两块 ESP32-C6 组一个 Thread 网络：用 CLI 核对连接和 sleepy 模式

idf.py -B build-ftd -DSDKCONFIG="$PWD/build-ftd/sdkconfig" -DSDKCONFIG_DEFAULTS=sdkconfig.defaults build
idf.py -B build-mtd -DSDKCONFIG="$PWD/build-mtd/sdkconfig" '-DSDKCONFIG_DEFAULTS=sdkconfig.defaults;sdkconfig.mtd' build
# 分别加 -p BOARD_A_UART / BOARD_B_UART flash monitor；不要刷混。

// ---- main/esp_ot_config.h ----
/*
 * SPDX-FileCopyrightText: 2021-2025 Espressif Systems (Shanghai) CO LTD
 *
 * SPDX-License-Identifier: CC0-1.0
 *
 * OpenThread Command Line Example
 *
 * This example code is in the Public Domain (or CC0 licensed, at your option.)
 *
 * Unless required by applicable law or agreed to in writing, this
 * software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
 * CONDITIONS OF ANY KIND, either express or implied.
 */

#pragma once

#include "esp_openthread_types.h"

#if SOC_IEEE802154_SUPPORTED
#define ESP_OPENTHREAD_DEFAULT_RADIO_CONFIG()              \
    {                                                      \
        .radio_mode = RADIO_MODE_NATIVE,                   \
    }

#else
#define ESP_OPENTHREAD_DEFAULT_RADIO_CONFIG()                 \
    {                                                         \
        .radio_mode = RADIO_MODE_UART_RCP,                    \
        .radio_uart_config = {                                \
            .port = 1,                                        \
            .uart_config =                                    \
                {                                             \
                    .baud_rate = 115200,                      \
                    .data_bits = UART_DATA_8_BITS,            \
                    .parity = UART_PARITY_DISABLE,            \
                    .stop_bits = UART_STOP_BITS_1,            \
                    .flow_ctrl = UART_HW_FLOWCTRL_DISABLE,    \
                    .rx_flow_ctrl_thresh = 0,                 \
                    .source_clk = UART_SCLK_DEFAULT,          \
                },                                            \
            .rx_pin = 4,                                      \
            .tx_pin = 5,                                      \
        },                                                    \
    }
#endif

#define ESP_OPENTHREAD_DEFAULT_HOST_CONFIG()                        \
    {                                                               \
        .host_connection_mode = HOST_CONNECTION_MODE_NONE,          \
    }

#define ESP_OPENTHREAD_DEFAULT_PORT_CONFIG()    \
    {                                           \
        .storage_partition_name = "nvs",        \
        .netif_queue_size = 10,                 \
        .task_queue_size = 10,                  \
    }

// ---- main/ot_examples_common.h ----
// SPDX-License-Identifier: MIT
#pragma once
void ot_console_start(void);
void ot_register_external_commands(void);

// ---- main/ot_console.c ----
/* Derived from ESP-IDF v5.5.5 examples/openthread/ot_common_components/ot_examples_common/ot_console.c.
 * SPDX-FileCopyrightText: 2025-2026 Espressif Systems (Shanghai) CO LTD
 * SPDX-License-Identifier: CC0-1.0
 * Minimal UART-only adapter: no LED, iperf, RF coexist commands or system command component.
 * Core OpenThread CLI is registered by esp_openthread_start(), as in the upstream example.
 */
#include "ot_examples_common.h"
#include "esp_console.h"
#include "esp_err.h"
#include "sdkconfig.h"
void ot_console_start(void) {
    esp_console_repl_t *repl=NULL;
    esp_console_repl_config_t cfg=ESP_CONSOLE_REPL_CONFIG_DEFAULT();
    cfg.prompt=CONFIG_IDF_TARGET ">";cfg.max_cmdline_length=256;cfg.max_history_len=10;
    esp_console_dev_uart_config_t hw=ESP_CONSOLE_DEV_UART_CONFIG_DEFAULT();
    ESP_ERROR_CHECK(esp_console_new_repl_uart(&hw,&cfg,&repl));
    ESP_ERROR_CHECK(esp_console_start_repl(repl));
}
void ot_register_external_commands(void) { /* No extra non-Thread commands. */ }

