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

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/*
* Copyright (c) 2006, 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.
*
* @(#)$Id: contiki-sky-main.c,v 1.35 2008/09/14 20:47:30 joxe Exp $
*/
#include <signal.h>
#include <stdio.h>
#include <string.h>
#include <io.h>
#include "contiki.h"
#include "dev/button-sensor.h"
#include "dev/ds2411.h"
#include "dev/leds.h"
#include "dev/light.h"
#include "dev/serial.h"
#include "dev/sht11.h"
#include "dev/cc2420.h"
#include "dev/slip.h"
#include "dev/uart1.h"
#include "dev/watchdog.h"
#include "dev/xmem.h"
#include "net/mac/nullmac.h"
#include "net/mac/xmac.h"
#include "net/rime.h"
#include "node-id.h"
#include "sys/autostart.h"
#include "sys/profile.h"
SENSORS(&button_sensor);
#ifndef WITH_UIP
#define WITH_UIP 0
#endif
#if WITH_UIP
#include "net/uip.h"
#include "net/uip-fw.h"
#include "net/uip-fw-drv.h"
#include "net/uip-over-mesh.h"
static struct uip_fw_netif slipif =
{UIP_FW_NETIF(192,168,1,2, 255,255,255,255, slip_send)};
static struct uip_fw_netif meshif =
{UIP_FW_NETIF(172,16,0,0, 255,255,0,0, uip_over_mesh_send)};
#define SLIP_TRICKLE_CHANNEL 8
#define UIP_OVER_MESH_CHANNEL 9
#endif /* WITH_UIP */
#ifdef EXPERIMENT_SETUP
#include "experiment-setup.h"
#endif
/*---------------------------------------------------------------------------*/
#if 0
int
force_float_inclusion()
{
extern int __fixsfsi;
extern int __floatsisf;
extern int __mulsf3;
extern int __subsf3;
return __fixsfsi + __floatsisf + __mulsf3 + __subsf3;
}
#endif
/*---------------------------------------------------------------------------*/
void uip_log(char *msg) { puts(msg); }
/*---------------------------------------------------------------------------*/
/* Radio stuff in network byte order. */
static u16_t panId = 0x2024;
#ifndef RF_CHANNEL
#define RF_CHANNEL 26
#endif
/*---------------------------------------------------------------------------*/
void
force_inclusion(int d1, int d2)
{
snprintf(NULL, 0, "%d", d1 % d2);
}
/*---------------------------------------------------------------------------*/
static void
set_rime_addr(void)
{
rimeaddr_t addr;
int i;
memset(&addr, 0, sizeof(rimeaddr_t));
if(node_id == 0) {
for(i = 0; i < sizeof(rimeaddr_t); ++i) {
addr.u8[i] = ds2411_id[7 - i];
}
} else {
addr.u8[0] = node_id & 0xff;
addr.u8[1] = node_id >> 8;
}
rimeaddr_set_node_addr(&addr);
printf("Rime started with address %d.%d\n", addr.u8[0], addr.u8[1]);
}
/*---------------------------------------------------------------------------*/
static void
print_processes(struct process * const processes[])
{
/* const struct process * const * p = processes;*/
printf("Starting");
while(*processes != NULL) {
printf(" '%s'", (*processes)->name);
processes++;
}
putchar('\n');
}
/*--------------------------------------------------------------------------*/
#if WITH_UIP
struct gateway_msg {
rimeaddr_t gateway;
};
static uint8_t is_gateway;
static void
trickle_recv(struct trickle_conn *c)
{
struct gateway_msg *msg;
msg = rimebuf_dataptr();
printf("%d.%d: gateway message: %d.%d\n",
rimeaddr_node_addr.u8[0], rimeaddr_node_addr.u8[1],
msg->gateway.u8[0], msg->gateway.u8[1]);
if(!is_gateway) {
uip_over_mesh_set_gateway(&msg->gateway);
} else {
/* We've received an erroneous message so we send out our own. */
rimeaddr_copy(&msg->gateway, &rimeaddr_node_addr);
rimebuf_copyfrom(msg, sizeof(struct gateway_msg));
trickle_send(c);
}
}
const static struct trickle_callbacks trickle_call = {trickle_recv};
static struct trickle_conn trickle;
/*---------------------------------------------------------------------------*/
static void
set_gateway(void)
{
struct gateway_msg msg;
/* Make this node the gateway node, unless it already is the
gateway. */
if(!is_gateway) {
leds_on(LEDS_RED);
printf("%d.%d: making myself the gateway\n",
rimeaddr_node_addr.u8[0], rimeaddr_node_addr.u8[1]);
uip_over_mesh_set_gateway(&rimeaddr_node_addr);
rimeaddr_copy(&(msg.gateway), &rimeaddr_node_addr);
rimebuf_copyfrom(&msg, sizeof(struct gateway_msg));
trickle_send(&trickle);
is_gateway = 1;
}
}
#endif /* WITH_UIP */
/*---------------------------------------------------------------------------*/
int
main(int argc, char **argv)
{
/*
* Initalize hardware.
