deac/osd-contiki
1
0
Fork 0
Code Issues Pull requests Releases Wiki Activity
osd-contiki/platform/avr-ravenusb/contiki-raven-main.c
dak664 58b7a19803 Hardware/software radio HAL patch from Roger Larsson. 
Use CHANNEL_802_15_4 define for RF channel on all AVR platforms, default 26.
Remove hopefully unnecessary interrupt disable wrapper on eeprom reads and writes.
2010-12-03 20:42:01 +00:00

554 lines
15 KiB
C
Raw Blame History

/*
* Copyright (c) 2006, Technical University of Munich
* All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in the
* documentation and/or other materials provided with the distribution.
* 3. Neither the name of the Institute nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
* ARE DISCLAIMED. IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
* OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
* OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
* SUCH DAMAGE.
*
* This file is part of the Contiki operating system.
*
* @(#)$$
*/
/**
* \file
* Contiki 2.4 kernel for Jackdaw USB stick
*
* \author
* Simon Barner <barner@in.tum.de>
* David Kopf <dak664@embarqmail.com>
*/
#define DEBUG 0
#if DEBUG
#define PRINTF(FORMAT,args...) printf_P(PSTR(FORMAT),##args)
#else
#define PRINTF(...)
#endif
#include <avr/pgmspace.h>
#include <avr/fuse.h>
#include <avr/eeprom.h>
#include <avr/wdt.h>
#include <util/delay.h>
#include <stdio.h>
#include <string.h>
#include "lib/mmem.h"
#include "loader/symbols-def.h"
#include "loader/symtab.h"
#include "contiki.h"
#include "contiki-net.h"
#include "contiki-lib.h"
#include "contiki-raven.h"
/* Set ANNOUNCE to send boot messages to USB or RS232 serial port */
#define ANNOUNCE 1
#include "usb_task.h"
#if USB_CONF_SERIAL
#include "cdc_task.h"
#endif
#if USB_CONF_RS232
#include "dev/rs232.h"
#endif
#include "rndis/rndis_task.h"
#if USB_CONF_STORAGE
#include "storage/storage_task.h"
#endif
#include "dev/watchdog.h"
#include "dev/usb/usb_drv.h"
#if JACKDAW_CONF_USE_SETTINGS
#include "settings.h"
#endif
#if RF230BB //radio driver using contiki core mac
#include "radio/rf230bb/rf230bb.h"
#include "net/mac/frame802154.h"
#define UIP_IP_BUF ((struct uip_ip_hdr *)&uip_buf[UIP_LLH_LEN])
rimeaddr_t macLongAddr;
#define tmp_addr macLongAddr
#else //legacy radio driver using Atmel/Cisco 802.15.4'ish MAC
#include <stdbool.h>
#include "mac.h"
#include "sicslowmac.h"
#include "sicslowpan.h"
#include "ieee-15-4-manager.h"
#endif /* RF230BB */
/* Test rtimers, also useful for pings and time stamps in simulator */
#define TESTRTIMER 0
#if TESTRTIMER
#define PINGS 0
#define STAMPS 30
uint8_t rtimerflag=1;
uint16_t rtime;
struct rtimer rt;
void rtimercycle(void) {rtimerflag=1;}
#endif /* TESTRTIMER */
#if UIP_CONF_IPV6_RPL
/*---------------------------------------------------------------------------*/
/*--------------------------------- RPL ----------------------------------*/
/*---------------------------------------------------------------------------*/
