feat(openthread): turn off rx earlier for csl if no packet received

components/ieee802154/driver/esp_ieee802154_dev.c

@@ -66,6 +66,7 @@ static uint8_t s_rx_frame[CONFIG_IEEE802154_RX_BUFFER_SIZE + 1][IEEE802154_RX_FR
 static esp_ieee802154_frame_info_t s_rx_frame_info[CONFIG_IEEE802154_RX_BUFFER_SIZE + 1];
 
 static bool s_needs_next_operation = false;
+static volatile bool s_pending_rx_stop = false;
 
 static uint8_t s_rx_index = 0;
 static uint8_t s_enh_ack_frame[128];
@@ -457,6 +458,13 @@ static void enable_rx(void)
 
 static IRAM_ATTR void next_operation(void)
 {
+    if (s_pending_rx_stop) {
+        ieee802154_ll_disable_rx_abort_events(IEEE802154_RX_ABORT_ALL);
+        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));
+        esp_ieee802154_receive_at_done();
+        s_pending_rx_stop = false;
+    }
+
     if (ieee802154_pib_get_rx_when_idle()) {
         enable_rx();
     } else {
@@ -1044,8 +1052,15 @@ esp_err_t ieee802154_receive(void)
 IEEE802154_NOINLINE static void ieee802154_finish_receive_at(void* ctx)
 {
     (void)ctx;
-    stop_current_operation();
+    if (s_ieee802154_state == IEEE802154_STATE_RX && ieee802154_ll_is_current_rx_frame()) {
-    esp_ieee802154_receive_at_done();
+        // if we successfully receive SFD, then continue receiving
+        ieee802154_ll_enable_rx_abort_events(IEEE802154_RX_ABORT_ALL);
+        s_pending_rx_stop = true;
+    } else {
+        // or else we go back to sleep
+        stop_current_operation();
+        esp_ieee802154_receive_at_done();
+    }
 }
 
 IEEE802154_NOINLINE static void ieee802154_start_receive_at(void* ctx)

components/openthread/Kconfig

@@ -357,7 +357,7 @@ menu "OpenThread"
 
             config OPENTHREAD_CSL_UNCERTAIN
                 int "The CSL Uncertainty in units of 10 us."
-                default 0
+                default 50
                 help
                     The fixed uncertainty of the Device for scheduling CSL Transmissions in units of 10 microseconds.
 

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

@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2021-2025 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2021-2026 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -868,6 +868,16 @@
 #define OPENTHREAD_CONFIG_CSL_RECEIVE_TIME_AHEAD (OPENTHREAD_CONFIG_MAC_CSL_REQUEST_AHEAD_US + 320)
 #endif
 
+/**
+ * @def OPENTHREAD_CONFIG_MIN_RECEIVE_ON_AFTER
+ *
+ * Additional time for CSL receiver to remain in rx active after SFD has been received, in units of microseconds.
+ *
+ */
+#ifndef OPENTHREAD_CONFIG_MIN_RECEIVE_ON_AFTER
+#define OPENTHREAD_CONFIG_MIN_RECEIVE_ON_AFTER 0
+#endif
+
 /**
  * @def OPENTHREAD_CONFIG_OPERATIONAL_DATASET_AUTO_INIT
  *

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

@@ -1,5 +1,5 @@
 /*
- * SPDX-FileCopyrightText: 2021-2025 Espressif Systems (Shanghai) CO LTD
+ * SPDX-FileCopyrightText: 2021-2026 Espressif Systems (Shanghai) CO LTD
  *
  * SPDX-License-Identifier: Apache-2.0
  */
@@ -450,6 +450,16 @@
 #define OPENTHREAD_CONFIG_CSL_RECEIVE_TIME_AHEAD (OPENTHREAD_CONFIG_MAC_CSL_REQUEST_AHEAD_US + 320)
 #endif
 
+/**
+ * @def OPENTHREAD_CONFIG_MIN_RECEIVE_ON_AFTER
+ *
+ * Additional time for CSL receiver to remain in rx active after SFD has been received, in units of microseconds.
+ *
+ */
+#ifndef OPENTHREAD_CONFIG_MIN_RECEIVE_ON_AFTER
+#define OPENTHREAD_CONFIG_MIN_RECEIVE_ON_AFTER 0
+#endif
+
 /**
  * @def OPENTHREAD_CONFIG_PARENT_SEARCH_ENABLE
  *

examples/openthread/ot_sleepy_device/light_sleep/sdkconfig.ci.ssed

@@ -5,5 +5,5 @@ CONFIG_LOG_MAXIMUM_LEVEL_DEBUG=y
 CONFIG_ESP_SLEEP_CACHE_SAFE_ASSERTION=y
 CONFIG_OPENTHREAD_CSL_ENABLE=y
 CONFIG_OPENTHREAD_CSL_ACCURACY=50
-CONFIG_OPENTHREAD_CSL_UNCERTAIN=0
+CONFIG_OPENTHREAD_CSL_UNCERTAIN=50
 CONFIG_RTC_CLK_SRC_EXT_CRYS=y