968 lines
29 KiB
C
968 lines
29 KiB
C
/*
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* Copyright (c) 2010, Swedish Institute of Computer Science.
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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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* $Id: contikimac.c,v 1.10 2010/03/09 20:37:02 adamdunkels Exp $
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*/
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/**
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* \file
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* The Contiki power-saving MAC protocol (ContikiMAC)
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* \author
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* Adam Dunkels <adam@sics.se>
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* Niclas Finne <nfi@sics.se>
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* Joakim Eriksson <joakime@sics.se>
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*/
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#include "net/netstack.h"
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#include "dev/leds.h"
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#include "dev/radio.h"
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#include "dev/watchdog.h"
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#include "lib/random.h"
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#include "net/mac/contikimac.h"
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#include "net/rime.h"
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#include "sys/compower.h"
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#include "sys/pt.h"
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#include "sys/rtimer.h"
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#include "contiki-conf.h"
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#ifdef EXPERIMENT_SETUP
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#include "experiment-setup.h"
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#endif
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#include <string.h>
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#ifndef WITH_ACK_OPTIMIZATION
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#define WITH_ACK_OPTIMIZATION 0
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#endif
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#ifndef WITH_PHASE_OPTIMIZATION
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#define WITH_PHASE_OPTIMIZATION 1
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#endif
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#ifndef WITH_STREAMING
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#define WITH_STREAMING 1
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#endif
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struct announcement_data {
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uint16_t id;
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uint16_t value;
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};
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/* The maximum number of announcements in a single announcement
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message - may need to be increased in the future. */
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#define ANNOUNCEMENT_MAX 10
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/* The structure of the announcement messages. */
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struct announcement_msg {
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uint16_t num;
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struct announcement_data data[ANNOUNCEMENT_MAX];
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};
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/* The length of the header of the announcement message, i.e., the
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"num" field in the struct. */
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#define ANNOUNCEMENT_MSG_HEADERLEN (sizeof (uint16_t))
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#define DISPATCH 0
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#define TYPE_ANNOUNCEMENT 0x12
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#ifdef CONTIKIMAC_CONF_CYCLE_TIME
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#define CYCLE_TIME (CONTIKIMAC_CONF_CYCLE_TIME)
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#else
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#define CYCLE_TIME (RTIMER_ARCH_SECOND / MAC_CHANNEL_CHECK_RATE)
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#endif
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#define CCA_COUNT_MAX 2
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#define CCA_CHECK_TIME RTIMER_ARCH_SECOND / 8192
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#define CCA_SLEEP_TIME RTIMER_ARCH_SECOND / 2000 + CCA_CHECK_TIME
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#define CHECK_TIME (CCA_COUNT_MAX * (CCA_CHECK_TIME + CCA_SLEEP_TIME))
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#define INTER_PACKET_INTERVAL RTIMER_ARCH_SECOND / 2500
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#define AFTER_ACK_DETECTECT_WAIT_TIME RTIMER_ARCH_SECOND / 1500
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#define LISTEN_TIME_AFTER_PACKET_DETECTED RTIMER_ARCH_SECOND / 100
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#define SHORTEST_PACKET_SIZE 18
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/* The cycle time for announcements. */
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#define ANNOUNCEMENT_PERIOD 4 * CLOCK_SECOND
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/* The time before sending an announcement within one announcement
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cycle. */
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#define ANNOUNCEMENT_TIME (random_rand() % (ANNOUNCEMENT_PERIOD))
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#define STROBE_WAIT_TIME (RTIMER_ARCH_SECOND / 600)
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#define STROBE_TIME (CYCLE_TIME + 8 * CHECK_TIME)
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#define ACK_LEN 3
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#include <stdio.h>
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static struct rtimer rt;
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static struct pt pt;
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static volatile uint8_t contikimac_is_on = 0;
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static volatile unsigned char we_are_sending = 0;
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static volatile unsigned char radio_is_on = 0;
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#define DEBUG 0
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#if DEBUG
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#include <stdio.h>
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#define PRINTF(...) printf(__VA_ARGS__)
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#define PRINTDEBUG(...) printf(__VA_ARGS__)
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#else
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#define PRINTF(...)
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#define PRINTDEBUG(...)