/* Set up fallback interface links to direct stack tcpip output to ethernet */
static void
init(void)
{
}
void mac_LowpanToEthernet(void);
static void
output(void)
{
// if(uip_ipaddr_cmp(&last_sender, &UIP_IP_BUF->srcipaddr)) {
/* Do not bounce packets back over SLIP if the packet was received
over SLIP */
// PRINTF("slip-bridge: Destination off-link but no route\n");
// } else {
PRINTF("SUT: %u\n", uip_len);
mac_LowpanToEthernet();
// }
}
const struct uip_fallback_interface rpl_interface = {
init, output
};
#if RPL_BORDER_ROUTER
#include "net/rpl/rpl.h"
// avr-objdump --section .bss -x ravenusbstick.elf
uint16_t dag_id[] PROGMEM = {0x1111, 0x1100, 0, 0, 0, 0, 0, 0x0011};
PROCESS(border_router_process, "RPL Border Router");
PROCESS_THREAD(border_router_process, ev, data)
{
PROCESS_BEGIN();
PROCESS_PAUSE();
{ rpl_dag_t *dag;
char buf[sizeof(dag_id)];
memcpy_P(buf,dag_id,sizeof(dag_id));
dag = rpl_set_root((uip_ip6addr_t *)buf);
/* 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 */
/* $ifconfig usb0 -arp on Ubuntu to skip the neighbor solicitations. Add explicit neighbors on other OSs */
if(dag != NULL) {
PRINTF("created a new RPL dag\n");
#if UIP_CONF_ROUTER_RECEIVE_RA
//Contiki stack will shut down until assigned an address from the interface RA
//Currently this requires changes in the core rpl-icmp6.c to pass the link-local RA broadcast
#else
uip_ip6addr_t ipaddr;
uip_ip6addr(&ipaddr, 0xbbbb, 0, 0, 0, 0, 0, 0, 0x11);
uip_ds6_addr_add(&ipaddr, 0, ADDR_MANUAL);
rpl_set_prefix(dag, &ipaddr, 64);
#endif
}
}
/* The border router runs with a 100% duty cycle in order to ensure high
packet reception rates. */
// NETSTACK_MAC.off(1);
while(1) {
PROCESS_YIELD();
// rpl_set_prefix(rpl_get_dag(RPL_ANY_INSTANCE), &ipaddr, 64);
// rpl_repair_dag(rpl_get_dag(RPL_ANY_INSTANCE));
}
PROCESS_END();
}
#endif /* RPL_BORDER_ROUTER */
#endif /* UIP_CONF_IPV6_RPL */
/*-------------------------------------------------------------------------*/
/*----------------------Configuration of the .elf file---------------------*/
typedef struct {unsigned char B2;unsigned char B1;unsigned char B0;} __signature_t;
#define SIGNATURE __signature_t __signature __attribute__((section (".signature")))
SIGNATURE = {
/* Older AVR-GCCs may not define the SIGNATURE_n bytes so use explicit values */
.B2 = 0x82,//SIGNATURE_2, //AT90USB128x
.B1 = 0x97,//SIGNATURE_1, //128KB flash
.B0 = 0x1E,//SIGNATURE_0, //Atmel
};
FUSES ={.low = 0xde, .high = 0x99, .extended = 0xff,};
/* Put default MAC address in EEPROM */
#if !JACKDAW_CONF_USE_SETTINGS
uint8_t mac_address[8] EEMEM = {0x02, 0x12, 0x13, 0xff, 0xfe, 0x14, 0x15, 0x16};
#endif
static uint8_t get_channel_from_eeprom() {
#if JACKDAW_CONF_USE_SETTINGS
uint8_t chan = settings_get_uint8(SETTINGS_KEY_CHANNEL, 0);
if(!chan)
chan = RF_CHANNEL;
return chan;
#else
uint8_t eeprom_channel;
uint8_t eeprom_check;
