Merge pull request #1285 from simonduq/pr/tsch

TSCH + Basic 6TiSCH

apps/orchestra/Makefile.orchestra

@@ -0,0 +1 @@
+orchestra_src = orchestra.c orchestra-rule-default-common.c orchestra-rule-eb-per-time-source.c orchestra-rule-unicast-per-neighbor.c

apps/orchestra/README.md

@@ -0,0 +1,51 @@
+# Orchestra
+
+## Overview
+
+Orchestra is an autonomous scheduling solution for TSCH, where nodes maintain
+their own schedule solely based on their local RPL state. There is no centralized
+scheduler nor negociatoin with neighbors, i.e. no traffic overhead. The default
+Orchestra rules can be used out-of-box in any RPL network, reducing contention
+to a low level. Orchestra is described and evaluated in
+[*Orchestra: Robust Mesh Networks Through Autonomously Scheduled TSCH*](http://www.simonduquennoy.net/papers/duquennoy15orchestra.pdf), ACM SenSys'15.
+
+## Requirements
+
+Orchestra requires a system running TSCH and RPL.
+For sender-based unicast slots (`ORCHESTRA_UNICAST_SENDER_BASED`), it requires
+RPL with downwards routing enabled (relies on DAO).
+
+## Getting Started
+
+To use Orchestra, add a couple global definitions, e.g in your `project-conf.h` file.
+
+Disable 6TiSCH minimal schedule:
+
+`#define TSCH_SCHEDULE_CONF_WITH_6TISCH_MINIMAL 0`
+
+Enable TSCH link selector (allows Orchestra to assign TSCH links to outgoing packets):
+
+`#define TSCH_CONF_WITH_LINK_SELECTOR 1`
+
+Set up the following callbacks:
+
+```
+#define TSCH_CALLBACK_NEW_TIME_SOURCE orchestra_callback_new_time_source
+#define TSCH_CALLBACK_PACKET_READY orchestra_callback_packet_ready
+#define NETSTACK_CONF_ROUTING_NEIGHBOR_ADDED_CALLBACK orchestra_callback_child_added
+#define NETSTACK_CONF_ROUTING_NEIGHBOR_REMOVED_CALLBACK orchestra_callback_child_removed
+```
+
+To use Orchestra, fist add it to your makefile `APPS` with `APPS += orchestra`.
+ 
+Finally:
+* add Orchestra to your makefile `APPS` with `APPS += orchestra`;
+* start Orchestra by calling `orchestra_init()` from your application, after
+including `#include "orchestra.h"`.
+
+## Configuration
+
+Orchestra comes with a number of pre-installed rules, `orchestra-rule-*.c`.
+You can define your own by using any of these as a template.
+A default Orchestra configuration is described in `orchestra-conf.h`, define your own
+`ORCHESTRA_CONF_*` macros to override modify the rule set and change rules configuration.

apps/orchestra/orchestra-conf.h

@@ -0,0 +1,105 @@
+/*
+ * Copyright (c) 2015, Swedish Institute of Computer Science.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ * 3. Neither the name of the Institute nor the names of its contributors
+ *    may be used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED.  IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+ * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ *
+ */
+
+/**
+ * \file
+ *         Orchestra configuration
+ *
+ * \author Simon Duquennoy <simonduq@sics.se>
+ */
+
+#ifndef __ORCHESTRA_CONF_H__
+#define __ORCHESTRA_CONF_H__
+
+#ifdef ORCHESTRA_CONF_RULES
+#define ORCHESTRA_RULES ORCHESTRA_CONF_RULES
+#else /* ORCHESTRA_CONF_RULES */
+/* A default configuration with:
+ * - a sender-based slotframe for EB transmission
+ * - a sender-based or receiver-based slotframe for unicast to RPL parents and children
+ * - a common shared slotframe for any other traffic (mostly broadcast)
+ *  */
+#define ORCHESTRA_RULES { &eb_per_time_source, \
+                          &unicast_per_neighbor, \
+                          &default_common, \
+                        }
+#endif /* ORCHESTRA_CONF_RULES */
+
+/* Length of the various slotframes. Tune to balance network capacity,
+ * contention, energy, latency. */
+#ifdef ORCHESTRA_CONF_EBSF_PERIOD
+#define ORCHESTRA_EBSF_PERIOD                     ORCHESTRA_CONF_EBSF_PERIOD
+#else /* ORCHESTRA_CONF_EBSF_PERIOD */
+#define ORCHESTRA_EBSF_PERIOD                     397
+#endif /* ORCHESTRA_CONF_EBSF_PERIOD */
+
+#ifdef ORCHESTRA_CONF_COMMON_SHARED_PERIOD
+#define ORCHESTRA_COMMON_SHARED_PERIOD            ORCHESTRA_CONF_COMMON_SHARED_PERIOD
+#else /* ORCHESTRA_CONF_COMMON_SHARED_PERIOD */
+#define ORCHESTRA_COMMON_SHARED_PERIOD            31
+#endif /* ORCHESTRA_CONF_COMMON_SHARED_PERIOD */
+
+#ifdef ORCHESTRA_CONF_UNICAST_PERIOD
+#define ORCHESTRA_UNICAST_PERIOD                  ORCHESTRA_CONF_UNICAST_PERIOD
+#else /* ORCHESTRA_CONF_UNICAST_PERIOD */
+#define ORCHESTRA_UNICAST_PERIOD                  17
+#endif /* ORCHESTRA_CONF_UNICAST_PERIOD */
+
+/* Is the per-neighbor unicast slotframe sender-based (if not, it is receiver-based).
+ * Note: sender-based works only with RPL storing mode as it relies on DAO and
+ * routing entries to keep track of children and parents. */
+#ifdef ORCHESTRA_CONF_UNICAST_SENDER_BASED
+#define ORCHESTRA_UNICAST_SENDER_BASED            ORCHESTRA_CONF_UNICAST_SENDER_BASED
+#else /* ORCHESTRA_CONF_UNICAST_SENDER_BASED */
+#define ORCHESTRA_UNICAST_SENDER_BASED            0
+#endif /* ORCHESTRA_CONF_UNICAST_SENDER_BASED */
+
+/* The hash function used to assign timeslot to a given node (based on its link-layer address) */
+#ifdef ORCHESTRA_CONF_LINKADDR_HASH
+#define ORCHESTRA_LINKADDR_HASH                   ORCHESTRA_CONF_LINKADDR_HASH
+#else /* ORCHESTRA_CONF_LINKADDR_HASH */
+#define ORCHESTRA_LINKADDR_HASH(addr)             ((addr != NULL) ? (addr)->u8[LINKADDR_SIZE - 1] : -1)
+#endif /* ORCHESTRA_CONF_LINKADDR_HASH */
+
+/* The maximum hash */
+#ifdef ORCHESTRA_CONF_MAX_HASH
+#define ORCHESTRA_MAX_HASH                        ORCHESTRA_CONF_MAX_HASH
+#else /* ORCHESTRA_CONF_MAX_HASH */
+#define ORCHESTRA_MAX_HASH                        0x7fff
+#endif /* ORCHESTRA_CONF_MAX_HASH */
+
+/* Is the "hash" function collision-free? (e.g. it maps to unique node-ids) */
+#ifdef ORCHESTRA_CONF_COLLISION_FREE_HASH
+#define ORCHESTRA_COLLISION_FREE_HASH             ORCHESTRA_CONF_COLLISION_FREE_HASH
+#else /* ORCHESTRA_CONF_COLLISION_FREE_HASH */
+#define ORCHESTRA_COLLISION_FREE_HASH             0 /* Set to 1 if ORCHESTRA_LINKADDR_HASH returns unique hashes */
+#endif /* ORCHESTRA_CONF_COLLISION_FREE_HASH */
+
+#endif /* __ORCHESTRA_CONF_H__ */

apps/orchestra/orchestra-rule-default-common.c

@@ -0,0 +1,86 @@
+/*
+ * Copyright (c) 2015, Swedish Institute of Computer Science.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ * 3. Neither the name of the Institute nor the names of its contributors
+ *    may be used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED.  IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+ * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ *
+ */
+/**
+ * \file
+ *         Orchestra: a slotframe with a single shared link, common to all nodes
+ *         in the network, used for unicast and broadcast.
+ *
+ * \author Simon Duquennoy <simonduq@sics.se>
+ */
+
+#include "contiki.h"
+#include "orchestra.h"
+
+static uint16_t slotframe_handle = 0;
+static uint16_t channel_offset = 0;
+
+#if ORCHESTRA_EBSF_PERIOD > 0
+/* There is a slotframe for EBs, use this slotframe for non-EB traffic only */
+#define ORCHESTRA_COMMON_SHARED_TYPE              LINK_TYPE_NORMAL
+#else
+/* There is no slotframe for EBs, use this slotframe both EB and non-EB traffic */
+#define ORCHESTRA_COMMON_SHARED_TYPE              LINK_TYPE_ADVERTISING
+#endif
+
+/*---------------------------------------------------------------------------*/
+static int
+select_packet(uint16_t *slotframe, uint16_t *timeslot)
+{
+  /* We are the default slotframe, select anything */
+  if(slotframe != NULL) {
+    *slotframe = slotframe_handle;
+  }
+  if(timeslot != NULL) {
+    *timeslot = 0;
+  }
+  return 1;
+}
+/*---------------------------------------------------------------------------*/
+static void
+init(uint16_t sf_handle)
+{
+  slotframe_handle = sf_handle;
+  channel_offset = slotframe_handle;
+  /* Default slotframe: for broadcast or unicast to neighbors we
+   * do not have a link to */
+  struct tsch_slotframe *sf_common = tsch_schedule_add_slotframe(slotframe_handle, ORCHESTRA_COMMON_SHARED_PERIOD);
+  tsch_schedule_add_link(sf_common,
+      LINK_OPTION_RX | LINK_OPTION_TX | LINK_OPTION_SHARED,
+      ORCHESTRA_COMMON_SHARED_TYPE, &tsch_broadcast_address,
+      0, channel_offset);
+}
+/*---------------------------------------------------------------------------*/
+struct orchestra_rule default_common = {
+  init,
+  NULL,
+  select_packet,
+  NULL,
+  NULL,
+};

apps/orchestra/orchestra-rule-eb-per-time-source.c

@@ -0,0 +1,116 @@
+/*
+ * Copyright (c) 2015, Swedish Institute of Computer Science.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ * 3. Neither the name of the Institute nor the names of its contributors
+ *    may be used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED.  IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+ * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ *
+ */
+/**
+ * \file
+
+ *         Orchestra: a slotframe dedicated to transmission of EBs.
+ *         Nodes transmit at a timeslot defined as hash(MAC) % ORCHESTRA_EBSF_PERIOD
+ *         Nodes listen at a timeslot defined as hash(time_source.MAC) % ORCHESTRA_EBSF_PERIOD
+ * \author Simon Duquennoy <simonduq@sics.se>
+ */
+
+#include "contiki.h"
+#include "orchestra.h"
+#include "net/packetbuf.h"
+
+static uint16_t slotframe_handle = 0;
+static uint16_t channel_offset = 0;
+static struct tsch_slotframe *sf_eb;
+
+/*---------------------------------------------------------------------------*/
+static uint16_t
+get_node_timeslot(const linkaddr_t *addr)
+{
+#if ORCHESTRA_EBSF_PERIOD > 0
+  return ORCHESTRA_LINKADDR_HASH(addr) % ORCHESTRA_EBSF_PERIOD;
+#else
+  return 0xffff;
+#endif
+}
+/*---------------------------------------------------------------------------*/
+static int
+select_packet(uint16_t *slotframe, uint16_t *timeslot)
+{
+  /* Select EBs only */
+  if(packetbuf_attr(PACKETBUF_ATTR_FRAME_TYPE) == FRAME802154_BEACONFRAME) {
+    if(slotframe != NULL) {
+      *slotframe = slotframe_handle;
+    }
+    if(timeslot != NULL) {
+      *timeslot = get_node_timeslot(&linkaddr_node_addr);
+    }
+    return 1;
+  }
+  return 0;
+}
+/*---------------------------------------------------------------------------*/
+static void
+new_time_source(const struct tsch_neighbor *old, const struct tsch_neighbor *new)
+{
+  uint16_t old_ts = get_node_timeslot(&old->addr);
+  uint16_t new_ts = get_node_timeslot(&new->addr);
+
+  if(new_ts == old_ts) {
+    return;
+  }
+
+  if(old_ts != 0xffff) {
+    /* Stop listening to the old time source's EBs */
+    tsch_schedule_remove_link_by_timeslot(sf_eb, old_ts);
+  }
+  if(new_ts != 0xffff) {
+    /* Listen to the time source's EBs */
+    tsch_schedule_add_link(sf_eb,
+                           LINK_OPTION_RX,
+                           LINK_TYPE_ADVERTISING_ONLY, NULL,
+                           new_ts, 0);
+  }
+}
+/*---------------------------------------------------------------------------*/
+static void
+init(uint16_t sf_handle)
+{
+  slotframe_handle = sf_handle;
+  channel_offset = sf_handle;
+  sf_eb = tsch_schedule_add_slotframe(slotframe_handle, ORCHESTRA_EBSF_PERIOD);
+  /* EB link: every neighbor uses its own to avoid contention */
+  tsch_schedule_add_link(sf_eb,
+                         LINK_OPTION_TX,
+                         LINK_TYPE_ADVERTISING_ONLY, &tsch_broadcast_address,
+                         get_node_timeslot(&linkaddr_node_addr), 0);
+}
+/*---------------------------------------------------------------------------*/
+struct orchestra_rule eb_per_time_source = {
+  init,
+  new_time_source,
+  select_packet,
+  NULL,
+  NULL,
+};

apps/orchestra/orchestra-rule-unicast-per-neighbor.c

@@ -0,0 +1,194 @@
+/*
+ * Copyright (c) 2015, Swedish Institute of Computer Science.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ * 3. Neither the name of the Institute nor the names of its contributors
+ *    may be used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED.  IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+ * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ *
+ */
+/**
+ * \file
+ *         Orchestra: a slotframe dedicated to unicast data transmission.
+ *         If sender-based:
+ *           Nodes listen at a timeslot defined as hash(MAC) % ORCHESTRA_SB_UNICAST_PERIOD
+ *           Nodes transmit at: for each nbr in RPL children and RPL preferred parent,
+ *                                             hash(nbr.MAC) % ORCHESTRA_SB_UNICAST_PERIOD
+ *         If receiver-based: the opposite
+ *
+ * \author Simon Duquennoy <simonduq@sics.se>
+ */
+
+#include "contiki.h"
+#include "orchestra.h"
+#include "net/ipv6/uip-ds6-route.h"
+#include "net/packetbuf.h"
+
+#if ORCHESTRA_UNICAST_SENDER_BASED && ORCHESTRA_COLLISION_FREE_HASH
+#define UNICAST_SLOT_SHARED_FLAG    ((ORCHESTRA_UNICAST_PERIOD < (ORCHESTRA_MAX_HASH + 1)) ? LINK_OPTION_SHARED : 0)
+#else
+#define UNICAST_SLOT_SHARED_FLAG      LINK_OPTION_SHARED
+#endif
+
+static uint16_t slotframe_handle = 0;
+static uint16_t channel_offset = 0;
+static struct tsch_slotframe *sf_unicast;
+
+/*---------------------------------------------------------------------------*/
+static uint16_t
+get_node_timeslot(const linkaddr_t *addr)
+{
+  if(addr != NULL && ORCHESTRA_UNICAST_PERIOD > 0) {
+    return ORCHESTRA_LINKADDR_HASH(addr) % ORCHESTRA_UNICAST_PERIOD;
+  } else {
+    return 0xffff;
+  }
+}
+/*---------------------------------------------------------------------------*/
+static int
+neighbor_has_uc_link(const linkaddr_t *linkaddr)
+{
+  if(linkaddr != NULL && !linkaddr_cmp(linkaddr, &linkaddr_null)) {
+    if((orchestra_parent_knows_us || !ORCHESTRA_UNICAST_SENDER_BASED)
+       && linkaddr_cmp(&orchestra_parent_linkaddr, linkaddr)) {
+      return 1;
+    }
+    if(nbr_table_get_from_lladdr(nbr_routes, (linkaddr_t *)linkaddr) != NULL) {
+      return 1;
+    }
+  }
+  return 0;
+}
+/*---------------------------------------------------------------------------*/
+static void
+add_uc_link(const linkaddr_t *linkaddr)
+{
+  if(linkaddr != NULL) {
+    uint16_t timeslot = get_node_timeslot(linkaddr);
+    tsch_schedule_add_link(sf_unicast,
+        ORCHESTRA_UNICAST_SENDER_BASED ? LINK_OPTION_RX : LINK_OPTION_TX | UNICAST_SLOT_SHARED_FLAG,
+        LINK_TYPE_NORMAL, &tsch_broadcast_address,
+        timeslot, channel_offset);
+  }
+}
+/*---------------------------------------------------------------------------*/
+static void
+remove_uc_link(const linkaddr_t *linkaddr)
+{
+  uint16_t timeslot;
+  struct tsch_link *l;
+
+  if(linkaddr == NULL) {
+    return;
+  }
+
+  timeslot = get_node_timeslot(linkaddr);
+  l = tsch_schedule_get_link_by_timeslot(sf_unicast, timeslot);
+  if(l == NULL) {
+    return;
+  }
+  /* Does our current parent need this timeslot? */
+  if(timeslot == get_node_timeslot(&orchestra_parent_linkaddr)) {
+    /* Yes, this timeslot is being used, return */
+    return;
+  }
+  /* Does any other child need this timeslot?
+   * (lookup all route next hops) */
+  nbr_table_item_t *item = nbr_table_head(nbr_routes);
+  while(item != NULL) {
+    linkaddr_t *addr = nbr_table_get_lladdr(nbr_routes, item);
+    if(timeslot == get_node_timeslot(addr)) {
+      /* Yes, this timeslot is being used, return */
+      return;
+    }
+    item = nbr_table_next(nbr_routes, item);
+  }
+  tsch_schedule_remove_link(sf_unicast, l);
+}
+/*---------------------------------------------------------------------------*/
+static void
+child_added(const linkaddr_t *linkaddr)
+{
+  add_uc_link(linkaddr);
+}
+/*---------------------------------------------------------------------------*/
+static void
+child_removed(const linkaddr_t *linkaddr)
+{
+  remove_uc_link(linkaddr);
+}
+/*---------------------------------------------------------------------------*/
+static int
+select_packet(uint16_t *slotframe, uint16_t *timeslot)
+{
+  /* Select data packets we have a unicast link to */
+  const linkaddr_t *dest = packetbuf_addr(PACKETBUF_ADDR_RECEIVER);
+  if(packetbuf_attr(PACKETBUF_ATTR_FRAME_TYPE) == FRAME802154_DATAFRAME
+     && neighbor_has_uc_link(dest)) {
+    if(slotframe != NULL) {
+      *slotframe = slotframe_handle;
+    }
+    if(timeslot != NULL) {
+      *timeslot = ORCHESTRA_UNICAST_SENDER_BASED ? get_node_timeslot(&linkaddr_node_addr) : get_node_timeslot(dest);
+    }
+    return 1;
+  }
+  return 0;
+}
+/*---------------------------------------------------------------------------*/
+static void
+new_time_source(const struct tsch_neighbor *old, const struct tsch_neighbor *new)
+{
+  if(new != old) {
+    const linkaddr_t *new_addr = new != NULL ? &new->addr : NULL;
+    if(new_addr != NULL) {
+      linkaddr_copy(&orchestra_parent_linkaddr, new_addr);
+    } else {
+      linkaddr_copy(&orchestra_parent_linkaddr, &linkaddr_null);
+    }
+    remove_uc_link(new_addr);
+    add_uc_link(new_addr);
+  }
+}
+/*---------------------------------------------------------------------------*/
+static void
+init(uint16_t sf_handle)
+{
+  slotframe_handle = sf_handle;
+  channel_offset = sf_handle;
+  /* Slotframe for unicast transmissions */
+  sf_unicast = tsch_schedule_add_slotframe(slotframe_handle, ORCHESTRA_UNICAST_PERIOD);
+  uint16_t timeslot = get_node_timeslot(&linkaddr_node_addr);
+  tsch_schedule_add_link(sf_unicast,
+            ORCHESTRA_UNICAST_SENDER_BASED ? LINK_OPTION_TX | UNICAST_SLOT_SHARED_FLAG: LINK_OPTION_RX,
+            LINK_TYPE_NORMAL, &tsch_broadcast_address,
+            timeslot, channel_offset);
+}
+/*---------------------------------------------------------------------------*/
+struct orchestra_rule unicast_per_neighbor = {
+  init,
+  new_time_source,
+  select_packet,
+  child_added,
+  child_removed,
+};

apps/orchestra/orchestra.c

@@ -0,0 +1,166 @@
+/*
+ * Copyright (c) 2015, Swedish Institute of Computer Science.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ * 3. Neither the name of the Institute nor the names of its contributors
+ *    may be used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED.  IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+ * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ *
+ */
+
+/**
+ * \file
+ *         Orchestra: an autonomous scheduler for TSCH exploiting RPL state.
+ *         See "Orchestra: Robust Mesh Networks Through Autonomously Scheduled TSCH", ACM SenSys'15
+ *
+ * \author Simon Duquennoy <simonduq@sics.se>
+ */
+
+#include "contiki.h"
+#include "orchestra.h"
+#include "net/packetbuf.h"
+#include "net/ipv6/uip-icmp6.h"
+#include "net/rpl/rpl-private.h"
+#include "net/rime/rime.h" /* Needed for so-called rime-sniffer */
+
+#define DEBUG DEBUG_PRINT
+#include "net/ip/uip-debug.h"
+
+/* A net-layer sniffer for packets sent and received */
+static void orchestra_packet_received(void);
+static void orchestra_packet_sent(int mac_status);
+RIME_SNIFFER(orchestra_sniffer, orchestra_packet_received, orchestra_packet_sent);
+
+/* The current RPL preferred parent's link-layer address */
+linkaddr_t orchestra_parent_linkaddr;
+/* Set to one only after getting an ACK for a DAO sent to our preferred parent */
+int orchestra_parent_knows_us = 0;
+
+/* The set of Orchestra rules in use */
+const struct orchestra_rule *all_rules[] = ORCHESTRA_RULES;
+#define NUM_RULES (sizeof(all_rules) / sizeof(struct orchestra_rule *))
+
+/*---------------------------------------------------------------------------*/
+static void
+orchestra_packet_received(void)
+{
+}
+/*---------------------------------------------------------------------------*/
+static void
+orchestra_packet_sent(int mac_status)
+{
+  /* Check if our parent just ACKed a DAO */
+  if(orchestra_parent_knows_us == 0
+     && mac_status == MAC_TX_OK
+     && packetbuf_attr(PACKETBUF_ATTR_NETWORK_ID) == UIP_PROTO_ICMP6
+     && packetbuf_attr(PACKETBUF_ATTR_CHANNEL) == (ICMP6_RPL << 8 | RPL_CODE_DAO)) {
+    if(!linkaddr_cmp(&orchestra_parent_linkaddr, &linkaddr_null)
+       && linkaddr_cmp(&orchestra_parent_linkaddr, packetbuf_addr(PACKETBUF_ADDR_RECEIVER))) {
+      orchestra_parent_knows_us = 1;
+    }
+  }
+}
+/*---------------------------------------------------------------------------*/
+void
+orchestra_callback_child_added(const linkaddr_t *addr)
+{
+  /* Notify all Orchestra rules that a child was added */
+  int i;
+  for(i = 0; i < NUM_RULES; i++) {
+    if(all_rules[i]->child_added != NULL) {
+      all_rules[i]->child_added(addr);
+    }
+  }
+}
+/*---------------------------------------------------------------------------*/
+void
+orchestra_callback_child_removed(const linkaddr_t *addr)
+{
+  /* Notify all Orchestra rules that a child was removed */
+  int i;
+  for(i = 0; i < NUM_RULES; i++) {
+    if(all_rules[i]->child_removed != NULL) {
+      all_rules[i]->child_removed(addr);
+    }
+  }
+}
+/*---------------------------------------------------------------------------*/
+void
+orchestra_callback_packet_ready(void)
+{
+  int i;
+  /* By default, use any slotframe, any timeslot */
+  uint16_t slotframe = 9;
+  uint16_t timeslot = 0xffff;
+
+  /* Loop over all rules until finding one able to handle the packet */
+  for(i = 0; i < NUM_RULES; i++) {
+    if(all_rules[i]->select_packet != NULL) {
+      if(all_rules[i]->select_packet(&slotframe, &timeslot)) {
+        break;
+      }
+    }
+  }
+
+#if TSCH_WITH_LINK_SELECTOR
+  packetbuf_set_attr(PACKETBUF_ATTR_TSCH_SLOTFRAME, slotframe);
+  packetbuf_set_attr(PACKETBUF_ATTR_TSCH_TIMESLOT, timeslot);
+#endif
+}
+/*---------------------------------------------------------------------------*/
+void
+orchestra_callback_new_time_source(const struct tsch_neighbor *old, const struct tsch_neighbor *new)
+{
+  /* Orchestra assumes that the time source is also the RPL parent.
+   * This is the case if the following is set:
+   * #define RPL_CALLBACK_PARENT_SWITCH tsch_rpl_callback_parent_switch
+   * */
+
+  int i;
+  if(new != old) {
+    orchestra_parent_knows_us = 0;
+  }
+  for(i = 0; i < NUM_RULES; i++) {
+    if(all_rules[i]->new_time_source != NULL) {
+      all_rules[i]->new_time_source(old, new);
+    }
+  }
+}
+/*---------------------------------------------------------------------------*/
+void
+orchestra_init(void)
+{
+  int i;
+  /* Snoop on packet transmission to know if our parent knows about us
+   * (i.e. has ACKed at one of our DAOs since we decided to use it as a parent) */
+  rime_sniffer_add(&orchestra_sniffer);
+  linkaddr_copy(&orchestra_parent_linkaddr, &linkaddr_null);
+  /* Initialize all Orchestra rules */
+  for(i = 0; i < NUM_RULES; i++) {
+    if(all_rules[i]->init != NULL) {
+      PRINTF("Orchestra: initializing rule %u\n", i);
+      all_rules[i]->init(i);
+    }
+  }
+  PRINTF("Orchestra: initialization done\n");
+}

apps/orchestra/orchestra.h

@@ -0,0 +1,74 @@
+/*
+ * Copyright (c) 2015, Swedish Institute of Computer Science.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ * 3. Neither the name of the Institute nor the names of its contributors
+ *    may be used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED.  IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+ * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ *
+ */
+
+/**
+ * \file
+ *         Orchestra header file
+ *
+ * \author Simon Duquennoy <simonduq@sics.se>
+ */
+
+#ifndef __ORCHESTRA_H__
+#define __ORCHESTRA_H__
+
+#include "net/mac/tsch/tsch.h"
+#include "net/mac/tsch/tsch-conf.h"
+#include "net/mac/tsch/tsch-schedule.h"
+#include "orchestra-conf.h"
+
+/* The structure of an Orchestra rule */
+struct orchestra_rule {
+  void (* init)(uint16_t slotframe_handle);
+  void (* new_time_source)(const struct tsch_neighbor *old, const struct tsch_neighbor *new);
+  int  (* select_packet)(uint16_t *slotframe, uint16_t *timeslot);
+  void (* child_added)(const linkaddr_t *addr);
+  void (* child_removed)(const linkaddr_t *addr);
+};
+
+struct orchestra_rule eb_per_time_source;
+struct orchestra_rule unicast_per_neighbor;
+struct orchestra_rule default_common;
+
+extern linkaddr_t orchestra_parent_linkaddr;
+extern int orchestra_parent_knows_us;
+
+/* Call from application to start Orchestra */
+void orchestra_init(void);
+/* Callbacks requied for Orchestra to operate */
+/* Set with #define TSCH_CALLBACK_PACKET_READY orchestra_callback_packet_ready */
+void orchestra_callback_packet_ready(void);
+/* Set with #define TSCH_CALLBACK_NEW_TIME_SOURCE orchestra_callback_new_time_source */
+void orchestra_callback_new_time_source(const struct tsch_neighbor *old, const struct tsch_neighbor *new);
+/* Set with #define NETSTACK_CONF_ROUTING_NEIGHBOR_ADDED_CALLBACK orchestra_callback_child_added */
+void orchestra_callback_child_added(const linkaddr_t *addr);
+/* Set with #define NETSTACK_CONF_ROUTING_NEIGHBOR_REMOVED_CALLBACK orchestra_callback_child_removed */
+void orchestra_callback_child_removed(const linkaddr_t *addr);
+
+#endif /* __ORCHESTRA_H__ */

core/dev/radio.h

@@ -150,6 +150,12 @@ enum {
   /* Received signal strength indicator in dBm. */
   RADIO_PARAM_RSSI,
 
+  /* RSSI of the last received packet */
+  RADIO_PARAM_LAST_RSSI,
+
+  /* Link quality of the last received packet */
+  RADIO_PARAM_LAST_LINK_QUALITY,
+
   /*
    * Long (64 bits) address for the radio, which is used by the address filter.
    * The address is specified in network byte order.
@@ -159,6 +165,11 @@ enum {
    */
   RADIO_PARAM_64BIT_ADDR,
 
+  /* Last packet timestamp, of type rtimer_clock_t.
+   * Because this parameter value mat be larger than what fits in radio_value_t,
+   * it needs to be used with radio.get_object()/set_object(). */
+  RADIO_PARAM_LAST_PACKET_TIMESTAMP,
+
   /* Constants (read only) */
 
   /* The lowest radio channel. */
@@ -192,6 +203,7 @@ enum {
  */
 #define RADIO_RX_MODE_ADDRESS_FILTER   (1 << 0)
 #define RADIO_RX_MODE_AUTOACK          (1 << 1)
+#define RADIO_RX_MODE_POLL_MODE        (1 << 2)
 
 /**
  * The radio transmission mode controls whether transmissions should

core/net/ipv6/uip-ds6-route.c

@@ -47,12 +47,22 @@
 
 #include <string.h>
 
+/* A configurable function called after adding a new neighbor as next hop */
+#ifdef NETSTACK_CONF_ROUTING_NEIGHBOR_ADDED_CALLBACK
+void NETSTACK_CONF_ROUTING_NEIGHBOR_ADDED_CALLBACK(const linkaddr_t *addr);
+#endif /* NETSTACK_CONF_ROUTING_NEIGHBOR_ADDED_CALLBACK */
+
+/* A configurable function called after removing a next hop neighbor */
+#ifdef NETSTACK_CONF_ROUTING_NEIGHBOR_REMOVED_CALLBACK
+void NETSTACK_CONF_ROUTING_NEIGHBOR_REMOVED_CALLBACK(const linkaddr_t *addr);
+#endif /* NETSTACK_CONF_ROUTING_NEIGHBOR_REMOVED_CALLBACK */
+
 /* The nbr_routes holds a neighbor table to be able to maintain
    information about what routes go through what neighbor. This
    neighbor table is registered with the central nbr-table repository
    so that it will be maintained along with the rest of the neighbor
    tables in the system. */
-NBR_TABLE(struct uip_ds6_route_neighbor_routes, nbr_routes);
+NBR_TABLE_GLOBAL(struct uip_ds6_route_neighbor_routes, nbr_routes);
 MEMB(neighborroutememb, struct uip_ds6_route_neighbor_route, UIP_DS6_ROUTE_NB);
 
 /* Each route is repressented by a uip_ds6_route_t structure and
@@ -335,6 +345,9 @@ uip_ds6_route_add(uip_ipaddr_t *ipaddr, uint8_t length,
         return NULL;
       }
       LIST_STRUCT_INIT(routes, route_list);
+#ifdef NETSTACK_CONF_ROUTING_NEIGHBOR_ADDED_CALLBACK
+      NETSTACK_CONF_ROUTING_NEIGHBOR_ADDED_CALLBACK((const linkaddr_t *)nexthop_lladdr);
+#endif
     }
 
     /* Allocate a routing entry and populate it. */
@@ -435,6 +448,10 @@ uip_ds6_route_rm(uip_ds6_route_t *route)
 #endif /* (DEBUG) & DEBUG_ANNOTATE */
       PRINTF("uip_ds6_route_rm: removing neighbor too\n");
       nbr_table_remove(nbr_routes, route->neighbor_routes->route_list);
+#ifdef NETSTACK_CONF_ROUTING_NEIGHBOR_REMOVED_CALLBACK
+      NETSTACK_CONF_ROUTING_NEIGHBOR_REMOVED_CALLBACK(
+          (const linkaddr_t *)nbr_table_get_lladdr(nbr_routes, route->neighbor_routes->route_list));
+#endif
     }
     memb_free(&routememb, route);
     memb_free(&neighborroutememb, neighbor_route);

core/net/ipv6/uip-ds6-route.h

@@ -40,9 +40,13 @@
 #ifndef UIP_DS6_ROUTE_H
 #define UIP_DS6_ROUTE_H
 
+#include "net/ip/uip.h"
+#include "net/nbr-table.h"
 #include "sys/stimer.h"
 #include "lib/list.h"
 
+NBR_TABLE_DECLARE(nbr_routes);
+
 void uip_ds6_route_init(void);
 
 #ifndef UIP_CONF_UIP_DS6_NOTIFICATIONS

core/net/llsec/llsec802154.h

@@ -85,6 +85,12 @@
 #define LLSEC802154_USES_EXPLICIT_KEYS 0
 #endif /* LLSEC802154_CONF_USES_EXPLICIT_KEYS */
 
+#ifdef LLSEC802154_CONF_USES_FRAME_COUNTER
+#define LLSEC802154_USES_FRAME_COUNTER LLSEC802154_CONF_USES_FRAME_COUNTER
+#else /* LLSEC802154_CONF_USES_FRAME_COUNTER */
+#define LLSEC802154_USES_FRAME_COUNTER (LLSEC802154_SECURITY_LEVEL != FRAME802154_SECURITY_LEVEL_NONE)
+#endif /* LLSEC802154_CONF_USES_FRAME_COUNTER */
+
 #if UIP_BYTE_ORDER == UIP_LITTLE_ENDIAN
 #define LLSEC802154_HTONS(n) (n)
 #define LLSEC802154_HTONL(n) (n)

core/net/mac/frame802154.c

@@ -44,11 +44,11 @@
  *  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  *  POSSIBILITY OF SUCH DAMAGE.
  *
-*/
+ */
 /*
  *  \brief This file is where the main functions that relate to frame
  *  manipulation will reside.
-*/
+ */
 
 /**
  *  \file
@@ -61,7 +61,7 @@
 /**
  *   \addtogroup frame802154
  *   @{
-*/
+ */
 
 #include "sys/cc.h"
 #include "net/mac/frame802154.h"
@@ -69,11 +69,18 @@
 #include "net/linkaddr.h"
 #include <string.h>
 
+/**  \brief The 16-bit identifier of the PAN on which the device is
+ *   operating.  If this value is 0xffff, the device is not
+ *   associated.
+ */
+static uint16_t mac_pan_id = IEEE802154_PANID;
+
 /**
  *  \brief Structure that contains the lengths of the various addressing and security fields
  *  in the 802.15.4 header.  This structure is used in \ref frame802154_create()
  */
 typedef struct {
+  uint8_t seqno_len;       /**<  Length (in bytes) of sequence number field */
   uint8_t dest_pid_len;    /**<  Length (in bytes) of destination PAN ID field */
   uint8_t dest_addr_len;   /**<  Length (in bytes) of destination address field */
   uint8_t src_pid_len;     /**<  Length (in bytes) of source PAN ID field */
@@ -111,30 +118,199 @@ get_key_id_len(uint8_t key_id_mode)
   }
 }
 #endif /* LLSEC802154_USES_EXPLICIT_KEYS */
+/*---------------------------------------------------------------------------*/
+/* Get current PAN ID */
+uint16_t
+frame802154_get_pan_id(void)
+{
+  return mac_pan_id;
+}
+/*---------------------------------------------------------------------------*/
+/* Set current PAN ID */
+void
+frame802154_set_pan_id(uint16_t pan_id)
+{
+  mac_pan_id = pan_id;
+}
+/*----------------------------------------------------------------------------*/
+/* Tells whether a given Frame Control Field indicates a frame with
+ * source PANID and/or destination PANID */
+void
+frame802154_has_panid(frame802154_fcf_t *fcf, int *has_src_pan_id, int *has_dest_pan_id)
+{
+  int src_pan_id = 0;
+  int dest_pan_id = 0;
+
+  if(fcf == NULL) {
+    return;
+  }
+
+  if(fcf->frame_version == FRAME802154_IEEE802154E_2012) {
+    if(!fcf->panid_compression) {
+      /* Compressed PAN ID == no PAN ID at all */
+      if(fcf->dest_addr_mode == fcf->dest_addr_mode) {
+        /* No address or both addresses: include destination PAN ID */
+        dest_pan_id = 1;
+      } else if(fcf->dest_addr_mode) {
+        /* Only dest address, include dest PAN ID */
+        dest_pan_id = 1;
+      } else if(fcf->src_addr_mode) {
+        /* Only src address, include src PAN ID */
+        src_pan_id = 1;
+      }
+    }
+    if(fcf->dest_addr_mode == 0 && fcf->dest_addr_mode == 1) {
+      /* No address included, include dest PAN ID conditionally */
+      if(!fcf->panid_compression) {
+        dest_pan_id = 1;
+      }
+    }
+    /* Remove the following rule the day rows 2 and 3 from table 2a are fixed: */
+    if(fcf->dest_addr_mode == 0 && fcf->dest_addr_mode == 0) {
+      /* Not meaningful, we include a PAN ID iff the compress flag is set, but
+       * this is what the standard currently stipulates */
+      dest_pan_id = fcf->panid_compression;
+    }
+  } else {
+    /* No PAN ID in ACK */
+    if(fcf->frame_type != FRAME802154_ACKFRAME) {
+      if(!fcf->panid_compression && fcf->src_addr_mode & 3) {
+        /* If compressed, don't inclue source PAN ID */
+        src_pan_id = 1;
+      }
+      if(fcf->dest_addr_mode & 3) {
+        dest_pan_id = 1;
+      }
+    }
+  }
+
+  if(has_src_pan_id != NULL) {
+    *has_src_pan_id = src_pan_id;
+  }
+  if(has_dest_pan_id != NULL) {
+    *has_dest_pan_id = dest_pan_id;
+  }
+}
+/*---------------------------------------------------------------------------*/
+/* Check if the destination PAN ID, if any, matches ours */
+int
+frame802154_check_dest_panid(frame802154_t *frame)
+{
+  int has_dest_panid;
+
+  if(frame == NULL) {
+    return 0;
+  }
+  frame802154_has_panid(&frame->fcf, NULL, &has_dest_panid);
+  if(has_dest_panid
+     && frame->dest_pid != frame802154_get_pan_id()
+     && frame->dest_pid != FRAME802154_BROADCASTPANDID) {
+    /* Packet to another PAN */
+    return 0;
+  }
+  return 1;
+}
+/*---------------------------------------------------------------------------*/
+/* Check is the address is a broadcast address, whatever its size */
+int
+frame802154_is_broadcast_addr(uint8_t mode, uint8_t *addr)
+{
+  int i = mode == FRAME802154_SHORTADDRMODE ? 2 : 8;
+  while(i-- > 0) {
+    if(addr[i] != 0xff) {
+      return 0;
+    }
+  }
+  return 1;
+}
+/*---------------------------------------------------------------------------*/
+/* Check and extract source and destination linkaddr from frame */
+int
+frame802154_extract_linkaddr(frame802154_t *frame,
+                             linkaddr_t *source_address, linkaddr_t *dest_address)
+{
+  int src_addr_len;
+  int dest_addr_len;
+
+  if(frame == NULL) {
+    return 0;
+  }
+  /* Check and extract source address */
+  src_addr_len = frame->fcf.src_addr_mode ?
+    ((frame->fcf.src_addr_mode == FRAME802154_SHORTADDRMODE) ? 2 : 8) : 0;
+  if(src_addr_len == 0 || frame802154_is_broadcast_addr(frame->fcf.src_addr_mode, frame->src_addr)) {
+    /* Broadcast address */
+    if(source_address != NULL) {
+      linkaddr_copy(source_address, &linkaddr_null);
+    }
+  } else {
+    /* Unicast address */
+    if(src_addr_len != LINKADDR_SIZE) {
+      /* Destination address has a size we can not handle */
+      return 0;
+    }
+    if(source_address != NULL) {
+      linkaddr_copy(source_address, (linkaddr_t *)frame->src_addr);
+    }
+  }
+
+  /* Check and extract destination address */
+  dest_addr_len = frame->fcf.dest_addr_mode ?
+    ((frame->fcf.dest_addr_mode == FRAME802154_SHORTADDRMODE) ? 2 : 8) : 0;
+  if(dest_addr_len == 0 || frame802154_is_broadcast_addr(frame->fcf.dest_addr_mode, frame->dest_addr)) {
+    /* Broadcast address */
+    if(dest_address != NULL) {
+      linkaddr_copy(dest_address, &linkaddr_null);
+    }
+  } else {
+    /* Unicast address */
+    if(dest_addr_len != LINKADDR_SIZE) {
+      /* Destination address has a size we can not handle */
+      return 0;
+    }
+    if(dest_address != NULL) {
+      linkaddr_copy(dest_address, (linkaddr_t *)frame->dest_addr);
+    }
+  }
+
+  return 1;
+}
 /*----------------------------------------------------------------------------*/
 static void
 field_len(frame802154_t *p, field_length_t *flen)
 {
+  int has_src_panid;
+  int has_dest_panid;
+
   /* init flen to zeros */
   memset(flen, 0, sizeof(field_length_t));
 
   /* Determine lengths of each field based on fcf and other args */
-  if(p->fcf.dest_addr_mode & 3) {
+  if((p->fcf.sequence_number_suppression & 1) == 0) {
-    flen->dest_pid_len = 2;
+    flen->seqno_len = 1;
   }
-  if(p->fcf.src_addr_mode & 3) {
+
+  /* IEEE802.15.4e changes the meaning of PAN ID Compression (see Table 2a).
+   * In this case, we leave the decision whether to compress PAN ID or not
+   * up to the caller. */
+  if(p->fcf.frame_version < FRAME802154_IEEE802154E_2012) {
+    /* Set PAN ID compression bit if src pan id matches dest pan id. */
+    if(p->fcf.dest_addr_mode & 3 && p->fcf.src_addr_mode & 3 &&
+       p->src_pid == p->dest_pid) {
+      p->fcf.panid_compression = 1;
+    } else {
+      p->fcf.panid_compression = 0;
+    }
+  }
+
+  frame802154_has_panid(&p->fcf, &has_src_panid, &has_dest_panid);
+
+  if(has_src_panid) {
     flen->src_pid_len = 2;
   }
 
