55 #include "sys/critical.h" 60 #ifndef TSCH_DEBUG_INIT 61 #define TSCH_DEBUG_INIT() 63 #ifndef TSCH_DEBUG_INTERRUPT 64 #define TSCH_DEBUG_INTERRUPT() 66 #ifndef TSCH_DEBUG_RX_EVENT 67 #define TSCH_DEBUG_RX_EVENT() 69 #ifndef TSCH_DEBUG_TX_EVENT 70 #define TSCH_DEBUG_TX_EVENT() 72 #ifndef TSCH_DEBUG_SLOT_START 73 #define TSCH_DEBUG_SLOT_START() 75 #ifndef TSCH_DEBUG_SLOT_END 76 #define TSCH_DEBUG_SLOT_END() 80 #if (TSCH_MAX_INCOMING_PACKETS & (TSCH_MAX_INCOMING_PACKETS - 1)) != 0 81 #error TSCH_MAX_INCOMING_PACKETS must be power of two 85 #if TSCH_DEQUEUED_ARRAY_SIZE < QUEUEBUF_NUM 86 #error TSCH_DEQUEUED_ARRAY_SIZE must be greater or equal to QUEUEBUF_NUM 88 #if (TSCH_DEQUEUED_ARRAY_SIZE & (TSCH_DEQUEUED_ARRAY_SIZE - 1)) != 0 89 #error TSCH_DEQUEUED_ARRAY_SIZE must be power of two 94 #define SYNC_IE_BOUND ((int32_t)US_TO_RTIMERTICKS(tsch_timing_us[tsch_ts_rx_wait] / 4)) 97 #if RTIMER_SECOND < (32 * 1024) 98 #error "TSCH: RTIMER_SECOND < (32 * 1024)" 100 #if CONTIKI_TARGET_COOJA 102 #define RTIMER_GUARD 0u 103 #elif RTIMER_SECOND >= 200000 104 #define RTIMER_GUARD (RTIMER_SECOND / 100000) 106 #define RTIMER_GUARD 2u 109 enum tsch_radio_state_on_cmd {
110 TSCH_RADIO_CMD_ON_START_OF_TIMESLOT,
111 TSCH_RADIO_CMD_ON_WITHIN_TIMESLOT,
112 TSCH_RADIO_CMD_ON_FORCE,
115 enum tsch_radio_state_off_cmd {
116 TSCH_RADIO_CMD_OFF_END_OF_TIMESLOT,
117 TSCH_RADIO_CMD_OFF_WITHIN_TIMESLOT,
118 TSCH_RADIO_CMD_OFF_FORCE,
123 struct ringbufindex dequeued_ringbuf;
124 struct tsch_packet *dequeued_array[TSCH_DEQUEUED_ARRAY_SIZE];
127 struct ringbufindex input_ringbuf;
128 struct input_packet input_array[TSCH_MAX_INCOMING_PACKETS];
133 clock_time_t tsch_last_sync_time;
136 static volatile int tsch_locked = 0;
138 static volatile int tsch_lock_requested = 0;
142 static int32_t drift_correction = 0;
144 static uint8_t is_drift_correction_used;
147 static rtimer_clock_t
volatile current_slot_start;
150 static volatile int tsch_in_slot_operation = 0;
153 uint8_t tsch_current_channel;
154 uint8_t tsch_current_channel_offset;
162 static struct tsch_link *backup_link = NULL;
167 static int burst_link_scheduled = 0;
169 int tsch_current_burst_count = 0;
176 static struct pt slot_operation_pt;
196 rtimer_clock_t busy_wait_time;
199 tsch_lock_requested = 1;
201 if(tsch_in_slot_operation) {
204 while(tsch_in_slot_operation) {
207 busy_wait_time =
RTIMER_NOW() - busy_wait_time;
212 tsch_lock_requested = 0;
216 snprintf(log->message,
sizeof(log->message),
217 "!get lock delay %u", (
unsigned)busy_wait_time);
224 snprintf(log->message,
sizeof(log->message),
244 #if TSCH_WITH_LINK_SELECTOR 246 uint16_t packet_channel_offset = queuebuf_attr(p->qb, PACKETBUF_ATTR_TSCH_CHANNEL_OFFSET);
247 if(packet_channel_offset != 0xffff) {
249 return packet_channel_offset;
253 return link->channel_offset;
267 uint16_t index_of_0, index_of_offset;
268 index_of_0 =
TSCH_ASN_MOD(*asn, tsch_hopping_sequence_length);
269 index_of_offset = (index_of_0 + channel_offset) % tsch_hopping_sequence_length.val;
