Fix merge errors

CMakeLists.txt

@@ -9,14 +9,8 @@ set(SRCS
     ${CMAKE_CURRENT_SOURCE_DIR}/src/main.c
 )
 
-if (CONFIG_SOC_COMPATIBLE_NRF52X)
-    target_sources(app PRIVATE src/controller_time_nrf52.c)
-elseif (CONFIG_SOC_COMPATIBLE_NRF5340_CPUAPP)
-    target_sources(app PRIVATE src/audio_sync_timer_rtc.c)
-elseif (CONFIG_SOC_SERIES_NRF54LX OR CONFIG_SOC_SERIES_NRF54HX)
-    target_sources(app PRIVATE src/controller_time_nrf54.c)
-else()
-    MESSAGE(FATAL_ERROR "Unsupported series")
+if (CONFIG_AUDIO_SYNC_TIMER_USES_RTC)
+    list(APPEND SRCS ${CMAKE_CURRENT_SOURCE_DIR}/src/audio_sync_timer_rtc.c)
 endif()
 
 target_sources(app PRIVATE ${SRCS})

Kconfig

@@ -4,7 +4,7 @@ menu "Modules"
 rsource "Kconfig.defaults"
 
 config AUDIO_SYNC_TIMER_USES_RTC
-    bool "Enables synchronization between the APP and NET core running SD"
+    bool "Enables syncronization between the APP and NET core running SD"
     default !BT_LL_ACS_NRF53 && SOC_SERIES_NRF53X
     select NRFX_RTC0
     select NRFX_DPPI

Kconfig.sysbuild

@@ -1,10 +0,0 @@
-#
-# Copyright (c) 2024 Nordic Semiconductor
-#
-# SPDX-License-Identifier: LicenseRef-Nordic-5-Clause
-#
-
-config NRF_DEFAULT_IPC_RADIO
-	default y
-
-source "${ZEPHYR_BASE}/share/sysbuild/Kconfig"

README.md

@@ -15,99 +15,18 @@ It has been tested on the nRF5340 Audio DK, but it should work with any nRF5340
 - Response: HCI Command Complete Event with status and 4 bytes timestamp in microseconds
 
 
-
-## nRF58233 Development Kit
-
-The first  Virtual UART (UART1, ...) is Zephyr UART 0
-The second Virtual UART (UART2, ...) is Zephyr UART 1
-
-### Pinout
-
-Signal direction as seen from the nRF52833.
-
-| PIN      | Arduino | MCU   | Direction |
-|----------|---------|-------|-----------|
-|  TX      |    D0   | P0.05 |    out    |
-|  RX      |    D1   | P0.06 |    in     |
-| RTS      |    D7   | P0.07 |    out    |
-| CTS      |    D8   | P0.08 |    in     |
-| Time Sync|    D10  | P1.01 |    out    |
-
-### HCI over UART 0 connected to first Virtual UART in J-Link Probe
-
-Release build:
-```sh
-west build --pristine -b nrf52833dk/nrf52833
-```
-Debug build:
-```sh
-west build --pristine -b nrf52833dk/nrf52833 -- -DOVERLAY_CONFIG=debug.conf
-```
-
-To use UART 0 via Arduino headers, the virtual UART of the J-Link probe needs to be disabled, e.g. with the JLink Configuration Tool.
-
-
-
 ## nRF5340 Development Kit
 
-The first  Virtual UART (UART1, ...) is Zephyr UART 1
-The second Virtual UART (UART2, ...) is Zephyr UART 0
-
-### Pinout
-
-Signal direction as seen from the nRF5340.
-
-| PIN      | Arduino | MCU   | Direction |
-|----------|---------|-------|-----------|
-|  TX      |    D0   | P1.00 |    out    |
-|  RX      |    D1   | P1.01 |    in     |
-| RTS      |    D7   | P1.11 |    out    |
-| CTS      |    D8   | P1.10 |    in     |
-| Time Sync|    D10  | P1.06 |    out    |
-
 ### HCI over USB CDC
 
 ```sh
-west build --pristine -b nrf5340dk/nrf5340/cpuapp -- -DEXTRA_DTC_OVERLAY_FILE=usb.overlay -DOVERLAY_CONFIG=overlay-usb.conf
+west build -b nrf5340dk/nrf5340/cpuapp -- -DEXTRA_DTC_OVERLAY_FILE=usb.overlay -DOVERLAY_CONFIG=overlay-usb.conf
 ```
-
-
-### HCI over UART 0 connected to second Virtual UART in J-Link Probe 
-```sh
-west build --pristine -b nrf5340dk/nrf5340/cpuapp
-```
-
-- HCI over second Virtual port / UART 0
-- Boot banner on Arduino Header UART (P1.01) / UART 1 
-
-
-### HCI over UART 1 connected to first Virtual UART in J-Link Probe as well as Arduino Headers
-```sh
-west build --pristine -b nrf5340dk/nrf5340/cpuapp -- -DEXTRA_DTC_OVERLAY_FILE=uart1.overlay
-```
-
-- No Boot Banner on Arduino Header UART
-
+_HCI over UART and timesync not tested._
 
 
 ## nRF5340 Audio DK
 
-The first UART (UART1, P1.04, P1.05) is only available via test points (TP60, TP61, ...)
-The second UART (UART2, P1.08, P1.09) is connected to the Arduino headers.
-
-### Pinout
-
-Signal direction as seen from the nRF5340.
-
-| PIN      | Arduino | MCU   | Direction |
-|----------|---------|-------|-----------|
-|  TX      |    D0   | P1.09 |    out    |
-|  RX      |    D1   | P1.08 |    in     |
-| RTS      |    D7   | P1.11 |    out    |
-| CTS      |    D8   | P1.10 |    in     |
-| Time Sync|    D10  | P1.01 |    out    |
-
-
 ### HCI over USB CDC
 
 ```sh
@@ -117,7 +36,7 @@ west build --pristine -b nrf5340_audio_dk/nrf5340/cpuapp -- -DEXTRA_DTC_OVERLAY_
 ### HCI over UART 0 connected to Virtual UART in J-Link Probe
 
