591 lines
16 KiB
C
591 lines
16 KiB
C
/*
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* Copyright (c) 2006, Technical University of Munich
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* 3. Neither the name of the Institute nor the names of its contributors
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* may be used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
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* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
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* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
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* OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
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* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
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* OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
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* SUCH DAMAGE.
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*
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* This file is part of the Contiki operating system.
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*
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* @(#)$$
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*/
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#define LED_ON_PORTE1 0 //for Michael Hartman's prototype board
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#define ANNOUNCE_BOOT 1 //adds about 600 bytes to program size
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#define PRINTF(FORMAT,args...) printf_P(PSTR(FORMAT),##args)
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#define DEBUG 0
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#if DEBUG
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#define PRINTFD(FORMAT,args...) printf_P(PSTR(FORMAT),##args)
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#else
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#define PRINTFD(...)
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#endif
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#include <avr/pgmspace.h>
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#include <avr/fuse.h>
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#include <avr/eeprom.h>
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#include <stdio.h>
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#include <string.h>
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#include <dev/watchdog.h>
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#include "loader/symbols-def.h"
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#include "loader/symtab.h"
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#if RF230BB //radio driver using contiki core mac
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#include "radio/rf230bb/rf230bb.h"
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#include "net/mac/frame802154.h"
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#include "net/mac/framer-802154.h"
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#include "net/sicslowpan.h"
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#else //radio driver using Atmel/Cisco 802.15.4'ish MAC
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#include <stdbool.h>
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#include "mac.h"
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#include "sicslowmac.h"
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#include "sicslowpan.h"
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#include "ieee-15-4-manager.h"
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#endif /*RF230BB*/
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#include "contiki.h"
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#include "contiki-net.h"
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#include "contiki-lib.h"
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#include "dev/rs232.h"
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#include "dev/serial-line.h"
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#include "dev/slip.h"
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/* No 3290p to talk to but the lcd process still needed for uip stack ping callbacks */
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#ifdef RAVEN_LCD_INTERFACE
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#include "raven-lcd.h"
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#endif
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#if WEBSERVER
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#include "httpd-fs.h"
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#include "httpd-cgi.h"
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#endif
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#ifdef COFFEE_FILES
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#include "cfs/cfs.h"
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#include "cfs/cfs-coffee.h"
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#endif
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#if UIP_CONF_ROUTER&&0
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#include "net/routing/rimeroute.h"
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#include "net/rime/rime-udp.h"
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#endif
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#include "net/rime.h"
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/*-------------------------------------------------------------------------*/
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/*----------------------Configuration of the .elf file---------------------*/
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typedef struct {unsigned char B2;unsigned char B1;unsigned char B0;} __signature_t;
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#define SIGNATURE __signature_t __signature __attribute__((section (".signature")))
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SIGNATURE = {
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/* Older AVR-GCCs may not define the SIGNATURE_n bytes so use explicit ATmega128rfa1 values */
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.B2 = SIGNATURE_2,//0x01,//SIGNATURE_2,
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.B1 = SIGNATURE_1,//0xA7,//SIGNATURE_1,
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.B0 = SIGNATURE_0,//0x1E,//SIGNATURE_0,
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};
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//JTAG+SPI, Boot 4096 words @ $F000, Internal oscillator, startup 6 CK + 65 ms, Brownout disabled
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FUSES ={.low = 0xe2, .high = 0x99, .extended = 0xff,};
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//JTAG+SPI, Boot 4096 words @ $F000, Internal oscillator, startup 6 CK +0 ms, Brownout 1.8 volts
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//FUSES ={.low = 0xC2, .high = 0x99, .extended = 0xfe,};
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/*----------------------Configuration of EEPROM---------------------------*/
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/* Use existing EEPROM if it passes the integrity test, else reinitialize with build values */
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/* Put default MAC address in EEPROM */
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#if WEBSERVER
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extern uint8_t mac_address[8]; //These are defined in httpd-fsdata.c via makefsdata.h
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extern uint8_t server_name[16];
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extern uint8_t domain_name[30];
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#else
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uint8_t mac_address[8] EEMEM = {0x02, 0x11, 0x22, 0xff, 0xfe, 0x33, 0x44, 0x55};
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#endif
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#ifdef CHANNEL_802_15_4
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uint8_t rf_channel[2] EEMEM = {CHANNEL_802_15_4, ~CHANNEL_802_15_4};
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//uint8_t rf_channel[2] EEMEM = {11, ~11}; //econotag test
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#else
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uint8_t rf_channel[2] EEMEM = {26, ~26};
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#endif
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static uint8_t get_channel_from_eeprom() {
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uint8_t eeprom_channel;
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uint8_t eeprom_check;
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eeprom_channel = eeprom_read_byte(&rf_channel[0]);
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eeprom_check = eeprom_read_byte(&rf_channel[1]);
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if(eeprom_channel==~eeprom_check)
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return eeprom_channel;
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#ifdef CHANNEL_802_15_4
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//return(11);
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return(CHANNEL_802_15_4);
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#else
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return 26;
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#endif
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}
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static bool get_mac_from_eeprom(uint8_t* macptr) {
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eeprom_read_block ((void *)macptr, &mac_address, 8);
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return true;
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}
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static uint16_t get_panid_from_eeprom(void) {
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// TODO: Writeme!
