544 lines
15 KiB
C
544 lines
15 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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/**
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* \file
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* Contiki 2.4 kernel for Jackdaw USB stick
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*
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* \author
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* Simon Barner <barner@in.tum.de>
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* David Kopf <dak664@embarqmail.com>
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*/
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#define DEBUG 0
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#if DEBUG
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#define PRINTF(FORMAT,args...) printf_P(PSTR(FORMAT),##args)
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#else
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#define PRINTF(...)
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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 <avr/wdt.h>
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#include <util/delay.h>
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#include <stdio.h>
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#include <string.h>
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#include "lib/mmem.h"
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#include "loader/symbols-def.h"
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#include "loader/symtab.h"
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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 "contiki-raven.h"
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/* Set ANNOUNCE to send boot messages to USB or RS232 serial port */
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#define ANNOUNCE 1
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#include "usb_task.h"
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#if USB_CONF_SERIAL
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#include "cdc_task.h"
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#endif
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#if USB_CONF_RS232
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#include "dev/rs232.h"
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#endif
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#include "rndis/rndis_task.h"
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#if USB_CONF_STORAGE
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#include "storage/storage_task.h"
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#endif
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#include "dev/watchdog.h"
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#include "dev/usb/usb_drv.h"
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#if JACKDAW_CONF_USE_SETTINGS
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#include "settings.h"
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#endif
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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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#define UIP_IP_BUF ((struct uip_ip_hdr *)&uip_buf[UIP_LLH_LEN])
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rimeaddr_t macLongAddr;
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#define tmp_addr macLongAddr
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#else //legacy 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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/* Test rtimers, also useful for pings and time stamps in simulator */
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#define TESTRTIMER 0
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#if TESTRTIMER
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#define PINGS 0
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#define STAMPS 30
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uint8_t rtimerflag=1;
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uint16_t rtime;
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struct rtimer rt;
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void rtimercycle(void) {rtimerflag=1;}
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#endif /* TESTRTIMER */
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#if UIP_CONF_IPV6_RPL
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/*---------------------------------------------------------------------------*/
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/*--------------------------------- RPL ----------------------------------*/
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/*---------------------------------------------------------------------------*/
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/* Set up fallback interface links to direct stack tcpip output to ethernet */
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static void
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init(void)
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{
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}
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void mac_LowpanToEthernet(void);
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static void
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output(void)
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{
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// if(uip_ipaddr_cmp(&last_sender, &UIP_IP_BUF->srcipaddr)) {
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/* Do not bounce packets back over SLIP if the packet was received
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over SLIP */
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// PRINTF("slip-bridge: Destination off-link but no route\n");
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// } else {
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PRINTF("SUT: %u\n", uip_len);
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mac_LowpanToEthernet();
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// }
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}
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const struct uip_fallback_interface rpl_interface = {
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init, output
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};
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#if RPL_BORDER_ROUTER
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#include "net/rpl/rpl.h"
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// avr-objdump --section .bss -x ravenusbstick.elf
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uint16_t dag_id[] PROGMEM = {0x1111, 0x1100, 0, 0, 0, 0, 0, 0x0011};
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PROCESS(border_router_process, "RPL Border Router");
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PROCESS_THREAD(border_router_process, ev, data)
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{
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rpl_dag_t *dag;
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PROCESS_BEGIN();
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PROCESS_PAUSE();
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// printf_P(PSTR("%d neighbors"), UIP_DS6_ADDR_NB);
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{ char buf[sizeof(dag_id)];
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memcpy_P(buf,dag_id,sizeof(dag_id));
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dag = rpl_set_root((uip_ip6addr_t *)buf);
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}
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#if UIP_CONF_IPV6_RPL
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/* Assign bbbb::11 to the uip stack, and bbbb::1 to the host network interface, e.g. $ip -6 address add bbbb::1/64 dev usb0 */
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/* $ifconfig usb0 -arp on Ubuntu to skip the neighbor solicitations. Don't know how to skip NS on Windows yet. */
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if(dag != NULL) {
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uip_ip6addr_t ipaddr;
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uip_ip6addr(&ipaddr, 0xbbbb, 0, 0, 0, 0, 0, 0, 0x11);
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// uip_ds6_addr_add(&ipaddr, 0, ADDR_AUTOCONF);
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uip_ds6_addr_add(&ipaddr, 0, ADDR_MANUAL);
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rpl_set_prefix(dag, &ipaddr, 64);
