376 lines
11 KiB
C
376 lines
11 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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* @(#)$$
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*/
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/**
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* \file
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* Contiki 2.4 kernel for Jackdaw USB stick
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*
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* \author
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* Simon Barner <barner@in.tum.de>
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* David Kopf <dak664@embarqmail.com>
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*/
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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 <util/delay.h>
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#include <stdio.h>
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#include <string.h>
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#if RF230BB //radio driver using contiki core mac
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#include "radio/rf230bb/rf230bb.h"
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#include "net/mac/frame802154.h"
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#else //radio driver using Atmel/Cisco 802.15.4'ish MAC
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#include <stdbool.h>
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#include "mac.h"
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#include "sicslowmac.h"
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#include "sicslowpan.h"
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#include "ieee-15-4-manager.h"
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#endif /*RF230BB*/
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#include "lib/mmem.h"
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#include "loader/symbols-def.h"
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#include "loader/symtab.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 "contiki-raven.h"
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/* Set ANNOUNCE to send boot messages to USB or serial port */
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#define ANNOUNCE 1
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#ifndef USB_CONF_CDC
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#define USB_CONF_RS232 1
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#endif
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#if USB_CONF_RS232
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#include "dev/rs232.h"
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#endif
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#include "usb_task.h"
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#if USB_CONF_CDC
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#include "serial/cdc_task.h"
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#endif
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#include "rndis/rndis_task.h"
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#if USB_CONF_STORAGE
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#include "storage/storage_task.h"
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#endif
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#if RF230BB
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#define UIP_IP_BUF ((struct uip_ip_hdr *)&uip_buf[UIP_LLH_LEN])
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extern int rf230_interrupt_flag;
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extern uint8_t rf230processflag;
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rimeaddr_t addr,macLongAddr;
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#endif /* RF230BB */
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/* Test rtimers, also useful for pings and time stamps in simulator */
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#define TESTRTIMER 0
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#if TESTRTIMER
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#define PINGS 0
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#define STAMPS 30
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uint8_t rtimerflag=1;
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uint16_t rtime;
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struct rtimer rt;
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void rtimercycle(void) {rtimerflag=1;}
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#endif /* TESTRTIMER */
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/*---------------------------------------------------------------------------*/
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/*--------------------------------- RPL ----------------------------------*/
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/*---------------------------------------------------------------------------*/
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#if UIP_CONF_IPV6_RPL
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#define RPL_BORDER_ROUTER 1 //Set to 1 for border router
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#define PRINTF(FORMAT,args...) printf_P(PSTR(FORMAT),##args)
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//#define PRINTF(...)
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#include "net/rpl/rpl.h"
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#if RPL_BORDER_ROUTER
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uint16_t dag_id[] = {0x1111, 0x1100, 0, 0, 0, 0, 0, 0x0011};
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PROCESS(border_router_process, "Border router process");
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PROCESS_THREAD(border_router_process, ev, data)
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{
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rpl_dag_t *dag;
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PROCESS_BEGIN();
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PROCESS_PAUSE();
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PRINTF("RPL-Border router started\n");
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dag = rpl_set_root((uip_ip6addr_t *)dag_id);
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if(dag != NULL) {
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uip_ip6addr_t ipaddr;
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uip_ip6addr(&ipaddr, 0xaaaa, 0, 0, 0, 0, 0, 0, 0);
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uip_ds6_addr_add(&ipaddr, 0, ADDR_AUTOCONF);
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rpl_set_prefix(dag, &ipaddr, 64);
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PRINTF("created a new RPL dag\n");
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}
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/* The border router runs with a 100% duty cycle in order to ensure high
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packet reception rates. */
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// NETSTACK_MAC.off(1);
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while(1) {
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PROCESS_YIELD();
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// if (ev == sensors_event && data == &button_sensor) {
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// PRINTF("Initiating global repair\n");
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// rpl_repair_dag(rpl_get_dag(RPL_ANY_INSTANCE));
