Use IP over Rime

platform/stepper-robot/Makefile

@@ -9,6 +9,8 @@ CONTIKI=../..
 
 CORE=core-nosyms.$(TARGET)
 
+CONTIKI_TARGET_MAIN=contiki-main.c
+
 codeprop: $(CONTIKI)/tools/codeprop.c
 	cc -g -Wall $< -o $@
 

platform/stepper-robot/Makefile.stepper-robot

@@ -1,7 +1,7 @@
 STEPPER_ROBOT =  leds.c leds-arch.c sam7s-spi.c stepper-process.c stepper.c stepper-interrupt.c stepper-move.c
 
-CODEPROP_SOURCES = codeprop-otf.c ram-segments.c
+#CODEPROP_SOURCES = codeprop-otf.c ram-segments.c
-UIPDRIVERS= cc2420.c cc2420_send_ip.c cc2420_send_uaodv.c cc2420-interrupt.c \
+UIPDRIVERS= cc2420.c cc2420-interrupt.c \
 cc2420-spi.c slip.c
 
 CONTIKI_TARGET_DIRS = . stepper
@@ -19,7 +19,7 @@ CONTIKI_TARGET_SOURCEFILES += $(SENSORS) $(STEPPER_ROBOT) \
 
 # include $(CONTIKI)/platform/$(TARGET)/apps/Makefile.apps
 
-include $(CONTIKI)/cpu/at91sam7s/Makefile.at91sam7s
+include $(CONTIKI)/cpu/arm/at91sam7s/Makefile.at91sam7s
 
 #contiki-$(TARGET).a: ${addprefix $(OBJECTDIR)/,symbols.o}
 

platform/stepper-robot/cc2420-interrupt.c

@@ -10,7 +10,7 @@ cc2420_fifop_interrupt (void) /* System Interrupt Handler */
 {
   ISR_STORE();
   ISR_ENABLE_NEST();
-  __cc2420_intr();
+  cc2420_interrupt();
   ISR_DISABLE_NEST(); 
   *AT91C_AIC_EOICR = 0;                   /* End of Interrupt */
   ISR_RESTORE();

platform/stepper-robot/cc2420-spi.c

@@ -13,7 +13,7 @@
 #endif
 
 void
-__cc2420_arch_init(void)
+cc2420_arch_init(void)
 {
   spi_init();
 

platform/stepper-robot/contiki-conf.h

@@ -44,8 +44,8 @@ typedef unsigned int uip_stats_t;
 #define SFD_IS_1        (*AT91C_PIOA_PDSR & AT91C_PIO_PA15)
 #define CCA_IS_1        1
 
-#define SET_RESET_INACTIVE()	cc2420_setreg(CC2420_MAIN, 0xf800);
+#define SET_RESET_INACTIVE()	setreg(CC2420_MAIN, 0xf800);
-#define SET_RESET_ACTIVE()	cc2420_setreg(CC2420_MAIN, 0x0000);
+#define SET_RESET_ACTIVE()	setreg(CC2420_MAIN, 0x0000);
 
 #define SET_VREG_ACTIVE()
 #define SET_VREG_INACTIVE()
@@ -66,7 +66,7 @@ do { \
 
 #define SPI_DISABLE()	(*AT91C_SPI_CR = AT91C_SPI_LASTXFER)
 
-#define CLEAR_FIFOP_INT()	/* Cleared by the wrapper */
+#define CLEAR_FIFOP_INT() (*AT91C_AIC_ICCR = (1 << AT91C_ID_IRQ1))
 
 #define LOOP_20_SYMBOLS (MCK/28125) /* Assume the loop takes 9 cycles */
 
@@ -76,7 +76,18 @@ do { \
 #define UIP_CONF_LOGGING 1
 #define UIP_CONF_BUFFER_SIZE 116
 