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PRINTF("created a new RPL dag\n");
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}
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#endif
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/* The border router runs with a 100% duty cycle in order to ensure high
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packet reception rates. */
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// NETSTACK_MAC.off(1);
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while(1) {
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PROCESS_YIELD();
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// rpl_repair_dag(rpl_get_dag(RPL_ANY_INSTANCE));
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}
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PROCESS_END();
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}
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#endif /* RPL_BORDER_ROUTER */
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#endif /* UIP_CONF_IPV6_RPL */
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/*-------------------------------------------------------------------------*/
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/*----------------------Configuration of the .elf file---------------------*/
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typedef struct {unsigned char B2;unsigned char B1;unsigned char B0;} __signature_t;
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#define SIGNATURE __signature_t __signature __attribute__((section (".signature")))
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SIGNATURE = {
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/* Older AVR-GCCs may not define the SIGNATURE_n bytes so use explicit values */
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.B2 = 0x82,//SIGNATURE_2, //AT90USB128x
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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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FUSES ={.low = 0xde, .high = 0x99, .extended = 0xff,};
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/* Put default MAC address in EEPROM */
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#if !JACKDAW_CONF_USE_SETTINGS
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uint8_t mac_address[8] EEMEM = {0x02, 0x12, 0x13, 0xff, 0xfe, 0x14, 0x15, 0x16};
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#endif
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static uint8_t get_channel_from_eeprom() {
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#if JACKDAW_CONF_USE_SETTINGS
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uint8_t chan = settings_get_uint8(SETTINGS_KEY_CHANNEL, 0);
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if(!chan)
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chan = RF_CHANNEL;
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return chan;
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#else
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uint8_t eeprom_channel;
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uint8_t eeprom_check;
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eeprom_channel = eeprom_read_byte((uint8_t *)9);
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eeprom_check = eeprom_read_byte((uint8_t *)10);
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if(eeprom_channel==~eeprom_check)
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return eeprom_channel;
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return 26;
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#endif
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}
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static bool
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get_eui64_from_eeprom(uint8_t macptr[8]) {
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#if JACKDAW_CONF_USE_SETTINGS
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size_t size = 8;
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if(settings_get(SETTINGS_KEY_EUI64, 0, (unsigned char*)macptr, &size)==SETTINGS_STATUS_OK)
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return true;
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// Fallback to reading the traditional mac address
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eeprom_read_block ((void *)macptr, 0, 8);
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#else
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eeprom_read_block ((void *)macptr, &mac_address, 8);
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#endif
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return macptr[0]!=0xFF;
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}
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#if JACKDAW_CONF_RANDOM_MAC
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static bool
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set_eui64_to_eeprom(const uint8_t macptr[8]) {
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#if JACKDAW_CONF_USE_SETTINGS
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return settings_set(SETTINGS_KEY_EUI64, macptr, 8)==SETTINGS_STATUS_OK;
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#else
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eeprom_write_block((void *)macptr, &mac_address, 8);
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return true;
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#endif
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}
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static void
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generate_new_eui64(uint8_t eui64[8]) {
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eui64[0] = 0x02;
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eui64[1] = rng_get_uint8();
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eui64[2] = rng_get_uint8();
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eui64[3] = 0xFF;
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eui64[4] = 0xFE;
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eui64[5] = rng_get_uint8();
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eui64[6] = rng_get_uint8();
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eui64[7] = rng_get_uint8();
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}
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#endif /* JACKDAW_CONF_RANDOM_MAC */
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static uint16_t
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get_panid_from_eeprom(void) {
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#if JACKDAW_CONF_USE_SETTINGS
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uint16_t x = settings_get_uint16(SETTINGS_KEY_PAN_ID, 0);
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if(!x)
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x = IEEE802154_PANID;
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return x;
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#else
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// TODO: Writeme!
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return IEEE802154_PANID;
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#endif
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}
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static uint16_t
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get_panaddr_from_eeprom(void) {
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#if JACKDAW_CONF_USE_SETTINGS
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return settings_get_uint16(SETTINGS_KEY_PAN_ADDR, 0);
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#else
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// TODO: Writeme!
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return 0;
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#endif
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}
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/*-------------------------------------------------------------------------*/
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/*-----------------------------Low level initialization--------------------*/
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static void initialize(void) {
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watchdog_init();
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watchdog_start();
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/* Initialize hardware */
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// Checks for "finger", jumps to DFU if present.
