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sys/nrf_sf_radio: add synchronous flooding module
sys/nrf_sf_radio: add synchronous flooding physical layer and link layer module tests/nrf_sf_radio/: add test for sys/nrf_sf_radio tests/sys/nrf_sf_radio: move test module refresh
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‎sys/Makefile‎

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ifneq (,$(filter netutils,$(USEMODULE)))
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DIRS += net/netutils
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endif
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ifneq (,$(filter nrf_sf_radio,$(USEMODULE)))
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DIRS += nrf_sf_radio
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endif
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ifneq (,$(filter sema,$(USEMODULE)))
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DIRS += sema
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endif

‎sys/include/nrf_sf_radio/link_radio.h‎

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/*
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* Copyright (C) 2026 Xin He
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*
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* This file is subject to the terms and conditions of the GNU Lesser
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* General Public License v2.1. See the file LICENSE in the top level
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* directory for more details.
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*/
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/**
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* @ingroup sys_nrf_sf_radio
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* @{
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*
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* @file link_radio.h
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* @brief Link layer radio TX/RX startup interface
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*
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* @author Xin He <xin.he@mailbox.tu-dresden.de>
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*
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* @}
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*/
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#ifndef NRF_SF_RADIO_LINK_RADIO_H
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#define NRF_SF_RADIO_LINK_RADIO_H
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#include <stdbool.h>
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#include <stdint.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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/**
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* @name BLE-like packet header field lengths
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* @{
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*/
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/**
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* @brief Length of the S0 field in bytes.
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*/
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#define NRF_SF_RADIO_S0_LEN (1U)
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/**
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* @brief Length of the LENGTH field in bytes.
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*/
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#define NRF_SF_RADIO_LENGTH_LEN (1U)
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/**
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* @brief Length of the advertising address field in bytes.
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*/
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#define NRF_SF_RADIO_ADV_ADDR_LEN (6U)
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/**
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* @brief Total length of the link-layer packet header in bytes.
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*/
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#define NRF_SF_RADIO_HDR_LEN (NRF_SF_RADIO_S0_LEN + \
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NRF_SF_RADIO_LENGTH_LEN + \
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NRF_SF_RADIO_ADV_ADDR_LEN)
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/** @} */
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/**
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* @brief Remove the link-layer header from the received packet
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*
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* @param[in] packet Received radio packet
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*
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* @return Pointer to the payload after the link-layer header
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*/
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const uint8_t *nrf_sf_radio_payload(const uint8_t *packet);
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/**
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* @brief Send one payload at a scheduled radio start time
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*
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* @param[in] payload Payload to be transmitted
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* @param[in] txen_ticks Absolute timer tick for starting radio ramp-up
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* @param[in] event_end_ticks Absolute timer tick by which END is expected
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* @param[in] payload_length Payload length in bytes
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*
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* @return true if the transmission completed before the end time
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* @return false if the transmission failed or timed out
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*/
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bool nrf_sf_radio_tx_start(uint8_t *payload, uint32_t txen_ticks,
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uint32_t event_end_ticks,
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uint8_t payload_length);
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/**
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* @brief Start radio reception at a scheduled radio start time
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*
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* @param[out] rx_buffer Buffer for the received radio packet
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* @param[in] rxen_ticks Absolute timer tick for starting radio ramp-up
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* @param[in] rx_window_end_ticks Absolute timer tick for ADDRESS timeout
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* @param[in] rx_end_ticks Absolute timer tick by which END is expected
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*
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* @return true if a valid packet was received before the end time
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* @return false if no valid packet was received or reception timed out
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*/
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uint8_t nrf_sf_radio_rx_start(uint8_t *rx_buffer, uint32_t rxen_ticks,
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uint32_t rx_window_end_ticks,
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uint32_t rx_end_ticks);
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/**
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* @brief Start radio reception immediately and wait for one packet
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*
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* @param[out] rx_buffer Buffer for the received radio packet
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* @param[in] rx_end_ticks Relative timeout for END after ADDRESS
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* @param[in] runtimeout_us Relative timeout for ADDRESS in microseconds
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*
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* @return Corrected ADDRESS timestamp in timer ticks on success
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* @return 0 on timeout or CRC failure
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*/
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uint32_t nrf_sf_radio_rx_listen_until_packet(uint8_t *rx_buffer,
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uint32_t rx_end_ticks,
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uint32_t runtimeout_us);
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#ifdef __cplusplus
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}
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#endif
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#endif /* NRF_SF_RADIO_LINK_RADIO_H */

