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

cpu/cc2430/8051def.h

@@ -52,31 +52,19 @@ typedef unsigned short clock_time_t;
 #define CCIF
 #define CLIF
 
+/* Single asm instruction without messing up syntax highlighting */
+#if defined(__SDCC_mcs51) || defined(SDCC_mcs51)
+#define ASM(x) __asm \
+  x \
+  __endasm
+#else
+#define ASM(x)
+#endif
+
 /* Critical section management */
 #define DISABLE_INTERRUPTS()  do {EA = 0;} while(0)
 #define ENABLE_INTERRUPTS()   do {EA = 1;} while(0)
 
-#define ENTER_CRITICAL()	\
-{	\
-	__asm		\
-	push	ACC	\
-	push	IE	\
-	__endasm;	\
-}	\
-	EA = 0;
-
-#define EXIT_CRITICAL()	\
-{	\
-	__asm			\
-	pop		ACC	\
-	__endasm;		\
-	ACC &= 0x80;		\
-	IE |= ACC;		\
-	__asm			\
-	pop		ACC	\
-	__endasm; 		\
-}
-
 /* Macro for a soft reset. */
 #define SOFT_RESET() do {((void (__code *) (void)) 0x0000) ();} while(0)
 

cpu/cc2430/dev/clock.c

@@ -27,57 +27,46 @@
  * SUCH DAMAGE.
  *
  * This file is part of the Contiki operating system.
- *
- * $Id: clock.c,v 1.1 2009/09/08 20:07:35 zdshelby Exp $
  */
 
 /**
  * \file
- *         Implementation of the clock functions for the 8051 CPU
+ *         Implementation of the clock functions for the cc243x
  * \author
- *         Zach Shelby (zach@sensinode.com)
+ *         Zach Shelby (zach@sensinode.com) - original
+ *         George Oikonomou - <oikonomou@users.sourceforge.net>
  */
-
-/**
- * TODO: Implement clock_fine() and clock_fine_max_ticks() using another timer?
- */
-
-#include <stdio.h> /*for debug printf*/
 #include "sys/clock.h"
 #include "sys/etimer.h"
 #include "cc2430_sfr.h"
 #include "sys/energest.h"
 
-/*Sleep timer runs on the 32k RC osc. */
+/* Sleep timer runs on the 32k RC osc. */
 /* One clock tick is 7.8 ms */
 #define TICK_VAL (32768/128)  /* 256 */
-
+/*---------------------------------------------------------------------------*/
+#if CLOCK_CONF_STACK_FRIENDLY
+volatile __bit sleep_flag;
+#else
+#endif
+/*---------------------------------------------------------------------------*/
 /* Used in sleep timer interrupt for calculating the next interrupt time */
 static unsigned long timer_value;
-/*starts calculating the ticks right after reset*/
+static volatile __data clock_time_t count = 0; /* Uptime in ticks */
-#if CLOCK_CONF_ACCURATE
+static volatile __data clock_time_t seconds = 0; /* Uptime in secs */
-static volatile __data clock_time_t count = 0;
-#else
-volatile __data clock_time_t count = 0;
-/* accurate clock is stack hungry */
-volatile __bit sleep_flag;
-#endif
-/*calculates seconds*/
-static volatile __data clock_time_t seconds = 0;
-
 /*---------------------------------------------------------------------------*/
 /**
- * One delay is about 0.6 us, so this function delays for len * 0.6 us
+ * Each iteration is ~1.0xy usec, so this function delays for roughly len usec
  */
 void
 clock_delay(unsigned int len)
 {
-  unsigned int i;
+  DISABLE_INTERRUPTS();
-  for(i = 0; i< len; i++) {
+  while(len--) {
-    __asm
+    ASM(nop); ASM(nop); ASM(nop);
-      nop
+    ASM(nop); ASM(nop);
-      __endasm;
   }
+  ENABLE_INTERRUPTS();
 }
 /*---------------------------------------------------------------------------*/
 /**
@@ -92,7 +81,7 @@ clock_wait(int i)
   while(clock_time() - start < (clock_time_t)i);
 }
 /*---------------------------------------------------------------------------*/
-clock_time_t
+CCIF clock_time_t
 clock_time(void)
 {
   return count;
@@ -107,24 +96,24 @@ clock_seconds(void)
 void
 clock_init(void)
 {
-  CLKCON = OSC32K | TICKSPD2|TICKSPD1;	/*tickspeed 500 kHz for timers[1-4]*/
+  CLKCON = OSC32K | TICKSPD2 | TICKSPD1; /* tickspeed 500 kHz for timers[1-4] */
 