 ```sh
-west build --pristine -b nrf5340_audio_dk/nrf5340/cpuapp
+west build --pristine -b nrf5340_audio_dk_nrf5340_cpuapp
 ```
 
 ### HCI over UART 1 connected to Virtual UART in J-Link Probe as well as Arduino Headers
@@ -134,38 +53,14 @@ west build --pristine -b nrf5340_audio_dk/nrf5340/cpuapp -- -DEXTRA_DTC_OVERLAY_
 
 To use UART 1 via Arduino headers, the virtual UART of the J-Link probe needs to be disabled, e.g. with the JLink Configuration Tool.
 
+### UART 1 + Time Sync Pinout
 
+Signal direction as seen from the nRF5340.
 
-## nRF54L15
-
-### HCI over UART 0 connected to second Virtual UART in J-Link Probe
-
-Release build:
-```sh
-west build -d nrf54l15-iso --pristine -b nrf54l15dk/nrf54l15/cpuapp
-```
-Debug build:
-```sh
-west build -d nrf54l15-iso --pristine -b nrf54l15dk/nrf54l15/cpuapp -- -DOVERLAY_CONFIG=debug.conf
-```
-
-To use UART 0 via Arduino headers, the virtual UART of the J-Link probe needs to be disabled, e.g. with the JLink Configuration Tool.
-
-### Pinout
-
-Signal direction as seen from the nRF54L15.
-
-| PIN      | MCU   | Direction |
-|----------|-------|-----------|
-|  TX      | P0.00 |    out    |
-|  RX      | P0.01 |    in     |
-| RTS      | P0.02 |    out    |
-| CTS      | P0.03 |    in     |
-| Time Sync| P1.11 |    out    |
-
-
-## Maintainer Notes
-- nRF5340 use Controller configuration in `sybuild/ipc_radio/prj.conf`, while others, e.g. nRF54L15, use configuration from `prj.conf`. Please update both at the same time. 
-- We can detect nRF5340 SoC in CMake with `if(CONFIG_SOC STREQUAL "nrf5340")` after find_package zephyr.
-
- 
+| PIN      | Arduino |  nrf  | Direction |
+|----------|---------|-------|-----------|
+|  TX      |    D0   | P1.09 |    out    |
+|  RX      |    D1   | P1.08 |    in     |
+| RTS      |    D7   | P1.11 |    out    |
+| CTS      |    D8   | P1.10 |    in     |
+| Timesync |    D10  | P1.01 |    out    |

boards/nrf52833dk_nrf52833.conf

@@ -1,9 +0,0 @@
-#
-# Copyright (c) 2024 Nordic Semiconductor
-#
-# SPDX-License-Identifier: LicenseRef-Nordic-5-Clause
-#
-
-CONFIG_NRFX_TIMER1=y
-CONFIG_NRFX_RTC2=y
-CONFIG_NRFX_PPI=y

boards/nrf52833dk_nrf52833.overlay

@@ -4,17 +4,6 @@
  * SPDX-License-Identifier: Apache-2.0
  */
 
-/ {
-	host_interface {
-		compatible = "gpio-outputs";
-		status = "okay";
-		timesync: pin_0 {
-			gpios = <&gpio1 01 GPIO_ACTIVE_HIGH>;
-			label = "Controller to host timesync pin";
-		};
-	};
-};
-
  &uart0 {
 	compatible = "nordic,nrf-uarte";
 	current-speed = <1000000>;

boards/nrf52840dk_nrf52840.conf

@@ -1,9 +0,0 @@
-#
-# Copyright (c) 2024 Nordic Semiconductor
-#
-# SPDX-License-Identifier: LicenseRef-Nordic-5-Clause
-#
-
-CONFIG_NRFX_TIMER1=y
-CONFIG_NRFX_RTC2=y
-CONFIG_NRFX_PPI=y

boards/nrf5340_audio_dk_nrf5340_cpuapp.overlay

@@ -6,7 +6,11 @@
 		    gpios = <&arduino_header 10 GPIO_ACTIVE_HIGH>;
             label = "Controller to host timesync pin";
         };
-    };
+        alternate_toggle: pin_1 {
+		    gpios = <&arduino_header 11 GPIO_ACTIVE_HIGH>;
+            label = "alternate toggle pin";
+        };
+   };
 };
 
 &uart0 {

boards/nrf54l15dk_nrf54l15_cpuapp.overlay

@@ -1,23 +0,0 @@
-/*
- * Copyright (c) 2024 Nordic Semiconductor ASA
- *
- * SPDX-License-Identifier: Apache-2.0
- */
-
-/ {
-	host_interface {
-		compatible = "gpio-outputs";
-		status = "okay";
-		timesync: pin_0 {
-			gpios = <&gpio1 11 GPIO_ACTIVE_HIGH>;
-			label = "Controller to host timesync pin";
-		};
-	};
-};
-
-&uart20 {
-	compatible = "nordic,nrf-uarte";
-	current-speed = <1000000>;
-	status = "okay";
-	hw-flow-control;
-};

boards/nrf54l15dk_nrf54l15_cpuapp_df.overlay

@@ -1,33 +0,0 @@
-/*
- * Copyright (c) 2024 Nordic Semiconductor ASA
- *
- * SPDX-License-Identifier: Apache-2.0
- */
-
-&uart20 {
-	compatible = "nordic,nrf-uarte";
-	current-speed = <1000000>;
-	status = "okay";
-	hw-flow-control;
-};
-
-&radio {
-	status = "okay";
-	/* This is an example number of antennas that may be available
-	 * on antenna matrix board.
-	 */
-	dfe-antenna-num = <10>;
-	/* This is an example switch pattern that will be used to set an
-	 * antenna for Tx PDU (period before start of Tx CTE).
-	 */
-	dfe-pdu-antenna = <0x0>;
-
-	/* These are example GPIO pin numbers that are provided to
-	 * Radio peripheral. The pins will be acquired by Radio to
-	 * drive antenna switching when AoD is enabled.
-	 */
-	dfegpio0-gpios = <&gpio1 4 0>;
-	dfegpio1-gpios = <&gpio1 5 0>;
-	dfegpio2-gpios = <&gpio1 6 0>;
-	dfegpio3-gpios = <&gpio1 7 0>;
-};

child_image/hci_ipc.conf

@@ -21,7 +21,7 @@ CONFIG_BT_CTLR_ADV_ISO_SET=2
 CONFIG_BT_CTLR_ADV_ISO_STREAM_COUNT=3
 CONFIG_BT_CTLR_SYNC_PERIODIC_ADV_LIST_SIZE=1
 
-# Support six links as a central, or one link as a peripheral
+# Support two links as a central, or one link as a peripheral
 CONFIG_BT_MAX_CONN=8
 CONFIG_BT_CTLR_SDC_PERIPHERAL_COUNT=2
 

prj.conf

@@ -14,38 +14,25 @@ CONFIG_BT_BUF_EVT_DISCARDABLE_SIZE=255
 CONFIG_BT_CTLR_ASSERT_HANDLER=y
 CONFIG_BT_MAX_CONN=16
 CONFIG_BT_TINYCRYPT_ECC=n
-
-# Setup ISO Buffer
-CONFIG_BT_ISO_TX_BUF_COUNT=10
-CONFIG_BT_ISO_TX_MTU=251
-CONFIG_BT_ISO_RX_BUF_COUNT=10
-CONFIG_BT_ISO_RX_MTU=251
+CONFIG_BT_CTLR_DTM_HCI=y
 
 # Enable ISO support
 CONFIG_BT_ISO_PERIPHERAL=y
 CONFIG_BT_ISO_CENTRAL=y
 CONFIG_BT_ISO_BROADCASTER=y
-CONFIG_BT_ISO_SYNC_RECEIVER=y
-CONFIG_BT_EXT_ADV=y
-CONFIG_BT_PER_ADV_SYNC_TRANSFER_RECEIVER=y
-CONFIG_BT_PER_ADV_SYNC_TRANSFER_SENDER=y
+CONFIG_BT_ISO_TX_BUF_COUNT=10
+CONFIG_BT_ISO_TX_MTU=251
+CONFIG_BT_ISO_RX_BUF_COUNT=10
+CONFIG_BT_ISO_RX_MTU=251
 
-# Configure Controller
-CONFIG_BT_CTLR_CONN_ISO_GROUPS=1
-CONFIG_BT_CTLR_CONN_ISO_STREAMS=3
-CONFIG_BT_CTLR_SYNC_ISO_STREAM_COUNT=2
-CONFIG_BT_CTLR_ADV_EXT=y
-CONFIG_BT_CTLR_ADV_SET=2
-CONFIG_BT_CTLR_ADV_ISO_SET=2
-CONFIG_BT_CTLR_ADV_ISO_STREAM_COUNT=3
-CONFIG_BT_CTLR_SYNC_PERIODIC_ADV_LIST_SIZE=1
+# setup rpmsg/Bluetooth buffer
+CONFIG_BT_BUF_EVT_RX_COUNT=16
+CONFIG_BT_BUF_EVT_RX_SIZE=255
+CONFIG_BT_BUF_ACL_RX_SIZE=255
+CONFIG_BT_BUF_ACL_TX_SIZE=251
+CONFIG_BT_BUF_CMD_TX_SIZE=255
 
-# Support six links as a central, or one link as a peripheral
-CONFIG_BT_MAX_CONN=8
-CONFIG_BT_CTLR_SDC_PERIPHERAL_COUNT=2
-
-# Allow using more than default advertising event length
-CONFIG_BT_CTLR_ADV_DATA_LEN_MAX=251
+CONFIG_SYSTEM_WORKQUEUE_STACK_SIZE=512
 
