/* * Copyright (c) 2006, Technical University of Munich * 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. * * Reworked for avr-rss2 platform. Robert Olsson */ #define PRINTF(FORMAT, args ...) printf_P(PSTR(FORMAT),##args) #define ANNOUNCE_BOOT 1 /* adds about 600 bytes to program size */ #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 #include #include #include #include #include #include "loader/symbols-def.h" #include "loader/symtab.h" #include "params.h" #include "rss2.h" #include "leds.h" #include "i2c.h" #include "radio/rf230bb/rf230bb.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/rs232.h" #include "dev/serial-line.h" #include "dev/slip.h" #if AVR_WEBSERVER #include "httpd-fs.h" #include "httpd-cgi.h" #endif #ifdef COFFEE_FILES #include "cfs/cfs.h" #include "cfs/cfs-coffee.h" #endif #if UIP_CONF_ROUTER && 0 #include "net/routing/rimeroute.h" #include "net/rime/rime-udp.h" #endif #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 node_id; /* Can be set by cooja */ uint16_t ledtimer_red, ledtimer_yellow; uint16_t i2c_probed; /* i2c devices we have probed */ /*-------------------------------------------------------------------------*/ /*----------------------Configuration of the .elf file---------------------*/ #if 1 /* The proper way to set the signature is */ #include #else /* Older avr-gcc's may not define the needed SIGNATURE bytes. Do it manually if you get an error */ typedef struct {const unsigned char B2; const unsigned char B1; const unsigned char B0; } __signature_t; #define SIGNATURE __signature_t __signature __attribute__((section(".signature"))) SIGNATURE = { .B2 = 0x01, /* SIGNATURE_2, //ATMEGA128rfa1 */ .B1 = 0xA7, /* SIGNATURE_1, //128KB flash */ .B0 = 0x1E, /* SIGNATURE_0, //Atmel */ }; #endif #if 1 /* JTAG, SPI enabled, Internal RC osc, Boot flash size 4K, 6CK+65msec delay, brownout disabled */ FUSES = { .low = 0xe2, .high = 0x99, .extended = 0xff, }; #else /* JTAG+SPI, Boot 4096 words @ $F000, Internal oscillator, startup 6 CK +0 ms, Brownout 1.8 volts */ FUSES = { .low = 0xC2, .high = 0x99, .extended = 0xfe, }; #endif uint8_t rng_get_uint8(void) { #if 1 /* Upper two RSSI reg bits (RND_VALUE) are random in rf231 */ uint8_t j; j = (PHY_RSSI & 0xc0) + ((PHY_RSSI >> 2) & 0x30) + ((PHY_RSSI >> 4) & 0x0c) + ((PHY_RSSI >> 6) & 0x03); #else /* Get a pseudo random number using the ADC */ uint8_t i, j; ADCSRA = 1 << ADEN; /* Enable ADC, not free running, interrupt disabled, fastest clock */ for(i = 0; i < 4; i++) { ADMUX = 0; /* toggle reference to increase noise */ ADMUX = 0x1E; /* Select AREF as reference, measure 1.1 volt bandgap reference. */ ADCSRA |= 1 << ADSC; /* Start conversion */ while(ADCSRA & (1 << ADSC)) ; /* Wait till done */ j = (j << 2) + ADC; } ADCSRA = 0; /* Disable ADC */ #endif PRINTD("rng issues %d\n", j); return j; } /*-------------------------Low level initialization------------------------*/ /*------Done in a subroutine to keep main routine stack usage small--------*/ void initialize(void) { watchdog_init(); watchdog_start(); leds_init(); serial_line_init(); rs232_init(RS232_PORT_0, USART_BAUD_38400, USART_PARITY_NONE | USART_STOP_BITS_1 | USART_DATA_BITS_8); rs232_redirect_stdout(RS232_PORT_0); #if 0 /* Do it my way... */ //UBRR0L = 8; UBRR0H = 0; UCSR0A = (0 << U2X0); // 115.2k err=-3.5% //UBRR0L = 16; UBRR0H = 0; UCSR0A = (1 << U2X0); // 115.2k 2.1% //UBRR0L = 3; UBRR0H = 0; UCSR0A = (1 << U2X0); // 500k 0% #endif rs232_set_input(RS232_PORT_0, serial_line_input_byte); clock_init(); if(MCUSR & (1 << PORF)) { PRINTD("Power-on reset.\n"); } if(MCUSR & (1 << EXTRF)) { PRINTD("External reset!