1030 lines
35 KiB
C
1030 lines
35 KiB
C
/*
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* Copyright (c) 2015, SICS Swedish ICT.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* 3. Neither the name of the Institute nor the names of its contributors
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* may be used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
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* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
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* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
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* OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
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* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
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* OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
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* SUCH DAMAGE.
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*
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* This file is part of the Contiki operating system.
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*
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*/
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/**
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* \file
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* IEEE 802.15.4 TSCH MAC implementation.
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* Does not use any RDC layer. Should be used with nordc.
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* \author
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* Simon Duquennoy <simonduq@sics.se>
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* Beshr Al Nahas <beshr@sics.se>
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*
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*/
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#include "contiki.h"
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#include "dev/radio.h"
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#include "net/netstack.h"
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#include "net/packetbuf.h"
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#include "net/queuebuf.h"
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#include "net/nbr-table.h"
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#include "net/mac/framer-802154.h"
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#include "net/mac/tsch/tsch.h"
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#include "net/mac/tsch/tsch-slot-operation.h"
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#include "net/mac/tsch/tsch-queue.h"
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#include "net/mac/tsch/tsch-private.h"
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#include "net/mac/tsch/tsch-log.h"
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#include "net/mac/tsch/tsch-packet.h"
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#include "net/mac/tsch/tsch-security.h"
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#include "net/mac/mac-sequence.h"
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#include "lib/random.h"
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#if FRAME802154_VERSION < FRAME802154_IEEE802154E_2012
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#error TSCH: FRAME802154_VERSION must be at least FRAME802154_IEEE802154E_2012
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#endif
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#if TSCH_LOG_LEVEL >= 1
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#define DEBUG DEBUG_PRINT
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#else /* TSCH_LOG_LEVEL */
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#define DEBUG DEBUG_NONE
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#endif /* TSCH_LOG_LEVEL */
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#include "net/net-debug.h"
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/* Use to collect link statistics even on Keep-Alive, even though they were
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* not sent from an upper layer and don't have a valid packet_sent callback */
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#ifndef TSCH_LINK_NEIGHBOR_CALLBACK
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#if NETSTACK_CONF_WITH_IPV6
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void uip_ds6_link_neighbor_callback(int status, int numtx);
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#define TSCH_LINK_NEIGHBOR_CALLBACK(dest, status, num) uip_ds6_link_neighbor_callback(status, num)
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#endif /* NETSTACK_CONF_WITH_IPV6 */
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#endif /* TSCH_LINK_NEIGHBOR_CALLBACK */
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/* Let TSCH select a time source with no help of an upper layer.
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* We do so using statistics from incoming EBs */
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#if TSCH_AUTOSELECT_TIME_SOURCE
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int best_neighbor_eb_count;
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struct eb_stat {
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int rx_count;
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int jp;
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};
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NBR_TABLE(struct eb_stat, eb_stats);
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#endif /* TSCH_AUTOSELECT_TIME_SOURCE */
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/* TSCH channel hopping sequence */
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uint8_t tsch_hopping_sequence[TSCH_HOPPING_SEQUENCE_MAX_LEN];
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struct tsch_asn_divisor_t tsch_hopping_sequence_length;
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/* Default TSCH timeslot timing (in micro-second) */
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static const uint16_t tsch_default_timing_us[tsch_ts_elements_count] = {
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TSCH_DEFAULT_TS_CCA_OFFSET,
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TSCH_DEFAULT_TS_CCA,
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TSCH_DEFAULT_TS_TX_OFFSET,
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TSCH_DEFAULT_TS_RX_OFFSET,
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TSCH_DEFAULT_TS_RX_ACK_DELAY,
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TSCH_DEFAULT_TS_TX_ACK_DELAY,
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TSCH_DEFAULT_TS_RX_WAIT,
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TSCH_DEFAULT_TS_ACK_WAIT,
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TSCH_DEFAULT_TS_RX_TX,
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TSCH_DEFAULT_TS_MAX_ACK,
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TSCH_DEFAULT_TS_MAX_TX,
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TSCH_DEFAULT_TS_TIMESLOT_LENGTH,
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};
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/* TSCH timeslot timing (in rtimer ticks) */
