1170 lines
45 KiB
C
1170 lines
45 KiB
C
/*
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* Copyright (c) 2015, SICS Swedish ICT.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* 3. Neither the name of the Institute nor the names of its contributors
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* may be used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
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* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
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* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
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* OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
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* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
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* OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
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* SUCH DAMAGE.
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*
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* This file is part of the Contiki operating system.
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*
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*/
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/**
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* \file
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* TSCH slot operation implementation, running from interrupt.
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* \author
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* Simon Duquennoy <simonduq@sics.se>
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* Beshr Al Nahas <beshr@sics.se>
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* Atis Elsts <atis.elsts@bristol.ac.uk>
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*
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*/
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/**
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* \addtogroup tsch
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* @{
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*/
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#include "dev/radio.h"
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#include "contiki.h"
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#include "net/netstack.h"
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#include "net/packetbuf.h"
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#include "net/queuebuf.h"
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#include "net/mac/framer/framer-802154.h"
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#include "net/mac/tsch/tsch.h"
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#include "sys/critical.h"
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#include "sys/log.h"
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/* TSCH debug macros, i.e. to set LEDs or GPIOs on various TSCH
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* timeslot events */
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#ifndef TSCH_DEBUG_INIT
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#define TSCH_DEBUG_INIT()
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#endif
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#ifndef TSCH_DEBUG_INTERRUPT
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#define TSCH_DEBUG_INTERRUPT()
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#endif
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#ifndef TSCH_DEBUG_RX_EVENT
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#define TSCH_DEBUG_RX_EVENT()
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#endif
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#ifndef TSCH_DEBUG_TX_EVENT
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#define TSCH_DEBUG_TX_EVENT()
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#endif
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#ifndef TSCH_DEBUG_SLOT_START
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#define TSCH_DEBUG_SLOT_START()
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#endif
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#ifndef TSCH_DEBUG_SLOT_END
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#define TSCH_DEBUG_SLOT_END()
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#endif
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/* Check if TSCH_MAX_INCOMING_PACKETS is power of two */
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#if (TSCH_MAX_INCOMING_PACKETS & (TSCH_MAX_INCOMING_PACKETS - 1)) != 0
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#error TSCH_MAX_INCOMING_PACKETS must be power of two
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#endif
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/* Check if TSCH_DEQUEUED_ARRAY_SIZE is power of two and greater or equal to QUEUEBUF_NUM */
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#if TSCH_DEQUEUED_ARRAY_SIZE < QUEUEBUF_NUM
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#error TSCH_DEQUEUED_ARRAY_SIZE must be greater or equal to QUEUEBUF_NUM
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#endif
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#if (TSCH_DEQUEUED_ARRAY_SIZE & (TSCH_DEQUEUED_ARRAY_SIZE - 1)) != 0
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#error TSCH_DEQUEUED_ARRAY_SIZE must be power of two
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#endif
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/* Truncate received drift correction information to maximum half
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* of the guard time (one fourth of TSCH_DEFAULT_TS_RX_WAIT) */
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#define SYNC_IE_BOUND ((int32_t)US_TO_RTIMERTICKS(tsch_timing_us[tsch_ts_rx_wait] / 4))
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/* By default: check that rtimer runs at >=32kHz and use a guard time of 10us */
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#if RTIMER_SECOND < (32 * 1024)
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#error "TSCH: RTIMER_SECOND < (32 * 1024)"
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#endif
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#if CONTIKI_TARGET_COOJA
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/* Use 0 usec guard time for Cooja Mote with a 1 MHz Rtimer*/
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#define RTIMER_GUARD 0u
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#elif RTIMER_SECOND >= 200000
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#define RTIMER_GUARD (RTIMER_SECOND / 100000)
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#else
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#define RTIMER_GUARD 2u
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#endif
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enum tsch_radio_state_on_cmd {
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TSCH_RADIO_CMD_ON_START_OF_TIMESLOT,
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TSCH_RADIO_CMD_ON_WITHIN_TIMESLOT,
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TSCH_RADIO_CMD_ON_FORCE,
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};
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enum tsch_radio_state_off_cmd {
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TSCH_RADIO_CMD_OFF_END_OF_TIMESLOT,
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TSCH_RADIO_CMD_OFF_WITHIN_TIMESLOT,
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TSCH_RADIO_CMD_OFF_FORCE,
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};
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/* A ringbuf storing outgoing packets after they were dequeued.
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* Will be processed layer by tsch_tx_process_pending */
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struct ringbufindex dequeued_ringbuf;
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struct tsch_packet *dequeued_array[TSCH_DEQUEUED_ARRAY_SIZE];
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/* A ringbuf storing incoming packets.
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* Will be processed layer by tsch_rx_process_pending */
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struct ringbufindex input_ringbuf;
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struct input_packet input_array[TSCH_MAX_INCOMING_PACKETS];
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/* Updates and reads of the next two variables must be atomic (i.e. both together) */
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/* Last time we received Sync-IE (ACK or data packet from a time source) */
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static struct tsch_asn_t last_sync_asn;
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clock_time_t tsch_last_sync_time; /* Same info, in clock_time_t units */
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/* A global lock for manipulating data structures safely from outside of interrupt */
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static volatile int tsch_locked = 0;
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/* As long as this is set, skip all slot operation */
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static volatile int tsch_lock_requested = 0;
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/* Last estimated drift in RTIMER ticks
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* (Sky: 1 tick = 30.517578125 usec exactly) */
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static int32_t drift_correction = 0;
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/* Is drift correction used? (Can be true even if drift_correction == 0) */
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static uint8_t is_drift_correction_used;
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/* The neighbor last used as our time source */
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struct tsch_neighbor *last_timesource_neighbor = NULL;
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/* Used from tsch_slot_operation and sub-protothreads */
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static rtimer_clock_t volatile current_slot_start;
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/* Are we currently inside a slot? */
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static volatile int tsch_in_slot_operation = 0;
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/* If we are inside a slot, this tells the current channel */
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uint8_t tsch_current_channel;
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/* Info about the link, packet and neighbor of
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* the current (or next) slot */
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struct tsch_link *current_link = NULL;
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/* A backup link with Rx flag, overlapping with current_link.
