osd-contiki/platform/avr-raven/contiki-raven-main.c

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/*
* Copyright (c) 2006, Technical University of Munich
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* 3. Neither the name of the Institute nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
* OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
* OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
* SUCH DAMAGE.
*
* This file is part of the Contiki operating system.
*
* @(#)$$
*/
#define ANNOUNCE_BOOT 1 //adds about 600 bytes to program size
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#define DEBUG 0
#if DEBUG
#define PRINTF(FORMAT,args...) printf_P(PSTR(FORMAT),##args)
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#define PRINTSHORT(FORMAT,args...) printf_P(PSTR(FORMAT),##args)
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#else
#define PRINTF(...)
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#define PRINTSHORT(...)
#endif
#include <avr/pgmspace.h>
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#include <avr/fuse.h>
#include <avr/eeprom.h>
#include <stdio.h>
#include <string.h>
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#include <dev/watchdog.h>
#include "loader/symbols-def.h"
#include "loader/symtab.h"
#if RF230BB //radio driver using contiki core mac
#include "radio/rf230bb/rf230bb.h"
#include "net/mac/frame802154.h"
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#include "net/mac/framer-802154.h"
#include "net/sicslowpan.h"
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#else //radio driver using Atmel/Cisco 802.15.4'ish MAC
#include <stdbool.h>
#include "mac.h"
#include "sicslowmac.h"
#include "sicslowpan.h"
#include "ieee-15-4-manager.h"
#endif /*RF230BB*/
#include "contiki.h"
#include "contiki-net.h"
#include "contiki-lib.h"
#include "dev/rs232.h"
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#include "dev/serial-line.h"
#include "dev/slip.h"
#ifdef RAVEN_LCD_INTERFACE
#include "raven-lcd.h"
#endif
#if WEBSERVER
#include "httpd-fs.h"
#include "httpd-cgi.h"
#endif
#ifdef COFFEE_FILES
#include "cfs/cfs.h"
#include "cfs/cfs-coffee.h"
#endif
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#if UIP_CONF_ROUTER&&0
#include "net/routing/rimeroute.h"
#include "net/rime/rime-udp.h"
#endif
#include "net/rime.h"
/*-------------------------------------------------------------------------*/
/*----------------------Configuration of the .elf file---------------------*/
typedef struct {unsigned char B2;unsigned char B1;unsigned char B0;} __signature_t;
#define SIGNATURE __signature_t __signature __attribute__((section (".signature")))
SIGNATURE = {
/* Older AVR-GCCs may not define the SIGNATURE_n bytes so use explicit 1284p values */
.B2 = 0x05,//SIGNATURE_2,
.B1 = 0x97,//SIGNATURE_1,
.B0 = 0x1E,//SIGNATURE_0,
};
FUSES ={.low = 0xe2, .high = 0x99, .extended = 0xff,};
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/*----------------------Configuration of EEPROM---------------------------*/
/* Use existing EEPROM if it passes the integrity test, else reinitialize with build values */
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/* Put default MAC address in EEPROM */
#if WEBSERVER
extern uint8_t mac_address[8]; //These are defined in httpd-fsdata.c via makefsdata.h
extern uint8_t server_name[16];
extern uint8_t domain_name[30];
#else
uint8_t mac_address[8] PROGMEM = {0x02, 0x11, 0x22, 0xff, 0xfe, 0x33, 0x44, 0x55};
#endif
#ifdef CHANNEL_802_15_4
uint8_t rf_channel[2] EEMEM = {CHANNEL_802_15_4, ~CHANNEL_802_15_4};
#else
uint8_t rf_channel[2] EEMEM = {22, ~22};
#endif
volatile uint8_t eeprom_channel;
static uint8_t get_channel_from_eeprom() {
// volatile uint8_t eeprom_channel;
uint8_t eeprom_check;
eeprom_channel = eeprom_read_byte(&rf_channel[0]);
eeprom_check = eeprom_read_byte(&rf_channel[1]);
if(eeprom_channel==~eeprom_check)
return eeprom_channel;
#ifdef CHANNEL_802_15_4
return(CHANNEL_802_15_4);
#else
return 26;
#endif
}
static bool get_mac_from_eeprom(uint8_t* macptr) {
eeprom_read_block ((void *)macptr, &mac_address, 8);
return true;
}
static uint16_t get_panid_from_eeprom(void) {
// TODO: Writeme!
return IEEE802154_PANID;
}
static uint16_t get_panaddr_from_eeprom(void) {
// TODO: Writeme!
