Merge branch 'develop' into fix-nrf-zero-temp-read
This commit is contained in:
George Oikonomou
GitHub
commit
35de5ed25e
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@ -0,0 +1,24 @@
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CONTIKI_PROJECT = node
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all: $(CONTIKI_PROJECT)
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CONTIKI=../../..
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PLATFORMS_EXCLUDE = sky nrf52dk native
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# force Orchestra from command line
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MAKE_WITH_ORCHESTRA ?= 0
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# force Security from command line
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MAKE_WITH_SECURITY ?= 0
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MAKE_MAC = MAKE_MAC_TSCH
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MODULES += os/services/shell
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ifeq ($(MAKE_WITH_ORCHESTRA),1)
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MODULES += os/services/orchestra
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endif
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ifeq ($(MAKE_WITH_SECURITY),1)
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CFLAGS += -DWITH_SECURITY=1
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endif
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include $(CONTIKI)/Makefile.include
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@ -0,0 +1,18 @@
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This is a demonstration of application-level time synchronization using TSCH.
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In a TSCH network, all nodes are synchronized to a global time counter maintained
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by the coordinator. This fact can be exploited to measure properties such as latency.
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The modes periodically send their detected network uptime to the coordinator.
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The coordinator receives these packets, prints its local network uptime
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and the time difference. This time difference is equal to the end-to-end latency,
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which includes both the time to prepare the packet, the time until an appropriate
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slot in the TSCH schedule, the over-the-air time (negligible). If the packet
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does not arrive with the first attempt, it also includes the retransmission time.
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The nodes in this example do not have any notion of the wall-clock time.
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That would need additional synchronization between the TSCH network and an external clock source.
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For example, one can periodically distribute UNIX timestamps over the UART interface
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on the border router to implement this feature. Alternatively, the data collected from
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the TSCH network can be timestamped with just TSCH timestamps, and them on the external gateway
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these timestamps could be converted to wall-clock time.
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@ -0,0 +1,139 @@
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/*
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* Copyright (c) 2015, SICS Swedish ICT.
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* Copyright (c) 2018, University of Bristol - http://www.bristol.ac.uk
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* 3. Neither the name of the Institute nor the names of its contributors
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* may be used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
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* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
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* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
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* OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
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* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
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* OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
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* SUCH DAMAGE.
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*
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*/
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/**
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* \file
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* A RPL+TSCH node demonstrating application-level time syncrhonization.
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*
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* \author Atis Elsts <atis.elsts@bristol.ac.uk>
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* Simon Duquennoy <simonduq@sics.se>
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*/
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#include "contiki.h"
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#include "net/routing/routing.h"
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#include "net/netstack.h"
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#include "net/ipv6/simple-udp.h"
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#include "net/mac/tsch/tsch.h"
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#include "lib/random.h"
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#include "sys/node-id.h"
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#include "sys/log.h"
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#define LOG_MODULE "App"
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#define LOG_LEVEL LOG_LEVEL_INFO
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#define UDP_CLIENT_PORT 8765
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#define UDP_SERVER_PORT 5678
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#define SEND_INTERVAL (60 * CLOCK_SECOND)
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/*---------------------------------------------------------------------------*/
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static struct simple_udp_connection client_conn, server_conn;
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PROCESS(node_process, "RPL Node");
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AUTOSTART_PROCESSES(&node_process);
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/*---------------------------------------------------------------------------*/
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static void
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udp_rx_callback(struct simple_udp_connection *c,
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const uip_ipaddr_t *sender_addr,
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uint16_t sender_port,
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const uip_ipaddr_t *receiver_addr,
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uint16_t receiver_port,
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const uint8_t *data,
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uint16_t datalen)
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{
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uint64_t local_time_clock_ticks = tsch_get_network_uptime_ticks();
