Add radio simulation

src/drivers/mcxw71.c

@@ -1,3 +1,5 @@
+#include "l2_mesh.h"
+#include "log.h"
 #include "net_builtin.h"
 
 #if MG_ENABLE_TCPIP && defined(MG_ENABLE_DRIVER_MCXW71) && \
@@ -9,12 +11,12 @@ struct mg_zll {
   volatile uint32_t IRQSTS, PHY_CTRL, EVENT_TMR, TIMESTAMP, T1CMP, T2CMP,
       T2PRIMECMP, T3CMP, T4CMP, PA_PWR, CHANNEL_NUM0, LQI_AND_RSSI,
       MACSHORTADDRS0, MACLONGADDRS0_LSB, MACLONGADDRS0_MSB, RX_FRAME_FILTER,
-      CCA_LQI_CTRL, CCA2_CTRL, RESERVED_0, DSM_CTRL, RESERVED_1,
-      MACSHORTADDRS1, MACLONGADDRS1_LSB, MACLONGADDRS1_MSB, DUAL_PAN_CTRL,
-      CHANNEL_NUM1, SAM_CTRL, SAM_TABLE, SAM_MATCH, SAM_FREE_IDX,
-      SEQ_CTRL_STS, ACKDELAY, FILTERFAIL_CODE, RX_WTR_MARK, RESERVED_2,
-      SLOT_PRELOAD, SEQ_STATE, TMR_PRESCALE, LENIENCY_LSB, LENIENCY_MSB,
-      PART_ID, COEX_CTRL, COEX_PRIORITY, ENHACK_CTRL0;
+      CCA_LQI_CTRL, CCA2_CTRL, RESERVED_0, DSM_CTRL, RESERVED_1, MACSHORTADDRS1,
+      MACLONGADDRS1_LSB, MACLONGADDRS1_MSB, DUAL_PAN_CTRL, CHANNEL_NUM1,
+      SAM_CTRL, SAM_TABLE, SAM_MATCH, SAM_FREE_IDX, SEQ_CTRL_STS, ACKDELAY,
+      FILTERFAIL_CODE, RX_WTR_MARK, RESERVED_2, SLOT_PRELOAD, SEQ_STATE,
+      TMR_PRESCALE, LENIENCY_LSB, LENIENCY_MSB, PART_ID, COEX_CTRL,
+      COEX_PRIORITY, ENHACK_CTRL0;
 };
 
 // TrustZone: code built for the secure state (-mcmse) uses the secure alias
@@ -32,111 +34,203 @@ struct mg_zll {
 
 #define MGI_IRQSTS_SEQIRQ MG_BIT(0)
 #define MGI_IRQSTS_RXIRQ MG_BIT(2)
+#define MGI_IRQSTS_FILTERFAIL MG_BIT(5)  // Frame not for us
+#define MGI_IRQSTS_CRCVALID MG_BIT(15)
 #define MGI_IRQSTS_RX_LEN(x) (((x) >> 24) & 0x7f)  // Frame length incl. FCS
 #define MGI_PHY_CTRL_XCVSEQ 7U
 #define MGI_PHY_CTRL_ALL_IRQ_MASKS 0x8007ff00U  // Bits 8..18, 31: mask all IRQs
+#define MGI_PHY_CTRL_SEQMSK MG_BIT(8)           // Mask the sequence end IRQ
+#define MGI_PHY_CTRL_TRCV_MSK MG_BIT(31)        // Mask all transceiver IRQs
+#define MGI_IRQN 53                             // RF_802_15_4_IRQn
+#define MGI_NVIC_ISER ((volatile uint32_t *) 0xE000E100)  // Enable IRQ
+#define MGI_NVIC_ICER ((volatile uint32_t *) 0xE000E180)  // Disable IRQ
 #define MGI_SEQ_STATE_MASK 0x1fU
-#define MGI_SEQ_STATE_RX_WU 0x10U         // RX warm up
+#define MGI_SEQ_STATE_RX_WU 0x10U  // RX warm up
 #define MGI_SEQ_CTRL_NO_RX_RECYCLE MG_BIT(5)
 #define MGI_FRAME_FILTER 0x70bU  // Beacon, data, command; versions 0..2
 
-enum { MGI_SEQ_IDLE = 0, MGI_SEQ_RX = 1, MGI_SEQ_TX = 2 };  // PHY_CTRL[XCVSEQ]
-#define MGI_TX_TIMEOUT 400U  // Symbols, 16 us: 127 bytes
+// PHY_CTRL[XCVSEQ]
+enum { MGI_SEQ_IDLE = 0, MGI_SEQ_RX = 1, MGI_SEQ_TX = 2 };
+#define MGI_SEND_TIMEOUT_MS 60
 
-// Symbol timer, 16 us, 24 bits
-static uint32_t mg_mcxw71_symbols(void) {
-  return MGI_ZLL->EVENT_TMR >> 8;
-}
-
-// Wait for the sequence to end, up to MGI_TX_TIMEOUT symbols
-static bool mg_mcxw71_wait(void) {
-  uint32_t start = mg_mcxw71_symbols();
-  while (((mg_mcxw71_symbols() - start) & 0xffffffU) < MGI_TX_TIMEOUT) {
-    if (MGI_ZLL->IRQSTS & MGI_IRQSTS_SEQIRQ) return true;
-  }
-  return false;
-}
+static struct mg_tcpip_if *s_mcxw71_ifp;
+static struct mg_queue s_mcxw71_rx;
+static char s_mcxw71_queue[2048];
+static volatile bool s_mcxw71_txing, s_mcxw71_done;
+static uint64_t s_mcxw71_sendstart;
 
 // Stop the current sequence, wait for the sequencer to go idle. See PhyAbort()
-static void mg_mcxw71_idle(void) {
+static void mg_mcxw71_abort(void) {
   if (MGI_ZLL->PHY_CTRL & MGI_PHY_CTRL_XCVSEQ) {
     while ((MGI_ZLL->SEQ_STATE & MGI_SEQ_STATE_MASK) == MGI_SEQ_STATE_RX_WU)
       (void) 0;
     MGI_ZLL->PHY_CTRL &= ~MGI_PHY_CTRL_XCVSEQ;
     while (MGI_ZLL->SEQ_STATE & MGI_SEQ_STATE_MASK) (void) 0;
   }
-  MGI_ZLL->IRQSTS = MGI_ZLL->IRQSTS;  // Clear all flags, write 1 to clear
-}
-
-// Start a new sequence: MGI_SEQ_RX or MGI_SEQ_TX
-static void mg_mcxw71_start(uint32_t seq) {
   MGI_ZLL->IRQSTS = MGI_ZLL->IRQSTS;
-  MGI_ZLL->PHY_CTRL |= seq;
 }
 