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#endif
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#if CONTIKIMAC_CONF_ANNOUNCEMENTS
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/* Timers for keeping track of when to send announcements. */
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static struct ctimer announcement_cycle_ctimer, announcement_ctimer;
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static int announcement_radio_txpower;
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#endif /* CONTIKIMAC_CONF_ANNOUNCEMENTS */
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/* Flag that is used to keep track of whether or not we are listening
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for announcements from neighbors. */
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static uint8_t is_listening;
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#if CONTIKIMAC_CONF_COMPOWER
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static struct compower_activity current_packet;
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#endif /* CONTIKIMAC_CONF_COMPOWER */
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#if WITH_PHASE_OPTIMIZATION
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#include "net/mac/phase.h"
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#define MAX_PHASE_NEIGHBORS 30
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PHASE_LIST(phase_list, MAX_PHASE_NEIGHBORS);
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#endif /* WITH_PHASE_OPTIMIZATION */
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static uint8_t is_streaming;
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static rimeaddr_t is_streaming_to, is_streaming_to_too;
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static rtimer_clock_t stream_until;
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#define DEFAULT_STREAM_TIME (RTIMER_ARCH_SECOND)
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#ifndef MIN
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#define MIN(a, b) ((a) < (b)? (a) : (b))
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#endif /* MIN */
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static volatile uint8_t packet_indication_flag;
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static volatile uint16_t packet_indicated_but_not_received,
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packet_indicated_but_not_received_clear_third_time;
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volatile uint16_t
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packet_indicated_but_not_received_clear_second_time;
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struct cca_checks_stats {
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volatile char check[CCA_COUNT_MAX];
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};
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#define LATEST_CCA_CHECKS_NUM 16
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static volatile struct cca_checks_stats cca_checks[LATEST_CCA_CHECKS_NUM];
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static volatile struct cca_checks_stats *latest_cca_check = &cca_checks[LATEST_CCA_CHECKS_NUM - 1];
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/*---------------------------------------------------------------------------*/
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static void
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on(void)
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{
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if(contikimac_is_on && radio_is_on == 0) {
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radio_is_on = 1;
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NETSTACK_RADIO.on();
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}
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}
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/*---------------------------------------------------------------------------*/
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static void
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off(void)
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{
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if(contikimac_is_on && radio_is_on != 0 && is_listening == 0 && is_streaming == 0) {
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radio_is_on = 0;
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NETSTACK_RADIO.off();
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}
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}
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/*---------------------------------------------------------------------------*/
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static char powercycle(struct rtimer *t, void *ptr);
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static void
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schedule_powercycle(struct rtimer *t, rtimer_clock_t time)
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{
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int r;
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if(contikimac_is_on) {
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if(RTIMER_CLOCK_LT(RTIMER_TIME(t) + time, RTIMER_NOW())) {
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time = RTIMER_NOW() - RTIMER_TIME(t);
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}
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while(RTIMER_TIME(t) + time == RTIMER_NOW() ||
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RTIMER_TIME(t) + time == RTIMER_NOW() + 1) {
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++time;
