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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 1.87 2011/01/09 21:03:42 adamdunkels Exp $
*/
#include <stdio.h>
#include <string.h>
#include "contiki.h"
#include "dev/cc2420.h"
#include "dev/ds2411.h"
#include "dev/leds.h"
#include "dev/serial-line.h"
#include "dev/slip.h"
#include "dev/uart1.h"
#include "dev/watchdog.h"
#include "dev/xmem.h"
#include "lib/random.h"
#include "net/netstack.h"
#include "net/mac/frame802154.h"
#if WITH_UIP6
#include "net/uip-ds6.h"
#endif /* WITH_UIP6 */
#include "net/rime.h"
#include "node-id.h"
#include "cfs-coffee-arch.h"
#include "cfs/cfs-coffee.h"
#include "sys/autostart.h"
#include "sys/profile.h"
#if UIP_CONF_ROUTER
#ifndef UIP_ROUTER_MODULE
#ifdef UIP_CONF_ROUTER_MODULE
#define UIP_ROUTER_MODULE UIP_CONF_ROUTER_MODULE
#else /* UIP_CONF_ROUTER_MODULE */
#define UIP_ROUTER_MODULE rimeroute
#endif /* UIP_CONF_ROUTER_MODULE */
#endif /* UIP_ROUTER_MODULE */
extern const struct uip_router UIP_ROUTER_MODULE;
#endif /* UIP_CONF_ROUTER */
#if DCOSYNCH_CONF_ENABLED
static struct timer mgt_timer;
#endif
extern int msp430_dco_required;
#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)};
#endif /* WITH_UIP */
#define UIP_OVER_MESH_CHANNEL 8
#if WITH_UIP
static uint8_t is_gateway;
#endif /* WITH_UIP */
#ifdef EXPERIMENT_SETUP
#include "experiment-setup.h"
#endif
void init_platform(void);
/*---------------------------------------------------------------------------*/
#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); }
/*---------------------------------------------------------------------------*/
#ifndef RF_CHANNEL
#define RF_CHANNEL 26
#endif
/*---------------------------------------------------------------------------*/
#if 0
void
force_inclusion(int d1, int d2)
{
snprintf(NULL, 0, "%d", d1 % d2);
}
#endif
/*---------------------------------------------------------------------------*/
static void
set_rime_addr(void)
{
rimeaddr_t addr;
int i;
memset(&addr, 0, sizeof(rimeaddr_t));
#if UIP_CONF_IPV6
memcpy(addr.u8, ds2411_id, sizeof(addr.u8));
#else
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;
}
#endif
rimeaddr_set_node_addr(&addr);
printf("Rime started with address ");
for(i = 0; i < sizeof(addr.u8) - 1; i++) {
printf("%d.", addr.u8[i]);
}
printf("%d\n", addr.u8[i]);
}
/*---------------------------------------------------------------------------*/
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
static void
set_gateway(void)
{
if(!is_gateway) {
leds_on(LEDS_RED);
printf("%d.%d: making myself the IP network gateway.\n\n",
rimeaddr_node_addr.u8[0], rimeaddr_node_addr.u8[1]);
printf("IPv4 address of the gateway: %d.%d.%d.%d\n\n",
uip_ipaddr_to_quad(&uip_hostaddr));
uip_over_mesh_set_gateway(&rimeaddr_node_addr);
uip_over_mesh_make_announced_gateway();
is_gateway = 1;
}
}
#endif /* WITH_UIP */
/*---------------------------------------------------------------------------*/
#if WITH_TINYOS_AUTO_IDS
uint16_t TOS_NODE_ID = 0x1234; /* non-zero */
uint16_t TOS_LOCAL_ADDRESS = 0x1234; /* non-zero */
#endif /* WITH_TINYOS_AUTO_IDS */
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();
/* XXX hack: Fix it so that the 802.15.4 MAC address is compatible
with an Ethernet MAC address - byte 0 (byte 2 in the DS ID)
cannot be odd. */
ds2411_id[2] &= 0xfe;
leds_on(LEDS_BLUE);
xmem_init();
leds_off(LEDS_RED);
rtimer_init();
/*
* Hardware initialization done!
*/
#if WITH_TINYOS_AUTO_IDS
node_id = TOS_NODE_ID;
#else /* WITH_TINYOS_AUTO_IDS */
/* Restore node id if such has been stored in external mem */
node_id_restore();
#endif /* WITH_TINYOS_AUTO_IDS */
/* for setting "hardcoded" IEEE 802.15.4 MAC addresses */
#ifdef IEEE_802154_MAC_ADDRESS
{
uint8_t ieee[] = IEEE_802154_MAC_ADDRESS;
memcpy(ds2411_id, ieee, sizeof(uip_lladdr.addr));
ds2411_id[7] = node_id & 0xff;
}
#endif
random_init(ds2411_id[0] + node_id);
leds_off(LEDS_BLUE);
/*
* Initialize Contiki and our processes.
