From b1dde636558b7e91043f92d4c2981e68ecd19b4c Mon Sep 17 00:00:00 2001 From: bg- Date: Fri, 2 Feb 2007 14:07:34 +0000 Subject: [PATCH] Port to the Atmega128 based CC2420DBK demonstration board. --- platform/cc2420dbk/Makefile | 122 +++++++++++++++++++++ platform/cc2420dbk/contiki-conf.h | 170 ++++++++++++++++++++++++++++++ platform/cc2420dbk/dev/qleds.c | 119 +++++++++++++++++++++ platform/cc2420dbk/gateway.c | 168 +++++++++++++++++++++++++++++ 4 files changed, 579 insertions(+) create mode 100644 platform/cc2420dbk/Makefile create mode 100644 platform/cc2420dbk/contiki-conf.h create mode 100644 platform/cc2420dbk/dev/qleds.c create mode 100644 platform/cc2420dbk/gateway.c diff --git a/platform/cc2420dbk/Makefile b/platform/cc2420dbk/Makefile new file mode 100644 index 000000000..87037fb7a --- /dev/null +++ b/platform/cc2420dbk/Makefile @@ -0,0 +1,122 @@ +# $Id: Makefile,v 1.1 2007/02/02 14:07:34 bg- Exp $ +# +# This makefile requires GNU make! + +LIB = libcontiki.a +KERNELS = gateway.ihex +PROGS = #loadable_prg.ko udpsend.ko udprecv.ko +TOOLS = tunslip scat codeprop + +all: $(LIB) $(KERNELS) $(PROGS) $(TOOLS) + +loadable_prg.ko: loadable_prg.o +udpsend.ko: udpsend.o +udprecv.ko: udprecv.o +test.ko: test.o + +gateway.out: gateway.o $(LIB) +client.out: client.o $(LIB) +dhclient.out: dhclient.o $(LIB) + +TOP=../.. +INCDIRS = -I. -I$(TOP)/cpu/avr -I$(TOP)/core -I$(TOP)/apps +SRCDIRS = dev $(TOP)/cpu/avr $(TOP)/cpu/avr/dev ${addprefix $(TOP)/core/,sys dev net lib loader} $(TOP)/apps/codeprop + +MCU=atmega128 + +ARCH=avr.o spi.o qleds.o rom.o xmem.o +SYSTEM=process.o procinit.o service.o clock.o etimer.o timer.o \ + elfloader_compat.o cle.o symtab.o +UIP=uip.o uiplib.o tcpip.o uip-fw.o uip-fw-service.o uipbuf.o \ + tcpdump.o psock.o dhcpc.o uaodv.o uaodv-rt.o uip-udp-packet.o +UIPDRIVERS=slip.o slip_uart1.o \ + cc2420.o cc2420_spi.o cc2420_send_ip.o cc2420_send_uaodv.o +LIBS=memb.o list.o rand.o assert.o crtk.o +SYSAPPS=tcp_loader.o +LIBFILES=$(SYSTEM) $(ARCH) $(UIP) $(UIPDRIVERS) $(LIBS) $(SYSAPPS) + +MKNMLIST=awk -f $(TOP)/tools/mknmlist-avr +CP=cp +LIBC=-lgcc -lc -lgcc +CC=avr-gcc +LD=avr-ld +AS=avr-as +NM=avr-nm +OBJCOPY=avr-objcopy +STRIP=avr-strip +AR=avr-ar +RANLIB=avr-ranlib +BSL=avrdude +CFLAGS=-mmcu=$(MCU) $(INCDIRS) -Wall -Os +LDFLAGS=-mmcu=$(MCU) -Wl,--section-start=.bootloader=$(BOOTLOADER_START) + +# Check fuse high byte, bits BOOTSZ0 and BOOTSZ1. +BOOTLOADER_START=0x1fc00 + +# Setup directory search path for source files +vpath %.c $(SRCDIRS) ${filter-out CVS,${wildcard labs/*}} + +# Set COM port if not already set. +# DOS: 1 => COM2, 2 => COM3, etc. +# Linux: /dev/ttyUSB0, /dev/ttyUSB1, etc. +# FreeBSD 6.2: /dev/cuaU0, /dev/cuaU1, etc. +ifndef COMPORT + COMPORT := /dev/ttyUSB0 +endif + + +%.o: %.c + $(CC) $(CFLAGS) -c $< -o $(notdir $(<:.c=.o)) + +# Combine several .o:s to one .ko and put COMMONs into the BSS segment +%.ko: + $(LD) -r -dc --strip-all --unresolved-symbols=ignore-in-object-files $^ -o $@ + +%.ihex: %.out + $(OBJCOPY) $^ -O ihex $@ + +#%.out: +# $(if $^,$(CC) $(LDFLAGS) $(CFLAGS) -o $@ $^,$(error "NO TARGET $@")) + +# Add a namelist to the kernel +%.out: $^ + $(CC) $(LDFLAGS) $(CFLAGS) -o $@ $^ $(LIBC) +# : | $(MKNMLIST) > $@_tmp.c && mv $@_tmp.c $@_nm.c +# $(CC) $(LDFLAGS) $(CFLAGS) -o $@ $^ $(LIBC) $@_nm.c +# $(NM) $@ | $(MKNMLIST) > $@_tmp.c && mv $@_tmp.c $@_nm.c +# $(CC) $(LDFLAGS) $(CFLAGS) -o $@ $^ $(LIBC) $@_nm.c + +%.u: %.ihex + $(BSL) -p $(MCU) -P $(COMPORT) -c stk200 -U flash:w:$< + +$(LIB): $(LIBFILES) + $(AR) rcf $@ $^ + $(RANLIB) $@ + +codeprop: $(TOP)/tools/codeprop.c + cc -g -Wall $< -o $@ + +tunslip: $(TOP)/tools/tunslip.c + cc -g -Wall -DBAUDRATE="B38400" $< -o $@ + +scat: $(TOP)/tools/scat.c + cc -g -Wall -DBAUDRATE="B38400" $< -o $@ + +### TEST ### + +test.out: test.o $(LIB) + $(CC) $(LDFLAGS) $(CFLAGS) -o $@ $^ + +depend: $(LIBFILES:.o=.c) + -$(CC) $(CCDEPFLAGS) -MM $(CFLAGS) $(INCDIRS) $^ *.c >Makefile.depend + +tags: $(LIBFILES:.o=.c) + etags $^ + +clean: + rm -f *.o *.ko *~ *.core *.out *.ihex *_nm.c + rm -f $(LIB) $(KERNELS) $(TOOLS) + +.PHONY: all + +-include Makefile.depend diff --git a/platform/cc2420dbk/contiki-conf.h b/platform/cc2420dbk/contiki-conf.h new file mode 100644 index 000000000..6156d5da1 --- /dev/null +++ b/platform/cc2420dbk/contiki-conf.h @@ -0,0 +1,170 @@ +/* -*- C -*- */ +/* @(#)$Id: contiki-conf.h,v 1.1 2007/02/02 14:07:34 bg- Exp $ */ + +#ifndef CONTIKI_CONF_H +#define CONTIKI_CONF_H + +/* #define CB_GATEWAY */ + +#include + +#define CCIF +#define CLIF + +/* This is still experimental. /bg */ +#define UAODV_BAD_ROUTE + +/* Helper prototypes that should go somewhere. */ +void *sbrk(int); +typedef unsigned char spl_t; +static inline void splx_(spl_t s) { SREG = s; } +static inline spl_t splhigh_(void) { spl_t s = SREG; cli(); return s; } +void cpu_init(void); + +#define splhigh() splhigh_() +#define splx(s) splx_((spl_t)s) + +void clock_delay(unsigned int us2); +void clock_wait(int ms10); +void clock_set_seconds(unsigned long s); +unsigned long clock_seconds(void); + +#define WITH_UIP 1 +#define WITH_ASCII 1 + +#define PROCESS_CONF_FASTPOLL 4 + +/* Our clock resolution, this is the same as Unix HZ. */ +/* Fix clock.c XXX/bg */ +#define CLOCK_CONF_SECOND 62 + +/* CPU target speed in Hz */ +#define F_CPU 8000000L + +/* The +1 and divide by 2 is to achieve rounding. */ +#define BAUD2UBR(baud) ((u16_t)((F_CPU/baud/8uL + 1)/2 - 1)) + +/* UART configs */ +//#define MCU_MHZ 8 +//#define MCU atmega128 +//#define SLIP_PORT RS232_PORT_1 + + +#define UIP_CONF_DHCP_LIGHT +#define UIP_CONF_LLH_LEN 0 +#define UIP_CONF_BUFFER_SIZE 116 +#define UIP_CONF_RECEIVE_WINDOW (UIP_CONF_BUFFER_SIZE - 40) +#define UIP_CONF_MAX_CONNECTIONS 4 +#define UIP_CONF_MAX_LISTENPORTS 8 +#define UIP_CONF_UDP_CONNS 6 +#define UIP_CONF_FWCACHE_SIZE 5 +#define UIP_CONF_BROADCAST 1 +//#define UIP_ARCH_IPCHKSUM 1 +#define UIP_CONF_UDP_CHECKSUMS 1 +#define