return 0;
}
void calibrate_rc_osc_32k();
/*-------------------------Low level initialization------------------------*/
/*------Done in a subroutine to keep main routine stack usage small--------*/
void initialize(void)
{
watchdog_init();
watchdog_start();
#define CONFIG_STACK_MONITOR 1
#if CONFIG_STACK_MONITOR
extern uint16_t __bss_end;
__bss_end = 0x4242;
*(uint16_t *)(&__bss_end+100) = 0x4242;
#endif
#ifdef RAVEN_LCD_INTERFACE
/* First rs232 port for Raven 3290 port */
rs232_init(RS232_PORT_0, USART_BAUD_38400,USART_PARITY_NONE | USART_STOP_BITS_1 | USART_DATA_BITS_8);
/* Set input handler for 3290 port */
rs232_set_input(0,raven_lcd_serial_input);
#endif
/* Second rs232 port for debugging */
rs232_init(RS232_PORT_1, USART_BAUD_57600,USART_PARITY_NONE | USART_STOP_BITS_1 | USART_DATA_BITS_8);
/* Redirect stdout to second port */
rs232_redirect_stdout(RS232_PORT_1);
clock_init();
#define CONF_CALIBRATE_OSCCAL 0
#if CONF_CALIBRATE_OSCCAL
{
extern uint8_t osccal_calibrated;
uint8_t i;
printf_P(PSTR("\nBefore calibration OSCCAL=%x\n"),OSCCAL);
for (i=0;i<10;i++) {
calibrate_rc_osc_32k();
printf_P(PSTR("Calibrated=%x\n"),osccal_calibrated);
//#include <util/delay_basic.h>
//#define delay_us( us ) ( _delay_loop_2(1+(us*F_CPU)/4000000UL) )
// delay_us(50000);
}
clock_init();
}
#endif
#if ANNOUNCE_BOOT
printf_P(PSTR("\n*******Booting %s*******\n"),CONTIKI_VERSION_STRING);
#endif
/* rtimers needed for radio cycling */
rtimer_init();
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/* Initialize process subsystem */
process_init();
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/* etimers must be started before ctimer_init */
process_start(&etimer_process, NULL);
#if RF230BB
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ctimer_init();
/* Start radio and radio receive process */
NETSTACK_RADIO.init();
/* Set addresses BEFORE starting tcpip process */
rimeaddr_t addr;
memset(&addr, 0, sizeof(rimeaddr_t));
get_mac_from_eeprom(addr.u8);
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#if UIP_CONF_IPV6
memcpy(&uip_lladdr.addr, &addr.u8, 8);
#endif
rf230_set_pan_addr(
get_panid_from_eeprom(),
get_panaddr_from_eeprom(),
(uint8_t *)&addr.u8
);
rf230_set_channel(get_channel_from_eeprom());
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rimeaddr_set_node_addr(&addr);
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PRINTF("MAC address %x:%x:%x:%x:%x:%x:%x:%x\n",addr.u8[0],addr.u8[1],addr.u8[2],addr.u8[3],addr.u8[4],addr.u8[5],addr.u8[6],addr.u8[7]);
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/* Initialize stack protocols */
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queuebuf_init();
NETSTACK_RDC.init();
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NETSTACK_MAC.init();
NETSTACK_NETWORK.init();
#if ANNOUNCE_BOOT
printf_P(PSTR("%s %s, channel %u"),NETSTACK_MAC.name, NETSTACK_RDC.name,rf230_get_channel());
if (NETSTACK_RDC.channel_check_interval) {//function pointer is zero for sicslowmac
unsigned short tmp;
tmp=CLOCK_SECOND / (NETSTACK_RDC.channel_check_interval == 0 ? 1:\
NETSTACK_RDC.channel_check_interval());
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if (tmp<65535) printf_P(PSTR(", check rate %u Hz"),tmp);
}
printf_P(PSTR("\n"));
#endif
#if UIP_CONF_ROUTER
#if ANNOUNCE_BOOT
printf_P(PSTR("Routing Enabled\n"));
#endif
// rime_init(rime_udp_init(NULL));
// uip_router_register(&rimeroute);
#endif
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process_start(&tcpip_process, NULL);
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#else
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/* mac process must be started before tcpip process! */
process_start(&mac_process, NULL);
process_start(&tcpip_process, NULL);
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#endif /*RF230BB*/
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#ifdef RAVEN_LCD_INTERFACE
process_start(&raven_lcd_process, NULL);
#endif
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/* Autostart other processes */
autostart_start(autostart_processes);
//Give ourselves a prefix
// init_net();
/*---If using coffee file system create initial web content if necessary---*/
#if COFFEE_FILES
int fa = cfs_open( "/index.html", CFS_READ);
if (fa<0) { //Make some default web content
printf_P(PSTR("No index.html file found, creating upload.html!\n"));
printf_P(PSTR("Formatting FLASH file system for coffee..."));
cfs_coffee_format();
printf_P(PSTR("Done!\n"));
fa = cfs_open( "/index.html", CFS_WRITE);
int r = cfs_write(fa, &"It works!", 9);
if (r<0) printf_P(PSTR("Can''t create /index.html!\n"));
cfs_close(fa);
