From 02091b083aca19cdcd198faf65b77fbaa1dd7c54 Mon Sep 17 00:00:00 2001
From: dak664 <dak664@embarqmail.com>
Date: Fri, 11 Mar 2011 13:47:47 -0500
Subject: [PATCH 01/27] MAC address to EEMEM, not PROGMEM Sync atmega128rfa1
 main routine to the raven (timed route prints, etc.)

---
 platform/avr-atmega128rfa1/contiki-main.c | 266 +++++++++++++++-------
 platform/avr-raven/contiki-raven-main.c   |   2 +-
 2 files changed, 185 insertions(+), 83 deletions(-)

diff --git a/platform/avr-atmega128rfa1/contiki-main.c b/platform/avr-atmega128rfa1/contiki-main.c
index a607b6700..7253707c8 100644
--- a/platform/avr-atmega128rfa1/contiki-main.c
+++ b/platform/avr-atmega128rfa1/contiki-main.c
@@ -30,16 +30,15 @@
  *
  * @(#)$$
  */
+#define LED_ON_PORTE1 0    //for Michael Hartman's prototype board
 #define ANNOUNCE_BOOT 1    //adds about 600 bytes to program size
+#define PRINTF(FORMAT,args...) printf_P(PSTR(FORMAT),##args)
 
 #define DEBUG 0
 #if DEBUG
-#define PRINTF(FORMAT,args...) printf_P(PSTR(FORMAT),##args)
-#define PRINTSHORT(FORMAT,args...) printf_P(PSTR(FORMAT),##args)
-
+#define PRINTFD(FORMAT,args...) printf_P(PSTR(FORMAT),##args)
 #else
-#define PRINTF(...)
-#define PRINTSHORT(...)
+#define PRINTFD(...)
 #endif
 
 #include <avr/pgmspace.h>
@@ -120,7 +119,7 @@ extern uint8_t mac_address[8];     //These are defined in httpd-fsdata.c via mak
 extern uint8_t server_name[16];
 extern uint8_t domain_name[30];
 #else
-uint8_t mac_address[8] PROGMEM = {0x02, 0x11, 0x22, 0xff, 0xfe, 0x33, 0x44, 0x55};
+uint8_t mac_address[8] EEMEM = {0x02, 0x11, 0x22, 0xff, 0xfe, 0x33, 0x44, 0x55};
 #endif
 
 
@@ -173,13 +172,17 @@ void initialize(void)
 {
   watchdog_init();
   watchdog_start();
-  
-#ifdef RAVEN_LCD_INTERFACE
+
+#if !LED_ON_PORTE1    //Conflicts with USART0
+#if RAVEN_LCD_INTERFACE
   /* First rs232 port for Raven 3290 port */
-  //conflicts with led on Hartmann's board, so bypass for now
-//  rs232_init(RS232_PORT_0, USART_BAUD_38400,USART_PARITY_NONE | USART_STOP_BITS_1 | USART_DATA_BITS_8);
+   rs232_init(RS232_PORT_0, USART_BAUD_38400,USART_PARITY_NONE | USART_STOP_BITS_1 | USART_DATA_BITS_8);
   /* Set input handler for 3290 port */
-//  rs232_set_input(0,raven_lcd_serial_input);
+   rs232_set_input(0,raven_lcd_serial_input);
+#else
+  //Slip border router on uart0
+  rs232_init(RS232_PORT_0, USART_BAUD_38400,USART_PARITY_NONE | USART_STOP_BITS_1 | USART_DATA_BITS_8);
+#endif
 #endif
 
   /* Second rs232 port for debugging */
@@ -188,14 +191,29 @@ void initialize(void)
   rs232_redirect_stdout(RS232_PORT_1);
   clock_init();
 
-#define CONF_CALIBRATE_OSCCAL 1
+#if STACKMONITOR
+  /* Simple stack pointer highwater monitor. Checks for magic numbers in the main
+   * loop. In conjuction with TESTRTIMER, never-used stack will be printed
+   * every STACKMONITOR seconds.
+   */
+{
+extern uint16_t __bss_end;
+uint16_t p=(uint16_t)&__bss_end;
+    do {
+      *(uint16_t *)p = 0x4242;
+      p+=10;
+    } while (p<SP-10); //don't overwrite our own stack
+}
+#endif
+
+#define CONF_CALIBRATE_OSCCAL 0
 #if CONF_CALIBRATE_OSCCAL
 {
 uint8_t i;
-  printf_P(PSTR("\nBefore calibration OSCCAL=%x\n"),OSCCAL);
+  PRINTF("\nBefore calibration OSCCAL=%x\n",OSCCAL);
   for (i=0;i<10;i++) { 
     calibrate_rc_osc_32k();  
-    printf_P(PSTR("Calibrated=%x\n"),osccal_calibrated);
+    PRINTF("Calibrated=%x\n",osccal_calibrated);
 //#include <util/delay_basic.h>
 //#define delay_us( us )   ( _delay_loop_2(1+(us*F_CPU)/4000000UL) ) 
 //   delay_us(50000);
@@ -205,7 +223,7 @@ uint8_t i;
 #endif 
 
 #if ANNOUNCE_BOOT
-  printf_P(PSTR("\n*******Booting %s*******\n"),CONTIKI_VERSION_STRING);
+  PRINTF("\n*******Booting %s*******\n",CONTIKI_VERSION_STRING);
 #endif
   watchdog_start();
 /* rtimers needed for radio cycling */
@@ -240,7 +258,7 @@ uint8_t i;
 
   rimeaddr_set_node_addr(&addr); 
 
-  PRINTF("MAC address %x:%x:%x:%x:%x:%x:%x:%x\n",addr.u8[0],addr.u8[1],addr.u8[2],addr.u8[3],addr.u8[4],addr.u8[5],addr.u8[6],addr.u8[7]);
+  PRINTFD("MAC address %x:%x:%x:%x:%x:%x:%x:%x\n",addr.u8[0],addr.u8[1],addr.u8[2],addr.u8[3],addr.u8[4],addr.u8[5],addr.u8[6],addr.u8[7]);
 
   /* Initialize stack protocols */
   queuebuf_init();
@@ -249,19 +267,19 @@ uint8_t i;
   NETSTACK_NETWORK.init();
 
 #if ANNOUNCE_BOOT
-  printf_P(PSTR("%s %s, channel %u"),NETSTACK_MAC.name, NETSTACK_RDC.name,rf230_get_channel());
+  PRINTF("%s %s, channel %u",NETSTACK_MAC.name, NETSTACK_RDC.name,rf230_get_channel());
   if (NETSTACK_RDC.channel_check_interval) {//function pointer is zero for sicslowmac
     unsigned short tmp;
     tmp=CLOCK_SECOND / (NETSTACK_RDC.channel_check_interval == 0 ? 1:\
                                    NETSTACK_RDC.channel_check_interval());
-    if (tmp<65535) printf_P(PSTR(", check rate %u Hz"),tmp);
+    if (tmp<65535) PRINTF(", check rate %u Hz",tmp);
   }
-  printf_P(PSTR("\n"));
+  PRINTF("\n");
 #endif
 
 #if UIP_CONF_ROUTER
 #if ANNOUNCE_BOOT
-  printf_P(PSTR("Routing Enabled\n"));
+  PRINTF("Routing Enabled\n");
 #endif
 //  rime_init(rime_udp_init(NULL));
 // uip_router_register(&rimeroute);
@@ -289,13 +307,13 @@ uint8_t i;
 #if COFFEE_FILES
   int fa = cfs_open( "/index.html", CFS_READ);
   if (fa<0) {     //Make some default web content
-    printf_P(PSTR("No index.html file found, creating upload.html!\n"));
-    printf_P(PSTR("Formatting FLASH file system for coffee..."));
+    PRINTF("No index.html file found, creating upload.html!\n");
+    PRINTF("Formatting FLASH file system for coffee...");
     cfs_coffee_format();
-    printf_P(PSTR("Done!\n"));
+    PRINTF("Done!\n");
     fa = cfs_open( "/index.html", CFS_WRITE);
     int r = cfs_write(fa, &"It works!", 9);
-    if (r<0) printf_P(PSTR("Can''t create /index.html!\n"));
+    if (r<0) PRINTF("Can''t create /index.html!\n");
     cfs_close(fa);
 //  fa = cfs_open("upload.html"), CFW_WRITE);
 // <html><body><form action="upload.html" enctype="multipart/form-data" method="post"><input name="userfile" type="file" size="50" /><input value="Upload" type="submit" /></form></body></html>
@@ -323,29 +341,29 @@ uint8_t i;
   for (i=0;i<UIP_DS6_ADDR_NB;i++) {
 	if (uip_ds6_if.addr_list[i].isused) {	  
 	   httpd_cgi_sprint_ip6(uip_ds6_if.addr_list[i].ipaddr,buf);
-       printf_P(PSTR("IPv6 Address: %s\n"),buf);
+       PRINTF("IPv6 Address: %s\n",buf);
 	}
   }
    eeprom_read_block (buf,server_name, sizeof(server_name));
    buf[sizeof(server_name)]=0;
-   printf_P(PSTR("%s"),buf);
+   PRINTF("%s",buf);
    eeprom_read_block (buf,domain_name, sizeof(domain_name));
    buf[sizeof(domain_name)]=0;
    size=httpd_fs_get_size();
 #ifndef COFFEE_FILES
-   printf_P(PSTR(".%s online with fixed %u byte web content\n"),buf,size);
+   PRINTF(".%s online with fixed %u byte web content\n",buf,size);
 #elif COFFEE_FILES==1
-   printf_P(PSTR(".%s online with static %u byte EEPROM file system\n"),buf,size);
+   PRINTF(".%s online with static %u byte EEPROM file system\n",buf,size);
 #elif COFFEE_FILES==2
-   printf_P(PSTR(".%s online with dynamic %u KB EEPROM file system\n"),buf,size>>10);
+   PRINTF(".%s online with dynamic %u KB EEPROM file system\n",buf,size>>10);
 #elif COFFEE_FILES==3
-   printf_P(PSTR(".%s online with static %u byte program memory file system\n"),buf,size);
+   PRINTF(".%s online with static %u byte program memory file system\n",buf,size);
 #elif COFFEE_FILES==4
-   printf_P(PSTR(".%s online with dynamic %u KB program memory file system\n"),buf,size>>10);
+   PRINTF(".%s online with dynamic %u KB program memory file system\n",buf,size>>10);
 #endif /* COFFEE_FILES */
 
 #else
-   printf_P(PSTR("Online\n"));
+   PRINTF("Online\n");
 #endif /* WEBSERVER */
 