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// }
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}
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PROCESS_END();
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}
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#endif /* RPL_BORDER_ROUTER */
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#endif /* UIP_CONF_IPV6_RPL */
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/*-------------------------------------------------------------------------*/
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/*----------------------Configuration of the .elf file---------------------*/
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typedef struct {unsigned char B2;unsigned char B1;unsigned char B0;} __signature_t;
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#define SIGNATURE __signature_t __signature __attribute__((section (".signature")))
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SIGNATURE = {
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/* Older AVR-GCCs may not define the SIGNATURE_n bytes so use explicit values */
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.B2 = 0x82,//SIGNATURE_2, //AT90USB128x
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.B1 = 0x97,//SIGNATURE_1, //128KB flash
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.B0 = 0x1E,//SIGNATURE_0, //Atmel
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};
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FUSES ={.low = 0xde, .high = 0x99, .extended = 0xff,};
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/* Put default MAC address in EEPROM */
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uint8_t mac_address[8] EEMEM = {0x02, 0x12, 0x13, 0xff, 0xfe, 0x14, 0x15, 0x16};
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//uint8_t EEMEM mac_address[8]; //The raven webserver uses this EEMEM allocation
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//uint8_t EEMEM server_name[16];
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//uint8_t EEMEM domain_name[30];
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/*-------------------------------------------------------------------------*/
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/*-----------------------------Low level initialization--------------------*/
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static void initialize(void) {
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/* Initialize hardware */
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// Currently only used for finger detection for mass storage mode
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#if USB_CONF_STORAGE
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init_lowlevel();
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#endif
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/* Clock */
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clock_init();
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#if USB_CONF_RS232
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/* Use rs232 port for serial out (tx, rx, gnd are the three pads behind jackdaw leds */
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rs232_init(RS232_PORT_0, USART_BAUD_57600,USART_PARITY_NONE | USART_STOP_BITS_1 | USART_DATA_BITS_8);
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/* Redirect stdout to second port */
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rs232_redirect_stdout(RS232_PORT_0);
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#if ANNOUNCE
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printf_P(PSTR("\n\n\n********BOOTING CONTIKI*********\n"));
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#endif
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#endif
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/* rtimer init needed for low power protocols */
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rtimer_init();
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/* Process subsystem. */
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process_init();
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/* etimer process must be started before ctimer init */
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process_start(&etimer_process, NULL);
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#if RF230BB
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ctimer_init();
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/* Start radio and radio receive process */
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/* Note this starts RF230 process, so must be done after process_init */
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NETSTACK_RADIO.init();
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/* Set addresses BEFORE starting tcpip process */
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memset(&addr, 0, sizeof(rimeaddr_t));
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AVR_ENTER_CRITICAL_REGION();
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eeprom_read_block ((void *)&addr.u8, &mac_address, 8);
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AVR_LEAVE_CRITICAL_REGION();
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//RNDIS needs the mac address in reverse byte order
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macLongAddr.u8[0]=addr.u8[7];
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macLongAddr.u8[1]=addr.u8[6];
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macLongAddr.u8[2]=addr.u8[5];
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macLongAddr.u8[3]=addr.u8[4];
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macLongAddr.u8[4]=addr.u8[3];
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macLongAddr.u8[5]=addr.u8[2];
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macLongAddr.u8[6]=addr.u8[1];
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macLongAddr.u8[7]=addr.u8[0];
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memcpy(&uip_lladdr.addr, &addr.u8, 8);
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rf230_set_pan_addr(IEEE802154_PANID, 0, (uint8_t *)&addr.u8);
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rf230_set_channel(26);
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rimeaddr_set_node_addr(&addr);
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// set_rime_addr();
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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 && USB_CONF_RS232
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printf_P(PSTR("MAC address %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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printf_P(PSTR("%s %s, channel %u"),NETSTACK_MAC.name, NETSTACK_RDC.name,rf230_get_channel());
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if (NETSTACK_RDC.channel_check_interval) {
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unsigned short tmp;
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tmp=CLOCK_SECOND / (NETSTACK_RDC.channel_check_interval == 0 ? 1:\
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NETSTACK_RDC.channel_check_interval());
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if (tmp<65535) printf_P(PSTR(", check rate %u Hz"),tmp);
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}
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printf_P(PSTR("\n"));
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#endif
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#if UIP_CONF_IPV6_RPL
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/* Normally tcpip process does this, but we don't have one.