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rtimer_clock_t tsch_timing[tsch_ts_elements_count];
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#if LINKADDR_SIZE == 8
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/* 802.15.4 broadcast MAC address */
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const linkaddr_t tsch_broadcast_address = { { 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff, 0xff } };
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/* Address used for the EB virtual neighbor queue */
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const linkaddr_t tsch_eb_address = { { 0, 0, 0, 0, 0, 0, 0, 0 } };
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#else /* LINKADDR_SIZE == 8 */
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const linkaddr_t tsch_broadcast_address = { { 0xff, 0xff } };
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const linkaddr_t tsch_eb_address = { { 0, 0 } };
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#endif /* LINKADDR_SIZE == 8 */
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/* Is TSCH started? */
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int tsch_is_started = 0;
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/* Has TSCH initialization failed? */
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int tsch_is_initialized = 0;
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/* Are we coordinator of the TSCH network? */
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int tsch_is_coordinator = 0;
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/* Are we associated to a TSCH network? */
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int tsch_is_associated = 0;
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/* Is the PAN running link-layer security? */
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int tsch_is_pan_secured = LLSEC802154_ENABLED;
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/* The current Absolute Slot Number (ASN) */
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struct tsch_asn_t tsch_current_asn;
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/* Device rank or join priority:
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* For PAN coordinator: 0 -- lower is better */
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uint8_t tsch_join_priority;
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/* The current TSCH sequence number, used for unicast data frames only */
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static uint8_t tsch_packet_seqno = 0;
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/* Current period for EB output */
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static clock_time_t tsch_current_eb_period;
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/* Current period for keepalive output */
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static clock_time_t tsch_current_ka_timeout;
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/* timer for sending keepalive messages */
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static struct ctimer keepalive_timer;
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/* TSCH processes and protothreads */
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PT_THREAD(tsch_scan(struct pt *pt));
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PROCESS(tsch_process, "TSCH: main process");
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PROCESS(tsch_send_eb_process, "TSCH: send EB process");
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PROCESS(tsch_pending_events_process, "TSCH: pending events process");
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/* Other function prototypes */
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static void packet_input(void);
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/* Getters and setters */
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/*---------------------------------------------------------------------------*/
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void
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tsch_set_coordinator(int enable)
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{
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tsch_is_coordinator = enable;
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tsch_set_eb_period(TSCH_EB_PERIOD);
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}
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/*---------------------------------------------------------------------------*/
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void
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tsch_set_pan_secured(int enable)
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{
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tsch_is_pan_secured = LLSEC802154_ENABLED && enable;
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}
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/*---------------------------------------------------------------------------*/
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void
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tsch_set_join_priority(uint8_t jp)
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{
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tsch_join_priority = jp;
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}
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/*---------------------------------------------------------------------------*/
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void
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tsch_set_ka_timeout(uint32_t timeout)
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{
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tsch_current_ka_timeout = timeout;
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}
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/*---------------------------------------------------------------------------*/
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void
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tsch_set_eb_period(uint32_t period)
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{
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tsch_current_eb_period = MIN(period, TSCH_MAX_EB_PERIOD);
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}
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/*---------------------------------------------------------------------------*/
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static void
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tsch_reset(void)
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{
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int i;
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frame802154_set_pan_id(0xffff);
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/* First make sure pending packet callbacks are sent etc */
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process_post_synch(&tsch_pending_events_process, PROCESS_EVENT_POLL, NULL);
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/* Reset neighbor queues */
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tsch_queue_reset();
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/* Remove unused neighbors */
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tsch_queue_free_unused_neighbors();