-static bool mg_mcxw71_init(struct mg_tcpip_if *ifp) {
-  struct mg_l2_802154_data *d =
-      (struct mg_l2_802154_data *) ifp->driver_data;
-  if (d == NULL || d->channel < 11 || d->channel > 26) {
-    MG_ERROR(("Set driver_data, channel 11..26"));
-    return false;
+// Start receiving, with the sequence end IRQ on, see RF_802_15_4_IRQHandler()
+static void mg_mcxw71_listen(void) {
+  MGI_ZLL->IRQSTS = MGI_ZLL->IRQSTS;
+  MGI_ZLL->PHY_CTRL |= MGI_SEQ_RX;
+  MGI_ZLL->PHY_CTRL &= ~(MGI_PHY_CTRL_SEQMSK | MGI_PHY_CTRL_TRCV_MSK);
+  MGI_NVIC_ISER[MGI_IRQN / 32] = MG_BIT(MGI_IRQN % 32);
+}
+
+// Keep the IRQ handler out while we change the radio. The NVIC disable is
+// atomic, so PHY_CTRL updates here and there do not race
+static void mg_mcxw71_lock(void) {
+  MGI_NVIC_ICER[MGI_IRQN / 32] = MG_BIT(MGI_IRQN % 32);
+  __asm volatile("dsb; isb" ::: "memory");
+}
+
+// Start the TX sequence for the loaded frame. Its end: see the IRQ handler
+static void mg_mcxw71_go(void) {
+  MGI_ZLL->PHY_CTRL |= MGI_PHY_CTRL_TRCV_MSK | MGI_PHY_CTRL_SEQMSK;
+  mg_mcxw71_abort();
+  MGI_ZLL->IRQSTS = MGI_ZLL->IRQSTS;
+  MGI_ZLL->PHY_CTRL |= MGI_SEQ_TX;
+  MGI_ZLL->PHY_CTRL &= ~(MGI_PHY_CTRL_SEQMSK | MGI_PHY_CTRL_TRCV_MSK);
+}
+
+void RF_802_15_4_IRQHandler(void);
+void RF_802_15_4_IRQHandler(void) {
+  uint32_t irqsts = MGI_ZLL->IRQSTS;
+  if ((irqsts & MGI_IRQSTS_SEQIRQ) != 0) {
+    mg_mcxw71_abort();
+    if (s_mcxw71_txing) {
+      s_mcxw71_txing = false;
+      s_mcxw71_done = true;
+    } else if ((irqsts & (MGI_IRQSTS_RXIRQ | MGI_IRQSTS_FILTERFAIL |
+                          MGI_IRQSTS_CRCVALID)) ==
+               (MGI_IRQSTS_RXIRQ | MGI_IRQSTS_CRCVALID)) {
+      uint8_t frame[125];
+      size_t i, n = MGI_IRQSTS_RX_LEN(irqsts);
+      n = n >= 2 ? n - 2 : 0;
+      if (n > 0 && n <= sizeof(frame)) {
+        for (i = 0; i < n; i++) frame[i] = MGI_RX_PB[i];
+        {
+          char *dst;
+          if (mg_queue_book(&s_mcxw71_rx, &dst, n) >= n) {
+            memcpy(dst, frame, n);
+            mg_queue_add(&s_mcxw71_rx, n);
+          } else {
+            s_mcxw71_ifp->ndrop++;
+          }
+        }
+      }
+    }
+    mg_mcxw71_listen();
   }
+}
+
+static size_t mgi_mcxw71_radio_tx(struct mg_tcpip_if *ifp, const void *buf,
+                                  size_t len) {
+  size_t i;
+  (void) ifp;
+  if (len > 125 || s_mcxw71_txing) return 0;
+  mg_mcxw71_lock();
+  MGI_TX_PB[0] = (uint8_t) (len + 2);  // FCS is added by hardware
+  for (i = 0; i < len; i++)
+    MGI_TX_PB[i + 1] = ((const uint8_t *) buf)[i];  // 8-bit access only
+  s_mcxw71_done = false;
+  s_mcxw71_txing = true;
+  s_mcxw71_sendstart = mg_millis();
+  mg_mcxw71_go();
+  MGI_NVIC_ISER[MGI_IRQN / 32] = MG_BIT(MGI_IRQN % 32);
+  return len;
+}
+
+static bool mgi_mcxw71_radio_init(struct mg_tcpip_if *ifp) {
+  struct mg_tcpip_driver_mcxw71_data *data = ifp->driver_data;
+  struct mg_mesh_node *node = data->mesh;
+  s_mcxw71_ifp = ifp;
   MGI_ZLL->SEQ_CTRL_STS |= MGI_SEQ_CTRL_NO_RX_RECYCLE;
-  MGI_ZLL->PHY_CTRL = MGI_PHY_CTRL_ALL_IRQ_MASKS;  // Mask all IRQs, we poll
+  MGI_ZLL->PHY_CTRL = MGI_PHY_CTRL_ALL_IRQ_MASKS;
   MGI_ZLL->IRQSTS = MGI_ZLL->IRQSTS;
   MGI_ZLL->SAM_CTRL = 0;
   MGI_ZLL->RX_FRAME_FILTER = MGI_FRAME_FILTER;
-  MGI_ZLL->TMR_PRESCALE = 5;  // 16 us timebase, one symbol
-  MGI_ZLL->CHANNEL_NUM0 = d->channel;
-  MGI_ZLL->MACSHORTADDRS0 = (0xfffeU << 16) | d->pan_id;  // Filter by PAN ID
-  MGI_ZLL->PA_PWR = 0x3f;  // PA slices, max output power
-  mg_mcxw71_start(MGI_SEQ_RX);
+  MGI_ZLL->CHANNEL_NUM0 = MG_802154_CHANNEL;
+  MGI_ZLL->MACSHORTADDRS0 =
+      ((uint32_t) node->radio_address << 16) | MG_802154_PAN_ID;
+  MGI_ZLL->PA_PWR = 0x3f;
+  mg_mcxw71_listen();
   return true;
 }
 
-// Send one radio frame: MAC header and payload, no FCS
-static size_t mg_mcxw71_send(const uint8_t *p, size_t len,
-                             struct mg_tcpip_if *ifp) {
-  size_t i;
-  bool ok;
-  mg_mcxw71_idle();
-  MGI_TX_PB[0] = (uint8_t) (len + 2);  // FCS is added by hardware
-  for (i = 0; i < len; i++) MGI_TX_PB[i + 1] = p[i];  // 8-bit access only
-  mg_mcxw71_start(MGI_SEQ_TX);
-  ok = mg_mcxw71_wait();
-  mg_mcxw71_idle();
-  mg_mcxw71_start(MGI_SEQ_RX);
-  (void) ifp;
-  return ok ? len : 0;
+static size_t mgi_mcxw71_tx(const void *buf, size_t len,
+                            struct mg_tcpip_if *ifp) {
+  struct mg_tcpip_driver_mcxw71_data *data = ifp->driver_data;
+  return data->mesh->strategy->tx(data->mesh, buf, len);
 }
 
-static size_t mg_mcxw71_tx(const void *buf, size_t len,
-                           struct mg_tcpip_if *ifp) {
-  return mg_l2_802154_tx(ifp, buf, len, mg_mcxw71_send);
+static size_t mgi_mcxw71_rx(void *buf, size_t cap, struct mg_tcpip_if *ifp) {
+  struct mg_tcpip_driver_mcxw71_data *data = ifp->driver_data;
+  size_t len = data->mesh->rx_len;
+  if (len > cap) return 0;
+  if (len != 0 && buf != ifp->recv_queue.buf)
+    memcpy(buf, ifp->recv_queue.buf, len);
+  data->mesh->rx_len = 0;
+  return len;
 }
 
-static size_t mg_mcxw71_rx(void *buf, size_t len, struct mg_tcpip_if *ifp) {
-  uint32_t irqsts = MGI_ZLL->IRQSTS;
-  uint8_t f[125];
-  size_t i, n = 0;
-  if ((irqsts & MGI_IRQSTS_SEQIRQ) == 0) return 0;  // Still receiving
-  if (irqsts & MGI_IRQSTS_RXIRQ) {
-    n = MGI_IRQSTS_RX_LEN(irqsts);
-    n = n >= 2 ? n - 2 : 0;  // Strip FCS
-    if (n > sizeof(f)) n = sizeof(f);
-    for (i = 0; i < n; i++) f[i] = MGI_RX_PB[i];
+static bool mgi_mcxw71_poll(struct mg_tcpip_if *ifp, bool s1) {
+  struct mg_tcpip_driver_mcxw71_data *data = ifp->driver_data;
+  struct mg_mesh_node *node = data->mesh;
+  uint64_t now = mg_micros();
+  char *buf;
+  size_t len;
+  (void) s1;
+  if (s_mcxw71_txing &&
+      mg_millis() > s_mcxw71_sendstart + MGI_SEND_TIMEOUT_MS) {
+    mg_mcxw71_lock();
+    if (s_mcxw71_txing) {
+      mg_mcxw71_abort();
+      s_mcxw71_txing = false;
+      s_mcxw71_done = true;
+      mg_mcxw71_listen();
+    } else {
+      MGI_NVIC_ISER[MGI_IRQN / 32] = MG_BIT(MGI_IRQN % 32);
+    }
   }
-  mg_mcxw71_idle();
-  mg_mcxw71_start(MGI_SEQ_RX);
-  return mg_l2_802154_rx(ifp, f, n, buf, len);
+  if (s_mcxw71_done) {
+    s_mcxw71_done = false;
+    node->tx_at = now + node->strategy->radio->ifs_us;
+  }
+  node->now = now;
+  while (node->rx_len == 0 && (len = mg_queue_next(&s_mcxw71_rx, &buf)) != 0) {
+    node->strategy->rx(node, buf, len);
+    mg_queue_del(&s_mcxw71_rx, len);
+  }
+  node->strategy->tick(node, now);
+  return node->joined;
 }
 
