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Add network wide multicasting and multicast routing
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- Multicasting works in levels, with each node on the same level sharing
a multicast address (levels 1-6)
- Direct child nodes are limited to 4-per-parent in multicast mode, but
a multicast node can have unlimited children if they only need to
receive. If more than 4 need to transmit, they can transmit to any node
other than the parent/relay node by writing directly to it with a
payload addressed to another node.
- Nodes can be setup as multicast relays and will always relay multicast
payloads onto the next level
- Any node(s) can be assigned any multicast level
- A network topology can combine multicast and non-multicast branches
and nodes as required, along with standard network routing
- Duplicate multicast payloads are automatically filtered out, so
multiple multicast relay nodes can be active in the same area

eg:  Send to all level 1 nodes:
network.multicast(header,&message,sizeof(unsigned long),1);

Multicasting is enabled by uncommenting #define RF24NetworkMulticast in
the RF24Network_config.h file
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@TMRh20
TMRh20 committed Jun 29, 2014
1 parent 2474311 commit 6e25453
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Showing 6 changed files with 356 additions and 93 deletions.
178 changes: 136 additions & 42 deletions RF24Network.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,9 @@
uint16_t RF24NetworkHeader::next_id = 1;

uint64_t pipe_address( uint16_t node, uint8_t pipe );
#if defined (RF24NetworkMulticast)
uint16_t levelToAddress( uint8_t level );
#endif
bool is_valid_address( uint16_t node );
uint32_t nFails = 0, nOK=0;

Expand Down Expand Up @@ -53,11 +56,11 @@ void RF24Network::begin(uint8_t _channel, uint16_t _node_address )
// Use different retry periods to reduce data collisions

uint8_t retryVar = ((node_address % 6) *2) + 3;
radio.setRetries(retryVar, 15);
txTimeout = 100;
routeTimeout = txTimeout+25; // About 2.5ms max delay per node at optimal routing speeds, 10 nodes maximum hop + max retry time for auto-ack
radio.setRetries(retryVar, 5);
txTimeout = 20;
routeTimeout = txTimeout+35; // About 2.5ms max delay per node at optimal routing speeds, 10 nodes maximum hop + max retry time for auto-ack + some delay to relieve congestion

printf_P(PSTR("Retries: %d, txTimeout: %d"),retryVar,txTimeout);
//printf_P(PSTR("Retries: %d, txTimeout: %d"),retryVar,txTimeout);
#if defined (DUAL_HEAD_RADIO)
radio1.setChannel(_channel);
radio1.setDataRate(RF24_1MBPS);
Expand All @@ -73,6 +76,14 @@ void RF24Network::begin(uint8_t _channel, uint16_t _node_address )
while (i--){
radio.openReadingPipe(i,pipe_address(_node_address,i));
}
#if defined (RF24NetworkMulticast)
uint8_t count = 0;
while(_node_address){
_node_address/=8;
count++;
}
multicast_level = count;
#endif
radio.startListening();

}
Expand All @@ -89,6 +100,7 @@ uint8_t RF24Network::update(void)
uint8_t pipe_num;
while ( radio.isValid() && radio.available())//&pipe_num) )
{

// Dump the payloads until we've gotten everything

//while (radio.available())
Expand All @@ -109,21 +121,44 @@ uint8_t RF24Network::update(void)

uint8_t res = header.type;
// Is this for us?
if ( header.to_node == node_address ){
if ( header.to_node == node_address ){
if(res == NETWORK_ACK){ // If received a routing payload, (Network ACK) discard it, and indicate what it was.
#ifdef SERIAL_DEBUG_ROUTING
printf_P(PSTR("MAC: Network ACK Rcvd\n"));
#endif
return NETWORK_ACK;
}
//printf("enQ\n");
// Add it to the buffer of frames for us
enqueue();
} // Add it to the buffer of frames for us
enqueue();

nOK++;

}else{
//printf("route");
write(header.to_node,1); //Send it on, indicate it is a routed payload

#if defined (RF24NetworkMulticast)
if( header.to_node == 0100){
if(header.id != lastMultiMessageID){
if(multicastRelay){
#ifdef SERIAL_DEBUG_ROUTING
printf_P(PSTR("MAC: FWD multicast frame from 0%o to level %d\n"),header.from_node,multicast_level+1);
#endif
write(levelToAddress(multicast_level)<<3,4);
}
enqueue();
lastMultiMessageID = header.id;
}
#ifdef SERIAL_DEBUG_ROUTING
else{
printf_P(PSTR("MAC: Drop duplicate multicast frame %d from 0%o\n"),header.id,header.from_node);
}
#endif
}else{
write(header.to_node,1); //Send it on, indicate it is a routed payload
}
#else
//if(radio.available()){printf("------FLUSHED DATA --------------");}
write(header.to_node,1); //Send it on, indicate it is a routed payload
#endif
}


