1065 lines
33 KiB
C
1065 lines
33 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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*/
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/**
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* \file
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* Implementation of the ContikiMAC power-saving radio duty cycling protocol
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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 "contiki-conf.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/netstack.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 <string.h>
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/* TX/RX cycles are synchronized with neighbor wake periods */
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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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/* Two byte header added to allow recovery of padded short packets */
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/* Wireshark will not understand such packets at present */
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#ifdef CONTIKIMAC_CONF_WITH_CONTIKIMAC_HEADER
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#define WITH_CONTIKIMAC_HEADER CONTIKIMAC_CONF_WITH_CONTIKIMAC_HEADER
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#else
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#define WITH_CONTIKIMAC_HEADER 1
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#endif
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/* More aggressive radio sleeping when channel is busy with other traffic */
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#ifndef WITH_FAST_SLEEP
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#define WITH_FAST_SLEEP 1
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#endif
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/* Radio does CSMA and autobackoff */
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#ifndef RDC_CONF_HARDWARE_CSMA
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#define RDC_CONF_HARDWARE_CSMA 0
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#endif
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/* Radio returns TX_OK/TX_NOACK after autoack wait */
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#ifndef RDC_CONF_HARDWARE_ACK
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#define RDC_CONF_HARDWARE_ACK 0
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#endif
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/* MCU can sleep during radio off */
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#ifndef RDC_CONF_MCU_SLEEP
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#define RDC_CONF_MCU_SLEEP 0
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#endif
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#if NETSTACK_RDC_CHANNEL_CHECK_RATE >= 64
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#undef WITH_PHASE_OPTIMIZATION
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#define WITH_PHASE_OPTIMIZATION 0
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#endif
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#if WITH_CONTIKIMAC_HEADER
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#define CONTIKIMAC_ID 0x00
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struct hdr {
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uint8_t id;
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uint8_t len;
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};
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#endif /* WITH_CONTIKIMAC_HEADER */
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/* CYCLE_TIME for channel cca checks, in rtimer ticks. */
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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 / NETSTACK_RDC_CHANNEL_CHECK_RATE)
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#endif
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/* CHANNEL_CHECK_RATE is enforced to be a power of two.
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* If RTIMER_ARCH_SECOND is not also a power of two, there will be an inexact
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* number of channel checks per second due to the truncation of CYCLE_TIME.
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* This will degrade the effectiveness of phase optimization with neighbors that
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* do not have the same truncation error.
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* Define SYNC_CYCLE_STARTS to ensure an integral number of checks per second.
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*/
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#if RTIMER_ARCH_SECOND & (RTIMER_ARCH_SECOND - 1)
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#define SYNC_CYCLE_STARTS 1
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#endif
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/* Are we currently receiving a burst? */
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static int we_are_receiving_burst = 0;
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/* Has the receiver been awoken by a burst we're sending? */
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static int is_receiver_awake = 0;
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/* BURST_RECV_TIME is the maximum time a receiver waits for the
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next packet of a burst when FRAME_PENDING is set. */
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#define INTER_PACKET_DEADLINE CLOCK_SECOND / 32
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/* ContikiMAC performs periodic channel checks. Each channel check
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consists of two or more CCA checks. CCA_COUNT_MAX is the number of
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CCAs to be done for each periodic channel check. The default is
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two.*/
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#define CCA_COUNT_MAX 2
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/* Before starting a transmission, Contikimac checks the availability
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of the channel with CCA_COUNT_MAX_TX consecutive CCAs */
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#define CCA_COUNT_MAX_TX 6
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/* CCA_CHECK_TIME is the time it takes to perform a CCA check. */
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/* Note this may be zero. AVRs have 7612 ticks/sec, but block until cca is done */
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#define CCA_CHECK_TIME RTIMER_ARCH_SECOND / 8192
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/* CCA_SLEEP_TIME is the time between two successive CCA checks. */
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/* Add 1 when rtimer ticks are coarse */
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#if RTIMER_ARCH_SECOND > 8000
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#define CCA_SLEEP_TIME RTIMER_ARCH_SECOND / 2000
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#else
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#define CCA_SLEEP_TIME (RTIMER_ARCH_SECOND / 2000) + 1
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#endif
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/* CHECK_TIME is the total time it takes to perform CCA_COUNT_MAX
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CCAs. */
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#define CHECK_TIME (CCA_COUNT_MAX * (CCA_CHECK_TIME + CCA_SLEEP_TIME))
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/* CHECK_TIME_TX is the total time it takes to perform CCA_COUNT_MAX_TX
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CCAs. */
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#define CHECK_TIME_TX (CCA_COUNT_MAX_TX * (CCA_CHECK_TIME + CCA_SLEEP_TIME))
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/* LISTEN_TIME_AFTER_PACKET_DETECTED is the time that we keep checking
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for activity after a potential packet has been detected by a CCA
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check. */
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#define LISTEN_TIME_AFTER_PACKET_DETECTED RTIMER_ARCH_SECOND / 80