UIP_CONF_PINGADDRCONF 0 +#define UIP_CONF_LOGGING 0 + +/* + * Definitions below are dictated by the hardware and not really + * changeable! + */ + +#ifdef CB_GATEWAY +/* LED port E */ +#define LEDS_CONF_GREEN _BV(2) /* PE.2 - Output */ +#define LEDS_CONF_YELLOW _BV(3) /* PE.3 - Output */ +#else +#define LEDS_ORANGE 8 +/* LED port B */ +#define LEDS_CONF_ORANGE _BV(4) /* PB.4 - Output */ +#define LEDS_CONF_GREEN _BV(7) /* PB.7 - Output */ +/* LED port E */ +#define LEDS_CONF_RED _BV(3) /* PE.3 - Output */ +#define LEDS_CONF_YELLOW _BV(4) /* PE.4 - Output */ +#endif + +typedef unsigned char u8_t; +typedef unsigned short u16_t; +typedef unsigned long u32_t; +typedef u16_t uip_stats_t; +typedef u16_t clock_time_t; + +typedef u32_t off_t; +#define ROM_ERASE_UNIT_SIZE SPM_PAGESIZE +#define XMEM_ERASE_UNIT_SIZE 8 + +/* Use the first 64k of external flash for codeprop. */ +#define EEPROMFS_ADDR_CODEPROP (128 * XMEM_ERASE_UNIT_SIZE) + +#define CC2420_RADIO +/* + * SPI bus configuration for the CC2420DBK. + */ + +/* SPI input/output registers. */ +#define SPI_TXBUF SPDR +#define SPI_RXBUF SPDR + +#define BV(bitno) _BV(bitno) + +#define SPI_WAITFOREOTx() do { while (!(SPSR & BV(SPIF))); } while (0) +#define SPI_WAITFOREORx() do { while (!(SPSR & BV(SPIF))); } while (0) + +#define SCK 1 /* - Output: SPI Serial Clock (SCLK) */ +#define MOSI 2 /* - Output: SPI Master out - slave in (MOSI) */ +#define MISO 3 /* - Input: SPI Master in - slave out (MISO) */ + +/* + * SPI bus - CC2420 pin configuration. + */ + +#define FIFO_P 0 /* - Input: FIFOP from CC2420 */ +#define FIFO 1 /* - Input: FIFO from CC2420 */ +#define CCA 6 /* - Input: CCA from CC2420 */ + +#define SFD 4 /* - Input: SFD from CC2420 */ +#define CSN 0 /* - Output: SPI Chip Select (CS_N) */ +#define VREG_EN 5 /* - Output: VREG_EN to CC2420 */ +#define RESET_N 6 /* - Output: RESET_N to CC2420 */ + +/* Pin status. */ + +#define FIFO_IS_1 (!!(PIND & BV(FIFO))) +#define CCA_IS_1 (!!(PIND & BV(CCA) )) +#define RESET_IS_1 (!!(PINB & BV(RESET_N))) +#define VREG_IS_1 (!!(PINB & BV(VREG_EN))) +#define FIFOP_IS_1 (!!(PIND & BV(FIFO_P))) +#define SFD_IS_1 (!!(PIND & BV(SFD))) + +/* The CC2420 reset pin. */ +#define SET_RESET_INACTIVE() ( PORTB |= BV(RESET_N) ) +#define SET_RESET_ACTIVE() ( PORTB &= ~BV(RESET_N) ) + +/* CC2420 voltage regulator enable pin. */ +#define SET_VREG_ACTIVE() ( PORTB |= BV(VREG_EN) ) +#define SET_VREG_INACTIVE() ( PORTB &= ~BV(VREG_EN) ) + +/* CC2420 rising edge trigger for external interrupt 0 (FIFOP). */ +#define FIFOP_INT_INIT() do {\ + EICRA |= 0x03; \ + CLEAR_FIFOP_INT(); \ +} while (0) + +/* FIFOP on external interrupt 0. */ +#define ENABLE_FIFOP_INT() do { EIMSK |= 0x01; } while (0) +#define DISABLE_FIFOP_INT() do { EIMSK &= ~0x01; } while (0) +#define CLEAR_FIFOP_INT() do { EIFR = 0x01; } while (0) + +/* Enables/disables CC2420 access to the SPI bus (not the bus). + * + * These guys should really be renamed but are compatible with