e34eb54960
main ideas are: * Separates the Contiki low-layer network stack into four layers: network (e.g. sicslowpan / rime), Medium Access Control MAC (e.g. CSMA), Radio Duty Cycling RDC (e.g. ContikiMAC, X-MAC), and radio (e.g. cc2420). * Introduces a new way to configure the network stack. Four #defines that specify what mechanism/protocol/driver to use at the four layers: NETSTACK_CONF_NETWORK, NETSTACK_CONF_MAC, NETSTACK_CONF_RDC, NETSTACK_CONF_RADIO. * Adds a callback mechanism to inform the MAC and network layers about the fate of a transmitted packet: if the packet was not possible to transmit, the cause of the failure is reported, and if the packets was successfully transmitted, the number of tries before it was finally transmitted is reported. * NULL-protocols at both the MAC and RDC layers: nullmac and nullrdc, which can be used when MAC and RDC functionality is not needed. * Extends the radio API with three new functions that enable more efficient radio duty cycling protocols: channel check, pending packet, and receiving packet. * New initialization mechanism, which takes advantage of the NETSTACK #defines.
468 lines
13 KiB
C
468 lines
13 KiB
C
/*
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* Copyright (c) 2006, 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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* @(#)$Id: contiki-sky-main.c,v 1.69 2010/02/18 21:48:39 adamdunkels Exp $
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*/
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#include <signal.h>
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#include <stdio.h>
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#include <string.h>
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#include <io.h>
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#include "contiki.h"
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#include "dev/cc2420.h"
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#include "dev/ds2411.h"
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#include "dev/leds.h"
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#include "dev/light.h"
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#include "dev/serial-line.h"
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#include "dev/sht11.h"
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#include "dev/slip.h"
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#include "dev/uart1.h"
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#include "dev/watchdog.h"
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#include "dev/xmem.h"
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#include "lib/random.h"
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#include "net/netstack.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/mac/framer-nullmac.h"
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#include "net/mac/framer.h"
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#if WITH_UIP6
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#include "net/sicslowpan.h"
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#include "net/uip-netif.h"
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#include "net/mac/sicslowmac.h"
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#if UIP_CONF_ROUTER
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#include "net/routing/rimeroute.h"
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#endif /* UIP_CONF_ROUTER*/
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#endif /* WITH_UIP6 */
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#include "net/rime.h"
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#include "node-id.h"
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#include "cfs-coffee-arch.h"
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#include "cfs/cfs-coffee.h"
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#include "sys/autostart.h"
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#include "sys/profile.h"
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#include "dev/battery-sensor.h"
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#include "dev/button-sensor.h"
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#include "dev/light-sensor.h"
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#include "dev/sht11-sensor.h"
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SENSORS(&button_sensor);
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#if DCOSYNCH_CONF_ENABLED
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static struct timer mgt_timer;
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#endif
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#ifndef WITH_UIP
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#define WITH_UIP 0
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#endif
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#if WITH_UIP
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#include "net/uip.h"
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#include "net/uip-fw.h"
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#include "net/uip-fw-drv.h"
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#include "net/uip-over-mesh.h"
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static struct uip_fw_netif slipif =
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{UIP_FW_NETIF(192,168,1,2, 255,255,255,255, slip_send)};
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static struct uip_fw_netif meshif =
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{UIP_FW_NETIF(172,16,0,0, 255,255,0,0, uip_over_mesh_send)};
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#endif /* WITH_UIP */
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#define UIP_OVER_MESH_CHANNEL 8
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#if WITH_UIP
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static uint8_t is_gateway;
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#endif /* WITH_UIP */
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#ifdef EXPERIMENT_SETUP
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#include "experiment-setup.h"
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#endif
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/*---------------------------------------------------------------------------*/
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#if 0
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int
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force_float_inclusion()
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{
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extern int __fixsfsi;
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extern int __floatsisf;
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extern int __mulsf3;
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extern int __subsf3;
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return __fixsfsi + __floatsisf + __mulsf3 + __subsf3;
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}
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#endif
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/*---------------------------------------------------------------------------*/
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void uip_log(char *msg) { puts(msg); }
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/*---------------------------------------------------------------------------*/
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#ifndef RF_CHANNEL
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#define RF_CHANNEL 26
