FW-877 Heterogeneous radio settings in the Mesh

.gitignore

@@ -1,6 +1,9 @@
 Debug
 settings
 *.dep
+*.ewd
+*.ewt
+*.bak
 *.sfr
 *.o
 *.exe
@@ -24,3 +27,5 @@ settings
 /projects/telosb/01bsp_uart/path.txt
 /projects/telosb/03oos_macpong/path.txt
 /projects/telosb/02drv_opentimers/path.txt
+/projects/openmote-b/01bsp_openradio_rx/log.txt
+/projects/openmote-b/01bsp_radio_tx/asm.s

SConstruct

@@ -3,7 +3,7 @@ import sys
 import platform
 import SCons
 
-#============================ banner ==========================================
+#============================ banner =========================================
 
 banner  = []
 banner += [""]

bootloader/openmote-cc2538/ot_program.py

@@ -10,6 +10,105 @@
 #============================ defines =========================================
 BROKER_ADDRESS          = "argus.paris.inria.fr"
 NUMBER_OF_MOTES         = 80 - 4 # 4 motes are used for local test
+BOOT_MODE = "default"    #"default" or "subset"
+
+# subset used for 10% disturbance experiments
+mote_subset1 = [
+"00-12-4b-00-14-b5-b5-95"
+]
+
+# subset used for 10% disturbance experiments
+#mote_subset = [
+#"00-12-4b-00-14-b5-b5-8c",
+#"00-12-4b-00-14-b5-b6-02",
+#"00-12-4b-00-14-b5-b5-7e",
+#"00-12-4b-00-14-b5-b6-1c"
+#]
+temp_subset=[
+"00-12-4b-00-14-b5-b6-46",
+"00-12-4b-00-14-b5-b6-1c",
+"00-12-4b-00-14-b5-b5-57",
+"00-12-4b-00-14-b5-b5-58",
+"00-12-4b-00-14-b5-b5-a3",
+"00-12-4b-00-14-b5-b6-3a",
+"00-12-4b-00-14-b5-b6-18",
+"00-12-4b-00-14-b5-b5-8c",
+"00-12-4b-00-14-b5-b5-71",
+"00-12-4b-00-14-b5-b6-12"
+
+]
+# subset used for 50% density experiments
+#mote_subset = [
+#"00-12-4b-00-14-b5-b4-8d",
+#"00-12-4b-00-14-b5-b5-71",
+#"00-12-4b-00-14-b5-b5-b5",
+#"00-12-4b-00-14-b5-b5-93",
+#"00-12-4b-00-14-b5-b5-a3",
+#"00-12-4b-00-14-b5-b6-02",
+#"00-12-4b-00-14-b5-b6-05",
+#"00-12-4b-00-14-b5-b6-1c",