-static bool mg_mcxw71_poll(struct mg_tcpip_if *ifp, bool s1) {
-  (void) ifp, (void) s1;
-  return true;  // Radio link is always up
+static bool mgi_mcxw71_init(struct mg_tcpip_if *ifp) {
+  struct mg_tcpip_driver_mcxw71_data *data = ifp->driver_data;
+  const struct mg_mesh *strategy = data->strategy;
+  uint16_t address;
+  address =
+      (uint16_t) (2 + ((unsigned) ifp->mac[4] * 256 + ifp->mac[5]) % 65532u);
+  if (strategy == NULL) strategy = &mg_mesh_default;
+  data->mesh = calloc(1, sizeof(*data->mesh));
+  if (data->mesh == NULL) return false;
+  if (!strategy->init(data->mesh, ifp, NULL, address)) {
+    free(data->mesh);
+    data->mesh = NULL;
+    return false;
+  }
+  data->mesh->strategy = strategy;
+  data->mesh->tx = mgi_mcxw71_radio_tx;
+  mg_queue_init(&s_mcxw71_rx, s_mcxw71_queue, sizeof(s_mcxw71_queue));
+  if (mgi_mcxw71_radio_init(ifp)) return true;
+  strategy->free(data->mesh);
+  free(data->mesh);
+  data->mesh = NULL;
+  return false;
 }
 
-struct mg_tcpip_driver mg_tcpip_driver_mcxw71 = {mg_mcxw71_init, mg_mcxw71_tx,
-                                                 mg_mcxw71_rx, mg_mcxw71_poll};
-
+struct mg_tcpip_driver mg_tcpip_driver_mcxw71 = {
+    mgi_mcxw71_init, mgi_mcxw71_tx, mgi_mcxw71_rx, mgi_mcxw71_poll};
 #endif

src/drivers/mcxw71.h

@@ -1,25 +1,35 @@
+// Copyright (c) 2026 Cesanta Software Limited
+// All rights reserved
+
 #pragma once
 
 #if MG_ENABLE_TCPIP && defined(MG_ENABLE_DRIVER_MCXW71) && \
     MG_ENABLE_DRIVER_MCXW71
 
-// NXP MCXW71 IEEE 802.15.4 radio, ZLL link layer, as an Ethernet interface:
-// Ethernet frames are split into radio frames, see mg_l2_802154_tx().
-// The transceiver (XCVR) must be set up for 802.15.4 before mg_tcpip_init(),
-// see hal_radio_init() in the FRDM-MCXW71 tutorial.
-// driver_data: struct mg_l2_802154_data, channel and PAN ID set
+struct mg_tcpip_driver_mcxw71_data {
+  struct mg_mesh_node *mesh;       // Driver-owned runtime state
+  const struct mg_mesh *strategy;  // NULL selects mg_mesh_default
+};
 
-#define MG_TCPIP_DRIVER_INIT(mgr)                                    \
-  do {                                                               \
-    static struct mg_l2_802154_data driver_data_;                  \
-    static struct mg_tcpip_if mif_;                                  \
-    driver_data_.channel = MG_L2_802154_CHANNEL;                   \
-    driver_data_.pan_id = MG_L2_802154_PAN_ID;                     \
-    mif_.driver = &mg_tcpip_driver_mcxw71;                           \
-    mif_.driver_data = &driver_data_;                                \
-    MG_SET_MAC_ADDRESS(mif_.mac);                                    \
-    mg_tcpip_init(mgr, &mif_);                                       \
-    MG_INFO(("Driver: mcxw71, channel %d", MG_L2_802154_CHANNEL)); \
+extern struct mg_tcpip_driver mg_tcpip_driver_mcxw71;
+
+#define MG_TCPIP_DRIVER_MCXW71_INIT(manager)                      \
+  do {                                                            \
+    static struct mg_tcpip_driver_mcxw71_data driver_data_;       \
+    static struct mg_tcpip_if mif_;                               \
+    MG_SET_MAC_ADDRESS(mif_.mac);                                 \
+    mif_.ip = MG_TCPIP_IP;                                        \
+    mif_.mask = MG_TCPIP_MASK;                                    \
+    mif_.gw = MG_TCPIP_GW;                                        \
+    mif_.mgr = (manager);                                         \
+    mif_.driver = &mg_tcpip_driver_mcxw71;                        \
+    mif_.driver_data = &driver_data_;                             \
+    mg_tcpip_init((manager), &mif_);                              \
+    MG_INFO(("Driver: mcxw71, MAC: %M", mg_print_mac, mif_.mac)); \
   } while (0)
 
+#ifndef MG_TCPIP_DRIVER_INIT
+#define MG_TCPIP_DRIVER_INIT(x) MG_TCPIP_DRIVER_MCXW71_INIT(x)
+#endif
+
 #endif