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tsch_queue_update_time_source(NULL);
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/* Initialize global variables */
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tsch_join_priority = 0xff;
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TSCH_ASN_INIT(tsch_current_asn, 0, 0);
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current_link = NULL;
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/* Reset timeslot timing to defaults */
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for(i = 0; i < tsch_ts_elements_count; i++) {
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tsch_timing[i] = US_TO_RTIMERTICKS(tsch_default_timing_us[i]);
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}
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#ifdef TSCH_CALLBACK_LEAVING_NETWORK
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TSCH_CALLBACK_LEAVING_NETWORK();
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#endif
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#if TSCH_AUTOSELECT_TIME_SOURCE
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best_neighbor_eb_count = 0;
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nbr_table_register(eb_stats, NULL);
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tsch_set_eb_period(TSCH_EB_PERIOD);
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#endif
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}
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/* TSCH keep-alive functions */
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/*---------------------------------------------------------------------------*/
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/* Tx callback for keepalive messages */
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static void
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keepalive_packet_sent(void *ptr, int status, int transmissions)
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{
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#ifdef TSCH_LINK_NEIGHBOR_CALLBACK
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TSCH_LINK_NEIGHBOR_CALLBACK(packetbuf_addr(PACKETBUF_ADDR_RECEIVER), status, transmissions);
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#endif
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PRINTF("TSCH: KA sent to %u, st %d-%d\n",
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TSCH_LOG_ID_FROM_LINKADDR(packetbuf_addr(PACKETBUF_ADDR_RECEIVER)), status, transmissions);
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tsch_schedule_keepalive();
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}
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/*---------------------------------------------------------------------------*/
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/* Prepare and send a keepalive message */
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static void
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keepalive_send()
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{
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if(tsch_is_associated) {
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struct tsch_neighbor *n = tsch_queue_get_time_source();
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/* Simply send an empty packet */
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packetbuf_clear();
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packetbuf_set_addr(PACKETBUF_ADDR_RECEIVER, &n->addr);
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NETSTACK_LLSEC.send(keepalive_packet_sent, NULL);
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PRINTF("TSCH: sending KA to %u\n",
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TSCH_LOG_ID_FROM_LINKADDR(&n->addr));
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}
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}
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/*---------------------------------------------------------------------------*/
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/* Set ctimer to send a keepalive message after expiration of TSCH_KEEPALIVE_TIMEOUT */
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void
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tsch_schedule_keepalive()
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{
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/* Pick a delay in the range [tsch_current_ka_timeout*0.9, tsch_current_ka_timeout[ */
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if(!tsch_is_coordinator && tsch_is_associated && tsch_current_ka_timeout > 0) {
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unsigned long delay = (tsch_current_ka_timeout - tsch_current_ka_timeout / 10)
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+ random_rand() % (tsch_current_ka_timeout / 10);
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ctimer_set(&keepalive_timer, delay, keepalive_send, NULL);
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}
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}
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/*---------------------------------------------------------------------------*/
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static void
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eb_input(struct input_packet *current_input)
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{
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/* PRINTF("TSCH: EB received\n"); */
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frame802154_t frame;
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/* Verify incoming EB (does its ASN match our Rx time?),
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* and update our join priority. */
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struct ieee802154_ies eb_ies;
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if(tsch_packet_parse_eb(current_input->payload, current_input->len,
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&frame, &eb_ies, NULL, 1)) {
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/* PAN ID check and authentication done at rx time */
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#if TSCH_AUTOSELECT_TIME_SOURCE
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if(!tsch_is_coordinator) {
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/* Maintain EB received counter for every neighbor */
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struct eb_stat *stat = (struct eb_stat *)nbr_table_get_from_lladdr(eb_stats, (linkaddr_t *)&frame.src_addr);
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if(stat == NULL) {
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stat = (struct eb_stat *)nbr_table_add_lladdr(eb_stats, (linkaddr_t *)&frame.src_addr, NBR_TABLE_REASON_MAC, NULL);
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}
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if(stat != NULL) {
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stat->rx_count++;
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stat->jp = eb_ies.ie_join_priority;
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best_neighbor_eb_count = MAX(best_neighbor_eb_count, stat->rx_count);
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}
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/* Select best time source */