-  /*Initialize tick value*/
+  /* Initialize tick value */
-  timer_value = ST0;									/*sleep timer 0. low bits [7:0]*/
+  timer_value = ST0;                              /* ST low bits [7:0] */
-  timer_value += ((unsigned long int)ST1) << 8;		/*middle bits [15:8]*/
+  timer_value += ((unsigned long int) ST1) << 8;  /* middle bits [15:8] */
-  timer_value += ((unsigned long int)ST2) << 16;		/*high bits [23:16]*/
+  timer_value += ((unsigned long int) ST2) << 16; /*   high bits [23:16] */
-  timer_value += TICK_VAL;							/*init value 256*/
+  timer_value += TICK_VAL;                        /* Init value 256 */
   ST2 = (unsigned char) (timer_value >> 16);
   ST1 = (unsigned char) (timer_value >> 8);
   ST0 = (unsigned char) timer_value;
   
-  IEN0 |= STIE;		/*interrupt enable for sleep timers. STIE=Interrupt mask, CPU. */
+  IEN0_STIE = 1; /* IEN0.STIE acknowledge Sleep Timer Interrupt */
 }
 /*---------------------------------------------------------------------------*/
 void
-clock_ISR( void ) __interrupt (ST_VECTOR)
+clock_ISR(void) __interrupt(ST_VECTOR)
 {
-  IEN0_EA = 0;	/*interrupt disable*/
+  DISABLE_INTERRUPTS();
   ENERGEST_ON(ENERGEST_TYPE_IRQ);
 
   /*
@@ -134,14 +123,13 @@ clock_ISR( void ) __interrupt (ST_VECTOR)
    */
   SLEEP &= 0xFC;
 
-  /* When using the cooperative scheduler the timer 2 ISR is only
+  /*
-     required to increment the RTOS tick count. */
+   * Read value of the ST0:ST1:ST2, add TICK_VAL and write it back.
-  
+   * Next interrupt occurs after the current time + TICK_VAL
-  /*Read value of the ST0,ST1,ST2 and then add TICK_VAL and write it back.
+   */
-    Next interrupt occurs after the current time + TICK_VAL*/
   timer_value = ST0;
-  timer_value += ((unsigned long int)ST1) << 8;
+  timer_value += ((unsigned long int) ST1) << 8;
-  timer_value += ((unsigned long int)ST2) << 16;
+  timer_value += ((unsigned long int) ST2) << 16;
   timer_value += TICK_VAL;
   ST2 = (unsigned char) (timer_value >> 16);
   ST1 = (unsigned char) (timer_value >> 8);
@@ -161,17 +149,17 @@ clock_ISR( void ) __interrupt (ST_VECTOR)
     ++seconds;
   }
   
-#if CLOCK_CONF_ACCURATE
+#if CLOCK_CONF_STACK_FRIENDLY
-  if(etimer_pending() &&
+  sleep_flag = 1;
-     (etimer_next_expiration_time() - count - 1) > MAX_TICKS) {	/*core/sys/etimer.c*/
+#else
+  if(etimer_pending()
+      && (etimer_next_expiration_time() - count - 1) > MAX_TICKS) {
     etimer_request_poll();
   }
-#else
-  sleep_flag = 1;
 #endif
   
-  IRCON &= ~STIF;		/*IRCON.STIF=Sleep timer interrupt flag. This flag called this interrupt func, now reset it*/
+  IRCON_STIF = 0;
   ENERGEST_OFF(ENERGEST_TYPE_IRQ);
-  IEN0_EA = 1;		/*interrupt enable*/
+  ENABLE_INTERRUPTS();
 }
 /*---------------------------------------------------------------------------*/

cpu/cc253x/dev/clock.c

@@ -27,15 +27,14 @@
  * SUCH DAMAGE.
  *
  * This file is part of the Contiki operating system.
- *
- * $Id: clock.c,v 1.1 2009/09/08 20:07:35 zdshelby Exp $
  */
 