\n"); } if(MCUSR & (1 << BORF)) { PRINTD("Brownout reset!\n"); } if(MCUSR & (1 << WDRF)) { PRINTD("Watchdog reset!\n"); } if(MCUSR & (1 << JTRF)) { PRINTD("JTAG reset!\n"); } i2c_init(100000); /* 100 bit/s */ #if 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 = (uint16_t)&__bss_end; do { *(uint16_t *)p = 0x4242; p += 10; } while(p < SP - 10); /* don't overwrite our own stack */ } #endif #define CONF_CALIBRATE_OSCCAL 0 #if CONF_CALIBRATE_OSCCAL void calibrate_rc_osc_32k(); { extern uint8_t osccal_calibrated; uint8_t i; PRINTD("\nBefore calibration OSCCAL=%x\n", OSCCAL); for(i = 0; i < 10; i++) { calibrate_rc_osc_32k(); PRINTD("Calibrated=%x\n", osccal_calibrated); /* #include */ /* #define delay_us( us ) ( _delay_loop_2(1+(us*F_CPU)/4000000UL) ) */ /* delay_us(50000); */ } clock_init(); } #endif PRINTA("\n*******Booting %s*******\n", CONTIKI_VERSION_STRING); /* rtimers needed for radio cycling */ rtimer_init(); /* we can initialize the energest arrays here */ energest_init(); /* after the timer intitialisation we start the cpu measurement */ ENERGEST_ON(ENERGEST_TYPE_CPU); /* 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; char eui64[8]; printf("I2C: "); i2c_probed = i2c_probe(); printf("\n"); if( i2c_probed & I2C_AT24MAC ) { i2c_at24mac_read((char *)&eui64, 1); linkaddr_set_node_addr((linkaddr_t *) &eui64); node_id = (eui64[1] << 8) + eui64[7]; } else { printf("Random EUI64 address generated\n"); eui64[0] = 0xfc; /* Atmels OUI */ eui64[1] = 0xc2; eui64[2] = 0x3d; eui64[3] = 0; eui64[4] = 0; eui64[5] = 0; eui64[6] = node_id >> 8; eui64[7] = node_id & 0xff; linkaddr_set_node_addr((linkaddr_t *)&eui64); } /* memcpy(&uip_lladdr.addr, &addr.u8, sizeof(linkaddr_t)); */ #if NETSTACK_CONF_WITH_IPV6 memcpy(&addr.u8, &eui64, sizeof(linkaddr_t)); memcpy(&uip_lladdr.addr, &addr.u8, sizeof(linkaddr_t)); #endif rf230_set_pan_addr(params_get_panid(), params_get_panaddr(), (uint8_t *)&addr.u8); rf230_set_channel(params_get_channel()); rf230_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; addr.u8[0] = eui64[1] ; addr.u8[1] = eui64[7]; 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("MAC=%s, RDC=%s, NETWORK=%s, channel=%-u, check-rate-Hz=%-u, tx-power=%-u\n", NETSTACK_MAC.name, NETSTACK_RDC.name, NETSTACK_NETWORK.name, rf230_get_channel(), CLOCK_SECOND / (NETSTACK_RDC.channel_check_interval() == 0 ? 1 : NETSTACK_RDC.channel_check_interval()), rf230_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); /*---If using coffee file system create initial web content if necessary---*/ #if COFFEE_FILES int fa = cfs_open("/index.html", CFS_READ); if(fa < 0) { /* Make some default web content */ PRINTA("No index.html file found, creating upload.html!\n"); PRINTA("Formatting FLASH file system for coffee..."); cfs_coffee_format(); PRINTA("Done!\n"); fa = cfs_open("/index.html", CFS_WRITE); int r = cfs_write(fa, &"It works!", 9); if(r < 0) { PRINTA("Can''t create /index.html!\n"); } cfs_close(fa); /* fa = cfs_open("upload.html"), CFW_WRITE); */ /*
*/ } #endif /* COFFEE_FILES */ /* Add addresses for testing */ #if 0 { uip_ip6addr_t ipaddr; uip_ip6addr(&ipaddr, 0xfd00, 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 #if AVR_WEBSERVER { uint8_t i; char buf[80]; unsigned int size; for(i = 0; i < UIP_DS6_ADDR_NB; i++) { if(uip_ds6_if.addr_list[i].isused) { httpd_cgi_sprint_ip6(uip_ds6_if.addr_list[i].ipaddr, buf); PRINTA("IPv6 Address: %s\n", buf); } } cli(); eeprom_read_block(buf, eemem_server_name, sizeof(eemem_server_name)); sei(); buf[sizeof(eemem_server_name)] = 0; PRINTA("%s", buf); cli(); eeprom_read_block(buf, eemem_domain_name, sizeof(eemem_domain_name)); sei(); buf[sizeof(eemem_domain_name)] = 0; size = httpd_fs_get_size(); #ifndef COFFEE_FILES PRINTA(".