Add noflashboot to config file

Don't load application from flash after timeout, makes it work for
long ssh connection times when the raspi has no DNS and produces DNS
timeouts too long for the bootloader. Note that this needs a new icosoc
(at the time of this commit).

core/net/mac/contikimac/contikimac.c

@@ -545,6 +545,9 @@ send_packet(mac_callback_t mac_callback, void *mac_callback_ptr,
   int strobes;
   uint8_t got_strobe_ack = 0;
   uint8_t is_broadcast = 0;
+#if WITH_PHASE_OPTIMIZATION
+  uint8_t is_known_receiver = 0;
+#endif
   uint8_t collisions;
   int transmit_len;
   int ret;
@@ -1067,7 +1070,7 @@ turn_off(int keep_radio_on)
   }
 }
 /*---------------------------------------------------------------------------*/
-static unsigned short
+static clock_time_t
 duty_cycle(void)
 {
   return (1ul * CLOCK_SECOND * CYCLE_TIME) / RTIMER_ARCH_SECOND;

core/net/mac/cxmac/cxmac.c

@@ -918,7 +918,7 @@ turn_off(int keep_radio_on)
   }
 }
 /*---------------------------------------------------------------------------*/
-static unsigned short
+static clock_time_t
 channel_check_interval(void)
 {
   return (1ul * CLOCK_SECOND * DEFAULT_PERIOD) / RTIMER_ARCH_SECOND;

core/net/mac/nordc.c

@@ -70,7 +70,7 @@ off(int keep_radio_on)
   return 0;
 }
 /*---------------------------------------------------------------------------*/
-static unsigned short
+static clock_time_t
 channel_check_interval(void)
 {
   return 0;

core/net/mac/nullrdc-noframer.c

@@ -87,7 +87,7 @@ off(int keep_radio_on)
   }
 }
 /*---------------------------------------------------------------------------*/
-static unsigned short
+static clock_time_t
 channel_check_interval(void)
 {
   return 0;

core/net/mac/nullrdc.c

@@ -343,7 +343,7 @@ off(int keep_radio_on)
   }
 }
 /*---------------------------------------------------------------------------*/
-static unsigned short
+static clock_time_t
 channel_check_interval(void)
 {
   return 0;

core/net/mac/rdc.h

@@ -87,7 +87,7 @@ struct rdc_driver {
   int (* off)(int keep_radio_on);
 
   /** Returns the channel check interval, expressed in clock_time_t ticks. */
-  unsigned short (* channel_check_interval)(void);
+  clock_time_t (* channel_check_interval)(void);
 };
 
 #endif /* RDC_H_ */

core/net/mac/sicslowmac/sicslowmac.c

@@ -251,7 +251,7 @@ init(void)
   NETSTACK_RADIO.on();
 }
 /*---------------------------------------------------------------------------*/
-static unsigned short
+static clock_time_t
 channel_check_interval(void)
 {
   return 0;

cpu/pico-rv32/Makefile.pico-rv32

@@ -0,0 +1,77 @@
+CONTIKI_CPU_DIRS = . dev
+
+### Define the CPU directory of the AVR port
+CONTIKI_CPU=$(CONTIKI)/cpu/pico-rv32
+
+PICORV32_SOURCES = mtarch.c rtimer-arch.c clock.c watchdog.c irq.c spi.c
+CONTIKI_TARGET_SOURCEFILES += $(PICORV32_SOURCES) $(SENSORS) $(SYSAPPS) \
+    nullsec.c
+
+CONTIKI_SOURCEFILES += $(CONTIKI_TARGET_SOURCEFILES)
+
+### Compiler definitions
+CC       = riscv32-unknown-elf-gcc
+CXX      = riscv32-unknown-elf-g++
+LD       = riscv32-unknown-elf-gcc
+AS       = riscv32-unknown-elf-as
+AR       = riscv32-unknown-elf-ar
+ELF_SIZE = riscv32-unknown-elf-size
+NM       = riscv32-unknown-elf-nm
+OBJCOPY  = riscv32-unknown-elf-objcopy
+STRIP    = riscv32-unknown-elf-strip
+ifdef WERROR
+CFLAGSWERROR=-Werror
+endif
+CFLAGSNO = -Wall -march=RV32IXcustom -g \
+    -I$(CONTIKI)/platform/$(TARGET) \
+    -I. -I$(CONTIKI_CPU) -I$(CONTIKI)/core -fno-strict-aliasing
+CFLAGS  += $(CFLAGSNO) -Os
+
+ifeq ($(HOST_OS),Darwin)
+AROPTS = -r
+LDFLAGS += -Wl,-flat_namespace
+CFLAGS += -DHAVE_SNPRINTF=1 -U__ASSERT_USE_STDERR
+else
+ifeq ($(HOST_OS),Linux)
+LDFLAGS += -Wl,-Map=contiki-$(TARGET).map,-export-dynamic
+endif
+endif
+
+### Setup directory search path for source files
+
+CONTIKI_TARGET_DIRS_CONCAT = ${addprefix $(CONTIKI)/platform/$(TARGET)/, \
+                               $(CONTIKI_TARGET_DIRS)}
+
+### Compilation rules
+# Vertical bar | symbol denotes an order-only dependency: Timestamp is
+# ignored on the directory (otherwise everything would be rebuilt
+# everytime)
+
+$(OBJECTDIR)/%.o: %.c | $(OBJECTDIR)
+	$(CC) $(CFLAGS) -c $< -o $@
+
+%.o: %.c
+	$(CC) $(CFLAGS) -c $< -o $@
+
+$(OBJECTDIR)/%.o: %.cpp | $(OBJECTDIR)
+	$(CXX) $(CFLAGS) -c $< -o $@
+
+%.o: %.cpp
+	$(CXX) $(CFLAGS) -c $< -o $@
+
+%.ko: %.o
+	$(STRIP) -K _init -K _fini --strip-unneeded -g -x $< -o $@
+
+%.elf:  %.co $(PROJECT_OBJECTFILES) contiki-$(TARGET).a symbols.o
+	$(CC) $(CFLAGS) $(LDFLAGS) -o $@ $(filter-out %.a,$^) \
+	    $(filter %.a,$^) $(LDLIBS)
+
+%.hex: %.$(TARGET)
+	$(OBJCOPY) $^ -j .text -j .data -O ihex $@
+
+%.ihex: %.$(TARGET)
+	$(OBJCOPY) $^ -O ihex $@
+
+%-stripped.o: %.o
+	$(STRIP) --strip-unneeded -g -x -o $@ $<
+

cpu/pico-rv32/dev/clock.c

@@ -0,0 +1,184 @@
+/*
+ * Copyright (c) 2016, Dr. Ralf Schlatterbeck Open Source Consulting
+ * 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.
+ *
+ */
+/**
+ *  \brief This module contains PicoRV32-specific code to implement
+ *  the Contiki core clock functions.
+ *  
+ *  \author Ralf Schlatterbeck <rsc@runtux.com>.
+ *
+ */
+/** \addtogroup picorv32
+ * @{
+ */
+/**
+ *  \defgroup picorv32clock PicoRV32 clock implementation
+ * @{
+ */
+/**
+ *  \file
+ *  This file contains PicoRV32-specific code to implement the Contiki
+ *  core clock functions.
+ *
+ */
+/**
+ * These routines define the PicoRV32-specific calls declared in
+ * /core/sys/clock.h  CLOCK_SECOND is the number of ticks per second.
+ * It is defined through CONF_CLOCK_SECOND in the contiki-conf.h for
+ * each platform.
+ * The usual AVR defaults are 128 or 125 ticks per second, counting a
+ * prescaled CPU clock using the 8 bit timer0. We use the same in the
+ * timer interrupt: 1/128 second ticks, this can be changed by modifying
+ * CLOCK_TIMER_PERIOD below.
+ * 
+ * clock_time_t is usually declared by the platform as an unsigned 16
+ * bit data type, thus intervals up to 512 or 524 seconds can be
+ * measured with ~8 millisecond precision.
+ * For longer intervals the 32 bit clock_seconds() is available.
+ * We directly use the 64-bit cycle counter provided by the CPU.
+ */
+#include "sys/clock.h"
+#include "sys/etimer.h"
+#include "icosoc.h"
+
+#include <stdio.h>
+
+// 1/128 second ticks
+#define CLOCK_TIMER_PERIOD (F_CPU >> 7)
+
+unsigned long offset;
+
+/** \brief irq handler
+ * for running interrupts every 1/128 second.
+ */
+
+void
+clock_irq_handler (void)
+{
+    // FIXME: Want to call rtimer_run_next();
+    icosoc_timer(CLOCK_TIMER_PERIOD);
+    if(etimer_pending()) {
+        etimer_request_poll();
+    }
+}
+
+/*---------------------------------------------------------------------------*/
+/**
+ * Initialize interrupt handler
+ */
+    void
+clock_init(void)
+{
+    register_irq (TIMER_IRQ, clock_irq_handler);
+    enable_irq (TIMER_IRQ);
+    icosoc_timer(CLOCK_TIMER_PERIOD);
+}
+/*---------------------------------------------------------------------------*/
+/**
+ * Return the tick counter. We use the full 64bit counter which makes
+ * computation of seconds etc. easier later.
+ */
+    clock_time_t
+clock_time(void)
+{
+    volatile uint32_t low, high;
+    asm ("1: rdcycleh %1\n"
+            "rdcycle  %0\n"
+            "rdcycleh t0\n"
+            "bne      %1,t0,1b\n"
+            : "=r" (low), "=r" (high)
+            :
+            : "t0"
+        );
+    return ((clock_time_t)high) << 32 | low;
+}
+/*---------------------------------------------------------------------------*/
+/**
+ * Return seconds, default is time since startup.
+ */
+    unsigned long
+clock_seconds(void)
+{
+    return (unsigned long)(clock_time () / CLOCK_CONF_SECOND) + offset;
+}
+/*---------------------------------------------------------------------------*/
+/**
+ * Set seconds, e.g. to a standard epoch for an absolute date/time.
+ */
+    void
+clock_set_seconds(unsigned long sec)
+{
+    offset = sec - (unsigned long)(clock_time () / CLOCK_CONF_SECOND);
+}
+/*---------------------------------------------------------------------------*/
+/*
+ * Wait for a number of clock ticks.
+ */
+    void
+clock_wait(clock_time_t t)
+{
+    clock_time_t endticks = clock_time() + t;
+    while (clock_time () < endticks)
+    {;}
+}
+/*---------------------------------------------------------------------------*/
+    void
+clock_delay_usec(uint16_t dt)
+{
+    clock_wait (CLOCK_SECOND * dt / 1000000ULL);
+}
+/*---------------------------------------------------------------------------*/
+/**
+ * Legacy delay. The original clock_delay for the msp430 used a granularity
+ * of 2.83 usec. This approximates that delay for values up to 1456 usec.
+ * (The largest core call in leds.c uses 400).
+ */
+void
+clock_delay(unsigned int howlong)
+{
+  clock_delay_usec((45*howlong)>>4);
+}
+/*---------------------------------------------------------------------------*/
+/**
+ * Adjust the system current clock time.
+ * \param howmany   How many ticks to add
+ *
+ * Typically used to add ticks after an MCU sleep
+ * clock_seconds will increment if necessary to reflect the tick addition.
+ * Leap ticks or seconds can (rarely) be introduced if the ISR is not blocked.
+ */
+    void
+clock_adjust_ticks(clock_time_t howmany)
+{
+}
+
+/** @} */
+/** @} */