+#define UIP_CONF_TCP_FORWARD 1
+
+/* USB definitions */
+#define USB_EP1_SIZE 64
+#define USB_EP2_SIZE 64
+#define USB_EP3_SIZE 64
+
+#define USB_RBC_NUM_BLOCKS 16
 /* Prefix for relocation sections in ELF files */
 #define REL_SECT_PREFIX ".rel"
 
+#define CC_BYTE_ALIGNED __attribute__ ((packed, aligned(1)))
+
+
 #endif /* __CONTIKI_CONF_H__CDBB4VIH3I__ */

platform/stepper-robot/contiki-main.c

@@ -4,9 +4,6 @@
 #include <debug-uart.h>
 #include <ctype.h>
 #include <stdio.h>
-#include <net/uip.h>
-#include "net/uip-fw-drv.h"
-#include "net/uaodv.h"
 #include <dev/cc2420.h>
 #include <dev/cc2420_const.h>
 #include <dev/spi.h>
@@ -18,16 +15,62 @@
 #include <net/psock.h>
 #include <unistd.h>
 
+#include "net/mac/nullmac.h"
+#include "net/rime.h"
+
+#include "contiki-main.h"
 
 #ifndef RF_CHANNEL
 #define RF_CHANNEL 15
 #endif
 
+
+#if WITH_UIP
+#include "net/uip.h"
+#include "net/uip-fw.h"
+#include "net/uip-fw-drv.h"
+#include "net/uip-over-mesh.h"
+
+
+static struct uip_fw_netif meshif =
+  {UIP_FW_NETIF(172,16,0,0, 255,255,0,0, uip_over_mesh_send)};
+
+#define UIP_OVER_MESH_CHANNEL 9
+
+uint8_t is_gateway = 0;
+struct trickle_conn gateway_trickle;
+
+#endif /* WITH_UIP */
+
 extern char __heap_end__;
 extern char __heap_start__;
 
-struct uip_fw_netif cc2420if =
+
-  {UIP_FW_NETIF(172,16,0,129, 255,255,0,0, cc2420_send_ip)};
+rimeaddr_t node_addr __attribute__((weak)) = {{0,2}};
+
+/*--------------------------------------------------------------------------*/
+#if WITH_UIP
+
+/* Receive address of gateway */
+
+static void
+trickle_recv(struct trickle_conn *c)
+{
+  if (!is_gateway) {
+    struct gateway_msg *msg;
+    msg = rimebuf_dataptr();
+    printf("%d.%d: gateway message: %d.%d\n",
+	   rimeaddr_node_addr.u8[0], rimeaddr_node_addr.u8[1],
+	   msg->gateway.u8[0], msg->gateway.u8[1]);
+    
+    uip_over_mesh_set_gateway(&msg->gateway);
+  }
+}
+
+const static struct trickle_callbacks trickle_call = {trickle_recv};
+
+/*---------------------------------------------------------------------------*/
+#endif
 
 #if 0
 /* Wathcdog is  already disabled in startup code */
@@ -48,10 +91,6 @@ wdt_reset()
 static uip_ipaddr_t gw_addr = {{172,16,0,1}};
 #endif
 
-PROCINIT(&etimer_process, &tcpip_process, &cc2420_process,
-	 &uip_fw_process /*,  &uaodv_process */
-	 );
-
 
 int
 main()
@@ -64,24 +103,65 @@ main()
   