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struct eb_stat *best_stat = NULL;
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stat = nbr_table_head(eb_stats);
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while(stat != NULL) {
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/* Is neighbor eligible as a time source? */
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if(stat->rx_count > best_neighbor_eb_count / 2) {
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if(best_stat == NULL ||
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stat->jp < best_stat->jp) {
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best_stat = stat;
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}
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}
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stat = nbr_table_next(eb_stats, stat);
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}
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/* Update time source */
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if(best_stat != NULL) {
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tsch_queue_update_time_source(nbr_table_get_lladdr(eb_stats, best_stat));
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tsch_join_priority = best_stat->jp + 1;
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}
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}
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#endif
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struct tsch_neighbor *n = tsch_queue_get_time_source();
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/* Did the EB come from our time source? */
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if(n != NULL && linkaddr_cmp((linkaddr_t *)&frame.src_addr, &n->addr)) {
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/* Check for ASN drift */
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int32_t asn_diff = TSCH_ASN_DIFF(current_input->rx_asn, eb_ies.ie_asn);
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if(asn_diff != 0) {
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/* We disagree with our time source's ASN -- leave the network */
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PRINTF("TSCH:! ASN drifted by %ld, leaving the network\n", asn_diff);
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tsch_disassociate();
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}
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if(eb_ies.ie_join_priority >= TSCH_MAX_JOIN_PRIORITY) {
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/* Join priority unacceptable. Leave network. */
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PRINTF("TSCH:! EB JP too high %u, leaving the network\n",
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eb_ies.ie_join_priority);
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tsch_disassociate();
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} else {
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#if TSCH_AUTOSELECT_TIME_SOURCE
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/* Update join priority */
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if(tsch_join_priority != eb_ies.ie_join_priority + 1) {
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PRINTF("TSCH: update JP from EB %u -> %u\n",
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tsch_join_priority, eb_ies.ie_join_priority + 1);
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tsch_join_priority = eb_ies.ie_join_priority + 1;
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}
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#endif /* TSCH_AUTOSELECT_TIME_SOURCE */
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}
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}
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}
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}
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/*---------------------------------------------------------------------------*/
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/* Process pending input packet(s) */
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static void
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tsch_rx_process_pending()
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{
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int16_t input_index;
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/* Loop on accessing (without removing) a pending input packet */
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while((input_index = ringbufindex_peek_get(&input_ringbuf)) != -1) {
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struct input_packet *current_input = &input_array[input_index];
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frame802154_t frame;
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uint8_t ret = frame802154_parse(current_input->payload, current_input->len, &frame);
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int is_data = ret && frame.fcf.frame_type == FRAME802154_DATAFRAME;
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int is_eb = ret
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&& frame.fcf.frame_version == FRAME802154_IEEE802154E_2012
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&& frame.fcf.frame_type == FRAME802154_BEACONFRAME;
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if(is_data) {
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/* Skip EBs and other control messages */
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/* Copy to packetbuf for processing */
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packetbuf_copyfrom(current_input->payload, current_input->len);
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packetbuf_set_attr(PACKETBUF_ATTR_RSSI, current_input->rssi);
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packetbuf_set_attr(PACKETBUF_ATTR_CHANNEL, current_input->channel);
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}
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/* Remove input from ringbuf */
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ringbufindex_get(&input_ringbuf);
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if(is_data) {
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/* Pass to upper layers */
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packet_input();
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} else if(is_eb) {
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eb_input(current_input);
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}
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}
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}
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/*---------------------------------------------------------------------------*/
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/* Pass sent packets to upper layer */
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static void
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tsch_tx_process_pending()
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{
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int16_t dequeued_index;
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/* Loop on accessing (without removing) a pending input packet */