-  /* Set PAN ID compression bit if src pan id matches dest pan id. */
+  if(has_dest_panid) {
-  if(p->fcf.dest_addr_mode & 3 && p->fcf.src_addr_mode & 3 &&
+    flen->dest_pid_len = 2;
-     p->src_pid == p->dest_pid) {
-    p->fcf.panid_compression = 1;
-
-    /* compressed header, only do dest pid */
-    flen->src_pid_len = 0;
-  } else {
-    p->fcf.panid_compression = 0;
   }
 
   /* determine address lengths */
@@ -144,9 +320,16 @@ field_len(frame802154_t *p, field_length_t *flen)
 #if LLSEC802154_SECURITY_LEVEL
   /* Aux security header */
   if(p->fcf.security_enabled & 1) {
-    flen->aux_sec_len = 5
+    flen->aux_sec_len = 1; /* FCF + possibly frame counter and key ID */
+    if(p->aux_hdr.security_control.frame_counter_suppression == 0) {
+      if(p->aux_hdr.security_control.frame_counter_size == 1) {
+        flen->aux_sec_len += 5;
+      } else {
+        flen->aux_sec_len += 4;
+      }
+    }
 #if LLSEC802154_USES_EXPLICIT_KEYS
-        + get_key_id_len(p->aux_hdr.security_control.key_id_mode);
+    flen->aux_sec_len += get_key_id_len(p->aux_hdr.security_control.key_id_mode);
 #endif /* LLSEC802154_USES_EXPLICIT_KEYS */
     ;
   }
@@ -161,14 +344,14 @@ field_len(frame802154_t *p, field_length_t *flen)
  *   frame to send.
  *
  *   \return The length of the frame header.
-*/
+ */
 int
 frame802154_hdrlen(frame802154_t *p)
 {
   field_length_t flen;
   field_len(p, &flen);
-  return 3 + flen.dest_pid_len + flen.dest_addr_len +
+  return 2 + flen.seqno_len + flen.dest_pid_len + flen.dest_addr_len +
-    flen.src_pid_len + flen.src_addr_len + flen.aux_sec_len;
+         flen.src_pid_len + flen.src_addr_len + flen.aux_sec_len;
 }
 /*----------------------------------------------------------------------------*/
 /**
@@ -181,7 +364,7 @@ frame802154_hdrlen(frame802154_t *p)
  *   \param buf Pointer to the buffer to use for the frame.
  *
  *   \return The length of the frame header
-*/
+ */
 int
 frame802154_create(frame802154_t *p, uint8_t *buf)
 {
@@ -193,7 +376,7 @@ frame802154_create(frame802154_t *p, uint8_t *buf)
 #endif /* LLSEC802154_USES_EXPLICIT_KEYS */
 
   field_len(p, &flen);
-  
+
   /* OK, now we have field lengths.  Time to actually construct */
   /* the outgoing frame, and store it in buf */
   buf[0] = (p->fcf.frame_type & 7) |
@@ -201,13 +384,18 @@ frame802154_create(frame802154_t *p, uint8_t *buf)
     ((p->fcf.frame_pending & 1) << 4) |
     ((p->fcf.ack_required & 1) << 5) |
     ((p->fcf.panid_compression & 1) << 6);
-  buf[1] = ((p->fcf.dest_addr_mode & 3) << 2) |
+  buf[1] = ((p->fcf.sequence_number_suppression & 1)) |
+    ((p->fcf.ie_list_present & 1)) << 1 |
+    ((p->fcf.dest_addr_mode & 3) << 2) |
     ((p->fcf.frame_version & 3) << 4) |
     ((p->fcf.src_addr_mode & 3) << 6);
 
-  /* sequence number */
+  pos = 2;
-  buf[2] = p->seq;
+
-  pos = 3;
+  /* Sequence number */
+  if(flen.seqno_len == 1) {
+    buf[pos++] = p->seq;
+  }
 
   /* Destination PAN ID */
   if(flen.dest_pid_len == 2) {
@@ -230,17 +418,24 @@ frame802154_create(frame802154_t *p, uint8_t *buf)
   for(c = flen.src_addr_len; c > 0; c--) {
     buf[pos++] = p->src_addr[c - 1];
   }
-
 #if LLSEC802154_SECURITY_LEVEL
   /* Aux header */
   if(flen.aux_sec_len) {
     buf[pos++] = p->aux_hdr.security_control.security_level
 #if LLSEC802154_USES_EXPLICIT_KEYS
-        | (p->aux_hdr.security_control.key_id_mode << 3)
+      | (p->aux_hdr.security_control.key_id_mode << 3)
 #endif /* LLSEC802154_USES_EXPLICIT_KEYS */
+      | (p->aux_hdr.security_control.frame_counter_suppression << 5)
+      | (p->aux_hdr.security_control.frame_counter_size << 6)
     ;
-    memcpy(buf + pos, p->aux_hdr.frame_counter.u8, 4);
+    if(p->aux_hdr.security_control.frame_counter_suppression == 0) {
-    pos += 4;
+      /* We support only 4-byte counters */
+      memcpy(buf + pos, p->aux_hdr.frame_counter.u8, 4);
+      pos += 4;
+      if(p->aux_hdr.security_control.frame_counter_size == 1) {
+        pos++;
+      }
+    }
 
 #if LLSEC802154_USES_EXPLICIT_KEYS
     key_id_mode = p->aux_hdr.security_control.key_id_mode;
@@ -272,11 +467,13 @@ frame802154_parse(uint8_t *data, int len, frame802154_t *pf)
   uint8_t *p;
   frame802154_fcf_t fcf;
   int c;
+  int has_src_panid;
+  int has_dest_panid;
 #if LLSEC802154_USES_EXPLICIT_KEYS
   uint8_t key_id_mode;
 #endif /* LLSEC802154_USES_EXPLICIT_KEYS */
 
-  if(len < 3) {
+  if(len < 2) {
     return 0;
   }
 
@@ -289,20 +486,32 @@ frame802154_parse(uint8_t *data, int len, frame802154_t *pf)
   fcf.ack_required = (p[0] >> 5) & 1;
   fcf.panid_compression = (p[0] >> 6) & 1;
 
+  fcf.sequence_number_suppression = p[1] & 1;
+  fcf.ie_list_present = (p[1] >> 1) & 1;
   fcf.dest_addr_mode = (p[1] >> 2) & 3;
   fcf.frame_version = (p[1] >> 4) & 3;
   fcf.src_addr_mode = (p[1] >> 6) & 3;
 
   /* copy fcf and seqNum */
   memcpy(&pf->fcf, &fcf, sizeof(frame802154_fcf_t));
-  pf->seq = p[2];
+  p += 2;                             /* Skip first two bytes */
-  p += 3;                             /* Skip first three bytes */
+
+  if(fcf.sequence_number_suppression == 0) {
+    pf->seq = p[0];
+    p++;
+  }
+
+  frame802154_has_panid(&fcf, &has_src_panid, &has_dest_panid);
 
   /* Destination address, if any */
   if(fcf.dest_addr_mode) {
-    /* Destination PAN */
+    if(has_dest_panid) {
-    pf->dest_pid = p[0] + (p[1] << 8);
+      /* Destination PAN */
-    p += 2;
+      pf->dest_pid = p[0] + (p[1] << 8);
+      p += 2;
+    } else {
+      pf->dest_pid = 0;
+    }
 
     /* Destination address */
 /*     l = addr_len(fcf.dest_addr_mode); */
@@ -329,9 +538,12 @@ frame802154_parse(uint8_t *data, int len, frame802154_t *pf)
   /* Source address, if any */
   if(fcf.src_addr_mode) {
     /* Source PAN */
-    if(!fcf.panid_compression) {
+    if(has_src_panid) {
       pf->src_pid = p[0] + (p[1] << 8);
       p += 2;
+      if(!has_dest_panid) {
+        pf->dest_pid = pf->src_pid;
+      }
     } else {
       pf->src_pid = pf->dest_pid;
     }
@@ -357,18 +569,25 @@ frame802154_parse(uint8_t *data, int len, frame802154_t *pf)
     linkaddr_copy((linkaddr_t *)&(pf->src_addr), &linkaddr_null);
     pf->src_pid = 0;
   }
-  
+
 #if LLSEC802154_SECURITY_LEVEL
   if(fcf.security_enabled) {
     pf->aux_hdr.security_control.security_level = p[0] & 7;
 #if LLSEC802154_USES_EXPLICIT_KEYS
     pf->aux_hdr.security_control.key_id_mode = (p[0] >> 3) & 3;
 #endif /* LLSEC802154_USES_EXPLICIT_KEYS */
+    pf->aux_hdr.security_control.frame_counter_suppression = p[0] >> 5;
+    pf->aux_hdr.security_control.frame_counter_size = p[0] >> 6;
     p += 1;
-    
+
-    memcpy(pf->aux_hdr.frame_counter.u8, p, 4);
+    if(pf->aux_hdr.security_control.frame_counter_suppression == 0) {
-    p += 4;
+      memcpy(pf->aux_hdr.frame_counter.u8, p, 4);
-    
+      p += 4;
+      if(pf->aux_hdr.security_control.frame_counter_size == 1) {
+        p ++;
+      }
+    }
+
 #if LLSEC802154_USES_EXPLICIT_KEYS
     key_id_mode = pf->aux_hdr.security_control.key_id_mode;
     if(key_id_mode) {

core/net/mac/frame802154.h

@@ -41,7 +41,7 @@
  *  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
  *  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
  *  POSSIBILITY OF SUCH DAMAGE.
-*/
+ */
 
 /**
  *    \addtogroup net
@@ -59,14 +59,14 @@
  *  This file converts to and from a structure to a packed 802.15.4
  *  frame.
  *
-*/
+ */
-
 
 /* Includes */
 #ifndef FRAME_802154_H
 #define FRAME_802154_H
 
 #include "contiki-conf.h"
+#include "net/linkaddr.h"
 
 #ifdef IEEE802154_CONF_PANID
 #define IEEE802154_PANID           IEEE802154_CONF_PANID
@@ -74,6 +74,18 @@
 #define IEEE802154_PANID           0xABCD
 #endif /* IEEE802154_CONF_PANID */
 
+#ifdef FRAME802154_CONF_VERSION
+#define FRAME802154_VERSION FRAME802154_CONF_VERSION
+#else /* FRAME802154_CONF_VERSION */
+#define FRAME802154_VERSION FRAME802154_IEEE802154_2006
+#endif /* FRAME802154_CONF_VERSION */
+
+#ifdef FRAME802154_CONF_SUPPR_SEQNO
+#define FRAME802154_SUPPR_SEQNO FRAME802154_CONF_SUPPR_SEQNO
+#else /* FRAME802154_CONF_SUPPR_SEQNO */
+#define FRAME802154_SUPPR_SEQNO 0
+#endif /* FRAME802154_CONF_SUPPR_SEQNO */
+
 /* Macros & Defines */
 
 /** \brief These are some definitions of values used in the FCF.  See the 802.15.4 spec for details.
@@ -97,8 +109,9 @@
 #define FRAME802154_BROADCASTADDR   (0xFFFF)
 #define FRAME802154_BROADCASTPANDID (0xFFFF)
 
-#define FRAME802154_IEEE802154_2003 (0x00)
+#define FRAME802154_IEEE802154_2003  (0x00)
-#define FRAME802154_IEEE802154_2006 (0x01)
+#define FRAME802154_IEEE802154_2006  (0x01)
+#define FRAME802154_IEEE802154E_2012 (0x02)
 
 #define FRAME802154_SECURITY_LEVEL_NONE        (0)
 #define FRAME802154_SECURITY_LEVEL_MIC_32      (1)
@@ -125,7 +138,7 @@
  *            3. Addressing fields    - 4 - 20 bytes  - Variable
  *            4. Aux security header  - 0 - 14 bytes  - Variable
  *            5. CRC                  - 2 bytes       - Fixed
-*/
+ */
 
 /**
  * \brief Defines the bitfields of the frame control field (FCF).
@@ -136,7 +149,9 @@ typedef struct {
   uint8_t frame_pending;     /**< 1 bit. True if sender has more data to send */
   uint8_t ack_required;      /**< 1 bit. Is an ack frame required? */
   uint8_t panid_compression; /**< 1 bit. Is this a compressed header? */
-  /*   uint8_t reserved; */  /**< 3 bit. Unused bits */
+  /*   uint8_t reserved; */  /**< 1 bit. Unused bit */
+  uint8_t sequence_number_suppression; /**< 1 bit. Does the header omit sequence number?, see 802.15.4e */
+  uint8_t ie_list_present;   /**< 1 bit. Does the header contain Information Elements?, see 802.15.4e */
   uint8_t dest_addr_mode;    /**< 2 bit. Destination address mode, see 802.15.4 */
   uint8_t frame_version;     /**< 2 bit. 802.15.4 frame version */
   uint8_t src_addr_mode;     /**< 2 bit. Source address mode, see 802.15.4 */
@@ -146,6 +161,8 @@ typedef struct {
 typedef struct {
   uint8_t  security_level; /**< 3 bit. security level      */
   uint8_t  key_id_mode;    /**< 2 bit. Key identifier mode */
+  uint8_t  frame_counter_suppression;  /**< 1 bit. Frame counter suppression */
+  uint8_t  frame_counter_size;  /**< 1 bit. Frame counter size (0: 4 bytes, 1: 5 bytes) */
   uint8_t  reserved;       /**< 3 bit. Reserved bits       */
 } frame802154_scf_t;
 
@@ -193,6 +210,20 @@ int frame802154_hdrlen(frame802154_t *p);
 int frame802154_create(frame802154_t *p, uint8_t *buf);
 int frame802154_parse(uint8_t *data, int length, frame802154_t *pf);
 
+/* Get current PAN ID */
+uint16_t frame802154_get_pan_id(void);
+/* Set current PAN ID */
+void frame802154_set_pan_id(uint16_t pan_id);
+/* Tells whether a given Frame Control Field indicates a frame with
+ * source PANID and/or destination PANID */
+void frame802154_has_panid(frame802154_fcf_t *fcf, int *has_src_pan_id, int *has_dest_pan_id);
+/* Check if the destination PAN ID, if any, matches ours */
+int frame802154_check_dest_panid(frame802154_t *frame);
+/* Check is the address is a broadcast address, whatever its size */
+int frame802154_is_broadcast_addr(uint8_t mode, uint8_t *addr);
+/* Check and extract source and destination linkaddr from frame */
+int frame802154_extract_linkaddr(frame802154_t *frame, linkaddr_t *source_address, linkaddr_t *dest_address);
+
 /** @} */
 #endif /* FRAME_802154_H */
 /** @} */

core/net/mac/frame802154e-ie.c

@@ -0,0 +1,585 @@
+/*
+ * Copyright (c) 2015, SICS Swedish ICT.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ * 3. Neither the name of the Institute nor the names of its contributors
+ *    may be used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED.  IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+ * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ *
+ * This file is part of the Contiki operating system.
+ *
+ */
+
+/**
+ * \file
+ *         IEEE 802.15.4e Information Element (IE) creation and parsing.
+ * \author
+ *         Simon Duquennoy <simonduq@sics.se>
+ */
+
+#include <string.h>
+#include "net/mac/frame802154e-ie.h"
+
+#define DEBUG DEBUG_NONE
+#include "net/ip/uip-debug.h"
+
+/* c.f. IEEE 802.15.4e Table 4b */
+enum ieee802154e_header_ie_id {
+  HEADER_IE_LE_CSL = 0x1a,
+  HEADER_IE_LE_RIT,
+  HEADER_IE_DSME_PAN_DESCRIPTOR,
+  HEADER_IE_RZ_TIME,
+  HEADER_IE_ACK_NACK_TIME_CORRECTION,
+  HEADER_IE_GACK,
+  HEADER_IE_LOW_LATENCY_NETWORK_INFO,
+  HEADER_IE_LIST_TERMINATION_1 = 0x7e,
+  HEADER_IE_LIST_TERMINATION_2 = 0x7f,
+};
+
+/* c.f. IEEE 802.15.4e Table 4c */
+enum ieee802154e_payload_ie_id {
+  PAYLOAD_IE_ESDU = 0,
+  PAYLOAD_IE_MLME,
+  PAYLOAD_IE_LIST_TERMINATION = 0xf,
+};
+
+/* c.f. IEEE 802.15.4e Table 4d */
+enum ieee802154e_mlme_short_subie_id {
+  MLME_SHORT_IE_TSCH_SYNCHRONIZATION = 0x1a,
+  MLME_SHORT_IE_TSCH_SLOFTRAME_AND_LINK,
+  MLME_SHORT_IE_TSCH_TIMESLOT,
+  MLME_SHORT_IE_TSCH_HOPPING_TIMING,
+  MLME_SHORT_IE_TSCH_EB_FILTER,
+  MLME_SHORT_IE_TSCH_MAC_METRICS_1,
+  MLME_SHORT_IE_TSCH_MAC_METRICS_2,
+};
+
+/* c.f. IEEE 802.15.4e Table 4e */
+enum ieee802154e_mlme_long_subie_id {
+  MLME_LONG_IE_TSCH_CHANNEL_HOPPING_SEQUENCE = 0x9,
+};
+
+#define WRITE16(buf, val) \
+  do { ((uint8_t *)(buf))[0] = (val) & 0xff; \
+       ((uint8_t *)(buf))[1] = ((val) >> 8) & 0xff; } while(0);
+
+#define READ16(buf, var) \
+  (var) = ((uint8_t *)(buf))[0] | ((uint8_t *)(buf))[1] << 8
+
+/* Create a header IE 2-byte descriptor */
+static void
+create_header_ie_descriptor(uint8_t *buf, uint8_t element_id, int ie_len)
+{
+  uint16_t ie_desc;
+  /* Header IE descriptor: b0-6: len, b7-14: element id:, b15: type: 0 */
+  ie_desc = (ie_len & 0x7f) + ((element_id & 0xff) << 7);
+  WRITE16(buf, ie_desc);
+}
+
+/* Create a payload IE 2-byte descriptor */
+static void
+create_payload_ie_descriptor(uint8_t *buf, uint8_t group_id, int ie_len)
+{
+  uint16_t ie_desc;
+  /* MLME Long IE descriptor: b0-10: len, b11-14: group id:, b15: type: 1 */
+  ie_desc = (ie_len & 0x07ff) + ((group_id & 0x0f) << 11) + (1 << 15);
+  WRITE16(buf, ie_desc);
+}
+
+/* Create a MLME short IE 2-byte descriptor */
+static void
+create_mlme_short_ie_descriptor(uint8_t *buf, uint8_t sub_id, int ie_len)
+{
+  uint16_t ie_desc;
+  /* MLME Short IE descriptor: b0-7: len, b8-14: sub id:, b15: type: 0 */
+  ie_desc = (ie_len & 0xff) + ((sub_id & 0x7f) << 8);
+  WRITE16(buf, ie_desc);
+}
+
+/* Create a MLME long IE 2-byte descriptor */
+static void
+create_mlme_long_ie_descriptor(uint8_t *buf, uint8_t sub_id, int ie_len)
+{
+  uint16_t ie_desc;
+  /* MLME Long IE descriptor: b0-10: len, b11-14: sub id:, b15: type: 1 */
+  ie_desc = (ie_len & 0x07ff) + ((sub_id & 0x0f) << 11) + (1 << 15);
+  WRITE16(buf, ie_desc);
+}
+
+/* Header IE. ACK/NACK time correction. Used in enhanced ACKs */
+int
+frame80215e_create_ie_header_ack_nack_time_correction(uint8_t *buf, int len,
+    struct ieee802154_ies *ies)
+{
+  int ie_len = 2;
+  if(len >= 2 + ie_len && ies != NULL) {
+    int16_t drift_us;
+    uint16_t time_sync_field;
+    drift_us = ies->ie_time_correction;
+    time_sync_field = drift_us & 0x0fff;
+    if(ies->ie_is_nack) {
+      time_sync_field |= 0x8000;
+    }
+    WRITE16(buf+2, time_sync_field);
+    create_header_ie_descriptor(buf, HEADER_IE_ACK_NACK_TIME_CORRECTION, ie_len);
+    return 2 + ie_len;
+  } else {
+    return -1;
+  }
+}
+
+/* Header IE. List termination 1 (Signals the end of the Header IEs when
+ * followed by payload IEs) */
+int
+frame80215e_create_ie_header_list_termination_1(uint8_t *buf, int len,
+    struct ieee802154_ies *ies)
+{
+  int ie_len = 0;
+  if(len >= 2 + ie_len && ies != NULL) {
+    create_header_ie_descriptor(buf, HEADER_IE_LIST_TERMINATION_1, 0);
+    return 2 + ie_len;
+  } else {
+    return -1;
+  }
+}
+
+/* Header IE. List termination 2 (Signals the end of the Header IEs when
+ * followed by an unformatted payload) */
+int
+frame80215e_create_ie_header_list_termination_2(uint8_t *buf, int len,
+    struct ieee802154_ies *ies)
+{
+  int ie_len = 0;
+  if(len >= 2 + ie_len && ies != NULL) {
+    create_header_ie_descriptor(buf, HEADER_IE_LIST_TERMINATION_2, 0);
+    return 2 + ie_len;
+  } else {
+    return -1;
+  }
+}
+
+/* Payload IE. List termination */
+int
+frame80215e_create_ie_payload_list_termination(uint8_t *buf, int len,
+    struct ieee802154_ies *ies)
+{
+  int ie_len = 0;
+  if(len >= 2 + ie_len && ies != NULL) {
+    create_payload_ie_descriptor(buf, PAYLOAD_IE_LIST_TERMINATION, 0);
+    return 2 + ie_len;
+  } else {
+    return -1;
+  }
+}
+
+/* Payload IE. MLME. Used to nest sub-IEs */
+int
+frame80215e_create_ie_mlme(uint8_t *buf, int len,
+    struct ieee802154_ies *ies)
+{
+  int ie_len = 0;
+  if(len >= 2 + ie_len && ies != NULL) {
+    /* The length of the outer MLME IE is the total length of sub-IEs */
+    create_payload_ie_descriptor(buf, PAYLOAD_IE_MLME, ies->ie_mlme_len);
+    return 2 + ie_len;
+  } else {
+    return -1;
+  }
+}
+
+/* MLME sub-IE. TSCH synchronization. Used in EBs: ASN and join priority */
+int
+frame80215e_create_ie_tsch_synchronization(uint8_t *buf, int len,
+    struct ieee802154_ies *ies)
+{
+  int ie_len = 6;
+  if(len >= 2 + ie_len && ies != NULL) {
+    buf[2] = ies->ie_asn.ls4b;
+    buf[3] = ies->ie_asn.ls4b >> 8;
+    buf[4] = ies->ie_asn.ls4b >> 16;
+    buf[5] = ies->ie_asn.ls4b >> 24;
+    buf[6] = ies->ie_asn.ms1b;
+    buf[7] = ies->ie_join_priority;
+    create_mlme_short_ie_descriptor(buf, MLME_SHORT_IE_TSCH_SYNCHRONIZATION, ie_len);
+    return 2 + ie_len;
+  } else {
+    return -1;
+  }
+}
+
+/* MLME sub-IE. TSCH slotframe and link. Used in EBs: initial schedule */
+int
+frame80215e_create_ie_tsch_slotframe_and_link(uint8_t *buf, int len,
+    struct ieee802154_ies *ies)
+{
+  if(ies != NULL) {
+    int i;
+    int num_slotframes = ies->ie_tsch_slotframe_and_link.num_slotframes;
+    int num_links = ies->ie_tsch_slotframe_and_link.num_links;
+    int ie_len = 1 + num_slotframes * (4 + 5 * num_links);
+    if(num_slotframes > 1 || num_links > FRAME802154E_IE_MAX_LINKS
+       || len < 2 + ie_len) {
+      /* We support only 0 or 1 slotframe in this IE and a predefined maximum number of links */
+      return -1;
+    }
+    /* Insert IE */
+    buf[2] = num_slotframes;
+    /* Insert slotframe */
+    if(num_slotframes == 1) {
+      buf[2 + 1] = ies->ie_tsch_slotframe_and_link.slotframe_handle;
+      WRITE16(buf + 2 + 2, ies->ie_tsch_slotframe_and_link.slotframe_size);
+      buf[2 + 4] = num_links;
+      /* Loop over links */
+      for(i = 0; i < num_links; i++) {
+        /* Insert links */
+        WRITE16(buf + 2 + 5 + i * 5, ies->ie_tsch_slotframe_and_link.links[i].timeslot);
+        WRITE16(buf + 2 + 5 + i * 5 + 2, ies->ie_tsch_slotframe_and_link.links[i].channel_offset);
+        buf[2 + 5 + i * 5 + 4] = ies->ie_tsch_slotframe_and_link.links[i].link_options;
+      }
+    }
+    create_mlme_short_ie_descriptor(buf, MLME_SHORT_IE_TSCH_SLOFTRAME_AND_LINK, ie_len);
+    return 2 + ie_len;
+  } else {
+    return -1;
+  }
+}
+
+/* MLME sub-IE. TSCH timeslot. Used in EBs: timeslot template (timing) */
+int
+frame80215e_create_ie_tsch_timeslot(uint8_t *buf, int len,
+    struct ieee802154_ies *ies)
+{
+  int ie_len;
+  if(ies == NULL) {
+    return -1;
+  }
+  /* Only ID if ID == 0, else full timing description */
+  ie_len = ies->ie_tsch_timeslot_id == 0 ? 1 : 25;
+  if(len >= 2 + ie_len) {
+    buf[2] = ies->ie_tsch_timeslot_id;
+    if(ies->ie_tsch_timeslot_id != 0) {
+      int i;
+      for(i = 0; i < tsch_ts_elements_count; i++) {
+        WRITE16(buf + 3 + 2 * i, ies->ie_tsch_timeslot[i]);
+      }
+    }
+    create_mlme_short_ie_descriptor(buf, MLME_SHORT_IE_TSCH_TIMESLOT, ie_len);
+    return 2 + ie_len;
+  } else {
+    return -1;
+  }
+}
+
+/* MLME sub-IE. TSCH channel hopping sequence. Used in EBs: hopping sequence */
+int
+frame80215e_create_ie_tsch_channel_hopping_sequence(uint8_t *buf, int len,
+    struct ieee802154_ies *ies)
+{
+  int ie_len;
+  if(ies == NULL || ies->ie_hopping_sequence_len > sizeof(ies->ie_hopping_sequence_list)) {
+    return -1;
+  }
+  ie_len = ies->ie_channel_hopping_sequence_id == 0 ? 1 : 12 + ies->ie_hopping_sequence_len;
+  if(len >= 2 + ie_len && ies != NULL) {
+    buf[2] = ies->ie_channel_hopping_sequence_id;
+    buf[3] = 0; /* channel page */
+    WRITE16(buf + 4, 0); /* number of channels */
+    WRITE16(buf + 6, 0); /* phy configuration */
+    WRITE16(buf + 8, 0);
+    /* Extended bitmap. Size: 0 */
+    WRITE16(buf + 10, ies->ie_hopping_sequence_len); /* sequence len */
+    memcpy(buf + 12, ies->ie_hopping_sequence_list, ies->ie_hopping_sequence_len); /* sequence list */
+    WRITE16(buf + 12 + ies->ie_hopping_sequence_len, 0); /* current hop */
+    create_mlme_long_ie_descriptor(buf, MLME_LONG_IE_TSCH_CHANNEL_HOPPING_SEQUENCE, ie_len);
+    return 2 + ie_len;
+  } else {
+    return -1;
+  }
+}
+
+/* Parse a header IE */
+static int
+frame802154e_parse_header_ie(const uint8_t *buf, int len,
+    uint8_t element_id, struct ieee802154_ies *ies)
+{
+  switch(element_id) {
+    case HEADER_IE_ACK_NACK_TIME_CORRECTION:
+      if(len == 2) {
+        if(ies != NULL) {
+          /* If the originator was a time source neighbor, the receiver adjust
+           * its own clock by incorporating the received drift correction */
+          uint16_t time_sync_field = 0;
+          int16_t drift_us = 0;
+          /* Extract drift correction from Sync-IE, cast from 12 to 16-bit,
+           * and convert it to RTIMER ticks.
+           * See page 88 in IEEE Std 802.15.4e-2012. */
+          READ16(buf, time_sync_field);
+          /* First extract NACK */
+          ies->ie_is_nack = (time_sync_field & (uint16_t)0x8000) ? 1 : 0;
+          /* Then cast from 12 to 16 bit signed */
+          if(time_sync_field & 0x0800) { /* Negative integer */
+            drift_us = time_sync_field | 0xf000;
+          } else { /* Positive integer */
+            drift_us = time_sync_field & 0x0fff;
+          }
+          /* Convert to RTIMER ticks */
+          ies->ie_time_correction = drift_us;
+        }
+        return len;
+      }
+      break;
+  }
+  return -1;
+}
+
+/* Parse a MLME short IE */
+static int
+frame802154e_parse_mlme_short_ie(const uint8_t *buf, int len,
+    uint8_t sub_id, struct ieee802154_ies *ies)
+{
+  switch(sub_id) {
+    case MLME_SHORT_IE_TSCH_SLOFTRAME_AND_LINK:
+      if(len >= 1) {
+        int i;
+        int num_slotframes = buf[0];
+        int num_links = buf[4];
+        if(num_slotframes == 0) {
+          return len;
+        }
+        if(num_slotframes <= 1 && num_links <= FRAME802154E_IE_MAX_LINKS
+            && len == 1 + num_slotframes * (4 + 5 * num_links)) {
+          if(ies != NULL) {
+            /* We support only 0 or 1 slotframe in this IE and a predefined maximum number of links */
+            ies->ie_tsch_slotframe_and_link.num_slotframes = buf[0];
+            ies->ie_tsch_slotframe_and_link.slotframe_handle = buf[1];
+            READ16(buf + 2, ies->ie_tsch_slotframe_and_link.slotframe_size);
+            ies->ie_tsch_slotframe_and_link.num_links = buf[4];
+            for(i = 0; i < num_links; i++) {
+              READ16(buf + 5 + i * 5, ies->ie_tsch_slotframe_and_link.links[i].timeslot);
+              READ16(buf + 5 + i * 5 + 2, ies->ie_tsch_slotframe_and_link.links[i].channel_offset);
+              ies->ie_tsch_slotframe_and_link.links[i].link_options = buf[5 + i * 5 + 4];
+            }
+          }
+          return len;
+        }
+      }
+      break;
+    case MLME_SHORT_IE_TSCH_SYNCHRONIZATION:
+      if(len == 6) {
+        if(ies != NULL) {
+          ies->ie_asn.ls4b = (uint32_t)buf[0];
+          ies->ie_asn.ls4b |= (uint32_t)buf[1] << 8;
+          ies->ie_asn.ls4b |= (uint32_t)buf[2] << 16;
+          ies->ie_asn.ls4b |= (uint32_t)buf[3] << 24;
+          ies->ie_asn.ms1b = (uint8_t)buf[4];
+          ies->ie_join_priority = (uint8_t)buf[5];
+        }
+        return len;
+      }
+      break;
+    case MLME_SHORT_IE_TSCH_TIMESLOT:
+      if(len == 1 || len == 25) {
+        if(ies != NULL) {
+          ies->ie_tsch_timeslot_id = buf[0];
+          if(len == 25) {
+            int i;
+            for(i = 0; i < tsch_ts_elements_count; i++) {
+              READ16(buf+1+2*i, ies->ie_tsch_timeslot[i]);
+            }
+          }
+        }
+        return len;
+      }
+      break;
+  }
+  return -1;
+}
+
+/* Parse a MLME long IE */
+static int
+frame802154e_parse_mlme_long_ie(const uint8_t *buf, int len,
+    uint8_t sub_id, struct ieee802154_ies *ies)
+{
+  switch(sub_id) {
+    case MLME_LONG_IE_TSCH_CHANNEL_HOPPING_SEQUENCE:
+      if(len > 0) {
+        if(ies != NULL) {
+          ies->ie_channel_hopping_sequence_id = buf[0];
+          if(len > 1) {
+            READ16(buf+8, ies->ie_hopping_sequence_len); /* sequence len */
+            if(ies->ie_hopping_sequence_len <= sizeof(ies->ie_hopping_sequence_list)
+                && len == 12 + ies->ie_hopping_sequence_len) {
+              memcpy(ies->ie_hopping_sequence_list, buf+10, ies->ie_hopping_sequence_len); /* sequence list */
+            }
+          }
+        }
+        return len;
+      }
+      break;
+  }
+  return -1;
+}
+
+/* Parse all IEEE 802.15.4e Information Elements (IE) from a frame */
+int
+frame802154e_parse_information_elements(const uint8_t *buf, uint8_t buf_size,
+    struct ieee802154_ies *ies)
+{
+  const uint8_t *start = buf;
+  uint16_t ie_desc;
+  uint8_t type;
+  uint8_t id;
+  uint16_t len = 0;
+  int nested_mlme_len = 0;
+  enum {PARSING_HEADER_IE, PARSING_PAYLOAD_IE, PARSING_MLME_SUBIE} parsing_state;
+
+  if(ies == NULL) {
+    return -1;
+  }
+
+  /* Always look for a header IE first (at least "list termination 1") */
+  parsing_state = PARSING_HEADER_IE;
+  ies->ie_payload_ie_offset = 0;
+
+  /* Loop over all IEs */
+  while(buf_size > 0) {
+    if(buf_size < 2) { /* Not enough space for IE descriptor */
+      return -1;
+    }
+    READ16(buf, ie_desc);
+    buf_size -= 2;
+    buf += 2;
+    type = ie_desc & 0x8000 ? 1 : 0; /* b15 */
+    PRINTF("frame802154e: ie type %u, current state %u\n", type, parsing_state);
+
+    switch(parsing_state) {
+      case PARSING_HEADER_IE:
+        if(type != 0) {
+          PRINTF("frame802154e: wrong type %04x\n", ie_desc);
+          return -1;
+        }
+        /* Header IE: 2 bytes descriptor, c.f. fig 48n in IEEE 802.15.4e */
+        len = ie_desc & 0x007f; /* b0-b6 */
+        id = (ie_desc & 0x7f80) >> 7; /* b7-b14 */
+        PRINTF("frame802154e: header ie len %u id %x\n", len, id);
+        switch(id) {
+          case HEADER_IE_LIST_TERMINATION_1:
+            if(len == 0) {
+              /* End of payload IE list, now expect payload IEs */
+              parsing_state = PARSING_PAYLOAD_IE;
+              ies->ie_payload_ie_offset = buf - start; /* Save IE header len */
+              PRINTF("frame802154e: list termination 1, look for payload IEs\n");
+            } else {
+              PRINTF("frame802154e: list termination 1, wrong len %u\n", len);
+              return -1;
+            }
+            break;
+          case HEADER_IE_LIST_TERMINATION_2:
+            /* End of IE parsing */
+            if(len == 0) {
+              ies->ie_payload_ie_offset = buf - start; /* Save IE header len */
+              PRINTF("frame802154e: list termination 2\n");
+              return buf + len - start;
+            } else {
+              PRINTF("frame802154e: list termination 2, wrong len %u\n", len);
+              return -1;
+            }
+          default:
+            if(len > buf_size || frame802154e_parse_header_ie(buf, len, id, ies) == -1) {
+              PRINTF("frame802154e: failed to parse\n");
+              return -1;
+            }
+            break;
+        }
+        break;
+      case PARSING_PAYLOAD_IE:
+        if(type != 1) {
+          PRINTF("frame802154e: wrong type %04x\n", ie_desc);
+          return -1;
+        }
+        /* Payload IE: 2 bytes descriptor, c.f. fig 48o in IEEE 802.15.4e */
+        len = ie_desc & 0x7ff; /* b0-b10 */
+        id = (ie_desc & 0x7800) >> 11; /* b11-b14 */
+        PRINTF("frame802154e: payload ie len %u id %x\n", len, id);
+        switch(id) {
+          case PAYLOAD_IE_MLME:
+            /* Now expect 'len' bytes of MLME sub-IEs */
+            parsing_state = PARSING_MLME_SUBIE;
+            nested_mlme_len = len;
+            len = 0; /* Reset len as we want to read subIEs and not jump over them */
+            PRINTF("frame802154e: entering MLME ie with len %u\n", nested_mlme_len);
+            break;
+          case PAYLOAD_IE_LIST_TERMINATION:
+            PRINTF("frame802154e: payload ie list termination %u\n", len);
+            return (len == 0) ? buf + len - start : -1;
+          default:
+            PRINTF("frame802154e: non-supported payload ie\n");
+            return -1;
+        }
+        break;
+      case PARSING_MLME_SUBIE:
+        /* MLME sub-IE: 2 bytes descriptor, c.f. fig 48q in IEEE 802.15.4e */
+        /* type == 0 means short sub-IE, type == 1 means long sub-IE */
+        if(type == 0) {
+          /* Short sub-IE, c.f. fig 48r in IEEE 802.15.4e */
+          len = ie_desc & 0x00ff; /* b0-b7 */
+          id = (ie_desc & 0x7f00) >> 8; /* b8-b14 */
+          PRINTF("frame802154e: short mlme ie len %u id %x\n", len, id);
+          if(len > buf_size || frame802154e_parse_mlme_short_ie(buf, len, id, ies) == -1) {
+            PRINTF("frame802154e: failed to parse ie\n");
+            return -1;
+          }
+        } else {
+          /* Long sub-IE, c.f. fig 48s in IEEE 802.15.4e */
+          len = ie_desc & 0x7ff; /* b0-b10 */
+          id = (ie_desc & 0x7800) >> 11; /* b11-b14 */
+          PRINTF("frame802154e: long mlme ie len %u id %x\n", len, id);
+          if(len > buf_size || frame802154e_parse_mlme_long_ie(buf, len, id, ies) == -1) {
+            PRINTF("frame802154e: failed to parse ie\n");
+            return -1;
+          }
+        }
+        /* Update remaining nested MLME len */
+        nested_mlme_len -= 2 + len;
+        if(nested_mlme_len < 0) {
+          PRINTF("frame802154e: found more sub-IEs than initially advertised\n");
+          /* We found more sub-IEs than initially advertised */
+          return -1;
+        }
+        if(nested_mlme_len == 0) {
+          PRINTF("frame802154e: end of MLME IE parsing\n");
+          /* End of IE parsing, look for another payload IE */
+          parsing_state = PARSING_PAYLOAD_IE;
+        }
+        break;
+    }
+    buf += len;
+    buf_size -= len;
+  }
+
+  if(parsing_state == PARSING_HEADER_IE) {
+    ies->ie_payload_ie_offset = buf - start; /* Save IE header len */
+  }
+
+  return buf - start;
+}

core/net/mac/frame802154e-ie.h

@@ -0,0 +1,120 @@
+/*
+ * Copyright (c) 2015, SICS Swedish ICT.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ * 3. Neither the name of the Institute nor the names of its contributors
+ *    may be used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED.  IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+ * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ *
+ * This file is part of the Contiki operating system.
+ *
+ */
+
+/**
+ * \file
+ *         IEEE 802.15.4e Information Element (IE) creation and parsing.
+ * \author
+ *         Simon Duquennoy <simonduq@sics.se>
+ */
+
+#ifndef FRAME_802154E_H
+#define FRAME_802154E_H
+
+#include "contiki.h"
+/* We need definitions from tsch-private.h for TSCH-specific information elements */
+#include "net/mac/tsch/tsch-private.h"
+
+#define FRAME802154E_IE_MAX_LINKS       4
+
+/* Structures used for the Slotframe and Links information element */
+struct tsch_slotframe_and_links_link {
+  uint16_t timeslot;
+  uint16_t channel_offset;
+  uint8_t link_options;
+};
+struct tsch_slotframe_and_links {
+  uint8_t num_slotframes; /* We support only 0 or 1 slotframe in this IE */
+  uint8_t slotframe_handle;
+  uint16_t slotframe_size;
+  uint8_t num_links;
+  struct tsch_slotframe_and_links_link links[FRAME802154E_IE_MAX_LINKS];
+};
+
+/* The information elements that we currently support */
+struct ieee802154_ies {
+  /* Header IEs */
+  int16_t ie_time_correction;
+  uint8_t ie_is_nack;
+  /* Payload MLME */
+  uint8_t ie_payload_ie_offset;
+  uint16_t ie_mlme_len;
+  /* Payload Short MLME IEs */
+  uint8_t ie_tsch_synchronization_offset;
+  struct asn_t ie_asn;
+  uint8_t ie_join_priority;
+  uint8_t ie_tsch_timeslot_id;
+  uint16_t ie_tsch_timeslot[tsch_ts_elements_count];
+  struct tsch_slotframe_and_links ie_tsch_slotframe_and_link;
+  /* Payload Long MLME IEs */
+  uint8_t ie_channel_hopping_sequence_id;
+  /* We include and parse only the sequence len and list and omit unused fields */
+  uint16_t ie_hopping_sequence_len;
+  uint8_t ie_hopping_sequence_list[TSCH_HOPPING_SEQUENCE_MAX_LEN];
+};
+
+/** Insert various Information Elements **/
+/* Header IE. ACK/NACK time correction. Used in enhanced ACKs */
+int frame80215e_create_ie_header_ack_nack_time_correction(uint8_t *buf, int len,
+    struct ieee802154_ies *ies);
+/* Header IE. List termination 1 (Signals the end of the Header IEs when
+ * followed by payload IEs) */
+int frame80215e_create_ie_header_list_termination_1(uint8_t *buf, int len,
+    struct ieee802154_ies *ies);
+/* Header IE. List termination 2 (Signals the end of the Header IEs when
+ * followed by an unformatted payload) */
+int frame80215e_create_ie_header_list_termination_2(uint8_t *buf, int len,
+    struct ieee802154_ies *ies);
+/* Payload IE. List termination */
+int frame80215e_create_ie_payload_list_termination(uint8_t *buf, int len,
+    struct ieee802154_ies *ies);
+/* Payload IE. MLME. Used to nest sub-IEs */
+int frame80215e_create_ie_mlme(uint8_t *buf, int len,
+    struct ieee802154_ies *ies);
+/* MLME sub-IE. TSCH synchronization. Used in EBs: ASN and join priority */
+int frame80215e_create_ie_tsch_synchronization(uint8_t *buf, int len,
+    struct ieee802154_ies *ies);
+/* MLME sub-IE. TSCH slotframe and link. Used in EBs: initial schedule */
+int frame80215e_create_ie_tsch_slotframe_and_link(uint8_t *buf, int len,
+    struct ieee802154_ies *ies);
+/* MLME sub-IE. TSCH timeslot. Used in EBs: timeslot template (timing) */
+int frame80215e_create_ie_tsch_timeslot(uint8_t *buf, int len,
+    struct ieee802154_ies *ies);
+/* MLME sub-IE. TSCH channel hopping sequence. Used in EBs: hopping sequence */
+int frame80215e_create_ie_tsch_channel_hopping_sequence(uint8_t *buf, int len,
+    struct ieee802154_ies *ies);
+
+/* Parse all Information Elements of a frame */
+int frame802154e_parse_information_elements(const uint8_t *buf, uint8_t buf_size,
+    struct ieee802154_ies *ies);
+
+#endif /* FRAME_802154E_H */

core/net/mac/framer-802154.c

@@ -62,30 +62,6 @@ static uint8_t mac_dsn;
 
 static uint8_t initialized = 0;
 