 # Workaround: Unable to allocate command buffer when using K_NO_WAIT since
 # Host number of completed commands does not follow normal flow control.
@@ -54,3 +41,4 @@ CONFIG_BT_BUF_CMD_TX_COUNT=10
 # for the timesync command
 CONFIG_BT_HCI_RAW_CMD_EXT=y
 
+CONFIG_NRFX_TIMER2=y

src/controller_time.h

@@ -1,40 +0,0 @@
-/*
- * Copyright (c) 2024 Nordic Semiconductor ASA
- *
- * SPDX-License-Identifier: LicenseRef-Nordic-5-Clause
- */
-
-// BK: based on / taken from ncs/nrf/samples/bluetooth/conn_time_sync/src/controller_time_sync.h
-
-#ifndef CONTROLLER_TIME_SYNC_H__
-#define CONTROLLER_TIME_SYNC_H__
-
-#include <stdint.h>
-#include <stdbool.h>
-#include <zephyr/kernel.h>
-
-/** @brief Obtain the current Bluetooth controller time.
- *
- * The timestamps are based upon this clock.
- *
- * @return The current controller time.
- */
-uint64_t controller_time_us_get(void);
-
-/** @brief Set the controller to trigger a PPI event at the given timestamp.
- *
- * @param timestamp_us The timestamp where it will trigger.
- */
-void controller_time_trigger_set(uint64_t timestamp_us);
-
-/** @brief Get the address of the event that will trigger.
- *
- * @return The address of the event that will trigger.
- */
-uint32_t controller_time_trigger_event_addr_get(void);
-
-#endif
-
-/**
- * @}
- */

src/controller_time_nrf52.c

@@ -1,292 +0,0 @@
-/*
- * Copyright (c) 2024 Nordic Semiconductor ASA
- *
- * SPDX-License-Identifier: LicenseRef-Nordic-5-Clause
- */
-
-/** This file implements controller time management for 52 Series devices
- *
- * As the controller clock is not directly accessible, the controller
- * time is obtained using a mirrored RTC peripheral.
- * To achieve microsecond accurate toggling, a timer peripheral is also used.
- */
-
-// BK: taken from ncs/nrf/samples/bluetooth/conn_time_sync/src/controller_time_nrf52.c
-
-#include <zephyr/kernel.h>
-#include <zephyr/sys/barrier.h>
-#include <mpsl_clock.h>
-#include <nrfx_rtc.h>
-#include <nrfx_timer.h>
-#include <helpers/nrfx_gppi.h>
-#include <hal/nrf_egu.h>
-#include <soc.h>
-#include "controller_time.h"
-
-static const nrfx_rtc_t app_rtc_instance = NRFX_RTC_INSTANCE(2);
-static const nrfx_timer_t app_timer_instance = NRFX_TIMER_INSTANCE(1);
-
-static uint8_t ppi_chan_on_rtc_match;
-static volatile uint32_t num_rtc_overflows;
-
-static uint32_t offset_ticks_and_controller_to_app_rtc;
-
-static void rtc_isr_handler(nrfx_rtc_int_type_t int_type)
-{
-	if (int_type == NRFX_RTC_INT_OVERFLOW) {
-		num_rtc_overflows++;
-	}
-}
-
-static void unused_timer_isr_handler(nrf_timer_event_t event_type, void *ctx)
-{
-	ARG_UNUSED(event_type);
-	ARG_UNUSED(ctx);
-}
-
-static int32_t rtc_diff_get(void)
-{
-	uint32_t controller_ticks = nrf_rtc_counter_get(NRF_RTC0);
-	uint32_t app_ticks = nrf_rtc_counter_get(app_rtc_instance.p_reg);
-
-	return controller_ticks - app_ticks;
-}
-
-static int rtc_config(void)
-{
-	int ret;
-
-	const nrfx_rtc_config_t rtc_cfg = NRFX_RTC_DEFAULT_CONFIG;
-
-	ret = nrfx_rtc_init(&app_rtc_instance, &rtc_cfg, rtc_isr_handler);
-	if (ret != NRFX_SUCCESS) {
-		printk("Failed initializing RTC (ret: %d)\n", ret - NRFX_ERROR_BASE_NUM);
-		return -ENODEV;
-	}
-
-#ifndef BT_CTLR_SDC_BSIM_BUILD
-	IRQ_CONNECT(NRFX_IRQ_NUMBER_GET(NRF_RTC_INST_GET(2)), IRQ_PRIO_LOWEST,
-		    NRFX_RTC_INST_HANDLER_GET(2), NULL, 0);
-#else
-	IRQ_CONNECT(NRFX_IRQ_NUMBER_GET(NRF_RTC_INST_GET(2)), 0,
-		    (void *)NRFX_RTC_INST_HANDLER_GET(2), NULL, 0);
-#endif
-
-	nrfx_rtc_overflow_enable(&app_rtc_instance, true);
-	nrfx_rtc_tick_enable(&app_rtc_instance, false);
-	nrfx_rtc_enable(&app_rtc_instance);
-
-	/* To obtain the controller timestamp without modifying the state of RTC0,
-	 * we find the offset between RTC0 and our mirrored RTC.
-	 * We achieve this by reading out the counter value of both of them.
-	 * When the diff between those two have been equal twice, we know the
-	 * time difference in ticks.
-	 */
-
-	uint32_t sync_attempts = 10;
-
-	while (sync_attempts > 0) {
-		sync_attempts--;
-
-		int32_t diff_measurement_1 = rtc_diff_get();
-
-		/* We need to wait half an RTC tick to ensure we are not measuring
-		 * the diff between the two RTCs at the point in time where their
-		 * values are transitioning.
-		 */
-		k_busy_wait(15);
-
-		int32_t diff_measurement_2 = rtc_diff_get();
-
-		if (diff_measurement_1 == diff_measurement_2) {
-			offset_ticks_and_controller_to_app_rtc = diff_measurement_1;
-			return 0;
-		}
-	}
-
-	printk("Controller time sync failure\n");
-	offset_ticks_and_controller_to_app_rtc = 0;
-	return -EINVAL;
-}
-
-static int timer_config(void)
-{
-	int ret;
-	uint8_t ppi_chan_timer_clear_on_rtc_tick;
-	const nrfx_timer_config_t timer_cfg = {
-		.frequency = NRFX_MHZ_TO_HZ(1UL),
-		.mode = NRF_TIMER_MODE_TIMER,
-		.bit_width = NRF_TIMER_BIT_WIDTH_8,
-		.interrupt_priority = NRFX_TIMER_DEFAULT_CONFIG_IRQ_PRIORITY,
-		.p_context = NULL};
-
-	ret = nrfx_timer_init(&app_timer_instance, &timer_cfg, unused_timer_isr_handler);
-	if (ret != NRFX_SUCCESS) {
-		printk("Failed initializing timer (ret: %d)\n", ret - NRFX_ERROR_BASE_NUM);
-		return -ENODEV;
-	}
-
-	/* Clear the TIMER every RTC tick. */
-	if (nrfx_gppi_channel_alloc(&ppi_chan_timer_clear_on_rtc_tick) != NRFX_SUCCESS) {
-		printk("Failed allocating for clearing TIMER on RTC TICK\n");
-		return -ENOMEM;
-	}
-
-	nrfx_gppi_channel_endpoints_setup(ppi_chan_timer_clear_on_rtc_tick,
-					  nrfx_rtc_event_address_get(&app_rtc_instance,
-								     NRF_RTC_EVENT_TICK),
-					  nrfx_timer_task_address_get(&app_timer_instance,
-								      NRF_TIMER_TASK_CLEAR));
-
-	nrfx_gppi_channels_enable(BIT(ppi_chan_timer_clear_on_rtc_tick));
-
-	nrfx_timer_enable(&app_timer_instance);
-
-	return 0;
-}
-
-/** Configure the TIMER and RTC in such a way that microsecond accurate timing can be achieved.
- *
- * To get microsecond accurate toggling, we need to combine both the RTC and TIMER peripheral.
- * That is, both a RTC CC value and TIMER CC value needs to be set.
- * We should only trigger an EGU task when the TIMER CC value matches after the
- * RTC CC value matched.
- * This is achieved using a PPI group. The group is enabled when the RTC CC matches and disabled
- * again then the TIMER CC matches.
- */
-int config_egu_trigger_on_rtc_and_timer_match(void)
-{
-	uint8_t ppi_chan_on_timer_match;
-
-	if (nrfx_gppi_channel_alloc(&ppi_chan_on_rtc_match) != NRFX_SUCCESS) {