   dbg_setup_uart();
   printf("Initialising\n");
-  leds_arch_init();
+  leds_init();
   clock_init();
-  uip_sethostaddr(&cc2420if.ipaddr);
-  uip_setnetmask(&cc2420if.netmask);
-  
-  /*uip_setdraddr(&gw_addr);*/
-  cc2420_init();
-  cc2420_set_chan_pan_addr(RF_CHANNEL,  HTONS(0x2024), uip_hostaddr.u16[1], NULL);
   process_init();
+  process_start(&etimer_process, NULL);
+
+  ctimer_init();
+
+  enableIRQ();
+
+  printf("Beginning CC2420 setup\n");
+  cc2420_init();
+  cc2420_set_pan_addr(0x2024, 0, NULL);
+  cc2420_set_channel(RF_CHANNEL);
+  rime_init(nullmac_init(&cc2420_driver));
+  printf("CC2420 setup done\n");
+
+  rimeaddr_set_node_addr(&node_addr);
+  printf("Rime started with address %d.%d\n", node_addr.u8[0], node_addr.u8[1]);
+  
+  #if WITH_UIP
+  {
+    uip_ipaddr_t hostaddr, netmask;
+    
     uip_init();
-  uip_fw_default(&cc2420if); 
+
-  tcpip_set_forwarding(1);
+    uip_ipaddr(&hostaddr, 172,16,
+               rimeaddr_node_addr.u8[0],rimeaddr_node_addr.u8[1]);
+    uip_ipaddr(&netmask, 255,255,0,0);
+    uip_ipaddr_copy(&meshif.ipaddr, &hostaddr);
+    printf("Host addr\n");
+    uip_sethostaddr(&hostaddr);
+    uip_setnetmask(&netmask);
+    uip_over_mesh_set_net(&hostaddr, &netmask);
+    /*    uip_fw_register(&slipif);*/
+    /*uip_over_mesh_set_gateway_netif(&slipif);*/
+    uip_fw_register(&meshif);
+    uip_fw_default(&meshif);
+    printf("Mesh init\n");
+    uip_over_mesh_init(UIP_OVER_MESH_CHANNEL);
+    printf("uIP started with IP address %d.%d.%d.%d\n",
+           uip_ipaddr_to_quad(&hostaddr));
+  }
+#endif /* WITH_UIP */
+
+
+ 
+#if WITH_UIP
+  process_start(&tcpip_process, NULL);
+  process_start(&uip_fw_process, NULL); /* Start IP output */
+  
+  trickle_open(&gateway_trickle, CLOCK_SECOND * 4, GATEWAY_TRICKLE_CHANNEL,
+               &trickle_call);
+#endif /* WITH_UIP */
+
   printf("Heap size: %ld bytes\n", &__heap_end__ - (char*)sbrk(0));
   printf("Started\n");
 
-  procinit_init();
+  /* procinit_init(); */
-  enableIRQ(); 
+
-  cc2420_on();
   autostart_start(autostart_processes);
   printf("Processes running\n");
   while(1) {

platform/stepper-robot/gateway/gateway.c

@@ -8,12 +8,17 @@
 #include <debug-uart.h>
 
 #include <net/uip-fw-drv.h>
+#include <net/uip-over-mesh.h>
 #include <dev/slip.h>
 
+#include "contiki-main.h"
+
 /* SLIP interface */
 
 extern struct uip_fw_netif cc2420if;
 
+rimeaddr_t node_addr = {{0,129}};
+
 static struct uip_fw_netif slipif =
 {UIP_FW_NETIF(0,0,0,0, 255,255,255,255, slip_send)};
 
@@ -25,6 +30,7 @@ static unsigned char interrupt_buffer[16];
 #define DEV_TO_HOST 0x81
 #define HOST_TO_DEV 0x02
 
+#define GATEWAY_TRICKLE_CHANNEL 8
 void
 slip_arch_init(unsigned long ubr)
 {
@@ -36,6 +42,26 @@ slip_arch_writeb(unsigned char c)
   while(usb_send_data(DEV_TO_HOST, &c, 1) != 1);
 }
 
