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Merge pull request #1708 from atiselsts/tsch_enhancements

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TSCH enhancements
This commit is contained in:
Simon Duquennoy 2016-06-13 20:58:02 +02:00 committed by GitHub
parent 4b67e21d2e f0fcff2d1a
commit 30e820ffa5
6 changed files with 161 additions and 55 deletions
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8
core/net/mac/tsch/tsch-adaptive-timesync.c
View file

@ -86,12 +86,16 @@ timesync_entry_add(int32_t val, uint32_t time_delta)
static void
timesync_learn_drift_ticks(uint32_t time_delta_asn, int32_t drift_ticks)
{
/* should fit in 32-bit unsigned integer */
uint32_t time_delta_ticks = time_delta_asn * tsch_timing[tsch_ts_timeslot_length];
/* should fit in a 32-bit integer */
int32_t time_delta_ticks = time_delta_asn * tsch_timing[tsch_ts_timeslot_length];
int32_t real_drift_ticks = drift_ticks + compensated_ticks;
int32_t last_drift_ppm = (int32_t)((int64_t)real_drift_ticks * TSCH_DRIFT_UNIT / time_delta_ticks);
drift_ppm = timesync_entry_add(last_drift_ppm, time_delta_ticks);
TSCH_LOG_ADD(tsch_log_message,
snprintf(log->message, sizeof(log->message),
"drift %ld", drift_ppm / 256));
}
/*---------------------------------------------------------------------------*/
/* Either reset or update the neighbor's drift */

18
core/net/mac/tsch/tsch-conf.h
View file

@ -53,6 +53,8 @@
#define TSCH_HOPPING_SEQUENCE_4_16 (uint8_t[]){ 20, 26, 25, 26, 15, 15, 25, 20, 26, 15, 26, 25, 20, 15, 20, 25 }
/* 4 channels, sequence length 4 */
#define TSCH_HOPPING_SEQUENCE_4_4 (uint8_t[]){ 15, 25, 26, 20 }
/* 2 channels, sequence length 2 */
#define TSCH_HOPPING_SEQUENCE_2_2 (uint8_t[]){ 20, 25 }
/* 1 channel, sequence length 1 */
#define TSCH_HOPPING_SEQUENCE_1_1 (uint8_t[]){ 20 }
@ -120,7 +122,7 @@
#define TSCH_DEFAULT_TS_TIMESLOT_LENGTH 10000
#elif TSCH_CONF_DEFAULT_TIMESLOT_LENGTH == 15000
/* Default timeslot timing for platfroms requiring 15ms slots */
/* Default timeslot timing for platforms requiring 15ms slots */
#define TSCH_DEFAULT_TS_CCA_OFFSET 1800
#define TSCH_DEFAULT_TS_CCA 128
@ -182,4 +184,18 @@
#define TSCH_HW_FRAME_FILTERING 1
#endif /* TSCH_CONF_HW_FRAME_FILTERING */
/* Keep radio always on within TSCH timeslot (1) or turn it off between packet and ACK? (0) */
#ifdef TSCH_CONF_RADIO_ON_DURING_TIMESLOT
#define TSCH_RADIO_ON_DURING_TIMESLOT TSCH_CONF_RADIO_ON_DURING_TIMESLOT
#else
#define TSCH_RADIO_ON_DURING_TIMESLOT 0
#endif
/* How long to scan each channel in the scanning phase */
#ifdef TSCH_CONF_CHANNEL_SCAN_DURATION
#define TSCH_CHANNEL_SCAN_DURATION TSCH_CONF_CHANNEL_SCAN_DURATION
#else
#define TSCH_CHANNEL_SCAN_DURATION CLOCK_SECOND
#endif
#endif /* __TSCH_CONF_H__ */

1
core/net/mac/tsch/tsch-queue.h
View file

@ -39,6 +39,7 @@
#include "lib/ringbufindex.h"
#include "net/linkaddr.h"
#include "net/mac/tsch/tsch-schedule.h"
#include "net/mac/mac.h"
/******** Configuration *******/