 /**
  * \file
- *         Implementation of the clock functions for the 8051 CPU
+ *         Implementation of the clock functions for the cc253x.
+ *         Ported over from the cc243x original.
  * \author
- *         Zach Shelby (zach@sensinode.com) - original
+ *         Zach Shelby (zach@sensinode.com) - original (cc243x)
  *         George Oikonomou - <oikonomou@users.sourceforge.net> - cc2530 port
  */
 #include "sfr-bits.h"
@@ -47,8 +46,11 @@
 /* Sleep timer runs on the 32k RC osc. */
 /* One clock tick is 7.8 ms */
 #define TICK_VAL (32768/128)  /* 256 */
-
+/*---------------------------------------------------------------------------*/
-#define MAX_TICKS (~((clock_time_t)0) / 2)
+#if CLOCK_CONF_STACK_FRIENDLY
+volatile __bit sleep_flag;
+#else
+#endif
 /*---------------------------------------------------------------------------*/
 /* Do NOT remove the absolute address and do NOT remove the initialiser here */
 __xdata __at(0x0000) static unsigned long timer_value = 0;
@@ -57,15 +59,16 @@ static volatile __data clock_time_t count = 0; /* Uptime in ticks */
 static volatile __data clock_time_t seconds = 0; /* Uptime in secs */
 /*---------------------------------------------------------------------------*/
 /**
- * One delay is about 0.6 us, so this function delays for len * 0.6 us
+ * Each iteration is ~1.0xy usec, so this function delays for roughly len usec
  */
 void
 clock_delay(unsigned int len)
 {
-  unsigned int i;
+  DISABLE_INTERRUPTS();
-  for(i = 0; i< len; i++) {
+  while(len--) {
     ASM(nop);
   }
+  ENABLE_INTERRUPTS();
 }
 /*---------------------------------------------------------------------------*/
 /**
@@ -117,7 +120,7 @@ clock_init(void)
   CLKCONCMD |= CLKCONCMD_TICKSPD2 | CLKCONCMD_TICKSPD1;
   while(CLKCONSTA != CLKCONCMD);
 
-  /*Initialize tick value*/
+  /* Initialize tick value */
   timer_value = ST0;
   timer_value += ((unsigned long int) ST1) << 8;
   timer_value += ((unsigned long int) ST2) << 16;
@@ -135,15 +138,6 @@ clock_isr(void) __interrupt(ST_VECTOR)
   DISABLE_INTERRUPTS();
   ENERGEST_ON(ENERGEST_TYPE_IRQ);
 
-  /*
-   * If the Sleep timer throws an interrupt while we are powering down to
-   * PM1, we need to abort the power down. Clear SLEEP.MODE, this will signal
-   * main() to abort the PM1 transition
-   *
-   * On cc2430 this would be:
-   * SLEEPCMD &= 0xFC;
-   */
-
   /*
    * Read value of the ST0:ST1:ST2, add TICK_VAL and write it back.
    * Next interrupt occurs after the current time + TICK_VAL
@@ -170,10 +164,14 @@ clock_isr(void) __interrupt(ST_VECTOR)
     ++seconds;
   }
   
+#if CLOCK_CONF_STACK_FRIENDLY
+  sleep_flag = 1;
+#else
   if(etimer_pending()
       && (etimer_next_expiration_time() - count - 1) > MAX_TICKS) {
     etimer_request_poll();
   }
+#endif
   
   STIF = 0; /* IRCON.STIF */
   ENERGEST_OFF(ENERGEST_TYPE_IRQ);

cpu/cc253x/dev/uart0.c

@@ -60,7 +60,6 @@ uart0_init()
   UART0_RX_EN();
 
   UART0_RX_INT(1);
-  U0DBUF = 0;
 }
 /*---------------------------------------------------------------------------*/
 /* Write one byte over the UART. */

cpu/stm32w108/Makefile.stm32w108

@@ -23,7 +23,7 @@ CONTIKI_CPU_DIRS = . dev hal simplemac hal/micro/cortexm3 hal/micro/cortexm3/stm
 
 STM32W_C = leds-arch.c leds.c clock.c watchdog.c uart1.c uart1-putchar.c slip_uart1.c slip.c\
 		stm32w-radio.c stm32w_systick.c uip_arch.c rtimer-arch.c adc.c micro.c sleep.c \
-		micro-common.c micro-common-internal.c clocks.c mfg-token.c nvm.c flash.c rand.c system-timer.c mpu.c
+		micro-common.c micro-common-internal.c clocks.c mfg-token.c nvm.c flash.c rand.c system-timer.c
 