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* A Compiler warning will occur since no rpl.h header include
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* Still experimental, pings work to link local address only
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*/
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// rpl_init();
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#if RPL_BORDER_ROUTER
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process_start(&tcpip_process, NULL);
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process_start(&border_router_process, NULL);
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#else
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PRINTF ("RPL Started\n");
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process_start(&tcpip_process, NULL);
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#endif
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#endif /* UIP_CONF_IPV6_RPL */
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#else /* RF230BB */
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/* The order of starting these is important! */
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process_start(&mac_process, NULL);
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process_start(&tcpip_process, NULL);
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#endif /* RF230BB */
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/* Setup USB */
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process_start(&usb_process, NULL);
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#if USB_CONF_CDC
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process_start(&cdc_process, NULL);
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#endif
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process_start(&rndis_process, NULL);
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#if USB_CONF_STORAGE
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process_start(&storage_process, NULL);
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#endif
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//Fix MAC address
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init_net();
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#if ANNOUNCE
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#if USB_CONF_CDC
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{unsigned short i;
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printf_P(PSTR("\n\n\n********BOOTING CONTIKI*********\n\r"));
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/* Allow USB CDC to keep up with printfs */
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for (i=0;i<8000;i++) process_run();
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#if RF230BB
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printf_P(PSTR("MAC address %x:%x:%x:%x:%x:%x:%x:%x\n\r"),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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for (i=0;i<8000;i++) process_run();
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printf_P(PSTR("%s %s, channel %u"),NETSTACK_MAC.name, NETSTACK_RDC.name,rf230_get_channel());
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if (NETSTACK_RDC.channel_check_interval) {
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i=CLOCK_SECOND / (NETSTACK_RDC.channel_check_interval == 0 ? 1:\
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NETSTACK_RDC.channel_check_interval());
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if (i<65535) printf_P(PSTR(", check rate %u Hz"),i);
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}
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printf_P(PSTR("\n\r"));
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for (i=0;i<8000;i++) process_run();
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#endif /* RF230BB */
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printf_P(PSTR("System online.\n\r"));
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}
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#elif USB_CONF_RS232
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printf_P(PSTR("System online.\n"));
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#endif /* USB_CONF_CDC */
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#endif /* ANNOUNCE */
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}
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/*-------------------------------------------------------------------------*/
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/*---------------------------------Main Routine----------------------------*/
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int
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main(void)
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{
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/* GCC depends on register r1 set to 0 (?) */
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asm volatile ("clr r1");
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/* Initialize in a subroutine to maximize stack space */
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initialize();
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while(1) {
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process_run();
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#if TESTRTIMER
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if (rtimerflag) { //8 seconds is maximum interval, my jackdaw 4% slow
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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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#if STAMPS
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if ((rtime%STAMPS)==0) {
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printf("%us ",rtime);
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}
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#endif
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rtime+=1;
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#if PINGS
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if ((rtime%PINGS)==0) {
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PRINTF("**Ping\n");
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pingsomebody();
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}
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#endif
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}
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#endif /* TESTRTIMER */
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//Use with RF230BB DEBUGFLOW to show path through driver
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//Warning, Jackdaw doesn't handle simultaneous radio and USB interrupts very well.
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#if RF230BB&&0
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extern uint8_t debugflowsize,debugflow[];
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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 RF230BB&&0
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if (rf230processflag) {
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printf("**RF230 process flag %u\n\r",rf230processflag);
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rf230processflag=0;
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}
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if (rf230_interrupt_flag) {
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// if (rf230_interrupt_flag!=11) {
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printf("**RF230 Interrupt %u\n\r",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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