2
core/net/mac/tsch/tsch-rpl.c
View file

@ -73,7 +73,7 @@ tsch_rpl_callback_leaving_network(void)
}
/*---------------------------------------------------------------------------*/
/* Set TSCH EB period based on current RPL DIO period.
* To use, set #define RPL_CALLBACK_PARENT_SWITCH tsch_rpl_callback_new_dio_interval */
* To use, set #define RPL_CALLBACK_NEW_DIO_INTERVAL tsch_rpl_callback_new_dio_interval */
void
tsch_rpl_callback_new_dio_interval(uint8_t dio_interval)
{

168
core/net/mac/tsch/tsch-slot-operation.c
View file

@ -36,6 +36,7 @@
* \author
* Simon Duquennoy <simonduq@sics.se>
* Beshr Al Nahas <beshr@sics.se>
* Atis Elsts <atis.elsts@bristol.ac.uk>
*
*/
@ -109,6 +110,18 @@
#define RTIMER_GUARD 2u
#endif
enum tsch_radio_state_on_cmd {
TSCH_RADIO_CMD_ON_START_OF_TIMESLOT,
TSCH_RADIO_CMD_ON_WITHIN_TIMESLOT,
TSCH_RADIO_CMD_ON_FORCE,
};
enum tsch_radio_state_off_cmd {
TSCH_RADIO_CMD_OFF_END_OF_TIMESLOT,
TSCH_RADIO_CMD_OFF_WITHIN_TIMESLOT,
TSCH_RADIO_CMD_OFF_FORCE,
};
/* A ringbuf storing outgoing packets after they were dequeued.
* Will be processed layer by tsch_tx_process_pending */
struct ringbufindex dequeued_ringbuf;
@ -370,6 +383,68 @@ update_neighbor_state(struct tsch_neighbor *n, struct tsch_packet *p,
return in_queue;
}
/*---------------------------------------------------------------------------*/
/**
* This function turns on the radio. Its semantics is dependent on
* the value of TSCH_RADIO_ON_DURING_TIMESLOT constant:
* - if enabled, the radio is turned on at the start of the slot
* - if disabled, the radio is turned on within the slot,
* directly before the packet Rx guard time and ACK Rx guard time.
*/
static void
tsch_radio_on(enum tsch_radio_state_on_cmd command)
{
int do_it = 0;
switch(command) {
case TSCH_RADIO_CMD_ON_START_OF_TIMESLOT:
if(TSCH_RADIO_ON_DURING_TIMESLOT) {
do_it = 1;
}
break;
case TSCH_RADIO_CMD_ON_WITHIN_TIMESLOT:
if(!TSCH_RADIO_ON_DURING_TIMESLOT) {
do_it = 1;
}
break;
case TSCH_RADIO_CMD_ON_FORCE:
do_it = 1;
break;
}
if(do_it) {
NETSTACK_RADIO.on();
}
}
/*---------------------------------------------------------------------------*/
/**
* This function turns off the radio. In the same way as for tsch_radio_on(),
* it depends on the value of TSCH_RADIO_ON_DURING_TIMESLOT constant:
* - if enabled, the radio is turned off at the end of the slot
* - if disabled, the radio is turned off within the slot,
* directly after Tx'ing or Rx'ing a packet or Tx'ing an ACK.
*/
static void
tsch_radio_off(enum tsch_radio_state_off_cmd command)
{
int do_it = 0;
switch(command) {
case TSCH_RADIO_CMD_OFF_END_OF_TIMESLOT:
if(TSCH_RADIO_ON_DURING_TIMESLOT) {
do_it = 1;
}
break;
case TSCH_RADIO_CMD_OFF_WITHIN_TIMESLOT:
if(!TSCH_RADIO_ON_DURING_TIMESLOT) {
do_it = 1;
}
break;
case TSCH_RADIO_CMD_OFF_FORCE:
do_it = 1;
break;
}
if(do_it) {
NETSTACK_RADIO.off();
}
}
/*---------------------------------------------------------------------------*/
static
PT_THREAD(tsch_tx_slot(struct pt *pt, struct rtimer *t))
{
@ -456,7 +531,7 @@ PT_THREAD(tsch_tx_slot(struct pt *pt, struct rtimer *t))
/* delay before CCA */
TSCH_SCHEDULE_AND_YIELD(pt, t, current_slot_start, TS_CCA_OFFSET, "cca");
TSCH_DEBUG_TX_EVENT();