%s online with fixed %u byte web content\n", buf, size); #elif COFFEE_FILES == 1 PRINTA(".%s online with static %u byte EEPROM file system\n", buf, size); #elif COFFEE_FILES == 2 PRINTA(".%s online with dynamic %u KB EEPROM file system\n", buf, size >> 10); #elif COFFEE_FILES == 3 PRINTA(".%s online with static %u byte program memory file system\n", buf, size); #elif COFFEE_FILES == 4 PRINTA(".%s online with dynamic %u KB program memory file system\n", buf, size >> 10); #endif /* COFFEE_FILES */ } #else PRINTA("Online\n"); #endif #endif /* ANNOUNCE_BOOT */ ledtimer_red = 1000; leds_on(LEDS_RED); } #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) { #if NETSTACK_CONF_WITH_IPV6 uip_ds6_nbr_t *nbr; #endif /* NETSTACK_CONF_WITH_IPV6 */ initialize(); while(1) { process_run(); watchdog_periodic(); /* Turn off LED's */ if(ledtimer_red) { if(--ledtimer_red == 0) { leds_off(LEDS_RED); } } if(ledtimer_yellow) { if(--ledtimer_yellow == 0) { leds_off(LEDS_YELLOW); } } leds_off(LEDS_RED); leds_off(LEDS_YELLOW); #if 0 /* Various entry points for debugging in the AVR Studio simulator. * Set as next statement and step into the routine. */ NETSTACK_RADIO.send(packetbuf_hdrptr(), 42); process_poll(&rf230_process); packetbuf_clear(); len = rf230_read(packetbuf_dataptr(), PACKETBUF_SIZE); packetbuf_set_datalen(42); NETSTACK_RDC.input(); #endif #if 0 /* Clock.c can trigger a periodic PLL calibration in the RF230BB driver. * This can show when that happens. */ extern uint8_t rf230_calibrated; if(rf230_calibrated) { PRINTD("\nRF230 calibrated!\n"); rf230_calibrated = 0; } #endif /* Set DEBUGFLOWSIZE in contiki-conf.h to track path through MAC, RDC, and RADIO */ #if DEBUGFLOWSIZE if(debugflowsize) { debugflow[debugflowsize] = 0; PRINTF("%s", debugflow); debugflowsize = 0; } #endif #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) { #if ENERGEST_CONF_ON #include "lib/print-stats.h" print_stats(); #elif RADIOSTATS extern volatile unsigned long radioontime; PRINTF("%u(%u)s\n", clocktime, radioontime); #else PRINTF("%us\n", clocktime); #endif } #endif #if TESTRTIMER clocktime += 1; #endif #if PINGS && NETSTACK_CONF_WITH_IPV6 extern void raven_ping6(void); if((clocktime % PINGS) == 1) { PRINTF("**Ping\n"); raven_ping6(); } #endif #if ROUTES && NETSTACK_CONF_WITH_IPV6 if((clocktime % ROUTES) == 2) { extern uip_ds6_netif_t uip_ds6_if; uint8_t i, j; PRINTF("\nAddresses [%u max]\n", UIP_DS6_ADDR_NB); for(i = 0; i < UIP_DS6_ADDR_NB; i++) { if(uip_ds6_if.addr_list[i].isused) { ipaddr_add(&uip_ds6_if.addr_list[i].ipaddr); PRINTF("\n"); } } PRINTF("\nNeighbors [%u max]\n", NBR_TABLE_MAX_NEIGHBORS); j = 0; for(nbr = nbr_table_head(ds6_neighbors); nbr != NULL; nbr = nbr_table_next(ds6_neighbors, nbr)) { ipaddr_add(&nbr->ipaddr); PRINTF("\n"); j++; } if(!j) { PRINTF(" "); } PRINTF("\nRoutes [%u max]\n", UIP_DS6_ROUTE_NB); { uip_ds6_route_t *r; j = 0; 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++; } } if(!j) { PRINTF(" "); } PRINTF("\n---------\n"); } #endif #if STACKMONITOR if((clocktime % STACKMONITOR) == 3) { extern uint16_t __bss_end; uint16_t p = (uint16_t)&__bss_end; do { if(*(uint16_t *)p != 0x4242) { PRINTF("Never-used stack > %d bytes\n", p - (uint16_t)&__bss_end); break; } p += 10; } while(p < RAMEND - 10); } #endif } #endif /* PERIODICPRINTS */ #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 } return 0; } /*---------------------------------------------------------------------------*/ void log_message(char *m1, char *m2) { PRINTF("%s%s\n", m1, m2); }