403 lines
11 KiB
C
403 lines
11 KiB
C
/*
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* Copyright (c) 2006, Swedish Institute of Computer Science
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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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*/
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#include <stdio.h>
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#include <string.h>
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#include "contiki.h"
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#include "cc2420.h"
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#include "dev/ds2411/ds2411.h"
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#include "dev/leds.h"
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#include "dev/serial-line.h"
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#include "dev/slip.h"
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#include "dev/uart1.h"
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#include "dev/watchdog.h"
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#include "dev/xmem.h"
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#include "lib/random.h"
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#include "net/netstack.h"
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#include "net/mac/framer/frame802154.h"
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#include "net/queuebuf.h"
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#if NETSTACK_CONF_WITH_IPV6
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#include "net/ipv6/uip-ds6.h"
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#endif /* NETSTACK_CONF_WITH_IPV6 */
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#include "sys/node-id.h"
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#include "cfs-coffee-arch.h"
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#include "cfs/cfs-coffee.h"
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#include "sys/autostart.h"
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#if UIP_CONF_ROUTER
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#ifndef UIP_ROUTER_MODULE
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#ifdef UIP_CONF_ROUTER_MODULE
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#define UIP_ROUTER_MODULE UIP_CONF_ROUTER_MODULE
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#else /* UIP_CONF_ROUTER_MODULE */
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#define UIP_ROUTER_MODULE rimeroute
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#endif /* UIP_CONF_ROUTER_MODULE */
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#endif /* UIP_ROUTER_MODULE */
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extern const struct uip_router UIP_ROUTER_MODULE;
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#endif /* UIP_CONF_ROUTER */
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#if DCOSYNCH_CONF_ENABLED
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static struct timer mgt_timer;
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#endif
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extern int msp430_dco_required;
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#define UIP_OVER_MESH_CHANNEL 8
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#ifdef EXPERIMENT_SETUP
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#include "experiment-setup.h"
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#endif
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#define DEBUG 1
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#if DEBUG
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#define PRINTF(...) printf(__VA_ARGS__)
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#else /* DEBUG */
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#define PRINTF(...)
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#endif /* DEBUG */
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void init_platform(void);
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/*---------------------------------------------------------------------------*/
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#if 0
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int
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force_float_inclusion()
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{
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extern int __fixsfsi;
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extern int __floatsisf;
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extern int __mulsf3;
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extern int __subsf3;
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return __fixsfsi + __floatsisf + __mulsf3 + __subsf3;
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}
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#endif
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/*---------------------------------------------------------------------------*/
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void uip_log(char *msg) { puts(msg); }
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/*---------------------------------------------------------------------------*/
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#if 0
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void
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force_inclusion(int d1, int d2)
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{
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snprintf(NULL, 0, "%d", d1 % d2);
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}
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#endif
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/*---------------------------------------------------------------------------*/
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static void
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set_rime_addr(void)
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{
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linkaddr_t addr;
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int i;
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memset(&addr, 0, sizeof(linkaddr_t));
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#if NETSTACK_CONF_WITH_IPV6
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memcpy(addr.u8, ds2411_id, sizeof(addr.u8));
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#else
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if(node_id == 0) {
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for(i = 0; i < sizeof(linkaddr_t); ++i) {
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addr.u8[i] = ds2411_id[7 - i];
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}
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} else {
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addr.u8[0] = node_id & 0xff;
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addr.u8[1] = node_id >> 8;
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}
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#endif
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linkaddr_set_node_addr(&addr);
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PRINTF("Rime started with address ");
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for(i = 0; i < sizeof(addr.u8) - 1; i++) {
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PRINTF("%d.", addr.u8[i]);
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}
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PRINTF("%d\n", addr.u8[i]);
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}
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/*---------------------------------------------------------------------------*/
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#if !PROCESS_CONF_NO_PROCESS_NAMES
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static void
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print_processes(struct process * const processes[])
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{
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/* const struct process * const * p = processes;*/
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printf("Starting");
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while(*processes != NULL) {
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printf(" '%s'", (*processes)->name);
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processes++;
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}
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putchar('\n');
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}
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#endif /* !PROCESS_CONF_NO_PROCESS_NAMES */
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/*---------------------------------------------------------------------------*/
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#if WITH_TINYOS_AUTO_IDS
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uint16_t TOS_NODE_ID = 0x1234; /* non-zero */
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uint16_t TOS_LOCAL_ADDRESS = 0x1234; /* non-zero */
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#endif /* WITH_TINYOS_AUTO_IDS */
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int
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main(int argc, char **argv)
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{
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/*
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* Initalize hardware.