 #endif /* ANNOUNCE_BOOT */
@@ -354,17 +372,22 @@ uint8_t i;
 /*---------------------------------------------------------------------------*/
 void log_message(char *m1, char *m2)
 {
-  printf_P(PSTR("%s%s\n"), m1, m2);
+  PRINTF("%s%s\n", m1, m2);
 }
-/* Test rtimers, also useful for pings and time stamps in simulator */
-#define TESTRTIMER 0
+/* Test rtimers, also for pings, stack monitor, neighbor/route printout and time stamps */
+#define TESTRTIMER 1
 #if TESTRTIMER
-#define PINGS 60
+//#define PINGS 64
+#define ROUTES 64
 #define STAMPS 30
+#define STACKMONITOR 128
+
 uint8_t rtimerflag=1;
 uint16_t rtime;
 struct rtimer rt;
 void rtimercycle(void) {rtimerflag=1;}
+static void ipaddr_add(const uip_ipaddr_t *addr);
+
 #endif /* TESTRTIMER */
 
 #if RF230BB
@@ -379,85 +402,140 @@ uint16_t ledtimer;
 int
 main(void)
 {
-#define CONFIG_STACK_MONITOR 1
-#if CONFIG_STACK_MONITOR
-extern uint16_t __bss_end;
- __bss_end = 0x4242;
- *(uint16_t *)(&__bss_end+100) = 0x4242;
-#endif
 
   initialize();
 
+#if LED_ON_PORTE1
   /* NB: PORTE1 conflicts with UART0 */
-  DDRE|=(1<<DDE1);  //set led pin to output
+  DDRE|=(1<<DDE1);  //set led pin to output (Micheal Hatrtman board)
   PORTE&=~(1<<PE1); //and low to turn led off
+#endif
 
   while(1) {
      process_run();
 
+#if LED_ON_PORTE1
     /* Turn off LED after a while */
     if (ledtimer) {
       if (--ledtimer==0) {
-         PORTE&=~(1<<PE1);
+        PORTE&=~(1<<PE1);
     /* Currently LED was turned on by received ping; ping the other way for testing */
         extern void raven_ping6(void);         
-        raven_ping6(); //ping back
+ //       raven_ping6(); //ping back
       }
-    } 
-  
-#if CONFIG_STACK_MONITOR
-    if (*(uint16_t *)(&__bss_end+100) != 0x4242) {
-      printf_P(PSTR("\nStack Warning, overflow within 100 bytes!\n"));
-      if (__bss_end != 0x4242) {
-       __bss_end = 0x4242;
-        printf_P(PSTR("\n!!!!!!!Stack Overflow!!!!!!!!\n"));
-      }
-      *(uint16_t *)(&__bss_end+100) = 0x4242;
     }
 #endif
 
 #if 0
-extern uint8_t rf230_calibrated;
+/* Various entry points for debugging in the AVR Studio simulator.
+ * Set as next statement and step into the routine.
+ */
+    NETSTACK_RADIO.send(packetbuf_hdrptr(), 42);
+    process_poll(&rf230_process);
+    packetbuf_clear();
+    len = rf230_read(packetbuf_dataptr(), PACKETBUF_SIZE);
+    packetbuf_set_datalen(42);
+    NETSTACK_RDC.input();
+#endif
+
+    watchdog_periodic();
+#if 0
+/* Clock.c can trigger a periodic PLL calibration in the RF230BB driver.
+ * This can show when that happens.
+ */
+    extern uint8_t rf230_calibrated;
     if (rf230_calibrated) {
-      printf_P(PSTR("\nRF230 calibrated!"));
+      PRINTF("\nRF230 calibrated!\n");
       rf230_calibrated=0;
     }
-#endif    
-  
-//Various entry points for debugging in AVR simulator
-//    NETSTACK_RADIO.send(packetbuf_hdrptr(), 42);
-//    process_poll(&rf230_process);
-//    packetbuf_clear();
-//    len = rf230_read(packetbuf_dataptr(), PACKETBUF_SIZE);
-//    packetbuf_set_datalen(42);
-//    NETSTACK_RDC.input();
-    watchdog_periodic();
+#endif
+
 #if TESTRTIMER
-    if (rtimerflag) {  //8 seconds is maximum interval, my raven 6% slow
+/* Timeout can be increased up to 8 seconds maximum.
+ * A one second cycle is convenient for triggering the various debug printouts.
+ * The triggers are staggered to avoid printing everything at once.
+ * My raven is 6% slow.
+ */
+    if (rtimerflag) {
       rtimer_set(&rt, RTIMER_NOW()+ RTIMER_ARCH_SECOND*1UL, 1,(void *) rtimercycle, NULL);
       rtimerflag=0;
-#if STAMPS
-      if ((rtime%STAMPS)==0) {
-        printf("%us ",rtime);
-#if 0 //test timer0
-extern unsigned long seconds;
-        printf("clock=  %lus ",clock_seconds());
-        printf("scount=%us",scount);
-        printf(" %us %us",(unsigned int)(seconds&0xffff),(unsigned int)(seconds>>16));
-#endif
-      }
 
+#if STAMPS
+if ((rtime%STAMPS)==0) {
+  PRINTF("%us ",rtime);
+}
 #endif
       rtime+=1;
+
 #if PINGS
-      if ((rtime%PINGS)==0) {
-        PRINTF("**Ping\n");
-        raven_ping6();
-      }
+if ((rtime%PINGS)==1) {
+  PRINTF("**Ping\n");
+  raven_ping6();
+}
 #endif
+
+#if ROUTES
+if ((rtime%ROUTES)==2) {
+      
+ //#if UIP_CONF_IPV6_RPL
+//#include "rpl.h"
+extern uip_ds6_nbr_t uip_ds6_nbr_cache[];
+extern uip_ds6_route_t uip_ds6_routing_table[];
+extern uip_ds6_netif_t uip_ds6_if;
+
+  uint8_t i,j;
+  PRINTF("\nAddresses [%u max]\n",UIP_DS6_ADDR_NB);
+  for (i=0;i<UIP_DS6_ADDR_NB;i++) {
+    if (uip_ds6_if.addr_list[i].isused) {	  
+      ipaddr_add(&uip_ds6_if.addr_list[i].ipaddr);
+      PRINTF("\n");
     }
+  }
+  PRINTF("\nNeighbors [%u max]\n",UIP_DS6_NBR_NB);
+  for(i = 0,j=1; i < UIP_DS6_NBR_NB; i++) {
+    if(uip_ds6_nbr_cache[i].isused) {
+      ipaddr_add(&uip_ds6_nbr_cache[i].ipaddr);
+      PRINTF("\n");
+      j=0;
+    }
+  }
+  if (j) PRINTF("  <none>");
+  PRINTF("\nRoutes [%u max]\n",UIP_DS6_ROUTE_NB);
+  for(i = 0,j=1; i < UIP_DS6_ROUTE_NB; i++) {
+    if(uip_ds6_routing_table[i].isused) {
+      ipaddr_add(&uip_ds6_routing_table[i].ipaddr);
+      PRINTF("/%u (via ", uip_ds6_routing_table[i].length);
+      ipaddr_add(&uip_ds6_routing_table[i].nexthop);
+ //     if(uip_ds6_routing_table[i].state.lifetime < 600) {
+        PRINTF(") %lus\n", uip_ds6_routing_table[i].state.lifetime);
+ //     } else {
+ //       PRINTF(")\n");
+ //     }
+      j=0;
+    }
+  }
+  if (j) PRINTF("  <none>");
+  PRINTF("\n---------\n");
+}
 #endif
 
+#if STACKMONITOR
+if ((rtime%STACKMONITOR)==3) {
+  extern uint16_t __bss_end;
+  uint16_t p=(uint16_t)&__bss_end;
+  do {
+    if (*(uint16_t *)p != 0x4242) {
+      PRINTF("Never-used stack > %d bytes\n",p-(uint16_t)&__bss_end);
+      break;
+    }
+    p+=10;
+  } while (p<RAMEND-10);
+}
+#endif
+
+    }
+#endif /* TESTRTIMER */
+
 //Use with RF230BB DEBUGFLOW to show path through driver
 #if RF230BB&&0
 extern uint8_t debugflowsize,debugflow[];
@@ -486,3 +564,27 @@ extern uint8_t debugflowsize,debugflow[];
   }
   return 0;
 }
+
+/*---------------------------------------------------------------------------*/
+
+#if ROUTES
+static void
+ipaddr_add(const uip_ipaddr_t *addr)
+{
+  uint16_t a;
+  int8_t i, f;
+  for(i = 0, f = 0; i < sizeof(uip_ipaddr_t); i += 2) {
+    a = (addr->u8[i] << 8) + addr->u8[i + 1];
+    if(a == 0 && f >= 0) {
+      if(f++ == 0) PRINTF("::");
+    } else {
+      if(f > 0) {
+        f = -1;
+      } else if(i > 0) {
+        PRINTF(":");
+      }
+      PRINTF("%x",a);
+    }
+  }
+}
+#endif
diff --git a/platform/avr-raven/contiki-raven-main.c b/platform/avr-raven/contiki-raven-main.c
index fe9f482e7..722d90bc8 100644
--- a/platform/avr-raven/contiki-raven-main.c
+++ b/platform/avr-raven/contiki-raven-main.c
@@ -130,7 +130,7 @@ extern uint8_t mac_address[8];     //These are defined in httpd-fsdata.c via mak
 extern uint8_t server_name[16];
 extern uint8_t domain_name[30];
 #else
-uint8_t mac_address[8] PROGMEM = {0x02, 0x11, 0x22, 0xff, 0xfe, 0x33, 0x44, 0x55};
+uint8_t mac_address[8] EEMEM = {0x02, 0x11, 0x22, 0xff, 0xfe, 0x33, 0x44, 0x55};
 #endif
 
 

From 6a5c8ff1c43fcd7ff227bd08b283f1d3d34d28d8 Mon Sep 17 00:00:00 2001
From: dak664 <dak664@embarqmail.com>
Date: Fri, 11 Mar 2011 14:10:30 -0500
Subject: [PATCH 02/27] Include file needed for slip rpl-border-router build

---
 cpu/avr/dev/uart1.h | 31 +++++++++++++++++++++++++++++++
 1 file changed, 31 insertions(+)
 create mode 100644 cpu/avr/dev/uart1.h

diff --git a/cpu/avr/dev/uart1.h b/cpu/avr/dev/uart1.h
new file mode 100644
index 000000000..69b96e574
--- /dev/null
+++ b/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

From e4fcd7ebd791fc13c52a9cd3a5ef43b79ccda5c3 Mon Sep 17 00:00:00 2001
From: dak664 <dak664@embarqmail.com>
Date: Fri, 11 Mar 2011 14:16:27 -0500
Subject: [PATCH 03/27] Add files needed for slip rpl-border-router build.

