drivers/at86rf2xx: setting rx timestamp based on symbol counter for ATmega*RFR2

cpu/atmega_common/include/cpu_conf.h

@@ -31,7 +31,9 @@
 extern "C" {
 #endif
 
+#ifndef THREAD_EXTRA_STACKSIZE_PRINTF
 #define THREAD_EXTRA_STACKSIZE_PRINTF    (128)
+#endif
 
 /**
  * @name           Kernel configuration

drivers/at86rf2xx/at86rf2xx_netdev.c

@@ -319,8 +319,23 @@ static int _recv(netdev_t *netdev, void *buf, size_t len, void *info)
         at86rf2xx_fb_stop(dev);
 #endif
         radio_info->rssi = RSSI_BASE_VAL + ed;
-        DEBUG("[at86rf2xx] LQI:%d high is good, RSSI:%d high is either good or"
+        DEBUG("[at86rf2xx] LQI:%d high is good, RSSI:%d high is either good or "
               "too much interference.\n", radio_info->lqi, radio_info->rssi);
+#if AT86RF2XX_IS_PERIPH && IS_USED(MODULE_NETDEV_IEEE802154_RX_TIMESTAMP)
+        /* AT86RF2XX_IS_PERIPH means the MCU is ATmegaRFR2 that has symbol counter */
+        {
+            uint32_t rx_sc;
+            rx_sc = at86rf2xx_get_sc(dev);
+
+            /* convert counter value to ns */
+            uint64_t res = SC_TO_NS * (uint64_t)rx_sc;
+            netdev_ieee802154_rx_info_set_timestamp(radio_info, res);
+            DEBUG("[at86rf2xx] CS: %" PRIu32 " timestamp: %" PRIu32 ".%09" PRIu32 " ",
+                    rx_sc, (uint32_t)(radio_info->timestamp / NS_PER_SEC),
+                           (uint32_t)(radio_info->timestamp % NS_PER_SEC));
+        }
+#endif
+
     }
     else {
         at86rf2xx_fb_stop(dev);

drivers/at86rf2xx/include/at86rf2xx_internal.h

@@ -30,6 +30,8 @@
 
 #if AT86RF2XX_IS_PERIPH
 #include <string.h>
+#include "irq.h"
+#include "time_units.h"
 #endif
 #include "at86rf2xx_registers.h"
 
@@ -293,6 +295,46 @@ static inline uint8_t at86rf2xx_get_irq_flags(at86rf2xx_t *dev)
 
 }
 
+#if AT86RF2XX_IS_PERIPH
+/*
+ * Read a 32 bit register as described in section 10.3 of the datasheet: A read
+ * of the least significant byte causes the current value to be atomically
+ * captured in a temporary 32 bit registers. The remaining reads will access this
+ * register instead. Only a single 32 bit temporary register is used to provide
+ * means to atomically access them. Thus, interrupts must be disabled during the
+ * read sequence in order to prevent other threads (or ISRs) from updating the
+ * temporary 32 bit register before the reading sequence has completed.
+ */
+static inline uint32_t reg32_read(volatile uint8_t *reg_ll)
+{
+    le_uint32_t reg;
+    unsigned state = irq_disable();
+    reg.u8[0] =  reg_ll[0];
+    reg.u8[1] =  reg_ll[1];
+    reg.u8[2] =  reg_ll[2];
+    reg.u8[3] =  reg_ll[3];
+    irq_restore(state);
+    return reg.u32;
+}
+
+/**
+ * @brief Get the timestamp of the packet in symbol counter ticks
+ *
+ * @param[in] dev   pointer to the device descriptor
+ *
+ * @return the symbol counter value
+ */
+static inline uint32_t at86rf2xx_get_sc(const at86rf2xx_t *dev)
+{
+    (void) dev;
+    return reg32_read(&SCCNTLL);
+}
+
+/* Symbol counter frequency is 62500Hz. One symbol counter tick is 16us = 16000 ns*/
+#define SC_TO_NS (16000LU)
+
+#endif
+
 #ifdef __cplusplus
 }
 #endif

sys/include/net/gnrc/netif/hdr.h

@@ -29,6 +29,7 @@
 #include "net/gnrc/pkt.h"
 #include "net/gnrc/pktbuf.h"
 #include "net/gnrc/netif.h"
+#include "time_units.h"
 