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init_lowlevel();
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/* Clock */
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clock_init();
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#if USB_CONF_RS232
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/* Use rs232 port for serial out (tx, rx, gnd are the three pads behind jackdaw leds */
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rs232_init(RS232_PORT_0, 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_0);
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#if ANNOUNCE
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printf_P(PSTR("\n\n\n********BOOTING CONTIKI*********\n"));
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#endif
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#endif
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Leds_init();
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/* rtimer init needed for low power protocols */
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rtimer_init();
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/* Process subsystem. */
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process_init();
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/* etimer process 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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/* Note this starts RF230 process, so must be done after process_init */
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NETSTACK_RADIO.init();
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/* Set addresses BEFORE starting tcpip process */
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memset(&tmp_addr, 0, sizeof(rimeaddr_t));
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if(!get_eui64_from_eeprom(tmp_addr.u8)) {
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#if JACKDAW_CONF_RANDOM_MAC
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// It doesn't look like we have a valid EUI-64 address
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// so let's try to make a new one from scratch.
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Leds_off();
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Led2_on();
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generate_new_eui64(tmp_addr.u8);
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if(!set_eui64_to_eeprom(tmp_addr.u8)) {
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watchdog_periodic();
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int i;
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for(i=0;i<20;i++) {
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Led1_toggle();
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_delay_ms(100);
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}
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Led1_off();
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}
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Led2_off();
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#else
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tmp_addr.u8[0]=0x02;
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tmp_addr.u8[1]=0x12;
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tmp_addr.u8[2]=0x13;
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tmp_addr.u8[3]=0xff;
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tmp_addr.u8[4]=0xfe;
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tmp_addr.u8[5]=0x14;
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tmp_addr.u8[6]=0x15;
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tmp_addr.u8[7]=0x16;
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#endif /* JACKDAW_CONF_RANDOM_MAC */
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}
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//Fix MAC address
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init_net();
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#if UIP_CONF_IPV6
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memcpy(&uip_lladdr.addr, &tmp_addr.u8, 8);
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#endif
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rf230_set_pan_addr(
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get_panid_from_eeprom(),
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get_panaddr_from_eeprom(),
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(uint8_t *)&tmp_addr.u8
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);
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#if JACKDAW_CONF_USE_SETTINGS
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/* Allow radio code to overrite power for testing miniature Raven mesh */
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#ifndef RF230_MAX_TX_POWER
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rf230_set_txpower(settings_get_uint8(SETTINGS_KEY_TXPOWER,0));
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#endif
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#endif
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rimeaddr_set_node_addr(&tmp_addr);
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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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rf230_set_channel(get_channel_from_eeprom());
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#if ANNOUNCE && USB_CONF_RS232
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printf_P(PSTR("MAC address %x:%x:%x:%x:%x:%x:%x:%x\n\r"),tmp_addr.u8[0],tmp_addr.u8[1],tmp_addr.u8[2],tmp_addr.u8[3],tmp_addr.u8[4],tmp_addr.u8[5],tmp_addr.u8[6],tmp_addr.u8[7]);
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printf_P(PSTR("%s %s, channel %u"),NETSTACK_MAC.name, NETSTACK_RDC.name,rf230_get_channel());
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if (NETSTACK_RDC.channel_check_interval) {
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unsigned short tmp;
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tmp=CLOCK_SECOND / (NETSTACK_RDC.channel_check_interval == 0 ? 1:\
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NETSTACK_RDC.channel_check_interval());
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if (tmp<65535) printf_P(PSTR(", check rate %u Hz"),tmp);
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}
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printf_P(PSTR("\n"));
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#endif
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#if UIP_CONF_IPV6_RPL
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#if RPL_BORDER_ROUTER
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process_start(&tcpip_process, NULL);
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process_start(&border_router_process, NULL);
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PRINTF ("RPL Border Router Started\n");
