Merge branch 'fix/csl_rx_off_when_idle_v5.4' into 'release/v5.4'

fix(openthread): turn off rx for SSED running CSL during idle (v5.4)

See merge request espressif/esp-idf!37992

components/ieee802154/Kconfig

@@ -75,7 +75,7 @@ menu "IEEE 802.15.4"
     config IEEE802154_TIMING_OPTIMIZATION
         bool "Enable throughput optimization"
         depends on IEEE802154_ENABLED
-        default n
+        default y
         help
             Enabling this option increases throughput by ~5% at the expense of ~2.1k
             IRAM code size increase.

components/ieee802154/driver/esp_ieee802154_dev.c

@@ -131,14 +131,24 @@ static IRAM_ATTR void event_end_process(void)
     ieee802154_etm_channel_clear(IEEE802154_ETM_CHANNEL1);
     ieee802154_ll_set_transmit_security(false);
     ieee802154_timer0_stop();
+    ieee802154_timer1_stop();
 }
 
 #if !CONFIG_IEEE802154_TEST
+IEEE802154_NOINLINE static void ieee802154_rx_ack_timeout_callback(void* s_tx_frame)
+{
+    IEEE802154_ASSERT(s_ieee802154_state == IEEE802154_STATE_RX_ACK);
+
+    ieee802154_inner_transmit_failed((uint8_t*)s_tx_frame, ESP_IEEE802154_TX_ERR_NO_ACK);
+    NEEDS_NEXT_OPT(true);
+}
+
 static IRAM_ATTR void receive_ack_timeout_timer_start(uint32_t duration)
 {
     ieee802154_ll_enable_events(IEEE802154_EVENT_TIMER0_OVERFLOW);
-    ieee802154_timer0_set_threshold(duration);
+
-    ieee802154_timer0_start();
+    uint32_t current_time = (uint32_t)esp_timer_get_time();
+    ieee802154_timer0_fire_at_with_callback(current_time + duration, ieee802154_rx_ack_timeout_callback, (void*)s_tx_frame);
 }
 #endif
 
@@ -394,26 +404,6 @@ static IRAM_ATTR void next_operation(void)
     }
 }
 
-static void isr_handle_timer0_done(void)
-{
-#if !CONFIG_IEEE802154_TEST
-    if (s_ieee802154_state == IEEE802154_STATE_RX_ACK) {
-        ieee802154_inner_transmit_failed(s_tx_frame, ESP_IEEE802154_TX_ERR_NO_ACK);
-        NEEDS_NEXT_OPT(true);
-    }
-#else
-    esp_ieee802154_timer0_done();
-#endif
-}
-
-static void isr_handle_timer1_done(void)
-{
-    // timer 1 is now unused.
-#if CONFIG_IEEE802154_TEST
-    esp_ieee802154_timer1_done();
-#endif
-}
-
 static IRAM_ATTR void isr_handle_tx_done(void)
 {
     event_end_process();
@@ -501,7 +491,7 @@ static IRAM_ATTR void isr_handle_rx_phase_rx_abort(ieee802154_ll_rx_abort_reason
     case IEEE802154_RX_ABORT_BY_TX_ACK_STOP:
     case IEEE802154_RX_ABORT_BY_ED_STOP:
         // do nothing
-        break;
+        return;
     case IEEE802154_RX_ABORT_BY_SFD_TIMEOUT:
     case IEEE802154_RX_ABORT_BY_CRC_ERROR:
     case IEEE802154_RX_ABORT_BY_INVALID_LEN:
@@ -789,7 +779,7 @@ esp_err_t ieee802154_mac_init(void)
 
     ieee802154_ll_enable_events(IEEE802154_EVENT_MASK);
 #if !CONFIG_IEEE802154_TEST
-    ieee802154_ll_disable_events((IEEE802154_EVENT_TIMER0_OVERFLOW) | (IEEE802154_EVENT_TIMER1_OVERFLOW));
+    ieee802154_ll_disable_events(IEEE802154_EVENT_TIMER0_OVERFLOW);
 #endif
     ieee802154_ll_enable_tx_abort_events(BIT(IEEE802154_TX_ABORT_BY_RX_ACK_TIMEOUT - 1) | BIT(IEEE802154_TX_ABORT_BY_TX_COEX_BREAK - 1) | BIT(IEEE802154_TX_ABORT_BY_TX_SECURITY_ERROR - 1) | BIT(IEEE802154_TX_ABORT_BY_CCA_FAILED - 1) | BIT(IEEE802154_TX_ABORT_BY_CCA_BUSY - 1));
     ieee802154_ll_enable_rx_abort_events(BIT(IEEE802154_RX_ABORT_BY_TX_ACK_TIMEOUT - 1) | BIT(IEEE802154_RX_ABORT_BY_TX_ACK_COEX_BREAK - 1));
@@ -903,16 +893,10 @@ esp_err_t ieee802154_transmit(const uint8_t *frame, bool cca)
     return ieee802154_transmit_internal(frame, cca);
 }
 