270 return tsch_hopping_sequence[index_of_offset];
279 check_timer_miss(rtimer_clock_t ref_time, rtimer_clock_t offset, rtimer_clock_t now)
281 rtimer_clock_t target = ref_time + offset;
282 int now_has_overflowed = now < ref_time;
283 int target_has_overflowed = target < ref_time;
285 if(now_has_overflowed == target_has_overflowed) {
287 return target <= now;
293 return now_has_overflowed;
301 tsch_schedule_slot_operation(
struct rtimer *tm, rtimer_clock_t ref_time, rtimer_clock_t offset,
const char *str)
307 int missed = check_timer_miss(ref_time, offset - RTIMER_GUARD, now);
311 snprintf(log->message,
sizeof(log->message),
313 str, (
int)(now-ref_time), (
int)offset);
316 r =
rtimer_set(tm, ref_time + offset, 1, (
void (*)(
struct rtimer *,
void *))tsch_slot_operation, NULL);
330 #define TSCH_SCHEDULE_AND_YIELD(pt, tm, ref_time, offset, str) \ 332 if(tsch_schedule_slot_operation(tm, ref_time, offset - RTIMER_GUARD, str)) { \ 334 RTIMER_BUSYWAIT_UNTIL_ABS(0, ref_time, offset); \ 346 if(link->link_options & LINK_OPTION_TX) {
348 if(link->link_type == LINK_TYPE_ADVERTISING || link->link_type == LINK_TYPE_ADVERTISING_ONLY) {
353 if(link->link_type != LINK_TYPE_ADVERTISING_ONLY) {
360 if(p == NULL && n == n_broadcast) {
367 if(target_neighbor != NULL) {
368 *target_neighbor = n;
375 void update_link_backoff(
struct tsch_link *link) {
377 && (link->link_options & LINK_OPTION_TX)
378 && (link->link_options & LINK_OPTION_SHARED)) {
389 uint64_t uptime_ticks;
392 if(!tsch_is_associated) {
399 uptime_asn = last_sync_asn.ls4b + ((uint64_t)last_sync_asn.ms1b << 32);
401 uptime_ticks = uptime_asn * tsch_timing[tsch_ts_timeslot_length];
405 uptime_ticks += (
clock_time() - tsch_last_sync_time);
424 case TSCH_RADIO_CMD_ON_START_OF_TIMESLOT:
425 if(TSCH_RADIO_ON_DURING_TIMESLOT) {
429 case TSCH_RADIO_CMD_ON_WITHIN_TIMESLOT:
430 if(!TSCH_RADIO_ON_DURING_TIMESLOT) {
434 case TSCH_RADIO_CMD_ON_FORCE:
455 case TSCH_RADIO_CMD_OFF_END_OF_TIMESLOT:
456 if(TSCH_RADIO_ON_DURING_TIMESLOT) {
460 case TSCH_RADIO_CMD_OFF_WITHIN_TIMESLOT:
461 if(!TSCH_RADIO_ON_DURING_TIMESLOT) {
465 case TSCH_RADIO_CMD_OFF_FORCE:
470 NETSTACK_RADIO.off();
489 static uint8_t mac_tx_status;
492 static int dequeued_index;
493 static int packet_ready = 1;
497 TSCH_DEBUG_TX_EVENT();
502 if(dequeued_index != -1) {
503 if(current_packet == NULL || current_packet->qb == NULL) {
504 mac_tx_status = MAC_TX_ERR_FATAL;
508 #if LLSEC802154_ENABLED 510 static uint8_t encrypted_packet[TSCH_PACKET_MAX_LEN];
513 static uint8_t packet_len;
515 static uint8_t seqno;
517 static uint8_t do_wait_for_ack;
518 static rtimer_clock_t tx_start_time;
520 static int burst_link_requested;
523 static uint8_t cca_status;
527 packet = queuebuf_dataptr(current_packet->qb);
528 packet_len = queuebuf_datalen(current_packet->qb);
530 do_wait_for_ack = !current_neighbor->is_broadcast;
532 burst_link_requested = 0;
534 && tsch_current_burst_count + 1 < TSCH_BURST_MAX_LEN
536 burst_link_requested = 1;
540 seqno = ((uint8_t *)(packet))[2];
542 if(current_neighbor == n_eb) {