-		printk("Failed allocating for RTC match\n");
-		return -ENOMEM;
-	}
-
-	if (nrfx_gppi_channel_alloc(&ppi_chan_on_timer_match) != NRFX_SUCCESS) {
-		printk("Failed allocating for TIMER match\n");
-		return -ENOMEM;
-	}
-
-	nrfx_gppi_group_clear(NRFX_GPPI_CHANNEL_GROUP0);
-	nrfx_gppi_group_disable(NRFX_GPPI_CHANNEL_GROUP0);
-	nrfx_gppi_channels_include_in_group(
-		BIT(ppi_chan_on_timer_match) | BIT(ppi_chan_on_rtc_match),
-		NRFX_GPPI_CHANNEL_GROUP0);
-
-	nrfx_gppi_channel_endpoints_setup(ppi_chan_on_rtc_match,
-					  nrfx_rtc_event_address_get(&app_rtc_instance,
-								     NRF_RTC_EVENT_COMPARE_0),
-					  nrfx_gppi_task_address_get(NRFX_GPPI_TASK_CHG0_EN));
-
-	nrfx_gppi_channel_endpoints_setup(ppi_chan_on_timer_match,
-					  nrfx_timer_event_address_get(&app_timer_instance,
-								       NRF_TIMER_EVENT_COMPARE0),
-					  nrf_egu_task_address_get(NRF_EGU0,
-								   NRF_EGU_TASK_TRIGGER0));
-	nrfx_gppi_fork_endpoint_setup(ppi_chan_on_timer_match,
-				      nrfx_gppi_task_address_get(NRFX_GPPI_TASK_CHG0_DIS));
-
-	return 0;
-}
-
-int controller_time_init(void)
-{
-	int ret;
-
-	ret = rtc_config();
-	if (ret) {
-		return ret;
-	}
-
-	ret = timer_config();
-	if (ret) {
-		return ret;
-	}
-
-	return config_egu_trigger_on_rtc_and_timer_match();
-}
-
-static uint64_t rtc_ticks_to_us(uint32_t rtc_ticks)
-{
-	const uint64_t rtc_ticks_in_femto_units = 30517578125UL;
-
-	return (rtc_ticks * rtc_ticks_in_femto_units) / 1000000000UL;
-}
-
-static uint32_t us_to_rtc_ticks(uint32_t timestamp_us)
-{
-	const uint64_t rtc_ticks_in_femto_units = 30517578125UL;
-
-	return ((uint64_t)(timestamp_us) * 1000000000UL) / rtc_ticks_in_femto_units;
-}
-
-uint64_t controller_time_us_get(void)
-{
-	const uint64_t rtc_overflow_time_us = 512000000UL;
-
-	/* On the 52 series the RTC has to task to capture the current RTC value.
-	 * Therefore we cannot capture the TIMER and RTC value simultaneously.
-	 * Therefore we only use the RTC to read out the current time here.
-	 * This will result in an error of maximum one RTC tick.
-	 */
-
-	uint32_t captured_rtc_overflows;
-	uint32_t captured_rtc_ticks;
-
-	while (true) {
-		captured_rtc_overflows = num_rtc_overflows;
-
-		/* Read out RTC ticks after reading number of overflows. */
-		barrier_isync_fence_full();
-
-		captured_rtc_ticks = nrf_rtc_counter_get(app_rtc_instance.p_reg);
-
-		/* Read out number of overflows after reading number of RTC ticks  */
-		barrier_isync_fence_full();
-
-		if (captured_rtc_overflows == num_rtc_overflows) {
-			/* There were no new overflows after reading ticks.
-			 * That is, we can use the captured value.
-			 */
-			break;
-		}
-	}
-
-	return rtc_ticks_to_us(captured_rtc_ticks) +
-	       (captured_rtc_overflows * rtc_overflow_time_us) +
-	       rtc_ticks_to_us(offset_ticks_and_controller_to_app_rtc);
-}
-
-void controller_time_trigger_set(uint64_t timestamp_us)
-{
-	uint64_t timestamp_without_rtc_offset =
-		timestamp_us - rtc_ticks_to_us(offset_ticks_and_controller_to_app_rtc);
-
-	uint32_t num_overflows = timestamp_without_rtc_offset / 512000000UL;
-	uint64_t overflow_time_us = num_overflows * 512000000UL;
-
-	uint32_t rtc_remainder_time_us = timestamp_without_rtc_offset - overflow_time_us;
-	uint32_t rtc_val = us_to_rtc_ticks(rtc_remainder_time_us);
-	uint8_t timer_val =	timestamp_without_rtc_offset - rtc_ticks_to_us(rtc_val);
-
-	/* Ensure the timer value lies between 1 and 30 so that it will
-	 * always be between two RTC ticks.
-	 */
-	timer_val = MAX(timer_val, 1);
-	timer_val = MIN(timer_val, 30);
-
-	if (nrfx_rtc_cc_set(&app_rtc_instance, 0, rtc_val, false) != NRFX_SUCCESS) {
-		printk("Failed setting trigger\n");
-	}
-
-	nrfx_timer_compare(&app_timer_instance, 0, timer_val, false);
-	nrfx_gppi_channels_enable(BIT(ppi_chan_on_rtc_match));
-}
-
-uint32_t controller_time_trigger_event_addr_get(void)
-{
-	return nrf_egu_event_address_get(NRF_EGU0, NRF_EGU_EVENT_TRIGGERED0);
-}
-
-SYS_INIT(controller_time_init, POST_KERNEL, CONFIG_KERNEL_INIT_PRIORITY_DEFAULT);

src/controller_time_nrf53_app.c

@@ -1,270 +0,0 @@
-/*
- * Copyright (c) 2024 Nordic Semiconductor ASA
- *
- * SPDX-License-Identifier: LicenseRef-Nordic-5-Clause
- */
-
-/** This file implements controller time management for 53 Series devices
- *
- * As the controller clock is not directly accessible, the controller
- * time is obtained using a mirrored RTC peripheral.
- * The RTC is started upon starting the controller clock on the network core.
- * To achieve microsecond accurate toggling, a timer peripheral is also used.
- */
-
-// BK: taken from ncs/nrf/samples/bluetooth/conn_time_sync/src/controller_time_nrf53_app.c
-// - we already have a similar code in audio_sync_timer_rtc.c from nrf5340_audio
-
-#include <zephyr/kernel.h>
-#include <zephyr/init.h>
-#include <zephyr/sys/barrier.h>
-#include <helpers/nrfx_gppi.h>
-#include <nrfx_rtc.h>
-#include <nrfx_timer.h>
-#include <hal/nrf_ipc.h>
-#include <hal/nrf_egu.h>
-#include "conn_time_sync.h"
-
-static const nrfx_rtc_t app_rtc_instance = NRFX_RTC_INSTANCE(0);
-static const nrfx_timer_t app_timer_instance = NRFX_TIMER_INSTANCE(0);
-
-static uint8_t ppi_chan_on_rtc_match;
-static volatile uint32_t num_rtc_overflows;
-
-static void rtc_isr_handler(nrfx_rtc_int_type_t int_type)
-{
-	if (int_type == NRFX_RTC_INT_OVERFLOW) {
-		num_rtc_overflows++;
-	}
-}
-
-static void unused_timer_isr_handler(nrf_timer_event_t event_type, void *ctx)
-{
-	ARG_UNUSED(event_type);
-	ARG_UNUSED(ctx);
-}
-
-static int rtc_config(void)
-{
-	int ret;
-	uint8_t dppi_channel_rtc_start;
-	const nrfx_rtc_config_t rtc_cfg = NRFX_RTC_DEFAULT_CONFIG;
-
-	ret = nrfx_rtc_init(&app_rtc_instance, &rtc_cfg, rtc_isr_handler);
-	if (ret != NRFX_SUCCESS) {
-		printk("Failed initializing RTC (ret: %d)\n", ret - NRFX_ERROR_BASE_NUM);
-		return -ENODEV;
-	}
-
-#ifndef BT_CTLR_SDC_BSIM_BUILD
-	IRQ_CONNECT(NRFX_IRQ_NUMBER_GET(NRF_RTC_INST_GET(0)), IRQ_PRIO_LOWEST,
-		    NRFX_RTC_INST_HANDLER_GET(0), NULL, 0);
-#else
-	IRQ_CONNECT(NRFX_IRQ_NUMBER_GET(NRF_RTC_INST_GET(0)), 0,
-		    (void *)NRFX_RTC_INST_HANDLER_GET(0), NULL, 0);
-#endif
-
-	nrfx_rtc_overflow_enable(&app_rtc_instance, true);
-	nrfx_rtc_tick_enable(&app_rtc_instance, false);
-	nrfx_rtc_enable(&app_rtc_instance);
-
-
-	/* The application core RTC is started synchronously with the controller