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return IEEE802154_PANID;
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//return 0xaaaa; //econotag ack test
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}
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static uint16_t get_panaddr_from_eeprom(void) {
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// TODO: Writeme!
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return 0;
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// return 0x1111; //econotag ack test
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}
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void calibrate_rc_osc_32k();
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extern uint8_t osccal_calibrated;
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/*-------------------------Low level initialization------------------------*/
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/*------Done in a subroutine to keep main routine stack usage small--------*/
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void initialize(void)
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{
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watchdog_init();
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watchdog_start();
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#if !LED_ON_PORTE1 //Conflicts with USART0
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#if RAVEN_LCD_INTERFACE
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/* First rs232 port for Raven 3290 port */
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rs232_init(RS232_PORT_0, USART_BAUD_38400,USART_PARITY_NONE | USART_STOP_BITS_1 | USART_DATA_BITS_8);
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/* Set input handler for 3290 port */
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rs232_set_input(0,raven_lcd_serial_input);
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#else
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//Slip border router on uart0
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rs232_init(RS232_PORT_0, USART_BAUD_38400,USART_PARITY_NONE | USART_STOP_BITS_1 | USART_DATA_BITS_8);
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#endif
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#endif
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/* Second rs232 port for debugging */
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rs232_init(RS232_PORT_1, USART_BAUD_57600,USART_PARITY_NONE | USART_STOP_BITS_1 | USART_DATA_BITS_8);
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/* Redirect stdout to second port */
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rs232_redirect_stdout(RS232_PORT_1);
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clock_init();
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#if STACKMONITOR
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/* Simple stack pointer highwater monitor. Checks for magic numbers in the main
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* loop. In conjuction with TESTRTIMER, never-used stack will be printed
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* every STACKMONITOR seconds.
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*/
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{
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extern uint16_t __bss_end;
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uint16_t p=(uint16_t)&__bss_end;
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do {
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*(uint16_t *)p = 0x4242;
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p+=10;
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} while (p<SP-10); //don't overwrite our own stack
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}
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#endif
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#define CONF_CALIBRATE_OSCCAL 0
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#if CONF_CALIBRATE_OSCCAL
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{
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uint8_t i;
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PRINTF("\nBefore calibration OSCCAL=%x\n",OSCCAL);
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for (i=0;i<10;i++) {
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calibrate_rc_osc_32k();
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PRINTF("Calibrated=%x\n",osccal_calibrated);
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//#include <util/delay_basic.h>
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//#define delay_us( us ) ( _delay_loop_2(1+(us*F_CPU)/4000000UL) )
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// delay_us(50000);
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}
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clock_init();
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}
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#endif
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#if ANNOUNCE_BOOT
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PRINTF("\n*******Booting %s*******\n",CONTIKI_VERSION_STRING);
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#endif
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watchdog_start();
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/* rtimers needed for radio cycling */
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rtimer_init();
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/* Initialize process subsystem */
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process_init();
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/* etimers must be started before ctimer_init */
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process_start(&etimer_process, NULL);
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#if RF230BB
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ctimer_init();
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/* Start radio and radio receive process */
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NETSTACK_RADIO.init();
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/* Set addresses BEFORE starting tcpip process */
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rimeaddr_t addr;
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memset(&addr, 0, sizeof(rimeaddr_t));
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get_mac_from_eeprom(addr.u8);
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#if UIP_CONF_IPV6
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memcpy(&uip_lladdr.addr, &addr.u8, 8);
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#endif
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rf230_set_pan_addr(
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get_panid_from_eeprom(),
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get_panaddr_from_eeprom(),
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(uint8_t *)&addr.u8
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);
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rf230_set_channel(get_channel_from_eeprom());