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* If the current link is Tx-only and the Tx queue
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* is empty while executing the link, fallback to the backup link. */
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static struct tsch_link *backup_link = NULL;
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static struct tsch_packet *current_packet = NULL;
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static struct tsch_neighbor *current_neighbor = NULL;
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/* Indicates whether an extra link is needed to handle the current burst */
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static int burst_link_scheduled = 0;
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/* Counts the length of the current burst */
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int tsch_current_burst_count = 0;
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/* Protothread for association */
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PT_THREAD(tsch_scan(struct pt *pt));
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/* Protothread for slot operation, called from rtimer interrupt
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* and scheduled from tsch_schedule_slot_operation */
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static PT_THREAD(tsch_slot_operation(struct rtimer *t, void *ptr));
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static struct pt slot_operation_pt;
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/* Sub-protothreads of tsch_slot_operation */
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static PT_THREAD(tsch_tx_slot(struct pt *pt, struct rtimer *t));
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static PT_THREAD(tsch_rx_slot(struct pt *pt, struct rtimer *t));
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/*---------------------------------------------------------------------------*/
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/* TSCH locking system. TSCH is locked during slot operations */
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/* Is TSCH locked? */
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int
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tsch_is_locked(void)
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{
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return tsch_locked;
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}
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/* Lock TSCH (no slot operation) */
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int
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tsch_get_lock(void)
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{
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if(!tsch_locked) {
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rtimer_clock_t busy_wait_time;
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int busy_wait = 0; /* Flag used for logging purposes */
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/* Make sure no new slot operation will start */
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tsch_lock_requested = 1;
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/* Wait for the end of current slot operation. */
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if(tsch_in_slot_operation) {
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busy_wait = 1;
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busy_wait_time = RTIMER_NOW();
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while(tsch_in_slot_operation) {
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watchdog_periodic();
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}
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busy_wait_time = RTIMER_NOW() - busy_wait_time;
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}
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if(!tsch_locked) {
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/* Take the lock if it is free */
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tsch_locked = 1;
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tsch_lock_requested = 0;
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if(busy_wait) {
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/* Issue a log whenever we had to busy wait until getting the lock */
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TSCH_LOG_ADD(tsch_log_message,
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snprintf(log->message, sizeof(log->message),
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"!get lock delay %u", (unsigned)busy_wait_time);
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);
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}
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return 1;
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}
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}
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TSCH_LOG_ADD(tsch_log_message,
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snprintf(log->message, sizeof(log->message),
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"!failed to lock");
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);
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return 0;
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}
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/* Release TSCH lock */
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void
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tsch_release_lock(void)
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{
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tsch_locked = 0;
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}
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/*---------------------------------------------------------------------------*/
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/* Channel hopping utility functions */
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/* Return channel from ASN and channel offset */
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uint8_t
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tsch_calculate_channel(struct tsch_asn_t *asn, uint8_t channel_offset)
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{
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uint16_t index_of_0 = TSCH_ASN_MOD(*asn, tsch_hopping_sequence_length);
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uint16_t index_of_offset = (index_of_0 + channel_offset) % tsch_hopping_sequence_length.val;
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return tsch_hopping_sequence[index_of_offset];
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}
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/*---------------------------------------------------------------------------*/
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/* Timing utility functions */
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/* Checks if the current time has passed a ref time + offset. Assumes
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* a single overflow and ref time prior to now. */
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static uint8_t
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check_timer_miss(rtimer_clock_t ref_time, rtimer_clock_t offset, rtimer_clock_t now)
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{
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rtimer_clock_t target = ref_time + offset;
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int now_has_overflowed = now < ref_time;
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int target_has_overflowed = target < ref_time;
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if(now_has_overflowed == target_has_overflowed) {
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/* Both or none have overflowed, just compare now to the target */
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return target <= now;
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} else {
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/* Either now or target of overflowed.
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* If it is now, then it has passed the target.
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* If it is target, then we haven't reached it yet.
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* */
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return now_has_overflowed;
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}
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}
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/*---------------------------------------------------------------------------*/
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/* Schedule a wakeup at a specified offset from a reference time.
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* Provides basic protection against missed deadlines and timer overflows
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* A return value of zero signals a missed deadline: no rtimer was scheduled. */
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static uint8_t
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tsch_schedule_slot_operation(struct rtimer *tm, rtimer_clock_t ref_time, rtimer_clock_t offset, const char *str)
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{
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rtimer_clock_t now = RTIMER_NOW();
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int r;
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/* Subtract RTIMER_GUARD before checking for deadline miss
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* because we can not schedule rtimer less than RTIMER_GUARD in the future */
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int missed = check_timer_miss(ref_time, offset - RTIMER_GUARD, now);
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if(missed) {
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TSCH_LOG_ADD(tsch_log_message,
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snprintf(log->message, sizeof(log->message),
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"!dl-miss %s %d %d",
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str, (int)(now-ref_time), (int)offset);
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);
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} else {
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r = rtimer_set(tm, ref_time + offset, 1, (void (*)(struct rtimer *, void *))tsch_slot_operation, NULL);
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if(r == RTIMER_OK) {
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return 1;
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}
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}
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/* block until the time to schedule comes */
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RTIMER_BUSYWAIT_UNTIL_ABS(0, ref_time, offset);
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return 0;
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}
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/*---------------------------------------------------------------------------*/
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/* Schedule slot operation conditionally, and YIELD if success only.