 STM32W_S = spmr.s79 context-switch.s79 
 
@@ -297,3 +297,12 @@ else
 login:
 	$(SERIALDUMP) -b115200 -d10000 $(USBDEVPREFIX)$(firstword $(MOTES))
 endif
+
+# a target that gives a user-friendly memory profile, taking into account the RAM
+# that is statically occupied by the stack as defined in cpu/stm32w108/gnu.ld
+RAM_SIZE = 8192
+FLASH_SIZE = 128*1024
+STACK_SIZE = 1280
+%.size: %.$(TARGET)
+	@size -A $< | egrep "data|bss" | awk '{s+=$$2} END {s=s+$(STACK_SIZE); f=$(RAM_SIZE)-s; printf "[RAM]   used %6d, free %6d\n",s,f;}'
+	@size -A $< | egrep "text|isr_vector" | awk '{s+=$$2} END {f=$(FLASH_SIZE)-s; printf "[Flash] used %6d, free %6d\n",s,f;}'

examples/cc2530dk/timer-test.c

@@ -1,9 +1,7 @@
 /**
  * \file
  *         Tests related to clocks and timers
- *
+ *         This is based on clock_test.c from the original sensinode port
- *         This is clock_test.c plus a small addition by George Oikonomou
- *         (Loughborough University) in order to test the rtimer
  *
  * \author
  *         Zach Shelby <zach@sensinode.com> (Original)
@@ -17,7 +15,6 @@
 #include "dev/leds.h"
 
 #include <stdio.h>
-
 /*---------------------------------------------------------------------------*/
 #define TEST_CLOCK_DELAY     1
 #define TEST_RTIMER          1
@@ -27,7 +24,7 @@
 static struct etimer et;
 
 #if TEST_CLOCK_DELAY
-static clock_time_t start_count, end_count, diff;
+static rtimer_clock_t start_count, end_count, diff;
 #endif
 
 #if TEST_CLOCK_SECONDS
@@ -70,12 +67,13 @@ PROCESS_THREAD(clock_test_process, ev, data)
 #if TEST_CLOCK_DELAY
   printf("Clock delay test, (10,000 x i) cycles:\n");
   i = 1;
-  while(i < 6) {
+  while(i < 7) {
-    start_count = clock_time();
+    start_count = RTIMER_NOW();
     clock_delay(10000 * i);
-    end_count = clock_time();
+    end_count = RTIMER_NOW();
     diff = end_count - start_count;
-    printf("Delayed %u = %u ticks = ~%u ms\n", 10000 * i, diff, diff * 8);
+    printf("Delayed %u = %u rtimer ticks = ~%u us\n", 10000 * i, diff,
+        diff * 64);
     i++;
   }
 #endif

examples/sensinode/clock_test.c

@@ -1,67 +0,0 @@
-/**
- * \file
- *         Tests related to clocks and timers
- * \author
- *         Zach Shelby <zach@sensinode.com>
- */
-
-#include "contiki.h"
-#include "sys/clock.h"
-#include "dev/bus.h"
-#include "dev/leds.h"
-#include <stdio.h> /* For printf() */
-/*---------------------------------------------------------------------------*/
-PROCESS(clock_test_process, "Clock test process");
-AUTOSTART_PROCESSES(&clock_test_process);
-/*---------------------------------------------------------------------------*/
-PROCESS_THREAD(clock_test_process, ev, data)
-{
-  static struct etimer et;
-  static clock_time_t count, start_count, end_count, diff;
-  static unsigned long sec;
-  static uint8_t i;
-
-  PROCESS_BEGIN();
-
-  printf("Clock delay test (10 x (10,000xi) cycles):\n");
-  i = 1;
-  while(i < 6) {
-	start_count = clock_time();
-	clock_delay(10000*i);
-	end_count = clock_time();
-	diff = end_count-start_count;
-	printf("Delayed %u = %u ticks = ~%u ms\n", 10000*i, diff, diff*8 );
-    i++;
-  }
-
-  printf("Clock tick and etimer test (10 x 1s):\n");
-  i = 0;
-  while(i < 10) {
-    etimer_set(&et, CLOCK_SECOND);
-    PROCESS_WAIT_EVENT_UNTIL(etimer_expired(&et));
-    etimer_reset(&et);
-
-    count = clock_time();
-    printf("%u ticks\n", count);
-
-    leds_toggle(LEDS_RED);
-    i++;
-  }
-
-  printf("Clock seconds test (10 x 5s):\n");
-  i = 0;
-  while(i < 10) {
-    etimer_set(&et, 5 * CLOCK_SECOND);
-    PROCESS_WAIT_EVENT_UNTIL(etimer_expired(&et));
-    etimer_reset(&et);
-
-    sec = clock_seconds();
-    printf("%u seconds\n", (uint16_t) sec);
-
-    leds_toggle(LEDS_GREEN);
-    i++;
-  }
-
-  PROCESS_END();
-}
-/*---------------------------------------------------------------------------*/