-/**  \brief The 16-bit identifier of the PAN on which the device is
- *   sending to.  If this value is 0xffff, the device is not
- *   associated.
- */
-static const uint16_t mac_dst_pan_id = IEEE802154_PANID;
-
-/**  \brief The 16-bit identifier of the PAN on which the device is
- *   operating.  If this value is 0xffff, the device is not
- *   associated.
- */
-static const uint16_t mac_src_pan_id = IEEE802154_PANID;
-
-/*---------------------------------------------------------------------------*/
-static int
-is_broadcast_addr(uint8_t mode, uint8_t *addr)
-{
-  int i = mode == FRAME802154_SHORTADDRMODE ? 2 : 8;
-  while(i-- > 0) {
-    if(addr[i] != 0xff) {
-      return 0;
-    }
-  }
-  return 1;
-}
 /*---------------------------------------------------------------------------*/
 static int
 create_frame(int type, int do_create)
@@ -93,6 +69,10 @@ create_frame(int type, int do_create)
   frame802154_t params;
   int hdr_len;
 
+  if(frame802154_get_pan_id() == 0xffff) {
+    return -1;
+  }
+
   /* init to zeros */
   memset(&params, 0, sizeof(params));
 
@@ -109,10 +89,14 @@ create_frame(int type, int do_create)
   } else {
     params.fcf.ack_required = packetbuf_attr(PACKETBUF_ATTR_MAC_ACK);
   }
+  /* We do not compress PAN ID in outgoing frames, i.e. include one PAN ID (dest by default)
+   * There is one exception, seemingly a typo in Table 2a: rows 2 and 3: when there is no
+   * source nor destination address, we have dest PAN ID iff compression is *set*. */
   params.fcf.panid_compression = 0;
+  params.fcf.sequence_number_suppression = FRAME802154_SUPPR_SEQNO;
 
-  /* Insert IEEE 802.15.4 (2006) version bits. */
+  /* Insert IEEE 802.15.4 version bits. */
-  params.fcf.frame_version = FRAME802154_IEEE802154_2006;
+  params.fcf.frame_version = FRAME802154_VERSION;
   
 #if LLSEC802154_SECURITY_LEVEL
   if(packetbuf_attr(PACKETBUF_ATTR_SECURITY_LEVEL)) {
@@ -120,8 +104,13 @@ create_frame(int type, int do_create)
   }
   /* Setting security-related attributes */
   params.aux_hdr.security_control.security_level = packetbuf_attr(PACKETBUF_ATTR_SECURITY_LEVEL);
+#if LLSEC802154_USES_FRAME_COUNTER
   params.aux_hdr.frame_counter.u16[0] = packetbuf_attr(PACKETBUF_ATTR_FRAME_COUNTER_BYTES_0_1);
   params.aux_hdr.frame_counter.u16[1] = packetbuf_attr(PACKETBUF_ATTR_FRAME_COUNTER_BYTES_2_3);
+#else /* LLSEC802154_USES_FRAME_COUNTER */
+  params.aux_hdr.security_control.frame_counter_suppression = 1;
+  params.aux_hdr.security_control.frame_counter_size = 1;
+#endif /* LLSEC802154_USES_FRAME_COUNTER */
 #if LLSEC802154_USES_EXPLICIT_KEYS
   params.aux_hdr.security_control.key_id_mode = packetbuf_attr(PACKETBUF_ATTR_KEY_ID_MODE);
   params.aux_hdr.key_index = packetbuf_attr(PACKETBUF_ATTR_KEY_INDEX);
@@ -150,21 +139,20 @@ create_frame(int type, int do_create)
   /**
      \todo For phase 1 the addresses are all long. We'll need a mechanism
      in the rime attributes to tell the mac to use long or short for phase 2.
-  */
+   */
   if(LINKADDR_SIZE == 2) {
     /* Use short address mode if linkaddr size is short. */
     params.fcf.src_addr_mode = FRAME802154_SHORTADDRMODE;
   } else {
     params.fcf.src_addr_mode = FRAME802154_LONGADDRMODE;
   }
-  params.dest_pid = mac_dst_pan_id;
+  params.dest_pid = frame802154_get_pan_id();
 
   if(packetbuf_holds_broadcast()) {
     /* Broadcast requires short address mode. */
     params.fcf.dest_addr_mode = FRAME802154_SHORTADDRMODE;
     params.dest_addr[0] = 0xFF;
     params.dest_addr[1] = 0xFF;
-
   } else {
     linkaddr_copy((linkaddr_t *)&params.dest_addr,
                   packetbuf_addr(PACKETBUF_ADDR_RECEIVER));
@@ -177,7 +165,7 @@ create_frame(int type, int do_create)
   }
 
   /* Set the source PAN ID to the global variable. */
-  params.src_pid = mac_src_pan_id;
+  params.src_pid = frame802154_get_pan_id();
 
   /*
    * Set up the source address using only the long address mode for
@@ -191,7 +179,6 @@ create_frame(int type, int do_create)
   if(!do_create) {
     /* Only calculate header length */
     return hdr_len;
-
   } else if(packetbuf_hdralloc(hdr_len)) {
     frame802154_create(&params, packetbuf_hdrptr());
 
@@ -223,35 +210,41 @@ parse(void)
 {
   frame802154_t frame;
   int hdr_len;
-  
+
   hdr_len = frame802154_parse(packetbuf_dataptr(), packetbuf_datalen(), &frame);
-  
+
   if(hdr_len && packetbuf_hdrreduce(hdr_len)) {
     packetbuf_set_attr(PACKETBUF_ATTR_FRAME_TYPE, frame.fcf.frame_type);
-    
+
     if(frame.fcf.dest_addr_mode) {
-      if(frame.dest_pid != mac_src_pan_id &&
+      if(frame.dest_pid != frame802154_get_pan_id() &&
-          frame.dest_pid != FRAME802154_BROADCASTPANDID) {
+         frame.dest_pid != FRAME802154_BROADCASTPANDID) {
         /* Packet to another PAN */
         PRINTF("15.4: for another pan %u\n", frame.dest_pid);
         return FRAMER_FAILED;
       }
-      if(!is_broadcast_addr(frame.fcf.dest_addr_mode, frame.dest_addr)) {
+      if(!frame802154_is_broadcast_addr(frame.fcf.dest_addr_mode, frame.dest_addr)) {
         packetbuf_set_addr(PACKETBUF_ADDR_RECEIVER, (linkaddr_t *)&frame.dest_addr);
       }
     }
     packetbuf_set_addr(PACKETBUF_ADDR_SENDER, (linkaddr_t *)&frame.src_addr);
     packetbuf_set_attr(PACKETBUF_ATTR_PENDING, frame.fcf.frame_pending);
-    packetbuf_set_attr(PACKETBUF_ATTR_MAC_SEQNO, frame.seq);
+    if(frame.fcf.sequence_number_suppression == 0) {
+      packetbuf_set_attr(PACKETBUF_ATTR_MAC_SEQNO, frame.seq);
+    } else {
+      packetbuf_set_attr(PACKETBUF_ATTR_MAC_SEQNO, 0xffff);
+    }
 #if NETSTACK_CONF_WITH_RIME
     packetbuf_set_attr(PACKETBUF_ATTR_PACKET_ID, frame.seq);
 #endif
-    
+
 #if LLSEC802154_SECURITY_LEVEL
     if(frame.fcf.security_enabled) {
       packetbuf_set_attr(PACKETBUF_ATTR_SECURITY_LEVEL, frame.aux_hdr.security_control.security_level);
+#if LLSEC802154_USES_FRAME_COUNTER
       packetbuf_set_attr(PACKETBUF_ATTR_FRAME_COUNTER_BYTES_0_1, frame.aux_hdr.frame_counter.u16[0]);
       packetbuf_set_attr(PACKETBUF_ATTR_FRAME_COUNTER_BYTES_2_3, frame.aux_hdr.frame_counter.u16[1]);
+#endif /* LLSEC802154_USES_FRAME_COUNTER */
 #if LLSEC802154_USES_EXPLICIT_KEYS
       packetbuf_set_attr(PACKETBUF_ATTR_KEY_ID_MODE, frame.aux_hdr.security_control.key_id_mode);
       packetbuf_set_attr(PACKETBUF_ATTR_KEY_INDEX, frame.aux_hdr.key_index);
@@ -264,7 +257,7 @@ parse(void)
     PRINTADDR(packetbuf_addr(PACKETBUF_ADDR_SENDER));
     PRINTADDR(packetbuf_addr(PACKETBUF_ADDR_RECEIVER));
     PRINTF("%d %u (%u)\n", hdr_len, packetbuf_datalen(), packetbuf_totlen());
-    
+
     return hdr_len;
   }
   return FRAMER_FAILED;

core/net/mac/nordc.c

@@ -0,0 +1,94 @@
+/*
+ * Copyright (c) 2014, SICS Swedish ICT.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ * 3. Neither the name of the Institute nor the names of its contributors
+ *    may be used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED.  IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+ * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ *
+ * This file is part of the Contiki operating system.
+ *
+ */
+
+/**
+ * \file
+ *         This RDC layer does nothing. It is meant for use with MAC
+ *         layers that do not use a RDC at all, such as TSCH.
+ * \author
+ *         Simon Duquennoy <simonduq@sics.se>
+ *
+ */
+
+#include "net/mac/rdc.h"
+#include "net/netstack.h"
+
+/*---------------------------------------------------------------------------*/
+static void
+send_packet(mac_callback_t sent, void *ptr)
+{
+}
+/*---------------------------------------------------------------------------*/
+static void
+send_list(mac_callback_t sent, void *ptr, struct rdc_buf_list *buf_list)
+{
+}
+/*---------------------------------------------------------------------------*/
+static void
+packet_input(void)
+{
+}
+/*---------------------------------------------------------------------------*/
+static int
+on(void)
+{
+  return 0;
+}
+/*---------------------------------------------------------------------------*/
+static int
+off(int keep_radio_on)
+{
+  return 0;
+}
+/*---------------------------------------------------------------------------*/
+static unsigned short
+channel_check_interval(void)
+{
+  return 0;
+}
+/*---------------------------------------------------------------------------*/
+static void
+init(void)
+{
+}
+/*---------------------------------------------------------------------------*/
+const struct rdc_driver nordc_driver = {
+  "nordc",
+  init,
+  send_packet,
+  send_list,
+  packet_input,
+  on,
+  off,
+  channel_check_interval,
+};
+/*---------------------------------------------------------------------------*/

core/net/mac/tsch/Makefile.tsch

@@ -0,0 +1 @@
+CONTIKI_SOURCEFILES += tsch.c tsch-slot-operation.c tsch-queue.c tsch-packet.c tsch-schedule.c tsch-log.c tsch-rpl.c tsch-adaptive-timesync.c

core/net/mac/tsch/README.md

@@ -0,0 +1,201 @@
+# IEEE 802.15.4e TSCH (TimeSlotted Channel Hopping)
+
+## Overview
+
+TSCH is a MAC layer of the [IEEE 802.15.4e-2012 amendment][ieee802.15.4e-2012],
+currently being integrated as part of the new IEEE 802.15.4-2015.
+[6TiSCH][ietf-6tisch-wg] is an IETF Working Group focused on IPv6 over TSCH.
+This is a Contiki implementation of TSCH and the 6TiSCH so-called "minimal configuration",
+which defines how to run a basic RPL+TSCH network.
+
+It was developped by:
+* Simon Duquennoy, SICS, simonduq@sics.se, github user: [simonduq](https://github.com/simonduq)
+* Beshr Al Nahas, SICS (now Chalmers University), beshr@chalmers.se, github user: [beshrns](https://github.com/beshrns)
+
+You can find an extensive evaluation of this implementation in our paper [*Orchestra: Robust Mesh Networks Through Autonomously Scheduled TSCH*](http://www.simonduquennoy.net/papers/duquennoy15orchestra.pdf), ACM SenSys'15.
+
+## Features
+
+This implementation includes:
+  * Standard IEEE 802.15.4e-2012 frame version 2
+  * Standard TSCH joining procedure with Enhanced Beacons with the following Information Elements:
+    * TSCH synchronization (join priority and ASN) 
+    * TSCH slotframe and link (basic schedule)
+    * TSCH timeslot (timeslot timing template)
+    * TSCH channel hopping sequence (hopping sequence template)
+  * Standard TSCH link selection and slot operation (10ms slots by default)
+  * Standard TSCH synchronization, including with ACK/NACK time correction Information Element
+  * Standard TSCH queues and CSMA-CA mechanism
+  * Standard TSCH security
+  * Standard 6TiSCH TSCH-RPL interaction (6TiSCH Minimal Configuration and Minimal Schedule)
+  * A scheduling API to add/remove slotframes and links
+  * A system for logging from TSCH timeslot operation interrupt, with postponed printout
+  * Orchestra: an autonomous scheduler for TSCH+RPL networks
+
+It has been tested on the following platforms:
+  * NXP JN516x (`jn516x`, tested on hardware)
+  * Tmote Sky (`sky`, tested on hardware and in cooja)
+  * Zolertia Z1 (`z1`, tested in cooja only)
+
+This implementation was present at the ETSI Plugtest
+event in Prague in July 2015, and did successfully inter-operate with all
+four implementations it was tested against.
+
+We have designed this implementation with IPv6 and RPL in mind, but the code is fully independent
+from upper layers (with the exception of the optional `tsch-rpl.[ch]`), and has been
+also tested with Rime (currently only with 64-bit link-layer addresses).
+
+## Code structure
+
+The IEEE 802.15.4e-2012 frame format is implemented in:
+* `core/net/mac/frame802154.[ch]`: handling of frame version 2 
+* `core/net/mac/frame802154-ie.[ch]`: handling of Information Elements
+
+TSCH is implemented in:
+* `core/net/mac/tsch/tsch.[ch]`: TSCH management (association, keep-alive), processes handling pending
+outgoing and incoming packets, and interface with Contiki's upper layers as a MAC driver. TSCH does not
+require a RDC (nordc is recommended).
+* `tsch-slot-operation.[ch]`: TSCH low-level slot operation, fully interrupt-driven. Node wake up at every active
+slot (according to the slotframes and links installed), transmit or receive frames and ACKs. Received packets are
+stored in a ringbuf for latter upper-layer processing. Outgoing packets that are dequeued (because acknowledged
+or dropped) are stored in another ringbuf for upper-layer processing. 
+* `tsch-asn.h`: TSCH macros for Absolute Slot Number (ASN) handling.
+* `tsch-packet.[ch]`: TSCH Enhanced ACK (EACK) and enhanced Beacon (EB) creation and parsing.
+* `tsch-queue.[ch]`: TSCH  per-neighbor queue, neighbor state, and CSMA-CA.
+* `tsch-schedule.[ch]`: TSCH slotframe and link handling, and API for slotframe and link installation/removal.
+* `tsch-security.[ch]`: TSCH security, i.e. securing frames and ACKs from interrupt with ASN as part of the Nonce.
+Implements the 6TiSCH minimal configuration K1-K2 keys pair.
+* `tsch-rpl.[ch]`: used for TSCH+RPL networks, to align TSCH and RPL states (preferred parent -> time source,
+rank -> join priority) as defined in the 6TiSCH minimal configuration.
+* `tsch-log.[ch]`: logging system for TSCH, including delayed messages for logging from slot operation interrupt.
+
+Orchestra is implemented in:
+* `apps/orchestra`: see `apps/orchestra/README.md` for more information.
+
+## Using TSCH
+
+A simple TSCH+RPL example is included under `examples/ipv6/rpl-tsch`.
+To use TSCH, first make sure your platform supports it.
+Currently, `jn516x`, `sky` and `z1` are the supported platforms.
+To add your own, we refer the reader to the next section.
+
+To add TSCH to your application, first include the TSCH module from your makefile with:
+
+`MODULES += core/net/mac/tsch`
+
+Then, enable TSCH from your project conf with the following:
+
+```
+/* Netstack layers */
+#undef NETSTACK_CONF_MAC
+#define NETSTACK_CONF_MAC     tschmac_driver
+#undef NETSTACK_CONF_RDC
+#define NETSTACK_CONF_RDC     nordc_driver
+#undef NETSTACK_CONF_FRAMER
+#define NETSTACK_CONF_FRAMER  framer_802154
+
+/* IEEE802.15.4 frame version */
+#undef FRAME802154_CONF_VERSION
+#define FRAME802154_CONF_VERSION FRAME802154_IEEE802154E_2012
+```
+
+If you are running with RPL, it is recommended to enable the `tsch-rpl` module with:
+
+```
+/* TSCH and RPL callbacks */
+#define RPL_CALLBACK_PARENT_SWITCH tsch_rpl_callback_parent_switch
+#define RPL_CALLBACK_NEW_DIO_INTERVAL tsch_rpl_callback_new_dio_interval
+#define TSCH_CALLBACK_JOINING_NETWORK tsch_rpl_callback_joining_network
+#define TSCH_CALLBACK_LEAVING_NETWORK tsch_rpl_callback_leaving_network
+```
+
+On CC2420-based platforms, enable SFD timestamps with:
+
+```
+/* Disable DCO calibration (uses timerB) */
+#undef DCOSYNCH_CONF_ENABLED
+#define DCOSYNCH_CONF_ENABLED			 0
+
+/* Enable SFD timestamps (uses timerB) */
+#undef CC2420_CONF_SFD_TIMESTAMPS
+#define CC2420_CONF_SFD_TIMESTAMPS       1
+```
+
+To configure TSCH, see the macros in `.h` files under `core/net/mac/tsch/` and redefine your own in your `project-conf.h`.
+
+## Using TSCH with Security
+
+To include TSCH standard-compliant security, set the following:
+```
+/* Enable security */
+#undef LLSEC802154_CONF_SECURITY_LEVEL
+#define LLSEC802154_CONF_SECURITY_LEVEL 1
+/* TSCH uses explicit keys to identify k1 and k2 */
+#undef LLSEC802154_CONF_USES_EXPLICIT_KEYS
+#define LLSEC802154_CONF_USES_EXPLICIT_KEYS 1
+/* TSCH uses the ASN rather than frame counter to construct the Nonce */
+#undef LLSEC802154_CONF_USES_FRAME_COUNTER
+#define LLSEC802154_CONF_USES_FRAME_COUNTER 0
+```
+
+The keys can be configured in `net/mac/tsch/tsch-security.h`.
+Nodes handle security level and keys dynamically, i.e. as specified by the incoming frame header rather that compile-time defined.
+
+By default, when including security, the PAN coordinator will transmit secured EBs.
+Use `tsch_set_pan_secured` to explicitly ask the coordinator to secure EBs or not.
+
+When associating, nodes with security included can join both secured or non-secured networks.
+Set `TSCH_CONF_JOIN_SECURED_ONLY` to force joining secured networks only.
+Likewise, set `TSCH_JOIN_MY_PANID_ONLY` to force joining networks with a specific PANID only.
+
+## TSCH Scheduling
+
+By default (see `TSCH_SCHEDULE_WITH_6TISCH_MINIMAL`), our implementation runs a 6TiSCH minimal schedule, which emulates an always-on link on top of TSCH.
+The schedule consists in a single shared slot for all transmissions and receptions, in a slotframe of length `TSCH_SCHEDULE_DEFAULT_LENGTH`.
+
+As an alternative, we provide Orchestra (under `apps/orchestra`), an autonomous scheduling solution for TSCH where nodes maintain their own schedule locally, solely based on their local RPL state.
+Orchestra can be simply enabled and should work out-of-the-box with its default settings as long as RPL is also enabled.
+See `apps/orchestra/README.md` for more information.
+
+Finally, one can also implement his own scheduler, centralized or distributed, based on the scheduling API provides in `core/net/mac/tsch/tsch-schedule.h`.
+
+## Porting TSCH to a new platform
+
+Porting TSCH to a new platform requires a few new features in the radio driver, a number of timing-related configuration paramters.
+The easiest is probably to start from one of the existing port: `jn516x`, `sky`, `z1`.
+
+### Radio features required for TSCH
+
+The main new feature required for TSCH is the so-called *poll mode*, a new Rx mode for Contiki radio drivers.
+In poll mode, radio interrupts are disabled, and the radio driver never calls upper layers.
+Instead, TSCH will poll the driver for incoming packets, from interrupt, exactly when it expects one.
+
+TSCH will check when initializing (in `tsch_init`) that the radio driver supports all required features, namely:
+* get and set Rx mode (`RADIO_PARAM_RX_MODE`) as follows:
+  * enable address filtering with `RADIO_RX_MODE_ADDRESS_FILTER`
+  * disable auto-ack with `RADIO_RX_MODE_AUTOACK`
+  * enable poll mode with `RADIO_RX_MODE_POLL_MODE`
+* get and set Tx mode (`RADIO_PARAM_TX_MODE`) as follows: 
+  * disable CCA-before-sending with `RADIO_TX_MODE_SEND_ON_CCA`
+* set radio channel with `RADIO_PARAM_CHANNEL`
+* get last packet timestamp with `RADIO_PARAM_LAST_PACKET_TIMESTAMP`
+* optionally: get last packet RSSI with `RADIO_PARAM_LAST_RSSI`
+* optionally: get last packet LQI with `RADIO_PARAM_LAST_LQI`
+
+### Timing macros required for TSCH
+
+The following macros must be provided:
+* `US_TO_RTIMERTICKS(US)`: converts micro-seconds to rtimer ticks
+* `RTIMERTICKS_TO_US(T)`: converts rtimer ticks to micro-seconds
+* `RADIO_DELAY_BEFORE_TX`: the delay between radio Tx request and SFD sent, in rtimer ticks
+* `RADIO_DELAY_BEFORE_RX`: the delay between radio Rx request and start listening, in rtimer ticks
+* optionally, `TSCH_CONF_DEFAULT_TIMESLOT_LENGTH`: the default TSCH timeslot length, useful i.e. for platforms
+too slow for the default 10ms timeslots.
+
+## Additional documentation
+
+1. [IEEE 802.15.4e-2012 ammendment][ieee802.15.4e-2012]
+2. [IETF 6TiSCH Working Group][ietf-6tisch-wg]
+
+[ieee802.15.4e-2012]: http://standards.ieee.org/getieee802/download/802.15.4e-2012.pdf
+[ietf-6tisch-wg]: https://datatracker.ietf.org/wg/6tisch

core/net/mac/tsch/tsch-adaptive-timesync.c

@@ -0,0 +1,186 @@
+/*
+ * Copyright (c) 2015, SICS Swedish ICT.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ * 3. Neither the name of the Institute nor the names of its contributors
+ *    may be used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED.  IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+ * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ *
+ * This file is part of the Contiki operating system.
+ *
+ */
+
+/**
+ * \file
+ *         TSCH adaptive time synchronization
+ * \author
+ *         Atis Elsts <atis.elsts@sics.se>
+ *
+ */
+
+#include "tsch-adaptive-timesync.h"
+#include "tsch-log.h"
+#include <stdio.h>
+
+#if TSCH_ADAPTIVE_TIMESYNC
+
+/* Estimated drift of the time-source neighbor. Can be negative.
+ * Units used: ppm multiplied by 256. */
+static int32_t drift_ppm;
+/* Ticks compensated locally since the last timesync time */
+static int32_t compensated_ticks;
+/* Number of already recorded timesync history entries */
+static uint8_t timesync_entry_count;
+/* Since last learning of the  drift; may be more than time since last timesync */
+static uint32_t asn_since_last_learning;
+
+/* Units in which drift is stored: ppm * 256 */
+#define TSCH_DRIFT_UNIT (1000L * 1000 * 256)
+
+/*---------------------------------------------------------------------------*/
+/* Add a value to a moving average estimator */
+static int32_t
+timesync_entry_add(int32_t val, uint32_t time_delta)
+{
+#define NUM_TIMESYNC_ENTRIES 8
+  static int32_t buffer[NUM_TIMESYNC_ENTRIES];
+  static uint8_t pos;
+  int i;
+  if(timesync_entry_count == 0) {
+    pos = 0;
+  }
+  buffer[pos] = val;
+  if(timesync_entry_count < NUM_TIMESYNC_ENTRIES) {
+    timesync_entry_count++;
+  }
+  pos = (pos + 1) % NUM_TIMESYNC_ENTRIES;
+
+  val = 0;
+  for(i = 0; i < timesync_entry_count; ++i) {
+    val += buffer[i];
+  }
+  return val / timesync_entry_count;
+}
+/*---------------------------------------------------------------------------*/
+/* Learn the neighbor drift rate at ppm */
+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];
+  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);
+}
+/*---------------------------------------------------------------------------*/
+/* Either reset or update the neighbor's drift */
+void
+tsch_timesync_update(struct tsch_neighbor *n, uint16_t time_delta_asn, int32_t drift_correction)
+{
+  /* Account the drift if either this is a new timesource,
+   * or the timedelta is not too small, as smaller timedelta
+   * means proportionally larger measurement error. */
+  if(last_timesource_neighbor != n) {
+    last_timesource_neighbor = n;
+    drift_ppm = 0;
+    timesync_entry_count = 0;
+    compensated_ticks = 0;
+    asn_since_last_learning = 0;
+  } else {
+    asn_since_last_learning += time_delta_asn;
+    if(asn_since_last_learning >= 4 * TSCH_SLOTS_PER_SECOND) {
+      timesync_learn_drift_ticks(asn_since_last_learning, drift_correction);
+      compensated_ticks = 0;
+      asn_since_last_learning = 0;
+    } else {
+      /* Too small timedelta, do not recalculate the drift to avoid introducing error. instead account for the corrected ticks */
+      compensated_ticks += drift_correction;
+    }
+  }
+}
+/*---------------------------------------------------------------------------*/
+/* Error-accumulation free compensation algorithm */
+static int32_t
+compensate_internal(uint32_t time_delta_usec, int32_t drift_ppm, int32_t *remainder, int16_t *tick_conversion_error)
+{
+  int64_t d = (int64_t)time_delta_usec * drift_ppm + *remainder;
+  int32_t amount = d / TSCH_DRIFT_UNIT;
+  int32_t amount_ticks;
+
+  *remainder = (int32_t)(d - amount * TSCH_DRIFT_UNIT);
+
+  amount += *tick_conversion_error;
+  amount_ticks = US_TO_RTIMERTICKS(amount);
+  *tick_conversion_error = amount - RTIMERTICKS_TO_US(amount_ticks);
+
+  if(ABS(amount_ticks) > RTIMER_ARCH_SECOND / 128) {
+    TSCH_LOG_ADD(tsch_log_message,
+        snprintf(log->message, sizeof(log->message),
+            "!too big compensation %ld delta %ld", amount_ticks, time_delta_usec));
+    amount_ticks = (amount_ticks > 0 ? RTIMER_ARCH_SECOND : -RTIMER_ARCH_SECOND) / 128;
+  }
+
+  return amount_ticks;
+}
+/*---------------------------------------------------------------------------*/
+/* Do the compensation step before scheduling a new timeslot */
+int32_t
+tsch_timesync_adaptive_compensate(rtimer_clock_t time_delta_ticks)
+{
+  int32_t result = 0;
+  uint32_t time_delta_usec = RTIMERTICKS_TO_US_64(time_delta_ticks);
+
+  /* compensate, but not if the neighbor is not known */
+  if(drift_ppm && last_timesource_neighbor != NULL) {
+    static int32_t remainder;
+    static int16_t tick_conversion_error;
+    result = compensate_internal(time_delta_usec, drift_ppm,
+        &remainder, &tick_conversion_error);
+    compensated_ticks += result;
+  }
+
+  if(TSCH_BASE_DRIFT_PPM) {
+    static int32_t base_drift_remainder;
+    static int16_t base_drift_tick_conversion_error;
+    result += compensate_internal(time_delta_usec, 256L * TSCH_BASE_DRIFT_PPM,
+        &base_drift_remainder, &base_drift_tick_conversion_error);
+  }
+
+  return result;
+}
+/*---------------------------------------------------------------------------*/
+#else /* TSCH_ADAPTIVE_TIMESYNC */
+/*---------------------------------------------------------------------------*/
+void
+tsch_timesync_update(struct tsch_neighbor *n, uint16_t time_delta_asn, int32_t drift_correction)
+{
+}
+/*---------------------------------------------------------------------------*/
+int32_t
+tsch_timesync_adaptive_compensate(rtimer_clock_t delta_ticks)
+{
+  return 0;
+}
+/*---------------------------------------------------------------------------*/
+#endif /* TSCH_ADAPTIVE_TIMESYNC */

core/net/mac/tsch/tsch-adaptive-timesync.h

@@ -0,0 +1,89 @@
+/*
+ * Copyright (c) 2015, SICS Swedish ICT.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ * 3. Neither the name of the Institute nor the names of its contributors
+ *    may be used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED.  IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+ * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ *
+ * This file is part of the Contiki operating system.
+ *
+ */
+
+#ifndef __TSCH_ADAPTIVE_TIMESYNC_H__
+#define __TSCH_ADAPTIVE_TIMESYNC_H__
+
+/********** Includes **********/
+
+#include "contiki.h"
+#include "net/mac/tsch/tsch-private.h"
+
+/******** Configuration *******/
+
+/* Use SFD timestamp for synchronization? By default we merely rely on rtimer and busy wait
+ * until SFD is high, which we found to provide greater accuracy on JN516x and CC2420.
+ * Note: for association, however, we always use SFD timestamp to know the time of arrival
+ * of the EB (because we do not busy-wait for the whole scanning process)
+ * */
+#ifdef TSCH_CONF_RESYNC_WITH_SFD_TIMESTAMPS
+#define TSCH_RESYNC_WITH_SFD_TIMESTAMPS TSCH_CONF_RESYNC_WITH_SFD_TIMESTAMPS
+#else
+#define TSCH_RESYNC_WITH_SFD_TIMESTAMPS 0
+#endif
+
+/* If enabled, remove jitter due to measurement errors */
+#ifdef TSCH_CONF_TIMESYNC_REMOVE_JITTER
+#define TSCH_TIMESYNC_REMOVE_JITTER TSCH_CONF_TIMESYNC_REMOVE_JITTER
+#else
+#define TSCH_TIMESYNC_REMOVE_JITTER TSCH_RESYNC_WITH_SFD_TIMESTAMPS
+#endif
+
+/* The jitter to remove in ticks.
+ * This should be the sum of measurement errors on Tx and Rx nodes.
+ * */
+#define TSCH_TIMESYNC_MEASUREMENT_ERROR US_TO_RTIMERTICKS(32)
+
+/* Base drift value.
+ * Used to compensate locally know inaccuracies, such as
+ * the effect of having a binary 32.768 kHz timer as the TSCH time base. */
+#ifdef TSCH_CONF_BASE_DRIFT_PPM
+#define TSCH_BASE_DRIFT_PPM TSCH_CONF_BASE_DRIFT_PPM
+#else
+#define TSCH_BASE_DRIFT_PPM 0
+#endif
+
+/* The approximate number of slots per second */
+#define TSCH_SLOTS_PER_SECOND (1000000 / TSCH_DEFAULT_TS_TIMESLOT_LENGTH)
+
+/***** External Variables *****/
+
+/* The neighbor last used as our time source */
+extern struct tsch_neighbor *last_timesource_neighbor;
+
+/********** Functions *********/
+
+void tsch_timesync_update(struct tsch_neighbor *n, uint16_t time_delta_asn, int32_t drift_correction);
+
+int32_t tsch_timesync_adaptive_compensate(rtimer_clock_t delta_ticks);
+
+#endif /* __TSCH_ADAPTIVE_TIMESYNC_H__ */

core/net/mac/tsch/tsch-asn.h

@@ -0,0 +1,97 @@
+/*
+ * Copyright (c) 2015, SICS Swedish ICT.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ * 3. Neither the name of the Institute nor the names of its contributors
+ *    may be used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED.  IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+ * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ *
+ * This file is part of the Contiki operating system.
+ *
+ */
+
+/**
+ * \file
+ *         TSCH 5-Byte Absolute Slot Number (ASN) management
+ * \author
+ *         Simon Duquennoy <simonduq@sics.se>
+ *
+ */
+
+#ifndef __TSCH_ASN_H__
+#define __TSCH_ASN_H__
+
+/************ Types ***********/
+
+/* The ASN is an absolute slot number over 5 bytes. */
+struct asn_t {
+  uint32_t ls4b; /* least significant 4 bytes */
+  uint8_t  ms1b; /* most significant 1 byte */
+};
+
+/* For quick modulo operation on ASN */
+struct asn_divisor_t {
+  uint16_t val; /* Divisor value */
+  uint16_t asn_ms1b_remainder; /* Remainder of the operation 0x100000000 / val */
+};
+
+/************ Macros **********/
+
+/* Initialize ASN */
+#define ASN_INIT(asn, ms1b_, ls4b_) do { \
+    (asn).ms1b = (ms1b_); \
+    (asn).ls4b = (ls4b_); \
+} while(0);
+
+/* Increment an ASN by inc (32 bits) */
+#define ASN_INC(asn, inc) do { \
+    uint32_t new_ls4b = (asn).ls4b + (inc); \
+    if(new_ls4b < (asn).ls4b) { (asn).ms1b++; } \
+    (asn).ls4b = new_ls4b; \
+} while(0);
+
+/* Decrement an ASN by inc (32 bits) */
+#define ASN_DEC(asn, dec) do { \
+    uint32_t new_ls4b = (asn).ls4b - (dec); \
+    if(new_ls4b > (asn).ls4b) { (asn).ms1b--; } \
+    (asn).ls4b = new_ls4b; \
+} while(0);
+
+/* Returns the 32-bit diff between asn1 and asn2 */
+#define ASN_DIFF(asn1, asn2) \
+  ((asn1).ls4b - (asn2).ls4b)
+
+/* Initialize a struct asn_divisor_t */
+#define ASN_DIVISOR_INIT(div, val_) do { \
+    (div).val = (val_); \
+    (div).asn_ms1b_remainder = ((0xffffffff % (val_)) + 1) % (val_); \
+} while(0);
+
+/* Returns the result (16 bits) of a modulo operation on ASN,
+ * with divisor being a struct asn_divisor_t */
+#define ASN_MOD(asn, div) \
+  ((uint16_t)((asn).ls4b % (div).val) \
+   + (uint16_t)((asn).ms1b * (div).asn_ms1b_remainder % (div).val)) \
+  % (div).val
+
+#endif /* __TSCH_ASN_H__ */

core/net/mac/tsch/tsch-conf.h

@@ -0,0 +1,178 @@
+/*
+ * Copyright (c) 2015, SICS Swedish ICT.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ * 3. Neither the name of the Institute nor the names of its contributors
+ *    may be used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED.  IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+ * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ *
+ * This file is part of the Contiki operating system.
+ *
+ */
+
+/**
+ * \file
+ *         TSCH configuration
+ * \author
+ *         Simon Duquennoy <simonduq@sics.se>
+ */
+
+#ifndef __TSCH_CONF_H__
+#define __TSCH_CONF_H__
+
+/********** Includes **********/
+
+#include "contiki.h"
+
+/******** Configuration *******/
+
+/* Default IEEE 802.15.4e hopping sequences, obtained from https://gist.github.com/twatteyne/2e22ee3c1a802b685695 */
+/* 16 channels, sequence length 16 */
+#define TSCH_HOPPING_SEQUENCE_16_16 (uint8_t[]){ 16, 17, 23, 18, 26, 15, 25, 22, 19, 11, 12, 13, 24, 14, 20, 21 }
+/* 4 channels, sequence length 16 */
+#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 }
+/* 1 channel, sequence length 1 */
+#define TSCH_HOPPING_SEQUENCE_1_1 (uint8_t[]){ 20 }
+
+/* Default hopping sequence, used in case hopping sequence ID == 0 */
+#ifdef TSCH_CONF_DEFAULT_HOPPING_SEQUENCE
+#define TSCH_DEFAULT_HOPPING_SEQUENCE TSCH_CONF_DEFAULT_HOPPING_SEQUENCE
+#else
+#define TSCH_DEFAULT_HOPPING_SEQUENCE TSCH_HOPPING_SEQUENCE_4_4
+#endif
+
+/* Hopping sequence used for joining (scan channels) */
+#ifdef TSCH_CONF_JOIN_HOPPING_SEQUENCE
+#define TSCH_JOIN_HOPPING_SEQUENCE TSCH_CONF_JOIN_HOPPING_SEQUENCE
+#else
+#define TSCH_JOIN_HOPPING_SEQUENCE TSCH_DEFAULT_HOPPING_SEQUENCE
+#endif
+
+/* Maximum length of the TSCH channel hopping sequence. Must be greater or
+ * equal to the length of TSCH_DEFAULT_HOPPING_SEQUENCE. */
+#ifdef TSCH_CONF_HOPPING_SEQUENCE_MAX_LEN
+#define TSCH_HOPPING_SEQUENCE_MAX_LEN TSCH_CONF_HOPPING_SEQUENCE_MAX_LEN
+#else
+#define TSCH_HOPPING_SEQUENCE_MAX_LEN 16
+#endif
+
+/* Timeslot timing */
+
+#ifndef TSCH_CONF_DEFAULT_TIMESLOT_LENGTH
+#define TSCH_CONF_DEFAULT_TIMESLOT_LENGTH 10000
+#endif /* TSCH_CONF_DEFAULT_TIMESLOT_LENGTH */
+
+/* Configurable Rx guard time is micro-seconds */
+#ifndef TSCH_CONF_RX_WAIT
+#define TSCH_CONF_RX_WAIT 2200
+#endif /* TSCH_CONF_RX_WAIT */
+
+/* The default timeslot timing in the standard is a guard time of
+ * 2200 us, a Tx offset of 2120 us and a Rx offset of 1120 us.
+ * As a result, the listening device has a guard time not centered
+ * on the expected Tx time. This is to be fixed in the next iteration
+ * of the standard. This can be enabled with:
+ * #define TSCH_DEFAULT_TS_TX_OFFSET          2120
+ * #define TSCH_DEFAULT_TS_RX_OFFSET          1120
+ * #define TSCH_DEFAULT_TS_RX_WAIT            2200
+ *
+ * Instead, we align the Rx guard time on expected Tx time. The Rx
+ * guard time is user-configurable with TSCH_CONF_RX_WAIT.
+
+ * (TS_TX_OFFSET - (TS_RX_WAIT / 2)) instead */
+
+#if TSCH_CONF_DEFAULT_TIMESLOT_LENGTH == 10000
+/* Default timeslot timing as per IEEE 802.15.4e */
+
+#define TSCH_DEFAULT_TS_CCA_OFFSET         1800
+#define TSCH_DEFAULT_TS_CCA                128
+#define TSCH_DEFAULT_TS_TX_OFFSET          2120
+#define TSCH_DEFAULT_TS_RX_OFFSET          (TSCH_DEFAULT_TS_TX_OFFSET - (TSCH_CONF_RX_WAIT / 2))
+#define TSCH_DEFAULT_TS_RX_ACK_DELAY       800
+#define TSCH_DEFAULT_TS_TX_ACK_DELAY       1000
+#define TSCH_DEFAULT_TS_RX_WAIT            TSCH_CONF_RX_WAIT
+#define TSCH_DEFAULT_TS_ACK_WAIT           400
+#define TSCH_DEFAULT_TS_RX_TX              192
+#define TSCH_DEFAULT_TS_MAX_ACK            2400
+#define TSCH_DEFAULT_TS_MAX_TX             4256
+#define TSCH_DEFAULT_TS_TIMESLOT_LENGTH    10000
+
+#elif TSCH_CONF_DEFAULT_TIMESLOT_LENGTH == 15000
+/* Default timeslot timing for platfroms requiring 15ms slots */
+
+#define TSCH_DEFAULT_TS_CCA_OFFSET         1800
+#define TSCH_DEFAULT_TS_CCA                128
+#define TSCH_DEFAULT_TS_TX_OFFSET          4000
+#define TSCH_DEFAULT_TS_RX_OFFSET          (TSCH_DEFAULT_TS_TX_OFFSET - (TSCH_CONF_RX_WAIT / 2))
+#define TSCH_DEFAULT_TS_RX_ACK_DELAY       3600
+#define TSCH_DEFAULT_TS_TX_ACK_DELAY       4000
+#define TSCH_DEFAULT_TS_RX_WAIT            TSCH_CONF_RX_WAIT
+#define TSCH_DEFAULT_TS_ACK_WAIT           800
+#define TSCH_DEFAULT_TS_RX_TX              2072
+#define TSCH_DEFAULT_TS_MAX_ACK            2400
+#define TSCH_DEFAULT_TS_MAX_TX             4256
+#define TSCH_DEFAULT_TS_TIMESLOT_LENGTH    15000
+
+#elif TSCH_CONF_DEFAULT_TIMESLOT_LENGTH == 65000
+/* 65ms timeslot, i.e. nearly the max length allowed by standard (16-bit unsigned in micro-seconds).
+ * Useful for running link-layer security on sky or z1 in Cooja, where only S/W security is supported.
+ * Note: this slot timing would require a total of 120ms. If a slot overlaps with the next active slot,
+ * the latter will be skipped.
+ * This configuration is mostly a work-around to test link-layer security in Cooja, it is recommended
+ * to use it with a 6TiSCH minimal schedule of length >= 2. */
+
+#define TSCH_DEFAULT_TS_CCA_OFFSET         1800
+#define TSCH_DEFAULT_TS_CCA                128
+#define TSCH_DEFAULT_TS_TX_OFFSET          52000
+#define TSCH_DEFAULT_TS_RX_OFFSET          (TSCH_DEFAULT_TS_TX_OFFSET - (TSCH_CONF_RX_WAIT / 2))
+#define TSCH_DEFAULT_TS_RX_ACK_DELAY       58600
+#define TSCH_DEFAULT_TS_TX_ACK_DELAY       59000
+#define TSCH_DEFAULT_TS_RX_WAIT            TSCH_CONF_RX_WAIT
+#define TSCH_DEFAULT_TS_ACK_WAIT           800
+#define TSCH_DEFAULT_TS_RX_TX              2072
+#define TSCH_DEFAULT_TS_MAX_ACK            2400
+#define TSCH_DEFAULT_TS_MAX_TX             4256
+#define TSCH_DEFAULT_TS_TIMESLOT_LENGTH    65000
+
+#else
+#error "TSCH: Unsupported default timeslot length"
+#endif
+
+/* A custom feature allowing upper layers to assign packets to
+ * a specific slotframe and link */
+#ifdef TSCH_CONF_WITH_LINK_SELECTOR
+#define TSCH_WITH_LINK_SELECTOR TSCH_CONF_WITH_LINK_SELECTOR
+#else /* TSCH_CONF_WITH_LINK_SELECTOR */
+#define TSCH_WITH_LINK_SELECTOR 0
+#endif /* TSCH_CONF_WITH_LINK_SELECTOR */
+
+/* Estimate the drift of the time-source neighbor and compensate for it? */
+#ifdef TSCH_CONF_ADAPTIVE_TIMESYNC
+#define TSCH_ADAPTIVE_TIMESYNC TSCH_CONF_ADAPTIVE_TIMESYNC
+#else
+#define TSCH_ADAPTIVE_TIMESYNC 0
+#endif
+
+#endif /* __TSCH_CONF_H__ */

