esp_radio/ieee802154/
mod.rs

1//! Low-level [IEEE 802.15.4] driver for the ESP32-C6 and ESP32-H2.
2//!
3//! Implements the PHY/MAC layers of the IEEE 802.15.4 protocol stack, and
4//! supports sending and receiving of raw frames.
5//!
6//! This module is intended to be used to implement support for higher-level
7//! communication protocols, for example [esp-openthread].
8//!
9//! Note that this module currently requires you to enable the `unstable` feature
10//! on `esp-hal`.
11//!
12//! NOTE: Coexistence with Wi-Fi or Bluetooth is currently not possible. If you do it anyway,
13//! things will break.
14//!
15//! [IEEE 802.15.4]: https://en.wikipedia.org/wiki/IEEE_802.15.4
16//! [esp-openthread]: https://github.com/esp-rs/esp-openthread
17
18use byte::{BytesExt, TryRead};
19use esp_hal::{clock::PhyClockGuard, peripherals::IEEE802154};
20use esp_phy::PhyInitGuard;
21use esp_sync::NonReentrantMutex;
22use ieee802154::mac::{self, FooterMode, FrameSerDesContext};
23
24use self::{
25    frame::FRAME_SIZE,
26    pib::{CONFIG_IEEE802154_CCA_THRESHOLD, IEEE802154_FRAME_EXT_ADDR_SIZE},
27    raw::*,
28};
29pub use self::{
30    frame::{Frame, ReceivedFrame},
31    pib::{CcaMode, PendingMode},
32    raw::RawReceived,
33};
34
35mod frame;
36mod hal;
37mod pib;
38mod raw;
39
40/// IEEE 802.15.4 errors
41#[derive(Debug, Clone, Copy, PartialEq, Eq)]
42pub enum Error {
43    /// The requested data is bigger than available range, and/or the offset is
44    /// invalid.
45    Incomplete,
46
47    /// The requested data content is invalid.
48    BadInput,
49}
50
51impl core::fmt::Display for Error {
52    fn fmt(&self, f: &mut core::fmt::Formatter<'_>) -> core::fmt::Result {
53        match self {
54            Error::Incomplete => write!(f, "Incomplete data."),
55            Error::BadInput => write!(f, "Bad input data."),
56        }
57    }
58}
59
60impl core::error::Error for Error {}
61
62impl From<byte::Error> for Error {
63    fn from(err: byte::Error) -> Self {
64        match err {
65            byte::Error::Incomplete | byte::Error::BadOffset(_) => Error::Incomplete,
66            byte::Error::BadInput { .. } => Error::BadInput,
67        }
68    }
69}
70
71/// IEEE 802.15.4 driver configuration
72#[derive(Debug, Clone, Copy, PartialEq, Eq)]
73pub struct Config {
74    pub auto_ack_tx: bool,
75    pub auto_ack_rx: bool,
76    pub enhance_ack_tx: bool,
77    pub promiscuous: bool,
78    pub coordinator: bool,
79    pub rx_when_idle: bool,
80    pub txpower: i8,
81    pub channel: u8,
82    pub cca_threshold: i8,
83    pub cca_mode: CcaMode,
84    pub pan_id: Option<u16>,
85    pub short_addr: Option<u16>,
86    pub ext_addr: Option<u64>,
87    pub rx_queue_size: usize,
88}
89
90impl Default for Config {
91    fn default() -> Self {
92        Self {
93            auto_ack_tx: Default::default(),
94            auto_ack_rx: Default::default(),
95            enhance_ack_tx: Default::default(),
96            promiscuous: Default::default(),
97            coordinator: Default::default(),
98            rx_when_idle: Default::default(),
99            txpower: 10,
100            channel: 15,
101            cca_threshold: CONFIG_IEEE802154_CCA_THRESHOLD,
102            cca_mode: CcaMode::Ed,
103            pan_id: None,
104            short_addr: None,
105            ext_addr: None,
106            rx_queue_size: 10,
107        }
108    }
109}
110
111/// IEEE 802.15.4 driver
112#[derive(Debug)]
113pub struct Ieee802154<'a> {
114    _align: u32,
115    transmit_buffer: [u8; FRAME_SIZE],
116    _phy_clock_guard: PhyClockGuard<'a>,
117    _phy_init_guard: PhyInitGuard<'a>,
118}
119
120impl<'a> Ieee802154<'a> {
121    /// Construct a new driver, enabling the IEEE 802.15.4 radio in the process
122    ///
123    /// NOTE: Coexistence with Wi-Fi or Bluetooth is currently not possible. If you do it anyway,
124    /// things will break.