548 #if LLSEC802154_ENABLED 549 if(tsch_is_pan_secured) {
552 int with_encryption = queuebuf_attr(current_packet->qb, PACKETBUF_ATTR_SECURITY_LEVEL) & 0x4;
554 packet_len - current_packet->header_len, &tsch_current_asn);
555 if(with_encryption) {
556 packet = encrypted_packet;
562 if(packet_ready && NETSTACK_RADIO.prepare(packet, packet_len) == 0) {
563 static rtimer_clock_t tx_duration;
568 TSCH_SCHEDULE_AND_YIELD(pt, t, current_slot_start, tsch_timing[tsch_ts_cca_offset],
"cca");
569 TSCH_DEBUG_TX_EVENT();
573 current_slot_start, tsch_timing[tsch_ts_cca_offset] + tsch_timing[tsch_ts_cca]);
574 TSCH_DEBUG_TX_EVENT();
577 if(cca_status == 0) {
583 TSCH_SCHEDULE_AND_YIELD(pt, t, current_slot_start, tsch_timing[tsch_ts_tx_offset] - RADIO_DELAY_BEFORE_TX,
"TxBeforeTx");
584 TSCH_DEBUG_TX_EVENT();
586 mac_tx_status = NETSTACK_RADIO.transmit(packet_len);
589 tx_start_time = current_slot_start + tsch_timing[tsch_ts_tx_offset];
591 tx_duration = TSCH_PACKET_DURATION(packet_len);
593 tx_duration = MIN(tx_duration, tsch_timing[tsch_ts_max_tx]);
598 if(do_wait_for_ack) {
599 uint8_t ackbuf[TSCH_PACKET_MAX_LEN];
601 rtimer_clock_t ack_start_time;
603 struct ieee802154_ies ack_ies;
607 #if TSCH_HW_FRAME_FILTERING 614 TSCH_SCHEDULE_AND_YIELD(pt, t, current_slot_start,
615 tsch_timing[tsch_ts_tx_offset] + tx_duration + tsch_timing[tsch_ts_rx_ack_delay] - RADIO_DELAY_BEFORE_RX,
"TxBeforeAck");
616 TSCH_DEBUG_TX_EVENT();
620 tx_start_time, tx_duration + tsch_timing[tsch_ts_rx_ack_delay] + tsch_timing[tsch_ts_ack_wait] + RADIO_DELAY_BEFORE_DETECT);
621 TSCH_DEBUG_TX_EVENT();
623 ack_start_time =
RTIMER_NOW() - RADIO_DELAY_BEFORE_DETECT;
627 ack_start_time, tsch_timing[tsch_ts_max_ack]);
628 TSCH_DEBUG_TX_EVENT();
631 #if TSCH_HW_FRAME_FILTERING 638 ack_len = NETSTACK_RADIO.read((
void *)ackbuf,
sizeof(ackbuf));
643 is_time_source = current_neighbor != NULL && current_neighbor->is_time_source;
645 &frame, &ack_ies, &ack_hdrlen) == 0) {
649 #if LLSEC802154_ENABLED 654 snprintf(log->message,
sizeof(log->message),
655 "!failed to authenticate ACK"));
660 snprintf(log->message,
sizeof(log->message),
661 "!failed to parse ACK"));
668 int32_t eack_time_correction = US_TO_RTIMERTICKS(ack_ies.ie_time_correction);
669 int32_t since_last_timesync =
TSCH_ASN_DIFF(tsch_current_asn, last_sync_asn);
670 if(eack_time_correction > SYNC_IE_BOUND) {
671 drift_correction = SYNC_IE_BOUND;
672 }
else if(eack_time_correction < -SYNC_IE_BOUND) {
673 drift_correction = -SYNC_IE_BOUND;
675 drift_correction = eack_time_correction;
677 if(drift_correction != eack_time_correction) {
679 snprintf(log->message,
sizeof(log->message),
680 "!truncated dr %d %d", (
int)eack_time_correction, (
int)drift_correction);
683 tsch_stats_on_time_synchronization(eack_time_correction);
684 is_drift_correction_used = 1;
687 last_sync_asn = tsch_current_asn;
695 if(burst_link_requested) {
696 burst_link_scheduled = 1;
715 current_packet->transmissions++;
716 current_packet->ret = mac_tx_status;
