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osd-contiki/platform/sky/checkpoint-arch.c

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/*
* Copyright (c) 2010, Swedish Institute of Computer Science
* 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
* Checkpoint library implementation for the Tmote Sky platform.
*
* \author
* Fredrik Osterlind <fros@sics.se>
*/
#include "contiki.h"
#include "lib/crc16.h"
#include "lib/checkpoint.h"
#include "sys/rtimer.h"
#include "sys/mt.h"
#include "sys/energest.h"
#include "sys/compower.h"
#include "dev/leds.h"
#include "dev/watchdog.h"
#include "dev/serial-line.h"
#include "dev/uart1.h"
#include "dev/cc2420.h"
#include "dev/button-sensor.h"
#include "cfs/cfs.h"
#include "cfs/cfs-coffee.h"
#include <stdio.h>
#define DEBUG 0
#if DEBUG
#define PRINTF(...) printf(__VA_ARGS__)
#else
#define PRINTF(...)
#endif
#ifndef CHECKPOINT_ROLLBACK_BUTTON
#define CHECKPOINT_ROLLBACK_BUTTON 1 /* rollback "cp_wdt" on button click */
#endif /* CHECKPOINT_ROLLBACK_BUTTON */
#if CHECKPOINT_ROLLBACK_BUTTON
PROCESS(checkpoint_button_process, "Rollback on button");
#endif /* CHECKPOINT_ROLLBACK_BUTTON */
#define WITH_SERIAL_COMMANDS 0 /* checkpoint via serial port */
#if WITH_SERIAL_COMMANDS
#if UART1_CONF_TX_WITH_INTERRUPT
#error TX_WITH_INTERRUPTS must be 0
#endif /* UART1_CONF_TX_WITH_INTERRUPT */
#define PRINTF_COMMAND(...) printf(__VA_ARGS__)
#else /* WITH_SERIAL_COMMANDS */
#define PRINTF_COMMAND(...)
#endif /* WITH_SERIAL_COMMANDS */
#define COMMAND_ROLLBACK 1
#define COMMAND_CHECKPOINT 2
#define COMMAND_METRICS 3
#define INCLUDE_RAM 1 /* Less then 10240 bytes */
#define INCLUDE_TIMERS 1 /* 16 bytes */
#define INCLUDE_LEDS 1 /* 1 bytes */
/* ... */
/* 10kb memory */
#define RAM_START 0x1100
#define RAM_END 0x3900
#define PAUSE_TIME() \
TACTL &= ~(MC1); \
TBCTL &= ~(MC1); \
watchdog_stop();
#define RESUME_TIME() \
TACTL |= MC1; \
TBCTL |= MC1; \
TACCR1 = clock_fine_max(); \
watchdog_start();
#define PAUSE_TIME_INT() \
dint(); \
PAUSE_TIME();
#define RESUME_TIME_INT() \
RESUME_TIME(); \
eint();
static struct mt_thread checkpoint_thread;
static uint8_t preset_cmd;
static int preset_fd;
/* bookkeeping */
#if WITH_SERIAL_COMMANDS
static int nr_pongs=0;
#endif /* WITH_SERIAL_COMMANDS */
static int nr_checkpoints=0, nr_rollbacks=0, nr_metrics=0;
/*---------------------------------------------------------------------------*/
typedef union {
unsigned char u8[2];
unsigned short u16;
} word_union_t;
/*---------------------------------------------------------------------------*/
static int
write_byte(int fd, uint8_t c)
{
return cfs_write(fd, &c, 1);
}
/*---------------------------------------------------------------------------*/
static void
write_word(int fd, uint16_t w)
{
word_union_t tmp;
tmp.u16 = w;
write_byte(fd, tmp.u8[0]);
write_byte(fd, tmp.u8[1]);
}
/*---------------------------------------------------------------------------*/
static uint8_t
read_byte(int fd)
{
uint8_t c;
cfs_read(fd, &c, 1);
return c;
}
/*---------------------------------------------------------------------------*/
static uint16_t