125    pub fn new(radio: IEEE802154<'a>) -> Self {
126        let (_phy_clock_guard, _phy_init_guard) = esp_ieee802154_enable(radio);
127        Self {
128            _align: 0,
129            transmit_buffer: [0u8; FRAME_SIZE],
130            _phy_clock_guard,
131            _phy_init_guard,
132        }
133    }
134
135    /// Set the configuration for the driver
136    pub fn set_config(&mut self, cfg: Config) {
137        set_auto_ack_tx(cfg.auto_ack_tx);
138        set_auto_ack_rx(cfg.auto_ack_rx);
139        set_enhance_ack_tx(cfg.enhance_ack_tx);
140        set_promiscuous(cfg.promiscuous);
141        set_coordinator(cfg.coordinator);
142        set_rx_when_idle(cfg.rx_when_idle);
143        set_tx_power(cfg.txpower);
144        set_channel(cfg.channel);
145        set_cca_theshold(cfg.cca_threshold);
146        set_cca_mode(cfg.cca_mode);
147
148        if let Some(pan_id) = cfg.pan_id {
149            set_panid(0, pan_id);
150        }
151
152        if let Some(short_addr) = cfg.short_addr {
153            set_short_address(0, short_addr);
154        }
155
156        if let Some(ext_addr) = cfg.ext_addr {
157            let mut address = [0u8; IEEE802154_FRAME_EXT_ADDR_SIZE];
158            address.copy_from_slice(&ext_addr.to_be_bytes()); // LE or BE?
159
160            set_extended_address(0, address);
161        }
162
163        raw::set_queue_size(cfg.rx_queue_size);
164    }
165
166    /// Start receiving frames
167    pub fn start_receive(&mut self) {
168        ieee802154_receive();
169    }
170
171    /// Return the raw data of a received frame
172    pub fn raw_received(&mut self) -> Option<RawReceived> {
173        ieee802154_poll()
174    }
175
176    /// Get a received frame, if available
177    pub fn received(&mut self) -> Option<Result<ReceivedFrame, Error>> {
178        if let Some(raw) = ieee802154_poll() {
179            let maybe_decoded = if raw.data[0] as usize > raw.data.len() {
180                // try to decode up to data.len()
181                mac::Frame::try_read(&raw.data[1..][..raw.data.len()], FooterMode::Explicit)
182            } else {
183                mac::Frame::try_read(&raw.data[1..][..raw.data[0] as usize], FooterMode::Explicit)
184            };
185
186            let result = match maybe_decoded {
187                Ok((decoded, _)) => {
188                    // crc is not written to rx buffer
189                    let rssi = if (raw.data[0] as usize > raw.data.len()) || (raw.data[0] == 0) {
190                        raw.data[raw.data.len() - 1] as i8
191                    } else {
192                        raw.data[raw.data[0] as usize - 1] as i8
193                    };
194
195                    Ok(ReceivedFrame {
196                        frame: Frame {
197                            header: decoded.header,
198                            content: decoded.content,
199                            payload: decoded.payload.to_vec(),
200                            footer: decoded.footer,
201                        },
202                        channel: raw.channel,
203                        rssi,
204                        lqi: rssi_to_lqi(rssi),
205                    })
206                }
207                Err(err) => Err(err.into()),
208            };
209
210            Some(result)
211        } else {
212            None
213        }
214    }
215
216    /// Transmit a frame
217    pub fn transmit(&mut self, frame: &Frame) -> Result<(), Error> {
218        let frm = mac::Frame {
219            header: frame.header,
220            content: frame.content,
221            payload: &frame.payload,
222            footer: frame.footer,
223        };
224
225        let mut offset = 1usize;
226        self.transmit_buffer
227            .write_with(
228                &mut offset,
229                frm,
230                &mut FrameSerDesContext::no_security(FooterMode::Explicit),
231            )
232            .unwrap();
233        self.transmit_buffer[0] = (offset - 1) as u8;
234
235        ieee802154_transmit(self.transmit_buffer.as_ptr(), false); // what about CCA?
236
237        Ok(())
238    }
239
240    /// Transmit a raw frame
241    pub fn transmit_raw(&mut self, frame: &[u8]) -> Result<(), Error> {
242        self.transmit_buffer[1..][..frame.len()].copy_from_slice(frame);
243        self.transmit_buffer[0] = frame.len() as u8;
244
245        ieee802154_transmit(self.transmit_buffer.as_ptr(), false); // what about CCA?