-IEEE802154_NOINLINE static bool is_target_time_expired(uint32_t target, uint32_t now)
-{
-    return (((now - target) & (1 << 31)) == 0);
-}
-
 esp_err_t ieee802154_transmit_at(const uint8_t *frame, bool cca, uint32_t time)
 {
     ESP_RETURN_ON_FALSE(frame[0] <= 127, ESP_ERR_INVALID_ARG, IEEE802154_TAG, "Invalid frame length.");
     uint32_t tx_target_time;
-    uint32_t current_time;
     IEEE802154_RF_ENABLE();
     tx_init(frame);
     IEEE802154_SET_TXRX_PTI(IEEE802154_SCENE_TX_AT);
@@ -922,9 +906,7 @@ esp_err_t ieee802154_transmit_at(const uint8_t *frame, bool cca, uint32_t time)
         ieee802154_set_state(IEEE802154_STATE_TX_CCA);
         ieee802154_enter_critical();
         ieee802154_etm_set_event_task(IEEE802154_ETM_CHANNEL0, ETM_EVENT_TIMER0_OVERFLOW, ETM_TASK_ED_TRIG_TX);
-        current_time = (uint32_t)esp_timer_get_time();
+        ieee802154_timer0_fire_at(tx_target_time);
-        ieee802154_timer0_set_threshold((is_target_time_expired(tx_target_time, current_time) ? 0 : (tx_target_time - current_time))); //uint: 1us
-        ieee802154_timer0_start();
         ieee802154_exit_critical();
     } else {
         tx_target_time = time - IEEE802154_TX_RAMPUP_TIME_US;
@@ -935,9 +917,7 @@ esp_err_t ieee802154_transmit_at(const uint8_t *frame, bool cca, uint32_t time)
         }
         ieee802154_enter_critical();
         ieee802154_etm_set_event_task(IEEE802154_ETM_CHANNEL0, ETM_EVENT_TIMER0_OVERFLOW, ETM_TASK_TX_START);
-        current_time = (uint32_t)esp_timer_get_time();
+        ieee802154_timer0_fire_at(tx_target_time);
-        ieee802154_timer0_set_threshold((is_target_time_expired(tx_target_time, current_time) ? 0 : (tx_target_time - current_time))); //uint: 1us
-        ieee802154_timer0_start();
         ieee802154_exit_critical();
     }
 
@@ -965,20 +945,34 @@ esp_err_t ieee802154_receive(void)
     return ESP_OK;
 }
 
-esp_err_t ieee802154_receive_at(uint32_t time)
+IEEE802154_NOINLINE static void ieee802154_finish_receive_at(void* ctx)
 {
-    uint32_t rx_target_time = time - IEEE802154_RX_RAMPUP_TIME_US;
+    (void)ctx;
-    uint32_t current_time;
+    stop_current_operation();
+    esp_ieee802154_receive_at_done();
+}
+
+IEEE802154_NOINLINE static void ieee802154_start_receive_at(void* ctx)
+{
+    uint32_t rx_stop_time = (uint32_t)ctx;
+    ieee802154_timer1_fire_at_with_callback(rx_stop_time, ieee802154_finish_receive_at, NULL);
+}
+
+esp_err_t ieee802154_receive_at(uint32_t time, uint32_t duration)
+{
+    // TODO: Light sleep current optimization, TZ-1613.
     IEEE802154_RF_ENABLE();
     ieee802154_enter_critical();
     rx_init();
     IEEE802154_SET_TXRX_PTI(IEEE802154_SCENE_RX_AT);
     set_next_rx_buffer();
     ieee802154_set_state(IEEE802154_STATE_RX);
-    ieee802154_etm_set_event_task(IEEE802154_ETM_CHANNEL1, ETM_EVENT_TIMER0_OVERFLOW, ETM_TASK_RX_START);
+    ieee802154_etm_set_event_task(IEEE802154_ETM_CHANNEL1, ETM_EVENT_TIMER1_OVERFLOW, ETM_TASK_RX_START);
-    current_time = (uint32_t)esp_timer_get_time();
+    if (duration) {
-    ieee802154_timer0_set_threshold((is_target_time_expired(rx_target_time, current_time) ? 0 : (rx_target_time - current_time))); //uint: 1us
+        ieee802154_timer1_fire_at_with_callback(time - IEEE802154_RX_RAMPUP_TIME_US, ieee802154_start_receive_at, (void*)(time + duration));
-    ieee802154_timer0_start();
+    } else {
+        ieee802154_timer1_fire_at(time - IEEE802154_RX_RAMPUP_TIME_US);
+    }
     ieee802154_exit_critical();
     return ESP_OK;
 }

components/ieee802154/driver/esp_ieee802154_timer.c

@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2023-2024 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2023-2025 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -9,6 +9,12 @@
 #include "esp_check.h"
 #include "esp_ieee802154_timer.h"
 #include "esp_ieee802154_util.h"
+#include <stdbool.h>
+
+static timer_callback_t s_timer0_callback = NULL;
+static timer_callback_t s_timer1_callback = NULL;
+static void* s_timer0_ctx = NULL;
+static void* s_timer1_ctx = NULL;
 
 void ieee802154_timer0_start(void)
 {
@@ -17,6 +23,8 @@ void ieee802154_timer0_start(void)
 
 void ieee802154_timer0_stop(void)
 {
+    s_timer0_callback = NULL;
+    s_timer0_ctx = NULL;
     ieee802154_ll_set_cmd(IEEE802154_CMD_TIMER0_STOP);
 }
 
@@ -41,6 +49,8 @@ void ieee802154_timer1_start(void)
 
 void ieee802154_timer1_stop(void)
 {
+    s_timer1_callback = NULL;
+    s_timer1_ctx = NULL;
     ieee802154_ll_set_cmd(IEEE802154_CMD_TIMER1_STOP);
 }
 