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rimeaddr_set_node_addr(&addr);
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PRINTFD("MAC address %x:%x:%x:%x:%x:%x:%x:%x\n",addr.u8[0],addr.u8[1],addr.u8[2],addr.u8[3],addr.u8[4],addr.u8[5],addr.u8[6],addr.u8[7]);
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/* Initialize stack protocols */
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queuebuf_init();
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NETSTACK_RDC.init();
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NETSTACK_MAC.init();
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NETSTACK_NETWORK.init();
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#if ANNOUNCE_BOOT
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PRINTF("%s %s, channel %u",NETSTACK_MAC.name, NETSTACK_RDC.name,rf230_get_channel());
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if (NETSTACK_RDC.channel_check_interval) {//function pointer is zero for sicslowmac
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unsigned short tmp;
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tmp=CLOCK_SECOND / (NETSTACK_RDC.channel_check_interval == 0 ? 1:\
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NETSTACK_RDC.channel_check_interval());
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if (tmp<65535) PRINTF(", check rate %u Hz",tmp);
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}
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PRINTF("\n");
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#endif
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#if UIP_CONF_ROUTER
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#if ANNOUNCE_BOOT
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PRINTF("Routing Enabled\n");
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#endif
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// rime_init(rime_udp_init(NULL));
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// uip_router_register(&rimeroute);
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#endif
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process_start(&tcpip_process, NULL);
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#else
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/* mac process must be started before tcpip process! */
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process_start(&mac_process, NULL);
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process_start(&tcpip_process, NULL);
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#endif /*RF230BB*/
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#ifdef RAVEN_LCD_INTERFACE
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process_start(&raven_lcd_process, NULL);
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#endif
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/* Autostart other processes */
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autostart_start(autostart_processes);
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//Give ourselves a prefix
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// init_net();
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/*---If using coffee file system create initial web content if necessary---*/
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#if COFFEE_FILES
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int fa = cfs_open( "/index.html", CFS_READ);
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if (fa<0) { //Make some default web content
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PRINTF("No index.html file found, creating upload.html!\n");
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PRINTF("Formatting FLASH file system for coffee...");
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cfs_coffee_format();
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PRINTF("Done!\n");
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fa = cfs_open( "/index.html", CFS_WRITE);
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int r = cfs_write(fa, &"It works!", 9);
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if (r<0) PRINTF("Can''t create /index.html!\n");
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cfs_close(fa);
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// fa = cfs_open("upload.html"), CFW_WRITE);
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// <html><body><form action="upload.html" enctype="multipart/form-data" method="post"><input name="userfile" type="file" size="50" /><input value="Upload" type="submit" /></form></body></html>
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}
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#endif /* COFFEE_FILES */
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/* Add addresses for testing */
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#if 0
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{
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uip_ip6addr_t ipaddr;
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uip_ip6addr(&ipaddr, 0xaaaa, 0, 0, 0, 0, 0, 0, 0);
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uip_ds6_addr_add(&ipaddr, 0, ADDR_AUTOCONF);
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// uip_ds6_prefix_add(&ipaddr,64,0);
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}
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#endif
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/*--------------------------Announce the configuration---------------------*/
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#if ANNOUNCE_BOOT
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#if WEBSERVER
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uint8_t i;
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char buf[80];
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unsigned int size;
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for (i=0;i<UIP_DS6_ADDR_NB;i++) {
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if (uip_ds6_if.addr_list[i].isused) {
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httpd_cgi_sprint_ip6(uip_ds6_if.addr_list[i].ipaddr,buf);
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PRINTF("IPv6 Address: %s\n",buf);
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}
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}
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eeprom_read_block (buf,server_name, sizeof(server_name));
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buf[sizeof(server_name)]=0;
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PRINTF("%s",buf);
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eeprom_read_block (buf,domain_name, sizeof(domain_name));
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buf[sizeof(domain_name)]=0;
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size=httpd_fs_get_size();
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#ifndef COFFEE_FILES
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PRINTF(".%s online with fixed %u byte web content\n",buf,size);
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#elif COFFEE_FILES==1
