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Merge pull request #17988 from fjmolinas/pr_twr_aloha_fixes
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example/twr_aloha: fixes
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@fjmolinas
fjmolinas authored Apr 27, 2022
2 parents 5af2dda + a5f54b5 commit c036b6c
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Showing 5 changed files with 81 additions and 14 deletions.
26 changes: 21 additions & 5 deletions examples/twr_aloha/control.c
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Original file line number Diff line number Diff line change
Expand Up @@ -149,6 +149,7 @@ static bool _complete_cb(struct uwb_dev *inst, struct uwb_mac_interface *cbs)
event_post(uwb_core_get_eventq(), &_rng_listen_event.super);
return false;
}

/* get received frame */
struct uwb_rng_instance *rng = (struct uwb_rng_instance *)cbs->inst_ptr;

Expand All @@ -157,6 +158,15 @@ static bool _complete_cb(struct uwb_dev *inst, struct uwb_mac_interface *cbs)
/* parse data*/
uwb_core_rng_data_t data;

/* with ss twr, the last frame will hold the initiator as the src address,
with ds twr, it will hold the responder address */
if (IS_ACTIVE(CONFIG_TWR_PRINTF_INITIATOR_ONLY) &&
((frame->code < UWB_DATA_CODE_DS_TWR && frame->src_address != _udev->uid) ||
(frame->code >= UWB_DATA_CODE_DS_TWR && frame->dst_address != _udev->uid))) {
event_post(uwb_core_get_eventq(), &_rng_listen_event.super);
return true;
}

data.src = frame->src_address;
data.dest = frame->dst_address;
data.time = ztimer_now(ZTIMER_MSEC);
Expand Down Expand Up @@ -205,7 +215,7 @@ static void _rng_listen(void *arg)
if (!ztimer_is_set(ZTIMER_MSEC, &_rng_request_event.periodic.timer.timer)) {
_status &= ~TWR_STATUS_INITIATOR;
}
if (_status && TWR_STATUS_RESPONDER) {
if (_status & TWR_STATUS_RESPONDER) {
/* wake up if needed */
if (_udev->status.sleeping) {
uwb_wakeup(_udev);
Expand All @@ -217,8 +227,7 @@ static void _rng_listen(void *arg)
}
else {
/* go to sleep if possible */
if (_rng_request_event.periodic.timer.interval > CONFIG_TWR_MIN_IDLE_SLEEP_MS ||
!(_status && TWR_STATUS_INITIATOR)) {
if (_rng_request_event.periodic.timer.interval > CONFIG_TWR_MIN_IDLE_SLEEP_MS) {
uwb_sleep_config(_udev);
uwb_enter_sleep(_udev);
}
Expand Down Expand Up @@ -254,7 +263,7 @@ static void _rng_request(void *arg)
uwb_phy_forcetrxoff(_udev);
}

uwb_rng_request(_rng, event->addr, (uwb_dataframe_code_t)event->proto);
uwb_rng_request(_rng, event->addr, (uwb_dataframe_code_t)event->proto);
}

void uwb_core_rng_start(uint16_t addr, twr_protocol_t proto, uint32_t interval,
Expand Down Expand Up @@ -285,7 +294,14 @@ void uwb_core_rng_init(void)
/* set initial status */
_status = 0;
/* got to sleep on boot */
struct uwb_dev*_udev = uwb_dev_idx_lookup(0);
struct uwb_dev *_udev = uwb_dev_idx_lookup(0);

uwb_sleep_config(_udev);
uwb_enter_sleep(_udev);
}

uint32_t uwb_core_rng_req_remaining(void)
{
/* doesn't matter if its not atomic */
return _rng_request_event.periodic.count;
}
16 changes: 14 additions & 2 deletions examples/twr_aloha/control.h
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Original file line number Diff line number Diff line change
Expand Up @@ -31,14 +31,21 @@ extern "C" {
* @brief Block after a request is sent
*/
#ifndef CONFIG_TWR_SHELL_BLOCKING
#define CONFIG_TWR_SHELL_BLOCKING 1
#define CONFIG_TWR_SHELL_BLOCKING 1
#endif

