Merge branch 'master' of git://contiki.git.sourceforge.net/gitroot/contiki/contiki into master_cleanup

Makefile.z1 is broken into .common and .z1 to share it with Z1 Starter Platform

Conflicts:
	.gitignore
	platform/z1/Makefile.z1

.gitignore

@@ -1,16 +1,13 @@
-*~
+.a
-*.swp
+*.bin
+*.map
+*.png
+*.log
+*.elf
 *.ihex
 obj_*
-*.z1
+symbols.*
-!Makefile.z1
+Makefile.target
-*.sky
+doc/html
-*.map
+patches-*
-*.a
+tools/tunslip6
-*pyc
-*.pyc
-symbols.c
-symbols.h
-*_del*
-tools/
-*.class

Makefile.include

@@ -36,9 +36,6 @@ savedefines:
 	@echo >Makefile.$(TARGET).defines "DEFINES = $(DEFINES)"
 
 OBJECTDIR = obj_$(TARGET)
-ifeq (${wildcard $(OBJECTDIR)},)
-  DUMMY := ${shell mkdir $(OBJECTDIR)}
-endif
 
 LOWERCASE = -abcdefghijklmnopqrstuvwxyz
 UPPERCASE = _ABCDEFGHIJKLMNOPQRSTUVWXYZ
@@ -109,10 +106,13 @@ endif
 
 target_makefile := $(wildcard $(CONTIKI)/platform/$(TARGET)/Makefile.$(TARGET))
 
-# Check if the target makefile exists
+# Check if the target makefile exists, and create the object directory if necessary.
 ifeq ($(strip $(target_makefile)),)
   ${error The target platform "$(TARGET)" does not exist (maybe it was misspelled?)}
 else
+  ifeq (${wildcard $(OBJECTDIR)},)
+    DUMMY := ${shell mkdir $(OBJECTDIR)}
+  endif
   include $(CONTIKI)/platform/$(TARGET)/Makefile.$(TARGET)
 endif
 

apps/shell/shell-netperf.c

@@ -146,7 +146,7 @@ print_remote_stats(struct stats *s)
 {
   unsigned long total_time;
   
-  printf("%d 1 %d %d %d %u %lu %lu %lu %lu %lu %lu # for automatic processing\n",
+  printf("%d 1 %d %d %d %lu %lu %lu %lu %lu %lu %lu # for automatic processing\n",
 	 current_type,
 	 s->sent, s->received, s->timedout,
 	 s->end - s->start,
@@ -173,7 +173,7 @@ print_local_stats(struct stats *s)
 {
   unsigned long total_time;
   
-  printf("%d 0 %d %d %d %u %lu %lu %lu %lu %lu %lu # for automatic processing\n",
+  printf("%d 0 %d %d %d %lu %lu %lu %lu %lu %lu %lu # for automatic processing\n",
 	 current_type, 
 	 s->sent, s->received, s->timedout,
 	 s->end - s->start,
@@ -185,11 +185,11 @@ print_local_stats(struct stats *s)
 
   printf("Local node statistics:\n");
  
-  printf("  Total transfer time:       %d.%d seconds, %d.%02d packets/second\n",
+  printf("  Total transfer time:       %lu.%02lu seconds, %lu.%02lu packets/second\n",
 	 (s->end - s->start) / CLOCK_SECOND,
 	 ((10 * (s->end - s->start)) / CLOCK_SECOND) % 10,
-	 CLOCK_SECOND * s->sent / (s->end - s->start),
+	 ((1UL * CLOCK_SECOND * s->sent) / (s->end - s->start)),
-	 (100 * CLOCK_SECOND * s->sent / (s->end - s->start)) % 100);
+	 (((100UL * CLOCK_SECOND * s->sent) / (s->end - s->start)) % 100));
  
   printf("  Average round-trip-time:   %lu ms (%lu + %lu)\n",
 	 (1000 * (s->total_rx_latency + s->total_tx_latency) / s->received) /

apps/unit-test/unit-test.h

@@ -174,6 +174,17 @@ typedef struct unit_test {
                                  }                                            \
                                } while(0)
 
+/**
+ * Obtain the result of a certain unit test.
+ *
+ * If the unit test has not yet been executed, this macro returns 
+ * unit_test_failed. Otherwise it returns the result of the last
+ * execution of the unit test.
+ *
+ * \param name The name of the unit test.
+ */
+#define UNIT_TEST_RESULT(name) (unit_test_##name.result)
+
 /* The default print function. */
 void unit_test_print_report(const unit_test_t *utp);
 

core/dev/ds2411.c

@@ -50,7 +50,6 @@
 
 #include <string.h>
 
-#include <signal.h>
 #include <io.h>
 
 #include "contiki.h"

core/dev/leds.c

@@ -121,7 +121,3 @@ leds_invert(unsigned char ledv) {
   show_leds(ledv);
 }
 /*---------------------------------------------------------------------------*/
-void leds_green(int o) { o?leds_on(LEDS_GREEN):leds_off(LEDS_GREEN); }
-void leds_yellow(int o) { o?leds_on(LEDS_YELLOW):leds_off(LEDS_YELLOW); }
-void leds_red(int o) { o?leds_on(LEDS_RED):leds_off(LEDS_RED); }
-/*---------------------------------------------------------------------------*/

core/dev/leds.h

@@ -55,11 +55,18 @@ void leds_init(void);
  */
 void leds_blink(void);
 
+#ifndef LEDS_GREEN
 #define LEDS_GREEN  1
-#define LEDS_YELLOW 2
+#endif /* LEDS_GREEN */
-#define LEDS_RED    4
+#ifndef LEDS_YELLOW
-#define LEDS_BLUE   LEDS_YELLOW	/* Tmote Sky is colorblind? */
+#define LEDS_YELLOW  2
-#define leds_blue   leds_yellow
+#endif /* LEDS_YELLOW */
+#ifndef LEDS_RED
+#define LEDS_RED  4
+#endif /* LEDS_RED */
+#ifndef LEDS_BLUE
+#define LEDS_BLUE  LEDS_YELLOW
+#endif /* LEDS_BLUE */
 
 #ifdef LEDS_CONF_ALL
 #define LEDS_ALL    LEDS_CONF_ALL
@@ -76,18 +83,6 @@ void leds_off(unsigned char leds);
 void leds_toggle(unsigned char leds);
 void leds_invert(unsigned char leds);
 
-
-
-
-void leds_green(int onoroff);
-void leds_red(int onoroff);
-void leds_yellow(int onoroff);
-#define LEDS_ON  1
-#define LEDS_OFF 0
-
-
-
-
 /**
  * Leds implementation
  */

core/net/neighbor-info.c

@@ -46,41 +46,40 @@
 #define ETX_LIMIT		15
 #define ETX_SCALE		100
 #define ETX_ALPHA		90
-#define ETX_FIRST_GUESS		5
+#define ETX_NOACK_PENALTY       ETX_LIMIT
-
-#define NOACK_PACKET_ETX        8
 /*---------------------------------------------------------------------------*/
-NEIGHBOR_ATTRIBUTE(uint8_t, etx, NULL);
+NEIGHBOR_ATTRIBUTE(link_metric_t, etx, NULL);
 
 static neighbor_info_subscriber_t subscriber_callback;
 /*---------------------------------------------------------------------------*/
 static void
-update_etx(const rimeaddr_t *dest, int packet_etx)
+update_metric(const rimeaddr_t *dest, int packet_metric)
 {
-  uint8_t *etxp;
+  link_metric_t *metricp;
-  uint8_t recorded_etx, new_etx;
+  link_metric_t recorded_metric, new_metric;
 
-  etxp = (uint8_t *)neighbor_attr_get_data(&etx, dest);
+  metricp = (link_metric_t *)neighbor_attr_get_data(&etx, dest);
-  if(etxp == NULL || *etxp == 0) {
+  packet_metric = NEIGHBOR_INFO_ETX2FIX(packet_metric);
-    recorded_etx = NEIGHBOR_INFO_ETX2FIX(ETX_FIRST_GUESS);
+  if(metricp == NULL || *metricp == 0) {
+    recorded_metric = NEIGHBOR_INFO_ETX2FIX(ETX_LIMIT);
+    new_metric = packet_metric;
   } else {
-    recorded_etx = *etxp;
+    recorded_metric = *metricp;
+    /* Update the EWMA of the ETX for the neighbor. */
+    new_metric = ((uint16_t)recorded_metric * ETX_ALPHA +
+               (uint16_t)packet_metric * (ETX_SCALE - ETX_ALPHA)) / ETX_SCALE;
   }
 
-  /* Update the EWMA of the ETX for the neighbor. */
-  packet_etx = NEIGHBOR_INFO_ETX2FIX(packet_etx);
-  new_etx = ((uint16_t)recorded_etx * ETX_ALPHA +
-             (uint16_t)packet_etx * (ETX_SCALE - ETX_ALPHA)) / ETX_SCALE;
   PRINTF("neighbor-info: ETX changed from %d to %d (packet ETX = %d) %d\n",
-	 NEIGHBOR_INFO_FIX2ETX(recorded_etx),
+	 NEIGHBOR_INFO_FIX2ETX(recorded_metric),
-	 NEIGHBOR_INFO_FIX2ETX(new_etx),
+	 NEIGHBOR_INFO_FIX2ETX(new_metric),
-	 NEIGHBOR_INFO_FIX2ETX(packet_etx),
+	 NEIGHBOR_INFO_FIX2ETX(packet_metric),
          dest->u8[7]);
 
   if(neighbor_attr_has_neighbor(dest)) {
-    neighbor_attr_set_data(&etx, dest, &new_etx);
+    neighbor_attr_set_data(&etx, dest, &new_metric);
-    if(new_etx != recorded_etx && subscriber_callback != NULL) {
+    if(new_metric != recorded_metric && subscriber_callback != NULL) {
-      subscriber_callback(dest, 1, new_etx);
+      subscriber_callback(dest, 1, new_metric);
     }
   }
 }
@@ -96,9 +95,6 @@ add_neighbor(const rimeaddr_t *addr)
     PRINTF("neighbor-info: The neighbor is already known\n");
     break;
   default:
-    if(subscriber_callback != NULL) {
-      subscriber_callback(addr, 1, NEIGHBOR_INFO_ETX2FIX(ETX_FIRST_GUESS));
-    }
     break;
   }
 }
@@ -107,7 +103,7 @@ void
 neighbor_info_packet_sent(int status, int numtx)
 {
   const rimeaddr_t *dest;
-  uint8_t packet_etx;
+  link_metric_t packet_metric;
 
   dest = packetbuf_addr(PACKETBUF_ADDR_RECEIVER);
   if(rimeaddr_cmp(dest, &rimeaddr_null)) {
@@ -120,25 +116,22 @@ neighbor_info_packet_sent(int status, int numtx)
 
   switch(status) {
   case MAC_TX_OK:
-    packet_etx = numtx;
+    packet_metric = numtx;
     add_neighbor(dest);
     break;
   case MAC_TX_COLLISION:
-    packet_etx = numtx;
+    packet_metric = numtx;
     break;
   case MAC_TX_NOACK:
-    packet_etx = NOACK_PACKET_ETX;
+    packet_metric = ETX_NOACK_PENALTY;
-  /* error and collissions will not cause high hits ??? */
     break;
-  case MAC_TX_ERR:
   default:
-    packet_etx = 0;
+    /* Do not penalize the ETX when collisions or transmission
-    break;
+       errors occur. */
+    return;
   }
 
-  if(packet_etx > 0) {
+  update_metric(dest, packet_metric);
-    update_etx(dest, packet_etx);
-  }
 }
 /*---------------------------------------------------------------------------*/
 void
@@ -169,12 +162,12 @@ neighbor_info_subscribe(neighbor_info_subscriber_t s)
   return 0;
 }
 /*---------------------------------------------------------------------------*/
-uint8_t
+link_metric_t
-neighbor_info_get_etx(const rimeaddr_t *addr)
+neighbor_info_get_metric(const rimeaddr_t *addr)
 {
-  uint8_t *etxp;
+  link_metric_t *metricp;
 
-  etxp = (uint8_t *)neighbor_attr_get_data(&etx, addr);
+  metricp = (link_metric_t *)neighbor_attr_get_data(&etx, addr);
-  return etxp == NULL ? 0 : *etxp;
+  return metricp == NULL ? ETX_LIMIT : *metricp;
 }
 /*---------------------------------------------------------------------------*/

core/net/neighbor-info.h

@@ -52,6 +52,7 @@
 #define NEIGHBOR_INFO_FIX2ETX(fix)    ((fix) / NEIGHBOR_INFO_ETX_DIVISOR)
 
 typedef void (*neighbor_info_subscriber_t)(const rimeaddr_t *, int known, int etx);
+typedef uint8_t link_metric_t;
 
 /**
  * Notify the neighbor information module about the status of
@@ -85,6 +86,6 @@ int neighbor_info_subscribe(neighbor_info_subscriber_t);
  *
  * \return Returns ETX if the neighbor exists, and 0 if not.
  */
-uint8_t neighbor_info_get_etx(const rimeaddr_t *addr);
+link_metric_t neighbor_info_get_etx(const rimeaddr_t *addr);
 
 #endif /* NEIGHBOR_INFO_H */

core/net/psock.c

@@ -286,7 +286,7 @@ PT_THREAD(psock_readto(CC_REGISTER_ARG struct psock *psock, unsigned char c))
   PT_END(&psock->psockpt);
 }
 /*---------------------------------------------------------------------------*/
-PT_THREAD(psock_readbuf(CC_REGISTER_ARG struct psock *psock))
+PT_THREAD(psock_readbuf_len(CC_REGISTER_ARG struct psock *psock, uint16_t len))
 {
   PT_BEGIN(&psock->psockpt);
 
@@ -295,15 +295,17 @@ PT_THREAD(psock_readbuf(CC_REGISTER_ARG struct psock *psock))
   /* XXX: Should add buf_checkmarker() before do{} loop, if
      incoming data has been handled while waiting for a write. */
   
-  if(psock->readlen == 0) {
+  /* read len bytes or to end of data */
-    PT_WAIT_UNTIL(&psock->psockpt, psock_newdata(psock));
+  do {
-    psock->state = STATE_READ;
+    if(psock->readlen == 0) {
-    psock->readptr = (u8_t *)uip_appdata;
+      PT_WAIT_UNTIL(&psock->psockpt, psock_newdata(psock));
-    psock->readlen = uip_datalen();
+      psock->state = STATE_READ;
-  }
+      psock->readptr = (u8_t *)uip_appdata;
-  buf_bufdata(&psock->buf, psock->bufsize,
+      psock->readlen = uip_datalen();
-              &psock->readptr,
+    }
-              &psock->readlen);
+  } while(buf_bufdata(&psock->buf, psock->bufsize,
+		      &psock->readptr, &psock->readlen) == BUF_NOT_FULL &&
+	  psock_datalen(psock) < len);
   
   if(psock_datalen(psock) == 0) {
     psock->state = STATE_NONE;
@@ -311,6 +313,7 @@ PT_THREAD(psock_readbuf(CC_REGISTER_ARG struct psock *psock))
   }
   PT_END(&psock->psockpt);
 }
+
 /*---------------------------------------------------------------------------*/
 void
 psock_init(CC_REGISTER_ARG struct psock *psock,

core/net/psock.h

@@ -241,7 +241,7 @@ PT_THREAD(psock_generator_send(struct psock *psock,
  */
 #define PSOCK_CLOSE(psock) uip_close()
 
-PT_THREAD(psock_readbuf(struct psock *psock));
+PT_THREAD(psock_readbuf_len(struct psock *psock, uint16_t len));
 /**
  * Read data until the buffer is full.
  *
@@ -255,7 +255,24 @@ PT_THREAD(psock_readbuf(struct psock *psock));
  * \hideinitializer
  */
 #define PSOCK_READBUF(psock)				\
-  PT_WAIT_THREAD(&((psock)->pt), psock_readbuf(psock))
+  PT_WAIT_THREAD(&((psock)->pt), psock_readbuf_len(psock, 1))
+
+
+/**
+ * Read data until at least len bytes have been read.
+ *
+ * This macro will block waiting for data and read the data into the
+ * input buffer specified with the call to PSOCK_INIT(). Data is read
+ * until the buffer is full or len bytes have been read.
+ *
+ * \param psock (struct psock *) A pointer to the protosocket from which
+ * data should be read.
+ * \param len (uint16_t) The minimum number of bytes to read.
+ *
+ * \hideinitializer
+ */
+#define PSOCK_READBUF_LEN(psock, len)			\
+  PT_WAIT_THREAD(&((psock)->pt), psock_readbuf_len(psock, len))
 
 PT_THREAD(psock_readto(struct psock *psock, unsigned char c));
 /**

core/net/rpl/rpl-dag.c

@@ -94,8 +94,6 @@ static rpl_of_t * const objective_functions[] = {&RPL_OF};
 #define RPL_DIO_INTERVAL_DOUBLINGS      RPL_CONF_DIO_INTERVAL_DOUBLINGS
 #endif /* !RPL_CONF_DIO_INTERVAL_DOUBLINGS */
 
-#define INITIAL_ETX  NEIGHBOR_INFO_ETX_DIVISOR * 5
-
 /************************************************************************/
 /* Allocate parents from the same static MEMB chunk to reduce memory waste. */
 MEMB(parent_memb, struct rpl_parent, RPL_MAX_PARENTS);
@@ -309,7 +307,7 @@ rpl_add_parent(rpl_dag_t *dag, rpl_dio_t *dio, uip_ipaddr_t *addr)
   memcpy(&p->addr, addr, sizeof(p->addr));
   p->dag = dag;
   p->rank = dio->rank;
-  p->etx = INITIAL_ETX;
+  p->link_metric = INITIAL_LINK_METRIC;
   p->dtsn = 0;
 
   memcpy(&p->mc, &dio->mc, sizeof(p->mc));
@@ -358,6 +356,7 @@ rpl_select_parent(rpl_dag_t *dag)
     rpl_reset_dio_timer(dag, 1);
     PRINTF("RPL: New preferred parent, rank changed from %u to %u\n",
 	   (unsigned)dag->rank, dag->of->calculate_rank(best, 0));
+    RPL_STAT(rpl_stats.parent_switch++);
   }
 
   /* Update the DAG rank, since link-layer information may have changed
@@ -458,8 +457,6 @@ join_dag(uip_ipaddr_t *from, rpl_dio_t *dio)
   }
   PRINTF("succeeded\n");
 
-  p->etx = INITIAL_ETX; /* The lowest confidence for new parents. */
-
   /* Determine the objective function by using the
      objective code point of the DIO. */
   of = rpl_find_of(dio->ocp);
@@ -743,6 +740,7 @@ rpl_process_dio(uip_ipaddr_t *from, rpl_dio_t *dio)
   
   /* We have allocated a candidate parent; process the DIO further. */
 
+  memcpy(&p->mc, &dio->mc, sizeof(p->mc));    
   p->rank = dio->rank;
   if(rpl_process_parent_event(dag, p) == 0) {
     /* The candidate parent no longer exists. */

core/net/rpl/rpl-icmp6.c

@@ -250,9 +250,10 @@ dio_input(void)
       dio.mc.aggr = buffer[i + 4] >> 4;
       dio.mc.prec = buffer[i + 4] & 0xf;
       dio.mc.length = buffer[i + 5];
+
       if(dio.mc.type == RPL_DAG_MC_ETX) {
-        dio.mc.etx.etx = buffer[i + 6] << 8;
+        dio.mc.obj.etx = buffer[i + 6] << 8;
-        dio.mc.etx.etx |= buffer[i + 7];
+        dio.mc.obj.etx |= buffer[i + 7];
 
         PRINTF("RPL: DAG MC: type %u, flags %u, aggr %u, prec %u, length %u, ETX %u\n",
 	       (unsigned)dio.mc.type,  
@@ -260,7 +261,10 @@ dio_input(void)
 	       (unsigned)dio.mc.aggr, 
 	       (unsigned)dio.mc.prec, 
 	       (unsigned)dio.mc.length, 
-	       (unsigned)dio.mc.etx.etx);
+	       (unsigned)dio.mc.obj.etx);
+      } else if(dio.mc.type == RPL_DAG_MC_ENERGY) {
+        dio.mc.obj.energy.flags = buffer[i + 6];
+        dio.mc.obj.energy.energy_est = buffer[i + 7];
       } else {
        PRINTF("RPL: Unhandled DAG MC type: %u\n", (unsigned)dio.mc.type);
        return;
@@ -380,8 +384,12 @@ dio_output(rpl_dag_t *dag, uip_ipaddr_t *uc_addr)
     buffer[pos++] |= dag->mc.prec;
     if(dag->mc.type == RPL_DAG_MC_ETX) {
       buffer[pos++] = 2;
-      buffer[pos++] = dag->mc.etx.etx >> 8;
+      buffer[pos++] = dag->mc.obj.etx >> 8;
-      buffer[pos++] = dag->mc.etx.etx & 0xff;
+      buffer[pos++] = dag->mc.obj.etx & 0xff;
+    } else if(dag->mc.type == RPL_DAG_MC_ENERGY) {
+      buffer[pos++] = 2;
+      buffer[pos++] = dag->mc.obj.energy.flags;
+      buffer[pos++] = dag->mc.obj.energy.energy_est;
     } else {
       PRINTF("RPL: Unable to send DIO because of unhandled DAG MC type %u\n",
 	(unsigned)dag->mc.type);
@@ -459,6 +467,8 @@ dao_input(void)
   uint8_t prefixlen;
   uint8_t flags;
   uint8_t subopt_type;
+  uint8_t pathcontrol;
+  uint8_t pathsequence;
   uip_ipaddr_t prefix;
   uip_ds6_route_t *rep;
   uint8_t buffer_length;
@@ -523,7 +533,9 @@ dao_input(void)
       break;
     case RPL_DIO_SUBOPT_TRANSIT:
       /* path sequence and control ignored */
-      lifetime = get32(buffer, i + 4);
+      pathcontrol = buffer[i + 3];
+      pathsequence = buffer[i + 4];
+      lifetime = buffer[i + 5];
       /* parent address also ignored */
       break;
     }
@@ -567,11 +579,11 @@ dao_input(void)
 
   rep = rpl_add_route(dag, &prefix, prefixlen, &dao_sender_addr);
   if(rep == NULL) {
-    RPL_STAT(rpl_stats.memory_overflows++);
+    RPL_STAT(rpl_stats.mem_overflows++);
     PRINTF("RPL: Could not add a route after receiving a DAO\n");
     return;
   } else {
-    rep->state.lifetime = lifetime;
+    rep->state.lifetime = lifetime * dag->lifetime_unit;
     rep->state.learned_from = learned_from;
   }
 