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}
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#if NURTIMER
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r = rtimer_reschedule(t, time, 1);
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#else
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r = rtimer_set(t, RTIMER_TIME(t) + time, 1,
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(void (*)(struct rtimer *, void *))powercycle, NULL);
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#endif
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if(r != RTIMER_OK) {
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printf("schedule_powercycle: could not set rtimer\n");
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}
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}
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}
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static void
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powercycle_turn_radio_off(void)
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{
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if(we_are_sending == 0) {
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off();
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}
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}
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static void
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powercycle_turn_radio_on(void)
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{
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if(we_are_sending == 0) {
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on();
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}
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}
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static char
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powercycle(struct rtimer *t, void *ptr)
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{
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rtimer_clock_t start;
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if(is_streaming) {
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start = RTIMER_NOW();
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#if NURTIMER
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if(!RTIMER_CLOCK_LT(start, RTIMER_NOW(), stream_until))
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#else
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if(!RTIMER_CLOCK_LT(RTIMER_NOW(), stream_until))
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#endif
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{
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is_streaming = 0;
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rimeaddr_copy(&is_streaming_to, &rimeaddr_null);
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rimeaddr_copy(&is_streaming_to_too, &rimeaddr_null);
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}
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}
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PT_BEGIN(&pt);
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while(1) {
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static uint8_t packet_seen;
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static rtimer_clock_t t0, cycle_start;
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static uint8_t count;
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static uint8_t clear_second_time, clear_third_time;
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cycle_start = RTIMER_NOW();
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for(count = 1; count < LATEST_CCA_CHECKS_NUM; ++count) {
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cca_checks[count - 1] = cca_checks[count];
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}
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latest_cca_check->check[0] =
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latest_cca_check->check[1] = 2;
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packet_seen = 0;
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clear_second_time = clear_third_time = 0;
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if(we_are_sending == 0) {
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latest_cca_check->check[0] =
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latest_cca_check->check[1] = -1;
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for(count = 0; count < CCA_COUNT_MAX; ++count) {
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t0 = RTIMER_NOW();
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powercycle_turn_radio_on();
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#if NURTIMER
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while(RTIMER_CLOCK_LT(t0, RTIMER_NOW(), t0 + CCA_CHECK_TIME));
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#else
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while(RTIMER_CLOCK_LT(RTIMER_NOW(), t0 + CCA_CHECK_TIME));
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#endif
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if(NETSTACK_RADIO.channel_clear() == 0) {
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latest_cca_check->check[count] = 0;
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packet_indication_flag = 1;
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packet_seen = 1;
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break;
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} else {
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latest_cca_check->check[count] = 1;
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}