src/drivers/mg24.c

@@ -0,0 +1,183 @@
+#include "net_builtin.h"
+#include "l2_mesh.h"
+#include "log.h"
+
+#if MG_ENABLE_TCPIP && defined(MG_ENABLE_DRIVER_MG24) && MG_ENABLE_DRIVER_MG24
+
+#include <rail.h>
+#include <rail_ieee802154.h>
+
+// RAIL delivers raw frames and transmit completion from interrupt context.
+#define MG_MG24_TX_TIMEOUT_US 60000
+
+static struct mg_tcpip_if *s_mg24_ifp;
+static RAIL_Handle_t s_mg24_rail;
+static struct mg_queue s_mg24_rx;
+static char s_mg24_rxbuf[2048];
+static volatile bool s_mg24_txing, s_mg24_tx_done;
+static RAIL_Time_t s_mg24_txstart;  // Send start, us
+static uint8_t s_mg24_txfifo[256] __attribute__((aligned(4)));  // Power of 2
+
+// Copy a received PSDU, stripping the PHR and any stored FCS.
+static void mg_mg24_rx_frame(RAIL_Handle_t h) {
+  RAIL_RxPacketInfo_t info;
+  uint8_t f[128];
+  size_t n;
+  char *dst;
+  if (RAIL_GetRxPacketInfo(h, RAIL_RX_PACKET_HANDLE_NEWEST, &info) ==
+          RAIL_RX_PACKET_HANDLE_INVALID ||
+      info.packetStatus != RAIL_RX_PACKET_READY_SUCCESS ||
+      info.packetBytes <= 1 || info.packetBytes > sizeof(f)) {
+    return;
+  }
+  RAIL_CopyRxPacket(f, &info);
+  n = info.packetBytes - 1U;  // Strip PHR
+  if (n == f[0]) n -= 2;      // FCS stored, strip it
+  if (mg_queue_book(&s_mg24_rx, &dst, n) >= n) {
+    memcpy(dst, f + 1, n);
+    mg_queue_add(&s_mg24_rx, n);
+  } else {
+    s_mg24_ifp->ndrop++;
+  }
+}
+
+// RAIL event callback, runs in interrupt context
+static void mg_mg24_events(RAIL_Handle_t h, RAIL_Events_t events) {
+  if (events & RAIL_EVENT_CAL_NEEDED) {
+    RAIL_Calibrate(h, NULL, RAIL_CAL_ALL_PENDING);
+  }
+  if (events & RAIL_EVENT_RX_PACKET_RECEIVED) mg_mg24_rx_frame(h);
+  if (events & RAIL_EVENTS_TX_COMPLETION) s_mg24_tx_done = true;
+}
+
+// RAIL adds the FCS.
+static size_t mgi_mg24_radio_tx(struct mg_tcpip_if *ifp, const void *buf,
+                                size_t len) {
+  uint8_t phr = (uint8_t) (len + 2);  // FCS is added by hardware
+  (void) ifp;
+  if (len > 125 || s_mg24_txing) return 0;
+  RAIL_WriteTxFifo(s_mg24_rail, &phr, 1, true);  // Reset FIFO, write PHR
+  RAIL_WriteTxFifo(s_mg24_rail, (const uint8_t *) buf, (uint16_t) len, false);
+  s_mg24_tx_done = false;
+  s_mg24_txing = true, s_mg24_txstart = RAIL_GetTime();
+  if (RAIL_StartTx(s_mg24_rail, MG_802154_CHANNEL, RAIL_TX_OPTIONS_DEFAULT,
+                   NULL) != RAIL_STATUS_NO_ERROR) {
+    s_mg24_txing = false;
+    return 0;
+  }
+  return len;
+}
+
+static bool mgi_mg24_radio_init(struct mg_tcpip_if *ifp) {
+  struct mg_tcpip_driver_mg24_data *data = ifp->driver_data;
+  struct mg_mesh_node *node = data->mesh;
+  RAIL_Config_t cfg = {0};
+  RAIL_IEEE802154_Config_t cfg154 = {0};
+  RAIL_TxPowerConfig_t pwr;
+  RAIL_StateTransitions_t to_rx = {RAIL_RF_STATE_RX, RAIL_RF_STATE_RX};
+  RAIL_Events_t events = RAIL_EVENT_CAL_NEEDED | RAIL_EVENT_RX_PACKET_RECEIVED |
+                         RAIL_EVENTS_TX_COMPLETION;
+  cfg.eventsCallback = mg_mg24_events;
+  if ((s_mg24_rail = RAIL_Init(&cfg, NULL)) == NULL) {
+    MG_ERROR(("RAIL_Init failed"));
+    return false;
+  }
+  cfg154.ackConfig.enable = false;
+  cfg154.ackConfig.ackTimeout = 864;
+  cfg154.ackConfig.rxTransitions = to_rx;
+  cfg154.ackConfig.txTransitions = to_rx;
+  cfg154.timings.idleToRx = 100, cfg154.timings.idleToTx = 100;
+  cfg154.timings.rxToTx = 192, cfg154.timings.txToRx = 182;
+  cfg154.framesMask = RAIL_IEEE802154_ACCEPT_STANDARD_FRAMES;
+  cfg154.promiscuousMode = false;  // Filter by PAN ID and our short address
+  pwr.mode = RAIL_TX_POWER_MODE_2P4GIG_HP, pwr.voltage = 3300;
+  pwr.rampTime = 10;
+  if (RAIL_ConfigCal(s_mg24_rail, RAIL_CAL_ALL) != RAIL_STATUS_NO_ERROR ||
+      RAIL_ConfigEvents(s_mg24_rail, RAIL_EVENTS_ALL, events) !=
+          RAIL_STATUS_NO_ERROR ||
+      RAIL_IEEE802154_Config2p4GHzRadio(s_mg24_rail) != RAIL_STATUS_NO_ERROR ||
+      RAIL_IEEE802154_Init(s_mg24_rail, &cfg154) != RAIL_STATUS_NO_ERROR ||
+      RAIL_IEEE802154_SetPanId(s_mg24_rail, MG_802154_PAN_ID, 0) !=
+          RAIL_STATUS_NO_ERROR ||
+      RAIL_IEEE802154_SetShortAddress(s_mg24_rail, node->radio_address, 0) !=
+          RAIL_STATUS_NO_ERROR ||
+      RAIL_SetTxTransitions(s_mg24_rail, &to_rx) != RAIL_STATUS_NO_ERROR ||
+      RAIL_SetRxTransitions(s_mg24_rail, &to_rx) != RAIL_STATUS_NO_ERROR ||
+      RAIL_ConfigTxPower(s_mg24_rail, &pwr) != RAIL_STATUS_NO_ERROR ||
+      RAIL_SetTxPower(s_mg24_rail, RAIL_TX_POWER_LEVEL_2P4_HP_MAX) !=
+          RAIL_STATUS_NO_ERROR ||
+      RAIL_SetTxFifo(s_mg24_rail, s_mg24_txfifo, 0, sizeof(s_mg24_txfifo)) !=
+          sizeof(s_mg24_txfifo)) {
+    MG_ERROR(("RAIL setup failed"));
+    return false;
+  }
+  s_mg24_ifp = ifp;
+  return RAIL_StartRx(s_mg24_rail, MG_802154_CHANNEL, NULL) ==
+         RAIL_STATUS_NO_ERROR;
+}
+
+static size_t mgi_mg24_tx(const void *buf, size_t len,
+                          struct mg_tcpip_if *ifp) {
+  struct mg_tcpip_driver_mg24_data *data = ifp->driver_data;
+  return data->mesh->strategy->tx(data->mesh, buf, len);
+}
+
+static size_t mgi_mg24_rx(void *buf, size_t cap, struct mg_tcpip_if *ifp) {
+  struct mg_tcpip_driver_mg24_data *data = ifp->driver_data;
+  size_t len = data->mesh->rx_len;
+  if (len > cap) return 0;
+  if (len != 0 && buf != ifp->recv_queue.buf)
+    memcpy(buf, ifp->recv_queue.buf, len);
+  data->mesh->rx_len = 0;
+  return len;
+}
+
+static bool mgi_mg24_poll(struct mg_tcpip_if *ifp, bool s1) {
+  struct mg_tcpip_driver_mg24_data *data = ifp->driver_data;
+  struct mg_mesh_node *node = data->mesh;
+  uint64_t now = mg_micros();
+  char *buf;
+  size_t len;
+  (void) s1;
+  node->now = now;
+  if (s_mg24_txing && (s_mg24_tx_done || RAIL_GetTime() - s_mg24_txstart >
+                                             MG_MG24_TX_TIMEOUT_US)) {
+    if (!s_mg24_tx_done) {
+      RAIL_Idle(s_mg24_rail, RAIL_IDLE_ABORT, true);
+      RAIL_StartRx(s_mg24_rail, MG_802154_CHANNEL, NULL);
+    }
+    s_mg24_txing = false;
+    node->tx_at = now + node->strategy->radio->ifs_us;
+  }
+  while (node->rx_len == 0 && (len = mg_queue_next(&s_mg24_rx, &buf)) != 0) {
+    node->strategy->rx(node, buf, len);
+    mg_queue_del(&s_mg24_rx, len);
+  }
+  node->strategy->tick(node, now);
+  return node->joined;
+}
+static bool mgi_mg24_init(struct mg_tcpip_if *ifp) {
+  struct mg_tcpip_driver_mg24_data *data = ifp->driver_data;
+  const struct mg_mesh *strategy = data->strategy;
+  uint16_t address =
+      (uint16_t) (2 + ((unsigned) ifp->mac[4] * 256 + ifp->mac[5]) % 65532u);
+  if (strategy == NULL) strategy = &mg_mesh_default;
+  data->mesh = calloc(1, sizeof(*data->mesh));
+  if (data->mesh == NULL) return false;
+  if (!strategy->init(data->mesh, ifp, NULL, address)) {
+    free(data->mesh);
+    data->mesh = NULL;
+    return false;
+  }
+  data->mesh->strategy = strategy;
+  data->mesh->tx = mgi_mg24_radio_tx;
+  mg_queue_init(&s_mg24_rx, s_mg24_rxbuf, sizeof(s_mg24_rxbuf));
+  if (mgi_mg24_radio_init(ifp)) return true;
+  data->mesh->strategy->free(data->mesh);
+  free(data->mesh);
+  data->mesh = NULL;
+  return false;
+}
+struct mg_tcpip_driver mg_tcpip_driver_mg24 = {mgi_mg24_init, mgi_mg24_tx,
+                                               mgi_mg24_rx, mgi_mg24_poll};
+#endif

src/drivers/mg24.h

@@ -0,0 +1,34 @@
+// Copyright (c) 2026 Cesanta Software Limited
+// All rights reserved
+
+#pragma once
+
+#if MG_ENABLE_TCPIP && defined(MG_ENABLE_DRIVER_MG24) && MG_ENABLE_DRIVER_MG24
+
+struct mg_tcpip_driver_mg24_data {
+  struct mg_mesh_node *mesh;       // Driver-owned runtime state
+  const struct mg_mesh *strategy;  // NULL selects mg_mesh_default
+};
+
+extern struct mg_tcpip_driver mg_tcpip_driver_mg24;
+
+#define MG_TCPIP_DRIVER_MG24_INIT(manager)                      \
+  do {                                                          \
+    static struct mg_tcpip_driver_mg24_data driver_data_;       \
+    static struct mg_tcpip_if mif_;                             \
+    MG_SET_MAC_ADDRESS(mif_.mac);                               \
+    mif_.ip = MG_TCPIP_IP;                                      \
+    mif_.mask = MG_TCPIP_MASK;                                  \
+    mif_.gw = MG_TCPIP_GW;                                      \
+    mif_.mgr = (manager);                                       \
+    mif_.driver = &mg_tcpip_driver_mg24;                        \
+    mif_.driver_data = &driver_data_;                           \
+    mg_tcpip_init((manager), &mif_);                            \
+    MG_INFO(("Driver: mg24, MAC: %M", mg_print_mac, mif_.mac)); \
+  } while (0)
+
+#ifndef MG_TCPIP_DRIVER_INIT
+#define MG_TCPIP_DRIVER_INIT(x) MG_TCPIP_DRIVER_MG24_INIT(x)
+#endif
+
+#endif