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uint64_t remote_time_clock_ticks;
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if(datalen >= sizeof(remote_time_clock_ticks)) {
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memcpy(&remote_time_clock_ticks, data, sizeof(remote_time_clock_ticks));
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LOG_INFO("Received from ");
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LOG_INFO_6ADDR(sender_addr);
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LOG_INFO_(", created at %lu, now %lu, latency %lu clock ticks\n",
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(unsigned long)remote_time_clock_ticks,
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(unsigned long)local_time_clock_ticks,
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(unsigned long)(local_time_clock_ticks - remote_time_clock_ticks));
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}
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}
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/*---------------------------------------------------------------------------*/
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PROCESS_THREAD(node_process, ev, data)
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{
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static struct etimer periodic_timer;
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int is_coordinator;
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uip_ipaddr_t dest_ipaddr;
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PROCESS_BEGIN();
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is_coordinator = 0;
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#if CONTIKI_TARGET_COOJA
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is_coordinator = (node_id == 1);
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#endif
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if(is_coordinator) {
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NETSTACK_ROUTING.root_start();
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}
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/* Initialize UDP connections */
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simple_udp_register(&server_conn, UDP_SERVER_PORT, NULL,
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UDP_CLIENT_PORT, udp_rx_callback);
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simple_udp_register(&client_conn, UDP_CLIENT_PORT, NULL,
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UDP_SERVER_PORT, NULL);
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NETSTACK_MAC.on();
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etimer_set(&periodic_timer, random_rand() % SEND_INTERVAL);
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while(1) {
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PROCESS_WAIT_EVENT_UNTIL(etimer_expired(&periodic_timer));
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if(tsch_is_coordinator) {
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break;
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}
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if(NETSTACK_ROUTING.node_is_reachable() && NETSTACK_ROUTING.get_root_ipaddr(&dest_ipaddr)) {
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/* Send network uptime timestamp to the DAG root */
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uint64_t network_uptime;
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network_uptime = tsch_get_network_uptime_ticks();
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simple_udp_sendto(&client_conn, &network_uptime, sizeof(network_uptime), &dest_ipaddr);
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LOG_INFO("Sent network uptime timestamp %lu to ", (unsigned long)network_uptime);
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LOG_INFO_6ADDR(&dest_ipaddr);
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LOG_INFO_("\n");
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} else {
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LOG_INFO("Not reachable yet\n");
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}
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/* Add some jitter */
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etimer_set(&periodic_timer, SEND_INTERVAL
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- CLOCK_SECOND + (random_rand() % (2 * CLOCK_SECOND)));
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}
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PROCESS_END();
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}
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/*---------------------------------------------------------------------------*/
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@ -0,0 +1,83 @@
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/*
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* Copyright (c) 2015, SICS Swedish ICT.
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* Copyright (c) 2018, University of Bristol - http://www.bristol.ac.uk
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* 3. Neither the name of the Institute nor the names of its contributors
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* may be used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
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* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
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* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
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* OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
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* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
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* OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
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* SUCH DAMAGE.
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*
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*/
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/**
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* \author Simon Duquennoy <simonduq@sics.se>
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* Atis Elsts <atis.elsts@bristol.ac.uk>
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*/
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#ifndef __PROJECT_CONF_H__
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#define __PROJECT_CONF_H__
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/* Set to enable TSCH security */
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#ifndef WITH_SECURITY
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#define WITH_SECURITY 0
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#endif /* WITH_SECURITY */
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/* USB serial takes space, free more space elsewhere */
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#define SICSLOWPAN_CONF_FRAG 0
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#define UIP_CONF_BUFFER_SIZE 160
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/*******************************************************/
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/******************* Configure TSCH ********************/
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/*******************************************************/
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/* IEEE802.15.4 PANID */
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#define IEEE802154_CONF_PANID 0x81a5
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/* Do not start TSCH at init, wait for NETSTACK_MAC.on() */
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#define TSCH_CONF_AUTOSTART 0
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/* 6TiSCH minimal schedule length.
