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Rework of the timing conditions of ContikiMAC: the old timing did not work well on real hardware, the new one seems to work better

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This commit is contained in:
adamdunkels 2010-03-09 13:19:05 +00:00
parent cc7d3ae142
commit 79722b4247
1 changed files with 91 additions and 53 deletions
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144
core/net/mac/contikimac.c
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@ -28,7 +28,7 @@
*
* This file is part of the Contiki operating system.
*
* $Id: contikimac.c,v 1.8 2010/03/01 13:30:22 nifi Exp $
* $Id: contikimac.c,v 1.9 2010/03/09 13:19:05 adamdunkels Exp $
*/
/**
@ -60,7 +60,7 @@
#include <string.h>
#ifndef WITH_ACK_OPTIMIZATION
#define WITH_ACK_OPTIMIZATION 1
#define WITH_ACK_OPTIMIZATION 0
#endif
#ifndef WITH_PHASE_OPTIMIZATION
#define WITH_PHASE_OPTIMIZATION 1
@ -98,14 +98,16 @@ struct announcement_msg {
#endif
#define CCA_COUNT_MAX 2
#define CCA_CHECK_TIME (RTIMER_ARCH_SECOND / 8192)
#define CCA_SLEEP_TIME (RTIMER_ARCH_SECOND / 1500)
#define CCA_CHECK_TIME RTIMER_ARCH_SECOND / 8192
#define CCA_SLEEP_TIME RTIMER_ARCH_SECOND / 2000 + CCA_CHECK_TIME
#define CHECK_TIME (CCA_COUNT_MAX * (CCA_CHECK_TIME + CCA_SLEEP_TIME))
#define LISTEN_TIME (RTIMER_ARCH_SECOND / 150)
#define INTER_PACKET_INTERVAL RTIMER_ARCH_SECOND / 2500
#define AFTER_ACK_DETECTECT_WAIT_TIME RTIMER_ARCH_SECOND / 1500
#define WAIT_TIME_BEFORE_STROBE_ACK_CCA RTIMER_ARCH_SECOND / 3000
#define WAIT_TIME_AFTER_STROBE_ACK_CCA RTIMER_ARCH_SECOND / 1500
#define LISTEN_TIME_AFTER_PACKET_DETECTED RTIMER_ARCH_SECOND / 100
#define SHORTEST_PACKET_SIZE 18
/* The cycle time for announcements. */
#define ANNOUNCEMENT_PERIOD 4 * CLOCK_SECOND
@ -158,7 +160,7 @@ static struct compower_activity current_packet;
#include "net/mac/phase.h"
#define MAX_PHASE_NEIGHBORS 4
#define MAX_PHASE_NEIGHBORS 30
PHASE_LIST(phase_list, MAX_PHASE_NEIGHBORS);
@ -181,6 +183,14 @@ static volatile uint16_t packet_indicated_but_not_received,
volatile uint16_t
packet_indicated_but_not_received_clear_second_time;
struct cca_checks_stats {
volatile char check[CCA_COUNT_MAX];
};
#define LATEST_CCA_CHECKS_NUM 16
static volatile struct cca_checks_stats cca_checks[LATEST_CCA_CHECKS_NUM];
static volatile struct cca_checks_stats *latest_cca_check = &cca_checks[LATEST_CCA_CHECKS_NUM - 1];
/*---------------------------------------------------------------------------*/
static void
on(void)
@ -271,9 +281,18 @@ powercycle(struct rtimer *t, void *ptr)
cycle_start = RTIMER_NOW();
for(count = 1; count < LATEST_CCA_CHECKS_NUM; ++count) {
cca_checks[count - 1] = cca_checks[count];
}
latest_cca_check->check[0] =
latest_cca_check->check[1] = 2;
packet_seen = 0;
clear_second_time = clear_third_time = 0;
if(we_are_sending == 0) {
latest_cca_check->check[0] =
latest_cca_check->check[1] = -1;
for(count = 0; count < CCA_COUNT_MAX; ++count) {
t0 = RTIMER_NOW();
powercycle_turn_radio_on();
@ -283,15 +302,19 @@ powercycle(struct rtimer *t, void *ptr)
while(RTIMER_CLOCK_LT(RTIMER_NOW(), t0 + CCA_CHECK_TIME));
#endif
if(NETSTACK_RADIO.channel_clear() == 0) {
latest_cca_check->check[count] = 0;
packet_indication_flag = 1;
packet_seen = 1;
break;
} else {
latest_cca_check->check[count] = 1;
}
powercycle_turn_radio_off();
schedule_powercycle(t, CCA_SLEEP_TIME + CCA_CHECK_TIME);
PT_YIELD(&pt);
}
#if 1
/* If there were a packet in the air, turn radio on */
if(packet_seen) {
