188 lines
4 KiB
C
188 lines
4 KiB
C
#include <AT91SAM7S64.h>
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#include <interrupt-utils.h>
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#include <string.h>
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#include <debug-uart.h>
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#include <ctype.h>
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#include <stdio.h>
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#include <net/uip.h>
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#include "net/uip-fw-service.h"
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#include "net/uaodv.h"
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#include <dev/cc2420.h>
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#include <dev/cc2420_const.h>
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#include <dev/spi.h>
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#include <sys/process.h>
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#include <sys/procinit.h>
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#include <sys/etimer.h>
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#include <net/psock.h>
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#include <stepper-process.h>
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#include <dev/leds.h>
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#ifndef RF_CHANNEL
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#define RF_CHANNEL 15
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#endif
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volatile const char * volatile input_line = NULL;
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volatile unsigned int input_line_len = 0;
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static void
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recv_input(const char *str, unsigned int len)
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{
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/* Assume that the line is handled before any new characters is written
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to the buffer */
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input_line = str;
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input_line_len = len;
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}
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PROCESS(blink_process, "LED blink process");
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struct uip_fw_netif cc2420if =
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{UIP_FW_NETIF(172,16,0,2, 255,255,0,0, cc2420_send_ip)};
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PROCESS_THREAD(blink_process, ev , data)
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{
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static struct etimer timer;
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PROCESS_BEGIN();
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etimer_set(&timer, CLOCK_SECOND/2);
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while(1) {
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PROCESS_WAIT_EVENT_UNTIL(ev == PROCESS_EVENT_EXIT ||
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ev== PROCESS_EVENT_TIMER);
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if (ev == PROCESS_EVENT_EXIT) break;
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leds_invert(LEDS_RED);
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#if 0
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{
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DISABLE_FIFOP_INT();
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printf("FSMSTATE: %04x",cc2420_getreg(CC2420_FSMSTATE));
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ENABLE_FIFOP_INT();
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if (SFD_IS_1) printf(" SFD");
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if (FIFO_IS_1) printf(" FIFO");
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if (FIFOP_IS_1) printf(" FIFOP");
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putchar('\n');
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}
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#endif
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etimer_reset(&timer);
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}
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printf("Ended process\n");
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PROCESS_END();
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}
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PROCESS(udprecv_process, "UDP recv process");
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PROCESS_THREAD(udprecv_process, ev, data)
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{
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static struct uip_udp_conn *c;
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PROCESS_EXITHANDLER(goto exit);
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PROCESS_BEGIN();
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printf("udprecv_process starting\n");
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{
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uip_ipaddr_t any;
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uip_ipaddr(&any, 0,0,0,0);
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c = udp_new(&any, HTONS(0), NULL);
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uip_udp_bind(c, HTONS(4321));
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}
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while(1) {
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PROCESS_YIELD();
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if(ev == tcpip_event && uip_newdata()) {
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u8_t *src = ((struct uip_udpip_hdr *)uip_buf)->srcipaddr.u8;
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printf("%d.%d.%d.%d: %s\n",
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src[0], src[1], src[2], src[3], (char *)uip_appdata);
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}
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}
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exit:
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/* Contiki does automatic garbage collection of uIP state and we
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* need not worry about that. */
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printf("udprecv_process exiting\n");
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PROCESS_END();
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}
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PROCESS(wd_test_process, "Watchdog test process");
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PROCESS_THREAD(wd_test_process, ev, data)
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{
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static struct etimer timer;
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PROCESS_BEGIN();
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printf("tcp_test_process starting\n");
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etimer_set(&timer, 25*CLOCK_SECOND);
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while(1) {
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PROCESS_WAIT_EVENT_UNTIL(ev == PROCESS_EVENT_EXIT ||
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ev== PROCESS_EVENT_TIMER);
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if (ev == PROCESS_EVENT_EXIT) break;
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printf("Blocking execution\n");
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while(1);
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}
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PROCESS_END();
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}
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#if 0
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/* Wathcdog is already disabled in startup code */
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static void
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wdt_setup()
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{
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}
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#endif
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static void
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wdt_reset()
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{
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*AT91C_WDTC_WDCR = (0xa5<<24) | AT91C_WDTC_WDRSTT;
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}
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static uip_ipaddr_t gw_addr = {{172,16,0,1}};
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PROCINIT(&etimer_process, &tcpip_process, &uip_fw_process, &cc2420_process,/* &uaodv_process, */ &udprecv_process, &blink_process, &stepper_process);
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int
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main()
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{
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disableIRQ();
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disableFIQ();
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*AT91C_AIC_IDCR = 0xffffffff;
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*AT91C_PMC_PCDR = 0xffffffff;
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*AT91C_PMC_PCER = (1 << AT91C_ID_PIOA);
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dbg_setup_uart();
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printf("Initialising\n");
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dbg_set_input_handler(recv_input);
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leds_arch_init();
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clock_init();
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uip_sethostaddr(&cc2420if.ipaddr);
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uip_setnetmask(&cc2420if.netmask);
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/*uip_setdraddr(&gw_addr);*/
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cc2420_init();
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cc2420_set_chan_pan_addr(RF_CHANNEL, HTONS(0x2024), uip_hostaddr.u16[1], NULL);
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process_init();
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uip_init();
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uip_fw_default(&cc2420if);
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tcpip_set_forwarding(1);
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printf("Started\n");
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procinit_init();
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enableIRQ();
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cc2420_on();
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printf("Processes running\n");
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while(1) {
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do {
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/* Reset watchdog. */
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wdt_reset();
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} while(process_run() > 0);
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/* Idle! */
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/* Stop processor clock */
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*AT91C_PMC_SCDR |= AT91C_PMC_PCK;
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}
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return 0;
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}
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