‎sys/include/nrf_sf_radio/radio_driver.h‎

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/*
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* Copyright (C) 2026 Xin He
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*
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* This file is subject to the terms and conditions of the GNU Lesser
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* General Public License v2.1. See the file LICENSE in the top level
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* directory for more details.
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*/
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/**
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* @defgroup sys_nrf_sf_radio nRF synchronous flooding radio
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* @ingroup sys
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* @{
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*
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* @file radio_driver.h
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* @brief Physical layer radio, timer and PPI configuration interface
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*
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* @author Xin He <xin.he@mailbox.tu-dresden.de>
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*/
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#ifndef NRF_SF_RADIO_RADIO_DRIVER_H
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#define NRF_SF_RADIO_RADIO_DRIVER_H
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#include <stdbool.h>
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#include <stdint.h>
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#include "cpu.h"
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#ifdef __cplusplus
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extern "C" {
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#endif
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/**
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* @brief 16 MHz timer: 1 microsecond equals 16 ticks
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*/
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#define NRF_SF_RADIO_TIMER_TICKS_PER_US (16U)
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/**
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* @brief Convert microseconds to ticks
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*/
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#define NRF_SF_RADIO_US_TO_TIMER_TICKS(us) ((uint32_t)(us) << 4U)
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/**
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* @brief Convert ticks to microseconds
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*/
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#define NRF_SF_RADIO_TIMER_TICKS_TO_US(tk) ((uint32_t)(tk) >> 4U)
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/**
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* @brief ramp-up time ticks
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*/
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#define NRF_SF_RADIO_RAMPUP_TIME_TICKS NRF_SF_RADIO_US_TO_TIMER_TICKS(40U)
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/**
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* @brief Initialize the radio timer and PPI
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*/
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void nrf_sf_radio_start(void);
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/**
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* @brief Busy-wait for a time interval or condition
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*
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* @param[in] event Required condition
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* @param[in] timeout_ticks Time interval to wait
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*/
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void nrf_sf_radio_wait_until(volatile uint32_t *event,
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uint32_t timeout_ticks);
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/**
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* @brief Busy-wait to a time point or condition
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*
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* @param[in] event Required condition
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* @param[in] deadline_ticks Time point to wait
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*/
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void nrf_sf_radio_wait_until_abs(volatile uint32_t *event,
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uint32_t deadline_ticks);
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/**
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* @brief Get the timestamp of the last radio READY event
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*
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* @return Timestamp of the last radio READY event
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*/
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uint32_t nrf_sf_radio_get_last_ready_time_ticks(void);
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/**
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* @brief Get the timestamp of the last radio END event
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*
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* @return Timestamp of the last radio END event
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*/
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uint32_t nrf_sf_radio_get_last_end_time_ticks(void);
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/**
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* @brief Get the timestamp of the last radio ADDRESS event
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*
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* @return Timestamp of the last radio ADDRESS event
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*/
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uint32_t nrf_sf_radio_get_last_address_time_ticks(void);
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/**
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* @brief Get the current timestamp
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*
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* @return Current timestamp
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*/
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uint32_t nrf_sf_radio_now_ticks(void);
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/**
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* @brief Start radio transmission at the scheduled time
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*
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* @param[in] buf Buffer for the transmitted radio packet
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* @param[in] deadline_ticks Scheduled radio start time
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*/
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void nrf_sf_radio_tx_arm(uint8_t *buf, uint32_t deadline_ticks);
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/**
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* @brief Start radio reception at the scheduled time
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*
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* @param[out] buf Buffer for the received radio packet
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* @param[in] deadline_ticks Scheduled radio start time
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*/
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void nrf_sf_radio_rx_arm(uint8_t *buf, uint32_t deadline_ticks);
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/**
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* @brief Start radio reception immediately
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*
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* @param[out] buf Buffer for the received radio packet
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*/
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void nrf_sf_radio_try_rx_enable(uint8_t *buf);
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#ifdef __cplusplus
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}
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#endif
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#endif /* NRF_SF_RADIO_RADIO_DRIVER_H */
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/** @} */

‎sys/nrf_sf_radio/Makefile‎

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include $(RIOTBASE)/Makefile.base