examples/sensinode/timer-test.c

@@ -1,9 +1,7 @@
 /**
  * \file
  *         Tests related to clocks and timers
- *
+ *         This is based on clock_test.c from the original sensinode port
- *         This is clock_test.c plus a small addition by George Oikonomou
- *         (Loughborough University)in order to test the rtimer
  *
  * \author
  *         Zach Shelby <zach@sensinode.com> (Original)
@@ -23,59 +21,73 @@
 #define TEST_ETIMER          1
 #define TEST_CLOCK_SECONDS   1
 /*---------------------------------------------------------------------------*/
+static struct etimer et;
+
+#if TEST_CLOCK_DELAY
+static rtimer_clock_t start_count, end_count, diff;
+#endif
+
+#if TEST_CLOCK_SECONDS
+static unsigned long sec;
+#endif
+
+#if TEST_ETIMER
+static clock_time_t count;
+#endif
+
+#if TEST_RTIMER
+static struct rtimer rt;
+rtimer_clock_t rt_now, rt_for;
+static clock_time_t ct;
+#endif
+
+static uint8_t i;
+/*---------------------------------------------------------------------------*/
 PROCESS(clock_test_process, "Clock test process");
 AUTOSTART_PROCESSES(&clock_test_process);
 /*---------------------------------------------------------------------------*/
 #if TEST_RTIMER
 void
 rt_callback(struct rtimer *t, void *ptr) {
-  printf("Task called at %u\n", RTIMER_NOW());
+  rt_now = RTIMER_NOW();
+  ct = clock_time();
+  printf("Task called at %u (clock = %u)\n", rt_now, ct);
 }
 #endif
 /*---------------------------------------------------------------------------*/
 PROCESS_THREAD(clock_test_process, ev, data)
 {
-  static struct etimer et;
-
-#if TEST_CLOCK_DELAY
-  static clock_time_t start_count, end_count, diff;
-#endif
-#if TEST_CLOCK_SECONDS
-  static unsigned long sec;
-#endif
-#if TEST_ETIMER
-  static clock_time_t count;
-#endif
-#if TEST_RTIMER
-  uint16_t rt_now, rt_for;
-  static struct rtimer rt;
-#endif
-  static uint8_t i;
 
   PROCESS_BEGIN();
 
+  etimer_set(&et, 2 * CLOCK_SECOND);
+
+  PROCESS_YIELD();
+
 #if TEST_CLOCK_DELAY
-  printf("Clock delay test (10 x (10,000xi) cycles):\n");
+  printf("Clock delay test, (10,000 x i) cycles:\n");
   i = 1;
-  while(i < 6) {
+  while(i < 7) {
-    start_count = clock_time();
+    start_count = RTIMER_NOW();
     clock_delay(10000 * i);
-    end_count = clock_time();
+    end_count = RTIMER_NOW();
     diff = end_count - start_count;
-    printf("Delayed %u = %u ticks = ~%u ms\n", 10000 * i, diff, diff * 8);
+    printf("Delayed %u = %u rtimer ticks = ~%u us\n", 10000 * i, diff,
+        diff * 64);
     i++;
   }
 #endif
 