723 dequeued_array[dequeued_index] = current_packet;
728 if(current_neighbor != NULL && current_neighbor->is_time_source) {
729 tsch_stats_tx_packet(current_neighbor, mac_tx_status, tsch_current_channel);
734 log->tx.mac_tx_status = mac_tx_status;
735 log->tx.num_tx = current_packet->transmissions;
736 log->tx.datalen = queuebuf_datalen(current_packet->qb);
737 log->tx.drift = drift_correction;
738 log->tx.drift_used = is_drift_correction_used;
739 log->tx.is_data = ((((uint8_t *)(queuebuf_dataptr(current_packet->qb)))[0]) & 7) == FRAME802154_DATAFRAME;
740 #
if LLSEC802154_ENABLED
741 log->tx.sec_level = queuebuf_attr(current_packet->qb, PACKETBUF_ATTR_SECURITY_LEVEL);
743 log->tx.sec_level = 0;
745 linkaddr_copy(&log->tx.dest, queuebuf_addr(current_packet->qb, PACKETBUF_ADDR_RECEIVER));
746 log->tx.seqno = queuebuf_attr(current_packet->qb, PACKETBUF_ATTR_MAC_SEQNO);
753 TSCH_DEBUG_TX_EVENT();
771 static linkaddr_t source_address;
772 static linkaddr_t destination_address;
773 static int16_t input_index;
774 static int input_queue_drop = 0;
778 TSCH_DEBUG_RX_EVENT();
781 if(input_index == -1) {
786 static int32_t estimated_drift;
788 static rtimer_clock_t rx_start_time;
789 static rtimer_clock_t expected_rx_time;
790 static rtimer_clock_t packet_duration;
793 expected_rx_time = current_slot_start + tsch_timing[tsch_ts_tx_offset];
795 rx_start_time = expected_rx_time;
797 current_input = &input_array[input_index];
800 TSCH_SCHEDULE_AND_YIELD(pt, t, current_slot_start, tsch_timing[tsch_ts_rx_offset] - RADIO_DELAY_BEFORE_RX,
"RxBeforeListen");
801 TSCH_DEBUG_RX_EVENT();
805 packet_seen = NETSTACK_RADIO.receiving_packet() || NETSTACK_RADIO.pending_packet();
809 current_slot_start, tsch_timing[tsch_ts_rx_offset] + tsch_timing[tsch_ts_rx_wait] + RADIO_DELAY_BEFORE_DETECT);
815 TSCH_DEBUG_RX_EVENT();
817 rx_start_time =
RTIMER_NOW() - RADIO_DELAY_BEFORE_DETECT;
821 current_slot_start, tsch_timing[tsch_ts_rx_offset] + tsch_timing[tsch_ts_rx_wait] + tsch_timing[tsch_ts_max_tx]);
822 TSCH_DEBUG_RX_EVENT();
825 if(NETSTACK_RADIO.pending_packet()) {
826 static int frame_valid;
827 static int header_len;
833 current_input->len = NETSTACK_RADIO.read((
void *)current_input->payload, TSCH_PACKET_MAX_LEN);
835 current_input->rx_asn = tsch_current_asn;
836 current_input->rssi = (signed)radio_last_rssi;
837 current_input->channel = tsch_current_channel;
838 header_len =
frame802154_parse((uint8_t *)current_input->payload, current_input->len, &frame);
839 frame_valid = header_len > 0 &&
840 frame802154_check_dest_panid(&frame) &&
841 frame802154_extract_linkaddr(&frame, &source_address, &destination_address);
843 #if TSCH_RESYNC_WITH_SFD_TIMESTAMPS 848 packet_duration = TSCH_PACKET_DURATION(current_input->len);
850 packet_duration = MIN(packet_duration, tsch_timing[tsch_ts_max_tx]);
854 snprintf(log->message,
sizeof(log->message),
855 "!failed to parse frame %u %u", header_len, current_input->len));
862 snprintf(log->message,
sizeof(log->message),
863 "!discarding frame with type %u, len %u", frame.