+#if WITH_UIP
+
+static void
+set_gateway(void)
+{
+  struct gateway_msg msg;
+  /* Make this node the gateway node, unless it already is the
+     gateway. */
+  if(!is_gateway) {
+    leds_on(LEDS_RED);
+    printf("%d.%d: making myself the gateway\n",
+	   rimeaddr_node_addr.u8[0], rimeaddr_node_addr.u8[1]);
+    uip_over_mesh_set_gateway(&rimeaddr_node_addr);
+    rimeaddr_copy(&(msg.gateway), &rimeaddr_node_addr);
+    rimebuf_copyfrom(&msg, sizeof(struct gateway_msg));
+    trickle_send(&gateway_trickle);
+    is_gateway = 1;
+  }
+}
+#endif /* WITH_UIP */
 
 PROCESS(gateway_process, "Gateway process");
 
@@ -49,14 +75,17 @@ PROCESS_THREAD(gateway_process, ev , data)
   usb_cdc_acm_setup();
 
   uip_fw_default(&slipif);
-  uip_fw_register(&cc2420if);
+  uip_over_mesh_set_gateway_netif(&slipif);
 
   process_start(&slip_process, NULL);
 
+  set_gateway();
+  
   while(ev != PROCESS_EVENT_EXIT) {
     PROCESS_WAIT_EVENT();
     if (ev == PROCESS_EVENT_TIMER) {
       leds_toggle(LEDS_YELLOW);
+      /* printf("FIFOP: %d\n", FIFOP_IS_1); */
       etimer_restart(&timer);
     } else if (ev == PROCESS_EVENT_MSG) {
       const struct usb_user_msg * const msg = data;
@@ -81,8 +110,8 @@ PROCESS_THREAD(gateway_process, ev , data)
 	break;
       case USB_USER_MSG_TYPE_EP_OUT(2):
 	{
-	  unsigned int len = msg->data.length; 
+	  /*unsigned int len = msg->data.length; 
-	  /* printf("Received %d:\n", len);  */
+	    printf("Received %d:\n", len);  */
 	  {
 	    unsigned char ch;
 	    unsigned int xfer;

platform/stepper-robot/robot-main.c

@@ -4,9 +4,6 @@
 #include <debug-uart.h>
 #include <ctype.h>
 #include <stdio.h>
-#include <net/uip.h>
-#include "net/uip-fw-drv.h"
-#include "net/uaodv.h"
 #include <dev/cc2420.h>
 #include <dev/cc2420_const.h>
 #include <dev/spi.h>
@@ -22,11 +19,33 @@
 #include <stepper.h>
 #include <stepper-move.h>
 
+#include "net/mac/nullmac.h"
+#include "net/rime.h"
+
 
 #ifndef RF_CHANNEL
 #define RF_CHANNEL 15
 #endif
 
+#ifndef WITH_UIP
+#define WITH_UIP 1
+#endif
+
+#if WITH_UIP
+#include "net/uip.h"
+#include "net/uip-fw.h"
+#include "net/uip-fw-drv.h"
+#include "net/uip-over-mesh.h"
+
+static struct uip_fw_netif meshif =
+  {UIP_FW_NETIF(172,16,0,0, 255,255,0,0, uip_over_mesh_send)};
+
+#define UIP_OVER_MESH_CHANNEL 9
+
+#endif /* WITH_UIP */
+
+static rimeaddr_t node_addr = {{0,2}};
+
 extern char __heap_end__;
 extern char __heap_start__;
 
@@ -66,69 +85,6 @@ robot_stepper_init()
 		  stepper1_steps_run, stepper1_steps_hold,
 		  (sizeof(stepper1_steps_run) / sizeof(stepper1_steps_run[0])));}
 