@@ -57,3 +67,72 @@ uint32_t ieee802154_timer1_get_value(void)
 {
     return ieee802154_ll_timer1_get_value();
 }
+
+FORCE_INLINE_ATTR bool is_target_time_expired(uint32_t target, uint32_t now)
+{
+    return (((now - target) & (1 << 31)) == 0);
+}
+
+void ieee802154_timer0_fire_at(uint32_t fire_time)
+{
+    uint32_t current_time = (uint32_t)esp_timer_get_time();
+    ieee802154_timer0_set_threshold((is_target_time_expired(fire_time, current_time) ? 0 : (fire_time - current_time))); //uint: 1us
+    ieee802154_timer0_start();
+}
+
+void ieee802154_timer1_fire_at(uint32_t fire_time)
+{
+    uint32_t current_time = (uint32_t)esp_timer_get_time();
+    ieee802154_timer1_set_threshold((is_target_time_expired(fire_time, current_time) ? 0 : (fire_time - current_time))); //uint: 1us
+    ieee802154_timer1_start();
+}
+
+void ieee802154_timer0_set_callback(timer_callback_t timer0_cb, void *timer0_ctx)
+{
+    s_timer0_callback = timer0_cb;
+    s_timer0_ctx = timer0_ctx;
+}
+
+void ieee802154_timer1_set_callback(timer_callback_t timer1_cb, void *timer1_ctx)
+{
+    s_timer1_callback = timer1_cb;
+    s_timer1_ctx = timer1_ctx;
+}
+
+void ieee802154_timer0_fire_at_with_callback(uint32_t fire_time, timer_callback_t timer0_cb, void *timer0_ctx)
+{
+    ieee802154_timer0_set_callback(timer0_cb, timer0_ctx);
+    ieee802154_timer0_fire_at(fire_time);
+}
+
+void ieee802154_timer1_fire_at_with_callback(uint32_t fire_time, timer_callback_t timer1_cb, void *timer1_ctx)
+{
+    ieee802154_timer1_set_callback(timer1_cb, timer1_ctx);
+    ieee802154_timer1_fire_at(fire_time);
+}
+
+void isr_handle_timer0_done(void)
+{
+    if (s_timer0_callback) {
+        timer_callback_t callback_tmp = s_timer0_callback; // tmp function used to allow new callback function to set a new callback without overwriting it
+        void* ctx_tmp = s_timer0_ctx;
+
+        s_timer0_callback = NULL;
+        s_timer0_ctx = NULL;
+
+        callback_tmp(ctx_tmp);
+    }
+}
+
+void isr_handle_timer1_done(void)
+{
+    if (s_timer1_callback) {
+        timer_callback_t callback_tmp = s_timer1_callback; // tmp function used to allow new callback function to set a new callback without overwriting it
+        void* ctx_tmp = s_timer1_ctx;
+
+        s_timer1_callback = NULL;
+        s_timer1_ctx = NULL;
+
+        callback_tmp(ctx_tmp);
+    }
+}

components/ieee802154/driver/esp_ieee802154_util.c

@@ -66,7 +66,7 @@ void ieee802154_set_txrx_pti(ieee802154_txrx_scene_t txrx_scene)
 // TZ-97: implement these two functions using ETM common interface
 void ieee802154_etm_channel_clear(uint32_t channel)
 {
-    if (!(REG_READ(ETM_CHEN_AD0_REG) & (1 << channel))) {
+    if ((REG_READ(ETM_CHEN_AD0_REG) & (1 << channel))) {
         REG_WRITE(ETM_CHENCLR_AD0_REG, (REG_READ(ETM_CHENCLR_AD0_REG)) | 1 << channel);
     }
 }

components/ieee802154/esp_ieee802154.c

@@ -212,8 +212,7 @@ esp_err_t esp_ieee802154_set_multipan_enable(uint8_t mask)
     ieee802154_ll_set_multipan_enable_mask(mask);
     return ESP_OK;
 }
-
+#endif // CONFIG_IEEE802154_MULTI_PAN_ENABLE
-#else
 
 esp_err_t esp_ieee802154_set_ack_timeout(uint32_t timeout)
 {
@@ -265,8 +264,6 @@ esp_err_t esp_ieee802154_set_extended_address(const uint8_t *ext_addr)
     return ESP_OK;
 }
 
-#endif // CONFIG_IEEE802154_MULTI_PAN_ENABLE
-
 esp_ieee802154_pending_mode_t esp_ieee802154_get_pending_mode(void)
 {
     return ieee802154_pib_get_pending_mode();
@@ -309,9 +306,9 @@ esp_err_t esp_ieee802154_receive(void)
     return ieee802154_receive();
 }
 
-esp_err_t esp_ieee802154_receive_at(uint32_t time)
+esp_err_t esp_ieee802154_receive_at(uint32_t time, uint32_t duration)
 {
-    return ieee802154_receive_at(time);
+    return ieee802154_receive_at(time, duration);
 }
 
 esp_err_t esp_ieee802154_energy_detect(uint32_t duration)
@@ -338,6 +335,7 @@ esp_ieee802154_state_t esp_ieee802154_get_state(void)
 
     case IEEE802154_STATE_RX:
     case IEEE802154_STATE_TX_ACK:
+    case IEEE802154_STATE_TX_ENH_ACK:
     case IEEE802154_STATE_ED:
         return ESP_IEEE802154_RADIO_RECEIVE;
 
