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osd-contiki/platform/sensinode/contiki-sensinode-main.c

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9.5 KiB
C
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#include "contiki.h"
#include "sys/clock.h"
#include "sys/autostart.h"
#include "dev/serial-line.h"
#include "dev/slip.h"
#include "dev/bus.h"
#include "dev/leds.h"
#include "dev/uart1.h"
#include "dev/dma.h"
#include "dev/models.h"
#include "dev/cc2430_rf.h"
#include "dev/watchdog.h"
#include "dev/lpm.h"
#include "net/rime/rime.h"
#include "net/netstack.h"
#include "net/mac/frame802154.h"
#include "debug.h"
#include "stack.h"
#include "dev/watchdog-cc2430.h"
#include "dev/sensinode-sensors.h"
#include "disco.h"
#include "contiki-lib.h"
#include "contiki-net.h"
unsigned short node_id = 0; /* Manually sets MAC address when > 0 */
#if VIZTOOL_CONF_ON
PROCESS_NAME(viztool_process);
#endif
#if BATMON_CONF_ON
PROCESS_NAME(batmon_process);
#endif
#if NETSTACK_CONF_SHORTCUTS
static CC_AT_DATA uint16_t len;
#endif
#ifdef STARTUP_CONF_VERBOSE
#define STARTUP_VERBOSE STARTUP_CONF_VERBOSE
#else
#define STARTUP_VERBOSE 0
#endif
#if STARTUP_VERBOSE
#define PUTSTRING(...) putstring(__VA_ARGS__)
#define PUTHEX(...) puthex(__VA_ARGS__)
#define PUTBIN(...) putbin(__VA_ARGS__)
#define PUTCHAR(...) putchar(__VA_ARGS__)
#else
#define PUTSTRING(...) do {} while(0)
#define PUTHEX(...) do {} while(0)
#define PUTBIN(...) do {} while(0)
#define PUTCHAR(...) do {} while(0)
#endif
#if CLOCK_CONF_STACK_FRIENDLY
extern volatile uint8_t sleep_flag;
#endif
extern linkaddr_t linkaddr_node_addr;
#if ENERGEST_CONF_ON
static unsigned long irq_energest = 0;
#define ENERGEST_IRQ_SAVE(a) do { \
a = energest_type_time(ENERGEST_TYPE_IRQ); } while(0)
#define ENERGEST_IRQ_RESTORE(a) do { \
energest_type_set(ENERGEST_TYPE_IRQ, a); } while(0)
#else
#define ENERGEST_IRQ_SAVE(a) do {} while(0)
#define ENERGEST_IRQ_RESTORE(a) do {} while(0)
#endif
/*---------------------------------------------------------------------------*/
static void
fade(int l) CC_NON_BANKED
{
volatile int i, a;
int k, j;
for(k = 0; k < 400; ++k) {
j = k > 200 ? 400 - k : k;
leds_on(l);
for(i = 0; i < j; ++i) {
a = i;
}
leds_off(l);
for(i = 0; i < 200 - j; ++i) {
a = i;
}
}
}
/*---------------------------------------------------------------------------*/
static void
set_rime_addr(void) CC_NON_BANKED
{
uint8_t *addr_long = NULL;
uint16_t addr_short = 0;
char i;
__code unsigned char *macp;
PUTSTRING("Rime is 0x");
PUTHEX(sizeof(linkaddr_t));
PUTSTRING(" bytes long\n");
if(node_id == 0) {
PUTSTRING("Reading MAC from flash\n");
/*
* The MAC is always stored in 0x1FFF8 of our flash. This maps to address
* 0xFFF8 of our CODE segment, when BANK3 is selected.