---
 platform/avr-atmega128rfa1/button-sensor.c | 45 +++++++++++
 platform/avr-atmega128rfa1/slip_uart0.c    | 93 ++++++++++++++++++++++
 platform/avr-raven/Makefile.avr-raven      |  4 +-
 platform/avr-raven/button-sensor.c         | 45 +++++++++++
 platform/avr-raven/slip_uart0.c            | 93 ++++++++++++++++++++++
 5 files changed, 279 insertions(+), 1 deletion(-)
 create mode 100644 platform/avr-atmega128rfa1/button-sensor.c
 create mode 100644 platform/avr-atmega128rfa1/slip_uart0.c
 create mode 100644 platform/avr-raven/button-sensor.c
 create mode 100644 platform/avr-raven/slip_uart0.c

diff --git a/platform/avr-atmega128rfa1/button-sensor.c b/platform/avr-atmega128rfa1/button-sensor.c
new file mode 100644
index 000000000..4daf2237e
--- /dev/null
+++ b/platform/avr-atmega128rfa1/button-sensor.c
@@ -0,0 +1,45 @@
+/* Dummy sensor routine */
+
+#include "lib/sensors.h"
+#include "dev/button-sensor.h"
+const struct sensors_sensor button_sensor;
+static int status(int type);
+struct sensors_sensor *sensors[1];
+unsigned char sensors_flags[1];
+
+
+static int
+value(int type)
+{
+ return 0;
+}
+
+static int
+configure(int type, int c)
+{
+	switch (type) {
+	case SENSORS_ACTIVE:
+		if (c) {
+			if(!status(SENSORS_ACTIVE)) {
+			}
+		} else {
+		}
+		return 1;
+	}
+	return 0;
+}
+
+static int
+status(int type)
+{
+	switch (type) {
+	case SENSORS_ACTIVE:
+	case SENSORS_READY:
+		return 1;
+	}
+	return 0;
+}
+
+SENSORS_SENSOR(button_sensor, BUTTON_SENSOR,
+	       value, configure, status);
+
diff --git a/platform/avr-atmega128rfa1/slip_uart0.c b/platform/avr-atmega128rfa1/slip_uart0.c
new file mode 100644
index 000000000..bf36616ad
--- /dev/null
+++ b/platform/avr-atmega128rfa1/slip_uart0.c
@@ -0,0 +1,93 @@
+/*
+ * Copyright (c) 2010, University of Colombo School of Computing
+ * 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.
+ *
+ * @(#)$$
+ */
+
+/**
+ * \file
+ *         Machine dependent AVR SLIP routines for UART0.
+ * \author
+ *         Kasun Hewage <kasun.ch@gmail.com>
+ */
+
+#include <stdio.h>
+#include "contiki.h"
+#include "dev/rs232.h"
+#include "slip.h"
+
+/*---------------------------------------------------------------------------*/
+static int
+slip_putchar(char c, FILE *stream)
+{
+#define SLIP_END 0300
+  static char debug_frame = 0;
+
+  if (!debug_frame) {        /* Start of debug output */
+    slip_arch_writeb(SLIP_END);
+    slip_arch_writeb('\r'); /* Type debug line == '\r' */
+    debug_frame = 1;
+  }
+
+  slip_arch_writeb((unsigned char)c);
+          
+  /*
+   * Line buffered output, a newline marks the end of debug output and
+   * implicitly flushes debug output.         
+   */
+  if (c == '\n') {
+    slip_arch_writeb(SLIP_END);
+    debug_frame = 0;
+  }
+
+  return c;
+}
+/*---------------------------------------------------------------------------*/
+static FILE slip_stdout = FDEV_SETUP_STREAM(slip_putchar, NULL,
+                                            _FDEV_SETUP_WRITE);
+/*---------------------------------------------------------------------------*/
+void
+slip_arch_init(unsigned long ubr)
+{
+  rs232_set_input(RS232_PORT_0, slip_input_byte);
+  stdout = &slip_stdout;
+}
+/*---------------------------------------------------------------------------*/
+/*
+ XXX:
+      Currently, the following function is in cpu/avr/dev/rs232.c file. this
+      should be moved to here from there hence this is a platform specific slip 
+      related function. 
+void
+slip_arch_writeb(unsigned char c)
+{
+  rs232_send(RS232_PORT_0, c);
+}
+*/
diff --git a/platform/avr-raven/Makefile.avr-raven b/platform/avr-raven/Makefile.avr-raven
index c9ce84473..4b26db519 100644
--- a/platform/avr-raven/Makefile.avr-raven
+++ b/platform/avr-raven/Makefile.avr-raven
@@ -4,7 +4,9 @@ CONTIKI_CORE=contiki-raven-main
 CONTIKI_TARGET_MAIN = ${CONTIKI_CORE}.o
 CONTIKI_TARGET_SOURCEFILES += contiki-raven-main.c contiki-raven-default-init-net.c
 #The avr cpu makefile will also add these files if COFFEE_FILES is specified.
-CONTIKI_TARGET_SOURCEFILES += cfs-coffee.c cfs-coffee-arch.c
+#CONTIKI_TARGET_SOURCEFILES += cfs-coffee.c cfs-coffee-arch.c
+#Needed for slip
+CONTIKI_TARGET_SOURCEFILES += button-sensor.c sensors.c slip_uart0.c slip.c
 
 CONTIKIAVR=$(CONTIKI)/cpu/avr
 CONTIKIBOARD=.
diff --git a/platform/avr-raven/button-sensor.c b/platform/avr-raven/button-sensor.c
new file mode 100644
index 000000000..4daf2237e
--- /dev/null
+++ b/platform/avr-raven/button-sensor.c
@@ -0,0 +1,45 @@
+/* Dummy sensor routine */
+
+#include "lib/sensors.h"
+#include "dev/button-sensor.h"
+const struct sensors_sensor button_sensor;
+static int status(int type);
+struct sensors_sensor *sensors[1];
+unsigned char sensors_flags[1];
+
+
+static int
+value(int type)
+{
+ return 0;
+}
+
+static int
+configure(int type, int c)
+{
+	switch (type) {
+	case SENSORS_ACTIVE:
+		if (c) {
+			if(!status(SENSORS_ACTIVE)) {
+			}
+		} else {
+		}
+		return 1;
+	}
+	return 0;
+}
+
+static int
+status(int type)
+{
+	switch (type) {
+	case SENSORS_ACTIVE:
+	case SENSORS_READY:
+		return 1;
+	}
+	return 0;
+}
+
+SENSORS_SENSOR(button_sensor, BUTTON_SENSOR,
+	       value, configure, status);
+
diff --git a/platform/avr-raven/slip_uart0.c b/platform/avr-raven/slip_uart0.c
new file mode 100644
index 000000000..bf36616ad
--- /dev/null
+++ b/platform/avr-raven/slip_uart0.c
@@ -0,0 +1,93 @@
+/*
+ * Copyright (c) 2010, University of Colombo School of Computing
+ * 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.
+ *
+ * @(#)$$
+ */
+
+/**
+ * \file
+ *         Machine dependent AVR SLIP routines for UART0.
+ * \author
+ *         Kasun Hewage <kasun.ch@gmail.com>
+ */
+
+#include <stdio.h>
+#include "contiki.h"
+#include "dev/rs232.h"
+#include "slip.h"
+
+/*---------------------------------------------------------------------------*/
+static int
+slip_putchar(char c, FILE *stream)
+{
+#define SLIP_END 0300
+  static char debug_frame = 0;
+
+  if (!debug_frame) {        /* Start of debug output */
+    slip_arch_writeb(SLIP_END);
+    slip_arch_writeb('\r'); /* Type debug line == '\r' */
+    debug_frame = 1;
+  }
+
+  slip_arch_writeb((unsigned char)c);
+          
+  /*
+   * Line buffered output, a newline marks the end of debug output and
+   * implicitly flushes debug output.         
+   */
+  if (c == '\n') {
+    slip_arch_writeb(SLIP_END);
+    debug_frame = 0;
+  }
+
+  return c;
+}
+/*---------------------------------------------------------------------------*/
+static FILE slip_stdout = FDEV_SETUP_STREAM(slip_putchar, NULL,
+                                            _FDEV_SETUP_WRITE);
+/*---------------------------------------------------------------------------*/
+void
+slip_arch_init(unsigned long ubr)
+{
+  rs232_set_input(RS232_PORT_0, slip_input_byte);
+  stdout = &slip_stdout;
+}
+/*---------------------------------------------------------------------------*/
+/*
+ XXX:
+      Currently, the following function is in cpu/avr/dev/rs232.c file. this
+      should be moved to here from there hence this is a platform specific slip 
+      related function. 
+void
+slip_arch_writeb(unsigned char c)
+{
+  rs232_send(RS232_PORT_0, c);
+}
+*/

From 97a71fea76188de7568287d7e423ba5ae581ed96 Mon Sep 17 00:00:00 2001
From: dak664 <dak664@embarqmail.com>
Date: Fri, 11 Mar 2011 15:07:15 -0500
Subject: [PATCH 04/27] Conditional inclusion of the internal webserver

---
 examples/ipv6/rpl-border-router/border-router.c | 11 +++++++++--
 1 file changed, 9 insertions(+), 2 deletions(-)

diff --git a/examples/ipv6/rpl-border-router/border-router.c b/examples/ipv6/rpl-border-router/border-router.c
index 6373d1e95..c2cc8973e 100644
--- a/examples/ipv6/rpl-border-router/border-router.c
+++ b/examples/ipv6/rpl-border-router/border-router.c
@@ -45,8 +45,11 @@
 #include "net/netstack.h"
 #include "dev/button-sensor.h"
 #include "dev/slip.h"
+#define INTERNAL_WEBSERVER 1
+#if INTERNAL_WEBSERVER
 #include "webserver-nogui.h"
 #include "httpd-simple.h"
+#endif
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
@@ -65,6 +68,7 @@ static uint8_t prefix_set;
 
 PROCESS(border_router_process, "Border router process");
 AUTOSTART_PROCESSES(&border_router_process);
+#if INTERNAL_WEBSERVER
 /*---------------------------------------------------------------------------*/
 /* Only one single web request at time */
 static const char *TOP = "<html><head><title>ContikiRPL</title></head><body>\n";
@@ -169,6 +173,7 @@ print_local_addresses(void)
     }
   }
 }
+#endif /* INTERNAL_WEBSERVER */
 /*---------------------------------------------------------------------------*/
 void
 request_prefix(void)
@@ -201,8 +206,9 @@ PROCESS_THREAD(border_router_process, ev, data)
   prefix_set = 0;
 
   PROCESS_PAUSE();
-
+#if INTERNAL_WEBSERVER
   process_start(&webserver_nogui_process, NULL);
+#endif
   SENSORS_ACTIVATE(button_sensor);
 
   PRINTF("RPL-Border router started\n");
@@ -219,8 +225,9 @@ PROCESS_THREAD(border_router_process, ev, data)
     rpl_set_prefix(dag, &prefix, 64);
     PRINTF("created a new RPL dag\n");
   }
-
+#if INTERNAL_WEBSERVER
   print_local_addresses();
+#endif
 
   /* The border router runs with a 100% duty cycle in order to ensure high
      packet reception rates. */

From abf6f1a153f5957eab654592dc8b7babaac04c09 Mon Sep 17 00:00:00 2001
From: dak664 <dak664@embarqmail.com>
Date: Fri, 11 Mar 2011 15:08:55 -0500
Subject: [PATCH 05/27] Include objects needed for slip rpl border router build

---
 platform/avr-atmega128rfa1/Makefile.avr-atmega128rfa1 | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/platform/avr-atmega128rfa1/Makefile.avr-atmega128rfa1 b/platform/avr-atmega128rfa1/Makefile.avr-atmega128rfa1
index 9e8b7ea75..d845dd61f 100644
--- a/platform/avr-atmega128rfa1/Makefile.avr-atmega128rfa1
+++ b/platform/avr-atmega128rfa1/Makefile.avr-atmega128rfa1
@@ -3,6 +3,8 @@ CONTIKI_TARGET_DIRS = . apps net loader
 CONTIKI_CORE=contiki-main
 CONTIKI_TARGET_MAIN = ${CONTIKI_CORE}.o
 CONTIKI_TARGET_SOURCEFILES += contiki-main.c
+#Needed for slip
+CONTIKI_TARGET_SOURCEFILES += button-sensor.c sensors.c slip_uart0.c slip.c
 
 CONTIKIAVR=$(CONTIKI)/cpu/avr
 CONTIKIBOARD=.