// fa = cfs_open("upload.html"), CFW_WRITE);
// <html><body><form action="upload.html" enctype="multipart/form-data" method="post"><input name="userfile" type="file" size="50" /><input value="Upload" type="submit" /></form></body></html>
}
#endif /* COFFEE_FILES */
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/* Add addresses for testing */
#if 0
{
uip_ip6addr_t ipaddr;
uip_ip6addr(&ipaddr, 0xaaaa, 0, 0, 0, 0, 0, 0, 0);
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uip_ds6_addr_add(&ipaddr, 0, ADDR_AUTOCONF);
// uip_ds6_prefix_add(&ipaddr,64,0);
}
#endif
/*--------------------------Announce the configuration---------------------*/
#if ANNOUNCE_BOOT
#if WEBSERVER
uint8_t i;
char buf[80];
unsigned int size;
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for (i=0;i<UIP_DS6_ADDR_NB;i++) {
if (uip_ds6_if.addr_list[i].isused) {
httpd_cgi_sprint_ip6(uip_ds6_if.addr_list[i].ipaddr,buf);
printf_P(PSTR("IPv6 Address: %s\n"),buf);
}
}
eeprom_read_block (buf,server_name, sizeof(server_name));
buf[sizeof(server_name)]=0;
printf_P(PSTR("%s"),buf);
eeprom_read_block (buf,domain_name, sizeof(domain_name));
buf[sizeof(domain_name)]=0;
size=httpd_fs_get_size();
#ifndef COFFEE_FILES
printf_P(PSTR(".%s online with fixed %u byte web content\n"),buf,size);
#elif COFFEE_FILES==1
printf_P(PSTR(".%s online with static %u byte EEPROM file system\n"),buf,size);
#elif COFFEE_FILES==2
printf_P(PSTR(".%s online with dynamic %u KB EEPROM file system\n"),buf,size>>10);
#elif COFFEE_FILES==3
printf_P(PSTR(".%s online with static %u byte program memory file system\n"),buf,size);
#elif COFFEE_FILES==4
printf_P(PSTR(".%s online with dynamic %u KB program memory file system\n"),buf,size>>10);
#endif /* COFFEE_FILES */
#else
printf_P(PSTR("Online\n"));
#endif /* WEBSERVER */
#endif /* ANNOUNCE_BOOT */
}
/*---------------------------------------------------------------------------*/
void log_message(char *m1, char *m2)
{
printf_P(PSTR("%s%s\n"), m1, m2);
}
/* Test rtimers, also useful for pings and time stamps in simulator */
#define TESTRTIMER 0
#if TESTRTIMER
#define PINGS 60
#define STAMPS 30
uint8_t rtimerflag=1;
uint16_t rtime;
struct rtimer rt;
void rtimercycle(void) {rtimerflag=1;}
#endif /* TESTRTIMER */
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#if RF230BB
extern char rf230_interrupt_flag, rf230processflag;
#endif
/*-------------------------------------------------------------------------*/
/*------------------------- Main Scheduler loop----------------------------*/
/*-------------------------------------------------------------------------*/
int
main(void)
{
initialize();
while(1) {
process_run();
#if CONFIG_STACK_MONITOR
extern uint16_t __bss_end;
if (*(uint16_t *)(&__bss_end+100) != 0x4242) {
printf_P(PSTR("\nStack Warning, overflow within 100 bytes!\n"));
if (__bss_end != 0x4242) {
__bss_end = 0x4242;
printf_P(PSTR("\n!!!!!!!Stack Overflow!!!!!!!!\n"));
}
*(uint16_t *)(&__bss_end+100) = 0x4242;
}
#endif
#if 0
/* Clock.c can trigger a periodic RF PLL calibration */
extern uint8_t rf230_calibrated;
if (rf230_calibrated) {
printf_P(PSTR("\nRF230 calibrated!"));
rf230_calibrated=0;
}
#endif
//Various entry points for debugging in AVR simulator
// NETSTACK_RADIO.send(packetbuf_hdrptr(), 42);
// process_poll(&rf230_process);
// packetbuf_clear();
// len = rf230_read(packetbuf_dataptr(), PACKETBUF_SIZE);
// packetbuf_set_datalen(42);
// NETSTACK_RDC.input();
watchdog_periodic();
#if TESTRTIMER
if (rtimerflag) { //8 seconds is maximum interval, my raven 6% slow
rtimer_set(&rt, RTIMER_NOW()+ RTIMER_ARCH_SECOND*1UL, 1,(void *) rtimercycle, NULL);
rtimerflag=0;
#if STAMPS
if ((rtime%STAMPS)==0) {
printf("%us ",rtime);
}
#endif
rtime+=1;
#if PINGS
if ((rtime%PINGS)==0) {
PRINTF("**Ping\n");
raven_ping6();
}
#endif
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}
#endif
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//Use with RF230BB DEBUGFLOW to show path through driver
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#if RF230BB&&0
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extern uint8_t debugflowsize,debugflow[];
if (debugflowsize) {
debugflow[debugflowsize]=0;
printf("%s",debugflow);
debugflowsize=0;
}
#endif
#if RF230BB&&0
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if (rf230processflag) {
printf("rf230p%d",rf230processflag);
rf230processflag=0;
}
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#endif
#if RF230BB&&0
if (rf230_interrupt_flag) {
// if (rf230_interrupt_flag!=11) {
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PRINTSHORT("**RI%u",rf230_interrupt_flag);
// }
rf230_interrupt_flag=0;
}
#endif
}
return 0;
}