src/drivers/nrf52.c

@@ -0,0 +1,179 @@
+#include "net_builtin.h"
+#include "l2_mesh.h"
+#include "log.h"
+
+#if MG_ENABLE_TCPIP && defined(MG_ENABLE_DRIVER_NRF52) && MG_ENABLE_DRIVER_NRF52
+#include <nrf.h>
+
+static struct mg_tcpip_if *s_nrf52_ifp;
+static struct mg_queue s_nrf52_rx;
+static char s_nrf52_queue[2048];
+static uint8_t s_nrf52_rxbuf[128] __attribute__((aligned(4)));
+static uint8_t s_nrf52_txbuf[128] __attribute__((aligned(4)));
+static volatile bool s_nrf52_txing, s_nrf52_done;
+static uint64_t s_nrf52_started;
+
+static void mgi_nrf52_listen(void) {
+  NRF_RADIO->PACKETPTR = (uint32_t) s_nrf52_rxbuf;
+  NRF_RADIO->SHORTS =
+      RADIO_SHORTS_READY_START_Msk | RADIO_SHORTS_END_DISABLE_Msk;
+  NRF_RADIO->EVENTS_FRAMESTART = 0;
+  NRF_RADIO->EVENTS_END = 0;
+  NRF_RADIO->TASKS_RXEN = 1;
+}
+static void mgi_nrf52_disable(void) {
+  NRF_RADIO->SHORTS = 0;
+  NRF_RADIO->EVENTS_DISABLED = 0;
+  NRF_RADIO->TASKS_DISABLE = 1;
+  while (!NRF_RADIO->EVENTS_DISABLED) (void) 0;
+  NRF_RADIO->EVENTS_DISABLED = 0;
+}
+void RADIO_IRQHandler(void);
+void RADIO_IRQHandler(void) {
+  if (!NRF_RADIO->EVENTS_DISABLED) return;
+  NRF_RADIO->EVENTS_DISABLED = 0;
+  if (s_nrf52_txing) {
+    s_nrf52_txing = false;
+    s_nrf52_done = true;
+  } else if (NRF_RADIO->CRCSTATUS) {
+    struct mg_tcpip_driver_nrf52_data *data = s_nrf52_ifp->driver_data;
+    struct mg_mesh_node *node = data->mesh;
+    size_t len = s_nrf52_rxbuf[0] >= 2 ? s_nrf52_rxbuf[0] - 2U : 0;
+    uint8_t *frame = s_nrf52_rxbuf + 1;
+    uint16_t dst, src;
+    if (len <= 125 &&
+        mg_radio_802154.parse_hdr(&mg_radio_802154, frame, len, &dst, &src) !=
+            0 &&
+        (dst == 0xffffu || dst == node->radio_address)) {
+      char *dst;
+      if (mg_queue_book(&s_nrf52_rx, &dst, len) >= len) {
+        memcpy(dst, frame, len);
+        mg_queue_add(&s_nrf52_rx, len);
+      } else {
+        s_nrf52_ifp->ndrop++;
+      }
+    }
+  }
+  mgi_nrf52_listen();
+}
+static size_t mgi_nrf52_radio_tx(struct mg_tcpip_if *ifp, const void *buf,
+                                 size_t len) {
+  (void) ifp;
+  if (len > 125) return 0;
+  NVIC_DisableIRQ(RADIO_IRQn);
+  if (s_nrf52_txing || NRF_RADIO->EVENTS_FRAMESTART) {
+    NVIC_EnableIRQ(RADIO_IRQn);
+    return 0;
+  }
+  mgi_nrf52_disable();
+  s_nrf52_txbuf[0] = (uint8_t) (len + 2);
+  memcpy(s_nrf52_txbuf + 1, buf, len);
+  s_nrf52_done = false;
+  s_nrf52_txing = true;
+  s_nrf52_started = mg_micros();
+  NRF_RADIO->PACKETPTR = (uint32_t) s_nrf52_txbuf;
+  NRF_RADIO->SHORTS =
+      RADIO_SHORTS_READY_START_Msk | RADIO_SHORTS_END_DISABLE_Msk;
+  NRF_RADIO->TASKS_TXEN = 1;
+  NVIC_EnableIRQ(RADIO_IRQn);
+  return len;
+}
+static bool mgi_nrf52_radio_init(struct mg_tcpip_if *ifp) {
+  s_nrf52_ifp = ifp;
+  NRF_RADIO->POWER = 1;
+  NRF_RADIO->MODE = RADIO_MODE_MODE_Ieee802154_250Kbit;
+  NRF_RADIO->PCNF0 = (8UL << RADIO_PCNF0_LFLEN_Pos) |
+                     (RADIO_PCNF0_PLEN_32bitZero << RADIO_PCNF0_PLEN_Pos) |
+                     RADIO_PCNF0_CRCINC_Msk;
+  NRF_RADIO->PCNF1 = 127;
+  NRF_RADIO->CRCCNF = 0x202;
+  NRF_RADIO->CRCPOLY = 0x11021;
+  NRF_RADIO->CRCINIT = 0;
+  NRF_RADIO->MODECNF0 = (RADIO_MODECNF0_DTX_Center << RADIO_MODECNF0_DTX_Pos) |
+                        RADIO_MODECNF0_RU_Fast;
+  NRF_RADIO->SFD = 0xa7;
+  NRF_RADIO->FREQUENCY = 5 * (MG_802154_CHANNEL - 10);
+  NRF_RADIO->TXPOWER = RADIO_TXPOWER_TXPOWER_Pos8dBm;
+  // Correlator threshold 45 matches the RADIO reset value. A threshold of
+  // 20 caused false busy detections and persistent L2 retries.
+  NRF_RADIO->CCACTRL =
+      (RADIO_CCACTRL_CCAMODE_CarrierMode << RADIO_CCACTRL_CCAMODE_Pos) |
+      (2UL << RADIO_CCACTRL_CCACORRCNT_Pos) |
+      (45UL << RADIO_CCACTRL_CCACORRTHRES_Pos);
+  NRF_RADIO->INTENSET = RADIO_INTENSET_DISABLED_Msk;
+  NVIC_SetPriority(RADIO_IRQn, 0);
+  NVIC_EnableIRQ(RADIO_IRQn);
+  mgi_nrf52_listen();
+  return true;
+}
+static size_t mgi_nrf52_tx(const void *buf, size_t len,
+                           struct mg_tcpip_if *ifp) {
+  struct mg_tcpip_driver_nrf52_data *data = ifp->driver_data;
+  return data->mesh->strategy->tx(data->mesh, buf, len);
+}
+
+static size_t mgi_nrf52_rx(void *buf, size_t cap, struct mg_tcpip_if *ifp) {
+  struct mg_tcpip_driver_nrf52_data *data = ifp->driver_data;
+  size_t len = data->mesh->rx_len;
+  if (len > cap) return 0;
+  if (len != 0 && buf != ifp->recv_queue.buf)
+    memcpy(buf, ifp->recv_queue.buf, len);
+  data->mesh->rx_len = 0;
+  return len;
+}
+
+static bool mgi_nrf52_poll(struct mg_tcpip_if *ifp, bool s1) {
+  struct mg_tcpip_driver_nrf52_data *data = ifp->driver_data;
+  struct mg_mesh_node *node = data->mesh;
+  uint64_t now = mg_micros();
+  char *buf;
+  size_t len;
+  (void) s1;
+  if (s_nrf52_txing && mg_micros() - s_nrf52_started > 60000) {
+    NVIC_DisableIRQ(RADIO_IRQn);
+    mgi_nrf52_disable();
+    s_nrf52_txing = false;
+    s_nrf52_done = true;
+    mgi_nrf52_listen();
+    NVIC_EnableIRQ(RADIO_IRQn);
+  }
+  if (s_nrf52_done) {
+    s_nrf52_done = false;
+    node->tx_at = now + node->strategy->radio->ifs_us;
+  }
+  node->now = now;
+  while (node->rx_len == 0 && (len = mg_queue_next(&s_nrf52_rx, &buf)) != 0) {
+    node->strategy->rx(node, buf, len);
+    mg_queue_del(&s_nrf52_rx, len);
+  }
+  node->strategy->tick(node, now);
+  return node->joined;
+}
+
+static bool mgi_nrf52_init(struct mg_tcpip_if *ifp) {
+  struct mg_tcpip_driver_nrf52_data *data = ifp->driver_data;
+  const struct mg_mesh *strategy = data->strategy;
+  uint16_t address;
+  address =
+      (uint16_t) (2 + ((unsigned) ifp->mac[4] * 256 + ifp->mac[5]) % 65532u);
+  if (strategy == NULL) strategy = &mg_mesh_default;
+  data->mesh = calloc(1, sizeof(*data->mesh));
+  if (data->mesh == NULL) return false;
+  if (!strategy->init(data->mesh, ifp, NULL, address)) {
+    free(data->mesh);
+    data->mesh = NULL;
+    return false;
+  }
+  data->mesh->strategy = strategy;
+  data->mesh->tx = mgi_nrf52_radio_tx;
+  mg_queue_init(&s_nrf52_rx, s_nrf52_queue, sizeof(s_nrf52_queue));
+  if (mgi_nrf52_radio_init(ifp)) return true;
+  strategy->free(data->mesh);
+  free(data->mesh);
+  data->mesh = NULL;
+  return false;
+}
+
+struct mg_tcpip_driver mg_tcpip_driver_nrf52 = {mgi_nrf52_init, mgi_nrf52_tx,
+                                                mgi_nrf52_rx, mgi_nrf52_poll};
+#endif