cpu/pico-rv32/dev/spi.c

@@ -0,0 +1,2 @@
+#include "spi.h"
+uint8_t spi_rxbuf = 0;

cpu/pico-rv32/dev/spi.h

@@ -0,0 +1,85 @@
+/*
+ * Copyright (c) 2016, Dr. Ralf Schlatterbeck Open Source Consulting
+ * 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.
+ *
+ */
+/**
+ *  \brief This module contains PicoRV32-specific code to implement
+ *  SPI routines
+ *  
+ *  \author Ralf Schlatterbeck <rsc@runtux.com>.
+ *
+ */
+/** \addtogroup picorv32
+ * @{
+ */
+/**
+ *  \file
+ *  SPI macros
+ *
+ */
+
+#ifndef SPI_H_
+#define SPI_H_
+
+#include "icosoc.h"
+
+#define SPI_RXBUF spi_rxbuf
+
+extern uint8_t spi_rxbuf;
+
+/* Write one character to SPI */
+#define SPI_WRITE(data) (spi_rxbuf = icosoc_cc2520_spi_xfer(data))
+/* Currently no fast writing without waiting for transmission to
+ * terminate
+ */
+#define SPI_WRITE_FAST(data) SPI_WRITE(data)
+
+/* Read one character from SPI */
+#define SPI_READ(data) (data = spi_rxbuf = icosoc_cc2520_spi_xfer(0))
+
+/* No async operation, therefore no flush */
+#define SPI_FLUSH()
+
+#define SPI_WAITFORTx_BEFORE()
+#define SPI_WAITFORTx_AFTER() SPI_WAITFOREOTx()
+#define SPI_WAITFORTx_ENDED()
+#define SPI_WAITFORTxREADY()
+
+#define BV(x) (1<<x)
+
+/* Used by cc2520_init probably for disabling interrupts, don't need
+ * that here.
+ */
+#define splhigh() 1
+#define splx(x) ((void)(x))
+
+#endif /* SPI_H_ */
+
+/** @} */

cpu/pico-rv32/irq.c

@@ -0,0 +1,133 @@
+/*
+ * Copyright (c) 2016, Dr. Ralf Schlatterbeck Open Source Consulting
+ * 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.
+ *
+ */
+/**
+ *  \brief This module contains PicoRV32-specific code to implement
+ *  Interrupt handling for Timer and other interrupts
+ *  
+ *  \author Ralf Schlatterbeck <rsc@runtux.com>.
+ *
+ */
+/** \addtogroup picorv32
+ * @{
+ */
+/**
+ *  \defgroup picorv32 irq implementation
+ * @{
+ */
+/**
+ *  \file
+ *  This file contains PicoRV32-specific code to implement
+ *  Interrupt handling for Timer and other interrupts
+ *
+ */
+#include "irq.h"
+#include <stdio.h>
+#include <assert.h>
+
+/* Initially allow bus-error and illegal instruction / sbreak */
+static uint32_t irqmask = ~0x6;
+
+/* Interrupt table, for convenience we waste some memory for the lower 3
+ * callbacks
+ */
+static void (*irq_callback_functions [MAXIRQ + 1])(void);
+
+/** \brief irq handler
+ */
+
+void
+irq_handler(uint32_t irq_mask, uint32_t *regs)
+{
+    // Other interrupts
+    if (irq_mask & (((1 << (MAXIRQ + 2)) - 1) & ~0x6)) {
+        int i;
+        for (i=0; i<=MAXIRQ; i++) {
+            if (irq_mask & (1<<i)) {
+                if (irq_callback_functions [i] == NULL) {
+                    printf ("Ooops: IRQ without callback: %d\n", i);
+                } else {
+                    irq_callback_functions [i] ();
+                }
+            }
+        }
+    }
+    // SBREAK, ILLINS or BUSERROR
+    if (irq_mask & 6) {
+        if (irq_mask & 4) {
+            if (irq_callback_functions [2]) {
+                irq_callback_functions [2] ();
+            } else {
+                printf("Bus Error!\n");
+                icosoc_sbreak();
+            }
+        }
+        if (irq_mask & 2) {
+            if (irq_callback_functions [1]) {
+                irq_callback_functions [1] ();
+            } else {
+                printf("Illegal Instruction or SBREAK!\n");
+                icosoc_sbreak();
+            }
+        }
+    }
+}
+
+void irq_init(void)
+{
+    icosoc_irq(irq_handler);
+    icosoc_maskirq(irqmask);
+}
+
+void register_irq (int irq, void (*callback)(void))
+{
+    assert (irq <= MAXIRQ);
+    irq_callback_functions [irq] = callback;
+}
+
+void enable_irq (int irq)
+{
+    assert (irq <= MAXIRQ);
+    if (irq_callback_functions [irq] != NULL) {
+        irqmask &= (~(1<<irq));
+        icosoc_maskirq(irqmask);
+    }
+}
+
+void disable_irq (int irq)
+{
+    assert (irq <= MAXIRQ);
+    irqmask |= (1<<irq);
+    icosoc_maskirq(irqmask);
+}
+
+/** @} */
+/** @} */

cpu/pico-rv32/irq.h

@@ -0,0 +1,67 @@
+/*
+ * Copyright (c) 2016, Dr. Ralf Schlatterbeck Open Source Consulting
+ * 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.
+ *
+ */
+/**
+ *  \brief This module contains PicoRV32-specific code to implement
+ *  Interrupt handling for Timer and other interrupts
+ *  
+ *  \author Ralf Schlatterbeck <rsc@runtux.com>.
+ *
+ */
+/** \addtogroup picorv32
+ * @{
+ */
+/**
+ *  \file
+ *  Interrupt handling for Timer and other interrupts
+ *
+ */
+
+#ifndef IRQ_H_
+#define IRQ_H_
+
+#include "icosoc.h"
+
+/* Want to set this higher if we have more than two external interrupts
+ * See used interrupts in icosoc.cfg. Don't set lower than 2 (2 is the
+ * bus-error interrupt)
+ */
+#define MAXIRQ 4
+#define TIMER_IRQ 0
+
+void irq_init     (void);
+void register_irq (int irq, void (*callback)(void));
+void enable_irq   (int irq);
+void disable_irq  (int irq);
+
+#endif /* IRQ_H_ */
+
+/** @} */

cpu/pico-rv32/mtarch.c

@@ -0,0 +1,174 @@
+/*
+ * Copyright (c) 2016, Dr. Ralf Schlatterbeck Open Source Consulting
+ * 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 PicoRV32 specific implementation of multithreading architecture
+ *
+ * \author Ralf Schlatterbeck <rsc@runtux.com>
+ *
+ */
+
+#include <stdio.h>
+#include "sys/mt.h"
+
+/*--------------------------------------------------------------------------*/
+void
+mtarch_init(void)
+{
+  
+}
+/*--------------------------------------------------------------------------*/
+void
+mtarch_start(struct mtarch_thread *t,
+	     void (*function)(void *), void *data)
+{
+  /* Initialize stack with number sequence (used for
+   * measuring stack usage */
+  uint8_t i;
+
+  printf ("mtarch_start called\n");
+  for(i = 0; i < MTARCH_STACKSIZE; ++i) {
+    t->stack[i] = i;
+  }
+
+  /*
+   * Push pointer to mt_exit and the thread onto our stack:
+   * Caveats:
+   *  - The stack is defined as an array of bytes, but pointers are 32 bit wide
+   *  - Function pointers are 32-bit addresses
+   */
+
+  /* Initialize stack. This is done in reverse order ("pushing") the
+   *  pre-allocated array */
+
+  /* mt_exit function that is to be invoked if the thread dies
+   * function is the thread handler. Invoked when RET is called in mtarch_exec
+   */
+  *((uint32_t *)(t->stack + MTARCH_STACKSIZE - 4)) = (uint32_t)mt_exit;
+  *((uint32_t *)(t->stack + MTARCH_STACKSIZE - 8)) = (uint32_t)function;
+
+  /* FIXME: Push args to function and saved registers, check calling
+   * conventions
+   */
+
+  /* Initialize stack pointer: Space for 2 2-byte-addresses and 32 registers,
+   * post-decrement POP / pre-increment PUSH scheme
+   * FIXME: Need to calculate correct address here
+   */
+  t->sp = &t->stack[MTARCH_STACKSIZE - 1 - 4 - 32];
+}
+
+/*--------------------------------------------------------------------------*/
+static struct mtarch_thread *running;
+
+static void
+sw(void)
+{
+  printf ("sw called\n");
+  /* FIXME: Disable interrupts while we perform the context switch */
+  /* Needs to be in separate asm statement, we don't want to be
+   * interrupted while the C-Compiler-generated wrapper-code pushes
+   * registers on the stack.
+   */
+
+  /*
+   * Need to save ra, s0/fp, s1-s11, we make the C-compiler do it by
+   * specifying these registers as clobber.
+   * For now we leave MT threads alone -- the stack management is too
+   * unstable in the currently-used gcc port, in our example for storing
+   * 13 4-byte variables on the stack the compiler allocates 64 bytes on
+   * the stack (52 would be ok, 64 is not even explained if the stack is
+   * kept 8-byte aligned (maybe 16?)). Also the normal function wrapper
+   * code is not called if we have a single asm statement in a function
+   * (the normal wrapper code already saves ra, s0/fp on the stack).
+   */
+
+  /* Switch stack pointer */
+  asm (
+       "mv t0, sp\n"
+       "mv sp, %0\n"
+       "mv %0, t0\n"
+      : "+r" (running->sp)
+      :
+      : "t0","ra","s0","s1","s2","s3","s4","s5","s6","s7","s8","s9","s10","s11"
+      );
+}
+/*--------------------------------------------------------------------------*/
+void
+mtarch_exec(struct mtarch_thread *t)
+{
+  printf ("mtarch_exec called\n");
+  running = t;
+  sw();
+  running = NULL;
+}
+
+/*--------------------------------------------------------------------------*/
+void
+mtarch_remove(void)
+{
+
+}
+/*--------------------------------------------------------------------------*/
+void
+mtarch_yield(void)
+{
+  sw();
+}
+/*--------------------------------------------------------------------------*/
+void
+mtarch_pstop(void)
+{
+  
+}
+/*--------------------------------------------------------------------------*/
+void
+mtarch_pstart(void)
+{
+  
+}
+/*--------------------------------------------------------------------------*/
+void
+mtarch_stop(struct mtarch_thread *t)
+{
+  
+}
+/*--------------------------------------------------------------------------*/
+int
+mtarch_stack_usage(struct mt_thread *t)
+{
+  uint8_t i;
+  for(i = 0; i < MTARCH_STACKSIZE; ++i) {
+    if(t->thread.stack[i] != i) {
+      break;
+    }
+  }
+  return MTARCH_STACKSIZE - i;
+}
+/*--------------------------------------------------------------------------*/

