From 9fb7e8bfed6bab8d7543c95ef4192fd83c6c9b83 Mon Sep 17 00:00:00 2001
From: Simon Duquennoy <simon.duquennoy@ri.se>
Date: Fri, 28 Sep 2018 16:12:28 +0200
Subject: [PATCH 01/46] TSCH: cleanup flags for CCA configuration

---
 os/net/mac/tsch/tsch-conf.h           | 10 ++++++++++
 os/net/mac/tsch/tsch-slot-operation.c |  8 ++++----
 2 files changed, 14 insertions(+), 4 deletions(-)

diff --git a/os/net/mac/tsch/tsch-conf.h b/os/net/mac/tsch/tsch-conf.h
index 8613eb0e3..a6e1bc768 100644
--- a/os/net/mac/tsch/tsch-conf.h
+++ b/os/net/mac/tsch/tsch-conf.h
@@ -365,18 +365,21 @@
 /******** Configuration: CSMA *******/
 
 /* TSCH CSMA-CA parameters, see IEEE 802.15.4e-2012 */
+
 /* Min backoff exponent */
 #ifdef TSCH_CONF_MAC_MIN_BE
 #define TSCH_MAC_MIN_BE TSCH_CONF_MAC_MIN_BE
 #else
 #define TSCH_MAC_MIN_BE 1
 #endif
+
 /* Max backoff exponent */
 #ifdef TSCH_CONF_MAC_MAX_BE
 #define TSCH_MAC_MAX_BE TSCH_CONF_MAC_MAX_BE
 #else
 #define TSCH_MAC_MAX_BE 5
 #endif
+
 /* Max number of re-transmissions */
 #ifdef TSCH_CONF_MAC_MAX_FRAME_RETRIES
 #define TSCH_MAC_MAX_FRAME_RETRIES TSCH_CONF_MAC_MAX_FRAME_RETRIES
@@ -391,6 +394,13 @@
 #define TSCH_PACKET_EACK_WITH_SRC_ADDR 0
 #endif
 
+/* Perform CCA before sending? */
+#ifdef TSCH_CONF_CCA_ENABLED
+#define TSCH_CCA_ENABLED TSCH_CONF_CCA_ENABLED
+#else
+#define TSCH_CCA_ENABLED 0
+#endif
+
 /* Include destination address in ACK? */
 #ifdef TSCH_PACKET_CONF_EACK_WITH_DEST_ADDR
 #define TSCH_PACKET_EACK_WITH_DEST_ADDR TSCH_PACKET_CONF_EACK_WITH_DEST_ADDR
diff --git a/os/net/mac/tsch/tsch-slot-operation.c b/os/net/mac/tsch/tsch-slot-operation.c
index 843b79f42..74ab6b46e 100644
--- a/os/net/mac/tsch/tsch-slot-operation.c
+++ b/os/net/mac/tsch/tsch-slot-operation.c
@@ -464,9 +464,9 @@ PT_THREAD(tsch_tx_slot(struct pt *pt, struct rtimer *t))
       /* Did we set the frame pending bit to request an extra burst link? */
       static int burst_link_requested;
 
-#if CCA_ENABLED
+#if TSCH_CCA_ENABLED
       static uint8_t cca_status;
-#endif
+#endif /* TSCH_CCA_ENABLED */
 
       /* get payload */
       packet = queuebuf_dataptr(current_packet->qb);
@@ -507,7 +507,7 @@ PT_THREAD(tsch_tx_slot(struct pt *pt, struct rtimer *t))
       if(packet_ready && NETSTACK_RADIO.prepare(packet, packet_len) == 0) { /* 0 means success */
         static rtimer_clock_t tx_duration;
 
-#if CCA_ENABLED
+#if TSCH_CCA_ENABLED
         cca_status = 1;
         /* delay before CCA */
         TSCH_SCHEDULE_AND_YIELD(pt, t, current_slot_start, TS_CCA_OFFSET, "cca");
@@ -522,7 +522,7 @@ PT_THREAD(tsch_tx_slot(struct pt *pt, struct rtimer *t))
         if(cca_status == 0) {
           mac_tx_status = MAC_TX_COLLISION;
         } else
-#endif /* CCA_ENABLED */
+#endif /* TSCH_CCA_ENABLED */
         {
           /* delay before TX */
           TSCH_SCHEDULE_AND_YIELD(pt, t, current_slot_start, tsch_timing[tsch_ts_tx_offset] - RADIO_DELAY_BEFORE_TX, "TxBeforeTx");

From 1f4f0c406c85595c748227336acd34a4f5df1428 Mon Sep 17 00:00:00 2001
From: Simon Duquennoy <simon.duquennoy@ri.se>
Date: Fri, 28 Sep 2018 16:14:33 +0200
Subject: [PATCH 02/46] TSCH: fix timing variables in CCA code

---
 os/net/mac/tsch/tsch-slot-operation.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/os/net/mac/tsch/tsch-slot-operation.c b/os/net/mac/tsch/tsch-slot-operation.c
index 74ab6b46e..2f36b9cfa 100644
--- a/os/net/mac/tsch/tsch-slot-operation.c
+++ b/os/net/mac/tsch/tsch-slot-operation.c
@@ -510,12 +510,12 @@ PT_THREAD(tsch_tx_slot(struct pt *pt, struct rtimer *t))
 #if TSCH_CCA_ENABLED
         cca_status = 1;
         /* delay before CCA */
-        TSCH_SCHEDULE_AND_YIELD(pt, t, current_slot_start, TS_CCA_OFFSET, "cca");
+        TSCH_SCHEDULE_AND_YIELD(pt, t, current_slot_start, tsch_timing[tsch_ts_cca_offset], "cca");
         TSCH_DEBUG_TX_EVENT();
         tsch_radio_on(TSCH_RADIO_CMD_ON_WITHIN_TIMESLOT);
         /* CCA */
         BUSYWAIT_UNTIL_ABS(!(cca_status |= NETSTACK_RADIO.channel_clear()),
-                           current_slot_start, TS_CCA_OFFSET + TS_CCA);
+                           current_slot_start, tsch_timing[tsch_ts_cca_offset] + tsch_timing[tsch_ts_cca]);
         TSCH_DEBUG_TX_EVENT();
         /* there is not enough time to turn radio off */
         /*  NETSTACK_RADIO.off(); */

From 3e83903ee5f94adced4a1629f50dc4e90b95d0f9 Mon Sep 17 00:00:00 2001
From: Simon Duquennoy <simon.duquennoy@ri.se>
Date: Fri, 28 Sep 2018 16:16:25 +0200
Subject: [PATCH 03/46] TSCH: fix CCA checking logic

---
 os/net/mac/tsch/tsch-slot-operation.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/os/net/mac/tsch/tsch-slot-operation.c b/os/net/mac/tsch/tsch-slot-operation.c
index 2f36b9cfa..a3b150c51 100644
--- a/os/net/mac/tsch/tsch-slot-operation.c
+++ b/os/net/mac/tsch/tsch-slot-operation.c
@@ -514,7 +514,7 @@ PT_THREAD(tsch_tx_slot(struct pt *pt, struct rtimer *t))
         TSCH_DEBUG_TX_EVENT();
         tsch_radio_on(TSCH_RADIO_CMD_ON_WITHIN_TIMESLOT);
         /* CCA */
-        BUSYWAIT_UNTIL_ABS(!(cca_status |= NETSTACK_RADIO.channel_clear()),
+        BUSYWAIT_UNTIL_ABS(!(cca_status &= NETSTACK_RADIO.channel_clear()),
                            current_slot_start, tsch_timing[tsch_ts_cca_offset] + tsch_timing[tsch_ts_cca]);
         TSCH_DEBUG_TX_EVENT();
         /* there is not enough time to turn radio off */

From 3045a47a29e280b3043f914f61713d29cf2d2a0b Mon Sep 17 00:00:00 2001
From: kkrentz <konrad.krentz@gmail.com>
Date: Thu, 2 Aug 2018 01:01:41 -0700
Subject: [PATCH 04/46] cc2538-rf: As per the user's guide, RFCORE_XREG_FSCAL1
 needs updating, too

---
 arch/cpu/cc2538/dev/cc2538-rf.c | 1 +
 1 file changed, 1 insertion(+)

diff --git a/arch/cpu/cc2538/dev/cc2538-rf.c b/arch/cpu/cc2538/dev/cc2538-rf.c
index f33e87131..e287efe57 100644
--- a/arch/cpu/cc2538/dev/cc2538-rf.c
+++ b/arch/cpu/cc2538/dev/cc2538-rf.c
@@ -490,6 +490,7 @@ init(void)
   REG(RFCORE_XREG_TXFILTCFG) = 0x09;    /** TX anti-aliasing filter bandwidth */
   REG(RFCORE_XREG_AGCCTRL1) = 0x15;     /** AGC target value */
   REG(ANA_REGS_IVCTRL) = 0x0B;          /** Bias currents */
+  REG(RFCORE_XREG_FSCAL1) = 0x01;       /** Tune frequency calibration */
 
   /*
    * Defaults:

From c919975d41712cf8cf3b400360d5164b9dd746e0 Mon Sep 17 00:00:00 2001
From: kkrentz <konrad.krentz@gmail.com>
Date: Thu, 2 Aug 2018 01:08:45 -0700
Subject: [PATCH 05/46] cc2538-rf: I see no point in flushing twice

---
 arch/cpu/cc2538/dev/cc2538-rf.h | 2 --
 1 file changed, 2 deletions(-)

diff --git a/arch/cpu/cc2538/dev/cc2538-rf.h b/arch/cpu/cc2538/dev/cc2538-rf.h
index b89738436..e22f9c080 100644
--- a/arch/cpu/cc2538/dev/cc2538-rf.h
+++ b/arch/cpu/cc2538/dev/cc2538-rf.h
@@ -113,7 +113,6 @@
  */
 #define CC2538_RF_CSP_ISFLUSHRX()  do { \
   REG(RFCORE_SFR_RFST) = CC2538_RF_CSP_OP_ISFLUSHRX; \
-  REG(RFCORE_SFR_RFST) = CC2538_RF_CSP_OP_ISFLUSHRX; \
 } while(0)
 
 /**
@@ -121,7 +120,6 @@
  */
 #define CC2538_RF_CSP_ISFLUSHTX()  do { \
   REG(RFCORE_SFR_RFST) = CC2538_RF_CSP_OP_ISFLUSHTX; \
-  REG(RFCORE_SFR_RFST) = CC2538_RF_CSP_OP_ISFLUSHTX; \
 } while(0)
 /*---------------------------------------------------------------------------*/
 /** The NETSTACK data structure for the cc2538 RF driver */

From a1fddeb0f7ae7a7a805ca0d2dea9d531cba4ef22 Mon Sep 17 00:00:00 2001
From: kkrentz <konrad.krentz@gmail.com>
Date: Thu, 2 Aug 2018 01:23:12 -0700
Subject: [PATCH 06/46] cc2538-rf: After init, we are not in receive mode

---
 arch/cpu/cc2538/dev/cc2538-rf.c | 2 --
 1 file changed, 2 deletions(-)

diff --git a/arch/cpu/cc2538/dev/cc2538-rf.c b/arch/cpu/cc2538/dev/cc2538-rf.c
index e287efe57..c87e80ed5 100644
--- a/arch/cpu/cc2538/dev/cc2538-rf.c
+++ b/arch/cpu/cc2538/dev/cc2538-rf.c
@@ -546,8 +546,6 @@ init(void)
 
   rf_flags |= RF_ON;
 
-  ENERGEST_ON(ENERGEST_TYPE_LISTEN);
-
   return 1;
 }
 /*---------------------------------------------------------------------------*/

From 34997f60f6fb6a205666314ff182bf82f9ebd16e Mon Sep 17 00:00:00 2001
From: kkrentz <konrad.krentz@gmail.com>
Date: Thu, 2 Aug 2018 01:27:30 -0700
Subject: [PATCH 07/46] cc2538-rf: Removed unused function
 "cc2538_rf_set_promiscous_mode"

---
 arch/cpu/cc2538/dev/cc2538-rf.c |  7 +------
 arch/cpu/cc2538/dev/cc2538-rf.h | 10 ----------
 2 files changed, 1 insertion(+), 16 deletions(-)

diff --git a/arch/cpu/cc2538/dev/cc2538-rf.c b/arch/cpu/cc2538/dev/cc2538-rf.c
index c87e80ed5..ced919a09 100644
--- a/arch/cpu/cc2538/dev/cc2538-rf.c
+++ b/arch/cpu/cc2538/dev/cc2538-rf.c
@@ -1096,10 +1096,5 @@ cc2538_rf_err_isr(void)
   process_poll(&cc2538_rf_process);
 }
 /*---------------------------------------------------------------------------*/
-void
-cc2538_rf_set_promiscous_mode(char p)
-{
-  set_frame_filtering(p);
-}
-/*---------------------------------------------------------------------------*/
+
 /** @} */
diff --git a/arch/cpu/cc2538/dev/cc2538-rf.h b/arch/cpu/cc2538/dev/cc2538-rf.h
index e22f9c080..ffd8a6c08 100644
--- a/arch/cpu/cc2538/dev/cc2538-rf.h
+++ b/arch/cpu/cc2538/dev/cc2538-rf.h
@@ -136,16 +136,6 @@ extern const struct radio_driver cc2538_rf_driver;
  */
 void cc2538_rf_set_addr(uint16_t pan);
 
-/**
- * \brief Turn promiscous mode on or off
- * \param p If promiscous mode should be on (1) or off (0)
- *
- * This function turns promiscous mode on or off. In promiscous mode,
- * every received frame is returned from the RF core. In
- * non-promiscous mode, only broadcast frames or frames with our
- * address as the receive address are returned from the RF core.
- */
-void cc2538_rf_set_promiscous_mode(char p);
 /*---------------------------------------------------------------------------*/
 #endif /* CC2538_RF_H__ */
 

From 9c1fefa7a74922eff6c3b0371c3f983b56ff9f89 Mon Sep 17 00:00:00 2001
From: kkrentz <konrad.krentz@gmail.com>
Date: Thu, 2 Aug 2018 02:16:13 -0700
Subject: [PATCH 08/46] cc2538-rf: More compact implementation of getting RSSIs

---
 arch/cpu/cc2538/dev/cc2538-rf.c | 10 ++++++----
 1 file changed, 6 insertions(+), 4 deletions(-)

diff --git a/arch/cpu/cc2538/dev/cc2538-rf.c b/arch/cpu/cc2538/dev/cc2538-rf.c
index ced919a09..a1aee0582 100644
--- a/arch/cpu/cc2538/dev/cc2538-rf.c
+++ b/arch/cpu/cc2538/dev/cc2538-rf.c
@@ -86,6 +86,7 @@
 #define LQI_BIT_MASK 0x7F
 /* RSSI Offset */
 #define RSSI_OFFSET    73
+#define RSSI_INVALID -128
 
 /* 192 usec off -> on interval (RX Callib -> SFD Wait). We wait a bit more */
 #define ONOFF_TIME                    RTIMER_ARCH_SECOND / 3125
@@ -244,10 +245,11 @@ get_rssi(void)
     on();
   }
 
-  /* Wait on RSSI_VALID */
-  while((REG(RFCORE_XREG_RSSISTAT) & RFCORE_XREG_RSSISTAT_RSSI_VALID) == 0);
-
-  rssi = (int8_t)(REG(RFCORE_XREG_RSSI) & RFCORE_XREG_RSSI_RSSI_VAL) - RSSI_OFFSET;
+  /* Wait for a valid RSSI reading */
+  do {
+    rssi = REG(RFCORE_XREG_RSSI);
+  } while(rssi == RSSI_INVALID);
+  rssi -= RSSI_OFFSET;
 
   /* If we were off, turn back off */
   if(was_off) {

From f8091cb87c99b08c9b37ba0ad550db66946b677e Mon Sep 17 00:00:00 2001
From: kkrentz <konrad.krentz@gmail.com>
Date: Thu, 2 Aug 2018 05:32:43 -0700
Subject: [PATCH 09/46] cc2538-rf: Use logging API

---
 arch/cpu/cc2538/dev/cc2538-rf.c | 59 ++++++++++++++++-----------------
 1 file changed, 28 insertions(+), 31 deletions(-)

diff --git a/arch/cpu/cc2538/dev/cc2538-rf.c b/arch/cpu/cc2538/dev/cc2538-rf.c
index a1aee0582..27b6c3061 100644
--- a/arch/cpu/cc2538/dev/cc2538-rf.c
+++ b/arch/cpu/cc2538/dev/cc2538-rf.c
@@ -68,13 +68,10 @@
  */
 #define UDMA_RX_SIZE_THRESHOLD 3
 /*---------------------------------------------------------------------------*/
-#include <stdio.h>
-#define DEBUG 0
-#if DEBUG
-#define PRINTF(...) printf(__VA_ARGS__)
-#else
-#define PRINTF(...)
-#endif
+/* Log configuration */
+#include "sys/log.h"
+#define LOG_MODULE "cc2538-rf"
+#define LOG_LEVEL LOG_LEVEL_NONE
 /*---------------------------------------------------------------------------*/
 /* Local RF Flags */
 #define RX_ACTIVE     0x80
@@ -174,7 +171,7 @@ set_channel(uint8_t channel)
 {
   uint8_t was_on = 0;
 
-  PRINTF("RF: Set Channel\n");
+  LOG_INFO("Set Channel\n");
 
   if((channel < CC2538_RF_CHANNEL_MIN) || (channel > CC2538_RF_CHANNEL_MAX)) {
     return CC2538_RF_CHANNEL_SET_ERROR;
@@ -405,7 +402,7 @@ channel_clear(void)
   int cca;
   uint8_t was_off = 0;
 
-  PRINTF("RF: CCA\n");
+  LOG_INFO("CCA\n");
 
   /* If we are off, turn on first */
   if((REG(RFCORE_XREG_FSMSTAT0) & RFCORE_XREG_FSMSTAT0_FSM_FFCTRL_STATE) == 0) {
@@ -433,7 +430,7 @@ channel_clear(void)
 static int
 on(void)
 {
-  PRINTF("RF: On\n");
+  LOG_INFO("On\n");
 
   if(!(rf_flags & RX_ACTIVE)) {
     CC2538_RF_CSP_ISFLUSHRX();
@@ -449,7 +446,7 @@ on(void)
 static int
 off(void)
 {
-  PRINTF("RF: Off\n");
+  LOG_INFO("Off\n");
 
   /* Wait for ongoing TX to complete (e.g. this could be an outgoing ACK) */
   while(REG(RFCORE_XREG_FSMSTAT1) & RFCORE_XREG_FSMSTAT1_TX_ACTIVE);
@@ -472,7 +469,7 @@ off(void)
 static int
 init(void)
 {
-  PRINTF("RF: Init\n");
+  LOG_INFO("Init\n");
 
   if(rf_flags & RF_ON) {
     return 0;
@@ -556,7 +553,7 @@ prepare(const void *payload, unsigned short payload_len)
 {
   uint8_t i;
 
-  PRINTF("RF: Prepare 0x%02x bytes\n", payload_len + CHECKSUM_LEN);
+  LOG_INFO("Prepare 0x%02x bytes\n", payload_len + CHECKSUM_LEN);
 
   /*
    * When we transmit in very quick bursts, make sure previous transmission
@@ -570,12 +567,12 @@ prepare(const void *payload, unsigned short payload_len)
 
   CC2538_RF_CSP_ISFLUSHTX();
 
-  PRINTF("RF: data = ");
+  LOG_INFO("data = ");
   /* Send the phy length byte first */
   REG(RFCORE_SFR_RFDATA) = payload_len + CHECKSUM_LEN;
 
   if(CC2538_RF_CONF_TX_USE_DMA) {
-    PRINTF("<uDMA payload>");
+    LOG_INFO_("<uDMA payload>");
 
     /* Set the transfer source's end address */
     udma_set_channel_src(CC2538_RF_CONF_TX_DMA_CHAN,
@@ -599,10 +596,10 @@ prepare(const void *payload, unsigned short payload_len)
   } else {
     for(i = 0; i < payload_len; i++) {
       REG(RFCORE_SFR_RFDATA) = ((unsigned char *)(payload))[i];
-      PRINTF("%02x", ((unsigned char *)(payload))[i]);
+      LOG_INFO_("%02x", ((unsigned char *)(payload))[i]);
     }
   }
-  PRINTF("\n");
+  LOG_INFO_("\n");
 
   return 0;
 }
@@ -615,7 +612,7 @@ transmit(unsigned short transmit_len)
   rtimer_clock_t t0;
   uint8_t was_off = 0;
 
-  PRINTF("RF: Transmit\n");
+  LOG_INFO("Transmit\n");
 
   if(!(rf_flags & RX_ACTIVE)) {
     t0 = RTIMER_NOW();
@@ -650,7 +647,7 @@ transmit(unsigned short transmit_len)
   }
 
   if(!(REG(RFCORE_XREG_FSMSTAT1) & RFCORE_XREG_FSMSTAT1_TX_ACTIVE)) {
-    PRINTF("RF: TX never active.\n");
+    LOG_ERR("TX never active.\n");
     CC2538_RF_CSP_ISFLUSHTX();
     ret = RADIO_TX_ERR;
   } else {
@@ -680,7 +677,7 @@ read(void *buf, unsigned short bufsize)
   uint8_t i;
   uint8_t len;
 