the + * original Chipcon naming. + * + * SPI_CC2420_ENABLE/SPI_CC2420_DISABLE??? + * CC2420_ENABLE_SPI/CC2420_DISABLE_SPI??? + */ + +#define SPI_ENABLE() ( PORTB &= ~BV(CSN) ) /* ENABLE CSn (active low) */ +#define SPI_DISABLE() ( PORTB |= BV(CSN) ) /* DISABLE CSn (active low) */ + +#endif /* CONTIKI_CONF_H */ diff --git a/platform/cc2420dbk/dev/qleds.c b/platform/cc2420dbk/dev/qleds.c new file mode 100644 index 000000000..54d29e8ae --- /dev/null +++ b/platform/cc2420dbk/dev/qleds.c @@ -0,0 +1,119 @@ +/* + * Copyright (c) 2007, 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: qleds.c,v 1.1 2007/02/02 14:07:34 bg- Exp $ + */ + +#include "contiki.h" + +#include "dev/leds.h" + +#include + +void +leds_init(void) +{ +#ifdef CB_GATEWAY + DDRE |= LEDS_CONF_GREEN | LEDS_CONF_YELLOW; + PORTE |= LEDS_CONF_GREEN | LEDS_CONF_YELLOW; /* LEDS off */ +#else + DDRB |= LEDS_CONF_ORANGE | LEDS_CONF_GREEN; + DDRE |= LEDS_CONF_RED | LEDS_CONF_YELLOW; + + PORTB &= ~(LEDS_CONF_ORANGE | LEDS_CONF_GREEN); + PORTE &= ~(LEDS_CONF_RED | LEDS_CONF_YELLOW); +#endif +} + +void +leds_on(unsigned char leds) +{ +#ifdef CB_GATEWAY + if (leds & LEDS_GREEN) + PORTE &= ~LEDS_CONF_GREEN; + if (leds & LEDS_YELLOW) + PORTE &= ~LEDS_CONF_YELLOW; +#else + if (leds & LEDS_ORANGE) + PORTB |= LEDS_CONF_ORANGE; + if (leds & LEDS_GREEN) + PORTB |= LEDS_CONF_GREEN; + + if (leds & LEDS_RED) + PORTE |= LEDS_CONF_RED; + if (leds & LEDS_YELLOW) + PORTE |= LEDS_CONF_YELLOW; +#endif +} + +void +leds_off(unsigned char leds) +{ +#ifdef CB_GATEWAY + if (leds & LEDS_GREEN) + PORTE |= LEDS_CONF_GREEN; + if (leds & LEDS_YELLOW) + PORTE |= LEDS_CONF_YELLOW; +#else + if (leds & LEDS_ORANGE) + PORTB &= ~LEDS_CONF_ORANGE; + if (leds & LEDS_GREEN) + PORTB &= ~LEDS_CONF_GREEN; + + if (leds & LEDS_RED) + PORTE &= ~LEDS_CONF_RED; + if (leds & LEDS_YELLOW) + PORTE &= ~LEDS_CONF_YELLOW; +#endif +} + +void +leds_toggle(unsigned char leds) +{ + /* + * Synonym: void leds_invert(unsigned char leds); + */ + asm(".global leds_invert\nleds_invert:\n"); + +#ifdef CB_GATEWAY + if (leds & LEDS_GREEN) + PORTE ^= ~LEDS_CONF_GREEN; + if (leds & LEDS_YELLOW) + PORTE ^= ~LEDS_CONF_YELLOW; +#else + if (leds & LEDS_ORANGE) + PORTB ^= LEDS_CONF_ORANGE; + if (leds & LEDS_GREEN) + PORTB ^= LEDS_CONF_GREEN; + + if (leds & LEDS_RED) + PORTE ^= LEDS_CONF_RED; + if (leds & LEDS_YELLOW) + PORTE ^= LEDS_CONF_YELLOW; +#endif +} diff --git a/platform/cc2420dbk/gateway.c b/platform/cc2420dbk/gateway.c new file mode 100644 index 000000000..a2f8b3201 --- /dev/null +++ b/platform/cc2420dbk/gateway.c @@ -0,0 +1,168 @@ +/* + * Copyright (c) 2007, 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: gateway.c,v 1.1 2007/02/02 14:07:34 bg- Exp $ + */ + +/* + * Example gateway configuration with two IP interfaces, one SLIP over + * USB and one over 802.11.4 radio. + * + * The IP address is hardcoded to 172.16.0.1 and the 172.16/16 network + * is on the radio interface. + * + * The default