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* Always attempt to schedule RTIMER_GUARD before the target to make sure to wake up
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* ahead of time and then busy wait to exactly hit the target. */
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#define TSCH_SCHEDULE_AND_YIELD(pt, tm, ref_time, offset, str) \
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do { \
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if(tsch_schedule_slot_operation(tm, ref_time, offset - RTIMER_GUARD, str)) { \
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PT_YIELD(pt); \
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RTIMER_BUSYWAIT_UNTIL_ABS(0, ref_time, offset); \
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} \
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} while(0);
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/*---------------------------------------------------------------------------*/
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/* Get EB, broadcast or unicast packet to be sent, and target neighbor. */
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static struct tsch_packet *
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get_packet_and_neighbor_for_link(struct tsch_link *link, struct tsch_neighbor **target_neighbor)
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{
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struct tsch_packet *p = NULL;
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struct tsch_neighbor *n = NULL;
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/* Is this a Tx link? */
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if(link->link_options & LINK_OPTION_TX) {
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/* is it for advertisement of EB? */
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if(link->link_type == LINK_TYPE_ADVERTISING || link->link_type == LINK_TYPE_ADVERTISING_ONLY) {
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/* fetch EB packets */
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n = n_eb;
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p = tsch_queue_get_packet_for_nbr(n, link);
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}
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if(link->link_type != LINK_TYPE_ADVERTISING_ONLY) {
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/* NORMAL link or no EB to send, pick a data packet */
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if(p == NULL) {
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/* Get neighbor queue associated to the link and get packet from it */
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n = tsch_queue_get_nbr(&link->addr);
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p = tsch_queue_get_packet_for_nbr(n, link);
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/* if it is a broadcast slot and there were no broadcast packets, pick any unicast packet */
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if(p == NULL && n == n_broadcast) {
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p = tsch_queue_get_unicast_packet_for_any(&n, link);
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}
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}
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}
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}
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/* return nbr (by reference) */
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if(target_neighbor != NULL) {
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*target_neighbor = n;
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}
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return p;
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}
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/*---------------------------------------------------------------------------*/
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uint64_t
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tsch_get_network_uptime_ticks(void)
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{
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uint64_t uptime_asn;
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uint64_t uptime_ticks;
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int_master_status_t status;
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if(!tsch_is_associated) {
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/* not associated, network uptime is not known */
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return (uint64_t)-1;
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}
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status = critical_enter();
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uptime_asn = last_sync_asn.ls4b + ((uint64_t)last_sync_asn.ms1b << 32);
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/* first calculate the at the uptime at the last sync in rtimer ticks */
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uptime_ticks = uptime_asn * tsch_timing[tsch_ts_timeslot_length];
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/* then convert to clock ticks (assume that CLOCK_SECOND divides RTIMER_ARCH_SECOND) */
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uptime_ticks /= (RTIMER_ARCH_SECOND / CLOCK_SECOND);
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/* then add the ticks passed since the last timesync */
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uptime_ticks += (clock_time() - tsch_last_sync_time);
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critical_exit(status);
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return uptime_ticks;
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}
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/*---------------------------------------------------------------------------*/
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/**
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* This function turns on the radio. Its semantics is dependent on
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* the value of TSCH_RADIO_ON_DURING_TIMESLOT constant:
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* - if enabled, the radio is turned on at the start of the slot
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* - if disabled, the radio is turned on within the slot,
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* directly before the packet Rx guard time and ACK Rx guard time.
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*/
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static void
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tsch_radio_on(enum tsch_radio_state_on_cmd command)
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{
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int do_it = 0;
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switch(command) {
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case TSCH_RADIO_CMD_ON_START_OF_TIMESLOT:
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if(TSCH_RADIO_ON_DURING_TIMESLOT) {
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do_it = 1;
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}
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break;
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case TSCH_RADIO_CMD_ON_WITHIN_TIMESLOT:
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if(!TSCH_RADIO_ON_DURING_TIMESLOT) {