static rtimer_clock_t start;
@ -301,7 +324,7 @@ powercycle(struct rtimer *t, void *ptr)
periods = silence_periods = 0;
while(we_are_sending == 0 && radio_is_on &&
RTIMER_CLOCK_LT(RTIMER_NOW(), (start + LISTEN_TIME))) {
RTIMER_CLOCK_LT(RTIMER_NOW(), (start + LISTEN_TIME_AFTER_PACKET_DETECTED))) {
/* Check for two consecutive periods of non-activity. If we
see two such periods, we turn the radio off. Also, if a
@ -319,7 +342,8 @@ powercycle(struct rtimer *t, void *ptr)
if(NETSTACK_RADIO.receiving_packet()) {
silence_periods = 0;
}
if(silence_periods > 3) {
if(silence_periods > 5) {
latest_cca_check->check[count] = -silence_periods;
leds_on(LEDS_RED);
powercycle_turn_radio_off();
#if CONTIKIMAC_CONF_COMPOWER
@ -328,7 +352,9 @@ powercycle(struct rtimer *t, void *ptr)
leds_off(LEDS_RED);
break;
}
if(periods > 4 && !NETSTACK_RADIO.receiving_packet()) {
if(periods > 10 && !(NETSTACK_RADIO.receiving_packet() ||
NETSTACK_RADIO.pending_packet())) {
latest_cca_check->check[count] = periods;
leds_on(LEDS_GREEN);
powercycle_turn_radio_off();
#if CONTIKIMAC_CONF_COMPOWER
@ -347,7 +373,9 @@ powercycle(struct rtimer *t, void *ptr)
PT_YIELD(&pt);
leds_off(LEDS_BLUE);
}
if(radio_is_on && !NETSTACK_RADIO.pending_packet) {
if(radio_is_on && !(NETSTACK_RADIO.receiving_packet() &&
NETSTACK_RADIO.pending_packet())) {
latest_cca_check->check[count] = -78;
leds_on(LEDS_RED + LEDS_GREEN);
powercycle_turn_radio_off();
#if CONTIKIMAC_CONF_COMPOWER
@ -361,6 +389,19 @@ powercycle(struct rtimer *t, void *ptr)
compower_accumulate(&compower_idle_activity);
#endif /* CONTIKIMAC_CONF_COMPOWER */
}
#else /* 0 */
if(packet_seen) {
schedule_powercycle(t, LISTEN_TIME);
PT_YIELD(&pt);
if(!(NETSTACK_RADIO.receiving_packet() ||
NETSTACK_RADIO.pending_packet())) {
powercycle_turn_radio_off();
#if CONTIKIMAC_CONF_COMPOWER
compower_accumulate(&compower_idle_activity);
#endif /* CONTIKIMAC_CONF_COMPOWER */
}
}
#endif /* 0 */
/* If the packet indication flag is still set, it means that
there was never a packet received by the radio. We increase
@ -452,6 +493,12 @@ send_packet(mac_callback_t mac_callback, void *mac_callback_ptr)
int transmit_len;
int i;
if(packetbuf_totlen() == 0) {
PRINTF("contikimac: send_packet data len 0\n");
return MAC_TX_ERR_FATAL;
}
#if WITH_PHASE_OPTIMIZATION
#if WITH_ACK_OPTIMIZATION
/* Wait until the receiver is expected to be awake */
@ -459,19 +506,28 @@ send_packet(mac_callback_t mac_callback, void *mac_callback_ptr)
PACKETBUF_ATTR_PACKET_TYPE_ACK && is_streaming == 0) {
if(phase_wait(&phase_list, packetbuf_addr(PACKETBUF_ADDR_RECEIVER),
CYCLE_TIME, 5 * CHECK_TIME,
CYCLE_TIME, 6 * CHECK_TIME,
mac_callback, mac_callback_ptr) == PHASE_DEFERRED) {
return MAC_TX_DEFERRED;
}
}
#else /* WITH_ACK_OPTIMIZATION */
if(phase_wait(&phase_list, packetbuf_addr(PACKETBUF_ADDR_RECEIVER),
CYCLE_TIME, 5 * CHECK_TIME) == PHASE_DEFERRED) {
return MAC_TX_DEFERRED;
if(is_streaming == 0) {
if(phase_wait(&phase_list, packetbuf_addr(PACKETBUF_ADDR_RECEIVER),
CYCLE_TIME, 6 * CHECK_TIME,
mac_callback, mac_callback_ptr) == PHASE_DEFERRED) {
return MAC_TX_DEFERRED;
}
}
#endif /* WITH_ACK_OPTIMIZATION */
#endif /* WITH_PHASE_OPTIMIZATION */
/* Make sure that the packet is longer or equal to the shorest
packet length. */
if(packetbuf_totlen() < SHORTEST_PACKET_SIZE) {
PRINTF("contikimac: shorter than shortest (%d)\n", packetbuf_totlen());
packetbuf_set_datalen(SHORTEST_PACKET_SIZE);
}
/* Create the MAC header for the data packet. */
packetbuf_set_addr(PACKETBUF_ADDR_SENDER, &rimeaddr_node_addr);