 #if TEST_RTIMER
-  printf("Rtimer Test (10 x 1s):\n");
+  printf("Rtimer Test, 1 sec (%u rtimer ticks):\n", RTIMER_SECOND);
   i = 0;
-  while(i < 10) {
+  while(i < 5) {
     etimer_set(&et, 2*CLOCK_SECOND);
-    puts("=======================");
+    printf("=======================\n");
+    ct = clock_time();
     rt_now = RTIMER_NOW();
     rt_for = rt_now + RTIMER_SECOND;
-    printf("%Now=%u - For=%u\n", rt_now, rt_for);
+    printf("Now=%u (clock = %u) - For=%u\n", rt_now, ct, rt_for);
     if (rtimer_set(&rt, rt_for, 1,
               (void (*)(struct rtimer *, void *))rt_callback, NULL) != RTIMER_OK) {
       printf("Error setting\n");
@@ -87,7 +99,7 @@ PROCESS_THREAD(clock_test_process, ev, data)
 #endif
 
 #if TEST_ETIMER
-  printf("Clock tick and etimer test (10 x 1s):\n");
+  printf("Clock tick and etimer test, 1 sec (%u clock ticks):\n", CLOCK_SECOND);
   i = 0;
   while(i < 10) {
     etimer_set(&et, CLOCK_SECOND);
@@ -103,7 +115,7 @@ PROCESS_THREAD(clock_test_process, ev, data)
 #endif
 
 #if TEST_CLOCK_SECONDS
-  printf("Clock seconds test (10 x 5s):\n");
+  printf("Clock seconds test (5s):\n");
   i = 0;
   while(i < 10) {
     etimer_set(&et, 5 * CLOCK_SECOND);
@@ -111,13 +123,15 @@ PROCESS_THREAD(clock_test_process, ev, data)
     etimer_reset(&et);
 
     sec = clock_seconds();
-    printf("%u seconds\n", (uint16_t) sec);
+    printf("%lu seconds\n", sec);
 
     leds_toggle(LEDS_GREEN);
     i++;
   }
 #endif
 
+  printf("Done!\n");
+
   PROCESS_END();
 }
 /*---------------------------------------------------------------------------*/

platform/cc2530dk/contiki-conf.h

@@ -10,6 +10,14 @@
 #include "project-conf.h"
 #endif /* PROJECT_CONF_H */
 
+/*
+ * Define this as 1 to poll the etimer process from within main instead of from
+ * the clock ISR. This reduces the ISR's stack usage and may prevent crashes.
+ */
+#ifndef CLOCK_CONF_STACK_FRIENDLY
+#define CLOCK_CONF_STACK_FRIENDLY 1
+#endif
+
 /* Energest Module */
 #ifndef ENERGEST_CONF_ON
 #define ENERGEST_CONF_ON      0

platform/cc2530dk/contiki-main.c

@@ -45,6 +45,10 @@ PROCESS_NAME(viztool_process);
 #define PUTCHAR(...) do {} while(0)
 #endif
 /*---------------------------------------------------------------------------*/
+#if CLOCK_CONF_STACK_FRIENDLY
+extern volatile __bit sleep_flag;
+#endif
+/*---------------------------------------------------------------------------*/
 extern rimeaddr_t rimeaddr_node_addr;
 static __data int r;
 static __data int len;
@@ -252,6 +256,16 @@ main(void)
     do {
       /* Reset watchdog and handle polls and events */
       watchdog_periodic();
+
+#if CLOCK_CONF_STACK_FRIENDLY
+      if(sleep_flag) {
+        if(etimer_pending() &&
+            (etimer_next_expiration_time() - clock_time() - 1) > MAX_TICKS) {
+          etimer_request_poll();
+        }
+        sleep_flag = 0;
+      }
+#endif
       r = process_run();
     } while(r > 0);
     len = NETSTACK_RADIO.pending_packet();

platform/mb851/contiki-conf.h

@@ -96,9 +96,16 @@
 #define XMAC_CONF_ANNOUNCEMENTS                 0
 #define XMAC_CONF_COMPOWER                      1
 
-/* Other */
+/* Other (RAM saving) */
 #define ENERGEST_CONF_ON                        0
 #define QUEUEBUF_CONF_NUM                       2
+#define QUEUEBUF_CONF_REF_NUM                   0
+#define UIP_CONF_DS6_NBR_NBU                    4
+#define UIP_CONF_DS6_ROUTE_NBU                  4
+#define RPL_CONF_MAX_PARENTS_PER_DAG            4
+#define RPL_CONF_MAX_INSTANCES                  1
+#define RPL_CONF_MAX_DAG_PER_INSTANCE           1
+#define PROCESS_CONF_NUMEVENTS                  16
 