@@ -345,7 +343,6 @@ esp_ieee802154_state_t esp_ieee802154_get_state(void)
     case IEEE802154_STATE_CCA:
     case IEEE802154_STATE_TX:
     case IEEE802154_STATE_RX_ACK:
-    case IEEE802154_STATE_TX_ENH_ACK:
         return ESP_IEEE802154_RADIO_TRANSMIT;
 
     default:
@@ -434,6 +431,10 @@ __attribute__((weak)) void esp_ieee802154_energy_detect_done(int8_t power)
 __attribute__((weak)) void esp_ieee802154_ed_failed(uint16_t error)
 {
 
+}
+__attribute__((weak)) void esp_ieee802154_receive_at_done(void)
+{
+
 }
 
 __attribute__((weak)) esp_err_t esp_ieee802154_enh_ack_generator(uint8_t *frame, esp_ieee802154_frame_info_t *frame_info, uint8_t* enhack_frame)
@@ -442,16 +443,6 @@ __attribute__((weak)) esp_err_t esp_ieee802154_enh_ack_generator(uint8_t *frame,
     return ESP_FAIL;
 }
 
-__attribute__((weak)) void esp_ieee802154_timer0_done(void)
-{
-
-}
-
-__attribute__((weak)) void esp_ieee802154_timer1_done(void)
-{
-
-}
-
 #if CONFIG_IEEE802154_TXRX_STATISTIC
 void esp_ieee802154_txrx_statistic_clear(void)
 {

components/ieee802154/include/esp_ieee802154.h

@@ -588,18 +588,24 @@ extern void esp_ieee802154_transmit_sfd_done(uint8_t *frame);
 extern void esp_ieee802154_energy_detect_done(int8_t power);
 
 /**
- * @brief  Set the IEEE 802.15.4 Radio to receive state at a specific time.
+ * @brief  The receive window for receive_at has finished.
  *
- * @note   Radio will start receiving after the timestamp, and continue receiving until it receives a valid frame.
+ */
- *         Refer to `esp_ieee802154_receive_done()`.
+extern void esp_ieee802154_receive_at_done(void);
+
+/**
+ * @brief  Set the IEEE 802.15.4 Radio to receive state at a specific time, for a specific duration.
  *
- * @param[in]  time  A specific timestamp for starting receiving.
+ * @note   Radio will start receiving after the timestamp, and continue receiving for the specific duration.
+ *
+ * @param[in]  time      A specific timestamp for starting receiving.
+ * @param[in]  duration  A specific duration after which to stop receiving. Set duration = 0 to rx indefinitely.
  * @return
  *      - ESP_OK on success
  *      - ESP_FAIL on failure due to invalid state.
  *
  */
-esp_err_t esp_ieee802154_receive_at(uint32_t time);
+esp_err_t esp_ieee802154_receive_at(uint32_t time, uint32_t duration);
 
 /**
  * @brief  Transmit the given frame at a specific time.

components/ieee802154/linker.lf

@@ -4,30 +4,30 @@ entries:
     if IEEE802154_ENABLED = y:
         # When adding static functions here, add IEEE802154_NOINLINE attribute to them
         esp_ieee802154_ack: ieee802154_ack_config_pending_bit (noflash)
-        esp_ieee802154_dev: ieee802154_rx_frame_info_update (noflash)
         esp_ieee802154_dev: ieee802154_isr (noflash)
+        esp_ieee802154_dev: ieee802154_rx_frame_info_update (noflash)
+        esp_ieee802154_event: ieee802154_inner_energy_detect_done (noflash)
+        esp_ieee802154_event: ieee802154_inner_enh_ack_generator (noflash)
         esp_ieee802154_event: ieee802154_inner_receive_done (noflash)
         esp_ieee802154_event: ieee802154_inner_receive_sfd_done (noflash)
         esp_ieee802154_event: ieee802154_inner_transmit_done (noflash)
         esp_ieee802154_event: ieee802154_inner_transmit_failed (noflash)
         esp_ieee802154_event: ieee802154_inner_transmit_sfd_done (noflash)
-        esp_ieee802154_event: ieee802154_inner_energy_detect_done (noflash)
+        esp_ieee802154_frame: ieee802154_frame_get_security_field_len (noflash)
-        esp_ieee802154_event: ieee802154_inner_enh_ack_generator (noflash)
+        esp_ieee802154_frame: ieee802154_frame_get_security_payload_offset (noflash)
+        esp_ieee802154_frame: ieee802154_frame_get_src_addr (noflash)
+        esp_ieee802154_frame: ieee802154_frame_security_header_offset (noflash)
         esp_ieee802154_frame: is_dst_panid_present (noflash)
         esp_ieee802154_frame: is_src_panid_present (noflash)
-        esp_ieee802154_frame: ieee802154_frame_security_header_offset (noflash)
-        esp_ieee802154_frame: ieee802154_frame_get_security_field_len (noflash)
-        esp_ieee802154_frame: ieee802154_frame_get_src_addr (noflash)
-        esp_ieee802154_frame: ieee802154_frame_get_security_payload_offset (noflash)
         esp_ieee802154_pib: ieee802154_pib_get_pending_mode (noflash)
         esp_ieee802154_pib: ieee802154_pib_get_rx_when_idle (noflash)
-        esp_ieee802154_sec: ieee802154_transmit_security_config (noflash)
         esp_ieee802154_sec: ieee802154_sec_update (noflash)
+        esp_ieee802154_sec: ieee802154_transmit_security_config (noflash)
         esp_ieee802154_timer: ieee802154_timer0_set_threshold (noflash)
-        esp_ieee802154_timer: ieee802154_timer1_set_threshold (noflash)
         esp_ieee802154_timer: ieee802154_timer0_start (noflash)
-        esp_ieee802154_timer: ieee802154_timer1_start (noflash)
         esp_ieee802154_timer: ieee802154_timer0_stop (noflash)
+        esp_ieee802154_timer: ieee802154_timer1_set_threshold (noflash)
+        esp_ieee802154_timer: ieee802154_timer1_start (noflash)
         esp_ieee802154_timer: ieee802154_timer1_stop (noflash)
         esp_ieee802154_util: ieee802154_etm_channel_clear (noflash)
 