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powercycle_turn_radio_off();
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schedule_powercycle(t, CCA_SLEEP_TIME + CCA_CHECK_TIME);
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PT_YIELD(&pt);
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}
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#if 1
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/* If there were a packet in the air, turn radio on */
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if(packet_seen) {
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static rtimer_clock_t start;
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static uint8_t silence_periods, periods;
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start = RTIMER_NOW();
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periods = silence_periods = 0;
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while(we_are_sending == 0 && radio_is_on &&
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RTIMER_CLOCK_LT(RTIMER_NOW(), (start + LISTEN_TIME_AFTER_PACKET_DETECTED))) {
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/* Check for two consecutive periods of non-activity. If we
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see two such periods, we turn the radio off. Also, if a
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packet has been successfully received (as indicated by
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the NETSTACK_RADIO.pending_packet() function), we stop
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listening. */
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if(NETSTACK_RADIO.channel_clear()) {
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++silence_periods;
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} else {
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silence_periods = 0;
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}
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++periods;
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if(NETSTACK_RADIO.receiving_packet()) {
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silence_periods = 0;
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}
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if(silence_periods > 5) {
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latest_cca_check->check[count] = -silence_periods;
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leds_on(LEDS_RED);
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powercycle_turn_radio_off();
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#if CONTIKIMAC_CONF_COMPOWER
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compower_accumulate(&compower_idle_activity);
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#endif /* CONTIKIMAC_CONF_COMPOWER */
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leds_off(LEDS_RED);
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break;
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}
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if(periods > 10 && !(NETSTACK_RADIO.receiving_packet() ||
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NETSTACK_RADIO.pending_packet())) {
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latest_cca_check->check[count] = periods;
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leds_on(LEDS_GREEN);
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powercycle_turn_radio_off();
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#if CONTIKIMAC_CONF_COMPOWER
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compower_accumulate(&compower_idle_activity);
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#endif /* CONTIKIMAC_CONF_COMPOWER */
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leds_off(LEDS_GREEN);
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break;
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}
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if(NETSTACK_RADIO.pending_packet()) {
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break;
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}
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schedule_powercycle(t, CCA_CHECK_TIME + CCA_SLEEP_TIME);
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leds_on(LEDS_BLUE);
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PT_YIELD(&pt);
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leds_off(LEDS_BLUE);
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}
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if(radio_is_on && !(NETSTACK_RADIO.receiving_packet() &&
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NETSTACK_RADIO.pending_packet())) {
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latest_cca_check->check[count] = -78;
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leds_on(LEDS_RED + LEDS_GREEN);
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powercycle_turn_radio_off();
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#if CONTIKIMAC_CONF_COMPOWER
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compower_accumulate(&compower_idle_activity);
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#endif /* CONTIKIMAC_CONF_COMPOWER */
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leds_off(LEDS_RED + LEDS_GREEN);
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}
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} else {
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#if CONTIKIMAC_CONF_COMPOWER
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compower_accumulate(&compower_idle_activity);
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#endif /* CONTIKIMAC_CONF_COMPOWER */