-  PRINTF("RF: Read\n");
+  LOG_INFO("Read\n");
 
   if((REG(RFCORE_XREG_FSMSTAT1) & RFCORE_XREG_FSMSTAT1_FIFOP) == 0) {
     return 0;
@@ -692,33 +689,33 @@ read(void *buf, unsigned short bufsize)
   /* Check for validity */
   if(len > CC2538_RF_MAX_PACKET_LEN) {
     /* Oops, we must be out of sync. */
-    PRINTF("RF: bad sync\n");
+    LOG_ERR("RF: bad sync\n");
 
     CC2538_RF_CSP_ISFLUSHRX();
     return 0;
   }
 
   if(len <= CC2538_RF_MIN_PACKET_LEN) {
-    PRINTF("RF: too short\n");
+    LOG_ERR("RF: too short\n");
 
     CC2538_RF_CSP_ISFLUSHRX();
     return 0;
   }
 
   if(len - CHECKSUM_LEN > bufsize) {
-    PRINTF("RF: too long\n");
+    LOG_ERR("RF: too long\n");
 
     CC2538_RF_CSP_ISFLUSHRX();
     return 0;
   }
 
   /* If we reach here, chances are the FIFO is holding a valid frame */
-  PRINTF("RF: read (0x%02x bytes) = ", len);
+  LOG_INFO("read (0x%02x bytes) = ", len);
   len -= CHECKSUM_LEN;
 
   /* Don't bother with uDMA for short frames (e.g. ACKs) */
   if(CC2538_RF_CONF_RX_USE_DMA && len > UDMA_RX_SIZE_THRESHOLD) {
-    PRINTF("<uDMA payload>");
+    LOG_INFO_("<uDMA payload>");
 
     /* Set the transfer destination's end address */
     udma_set_channel_dst(CC2538_RF_CONF_RX_DMA_CHAN,
@@ -739,7 +736,7 @@ read(void *buf, unsigned short bufsize)
   } else {
     for(i = 0; i < len; ++i) {
       ((unsigned char *)(buf))[i] = REG(RFCORE_SFR_RFDATA);
-      PRINTF("%02x", ((unsigned char *)(buf))[i]);
+      LOG_INFO_("%02x", ((unsigned char *)(buf))[i]);
     }
   }
 
@@ -747,14 +744,14 @@ read(void *buf, unsigned short bufsize)
   rssi = ((int8_t)REG(RFCORE_SFR_RFDATA)) - RSSI_OFFSET;
   crc_corr = REG(RFCORE_SFR_RFDATA);
 
-  PRINTF("%02x%02x\n", (uint8_t)rssi, crc_corr);
+  LOG_INFO_("%02x%02x\n", (uint8_t)rssi, crc_corr);
 
   /* MS bit CRC OK/Not OK, 7 LS Bits, Correlation value */
   if(crc_corr & CRC_BIT_MASK) {
     packetbuf_set_attr(PACKETBUF_ATTR_RSSI, rssi);
     packetbuf_set_attr(PACKETBUF_ATTR_LINK_QUALITY, crc_corr & LQI_BIT_MASK);
   } else {
-    PRINTF("RF: Bad CRC\n");
+    LOG_ERR("Bad CRC\n");
     CC2538_RF_CSP_ISFLUSHRX();
     return 0;
   }
@@ -776,7 +773,7 @@ read(void *buf, unsigned short bufsize)
 static int
 receiving_packet(void)
 {
-  PRINTF("RF: Receiving\n");
+  LOG_INFO("Receiving\n");
 
   /*
    * SFD high while transmitting and receiving.
@@ -792,7 +789,7 @@ receiving_packet(void)
 static int
 pending_packet(void)
 {
-  PRINTF("RF: Pending\n");
+  LOG_INFO("Pending\n");
 
   return REG(RFCORE_XREG_FSMSTAT1) & RFCORE_XREG_FSMSTAT1_FIFOP;
 }
@@ -1086,7 +1083,7 @@ cc2538_rf_rx_tx_isr(void)
 void
 cc2538_rf_err_isr(void)
 {
-  PRINTF("RF Error: 0x%08lx\n", REG(RFCORE_SFR_RFERRF));
+  LOG_ERR("Error 0x%08lx occurred\n", REG(RFCORE_SFR_RFERRF));
 
   /* If the error is not an RX FIFO overflow, set a flag */
   if(REG(RFCORE_SFR_RFERRF) != RFCORE_SFR_RFERRF_RXOVERF) {

From 34f697adf7038bc0d06eb7db4627d760134dddcc Mon Sep 17 00:00:00 2001
From: kkrentz <konrad.krentz@gmail.com>
Date: Thu, 2 Aug 2018 05:44:18 -0700
Subject: [PATCH 10/46] cc2538-rf: Support for disabling the SHR search

---
 arch/cpu/cc2538/dev/cc2538-rf.c | 16 ++++++++++++++++
 1 file changed, 16 insertions(+)

diff --git a/arch/cpu/cc2538/dev/cc2538-rf.c b/arch/cpu/cc2538/dev/cc2538-rf.c
index 27b6c3061..39aa1f5ed 100644
--- a/arch/cpu/cc2538/dev/cc2538-rf.c
+++ b/arch/cpu/cc2538/dev/cc2538-rf.c
@@ -321,6 +321,16 @@ set_frame_filtering(uint8_t enable)
 }
 /*---------------------------------------------------------------------------*/
 static void
+set_shr_search(int enable)
+{
+  if(enable) {
+    REG(RFCORE_XREG_FRMCTRL0) &= ~RFCORE_XREG_FRMCTRL0_RX_MODE;
+  } else {
+    REG(RFCORE_XREG_FRMCTRL0) |= RFCORE_XREG_FRMCTRL0_RX_MODE;
+  }
+}
+/*---------------------------------------------------------------------------*/
+static void
 mac_timer_init(void)
 {
   CLOCK_STABLE();
@@ -513,6 +523,9 @@ init(void)
 
   set_channel(rf_channel);
 
+  /* Enable SHR search */
+  set_shr_search(1);
+
   /* Acknowledge all RF Error interrupts */
   REG(RFCORE_XREG_RFERRM) = RFCORE_XREG_RFERRM_RFERRM;
   NVIC_EnableIRQ(RF_ERR_IRQn);
@@ -922,6 +935,9 @@ set_value(radio_param_t param, radio_value_t value)
   case RADIO_PARAM_CCA_THRESHOLD:
     set_cca_threshold(value);
     return RADIO_RESULT_OK;
+  case RADIO_PARAM_SHR_SEARCH:
+    set_shr_search(value);
+    return RADIO_RESULT_OK;
   default:
     return RADIO_RESULT_NOT_SUPPORTED;
   }

From 9f78836219c3bebad6329c31efb1d0b944dcee5f Mon Sep 17 00:00:00 2001
From: kkrentz <konrad.krentz@gmail.com>
Date: Thu, 2 Aug 2018 05:46:34 -0700
Subject: [PATCH 11/46] cc2538-rf: Simplified get_channel

---
 arch/cpu/cc2538/dev/cc2538-rf.c | 5 +----
 1 file changed, 1 insertion(+), 4 deletions(-)

diff --git a/arch/cpu/cc2538/dev/cc2538-rf.c b/arch/cpu/cc2538/dev/cc2538-rf.c
index 39aa1f5ed..804870a47 100644
--- a/arch/cpu/cc2538/dev/cc2538-rf.c
+++ b/arch/cpu/cc2538/dev/cc2538-rf.c
@@ -154,10 +154,7 @@ PROCESS(cc2538_rf_process, "cc2538 RF driver");
 static uint8_t
 get_channel()
 {
-  uint8_t chan = REG(RFCORE_XREG_FREQCTRL) & RFCORE_XREG_FREQCTRL_FREQ;
-
-  return (chan - CC2538_RF_CHANNEL_MIN) / CC2538_RF_CHANNEL_SPACING
-         + CC2538_RF_CHANNEL_MIN;
+  return rf_channel;
 }
 /*---------------------------------------------------------------------------*/
 /**

From 501ce04f0510a98aecb52009623bc002e93ed0aa Mon Sep 17 00:00:00 2001
From: kkrentz <konrad.krentz@gmail.com>
Date: Fri, 3 Aug 2018 03:12:00 -0700
Subject: [PATCH 12/46] cc2538-rf: Simplified set_channel

---
 arch/cpu/cc2538/dev/cc2538-rf.c | 14 ++------------
 arch/cpu/cc2538/dev/cc2538-rf.h |  1 -
 2 files changed, 2 insertions(+), 13 deletions(-)

diff --git a/arch/cpu/cc2538/dev/cc2538-rf.c b/arch/cpu/cc2538/dev/cc2538-rf.c
index 804870a47..eea715653 100644
--- a/arch/cpu/cc2538/dev/cc2538-rf.c
+++ b/arch/cpu/cc2538/dev/cc2538-rf.c
@@ -160,20 +160,14 @@ get_channel()
 /**
  * \brief Set the current operating channel
  * \param channel The desired channel as a value in [11,26]
- * \return Returns a value in [11,26] representing the current channel
- *         or a negative value if \e channel was out of bounds
  */
-static int8_t
+static void
 set_channel(uint8_t channel)
 {
   uint8_t was_on = 0;
 
   LOG_INFO("Set Channel\n");
 
-  if((channel < CC2538_RF_CHANNEL_MIN) || (channel > CC2538_RF_CHANNEL_MAX)) {
-    return CC2538_RF_CHANNEL_SET_ERROR;
-  }
-
   /* Changes to FREQCTRL take effect after the next recalibration */
 
   /* If we are off, save state, otherwise switch off and save state */
@@ -190,8 +184,6 @@ set_channel(uint8_t channel)
   }
 
   rf_channel = channel;
-
-  return (int8_t)channel;
 }
 /*---------------------------------------------------------------------------*/
 static radio_value_t
@@ -894,9 +886,7 @@ set_value(radio_param_t param, radio_value_t value)
        value > CC2538_RF_CHANNEL_MAX) {
       return RADIO_RESULT_INVALID_VALUE;
     }
-    if(set_channel(value) == CC2538_RF_CHANNEL_SET_ERROR) {
-      return RADIO_RESULT_ERROR;
-    }
+    set_channel(value);
     return RADIO_RESULT_OK;
   case RADIO_PARAM_PAN_ID:
     set_pan_id(value & 0xffff);
diff --git a/arch/cpu/cc2538/dev/cc2538-rf.h b/arch/cpu/cc2538/dev/cc2538-rf.h
index ffd8a6c08..958221783 100644
--- a/arch/cpu/cc2538/dev/cc2538-rf.h
+++ b/arch/cpu/cc2538/dev/cc2538-rf.h
@@ -56,7 +56,6 @@
 #define CC2538_RF_CHANNEL_MIN            11
 #define CC2538_RF_CHANNEL_MAX            26
 #define CC2538_RF_CHANNEL_SPACING         5
-#define CC2538_RF_CHANNEL_SET_ERROR      -1
 #define CC2538_RF_MAX_PACKET_LEN        127
 #define CC2538_RF_MIN_PACKET_LEN          4
 #define CC2538_RF_CCA_CLEAR               1

From 11a2fb14b124df97091260b9e495aaa3f4e63263 Mon Sep 17 00:00:00 2001
From: kkrentz <konrad.krentz@gmail.com>
Date: Tue, 2 Oct 2018 07:56:23 -0700
Subject: [PATCH 13/46] radio.h: Added RADIO_PARAM_SHR_SEARCH

---
 os/dev/radio.h | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/os/dev/radio.h b/os/dev/radio.h
index 982acc51d..9bbef9619 100644
--- a/os/dev/radio.h
+++ b/os/dev/radio.h
@@ -170,6 +170,9 @@ enum {
    * it needs to be used with radio.get_object()/set_object(). */
   RADIO_PARAM_LAST_PACKET_TIMESTAMP,
 
+  /* For enabling and disabling the SHR search */
+  RADIO_PARAM_SHR_SEARCH,
+
   /* Constants (read only) */
 
   /* The lowest radio channel. */

From 6b1292d9d9f63b49e22c224dcb652c3539f1aa18 Mon Sep 17 00:00:00 2001
From: Simon Duquennoy <simon.duquennoy@ri.se>
Date: Wed, 3 Oct 2018 12:24:40 +0200
Subject: [PATCH 14/46] cc1200: add required structures and defines for TSCH
 support

---
 .../cc1200-802154g-863-870-fsk-50kbps.c       | 56 ++++++++++++++++++-
 arch/dev/cc1200/cc1200-868-fsk-1-2kbps.c      |  5 ++
 arch/dev/cc1200/cc1200-rf-cfg.h               | 11 ++++
 3 files changed, 71 insertions(+), 1 deletion(-)

diff --git a/arch/dev/cc1200/cc1200-802154g-863-870-fsk-50kbps.c b/arch/dev/cc1200/cc1200-802154g-863-870-fsk-50kbps.c
index 0fe452999..b1d4b2064 100644
--- a/arch/dev/cc1200/cc1200-802154g-863-870-fsk-50kbps.c
+++ b/arch/dev/cc1200/cc1200-802154g-863-870-fsk-50kbps.c
@@ -34,6 +34,7 @@
 
 #include "cc1200-rf-cfg.h"
 #include "cc1200-const.h"
+#include "net/mac/tsch/tsch.h"
 
 /*
  * This is a setup for the following configuration:
@@ -62,7 +63,53 @@
 /*---------------------------------------------------------------------------*/
 static const char rf_cfg_descriptor[] = "802.15.4g 863-870MHz MR-FSK mode #1";
 /*---------------------------------------------------------------------------*/
-/* 
+
+/* 1 byte time: 160 usec */
+#define CC1200_TSCH_PREAMBLE_LENGTH               800 /* 5 bytes */
+#define CC1200_TSCH_CONF_RX_WAIT                 2200
+#define CC1200_TSCH_CONF_RX_ACK_WAIT              400
+
+#define CC1200_TSCH_DEFAULT_TS_CCA_OFFSET        1800
+#define CC1200_TSCH_DEFAULT_TS_CCA                128
+
+#define CC1200_TSCH_DEFAULT_TS_TX_OFFSET         3800
+#define CC1200_TSCH_DEFAULT_TS_RX_OFFSET         (CC1200_TSCH_DEFAULT_TS_TX_OFFSET - CC1200_TSCH_PREAMBLE_LENGTH - (CC1200_TSCH_CONF_RX_WAIT / 2))
+#define CC1200_TSCH_DEFAULT_TS_RX_ACK_DELAY      (CC1200_TSCH_DEFAULT_TS_TX_ACK_DELAY - CC1200_TSCH_PREAMBLE_LENGTH - (CC1200_TSCH_CONF_RX_ACK_WAIT / 2))
+#define CC1200_TSCH_DEFAULT_TS_TX_ACK_DELAY      3000
+
+#define CC1200_TSCH_DEFAULT_TS_RX_WAIT           (CC1200_TSCH_PREAMBLE_LENGTH + CC1200_TSCH_CONF_RX_WAIT)
+#define CC1200_TSCH_DEFAULT_TS_ACK_WAIT          (CC1200_TSCH_PREAMBLE_LENGTH + CC1200_TSCH_CONF_RX_ACK_WAIT)
+#define CC1200_TSCH_DEFAULT_TS_RX_TX              192
+#define CC1200_TSCH_DEFAULT_TS_MAX_ACK           3360 /* 17+1+3 bytes at 50 kbps */
+#define CC1200_TSCH_DEFAULT_TS_MAX_TX           20800 /* 126+1+3 bytes at 50 kbps */
+
+#define CC1200_TSCH_DEFAULT_SLACK_TIME            500
+/* Timeslot length: 31460 usec */
+#define CC1200_TSCH_DEFAULT_TS_TIMESLOT_LENGTH  \
+                                                  ( CC1200_TSCH_DEFAULT_TS_TX_OFFSET \
+                                                  + CC1200_TSCH_DEFAULT_TS_MAX_TX \
+                                                  + CC1200_TSCH_DEFAULT_TS_TX_ACK_DELAY \
+                                                  + CC1200_TSCH_DEFAULT_TS_MAX_ACK \
+                                                  + CC1200_TSCH_DEFAULT_SLACK_TIME \
+                                                  )
+
+/* TSCH timeslot timing (mircoseconds) */
+static uint16_t cc1200_50kbps_tsch_timing[tsch_ts_elements_count] = {
+  CC1200_TSCH_DEFAULT_TS_CCA_OFFSET,
+  CC1200_TSCH_DEFAULT_TS_CCA,
+  CC1200_TSCH_DEFAULT_TS_TX_OFFSET,
+  CC1200_TSCH_DEFAULT_TS_RX_OFFSET,
+  CC1200_TSCH_DEFAULT_TS_RX_ACK_DELAY,
+  CC1200_TSCH_DEFAULT_TS_TX_ACK_DELAY,
+  CC1200_TSCH_DEFAULT_TS_RX_WAIT,
+  CC1200_TSCH_DEFAULT_TS_ACK_WAIT,
+  CC1200_TSCH_DEFAULT_TS_RX_TX,
+  CC1200_TSCH_DEFAULT_TS_MAX_ACK,
+  CC1200_TSCH_DEFAULT_TS_MAX_TX,
+  CC1200_TSCH_DEFAULT_TS_TIMESLOT_LENGTH,
+};
+
+/*
  * Register settings exported from SmartRF Studio using the standard template
  * "trxEB RF Settings Performance Line".
  */
@@ -159,6 +206,11 @@ const cc1200_rf_cfg_t cc1200_802154g_863_870_fsk_50kbps = {
   .size_of_register_settings = sizeof(preferredSettings),
   .tx_pkt_lifetime = (RTIMER_SECOND / 20),
   .tx_rx_turnaround = (RTIMER_SECOND / 100),
+  /* Includes 3 Bytes preamble + 2 Bytes SFD, at 160usec per byte = 800 usec */
+  /* Includes time to completion of "Wait for TX to start" if cc1200.c: 397 usec */
+  .delay_before_tx = ((unsigned)US_TO_RTIMERTICKS(800 + 397 + 423)),
+  .delay_before_rx = (unsigned)US_TO_RTIMERTICKS(400),
+  .delay_before_detect = 0,
   .chan_center_freq0 = RF_CFG_CHAN_CENTER_F0,
   .chan_spacing = RF_CFG_CHAN_SPACING,
   .min_channel = RF_CFG_MIN_CHANNEL,
@@ -166,5 +218,7 @@ const cc1200_rf_cfg_t cc1200_802154g_863_870_fsk_50kbps = {
   .max_txpower = RF_CFG_MAX_TXPOWER,
   .cca_threshold = RF_CFG_CCA_THRESHOLD,
   .rssi_offset = RF_CFG_RSSI_OFFSET,
+  .bitrate = 50000,
+  .tsch_timing = cc1200_50kbps_tsch_timing,
 };
 /*---------------------------------------------------------------------------*/
diff --git a/arch/dev/cc1200/cc1200-868-fsk-1-2kbps.c b/arch/dev/cc1200/cc1200-868-fsk-1-2kbps.c
index 7c8d52cb4..7cb8f3021 100644
--- a/arch/dev/cc1200/cc1200-868-fsk-1-2kbps.c
+++ b/arch/dev/cc1200/cc1200-868-fsk-1-2kbps.c
@@ -126,6 +126,9 @@ const cc1200_rf_cfg_t cc1200_868_fsk_1_2kbps = {
   .size_of_register_settings = sizeof(preferredSettings),
   .tx_pkt_lifetime = (2 * RTIMER_SECOND),
   .tx_rx_turnaround = (RTIMER_SECOND / 2),
+  .delay_before_tx = 0,
+  .delay_before_rx = 0,
+  .delay_before_detect = 0,
   .chan_center_freq0 = RF_CFG_CHAN_CENTER_F0,
   .chan_spacing = RF_CFG_CHAN_SPACING,
   .min_channel = RF_CFG_MIN_CHANNEL,
@@ -133,5 +136,7 @@ const cc1200_rf_cfg_t cc1200_868_fsk_1_2kbps = {
   .max_txpower = RF_CFG_MAX_TXPOWER,
   .cca_threshold = RF_CFG_CCA_THRESHOLD,
   .rssi_offset = RF_CFG_RSSI_OFFSET,
+  .bitrate = 1200,
+  .tsch_timing = NULL,
 };
 /*---------------------------------------------------------------------------*/
diff --git a/arch/dev/cc1200/cc1200-rf-cfg.h b/arch/dev/cc1200/cc1200-rf-cfg.h
index 4b206959b..d047f772e 100644
--- a/arch/dev/cc1200/cc1200-rf-cfg.h
+++ b/arch/dev/cc1200/cc1200-rf-cfg.h
@@ -69,6 +69,13 @@ typedef struct cc1200_rf_cfg {
   rtimer_clock_t tx_pkt_lifetime;
   /* The maximum time it takes to switch from Tx to Rx */
   rtimer_clock_t tx_rx_turnaround;
+  /* The delay between a call to transmit() and end of SFD */
+  rtimer_clock_t delay_before_tx;
+  /* Delay between GO signal and start listening
+   * Measured 104us: between GO signal and start listening */
+  rtimer_clock_t delay_before_rx;
+  /* Delay between the SFD finishes arriving and it is detected in software */
+  rtimer_clock_t delay_before_detect;
   /* Base frequency in kHz */
   uint32_t chan_center_freq0;
   /* Channel spacing in Hz */
@@ -87,6 +94,10 @@ typedef struct cc1200_rf_cfg {
   /* The RSSI offset in dBm.
    * -99 when MDMCFG1.DVGA_GAIN=00, -81 when MDMCFG1.DVGA_GAIN=01 */
   int8_t rssi_offset;
+  /* The bitrate in bps */
+  uint32_t bitrate;
+  /* TSCH timeslot timing */
+  uint16_t *tsch_timing;
 } cc1200_rf_cfg_t;
 /*---------------------------------------------------------------------------*/
 #endif /* CC1200_RF_CFG_H  */