NETSTACK_RADIO.on();
tsch_radio_on(TSCH_RADIO_CMD_ON_WITHIN_TIMESLOT);
/* CCA */
BUSYWAIT_UNTIL_ABS(!(cca_status |= NETSTACK_RADIO.channel_clear()),
current_slot_start, TS_CCA_OFFSET + TS_CCA);
@ -480,7 +555,7 @@ PT_THREAD(tsch_tx_slot(struct pt *pt, struct rtimer *t))
/* 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 */
NETSTACK_RADIO.off();
tsch_radio_off(TSCH_RADIO_CMD_OFF_WITHIN_TIMESLOT);
if(mac_tx_status == RADIO_TX_OK) {
if(!is_broadcast) {
@ -488,12 +563,12 @@ PT_THREAD(tsch_tx_slot(struct pt *pt, struct rtimer *t))
int ack_len;
rtimer_clock_t ack_start_time;
int is_time_source;
radio_value_t radio_rx_mode;
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));
@ -502,7 +577,7 @@ PT_THREAD(tsch_tx_slot(struct pt *pt, struct rtimer *t))
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();
NETSTACK_RADIO.on();
tsch_radio_on(TSCH_RADIO_CMD_ON_WITHIN_TIMESLOT);
/* Wait for ACK to come */
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]);
@ -514,7 +589,7 @@ PT_THREAD(tsch_tx_slot(struct pt *pt, struct rtimer *t))
BUSYWAIT_UNTIL_ABS(!NETSTACK_RADIO.receiving_packet(),
ack_start_time, tsch_timing[tsch_ts_max_ack]);
TSCH_DEBUG_TX_EVENT();
NETSTACK_RADIO.off();
tsch_radio_off(TSCH_RADIO_CMD_OFF_WITHIN_TIMESLOT);
#if TSCH_HW_FRAME_FILTERING
/* Leaving promiscuous mode */
@ -588,6 +663,8 @@ PT_THREAD(tsch_tx_slot(struct pt *pt, struct rtimer *t))
}
}
tsch_radio_off(TSCH_RADIO_CMD_OFF_END_OF_TIMESLOT);
current_packet->transmissions++;
current_packet->ret = mac_tx_status;
@ -671,32 +748,26 @@ PT_THREAD(tsch_rx_slot(struct pt *pt, struct rtimer *t))
TSCH_DEBUG_RX_EVENT();
/* Start radio for at least guard time */
NETSTACK_RADIO.on();
packet_seen = NETSTACK_RADIO.receiving_packet();
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 */
BUSYWAIT_UNTIL_ABS((packet_seen = NETSTACK_RADIO.receiving_packet()),
current_slot_start, tsch_timing[tsch_ts_rx_offset] + tsch_timing[tsch_ts_rx_wait]);
}
if(packet_seen) {
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;
}
if(!NETSTACK_RADIO.receiving_packet() && !NETSTACK_RADIO.pending_packet()) {
NETSTACK_RADIO.off();
/* no packets on air */
} else {
/* Wait until packet is received, turn radio off */
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();
NETSTACK_RADIO.off();
#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
tsch_radio_off(TSCH_RADIO_CMD_OFF_WITHIN_TIMESLOT);
if(NETSTACK_RADIO.pending_packet()) {
static int frame_valid;
@ -704,9 +775,9 @@ PT_THREAD(tsch_rx_slot(struct pt *pt, struct rtimer *t))
static frame802154_t frame;
radio_value_t radio_last_rssi;
NETSTACK_RADIO.get_value(RADIO_PARAM_LAST_RSSI, &radio_last_rssi);
/* 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 = current_asn;
current_input->rssi = (signed)radio_last_rssi;
header_len = frame802154_parse((uint8_t *)current_input->payload, current_input->len, &frame);
@ -714,6 +785,11 @@ PT_THREAD(tsch_rx_slot(struct pt *pt, struct rtimer *t))
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);
#if LLSEC802154_ENABLED
@ -745,7 +821,7 @@ PT_THREAD(tsch_rx_slot(struct pt *pt, struct rtimer *t))
#if TSCH_TIMESYNC_REMOVE_JITTER
/* remove jitter due to measurement errors */