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}
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#else /* 0 */
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if(packet_seen) {
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schedule_powercycle(t, LISTEN_TIME);
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PT_YIELD(&pt);
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if(!(NETSTACK_RADIO.receiving_packet() ||
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NETSTACK_RADIO.pending_packet())) {
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powercycle_turn_radio_off();
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#if CONTIKIMAC_CONF_COMPOWER
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compower_accumulate(&compower_idle_activity);
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#endif /* CONTIKIMAC_CONF_COMPOWER */
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}
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}
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#endif /* 0 */
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/* If the packet indication flag is still set, it means that
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there was never a packet received by the radio. We increase
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the packet_indicated_but_not_received counter. */
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if(packet_indication_flag) {
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packet_indicated_but_not_received += packet_indication_flag;
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packet_indication_flag = 0;
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}
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}
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if(RTIMER_NOW() - cycle_start < CYCLE_TIME) {
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schedule_powercycle(t, CYCLE_TIME - (RTIMER_NOW() - cycle_start));
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PT_YIELD(&pt);
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}
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}
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PT_END(&pt);
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}
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/*---------------------------------------------------------------------------*/
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#if CONTIKIMAC_CONF_ANNOUNCEMENTS
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static int
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parse_announcements(const rimeaddr_t * from)
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{
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/* Parse incoming announcements */
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struct announcement_msg adata;
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int i;
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memcpy(&adata, packetbuf_dataptr(),
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MIN(packetbuf_datalen(), sizeof(adata)));
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/* printf("%d.%d: probe from %d.%d with %d announcements\n",
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rimeaddr_node_addr.u8[0], rimeaddr_node_addr.u8[1],
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from->u8[0], from->u8[1], adata->num); */
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/* for(i = 0; i < packetbuf_datalen(); ++i) {
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printf("%02x ", ((uint8_t *)packetbuf_dataptr())[i]);
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}
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printf("\n"); */
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for(i = 0; i < adata.num; ++i) {
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/* printf("%d.%d: announcement %d: %d\n",
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rimeaddr_node_addr.u8[0], rimeaddr_node_addr.u8[1],
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adata->data[i].id,
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adata->data[i].value); */
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announcement_heard(from, adata.data[i].id, adata.data[i].value);
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}
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return i;
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}
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/*---------------------------------------------------------------------------*/
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static int
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format_announcement(char *hdr)
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{
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struct announcement_msg adata;
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struct announcement *a;
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/* Construct the announcements */
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/* adata = (struct announcement_msg *)hdr; */
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adata.num = 0;
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for(a = announcement_list();
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a != NULL && adata.num < ANNOUNCEMENT_MAX; a = a->next) {
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adata.data[adata.num].id = a->id;
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adata.data[adata.num].value = a->value;
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adata.num++;
