Merge #18156 #19691 #19694

18156: pkg/opendsme: add initial support for IEEE 802.15.4 DSME time-slotted MAC r=miri64 a=jia200x



19691: drivers/bmx055: fix crazy use of FPU r=maribu a=maribu

### Contribution description

As the title says...


19694: tests/drivers/epd_bw_spi_disp_dev: fix accidental use of FPU r=maribu a=maribu



Co-authored-by: Jose Alamos <[email protected]>
Co-authored-by: Marian Buschsieweke <[email protected]>

drivers/bmx055/bmx055.c

@@ -234,7 +234,7 @@ int bmx055_gyro_read(const bmx055_t *dev, int16_t *data)
     uint16_t scale;
 
     /* converting scale info into real scaling values */
-    scale = (GYRO_2000_DPS / pow(2, dev->p.gyro_scale));
+    scale = GYRO_2000_DPS >> dev->p.gyro_scale;
 
     /* reading gyroscope data */
     i2c_acquire(BUS);

examples/opendsme/Makefile

@@ -0,0 +1,51 @@
+# name of your application
+APPLICATION = opendsme_example
+
+# If no BOARD is found in the environment, use this default:
+BOARD ?= nrf52840dk
+
+# DSME uses beacon transmission, which are usually filtered out in current drivers.
+# So far, nrf802154 is the only driver that supports beacons, which means openDSME
+# will run only in nrf802154-based CPUs.
+FEATURES_REQUIRED += cpu_nrf52
+
+# This has to be the absolute path to the RIOT base directory:
+RIOTBASE ?= $(CURDIR)/../..
+
+# Uncomment these lines if you want to use platform support from external
+# repositories:
+#RIOTCPU ?= $(CURDIR)/../../../thirdparty_cpu
+#EXTERNAL_BOARD_DIRS ?= $(CURDIR)/../../../thirdparty_boards
+
+# Uncomment this to enable scheduler statistics for ps:
+#CFLAGS += -DSCHEDSTATISTICS
+
+# If you want to use native with valgrind, you should recompile native
+# with the target all-valgrind instead of all:
+# make -B clean all-valgrind
+
+# Comment this out to disable code in RIOT that does safety checking
+# which is not needed in a production environment but helps in the
+# development process:
+DEVELHELP ?= 1
+
+# Change this to 0 show compiler invocation lines by default:
+QUIET ?= 1
+
+USEMODULE += ps
+USEMODULE += shell
+USEMODULE += shell_cmds_default
+
+USEPKG += opendsme
+USEMODULE += auto_init_gnrc_netif
+USEMODULE += l2util
+USEMODULE += gnrc_pktdump
+USEMODULE += gnrc_txtsnd
+
+USEMODULE += netdev_default
+
+# Some boards (e.g nrf52840dongle) require a higher CCA threshold to avoid
+# false positives.
+CFLAGS += -DCONFIG_IEEE802154_CCA_THRESH_DEFAULT=-30
+
+include $(RIOTBASE)/Makefile.include

examples/opendsme/Makefile.ci

@@ -0,0 +1,5 @@
+BOARD_INSUFFICIENT_MEMORY := \
+	nrf52dk \
+	nrf52840dk \
+	nrf52840dongle \
+    #