From c4c1e589f7ab68e9d19955a75cbc8ed8e7adbac2 Mon Sep 17 00:00:00 2001
From: Simon Duquennoy <simon.duquennoy@ri.se>
Date: Wed, 3 Oct 2018 12:25:09 +0200
Subject: [PATCH 15/46] cc1200: add 1000 kbps configuration, including TSCH
 configuration

---
 arch/dev/cc1200/cc1200-868-4gfsk-1000kbps.c | 176 ++++++++++++++++++++
 1 file changed, 176 insertions(+)
 create mode 100644 arch/dev/cc1200/cc1200-868-4gfsk-1000kbps.c

diff --git a/arch/dev/cc1200/cc1200-868-4gfsk-1000kbps.c b/arch/dev/cc1200/cc1200-868-4gfsk-1000kbps.c
new file mode 100644
index 000000000..506fad801
--- /dev/null
+++ b/arch/dev/cc1200/cc1200-868-4gfsk-1000kbps.c
@@ -0,0 +1,176 @@
+/*
+ * Copyright (c) 2015, Weptech elektronik GmbH Germany
+ * http://www.weptech.de
+ *
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ * 3. Neither the name of the copyright holder nor the names of its
+ *    contributors may be used to endorse or promote products derived
+ *    from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * ``AS IS'' AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED.  IN NO EVENT SHALL THE
+ * COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+ * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+ * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT,
+ * STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
+ * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED
+ * OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ * This file is part of the Contiki operating system.
+ */
+
+#include "cc1200-rf-cfg.h"
+#include "cc1200-const.h"
+#include "net/mac/tsch/tsch.h"
+
+/*
+* Register settings exported from SmartRF Studio using the standard 1000kpbs 868MHz template
+ */
+
+ /* Base frequency in kHz */
+ #define RF_CFG_CHAN_CENTER_F0           863125
+ /* Channel spacing in Hz */
+ #define RF_CFG_CHAN_SPACING             1666667
+/* The minimum channel */
+#define RF_CFG_MIN_CHANNEL              0
+/* The maximum channel */
+#define RF_CFG_MAX_CHANNEL              3
+/* The maximum output power in dBm */
+#define RF_CFG_MAX_TXPOWER              CC1200_CONST_TX_POWER_MAX
+/* The carrier sense level used for CCA in dBm */
+#define RF_CFG_CCA_THRESHOLD            (-91)
+/* The RSSI offset in dBm */
+#define RF_CFG_RSSI_OFFSET              (-81)
+/*---------------------------------------------------------------------------*/
+static const char rf_cfg_descriptor[] = "868MHz 2-GFSK 1000 kbps";
+/*---------------------------------------------------------------------------*/
+
+/* 1 byte time: 8 usec */
+#define CC1200_TSCH_PREAMBLE_LENGTH               800 /* 5 bytes */
+#define CC1200_TSCH_CONF_RX_WAIT                 2200
+#define CC1200_TSCH_CONF_RX_ACK_WAIT              400
+
+#define CC1200_TSCH_DEFAULT_TS_CCA_OFFSET        1800
+#define CC1200_TSCH_DEFAULT_TS_CCA                128
+#define CC1200_TSCH_DEFAULT_TS_TX_OFFSET         2200
+#define CC1200_TSCH_DEFAULT_TS_RX_OFFSET         (CC1200_TSCH_DEFAULT_TS_TX_OFFSET - CC1200_TSCH_PREAMBLE_LENGTH - (CC1200_TSCH_CONF_RX_WAIT / 2))
+#define CC1200_TSCH_DEFAULT_TS_RX_ACK_DELAY      (CC1200_TSCH_DEFAULT_TS_TX_ACK_DELAY - CC1200_TSCH_PREAMBLE_LENGTH - (CC1200_TSCH_CONF_RX_ACK_WAIT / 2))
+#define CC1200_TSCH_DEFAULT_TS_TX_ACK_DELAY      1900
+#define CC1200_TSCH_DEFAULT_TS_RX_WAIT           (CC1200_TSCH_PREAMBLE_LENGTH + CC1200_TSCH_CONF_RX_WAIT)
+#define CC1200_TSCH_DEFAULT_TS_ACK_WAIT          (CC1200_TSCH_PREAMBLE_LENGTH + CC1200_TSCH_CONF_RX_ACK_WAIT)
+#define CC1200_TSCH_DEFAULT_TS_RX_TX              192
+#define CC1200_TSCH_DEFAULT_TS_MAX_ACK            168 /* 17+1+3 bytes at 1000 kbps */
+#define CC1200_TSCH_DEFAULT_TS_MAX_TX            1040 /* 126+1+3 bytes at 1000 kbps */
+
+#define CC1200_TSCH_DEFAULT_SLACK_TIME            500
+/* Timeslot length: 5808 usec */
+#define CC1200_TSCH_DEFAULT_TS_TIMESLOT_LENGTH  \
+                                                  ( CC1200_TSCH_DEFAULT_TS_TX_OFFSET \
+                                                  + CC1200_TSCH_DEFAULT_TS_MAX_TX \
+                                                  + CC1200_TSCH_DEFAULT_TS_TX_ACK_DELAY \
+                                                  + CC1200_TSCH_DEFAULT_TS_MAX_ACK \
+                                                  + CC1200_TSCH_DEFAULT_SLACK_TIME \
+                                                  )
+
+/* TSCH timeslot timing (in rtimer ticks) */
+static uint16_t cc1200_1000kbps_tsch_timing[tsch_ts_elements_count] = {
+  CC1200_TSCH_DEFAULT_TS_CCA_OFFSET,
+  CC1200_TSCH_DEFAULT_TS_CCA,
+  CC1200_TSCH_DEFAULT_TS_TX_OFFSET,
+  CC1200_TSCH_DEFAULT_TS_RX_OFFSET,
+  CC1200_TSCH_DEFAULT_TS_RX_ACK_DELAY,
+  CC1200_TSCH_DEFAULT_TS_TX_ACK_DELAY,
+  CC1200_TSCH_DEFAULT_TS_RX_WAIT,
+  CC1200_TSCH_DEFAULT_TS_ACK_WAIT,
+  CC1200_TSCH_DEFAULT_TS_RX_TX,
+  CC1200_TSCH_DEFAULT_TS_MAX_ACK,
+  CC1200_TSCH_DEFAULT_TS_MAX_TX,
+  CC1200_TSCH_DEFAULT_TS_TIMESLOT_LENGTH,
+};
+
+static const registerSetting_t preferredSettings[]=
+{
+ {CC1200_IOCFG2,            0x06},
+ {CC1200_SYNC_CFG1,         0xA8},
+ {CC1200_DEVIATION_M,       0x47},
+ {CC1200_MODCFG_DEV_E,      0x2F},
+ {CC1200_DCFILT_CFG,        0x1E},
+ {CC1200_PREAMBLE_CFG0,     0x8A},
+ {CC1200_IQIC,              0x00},
+ {CC1200_CHAN_BW,           0x01},
+ {CC1200_MDMCFG1,           0x42},
+ {CC1200_MDMCFG0,           0x05},
+ {CC1200_SYMBOL_RATE2,      0xC9},
+ {CC1200_SYMBOL_RATE1,      0x99},
+ {CC1200_SYMBOL_RATE0,      0x99},
+ {CC1200_AGC_REF,           0x2F},
+ {CC1200_AGC_CS_THR,        0xF8},
+ {CC1200_AGC_CFG2,          0x60},
+ {CC1200_AGC_CFG1,          0x12},
+ {CC1200_AGC_CFG0,          0x84},
+ {CC1200_FIFO_CFG,          0x00},
+ {CC1200_FS_CFG,            0x12},
+ {CC1200_PKT_CFG2,          0x00},
+ {CC1200_PKT_CFG0,          0x20},
+ {CC1200_PKT_LEN,           0xFF},
+ {CC1200_FREQOFF_CFG,       0x23},
+ {CC1200_MDMCFG2,           0x00},
+ {CC1200_FREQ2,             0x56},
+ {CC1200_FREQ1,             0xCC},
+ {CC1200_FREQ0,             0xCC},
+ {CC1200_IF_ADC1,           0xEE},
+ {CC1200_IF_ADC0,           0x10},
+ {CC1200_FS_DIG1,           0x04},
+ {CC1200_FS_DIG0,           0xA3},
+ {CC1200_FS_CAL1,           0x40},
+ {CC1200_FS_CAL0,           0x0E},
+ {CC1200_FS_DIVTWO,         0x03},
+ {CC1200_FS_DSM0,           0x33},
+ {CC1200_FS_DVC1,           0xF7},
+ {CC1200_FS_DVC0,           0x0F},
+ {CC1200_FS_PFD,            0x00},
+ {CC1200_FS_PRE,            0x6E},
+ {CC1200_FS_REG_DIV_CML,    0x1C},
+ {CC1200_FS_SPARE,          0xAC},
+ {CC1200_FS_VCO0,           0xB5},
+ {CC1200_IFAMP,             0x0D},
+ {CC1200_XOSC5,             0x0E},
+ {CC1200_XOSC1,             0x03},
+};
+/*---------------------------------------------------------------------------*/
+/* Global linkage: symbol name must be different in each exported file! */
+const cc1200_rf_cfg_t cc1200_868_4gfsk_1000kbps = {
+  .cfg_descriptor = rf_cfg_descriptor,
+  .register_settings = preferredSettings,
+  .size_of_register_settings = sizeof(preferredSettings),
+  .tx_pkt_lifetime = (RTIMER_SECOND),
+  .tx_rx_turnaround = (RTIMER_SECOND / 100),
+  /* Includes 3 Bytes preamble + 2 Bytes SFD, at 8usec per byte = 40 usec */
+  /* Includes time to completion of "Wait for TX to start" if cc1200.c: 397 usec */
+  .delay_before_tx = ((unsigned)US_TO_RTIMERTICKS(40 + 397 + 207)),
+  .delay_before_rx = (unsigned)US_TO_RTIMERTICKS(400),
+  .delay_before_detect = 0,
+  .chan_center_freq0 = RF_CFG_CHAN_CENTER_F0,
+  .chan_spacing = RF_CFG_CHAN_SPACING,
+  .min_channel = RF_CFG_MIN_CHANNEL,
+  .max_channel = RF_CFG_MAX_CHANNEL,
+  .max_txpower = RF_CFG_MAX_TXPOWER,
+  .cca_threshold = RF_CFG_CCA_THRESHOLD,
+  .rssi_offset = RF_CFG_RSSI_OFFSET,
+  .bitrate = 1000000,
+  .tsch_timing = cc1200_1000kbps_tsch_timing,
+};
+/*---------------------------------------------------------------------------*/

From cad068d5e8aade998e5148491d773d78639ed164 Mon Sep 17 00:00:00 2001
From: Simon Duquennoy <simon.duquennoy@ri.se>
Date: Wed, 3 Oct 2018 12:27:01 +0200
Subject: [PATCH 16/46] sixtop example: remove obsolete z1 configuration

---
 examples/6tisch/sixtop/project-conf.h | 19 -------------------
 1 file changed, 19 deletions(-)

diff --git a/examples/6tisch/sixtop/project-conf.h b/examples/6tisch/sixtop/project-conf.h
index 5235353c2..e3d82d972 100755
--- a/examples/6tisch/sixtop/project-conf.h
+++ b/examples/6tisch/sixtop/project-conf.h
@@ -78,25 +78,6 @@
 /************* Other system configuration **************/
 /*******************************************************/
 
-#if CONTIKI_TARGET_Z1
-/* Save some space to fit the limited RAM of the z1 */
-#define UIP_CONF_TCP 0
-#define QUEUEBUF_CONF_NUM 2
-#define NETSTACK_MAX_ROUTE_ENTRIES  2
-#define NBR_TABLE_CONF_MAX_NEIGHBORS 2
-#define UIP_CONF_ND6_SEND_NA 0
-#define SICSLOWPAN_CONF_FRAG 0
-
-#if WITH_SECURITY
-/* Note: on sky or z1 in cooja, crypto operations are done in S/W and
- * cannot be accommodated in normal slots. Use 65ms slots instead, and
- * a very short 6TiSCH minimal schedule length */
-#define TSCH_CONF_DEFAULT_TIMESLOT_LENGTH 65000
-#define TSCH_SCHEDULE_CONF_DEFAULT_LENGTH 2
-#endif /* WITH_SECURITY */
-
-#endif /* CONTIKI_TARGET_Z1 */
-
 #if CONTIKI_TARGET_CC2538DK || CONTIKI_TARGET_ZOUL || \
   CONTIKI_TARGET_OPENMOTE_CC2538
 #define TSCH_CONF_HW_FRAME_FILTERING    0

From 4583fff0944a7c008abffa2e7109a6ccd7469d83 Mon Sep 17 00:00:00 2001
From: Simon Duquennoy <simon.duquennoy@ri.se>
Date: Wed, 3 Oct 2018 12:42:06 +0200
Subject: [PATCH 17/46] Radio API: added values/objects for TSCH constants

---
 arch/cpu/cc2538/dev/cc2538-rf.c | 22 +++++++++++++++++++++
 arch/dev/cc1200/cc1200.c        | 35 +++++++++++++++++++++++++++++++++
 os/dev/radio.h                  |  9 ++++++++-
 3 files changed, 65 insertions(+), 1 deletion(-)

diff --git a/arch/cpu/cc2538/dev/cc2538-rf.c b/arch/cpu/cc2538/dev/cc2538-rf.c
index eea715653..990f0f787 100644
--- a/arch/cpu/cc2538/dev/cc2538-rf.c
+++ b/arch/cpu/cc2538/dev/cc2538-rf.c
@@ -862,6 +862,20 @@ get_value(radio_param_t param, radio_value_t *value)
   case RADIO_CONST_TXPOWER_MAX:
     *value = OUTPUT_POWER_MAX;
     return RADIO_RESULT_OK;
+  case RADIO_CONST_PHY_OVERHEAD:
+    *value = (radio_value_t)3; /* 1 len byte, 2 bytes CRC */
+  case RADIO_CONST_BYTE_AIR_TIME:
+    *value = (radio_value_t)32; /* 250kbps data rate. One byte = 32us.*/
+    return RADIO_RESULT_OK;
+  case RADIO_CONST_DELAY_BEFORE_TX:
+    *value = (radio_value_t)CC2538_DELAY_BEFORE_TX;
+    return RADIO_RESULT_OK;
+  case RADIO_CONST_DELAY_BEFORE_RX:
+    *value = (radio_value_t)CC2538_DELAY_BEFORE_RX;
+    return RADIO_RESULT_OK;
+  case RADIO_CONST_DELAY_BEFORE_DETECT:
+    *value = (radio_value_t)CC2538_DELAY_BEFORE_DETECT;
+    return RADIO_RESULT_OK;
   default:
     return RADIO_RESULT_NOT_SUPPORTED;
   }
@@ -957,6 +971,14 @@ get_object(radio_param_t param, void *dest, size_t size)
     return RADIO_RESULT_OK;
   }
 
+  if(param == RADIO_CONST_TSCH_TIMING) {
+    if(size != sizeof(uint16_t *) || !dest) {
+      return RADIO_RESULT_INVALID_VALUE;
+    }
+    *(uint16_t **)dest = tsch_timeslot_timing_us_10000;
+    return RADIO_RESULT_OK;
+  }
+
   return RADIO_RESULT_NOT_SUPPORTED;
 }
 /*---------------------------------------------------------------------------*/
diff --git a/arch/dev/cc1200/cc1200.c b/arch/dev/cc1200/cc1200.c
index 3d9b1befc..d61618b6a 100644
--- a/arch/dev/cc1200/cc1200.c
+++ b/arch/dev/cc1200/cc1200.c
@@ -1180,6 +1180,34 @@ get_value(radio_param_t param, radio_value_t *value)
     *value = (radio_value_t)CC1200_RF_CFG.max_txpower;
     return RADIO_RESULT_OK;
 
+  case RADIO_CONST_PHY_OVERHEAD:
+#if CC1200_802154G
+#if CC1200_802154G_CRC16
+    *value = (radio_value_t)4; /* 2 bytes PHR, 2 bytes CRC */
+#else
+    *value = (radio_value_t)6; /* 2 bytes PHR, 4 bytes CRC */
+#endif
+#else
+    *value = (radio_value_t)3; /* 1 len byte, 2 bytes CRC */
+#endif
+    return RADIO_RESULT_OK;
+
+  case RADIO_CONST_BYTE_AIR_TIME:
+      *value = (radio_value_t)8*1000*1000 / CC1200_RF_CFG.bitrate;
+      return RADIO_RESULT_OK;
+
+  case RADIO_CONST_DELAY_BEFORE_TX:
+    *value = (radio_value_t)CC1200_RF_CFG.delay_before_tx;
+    return RADIO_RESULT_OK;
+
+  case RADIO_CONST_DELAY_BEFORE_RX:
+      *value = (radio_value_t)CC1200_RF_CFG.delay_before_rx;
+      return RADIO_RESULT_OK;
+
+  case RADIO_CONST_DELAY_BEFORE_DETECT:
+      *value = (radio_value_t)CC1200_RF_CFG.delay_before_detect;
+      return RADIO_RESULT_OK;
+
   default:
 
     return RADIO_RESULT_NOT_SUPPORTED;
@@ -1282,6 +1310,13 @@ set_value(radio_param_t param, radio_value_t value)
 static radio_result_t
 get_object(radio_param_t param, void *dest, size_t size)
 {
+  if(param == RADIO_CONST_TSCH_TIMING) {
+    if(size != sizeof(uint16_t *) || !dest) {
+      return RADIO_RESULT_INVALID_VALUE;
+    }
+    *(uint16_t **)dest = CC1200_RF_CFG.tsch_timing;
+    return RADIO_RESULT_OK;
+  }
 
   return RADIO_RESULT_NOT_SUPPORTED;
 
diff --git a/os/dev/radio.h b/os/dev/radio.h
index 9bbef9619..e6ca64f3d 100644
--- a/os/dev/radio.h
+++ b/os/dev/radio.h
@@ -183,7 +183,14 @@ enum {
   /* The minimum transmission power in dBm. */
   RADIO_CONST_TXPOWER_MIN,
   /* The maximum transmission power in dBm. */
-  RADIO_CONST_TXPOWER_MAX
+  RADIO_CONST_TXPOWER_MAX,
+
+  RADIO_CONST_TSCH_TIMING,
+  RADIO_CONST_PHY_OVERHEAD,
+  RADIO_CONST_BYTE_AIR_TIME,
+  RADIO_CONST_DELAY_BEFORE_TX,
+  RADIO_CONST_DELAY_BEFORE_RX,
+  RADIO_CONST_DELAY_BEFORE_DETECT,
 };
 
 /* Radio power modes */

From 423412d99cfec2797166a2034db50cfd430373da Mon Sep 17 00:00:00 2001
From: Simon Duquennoy <simon.duquennoy@ri.se>
Date: Wed, 3 Oct 2018 12:47:10 +0200
Subject: [PATCH 18/46] TSCH: set max hopping sequence length to default
 hopping sequence

---
 os/net/mac/tsch/tsch-conf.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/os/net/mac/tsch/tsch-conf.h b/os/net/mac/tsch/tsch-conf.h
index 8613eb0e3..ebec4d4c0 100644
--- a/os/net/mac/tsch/tsch-conf.h
+++ b/os/net/mac/tsch/tsch-conf.h
@@ -151,7 +151,7 @@
 #ifdef TSCH_CONF_HOPPING_SEQUENCE_MAX_LEN
 #define TSCH_HOPPING_SEQUENCE_MAX_LEN TSCH_CONF_HOPPING_SEQUENCE_MAX_LEN
 #else
-#define TSCH_HOPPING_SEQUENCE_MAX_LEN 16
+#define TSCH_HOPPING_SEQUENCE_MAX_LEN sizeof(TSCH_DEFAULT_HOPPING_SEQUENCE)
 #endif
 
 /******** Configuration: association *******/

From 3ba1b43bd965d7efc13353a18db0a9721aebaac4 Mon Sep 17 00:00:00 2001
From: Simon Duquennoy <simon.duquennoy@ri.se>
Date: Wed, 3 Oct 2018 12:59:52 +0200
Subject: [PATCH 19/46] TSCH: define SYNC_IE_BOUND from timing in use rather
 than default

---
 os/net/mac/tsch/tsch-slot-operation.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/os/net/mac/tsch/tsch-slot-operation.c b/os/net/mac/tsch/tsch-slot-operation.c
index 843b79f42..a6f6e1da9 100644
--- a/os/net/mac/tsch/tsch-slot-operation.c
+++ b/os/net/mac/tsch/tsch-slot-operation.c
@@ -94,7 +94,7 @@
 
 /* Truncate received drift correction information to maximum half
  * of the guard time (one fourth of TSCH_DEFAULT_TS_RX_WAIT) */
-#define SYNC_IE_BOUND ((int32_t)US_TO_RTIMERTICKS(TSCH_DEFAULT_TS_RX_WAIT / 4))
+#define SYNC_IE_BOUND ((int32_t)US_TO_RTIMERTICKS(tsch_timing_us[tsch_ts_rx_wait] / 4))
 
