_PERIOD.
rtimer_set(t, GLOSSY_REFERENCE_TIME + GLOSSY_PERIOD +
period_skew - GLOSSY_GUARD_TIME * (1 + sync_missed), 1,
(rtimer_callback_t)glossy_scheduler, ptr);
}
// Poll the process that prints statistics (will be activated later by Contiki).
process_poll(&glossy_print_stats_process);
// Yield the protothread.
PT_YIELD(&pt);
}
}
PT_END(&pt);
}
/*---------------------------------------------------------------------------*/
void
rf1a_cb_rx_ended(rtimer_clock_t *timestamp, uint8_t *pkt, uint8_t pkt_len)
{
GLOSSY_RX_STOPPED;
/* enable timer overflow / update interrupt (since we are in an interrupt
* context here, the timer interrupts will only be handled after this ISR)
* Note that the RX/TX switching is constant regardless of the runtime of
* this ISR; it is only necessary to write to the TX queue before the
* preamble has been sent by the radio module */
rtimer_update_enable(1);
LWB_INT_ENABLE;
g.t_rx_stop = *timestamp;
#if GLOSSY_CONF_COLLECT_STATS
g.stats.pkt_cnt_crcok++;
#endif /* GLOSSY_CONF_COLLECT_STATS */
/* we have received a packet and the CRC is correct, now check the header */
if((process_glossy_header(pkt, pkt_len, 1) == GLOSSY_SUCCESS)) {
/* we received a correct packet, and the header has been stored into
* g.header */
uint8_t *payload = pkt + GLOSSY_HEADER_LEN(g.header.pkt_type);
/* store the relay counter corresponding to the first reception */
#if GLOSSY_CONF_COLLECT_STATS
uint8_t relay_cnt = g.header.relay_cnt;
#endif /* GLOSSY_CONF_COLLECT_STATS */
/* increment the relay counter */
g.header.relay_cnt++;
if((GET_N_TX_MAX(g.header.pkt_type) == 0) ||
(g.n_tx < GET_N_TX_MAX(g.header.pkt_type))) {
/* if n_tx_max is either unknown or not yet reached, transmit the
* packet */
rf1a_write_to_tx_fifo((uint8_t *)&g.header,
GLOSSY_HEADER_LEN(g.header.pkt_type),
payload, g.payload_len);
} else {
/* otherwise, stop Glossy */
glossy_stop();
}
#if GLOSSY_CONF_COLLECT_STATS
/* stats */
if(WITH_RELAY_CNT()) {
/* the relay counter is part of the header */
if(g.n_rx == 0) {
g.stats.last_flood_relay_cnt = relay_cnt;
}
/* get the RSSI value */
if(g.n_rx < 3) {
g.stats.last_flood_rssi[g.n_rx] = rf1a_get_last_packet_rssi();
g.stats.last_flood_hops[g.n_rx] = g.header.relay_cnt - 1;
}
}
g.stats.last_flood_rssi_sum += rf1a_get_last_packet_rssi();
#endif /* GLOSSY_CONF_COLLECT_STATS */
/* increment the reception counter */
g.n_rx++;
GLOSSY_FIRST_RX;
if((!IS_INITIATOR()) && (g.n_rx == 1)) {
/* we are a receiver and this was our first packet reception: */
/* store the payload for the application */
memcpy((uint8_t *)g.payload, payload, g.payload_len);
}
if(WITH_SYNC()) {
/* store the relay counter of this last reception */
g.relay_cnt_last_rx = g.header.relay_cnt - 1;
if(g.t_ref_updated == 0) {
/* t_ref has not been updated yet: update it */
update_t_ref(g.t_rx_start - NS_TO_RTIMER_HF(TAU1),
g.header.relay_cnt - 1);
}
if((g.relay_cnt_last_rx == g.relay_cnt_last_tx + 1) &&
(g.n_tx > 0)) {
/* this reception immediately followed a transmission: measure
* T_slot */
add_T_slot_measurement(g.t_rx_start - g.t_tx_start -
NS_TO_RTIMER_HF(TAU1));
}
}
/* notify about the successful reception */
DEBUG_PRINT_VERBOSE("Glossy RX completed. Received a %u-byte packet with "
"initiator %u.", pkt_len, g.header.initiator_id);
} else {
#if GLOSSY_CONF_COLLECT_STATS
if(!g.stats.already_counted) {
g.stats.last_flood_n_rx_fail++;