Expand Down Expand Up @@ -231,6 +266,29 @@ size_t RF24Network::read(RF24NetworkHeader& header,void* message, size_t maxlen)
return bufsize;
}

#if defined RF24NetworkMulticast
/******************************************************************/
bool RF24Network::multicast(RF24NetworkHeader& header,const void* message, size_t len, uint8_t level){
// Fill out the header
header.to_node = 0100;
header.from_node = node_address;

// Build the full frame to send
memcpy(frame_buffer,&header,sizeof(RF24NetworkHeader));
if (len)
memcpy(frame_buffer + sizeof(RF24NetworkHeader),message,min(frame_size-sizeof(RF24NetworkHeader),len));

IF_SERIAL_DEBUG(printf_P(PSTR("%lu: NET Sending %s\n\r"),millis(),header.toString()));
if (len)
{
IF_SERIAL_DEBUG(const uint16_t* i = reinterpret_cast<const uint16_t*>(message);printf_P(PSTR("%lu: NET message %04x\n\r"),millis(),*i));
}

return write(levelToAddress(level),4);

}
#endif

/******************************************************************/
bool RF24Network::write(RF24NetworkHeader& header,const void* message, size_t len){
return _write(header,message,len,070);
Expand Down Expand Up @@ -292,9 +350,14 @@ bool RF24Network::write(uint16_t to_node, uint8_t directTo) // Direct To: 0 = F
uint16_t send_node = parent_node;

// On which pipe
uint8_t send_pipe = parent_pipe;
uint8_t send_pipe = parent_pipe %5;

if(directTo == 4){
send_node = to_node;
send_pipe = 0;
}

if(directTo>1){
else if(directTo>1){
send_node = to_node;
}

Expand All @@ -305,25 +368,26 @@ bool RF24Network::write(uint16_t to_node, uint8_t directTo) // Direct To: 0 = F
send_node = to_node;

// To its listening pipe
send_pipe = 0;
send_pipe = 5;
}
// If the node is a child of a child
// talk on our child's listening pipe,
// and let the direct child relay it.
else if ( is_descendant(to_node) )
{
send_node = direct_child_route_to(to_node);
send_pipe = 0;
send_pipe = 5;
}


if( ( send_node != to_node) || frame_buffer[6] == NETWORK_ACK || directTo == 3){
if( ( send_node != to_node) || frame_buffer[6] == NETWORK_ACK || directTo == 3 || directTo == 4){
multicast = 1;
}


IF_SERIAL_DEBUG(printf_P(PSTR("%lu: MAC Sending to 0%o via 0%o on pipe %x\n\r"),millis(),to_node,send_node,send_pipe));

radio.stopListening();
ok=write_to_pipe(send_node, send_pipe, multicast);

#ifdef SERIAL_DEBUG_ROUTING
Expand Down Expand Up @@ -392,7 +456,7 @@ bool RF24Network::write_to_pipe( uint16_t node, uint8_t pipe, bool multicast )
// Open the correct pipe for writing.

// First, stop listening so we can talk
radio.stopListening();

radio.openWritingPipe(out_pipe);
radio.writeFast(frame_buffer, frame_size,multicast);
ok = radio.txStandBy(txTimeout);
Expand Down Expand Up @@ -448,7 +512,6 @@ bool RF24Network::is_direct_child( uint16_t node )
uint16_t child_node_mask = ( ~ node_mask ) << 3;
result = ( node & child_node_mask ) == 0 ;
}

return result;
}

Expand Down Expand Up @@ -527,7 +590,11 @@ bool is_valid_address( uint16_t node )
while(node)
{
uint8_t digit = node & 0B111;
#if !defined (RF24NetworkMulticast)
if (digit < 1 || digit > 5)
#else
if (digit < 0 || digit > 5) //Allow our out of range multicast address
#endif
{
result = false;
printf_P(PSTR("*** WARNING *** Invalid address 0%o\n\r"),node);
Expand All @@ -539,27 +606,52 @@ bool is_valid_address( uint16_t node )
return result;
}

/******************************************************************/
#if defined (RF24NetworkMulticast)
void RF24Network::multicastLevel(uint8_t level){
multicast_level = level;
radio.stopListening();
radio.openReadingPipe(0,pipe_address(levelToAddress(level),0));
radio.startListening();
}

uint16_t levelToAddress(uint8_t level){
uint16_t levelAddr = 1;
levelAddr = levelAddr << ((level-1) * 3);
return levelAddr;
}
#endif
/******************************************************************/

uint64_t pipe_address( uint16_t node, uint8_t pipe )
{

static uint8_t address_translation[] = { 0xc3,0x3c,0x33,0xce,0x3e,0xe3 };
static uint8_t address_translation[] = { 0xc3,0x3c,0x33,0xce,0x3e,0xe3,0xec };
uint64_t result = 0xCCCCCCCCCCLL;
uint8_t* out = reinterpret_cast<uint8_t*>(&result);

