659 lines
18 KiB
C
659 lines
18 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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* Reworked for avr-rss2 platform. Robert Olsson <robert@radio-sensors.com>
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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 "rss2.h"
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#include "leds.h"
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#include "i2c.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
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rtimercycle(void)
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{
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rtimerflag = 1;
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}
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#endif
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#endif
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uint16_t node_id; /* Can be set by cooja */
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uint16_t ledtimer_red, ledtimer_yellow;
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uint16_t i2c_probed; /* i2c devices we have probed */
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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;
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const unsigned char B1;
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const unsigned char B0;
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} __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, Internal RC osc, Boot flash size 4K, 6CK+65msec delay, brownout disabled */
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FUSES = { .low = 0xe2, .high = 0x99, .extended = 0xff, };
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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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uint8_t
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rng_get_uint8(void)
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{
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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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/*-------------------------Low level initialization------------------------*/
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/*------Done in a subroutine to keep main routine stack usage small--------*/
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void
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initialize(void)
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{
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watchdog_init();
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watchdog_start();
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leds_init();
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rs232_init(RS232_PORT_0, RS232_BAUDRATE, USART_PARITY_NONE | USART_STOP_BITS_1 | USART_DATA_BITS_8);
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rs232_redirect_stdout(RS232_PORT_0);
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#if 0
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/* Do it my way... */
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//UBRR0L = 8; UBRR0H = 0; UCSR0A = (0 << U2X0); // 115.2k err=-3.5%
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//UBRR0L = 16; UBRR0H = 0; UCSR0A = (1 << U2X0); // 115.2k 2.1%
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//UBRR0L = 3; UBRR0H = 0; UCSR0A = (1 << U2X0); // 500k 0%
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#endif
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clock_init();
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if(MCUSR & (1 << PORF)) {
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PRINTD("Power-on reset.\n");
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}
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if(MCUSR & (1 << EXTRF)) {
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PRINTD("External reset!\n");
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}
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if(MCUSR & (1 << BORF)) {
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PRINTD("Brownout reset!\n");
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}
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if(MCUSR & (1 << WDRF)) {
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PRINTD("Watchdog reset!\n");
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}
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if(MCUSR & (1 << JTRF)) {
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PRINTD("JTAG reset!\n");
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}
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i2c_init(100000); /* 100 bit/s */
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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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/* we can initialize the energest arrays here */
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energest_init();
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/* after the timer intitialisation we start the cpu measurement */
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ENERGEST_ON(ENERGEST_TYPE_CPU);
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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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/* After process start */
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serial_line_init();
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rs232_set_input(RS232_PORT_0, serial_line_input_byte);
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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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char eui64[8];
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printf("I2C: ");
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i2c_probed = i2c_probe();
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printf("\n");
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if( i2c_probed & I2C_AT24MAC ) {
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i2c_at24mac_read((char *)&eui64, 1);
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linkaddr_set_node_addr((linkaddr_t *) &eui64);
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node_id = (eui64[1] << 8) + eui64[7];
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}
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else {
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printf("Random EUI64 address generated\n");
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eui64[0] = 0xfc; /* Atmels OUI */
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eui64[1] = 0xc2;
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eui64[2] = 0x3d;
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eui64[3] = 0;
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eui64[4] = 0;
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eui64[5] = 0;
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eui64[6] = node_id >> 8;
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eui64[7] = node_id & 0xff;
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linkaddr_set_node_addr((linkaddr_t *)&eui64);
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}
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/* memcpy(&uip_lladdr.addr, &addr.u8, sizeof(linkaddr_t)); */
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#if NETSTACK_CONF_WITH_IPV6
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memcpy(&addr.u8, &eui64, sizeof(linkaddr_t));
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memcpy(&uip_lladdr.addr, &addr.u8, sizeof(linkaddr_t));
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#endif
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#ifdef IEEE802154_CONF_PANID
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rf230_set_pan_addr(IEEE802154_CONF_PANID, params_get_panaddr(), (uint8_t *)&addr.u8);
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#else
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rf230_set_pan_addr(params_get_panid(), params_get_panaddr(), (uint8_t *)&addr.u8);
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#endif
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#ifdef CHANNEL_CONF_802_15_4
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rf230_set_channel(CHANNEL_CONF_802_15_4);
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#else
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rf230_set_channel(params_get_channel());
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#endif
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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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addr.u8[0] = eui64[1] ;
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addr.u8[1] = eui64[7];
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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("PAN=0x%X, XMAC=%s, RDC=%s, NETWORK=%s, channel=%-u, check-rate-Hz=%-u, tx-power=%-u\n", rf230_get_panid(),
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NETSTACK_MAC.name, NETSTACK_RDC.name, NETSTACK_NETWORK.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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/* 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) {
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PRINTA("Can''t create /index.html!\n");
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}
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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, 0xfd00, 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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ledtimer_red = 1000;
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leds_on(LEDS_RED);
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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) {
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PRINTF("::");
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}
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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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/* Turn off LED's */
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if(ledtimer_red) {
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if(--ledtimer_red == 0) {
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leds_off(LEDS_RED);
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}
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}
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if(ledtimer_yellow) {
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if(--ledtimer_yellow == 0) {
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leds_off(LEDS_YELLOW);
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}
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}
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leds_off(LEDS_RED);
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leds_off(LEDS_YELLOW);
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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;
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PRINTF("%s", debugflow);
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debugflowsize = 0;
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}
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#endif
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#if PERIODICPRINTS
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#if TESTRTIMER
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/* Timeout can be increased up to 8 seconds maximum.