read_word(int fd)
{
word_union_t tmp;
tmp.u8[0] = read_byte(fd);
tmp.u8[1] = read_byte(fd);
return tmp.u16;
}
/*---------------------------------------------------------------------------*/
static void
thread_checkpoint(int fd)
{
#if INCLUDE_RAM
unsigned char *addr;
uint16_t size = 0;
unsigned char *thread_mem_start = (unsigned char *)&checkpoint_thread.thread.stack;
unsigned char *thread_mem_end = thread_mem_start + sizeof(checkpoint_thread.thread.stack) - 1;
unsigned char *coffee_mem_start = cfs_coffee_get_protected_mem(&size);
unsigned char *coffee_mem_end = coffee_mem_start + size - 1;
#endif /* INCLUDE_RAM */
/*PRINTF("protected thread memory: %u, size=%u\n", (uint16_t) thread_mem_start, sizeof(checkpoint_thread.thread.stack));*/
/*PRINTF("protected coffee memory: %u, size=%u\n", (uint16_t) coffee_mem_start, size);*/
/* RAM */
#if INCLUDE_RAM
for(addr = (unsigned char *)RAM_START;
addr < (unsigned char *)RAM_END;
addr++) {
if((addr >= thread_mem_start && addr <= thread_mem_end)) {
/* Skip */
continue;
}
if((addr >= coffee_mem_start && addr <= coffee_mem_end)) {
/* Skip */
continue;
}
/* TODO Use write_array() */
write_byte(fd, *addr);
/*if(((int)addr % 512) == 0) {
PRINTF(".");
}*/
}
#endif /* INCLUDE_RAM */
/* Timers */
#if INCLUDE_TIMERS
write_word(fd, TACTL);
write_word(fd, TACCTL1);
write_word(fd, TACCR1);
write_word(fd, TAR);
write_word(fd, TBCTL);
write_word(fd, TBCCTL1);
write_word(fd, TBCCR1);
write_word(fd, TBR);
#endif /* INCLUDE_TIMERS */
/* LEDs */
#if INCLUDE_LEDS
write_byte(fd, leds_arch_get());
#endif /* INCLUDE_LEDS */
/* Radio */
/* ADC */
/* ... */
write_byte(fd, -1); /* Coffee padding byte */
}
/*---------------------------------------------------------------------------*/
static void
thread_rollback(int fd)
{
#if INCLUDE_RAM
unsigned char *addr;
uint16_t size = 0;
unsigned char *thread_mem_start = (unsigned char *)&checkpoint_thread.thread.stack;
unsigned char *thread_mem_end = thread_mem_start + sizeof(checkpoint_thread.thread.stack) - 1;
unsigned char *coffee_mem_start = cfs_coffee_get_protected_mem(&size);
unsigned char *coffee_mem_end = coffee_mem_start + size - 1;
#endif /* INCLUDE_RAM */
/*PRINTF("protected thread memory: %u, size=%u\n", (uint16_t) thread_mem_start, sizeof(checkpoint_thread.thread.stack));*/
/*PRINTF("protected coffee memory: %u, size=%u\n", (uint16_t) coffee_mem_start, size);*/
/* RAM */
#if INCLUDE_RAM
for(addr = (unsigned char *)RAM_START;
addr < (unsigned char *)RAM_END;
addr++) {
if((addr >= thread_mem_start && addr <= thread_mem_end)) {
/* Skip */
continue;
}
if((addr >= coffee_mem_start && addr <= coffee_mem_end)) {
/* Skip */
continue;
}
*addr = read_byte(fd);
}
#endif /* INCLUDE_RAM */
/* Timers */
#if INCLUDE_TIMERS
TACTL = read_word(fd);
TACCTL1 = read_word(fd);
TACCR1 = read_word(fd);
TAR = read_word(fd);
TBCTL = read_word(fd);
TBCCTL1 = read_word(fd);
TBCCR1 = read_word(fd);
TBR = read_word(fd);
#endif /* INCLUDE_TIMERS */
/* LEDs */
#if INCLUDE_LEDS
leds_arch_set(read_byte(fd));
#endif /* INCLUDE_LEDS */
/* Radio */
/* ADC */
/* ... */
read_byte(fd); /* Coffee padding byte */