@ -584,6 +640,7 @@ send_packet(mac_callback_t mac_callback, void *mac_callback_ptr)
if(collisions > 0) {
we_are_sending = 0;
off();
PRINTF("contikimac: collisions before sending\n");
return MAC_TX_COLLISION;
}
@ -613,8 +670,10 @@ send_packet(mac_callback_t mac_callback, void *mac_callback_ptr)
} else*/ {
rtimer_clock_t wt;
rtimer_clock_t now = RTIMER_NOW();
leds_on(LEDS_RED);
NETSTACK_RADIO.transmit(transmit_len);
leds_off(LEDS_RED);
if(!is_broadcast) {
on();
}
@ -624,10 +683,10 @@ send_packet(mac_callback_t mac_callback, void *mac_callback_ptr)
wt = RTIMER_NOW();
#if NURTIMER
while(RTIMER_CLOCK_LT
(wt, RTIMER_NOW(), wt + WAIT_TIME_BEFORE_STROBE_ACK_CCA));
(wt, RTIMER_NOW(), wt + INTER_PACKET_INTERVAL));
#else
while(RTIMER_CLOCK_LT
(RTIMER_NOW(), wt + WAIT_TIME_BEFORE_STROBE_ACK_CCA)) { }
(RTIMER_NOW(), wt + INTER_PACKET_INTERVAL)) { }
#endif
if(!is_broadcast && (NETSTACK_RADIO.receiving_packet() ||
NETSTACK_RADIO.pending_packet() ||
@ -636,10 +695,10 @@ send_packet(mac_callback_t mac_callback, void *mac_callback_ptr)
wt = RTIMER_NOW();
#if NURTIMER
while(RTIMER_CLOCK_LT
(wt, RTIMER_NOW(), wt + WAIT_TIME_AFTER_STROBE_ACK_CCA));
(wt, RTIMER_NOW(), wt + AFTER_ACK_DETECTECT_WAIT_TIME));
#else
while(RTIMER_CLOCK_LT
(RTIMER_NOW(), wt + WAIT_TIME_AFTER_STROBE_ACK_CCA)) { }
(RTIMER_NOW(), wt + AFTER_ACK_DETECTECT_WAIT_TIME)) { }
#endif
len = NETSTACK_RADIO.read(ackbuf, ACK_LEN);
if(len == ACK_LEN) {
@ -647,6 +706,7 @@ send_packet(mac_callback_t mac_callback, void *mac_callback_ptr)
encounter_time = now;
packet_indication_flag = 0;
} else {
PRINTF("contikimac: collisions while sending\n");
packet_indication_flag = 0;
collisions++;
}
@ -669,10 +729,16 @@ send_packet(mac_callback_t mac_callback, void *mac_callback_ptr)
#endif /* WITH_ACK_OPTIMIZATION */
#if WITH_PHASE_OPTIMIZATION
#if WITH_ACK_OPTIMIZATION
if(got_strobe_ack && packetbuf_attr(PACKETBUF_ATTR_PACKET_TYPE) !=
PACKETBUF_ATTR_PACKET_TYPE_ACK && is_streaming == 0) {
phase_register(&phase_list, packetbuf_addr(PACKETBUF_ADDR_RECEIVER), encounter_time);
}
#else /* WITH_ACK_OPTIMIZATION */
if(got_strobe_ack && is_streaming == 0) {
phase_register(&phase_list, packetbuf_addr(PACKETBUF_ADDR_RECEIVER), encounter_time);
}
#endif /* WITH_ACK_OPTIMIZATION */
#endif /* WITH_PHASE_OPTIMIZATION */
PRINTF("contikimac: send (strobes=%u,len=%u,%s), done\n", strobes,
@ -890,38 +956,10 @@ const struct rdc_driver contikimac_driver = {
uint16_t
contikimac_debug_print(void)
{
uint16_t c1, c2;
uint16_t indicated, clear_second, clear_third;
static uint16_t indicated_last, clear_second_last, clear_third_last;
do {
c1 = packet_indicated_but_not_received;
c2 = packet_indicated_but_not_received;
} while(c1 != c2);
indicated = c1;
do {
c1 = packet_indicated_but_not_received_clear_second_time;
c2 = packet_indicated_but_not_received_clear_second_time;
} while(c1 != c2);
clear_second = c1;
do {
c1 = packet_indicated_but_not_received_clear_third_time;
c2 = packet_indicated_but_not_received_clear_third_time;
} while(c1 != c2);
clear_third = c1;
printf("indicated %d clear second %d clear_third %d\n",
indicated - indicated_last,
clear_second - clear_second_last,
clear_third - clear_third_last);
indicated_last = indicated;
clear_second_last = clear_second;
clear_third_last = clear_third;
int i;
for(i = 0; i < LATEST_CCA_CHECKS_NUM; ++i) {
printf("%d: %d, %d\n", i, cca_checks[i].check[0], cca_checks[i].check[1]);
}
return 0;
}
/*---------------------------------------------------------------------------*/