From c9671500382c43988cef01fcd423e625225ddea6 Mon Sep 17 00:00:00 2001
From: Mariano Alvira <mar@devl.org>
Date: Fri, 11 Mar 2011 15:53:13 -0500
Subject: [PATCH 06/27] add rtc support

---
 lib/include/rtc.h |  57 +++++++++++++
 lib/rtc.c         | 202 ++++++++++++++++++++++++++++++++++++++++++++++
 2 files changed, 259 insertions(+)
 create mode 100644 lib/include/rtc.h
 create mode 100644 lib/rtc.c

diff --git a/lib/include/rtc.h b/lib/include/rtc.h
new file mode 100644
index 000000000..cda1d60cb
--- /dev/null
+++ b/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
diff --git a/lib/rtc.c b/lib/rtc.c
new file mode 100644
index 000000000..383384c38
--- /dev/null
+++ b/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;
+}

From c7dc2a45a45134334096a794a5b779346ef6c61d Mon Sep 17 00:00:00 2001
From: Mariano Alvira <mar@devl.org>
Date: Fri, 11 Mar 2011 15:55:32 -0500
Subject: [PATCH 07/27] add pwm support

---
 lib/include/pwm.h |  67 ++++++++++++
 lib/pwm.c         | 254 ++++++++++++++++++++++++++++++++++++++++++++++
 tests/Makefile    |   4 +-
 tests/pwm.c       |  85 ++++++++++++++++
 4 files changed, 409 insertions(+), 1 deletion(-)
 create mode 100644 lib/include/pwm.h
 create mode 100644 lib/pwm.c
 create mode 100644 tests/pwm.c

diff --git a/lib/include/pwm.h b/lib/include/pwm.h
new file mode 100644
index 000000000..65cfe1616
--- /dev/null
+++ b/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
diff --git a/lib/pwm.c b/lib/pwm.c
new file mode 100644
index 000000000..8ee8f2eb1
--- /dev/null
+++ b/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;
+}
diff --git a/tests/Makefile b/tests/Makefile
index 88c66dae2..0380d4f8b 100644
--- a/tests/Makefile
+++ b/tests/Makefile
@@ -11,7 +11,9 @@ TARGETS := blink-red blink-green blink-blue blink-white blink-allio \
            tmr tmr-ints \
            sleep \
            printf \
-	   asm
+	   asm \
+	   adc \
+	   pwm
 
 # 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
diff --git a/tests/pwm.c b/tests/pwm.c
new file mode 100644
index 000000000..324913d54
--- /dev/null
+++ b/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);
+	}
+}
+
+

From b2b18b37fc928e21a1ec92a253c5f31b69ed4ef3 Mon Sep 17 00:00:00 2001
From: Mariano Alvira <mar@devl.org>
Date: Fri, 11 Mar 2011 16:17:06 -0500
Subject: [PATCH 08/27] add gpio-utils

---
 lib/gpio-util.c         | 63 +++++++++++++++++++++++++++++++++++++++++
 lib/include/gpio-util.h | 28 ++++++++++++++++++
 2 files changed, 91 insertions(+)
 create mode 100644 lib/gpio-util.c
 create mode 100644 lib/include/gpio-util.h

diff --git a/lib/gpio-util.c b/lib/gpio-util.c
new file mode 100644
index 000000000..e1f55d426
--- /dev/null
+++ b/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;
+}
diff --git a/lib/include/gpio-util.h b/lib/include/gpio-util.h
new file mode 100644
index 000000000..258ecf097
--- /dev/null
+++ b/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

From c27e96f1e9aa8d1f781411de7ac5d0de7dafd656 Mon Sep 17 00:00:00 2001
From: Mariano Alvira <mar@devl.org>
Date: Fri, 11 Mar 2011 16:20:41 -0500
Subject: [PATCH 09/27] add adc support

---
 lib/adc.c          | 138 ++++++++++++++++++++++++++++++++++++++
 lib/include/adc.h  | 164 +++++++++++++++++++++++++++++++++++++++++++++
 lib/include/maca.h |   4 +-
 lib/maca.c         |   2 +-
 tests/adc.c        |  63 +++++++++++++++++
 5 files changed, 368 insertions(+), 3 deletions(-)
 create mode 100644 lib/adc.c
 create mode 100644 lib/include/adc.h
 create mode 100644 tests/adc.c

diff --git a/lib/adc.c b/lib/adc.c
new file mode 100644
index 000000000..841855107
--- /dev/null
+++ b/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);
+		}
+	}
+}
diff --git a/lib/include/adc.h b/lib/include/adc.h
new file mode 100644
index 000000000..580e3545e
--- /dev/null
+++ b/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
diff --git a/lib/include/maca.h b/lib/include/maca.h
index 2f567a9ac..d9bb283b8 100644
--- a/lib/include/maca.h
+++ b/lib/include/maca.h
@@ -121,8 +121,8 @@ enum {
 #define LFSR            6                    /* 1 use polynomial for Turbolink */
 #define TM              5
 
-#define MODE            3
-#define MODE_MASK       bit_mask(2,MODE)
+#define MACA_MODE       3
+#define MODE_MASK       bit_mask(2,MACA_MODE)
 #define NO_CCA          0
 #define NO_SLOT_CCA     1
 #define SLOT_CCA        2
diff --git a/lib/maca.c b/lib/maca.c
index e039062c3..fb14052bb 100644
--- a/lib/maca.c
+++ b/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);
diff --git a/tests/adc.c b/tests/adc.c
new file mode 100644
index 000000000..28a98ce75
--- /dev/null
+++ b/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]);
+		}
+	}
+}

From 533a827adbe58b9ac71294278f08e86e57d52c99 Mon Sep 17 00:00:00 2001
From: dak664 <dak664@embarqmail.com>
Date: Fri, 11 Mar 2011 16:28:02 -0500
Subject: [PATCH 10/27] Defines need to be above their use in a conditional
 test

---
 platform/avr-atmega128rfa1/contiki-main.c | 31 ++++++++++++-----------
 1 file changed, 16 insertions(+), 15 deletions(-)

diff --git a/platform/avr-atmega128rfa1/contiki-main.c b/platform/avr-atmega128rfa1/contiki-main.c
index 7253707c8..a05c454d9 100644
--- a/platform/avr-atmega128rfa1/contiki-main.c
+++ b/platform/avr-atmega128rfa1/contiki-main.c
@@ -95,6 +95,22 @@
 
 #include "net/rime.h"
 
+/* Test rtimers, also for pings, stack monitor, neighbor/route printout and time stamps */
+#define TESTRTIMER 1
+#if TESTRTIMER
+//#define PINGS 64
+#define ROUTES 64
+#define STAMPS 30
+#define STACKMONITOR 128
+
+uint8_t rtimerflag=1;
+uint16_t rtime;
+struct rtimer rt;
+void rtimercycle(void) {rtimerflag=1;}
+static void ipaddr_add(const uip_ipaddr_t *addr);
+
+#endif /* TESTRTIMER */
+
 /*-------------------------------------------------------------------------*/
 /*----------------------Configuration of the .elf file---------------------*/
 typedef struct {unsigned char B2;unsigned char B1;unsigned char B0;} __signature_t;
@@ -374,21 +390,6 @@ void log_message(char *m1, char *m2)
 {
   PRINTF("%s%s\n", m1, m2);
 }
-/* Test rtimers, also for pings, stack monitor, neighbor/route printout and time stamps */
-#define TESTRTIMER 1
-#if TESTRTIMER
-//#define PINGS 64
-#define ROUTES 64
-#define STAMPS 30
-#define STACKMONITOR 128
-
-uint8_t rtimerflag=1;
-uint16_t rtime;
-struct rtimer rt;
-void rtimercycle(void) {rtimerflag=1;}
-static void ipaddr_add(const uip_ipaddr_t *addr);
-
-#endif /* TESTRTIMER */
 
 #if RF230BB
 extern char rf230_interrupt_flag, rf230processflag;

From f2b92cfa98899b80ff84af44c4e52c77cd28d3d7 Mon Sep 17 00:00:00 2001
From: Mariano Alvira <mar@devl.org>
Date: Fri, 11 Mar 2011 16:32:25 -0500
Subject: [PATCH 11/27] mc1322x: remove bad rule from cpu Makfile

---
 cpu/mc1322x/Makefile.mc1322x | 2 --
 1 file changed, 2 deletions(-)

diff --git a/cpu/mc1322x/Makefile.mc1322x b/cpu/mc1322x/Makefile.mc1322x
index 316012133..3e45f3f06 100644
--- a/cpu/mc1322x/Makefile.mc1322x
+++ b/cpu/mc1322x/Makefile.mc1322x
@@ -90,8 +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 $@

From bf5be5056f788356a07d837c546993355469a2ea Mon Sep 17 00:00:00 2001
From: dak664 <dak664@embarqmail.com>
Date: Fri, 11 Mar 2011 16:50:35 -0500
Subject: [PATCH 12/27] Testing $OS works with cygwin and DOS command windows

---
 cpu/mc1322x/Makefile.mc1322x | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/cpu/mc1322x/Makefile.mc1322x b/cpu/mc1322x/Makefile.mc1322x
index 316012133..676986d34 100644
--- a/cpu/mc1322x/Makefile.mc1322x
+++ b/cpu/mc1322x/Makefile.mc1322x
@@ -72,8 +72,8 @@ CUSTOM_RULE_C_TO_O=yes
 CFLAGS += -I$(OBJECTDIR) -I$(CONTIKI_CPU)/board -DBOARD=$(TARGET)
 
 $(OBJECTDIR)/board.h: $(OBJECTDIR) 
-ifneq (,$(findstring cygdrive,$(shell pwd)))
-${info Cygwin detected.}
+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

From b7baf22a02f1eee81fafcf61bea7abf05cbfc45d Mon Sep 17 00:00:00 2001
From: Mariano Alvira <mar@devl.org>
Date: Sat, 12 Mar 2011 09:06:38 -0500
Subject: [PATCH 13/27] add .gitignore and ignore generated files

---
 .gitignore | 13 +++++++++++++
 1 file changed, 13 insertions(+)
 create mode 100644 .gitignore

diff --git a/.gitignore b/.gitignore
new file mode 100644
index 000000000..ca2f32a4a
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,13 @@
+*.a
+*.bin
+*.map
+*.png
+*.log
+*.elf
+*.ihex
+obj_*
+symbols.*
+Makefile.target
+doc/html
+patches-*
+tools/tunslip6