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#else
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process_start(&tcpip_process, NULL);
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PRINTF ("RPL Started\n");
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#endif
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#if RPL_HTTPD_SERVER
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extern struct process httpd_process;
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process_start(&httpd_process, NULL);
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PRINTF ("Webserver Started\n");
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#endif
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#endif /* UIP_CONF_IPV6_RPL */
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#else /* RF230BB */
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/* The order of starting these is important! */
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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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/* Setup USB */
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process_start(&usb_process, NULL);
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#if USB_CONF_SERIAL
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process_start(&cdc_process, NULL);
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#endif
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process_start(&usb_eth_process, NULL);
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#if USB_CONF_STORAGE
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process_start(&storage_process, NULL);
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#endif
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#if ANNOUNCE
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#if USB_CONF_SERIAL&&!USB_CONF_RS232
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{unsigned short i;
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printf_P(PSTR("\n\n\n********BOOTING CONTIKI*********\n\r"));
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/* Allow USB CDC to keep up with printfs */
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for (i=0;i<8000;i++) process_run();
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#if RF230BB
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printf_P(PSTR("MAC address %x:%x:%x:%x:%x:%x:%x:%x\n\r"),tmp_addr.u8[0],tmp_addr.u8[1],tmp_addr.u8[2],tmp_addr.u8[3],tmp_addr.u8[4],tmp_addr.u8[5],tmp_addr.u8[6],tmp_addr.u8[7]);
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for (i=0;i<8000;i++) process_run();
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printf_P(PSTR("%s %s, channel %u"),NETSTACK_MAC.name, NETSTACK_RDC.name,rf230_get_channel());
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if (NETSTACK_RDC.channel_check_interval) {
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i=CLOCK_SECOND / (NETSTACK_RDC.channel_check_interval == 0 ? 1:\
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NETSTACK_RDC.channel_check_interval());
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if (i<65535) printf_P(PSTR(", check rate %u Hz"),i);
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}
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printf_P(PSTR("\n\r"));
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for (i=0;i<8000;i++) process_run();
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#endif /* RF230BB */
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printf_P(PSTR("System online.\n\r"));
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}
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#elif USB_CONF_RS232
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printf_P(PSTR("System online.\n"));
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#endif
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#endif /* ANNOUNCE */
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}
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/*-------------------------------------------------------------------------*/
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/*---------------------------------Main Routine----------------------------*/
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int
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main(void)
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{
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/* GCC depends on register r1 set to 0 (?) */
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asm volatile ("clr r1");
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/* Initialize in a subroutine to maximize stack space */
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initialize();
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#if DEBUG
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{struct process *p;
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for(p = PROCESS_LIST();p != NULL; p = ((struct process *)p->next)) {
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printf_P(PSTR("Process=%p Thread=%p Name=\"%s\" \n"),p,p->thread,p->name);
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}
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}
|
|
#endif
|
|
while(1) {
|
|
process_run();
|
|
|
|
watchdog_periodic();
|
|
|
|
/* Print rssi of all received packets, useful for range testing */
|
|
#ifdef RF230_MIN_RX_POWER
|
|
uint8_t lastprint;
|
|
if (rf230_last_rssi != lastprint) { //can be set in halbb.c interrupt routine
|
|
printf_P(PSTR("%u "),rf230_last_rssi);
|
|
lastprint=rf230_last_rssi;
|
|
}
|
|
#endif
|
|
|
|
#if TESTRTIMER
|
|
if (rtimerflag) { //8 seconds is maximum interval, my jackdaw 4% slow
|
|
rtimer_set(&rt, RTIMER_NOW()+ RTIMER_ARCH_SECOND*1UL, 1,(void *) rtimercycle, NULL);
|
|
rtimerflag=0;
|
|
#if STAMPS
|
|
if ((rtime%STAMPS)==0) {
|
|
printf("%us ",rtime);
|
|
}
|
|
#endif
|
|
rtime+=1;
|
|
#if PINGS
|
|
if ((rtime%PINGS)==0) {
|
|
PRINTF("**Ping\n");
|
|
pingsomebody();
|
|
}
|
|
#endif
|
|
}
|
|
#endif /* TESTRTIMER */
|
|
|
|
/* Use with rf230bb.c DEBUGFLOW to show the sequence of driver calls from the uip stack */
|
|
#if RF230BB&&0
|
|
extern uint8_t debugflowsize,debugflow[];
|
|
if (debugflowsize) {
|
|
debugflow[debugflowsize]=0;
|
|
printf("%s",debugflow);
|
|
debugflowsize=0;
|
|
}
|
|
#endif
|
|
|
|
/* Use for low level interrupt debugging */
|
|
#if RF230BB&&0
|
|
extern uint8_t rf230interruptflag; //in halbb.c
|
|
extern uint8_t rf230processflag; //in rf230bb.c
|
|
if (rf230processflag) {
|
|
printf("**RF230 process flag %u\n\r",rf230processflag);
|
|
rf230processflag=0;
|
|
}
|
|
if (rf230interruptflag) {
|
|
// if (rf230interruptflag!=11) {
|
|
printf("**RF230 Interrupt %u\n\r",rf230interruptflag);
|
|
// }
|
|
rf230interruptflag=0;
|
|
}
|
|
#endif
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|