fcf.
frame_type, current_input->len));
868 #if LLSEC802154_ENABLED 873 &frame, &source_address, &tsch_current_asn)) {
877 snprintf(log->message,
sizeof(log->message),
878 "!failed to authenticate frame %u", current_input->len));
893 estimated_drift = RTIMER_CLOCK_DIFF(expected_rx_time, rx_start_time);
894 tsch_stats_on_time_synchronization(estimated_drift);
896 #if TSCH_TIMESYNC_REMOVE_JITTER 898 if(ABS(estimated_drift) <= TSCH_TIMESYNC_MEASUREMENT_ERROR) {
900 }
else if(estimated_drift > 0) {
901 estimated_drift -= TSCH_TIMESYNC_MEASUREMENT_ERROR;
903 estimated_drift += TSCH_TIMESYNC_MEASUREMENT_ERROR;
907 #ifdef TSCH_CALLBACK_DO_NACK 909 do_nack = TSCH_CALLBACK_DO_NACK(current_link,
910 &source_address, &destination_address);
915 static uint8_t ack_buf[TSCH_PACKET_MAX_LEN];
920 &source_address, frame.
seq, (int16_t)RTIMERTICKS_TO_US(estimated_drift), do_nack);
923 #if LLSEC802154_ENABLED 924 if(tsch_is_pan_secured) {
931 NETSTACK_RADIO.prepare((
const void *)ack_buf, ack_len);
934 TSCH_SCHEDULE_AND_YIELD(pt, t, rx_start_time,
935 packet_duration + tsch_timing[tsch_ts_tx_ack_delay] - RADIO_DELAY_BEFORE_TX,
"RxBeforeAck");
936 TSCH_DEBUG_RX_EVENT();
937 NETSTACK_RADIO.transmit(ack_len);
947 if(n != NULL && n->is_time_source) {
948 int32_t since_last_timesync =
TSCH_ASN_DIFF(tsch_current_asn, last_sync_asn);
950 last_sync_asn = tsch_current_asn;
953 drift_correction = -estimated_drift;
954 is_drift_correction_used = 1;
966 tsch_stats_rx_packet(n, current_input->rssi, radio_last_lqi, tsch_current_channel);
973 log->rx.datalen = current_input->len;
974 log->rx.drift = drift_correction;
975 log->rx.drift_used = is_drift_correction_used;
976 log->rx.is_data = frame.
fcf.
frame_type == FRAME802154_DATAFRAME;
978 log->rx.estimated_drift = estimated_drift;
979 log->rx.seqno = frame.