 /* By default: check that rtimer runs at >=32kHz and use a guard time of 10us */
 #if RTIMER_SECOND < (32 * 1024)

From ace15d64992a2f6d2434d4877666a91a327ed5e1 Mon Sep 17 00:00:00 2001
From: Simon Duquennoy <simon.duquennoy@ri.se>
Date: Wed, 3 Oct 2018 13:01:21 +0200
Subject: [PATCH 20/46] TSCH: when receiving, bound packet duration with MaxTx
 from timing template

---
 os/net/mac/tsch/tsch-slot-operation.c | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/os/net/mac/tsch/tsch-slot-operation.c b/os/net/mac/tsch/tsch-slot-operation.c
index a6f6e1da9..5c7dc904d 100644
--- a/os/net/mac/tsch/tsch-slot-operation.c
+++ b/os/net/mac/tsch/tsch-slot-operation.c
@@ -789,6 +789,8 @@ PT_THREAD(tsch_rx_slot(struct pt *pt, struct rtimer *t))
 #endif
 
         packet_duration = TSCH_PACKET_DURATION(current_input->len);
+        /* limit packet_duration to its max value */
+        packet_duration = MIN(packet_duration, tsch_timing[tsch_ts_max_tx]);
 
         if(!frame_valid) {
           TSCH_LOG_ADD(tsch_log_message,

From 17c21582297d63b6d1d6c188bd4ce027113783ab Mon Sep 17 00:00:00 2001
From: Simon Duquennoy <simon.duquennoy@ri.se>
Date: Wed, 3 Oct 2018 13:16:19 +0200
Subject: [PATCH 21/46] TSCH: when scanning, set channel periodically
 regardless of previous channel

---
 os/net/mac/tsch/tsch.c | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/os/net/mac/tsch/tsch.c b/os/net/mac/tsch/tsch.c
index c040826ca..c4e097e07 100644
--- a/os/net/mac/tsch/tsch.c
+++ b/os/net/mac/tsch/tsch.c
@@ -730,11 +730,11 @@ PT_THREAD(tsch_scan(struct pt *pt))
       /* Pick a channel at random in TSCH_JOIN_HOPPING_SEQUENCE */
       uint8_t scan_channel = TSCH_JOIN_HOPPING_SEQUENCE[
           random_rand() % sizeof(TSCH_JOIN_HOPPING_SEQUENCE)];
-      if(current_channel != scan_channel) {
-        NETSTACK_RADIO.set_value(RADIO_PARAM_CHANNEL, scan_channel);
-        current_channel = scan_channel;
-        LOG_INFO("scanning on channel %u\n", scan_channel);
-      }
+
+      NETSTACK_RADIO.set_value(RADIO_PARAM_CHANNEL, scan_channel);
+      current_channel = scan_channel;
+      LOG_INFO("scanning on channel %u\n", scan_channel);
+
       current_channel_since = now_time;
     }
 

From e6dec9ee4a4e1685ddc755fd81639858747e6f39 Mon Sep 17 00:00:00 2001
From: Simon Duquennoy <simon.duquennoy@ri.se>
Date: Wed, 3 Oct 2018 13:16:59 +0200
Subject: [PATCH 22/46] TSCH: before associating on an EB, check that the Rx
 timestamp is sensible

---
 os/net/mac/tsch/tsch.c | 12 +++++++++++-
 1 file changed, 11 insertions(+), 1 deletion(-)

diff --git a/os/net/mac/tsch/tsch.c b/os/net/mac/tsch/tsch.c
index c4e097e07..ffdf46e3a 100644
--- a/os/net/mac/tsch/tsch.c
+++ b/os/net/mac/tsch/tsch.c
@@ -749,16 +749,26 @@ PT_THREAD(tsch_scan(struct pt *pt))
     }
 
     if(is_packet_pending) {
+      rtimer_clock_t t1;
       /* Read packet */
       input_eb.len = NETSTACK_RADIO.read(input_eb.payload, TSCH_PACKET_MAX_LEN);
 
       /* Save packet timestamp */
       NETSTACK_RADIO.get_object(RADIO_PARAM_LAST_PACKET_TIMESTAMP, &t0, sizeof(rtimer_clock_t));
+      t1 = RTIMER_NOW();
 
       /* Parse EB and attempt to associate */
       LOG_INFO("scan: received packet (%u bytes) on channel %u\n", input_eb.len, current_channel);
 
-      tsch_associate(&input_eb, t0);
+      /* Sanity-check the timestamp */
+      if(ABS(RTIMER_CLOCK_DIFF(t0, t1)) < tsch_timing[tsch_ts_timeslot_length]) {
+        tsch_associate(&input_eb, t0);
+      } else {
+        LOG_WARN("scan: dropping packet, timestamp too far from current time %u %u\n",
+          (unsigned)t0,
+          (unsigned)t1
+      );
+      }
     }
 
     if(tsch_is_associated) {

From a09fb40bf77e926e5414aa7de500a8065b7e422e Mon Sep 17 00:00:00 2001
From: Simon Duquennoy <simon.duquennoy@ri.se>
Date: Wed, 3 Oct 2018 13:28:50 +0200
Subject: [PATCH 23/46] CC1200: add SFD timestamping and RSSI features

---
 arch/dev/cc1200/cc1200.c | 73 +++++++++++++++++++++++++++++++++++++++-
 1 file changed, 72 insertions(+), 1 deletion(-)

diff --git a/arch/dev/cc1200/cc1200.c b/arch/dev/cc1200/cc1200.c
index d61618b6a..c7a8faee2 100644
--- a/arch/dev/cc1200/cc1200.c
+++ b/arch/dev/cc1200/cc1200.c
@@ -47,6 +47,9 @@
 #include <string.h>
 #include <stdio.h>
 
+static int16_t rssi;
+static rtimer_clock_t sfd_timestamp = 0;
+
 /*---------------------------------------------------------------------------*/
 /* Various implementation specific defines */
 /*---------------------------------------------------------------------------*/
@@ -249,6 +252,8 @@ extern const cc1200_rf_cfg_t CC1200_RF_CFG;
 #define RF_UPDATE_CHANNEL               0x10
 /* SPI was locked when calling RX interrupt, let the pollhandler do the job */
 #define RF_POLL_RX_INTERRUPT            0x20
+/* Ongoing reception */
+#define RF_RX_ONGOING                   0x40
 /* Force calibration in case we don't use CC1200 AUTOCAL + timeout */
 #if !CC1200_AUTOCAL
 #if CC1200_CAL_TIMEOUT_SECONDS
@@ -861,7 +866,7 @@ read(void *buf, unsigned short buf_len)
 
   if(rx_pkt_len > 0) {
 
-    int8_t rssi = rx_pkt[rx_pkt_len - 2];
+    rssi = (int8_t)rx_pkt[rx_pkt_len - 2] + (int)CC1200_RF_CFG.rssi_offset;
     /* CRC is already checked */
     uint8_t crc_lqi = rx_pkt[rx_pkt_len - 1];
 
@@ -1106,6 +1111,40 @@ off(void)
 
 }
 /*---------------------------------------------------------------------------*/
+/**
+ * \brief Reads the current signal strength (RSSI)
+ * \return The current RSSI in dBm
+ *
+ * This function reads the current RSSI on the currently configured
+ * channel.
+ */
+static int16_t
+get_rssi(void)
+{
+  int16_t rssi0, rssi1;
+  uint8_t was_off = 0;
+
+  /* If we are off, turn on first */
+  if(!(rf_flags & RF_ON)) {
+    was_off = 1;
+    on();
+  }
+
+  /* Wait for CARRIER_SENSE_VALID signal */
+  BUSYWAIT_UNTIL(((rssi0 = single_read(CC1200_RSSI0))
+                & CC1200_CARRIER_SENSE_VALID),
+                RTIMER_SECOND / 100);
+  RF_ASSERT(rssi0 & CC1200_CARRIER_SENSE_VALID);
+  rssi1 = (int8_t)single_read(CC1200_RSSI1) + (int)CC1200_RF_CFG.rssi_offset;
+
+  /* If we were off, turn back off */
+  if(was_off) {
+    off();
+  }
+
+  return rssi1;
+}
+/*---------------------------------------------------------------------------*/
 /* Get a radio parameter value. */
 static radio_result_t
 get_value(radio_param_t param, radio_value_t *value)
@@ -1156,6 +1195,13 @@ get_value(radio_param_t param, radio_value_t *value)
     return RADIO_RESULT_OK;
 
   case RADIO_PARAM_RSSI:
+    *value = get_rssi();
+    return RADIO_RESULT_OK;
+
+  case RADIO_PARAM_LAST_RSSI:
+    *value = (radio_value_t)rssi;
+    return RADIO_RESULT_OK;
+
   case RADIO_PARAM_64BIT_ADDR:
 
     return RADIO_RESULT_NOT_SUPPORTED;
@@ -1310,6 +1356,14 @@ set_value(radio_param_t param, radio_value_t value)
 static radio_result_t
 get_object(radio_param_t param, void *dest, size_t size)
 {
+  if(param == RADIO_PARAM_LAST_PACKET_TIMESTAMP) {
+    if(size != sizeof(rtimer_clock_t) || !dest) {
+      return RADIO_RESULT_INVALID_VALUE;
+    }
+    *(rtimer_clock_t *)dest = sfd_timestamp;
+    return RADIO_RESULT_OK;
+  }
+
   if(param == RADIO_CONST_TSCH_TIMING) {
     if(size != sizeof(uint16_t *) || !dest) {
       return RADIO_RESULT_INVALID_VALUE;
@@ -2239,6 +2293,23 @@ cc1200_rx_interrupt(void)
    */
   static uint8_t buf[CC1200_MAX_PAYLOAD_LEN + APPENDIX_LEN];
 
+  /*
+   * If CC1200_USE_GPIO2 is enabled, we come here either once RX FIFO
+   * threshold is reached (GPIO2 rising edge)
+   * or at the end of the packet (GPIO0 falling edge).
+   */
+#if CC1200_USE_GPIO2
+  int gpio2 = cc1200_arch_gpio2_read_pin();
+  int gpio0 = cc1200_arch_gpio0_read_pin();
+  if((rf_flags & RF_RX_ONGOING) == 0 && gpio2 > 0) {
+    rf_flags |= RF_RX_ONGOING;
+    sfd_timestamp = RTIMER_NOW();
+  }
+  if(gpio0 == 0) {
+    rf_flags &= ~RF_RX_ONGOING;
+  }
+#endif
+
   if(SPI_IS_LOCKED()) {
 
     /*

From e18660367bea831c52da9e6dd1643fc63d9c7629 Mon Sep 17 00:00:00 2001
From: Simon Duquennoy <simon.duquennoy@ri.se>
Date: Wed, 3 Oct 2018 13:29:47 +0200
Subject: [PATCH 24/46] CC1200: disable debug by default

---
 arch/dev/cc1200/cc1200.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/arch/dev/cc1200/cc1200.c b/arch/dev/cc1200/cc1200.c
index c7a8faee2..2873c0629 100644
--- a/arch/dev/cc1200/cc1200.c
+++ b/arch/dev/cc1200/cc1200.c
@@ -60,7 +60,7 @@ static rtimer_clock_t sfd_timestamp = 0;
  * - 2: Print errors + warnings (recoverable errors)
  * - 3: Print errors + warnings + information (what's going on...)
  */
-#define DEBUG_LEVEL                     2
+#define DEBUG_LEVEL                     0
 /*
  * RF test mode. Blocks inside "configure()".
  * - Set this parameter to 1 in order to produce an modulated carrier (PN9)

From ddeeb63ddd53c4b12b8d5090c9882eba43e03bf7 Mon Sep 17 00:00:00 2001
From: Simon Duquennoy <simon.duquennoy@ri.se>
Date: Wed, 3 Oct 2018 13:31:33 +0200
Subject: [PATCH 25/46] CC1200 set_channel: compute channel within bounds from
 any input channel

---
 arch/dev/cc1200/cc1200.c | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/arch/dev/cc1200/cc1200.c b/arch/dev/cc1200/cc1200.c
index 2873c0629..d2b7db770 100644
--- a/arch/dev/cc1200/cc1200.c
+++ b/arch/dev/cc1200/cc1200.c
@@ -2115,6 +2115,9 @@ set_channel(uint8_t channel)
   uint8_t was_off = 0;
   uint32_t freq;
 
+  channel %= (CC1200_RF_CFG.max_channel - CC1200_RF_CFG.min_channel + 1);
+  channel += CC1200_RF_CFG.min_channel;
+
 #if 0
   /*
    * We explicitly allow a channel update even if the channel does not change.

From 64ce406ae4e0b4c96b4a3ab7bf0e3f15abbb6f7b Mon Sep 17 00:00:00 2001
From: Simon Duquennoy <simon.duquennoy@ri.se>
Date: Wed, 3 Oct 2018 13:33:29 +0200
Subject: [PATCH 26/46] Zoul: TSCH configuration assuming not only cc2538

---
 arch/cpu/cc2538/cc2538-def.h      | 21 +++-------------
 arch/platform/zoul/contiki-conf.h | 41 ++++++++++++++++++++++++++++++
 arch/platform/zoul/platform.c     | 42 +++++++++++++++++++++++++++++++
 3 files changed, 86 insertions(+), 18 deletions(-)

diff --git a/arch/cpu/cc2538/cc2538-def.h b/arch/cpu/cc2538/cc2538-def.h
index e4c7451a6..75195258e 100644
--- a/arch/cpu/cc2538/cc2538-def.h
+++ b/arch/cpu/cc2538/cc2538-def.h
@@ -37,26 +37,11 @@
 #define RTIMER_ARCH_SECOND 32768
 /*---------------------------------------------------------------------------*/
 /* 352us from calling transmit() until the SFD byte has been sent */
-#define RADIO_DELAY_BEFORE_TX     ((unsigned)US_TO_RTIMERTICKS(352))
+#define CC2538_DELAY_BEFORE_TX     ((unsigned)US_TO_RTIMERTICKS(352))
 /* 192us as in datasheet but ACKs are not always received, so adjusted to 250us */
-#define RADIO_DELAY_BEFORE_RX     ((unsigned)US_TO_RTIMERTICKS(250))
-#define RADIO_DELAY_BEFORE_DETECT 0
-#ifndef TSCH_CONF_BASE_DRIFT_PPM
-/* The drift compared to "true" 10ms slots.
- * Enable adaptive sync to enable compensation for this.
- * Slot length 10000 usec
- *             328 ticks
- * Tick duration 30.517578125 usec
- * Real slot duration 10009.765625 usec
- * Target - real duration = -9.765625 usec
- * TSCH_CONF_BASE_DRIFT_PPM -977
- */
-#define TSCH_CONF_BASE_DRIFT_PPM -977
-#endif
+#define CC2538_DELAY_BEFORE_RX     ((unsigned)US_TO_RTIMERTICKS(250))
+#define CC2538_DELAY_BEFORE_DETECT 0
 
-#if MAC_CONF_WITH_TSCH
-#define TSCH_CONF_HW_FRAME_FILTERING  0
-#endif /* MAC_CONF_WITH_TSCH */
 /*---------------------------------------------------------------------------*/
 #define SPI_CONF_CONTROLLER_COUNT 2
 /*---------------------------------------------------------------------------*/
diff --git a/arch/platform/zoul/contiki-conf.h b/arch/platform/zoul/contiki-conf.h
index 098c37404..b8f545bf0 100644
--- a/arch/platform/zoul/contiki-conf.h
+++ b/arch/platform/zoul/contiki-conf.h
@@ -55,6 +55,47 @@
 #endif /* PROJECT_CONF_PATH */
 /*---------------------------------------------------------------------------*/
 #include "cc2538-def.h"
+
+unsigned radio_phy_overhead(void);
+unsigned radio_byte_air_time(void);
+unsigned radio_delay_before_tx(void);
+unsigned radio_delay_before_rx(void);
+unsigned radio_delay_before_detect(void);
+uint16_t *radio_tsch_timeslot_timing(void);
+
+/** @} */
+/*---------------------------------------------------------------------------*/
+/* 352us from calling transmit() until the SFD byte has been sent */
+#define CC2538_DELAY_BEFORE_TX     ((unsigned)US_TO_RTIMERTICKS(352))
+/* 192us as in datasheet but ACKs are not always received, so adjusted to 250us */
+#define CC2538_DELAY_BEFORE_RX     ((unsigned)US_TO_RTIMERTICKS(250))
+#define CC2538_DELAY_BEFORE_DETECT 0
+
+#define RADIO_PHY_OVERHEAD        radio_phy_overhead()
+#define RADIO_BYTE_AIR_TIME       radio_byte_air_time()
+#define RADIO_DELAY_BEFORE_TX     radio_delay_before_tx()
+#define RADIO_DELAY_BEFORE_RX     radio_delay_before_rx()
+#define RADIO_DELAY_BEFORE_DETECT radio_delay_before_detect()
+
+#define TSCH_CONF_DEFAULT_TIMESLOT_TIMING   radio_tsch_timeslot_timing()
+
+#ifndef TSCH_CONF_BASE_DRIFT_PPM
+/* The drift compared to "true" 10ms slots.
+ * Enable adaptive sync to enable compensation for this.
+ * Slot length 10000 usec
+ *             328 ticks
+ * Tick duration 30.517578125 usec
+ * Real slot duration 10009.765625 usec
+ * Target - real duration = -9.765625 usec
+ * TSCH_CONF_BASE_DRIFT_PPM -977
+ */
+#define TSCH_CONF_BASE_DRIFT_PPM -977
+#endif
+
+#if MAC_CONF_WITH_TSCH
+#define TSCH_CONF_HW_FRAME_FILTERING  0
+#endif /* MAC_CONF_WITH_TSCH */
+
 /*---------------------------------------------------------------------------*/
 /**
  * \name Serial Boot Loader Backdoor configuration
diff --git a/arch/platform/zoul/platform.c b/arch/platform/zoul/platform.c
index 703f0e521..bed948829 100644
--- a/arch/platform/zoul/platform.c
+++ b/arch/platform/zoul/platform.c
@@ -257,6 +257,48 @@ platform_idle()
   lpm_enter();
 }
 /*---------------------------------------------------------------------------*/
+unsigned
+radio_phy_overhead(void) {
+  radio_value_t ret;
+  NETSTACK_RADIO.get_value(RADIO_CONST_PHY_OVERHEAD, &ret);
+  return (unsigned)ret;
+}
+/*---------------------------------------------------------------------------*/
+unsigned
+radio_byte_air_time(void) {
+  radio_value_t ret;
+  NETSTACK_RADIO.get_value(RADIO_CONST_BYTE_AIR_TIME, &ret);
+  return (unsigned)ret;
+}
+/*---------------------------------------------------------------------------*/
+unsigned
+radio_delay_before_tx(void) {
+  radio_value_t ret;
+  NETSTACK_RADIO.get_value(RADIO_CONST_DELAY_BEFORE_TX, &ret);
+  return (unsigned)ret;
+}
+/*---------------------------------------------------------------------------*/
+unsigned
+radio_delay_before_rx(void) {
+  radio_value_t ret;
+  NETSTACK_RADIO.get_value(RADIO_CONST_DELAY_BEFORE_RX, &ret);
+  return (unsigned)ret;
+}
+/*---------------------------------------------------------------------------*/
+unsigned
+radio_delay_before_detect(void) {
+  radio_value_t ret;
+  NETSTACK_RADIO.get_value(RADIO_CONST_DELAY_BEFORE_DETECT, &ret);
+  return (unsigned)ret;
+}
+/*---------------------------------------------------------------------------*/
+uint16_t *
+radio_tsch_timeslot_timing(void) {
+  uint16_t *ret;
+  NETSTACK_RADIO.get_object(RADIO_CONST_TSCH_TIMING, &ret, sizeof(ret));
+  return ret;
+}
+/*---------------------------------------------------------------------------*/
 /**
  * @}
  * @}

From 572c6725d393c95cef00b0ef25dbde20b70a912a Mon Sep 17 00:00:00 2001
From: Simon Duquennoy <simon.duquennoy@ri.se>
Date: Wed, 3 Oct 2018 13:35:09 +0200
Subject: [PATCH 27/46] TSCH: configurable byte air time and PHY overhead

---
 arch/cpu/cc26xx-cc13xx/cc13xx-cc26xx-def.h            | 4 ++++
 arch/cpu/simplelink-cc13xx-cc26xx/cc13xx-cc26xx-def.h | 4 ++++
 arch/platform/cooja/contiki-conf.h                    | 4 ++++
 arch/platform/jn516x/jn516x-def.h                     | 4 ++++
 arch/platform/sky/sky-def.h                           | 5 +++++
 os/net/mac/tsch/tsch-const.h                          | 2 +-
 6 files changed, 22 insertions(+), 1 deletion(-)

diff --git a/arch/cpu/cc26xx-cc13xx/cc13xx-cc26xx-def.h b/arch/cpu/cc26xx-cc13xx/cc13xx-cc26xx-def.h
index 525357253..47dbc4eb5 100644
--- a/arch/cpu/cc26xx-cc13xx/cc13xx-cc26xx-def.h
+++ b/arch/cpu/cc26xx-cc13xx/cc13xx-cc26xx-def.h
@@ -36,6 +36,10 @@
 /*---------------------------------------------------------------------------*/
 /* TSCH related defines */
 