-	 * RTC using PPI over IPC.
-	 */
-	ret = nrfx_gppi_channel_alloc(&dppi_channel_rtc_start);
-	if (ret != NRFX_SUCCESS) {
-		printk("nrfx DPPI channel alloc error for starting RTC: %d", ret);
-		return -ENODEV;
-	}
-
-	nrf_ipc_receive_config_set(NRF_IPC, 4, NRF_IPC_CHANNEL_4);
-
-	nrfx_gppi_channel_endpoints_setup(dppi_channel_rtc_start,
-					  nrfx_rtc_task_address_get(&app_rtc_instance,
-								     NRF_RTC_TASK_CLEAR),
-					  nrf_ipc_event_address_get(NRF_IPC,
-								    NRF_IPC_EVENT_RECEIVE_4));
-
-	nrfx_gppi_channels_enable(BIT(dppi_channel_rtc_start));
-
-	return 0;
-}
-
-static int timer_config(void)
-{
-	int ret;
-	uint8_t ppi_chan_timer_clear_on_rtc_tick;
-	const nrfx_timer_config_t timer_cfg = {
-		.frequency = NRFX_MHZ_TO_HZ(1UL),
-		.mode = NRF_TIMER_MODE_TIMER,
-		.bit_width = NRF_TIMER_BIT_WIDTH_8,
-		.interrupt_priority = NRFX_TIMER_DEFAULT_CONFIG_IRQ_PRIORITY,
-		.p_context = NULL};
-
-	ret = nrfx_timer_init(&app_timer_instance, &timer_cfg, unused_timer_isr_handler);
-	if (ret != NRFX_SUCCESS) {
-		printk("Failed initializing timer (ret: %d)\n", ret - NRFX_ERROR_BASE_NUM);
-		return -ENODEV;
-	}
-
-	/* Clear the TIMER every RTC tick. */
-	if (nrfx_gppi_channel_alloc(&ppi_chan_timer_clear_on_rtc_tick) != NRFX_SUCCESS) {
-		printk("Failed allocating for clearing TIMER on RTC TICK\n");
-		return -ENOMEM;
-	}
-
-	nrfx_gppi_channel_endpoints_setup(ppi_chan_timer_clear_on_rtc_tick,
-					  nrfx_rtc_event_address_get(&app_rtc_instance,
-								     NRF_RTC_EVENT_TICK),
-					  nrfx_timer_task_address_get(&app_timer_instance,
-								      NRF_TIMER_TASK_CLEAR));
-
-	nrfx_gppi_channels_enable(BIT(ppi_chan_timer_clear_on_rtc_tick));
-
-	nrfx_timer_enable(&app_timer_instance);
-
-	return 0;
-}
-
-/** Configure the TIMER and RTC in such a way that microsecond accurate timing can be achieved.
- *
- * To get microsecond accurate toggling, we need to combine both the RTC and TIMER peripheral.
- * That is, both a RTC CC value and TIMER CC value needs to be set.
- * We should only trigger an EGU task when the TIMER CC value
- * matches after the RTC CC value matched.
- * This is achieved using a PPI group. The group is enabled when the RTC CC matches and disabled
- * again then the TIMER CC matches.
- */
-int config_egu_trigger_on_rtc_and_timer_match(void)
-{
-	uint8_t ppi_chan_on_timer_match;
-
-	if (nrfx_gppi_channel_alloc(&ppi_chan_on_rtc_match) != NRFX_SUCCESS) {
-		printk("Failed allocating for RTC match\n");
-		return -ENOMEM;
-	}
-
-	if (nrfx_gppi_channel_alloc(&ppi_chan_on_timer_match) != NRFX_SUCCESS) {
-		printk("Failed allocating for TIMER match\n");
-		return -ENOMEM;
-	}
-
-	nrfx_gppi_group_clear(NRFX_GPPI_CHANNEL_GROUP0);
-	nrfx_gppi_group_disable(NRFX_GPPI_CHANNEL_GROUP0);
-	nrfx_gppi_channels_include_in_group(
-		BIT(ppi_chan_on_timer_match) | BIT(ppi_chan_on_rtc_match),
-		NRFX_GPPI_CHANNEL_GROUP0);
-
-	nrfx_gppi_channel_endpoints_setup(ppi_chan_on_rtc_match,
-					  nrfx_rtc_event_address_get(&app_rtc_instance,
-								     NRF_RTC_EVENT_COMPARE_0),
-					  nrfx_gppi_task_address_get(NRFX_GPPI_TASK_CHG0_EN));
-	nrfx_gppi_channel_endpoints_setup(ppi_chan_on_timer_match,
-					  nrfx_timer_event_address_get(&app_timer_instance,
-								       NRF_TIMER_EVENT_COMPARE0),
-					  nrfx_gppi_task_address_get(NRFX_GPPI_TASK_CHG0_DIS));
-	nrfx_gppi_fork_endpoint_setup(ppi_chan_on_timer_match,
-				      nrf_egu_task_address_get(NRF_EGU0, NRF_EGU_TASK_TRIGGER0));
-
-	return 0;
-}
-
-int controller_time_init(void)
-{
-	int ret;
-
-	ret = rtc_config();
-	if (ret) {
-		return ret;
-	}
-
-	ret = timer_config();
-	if (ret) {
-		return ret;
-	}
-
-	return config_egu_trigger_on_rtc_and_timer_match();
-}
-
-static uint64_t rtc_ticks_to_us(uint32_t rtc_ticks)
-{
-	const uint64_t rtc_ticks_in_femto_units = 30517578125UL;
-
-	return (rtc_ticks * rtc_ticks_in_femto_units) / 1000000000UL;
-}
-
-static uint32_t us_to_rtc_ticks(uint32_t timestamp_us)
-{
-	const uint64_t rtc_ticks_in_femto_units = 30517578125UL;
-
-	return ((uint64_t)(timestamp_us) * 1000000000UL) / rtc_ticks_in_femto_units;
-}
-
-uint64_t controller_time_us_get(void)
-{
-	/* Simply use the RTC time here.
-	 * It is possible to combine RTC and TIMER information here to get a more accurate
-	 * timestamp. That requires setting up a PPI channel to capture both values simultaneously.
-	 */
-
-	const uint64_t rtc_overflow_time_us = 512000000UL;
-
-	uint32_t captured_rtc_overflows;
-	uint32_t captured_rtc_ticks;
-
-	while (true) {
-		captured_rtc_overflows = num_rtc_overflows;
-
-		/* Read out RTC ticks after reading number of overflows. */
-		barrier_isync_fence_full();
-
-		captured_rtc_ticks = nrf_rtc_counter_get(app_rtc_instance.p_reg);
-
-		/* Read out number of overflows after reading number of RTC ticks  */
-		barrier_isync_fence_full();
-
-		if (captured_rtc_overflows == num_rtc_overflows) {
-			/* There were no new overflows after reading ticks.
-			 * That is, we can use the captured value.
-			 */
-			break;
-		}
-	}
-
-	return rtc_ticks_to_us(captured_rtc_ticks) +
-	       (captured_rtc_overflows * rtc_overflow_time_us);
-}
-
-void controller_time_trigger_set(uint64_t timestamp_us)
-{
-	uint32_t num_overflows = timestamp_us / 512000000UL;
-	uint64_t overflow_time_us = num_overflows * 512000000UL;
-
-	uint32_t remainder_time_us = timestamp_us - overflow_time_us;
-	uint32_t rtc_val = us_to_rtc_ticks(remainder_time_us);
-	uint8_t timer_val = timestamp_us - rtc_ticks_to_us(rtc_val);
-
-	/* Ensure the timer value lies between 1 and 30 so that it will
-	 * always be between two RTC ticks.
-	 */
-	timer_val = MAX(timer_val, 1);
-	timer_val = MIN(timer_val, 30);
-
-	if (nrfx_rtc_cc_set(&app_rtc_instance, 0, rtc_val, false) != NRFX_SUCCESS) {
-		printk("Failed setting trigger\n");
-	}
-
-	nrfx_timer_compare(&app_timer_instance, 0, timer_val, false);
-	nrfx_gppi_channels_enable(BIT(ppi_chan_on_rtc_match));
-}
-
-uint32_t controller_time_trigger_event_addr_get(void)
-{
-	return nrf_egu_event_address_get(NRF_EGU0, NRF_EGU_EVENT_TRIGGERED0);
-}
-
-/* The controller time initialization must happen before
- * starting the network core.
- */
-SYS_INIT(controller_time_init, POST_KERNEL, CONFIG_KERNEL_INIT_PRIORITY_DEFAULT);

src/controller_time_nrf54.c

@@ -1,68 +0,0 @@
-/*
- * Copyright (c) 2024 Nordic Semiconductor ASA