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/* MAX_SILENCE_PERIODS is the maximum amount of periods (a period is
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CCA_CHECK_TIME + CCA_SLEEP_TIME) that we allow to be silent before
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we turn of the radio. */
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#define MAX_SILENCE_PERIODS 5
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/* MAX_NONACTIVITY_PERIODS is the maximum number of periods we allow
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the radio to be turned on without any packet being received, when
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WITH_FAST_SLEEP is enabled. */
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#define MAX_NONACTIVITY_PERIODS 10
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/* STROBE_TIME is the maximum amount of time a transmitted packet
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should be repeatedly transmitted as part of a transmission. */
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#define STROBE_TIME (CYCLE_TIME + 2 * CHECK_TIME)
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/* GUARD_TIME is the time before the expected phase of a neighbor that
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a transmitted should begin transmitting packets. */
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#define GUARD_TIME 10 * CHECK_TIME + CHECK_TIME_TX
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/* INTER_PACKET_INTERVAL is the interval between two successive packet transmissions */
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#define INTER_PACKET_INTERVAL RTIMER_ARCH_SECOND / 5000
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/* AFTER_ACK_DETECTECT_WAIT_TIME is the time to wait after a potential
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ACK packet has been detected until we can read it out from the
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radio. */
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#define AFTER_ACK_DETECTECT_WAIT_TIME RTIMER_ARCH_SECOND / 1500
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/* MAX_PHASE_STROBE_TIME is the time that we transmit repeated packets
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to a neighbor for which we have a phase lock. */
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#define MAX_PHASE_STROBE_TIME RTIMER_ARCH_SECOND / 60
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/* SHORTEST_PACKET_SIZE is the shortest packet that ContikiMAC
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allows. Packets have to be a certain size to be able to be detected
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by two consecutive CCA checks, and here is where we define this
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shortest size.
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Padded packets will have the wrong ipv6 checksum unless CONTIKIMAC_HEADER
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is used (on both sides) and the receiver will ignore them.
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With no header, reduce to transmit a proper multicast RPL DIS. */
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#ifdef CONTIKIMAC_CONF_SHORTEST_PACKET_SIZE
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#define SHORTEST_PACKET_SIZE CONTIKIMAC_CONF_SHORTEST_PACKET_SIZE
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#else
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#define SHORTEST_PACKET_SIZE 43
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#endif
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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 uint8_t contikimac_keep_radio_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_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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#ifdef CONTIKIMAC_CONF_MAX_PHASE_NEIGHBORS
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#define MAX_PHASE_NEIGHBORS CONTIKIMAC_CONF_MAX_PHASE_NEIGHBORS
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#endif
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#ifndef MAX_PHASE_NEIGHBORS
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#define MAX_PHASE_NEIGHBORS 30
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#endif
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PHASE_LIST(phase_list, MAX_PHASE_NEIGHBORS);
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#endif /* WITH_PHASE_OPTIMIZATION */
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#define DEFAULT_STREAM_TIME (4 * CYCLE_TIME)
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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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struct seqno {
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rimeaddr_t sender;
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uint8_t seqno;
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};
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#ifdef NETSTACK_CONF_MAC_SEQNO_HISTORY
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#define MAX_SEQNOS NETSTACK_CONF_MAC_SEQNO_HISTORY
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#else /* NETSTACK_CONF_MAC_SEQNO_HISTORY */
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#define MAX_SEQNOS 16
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#endif /* NETSTACK_CONF_MAC_SEQNO_HISTORY */
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static struct seqno received_seqnos[MAX_SEQNOS];
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#if CONTIKIMAC_CONF_BROADCAST_RATE_LIMIT
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static struct timer broadcast_rate_timer;
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static int broadcast_rate_counter;
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#endif /* CONTIKIMAC_CONF_BROADCAST_RATE_LIMIT */
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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 &&
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contikimac_keep_radio_on == 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 volatile rtimer_clock_t cycle_start;
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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() + 2)) {
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time = RTIMER_NOW() - RTIMER_TIME(t) + 2;
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}
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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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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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/*---------------------------------------------------------------------------*/
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static void
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schedule_powercycle_fixed(struct rtimer *t, rtimer_clock_t fixed_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(fixed_time, RTIMER_NOW() + 1)) {
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fixed_time = RTIMER_NOW() + 1;
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}
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r = rtimer_set(t, fixed_time, 1,
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(void (*)(struct rtimer *, void *))powercycle, NULL);
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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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/*---------------------------------------------------------------------------*/
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static void
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powercycle_turn_radio_off(void)
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{
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#if CONTIKIMAC_CONF_COMPOWER
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uint8_t was_on = radio_is_on;
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#endif /* CONTIKIMAC_CONF_COMPOWER */
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if(we_are_sending == 0 && we_are_receiving_burst == 0) {
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off();
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#if CONTIKIMAC_CONF_COMPOWER
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if(was_on && !radio_is_on) {