g.stats.already_counted = 1;
}
#endif /* GLOSSY_CONF_COLLECT_STATS */
/* some fields in the header were not correct: discard it */
rf1a_cb_rx_failed(timestamp);
}
}
/*---------------------------- Glossy interface -----------------------------*/
void
glossy_start(uint16_t initiator_id, uint8_t *payload, uint8_t payload_len,
uint8_t n_tx_max, glossy_sync_t sync, glossy_rf_cal_t rf_cal)
{
GLOSSY_STARTED;
DEBUG_PRINT_VERBOSE("Glossy started: in=%u, pl=%u, n=%u, s=%u", initiator_id,
payload_len, n_tx_max, sync);
/* disable undesired interrupts */
GLOSSY_DISABLE_INTERRUPTS;
/* reset the data structure */
g.active = 1;
g.payload = payload;
g.payload_len = payload_len;
g.n_rx = 0;
g.n_tx = 0;
g.relay_cnt_last_rx = 0;
g.relay_cnt_last_tx = 0;
g.t_ref_updated = 0;
g.T_slot_sum = 0;
g.n_T_slot = 0;
#if GLOSSY_CONF_COLLECT_STATS
g.stats.last_flood_n_rx_started = 0;
g.stats.last_flood_n_rx_fail = 0;
g.stats.already_counted = 0;
g.stats.last_flood_rssi_sum = 0;
g.stats.last_flood_rssi_noise = 0;
g.stats.last_flood_t_to_rx = 0;
g.stats.last_flood_duration = rtimer_now_hf();
if(WITH_RELAY_CNT()) {
/* clear last_flood_rssi and last_flood_hops in one memset call */
memset(g.stats.last_flood_rssi, 0, 6);
}
#endif /* GLOSSY_CONF_COLLECT_STATS */
/* prepare the Glossy header, with the information known so far */
g.header.initiator_id = initiator_id;
SET_PKT_TYPE(g.header.pkt_type, sync, n_tx_max);
g.header.relay_cnt = 0;
/* automatically switch to TX at the end of RX */
rf1a_set_rxoff_mode(RF1A_OFF_MODE_TX);
/* automatically switch to RX at the end of TX */
rf1a_set_txoff_mode(RF1A_OFF_MODE_RX);
/* do not calibrate automatically */
rf1a_set_calibration_mode(RF1A_CALIBRATION_MODE_MANUAL);
/* re-configure patable (config is lost when radio was in sleep mode) */
rf1a_set_tx_power(RF_CONF_TX_POWER);
if(rf_cal == GLOSSY_WITH_RF_CAL) {
/* if instructed so, perform a manual calibration */
rf1a_manual_calibration();
}
rf1a_set_header_len_rx(GLOSSY_HEADER_LEN(g.header.pkt_type));
rf1a_go_to_idle();
if(IS_INITIATOR()) {
/* Glossy initiator */
if(GET_SYNC(g.header.pkt_type) == GLOSSY_UNKNOWN_SYNC ||
(g.payload_len + GLOSSY_HEADER_LEN(g.header.pkt_type) + 1) >
RF_CONF_MAX_PKT_LEN) {
/* the initiator must know whether there will be synchronization or
* not and the packet length may not exceed the max. length */
DEBUG_PRINT_ERROR("invalid parameters, Glossy stopped");
glossy_stop();
} else {
/* start the first transmission */
g.t_timeout = rtimer_now_hf() + TIMEOUT_EXTRA_TICKS;
rf1a_start_tx();
rf1a_write_to_tx_fifo((uint8_t *)&g.header,
GLOSSY_HEADER_LEN(g.header.pkt_type),
(uint8_t *)g.payload, g.payload_len);
g.relay_cnt_timeout = 0;
}
} else {
/* Glossy receiver */
rf1a_start_rx();
#if GLOSSY_CONF_COLLECT_STATS
/* measure the channel noise (but only if waiting for the schedule */
if(sync == GLOSSY_WITH_SYNC) {
/* wait after entering RX mode before reading RSSI (see swra114d.pdf) */
__delay_cycles(MCLK_SPEED / 3000); /* wait 0.33 ms */
g.stats.last_flood_rssi_noise = rf1a_get_rssi(); /* RSSI of the noise floor */
}
#endif /* GLOSSY_CONF_COLLECT_STATS */
}
/* note: RF_RDY bit must be cleared by the radio core before entering LPM
* after a transition from idle to RX or TX. Either poll the status of the
* radio core (SNOP strobe) or read the GDOx signal assigned to RF_RDY */
while(RF1AIN & BIT0); /* check GDO0 signal (added by rdaforno) */
}