@@ -637,13 +649,13 @@ dao_output(rpl_parent_t *n, uint32_t lifetime)
   memcpy(buffer + pos, &prefix, (prefixlen + 7) / CHAR_BIT);
   pos += ((prefixlen + 7) / CHAR_BIT);
 
-  /* create a transit information subopt */
+  /* create a transit information subopt (RPL-18)*/
   buffer[pos++] = RPL_DIO_SUBOPT_TRANSIT;
-  buffer[pos++] = 6;
+  buffer[pos++] = 4;
-  buffer[pos++] = 0; /* path seq - ignored */
+  buffer[pos++] = 0; /* flags - ignored */
   buffer[pos++] = 0; /* path control - ignored */
-  set32(buffer, pos, lifetime);
+  buffer[pos++] = 0; /* path seq - ignored */
-  pos += 4;
+  buffer[pos++] = (lifetime / dag->lifetime_unit) & 0xff;
 
   if(n == NULL) {
     uip_create_linklocal_rplnodes_mcast(&addr);

core/net/rpl/rpl-of-etx.c

@@ -66,7 +66,7 @@ rpl_of_t rpl_of_etx = {
 
 #define NI_ETX_TO_RPL_ETX(etx)						\
 	((etx) * (RPL_DAG_MC_ETX_DIVISOR / NEIGHBOR_INFO_ETX_DIVISOR))
-#define RPL_ETX_TO_NI_ETX(etx)						\
+#define RPL_ETX_TO_NI_ETX(etx)					\
 	((etx) / (RPL_DAG_MC_ETX_DIVISOR / NEIGHBOR_INFO_ETX_DIVISOR))
 
 /* Reject parents that have a higher link metric than the following. */
@@ -75,22 +75,21 @@ rpl_of_t rpl_of_etx = {
 /* Reject parents that have a higher path cost than the following. */
 #define MAX_PATH_COST			100
 
-/* An initial guess of the link metric. */
-#define INITIAL_LINK_METRIC		3
-
 /*
  * The rank must differ more than 1/PARENT_SWITCH_THRESHOLD_DIV in order
  * to switch preferred parent.
  */
 #define PARENT_SWITCH_THRESHOLD_DIV	2
 
-typedef uint16_t rpl_etx_t;
+typedef uint16_t rpl_path_metric_t;
-#define MAX_ETX 65535
 
 static uint16_t
-calculate_etx(rpl_parent_t *p)
+calculate_path_metric(rpl_parent_t *p)
 {
-  return p->mc.etx.etx + NI_ETX_TO_RPL_ETX(p->etx);
+  if(p->mc.obj.etx == 0 && p->rank > ROOT_RANK(p->dag)) {
+    return MAX_PATH_COST * RPL_DAG_MC_ETX_DIVISOR;
+  }
+  return p->mc.obj.etx + NI_ETX_TO_RPL_ETX(p->link_metric);
 }
 
 static void
@@ -113,12 +112,9 @@ calculate_rank(rpl_parent_t *p, rpl_rank_t base_rank)
     if(base_rank == 0) {
       return INFINITE_RANK;
     }
-    rank_increase = INITIAL_LINK_METRIC * DEFAULT_MIN_HOPRANKINC;
+    rank_increase = NEIGHBOR_INFO_FIX2ETX(INITIAL_LINK_METRIC) * DEFAULT_MIN_HOPRANKINC;
   } else {
-    if(p->etx == 0) {
+    rank_increase = NEIGHBOR_INFO_FIX2ETX(p->link_metric) * p->dag->min_hoprankinc;
-      p->etx = INITIAL_LINK_METRIC * NEIGHBOR_INFO_ETX_DIVISOR;
-    }
-    rank_increase = (p->etx * p->dag->min_hoprankinc) / NEIGHBOR_INFO_ETX_DIVISOR;
     if(base_rank == 0) {
       base_rank = p->rank;
     }
@@ -140,46 +136,64 @@ static rpl_parent_t *
 best_parent(rpl_parent_t *p1, rpl_parent_t *p2)
 {
   rpl_dag_t *dag;
-  rpl_etx_t min_diff;
+  rpl_path_metric_t min_diff;
-  rpl_etx_t p1_etx;
+  rpl_path_metric_t p1_metric;
-  rpl_etx_t p2_etx;
+  rpl_path_metric_t p2_metric;
 
   dag = p1->dag; /* Both parents must be in the same DAG. */
 
   min_diff = RPL_DAG_MC_ETX_DIVISOR / 
              PARENT_SWITCH_THRESHOLD_DIV;
 
-  p1_etx = calculate_etx(p1);
+  p1_metric = calculate_path_metric(p1);
-  p2_etx = calculate_etx(p2);
+  p2_metric = calculate_path_metric(p2);
 
   /* Maintain stability of the preferred parent in case of similar ranks. */
-  if(p1_etx < p2_etx + min_diff &&
+  if(p1 == dag->preferred_parent || p2 == dag->preferred_parent) {
-     p1_etx > p2_etx - min_diff) {
+    if(p1_metric < p2_metric + min_diff &&
-    PRINTF("RPL: MRHOF hysteresis: %u <= %u <= %u\n",
+       p1_metric > p2_metric - min_diff) {
-           p2_etx - min_diff,
+      PRINTF("RPL: MRHOF hysteresis: %u <= %u <= %u\n",
-           p1_etx,
+             p2_metric - min_diff,
-           p2_etx + min_diff);
+             p1_metric,
-    return dag->preferred_parent;
+             p2_metric + min_diff);
+      return dag->preferred_parent;
+    }
   }
 
-  return p1_etx < p2_etx ? p1 : p2;
+  return p1_metric < p2_metric ? p1 : p2;
 }
 
 static void
 update_metric_container(rpl_dag_t *dag)
 {
+#if RPL_DAG_MC == RPL_DAG_MC_ETX
   dag->mc.type = RPL_DAG_MC_ETX;
   dag->mc.flags = RPL_DAG_MC_FLAG_P;
   dag->mc.aggr = RPL_DAG_MC_AGGR_ADDITIVE;
   dag->mc.prec = 0;
-  dag->mc.length = sizeof(dag->mc.etx.etx);
+  dag->mc.length = sizeof(dag->mc.obj.etx);
   if(dag->rank == ROOT_RANK(dag)) {
-    dag->mc.etx.etx = 0;
+    dag->mc.obj.etx = 0;
   } else {
-    dag->mc.etx.etx = calculate_etx(dag->preferred_parent);
+    dag->mc.obj.etx = calculate_path_metric(dag->preferred_parent);
   }
 
   PRINTF("RPL: My path ETX to the root is %u.%u\n",
-	dag->mc.etx.etx / RPL_DAG_MC_ETX_DIVISOR,
+	dag->mc.obj.etx / RPL_DAG_MC_ETX_DIVISOR,
-	(dag->mc.etx.etx % RPL_DAG_MC_ETX_DIVISOR * 100) / RPL_DAG_MC_ETX_DIVISOR);
+	(dag->mc.obj.etx % RPL_DAG_MC_ETX_DIVISOR * 100) / RPL_DAG_MC_ETX_DIVISOR);
+#elif RPL_DAG_MC == RPL_DAG_MC_ENERGY
+  dag->mc.type = RPL_DAG_MC_ENERGY;
+  dag->mc.flags = RPL_DAG_MC_FLAG_P;
+  dag->mc.aggr = RPL_DAG_MC_AGGR_ADDITIVE;
+  dag->mc.prec = 0;
+  dag->mc.length = sizeof(dag->mc.obj.energy);
+  if(dag->rank == ROOT_RANK(dag)) {
+    dag->mc.obj.energy.flags = RPL_DAG_MC_ENERGY_TYPE_MAINS << RPL_DAG_MC_ENERGY_TYPE;
+  } else {
+    dag->mc.obj.energy.flags = RPL_DAG_MC_ENERGY_TYPE_BATTERY << RPL_DAG_MC_ENERGY_TYPE;
+  }
+  dag->mc.obj.energy.energy_est = calculate_path_metric(dag->preferred_parent);
+#else
+#error "Unsupported RPL_DAG_MC configured. See rpl.h."
+#endif /* RPL_DAG_MC */
 }

core/net/rpl/rpl-private.h

@@ -127,6 +127,8 @@
 
 #define INFINITE_RANK                   0xffff
 
+#define INITIAL_LINK_METRIC		NEIGHBOR_INFO_ETX2FIX(5)
+
 /* Represents 2^n ms. */
 /* Default value according to the specification is 3 which
    means 8 milliseconds, but that is an unreasonable value if
@@ -218,6 +220,7 @@ struct rpl_stats {
   uint16_t global_repairs;
   uint16_t malformed_msgs;
   uint16_t resets;
+  uint16_t parent_switch;
 };
 typedef struct rpl_stats rpl_stats_t;
 

core/net/rpl/rpl-timers.c

@@ -112,7 +112,7 @@ new_dio_interval(rpl_dag_t *dag)
            dag->version,
            dag->dio_totint, dag->dio_totsend,
            dag->dio_totrecv,dag->dio_intcurrent,
-	   dag->rank == ROOT_RANK ? "BLUE" : "ORANGE");
+	   dag->rank == ROOT_RANK(dag) ? "BLUE" : "ORANGE");
 #endif /* RPL_CONF_STATS */
 
   /* reset the redundancy counter */
@@ -205,7 +205,8 @@ handle_dao_timer(void *ptr)
      fan-out as being under investigation. */
   if(dag->preferred_parent != NULL) {
     PRINTF("RPL: handle_dao_timer - sending DAO\n");
-    dao_output(dag->preferred_parent, DEFAULT_ROUTE_LIFETIME);
+    /* set time to maxtime */
+    dao_output(dag->preferred_parent, dag->lifetime_unit * 0xffUL);
   } else {
     PRINTF("RPL: Could not find a parent to send a DAO to \n");
   }

core/net/rpl/rpl.c

@@ -148,11 +148,10 @@ rpl_link_neighbor_callback(const rimeaddr_t *addr, int known, int etx)
     return;
   }
 
-  if(etx != parent->etx) {
+  /* Trigger DAG rank recalculation. */
-    /* Trigger DAG rank recalculation. */
+  parent->updated = 1;
-    parent->updated = 1;
+
-  }
+  parent->link_metric = etx;
-  parent->etx = etx;
 
   if(dag->of->parent_state_callback != NULL) {
     dag->of->parent_state_callback(parent, known, etx);
@@ -163,7 +162,6 @@ rpl_link_neighbor_callback(const rimeaddr_t *addr, int known, int etx)
     PRINT6ADDR(&parent->addr);
     PRINTF(" because of bad connectivity (ETX %d)\n", etx);
     parent->rank = INFINITE_RANK;
-    parent->updated = 1;
   }
 }
 /************************************************************************/

core/net/rpl/rpl.h

@@ -49,6 +49,17 @@
 #define RPL_CONF_STATS 0
 #endif /* RPL_CONF_STATS */
 
+/* 
+ * Select routing metric supported at runtime. This must be a valid
+ * DAG Metric Container Object Type (see below). Currently, we only 
+ * support RPL_DAG_MC_ETX and RPL_DAG_MC_ENERGY.
+ */
+#ifdef RPL_CONF_DAG_MC
+#define RPL_DAG_MC RPL_CONF_DAG_MC
+#else
+#define RPL_DAG_MC RPL_DAG_MC_ETX
+#endif /* RPL_CONF_DAG_MC */
+
 /*
  * The objective function used by RPL is configurable through the 
  * RPL_CONF_OF parameter. This should be defined to be the name of an 
@@ -78,8 +89,8 @@ typedef uint16_t rpl_ocp_t;
 /* DAG Metric Container Object Types, to be confirmed by IANA. */
 #define RPL_DAG_MC_NONE			0 /* Local identifier for empty MC */
 #define RPL_DAG_MC_NSA                  1 /* Node State and Attributes */
-#define RPL_DAG_MC_NE                   2 /* Node Energy */
+#define RPL_DAG_MC_ENERGY               2 /* Node Energy */
-#define RPL_DAG_MC_HC                   3 /* Hop Count */
+#define RPL_DAG_MC_HOPCOUNT             3 /* Hop Count */
 #define RPL_DAG_MC_THROUGHPUT           4 /* Throughput */
 #define RPL_DAG_MC_LATENCY              5 /* Latency */
 #define RPL_DAG_MC_LQL                  6 /* Link Quality Level */
@@ -99,9 +110,19 @@ typedef uint16_t rpl_ocp_t;
 #define RPL_DAG_MC_AGGR_MINIMUM         2
 #define RPL_DAG_MC_AGGR_MULTIPLICATIVE  3
 
-/* Logical representation of an ETX object in a DAG Metric Container. */
+/* The bit index within the flags field of
-struct rpl_metric_object_etx {
+   the rpl_metric_object_energy structure. */
-  uint16_t etx;
+#define RPL_DAG_MC_ENERGY_INCLUDED	3
+#define RPL_DAG_MC_ENERGY_TYPE		1
+#define RPL_DAG_MC_ENERGY_ESTIMATION	0
+
+#define RPL_DAG_MC_ENERGY_TYPE_MAINS		0
+#define RPL_DAG_MC_ENERGY_TYPE_BATTERY		1
+#define RPL_DAG_MC_ENERGY_TYPE_SCAVENGING	2
+
+struct rpl_metric_object_energy {
+  uint8_t flags;
+  uint8_t energy_est;
 };
 
 /* Logical representation of a DAG Metric Container. */
@@ -111,9 +132,10 @@ struct rpl_metric_container {
   uint8_t aggr;
   uint8_t prec;
   uint8_t length;
-  /* Once we support more objects, the etx field will be replaced by a
+  union metric_object {
-     union of those. */
+    struct rpl_metric_object_energy energy;
-  struct rpl_metric_object_etx etx;
+    uint16_t etx;
+  } obj;
 };
 typedef struct rpl_metric_container rpl_metric_container_t;
 /*---------------------------------------------------------------------------*/
@@ -125,7 +147,7 @@ struct rpl_parent {
   rpl_metric_container_t mc;
   uip_ipaddr_t addr;
   rpl_rank_t rank;
-  uint8_t etx;
+  uint8_t link_metric;
   uint8_t dtsn;
   uint8_t updated;
 };

core/net/sicslowpan.c

@@ -268,7 +268,7 @@ static uint8_t *hc06_ptr;
 /* Uncompression of linklocal */
 /*   0 -> 16 bytes from packet  */
 /*   1 -> 2 bytes from prefix - bunch of zeroes and 8 from packet */
-/*   2 -> 2 bytes from prefix - zeroes + 2 from packet */
+/*   2 -> 2 bytes from prefix - 0000::00ff:fe00:XXXX from packet */
 /*   3 -> 2 bytes from prefix - infer 8 bytes from lladdr */
 /*   NOTE: => the uncompress function does change 0xf to 0x10 */
 /*   NOTE: 0x00 => no-autoconfig => unspecified */
@@ -277,7 +277,7 @@ const uint8_t unc_llconf[] = {0x0f,0x28,0x22,0x20};
 /* Uncompression of ctx-based */
 /*   0 -> 0 bits from packet [unspecified / reserved] */
 /*   1 -> 8 bytes from prefix - bunch of zeroes and 8 from packet */
-/*   2 -> 8 bytes from prefix - zeroes + 2 from packet */
+/*   2 -> 8 bytes from prefix - 0000::00ff:fe00:XXXX + 2 from packet */
 /*   3 -> 8 bytes from prefix - infer 8 bytes from lladdr */
 const uint8_t unc_ctxconf[] = {0x00,0x88,0x82,0x80};
 
@@ -338,7 +338,7 @@ compress_addr_64(uint8_t bitpos, uip_ipaddr_t *ipaddr, uip_lladdr_t *lladdr)
   if(uip_is_addr_mac_addr_based(ipaddr, lladdr)) {
     return 3 << bitpos; /* 0-bits */
   } else if(sicslowpan_is_iid_16_bit_compressable(ipaddr)) {
-    /* compress IID to 16 bits xxxx::XXXX */
+    /* compress IID to 16 bits xxxx::0000:00ff:fe00:XXXX */
     memcpy(hc06_ptr, &ipaddr->u16[7], 2);
     hc06_ptr += 2;
     return 2 << bitpos; /* 16-bits */
@@ -377,6 +377,11 @@ uncompress_addr(uip_ipaddr_t *ipaddr, uint8_t const prefix[],
   }
   if(postcount > 0) {
     memcpy(&ipaddr->u8[16 - postcount], hc06_ptr, postcount);
+    if(postcount == 2 && prefcount < 11) {
+      /* 16 bits uncompression => 0000:00ff:fe00:XXXX */
+      ipaddr->u8[11] = 0xff;
+      ipaddr->u8[12] = 0xfe;
+    }
     hc06_ptr += postcount;
   } else if (prefcount > 0) {
     /* no IID based configuration if no prefix and no data => unspec */

core/net/sicslowpan.h

@@ -233,13 +233,15 @@ struct sicslowpan_addr_context {
  * \brief check whether we can compress the IID in
  * address 'a' to 16 bits.
  * This is used for unicast addresses only, and is true
- * if first 49 bits of IID are 0
+ * if the address is on the format <PREFIX>::0000:00ff:fe00:XXXX
+ * NOTE: we currently assume 64-bits prefixes
  */
 #define sicslowpan_is_iid_16_bit_compressable(a) \
   ((((a)->u16[4]) == 0) &&                       \
-   (((a)->u16[5]) == 0) &&                       \
+   (((a)->u8[10]) == 0)&&			    \
-   (((a)->u16[6]) == 0) &&                       \
+   (((a)->u8[11]) == 0xff)&&			    \
-   ((((a)->u8[14]) & 0x80) == 0))
+   (((a)->u8[12]) == 0xfe)&&			    \
+   (((a)->u8[13]) == 0))
 
 /**
  * \brief check whether the 9-bit group-id of the

core/net/uip-debug.c

@@ -26,7 +26,6 @@
  * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
  * SUCH DAMAGE.
  *
- * $Id: uip-debug.c,v 1.1 2010/04/30 13:20:57 joxe Exp $
  */
 
 /**
@@ -39,7 +38,7 @@
  */
 
 #include "net/uip-debug.h"
-#include <stdio.h>
+
 /*---------------------------------------------------------------------------*/
 void
 uip_debug_ipaddr_print(const uip_ipaddr_t *addr)
@@ -52,19 +51,19 @@ uip_debug_ipaddr_print(const uip_ipaddr_t *addr)
     a = (addr->u8[i] << 8) + addr->u8[i + 1];
     if(a == 0 && f >= 0) {
       if(f++ == 0) {
-        printf("::");
+        PRINTA("::");
       }
     } else {
       if(f > 0) {
         f = -1;
       } else if(i > 0) {
-        printf(":");
+        PRINTA(":");
       }
-      printf("%x", a);
+      PRINTA("%x", a);
     }
   }
 #else /* UIP_CONF_IPV6 */
-  printf("%u.%u.%u.%u", addr->u8[0], addr->u8[1], addr->u8[2], addr->u8[3]);
+  PRINTA("%u.%u.%u.%u", addr->u8[0], addr->u8[1], addr->u8[2], addr->u8[3]);
 #endif /* UIP_CONF_IPV6 */
 }
 /*---------------------------------------------------------------------------*/
@@ -74,9 +73,9 @@ uip_debug_lladdr_print(const uip_lladdr_t *addr)
   unsigned int i;
   for(i = 0; i < sizeof(uip_lladdr_t); i++) {
     if(i > 0) {
-      printf(":");
+      PRINTA(":");
     }
-    printf("%02x", addr->addr[i]);
+    PRINTA("%02x", addr->addr[i]);
   }
 }
 /*---------------------------------------------------------------------------*/

core/net/uip-debug.h

@@ -43,6 +43,7 @@
 #define UIP_DEBUG_H
 
 #include "net/uip.h"
+#include <stdio.h>
 
 void uip_debug_ipaddr_print(const uip_ipaddr_t *addr);
 void uip_debug_lladdr_print(const uip_lladdr_t *addr);
@@ -52,16 +53,30 @@ void uip_debug_lladdr_print(const uip_lladdr_t *addr);
 #define DEBUG_ANNOTATE  2
 #define DEBUG_FULL      DEBUG_ANNOTATE | DEBUG_PRINT
 
+/* PRINTA will always print if the debug routines are called directly */
+#ifdef __AVR__
+#include <avr/pgmspace.h>
+#define PRINTA(FORMAT,args...) printf_P(PSTR(FORMAT),##args)
+#else
+#define PRINTA(...) printf(__VA_ARGS__)
+#endif
+
 #if (DEBUG) & DEBUG_ANNOTATE
-#include <stdio.h>
+#ifdef __AVR__
+#define ANNOTATE(FORMAT,args...) printf_P(PSTR(FORMAT),##args)
+#else
 #define ANNOTATE(...) printf(__VA_ARGS__)
+#endif
 #else
 #define ANNOTATE(...)
 #endif /* (DEBUG) & DEBUG_ANNOTATE */
 