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compower_accumulate(&compower_idle_activity);
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}
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#endif /* CONTIKIMAC_CONF_COMPOWER */
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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_on(void)
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{
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if(we_are_sending == 0 && we_are_receiving_burst == 0) {
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on();
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}
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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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#if SYNC_CYCLE_STARTS
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static volatile rtimer_clock_t sync_cycle_start;
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static volatile uint8_t sync_cycle_phase;
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#endif
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PT_BEGIN(&pt);
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#if SYNC_CYCLE_STARTS
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sync_cycle_start = RTIMER_NOW();
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#else
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cycle_start = RTIMER_NOW();
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#endif
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while(1) {
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static uint8_t packet_seen;
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static rtimer_clock_t t0;
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static uint8_t count;
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#if SYNC_CYCLE_STARTS
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/* Compute cycle start when RTIMER_ARCH_SECOND is not a multiple of CHANNEL_CHECK_RATE */
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if (sync_cycle_phase++ == NETSTACK_RDC_CHANNEL_CHECK_RATE) {
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sync_cycle_phase = 0;
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sync_cycle_start += RTIMER_ARCH_SECOND;
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cycle_start = sync_cycle_start;
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} else {
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#if (RTIMER_ARCH_SECOND * NETSTACK_RDC_CHANNEL_CHECK_RATE) > 65535
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cycle_start = sync_cycle_start + ((unsigned long)(sync_cycle_phase*RTIMER_ARCH_SECOND))/NETSTACK_RDC_CHANNEL_CHECK_RATE;
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#else
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cycle_start = sync_cycle_start + (sync_cycle_phase*RTIMER_ARCH_SECOND)/NETSTACK_RDC_CHANNEL_CHECK_RATE;
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#endif
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}
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#else
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cycle_start += CYCLE_TIME;
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#endif
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packet_seen = 0;
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for(count = 0; count < CCA_COUNT_MAX; ++count) {
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t0 = RTIMER_NOW();
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if(we_are_sending == 0 && we_are_receiving_burst == 0) {
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powercycle_turn_radio_on();
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/* Check if a packet is seen in the air. If so, we keep the
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radio on for a while (LISTEN_TIME_AFTER_PACKET_DETECTED) to
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be able to receive the packet. We also continuously check
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the radio medium to make sure that we wasn't woken up by a
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false positive: a spurious radio interference that was not
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caused by an incoming packet. */
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if(NETSTACK_RADIO.channel_clear() == 0) {
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packet_seen = 1;
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break;
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}
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powercycle_turn_radio_off();
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}
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schedule_powercycle_fixed(t, RTIMER_NOW() + CCA_SLEEP_TIME);
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PT_YIELD(&pt);
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}
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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(),
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(start + LISTEN_TIME_AFTER_PACKET_DETECTED))) {
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/* Check for a number of consecutive periods of
|
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non-activity. If we see two such periods, we turn the
|
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radio off. Also, if a packet has been successfully
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received (as indicated by the
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NETSTACK_RADIO.pending_packet() function), we stop
|
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snooping. */
|
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#if !RDC_CONF_HARDWARE_CSMA
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/* A cca cycle will disrupt rx on some radios, e.g. mc1322x, rf230 */
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/*TODO: Modify those drivers to just return the internal RSSI when already in rx mode */
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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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#endif
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|
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++periods;
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|
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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 > MAX_SILENCE_PERIODS) {
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powercycle_turn_radio_off();
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break;
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}
|
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if(WITH_FAST_SLEEP &&
|
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periods > MAX_NONACTIVITY_PERIODS &&
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!(NETSTACK_RADIO.receiving_packet() ||
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NETSTACK_RADIO.pending_packet())) {
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powercycle_turn_radio_off();
|
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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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|
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schedule_powercycle(t, CCA_CHECK_TIME + CCA_SLEEP_TIME);
|
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PT_YIELD(&pt);
|
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}
|
|
if(radio_is_on) {
|
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if(!(NETSTACK_RADIO.receiving_packet() ||
|
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NETSTACK_RADIO.pending_packet()) ||
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!RTIMER_CLOCK_LT(RTIMER_NOW(),
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(start + LISTEN_TIME_AFTER_PACKET_DETECTED))) {
|
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powercycle_turn_radio_off();
|
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}
|
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}
|
|
}
|
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|
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if(RTIMER_CLOCK_LT(RTIMER_NOW() - cycle_start, CYCLE_TIME - CHECK_TIME * 4)) {
|
|
/* Schedule the next powercycle interrupt, or sleep the mcu until then.