cpu/pico-rv32/mtarch.h

@@ -0,0 +1,56 @@
+/*
+ * Copyright (c) 2016, Dr. Ralf Schlatterbeck Open Source Consulting
+ * 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
+ *         PicoRV32 specific implementation of multithreading architecture
+ * \author
+ *         Ralf Schlatterbeck <rsc@runtux.com>
+ *
+ */
+
+#ifndef MTARCH_H_
+#define MTARCH_H_
+
+#include "contiki-conf.h"
+
+#ifdef MTARCH_CONF_STACKSIZE
+#define MTARCH_STACKSIZE MTARCH_CONF_STACKSIZE
+#else
+#define MTARCH_STACKSIZE 1024
+#endif
+
+struct mtarch_thread {
+  unsigned char stack[MTARCH_STACKSIZE];
+  unsigned char *sp;
+};
+
+#endif /* MTARCH_H_ */

cpu/pico-rv32/rtimer-arch.c

@@ -0,0 +1,55 @@
+/*
+ * Copyright (c) 2016, Dr. Ralf Schlatterbeck Open Source Consulting
+ * 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
+ *         PicoRV32-specific rtimer code
+ * \author
+ *         Ralf Schlatterbeck <rsc@runtux.com>
+ */
+
+#include <stdio.h>
+
+#include "sys/rtimer.h"
+#include "rtimer-arch.h"
+
+void
+rtimer_arch_init(void)
+{
+    printf ("rtimer_arch_init called\n");
+}
+/*---------------------------------------------------------------------------*/
+void
+rtimer_arch_schedule(rtimer_clock_t t)
+{
+    printf ("Scheduling timer: %d\n", t);
+}

cpu/pico-rv32/rtimer-arch.h

@@ -0,0 +1,41 @@
+/*
+ * Copyright (c) 2016, Dr. Ralf Schlatterbeck Open Source Consulting
+ * 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.
+ *
+ */
+
+#ifndef RTIMER_ARCH_H_
+#define RTIMER_ARCH_H_
+
+#include <sys/clock.h>
+
+#define RTIMER_ARCH_SECOND 65536L
+
+#define rtimer_arch_now() ((rtimer_clock_t)(clock_time () * 65536 / F_CPU))
+#endif /* RTIMER_ARCH_H_ */

cpu/pico-rv32/rv32def.h

@@ -0,0 +1,51 @@
+/*
+ * Copyright (c) 2016, Dr. Ralf Schlatterbeck Open Source Consulting
+ * 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. 
+ *
+ */
+
+#ifndef RV32DEF_H
+#define RV32DEF_H
+
+typedef unsigned char       uint8_t;
+typedef unsigned short     uint16_t;
+typedef unsigned long      uint32_t;
+typedef unsigned long long uint64_t;
+typedef   signed char        int8_t;
+typedef          short      int16_t;
+typedef          long       int32_t;
+typedef          long long  int64_t;
+
+//void cpu_init(void);
+
+//void   *sbrk(int);
+
+//typedef unsigned char spl_t;
+//static inline void splx(spl_t s) { SREG = s; }
+//static inline spl_t splhigh(void) { spl_t s = SREG; cli(); return s; }
+
+#endif /* RV32DEF_H */

cpu/pico-rv32/watchdog.c

@@ -0,0 +1,62 @@
+/*
+ * Copyright (c) 2016, Dr. Ralf Schlatterbeck Open Source Consulting
+ * 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.
+ *
+ */
+
+/* Dummy Watchdog routines for the PicoRV32 */
+
+#include "dev/watchdog.h"
+
+/*---------------------------------------------------------------------------*/
+void
+watchdog_init(void)
+{
+}
+/*---------------------------------------------------------------------------*/
+void
+watchdog_start(void)
+{
+}
+/*---------------------------------------------------------------------------*/
+void
+watchdog_periodic(void)
+{
+}
+/*---------------------------------------------------------------------------*/
+void
+watchdog_stop(void)
+{
+}
+/*---------------------------------------------------------------------------*/
+void
+watchdog_reboot(void)
+{
+}
+/*---------------------------------------------------------------------------*/

dev/cc2520/cc2520.c

@@ -215,12 +215,17 @@ static void
 flushrx(void)
 {
   uint8_t dummy;
+  uint8_t tmp [2] = {0, 0};
 
+  /* This read may cause an RX-fifo underflow which is cleared below */
   CC2520_READ_FIFO_BYTE(dummy);
   /* read and discard dummy to avoid "variable set but not used" warning */
   (void)dummy;
+  /* Read twice, see errata */
   CC2520_STROBE(CC2520_INS_SFLUSHRX);
   CC2520_STROBE(CC2520_INS_SFLUSHRX);
+  /* Reset exception flags for next round incl RX-fifo underflow */
+  CC2520_WRITE_RAM(&tmp, CC2520_EXCFLAG0, 2);
 }
 /*---------------------------------------------------------------------------*/
 static void
@@ -429,7 +434,16 @@ cc2520_transmit(unsigned short payload_len)
 #endif
 
 #if WITH_SEND_CCA
-  strobe(CC2520_INS_SRXON);
+  /* Errata says to flush after SRXON to prevent erroneous reception
+   * We turn receiver on only if RXENMASK[15] (RXENABLE1 & 0x80) is
+   * *not* set.
+   */
+  if (!(getreg (CC2520_RXENABLE1) & 0x80)) {
+    strobe(CC2520_INS_SRXON);
+    printf ("send: enabling receiver\n");
+    flushrx();
+  }
+  /* Wait for valid RSSI to get correct CCA */
   BUSYWAIT_UNTIL(status() & BV(CC2520_RSSI_VALID) , RTIMER_SECOND / 10);
   strobe(CC2520_INS_STXONCCA);
 #else /* WITH_SEND_CCA */
@@ -756,6 +770,7 @@ cc2520_read(void *buf, unsigned short bufsize)
       /* Clean up in case of FIFO overflow!  This happens for every
        * full length frame and is signaled by FIFOP = 1 and FIFO =
        * 0. */
+      printf ("ovl\n");
       flushrx();
     } else {
       /* Another packet has been received and needs attention. */

examples/cc2530dk/sniffer/stub-rdc.c

@@ -76,7 +76,7 @@ off(int keep_radio_on)
   return keep_radio_on;
 }
 /*---------------------------------------------------------------------------*/
-static unsigned short
+static clock_time_t
 cca(void)
 {
   return 0;

examples/cc2538-common/sniffer/stub-rdc.c

@@ -72,7 +72,7 @@ off(int keep_radio_on)
   return keep_radio_on;
 }
 /*---------------------------------------------------------------------------*/
-static unsigned short
+static clock_time_t
 cca(void)
 {
   return 0;

examples/ipv6/native-border-router/border-router-rdc.c

@@ -170,7 +170,7 @@ off(int keep_radio_on)
   return 1;
 }
 /*---------------------------------------------------------------------------*/
-static unsigned short
+static clock_time_t
 channel_check_interval(void)
 {
   return 0;

examples/osd/ico-wallclock-time/.gitignore

@@ -0,0 +1,12 @@
+icosoc.asc
+icosoc.blif
+icosoc.mk
+icosoc.pcf
+icosoc.v
+icosoc.ys
+icosoc.rpt
+wallclock.co
+wallclock.pico-rv32-icoboard
+icosoc.c
+icosoc.h
+testbench.v

examples/osd/ico-wallclock-time/Makefile

@@ -0,0 +1,47 @@
+ifeq ($(TARGET), osd-merkur)
+PLATFORM_FILES= avr-size wallclock.osd-merkur.hex \
+    wallclock.osd-merkur.eep
+endif
+ifeq ($(TARGET), pico-rv32-icoboard)
+PLATFORM_FILES= appimage.hex
+endif
+
+ifeq ($(ICOTOOLS),)
+    ICOTOOLS=/usr/local/src/unpacked/icotools
+endif
+
+all: wallclock.$(TARGET) $(PLATFORM_FILES)
+# use target "er-plugtest-server" explicitly when requried 
+
+CONTIKI=../../..
+
+CFLAGS += -DPROJECT_CONF_H=\"project-conf.h\"
+# Use this if running from flash, this needs flashpmem in icosoc.cfg
+#LDFLAGS += -T riscv_flash.ld
+
+PROJECTDIRS += $(REST_RESOURCES_DIR) $(REST_RESOURCES_DIR_COMMON)
+PROJECT_SOURCEFILES += $(REST_RESOURCES_FILES)
+PROJECT_SOURCEFILES += icosoc.c
+
+# REST Engine shall use Erbium CoAP implementation
+APPS += er-coap
+APPS += rest-engine
+APPS += json json-resource time
+
+CONTIKI_WITH_IPV6 = 1
+include $(CONTIKI)/Makefile.include
+
+appimage.hex: wallclock.pico-rv32-icoboard
+	riscv32-unknown-elf-objcopy -O verilog wallclock.pico-rv32-icoboard \
+	    appimage.hex
+
+icosoc.mk: icosoc.cfg
+	$(ICOTOOLS)/icosoc/icosoc.py -c
+
+include icosoc.mk
+CLEAN += appimage.hex wallclock.$(TARGET)
+-include *.d
+
+flash-run: reset_boot
+
+flash: prog_flash