eeprom_channel = eeprom_read_byte((uint8_t *)9);
eeprom_check = eeprom_read_byte((uint8_t *)10);
if(eeprom_channel==~eeprom_check)
return eeprom_channel;
#ifdef CHANNEL_802_15_4
return(CHANNEL_802_15_4);
#else
return 26;
#endif
#endif
}
static bool
get_eui64_from_eeprom(uint8_t macptr[8]) {
#if JACKDAW_CONF_USE_SETTINGS
size_t size = 8;
if(settings_get(SETTINGS_KEY_EUI64, 0, (unsigned char*)macptr, &size)==SETTINGS_STATUS_OK)
return true;
// Fallback to reading the traditional mac address
eeprom_read_block ((void *)macptr, 0, 8);
#else
eeprom_read_block ((void *)macptr, &mac_address, 8);
#endif
return macptr[0]!=0xFF;
}
#if JACKDAW_CONF_RANDOM_MAC
static bool
set_eui64_to_eeprom(const uint8_t macptr[8]) {
#if JACKDAW_CONF_USE_SETTINGS
return settings_set(SETTINGS_KEY_EUI64, macptr, 8)==SETTINGS_STATUS_OK;
#else
eeprom_write_block((void *)macptr, &mac_address, 8);
return true;
#endif
}
static void
generate_new_eui64(uint8_t eui64[8]) {
eui64[0] = 0x02;
eui64[1] = rng_get_uint8();
eui64[2] = rng_get_uint8();
eui64[3] = 0xFF;
eui64[4] = 0xFE;
eui64[5] = rng_get_uint8();
eui64[6] = rng_get_uint8();
eui64[7] = rng_get_uint8();
}
#endif /* JACKDAW_CONF_RANDOM_MAC */
static uint16_t
get_panid_from_eeprom(void) {
#if JACKDAW_CONF_USE_SETTINGS
uint16_t x = settings_get_uint16(SETTINGS_KEY_PAN_ID, 0);
if(!x)
x = IEEE802154_PANID;
return x;
#else
// TODO: Writeme!
return IEEE802154_PANID;
#endif
}
static uint16_t
get_panaddr_from_eeprom(void) {
#if JACKDAW_CONF_USE_SETTINGS
return settings_get_uint16(SETTINGS_KEY_PAN_ADDR, 0);
#else
// TODO: Writeme!
return 0;
#endif
}
/*-------------------------------------------------------------------------*/
/*-----------------------------Low level initialization--------------------*/
static void initialize(void) {
watchdog_init();
watchdog_start();
/* Initialize hardware */
// Checks for "finger", jumps to DFU if present.
init_lowlevel();
/* Clock */
clock_init();
#if USB_CONF_RS232
/* Use rs232 port for serial out (tx, rx, gnd are the three pads behind jackdaw leds */
rs232_init(RS232_PORT_0, USART_BAUD_57600,USART_PARITY_NONE | USART_STOP_BITS_1 | USART_DATA_BITS_8);
/* Redirect stdout to second port */
rs232_redirect_stdout(RS232_PORT_0);
#if ANNOUNCE
printf_P(PSTR("\n\n\n********BOOTING CONTIKI*********\n"));
#endif
#endif
Leds_init();
/* rtimer init needed for low power protocols */
rtimer_init();
/* Process subsystem. */
process_init();
/* etimer process must be started before ctimer init */
process_start(&etimer_process, NULL);
#if RF230BB
ctimer_init();
/* Start radio and radio receive process */
/* Note this starts RF230 process, so must be done after process_init */
NETSTACK_RADIO.init();
/* Set addresses BEFORE starting tcpip process */
memset(&tmp_addr, 0, sizeof(rimeaddr_t));
if(!get_eui64_from_eeprom(tmp_addr.u8)) {
#if JACKDAW_CONF_RANDOM_MAC
// It doesn't look like we have a valid EUI-64 address
// so let's try to make a new one from scratch.