core/net/mac/tsch/tsch-log.c

@@ -0,0 +1,155 @@
+/*
+ * Copyright (c) 2014, SICS Swedish ICT.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ * 3. Neither the name of the Institute nor the names of its contributors
+ *    may be used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED.  IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+ * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ *
+ * This file is part of the Contiki operating system.
+ *
+ */
+
+/**
+ * \file
+ *         Log functions for TSCH, meant for logging from interrupt
+ *         during a timeslot operation. Saves ASN, slot and link information
+ *         and adds the log to a ringbuf for later printout.
+ * \author
+ *         Simon Duquennoy <simonduq@sics.se>
+ *
+ */
+
+#include "contiki.h"
+#include <stdio.h>
+#include "net/mac/tsch/tsch.h"
+#include "net/mac/tsch/tsch-queue.h"
+#include "net/mac/tsch/tsch-private.h"
+#include "net/mac/tsch/tsch-log.h"
+#include "net/mac/tsch/tsch-packet.h"
+#include "net/mac/tsch/tsch-schedule.h"
+#include "net/mac/tsch/tsch-slot-operation.h"
+#include "lib/ringbufindex.h"
+
+#if TSCH_LOG_LEVEL >= 1
+#define DEBUG DEBUG_PRINT
+#else /* TSCH_LOG_LEVEL */
+#define DEBUG DEBUG_NONE
+#endif /* TSCH_LOG_LEVEL */
+#include "net/ip/uip-debug.h"
+
+#if TSCH_LOG_LEVEL >= 2 /* Skip this file for log levels 0 or 1 */
+
+PROCESS_NAME(tsch_pending_events_process);
+
+/* Check if TSCH_LOG_QUEUE_LEN is a power of two */
+#if (TSCH_LOG_QUEUE_LEN & (TSCH_LOG_QUEUE_LEN - 1)) != 0
+#error TSCH_LOG_QUEUE_LEN must be power of two
+#endif
+static struct ringbufindex log_ringbuf;
+static struct tsch_log_t log_array[TSCH_LOG_QUEUE_LEN];
+static int log_dropped = 0;
+
+/*---------------------------------------------------------------------------*/
+/* Process pending log messages */
+void
+tsch_log_process_pending(void)
+{
+  static int last_log_dropped = 0;
+  int16_t log_index;
+  /* Loop on accessing (without removing) a pending input packet */
+  if(log_dropped != last_log_dropped) {
+    printf("TSCH:! logs dropped %u\n", log_dropped);
+    last_log_dropped = log_dropped;
+  }
+  while((log_index = ringbufindex_peek_get(&log_ringbuf)) != -1) {
+    struct tsch_log_t *log = &log_array[log_index];
+    struct tsch_slotframe *sf = tsch_schedule_get_slotframe_by_handle(log->link->slotframe_handle);
+    printf("TSCH: {asn-%x.%lx link-%u-%u-%u-%u ch-%u} ",
+        log->asn.ms1b, log->asn.ls4b,
+        log->link->slotframe_handle, sf ? sf->size.val : 0, log->link->timeslot, log->link->channel_offset,
+        tsch_calculate_channel(&log->asn, log->link->channel_offset));
+    switch(log->type) {
+      case tsch_log_tx:
+        printf("%s-%u-%u %u tx %d, st %d-%d",
+            log->tx.dest == 0 ? "bc" : "uc", log->tx.is_data, log->tx.sec_level,
+                log->tx.datalen,
+                log->tx.dest,
+                log->tx.mac_tx_status, log->tx.num_tx);
+        if(log->tx.drift_used) {
+          printf(", dr %d", log->tx.drift);
+        }
+        printf("\n");
+        break;
+      case tsch_log_rx:
+        printf("%s-%u-%u %u rx %d",
+            log->rx.is_unicast == 0 ? "bc" : "uc", log->rx.is_data, log->tx.sec_level,
+                log->rx.datalen,
+                log->rx.src);
+        if(log->rx.drift_used) {
+          printf(", dr %d", log->rx.drift);
+        }
+        printf(", edr %d\n", (int)log->rx.estimated_drift);
+        break;
+      case tsch_log_message:
+        printf("%s\n", log->message);
+        break;
+    }
+    /* Remove input from ringbuf */
+    ringbufindex_get(&log_ringbuf);
+  }
+}
+/*---------------------------------------------------------------------------*/
+/* Prepare addition of a new log.
+ * Returns pointer to log structure if success, NULL otherwise */
+struct tsch_log_t *
+tsch_log_prepare_add(void)
+{
+  int log_index = ringbufindex_peek_put(&log_ringbuf);
+  if(log_index != -1) {
+    struct tsch_log_t *log = &log_array[log_index];
+    log->asn = current_asn;
+    log->link = current_link;
+    return log;
+  } else {
+    log_dropped++;
+    return NULL;
+  }
+}
+/*---------------------------------------------------------------------------*/
+/* Actually add the previously prepared log */
+void
+tsch_log_commit(void)
+{
+  ringbufindex_put(&log_ringbuf);
+  process_poll(&tsch_pending_events_process);
+}
+/*---------------------------------------------------------------------------*/
+/* Initialize log module */
+void
+tsch_log_init(void)
+{
+  ringbufindex_init(&log_ringbuf, TSCH_LOG_QUEUE_LEN);
+}
+
+#endif /* TSCH_LOG_LEVEL */

core/net/mac/tsch/tsch-log.h

@@ -0,0 +1,138 @@
+/*
+ * Copyright (c) 2014, SICS Swedish ICT.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ * 3. Neither the name of the Institute nor the names of its contributors
+ *    may be used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED.  IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+ * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ *
+ * This file is part of the Contiki operating system.
+ *
+ */
+
+#ifndef __TSCH_LOG_H__
+#define __TSCH_LOG_H__
+
+/********** Includes **********/
+
+#include "contiki.h"
+#include "sys/rtimer.h"
+#include "net/mac/tsch/tsch-private.h"
+
+/******** Configuration *******/
+
+/* The length of the log queue, i.e. maximum number postponed log messages */
+#ifdef TSCH_LOG_CONF_QUEUE_LEN
+#define TSCH_LOG_QUEUE_LEN TSCH_LOG_CONF_QUEUE_LEN
+#else /* TSCH_LOG_CONF_QUEUE_LEN */
+#define TSCH_LOG_QUEUE_LEN 8
+#endif /* TSCH_LOG_CONF_QUEUE_LEN */
+
+/* Returns an integer ID from a link-layer address */
+#ifdef TSCH_LOG_CONF_ID_FROM_LINKADDR
+#define TSCH_LOG_ID_FROM_LINKADDR(addr) TSCH_LOG_CONF_ID_FROM_LINKADDR(addr)
+#else /* TSCH_LOG_ID_FROM_LINKADDR */
+#define TSCH_LOG_ID_FROM_LINKADDR(addr) ((addr) ? (addr)->u8[LINKADDR_SIZE - 1] : 0)
+#endif /* TSCH_LOG_ID_FROM_LINKADDR */
+
+/* TSCH log levels:
+ * 0: no log
+ * 1: basic PRINTF enabled
+ * 2: basic PRINTF enabled and tsch-log module enabled */
+#ifdef TSCH_LOG_CONF_LEVEL
+#define TSCH_LOG_LEVEL TSCH_LOG_CONF_LEVEL
+#else /* TSCH_LOG_CONF_LEVEL */
+#define TSCH_LOG_LEVEL 2
+#endif /* TSCH_LOG_CONF_LEVEL */
+
+#if TSCH_LOG_LEVEL < 2 /* For log level 0 or 1, the logging functions do nothing */
+
+#define tsch_log_init()
+#define tsch_log_process_pending()
+#define TSCH_LOG_ADD(log_type, init_code)
+
+#else /* TSCH_LOG_LEVEL */
+
+/************ Types ***********/
+
+/* Structure for a log. Union of different types of logs */
+struct tsch_log_t {
+  enum { tsch_log_tx,
+         tsch_log_rx,
+         tsch_log_message
+  } type;
+  struct asn_t asn;
+  struct tsch_link *link;
+  union {
+    char message[48];
+    struct {
+      int mac_tx_status;
+      int dest;
+      int drift;
+      uint8_t num_tx;
+      uint8_t datalen;
+      uint8_t is_data;
+      uint8_t sec_level;
+      uint8_t drift_used;
+    } tx;
+    struct {
+      int src;
+      int drift;
+      int estimated_drift;
+      uint8_t datalen;
+      uint8_t is_unicast;
+      uint8_t is_data;
+      uint8_t sec_level;
+      uint8_t drift_used;
+    } rx;
+  };
+};
+
+/********** Functions *********/
+
+/* Prepare addition of a new log.
+ * Returns pointer to log structure if success, NULL otherwise */
+struct tsch_log_t *tsch_log_prepare_add(void);
+/* Actually add the previously prepared log */
+void tsch_log_commit(void);
+/* Initialize log module */
+void tsch_log_init(void);
+/* Process pending log messages */
+void tsch_log_process_pending(void);
+
+/************ Macros **********/
+
+/* Use this macro to add a log to the queue (will be printed out
+ * later, after leaving interrupt context) */
+#define TSCH_LOG_ADD(log_type, init_code) do { \
+    struct tsch_log_t *log = tsch_log_prepare_add(); \
+    if(log != NULL) { \
+      log->type = (log_type); \
+      init_code; \
+      tsch_log_commit(); \
+    } \
+} while(0);
+
+#endif /* TSCH_LOG_LEVEL */
+
+#endif /* __TSCH_LOG_H__ */

core/net/mac/tsch/tsch-packet.c

@@ -0,0 +1,413 @@
+/*
+ * Copyright (c) 2014, SICS Swedish ICT.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ * 3. Neither the name of the Institute nor the names of its contributors
+ *    may be used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED.  IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+ * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ *
+ * This file is part of the Contiki operating system.
+ *
+ */
+
+/**
+ * \file
+ *         TSCH packet format management
+ * \author
+ *         Simon Duquennoy <simonduq@sics.se>
+ *         Beshr Al Nahas <beshr@sics.se>
+ */
+
+#include "contiki.h"
+#include "net/packetbuf.h"
+#include "net/mac/tsch/tsch.h"
+#include "net/mac/tsch/tsch-packet.h"
+#include "net/mac/tsch/tsch-private.h"
+#include "net/mac/tsch/tsch-schedule.h"
+#include "net/mac/tsch/tsch-security.h"
+#include "net/mac/tsch/tsch-log.h"
+#include "net/mac/frame802154.h"
+#include "net/mac/framer-802154.h"
+#include "net/netstack.h"
+#include "net/llsec/anti-replay.h"
+#include "lib/ccm-star.h"
+#include "lib/aes-128.h"
+#include <stdio.h>
+#include <string.h>
+
+#if TSCH_LOG_LEVEL >= 1
+#define DEBUG DEBUG_PRINT
+#else /* TSCH_LOG_LEVEL */
+#define DEBUG DEBUG_NONE
+#endif /* TSCH_LOG_LEVEL */
+#include "net/ip/uip-debug.h"
+
+/*---------------------------------------------------------------------------*/
+/* Construct enhanced ACK packet and return ACK length */
+int
+tsch_packet_create_eack(uint8_t *buf, int buf_size,
+    linkaddr_t *dest_addr, uint8_t seqno, int16_t drift, int nack)
+{
+  int ret;
+  uint8_t curr_len = 0;
+  frame802154_t p;
+  struct ieee802154_ies ies;
+
+  memset(&p, 0, sizeof(p));
+  p.fcf.frame_type = FRAME802154_ACKFRAME;
+  p.fcf.frame_version = FRAME802154_IEEE802154E_2012;
+  p.fcf.ie_list_present = 1;
+  /* Compression unset. According to IEEE802.15.4e-2012:
+   * - if no address is present: elide PAN ID
+   * - if at least one address is present: include exactly one PAN ID (dest by default) */
+  p.fcf.panid_compression = 0;
+  p.dest_pid = IEEE802154_PANID;
+  p.seq = seqno;
+#if TSCH_PACKET_EACK_WITH_DEST_ADDR
+  if(dest_addr != NULL) {
+    p.fcf.dest_addr_mode = FRAME802154_LONGADDRMODE;
+    linkaddr_copy((linkaddr_t *)&p.dest_addr, dest_addr);
+  }
+#endif
+#if TSCH_PACKET_EACK_WITH_SRC_ADDR
+  p.fcf.src_addr_mode = FRAME802154_LONGADDRMODE;
+  p.src_pid = IEEE802154_PANID;
+  linkaddr_copy((linkaddr_t *)&p.src_addr, &linkaddr_node_addr);
+#endif
+#if TSCH_SECURITY_ENABLED
+  if(tsch_is_pan_secured) {
+    p.fcf.security_enabled = 1;
+    p.aux_hdr.security_control.security_level = TSCH_SECURITY_KEY_SEC_LEVEL_ACK;
+    p.aux_hdr.security_control.key_id_mode = FRAME802154_1_BYTE_KEY_ID_MODE;
+    p.aux_hdr.security_control.frame_counter_suppression = 1;
+    p.aux_hdr.security_control.frame_counter_size = 1;
+    p.aux_hdr.key_index = TSCH_SECURITY_KEY_INDEX_ACK;
+  }
+#endif /* TSCH_SECURITY_ENABLED */
+
+  if((curr_len = frame802154_create(&p, buf)) == 0) {
+    return 0;
+  }
+
+  /* Append IE timesync */
+  memset(&ies, 0, sizeof(ies));
+  ies.ie_time_correction = drift;
+  ies.ie_is_nack = nack;
+
+  if((ret = frame80215e_create_ie_header_ack_nack_time_correction(buf+curr_len, buf_size-curr_len, &ies)) == -1) {
+    return -1;
+  }
+  curr_len += ret;
+
+  return curr_len;
+}
+/*---------------------------------------------------------------------------*/
+/* Parse enhanced ACK packet, extract drift and nack */
+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)
+{
+  uint8_t curr_len = 0;
+  int ret;
+  linkaddr_t dest;
+
+  if(frame == NULL || buf_size < 0) {
+    return 0;
+  }
+  /* Parse 802.15.4-2006 frame, i.e. all fields before Information Elements */
+  if((ret = frame802154_parse((uint8_t *)buf, buf_size, frame)) < 3) {
+    return 0;
+  }
+  if(hdr_len != NULL) {
+    *hdr_len = ret;
+  }
+  curr_len += ret;
+
+  /* Check seqno */
+  if(seqno != frame->seq) {
+    return 0;
+  }
+
+  /* Check destination PAN ID */
+  if(frame802154_check_dest_panid(frame) == 0) {
+    return 0;
+  }
+
+  /* Check destination address (if any) */
+  if(frame802154_extract_linkaddr(frame, NULL, &dest) == 0 ||
+      (!linkaddr_cmp(&dest, &linkaddr_node_addr)
+          && !linkaddr_cmp(&dest, &linkaddr_null))) {
+    return 0;
+  }
+
+  if(ies != NULL) {
+    memset(ies, 0, sizeof(struct ieee802154_ies));
+  }
+
+  if(frame->fcf.ie_list_present) {
+    int mic_len = 0;
+#if TSCH_SECURITY_ENABLED
+    /* Check if there is space for the security MIC (if any) */
+    mic_len = tsch_security_mic_len(frame);
+    if(buf_size < curr_len + mic_len) {
+      return 0;
+    }
+#endif /* TSCH_SECURITY_ENABLED */
+    /* Parse information elements. We need to substract the MIC length, as the exact payload len is needed while parsing */
+    if((ret = frame802154e_parse_information_elements(buf + curr_len, buf_size - curr_len - mic_len, ies)) == -1) {
+      return 0;
+    }
+    curr_len += ret;
+  }
+
+  if(hdr_len != NULL) {
+    *hdr_len += ies->ie_payload_ie_offset;
+  }
+
+  return curr_len;
+}
+/*---------------------------------------------------------------------------*/
+/* Create an EB packet */
+int
+tsch_packet_create_eb(uint8_t *buf, int buf_size, uint8_t seqno,
+    uint8_t *hdr_len, uint8_t *tsch_sync_ie_offset)
+{
+  int ret = 0;
+  uint8_t curr_len = 0;
+  uint8_t mlme_ie_offset;
+
+  frame802154_t p;
+  struct ieee802154_ies ies;
+
+  if(buf_size < TSCH_PACKET_MAX_LEN) {
+    return 0;
+  }
+
+  /* Create 802.15.4 header */
+  memset(&p, 0, sizeof(p));
+  p.fcf.frame_type = FRAME802154_BEACONFRAME;
+  p.fcf.ie_list_present = 1;
+  p.fcf.frame_version = FRAME802154_IEEE802154E_2012;
+  p.fcf.src_addr_mode = FRAME802154_LONGADDRMODE;
+  p.fcf.dest_addr_mode = FRAME802154_SHORTADDRMODE;
+  p.seq = seqno;
+  p.fcf.sequence_number_suppression = FRAME802154_SUPPR_SEQNO;
+  /* It is important not to compress PAN ID, as this would result in not including either
+   * source nor destination PAN ID, leaving potential joining devices unaware of the PAN ID. */
+  p.fcf.panid_compression = 0;
+
+  p.src_pid = frame802154_get_pan_id();
+  p.dest_pid = frame802154_get_pan_id();
+  linkaddr_copy((linkaddr_t *)&p.src_addr, &linkaddr_node_addr);
+  p.dest_addr[0] = 0xff;
+  p.dest_addr[1] = 0xff;
+
+#if TSCH_SECURITY_ENABLED
+  if(tsch_is_pan_secured) {
+    p.fcf.security_enabled = packetbuf_attr(PACKETBUF_ATTR_SECURITY_LEVEL) > 0;
+    p.aux_hdr.security_control.security_level = packetbuf_attr(PACKETBUF_ATTR_SECURITY_LEVEL);
+    p.aux_hdr.security_control.key_id_mode = packetbuf_attr(PACKETBUF_ATTR_KEY_ID_MODE);
+    p.aux_hdr.security_control.frame_counter_suppression = 1;
+    p.aux_hdr.security_control.frame_counter_size = 1;
+    p.aux_hdr.key_index = packetbuf_attr(PACKETBUF_ATTR_KEY_INDEX);
+  }
+#endif /* TSCH_SECURITY_ENABLED */
+
+  if((curr_len = frame802154_create(&p, buf)) == 0) {
+    return 0;
+  }
+
+  /* Prepare Information Elements for inclusion in the EB */
+  memset(&ies, 0, sizeof(ies));
+
+  /* Add TSCH timeslot timing IE. */
+#if TSCH_PACKET_EB_WITH_TIMESLOT_TIMING
+  {
+    int i;
+    ies.ie_tsch_timeslot_id = 1;
+    for(i = 0; i < tsch_ts_elements_count; i++) {
+      ies.ie_tsch_timeslot[i] = RTIMERTICKS_TO_US(tsch_timing[i]);
+    }
+  }
+#endif /* TSCH_PACKET_EB_WITH_TIMESLOT_TIMING */
+
+  /* Add TSCH hopping sequence IE */
+#if TSCH_PACKET_EB_WITH_HOPPING_SEQUENCE
+  if(tsch_hopping_sequence_length.val <= sizeof(ies.ie_hopping_sequence_list)) {
+    ies.ie_channel_hopping_sequence_id = 1;
+    ies.ie_hopping_sequence_len = tsch_hopping_sequence_length.val;
+    memcpy(ies.ie_hopping_sequence_list, tsch_hopping_sequence, ies.ie_hopping_sequence_len);
+  }
+#endif /* TSCH_PACKET_EB_WITH_HOPPING_SEQUENCE */
+
+  /* Add Slotframe and Link IE */
+#if TSCH_PACKET_EB_WITH_SLOTFRAME_AND_LINK
+  {
+    /* Send slotframe 0 with link at timeslot 0 */
+    struct tsch_slotframe *sf0 = tsch_schedule_get_slotframe_by_handle(0);
+    struct tsch_link *link0 = tsch_schedule_get_link_by_timeslot(sf0, 0);
+    if(sf0 && link0) {
+      ies.ie_tsch_slotframe_and_link.num_slotframes = 1;
+      ies.ie_tsch_slotframe_and_link.slotframe_handle = sf0->handle;
+      ies.ie_tsch_slotframe_and_link.slotframe_size = sf0->size.val;
+      ies.ie_tsch_slotframe_and_link.num_links = 1;
+      ies.ie_tsch_slotframe_and_link.links[0].timeslot = link0->timeslot;
+      ies.ie_tsch_slotframe_and_link.links[0].channel_offset = link0->channel_offset;
+      ies.ie_tsch_slotframe_and_link.links[0].link_options = link0->link_options;
+    }
+  }
+#endif /* TSCH_PACKET_EB_WITH_SLOTFRAME_AND_LINK */
+
+  /* First add header-IE termination IE to stipulate that next come payload IEs */
+  if((ret = frame80215e_create_ie_header_list_termination_1(buf + curr_len, buf_size - curr_len, &ies)) == -1) {
+    return -1;
+  }
+  curr_len += ret;
+
+  /* We start payload IEs, save offset */
+  if(hdr_len != NULL) {
+    *hdr_len = curr_len;
+  }
+
+  /* Save offset of the MLME IE descriptor, we need to know the total length
+   * before writing it */
+  mlme_ie_offset = curr_len;
+  curr_len += 2; /* Space needed for MLME descriptor */
+
+  /* Save the offset of the TSCH Synchronization IE, needed to update ASN and join priority before sending */
+  if(tsch_sync_ie_offset != NULL) {
+    *tsch_sync_ie_offset = curr_len;
+  }
+  if((ret = frame80215e_create_ie_tsch_synchronization(buf + curr_len, buf_size - curr_len, &ies)) == -1) {
+    return -1;
+  }
+  curr_len += ret;
+
+  if((ret = frame80215e_create_ie_tsch_timeslot(buf + curr_len, buf_size - curr_len, &ies)) == -1) {
+    return -1;
+  }
+  curr_len += ret;
+
+  if((ret = frame80215e_create_ie_tsch_channel_hopping_sequence(buf + curr_len, buf_size - curr_len, &ies)) == -1) {
+    return -1;
+  }
+  curr_len += ret;
+
+  if((ret = frame80215e_create_ie_tsch_slotframe_and_link(buf + curr_len, buf_size - curr_len, &ies)) == -1) {
+    return -1;
+  }
+  curr_len += ret;
+
+  ies.ie_mlme_len = curr_len - mlme_ie_offset - 2;
+  if((ret = frame80215e_create_ie_mlme(buf + mlme_ie_offset, buf_size - mlme_ie_offset, &ies)) == -1) {
+    return -1;
+  }
+
+  /* Payload IE list termination: optional */
+  /*
+  if((ret = frame80215e_create_ie_payload_list_termination(buf + curr_len, buf_size - curr_len, &ies)) == -1) {
+    return -1;
+  }
+  curr_len += ret;
+  */
+
+  return curr_len;
+}
+/*---------------------------------------------------------------------------*/
+/* Update ASN in EB packet */
+int
+tsch_packet_update_eb(uint8_t *buf, int buf_size, uint8_t tsch_sync_ie_offset)
+{
+  struct ieee802154_ies ies;
+  ies.ie_asn = current_asn;
+  ies.ie_join_priority = tsch_join_priority;
+  frame80215e_create_ie_tsch_synchronization(buf+tsch_sync_ie_offset, buf_size-tsch_sync_ie_offset, &ies);
+  return 1;
+}
+/*---------------------------------------------------------------------------*/
+/* Parse a IEEE 802.15.4e TSCH Enhanced Beacon (EB) */
+int
+tsch_packet_parse_eb(const uint8_t *buf, int buf_size,
+    frame802154_t *frame, struct ieee802154_ies *ies, uint8_t *hdr_len, int frame_without_mic)
+{
+  uint8_t curr_len = 0;
+  int ret;
+
+  if(frame == NULL || buf_size < 0) {
+    return 0;
+  }
+
+  /* Parse 802.15.4-2006 frame, i.e. all fields before Information Elements */
+  if((ret = frame802154_parse((uint8_t *)buf, buf_size, frame)) == 0) {
+    PRINTF("TSCH:! parse_eb: failed to parse frame\n");
+    return 0;
+  }
+
+  if(frame->fcf.frame_version < FRAME802154_IEEE802154E_2012
+     || frame->fcf.frame_type != FRAME802154_BEACONFRAME) {
+    PRINTF("TSCH:! parse_eb: frame is not a valid TSCH beacon. Frame version %u, type %u, FCF %02x %02x\n",
+           frame->fcf.frame_version, frame->fcf.frame_type, buf[0], buf[1]);
+    PRINTF("TSCH:! parse_eb: frame was from 0x%x/", frame->src_pid);
+    PRINTLLADDR((const uip_lladdr_t *)&frame->src_addr);
+    PRINTF(" to 0x%x/", frame->dest_pid);
+    PRINTLLADDR((const uip_lladdr_t *)&frame->dest_addr);
+    PRINTF("\n");
+    return 0;
+  }
+
+  if(hdr_len != NULL) {
+    *hdr_len = ret;
+  }
+  curr_len += ret;
+
+  if(ies != NULL) {
+    memset(ies, 0, sizeof(struct ieee802154_ies));
+    ies->ie_join_priority = 0xff; /* Use max value in case the Beacon does not include a join priority */
+  }
+  if(frame->fcf.ie_list_present) {
+    /* Calculate space needed for the security MIC, if any, before attempting to parse IEs */
+    int mic_len = 0;
+#if TSCH_SECURITY_ENABLED
+    if(!frame_without_mic) {
+      mic_len = tsch_security_mic_len(frame);
+      if(buf_size < curr_len + mic_len) {
+        return 0;
+      }
+    }
+#endif /* TSCH_SECURITY_ENABLED */
+
+    /* Parse information elements. We need to substract the MIC length, as the exact payload len is needed while parsing */
+    if((ret = frame802154e_parse_information_elements(buf + curr_len, buf_size - curr_len - mic_len, ies)) == -1) {
+      PRINTF("TSCH:! parse_eb: failed to parse IEs\n");
+      return 0;
+    }
+    curr_len += ret;
+  }
+
+  if(hdr_len != NULL) {
+    *hdr_len += ies->ie_payload_ie_offset;
+  }
+
+  return curr_len;
+}
+/*---------------------------------------------------------------------------*/

core/net/mac/tsch/tsch-packet.h

@@ -0,0 +1,104 @@
+/*
+ * Copyright (c) 2014, SICS Swedish ICT.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ * 3. Neither the name of the Institute nor the names of its contributors
+ *    may be used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED.  IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+ * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ *
+ * This file is part of the Contiki operating system.
+ *
+ */
+
+#ifndef __TSCH_PACKET_H__
+#define __TSCH_PACKET_H__
+
+/********** Includes **********/
+
+#include "contiki.h"
+#include "net/mac/tsch/tsch-private.h"
+#include "net/mac/frame802154.h"
+#include "net/mac/frame802154e-ie.h"
+
+/******** Configuration *******/
+
+/* TSCH EB: include timeslot timing Information Element? */
+#ifdef TSCH_PACKET_CONF_EB_WITH_TIMESLOT_TIMING
+#define TSCH_PACKET_EB_WITH_TIMESLOT_TIMING TSCH_PACKET_CONF_EB_WITH_TIMESLOT_TIMING
+#else
+#define TSCH_PACKET_EB_WITH_TIMESLOT_TIMING 0
+#endif
+
+/* TSCH EB: include hopping sequence Information Element? */
+#ifdef TSCH_PACKET_CONF_EB_WITH_HOPPING_SEQUENCE
+#define TSCH_PACKET_EB_WITH_HOPPING_SEQUENCE TSCH_PACKET_CONF_EB_WITH_HOPPING_SEQUENCE
+#else
+#define TSCH_PACKET_EB_WITH_HOPPING_SEQUENCE 0
+#endif
+
+/* TSCH EB: include slotframe and link Information Element? */
+#ifdef TSCH_PACKET_CONF_EB_WITH_SLOTFRAME_AND_LINK
+#define TSCH_PACKET_EB_WITH_SLOTFRAME_AND_LINK TSCH_PACKET_CONF_EB_WITH_SLOTFRAME_AND_LINK
+#else
+#define TSCH_PACKET_EB_WITH_SLOTFRAME_AND_LINK 0
+#endif
+
+/* Include source address in ACK? */
+#ifdef TSCH_PACKET_CONF_EACK_WITH_SRC_ADDR
+#define TSCH_PACKET_EACK_WITH_SRC_ADDR TSCH_PACKET_CONF_EACK_WITH_SRC_ADDR
+#else
+#define TSCH_PACKET_EACK_WITH_SRC_ADDR 0
+#endif
+
+/* Include destination address in ACK? */
+#ifdef TSCH_PACKET_CONF_EACK_WITH_DEST_ADDR
+#define TSCH_PACKET_EACK_WITH_DEST_ADDR TSCH_PACKET_CONF_EACK_WITH_DEST_ADDR
+#else
+#define TSCH_PACKET_EACK_WITH_DEST_ADDR 1 /* Include destination address
+by default, useful in case of duplicate seqno */
+#endif
+
+/********** Constants *********/
+
+/* Max TSCH packet lenght */
+#define TSCH_PACKET_MAX_LEN 127
+
+/********** Functions *********/
+
+/* Construct enhanced ACK packet and return ACK length */
+int tsch_packet_create_eack(uint8_t *buf, int buf_size,
+    linkaddr_t *dest_addr, uint8_t seqno, int16_t drift, int nack);
+/* Parse enhanced ACK packet, extract drift and nack */
+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);
+/* Create an EB packet */
+int tsch_packet_create_eb(uint8_t *buf, int buf_size,
+    uint8_t seqno, uint8_t *hdr_len, uint8_t *tsch_sync_ie_ptr);
+/* Update ASN in EB packet */
+int tsch_packet_update_eb(uint8_t *buf, int buf_size, uint8_t tsch_sync_ie_offset);
+/* Parse EB and extract ASN and join priority */
+int tsch_packet_parse_eb(const uint8_t *buf, int buf_size,
+    frame802154_t *frame, struct ieee802154_ies *ies,
+    uint8_t *hdrlen, int frame_without_mic);
+
+#endif /* __TSCH_PACKET_H__ */

core/net/mac/tsch/tsch-private.h

@@ -0,0 +1,115 @@
+/*
+ * Copyright (c) 2014, SICS Swedish ICT.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ * 3. Neither the name of the Institute nor the names of its contributors
+ *    may be used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED.  IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+ * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ *
+ * This file is part of the Contiki operating system.
+ *
+ */
+
+/**
+ * \file
+ *         Private TSCH definitions
+ *         (meant for use by TSCH implementation files only)
+ * \author
+ *         Simon Duquennoy <simonduq@sics.se>
+ *         Beshr Al Nahas <beshr@sics.se>
+ */
+
+#ifndef __TSCH_PRIVATE_H__
+#define __TSCH_PRIVATE_H__
+
+/********** Includes **********/
+
+#include "contiki.h"
+#include "net/linkaddr.h"
+#include "net/mac/tsch/tsch-asn.h"
+#include "net/mac/tsch/tsch-conf.h"
+
+/************ Types ***********/
+
+/* TSCH timeslot timing elements. Used to index timeslot timing
+ * of different units, such as rtimer tick or micro-second */
+enum tsch_timeslot_timing_elements {
+  tsch_ts_cca_offset,
+  tsch_ts_cca,
+  tsch_ts_tx_offset,
+  tsch_ts_rx_offset,
+  tsch_ts_rx_ack_delay,
+  tsch_ts_tx_ack_delay,
+  tsch_ts_rx_wait,
+  tsch_ts_ack_wait,
+  tsch_ts_rx_tx,
+  tsch_ts_max_ack,
+  tsch_ts_max_tx,
+  tsch_ts_timeslot_length,
+  tsch_ts_elements_count, /* Not a timing element */
+};
+
+/***** External Variables *****/
+
+/* 802.15.4 broadcast MAC address */
+extern const linkaddr_t tsch_broadcast_address;
+/* The address we use to identify EB queue */
+extern const linkaddr_t tsch_eb_address;
+/* The current Absolute Slot Number (ASN) */
+extern struct asn_t current_asn;
+extern uint8_t tsch_join_priority;
+extern struct tsch_link *current_link;
+/* TSCH channel hopping sequence */
+extern uint8_t tsch_hopping_sequence[TSCH_HOPPING_SEQUENCE_MAX_LEN];
+extern struct asn_divisor_t tsch_hopping_sequence_length;
+/* TSCH timeslot timing (in rtimer ticks) */
+extern rtimer_clock_t tsch_timing[tsch_ts_elements_count];
+
+/* TSCH processes */
+PROCESS_NAME(tsch_process);
+PROCESS_NAME(tsch_send_eb_process);
+PROCESS_NAME(tsch_pending_events_process);
+
+/********** Functions *********/
+
+/* Set TSCH to send a keepalive message after TSCH_KEEPALIVE_TIMEOUT */
+void tsch_schedule_keepalive(void);
+/* Leave the TSCH network */
+void tsch_disassociate(void);
+
+/************ Macros **********/
+
+/* Calculate packet tx/rx duration in rtimer ticks based on sent
+ * packet len in bytes with 802.15.4 250kbps data rate.
+ * One byte = 32us. Add two bytes for CRC and one for len field */
+#define TSCH_PACKET_DURATION(len) US_TO_RTIMERTICKS(32 * ((len) + 3))
+
+/* Convert rtimer ticks to clock and vice versa */
+#define TSCH_CLOCK_TO_TICKS(c) (((c) * RTIMER_SECOND) / CLOCK_SECOND)
+#define TSCH_CLOCK_TO_SLOTS(c, timeslot_length) (TSCH_CLOCK_TO_TICKS(c) / timeslot_length)
+
+/* Wait for a condition with timeout t0+offset. */
+#define BUSYWAIT_UNTIL_ABS(cond, t0, offset) \
+  while(!(cond) && RTIMER_CLOCK_LT(RTIMER_NOW(), (t0) + (offset))) ;
+
+#endif /* __TSCH_PRIVATE_H__ */