-struct uip_fw_netif cc2420if =
-  {UIP_FW_NETIF(172,16,0,2, 255,255,0,0, cc2420_send_ip)};
-
-
-#if 0
-PROCESS(udprecv_process, "UDP recv process");
-
-PROCESS_THREAD(udprecv_process, ev, data)
-{
-  static struct uip_udp_conn *c;
-
-  PROCESS_EXITHANDLER(goto exit);
-  PROCESS_BEGIN();
-
-  printf("udprecv_process starting\n");
-
-  {
-    uip_ipaddr_t any;
-    uip_ipaddr(&any, 0,0,0,0);
-    c = udp_new(&any, HTONS(0), NULL);
-    uip_udp_bind(c, HTONS(4321));
-  }
-  
-  while(1) {
-    PROCESS_YIELD();
-
-    if(ev == tcpip_event && uip_newdata()) {
-      u8_t *src = ((struct uip_udpip_hdr *)uip_buf)->srcipaddr.u8;
-      printf("%d.%d.%d.%d: %s\n",
-	     src[0], src[1], src[2], src[3], (char *)uip_appdata);
-    }
-  }
-
- exit:
-  /* Contiki does automatic garbage collection of uIP state and we
-   * need not worry about that. */
-  printf("udprecv_process exiting\n");
-  PROCESS_END();
-}
-
-PROCESS(wd_test_process, "Watchdog test process");
-
-
-PROCESS_THREAD(wd_test_process, ev, data)
-{
-  static struct etimer timer;
-  PROCESS_BEGIN();
-  
-  printf("tcp_test_process starting\n");
-
-  etimer_set(&timer, 25*CLOCK_SECOND);
-  while(1) {
-    PROCESS_WAIT_EVENT_UNTIL(ev == PROCESS_EVENT_EXIT ||
-			     ev== PROCESS_EVENT_TIMER);
-    if (ev == PROCESS_EVENT_EXIT) break;
-    printf("Blocking execution\n");
-    while(1);
-  }
-  
-  PROCESS_END();
-}
-#endif
-
 
 #if 0
 /* Wathcdog is  already disabled in startup code */
@@ -149,10 +105,6 @@ wdt_reset()
 static uip_ipaddr_t gw_addr = {{172,16,0,1}};
 #endif
 
-PROCINIT(&etimer_process, &tcpip_process, &cc2420_process,
-	 &uip_fw_process /*,  &uaodv_process */
-	 );
-
 
 int
 main()
@@ -167,23 +119,55 @@ main()
   printf("Initialising\n");
   leds_arch_init();
   clock_init();
-  uip_sethostaddr(&cc2420if.ipaddr);
-  uip_setnetmask(&cc2420if.netmask);
-  
-  /*uip_setdraddr(&gw_addr);*/
-  cc2420_init();
-  cc2420_set_chan_pan_addr(RF_CHANNEL,  HTONS(0x2024), uip_hostaddr.u16[1], NULL);
   process_init();
+  process_start(&etimer_process, NULL);
+  ctimer_init();
+
+  robot_stepper_init();
+
+  enableIRQ();
+
+  cc2420_init();
+  cc2420_set_pan_addr(0x2024, 0, &uip_hostaddr.u16[1]);
+  cc2420_set_channel(RF_CHANNEL);
+  rime_init(nullmac_init(&cc2420_driver));
+  printf("CC2420 setup done\n");
+
+  rimeaddr_set_node_addr(&node_addr);
+  
+    #if WITH_UIP
+  {
+    uip_ipaddr_t hostaddr, netmask;
+    
     uip_init();
-  uip_fw_default(&cc2420if); 
+
-  tcpip_set_forwarding(1);
+    uip_ipaddr(&hostaddr, 172,16,
+               rimeaddr_node_addr.u8[0],rimeaddr_node_addr.u8[1]);
+    uip_ipaddr(&netmask, 255,255,0,0);
+    uip_ipaddr_copy(&meshif.ipaddr, &hostaddr);
+    printf("Host addr\n");
+    uip_sethostaddr(&hostaddr);
+    uip_setnetmask(&netmask);
+    uip_over_mesh_set_net(&hostaddr, &netmask);
+    /*    uip_fw_register(&slipif);*/
+    /*uip_over_mesh_set_gateway_netif(&slipif);*/
+    uip_fw_default(&meshif);
+    printf("Mesh init\n");
+    uip_over_mesh_init(UIP_OVER_MESH_CHANNEL);
+    printf("uIP started with IP address %d.%d.%d.%d\n",
+           uip_ipaddr_to_quad(&hostaddr));
+  }
+#endif /* WITH_UIP */
+
+
+#if WITH_UIP
+  process_start(&tcpip_process, NULL);
+  process_start(&uip_fw_process, NULL); /* Start IP output */
+#endif /* WITH_UIP */
+  
   printf("Heap size: %ld bytes\n", &__heap_end__ - (char*)sbrk(0));
   printf("Started\n");
 