|
|
Sleeping will not exit from this interrupt, so ensure an occasional wake cycle
|
|
or foreground processing will be blocked until a packet is detected */
|
|
#if RDC_CONF_MCU_SLEEP
|
|
static uint8_t sleepcycle;
|
|
if ((sleepcycle++<16) && !we_are_sending && !radio_is_on) {
|
|
rtimer_arch_sleep(CYCLE_TIME - (RTIMER_NOW() - cycle_start));
|
|
} else {
|
|
sleepcycle = 0;
|
|
schedule_powercycle_fixed(t, CYCLE_TIME + cycle_start);
|
|
PT_YIELD(&pt);
|
|
}
|
|
#else
|
|
schedule_powercycle_fixed(t, CYCLE_TIME + cycle_start);
|
|
PT_YIELD(&pt);
|
|
#endif
|
|
}
|
|
}
|
|
|
|
PT_END(&pt);
|
|
}
|
|
/*---------------------------------------------------------------------------*/
|
|
static int
|
|
broadcast_rate_drop(void)
|
|
{
|
|
#if CONTIKIMAC_CONF_BROADCAST_RATE_LIMIT
|
|
if(!timer_expired(&broadcast_rate_timer)) {
|
|
broadcast_rate_counter++;
|
|
if(broadcast_rate_counter < CONTIKIMAC_CONF_BROADCAST_RATE_LIMIT) {
|
|
return 0;
|
|
} else {
|
|
return 1;
|
|
}
|
|
} else {
|
|
timer_set(&broadcast_rate_timer, CLOCK_SECOND);
|
|
broadcast_rate_counter = 0;
|
|
return 0;
|
|
}
|
|
#else /* CONTIKIMAC_CONF_BROADCAST_RATE_LIMIT */
|
|
return 0;
|
|
#endif /* CONTIKIMAC_CONF_BROADCAST_RATE_LIMIT */
|
|
}
|
|
/*---------------------------------------------------------------------------*/
|
|
static int
|
|
send_packet(mac_callback_t mac_callback, void *mac_callback_ptr, struct rdc_buf_list *buf_list)
|
|
{
|
|
rtimer_clock_t t0;
|
|
rtimer_clock_t encounter_time = 0;
|
|
int strobes;
|
|
uint8_t got_strobe_ack = 0;
|
|
int hdrlen, len;
|
|
uint8_t is_broadcast = 0;
|
|
uint8_t is_reliable = 0;
|
|
uint8_t is_known_receiver = 0;
|
|
uint8_t collisions;
|
|
int transmit_len;
|
|
int ret;
|
|
uint8_t contikimac_was_on;
|
|
uint8_t seqno;
|
|
#if WITH_CONTIKIMAC_HEADER
|
|
struct hdr *chdr;
|
|
#endif /* WITH_CONTIKIMAC_HEADER */
|
|
|
|
/* Exit if RDC and radio were explicitly turned off */
|
|
if (!contikimac_is_on && !contikimac_keep_radio_on) {
|
|
PRINTF("contikimac: radio is turned off\n");
|
|
return MAC_TX_ERR_FATAL;
|
|
}
|
|
|
|
if(packetbuf_totlen() == 0) {
|
|
PRINTF("contikimac: send_packet data len 0\n");
|
|
return MAC_TX_ERR_FATAL;
|
|
}
|
|
|
|
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");
|
|
|
|
if(broadcast_rate_drop()) {
|
|
return MAC_TX_COLLISION;
|
|
}
|
|
} 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 /* UIP_CONF_IPV6 */
|
|
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);
|
|
|
|
packetbuf_set_attr(PACKETBUF_ATTR_MAC_ACK, 1);
|
|
|
|
#if WITH_CONTIKIMAC_HEADER
|
|
hdrlen = packetbuf_totlen();
|
|
if(packetbuf_hdralloc(sizeof(struct hdr)) == 0) {
|
|
/* Failed to allocate space for contikimac header */
|
|
PRINTF("contikimac: send failed, too large header\n");
|
|
return MAC_TX_ERR_FATAL;
|
|
}
|
|
chdr = packetbuf_hdrptr();
|
|
chdr->id = CONTIKIMAC_ID;
|
|
chdr->len = hdrlen;
|
|
|
|