- *
- * SPDX-License-Identifier: LicenseRef-Nordic-5-Clause
- */
-
-/** This file implements controller time management for 54 Series devices
- */
-
-// BK: taken from ncs/nrf/samples/bluetooth/conn_time_sync/src/controller_time_nrf54.c
-
-#include <zephyr/kernel.h>
-#include <nrfx_grtc.h>
-#include "controller_time.h"
-
-static uint8_t grtc_channel;
-
-int controller_time_init(void)
-{
-	int ret;
-
-	ret = nrfx_grtc_channel_alloc(&grtc_channel);
-	if (ret != NRFX_SUCCESS) {
-		printk("Failed allocating GRTC channel (ret: %d)\n",
-		       ret - NRFX_ERROR_BASE_NUM);
-		return -ENODEV;
-	}
-
-	nrf_grtc_sys_counter_compare_event_enable(NRF_GRTC, grtc_channel);
-
-	return 0;
-}
-
-uint64_t controller_time_us_get(void)
-{
-	int ret;
-	uint64_t current_time_us;
-
-	ret = nrfx_grtc_syscounter_get(&current_time_us);
-	if (ret != NRFX_SUCCESS) {
-		printk("Failed obtaining system time (ret: %d)\n", ret - NRFX_ERROR_BASE_NUM);
-		return 0;
-	}
-
-	return current_time_us;
-}
-
-void controller_time_trigger_set(uint64_t timestamp_us)
-{
-	int ret;
-
-	nrfx_grtc_channel_t chan_data = {
-		.channel = grtc_channel,
-	};
-
-	ret = nrfx_grtc_syscounter_cc_absolute_set(&chan_data, timestamp_us, false);
-	if (ret != NRFX_SUCCESS) {
-		printk("Failed setting CC (ret: %d)\n", ret - NRFX_ERROR_BASE_NUM);
-	}
-}
-
-uint32_t controller_time_trigger_event_addr_get(void)
-{
-	return nrf_grtc_event_address_get(NRF_GRTC,
-					  nrf_grtc_sys_counter_compare_event_get(grtc_channel));
-}
-
-SYS_INIT(controller_time_init, POST_KERNEL, CONFIG_KERNEL_INIT_PRIORITY_DEFAULT);

src/main.c

@@ -31,17 +31,15 @@
 #include <zephyr/bluetooth/buf.h>
 #include <zephyr/bluetooth/hci_raw.h>
 
-// nRF5340 - from ncs/nrf/nrf5340_audio example
+#include <nrfx_timer.h>
 #include "audio_sync_timer.h"
 
-// nRF54L15 - from ncs/nrf/samples/bluetooth/conn_time_sync
-#include "controller_time.h"
-
 #define LOG_MODULE_NAME hci_uart
 LOG_MODULE_REGISTER(LOG_MODULE_NAME);
 
-static const struct device *const hci_uart_dev =
-	DEVICE_DT_GET(DT_CHOSEN(zephyr_bt_c2h_uart));
+static const struct device *const hci_uart_dev  = DEVICE_DT_GET(DT_CHOSEN(zephyr_bt_c2h_uart));
+static const struct device *const gmap_uart_dev = DEVICE_DT_GET(DT_NODELABEL(uart1));
+
 static K_THREAD_STACK_DEFINE(tx_thread_stack, CONFIG_BT_HCI_TX_STACK_SIZE);
 static struct k_thread tx_thread_data;
 static K_FIFO_DEFINE(tx_queue);
@@ -70,6 +68,30 @@ static K_FIFO_DEFINE(uart_tx_queue);
  */
 #define H4_DISCARD_LEN 33
 
+#ifdef CONFIG_AUDIO_SYNC_TIMER_USES_RTC
+#define TIMESYNC_GPIO  DT_NODELABEL(timesync)
+
+#if DT_NODE_HAS_STATUS(TIMESYNC_GPIO, okay)
+static const struct gpio_dt_spec timesync_pin = GPIO_DT_SPEC_GET(TIMESYNC_GPIO, gpios);
+#else
+#error "No timesync gpio available!"
+#endif
+
+#define ALTERNATE_TOGGLE_GPIO DT_NODELABEL(alternate_toggle)
+static const struct gpio_dt_spec alternate_toggle_pin = GPIO_DT_SPEC_GET(ALTERNATE_TOGGLE_GPIO, gpios);
+
+#endif
+
+// enable to have alternate toggle indicate time from audio in to sdu sync ref in UGT to UGG direction
+#define PERIPHERAL_TO_CENTRAL_AUDIO_IN_TO_SDU_SYNC_REF
+
+// Presentation time from Audio to SDU Sync Ref (UGT->UGG) resp. SDU Sync Ref to Audio Out (UGG->UGT)
+// HS timer on nRF5340 seems to be off: 60000 ticks = 59372 us
+#define PRESENTATION_TIME_US 60634
+
+static uint32_t last_sdu_sync_ref_us;
+static uint32_t sdu_interval_us;
+
 static int h4_read(const struct device *uart, uint8_t *buf, size_t len)
 {
 	int rx = uart_fifo_read(uart, buf, len);
@@ -262,6 +284,15 @@ static void tx_thread(void *p1, void *p2, void *p3)
 
 		/* Wait until a buffer is available */
 		buf = k_fifo_get(&tx_queue, K_FOREVER);
+
+#if DT_NODE_HAS_STATUS(TIMESYNC_GPIO, okay)
+		// toggle GPIO and send 'B' for each TX packet to be able to capture by Logic Analzyer
+		if (bt_buf_get_type(buf) == BT_BUF_ISO_OUT) {
+			gpio_pin_toggle_dt( &timesync_pin );
+			uart_poll_out(gmap_uart_dev, 'B');
+		}
+#endif
+
 		/* Pass buffer to the stack */
 		err = bt_send(buf);
         if (err!=BT_HCI_ERR_SUCCESS) {
@@ -364,17 +395,7 @@ static int hci_uart_init(void)
 
 SYS_INIT(hci_uart_init, APPLICATION, CONFIG_KERNEL_INIT_PRIORITY_DEVICE);
 
-#define ENABLE_ISO_TIMESYNC
-
-#ifdef ENABLE_ISO_TIMESYNC
-
-#define TIMESYNC_GPIO  DT_NODELABEL(timesync)
-
-#if DT_NODE_HAS_STATUS(TIMESYNC_GPIO, okay)
-static const struct gpio_dt_spec timesync_pin = GPIO_DT_SPEC_GET(TIMESYNC_GPIO, gpios);
-#else
-#error "No timesync gpio available!"
-#endif
+#ifdef CONFIG_AUDIO_SYNC_TIMER_USES_RTC
 
 #define  HCI_CMD_ISO_TIMESYNC	(0x200)
 
@@ -391,12 +412,11 @@ uint8_t hci_cmd_iso_timesync_cb(struct net_buf *buf)
 	LOG_INF("buf %p type %u len %u", buf, bt_buf_get_type(buf), buf->len);
 	LOG_INF("buf[0] = 0x%02x", buf->data[0]);
 
-	uint32_t timestamp_second_us = 0;
+	uint32_t timestamp_second_us;
 
 	// Lock interrupts to avoid interrupt between time capture and gpio toggle
 	uint32_t key = arch_irq_lock();
 
-#ifdef CONFIG_SOC_NRF5340_CPUAPP
 	// Get current time
 	uint32_t timestamp_first_us = audio_sync_timer_capture();
 
@@ -410,11 +430,6 @@ uint8_t hci_cmd_iso_timesync_cb(struct net_buf *buf)
 		}
 		timestamp_first_us = timestamp_second_us;
 	}
-#endif
-
-#if defined(CONFIG_SOC_NRF54L15_CPUAPP) || defined(CONFIG_SOC_NRF52833)
-	timestamp_second_us = (uint32_t) controller_time_us_get();
-#endif
 
 #if DT_NODE_HAS_STATUS(TIMESYNC_GPIO, okay)
 	gpio_pin_toggle_dt( &timesync_pin );
@@ -439,14 +454,135 @@ uint8_t hci_cmd_iso_timesync_cb(struct net_buf *buf)
 }
 #endif
 
+uint16_t little_endian_read_16(const uint8_t * buffer, int position){
+	return (uint16_t)(((uint16_t) buffer[position]) | (((uint16_t)buffer[position+1]) << 8));
+}
+
+static uint32_t little_endian_read_32(const uint8_t * buffer, int position){
+    return ((uint32_t) buffer[position]) | (((uint32_t)buffer[position+1]) << 8) | (((uint32_t)buffer[position+2]) << 16) | (((uint32_t) buffer[position+3]) << 24);
+}
+
+#if DT_NODE_HAS_STATUS(TIMESYNC_GPIO, okay)
+
+// make sure there's no IRQ between getting the time and the toggle
+// verify timestamp as it's 100% coorect
+#define LOCK_IRQS_FOR_SYNC_TOGGLE
+static uint32_t toggle_and_get_bluetooth_time_us(void) {
+	uint32_t timestamp_toggle_us;
+
+#ifdef LOCK_IRQS_FOR_SYNC_TOGGLE
+	// Lock interrupts
+	uint32_t key = arch_irq_lock();
+#endif
+
+	while (1){