From 72cb4157d965fd54425c697285b9a78ea333167e Mon Sep 17 00:00:00 2001
From: Mariano Alvira <mar@devl.org>
Date: Sat, 12 Mar 2011 22:36:39 -0500
Subject: [PATCH 14/27] fix burn-macs to work on 32-bit machines too

---
 tools/test-grid/burn-macs.pl | 25 +++++++++++++++----------
 1 file changed, 15 insertions(+), 10 deletions(-)

diff --git a/tools/test-grid/burn-macs.pl b/tools/test-grid/burn-macs.pl
index 8434f2fb4..311bac768 100755
--- a/tools/test-grid/burn-macs.pl
+++ b/tools/test-grid/burn-macs.pl
@@ -5,11 +5,14 @@ my $bin = shift;
 my $terms = shift;
 
 my $addr = "0x1e000";
-my $company_id;
-my $iab = 0xabc; # Redwire, LLC's IAB
+my $iab = 0xa8c; # 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)) {
-	    $mac = ($company_id << 28) | $dev_num;
-	} else {
-	    $mac = ($company_id << 40) | $dev_num;
-	}
+	printf("mac_h %x\n", $mac_h);
+	printf("mac_l %x\n", $mac_l);
 	my @words;
-	for(my $i=0; $i<8; $i++) {
-	    push @words, ($mac >> ($i * 8)) & 0xff;
+	for(my $i=0; $i<4; $i++) {
+	    push @words, ($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) {

From a883c9bcbc8c4c52bed0b093559d48fd20c7d79d Mon Sep 17 00:00:00 2001
From: dak664 <dak664@embarqmail.com>
Date: Sun, 13 Mar 2011 11:57:39 -0400
Subject: [PATCH 15/27] Add PRINTA so direct calls to debug routines will
 always print

---
 core/net/uip-debug.c | 15 +++++++--------
 core/net/uip-debug.h | 13 +++++++++----
 2 files changed, 16 insertions(+), 12 deletions(-)

diff --git a/core/net/uip-debug.c b/core/net/uip-debug.c
index 60ec30f86..bc611f383 100644
--- a/core/net/uip-debug.c
+++ b/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]);
   }
 }
 /*---------------------------------------------------------------------------*/
diff --git a/core/net/uip-debug.h b/core/net/uip-debug.h
index 7ee280156..8015c03f1 100644
--- a/core/net/uip-debug.h
+++ b/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);
@@ -52,10 +53,16 @@ void uip_debug_lladdr_print(const uip_lladdr_t *addr);
 #define DEBUG_ANNOTATE  2
 #define DEBUG_FULL      DEBUG_ANNOTATE | DEBUG_PRINT
 
-#if (DEBUG) & DEBUG_ANNOTATE
-#include <stdio.h>
+/* 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
+#ifdef __AVR__
 #define ANNOTATE(FORMAT,args...) printf_P(PSTR(FORMAT),##args)
 #else
 #define ANNOTATE(...) printf(__VA_ARGS__)
@@ -65,9 +72,7 @@ void uip_debug_lladdr_print(const uip_lladdr_t *addr);
 #endif /* (DEBUG) & DEBUG_ANNOTATE */
 
 #if (DEBUG) & DEBUG_PRINT
-#include <stdio.h>
 #ifdef __AVR__
-#include <avr/pgmspace.h>
 #define PRINTF(FORMAT,args...) printf_P(PSTR(FORMAT),##args)
 #else
 #define PRINTF(...) printf(__VA_ARGS__)

From 14246ef811d26c9b5f9cdbd21632487130f6d5a4 Mon Sep 17 00:00:00 2001
From: dak664 <dak664@embarqmail.com>
Date: Sun, 13 Mar 2011 11:59:17 -0400
Subject: [PATCH 16/27] Add optional build without internal webserver

---
 examples/ipv6/rpl-border-router/Makefile      |  9 +++++-
 .../ipv6/rpl-border-router/border-router.c    | 28 ++++++++++++-------
 2 files changed, 26 insertions(+), 11 deletions(-)

diff --git a/examples/ipv6/rpl-border-router/Makefile b/examples/ipv6/rpl-border-router/Makefile
index fe551f15b..3fd4c82b4 100644
--- a/examples/ipv6/rpl-border-router/Makefile
+++ b/examples/ipv6/rpl-border-router/Makefile
@@ -5,10 +5,17 @@ CONTIKI=../../..
 WITH_UIP6=1
 UIP_CONF_IPV6=1
 
-APPS += webserver
+#Override inclusion of internal webserver with make WITH_WEBSERVER=0
+WITH_WEBSERVER=1
 
+ifeq ($(WITH_WEBSERVER), 0)
 CFLAGS += -DPROJECT_CONF_H=\"project-conf.h\"
+PROJECT_SOURCEFILES += slip-bridge.c
+else
+APPS += webserver
+CFLAGS += -DPROJECT_CONF_H=\"project-conf.h\" -DWEBSERVER
 PROJECT_SOURCEFILES += slip-bridge.c httpd-simple.c
+endif
 
 include $(CONTIKI)/Makefile.include
 
diff --git a/examples/ipv6/rpl-border-router/border-router.c b/examples/ipv6/rpl-border-router/border-router.c
index c2cc8973e..a7a31f48e 100644
--- a/examples/ipv6/rpl-border-router/border-router.c
+++ b/examples/ipv6/rpl-border-router/border-router.c
@@ -45,11 +45,13 @@
 #include "net/netstack.h"
 #include "dev/button-sensor.h"
 #include "dev/slip.h"
-#define INTERNAL_WEBSERVER 1
-#if INTERNAL_WEBSERVER
+
+/* For internal webserver Makefile must set APPS += webserver and PROJECT_SOURCEFILES += httpd-simple.c */
+#if WEBSERVER
 #include "webserver-nogui.h"
 #include "httpd-simple.h"
 #endif
+
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
@@ -68,7 +70,8 @@ static uint8_t prefix_set;
 
 PROCESS(border_router_process, "Border router process");
 AUTOSTART_PROCESSES(&border_router_process);
-#if INTERNAL_WEBSERVER
+
+#if WEBSERVER
 /*---------------------------------------------------------------------------*/
 /* Only one single web request at time */
 static const char *TOP = "<html><head><title>ContikiRPL</title></head><body>\n";
@@ -155,6 +158,9 @@ httpd_simple_get_script(const char *name)
 {
   return generate_routes;
 }
+
+#endif /* WEBSERVER */
+
 /*---------------------------------------------------------------------------*/
 static void
 print_local_addresses(void)
@@ -162,18 +168,17 @@ print_local_addresses(void)
   int i;
   uint8_t state;
 
-  PRINTF("Server IPv6 addresses:\n");
+  PRINTA("Server IPv6 addresses:\n");
   for(i = 0; i < UIP_DS6_ADDR_NB; i++) {
     state = uip_ds6_if.addr_list[i].state;
     if(uip_ds6_if.addr_list[i].isused &&
        (state == ADDR_TENTATIVE || state == ADDR_PREFERRED)) {
-      blen = 0;
-      ipaddr_add(&uip_ds6_if.addr_list[i].ipaddr);
-      PRINTF("  %s\n", buf);
+      PRINTA(" ");
+      uip_debug_ipaddr_print(&uip_ds6_if.addr_list[i].ipaddr);
+      PRINTA("\n");
     }
   }
 }
-#endif /* INTERNAL_WEBSERVER */
 /*---------------------------------------------------------------------------*/
 void
 request_prefix(void)
@@ -206,9 +211,11 @@ PROCESS_THREAD(border_router_process, ev, data)
   prefix_set = 0;
 
   PROCESS_PAUSE();
-#if INTERNAL_WEBSERVER
+
+#if WEBSERVER
   process_start(&webserver_nogui_process, NULL);
 #endif
+
   SENSORS_ACTIVATE(button_sensor);
 
   PRINTF("RPL-Border router started\n");
@@ -225,7 +232,8 @@ PROCESS_THREAD(border_router_process, ev, data)
     rpl_set_prefix(dag, &prefix, 64);
     PRINTF("created a new RPL dag\n");
   }
-#if INTERNAL_WEBSERVER
+
+#if DEBUG || 1
   print_local_addresses();
 #endif
 

From 0b2d3d16155d3462059137538d64ffbfe6a8b25f Mon Sep 17 00:00:00 2001
From: dak664 <dak664@embarqmail.com>
Date: Sun, 13 Mar 2011 13:07:32 -0400
Subject: [PATCH 17/27] Refactor clock code with optional interrupt optimizing.
 Put periodic radio calibration on conditional.

---
 cpu/avr/dev/clock.c             | 152 ++++++++++++++++++++++++++------
 cpu/avr/radio/rf230bb/rf230bb.c |   7 +-
 2 files changed, 132 insertions(+), 27 deletions(-)

diff --git a/cpu/avr/dev/clock.c b/cpu/avr/dev/clock.c
index ad1711828..14a1671fb 100644
--- a/cpu/avr/dev/clock.c
+++ b/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 +57,49 @@ 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 +165,91 @@ clock_seconds(void)
   } while(tmp != seconds);
   return tmp;
 }
+
+#if 1
+/* 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
\ No newline at end of file
diff --git a/cpu/avr/radio/rf230bb/rf230bb.c b/cpu/avr/radio/rf230bb/rf230bb.c
index b937a0bbd..19aa8b253 100644
--- a/cpu/avr/radio/rf230bb/rf230bb.c
+++ b/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
@@ -758,6 +761,7 @@ 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 +770,7 @@ rf230_transmit(unsigned short payload_len)
       rf230_calibrated=1;
       delay_us(80); //?
     }
+#endif
   }
  
   /* Wait for any previous operation or state transition to finish */

From a210e14d7888a39326176e00db31fbb93793ce62 Mon Sep 17 00:00:00 2001
From: dak664 <dak664@embarqmail.com>
Date: Sun, 13 Mar 2011 13:45:12 -0400
Subject: [PATCH 18/27] Add defines for watchdog configuration.