 #if WITH_UIP6
 
@@ -129,11 +136,16 @@
 #define UIP_CONF_MAX_LISTENPORTS		            8
 #define UIP_CONF_UDP_CONNS			                4
 
-#include "net/sicslowpan.h"
+#define SICSLOWPAN_CONF_COMPRESSION             SICSLOWPAN_COMPRESSION_HC06
-#define SICSLOWPAN_CONF_COMPRESSION             SICSLOWPAN_CONF_COMPRESSION_HC06
+#ifndef SICSLOWPAN_CONF_FRAG
 #define SICSLOWPAN_CONF_FRAG                    1
+#endif /* SICSLOWPAN_CONF_FRAG */
+#ifndef SICSLOWPAN_CONF_MAX_ADDR_CONTEXTS
 #define SICSLOWPAN_CONF_MAX_ADDR_CONTEXTS       2
+#endif /* SICSLOWPAN_CONF_MAX_ADDR_CONTEXTS */
+#ifndef SICSLOWPAN_CONF_MAXAGE
 #define SICSLOWPAN_CONF_MAXAGE                  2
+#endif /* SICSLOWPAN_CONF_MAXAGE */
 
 #else /* WITH_UIP6 */
 

platform/mb851/contiki-main.c

@@ -68,6 +68,9 @@
 #include "net/rime/rime-udp.h"
 #include "net/uip.h"
 
+#if WITH_UIP6
+#include "net/uip-ds6.h"
+#endif /* WITH_UIP6 */
 
 #define DEBUG 1
 #if DEBUG
@@ -100,8 +103,6 @@ set_rime_addr(void)
     uint8_t u8[8];
   }eui64;
   
-  //rimeaddr_t lladdr;
-  
   int8u *stm32w_eui64 = ST_RadioGetEui64();
   {
           int8u c;
@@ -186,6 +187,32 @@ main(void)
   
   autostart_start(autostart_processes);
   
+  printf("Tentative link-local IPv6 address ");
+  {
+    uip_ds6_addr_t *lladdr;
+    int i;
+    lladdr = uip_ds6_get_link_local(-1);
+    for(i = 0; i < 7; ++i) {
+      printf("%02x%02x:", lladdr->ipaddr.u8[i * 2],
+             lladdr->ipaddr.u8[i * 2 + 1]);
+    }
+    printf("%02x%02x\n", lladdr->ipaddr.u8[14], lladdr->ipaddr.u8[15]);
+  }
+
+  if(!UIP_CONF_IPV6_RPL) {
+    uip_ipaddr_t ipaddr;
+    int i;
+    uip_ip6addr(&ipaddr, 0xaaaa, 0, 0, 0, 0, 0, 0, 0);
+    uip_ds6_set_addr_iid(&ipaddr, &uip_lladdr);
+    uip_ds6_addr_add(&ipaddr, 0, ADDR_TENTATIVE);
+    printf("Tentative global IPv6 address ");
+    for(i = 0; i < 7; ++i) {
+      printf("%02x%02x:",
+             ipaddr.u8[i * 2], ipaddr.u8[i * 2 + 1]);
+    }
+    printf("%02x%02x\n",
+           ipaddr.u8[7 * 2], ipaddr.u8[7 * 2 + 1]);
+  }
   
   watchdog_start();
   
@@ -262,11 +289,11 @@ void UsageFault_Handler(){
   errcode = 7; 
   //leds_on(LEDS_RED);
   //halReboot();
-}*/
+}
 
 void Default_Handler() 
 { 
   //errcode = 8; 
   leds_on(LEDS_RED);
   halReboot();
-}
+}*/

platform/mbxxx/contiki-conf.h

@@ -96,9 +96,16 @@
 #define XMAC_CONF_ANNOUNCEMENTS                 0
 #define XMAC_CONF_COMPOWER                      1
 
-/* Other */
+/* Other (RAM saving) */
 #define ENERGEST_CONF_ON                        0
 #define QUEUEBUF_CONF_NUM                       2
+#define QUEUEBUF_CONF_REF_NUM                   0
+#define UIP_CONF_DS6_NBR_NBU                    4
+#define UIP_CONF_DS6_ROUTE_NBU                  4
+#define RPL_CONF_MAX_PARENTS_PER_DAG            4
+#define RPL_CONF_MAX_INSTANCES                  1
+#define RPL_CONF_MAX_DAG_PER_INSTANCE           1
+#define PROCESS_CONF_NUMEVENTS                  16
 