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do_it = 1;
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}
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break;
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case TSCH_RADIO_CMD_ON_FORCE:
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do_it = 1;
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break;
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}
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if(do_it) {
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NETSTACK_RADIO.on();
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}
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}
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/*---------------------------------------------------------------------------*/
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/**
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* This function turns off the radio. In the same way as for tsch_radio_on(),
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* it depends on the value of TSCH_RADIO_ON_DURING_TIMESLOT constant:
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* - if enabled, the radio is turned off at the end of the slot
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* - if disabled, the radio is turned off within the slot,
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* directly after Tx'ing or Rx'ing a packet or Tx'ing an ACK.
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*/
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static void
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tsch_radio_off(enum tsch_radio_state_off_cmd command)
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{
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int do_it = 0;
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switch(command) {
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case TSCH_RADIO_CMD_OFF_END_OF_TIMESLOT:
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if(TSCH_RADIO_ON_DURING_TIMESLOT) {
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do_it = 1;
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}
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break;
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case TSCH_RADIO_CMD_OFF_WITHIN_TIMESLOT:
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if(!TSCH_RADIO_ON_DURING_TIMESLOT) {
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do_it = 1;
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}
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break;
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case TSCH_RADIO_CMD_OFF_FORCE:
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do_it = 1;
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break;
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}
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if(do_it) {
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NETSTACK_RADIO.off();
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}
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}
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/*---------------------------------------------------------------------------*/
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static
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PT_THREAD(tsch_tx_slot(struct pt *pt, struct rtimer *t))
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{
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/**
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* TX slot:
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* 1. Copy packet to radio buffer
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* 2. Perform CCA if enabled
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* 3. Sleep until it is time to transmit
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* 4. Wait for ACK if it is a unicast packet
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* 5. Extract drift if we received an E-ACK from a time source neighbor
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* 6. Update CSMA parameters according to TX status
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* 7. Schedule mac_call_sent_callback
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**/
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/* tx status */
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static uint8_t mac_tx_status;
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/* is the packet in its neighbor's queue? */
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uint8_t in_queue;
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static int dequeued_index;
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static int packet_ready = 1;
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PT_BEGIN(pt);
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TSCH_DEBUG_TX_EVENT();
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/* First check if we have space to store a newly dequeued packet (in case of
|
|
* successful Tx or Drop) */
|
|
dequeued_index = ringbufindex_peek_put(&dequeued_ringbuf);
|
|
if(dequeued_index != -1) {
|
|
if(current_packet == NULL || current_packet->qb == NULL) {
|
|
mac_tx_status = MAC_TX_ERR_FATAL;
|
|
} else {
|
|
/* packet payload */
|
|
static void *packet;
|
|
#if LLSEC802154_ENABLED
|
|
/* encrypted payload */
|
|
static uint8_t encrypted_packet[TSCH_PACKET_MAX_LEN];
|
|
#endif /* LLSEC802154_ENABLED */
|
|
/* packet payload length */
|
|
static uint8_t packet_len;
|
|
/* packet seqno */
|
|
static uint8_t seqno;
|
|
/* is this a broadcast packet? (wait for ack?) */
|
|
static uint8_t is_broadcast;
|
|
static rtimer_clock_t tx_start_time;
|
|
/* Did we set the frame pending bit to request an extra burst link? */
|
|
static int burst_link_requested;
|
|
|
|
#if TSCH_CCA_ENABLED
|
|
static uint8_t cca_status;
|
|
#endif /* TSCH_CCA_ENABLED */
|
|
|
|
/* get payload */
|
|
packet = queuebuf_dataptr(current_packet->qb);
|
|
packet_len = queuebuf_datalen(current_packet->qb);
|
|
/* is this a broadcast packet? (wait for ack?) */
|
|
is_broadcast = current_neighbor->is_broadcast;
|
|
/* Unicast. More packets in queue for the neighbor? */
|
|
burst_link_requested = 0;
|
|
if(!is_broadcast
|
|
&& tsch_current_burst_count + 1 < TSCH_BURST_MAX_LEN
|
|
&& tsch_queue_packet_count(¤t_neighbor->addr) > 1) {
|
|
burst_link_requested = 1;
|
|
tsch_packet_set_frame_pending(packet, packet_len);
|
|
}
|
|
/* read seqno from payload */
|
|
seqno = ((uint8_t *)(packet))[2];
|
|
/* if this is an EB, then update its Sync-IE */
|
|
if(current_neighbor == n_eb) {
|
|
packet_ready = tsch_packet_update_eb(packet, packet_len, current_packet->tsch_sync_ie_offset);
|
|
} else {
|
|
packet_ready = 1;
|
|
}
|
|
|
|
#if LLSEC802154_ENABLED
|
|
if(tsch_is_pan_secured) {
|
|
/* If we are going to encrypt, we need to generate the output in a separate buffer and keep
|
|
* the original untouched. This is to allow for future retransmissions. */
|
|
int with_encryption = queuebuf_attr(current_packet->qb, PACKETBUF_ATTR_SECURITY_LEVEL) & 0x4;
|
|
packet_len += tsch_security_secure_frame(packet, with_encryption ? encrypted_packet : packet, current_packet->header_len,
|
|
packet_len - current_packet->header_len, &tsch_current_asn);
|
|
if(with_encryption) {
|
|
packet = encrypted_packet;
|
|
}
|
|
}
|
|
#endif /* LLSEC802154_ENABLED */
|
|
|
|
/* prepare packet to send: copy to radio buffer */
|
|