 #if (DEBUG) & DEBUG_PRINT
-#include <stdio.h>
+#ifdef __AVR__
+#define PRINTF(FORMAT,args...) printf_P(PSTR(FORMAT),##args)
+#else
 #define PRINTF(...) printf(__VA_ARGS__)
+#endif
 #define PRINT6ADDR(addr) uip_debug_ipaddr_print(addr)
 #define PRINTLLADDR(lladdr) uip_debug_lladdr_print(lladdr)
 #else

core/net/uip-ds6.c

@@ -174,60 +174,60 @@ uip_ds6_periodic(void)
 #if !UIP_CONF_ROUTER
   /* Periodic processing on prefixes */
   for(locprefix = uip_ds6_prefix_list;
-      locprefix < uip_ds6_prefix_list + UIP_DS6_PREFIX_NB; locprefix++) {
+      locprefix < uip_ds6_prefix_list + UIP_DS6_PREFIX_NB;
-    if((locprefix->isused) && (!locprefix->isinfinite)
+      locprefix++) {
-       && (stimer_expired(&(locprefix->vlifetime)))) {
+    if(locprefix->isused && !locprefix->isinfinite
+       && stimer_expired(&(locprefix->vlifetime))) {
       uip_ds6_prefix_rm(locprefix);
     }
   }
 #endif /* !UIP_CONF_ROUTER */
 
   /* Periodic processing on neighbors */
-  for(locnbr = uip_ds6_nbr_cache; locnbr < uip_ds6_nbr_cache + UIP_DS6_NBR_NB;
+  for(locnbr = uip_ds6_nbr_cache;
+      locnbr < uip_ds6_nbr_cache + UIP_DS6_NBR_NB;
       locnbr++) {
     if(locnbr->isused) {
-      switch (locnbr->state) {
+      switch(locnbr->state) {
       case NBR_INCOMPLETE:
         if(locnbr->nscount >= UIP_ND6_MAX_MULTICAST_SOLICIT) {
           uip_ds6_nbr_rm(locnbr);
-        } else if(stimer_expired(&(locnbr->sendns))) {
+        } else if(stimer_expired(&locnbr->sendns)) {
           locnbr->nscount++;
           PRINTF("NBR_INCOMPLETE: NS %u\n", locnbr->nscount);
           uip_nd6_ns_output(NULL, NULL, &locnbr->ipaddr);
-          stimer_set(&(locnbr->sendns), uip_ds6_if.retrans_timer / 1000);
+          stimer_set(&locnbr->sendns, uip_ds6_if.retrans_timer / 1000);
         }
         break;
       case NBR_REACHABLE:
-        if(stimer_expired(&(locnbr->reachable))) {
+        if(stimer_expired(&locnbr->reachable)) {
           PRINTF("REACHABLE: moving to STALE (");
           PRINT6ADDR(&locnbr->ipaddr);
           PRINTF(")\n");
           locnbr->state = NBR_STALE;
-          /* NEIGHBOR_STATE_CHANGED(locnbr); */
         }
         break;
       case NBR_DELAY:
-        if(stimer_expired(&(locnbr->reachable))) {
+        if(stimer_expired(&locnbr->reachable)) {
           locnbr->state = NBR_PROBE;
           locnbr->nscount = 1;
-          /* NEIGHBOR_STATE_CHANGED(locnbr); */
           PRINTF("DELAY: moving to PROBE + NS %u\n", locnbr->nscount);
           uip_nd6_ns_output(NULL, &locnbr->ipaddr, &locnbr->ipaddr);
-          stimer_set(&(locnbr->sendns), uip_ds6_if.retrans_timer / 1000);
+          stimer_set(&locnbr->sendns, uip_ds6_if.retrans_timer / 1000);
         }
         break;
       case NBR_PROBE:
         if(locnbr->nscount >= UIP_ND6_MAX_UNICAST_SOLICIT) {
-          PRINTF("PROBE END \n");
+          PRINTF("PROBE END\n");
           if((locdefrt = uip_ds6_defrt_lookup(&locnbr->ipaddr)) != NULL) {
             uip_ds6_defrt_rm(locdefrt);
           }
           uip_ds6_nbr_rm(locnbr);
-        } else if(stimer_expired(&(locnbr->sendns))) {
+        } else if(stimer_expired(&locnbr->sendns)) {
           locnbr->nscount++;
           PRINTF("PROBE: NS %u\n", locnbr->nscount);
           uip_nd6_ns_output(NULL, &locnbr->ipaddr, &locnbr->ipaddr);
-          stimer_set(&(locnbr->sendns), uip_ds6_if.retrans_timer / 1000);
+          stimer_set(&locnbr->sendns, uip_ds6_if.retrans_timer / 1000);
         }
         break;
       default:
@@ -248,9 +248,9 @@ uip_ds6_periodic(void)
 
 /*---------------------------------------------------------------------------*/
 uint8_t
-uip_ds6_list_loop(uip_ds6_element_t * list, uint8_t size,
+uip_ds6_list_loop(uip_ds6_element_t *list, uint8_t size,
-                  uint16_t elementsize, uip_ipaddr_t * ipaddr,
+                  uint16_t elementsize, uip_ipaddr_t *ipaddr,
-                  uint8_t ipaddrlen, uip_ds6_element_t ** out_element)
+                  uint8_t ipaddrlen, uip_ds6_element_t **out_element)
 {
   uip_ds6_element_t *element;
 
@@ -258,11 +258,10 @@ uip_ds6_list_loop(uip_ds6_element_t * list, uint8_t size,
 
   for(element = list;
       element <
-      (uip_ds6_element_t *) ((uint8_t *) list + (size * elementsize));
+      (uip_ds6_element_t *)((uint8_t *)list + (size * elementsize));
-      element = (uip_ds6_element_t *) ((uint8_t *) element + elementsize)) {
+      element = (uip_ds6_element_t *)((uint8_t *)element + elementsize)) {
-    //    printf("+ %p %d\n", &element->isused, element->isused);
     if(element->isused) {
-      if(uip_ipaddr_prefixcmp(&(element->ipaddr), ipaddr, ipaddrlen)) {
+      if(uip_ipaddr_prefixcmp(&element->ipaddr, ipaddr, ipaddrlen)) {
         *out_element = element;
         return FOUND;
       }
@@ -271,33 +270,28 @@ uip_ds6_list_loop(uip_ds6_element_t * list, uint8_t size,
     }
   }
 
-  if(*out_element != NULL) {
+  return *out_element != NULL ? FREESPACE : NOSPACE;
-    return FREESPACE;
-  } else {
-    return NOSPACE;
-  }
 }
 
 /*---------------------------------------------------------------------------*/
 uip_ds6_nbr_t *
-uip_ds6_nbr_add(uip_ipaddr_t * ipaddr, uip_lladdr_t * lladdr,
+uip_ds6_nbr_add(uip_ipaddr_t *ipaddr, uip_lladdr_t * lladdr,
                 uint8_t isrouter, uint8_t state)
 {
   int r;
 
   r = uip_ds6_list_loop
-     ((uip_ds6_element_t *) uip_ds6_nbr_cache, UIP_DS6_NBR_NB,
+     ((uip_ds6_element_t *)uip_ds6_nbr_cache, UIP_DS6_NBR_NB,
       sizeof(uip_ds6_nbr_t), ipaddr, 128,
-      (uip_ds6_element_t **) &locnbr);
+      (uip_ds6_element_t **)&locnbr);
-  //  printf("r %d\n", r);
 
   if(r == FREESPACE) {
     locnbr->isused = 1;
-    uip_ipaddr_copy(&(locnbr->ipaddr), ipaddr);
+    uip_ipaddr_copy(&locnbr->ipaddr, ipaddr);
     if(lladdr != NULL) {
-      memcpy(&(locnbr->lladdr), lladdr, UIP_LLADDR_LEN);
+      memcpy(&locnbr->lladdr, lladdr, UIP_LLADDR_LEN);
     } else {
-      memset(&(locnbr->lladdr), 0, UIP_LLADDR_LEN);
+      memset(&locnbr->lladdr, 0, UIP_LLADDR_LEN);
     }
     locnbr->isrouter = isrouter;
     locnbr->state = state;
@@ -305,18 +299,17 @@ uip_ds6_nbr_add(uip_ipaddr_t * ipaddr, uip_lladdr_t * lladdr,
     uip_packetqueue_new(&locnbr->packethandle);
 #endif /* UIP_CONF_IPV6_QUEUE_PKT */
     /* timers are set separately, for now we put them in expired state */
-    stimer_set(&(locnbr->reachable), 0);
+    stimer_set(&locnbr->reachable, 0);
-    stimer_set(&(locnbr->sendns), 0);
+    stimer_set(&locnbr->sendns, 0);
     locnbr->nscount = 0;
-    PRINTF("Adding neighbor with ip addr");
+    PRINTF("Adding neighbor with ip addr ");
     PRINT6ADDR(ipaddr);
-    PRINTF("link addr");
+    PRINTF("link addr ");
     PRINTLLADDR((&(locnbr->lladdr)));
     PRINTF("state %u\n", state);
     NEIGHBOR_STATE_CHANGED(locnbr);
 
     locnbr->last_lookup = clock_time();
-    //    printf("add %p\n", locnbr);
     return locnbr;
   } else if(r == NOSPACE) {
     /* We did not find any empty slot on the neighbor list, so we need
@@ -338,7 +331,6 @@ uip_ds6_nbr_add(uip_ipaddr_t * ipaddr, uip_lladdr_t * lladdr,
       }
     }
     if(oldest != NULL) {
-      //      printf("rm3\n");
       uip_ds6_nbr_rm(oldest);
       return uip_ds6_nbr_add(ipaddr, lladdr, isrouter, state);
     }
@@ -354,7 +346,6 @@ uip_ds6_nbr_rm(uip_ds6_nbr_t *nbr)
   if(nbr != NULL) {
     nbr->isused = 0;
 #if UIP_CONF_IPV6_QUEUE_PKT
-    //    printf("rm %p\n", &nbr->isused);
     uip_packetqueue_free(&nbr->packethandle);
 #endif /* UIP_CONF_IPV6_QUEUE_PKT */
     NEIGHBOR_STATE_CHANGED(nbr);
@@ -367,9 +358,9 @@ uip_ds6_nbr_t *
 uip_ds6_nbr_lookup(uip_ipaddr_t *ipaddr)
 {
   if(uip_ds6_list_loop
-     ((uip_ds6_element_t *) uip_ds6_nbr_cache, UIP_DS6_NBR_NB,
+     ((uip_ds6_element_t *)uip_ds6_nbr_cache, UIP_DS6_NBR_NB,
       sizeof(uip_ds6_nbr_t), ipaddr, 128,
-      (uip_ds6_element_t **) & locnbr) == FOUND) {
+      (uip_ds6_element_t **)&locnbr) == FOUND) {
     return locnbr;
   }
   return NULL;
@@ -380,19 +371,19 @@ uip_ds6_defrt_t *
 uip_ds6_defrt_add(uip_ipaddr_t *ipaddr, unsigned long interval)
 {
   if(uip_ds6_list_loop
-     ((uip_ds6_element_t *) uip_ds6_defrt_list, UIP_DS6_DEFRT_NB,
+     ((uip_ds6_element_t *)uip_ds6_defrt_list, UIP_DS6_DEFRT_NB,
       sizeof(uip_ds6_defrt_t), ipaddr, 128,
-      (uip_ds6_element_t **) & locdefrt) == FREESPACE) {
+      (uip_ds6_element_t **)&locdefrt) == FREESPACE) {
     locdefrt->isused = 1;
-    uip_ipaddr_copy(&(locdefrt->ipaddr), ipaddr);
+    uip_ipaddr_copy(&locdefrt->ipaddr, ipaddr);
     if(interval != 0) {
-      stimer_set(&(locdefrt->lifetime), interval);
+      stimer_set(&locdefrt->lifetime, interval);
       locdefrt->isinfinite = 0;
     } else {
       locdefrt->isinfinite = 1;
     }
 
-    PRINTF("Adding defrouter with ip addr");
+    PRINTF("Adding defrouter with ip addr ");
     PRINT6ADDR(&locdefrt->ipaddr);
     PRINTF("\n");
 
@@ -405,7 +396,7 @@ uip_ds6_defrt_add(uip_ipaddr_t *ipaddr, unsigned long interval)
 
 /*---------------------------------------------------------------------------*/
 void
-uip_ds6_defrt_rm(uip_ds6_defrt_t * defrt)
+uip_ds6_defrt_rm(uip_ds6_defrt_t *defrt)
 {
   if(defrt != NULL) {
     defrt->isused = 0;
@@ -416,11 +407,11 @@ uip_ds6_defrt_rm(uip_ds6_defrt_t * defrt)
 
 /*---------------------------------------------------------------------------*/
 uip_ds6_defrt_t *
-uip_ds6_defrt_lookup(uip_ipaddr_t * ipaddr)
+uip_ds6_defrt_lookup(uip_ipaddr_t *ipaddr)
 {
-  if(uip_ds6_list_loop((uip_ds6_element_t *) uip_ds6_defrt_list,
+  if(uip_ds6_list_loop((uip_ds6_element_t *)uip_ds6_defrt_list,
 		       UIP_DS6_DEFRT_NB, sizeof(uip_ds6_defrt_t), ipaddr, 128,
-		       (uip_ds6_element_t **) & locdefrt) == FOUND) {
+		       (uip_ds6_element_t **)&locdefrt) == FOUND) {
     return locdefrt;
   }
   return NULL;
@@ -440,7 +431,7 @@ uip_ds6_defrt_choose(void)
       PRINT6ADDR(&locdefrt->ipaddr);
       PRINTF("\n");
       bestnbr = uip_ds6_nbr_lookup(&locdefrt->ipaddr);
-      if((bestnbr != NULL) && (bestnbr->state != NBR_INCOMPLETE)) {
+      if(bestnbr != NULL && bestnbr->state != NBR_INCOMPLETE) {
         PRINTF("Defrt found, IP address ");
         PRINT6ADDR(&locdefrt->ipaddr);
         PRINTF("\n");
@@ -459,16 +450,16 @@ uip_ds6_defrt_choose(void)
 #if UIP_CONF_ROUTER
 /*---------------------------------------------------------------------------*/
 uip_ds6_prefix_t *
-uip_ds6_prefix_add(uip_ipaddr_t * ipaddr, uint8_t ipaddrlen,
+uip_ds6_prefix_add(uip_ipaddr_t *ipaddr, uint8_t ipaddrlen,
                    uint8_t advertise, uint8_t flags, unsigned long vtime,
                    unsigned long ptime)
 {
   if(uip_ds6_list_loop
-     ((uip_ds6_element_t *) uip_ds6_prefix_list, UIP_DS6_PREFIX_NB,
+     ((uip_ds6_element_t *)uip_ds6_prefix_list, UIP_DS6_PREFIX_NB,
       sizeof(uip_ds6_prefix_t), ipaddr, ipaddrlen,
-      (uip_ds6_element_t **) & locprefix) == FREESPACE) {
+      (uip_ds6_element_t **)&locprefix) == FREESPACE) {
     locprefix->isused = 1;
-    uip_ipaddr_copy(&(locprefix->ipaddr), ipaddr);
+    uip_ipaddr_copy(&locprefix->ipaddr, ipaddr);
     locprefix->length = ipaddrlen;
     locprefix->advertise = advertise;
     locprefix->l_a_reserved = flags;
@@ -488,15 +479,15 @@ uip_ds6_prefix_add(uip_ipaddr_t * ipaddr, uint8_t ipaddrlen,
 
 #else /* UIP_CONF_ROUTER */
 uip_ds6_prefix_t *
-uip_ds6_prefix_add(uip_ipaddr_t * ipaddr, uint8_t ipaddrlen,
+uip_ds6_prefix_add(uip_ipaddr_t *ipaddr, uint8_t ipaddrlen,
                    unsigned long interval)
 {
   if(uip_ds6_list_loop
-     ((uip_ds6_element_t *) uip_ds6_prefix_list, UIP_DS6_PREFIX_NB,
+     ((uip_ds6_element_t *)uip_ds6_prefix_list, UIP_DS6_PREFIX_NB,
       sizeof(uip_ds6_prefix_t), ipaddr, ipaddrlen,
-      (uip_ds6_element_t **) & locprefix) == FREESPACE) {
+      (uip_ds6_element_t **)&locprefix) == FREESPACE) {
     locprefix->isused = 1;
-    uip_ipaddr_copy(&(locprefix->ipaddr), ipaddr);
+    uip_ipaddr_copy(&locprefix->ipaddr, ipaddr);
     locprefix->length = ipaddrlen;
     if(interval != 0) {
       stimer_set(&(locprefix->vlifetime), interval);
@@ -523,7 +514,7 @@ uip_ds6_prefix_rm(uip_ds6_prefix_t * prefix)
 }
 /*---------------------------------------------------------------------------*/
 uip_ds6_prefix_t *
-uip_ds6_prefix_lookup(uip_ipaddr_t * ipaddr, uint8_t ipaddrlen)
+uip_ds6_prefix_lookup(uip_ipaddr_t *ipaddr, uint8_t ipaddrlen)
 {
   if(uip_ds6_list_loop((uip_ds6_element_t *)uip_ds6_prefix_list,
 		       UIP_DS6_PREFIX_NB, sizeof(uip_ds6_prefix_t),
@@ -536,7 +527,7 @@ uip_ds6_prefix_lookup(uip_ipaddr_t * ipaddr, uint8_t ipaddrlen)
 
 /*---------------------------------------------------------------------------*/
 uint8_t
-uip_ds6_is_addr_onlink(uip_ipaddr_t * ipaddr)
+uip_ds6_is_addr_onlink(uip_ipaddr_t *ipaddr)
 {
   for(locprefix = uip_ds6_prefix_list;
       locprefix < uip_ds6_prefix_list + UIP_DS6_PREFIX_NB; locprefix++) {
@@ -550,12 +541,12 @@ uip_ds6_is_addr_onlink(uip_ipaddr_t * ipaddr)
 
 /*---------------------------------------------------------------------------*/
 uip_ds6_addr_t *
-uip_ds6_addr_add(uip_ipaddr_t * ipaddr, unsigned long vlifetime, uint8_t type)
+uip_ds6_addr_add(uip_ipaddr_t *ipaddr, unsigned long vlifetime, uint8_t type)
 {
   if(uip_ds6_list_loop
-     ((uip_ds6_element_t *) uip_ds6_if.addr_list, UIP_DS6_ADDR_NB,
+     ((uip_ds6_element_t *)uip_ds6_if.addr_list, UIP_DS6_ADDR_NB,
       sizeof(uip_ds6_addr_t), ipaddr, 128,
-      (uip_ds6_element_t **) & locaddr) == FREESPACE) {
+      (uip_ds6_element_t **)&locaddr) == FREESPACE) {
     locaddr->isused = 1;
     uip_ipaddr_copy(&locaddr->ipaddr, ipaddr);
     locaddr->state = ADDR_TENTATIVE;
@@ -579,7 +570,7 @@ uip_ds6_addr_add(uip_ipaddr_t * ipaddr, unsigned long vlifetime, uint8_t type)
 
 /*---------------------------------------------------------------------------*/
 void
-uip_ds6_addr_rm(uip_ds6_addr_t * addr)
+uip_ds6_addr_rm(uip_ds6_addr_t *addr)
 {
   if(addr != NULL) {
     uip_create_solicited_node(&addr->ipaddr, &loc_fipaddr);
@@ -593,12 +584,12 @@ uip_ds6_addr_rm(uip_ds6_addr_t * addr)
 
 /*---------------------------------------------------------------------------*/
 uip_ds6_addr_t *
-uip_ds6_addr_lookup(uip_ipaddr_t * ipaddr)
+uip_ds6_addr_lookup(uip_ipaddr_t *ipaddr)
 {
   if(uip_ds6_list_loop
-     ((uip_ds6_element_t *) uip_ds6_if.addr_list, UIP_DS6_ADDR_NB,
+     ((uip_ds6_element_t *)uip_ds6_if.addr_list, UIP_DS6_ADDR_NB,
       sizeof(uip_ds6_addr_t), ipaddr, 128,
-      (uip_ds6_element_t **) & locaddr) == FOUND) {
+      (uip_ds6_element_t **)&locaddr) == FOUND) {
     return locaddr;
   }
   return NULL;
@@ -615,7 +606,7 @@ uip_ds6_get_link_local(int8_t state)
 {
   for(locaddr = uip_ds6_if.addr_list;
       locaddr < uip_ds6_if.addr_list + UIP_DS6_ADDR_NB; locaddr++) {
-    if((locaddr->isused) && (state == -1 || locaddr->state == state)
+    if(locaddr->isused && (state == -1 || locaddr->state == state)
        && (uip_is_addr_link_local(&locaddr->ipaddr))) {
       return locaddr;
     }
@@ -634,7 +625,7 @@ uip_ds6_get_global(int8_t state)
 {
   for(locaddr = uip_ds6_if.addr_list;
       locaddr < uip_ds6_if.addr_list + UIP_DS6_ADDR_NB; locaddr++) {
-    if((locaddr->isused) && (state == -1 || locaddr->state == state)
+    if(locaddr->isused && (state == -1 || locaddr->state == state)
        && !(uip_is_addr_link_local(&locaddr->ipaddr))) {
       return locaddr;
     }
@@ -644,12 +635,12 @@ uip_ds6_get_global(int8_t state)
 
 /*---------------------------------------------------------------------------*/
 uip_ds6_maddr_t *
-uip_ds6_maddr_add(uip_ipaddr_t * ipaddr)
+uip_ds6_maddr_add(uip_ipaddr_t *ipaddr)
 {
   if(uip_ds6_list_loop
-     ((uip_ds6_element_t *) uip_ds6_if.maddr_list, UIP_DS6_MADDR_NB,
+     ((uip_ds6_element_t *)uip_ds6_if.maddr_list, UIP_DS6_MADDR_NB,
       sizeof(uip_ds6_maddr_t), ipaddr, 128,
-      (uip_ds6_element_t **) & locmaddr) == FREESPACE) {
+      (uip_ds6_element_t **)&locmaddr) == FREESPACE) {
     locmaddr->isused = 1;
     uip_ipaddr_copy(&locmaddr->ipaddr, ipaddr);
     return locmaddr;
@@ -669,12 +660,12 @@ uip_ds6_maddr_rm(uip_ds6_maddr_t * maddr)
 
