04bbba6c12
Rename guhRF platform to osd-merkur-256, previous osd-merkur platform is now osd-merkur-128. Also check that everything is consistent. Add both platforms to the regression tests. Move redundant files in platform dev directory of both platforms to cpu/avr/dev. Note that this probably needs some rework. Already discovered some inconsistency in io definitions of both devices in the avr/io.h includes. Added a workaround in the obvious cases. The platform makefiles now set correct parameters for bootloader and for reading mac-address from flash memory. Factor the flash programming into cpu/avr and platform/osd-merkur* and rework *all* osd example makefiles to use the new settings. Also update all the flash.sh and run.sh to use the new settings. The suli ledstrip modules (and osd example) have also been removed.
593 lines
16 KiB
C
593 lines
16 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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#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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#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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#include "params.h"
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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/ipv6/sicslowpan.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 "dev/rs232.h"
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#include "dev/serial-line.h"
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#include "dev/slip.h"
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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/rime.h"
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/* Track interrupt flow through mac, rdc and radio driver */
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//#define DEBUGFLOWSIZE 32
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#if DEBUGFLOWSIZE
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uint8_t 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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/* 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 1024
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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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//uint16_t ledtimer;
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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 = 0x01,//SIGNATURE_2, //ATMEGA128rfa1
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.B1 = 0xA7,//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 1
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/* JTAG+SPI enabled, External osc 1kck4ms1 , Boot 4096 words @ $1F000, TXC1K+4,1msec delay, Brownout 1.9 volts */
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FUSES ={.low = 0xF6, .high = 0x98, .extended = 0xfd,};
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#define BOOTLOADER_START = 0x1F000
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#else
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/* JTAG+SPI, Boot 4096 words @ $F000, Internal oscillator, startup 6 CK +0 ms, Brownout 1.8 volts */
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FUSES ={.low = 0xC2, .high = 0x99, .extended = 0xfe,};
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#endif
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#include "lib/sensors.h"
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#include "dev/button-sensor.h"
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#include "dev/battery-sensor.h"
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#include "dev/pir-sensor.h"
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SENSORS(&button_sensor, &pir_sensor);
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uint8_t
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rng_get_uint8(void) {
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#if 1
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/* Upper two RSSI reg bits (RND_VALUE) are random in rf231 */
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uint8_t j;
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j = (PHY_RSSI&0xc0) + ((PHY_RSSI>>2)&0x30) + ((PHY_RSSI>>4)&0x0c) + ((PHY_RSSI>>6)&0x03);
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#else
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/* Get a pseudo random number using the ADC */
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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;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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#endif
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PRINTD("rng issues %d\n",j);
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return j;
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}
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void
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clock_delay(unsigned int howlong)
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{
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if(howlong<2) return;
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clock_delay_usec((45*howlong)>>4);
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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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/* 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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/* 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 */
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rs232_redirect_stdout(RS232_PORT_0);
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clock_init();
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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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#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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#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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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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linkaddr_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 NETSTACK_CONF_WITH_IPV6
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memcpy(&uip_lladdr.addr, &addr.u8, sizeof(linkaddr_t));
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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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#endif
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linkaddr_set_node_addr(&addr);
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PRINTA("Panid:%x\n", params_get_panid());
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// framer_802154_set_panid(params_get_panid());
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rf230_set_pan_addr(params_get_panid(),params_get_panaddr(),(uint8_t *)&addr.u8);
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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 NETSTACK_CONF_WITH_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(linkaddr_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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#if NETSTACK_CONF_WITH_IPV6 || NETSTACK_CONF_WITH_IPV4
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process_start(&tcpip_process, NULL);
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#endif
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process_start(&sensors_process, NULL);
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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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#if AVR_WEBSERVER
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{ uint8_t i;
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char buf[80];
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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 (buf,eemem_server_name, sizeof(eemem_server_name));
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sei();
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buf[sizeof(eemem_server_name)]=0;
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PRINTA("%s",buf);
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cli();
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eeprom_read_block (buf,eemem_domain_name, sizeof(eemem_domain_name));
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sei();
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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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}
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#else
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PRINTA("Online\n");
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#endif
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#endif /* ANNOUNCE_BOOT */
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}
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#if ROUTES && NETSTACK_CONF_WITH_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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#if NETSTACK_CONF_WITH_IPV6
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uip_ds6_nbr_t *nbr;
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#endif /* NETSTACK_CONF_WITH_IPV6 */
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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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/* Turn off LED after a while */
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if (ledtimer) {
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if (--ledtimer==0) {
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}
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}
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#endif
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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;
|
|
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 && NETSTACK_CONF_WITH_IPV6
|
|
extern void raven_ping6(void);
|
|
if ((clocktime%PINGS)==1) {
|
|
PRINTF("**Ping\n");
|
|
raven_ping6();
|
|
}
|
|
#endif
|
|
|
|
#if ROUTES && NETSTACK_CONF_WITH_IPV6
|
|
if ((clocktime%ROUTES)==2) {
|
|
|
|
extern uip_ds6_netif_t uip_ds6_if;
|
|
|
|
uint8_t i,j=0;
|
|
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",NBR_TABLE_MAX_NEIGHBORS);
|
|
|
|
for(nbr = nbr_table_head(ds6_neighbors);
|
|
nbr != NULL;
|
|
nbr = nbr_table_next(ds6_neighbors, nbr)) {
|
|
ipaddr_add(&nbr->ipaddr);
|
|
PRINTF("\n");
|
|
j=0;
|
|
}
|
|
|
|
if (j) PRINTF(" <none>");
|
|
PRINTF("\nRoutes [%u max]\n",UIP_DS6_ROUTE_NB);
|
|
{
|
|
uip_ds6_route_t *r;
|
|
j = 1;
|
|
for(r = uip_ds6_route_head();
|
|
r != NULL;
|
|
r = uip_ds6_route_next(r)) {
|
|
ipaddr_add(&r->ipaddr);
|
|
PRINTF("/%u (via ", r->length);
|
|
ipaddr_add(uip_ds6_route_nexthop(r));
|
|
PRINTF(") %lus\n", r->state.lifetime);
|
|
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);
|
|
}
|