osd-contiki/platform/stepper-robot/contiki-main.c

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#include <AT91SAM7S64.h>
#include <interrupt-utils.h>
#include <string.h>
#include <debug-uart.h>
#include <ctype.h>
#include <stdio.h>
#include <dev/cc2420.h>
#include <dev/cc2420_const.h>
#include <dev/spi.h>
#include <dev/leds.h>
#include <sys/process.h>
#include <sys/procinit.h>
#include <sys/autostart.h>
#include <sys/etimer.h>
#include <net/psock.h>
#include <unistd.h>
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#include "net/mac/nullmac.h"
#include "net/rime.h"
#include "contiki-main.h"
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#ifndef RF_CHANNEL
#define RF_CHANNEL 15
#endif
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#if WITH_UIP
#include "net/uip.h"
#include "net/uip-fw.h"
#include "net/uip-fw-drv.h"
#include "net/uip-over-mesh.h"
static struct uip_fw_netif meshif =
{UIP_FW_NETIF(172,16,0,0, 255,255,0,0, uip_over_mesh_send)};
#define UIP_OVER_MESH_CHANNEL 9
uint8_t is_gateway = 0;
struct trickle_conn gateway_trickle;
#endif /* WITH_UIP */
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extern char __heap_end__;
extern char __heap_start__;
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rimeaddr_t node_addr __attribute__((weak)) = {{0,2}};
/*--------------------------------------------------------------------------*/
#if WITH_UIP
/* Receive address of gateway */
static void
trickle_recv(struct trickle_conn *c)
{
if (!is_gateway) {
struct gateway_msg *msg;
msg = rimebuf_dataptr();
printf("%d.%d: gateway message: %d.%d\n",
rimeaddr_node_addr.u8[0], rimeaddr_node_addr.u8[1],
msg->gateway.u8[0], msg->gateway.u8[1]);
uip_over_mesh_set_gateway(&msg->gateway);
}
}
const static struct trickle_callbacks trickle_call = {trickle_recv};
/*---------------------------------------------------------------------------*/
#endif
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#if 0
/* Wathcdog is already disabled in startup code */
static void
wdt_setup()
{
}
#endif
static void
wdt_reset()
{
*AT91C_WDTC_WDCR = (0xa5<<24) | AT91C_WDTC_WDRSTT;
}
#if 0
static uip_ipaddr_t gw_addr = {{172,16,0,1}};
#endif
int
main()
{
disableIRQ();
disableFIQ();
*AT91C_AIC_IDCR = 0xffffffff;
*AT91C_PMC_PCDR = 0xffffffff;
*AT91C_PMC_PCER = (1 << AT91C_ID_PIOA);
dbg_setup_uart();
printf("Initialising\n");
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leds_init();
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clock_init();
process_init();
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process_start(&etimer_process, NULL);
ctimer_init();
enableIRQ();
printf("Beginning CC2420 setup\n");
cc2420_init();
cc2420_set_pan_addr(0x2024, 0, NULL);
cc2420_set_channel(RF_CHANNEL);
rime_init(nullmac_init(&cc2420_driver));
printf("CC2420 setup done\n");
rimeaddr_set_node_addr(&node_addr);
printf("Rime started with address %d.%d\n", node_addr.u8[0], node_addr.u8[1]);
#if WITH_UIP
{
uip_ipaddr_t hostaddr, netmask;
uip_init();
uip_ipaddr(&hostaddr, 172,16,
rimeaddr_node_addr.u8[0],rimeaddr_node_addr.u8[1]);
uip_ipaddr(&netmask, 255,255,0,0);
uip_ipaddr_copy(&meshif.ipaddr, &hostaddr);
printf("Host addr\n");
uip_sethostaddr(&hostaddr);
uip_setnetmask(&netmask);
uip_over_mesh_set_net(&hostaddr, &netmask);
/* uip_fw_register(&slipif);*/
/*uip_over_mesh_set_gateway_netif(&slipif);*/
uip_fw_register(&meshif);
uip_fw_default(&meshif);
printf("Mesh init\n");
uip_over_mesh_init(UIP_OVER_MESH_CHANNEL);
printf("uIP started with IP address %d.%d.%d.%d\n",
uip_ipaddr_to_quad(&hostaddr));
}
#endif /* WITH_UIP */
#if WITH_UIP
process_start(&tcpip_process, NULL);
process_start(&uip_fw_process, NULL); /* Start IP output */
trickle_open(&gateway_trickle, CLOCK_SECOND * 4, GATEWAY_TRICKLE_CHANNEL,
&trickle_call);
#endif /* WITH_UIP */
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printf("Heap size: %ld bytes\n", &__heap_end__ - (char*)sbrk(0));
printf("Started\n");
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/* procinit_init(); */
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autostart_start(autostart_processes);
printf("Processes running\n");
while(1) {
do {
/* Reset watchdog. */
wdt_reset();
} while(process_run() > 0);
/* Idle! */
/* Stop processor clock */
*AT91C_PMC_SCDR |= AT91C_PMC_PCK;
}
return 0;
}