 /*---------------------------------------------------------------------------*/
 uip_ds6_maddr_t *
-uip_ds6_maddr_lookup(uip_ipaddr_t * ipaddr)
+uip_ds6_maddr_lookup(uip_ipaddr_t *ipaddr)
 {
   if(uip_ds6_list_loop
-     ((uip_ds6_element_t *) uip_ds6_if.maddr_list, UIP_DS6_MADDR_NB,
+     ((uip_ds6_element_t *)uip_ds6_if.maddr_list, UIP_DS6_MADDR_NB,
       sizeof(uip_ds6_maddr_t), ipaddr, 128,
-      (uip_ds6_element_t **) & locmaddr) == FOUND) {
+      (uip_ds6_element_t **)&locmaddr) == FOUND) {
     return locmaddr;
   }
   return NULL;
@@ -683,12 +674,12 @@ uip_ds6_maddr_lookup(uip_ipaddr_t * ipaddr)
 
 /*---------------------------------------------------------------------------*/
 uip_ds6_aaddr_t *
-uip_ds6_aaddr_add(uip_ipaddr_t * ipaddr)
+uip_ds6_aaddr_add(uip_ipaddr_t *ipaddr)
 {
   if(uip_ds6_list_loop
-     ((uip_ds6_element_t *) uip_ds6_if.aaddr_list, UIP_DS6_AADDR_NB,
+     ((uip_ds6_element_t *)uip_ds6_if.aaddr_list, UIP_DS6_AADDR_NB,
       sizeof(uip_ds6_aaddr_t), ipaddr, 128,
-      (uip_ds6_element_t **) & locaaddr) == FREESPACE) {
+      (uip_ds6_element_t **)&locaaddr) == FREESPACE) {
     locaaddr->isused = 1;
     uip_ipaddr_copy(&locaaddr->ipaddr, ipaddr);
     return locaaddr;
@@ -708,9 +699,9 @@ uip_ds6_aaddr_rm(uip_ds6_aaddr_t * aaddr)
 
 /*---------------------------------------------------------------------------*/
 uip_ds6_aaddr_t *
-uip_ds6_aaddr_lookup(uip_ipaddr_t * ipaddr)
+uip_ds6_aaddr_lookup(uip_ipaddr_t *ipaddr)
 {
-  if(uip_ds6_list_loop((uip_ds6_element_t *) uip_ds6_if.aaddr_list,
+  if(uip_ds6_list_loop((uip_ds6_element_t *)uip_ds6_if.aaddr_list,
 		       UIP_DS6_AADDR_NB, sizeof(uip_ds6_aaddr_t), ipaddr, 128,
 		       (uip_ds6_element_t **)&locaaddr) == FOUND) {
     return locaaddr;
@@ -720,12 +711,12 @@ uip_ds6_aaddr_lookup(uip_ipaddr_t * ipaddr)
 
 /*---------------------------------------------------------------------------*/
 uip_ds6_route_t *
-uip_ds6_route_lookup(uip_ipaddr_t * destipaddr)
+uip_ds6_route_lookup(uip_ipaddr_t *destipaddr)
 {
   uip_ds6_route_t *locrt = NULL;
   uint8_t longestmatch = 0;
 
-  PRINTF("DS6: Looking up route for");
+  PRINTF("DS6: Looking up route for ");
   PRINT6ADDR(destipaddr);
   PRINTF("\n");
 
@@ -747,7 +738,7 @@ uip_ds6_route_lookup(uip_ipaddr_t * destipaddr)
     PRINT6ADDR(&locrt->nexthop);
     PRINTF("\n");
   } else {
-    PRINTF("DS6: No route found ...\n");
+    PRINTF("DS6: No route found\n");
   }
 
   return locrt;
@@ -755,27 +746,25 @@ uip_ds6_route_lookup(uip_ipaddr_t * destipaddr)
 
 /*---------------------------------------------------------------------------*/
 uip_ds6_route_t *
-uip_ds6_route_add(uip_ipaddr_t * ipaddr, u8_t length, uip_ipaddr_t * nexthop,
+uip_ds6_route_add(uip_ipaddr_t *ipaddr, uint8_t length, uip_ipaddr_t *nexthop,
-                  u8_t metric)
+                  uint8_t metric)
 {
-
   if(uip_ds6_list_loop
-     ((uip_ds6_element_t *) uip_ds6_routing_table, UIP_DS6_ROUTE_NB,
+     ((uip_ds6_element_t *)uip_ds6_routing_table, UIP_DS6_ROUTE_NB,
       sizeof(uip_ds6_route_t), ipaddr, length,
-      (uip_ds6_element_t **) & locroute) == FREESPACE) {
+      (uip_ds6_element_t **)&locroute) == FREESPACE) {
     locroute->isused = 1;
     uip_ipaddr_copy(&(locroute->ipaddr), ipaddr);
     locroute->length = length;
     uip_ipaddr_copy(&(locroute->nexthop), nexthop);
     locroute->metric = metric;
 
-    PRINTF("DS6: adding route:");
+    PRINTF("DS6: adding route: ");
     PRINT6ADDR(ipaddr);
     PRINTF(" via ");
     PRINT6ADDR(nexthop);
     PRINTF("\n");
-    ANNOTATE("#L %u 1;blue\n",nexthop->u8[sizeof(uip_ipaddr_t) - 1]);
+    ANNOTATE("#L %u 1;blue\n", nexthop->u8[sizeof(uip_ipaddr_t) - 1]);
-
   }
 
   return locroute;
@@ -790,9 +779,10 @@ uip_ds6_route_rm(uip_ds6_route_t *route)
   /* we need to check if this was the last route towards "nexthop" */
   /* if so - remove that link (annotation) */
   for(locroute = uip_ds6_routing_table;
-      locroute < uip_ds6_routing_table + UIP_DS6_ROUTE_NB; locroute++) {
+      locroute < uip_ds6_routing_table + UIP_DS6_ROUTE_NB;
-    if((locroute->isused) && uip_ipaddr_cmp(&locroute->nexthop, &route->nexthop))      {
+      locroute++) {
-      /* we did find another link using the specific nexthop, so keep the #L */
+    if(locroute->isused && uip_ipaddr_cmp(&locroute->nexthop, &route->nexthop))      {
+      /* we found another link using the specific nexthop, so keep the #L */
       return;
     }
   }
@@ -804,8 +794,9 @@ void
 uip_ds6_route_rm_by_nexthop(uip_ipaddr_t *nexthop)
 {
   for(locroute = uip_ds6_routing_table;
-      locroute < uip_ds6_routing_table + UIP_DS6_ROUTE_NB; locroute++) {
+      locroute < uip_ds6_routing_table + UIP_DS6_ROUTE_NB;
-    if((locroute->isused) && uip_ipaddr_cmp(&locroute->nexthop, nexthop)) {
+      locroute++) {
+    if(locroute->isused && uip_ipaddr_cmp(&locroute->nexthop, nexthop)) {
       locroute->isused = 0;
     }
   }
@@ -825,9 +816,9 @@ uip_ds6_select_src(uip_ipaddr_t *src, uip_ipaddr_t *dst)
     for(locaddr = uip_ds6_if.addr_list;
         locaddr < uip_ds6_if.addr_list + UIP_DS6_ADDR_NB; locaddr++) {
       /* Only preferred global (not link-local) addresses */
-      if((locaddr->isused) && (locaddr->state == ADDR_PREFERRED) &&
+      if(locaddr->isused && locaddr->state == ADDR_PREFERRED &&
-         (!uip_is_addr_link_local(&locaddr->ipaddr))) {
+         !uip_is_addr_link_local(&locaddr->ipaddr)) {
-        n = get_match_length(dst, &(locaddr->ipaddr));
+        n = get_match_length(dst, &locaddr->ipaddr);
         if(n >= best) {
           best = n;
           matchaddr = locaddr;
@@ -848,7 +839,7 @@ uip_ds6_select_src(uip_ipaddr_t *src, uip_ipaddr_t *dst)
 
 /*---------------------------------------------------------------------------*/
 void
-uip_ds6_set_addr_iid(uip_ipaddr_t * ipaddr, uip_lladdr_t * lladdr)
+uip_ds6_set_addr_iid(uip_ipaddr_t *ipaddr, uip_lladdr_t * lladdr)
 {
   /* We consider only links with IEEE EUI-64 identifier or
    * IEEE 48-bit MAC addresses */
@@ -859,7 +850,7 @@ uip_ds6_set_addr_iid(uip_ipaddr_t * ipaddr, uip_lladdr_t * lladdr)
   memcpy(ipaddr->u8 + 8, lladdr, 3);
   ipaddr->u8[11] = 0xff;
   ipaddr->u8[12] = 0xfe;
-  memcpy(ipaddr->u8 + 13, (uint8_t *) lladdr + 3, 3);
+  memcpy(ipaddr->u8 + 13, (uint8_t *)lladdr + 3, 3);
   ipaddr->u8[8] ^= 0x02;
 #else
 #error uip-ds6.c cannot build interface address when UIP_LLADDR_LEN is not 6 or 8
@@ -868,7 +859,7 @@ uip_ds6_set_addr_iid(uip_ipaddr_t * ipaddr, uip_lladdr_t * lladdr)
 
 /*---------------------------------------------------------------------------*/
 uint8_t
-get_match_length(uip_ipaddr_t * src, uip_ipaddr_t * dst)
+get_match_length(uip_ipaddr_t *src, uip_ipaddr_t *dst)
 {
   uint8_t j, k, x_or;
   uint8_t len = 0;
@@ -894,7 +885,7 @@ get_match_length(uip_ipaddr_t * src, uip_ipaddr_t * dst)
 
 /*---------------------------------------------------------------------------*/
 void
-uip_ds6_dad(uip_ds6_addr_t * addr)
+uip_ds6_dad(uip_ds6_addr_t *addr)
 {
   /* send maxdadns NS for DAD  */
   if(addr->dadnscount < uip_ds6_if.maxdadns) {

core/net/uip-ds6.h

@@ -373,7 +373,7 @@ uip_ds6_aaddr_t *uip_ds6_aaddr_lookup(uip_ipaddr_t *ipaddr);
 /** @{ */
 uip_ds6_route_t *uip_ds6_route_lookup(uip_ipaddr_t *destipaddr);
 uip_ds6_route_t *uip_ds6_route_add(uip_ipaddr_t *ipaddr, uint8_t length,
-                                   uip_ipaddr_t *next_hop, u8_t metric);
+                                   uip_ipaddr_t *next_hop, uint8_t metric);
 void uip_ds6_route_rm(uip_ds6_route_t *route);
 void uip_ds6_route_rm_by_nexthop(uip_ipaddr_t *nexthop);
 

core/net/uiplib.c

@@ -53,15 +53,17 @@ uiplib_ipaddrconv(const char *addrstr, uip_ipaddr_t *ipaddr)
 
   value = 0;
   zero = -1;
+  if(*addrstr == '[') addrstr++;
+
   for(len = 0; len < sizeof(uip_ipaddr_t) - 1; addrstr++) {
     c = *addrstr;
-    if(c == ':' || c == '\0') {
+    if(c == ':' || c == '\0' || c == ']') {
       ipaddr->u8[len] = (value >> 8) & 0xff;
       ipaddr->u8[len + 1] = value & 0xff;
       len += 2;
       value = 0;
 
-      if(c == '\0') {
+      if(c == '\0' || c == ']') {
         break;
       }
 
@@ -86,7 +88,7 @@ uiplib_ipaddrconv(const char *addrstr, uip_ipaddr_t *ipaddr)
       value = (value << 4) + (tmp & 0xf);
     }
   }
-  if(c != '\0') {
+  if(c != '\0' && c != ']') {
     PRINTF("uiplib: too large address\n");
     return 0;
   }

cpu/avr/Makefile.avr

@@ -139,7 +139,7 @@ ifndef NOAVRSIZE
 endif
 
 %.hex: %.out
-	$(OBJCOPY) $^ -O ihex $@
+	$(OBJCOPY) $^ -j .text -j .data -O ihex $@
 
 %.ihex: %.out
 	$(OBJCOPY) $^ -O ihex $@

cpu/avr/dev/clock.c

@@ -15,12 +15,23 @@ long sleepseconds;
 #if RF230BB && WEBSERVER
 #define RADIOSTATS 1
 #endif
+
 #if RADIOSTATS
 static volatile uint8_t rcount;
 volatile unsigned long radioontime;
 extern uint8_t RF230_receive_on;
 #endif
 
+/* Set RADIOCALIBRATE for periodic calibration of the PLL during extended radio on time.
+ * The data sheet suggests every 5 minutes if the temperature is fluctuating.
+ * Using an eight bit counter gives 256 second calibrations.
+ * Actual calibration is done by the driver on the next transmit request.
+ */
+#if RADIOCALIBRATE
+extern volatile uint8_t rf230_calibrate;
+static uint8_t calibrate_interval;
+#endif
+
 /*
   CLOCK_SECOND is the number of ticks per second.
   It is defined through CONF_CLOCK_SECOND in the contiki-conf.h for each platform.
@@ -46,48 +57,50 @@ void clock_adjust_seconds(uint8_t howmany) {
 #endif
 }
 /*---------------------------------------------------------------------------*/
-/* These routines increment the second counters.
- * Calling these avoids the interrupt overhead of pushing many registers on the stack.
- */
-static void increment_seconds(void) __attribute__ ((noinline));
-static void increment_seconds(void)
-{
-  seconds++;
-}
-#if RADIOSTATS
-extern volatile uint8_t rf230_calibrate;
-static void increment_radioontime(void)  __attribute__ ((noinline));
-static void increment_radioontime(void)
-{
-static uint8_t calibrate_interval;
-  radioontime++;
-  if (++calibrate_interval==0) {
-    rf230_calibrate=1;
-  }
-}
-#endif
-/*---------------------------------------------------------------------------*/
 //SIGNAL(SIG_OUTPUT_COMPARE0)
 ISR(AVR_OUTPUT_COMPARE_INT)
 {
   count++;
   if(++scount == CLOCK_SECOND) {
     scount = 0;
-    increment_seconds();
+    seconds++;
-//  seconds++;
   }
+#if RADIOCALIBRATE
+   if (++calibrate_interval==0) {
+    rf230_calibrate=1;
+  }
+#endif
 #if RADIOSTATS
   if (RF230_receive_on) {
     if (++rcount == CLOCK_SECOND) {
       rcount=0;
-      increment_radioontime();
+      radioontime++;
- //   radioontime++;
     }
   }
 #endif
+
+#if 1
+/*  gcc will save all registers on the stack if an external routine is called */
   if(etimer_pending()) {
     etimer_request_poll();
   }
+#else
+/* doing this locally saves 9 pushes and 9 pops, but these etimer.c and process.c variables have to lose the static qualifier */
+  extern struct etimer *timerlist;
+  extern volatile unsigned char poll_requested;
+
+#define PROCESS_STATE_NONE        0
+#define PROCESS_STATE_RUNNING     1
+#define PROCESS_STATE_CALLED      2
+
+  if (timerlist) {
+    if(etimer_process.state == PROCESS_STATE_RUNNING ||
+       etimer_process.state == PROCESS_STATE_CALLED) {
+      etimer_process.needspoll = 1;
+      poll_requested = 1;
+    }
+  }
+#endif
 }
 
 /*---------------------------------------------------------------------------*/
@@ -153,3 +166,91 @@ clock_seconds(void)
   } while(tmp != seconds);
   return tmp;
 }
+
+#ifdef HANG_ON_UNKNOWN_INTERRUPT
+/* Useful for diagnosing unknown interrupts that reset the mcu.
+ * Currently set up for 12mega128rfa1.
+ * For other mcus, enable all and then disable the conflicts.
+ */
+static volatile uint8_t x;
+ISR( _VECTOR(0)) {while (1) x++;}
+ISR( _VECTOR(1)) {while (1) x++;}
+ISR( _VECTOR(2)) {while (1) x++;}
+ISR( _VECTOR(3)) {while (1) x++;}
+ISR( _VECTOR(4)) {while (1) x++;}
+ISR( _VECTOR(5)) {while (1) x++;}
+ISR( _VECTOR(6)) {while (1) x++;}
+ISR( _VECTOR(7)) {while (1) x++;}
+ISR( _VECTOR(8)) {while (1) x++;}
+ISR( _VECTOR(9)) {while (1) x++;}
+ISR( _VECTOR(10)) {while (1) x++;}
+ISR( _VECTOR(11)) {while (1) x++;}
+ISR( _VECTOR(12)) {while (1) x++;}
+ISR( _VECTOR(13)) {while (1) x++;}
+ISR( _VECTOR(14)) {while (1) x++;}
+ISR( _VECTOR(15)) {while (1) x++;}
+ISR( _VECTOR(16)) {while (1) x++;}
+ISR( _VECTOR(17)) {while (1) x++;}
+ISR( _VECTOR(18)) {while (1) x++;}
+ISR( _VECTOR(19)) {while (1) x++;}
+//ISR( _VECTOR(20)) {while (1) x++;}
+//ISR( _VECTOR(21)) {while (1) x++;}
+ISR( _VECTOR(22)) {while (1) x++;}
+ISR( _VECTOR(23)) {while (1) x++;}
+ISR( _VECTOR(24)) {while (1) x++;}
+//ISR( _VECTOR(25)) {while (1) x++;}
+ISR( _VECTOR(26)) {while (1) x++;}
+//ISR( _VECTOR(27)) {while (1) x++;}
+ISR( _VECTOR(28)) {while (1) x++;}
+ISR( _VECTOR(29)) {while (1) x++;}
+ISR( _VECTOR(30)) {while (1) x++;}
+ISR( _VECTOR(31)) {while (1) x++;}
+//ISR( _VECTOR(32)) {while (1) x++;}
+ISR( _VECTOR(33)) {while (1) x++;}
+ISR( _VECTOR(34)) {while (1) x++;}
+ISR( _VECTOR(35)) {while (1) x++;}
+//ISR( _VECTOR(36)) {while (1) x++;}
+ISR( _VECTOR(37)) {while (1) x++;}
+//ISR( _VECTOR(38)) {while (1) x++;}
+ISR( _VECTOR(39)) {while (1) x++;}
+ISR( _VECTOR(40)) {while (1) x++;}
+ISR( _VECTOR(41)) {while (1) x++;}
+ISR( _VECTOR(42)) {while (1) x++;}
+ISR( _VECTOR(43)) {while (1) x++;}
+ISR( _VECTOR(44)) {while (1) x++;}
+ISR( _VECTOR(45)) {while (1) x++;}
+ISR( _VECTOR(46)) {while (1) x++;}
+ISR( _VECTOR(47)) {while (1) x++;}
+ISR( _VECTOR(48)) {while (1) x++;}
+ISR( _VECTOR(49)) {while (1) x++;}
+ISR( _VECTOR(50)) {while (1) x++;}
+ISR( _VECTOR(51)) {while (1) x++;}
+ISR( _VECTOR(52)) {while (1) x++;}
+ISR( _VECTOR(53)) {while (1) x++;}
+ISR( _VECTOR(54)) {while (1) x++;}
+ISR( _VECTOR(55)) {while (1) x++;}
+ISR( _VECTOR(56)) {while (1) x++;}
+//ISR( _VECTOR(57)) {while (1) x++;}
+//ISR( _VECTOR(58)) {while (1) x++;}
+//ISR( _VECTOR(59)) {while (1) x++;}
+//ISR( _VECTOR(60)) {while (1) x++;}
+ISR( _VECTOR(61)) {while (1) x++;}
+ISR( _VECTOR(62)) {while (1) x++;}
+ISR( _VECTOR(63)) {while (1) x++;}
+ISR( _VECTOR(64)) {while (1) x++;}
+ISR( _VECTOR(65)) {while (1) x++;}
+ISR( _VECTOR(66)) {while (1) x++;}
+ISR( _VECTOR(67)) {while (1) x++;}
+ISR( _VECTOR(68)) {while (1) x++;}
+ISR( _VECTOR(69)) {while (1) x++;}
+ISR( _VECTOR(70)) {while (1) x++;}
+ISR( _VECTOR(71)) {while (1) x++;}
+ISR( _VECTOR(72)) {while (1) x++;}
+ISR( _VECTOR(73)) {while (1) x++;}
+ISR( _VECTOR(74)) {while (1) x++;}
+ISR( _VECTOR(75)) {while (1) x++;}
+ISR( _VECTOR(76)) {while (1) x++;}
+ISR( _VECTOR(77)) {while (1) x++;}
+ISR( _VECTOR(78)) {while (1) x++;}
+ISR( _VECTOR(79)) {while (1) x++;}
+#endif

cpu/avr/dev/uart1.h

@@ -0,0 +1,31 @@
+/*
+  Copied from mc1322x/dev/cpu. 
+  
+  This file exists as a work-around for the hardware dependant calls
+  to slip_arch_init.
+
+  Current the prototype for slip_arch_init is slip_arch_init(urb)
+
+  and a typical call is something like
+  slip_arch_init(BAUD2URB(115200))
+
+  BAUD2UBR is hardware specific, however. Furthermore, for the sky
+  platform it's typically defined with #include "dev/uart1.h" (see
+  rpl-boarder-router/slip-bridge.c), a sky specific file. dev/uart1.h
+  includes msp430.h which includes the sky contiki-conf.h which
+  defines BAUD2UBR.
+
+  To me, the correct think to pass is simply the baudrate and have the
+  hardware specific conversion happen inside slip_arch_init. 
+
+  Notably, most implementations just ignore the passed parameter
+  anyway. (except AVR)
+  
+ */
+
+#ifndef DEV_UART1_H
+#define DEV_UART1_H
+
+#define BAUD2UBR(x) x
+
+#endif

cpu/avr/radio/rf230bb/atmega128rfa1_registermap.h

@@ -73,6 +73,12 @@
 #define RG_CSMA_BE            CSMA_BE
 #define RG_CSMA_SEED_0        CSMA_SEED_0
 #define RG_PHY_RSSI           PHY_RSSI
+#define SR_CCA_MODE           0x08, 0x60, 5
+//#define SR_CCA_CS_THRES       0x09, 0xf0, 4
+#define SR_CCA_ED_THRES        0x09, 0x0f, 0
+#define SR_CCA_REQUEST         0x08, 0x80, 7
+#define SR_CCA_DONE            0x01, 0x80, 7
+#define SR_CCA_STATUS          0x01, 0x40, 6
 