examples/opendsme/README.md

@@ -0,0 +1,95 @@
+# About openDSME
+
+The IEEE 802.15.4 standard with its widespread usage in wireless sensor and
+actuator networks was extended by several techniques that allow reliable data
+transmission for critical applications, such as industrial plants. This
+includes the Deterministic and Synchronous Multi-channel Extension (DSME) that
+allows for distributed assignment of time slots on multiple channels.
+
+openDSME is an open source implementation of the Deterministc and
+Synchronous Multi-channel Extension.
+
+## Features
+
+- Topology agnostic (peer-to-peer, star, mesh, etc).
+- By design, a DSME network can be extended just by adding more coordinators near the edge.
+- Automatic resolution of beacon collision
+- Frame transmission using either CSMA-CA or multi-channel GTS (guaranteed time slot)
+- Built-in slot negotiation (dynamic allocation) and static allocation.
+
+# Usage
+1. A PAN coordinator device starts the DSME network via the GNRC network interface:
+```
+ifconfig <if_num> pan_coord
+ifconfig <if_num> up
+```
+
+2. Child devices trigger scanning and join the DSME network:
+```
+ifconfig <if_num> up
+```
+
+3. On a fraction of second, `ifconfig` of the joining child device
+should display "Link: up" and the L2 address should be visible
+
+4. Devices may choose CSMA-CA or GTS transmissions. CSMA-CA transmissions are
+selected by default. To switch to GTS transmissions, run:
+
+```
+ifconfig <if_num> gts
+```
+
+To switch back to CSMA-CA transmissions, run:
+```
+ifconfig <if_num> -gts
+```
+5. To transmit data, use the `txtsnd` command:
+```
+txtsnd <if_num> <target_L2_address> <message>
+```
+In case of GTS transmissions, the MAC will negotiate a slot with the target
+device. On success, the message will be transmitted in the next occurrence of
+the slot. As a result, the first GTS transmission will take longer than
+subsequent transmissions.
+Note that GTS expire if not used, which will require a new negotiation.
+The expire timeout can be configured with `CONFIG_IEEE802154_DSME_GTS_EXPIRATION`
+(by default 16 idle slot occurrences).
+
+## Static GTS allocation
+Although not supported by the standard, openDSME includes a mechanism to override
+the dynamic allocation with static allocation. This is useful for experimentation
+or quick prototypes.
+To enable, compile openDSME with `CONFIG_IEEE802154_DSME_STATIC_GTS=1`. This can
+be set via Kconfig or CFLAGS.
+
+To allocate slots statically, use the `gts` command:
+```
+gts <if_num> <neighbour_L2_address> <is_tx> <superframe_id> <slot_id> <channel_id>
+```
+
+For example, to allocate a pair of slots node 1 (`DE:AD`) and node
+B (`BE:EF`), run:
+
+In node 1 (`DE:AD`)
+```
+gts 3 BE:EF 1 0 0 0
+```
+In node 2 (`BE:EF`)
+```
+gts 3 DE:AD 0 0 0 0
+```
+
+The slot is located in the first slot (0) of the first superframe in the
+multisuperframe (0) and uses the first channel (0). Node 1 allocates a TX slot
+and node 2 an RX slot.
+In contrast to standard GTS, static GTS do not expire.
+
+To understand more about the superframe structure, check the openDSME
+documentation in the RIOT documentation.
+
+# Port limitations
+- So far only GNRC link layer communication is supported (e.g `txtsnd`).
+- Only PAN coordinator and child roles are supported. This is not an
+  openDSME limitation, but rather a missing configuration in the RIOT contrib.
+- The current openDSME utilizes heap to allocate internal data structures.
+- The scanning/joining procedure is hardcoded to join openDSME beacons.

examples/opendsme/main.c

@@ -0,0 +1,40 @@
+/*
+ * Copyright (C) 2021 HAW Hamburg
+ *
+ * This file is subject to the terms and conditions of the GNU Lesser
+ * General Public License v2.1. See the file LICENSE in the top level
+ * directory for more details.
+ */
+
+/**
+ * @file
+ * @brief       OpenDSME example
+ *
+ * @author      José I. Álamos <[email protected]>
+ */
+
+#include <stdio.h>
+#include <string.h>
+#include "opendsme/opendsme.h"
+
+#include "net/gnrc.h"
+#include "net/gnrc/pktdump.h"
+#include "net/gnrc/netreg.h"
+
+#include "shell.h"
+
+#define MAIN_QUEUE_SIZE     (8)
+static msg_t _main_msg_queue[MAIN_QUEUE_SIZE];
+
+int main(void)
+{
+    msg_init_queue(_main_msg_queue, MAIN_QUEUE_SIZE);
+
+    gnrc_netreg_entry_t dump = GNRC_NETREG_ENTRY_INIT_PID(GNRC_NETREG_DEMUX_CTX_ALL,
+                                                          gnrc_pktdump_pid);
+    gnrc_netreg_register(GNRC_NETTYPE_UNDEF, &dump);
+
+    char line_buf[SHELL_DEFAULT_BUFSIZE];
+    shell_run(NULL, line_buf, SHELL_DEFAULT_BUFSIZE);
+    return 0;
+}