---
 cpu/avr/watchdog.c | 37 +++++++++++++++++++++++++++++++------
 1 file changed, 31 insertions(+), 6 deletions(-)

diff --git a/cpu/avr/watchdog.c b/cpu/avr/watchdog.c
index 0061a0802..5996027dc 100644
--- a/cpu/avr/watchdog.c
+++ b/cpu/avr/watchdog.c
@@ -28,44 +28,69 @@
  *
  * 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 */
+
+/* Default timeout of 2 seconds is available on most MCUs */
+#ifndef WATCHDOG_CONF_TIMEOUT
+#define WATCHDOG_CONF_TIMEOUT WDTO_2S
+//#define WATCHDOG_CONF_TIMEOUT WDTO_4S
+#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 do 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
 static int stopped = 0;
+#endif
 
 /*---------------------------------------------------------------------------*/
 void
 watchdog_init(void)
 {
 	MCUSR&=~(1<<WDRF);
+#if WATCHDOG_CONF_BALANCE
 	stopped = 0;
+#endif
 	watchdog_stop();
 }
 /*---------------------------------------------------------------------------*/
 void
 watchdog_start(void)
 {
+#if WATCHDOG_CONF_BALANCE
 	stopped--;
-//	if(!stopped)
-		wdt_enable(WDTO_2S);
+	if(!stopped)
+#endif
+		wdt_enable(WATCHDOG_CONF_TIMEOUT);
 }
 /*---------------------------------------------------------------------------*/
 void
 watchdog_periodic(void)
 {
-//	if(!stopped)
+#if WATCHDOG_CONF_BALANCE
+	if(!stopped)
+#endif
 		wdt_reset();
 }
 /*---------------------------------------------------------------------------*/
 void
 watchdog_stop(void)
 {
-//	stopped++;
+#if WATCHDOG_CONF_BALANCE
+	stopped++;
+#endif
 	wdt_disable();
 }
 /*---------------------------------------------------------------------------*/

From 16a73eafd9220c2e98604e615470992631a5118e Mon Sep 17 00:00:00 2001
From: dak664 <dak664@embarqmail.com>
Date: Sun, 13 Mar 2011 14:07:17 -0400
Subject: [PATCH 19/27] Use uip-debug.h defines and print routines Add print to
 show cause of startup

---
 platform/avr-atmega128rfa1/contiki-main.c | 146 ++++++++++------------
 1 file changed, 63 insertions(+), 83 deletions(-)

diff --git a/platform/avr-atmega128rfa1/contiki-main.c b/platform/avr-atmega128rfa1/contiki-main.c
index a05c454d9..b20608adc 100644
--- a/platform/avr-atmega128rfa1/contiki-main.c
+++ b/platform/avr-atmega128rfa1/contiki-main.c
@@ -28,18 +28,14 @@
  *
  * This file is part of the Contiki operating system.
  *
- * @(#)$$
  */
+#ifndef LED_ON_PORT1E
 #define LED_ON_PORTE1 0    //for Michael Hartman's prototype board
-#define ANNOUNCE_BOOT 1    //adds about 600 bytes to program size
-#define PRINTF(FORMAT,args...) printf_P(PSTR(FORMAT),##args)
-
-#define DEBUG 0
-#if DEBUG
-#define PRINTFD(FORMAT,args...) printf_P(PSTR(FORMAT),##args)
-#else
-#define PRINTFD(...)
 #endif
+#define ANNOUNCE_BOOT 1    //adds about 600 bytes to program size
+
+#define DEBUG DEBUG_PRINT
+#include "uip-debug.h" ////Does #define PRINTA(FORMAT,args...) printf_P(PSTR(FORMAT),##args) for AVR
 
 #include <avr/pgmspace.h>
 #include <avr/fuse.h>
@@ -107,7 +103,6 @@ uint8_t rtimerflag=1;
 uint16_t rtime;
 struct rtimer rt;
 void rtimercycle(void) {rtimerflag=1;}
-static void ipaddr_add(const uip_ipaddr_t *addr);
 
 #endif /* TESTRTIMER */
 
@@ -186,9 +181,6 @@ extern uint8_t osccal_calibrated;
 /*------Done in a subroutine to keep main routine stack usage small--------*/
 void initialize(void)
 {
-  watchdog_init();
-  watchdog_start();
-
 #if !LED_ON_PORTE1    //Conflicts with USART0
 #if RAVEN_LCD_INTERFACE
   /* First rs232 port for Raven 3290 port */
@@ -206,6 +198,17 @@ void initialize(void)
   /* Redirect stdout to second port */
   rs232_redirect_stdout(RS232_PORT_1);
   clock_init();
+  
+#if 1
+  if(MCUSR & (1<<PORF )) PRINTA("Power-on reset.\n");
+  if(MCUSR & (1<<EXTRF)) PRINTA("External reset!\n");
+  if(MCUSR & (1<<BORF )) PRINTA("Brownout reset!\n");
+  if(MCUSR & (1<<WDRF )) PRINTA("Watchdog reset!\n");
+  if(MCUSR & (1<<JTRF )) PRINTA("JTAG reset!\n");
+#endif
+  
+  watchdog_init();
+  watchdog_start();
 
 #if STACKMONITOR
   /* Simple stack pointer highwater monitor. Checks for magic numbers in the main
@@ -226,22 +229,24 @@ uint16_t p=(uint16_t)&__bss_end;
 #if CONF_CALIBRATE_OSCCAL
 {
 uint8_t i;
-  PRINTF("\nBefore calibration OSCCAL=%x\n",OSCCAL);
+  watchdog_stop();
+  PRINTA("\nBefore calibration OSCCAL=%x\n",OSCCAL);
   for (i=0;i<10;i++) { 
     calibrate_rc_osc_32k();  
-    PRINTF("Calibrated=%x\n",osccal_calibrated);
+    PRINTA("Calibrated=%x\n",osccal_calibrated);
 //#include <util/delay_basic.h>
 //#define delay_us( us )   ( _delay_loop_2(1+(us*F_CPU)/4000000UL) ) 
 //   delay_us(50000);
  }
    clock_init();
+   watchdog_start();
 }
 #endif 
 
 #if ANNOUNCE_BOOT
-  PRINTF("\n*******Booting %s*******\n",CONTIKI_VERSION_STRING);
+  PRINTA("\n*******Booting %s*******\n",CONTIKI_VERSION_STRING);
 #endif
-  watchdog_start();
+
 /* rtimers needed for radio cycling */
   rtimer_init();
 
@@ -274,7 +279,7 @@ uint8_t i;
 
   rimeaddr_set_node_addr(&addr); 
 
-  PRINTFD("MAC address %x:%x:%x:%x:%x:%x:%x:%x\n",addr.u8[0],addr.u8[1],addr.u8[2],addr.u8[3],addr.u8[4],addr.u8[5],addr.u8[6],addr.u8[7]);
+  PRINTF("MAC address %x:%x:%x:%x:%x:%x:%x:%x\n",addr.u8[0],addr.u8[1],addr.u8[2],addr.u8[3],addr.u8[4],addr.u8[5],addr.u8[6],addr.u8[7]);
 
   /* Initialize stack protocols */
   queuebuf_init();
@@ -283,19 +288,19 @@ uint8_t i;
   NETSTACK_NETWORK.init();
 
 #if ANNOUNCE_BOOT
-  PRINTF("%s %s, channel %u",NETSTACK_MAC.name, NETSTACK_RDC.name,rf230_get_channel());
+  PRINTA("%s %s, channel %u",NETSTACK_MAC.name, NETSTACK_RDC.name,rf230_get_channel());
   if (NETSTACK_RDC.channel_check_interval) {//function pointer is zero for sicslowmac
     unsigned short tmp;
     tmp=CLOCK_SECOND / (NETSTACK_RDC.channel_check_interval == 0 ? 1:\
                                    NETSTACK_RDC.channel_check_interval());
-    if (tmp<65535) PRINTF(", check rate %u Hz",tmp);
+    if (tmp<65535) PRINTA(", check rate %u Hz",tmp);
   }
-  PRINTF("\n");
+  PRINTA("\n");
 #endif
 
 #if UIP_CONF_ROUTER
 #if ANNOUNCE_BOOT
-  PRINTF("Routing Enabled\n");
+  PRINTA("Routing Enabled\n");
 #endif
 //  rime_init(rime_udp_init(NULL));
 // uip_router_register(&rimeroute);
@@ -324,9 +329,9 @@ uint8_t i;
   int fa = cfs_open( "/index.html", CFS_READ);
   if (fa<0) {     //Make some default web content
     PRINTF("No index.html file found, creating upload.html!\n");
-    PRINTF("Formatting FLASH file system for coffee...");
+    PRINTA("Formatting FLASH file system for coffee...");
     cfs_coffee_format();
-    PRINTF("Done!\n");
+    PRINTA("Done!\n");
     fa = cfs_open( "/index.html", CFS_WRITE);
     int r = cfs_write(fa, &"It works!", 9);
     if (r<0) PRINTF("Can''t create /index.html!\n");
@@ -357,29 +362,29 @@ uint8_t i;
   for (i=0;i<UIP_DS6_ADDR_NB;i++) {
 	if (uip_ds6_if.addr_list[i].isused) {	  
 	   httpd_cgi_sprint_ip6(uip_ds6_if.addr_list[i].ipaddr,buf);
-       PRINTF("IPv6 Address: %s\n",buf);
+       PRINTA("IPv6 Address: %s\n",buf);
 	}
   }
    eeprom_read_block (buf,server_name, sizeof(server_name));
    buf[sizeof(server_name)]=0;
-   PRINTF("%s",buf);
+   PRINTA("%s",buf);
    eeprom_read_block (buf,domain_name, sizeof(domain_name));
    buf[sizeof(domain_name)]=0;
    size=httpd_fs_get_size();
 #ifndef COFFEE_FILES
-   PRINTF(".%s online with fixed %u byte web content\n",buf,size);
+   PRINTA(".%s online with fixed %u byte web content\n",buf,size);
 #elif COFFEE_FILES==1
-   PRINTF(".%s online with static %u byte EEPROM file system\n",buf,size);
+   PRINTA(".%s online with static %u byte EEPROM file system\n",buf,size);
 #elif COFFEE_FILES==2
-   PRINTF(".%s online with dynamic %u KB EEPROM file system\n",buf,size>>10);
+   PRINTA(".%s online with dynamic %u KB EEPROM file system\n",buf,size>>10);
 #elif COFFEE_FILES==3
-   PRINTF(".%s online with static %u byte program memory file system\n",buf,size);
+   PRINTA(".%s online with static %u byte program memory file system\n",buf,size);
 #elif COFFEE_FILES==4
-   PRINTF(".%s online with dynamic %u KB program memory file system\n",buf,size>>10);
+   PRINTA(".%s online with dynamic %u KB program memory file system\n",buf,size>>10);
 #endif /* COFFEE_FILES */
 
 #else
-   PRINTF("Online\n");
+   PRINTA("Online\n");
 #endif /* WEBSERVER */
 
 #endif /* ANNOUNCE_BOOT */
@@ -388,7 +393,7 @@ uint8_t i;
 /*---------------------------------------------------------------------------*/
 void log_message(char *m1, char *m2)
 {
-  PRINTF("%s%s\n", m1, m2);
+  PRINTA("%s%s\n", m1, m2);
 }
 
 #if RF230BB
@@ -446,7 +451,7 @@ main(void)
  */
     extern uint8_t rf230_calibrated;
     if (rf230_calibrated) {
-      PRINTF("\nRF230 calibrated!\n");
+      PRINTA("\nRF230 calibrated!\n");
       rf230_calibrated=0;
     }
 #endif
@@ -463,14 +468,15 @@ main(void)
 
 #if STAMPS
 if ((rtime%STAMPS)==0) {
-  PRINTF("%us ",rtime);
+  PRINTA("%us ",rtime);
 }
 #endif
       rtime+=1;
 