examples/osd/ico-wallclock-time/README.md

@@ -0,0 +1,7 @@
+# Raspberry pi must reachable over dhcp with the name raspi
+
+make TARGET=pico-rv32-icoboard
+
+make TARGET=pico-rv32-icoboard run
+
+

examples/osd/ico-wallclock-time/icosoc.cfg

@@ -0,0 +1,45 @@
+# Board
+board icoboard_gamma
+
+# Don't load application from flash after timeout, makes it work for
+# long ssh connection times
+noflashboot
+
+# enable compressed ISA support
+compressed_isa
+
+# (don't) enable code in flash
+#flashpmem
+
+# Digilent PmodUSBUART on PMOD3
+# http://store.digilentinc.com/pmodusbuart-usb-to-uart-interface/
+mod rs232 ser0
+  address 1
+  param BAUD_RATE 115200
+  connect rx pmod3_3
+  connect tx pmod3_2
+
+# Texas cc2520 RF module connected via SPI
+mod spi cc2520_spi
+  address 2
+  connect CS pmod1_1
+  connect miso pmod1_3
+  connect mosi pmod1_2
+  connect sclk pmod1_4
+
+mod extirq cc2520_fifop
+  address 3
+  interrupt 3
+  connect pin pmod1_7
+
+# pmod1_10   sfd
+mod extirq cc2520_sfd
+  address 4
+  interrupt 4
+  connect pin pmod1_10
+
+# pmod1_8   Reset: *Output*
+# pmod1_9  cca
+mod gpio cc2520_io
+  address 5
+  connect IO pmod1_9 pmod1_8

examples/osd/ico-wallclock-time/project-conf.h

@@ -0,0 +1,101 @@
+/*
+ * Copyright (c) 2010, Swedish Institute of Computer Science.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ * 3. Neither the name of the Institute nor the names of its contributors
+ *    may be used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED.  IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+ * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ *
+ *
+ */
+
+#ifndef PROJECT_RPL_WEB_CONF_H_
+#define PROJECT_RPL_WEB_CONF_H_
+
+#define PLATFORM_HAS_LEDS    1
+//#define PLATFORM_HAS_BUTTON  1
+#define PLATFORM_HAS_BATTERY 1
+
+#define SICSLOWPAN_CONF_FRAG	1
+
+/* For Debug: Dont allow MCU sleeping between channel checks */
+#undef RDC_CONF_MCU_SLEEP
+#define RDC_CONF_MCU_SLEEP       0
+
+/* Disabling RDC for demo purposes. Core updates often require more memory. */
+/* For projects, optimize memory and enable RDC again. */
+// #undef NETSTACK_CONF_RDC
+//#define NETSTACK_CONF_RDC     nullrdc_driver
+
+/* Increase rpl-border-router IP-buffer when using more than 64. */
+#undef REST_MAX_CHUNK_SIZE
+#define REST_MAX_CHUNK_SIZE    64
+
+/* Estimate your header size, especially when using Proxy-Uri. */
+/*
+#undef COAP_MAX_HEADER_SIZE
+#define COAP_MAX_HEADER_SIZE    70
+*/
+
+/* The IP buffer size must fit all other hops, in particular the border router. */
+
+#undef UIP_CONF_BUFFER_SIZE
+#define UIP_CONF_BUFFER_SIZE    256
+
+
+/* Multiplies with chunk size, be aware of memory constraints. */
+#undef COAP_MAX_OPEN_TRANSACTIONS
+#define COAP_MAX_OPEN_TRANSACTIONS   4
+
+/* Must be <= open transaction number, default is COAP_MAX_OPEN_TRANSACTIONS-1. */
+/*
+#undef COAP_MAX_OBSERVERS
+#define COAP_MAX_OBSERVERS      2
+*/
+
+/* Filtering .well-known/core per query can be disabled to save space. */
+/*
+#undef COAP_LINK_FORMAT_FILTERING
+#define COAP_LINK_FORMAT_FILTERING      0
+*/
+
+/* Save some memory for the sky platform. */
+/*
+#undef NBR_TABLE_CONF_MAX_NEIGHBORS
+#define NBR_TABLE_CONF_MAX_NEIGHBORS     10
+#undef UIP_CONF_MAX_ROUTES
+#define UIP_CONF_MAX_ROUTES   10
+*/
+
+/* Reduce 802.15.4 frame queue to save RAM. */
+/*
+#undef QUEUEBUF_CONF_NUM
+#define QUEUEBUF_CONF_NUM       4
+*/
+
+/*
+#undef SICSLOWPAN_CONF_FRAG
+#define SICSLOWPAN_CONF_FRAG	1
+*/
+
+#endif /* PROJECT_RPL_WEB_CONF_H_ */

examples/osd/ico-wallclock-time/riscv_flash.ld

@@ -0,0 +1,236 @@
+/*======================================================================*/
+/* Default maven linker script                                          */
+/*======================================================================*/
+/* This is the default linker script for maven. It is based off of the
+   mips idt32.ld linker script. I have added many more comments and
+   tried to clean things up a bit. For more information about standard
+   MIPS sections see Section 9.5 of "See MIPS Run Linux" by Dominic
+   Sweetman. For more generic information about the init, fini, ctors,
+   and dtors sections see the paper titled "ELF From the Programmers
+   Perspective" by Hongiu Lu. */
+
+/*----------------------------------------------------------------------*/
+/* Setup                                                                */
+/*----------------------------------------------------------------------*/
+
+/* The OUTPUT_ARCH command specifies the machine architecture where the
+   argument is one of the names used in the BFD library. More
+   specifically one of the entires in bfd/cpu-mips.c */
+
+OUTPUT_ARCH( "riscv" )
+
+/* The ENTRY command specifies the entry point (ie. first instruction to
+   execute). The symbol _start is defined in crt0.S */
+
+ENTRY( _start )
+
+/* The GROUP command is special since the listed archives will be
+   searched repeatedly until there are no new undefined references. We
+   need this since -lc depends on -lgloss and -lgloss depends on -lc. I
+   thought gcc would automatically include -lgcc when needed, but
+   idt32.ld includes it explicitly here and I was seeing link errors
+   without it. */
+
+GROUP( -lc -lgloss -lgcc )
+
+/*----------------------------------------------------------------------*/
+/* Sections                                                             */
+/*----------------------------------------------------------------------*/
+/* This is where we specify how the input sections map to output
+   sections. The .= commands set the location counter, and the
+   sections are inserted in increasing address order according to the
+   location counter. The following statement will take all of the .bar
+   input sections and reloate them into the .foo output section which
+   starts at address 0x1000.
+
+    . = 0.x1000;
+    .foo : { *(.bar) }
+
+   If we wrap an input specification with a KEEP command then it
+   prevents it from being eliminted during "link-time garbage
+   collection". I'm not sure what this is, so I just followed what was
+   done in idt32.ld.
+
+   We can also set a global external symbol to a specific address in the
+   output binary with this syntax:
+
+    _etext = .;
+    PROVIDE( etext = . );
+
+   This will set the global symbol _ftext to the current location. If we
+   wrap this in a PROVIDE commad, the symbol will only be set if it is
+   not defined. We do this with symbols which don't begin with an
+   underscore since technically in ansi C someone might have a function
+   with the same name (eg. etext).
+
+   If we need to label the beginning of a section we need to make sure
+   that the linker doesn't insert an orphan section inbetween where we
+   set the symbol and the actual begining of the section. We can do that
+   by assigning the location dot to itself.
+
+    . = .
+    _ftext = .;
+    .text :
+    { }
+
+   */
+
+SECTIONS
+{
+  /* Stuff in .text.sram is located in SRAM */
+  . = 0x00010000;
+  .text.sram : {
+    *(.text.sram)
+  }
+  text_sram_end = .;
+
+  /*--------------------------------------------------------------------*/
+  /* Code and read-only segment                                         */
+  /*--------------------------------------------------------------------*/
+
+  /* Begining of code and text segment */
+  /* In "flashpmem" mode everything above 1MB in the flash is */
+  /* mapped directly into the processor address space */
+  . = 0x00100000;
+  _ftext = .;
+  PROVIDE( eprol = . );
+
+  /* text: Program code section */
+  .text : 
+  {
+    *(.text)
+    *(.text.*)
+    *(.gnu.linkonce.t.*)
+  }
+
+  /* init: Code to execute before main (called by crt0.S) */
+  .init : 
+  {
+    KEEP( *(.init) )
+  }
+
+  /* fini: Code to execute after main (called by crt0.S) */
+  .fini : 
+  {
+    KEEP( *(.fini) )
+  }
+
+  /* rodata: Read-only data */
+  .rodata : 
+  {
+    *(.rdata)
+    *(.rodata)
+    *(.rodata.*)
+    *(.gnu.linkonce.r.*)
+  }
+
+  /* End of code and read-only segment */
+  PROVIDE( etext = . );
+  _etext = .;
+
+  /*--------------------------------------------------------------------*/
+  /* Global constructor/destructor segement                             */
+  /*--------------------------------------------------------------------*/
+
+  .preinit_array     :
+  {
+    PROVIDE_HIDDEN (__preinit_array_start = .);
+    KEEP (*(.preinit_array))
+    PROVIDE_HIDDEN (__preinit_array_end = .);
+  }
+
+  .init_array     :
+  {
+    PROVIDE_HIDDEN (__init_array_start = .);
+    KEEP (*(SORT(.init_array.*)))
+    KEEP (*(.init_array ))
+    PROVIDE_HIDDEN (__init_array_end = .);
+  }
+
+  .fini_array     :
+  {
+    PROVIDE_HIDDEN (__fini_array_start = .);
+    KEEP (*(SORT(.fini_array.*)))
+    KEEP (*(.fini_array ))
+    PROVIDE_HIDDEN (__fini_array_end = .);
+  }
+
+  /*--------------------------------------------------------------------*/
+  /* Other misc gcc segments (this was in idt32.ld)                     */
+  /*--------------------------------------------------------------------*/
+  /* I am not quite sure about these sections but it seems they are for
+     C++ exception handling. I think .jcr is for "Java Class
+     Registration" but it seems to end up in C++ binaries as well. */
+
+  .eh_frame_hdr     : { *(.eh_frame_hdr)     }
+  .eh_frame         : { KEEP( *(.eh_frame) ) }
+  .gcc_except_table : { *(.gcc_except_table) }
+  .jcr              : { KEEP (*(.jcr))       } 
+
+  /*--------------------------------------------------------------------*/
+  /* Initialized data segment                                           */
+  /*--------------------------------------------------------------------*/
+
+  /* everything below is goind to be in SRAM */
+  . = text_sram_end;
+
+  /* Start of initialized data segment */
+  . = ALIGN(16);
+   _fdata = .;
+
+  /* data: Writable data */
+  .data : 
+  {
+    *(.data)
+    *(.data.*)
+    *(.gnu.linkonce.d.*)
+  }
+
+  /* End of initialized data segment */
+  PROVIDE( edata = . );
+  _edata = .;
+
+  /* Have _gp point to middle of sdata/sbss to maximize displacement range */
+  . = ALIGN(16);
+  _gp = . + 0x800;
+
+  /* Writable small data segment */
+  .sdata : 
+  {
+    *(.sdata)
+    *(.sdata.*)
+    *(.srodata.*)
+    *(.gnu.linkonce.s.*)
+  }
+
+  /*--------------------------------------------------------------------*/
+  /* Uninitialized data segment                                         */
+  /*--------------------------------------------------------------------*/
+
+  /* Start of uninitialized data segment */
+  . = ALIGN(8);
+  _fbss = .;
+
+  /* Writable uninitialized small data segment */
+  .sbss : 
+  {
+    *(.sbss)
+    *(.sbss.*)
+    *(.gnu.linkonce.sb.*)
+  }
+
+  /* bss: Uninitialized writeable data section */
+  . = .;
+  _bss_start = .;
+  .bss : 
+  {
+    *(.bss)
+    *(.bss.*)
+    *(.gnu.linkonce.b.*)
+    *(COMMON)
+  }
+
+  /* End of uninitialized data segment (used by syscalls.c for heap) */
+  PROVIDE( end = . );
+  _end = ALIGN(8);
+}