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while((dequeued_index = ringbufindex_peek_get(&dequeued_ringbuf)) != -1) {
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struct tsch_packet *p = dequeued_array[dequeued_index];
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/* Put packet into packetbuf for packet_sent callback */
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queuebuf_to_packetbuf(p->qb);
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/* Call packet_sent callback */
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mac_call_sent_callback(p->sent, p->ptr, p->ret, p->transmissions);
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/* Free packet queuebuf */
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tsch_queue_free_packet(p);
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/* Free all unused neighbors */
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tsch_queue_free_unused_neighbors();
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/* Remove dequeued packet from ringbuf */
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ringbufindex_get(&dequeued_ringbuf);
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}
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}
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/*---------------------------------------------------------------------------*/
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/* Setup TSCH as a coordinator */
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static void
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tsch_start_coordinator(void)
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{
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frame802154_set_pan_id(IEEE802154_PANID);
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/* Initialize hopping sequence as default */
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memcpy(tsch_hopping_sequence, TSCH_DEFAULT_HOPPING_SEQUENCE, sizeof(TSCH_DEFAULT_HOPPING_SEQUENCE));
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TSCH_ASN_DIVISOR_INIT(tsch_hopping_sequence_length, sizeof(TSCH_DEFAULT_HOPPING_SEQUENCE));
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#if TSCH_SCHEDULE_WITH_6TISCH_MINIMAL
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tsch_schedule_create_minimal();
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#endif
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tsch_is_associated = 1;
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tsch_join_priority = 0;
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PRINTF("TSCH: starting as coordinator, PAN ID %x, asn-%x.%lx\n",
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frame802154_get_pan_id(), tsch_current_asn.ms1b, tsch_current_asn.ls4b);
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/* Start slot operation */
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tsch_slot_operation_sync(RTIMER_NOW(), &tsch_current_asn);
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}
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/*---------------------------------------------------------------------------*/
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/* Leave the TSCH network */
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void
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tsch_disassociate(void)
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{
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if(tsch_is_associated == 1) {
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tsch_is_associated = 0;
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process_post(&tsch_process, PROCESS_EVENT_POLL, NULL);
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PRINTF("TSCH: leaving the network\n");
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}
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}
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/*---------------------------------------------------------------------------*/
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/* Attempt to associate to a network form an incoming EB */
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static int
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tsch_associate(const struct input_packet *input_eb, rtimer_clock_t timestamp)
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{
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frame802154_t frame;
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struct ieee802154_ies ies;
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uint8_t hdrlen;
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int i;
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if(input_eb == NULL || tsch_packet_parse_eb(input_eb->payload, input_eb->len,
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&frame, &ies, &hdrlen, 0) == 0) {
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PRINTF("TSCH:! failed to parse EB (len %u)\n", input_eb->len);
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return 0;
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}
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tsch_current_asn = ies.ie_asn;
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tsch_join_priority = ies.ie_join_priority + 1;
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#if TSCH_JOIN_SECURED_ONLY
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if(frame.fcf.security_enabled == 0) {
|
|
PRINTF("TSCH:! parse_eb: EB is not secured\n");
|
|
return 0;
|
|
}
|
|
#endif /* TSCH_JOIN_SECURED_ONLY */
|
|
|
|
#if LLSEC802154_ENABLED
|
|
if(!tsch_security_parse_frame(input_eb->payload, hdrlen,
|
|
input_eb->len - hdrlen - tsch_security_mic_len(&frame),
|
|
&frame, (linkaddr_t*)&frame.src_addr, &tsch_current_asn)) {
|
|
PRINTF("TSCH:! parse_eb: failed to authenticate\n");
|
|
return 0;
|
|
}
|
|
#endif /* LLSEC802154_ENABLED */
|
|
|
|
#if !LLSEC802154_ENABLED
|
|
if(frame.fcf.security_enabled == 1) {
|
|
PRINTF("TSCH:! parse_eb: we do not support security, but EB is secured\n");
|
|
return 0;
|
|
}
|
|
#endif /* !LLSEC802154_ENABLED */
|
|
|
|
#if TSCH_JOIN_MY_PANID_ONLY
|
|
/* Check if the EB comes from the PAN ID we expect */
|
|
if(frame.src_pid != IEEE802154_PANID) {
|
|
PRINTF("TSCH:! parse_eb: PAN ID %x != %x\n", frame.src_pid, IEEE802154_PANID);
|
|
return 0;
|
|
}
|
|
#endif /* TSCH_JOIN_MY_PANID_ONLY */
|
|
|
|
/* There was no join priority (or 0xff) in the EB, do not join */
|
|
if(ies.ie_join_priority == 0xff) {
|
|
PRINTF("TSCH:! parse_eb: no join priority\n");
|
|
return 0;
|
|
}
|
|
|
|
/* TSCH timeslot timing */
|
|
for(i = 0; i < tsch_ts_elements_count; i++) {
|
|
if(ies.ie_tsch_timeslot_id == 0) {
|
|
tsch_timing[i] = US_TO_RTIMERTICKS(tsch_default_timing_us[i]);
|
|
} else {
|
|
tsch_timing[i] = US_TO_RTIMERTICKS(ies.ie_tsch_timeslot[i]);
|
|
}
|
|
}
|
|
|
|
/* TSCH hopping sequence */
|
|
if(ies.ie_channel_hopping_sequence_id == 0) {
|
|
memcpy(tsch_hopping_sequence, TSCH_DEFAULT_HOPPING_SEQUENCE, sizeof(TSCH_DEFAULT_HOPPING_SEQUENCE));
|
|
TSCH_ASN_DIVISOR_INIT(tsch_hopping_sequence_length, sizeof(TSCH_DEFAULT_HOPPING_SEQUENCE));
|
|
} else {
|
|
if(ies.ie_hopping_sequence_len <= sizeof(tsch_hopping_sequence)) {
|
|
memcpy(tsch_hopping_sequence, ies.ie_hopping_sequence_list, ies.ie_hopping_sequence_len);
|
|
TSCH_ASN_DIVISOR_INIT(tsch_hopping_sequence_length, ies.ie_hopping_sequence_len);
|
|
} else {
|
|
