600 lines
17 KiB
C
600 lines
17 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 PRINTF(FORMAT,args...) printf_P(PSTR(FORMAT),##args)
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#define ANNOUNCE_BOOT 1 //adds about 600 bytes to program size
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#if ANNOUNCE_BOOT
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#define PRINTA(FORMAT,args...) printf_P(PSTR(FORMAT),##args)
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#else
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#define PRINTA(...)
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#endif
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#define DEBUG 0
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#if DEBUG
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#define PRINTD(FORMAT,args...) printf_P(PSTR(FORMAT),##args)
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#else
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#define PRINTD(...)
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#endif
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/* Track interrupt flow through mac, rdc and radio driver */
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//#define DEBUGFLOWSIZE 64
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#if DEBUGFLOWSIZE
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unsigned char debugflowsize,debugflow[DEBUGFLOWSIZE];
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#define DEBUGFLOW(c) if (debugflowsize<(DEBUGFLOWSIZE-1)) debugflow[debugflowsize++]=c
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#else
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#define DEBUGFLOW(c)
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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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#ifdef RAVEN_LCD_INTERFACE
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#include "raven-lcd.h"
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#endif
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#if AVR_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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#include "params.h"
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/* Get periodic prints from idle loop, from clock seconds or rtimer interrupts */
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/* Use of rtimer will conflict with other rtimer interrupts such as contikimac radio cycling */
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/* STAMPS will print ENERGEST outputs if that is enabled. */
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#define PERIODICPRINTS 1
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#if PERIODICPRINTS
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//#define PINGS 64
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#define ROUTES 600
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#define STAMPS 60
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#define STACKMONITOR 600
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uint32_t clocktime;
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#define TESTRTIMER 0
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#if TESTRTIMER
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uint8_t rtimerflag=1;
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struct rtimer rt;
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void rtimercycle(void) {rtimerflag=1;}
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#endif
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#endif
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/*-------------------------------------------------------------------------*/
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/*----------------------Configuration of the .elf file---------------------*/
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#if 1
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/* The proper way to set the signature is */
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#include <avr/signature.h>
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#else
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/* Older avr-gcc's may not define the needed SIGNATURE bytes. Do it manually if you get an error */
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typedef struct {const unsigned char B2;const unsigned char B1;const 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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.B2 = 0x05,//SIGNATURE_2, //ATMEGA1284p
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.B1 = 0x97,//SIGNATURE_1, //128KB flash
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.B0 = 0x1E,//SIGNATURE_0, //Atmel
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};
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#endif
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#if !MCU_CONF_LOW_WEAR
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/* JTAG, SPI enabled, Internal RC osc, Boot flash size 4K, 6CK+65msec delay, brownout disabled */
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FUSES ={.low = 0xe2, .high = 0x99, .extended = 0xff,};
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#endif
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/* Get a pseudo random number using the ADC */
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uint8_t
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rng_get_uint8(void) {
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uint8_t i,j;
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ADCSRA=1<<ADEN; //Enable ADC, not free running, interrupt disabled, fastest clock
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for (i=0,j=0;i<4;i++) {
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ADMUX = 0; //toggle reference to increase noise
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ADMUX =0x1E; //Select AREF as reference, measure 1.1 volt bandgap reference.
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ADCSRA|=1<<ADSC; //Start conversion
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while (ADCSRA&(1<<ADSC)); //Wait till done
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j = (j<<2) + ADC;
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}
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ADCSRA=0; //Disable ADC
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PRINTD("rng issues %d\n",j);
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return j;
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}
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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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#ifdef 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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/* Generic or slip connection 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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/* Second rs232 port for debugging or slip alternative */
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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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PRINTD("\n\nChecking MCUSR...\n");
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if(MCUSR & (1<<PORF )) PRINTD("Power-on reset.\n");
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if(MCUSR & (1<<EXTRF)) PRINTD("External reset!\n");
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if(MCUSR & (1<<BORF )) PRINTD("Brownout reset!\n");
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if(MCUSR & (1<<WDRF )) PRINTD("Watchdog reset!\n");
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if(MCUSR & (1<<JTRF )) PRINTD("JTAG reset!\n");
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MCUSR = 0;
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PRINTD("CLOCK_SECOND %d\n",CLOCK_SECOND);
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PRINTD("RTIMER_ARCH_SECOND %lu\n",RTIMER_ARCH_SECOND);
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PRINTD("F_CPU %lu\n",F_CPU);
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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 PERIODICPRINTS, 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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/* Calibrate internal mcu clock against external 32768Hz watch crystal */
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#define CONF_CALIBRATE_OSCCAL 0
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#if CONF_CALIBRATE_OSCCAL
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void calibrate_rc_osc_32k();
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{
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extern uint8_t osccal_calibrated;
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uint8_t i;
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PRINTD("\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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PRINTD("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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PRINTA("\n*******Booting %s*******\n",CONTIKI_VERSION_STRING);
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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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/* Get a random seed for the 802.15.4 packet sequence number.
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* Some layers will ignore duplicates found in a history (e.g. Contikimac)
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* causing the initial packets to be ignored after a short-cycle restart.