if(packet_ready && NETSTACK_RADIO.prepare(packet, packet_len) == 0) { /* 0 means success */
|
|
static rtimer_clock_t tx_duration;
|
|
|
|
#if TSCH_CCA_ENABLED
|
|
cca_status = 1;
|
|
/* delay before 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 */
|
|
RTIMER_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 */
|
|
/* NETSTACK_RADIO.off(); */
|
|
if(cca_status == 0) {
|
|
mac_tx_status = MAC_TX_COLLISION;
|
|
} else
|
|
#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");
|
|
TSCH_DEBUG_TX_EVENT();
|
|
/* send packet already in radio tx buffer */
|
|
mac_tx_status = NETSTACK_RADIO.transmit(packet_len);
|
|
tx_count++;
|
|
/* Save tx timestamp */
|
|
tx_start_time = current_slot_start + tsch_timing[tsch_ts_tx_offset];
|
|
/* calculate TX duration based on sent packet len */
|
|
tx_duration = TSCH_PACKET_DURATION(packet_len);
|
|
/* limit tx_time to its max value */
|
|
tx_duration = MIN(tx_duration, tsch_timing[tsch_ts_max_tx]);
|
|
/* turn tadio off -- will turn on again to wait for ACK if needed */
|
|
tsch_radio_off(TSCH_RADIO_CMD_OFF_WITHIN_TIMESLOT);
|
|
|
|
if(mac_tx_status == RADIO_TX_OK) {
|
|
if(!is_broadcast) {
|
|
uint8_t ackbuf[TSCH_PACKET_MAX_LEN];
|
|
int ack_len;
|
|
rtimer_clock_t ack_start_time;
|
|
int is_time_source;
|
|
struct ieee802154_ies ack_ies;
|
|
uint8_t ack_hdrlen;
|
|
frame802154_t frame;
|
|
|
|
#if TSCH_HW_FRAME_FILTERING
|
|
radio_value_t radio_rx_mode;
|
|
/* Entering promiscuous mode so that the radio accepts the enhanced ACK */
|
|
NETSTACK_RADIO.get_value(RADIO_PARAM_RX_MODE, &radio_rx_mode);
|
|
NETSTACK_RADIO.set_value(RADIO_PARAM_RX_MODE, radio_rx_mode & (~RADIO_RX_MODE_ADDRESS_FILTER));
|
|
#endif /* TSCH_HW_FRAME_FILTERING */
|
|
/* Unicast: wait for ack after tx: sleep until ack time */
|
|
TSCH_SCHEDULE_AND_YIELD(pt, t, current_slot_start,
|
|
tsch_timing[tsch_ts_tx_offset] + tx_duration + tsch_timing[tsch_ts_rx_ack_delay] - RADIO_DELAY_BEFORE_RX, "TxBeforeAck");
|
|
TSCH_DEBUG_TX_EVENT();
|
|
tsch_radio_on(TSCH_RADIO_CMD_ON_WITHIN_TIMESLOT);
|
|
/* Wait for ACK to come */
|
|
RTIMER_BUSYWAIT_UNTIL_ABS(NETSTACK_RADIO.receiving_packet(),
|
|
tx_start_time, tx_duration + tsch_timing[tsch_ts_rx_ack_delay] + tsch_timing[tsch_ts_ack_wait] + RADIO_DELAY_BEFORE_DETECT);
|
|
TSCH_DEBUG_TX_EVENT();
|
|
|
|
ack_start_time = RTIMER_NOW() - RADIO_DELAY_BEFORE_DETECT;
|
|
|
|
/* Wait for ACK to finish */
|
|
RTIMER_BUSYWAIT_UNTIL_ABS(!NETSTACK_RADIO.receiving_packet(),
|
|
ack_start_time, tsch_timing[tsch_ts_max_ack]);
|
|
TSCH_DEBUG_TX_EVENT();
|
|
tsch_radio_off(TSCH_RADIO_CMD_OFF_WITHIN_TIMESLOT);
|
|
|
|
#if TSCH_HW_FRAME_FILTERING
|
|
/* Leaving promiscuous mode */
|
|
NETSTACK_RADIO.get_value(RADIO_PARAM_RX_MODE, &radio_rx_mode);
|
|
NETSTACK_RADIO.set_value(RADIO_PARAM_RX_MODE, radio_rx_mode | RADIO_RX_MODE_ADDRESS_FILTER);
|
|
#endif /* TSCH_HW_FRAME_FILTERING */
|
|
|
|
/* Read ack frame */
|
|
ack_len = NETSTACK_RADIO.read((void *)ackbuf, sizeof(ackbuf));
|
|
|
|
is_time_source = 0;
|
|
/* The radio driver should return 0 if no valid packets are in the rx buffer */
|
|
if(ack_len > 0) {
|
|
is_time_source = current_neighbor != NULL && current_neighbor->is_time_source;
|
|
if(tsch_packet_parse_eack(ackbuf, ack_len, seqno,
|
|
&frame, &ack_ies, &ack_hdrlen) == 0) {
|
|
ack_len = 0;
|
|
}
|
|
|
|
#if LLSEC802154_ENABLED
|
|
if(ack_len != 0) {
|
|
if(!tsch_security_parse_frame(ackbuf, ack_hdrlen, ack_len - ack_hdrlen - tsch_security_mic_len(&frame),
|
|
&frame, ¤t_neighbor->addr, &tsch_current_asn)) {
|
|
TSCH_LOG_ADD(tsch_log_message,
|
|
snprintf(log->message, sizeof(log->message),
|
|
"!failed to authenticate ACK"));
|
|
ack_len = 0;
|
|
}
|
|
} else {
|
|
TSCH_LOG_ADD(tsch_log_message,
|
|
snprintf(log->message, sizeof(log->message),
|
|
"!failed to parse ACK"));
|
|
}
|
|
#endif /* LLSEC802154_ENABLED */
|
|
}
|
|
|
|
if(ack_len != 0) {
|
|
if(is_time_source) {
|
|
int32_t eack_time_correction = US_TO_RTIMERTICKS(ack_ies.ie_time_correction);
|
|
int32_t since_last_timesync = TSCH_ASN_DIFF(tsch_current_asn, last_sync_asn);
|
|
if(eack_time_correction > SYNC_IE_BOUND) {
|
|
drift_correction = SYNC_IE_BOUND;
|
|
} else if(eack_time_correction < -SYNC_IE_BOUND) {
|
|
drift_correction = -SYNC_IE_BOUND;
|
|
} else {
|
|
drift_correction = eack_time_correction;
|
|
}
|
|
if(drift_correction != eack_time_correction) {
|
|
TSCH_LOG_ADD(tsch_log_message,
|
|
snprintf(log->message, sizeof(log->message),
|
|
"!truncated dr %d %d", (int)eack_time_correction, (int)drift_correction);
|
|
);
|
|
}
|
|
tsch_stats_on_time_synchronization(eack_time_correction);
|
|
is_drift_correction_used = 1;
|
|
tsch_timesync_update(current_neighbor, since_last_timesync, drift_correction);
|
|
/* Keep track of sync time */
|
|
last_sync_asn = tsch_current_asn;
|
|
tsch_last_sync_time = clock_time();
|
|
tsch_schedule_keepalive();
|
|
}
|
|
mac_tx_status = MAC_TX_OK;
|
|
|
|
/* We requested an extra slot and got an ack. This means
|
|
the extra slot will be scheduled at the received */
|
|
if(burst_link_requested) {
|
|
burst_link_scheduled = 1;
|
|
}
|
|
} else {
|
|
mac_tx_status = MAC_TX_NOACK;
|
|
}
|
|
} else {
|
|
mac_tx_status = MAC_TX_OK;
|
|
}
|
|
} else {
|
|
mac_tx_status = MAC_TX_ERR;
|
|
}
|
|
}
|
|
} else {
|
|
mac_tx_status = MAC_TX_ERR;
|
|
}
|
|
}
|
|
|
|
tsch_radio_off(TSCH_RADIO_CMD_OFF_END_OF_TIMESLOT);
|
|
|
|
current_packet->transmissions++;
|
|
current_packet->ret = mac_tx_status;
|
|
|
|
/* Post TX: Update neighbor queue state */
|
|
in_queue = tsch_queue_packet_sent(current_neighbor, current_packet, current_link, mac_tx_status);
|
|
|
|
/* The packet was dequeued, add it to dequeued_ringbuf for later processing */
|
|
if(in_queue == 0) {
|
|
dequeued_array[dequeued_index] = current_packet;
|
|
ringbufindex_put(&dequeued_ringbuf);
|
|
}
|
|
|
|
/* If this is an unicast packet to timesource, update stats */
|
|
if(current_neighbor != NULL && current_neighbor->is_time_source) {
|
|
tsch_stats_tx_packet(current_neighbor, mac_tx_status, tsch_current_channel);
|
|
}
|
|
|
|
/* Log every tx attempt */
|
|
TSCH_LOG_ADD(tsch_log_tx,
|
|
log->tx.mac_tx_status = mac_tx_status;
|
|
log->tx.num_tx = current_packet->transmissions;
|
|
log->tx.datalen = queuebuf_datalen(current_packet->qb);
|
|
log->tx.drift = drift_correction;
|
|
log->tx.drift_used = is_drift_correction_used;
|
|
log->tx.is_data = ((((uint8_t *)(queuebuf_dataptr(current_packet->qb)))[0]) & 7) == FRAME802154_DATAFRAME;
|
|
#if LLSEC802154_ENABLED
|
|
log->tx.sec_level = queuebuf_attr(current_packet->qb, PACKETBUF_ATTR_SECURITY_LEVEL);
|
|
#else /* LLSEC802154_ENABLED */
|
|
log->tx.sec_level = 0;
|
|
#endif /* LLSEC802154_ENABLED */
|
|
linkaddr_copy(&log->tx.dest, queuebuf_addr(current_packet->qb, PACKETBUF_ADDR_RECEIVER));
|
|
log->tx.seqno = queuebuf_attr(current_packet->qb, PACKETBUF_ATTR_MAC_SEQNO);
|
|
);
|
|
|
|
/* Poll process for later processing of packet sent events and logs */
|
|
process_poll(&tsch_pending_events_process);
|
|
}
|
|
|
|
TSCH_DEBUG_TX_EVENT();
|
|
|
|
PT_END(pt);
|
|
}
|
|
/*---------------------------------------------------------------------------*/
|
|
static
|
|
PT_THREAD(tsch_rx_slot(struct pt *pt, struct rtimer *t))
|
|
{
|
|
/**
|
|
* RX slot:
|
|
* 1. Check if it is used for TIME_KEEPING
|
|
* 2. Sleep and wake up just before expected RX time (with a guard time: TS_LONG_GT)
|
|
* 3. Check for radio activity for the guard time: TS_LONG_GT
|
|
* 4. Prepare and send ACK if needed
|
|
* 5. Drift calculated in the ACK callback registered with the radio driver. Use it if receiving from a time source neighbor.