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}
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memcpy(hdr, &adata, sizeof(struct announcement_msg));
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if(adata.num > 0) {
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return ANNOUNCEMENT_MSG_HEADERLEN +
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sizeof(struct announcement_data) * adata.num;
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} else {
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return 0;
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}
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}
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#endif /* CONTIKIMAC_CONF_ANNOUNCEMENTS */
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/*---------------------------------------------------------------------------*/
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static int
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send_packet(mac_callback_t mac_callback, void *mac_callback_ptr)
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{
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rtimer_clock_t t0;
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rtimer_clock_t t;
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rtimer_clock_t encounter_time = 0;
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int strobes;
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int got_strobe_ack = 0;
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int len;
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int is_broadcast = 0;
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int is_reliable = 0;
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uint8_t collisions;
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int transmit_len;
|
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int i;
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if(packetbuf_totlen() == 0) {
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PRINTF("contikimac: send_packet data len 0\n");
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return MAC_TX_ERR_FATAL;
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}
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|
|
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#if WITH_PHASE_OPTIMIZATION
|
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#if WITH_ACK_OPTIMIZATION
|
|
/* Wait until the receiver is expected to be awake */
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if(packetbuf_attr(PACKETBUF_ATTR_PACKET_TYPE) !=
|
|
PACKETBUF_ATTR_PACKET_TYPE_ACK && is_streaming == 0) {
|
|
|
|
if(phase_wait(&phase_list, packetbuf_addr(PACKETBUF_ADDR_RECEIVER),
|
|
CYCLE_TIME, 6 * CHECK_TIME,
|
|
mac_callback, mac_callback_ptr) == PHASE_DEFERRED) {
|
|
return MAC_TX_DEFERRED;
|
|
}
|
|
}
|
|
#else /* WITH_ACK_OPTIMIZATION */
|
|
if(is_streaming == 0) {
|
|
if(phase_wait(&phase_list, packetbuf_addr(PACKETBUF_ADDR_RECEIVER),
|
|
CYCLE_TIME, 6 * CHECK_TIME,
|
|
mac_callback, mac_callback_ptr) == PHASE_DEFERRED) {
|
|
return MAC_TX_DEFERRED;
|
|
}
|
|
}
|
|
#endif /* WITH_ACK_OPTIMIZATION */
|
|
#endif /* WITH_PHASE_OPTIMIZATION */
|
|
|
|
/* Make sure that the packet is longer or equal to the shorest
|
|
packet length. */
|
|
if(packetbuf_totlen() < SHORTEST_PACKET_SIZE) {
|
|
PRINTF("contikimac: shorter than shortest (%d)\n", packetbuf_totlen());
|
|
packetbuf_set_datalen(SHORTEST_PACKET_SIZE);
|
|
}
|
|
|
|
/* Create the MAC header for the data packet. */
|
|
packetbuf_set_addr(PACKETBUF_ADDR_SENDER, &rimeaddr_node_addr);
|
|
if(rimeaddr_cmp(packetbuf_addr(PACKETBUF_ADDR_RECEIVER), &rimeaddr_null)) {
|
|
is_broadcast = 1;
|
|
PRINTDEBUG("contikimac: send broadcast\n");
|
|
} else {
|
|
#if UIP_CONF_IPV6
|
|
PRINTDEBUG("contikimac: send unicast to %02x%02x:%02x%02x:%02x%02x:%02x%02x\n",
|
|
packetbuf_addr(PACKETBUF_ADDR_RECEIVER)->u8[0],
|
|
packetbuf_addr(PACKETBUF_ADDR_RECEIVER)->u8[1],
|
|
packetbuf_addr(PACKETBUF_ADDR_RECEIVER)->u8[2],
|
|
packetbuf_addr(PACKETBUF_ADDR_RECEIVER)->u8[3],
|
|
packetbuf_addr(PACKETBUF_ADDR_RECEIVER)->u8[4],
|
|
packetbuf_addr(PACKETBUF_ADDR_RECEIVER)->u8[5],
|
|
packetbuf_addr(PACKETBUF_ADDR_RECEIVER)->u8[6],
|
|
packetbuf_addr(PACKETBUF_ADDR_RECEIVER)->u8[7]);
|
|
#else
|
|
PRINTDEBUG("contikimac: send unicast to %u.%u\n",
|
|
packetbuf_addr(PACKETBUF_ADDR_RECEIVER)->u8[0],
|
|
packetbuf_addr(PACKETBUF_ADDR_RECEIVER)->u8[1]);
|
|
#endif /* UIP_CONF_IPV6 */
|
|
}
|
|
is_reliable = packetbuf_attr(PACKETBUF_ATTR_RELIABLE) ||
|
|
packetbuf_attr(PACKETBUF_ATTR_ERELIABLE);
|
|
len = NETSTACK_FRAMER.create();
|
|
if(len == 0) {
|
|
/* Failed to send */
|
|
PRINTF("contikimac: send failed, too large header\n");
|
|
return MAC_TX_ERR_FATAL;
|
|
}
|
|
|
|
packetbuf_compact();
|
|
|
|
NETSTACK_RADIO.prepare(packetbuf_hdrptr(), packetbuf_totlen());
|
|
transmit_len = packetbuf_totlen();
|
|
|
|
|
|
#if WITH_STREAMING
|
|
if(packetbuf_attr(PACKETBUF_ATTR_PACKET_TYPE) ==
|
|
PACKETBUF_ATTR_PACKET_TYPE_STREAM) {
|
|
is_streaming = 1;
|
|
if(rimeaddr_cmp(&is_streaming_to, &rimeaddr_null)) {
|
|
rimeaddr_copy(&is_streaming_to,
|
|
packetbuf_addr(PACKETBUF_ADDR_RECEIVER));
|
|
} else
|
|
if(!rimeaddr_cmp
|
|
(&is_streaming_to, packetbuf_addr(PACKETBUF_ADDR_RECEIVER))) {
|
|
rimeaddr_copy(&is_streaming_to_too,
|
|
packetbuf_addr(PACKETBUF_ADDR_RECEIVER));
|
|
}
|
|
stream_until = RTIMER_NOW() + DEFAULT_STREAM_TIME;
|
|
}
|
|
#endif /* WITH_STREAMING */
|
|
|
|
|
|
/* By setting we_are_sending to one, we ensure that the rtimer
|
|
powercycle interrupt do not interfere with us sending the packet. */
|
|
we_are_sending = 1;
|
|
|
|
/* If we have a pending packet in the radio, we should not send now,
|
|