-  robot_stepper_init();
-  procinit_init();
-  enableIRQ(); 
-  cc2420_on();
   autostart_start(autostart_processes);
   printf("Processes running\n");
   while(1) {

platform/stepper-robot/stepper-process.c

@@ -276,7 +276,8 @@ handle_line(const char *input_line, const char *inend, ReplyBuffer *reply)
     reply_str(reply, "OK\n");
   } else if (input_line[0] == 'p') {
     reply_char(reply, 'p');
-    format_int_hex(&reply->write, REPLY_BUFFER_END(reply), cc2420_last_rssi); 
+    format_int_hex(&reply->write, REPLY_BUFFER_END(reply),
+		   cc2420_last_rssi); 
     reply_char(reply, ',');
     format_uint_hex(&reply->write, REPLY_BUFFER_END(reply),
 		    cc2420_last_correlation);
@@ -443,12 +444,52 @@ PROCESS_THREAD(udp_stepper_process, ev, data)
   PROCESS_END();
 }
 
+static const uint32_t stepper0_steps_acc[] = MICRO_STEP(0,3);
+static const uint32_t stepper0_steps_run[] = MICRO_STEP(0,2);
+static const uint32_t stepper0_steps_hold[] = MICRO_STEP(0,1);
+
+static const uint32_t stepper1_steps_acc[] = MICRO_STEP(1,3);
+static const uint32_t stepper1_steps_run[] = MICRO_STEP(1,2);
+static const uint32_t stepper1_steps_hold[] = MICRO_STEP(1,1);
+
+static StepperAccSeq seq_heap[40];
+
+static void
+init_seq_heap()
+{
+  unsigned int i;
+  for(i = 0; i < sizeof(seq_heap)/sizeof(seq_heap[0]); i++) {
+    seq_heap[i].next = NULL;
+    stepper_free_seq(&seq_heap[i]);
+  }
+}
+
+static void
+robot_stepper_init()
+{
+  disableIRQ();
+  init_seq_heap();
+  stepper_init(AT91C_BASE_TC0, AT91C_ID_TC0);
+  *AT91C_PIOA_OER = STEPPER_INHIBIT;
+  *AT91C_PIOA_MDER = STEPPER_INHIBIT; /*  | STEPPER0_IOMASK; */
+  *AT91C_PIOA_CODR = STEPPER_INHIBIT;
+  stepper_init_io(1, STEPPER_IOMASK(0), stepper0_steps_acc,
+		  stepper0_steps_run, stepper0_steps_hold,
+		  (sizeof(stepper0_steps_run) / sizeof(stepper0_steps_run[0])));
+  stepper_init_io(0, STEPPER_IOMASK(1), stepper1_steps_acc,
+		  stepper1_steps_run, stepper1_steps_hold,
+		  (sizeof(stepper1_steps_run) / sizeof(stepper1_steps_run[0])));
+  enableIRQ();
+}
+
+
 PROCESS(stepper_process, "Stepper control process");
 
 PROCESS_THREAD(stepper_process, ev, data)
 {
   PROCESS_EXITHANDLER(goto exit);
   PROCESS_BEGIN();
+  robot_stepper_init();
   tcp_listen(HTONS(1010));
   
   process_start(&udp_stepper_process, NULL);