/* Create the MAC header for the data packet. */
|
|
hdrlen = NETSTACK_FRAMER.create();
|
|
if(hdrlen < 0) {
|
|
/* Failed to send */
|
|
PRINTF("contikimac: send failed, too large header\n");
|
|
packetbuf_hdr_remove(sizeof(struct hdr));
|
|
return MAC_TX_ERR_FATAL;
|
|
}
|
|
hdrlen += sizeof(struct hdr);
|
|
#else
|
|
/* Create the MAC header for the data packet. */
|
|
hdrlen = NETSTACK_FRAMER.create();
|
|
if(hdrlen < 0) {
|
|
/* Failed to send */
|
|
PRINTF("contikimac: send failed, too large header\n");
|
|
return MAC_TX_ERR_FATAL;
|
|
}
|
|
#endif
|
|
|
|
|
|
/* Make sure that the packet is longer or equal to the shortest
|
|
packet length. */
|
|
transmit_len = packetbuf_totlen();
|
|
if(transmit_len < SHORTEST_PACKET_SIZE) {
|
|
/* Pad with zeroes */
|
|
uint8_t *ptr;
|
|
ptr = packetbuf_dataptr();
|
|
memset(ptr + packetbuf_datalen(), 0, SHORTEST_PACKET_SIZE - packetbuf_totlen());
|
|
|
|
PRINTF("contikimac: shorter than shortest (%d)\n", packetbuf_totlen());
|
|
transmit_len = SHORTEST_PACKET_SIZE;
|
|
}
|
|
|
|
|
|
packetbuf_compact();
|
|
|
|
NETSTACK_RADIO.prepare(packetbuf_hdrptr(), transmit_len);
|
|
|
|
/* Remove the MAC-layer header since it will be recreated next time around. */
|
|
packetbuf_hdr_remove(hdrlen);
|
|
|
|
if(!is_broadcast && !is_receiver_awake) {
|
|
#if WITH_PHASE_OPTIMIZATION
|
|
ret = phase_wait(&phase_list, packetbuf_addr(PACKETBUF_ADDR_RECEIVER),
|
|
CYCLE_TIME, GUARD_TIME,
|
|
mac_callback, mac_callback_ptr, buf_list);
|
|
if(ret == PHASE_DEFERRED) {
|
|
return MAC_TX_DEFERRED;
|
|
}
|
|
if(ret != PHASE_UNKNOWN) {
|
|
is_known_receiver = 1;
|
|
}
|
|
#endif /* WITH_PHASE_OPTIMIZATION */
|
|
}
|
|
|
|
|
|
|
|
/* 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;
|
|
|
|
/* Set contikimac_is_on to one to allow the on() and off() functions
|
|
to control the radio. We restore the old value of
|
|
contikimac_is_on when we are done. */
|
|
contikimac_was_on = contikimac_is_on;
|
|
contikimac_is_on = 1;
|
|
|
|
#if !RDC_CONF_HARDWARE_CSMA
|
|
/* Check if there are any transmissions by others. */
|
|
/* TODO: why does this give collisions before sending with the mc1322x? */
|
|
if(is_receiver_awake == 0) {
|
|
int i;
|
|
for(i = 0; i < CCA_COUNT_MAX_TX; ++i) {
|
|
t0 = RTIMER_NOW();
|
|
on();
|
|
#if CCA_CHECK_TIME > 0
|
|
while(RTIMER_CLOCK_LT(RTIMER_NOW(), t0 + CCA_CHECK_TIME)) { }
|
|
#endif
|
|
if(NETSTACK_RADIO.channel_clear() == 0) {
|
|
collisions++;
|
|
off();
|
|
break;
|
|
}
|
|
off();
|
|
t0 = RTIMER_NOW();
|
|
while(RTIMER_CLOCK_LT(RTIMER_NOW(), t0 + CCA_SLEEP_TIME)) { }
|
|
}
|
|
}
|
|
|
|
if(collisions > 0) {
|
|
we_are_sending = 0;
|
|
off();
|
|
PRINTF("contikimac: collisions before sending\n");
|
|
contikimac_is_on = contikimac_was_on;
|
|
return MAC_TX_COLLISION;
|
|
}
|
|
#endif /* RDC_CONF_HARDWARE_CSMA */
|
|
|
|
#if !RDC_CONF_HARDWARE_ACK
|
|
if(!is_broadcast) {
|
|
/* Turn radio on to receive expected unicast ack.