core/net/mac/tsch/tsch-queue.c

@@ -0,0 +1,466 @@
+/*
+ * Copyright (c) 2014, SICS Swedish ICT.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ * 3. Neither the name of the Institute nor the names of its contributors
+ *    may be used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED.  IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+ * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ *
+ * This file is part of the Contiki operating system.
+ *
+ */
+
+/**
+ * \file
+ *         Per-neighbor packet queues for TSCH MAC.
+ *         The list of neighbors uses the TSCH lock, but per-neighbor packet array are lock-free.
+ *				 Read-only operation on neighbor and packets are allowed from interrupts and outside of them.
+ *				 *Other operations are allowed outside of interrupt only.*
+ * \author
+ *         Simon Duquennoy <simonduq@sics.se>
+ *         Beshr Al Nahas <beshr@sics.se>
+ *         Domenico De Guglielmo <d.deguglielmo@iet.unipi.it >
+ */
+
+#include "contiki.h"
+#include "lib/list.h"
+#include "lib/memb.h"
+#include "lib/random.h"
+#include "net/queuebuf.h"
+#include "net/mac/rdc.h"
+#include "net/mac/tsch/tsch.h"
+#include "net/mac/tsch/tsch-private.h"
+#include "net/mac/tsch/tsch-queue.h"
+#include "net/mac/tsch/tsch-schedule.h"
+#include "net/mac/tsch/tsch-slot-operation.h"
+#include "net/mac/tsch/tsch-log.h"
+#include <string.h>
+
+#if TSCH_LOG_LEVEL >= 1
+#define DEBUG DEBUG_PRINT
+#else /* TSCH_LOG_LEVEL */
+#define DEBUG DEBUG_NONE
+#endif /* TSCH_LOG_LEVEL */
+#include "net/ip/uip-debug.h"
+
+/* Check if TSCH_QUEUE_NUM_PER_NEIGHBOR is power of two */
+#if (TSCH_QUEUE_NUM_PER_NEIGHBOR & (TSCH_QUEUE_NUM_PER_NEIGHBOR - 1)) != 0
+#error TSCH_QUEUE_NUM_PER_NEIGHBOR must be power of two
+#endif
+
+/* We have as many packets are there are queuebuf in the system */
+MEMB(packet_memb, struct tsch_packet, QUEUEBUF_NUM);
+MEMB(neighbor_memb, struct tsch_neighbor, TSCH_QUEUE_MAX_NEIGHBOR_QUEUES);
+LIST(neighbor_list);
+
+/* Broadcast and EB virtual neighbors */
+struct tsch_neighbor *n_broadcast;
+struct tsch_neighbor *n_eb;
+
+/*---------------------------------------------------------------------------*/
+/* Add a TSCH neighbor */
+struct tsch_neighbor *
+tsch_queue_add_nbr(const linkaddr_t *addr)
+{
+  struct tsch_neighbor *n = NULL;
+  /* If we have an entry for this neighbor already, we simply update it */
+  n = tsch_queue_get_nbr(addr);
+  if(n == NULL) {
+    if(tsch_get_lock()) {
+      /* Allocate a neighbor */
+      n = memb_alloc(&neighbor_memb);
+      if(n != NULL) {
+        /* Initialize neighbor entry */
+        memset(n, 0, sizeof(struct tsch_neighbor));
+        ringbufindex_init(&n->tx_ringbuf, TSCH_QUEUE_NUM_PER_NEIGHBOR);
+        linkaddr_copy(&n->addr, addr);
+        n->is_broadcast = linkaddr_cmp(addr, &tsch_eb_address)
+          || linkaddr_cmp(addr, &tsch_broadcast_address);
+        tsch_queue_backoff_reset(n);
+        /* Add neighbor to the list */
+        list_add(neighbor_list, n);
+      }
+      tsch_release_lock();
+    }
+  }
+  return n;
+}
+/*---------------------------------------------------------------------------*/
+/* Get a TSCH neighbor */
+struct tsch_neighbor *
+tsch_queue_get_nbr(const linkaddr_t *addr)
+{
+  if(!tsch_is_locked()) {
+    struct tsch_neighbor *n = list_head(neighbor_list);
+    while(n != NULL) {
+      if(linkaddr_cmp(&n->addr, addr)) {
+        return n;
+      }
+      n = list_item_next(n);
+    }
+  }
+  return NULL;
+}
+/*---------------------------------------------------------------------------*/
+/* Get a TSCH time source (we currently assume there is only one) */
+struct tsch_neighbor *
+tsch_queue_get_time_source(void)
+{
+  if(!tsch_is_locked()) {
+    struct tsch_neighbor *curr_nbr = list_head(neighbor_list);
+    while(curr_nbr != NULL) {
+      if(curr_nbr->is_time_source) {
+        return curr_nbr;
+      }
+      curr_nbr = list_item_next(curr_nbr);
+    }
+  }
+  return NULL;
+}
+/*---------------------------------------------------------------------------*/
+/* Update TSCH time source */
+int
+tsch_queue_update_time_source(const linkaddr_t *new_addr)
+{
+  if(!tsch_is_locked()) {
+    if(!tsch_is_coordinator) {
+      struct tsch_neighbor *old_time_src = tsch_queue_get_time_source();
+      struct tsch_neighbor *new_time_src = NULL;
+
+      if(new_addr != NULL) {
+        /* Get/add neighbor, return 0 in case of failure */
+        new_time_src = tsch_queue_add_nbr(new_addr);
+        if(new_time_src == NULL) {
+          return 0;
+        }
+      }
+
+      if(new_time_src != old_time_src) {
+        PRINTF("TSCH: update time source: %u -> %u\n",
+               TSCH_LOG_ID_FROM_LINKADDR(old_time_src ? &old_time_src->addr : NULL),
+               TSCH_LOG_ID_FROM_LINKADDR(new_time_src ? &new_time_src->addr : NULL));
+
+        /* Update time source */
+        if(new_time_src != NULL) {
+          new_time_src->is_time_source = 1;
+        }
+
+        if(old_time_src != NULL) {
+          old_time_src->is_time_source = 0;
+        }
+
+#ifdef TSCH_CALLBACK_NEW_TIME_SOURCE
+        TSCH_CALLBACK_NEW_TIME_SOURCE(old_time_src, new_time_src);
+#endif
+      }
+
+      return 1;
+    }
+  }
+  return 0;
+}
+/*---------------------------------------------------------------------------*/
+/* Flush a neighbor queue */
+static void
+tsch_queue_flush_nbr_queue(struct tsch_neighbor *n)
+{
+  while(!tsch_queue_is_empty(n)) {
+    struct tsch_packet *p = tsch_queue_remove_packet_from_queue(n);
+    if(p != NULL) {
+      /* Set return status for packet_sent callback */
+      p->ret = MAC_TX_ERR;
+      PRINTF("TSCH-queue:! flushing packet\n");
+      /* Call packet_sent callback */
+      mac_call_sent_callback(p->sent, p->ptr, p->ret, p->transmissions);
+      /* Free packet queuebuf */
+      tsch_queue_free_packet(p);
+    }
+  }
+}
+/*---------------------------------------------------------------------------*/
+/* Remove TSCH neighbor queue */
+static void
+tsch_queue_remove_nbr(struct tsch_neighbor *n)
+{
+  if(n != NULL) {
+    if(tsch_get_lock()) {
+
+      /* Remove neighbor from list */
+      list_remove(neighbor_list, n);
+
+      tsch_release_lock();
+
+      /* Flush queue */
+      tsch_queue_flush_nbr_queue(n);
+
+      /* Free neighbor */
+      memb_free(&neighbor_memb, n);
+    }
+  }
+}
+/*---------------------------------------------------------------------------*/
+/* Add packet to neighbor queue. Use same lockfree implementation as ringbuf.c (put is atomic) */
+struct tsch_packet *
+tsch_queue_add_packet(const linkaddr_t *addr, mac_callback_t sent, void *ptr)
+{
+  struct tsch_neighbor *n = NULL;
+  int16_t put_index = -1;
+  struct tsch_packet *p = NULL;
+  if(!tsch_is_locked()) {
+    n = tsch_queue_add_nbr(addr);
+    if(n != NULL) {
+      put_index = ringbufindex_peek_put(&n->tx_ringbuf);
+      if(put_index != -1) {
+        p = memb_alloc(&packet_memb);
+        if(p != NULL) {
+          /* Enqueue packet */
+#ifdef TSCH_CALLBACK_PACKET_READY
+          TSCH_CALLBACK_PACKET_READY();
+#endif
+          p->qb = queuebuf_new_from_packetbuf();
+          if(p->qb != NULL) {
+            p->sent = sent;
+            p->ptr = ptr;
+            p->ret = MAC_TX_DEFERRED;
+            p->transmissions = 0;
+            /* Add to ringbuf (actual add committed through atomic operation) */
+            n->tx_array[put_index] = p;
+            ringbufindex_put(&n->tx_ringbuf);
+            return p;
+          } else {
+            memb_free(&packet_memb, p);
+          }
+        }
+      }
+    }
+  }
+  PRINTF("TSCH-queue:! add packet failed: %u %p %d %p %p\n", tsch_is_locked(), n, put_index, p, p ? p->qb : NULL);
+  return 0;
+}
+/*---------------------------------------------------------------------------*/
+/* Returns the number of packets currently in the queue */
+int
+tsch_queue_packet_count(const linkaddr_t *addr)
+{
+  struct tsch_neighbor *n = NULL;
+  if(!tsch_is_locked()) {
+    n = tsch_queue_add_nbr(addr);
+    if(n != NULL) {
+      return ringbufindex_elements(&n->tx_ringbuf);
+    }
+  }
+  return -1;
+}
+/*---------------------------------------------------------------------------*/
+/* Remove first packet from a neighbor queue */
+struct tsch_packet *
+tsch_queue_remove_packet_from_queue(struct tsch_neighbor *n)
+{
+  if(!tsch_is_locked()) {
+    if(n != NULL) {
+      /* Get and remove packet from ringbuf (remove committed through an atomic operation */
+      int16_t get_index = ringbufindex_get(&n->tx_ringbuf);
+      if(get_index != -1) {
+        return n->tx_array[get_index];
+      } else {
+        return NULL;
+      }
+    }
+  }
+  return NULL;
+}
+/*---------------------------------------------------------------------------*/
+/* Free a packet */
+void
+tsch_queue_free_packet(struct tsch_packet *p)
+{
+  if(p != NULL) {
+    queuebuf_free(p->qb);
+    memb_free(&packet_memb, p);
+  }
+}
+/*---------------------------------------------------------------------------*/
+/* Flush all neighbor queues */
+void
+tsch_queue_flush_all(void)
+{
+  /* Deallocate unneeded neighbors */
+  if(!tsch_is_locked()) {
+    struct tsch_neighbor *n = list_head(neighbor_list);
+    while(n != NULL) {
+      struct tsch_neighbor *next_n = list_item_next(n);
+      tsch_queue_flush_nbr_queue(n);
+      n = next_n;
+    }
+  }
+}
+/*---------------------------------------------------------------------------*/
+/* Deallocate neighbors with empty queue */
+void
+tsch_queue_free_unused_neighbors(void)
+{
+  /* Deallocate unneeded neighbors */
+  if(!tsch_is_locked()) {
+    struct tsch_neighbor *n = list_head(neighbor_list);
+    while(n != NULL) {
+      struct tsch_neighbor *next_n = list_item_next(n);
+      /* Queue is empty, no tx link to this neighbor: deallocate.
+       * Always keep time source and virtual broadcast neighbors. */
+      if(!n->is_broadcast && !n->is_time_source && !n->tx_links_count
+         && tsch_queue_is_empty(n)) {
+        tsch_queue_remove_nbr(n);
+      }
+      n = next_n;
+    }
+  }
+}
+/*---------------------------------------------------------------------------*/
+/* Is the neighbor queue empty? */
+int
+tsch_queue_is_empty(const struct tsch_neighbor *n)
+{
+  return !tsch_is_locked() && n != NULL && ringbufindex_empty(&n->tx_ringbuf);
+}
+/*---------------------------------------------------------------------------*/
+/* Returns the first packet from a neighbor queue */
+struct tsch_packet *
+tsch_queue_get_packet_for_nbr(const struct tsch_neighbor *n, struct tsch_link *link)
+{
+  if(!tsch_is_locked()) {
+    int is_shared_link = link != NULL && link->link_options & LINK_OPTION_SHARED;
+    if(n != NULL) {
+      int16_t get_index = ringbufindex_peek_get(&n->tx_ringbuf);
+      if(get_index != -1 &&
+          !(is_shared_link && !tsch_queue_backoff_expired(n))) {    /* If this is a shared link,
+                                                                    make sure the backoff has expired */
+#if TSCH_WITH_LINK_SELECTOR
+        int packet_attr_slotframe = queuebuf_attr(n->tx_array[get_index]->qb, PACKETBUF_ATTR_TSCH_SLOTFRAME);
+        int packet_attr_timeslot = queuebuf_attr(n->tx_array[get_index]->qb, PACKETBUF_ATTR_TSCH_TIMESLOT);
+        if(packet_attr_slotframe != 0xffff && packet_attr_slotframe != link->slotframe_handle) {
+          return NULL;
+        }
+        if(packet_attr_timeslot != 0xffff && packet_attr_timeslot != link->timeslot) {
+          return NULL;
+        }
+#endif
+        return n->tx_array[get_index];
+      }
+    }
+  }
+  return NULL;
+}
+/*---------------------------------------------------------------------------*/
+/* Returns the head packet from a neighbor queue (from neighbor address) */
+struct tsch_packet *
+tsch_queue_get_packet_for_dest_addr(const linkaddr_t *addr, struct tsch_link *link)
+{
+  if(!tsch_is_locked()) {
+    return tsch_queue_get_packet_for_nbr(tsch_queue_get_nbr(addr), link);
+  }
+  return NULL;
+}
+/* Returns the head packet of any neighbor queue with zero backoff counter.
+ * Writes pointer to the neighbor in *n */
+struct tsch_packet *
+tsch_queue_get_unicast_packet_for_any(struct tsch_neighbor **n, struct tsch_link *link)
+{
+  if(!tsch_is_locked()) {
+    struct tsch_neighbor *curr_nbr = list_head(neighbor_list);
+    struct tsch_packet *p = NULL;
+    while(curr_nbr != NULL) {
+      if(!curr_nbr->is_broadcast && curr_nbr->tx_links_count == 0) {
+        /* Only look up for non-broadcast neighbors we do not have a tx link to */
+        p = tsch_queue_get_packet_for_nbr(curr_nbr, link);
+        if(p != NULL) {
+          if(n != NULL) {
+            *n = curr_nbr;
+          }
+          return p;
+        }
+      }
+      curr_nbr = list_item_next(curr_nbr);
+    }
+  }
+  return NULL;
+}
+/*---------------------------------------------------------------------------*/
+/* May the neighbor transmit over a shared link? */
+int
+tsch_queue_backoff_expired(const struct tsch_neighbor *n)
+{
+  return n->backoff_window == 0;
+}
+/*---------------------------------------------------------------------------*/
+/* Reset neighbor backoff */
+void
+tsch_queue_backoff_reset(struct tsch_neighbor *n)
+{
+  n->backoff_window = 0;
+  n->backoff_exponent = TSCH_MAC_MIN_BE;
+}
+/*---------------------------------------------------------------------------*/
+/* Increment backoff exponent, pick a new window */
+void
+tsch_queue_backoff_inc(struct tsch_neighbor *n)
+{
+  /* Increment exponent */
+  n->backoff_exponent = MIN(n->backoff_exponent + 1, TSCH_MAC_MAX_BE);
+  /* Pick a window (number of shared slots to skip). Ignore least significant
+   * few bits, which, on some embedded implementations of rand (e.g. msp430-libc),
+   * are known to have poor pseudo-random properties. */
+  n->backoff_window = (random_rand() >> 6) % (1 << n->backoff_exponent);
+  /* Add one to the window as we will decrement it at the end of the current slot
+   * through tsch_queue_update_all_backoff_windows */
+  n->backoff_window++;
+}
+/*---------------------------------------------------------------------------*/
+/* Decrement backoff window for all queues directed at dest_addr */
+void
+tsch_queue_update_all_backoff_windows(const linkaddr_t *dest_addr)
+{
+  if(!tsch_is_locked()) {
+    int is_broadcast = linkaddr_cmp(dest_addr, &tsch_broadcast_address);
+    struct tsch_neighbor *n = list_head(neighbor_list);
+    while(n != NULL) {
+      if(n->backoff_window != 0 /* Is the queue in backoff state? */
+         && ((n->tx_links_count == 0 && is_broadcast)
+             || (n->tx_links_count > 0 && linkaddr_cmp(dest_addr, &n->addr)))) {
+        n->backoff_window--;
+      }
+      n = list_item_next(n);
+    }
+  }
+}
+/*---------------------------------------------------------------------------*/
+/* Initialize TSCH queue module */
+void
+tsch_queue_init(void)
+{
+  list_init(neighbor_list);
+  memb_init(&neighbor_memb);
+  memb_init(&packet_memb);
+  /* Add virtual EB and the broadcast neighbors */
+  n_eb = tsch_queue_add_nbr(&tsch_eb_address);
+  n_broadcast = tsch_queue_add_nbr(&tsch_broadcast_address);
+}
+/*---------------------------------------------------------------------------*/

core/net/mac/tsch/tsch-queue.h

@@ -0,0 +1,193 @@
+/*
+ * Copyright (c) 2014, SICS Swedish ICT.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ * 3. Neither the name of the Institute nor the names of its contributors
+ *    may be used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED.  IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+ * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ *
+ * This file is part of the Contiki operating system.
+ *
+ */
+
+#ifndef __TSCH_QUEUE_H__
+#define __TSCH_QUEUE_H__
+
+/********** Includes **********/
+
+#include "contiki.h"
+#include "lib/ringbufindex.h"
+#include "net/linkaddr.h"
+#include "net/mac/tsch/tsch-schedule.h"
+
+/******** Configuration *******/
+
+/* The maximum number of outgoing packets towards each neighbor
+ * Must be power of two to enable atomic ringbuf operations.
+ * Note: the total number of outgoing packets in the system (for
+ * all neighbors) is defined via QUEUEBUF_CONF_NUM */
+#ifdef TSCH_QUEUE_CONF_NUM_PER_NEIGHBOR
+#define TSCH_QUEUE_NUM_PER_NEIGHBOR TSCH_QUEUE_CONF_NUM_PER_NEIGHBOR
+#else
+/* By default, round QUEUEBUF_CONF_NUM to next power of two
+ * (in the range [4;256]) */
+#if QUEUEBUF_CONF_NUM <= 4
+#define TSCH_QUEUE_NUM_PER_NEIGHBOR 4
+#elif QUEUEBUF_CONF_NUM <= 8
+#define TSCH_QUEUE_NUM_PER_NEIGHBOR 8
+#elif QUEUEBUF_CONF_NUM <= 16
+#define TSCH_QUEUE_NUM_PER_NEIGHBOR 16
+#elif QUEUEBUF_CONF_NUM <= 32
+#define TSCH_QUEUE_NUM_PER_NEIGHBOR 32
+#elif QUEUEBUF_CONF_NUM <= 64
+#define TSCH_QUEUE_NUM_PER_NEIGHBOR 64
+#elif QUEUEBUF_CONF_NUM <= 128
+#define TSCH_QUEUE_NUM_PER_NEIGHBOR 128
+#else
+#define TSCH_QUEUE_NUM_PER_NEIGHBOR 256
+#endif
+#endif
+
+/* The number of neighbor queues. There are two queues allocated at all times:
+ * one for EBs, one for broadcasts. Other queues are for unicast to neighbors */
+#ifdef TSCH_QUEUE_CONF_MAX_NEIGHBOR_QUEUES
+#define TSCH_QUEUE_MAX_NEIGHBOR_QUEUES TSCH_QUEUE_CONF_MAX_NEIGHBOR_QUEUES
+#else
+#define TSCH_QUEUE_MAX_NEIGHBOR_QUEUES ((NBR_TABLE_CONF_MAX_NEIGHBORS) + 2)
+#endif
+
+/* TSCH CSMA-CA parameters, see IEEE 802.15.4e-2012 */
+/* Min backoff exponent */
+#ifdef TSCH_CONF_MAC_MIN_BE
+#define TSCH_MAC_MIN_BE TSCH_CONF_MAC_MIN_BE
+#else
+#define TSCH_MAC_MIN_BE 1
+#endif
+/* Max backoff exponent */
+#ifdef TSCH_CONF_MAC_MAX_BE
+#define TSCH_MAC_MAX_BE TSCH_CONF_MAC_MAX_BE
+#else
+#define TSCH_MAC_MAX_BE 7
+#endif
+/* Max number of re-transmissions */
+#ifdef TSCH_CONF_MAC_MAX_FRAME_RETRIES
+#define TSCH_MAC_MAX_FRAME_RETRIES TSCH_CONF_MAC_MAX_FRAME_RETRIES
+#else
+#define TSCH_MAC_MAX_FRAME_RETRIES 8
+#endif
+
+/*********** Callbacks *********/
+
+/* Called by TSCH when switching time source */
+#ifdef TSCH_CALLBACK_NEW_TIME_SOURCE
+struct tsch_neighbor;
+void TSCH_CALLBACK_NEW_TIME_SOURCE(const struct tsch_neighbor *old, const struct tsch_neighbor *new);
+#endif
+
+/* Called by TSCH every time a packet is ready to be added to the send queue */
+#ifdef TSCH_CALLBACK_PACKET_READY
+void TSCH_CALLBACK_PACKET_READY(void);
+#endif
+
+/************ Types ***********/
+
+/* TSCH packet information */
+struct tsch_packet {
+  struct queuebuf *qb;  /* pointer to the queuebuf to be sent */
+  mac_callback_t sent; /* callback for this packet */
+  void *ptr; /* MAC callback parameter */
+  uint8_t transmissions; /* #transmissions performed for this packet */
+  uint8_t ret; /* status -- MAC return code */
+  uint8_t header_len; /* length of header and header IEs (needed for link-layer security) */
+  uint8_t tsch_sync_ie_offset; /* Offset within the frame used for quick update of EB ASN and join priority */
+};
+
+/* TSCH neighbor information */
+struct tsch_neighbor {
+  /* Neighbors are stored as a list: "next" must be the first field */
+  struct tsch_neighbor *next;
+  linkaddr_t addr; /* MAC address of the neighbor */
+  uint8_t is_broadcast; /* is this neighbor a virtual neighbor used for broadcast (of data packets or EBs) */
+  uint8_t is_time_source; /* is this neighbor a time source? */
+  uint8_t backoff_exponent; /* CSMA backoff exponent */
+  uint8_t backoff_window; /* CSMA backoff window (number of slots to skip) */
+  uint8_t last_backoff_window; /* Last CSMA backoff window */
+  uint8_t tx_links_count; /* How many links do we have to this neighbor? */
+  uint8_t dedicated_tx_links_count; /* How many dedicated links do we have to this neighbor? */
+  /* Array for the ringbuf. Contains pointers to packets.
+   * Its size must be a power of two to allow for atomic put */
+  struct tsch_packet *tx_array[TSCH_QUEUE_NUM_PER_NEIGHBOR];
+  /* Circular buffer of pointers to packet. */
+  struct ringbufindex tx_ringbuf;
+};
+
+/***** External Variables *****/
+
+/* Broadcast and EB virtual neighbors */
+extern struct tsch_neighbor *n_broadcast;
+extern struct tsch_neighbor *n_eb;
+
+/********** Functions *********/
+
+/* Add a TSCH neighbor */
+struct tsch_neighbor *tsch_queue_add_nbr(const linkaddr_t *addr);
+/* Get a TSCH neighbor */
+struct tsch_neighbor *tsch_queue_get_nbr(const linkaddr_t *addr);
+/* Get a TSCH time source (we currently assume there is only one) */
+struct tsch_neighbor *tsch_queue_get_time_source(void);
+/* Update TSCH time source */
+int tsch_queue_update_time_source(const linkaddr_t *new_addr);
+/* Add packet to neighbor queue. Use same lockfree implementation as ringbuf.c (put is atomic) */
+struct tsch_packet *tsch_queue_add_packet(const linkaddr_t *addr, mac_callback_t sent, void *ptr);
+/* Returns the number of packets currently a given neighbor queue */
+int tsch_queue_packet_count(const linkaddr_t *addr);
+/* Remove first packet from a neighbor queue. The packet is stored in a separate
+ * dequeued packet list, for later processing. Return the packet. */
+struct tsch_packet *tsch_queue_remove_packet_from_queue(struct tsch_neighbor *n);
+/* Free a packet */
+void tsch_queue_free_packet(struct tsch_packet *p);
+/* Flush all neighbor queues */
+void tsch_queue_flush_all(void);
+/* Deallocate neighbors with empty queue */
+void tsch_queue_free_unused_neighbors(void);
+/* Is the neighbor queue empty? */
+int tsch_queue_is_empty(const struct tsch_neighbor *n);
+/* Returns the first packet from a neighbor queue */
+struct tsch_packet *tsch_queue_get_packet_for_nbr(const struct tsch_neighbor *n, struct tsch_link *link);
+/* Returns the head packet from a neighbor queue (from neighbor address) */
+struct tsch_packet *tsch_queue_get_packet_for_dest_addr(const linkaddr_t *addr, struct tsch_link *link);
+/* Returns the head packet of any neighbor queue with zero backoff counter.
+ * Writes pointer to the neighbor in *n */
+struct tsch_packet *tsch_queue_get_unicast_packet_for_any(struct tsch_neighbor **n, struct tsch_link *link);
+/* May the neighbor transmit over a share link? */
+int tsch_queue_backoff_expired(const struct tsch_neighbor *n);
+/* Reset neighbor backoff */
+void tsch_queue_backoff_reset(struct tsch_neighbor *n);
+/* Increment backoff exponent, pick a new window */
+void tsch_queue_backoff_inc(struct tsch_neighbor *n);
+/* Decrement backoff window for all queues directed at dest_addr */
+void tsch_queue_update_all_backoff_windows(const linkaddr_t *dest_addr);
+/* Initialize TSCH queue module */
+void tsch_queue_init(void);
+
+#endif /* __TSCH_QUEUE_H__ */

core/net/mac/tsch/tsch-rpl.c

@@ -0,0 +1,107 @@
+/*
+ * Copyright (c) 2014, SICS Swedish ICT.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ * 3. Neither the name of the Institute nor the names of its contributors
+ *    may be used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED.  IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+ * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ *
+ */
+
+/**
+ * \file
+ *         Interaction between TSCH and RPL
+ *
+ * \author Simon Duquennoy <simonduq@sics.se>
+ */
+
+#if UIP_CONF_IPV6_RPL
+
+#include "contiki.h"
+#include "net/rpl/rpl.h"
+#include "net/rpl/rpl-private.h"
+#include "net/mac/tsch/tsch.h"
+#include "net/mac/tsch/tsch-private.h"
+#include "net/mac/tsch/tsch-schedule.h"
+#include "net/mac/tsch/tsch-log.h"
+#include "tsch-rpl.h"
+
+#if TSCH_LOG_LEVEL >= 1
+#define DEBUG DEBUG_PRINT
+#else /* TSCH_LOG_LEVEL */
+#define DEBUG DEBUG_NONE
+#endif /* TSCH_LOG_LEVEL */
+#include "net/ip/uip-debug.h"
+
+/*---------------------------------------------------------------------------*/
+/* To use, set #define TSCH_CALLBACK_JOINING_NETWORK tsch_rpl_callback_joining_network */
+void
+tsch_rpl_callback_joining_network(void)
+{
+}
+/*---------------------------------------------------------------------------*/
+/* Upon leaving a TSCH network, perform a local repair
+ * (cleanup neighbor state, reset Trickle timer etc)
+ * To use, set #define TSCH_CALLBACK_LEAVING_NETWORK tsch_rpl_callback_leaving_network */
+void
+tsch_rpl_callback_leaving_network(void)
+{
+  rpl_dag_t *dag = rpl_get_any_dag();
+  if(dag != NULL) {
+    rpl_local_repair(dag->instance);
+  }
+}
+/*---------------------------------------------------------------------------*/
+/* Set TSCH EB period based on current RPL DIO period.
+ * To use, set #define RPL_CALLBACK_PARENT_SWITCH tsch_rpl_callback_new_dio_interval */
+void
+tsch_rpl_callback_new_dio_interval(uint8_t dio_interval)
+{
+  /* Transmit EBs only if we have a valid rank as per 6TiSCH minimal */
+  rpl_dag_t *dag = rpl_get_any_dag();
+  if(dag != NULL && dag->rank != INFINITE_RANK) {
+    /* If we are root set TSCH as coordinator */
+    if(dag->rank == ROOT_RANK(dag->instance)) {
+      tsch_set_coordinator(1);
+    }
+    /* Set EB period */
+    tsch_set_eb_period(TSCH_EB_PERIOD);
+    /* Set join priority based on RPL rank */
+    tsch_set_join_priority(DAG_RANK(dag->rank, dag->instance) - 1);
+  } else {
+    tsch_set_eb_period(0);
+  }
+}
+/*---------------------------------------------------------------------------*/
+/* Set TSCH time source based on current RPL preferred parent.
+ * To use, set #define RPL_CALLBACK_PARENT_SWITCH tsch_rpl_callback_parent_switch */
+void
+tsch_rpl_callback_parent_switch(rpl_parent_t *old, rpl_parent_t *new)
+{
+  if(tsch_is_associated == 1) {
+    tsch_queue_update_time_source(
+      (const linkaddr_t *)uip_ds6_nbr_lladdr_from_ipaddr(
+        rpl_get_parent_ipaddr(new)));
+  }
+}
+#endif /* UIP_CONF_IPV6_RPL */

core/net/mac/tsch/tsch-rpl.h

@@ -0,0 +1,55 @@
+/*
+ * Copyright (c) 2014, SICS Swedish ICT.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ * 3. Neither the name of the Institute nor the names of its contributors
+ *    may be used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED.  IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+ * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ *
+ */
+
+
+#ifndef __TSCH_RPL_H__
+#define __TSCH_RPL_H__
+
+/********** Includes **********/
+
+#include "net/rpl/rpl.h"
+#include "net/mac/tsch/tsch-queue.h"
+
+/********** Functions *********/
+
+/* To use, set #define TSCH_CALLBACK_JOINING_NETWORK tsch_rpl_callback_joining_network */
+void tsch_rpl_callback_joining_network(void);
+/* Upon leaving a TSCH network, perform a local repair
+ * (cleanup neighbor state, reset Trickle timer etc)
+ * To use, set #define TSCH_CALLBACK_LEAVING_NETWORK tsch_rpl_callback_leaving_network */
+void 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 */
+void tsch_rpl_callback_new_dio_interval(uint8_t dio_interval);
+/* Set TSCH time source based on current RPL preferred parent.
+ * To use, set #define RPL_CALLBACK_PARENT_SWITCH tsch_rpl_callback_parent_switch */
+void tsch_rpl_callback_parent_switch(rpl_parent_t *old, rpl_parent_t *new);
+
+#endif /* __TSCH_RPL_H__ */

core/net/mac/tsch/tsch-schedule.c

@@ -0,0 +1,447 @@
+/*
+ * Copyright (c) 2014, SICS Swedish ICT.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ * 3. Neither the name of the Institute nor the names of its contributors
+ *    may be used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED.  IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+ * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ *
+ * This file is part of the Contiki operating system.
+ *
+ */
+
+/**
+ * \file
+ *         IEEE 802.15.4 TSCH MAC schedule manager.
+ * \author
+ *         Simon Duquennoy <simonduq@sics.se>
+ *         Beshr Al Nahas <beshr@sics.se>
+ */
+
+#include "contiki.h"
+#include "dev/leds.h"
+#include "lib/memb.h"
+#include "net/nbr-table.h"
+#include "net/packetbuf.h"
+#include "net/queuebuf.h"
+#include "net/mac/tsch/tsch.h"
+#include "net/mac/tsch/tsch-queue.h"
+#include "net/mac/tsch/tsch-private.h"
+#include "net/mac/tsch/tsch-packet.h"
+#include "net/mac/tsch/tsch-schedule.h"
+#include "net/mac/tsch/tsch-log.h"
+#include "net/mac/frame802154.h"
+#include "sys/process.h"
+#include "sys/rtimer.h"
+#include <string.h>
+
+#if TSCH_LOG_LEVEL >= 1
+#define DEBUG DEBUG_PRINT
+#else /* TSCH_LOG_LEVEL */
+#define DEBUG DEBUG_NONE
+#endif /* TSCH_LOG_LEVEL */
+#include "net/ip/uip-debug.h"
+
+/* Pre-allocated space for links */
+MEMB(link_memb, struct tsch_link, TSCH_SCHEDULE_MAX_LINKS);
+/* Pre-allocated space for slotframes */
+MEMB(slotframe_memb, struct tsch_slotframe, TSCH_SCHEDULE_MAX_SLOTFRAMES);
+/* List of slotframes (each slotframe holds its own list of links) */
+LIST(slotframe_list);
+
+/* Adds and returns a slotframe (NULL if failure) */
+struct tsch_slotframe *
+tsch_schedule_add_slotframe(uint16_t handle, uint16_t size)
+{
+  if(size == 0) {
+    return NULL;
+  }
+
+  if(tsch_schedule_get_slotframe_by_handle(handle)) {
+    /* A slotframe with this handle already exists */
+    return NULL;
+  }
+
+  if(tsch_get_lock()) {
+    struct tsch_slotframe *sf = memb_alloc(&slotframe_memb);
+    if(sf != NULL) {
+      /* Initialize the slotframe */
+      sf->handle = handle;
+      ASN_DIVISOR_INIT(sf->size, size);
+      LIST_STRUCT_INIT(sf, links_list);
+      /* Add the slotframe to the global list */
+      list_add(slotframe_list, sf);
+    }
+    PRINTF("TSCH-schedule: add_slotframe %u %u\n",
+           handle, size);
+    tsch_release_lock();
+    return sf;
+  }
+  return NULL;
+}
+/*---------------------------------------------------------------------------*/
+/* Removes all slotframes, resulting in an empty schedule */
+int
+tsch_schedule_remove_all_slotframes(void)
+{
+  struct tsch_slotframe *sf;
+  while((sf = list_head(slotframe_list))) {
+    if(tsch_schedule_remove_slotframe(sf) == 0) {
+      return 0;
+    }
+  }
+  return 1;
+}
+/*---------------------------------------------------------------------------*/
+/* Removes a slotframe Return 1 if success, 0 if failure */
+int
+tsch_schedule_remove_slotframe(struct tsch_slotframe *slotframe)
+{
+  if(slotframe != NULL) {
+    /* Remove all links belonging to this slotframe */
+    struct tsch_link *l;
+    while((l = list_head(slotframe->links_list))) {
+      tsch_schedule_remove_link(slotframe, l);
+    }
+
+    /* Now that the slotframe has no links, remove it. */
+    if(tsch_get_lock()) {
+      PRINTF("TSCH-schedule: remove slotframe %u %u\n", slotframe->handle, slotframe->size.val);
+      memb_free(&slotframe_memb, slotframe);
+      list_remove(slotframe_list, slotframe);
+      tsch_release_lock();
+      return 1;
+    }
+  }
+  return 0;
+}
+/*---------------------------------------------------------------------------*/
+/* Looks for a slotframe from a handle */
+struct tsch_slotframe *
+tsch_schedule_get_slotframe_by_handle(uint16_t handle)
+{
+  if(!tsch_is_locked()) {
+    struct tsch_slotframe *sf = list_head(slotframe_list);
+    while(sf != NULL) {
+      if(sf->handle == handle) {
+        return sf;
+      }
+      sf = list_item_next(sf);
+    }
+  }
+  return NULL;
+}
+/*---------------------------------------------------------------------------*/
+/* Looks for a link from a handle */
+struct tsch_link *
+tsch_schedule_get_link_by_handle(uint16_t handle)
+{
+  if(!tsch_is_locked()) {
+    struct tsch_slotframe *sf = list_head(slotframe_list);
+    while(sf != NULL) {
+      struct tsch_link *l = list_head(sf->links_list);
+      /* Loop over all items. Assume there is max one link per timeslot */
+      while(l != NULL) {
+        if(l->handle == handle) {
+          return l;
+        }
+        l = list_item_next(l);
+      }
+      sf = list_item_next(sf);
+    }
+  }
+  return NULL;
+}
+/*---------------------------------------------------------------------------*/
+/* Adds a link to a slotframe, return a pointer to it (NULL if failure) */
+struct tsch_link *
+tsch_schedule_add_link(struct tsch_slotframe *slotframe,
+                       uint8_t link_options, enum link_type link_type, const linkaddr_t *address,
+                       uint16_t timeslot, uint16_t channel_offset)
+{
+  struct tsch_link *l = NULL;
+  if(slotframe != NULL) {
+    /* We currently support only one link per timeslot in a given slotframe. */
+    /* Start with removing the link currently installed at this timeslot (needed
+     * to keep neighbor state in sync with link options etc.) */
+    tsch_schedule_remove_link_by_timeslot(slotframe, timeslot);
+    if(!tsch_get_lock()) {
+      PRINTF("TSCH-schedule:! add_link memb_alloc couldn't take lock\n");
+    } else {
+      l = memb_alloc(&link_memb);
+      if(l == NULL) {
+        PRINTF("TSCH-schedule:! add_link memb_alloc failed\n");
+      } else {
+        static int current_link_handle = 0;
+        struct tsch_neighbor *n;
+        /* Add the link to the slotframe */
+        list_add(slotframe->links_list, l);
+        /* Initialize link */
+        l->handle = current_link_handle++;
+        l->link_options = link_options;
+        l->link_type = link_type;
+        l->slotframe_handle = slotframe->handle;
+        l->timeslot = timeslot;
+        l->channel_offset = channel_offset;
+        l->data = NULL;
+        if(address == NULL) {
+          address = &linkaddr_null;
+        }
+        linkaddr_copy(&l->addr, address);
+
+        PRINTF("TSCH-schedule: add_link %u %u %u %u %u %u\n",
+               slotframe->handle, link_options, link_type, timeslot, channel_offset, TSCH_LOG_ID_FROM_LINKADDR(address));
+
+        /* Release the lock before we update the neighbor (will take the lock) */
+        tsch_release_lock();
+
+        if(l->link_options & LINK_OPTION_TX) {
+          n = tsch_queue_add_nbr(&l->addr);
+          /* We have a tx link to this neighbor, update counters */
+          if(n != NULL) {
+            n->tx_links_count++;
+            if(!(l->link_options & LINK_OPTION_SHARED)) {
+              n->dedicated_tx_links_count++;
+            }
+          }
+        }
+      }
+    }
+  }
+  return l;
+}
+/*---------------------------------------------------------------------------*/
+/* Removes a link from slotframe. Return 1 if success, 0 if failure */
+int
+tsch_schedule_remove_link(struct tsch_slotframe *slotframe, struct tsch_link *l)
+{
+  if(slotframe != NULL && l != NULL && l->slotframe_handle == slotframe->handle) {
+    if(tsch_get_lock()) {
+      uint8_t link_options;
+      linkaddr_t addr;
+
+      /* Save link option and addr in local variables as we need them
+       * after freeing the link */
+      link_options = l->link_options;
+      linkaddr_copy(&addr, &l->addr);
+
+      /* The link to be removed is scheduled as next, set it to NULL
+       * to abort the next link operation */
+      if(l == current_link) {
+        current_link = NULL;
+      }
+      PRINTF("TSCH-schedule: remove_link %u %u %u %u %u\n",
+             slotframe->handle, l->link_options, l->timeslot, l->channel_offset,
+             TSCH_LOG_ID_FROM_LINKADDR(&l->addr));
+
+      list_remove(slotframe->links_list, l);
+      memb_free(&link_memb, l);
+
+      /* Release the lock before we update the neighbor (will take the lock) */
+      tsch_release_lock();
+
+      /* This was a tx link to this neighbor, update counters */
+      if(link_options & LINK_OPTION_TX) {
+        struct tsch_neighbor *n = tsch_queue_add_nbr(&addr);
+        if(n != NULL) {
+          n->tx_links_count--;
+          if(!(link_options & LINK_OPTION_SHARED)) {
+            n->dedicated_tx_links_count--;
+          }
+        }
+      }
+
+      return 1;
+    } else {
+      PRINTF("TSCH-schedule:! remove_link memb_alloc couldn't take lock\n");
+    }
+  }
+  return 0;
+}
+/*---------------------------------------------------------------------------*/
+/* Removes a link from slotframe and timeslot. Return a 1 if success, 0 if failure */
+int
+tsch_schedule_remove_link_by_timeslot(struct tsch_slotframe *slotframe, uint16_t timeslot)
+{
+  return slotframe != NULL &&
+         tsch_schedule_remove_link(slotframe, tsch_schedule_get_link_by_timeslot(slotframe, timeslot));
+}
+/*---------------------------------------------------------------------------*/
+/* Looks within a slotframe for a link with a given timeslot */
+struct tsch_link *
+tsch_schedule_get_link_by_timeslot(struct tsch_slotframe *slotframe, uint16_t timeslot)
+{
+  if(!tsch_is_locked()) {
+    if(slotframe != NULL) {
+      struct tsch_link *l = list_head(slotframe->links_list);
+      /* Loop over all items. Assume there is max one link per timeslot */
+      while(l != NULL) {
+        if(l->timeslot == timeslot) {
+          return l;
+        }
+        l = list_item_next(l);
+      }
+      return l;
+    }
+  }
+  return NULL;
+}
+/*---------------------------------------------------------------------------*/
+/* Returns the next active link after a given ASN, and a backup link (for the same ASN, with Rx flag) */
+struct tsch_link *
+tsch_schedule_get_next_active_link(struct asn_t *asn, uint16_t *time_offset,
+    struct tsch_link **backup_link)
+{
+  uint16_t time_to_curr_best = 0;
+  struct tsch_link *curr_best = NULL;
+  struct tsch_link *curr_backup = NULL; /* Keep a back link in case the current link
+  turns out useless when the time comes. For instance, for a Tx-only link, if there is
+  no outgoing packet in queue. In that case, run the backup link instead. The backup link
+  must have Rx flag set. */
+  if(!tsch_is_locked()) {
+    struct tsch_slotframe *sf = list_head(slotframe_list);
+    /* For each slotframe, look for the earliest occurring link */
+    while(sf != NULL) {
+      /* Get timeslot from ASN, given the slotframe length */
+      uint16_t timeslot = ASN_MOD(*asn, sf->size);
+      struct tsch_link *l = list_head(sf->links_list);
+      while(l != NULL) {
+        uint16_t time_to_timeslot =
+          l->timeslot > timeslot ?
+          l->timeslot - timeslot :
+          sf->size.val + l->timeslot - timeslot;
+        if(curr_best == NULL || time_to_timeslot < time_to_curr_best) {
+          time_to_curr_best = time_to_timeslot;
+          curr_best = l;
+          curr_backup = NULL;
+        } else if(time_to_timeslot == time_to_curr_best) {
+          struct tsch_link *new_best = NULL;
+          /* Two links are overlapping, we need to select one of them.
+           * By standard: prioritize Tx links first, second by lowest handle */
+          if((curr_best->link_options & LINK_OPTION_TX) == (l->link_options & LINK_OPTION_TX)) {
+            /* Both or neither links have Tx, select the one with lowest handle */
+            if(l->slotframe_handle < curr_best->slotframe_handle) {
+              new_best = l;
+            }
+          } else {
+            /* Select the link that has the Tx option */
+            if(l->link_options & LINK_OPTION_TX) {
+              new_best = l;
+            }
+          }
+
+          /* Maintain backup_link */
+          if(curr_backup == NULL) {
+            /* Check if 'l' best can be used as backup */
+            if(new_best != l && (l->link_options & LINK_OPTION_RX)) { /* Does 'l' have Rx flag? */
+              curr_backup = l;
+            }
+            /* Check if curr_best can be used as backup */
+            if(new_best != curr_best && (curr_best->link_options & LINK_OPTION_RX)) { /* Does curr_best have Rx flag? */
+              curr_backup = curr_best;
+            }
+          }
+
+          /* Maintain curr_best */
+          if(new_best != NULL) {
+            curr_best = new_best;
+          }
+        }
+
+        l = list_item_next(l);
+      }
+      sf = list_item_next(sf);
+    }
+    if(time_offset != NULL) {
+      *time_offset = time_to_curr_best;
+    }
+  }
+  if(backup_link != NULL) {
+    *backup_link = curr_backup;
+  }
+  return curr_best;
+}
+/*---------------------------------------------------------------------------*/
+/* Module initialization, call only once at startup. Returns 1 is success, 0 if failure. */
+int
+tsch_schedule_init(void)
+{
+  if(tsch_get_lock()) {
+    memb_init(&link_memb);
+    memb_init(&slotframe_memb);
+    list_init(slotframe_list);
+    tsch_release_lock();
+    return 1;
+  } else {
+    return 0;
+  }
+}
+/*---------------------------------------------------------------------------*/
+/* Create a 6TiSCH minimal schedule */
+void
+tsch_schedule_create_minimal(void)
+{
+  struct tsch_slotframe *sf_min;
+  /* First, empty current schedule */
+  tsch_schedule_remove_all_slotframes();
+  /* Build 6TiSCH minimal schedule.
+   * We pick a slotframe length of TSCH_SCHEDULE_DEFAULT_LENGTH */
+  sf_min = tsch_schedule_add_slotframe(0, TSCH_SCHEDULE_DEFAULT_LENGTH);
+  /* Add a single Tx|Rx|Shared slot using broadcast address (i.e. usable for unicast and broadcast).
+   * We set the link type to advertising, which is not compliant with 6TiSCH minimal schedule
+   * but is required according to 802.15.4e if also used for EB transmission.
+   * Timeslot: 0, channel offset: 0. */
+  tsch_schedule_add_link(sf_min,
+      LINK_OPTION_RX | LINK_OPTION_TX | LINK_OPTION_SHARED | LINK_OPTION_TIME_KEEPING,
+      LINK_TYPE_ADVERTISING, &tsch_broadcast_address,
+      0, 0);
+}
+/*---------------------------------------------------------------------------*/
+/* Prints out the current schedule (all slotframes and links) */
+void
+tsch_schedule_print(void)
+{
+  if(!tsch_is_locked()) {
+    struct tsch_slotframe *sf = list_head(slotframe_list);
+
+    printf("Schedule: slotframe list\n");
+
+    while(sf != NULL) {
+      struct tsch_link *l = list_head(sf->links_list);
+
+      printf("[Slotframe] Handle %u, size %u\n", sf->handle, sf->size.val);
+      printf("List of links:\n");
+
+      while(l != NULL) {
+        printf("[Link] Options %02x, type %u, timeslot %u, channel offset %u, address %u\n",
+               l->link_options, l->link_type, l->timeslot, l->channel_offset, l->addr.u8[7]);
+        l = list_item_next(l);
+      }
+
+      sf = list_item_next(sf);
+    }
+
+    printf("Schedule: end of slotframe list\n");
+  }
+}
+/*---------------------------------------------------------------------------*/