+		// Get current time once
+		timestamp_toggle_us = audio_sync_timer_capture();
+
+		// Get current time again
+		uint32_t timestamp_toggle_us_verify = audio_sync_timer_capture();
+
+		// check if time didn't jump
+		int32_t timestamp_delta = (int32_t) (timestamp_toggle_us_verify - timestamp_toggle_us);
+		if ((timestamp_delta >= 0) && (timestamp_delta < 10)){
+			break;
+		}
+	}
+
+	// Toggle
+	gpio_pin_toggle_dt( &timesync_pin );
+
+#ifdef LOCK_IRQS_FOR_SYNC_TOGGLE
+	// Unlock interrupts
+	arch_irq_unlock(key);
+#endif
+
+	return timestamp_toggle_us;
+}
+
+#endif
+
+
+#define SYNC_TOGGLE_TIMER_INSTANCE_NUMBER 2
+static const nrfx_timer_t sync_toggle_timer_instance =
+	NRFX_TIMER_INSTANCE(SYNC_TOGGLE_TIMER_INSTANCE_NUMBER);
+
+
+static nrfx_timer_config_t cfg = {.frequency = NRFX_MHZ_TO_HZ(1UL),
+				  .mode = NRF_TIMER_MODE_TIMER,
+				  .bit_width = NRF_TIMER_BIT_WIDTH_32,
+				  .interrupt_priority = NRFX_TIMER_DEFAULT_CONFIG_IRQ_PRIORITY,
+				  .p_context = NULL};
+
+static volatile enum {
+	ALTERNATE_TOGGLE_STATE_IDLE,
+	ALTERNATE_TOGGLE_STATE_W2_RISE,
+	ALTERNATE_TOGGLE_STATE_W2_FALL
+} alternate_toggle_state = ALTERNATE_TOGGLE_STATE_IDLE;
+
+static volatile uint32_t alternate_toggle_fall_us;
+
+static uint32_t get_local_time_us(void) {
+	nrf_timer_cc_set(NRF_TIMER2, NRF_TIMER_CC_CHANNEL2, 0);
+	nrf_timer_task_trigger(NRF_TIMER2, nrf_timer_capture_task_get(NRF_TIMER_CC_CHANNEL2));
+	uint32_t current_time_us = nrf_timer_cc_get(NRF_TIMER2, NRF_TIMER_CC_CHANNEL2);
+	while (current_time_us == 0) {
+		current_time_us = nrf_timer_cc_get(NRF_TIMER2, NRF_TIMER_CC_CHANNEL2);
+	}
+	return current_time_us;
+}
+
+static void alternate_toggle_timer_isr_handler(nrf_timer_event_t event_type, void *p_context){
+	ARG_UNUSED(p_context);
+	if(event_type == NRF_TIMER_EVENT_COMPARE1){
+		switch (alternate_toggle_state) {
+			case ALTERNATE_TOGGLE_STATE_W2_RISE:
+				alternate_toggle_state = ALTERNATE_TOGGLE_STATE_W2_FALL;
+				gpio_pin_set_dt(&alternate_toggle_pin, 1);
+				nrfx_timer_compare(&sync_toggle_timer_instance, NRF_TIMER_CC_CHANNEL1, alternate_toggle_fall_us, true);
+				break;
+			case ALTERNATE_TOGGLE_STATE_W2_FALL:
+				alternate_toggle_state = ALTERNATE_TOGGLE_STATE_IDLE;
+				gpio_pin_set_dt(&alternate_toggle_pin, 0);
+				break;
+			default:
+				__ASSERT(0, "Unknown state");
+				break;
+		}
+	}
+}
+
+static void alternate_toggle_setup(uint32_t rise_us, uint32_t fall_us) {
+	alternate_toggle_fall_us = fall_us;
+	alternate_toggle_state = ALTERNATE_TOGGLE_STATE_W2_RISE;
+	nrfx_timer_compare(&sync_toggle_timer_instance, NRF_TIMER_CC_CHANNEL1, rise_us, true);
+}
+
 int main(void)
 {
+	// toggle timer setup
+	nrfx_err_t ret;
+	ret = nrfx_timer_init(&sync_toggle_timer_instance, &cfg, alternate_toggle_timer_isr_handler);
+	if (ret - NRFX_ERROR_BASE_NUM) {
+		LOG_ERR("nrfx timer init error: %d", ret);
+		return -ENODEV;
+	}
+	IRQ_CONNECT(NRFX_IRQ_NUMBER_GET(NRF_TIMER_INST_GET(SYNC_TOGGLE_TIMER_INSTANCE_NUMBER)), IRQ_PRIO_LOWEST,
+			NRFX_TIMER_INST_HANDLER_GET(SYNC_TOGGLE_TIMER_INSTANCE_NUMBER), 0, 0);
+	nrfx_timer_enable(&sync_toggle_timer_instance);
+	alternate_toggle_state = ALTERNATE_TOGGLE_STATE_IDLE;
+
 	/* incoming events and data from the controller */
 	static K_FIFO_DEFINE(rx_queue);
 	int err;
 
 	LOG_DBG("Start");
-	__ASSERT(hci_uart_dev, "UART device is NULL");
+	__ASSERT(hci_uart_dev, "HCI UART device is NULL");
+
+	if (!device_is_ready(gmap_uart_dev)) {
+		printk("GMAP UART device is not ready\n");
+		return -1;
+	}
 
 	/* Enable the raw interface, this will in turn open the HCI driver */
 	bt_enable_raw(&rx_queue);
@@ -477,7 +613,7 @@ int main(void)
 		}
 	}
 
-#ifdef ENABLE_ISO_TIMESYNC
+#ifdef CONFIG_AUDIO_SYNC_TIMER_USES_RTC
 	/* Register iso_timesync command */
 	static struct bt_hci_raw_cmd_ext cmd_list = {
 	    .op = BT_OP(BT_OGF_VS, HCI_CMD_ISO_TIMESYNC),
@@ -489,6 +625,10 @@ int main(void)
 	gpio_pin_configure_dt(&timesync_pin, GPIO_OUTPUT_INACTIVE);
 #endif
 
+#if DT_NODE_HAS_STATUS(TIMESYNC_GPIO, okay)
+	gpio_pin_configure_dt(&alternate_toggle_pin, GPIO_OUTPUT_INACTIVE);
+#endif
+
 	bt_hci_raw_cmd_ext_register(&cmd_list, 1);
 #endif
 
@@ -500,20 +640,125 @@ int main(void)
 			NULL, NULL, NULL, K_PRIO_COOP(7), 0, K_NO_WAIT);
 	k_thread_name_set(&tx_thread_data, "HCI uart TX");
 
-#if 0
-    while (1) {
-		uint8_t c = 'A';
-		uart_fifo_fill(hci_uart_dev, &c, 1);
-		uart_irq_tx_enable(hci_uart_dev);
-		k_sleep( K_MSEC(100) );
-	}
-    return 0;
-#endif
-
-    while (1) {
+	while (1) {
 		struct net_buf *buf;
 
-		buf = k_fifo_get(&rx_queue, K_FOREVER);
+		buf = net_buf_get(&rx_queue, K_FOREVER);
+
+#if DT_NODE_HAS_STATUS(TIMESYNC_GPIO, okay)
+		// ISO RX Measurement Code
+		const uint8_t * packet = buf->data;
+		if (packet[0] == H4_ISO){
+
+			// TODO: check if packets contains timestamp. all Controller -> Host packets have it so far
+
+			// get rx timestamp = sdu sync reference: Packet Type (1) | ISO Header (4) | Timestamp (if TS flag is set)
+			const uint32_t timestamp_sdu_sync_reference_us = little_endian_read_32(packet, 5);
+
+			// ignore empty ISO packets
+			const uint16_t data_total_length = little_endian_read_16(packet, 3);
+			if (data_total_length > 8) {
+
+				// get current Bluetooth time + toggle GPIO
+				const uint32_t bluetooth_time_us = toggle_and_get_bluetooth_time_us();
+
+				// calculate time of toggle relative to sdu sync reference usually
+				// - negative for UGT->UGG and
+				// - positive in UGT->UGG direction)
+				const int32_t delta_us = (int32_t)(bluetooth_time_us - timestamp_sdu_sync_reference_us);
+
+				// convert to string and send over UART and RTT
+				char delta_string[15];
+				const uint8_t first_payload_byte = packet[13];
+				snprintf(delta_string, sizeof(delta_string), "R%+06d@%02X!", delta_us,first_payload_byte);
+				for (size_t i = 0; delta_string[i] != '\0'; i++) {
+					uart_poll_out(gmap_uart_dev, delta_string[i]);
+				}
+
+				LOG_INF("Toggle %8u - SDU Sync Reference %8u -> delta %s", bluetooth_time_us, timestamp_sdu_sync_reference_us, delta_string);
+			}
+		}
+
+    	if (packet[0] == H4_EVT) {
+    		if (packet[1] == 0x0e) {
+    			uint16_t opcode = little_endian_read_16(packet, 4);
+    			const uint16_t hci_opcode_reset = 0x0c03;;
+    			if (opcode == hci_opcode_reset) {
+    				LOG_INF("HCI Reset");