if(abs(estimated_drift) <= TSCH_TIMESYNC_MEASUREMENT_ERROR) {
if(ABS(estimated_drift) <= TSCH_TIMESYNC_MEASUREMENT_ERROR) {
estimated_drift = 0;
} else if(estimated_drift > 0) {
estimated_drift -= TSCH_TIMESYNC_MEASUREMENT_ERROR;
@ -784,7 +860,7 @@ PT_THREAD(tsch_rx_slot(struct pt *pt, struct rtimer *t))
packet_duration + tsch_timing[tsch_ts_tx_ack_delay] - RADIO_DELAY_BEFORE_TX, "RxBeforeAck");
TSCH_DEBUG_RX_EVENT();
NETSTACK_RADIO.transmit(ack_len);
NETSTACK_RADIO.off();
tsch_radio_off(TSCH_RADIO_CMD_OFF_WITHIN_TIMESLOT);
}
/* If the sender is a time source, proceed to clock drift compensation */
@ -820,6 +896,8 @@ PT_THREAD(tsch_rx_slot(struct pt *pt, struct rtimer *t))
process_poll(&tsch_pending_events_process);
}
}
tsch_radio_off(TSCH_RADIO_CMD_OFF_END_OF_TIMESLOT);
}
if(input_queue_drop != 0) {
@ -860,8 +938,12 @@ PT_THREAD(tsch_slot_operation(struct rtimer *t, void *ptr))
} else {
uint8_t current_channel;
int is_active_slot;
TSCH_DEBUG_SLOT_START();
tsch_in_slot_operation = 1;
/* Reset drift correction */
drift_correction = 0;
is_drift_correction_used = 0;
/* Get a packet ready to be sent */
current_packet = get_packet_and_neighbor_for_link(current_link, &current_neighbor);
/* There is no packet to send, and this link does not have Rx flag. Instead of doing
@ -870,26 +952,28 @@ PT_THREAD(tsch_slot_operation(struct rtimer *t, void *ptr))
current_link = backup_link;
current_packet = get_packet_and_neighbor_for_link(current_link, &current_neighbor);
}
/* Hop channel */
current_channel = tsch_calculate_channel(&current_asn, current_link->channel_offset);
NETSTACK_RADIO.set_value(RADIO_PARAM_CHANNEL, current_channel);
/* Reset drift correction */
drift_correction = 0;
is_drift_correction_used = 0;
/* Decide whether it is a TX/RX/IDLE or OFF slot */
/* Actual slot operation */
if(current_packet != NULL) {
/* We have something to transmit, do the following:
* 1. send
* 2. update_backoff_state(current_neighbor)
* 3. post tx callback
**/
static struct pt slot_tx_pt;
PT_SPAWN(&slot_operation_pt, &slot_tx_pt, tsch_tx_slot(&slot_tx_pt, t));
} else if((current_link->link_options & LINK_OPTION_RX)) {
/* Listen */
static struct pt slot_rx_pt;
PT_SPAWN(&slot_operation_pt, &slot_rx_pt, tsch_rx_slot(&slot_rx_pt, t));
is_active_slot = current_packet != NULL || (current_link->link_options & LINK_OPTION_RX);
if(is_active_slot) {
/* Hop channel */
current_channel = tsch_calculate_channel(&current_asn, current_link->channel_offset);
NETSTACK_RADIO.set_value(RADIO_PARAM_CHANNEL, current_channel);
/* Turn the radio on already here if configured so; necessary for radios with slow startup */
tsch_radio_on(TSCH_RADIO_CMD_ON_START_OF_TIMESLOT);
/* Decide whether it is a TX/RX/IDLE or OFF slot */
/* Actual slot operation */
if(current_packet != NULL) {
/* We have something to transmit, do the following:
* 1. send
* 2. update_backoff_state(current_neighbor)
* 3. post tx callback
**/
static struct pt slot_tx_pt;
PT_SPAWN(&slot_operation_pt, &slot_tx_pt, tsch_tx_slot(&slot_tx_pt, t));
} else {
/* Listen */
static struct pt slot_rx_pt;
PT_SPAWN(&slot_operation_pt, &slot_rx_pt, tsch_rx_slot(&slot_rx_pt, t));
}
}
TSCH_DEBUG_SLOT_END();
}

