Merge pull request #1708 from atiselsts/tsch_enhancements
TSCH enhancements
This commit is contained in:
Simon Duquennoy
GitHub
commit
30e820ffa5
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@ -86,12 +86,16 @@ timesync_entry_add(int32_t val, uint32_t time_delta)
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static void
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timesync_learn_drift_ticks(uint32_t time_delta_asn, int32_t drift_ticks)
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{
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/* should fit in 32-bit unsigned integer */
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uint32_t time_delta_ticks = time_delta_asn * tsch_timing[tsch_ts_timeslot_length];
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/* should fit in a 32-bit integer */
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int32_t time_delta_ticks = time_delta_asn * tsch_timing[tsch_ts_timeslot_length];
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int32_t real_drift_ticks = drift_ticks + compensated_ticks;
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int32_t last_drift_ppm = (int32_t)((int64_t)real_drift_ticks * TSCH_DRIFT_UNIT / time_delta_ticks);
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drift_ppm = timesync_entry_add(last_drift_ppm, time_delta_ticks);
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TSCH_LOG_ADD(tsch_log_message,
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snprintf(log->message, sizeof(log->message),
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"drift %ld", drift_ppm / 256));
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}
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/*---------------------------------------------------------------------------*/
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/* Either reset or update the neighbor's drift */
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@ -53,6 +53,8 @@
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#define TSCH_HOPPING_SEQUENCE_4_16 (uint8_t[]){ 20, 26, 25, 26, 15, 15, 25, 20, 26, 15, 26, 25, 20, 15, 20, 25 }
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/* 4 channels, sequence length 4 */
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#define TSCH_HOPPING_SEQUENCE_4_4 (uint8_t[]){ 15, 25, 26, 20 }
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/* 2 channels, sequence length 2 */
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#define TSCH_HOPPING_SEQUENCE_2_2 (uint8_t[]){ 20, 25 }
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/* 1 channel, sequence length 1 */
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#define TSCH_HOPPING_SEQUENCE_1_1 (uint8_t[]){ 20 }
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@ -120,7 +122,7 @@
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#define TSCH_DEFAULT_TS_TIMESLOT_LENGTH 10000
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#elif TSCH_CONF_DEFAULT_TIMESLOT_LENGTH == 15000
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/* Default timeslot timing for platfroms requiring 15ms slots */
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/* Default timeslot timing for platforms requiring 15ms slots */
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#define TSCH_DEFAULT_TS_CCA_OFFSET 1800
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#define TSCH_DEFAULT_TS_CCA 128
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@ -182,4 +184,18 @@
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#define TSCH_HW_FRAME_FILTERING 1
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#endif /* TSCH_CONF_HW_FRAME_FILTERING */
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/* Keep radio always on within TSCH timeslot (1) or turn it off between packet and ACK? (0) */
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#ifdef TSCH_CONF_RADIO_ON_DURING_TIMESLOT
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#define TSCH_RADIO_ON_DURING_TIMESLOT TSCH_CONF_RADIO_ON_DURING_TIMESLOT
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#else
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#define TSCH_RADIO_ON_DURING_TIMESLOT 0
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#endif
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/* How long to scan each channel in the scanning phase */
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#ifdef TSCH_CONF_CHANNEL_SCAN_DURATION
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#define TSCH_CHANNEL_SCAN_DURATION TSCH_CONF_CHANNEL_SCAN_DURATION
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#else
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#define TSCH_CHANNEL_SCAN_DURATION CLOCK_SECOND
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#endif
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#endif /* __TSCH_CONF_H__ */
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@ -39,6 +39,7 @@
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#include "lib/ringbufindex.h"
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#include "net/linkaddr.h"
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#include "net/mac/tsch/tsch-schedule.h"
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#include "net/mac/mac.h"
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/******** Configuration *******/
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@ -73,7 +73,7 @@ tsch_rpl_callback_leaving_network(void)
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}
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/*---------------------------------------------------------------------------*/
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/* Set TSCH EB period based on current RPL DIO period.