* Switch to BANK3, read 8 bytes starting at 0xFFF8 and restore last BANK
* Since we are called from main(), this MUST be BANK1 or something is very
* wrong. This code can be used even without banking
*/
/* Don't interrupt us to make sure no BANK switching happens while working */
DISABLE_INTERRUPTS();
/* Switch to BANK3, map CODE: 0x8000 - 0xFFFF to FLASH: 0x18000 - 0x1FFFF */
FMAP = 3;
/* Set our pointer to the correct address and fetch 8 bytes of MAC */
macp = (__code unsigned char *)0xFFF8;
for(i = (LINKADDR_SIZE - 1); i >= 0; --i) {
linkaddr_node_addr.u8[i] = *macp;
macp++;
}
/* Remap 0x8000 - 0xFFFF to BANK1 */
FMAP = 1;
ENABLE_INTERRUPTS();
} else {
PUTSTRING("Setting manual address from node_id\n");
linkaddr_node_addr.u8[LINKADDR_SIZE - 1] = node_id >> 8;
linkaddr_node_addr.u8[LINKADDR_SIZE - 2] = node_id & 0xff;
}
/* Now the address is stored MSB first */
#if STARTUP_VERBOSE
PUTSTRING("Rime configured with address ");
for(i = 0; i < LINKADDR_SIZE - 1; i++) {
PUTHEX(linkaddr_node_addr.u8[i]);
PUTCHAR(':');
}
PUTHEX(linkaddr_node_addr.u8[i]);
PUTCHAR('\n');
#endif
/* Set the cc2430 RF addresses */
#if (LINKADDR_SIZE==8)
addr_short = (linkaddr_node_addr.u8[6] * 256) + linkaddr_node_addr.u8[7];
addr_long = (uint8_t *) &linkaddr_node_addr;
#else
addr_short = (linkaddr_node_addr.u8[0] * 256) + linkaddr_node_addr.u8[1];
#endif
cc2430_rf_set_addr(IEEE802154_PANID, addr_short, addr_long);
}
/*---------------------------------------------------------------------------*/
int
main(void)
{
/* Hardware initialization */
bus_init();
rtimer_init();
stack_poison();
/* model-specific h/w init. */
model_init();
/* Init LEDs here */
leds_init();
fade(LEDS_GREEN);
/* initialize process manager. */
process_init();
/* Init UART1 */
uart1_init();
#if DMA_ON
dma_init();
#endif
#if SLIP_ARCH_CONF_ENABLE
/* On cc2430, the argument is not used */
slip_arch_init(0);
#else
uart1_set_input(serial_line_input_byte);
serial_line_init();
#endif
PUTSTRING("##########################################\n");
putstring(CONTIKI_VERSION_STRING "\n");
putstring(SENSINODE_MODEL " (CC24");
puthex(((CHIPID >> 3) | 0x20));
putstring("-" FLASH_SIZE ")\n");
#if STARTUP_VERBOSE
#ifdef HAVE_SDCC_BANKING
PUTSTRING(" With Banking.\n");
#endif /* HAVE_SDCC_BANKING */
#ifdef SDCC_MODEL_LARGE
PUTSTRING(" --model-large\n");
#endif /* SDCC_MODEL_LARGE */
#ifdef SDCC_MODEL_HUGE
PUTSTRING(" --model-huge\n");
#endif /* SDCC_MODEL_HUGE */
#ifdef SDCC_STACK_AUTO
PUTSTRING(" --stack-auto\n");
#endif /* SDCC_STACK_AUTO */
PUTCHAR('\n');
PUTSTRING(" Net: ");
PUTSTRING(NETSTACK_NETWORK.name);
PUTCHAR('\n');
PUTSTRING(" MAC: ");
PUTSTRING(NETSTACK_MAC.name);
PUTCHAR('\n');
PUTSTRING(" RDC: ");
PUTSTRING(NETSTACK_RDC.name);
PUTCHAR('\n');
PUTSTRING("##########################################\n");
#endif
watchdog_init();
/* Initialise the cc2430 RNG engine. */
random_init(0);
/* start services */
process_start(&etimer_process, NULL);
ctimer_init();
/* initialize the netstack */
netstack_init();
set_rime_addr();
#if BUTTON_SENSOR_ON || ADC_SENSOR_ON
process_start(&sensors_process, NULL);
sensinode_sensors_activate();
#endif
#if NETSTACK_CONF_WITH_IPV6