|
|
**/
|
|
|
|
struct tsch_neighbor *n;
|
|
static linkaddr_t source_address;
|
|
static linkaddr_t destination_address;
|
|
static int16_t input_index;
|
|
static int input_queue_drop = 0;
|
|
|
|
PT_BEGIN(pt);
|
|
|
|
TSCH_DEBUG_RX_EVENT();
|
|
|
|
input_index = ringbufindex_peek_put(&input_ringbuf);
|
|
if(input_index == -1) {
|
|
input_queue_drop++;
|
|
} else {
|
|
static struct input_packet *current_input;
|
|
/* Estimated drift based on RX time */
|
|
static int32_t estimated_drift;
|
|
/* Rx timestamps */
|
|
static rtimer_clock_t rx_start_time;
|
|
static rtimer_clock_t expected_rx_time;
|
|
static rtimer_clock_t packet_duration;
|
|
uint8_t packet_seen;
|
|
|
|
expected_rx_time = current_slot_start + tsch_timing[tsch_ts_tx_offset];
|
|
/* Default start time: expected Rx time */
|
|
rx_start_time = expected_rx_time;
|
|
|
|
current_input = &input_array[input_index];
|
|
|
|
/* Wait before starting to listen */
|
|
TSCH_SCHEDULE_AND_YIELD(pt, t, current_slot_start, tsch_timing[tsch_ts_rx_offset] - RADIO_DELAY_BEFORE_RX, "RxBeforeListen");
|
|
TSCH_DEBUG_RX_EVENT();
|
|
|
|
/* Start radio for at least guard time */
|
|
tsch_radio_on(TSCH_RADIO_CMD_ON_WITHIN_TIMESLOT);
|
|
packet_seen = NETSTACK_RADIO.receiving_packet() || NETSTACK_RADIO.pending_packet();
|
|
if(!packet_seen) {
|
|
/* Check if receiving within guard time */
|
|
RTIMER_BUSYWAIT_UNTIL_ABS((packet_seen = NETSTACK_RADIO.receiving_packet()),
|
|
current_slot_start, tsch_timing[tsch_ts_rx_offset] + tsch_timing[tsch_ts_rx_wait] + RADIO_DELAY_BEFORE_DETECT);
|
|
}
|
|
if(!packet_seen) {
|
|
/* no packets on air */
|
|
tsch_radio_off(TSCH_RADIO_CMD_OFF_FORCE);
|
|
} else {
|
|
TSCH_DEBUG_RX_EVENT();
|
|
/* Save packet timestamp */
|
|
rx_start_time = RTIMER_NOW() - RADIO_DELAY_BEFORE_DETECT;
|
|
|
|
/* Wait until packet is received, turn radio off */
|
|
RTIMER_BUSYWAIT_UNTIL_ABS(!NETSTACK_RADIO.receiving_packet(),
|
|
current_slot_start, tsch_timing[tsch_ts_rx_offset] + tsch_timing[tsch_ts_rx_wait] + tsch_timing[tsch_ts_max_tx]);
|
|
TSCH_DEBUG_RX_EVENT();
|
|
tsch_radio_off(TSCH_RADIO_CMD_OFF_WITHIN_TIMESLOT);
|
|
|
|
if(NETSTACK_RADIO.pending_packet()) {
|
|
static int frame_valid;
|
|
static int header_len;
|
|
static frame802154_t frame;
|
|
radio_value_t radio_last_rssi;
|
|
radio_value_t radio_last_lqi;
|
|
|
|
/* Read packet */
|
|
current_input->len = NETSTACK_RADIO.read((void *)current_input->payload, TSCH_PACKET_MAX_LEN);
|
|
NETSTACK_RADIO.get_value(RADIO_PARAM_LAST_RSSI, &radio_last_rssi);
|
|
current_input->rx_asn = tsch_current_asn;
|
|
current_input->rssi = (signed)radio_last_rssi;
|
|
current_input->channel = tsch_current_channel;
|
|
header_len = frame802154_parse((uint8_t *)current_input->payload, current_input->len, &frame);
|
|
frame_valid = header_len > 0 &&
|
|
frame802154_check_dest_panid(&frame) &&
|
|
frame802154_extract_linkaddr(&frame, &source_address, &destination_address);
|
|
|
|
#if TSCH_RESYNC_WITH_SFD_TIMESTAMPS
|
|
/* At the end of the reception, get an more accurate estimate of SFD arrival time */
|
|
NETSTACK_RADIO.get_object(RADIO_PARAM_LAST_PACKET_TIMESTAMP, &rx_start_time, sizeof(rtimer_clock_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,
|
|
snprintf(log->message, sizeof(log->message),
|
|
"!failed to parse frame %u %u", header_len, current_input->len));
|
|
}
|
|
|
|
if(frame_valid) {
|
|
if(frame.fcf.frame_type != FRAME802154_DATAFRAME
|
|
&& frame.fcf.frame_type != FRAME802154_BEACONFRAME) {
|
|
TSCH_LOG_ADD(tsch_log_message,
|
|
snprintf(log->message, sizeof(log->message),
|
|
"!discarding frame with type %u, len %u", frame.fcf.frame_type, current_input->len));
|
|
frame_valid = 0;
|
|
}
|
|
}
|
|
|
|
#if LLSEC802154_ENABLED
|
|
/* Decrypt and verify incoming frame */
|
|
if(frame_valid) {
|
|
if(tsch_security_parse_frame(
|
|
current_input->payload, header_len, current_input->len - header_len - tsch_security_mic_len(&frame),
|
|
&frame, &source_address, &tsch_current_asn)) {
|
|
current_input->len -= tsch_security_mic_len(&frame);
|
|
} else {
|
|
TSCH_LOG_ADD(tsch_log_message,
|
|
snprintf(log->message, sizeof(log->message),
|
|
"!failed to authenticate frame %u", current_input->len));
|
|
frame_valid = 0;
|
|
}
|
|
}
|
|
#endif /* LLSEC802154_ENABLED */
|
|
|
|
if(frame_valid) {
|
|
/* Check that frome is for us or broadcast, AND that it is not from
|
|
* ourselves. This is for consistency with CSMA and to avoid adding
|
|
* ourselves to neighbor tables in case frames are being replayed. */
|
|
if((linkaddr_cmp(&destination_address, &linkaddr_node_addr)
|
|
|| linkaddr_cmp(&destination_address, &linkaddr_null))
|
|
&& !linkaddr_cmp(&source_address, &linkaddr_node_addr)) {
|
|
int do_nack = 0;
|
|
rx_count++;
|
|
estimated_drift = RTIMER_CLOCK_DIFF(expected_rx_time, rx_start_time);
|
|
tsch_stats_on_time_synchronization(estimated_drift);
|
|
|
|
#if TSCH_TIMESYNC_REMOVE_JITTER
|
|
/* remove jitter due to measurement errors */
|
|
if(ABS(estimated_drift) <= TSCH_TIMESYNC_MEASUREMENT_ERROR) {
|
|
estimated_drift = 0;
|
|
} else if(estimated_drift > 0) {
|
|
estimated_drift -= TSCH_TIMESYNC_MEASUREMENT_ERROR;
|
|
} else {
|
|
estimated_drift += TSCH_TIMESYNC_MEASUREMENT_ERROR;
|
|
}
|
|
#endif
|
|
|
|
#ifdef TSCH_CALLBACK_DO_NACK
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if(frame.fcf.ack_required) {
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do_nack = TSCH_CALLBACK_DO_NACK(current_link,
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&source_address, &destination_address);
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}
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#endif
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if(frame.fcf.ack_required) {
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static uint8_t ack_buf[TSCH_PACKET_MAX_LEN];
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static int ack_len;
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/* Build ACK frame */
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ack_len = tsch_packet_create_eack(ack_buf, sizeof(ack_buf),
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&source_address, frame.seq, (int16_t)RTIMERTICKS_TO_US(estimated_drift), do_nack);
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if(ack_len > 0) {
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#if LLSEC802154_ENABLED
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if(tsch_is_pan_secured) {
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/* Secure ACK frame. There is only header and header IEs, therefore data len == 0. */
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ack_len += tsch_security_secure_frame(ack_buf, ack_buf, ack_len, 0, &tsch_current_asn);
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}
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#endif /* LLSEC802154_ENABLED */
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/* Copy to radio buffer */
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NETSTACK_RADIO.prepare((const void *)ack_buf, ack_len);
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/* Wait for time to ACK and transmit ACK */
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TSCH_SCHEDULE_AND_YIELD(pt, t, rx_start_time,
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packet_duration + tsch_timing[tsch_ts_tx_ack_delay] - RADIO_DELAY_BEFORE_TX, "RxBeforeAck");
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TSCH_DEBUG_RX_EVENT();
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NETSTACK_RADIO.transmit(ack_len);
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tsch_radio_off(TSCH_RADIO_CMD_OFF_WITHIN_TIMESLOT);
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/* Schedule a burst link iff the frame pending bit was set */
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burst_link_scheduled = tsch_packet_get_frame_pending(current_input->payload, current_input->len);
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}
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}
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/* If the sender is a time source, proceed to clock drift compensation */
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n = tsch_queue_get_nbr(&source_address);
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if(n != NULL && n->is_time_source) {
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int32_t since_last_timesync = TSCH_ASN_DIFF(tsch_current_asn, last_sync_asn);
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/* Keep track of last sync time */
