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osd-contiki/platform/avr-atmega128rfa1/contiki-main.c

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/*
* 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.
*
*/
#define PRINTF(FORMAT,args...) printf_P(PSTR(FORMAT),##args)
#define ANNOUNCE_BOOT 1 //adds about 600 bytes to program size
#if ANNOUNCE_BOOT
#define PRINTA(FORMAT,args...) printf_P(PSTR(FORMAT),##args)
#else
#define PRINTA(...)
#endif
#define DEBUG 0
#if DEBUG
#define PRINTD(FORMAT,args...) printf_P(PSTR(FORMAT),##args)
#else
#define PRINTD(...)
#endif
#include <avr/pgmspace.h>
#include <avr/fuse.h>
#include <avr/eeprom.h>
#include <stdio.h>
#include <string.h>
#include <dev/watchdog.h>
#include "loader/symbols-def.h"
#include "loader/symtab.h"
#include "params.h"
#include "radio/rf230bb/rf230bb.h"
#include "net/mac/frame802154.h"
#include "net/mac/framer-802154.h"
#include "net/ipv6/sicslowpan.h"
#include "contiki.h"
#include "contiki-net.h"
#include "contiki-lib.h"
#include "dev/rs232.h"
#include "dev/serial-line.h"
#include "dev/slip.h"
#ifdef RAVEN_LCD_INTERFACE
#include "raven-lcd.h"
#endif
#if AVR_WEBSERVER
#include "httpd-fs.h"
#include "httpd-cgi.h"
#endif
#ifdef COFFEE_FILES
#include "cfs/cfs.h"
#include "cfs/cfs-coffee.h"
#endif
#if UIP_CONF_ROUTER&&0
#include "net/routing/rimeroute.h"
#include "net/rime/rime-udp.h"
#endif
#include "net/rime/rime.h"
/* Track interrupt flow through mac, rdc and radio driver */
//#define DEBUGFLOWSIZE 32
#if DEBUGFLOWSIZE
uint8_t debugflowsize,debugflow[DEBUGFLOWSIZE];
#define DEBUGFLOW(c) if (debugflowsize<(DEBUGFLOWSIZE-1)) debugflow[debugflowsize++]=c
#else
#define DEBUGFLOW(c)
#endif
/* Get periodic prints from idle loop, from clock seconds or rtimer interrupts */
/* Use of rtimer will conflict with other rtimer interrupts such as contikimac radio cycling */
/* STAMPS will print ENERGEST outputs if that is enabled. */
#define PERIODICPRINTS 1
#if PERIODICPRINTS
//#define PINGS 64
#define ROUTES 600
#define STAMPS 60
#define STACKMONITOR 1024
uint32_t clocktime;
#define TESTRTIMER 0
#if TESTRTIMER
uint8_t rtimerflag=1;
struct rtimer rt;
void rtimercycle(void) {rtimerflag=1;}
#endif
#endif
uint16_t ledtimer;
/*-------------------------------------------------------------------------*/
/*----------------------Configuration of the .elf file---------------------*/
#if 1
/* The proper way to set the signature is */
#include <avr/signature.h>
#else
/* Older avr-gcc's may not define the needed SIGNATURE bytes. Do it manually if you get an error */
typedef struct {const unsigned char B2;const unsigned char B1;const unsigned char B0;} __signature_t;
#define SIGNATURE __signature_t __signature __attribute__((section (".signature")))
SIGNATURE = {
.B2 = 0x01,//SIGNATURE_2, //ATMEGA128rfa1
.B1 = 0xA7,//SIGNATURE_1, //128KB flash
.B0 = 0x1E,//SIGNATURE_0, //Atmel
};
#endif
#if 1
/* JTAG, SPI enabled, Internal RC osc, Boot flash size 4K, 6CK+65msec delay, brownout disabled */
FUSES ={.low = 0xe2, .high = 0x99, .extended = 0xff,};
#else
/* JTAG+SPI, Boot 4096 words @ $F000, Internal oscillator, startup 6 CK +0 ms, Brownout 1.8 volts */
FUSES ={.low = 0xC2, .high = 0x99, .extended = 0xfe,};
#endif
uint8_t
rng_get_uint8(void) {
#if 1
/* Upper two RSSI reg bits (RND_VALUE) are random in rf231 */
uint8_t j;
j = (PHY_RSSI&0xc0) + ((PHY_RSSI>>2)&0x30) + ((PHY_RSSI>>4)&0x0c) + ((PHY_RSSI>>6)&0x03);
#else
/* Get a pseudo random number using the ADC */
uint8_t i,j;
ADCSRA=1<<ADEN; //Enable ADC, not free running, interrupt disabled, fastest clock
for (i=0;i<4;i++) {
ADMUX = 0; //toggle reference to increase noise
ADMUX =0x1E; //Select AREF as reference, measure 1.1 volt bandgap reference.