}
/*---------------------------------------------------------------------------*/
#if WITH_SERIAL_COMMANDS
static uint32_t
thread_metric_tx(void)
{
energest_flush();
return energest_type_time(ENERGEST_TYPE_TRANSMIT);
}
/*---------------------------------------------------------------------------*/
static uint32_t
thread_metric_rx(void)
{
energest_flush();
return energest_type_time(ENERGEST_TYPE_LISTEN);
}
#endif /* WITH_SERIAL_COMMANDS */
/*---------------------------------------------------------------------------*/
static void
thread_metrics(void)
{
PRINTF_COMMAND("METRICS:START\n");
PRINTF_COMMAND("M:RTIMER_NOW:%u\n", RTIMER_NOW()); /* TODO extract */
PRINTF_COMMAND("M:ENERGY_TX:%lu\n", thread_metric_tx());
PRINTF_COMMAND("M:ENERGY_RX:%lu\n", thread_metric_rx());
PRINTF_COMMAND("M:RTIMER_NOW2:%u\n", RTIMER_NOW());
nr_metrics++;
PRINTF_COMMAND("METRICS:DONE %u\n", nr_metrics);
}
/*---------------------------------------------------------------------------*/
static void
checkpoint_thread_loop(void *data)
{
uint8_t cmd;
int fd;
while(1) {
/* Store command and file descriptor on stack */
cmd = preset_cmd;
fd = preset_fd;
/* Handle command */
if(cmd == COMMAND_ROLLBACK) {
PRINTF_COMMAND("RB:START\n");
thread_rollback(fd);
nr_rollbacks++;
PRINTF_COMMAND("RB:DONE %u\n", nr_rollbacks);
/* TODO Synch before leaving this thread. */
} else if(cmd == COMMAND_CHECKPOINT) {
PRINTF_COMMAND("CP:START\n");
thread_checkpoint(fd);
thread_metrics();
nr_checkpoints++;
PRINTF_COMMAND("CP:DONE %u\n", nr_checkpoints);
} else if(cmd == COMMAND_METRICS) {
thread_metrics();
} else {
printf("ERROR: Unknown thread command: %u\n", cmd);
}
/* Return to Contiki */
mt_yield();
}
}
/*---------------------------------------------------------------------------*/
int
checkpoint_arch_size()
{
return 10258;
}
/*---------------------------------------------------------------------------*/
void
checkpoint_arch_checkpoint(int fd)
{
PAUSE_TIME_INT();
preset_cmd = COMMAND_CHECKPOINT;
preset_fd = fd;
mt_exec(&checkpoint_thread);
RESUME_TIME_INT();
}
/*---------------------------------------------------------------------------*/
void
checkpoint_arch_rollback(int fd)
{
PAUSE_TIME_INT();
preset_cmd = COMMAND_ROLLBACK;
preset_fd = fd;
mt_exec(&checkpoint_thread);
RESUME_TIME_INT();
}
/*---------------------------------------------------------------------------*/
static uint8_t inited = 0;
void
checkpoint_arch_init(void)
{
if(inited) {
return;
}
mt_init();
mt_start(&checkpoint_thread, checkpoint_thread_loop, NULL);
inited = 1;
#if CHECKPOINT_ROLLBACK_BUTTON
process_start(&checkpoint_button_process, NULL);
#endif /* CHECKPOINT_ROLLBACK_BUTTON */
/*mt_stop(&checkpoint_thread);*/
/*mt_remove();*/
}
/*---------------------------------------------------------------------------*/
struct power_log {
uint32_t transmit;
uint32_t listen;
};
/*---------------------------------------------------------------------------*/
#if WITH_SERIAL_COMMANDS
static void
serial_interrupt_checkpoint()
{
int fd = 0;
PAUSE_TIME();
if(SPI_IS_ENABLED()) {
/* SPI is busy, abort */
PRINTF_COMMAND("CP:SPIBUSY\n");