 #ifdef __cplusplus
 extern "C" {

sys/net/gnrc/netif/hdr/gnrc_netif_hdr_print.c

@@ -36,10 +36,14 @@ void gnrc_netif_hdr_print(gnrc_netif_hdr_t *hdr)
         if (hdr->flags & GNRC_NETIF_HDR_FLAGS_BROADCAST) {
             printf("BROADCAST ");
         }
-
         if (hdr->flags & GNRC_NETIF_HDR_FLAGS_MULTICAST) {
             printf("MULTICAST ");
         }
+#if IS_USED(MODULE_GNRC_NETIF_TIMESTAMP)
+        if (hdr->flags & GNRC_NETIF_HDR_FLAGS_TIMESTAMP) {
+            printf("TIMESTAMP ");
+        }
+#endif
         puts("");
     }
     else {

tests/net/gnrc_netif_ieee802154/Makefile

@@ -1,19 +1,34 @@
-BOARD_WHITELIST = native
+BOARD_WHITELIST = native derfmega256 avr-rss2 atmega256rfr2-xpro nrf52840dongle
 
 include ../Makefile.net_common
 
-TERMFLAGS ?= -z "0.0.0.0:17755,localhost:17754"
+ifeq (native, $(BOARD))
+  USEMODULE += socket_zep
+  TERMFLAGS ?= -z "0.0.0.0:17755,localhost:17754"
+  USEMODULE += netdev
+  # somehow this breaks the test
+  DISABLE_MODULE += test_utils_print_stack_usage
+else
+  USEMODULE += shell
+  USEMODULE += shell_cmds_default
+  USEMODULE += ps
+  # use the default network interface for the board
+  USEMODULE += netdev_default
+  # shell command to send L2 packets with a simple string
+  USEMODULE += gnrc_txtsnd
+  # module to test rx timestamp
+  USEMODULE += gnrc_netif_timestamp
+endif
 
-USEMODULE += socket_zep
-USEMODULE += auto_init_gnrc_netif
-USEMODULE += netdev
+# gnrc is a meta module including all required, basic gnrc networking modules
 USEMODULE += gnrc
+# automatically initialize the network interface
+USEMODULE += auto_init_gnrc_netif
+# use GNRC IEEE 802.15.4 as link-layer protocol
 USEMODULE += gnrc_netif_ieee802154
+# the application dumps received packets to stdout
 USEMODULE += gnrc_pktdump
 
-# somehow this breaks the test
-DISABLE_MODULE += test_utils_print_stack_usage
-
 TEST_ON_CI_WHITELIST += native
 
 include $(RIOTBASE)/Makefile.include

tests/net/gnrc_netif_ieee802154/main.c

@@ -17,20 +17,36 @@
 #include "net/gnrc/netif.h"
 #include "net/gnrc/pktdump.h"
 
+#if IS_USED(MODULE_SHELL)
+#include <stdio.h>
+#include <string.h>
+
+#include "thread.h"
+#include "shell.h"
+#endif
+
 int main(void)
 {
+#if IS_USED(MODULE_SOCKET_ZEP)
+    /* This is a test for native with socket_zep */
     char addr_str[GNRC_NETIF_L2ADDR_MAXLEN * 3];
     gnrc_netif_t *netif = gnrc_netif_iter(NULL);
 
     printf("l2_addr: %s\n", gnrc_netif_addr_to_str(netif->l2addr,
                                                    netif->l2addr_len,
                                                    addr_str));
-
+#endif
     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);
+
+#if IS_USED(MODULE_SHELL)
+    /* this is manual test for real MCU using shell module */
+    char line_buf[SHELL_DEFAULT_BUFSIZE];
+    shell_run(NULL, line_buf, SHELL_DEFAULT_BUFSIZE);
+#endif
     return 0;
 }