ADCSRA|=1<<ADSC; //Start conversion
while (ADCSRA&(1<<ADSC)); //Wait till done
j = (j<<2) + ADC;
}
ADCSRA=0; //Disable ADC
#endif
PRINTD("rng issues %d\n",j);
return j;
}
/*-------------------------Low level initialization------------------------*/
/*------Done in a subroutine to keep main routine stack usage small--------*/
void initialize(void)
{
watchdog_init();
watchdog_start();
/* The Raven implements a serial command and data interface via uart0 to a 3290p,
* which could be duplicated using another host computer.
*/
#if !RF230BB_CONF_LEDONPORTE1 //Conflicts with USART0
#ifdef RAVEN_LCD_INTERFACE
rs232_init(RS232_PORT_0, USART_BAUD_38400,USART_PARITY_NONE | USART_STOP_BITS_1 | USART_DATA_BITS_8);
rs232_set_input(0,raven_lcd_serial_input);
#else
/* Generic or slip connection on uart0 */
rs232_init(RS232_PORT_0, USART_BAUD_38400,USART_PARITY_NONE | USART_STOP_BITS_1 | USART_DATA_BITS_8);
#endif
#endif
/* Second rs232 port for debugging or slip alternative */
rs232_init(RS232_PORT_1, USART_BAUD_57600,USART_PARITY_NONE | USART_STOP_BITS_1 | USART_DATA_BITS_8);
/* Redirect stdout */
#if RF230BB_CONF_LEDONPORTE1 || defined(RAVEN_LCD_INTERFACE)
rs232_redirect_stdout(RS232_PORT_1);
#else
rs232_redirect_stdout(RS232_PORT_0);
#endif
clock_init();
if(MCUSR & (1<<PORF )) PRINTD("Power-on reset.\n");
if(MCUSR & (1<<EXTRF)) PRINTD("External reset!\n");
if(MCUSR & (1<<BORF )) PRINTD("Brownout reset!\n");
if(MCUSR & (1<<WDRF )) PRINTD("Watchdog reset!\n");
if(MCUSR & (1<<JTRF )) PRINTD("JTAG reset!\n");
#if STACKMONITOR
/* Simple stack pointer highwater monitor. Checks for magic numbers in the main
* loop. In conjuction with PERIODICPRINTS, never-used stack will be printed
* every STACKMONITOR seconds.
*/
{
extern uint16_t __bss_end;
uint16_t p=(uint16_t)&__bss_end;
do {
*(uint16_t *)p = 0x4242;
p+=10;
} while (p<SP-10); //don't overwrite our own stack
}
#endif
#define CONF_CALIBRATE_OSCCAL 0
#if CONF_CALIBRATE_OSCCAL
void calibrate_rc_osc_32k();
{
extern uint8_t osccal_calibrated;
uint8_t i;
PRINTD("\nBefore calibration OSCCAL=%x\n",OSCCAL);
for (i=0;i<10;i++) {
calibrate_rc_osc_32k();
PRINTD("Calibrated=%x\n",osccal_calibrated);
//#include <util/delay_basic.h>
//#define delay_us( us ) ( _delay_loop_2(1+(us*F_CPU)/4000000UL) )
// delay_us(50000);
}
clock_init();
}
#endif
PRINTA("\n*******Booting %s*******\n",CONTIKI_VERSION_STRING);
/* rtimers needed for radio cycling */
rtimer_init();
/* Initialize process subsystem */
process_init();
/* etimers must be started before ctimer_init */
process_start(&etimer_process, NULL);
ctimer_init();
/* Start radio and radio receive process */
NETSTACK_RADIO.init();
/* Get a random seed for the 802.15.4 packet sequence number.