|
|
Not necessary with hardware ack detection, and may trigger an unnecessary cca or rx cycle */
|
|
on();
|
|
}
|
|
#endif
|
|
|
|
watchdog_periodic();
|
|
t0 = RTIMER_NOW();
|
|
seqno = packetbuf_attr(PACKETBUF_ATTR_MAC_SEQNO);
|
|
for(strobes = 0, collisions = 0;
|
|
got_strobe_ack == 0 && collisions == 0 &&
|
|
RTIMER_CLOCK_LT(RTIMER_NOW(), t0 + STROBE_TIME); strobes++) {
|
|
|
|
watchdog_periodic();
|
|
|
|
if((is_receiver_awake || is_known_receiver) && !RTIMER_CLOCK_LT(RTIMER_NOW(), t0 + MAX_PHASE_STROBE_TIME)) {
|
|
PRINTF("miss to %d\n", packetbuf_addr(PACKETBUF_ADDR_RECEIVER)->u8[0]);
|
|
break;
|
|
}
|
|
|
|
len = 0;
|
|
|
|
|
|
{
|
|
rtimer_clock_t wt;
|
|
rtimer_clock_t txtime;
|
|
int ret;
|
|
|
|
txtime = RTIMER_NOW();
|
|
ret = NETSTACK_RADIO.transmit(transmit_len);
|
|
|
|
#if RDC_CONF_HARDWARE_ACK
|
|
/* For radios that block in the transmit routine and detect the ACK in hardware */
|
|
if(ret == RADIO_TX_OK) {
|
|
if(!is_broadcast) {
|
|
got_strobe_ack = 1;
|
|
encounter_time = txtime;
|
|
break;
|
|
}
|
|
} else if (ret == RADIO_TX_NOACK) {
|
|
} else if (ret == RADIO_TX_COLLISION) {
|
|
PRINTF("contikimac: collisions while sending\n");
|
|
collisions++;
|
|
}
|
|
wt = RTIMER_NOW();
|
|
while(RTIMER_CLOCK_LT(RTIMER_NOW(), wt + INTER_PACKET_INTERVAL)) { }
|
|
#else
|
|
/* Wait for the ACK packet */
|
|
wt = RTIMER_NOW();
|
|
while(RTIMER_CLOCK_LT(RTIMER_NOW(), wt + INTER_PACKET_INTERVAL)) { }
|
|
|
|
if(!is_broadcast && (NETSTACK_RADIO.receiving_packet() ||
|
|
NETSTACK_RADIO.pending_packet() ||
|
|
NETSTACK_RADIO.channel_clear() == 0)) {
|
|
uint8_t ackbuf[ACK_LEN];
|
|
wt = RTIMER_NOW();
|
|
while(RTIMER_CLOCK_LT(RTIMER_NOW(), wt + AFTER_ACK_DETECTECT_WAIT_TIME)) { }
|
|
|
|
len = NETSTACK_RADIO.read(ackbuf, ACK_LEN);
|
|
if(len == ACK_LEN && seqno == ackbuf[ACK_LEN-1]) {
|
|
got_strobe_ack = 1;
|
|
encounter_time = txtime;
|
|
break;
|
|
} else {
|
|
PRINTF("contikimac: collisions while sending\n");
|
|
collisions++;
|
|
}
|
|
}
|
|
#endif /* RDC_CONF_HARDWARE_ACK */
|
|
}
|
|
}
|
|
|
|
off();
|
|
|
|
PRINTF("contikimac: send (strobes=%u, len=%u, %s, %s), done\n", strobes,
|
|
packetbuf_totlen(),
|
|
got_strobe_ack ? "ack" : "no ack",
|
|
collisions ? "collision" : "no collision");
|
|
|
|
#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 */
|
|
|
|
contikimac_is_on = contikimac_was_on;
|
|
we_are_sending = 0;
|
|
|
|
/* Determine the return value that we will return from the
|
|
function. We must pass this value to the phase module before we
|
|
return from the function. */
|
|
if(collisions > 0) {
|
|
ret = MAC_TX_COLLISION;
|
|
} else if(!is_broadcast && !got_strobe_ack) {
|
|
ret = MAC_TX_NOACK;
|
|
} else {
|
|
ret = MAC_TX_OK;
|
|
}
|
|
|
|
#if WITH_PHASE_OPTIMIZATION
|
|
|
|
if(is_known_receiver && got_strobe_ack) {
|
|
PRINTF("no miss %d wake-ups %d\n", packetbuf_addr(PACKETBUF_ADDR_RECEIVER)->u8[0],
|
|
strobes);
|
|