/**
* @brief Minimum idle time to enable putting the radio to sleep
*/
#ifndef CONFIG_TWR_MIN_IDLE_SLEEP_MS
#define CONFIG_TWR_MIN_IDLE_SLEEP_MS 20
#define CONFIG_TWR_MIN_IDLE_SLEEP_MS 20
#endif

/*
* @brief Block after a request is sent
*/
#ifndef CONFIG_TWR_PRINTF_INITIATOR_ONLY
#define CONFIG_TWR_PRINTF_INITIATOR_ONLY 1
#endif

/**
Expand Down Expand Up @@ -100,6 +107,11 @@ void uwb_core_rng_listen_disable(void);
void uwb_core_rng_start(uint16_t addr, twr_protocol_t proto, uint32_t interval,
uint32_t count);

/**
* @brief Returns remaining rng requests
*/
uint32_t uwb_core_rng_req_remaining(void);

#ifdef __cplusplus
}
#endif
Expand Down
6 changes: 5 additions & 1 deletion examples/twr_aloha/tests-with-config/01-run.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,7 @@ class TwrShell(Reboot, TwrCmd):
"hwaddr": None,
"hwaddr64": None,
"panid": None,
"channel": None,
}

def parse_netif(self):
Expand All @@ -41,6 +42,9 @@ def hwaddr64(self):
def panid(self):
return self._netif["panid"]

def channel(self):
return self._netif["channel"]


class TestTWRBase(unittest.TestCase):
DEBUG = False
Expand Down Expand Up @@ -68,7 +72,7 @@ def test_ifconfig(self):
assert self.shell.panid() == "DE:CA"
assert self.shell.hwaddr() is not None
assert self.shell.hwaddr64() is not None
assert self.shell.panid() is not None
assert self.shell.channel() == "5" # default channel is 5

def test_listen(self):
assert "[twr]: start listening" in self.shell.twr_listen(on=True)
Expand Down
38 changes: 34 additions & 4 deletions examples/twr_aloha/twr_shell.c
View file
Original file line number Diff line number Diff line change
Expand Up @@ -35,6 +35,14 @@
#define IEEE802154_SHORT_ADDRESS_LEN_STR_MAX \
(sizeof("00:00"))

/* See 7.2.31.1 Units of TX Power Control */
#define DW1000_TX_POWER_COARSE_SHIFT (5)
#define DW1000_TX_POWER_COARSE_MASK (0xE0)
#define DW1000_TX_POWER_FINE_MASK (0x1F)
#define DW1000_TX_POWER_MULTI (10)
#define DW1000_TX_POWER_COARSE_STEP (30) /* 3dbM * 10 */
#define DW1000_TX_POWER_FINE_STEP (5) /* 0.5dbM * 10 */

int _twr_ifconfig(int argc, char **argv)
{
(void)argc;
Expand All @@ -49,11 +57,24 @@ int _twr_ifconfig(int argc, char **argv)
printf("\tHWaddr: %s ",
l2util_addr_to_str(buffer, IEEE802154_SHORT_ADDRESS_LEN, addr_str));
byteorder_htobebufs(buffer, udev->pan_id);
printf("Channel: %d ", udev->config.channel);
printf("NID: %s\n\n",
l2util_addr_to_str(buffer, IEEE802154_SHORT_ADDRESS_LEN, addr_str));
byteorder_htobebufll(buffer, udev->euid);
printf("\t\tLong HWaddr: %s\n",
l2util_addr_to_str(buffer, IEEE802154_LONG_ADDRESS_LEN, addr_str));
/* 000 -> 18dBM gain, 110 -> 0dBm gain */
int tx_power =
DW1000_TX_POWER_COARSE_STEP *
(6 -
((udev->config.txrf.BOOSTNORM & DW1000_TX_POWER_COARSE_MASK) >>
DW1000_TX_POWER_COARSE_SHIFT)) +
(udev->config.txrf.BOOSTNORM & DW1000_TX_POWER_FINE_MASK) *
DW1000_TX_POWER_FINE_STEP;

