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osd-contiki/platform/avr-rss2/contiki-main.c

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/*
* 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 <robert@radio-sensors.com>
*/
#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 <avr/pgmspace.h>
#include <avr/fuse.h>
#include <avr/eeprom.h>
#include <stdio.h>
#include <string.h>
#include <dev/watchdog.h>
#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 <avr/signature.h>
#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 <util/delay_basic.h> */
/* #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();
/* 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); */
/* <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> */
}
#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(" <none>");
}
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(" <none>");
}
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);
}
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