}
|
|
|
|
if(!is_broadcast) {
|
|
if(collisions == 0 && is_receiver_awake == 0) {
|
|
phase_update(&phase_list, packetbuf_addr(PACKETBUF_ADDR_RECEIVER), encounter_time,
|
|
ret);
|
|
}
|
|
}
|
|
#endif /* WITH_PHASE_OPTIMIZATION */
|
|
|
|
return ret;
|
|
}
|
|
/*---------------------------------------------------------------------------*/
|
|
static void
|
|
qsend_packet(mac_callback_t sent, void *ptr)
|
|
{
|
|
int ret = send_packet(sent, ptr, NULL);
|
|
if(ret != MAC_TX_DEFERRED) {
|
|
mac_call_sent_callback(sent, ptr, ret, 1);
|
|
}
|
|
}
|
|
/*---------------------------------------------------------------------------*/
|
|
static void
|
|
qsend_list(mac_callback_t sent, void *ptr, struct rdc_buf_list *buf_list)
|
|
{
|
|
struct rdc_buf_list *curr = buf_list;
|
|
struct rdc_buf_list *next;
|
|
int ret;
|
|
if(curr == NULL) {
|
|
return;
|
|
}
|
|
/* Do not send during reception of a burst */
|
|
if(we_are_receiving_burst) {
|
|
/* Prepare the packetbuf for callback */
|
|
queuebuf_to_packetbuf(curr->buf);
|
|
/* Return COLLISION so the MAC may try again later */
|
|
mac_call_sent_callback(sent, ptr, MAC_TX_COLLISION, 1);
|
|
return;
|
|
}
|
|
/* The receiver needs to be awoken before we send */
|
|
is_receiver_awake = 0;
|
|
do { /* A loop sending a burst of packets from buf_list */
|
|
next = list_item_next(curr);
|
|
|
|
/* Prepare the packetbuf */
|
|
queuebuf_to_packetbuf(curr->buf);
|
|
if(next != NULL) {
|
|
packetbuf_set_attr(PACKETBUF_ATTR_PENDING, 1);
|
|
}
|
|
|
|
/* Send the current packet */
|
|
ret = send_packet(sent, ptr, curr);
|
|
if(ret != MAC_TX_DEFERRED) {
|
|
mac_call_sent_callback(sent, ptr, ret, 1);
|
|
}
|
|
|
|
if(ret == MAC_TX_OK) {
|
|
if(next != NULL) {
|
|
/* We're in a burst, no need to wake the receiver up again */
|
|
is_receiver_awake = 1;
|
|
curr = next;
|
|
}
|
|
} else {
|
|
/* The transmission failed, we stop the burst */
|
|
next = NULL;
|
|
}
|
|
} while(next != NULL);
|
|
is_receiver_awake = 0;
|
|
}
|
|
/*---------------------------------------------------------------------------*/
|
|
/* Timer callback triggered when receiving a burst, after having waited for a next
|
|
packet for a too long time. Turns the radio off and leaves burst reception mode */
|
|
static void
|
|
recv_burst_off(void *ptr)
|
|
{
|
|
off();
|
|
we_are_receiving_burst = 0;
|
|
}
|
|
/*---------------------------------------------------------------------------*/
|
|
static void
|
|
input_packet(void)
|
|
{
|
|
static struct ctimer ct;
|
|
if(!we_are_receiving_burst) {
|
|
off();
|
|
}
|
|
|
|
/* printf("cycle_start 0x%02x 0x%02x\n", cycle_start, cycle_start % CYCLE_TIME);*/
|
|
|
|
if(packetbuf_totlen() > 0 && NETSTACK_FRAMER.parse() >= 0) {
|
|
|
|
#if WITH_CONTIKIMAC_HEADER
|
|
struct hdr *chdr;
|
|
chdr = packetbuf_dataptr();
|
|
if(chdr->id != CONTIKIMAC_ID) {
|
|
PRINTF("contikimac: failed to parse hdr (%u)\n", packetbuf_totlen());