 
 /* RF230 register assignments, for reference */

cpu/avr/radio/rf230bb/rf230bb.c

@@ -148,9 +148,12 @@ struct timestamp {
 #if RADIOSTATS
 uint16_t RF230_sendpackets,RF230_receivepackets,RF230_sendfail,RF230_receivefail;
 #endif
+
+#if RADIOCALIBRATE
 /* Set in clock.c every 256 seconds */
 uint8_t rf230_calibrate;
-uint8_t rf230_calibrated; //debugging
+uint8_t rf230_calibrated; //for debugging, prints from main loop when calibration occurs
+#endif
 
 /* Track flow through driver, see contiki-raven-main.c for example of use */
 //#define DEBUGFLOWSIZE 64
@@ -206,8 +209,7 @@ static int rf230_receiving_packet(void);
 static int pending_packet(void);
 static int rf230_cca(void);
 
-signed char rf230_last_rssi;
+uint8_t rf230_last_correlation,rf230_last_rssi,rf230_smallest_rssi;
-uint8_t rf230_last_correlation;
 
 const struct radio_driver rf230_driver =
   {
@@ -700,6 +702,27 @@ rf230_init(void)
     PRINTF("rf230: Unsupported manufacturer ID %u\n",tmanu);
 
   PRINTF("rf230: Version %u, ID %u\n",tvers,tmanu);
+  
+  rf230_warm_reset();
+ 
+ /* Start the packet receive process */
+  process_start(&rf230_process, NULL);
+ 
+ /* Leave radio in on state (?)*/
+  on();
+
+  return 1;
+}
+/*---------------------------------------------------------------------------*/
+/* Used to reinitialize radio parameters without losing pan and mac address, channel, power, etc. */
+void rf230_warm_reset(void) {
+#if RF230_CONF_SNEEZER && JACKDAW
+  /* Take jackdaw radio out of test mode */
+#warning Manipulating PORTB pins for RF230 Sneezer mode!
+  PORTB &= ~(1<<7);
+  DDRB  &= ~(1<<7);
+#endif
+  
   hal_register_write(RG_IRQ_MASK, RF230_SUPPORTED_INTERRUPT_MASK);
 
   /* Set up number of automatic retries 0-15 (0 implies PLL_ON sends instead of the extended TX_ARET mode */
@@ -711,6 +734,24 @@ rf230_init(void)
   hal_register_write(RG_CSMA_SEED_0,hal_register_read(RG_PHY_RSSI) );//upper two RSSI reg bits RND_VALUE are random in rf231
  // hal_register_write(CSMA_SEED_1,42 );
 
+  /* CCA Mode Mode 1=Energy above threshold  2=Carrier sense only  3=Both 0=Either (RF231 only) */
+//hal_subregister_write(SR_CCA_MODE,1);  //1 is the power-on default
+
+  /* Carrier sense threshold (not implemented in RF230 or RF231) */
+// hal_subregister_write(SR_CCA_CS_THRES,1);
+
+  /* CCA energy threshold = -91dB + 2*SR_CCA_ED_THRESH. Reset defaults to -77dB */
+  /* Use RF230 base of -91;  RF231 base is -90 according to datasheet */
+#if RF230_CONF_CCA_THRES < -91
+#warning RF230_CONF_CCA_THRES below hardware limit, setting to -91dBm
+  hal_subregister_write(SR_CCA_ED_THRES,0);  
+#elif RF230_CONF_CCA_THRES > -61
+#warning RF230_CONF_CCA_THRES above hardware limit, setting to -61dBm
+  hal_subregister_write(SR_CCA_ED_THRES,15);  
+#else
+  hal_subregister_write(SR_CCA_ED_THRES,(RF230_CONF_CCA_THRES+91)/2);  
+#endif
+
   /* Use automatic CRC unless manual is specified */
 #if RF230_CONF_CHECKSUM
   hal_subregister_write(SR_TX_AUTO_CRC_ON, 0);
@@ -718,19 +759,10 @@ rf230_init(void)
   hal_subregister_write(SR_TX_AUTO_CRC_ON, 1);
 #endif
 
-  /* Start the packet receive process */
-  process_start(&rf230_process, NULL);
-
 /* Limit tx power for testing miniature Raven mesh */
 #ifdef RF230_MAX_TX_POWER
   set_txpower(RF230_MAX_TX_POWER);  //0=3dbm 15=-17.2dbm
 #endif
-
-  /* Leave radio in on state (?)*/
-  on();
-
-  
-  return 1;
 }
 /*---------------------------------------------------------------------------*/
 static uint8_t buffer[RF230_MAX_TX_FRAME_LENGTH+AUX_LEN];
@@ -758,6 +790,7 @@ rf230_transmit(unsigned short payload_len)
  //   delay_us(TIME_SLEEP_TO_TRX_OFF);
     RF230_sleeping=0;
   } else {
+#if RADIOCALIBRATE
   /* If on, do periodic calibration. See clock.c */
     if (rf230_calibrate) {
       hal_subregister_write(SR_PLL_CF_START,1);   //takes 80us max
@@ -766,6 +799,7 @@ rf230_transmit(unsigned short payload_len)
       rf230_calibrated=1;
       delay_us(80); //?
     }
+#endif
   }
  
   /* Wait for any previous operation or state transition to finish */
@@ -878,7 +912,6 @@ rf230_transmit(unsigned short payload_len)
   }
 
   RELEASE_LOCK();
-
   if (tx_result==1) {               //success, data pending from adressee
     tx_result=0;                    //Just show success?
   } else if (tx_result==3) {        //CSMA channel access failure
@@ -1327,6 +1360,10 @@ if (RF230_receive_on) {
 #endif
 #endif /* speed vs. generality */
 
+  /* Save the smallest rssi. The display routine can reset by setting it to zero */
+  if ((rf230_smallest_rssi==0) || (rf230_last_rssi<rf230_smallest_rssi))
+     rf230_smallest_rssi=rf230_last_rssi;
+
  //   rf230_last_correlation = rxframe[rxframe_head].lqi;
     packetbuf_set_attr(PACKETBUF_ATTR_RSSI, rf230_last_rssi);
     packetbuf_set_attr(PACKETBUF_ATTR_LINK_QUALITY, rf230_last_correlation);
@@ -1446,9 +1483,17 @@ rf230_cca(void)
     rf230_on();
   }
 
- // cca = CCA_IS_1;
   DEBUGFLOW('c');
-  cca=1;
+  /* CCA Mode Mode 1=Energy above threshold  2=Carrier sense only  3=Both 0=Either (RF231 only) */
+  /* Use the current mode. Note triggering a manual CCA is not recommended in extended mode */
+//hal_subregister_write(SR_CCA_MODE,1);
+
+  /* Start the CCA, wait till done, return result */
+  hal_subregister_write(SR_CCA_REQUEST,1);
+  delay_us(TIME_CCA);
+//while ((hal_register_read(RG_TRX_STATUS) & 0x80) == 0 ) {continue;}
+  while (!hal_subregister_read(SR_CCA_DONE)) {continue;}
+  cca=hal_subregister_read(SR_CCA_STATUS);
   
   if(radio_was_off) {
     rf230_off();
@@ -1476,4 +1521,46 @@ pending_packet(void)
   return pending;
 }
 /*---------------------------------------------------------------------------*/
+#if RF230_CONF_SNEEZER && JACKDAW
+/* See A.2 in the datasheet for the sequence needed.
+ * This version for RF230 only, hence Jackdaw.
+ * A full reset seems not necessary and allows keeping the pan address, etc.
+ * for an easy reset back to network mode.
+ */
+void rf230_start_sneeze(void) {
+//write buffer with random data for uniform spectral noise
 
+//uint8_t txpower = hal_register_read(0x05);  //save auto_crc bit and power
+//  hal_set_rst_low();
+//  hal_set_slptr_low();
+//  delay_us(TIME_RESET);
+//  hal_set_rst_high();
+    hal_register_write(0x0E, 0x01);
+    hal_register_write(0x02, 0x03);
+    hal_register_write(0x03, 0x10);
+ // hal_register_write(0x08, 0x20+26);    //channel 26
+    hal_subregister_write(SR_CCA_MODE,1); //leave channel unchanged
+
+ // hal_register_write(0x05, 0x00);       //output power maximum
+    hal_subregister_write(SR_TX_AUTO_CRC_ON, 0);  //clear AUTO_CRC, leave output power unchanged
+ 
+    hal_register_read(0x01);             //should be trx-off state=0x08  
+    hal_frame_write(buffer, 127);        //maximum length, random for spectral noise 
+
+    hal_register_write(0x36,0x0F);       //configure continuous TX
+    hal_register_write(0x3D,0x00);       //Modulated frame, other options are:
+//  hal_register_write(RG_TX_2,0x10);    //CW -2MHz
+//  hal_register_write(RG_TX_2,0x80);    //CW -500KHz
+//  hal_register_write(RG_TX_2,0xC0);    //CW +500KHz
+
+    DDRB  |= 1<<7;                       //Raven USB stick has PB7 connected to the RF230 TST pin.   
+    PORTB |= 1<<7;                       //Raise it to enable continuous TX Test Mode.
+
+    hal_register_write(0x02,0x09);       //Set TRX_STATE to PLL_ON
+    delay_us(TIME_TRX_OFF_TO_PLL_ACTIVE);
+    delay_us(TIME_PLL_LOCK);
+    delay_us(TIME_PLL_LOCK);
+ // while (hal_register_read(0x0f)!=1) {continue;}  //wait for pll lock-hangs
+    hal_register_write(0x02,0x02);       //Set TRX_STATE to TX_START
+}
+#endif

cpu/avr/radio/rf230bb/rf230bb.h

@@ -202,6 +202,8 @@ typedef void (*radio_rx_callback) (uint16_t data);
 const struct radio_driver rf230_driver;
 
 int rf230_init(void);
+void rf230_warm_reset(void);
+void rf230_start_sneeze(void);
 //int rf230_on(void);
 //int rf230_off(void);
 void rf230_set_channel(uint8_t channel);
@@ -214,8 +216,7 @@ uint8_t rf230_get_txpower(void);
 void rf230_set_promiscuous_mode(bool isPromiscuous);
 bool rf230_is_ready_to_send();
 
-extern signed char rf230_last_rssi;
+extern uint8_t rf230_last_correlation,rf230_last_rssi,rf230_smallest_rssi;
-extern uint8_t rf230_last_correlation;
 
 uint8_t rf230_get_raw_rssi(void);
 

cpu/avr/watchdog.c

@@ -28,45 +28,92 @@
  *
  * This file is part of the Contiki operating system.
  *
- * @(#)$Id: watchdog.c,v 1.3 2010/12/18 20:51:11 dak664 Exp $
  */
 
- /* Dummy watchdog routines for the Raven 1284p */
+/* Watchdog routines for the AVR */
+
+/* The default timeout of 2 seconds works on most MCUs.
+ * It should be disabled during sleep (unless used for wakeup) since
+ * it draws significant current (~5 uamp on 1284p, 20x the MCU consumption).
+ *
+ * Note the wdt is not properly simulated in AVR Studio 4 Simulator 1:
+ *   On many devices calls to wdt_reset will have no effect, and a wdt reboot will occur.
+ *   The MCUSR will not show the cause of a wdt reboot.
+ *   A 1MHz clock is assumed; at 8MHz timeout occurs 8x faster than it should.
+ * Simulator 2 is supposed to work on supported devices (not atmega128rfa1),
+ * but neither it nor Studio 5 beta do any resets on the 1284p.
+ *
+ * Setting WATCHDOG_CONF_TIMEOUT -1 will disable the WDT.
+ */
+//#define WATCHDOG_CONF_TIMEOUT -1
+
+#ifndef WATCHDOG_CONF_TIMEOUT
+#define WATCHDOG_CONF_TIMEOUT WDTO_2S
+#endif
+
+ /* While balancing start and stop calls is a good idea, an imbalance will cause
+  * resets that can take a lot of time to track down.
+  * Some low power protocols may cause this.
+  * The default is no balance; define WATCHDOG_CONF_BALANCE 1 to override.
+  */
+#ifndef WATCHDOG_CONF_BALANCE
+#define WATCHDOG_CONF_BALANCE 0
+#endif
+
 #include "dev/watchdog.h"
 #include <avr/wdt.h>
 #include <avr/interrupt.h>
 
+#if WATCHDOG_CONF_BALANCE && WATCHDOG_CONF_TIMEOUT >= 0
 static int stopped = 0;
+#endif
 
 /*---------------------------------------------------------------------------*/
 void
 watchdog_init(void)
 {
+/*  Clear startup bit and disable the wdt, whether or not it will be used.
+    Random code may have caused the last reset.
+ */
 	MCUSR&=~(1<<WDRF);
-	stopped = 0;
+    wdt_disable();
-	watchdog_stop();
+#if WATCHDOG_CONF_BALANCE && WATCHDOG_CONF_TIMEOUT >= 0
+	stopped = 1;
+#endif
 }
 /*---------------------------------------------------------------------------*/
 void
 watchdog_start(void)
 {
+#if WATCHDOG_CONF_TIMEOUT >= 0
+#if WATCHDOG_CONF_BALANCE
 	stopped--;
-//	if(!stopped)
+	if(!stopped)
-		wdt_enable(WDTO_2S);
+#endif
+		wdt_enable(WATCHDOG_CONF_TIMEOUT);
+#endif  
 }
 /*---------------------------------------------------------------------------*/
 void
 watchdog_periodic(void)
 {
-//	if(!stopped)
+#if WATCHDOG_CONF_TIMEOUT >= 0
+#if WATCHDOG_CONF_BALANCE
+	if(!stopped)
+#endif
 		wdt_reset();
+#endif
 }
 /*---------------------------------------------------------------------------*/
 void
 watchdog_stop(void)
 {
-//	stopped++;
+#if WATCHDOG_CONF_TIMEOUT >= 0
+#if WATCHDOG_CONF_BALANCE
+	stopped++;
+#endif
 	wdt_disable();
+#endif
 }
 /*---------------------------------------------------------------------------*/
 void
@@ -77,3 +124,9 @@ watchdog_reboot(void)
 	while(1); //loop
 }
 /*---------------------------------------------------------------------------*/
+#if 0
+/* Not all AVRs implement the wdt interrupt */
+ISR(WDT_vect)
+{
+}
+#endif

cpu/mc1322x/Makefile.mc1322x

@@ -72,7 +72,12 @@ CUSTOM_RULE_C_TO_O=yes
 CFLAGS += -I$(OBJECTDIR) -I$(CONTIKI_CPU)/board -DBOARD=$(TARGET)
 
 $(OBJECTDIR)/board.h: $(OBJECTDIR) 
+ifneq (,$(findstring Windows,$(OS)))
+	${info Cygwin detected.}
+	ln -f $(CONTIKI_CPU)/board/$(TARGET).h $(OBJECTDIR)/board.h
+else
 	ln -sf ../$(CONTIKI_CPU)/board/$(TARGET).h $(OBJECTDIR)/board.h
+endif
 
 
 $(OBJECTDIR)/isr.o: $(CONTIKI_CPU)/src/isr.c
@@ -85,8 +90,6 @@ $(OBJECTDIR)/%.o: %.c
 	$(CC) $(CFLAGS) $(THUMB_FLAGS) -c $< -o $@
 
 CUSTOM_RULE_S_TO_OBJECTDIR_O = yes
-%.o: %.S
-	$(CC) $(CFLAGS) $(AFLAGS) $(ARM_FLAGS) $< -c
 
 $(OBJECTDIR)/%.o: %.S
 	$(CC) $(CFLAGS) $(AFLAGS) $(ARM_FLAGS) $< -c  -o $@

cpu/mc1322x/lib/adc.c

@@ -0,0 +1,138 @@
+/*
+ * Copyright (c) 2010, Mariano Alvira <mar@devl.org> and other contributors
+ * to the MC1322x project (http://mc1322x.devl.org)
+ * 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 libmc1322x: see http://mc1322x.devl.org
+ * for details.
+ *
+ *
+ */
+
+#include <stdint.h>
+#include "crm.h"
+#include "adc.h"
+#include "gpio-util.h"
+
+//#define ADC_CHANS_ENABLED 0x3F // channels 0-5 enabled
+//#define ADC_CHANS_ENABLED 0x7E // channels 1-6 enabled
+//#define ADC_CHANS_ENABLED (1 << 6) // only channel 6 enabled
+#define ADC_CHANS_ENABLED 0x1FF // all channels, including battery reference voltage
+
+//#define ADC_PRESCALE_VALUE 24 // divide by 24 for 1MHz.
+
+#define ADC_SAMPLE_FREQ 400 // Hz (minimum of ~366.21 Hz)
+#define ADC_PRESCALE_VALUE (REF_OSC / ADC_SAMPLE_FREQ)
+
+#define ADC_USE_TIMER      0
+#define ADC_USE_INTERRUPTS 0 // incomplete support
+
+uint16_t adc_reading[NUM_ADC_CHAN];
+
+void ADC_flush(void) {
+	while(ADC->FIFO_STATUSbits.EMPTY == 0) ADC->FIFO_READ;
+}
+
+uint16_t ADC_READ(void) {
+	while(ADC->FIFO_STATUSbits.EMPTY); // loop while empty
+	return ADC->FIFO_READ; // upper 4 bits are channel number
+}
+
+
+void adc_service(void) {
+	uint16_t value;
+	uint8_t channel;
+	while (ADC->FIFO_STATUSbits.EMPTY == 0) {
+		value = ADC->FIFO_READ;
+		channel = value >> 12;
+		if (channel < NUM_ADC_CHAN) adc_reading[channel] = value & 0xFFF;
+	}
+}
+
+void adc_init(void) {
+	uint8_t n;
+
+	ADC->CLOCK_DIVIDER = 80;       // 300 KHz
+	ADC->PRESCALE      = ADC_PRESCALE_VALUE - 1;       // divide by 24 for 1MHz.
+
+	ADC->CONTROL       = 1;
+
+	// The ON-TIME must always be 10µs or greater - typical On-Time value = 0x000A (10dec)
+	ADC->ON_TIME       = 10;
+
+	/*
+	NOTE
+	The ADC analog block requires 6 ADC_Clocks per conversion, and the
+	ADC_Clock must 300kHz or less. With 6 clocks/conversion and a 33.33µs
+	clock period:
+	* The ADC convert time must always be 20µs or greater
+	* If the ADC_Clock is a frequency lower than 300kHz, the convert time
+	must always be 6 ADC_Clock periods or greater
+	* For override mode, extend convert time to 40µs minimum or greater
+	For the convert time:
+	* This delay is a function of the Prescale Clock (typically 1 MHz)
+	* The register must be initialized for proper operation
+	* For a 20µs convert time with 1MHz, value = 0x0014 (20dec)
+	* If convert time is insufficient, inaccurate sample data will result
+	*/
+	ADC->CONVERT_TIME  = 1000000 / (115200 / 8) - 1;
+
+	ADC->MODE          = 0;        // Automatic
+
+#if ADC_USE_INTERRUPTS
+	ADC->FIFO_CONTROL  = 7;
+#else
+	ADC->FIFO_CONTROL  = 0;
+#endif
+
+#if ADC_USE_TIMER
+	ADC->SR_1_HIGH       = 0x0000;
+	ADC->SR_1_LOW        = (REF_OSC / ADC_PRESCALE_VALUE) / (115200 / 8) + 1;
+#endif
+
+	ADC->SEQ_1         = 0
+#if ADC_USE_TIMER
+		| (1 << 15) // sequence based on Timer 1.
+#else
+		| (0 << 15) // sequence based on convert time.
+#endif
+		| ADC_CHANS_ENABLED;
+
+	ADC->CONTROL       = 0xF001
+//#if ADC_USE_TIMER
+		| (1 << 1) // Timer 1 enable
+//#endif
+	;
+	ADC->OVERRIDE     = (1 << 8);
+
+	for (n=0; n<=8; n++) {
+		if ((ADC_CHANS_ENABLED >> n) & 1) {
+			gpio_select_function(30 + n, 1); // Function 1 = ADC
+			gpio_set_pad_dir(30 + n, PAD_DIR_INPUT);
+		}
+	}
+}

cpu/mc1322x/lib/gpio-util.c

@@ -0,0 +1,63 @@
+
+#include <mc1322x.h>
+#include <board.h>
+
+#include "gpio-util.h"
+
+void gpio_select_function(uint8_t gpio, uint8_t func) {
+	uint32_t mask = 3;
+	uint8_t major, minor, shift;
+	volatile uint32_t *base = GPIO_FUNC_SEL0;
+	uint32_t value;
+	major = gpio >> 4;
+	minor = gpio & 0xF;
+	shift = 2 * minor;
+
+	value = base[major];
+	value &= ~(mask << shift);
+	value |= (func << shift);
+	base[major] = value;
+}
+
+void gpio_reg_set(volatile uint32_t* reg, uint8_t bit) {
+	uint8_t major, minor;
+	major = bit / 32;
+	minor = bit % 32;
+	*(reg + major) |= (1UL << minor);
+}
+
+void gpio_reg_clear(volatile uint32_t* reg, uint8_t bit) {
+	uint8_t major, minor;
+	major = bit / 32;
+	minor = bit % 32;
+	*(reg + major) &= ~(1UL << minor);
+}
+
+void gpio_set_pad_dir(uint8_t gpio, uint8_t dir) {
+	uint8_t major, minor;
+	major = gpio / 32;
+	minor = gpio % 32;
+	if (dir) gpio_reg_set(GPIO_PAD_DIR0 + major, minor);
+	else     gpio_reg_clear(GPIO_PAD_DIR0 + major, minor);
+}
+
+void gpio_set(uint8_t gpio) {
+	uint8_t major, minor;
+	major = gpio / 32;
+	minor = gpio % 32;
+	*(GPIO_DATA_SET0 + major) = (1UL << minor);
+}
+
+void gpio_reset(uint8_t gpio) {
+	uint8_t major, minor;
+	major = gpio / 32;
+	minor = gpio % 32;
+	*(GPIO_DATA_RESET0 + major) = (1UL << minor);
+}
+
+bool gpio_read(uint8_t gpio) {
+	uint8_t major, minor;
+	major = gpio / 32;
+	minor = gpio % 32;
+	return (*(GPIO_DATA0 + major) >> minor) & 1;
+}