memcpy(&uip_lladdr.addr, &linkaddr_node_addr, sizeof(uip_lladdr.addr));
queuebuf_init();
process_start(&tcpip_process, NULL);
#if DISCO_ENABLED
process_start(&disco_process, NULL);
#endif /* DISCO_ENABLED */
#if VIZTOOL_CONF_ON
process_start(&viztool_process, NULL);
#endif
#if (!UIP_CONF_IPV6_RPL)
{
uip_ipaddr_t ipaddr;
uip_ip6addr(&ipaddr, 0x2001, 0x630, 0x301, 0x6453, 0, 0, 0, 0);
uip_ds6_set_addr_iid(&ipaddr, &uip_lladdr);
uip_ds6_addr_add(&ipaddr, 0, ADDR_TENTATIVE);
}
#endif /* UIP_CONF_IPV6_RPL */
#endif /* NETSTACK_CONF_WITH_IPV6 */
/*
* Acknowledge the UART1 RX interrupt
* now that we're sure we are ready to process it
*/
model_uart_intr_en();
energest_init();
ENERGEST_ON(ENERGEST_TYPE_CPU);
fade(LEDS_RED);
#if BATMON_CONF_ON
process_start(&batmon_process, NULL);
#endif
autostart_start(autostart_processes);
watchdog_start();
while(1) {
uint8_t r;
do {
/* Reset watchdog and handle polls and events */
watchdog_periodic();
#if CLOCK_CONF_STACK_FRIENDLY
if(sleep_flag) {
if(etimer_pending() &&
(etimer_next_expiration_time() - clock_time() - 1) > MAX_TICKS) {
etimer_request_poll();
}
sleep_flag = 0;
}
#endif
r = process_run();
} while(r > 0);
#if NETSTACK_CONF_SHORTCUTS
len = NETSTACK_RADIO.pending_packet();
if(len) {
packetbuf_clear();
len = NETSTACK_RADIO.read(packetbuf_dataptr(), PACKETBUF_SIZE);
if(len > 0) {
packetbuf_set_datalen(len);
NETSTACK_RDC.input();
}
}
#endif
#if LPM_MODE
#if (LPM_MODE==LPM_MODE_PM2)
SLEEP &= ~OSC_PD; /* Make sure both HS OSCs are on */
while(!(SLEEP & HFRC_STB)); /* Wait for RCOSC to be stable */
CLKCON |= OSC; /* Switch to the RCOSC */
while(!(CLKCON & OSC)); /* Wait till it's happened */
SLEEP |= OSC_PD; /* Turn the other one off */
#endif /* LPM_MODE==LPM_MODE_PM2 */
/*
* Set MCU IDLE or Drop to PM1. Any interrupt will take us out of LPM
* Sleep Timer will wake us up in no more than 7.8ms (max idle interval)
*/
SLEEP = (SLEEP & 0xFC) | (LPM_MODE - 1);
#if (LPM_MODE==LPM_MODE_PM2)
/*
* Wait 3 NOPs. Either an interrupt occurred and SLEEP.MODE was cleared or
* no interrupt occurred and we can safely power down
*/
__asm
nop
nop
nop
__endasm;
if(SLEEP & SLEEP_MODE0) {
#endif /* LPM_MODE==LPM_MODE_PM2 */
ENERGEST_OFF(ENERGEST_TYPE_CPU);
ENERGEST_ON(ENERGEST_TYPE_LPM);
/* We are only interested in IRQ energest while idle or in LPM */
ENERGEST_IRQ_RESTORE(irq_energest);
/* Go IDLE or Enter PM1 */
PCON |= IDLE;
/* First instruction upon exiting PM1 must be a NOP */
__asm
nop
__endasm;
/* Remember energest IRQ for next pass */
ENERGEST_IRQ_SAVE(irq_energest);
ENERGEST_ON(ENERGEST_TYPE_CPU);
ENERGEST_OFF(ENERGEST_TYPE_LPM);
#if (LPM_MODE==LPM_MODE_PM2)
SLEEP &= ~OSC_PD; /* Make sure both HS OSCs are on */
while(!(SLEEP & XOSC_STB)); /* Wait for XOSC to be stable */
CLKCON &= ~OSC; /* Switch to the XOSC */
/*
* On occasion the XOSC is reported stable when in reality it's not.
* We need to wait for a safeguard of 64us or more before selecting it
*/
clock_delay_usec(65);
while(CLKCON & OSC); /* Wait till it's happened */
}
#endif /* LPM_MODE==LPM_MODE_PM2 */
#endif /* LPM_MODE */
}
}
/*---------------------------------------------------------------------------*/
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