examples/osd/ico-wallclock-time/wallclock.c

@@ -0,0 +1,141 @@
+/*
+ * Copyright (C) 2016, Ralf Schlatterbeck and other contributors.
+ * 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
+ *      Erbium (Er) Wallclock REST Engine example (with CoAP-specific code)
+ * \author
+ *      Matthias Kovatsch <kovatsch@inf.ethz.ch>
+ *      Ralf Schlatterbeck <rsc@runtux.com>
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include "contiki.h"
+#include "params.h"
+#include "contiki-net.h"
+#include "er-coap-engine.h"
+#include "xtime.h"
+#include "cron.h"
+#include "time_resource.h"
+#include "jsonparse.h"
+#include "icosoc.h"
+
+#define DEBUG 1
+#if DEBUG
+#include <stdio.h>
+#define PRINTF(...) printf(__VA_ARGS__)
+#define PRINT6ADDR(addr) PRINTF("[%02x%02x:%02x%02x:%02x%02x:%02x%02x:%02x%02x:%02x%02x:%02x%02x:%02x%02x]", ((uint8_t *)addr)[0], ((uint8_t *)addr)[1], ((uint8_t *)addr)[2], ((uint8_t *)addr)[3], ((uint8_t *)addr)[4], ((uint8_t *)addr)[5], ((uint8_t *)addr)[6], ((uint8_t *)addr)[7], ((uint8_t *)addr)[8], ((uint8_t *)addr)[9], ((uint8_t *)addr)[10], ((uint8_t *)addr)[11], ((uint8_t *)addr)[12], ((uint8_t *)addr)[13], ((uint8_t *)addr)[14], ((uint8_t *)addr)[15])
+#define PRINTLLADDR(lladdr) PRINTF("[%02x:%02x:%02x:%02x:%02x:%02x]", (lladdr)->addr[0], (lladdr)->addr[1], (lladdr)->addr[2], (lladdr)->addr[3], (lladdr)->addr[4], (lladdr)->addr[5])
+#else
+#define PRINTF(...)
+#define PRINT6ADDR(addr)
+#define PRINTLLADDR(addr)
+#endif
+
+void 
+hw_init ()
+{
+  //icosoc_leds_dir (0xFFFF);
+  //icosoc_leds_set (0);
+}
+
+PROCESS (wallclock, "Wallclock Example Server");
+
+AUTOSTART_PROCESSES(&wallclock);
+
+//#define LOOP_INTERVAL (30 * CLOCK_SECOND)
+#define LOOP_INTERVAL (5 * CLOCK_SECOND)
+
+/*
+ * Set led to on or off, we abuse the given pointer to simply carry the
+ * on/off flag.
+ */
+void led_set (void *onoff)
+{
+    //int status = (int)onoff;
+    //icosoc_leds_set (0xFF * status);
+}
+
+PROCESS_THREAD(wallclock, ev, data)
+{
+  static struct etimer loop_periodic_timer;
+  PROCESS_BEGIN();
+  PRINTF("Starting Wallclock Example\n");
+
+#ifdef CHANNEL_802_15_4
+  PRINTF("RF channel: %u\n", CHANNEL_802_15_4);
+#endif
+#ifdef IEEE802154_PANID
+  PRINTF("PAN ID: 0x%04X\n", IEEE802154_PANID);
+#endif
+
+  PRINTF("uIP buffer: %u\n", UIP_BUFSIZE);
+  PRINTF("LL header: %u\n", UIP_LLH_LEN);
+  PRINTF("IP+UDP header: %u\n", UIP_IPUDPH_LEN);
+  PRINTF("REST max chunk: %u\n", REST_MAX_CHUNK_SIZE);
+
+  /* Initialize the Hardware. */
+  hw_init ();
+  /* Initialize the REST engine. */
+  rest_init_engine ();
+
+  rest_activate_resource (&res_timestamp, "clock/timestamp");
+  rest_activate_resource (&res_timezone, "clock/timezone");
+  rest_activate_resource (&res_localtime, "clock/localtime");
+  rest_activate_resource (&res_utc, "clock/utc");
+
+  /* Register callback function(s) */
+  cron_register_command ("led_on",  led_set, (void *)1);
+  cron_register_command ("led_off", led_set, (void *)0);
+
+  /* Allocate all cron entries and the necessary resources */
+  activate_cron_resources ();
+
+  /* Define application-specific events here.
+   * We need to call cron every 30 seconds or so (at least once a
+   * minute)
+   */
+  printf ("Loop-interval: %ld\n", (uint32_t)LOOP_INTERVAL);
+  etimer_set (&loop_periodic_timer, LOOP_INTERVAL);
+  while (1) {
+    clock_time_t cl = clock_time ();
+    printf ("In while loop: %08lx%08lx\n", (uint32_t)(cl>>32), (uint32_t)cl);
+    PROCESS_WAIT_EVENT();
+    if (etimer_expired (&loop_periodic_timer)) {
+        cron ();
+        etimer_reset (&loop_periodic_timer);
+    }
+  } /* while (1) */
+
+  PROCESS_END();
+}

examples/osd/native-border-router/border-router-rdc.c

@@ -170,7 +170,7 @@ off(int keep_radio_on)
   return 1;
 }
 /*---------------------------------------------------------------------------*/
-static unsigned short
+static clock_time_t
 channel_check_interval(void)
 {
   return 0;

platform/pico-rv32-icoboard/Makefile.pico-rv32-icoboard

@@ -0,0 +1,17 @@
+CONTIKI_TARGET_DIRS = . dev apps net
+
+CONTIKI_CORE=contiki-main
+CONTIKI_TARGET_MAIN = ${CONTIKI_CORE}.o
+CONTIKI_TARGET_SOURCEFILES += contiki-main.c params.c \
+    cc2520.c cc2520-arch.c cc2520-arch-sfd.c
+
+CONTIKIPICORV32=$(CONTIKI)/cpu/pico-rv32
+CONTIKIBOARD=.
+
+CONTIKI_PLAT_DEFS = -DAUTO_CRC_PADDING=2
+
+MCU=pico-rv32
+
+include $(CONTIKIPICORV32)/Makefile.pico-rv32
+MODULES += core/net/mac core/net core/net/mac/sicslowmac \
+    core/net/mac/contikimac dev/cc2520

platform/pico-rv32-icoboard/cc2520-arch-sfd.c

@@ -0,0 +1,62 @@
+/*
+ * Copyright (c) 2011, Swedish Institute of Computer Science
+ *               2016, Dr. Ralf Schlatterbeck Open Source Consulting
+ * 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.
+ */
+
+#include "contiki.h"
+#include "dev/spi.h"
+#include "dev/cc2520/cc2520.h"
+#include "irq.h"
+
+extern volatile uint8_t cc2520_sfd_counter;
+extern volatile uint16_t cc2520_sfd_start_time;
+extern volatile uint16_t cc2520_sfd_end_time;
+
+/*---------------------------------------------------------------------------*/
+/* SFD interrupt for timestamping radio packets */
+void cc2520_timerb1_interrupt (void)
+{
+  ENERGEST_ON(ENERGEST_TYPE_IRQ);
+  /* This timer needs 32768 ticks per second */
+  if(CC2520_SFD_IS_1) {
+    cc2520_sfd_counter++;
+    cc2520_sfd_start_time = (uint16_t)(clock_time() * 32768 / F_CPU);
+  } else {
+    cc2520_sfd_counter = 0;
+    cc2520_sfd_end_time   = (uint16_t)(clock_time() * 32768 / F_CPU);
+  }
+  ENERGEST_OFF(ENERGEST_TYPE_IRQ);
+}
+/*---------------------------------------------------------------------------*/
+void
+cc2520_arch_sfd_init(void)
+{
+  register_irq (4, cc2520_arch_sfd_init);
+  enable_irq (4);
+}
+/*---------------------------------------------------------------------------*/