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last_sync_asn = tsch_current_asn;
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tsch_last_sync_time = clock_time();
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/* Save estimated drift */
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drift_correction = -estimated_drift;
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is_drift_correction_used = 1;
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sync_count++;
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tsch_timesync_update(n, since_last_timesync, -estimated_drift);
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tsch_schedule_keepalive();
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}
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/* Add current input to ringbuf */
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ringbufindex_put(&input_ringbuf);
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/* If the neighbor is known, update its stats */
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if(n != NULL) {
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NETSTACK_RADIO.get_value(RADIO_PARAM_LAST_LINK_QUALITY, &radio_last_lqi);
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tsch_stats_rx_packet(n, current_input->rssi, radio_last_lqi, tsch_current_channel);
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}
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/* Log every reception */
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TSCH_LOG_ADD(tsch_log_rx,
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linkaddr_copy(&log->rx.src, (linkaddr_t *)&frame.src_addr);
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log->rx.is_unicast = frame.fcf.ack_required;
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log->rx.datalen = current_input->len;
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log->rx.drift = drift_correction;
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log->rx.drift_used = is_drift_correction_used;
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log->rx.is_data = frame.fcf.frame_type == FRAME802154_DATAFRAME;
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log->rx.sec_level = frame.aux_hdr.security_control.security_level;
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log->rx.estimated_drift = estimated_drift;
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log->rx.seqno = frame.seq;
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);
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}
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/* Poll process for processing of pending input and logs */
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process_poll(&tsch_pending_events_process);
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}
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}
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tsch_radio_off(TSCH_RADIO_CMD_OFF_END_OF_TIMESLOT);
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}
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if(input_queue_drop != 0) {
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TSCH_LOG_ADD(tsch_log_message,
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snprintf(log->message, sizeof(log->message),
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"!queue full skipped %u", input_queue_drop);
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);
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input_queue_drop = 0;
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}
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}
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TSCH_DEBUG_RX_EVENT();
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PT_END(pt);
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}
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/*---------------------------------------------------------------------------*/
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/* Protothread for slot operation, called from rtimer interrupt
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* and scheduled from tsch_schedule_slot_operation */
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static
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PT_THREAD(tsch_slot_operation(struct rtimer *t, void *ptr))
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{
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TSCH_DEBUG_INTERRUPT();
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PT_BEGIN(&slot_operation_pt);
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/* Loop over all active slots */
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while(tsch_is_associated) {
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if(current_link == NULL || tsch_lock_requested) { /* Skip slot operation if there is no link
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or if there is a pending request for getting the lock */
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/* Issue a log whenever skipping a slot */
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TSCH_LOG_ADD(tsch_log_message,
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snprintf(log->message, sizeof(log->message),
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"!skipped slot %u %u %u",
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tsch_locked,
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tsch_lock_requested,
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current_link == NULL);
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);
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} else {
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int is_active_slot;
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TSCH_DEBUG_SLOT_START();
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tsch_in_slot_operation = 1;
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/* Measure on-air noise level while TSCH is idle */
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tsch_stats_sample_rssi();
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/* Reset drift correction */
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drift_correction = 0;
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is_drift_correction_used = 0;
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/* Get a packet ready to be sent */
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current_packet = get_packet_and_neighbor_for_link(current_link, ¤t_neighbor);
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/* There is no packet to send, and this link does not have Rx flag. Instead of doing
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* nothing, switch to the backup link (has Rx flag) if any. */
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if(current_packet == NULL && !(current_link->link_options & LINK_OPTION_RX) && backup_link != NULL) {
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current_link = backup_link;
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current_packet = get_packet_and_neighbor_for_link(current_link, ¤t_neighbor);
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}
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is_active_slot = current_packet != NULL || (current_link->link_options & LINK_OPTION_RX);
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if(is_active_slot) {
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/* If we are in a burst, we stick to current channel instead of
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* doing channel hopping, as per IEEE 802.15.4-2015 */
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if(burst_link_scheduled) {
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/* Reset burst_link_scheduled flag. Will be set again if burst continue. */
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burst_link_scheduled = 0;
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} else {
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/* Hop channel */
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tsch_current_channel = tsch_calculate_channel(&tsch_current_asn, current_link->channel_offset);
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}
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NETSTACK_RADIO.set_value(RADIO_PARAM_CHANNEL, tsch_current_channel);
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/* Turn the radio on already here if configured so; necessary for radios with slow startup */