+#"00-12-4b-00-14-b5-b5-a9",
+#"00-12-4b-00-14-b5-b5-88",
+#"00-12-4b-00-14-b5-b4-62",
+#"00-12-4b-00-14-b5-b6-22",
+#"00-12-4b-00-14-b5-b5-63",
+#"00-12-4b-00-14-b5-b6-0b",
+#"00-12-4b-00-14-b5-b6-40",
+#"00-12-4b-00-14-b5-b5-d8",
+#"00-12-4b-00-14-b5-b6-12",
+#"00-12-4b-00-14-b5-b6-18",
+#"00-12-4b-00-14-b5-b6-3a",
+#"00-12-4b-00-14-b5-b5-57",
+#"00-12-4b-00-14-b5-b6-48"
+#]
+
+# motes in building a
+mote_subset2 = [
+"00-12-4b-00-14-b5-b5-95",     
+"00-12-4b-00-14-b5-b5-d8",     
+"00-12-4b-00-14-b5-b4-8d",     
+"00-12-4b-00-14-b5-b6-22",     
+"00-12-4b-00-14-b5-b6-40",     
+"00-12-4b-00-14-b5-b6-29",     
+"00-12-4b-00-14-b5-b6-46",     
+"00-12-4b-00-14-b5-b6-47",     
+"00-12-4b-00-14-b5-b6-02",     
+"00-12-4b-00-14-b5-b6-1c",     
+"00-12-4b-00-14-b5-b6-1a",     
+"00-12-4b-00-14-b5-b5-e7",     
+"00-12-4b-00-14-b5-b4-62",     
+"00-12-4b-00-14-b5-b4-98",     
+"00-12-4b-00-14-b5-b5-a9",     
+"00-12-4b-00-14-b5-b5-57",     
+"00-12-4b-00-14-b5-b5-58",     
+"00-12-4b-00-14-b5-b5-88",     
+"00-12-4b-00-14-b5-b5-3d",     
+"00-12-4b-00-14-b5-b5-a3",     
+"00-12-4b-00-14-b5-b4-aa",     
+"00-12-4b-00-14-b5-b5-5b",     
+"00-12-4b-00-14-b5-b6-48",     
+"00-12-4b-00-14-b5-b5-7e",     
+"00-12-4b-00-14-b5-b6-3a",     
+"00-12-4b-00-14-b5-b6-38",     
+"00-12-4b-00-14-b5-b5-93",     
+"00-12-4b-00-14-b5-b6-18",     
+"00-12-4b-00-14-b5-b5-b5",     
+"00-12-4b-00-14-b5-b5-f8",     
+"00-12-4b-00-14-b5-b5-b7",     
+"00-12-4b-00-14-b5-b5-8c",     
+"00-12-4b-00-14-b5-b6-0b",     
+"00-12-4b-00-14-b5-b5-f1",     
+"00-12-4b-00-14-b5-b5-f3",     
+"00-12-4b-00-14-b5-b5-f2",     
+"00-12-4b-00-14-b5-b5-bf",     
+"00-12-4b-00-14-b5-b6-05",     
+"00-12-4b-00-14-b5-b5-63",     
+"00-12-4b-00-14-b5-b5-71",     
+"00-12-4b-00-14-b5-b5-65",     
+"00-12-4b-00-14-b5-b6-12"
+]  
+
+mote_subset = temp_subset
 