platform/pico-rv32-icoboard/cc2520-arch-sfd.h

@@ -0,0 +1,38 @@
+/*
+ * Copyright (c) 2011, Swedish Institute of Computer Science
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ * 3. Neither the name of the Institute nor the names of its contributors
+ *    may be used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED.  IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+ * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ */
+#ifndef CC2520_ARCH_SFD_H
+#define CC2520_ARCH_SFD_H
+
+extern volatile uint8_t cc2520_arch_sfd_counter;
+extern volatile uint16_t cc2520_arch_sfd_start_time;
+extern volatile uint16_t cc2520_arch_sfd_end_time;
+
+void cc2520_arch_sfd_init(void);
+
+#endif /* CC2520_ARCH_SFD_H */

platform/pico-rv32-icoboard/cc2520-arch.c

@@ -0,0 +1,86 @@
+/*
+ * Copyright (c) 2011, Swedish Institute of Computer Science
+ *               2016, Dr. Ralf Schlatterbeck Open Source Consulting
+ * 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.
+ */
+
+#include "contiki.h"
+#include "contiki-net.h"
+
+#include "icosoc.h"
+#include "cc2520-arch.h"
+#include "dev/cc2520/cc2520.h"
+
+#ifdef CC2520_CONF_SFD_TIMESTAMPS
+#define CONF_SFD_TIMESTAMPS CC2520_CONF_SFD_TIMESTAMPS
+#endif /* CC2520_CONF_SFD_TIMESTAMPS */
+
+#ifndef CONF_SFD_TIMESTAMPS
+#define CONF_SFD_TIMESTAMPS 0
+#endif /* CONF_SFD_TIMESTAMPS */
+
+#ifdef CONF_SFD_TIMESTAMPS
+#include "cc2520-arch-sfd.h"
+#endif
+
+/*---------------------------------------------------------------------------*/
+void icosoc_cc2520_fifop_irq (void)
+{
+  ENERGEST_ON(ENERGEST_TYPE_IRQ);
+
+  /* See Errata 1.2.2 */
+  if (!CC2520_FIFOP_IS_1) {
+    return;
+  }
+  if (!CC2520_FIFOP_IS_1) {
+    return;
+  }
+  cc2520_interrupt();
+
+  ENERGEST_OFF(ENERGEST_TYPE_IRQ);
+}
+/*---------------------------------------------------------------------------*/
+void
+cc2520_arch_init(void)
+{
+  // All inputs except for RESET pin which is an output
+  icosoc_cc2520_io_dir (BV(CC2520_RESET_SHIFT));
+
+  // Prescaler set to F_CPU / 4MHz will result in <= 4MHz
+  // rate, chip should perform up to 8MHz)
+  icosoc_cc2520_spi_prescale (F_CPU / 4000000);
+
+  // SPI mode cpol, cpha
+  icosoc_cc2520_spi_mode (0, 0);
+
+#if CONF_SFD_TIMESTAMPS
+  cc2520_arch_sfd_init();
+#endif
+
+  CC2520_SPI_DISABLE();                /* Unselect radio. */
+}
+/*---------------------------------------------------------------------------*/

platform/pico-rv32-icoboard/cc2520-arch.h

@@ -0,0 +1,107 @@
+/*
+ * Copyright (c) 2016, Dr. Ralf Schlatterbeck Open Source Consulting
+ * 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.
+ */
+
+/**
+ * \file
+ *         Platform configuration for the pico-rv32-icoboard
+ *         Definitions for the radio hardware access
+ */
+
+#ifndef RADIO_CONF_H_
+#define RADIO_CONF_H_
+
+#include "icosoc.h"
+
+extern void icosoc_cc2520_fifop_irq (void);
+
+/* the low-level radio driver */
+#define NETSTACK_CONF_RADIO   cc2520_driver
+
+/*
+ * SPI bus - CC2520 pin configuration.
+ */
+
+// Two instructions loop at F_CPU for 326us
+#define CC2520_CONF_SYMBOL_LOOP_COUNT (F_CPU / (3067 * 2))
+
+#define CC2520_RESET_SHIFT 0
+#define CC2520_CCA_SHIFT   1
+
+/* Pin status.CC2520 */
+/* This implementation doesn't have enough pins for CC2520_FIFO_IS_1
+ * on a separate pin. So we need to explicitly check for FIFO in
+ * register with a SPI command, this is bit 7 in FSMSTAT1, see p.119 of
+ * spec.
+ */
+#define CC2520_FIFOP_IS_1 (!!(icosoc_cc2520_fifop_read()))
+#define CC2520_FIFO_IS_1  (!!(getreg(CC2520_FSMSTAT1) & BV(7)))
+#define CC2520_SFD_IS_1   (!!(icosoc_cc2520_sfd_read()))
+#define CC2520_CCA_IS_1   (!!(icosoc_cc2520_io_get() & (1<<CC2520_CCA_SHIFT)))
+
+/* The CC2520 reset pin. */
+#define SET_RESET_INACTIVE() \
+    (icosoc_cc2520_io_set(icosoc_cc2520_io_get() | (1<<CC2520_RESET_SHIFT)))
+#define SET_RESET_ACTIVE()   \
+    (icosoc_cc2520_io_set(icosoc_cc2520_io_get() & (~(1<<CC2520_RESET_SHIFT))))
+
+/* CC2520 voltage regulator enable pin: direct connection to VCC,
+   we don't have enough pins to turn power on/off and the fpga will
+   always need full power anyway
+ */
+#define SET_VREG_ACTIVE()
+#define SET_VREG_INACTIVE()
+
+/* CC2520 rising edge trigger for external interrupt 3 (FIFOP). */
+#define CC2520_FIFOP_INT_INIT()                                       \
+    ( register_irq(3, icosoc_cc2520_fifop_irq)                        \
+    , icosoc_cc2520_fifop_set_config (icosoc_cc2520_fifop_trigger_re) \
+    , icosoc_cc2520_fifop_read()                                      \
+    )
+
+/* FIFOP on external interrupt 3. */
+#define CC2520_ENABLE_FIFOP_INT()     (enable_irq(3))
+#define CC2520_DISABLE_FIFOP_INT()    (disable_irq(3))
+#define CC2520_CLEAR_FIFOP_INT()      (icosoc_cc2520_fifop_read())
+
+/*
+ * Enables/disables CC2520 access to the SPI bus (Chip Select)
+ */
+
+// ENABLE CSn (active low)
+#define CC2520_SPI_ENABLE()     icosoc_cc2520_spi_cs(0)
+// DISABLE CSn (active low)
+#define CC2520_SPI_DISABLE()    icosoc_cc2520_spi_cs(1)
+#define CC2520_SPI_IS_ENABLED() icosoc_cc2520_spi_getcs()
+
+#if TIMESYNCH_CONF_ENABLED
+#undef CC2520_CONF_SFD_TIMESTAMPS
+#define CC2520_CONF_SFD_TIMESTAMPS       1
+#endif /* TIMESYNCH_CONF_ENABLED */
+
+#endif /* RADIO_CONF_H_ */