@@ -35,35 +35,40 @@ entries:
             esp_ieee802154_debug (noflash)
 
         if IEEE802154_TIMING_OPTIMIZATION = y:
-            esp_ieee802154_dev: set_next_rx_buffer (noflash)
-            esp_ieee802154_dev: stop_rx (noflash)
-            esp_ieee802154_dev: stop_tx_ack (noflash)
-            esp_ieee802154_dev: stop_tx (noflash)
-            esp_ieee802154_dev: stop_cca (noflash)
-            esp_ieee802154_dev: stop_tx_cca (noflash)
-            esp_ieee802154_dev: stop_rx_ack (noflash)
-            esp_ieee802154_dev: stop_ed (noflash)
-            esp_ieee802154_dev: stop_current_operation (noflash)
-            esp_ieee802154_dev: is_target_time_expired (noflash)
-            esp_ieee802154_dev: ieee802154_transmit_at (noflash)
-            esp_ieee802154_dev: ieee802154_receive_at (noflash)
-            esp_ieee802154_dev: ieee802154_transmit (noflash)
-            esp_ieee802154_dev: ieee802154_receive (noflash)
-            esp_ieee802154_pib: ieee802154_pib_update (noflash)
-            esp_ieee802154_pib: ieee802154_txpower_convert (noflash)
-            esp_ieee802154_util: ieee802154_channel_to_freq (noflash)
-            esp_ieee802154: esp_ieee802154_transmit_at (noflash)
-            esp_ieee802154: esp_ieee802154_receive_at (noflash)
-            esp_ieee802154: esp_ieee802154_transmit (noflash)
-            esp_ieee802154: esp_ieee802154_receive (noflash)
-
-        if OPENTHREAD_CSL_ENABLE = y || OPENTHREAD_LINK_METRICS = y:
             esp_ieee802154: esp_ieee802154_enh_ack_generator (noflash)
             esp_ieee802154: esp_ieee802154_get_extended_address (noflash)
-            esp_ieee802154: esp_ieee802154_set_transmit_security  (noflash)
-
-        if OPENTHREAD_LINK_METRICS = y:
             esp_ieee802154: esp_ieee802154_get_recent_lqi (noflash)
             esp_ieee802154: esp_ieee802154_get_recent_rssi (noflash)
-            esp_ieee802154_dev: ieee802154_get_recent_rssi (noflash)
+            esp_ieee802154: esp_ieee802154_receive (noflash)
+            esp_ieee802154: esp_ieee802154_receive_at (noflash)
+            esp_ieee802154: esp_ieee802154_set_transmit_security  (noflash)
+            esp_ieee802154: esp_ieee802154_transmit (noflash)
+            esp_ieee802154: esp_ieee802154_transmit_at (noflash)
+            esp_ieee802154_dev: ieee802154_finish_receive_at (noflash)
             esp_ieee802154_dev: ieee802154_get_recent_lqi (noflash)
+            esp_ieee802154_dev: ieee802154_get_recent_rssi (noflash)
+            esp_ieee802154_dev: ieee802154_receive (noflash)
+            esp_ieee802154_dev: ieee802154_receive_at (noflash)
+            esp_ieee802154_dev: ieee802154_start_receive_at (noflash)
+            esp_ieee802154_dev: ieee802154_transmit (noflash)
+            esp_ieee802154_dev: ieee802154_transmit_at (noflash)
+            esp_ieee802154_dev: set_next_rx_buffer (noflash)
+            esp_ieee802154_dev: stop_cca (noflash)
+            esp_ieee802154_dev: stop_current_operation (noflash)
+            esp_ieee802154_dev: stop_ed (noflash)
+            esp_ieee802154_dev: stop_rx (noflash)
+            esp_ieee802154_dev: stop_rx_ack (noflash)
+            esp_ieee802154_dev: stop_tx (noflash)
+            esp_ieee802154_dev: stop_tx_ack (noflash)
+            esp_ieee802154_dev: stop_tx_cca (noflash)
+            esp_ieee802154_pib: ieee802154_pib_update (noflash)
+            esp_ieee802154_pib: ieee802154_txpower_convert (noflash)
+            esp_ieee802154_timer: ieee802154_timer0_fire_at (noflash)
+            esp_ieee802154_timer: ieee802154_timer0_fire_at_with_callback (noflash)
+            esp_ieee802154_timer: ieee802154_timer0_set_callback (noflash)
+            esp_ieee802154_timer: ieee802154_timer1_fire_at (noflash)
+            esp_ieee802154_timer: ieee802154_timer1_fire_at_with_callback (noflash)
+            esp_ieee802154_timer: ieee802154_timer1_set_callback (noflash)
+            esp_ieee802154_timer: isr_handle_timer0_done (noflash)
+            esp_ieee802154_timer: isr_handle_timer1_done (noflash)
+            esp_ieee802154_util: ieee802154_channel_to_freq (noflash)

components/ieee802154/private_include/esp_ieee802154_dev.h

@@ -141,10 +141,11 @@ esp_err_t ieee802154_receive_handle_done(const uint8_t* frame);
 esp_err_t ieee802154_transmit_at(const uint8_t *frame, bool cca, uint32_t time);
 