// Translate the address to use our optimally chosen radio address bytes
uint8_t count = 0; uint16_t dec = node;
uint8_t count = 1; uint16_t dec = node;
#if defined (RF24NetworkMulticast)
if(pipe != 0 || !node){
#endif
while(dec){
out[count]=address_translation[dec % 8]; // Convert our decimal values to octal, translate them to address bytes, and set our address
out[count]=address_translation[(dec % 8)]; // Convert our decimal values to octal, translate them to address bytes, and set our address
dec /= 8;
count++;
}

//if( pipe > 0 ){
result = result << 8; // Shift the result by 1 byte
out[0] = address_translation[pipe]; // Set last byte by pipe number
//}
}

out[0] = address_translation[pipe]; // Set last byte by pipe number
#if defined (RF24NetworkMulticast)
}else{
while(dec){
dec/=8;
count++;
}
out[1] = address_translation[count-1];
}

#endif

IF_SERIAL_DEBUG(uint32_t* top = reinterpret_cast<uint32_t*>(out+1);printf_P(PSTR("%lu: NET Pipe %i on node 0%o has address %lx%x\n\r"),millis(),pipe,node,*top,*out));

Expand All @@ -572,17 +664,11 @@ uint64_t pipe_address( uint16_t node, uint8_t pipe )

#if defined ENABLE_SLEEP_MODE

#if !defined( __AVR_ATtiny85__ ) && !defined( __AVR_ATtiny84__) && !defined(__arm__)

RF24NetworkHeader sleepHeader(/*to node*/ 00, /*type*/ 'S' /*Sleep*/);

//bool awoke = 0;
#if !defined(__arm__)

void wakeUp(){
//detachInterrupt(0);
sleep_disable();
sleep_cycles_remaining = 0;
//awoke = 1;
}

ISR(WDT_vect){
Expand All @@ -593,25 +679,27 @@ ISR(WDT_vect){

void RF24Network::sleepNode( unsigned int cycles, int interruptPin ){


sleep_cycles_remaining = cycles;
set_sleep_mode(SLEEP_MODE_PWR_DOWN); // sleep mode is set here
sleep_enable();
if(interruptPin != 255){
attachInterrupt(interruptPin,wakeUp, LOW);
}
}
#if defined(__AVR_ATtiny25__) || defined(__AVR_ATtiny45__) || defined(__AVR_ATtiny85__)
WDTCR |= _BV(WDIE);
#else
WDTCSR |= _BV(WDIE);
#endif
while(sleep_cycles_remaining){
//uint8_t junk = 23;
//write(&junk,1);
sleep_mode(); // System sleeps here
} // The WDT_vect interrupt wakes the MCU from here
sleep_disable(); // System continues execution here when watchdog timed out
//if(awoke){ update(); awoke = 0; }
detachInterrupt(interruptPin);
WDTCSR &= ~_BV(WDIE);
//radio.startListening();

#if defined(__AVR_ATtiny25__) || defined(__AVR_ATtiny45__) || defined(__AVR_ATtiny85__)
WDTCR &= ~_BV(WDIE);
#else
WDTCSR &= ~_BV(WDIE);
#endif
}

void RF24Network::setup_watchdog(uint8_t prescalar){
Expand All @@ -620,8 +708,14 @@ void RF24Network::setup_watchdog(uint8_t prescalar){
if ( prescalar & 8 )
wdtcsr |= _BV(WDP3);
MCUSR &= ~_BV(WDRF); // Clear the WD System Reset Flag

#if defined(__AVR_ATtiny25__) || defined(__AVR_ATtiny45__) || defined(__AVR_ATtiny85__)
WDTCR = _BV(WDCE) | _BV(WDE); // Write the WD Change enable bit to enable changing the prescaler and enable system reset
WDTCR = _BV(WDCE) | wdtcsr | _BV(WDIE); // Write the prescalar bits (how long to sleep, enable the interrupt to wake the MCU
#else
WDTCSR = _BV(WDCE) | _BV(WDE); // Write the WD Change enable bit to enable changing the prescaler and enable system reset
WDTCSR = _BV(WDCE) | wdtcsr | _BV(WDIE); // Write the prescalar bits (how long to sleep, enable the interrupt to wake the MCU
#endif
}


Expand Down
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13 comments on commit 6e25453

@mannkind
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I had some spare time so I decided to play around with the Development branch.