Leds_off();
Led2_on();
generate_new_eui64(tmp_addr.u8);
if(!set_eui64_to_eeprom(tmp_addr.u8)) {
watchdog_periodic();
int i;
for(i=0;i<20;i++) {
Led1_toggle();
_delay_ms(100);
}
Led1_off();
}
Led2_off();
#else
tmp_addr.u8[0]=0x02;
tmp_addr.u8[1]=0x12;
tmp_addr.u8[2]=0x13;
tmp_addr.u8[3]=0xff;
tmp_addr.u8[4]=0xfe;
tmp_addr.u8[5]=0x14;
tmp_addr.u8[6]=0x15;
tmp_addr.u8[7]=0x16;
#endif /* JACKDAW_CONF_RANDOM_MAC */
}
//Fix MAC address
init_net();
#if UIP_CONF_IPV6
memcpy(&uip_lladdr.addr, &tmp_addr.u8, 8);
#endif
rf230_set_pan_addr(
get_panid_from_eeprom(),
get_panaddr_from_eeprom(),
(uint8_t *)&tmp_addr.u8
);
#if JACKDAW_CONF_USE_SETTINGS
/* Allow radio code to overrite power for testing miniature Raven mesh */
#ifndef RF230_MAX_TX_POWER
rf230_set_txpower(settings_get_uint8(SETTINGS_KEY_TXPOWER,0));
#endif
#endif
rimeaddr_set_node_addr(&tmp_addr);
/* Initialize stack protocols */
queuebuf_init();
NETSTACK_RDC.init();
NETSTACK_MAC.init();
NETSTACK_NETWORK.init();
rf230_set_channel(get_channel_from_eeprom());
#if ANNOUNCE && USB_CONF_RS232
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]);
printf_P(PSTR("%s %s, channel %u"),NETSTACK_MAC.name, NETSTACK_RDC.name,rf230_get_channel());
if (NETSTACK_RDC.channel_check_interval) {
unsigned short tmp;
tmp=CLOCK_SECOND / (NETSTACK_RDC.channel_check_interval == 0 ? 1:\
NETSTACK_RDC.channel_check_interval());
if (tmp<65535) printf_P(PSTR(", check rate %u Hz"),tmp);
}
printf_P(PSTR("\n"));
#endif
#if UIP_CONF_IPV6_RPL
#if RPL_BORDER_ROUTER
process_start(&tcpip_process, NULL);
process_start(&border_router_process, NULL);
PRINTF ("RPL Border Router Started\n");
#else
process_start(&tcpip_process, NULL);
PRINTF ("RPL Started\n");
#endif
#if RPL_HTTPD_SERVER
extern struct process httpd_process;
process_start(&httpd_process, NULL);
PRINTF ("Webserver Started\n");
#endif
#endif /* UIP_CONF_IPV6_RPL */
#else /* RF230BB */
/* The order of starting these is important! */
process_start(&mac_process, NULL);
process_start(&tcpip_process, NULL);
#endif /* RF230BB */
/* Setup USB */
process_start(&usb_process, NULL);
#if USB_CONF_SERIAL
process_start(&cdc_process, NULL);
#endif
process_start(&usb_eth_process, NULL);
#if USB_CONF_STORAGE
process_start(&storage_process, NULL);
#endif
#if ANNOUNCE
#if USB_CONF_SERIAL&&!USB_CONF_RS232
{unsigned short i;
printf_P(PSTR("\n\n\n********BOOTING CONTIKI*********\n\r"));
/* Allow USB CDC to keep up with printfs */
for (i=0;i<8000;i++) process_run();
#if RF230BB
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]);
for (i=0;i<8000;i++) process_run();
printf_P(PSTR("%s %s, channel %u"),NETSTACK_MAC.name, NETSTACK_RDC.name,rf230_get_channel());
if (NETSTACK_RDC.channel_check_interval) {
i=CLOCK_SECOND / (NETSTACK_RDC.channel_check_interval == 0 ? 1:\
NETSTACK_RDC.channel_check_interval());
if (i<65535) printf_P(PSTR(", check rate %u Hz"),i);
}
printf_P(PSTR("\n\r"));
for (i=0;i<8000;i++) process_run();
#endif /* RF230BB */
printf_P(PSTR("System online.\n\r"));
}
#elif USB_CONF_RS232
printf_P(PSTR("System online.\n"));
#endif
#endif /* ANNOUNCE */
}
/*-------------------------------------------------------------------------*/
/*---------------------------------Main Routine----------------------------*/
int
main(void)
{
/* GCC depends on register r1 set to 0 (?) */
asm volatile ("clr r1");
/* Initialize in a subroutine to maximize stack space */
initialize();
#if DEBUG
{struct process *p;
for(p = PROCESS_LIST();p != NULL; p = ((struct process *)p->next)) {
printf_P(PSTR("Process=%p Thread=%p Name=\"%s\" \n"),p,p->thread,p->name);
}
}
#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;
}
Reference in a new issue View git blame Copy permalink