RESUME_TIME();
return;
}
/* Open file */
cfs_remove("cp");
cfs_coffee_reserve("cp", checkpoint_arch_size());
fd = cfs_open("cp", CFS_WRITE);
if(fd < 0) {
printf("ERROR: No file access (cp)\n");
RESUME_TIME();
return;
}
/* Checkpoint */
preset_cmd = COMMAND_CHECKPOINT;
preset_fd = fd;
mt_exec(&checkpoint_thread);
/* Close file */
cfs_close(fd);
RESUME_TIME();
}
/*---------------------------------------------------------------------------*/
static void
serial_interrupt_rollback()
{
int fd = 0;
PAUSE_TIME();
if(SPI_IS_ENABLED()) {
/* SPI is busy, abort */
PRINTF_COMMAND("RB:SPIBUSY\n");
RESUME_TIME();
return;
}
/* Open file */
fd = cfs_open("cp", CFS_READ);
if(fd < 0) {
printf("ERROR: No file access (rb)\n");
RESUME_TIME();
return;
}
/* Rollback */
preset_cmd = COMMAND_ROLLBACK;
preset_fd = fd;
mt_exec(&checkpoint_thread);
/* Close file */
cfs_close(fd);
RESUME_TIME();
}
/*---------------------------------------------------------------------------*/
static void
serial_interrupt_metrics()
{
PAUSE_TIME();
preset_cmd = COMMAND_METRICS;
preset_fd = -1;
mt_exec(&checkpoint_thread);
RESUME_TIME();
}
/*---------------------------------------------------------------------------*/
static const unsigned char command_checkpoint[] = { 'c', 'p', '\n' };
static const unsigned char command_rollback[] = { 'r', 'b', '\n' };
static const unsigned char command_metrics[] = { 'm', 't', '\n' };
static volatile int command_checkpoint_state = 0;
static volatile int command_rollback_state = 0;
static volatile int command_metrics_state = 0;
/*---------------------------------------------------------------------------*/
static int
serial_input_byte_intercept(unsigned char c)
{
/* Detect checkpoint request */
if(command_checkpoint[command_checkpoint_state] == c) {
command_checkpoint_state++;
if(command_checkpoint_state == sizeof(command_checkpoint)) {
serial_interrupt_checkpoint();
command_checkpoint_state = 0;
}
} else {
command_checkpoint_state = 0;
}
/* Detect rollback request */
if(command_rollback[command_rollback_state] == c) {
command_rollback_state++;
if(command_rollback_state == sizeof(command_rollback)) {
serial_interrupt_rollback();
command_rollback_state = 0;
}
} else {
command_rollback_state = 0;
}
/* Detect metrics request */
if(command_metrics[command_metrics_state] == c) {
command_metrics_state++;
if(command_metrics_state == sizeof(command_metrics)) {
serial_interrupt_metrics();
command_metrics_state = 0;
}
} else {
command_metrics_state = 0;
}
/* Forward to serial line input byte */
return serial_line_input_byte(c);
}
/*---------------------------------------------------------------------------*/
static void
handle_get_command(void)
{
int fd = 0;
fd = cfs_open("cp", CFS_READ);
if(fd < 0) {
printf("ERROR: No file access (get)\n");
} else {
PRINTF_COMMAND("GET:START\n");
char data[8];
int offset=0, size=0, read=8;
unsigned short crc = 0;
cfs_seek(fd, offset, CFS_SEEK_SET);
while (read == 8) {
int i;
/*if(offset != cfs_seek(fd, offset, CFS_SEEK_SET)) {
printf("bad seek, breaking\n");
break;
}*/
read = cfs_read(fd, data, 8);
size += read;