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*/
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random_init(rng_get_uint8());
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/* Set addresses BEFORE starting tcpip process */
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rimeaddr_t addr;
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if (params_get_eui64(addr.u8)) {
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PRINTA("Random EUI64 address generated\n");
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}
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#if UIP_CONF_IPV6
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memcpy(&uip_lladdr.addr, &addr.u8, sizeof(rimeaddr_t));
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rimeaddr_set_node_addr(&addr);
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rf230_set_pan_addr(params_get_panid(),params_get_panaddr(),(uint8_t *)&addr.u8);
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#elif WITH_NODE_ID
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node_id=get_panaddr_from_eeprom();
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addr.u8[1]=node_id&0xff;
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addr.u8[0]=(node_id&0xff00)>>8;
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PRINTA("Node ID from eeprom: %X\n",node_id);
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uint16_t inv_node_id=((node_id&0xff00)>>8)+((node_id&0xff)<<8); // change order of bytes for rf23x
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rimeaddr_set_node_addr(&addr);
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rf230_set_pan_addr(params_get_panid(),inv_node_id,NULL);
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#else
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rimeaddr_set_node_addr(&addr);
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rf230_set_pan_addr(params_get_panid(),params_get_panaddr(),(uint8_t *)&addr.u8);
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#endif
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rf230_set_channel(params_get_channel());
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rf230_set_txpower(params_get_txpower());
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#if UIP_CONF_IPV6
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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]);
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#else
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PRINTA("MAC address ");
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uint8_t i;
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for (i=sizeof(rimeaddr_t); i>0; i--){
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PRINTA("%x:",addr.u8[i-1]);
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}
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PRINTA("\n");
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#endif
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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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PRINTA("%s %s, channel %u , check rate %u Hz tx power %u\n",NETSTACK_MAC.name, NETSTACK_RDC.name, rf230_get_channel(),
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CLOCK_SECOND / (NETSTACK_RDC.channel_check_interval() == 0 ? 1:NETSTACK_RDC.channel_check_interval()),
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rf230_get_txpower());
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#if UIP_CONF_IPV6_RPL
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PRINTA("RPL Enabled\n");
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#endif
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#if UIP_CONF_ROUTER
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PRINTA("Routing Enabled\n");
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#endif
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#endif /* ANNOUNCE_BOOT */
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// rime_init(rime_udp_init(NULL));
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// uip_router_register(&rimeroute);
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process_start(&tcpip_process, NULL);
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#else /* !RF230BB */
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/* Original RF230 combined mac/radio driver */
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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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/*---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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PRINTA("No index.html file found, creating upload.html!\n");
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PRINTA("Formatting FLASH file system for coffee...");
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cfs_coffee_format();
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PRINTA("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) PRINTA("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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{
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#if AVR_WEBSERVER
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uint8_t i;
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char buf1[40],buf[40];
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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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PRINTA("IPv6 Address: %s\n",buf);
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}
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}
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cli();
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eeprom_read_block (buf1,eemem_server_name, sizeof(eemem_server_name));
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eeprom_read_block (buf,eemem_domain_name, sizeof(eemem_domain_name));
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sei();
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buf1[sizeof(eemem_server_name)]=0;
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PRINTA("%s",buf1);
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buf[sizeof(eemem_domain_name)]=0;
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size=httpd_fs_get_size();
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#ifndef COFFEE_FILES
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PRINTA(".%s online with fixed %u byte web content\n",buf,size);
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#elif COFFEE_FILES==1
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PRINTA(".%s online with static %u byte EEPROM file system\n",buf,size);
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#elif COFFEE_FILES==2
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PRINTA(".%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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PRINTA(".%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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PRINTA(".%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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PRINTA("Online\n");
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#endif /* AVR_WEBSERVER */
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#endif /* ANNOUNCE_BOOT */
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}
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}
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#if ROUTES && UIP_CONF_IPV6
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static void
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ipaddr_add(const uip_ipaddr_t *addr)
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{
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uint16_t a;
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int8_t i, f;
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for(i = 0, f = 0; i < sizeof(uip_ipaddr_t); i += 2) {
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a = (addr->u8[i] << 8) + addr->u8[i + 1];
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if(a == 0 && f >= 0) {
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if(f++ == 0) PRINTF("::");
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} else {
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if(f > 0) {
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f = -1;
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} else if(i > 0) {
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PRINTF(":");
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}
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PRINTF("%x",a);
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}
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}
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}
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#endif
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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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while(1) {
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process_run();
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watchdog_periodic();
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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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#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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PRINTD("\nRF230 calibrated!\n");
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rf230_calibrated=0;
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}
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#endif
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/* Set DEBUGFLOWSIZE in contiki-conf.h to track path through MAC, RDC, and RADIO */
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#if DEBUGFLOWSIZE
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if (debugflowsize) {
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debugflow[debugflowsize]=0;
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|
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 && UIP_CONF_IPV6
|
|
extern void raven_ping6(void);
|
|
if ((clocktime%PINGS)==1) {
|
|
PRINTF("**Ping\n");
|
|
raven_ping6();
|
|
}
|
|
#endif
|
|
|
|
#if ROUTES && UIP_CONF_IPV6
|
|
if ((clocktime%ROUTES)==2) {
|
|
|
|
extern uip_ds6_nbr_t uip_ds6_nbr_cache[];
|
|
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>");
|
|
{
|
|
uip_ds6_route_t *r;
|
|
PRINTF("\nRoutes [%u max]\n",UIP_DS6_ROUTE_NB);
|
|
j = 1;
|
|
for(r = uip_ds6_route_list_head();
|
|
r != NULL;
|
|
r = list_item_next(r)) {
|
|
ipaddr_add(&r->ipaddr);
|
|
PRINTF("/%u (via ", r->length);
|
|
ipaddr_add(&r->nexthop);
|
|
// if(uip_ds6_routing_table[i].state.lifetime < 600) {
|
|
PRINTF(") %lus\n", r->state.lifetime);
|
|
// } else {
|
|
// PRINTF(")\n");
|
|
// }
|
|
j = 0;
|
|
}
|
|
}
|
|
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);
|
|
}
|