 #if WITH_UIP6
 
@@ -129,11 +136,16 @@
 #define UIP_CONF_MAX_LISTENPORTS                8
 #define UIP_CONF_UDP_CONNS                      4
 
-#include "net/sicslowpan.h"
+#define SICSLOWPAN_CONF_COMPRESSION             SICSLOWPAN_COMPRESSION_HC06
-#define SICSLOWPAN_CONF_COMPRESSION             SICSLOWPAN_CONF_COMPRESSION_HC06
+#ifndef SICSLOWPAN_CONF_FRAG
 #define SICSLOWPAN_CONF_FRAG                    1
+#endif /* SICSLOWPAN_CONF_FRAG */
+#ifndef SICSLOWPAN_CONF_MAX_ADDR_CONTEXTS
 #define SICSLOWPAN_CONF_MAX_ADDR_CONTEXTS       2
+#endif /* SICSLOWPAN_CONF_MAX_ADDR_CONTEXTS */
+#ifndef SICSLOWPAN_CONF_MAXAGE
 #define SICSLOWPAN_CONF_MAXAGE                  2
+#endif /* SICSLOWPAN_CONF_MAXAGE */
 
 #else /* WITH_UIP6 */
 

platform/sensinode/contiki-conf.h

@@ -10,10 +10,12 @@
 #include "project-conf.h"
 #endif /* PROJECT_CONF_H */
 
-/* The clock ISR is stack-hungry and may cause crashes.
+/*
- * Define this as 0 if you are suffering from frequent stack overflows */
+ * Define this as 1 to poll the etimer process from within main instead of from
-#ifndef CLOCK_CONF_ACCURATE
+ * the clock ISR. This reduces the ISR's stack usage and may prevent crashes.
-#define CLOCK_CONF_ACCURATE 1
+ */
+#ifndef CLOCK_CONF_STACK_FRIENDLY
+#define CLOCK_CONF_STACK_FRIENDLY 1
 #endif
 
 /* Memory filesystem RAM size. */
@@ -27,7 +29,7 @@
 #define ENERGEST_CONF_ON      0
 #endif
 
-/* Verbose Startup? Turning this off saves 700+ bytes of CODE in HOME */
+/* Verbose Startup? Turning this off reduces our footprint a fair bit */
 #define STARTUP_CONF_VERBOSE  0
 
 /* More CODE space savings by turning off process names */
@@ -35,9 +37,9 @@
 
 /*
  * UARTs: 1=>Enabled, 0=>Disabled. Default: Both Disabled (see uart.h)
- * Disabling UART0 saves ~200 bytes of CODE.
+ * Disabling UARTs reduces our CODE footprint
- * Disabling UART1 saves ~500 bytes of CODE but also disables all debugging
+ * Disabling UART1 also disables all debugging output.
- * output. Should be used when nodes are meant to run on batteries
+ * Should be used when nodes are meant to run on batteries
  *
  * On N740, by enabling UART1, you are also enabling an ugly hack which aims
  * to detect the USB connection during execution. It will then turn on/off

platform/sensinode/contiki-sensinode-main.c

@@ -54,10 +54,7 @@ static __data int len;
 #define PUTCHAR(...) do {} while(0)
 #endif
 
-
+#if CLOCK_CONF_STACK_FRIENDLY
-#if !CLOCK_CONF_ACCURATE
-extern volatile __data clock_time_t count;
-/* accurate clock is stack hungry */
 extern volatile __bit sleep_flag;
 #endif
 
@@ -294,11 +291,10 @@ main(void)
       /* Reset watchdog and handle polls and events */
       watchdog_periodic();
 
-      /**/
+#if CLOCK_CONF_STACK_FRIENDLY
-#if !CLOCK_CONF_ACCURATE
       if(sleep_flag) {
         if(etimer_pending() &&
-            (etimer_next_expiration_time() - count - 1) > MAX_TICKS) { /*core/sys/etimer.c*/
+            (etimer_next_expiration_time() - clock_time() - 1) > MAX_TICKS) {
           etimer_request_poll();
         }
         sleep_flag = 0;