 /**
- * @brief  Set the IEEE 802.15.4 Radio to receive state at a specific time.
+ * @brief  Set the IEEE 802.15.4 Radio to receive state at a specific time, for a specific duration.
  *
  *
- * @param[in]  time  A specific timestamp for starting receiving.
+ * @param[in]  time      A specific timestamp for starting receiving.
+ * @param[in]  duration  A specific duration after which to stop receiving. Set duration = 0 to rx indefinitely.
  * @return
  *      - ESP_OK on success
  *      - ESP_FAIL on failure due to invalid state.
@@ -153,7 +154,7 @@ esp_err_t ieee802154_transmit_at(const uint8_t *frame, bool cca, uint32_t time);
  *       Ref to esp_ieee802154_receive_done().
  *
  */
-esp_err_t ieee802154_receive_at(uint32_t time);
+esp_err_t ieee802154_receive_at(uint32_t time, uint32_t duration);
 
 /**
  * @brief  Set the IEEE 802.15.4 Radio to sleep state.
@@ -263,13 +264,11 @@ bool ieee802154_mac_is_inited(void);
 #if CONFIG_IEEE802154_TEST
 #define IEEE802154_STATIC
 #define IEEE802154_INLINE
-extern void esp_ieee802154_timer0_done(void);
-extern void esp_ieee802154_timer1_done(void);
 #else
 #define IEEE802154_STATIC  static
 #define IEEE802154_INLINE  inline
 #endif // CONFIG_IEEE802154_TEST
-#define IEEE802154_NOINLINE __attribute__((noinline))
+#define IEEE802154_NOINLINE __attribute__((noinline, used))
 
 #ifdef __cplusplus
 }

components/ieee802154/private_include/esp_ieee802154_timer.h

@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2023 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2023-2025 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -79,6 +79,56 @@ esp_err_t ieee802154_timer1_set_threshold(uint32_t value);
  */
 uint32_t ieee802154_timer1_get_value(void);
 
+/**
+ * @brief  Set timer0 to fire at specific time.
+ *
+ */
+void ieee802154_timer0_fire_at(uint32_t fire_time);
+
+/**
+ * @brief  Set timer1 to fire at specific time.
+ *
+ */
+void ieee802154_timer1_fire_at(uint32_t fire_time);
+
+typedef void (*timer_callback_t)(void* ctx);
+
+/**
+ * @brief  Set timer0 callback.
+ *
+ */
+void ieee802154_timer0_set_callback(timer_callback_t timer0_cb, void *timer0_ctx);
+
+/**
+ * @brief  Set timer1 callback.
+ *
+ */
+void ieee802154_timer1_set_callback(timer_callback_t timer1_cb, void *timer1_ctx);
+
+/**
+ * @brief  Set timer0 to fire at specific time with callback.
+ *
+ */
+void ieee802154_timer0_fire_at_with_callback(uint32_t fire_time, timer_callback_t timer0_callback, void *timer0_ctx);
+
+/**
+ * @brief  Set timer1 to fire at specific time with callback.
+ *
+ */
+void ieee802154_timer1_fire_at_with_callback(uint32_t fire_time, timer_callback_t timer1_callback, void *timer1_ctx);
+
+/**
+ * @brief  ISR handle for timer0.
+ *
+ */
+void isr_handle_timer0_done(void);
+
+/**
+ * @brief  ISR handle for timer1.
+ *
+ */
+void isr_handle_timer1_done(void);
+
 #ifdef __cplusplus
 }
 #endif

components/openthread/Kconfig

@@ -259,6 +259,7 @@ menu "OpenThread"
         config OPENTHREAD_LINK_METRICS
             bool "Enable link metrics feature"
             default n
+            select IEEE802154_TIMING_OPTIMIZATION if IEEE802154_ENABLED
             help
                 Select this option to enable link metrics feature
 
@@ -271,20 +272,20 @@ menu "OpenThread"
         config OPENTHREAD_CSL_ENABLE
             bool "Enable CSL feature"
             default n
+            select IEEE802154_TIMING_OPTIMIZATION if IEEE802154_ENABLED
             help
                 Select this option to enable CSL feature
         menu "CSL Configurations"
-            depends on OPENTHREAD_CSL_ENABLE
             config OPENTHREAD_CSL_ACCURACY
                 int "The current CSL rx/tx scheduling drift, in units of ± ppm"
 
-                default 1
+                default 20
                 help
                     The current accuracy of the clock used for scheduling CSL operations
 
             config OPENTHREAD_CSL_UNCERTAIN
                 int "The CSL Uncertainty in units of 10 us."
-                default 1
+                default 0
                 help
                     The fixed uncertainty of the Device for scheduling CSL Transmissions in units of 10 microseconds.
 