makefiles/pseudomodules.inc.mk

@@ -368,6 +368,7 @@ PSEUDOMODULES += newlib_nano
 PSEUDOMODULES += nice
 ## @}
 PSEUDOMODULES += nrf24l01p_ng_diagnostics
+PSEUDOMODULES += opendsme
 PSEUDOMODULES += openthread
 PSEUDOMODULES += picolibc
 PSEUDOMODULES += picolibc_stdout_buffered
@@ -467,6 +468,7 @@ PSEUDOMODULES += shell_cmd_netstats_neighbor
 PSEUDOMODULES += shell_cmd_nice
 PSEUDOMODULES += shell_cmd_nimble_netif
 PSEUDOMODULES += shell_cmd_nimble_statconn
+PSEUDOMODULES += shell_cmd_opendsme
 PSEUDOMODULES += shell_cmd_openwsn
 PSEUDOMODULES += shell_cmd_pm
 PSEUDOMODULES += shell_cmd_ps

pkg/opendsme/Kconfig

@@ -0,0 +1,46 @@
+# Copyright (c) 2022 HAW Hamburg
+#
+# This file is subject to the terms and conditions of the GNU Lesser
+# General Public License v2.1. See the file LICENSE in the top level
+# directory for more details.
+#
+
+menuconfig KCONFIG_USEPKG_OPENDSME
+    bool "Configure openDSME"
+    help
+        Configure openDSME using Kconfig.
+
+if KCONFIG_USEPKG_OPENDSME
+
+config OPENDSME_MAX_NEIGHBOURS
+    int "Maximum number of DSME neighbours"
+    default 20
+
+config OPENDSME_MAX_LOST_BEACONS
+    int "Maximum number of lost beacons before assuming the device desynchronized"
+    default 8
+    help
+        Sets the maximum number of lost beacons before the MAC triggers a
+        de-association procedure. Higher values are beneficial in noisy
+        environments, because the MAC will keep synchronization despite losing some
+        beacons. However, lower values are better for mobile nodes, because devices
+        may sinchronize faster to a new coordinator.
+
+config OPENDSME_CAP_QUEUE_SIZE
+    int "DSME CAP queue size (for CSMA/CA transmissions)"
+    default 8
+    help
+        The CAP queue stores frames to be sent during the Contention Access Period
+        using CSMA-CA. Because the transmission delay of CSMA-CA is lower compared to
+        GTS transmissions, small values are preferred to reduce memory requirements.
+
+config OPENDSME_CFP_QUEUE_SIZE
+    int "DSME CFP queue size (for GTS transmissions)"
+    default 22
+    help
+        The CFP queue stores frames to be sent during the Contention Free Period
+        using a dedicated GTS. In contrast to CSMA-CA transmissions, GTS transmission
+        take longer as a result of slot schedules. Therefore, the GTS queue should
+        have more capacity than the CAP queue (OPENDSME_CAP_QUEUE_SIZE).
+
+endif # KCONFIG_USEPKG_OPENDSME