246
247        Ok(())
248    }
249
250    /// Set the transmit done callback function.
251    pub fn set_tx_done_callback(&mut self, callback: &'a mut (dyn FnMut() + Send)) {
252        CALLBACKS.with(|cbs| {
253            let cb: &'static mut (dyn FnMut() + Send) = unsafe { core::mem::transmute(callback) };
254            cbs.tx_done = Some(cb);
255        });
256    }
257
258    /// Clear the transmit done callback function.
259    pub fn clear_tx_done_callback(&mut self) {
260        CALLBACKS.with(|cbs| cbs.tx_done = None);
261    }
262
263    /// Set the receive available callback function.
264    pub fn set_rx_available_callback(&mut self, callback: &'a mut (dyn FnMut() + Send)) {
265        CALLBACKS.with(|cbs| {
266            let cb: &'static mut (dyn FnMut() + Send) = unsafe { core::mem::transmute(callback) };
267            cbs.rx_available = Some(cb);
268        });
269    }
270
271    /// Clear the receive available callback function.
272    pub fn clear_rx_available_callback(&mut self) {
273        CALLBACKS.with(|cbs| cbs.rx_available = None);
274    }
275
276    /// Set the transmit done callback function.
277    pub fn set_tx_done_callback_fn(&mut self, callback: fn()) {
278        CALLBACKS.with(|cbs| cbs.tx_done_fn = Some(callback));
279    }
280
281    /// Clear the transmit done callback function.
282    pub fn clear_tx_done_callback_fn(&mut self) {
283        CALLBACKS.with(|cbs| cbs.tx_done_fn = None);
284    }
285
286    /// Set the receive available callback function.
287    pub fn set_rx_available_callback_fn(&mut self, callback: fn()) {
288        CALLBACKS.with(|cbs| cbs.rx_available_fn = Some(callback));
289    }
290
291    /// Clear the receive available callback function.
292    pub fn clear_rx_available_callback_fn(&mut self) {
293        CALLBACKS.with(|cbs| cbs.rx_available_fn = None);
294    }
295}
296
297impl Drop for Ieee802154<'_> {
298    fn drop(&mut self) {
299        self.clear_tx_done_callback();
300        self.clear_tx_done_callback_fn();
301        self.clear_rx_available_callback();
302        self.clear_rx_available_callback_fn();
303    }
304}
305
306/// Convert from RSSI (Received Signal Strength Indicator) to LQI (Link Quality
307/// Indication)
308///
309/// RSSI is a measure of incoherent (raw) RF power in a channel. LQI is a
310/// cumulative value used in multi-hop networks to assess the cost of a link.
311pub fn rssi_to_lqi(rssi: i8) -> u8 {
312    if rssi < -80 {
313        0
314    } else if rssi > -30 {
315        0xff
316    } else {
317        let lqi_convert = ((rssi as u32).wrapping_add(80)) * 255;
318        (lqi_convert / 50) as u8
319    }
320}
321
322struct Callbacks {
323    tx_done: Option<&'static mut (dyn FnMut() + Send)>,
324    rx_available: Option<&'static mut (dyn FnMut() + Send)>,
325    // TODO: remove these - Box<dyn FnMut> should be good enough
326    tx_done_fn: Option<fn()>,
327    rx_available_fn: Option<fn()>,
328}
329
330impl Callbacks {
331    fn call_tx_done(&mut self) {
332        if let Some(cb) = self.tx_done.as_mut() {
333            cb();
334        }
335        if let Some(cb) = self.tx_done_fn.as_mut() {
336            cb();
337        }
338    }
339
340    fn call_rx_available(&mut self) {
341        if let Some(cb) = self.rx_available.as_mut() {
342            cb();
343        }
344        if let Some(cb) = self.rx_available_fn.as_mut() {
345            cb();
346        }
347    }
348}
349
350static CALLBACKS: NonReentrantMutex<Callbacks> = NonReentrantMutex::new(Callbacks {
351    tx_done: None,
352    rx_available: None,
353    tx_done_fn: None,
354    rx_available_fn: None,
355});
356
357fn tx_done() {
358    trace!("tx_done callback");
359
360    CALLBACKS.with(|cbs| cbs.call_tx_done());
361}
362
363fn rx_available() {
364    trace!("rx available callback");
365
366    CALLBACKS.with(|cbs| cbs.call_rx_available());
367}
esp_radio/ieee802154/mod.rs

esp_radio/ieee802154/
mod.rs