core/net/mac/tsch/tsch-schedule.h

@@ -0,0 +1,164 @@
+/*
+ * Copyright (c) 2014, SICS Swedish ICT.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ * 3. Neither the name of the Institute nor the names of its contributors
+ *    may be used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED.  IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+ * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ *
+ * This file is part of the Contiki operating system.
+ *
+ */
+
+#ifndef __TSCH_SCHEDULE_H__
+#define __TSCH_SCHEDULE_H__
+
+/********** Includes **********/
+
+#include "contiki.h"
+#include "lib/list.h"
+#include "net/mac/tsch/tsch-private.h"
+#include "net/mac/tsch/tsch-queue.h"
+#include "net/mac/tsch/tsch-slot-operation.h"
+#include "net/linkaddr.h"
+
+/******** Configuration *******/
+
+/* Initializes TSCH with a 6TiSCH minimal schedule */
+#ifdef TSCH_SCHEDULE_CONF_WITH_6TISCH_MINIMAL
+#define TSCH_SCHEDULE_WITH_6TISCH_MINIMAL TSCH_SCHEDULE_CONF_WITH_6TISCH_MINIMAL
+#else
+#define TSCH_SCHEDULE_WITH_6TISCH_MINIMAL 1
+#endif
+
+/* 6TiSCH Minimal schedule slotframe length */
+#ifdef TSCH_SCHEDULE_CONF_DEFAULT_LENGTH
+#define TSCH_SCHEDULE_DEFAULT_LENGTH TSCH_SCHEDULE_CONF_DEFAULT_LENGTH
+#else
+#define TSCH_SCHEDULE_DEFAULT_LENGTH 7
+#endif
+
+/* Max number of TSCH slotframes */
+#ifdef TSCH_SCHEDULE_CONF_MAX_SLOTFRAMES
+#define TSCH_SCHEDULE_MAX_SLOTFRAMES TSCH_SCHEDULE_CONF_MAX_SLOTFRAMES
+#else
+#define TSCH_SCHEDULE_MAX_SLOTFRAMES 4
+#endif
+
+/* Max number of links */
+#ifdef TSCH_SCHEDULE_CONF_MAX_LINKS
+#define TSCH_SCHEDULE_MAX_LINKS TSCH_SCHEDULE_CONF_MAX_LINKS
+#else
+#define TSCH_SCHEDULE_MAX_LINKS 32
+#endif
+
+/********** Constants *********/
+
+/* Link options */
+#define LINK_OPTION_TX              1
+#define LINK_OPTION_RX              2
+#define LINK_OPTION_SHARED          4
+#define LINK_OPTION_TIME_KEEPING    8
+
+/************ Types ***********/
+
+/* 802.15.4e link types.
+ * LINK_TYPE_ADVERTISING_ONLY is an extra one: for EB-only links. */
+enum link_type { LINK_TYPE_NORMAL, LINK_TYPE_ADVERTISING, LINK_TYPE_ADVERTISING_ONLY };
+
+struct tsch_link {
+  /* Links are stored as a list: "next" must be the first field */
+  struct tsch_link *next;
+  /* Unique identifier */
+  uint16_t handle;
+  /* MAC address of neighbor */
+  linkaddr_t addr;
+  /* Slotframe identifier */
+  uint16_t slotframe_handle;
+  /* Identifier of Slotframe to which this link belongs
+   * Unused. */
+  /* uint8_t handle; */
+  /* Timeslot for this link */
+  uint16_t timeslot;
+  /* Channel offset for this link */
+  uint16_t channel_offset;
+  /* A bit string that defines
+   * b0 = Transmit, b1 = Receive, b2 = Shared, b3 = Timekeeping, b4 = reserved */
+  uint8_t link_options;
+  /* Type of link. NORMAL = 0. ADVERTISING = 1, and indicates
+     the link may be used to send an Enhanced beacon. */
+  enum link_type link_type;
+  /* Any other data for upper layers */
+  void *data;
+};
+
+struct tsch_slotframe {
+  /* Slotframes are stored as a list: "next" must be the first field */
+  struct tsch_slotframe *next;
+  /* Unique identifier */
+  uint16_t handle;
+  /* Number of timeslots in the slotframe.
+   * Stored as struct asn_divisor_t because we often need ASN%size */
+  struct asn_divisor_t size;
+  /* List of links belonging to this slotframe */
+  LIST_STRUCT(links_list);
+};
+
+/********** Functions *********/
+
+/* Module initialization, call only once at startup. Returns 1 is success, 0 if failure. */
+int tsch_schedule_init(void);
+/* Create a 6TiSCH minimal schedule */
+void tsch_schedule_create_minimal(void);
+/* Prints out the current schedule (all slotframes and links) */
+void tsch_schedule_print(void);
+
+/* Adds and returns a slotframe (NULL if failure) */
+struct tsch_slotframe *tsch_schedule_add_slotframe(uint16_t handle, uint16_t size);
+/* Looks for a slotframe from a handle */
+struct tsch_slotframe *tsch_schedule_get_slotframe_by_handle(uint16_t handle);
+/* Removes a slotframe Return 1 if success, 0 if failure */
+int tsch_schedule_remove_slotframe(struct tsch_slotframe *slotframe);
+/* Removes all slotframes, resulting in an empty schedule */
+int tsch_schedule_remove_all_slotframes(void);
+
+/* Returns next slotframe */
+struct tsch_slotframe *tsch_schedule_slotframes_next(struct tsch_slotframe *sf);
+/* Adds a link to a slotframe, return a pointer to it (NULL if failure) */
+struct tsch_link *tsch_schedule_add_link(struct tsch_slotframe *slotframe,
+                                         uint8_t link_options, enum link_type link_type, const linkaddr_t *address,
+                                         uint16_t timeslot, uint16_t channel_offset);
+/* Looks for a link from a handle */
+struct tsch_link *tsch_schedule_get_link_by_handle(uint16_t handle);
+/* Looks within a slotframe for a link with a given timeslot */
+struct tsch_link *tsch_schedule_get_link_by_timeslot(struct tsch_slotframe *slotframe, uint16_t timeslot);
+/* Removes a link. Return 1 if success, 0 if failure */
+int tsch_schedule_remove_link(struct tsch_slotframe *slotframe, struct tsch_link *l);
+/* Removes a link from slotframe and timeslot. Return a 1 if success, 0 if failure */
+int tsch_schedule_remove_link_by_timeslot(struct tsch_slotframe *slotframe, uint16_t timeslot);
+
+/* Returns the next active link after a given ASN, and a backup link (for the same ASN, with Rx flag) */
+struct tsch_link * tsch_schedule_get_next_active_link(struct asn_t *asn, uint16_t *time_offset,
+    struct tsch_link **backup_link);
+
+#endif /* __TSCH_SCHEDULE_H__ */

core/net/mac/tsch/tsch-security.c

@@ -0,0 +1,261 @@
+/*
+ * Copyright (c) 2014, SICS Swedish ICT.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ * 3. Neither the name of the Institute nor the names of its contributors
+ *    may be used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED.  IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+ * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ *
+ * This file is part of the Contiki operating system.
+ *
+ */
+
+/**
+ * \file
+ *         TSCH security
+ * \author
+ *         Simon Duquennoy <simonduq@sics.se>
+ */
+
+#include "contiki.h"
+#include "net/mac/tsch/tsch.h"
+#include "net/mac/tsch/tsch-packet.h"
+#include "net/mac/tsch/tsch-private.h"
+#include "net/mac/tsch/tsch-schedule.h"
+#include "net/mac/tsch/tsch-security.h"
+#include "net/mac/tsch/tsch-log.h"
+#include "net/mac/frame802154.h"
+#include "net/mac/framer-802154.h"
+#include "net/netstack.h"
+#include "net/packetbuf.h"
+#include "lib/ccm-star.h"
+#include "lib/aes-128.h"
+#include <stdio.h>
+#include <string.h>
+
+#if TSCH_LOG_LEVEL >= 1
+#define DEBUG DEBUG_PRINT
+#else /* TSCH_LOG_LEVEL */
+#define DEBUG DEBUG_NONE
+#endif /* TSCH_LOG_LEVEL */
+#include "net/ip/uip-debug.h"
+
+/* The two keys K1 and K2 from 6TiSCH minimal configuration
+ * K1: well-known, used for EBs
+ * K2: secret, used for data and ACK
+ * */
+static aes_key keys[] = {
+  TSCH_SECURITY_K1,
+  TSCH_SECURITY_K2
+};
+#define N_KEYS (sizeof(keys) / sizeof(aes_key))
+
+/*---------------------------------------------------------------------------*/
+static void
+tsch_security_init_nonce(uint8_t *nonce,
+    const linkaddr_t *sender, struct asn_t *asn)
+{
+  memcpy(nonce, sender, 8);
+  nonce[8] = asn->ms1b;
+  nonce[9] = (asn->ls4b >> 24) & 0xff;
+  nonce[10] = (asn->ls4b >> 16) & 0xff;
+  nonce[11] = (asn->ls4b >> 8) & 0xff;
+  nonce[12] = (asn->ls4b) & 0xff;
+}
+/*---------------------------------------------------------------------------*/
+static int
+tsch_security_check_level(const frame802154_t *frame)
+{
+  uint8_t required_security_level;
+  uint8_t required_key_index;
+
+  /* Sanity check */
+  if(frame == NULL) {
+    return 0;
+  }
+
+  /* Non-secured frame, ok iff we are not in a secured PAN
+   * (i.e. scanning or associated to a non-secured PAN) */
+  if(frame->fcf.security_enabled == 0) {
+    return !(tsch_is_associated == 1 && tsch_is_pan_secured == 1);
+  }
+
+  /* The frame is secured, that we are not in an unsecured PAN */
+  if(tsch_is_associated == 1 && tsch_is_pan_secured == 0) {
+    return 0;
+  }
+
+  /* The frame is secured, check its security level */
+  switch(frame->fcf.frame_type) {
+    case FRAME802154_BEACONFRAME:
+      required_security_level = TSCH_SECURITY_KEY_SEC_LEVEL_EB;
+      required_key_index = TSCH_SECURITY_KEY_INDEX_EB;
+      break;
+    case FRAME802154_ACKFRAME:
+      required_security_level = TSCH_SECURITY_KEY_SEC_LEVEL_ACK;
+      required_key_index = TSCH_SECURITY_KEY_INDEX_ACK;
+      break;
+    default:
+      required_security_level = TSCH_SECURITY_KEY_SEC_LEVEL_OTHER;
+      required_key_index = TSCH_SECURITY_KEY_INDEX_OTHER;
+      break;
+  }
+  return frame->aux_hdr.security_control.security_level == required_security_level
+         && frame->aux_hdr.key_index == required_key_index;
+}
+/*---------------------------------------------------------------------------*/
+int
+tsch_security_mic_len(const frame802154_t *frame)
+{
+  if(frame != NULL && frame->fcf.security_enabled) {
+    return 2 << (frame->aux_hdr.security_control.security_level & 0x03);
+  } else {
+    return 0;
+  }
+}
+/*---------------------------------------------------------------------------*/
+int
+tsch_security_secure_frame(uint8_t *hdr, uint8_t *outbuf,
+    int hdrlen, int datalen, struct asn_t *asn)
+{
+  frame802154_t frame;
+  uint8_t key_index = 0;
+  uint8_t security_level = 0;
+  uint8_t with_encryption;
+  uint8_t mic_len;
+  uint8_t nonce[16];
+
+  uint8_t a_len;
+  uint8_t m_len;
+
+  if(hdr == NULL || outbuf == NULL || hdrlen < 0 || datalen < 0) {
+    return 0;
+  }
+
+  /* Parse the frame header to extract security settings */
+  if(frame802154_parse(hdr, hdrlen + datalen, &frame) < 3) {
+    return 0;
+  }
+
+  if(!frame.fcf.security_enabled) {
+    /* Security is not enabled for this frame, we're done */
+    return 1;
+  }
+
+  /* Read security key index */
+  key_index = frame.aux_hdr.key_index;
+  security_level = frame.aux_hdr.security_control.security_level;
+  with_encryption = (security_level & 0x4) ? 1 : 0;
+  mic_len = tsch_security_mic_len(&frame);
+
+  if(key_index == 0 || key_index > N_KEYS) {
+    return 0;
+  }
+
+  tsch_security_init_nonce(nonce, &linkaddr_node_addr, asn);
+
+  if(with_encryption) {
+    a_len = hdrlen;
+    m_len = datalen;
+  } else {
+    a_len = hdrlen + datalen;
+    m_len = 0;
+  }
+
+  /* Copy source data to output */
+  if(hdr != outbuf) {
+    memcpy(outbuf, hdr, a_len + m_len);
+  }
+
+  CCM_STAR.set_key(keys[key_index - 1]);
+
+  CCM_STAR.aead(nonce,
+      outbuf + a_len, m_len,
+      outbuf, a_len,
+      outbuf + hdrlen + datalen, mic_len, 1
+  );
+
+  return mic_len;
+}
+/*---------------------------------------------------------------------------*/
+int
+tsch_security_parse_frame(const uint8_t *hdr, int hdrlen, int datalen,
+    const frame802154_t *frame, const linkaddr_t *sender, struct asn_t *asn)
+{
+  uint8_t generated_mic[16];
+  uint8_t key_index = 0;
+  uint8_t security_level = 0;
+  uint8_t with_encryption;
+  uint8_t mic_len;
+  uint8_t nonce[16];
+  uint8_t a_len;
+  uint8_t m_len;
+
+  if(frame == NULL || hdr == NULL || hdrlen < 0 || datalen < 0) {
+    return 0;
+  }
+
+  if(!tsch_security_check_level(frame)) {
+    /* Wrong security level */
+    return 0;
+  }
+
+  /* No security: nothing more to check */
+  if(!frame->fcf.security_enabled) {
+    return 1;
+  }
+
+  key_index = frame->aux_hdr.key_index;
+  security_level = frame->aux_hdr.security_control.security_level;
+  with_encryption = (security_level & 0x4) ? 1 : 0;
+  mic_len = tsch_security_mic_len(frame);
+
+  /* Check if key_index is in supported range */
+  if(key_index == 0 || key_index > N_KEYS) {
+    return 0;
+  }
+
+  tsch_security_init_nonce(nonce, sender, asn);
+
+  if(with_encryption) {
+    a_len = hdrlen;
+    m_len = datalen;
+  } else {
+    a_len = hdrlen + datalen;
+    m_len = 0;
+  }
+
+  CCM_STAR.set_key(keys[key_index - 1]);
+
+  CCM_STAR.aead(nonce,
+       (uint8_t *)hdr + a_len, m_len,
+       (uint8_t *)hdr, a_len,
+       generated_mic, mic_len, 0
+       );
+
+  if(mic_len > 0 && memcmp(generated_mic, hdr + hdrlen + datalen, mic_len) != 0) {
+    return 0;
+  } else {
+    return 1;
+  }
+}

core/net/mac/tsch/tsch-security.h

@@ -0,0 +1,127 @@
+/*
+ * Copyright (c) 2014, SICS Swedish ICT.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ * 3. Neither the name of the Institute nor the names of its contributors
+ *    may be used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED.  IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+ * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ *
+ * This file is part of the Contiki operating system.
+ *
+ */
+
+#ifndef __TSCH_SECURITY_H__
+#define __TSCH_SECURITY_H__
+
+/********** Includes **********/
+
+#include "contiki.h"
+#include "net/mac/tsch/tsch-asn.h"
+#include "net/mac/tsch/tsch-private.h"
+#include "net/mac/frame802154.h"
+#include "net/mac/frame802154e-ie.h"
+
+/******** Configuration *******/
+
+/* To enable TSCH security:
+ * - set LLSEC802154_CONF_SECURITY_LEVEL
+ * - set LLSEC802154_CONF_USES_EXPLICIT_KEYS
+ * - unset LLSEC802154_CONF_USES_FRAME_COUNTER
+ * */
+#define TSCH_SECURITY_ENABLED (LLSEC802154_CONF_SECURITY_LEVEL != 0)
+#if TSCH_SECURITY_ENABLED && !LLSEC802154_CONF_USES_EXPLICIT_KEYS
+#error TSCH_SECURITY_ENABLED set but LLSEC802154_CONF_USES_EXPLICIT_KEYS unset
+#endif /* TSCH_SECURITY_ENABLED */
+#if TSCH_SECURITY_ENABLED && LLSEC802154_CONF_USES_FRAME_COUNTER
+#error TSCH_SECURITY_ENABLED set but LLSEC802154_CONF_USES_FRAME_COUNTER set
+#endif /* TSCH_SECURITY_ENABLED */
+
+/* K1, defined in 6TiSCH minimal, is well-known (offers no security) and used for EBs only */
+#ifdef TSCH_SECURITY_CONF_K1
+#define TSCH_SECURITY_K1 TSCH_SECURITY_CONF_K1
+#else /* TSCH_SECURITY_CONF_K1 */
+#define TSCH_SECURITY_K1 { 0x36, 0x54, 0x69, 0x53, 0x43, 0x48, 0x20, 0x6D, 0x69, 0x6E, 0x69, 0x6D, 0x61, 0x6C, 0x31, 0x35 }
+#endif /* TSCH_SECURITY_CONF_K1 */
+
+/* K2, defined in 6TiSCH minimal, is used for all but EB traffic */
+#ifdef TSCH_SECURITY_CONF_K2
+#define TSCH_SECURITY_K2 TSCH_SECURITY_CONF_K2
+#else /* TSCH_SECURITY_CONF_K2 */
+#define TSCH_SECURITY_K2 { 0xde, 0xad, 0xbe, 0xef, 0xfa, 0xce, 0xca, 0xfe, 0xde, 0xad, 0xbe, 0xef, 0xfa, 0xce, 0xca, 0xfe }
+#endif /* TSCH_SECURITY_CONF_K2 */
+
+/* Key used for EBs */
+#ifdef TSCH_SECURITY_CONF_KEY_INDEX_EB
+#define TSCH_SECURITY_KEY_INDEX_EB TSCH_SECURITY_CONF_KEY_INDEX_EB
+#else
+#define TSCH_SECURITY_KEY_INDEX_EB 1 /* Use K1 as per 6TiSCH minimal */
+#endif
+
+/* Security level for EBs */
+#ifdef TSCH_SECURITY_CONF_SEC_LEVEL_EB
+#define TSCH_SECURITY_KEY_SEC_LEVEL_EB TSCH_SECURITY_CONF_SEC_LEVEL_EB
+#else
+#define TSCH_SECURITY_KEY_SEC_LEVEL_EB 1 /* MIC-32, as per 6TiSCH minimal */
+#endif
+
+/* Key used for ACK */
+#ifdef TSCH_SECURITY_CONF_KEY_INDEX_ACK
+#define TSCH_SECURITY_KEY_INDEX_ACK TSCH_SECURITY_CONF_KEY_INDEX_ACK
+#else
+#define TSCH_SECURITY_KEY_INDEX_ACK 2 /* Use K2 as per 6TiSCH minimal */
+#endif
+
+/* Security level for ACKs */
+#ifdef TSCH_SECURITY_CONF_SEC_LEVEL_ACK
+#define TSCH_SECURITY_KEY_SEC_LEVEL_ACK TSCH_SECURITY_CONF_SEC_LEVEL_ACK
+#else
+#define TSCH_SECURITY_KEY_SEC_LEVEL_ACK 5 /* Encryption + MIC-32, as per 6TiSCH minimal */
+#endif
+
+/* Key used for Other (Data, Cmd) */
+#ifdef TSCH_SECURITY_CONF_KEY_INDEX_OTHER
+#define TSCH_SECURITY_KEY_INDEX_OTHER TSCH_SECURITY_CONF_KEY_INDEX_OTHER
+#else
+#define TSCH_SECURITY_KEY_INDEX_OTHER 2 /* Use K2 as per 6TiSCH minimal */
+#endif
+
+/* Security level for Other (Data, Cmd) */
+#ifdef TSCH_SECURITY_CONF_SEC_LEVEL_OTHER
+#define TSCH_SECURITY_KEY_SEC_LEVEL_OTHER TSCH_SECURITY_CONF_SEC_LEVEL_OTHER
+#else
+#define TSCH_SECURITY_KEY_SEC_LEVEL_OTHER 5 /* Encryption + MIC-32, as per 6TiSCH minimal */
+#endif
+
+/************ Types ***********/
+
+typedef uint8_t aes_key[16];
+
+/********** Functions *********/
+
+int tsch_security_mic_len(const frame802154_t *frame);
+int tsch_security_secure_frame(uint8_t *hdr, uint8_t *outbuf,
+    int hdrlen, int datalen, struct asn_t *asn);
+int tsch_security_parse_frame(const uint8_t *hdr, int hdrlen, int datalen,
+    const frame802154_t *frame, const linkaddr_t *sender, struct asn_t *asn);
+
+#endif /* __TSCH_SECURITY_H__ */

core/net/mac/tsch/tsch-slot-operation.c

@@ -0,0 +1,988 @@
+/*
+ * Copyright (c) 2015, SICS Swedish ICT.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ * 3. Neither the name of the Institute nor the names of its contributors
+ *    may be used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED.  IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+ * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ *
+ * This file is part of the Contiki operating system.
+ *
+ */
+
+/**
+ * \file
+ *         TSCH slot operation implementation, running from interrupt.
+ * \author
+ *         Simon Duquennoy <simonduq@sics.se>
+ *         Beshr Al Nahas <beshr@sics.se>
+ *
+ */
+
+#include "contiki.h"
+#include "dev/radio.h"
+#include "net/netstack.h"
+#include "net/packetbuf.h"
+#include "net/queuebuf.h"
+#include "net/mac/framer-802154.h"
+#include "net/mac/tsch/tsch.h"
+#include "net/mac/tsch/tsch-slot-operation.h"
+#include "net/mac/tsch/tsch-queue.h"
+#include "net/mac/tsch/tsch-private.h"
+#include "net/mac/tsch/tsch-log.h"
+#include "net/mac/tsch/tsch-packet.h"
+#include "net/mac/tsch/tsch-security.h"
+#include "net/mac/tsch/tsch-adaptive-timesync.h"
+
+#if TSCH_LOG_LEVEL >= 1
+#define DEBUG DEBUG_PRINT
+#else /* TSCH_LOG_LEVEL */
+#define DEBUG DEBUG_NONE
+#endif /* TSCH_LOG_LEVEL */
+#include "net/ip/uip-debug.h"
+
+/* TSCH debug macros, i.e. to set LEDs or GPIOs on various TSCH
+ * timeslot events */
+#ifndef TSCH_DEBUG_INIT
+#define TSCH_DEBUG_INIT()
+#endif
+#ifndef TSCH_DEBUG_INTERRUPT
+#define TSCH_DEBUG_INTERRUPT()
+#endif
+#ifndef TSCH_DEBUG_RX_EVENT
+#define TSCH_DEBUG_RX_EVENT()
+#endif
+#ifndef TSCH_DEBUG_TX_EVENT
+#define TSCH_DEBUG_TX_EVENT()
+#endif
+#ifndef TSCH_DEBUG_SLOT_START
+#define TSCH_DEBUG_SLOT_START()
+#endif
+#ifndef TSCH_DEBUG_SLOT_END
+#define TSCH_DEBUG_SLOT_END()
+#endif
+
+/* Check if TSCH_MAX_INCOMING_PACKETS is power of two */
+#if (TSCH_MAX_INCOMING_PACKETS & (TSCH_MAX_INCOMING_PACKETS - 1)) != 0
+#error TSCH_MAX_INCOMING_PACKETS must be power of two
+#endif
+
+/* Check if TSCH_DEQUEUED_ARRAY_SIZE is power of two and greater or equal to QUEUEBUF_NUM */
+#if TSCH_DEQUEUED_ARRAY_SIZE < QUEUEBUF_NUM
+#error TSCH_DEQUEUED_ARRAY_SIZE must be greater or equal to QUEUEBUF_NUM
+#endif
+#if (TSCH_DEQUEUED_ARRAY_SIZE & (TSCH_DEQUEUED_ARRAY_SIZE - 1)) != 0
+#error TSCH_DEQUEUED_ARRAY_SIZE must be power of two
+#endif
+
+/* Truncate received drift correction information to maximum half
+ * of the guard time (one fourth of TSCH_DEFAULT_TS_RX_WAIT) */
+#define SYNC_IE_BOUND ((int32_t)US_TO_RTIMERTICKS(TSCH_DEFAULT_TS_RX_WAIT / 4))
+
+/* By default: check that rtimer runs at >=32kHz and use a guard time of 10us */
+#if RTIMER_SECOND < (32 * 1024)
+#error "TSCH: RTIMER_SECOND < (32 * 1024)"
+#endif
+#if RTIMER_SECOND >= 200000
+#define RTIMER_GUARD (RTIMER_SECOND / 100000)
+#else
+#define RTIMER_GUARD 2u
+#endif
+
+/* A ringbuf storing outgoing packets after they were dequeued.
+ * Will be processed layer by tsch_tx_process_pending */
+struct ringbufindex dequeued_ringbuf;
+struct tsch_packet *dequeued_array[TSCH_DEQUEUED_ARRAY_SIZE];
+/* A ringbuf storing incoming packets.
+ * Will be processed layer by tsch_rx_process_pending */
+struct ringbufindex input_ringbuf;
+struct input_packet input_array[TSCH_MAX_INCOMING_PACKETS];
+
+/* Last time we received Sync-IE (ACK or data packet from a time source) */
+static struct asn_t last_sync_asn;
+
+/* A global lock for manipulating data structures safely from outside of interrupt */
+static volatile int tsch_locked = 0;
+/* As long as this is set, skip all slot operation */
+static volatile int tsch_lock_requested = 0;
+
+/* Last estimated drift in RTIMER ticks
+ * (Sky: 1 tick = 30.517578125 usec exactly) */
+static int32_t drift_correction = 0;
+/* Is drift correction used? (Can be true even if drift_correction == 0) */
+static uint8_t is_drift_correction_used;
+
+/* The neighbor last used as our time source */
+struct tsch_neighbor *last_timesource_neighbor = NULL;
+
+/* Used from tsch_slot_operation and sub-protothreads */
+static rtimer_clock_t volatile current_slot_start;
+
+/* Are we currently inside a slot? */
+static volatile int tsch_in_slot_operation = 0;
+
+/* Info about the link, packet and neighbor of
+ * the current (or next) slot */
+struct tsch_link *current_link = NULL;
+/* A backup link with Rx flag, overlapping with current_link.
+ * If the current link is Tx-only and the Tx queue
+ * is empty while executing the link, fallback to the backup link. */
+static struct tsch_link *backup_link = NULL;
+static struct tsch_packet *current_packet = NULL;
+static struct tsch_neighbor *current_neighbor = NULL;
+
+/* Protothread for association */
+PT_THREAD(tsch_scan(struct pt *pt));
+/* Protothread for slot operation, called from rtimer interrupt
+ * and scheduled from tsch_schedule_slot_operation */
+static PT_THREAD(tsch_slot_operation(struct rtimer *t, void *ptr));
+static struct pt slot_operation_pt;
+/* Sub-protothreads of tsch_slot_operation */
+static PT_THREAD(tsch_tx_slot(struct pt *pt, struct rtimer *t));
+static PT_THREAD(tsch_rx_slot(struct pt *pt, struct rtimer *t));
+
+/*---------------------------------------------------------------------------*/
+/* TSCH locking system. TSCH is locked during slot operations */
+
+/* Is TSCH locked? */
+int
+tsch_is_locked(void)
+{
+  return tsch_locked;
+}
+
+/* Lock TSCH (no slot operation) */
+int
+tsch_get_lock(void)
+{
+  if(!tsch_locked) {
+    rtimer_clock_t busy_wait_time;
+    int busy_wait = 0; /* Flag used for logging purposes */
+    /* Make sure no new slot operation will start */
+    tsch_lock_requested = 1;
+    /* Wait for the end of current slot operation. */
+    if(tsch_in_slot_operation) {
+      busy_wait = 1;
+      busy_wait_time = RTIMER_NOW();
+      while(tsch_in_slot_operation);
+      busy_wait_time = RTIMER_NOW() - busy_wait_time;
+    }
+    if(!tsch_locked) {
+      /* Take the lock if it is free */
+      tsch_locked = 1;
+      tsch_lock_requested = 0;
+      if(busy_wait) {
+        /* Issue a log whenever we had to busy wait until getting the lock */
+        TSCH_LOG_ADD(tsch_log_message,
+            snprintf(log->message, sizeof(log->message),
+                "!get lock delay %u", (unsigned)busy_wait_time);
+        );
+      }
+      return 1;
+    }
+  }
+  TSCH_LOG_ADD(tsch_log_message,
+      snprintf(log->message, sizeof(log->message),
+                      "!failed to lock");
+          );
+  return 0;
+}
+
+/* Release TSCH lock */
+void
+tsch_release_lock(void)
+{
+  tsch_locked = 0;
+}
+
+/*---------------------------------------------------------------------------*/
+/* Channel hopping utility functions */
+
+/* Return channel from ASN and channel offset */
+uint8_t
+tsch_calculate_channel(struct asn_t *asn, uint8_t channel_offset)
+{
+  uint16_t index_of_0 = ASN_MOD(*asn, tsch_hopping_sequence_length);
+  uint16_t index_of_offset = (index_of_0 + channel_offset) % tsch_hopping_sequence_length.val;
+  return tsch_hopping_sequence[index_of_offset];
+}
+
+/*---------------------------------------------------------------------------*/
+/* Timing utility functions */
+
+/* Checks if the current time has passed a ref time + offset. Assumes
+ * a single overflow and ref time prior to now. */
+static uint8_t
+check_timer_miss(rtimer_clock_t ref_time, rtimer_clock_t offset, rtimer_clock_t now)
+{
+  rtimer_clock_t target = ref_time + offset;
+  int now_has_overflowed = now < ref_time;
+  int target_has_overflowed = target < ref_time;
+
+  if(now_has_overflowed == target_has_overflowed) {
+    /* Both or none have overflowed, just compare now to the target */
+    return target <= now;
+  } else {
+    /* Either now or target of overflowed.
+     * If it is now, then it has passed the target.
+     * If it is target, then we haven't reached it yet.
+     *  */
+    return now_has_overflowed;
+  }
+}
+/*---------------------------------------------------------------------------*/
+/* Schedule a wakeup at a specified offset from a reference time.
+ * Provides basic protection against missed deadlines and timer overflows
+ * A return value of zero signals a missed deadline: no rtimer was scheduled. */
+static uint8_t
+tsch_schedule_slot_operation(struct rtimer *tm, rtimer_clock_t ref_time, rtimer_clock_t offset, const char *str)
+{
+  rtimer_clock_t now = RTIMER_NOW();
+  int r;
+  /* Subtract RTIMER_GUARD before checking for deadline miss
+   * because we can not schedule rtimer less than RTIMER_GUARD in the future */
+  int missed = check_timer_miss(ref_time, offset - RTIMER_GUARD, now);
+
+  if(missed) {
+    TSCH_LOG_ADD(tsch_log_message,
+                snprintf(log->message, sizeof(log->message),
+                    "!dl-miss %s %d %d",
+                        str, (int)(now-ref_time), (int)offset);
+    );
+
+    return 0;
+  }
+  ref_time += offset;
+  r = rtimer_set(tm, ref_time, 1, (void (*)(struct rtimer *, void *))tsch_slot_operation, NULL);
+  if(r != RTIMER_OK) {
+    return 0;
+  }
+  return 1;
+}
+/*---------------------------------------------------------------------------*/
+/* Schedule slot operation conditionally, and YIELD if success only.
+ * Always attempt to schedule RTIMER_GUARD before the target to make sure to wake up
+ * ahead of time and then busy wait to exactly hit the target. */
+#define TSCH_SCHEDULE_AND_YIELD(pt, tm, ref_time, offset, str) \
+  do { \
+    if(tsch_schedule_slot_operation(tm, ref_time, offset - RTIMER_GUARD, str)) { \
+      PT_YIELD(pt); \
+    } \
+    BUSYWAIT_UNTIL_ABS(0, ref_time, offset); \
+  } while(0);
+/*---------------------------------------------------------------------------*/
+/* Get EB, broadcast or unicast packet to be sent, and target neighbor. */
+static struct tsch_packet *
+get_packet_and_neighbor_for_link(struct tsch_link *link, struct tsch_neighbor **target_neighbor)
+{
+  struct tsch_packet *p = NULL;
+  struct tsch_neighbor *n = NULL;
+
+  /* Is this a Tx link? */
+  if(link->link_options & LINK_OPTION_TX) {
+    /* is it for advertisement of EB? */
+    if(link->link_type == LINK_TYPE_ADVERTISING || link->link_type == LINK_TYPE_ADVERTISING_ONLY) {
+      /* fetch EB packets */
+      n = n_eb;
+      p = tsch_queue_get_packet_for_nbr(n, link);
+    }
+    if(link->link_type != LINK_TYPE_ADVERTISING_ONLY) {
+      /* NORMAL link or no EB to send, pick a data packet */
+      if(p == NULL) {
+        /* Get neighbor queue associated to the link and get packet from it */
+        n = tsch_queue_get_nbr(&link->addr);
+        p = tsch_queue_get_packet_for_nbr(n, link);
+        /* if it is a broadcast slot and there were no broadcast packets, pick any unicast packet */
+        if(p == NULL && n == n_broadcast) {
+          p = tsch_queue_get_unicast_packet_for_any(&n, link);
+        }
+      }
+    }
+  }
+  /* return nbr (by reference) */
+  if(target_neighbor != NULL) {
+    *target_neighbor = n;
+  }
+
+  return p;
+}
+/*---------------------------------------------------------------------------*/
+/* Post TX: Update neighbor state after a transmission */
+static int
+update_neighbor_state(struct tsch_neighbor *n, struct tsch_packet *p,
+                      struct tsch_link *link, uint8_t mac_tx_status)
+{
+  int in_queue = 1;
+  int is_shared_link = link->link_options & LINK_OPTION_SHARED;
+  int is_unicast = !n->is_broadcast;
+
+  if(mac_tx_status == MAC_TX_OK) {
+    /* Successful transmission */
+    tsch_queue_remove_packet_from_queue(n);
+    in_queue = 0;
+
+    /* Update CSMA state in the unicast case */
+    if(is_unicast) {
+      if(is_shared_link || tsch_queue_is_empty(n)) {
+        /* If this is a shared link, reset backoff on success.
+         * Otherwise, do so only is the queue is empty */
+        tsch_queue_backoff_reset(n);
+      }
+    }
+  } else {
+    /* Failed transmission */
+    if(p->transmissions >= TSCH_MAC_MAX_FRAME_RETRIES + 1) {
+      /* Drop packet */
+      tsch_queue_remove_packet_from_queue(n);
+      in_queue = 0;
+    }
+    /* Update CSMA state in the unicast case */
+    if(is_unicast) {
+      /* Failures on dedicated (== non-shared) leave the backoff
+       * window nor exponent unchanged */
+      if(is_shared_link) {
+        /* Shared link: increment backoff exponent, pick a new window */
+        tsch_queue_backoff_inc(n);
+      }
+    }
+  }
+
+  return in_queue;
+}
+/*---------------------------------------------------------------------------*/
+static
+PT_THREAD(tsch_tx_slot(struct pt *pt, struct rtimer *t))
+{
+  /**
+   * TX slot:
+   * 1. Copy packet to radio buffer
+   * 2. Perform CCA if enabled
+   * 3. Sleep until it is time to transmit
+   * 4. Wait for ACK if it is a unicast packet
+   * 5. Extract drift if we received an E-ACK from a time source neighbor
+   * 6. Update CSMA parameters according to TX status
+   * 7. Schedule mac_call_sent_callback
+   **/
+
+  /* tx status */
+  static uint8_t mac_tx_status;
+  /* is the packet in its neighbor's queue? */
+  uint8_t in_queue;
+  static int dequeued_index;
+  static int packet_ready = 1;
+
+  PT_BEGIN(pt);
+
+  TSCH_DEBUG_TX_EVENT();
+
+  /* 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 TSCH_SECURITY_ENABLED
+      /* encrypted payload */
+      static uint8_t encrypted_packet[TSCH_PACKET_MAX_LEN];
+#endif /* TSCH_SECURITY_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;
+
+#if CCA_ENABLED
+      static uint8_t cca_status;
+#endif
+
+      /* 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;
+      /* 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 TSCH_SECURITY_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, &current_asn);
+        if(with_encryption) {
+          packet = encrypted_packet;
+        }
+      }
+#endif /* TSCH_SECURITY_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 CCA_ENABLED
+        cca_status = 1;
+        /* delay before CCA */
+        TSCH_SCHEDULE_AND_YIELD(pt, t, current_slot_start, TS_CCA_OFFSET, "cca");
+        TSCH_DEBUG_TX_EVENT();
+        NETSTACK_RADIO.on();
+        /* CCA */
+        BUSYWAIT_UNTIL_ABS(!(cca_status |= NETSTACK_RADIO.channel_clear()),
+                           current_slot_start, TS_CCA_OFFSET + 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 /* 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);
+          /* 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 */
+          NETSTACK_RADIO.off();
+
+          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;
+              radio_value_t radio_rx_mode;
+              struct ieee802154_ies ack_ies;
+              uint8_t ack_hdrlen;
+              frame802154_t frame;
+
+              /* 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));
+              /* 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();
+              NETSTACK_RADIO.on();
+              /* 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]);
+              TSCH_DEBUG_TX_EVENT();
+
+              ack_start_time = RTIMER_NOW();
+
+              /* Wait for ACK to finish */
+              BUSYWAIT_UNTIL_ABS(!NETSTACK_RADIO.receiving_packet(),
+                                 ack_start_time, tsch_timing[tsch_ts_max_ack]);
+              TSCH_DEBUG_TX_EVENT();
+              NETSTACK_RADIO.off();
+
+              /* 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);
+
+              /* 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 TSCH_SECURITY_ENABLED
+                if(ack_len != 0) {
+                  if(!tsch_security_parse_frame(ackbuf, ack_hdrlen, ack_len - ack_hdrlen - tsch_security_mic_len(&frame),
+                      &frame, &current_neighbor->addr, &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 /* TSCH_SECURITY_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 = ASN_DIFF(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);
+                    );
+                  }
+                  is_drift_correction_used = 1;
+                  tsch_timesync_update(current_neighbor, since_last_timesync, drift_correction);
+                  /* Keep track of sync time */
+                  last_sync_asn = current_asn;
+                  tsch_schedule_keepalive();
+                }
+                mac_tx_status = MAC_TX_OK;
+              } else {
+                mac_tx_status = MAC_TX_NOACK;
+              }
+            } else {
+              mac_tx_status = MAC_TX_OK;
+            }
+          } else {
+            mac_tx_status = MAC_TX_ERR;
+          }
+        }
+      }
+    }
+
+    current_packet->transmissions++;
+    current_packet->ret = mac_tx_status;
+
+    /* Post TX: Update neighbor state */
+    in_queue = update_neighbor_state(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);
+    }
+
+    /* 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;
+    log->tx.sec_level = queuebuf_attr(current_packet->qb, PACKETBUF_ATTR_SECURITY_LEVEL);
+    log->tx.dest = TSCH_LOG_ID_FROM_LINKADDR(queuebuf_addr(current_packet->qb, PACKETBUF_ADDR_RECEIVER));
+    );
+
+    /* 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 */
+    NETSTACK_RADIO.on();
+    packet_seen = NETSTACK_RADIO.receiving_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) {
+      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
+
+      if(NETSTACK_RADIO.pending_packet()) {
+        static int frame_valid;
+        static int header_len;
+        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);
+        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);
+        frame_valid = header_len > 0 &&
+          frame802154_check_dest_panid(&frame) &&
+          frame802154_extract_linkaddr(&frame, &source_address, &destination_address);
+
+        packet_duration = TSCH_PACKET_DURATION(current_input->len);
+
+#if TSCH_SECURITY_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, &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;
+          }
+        } else {
+          TSCH_LOG_ADD(tsch_log_message,
+              snprintf(log->message, sizeof(log->message),
+              "!failed to parse frame %u %u", header_len, current_input->len));
+          frame_valid = 0;
+        }
+#endif /* TSCH_SECURITY_ENABLED */
+
+        if(frame_valid) {
+          if(linkaddr_cmp(&destination_address, &linkaddr_node_addr)
+             || linkaddr_cmp(&destination_address, &linkaddr_null)) {
+            int do_nack = 0;
+            estimated_drift = ((int32_t)expected_rx_time - (int32_t)rx_start_time);
+
+#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
+            if(frame.fcf.ack_required) {
+              do_nack = TSCH_CALLBACK_DO_NACK(current_link,
+                  &source_address, &destination_address);
+            }
+#endif
+
+            if(frame.fcf.ack_required) {
+              static uint8_t ack_buf[TSCH_PACKET_MAX_LEN];
+              static int ack_len;
+
+              /* Build ACK frame */
+              ack_len = tsch_packet_create_eack(ack_buf, sizeof(ack_buf),
+                  &source_address, frame.seq, (int16_t)RTIMERTICKS_TO_US(estimated_drift), do_nack);
+
+#if TSCH_SECURITY_ENABLED
+              if(tsch_is_pan_secured) {
+                /* Secure ACK frame. There is only header and header IEs, therefore data len == 0. */
+                ack_len += tsch_security_secure_frame(ack_buf, ack_buf, ack_len, 0, &current_asn);
+              }
+#endif /* TSCH_SECURITY_ENABLED */
+
+              /* Copy to radio buffer */
+              NETSTACK_RADIO.prepare((const void *)ack_buf, ack_len);
+
+              /* Wait for time to ACK and transmit ACK */
+              TSCH_SCHEDULE_AND_YIELD(pt, t, rx_start_time,
+                  packet_duration + tsch_timing[tsch_ts_tx_ack_delay] - RADIO_DELAY_BEFORE_TX, "RxBeforeAck");
+              TSCH_DEBUG_RX_EVENT();
+              NETSTACK_RADIO.transmit(ack_len);
+            }
+
+            /* If the sender is a time source, proceed to clock drift compensation */
+            n = tsch_queue_get_nbr(&source_address);
+            if(n != NULL && n->is_time_source) {
+              int32_t since_last_timesync = ASN_DIFF(current_asn, last_sync_asn);
+              /* Keep track of last sync time */
+              last_sync_asn = current_asn;
+              /* Save estimated drift */
+              drift_correction = -estimated_drift;
+              is_drift_correction_used = 1;
+              tsch_timesync_update(n, since_last_timesync, -estimated_drift);
+              tsch_schedule_keepalive();
+            }
+
+            /* Add current input to ringbuf */
+            ringbufindex_put(&input_ringbuf);
+
+            /* Log every reception */
+            TSCH_LOG_ADD(tsch_log_rx,
+              log->rx.src = TSCH_LOG_ID_FROM_LINKADDR((linkaddr_t*)&frame.src_addr);
+              log->rx.is_unicast = frame.fcf.ack_required;
+              log->rx.datalen = current_input->len;
+              log->rx.drift = drift_correction;
+              log->rx.drift_used = is_drift_correction_used;
+              log->rx.is_data = frame.fcf.frame_type == FRAME802154_DATAFRAME;
+              log->rx.sec_level = frame.aux_hdr.security_control.security_level;
+              log->rx.estimated_drift = estimated_drift;
+            );
+          } else {
+            TSCH_LOG_ADD(tsch_log_message,
+                  snprintf(log->message, sizeof(log->message),
+                      "!not for us %x:%x",
+                      destination_address.u8[LINKADDR_SIZE - 2], destination_address.u8[LINKADDR_SIZE - 1]);
+            );
+          }
+
+          /* Poll process for processing of pending input and logs */
+          process_poll(&tsch_pending_events_process);
+        }
+      }
+    }
+
+    if(input_queue_drop != 0) {
+      TSCH_LOG_ADD(tsch_log_message,
+          snprintf(log->message, sizeof(log->message),
+              "!queue full skipped %u", input_queue_drop);
+      );
+      input_queue_drop = 0;
+    }
+  }
+
+  TSCH_DEBUG_RX_EVENT();
+
+  PT_END(pt);
+}
+/*---------------------------------------------------------------------------*/
+/* Protothread for slot operation, called from rtimer interrupt
+ * and scheduled from tsch_schedule_slot_operation */
+static
+PT_THREAD(tsch_slot_operation(struct rtimer *t, void *ptr))
+{
+  TSCH_DEBUG_INTERRUPT();
+  PT_BEGIN(&slot_operation_pt);
+
+  /* Loop over all active slots */
+  while(tsch_is_associated) {
+
+    if(current_link == NULL || tsch_lock_requested) { /* Skip slot operation if there is no link
+                                                          or if there is a pending request for getting the lock */
+      /* Issue a log whenever skipping a slot */
+      TSCH_LOG_ADD(tsch_log_message,
+                      snprintf(log->message, sizeof(log->message),
+                          "!skipped slot %u %u %u",
+                            tsch_locked,
+                            tsch_lock_requested,
+                            current_link == NULL);
+      );
+
+    } else {
+      uint8_t current_channel;
+      TSCH_DEBUG_SLOT_START();
+      tsch_in_slot_operation = 1;
+      /* 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
+       * nothing, switch to the backup link (has Rx flag) if any. */
+      if(current_packet == NULL && !(current_link->link_options & LINK_OPTION_RX) && backup_link != NULL) {
+        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));
+      }
+      TSCH_DEBUG_SLOT_END();
+    }
+
+    /* End of slot operation, schedule next slot or resynchronize */
+
+    /* Do we need to resynchronize? i.e., wait for EB again */
+    if(!tsch_is_coordinator && (ASN_DIFF(current_asn, last_sync_asn) >
+        (100 * TSCH_CLOCK_TO_SLOTS(TSCH_DESYNC_THRESHOLD / 100, tsch_timing[tsch_ts_timeslot_length])))) {
+      TSCH_LOG_ADD(tsch_log_message,
+            snprintf(log->message, sizeof(log->message),
+                "! leaving the network, last sync %u",
+                          (unsigned)ASN_DIFF(current_asn, last_sync_asn));
+      );
+      last_timesource_neighbor = NULL;
+      tsch_disassociate();
+    } else {
+      /* backup of drift correction for printing debug messages */
+      /* int32_t drift_correction_backup = drift_correction; */
+      uint16_t timeslot_diff = 0;
+      rtimer_clock_t prev_slot_start;
+      /* Time to next wake up */
+      rtimer_clock_t time_to_next_active_slot;
+      /* Schedule next wakeup skipping slots if missed deadline */
+      do {
+        if(current_link != NULL
+            && current_link->link_options & LINK_OPTION_TX
+            && current_link->link_options & LINK_OPTION_SHARED) {
+          /* Decrement the backoff window for all neighbors able to transmit over
+           * this Tx, Shared link. */
+          tsch_queue_update_all_backoff_windows(&current_link->addr);
+        }
+
+        /* Get next active link */
+        current_link = tsch_schedule_get_next_active_link(&current_asn, &timeslot_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 */
+        ASN_INC(current_asn, timeslot_diff);
+        /* Time to next wake up */
+        time_to_next_active_slot = timeslot_diff * tsch_timing[tsch_ts_timeslot_length] + drift_correction;
+        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;
+        current_slot_start += tsch_timesync_adaptive_compensate(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(&current_asn, &timeslot_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 */
+    ASN_INC(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, "association"));
+}
+/*---------------------------------------------------------------------------*/
+/* Start actual slot operation */
+void
+tsch_slot_operation_sync(rtimer_clock_t next_slot_start,
+    struct asn_t *next_slot_asn)
+{
+  current_slot_start = next_slot_start;
+  current_asn = *next_slot_asn;
+  last_sync_asn = current_asn;
+  current_link = NULL;
+}
+/*---------------------------------------------------------------------------*/