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* To use, set #define RPL_CALLBACK_PARENT_SWITCH tsch_rpl_callback_new_dio_interval */
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* To use, set #define RPL_CALLBACK_NEW_DIO_INTERVAL tsch_rpl_callback_new_dio_interval */
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void
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tsch_rpl_callback_new_dio_interval(uint8_t dio_interval)
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{
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@ -36,6 +36,7 @@
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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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@ -109,6 +110,18 @@
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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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@ -370,6 +383,68 @@ update_neighbor_state(struct tsch_neighbor *n, struct tsch_packet *p,
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return in_queue;
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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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@ -456,7 +531,7 @@ PT_THREAD(tsch_tx_slot(struct pt *pt, struct rtimer *t))
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/* delay before CCA */
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TSCH_SCHEDULE_AND_YIELD(pt, t, current_slot_start, TS_CCA_OFFSET, "cca");
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TSCH_DEBUG_TX_EVENT();
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NETSTACK_RADIO.on();
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tsch_radio_on(TSCH_RADIO_CMD_ON_WITHIN_TIMESLOT);
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/* CCA */
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BUSYWAIT_UNTIL_ABS(!(cca_status |= NETSTACK_RADIO.channel_clear()),
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current_slot_start, TS_CCA_OFFSET + TS_CCA);
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@ -480,7 +555,7 @@ PT_THREAD(tsch_tx_slot(struct pt *pt, struct rtimer *t))
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/* limit tx_time to its max value */
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tx_duration = MIN(tx_duration, tsch_timing[tsch_ts_max_tx]);
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/* turn tadio off -- will turn on again to wait for ACK if needed */
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NETSTACK_RADIO.off();
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tsch_radio_off(TSCH_RADIO_CMD_OFF_WITHIN_TIMESLOT);
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if(mac_tx_status == RADIO_TX_OK) {
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if(!is_broadcast) {
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@ -488,12 +563,12 @@ PT_THREAD(tsch_tx_slot(struct pt *pt, struct rtimer *t))
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int ack_len;
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rtimer_clock_t ack_start_time;
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int is_time_source;
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radio_value_t radio_rx_mode;
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struct ieee802154_ies ack_ies;
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uint8_t ack_hdrlen;
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frame802154_t frame;
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#if TSCH_HW_FRAME_FILTERING
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radio_value_t radio_rx_mode;
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/* Entering promiscuous mode so that the radio accepts the enhanced ACK */
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NETSTACK_RADIO.get_value(RADIO_PARAM_RX_MODE, &radio_rx_mode);
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NETSTACK_RADIO.set_value(RADIO_PARAM_RX_MODE, radio_rx_mode & (~RADIO_RX_MODE_ADDRESS_FILTER));
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@ -502,7 +577,7 @@ PT_THREAD(tsch_tx_slot(struct pt *pt, struct rtimer *t))
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TSCH_SCHEDULE_AND_YIELD(pt, t, current_slot_start,
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tsch_timing[tsch_ts_tx_offset] + tx_duration + tsch_timing[tsch_ts_rx_ack_delay] - RADIO_DELAY_BEFORE_RX, "TxBeforeAck");
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TSCH_DEBUG_TX_EVENT();
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NETSTACK_RADIO.on();
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tsch_radio_on(TSCH_RADIO_CMD_ON_WITHIN_TIMESLOT);
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/* Wait for ACK to come */
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BUSYWAIT_UNTIL_ABS(NETSTACK_RADIO.receiving_packet(),
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tx_start_time, tx_duration + tsch_timing[tsch_ts_rx_ack_delay] + tsch_timing[tsch_ts_ack_wait]);
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@ -514,7 +589,7 @@ PT_THREAD(tsch_tx_slot(struct pt *pt, struct rtimer *t))
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BUSYWAIT_UNTIL_ABS(!NETSTACK_RADIO.receiving_packet(),
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ack_start_time, tsch_timing[tsch_ts_max_ack]);
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TSCH_DEBUG_TX_EVENT();
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NETSTACK_RADIO.off();
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tsch_radio_off(TSCH_RADIO_CMD_OFF_WITHIN_TIMESLOT);
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#if TSCH_HW_FRAME_FILTERING
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/* Leaving promiscuous mode */
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@ -588,6 +663,8 @@ PT_THREAD(tsch_tx_slot(struct pt *pt, struct rtimer *t))
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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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current_packet->transmissions++;
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current_packet->ret = mac_tx_status;
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@ -671,32 +748,26 @@ PT_THREAD(tsch_rx_slot(struct pt *pt, struct rtimer *t))
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TSCH_DEBUG_RX_EVENT();
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/* Start radio for at least guard time */
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NETSTACK_RADIO.on();
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packet_seen = NETSTACK_RADIO.receiving_packet();
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tsch_radio_on(TSCH_RADIO_CMD_ON_WITHIN_TIMESLOT);
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packet_seen = NETSTACK_RADIO.receiving_packet() || NETSTACK_RADIO.pending_packet();
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if(!packet_seen) {
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/* Check if receiving within guard time */
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BUSYWAIT_UNTIL_ABS((packet_seen = NETSTACK_RADIO.receiving_packet()),
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current_slot_start, tsch_timing[tsch_ts_rx_offset] + tsch_timing[tsch_ts_rx_wait]);
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}
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if(packet_seen) {
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if(!packet_seen) {
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/* no packets on air */
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tsch_radio_off(TSCH_RADIO_CMD_OFF_FORCE);