@@ -374,7 +375,7 @@ menu "OpenThread"
 
             config OPENTHREAD_XTAL_ACCURACY
                 int "The accuracy of the XTAL"
-                default 130
+                default 10
                 help
                     The device's XTAL accuracy, in ppm.
 

components/openthread/private_include/openthread-core-esp32x-ftd-config.h

@@ -726,11 +726,21 @@
 /**
  * @def OPENTHREAD_CONFIG_MAC_CSL_REQUEST_AHEAD_US
  *
- * Define as 1 to set the ahead time for CSL transmit timing.
+ * Define how many microseconds ahead should MAC deliver CSL frame to SubMac.
  *
  */
 #ifndef OPENTHREAD_CONFIG_MAC_CSL_REQUEST_AHEAD_US
-#define OPENTHREAD_CONFIG_MAC_CSL_REQUEST_AHEAD_US 20000
+#define OPENTHREAD_CONFIG_MAC_CSL_REQUEST_AHEAD_US (2 * 1000000 / CONFIG_FREERTOS_HZ)
+#endif
+
+/**
+ * @def OPENTHREAD_CONFIG_CSL_RECEIVE_TIME_AHEAD
+ *
+ * Reception scheduling and ramp up time needed for the CSL receiver to be ready, in units of microseconds.
+ *
+ */
+#ifndef OPENTHREAD_CONFIG_CSL_RECEIVE_TIME_AHEAD
+#define OPENTHREAD_CONFIG_CSL_RECEIVE_TIME_AHEAD (OPENTHREAD_CONFIG_MAC_CSL_REQUEST_AHEAD_US + 320)
 #endif
 
 /**

components/openthread/private_include/openthread-core-esp32x-mtd-config.h

@@ -400,3 +400,52 @@
 #ifndef OPENTHREAD_CONFIG_DELAY_AWARE_QUEUE_MANAGEMENT_MARK_ECN_INTERVAL
 #define OPENTHREAD_CONFIG_DELAY_AWARE_QUEUE_MANAGEMENT_MARK_ECN_INTERVAL 1000
 #endif
+
+#ifdef OPENTHREAD_CONFIG_MAC_CSL_RECEIVER_ENABLE
+#error `OPENTHREAD_CONFIG_MAC_CSL_RECEIVER_ENABLE` is redefined.
+#endif
+#if CONFIG_OPENTHREAD_CSL_ENABLE
+
+/**
+ * @def OPENTHREAD_CONFIG_MAC_CSL_RECEIVER_ENABLE
+ *
+ * Define as 1 to support Thread 1.2 CSL feature.
+ *
+ */
+#define OPENTHREAD_CONFIG_MAC_CSL_RECEIVER_ENABLE 1
+
+/**
+ * @def OPENTHREAD_CONFIG_MAC_CSL_DEBUG_ENABLE
+ *
+ * Define as 1 to enable support Thread 1.2 CSL debug.
+ *
+ */
+#ifdef OPENTHREAD_CONFIG_MAC_CSL_DEBUG_ENABLE
+#error `OPENTHREAD_CONFIG_MAC_CSL_DEBUG_ENABLE` is redefined.
+#endif
+#define OPENTHREAD_CONFIG_MAC_CSL_DEBUG_ENABLE CONFIG_OPENTHREAD_CSL_DEBUG_ENABLE
+
+#else
+
+#define OPENTHREAD_CONFIG_MAC_CSL_RECEIVER_ENABLE 0
+#endif // CONFIG_OPENTHREAD_CSL_ENABLE
+
+/**
+ * @def OPENTHREAD_CONFIG_MAC_CSL_REQUEST_AHEAD_US
+ *
+ * Define how many microseconds ahead should MAC deliver CSL frame to SubMac.
+ *
+ */
+#ifndef OPENTHREAD_CONFIG_MAC_CSL_REQUEST_AHEAD_US
+#define OPENTHREAD_CONFIG_MAC_CSL_REQUEST_AHEAD_US (2 * 1000000 / CONFIG_FREERTOS_HZ)
+#endif
+
+/**
+ * @def OPENTHREAD_CONFIG_CSL_RECEIVE_TIME_AHEAD
+ *
+ * Reception scheduling and ramp up time needed for the CSL receiver to be ready, in units of microseconds.
+ *
+ */
+#ifndef OPENTHREAD_CONFIG_CSL_RECEIVE_TIME_AHEAD
+#define OPENTHREAD_CONFIG_CSL_RECEIVE_TIME_AHEAD (OPENTHREAD_CONFIG_MAC_CSL_REQUEST_AHEAD_US + 320)
+#endif

components/openthread/src/port/esp_openthread_radio.c

@@ -38,15 +38,14 @@
 
 #define ESP_RECEIVE_SENSITIVITY -120
 #define ESP_OPENTHREAD_XTAL_ACCURACY CONFIG_OPENTHREAD_XTAL_ACCURACY
-#if OPENTHREAD_CONFIG_MAC_CSL_RECEIVER_ENABLE
 #define ESP_OPENTHREAD_CSL_ACCURACY CONFIG_OPENTHREAD_CSL_ACCURACY
 #define ESP_OPENTHREAD_CSL_UNCERTAIN CONFIG_OPENTHREAD_CSL_UNCERTAIN
-#endif
 