core/net/mac/tsch/tsch-slot-operation.h

@@ -0,0 +1,123 @@
+/*
+ * Copyright (c) 2015, SICS Swedish ICT.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ * 3. Neither the name of the Institute nor the names of its contributors
+ *    may be used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED.  IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+ * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ *
+ * This file is part of the Contiki operating system.
+ *
+ */
+
+#ifndef __TSCH_SLOT_OPERATION_H__
+#define __TSCH_SLOT_OPERATION_H__
+
+/********** Includes **********/
+
+#include "contiki.h"
+#include "lib/ringbufindex.h"
+#include "net/mac/tsch/tsch-packet.h"
+#include "net/mac/tsch/tsch-private.h"
+
+/******** Configuration *******/
+
+/* Size of the ring buffer storing dequeued outgoing packets (only an array of pointers).
+ * Must be power of two, and greater or equal to QUEUEBUF_NUM */
+#ifdef TSCH_CONF_DEQUEUED_ARRAY_SIZE
+#define TSCH_DEQUEUED_ARRAY_SIZE TSCH_CONF_DEQUEUED_ARRAY_SIZE
+#else
+/* By default, round QUEUEBUF_CONF_NUM to next power of two
+ * (in the range [4;256]) */
+#if QUEUEBUF_CONF_NUM <= 4
+#define TSCH_DEQUEUED_ARRAY_SIZE 4
+#elif QUEUEBUF_CONF_NUM <= 8
+#define TSCH_DEQUEUED_ARRAY_SIZE 8
+#elif QUEUEBUF_CONF_NUM <= 16
+#define TSCH_DEQUEUED_ARRAY_SIZE 16
+#elif QUEUEBUF_CONF_NUM <= 32
+#define TSCH_DEQUEUED_ARRAY_SIZE 32
+#elif QUEUEBUF_CONF_NUM <= 64
+#define TSCH_DEQUEUED_ARRAY_SIZE 64
+#elif QUEUEBUF_CONF_NUM <= 128
+#define TSCH_DEQUEUED_ARRAY_SIZE 128
+#else
+#define TSCH_DEQUEUED_ARRAY_SIZE 256
+#endif
+#endif
+
+/* Size of the ring buffer storing incoming packets.
+ * Must be power of two */
+#ifdef TSCH_CONF_MAX_INCOMING_PACKETS
+#define TSCH_MAX_INCOMING_PACKETS TSCH_CONF_MAX_INCOMING_PACKETS
+#else
+#define TSCH_MAX_INCOMING_PACKETS 4
+#endif
+
+/*********** Callbacks *********/
+
+/* Called by TSCH form interrupt after receiving a frame, enabled upper-layer to decide
+ * whether to ACK or NACK */
+#ifdef TSCH_CALLBACK_DO_NACK
+int TSCH_CALLBACK_DO_NACK(struct tsch_link *link, linkaddr_t *src, linkaddr_t *dst);
+#endif
+
+/************ Types ***********/
+
+/* Stores data about an incoming packet */
+struct input_packet {
+  uint8_t payload[TSCH_PACKET_MAX_LEN]; /* Packet payload */
+  struct asn_t rx_asn; /* ASN when the packet was received */
+  int len; /* Packet len */
+  uint16_t rssi; /* RSSI for this packet */
+};
+
+/***** External Variables *****/
+
+/* A ringbuf storing outgoing packets after they were dequeued.
+ * Will be processed layer by tsch_tx_process_pending */
+extern struct ringbufindex dequeued_ringbuf;
+extern struct tsch_packet *dequeued_array[TSCH_DEQUEUED_ARRAY_SIZE];
+/* A ringbuf storing incoming packets.
+ * Will be processed layer by tsch_rx_process_pending */
+extern struct ringbufindex input_ringbuf;
+extern struct input_packet input_array[TSCH_MAX_INCOMING_PACKETS];
+
+/********** Functions *********/
+
+/* Returns a 802.15.4 channel from an ASN and channel offset */
+uint8_t tsch_calculate_channel(struct asn_t *asn, uint8_t channel_offset);
+/* Is TSCH locked? */
+int tsch_is_locked(void);
+/* Lock TSCH (no link operation) */
+int tsch_get_lock(void);
+/* Release TSCH lock */
+void tsch_release_lock(void);
+/* Set global time before starting slot operation,
+ * with a rtimer time and an ASN */
+void tsch_slot_operation_sync(rtimer_clock_t next_slot_start,
+    struct asn_t *next_slot_asn);
+/* Start actual slot operation */
+void tsch_slot_operation_start(void);
+
+#endif /* __TSCH_SLOT_OPERATION_H__ */

core/net/mac/tsch/tsch.h

@@ -0,0 +1,167 @@
+/*
+ * Copyright (c) 2015, SICS Swedish ICT.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ * 3. Neither the name of the Institute nor the names of its contributors
+ *    may be used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED.  IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+ * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ *
+ * This file is part of the Contiki operating system.
+ *
+ */
+
+#ifndef __TSCH_H__
+#define __TSCH_H__
+
+/********** Includes **********/
+
+#include "contiki.h"
+#include "net/mac/mac.h"
+#include "net/mac/tsch/tsch-security.h"
+
+/******** Configuration *******/
+
+/* Max time before sending a unicast keep-alive message to the time source */
+#ifdef TSCH_CONF_KEEPALIVE_TIMEOUT
+#define TSCH_KEEPALIVE_TIMEOUT TSCH_CONF_KEEPALIVE_TIMEOUT
+#else
+/* Time to desynch assuming a drift of 40 PPM (80 PPM between two nodes) and guard time of +/-1ms: 12.5s. */
+#define TSCH_KEEPALIVE_TIMEOUT (12 * CLOCK_SECOND)
+#endif
+
+/* Max time without synchronization before leaving the PAN */
+#ifdef TSCH_CONF_DESYNC_THRESHOLD
+#define TSCH_DESYNC_THRESHOLD TSCH_CONF_DESYNC_THRESHOLD
+#else
+#define TSCH_DESYNC_THRESHOLD (4 * TSCH_KEEPALIVE_TIMEOUT)
+#endif
+
+/* Period between two consecutive EBs */
+#ifdef TSCH_CONF_EB_PERIOD
+#define TSCH_EB_PERIOD TSCH_CONF_EB_PERIOD
+#else
+#define TSCH_EB_PERIOD (4 * CLOCK_SECOND)
+#endif
+
+/* Max acceptable join priority */
+#ifdef TSCH_CONF_MAX_JOIN_PRIORITY
+#define TSCH_MAX_JOIN_PRIORITY TSCH_CONF_MAX_JOIN_PRIORITY
+#else
+#define TSCH_MAX_JOIN_PRIORITY 32
+#endif
+
+/* Start TSCH automatically after init? If not, the upper layers
+ * must call NETSTACK_MAC.on() to start it. Useful when the
+ * application needs to control when the nodes are to start
+ * scanning or advertising.*/
+#ifdef TSCH_CONF_AUTOSTART
+#define TSCH_AUTOSTART TSCH_CONF_AUTOSTART
+#else
+#define TSCH_AUTOSTART 1
+#endif
+
+/* Join only secured networks? (discard EBs with security disabled) */
+#ifdef TSCH_CONF_JOIN_SECURED_ONLY
+#define TSCH_JOIN_SECURED_ONLY TSCH_CONF_JOIN_SECURED_ONLY
+#else
+/* By default, set if TSCH_SECURITY_ENABLED is also non-zero */
+#define TSCH_JOIN_SECURED_ONLY TSCH_SECURITY_ENABLED
+#endif
+
+/* By default, join any PAN ID. Otherwise, wait for an EB from IEEE802154_PANID */
+#ifdef TSCH_CONF_JOIN_MY_PANID_ONLY
+#define TSCH_JOIN_MY_PANID_ONLY TSCH_CONF_JOIN_MY_PANID_ONLY
+#else
+#define TSCH_JOIN_MY_PANID_ONLY 0
+#endif
+
+/* The radio polling frequency (in Hz) during association process */
+#ifdef TSCH_CONF_ASSOCIATION_POLL_FREQUENCY
+#define TSCH_ASSOCIATION_POLL_FREQUENCY TSCH_CONF_ASSOCIATION_POLL_FREQUENCY
+#else
+#define TSCH_ASSOCIATION_POLL_FREQUENCY 100
+#endif
+
+/* When associating, check ASN against our own uptime (time in minutes)..
+ * Useful to force joining only with nodes started roughly at the same time.
+ * Set to the max number of minutes acceptable. */
+#ifdef TSCH_CONF_CHECK_TIME_AT_ASSOCIATION
+#define TSCH_CHECK_TIME_AT_ASSOCIATION TSCH_CONF_CHECK_TIME_AT_ASSOCIATION
+#else
+#define TSCH_CHECK_TIME_AT_ASSOCIATION 0
+#endif
+
+/* By default: initialize schedule from EB when associating, using the
+ * slotframe and links Information Element */
+#ifdef TSCH_CONF_INIT_SCHEDULE_FROM_EB
+#define TSCH_INIT_SCHEDULE_FROM_EB TSCH_CONF_INIT_SCHEDULE_FROM_EB
+#else
+#define TSCH_INIT_SCHEDULE_FROM_EB 1
+#endif
+
+/* An ad-hoc mechanism to have TSCH select its time source without the
+ * help of an upper-layer, simply by collecting statistics on received
+ * EBs and their join priority. Disabled by default as we recomment
+ * mapping the time source on the RPL preferred parent
+ * (via tsch_rpl_callback_parent_switch) */
+#ifdef TSCH_CONF_AUTOSELECT_TIME_SOURCE
+#define TSCH_AUTOSELECT_TIME_SOURCE TSCH_CONF_AUTOSELECT_TIME_SOURCE
+#else
+#define TSCH_AUTOSELECT_TIME_SOURCE 0
+#endif /* TSCH_CONF_EB_AUTOSELECT */
+
+/*********** Callbacks *********/
+
+/* Called by TSCH when joining a network */
+#ifdef TSCH_CALLBACK_JOINING_NETWORK
+void TSCH_CALLBACK_JOINING_NETWORK();
+#endif
+
+/* Called by TSCH when leaving a network */
+#ifdef TSCH_CALLBACK_LEAVING_NETWORK
+void TSCH_CALLBACK_LEAVING_NETWORK();
+#endif
+
+/***** External Variables *****/
+
+/* Are we coordinator of the TSCH network? */
+extern int tsch_is_coordinator;
+/* Are we associated to a TSCH network? */
+extern int tsch_is_associated;
+/* Is the PAN running link-layer security? */
+extern int tsch_is_pan_secured;
+/* The TSCH MAC driver */
+extern const struct mac_driver tschmac_driver;
+
+/********** Functions *********/
+
+/* The the TSCH join priority */
+void tsch_set_join_priority(uint8_t jp);
+/* The the period at which EBs are sent */
+void tsch_set_eb_period(uint32_t period);
+/* Set the node as PAN coordinator */
+void tsch_set_coordinator(int enable);
+/* Set the pan as secured or not */
+void tsch_set_pan_secured(int enable);
+
+#endif /* __TSCH_H__ */

core/net/packetbuf.h

@@ -55,6 +55,7 @@
 #include "contiki-conf.h"
 #include "net/linkaddr.h"
 #include "net/llsec/llsec802154.h"
+#include "net/mac/tsch/tsch-conf.h"
 
 /**
  * \brief      The size of the packetbuf, in bytes
@@ -313,6 +314,10 @@ enum {
   PACKETBUF_ATTR_MAC_SEQNO,
   PACKETBUF_ATTR_MAC_ACK,
   PACKETBUF_ATTR_IS_CREATED_AND_SECURED,
+#if TSCH_WITH_LINK_SELECTOR
+  PACKETBUF_ATTR_TSCH_SLOTFRAME,
+  PACKETBUF_ATTR_TSCH_TIMESLOT,
+#endif /* TSCH_WITH_LINK_SELECTOR */
   
   /* Scope 1 attributes: used between two neighbors only. */
 #if PACKETBUF_WITH_PACKET_TYPE
@@ -329,14 +334,16 @@ enum {
   PACKETBUF_ATTR_FRAME_TYPE,
 #if LLSEC802154_SECURITY_LEVEL
   PACKETBUF_ATTR_SECURITY_LEVEL,
+#endif /* LLSEC802154_SECURITY_LEVEL */
+#if LLSEC802154_USES_FRAME_COUNTER
   PACKETBUF_ATTR_FRAME_COUNTER_BYTES_0_1,
   PACKETBUF_ATTR_FRAME_COUNTER_BYTES_2_3,
+#endif /* LLSEC802154_USES_FRAME_COUNTER */
 #if LLSEC802154_USES_EXPLICIT_KEYS
   PACKETBUF_ATTR_KEY_ID_MODE,
   PACKETBUF_ATTR_KEY_INDEX,
   PACKETBUF_ATTR_KEY_SOURCE_BYTES_0_1,
 #endif /* LLSEC802154_USES_EXPLICIT_KEYS */
-#endif /* LLSEC802154_SECURITY_LEVEL */
   
   /* Scope 2 attributes: used between end-to-end nodes. */
 #if NETSTACK_CONF_WITH_RIME
@@ -362,10 +369,15 @@ enum {
 #if !LLSEC802154_SECURITY_LEVEL
 enum {
   PACKETBUF_ATTR_SECURITY_LEVEL,
+};
+#endif /* LLSEC802154_SECURITY_LEVEL */
+
+#if !LLSEC802154_USES_FRAME_COUNTER
+enum {
   PACKETBUF_ATTR_FRAME_COUNTER_BYTES_0_1,
   PACKETBUF_ATTR_FRAME_COUNTER_BYTES_2_3
 };
-#endif /* LLSEC802154_SECURITY_LEVEL */
+#endif /* LLSEC802154_USES_FRAME_COUNTER */
 
 /* Define surrogates when not using explicit keys */
 #if !LLSEC802154_USES_EXPLICIT_KEYS

core/net/rpl/rpl-dag.c

@@ -60,6 +60,11 @@
 #define DEBUG DEBUG_NONE
 #include "net/ip/uip-debug.h"
 
+/* A configurable function called after every RPL parent switch */
+#ifdef RPL_CALLBACK_PARENT_SWITCH
+void RPL_CALLBACK_PARENT_SWITCH(rpl_parent_t *old, rpl_parent_t *new);
+#endif /* RPL_CALLBACK_PARENT_SWITCH */
+
 /*---------------------------------------------------------------------------*/
 extern rpl_of_t RPL_OF;
 static rpl_of_t * const objective_functions[] = {&RPL_OF};
@@ -188,6 +193,10 @@ rpl_set_preferred_parent(rpl_dag_t *dag, rpl_parent_t *p)
     }
     PRINTF("\n");
 
+#ifdef RPL_CALLBACK_PARENT_SWITCH
+    RPL_CALLBACK_PARENT_SWITCH(dag->preferred_parent, p);
+#endif /* RPL_CALLBACK_PARENT_SWITCH */
+
     /* Always keep the preferred parent locked, so it remains in the
      * neighbor table. */
     nbr_table_unlock(rpl_parents, dag->preferred_parent);

core/net/rpl/rpl-timers.c

@@ -50,6 +50,11 @@
 #define DEBUG DEBUG_NONE
 #include "net/ip/uip-debug.h"
 
+/* A configurable function called after update of the RPL DIO interval */
+#ifdef RPL_CALLBACK_NEW_DIO_INTERVAL
+void RPL_CALLBACK_NEW_DIO_INTERVAL(uint8_t dio_interval);
+#endif /* RPL_CALLBACK_NEW_DIO_INTERVAL */
+
 /*---------------------------------------------------------------------------*/
 static struct ctimer periodic_timer;
 
@@ -124,6 +129,10 @@ new_dio_interval(rpl_instance_t *instance)
   /* schedule the timer */
   PRINTF("RPL: Scheduling DIO timer %lu ticks in future (Interval)\n", ticks);
   ctimer_set(&instance->dio_timer, ticks, &handle_dio_timer, instance);
+
+#ifdef RPL_CALLBACK_NEW_DIO_INTERVAL
+  RPL_CALLBACK_NEW_DIO_INTERVAL(instance->dio_intcurrent);
+#endif /* RPL_CALLBACK_NEW_DIO_INTERVAL */
 }
 /*---------------------------------------------------------------------------*/
 static void

cpu/msp430/rtimer-arch.h

@@ -48,6 +48,20 @@
 #define RTIMER_ARCH_SECOND (4096U*8)
 #endif
 
+/* Do the math in 32bits to save precision.
+ * Round to nearest integer rather than truncate. */
+#define US_TO_RTIMERTICKS(US)  ((US) >= 0 ?                        \
+                               (((int32_t)(US) * (RTIMER_ARCH_SECOND) + 500000) / 1000000L) :      \
+                               ((int32_t)(US) * (RTIMER_ARCH_SECOND) - 500000) / 1000000L)
+
+#define RTIMERTICKS_TO_US(T)   ((T) >= 0 ?                     \
+                               (((int32_t)(T) * 1000000L + ((RTIMER_ARCH_SECOND) / 2)) / (RTIMER_ARCH_SECOND)) : \
+                               ((int32_t)(T) * 1000000L - ((RTIMER_ARCH_SECOND) / 2)) / (RTIMER_ARCH_SECOND))
+
+/* A 64-bit version because the 32-bit one cannot handle T >= 4295 ticks.
+   Intended only for positive values of T. */
+#define RTIMERTICKS_TO_US_64(T)  ((uint32_t)(((uint64_t)(T) * 1000000 + ((RTIMER_ARCH_SECOND) / 2)) / (RTIMER_ARCH_SECOND)))
+
 rtimer_clock_t rtimer_arch_now(void);
 
 #endif /* RTIMER_ARCH_H_ */

dev/cc2420/cc2420.c

@@ -140,6 +140,13 @@ static volatile uint16_t last_packet_timestamp;
 PROCESS(cc2420_process, "CC2420 driver");
 /*---------------------------------------------------------------------------*/
 
+#define AUTOACK (1 << 4)
+#define AUTOCRC (1 << 5)
+#define ADR_DECODE (1 << 11)
+#define RXFIFO_PROTECTION (1 << 9)
+#define CORR_THR(n) (((n) & 0x1f) << 6)
+#define FIFOP_THR(n) ((n) & 0x7f)
+#define RXBPF_LOCUR (1 << 13);
 
 int cc2420_on(void);
 int cc2420_off(void);
@@ -154,6 +161,12 @@ static int cc2420_receiving_packet(void);
 static int pending_packet(void);
 static int get_cca_threshold(void);
 static int cc2420_cca(void);
+static uint16_t getreg(enum cc2420_register regname);
+
+static void set_frame_filtering(uint8_t enable);
+static void set_poll_mode(uint8_t enable);
+static void set_send_on_cca(uint8_t enable);
+static void set_auto_ack(uint8_t enable);
 
 signed char cc2420_last_rssi;
 uint8_t cc2420_last_correlation;
@@ -161,6 +174,11 @@ uint8_t cc2420_last_correlation;
 static uint8_t receive_on;
 static int channel;
 
+/* Are we currently in poll mode? */
+static uint8_t volatile poll_mode = 0;
+/* Do we perform a CCA before sending? */
+static uint8_t send_on_cca = WITH_SEND_CCA;
+
 static radio_result_t
 get_value(radio_param_t param, radio_value_t *value)
 {
@@ -176,6 +194,24 @@ get_value(radio_param_t param, radio_value_t *value)
   case RADIO_PARAM_CHANNEL:
     *value = cc2420_get_channel();
     return RADIO_RESULT_OK;
+  case RADIO_PARAM_RX_MODE:
+    *value = 0;
+    if(getreg(CC2420_MDMCTRL0) & ADR_DECODE) {
+      *value |= RADIO_RX_MODE_ADDRESS_FILTER;
+    }
+    if(getreg(CC2420_MDMCTRL0) & AUTOACK) {
+      *value |= RADIO_RX_MODE_AUTOACK;
+    }
+    if(poll_mode) {
+      *value |= RADIO_RX_MODE_POLL_MODE;
+    }
+    return RADIO_RESULT_OK;
+  case RADIO_PARAM_TX_MODE:
+    *value = 0;
+    if(send_on_cca) {
+      *value |= RADIO_TX_MODE_SEND_ON_CCA;
+    }
+    return RADIO_RESULT_OK;
   case RADIO_PARAM_TXPOWER:
     v = cc2420_get_txpower();
     *value = OUTPUT_POWER_MIN;
@@ -194,6 +230,14 @@ get_value(radio_param_t param, radio_value_t *value)
     /* Return the RSSI value in dBm */
     *value = cc2420_rssi();
     return RADIO_RESULT_OK;
+  case RADIO_PARAM_LAST_RSSI:
+    /* RSSI of the last packet received */
+    *value = cc2420_last_rssi;
+    return RADIO_RESULT_OK;
+  case RADIO_PARAM_LAST_LINK_QUALITY:
+    /* LQI of the last packet received */
+    *value = cc2420_last_correlation;
+    return RADIO_RESULT_OK;
   case RADIO_CONST_CHANNEL_MIN:
     *value = 11;
     return RADIO_RESULT_OK;
@@ -233,6 +277,21 @@ set_value(radio_param_t param, radio_value_t value)
     }
     cc2420_set_channel(value);
     return RADIO_RESULT_OK;
+  case RADIO_PARAM_RX_MODE:
+    if(value & ~(RADIO_RX_MODE_ADDRESS_FILTER |
+        RADIO_RX_MODE_AUTOACK | RADIO_RX_MODE_POLL_MODE)) {
+      return RADIO_RESULT_INVALID_VALUE;
+    }
+    set_frame_filtering((value & RADIO_RX_MODE_ADDRESS_FILTER) != 0);
+    set_auto_ack((value & RADIO_RX_MODE_AUTOACK) != 0);
+    set_poll_mode((value & RADIO_RX_MODE_POLL_MODE) != 0);
+    return RADIO_RESULT_OK;
+  case RADIO_PARAM_TX_MODE:
+    if(value & ~(RADIO_TX_MODE_SEND_ON_CCA)) {
+      return RADIO_RESULT_INVALID_VALUE;
+    }
+    set_send_on_cca((value & RADIO_TX_MODE_SEND_ON_CCA) != 0);
+    return RADIO_RESULT_OK;
   case RADIO_PARAM_TXPOWER:
     if(value < OUTPUT_POWER_MIN || value > OUTPUT_POWER_MAX) {
       return RADIO_RESULT_INVALID_VALUE;
@@ -256,6 +315,17 @@ set_value(radio_param_t param, radio_value_t value)
 static radio_result_t
 get_object(radio_param_t param, void *dest, size_t size)
 {
+  if(param == RADIO_PARAM_LAST_PACKET_TIMESTAMP) {
+#if CC2420_CONF_SFD_TIMESTAMPS
+    if(size != sizeof(rtimer_clock_t) || !dest) {
+      return RADIO_RESULT_INVALID_VALUE;
+    }
+    *(rtimer_clock_t*)dest = cc2420_sfd_start_time;
+    return RADIO_RESULT_OK;
+#else
+    return RADIO_RESULT_NOT_SUPPORTED;
+#endif
+  }
   return RADIO_RESULT_NOT_SUPPORTED;
 }
 
@@ -447,7 +517,10 @@ wait_for_transmission(void)
 static void
 on(void)
 {
-  CC2420_ENABLE_FIFOP_INT();
+  if(!poll_mode) {
+    CC2420_ENABLE_FIFOP_INT();
+  }
+
   strobe(CC2420_SRXON);
 
   ENERGEST_ON(ENERGEST_TYPE_LISTEN);
@@ -465,7 +538,9 @@ off(void)
 
   ENERGEST_OFF(ENERGEST_TYPE_LISTEN);
   strobe(CC2420_SRFOFF);
-  CC2420_DISABLE_FIFOP_INT();
+  if(!poll_mode) {
+    CC2420_DISABLE_FIFOP_INT();
+  }
 
   if(!CC2420_FIFOP_IS_1) {
     flushrx();
@@ -539,14 +614,6 @@ set_txpower(uint8_t power)
   setreg(CC2420_TXCTRL, reg);
 }
 /*---------------------------------------------------------------------------*/
-#define AUTOACK (1 << 4)
-#define AUTOCRC (1 << 5)
-#define ADR_DECODE (1 << 11)
-#define RXFIFO_PROTECTION (1 << 9)
-#define CORR_THR(n) (((n) & 0x1f) << 6)
-#define FIFOP_THR(n) ((n) & 0x7f)
-#define RXBPF_LOCUR (1 << 13);
-/*---------------------------------------------------------------------------*/
 int
 cc2420_init(void)
 {
@@ -573,20 +640,15 @@ cc2420_init(void)
   /* And wait until it stabilizes */
   wait_for_status(BV(CC2420_XOSC16M_STABLE));
 
-  /* Turn on/off automatic packet acknowledgment and address decoding. */
+  /* Set auto-ack and frame filtering */
-  reg = getreg(CC2420_MDMCTRL0);
+  set_auto_ack(CC2420_CONF_AUTOACK);
+  set_frame_filtering(CC2420_CONF_AUTOACK);
 
-#if CC2420_CONF_AUTOACK
-  reg |= AUTOACK | ADR_DECODE;
-#else
-  reg &= ~(AUTOACK | ADR_DECODE);
-#endif /* CC2420_CONF_AUTOACK */
-  
   /* Enabling CRC in hardware; this is required by AUTOACK anyway
      and provides us with RSSI and link quality indication (LQI)
      information. */
+  reg = getreg(CC2420_MDMCTRL0);
   reg |= AUTOCRC;
-
   setreg(CC2420_MDMCTRL0, reg);
 
   /* Set transmission turnaround time to the lower setting (8 symbols
@@ -614,6 +676,8 @@ cc2420_init(void)
 
   flushrx();
 
+  set_poll_mode(0);
+
   process_start(&cc2420_process, NULL);
   return 1;
 }
@@ -646,13 +710,13 @@ cc2420_transmit(unsigned short payload_len)
 #define LOOP_20_SYMBOLS CC2420_CONF_SYMBOL_LOOP_COUNT
 #endif
 
-#if WITH_SEND_CCA
+  if(send_on_cca) {
-  strobe(CC2420_SRXON);
+    strobe(CC2420_SRXON);
-  wait_for_status(BV(CC2420_RSSI_VALID));
+    wait_for_status(BV(CC2420_RSSI_VALID));
-  strobe(CC2420_STXONCCA);
+    strobe(CC2420_STXONCCA);
-#else /* WITH_SEND_CCA */
+  } else {
-  strobe(CC2420_STXON);
+    strobe(CC2420_STXON);
-#endif /* WITH_SEND_CCA */
+  }
   for(i = LOOP_20_SYMBOLS; i > 0; i--) {
     if(CC2420_SFD_IS_1) {
 #if PACKETBUF_WITH_PACKET_TYPE
@@ -704,7 +768,7 @@ cc2420_transmit(unsigned short payload_len)
     }
   }
 
-  /* If we are using WITH_SEND_CCA, we get here if the packet wasn't
+  /* If we send with cca (cca_on_send), we get here if the packet wasn't
      transmitted because of other channel activity. */
   RIMESTATS_ADD(contentiondrop);
   PRINTF("cc2420: do_send() transmission never started\n");
@@ -869,7 +933,7 @@ PROCESS_THREAD(cc2420_process, ev, data)
   PRINTF("cc2420_process: started\n");
 
   while(1) {
-    PROCESS_YIELD_UNTIL(ev == PROCESS_EVENT_POLL);
+    PROCESS_YIELD_UNTIL(!poll_mode && ev == PROCESS_EVENT_POLL);
 
     PRINTF("cc2420_process: calling receiver callback\n");
 
@@ -913,25 +977,31 @@ cc2420_read(void *buf, unsigned short bufsize)
     if(footer[1] & FOOTER1_CRC_OK) {
       cc2420_last_rssi = footer[0] + RSSI_OFFSET;
       cc2420_last_correlation = footer[1] & FOOTER1_CORRELATION;
-      
+      if(!poll_mode) {
-      packetbuf_set_attr(PACKETBUF_ATTR_RSSI, cc2420_last_rssi);
+        /* Not in poll mode: packetbuf should not be accessed in interrupt context.
-      packetbuf_set_attr(PACKETBUF_ATTR_LINK_QUALITY, cc2420_last_correlation);
+         * In poll mode, the last packet RSSI and link quality can be obtained through
-  
+         * RADIO_PARAM_LAST_RSSI and RADIO_PARAM_LAST_LINK_QUALITY */
+        packetbuf_set_attr(PACKETBUF_ATTR_RSSI, cc2420_last_rssi);
+        packetbuf_set_attr(PACKETBUF_ATTR_LINK_QUALITY, cc2420_last_correlation);
+      }
+
       RIMESTATS_ADD(llrx);
     } else {
       RIMESTATS_ADD(badcrc);
       len = FOOTER_LEN;
     }
-  
+
-    if(CC2420_FIFOP_IS_1) {
+    if(!poll_mode) {
-      if(!CC2420_FIFO_IS_1) {
+      if(CC2420_FIFOP_IS_1) {
-        /* Clean up in case of FIFO overflow!  This happens for every
+        if(!CC2420_FIFO_IS_1) {
-         * full length frame and is signaled by FIFOP = 1 and FIFO =
+          /* Clean up in case of FIFO overflow!  This happens for every
-         * 0. */
+           * full length frame and is signaled by FIFOP = 1 and FIFO =
-        flushrx();
+           * 0. */
-      } else {
+          flushrx();
-        /* Another packet has been received and needs attention. */
+        } else {
-        process_poll(&cc2420_process);
+          /* Another packet has been received and needs attention. */
+          process_poll(&cc2420_process);
+        }
       }
     }
     
@@ -1062,3 +1132,64 @@ cc2420_set_cca_threshold(int value)
   RELEASE_LOCK();
 }
 /*---------------------------------------------------------------------------*/
+/* Set or unset frame autoack */
+static void
+set_auto_ack(uint8_t enable)
+{
+  GET_LOCK();
+
+  uint16_t reg = getreg(CC2420_MDMCTRL0);
+  if(enable) {
+    reg |= AUTOACK;
+  } else {
+    reg &= ~(AUTOACK);
+  }
+
+  setreg(CC2420_MDMCTRL0, reg);
+  RELEASE_LOCK();
+}
+/*---------------------------------------------------------------------------*/
+/* Set or unset frame filtering */
+static void
+set_frame_filtering(uint8_t enable)
+{
+  GET_LOCK();
+
+  /* Turn on/off address decoding. */
+  uint16_t reg = getreg(CC2420_MDMCTRL0);
+  if(enable) {
+    reg |= ADR_DECODE;
+  } else {
+    reg &= ~(ADR_DECODE);
+  }
+
+  setreg(CC2420_MDMCTRL0, reg);
+  RELEASE_LOCK();
+}
+/*---------------------------------------------------------------------------*/
+/* Enable or disable radio interrupts (both FIFOP and SFD timer capture) */
+static void
+set_poll_mode(uint8_t enable)
+{
+  GET_LOCK();
+  poll_mode = enable;
+  if(enable) {
+    /* Disable FIFOP interrupt */
+    CC2420_CLEAR_FIFOP_INT();
+    CC2420_DISABLE_FIFOP_INT();
+  } else {
+    /* Initialize and enable FIFOP interrupt */
+    CC2420_FIFOP_INT_INIT();
+    CC2420_ENABLE_FIFOP_INT();
+    CC2420_CLEAR_FIFOP_INT();
+  }
+  RELEASE_LOCK();
+}
+/*---------------------------------------------------------------------------*/
+/* Enable or disable CCA before sending */
+static void
+set_send_on_cca(uint8_t enable)
+{
+  send_on_cca = enable;
+}
+/*---------------------------------------------------------------------------*/

examples/ipv6/rpl-tsch/Makefile

@@ -0,0 +1,22 @@
+CONTIKI_PROJECT = node
+all: $(CONTIKI_PROJECT)
+
+CONTIKI=../../..
+CFLAGS += -DPROJECT_CONF_H=\"project-conf.h\"
+
+CONTIKI_WITH_IPV6 = 1
+MAKE_WITH_ORCHESTRA ?= 0 # force Orchestra from command line
+MAKE_WITH_SECURITY ?= 0 # force Security from command line
+
+APPS += orchestra
+MODULES += core/net/mac/tsch
+
+ifeq ($(MAKE_WITH_ORCHESTRA),1)
+CFLAGS += -DWITH_ORCHESTRA=1
+endif
+
+ifeq ($(MAKE_WITH_SECURITY),1)
+CFLAGS += -DWITH_SECURITY=1
+endif
+
+include $(CONTIKI)/Makefile.include

examples/ipv6/rpl-tsch/README.md

@@ -0,0 +1,10 @@
+A RPL+TSCH node. Will act as basic node by default, but can be configured at startup
+using the user button and following instructions from the log output. Every press
+of a button toggles the mode as 6ln, 6dr or 6dr-sec (detailled next). After 10s with
+no button press, the node starts in the last setting. The modes are:
+* 6ln (default): 6lowpan node, will join a RPL+TSCH network and act as router.
+* 6dr: 6lowpan DAG Root, will start its own RPL+TSCH network. Note this is not a
+border router, i.e. it does not have a serial interface with connection to
+the Internet. For a border router, see ../border-router.
+* 6dr-sec: 6lowpan DAG Root, starting a RPL+TSCH network with link-layer security
+enabled. 6ln nodes are able to join both non-secured or secured networks.  

examples/ipv6/rpl-tsch/node.c

@@ -0,0 +1,210 @@
+/*
+ * Copyright (c) 2015, SICS Swedish ICT.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ * 3. Neither the name of the Institute nor the names of its contributors
+ *    may be used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED.  IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+ * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ *
+ */
+/**
+ * \file
+ *         A RPL+TSCH node able to act as either a simple node (6ln),
+ *         DAG Root (6dr) or DAG Root with security (6dr-sec)
+ *         Press use button at startup to configure.
+ *
+ * \author Simon Duquennoy <simonduq@sics.se>
+ */
+
+#include "contiki.h"
+#include "node-id.h"
+#include "net/rpl/rpl.h"
+#include "net/ipv6/uip-ds6-route.h"
+#include "net/mac/tsch/tsch.h"
+#if WITH_ORCHESTRA
+#include "orchestra.h"
+#endif /* WITH_ORCHESTRA */
+
+#define DEBUG DEBUG_PRINT
+#include "net/ip/uip-debug.h"
+
+#define CONFIG_VIA_BUTTON PLATFORM_HAS_BUTTON
+#if CONFIG_VIA_BUTTON
+#include "button-sensor.h"
+#endif /* CONFIG_VIA_BUTTON */
+
+/*---------------------------------------------------------------------------*/
+PROCESS(node_process, "RPL Node");
+#if CONFIG_VIA_BUTTON
+AUTOSTART_PROCESSES(&node_process, &sensors_process);
+#else /* CONFIG_VIA_BUTTON */
+AUTOSTART_PROCESSES(&node_process);
+#endif /* CONFIG_VIA_BUTTON */
+
+/*---------------------------------------------------------------------------*/
+static void
+print_network_status(void)
+{
+  int i;
+  uint8_t state;
+  uip_ds6_defrt_t *default_route;
+  uip_ds6_route_t *route;
+
+  PRINTA("--- Network status ---\n");
+  
+  /* Our IPv6 addresses */
+  PRINTA("- Server IPv6 addresses:\n");
+  for(i = 0; i < UIP_DS6_ADDR_NB; i++) {
+    state = uip_ds6_if.addr_list[i].state;
+    if(uip_ds6_if.addr_list[i].isused &&
+       (state == ADDR_TENTATIVE || state == ADDR_PREFERRED)) {
+      PRINTA("-- ");
+      uip_debug_ipaddr_print(&uip_ds6_if.addr_list[i].ipaddr);
+      PRINTA("\n");
+    }
+  }
+  
+  /* Our default route */
+  PRINTA("- Default route:\n");
+  default_route = uip_ds6_defrt_lookup(uip_ds6_defrt_choose());
+  if(default_route != NULL) {
+    PRINTA("-- ");
+    uip_debug_ipaddr_print(&default_route->ipaddr);;
+    PRINTA(" (lifetime: %lu seconds)\n", (unsigned long)default_route->lifetime.interval);
+  } else {
+    PRINTA("-- None\n");
+  }
+
+  /* Our routing entries */
+  PRINTA("- Routing entries (%u in total):\n", uip_ds6_route_num_routes());
+  route = uip_ds6_route_head();
+  while(route != NULL) {
+    PRINTA("-- ");
+    uip_debug_ipaddr_print(&route->ipaddr);
+    PRINTA(" via ");
+    uip_debug_ipaddr_print(uip_ds6_route_nexthop(route));
+    PRINTA(" (lifetime: %lu seconds)\n", (unsigned long)route->state.lifetime);
+    route = uip_ds6_route_next(route); 
+  }
+  
+  PRINTA("----------------------\n");
+}
+/*---------------------------------------------------------------------------*/
+static void
+net_init(uip_ipaddr_t *br_prefix)
+{
+  uip_ipaddr_t global_ipaddr;
+
+  if(br_prefix) { /* We are RPL root. Will be set automatically
+                     as TSCH pan coordinator via the tsch-rpl module */
+    memcpy(&global_ipaddr, br_prefix, 16);
+    uip_ds6_set_addr_iid(&global_ipaddr, &uip_lladdr);
+    uip_ds6_addr_add(&global_ipaddr, 0, ADDR_AUTOCONF);
+    rpl_set_root(RPL_DEFAULT_INSTANCE, &global_ipaddr);
+    rpl_set_prefix(rpl_get_any_dag(), br_prefix, 64);
+    rpl_repair_root(RPL_DEFAULT_INSTANCE);
+  }
+
+  NETSTACK_MAC.on();
+}
+/*---------------------------------------------------------------------------*/
+PROCESS_THREAD(node_process, ev, data)
+{
+  static struct etimer et;
+  PROCESS_BEGIN();
+
+  /* 3 possible roles:
+     * - role_6ln: simple node, will join any network, secured or not
+     * - role_6dr: DAG root, will advertise (unsecured) beacons
+     * - role_6dr_sec: DAG root, will advertise secured beacons
+     * */
+  static int is_coordinator = 0;
+  static enum { role_6ln, role_6dr, role_6dr_sec } node_role;
+  node_role = role_6ln;
+  
+  /* Set node with ID == 1 as coordinator, convenient in Cooja. */
+  if(node_id == 1) {
+    if(LLSEC802154_CONF_SECURITY_LEVEL) {
+      node_role = role_6dr_sec;
+    } else {
+      node_role = role_6dr;
+    }
+  } else {
+    node_role = role_6ln;
+  }
+
+#if CONFIG_VIA_BUTTON
+  {
+#define CONFIG_WAIT_TIME 5
+
+    SENSORS_ACTIVATE(button_sensor);
+    etimer_set(&et, CLOCK_SECOND * CONFIG_WAIT_TIME);
+
+    while(!etimer_expired(&et)) {
+      printf("Init: current role: %s. Will start in %u seconds. Press user button to toggle mode.\n",
+                node_role == role_6ln ? "6ln" : (node_role == role_6dr) ? "6dr" : "6dr-sec",
+                CONFIG_WAIT_TIME);
+      PROCESS_WAIT_EVENT_UNTIL(((ev == sensors_event) &&
+                                (data == &button_sensor) && button_sensor.value(0) > 0)
+                               || etimer_expired(&et));
+      if(ev == sensors_event && data == &button_sensor && button_sensor.value(0) > 0) {
+        node_role = (node_role + 1) % 3;
+        if(LLSEC802154_CONF_SECURITY_LEVEL == 0 && node_role == role_6dr_sec) {
+          node_role = (node_role + 1) % 3;
+        }
+        etimer_restart(&et);
+      }
+    }
+  }
+
+#endif /* CONFIG_VIA_BUTTON */
+
+  printf("Init: node starting with role %s\n",
+      node_role == role_6ln ? "6ln" : (node_role == role_6dr) ? "6dr" : "6dr-sec");
+
+  tsch_set_pan_secured(LLSEC802154_CONF_SECURITY_LEVEL && (node_role == role_6dr_sec));
+  is_coordinator = node_role > role_6ln;
+
+  if(is_coordinator) {
+    uip_ipaddr_t prefix;
+    uip_ip6addr(&prefix, 0xaaaa, 0, 0, 0, 0, 0, 0, 0);
+    net_init(&prefix);
+  } else {
+    net_init(NULL);
+  }
+  
+#if WITH_ORCHESTRA
+  orchestra_init();
+#endif /* WITH_ORCHESTRA */
+  
+  /* Print out routing tables every minute */
+  etimer_set(&et, CLOCK_SECOND * 60);
+  while(1) {      
+    print_network_status();
+    PROCESS_YIELD_UNTIL(etimer_expired(&et));
+    etimer_reset(&et);
+  }
+  
+  PROCESS_END();
+}
+/*---------------------------------------------------------------------------*/