seq;
991 if(input_queue_drop != 0) {
993 snprintf(log->message,
sizeof(log->message),
994 "!queue full skipped %u", input_queue_drop);
996 input_queue_drop = 0;
1000 TSCH_DEBUG_RX_EVENT();
1010 TSCH_DEBUG_INTERRUPT();
1014 while(tsch_is_associated) {
1016 if(current_link == NULL || tsch_lock_requested) {
1020 snprintf(log->message,
sizeof(log->message),
1021 "!skipped slot %u %u %u",
1023 tsch_lock_requested,
1024 current_link == NULL);
1029 TSCH_DEBUG_SLOT_START();
1030 tsch_in_slot_operation = 1;
1032 tsch_stats_sample_rssi();
1034 drift_correction = 0;
1035 is_drift_correction_used = 0;
1037 current_packet = get_packet_and_neighbor_for_link(current_link, ¤t_neighbor);
1038 uint8_t do_skip_best_link = 0;
1039 if(current_packet == NULL && backup_link != NULL) {
1043 if(!(current_link->link_options & LINK_OPTION_RX)
1044 || backup_link->slotframe_handle < current_link->slotframe_handle) {
1045 do_skip_best_link = 1;
1049 if(do_skip_best_link) {
1051 update_link_backoff(current_link);
1053 current_link = backup_link;
1054 current_packet = get_packet_and_neighbor_for_link(current_link, ¤t_neighbor);
1056 is_active_slot = current_packet != NULL || (current_link->link_options & LINK_OPTION_RX);
1057 if(is_active_slot) {
1060 if(burst_link_scheduled) {
1062 burst_link_scheduled = 0;
1065 tsch_current_channel_offset = tsch_get_channel_offset(current_link, current_packet);
1073 if(current_packet != NULL) {
1079 static struct pt slot_tx_pt;
1080 PT_SPAWN(&slot_operation_pt, &slot_tx_pt, tsch_tx_slot(&slot_tx_pt, t));
1083 static struct pt slot_rx_pt;
1084 PT_SPAWN(&slot_operation_pt, &slot_rx_pt, tsch_rx_slot(&slot_rx_pt, t));
1089 burst_link_scheduled = 0;
1091 TSCH_DEBUG_SLOT_END();
1096 if(tsch_is_coordinator) {
1099 last_sync_asn = tsch_current_asn;
1104 if(!tsch_is_coordinator && (
TSCH_ASN_DIFF(tsch_current_asn, last_sync_asn) >
1105 (100 * TSCH_CLOCK_TO_SLOTS(TSCH_DESYNC_THRESHOLD / 100, tsch_timing[tsch_ts_timeslot_length])))) {
1107 snprintf(log->message,
sizeof(log->message),
1108 "! leaving the network, last sync %u",
1115 uint16_t timeslot_diff = 0;
1116 rtimer_clock_t prev_slot_start;
1118 rtimer_clock_t time_to_next_active_slot;
1121 update_link_backoff(current_link);
1125 if(burst_link_scheduled && current_link != NULL) {
1129 tsch_current_burst_count++;
1133 if(current_link == NULL) {
1140 tsch_current_burst_count = 0;
1147 time_to_next_active_slot = timeslot_diff * tsch_timing[tsch_ts_timeslot_length] + drift_correction;
1149 drift_correction = 0;
1150 is_drift_correction_used = 0;
1152 prev_slot_start = current_slot_start;
1153 current_slot_start += time_to_next_active_slot;
1154 }
while(!tsch_schedule_slot_operation(t, prev_slot_start, time_to_next_active_slot,
"main"));
1157 tsch_in_slot_operation = 0;
1161 PT_END(&slot_operation_pt);
1169 static struct rtimer slot_operation_timer;
1170 rtimer_clock_t time_to_next_active_slot;
1171 rtimer_clock_t prev_slot_start;
1174 uint16_t timeslot_diff;
1177 if(current_link == NULL) {
1185 time_to_next_active_slot = timeslot_diff * tsch_timing[tsch_ts_timeslot_length];
1189 prev_slot_start = current_slot_start;
1190 current_slot_start += time_to_next_active_slot;
1191 }
while(!tsch_schedule_slot_operation(&slot_operation_timer, prev_slot_start, time_to_next_active_slot,
"assoc"));
1201 current_slot_start = next_slot_start;
1202 tsch_current_asn = *next_slot_asn;
1204 last_sync_asn = tsch_current_asn;
1207 current_link = NULL;
#define TSCH_LOG_ADD(log_type, init_code)
Use this macro to add a log to the queue (will be printed out later, after leaving interrupt context)...
frame802154_scf_t security_control
Security control bitfield.
struct tsch_neighbor * tsch_queue_get_nbr(const linkaddr_t *addr)
Get a TSCH neighbor.
static void tsch_radio_off(enum tsch_radio_state_off_cmd command)
This function turns off the radio.
int rtimer_set(struct rtimer *rtimer, rtimer_clock_t time, rtimer_clock_t duration, rtimer_callback_t func, void *ptr)
Post a real-time task.
frame802154_fcf_t fcf
Frame control field.