 #============================ classes =========================================
 class program_over_testbed(object):
@@ -18,14 +117,14 @@ class program_over_testbed(object):
     CMD                     = 'program'
 
     # in seconds, should be larger than the time starting from publishing message until receiving the response
-    MESSAGE_RESP_TIMEOUT    = 30
+    MESSAGE_RESP_TIMEOUT    = 60
 
     def __init__(self, mote, image_path):
 
         # initialize parameters
         self.mote       = mote
         self.image      = None
-
+        print "\tprogramming: {0}".format(mote)
         # check bootload backdoor is configured correctly
 
         bootloader_backdoor_enabled   = False
@@ -66,10 +165,6 @@ def __init__(self, mote, image_path):
             'failed_messages_topic': []
         }
 
-        # mqtt topic string format
-        self.mqtttopic_mote_cmd     = 'opentestbed/deviceType/mote/deviceId/{0}/cmd/{1}'.format(self.mote,self.CMD)
-        self.mqtttopic_mote_resp    = 'opentestbed/deviceType/mote/deviceId/{0}/resp/{1}'.format(self.mote,self.CMD)
-
         # connect to MQTT
         self.mqttclient                = mqtt.Client(self.CLIENT_ID)
         self.mqttclient.on_connect     = self._on_mqtt_connect
@@ -85,12 +180,33 @@ def __init__(self, mote, image_path):
             'description': self.image_name,
             'hex':         self.image,
         }
-        # publish the cmd message
-        self.mqttclient.publish(
-            topic   = self.mqtttopic_mote_cmd,
-            payload = json.dumps(payload_program_image),
-        )
-
+        if BOOT_MODE == 'default':
+            # mqtt topic string format
+            self.mqtttopic_mote_cmd     = 'opentestbed/deviceType/mote/deviceId/{0}/cmd/{1}'.format(self.mote,self.CMD)
+            self.mqtttopic_mote_resp    = 'opentestbed/deviceType/mote/deviceId/{0}/resp/{1}'.format(self.mote,self.CMD)
+            print "\tcmd: {}".format(self.mqtttopic_mote_cmd)
+            # publish the cmd message
+            self.mqttclient.publish(
+                topic   = self.mqtttopic_mote_cmd,
+                payload = json.dumps(payload_program_image),
+            )
+        elif BOOT_MODE == "subset":
+            i = 0
+            for m in mote_subset:
+                # mqtt topic string format
+                self.mqtttopic_mote_cmd     = 'opentestbed/deviceType/mote/deviceId/{0}/cmd/{1}'.format(m,self.CMD)
+                self.mqtttopic_mote_resp    = 'opentestbed/deviceType/mote/deviceId/{0}/resp/{1}'.format(m,self.CMD)
+                print "\tcmd: {}".format(self.mqtttopic_mote_cmd)
+                self.mqttclient.publish(
+                    topic   = self.mqtttopic_mote_cmd,
+                    payload = json.dumps(payload_program_image),
+                )
+                # wait =  random.randrange(60, 360, 1) # a random value beween 1 and 3 minutes
+                wait =  5
+                time.sleep(wait)
+                i+=1
+                if i%10==0:
+                    time.sleep(5)
         try:
             # wait maxmium MESSAGE_RESP_TIMEOUT seconds before return
             self.cmd_response_success_queue.get(timeout=self.MESSAGE_RESP_TIMEOUT)
@@ -118,7 +234,8 @@ def _on_mqtt_message(self, client, userdata, message):
         '''
         Record the number of message received and success status
         '''
-
+        print userdata
+        print message
         self.response_success['message_counter'] += 1
         if json.loads(message.payload)['success']:
             self.response_success['success_counter'] += 1
@@ -187,4 +304,4 @@ def usage():
         raise Exception('No file path given.')
 
     #==== program_over_testbed
-    program_over_testbed(configure['mote_address'], configure['image_name_path'])
+    program_over_testbed(configure['mote_address'], configure['image_name_path'])

bsp/boards/board.h

@@ -16,25 +16,55 @@
 #include "toolchain_defs.h"
 
 //=========================== define ==========================================
+#define SLOTDURATION_MS     board_getSlotDuration()/PORT_TICS_PER_MS
 
 typedef enum {
    DO_NOT_KICK_SCHEDULER = 0,
    KICK_SCHEDULER        = 1,
 } kick_scheduler_t;
 
+
+
 //=========================== typedef =========================================
+typedef struct {
+    uint16_t slotDuration;
+
+    // execution speed related
+    // also implementation related (e.g. SoC radio or spi-connected radio because of the time to load a packet to/from radio)
+    uint16_t maxTxDataPrepare;
+    uint16_t maxRxAckPrepare;
+    uint16_t maxRxDataPrepare;
+    uint16_t maxTxAckPrepare;
+
+    // radio speed related
+    // also implementation related (because the time to execute the Tx/Rx command is highly dependent on the radio AND the configuration)
+    uint16_t delayTx;                       
+    uint16_t delayRx;
+} slot_board_vars_t; //board specific slot vars
+
+// available slot templates
+typedef enum{
+    SLOT_10ms,
+    SLOT_20ms_24GHZ,
+    SLOT_40ms_24GHZ,
+    SLOT_40ms_FSK_SUBGHZ,
+    SLOT_40ms_OFDM1MCS0_3_SUBGHZ,
+    MAX_SLOT_TYPES,
+} slotType_t;
 