+/* 1 len byte, 2 bytes CRC */
+#define RADIO_PHY_OVERHEAD         3
+/* 250kbps data rate. One byte = 32us */
+#define RADIO_BYTE_AIR_TIME       32
 /* Delay between GO signal and SFD */
 #define RADIO_DELAY_BEFORE_TX ((unsigned)US_TO_RTIMERTICKS(81))
 /* Delay between GO signal and start listening.
diff --git a/arch/cpu/simplelink-cc13xx-cc26xx/cc13xx-cc26xx-def.h b/arch/cpu/simplelink-cc13xx-cc26xx/cc13xx-cc26xx-def.h
index 44ac92cf7..5bcde9d93 100644
--- a/arch/cpu/simplelink-cc13xx-cc26xx/cc13xx-cc26xx-def.h
+++ b/arch/cpu/simplelink-cc13xx-cc26xx/cc13xx-cc26xx-def.h
@@ -57,6 +57,10 @@
 /*---------------------------------------------------------------------------*/
 /* TSCH related defines */
 
+/* 1 len byte, 2 bytes CRC */
+#define RADIO_PHY_OVERHEAD         3
+/* 250kbps data rate. One byte = 32us */
+#define RADIO_BYTE_AIR_TIME       32
 /* Delay between GO signal and SFD */
 #define RADIO_DELAY_BEFORE_TX       ((unsigned)US_TO_RTIMERTICKS(81))
 /* Delay between GO signal and start listening.
diff --git a/arch/platform/cooja/contiki-conf.h b/arch/platform/cooja/contiki-conf.h
index 4942b0ab6..44c984dbf 100644
--- a/arch/platform/cooja/contiki-conf.h
+++ b/arch/platform/cooja/contiki-conf.h
@@ -122,6 +122,10 @@ typedef unsigned long clock_time_t;
 /* Use 64-bit rtimer (default in Contiki-NG is 32) */
 #define RTIMER_CONF_CLOCK_SIZE 8
 
+/* 1 len byte, 2 bytes CRC */
+#define RADIO_PHY_OVERHEAD         3
+/* 250kbps data rate. One byte = 32us */
+#define RADIO_BYTE_AIR_TIME       32
 #define RADIO_DELAY_BEFORE_TX 0
 #define RADIO_DELAY_BEFORE_RX 0
 #define RADIO_DELAY_BEFORE_DETECT 0
diff --git a/arch/platform/jn516x/jn516x-def.h b/arch/platform/jn516x/jn516x-def.h
index a4ee45c75..a7d8906f9 100644
--- a/arch/platform/jn516x/jn516x-def.h
+++ b/arch/platform/jn516x/jn516x-def.h
@@ -38,6 +38,10 @@
 
 #undef putchar
 
+/* 1 len byte, 2 bytes CRC */
+#define RADIO_PHY_OVERHEAD         3
+/* 250kbps data rate. One byte = 32us */
+#define RADIO_BYTE_AIR_TIME       32
 /* Delay between GO signal and SFD
  * Measured 153us between GO and preamble. Add 5 bytes (preamble + SFD) air time: 153+5*32 = 313 */
 #define RADIO_DELAY_BEFORE_TX ((unsigned)US_TO_RTIMERTICKS(313))
diff --git a/arch/platform/sky/sky-def.h b/arch/platform/sky/sky-def.h
index edab43ee7..1077563a3 100644
--- a/arch/platform/sky/sky-def.h
+++ b/arch/platform/sky/sky-def.h
@@ -43,6 +43,11 @@
  * Definitions below are dictated by the hardware and not really
  * changeable!
  */
+
+ /* 1 len byte, 2 bytes CRC */
+ #define RADIO_PHY_OVERHEAD         3
+ /* 250kbps data rate. One byte = 32us */
+ #define RADIO_BYTE_AIR_TIME       32
 /* Delay between GO signal and SFD: radio fixed delay + 4Bytes preample + 1B SFD -- 1Byte time is 32us
  * ~327us + 129preample = 456 us */
 #define RADIO_DELAY_BEFORE_TX ((unsigned)US_TO_RTIMERTICKS(456))
diff --git a/os/net/mac/tsch/tsch-const.h b/os/net/mac/tsch/tsch-const.h
index 81ca7ffa8..a5bafbc64 100644
--- a/os/net/mac/tsch/tsch-const.h
+++ b/os/net/mac/tsch/tsch-const.h
@@ -80,7 +80,7 @@
 /* Calculate packet tx/rx duration in rtimer ticks based on sent
  * packet len in bytes with 802.15.4 250kbps data rate.
  * One byte = 32us. Add two bytes for CRC and one for len field */
-#define TSCH_PACKET_DURATION(len) US_TO_RTIMERTICKS(32 * ((len) + 3))
+#define TSCH_PACKET_DURATION(len) US_TO_RTIMERTICKS(RADIO_BYTE_AIR_TIME * ((len) + RADIO_PHY_OVERHEAD))
 
 /* Convert rtimer ticks to clock and vice versa */
 #define TSCH_CLOCK_TO_TICKS(c) (((c) * RTIMER_SECOND) / CLOCK_SECOND)

From 665f21592f5962261c798f668bc318cb2a1b5b64 Mon Sep 17 00:00:00 2001
From: Simon Duquennoy <simon.duquennoy@ri.se>
Date: Wed, 3 Oct 2018 13:35:34 +0200
Subject: [PATCH 28/46] TSCH: compute TSCH_SLOTS_PER_SECOND based on current
 timeslot timings rather than default

---
 os/net/mac/tsch/tsch-const.h | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/os/net/mac/tsch/tsch-const.h b/os/net/mac/tsch/tsch-const.h
index a5bafbc64..78634dd42 100644
--- a/os/net/mac/tsch/tsch-const.h
+++ b/os/net/mac/tsch/tsch-const.h
@@ -75,7 +75,7 @@
 #define TSCH_TIMESYNC_MEASUREMENT_ERROR US_TO_RTIMERTICKS(32)
 
 /* The approximate number of slots per second */
-#define TSCH_SLOTS_PER_SECOND (1000000 / TSCH_DEFAULT_TS_TIMESLOT_LENGTH)
+#define TSCH_SLOTS_PER_SECOND (1000000 / tsch_timing_us[tsch_ts_timeslot_length])
 
 /* Calculate packet tx/rx duration in rtimer ticks based on sent
  * packet len in bytes with 802.15.4 250kbps data rate.

From ddde2aebdc654ab3da0b945549594474e0848659 Mon Sep 17 00:00:00 2001
From: Simon Duquennoy <simon.duquennoy@ri.se>
Date: Wed, 3 Oct 2018 13:36:00 +0200
Subject: [PATCH 29/46] jn516x example: compute sample_count on current
 timeslot timings rather than defaults

---
 .../jn516x/tsch/simple-sensor-network/node/node.c               | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/examples/platform-specific/jn516x/tsch/simple-sensor-network/node/node.c b/examples/platform-specific/jn516x/tsch/simple-sensor-network/node/node.c
index df72b69b3..251b0d135 100644
--- a/examples/platform-specific/jn516x/tsch/simple-sensor-network/node/node.c
+++ b/examples/platform-specific/jn516x/tsch/simple-sensor-network/node/node.c
@@ -194,7 +194,7 @@ PROCESS_THREAD(node_process, ev, data)
       if (host_found) {
         /* Make sample count dependent on asn. After a disconnect, waveforms remain
            synchronous. Use node_mac to create phase offset between waveforms in different nodes */
-        sample_count = ((tsch_current_asn.ls4b/((1000/(TSCH_CONF_DEFAULT_TIMESLOT_LENGTH/1000)))/INTERVAL)+node_mac[7]) % (SIZE_OF_WAVEFORM-1);
+        sample_count = ((tsch_current_asn.ls4b/((1000/(tsch_timing_us[tsch_ts_timeslot_length]/1000)))/INTERVAL)+node_mac[7]) % (SIZE_OF_WAVEFORM-1);
         printf("%d sec. waveform=%s. cnt=%d. value=%d\n", total_time, waveform_table[selected_waveform].str, sample_count, waveform_table[selected_waveform].table[sample_count]);
         my_sprintf(udp_buf, waveform_table[selected_waveform].table[sample_count]);
         uip_udp_packet_send(udp_conn_tx, udp_buf, strlen(udp_buf));

From 5497dc1e203be2aaee6ff91db9fde2d0dd61b2cf Mon Sep 17 00:00:00 2001
From: Simon Duquennoy <simon.duquennoy@ri.se>
Date: Wed, 3 Oct 2018 13:36:46 +0200
Subject: [PATCH 30/46] TSCH: timeslot timings as a structure, for flexible
 configuration

---
 arch/cpu/cc2538/dev/cc2538-rf.c  |  1 +
 arch/platform/sky/contiki-conf.h |  7 ++--
 arch/platform/sky/platform.c     | 17 ++++++++
 os/net/mac/tsch/tsch-conf.h      | 12 +++---
 os/net/mac/tsch/tsch-const.h     | 71 --------------------------------
 os/net/mac/tsch/tsch.c           | 54 ++++++++++++++++--------
 os/net/mac/tsch/tsch.h           |  4 ++
 tools/viewconf/viewconf.c        |  6 +--
 8 files changed, 72 insertions(+), 100 deletions(-)

diff --git a/arch/cpu/cc2538/dev/cc2538-rf.c b/arch/cpu/cc2538/dev/cc2538-rf.c
index 990f0f787..d3d2d2dff 100644
--- a/arch/cpu/cc2538/dev/cc2538-rf.c
+++ b/arch/cpu/cc2538/dev/cc2538-rf.c
@@ -42,6 +42,7 @@
 #include "net/packetbuf.h"
 #include "net/linkaddr.h"
 #include "net/netstack.h"
+#include "net/mac/tsch/tsch.h"
 #include "sys/energest.h"
 #include "dev/cc2538-rf.h"
 #include "dev/rfcore.h"
diff --git a/arch/platform/sky/contiki-conf.h b/arch/platform/sky/contiki-conf.h
index 8df4549ef..cf0a1e9ac 100644
--- a/arch/platform/sky/contiki-conf.h
+++ b/arch/platform/sky/contiki-conf.h
@@ -17,11 +17,12 @@
 #define NETSTACK_CONF_RADIO   cc2420_driver
 #endif /* NETSTACK_CONF_RADIO */
 
+extern uint16_t tsch_timeslot_timing_us_15000[];
 /* The TSCH default slot length of 10ms is a bit too short for this platform,
  * use 15ms instead. */
-#ifndef TSCH_CONF_DEFAULT_TIMESLOT_LENGTH
-#define TSCH_CONF_DEFAULT_TIMESLOT_LENGTH 15000
-#endif /* TSCH_CONF_DEFAULT_TIMESLOT_LENGTH */
+#ifndef TSCH_CONF_DEFAULT_TIMESLOT_TIMING
+#define TSCH_CONF_DEFAULT_TIMESLOT_TIMING tsch_timeslot_timing_us_15000
+#endif /* TSCH_CONF_DEFAULT_TIMESLOT_TIMING */
 
 /* Save RAM through a smaller uIP buffer */
 #ifndef UIP_CONF_BUFFER_SIZE
diff --git a/arch/platform/sky/platform.c b/arch/platform/sky/platform.c
index 89d18d3e8..90a856520 100644
--- a/arch/platform/sky/platform.c
+++ b/arch/platform/sky/platform.c
@@ -43,6 +43,7 @@
 #include "lib/random.h"
 #include "net/netstack.h"
 #include "net/mac/framer/frame802154.h"
+#include "net/mac/tsch/tsch.h"
 
 #if NETSTACK_CONF_WITH_IPV6
 #include "net/ipv6/uip-ds6.h"
@@ -63,6 +64,22 @@ extern int msp430_dco_required;
 #include "experiment-setup.h"
 #endif
 
+/* TSCH timeslot timing for platforms requiring 15ms slots */
+uint16_t tsch_timeslot_timing_us_15000[tsch_ts_elements_count] = {
+   1800, /* CCAOffset */
+    128, /* CCA */
+   4000, /* TxOffset */
+  (4000 - (TSCH_CONF_RX_WAIT / 2)), /* RxOffset */
+   3600, /* RxAckDelay */
+   4000, /* TxAckDelay */
+  TSCH_CONF_RX_WAIT, /* RxWait */
+    800, /* AckWait */
+   2072, /* RxTx */
+   2400, /* MaxAck */
+   4256, /* MaxTx */
+  15000, /* TimeslotLength */
+};
+
 void init_platform(void);
 /*---------------------------------------------------------------------------*/
 /* Log configuration */
diff --git a/os/net/mac/tsch/tsch-conf.h b/os/net/mac/tsch/tsch-conf.h
index ebec4d4c0..c1611e200 100644
--- a/os/net/mac/tsch/tsch-conf.h
+++ b/os/net/mac/tsch/tsch-conf.h
@@ -415,12 +415,12 @@ by default, useful in case of duplicate seqno */
 #define TSCH_RADIO_ON_DURING_TIMESLOT 0
 #endif
 
-
-
-/* Timeslot timing */
-#ifndef TSCH_CONF_DEFAULT_TIMESLOT_LENGTH
-#define TSCH_CONF_DEFAULT_TIMESLOT_LENGTH 10000
-#endif /* TSCH_CONF_DEFAULT_TIMESLOT_LENGTH */
+/* TSCH timeslot timing template */
+#ifdef TSCH_CONF_DEFAULT_TIMESLOT_TIMING
+#define TSCH_DEFAULT_TIMESLOT_TIMING TSCH_CONF_DEFAULT_TIMESLOT_TIMING
+#else
+#define TSCH_DEFAULT_TIMESLOT_TIMING tsch_timeslot_timing_us_10000
+#endif
 
 /* Configurable Rx guard time is micro-seconds */
 #ifndef TSCH_CONF_RX_WAIT
diff --git a/os/net/mac/tsch/tsch-const.h b/os/net/mac/tsch/tsch-const.h
index 78634dd42..edc989378 100644
--- a/os/net/mac/tsch/tsch-const.h
+++ b/os/net/mac/tsch/tsch-const.h
@@ -86,76 +86,5 @@
 #define TSCH_CLOCK_TO_TICKS(c) (((c) * RTIMER_SECOND) / CLOCK_SECOND)
 #define TSCH_CLOCK_TO_SLOTS(c, timeslot_length) (TSCH_CLOCK_TO_TICKS(c) / timeslot_length)
 
-/* The default timeslot timing in the standard is a guard time of
- * 2200 us, a Tx offset of 2120 us and a Rx offset of 1120 us.
- * As a result, the listening device has a guard time not centered
- * on the expected Tx time. This is to be fixed in the next iteration
- * of the standard. This can be enabled with:
- * #define TSCH_DEFAULT_TS_TX_OFFSET          2120
- * #define TSCH_DEFAULT_TS_RX_OFFSET          1120
- * #define TSCH_DEFAULT_TS_RX_WAIT            2200
- *
- * Instead, we align the Rx guard time on expected Tx time. The Rx
- * guard time is user-configurable with TSCH_CONF_RX_WAIT.
-
- * (TS_TX_OFFSET - (TS_RX_WAIT / 2)) instead */
-
-#if TSCH_CONF_DEFAULT_TIMESLOT_LENGTH == 10000
-/* Default timeslot timing as per IEEE 802.15.4e */
-
-#define TSCH_DEFAULT_TS_CCA_OFFSET         1800
-#define TSCH_DEFAULT_TS_CCA                128
-#define TSCH_DEFAULT_TS_TX_OFFSET          2120
-#define TSCH_DEFAULT_TS_RX_OFFSET          (TSCH_DEFAULT_TS_TX_OFFSET - (TSCH_CONF_RX_WAIT / 2))
-#define TSCH_DEFAULT_TS_RX_ACK_DELAY       800
-#define TSCH_DEFAULT_TS_TX_ACK_DELAY       1000
-#define TSCH_DEFAULT_TS_RX_WAIT            TSCH_CONF_RX_WAIT
-#define TSCH_DEFAULT_TS_ACK_WAIT           400
-#define TSCH_DEFAULT_TS_RX_TX              192
-#define TSCH_DEFAULT_TS_MAX_ACK            2400
-#define TSCH_DEFAULT_TS_MAX_TX             4256
-#define TSCH_DEFAULT_TS_TIMESLOT_LENGTH    10000
-
-#elif TSCH_CONF_DEFAULT_TIMESLOT_LENGTH == 15000
-/* Default timeslot timing for platforms requiring 15ms slots */
-
-#define TSCH_DEFAULT_TS_CCA_OFFSET         1800
-#define TSCH_DEFAULT_TS_CCA                128
-#define TSCH_DEFAULT_TS_TX_OFFSET          4000
-#define TSCH_DEFAULT_TS_RX_OFFSET          (TSCH_DEFAULT_TS_TX_OFFSET - (TSCH_CONF_RX_WAIT / 2))
-#define TSCH_DEFAULT_TS_RX_ACK_DELAY       3600
-#define TSCH_DEFAULT_TS_TX_ACK_DELAY       4000
-#define TSCH_DEFAULT_TS_RX_WAIT            TSCH_CONF_RX_WAIT
-#define TSCH_DEFAULT_TS_ACK_WAIT           800
-#define TSCH_DEFAULT_TS_RX_TX              2072
-#define TSCH_DEFAULT_TS_MAX_ACK            2400
-#define TSCH_DEFAULT_TS_MAX_TX             4256
-#define TSCH_DEFAULT_TS_TIMESLOT_LENGTH    15000
-
-#elif TSCH_CONF_DEFAULT_TIMESLOT_LENGTH == 65000U
-/* 65ms timeslot, i.e. nearly the max length allowed by standard (16-bit unsigned in micro-seconds).
- * Useful for running link-layer security on sky in Cooja, where only S/W security is supported.
- * Note: this slot timing would require a total of 120ms. If a slot overlaps with the next active slot,
- * the latter will be skipped.
- * This configuration is mostly a work-around to test link-layer security in Cooja, it is recommended
- * to use it with a 6TiSCH minimal schedule of length >= 2. */
-
-#define TSCH_DEFAULT_TS_CCA_OFFSET         1800
-#define TSCH_DEFAULT_TS_CCA                128
-#define TSCH_DEFAULT_TS_TX_OFFSET          52000
-#define TSCH_DEFAULT_TS_RX_OFFSET          (TSCH_DEFAULT_TS_TX_OFFSET - (TSCH_CONF_RX_WAIT / 2))
-#define TSCH_DEFAULT_TS_RX_ACK_DELAY       58600
-#define TSCH_DEFAULT_TS_TX_ACK_DELAY       59000
-#define TSCH_DEFAULT_TS_RX_WAIT            TSCH_CONF_RX_WAIT
-#define TSCH_DEFAULT_TS_ACK_WAIT           800
-#define TSCH_DEFAULT_TS_RX_TX              2072
-#define TSCH_DEFAULT_TS_MAX_ACK            2400
-#define TSCH_DEFAULT_TS_MAX_TX             4256
-#define TSCH_DEFAULT_TS_TIMESLOT_LENGTH    65000
-
-#else
-#error "TSCH: Unsupported default timeslot length"
-#endif
-
 #endif /* __TSCH_CONST_H__ */
 /** @} */
diff --git a/os/net/mac/tsch/tsch.c b/os/net/mac/tsch/tsch.c
index ffdf46e3a..f5a671541 100644
--- a/os/net/mac/tsch/tsch.c
+++ b/os/net/mac/tsch/tsch.c
@@ -101,21 +101,38 @@ NBR_TABLE(struct eb_stat, eb_stats);
 uint8_t tsch_hopping_sequence[TSCH_HOPPING_SEQUENCE_MAX_LEN];
 struct tsch_asn_divisor_t tsch_hopping_sequence_length;
 
-/* Default TSCH timeslot timing (in micro-second) */
-static const uint16_t tsch_default_timing_us[tsch_ts_elements_count] = {
-  TSCH_DEFAULT_TS_CCA_OFFSET,
-  TSCH_DEFAULT_TS_CCA,
-  TSCH_DEFAULT_TS_TX_OFFSET,
-  TSCH_DEFAULT_TS_RX_OFFSET,
-  TSCH_DEFAULT_TS_RX_ACK_DELAY,
-  TSCH_DEFAULT_TS_TX_ACK_DELAY,
-  TSCH_DEFAULT_TS_RX_WAIT,
-  TSCH_DEFAULT_TS_ACK_WAIT,
-  TSCH_DEFAULT_TS_RX_TX,
-  TSCH_DEFAULT_TS_MAX_ACK,
-  TSCH_DEFAULT_TS_MAX_TX,
-  TSCH_DEFAULT_TS_TIMESLOT_LENGTH,
+/* The default timeslot timing in the standard is a guard time of
+ * 2200 us, a Tx offset of 2120 us and a Rx offset of 1120 us.
+ * As a result, the listening device has a guard time not centered
+ * on the expected Tx time. This is to be fixed in the next iteration
+ * of the standard. This can be enabled with:
+ * TxOffset: 2120
+ * RxOffset: 1120
+ * RxWait:   2200
+ *
+ * Instead, we align the Rx guard time on expected Tx time. The Rx
+ * guard time is user-configurable with TSCH_CONF_RX_WAIT.
+ * (TxOffset - (RxWait / 2)) instead */
+
+uint16_t tsch_timeslot_timing_us_10000[tsch_ts_elements_count] = {
+   1800, /* CCAOffset */
+    128, /* CCA */
+   2120, /* TxOffset */
+  (2120 - (TSCH_CONF_RX_WAIT / 2)), /* RxOffset */
+    800, /* RxAckDelay */
+   1000, /* TxAckDelay */
+  TSCH_CONF_RX_WAIT, /* RxWait */
+    400, /* AckWait */
+    192, /* RxTx */
+   2400, /* MaxAck */
+   4256, /* MaxTx */
+  10000, /* TimeslotLength */
 };
+
+/* Default TSCH timeslot timing (in micro-second) */
+static const uint16_t *tsch_default_timing_us;
+/* TSCH timeslot timing (in micro-second) */
+uint16_t tsch_timing_us[tsch_ts_elements_count];
 /* TSCH timeslot timing (in rtimer ticks) */
 rtimer_clock_t tsch_timing[tsch_ts_elements_count];
 