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#endif
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/*---------------------------------------------------------------------------*/
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#if 0
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void
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force_inclusion(int d1, int d2)
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{
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snprintf(NULL, 0, "%d", d1 % d2);
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}
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#endif
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/*---------------------------------------------------------------------------*/
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static void
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set_rime_addr(void)
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{
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rimeaddr_t addr;
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int i;
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memset(&addr, 0, sizeof(rimeaddr_t));
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#if UIP_CONF_IPV6
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memcpy(addr.u8, ds2411_id, sizeof(addr.u8));
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#else
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if(node_id == 0) {
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for(i = 0; i < sizeof(rimeaddr_t); ++i) {
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addr.u8[i] = ds2411_id[7 - i];
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}
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} else {
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addr.u8[0] = node_id & 0xff;
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addr.u8[1] = node_id >> 8;
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}
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#endif
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rimeaddr_set_node_addr(&addr);
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printf("Rime started with address ");
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for(i = 0; i < sizeof(addr.u8) - 1; i++) {
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printf("%d.", addr.u8[i]);
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}
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printf("%d\n", addr.u8[i]);
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}
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/*---------------------------------------------------------------------------*/
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static void
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print_processes(struct process * const processes[])
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{
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/* const struct process * const * p = processes;*/
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printf("Starting");
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while(*processes != NULL) {
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printf(" '%s'", (*processes)->name);
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processes++;
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}
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putchar('\n');
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}
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/*--------------------------------------------------------------------------*/
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#if WITH_UIP
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static void
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set_gateway(void)
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{
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if(!is_gateway) {
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leds_on(LEDS_RED);
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printf("%d.%d: making myself the IP network gateway.\n\n",
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rimeaddr_node_addr.u8[0], rimeaddr_node_addr.u8[1]);
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printf("IPv4 address of the gateway: %d.%d.%d.%d\n\n",
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uip_ipaddr_to_quad(&uip_hostaddr));
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uip_over_mesh_set_gateway(&rimeaddr_node_addr);
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uip_over_mesh_make_announced_gateway();
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is_gateway = 1;
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}
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}
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#endif /* WITH_UIP */
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/*---------------------------------------------------------------------------*/
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int
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main(int argc, char **argv)
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{
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/*
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* Initalize hardware.
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*/
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msp430_cpu_init();
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clock_init();
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leds_init();
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leds_on(LEDS_RED);
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uart1_init(BAUD2UBR(115200)); /* Must come before first printf */
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#if WITH_UIP
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slip_arch_init(BAUD2UBR(115200));
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#endif /* WITH_UIP */
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leds_on(LEDS_GREEN);
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ds2411_init();
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/* XXX hack: Fix it so that the 802.15.4 MAC address is compatible
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with an Ethernet MAC address - byte 0 (byte 2 in the DS ID)
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cannot be odd. */
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ds2411_id[2] &= 0xfe;
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leds_on(LEDS_BLUE);
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xmem_init();
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leds_off(LEDS_RED);
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rtimer_init();
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/*
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* Hardware initialization done!
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*/
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/* Restore node id if such has been stored in external mem */
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node_id_restore();
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random_init(ds2411_id[0] + node_id);
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leds_off(LEDS_BLUE);
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/*
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* Initialize Contiki and our processes.
