336 lines
9.0 KiB
C
336 lines
9.0 KiB
C
/*
|
|
* 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.
|
|
*
|
|
*/
|
|
|
|
#include "contiki.h"
|
|
#include <stdio.h>
|
|
#include <string.h>
|
|
#include <stdarg.h>
|
|
|
|
#include "dev/button-sensor.h"
|
|
#include "dev/cc2420.h"
|
|
#include "dev/flash.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 "lib/sensors.h"
|
|
#include "net/mac/frame802154.h"
|
|
#include "net/netstack.h"
|
|
#include "net/rime.h"
|
|
#include "sys/autostart.h"
|
|
|
|
#include "sys/node-id.h"
|
|
#include "lcd.h"
|
|
#include "duty-cycle-scroller.h"
|
|
|
|
#if WITH_UIP6
|
|
#include "net/ipv6/uip-ds6.h"
|
|
#endif /* WITH_UIP6 */
|
|
|
|
|
|
#define DEBUG 1
|
|
#if DEBUG
|
|
#include <stdio.h>
|
|
#define PRINTF(...) printf(__VA_ARGS__)
|
|
#else
|
|
#define PRINTF(...)
|
|
#endif
|
|
|
|
extern unsigned char node_mac[8];
|
|
|
|
//SENSORS(&button_sensor);
|
|
/*---------------------------------------------------------------------------*/
|
|
static void
|
|
set_rime_addr(void)
|
|
{
|
|
rimeaddr_t addr;
|
|
int i;
|
|
|
|
memset(&addr, 0, sizeof(rimeaddr_t));
|
|
#if UIP_CONF_IPV6
|
|
memcpy(addr.u8, node_mac, sizeof(addr.u8));
|
|
#else
|
|
if(node_id == 0) {
|
|
for(i = 0; i < sizeof(rimeaddr_t); ++i) {
|
|
addr.u8[i] = node_mac[7 - i];
|
|
}
|
|
} else {
|
|
addr.u8[0] = node_id & 0xff;
|
|
addr.u8[1] = node_id >> 8;
|
|
}
|
|
#endif
|
|
rimeaddr_set_node_addr(&addr);
|
|
printf("Rime addr ");
|
|
for(i = 0; i < sizeof(addr.u8) - 1; i++) {
|
|
printf("%u.", addr.u8[i]);
|
|
}
|
|
printf("%u\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');
|
|
}
|
|
/*--------------------------------------------------------------------------*/
|
|
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);
|
|
/* xmem_init(); */
|
|
|
|
rtimer_init();
|
|
|
|
lcd_init();
|
|
|
|
PRINTF(CONTIKI_VERSION_STRING "\n");
|
|
/*
|
|
* Hardware initialization done!
|
|
*/
|
|
|
|
leds_on(LEDS_RED);
|
|
/* Restore node id if such has been stored in external mem */
|
|
|
|
// node_id_restore();
|
|
#ifdef NODEID
|
|
node_id = NODEID;
|
|
|
|
#ifdef BURN_NODEID
|
|
flash_setup();
|
|
flash_clear(0x1800);
|
|
flash_write(0x1800, node_id);
|
|
flash_done();
|
|
#endif /* BURN_NODEID */
|
|
#endif /* NODE_ID */
|
|
|
|
if(node_id == 0) {
|
|
node_id = *((unsigned short *)0x1800);
|
|
}
|
|
memset(node_mac, 0, sizeof(node_mac));
|
|
node_mac[6] = node_id >> 8;
|
|
node_mac[7] = node_id & 0xff;
|
|
|
|
/* for setting "hardcoded" IEEE 802.15.4 MAC addresses */
|
|
#ifdef MAC_1
|
|
{
|
|
uint8_t ieee[] = { MAC_1, MAC_2, MAC_3, MAC_4, MAC_5, MAC_6, MAC_7, MAC_8 };
|
|
memcpy(node_mac, ieee, sizeof(uip_lladdr.addr));
|
|
}
|
|
#endif
|
|
|
|
/*
|
|
* Initialize Contiki and our processes.
|
|
*/
|
|
process_init();
|
|
process_start(&etimer_process, NULL);
|
|
|
|
ctimer_init();
|
|
|
|
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\n",
|
|
longaddr[0], longaddr[1], longaddr[2], longaddr[3],
|
|
longaddr[4], longaddr[5], longaddr[6], longaddr[7]);
|
|
|
|
cc2420_set_pan_addr(IEEE802154_PANID, shortaddr, longaddr);
|
|
}
|
|
|
|
leds_off(LEDS_ALL);
|
|
|
|
if(node_id > 0) {
|
|
PRINTF("Node id %u.\n", node_id);
|
|
} else {
|
|
PRINTF("Node id not set.\n");
|
|
}
|
|
|
|
#if WITH_UIP6
|
|
memcpy(&uip_lladdr.addr, node_mac, sizeof(uip_lladdr.addr));
|
|
/* Setup nullmac-like MAC for 802.15.4 */
|
|
|
|
queuebuf_init();
|
|
|
|
NETSTACK_RDC.init();
|
|
NETSTACK_MAC.init();
|
|
NETSTACK_NETWORK.init();
|
|
|
|
printf("%s %lu %u\n",
|
|
NETSTACK_RDC.name,
|
|
CLOCK_SECOND / (NETSTACK_RDC.channel_check_interval() == 0 ? 1:
|
|
NETSTACK_RDC.channel_check_interval()),
|
|
CC2420_CONF_CHANNEL);
|
|
|
|
process_start(&tcpip_process, NULL);
|
|
|
|
printf("IPv6 ");
|
|
{
|
|
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 %lu %u\n",
|
|
NETSTACK_RDC.name,
|
|
CLOCK_SECOND / (NETSTACK_RDC.channel_check_interval() == 0? 1:
|
|
NETSTACK_RDC.channel_check_interval()),
|
|
CC2420_CONF_CHANNEL);
|
|
#endif /* WITH_UIP6 */
|
|
|
|
#if !WITH_UIP6
|
|
uart1_set_input(serial_line_input_byte);
|
|
serial_line_init();
|
|
#endif
|
|
|
|
#if TIMESYNCH_CONF_ENABLED
|
|
timesynch_init();
|
|
timesynch_set_authority_level(rimeaddr_node_addr.u8[0]);
|
|
#endif /* TIMESYNCH_CONF_ENABLED */
|
|
|
|
|
|
/* process_start(&sensors_process, NULL);
|
|
SENSORS_ACTIVATE(button_sensor);*/
|
|
|
|
energest_init();
|
|
ENERGEST_ON(ENERGEST_TYPE_CPU);
|
|
|
|
print_processes(autostart_processes);
|
|
autostart_start(autostart_processes);
|
|
|
|
duty_cycle_scroller_start(CLOCK_SECOND * 2);
|
|
|
|
/*
|
|
* This is the scheduler loop.
|
|
*/
|
|
watchdog_start();
|
|
watchdog_stop(); /* Stop the wdt... */
|
|
while(1) {
|
|
int r;
|
|
do {
|
|
/* Reset watchdog. */
|
|
watchdog_periodic();
|
|
r = process_run();
|
|
} while(r > 0);
|
|
|
|
/*
|
|
* 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;
|
|
|
|
/* 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);
|
|
}
|
|
}
|
|
}
|
|
/*---------------------------------------------------------------------------*/
|