examples/ipv6/rpl-tsch/project-conf.h

@@ -0,0 +1,161 @@
+/*
+ * Copyright (c) 2015, SICS Swedish ICT.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ * 3. Neither the name of the Institute nor the names of its contributors
+ *    may be used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED.  IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+ * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ *
+ */
+
+/**
+ * \author Simon Duquennoy <simonduq@sics.se>
+ */
+
+#ifndef __PROJECT_CONF_H__
+#define __PROJECT_CONF_H__
+
+/* Set to run orchestra */
+#ifndef WITH_ORCHESTRA
+#define WITH_ORCHESTRA 0
+#endif /* WITH_ORCHESTRA */
+
+/* Set to enable TSCH security */
+#ifndef WITH_SECURITY
+#define WITH_SECURITY 0
+#endif /* WITH_SECURITY */
+
+/*******************************************************/
+/********************* Enable TSCH *********************/
+/*******************************************************/
+
+/* Netstack layers */
+#undef NETSTACK_CONF_MAC
+#define NETSTACK_CONF_MAC     tschmac_driver
+#undef NETSTACK_CONF_RDC
+#define NETSTACK_CONF_RDC     nordc_driver
+#undef NETSTACK_CONF_FRAMER
+#define NETSTACK_CONF_FRAMER  framer_802154
+
+/* IEEE802.15.4 frame version */
+#undef FRAME802154_CONF_VERSION
+#define FRAME802154_CONF_VERSION FRAME802154_IEEE802154E_2012
+
+/* TSCH and RPL callbacks */
+#define RPL_CALLBACK_PARENT_SWITCH tsch_rpl_callback_parent_switch
+#define RPL_CALLBACK_NEW_DIO_INTERVAL tsch_rpl_callback_new_dio_interval
+#define TSCH_CALLBACK_JOINING_NETWORK tsch_rpl_callback_joining_network
+#define TSCH_CALLBACK_LEAVING_NETWORK tsch_rpl_callback_leaving_network
+
+/* Needed for cc2420 platforms only */
+/* Disable DCO calibration (uses timerB) */
+#undef DCOSYNCH_CONF_ENABLED
+#define DCOSYNCH_CONF_ENABLED            0
+/* Enable SFD timestamps (uses timerB) */
+#undef CC2420_CONF_SFD_TIMESTAMPS
+#define CC2420_CONF_SFD_TIMESTAMPS       1
+
+/*******************************************************/
+/******************* Configure TSCH ********************/
+/*******************************************************/
+
+/* TSCH logging. 0: disabled. 1: basic log. 2: with delayed
+ * log messages from interrupt */
+#undef TSCH_LOG_CONF_LEVEL
+#define TSCH_LOG_CONF_LEVEL 2
+
+/* IEEE802.15.4 PANID */
+#undef IEEE802154_CONF_PANID
+#define IEEE802154_CONF_PANID 0xabcd
+
+/* Do not start TSCH at init, wait for NETSTACK_MAC.on() */
+#undef TSCH_CONF_AUTOSTART
+#define TSCH_CONF_AUTOSTART 0
+
+/* 6TiSCH minimal schedule length.
+ * Larger values result in less frequent active slots: reduces capacity and saves energy. */
+#undef TSCH_SCHEDULE_CONF_DEFAULT_LENGTH
+#define TSCH_SCHEDULE_CONF_DEFAULT_LENGTH 3
+
+#if WITH_SECURITY
+
+/* Enable security */
+#undef LLSEC802154_CONF_SECURITY_LEVEL
+#define LLSEC802154_CONF_SECURITY_LEVEL 1
+/* TSCH uses explicit keys to identify k1 and k2 */
+#undef LLSEC802154_CONF_USES_EXPLICIT_KEYS
+#define LLSEC802154_CONF_USES_EXPLICIT_KEYS 1
+/* TSCH uses the ASN rather than frame counter to construct the Nonce */
+#undef LLSEC802154_CONF_USES_FRAME_COUNTER
+#define LLSEC802154_CONF_USES_FRAME_COUNTER 0
+
+#endif /* WITH_SECURITY */
+
+#if WITH_ORCHESTRA
+
+/* See apps/orchestra/README.md for more Orchestra configuration options */
+#define TSCH_SCHEDULE_CONF_WITH_6TISCH_MINIMAL 0 /* No 6TiSCH minimal schedule */
+#define TSCH_CONF_WITH_LINK_SELECTOR 1 /* Orchestra requires per-packet link selection */
+/* Orchestra callbacks */
+#define TSCH_CALLBACK_NEW_TIME_SOURCE orchestra_callback_new_time_source
+#define TSCH_CALLBACK_PACKET_READY orchestra_callback_packet_ready
+#define NETSTACK_CONF_ROUTING_NEIGHBOR_ADDED_CALLBACK orchestra_callback_child_added
+#define NETSTACK_CONF_ROUTING_NEIGHBOR_REMOVED_CALLBACK orchestra_callback_child_removed
+
+#endif /* WITH_ORCHESTRA */
+
+/*******************************************************/
+/************* Other system configuration **************/
+/*******************************************************/
+
+#if CONTIKI_TARGET_Z1
+/* Save some space to fit the limited RAM of the z1 */
+#undef UIP_CONF_TCP
+#define UIP_CONF_TCP 0
+#undef QUEUEBUF_CONF_NUM
+#define QUEUEBUF_CONF_NUM 4
+#undef UIP_CONF_MAX_ROUTES
+#define UIP_CONF_MAX_ROUTES  8
+#undef NBR_TABLE_CONF_MAX_NEIGHBORS
+#define NBR_TABLE_CONF_MAX_NEIGHBORS 8
+#undef UIP_CONF_ND6_SEND_NA
+#define UIP_CONF_ND6_SEND_NA 0
+#undef SICSLOWPAN_CONF_FRAG
+#define SICSLOWPAN_CONF_FRAG 0
+
+#if WITH_SECURITY
+/* Note: on sky or z1 in cooja, crypto operations are done in S/W and
+ * cannot be accommodated in normal slots. Use 65ms slots instead, and
+ * a very short 6TiSCH minimal schedule length */
+#undef TSCH_CONF_DEFAULT_TIMESLOT_LENGTH
+#define TSCH_CONF_DEFAULT_TIMESLOT_LENGTH 65000
+#undef TSCH_SCHEDULE_CONF_DEFAULT_LENGTH
+#define TSCH_SCHEDULE_CONF_DEFAULT_LENGTH 2
+/* Reduce log level to make space for security on z1 */
+#undef TSCH_LOG_CONF_LEVEL
+#define TSCH_LOG_CONF_LEVEL 1
+#endif /* WITH_SECURITY */
+
+#endif /* CONTIKI_TARGET_Z1 */
+
+#endif /* __PROJECT_CONF_H__ */

examples/ipv6/rpl-tsch/rpl-tsch-z1.csc

@@ -0,0 +1,267 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<simconf>
+  <project EXPORT="discard">[APPS_DIR]/mrm</project>
+  <project EXPORT="discard">[APPS_DIR]/mspsim</project>
+  <project EXPORT="discard">[APPS_DIR]/avrora</project>
+  <project EXPORT="discard">[APPS_DIR]/serial_socket</project>
+  <project EXPORT="discard">[APPS_DIR]/collect-view</project>
+  <project EXPORT="discard">[APPS_DIR]/powertracker</project>
+  <simulation>
+    <title>RPL+TSCH</title>
+    <randomseed>123456</randomseed>
+    <motedelay_us>1000000</motedelay_us>
+    <radiomedium>
+      org.contikios.cooja.radiomediums.UDGM
+      <transmitting_range>50.0</transmitting_range>
+      <interference_range>100.0</interference_range>
+      <success_ratio_tx>1.0</success_ratio_tx>
+      <success_ratio_rx>1.0</success_ratio_rx>
+    </radiomedium>
+    <events>
+      <logoutput>40000</logoutput>
+    </events>
+    <motetype>
+      org.contikios.cooja.mspmote.Z1MoteType
+      <identifier>z11</identifier>
+      <description>Z1 Mote Type #z11</description>
+      <source EXPORT="discard">[CONFIG_DIR]/node.c</source>
+      <commands EXPORT="discard">make node.z1 TARGET=z1</commands>
+      <firmware EXPORT="copy">[CONFIG_DIR]/node.z1</firmware>
+      <moteinterface>org.contikios.cooja.interfaces.Position</moteinterface>
+      <moteinterface>org.contikios.cooja.interfaces.RimeAddress</moteinterface>
+      <moteinterface>org.contikios.cooja.interfaces.IPAddress</moteinterface>
+      <moteinterface>org.contikios.cooja.interfaces.Mote2MoteRelations</moteinterface>
+      <moteinterface>org.contikios.cooja.interfaces.MoteAttributes</moteinterface>
+      <moteinterface>org.contikios.cooja.mspmote.interfaces.MspClock</moteinterface>
+      <moteinterface>org.contikios.cooja.mspmote.interfaces.MspMoteID</moteinterface>
+      <moteinterface>org.contikios.cooja.mspmote.interfaces.MspButton</moteinterface>
+      <moteinterface>org.contikios.cooja.mspmote.interfaces.Msp802154Radio</moteinterface>
+      <moteinterface>org.contikios.cooja.mspmote.interfaces.MspDefaultSerial</moteinterface>
+      <moteinterface>org.contikios.cooja.mspmote.interfaces.MspLED</moteinterface>
+      <moteinterface>org.contikios.cooja.mspmote.interfaces.MspDebugOutput</moteinterface>
+    </motetype>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>-1.285769821276336</x>
+        <y>38.58045647334346</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>1</id>
+      </interface_config>
+      <motetype_identifier>z11</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>-19.324109516886306</x>
+        <y>76.23135780254927</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>2</id>
+      </interface_config>
+      <motetype_identifier>z11</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>5.815501305791592</x>
+        <y>76.77463755494317</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>3</id>
+      </interface_config>
+      <motetype_identifier>z11</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>31.920697784030082</x>
+        <y>50.5212265977149</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>4</id>
+      </interface_config>
+      <motetype_identifier>z11</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>47.21747673247198</x>
+        <y>30.217765340599726</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>5</id>
+      </interface_config>
+      <motetype_identifier>z11</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>10.622284947035123</x>
+        <y>109.81862399725188</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>6</id>
+      </interface_config>
+      <motetype_identifier>z11</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>52.41150716335335</x>
+        <y>109.93228340481916</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>7</id>
+      </interface_config>
+      <motetype_identifier>z11</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>70.18727461718498</x>
+        <y>70.06861701541145</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>8</id>
+      </interface_config>
+      <motetype_identifier>z11</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>80.29870484201041</x>
+        <y>99.37351603835938</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>9</id>
+      </interface_config>
+      <motetype_identifier>z11</motetype_identifier>
+    </mote>
+  </simulation>
+  <plugin>
+    org.contikios.cooja.plugins.SimControl
+    <width>242</width>
+    <z>3</z>
+    <height>160</height>
+    <location_x>11</location_x>
+    <location_y>241</location_y>
+  </plugin>
+  <plugin>
+    org.contikios.cooja.plugins.Visualizer
+    <plugin_config>
+      <moterelations>true</moterelations>
+      <skin>org.contikios.cooja.plugins.skins.IDVisualizerSkin</skin>
+      <skin>org.contikios.cooja.plugins.skins.GridVisualizerSkin</skin>
+      <skin>org.contikios.cooja.plugins.skins.TrafficVisualizerSkin</skin>
+      <skin>org.contikios.cooja.plugins.skins.UDGMVisualizerSkin</skin>
+      <viewport>1.7405603810040515 0.0 0.0 1.7405603810040515 47.95980153208088 -42.576134155447555</viewport>
+    </plugin_config>
+    <width>236</width>
+    <z>2</z>
+    <height>230</height>
+    <location_x>1</location_x>
+    <location_y>1</location_y>
+  </plugin>
+  <plugin>
+    org.contikios.cooja.plugins.LogListener
+    <plugin_config>
+      <filter>ID:1</filter>
+      <formatted_time />
+      <coloring />
+    </plugin_config>
+    <width>1031</width>
+    <z>0</z>
+    <height>394</height>
+    <location_x>273</location_x>
+    <location_y>6</location_y>
+  </plugin>
+  <plugin>
+    org.contikios.cooja.plugins.TimeLine
+    <plugin_config>
+      <mote>0</mote>
+      <mote>1</mote>
+      <mote>2</mote>
+      <mote>3</mote>
+      <mote>4</mote>
+      <mote>5</mote>
+      <mote>6</mote>
+      <mote>7</mote>
+      <mote>8</mote>
+      <showRadioRXTX />
+      <showRadioHW />
+      <showLEDs />
+      <zoomfactor>16529.88882215865</zoomfactor>
+    </plugin_config>
+    <width>1304</width>
+    <z>1</z>
+    <height>311</height>
+    <location_x>0</location_x>
+    <location_y>412</location_y>
+  </plugin>
+</simconf>
+

platform/jn516x/Makefile.jn516x

@@ -82,7 +82,7 @@ OBJDUMP:=$(CROSS_COMPILE)-objdump
 
 ARCH = ccm-star.c exceptions.c rtimer-arch.c rtimer-arch-slow.c \
        slip_uart0.c clock.c micromac-radio.c \
-       mtarch.c node-id.c watchdog.c log.c ringbufindex.c slip.c sprintf.c 
+       mtarch.c node-id.c watchdog.c log.c slip.c sprintf.c
 # Default uart0 for printf and slip
 TARGET_WITH_UART0 ?= 1
 TARGET_WITH_UART1 ?= 0
@@ -145,7 +145,7 @@ CLEAN += *.jn516x.bin
 
 MODULES += core/net \
            core/net/mac \
-           core/net/mac/contikimac \
+           core/net/mac/contikimac core/net/mac/tsch \
            core/net/llsec core/net/llsec/noncoresec 
 
 CONTIKI_TARGET_SOURCEFILES += $(ARCH)

platform/jn516x/contiki-conf.h

@@ -59,6 +59,10 @@
 #define NETSTACK_CONF_FRAMER  framer_802154
 #endif /* NETSTACK_CONF_FRAMER */
 
+/* IEEE802.15.4 frame version */
+#undef FRAME802154_CONF_VERSION
+#define FRAME802154_CONF_VERSION FRAME802154_IEEE802154E_2012
+
 #define PACKETBUF_CONF_ATTRS_INLINE 1
 
 #ifndef IEEE802154_CONF_PANID

platform/jn516x/dev/micromac-radio.c

@@ -206,72 +206,6 @@ PROCESS(micromac_radio_process, "micromac_radio_driver");
 #define RADIO_RX_MODE_POLL_MODE        (1 << 2)
 #endif /* RADIO_RX_MODE_POLL_MODE */
 
-#ifndef FRAME802154_IEEE802154E_2012
-/* We define here the missing few features this driver needs from IEEE802.15.4e */
-#define FRAME802154_IEEE802154E_2012      (0x02)
-/*----------------------------------------------------------------------------*/
-uint16_t
-frame802154_get_pan_id()
-{
-  return IEEE802154_PANID;
-}
-/*----------------------------------------------------------------------------*/
-static void
-frame802154_has_panid(frame802154_fcf_t *fcf, int *has_src_pan_id, int *has_dest_pan_id)
-{
-  int src_pan_id = 0;
-  int dest_pan_id = 0;
-
-  if(fcf == NULL) {
-    return;
-  }
-  if(fcf->frame_version == FRAME802154_IEEE802154E_2012) {
-    if(!fcf->panid_compression) {
-      /* Compressed PAN ID == no PAN ID at all */
-      if(fcf->dest_addr_mode == fcf->dest_addr_mode) {
-        /* No address or both addresses: include destination PAN ID */
-        dest_pan_id = 1;
-      } else if(fcf->dest_addr_mode) {
-        /* Only dest address, include dest PAN ID */
-        dest_pan_id = 1;
-      } else if(fcf->src_addr_mode) {
-        /* Only src address, include src PAN ID */
-        src_pan_id = 1;
-      }
-    }
-    if(fcf->dest_addr_mode == 0 && fcf->dest_addr_mode == 1) {
-      /* No address included, include dest PAN ID conditionally */
-      if(!fcf->panid_compression) {
-        dest_pan_id = 1;
-        /* Remove the following rule the day rows 2 and 3 from table 2a are fixed: */
-      }
-    }
-    if(fcf->dest_addr_mode == 0 && fcf->dest_addr_mode == 0) {
-      /* Not meaningful, we include a PAN ID iff the compress flag is set, but
-       * this is what the standard currently stipulates */
-      dest_pan_id = fcf->panid_compression;
-    }
-  } else
-  /* No PAN ID in ACK */
-  if(fcf->frame_type != FRAME802154_ACKFRAME) {
-    if(!fcf->panid_compression && fcf->src_addr_mode & 3) {
-      /* If compressed, don't inclue source PAN ID */
-      src_pan_id = 1;
-    }
-    if(fcf->dest_addr_mode & 3) {
-      dest_pan_id = 1;
-    }
-  }
-
-  if(has_src_pan_id != NULL) {
-    *has_src_pan_id = src_pan_id;
-  }
-  if(has_dest_pan_id != NULL) {
-    *has_dest_pan_id = dest_pan_id;
-  }
-}
-#endif /* FRAME802154_IEEE802154E_2012 */
-
 /*---------------------------------------------------------------------------*/
 static rtimer_clock_t
 get_packet_timestamp(void)

platform/sky/contiki-conf.h

@@ -37,6 +37,10 @@
 #define CC2420_CONF_AUTOACK              1
 #endif /* CC2420_CONF_AUTOACK */
 
+/* The TSCH default slot length of 10ms is a bit too short for this platform,
+ * use 15ms instead. */
+#define TSCH_CONF_DEFAULT_TIMESLOT_LENGTH 15000
+
 /* Specify whether the RDC layer should enable
    per-packet power profiling. */
 #define CONTIKIMAC_CONF_COMPOWER         1

platform/sky/platform-conf.h

@@ -46,6 +46,15 @@
 /* Platform TMOTE_SKY */
 #define TMOTE_SKY 1
 
+/* Delay between GO signal and SFD: radio fixed delay + 4Bytes preample + 1B SFD -- 1Byte time is 32us
+ * ~327us + 129preample = 456 us */
+#define RADIO_DELAY_BEFORE_TX ((unsigned)US_TO_RTIMERTICKS(456))
+/* Delay between GO signal and start listening
+ * ~50us delay + 129preample + ?? = 183 us */
+#define RADIO_DELAY_BEFORE_RX ((unsigned)US_TO_RTIMERTICKS(183))
+/* Delay between the SFD finishes arriving and it is detected in software */
+#define RADIO_DELAY_BEFORE_DETECT 0
+
 #define PLATFORM_HAS_LEDS    1
 #define PLATFORM_HAS_BUTTON  1
 #define PLATFORM_HAS_LIGHT   1

platform/z1/contiki-conf.h

@@ -103,6 +103,10 @@
 
 #define IEEE802154_CONF_PANID       0xABCD
 
+/* The TSCH default slot length of 10ms is a bit too short for this platform,
+ * use 15ms instead. */
+#define TSCH_CONF_DEFAULT_TIMESLOT_LENGTH 15000
+
 #define SHELL_VARS_CONF_RAM_BEGIN 0x1100
 #define SHELL_VARS_CONF_RAM_END 0x2000
 

platform/z1/platform-conf.h

@@ -43,6 +43,15 @@
  */
 #define ZOLERTIA_Z1 1  /* Enric */
 
+/* Delay between GO signal and SFD: radio fixed delay + 4Bytes preample + 1B SFD -- 1Byte time is 32us
+ * ~327us + 129preample = 456 us */
+#define RADIO_DELAY_BEFORE_TX ((unsigned)US_TO_RTIMERTICKS(456))
+/* Delay between GO signal and start listening
+ * ~50us delay + 129preample + ?? = 183 us */
+#define RADIO_DELAY_BEFORE_RX ((unsigned)US_TO_RTIMERTICKS(183))
+/* Delay between the SFD finishes arriving and it is detected in software */
+#define RADIO_DELAY_BEFORE_DETECT 0
+
 #define PLATFORM_HAS_LEDS    1
 #define PLATFORM_HAS_BUTTON  1
 #define PLATFORM_HAS_RADIO   1

regression-tests/01-compile-base/Makefile

@@ -34,6 +34,9 @@ wget/minimal-net \
 zolertia/z1/z1 \
 settings-example/avr-raven \
 ipv6/multicast/sky \
+ipv6/rpl-tsch/z1 \
+ipv6/rpl-tsch/z1:MAKE_WITH_ORCHESTRA=1 \
+ipv6/rpl-tsch/z1:MAKE_WITH_SECURITY=1
 
 
 TOOLS=

regression-tests/11-ipv6/19-z1-rpl-tsch.csc

@@ -0,0 +1,288 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<simconf>
+  <project EXPORT="discard">[APPS_DIR]/mrm</project>
+  <project EXPORT="discard">[APPS_DIR]/mspsim</project>
+  <project EXPORT="discard">[APPS_DIR]/avrora</project>
+  <project EXPORT="discard">[APPS_DIR]/serial_socket</project>
+  <project EXPORT="discard">[APPS_DIR]/collect-view</project>
+  <project EXPORT="discard">[APPS_DIR]/powertracker</project>
+  <simulation>
+    <title>RPL+TSCH</title>
+    <randomseed>123456</randomseed>
+    <motedelay_us>1000000</motedelay_us>
+    <radiomedium>
+      org.contikios.cooja.radiomediums.UDGM
+      <transmitting_range>50.0</transmitting_range>
+      <interference_range>100.0</interference_range>
+      <success_ratio_tx>1.0</success_ratio_tx>
+      <success_ratio_rx>1.0</success_ratio_rx>
+    </radiomedium>
+    <events>
+      <logoutput>40000</logoutput>
+    </events>
+    <motetype>
+      org.contikios.cooja.mspmote.Z1MoteType
+      <identifier>z11</identifier>
+      <description>Z1 Mote Type #z11</description>
+      <source EXPORT="discard">[CONTIKI_DIR]/examples/ipv6/rpl-tsch/node.c</source>
+      <commands EXPORT="discard">make TARGET=z1 clean
+make node.z1 TARGET=z1 MAKE_WITH_ORCHESTRA=0 MAKE_WITH_SECURITY=0</commands>
+      <firmware EXPORT="copy">[CONTIKI_DIR]/examples/ipv6/rpl-tsch/node.z1</firmware>
+      <moteinterface>org.contikios.cooja.interfaces.Position</moteinterface>
+      <moteinterface>org.contikios.cooja.interfaces.RimeAddress</moteinterface>
+      <moteinterface>org.contikios.cooja.interfaces.IPAddress</moteinterface>
+      <moteinterface>org.contikios.cooja.interfaces.Mote2MoteRelations</moteinterface>
+      <moteinterface>org.contikios.cooja.interfaces.MoteAttributes</moteinterface>
+      <moteinterface>org.contikios.cooja.mspmote.interfaces.MspClock</moteinterface>
+      <moteinterface>org.contikios.cooja.mspmote.interfaces.MspMoteID</moteinterface>
+      <moteinterface>org.contikios.cooja.mspmote.interfaces.MspButton</moteinterface>
+      <moteinterface>org.contikios.cooja.mspmote.interfaces.Msp802154Radio</moteinterface>
+      <moteinterface>org.contikios.cooja.mspmote.interfaces.MspDefaultSerial</moteinterface>
+      <moteinterface>org.contikios.cooja.mspmote.interfaces.MspLED</moteinterface>
+      <moteinterface>org.contikios.cooja.mspmote.interfaces.MspDebugOutput</moteinterface>
+    </motetype>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>-1.285769821276336</x>
+        <y>38.58045647334346</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>1</id>
+      </interface_config>
+      <motetype_identifier>z11</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>-19.324109516886306</x>
+        <y>76.23135780254927</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>2</id>
+      </interface_config>
+      <motetype_identifier>z11</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>5.815501305791592</x>
+        <y>76.77463755494317</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>3</id>
+      </interface_config>
+      <motetype_identifier>z11</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>31.920697784030082</x>
+        <y>50.5212265977149</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>4</id>
+      </interface_config>
+      <motetype_identifier>z11</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>47.21747673247198</x>
+        <y>30.217765340599726</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>5</id>
+      </interface_config>
+      <motetype_identifier>z11</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>10.622284947035123</x>
+        <y>109.81862399725188</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>6</id>
+      </interface_config>
+      <motetype_identifier>z11</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>52.41150716335335</x>
+        <y>109.93228340481916</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>7</id>
+      </interface_config>
+      <motetype_identifier>z11</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>70.18727461718498</x>
+        <y>70.06861701541145</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>8</id>
+      </interface_config>
+      <motetype_identifier>z11</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>80.29870484201041</x>
+        <y>99.37351603835938</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>9</id>
+      </interface_config>
+      <motetype_identifier>z11</motetype_identifier>
+    </mote>
+  </simulation>
+  <plugin>
+    org.contikios.cooja.plugins.SimControl
+    <width>242</width>
+    <z>4</z>
+    <height>160</height>
+    <location_x>11</location_x>
+    <location_y>241</location_y>
+  </plugin>
+  <plugin>
+    org.contikios.cooja.plugins.Visualizer
+    <plugin_config>
+      <moterelations>true</moterelations>
+      <skin>org.contikios.cooja.plugins.skins.IDVisualizerSkin</skin>
+      <skin>org.contikios.cooja.plugins.skins.GridVisualizerSkin</skin>
+      <skin>org.contikios.cooja.plugins.skins.TrafficVisualizerSkin</skin>
+      <skin>org.contikios.cooja.plugins.skins.UDGMVisualizerSkin</skin>
+      <viewport>1.7405603810040515 0.0 0.0 1.7405603810040515 47.95980153208088 -42.576134155447555</viewport>
+    </plugin_config>
+    <width>236</width>
+    <z>3</z>
+    <height>230</height>
+    <location_x>1</location_x>
+    <location_y>1</location_y>
+  </plugin>
+  <plugin>
+    org.contikios.cooja.plugins.LogListener
+    <plugin_config>
+      <filter>ID:1</filter>
+      <formatted_time />
+      <coloring />
+    </plugin_config>
+    <width>1031</width>
+    <z>0</z>
+    <height>394</height>
+    <location_x>273</location_x>
+    <location_y>6</location_y>
+  </plugin>
+  <plugin>
+    org.contikios.cooja.plugins.TimeLine
+    <plugin_config>
+      <mote>0</mote>
+      <mote>1</mote>
+      <mote>2</mote>
+      <mote>3</mote>
+      <mote>4</mote>
+      <mote>5</mote>
+      <mote>6</mote>
+      <mote>7</mote>
+      <mote>8</mote>
+      <showRadioRXTX />
+      <showRadioHW />
+      <showLEDs />
+      <zoomfactor>16529.88882215865</zoomfactor>
+    </plugin_config>
+    <width>1304</width>
+    <z>2</z>
+    <height>311</height>
+    <location_x>0</location_x>
+    <location_y>412</location_y>
+  </plugin>
+  <plugin>
+    org.contikios.cooja.plugins.ScriptRunner
+    <plugin_config>
+      <script>TIMEOUT(300000); /* Time out after 5 minutes */&#xD;
+&#xD;
+/* Wait until a node (can only be the DAGRoot) has&#xD;
+ * 8 routing entries (i.e. can reach every node) */&#xD;
+log.log("Waiting for routing tables to fill\n");&#xD;
+WAIT_UNTIL(msg.endsWith("Routing entries (8 in total):"));&#xD;
+log.log("Root routing table ready\n");&#xD;
+&#xD;
+log.testOK(); /* Report test success and quit */</script>
+      <active>true</active>
+    </plugin_config>
+    <width>764</width>
+    <z>1</z>
+    <height>995</height>
+    <location_x>963</location_x>
+    <location_y>111</location_y>
+  </plugin>
+</simconf>
+

regression-tests/11-ipv6/20-z1-rpl-tsch-orchestra.csc

@@ -0,0 +1,293 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<simconf>
+  <project EXPORT="discard">[APPS_DIR]/mrm</project>
+  <project EXPORT="discard">[APPS_DIR]/mspsim</project>
+  <project EXPORT="discard">[APPS_DIR]/avrora</project>
+  <project EXPORT="discard">[APPS_DIR]/serial_socket</project>
+  <project EXPORT="discard">[APPS_DIR]/collect-view</project>
+  <project EXPORT="discard">[APPS_DIR]/powertracker</project>
+  <simulation>
+    <title>RPL+TSCH+Orchestrsa</title>
+    <randomseed>123456</randomseed>
+    <motedelay_us>1000000</motedelay_us>
+    <radiomedium>
+      org.contikios.cooja.radiomediums.UDGM
+      <transmitting_range>50.0</transmitting_range>
+      <interference_range>100.0</interference_range>
+      <success_ratio_tx>1.0</success_ratio_tx>
+      <success_ratio_rx>1.0</success_ratio_rx>
+    </radiomedium>
+    <events>
+      <logoutput>40000</logoutput>
+    </events>
+    <motetype>
+      org.contikios.cooja.mspmote.Z1MoteType
+      <identifier>z11</identifier>
+      <description>Z1 Mote Type #z11</description>
+      <source EXPORT="discard">[CONTIKI_DIR]/examples/ipv6/rpl-tsch/node.c</source>
+      <commands EXPORT="discard">make TARGET=z1 clean
+make node.z1 TARGET=z1 MAKE_WITH_ORCHESTRA=1 MAKE_WITH_SECURITY=0</commands>
+      <firmware EXPORT="copy">[CONTIKI_DIR]/examples/ipv6/rpl-tsch/node.z1</firmware>
+      <moteinterface>org.contikios.cooja.interfaces.Position</moteinterface>
+      <moteinterface>org.contikios.cooja.interfaces.RimeAddress</moteinterface>
+      <moteinterface>org.contikios.cooja.interfaces.IPAddress</moteinterface>
+      <moteinterface>org.contikios.cooja.interfaces.Mote2MoteRelations</moteinterface>
+      <moteinterface>org.contikios.cooja.interfaces.MoteAttributes</moteinterface>
+      <moteinterface>org.contikios.cooja.mspmote.interfaces.MspClock</moteinterface>
+      <moteinterface>org.contikios.cooja.mspmote.interfaces.MspMoteID</moteinterface>
+      <moteinterface>org.contikios.cooja.mspmote.interfaces.MspButton</moteinterface>
+      <moteinterface>org.contikios.cooja.mspmote.interfaces.Msp802154Radio</moteinterface>
+      <moteinterface>org.contikios.cooja.mspmote.interfaces.MspDefaultSerial</moteinterface>
+      <moteinterface>org.contikios.cooja.mspmote.interfaces.MspLED</moteinterface>
+      <moteinterface>org.contikios.cooja.mspmote.interfaces.MspDebugOutput</moteinterface>
+    </motetype>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>-1.285769821276336</x>
+        <y>38.58045647334346</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>1</id>
+      </interface_config>
+      <motetype_identifier>z11</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>-19.324109516886306</x>
+        <y>76.23135780254927</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>2</id>
+      </interface_config>
+      <motetype_identifier>z11</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>5.815501305791592</x>
+        <y>76.77463755494317</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>3</id>
+      </interface_config>
+      <motetype_identifier>z11</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>31.920697784030082</x>
+        <y>50.5212265977149</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>4</id>
+      </interface_config>
+      <motetype_identifier>z11</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>47.21747673247198</x>
+        <y>30.217765340599726</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>5</id>
+      </interface_config>
+      <motetype_identifier>z11</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>10.622284947035123</x>
+        <y>109.81862399725188</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>6</id>
+      </interface_config>
+      <motetype_identifier>z11</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>52.41150716335335</x>
+        <y>109.93228340481916</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>7</id>
+      </interface_config>
+      <motetype_identifier>z11</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>70.18727461718498</x>
+        <y>70.06861701541145</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>8</id>
+      </interface_config>
+      <motetype_identifier>z11</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>80.29870484201041</x>
+        <y>99.37351603835938</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>9</id>
+      </interface_config>
+      <motetype_identifier>z11</motetype_identifier>
+    </mote>
+  </simulation>
+  <plugin>
+    org.contikios.cooja.plugins.SimControl
+    <width>242</width>
+    <z>4</z>
+    <height>160</height>
+    <location_x>11</location_x>
+    <location_y>241</location_y>
+  </plugin>
+  <plugin>
+    org.contikios.cooja.plugins.Visualizer
+    <plugin_config>
+      <moterelations>true</moterelations>
+      <skin>org.contikios.cooja.plugins.skins.IDVisualizerSkin</skin>
+      <skin>org.contikios.cooja.plugins.skins.GridVisualizerSkin</skin>
+      <skin>org.contikios.cooja.plugins.skins.TrafficVisualizerSkin</skin>
+      <skin>org.contikios.cooja.plugins.skins.UDGMVisualizerSkin</skin>
+      <viewport>1.7405603810040515 0.0 0.0 1.7405603810040515 47.95980153208088 -42.576134155447555</viewport>
+    </plugin_config>
+    <width>236</width>
+    <z>3</z>
+    <height>230</height>
+    <location_x>1</location_x>
+    <location_y>1</location_y>
+  </plugin>
+  <plugin>
+    org.contikios.cooja.plugins.LogListener
+    <plugin_config>
+      <filter>ID:1</filter>
+      <formatted_time />
+      <coloring />
+    </plugin_config>
+    <width>1031</width>
+    <z>0</z>
+    <height>394</height>
+    <location_x>273</location_x>
+    <location_y>6</location_y>
+  </plugin>
+  <plugin>
+    org.contikios.cooja.plugins.TimeLine
+    <plugin_config>
+      <mote>0</mote>
+      <mote>1</mote>
+      <mote>2</mote>
+      <mote>3</mote>
+      <mote>4</mote>
+      <mote>5</mote>
+      <mote>6</mote>
+      <mote>7</mote>
+      <mote>8</mote>
+      <showRadioRXTX />
+      <showRadioHW />
+      <showLEDs />
+      <zoomfactor>16529.88882215865</zoomfactor>
+    </plugin_config>
+    <width>1304</width>
+    <z>2</z>
+    <height>311</height>
+    <location_x>0</location_x>
+    <location_y>412</location_y>
+  </plugin>
+  <plugin>
+    org.contikios.cooja.plugins.ScriptRunner
+    <plugin_config>
+      <script>TIMEOUT(300000); /* Time out after 5 minutes */&#xD;
+&#xD;
+log.log("Waiting for Orchestra to start\n");&#xD;
+/* Check that Orchestra is running */&#xD;
+WAIT_UNTIL(msg.startsWith("Orchestra:"));&#xD;
+log.log("Orchestra started\n");&#xD;
+&#xD;
+/* Wait until a node (can only be the DAGRoot) has&#xD;
+ * 8 routing entries (i.e. can reach every node) */&#xD;
+log.log("Waiting for routing tables to fill\n");&#xD;
+WAIT_UNTIL(msg.endsWith("Routing entries (8 in total):"));&#xD;
+log.log("Root routing table ready\n");&#xD;
+&#xD;
+log.testOK(); /* Report test success and quit */</script>
+      <active>true</active>
+    </plugin_config>
+    <width>764</width>
+    <z>1</z>
+    <height>995</height>
+    <location_x>963</location_x>
+    <location_y>111</location_y>
+  </plugin>
+</simconf>
+

regression-tests/11-ipv6/21-z1-rpl-tsch-security.csc

@@ -0,0 +1,293 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<simconf>
+  <project EXPORT="discard">[APPS_DIR]/mrm</project>
+  <project EXPORT="discard">[APPS_DIR]/mspsim</project>
+  <project EXPORT="discard">[APPS_DIR]/avrora</project>
+  <project EXPORT="discard">[APPS_DIR]/serial_socket</project>
+  <project EXPORT="discard">[APPS_DIR]/collect-view</project>
+  <project EXPORT="discard">[APPS_DIR]/powertracker</project>
+  <simulation>
+    <title>RPL+TSCH+Security</title>
+    <randomseed>123456</randomseed>
+    <motedelay_us>1000000</motedelay_us>
+    <radiomedium>
+      org.contikios.cooja.radiomediums.UDGM
+      <transmitting_range>50.0</transmitting_range>
+      <interference_range>100.0</interference_range>
+      <success_ratio_tx>1.0</success_ratio_tx>
+      <success_ratio_rx>1.0</success_ratio_rx>
+    </radiomedium>
+    <events>
+      <logoutput>40000</logoutput>
+    </events>
+    <motetype>
+      org.contikios.cooja.mspmote.Z1MoteType
+      <identifier>z11</identifier>
+      <description>Z1 Mote Type #z11</description>
+      <source EXPORT="discard">[CONTIKI_DIR]/examples/ipv6/rpl-tsch/node.c</source>
+      <commands EXPORT="discard">make TARGET=z1 clean
+make node.z1 TARGET=z1 MAKE_WITH_ORCHESTRA=0 MAKE_WITH_SECURITY=1</commands>
+      <firmware EXPORT="copy">[CONTIKI_DIR]/examples/ipv6/rpl-tsch/node.z1</firmware>
+      <moteinterface>org.contikios.cooja.interfaces.Position</moteinterface>
+      <moteinterface>org.contikios.cooja.interfaces.RimeAddress</moteinterface>
+      <moteinterface>org.contikios.cooja.interfaces.IPAddress</moteinterface>
+      <moteinterface>org.contikios.cooja.interfaces.Mote2MoteRelations</moteinterface>
+      <moteinterface>org.contikios.cooja.interfaces.MoteAttributes</moteinterface>
+      <moteinterface>org.contikios.cooja.mspmote.interfaces.MspClock</moteinterface>
+      <moteinterface>org.contikios.cooja.mspmote.interfaces.MspMoteID</moteinterface>
+      <moteinterface>org.contikios.cooja.mspmote.interfaces.MspButton</moteinterface>
+      <moteinterface>org.contikios.cooja.mspmote.interfaces.Msp802154Radio</moteinterface>
+      <moteinterface>org.contikios.cooja.mspmote.interfaces.MspDefaultSerial</moteinterface>
+      <moteinterface>org.contikios.cooja.mspmote.interfaces.MspLED</moteinterface>
+      <moteinterface>org.contikios.cooja.mspmote.interfaces.MspDebugOutput</moteinterface>
+    </motetype>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>-1.285769821276336</x>
+        <y>38.58045647334346</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>1</id>
+      </interface_config>
+      <motetype_identifier>z11</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>-19.324109516886306</x>
+        <y>76.23135780254927</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>2</id>
+      </interface_config>
+      <motetype_identifier>z11</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>5.815501305791592</x>
+        <y>76.77463755494317</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>3</id>
+      </interface_config>
+      <motetype_identifier>z11</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>31.920697784030082</x>
+        <y>50.5212265977149</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>4</id>
+      </interface_config>
+      <motetype_identifier>z11</motetype_identifier>
+    </mote>
+    <mote>
+      <breakpoints />
+      <interface_config>
+        org.contikios.cooja.interfaces.Position
+        <x>47.21747673247198</x>
+        <y>30.217765340599726</y>
+        <z>0.0</z>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspClock
+        <deviation>1.0</deviation>
+      </interface_config>
+      <interface_config>
+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>5</id>
+      </interface_config>
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+        org.contikios.cooja.interfaces.Position
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+        <deviation>1.0</deviation>
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+        org.contikios.cooja.mspmote.interfaces.MspMoteID
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+        org.contikios.cooja.interfaces.Position
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+        org.contikios.cooja.mspmote.interfaces.MspMoteID
+        <id>9</id>
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+      <motetype_identifier>z11</motetype_identifier>
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+  <plugin>
+    org.contikios.cooja.plugins.SimControl
+    <width>242</width>
+    <z>4</z>
+    <height>160</height>
+    <location_x>11</location_x>
+    <location_y>241</location_y>
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+  <plugin>
+    org.contikios.cooja.plugins.Visualizer
+    <plugin_config>
+      <moterelations>true</moterelations>
+      <skin>org.contikios.cooja.plugins.skins.IDVisualizerSkin</skin>
+      <skin>org.contikios.cooja.plugins.skins.GridVisualizerSkin</skin>
+      <skin>org.contikios.cooja.plugins.skins.TrafficVisualizerSkin</skin>
+      <skin>org.contikios.cooja.plugins.skins.UDGMVisualizerSkin</skin>
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+    <z>3</z>
+    <height>230</height>
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+    <location_y>1</location_y>
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+  <plugin>
+    org.contikios.cooja.plugins.LogListener
+    <plugin_config>
+      <filter>ID:1</filter>
+      <formatted_time />
+      <coloring />
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+    <location_x>273</location_x>
+    <location_y>6</location_y>
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+  <plugin>
+    org.contikios.cooja.plugins.TimeLine
+    <plugin_config>
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+      <mote>1</mote>
+      <mote>2</mote>
+      <mote>3</mote>
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+      <mote>8</mote>
+      <showRadioRXTX />
+      <showRadioHW />
+      <showLEDs />
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+    <height>311</height>
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+    <location_y>412</location_y>
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+  <plugin>
+    org.contikios.cooja.plugins.ScriptRunner
+    <plugin_config>
+      <script>TIMEOUT(300000); /* Time out after 5 minutes */&#xD;
+&#xD;
+log.log("Waiting for association with security\n");&#xD;
+/* Check that nodes associate with security */&#xD;
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+log.log("Association with security done\n");&#xD;
+&#xD;
+/* Wait until a node (can only be the DAGRoot) has&#xD;
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+log.log("Waiting for routing tables to fill\n");&#xD;
+WAIT_UNTIL(msg.endsWith("Routing entries (8 in total):"));&#xD;
+log.log("Root routing table ready\n");&#xD;
+&#xD;
+log.testOK(); /* Report test success and quit */</script>
+      <active>true</active>
+    </plugin_config>
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+    <z>1</z>
+    <height>995</height>
+    <location_x>963</location_x>
+    <location_y>111</location_y>
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+</simconf>
+

regression-tests/22-compile-nxp-ports/Makefile

@@ -3,13 +3,17 @@ TOOLSDIR=../../tools
 
 # build jn516x examples, covering IPv6, RPL, CoAP, Rime, Nullrdc, Contikimac
 EXAMPLES = \
+hello-world/jn516x \
 jn516x/dr1175-sensors/jn516x \
 jn516x/rime/jn516x \
 jn516x/rpl/border-router/jn516x \
 jn516x/rpl/node/jn516x \
 jn516x/rpl/coap-dongle-node/jn516x \
 jn516x/rpl/coap-dr1175-node/jn516x \
-jn516x/rpl/coap-dr1199-node/jn516x  
+jn516x/rpl/coap-dr1199-node/jn516x \
+ipv6/rpl-tsch/jn516x \
+ipv6/rpl-tsch/jn516x:MAKE_WITH_ORCHESTRA=1 \
+ipv6/rpl-tsch/jn516x:MAKE_WITH_SECURITY=1
 
 TOOLS=