platform/pico-rv32-icoboard/contiki-conf.h

@@ -0,0 +1,194 @@
+/*
+ * Copyright (c) 2016, Dr. Ralf Schlatterbeck Open Source Consulting
+ * 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
+ *         Configuration for PicoRV32 on icoboard
+ * \author
+ *         Ralf Schlatterbeck <rsc@runtux.com>
+ */
+
+#ifndef CONTIKI_CONF_H_
+#define CONTIKI_CONF_H_
+
+#include "rv32def.h"
+#include "icosoc.h"
+#include "irq.h"
+#include "cc2520-arch.h"
+
+/* Platform name, type, and MCU clock rate */
+#define PLATFORM_NAME  "PicoRV32-icoboard"
+#define PLATFORM_TYPE  PICORV32
+#ifndef F_CPU
+#define F_CPU          (ICOSOC_CLOCK_FREQ_HZ)
+#endif
+
+ /* Clock ticks per second, our timer runs with cpu freq */
+#define CLOCK_CONF_SECOND ((long long)F_CPU)
+
+typedef uint64_t clock_time_t;
+#define CLOCK_LT(a,b)  ((a)<(b))
+
+/* RADIOSTATS is used in clock.c and the webserver cgi to report radio usage */
+/* It has less overhead than ENERGEST */
+#define RADIOSTATS                1
+
+/* More extensive stats, via main loop printfs or webserver status pages */
+#define ENERGEST_CONF_ON          1
+
+/* Packet statistics */
+typedef unsigned short uip_stats_t;
+#define UIP_STATISTICS            0
+
+/* Network setup */
+/* TX routine passes the cca/ack result in the return parameter */
+#define RDC_CONF_HARDWARE_ACK    1
+/* TX routine does automatic cca and optional backoffs */
+#define RDC_CONF_HARDWARE_CSMA   1
+/* Allow MCU sleeping between channel checks */
+#define RDC_CONF_MCU_SLEEP         1
+
+#if NETSTACK_CONF_WITH_IPV6
+#define LINKADDR_CONF_SIZE        8
+#define UIP_CONF_ICMP6            1
+#define UIP_CONF_UDP              1
+#define UIP_CONF_TCP              1
+#define NETSTACK_CONF_NETWORK     sicslowpan_driver
+#define SICSLOWPAN_CONF_COMPRESSION SICSLOWPAN_COMPRESSION_HC06
+#else
+/* ip4 should build but is largely untested */
+#define LINKADDR_CONF_SIZE        2
+#define NETSTACK_CONF_NETWORK     rime_driver
+#endif
+
+#define UIP_CONF_LL_802154        1
+#define UIP_CONF_LLH_LEN          0
+
+/* 10 bytes per stateful address context - see sicslowpan.c */
+/* Default is 1 context with prefix aaaa::/64 */
+/* These must agree with all the other nodes or there will be a failure to communicate! */
+#define SICSLOWPAN_CONF_MAX_ADDR_CONTEXTS 1
+#define SICSLOWPAN_CONF_ADDR_CONTEXT_0 {addr_contexts[0].prefix[0]=0xaa;addr_contexts[0].prefix[1]=0xaa;}
+#define SICSLOWPAN_CONF_ADDR_CONTEXT_1 {addr_contexts[1].prefix[0]=0xbb;addr_contexts[1].prefix[1]=0xbb;}
+#define SICSLOWPAN_CONF_ADDR_CONTEXT_2 {addr_contexts[2].prefix[0]=0x20;addr_contexts[2].prefix[1]=0x01;addr_contexts[2].prefix[2]=0x49;addr_contexts[2].prefix[3]=0x78,addr_contexts[2].prefix[4]=0x1d;addr_contexts[2].prefix[5]=0xb1;}
+
+/* Take the default TCP maximum segment size for efficiency and simpler wireshark captures */
+/* Use this to prevent 6LowPAN fragmentation (whether or not fragmentation is enabled) */
+//#define UIP_CONF_TCP_MSS       48
+
+#define UIP_CONF_IP_FORWARD      0
+#define UIP_CONF_FWCACHE_SIZE    0
+
+#define UIP_CONF_IPV6_CHECKS     1
+#define UIP_CONF_IPV6_QUEUE_PKT  1
+#define UIP_CONF_IPV6_REASSEMBLY 0
+
+#define UIP_CONF_UDP_CHECKSUMS   1
+#define UIP_CONF_TCP_SPLIT       1
+#define UIP_CONF_DHCP_LIGHT      1
+
+
+#if 1 /* No radio cycling */
+
+#define NETSTACK_CONF_MAC         nullmac_driver
+#define NETSTACK_CONF_RDC         sicslowmac_driver
+#define NETSTACK_CONF_FRAMER      framer_802154
+#define CC2520_CONF_AUTOACK        1
+#define SICSLOWPAN_CONF_FRAG      1
+/* Most browsers reissue GETs after 3 seconds which stops fragment reassembly so a longer MAXAGE does no good */
+#define SICSLOWPAN_CONF_MAXAGE    3
+/* How long to wait before terminating an idle TCP connection. Smaller to allow faster sleep. Default is 120 seconds */
+/* If wait is too short the connection can be reset as a result of multiple fragment reassembly timeouts */
+#define UIP_CONF_WAIT_TIMEOUT    20
+/* 211 bytes per queue buffer */
+#define QUEUEBUF_CONF_NUM         8
+/* 54 bytes per queue ref buffer */
+#define QUEUEBUF_CONF_REF_NUM     2
+/* Allocate remaining RAM as desired */
+/* 30 bytes per TCP connection */
+/* 6LoWPAN does not do well with concurrent TCP streams, as new browser GETs collide with packets coming */
+/* from previous GETs, causing decreased throughput, retransmissions, and timeouts. Increase to study this. */
+/* ACKs to other ports become interleaved with computation-intensive GETs, so ACKs are particularly missed. */
+/* Increasing the number of packet receive buffers in RAM helps to keep ACKs from being lost */
+#define UIP_CONF_MAX_CONNECTIONS  4
+/* 2 bytes per TCP listening port */
+#define UIP_CONF_MAX_LISTENPORTS  4
+/* 25 bytes per UDP connection */
+#define UIP_CONF_UDP_CONNS       10
+/* See uip-ds6.h */
+#define NBR_TABLE_CONF_MAX_NEIGHBORS      20
+#define UIP_CONF_DS6_DEFRT_NBU    2
+#define UIP_CONF_DS6_PREFIX_NBU   3
+#define UIP_CONF_MAX_ROUTES    20
+#define UIP_CONF_DS6_ADDR_NBU     3
+#define UIP_CONF_DS6_MADDR_NBU    0
+#define UIP_CONF_DS6_AADDR_NBU    0
+
+#else
+#error Network configuration not specified!
+#endif   /* Network setup */
+
+/* ************************************************************************** */
+//#pragma mark RPL Settings
+/* ************************************************************************** */
+#if UIP_CONF_IPV6_RPL
+
+#define UIP_CONF_ROUTER                 1
+#define UIP_CONF_ND6_SEND_RA		    0
+#define UIP_CONF_ND6_REACHABLE_TIME     600000
+#define UIP_CONF_ND6_RETRANS_TIMER      10000
+
+/* For slow slip connections, to prevent buffer overruns */
+//#define UIP_CONF_RECEIVE_WINDOW 300
+#undef UIP_CONF_FWCACHE_SIZE
+#define UIP_CONF_FWCACHE_SIZE    30
+#define UIP_CONF_BROADCAST       1
+#define UIP_ARCH_IPCHKSUM        1
+#define UIP_CONF_PINGADDRCONF    0
+#define UIP_CONF_LOGGING         0
+
+#endif /* RPL */
+
+#define CCIF
+#define CLIF
+#ifndef CC_CONF_INLINE
+#define CC_CONF_INLINE inline
+#endif
+
+/* include the project config */
+/* PROJECT_CONF_H might be defined in the project Makefile */
+#ifdef PROJECT_CONF_H
+#include PROJECT_CONF_H
+#endif
+
+#endif /* CONTIKI_CONF_H_ */