@@ -231,8 +248,10 @@ tsch_reset(void)
   TSCH_ASN_INIT(tsch_current_asn, 0, 0);
   current_link = NULL;
   /* Reset timeslot timing to defaults */
+  tsch_default_timing_us = TSCH_DEFAULT_TIMESLOT_TIMING;
   for(i = 0; i < tsch_ts_elements_count; i++) {
-    tsch_timing[i] = US_TO_RTIMERTICKS(tsch_default_timing_us[i]);
+    tsch_timing_us[i] = tsch_default_timing_us[i];
+    tsch_timing[i] = US_TO_RTIMERTICKS(tsch_timing_us[i]);
   }
 #ifdef TSCH_CALLBACK_LEAVING_NETWORK
   TSCH_CALLBACK_LEAVING_NETWORK();
@@ -581,10 +600,11 @@ tsch_associate(const struct input_packet *input_eb, rtimer_clock_t timestamp)
   /* TSCH timeslot timing */
   for(i = 0; i < tsch_ts_elements_count; i++) {
     if(ies.ie_tsch_timeslot_id == 0) {
-      tsch_timing[i] = US_TO_RTIMERTICKS(tsch_default_timing_us[i]);
+      tsch_timing_us[i] = tsch_default_timing_us[i];
     } else {
-      tsch_timing[i] = US_TO_RTIMERTICKS(ies.ie_tsch_timeslot[i]);
+      tsch_timing_us[i] = ies.ie_tsch_timeslot[i];
     }
+    tsch_timing[i] = US_TO_RTIMERTICKS(tsch_timing_us[i]);
   }
 
   /* TSCH hopping sequence */
diff --git a/os/net/mac/tsch/tsch.h b/os/net/mac/tsch/tsch.h
index 273f979e4..6d0b68253 100644
--- a/os/net/mac/tsch/tsch.h
+++ b/os/net/mac/tsch/tsch.h
@@ -170,6 +170,8 @@ extern uint8_t tsch_current_channel;
 /* TSCH channel hopping sequence */
 extern uint8_t tsch_hopping_sequence[TSCH_HOPPING_SEQUENCE_MAX_LEN];
 extern struct tsch_asn_divisor_t tsch_hopping_sequence_length;
+/* TSCH timeslot timing (in micro-second) */
+uint16_t tsch_timing_us[tsch_ts_elements_count];
 /* TSCH timeslot timing (in rtimer ticks) */
 extern rtimer_clock_t tsch_timing[tsch_ts_elements_count];
 /* Statistics on the current session */
@@ -179,6 +181,8 @@ extern unsigned long sync_count;
 extern int32_t min_drift_seen;
 extern int32_t max_drift_seen;
 
+extern uint16_t tsch_timeslot_timing_us_10000[tsch_ts_elements_count];
+
 /* TSCH processes */
 PROCESS_NAME(tsch_process);
 PROCESS_NAME(tsch_send_eb_process);
diff --git a/tools/viewconf/viewconf.c b/tools/viewconf/viewconf.c
index 678663ee1..b5fe8dc7f 100644
--- a/tools/viewconf/viewconf.c
+++ b/tools/viewconf/viewconf.c
@@ -54,10 +54,10 @@
 ##### "TSCH_CONF_MAX_EB_PERIOD": _______________ -> TSCH_MAX_EB_PERIOD
 #endif
 
-#if TSCH_CONF_DEFAULT_TIMESLOT_LENGTH
-##### "TSCH_CONF_DEFAULT_TIMESLOT_LENGTH": _____ == TSCH_CONF_DEFAULT_TIMESLOT_LENGTH
+#ifdef TSCH_CONF_DEFAULT_TIMESLOT_TIMING
+##### "TSCH_CONF_DEFAULT_TIMESLOT_TIMING": _____ == TSCH_CONF_DEFAULT_TIMESLOT_TIMING
 #else
-##### "TSCH_CONF_DEFAULT_TIMESLOT_LENGTH": _____ -> TSCH_DEFAULT_TIMESLOT_LENGTH
+##### "TSCH_CONF_DEFAULT_TIMESLOT_TIMING": _____ -> TSCH_DEFAULT_TIMESLOT_TIMING
 #endif
 
 #ifdef TSCH_SCHEDULE_CONF_DEFAULT_LENGTH

From f79a19eaab3ccc93fc015bf9e80d33095b8cc2d1 Mon Sep 17 00:00:00 2001
From: Simon Duquennoy <simon.duquennoy@ri.se>
Date: Wed, 3 Oct 2018 13:44:48 +0200
Subject: [PATCH 31/46] cc2538-rf and cc1200: only include implementation of
 RADIO_CONST_TSCH_TIMING when TSCH is enabled

---
 arch/cpu/cc2538/dev/cc2538-rf.c | 2 ++
 arch/dev/cc1200/cc1200.c        | 2 ++
 2 files changed, 4 insertions(+)

diff --git a/arch/cpu/cc2538/dev/cc2538-rf.c b/arch/cpu/cc2538/dev/cc2538-rf.c
index d3d2d2dff..fdda8ccf9 100644
--- a/arch/cpu/cc2538/dev/cc2538-rf.c
+++ b/arch/cpu/cc2538/dev/cc2538-rf.c
@@ -972,6 +972,7 @@ get_object(radio_param_t param, void *dest, size_t size)
     return RADIO_RESULT_OK;
   }
 
+#if MAC_CONF_WITH_TSCH
   if(param == RADIO_CONST_TSCH_TIMING) {
     if(size != sizeof(uint16_t *) || !dest) {
       return RADIO_RESULT_INVALID_VALUE;
@@ -979,6 +980,7 @@ get_object(radio_param_t param, void *dest, size_t size)
     *(uint16_t **)dest = tsch_timeslot_timing_us_10000;
     return RADIO_RESULT_OK;
   }
+#endif /* MAC_CONF_WITH_TSCH */
 
   return RADIO_RESULT_NOT_SUPPORTED;
 }
diff --git a/arch/dev/cc1200/cc1200.c b/arch/dev/cc1200/cc1200.c
index d2b7db770..83510f249 100644
--- a/arch/dev/cc1200/cc1200.c
+++ b/arch/dev/cc1200/cc1200.c
@@ -1364,6 +1364,7 @@ get_object(radio_param_t param, void *dest, size_t size)
     return RADIO_RESULT_OK;
   }
 
+#if MAC_CONF_WITH_TSCH
   if(param == RADIO_CONST_TSCH_TIMING) {
     if(size != sizeof(uint16_t *) || !dest) {
       return RADIO_RESULT_INVALID_VALUE;
@@ -1371,6 +1372,7 @@ get_object(radio_param_t param, void *dest, size_t size)
     *(uint16_t **)dest = CC1200_RF_CFG.tsch_timing;
     return RADIO_RESULT_OK;
   }
+#endif /* MAC_CONF_WITH_TSCH */
 
   return RADIO_RESULT_NOT_SUPPORTED;
 

From ce0f95ec50badfd15b188a783b4e7787b0fae5eb Mon Sep 17 00:00:00 2001
From: Simon Duquennoy <simon.duquennoy@ri.se>
Date: Wed, 3 Oct 2018 13:53:10 +0200
Subject: [PATCH 32/46] cc1200 flags for TSCH

---
 arch/dev/cc1200/cc1200.c | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/arch/dev/cc1200/cc1200.c b/arch/dev/cc1200/cc1200.c
index 83510f249..a49cb8667 100644
--- a/arch/dev/cc1200/cc1200.c
+++ b/arch/dev/cc1200/cc1200.c
@@ -96,7 +96,11 @@ static rtimer_clock_t sfd_timestamp = 0;
  *
  * TODO: Option to be removed upon approval of the driver
  */
+#if MAC_CONF_WITH_TSCH
+#define USE_SFSTXON                     0
+#else /* MAC_CONF_WITH_TSCH */
 #define USE_SFSTXON                     1
+#endif /* MAC_CONF_WITH_TSCH */
 /*---------------------------------------------------------------------------*/
 /* Phy header length */
 #if CC1200_802154G
@@ -136,7 +140,15 @@ static rtimer_clock_t sfd_timestamp = 0;
 /* Use GPIO2 as RX / TX FIFO threshold indicator pin */
 #define GPIO2_IOCFG                     CC1200_IOCFG_RXFIFO_THR
 /* This is the FIFO threshold we use */
+#if MAC_CONF_WITH_TSCH
+#if CC1200_802154G
+#define FIFO_THRESHOLD                  1
+#else
+#define FIFO_THRESHOLD                  0
+#endif
+#else /* MAC_CONF_WITH_TSCH */
 #define FIFO_THRESHOLD                  32
+#endif /* MAC_CONF_WITH_TSCH */
 /* Turn on RX after packet reception */
 #define RXOFF_MODE_RX                   1
 /* Let the CC1200 append RSSI + LQI */

From c589875aeee7d1c2d98eb4c0fd41ac750c17226d Mon Sep 17 00:00:00 2001
From: Simon Duquennoy <simon.duquennoy@ri.se>
Date: Wed, 3 Oct 2018 14:07:47 +0200
Subject: [PATCH 33/46] cc1200: implement poll mode

---
 arch/dev/cc1200/cc1200.c | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/arch/dev/cc1200/cc1200.c b/arch/dev/cc1200/cc1200.c
index a49cb8667..58169be17 100644
--- a/arch/dev/cc1200/cc1200.c
+++ b/arch/dev/cc1200/cc1200.c
@@ -641,7 +641,7 @@ pollhandler(void)
     set_channel(new_rf_channel);
   }
 
-  if(rx_pkt_len > 0) {
+  if((rx_mode_value & RADIO_RX_MODE_POLL_MODE) == 0 && rx_pkt_len > 0) {
 
     int len;
 

From f4c1ae0fdd269a338c7756cdd4d96a1bb8a9cd7e Mon Sep 17 00:00:00 2001
From: Simon Duquennoy <simon.duquennoy@ri.se>
Date: Wed, 3 Oct 2018 14:15:05 +0200
Subject: [PATCH 34/46] cc1200: reset rf_flags in on()

---
 arch/dev/cc1200/cc1200.c | 1 +
 1 file changed, 1 insertion(+)

diff --git a/arch/dev/cc1200/cc1200.c b/arch/dev/cc1200/cc1200.c
index 58169be17..b1a1c3b44 100644
--- a/arch/dev/cc1200/cc1200.c
+++ b/arch/dev/cc1200/cc1200.c
@@ -1055,6 +1055,7 @@ on(void)
     RF_ASSERT((cc1200_arch_gpio0_read_pin() == 0));
     cc1200_arch_spi_deselect();
 
+    rf_flags = RF_INITIALIZED;
     rf_flags |= RF_ON;
 
     /* Radio is IDLE now, re-configure GPIO0 (modified inside off()) */

From 90264a3ba383e6e05f242635dc3fa7a5ead95a3f Mon Sep 17 00:00:00 2001
From: Simon Duquennoy <simon.duquennoy@ri.se>
Date: Wed, 3 Oct 2018 14:15:25 +0200
Subject: [PATCH 35/46] cc1200: read out any pending packet before turning off

---
 arch/dev/cc1200/cc1200.c | 10 ++++++++++
 1 file changed, 10 insertions(+)

diff --git a/arch/dev/cc1200/cc1200.c b/arch/dev/cc1200/cc1200.c
index b1a1c3b44..42b9fe092 100644
--- a/arch/dev/cc1200/cc1200.c
+++ b/arch/dev/cc1200/cc1200.c
@@ -1098,6 +1098,16 @@ off(void)
 
     idle();
 
+    if(single_read(CC1200_NUM_RXBYTES) > 0) {
+      RELEASE_SPI();
+      /* In case there is something in the Rx FIFO, read it */
+      cc1200_rx_interrupt();
+      if(SPI_IS_LOCKED()) {
+        return 0;
+      }
+      LOCK_SPI();
+    }
+
     /*
      * As we use GPIO as CHIP_RDYn signal on wake-up / on(),
      * we re-configure it for CHIP_RDYn.

From 0ef1ee6df5423cb5684b56266da5c865e606b0d4 Mon Sep 17 00:00:00 2001
From: Simon Duquennoy <simon.duquennoy@ri.se>
Date: Wed, 3 Oct 2018 14:16:54 +0200
Subject: [PATCH 36/46] cc1200: make pending_packet work even when interrupt
 handler was not called

---
 arch/dev/cc1200/cc1200.c | 11 +++++++++--
 1 file changed, 9 insertions(+), 2 deletions(-)

diff --git a/arch/dev/cc1200/cc1200.c b/arch/dev/cc1200/cc1200.c
index 42b9fe092..f7387f659 100644
--- a/arch/dev/cc1200/cc1200.c
+++ b/arch/dev/cc1200/cc1200.c
@@ -1026,9 +1026,16 @@ receiving_packet(void)
 static int
 pending_packet(void)
 {
+  int ret;
+  ret = ((rx_pkt_len != 0) ? 1 : 0);
+  if(ret == 0 && !SPI_IS_LOCKED()) {
+    LOCK_SPI();
+    ret = (single_read(CC1200_NUM_RXBYTES) > 0);
+    RELEASE_SPI();
+  }
 
-  INFO("RF: Pending (%d)\n", ((rx_pkt_len != 0) ? 1 : 0));
-  return (rx_pkt_len != 0) ? 1 : 0;
+  INFO("RF: Pending (%d)\n", ret);
+  return ret;
 
 }
 /*---------------------------------------------------------------------------*/

From b5e12154c489a28283e50a025bfe2e2b680c4dc7 Mon Sep 17 00:00:00 2001
From: Simon Duquennoy <simon.duquennoy@ri.se>
Date: Wed, 3 Oct 2018 15:15:18 +0200
Subject: [PATCH 37/46] cc1200: added option to separate filling the Tx FIFO
 from actual transmission

---
 arch/dev/cc1200/cc1200.c | 144 +++++++++++++++++++++++----------------
 1 file changed, 87 insertions(+), 57 deletions(-)

diff --git a/arch/dev/cc1200/cc1200.c b/arch/dev/cc1200/cc1200.c
index f7387f659..a44454564 100644
--- a/arch/dev/cc1200/cc1200.c
+++ b/arch/dev/cc1200/cc1200.c
@@ -82,6 +82,14 @@ static rtimer_clock_t sfd_timestamp = 0;
 #define CC1200_RF_CFG                   cc1200_802154g_863_870_fsk_50kbps
 #endif
 #endif
+/*
+ * When set, a software buffer is used to store outgoing packets before copying
+ * to Tx FIFO. This enabled sending packets larger than the FIFO. When unset,
+ * no buffer is used; instead, the payload is copied directly to the Tx FIFO.
+ * This is requried by TSCH, for shorter and more predictable delay in the Tx
+ * chain. This, however, restircts the payload length to the Tx FIFO size.
+ */
+#define CC1200_WITH_TX_BUF (!MAC_CONF_WITH_TSCH)
 /*
  * Set this parameter to 1 in order to use the MARC_STATE register when
  * polling the chips's status. Else use the status byte returned when sending
@@ -398,10 +406,14 @@ extern const cc1200_rf_cfg_t CC1200_RF_CFG;
 /*---------------------------------------------------------------------------*/
 /* Flag indicating whether non-interrupt routines are using SPI */
 static volatile uint8_t spi_locked = 0;
+#if CC1200_WITH_TX_BUF
 /* Packet buffer for transmission, filled within prepare() */
 static uint8_t tx_pkt[CC1200_MAX_PAYLOAD_LEN];
+#endif /* CC1200_WITH_TX_BUF */
 /* The number of bytes waiting in tx_pkt */
 static uint16_t tx_pkt_len;
+/* Number of bytes from tx_pkt left to write to FIFO */
+uint16_t bytes_left_to_write;
 /* Packet buffer for reception */
 static uint8_t rx_pkt[CC1200_MAX_PAYLOAD_LEN + APPENDIX_LEN];
 /* The number of bytes placed in rx_pkt */
@@ -439,6 +451,9 @@ static struct etimer et;
 /* Init the radio. */
 static int
 init(void);
+/* Prepare and copy PHY header to Tx FIFO */
+static int
+copy_header_to_tx_fifo(unsigned short payload_len);
 /* Prepare the radio with a packet to be sent. */
 static int
 prepare(const void *payload, unsigned short payload_len);
@@ -547,7 +562,7 @@ idle_calibrate_rx(void);
 /* Restart RX from within RX interrupt. */
 static void
 rx_rx(void);
-/* Fill TX FIFO, start TX and wait for TX to complete (blocking!). */
+/* Fill TX FIFO (if not already done), start TX and wait for TX to complete (blocking!). */
 static int
 idle_tx_rx(const uint8_t *payload, uint16_t payload_len);
 /* Update TX power */
@@ -739,10 +754,67 @@ prepare(const void *payload, unsigned short payload_len)
   }
 
   tx_pkt_len = payload_len;
+
+#if CC1200_WITH_TX_BUF
+  /* Copy payload to buffer, will be sent later */
   memcpy(tx_pkt, payload, tx_pkt_len);
+#else /* CC1200_WITH_TX_BUF */
+#if (CC1200_MAX_PAYLOAD_LEN > (CC1200_FIFO_SIZE - PHR_LEN))
+#error CC1200 max payload too large
+#else
+  /* Copy header and payload directly to Radio Tx FIFO (127 bytes max) */
+  copy_header_to_tx_fifo(payload_len);
+  burst_write(CC1200_TXFIFO, payload, payload_len);
+#endif
+#endif /* CC1200_WITH_TX_BUF */
 
   return RADIO_TX_OK;
+}
+/*---------------------------------------------------------------------------*/
+/* Prepare the radio with a packet to be sent. */
+static int
+copy_header_to_tx_fifo(unsigned short payload_len)
+{
+#if CC1200_802154G
+  /* Prepare PHR for 802.15.4g frames */
+  struct {
+    uint8_t phra;
+    uint8_t phrb;
+  } phr;
+#if CC1200_802154G_CRC16
+  payload_len += 2;
+#else
+  payload_len += 4;
+#endif
+  /* Frame length */
+  phr.phrb = (uint8_t)(payload_len & 0x00FF);
+  phr.phra = (uint8_t)((payload_len >> 8) & 0x0007);
+#if CC1200_802154G_WHITENING
+  /* Enable Whitening */
+  phr.phra |= (1 << 3);
+#endif /* #if CC1200_802154G_WHITENING */
+#if CC1200_802154G_CRC16
+  /* FCS type 1, 2 Byte CRC */
+  phr.phra |= (1 << 4);
+#endif /* #if CC1200_802154G_CRC16 */
+#endif /* #if CC1200_802154G */
 
+  idle();
+
+  rf_flags &= ~RF_RX_PROCESSING_PKT;
+  strobe(CC1200_SFRX);
+  /* Flush TX FIFO */
+  strobe(CC1200_SFTX);
+
+#if CC1200_802154G
+  /* Write PHR */
+  burst_write(CC1200_TXFIFO, (uint8_t *)&phr, PHR_LEN);
+#else
+  /* Write length byte */
+  burst_write(CC1200_TXFIFO, (uint8_t *)&payload_len, PHR_LEN);
+#endif /* #if CC1200_802154G */
+
+  return 0;
 }
 /*---------------------------------------------------------------------------*/
 /* Send the packet that has previously been prepared. */
@@ -752,6 +824,7 @@ transmit(unsigned short transmit_len)
 
   uint8_t was_off = 0;
   int ret = RADIO_TX_OK;
+  int txret;
 
   INFO("RF: Transmit (%d)\n", transmit_len);
 
@@ -807,7 +880,12 @@ transmit(unsigned short transmit_len)
 #endif
 
   /* Send data using TX FIFO */
-  if(idle_tx_rx((const uint8_t *)tx_pkt, tx_pkt_len) == RADIO_TX_OK) {
+#if CC1200_WITH_TX_BUF
+  txret = idle_tx_rx(tx_pkt, tx_pkt_len);
+#else /* CC1200_WITH_TX_BUF */
+  txret = idle_tx_rx(NULL, tx_pkt_len);
+#endif /* CC1200_WITH_TX_BUF */
+  if(txret == RADIO_TX_OK) {
 
     /*
      * TXOFF_MODE is set to RX,
@@ -1885,75 +1963,25 @@ rx_rx(void)
 
 }
 /*---------------------------------------------------------------------------*/
-/* Fill TX FIFO, start TX and wait for TX to complete (blocking!). */
+/* Fill TX FIFO (if not already done), start TX and wait for TX to complete (blocking!). */
 static int
 idle_tx_rx(const uint8_t *payload, uint16_t payload_len)
 {
-
 #if (CC1200_MAX_PAYLOAD_LEN > (CC1200_FIFO_SIZE - PHR_LEN))
-  uint16_t bytes_left_to_write;
   uint8_t to_write;
   const uint8_t *p;
 #endif
 