 //=========================== variables =======================================
 
 //=========================== prototypes ======================================
 
-void board_init(void);
-void board_sleep(void);
-void board_reset(void);
-
+void              board_init(void);
+void              board_sleep(void);
+void              board_reset(void);
+uint16_t          board_getSlotDuration (void);
+slot_board_vars_t board_selectSlotTemplate(slotType_t slot_type);
 /**
 \}
 \}
 */
-
+//=========================== private =========================================
+void              board_init_slot_vars(void);
 #endif

bsp/boards/iot-lab_A8-M3/board.c

@@ -16,7 +16,10 @@
 #include "nvic.h"
 #include "debugpins.h"
 
-//=========================== variable ========================================
+//=========================== variables =======================================
+
+slot_board_vars_t slot_board_vars [MAX_SLOT_TYPES];
+slotType_t selected_slot_type;
 
 //=========================== private =========================================
 
@@ -25,6 +28,8 @@ void GPIO_Config_ALL_AIN(void);
 // configure the hard fault exception
 void board_enableHardFaultExceptionHandler(void);
 
+
+
 //=========================== main ============================================
 
 extern int mote_main(void);
@@ -96,6 +101,35 @@ void board_init(void){
     debugpins_init();
     //enable nvic for the radio
     NVIC_radio();
+    board_init_slot_vars();
+}
+
+
+//==== bootstrapping slot info lookup table
+void board_init_slot_vars(void){
+
+    // 20ms slot
+    slot_board_vars [SLOT_20ms_24GHZ].slotDuration                   =  655   ; // ms  
+    slot_board_vars [SLOT_20ms_24GHZ].maxTxDataPrepare               =  110  ; //  3355us (not measured)
+    slot_board_vars [SLOT_20ms_24GHZ].maxRxAckPrepare                =  20   ; //   610us (not measured)
+    slot_board_vars [SLOT_20ms_24GHZ].maxRxDataPrepare               =  33   ; //  1000us (not measured)
+    slot_board_vars [SLOT_20ms_24GHZ].maxTxAckPrepare                =  50   ; //  1525us (not measured)
+    slot_board_vars [SLOT_20ms_24GHZ].delayTx                        =  18   ; //   549us (not measured)
+    slot_board_vars [SLOT_20ms_24GHZ].delayRx                        =  0    ; //     0us (can not measure)
+}
+
+// To get the current slotDuration at any time
+// used during initialization by sixtop to fire the first sixtop EB
+uint16_t board_getSlotDuration (void)
+{
+    return slot_board_vars [selected_slot_type].slotDuration;
+}
+
+// Setter/Getter function for slot_board_vars
+slot_board_vars_t board_selectSlotTemplate (slotType_t slot_type)
+{
+  selected_slot_type = slot_type;
+  return slot_board_vars [selected_slot_type];
 }
 
 void board_sleep(void) {

bsp/boards/iot-lab_A8-M3/board_info.h

@@ -50,23 +50,6 @@ to return the board's description.
 #define PORT_PIN_RADIO_RESET_HIGH()       //GPIOC->ODR |= 0X0040;// nothing
 #define PORT_PIN_RADIO_RESET_LOW()        //GPIOC->ODR &= ~0X0040;// nothing
 
-//===== IEEE802154E timing
-
-#define SLOTDURATION 20 // in miliseconds
-
-// time-slot related
-#define PORT_TsSlotDuration                 655   //    20ms
-
-// execution speed related
-#define PORT_maxTxDataPrepare               110   //  3355us (not measured)
-#define PORT_maxRxAckPrepare                20    //   610us (not measured)
-#define PORT_maxRxDataPrepare               33    //  1000us (not measured)
-#define PORT_maxTxAckPrepare                50    //  1525us (not measured)
-
-// radio speed related
-#define PORT_delayTx                        18    //   549us (not measured)
-#define PORT_delayRx                        0     //     0us (can not measure)
-// radio watchdog
 
 //===== adaptive_sync accuracy