printf("\t\tTX-Power: %d.%ddBm ", tx_power / DW1000_TX_POWER_MULTI,
tx_power > (tx_power / DW1000_TX_POWER_MULTI) * DW1000_TX_POWER_MULTI ? 5 : 0);
printf("TC-PGdelay: 0x%02x\n", udev->config.txrf.PGdly);

return 0;
}
Expand Down Expand Up @@ -100,7 +121,8 @@ int _twr_handler(int argc, char **argv)
uint32_t count = 1;
uint32_t interval_ms = 1000;
int proto = UWB_DATA_CODE_SS_TWR;
uint8_t addr[IEEE802154_SHORT_ADDRESS_LEN_STR_MAX];
uint8_t addr[IEEE802154_SHORT_ADDRESS_LEN];
uint16_t short_addr = 0x0000;
int res = 0;
if (argc < 3) {
_print_usage();
Expand All @@ -117,6 +139,11 @@ int _twr_handler(int argc, char **argv)
"(hex pairs delimited by colons)");
res = 1;
}
short_addr = addr[1] + (addr[0] << 8);
if (short_addr == 0x0000) {
printf("[ERROR]: invalid addr %s\n", arg);
res = 1;
}
}
else {
switch (arg[1]) {
Expand Down Expand Up @@ -173,15 +200,18 @@ int _twr_handler(int argc, char **argv)
}
}
}
if (res != 0) {
if (res != 0 || (short_addr == 0x0000)) {
_print_usage();
return 1;
}
uint16_t short_addr = addr[1] + (addr[0] << 8);
puts("[twr]: start ranging");
uwb_core_rng_start(short_addr, proto, interval_ms, count);
if (IS_ACTIVE(CONFIG_TWR_SHELL_BLOCKING)) {
ztimer_sleep(ZTIMER_MSEC, interval_ms * (count + 1));
while (uwb_core_rng_req_remaining()) {
ztimer_sleep(ZTIMER_MSEC, interval_ms);
}
/* some time to finish up */
ztimer_sleep(ZTIMER_MSEC, 100 + interval_ms);
}
return 0;
}
Expand Down
9 changes: 7 additions & 2 deletions examples/twr_aloha/twr_shell.py
View file
Original file line number Diff line number Diff line change
Expand Up @@ -18,13 +18,15 @@ class TwrIfconfigParser(ShellInteractionParser):
hwaddr_c = re.compile(r"HWaddr:\s+(?P<name>[0-9a-fA-F:]+)\s")
hwaddr64_c = re.compile(r"Long HWaddr:\s+(?P<name>[0-9a-fA-F:]+)")
panid_c = re.compile(r"NID:\s+(?P<name>[0-9a-fA-F:]+)")
channel_c = re.compile(r"Channel:\s+(?P<name>[0-9]+)")

def parse(self, cmd_output):
netif = {
"netif": None,
"hwaddr": None,
"hwaddr64": None,
"panid": None,
"channel": None,
}
for line in cmd_output.splitlines():
m = self.iface_c.search(line)
Expand All @@ -39,6 +41,9 @@ def parse(self, cmd_output):
m = self.panid_c.search(line)
if m is not None:
netif["panid"] = m.group("name")
m = self.channel_c.search(line)
if m is not None:
netif["channel"] = m.group("name")
return netif


Expand All @@ -55,9 +60,9 @@ def twr_listen(self, on=True, timeout=-1, async_=False):
args=("lst", "on" if on else "off"), timeout=timeout, async_=async_
)

def twr_req(self, count=1, interval=1000, proto="ss", timeout=-1, async_=False):
def twr_req(self, addr="ff:ff", count=1, interval=1000, proto="ss", timeout=-1, async_=False):
return self.twr_cmd(
args=("req", f"-c {count}", f"-p {proto}", f"-i {interval}"),
args=("req", f"{addr}", f"-c {count}", f"-p {proto}", f"-i {interval}"),
timeout=timeout,
async_=async_,
)
Expand Down

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