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* Larger values result in less frequent active slots: reduces capacity and saves energy. */
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#define TSCH_SCHEDULE_CONF_DEFAULT_LENGTH 3
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#if WITH_SECURITY
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/* Enable security */
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#define LLSEC802154_CONF_ENABLED 1
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#endif /* WITH_SECURITY */
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/*******************************************************/
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/************* Other system configuration **************/
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/*******************************************************/
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/* Logging */
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#define LOG_CONF_LEVEL_RPL LOG_LEVEL_WARN
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#define LOG_CONF_LEVEL_TCPIP LOG_LEVEL_WARN
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#define LOG_CONF_LEVEL_IPV6 LOG_LEVEL_WARN
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#define LOG_CONF_LEVEL_6LOWPAN LOG_LEVEL_WARN
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#define LOG_CONF_LEVEL_MAC LOG_LEVEL_WARN
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#define LOG_CONF_LEVEL_FRAMER LOG_LEVEL_WARN
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#define TSCH_LOG_CONF_PER_SLOT 0
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#endif /* __PROJECT_CONF_H__ */
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@ -52,6 +52,7 @@
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#include "net/queuebuf.h"
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#include "net/mac/framer/framer-802154.h"
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#include "net/mac/tsch/tsch.h"
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#include "sys/critical.h"
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#include "sys/log.h"
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/* TSCH debug macros, i.e. to set LEDs or GPIOs on various TSCH
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@ -126,9 +127,10 @@ struct tsch_packet *dequeued_array[TSCH_DEQUEUED_ARRAY_SIZE];
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struct ringbufindex input_ringbuf;
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struct input_packet input_array[TSCH_MAX_INCOMING_PACKETS];
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/* Updates and reads of the next two variables must be atomic (i.e. both together) */
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/* Last time we received Sync-IE (ACK or data packet from a time source) */
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static struct tsch_asn_t last_sync_asn;
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clock_time_t last_sync_time; /* Same info, in clock_time_t units */
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clock_time_t tsch_last_sync_time; /* Same info, in clock_time_t units */
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/* A global lock for manipulating data structures safely from outside of interrupt */
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static volatile int tsch_locked = 0;
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@ -347,6 +349,33 @@ get_packet_and_neighbor_for_link(struct tsch_link *link, struct tsch_neighbor **
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return p;
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}
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/*---------------------------------------------------------------------------*/
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uint64_t
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tsch_get_network_uptime_ticks(void)
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{
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uint64_t uptime_asn;
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uint64_t uptime_ticks;
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int_master_status_t status;
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if(!tsch_is_associated) {
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/* not associated, network uptime is not known */
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return (uint64_t)-1;
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}
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status = critical_enter();
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uptime_asn = last_sync_asn.ls4b + ((uint64_t)last_sync_asn.ms1b << 32);
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/* first calculate the at the uptime at the last sync in rtimer ticks */
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uptime_ticks = uptime_asn * tsch_timing[tsch_ts_timeslot_length];
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/* then convert to clock ticks (assume that CLOCK_SECOND divides RTIMER_ARCH_SECOND) */
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uptime_ticks /= (RTIMER_ARCH_SECOND / CLOCK_SECOND);
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/* then add the ticks passed since the last timesync */
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uptime_ticks += (clock_time() - tsch_last_sync_time);
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critical_exit(status);
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return uptime_ticks;
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}
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/*---------------------------------------------------------------------------*/
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/**
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* This function turns on the radio. Its semantics is dependent on
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* the value of TSCH_RADIO_ON_DURING_TIMESLOT constant:
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@ -623,7 +652,7 @@ PT_THREAD(tsch_tx_slot(struct pt *pt, struct rtimer *t))
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tsch_timesync_update(current_neighbor, since_last_timesync, drift_correction);
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/* Keep track of sync time */
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last_sync_asn = tsch_current_asn;
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last_sync_time = clock_time();
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tsch_last_sync_time = clock_time();
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tsch_schedule_keepalive();
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}