cpu/mc1322x/lib/include/adc.h

@@ -0,0 +1,164 @@
+/*
+ * Copyright (c) 2010, Mariano Alvira <mar@devl.org> and other contributors
+ * to the MC1322x project (http://mc1322x.devl.org)
+ * 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 libmc1322x: see http://mc1322x.devl.org
+ * for details.
+ *
+ *
+ */
+
+#ifndef ADC_H
+#define ADC_H
+
+#include <stdint.h>
+#include "utils.h"
+
+/* ADC registers are all 16-bit wide with 16-bit access only */
+#define ADC_BASE        (0x8000D000)
+
+/* Structure-based register definitions */
+
+struct ADC_struct {
+	union {
+		uint16_t COMP[8];
+		struct {
+			uint16_t COMP_0;
+			uint16_t COMP_1;
+			uint16_t COMP_2;
+			uint16_t COMP_3;
+			uint16_t COMP_4;
+			uint16_t COMP_5;
+			uint16_t COMP_6;
+			uint16_t COMP_7;
+		};
+	};
+	uint16_t BAT_COMP_OVER;
+	uint16_t BAT_COMP_UNDER;
+	union {
+		uint16_t SEQ_1;
+		struct ADC_SEQ_1 {
+			uint16_t CH0:1;
+			uint16_t CH1:1;
+			uint16_t CH2:1;
+			uint16_t CH3:1;
+			uint16_t CH4:1;
+			uint16_t CH5:1;
+			uint16_t CH6:1;
+			uint16_t CH7:1;
+			uint16_t BATT:1;
+			uint16_t :6;
+			uint16_t SEQ_MODE:1;
+		} SEQ_1bits;
+	};
+	union {
+		uint16_t SEQ_2;
+		struct ADC_SEQ_2 {
+			uint16_t CH0:1;
+			uint16_t CH1:1;
+			uint16_t CH2:1;
+			uint16_t CH3:1;
+			uint16_t CH4:1;
+			uint16_t CH5:1;
+			uint16_t CH6:1;
+			uint16_t CH7:1;
+			uint16_t :7;
+			uint16_t SEQ_MODE:1;
+		} SEQ_2bits;
+	};
+	union {
+		uint16_t CONTROL;
+		struct ADC_CONTROL {
+			uint16_t ON:1;
+			uint16_t TIMER1_ON:1;
+			uint16_t TIMER2_ON:1;
+			uint16_t SOFT_RESET:1;
+			uint16_t AD1_FREFHL_EN:1;
+			uint16_t AD2_VREFHL_EN:1;
+			uint16_t :6;
+			uint16_t COMPARE_IRQ_MASK:1;
+			uint16_t SEQ1_IRQ_MASK:1;
+			uint16_t SEQ2_IRQ_MASK:1;
+			uint16_t FIFO_IRQ_MASK:1;
+		} CONTROLbits;
+	};
+	uint16_t TRIGGERS;
+	uint16_t PRESCALE;
+	uint16_t reserved1;
+	uint16_t FIFO_READ;
+	uint16_t FIFO_CONTROL;
+	union {
+		uint16_t FIFO_STATUS;
+		struct ADC_FIFO_STATUS {
+			uint16_t LEVEL:4;
+			uint16_t FULL:1;
+			uint16_t EMPTY:1;
+			uint16_t :10;
+		} FIFO_STATUSbits;
+	};
+	uint16_t reserved2[5];
+	uint16_t SR_1_HIGH;
+	uint16_t SR_1_LOW;
+	uint16_t SR_2_HIGH;
+	uint16_t SR_2_LOW;
+	uint16_t ON_TIME;
+	uint16_t CONVERT_TIME;
+	uint16_t CLOCK_DIVIDER;
+	uint16_t reserved3;
+	union {
+		uint16_t OVERRIDE;
+		struct ADC_OVERRIDE {
+			uint16_t MUX1:4;
+			uint16_t MUX2:4;
+			uint16_t AD1_ON:1;
+			uint16_t AD2_ON:1;
+			uint16_t :6;
+		} OVERRIDEbits;
+	};
+	uint16_t IRQ;
+	uint16_t MODE;
+	uint16_t RESULT_1;
+	uint16_t RESULT_2;
+};
+
+static volatile struct ADC_struct * const ADC = (void *) (ADC_BASE);
+
+#define NUM_ADC_CHAN 9
+
+#define adc_enable()  (ADC->CONTROLbits.ON = 1)
+#define adc_disable() (ADC->CONTROLbits.ON = 0)
+#define adc_select_channels(chans) (ADC->SEQ_1 = (ADC->SEQ_1 & 0xFE00) | chans)
+
+extern uint16_t adc_reading[NUM_ADC_CHAN];
+void ADC_flush(void);
+uint16_t ADC_READ(void);
+void read_scanners(void);
+void adc_init(void);
+void adc_service(void);
+
+#endif

cpu/mc1322x/lib/include/asm.h

@@ -0,0 +1,116 @@
+/*
+ * Copyright (c) 2010, Mariano Alvira <mar@devl.org> and other contributors
+ * to the MC1322x project (http://mc1322x.devl.org)
+ * 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 libmc1322x: see http://mc1322x.devl.org
+ * for details. 
+ *
+ *
+ */
+
+#ifndef ASM_H
+#define ASM_H
+
+/* Structure-based register definitions */
+/* Example use:
+        ASM->KEY0 = 0xaabbccdd;
+	ASM->CONTROL1bits = (struct ASM_CONTROL1) {
+	         .MASK_IRQ = 1,
+		 .CBC = 1,
+	};
+	ASM->CONTROL1bits.SELF_TEST = 1;
+*/
+
+struct ASM_struct {
+	uint32_t KEY0;
+	uint32_t KEY1;
+	uint32_t KEY2;
+	uint32_t KEY3;
+	uint32_t DATA0;
+	uint32_t DATA1;
+	uint32_t DATA2;
+	uint32_t DATA3;
+	uint32_t CTR0;
+	uint32_t CTR1;
+	uint32_t CTR2;
+	uint32_t CTR3;
+	uint32_t CTR0_RESULT;
+	uint32_t CTR1_RESULT;
+	uint32_t CTR2_RESULT;
+	uint32_t CTR3_RESULT;
+	uint32_t CBC0_RESULT;
+	uint32_t CBC1_RESULT;
+	uint32_t CBC2_RESULT;
+	uint32_t CBC3_RESULT;
+
+	union {
+		uint32_t CONTROL0;
+		struct ASM_CONTROL0 {
+		        uint32_t :24;
+			uint32_t START:1;
+			uint32_t CLEAR:1;
+			uint32_t LOAD_MAC:1;
+       		        uint32_t :4;
+			uint32_t CLEAR_IRQ:1;
+		} CONTROL0bits;
+	};
+	union {
+		uint32_t CONTROL1;
+		struct ASM_CONTROL1 {
+			uint32_t ON:1;
+			uint32_t NORMAL_MODE:1;
+			uint32_t BYPASS:1;
+		        uint32_t :21;
+			uint32_t CBC:1;
+			uint32_t CTR:1;
+			uint32_t SELF_TEST:1;
+		        uint32_t :4;
+			uint32_t MASK_IRQ:1;
+		} CONTROL1bits;
+	};
+	union {
+		uint32_t STATUS;
+		struct ASM_STATUS {
+   		        uint32_t :24;
+			uint32_t DONE:1;
+			uint32_t TEST_PASS:1;
+		        uint32_t :6;
+		} STATUSbits;
+	};
+
+	uint32_t reserved;
+
+	uint32_t MAC0;
+	uint32_t MAC1;
+	uint32_t MAC2;
+	uint32_t MAC3;
+};
+
+static volatile struct ASM_struct * const ASM = (void *) (0x80008000);
+
+#endif

cpu/mc1322x/lib/include/crm.h

@@ -220,6 +220,11 @@ struct CRM_struct {
 
 static volatile struct CRM_struct * const CRM = (void *) (CRM_BASE);
 
+/* COP watchdog timer helpers */
+
+/* set the cop timout in milliseconds */
+#define cop_timeout_ms(x) (CRM->COP_CNTLbits.COP_TIMEOUT = x/87) 
+#define cop_service() (CRM->COP_SERVICE = 0xc0de5afe)
 
 /* Old register definitions, for compatibility */
 #ifndef REG_NO_COMPAT

cpu/mc1322x/lib/include/gpio-util.h

@@ -0,0 +1,28 @@
+
+#ifndef GPIO_UTIL_H
+#define GPIO_UTIL_H
+
+#include <stdbool.h>
+#include <stdint.h>
+
+void gpio_select_function(uint8_t gpio, uint8_t func);
+void gpio_reg_set(volatile uint32_t* reg, uint8_t bit);
+void gpio_reg_clear(volatile uint32_t* reg, uint8_t bit);
+
+#define PAD_DIR_INPUT 0
+#define PAD_DIR_OUTPUT 1
+void gpio_set_pad_dir(uint8_t gpio, uint8_t dir);
+
+#undef gpio_set
+#undef gpio_reset
+#undef gpio_read
+
+//#define gpio_set gpio_set_ian
+//#define gpio_reset gpio_reset_ian
+//#define gpio_read gpio_read_ian
+
+void gpio_set(uint8_t gpio);
+void gpio_reset(uint8_t gpio);
+bool gpio_read(uint8_t gpio);
+
+#endif

cpu/mc1322x/lib/include/isr.h

@@ -166,5 +166,7 @@ extern void uart1_isr(void) __attribute__((weak));
 
 extern void maca_isr(void) __attribute__((weak));
 
+extern void asm_isr(void) __attribute__((weak));
+
 
 #endif

cpu/mc1322x/lib/include/maca.h

@@ -121,8 +121,8 @@ enum {
 #define LFSR            6                    /* 1 use polynomial for Turbolink */
 #define TM              5
 
-#define MODE            3
+#define MACA_MODE       3
-#define MODE_MASK       bit_mask(2,MODE)
+#define MODE_MASK       bit_mask(2,MACA_MODE)
 #define NO_CCA          0
 #define NO_SLOT_CCA     1
 #define SLOT_CCA        2

cpu/mc1322x/lib/include/mc1322x.h

@@ -46,5 +46,6 @@
 #include "packet.h"
 #include "uart1.h"
 #include "utils.h"
+#include "asm.h"
 
 #endif

cpu/mc1322x/lib/include/pwm.h

@@ -0,0 +1,67 @@
+/*
+ * Copyright (c) 2010, Mariano Alvira <mar@devl.org> and other contributors
+ * to the MC1322x project (http://mc1322x.devl.org)
+ * 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 libmc1322x: see http://mc1322x.devl.org
+ * for details.
+ *
+ *
+ */
+
+#ifndef PWM_H
+#define PWM_H
+
+/* Initialize PWM output.
+   timer_num = 0, 1, 2, 3
+   rate = desired rate in Hz,
+   duty = desired duty cycle.  0=always off, 65536=always on.
+   enable_timer = whether to actually run the timer, versus just configuring it
+   Returns actual PWM rate. */
+uint32_t pwm_init_ex(int timer_num, uint32_t rate, uint32_t duty, int enable_timer);
+
+/* Initialize PWM output, helper macros
+   timer = TMR0, TMR1, TMR2, TMR2
+   rate = desired rate in Hz,
+   duty = desired duty cycle.  0=always off, 65536=always on.
+   Returns actual PWM rate. */
+#define pwm_init(timer,rate,duty) pwm_init_ex(TMR_NUM(timer), rate, duty, 1)
+#define pwm_init_stopped(timer,rate,duty) pwm_init_ex(TMR_NUM(timer), rate, duty, 0)
+
+/* Change duty cycle.  Safe to call at any time.
+   timer_num = 0, 1, 2, 3
+   duty = desired duty cycle.  0=always off, 65536=always on.
+*/
+void pwm_duty_ex(int timer_num, uint32_t duty);
+
+/* Change duty cycle.  Safe to call at any time.
+   timer = TMR0, TMR1, TMR2, TMR2
+   duty = desired duty cycle.  0=always off, 65536=always on.
+*/
+#define pwm_duty(timer,duty) pwm_duty_ex(TMR_NUM(timer), duty)
+
+#endif

cpu/mc1322x/lib/include/rtc.h

@@ -0,0 +1,57 @@
+/*
+ * Copyright (c) 2010, Mariano Alvira <mar@devl.org> and other contributors
+ * to the MC1322x project (http://mc1322x.devl.org)
+ * 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 libmc1322x: see http://mc1322x.devl.org
+ * for details.
+ *
+ *
+ */
+
+#ifndef RTC_H
+#define RTC_H
+
+/* Init RTC (and calibrate, if using ring oscillator) */
+void rtc_init_osc(int use_32khz);
+
+#ifdef USE_32KHZ
+#define rtc_init() rtc_init_osc(USE_32KHZ)
+#else
+#define rtc_init() rtc_init_osc(0)
+#endif
+
+/* Calibrate the ring oscillator */
+void rtc_calibrate(void);
+
+/* Delay for the specified number of milliseconds by polling RTC */
+void rtc_delay_ms(uint32_t msec);
+
+/* Calibrated frequency of the RTC, in Hz */
+extern int rtc_freq;
+
+#endif

cpu/mc1322x/lib/maca.c

@@ -184,7 +184,7 @@ void maca_init(void) {
         /* nop, promiscuous, no cca */
 	*MACA_CONTROL =
 		(prm_mode << PRM) |
-		(NO_CCA << MODE); 
+		(NO_CCA << MACA_MODE);
 	
 	enable_irq(MACA);
 	*INTFRC = (1 << INT_NUM_MACA);
@@ -368,7 +368,9 @@ void post_receive(void) {
 			  ( 4 << PRECOUNT) |
 			  ( fcs_mode << NOFC ) |
 			  ( prm_mode << PRM) |
+#if 0 //dak says removing ctrl auto fixes the autoack checksum error --- doesn't cause a performance issue either
 			  (1 << maca_ctrl_auto) |
+#endif
 			  (maca_ctrl_seq_rx));
 	/* status bit 10 is set immediately */
         /* then 11, 10, and 9 get set */ 

cpu/mc1322x/lib/pwm.c

@@ -0,0 +1,254 @@
+/*
+ * Copyright (c) 2010, Mariano Alvira <mar@devl.org> and other contributors
+ * to the MC1322x project (http://mc1322x.devl.org)
+ * 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 libmc1322x: see http://mc1322x.devl.org
+ * for details.
+ *
+ *
+ */
+
+#include <mc1322x.h>
+#include <stdlib.h>
+#include "pwm.h"
+
+static struct {
+	uint32_t period;
+	uint32_t guard;
+	uint32_t pad_forced;
+} pwm_info[4];
+
+static inline void pad_set_output(int timer_num) { // set to output (when in GPIO mode)
+	switch (timer_num) {
+	case 0: GPIO->DATA_SEL.TMR0_PIN = 1; GPIO->PAD_DIR.TMR0_PIN = 1; break;
+	case 1: GPIO->DATA_SEL.TMR1_PIN = 1; GPIO->PAD_DIR.TMR1_PIN = 1; break;
+	case 2: GPIO->DATA_SEL.TMR2_PIN = 1; GPIO->PAD_DIR.TMR2_PIN = 1; break;
+	case 3: GPIO->DATA_SEL.TMR3_PIN = 1; GPIO->PAD_DIR.TMR3_PIN = 1; break;
+	default: break;
+	}
+}
+
+static inline void pad_set_zero(int timer_num) { // set to zero in GPIO mode
+	switch (timer_num) {
+	case 0: GPIO->DATA_RESET.TMR0_PIN = 1; GPIO->FUNC_SEL.TMR0_PIN = 0; break;
+	case 1: GPIO->DATA_RESET.TMR1_PIN = 1; GPIO->FUNC_SEL.TMR1_PIN = 0; break;
+	case 2: GPIO->DATA_RESET.TMR2_PIN = 1; GPIO->FUNC_SEL.TMR2_PIN = 0; break;
+	case 3: GPIO->DATA_RESET.TMR3_PIN = 1; GPIO->FUNC_SEL.TMR3_PIN = 0; break;
+	default: break;
+	}
+}
+
+static inline void pad_set_one(int timer_num) { // set to one in GPIO mode
+	switch (timer_num) {
+	case 0: GPIO->DATA_SET.TMR0_PIN = 1; GPIO->FUNC_SEL.TMR0_PIN = 0; break;
+	case 1: GPIO->DATA_SET.TMR1_PIN = 1; GPIO->FUNC_SEL.TMR1_PIN = 0; break;
+	case 2: GPIO->DATA_SET.TMR2_PIN = 1; GPIO->FUNC_SEL.TMR2_PIN = 0; break;
+	case 3: GPIO->DATA_SET.TMR3_PIN = 1; GPIO->FUNC_SEL.TMR3_PIN = 0; break;
+	default: break;
+	}
+}
+
+static inline void pad_set_normal(int timer_num) { // set to TMR OFLAG output
+	switch (timer_num) {
+	case 0: GPIO->FUNC_SEL.TMR0_PIN = 1; break;
+	case 1: GPIO->FUNC_SEL.TMR1_PIN = 1; break;
+	case 2: GPIO->FUNC_SEL.TMR2_PIN = 1; break;
+	case 3: GPIO->FUNC_SEL.TMR3_PIN = 1; break;
+	default: break;
+	}
+}
+
+/* Initialize PWM output.
+   timer_num = 0, 1, 2, 3
+   rate = desired rate in Hz,
+   duty = desired duty cycle.  0=always off, 65536=always on.
+   enable_timer = whether to actually run the timer, versus just configuring it
+   Returns actual PWM rate. */
+uint32_t pwm_init_ex(int timer_num, uint32_t rate, uint32_t duty, int enable_timer)
+{
+	uint32_t actual_rate;
+	volatile struct TMR_struct *timer = TMR_ADDR(timer_num);
+	int log_divisor = 0;
+	uint32_t period, guard;
+
+	/* Turn timer off */
+	TMR0->ENBL &= ~(1 << timer_num);
+
+	/* Calculate optimal rate */
+	for (log_divisor = 0; log_divisor < 8; log_divisor++)
+	{
+		int denom = (rate * (1 << log_divisor));
+		period = (REF_OSC + denom/2) / denom;
+		if (period <= 65535)
+			break;
+	}
+	if (log_divisor >= 8)
+	{
+		period = 65535;
+		log_divisor = 7;
+	}
+
+	/* Guard value (for safely changing duty cycle) should be
+	   about 32 CPU clocks.  Calculate how many timer counts that
+	   is, based on prescaler */
+	guard = 32 >> log_divisor;
+	if (guard < 2) guard = 2;
+
+	/* Period should be about 50% longer than guard */
+	if (period < ((guard * 3) / 2))
+		period = guard + 4;
+
+	/* Store period, guard, actual rate */
+	pwm_info[timer_num].period = period;
+	pwm_info[timer_num].guard = guard;
+	actual_rate = REF_OSC / (period * (1 << log_divisor));
+
+	/* Set up timer */
+	pwm_duty_ex(timer_num, duty); // sets CMPLD1, LOAD
+	timer->SCTRLbits = (struct TMR_SCTRL) {
+		.OEN = 1, 	// drive OFLAG
+	};
+	timer->CSCTRLbits = (struct TMR_CSCTRL) {
+		.CL1 = 0x01,	// Reload COMP1 when COMP1 matches
+	};
+	timer->COMP1 = timer->CMPLD1;
+	timer->CNTR = timer->LOAD;
+	timer->CTRLbits = (struct TMR_CTRL) {
+		.COUNT_MODE = 1,		// Count rising edge of primary source
+		.PRIMARY_CNT_SOURCE = 8 + log_divisor,	// Peripheral clock divided by (divisor)
+		.LENGTH = 1,			// At compare, reset to LOAD
+		.OUTPUT_MODE = 6,		// Set on COMP1, clear on rollover
+	};
+
+	pad_set_output(timer_num);
+	pad_set_normal(timer_num);
+
+	if (enable_timer) {
+		TMR0->ENBL |= (1 << timer_num);
+	}
+
+//	printf("pwm timer %d, addr %p, requested rate %d, actual rate: %d, period %d, guard %d, divisor %d\r\n",
+//		  timer_num, timer, rate, actual_rate, period, guard, 1 << log_divisor);
+
+	return actual_rate;
+}
+
+/* Change duty cycle.  Safe to call at any time.
+   timer_num = 0, 1, 2, 3
+   duty = desired duty cycle.  0=always off, 65536=always on.
+*/
+void pwm_duty_ex(int timer_num, uint32_t duty)
+{
+	uint16_t comp1, load;
+	volatile struct TMR_struct *timer = TMR_ADDR(timer_num);
+	uint32_t period = pwm_info[timer_num].period;
+
+	duty = (duty * period + 32767) / 65536;
+
+	/* We don't use the "variable PWM" mode described in the datasheet because
+	   there's no way to reliably change the duty cycle without potentially
+	   changing the period for one cycle, which will cause phase drifts.
+
+	   Instead, we use the "Set on compare, clear on rollover" output mode:
+
+	   waveform:    |_________|          |----------|
+	   counter:     0       COMP1      LOAD        65535
+
+	   The low portion of the wave is COMP1 cycles long.  The
+	   compare changes the counter to LOAD, and so the high
+	   portion is (65536 - LOAD) cycles long.
+
+	   Now, we just have to make sure we're not about to hit COMP1
+	   before we change LOAD and COMPLD1.  If (COMP1 - CNTR) is less
+	   than GUARD cycles, we wait for it to reload before changing.
+	*/
+
+	if (duty == 0) {
+		pad_set_zero(timer_num);
+		pwm_info[timer_num].pad_forced = 1;
+		return;
+	}
+
+	if (duty >= period) {
+		pad_set_one(timer_num);
+		pwm_info[timer_num].pad_forced = 1;
+		return;
+	}
+
+	if (pwm_info[timer_num].pad_forced) {
+		pad_set_normal(timer_num);
+		pwm_info[timer_num].pad_forced = 0;
+	}
+
+	comp1 = (period - duty) - 1;
+	load = (65536 - duty);
+
+	/* Disable interrupts */
+	uint32_t old_INTCNTL = ITC->INTCNTL;
+	ITC->INTCNTL = 0;
+
+	if (TMR0->ENBL & (1 << timer_num))
+	{
+		/* Timer is enabled, so use the careful approach.
+		   Implemented in ASM so we can be sure of the cycle
+		   count */
+		uint32_t tmp1, tmp2;
+		asm volatile (//".arm \n\t"
+			      "1: \n\t"
+			      "ldrh %[tmp1], %[comp] \n\t"		// load COMP1
+			      "ldrh %[tmp2], %[count] \n\t"		// load CNTR
+			      "sub %[tmp1], %[tmp1], %[tmp2] \n\t"	// subtract
+			      "lsl %[tmp1], %[tmp1], #16 \n\t"		// clear high bits
+			      "lsr %[tmp1], %[tmp1], #16 \n\t"
+			      "cmp %[tmp1], %[guard] \n\t"		// compare to GUARD
+			      "bls 1b \n\t"				// if less, goto 1
+
+			      "strh %[ld1], %[cmpld] \n\t"		// store CMPLD1
+			      "strh %[ld2], %[load] \n\t"		// store LOAD
+			      : /* out */
+				[tmp1] "=&l" (tmp1),
+				[tmp2] "=&l" (tmp2),
+				[cmpld] "=m" (timer->CMPLD1),
+				[load] "=m" (timer->LOAD)
+			      : /* in */
+				[comp] "m" (timer->COMP1),
+				[count] "m" (timer->CNTR),
+				[ld1] "l" (comp1),
+				[ld2] "l" (load),
+				[guard] "l" (pwm_info[timer_num].guard)
+			      : "memory"
+		);
+	} else {
+		/* Just set it directly, timer isn't running */
+		timer->CMPLD1 = comp1;
+		timer->LOAD = load;
+	}
+
+	/* Re-enable interrupts */
+	ITC->INTCNTL = old_INTCNTL;
+}