pkg/opendsme/Makefile

@@ -0,0 +1,58 @@
+PKG_NAME=opendsme
+PKG_URL=https://github.com/inetrg/openDSME.git
+PKG_VERSION=b1969296d0fc9a1556ecbef7c0b01538dff3e10c
+PKG_LICENSE=GPL
+
+include $(RIOTBASE)/pkg/pkg.mk
+
+OPENDSME_MODULES = \
+                    opendsme_dsmelayer \
+                    opendsme_acklayer \
+                    opendsme_associationmanager \
+                    opendsme_beaconmanager \
+                    opendsme_caplayer \
+                    opendsme_gtsmanager \
+                    opendsme_messagedispatcher \
+                    opendsme_messages \
+                    opendsme_datastructures \
+                    opendsme_mcps_sap \
+                    opendsme_mlme_sap \
+                    opendsme_pib \
+                    opendsme_adaption_layer \
+                    opendsme_adaption_layer_scheduling \
+					#
+
+CPPFLAGS += -Wno-deprecated-copy -Wno-unused-parameter -Wno-error
+
+# dsmeLayer
+DIR_DSME_LAYER = dsmeLayer
+DIR_opendsme_dsmelayer = $(DIR_DSME_LAYER)
+DIR_opendsme_acklayer = $(DIR_DSME_LAYER)/ackLayer
+DIR_opendsme_associationmanager = $(DIR_DSME_LAYER)/associationManager
+DIR_opendsme_beaconmanager = $(DIR_DSME_LAYER)/beaconManager
+DIR_opendsme_caplayer = $(DIR_DSME_LAYER)/capLayer
+DIR_opendsme_gtsmanager = $(DIR_DSME_LAYER)/gtsManager
+DIR_opendsme_messagedispatcher = $(DIR_DSME_LAYER)/messageDispatcher
+DIR_opendsme_messages = $(DIR_DSME_LAYER)/messages
+
+# MAC Services
+
+DIR_MAC_SERVICES = mac_services
+DIR_opendsme_datastructures = $(DIR_MAC_SERVICES)/dataStructures
+DIR_opendsme_mcps_sap = $(DIR_MAC_SERVICES)/mcps_sap
+DIR_opendsme_mlme_sap = $(DIR_MAC_SERVICES)/mlme_sap
+DIR_opendsme_pib = $(DIR_MAC_SERVICES)/pib
+
+# DSME Adoption Layer
+DIR_DSME_ADAPTION_LAYER = dsmeAdaptionLayer
+DIR_opendsme_adaption_layer = $(DIR_DSME_ADAPTION_LAYER)
+DIR_opendsme_adaption_layer_scheduling = $(DIR_DSME_ADAPTION_LAYER)/scheduling
+
+.PHONY: opendsme_%
+
+export SRCXXEXT=cc
+
+all: $(OPENDSME_MODULES)
+
+opendsme_%:
+	$(QQ)OPENDSME_MODULE=$@ "$(MAKE)" -C $(PKG_SOURCE_DIR)/$(DIR_$@) -f $(CURDIR)/Makefile.opendsme_module

pkg/opendsme/Makefile.dep

@@ -0,0 +1,40 @@
+FEATURES_REQUIRED += cpp
+
+# Contrib code of openDSME
+USEMODULE += opendsme_riot_contrib
+
+# Internal openDSME modules
+USEMODULE += opendsme_dsmelayer
+USEMODULE += opendsme_acklayer
+USEMODULE += opendsme_associationmanager
+USEMODULE += opendsme_beaconmanager
+USEMODULE += opendsme_caplayer
+USEMODULE += opendsme_gtsmanager
+USEMODULE += opendsme_messagedispatcher
+USEMODULE += opendsme_messages
+USEMODULE += opendsme_datastructures
+USEMODULE += opendsme_mcps_sap
+USEMODULE += opendsme_mlme_sap
+USEMODULE += opendsme_pib
+
+# openDSME adaption layer modules
+USEMODULE += opendsme_adaption_layer
+USEMODULE += opendsme_adaption_layer_scheduling
+
+# required RIOT modules
+USEMODULE += luid
+USEMODULE += gnrc
+USEMODULE += gnrc_netif
+USEMODULE += ieee802154
+USEMODULE += ztimer_usec
+
+USEMODULE += cpp11-compat
+CXXEXFLAGS += -Wno-unused-parameter -Wno-pedantic -Wno-missing-field-initializers -Wno-unused-but-set-variable -Wno-maybe-uninitialized -Wno-unused-variable -Wno-reorder -Wno-address -Wno-sign-compare -Wno-unused-function
+FEATURES_REQUIRED += cpp # basic C++ support
+FEATURES_REQUIRED += libstdcpp # libstdc++ support (for #include <cstdio>)
+
+
+# Disable Auto-ACK (not supported by openDSME)
+CFLAGS += -DCONFIG_IEEE802154_AUTO_ACK_DISABLE=1
+
+USEMODULE += random

pkg/opendsme/Makefile.include

@@ -0,0 +1,4 @@
+INCLUDES += -I$(PKGDIRBASE)/opendsme
+INCLUDES += -I$(RIOTBASE)/pkg/opendsme/include
+
+DIRS += $(RIOTBASE)/pkg/opendsme/contrib

pkg/opendsme/Makefile.opendsme_module

@@ -0,0 +1,9 @@
+MODULE = $(OPENDSME_MODULE)
+
+ifeq (opendsme_adaption_layer_scheduling,$(OPENDSME_MODULE))
+  # Include TPS and StaticScheduling schedulers
+  NO_AUTO_SRC := 1
+  SRCXX += TPS.cc StaticScheduling.cc
+endif
+
+include $(RIOTBASE)/Makefile.base