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mac_tx_status = MAC_TX_OK;
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@ -882,7 +911,7 @@ PT_THREAD(tsch_rx_slot(struct pt *pt, struct rtimer *t))
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int32_t since_last_timesync = TSCH_ASN_DIFF(tsch_current_asn, last_sync_asn);
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/* Keep track of last sync time */
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last_sync_asn = tsch_current_asn;
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last_sync_time = clock_time();
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tsch_last_sync_time = clock_time();
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/* Save estimated drift */
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drift_correction = -estimated_drift;
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is_drift_correction_used = 1;
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@ -1014,6 +1043,13 @@ PT_THREAD(tsch_slot_operation(struct rtimer *t, void *ptr))
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/* End of slot operation, schedule next slot or resynchronize */
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if(tsch_is_coordinator) {
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/* Update the `last_sync_*` variables to avoid large errors
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* in the application-level time synchronization */
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last_sync_asn = tsch_current_asn;
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tsch_last_sync_time = clock_time();
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}
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/* Do we need to resynchronize? i.e., wait for EB again */
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if(!tsch_is_coordinator && (TSCH_ASN_DIFF(tsch_current_asn, last_sync_asn) >
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(100 * TSCH_CLOCK_TO_SLOTS(TSCH_DESYNC_THRESHOLD / 100, tsch_timing[tsch_ts_timeslot_length])))) {
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@ -1115,10 +1151,14 @@ void
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tsch_slot_operation_sync(rtimer_clock_t next_slot_start,
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struct tsch_asn_t *next_slot_asn)
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{
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int_master_status_t status;
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current_slot_start = next_slot_start;
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tsch_current_asn = *next_slot_asn;
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status = critical_enter();
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last_sync_asn = tsch_current_asn;
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last_sync_time = clock_time();
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tsch_last_sync_time = clock_time();
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critical_exit(status);
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current_link = NULL;
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}
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/*---------------------------------------------------------------------------*/
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|
|
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@ -56,7 +56,7 @@ extern struct tsch_packet *dequeued_array[TSCH_DEQUEUED_ARRAY_SIZE];
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extern struct ringbufindex input_ringbuf;
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extern struct input_packet input_array[TSCH_MAX_INCOMING_PACKETS];
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/* Last clock_time_t where synchronization happened */
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extern clock_time_t last_sync_time;
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extern clock_time_t tsch_last_sync_time;
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/* Counts the length of the current burst */
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extern int tsch_current_burst_count;
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|
|
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@ -226,6 +226,12 @@ void tsch_schedule_keepalive(void);
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* Schedule a keep-alive immediately
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*/
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void tsch_schedule_keepalive_immediately(void);
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/**
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* Get the time, in clock ticks, since the TSCH network was started.
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*
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* \return The network uptime, or -1 if the node is not part of a TSCH network.
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*/
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uint64_t tsch_get_network_uptime_ticks(void);
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/**
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* Leave the TSCH network we are currently in
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*/
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|
|
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@ -584,8 +584,12 @@ PT_THREAD(cmd_tsch_status(struct pt *pt, shell_output_func output, char *args))
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} else {
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SHELL_OUTPUT(output, "none\n");
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}
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SHELL_OUTPUT(output, "-- Last synchronized: %lu seconds ago\n", (clock_time() - last_sync_time) / CLOCK_SECOND);
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SHELL_OUTPUT(output, "-- Drift w.r.t. coordinator: %ld ppm\n", tsch_adaptive_timesync_get_drift_ppm());
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SHELL_OUTPUT(output, "-- Last synchronized: %lu seconds ago\n",
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(clock_time() - tsch_last_sync_time) / CLOCK_SECOND);
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SHELL_OUTPUT(output, "-- Drift w.r.t. coordinator: %ld ppm\n",
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tsch_adaptive_timesync_get_drift_ppm());
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SHELL_OUTPUT(output, "-- Network uptime: %lu seconds\n",
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(unsigned long)(tsch_get_network_uptime_ticks() / CLOCK_SECOND));
|
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}
|
||||
|
||||
PT_END(pt);
|
||||
|
|
|
|||
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