PRINTF("TSCH:! parse_eb: hopping sequence too long (%u)\n", ies.ie_hopping_sequence_len);
|
|
return 0;
|
|
}
|
|
}
|
|
|
|
#if TSCH_CHECK_TIME_AT_ASSOCIATION > 0
|
|
/* Divide by 4k and multiply again to avoid integer overflow */
|
|
uint32_t expected_asn = 4096 * TSCH_CLOCK_TO_SLOTS(clock_time() / 4096, tsch_timing_timeslot_length); /* Expected ASN based on our current time*/
|
|
int32_t asn_threshold = TSCH_CHECK_TIME_AT_ASSOCIATION * 60ul * TSCH_CLOCK_TO_SLOTS(CLOCK_SECOND, tsch_timing_timeslot_length);
|
|
int32_t asn_diff = (int32_t)tsch_current_asn.ls4b - expected_asn;
|
|
if(asn_diff > asn_threshold) {
|
|
PRINTF("TSCH:! EB ASN rejected %lx %lx %ld\n",
|
|
tsch_current_asn.ls4b, expected_asn, asn_diff);
|
|
return 0;
|
|
}
|
|
#endif
|
|
|
|
#if TSCH_INIT_SCHEDULE_FROM_EB
|
|
/* Create schedule */
|
|
if(ies.ie_tsch_slotframe_and_link.num_slotframes == 0) {
|
|
#if TSCH_SCHEDULE_WITH_6TISCH_MINIMAL
|
|
PRINTF("TSCH: parse_eb: no schedule, setting up minimal schedule\n");
|
|
tsch_schedule_create_minimal();
|
|
#else
|
|
PRINTF("TSCH: parse_eb: no schedule\n");
|
|
#endif
|
|
} else {
|
|
/* First, empty current schedule */
|
|
tsch_schedule_remove_all_slotframes();
|
|
/* We support only 0 or 1 slotframe in this IE */
|
|
int num_links = ies.ie_tsch_slotframe_and_link.num_links;
|
|
if(num_links <= FRAME802154E_IE_MAX_LINKS) {
|
|
int i;
|
|
struct tsch_slotframe *sf = tsch_schedule_add_slotframe(
|
|
ies.ie_tsch_slotframe_and_link.slotframe_handle,
|
|
ies.ie_tsch_slotframe_and_link.slotframe_size);
|
|
for(i = 0; i < num_links; i++) {
|
|
tsch_schedule_add_link(sf,
|
|
ies.ie_tsch_slotframe_and_link.links[i].link_options,
|
|
LINK_TYPE_ADVERTISING, &tsch_broadcast_address,
|
|
ies.ie_tsch_slotframe_and_link.links[i].timeslot, ies.ie_tsch_slotframe_and_link.links[i].channel_offset);
|
|
}
|
|
} else {
|
|
PRINTF("TSCH:! parse_eb: too many links in schedule (%u)\n", num_links);
|
|
return 0;
|
|
}
|
|
}
|
|
#endif /* TSCH_INIT_SCHEDULE_FROM_EB */
|
|
|
|
if(tsch_join_priority < TSCH_MAX_JOIN_PRIORITY) {
|
|
struct tsch_neighbor *n;
|
|
|
|
/* Add coordinator to list of neighbors, lock the entry */
|
|
n = tsch_queue_add_nbr((linkaddr_t *)&frame.src_addr);
|
|
|
|
if(n != NULL) {
|
|
tsch_queue_update_time_source((linkaddr_t *)&frame.src_addr);
|
|
|
|
/* Set PANID */
|
|
frame802154_set_pan_id(frame.src_pid);
|
|
|
|
/* Synchronize on EB */
|
|
tsch_slot_operation_sync(timestamp - tsch_timing[tsch_ts_tx_offset], &tsch_current_asn);
|
|
|
|
/* Update global flags */
|
|
tsch_is_associated = 1;
|
|
tsch_is_pan_secured = frame.fcf.security_enabled;
|
|
|
|
/* Start sending keep-alives now that tsch_is_associated is set */
|
|
tsch_schedule_keepalive();
|
|
|
|
#ifdef TSCH_CALLBACK_JOINING_NETWORK
|
|
TSCH_CALLBACK_JOINING_NETWORK();
|
|
#endif
|
|
|
|
PRINTF("TSCH: association done, sec %u, PAN ID %x, asn-%x.%lx, jp %u, timeslot id %u, hopping id %u, slotframe len %u with %u links, from ",
|
|
tsch_is_pan_secured,
|
|
frame.src_pid,
|
|
tsch_current_asn.ms1b, tsch_current_asn.ls4b, tsch_join_priority,
|
|
ies.ie_tsch_timeslot_id,
|
|
ies.ie_channel_hopping_sequence_id,
|
|
ies.ie_tsch_slotframe_and_link.slotframe_size,
|
|
ies.ie_tsch_slotframe_and_link.num_links);
|
|
PRINTLLADDR((const uip_lladdr_t *)&frame.src_addr);
|
|
PRINTF("\n");
|
|
|
|
return 1;
|
|
}
|
|
}
|
|
PRINTF("TSCH:! did not associate.\n");
|
|
return 0;
|
|
}
|
|
|
|
/* Processes and protothreads used by TSCH */
|
|
|
|
/*---------------------------------------------------------------------------*/
|
|
/* Scanning protothread, called by tsch_process:
|
|
* Listen to different channels, and when receiving an EB,
|
|
* attempt to associate.
|
|
*/
|
|
PT_THREAD(tsch_scan(struct pt *pt))
|
|
{
|
|
PT_BEGIN(pt);
|
|
|
|
static struct input_packet input_eb;
|
|
static struct etimer scan_timer;
|
|
/* Time when we started scanning on current_channel */
|
|
static clock_time_t current_channel_since;
|
|
|
|
TSCH_ASN_INIT(tsch_current_asn, 0, 0);
|
|
|
|
etimer_set(&scan_timer, CLOCK_SECOND / TSCH_ASSOCIATION_POLL_FREQUENCY);
|
|
current_channel_since = clock_time();
|
|
|
|
while(!tsch_is_associated && !tsch_is_coordinator) {
|
|
/* Hop to any channel offset */
|
|
static uint8_t current_channel = 0;
|
|
|
|
/* We are not coordinator, try to associate */
|
|
rtimer_clock_t t0;
|
|
int is_packet_pending = 0;
|
|
clock_time_t now_time = clock_time();
|
|
|
|
/* Switch to a (new) channel for scanning */
|
|
if(current_channel == 0 || now_time - current_channel_since > TSCH_CHANNEL_SCAN_DURATION) {
|
|
/* Pick a channel at random in TSCH_JOIN_HOPPING_SEQUENCE */
|
|
uint8_t scan_channel = TSCH_JOIN_HOPPING_SEQUENCE[
|
|
random_rand() % sizeof(TSCH_JOIN_HOPPING_SEQUENCE)];
|
|
if(current_channel != scan_channel) {
|
|
NETSTACK_RADIO.set_value(RADIO_PARAM_CHANNEL, scan_channel);
|
|
current_channel = scan_channel;
|
|
PRINTF("TSCH: scanning on channel %u\n", scan_channel);
|
|
}
|
|
current_channel_since = now_time;
|
|
}
|
|
|
|
/* Turn radio on and wait for EB */
|
|
NETSTACK_RADIO.on();
|
|
|
|
is_packet_pending = NETSTACK_RADIO.pending_packet();
|
|
if(!is_packet_pending && NETSTACK_RADIO.receiving_packet()) {
|
|
/* If we are currently receiving a packet, wait until end of reception */
|
|
t0 = RTIMER_NOW();
|
|
BUSYWAIT_UNTIL_ABS((is_packet_pending = NETSTACK_RADIO.pending_packet()), t0, RTIMER_SECOND / 100);
|
|
}
|
|
|
|
if(is_packet_pending) {
|
|
/* Read packet */
|
|
input_eb.len = NETSTACK_RADIO.read(input_eb.payload, TSCH_PACKET_MAX_LEN);
|
|
|
|
/* Save packet timestamp */
|
|
NETSTACK_RADIO.get_object(RADIO_PARAM_LAST_PACKET_TIMESTAMP, &t0, sizeof(rtimer_clock_t));
|
|
|
|
/* Parse EB and attempt to associate */
|
|
PRINTF("TSCH: association: received packet (%u bytes) on channel %u\n", input_eb.len, current_channel);
|
|
|
|
tsch_associate(&input_eb, t0);
|
|
}
|
|
|
|
if(tsch_is_associated) {
|
|
/* End of association, turn the radio off */
|
|
NETSTACK_RADIO.off();
|
|
} else if(!tsch_is_coordinator) {
|
|
/* Go back to scanning */
|
|
etimer_reset(&scan_timer);
|
|
PT_WAIT_UNTIL(pt, etimer_expired(&scan_timer));
|
|
}
|
|
}
|
|
|
|
PT_END(pt);
|
|
}
|
|
|
|
/*---------------------------------------------------------------------------*/
|
|
/* The main TSCH process */
|
|
PROCESS_THREAD(tsch_process, ev, data)
|
|
{
|
|
static struct pt scan_pt;
|
|
|
|
PROCESS_BEGIN();
|
|
|
|
while(1) {
|
|
|
|
while(!tsch_is_associated) {
|
|
if(tsch_is_coordinator) {
|
|
/* We are coordinator, start operating now */
|
|
tsch_start_coordinator();
|
|
} else {
|
|
/* Start scanning, will attempt to join when receiving an EB */
|
|
PROCESS_PT_SPAWN(&scan_pt, tsch_scan(&scan_pt));
|
|
}
|
|
}
|
|
|
|
/* We are part of a TSCH network, start slot operation */
|
|
tsch_slot_operation_start();
|
|
|
|
/* Yield our main process. Slot operation will re-schedule itself
|
|
* as long as we are associated */
|
|
PROCESS_YIELD_UNTIL(!tsch_is_associated);
|
|
|
|
/* Will need to re-synchronize */
|
|
tsch_reset();
|
|
}
|
|
|
|
PROCESS_END();
|
|
}
|
|
|
|
/*---------------------------------------------------------------------------*/
|
|
/* A periodic process to send TSCH Enhanced Beacons (EB) */
|
|
PROCESS_THREAD(tsch_send_eb_process, ev, data)
|
|
{
|
|
static struct etimer eb_timer;
|
|
|
|
PROCESS_BEGIN();
|
|
|
|
/* Wait until association */
|
|
etimer_set(&eb_timer, CLOCK_SECOND / 10);
|
|
while(!tsch_is_associated) {
|
|
PROCESS_WAIT_UNTIL(etimer_expired(&eb_timer));