Representation of a real-time task.
The MAC layer transmission could not be performed because of a fatal error.
int tsch_get_lock(void)
Takes the TSCH lock.
Header file for the radio API
uint8_t security_level
3 bit.
static void critical_exit(int_master_status_t status)
Exit a critical section and restore the master interrupt.
void tsch_release_lock(void)
Releases the TSCH lock.
int frame802154_parse(uint8_t *data, int len, frame802154_t *pf)
Parses an input frame.
TSCH neighbor information.
void tsch_queue_update_all_backoff_windows(const linkaddr_t *dest_addr)
Decrement backoff window for the queue(s) able to Tx to a given address.
unsigned int tsch_security_parse_frame(const uint8_t *hdr, int hdrlen, int datalen, const frame802154_t *frame, const linkaddr_t *sender, struct tsch_asn_t *asn)
Parse and check a frame protected with encryption and/or MIC.
#define PT_BEGIN(pt)
Declare the start of a protothread inside the C function implementing the protothread.
Channel used for radio communication.
void tsch_timesync_update(struct tsch_neighbor *n, uint16_t time_delta_asn, int32_t drift_correction)
Updates timesync information for a given neighbor.
int radio_value_t
Each radio has a set of parameters that designate the current configuration and state of the radio...
uint8_t src_addr[8]
Source address.
A MAC framer for IEEE 802.15.4
const linkaddr_t linkaddr_null
The null link-layer address.
#define PT_SPAWN(pt, child, thread)
Spawn a child protothread and wait until it exits.
int tsch_packet_update_eb(uint8_t *buf, int buf_size, uint8_t tsch_sync_ie_offset)
Update ASN in EB packet.
linkaddr_t linkaddr_node_addr
The link-layer address of the node.
static int_master_status_t critical_enter()
Enter a critical section.
#define RTIMER_NOW()
Get the current clock time.
The RSSI value of the last received packet.
int32_t tsch_timesync_adaptive_compensate(rtimer_clock_t delta_ticks)
Computes time compensation for a given point in the future.
int tsch_queue_nbr_packet_count(const struct tsch_neighbor *n)
Returns the number of packets currently a given neighbor queue (by pointer)
unsigned int tsch_security_mic_len(const frame802154_t *frame)
Return MIC length.
INT_MASTER_STATUS_DATATYPE int_master_status_t
Master interrupt state representation data type.
#define CLOCK_SECOND
A second, measured in system clock time.
#define PT_END(pt)
Declare the end of a protothread.
linkaddr_t * tsch_queue_get_nbr_address(const struct tsch_neighbor *n)
Get the address of a neighbor.
Header file for the Packet queue buffer management
The MAC layer did not get an acknowledgement for the packet.
void process_poll(struct process *p)
Request a process to be polled.
struct tsch_link * tsch_schedule_get_next_active_link(struct tsch_asn_t *asn, uint16_t *time_offset, struct tsch_link **backup_link)
Returns the next active link after a given ASN, and a backup link (for the same ASN, with Rx flag)
static uint8_t tsch_calculate_channel(struct tsch_asn_t *asn, uint16_t channel_offset)
Returns a 802.15.4 channel from an ASN and channel offset.
void tsch_schedule_keepalive(int immediate)
Schedule a keep-alive transmission within [timeout*0.9, timeout[ Can be called from an interrupt...
Radio receiver mode determines if the radio has address filter (RADIO_RX_MODE_ADDRESS_FILTER) and aut...
The MAC layer transmission was OK.