cpu/mc1322x/lib/rtc.c

@@ -0,0 +1,202 @@
+/*
+ * Copyright (c) 2010, Mariano Alvira <mar@devl.org> and other contributors
+ * to the MC1322x project (http://mc1322x.devl.org)
+ * 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 libmc1322x: see http://mc1322x.devl.org
+ * for details.
+ *
+ *
+ */
+
+#include <mc1322x.h>
+#include <stdlib.h>
+#include "rtc.h"
+
+/* Define USE_32KHZ in board.h to start and use the 32 KHz
+   oscillator, otherwise the 2 KHz ring oscillator is used. */
+
+int rtc_freq = 0;
+static int __use_32khz = 0;
+
+/* Init RTC */
+void rtc_init_osc(int use_32khz)
+{
+	__use_32khz = use_32khz;
+
+	if (use_32khz)
+	{
+		uint32_t old;
+
+		/* You have to hold its hand with this one */
+		/* once you start the 32KHz crystal it can only be
+		 * stopped with a reset (hard or soft). */
+
+		/* first, disable the ring osc */
+		CRM->RINGOSC_CNTLbits.ROSC_EN = 0;
+
+		/* enable the 32kHZ crystal */
+		CRM->XTAL32_CNTLbits.XTAL32_EN = 1;
+
+		/* set the XTAL32_EXISTS bit */
+		/* the datasheet says to do this after you check that RTC_COUNT
+		   is changing, but it is not correct; it needs to be set first */
+		CRM->SYS_CNTLbits.XTAL32_EXISTS = 1;
+
+		old = CRM->RTC_COUNT;
+		while (CRM->RTC_COUNT == old)
+			continue;
+
+                /* RTC has started up */
+		rtc_freq = 32000;
+	}
+	else
+	{
+		/* Enable ring osc */
+		CRM->RINGOSC_CNTLbits.ROSC_EN = 1;
+		CRM->XTAL32_CNTLbits.XTAL32_EN = 0;
+
+		/* Set default tune values from datasheet */
+		CRM->RINGOSC_CNTLbits.ROSC_CTUNE = 0x6;
+		CRM->RINGOSC_CNTLbits.ROSC_FTUNE = 0x17;
+
+		/* Trigger calibration */
+		rtc_calibrate();
+	}
+}
+
+uint32_t __rtc_try(int loading, int timeout)
+{
+	/* Total loading is
+	     ctune * 1000 fF + ftune * 160 fF
+	   ctune = 0-15
+	   ftune = 0-31
+	   max = 19960 fF
+	*/
+
+#define RTC_LOADING_MIN 0
+#define RTC_LOADING_MAX 19960
+
+	/* The fine tune covers a range larger than a single coarse
+	   step.  Check all coarse steps within the fine tune range to
+	   find the optimal CTUNE, FTUNE pairs. */
+#define CTUNE_MAX 15
+#define FTUNE_MAX 31
+#define CSTEP 1000
+#define FSTEP 160
+#define MAX_F (FSTEP*FTUNE_MAX)  /* actually lcm(CSTEP,FSTEP) would be better,
+				    but in this case it's basically the same */
+	int ctune;
+	int ftune;
+	int ctune_start = (loading - MAX_F) / CSTEP;
+	int ctune_end = loading / CSTEP;
+	int best_err = loading, best_ctune = 0, best_ftune = 0;
+
+	uint32_t count;
+
+	if (ctune_start < 0) ctune_start = 0;
+	if (ctune_end > CTUNE_MAX) ctune_end = CTUNE_MAX;
+
+	for (ctune = ctune_start; ctune <= ctune_end; ctune++)
+	{
+		int this_loading, this_err;
+
+		ftune = ((loading - (ctune * CSTEP)) + (FSTEP / 2)) / FSTEP;
+		if (ftune < 0) ftune = 0;
+		if (ftune > FTUNE_MAX) ftune = FTUNE_MAX;
+
+		this_loading = ctune * CSTEP + ftune * FSTEP;
+		this_err = abs(this_loading - loading);
+		if (this_err < best_err) {
+			best_err = this_err;
+			best_ctune = ctune;
+			best_ftune = ftune;
+		}
+	}
+
+//	printf("requested loading %d, actual loading %d\r\n", loading,
+//		  best_ctune * CSTEP + best_ftune * FSTEP);
+
+	/* Run the calibration */
+	CRM->RINGOSC_CNTLbits.ROSC_CTUNE = best_ctune;
+	CRM->RINGOSC_CNTLbits.ROSC_FTUNE = best_ftune;
+	CRM->CAL_CNTLbits.CAL_TIMEOUT = timeout;
+	CRM->STATUSbits.CAL_DONE = 1;
+	CRM->CAL_CNTLbits.CAL_EN = 1;
+	while (CRM->STATUSbits.CAL_DONE == 0)
+		continue;
+
+	/* Result should ideally be close to (REF_OSC * (timeout / 2000)) */
+	count = CRM->CAL_COUNT;
+	if (count == 0) count = 1;  /* avoid divide by zero problems */
+	return count;
+}
+
+/* Calibrate the ring oscillator */
+void rtc_calibrate(void)
+{
+	/* Just bisect a few times.  Our best tuning accuracy is about
+	   1/500 of the full scale, so doing this 8-9 times is about
+	   as accurate as we can get */
+	int i;
+	int low = RTC_LOADING_MIN, high = RTC_LOADING_MAX;
+	int mid;
+	uint32_t count;
+
+	if (__use_32khz) {
+		rtc_freq = 32000;
+		return;
+	}
+
+#define TIMEOUT 100  /* 50 msec per attempt */
+
+	for (i = 0; i < 9; i++)
+	{
+		mid = (low + high) / 2;
+		count = __rtc_try(mid, TIMEOUT);
+		// careful about overflow
+		rtc_freq = REF_OSC / ((count + TIMEOUT/2) / TIMEOUT);
+
+		if (rtc_freq > 2000)
+			low = mid;  // increase loading
+		else
+			high = mid; // decrease loading
+	}
+
+//	printf("RTC calibrated to %d Hz\r\n", rtc_freq);
+}
+
+
+/* Delay for the specified number of milliseconds by polling RTC */
+void rtc_delay_ms(uint32_t msec)
+{
+	uint32_t start;
+
+	start = CRM->RTC_COUNT;
+	while ((CRM->RTC_COUNT - start) < ((msec * rtc_freq) / 1000))
+		continue;
+}

cpu/mc1322x/mc1322x.lds

@@ -18,7 +18,7 @@ FIQ_STACK_SIZE = 256;
 SVC_STACK_SIZE = 256;
 ABT_STACK_SIZE = 16;
 UND_STACK_SIZE = 16;
-HEAP_SIZE = 1024;
+HEAP_SIZE = 4096;
 
   /* Read-only sections, merged into text segment: */
   PROVIDE (__executable_start = 0x00400000); . = 0x00400000;

cpu/mc1322x/src/isr.c

@@ -87,6 +87,9 @@ void irq(void)
 				cal_isr();
 			}
 		}
+		if(bit_is_set(pending, INT_NUM_ASM)) {
+			if(asm_isr != 0) { asm_isr(); }
+		}
 
 		*INTFRC = 0; /* stop forcing interrupts */
 

cpu/mc1322x/tests/Makefile

@@ -10,7 +10,11 @@ TARGETS := blink-red blink-green blink-blue blink-white blink-allio \
            uart1-loopback \
            tmr tmr-ints \
            sleep \
-           printf 
+           printf \
+	   asm \
+	   adc \
+	   pwm \
+           wdt
 
 # these targets are built with space reserved for variables needed by ROM services
 # this space is initialized with a rom call to rom_data_init

cpu/mc1322x/tests/adc.c

@@ -0,0 +1,63 @@
+/*
+ * Copyright (c) 2010, Mariano Alvira <mar@devl.org> and other contributors
+ * to the MC1322x project (http://mc1322x.devl.org)
+ * 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 libmc1322x: see http://mc1322x.devl.org
+ * for details.
+ *
+ *
+ */
+
+#include <mc1322x.h>
+#include <board.h>
+#include <stdio.h>
+
+#include "config.h"
+#include "adc.h"
+
+int main(void)
+{
+	uint8_t c;
+
+	trim_xtal();
+	uart1_init(INC,MOD,SAMP);
+	adc_init();
+
+	printf("adc test\r\n");
+
+	printf("\x1B[2J"); // clear screen
+
+	for(;;) {
+		printf("\x1B[H"); // cursor home
+		printf("# Value\r\n");
+		for (c=0; c<NUM_ADC_CHAN; c++) {
+			adc_service();
+			printf("%u %04u\r\n", c, adc_reading[c]);
+		}
+	}
+}

cpu/mc1322x/tests/asm.c

@@ -0,0 +1,209 @@
+/*
+ * Copyright (c) 2010, Mariano Alvira <mar@devl.org> and other contributors
+ * to the MC1322x project (http://mc1322x.devl.org)
+ * 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 libmc1322x: see http://mc1322x.devl.org
+ * for details. 
+ *
+ *
+ */
+
+#include <mc1322x.h>
+#include <board.h>
+#include <stdio.h>
+
+#include "tests.h"
+#include "config.h"
+
+void asm_isr(void) {
+	printf("asm isr\n\r");
+	ASM->CONTROL0bits.CLEAR_IRQ = 1;
+}
+
+
+void main(void) {
+	volatile int i;
+
+	/* trim the reference osc. to 24MHz */
+	trim_xtal();
+
+	uart_init(INC, MOD, SAMP);
+
+	vreg_init();
+
+	enable_irq(ASM);
+
+	print_welcome("asm");
+
+	printf("ASM Control 0: %08x\n\r", (unsigned int)ASM->CONTROL0);
+	printf("ASM Control 1: %08x\n\r", (unsigned int)ASM->CONTROL1);
+	printf("ASM Status: %08x\n\r", (unsigned int)ASM->STATUS);
+	printf("ASM Test pass: %d\n\r", ASM->STATUSbits.TEST_PASS);
+
+	/* ASM module is disabled until self-test passes */
+	printf("\n\r*** ASM self-test ***\n\r");
+	
+	ASM->CONTROL1bits.ON = 1;
+	ASM->CONTROL1bits.SELF_TEST = 1;
+	ASM->CONTROL0bits.START = 1;
+
+	/* Self test takes 3330 periph. clocks (default 24Mhz) */
+	/* to complete. This doesn't wait 3330 exactly, but should be long enough */
+
+	for(i = 0; i < 3330; i++) { continue; }
+
+	printf("ASM Test pass: %d\n\r", ASM->STATUSbits.TEST_PASS);
+
+	/* must clear the self test bit when done */
+	ASM->CONTROL1bits.SELF_TEST = 0;
+
+	
+	/* ASM starts in "BOOT" mode which uses an internal secret key
+	 * to load encrypted data from an external source */
+	/* must set to NORMAL mode */
+	ASM->CONTROL1bits.NORMAL_MODE = 1;
+
+	/* setting the bypass bit will disable the encryption */
+	/* bypass defaults to off */
+	ASM->CONTROL1bits.BYPASS = 0;
+
+	printf("\n\r*** set ASM key ***\n\r");
+	ASM->KEY0 = 0xccddeeff;
+	ASM->KEY1 = 0x8899aabb;
+	ASM->KEY2 = 0x44556677;
+	ASM->KEY3 = 0x00112233;
+
+	/* KEY registers appear to be write-only (which is a good thing) */
+	/* even though the datasheet says you can read them */
+	printf("ASM Key [3,2,1,0]       : 0x%08x%08x%08x%08x\n",
+	       (unsigned int) ASM->KEY3, 
+	       (unsigned int) ASM->KEY2, 
+	       (unsigned int) ASM->KEY1, 
+	       (unsigned int) ASM->KEY0); 
+		
+	printf("\n\r*** CTR test ***\n\r");
+	printf("Encrypt\n\r");
+	ASM->CONTROL1bits.CTR = 1;
+
+	ASM->DATA0 = 0xdeaddead;
+	ASM->DATA1 = 0xbeefbeef;
+	ASM->DATA2 = 0xfaceface;
+	ASM->DATA3 = 0x01234567;
+	
+	printf("ASM Data [3,2,1,0]      : 0x%08x%08x%08x%08x\n",
+	       (unsigned int) ASM->DATA3, 
+	       (unsigned int) ASM->DATA2, 
+	       (unsigned int) ASM->DATA1, 
+	       (unsigned int) ASM->DATA0); 
+
+	ASM->CTR0 = 0x33333333;
+	ASM->CTR1 = 0x22222222;
+	ASM->CTR2 = 0x11111111;
+	ASM->CTR3 = 0x00000000;
+	
+	printf("ASM CTR [3,2,1,0]       : 0x%08x%08x%08x%08x\n",
+	       (unsigned int) ASM->CTR3, 
+	       (unsigned int) ASM->CTR2, 
+	       (unsigned int) ASM->CTR1, 
+	       (unsigned int) ASM->CTR0);
+
+	ASM->CONTROL0bits.START = 1;
+	while(ASM->STATUSbits.DONE == 0) { continue; }
+
+	printf("ASM CTR RESULT [3,2,1,0]: 0x%08x%08x%08x%08x\n",
+	       (unsigned int) ASM->CTR3_RESULT, 
+	       (unsigned int) ASM->CTR2_RESULT, 
+	       (unsigned int) ASM->CTR1_RESULT, 
+	       (unsigned int) ASM->CTR0_RESULT);
+
+	printf("Decrypt\n\r");
+
+	ASM->DATA0 = ASM->CTR0_RESULT;
+	ASM->DATA1 = ASM->CTR1_RESULT;
+	ASM->DATA2 = ASM->CTR2_RESULT;
+	ASM->DATA3 = ASM->CTR3_RESULT;
+
+	ASM->CONTROL0bits.START = 1;
+	while(ASM->STATUSbits.DONE == 0) { continue; }
+
+	printf("ASM CTR RESULT [3,2,1,0]: 0x%08x%08x%08x%08x\n",
+	       (unsigned int) ASM->CTR3_RESULT, 
+	       (unsigned int) ASM->CTR2_RESULT, 
+	       (unsigned int) ASM->CTR1_RESULT, 
+	       (unsigned int) ASM->CTR0_RESULT);
+
+	printf("\n\r*** CBC MAC generation ***\n\r");
+
+	ASM->CONTROL1bits.CTR = 0;
+	ASM->CONTROL1bits.CBC = 1;
+
+	/* CBC is like a hash */
+	/* it doesn't use the CTR data */
+	/* the accumulated MAC is in the MAC registers */
+	/* you must use the CLEAR bit to reset the MAC state */
+
+	ASM->DATA0 = 0xdeaddead;
+	ASM->DATA1 = 0xbeefbeef;
+	ASM->DATA2 = 0xfaceface;
+	ASM->DATA3 = 0x01234567;
+
+	ASM->CONTROL0bits.CLEAR  = 1;
+
+	ASM->CONTROL0bits.START = 1;
+	while(ASM->STATUSbits.DONE == 0) { continue; }
+
+	printf("ASM CBC RESULT [3,2,1,0]: 0x%08x%08x%08x%08x\n",
+	       (unsigned int) ASM->CBC3_RESULT, 
+	       (unsigned int) ASM->CBC2_RESULT, 
+	       (unsigned int) ASM->CBC1_RESULT, 
+	       (unsigned int) ASM->CBC0_RESULT);
+
+	printf("\n\r*** CCM (CTR+CBC) ***\n\r");
+
+	ASM->CONTROL1bits.CTR = 1;
+	ASM->CONTROL1bits.CBC = 1;
+	ASM->CONTROL0bits.CLEAR  = 1;
+
+	ASM->CONTROL0bits.START = 1;
+	while(ASM->STATUSbits.DONE == 0) { continue; }
+
+	printf("ASM CTR RESULT [3,2,1,0]: 0x%08x%08x%08x%08x\n",
+	       (unsigned int) ASM->CTR3_RESULT, 
+	       (unsigned int) ASM->CTR2_RESULT, 
+	       (unsigned int) ASM->CTR1_RESULT, 
+	       (unsigned int) ASM->CTR0_RESULT);
+
+	printf("ASM CBC RESULT [3,2,1,0]: 0x%08x%08x%08x%08x\n",
+	       (unsigned int) ASM->CBC3_RESULT, 
+	       (unsigned int) ASM->CBC2_RESULT, 
+	       (unsigned int) ASM->CBC1_RESULT, 
+	       (unsigned int) ASM->CBC0_RESULT);
+
+	while(1) {		
+	}
+}

cpu/mc1322x/tests/pwm.c

@@ -0,0 +1,85 @@
+/*
+ * Copyright (c) 2010, Mariano Alvira <mar@devl.org> and other contributors
+ * to the MC1322x project (http://mc1322x.devl.org)
+ * 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 libmc1322x: see http://mc1322x.devl.org
+ * for details.
+ *
+ *
+ */
+
+#include <mc1322x.h>
+#include <board.h>
+#include <stdio.h>
+
+#include "config.h"
+#include "pwm.h"
+#include "rtc.h"
+
+int main(void) 
+{
+	int x = 32768;
+	
+	trim_xtal();
+	uart1_init(INC,MOD,SAMP);
+	rtc_init();
+	
+	printf("pwm test\r\n");
+	pwm_init_stopped(TMR0, 12000000, x);
+	pwm_init_stopped(TMR1, 12000000, x);
+	TMR0->ENBL |= TMR_ENABLE_BIT(TMR0) | TMR_ENABLE_BIT(TMR1);
+
+	for(;;) {
+		printf("duty %d = %d%%\r\n", x, ((x * 100 + 32768) / 65536));
+		switch(uart1_getc()) {
+		case '[': x -= 1; break;
+		case ']': x += 1; break;
+		case '-': x -= 32; break;
+		case '=': x += 32; break;
+		case '_': x -= 512; break;
+		case '+': x += 512; break;
+
+		case '`': x = 65535 * 0/10; break;
+		case '1': x = 65535 * 1/10; break;
+		case '2': x = 65535 * 2/10; break;
+		case '3': x = 65535 * 3/10; break;
+		case '4': x = 65535 * 4/10; break;
+		case '5': x = 65535 * 5/10; break;
+		case '6': x = 65535 * 6/10; break;
+		case '7': x = 65535 * 7/10; break;
+		case '8': x = 65535 * 8/10; break;
+		case '9': x = 65535 * 9/10; break;
+		case '0': x = 65535 * 10/10; break;
+
+		}
+		x &= 65535;
+		pwm_duty(TMR0, x);
+	}
+}
+
+