19
core/net/mac/tsch/tsch.c
View file

@ -609,24 +609,25 @@ PT_THREAD(tsch_scan(struct pt *pt))
static struct input_packet input_eb;
static struct etimer scan_timer;
/* Time when we started scanning on current_channel */
static clock_time_t current_channel_since;
ASN_INIT(current_asn, 0, 0);
etimer_set(&scan_timer, CLOCK_SECOND / TSCH_ASSOCIATION_POLL_FREQUENCY);
current_channel_since = clock_time();
while(!tsch_is_associated && !tsch_is_coordinator) {
/* Hop to any channel offset */
static int current_channel = 0;
/* Time when we started scanning on current_channel */
static clock_time_t current_channel_since = 0;
static uint8_t current_channel = 0;
/* We are not coordinator, try to associate */
rtimer_clock_t t0;
int is_packet_pending = 0;
clock_time_t now_seconds = clock_seconds();
clock_time_t now_time = clock_time();
/* Switch to a (new) channel for scanning */
if(current_channel == 0 || now_seconds != current_channel_since) {
if(current_channel == 0 || now_time - current_channel_since > TSCH_CHANNEL_SCAN_DURATION) {
/* Pick a channel at random in TSCH_JOIN_HOPPING_SEQUENCE */
uint8_t scan_channel = TSCH_JOIN_HOPPING_SEQUENCE[
random_rand() % sizeof(TSCH_JOIN_HOPPING_SEQUENCE)];
@ -635,7 +636,7 @@ PT_THREAD(tsch_scan(struct pt *pt))
current_channel = scan_channel;
PRINTF("TSCH: scanning on channel %u\n", scan_channel);
}
current_channel_since = now_seconds;
current_channel_since = now_time;
}
/* Turn radio on and wait for EB */
@ -649,12 +650,12 @@ PT_THREAD(tsch_scan(struct pt *pt))
}
if(is_packet_pending) {
/* Save packet timestamp */
NETSTACK_RADIO.get_object(RADIO_PARAM_LAST_PACKET_TIMESTAMP, &t0, sizeof(rtimer_clock_t));
/* Read packet */
input_eb.len = NETSTACK_RADIO.read(input_eb.payload, TSCH_PACKET_MAX_LEN);
/* Save packet timestamp */
NETSTACK_RADIO.get_object(RADIO_PARAM_LAST_PACKET_TIMESTAMP, &t0, sizeof(rtimer_clock_t));
/* Parse EB and attempt to associate */
PRINTF("TSCH: association: received packet (%u bytes) on channel %u\n", input_eb.len, current_channel);