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*/
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process_init();
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process_start(&etimer_process, NULL);
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process_start(&sensors_process, NULL);
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ctimer_init();
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set_rime_addr();
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cc2420_init();
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{
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uint8_t longaddr[8];
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uint16_t shortaddr;
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shortaddr = (rimeaddr_node_addr.u8[0] << 8) +
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rimeaddr_node_addr.u8[1];
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memset(longaddr, 0, sizeof(longaddr));
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rimeaddr_copy((rimeaddr_t *)&longaddr, &rimeaddr_node_addr);
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printf("MAC %02x:%02x:%02x:%02x:%02x:%02x:%02x:%02x ",
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longaddr[0], longaddr[1], longaddr[2], longaddr[3],
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longaddr[4], longaddr[5], longaddr[6], longaddr[7]);
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cc2420_set_pan_addr(IEEE802154_PANID, shortaddr, longaddr);
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}
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cc2420_set_channel(RF_CHANNEL);
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printf(CONTIKI_VERSION_STRING " started. ");
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if(node_id > 0) {
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printf("Node id is set to %u.\n", node_id);
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} else {
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printf("Node id is not set.\n");
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}
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/* printf("MAC %02x:%02x:%02x:%02x:%02x:%02x:%02x:%02x",
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ds2411_id[0], ds2411_id[1], ds2411_id[2], ds2411_id[3],
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ds2411_id[4], ds2411_id[5], ds2411_id[6], ds2411_id[7]);*/
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framer_set(&framer_802154);
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#if WITH_UIP6
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memcpy(&uip_lladdr.addr, ds2411_id, sizeof(uip_lladdr.addr));
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/* Setup nullmac-like MAC for 802.15.4 */
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/* sicslowpan_init(sicslowmac_init(&cc2420_driver)); */
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/* printf(" %s channel %u\n", sicslowmac_driver.name, RF_CHANNEL); */
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/* Setup X-MAC for 802.15.4 */
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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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printf(" %s, channel check rate %d Hz, radio channel %u\n",
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sicslowpan_mac->name,
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CLOCK_SECOND / (sicslowpan_mac->channel_check_interval() == 0? 1:
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sicslowpan_mac->channel_check_interval()),
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RF_CHANNEL);
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process_start(&tcpip_process, NULL);
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printf("Tentative link-local IPv6 address ");
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{
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int i;
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for(i = 0; i < 7; ++i) {
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printf("%02x%02x:",
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uip_netif_physical_if.addresses[0].ipaddr.u8[i * 2],
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uip_netif_physical_if.addresses[0].ipaddr.u8[i * 2 + 1]);
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}
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printf("%02x%02x\n",
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uip_netif_physical_if.addresses[0].ipaddr.u8[14],
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uip_netif_physical_if.addresses[0].ipaddr.u8[15]);
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}
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if(1) {
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uip_ipaddr_t ipaddr;
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int i;
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uip_ip6addr(&ipaddr, 0xaaaa, 0, 0, 0, 0, 0, 0, 0);
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uip_netif_addr_autoconf_set(&ipaddr, &uip_lladdr);
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uip_netif_addr_add(&ipaddr, 16, 0, TENTATIVE);
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printf("Tentative IPv6 address ");
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for(i = 0; i < 7; ++i) {
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printf("%02x%02x:",
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ipaddr.u8[i * 2], ipaddr.u8[i * 2 + 1]);
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}
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printf("%02x%02x\n",
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ipaddr.u8[7 * 2], ipaddr.u8[7 * 2 + 1]);
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}
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#if UIP_CONF_ROUTER
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uip_router_register(&rimeroute);
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#endif /* UIP_CONF_ROUTER */
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#else /* WITH_UIP6 */
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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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printf(" %s, channel check rate %d Hz, radio channel %u\n",
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rime_mac->name,
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CLOCK_SECOND / (rime_mac->channel_check_interval() == 0? 1:
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rime_mac->channel_check_interval()),
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RF_CHANNEL);
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#endif /* WITH_UIP6 */
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#if !WITH_UIP && !WITH_UIP6
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uart1_set_input(serial_line_input_byte);
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serial_line_init();
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#endif
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#if PROFILE_CONF_ON
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profile_init();
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#endif /* PROFILE_CONF_ON */
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leds_off(LEDS_GREEN);
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#if TIMESYNCH_CONF_ENABLED
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timesynch_init();
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timesynch_set_authority_level(rimeaddr_node_addr.u8[0]);
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#endif /* TIMESYNCH_CONF_ENABLED */
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#if WITH_UIP