The RPi (Node 00) and it's direct children (Nodes 01-05) seem to interact perfectly. However, all communication to/from the children's children (e.g. Node 00 <=> Node 01 <=> Node 031) fails.

e.g.
MAC Send fail to 031 via 01 on pipe 5
MAC Network ACK fail from 031 via 01 on pipe 5

First I tried extending the network.txTimeout to 30, and then 50 & network.routeTimeout (using txTimeout + 35). I would randomly get "MAC: Network ACK Rcvd". When I changed the retries using setRetries([your retryVar formula], 15), communications seemed to start working again. All retries/timeout changes were made to both Arduino and RPi devices.

I haven't yet tested removing my extensions to network.txTimeout & network.routeTimeout; I wonder if maybe they're unnecessary after changing the number of retries.

@TMRh20
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@TMRh20 TMRh20 commented on 6e25453 Jul 9, 2014

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There seems to be few strange things going on with it that I haven't put my finger on yet. Oddly enough, it seems to work OK for me, even with multiple levels of children nodes.

The txTimeout and routeTimeout numbers are related. The txTimeout must be greater than the total retry period (if retries are 5,15 then 250 * 6 * 15 = 22500us or 22.5ms. The route timeout needs to be about 25-35ms greater than the txTimeout period, or it might not wait long enough for network ACKs.
Im not sure this is the problem you are having though, so I'm kind of confused as to why changing the retry values would have fixed it for you. In looking at the timeout periods, I do notice that there is a difference between the RPi and Arduino timeout settings, so maybe thats why? I've since made them the same locally, but haven't updated the dev branch.
In any case, I won't be able to do a whole lot on the dev branch for probably a week or two, but if you have a chance in the mean-time, maybe revert some or all your changes to see if the issue returns, to figure out what exactly is going on. If you can re-create the issue, then I should be able to re-create it as well.

@mannkind
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I doubt it makes a difference, but my adjustments were made outside of the library (in my code) after calling network.begin().

Did you make the RPi retry/timeouts the same as the Arudino or the Arduino retry/timeouts the same as the RPi? I'll remove my adjustments, match your changes, and see if that makes a difference.

@TMRh20
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@TMRh20 TMRh20 commented on 6e25453 Jul 9, 2014

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Hmm, well maybe it is related to the timeouts?

Right now I have this for both Arduino and RPi in the void RF24Network::begin(uint8_t _channel, uint16_t _node_address ) section of RF24Network.cpp:

uint8_t retryVar = (((node_address % 6)+1) *2) + 3;  
radio.setRetries(retryVar, 5);  
txTimeout = 20;  
routeTimeout = txTimeout+35;

The txTimeout value could be a little higher I think, but 20ms should account for most delays.

@mannkind
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I did some testing last night...

After some adjustments to my code running on Node 031, I can confirm it's receiving packets from Node 00, but Node 00 still reports that the send/network ack failed.

I also realized this morning that I'm using the 250KBPS data rate and not the default of 1MBPS. I should try using the 1MBPS data rate and see if my problems go away.

I'll do more testing tonight.

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@TMRh20 TMRh20 commented on 6e25453 Jul 15, 2014

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Interesting, although not sure what is going on with it. Hopefully I can get some more work done soon on it, and get my changes committed to github so we're working with the exact same code to make things a little easier.

@mannkind
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No worries; I'm sure it'll get worked out eventually. I like the bleeding edge/testing new things :)

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@TMRh20 TMRh20 commented on 6e25453 Aug 6, 2014

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I finally managed to clean the dev code up enough to check this out and make a few changes. I'm hoping the latest commit and recent RF24 fixes combined will address any issues.

@mannkind
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@mannkind mannkind commented on 6e25453 Aug 7, 2014 via email

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@TMRh20 TMRh20 commented on 6e25453 Aug 7, 2014

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Heh, I'm not so sure now.

Since it was saying MAC Send fail to 031 via 01, I just realized there was a problem with the multicast write, since that would be a routed payload from 00 > 01 > 031 (no_ack). Due to this, I set the same addressing and tested some more sending from my RPi, and spotted (I think) the same issue. I just updated the RPi RF24 lib because dynamic no_ack writes were being sent as normal auto_ack writes from RPi devices, but it was also waiting for a network_ack. I only realized it after introducing connection problems, like disconnecting node 01, but I was able to recreate it and resolve it as far as I can tell. This affected all multicast/no_ack writes from RPi.

The commit I committed is nRF24/RF24@9e12c23 but somehow that commit didnt reference this commit properly when I committed it.

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@mannkind mannkind commented on 6e25453 Aug 7, 2014 via email

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@TMRh20 TMRh20 commented on 6e25453 Aug 8, 2014 via email

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@mannkind
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That was the last bit! I added a small delay and now everything is working.

Thanks again for your work on RF24/RF24Network! 👍

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