*/
msp430_cpu_init();
clock_init();
leds_init();
leds_on(LEDS_RED);
uart1_init(BAUD2UBR(115200)); /* Must come before first printf */
#if WITH_UIP
slip_arch_init(BAUD2UBR(115200));
#endif /* WITH_UIP */
leds_on(LEDS_GREEN);
ds2411_init();
leds_on(LEDS_BLUE);
xmem_init();
leds_off(LEDS_RED);
rtimer_init();
/*
* Hardware initialization done!
*/
/* Restore node id if such has been stored in external mem */
node_id_restore();
leds_off(LEDS_BLUE);
/*
* Initialize Contiki and our processes.
*/
process_init();
process_start(&etimer_process, NULL);
process_start(&sensors_process, NULL);
/*
* Initialize light and humitity/temp sensors.
*/
sensors_light_init();
sht11_init();
ctimer_init();
cc2420_init();
cc2420_set_pan_addr(panId, 0 /*XXX*/, ds2411_id);
cc2420_set_channel(RF_CHANNEL);
#if WITH_NULLMAC
rime_init(nullmac_init(&cc2420_driver));
#else
rime_init(xmac_init(&cc2420_driver));
#endif
printf(CONTIKI_VERSION_STRING " started. ");
if(node_id > 0) {
printf("Node id is set to %u.\n", node_id);
} else {
printf("Node id is not set.\n");
}
set_rime_addr();
printf("MAC %02x:%02x:%02x:%02x:%02x:%02x:%02x:%02x\n",
ds2411_id[0], ds2411_id[1], ds2411_id[2], ds2411_id[3],
ds2411_id[4], ds2411_id[5], ds2411_id[6], ds2411_id[7]);
#if WITH_UIP
{
uip_ipaddr_t hostaddr, netmask;
uip_init();
uip_ipaddr(&hostaddr, 172,16,
rimeaddr_node_addr.u8[0],rimeaddr_node_addr.u8[1]);
uip_ipaddr(&netmask, 255,255,0,0);
uip_ipaddr_copy(&meshif.ipaddr, &hostaddr);
uip_sethostaddr(&hostaddr);
uip_setnetmask(&netmask);
uip_over_mesh_set_net(&hostaddr, &netmask);
/* uip_fw_register(&slipif);*/
uip_over_mesh_set_gateway_netif(&slipif);
uip_fw_default(&meshif);
uip_over_mesh_init(UIP_OVER_MESH_CHANNEL);
printf("uIP started with IP address %d.%d.%d.%d\n",
uip_ipaddr_to_quad(&hostaddr));
}
#endif /* WITH_UIP */
#if !WITH_UIP
uart1_set_input(serial_input_byte);
serial_init();
#endif
#if PROFILE_CONF_ON
profile_init();
#endif /* PROFILE_CONF_ON */
leds_off(LEDS_GREEN);
timesynch_init();
timesynch_set_authority_level(rimeaddr_node_addr.u8[0]);
#if WITH_UIP
process_start(&tcpip_process, NULL);
process_start(&uip_fw_process, NULL); /* Start IP output */
process_start(&slip_process, NULL);
trickle_open(&trickle, CLOCK_SECOND * 4, SLIP_TRICKLE_CHANNEL,
&trickle_call);
slip_set_input_callback(set_gateway);
#endif /* WITH_UIP */
button_sensor.activate();
energest_init();
ENERGEST_ON(ENERGEST_TYPE_CPU);
print_processes(autostart_processes);
autostart_start(autostart_processes);
/*
* This is the scheduler loop.
*/
watchdog_start();
/* watchdog_stop();*/
while (1) {
int r;
#if PROFILE_CONF_ON
profile_episode_start();
#endif /* PROFILE_CONF_ON */
do {
/* Reset watchdog. */
watchdog_periodic();
r = process_run();
} while(r > 0);
#if PROFILE_CONF_ON
profile_episode_end();
#endif /* PROFILE_CONF_ON */
/*
* Idle processing.
*/
int s = splhigh(); /* Disable interrupts. */
if(process_nevents() != 0) {
splx(s); /* Re-enable interrupts. */
} else {
static unsigned long irq_energest = 0;
/* Re-enable interrupts and go to sleep atomically. */
ENERGEST_OFF(ENERGEST_TYPE_CPU);
ENERGEST_ON(ENERGEST_TYPE_LPM);
/* We only want to measure the processing done in IRQs when we
are asleep, so we discard the processing time done when we
were awake. */
energest_type_set(ENERGEST_TYPE_IRQ, irq_energest);
watchdog_stop();
_BIS_SR(GIE | SCG0 | /*SCG1 | */CPUOFF); /* LPM3 sleep. This
statement will block
until the CPU is
woken up by an
interrupt that sets
the wake up flag. */
/* We get the current processing time for interrupts that was
done during the LPM and store it for next time around. */
dint();
irq_energest = energest_type_time(ENERGEST_TYPE_IRQ);
eint();
watchdog_start();
ENERGEST_OFF(ENERGEST_TYPE_LPM);
ENERGEST_ON(ENERGEST_TYPE_CPU);
}
}
return 0;
}
/*---------------------------------------------------------------------------*/
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