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process_start(&tcpip_process, NULL);
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process_start(&uip_fw_process, NULL); /* Start IP output */
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process_start(&slip_process, NULL);
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slip_set_input_callback(set_gateway);
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{
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uip_ipaddr_t hostaddr, netmask;
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uip_init();
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uip_ipaddr(&hostaddr, 172,16,
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rimeaddr_node_addr.u8[0],rimeaddr_node_addr.u8[1]);
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uip_ipaddr(&netmask, 255,255,0,0);
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uip_ipaddr_copy(&meshif.ipaddr, &hostaddr);
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uip_sethostaddr(&hostaddr);
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uip_setnetmask(&netmask);
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uip_over_mesh_set_net(&hostaddr, &netmask);
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/* uip_fw_register(&slipif);*/
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uip_over_mesh_set_gateway_netif(&slipif);
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uip_fw_default(&meshif);
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uip_over_mesh_init(UIP_OVER_MESH_CHANNEL);
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printf("uIP started with IP address %d.%d.%d.%d\n",
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uip_ipaddr_to_quad(&hostaddr));
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}
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#endif /* WITH_UIP */
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energest_init();
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ENERGEST_ON(ENERGEST_TYPE_CPU);
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print_processes(autostart_processes);
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autostart_start(autostart_processes);
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/*
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* This is the scheduler loop.
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*/
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#if DCOSYNCH_CONF_ENABLED
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timer_set(&mgt_timer, DCOSYNCH_PERIOD * CLOCK_SECOND);
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#endif
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watchdog_start();
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/* watchdog_stop();*/
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while(1) {
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int r;
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#if PROFILE_CONF_ON
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profile_episode_start();
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#endif /* PROFILE_CONF_ON */
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do {
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/* Reset watchdog. */
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watchdog_periodic();
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r = process_run();
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} while(r > 0);
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#if PROFILE_CONF_ON
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profile_episode_end();
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#endif /* PROFILE_CONF_ON */
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/*
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* Idle processing.
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*/
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int s = splhigh(); /* Disable interrupts. */
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/* uart1_active is for avoiding LPM3 when still sending or receiving */
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if(process_nevents() != 0 || uart1_active()) {
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splx(s); /* Re-enable interrupts. */
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} else {
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static unsigned long irq_energest = 0;
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#if DCOSYNCH_CONF_ENABLED
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/* before going down to sleep possibly do some management */
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if (timer_expired(&mgt_timer)) {
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timer_reset(&mgt_timer);
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msp430_sync_dco();
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}
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#endif
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/* Re-enable interrupts and go to sleep atomically. */
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ENERGEST_OFF(ENERGEST_TYPE_CPU);
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ENERGEST_ON(ENERGEST_TYPE_LPM);
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/* We only want to measure the processing done in IRQs when we
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are asleep, so we discard the processing time done when we
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were awake. */
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energest_type_set(ENERGEST_TYPE_IRQ, irq_energest);
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watchdog_stop();
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_BIS_SR(GIE | SCG0 | SCG1 | CPUOFF); /* LPM3 sleep. This
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statement will block
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until the CPU is
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woken up by an
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interrupt that sets
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the wake up flag. */
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/* We get the current processing time for interrupts that was
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done during the LPM and store it for next time around. */
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dint();
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irq_energest = energest_type_time(ENERGEST_TYPE_IRQ);
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eint();
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watchdog_start();
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ENERGEST_OFF(ENERGEST_TYPE_LPM);
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ENERGEST_ON(ENERGEST_TYPE_CPU);
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}
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}
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return 0;
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}
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/*---------------------------------------------------------------------------*/
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#if LOG_CONF_ENABLED
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void
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log_message(char *m1, char *m2)
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{
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printf("%s%s\n", m1, m2);
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}
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#endif /* LOG_CONF_ENABLED */
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