// ---- main/esp_ot_cli.c ----
/*
 * SPDX-FileCopyrightText: 2021-2026 Espressif Systems (Shanghai) CO LTD
 *
 * SPDX-License-Identifier: CC0-1.0
 *
 * OpenThread Command Line Example
 *
 * This example code is in the Public Domain (or CC0 licensed, at your option.)
 *
 * Unless required by applicable law or agreed to in writing, this
 * software is distributed on an "AS IS" BASIS, WITHOUT WARRANTIES OR
 * CONDITIONS OF ANY KIND, either express or implied.
*/

#include <stdio.h>
#include <unistd.h>
#include <string.h>

#include "sdkconfig.h"
#include "esp_err.h"
#include "esp_event.h"
#include "esp_log.h"
#include "esp_netif.h"
#include "esp_netif_types.h"
#include "esp_openthread.h"
#include "esp_openthread_lock.h"
#include "esp_openthread_netif_glue.h"
#include "esp_openthread_types.h"
#include "esp_ot_config.h"
#include "esp_vfs_eventfd.h"
#include "nvs_flash.h"
#include "ot_examples_common.h"

#if CONFIG_OPENTHREAD_STATE_INDICATOR_ENABLE
#include "ot_led_strip.h"
#endif

#if CONFIG_OPENTHREAD_CLI_ESP_EXTENSION
#include "esp_ot_cli_extension.h"
#endif // CONFIG_OPENTHREAD_CLI_ESP_EXTENSION

#if CONFIG_ESP_COEX_EXTERNAL_COEXIST_ENABLE
#include "ext_coex_cmd.h"
#endif

#define TAG "ot_esp_cli"

void app_main(void)
{
    // Used eventfds:
    // * netif
    // * ot task queue
    // * radio driver
    esp_vfs_eventfd_config_t eventfd_config = {
        .max_fds = 3,
    };

    ESP_ERROR_CHECK(nvs_flash_init());
    ESP_ERROR_CHECK(esp_event_loop_create_default());
#if CONFIG_OPENTHREAD_PLATFORM_NETIF
    ESP_ERROR_CHECK(esp_netif_init());
#endif
    ESP_ERROR_CHECK(esp_vfs_eventfd_register(&eventfd_config));

#if CONFIG_OPENTHREAD_CLI
    ot_console_start();
    ot_register_external_commands();
#if CONFIG_ESP_COEX_EXTERNAL_COEXIST_ENABLE
    register_cmd_extcoex();
#endif
#endif

    static esp_openthread_config_t config = {
#if CONFIG_OPENTHREAD_PLATFORM_NETIF
        .netif_config = ESP_NETIF_DEFAULT_OPENTHREAD(),
#endif
        .platform_config = {
            .radio_config = ESP_OPENTHREAD_DEFAULT_RADIO_CONFIG(),
            .host_config = ESP_OPENTHREAD_DEFAULT_HOST_CONFIG(),
            .port_config = ESP_OPENTHREAD_DEFAULT_PORT_CONFIG(),
        },
    };

    ESP_ERROR_CHECK(esp_openthread_start(&config));
#if CONFIG_OPENTHREAD_CLI_ESP_EXTENSION
    esp_cli_custom_command_init();
#endif
#if CONFIG_OPENTHREAD_STATE_INDICATOR_ENABLE
    ESP_ERROR_CHECK(esp_openthread_state_indicator_init(esp_openthread_get_instance()));
#endif
#if CONFIG_OPENTHREAD_NETWORK_AUTO_START
    ot_network_auto_start();
#endif
}

ot dataset init new
ot dataset channel 15
ot dataset networkname Hixinwu-W10
ot dataset commit active
ot dataset active -x
ot mode rdn
ot ifconfig up
ot thread start
ot state
ot channel
ot panid
ot extpanid
ot ipaddr

ot dataset set active <A的完整HEX>
ot mode -
ot pollperiod 1000
ot ifconfig up
ot thread start
ot state
ot parent
ot mode
ot pollperiod
# A执行：
ot child table