 #define EVENT_TX_DONE (1 << 0)
 #define EVENT_TX_FAILED (1 << 1)
 #define EVENT_RX_DONE (1 << 2)
 #define EVENT_ENERGY_DETECT_DONE (1 << 3)
+#define EVENT_SLEEP (1 << 4)
 
 typedef struct {
     uint8_t length;
@@ -241,6 +240,11 @@ esp_err_t esp_openthread_radio_process(otInstance *aInstance, const esp_openthre
         }
     }
 
+    if (get_event(EVENT_SLEEP)) {
+        clr_event(EVENT_SLEEP);
+        esp_ieee802154_sleep();
+    }
+
     return ESP_OK;
 }
 
@@ -312,7 +316,11 @@ otError otPlatRadioTransmit(otInstance *aInstance, otRadioFrame *aFrame)
     aFrame->mPsdu[-1] = aFrame->mLength; // length locates one byte before the psdu (esp_openthread_radio_tx_psdu);
 
     if (otMacFrameIsSecurityEnabled(aFrame) && !aFrame->mInfo.mTxInfo.mIsSecurityProcessed) {
+#if OPENTHREAD_CONFIG_MAC_CSL_RECEIVER_ENABLE
+        if (!s_transmit_frame.mInfo.mTxInfo.mIsARetx || s_csl_period > 0) {
+#else
         if (!s_transmit_frame.mInfo.mTxInfo.mIsARetx) {
+#endif // OPENTHREAD_CONFIG_MAC_CSL_RECEIVER_ENABLE
             otMacFrameSetFrameCounter(aFrame, s_mac_frame_counter++);
         }
         if (otMacFrameIsKeyIdMode1(aFrame)) {
@@ -362,7 +370,8 @@ otRadioCaps otPlatRadioGetCaps(otInstance *aInstance)
 
 otError otPlatRadioReceiveAt(otInstance *aInstance, uint8_t aChannel, uint32_t aStart, uint32_t aDuration)
 {
-    esp_ieee802154_receive_at((aStart + aDuration));
+    esp_ieee802154_set_channel(aChannel);
+    esp_ieee802154_receive_at(aStart, aDuration);
     return OT_ERROR_NONE;
 }
 
@@ -570,6 +579,8 @@ otError otPlatRadioEnableCsl(otInstance *aInstance, uint32_t aCslPeriod, otShort
     return OT_ERROR_NONE;
 }
 
+#endif
+
 uint8_t otPlatRadioGetCslAccuracy(otInstance *aInstance)
 {
     return ESP_OPENTHREAD_CSL_ACCURACY;
@@ -580,8 +591,6 @@ uint8_t otPlatRadioGetCslUncertainty(otInstance *aInstance)
     return ESP_OPENTHREAD_CSL_UNCERTAIN;
 }
 
-#endif
-
 // events
 void IRAM_ATTR esp_ieee802154_transmit_done(const uint8_t *frame, const uint8_t *ack,
                                             esp_ieee802154_frame_info_t *ack_frame_info)
@@ -609,11 +618,7 @@ static void IRAM_ATTR convert_to_ot_frame(uint8_t *data, esp_ieee802154_frame_in
     radio_frame->mInfo.mRxInfo.mRssi = frame_info->rssi;
     radio_frame->mInfo.mRxInfo.mLqi = frame_info->lqi;
     radio_frame->mInfo.mRxInfo.mAckedWithFramePending = frame_info->pending;
-    radio_frame->mInfo.mRxInfo.mTimestamp = otPlatTimeGet();
-
-#if OPENTHREAD_CONFIG_MAC_CSL_RECEIVER_ENABLE
     radio_frame->mInfo.mRxInfo.mTimestamp = frame_info->timestamp;
-#endif // OPENTHREAD_CONFIG_MAC_CSL_RECEIVER_ENABLE
 }
 
 static esp_err_t IRAM_ATTR enh_ack_set_security_addr_and_key(otRadioFrame *ack_frame)
@@ -653,7 +658,7 @@ esp_err_t IRAM_ATTR esp_ieee802154_enh_ack_generator(uint8_t *frame, esp_ieee802
 {
     otRadioFrame ack_frame;
     otRadioFrame ot_frame;
-    uint8_t ack_ie_data[OT_ACK_IE_MAX_SIZE];
+    uint8_t ack_ie_data[OT_ACK_IE_MAX_SIZE] = {0};
     uint8_t offset = 0;
 #if OPENTHREAD_CONFIG_MLE_LINK_METRICS_SUBJECT_ENABLE
     uint8_t link_metrics_data_len = 0;
@@ -826,3 +831,8 @@ uint32_t otPlatRadioGetSupportedChannelMask(otInstance *aInstance)
     OT_UNUSED_VARIABLE(aInstance);
     return CONFIG_OPENTHREAD_SUPPORTED_CHANNEL_MASK;
 }
+
+void esp_ieee802154_receive_at_done(void)
+{
+    set_event(EVENT_SLEEP);
+}

components/soc/esp32c5/register/soc/ieee802154_reg.h

@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2024 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2024-2025 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -514,9 +514,9 @@ extern "C" {
 
 #define ETM_EVENT_TIMER1_OVERFLOW  58
 #define ETM_EVENT_TIMER0_OVERFLOW  59
-#define ETM_TASK_ED_TRIG_TX        64
+#define ETM_TASK_ED_TRIG_TX        65
-#define ETM_TASK_RX_START          65
+#define ETM_TASK_RX_START          66
-#define ETM_TASK_TX_START          68
+#define ETM_TASK_TX_START          69
 
 #ifdef __cplusplus
 }