-#if CC1200_802154G
-  /* Prepare PHR for 802.15.4g frames */
-  struct {
-    uint8_t phra;
-    uint8_t phrb;
-  } phr;
-#if CC1200_802154G_CRC16
-  payload_len += 2;
-#else
-  payload_len += 4;
-#endif
-  /* Frame length */
-  phr.phrb = (uint8_t)(payload_len & 0x00FF);
-  phr.phra = (uint8_t)((payload_len >> 8) & 0x0007);
-#if CC1200_802154G_WHITENING
-  /* Enable Whitening */
-  phr.phra |= (1 << 3);
-#endif /* #if CC1200_802154G_WHITENING */
-#if CC1200_802154G_CRC16
-  /* FCS type 1, 2 Byte CRC */
-  phr.phra |= (1 << 4);
-#endif /* #if CC1200_802154G_CRC16 */
-#endif /* #if CC1200_802154G */
-
   /* Prepare for RX */
   rf_flags &= ~RF_RX_PROCESSING_PKT;
   strobe(CC1200_SFRX);
 
-  /* Flush TX FIFO */
-  strobe(CC1200_SFTX);
-
-#if USE_SFSTXON
-  /*
-   * Enable synthesizer. Saves us a few µs especially if it takes
-   * long enough to fill the FIFO. This strobe must not be
-   * send before SFTX!
-   */
-  strobe(CC1200_SFSTXON);
-#endif
-
   /* Configure GPIO0 to detect TX state */
   single_write(CC1200_IOCFG0, CC1200_IOCFG_MARC_2PIN_STATUS_0);
 
-#if (CC1200_MAX_PAYLOAD_LEN > (CC1200_FIFO_SIZE - PHR_LEN))
-  /*
-   * We already checked that GPIO2 is used if
-   * CC1200_MAX_PAYLOAD_LEN > 127 / 126 in the header of this file
-   */
-  single_write(CC1200_IOCFG2, CC1200_IOCFG_TXFIFO_THR);
-#endif
-
-#if CC1200_802154G
-  /* Write PHR */
-  burst_write(CC1200_TXFIFO, (uint8_t *)&phr, PHR_LEN);
-#else
-  /* Write length byte */
-  burst_write(CC1200_TXFIFO, (uint8_t *)&payload_len, PHR_LEN);
-#endif /* #if CC1200_802154G */
+#if CC1200_WITH_TX_BUF
+  /* Prepare and write header */
+  copy_header_to_tx_fifo(payload_len);
 
   /*
    * Fill FIFO with data. If SPI is slow it might make sense
@@ -1970,6 +1998,7 @@ idle_tx_rx(const uint8_t *payload, uint16_t payload_len)
 #else
   burst_write(CC1200_TXFIFO, payload, payload_len);
 #endif
+#endif /* CC1200_WITH_TX_BUF */
 
 #if USE_SFSTXON
   /* Wait for synthesizer to be ready */
@@ -2009,7 +2038,7 @@ idle_tx_rx(const uint8_t *payload, uint16_t payload_len)
 
   }
 
-#if (CC1200_MAX_PAYLOAD_LEN > (CC1200_FIFO_SIZE - PHR_LEN))
+#if (CC1200_MAX_PAYLOAD_LEN > (CC1200_FIFO_SIZE - PHR_LEN)) && CC1200_WITH_TX_BUF
   if(bytes_left_to_write != 0) {
     rtimer_clock_t t0;
     uint8_t s;
@@ -2280,6 +2309,7 @@ addr_check_auto_ack(uint8_t *frame, uint16_t frame_len)
         idle();
 #endif
 
+        prepare((const uint8_t *)ack, ACK_LEN);
         idle_tx_rx((const uint8_t *)ack, ACK_LEN);
 
         /* rx_rx() will follow */

From cc0c70c1b394344f7287eef622f4ed931779e2c7 Mon Sep 17 00:00:00 2001
From: Simon Duquennoy <simon.duquennoy@ri.se>
Date: Thu, 4 Oct 2018 10:33:52 +0200
Subject: [PATCH 38/46] TSCH: move 10ms and 15ms timeslot timings to separate
 files

---
 arch/dev/cc2420/cc2420-tsch-15ms.c     | 61 ++++++++++++++++++++
 arch/platform/sky/contiki-conf.h       |  2 +
 arch/platform/sky/platform.c           | 16 ------
 os/net/mac/tsch/tsch-timeslot-timing.c | 79 ++++++++++++++++++++++++++
 os/net/mac/tsch/tsch.c                 | 28 ---------
 os/net/mac/tsch/tsch.h                 |  2 +-
 6 files changed, 143 insertions(+), 45 deletions(-)
 create mode 100644 arch/dev/cc2420/cc2420-tsch-15ms.c
 create mode 100644 os/net/mac/tsch/tsch-timeslot-timing.c

diff --git a/arch/dev/cc2420/cc2420-tsch-15ms.c b/arch/dev/cc2420/cc2420-tsch-15ms.c
new file mode 100644
index 000000000..6f79bff91
--- /dev/null
+++ b/arch/dev/cc2420/cc2420-tsch-15ms.c
@@ -0,0 +1,61 @@
+/*
+ * Copyright (c) 2018, RISE SICS.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ * 3. Neither the name of the Institute nor the names of its contributors
+ *    may be used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED.  IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+ * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ *
+ * This file is part of the Contiki operating system.
+ *
+ */
+
+/**
+ * \file
+ *         IEEE 802.15.4 TSCH timeslot timings for 15ms slots
+ * \author
+ *         Simon Duquennoy <simon.duquennoy@ri.se>
+ *
+ */
+
+#include "contiki.h"
+#include "net/mac/tsch/tsch.h"
+
+/**
+ * \brief 15ms TSCH timeslot timings, required for cc2420 platforms as
+ * they are unable to keep up with the defulat 10ms timeslots.
+ */
+uint16_t tsch_timeslot_timing_us_15000[tsch_ts_elements_count] = {
+  1800, /* CCAOffset */
+   128, /* CCA */
+  4000, /* TxOffset */
+ (4000 - (TSCH_CONF_RX_WAIT / 2)), /* RxOffset */
+  3600, /* RxAckDelay */
+  4000, /* TxAckDelay */
+ TSCH_CONF_RX_WAIT, /* RxWait */
+   800, /* AckWait */
+  2072, /* RxTx */
+  2400, /* MaxAck */
+  4256, /* MaxTx */
+ 15000, /* TimeslotLength */
+};
diff --git a/arch/platform/sky/contiki-conf.h b/arch/platform/sky/contiki-conf.h
index cf0a1e9ac..634b77ca9 100644
--- a/arch/platform/sky/contiki-conf.h
+++ b/arch/platform/sky/contiki-conf.h
@@ -17,7 +17,9 @@
 #define NETSTACK_CONF_RADIO   cc2420_driver
 #endif /* NETSTACK_CONF_RADIO */
 
+/* TSCH 15ms timeslot timing template, required for cc2420 */
 extern uint16_t tsch_timeslot_timing_us_15000[];
+
 /* The TSCH default slot length of 10ms is a bit too short for this platform,
  * use 15ms instead. */
 #ifndef TSCH_CONF_DEFAULT_TIMESLOT_TIMING
diff --git a/arch/platform/sky/platform.c b/arch/platform/sky/platform.c
index 90a856520..8044a7196 100644
--- a/arch/platform/sky/platform.c
+++ b/arch/platform/sky/platform.c
@@ -64,22 +64,6 @@ extern int msp430_dco_required;
 #include "experiment-setup.h"
 #endif
 
-/* TSCH timeslot timing for platforms requiring 15ms slots */
-uint16_t tsch_timeslot_timing_us_15000[tsch_ts_elements_count] = {
-   1800, /* CCAOffset */
-    128, /* CCA */
-   4000, /* TxOffset */
-  (4000 - (TSCH_CONF_RX_WAIT / 2)), /* RxOffset */
-   3600, /* RxAckDelay */
-   4000, /* TxAckDelay */
-  TSCH_CONF_RX_WAIT, /* RxWait */
-    800, /* AckWait */
-   2072, /* RxTx */
-   2400, /* MaxAck */
-   4256, /* MaxTx */
-  15000, /* TimeslotLength */
-};
-
 void init_platform(void);
 /*---------------------------------------------------------------------------*/
 /* Log configuration */
diff --git a/os/net/mac/tsch/tsch-timeslot-timing.c b/os/net/mac/tsch/tsch-timeslot-timing.c
new file mode 100644
index 000000000..13b05851b
--- /dev/null
+++ b/os/net/mac/tsch/tsch-timeslot-timing.c
@@ -0,0 +1,79 @@
+/*
+ * Copyright (c) 2018, RISE SICS.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ * 3. Neither the name of the Institute nor the names of its contributors
+ *    may be used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED.  IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+ * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ *
+ * This file is part of the Contiki operating system.
+ *
+ */
+
+/**
+ * \file
+ *         IEEE 802.15.4 TSCH timeslot timings
+ * \author
+ *         Simon Duquennoy <simon.duquennoy@ri.se>
+ *
+ */
+
+/**
+ * \addtogroup tsch
+ * @{
+*/
+
+#include "contiki.h"
+#include "net/mac/tsch/tsch.h"
+
+/**
+ * \brief The default timeslot timing in the standard is a guard time of
+ * 2200 us, a Tx offset of 2120 us and a Rx offset of 1120 us.
+ * As a result, the listening device has a guard time not centered
+ * on the expected Tx time. This is to be fixed in the next iteration
+ * of the standard. This can be enabled with:
+ * TxOffset: 2120
+ * RxOffset: 1120
+ * RxWait:   2200
+ *
+ * Instead, we align the Rx guard time on expected Tx time. The Rx
+ * guard time is user-configurable with TSCH_CONF_RX_WAIT.
+ * (TxOffset - (RxWait / 2)) instead
+ */
+
+uint16_t tsch_timeslot_timing_us_10000[tsch_ts_elements_count] = {
+   1800, /* CCAOffset */
+    128, /* CCA */
+   2120, /* TxOffset */
+  (2120 - (TSCH_CONF_RX_WAIT / 2)), /* RxOffset */
+    800, /* RxAckDelay */
+   1000, /* TxAckDelay */
+  TSCH_CONF_RX_WAIT, /* RxWait */
+    400, /* AckWait */
+    192, /* RxTx */
+   2400, /* MaxAck */
+   4256, /* MaxTx */
+  10000, /* TimeslotLength */
+};
+
+/** @} */
diff --git a/os/net/mac/tsch/tsch.c b/os/net/mac/tsch/tsch.c
index f5a671541..982715bd5 100644
--- a/os/net/mac/tsch/tsch.c
+++ b/os/net/mac/tsch/tsch.c
@@ -101,34 +101,6 @@ NBR_TABLE(struct eb_stat, eb_stats);
 uint8_t tsch_hopping_sequence[TSCH_HOPPING_SEQUENCE_MAX_LEN];
 struct tsch_asn_divisor_t tsch_hopping_sequence_length;
 
-/* The default timeslot timing in the standard is a guard time of
- * 2200 us, a Tx offset of 2120 us and a Rx offset of 1120 us.
- * As a result, the listening device has a guard time not centered
- * on the expected Tx time. This is to be fixed in the next iteration
- * of the standard. This can be enabled with:
- * TxOffset: 2120
- * RxOffset: 1120
- * RxWait:   2200
- *
- * Instead, we align the Rx guard time on expected Tx time. The Rx
- * guard time is user-configurable with TSCH_CONF_RX_WAIT.
- * (TxOffset - (RxWait / 2)) instead */
-
-uint16_t tsch_timeslot_timing_us_10000[tsch_ts_elements_count] = {
-   1800, /* CCAOffset */
-    128, /* CCA */
-   2120, /* TxOffset */
-  (2120 - (TSCH_CONF_RX_WAIT / 2)), /* RxOffset */
-    800, /* RxAckDelay */
-   1000, /* TxAckDelay */
-  TSCH_CONF_RX_WAIT, /* RxWait */
-    400, /* AckWait */
-    192, /* RxTx */
-   2400, /* MaxAck */
-   4256, /* MaxTx */
-  10000, /* TimeslotLength */
-};
-
 /* Default TSCH timeslot timing (in micro-second) */
 static const uint16_t *tsch_default_timing_us;
 /* TSCH timeslot timing (in micro-second) */
diff --git a/os/net/mac/tsch/tsch.h b/os/net/mac/tsch/tsch.h
index 6d0b68253..3cda54d96 100644
--- a/os/net/mac/tsch/tsch.h
+++ b/os/net/mac/tsch/tsch.h
@@ -180,7 +180,7 @@ extern unsigned long rx_count;
 extern unsigned long sync_count;
 extern int32_t min_drift_seen;
 extern int32_t max_drift_seen;
-
+/* The TSCH standard 10ms timeslot timing */
 extern uint16_t tsch_timeslot_timing_us_10000[tsch_ts_elements_count];
 
 /* TSCH processes */

From 22cbced03734cfb51142c62031a1c31e9937c8f9 Mon Sep 17 00:00:00 2001
From: Simon Duquennoy <simon.duquennoy@ri.se>
Date: Thu, 4 Oct 2018 10:38:18 +0200
Subject: [PATCH 39/46] TSCH: timeslot timing templates as const

---
 arch/cpu/cc2538/dev/cc2538-rf.c                     | 2 +-
 arch/dev/cc1200/cc1200-802154g-863-870-fsk-50kbps.c | 2 +-
 arch/dev/cc1200/cc1200-868-4gfsk-1000kbps.c         | 2 +-
 arch/dev/cc1200/cc1200-rf-cfg.h                     | 2 +-
 arch/dev/cc1200/cc1200.c                            | 2 +-
 arch/dev/cc2420/cc2420-tsch-15ms.c                  | 2 +-
 arch/platform/sky/contiki-conf.h                    | 2 +-
 os/net/mac/tsch/tsch-timeslot-timing.c              | 2 +-
 os/net/mac/tsch/tsch.h                              | 2 +-
 9 files changed, 9 insertions(+), 9 deletions(-)

diff --git a/arch/cpu/cc2538/dev/cc2538-rf.c b/arch/cpu/cc2538/dev/cc2538-rf.c
index fdda8ccf9..5a8bb8d6f 100644
--- a/arch/cpu/cc2538/dev/cc2538-rf.c
+++ b/arch/cpu/cc2538/dev/cc2538-rf.c
@@ -977,7 +977,7 @@ get_object(radio_param_t param, void *dest, size_t size)
     if(size != sizeof(uint16_t *) || !dest) {
       return RADIO_RESULT_INVALID_VALUE;
     }
-    *(uint16_t **)dest = tsch_timeslot_timing_us_10000;
+    *(const uint16_t **)dest = tsch_timeslot_timing_us_10000;
     return RADIO_RESULT_OK;
   }
 #endif /* MAC_CONF_WITH_TSCH */
diff --git a/arch/dev/cc1200/cc1200-802154g-863-870-fsk-50kbps.c b/arch/dev/cc1200/cc1200-802154g-863-870-fsk-50kbps.c
index b1d4b2064..ad19b5769 100644
--- a/arch/dev/cc1200/cc1200-802154g-863-870-fsk-50kbps.c
+++ b/arch/dev/cc1200/cc1200-802154g-863-870-fsk-50kbps.c
@@ -94,7 +94,7 @@ static const char rf_cfg_descriptor[] = "802.15.4g 863-870MHz MR-FSK mode #1";
                                                   )
 
 /* TSCH timeslot timing (mircoseconds) */
-static uint16_t cc1200_50kbps_tsch_timing[tsch_ts_elements_count] = {
+static const uint16_t cc1200_50kbps_tsch_timing[tsch_ts_elements_count] = {
   CC1200_TSCH_DEFAULT_TS_CCA_OFFSET,
   CC1200_TSCH_DEFAULT_TS_CCA,
   CC1200_TSCH_DEFAULT_TS_TX_OFFSET,
diff --git a/arch/dev/cc1200/cc1200-868-4gfsk-1000kbps.c b/arch/dev/cc1200/cc1200-868-4gfsk-1000kbps.c
index 506fad801..29beef6c0 100644
--- a/arch/dev/cc1200/cc1200-868-4gfsk-1000kbps.c
+++ b/arch/dev/cc1200/cc1200-868-4gfsk-1000kbps.c
@@ -86,7 +86,7 @@ static const char rf_cfg_descriptor[] = "868MHz 2-GFSK 1000 kbps";
                                                   )
 
 /* TSCH timeslot timing (in rtimer ticks) */
-static uint16_t cc1200_1000kbps_tsch_timing[tsch_ts_elements_count] = {
+static const uint16_t cc1200_1000kbps_tsch_timing[tsch_ts_elements_count] = {
   CC1200_TSCH_DEFAULT_TS_CCA_OFFSET,
   CC1200_TSCH_DEFAULT_TS_CCA,
   CC1200_TSCH_DEFAULT_TS_TX_OFFSET,
diff --git a/arch/dev/cc1200/cc1200-rf-cfg.h b/arch/dev/cc1200/cc1200-rf-cfg.h
index d047f772e..3042ffdd5 100644
--- a/arch/dev/cc1200/cc1200-rf-cfg.h
+++ b/arch/dev/cc1200/cc1200-rf-cfg.h
@@ -97,7 +97,7 @@ typedef struct cc1200_rf_cfg {
   /* The bitrate in bps */
   uint32_t bitrate;
   /* TSCH timeslot timing */
-  uint16_t *tsch_timing;
+  const uint16_t *tsch_timing;
 } cc1200_rf_cfg_t;
 /*---------------------------------------------------------------------------*/
 #endif /* CC1200_RF_CFG_H  */
diff --git a/arch/dev/cc1200/cc1200.c b/arch/dev/cc1200/cc1200.c
index a44454564..5f76e4817 100644
--- a/arch/dev/cc1200/cc1200.c
+++ b/arch/dev/cc1200/cc1200.c
@@ -1477,7 +1477,7 @@ get_object(radio_param_t param, void *dest, size_t size)
     if(size != sizeof(uint16_t *) || !dest) {
       return RADIO_RESULT_INVALID_VALUE;
     }
-    *(uint16_t **)dest = CC1200_RF_CFG.tsch_timing;
+    *(const uint16_t **)dest = CC1200_RF_CFG.tsch_timing;
     return RADIO_RESULT_OK;
   }
 #endif /* MAC_CONF_WITH_TSCH */
diff --git a/arch/dev/cc2420/cc2420-tsch-15ms.c b/arch/dev/cc2420/cc2420-tsch-15ms.c
index 6f79bff91..b3b825584 100644
--- a/arch/dev/cc2420/cc2420-tsch-15ms.c
+++ b/arch/dev/cc2420/cc2420-tsch-15ms.c
@@ -45,7 +45,7 @@
  * \brief 15ms TSCH timeslot timings, required for cc2420 platforms as
  * they are unable to keep up with the defulat 10ms timeslots.
  */
-uint16_t tsch_timeslot_timing_us_15000[tsch_ts_elements_count] = {
+const uint16_t tsch_timeslot_timing_us_15000[tsch_ts_elements_count] = {
   1800, /* CCAOffset */
    128, /* CCA */
   4000, /* TxOffset */
diff --git a/arch/platform/sky/contiki-conf.h b/arch/platform/sky/contiki-conf.h
index 634b77ca9..82e391164 100644
--- a/arch/platform/sky/contiki-conf.h
+++ b/arch/platform/sky/contiki-conf.h
@@ -18,7 +18,7 @@
 #endif /* NETSTACK_CONF_RADIO */
 
 /* TSCH 15ms timeslot timing template, required for cc2420 */
-extern uint16_t tsch_timeslot_timing_us_15000[];
+extern const uint16_t tsch_timeslot_timing_us_15000[];
 
 /* The TSCH default slot length of 10ms is a bit too short for this platform,
  * use 15ms instead. */
diff --git a/os/net/mac/tsch/tsch-timeslot-timing.c b/os/net/mac/tsch/tsch-timeslot-timing.c
index 13b05851b..a75676101 100644
--- a/os/net/mac/tsch/tsch-timeslot-timing.c
+++ b/os/net/mac/tsch/tsch-timeslot-timing.c
@@ -61,7 +61,7 @@
  * (TxOffset - (RxWait / 2)) instead
  */
 
-uint16_t tsch_timeslot_timing_us_10000[tsch_ts_elements_count] = {
+const uint16_t tsch_timeslot_timing_us_10000[tsch_ts_elements_count] = {
    1800, /* CCAOffset */
     128, /* CCA */
    2120, /* TxOffset */
diff --git a/os/net/mac/tsch/tsch.h b/os/net/mac/tsch/tsch.h
index 3cda54d96..5eed691cd 100644
--- a/os/net/mac/tsch/tsch.h
+++ b/os/net/mac/tsch/tsch.h
@@ -181,7 +181,7 @@ extern unsigned long sync_count;
 extern int32_t min_drift_seen;
 extern int32_t max_drift_seen;
 /* The TSCH standard 10ms timeslot timing */
-extern uint16_t tsch_timeslot_timing_us_10000[tsch_ts_elements_count];
+extern const uint16_t tsch_timeslot_timing_us_10000[tsch_ts_elements_count];
 
 /* TSCH processes */
 PROCESS_NAME(tsch_process);

From 3ace2b93f625c17661f16ce5bf99220681ca561a Mon Sep 17 00:00:00 2001
From: Simon Duquennoy <simon.duquennoy@ri.se>
Date: Thu, 4 Oct 2018 10:42:13 +0200
Subject: [PATCH 40/46] tsch_init: added missing return in case of failed
 initialization