* Some layers will ignore duplicates found in a history (e.g. Contikimac)
* causing the initial packets to be ignored after a short-cycle restart.
*/
random_init(rng_get_uint8());
/* Set addresses BEFORE starting tcpip process */
linkaddr_t addr;
if (params_get_eui64(addr.u8)) {
PRINTA("Random EUI64 address generated\n");
}
#if NETSTACK_CONF_WITH_IPV6
memcpy(&uip_lladdr.addr, &addr.u8, sizeof(linkaddr_t));
#elif WITH_NODE_ID
node_id=get_panaddr_from_eeprom();
addr.u8[1]=node_id&0xff;
addr.u8[0]=(node_id&0xff00)>>8;
PRINTA("Node ID from eeprom: %X\n",node_id);
#endif
linkaddr_set_node_addr(&addr);
rf230_set_pan_addr(params_get_panid(),params_get_panaddr(),(uint8_t *)&addr.u8);
rf230_set_channel(params_get_channel());
rf230_set_txpower(params_get_txpower());
#if NETSTACK_CONF_WITH_IPV6
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]);
#else
PRINTA("MAC address ");
uint8_t i;
for (i=sizeof(linkaddr_t); i>0; i--){
PRINTA("%x:",addr.u8[i-1]);
}
PRINTA("\n");
#endif
/* Initialize stack protocols */
queuebuf_init();
NETSTACK_RDC.init();
NETSTACK_MAC.init();
NETSTACK_NETWORK.init();
#if ANNOUNCE_BOOT
PRINTA("%s %s, channel %u , check rate %u Hz tx power %u\n",NETSTACK_MAC.name, NETSTACK_RDC.name, rf230_get_channel(),
CLOCK_SECOND / (NETSTACK_RDC.channel_check_interval() == 0 ? 1:NETSTACK_RDC.channel_check_interval()),
rf230_get_txpower());
#if UIP_CONF_IPV6_RPL
PRINTA("RPL Enabled\n");
#endif
#if UIP_CONF_ROUTER
PRINTA("Routing Enabled\n");
#endif
#endif /* ANNOUNCE_BOOT */
#if NETSTACK_CONF_WITH_IPV6 || NETSTACK_CONF_WITH_IPV4
process_start(&tcpip_process, NULL);
#endif
#ifdef RAVEN_LCD_INTERFACE
process_start(&raven_lcd_process, NULL);
#endif
/* Autostart other processes */
autostart_start(autostart_processes);
/*---If using coffee file system create initial web content if necessary---*/
#if COFFEE_FILES
int fa = cfs_open( "/index.html", CFS_READ);
if (fa<0) { //Make some default web content
PRINTA("No index.html file found, creating upload.html!\n");
PRINTA("Formatting FLASH file system for coffee...");
cfs_coffee_format();
PRINTA("Done!\n");
fa = cfs_open( "/index.html", CFS_WRITE);
int r = cfs_write(fa, &"It works!", 9);
if (r<0) PRINTA("Can''t create /index.html!\n");
cfs_close(fa);
// fa = cfs_open("upload.html"), CFW_WRITE);
// <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>
}
#endif /* COFFEE_FILES */
/* Add addresses for testing */
#if 0
{
uip_ip6addr_t ipaddr;
uip_ip6addr(&ipaddr, 0xaaaa, 0, 0, 0, 0, 0, 0, 0);
uip_ds6_addr_add(&ipaddr, 0, ADDR_AUTOCONF);
// uip_ds6_prefix_add(&ipaddr,64,0);
}
#endif
/*--------------------------Announce the configuration---------------------*/
#if ANNOUNCE_BOOT
#if AVR_WEBSERVER
{ uint8_t i;
char buf[80];
unsigned int size;
for (i=0;i<UIP_DS6_ADDR_NB;i++) {
if (uip_ds6_if.addr_list[i].isused) {
httpd_cgi_sprint_ip6(uip_ds6_if.addr_list[i].ipaddr,buf);
PRINTA("IPv6 Address: %s\n",buf);
}
}
cli();
eeprom_read_block (buf,eemem_server_name, sizeof(eemem_server_name));