platform/pico-rv32-icoboard/contiki-main.c

@@ -0,0 +1,373 @@
+/*
+ * Copyright (c) 2016, Dr. Ralf Schlatterbeck Open Source Consulting
+ * 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.
+ *
+ */
+#define printf_P printf
+#define PSTR(x) (x)
+
+#define PRINTF(FORMAT,args...) printf_P(PSTR(FORMAT),##args)
+
+#define ANNOUNCE_BOOT 1
+#if ANNOUNCE_BOOT
+#define PRINTA(FORMAT,args...) printf_P(PSTR(FORMAT),##args)
+#else
+#define PRINTA(...)
+#endif
+
+#define DEBUG 0
+#if DEBUG
+#define PRINTD(FORMAT,args...) printf_P(PSTR(FORMAT),##args)
+#else
+#define PRINTD(...)
+#endif
+
+#include <stdio.h>
+#include <string.h>
+
+#include "params.h"
+#include "net/mac/frame802154.h"
+#include "net/mac/framer-802154.h"
+#include "net/ipv6/sicslowpan.h"
+
+#include "contiki.h"
+#include "contiki-net.h"
+#include "contiki-lib.h"
+
+#include "dev/cc2520/cc2520.h"
+
+//#include "dev/rs232.h"
+//#include "dev/serial-line.h"
+//#include "dev/slip.h"
+
+#include "net/rime/rime.h"
+
+/* Track interrupt flow through mac, rdc and radio driver */
+//#define DEBUGFLOWSIZE 32
+#if DEBUGFLOWSIZE
+uint8_t debugflowsize,debugflow[DEBUGFLOWSIZE];
+#define DEBUGFLOW(c) if (debugflowsize<(DEBUGFLOWSIZE-1)) debugflow[debugflowsize++]=c
+#else
+#define DEBUGFLOW(c)
+#endif
+
+/* Get periodic prints from idle loop, from clock seconds or rtimer interrupts */
+/* Use of rtimer will conflict with other rtimer interrupts such as contikimac radio cycling */
+/* STAMPS will print ENERGEST outputs if that is enabled. */
+#define PERIODICPRINTS 1
+#if PERIODICPRINTS
+//#define PINGS 64
+#define ROUTES 600
+#define STAMPS 60
+#define STACKMONITOR 1024
+uint32_t clocktime;
+#define TESTRTIMER 0
+#if TESTRTIMER
+uint8_t rtimerflag=1;
+struct rtimer rt;
+void rtimercycle(void) {rtimerflag=1;}
+#endif
+#endif
+
+uint16_t ledtimer;
+
+/*-------------------------Low level initialization------------------------*/
+/*------Done in a subroutine to keep main routine stack usage small--------*/
+void initialize(void)
+{
+#if 0 && STACKMONITOR
+  /* Simple stack pointer highwater monitor. Checks for magic numbers in the main
+   * loop. In conjuction with PERIODICPRINTS, never-used stack will be printed
+   * every STACKMONITOR seconds.
+   */
+{
+extern uint16_t __bss_end;
+uint16_t *p=&__bss_end;
+    do {
+      *p = 0x4242;
+      p+=5;
+    } while (p<SP-10); //don't overwrite our own stack
+}
+#endif
+  irq_init();
+  clock_init();
+
+  PRINTA("\n*******Booting %s*******\n",CONTIKI_VERSION_STRING);
+
+/* rtimers needed for radio cycling */
+  rtimer_init();
+
+ /* Initialize process subsystem */
+  process_init();
+
+  /* etimers must be started before ctimer_init */
+  process_start(&etimer_process, NULL);
+  ctimer_init();
+
+  /* Start radio and radio receive process */
+  NETSTACK_RADIO.init();
+
+/* Get a random seed for the 802.15.4 packet sequence number.
+ * Some layers will ignore duplicates found in a history (e.g. Contikimac)
+ * causing the initial packets to be ignored after a short-cycle restart.
+ */
+  //random_init(rng_get_uint8());
+
+  /* Set addresses BEFORE starting tcpip process */
+
+  linkaddr_t addr;
+
+  if (params_get_eui64(addr.u8)) {
+      PRINTA("Random EUI64 address generated\n");
+  }
+ 
+#if NETSTACK_CONF_WITH_IPV6 
+  memcpy(&uip_lladdr.addr, &addr.u8, sizeof(linkaddr_t));
+#elif WITH_NODE_ID
+  node_id=get_panaddr_from_eeprom();
+  addr.u8[1]=node_id&0xff;
+  addr.u8[0]=(node_id&0xff00)>>8;
+  PRINTA("Node ID from eeprom: %X\n",node_id);
+#endif  
+  linkaddr_set_node_addr(&addr); 
+
+  cc2520_set_pan_addr(params_get_panid(),params_get_panaddr(),(uint8_t *)&addr.u8);
+  cc2520_set_channel(params_get_channel());
+  // set in init to 1dBm, needs special encoding!
+  //cc2520_set_txpower(params_get_txpower());
+
+#if NETSTACK_CONF_WITH_IPV6
+  PRINTA("EUI-64 MAC: %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]);
+#else
+  PRINTA("MAC address ");
+  uint8_t i;
+  for (i=sizeof(linkaddr_t); i>0; i--){
+    PRINTA("%x:",addr.u8[i-1]);
+  }
+  PRINTA("\n");
+#endif
+
+  /* Initialize stack protocols */
+  queuebuf_init();
+  NETSTACK_RDC.init();
+  NETSTACK_MAC.init();
+  NETSTACK_NETWORK.init();
+
+#if ANNOUNCE_BOOT
+  PRINTA ( "%s %s, channel %u , check rate %u Hz tx power %u\n"
+         , NETSTACK_MAC.name
+         , NETSTACK_RDC.name
+         , cc2520_get_channel()
+         , (uint16_t)(CLOCK_SECOND
+                     / (NETSTACK_RDC.channel_check_interval() == 0
+                       ? 1
+                       : NETSTACK_RDC.channel_check_interval()
+                       )
+                     )
+         , cc2520_get_txpower()
+         );
+#if UIP_CONF_IPV6_RPL
+  PRINTA("RPL Enabled\n");
+#endif
+#if UIP_CONF_ROUTER
+  PRINTA("Routing Enabled\n");
+#endif
+
+#endif /* ANNOUNCE_BOOT */
+
+#if NETSTACK_CONF_WITH_IPV6 || NETSTACK_CONF_WITH_IPV4
+  process_start(&tcpip_process, NULL);
+#endif
+
+  /* Autostart other processes */
+  autostart_start(autostart_processes);
+
+/* Add addresses for testing */
+#if 0
+{  
+  uip_ip6addr_t ipaddr;
+  uip_ip6addr(&ipaddr, 0xaaaa, 0, 0, 0, 0, 0, 0, 0);
+  uip_ds6_addr_add(&ipaddr, 0, ADDR_AUTOCONF);
+//  uip_ds6_prefix_add(&ipaddr,64,0);
+}
+#endif
+
+/*--------------------------Announce the configuration---------------------*/
+#if ANNOUNCE_BOOT
+   PRINTA("Online\n");
+#endif /* ANNOUNCE_BOOT */
+
+}
+
+#if ROUTES && NETSTACK_CONF_WITH_IPV6
+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
+
+/*-------------------------------------------------------------------------*/
+/*------------------------- Main Scheduler loop----------------------------*/
+/*-------------------------------------------------------------------------*/
+int
+main(void)
+{
+  printf ("Hello world!\n");
+#if NETSTACK_CONF_WITH_IPV6
+  uip_ds6_nbr_t *nbr;
+#endif /* NETSTACK_CONF_WITH_IPV6 */
+  initialize();
+
+  while(1) {
+    process_run();
+
+#if PERIODICPRINTS
+#if TESTRTIMER
+/* 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.
+ */
+    if (rtimerflag) {
+      rtimer_set(&rt, RTIMER_NOW()+ RTIMER_ARCH_SECOND*1UL, 1,(void *) rtimercycle, NULL);
+      rtimerflag=0;
+#else
+  if (clocktime!=clock_seconds()) {
+     clocktime=clock_seconds();
+#endif
+
+#if STAMPS
+if ((clocktime%STAMPS)==0) {
+  PRINTF("%lus\n",clocktime);
+}
+#endif
+
+#if ROUTES && NETSTACK_CONF_WITH_IPV6
+if ((clocktime%ROUTES)==2) {
+      
+extern uip_ds6_netif_t uip_ds6_if;
+
+  uint8_t i = 0, j = 1;
+  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",NBR_TABLE_MAX_NEIGHBORS);
+
+  for(nbr = nbr_table_head(ds6_neighbors);
+      nbr != NULL;
+      nbr = nbr_table_next(ds6_neighbors, nbr)) {
+    ipaddr_add(&nbr->ipaddr);
+    PRINTF("\n");
+    j=0;
+  }
+  if (j) PRINTF("  <none>");
+  PRINTF("\nRoutes [%u max]\n",UIP_DS6_ROUTE_NB);
+  {
+    uip_ds6_route_t *r;
+    PRINTF("\nRoutes [%u max]\n",UIP_DS6_ROUTE_NB);
+    j = 1;
+    for(r = uip_ds6_route_head();
+        r != NULL;
+        r = uip_ds6_route_next(r)) {
+      ipaddr_add(&r->ipaddr);
+      PRINTF("/%u (via ", r->length);
+      ipaddr_add(uip_ds6_route_nexthop(r));
+      PRINTF(") %lus\n", r->state.lifetime);
+      j = 0;
+    }
+  }
+  if (j) PRINTF("  <none>");
+  PRINTF("\n---------\n");
+}
+#endif
+
+#if 0 && STACKMONITOR
+if ((clocktime%STACKMONITOR)==3) {
+  extern uint16_t __bss_end;
+  uint16_t *p=&__bss_end;
+  do {
+    if (*p != 0x4242) {
+      PRINTF("Never-used stack > %d bytes\n",((char*)p) - ((char*)&__bss_end));
+      break;
+    }
+    p+=5;
+  } while (p<RAMEND-10);
+}
+#endif
+
+    }
+#endif /* PERIODICPRINTS */
+
+#if 0
+#if RF230BB&&0
+extern uint8_t rf230processflag;
+    if (rf230processflag) {
+      PRINTF("rf230p%d",rf230processflag);
+      rf230processflag=0;
+    }
+#endif
+
+#if RF230BB&&0
+extern uint8_t rf230_interrupt_flag;
+    if (rf230_interrupt_flag) {
+ //   if (rf230_interrupt_flag!=11) {
+        PRINTF("**RI%u",rf230_interrupt_flag);
+ //   }
+      rf230_interrupt_flag=0;
+    }
+#endif
+#endif /* 0 */
+  }
+  return 0;
+}
+
+/*---------------------------------------------------------------------------*/
+
+void log_message(char *m1, char *m2)
+{
+  PRINTF("%s%s\n", m1, m2);
+}

platform/pico-rv32-icoboard/params.c

@@ -0,0 +1,81 @@
+/*
+ * Copyright (c) 2016, Dr. Ralf Schlatterbeck Open Source Consulting
+ * 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.
+ *
+ */
+#define PRINTF(FORMAT,args...) printf_P(PSTR(FORMAT),##args)
+
+#define DEBUG 1
+#if DEBUG
+#define PRINTD(FORMAT,args...) printf_P(PSTR(FORMAT),##args)
+#else
+#define PRINTD(...)
+#endif
+
+#include "contiki.h"
+#include <stdio.h>
+#include <string.h>
+
+#include "contiki-net.h"
+#include "params.h"
+
+#if CONTIKI_CONF_RANDOM_MAC
+extern uint8_t rng_get_uint8(void);
+static void
+generate_new_eui64(uint8_t eui64[8]) {
+  eui64[0] = 0x02;
+  eui64[1] = rng_get_uint8();
+  eui64[2] = rng_get_uint8();
+  eui64[3] = 0xFF;
+  eui64[4] = 0xFE;
+  eui64[5] = rng_get_uint8();
+  eui64[6] = rng_get_uint8();
+  eui64[7] = rng_get_uint8();
+}
+#endif
+
+const uint8_t default_mac_address[8] = 
+    {0x02, 0x00, 0x00, 0xff, 0xfe, 0x00, 0x00, 0x01};
+
+/* Hard coded parameters. */
+uint8_t
+params_get_eui64(uint8_t *eui64) {
+
+#if CONTIKI_CONF_RANDOM_MAC
+    PRINTD("Generating random EUI64 MAC\n");
+    generate_new_eui64(eui64);
+    return 1;
+#else
+    uint8_t i;
+    for (i=0;i<sizeof(default_mac_address);i++) {
+      eui64[i] = default_mac_address [i];
+    }
+    return 0;
+#endif
+}

platform/pico-rv32-icoboard/params.h

@@ -0,0 +1,70 @@
+#ifndef PARAMS_H_
+#define PARAMS_H_
+
+/* Include settings.h, then dummy out the write routines */
+#include "settings.h"
+#if PARAMETER_STORAGE==2
+#define settings_add(...) 0
+#define settings_add_uint8(...) 0
+#define settings_add_uint16(...) 0
+#endif
+
+#define CHANNEL_802_15_4          25     // default frequency (11-26)
+
+#ifdef SERVER_NAME
+#define PARAMS_SERVERNAME SERVER_NAME
+#else
+#define PARAMS_SERVERNAME "PicoRV32"
+#endif
+#ifdef DOMAIN_NAME
+#define PARAMS_DOMAINNAME DOMAIN_NAME
+#else
+#define PARAMS_DOMAINNAME "localhost"
+#endif
+#ifdef NODE_ID
+#define PARAMS_NODEID NODE_ID
+#else
+#define PARAMS_NODEID 0
+#endif
+#ifdef CHANNEL_802_15_4
+#define PARAMS_CHANNEL CHANNEL_802_15_4
+#else
+#define PARAMS_CHANNEL 26
+#endif
+#ifdef IEEE802154_PANID
+#define PARAMS_PANID IEEE802154_PANID
+#else
+#define PARAMS_PANID 0xABCD
+#endif
+#ifdef IEEE802154_PANADDR
+#define PARAMS_PANADDR IEEE802154_PANADDR
+#else
+#define PARAMS_PANADDR 0
+#endif
+#ifdef RF230_MAX_TX_POWER
+#define PARAMS_TXPOWER RF230_MAX_TX_POWER
+#else
+#define PARAMS_TXPOWER 0
+#endif
+#ifdef EUI64_ADDRESS
+#define PARAMS_EUI64ADDR EUI64_ADDRESS
+#else
+/* This form of of EUI64 mac allows full 6LoWPAN header compression from mac address */
+#if UIP_CONF_LL_802154
+#define PARAMS_EUI64ADDR {0x02, 0x00, 0x00, 0xff, 0xfe, 0x00, 0x00, 0x01}
+#else
+#define PARAMS_EUI64ADDR {0x00, 0x00, 0x00, 0xff, 0xfe, 0x00, 0x00, 0x01}
+#endif
+/* This form of of EUI64 mac allows 16 bit 6LoWPAN header compression on multihops */
+#endif
+
+uint8_t params_get_eui64(uint8_t *eui64);
+/* Hard coded program flash parameters */
+#define params_get_servername(...) 
+#define params_get_nodeid(...) PARAMS_NODEID
+#define params_get_channel(...) PARAMS_CHANNEL
+#define params_get_panid(...) PARAMS_PANID
+#define params_get_panaddr(...) PARAMS_PANADDR
+#define params_get_txpower(...) PARAMS_TXPOWER
+
+#endif /* PARAMS_H_ */