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PRINTF(".%s online with static %u byte EEPROM file system\n",buf,size);
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#elif COFFEE_FILES==2
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PRINTF(".%s online with dynamic %u KB EEPROM file system\n",buf,size>>10);
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#elif COFFEE_FILES==3
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PRINTF(".%s online with static %u byte program memory file system\n",buf,size);
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#elif COFFEE_FILES==4
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PRINTF(".%s online with dynamic %u KB program memory file system\n",buf,size>>10);
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#endif /* COFFEE_FILES */
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#else
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PRINTF("Online\n");
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#endif /* WEBSERVER */
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#endif /* ANNOUNCE_BOOT */
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}
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/*---------------------------------------------------------------------------*/
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void log_message(char *m1, char *m2)
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{
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PRINTF("%s%s\n", m1, m2);
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}
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/* Test rtimers, also for pings, stack monitor, neighbor/route printout and time stamps */
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#define TESTRTIMER 1
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#if TESTRTIMER
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//#define PINGS 64
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#define ROUTES 64
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#define STAMPS 30
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#define STACKMONITOR 128
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uint8_t rtimerflag=1;
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uint16_t rtime;
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struct rtimer rt;
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void rtimercycle(void) {rtimerflag=1;}
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static void ipaddr_add(const uip_ipaddr_t *addr);
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#endif /* TESTRTIMER */
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#if RF230BB
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extern char rf230_interrupt_flag, rf230processflag;
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#endif
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uint16_t ledtimer;
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/*-------------------------------------------------------------------------*/
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/*------------------------- Main Scheduler loop----------------------------*/
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/*-------------------------------------------------------------------------*/
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int
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main(void)
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{
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initialize();
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#if LED_ON_PORTE1
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/* NB: PORTE1 conflicts with UART0 */
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DDRE|=(1<<DDE1); //set led pin to output (Micheal Hatrtman board)
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PORTE&=~(1<<PE1); //and low to turn led off
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#endif
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while(1) {
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process_run();
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#if LED_ON_PORTE1
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/* Turn off LED after a while */
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if (ledtimer) {
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if (--ledtimer==0) {
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PORTE&=~(1<<PE1);
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/* Currently LED was turned on by received ping; ping the other way for testing */
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extern void raven_ping6(void);
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// raven_ping6(); //ping back
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}
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}
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#endif
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#if 0
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/* Various entry points for debugging in the AVR Studio simulator.
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* Set as next statement and step into the routine.
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*/
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NETSTACK_RADIO.send(packetbuf_hdrptr(), 42);
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process_poll(&rf230_process);
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packetbuf_clear();
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len = rf230_read(packetbuf_dataptr(), PACKETBUF_SIZE);
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packetbuf_set_datalen(42);
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NETSTACK_RDC.input();
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#endif
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watchdog_periodic();
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#if 0
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/* Clock.c can trigger a periodic PLL calibration in the RF230BB driver.
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* This can show when that happens.
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*/
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extern uint8_t rf230_calibrated;
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if (rf230_calibrated) {
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PRINTF("\nRF230 calibrated!\n");
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rf230_calibrated=0;
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}
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#endif
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#if TESTRTIMER
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/* Timeout can be increased up to 8 seconds maximum.
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* A one second cycle is convenient for triggering the various debug printouts.
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* The triggers are staggered to avoid printing everything at once.
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* My raven is 6% slow.
