378 lines
9.6 KiB
C
378 lines
9.6 KiB
C
/*
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* Copyright (c) 2009, Swedish Institute of Computer Science
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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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* \file
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* Checkpoint library implementation for the Tmote Sky platform.
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* \author
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* Fredrik Osterlind <fros@sics.se>
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*/
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#include "contiki.h"
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#include "lib/checkpoint.h"
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#include "sys/rtimer.h"
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#include "sys/mt.h"
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#include "cfs/cfs.h"
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#include "cfs/cfs-coffee.h"
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#include "dev/leds.h"
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#include "dev/watchdog.h"
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#ifdef __IAR_SYSTEMS_ICC__
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#include <msp430.h>
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#else
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#include <io.h>
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#include <signal.h>
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#endif
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#include <stdio.h>
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#define DEBUG 1
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#if DEBUG
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#define PRINTF(...) printf(__VA_ARGS__)
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#else
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#define PRINTF(...)
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#endif
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#define COMMAND_ROLLBACK 1
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#define COMMAND_CHECKPOINT 2
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#define COMMAND_TBR 3
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#define DATA_AS_HEX 0 /* If false, store binary data */
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#define INCLUDE_RAM 1 /* Less then 10240 bytes */
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#define INCLUDE_TIMERS 1 /* 16 bytes */
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#define INCLUDE_LEDS 1 /* 1 bytes */
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// 8kB memory
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#define RAM_START 0x1100
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#define RAM_END 0x30FF
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#define STOP_TIMERS() TACTL &= ~(MC1); TBCTL &= ~(MC1); watchdog_stop();
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#define START_TIMERS() watchdog_start(); TACTL |= MC1; TBCTL |= MC1;
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static struct mt_thread checkpoint_thread;
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static uint8_t preset_cmd;
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static int preset_fd;
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typedef union {
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unsigned char u8[2];
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unsigned short u16;
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} word_union_t;
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/*---------------------------------------------------------------------------*/
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static void
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write_byte(int fd, uint8_t c)
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{
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#if DATA_AS_HEX
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uint8_t hex[2];
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sprintf(hex, "%02x", c);
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if(cfs_write(fd, hex, 2) != 2) {
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printf("err #1\n");
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}
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#else /* DATA_AS_HEX */
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if(cfs_write(fd, &c, 1) != 1) {
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printf("err #2\n");
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}
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#endif /* DATA_AS_HEX */
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}/*---------------------------------------------------------------------------*/
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#if 0
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static void
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write_array(int fd, unsigned char *mem, uint16_t len)
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{
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#if DATA_AS_HEX
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int i;
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for(i = 0; i < len; i++) {
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write_byte(fd, mem[i]);
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}
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#else /* DATA_AS_HEX */
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cfs_write(fd, mem, len);
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#endif /* DATA_AS_HEX */
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}
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#endif /* 0 */
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/*---------------------------------------------------------------------------*/
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static void
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write_word(int fd, uint16_t w)
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{
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word_union_t tmp;
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tmp.u16 = w;
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write_byte(fd, tmp.u8[0]);
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write_byte(fd, tmp.u8[1]);
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}
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/*---------------------------------------------------------------------------*/
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static uint8_t
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read_byte(int fd)
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{
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#if DATA_AS_HEX
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uint8_t hex[2];
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cfs_read(fd, hex, 2);
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if(hex[0] >= 'A' && hex[0] <= 'F') {
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hex[0] = (hex[0] - 'A' + 0xa);
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} else if(hex[0] >= 'a' && hex[0] <= 'f') {
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hex[0] = (hex[0] - 'a' + 0xa);
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} else {
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hex[0] = (hex[0] - '0');
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}
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if(hex[1] >= 'A' && hex[1] <= 'F') {
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hex[1] = (hex[1] - 'A' + 0xa);
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} else if(hex[1] >= 'a' && hex[1] <= 'f') {
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hex[1] = (hex[1] - 'a' + 0xa);
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} else {
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hex[1] = (hex[1] - '0');
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}
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return (uint8_t)((hex[0]<<4)&0xf0) | (hex[1]&0x0f);
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#else /* DATA_AS_HEX */
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uint8_t c;
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cfs_read(fd, &c, 1);
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return c;
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#endif /* DATA_AS_HEX */
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}
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/*---------------------------------------------------------------------------*/
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static uint16_t
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read_word(int fd)
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{
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word_union_t tmp;
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tmp.u8[0] = read_byte(fd);
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tmp.u8[1] = read_byte(fd);
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return tmp.u16;
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}
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/*---------------------------------------------------------------------------*/
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static void
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thread_checkpoint(int fd)
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{
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#if INCLUDE_RAM
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unsigned char *addr;
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uint16_t size = 0;
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unsigned char *thread_mem_start = (unsigned char *)&checkpoint_thread.thread.stack;
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unsigned char *thread_mem_end = thread_mem_start + sizeof(checkpoint_thread.thread.stack) - 1;
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unsigned char *coffee_mem_start = cfs_coffee_get_protected_mem(&size);
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unsigned char *coffee_mem_end = coffee_mem_start + size - 1;
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#endif /* INCLUDE_RAM */
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/*printf("protected thread memory: %u, size=%u\n", (uint16_t) thread_mem_start, sizeof(checkpoint_thread.thread.stack));*/
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/*printf("protected coffee memory: %u, size=%u\n", (uint16_t) coffee_mem_start, size);*/
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/* RAM */
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#if INCLUDE_RAM
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for(addr = (unsigned char *)RAM_START;
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addr < (unsigned char *)RAM_END;
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addr++) {
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if((addr >= thread_mem_start && addr <= thread_mem_end)) {
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/* Writing dummy memory */
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/*write_byte(fd, 1);*/
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continue;
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}
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if((addr >= coffee_mem_start && addr <= coffee_mem_end)) {