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tsch_radio_on(TSCH_RADIO_CMD_ON_START_OF_TIMESLOT);
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/* Decide whether it is a TX/RX/IDLE or OFF slot */
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/* Actual slot operation */
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if(current_packet != NULL) {
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/* We have something to transmit, do the following:
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* 1. send
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* 2. update_backoff_state(current_neighbor)
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* 3. post tx callback
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**/
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static struct pt slot_tx_pt;
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PT_SPAWN(&slot_operation_pt, &slot_tx_pt, tsch_tx_slot(&slot_tx_pt, t));
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} else {
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/* Listen */
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static struct pt slot_rx_pt;
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PT_SPAWN(&slot_operation_pt, &slot_rx_pt, tsch_rx_slot(&slot_rx_pt, t));
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}
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} else {
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/* Make sure to end the burst in cast, for some reason, we were
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* in a burst but now without any more packet to send. */
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burst_link_scheduled = 0;
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}
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TSCH_DEBUG_SLOT_END();
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}
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/* End of slot operation, schedule next slot or resynchronize */
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|
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if(tsch_is_coordinator) {
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/* Update the `last_sync_*` variables to avoid large errors
|
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* in the application-level time synchronization */
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last_sync_asn = tsch_current_asn;
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tsch_last_sync_time = clock_time();
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}
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/* Do we need to resynchronize? i.e., wait for EB again */
|
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if(!tsch_is_coordinator && (TSCH_ASN_DIFF(tsch_current_asn, last_sync_asn) >
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(100 * TSCH_CLOCK_TO_SLOTS(TSCH_DESYNC_THRESHOLD / 100, tsch_timing[tsch_ts_timeslot_length])))) {
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TSCH_LOG_ADD(tsch_log_message,
|
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snprintf(log->message, sizeof(log->message),
|
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"! leaving the network, last sync %u",
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(unsigned)TSCH_ASN_DIFF(tsch_current_asn, last_sync_asn));
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);
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last_timesource_neighbor = NULL;
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tsch_disassociate();
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} else {
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/* backup of drift correction for printing debug messages */
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|
/* int32_t drift_correction_backup = drift_correction; */
|
|
uint16_t timeslot_diff = 0;
|
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rtimer_clock_t prev_slot_start;
|
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/* Time to next wake up */
|
|
rtimer_clock_t time_to_next_active_slot;
|
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/* Schedule next wakeup skipping slots if missed deadline */
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do {
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if(current_link != NULL
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&& current_link->link_options & LINK_OPTION_TX
|
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&& current_link->link_options & LINK_OPTION_SHARED) {
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/* Decrement the backoff window for all neighbors able to transmit over
|
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* this Tx, Shared link. */
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tsch_queue_update_all_backoff_windows(¤t_link->addr);
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}
|
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|
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/* A burst link was scheduled. Replay the current link at the
|
|
next time offset */
|
|
if(burst_link_scheduled) {
|
|
timeslot_diff = 1;
|
|
backup_link = NULL;
|
|
/* Keep track of the number of repetitions */
|
|
tsch_current_burst_count++;
|
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} else {
|
|
/* Get next active link */
|
|
current_link = tsch_schedule_get_next_active_link(&tsch_current_asn, ×lot_diff, &backup_link);
|
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if(current_link == NULL) {
|
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/* There is no next link. Fall back to default
|
|
* behavior: wake up at the next slot. */
|
|
timeslot_diff = 1;
|
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} else {
|
|
/* Reset burst index now that the link was scheduled from
|
|
normal schedule (as opposed to from ongoing burst) */
|
|
tsch_current_burst_count = 0;
|
|
}
|
|
}
|
|
|
|
/* Update ASN */
|
|
TSCH_ASN_INC(tsch_current_asn, timeslot_diff);
|
|
/* Time to next wake up */
|
|
time_to_next_active_slot = timeslot_diff * tsch_timing[tsch_ts_timeslot_length] + drift_correction;
|
|
time_to_next_active_slot += tsch_timesync_adaptive_compensate(time_to_next_active_slot);
|
|
drift_correction = 0;
|
|
is_drift_correction_used = 0;
|
|
/* Update current slot start */
|
|
prev_slot_start = current_slot_start;
|
|
current_slot_start += time_to_next_active_slot;
|
|
} while(!tsch_schedule_slot_operation(t, prev_slot_start, time_to_next_active_slot, "main"));
|
|
}
|
|
|
|
tsch_in_slot_operation = 0;
|
|
PT_YIELD(&slot_operation_pt);
|
|
}
|
|
|
|
PT_END(&slot_operation_pt);
|
|
}
|
|
/*---------------------------------------------------------------------------*/
|
|
/* Set global time before starting slot operation,
|
|
* with a rtimer time and an ASN */
|
|
void
|
|
tsch_slot_operation_start(void)
|
|
{
|
|
static struct rtimer slot_operation_timer;
|
|
rtimer_clock_t time_to_next_active_slot;
|
|
rtimer_clock_t prev_slot_start;
|
|
TSCH_DEBUG_INIT();
|
|
do {
|
|
uint16_t timeslot_diff;
|
|
/* Get next active link */
|
|
current_link = tsch_schedule_get_next_active_link(&tsch_current_asn, ×lot_diff, &backup_link);
|
|
if(current_link == NULL) {
|
|
/* There is no next link. Fall back to default
|
|
* behavior: wake up at the next slot. */
|
|
timeslot_diff = 1;
|
|
}
|
|
/* Update ASN */
|
|
TSCH_ASN_INC(tsch_current_asn, timeslot_diff);
|
|
/* Time to next wake up */
|
|
time_to_next_active_slot = timeslot_diff * tsch_timing[tsch_ts_timeslot_length];
|
|
/* Update current slot start */
|
|
prev_slot_start = current_slot_start;
|
|
current_slot_start += time_to_next_active_slot;
|
|
} while(!tsch_schedule_slot_operation(&slot_operation_timer, prev_slot_start, time_to_next_active_slot, "assoc"));
|
|
}
|
|
/*---------------------------------------------------------------------------*/
|
|
/* Start actual slot operation */
|
|
void
|
|
tsch_slot_operation_sync(rtimer_clock_t next_slot_start,
|
|
struct tsch_asn_t *next_slot_asn)
|
|
{
|
|
int_master_status_t status;
|
|
|
|
current_slot_start = next_slot_start;
|
|
tsch_current_asn = *next_slot_asn;
|
|
status = critical_enter();
|
|
last_sync_asn = tsch_current_asn;
|
|
tsch_last_sync_time = clock_time();
|
|
critical_exit(status);
|
|
current_link = NULL;
|
|
}
|
|
/*---------------------------------------------------------------------------*/
|
|
/** @} */
|