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} else {
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TSCH_DEBUG_RX_EVENT();
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/* Save packet timestamp */
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rx_start_time = RTIMER_NOW() - RADIO_DELAY_BEFORE_DETECT;
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}
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if(!NETSTACK_RADIO.receiving_packet() && !NETSTACK_RADIO.pending_packet()) {
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NETSTACK_RADIO.off();
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/* no packets on air */
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} else {
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/* Wait until packet is received, turn radio off */
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BUSYWAIT_UNTIL_ABS(!NETSTACK_RADIO.receiving_packet(),
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current_slot_start, tsch_timing[tsch_ts_rx_offset] + tsch_timing[tsch_ts_rx_wait] + tsch_timing[tsch_ts_max_tx]);
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TSCH_DEBUG_RX_EVENT();
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NETSTACK_RADIO.off();
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#if TSCH_RESYNC_WITH_SFD_TIMESTAMPS
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/* At the end of the reception, get an more accurate estimate of SFD arrival time */
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NETSTACK_RADIO.get_object(RADIO_PARAM_LAST_PACKET_TIMESTAMP, &rx_start_time, sizeof(rtimer_clock_t));
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#endif
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tsch_radio_off(TSCH_RADIO_CMD_OFF_WITHIN_TIMESLOT);
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if(NETSTACK_RADIO.pending_packet()) {
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static int frame_valid;
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@ -704,9 +775,9 @@ PT_THREAD(tsch_rx_slot(struct pt *pt, struct rtimer *t))
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static frame802154_t frame;
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radio_value_t radio_last_rssi;
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NETSTACK_RADIO.get_value(RADIO_PARAM_LAST_RSSI, &radio_last_rssi);
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/* Read packet */
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current_input->len = NETSTACK_RADIO.read((void *)current_input->payload, TSCH_PACKET_MAX_LEN);
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NETSTACK_RADIO.get_value(RADIO_PARAM_LAST_RSSI, &radio_last_rssi);
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current_input->rx_asn = current_asn;
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current_input->rssi = (signed)radio_last_rssi;
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header_len = frame802154_parse((uint8_t *)current_input->payload, current_input->len, &frame);
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@ -714,6 +785,11 @@ PT_THREAD(tsch_rx_slot(struct pt *pt, struct rtimer *t))
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frame802154_check_dest_panid(&frame) &&
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frame802154_extract_linkaddr(&frame, &source_address, &destination_address);
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#if TSCH_RESYNC_WITH_SFD_TIMESTAMPS
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/* At the end of the reception, get an more accurate estimate of SFD arrival time */
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NETSTACK_RADIO.get_object(RADIO_PARAM_LAST_PACKET_TIMESTAMP, &rx_start_time, sizeof(rtimer_clock_t));
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#endif
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packet_duration = TSCH_PACKET_DURATION(current_input->len);
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#if LLSEC802154_ENABLED
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@ -745,7 +821,7 @@ PT_THREAD(tsch_rx_slot(struct pt *pt, struct rtimer *t))
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#if TSCH_TIMESYNC_REMOVE_JITTER
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/* remove jitter due to measurement errors */
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if(abs(estimated_drift) <= TSCH_TIMESYNC_MEASUREMENT_ERROR) {
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if(ABS(estimated_drift) <= TSCH_TIMESYNC_MEASUREMENT_ERROR) {
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estimated_drift = 0;
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} else if(estimated_drift > 0) {
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estimated_drift -= TSCH_TIMESYNC_MEASUREMENT_ERROR;
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@ -784,7 +860,7 @@ PT_THREAD(tsch_rx_slot(struct pt *pt, struct rtimer *t))
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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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NETSTACK_RADIO.off();
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tsch_radio_off(TSCH_RADIO_CMD_OFF_WITHIN_TIMESLOT);
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}
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/* If the sender is a time source, proceed to clock drift compensation */
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@ -820,6 +896,8 @@ PT_THREAD(tsch_rx_slot(struct pt *pt, struct rtimer *t))
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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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@ -860,8 +938,12 @@ PT_THREAD(tsch_slot_operation(struct rtimer *t, void *ptr))
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} else {
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uint8_t current_channel;
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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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/* 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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@ -870,12 +952,13 @@ PT_THREAD(tsch_slot_operation(struct rtimer *t, void *ptr))
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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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/* Hop channel */
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current_channel = tsch_calculate_channel(¤t_asn, current_link->channel_offset);
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NETSTACK_RADIO.set_value(RADIO_PARAM_CHANNEL, current_channel);
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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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/* 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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@ -886,11 +969,12 @@ PT_THREAD(tsch_slot_operation(struct rtimer *t, void *ptr))
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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 if((current_link->link_options & LINK_OPTION_RX)) {
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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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}
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TSCH_DEBUG_SLOT_END();
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}
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@ -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);
|
||||
|
||||
|
|
|
|||
Loading…
Reference in a new issue