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*/
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if (rtimerflag) {
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rtimer_set(&rt, RTIMER_NOW()+ RTIMER_ARCH_SECOND*1UL, 1,(void *) rtimercycle, NULL);
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rtimerflag=0;
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#if STAMPS
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if ((rtime%STAMPS)==0) {
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PRINTF("%us ",rtime);
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}
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#endif
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rtime+=1;
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#if PINGS
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if ((rtime%PINGS)==1) {
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PRINTF("**Ping\n");
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raven_ping6();
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}
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#endif
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#if ROUTES
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if ((rtime%ROUTES)==2) {
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//#if UIP_CONF_IPV6_RPL
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//#include "rpl.h"
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extern uip_ds6_nbr_t uip_ds6_nbr_cache[];
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extern uip_ds6_route_t uip_ds6_routing_table[];
|
|
extern uip_ds6_netif_t uip_ds6_if;
|
|
|
|
uint8_t i,j;
|
|
PRINTF("\nAddresses [%u max]\n",UIP_DS6_ADDR_NB);
|
|
for (i=0;i<UIP_DS6_ADDR_NB;i++) {
|
|
if (uip_ds6_if.addr_list[i].isused) {
|
|
ipaddr_add(&uip_ds6_if.addr_list[i].ipaddr);
|
|
PRINTF("\n");
|
|
}
|
|
}
|
|
PRINTF("\nNeighbors [%u max]\n",UIP_DS6_NBR_NB);
|
|
for(i = 0,j=1; i < UIP_DS6_NBR_NB; i++) {
|
|
if(uip_ds6_nbr_cache[i].isused) {
|
|
ipaddr_add(&uip_ds6_nbr_cache[i].ipaddr);
|
|
PRINTF("\n");
|
|
j=0;
|
|
}
|
|
}
|
|
if (j) PRINTF(" <none>");
|
|
PRINTF("\nRoutes [%u max]\n",UIP_DS6_ROUTE_NB);
|
|
for(i = 0,j=1; i < UIP_DS6_ROUTE_NB; i++) {
|
|
if(uip_ds6_routing_table[i].isused) {
|
|
ipaddr_add(&uip_ds6_routing_table[i].ipaddr);
|
|
PRINTF("/%u (via ", uip_ds6_routing_table[i].length);
|
|
ipaddr_add(&uip_ds6_routing_table[i].nexthop);
|
|
// if(uip_ds6_routing_table[i].state.lifetime < 600) {
|
|
PRINTF(") %lus\n", uip_ds6_routing_table[i].state.lifetime);
|
|
// } else {
|
|
// PRINTF(")\n");
|
|
// }
|
|
j=0;
|
|
}
|
|
}
|
|
if (j) PRINTF(" <none>");
|
|
PRINTF("\n---------\n");
|
|
}
|
|
#endif
|
|
|
|
#if STACKMONITOR
|
|
if ((rtime%STACKMONITOR)==3) {
|
|
extern uint16_t __bss_end;
|
|
uint16_t p=(uint16_t)&__bss_end;
|
|
do {
|
|
if (*(uint16_t *)p != 0x4242) {
|
|
PRINTF("Never-used stack > %d bytes\n",p-(uint16_t)&__bss_end);
|
|
break;
|
|
}
|
|
p+=10;
|
|
} while (p<RAMEND-10);
|
|
}
|
|
#endif
|
|
|
|
}
|
|
#endif /* TESTRTIMER */
|
|
|
|
//Use with RF230BB DEBUGFLOW to show path through driver
|
|
#if RF230BB&&0
|
|
extern uint8_t debugflowsize,debugflow[];
|
|
if (debugflowsize) {
|
|
debugflow[debugflowsize]=0;
|
|
printf("%s",debugflow);
|
|
debugflowsize=0;
|
|
}
|
|
#endif
|
|
|
|
#if RF230BB&&0
|
|
if (rf230processflag) {
|
|
printf("rf230p%d",rf230processflag);
|
|
rf230processflag=0;
|
|
}
|
|
#endif
|
|
|
|
#if RF230BB&&0
|
|
if (rf230_interrupt_flag) {
|
|
// if (rf230_interrupt_flag!=11) {
|
|
PRINTSHORT("**RI%u",rf230_interrupt_flag);
|
|
// }
|
|
rf230_interrupt_flag=0;
|
|
}
|
|
#endif
|
|
}
|
|
return 0;
|
|
}
|
|
|
|
/*---------------------------------------------------------------------------*/
|
|
|
|
#if ROUTES
|
|
static void
|
|
ipaddr_add(const uip_ipaddr_t *addr)
|
|
{
|
|
uint16_t a;
|
|
int8_t i, f;
|
|
for(i = 0, f = 0; i < sizeof(uip_ipaddr_t); i += 2) {
|
|
a = (addr->u8[i] << 8) + addr->u8[i + 1];
|
|
if(a == 0 && f >= 0) {
|
|
if(f++ == 0) PRINTF("::");
|
|
} else {
|
|
if(f > 0) {
|
|
f = -1;
|
|
} else if(i > 0) {
|
|
PRINTF(":");
|
|
}
|
|
PRINTF("%x",a);
|
|
}
|
|
}
|
|
}
|
|
#endif
|