because we will trash the received packet. Instead, we signal
|
|
that we have a collision, which lets the packet be received. This
|
|
packet will be retransmitted later by the MAC protocol
|
|
instread. */
|
|
if(NETSTACK_RADIO.receiving_packet() || NETSTACK_RADIO.pending_packet()) {
|
|
we_are_sending = 0;
|
|
PRINTF("contikimac: collision receiving %d, pending %d\n",
|
|
NETSTACK_RADIO.receiving_packet(), NETSTACK_RADIO.pending_packet());
|
|
return MAC_TX_COLLISION;
|
|
}
|
|
|
|
/* Switch off the radio to ensure that we didn't start sending while
|
|
the radio was doing a channel check. */
|
|
off();
|
|
|
|
|
|
strobes = 0;
|
|
|
|
/* Send a train of strobes until the receiver answers with an ACK. */
|
|
collisions = 0;
|
|
|
|
got_strobe_ack = 0;
|
|
|
|
if(packetbuf_attr(PACKETBUF_ATTR_PACKET_TYPE) !=
|
|
PACKETBUF_ATTR_PACKET_TYPE_ACK && is_streaming == 0) {
|
|
/* Check if there are any transmissions by others. */
|
|
for(i = 0; i < CCA_COUNT_MAX; ++i) {
|
|
t0 = RTIMER_NOW();
|
|
on();
|
|
#if NURTIMER
|
|
while(RTIMER_CLOCK_LT(t0, RTIMER_NOW(), t0 + CCA_CHECK_TIME));
|
|
#else
|
|
while(RTIMER_CLOCK_LT(RTIMER_NOW(), t0 + CCA_CHECK_TIME)) { }
|
|
#endif
|
|
if(NETSTACK_RADIO.channel_clear() == 0) {
|
|
collisions++;
|
|
off();
|
|
break;
|
|
}
|
|
off();
|
|
#if NURTIMER
|
|
while(RTIMER_CLOCK_LT(t0, RTIMER_NOW(), t0 + CCA_SLEEP_TIME + CCA_CHECK_TIME));
|
|
#else
|
|
while(RTIMER_CLOCK_LT(RTIMER_NOW(), t0 + CCA_SLEEP_TIME + CCA_CHECK_TIME)) { }
|
|
#endif
|
|
}
|
|
}
|
|
|
|
if(collisions > 0) {
|
|
we_are_sending = 0;
|
|
off();
|
|
PRINTF("contikimac: collisions before sending\n");
|
|
return MAC_TX_COLLISION;
|
|
}
|
|
|
|
t0 = RTIMER_NOW();
|
|
t = RTIMER_NOW();
|
|
#if NURTIMER
|
|
for(strobes = 0, collisions = 0;
|
|
got_strobe_ack == 0 && collisions == 0 &&
|
|
RTIMER_CLOCK_LT(t0, RTIMER_NOW(), t0 + STROBE_TIME); strobes++) {
|
|
#else
|
|
for(strobes = 0, collisions = 0;
|
|
got_strobe_ack == 0 && collisions == 0 &&
|
|
RTIMER_CLOCK_LT(RTIMER_NOW(), t0 + STROBE_TIME); strobes++) {
|
|
#endif
|
|
|
|
/* Let the watchdog know we are still alive. */
|
|
watchdog_periodic();
|
|
|
|
len = 0;
|
|
|
|
t = RTIMER_NOW();
|
|
|
|
|
|
/*if(is_broadcast) {
|
|
NETSTACK_RADIO.transmit(transmit_len);
|
|
off();b
|
|
} else*/ {
|
|
rtimer_clock_t wt;
|
|
rtimer_clock_t now = RTIMER_NOW();
|
|
|
|
leds_on(LEDS_RED);
|
|
NETSTACK_RADIO.transmit(transmit_len);
|
|
leds_off(LEDS_RED);
|
|
if(!is_broadcast) {
|
|
on();
|
|
}
|
|
/* Turn off the radio for a while to let the other side
|
|
respond. We don't need to keep our radio on when we know
|
|
that the other side needs some time to produce a reply. */
|
|
wt = RTIMER_NOW();
|
|
#if NURTIMER
|
|
while(RTIMER_CLOCK_LT
|
|
(wt, RTIMER_NOW(), wt + INTER_PACKET_INTERVAL));
|
|
#else
|
|
while(RTIMER_CLOCK_LT
|
|
(RTIMER_NOW(), wt + INTER_PACKET_INTERVAL)) { }
|
|
#endif
|
|
if(!is_broadcast && (NETSTACK_RADIO.receiving_packet() ||
|
|
NETSTACK_RADIO.pending_packet() ||
|
|
NETSTACK_RADIO.channel_clear() == 0)) {
|
|
uint8_t ackbuf[ACK_LEN];
|
|
wt = RTIMER_NOW();
|
|
#if NURTIMER
|
|
while(RTIMER_CLOCK_LT
|
|
(wt, RTIMER_NOW(), wt + AFTER_ACK_DETECTECT_WAIT_TIME));
|
|
#else
|
|
while(RTIMER_CLOCK_LT
|
|
(RTIMER_NOW(), wt + AFTER_ACK_DETECTECT_WAIT_TIME)) { }
|
|
#endif
|
|
len = NETSTACK_RADIO.read(ackbuf, ACK_LEN);
|
|
if(len == ACK_LEN) {
|
|
got_strobe_ack = 1;
|
|
encounter_time = now;
|
|
packet_indication_flag = 0;
|
|
} else {
|
|
PRINTF("contikimac: collisions while sending\n");
|
|
packet_indication_flag = 0;
|
|
collisions++;
|
|
}
|
|
} else {
|
|
}
|
|
}
|
|
}
|
|
|
|
#if WITH_ACK_OPTIMIZATION
|
|
/* If we have received the strobe ACK, and we are sending a packet
|
|
that will need an upper layer ACK (as signified by the
|
|
PACKETBUF_ATTR_RELIABLE packet attribute), we keep the radio on. */
|
|
if(got_strobe_ack && is_reliable) {
|
|
on(); /* Wait for ACK packet */
|
|
} else {
|
|
off();
|
|
}
|
|
#else /* WITH_ACK_OPTIMIZATION */
|
|
off();
|
|
#endif /* WITH_ACK_OPTIMIZATION */
|
|
|
|
#if WITH_PHASE_OPTIMIZATION
|
|
#if WITH_ACK_OPTIMIZATION
|
|
if(got_strobe_ack && packetbuf_attr(PACKETBUF_ATTR_PACKET_TYPE) !=
|
|
PACKETBUF_ATTR_PACKET_TYPE_ACK && is_streaming == 0) {
|
|
phase_register(&phase_list, packetbuf_addr(PACKETBUF_ADDR_RECEIVER), encounter_time);
|
|
}
|
|
#else /* WITH_ACK_OPTIMIZATION */
|
|
if(got_strobe_ack && is_streaming == 0) {
|
|
phase_register(&phase_list, packetbuf_addr(PACKETBUF_ADDR_RECEIVER), encounter_time);
|
|
}
|
|
#endif /* WITH_ACK_OPTIMIZATION */
|
|
#endif /* WITH_PHASE_OPTIMIZATION */
|
|
|
|
PRINTF("contikimac: send (strobes=%u,len=%u,%s), done\n", strobes,
|
|
packetbuf_totlen(), got_strobe_ack ? "ack" : "no ack");
|
|
|
|
#if CONTIKIMAC_CONF_COMPOWER
|
|
/* Accumulate the power consumption for the packet transmission. */
|
|
compower_accumulate(¤t_packet);
|
|
|
|
/* Convert the accumulated power consumption for the transmitted
|
|
packet to packet attributes so that the higher levels can keep
|
|
track of the amount of energy spent on transmitting the
|
|
packet. */
|
|
compower_attrconv(¤t_packet);
|
|
|
|
/* Clear the accumulated power consumption so that it is ready for
|
|
the next packet. */
|
|
compower_clear(¤t_packet);
|
|
#endif /* CONTIKIMAC_CONF_COMPOWER */
|
|
|
|
we_are_sending = 0;
|
|
|
|
if(collisions > 0) {
|
|
return MAC_TX_COLLISION;
|
|
}
|
|
|
|
if(!is_broadcast && !got_strobe_ack) {
|
|
return MAC_TX_NOACK;
|
|
} else {
|
|
return MAC_TX_OK;
|
|
}
|
|
}
|
|
/*---------------------------------------------------------------------------*/
|
|
static void
|
|
qsend_packet(mac_callback_t sent, void *ptr)
|
|
{
|
|
int ret = send_packet(sent, ptr);
|
|
if(ret != MAC_TX_DEFERRED) {
|
|
mac_call_sent_callback(sent, ptr, ret, 1);