 #if PINGS
+extern void raven_ping6(void); 
 if ((rtime%PINGS)==1) {
-  PRINTF("**Ping\n");
+  PRINTA("**Ping\n");
   raven_ping6();
 }
 #endif
@@ -478,45 +484,43 @@ if ((rtime%PINGS)==1) {
 #if ROUTES
 if ((rtime%ROUTES)==2) {
       
- //#if UIP_CONF_IPV6_RPL
-//#include "rpl.h"
 extern uip_ds6_nbr_t uip_ds6_nbr_cache[];
 extern uip_ds6_route_t uip_ds6_routing_table[];
 extern uip_ds6_netif_t uip_ds6_if;
 
   uint8_t i,j;
-  PRINTF("\nAddresses [%u max]\n",UIP_DS6_ADDR_NB);
+  PRINTA("\nAddresses [%u max]\n",UIP_DS6_ADDR_NB);
   for (i=0;i<UIP_DS6_ADDR_NB;i++) {
-    if (uip_ds6_if.addr_list[i].isused) {	  
-      ipaddr_add(&uip_ds6_if.addr_list[i].ipaddr);
-      PRINTF("\n");
+    if (uip_ds6_if.addr_list[i].isused) {
+      uip_debug_ipaddr_print(&uip_ds6_if.addr_list[i].ipaddr);
+      PRINTA("\n");
     }
   }
-  PRINTF("\nNeighbors [%u max]\n",UIP_DS6_NBR_NB);
+  PRINTA("\nNeighbors [%u max]\n",UIP_DS6_NBR_NB);
   for(i = 0,j=1; i < UIP_DS6_NBR_NB; i++) {
     if(uip_ds6_nbr_cache[i].isused) {
-      ipaddr_add(&uip_ds6_nbr_cache[i].ipaddr);
-      PRINTF("\n");
+      uip_debug_ipaddr_print(&uip_ds6_nbr_cache[i].ipaddr);
+      PRINTA("\n");
       j=0;
     }
   }
-  if (j) PRINTF("  <none>");
-  PRINTF("\nRoutes [%u max]\n",UIP_DS6_ROUTE_NB);
+  if (j) PRINTA("  <none>");
+  PRINTA("\nRoutes [%u max]\n",UIP_DS6_ROUTE_NB);
   for(i = 0,j=1; i < UIP_DS6_ROUTE_NB; i++) {
     if(uip_ds6_routing_table[i].isused) {
-      ipaddr_add(&uip_ds6_routing_table[i].ipaddr);
-      PRINTF("/%u (via ", uip_ds6_routing_table[i].length);
-      ipaddr_add(&uip_ds6_routing_table[i].nexthop);
+      uip_debug_ipaddr_print(&uip_ds6_routing_table[i].ipaddr);
+      PRINTA("/%u (via ", uip_ds6_routing_table[i].length);
+      uip_debug_ipaddr_print(&uip_ds6_routing_table[i].nexthop);
  //     if(uip_ds6_routing_table[i].state.lifetime < 600) {
-        PRINTF(") %lus\n", uip_ds6_routing_table[i].state.lifetime);
+        PRINTA(") %lus\n", uip_ds6_routing_table[i].state.lifetime);
  //     } else {
- //       PRINTF(")\n");
+ //       PRINTA(")\n");
  //     }
       j=0;
     }
   }
-  if (j) PRINTF("  <none>");
-  PRINTF("\n---------\n");
+  if (j) PRINTA("  <none>");
+  PRINTA("\n---------\n");
 }
 #endif
 
@@ -526,7 +530,7 @@ if ((rtime%STACKMONITOR)==3) {
   uint16_t p=(uint16_t)&__bss_end;
   do {
     if (*(uint16_t *)p != 0x4242) {
-      PRINTF("Never-used stack > %d bytes\n",p-(uint16_t)&__bss_end);
+      PRINTA("Never-used stack > %d bytes\n",p-(uint16_t)&__bss_end);
       break;
     }
     p+=10;
@@ -542,14 +546,14 @@ if ((rtime%STACKMONITOR)==3) {
 extern uint8_t debugflowsize,debugflow[];
   if (debugflowsize) {
     debugflow[debugflowsize]=0;
-    printf("%s",debugflow);
+    PRINTA("%s",debugflow);
     debugflowsize=0;
    }
 #endif
 
 #if RF230BB&&0
     if (rf230processflag) {
-      printf("rf230p%d",rf230processflag);
+      PRINTA("rf230p%d",rf230processflag);
       rf230processflag=0;
     }
 #endif
@@ -557,35 +561,11 @@ extern uint8_t debugflowsize,debugflow[];
 #if RF230BB&&0
     if (rf230_interrupt_flag) {
  //   if (rf230_interrupt_flag!=11) {
-        PRINTSHORT("**RI%u",rf230_interrupt_flag);
+        PRINTA("**RI%u",rf230_interrupt_flag);
  //   }
       rf230_interrupt_flag=0;
     }
 #endif
   }
   return 0;
-}
-
-/*---------------------------------------------------------------------------*/
-
-#if ROUTES
-static void
-ipaddr_add(const uip_ipaddr_t *addr)
-{
-  uint16_t a;
-  int8_t i, f;
-  for(i = 0, f = 0; i < sizeof(uip_ipaddr_t); i += 2) {
-    a = (addr->u8[i] << 8) + addr->u8[i + 1];
-    if(a == 0 && f >= 0) {
-      if(f++ == 0) PRINTF("::");
-    } else {
-      if(f > 0) {
-        f = -1;
-      } else if(i > 0) {
-        PRINTF(":");
-      }
-      PRINTF("%x",a);
-    }
-  }
-}
-#endif
+}
\ No newline at end of file

From 59109b9893f5eb759511f2d2631441da706cc838 Mon Sep 17 00:00:00 2001
From: dak664 <dak664@embarqmail.com>
Date: Sun, 13 Mar 2011 14:08:02 -0400
Subject: [PATCH 20/27] Fix type, diagnostic interrupt code on conditional

---
 cpu/avr/dev/clock.c | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/cpu/avr/dev/clock.c b/cpu/avr/dev/clock.c
index 14a1671fb..a24afaa8c 100644
--- a/cpu/avr/dev/clock.c
+++ b/cpu/avr/dev/clock.c
@@ -76,6 +76,7 @@ ISR(AVR_OUTPUT_COMPARE_INT)
       rcount=0;
       radioontime++;
     }
+  }
 #endif
 
 #if 1
@@ -166,7 +167,7 @@ clock_seconds(void)
   return tmp;
 }
 
-#if 1
+#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.

From 19c61dc5b284648a7a2584624edbdcb6708e0eb5 Mon Sep 17 00:00:00 2001
From: Mariano Alvira <mar@devl.org>
Date: Sun, 13 Mar 2011 14:22:00 -0400
Subject: [PATCH 21/27] add tool to burn the mac of a single econotag

---
 tools/burn-mac.pl | 63 +++++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 63 insertions(+)
 create mode 100755 tools/burn-mac.pl

diff --git a/tools/burn-mac.pl b/tools/burn-mac.pl
new file mode 100755
index 000000000..867d411bf
--- /dev/null
+++ b/tools/burn-mac.pl
@@ -0,0 +1,63 @@
+#!/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=012345678 | --term device] flasher.bin address\n";
+	die;
+}
+
+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);
+

From 51ca60b35f79e8c2d36796c4fba02d67737f219f Mon Sep 17 00:00:00 2001
From: Mariano Alvira <mar@devl.org>
Date: Sun, 13 Mar 2011 16:39:32 -0400
Subject: [PATCH 22/27] add bin2macbin.pl to create bins that will also set the
 mac address

add usage to burn-mac.pl
---
 tools/bin2macbin.pl | 82 +++++++++++++++++++++++++++++++++++++++++++++
 tools/burn-mac.pl   |  6 ++--
 2 files changed, 86 insertions(+), 2 deletions(-)
 create mode 100755 tools/bin2macbin.pl

diff --git a/tools/bin2macbin.pl b/tools/bin2macbin.pl
new file mode 100755
index 000000000..1c97b3243
--- /dev/null
+++ b/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\"");
+
+
diff --git a/tools/burn-mac.pl b/tools/burn-mac.pl
index 867d411bf..6ea201309 100755
--- a/tools/burn-mac.pl
+++ b/tools/burn-mac.pl
@@ -16,8 +16,10 @@ my $bin = shift;
 my $address = shift;
 
 if (!defined($address) || !defined($bin)) {
-	print "Usage: $0 [--iab=a8c | --oui=012345678 | --term device] flasher.bin address\n";
-	die;
+	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;

From 59768e7bc7e4bdfb126682bc5df98ca457241d50 Mon Sep 17 00:00:00 2001
From: Mariano Alvira <mar@devl.org>
Date: Sun, 13 Mar 2011 17:48:47 -0400
Subject: [PATCH 23/27] econotag: fix problem with how IAB based mac addresses
 are formed

---
 platform/redbee-econotag/contiki-mc1322x-main.c | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/platform/redbee-econotag/contiki-mc1322x-main.c b/platform/redbee-econotag/contiki-mc1322x-main.c
index a8b53e6c4..ff456e82c 100644
--- a/platform/redbee-econotag/contiki-mc1322x-main.c
+++ b/platform/redbee-econotag/contiki-mc1322x-main.c
@@ -230,11 +230,11 @@ void iab_to_eui64(rimeaddr_t *eui64, uint32_t oui, uint16_t iab, uint32_t ext) {
 
 	/* IAB */
 	eui64->u8[3] = (iab >> 4)  & 0xff;
-	eui64->u8[4] = (iab & 0xf) << 4;
+	eui64->u8[4] = (iab << 4) &  0xf0;
 
 	/* EXT */
 
-	eui64->u8[4] = (ext >> 24) & 0xff;
+	eui64->u8[4] |= (ext >> 24) & 0xf;
 	eui64->u8[5] = (ext >> 16) & 0xff;
 	eui64->u8[6] = (ext >> 8)  & 0xff;
 	eui64->u8[7] =  ext        & 0xff;

From bdc42d8e64dd7f06c7e31edb43b9396aeef02aba Mon Sep 17 00:00:00 2001
From: Fredrik Osterlind <fros@sics.se>
Date: Mon, 14 Mar 2011 18:33:18 +0100
Subject: [PATCH 24/27] added simple example demonstrating user-defined timeout
 function

---
 tools/cooja/config/scripts/plugins.js | 16 +++++++++++++++-
 1 file changed, 15 insertions(+), 1 deletion(-)

diff --git a/tools/cooja/config/scripts/plugins.js b/tools/cooja/config/scripts/plugins.js
index 48cd2097c..9e9881dd3 100644
--- a/tools/cooja/config/scripts/plugins.js
+++ b/tools/cooja/config/scripts/plugins.js
@@ -7,14 +7,26 @@
 
 /* Started plugins are available from the GUI object */
 
-while (true) {
+TIMEOUT(60000);
 
+counter=0;
+plugins=0;
+
+timeout_function = function my_fun() {
+ log.log("Script timed out.\n");
+ log.log(plugins + " plugins were referenced\n");
+}
+
+while (counter<10) {
+  counter++;
+  
   GENERATE_MSG(1000, "wait");
   YIELD_THEN_WAIT_UNTIL(msg.equals("wait"));
 