---
 os/net/mac/tsch/tsch.c | 1 +
 1 file changed, 1 insertion(+)

diff --git a/os/net/mac/tsch/tsch.c b/os/net/mac/tsch/tsch.c
index 982715bd5..7dbb0a7ce 100644
--- a/os/net/mac/tsch/tsch.c
+++ b/os/net/mac/tsch/tsch.c
@@ -939,6 +939,7 @@ tsch_init(void)
   /* Check max hopping sequence length vs default sequence length */
   if(TSCH_HOPPING_SEQUENCE_MAX_LEN < sizeof(TSCH_DEFAULT_HOPPING_SEQUENCE)) {
     LOG_ERR("! TSCH_HOPPING_SEQUENCE_MAX_LEN < sizeof(TSCH_DEFAULT_HOPPING_SEQUENCE). Abort init.\n");
+    return;
   }
 
   /* Init the queuebuf and TSCH sub-modules */

From 7c5977d9f717f402dfb44bb8dfb6d9e2c35e35d7 Mon Sep 17 00:00:00 2001
From: Simon Duquennoy <simon.duquennoy@ri.se>
Date: Thu, 4 Oct 2018 10:43:41 +0200
Subject: [PATCH 41/46] tsch_init: check that a timeslot timing template is
 provided

---
 os/net/mac/tsch/tsch.c | 6 ++++++
 1 file changed, 6 insertions(+)

diff --git a/os/net/mac/tsch/tsch.c b/os/net/mac/tsch/tsch.c
index 7dbb0a7ce..e78b888d0 100644
--- a/os/net/mac/tsch/tsch.c
+++ b/os/net/mac/tsch/tsch.c
@@ -899,6 +899,12 @@ tsch_init(void)
   radio_value_t radio_tx_mode;
   rtimer_clock_t t;
 
+  /* Check that the platform provides a TSCH timeslot timing template */
+  if(TSCH_DEFAULT_TIMESLOT_TIMING == NULL) {
+    LOG_ERR("! platform does not provide a timeslot timing template.\n");
+    return;
+  }
+
   /* Radio Rx mode */
   if(NETSTACK_RADIO.get_value(RADIO_PARAM_RX_MODE, &radio_rx_mode) != RADIO_RESULT_OK) {
     LOG_ERR("! radio does not support getting RADIO_PARAM_RX_MODE. Abort init.\n");

From 085601f79567f8838e4cceac4035aaa46d7fce37 Mon Sep 17 00:00:00 2001
From: George Oikonomou <g.oikonomou@bristol.ac.uk>
Date: Thu, 4 Oct 2018 15:39:00 +0100
Subject: [PATCH 42/46] Default to using os/lib/dbg-io for all arm-powered
 platforms

With the exception of one specific build configuration for platform nrf52dk, all our arm-based platforms use the debugging I/O library from os/lib/dbg-io. This commit changes the build system to include this module by default for all arm devices. Platform / CPU Makefiles will no longer need to request this MODULE explicitly. Configuration provided to allow exclusion where required, as is the case for nrf52dk when NRF52_USE_RTT is set to 1.
---
 arch/cpu/arm/Makefile.arm                             | 11 +++++++++--
 arch/cpu/cc2538/Makefile.cc2538                       |  2 --
 arch/cpu/cc26xx-cc13xx/Makefile.cc26xx-cc13xx         |  2 --
 .../simplelink-cc13xx-cc26xx/Makefile.cc13xx-cc26xx   |  3 ---
 arch/platform/jn516x/Makefile.jn516x                  |  2 --
 arch/platform/nrf52dk/Makefile.nrf52dk                |  4 ++--
 6 files changed, 11 insertions(+), 13 deletions(-)

diff --git a/arch/cpu/arm/Makefile.arm b/arch/cpu/arm/Makefile.arm
index 285031e82..f2f86ff7a 100644
--- a/arch/cpu/arm/Makefile.arm
+++ b/arch/cpu/arm/Makefile.arm
@@ -29,10 +29,17 @@ else
   CFLAGS += -O2
 endif
 
-### Use CMSIS and the existing dbg-io from arch/cpu/arm/common
-CONTIKI_ARM_DIRS += . common/dbg-io
+### Use CMSIS from arch/cpu/arm/common
+CONTIKI_ARM_DIRS += . 
 CONTIKI_CPU_DIRS += $(addprefix ../arm/, $(CONTIKI_ARM_DIRS))
 
+### Default to use os/lib/dbg-io unless configured to do otherwise
+PLATFORM_DBG_IO ?= 0
+
+ifeq ($(PLATFORM_DBG_IO),0)
+  MODULES += os/lib/dbg-io
+endif
+
 ### CPU-dependent cleanup files
 CLEAN += *.elf *.bin *.lst *.hex *.i16hex
 
diff --git a/arch/cpu/cc2538/Makefile.cc2538 b/arch/cpu/cc2538/Makefile.cc2538
index 891215093..51a5c40c7 100644
--- a/arch/cpu/cc2538/Makefile.cc2538
+++ b/arch/cpu/cc2538/Makefile.cc2538
@@ -28,8 +28,6 @@ CONTIKI_CPU_SOURCEFILES += slip-arch.c slip.c
 CONTIKI_CPU_SOURCEFILES += i2c.c cc2538-temp-sensor.c vdd3-sensor.c
 CONTIKI_CPU_SOURCEFILES += cfs-coffee.c cfs-coffee-arch.c pwm.c
 
-MODULES += os/lib/dbg-io
-
 USB_SOURCEFILES += usb-core.c cdc-acm.c usb-arch.c usb-serial.c cdc-acm-descriptors.c
 
 CPU_START_SOURCEFILES = startup-gcc.c
diff --git a/arch/cpu/cc26xx-cc13xx/Makefile.cc26xx-cc13xx b/arch/cpu/cc26xx-cc13xx/Makefile.cc26xx-cc13xx
index f54a8d72d..00f9ae232 100644
--- a/arch/cpu/cc26xx-cc13xx/Makefile.cc26xx-cc13xx
+++ b/arch/cpu/cc26xx-cc13xx/Makefile.cc26xx-cc13xx
@@ -45,8 +45,6 @@ CONTIKI_CPU_SOURCEFILES += ble-cc2650.c ble-hal-cc26xx.c ble-addr.c rf-ble-cmd.c
 CONTIKI_CPU_SOURCEFILES += random.c soc-trng.c int-master.c
 CONTIKI_CPU_SOURCEFILES += spi-arch.c
 
-MODULES += os/lib/dbg-io
-
 CONTIKI_SOURCEFILES += $(CONTIKI_CPU_SOURCEFILES)
 
 CPU_START_SOURCEFILES += fault-handlers.c $(TI_XXWARE_STARTUP_SRCS)
diff --git a/arch/cpu/simplelink-cc13xx-cc26xx/Makefile.cc13xx-cc26xx b/arch/cpu/simplelink-cc13xx-cc26xx/Makefile.cc13xx-cc26xx
index 3eb11182d..dfd14637e 100644
--- a/arch/cpu/simplelink-cc13xx-cc26xx/Makefile.cc13xx-cc26xx
+++ b/arch/cpu/simplelink-cc13xx-cc26xx/Makefile.cc13xx-cc26xx
@@ -91,9 +91,6 @@ SDK_DEVICES := $(CORE_SDK)/source/ti/devices/$(SDK_DEVICES_NAME)
 
 EXTERNALDIRS += $(SDK_SOURCE) $(SDK_NORTOS)
 
-# CPU-dependent debug source files
-MODULES += os/lib/dbg-io
-
 # CPU-dependent directories
 CONTIKI_CPU_DIRS += . dev $(SUBFAMILY)
 CONTIKI_CPU_DIRS += rf rf-settings rf-settings/$(DEVICE_FAMILY_LC)
diff --git a/arch/platform/jn516x/Makefile.jn516x b/arch/platform/jn516x/Makefile.jn516x
index 6cff59c65..9ad9488d5 100644
--- a/arch/platform/jn516x/Makefile.jn516x
+++ b/arch/platform/jn516x/Makefile.jn516x
@@ -103,8 +103,6 @@ endif
 CONTIKI_TARGET_DIRS = . dev
 CONTIKI_TARGET_MAIN = platform.c
 
-MODULES += os/lib/dbg-io
-
 ifeq ($(JN516x_WITH_DR1175),1)
 JN516x_WITH_DR1174 = 1
 CFLAGS += -DSENSOR_BOARD_DR1175
diff --git a/arch/platform/nrf52dk/Makefile.nrf52dk b/arch/platform/nrf52dk/Makefile.nrf52dk
index 7e931880a..302c9c91d 100644
--- a/arch/platform/nrf52dk/Makefile.nrf52dk
+++ b/arch/platform/nrf52dk/Makefile.nrf52dk
@@ -9,12 +9,12 @@ CONTIKI_TARGET_DIRS += . dev config
 CONTIKI_SOURCEFILES += platform.c leds-arch.c nrf52dk-sensors.c button-sensor.c temperature-sensor.c
 
 ifeq ($(NRF52_USE_RTT),1)
-### Use the existing debug I/O in arch/cpu/arm/common
+### Suppress the existing debug I/O in os/lib
+PLATFORM_DBG_IO = 1
 CONTIKI_TARGET_DIRS += rtt
 CONTIKI_SOURCEFILES += rtt-printf.c segger-rtt.c segger-rtt-printf.c
 else
 CONTIKI_SOURCEFILES += dbg.c
-MODULES += os/lib/dbg-io
 endif
 
 ### Unless the example dictates otherwise, build with code size optimisations switched off

From 123b38fc2bbf4cc19c601d46a9e70e97f6464726 Mon Sep 17 00:00:00 2001
From: George Oikonomou <g.oikonomou@bristol.ac.uk>
Date: Fri, 5 Oct 2018 11:13:44 +0100
Subject: [PATCH 43/46] Rename make variable to better match current practice

---
 arch/cpu/arm/Makefile.arm              | 4 ++--
 arch/platform/nrf52dk/Makefile.nrf52dk | 2 +-
 2 files changed, 3 insertions(+), 3 deletions(-)

diff --git a/arch/cpu/arm/Makefile.arm b/arch/cpu/arm/Makefile.arm
index f2f86ff7a..83f9b8a36 100644
--- a/arch/cpu/arm/Makefile.arm
+++ b/arch/cpu/arm/Makefile.arm
@@ -34,9 +34,9 @@ CONTIKI_ARM_DIRS += .
 CONTIKI_CPU_DIRS += $(addprefix ../arm/, $(CONTIKI_ARM_DIRS))
 
 ### Default to use os/lib/dbg-io unless configured to do otherwise
-PLATFORM_DBG_IO ?= 0
+MAKE_WITH_LIB_DBG_IO ?= 1
 
-ifeq ($(PLATFORM_DBG_IO),0)
+ifeq ($(MAKE_WITH_LIB_DBG_IO),1)
   MODULES += os/lib/dbg-io
 endif
 
diff --git a/arch/platform/nrf52dk/Makefile.nrf52dk b/arch/platform/nrf52dk/Makefile.nrf52dk
index 302c9c91d..e1d56c090 100644
--- a/arch/platform/nrf52dk/Makefile.nrf52dk
+++ b/arch/platform/nrf52dk/Makefile.nrf52dk
@@ -10,7 +10,7 @@ CONTIKI_SOURCEFILES += platform.c leds-arch.c nrf52dk-sensors.c button-sensor.c
 
 ifeq ($(NRF52_USE_RTT),1)
 ### Suppress the existing debug I/O in os/lib
-PLATFORM_DBG_IO = 1
+MAKE_WITH_LIB_DBG_IO = 0
 CONTIKI_TARGET_DIRS += rtt
 CONTIKI_SOURCEFILES += rtt-printf.c segger-rtt.c segger-rtt-printf.c
 else

From d150de227f14971c3ae62a689feb2a5dbfd8e8be Mon Sep 17 00:00:00 2001
From: Simon Duquennoy <simon.duquennoy@ri.se>
Date: Wed, 10 Oct 2018 12:02:53 +0200
Subject: [PATCH 44/46] cc2420: remove unused variables

---
 arch/dev/cc2420/cc2420.c | 3 ---
 arch/dev/cc2420/cc2420.h | 3 ---
 2 files changed, 6 deletions(-)

diff --git a/arch/dev/cc2420/cc2420.c b/arch/dev/cc2420/cc2420.c
index 5cfa00e4a..a1572b0ef 100644
--- a/arch/dev/cc2420/cc2420.c
+++ b/arch/dev/cc2420/cc2420.c
@@ -96,9 +96,6 @@ static const struct output_config output_power[] = {
 
 void cc2420_arch_init(void);
 
-/* XXX hack: these will be made as Chameleon packet attributes */
-rtimer_clock_t cc2420_time_of_arrival, cc2420_time_of_departure;
-
 int cc2420_authority_level_of_sender;
 
 volatile uint8_t cc2420_sfd_counter;
diff --git a/arch/dev/cc2420/cc2420.h b/arch/dev/cc2420/cc2420.h
index 07b578aa4..33135e21c 100644
--- a/arch/dev/cc2420/cc2420.h
+++ b/arch/dev/cc2420/cc2420.h
@@ -102,9 +102,6 @@ int cc2420_get_txpower(void);
  */
 int cc2420_interrupt(void);
 
-/* XXX hack: these will be made as Chameleon packet attributes */
-extern rtimer_clock_t cc2420_time_of_arrival,
-  cc2420_time_of_departure;
 extern int cc2420_authority_level_of_sender;
 
 int cc2420_on(void);

From fac787231d9658572f225c136cab6af8ecd0b039 Mon Sep 17 00:00:00 2001
From: Simon Duquennoy <simon.duquennoy@ri.se>
Date: Wed, 10 Oct 2018 16:52:33 +0200
Subject: [PATCH 45/46] Added TSCH_CONF_ARCH_HDR_PATH for platform-specific
 TSCH includes

---
 arch/dev/cc2420/cc2420-tsch-15ms.h | 35 ++++++++++++++++++++++++++++++
 arch/platform/sky/contiki-conf.h   |  4 ++--
 os/net/mac/tsch/tsch.h             |  5 +++++
 3 files changed, 42 insertions(+), 2 deletions(-)
 create mode 100644 arch/dev/cc2420/cc2420-tsch-15ms.h

diff --git a/arch/dev/cc2420/cc2420-tsch-15ms.h b/arch/dev/cc2420/cc2420-tsch-15ms.h
new file mode 100644
index 000000000..7c0b47073
--- /dev/null
+++ b/arch/dev/cc2420/cc2420-tsch-15ms.h
@@ -0,0 +1,35 @@
+/*
+ * Copyright (c) 2018, RISE SICS.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ * 3. Neither the name of the Institute nor the names of its contributors
+ *    may be used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED.  IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+ * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ *
+ * This file is part of the Contiki operating system.
+ *
+ */
+
+#include "contiki.h"
+
+extern const uint16_t tsch_timeslot_timing_us_15000[];
diff --git a/arch/platform/sky/contiki-conf.h b/arch/platform/sky/contiki-conf.h
index 82e391164..d690af86a 100644
--- a/arch/platform/sky/contiki-conf.h
+++ b/arch/platform/sky/contiki-conf.h
@@ -17,8 +17,8 @@
 #define NETSTACK_CONF_RADIO   cc2420_driver
 #endif /* NETSTACK_CONF_RADIO */
 
-/* TSCH 15ms timeslot timing template, required for cc2420 */
-extern const uint16_t tsch_timeslot_timing_us_15000[];
+/* Symbol for the TSCH 15ms timeslot timing template */
+#define TSCH_CONF_ARCH_HDR_PATH "dev/cc2420/cc2420-tsch-15ms.h"
 
 /* The TSCH default slot length of 10ms is a bit too short for this platform,
  * use 15ms instead. */
diff --git a/os/net/mac/tsch/tsch.h b/os/net/mac/tsch/tsch.h
index 5eed691cd..65a46521f 100644
--- a/os/net/mac/tsch/tsch.h
+++ b/os/net/mac/tsch/tsch.h
@@ -70,6 +70,11 @@ frequency hopping for enhanced reliability.
 #include "sys/cooja_mt.h"
 #endif /* CONTIKI_TARGET_COOJA */
 
+/* Include Arch-Specific conf */
+#ifdef TSCH_CONF_ARCH_HDR_PATH
+#include TSCH_CONF_ARCH_HDR_PATH
+#endif /* TSCH_CONF_ARCH_HDR_PATH */
+
 /*********** Macros *********/
 
 /* Wait for a condition with timeout t0+offset. */

From b7c9cae60ccca37f258df39db3c56c72531df0a9 Mon Sep 17 00:00:00 2001
From: Simon Duquennoy <simon.duquennoy@ri.se>
Date: Wed, 10 Oct 2018 17:01:11 +0200
Subject: [PATCH 46/46] Platform Zoul: move generic cc2538 defines from
 contiki-conf.h to cc2538-def.h

---
 arch/cpu/cc2538/cc2538-def.h          | 15 +++++++++++++++
 arch/platform/zoul/contiki-conf.h     | 22 ----------------------
 examples/6tisch/sixtop/project-conf.h | 10 ----------
 3 files changed, 15 insertions(+), 32 deletions(-)

diff --git a/arch/cpu/cc2538/cc2538-def.h b/arch/cpu/cc2538/cc2538-def.h
index 75195258e..163456a14 100644
--- a/arch/cpu/cc2538/cc2538-def.h
+++ b/arch/cpu/cc2538/cc2538-def.h
@@ -41,6 +41,21 @@
 /* 192us as in datasheet but ACKs are not always received, so adjusted to 250us */
 #define CC2538_DELAY_BEFORE_RX     ((unsigned)US_TO_RTIMERTICKS(250))
 #define CC2538_DELAY_BEFORE_DETECT 0
+/* Frame filtering done in software */
+#define TSCH_CONF_HW_FRAME_FILTERING  0
+
+#ifndef TSCH_CONF_BASE_DRIFT_PPM
+/* The drift compared to "true" 10ms slots.
+ * Enable adaptive sync to enable compensation for this.
+ * Slot length 10000 usec
+ *             328 ticks
+ * Tick duration 30.517578125 usec
+ * Real slot duration 10009.765625 usec
+ * Target - real duration = -9.765625 usec
+ * TSCH_CONF_BASE_DRIFT_PPM -977
+ */
+#define TSCH_CONF_BASE_DRIFT_PPM -977
+#endif
 
 /*---------------------------------------------------------------------------*/
 #define SPI_CONF_CONTROLLER_COUNT 2
diff --git a/arch/platform/zoul/contiki-conf.h b/arch/platform/zoul/contiki-conf.h
index b8f545bf0..a4c455d86 100644
--- a/arch/platform/zoul/contiki-conf.h
+++ b/arch/platform/zoul/contiki-conf.h
@@ -65,11 +65,6 @@ uint16_t *radio_tsch_timeslot_timing(void);
 
 /** @} */
 /*---------------------------------------------------------------------------*/
-/* 352us from calling transmit() until the SFD byte has been sent */
-#define CC2538_DELAY_BEFORE_TX     ((unsigned)US_TO_RTIMERTICKS(352))
-/* 192us as in datasheet but ACKs are not always received, so adjusted to 250us */
-#define CC2538_DELAY_BEFORE_RX     ((unsigned)US_TO_RTIMERTICKS(250))
-#define CC2538_DELAY_BEFORE_DETECT 0
 
 #define RADIO_PHY_OVERHEAD        radio_phy_overhead()
 #define RADIO_BYTE_AIR_TIME       radio_byte_air_time()
@@ -79,23 +74,6 @@ uint16_t *radio_tsch_timeslot_timing(void);
 
 #define TSCH_CONF_DEFAULT_TIMESLOT_TIMING   radio_tsch_timeslot_timing()
 
-#ifndef TSCH_CONF_BASE_DRIFT_PPM
-/* The drift compared to "true" 10ms slots.
- * Enable adaptive sync to enable compensation for this.
- * Slot length 10000 usec
- *             328 ticks
- * Tick duration 30.517578125 usec
- * Real slot duration 10009.765625 usec
- * Target - real duration = -9.765625 usec
- * TSCH_CONF_BASE_DRIFT_PPM -977
- */
-#define TSCH_CONF_BASE_DRIFT_PPM -977
-#endif
-
-#if MAC_CONF_WITH_TSCH
-#define TSCH_CONF_HW_FRAME_FILTERING  0
-#endif /* MAC_CONF_WITH_TSCH */
-
 /*---------------------------------------------------------------------------*/
 /**
  * \name Serial Boot Loader Backdoor configuration
diff --git a/examples/6tisch/sixtop/project-conf.h b/examples/6tisch/sixtop/project-conf.h
index e3d82d972..bb107175f 100755
--- a/examples/6tisch/sixtop/project-conf.h
+++ b/examples/6tisch/sixtop/project-conf.h
@@ -74,14 +74,4 @@
 
 #endif /* WITH_SECURITY */
 
-/*******************************************************/
-/************* Other system configuration **************/
-/*******************************************************/
-
-#if CONTIKI_TARGET_CC2538DK || CONTIKI_TARGET_ZOUL || \
-  CONTIKI_TARGET_OPENMOTE_CC2538
-#define TSCH_CONF_HW_FRAME_FILTERING    0
-#endif /* CONTIKI_TARGET_CC2538DK || CONTIKI_TARGET_ZOUL \
-       || CONTIKI_TARGET_OPENMOTE_CC2538 */
-
 #endif /* PROJECT_CONF_H_ */