+    				last_sdu_sync_ref_us = 0;
+    				sdu_interval_us = 0;
+    			}
+    			const uint16_t hci_opcode_le_read_tx_iso_sync = 0x2061;
+    			if (opcode == hci_opcode_le_read_tx_iso_sync) {
+    				const uint8_t * return_params = &packet[6];
+
+    				// get current Bluetooth time + toggle GPIO
+    				const uint32_t bluetooth_time_us = toggle_and_get_bluetooth_time_us();
+
+    				// get current local time
+    				const uint32_t local_time_us = get_local_time_us();
+
+    				// status: 0
+    				uint16_t handle = little_endian_read_16(return_params, 1);
+    				ARG_UNUSED(handle);
+
+    				// get packet sequence number (assuming counter == packet_sequence_number & 0xff)
+    				const uint16_t packet_sequence_number = little_endian_read_16(return_params, 3);
+
+    				// get tx timestamp = sdu sync reference: Packet Type (1) | ISO Header (4) | Timestamp (if TS flag is set)
+    				const uint32_t iso_tx_us = little_endian_read_32(return_params, 5);
+
+    				// get SDU interval based on sdu sync ref interval (round to the next 100 us)
+    				if (last_sdu_sync_ref_us > 0) {
+    					const uint32_t sdu_interval_reported_us = iso_tx_us - last_sdu_sync_ref_us;
+    					sdu_interval_us = ((sdu_interval_reported_us + 50) / 100 ) * 100;
+    				}
+    				last_sdu_sync_ref_us = iso_tx_us;
+
+    				// calculate time of toggle relative to sdu sync reference (usually negative as the packet is received before it should be played)
+    				const int32_t delta_us = (int32_t)(bluetooth_time_us - iso_tx_us);
+
+    				// convert to string and send over UART and RTT
+    				char delta_string[15];
+    				snprintf(delta_string, sizeof(delta_string), "T%+06d@%02X!", delta_us,packet_sequence_number & 0xff);
+    				for (size_t i = 0; delta_string[i] != '\0'; i++) {
+    					uart_poll_out(gmap_uart_dev, delta_string[i]);
+    				}
+    				// LOG_INF("Toggle %8u - TX  %8u - %02X-> delta %s", bluetooth_time_us, iso_tx_us, packet_sequence_number, delta_string);
+
+#ifdef PERIPHERAL_TO_CENTRAL_AUDIO_IN_TO_SDU_SYNC_REF
+    				// schedule Audio In to Sync Ref for Peripheral to Central direction
+    				if (sdu_interval_us > 0) {
+    					if (alternate_toggle_state == ALTERNATE_TOGGLE_STATE_IDLE) {
+
+    						// note: for Peripheral to Central, the SDU Sync Ref matches the ISO TX Timestamp
+
+    						// calculate next audio in time such that:
+    						// - it's in the future
+    						// - audio_in_us + presentatioon time = sdu_sync_ref
+    						uint32_t audio_in_us = iso_tx_us - PRESENTATION_TIME_US;
+    						while (audio_in_us < (bluetooth_time_us + 10000)) {
+    							audio_in_us += sdu_interval_us;
+    						}
+
+    						// convert into local time reference
+    						const uint32_t rise_us = local_time_us + (audio_in_us - bluetooth_time_us);
+    						const uint32_t fall_us = rise_us + PRESENTATION_TIME_US;
+
+    						//	LOG_INF("bt %u, tx %u, audio in %u // sdu %u // now %u, rise %u",
+							//		bluetooth_time_us, iso_tx_us, audio_in_us,
+							//		sdu_interval_us,
+							//		local_time_us, rise_us);
+
+    						alternate_toggle_setup(rise_us, fall_us);
+    					}
+    				}
+#endif
+    			}
+    		}
+     	}
+#endif
+
 		err = h4_send(buf);
 		if (err) {
 			LOG_ERR("Failed to send");

sysbuild/ipc_radio/prj.conf

@@ -1,53 +0,0 @@
-#
-# Copyright (c) 2023 Nordic Semiconductor ASA
-#
-# SPDX-License-Identifier: LicenseRef-Nordic-5-Clause
-#
-
-CONFIG_HEAP_MEM_POOL_SIZE=8192
-CONFIG_MAIN_STACK_SIZE=2048
-CONFIG_SYSTEM_WORKQUEUE_STACK_SIZE=2048
-
-CONFIG_MBOX=y
-CONFIG_IPC_SERVICE=y
-
-CONFIG_BT=y
-CONFIG_BT_HCI_RAW=y
-CONFIG_BT_CTLR_ASSERT_HANDLER=y
-
-CONFIG_BT_ISO_PERIPHERAL=y
-CONFIG_BT_ISO_CENTRAL=y
-CONFIG_BT_ISO_BROADCASTER=y
-CONFIG_BT_ISO_SYNC_RECEIVER=y
-CONFIG_BT_EXT_ADV=y
-CONFIG_BT_PER_ADV_SYNC_TRANSFER_RECEIVER=y
-CONFIG_BT_PER_ADV_SYNC_TRANSFER_SENDER=y
-
-CONFIG_BT_CTLR_ADV_ISO_SET=2
-CONFIG_BT_CTLR_ADV_SET=2
-CONFIG_BT_CTLR_ADV_ISO_STREAM_COUNT=2
-CONFIG_BT_CTLR_CONN_ISO_GROUPS=1
-CONFIG_BT_CTLR_CONN_ISO_STREAMS=2
-CONFIG_BT_CTLR_SYNC_ISO_STREAM_COUNT=3
-CONFIG_BT_CTLR_SYNC_PERIODIC_ADV_LIST_SIZE=1
-
-
-# Support six links as a central, or one link as a peripheral
-CONFIG_BT_MAX_CONN=8
-CONFIG_BT_CTLR_SDC_PERIPHERAL_COUNT=2
-
-# Allow using more than default advertising event length
-CONFIG_BT_CTLR_ADV_DATA_LEN_MAX=251
-
-# To present the audio at the right point in time, we need the controller and
-# audio clock to be synchronized
-CONFIG_MPSL_TRIGGER_IPC_TASK_ON_RTC_START=y
-CONFIG_MPSL_TRIGGER_IPC_TASK_ON_RTC_START_CHANNEL=4
-
-# Needed for builds with nrf21540
-# Can also be set to 20, but check local restrictions first
-#CONFIG_BT_CTLR_TX_PWR_ANTENNA=10
-#CONFIG_MPSL_FEM_NRF21540_TX_GAIN_DB=10
-
-CONFIG_IPC_RADIO_BT=y
-CONFIG_IPC_RADIO_BT_HCI_IPC=y

sysbuild/ipc_radio/prj_release.conf

@@ -1,58 +0,0 @@
-#
-# Copyright (c) 2023 Nordic Semiconductor ASA
-#
-# SPDX-License-Identifier: LicenseRef-Nordic-5-Clause
-#
-
-CONFIG_HEAP_MEM_POOL_SIZE=8192
-CONFIG_MAIN_STACK_SIZE=2048
-CONFIG_SYSTEM_WORKQUEUE_STACK_SIZE=2048
-
-CONFIG_MBOX=y
-CONFIG_IPC_SERVICE=y
-
-CONFIG_BT=y
-CONFIG_BT_HCI_RAW=y
-CONFIG_BT_CTLR_ASSERT_HANDLER=y
-
-CONFIG_BT_ISO_PERIPHERAL=y
-CONFIG_BT_ISO_CENTRAL=y
-CONFIG_BT_ISO_BROADCASTER=y
-CONFIG_BT_ISO_SYNC_RECEIVER=y
-CONFIG_BT_EXT_ADV=y
-CONFIG_BT_PER_ADV_SYNC_TRANSFER_RECEIVER=y
-CONFIG_BT_PER_ADV_SYNC_TRANSFER_SENDER=y
-
-CONFIG_BT_CTLR_ADV_ISO_SET=2
-CONFIG_BT_CTLR_ADV_SET=2
-CONFIG_BT_CTLR_ADV_ISO_STREAM_COUNT=2
-CONFIG_BT_CTLR_CONN_ISO_GROUPS=1
-CONFIG_BT_CTLR_CONN_ISO_STREAMS=2
-CONFIG_BT_CTLR_SYNC_ISO_STREAM_COUNT=3
-CONFIG_BT_CTLR_SYNC_PERIODIC_ADV_LIST_SIZE=1
-
-# Support six links as a central, or one link as a peripheral
-CONFIG_BT_MAX_CONN=8
-CONFIG_BT_CTLR_SDC_PERIPHERAL_COUNT=2
-
-# Allow using more than default advertising event length
-CONFIG_BT_CTLR_ADV_DATA_LEN_MAX=251
-
-# To present the audio at the right point in time, we need the controller and
-# audio clock to be synchronized
-CONFIG_MPSL_TRIGGER_IPC_TASK_ON_RTC_START=y
-CONFIG_MPSL_TRIGGER_IPC_TASK_ON_RTC_START_CHANNEL=4
-
-CONFIG_IPC_RADIO_BT=y
-CONFIG_IPC_RADIO_BT_HCI_IPC=y
-
-# General
-CONFIG_DEBUG=n
-CONFIG_ASSERT=n
-CONFIG_STACK_USAGE=n
-CONFIG_THREAD_MONITOR=n
-CONFIG_SERIAL=n
-CONFIG_CONSOLE=n
-CONFIG_PRINTK=n
-CONFIG_UART_CONSOLE=n
-CONFIG_BOOT_BANNER=n