src/drivers/nrf52.h

@@ -0,0 +1,34 @@
+// Copyright (c) 2026 Cesanta Software Limited
+// All rights reserved
+
+#pragma once
+
+#if MG_ENABLE_TCPIP && defined(MG_ENABLE_DRIVER_NRF52) && MG_ENABLE_DRIVER_NRF52
+
+struct mg_tcpip_driver_nrf52_data {
+  struct mg_mesh_node *mesh;       // Driver-owned runtime state
+  const struct mg_mesh *strategy;  // NULL selects mg_mesh_default
+};
+
+extern struct mg_tcpip_driver mg_tcpip_driver_nrf52;
+
+#define MG_TCPIP_DRIVER_NRF52_INIT(manager)                      \
+  do {                                                           \
+    static struct mg_tcpip_driver_nrf52_data driver_data_;       \
+    static struct mg_tcpip_if mif_;                              \
+    MG_SET_MAC_ADDRESS(mif_.mac);                                \
+    mif_.ip = MG_TCPIP_IP;                                       \
+    mif_.mask = MG_TCPIP_MASK;                                   \
+    mif_.gw = MG_TCPIP_GW;                                       \
+    mif_.mgr = (manager);                                        \
+    mif_.driver = &mg_tcpip_driver_nrf52;                        \
+    mif_.driver_data = &driver_data_;                            \
+    mg_tcpip_init((manager), &mif_);                             \
+    MG_INFO(("Driver: nrf52, MAC: %M", mg_print_mac, mif_.mac)); \
+  } while (0)
+
+#ifndef MG_TCPIP_DRIVER_INIT
+#define MG_TCPIP_DRIVER_INIT(x) MG_TCPIP_DRIVER_NRF52_INIT(x)
+#endif
+
+#endif

src/drivers/rw612.h

@@ -27,6 +27,7 @@ struct mg_tcpip_driver_rw612_data {
 #define MG_DRIVER_MDC_HOLDTIME 3
 #endif
 
+#ifndef MG_TCPIP_DRIVER_INIT
 #define MG_TCPIP_DRIVER_INIT(mgr)                                 \
   do {                                                            \
     static struct mg_tcpip_driver_rw612_data driver_data_;       \
@@ -42,5 +43,6 @@ struct mg_tcpip_driver_rw612_data {
     mg_tcpip_init(mgr, &mif_);                                    \
     MG_INFO(("Driver: rw612, MAC: %M", mg_print_mac, mif_.mac)); \
   } while (0)
+#endif
 
 #endif

src/drivers/rw612_154.h

@@ -1,29 +0,0 @@
-#pragma once
-
-#if MG_ENABLE_TCPIP && defined(MG_ENABLE_DRIVER_RW612_154) && \
-    MG_ENABLE_DRIVER_RW612_154
-
-// NXP RW612 IEEE 802.15.4 radio, as an Ethernet interface: Ethernet frames
-// are split into radio frames, see mg_l2_802154_tx(). The radio runs on
-// CPU2: NXP BLE/802.15.4 combo firmware, an OpenThread radio co-processor
-// (RCP). The firmware must be loaded and running before mg_tcpip_init(), see
-// the FRDM-RW612 eth_radio_bridge tutorial. The driver talks to it over the
-// CPU2 <-> CPU3 IMU mailbox: IMUMC messages carrying HDLC framed Spinel.
-// driver_data: struct mg_l2_802154_data, channel and PAN ID set
-
-#ifndef MG_TCPIP_DRIVER_INIT
-#define MG_TCPIP_DRIVER_INIT(mgr)                                       \
-  do {                                                                  \
-    static struct mg_l2_802154_data driver_data_;                     \
-    static struct mg_tcpip_if mif_;                                     \
-    driver_data_.channel = MG_L2_802154_CHANNEL;                      \
-    driver_data_.pan_id = MG_L2_802154_PAN_ID;                        \
-    mif_.driver = &mg_tcpip_driver_rw612_154;                           \
-    mif_.driver_data = &driver_data_;                                   \
-    MG_SET_MAC_ADDRESS(mif_.mac);                                       \
-    mg_tcpip_init(mgr, &mif_);                                          \
-    MG_INFO(("Driver: rw612_154, channel %d", MG_L2_802154_CHANNEL)); \
-  } while (0)
-#endif
-
-#endif

src/drivers/rw612w.c

@@ -1,7 +1,16 @@
 #include "net_builtin.h"
+#include "l2_mesh.h"
+#include "log.h"
 
-#if MG_ENABLE_TCPIP && defined(MG_ENABLE_DRIVER_RW612_154) && \
-    MG_ENABLE_DRIVER_RW612_154
+#if MG_ENABLE_TCPIP && defined(MG_ENABLE_DRIVER_RW612W) && \
+    MG_ENABLE_DRIVER_RW612W
+
+#include "sha256.h"
+
+#ifdef ENET
+#undef ENET
+#endif
+#include <fsl_ocotp.h>
 
 // The 802.15.4 radio runs NXP combo firmware on CPU2, an OpenThread RCP. We
 // are CPU3. Messages go through the IMU mailbox: IMU messages carry IMUMC
@@ -16,13 +25,13 @@ struct mg_rw612_imu {
 };
 #define MGI_IMU ((struct mg_rw612_imu *) 0x443ff804)       // CPU3 -> CPU2
 #define MGI_IMU_PEER ((struct mg_rw612_imu *) 0x443ff818)  // CPU2 -> CPU3
-#define MGI_IMU_LOCKED MG_BIT(0)          // STATUS: FIFO locked
-#define MGI_IMU_ALMOST_FULL MG_BIT(1)     // STATUS: FIFO almost full
-#define MGI_IMU_EMPTY MG_BIT(3)           // STATUS: FIFO empty
+#define MGI_IMU_LOCKED MG_BIT(0)       // STATUS: FIFO locked
+#define MGI_IMU_ALMOST_FULL MG_BIT(1)  // STATUS: FIFO almost full
+#define MGI_IMU_EMPTY MG_BIT(3)        // STATUS: FIFO empty
 #define MGI_IMU_WR_PTR(s) (((s) >> 16) & 15U)
-#define MGI_IMU_INT_CLR MG_BIT(0)         // CNTL: clear message ready IRQ
-#define MGI_IMU_FLUSH MG_BIT(16)          // CNTL: flush send FIFO
-#define MGI_IMU_WAIT_FOR_ACK MG_BIT(17)   // CNTL: lock send FIFO
+#define MGI_IMU_INT_CLR MG_BIT(0)        // CNTL: clear message ready IRQ
+#define MGI_IMU_FLUSH MG_BIT(16)         // CNTL: flush send FIFO
+#define MGI_IMU_WAIT_FOR_ACK MG_BIT(17)  // CNTL: lock send FIFO
 #define MGI_IMU_WATERMARK(x) ((uint32_t) (x) << 20)
 #define MGI_IMU_WATERMARK_MASK (15U << 20)
 
@@ -73,8 +82,10 @@ enum {
   MGI_PROP_NCP_VERSION = 2,
   MGI_PROP_PHY_ENABLED = 0x20,
   MGI_PROP_PHY_CHAN = 0x21,
+  MGI_PROP_SADDR = 0x35,  // Short address, little endian
   MGI_PROP_PANID = 0x36,
   MGI_PROP_RAW_STREAM = 0x37,
+  MGI_PROP_PROMISCUOUS = 0x38,
   MGI_PROP_STREAM_RAW = 0x71
 };
 #define MGI_RESET_STACK 2         // RESET argument: reset the RCP stack only
@@ -82,7 +93,6 @@ enum {
 #define MGI_STATUS_RESET_MAX 127
 #define MGI_TX_TIMEOUT_MS 200  // Wait for transmit done, incl. retries
 #define MGI_RSP_TIMEOUT_MS 500
-#define MGI_RXQ_CNT 16  // A whole Ethernet frame, 15 radio frames
 