|
|
}
|
|
}
|
|
/*---------------------------------------------------------------------------*/
|
|
static void
|
|
input_packet(void)
|
|
{
|
|
/* We have received the packet, so we can go back to being
|
|
asleep. */
|
|
off();
|
|
|
|
packet_indication_flag = 0;
|
|
|
|
if(packetbuf_totlen() > 0 && NETSTACK_FRAMER.parse()) {
|
|
|
|
if(packetbuf_datalen() > 0 &&
|
|
packetbuf_totlen() > 0 &&
|
|
(rimeaddr_cmp(packetbuf_addr(PACKETBUF_ADDR_RECEIVER),
|
|
&rimeaddr_node_addr) ||
|
|
rimeaddr_cmp(packetbuf_addr(PACKETBUF_ADDR_RECEIVER),
|
|
&rimeaddr_null))) {
|
|
/* This is a regular packet that is destined to us or to the
|
|
broadcast address. */
|
|
|
|
#if CONTIKIMAC_CONF_COMPOWER
|
|
/* Accumulate the power consumption for the packet reception. */
|
|
compower_accumulate(¤t_packet);
|
|
/* Convert the accumulated power consumption for the received
|
|
packet to packet attributes so that the higher levels can
|
|
keep track of the amount of energy spent on receiving the
|
|
packet. */
|
|
compower_attrconv(¤t_packet);
|
|
|
|
/* Clear the accumulated power consumption so that it is ready
|
|
for the next packet. */
|
|
compower_clear(¤t_packet);
|
|
#endif /* CONTIKIMAC_CONF_COMPOWER */
|
|
|
|
PRINTDEBUG("contikimac: data(%u)\n", packetbuf_datalen());
|
|
|
|
NETSTACK_MAC.input();
|
|
return;
|
|
} else {
|
|
PRINTDEBUG("contikimac: data not for us\n");
|
|
}
|
|
} else {
|
|
PRINTF("contikimac: failed to parse (%u)\n", packetbuf_totlen());
|
|
}
|
|
}
|
|
/*---------------------------------------------------------------------------*/
|
|
#if CONTIKIMAC_CONF_ANNOUNCEMENTS
|
|
static void
|
|
send_announcement(void *ptr)
|
|
{
|
|
struct contikimac_hdr *hdr;
|
|
int announcement_len;
|
|
|
|
/* Set up the probe header. */
|
|
packetbuf_clear();
|
|
hdr = packetbuf_dataptr();
|
|
|
|
announcement_len = format_announcement((char *)hdr +
|
|
sizeof(struct contikimac_hdr));
|
|
|
|
if(announcement_len > 0) {
|
|
packetbuf_set_datalen(sizeof(struct contikimac_hdr) + announcement_len);
|
|
hdr->dispatch = DISPATCH;
|
|
hdr->type = TYPE_ANNOUNCEMENT;
|
|
|
|
packetbuf_set_addr(PACKETBUF_ADDR_SENDER, &rimeaddr_node_addr);
|
|
packetbuf_set_addr(PACKETBUF_ADDR_RECEIVER, &rimeaddr_null);
|
|
packetbuf_set_attr(PACKETBUF_ATTR_RADIO_TXPOWER,
|
|
announcement_radio_txpower);
|
|
if(NETSTACK_FRAMER.create()) {
|
|
we_are_sending = 1;
|
|
NETSTACK_RADIO.send(packetbuf_hdrptr(), packetbuf_totlen());
|
|
we_are_sending = 0;
|
|
}
|
|
}
|
|
}
|
|
/*---------------------------------------------------------------------------*/
|
|
static void
|
|
cycle_announcement(void *ptr)
|
|
{
|
|
ctimer_set(&announcement_ctimer, ANNOUNCEMENT_TIME,
|
|
send_announcement, NULL);
|
|
ctimer_set(&announcement_cycle_ctimer, ANNOUNCEMENT_PERIOD,
|
|
cycle_announcement, NULL);
|
|
if(is_listening > 0) {
|
|
is_listening--;
|
|
/* printf("is_listening %d\n", is_listening); */
|
|
}
|
|
}
|
|
/*---------------------------------------------------------------------------*/
|
|
static void
|
|
listen_callback(int periods)
|
|
{
|
|
is_listening = periods + 1;
|
|
}
|
|
#endif /* CONTIKIMAC_CONF_ANNOUNCEMENTS */
|
|
/*---------------------------------------------------------------------------*/
|
|
void
|
|
contikimac_set_announcement_radio_txpower(int txpower)
|
|
{
|
|
#if CONTIKIMAC_CONF_ANNOUNCEMENTS
|
|
announcement_radio_txpower = txpower;
|
|
#endif /* CONTIKIMAC_CONF_ANNOUNCEMENTS */
|
|
}
|
|
/*---------------------------------------------------------------------------*/
|
|
static void
|
|
init(void)
|
|
{
|
|
radio_is_on = 0;
|
|
PT_INIT(&pt);
|
|
#if NURTIMER
|
|
rtimer_setup(&rt, RTIMER_HARD,
|
|
(void (*)(struct rtimer *, void *, int status))powercycle,
|
|
NULL);
|
|
rtimer_schedule(&rt, CYCLE_TIME, 1);
|
|
#else
|
|
rtimer_set(&rt, RTIMER_NOW() + CYCLE_TIME, 1,
|
|
(void (*)(struct rtimer *, void *))powercycle, NULL);
|
|
#endif
|
|
|
|
contikimac_is_on = 1;
|
|
|
|
#if WITH_PHASE_OPTIMIZATION
|
|
phase_init(&phase_list);
|
|
#endif /* WITH_PHASE_OPTIMIZATION */
|
|
|
|
#if CONTIKIMAC_CONF_ANNOUNCEMENTS
|
|
announcement_register_listen_callback(listen_callback);
|
|
ctimer_set(&announcement_cycle_ctimer, ANNOUNCEMENT_TIME,
|
|
cycle_announcement, NULL);
|
|
#endif /* CONTIKIMAC_CONF_ANNOUNCEMENTS */
|
|
}
|
|
/*---------------------------------------------------------------------------*/
|
|
static int
|
|
turn_on(void)
|
|
{
|
|
contikimac_is_on = 1;
|
|
#if NURTIMER
|
|
rtimer_schedule(&rt, CYCLE_TIME, 1);
|
|
#else
|
|
rtimer_set(&rt, RTIMER_NOW() + CYCLE_TIME, 1,
|
|
(void (*)(struct rtimer *, void *))powercycle, NULL);
|
|
#endif
|
|
|
|
return 1;
|
|
}
|
|
/*---------------------------------------------------------------------------*/
|
|
static int
|
|
turn_off(int keep_radio_on)
|
|
{
|
|
contikimac_is_on = 0;
|
|
if(keep_radio_on) {
|
|
return NETSTACK_RADIO.on();
|
|
} else {
|
|
return NETSTACK_RADIO.off();
|
|
}
|
|
}
|
|
/*---------------------------------------------------------------------------*/
|
|
static unsigned short
|
|
duty_cycle(void)
|
|
{
|
|
return (1ul * CLOCK_SECOND * CYCLE_TIME) / RTIMER_ARCH_SECOND;
|
|
}
|
|
/*---------------------------------------------------------------------------*/
|
|
const struct rdc_driver contikimac_driver = {
|
|
"ContikiMAC",
|
|
init,
|
|
qsend_packet,
|
|
input_packet,
|
|
turn_on,
|
|
turn_off,
|
|
duty_cycle,
|
|
};
|
|
/*---------------------------------------------------------------------------*/
|
|
uint16_t
|
|
contikimac_debug_print(void)
|
|
{
|
|
int i;
|
|
for(i = 0; i < LATEST_CCA_CHECKS_NUM; ++i) {
|
|
printf("%d: %d, %d\n", i, cca_checks[i].check[0], cca_checks[i].check[1]);
|
|
}
|
|
return 0;
|
|
}
|
|
/*---------------------------------------------------------------------------*/
|