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/* Writing dummy memory */
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/*write_byte(fd, 2);*/
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continue;
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}
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/* TODO Use write_array() */
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write_byte(fd, *addr);
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if(((int)addr % 512) == 0) {
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PRINTF(".");
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}
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}
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#endif /* INCLUDE_RAM */
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/* Timers */
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#if INCLUDE_TIMERS
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write_word(fd, TACTL);
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write_word(fd, TACCTL1);
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write_word(fd, TACCR1);
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write_word(fd, TAR);
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write_word(fd, TBCTL);
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write_word(fd, TBCCTL1);
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write_word(fd, TBCCR1);
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write_word(fd, TBR);
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#endif /* INCLUDE_TIMERS */
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/* LEDs */
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#if INCLUDE_LEDS
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write_byte(fd, leds_arch_get());
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#endif /* INCLUDE_LEDS */
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/* Radio */
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/* ADC */
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/* ... */
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write_byte(fd, -1); /* Coffee padding byte */
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}
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/*---------------------------------------------------------------------------*/
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static void
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thread_rollback(int fd)
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{
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#if INCLUDE_RAM
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unsigned char *addr;
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uint16_t size = 0;
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unsigned char *thread_mem_start = (unsigned char *)&checkpoint_thread.thread.stack;
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unsigned char *thread_mem_end = thread_mem_start + sizeof(checkpoint_thread.thread.stack) - 1;
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unsigned char *coffee_mem_start = cfs_coffee_get_protected_mem(&size);
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unsigned char *coffee_mem_end = coffee_mem_start + size - 1;
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#endif /* INCLUDE_RAM */
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/*printf("protected thread memory: %u, size=%u\n", (uint16_t) thread_mem_start, sizeof(checkpoint_thread.thread.stack));*/
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/*printf("protected coffee memory: %u, size=%u\n", (uint16_t) coffee_mem_start, size);*/
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/* RAM */
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#if INCLUDE_RAM
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for(addr = (unsigned char *)RAM_START;
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addr < (unsigned char *)RAM_END;
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addr++) {
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if((addr >= thread_mem_start && addr <= thread_mem_end)) {
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/* Ignoring incoming memory */
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/*read_byte(fd);*/
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continue;
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}
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if((addr >= coffee_mem_start && addr <= coffee_mem_end)) {
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/* Ignoring incoming memory */
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/*read_byte(fd);*/
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continue;
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}
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*addr = read_byte(fd);
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if(((int)addr % 512) == 0) {
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PRINTF(".");
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}
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}
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#endif /* INCLUDE_RAM */
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/* Timers */
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#if INCLUDE_TIMERS
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TACTL = read_word(fd);
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TACCTL1 = read_word(fd);
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TACCR1 = read_word(fd);
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TAR = read_word(fd);
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TBCTL = read_word(fd);
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TBCCTL1 = read_word(fd);
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TBCCR1 = read_word(fd);
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TBR = read_word(fd);
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#endif /* INCLUDE_TIMERS */
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/* LEDs */
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#if INCLUDE_LEDS
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leds_arch_set(read_byte(fd));
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#endif /* INCLUDE_LEDS */
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/* Radio */
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/* ADC */
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/* ... */
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read_byte(fd); /* Coffee padding byte */
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}
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/*---------------------------------------------------------------------------*/
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static void
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thread_loop(void *data)
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{
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uint8_t cmd;
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int fd;
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while(1) {
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/* Store command and file descriptor on stack */
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cmd = preset_cmd;
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fd = preset_fd;
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/* Handle command */
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if(cmd == COMMAND_ROLLBACK) {
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PRINTF("Rolling back");
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thread_rollback(fd);
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PRINTF(" done!\n");
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} else if(cmd == COMMAND_CHECKPOINT) {
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PRINTF("Checkpointing");
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thread_checkpoint(fd);
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PRINTF(" done!\n");
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} else if(cmd == COMMAND_TBR) {
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PRINTF("Writing TBR");
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write_word(fd, TBR);
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PRINTF(" done!\n");
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} else {
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printf("Error: unknown command: %u\n", cmd);
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}
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/* Return to main Contiki thread */
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mt_yield();
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}
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}
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/*---------------------------------------------------------------------------*/
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int
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checkpoint_arch_size()
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{
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return 10258;
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}
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/*---------------------------------------------------------------------------*/
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void
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checkpoint_arch_checkpoint(int fd)
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{
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STOP_TIMERS();
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preset_cmd = COMMAND_CHECKPOINT;
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preset_fd = fd;
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mt_exec(&checkpoint_thread);
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START_TIMERS();
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}
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/*---------------------------------------------------------------------------*/
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void
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checkpoint_arch_rollback(int fd)
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{
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STOP_TIMERS();
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preset_cmd = COMMAND_ROLLBACK;
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preset_fd = fd;
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mt_exec(&checkpoint_thread);
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START_TIMERS();
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}
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/*---------------------------------------------------------------------------*/
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void
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checkpoint_arch_init(void)
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{
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mt_init();
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mt_start(&checkpoint_thread, thread_loop, NULL);
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/*mt_stop(&checkpoint_thread);*/
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/*mt_remove();*/
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}
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/*---------------------------------------------------------------------------*/
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