sei();
buf[sizeof(eemem_server_name)]=0;
PRINTA("%s",buf);
cli();
eeprom_read_block (buf,eemem_domain_name, sizeof(eemem_domain_name));
sei();
buf[sizeof(eemem_domain_name)]=0;
size=httpd_fs_get_size();
#ifndef COFFEE_FILES
PRINTA(".%s online with fixed %u byte web content\n",buf,size);
#elif COFFEE_FILES==1
PRINTA(".%s online with static %u byte EEPROM file system\n",buf,size);
#elif COFFEE_FILES==2
PRINTA(".%s online with dynamic %u KB EEPROM file system\n",buf,size>>10);
#elif COFFEE_FILES==3
PRINTA(".%s online with static %u byte program memory file system\n",buf,size);
#elif COFFEE_FILES==4
PRINTA(".%s online with dynamic %u KB program memory file system\n",buf,size>>10);
#endif /* COFFEE_FILES */
}
#else
PRINTA("Online\n");
#endif
#endif /* ANNOUNCE_BOOT */
#if RF230BB_CONF_LEDONPORTE1
/* NB: PORTE1 conflicts with UART0 */
DDRE|=(1<<DDE1); //set led pin to output (Micheal Hatrtman board)
PORTE&=~(1<<PE1); //and low to turn led off
#endif
}
#if ROUTES && NETSTACK_CONF_WITH_IPV6
static void
ipaddr_add(const uip_ipaddr_t *addr)
{
uint16_t a;
int8_t i, f;
for(i = 0, f = 0; i < sizeof(uip_ipaddr_t); i += 2) {
a = (addr->u8[i] << 8) + addr->u8[i + 1];
if(a == 0 && f >= 0) {
if(f++ == 0) PRINTF("::");
} else {
if(f > 0) {
f = -1;
} else if(i > 0) {
PRINTF(":");
}
PRINTF("%x",a);
}
}
}
#endif
/*-------------------------------------------------------------------------*/
/*------------------------- Main Scheduler loop----------------------------*/
/*-------------------------------------------------------------------------*/
int
main(void)
{
#if NETSTACK_CONF_WITH_IPV6
uip_ds6_nbr_t *nbr;
#endif /* NETSTACK_CONF_WITH_IPV6 */
initialize();
while(1) {
process_run();
watchdog_periodic();
/* Turn off LED after a while */
if (ledtimer) {
if (--ledtimer==0) {
#if RF230BB_CONF_LEDONPORTE1
PORTE&=~(1<<PE1);
#endif
#if defined(RAVEN_LCD_INTERFACE)&&0
/* ledtimer can be set by received ping; ping the other way for testing */
extern void raven_ping6(void);
raven_ping6();
#endif
}
}
#if 0
/* Various entry points for debugging in the AVR Studio simulator.
* Set as next statement and step into the routine.
*/
NETSTACK_RADIO.send(packetbuf_hdrptr(), 42);
process_poll(&rf230_process);
packetbuf_clear();
len = rf230_read(packetbuf_dataptr(), PACKETBUF_SIZE);
packetbuf_set_datalen(42);
NETSTACK_RDC.input();
#endif
#if 0
/* Clock.c can trigger a periodic PLL calibration in the RF230BB driver.
* This can show when that happens.
*/
extern uint8_t rf230_calibrated;
if (rf230_calibrated) {
PRINTD("\nRF230 calibrated!\n");
rf230_calibrated=0;
}
#endif
/* Set DEBUGFLOWSIZE in contiki-conf.h to track path through MAC, RDC, and RADIO */
#if DEBUGFLOWSIZE
if (debugflowsize) {
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;
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;
PRINTF("\nRoutes [%u max]\n",UIP_DS6_ROUTE_NB);
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);
}
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