*/
process_init();
process_start(&etimer_process, NULL);
ctimer_init();
init_platform();
set_rime_addr();
cc2420_init();
{
uint8_t longaddr[8];
uint16_t shortaddr;
shortaddr = (rimeaddr_node_addr.u8[0] << 8) +
rimeaddr_node_addr.u8[1];
memset(longaddr, 0, sizeof(longaddr));
rimeaddr_copy((rimeaddr_t *)&longaddr, &rimeaddr_node_addr);
printf("MAC %02x:%02x:%02x:%02x:%02x:%02x:%02x:%02x ",
longaddr[0], longaddr[1], longaddr[2], longaddr[3],
longaddr[4], longaddr[5], longaddr[6], longaddr[7]);
cc2420_set_pan_addr(IEEE802154_PANID, shortaddr, longaddr);
}
cc2420_set_channel(RF_CHANNEL);
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");
}
/* printf("MAC %02x:%02x:%02x:%02x:%02x:%02x:%02x:%02x",
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_UIP6
memcpy(&uip_lladdr.addr, ds2411_id, sizeof(uip_lladdr.addr));
/* Setup nullmac-like MAC for 802.15.4 */
/* sicslowpan_init(sicslowmac_init(&cc2420_driver)); */
/* printf(" %s channel %u\n", sicslowmac_driver.name, RF_CHANNEL); */
/* Setup X-MAC for 802.15.4 */
queuebuf_init();
NETSTACK_RDC.init();
NETSTACK_MAC.init();
NETSTACK_NETWORK.init();
printf("%s %s, channel check rate %lu Hz, radio channel %u\n",
NETSTACK_MAC.name, NETSTACK_RDC.name,
CLOCK_SECOND / (NETSTACK_RDC.channel_check_interval() == 0 ? 1:
NETSTACK_RDC.channel_check_interval()),
RF_CHANNEL);
process_start(&tcpip_process, NULL);
printf("Tentative link-local IPv6 address ");
{
uip_ds6_addr_t *lladdr;
int i;
lladdr = uip_ds6_get_link_local(-1);
for(i = 0; i < 7; ++i) {
printf("%02x%02x:", lladdr->ipaddr.u8[i * 2],
lladdr->ipaddr.u8[i * 2 + 1]);
}
printf("%02x%02x\n", lladdr->ipaddr.u8[14], lladdr->ipaddr.u8[15]);
}
if(!UIP_CONF_IPV6_RPL) {
uip_ipaddr_t ipaddr;
int i;
uip_ip6addr(&ipaddr, 0xaaaa, 0, 0, 0, 0, 0, 0, 0);
uip_ds6_set_addr_iid(&ipaddr, &uip_lladdr);
uip_ds6_addr_add(&ipaddr, 0, ADDR_TENTATIVE);
printf("Tentative global IPv6 address ");
for(i = 0; i < 7; ++i) {
printf("%02x%02x:",
ipaddr.u8[i * 2], ipaddr.u8[i * 2 + 1]);
}
printf("%02x%02x\n",
ipaddr.u8[7 * 2], ipaddr.u8[7 * 2 + 1]);
}
#else /* WITH_UIP6 */
NETSTACK_RDC.init();
NETSTACK_MAC.init();
NETSTACK_NETWORK.init();
printf("%s %s, channel check rate %lu Hz, radio channel %u\n",
NETSTACK_MAC.name, NETSTACK_RDC.name,
CLOCK_SECOND / (NETSTACK_RDC.channel_check_interval() == 0? 1:
NETSTACK_RDC.channel_check_interval()),
RF_CHANNEL);
#endif /* WITH_UIP6 */
#if !WITH_UIP && !WITH_UIP6
uart1_set_input(serial_line_input_byte);
serial_line_init();
#endif
#if PROFILE_CONF_ON
profile_init();
#endif /* PROFILE_CONF_ON */
leds_off(LEDS_GREEN);
#if TIMESYNCH_CONF_ENABLED
timesynch_init();
timesynch_set_authority_level((rimeaddr_node_addr.u8[0] << 4) + 16);
#endif /* TIMESYNCH_CONF_ENABLED */
#if WITH_UIP
process_start(&tcpip_process, NULL);
process_start(&uip_fw_process, NULL); /* Start IP output */
process_start(&slip_process, NULL);
slip_set_input_callback(set_gateway);
{
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 */
energest_init();
ENERGEST_ON(ENERGEST_TYPE_CPU);
watchdog_start();
print_processes(autostart_processes);
autostart_start(autostart_processes);
/*
* This is the scheduler loop.
*/
#if DCOSYNCH_CONF_ENABLED
timer_set(&mgt_timer, DCOSYNCH_PERIOD * CLOCK_SECOND);
#endif
/* 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. */
/* uart1_active is for avoiding LPM3 when still sending or receiving */
if(process_nevents() != 0 || uart1_active()) {
splx(s); /* Re-enable interrupts. */
} else {
static unsigned long irq_energest = 0;
#if DCOSYNCH_CONF_ENABLED
/* before going down to sleep possibly do some management */
if(timer_expired(&mgt_timer)) {
watchdog_periodic();
timer_reset(&mgt_timer);
msp430_sync_dco();
#if CC2420_CONF_SFD_TIMESTAMPS
cc2420_arch_sfd_init();
#endif /* CC2420_CONF_SFD_TIMESTAMPS */
}
#endif
/* 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();
/* check if the DCO needs to be on - if so - only LPM 1 */
if (msp430_dco_required) {
_BIS_SR(GIE | CPUOFF); /* LPM1 sleep for DMA to work!. */
} else {
_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;
}
/*---------------------------------------------------------------------------*/
#if LOG_CONF_ENABLED
void
log_message(char *m1, char *m2)
{
printf("%s%s\n", m1, m2);
}
#endif /* LOG_CONF_ENABLED */
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