 // Driver state, one radio
 struct mg_rw612 {
@@ -98,11 +108,13 @@ struct mg_rw612 {
   bool rsp;                 // Response to the pending request received
   uint32_t rsp_status;      // Its status, if LAST_STATUS, else 0
   char version[64];         // RCP version string
-  uint8_t rxq[MGI_RXQ_CNT][127];  // Received frames, no FCS
-  uint8_t rxlen[MGI_RXQ_CNT];     // Their lengths
-  uint8_t rxhead, rxtail;         // Queue indexes
+  bool txing;               // A send is on, see mg_rw612_start()
+  uint64_t txstart;         // Its start, ms
+  struct mg_tcpip_if *ifp;  // Our interface, for the L2 receive pool
 };
 static struct mg_rw612 s_rw612;
+static struct mg_queue s_rw612w_rx;
+static char s_rw612w_queue[2048];
 
 static void mg_rw612_imu_send(uint8_t type, uint8_t subtype,
                               const uint32_t *payload, uint8_t len) {
@@ -126,12 +138,15 @@ static void mg_rw612_control(uint8_t subtype, uint32_t a, uint32_t b,
 }
 
 static void mg_rw612_queue_rx(const uint8_t *frame, size_t len) {
-  struct mg_rw612 *s = &s_rw612;
-  uint8_t next = (uint8_t) ((s->rxhead + 1) % MGI_RXQ_CNT);
-  if (next == s->rxtail || len > sizeof(s->rxq[0])) return;  // Full: drop
-  memcpy(s->rxq[s->rxhead], frame, len);
-  s->rxlen[s->rxhead] = (uint8_t) len;
-  s->rxhead = next;
+  {
+    char *dst;
+    if (mg_queue_book(&s_rw612w_rx, &dst, len) >= len) {
+      memcpy(dst, frame, len);
+      mg_queue_add(&s_rw612w_rx, len);
+    } else {
+      s_rw612.ifp->ndrop++;
+    }
+  }
 }
 
 // Spinel packed unsigned integer: 7 bits per byte, LSB first
@@ -293,14 +308,13 @@ static bool mg_rw612_imumc_send(const uint8_t *p, size_t len) {
   return true;
 }
 
-// Send a Spinel frame, HDLC encoded, and wait for the response with the
-// same transaction ID. Return false on timeout
-static bool mg_rw612_request(uint8_t *f, size_t len, uint32_t timeout_ms) {
+// Send a Spinel frame, HDLC encoded, with a new transaction ID. Its
+// response sets rsp, see mg_rw612_spinel()
+static bool mg_rw612_post(uint8_t *f, size_t len) {
   struct mg_rw612 *s = &s_rw612;
   uint8_t buf[2 * 160 + 6];
   uint16_t fcs = 0xffff;
   size_t i, n = 0;
-  uint64_t expire = mg_millis() + timeout_ms;
   s->tid = (uint8_t) (s->tid % 15 + 1);
   f[0] = (uint8_t) (0x80 | s->tid);  // Header: flag, interface 0, TID
   s->rsp = false;
@@ -318,9 +332,15 @@ static bool mg_rw612_request(uint8_t *f, size_t len, uint32_t timeout_ms) {
     buf[n++] = c;
   }
   buf[n++] = 0x7e;
-  if (!mg_rw612_imumc_send(buf, n)) return false;
-  while (!s->rsp && mg_millis() < expire) mg_rw612_poll_imu();
-  return s->rsp;
+  return mg_rw612_imumc_send(buf, n);
+}
+
+// Send a Spinel frame and wait for its response. Return false on timeout
+static bool mg_rw612_request(uint8_t *f, size_t len, uint32_t timeout_ms) {
+  uint64_t expire = mg_millis() + timeout_ms;
+  if (!mg_rw612_post(f, len)) return false;
+  while (!s_rw612.rsp && mg_millis() < expire) mg_rw612_poll_imu();
+  return s_rw612.rsp;
 }
 
 static bool mg_rw612_set(uint32_t prop, const uint8_t *val, size_t len) {
@@ -338,27 +358,43 @@ static bool mg_rw612_fail(const char *msg) {
   return false;
 }
 
-static bool mg_rw612_154_init(struct mg_tcpip_if *ifp) {
+// Start one raw transmission. The RCP adds the FCS and reports completion.
+static size_t mgi_rw612w_radio_tx(struct mg_tcpip_if *ifp, const void *buf,
+                                  size_t len) {
+  uint8_t f[3 + 2 + 127 + 4];
+  size_t n = 3;
+  if (len > 125 || s_rw612.txing) return 0;
+  f[1] = MGI_CMD_SET, f[2] = MGI_PROP_STREAM_RAW;
+  f[n++] = (uint8_t) (len + 2), f[n++] = 0;  // PSDU length, incl. FCS
+  memcpy(f + n, buf, len), n += len;
+  f[n++] = 0, f[n++] = 0;  // FCS, filled in by the radio
+  (void) ifp;
+  f[n++] = MG_802154_CHANNEL;
+  f[n++] = 0;  // Max CSMA backoffs
+  f[n++] = 0;  // Max frame retries
+  f[n++] = 0;  // CSMA disabled for scheduled turns
+  if (!mg_rw612_post(f, n)) return 0;
+  s_rw612.txing = true, s_rw612.txstart = mg_millis();
+  return len;
+}
+
+static bool mgi_rw612w_radio_init(struct mg_tcpip_if *ifp) {
   struct mg_rw612 *s = &s_rw612;
-  struct mg_l2_802154_data *d =
-      (struct mg_l2_802154_data *) ifp->driver_data;
-  uint8_t f[8], one = 1, pan[2];
+  struct mg_tcpip_driver_rw612w_data *data = ifp->driver_data;
+  struct mg_mesh_node *node = data->mesh;
+  uint8_t f[8], one = 1, zero = 0, pan[2], addr[2], channel = MG_802154_CHANNEL;
   uint64_t expire;
-  if (d == NULL || d->channel < 11 || d->channel > 26) {
-    MG_ERROR(("Set driver_data, channel 11..26"));
-    return false;
-  }
   if (MGI_MBOX->magic[0] != MGI_SYNC_MAGIC) {
     MG_ERROR(("Radio firmware is not running on CPU2"));
     return false;
   }
   memset(s, 0, sizeof(*s));
-  s->free_bufs = 0xffff;
+  s->free_bufs = 0xffff, s->ifp = ifp;
   // Reset our send FIFO, drop stale messages. See IMU_Init()
   MGI_IMU->CNTL |= MGI_IMU_FLUSH;
   MGI_IMU->CNTL &= ~(MGI_IMU_FLUSH | MGI_IMU_WAIT_FOR_ACK);
-  MGI_IMU->CNTL = (MGI_IMU->CNTL & ~MGI_IMU_WATERMARK_MASK) |
-                  MGI_IMU_WATERMARK(15);
+  MGI_IMU->CNTL =
+      (MGI_IMU->CNTL & ~MGI_IMU_WATERMARK_MASK) | MGI_IMU_WATERMARK(15);
   while ((MGI_IMU_PEER->STATUS & MGI_IMU_EMPTY) == 0) (void) MGI_IMU->RD_MSG;
   // Synchronise the IMU link, then connect the IMUMC endpoints
   MGI_MBOX->magic[1] = MGI_SYNC_MAGIC;
@@ -385,10 +421,15 @@ static bool mg_rw612_154_init(struct mg_tcpip_if *ifp) {
   if (!mg_rw612_set(MGI_PROP_PHY_ENABLED, &one, 1)) {
     return mg_rw612_fail("PHY enable failed");
   }
-  pan[0] = (uint8_t) d->pan_id, pan[1] = (uint8_t) (d->pan_id >> 8);
-  if (!mg_rw612_set(MGI_PROP_PHY_CHAN, &d->channel, 1) ||
-      !mg_rw612_set(MGI_PROP_PANID, pan, 2)) {
-    return mg_rw612_fail("Channel or PAN ID set failed");
+  pan[0] = (uint8_t) MG_802154_PAN_ID;
+  pan[1] = (uint8_t) (MG_802154_PAN_ID >> 8);
+  addr[0] = (uint8_t) node->radio_address;
+  addr[1] = (uint8_t) (node->radio_address >> 8);
+  if (!mg_rw612_set(MGI_PROP_PHY_CHAN, &channel, 1) ||
+      !mg_rw612_set(MGI_PROP_PANID, pan, 2) ||
+      !mg_rw612_set(MGI_PROP_SADDR, addr, 2) ||
+      !mg_rw612_set(MGI_PROP_PROMISCUOUS, &zero, 1)) {
+    return mg_rw612_fail("Channel, PAN ID or address set failed");
   }
   if (!mg_rw612_set(MGI_PROP_RAW_STREAM, &one, 1)) {
     return mg_rw612_fail("Raw stream enable failed");
@@ -396,55 +437,77 @@ static bool mg_rw612_154_init(struct mg_tcpip_if *ifp) {
   return true;
 }
 
