Bluetooth Low Energy based rebroadcasting mesh implementation on the nRF51. Works with SoftDevice S110 v7.x with Timeslot API (tested), likely to work with S120 and S130 SoftDevices (not tested). Support for both SDK6.x.x and SDK7.x.x as of release v0.6.1. Offers an API for implementing your own mesh enabled application, operating concurrently with regular BLE applications.
NOTE: The master branch is currently parked, and lacks some critical features compared to the latest version of the mesh framework. Currently, the sdk-8-support branch contains the latest updates, but you can always check the "Releases" tab above to keep track of all the latest versions. We will move back into the master branch in the future.
This project was created in collaboration with The Norwegian University of Science and Technology (NTNU), as part of a master thesis. The project is not part of the official Nordic Semiconductor SDK. Developers are welcome to contribute and provide feedback.
In addition to two provided examples, there is a template project under nRF51/examples/. This may be used as a basis for your own applications, or you could choose to do it yourself from scratch. In theory, the framework should be compatible with most SoftDevice based projects, but some restrictions to hardware and software modules apply, see Resource allocation for details. The framework adds a Mesh GATT service to the SoftDevice GATT server which contain all mesh-global states. This service may be accessed by external nodes, just as any other GATT service, through a connection established via the SoftDevice. See section GATT service for details about structure and access.
The framework also has support for external control via SPI. The serial interface is based on the nRF8001 SPI interface, with different opcodes. An application controller framework is available under application_controller, with an Arduino example to get you started. Note that the application controller requires the ble-sdk-arduino framework. This allows you to operate an Arduino along with an nRF51 dev kit in the mesh, making it easier to create mesh applications. Each nRF51 example project has a separate target (named "nRF51822 xxAA serial") that incorporates the serial interface with the rest of the project.
The framework supports both nRF51 SDK 6.x.x and nRF51 SDK 7.x.x. Since the structure of the SDK changed between these versions, you have to clone the repo differently based on which version you utilize.
If you’re using 6.x.x, clone the repository into <SDK6-folder>/nRF51822/boards/PCA10001/S110/<Project-folder>.
The SDK 7.x.x projects utilizes the non-pack version of the SDK, available at Nordic Semiconductor’s developer portal. Clone this repo into <SDK7-folder>/examples/<Project-folder>.
This will ensure that all references to the SDK are correctly placed, so that you don’t have to change all references to the SDK in the project files. If you still want to clone the repo into a different folder than suggested, you need to change the location of all the files under the Lib group in Keil uVision, in addition to the include paths under the menu Target options → C/C++ → Include Paths.
The framework is built to be compatible with most existing SDK example projects, and we’ve written a short guide to include it in existing projects with as few changes to existing code as possible. The guide uses the ble_app_proximity example from the SDK as reference, and shows a step by step approach to overcoming typical problems with integration:
A rebroadcasting mesh network works by flooding all messages to all nodes in the network through broadcasts. Each time a device receives a broadcast message from some other device in the mesh, it repeats the message, or rebroadcasts it, letting its neighbors hear the new message. The neighbors rebroadcast the message to their neighbors, and the process is repeated until all devices in the mesh have received the message. This lets wireless devices talk to each other without being within direct radio range, as devices between them help relaying the messages.
The Rebroadcasting Mesh framework (hereby referred to as "the framework" or rbc_mesh) provides a connection-less, rebroadcasting infrastructure for synchronizing states across a set of BLE enabled nodes. All nodes receive all messages that are transmitted within their range, and any node may update the mesh-global states. There is no hierarchy, and no directed data links.
The framework resides on top of the nRF51 SoftDevice, utilizing the Timeslot API to allocate radio time. The framework will attempt to allocate as much time as possible, in order to listen for other nodes' messages.
All nodes in the mesh share a set of indexed data slots. The data contained at each index is propagated through the mesh with version numbers, with the objective of synchronizing the same version of the data across all nodes in the mesh. Each time a node overwrites a value, it increments the version number, and all nodes that receive a broadcast message with a version number that is higher than the one in its database, will adapt this new version of the value.
The value propagation is controlled by an implementation of the IETF RFC6206 "Trickle", a flood control algorithm for lossy, low power networks. The Trickle algorithm dynamically decides intervals at which a value will be broadcast by a node, based on how many consistent messages the node picks up, and when the last update to the state it manages was. The Trickle algorithm dynamically adapts to node density and value update frequency.
The framework provides each handle-value pair with one Trickle-instance (an isolated version of the algorithm), and utilizes the SoftDevice GATT server structure to store the values. All values are stored as characteristics within one "Mesh"-GATT Service, which is accessible to external nodes through a classic BLE SoftDevice connection, implemented in application space. The "BLE Gateway example" displays a way to achieve such behavior.
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A brief introduction to the Trickle mechanic, and overview of the API and the internal structure of the system.
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Detailed description of Trickle, the usage of the Softdevice and the on-air packets.