cpu/mc1322x/tests/wdt.c

@@ -0,0 +1,76 @@
+/*
+ * Copyright (c) 2010, Mariano Alvira <mar@devl.org> and other contributors
+ * to the MC1322x project (http://mc1322x.devl.org)
+ * 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 libmc1322x: see http://mc1322x.devl.org
+ * for details. 
+ *
+ *
+ */
+
+#include <mc1322x.h>
+#include <board.h>
+#include <stdio.h>
+
+#include "config.h"
+
+#define DELAY 400000
+
+#define LED GPIO_LED_RED
+
+void main(void) {	
+	volatile uint32_t i;
+
+	uart1_init(INC,MOD,SAMP);
+
+	printf("reset\n\r");
+
+	/* set the watchdog timer timeout to 1 sec */
+	cop_timeout_ms(1000);
+
+	/* enable the watchdog timer */
+	CRM->COP_CNTLbits.COP_EN = 1;
+
+	GPIO->PAD_DIR.LED = 1;
+
+	while(1) {
+		/* uncomment cop_service for normal operation */
+		//cop_service();
+
+		GPIO->DATA.LED = 1;
+		
+		for(i=0; i<DELAY; i++) { continue; }
+		
+		GPIO->DATA.LED = 0;
+
+		for(i=0; i<DELAY; i++) { continue; }
+
+	};
+
+}
+

cpu/mc1322x/tools/bin2macbin.pl

@@ -0,0 +1,82 @@
+#!/usr/bin/perl
+
+use strict;
+use File::Copy;
+use Getopt::Long;
+use File::Basename;
+
+my $cmd;
+my $oui;
+my $iab;
+
+GetOptions ('iab=s' => \$iab,
+	    'oui=s' => \$oui,
+    ) or die 'bad options';
+
+my $address = shift;
+my $infile = shift;
+my $outfile = shift;
+
+if (!defined($address) || !defined($infile)) {
+	print "Usage: $0 [--iab=a8c | --oui=abcdef ] address infile [outfile]\n";
+	print "          iab is 12-bit and address is 28-bit e.g. --iab=a8c 1234567\n";
+	print "          oui is 24-bit and address is 40-bit e.g. --oui=abcdef 123456789a\n";
+	print "\n";
+	print "          if outfile is not specified, for infile foo.bin outfile will be\n";
+	print "          foo-[macaddress].bin e.g:\n";
+        print "          for --iab=a8c 1234567 foo.bin -> foo-0050c2a8c1234567.bin\n";
+        print "          for --oui=abcdef 123456789a foo.bin -> foo-abcdef123456789a.bin\n";
+	exit;
+}
+
+my $mac_h;
+my $mac_l;
+
+if(defined($iab)) {
+    $iab = hex($iab);
+    $address = hex($address);
+    $mac_h = 0x0050C200 | ($iab >> 4);
+    $mac_l = (($iab & 0xf) << 28) | $address;
+} else {
+    $address =~ /(.*?)(.{0,8})$/;
+    my ($addr_h, $addr_l) = ($1, $2);
+    if(!$addr_h) { $addr_h = 0 };
+    $oui = hex($oui);
+    $addr_l = hex($addr_l);
+    $addr_h = hex($addr_h);
+    $mac_h = ($oui << 8) | $addr_h;
+    $mac_l = $addr_l;
+}
+
+printf("mach %x macl %x\n", $mac_h, $mac_l);
+
+my @words;
+for(my $i=0; $i<4; $i++) {
+    push @words, ($mac_l >> ($i * 8)) & 0xff;
+}
+for(my $i=0; $i<4; $i++) {
+    push @words, ($mac_h >> ($i * 8)) & 0xff;
+}
+reverse @words;
+#foreach my $byte (@words) {
+#    printf("%02X",$byte);
+#}
+#print "\n";
+
+if(!defined($outfile))
+{
+    my $basename = basename($infile,(".bin"));
+    $outfile = sprintf("-%08x%08x.bin",$mac_h, $mac_l);
+    $outfile = $basename . $outfile;
+    print "outfile $outfile\n";
+}
+
+copy($infile, $outfile) or die("Couldn't copy $infile to $outfile");
+$cmd = sprintf("echo -n -e '\\x%02X\\x%02X\\x%02X\\x%02X\\x%02X\\x%02X\\x%02X\\x%02X' | dd of=$outfile bs=1 seek=122872 conv=notrunc",
+	       $words[7],$words[6],$words[5],$words[4],
+	       $words[3],$words[2],$words[1],$words[0]);
+
+print "$cmd\n";
+system("bash -c \"$cmd\"");
+
+

cpu/mc1322x/tools/burn-mac.pl

@@ -0,0 +1,65 @@
+#!/usr/bin/perl
+use strict;
+use Getopt::Long;
+
+my $oui;
+my $addr = "0x1e000";
+my $iab;
+my $term = "/dev/ttyUSB1";
+
+GetOptions ('iab=s' => \$iab,
+	    'oui=s' => \$oui,
+	    'term=s' => \$term,
+    ) or die 'bad options';
+
+my $bin = shift;
+my $address = shift;
+
+if (!defined($address) || !defined($bin)) {
+	print "Usage: $0 [--iab=a8c | --oui=abcdef | --term device] flasher.bin address\n";
+	print "          iab is 12-bit and address is 28-bit e.g. --iab=a8c 1234567\n";
+	print "          oui is 24-bit and address is 40-bit e.g. --oui=abcdef 123456789a\n";
+	exit;
+}
+
+my $mac_h;
+my $mac_l;
+
+if(defined($iab)) {
+    $iab = hex($iab);
+    $address = hex($address);
+    $mac_h = 0x0050C200 | ($iab >> 4);
+    $mac_l = (($iab & 0xf) << 28) | $address;
+} else {
+    $address =~ /(.*?)(.{0,8})$/;
+    my ($addr_h, $addr_l) = ($1, $2);
+    if(!$addr_h) { $addr_h = 0 };
+    $oui = hex($oui);
+    $addr_l = hex($addr_l);
+    $addr_h = hex($addr_h);
+    $mac_h = ($oui << 8) | $addr_h;
+    $mac_l = $addr_l;
+}
+
+printf("mach %x macl %x\n", $mac_h, $mac_l);
+
+my @words;
+for(my $i=0; $i<4; $i++) {
+    push @words, ($mac_l >> ($i * 8)) & 0xff;
+}
+for(my $i=0; $i<4; $i++) {
+    push @words, ($mac_h >> ($i * 8)) & 0xff;
+}
+reverse @words;
+#foreach my $byte (@words) {
+#    printf("%02X",$byte);
+#}
+#print "\n";
+
+my $word1 = sprintf("%02X%02X%02X%02X",$words[4],$words[5],$words[6],$words[7]);
+my $word2 = sprintf("%02X%02X%02X%02X",$words[0],$words[1],$words[2],$words[3]);
+
+my $cmd = "mc1322x-load.pl -e -f $bin -z -t $term  -c 'bbmc -l redbee-econotag reset' $addr,0x$word1,0x$word2 &";
+print "$cmd\n";
+system($cmd);
+

cpu/mc1322x/tools/mc1322x-load.pl

@@ -24,7 +24,7 @@ GetOptions ('file=s' => \$filename,
 	    'zerolen' => \$zerolen,
 	    'terminal=s' => \$term, 
 	    'verbose' => \$verbose, 
-	    'baud=s' => \$baud,
+	    'u|baud=s' => \$baud,
 	    'rts=s' => \$rts,
 	    'command=s' => \$command,
 	    'a=s' => \$first_delay,
@@ -41,8 +41,8 @@ if($filename eq '') {
     print "       -f required: binary file to load\n";
     print "       -s optional: secondary binary file to send\n";
     print "       -z optional: send a zero length file as secondary\n";
-    print "       -t terminal default: /dev/ttyUSB0\n";
+    print "       -t, terminal default: /dev/ttyUSB0\n";
-    print "       -b baud rate default: 115200\n";
+    print "       -u, --baud baud rate default: 115200\n";
     print "       -r [none|rts] flow control default: rts\n";
     print "       -c command to run for autoreset: \n";
     print "              e.g. -c 'bbmc -l redbee-econotag -i 0 reset'\n";

cpu/mc1322x/tools/test-grid/burn-macs.pl

@@ -5,11 +5,14 @@ my $bin = shift;
 my $terms = shift;
 
 my $addr = "0x1e000";
-my $company_id;
+my $iab = 0xa8c; # Redwire, LLC's IAB
-my $iab = 0xabc; # Redwire, LLC's IAB
+
+my $mac_h;
+my $mac_l;
 
 if(defined($iab)) {
-    $company_id = (0x0050C2 << 12) | $iab;
+    $mac_h = 0x0050C200 | ($iab >> 4);
+    $mac_l = ($iab & 0xf) << 28;
 }
 
 if (! $terms) {
@@ -19,15 +22,17 @@ if (! $terms) {
 
 for (my $t=0; $t<$terms; $t++) {
 	my $dev_num = 2 * $t + 1;
+	$mac_l |= $dev_num;
+	#stupid 32-bit thing...
 	my $mac;
-	if(defined($iab)) {
+	printf("mac_h %x\n", $mac_h);
-	    $mac = ($company_id << 28) | $dev_num;
+	printf("mac_l %x\n", $mac_l);
-	} else {
-	    $mac = ($company_id << 40) | $dev_num;
-	}
 	my @words;
-	for(my $i=0; $i<8; $i++) {
+	for(my $i=0; $i<4; $i++) {
-	    push @words, ($mac >> ($i * 8)) & 0xff;
+	    push @words, ($mac_h >> ($i * 8)) & 0xff;
+	}
+	for(my $i=0; $i<4; $i++) {
+	    push @words, ($mac_l >> ($i * 8)) & 0xff;
 	}
 	reverse @words;
 	foreach my $byte (@words) {

cpu/msp430/loader-arch.c

@@ -111,7 +111,7 @@ loader_arch_load(unsigned short startaddr)
   /* If the checksum was wrong, we beep. The number of beeps indicate
      the numerival value of the calculated checksum. */
   if(sum != 0xff) {
-    leds_red(LEDS_ON);
+    leds_on(LEDS_RED);
     
     for(i = 0; i < (sum >> 4); ++i) {
       beep_beep(200);
@@ -131,23 +131,23 @@ loader_arch_load(unsigned short startaddr)
       }
     }
 
-    leds_red(LEDS_OFF);
+    leds_off(LEDS_RED);
     
     return;
     
   } else {
-    leds_green(LEDS_ON);
+    leds_on(LEDS_GREEN);
     for(i = 0; i < 4; ++i) {
       beep_beep(200);
       for(j = 0; j < 2; ++j) {
 	clock_delay(60000);
       }
     }
-    leds_green(LEDS_OFF);
+    leds_off(LEDS_GREEN);
   }
 
 
-  leds_yellow(LEDS_ON);
+  leds_on(LEDS_YELLOW);
   startaddr += 2;
   
   /* Read the size of the code segment from the next two bytes in EEPROM. */
@@ -185,9 +185,9 @@ loader_arch_load(unsigned short startaddr)
 
   flash_done();
 
-  leds_yellow(LEDS_OFF);
+  leds_off(LEDS_YELLOW);
 
-  leds_green(LEDS_ON);
+  leds_on(LEDS_GREEN);
   
   /* Read the size of the code segment from the first two bytes in EEPROM. */
   eeprom_read(startaddr + 2 + codelen, (char *)&datalen, 2);
@@ -205,7 +205,7 @@ loader_arch_load(unsigned short startaddr)
     clock_delay(20000);
   }
 
-  leds_green(LEDS_OFF);
+  leds_off(LEDS_GREEN);
   
   /* Execute the loaded program. */
   init = ((void (*)(void *))FLASHADDR);

cpu/stm32w108/Makefile.stm32w108

@@ -45,9 +45,9 @@ ifdef IAR
 TARGET_LIBFILES = $(CONTIKI_CPU)/simplemac/library/simplemac-library.a
 else
  ifdef PRINTF_FLOAT
- TARGET_LIBFILES = $(CONTIKI_CPU)/simplemac/library/simplemac-library.a $(CONTIKI_CPU)/hal/micro/cortexm3/e_stdio_thumb2.a 
+ TARGET_LIBFILES = $(CONTIKI_CPU)/simplemac/library/simplemac-library-gnu.a $(CONTIKI_CPU)/hal/micro/cortexm3/e_stdio_thumb2.a 
  else
- TARGET_LIBFILES = $(CONTIKI_CPU)/simplemac/library/simplemac-library.a $(CONTIKI_CPU)/hal/micro/cortexm3/e_stdio_intonly_thumb2.a
+ TARGET_LIBFILES = $(CONTIKI_CPU)/simplemac/library/simplemac-library-gnu.a $(CONTIKI_CPU)/lib/e_stdio_intonly_thumb2.a
  endif
 endif
 #									`$(CC) -print-file-name=thumb2/libc.a` `$(CC) -print-file-name=thumb2/libgcc.a`
@@ -74,7 +74,7 @@ AROPTS  = --create
 ASFLAGS = -s+ -w+ --cpu Cortex-M3 -L$(OBJECTDIR)
 LDFLAGS += --redirect _Printf=_PrintfSmall --redirect _Scanf=_ScanfSmall --map=contiki-$(TARGET).map
  ifndef COFFEE
-  LDFLAGS+= --config $(CONTIKI_CPU)/hal/micro/cortexm3/stm32w108/iar-cfg.icf
+  LDFLAGS+= --config $(CONTIKI_CPU)/iar-cfg.icf
  endif
 OBJOPTS = --bin
 
@@ -101,7 +101,7 @@ ASFLAGS = -mthumb -mcpu=cortex-m3 -fsigned-char -c -g -Wall -Os -ffunction-secti
 	    -mlittle-endian -fshort-enums -x assembler-with-cpp -Wa,-EL
 LDFLAGS += -mcpu=cortex-m3 \
 	    -mthumb  \
-	    -Wl,-T -Xlinker $(CONTIKI_CPU)/hal/micro/cortexm3/stm32w108/gnu.ld \
+	    -Wl,-T -Xlinker $(CONTIKI_CPU)/gnu.ld \
 	    -Wl,-static \
 			-u Default_Handler \
 	    -nostartfiles \
@@ -118,8 +118,6 @@ OBJOPTS = -O binary
 endif
 
 
-ifndef IAR
-
 ifdef COFFEE_ADDRESS
  COFFEE = 1
 endif
@@ -147,15 +145,18 @@ ifeq ($(COFFEE),1)
 
 else
  # Coffee starts at the end of the flash, before NVM section.
- COFFEE_ADDRESS = 0x801F400
+ COFFEE_ADDRESS = 0x801F800
 endif
 
+
+ifndef IAR
+
 LDFLAGS+= -Wl,--section-start=.coffee=$(COFFEE_ADDRESS)
 
 else #IAR
 
  ifeq ($(COFFEE),1)
-  LDFLAGS+= --config $(CONTIKI_CPU)/hal/micro/cortexm3/stm32w108/iar-cfg-coffee.icf
+  LDFLAGS+= --config $(CONTIKI_CPU)/iar-cfg-coffee.icf
  endif
  
 endif

cpu/stm32w108/cfs-coffee-arch.h

@@ -67,7 +67,7 @@
 /* If using IAR, COFFEE_ADDRESS reflects the static value in the linker script
    iar-cfg-coffee.icf, so it can't be passed as a parameter for Make.*/
 #ifdef __ICCARM__
-#define COFFEE_ADDRESS            0x8010000
+#define COFFEE_ADDRESS            0x8010c00
 #endif
 #if (COFFEE_ADDRESS & 0x3FF) !=0
  #error "COFFEE_ADDRESS not aligned to a 1024-bytes page boundary."
@@ -96,9 +96,10 @@
 #define COFFEE_LOG_SIZE           128   // COFFEE_MICRO_LOGS is 0.
 
 
-#if COFFEE_PAGES <= 0x100
+#if COFFEE_PAGES <= 127
-#define coffee_page_t uint8_t
+#define coffee_page_t int8_t
-#elif COFFEE_PAGES <= 0x10000
+#elif COFFEE_PAGES <= 0x7FFF
+#define coffee_page_t int16_t
 #endif
 
 

cpu/stm32w108/dev/stm32w_conf.h

@@ -1,5 +1,5 @@
 /******************** (C) COPYRIGHT 2008 STMicroelectronics ********************
-* File Name          : stm32f10x_conf.h
+* File Name          : stm32w_conf.h
 * Author             : MCD Application Team
 * Version            : V2.0.3
 * Date               : 09/22/2008
@@ -18,7 +18,7 @@
 #define __STM32F10x_CONF_H
 
 /* Includes ------------------------------------------------------------------*/
-#include "stm32w_type.h"
+#include "stm32w108_type.h"
 
 /* Exported types ------------------------------------------------------------*/
 /* Exported constants --------------------------------------------------------*/

cpu/stm32w108/dev/stm32w_systick.c

@@ -1,5 +1,5 @@
 /******************** (C) COPYRIGHT 2008 STMicroelectronics ********************
-* File Name          : stm32f10x_systick.c
+* File Name          : stm32w108_systick.c
 * Author             : MCD Application Team
 * Version            : V2.0.3
 * Date               : 09/22/2008

cpu/stm32w108/dev/stm32w_systick.h

@@ -18,7 +18,7 @@
 #ifndef __STM32W_SYSTICK_H
 #define __STM32W_SYSTICK_H
 
-#include "stm32w_type.h"
+#include "stm32w108_type.h"
 #include "stm32w_conf.h"
 
 #ifndef EXT

cpu/stm32w108/dev/stm32w_type.h

@@ -1,80 +0,0 @@
-/******************** (C) COPYRIGHT 2008 STMicroelectronics ********************
-* File Name          : stm32f10x_type.h
-* Author             : MCD Application Team
-* Version            : V2.0.3
-* Date               : 09/22/2008
-* Description        : This file contains all the common data types used for the
-*                      STM32F10x firmware library.
-********************************************************************************
-* THE PRESENT FIRMWARE WHICH IS FOR GUIDANCE ONLY AIMS AT PROVIDING CUSTOMERS
-* WITH CODING INFORMATION REGARDING THEIR PRODUCTS IN ORDER FOR THEM TO SAVE TIME.
-* AS A RESULT, STMICROELECTRONICS SHALL NOT BE HELD LIABLE FOR ANY DIRECT,
-* INDIRECT OR CONSEQUENTIAL DAMAGES WITH RESPECT TO ANY CLAIMS ARISING FROM THE
-* CONTENT OF SUCH FIRMWARE AND/OR THE USE MADE BY CUSTOMERS OF THE CODING
-* INFORMATION CONTAINED HEREIN IN CONNECTION WITH THEIR PRODUCTS.
-*******************************************************************************/
-
-/* Define to prevent recursive inclusion -------------------------------------*/
-#ifndef __STM32F10x_TYPE_H
-#define __STM32F10x_TYPE_H
-
-/* Includes ------------------------------------------------------------------*/
-/* Exported types ------------------------------------------------------------*/
-typedef signed long  s32;
-typedef signed short s16;
-typedef signed char  s8;
-
-typedef signed long  const sc32;  /* Read Only */
-typedef signed short const sc16;  /* Read Only */
-typedef signed char  const sc8;   /* Read Only */
-
-typedef volatile signed long  vs32;
-typedef volatile signed short vs16;
-typedef volatile signed char  vs8;
-
-typedef volatile signed long  const vsc32;  /* Read Only */
-typedef volatile signed short const vsc16;  /* Read Only */
-typedef volatile signed char  const vsc8;   /* Read Only */
-
-typedef unsigned long  u32;
-typedef unsigned short u16;
-typedef unsigned char  u8;
-
-typedef unsigned long  const uc32;  /* Read Only */
-typedef unsigned short const uc16;  /* Read Only */
-typedef unsigned char  const uc8;   /* Read Only */
-
-typedef volatile unsigned long  vu32;
-typedef volatile unsigned short vu16;
-typedef volatile unsigned char  vu8;
-
-typedef volatile unsigned long  const vuc32;  /* Read Only */
-typedef volatile unsigned short const vuc16;  /* Read Only */
-typedef volatile unsigned char  const vuc8;   /* Read Only */
-
-//typedef enum {FALSE = 0, TRUE = !FALSE} bool;
-
-typedef enum {RESET = 0, SET = !RESET} FlagStatus, ITStatus;
-
-typedef enum {DISABLE = 0, ENABLE = !DISABLE} FunctionalState;
-#define IS_FUNCTIONAL_STATE(STATE) (((STATE) == DISABLE) || ((STATE) == ENABLE))
-
-typedef enum {ERROR = 0, SUCCESS = !ERROR} ErrorStatus;
-
-#define U8_MAX     ((u8)255)
-#define S8_MAX     ((s8)127)
-#define S8_MIN     ((s8)-128)
-#define U16_MAX    ((u16)65535u)
-#define S16_MAX    ((s16)32767)
-#define S16_MIN    ((s16)-32768)
-#define U32_MAX    ((u32)4294967295uL)
-#define S32_MAX    ((s32)2147483647)
-#define S32_MIN    ((s32)-2147483648)
-
-/* Exported constants --------------------------------------------------------*/
-/* Exported macro ------------------------------------------------------------*/
-/* Exported functions ------------------------------------------------------- */
-
-#endif /* __STM32F10x_TYPE_H */
-
-/******************* (C) COPYRIGHT 2008 STMicroelectronics *****END OF FILE****/

cpu/stm32w108/dev/uart1.h.bak

@@ -0,0 +1,53 @@
+/*
+ * Copyright (c) 2007, Swedish Institute of Computer Science.
+ * 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.
+ *
+ * $Id: uart1.h,v 1.1 2010/10/25 09:03:39 salvopitru Exp $
+ */
+
+/**
+ * \file
+ *         A brief description of what this file is.
+ * \author
+ *         Adam Dunkels <adam@sics.se>
+ */
+
+#ifndef __UART1_H__
+#define __UART1_H__
+
+//#include "msp430.h"
+//
+//#define UART1_BAUD2UBR(baud) ((MSP430_CPU_SPEED)/(baud))
+
+void uart1_set_input(int (*input)(unsigned char c));
+void uart1_writeb(unsigned char c);
+void uart1_init(unsigned long ubr);
+//uint8_t uart1_active(void);
+
+#endif /* __UART1_H__ */