|
|
etimer_reset(&eb_timer);
|
|
}
|
|
|
|
/* Set an initial delay except for coordinator, which should send an EB asap */
|
|
if(!tsch_is_coordinator) {
|
|
etimer_set(&eb_timer, random_rand() % TSCH_EB_PERIOD);
|
|
PROCESS_WAIT_UNTIL(etimer_expired(&eb_timer));
|
|
}
|
|
|
|
while(1) {
|
|
unsigned long delay;
|
|
|
|
if(tsch_is_associated && tsch_current_eb_period > 0) {
|
|
/* Enqueue EB only if there isn't already one in queue */
|
|
if(tsch_queue_packet_count(&tsch_eb_address) == 0) {
|
|
int eb_len;
|
|
uint8_t hdr_len = 0;
|
|
uint8_t tsch_sync_ie_offset;
|
|
/* Prepare the EB packet and schedule it to be sent */
|
|
packetbuf_clear();
|
|
packetbuf_set_attr(PACKETBUF_ATTR_FRAME_TYPE, FRAME802154_BEACONFRAME);
|
|
#if LLSEC802154_ENABLED
|
|
if(tsch_is_pan_secured) {
|
|
/* Set security level, key id and index */
|
|
packetbuf_set_attr(PACKETBUF_ATTR_SECURITY_LEVEL, TSCH_SECURITY_KEY_SEC_LEVEL_EB);
|
|
packetbuf_set_attr(PACKETBUF_ATTR_KEY_ID_MODE, FRAME802154_1_BYTE_KEY_ID_MODE); /* Use 1-byte key index */
|
|
packetbuf_set_attr(PACKETBUF_ATTR_KEY_INDEX, TSCH_SECURITY_KEY_INDEX_EB);
|
|
}
|
|
#endif /* LLSEC802154_ENABLED */
|
|
eb_len = tsch_packet_create_eb(packetbuf_dataptr(), PACKETBUF_SIZE,
|
|
&hdr_len, &tsch_sync_ie_offset);
|
|
if(eb_len > 0) {
|
|
struct tsch_packet *p;
|
|
packetbuf_set_datalen(eb_len);
|
|
/* Enqueue EB packet */
|
|
if(!(p = tsch_queue_add_packet(&tsch_eb_address, NULL, NULL))) {
|
|
PRINTF("TSCH:! could not enqueue EB packet\n");
|
|
} else {
|
|
PRINTF("TSCH: enqueue EB packet %u %u\n", eb_len, hdr_len);
|
|
p->tsch_sync_ie_offset = tsch_sync_ie_offset;
|
|
p->header_len = hdr_len;
|
|
}
|
|
}
|
|
}
|
|
}
|
|
if(tsch_current_eb_period > 0) {
|
|
/* Next EB transmission with a random delay
|
|
* within [tsch_current_eb_period*0.75, tsch_current_eb_period[ */
|
|
delay = (tsch_current_eb_period - tsch_current_eb_period / 4)
|
|
+ random_rand() % (tsch_current_eb_period / 4);
|
|
} else {
|
|
delay = TSCH_EB_PERIOD;
|
|
}
|
|
etimer_set(&eb_timer, delay);
|
|
PROCESS_WAIT_UNTIL(etimer_expired(&eb_timer));
|
|
}
|
|
PROCESS_END();
|
|
}
|
|
|
|
/*---------------------------------------------------------------------------*/
|
|
/* A process that is polled from interrupt and calls tx/rx input
|
|
* callbacks, outputs pending logs. */
|
|
PROCESS_THREAD(tsch_pending_events_process, ev, data)
|
|
{
|
|
PROCESS_BEGIN();
|
|
while(1) {
|
|
PROCESS_YIELD_UNTIL(ev == PROCESS_EVENT_POLL);
|
|
tsch_rx_process_pending();
|
|
tsch_tx_process_pending();
|
|
tsch_log_process_pending();
|
|
}
|
|
PROCESS_END();
|
|
}
|
|
|
|
/* Functions from the Contiki MAC layer driver interface */
|
|
|
|
/*---------------------------------------------------------------------------*/
|
|
static void
|
|
tsch_init(void)
|
|
{
|
|
radio_value_t radio_rx_mode;
|
|
radio_value_t radio_tx_mode;
|
|
rtimer_clock_t t;
|
|
|
|
/* Radio Rx mode */
|
|
if(NETSTACK_RADIO.get_value(RADIO_PARAM_RX_MODE, &radio_rx_mode) != RADIO_RESULT_OK) {
|
|
printf("TSCH:! radio does not support getting RADIO_PARAM_RX_MODE. Abort init.\n");
|
|
return;
|
|
}
|
|
/* Disable radio in frame filtering */
|
|
radio_rx_mode &= ~RADIO_RX_MODE_ADDRESS_FILTER;
|
|
/* Unset autoack */
|
|
radio_rx_mode &= ~RADIO_RX_MODE_AUTOACK;
|
|
/* Set radio in poll mode */
|
|
radio_rx_mode |= RADIO_RX_MODE_POLL_MODE;
|
|
if(NETSTACK_RADIO.set_value(RADIO_PARAM_RX_MODE, radio_rx_mode) != RADIO_RESULT_OK) {
|
|
printf("TSCH:! radio does not support setting required RADIO_PARAM_RX_MODE. Abort init.\n");
|
|
return;
|
|
}
|
|
|
|
/* Radio Tx mode */
|
|
if(NETSTACK_RADIO.get_value(RADIO_PARAM_TX_MODE, &radio_tx_mode) != RADIO_RESULT_OK) {
|
|
printf("TSCH:! radio does not support getting RADIO_PARAM_TX_MODE. Abort init.\n");
|
|
return;
|
|
}
|
|
/* Unset CCA */
|
|
radio_tx_mode &= ~RADIO_TX_MODE_SEND_ON_CCA;
|
|
if(NETSTACK_RADIO.set_value(RADIO_PARAM_TX_MODE, radio_tx_mode) != RADIO_RESULT_OK) {
|
|
printf("TSCH:! radio does not support setting required RADIO_PARAM_TX_MODE. Abort init.\n");
|
|
return;
|
|
}
|
|
/* Test setting channel */
|
|
if(NETSTACK_RADIO.set_value(RADIO_PARAM_CHANNEL, TSCH_DEFAULT_HOPPING_SEQUENCE[0]) != RADIO_RESULT_OK) {
|
|
printf("TSCH:! radio does not support setting channel. Abort init.\n");
|
|
return;
|
|
}
|
|
/* Test getting timestamp */
|
|
if(NETSTACK_RADIO.get_object(RADIO_PARAM_LAST_PACKET_TIMESTAMP, &t, sizeof(rtimer_clock_t)) != RADIO_RESULT_OK) {
|
|
printf("TSCH:! radio does not support getting last packet timestamp. Abort init.\n");
|
|
return;
|
|
}
|
|
/* Check max hopping sequence length vs default sequence length */
|
|
if(TSCH_HOPPING_SEQUENCE_MAX_LEN < sizeof(TSCH_DEFAULT_HOPPING_SEQUENCE)) {
|
|
printf("TSCH:! TSCH_HOPPING_SEQUENCE_MAX_LEN < sizeof(TSCH_DEFAULT_HOPPING_SEQUENCE). Abort init.\n");
|
|
}
|
|
|
|
/* Init TSCH sub-modules */
|
|
tsch_reset();
|
|
tsch_queue_init();
|
|
tsch_schedule_init();
|
|
tsch_log_init();
|
|
ringbufindex_init(&input_ringbuf, TSCH_MAX_INCOMING_PACKETS);
|
|
ringbufindex_init(&dequeued_ringbuf, TSCH_DEQUEUED_ARRAY_SIZE);
|
|
|
|
tsch_is_initialized = 1;
|
|
|
|
#if TSCH_AUTOSTART
|
|
/* Start TSCH operation.
|
|
* If TSCH_AUTOSTART is not set, one needs to call NETSTACK_MAC.on() to start TSCH. */
|
|
NETSTACK_MAC.on();
|
|
#endif /* TSCH_AUTOSTART */
|
|
}
|
|
/*---------------------------------------------------------------------------*/
|
|
/* Function send for TSCH-MAC, puts the packet in packetbuf in the MAC queue */
|
|
static void
|
|
send_packet(mac_callback_t sent, void *ptr)
|
|
{
|
|
int ret = MAC_TX_DEFERRED;
|
|
int packet_count_before;
|
|
int hdr_len = 0;
|
|
const linkaddr_t *addr = packetbuf_addr(PACKETBUF_ADDR_RECEIVER);
|
|
|
|
if(!tsch_is_associated) {
|
|
if(!tsch_is_initialized) {
|
|
PRINTF("TSCH:! not initialized (see earlier logs), drop outgoing packet\n");
|
|
} else {
|
|
PRINTF("TSCH:! not associated, drop outgoing packet\n");
|
|
}
|
|
ret = MAC_TX_ERR;
|
|
mac_call_sent_callback(sent, ptr, ret, 1);
|
|
return;
|
|
}
|
|
|
|
/* Ask for ACK if we are sending anything other than broadcast */
|
|
if(!linkaddr_cmp(addr, &linkaddr_null)) {
|
|
/* PACKETBUF_ATTR_MAC_SEQNO cannot be zero, due to a pecuilarity
|
|
in framer-802154.c. */
|
|
if(++tsch_packet_seqno == 0) {
|
|
tsch_packet_seqno++;
|
|
}
|
|
packetbuf_set_attr(PACKETBUF_ATTR_MAC_SEQNO, tsch_packet_seqno);
|
|
packetbuf_set_attr(PACKETBUF_ATTR_MAC_ACK, 1);
|
|
} else {
|
|
/* Broadcast packets shall be added to broadcast queue
|
|
* The broadcast address in Contiki is linkaddr_null which is equal
|
|
* to tsch_eb_address */
|
|
addr = &tsch_broadcast_address;
|
|
}
|
|
|
|
packetbuf_set_attr(PACKETBUF_ATTR_FRAME_TYPE, FRAME802154_DATAFRAME);
|
|
|
|
#if LLSEC802154_ENABLED
|
|
if(tsch_is_pan_secured) {
|
|
/* Set security level, key id and index */
|
|
packetbuf_set_attr(PACKETBUF_ATTR_SECURITY_LEVEL, TSCH_SECURITY_KEY_SEC_LEVEL_OTHER);
|
|
packetbuf_set_attr(PACKETBUF_ATTR_KEY_ID_MODE, FRAME802154_1_BYTE_KEY_ID_MODE); /* Use 1-byte key index */
|
|
packetbuf_set_attr(PACKETBUF_ATTR_KEY_INDEX, TSCH_SECURITY_KEY_INDEX_OTHER);
|
|
}
|
|
#endif /* LLSEC802154_ENABLED */
|
|
|
|
packet_count_before = tsch_queue_packet_count(addr);
|
|
|
|
#if !NETSTACK_CONF_BRIDGE_MODE
|
|
/*
|
|
* In the Contiki stack, the source address of a frame is set at the RDC
|
|
* layer. Since TSCH doesn't use any RDC protocol and bypasses the layer to
|
|
* transmit a frame, it should set the source address by itself.