#define TSCH_ASN_MOD(asn, div)
Returns the result (16 bits) of a modulo operation on ASN, with divisor being a struct asn_divisor_t...
#define PT_YIELD(pt)
Yield from the current protothread.
int tsch_packet_parse_eack(const uint8_t *buf, int buf_size, uint8_t seqno, frame802154_t *frame, struct ieee802154_ies *ies, uint8_t *hdr_len)
Parse enhanced ACK packet.
Main API declarations for TSCH.
clock_time_t clock_time(void)
Get the current clock time.
#define RTIMER_BUSYWAIT_UNTIL_ABS(cond, t0, max_time)
Busy-wait until a condition.
struct tsch_packet * tsch_queue_get_packet_for_nbr(const struct tsch_neighbor *n, struct tsch_link *link)
Returns the first packet that can be sent from a queue on a given link.
#define RADIO_RX_MODE_ADDRESS_FILTER
Enable address-based frame filtering.
int tsch_is_locked(void)
Checks if the TSCH lock is set.
void tsch_slot_operation_sync(rtimer_clock_t next_slot_start, struct tsch_asn_t *next_slot_asn)
Set global time before starting slot operation, with a rtimer time and an ASN.
The MAC layer deferred the transmission for a later time.
Parameters used by the frame802154_create() function.
void linkaddr_copy(linkaddr_t *dest, const linkaddr_t *src)
Copy a link-layer address.
#define PT_THREAD(name_args)
Declaration of a protothread.
uint64_t tsch_get_network_uptime_ticks(void)
Get the time, in clock ticks, since the TSCH network was started.
void tsch_packet_set_frame_pending(uint8_t *buf, int buf_size)
Set frame pending bit in a packet (whose header was already build)
int tsch_queue_packet_sent(struct tsch_neighbor *n, struct tsch_packet *p, struct tsch_link *link, uint8_t mac_tx_status)
Updates neighbor queue state after a transmission.
#define TSCH_ASN_DIFF(asn1, asn2)
Returns the 32-bit diff between asn1 and asn2.
int linkaddr_cmp(const linkaddr_t *addr1, const linkaddr_t *addr2)
Compare two link-layer addresses.
static void tsch_radio_on(enum tsch_radio_state_on_cmd command)
This function turns on the radio.
#define TSCH_ASN_INC(asn, inc)
Increment an ASN by inc (32 bits)
Link quality indicator of the last received packet.
uint8_t seq
Sequence number.
int tsch_packet_get_frame_pending(uint8_t *buf, int buf_size)
Get frame pending bit from a packet.
int ringbufindex_peek_put(const struct ringbufindex *r)
Check if there is space to put an element.
rtimer task is scheduled successfully
void tsch_disassociate(void)
Leave the TSCH network we are currently in.
An IEEE 802.15.4-2015 TSCH link (also called cell or slot)
Header file for the Packet buffer (packetbuf) management
Include file for the Contiki low-layer network stack (NETSTACK)
void watchdog_periodic(void)
Writes the WDT clear sequence.
struct tsch_packet * tsch_queue_get_unicast_packet_for_any(struct tsch_neighbor **n, struct tsch_link *link)
Gets the head packet of any neighbor queue with zero backoff counter.
unsigned int tsch_security_secure_frame(uint8_t *hdr, uint8_t *outbuf, int hdrlen, int datalen, struct tsch_asn_t *asn)
Protect a frame with encryption and/or MIC.
Last packet timestamp, of type rtimer_clock_t.
Header file for the logging system
uint8_t ack_required
1 bit.
int ringbufindex_put(struct ringbufindex *r)
Put one element to the ring buffer.
void tsch_slot_operation_start(void)
Start actual slot operation.
The ASN is an absolute slot number over 5 bytes.
TX was successful and where an ACK was requested one was received.
frame802154_aux_hdr_t aux_hdr
Aux security header.
int tsch_packet_create_eack(uint8_t *buf, uint16_t buf_len, const linkaddr_t *dest_addr, uint8_t seqno, int16_t drift, int nack)
Construct Enhanced ACK packet.