   /* Toggle Log Listener filter */
   plugin = mote.getSimulation().getGUI().getStartedPlugin("se.sics.cooja.plugins.LogListener");
   if (plugin != null) {
+    plugins++;
     log.log("LogListener: Setting filter: " + plugin.getFilter() + "\n");
     if (plugin.getFilter() == null || !plugin.getFilter().equals("Contiki")) {
       plugin.setFilter("Contiki");
@@ -29,6 +41,7 @@ while (true) {
   /* Extract Timeline statistics */
   plugin = mote.getSimulation().getGUI().getStartedPlugin("se.sics.cooja.plugins.TimeLine");
   if (plugin != null) {
+    plugins++;
     stats = plugin.extractStatistics();
     if (stats.length() > 40) {
       /* Stripping */
@@ -43,6 +56,7 @@ while (true) {
   /* Select time in Radio Logger */
   plugin = mote.getSimulation().getGUI().getStartedPlugin("se.sics.cooja.plugins.RadioLogger");
   if (plugin != null) {
+    plugins++;
     log.log("RadioLogger: Showing logged radio packet at mid simulation\n");
     plugin.trySelectTime(time/2);
   }

From 0829e50f4bca29e02e5654bfc1498f449de3873c Mon Sep 17 00:00:00 2001
From: Fredrik Osterlind <fros@sics.se>
Date: Mon, 14 Mar 2011 19:54:58 +0100
Subject: [PATCH 25/27] get[Started]Plugin method returns plugins that end with
 argument + added sim and gui variables accessible from test scripts

---
 tools/cooja/java/se/sics/cooja/GUI.java         | 17 ++++++++++++++---
 .../se/sics/cooja/plugins/LogScriptEngine.java  |  2 ++
 2 files changed, 16 insertions(+), 3 deletions(-)

diff --git a/tools/cooja/java/se/sics/cooja/GUI.java b/tools/cooja/java/se/sics/cooja/GUI.java
index eb10af152..13625787f 100644
--- a/tools/cooja/java/se/sics/cooja/GUI.java
+++ b/tools/cooja/java/se/sics/cooja/GUI.java
@@ -1882,19 +1882,30 @@ public class GUI extends Observable {
   }
 
   /**
-   * Returns started plugin with given class name, if any.
+   * Returns started plugin that ends with given class name, if any.
    * 
    * @param classname Class name
    * @return Plugin instance
    */
-  public Plugin getStartedPlugin(String classname) {
+  public Plugin getPlugin(String classname) {
     for (Plugin p: startedPlugins) {
-      if (p.getClass().getName().equals(classname)) {
+      if (p.getClass().getName().endsWith(classname)) {
         return p;
       }
     }
     return null;
   }
+  
+  /**
+   * Returns started plugin with given class name, if any.
+   * 
+   * @param classname Class name
+   * @return Plugin instance
+   * @deprecated
+   */
+  public Plugin getStartedPlugin(String classname) {
+    return getPlugin(classname);
+  }
 
   public Plugin[] getStartedPlugins() {
     return startedPlugins.toArray(new Plugin[0]);
diff --git a/tools/cooja/java/se/sics/cooja/plugins/LogScriptEngine.java b/tools/cooja/java/se/sics/cooja/plugins/LogScriptEngine.java
index 886b605fe..4482c2934 100644
--- a/tools/cooja/java/se/sics/cooja/plugins/LogScriptEngine.java
+++ b/tools/cooja/java/se/sics/cooja/plugins/LogScriptEngine.java
@@ -434,6 +434,8 @@ public class LogScriptEngine {
 
     Hashtable<Object, Object> hash = new Hashtable<Object, Object>();
     engine.put("global", hash);
+    engine.put("sim", simulation);
+    engine.put("gui", simulation.getGUI());
 
     scriptMote = new ScriptMote();
     engine.put("node", scriptMote);

From d9b5bac953b3c9012bc339aa85e58f0cec7f13f6 Mon Sep 17 00:00:00 2001
From: dak664 <dak664@embarqmail.com>
Date: Mon, 14 Mar 2011 16:14:47 -0400
Subject: [PATCH 26/27] Refactor with WATCHDOG_CONF_TIMEOUT

---
 cpu/avr/watchdog.c | 44 ++++++++++++++++++++++++++++++++++++--------
 1 file changed, 36 insertions(+), 8 deletions(-)

diff --git a/cpu/avr/watchdog.c b/cpu/avr/watchdog.c
index 5996027dc..9eb1807be 100644
--- a/cpu/avr/watchdog.c
+++ b/cpu/avr/watchdog.c
@@ -32,15 +32,28 @@
 
 /* Watchdog routines for the AVR */
 
-/* Default timeout of 2 seconds is available on most MCUs */
+/* 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
-//#define WATCHDOG_CONF_TIMEOUT WDTO_4S
 #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 do this.
+  * Some low power protocols may cause this.
   * The default is no balance; define WATCHDOG_CONF_BALANCE 1 to override.
   */
 #ifndef WATCHDOG_CONF_BALANCE
@@ -51,7 +64,7 @@
 #include <avr/wdt.h>
 #include <avr/interrupt.h>
 
-#if WATCHDOG_CONF_BALANCE
+#if WATCHDOG_CONF_BALANCE && WATCHDOG_CONF_TIMEOUT >= 0
 static int stopped = 0;
 #endif
 
@@ -59,39 +72,48 @@ static int stopped = 0;
 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);
-#if WATCHDOG_CONF_BALANCE
-	stopped = 0;
+    wdt_disable();
+#if WATCHDOG_CONF_BALANCE && WATCHDOG_CONF_TIMEOUT >= 0
+	stopped = 1;
 #endif
-	watchdog_stop();
 }
 /*---------------------------------------------------------------------------*/
 void
 watchdog_start(void)
 {
+#if WATCHDOG_CONF_TIMEOUT >= 0
 #if WATCHDOG_CONF_BALANCE
 	stopped--;
 	if(!stopped)
 #endif
 		wdt_enable(WATCHDOG_CONF_TIMEOUT);
+#endif  
 }
 /*---------------------------------------------------------------------------*/
 void
 watchdog_periodic(void)
 {
+#if WATCHDOG_CONF_TIMEOUT >= 0
 #if WATCHDOG_CONF_BALANCE
 	if(!stopped)
 #endif
 		wdt_reset();
+#endif
 }
 /*---------------------------------------------------------------------------*/
 void
 watchdog_stop(void)
 {
+#if WATCHDOG_CONF_TIMEOUT >= 0
 #if WATCHDOG_CONF_BALANCE
 	stopped++;
 #endif
 	wdt_disable();
+#endif
 }
 /*---------------------------------------------------------------------------*/
 void
@@ -102,3 +124,9 @@ watchdog_reboot(void)
 	while(1); //loop
 }
 /*---------------------------------------------------------------------------*/
+#if 0
+/* Not all AVRs implement the wdt interrupt */
+ISR(WDT_vect)
+{
+}
+#endif
\ No newline at end of file

From 47391431264458a0354b86475cc20ea1d9596c31 Mon Sep 17 00:00:00 2001
From: nvt <nvt@sics.se>
Date: Tue, 15 Mar 2011 01:16:20 +0100
Subject: [PATCH 27/27] Generalized MRHOF and added partial support for energy
 objects in DAG metric containers.

---
 core/net/rpl/rpl-icmp6.c  | 18 +++++++++----
 core/net/rpl/rpl-of-etx.c | 57 ++++++++++++++++++++++++---------------
 core/net/rpl/rpl.h        | 38 ++++++++++++++++++++------
 3 files changed, 79 insertions(+), 34 deletions(-)

diff --git a/core/net/rpl/rpl-icmp6.c b/core/net/rpl/rpl-icmp6.c
index be919fadb..1bc70dd0f 100644
--- a/core/net/rpl/rpl-icmp6.c
+++ b/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.etx.etx |= buffer[i + 7];
+        dio.mc.obj.etx = buffer[i + 6] << 8;
+        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.etx.etx & 0xff;
+      buffer[pos++] = dag->mc.obj.etx >> 8;
+      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);
diff --git a/core/net/rpl/rpl-of-etx.c b/core/net/rpl/rpl-of-etx.c
index e8ffefe1b..0b6265311 100644
--- a/core/net/rpl/rpl-of-etx.c
+++ b/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_path_metric_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. */
@@ -84,13 +84,12 @@ rpl_of_t rpl_of_etx = {
  */
 #define PARENT_SWITCH_THRESHOLD_DIV	2
 
-typedef uint16_t rpl_etx_t;
-#define MAX_ETX 65535
+typedef uint16_t rpl_path_metric_t;
 
 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);
+  return p->mc.obj.etx + NI_ETX_TO_RPL_ETX(p->etx);
 }
 
 static void
@@ -140,48 +139,64 @@ static rpl_parent_t *
 best_parent(rpl_parent_t *p1, rpl_parent_t *p2)
 {
   rpl_dag_t *dag;
-  rpl_etx_t min_diff;
-  rpl_etx_t p1_etx;
-  rpl_etx_t p2_etx;
+  rpl_path_metric_t min_diff;
+  rpl_path_metric_t p1_metric;
+  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);
-  p2_etx = calculate_etx(p2);
+  p1_metric = calculate_path_metric(p1);
+  p2_metric = calculate_path_metric(p2);
 
   /* Maintain stability of the preferred parent in case of similar ranks. */
   if(p1 == dag->preferred_parent || p2 == dag->preferred_parent) {
-    if(p1_etx < p2_etx + min_diff &&
-       p1_etx > p2_etx - min_diff) {
+    if(p1_metric < p2_metric + min_diff &&
+       p1_metric > p2_metric - min_diff) {
       PRINTF("RPL: MRHOF hysteresis: %u <= %u <= %u\n",
-             p2_etx - min_diff,
-             p1_etx,
-             p2_etx + min_diff);
+             p2_metric - min_diff,
+             p1_metric,
+             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);
   }
+#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 */
 
   PRINTF("RPL: My path ETX to the root is %u.%u\n",
-	dag->mc.etx.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,
+	(dag->mc.obj.etx % RPL_DAG_MC_ETX_DIVISOR * 100) / RPL_DAG_MC_ETX_DIVISOR);
 }
diff --git a/core/net/rpl/rpl.h b/core/net/rpl/rpl.h
index 17a1845ec..5676ccd31 100644
--- a/core/net/rpl/rpl.h
+++ b/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_HC                   3 /* Hop Count */
+#define RPL_DAG_MC_ENERGY               2 /* Node Energy */
+#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. */
-struct rpl_metric_object_etx {
-  uint16_t etx;
+/* The bit index within the flags field of
+   the rpl_metric_object_energy structure. */
+#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 of those. */
-  struct rpl_metric_object_etx etx;
+  union metric_object {
+    struct rpl_metric_object_energy energy;
+    uint16_t etx;
+  } obj;
 };
 typedef struct rpl_metric_container rpl_metric_container_t;
 /*---------------------------------------------------------------------------*/