|
|
return;
|
|
}
|
|
packetbuf_hdrreduce(sizeof(struct hdr));
|
|
packetbuf_set_datalen(chdr->len);
|
|
#endif /* WITH_CONTIKIMAC_HEADER */
|
|
|
|
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 FRAME_PENDING is set, we are receiving a packets in a burst */
|
|
we_are_receiving_burst = packetbuf_attr(PACKETBUF_ATTR_PENDING);
|
|
if(we_are_receiving_burst) {
|
|
on();
|
|
/* Set a timer to turn the radio off in case we do not receive a next packet */
|
|
ctimer_set(&ct, INTER_PACKET_DEADLINE, recv_burst_off, NULL);
|
|
} else {
|
|
off();
|
|
ctimer_stop(&ct);
|
|
}
|
|
|
|
/* Check for duplicate packet by comparing the sequence number
|
|
of the incoming packet with the last few ones we saw. */
|
|
{
|
|
int i;
|
|
for(i = 0; i < MAX_SEQNOS; ++i) {
|
|
if(packetbuf_attr(PACKETBUF_ATTR_PACKET_ID) == received_seqnos[i].seqno &&
|
|
rimeaddr_cmp(packetbuf_addr(PACKETBUF_ADDR_SENDER),
|
|
&received_seqnos[i].sender)) {
|
|
/* Drop the packet. */
|
|
/* printf("Drop duplicate ContikiMAC layer packet\n");*/
|
|
return;
|
|
}
|
|
}
|
|
for(i = MAX_SEQNOS - 1; i > 0; --i) {
|
|
memcpy(&received_seqnos[i], &received_seqnos[i - 1],
|
|
sizeof(struct seqno));
|
|
}
|
|
received_seqnos[0].seqno = packetbuf_attr(PACKETBUF_ATTR_PACKET_ID);
|
|
rimeaddr_copy(&received_seqnos[0].sender,
|
|
packetbuf_addr(PACKETBUF_ADDR_SENDER));
|
|
}
|
|
|
|
#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());
|
|
}
|
|
}
|
|
/*---------------------------------------------------------------------------*/
|
|
static void
|
|
init(void)
|
|
{
|
|
radio_is_on = 0;
|
|
PT_INIT(&pt);
|
|
|
|
rtimer_set(&rt, RTIMER_NOW() + CYCLE_TIME, 1,
|
|
(void (*)(struct rtimer *, void *))powercycle, NULL);
|
|
|
|
contikimac_is_on = 1;
|
|
|
|
#if WITH_PHASE_OPTIMIZATION
|
|
phase_init(&phase_list);
|
|
#endif /* WITH_PHASE_OPTIMIZATION */
|
|
|
|
}
|
|
/*---------------------------------------------------------------------------*/
|
|
static int
|
|
turn_on(void)
|
|
{
|
|
if(contikimac_is_on == 0) {
|
|
contikimac_is_on = 1;
|
|
contikimac_keep_radio_on = 0;
|
|
rtimer_set(&rt, RTIMER_NOW() + CYCLE_TIME, 1,
|
|
(void (*)(struct rtimer *, void *))powercycle, NULL);
|
|
}
|
|
return 1;
|
|
}
|
|
/*---------------------------------------------------------------------------*/
|
|
static int
|
|
turn_off(int keep_radio_on)
|
|
{
|
|
contikimac_is_on = 0;
|
|
contikimac_keep_radio_on = keep_radio_on;
|
|
if(keep_radio_on) {
|
|
radio_is_on = 1;
|
|
return NETSTACK_RADIO.on();
|
|
} else {
|
|
radio_is_on = 0;
|
|
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,
|
|
qsend_list,
|
|
input_packet,
|
|
turn_on,
|
|
turn_off,
|
|
duty_cycle,
|
|
};
|
|
/*---------------------------------------------------------------------------*/
|
|
uint16_t
|
|
contikimac_debug_print(void)
|
|
{
|
|
return 0;
|
|
}
|
|
/*---------------------------------------------------------------------------*/
|