printf("%04i: ", offset); /*REMOVE*/
for (i=0; i < read; i++) {
crc = crc16_add((uint8_t) data[i], crc);
printf("%02x", (uint8_t) (0xff&data[i]));
}
printf("\n");
offset += 8;
}
PRINTF_COMMAND("GET:DONE CRC=%u\n", crc);
cfs_close(fd);
}
}
/*---------------------------------------------------------------------------*/
static int
hex_decode_char(char c)
{
if(c >= 'A' && c <= 'F') {
return c - 'A' + 10;
} else if(c >= 'a' && c <= 'f') {
return c - 'a' + 10;
} else if(c >= '0' && c <= '9') {
return c - '0';
} else {
printf("WARN: bad hex: %c\n", c);
return 0;
}
}
/*---------------------------------------------------------------------------*/
PROCESS(checkpoint_serial_process, "Checkpoint via serial commands");
PROCESS_THREAD(checkpoint_serial_process, ev, data)
{
static int set_fd = -1;
static int set_count = -1;
PROCESS_BEGIN();
/* Note: 'cp', 'rb', and 'mt' commands are intercepted */
PROCESS_PAUSE();
uart1_set_input(serial_input_byte_intercept);
/* Format Coffee? */
PRINTF("Formatting Coffee\n");
cfs_coffee_format();
PRINTF("Formatting Coffee... done!\n");
while(1) {
PROCESS_WAIT_EVENT_UNTIL(ev == serial_line_event_message && data != NULL);
if(strcmp("set", data) == 0) {
/* TODO Handle set command */
/* Open file */
cfs_remove("cp");
cfs_coffee_reserve("cp", checkpoint_arch_size());
set_fd = cfs_open("cp", CFS_WRITE);
set_count = 0;
if(set_fd < 0) {
printf("SET:FSBUSY\n");
} else {
printf("SET:LINE\n");
}
} else if(set_fd >= 0 && strcmp("set:done", data) == 0) {
cfs_close(set_fd);
set_fd = -1;
if(set_count == 9862) {
printf("SET:DONE\n");
} else {
printf("SET:WRONGSIZE\n");
}
} else if(set_fd >= 0) {
/* We are ready for another line */
printf("SET:LINE\n");
/* Set command: parse hex data */
int len = strlen((char*)data);
if(len > 16 || (len%2)!=0) {
printf("WARN: bad set data: %s\n", (char*)data);
} else {
int i;
for (i=0; i < len; i+=2) {
uint8_t b =
(hex_decode_char(((char*)data)[i]) << 4) +
(hex_decode_char(((char*)data)[i+1]));
PRINTF("Parsing set command: writing to CFS: %02x\n", b);
write_byte(set_fd, b); /* TODO Check return value */
set_count++;
}
}
} else if(strcmp("", data) == 0 ||
strcmp("cp", data) == 0 ||
strcmp("rb", data) == 0 ||
strcmp("mt", data) == 0) {
/* ignore commands: handled by interrupt */
} else if(strcmp("ping", data) == 0) {
nr_pongs++;
printf("pong %u\n", nr_pongs);
} else if(strcmp("get", data) == 0) {
handle_get_command();
} else {
printf("WARN: Unknown command: '%s'\n", (char*)data);
}
}
PROCESS_END();
}
#endif /* WITH_SERIAL_COMMANDS */
/*---------------------------------------------------------------------------*/
#if CHECKPOINT_ROLLBACK_BUTTON
PROCESS_THREAD(checkpoint_button_process, ev, data)
{
PROCESS_BEGIN();
button_sensor.configure(SENSORS_ACTIVE, 1);
while(1) {
PROCESS_WAIT_EVENT();
if(ev == sensors_event && data == &button_sensor) {
int fd = 0;
/* Rollback from Coffee file "cp_wdt" */
fd = cfs_open("cp_wdt", CFS_READ);
if(fd >= 0) {
checkpoint_rollback(fd);
cfs_close(fd);
}
}
}
PROCESS_END();
}
#endif /* CHECKPOINT_ROLLBACK_BUTTON */
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