|
|
*/
|
|
packetbuf_set_addr(PACKETBUF_ADDR_SENDER, &linkaddr_node_addr);
|
|
#endif
|
|
|
|
if((hdr_len = NETSTACK_FRAMER.create()) < 0) {
|
|
PRINTF("TSCH:! can't send packet due to framer error\n");
|
|
ret = MAC_TX_ERR;
|
|
} else {
|
|
struct tsch_packet *p;
|
|
/* Enqueue packet */
|
|
p = tsch_queue_add_packet(addr, sent, ptr);
|
|
if(p == NULL) {
|
|
PRINTF("TSCH:! can't send packet to %u with seqno %u, queue %u %u\n",
|
|
TSCH_LOG_ID_FROM_LINKADDR(addr), tsch_packet_seqno,
|
|
packet_count_before,
|
|
tsch_queue_packet_count(addr));
|
|
ret = MAC_TX_ERR;
|
|
} else {
|
|
p->header_len = hdr_len;
|
|
PRINTF("TSCH: send packet to %u with seqno %u, queue %u %u, len %u %u\n",
|
|
TSCH_LOG_ID_FROM_LINKADDR(addr), tsch_packet_seqno,
|
|
packet_count_before,
|
|
tsch_queue_packet_count(addr),
|
|
p->header_len,
|
|
queuebuf_datalen(p->qb));
|
|
(void)packet_count_before; /* Discard "variable set but unused" warning in case of TSCH_LOG_LEVEL of 0 */
|
|
}
|
|
}
|
|
if(ret != MAC_TX_DEFERRED) {
|
|
mac_call_sent_callback(sent, ptr, ret, 1);
|
|
}
|
|
}
|
|
/*---------------------------------------------------------------------------*/
|
|
static void
|
|
packet_input(void)
|
|
{
|
|
int frame_parsed = 1;
|
|
|
|
frame_parsed = NETSTACK_FRAMER.parse();
|
|
|
|
if(frame_parsed < 0) {
|
|
PRINTF("TSCH:! failed to parse %u\n", packetbuf_datalen());
|
|
} else {
|
|
int duplicate = 0;
|
|
|
|
/* Seqno of 0xffff means no seqno */
|
|
if(packetbuf_attr(PACKETBUF_ATTR_MAC_SEQNO) != 0xffff) {
|
|
/* Check for duplicates */
|
|
duplicate = mac_sequence_is_duplicate();
|
|
if(duplicate) {
|
|
/* Drop the packet. */
|
|
PRINTF("TSCH:! drop dup ll from %u seqno %u\n",
|
|
TSCH_LOG_ID_FROM_LINKADDR(packetbuf_addr(PACKETBUF_ADDR_SENDER)),
|
|
packetbuf_attr(PACKETBUF_ATTR_MAC_SEQNO));
|
|
} else {
|
|
mac_sequence_register_seqno();
|
|
}
|
|
}
|
|
|
|
if(!duplicate) {
|
|
PRINTF("TSCH: received from %u with seqno %u\n",
|
|
TSCH_LOG_ID_FROM_LINKADDR(packetbuf_addr(PACKETBUF_ADDR_SENDER)),
|
|
packetbuf_attr(PACKETBUF_ATTR_MAC_SEQNO));
|
|
NETSTACK_LLSEC.input();
|
|
}
|
|
}
|
|
}
|
|
/*---------------------------------------------------------------------------*/
|
|
static int
|
|
turn_on(void)
|
|
{
|
|
if(tsch_is_initialized == 1 && tsch_is_started == 0) {
|
|
tsch_is_started = 1;
|
|
/* Process tx/rx callback and log messages whenever polled */
|
|
process_start(&tsch_pending_events_process, NULL);
|
|
/* periodically send TSCH EBs */
|
|
process_start(&tsch_send_eb_process, NULL);
|
|
/* try to associate to a network or start one if setup as coordinator */
|
|
process_start(&tsch_process, NULL);
|
|
PRINTF("TSCH: starting as %s\n", tsch_is_coordinator ? "coordinator" : "node");
|
|
return 1;
|
|
}
|
|
return 0;
|
|
}
|
|
/*---------------------------------------------------------------------------*/
|
|
static int
|
|
turn_off(int keep_radio_on)
|
|
{
|
|
if(keep_radio_on) {
|
|
NETSTACK_RADIO.on();
|
|
} else {
|
|
NETSTACK_RADIO.off();
|
|
}
|
|
return 1;
|
|
}
|
|
/*---------------------------------------------------------------------------*/
|
|
static unsigned short
|
|
channel_check_interval(void)
|
|
{
|
|
return 0;
|
|
}
|
|
/*---------------------------------------------------------------------------*/
|
|
const struct mac_driver tschmac_driver = {
|
|
"TSCH",
|
|
tsch_init,
|
|
send_packet,
|
|
packet_input,
|
|
turn_on,
|
|
turn_off,
|
|
channel_check_interval,
|
|
};
|
|
/*---------------------------------------------------------------------------*/
|