‎sys/nrf_sf_radio/link_radio.c‎

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/*
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* Copyright (C) 2026 Xin He
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*
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* This file is subject to the terms and conditions of the GNU Lesser
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* General Public License v2.1. See the file LICENSE in the top level
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* directory for more details.
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*/
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/**
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* @ingroup sys_nrf_sf_radio
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* @{
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*
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* @file
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* @brief Link layer radio TX/RX startup implementation
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*
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* @author Xin He <xin.he@mailbox.tu-dresden.de>
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*
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* @}
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*/
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#include <string.h>
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#include <stdio.h>
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#include "nrf_sf_radio/link_radio.h"
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#include "nrf_sf_radio/radio_driver.h"
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#define NRF_SF_RADIO_TX_CHAIN_DELAY_US (10U)
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#define NRF_SF_RADIO_ADV_ADDR_LO (0xABABABUL)
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#define NRF_SF_RADIO_ADV_ADDR_HI (0xABABC0UL)
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static void _encode_packet_header(uint8_t *dst, const uint8_t *payload,
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uint8_t length);
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const uint8_t *nrf_sf_radio_payload(const uint8_t *packet)
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{
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return &packet[NRF_SF_RADIO_HDR_LEN];
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}
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static void _encode_packet_header(uint8_t *dst, const uint8_t *payload,
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uint8_t length)
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{
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dst[0] = 0x42;
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dst[1] = (uint8_t)(NRF_SF_RADIO_ADV_ADDR_LEN + length);
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dst[2] = (uint8_t)(NRF_SF_RADIO_ADV_ADDR_LO & 0xFFu);
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dst[3] = (uint8_t)((NRF_SF_RADIO_ADV_ADDR_LO >> 8) & 0xFFu);
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dst[4] = (uint8_t)((NRF_SF_RADIO_ADV_ADDR_LO >> 16) & 0xFFu);
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dst[5] = (uint8_t)(NRF_SF_RADIO_ADV_ADDR_HI & 0xFFu);
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dst[6] = (uint8_t)((NRF_SF_RADIO_ADV_ADDR_HI >> 8) & 0xFFu);
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dst[7] = (uint8_t)((NRF_SF_RADIO_ADV_ADDR_HI >> 16) & 0xFFu);
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memcpy(&dst[8], payload, length);
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}
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bool nrf_sf_radio_tx_start(uint8_t *payload, uint32_t txen_ticks,
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uint32_t event_end_ticks, uint8_t payload_length)
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{
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uint8_t dst[NRF_SF_RADIO_HDR_LEN + payload_length];
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_encode_packet_header(dst, payload, payload_length);
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nrf_sf_radio_tx_arm(dst, txen_ticks);
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nrf_sf_radio_wait_until_abs(&NRF_RADIO->EVENTS_ADDRESS,
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txen_ticks +
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NRF_SF_RADIO_RAMPUP_TIME_TICKS +
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NRF_SF_RADIO_US_TO_TIMER_TICKS(40));
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if (NRF_RADIO->EVENTS_ADDRESS != 0) {
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nrf_sf_radio_wait_until_abs(&NRF_RADIO->EVENTS_END,
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event_end_ticks +
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NRF_SF_RADIO_US_TO_TIMER_TICKS(1));
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if (NRF_RADIO->EVENTS_END == 0) {
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return false;
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}
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return true;
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}
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return false;
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}
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uint8_t nrf_sf_radio_rx_start(uint8_t *rx_buffer, uint32_t rxen_ticks,
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uint32_t rx_window_end_ticks,
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uint32_t rx_end_ticks)
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{
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nrf_sf_radio_rx_arm(rx_buffer, rxen_ticks);
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nrf_sf_radio_wait_until_abs(&NRF_RADIO->EVENTS_ADDRESS,
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rx_window_end_ticks);
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if (NRF_RADIO->EVENTS_ADDRESS != 0) {
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nrf_sf_radio_wait_until_abs(&NRF_RADIO->EVENTS_END,
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rx_end_ticks +
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NRF_SF_RADIO_US_TO_TIMER_TICKS(
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NRF_SF_RADIO_TX_CHAIN_DELAY_US));
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if ((NRF_RADIO->EVENTS_END != 0) && (NRF_RADIO->CRCSTATUS != 0)) {
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return 0;
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}else if (NRF_RADIO->EVENTS_END == 0){
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return 2;
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}else {
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return 3;
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}
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}
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else {
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NRF_RADIO->TASKS_DISABLE = 1;
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return 1;
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}
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}
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uint32_t nrf_sf_radio_rx_listen_until_packet(uint8_t *rx_buffer,
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uint32_t rx_end_ticks,
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uint32_t runtimeout_us)
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{
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uint32_t rx_ticks;
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nrf_sf_radio_try_rx_enable(rx_buffer);
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nrf_sf_radio_wait_until(&NRF_RADIO->EVENTS_ADDRESS,
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NRF_SF_RADIO_US_TO_TIMER_TICKS(runtimeout_us));
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if (NRF_RADIO->EVENTS_ADDRESS != 0) {
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rx_ticks = nrf_sf_radio_get_last_address_time_ticks();
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nrf_sf_radio_wait_until(&NRF_RADIO->EVENTS_END, rx_end_ticks);
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if ((NRF_RADIO->EVENTS_END != 0) && (NRF_RADIO->CRCSTATUS == 1)) {
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return rx_ticks -
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NRF_SF_RADIO_US_TO_TIMER_TICKS(
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NRF_SF_RADIO_TX_CHAIN_DELAY_US);
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}
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}
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return 0;
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}

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