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* A one second cycle is convenient for triggering the various debug printouts.
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* The triggers are staggered to avoid printing everything at once.
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*/
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if(rtimerflag) {
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rtimer_set(&rt, RTIMER_NOW() + RTIMER_ARCH_SECOND * 1UL, 1, (void *)rtimercycle, NULL);
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rtimerflag = 0;
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#else
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if(clocktime != clock_seconds()) {
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clocktime = clock_seconds();
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#endif
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#if STAMPS
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if((clocktime % STAMPS) == 0) {
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#if ENERGEST_CONF_ON
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#include "lib/print-stats.h"
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print_stats();
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#elif RADIOSTATS
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extern volatile unsigned long radioontime;
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PRINTF("%u(%u)s\n", clocktime, radioontime);
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#else
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PRINTF("%us\n", clocktime);
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#endif
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}
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#endif
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#if TESTRTIMER
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clocktime += 1;
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#endif
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#if PINGS && NETSTACK_CONF_WITH_IPV6
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extern void raven_ping6(void);
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if((clocktime % PINGS) == 1) {
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PRINTF("**Ping\n");
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raven_ping6();
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}
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#endif
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#if ROUTES && NETSTACK_CONF_WITH_IPV6
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if((clocktime % ROUTES) == 2) {
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extern uip_ds6_netif_t uip_ds6_if;
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uint8_t i, j;
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PRINTF("\nAddresses [%u max]\n", UIP_DS6_ADDR_NB);
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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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ipaddr_add(&uip_ds6_if.addr_list[i].ipaddr);
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PRINTF("\n");
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}
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}
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PRINTF("\nNeighbors [%u max]\n", NBR_TABLE_MAX_NEIGHBORS);
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j = 0;
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for(nbr = nbr_table_head(ds6_neighbors);
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nbr != NULL;
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nbr = nbr_table_next(ds6_neighbors, nbr)) {
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ipaddr_add(&nbr->ipaddr);
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PRINTF("\n");
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j++;
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}
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if(!j) {
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PRINTF(" <none>");
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}
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PRINTF("\nRoutes [%u max]\n", UIP_DS6_ROUTE_NB);
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{
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uip_ds6_route_t *r;
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j = 0;
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for(r = uip_ds6_route_head();
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r != NULL;
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r = uip_ds6_route_next(r)) {
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ipaddr_add(&r->ipaddr);
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PRINTF("/%u (via ", r->length);
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ipaddr_add(uip_ds6_route_nexthop(r));
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PRINTF(") %lus\n", r->state.lifetime);
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j++;
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}
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}
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if(!j) {
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PRINTF(" <none>");
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}
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PRINTF("\n---------\n");
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}
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#endif
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#if STACKMONITOR
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if((clocktime % STACKMONITOR) == 3) {
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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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if(*(uint16_t *)p != 0x4242) {
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PRINTF("Never-used stack > %d bytes\n", p - (uint16_t)&__bss_end);
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break;
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}
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p += 10;
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} while(p < RAMEND - 10);
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}
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#endif
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}
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#endif /* PERIODICPRINTS */
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#if RF230BB && 0
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extern uint8_t rf230processflag;
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if(rf230processflag) {
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PRINTF("rf230p%d", rf230processflag);
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rf230processflag = 0;
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}
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#endif
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#if RF230BB && 0
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extern uint8_t rf230_interrupt_flag;
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if(rf230_interrupt_flag) {
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/* if (rf230_interrupt_flag!=11) { */
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PRINTF("**RI%u", rf230_interrupt_flag);
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/* } */
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rf230_interrupt_flag = 0;
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}
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#endif
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}
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return 0;
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}
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/*---------------------------------------------------------------------------*/
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void
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log_message(char *m1, char *m2)
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{
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PRINTF("%s%s\n", m1, m2);
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}
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