route is over the SLIP interface. + * + * On the SLIP host run a standard SLIP implementation or the tunslip + * program that can also view debug printfs, example: + * + * sliphost# ./tunslip 172.16.0.1 255.255.0.0 + * + * + * This kernel has no application code but new modules can be uploaded + * using the codeprop program, example: + * + * datan$ ./codeprop 172.16.0.1 loadable_prg.ko + * File successfully sent (1116 bytes) + * Reply: ok + * + */ + +#include + +#include + +#include "contiki.h" + +/* Also IP output. */ +#include "net/uip-fw-service.h" +#include "net/uaodv.h" +#include "dev/slip.h" +#include "dev/cc2420.h" + +#include "dev/leds.h" +#include "dev/xmem.h" + +#include "codeprop/codeprop.h" + +/* We have two IP interfaces. */ +struct uip_fw_netif cc2420if = +{UIP_FW_NETIF(172,16,0,1, 255,255,0,0, cc2420_send_uaodv)}; + +static struct uip_fw_netif slipif = +{UIP_FW_NETIF(0,0,0,0, 255,255,255,255, slip_send)}; + +/* Radio stuff in network byte order. */ +static u16_t panId = HTONS(0x2024); + +#ifndef RF_CHANNEL +#define RF_CHANNEL 15 +#endif + +unsigned char ds2411_id[8] = { 0x00, 0x12, 0x4b, 0x00, 0x00, 0x00, 0x09, 0x04}; + +static void +ds2411_init(void) +{ + u8_t i, t; + eeprom_read_block(ds2411_id, 0, 8); + for (i = 0; i < 4; i++) { + t = ds2411_id[i]; + ds2411_id[i] = ds2411_id[7 - i]; + ds2411_id[7 - i] = t; + } +} + +int +main(int argc, char **argv) +{ + /* + * Initalize hardware. + */ + cpu_init(); + clock_init(); + leds_init(); + leds_toggle(LEDS_ALL); + slip_arch_init(BAUD2UBR(38400)); /* Must come before first printf */ + printf("Starting %s " + "($Id: gateway.c,v 1.1 2007/02/02 14:07:34 bg- Exp $)\n", __FILE__); + ds2411_init(); + cc2420_init(); + xmem_init(); + clock_wait(CLOCK_SECOND/10); + leds_toggle(LEDS_ALL); + /* + * Hardware initialization done! + */ + + 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]); + + uip_ipaddr_copy(&uip_hostaddr, &cc2420if.ipaddr); + uip_ipaddr_copy(&uip_netmask, &cc2420if.netmask); + printf("IP %d.%d.%d.%d netmask %d.%d.%d.%d\n", + uip_ipaddr_to_quad(&uip_hostaddr), + uip_ipaddr_to_quad(&uip_netmask)); + cc2420_set_chan_pan_addr(RF_CHANNEL, panId, uip_hostaddr.u16[1], ds2411_id); + + /* + * Initialize Contiki and our processes. + */ + process_init(); + process_start(&etimer_process, NULL); + + /* Configure IP stack. */ + uip_init(); + uip_fw_default(&slipif); /* Point2point, no default router. */ + uip_fw_register(&cc2420if); + tcpip_set_forwarding(1); + + /* Start IP stack. */ + process_start(&tcpip_process, NULL); + process_start(&uip_fw_process, NULL); /* Start IP output */ + process_start(&slip_process, NULL); + process_start(&cc2420_process, NULL); + cc2420_on(); + process_start(&uaodv_process, NULL); + + //process_start(&tcp_loader_process, NULL); + + /* + * This is the scheduler loop. + */ + printf("process_run()...\n"); + while (1) { + do { + /* Reset watchdog. */ + } while(process_run() > 0); + /* Idle! */ + } + + return 0; +}