-// Send one radio frame: MAC header and payload, no FCS
-static size_t mg_rw612_send(const uint8_t *p, size_t len,
+static size_t mgi_rw612w_tx(const void *buf, size_t len,
                             struct mg_tcpip_if *ifp) {
-  struct mg_l2_802154_data *d =
-      (struct mg_l2_802154_data *) ifp->driver_data;
-  uint8_t f[3 + 2 + 127 + 4];
-  size_t n = 3;
-  f[1] = MGI_CMD_SET, f[2] = MGI_PROP_STREAM_RAW;
-  f[n++] = (uint8_t) (len + 2), f[n++] = 0;  // PSDU length, incl. FCS
-  memcpy(f + n, p, len), n += len;
-  f[n++] = 0, f[n++] = 0;  // FCS, filled in by the radio
-  f[n++] = d->channel;
-  f[n++] = 4;  // Max CSMA backoffs
-  f[n++] = 0;  // Max frame retries: broadcast frames are not acknowledged
-  f[n++] = 1;  // CSMA-CA enabled
-  if (!mg_rw612_request(f, n, MGI_TX_TIMEOUT_MS)) {
-    MG_ERROR(("TX timeout"));
-    return 0;
-  }
-  if (s_rw612.rsp_status != 0) {
-    MG_VERBOSE(("TX failed, status %lu", (unsigned long) s_rw612.rsp_status));
-    return 0;
-  }
+  struct mg_tcpip_driver_rw612w_data *data = ifp->driver_data;
+  return data->mesh->strategy->tx(data->mesh, buf, len);
+}
+
+static size_t mgi_rw612w_rx(void *buf, size_t cap, struct mg_tcpip_if *ifp) {
+  struct mg_tcpip_driver_rw612w_data *data = ifp->driver_data;
+  size_t len = data->mesh->rx_len;
+  if (len > cap) return 0;
+  if (len != 0 && buf != ifp->recv_queue.buf)
+    memcpy(buf, ifp->recv_queue.buf, len);
+  data->mesh->rx_len = 0;
   return len;
 }
 
-static size_t mg_rw612_154_tx(const void *buf, size_t len,
-                              struct mg_tcpip_if *ifp) {
-  return mg_l2_802154_tx(ifp, buf, len, mg_rw612_send);
-}
-
-static size_t mg_rw612_154_rx(void *buf, size_t len, struct mg_tcpip_if *ifp) {
-  struct mg_rw612 *s = &s_rw612;
-  size_t res = 0;
+static bool mgi_rw612w_poll(struct mg_tcpip_if *ifp, bool s1) {
+  struct mg_tcpip_driver_rw612w_data *data = ifp->driver_data;
+  struct mg_mesh_node *node = data->mesh;
+  uint64_t now = mg_micros();
+  char *buf;
+  size_t len;
+  (void) s1;
+  bool was_sending = s_rw612.txing;
   mg_rw612_poll_imu();
-  while (s->rxtail != s->rxhead && res == 0) {
-    res = mg_l2_802154_rx(ifp, s->rxq[s->rxtail], s->rxlen[s->rxtail], buf,
-                          len);
-    s->rxtail = (uint8_t) ((s->rxtail + 1) % MGI_RXQ_CNT);
+  if (s_rw612.txing &&
+      (s_rw612.rsp || mg_millis() > s_rw612.txstart + MGI_TX_TIMEOUT_MS)) {
+    if (!s_rw612.rsp) MG_ERROR(("TX timeout"));
+    s_rw612.txing = false;
   }
-  return res;
+  if (was_sending && !s_rw612.txing)
+    node->tx_at = now + node->strategy->radio->ifs_us;
+  node->now = now;
+  while (node->rx_len == 0 && (len = mg_queue_next(&s_rw612w_rx, &buf)) != 0) {
+    node->strategy->rx(node, buf, len);
+    mg_queue_del(&s_rw612w_rx, len);
+  }
+  node->strategy->tick(node, now);
+  return node->joined;
 }
 
-static bool mg_rw612_154_poll(struct mg_tcpip_if *ifp, bool s1) {
-  (void) ifp, (void) s1;
-  return s_rw612.up;
+static bool mgi_rw612w_init(struct mg_tcpip_if *ifp) {
+  struct mg_tcpip_driver_rw612w_data *data = ifp->driver_data;
+  const struct mg_mesh *strategy = data->strategy;
+  uint8_t uid[FSL_OCOTP_UID_LENGTH] = {0}, digest[32];
+  uint32_t uid_len = sizeof(uid);
+  uint16_t address;
+  OCOTP_ReadUniqueID(uid, &uid_len);
+  mg_sha256(digest, uid, sizeof(uid));
+  memcpy(ifp->mac, digest, 6);
+  ifp->mac[0] = 0x02;
+  address =
+      (uint16_t) (2 + ((unsigned) ifp->mac[4] * 256 + ifp->mac[5]) % 65532u);
+  if (strategy == NULL) strategy = &mg_mesh_default;
+  data->mesh = calloc(1, sizeof(*data->mesh));
+  if (data->mesh == NULL) return false;
+  if (!strategy->init(data->mesh, ifp, NULL, address)) {
+    free(data->mesh);
+    data->mesh = NULL;
+    return false;
+  }
+  data->mesh->strategy = strategy;
+  data->mesh->tx = mgi_rw612w_radio_tx;
+  mg_queue_init(&s_rw612w_rx, s_rw612w_queue, sizeof(s_rw612w_queue));
+  if (mgi_rw612w_radio_init(ifp)) return true;
+  strategy->free(data->mesh);
+  free(data->mesh);
+  data->mesh = NULL;
+  return false;
 }
 
-struct mg_tcpip_driver mg_tcpip_driver_rw612_154 = {
-    mg_rw612_154_init, mg_rw612_154_tx, mg_rw612_154_rx, mg_rw612_154_poll};
-
+struct mg_tcpip_driver mg_tcpip_driver_rw612w = {
+    mgi_rw612w_init, mgi_rw612w_tx, mgi_rw612w_rx, mgi_rw612w_poll};
 #endif

src/drivers/rw612w.h

@@ -0,0 +1,35 @@
+// Copyright (c) 2026 Cesanta Software Limited
+// All rights reserved
+
+#pragma once
+
+#if MG_ENABLE_TCPIP && defined(MG_ENABLE_DRIVER_RW612W) && \
+    MG_ENABLE_DRIVER_RW612W
+
+struct mg_tcpip_driver_rw612w_data {
+  struct mg_mesh_node *mesh;       // Driver-owned runtime state
+  const struct mg_mesh *strategy;  // NULL selects mg_mesh_default
+};
+
+extern struct mg_tcpip_driver mg_tcpip_driver_rw612w;
+
+#define MG_TCPIP_DRIVER_RW612W_INIT(manager)                      \
+  do {                                                            \
+    static struct mg_tcpip_driver_rw612w_data driver_data_;       \
+    static struct mg_tcpip_if mif_;                               \
+    MG_SET_MAC_ADDRESS(mif_.mac);                                 \
+    mif_.ip = MG_TCPIP_IP;                                        \
+    mif_.mask = MG_TCPIP_MASK;                                    \
+    mif_.gw = MG_TCPIP_GW;                                        \
+    mif_.mgr = (manager);                                         \
+    mif_.driver = &mg_tcpip_driver_rw612w;                        \
+    mif_.driver_data = &driver_data_;                             \
+    mg_tcpip_init((manager), &mif_);                              \
+    MG_INFO(("Driver: rw612w, MAC: %M", mg_print_mac, mif_.mac)); \
+  } while (0)
+
+#ifndef MG_TCPIP_DRIVER_INIT
+#define MG_TCPIP_DRIVER_INIT(x) MG_TCPIP_DRIVER_RW612W_INIT(x)
+#endif
+
+#endif