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*/
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msp430_cpu_init();
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clock_init();
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leds_init();
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leds_on(LEDS_RED);
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uart1_init(BAUD2UBR(115200)); /* Must come before first printf */
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leds_on(LEDS_GREEN);
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ds2411_init();
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/* XXX hack: Fix it so that the 802.15.4 MAC address is compatible
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with an Ethernet MAC address - byte 0 (byte 2 in the DS ID)
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cannot be odd. */
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ds2411_id[2] &= 0xfe;
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leds_on(LEDS_BLUE);
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xmem_init();
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leds_off(LEDS_RED);
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rtimer_init();
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/*
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* Hardware initialization done!
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*/
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/* Initialize energest first (but after rtimer)
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*/
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energest_init();
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ENERGEST_ON(ENERGEST_TYPE_CPU);
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#if WITH_TINYOS_AUTO_IDS
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node_id = TOS_NODE_ID;
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#else /* WITH_TINYOS_AUTO_IDS */
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/* Restore node id if such has been stored in external mem */
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node_id_restore();
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#endif /* WITH_TINYOS_AUTO_IDS */
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/* for setting "hardcoded" IEEE 802.15.4 MAC addresses */
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#ifdef IEEE_802154_MAC_ADDRESS
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{
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uint8_t ieee[] = IEEE_802154_MAC_ADDRESS;
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memcpy(ds2411_id, ieee, sizeof(uip_lladdr.addr));
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ds2411_id[7] = node_id & 0xff;
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}
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#endif
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random_init(ds2411_id[0] + node_id);
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leds_off(LEDS_BLUE);
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/*
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* Initialize Contiki and our processes.
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*/
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process_init();
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process_start(&etimer_process, NULL);
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ctimer_init();
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init_platform();
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set_rime_addr();
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cc2420_init();
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{
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uint8_t longaddr[8];
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uint16_t shortaddr;
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shortaddr = (linkaddr_node_addr.u8[0] << 8) +
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linkaddr_node_addr.u8[1];
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memset(longaddr, 0, sizeof(longaddr));
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linkaddr_copy((linkaddr_t *)&longaddr, &linkaddr_node_addr);
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PRINTF("MAC %02x:%02x:%02x:%02x:%02x:%02x:%02x:%02x ",
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longaddr[0], longaddr[1], longaddr[2], longaddr[3],
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longaddr[4], longaddr[5], longaddr[6], longaddr[7]);
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cc2420_set_pan_addr(IEEE802154_PANID, shortaddr, longaddr);
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}
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PRINTF(CONTIKI_VERSION_STRING " started. ");
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if(node_id > 0) {
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PRINTF("Node id is set to %u.\n", node_id);
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} else {
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PRINTF("Node id is not set.\n");
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}
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/* PRINTF("MAC %02x:%02x:%02x:%02x:%02x:%02x:%02x:%02x",
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ds2411_id[0], ds2411_id[1], ds2411_id[2], ds2411_id[3],
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ds2411_id[4], ds2411_id[5], ds2411_id[6], ds2411_id[7]);*/
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#if NETSTACK_CONF_WITH_IPV6
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memcpy(&uip_lladdr.addr, ds2411_id, sizeof(uip_lladdr.addr));
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/* Setup nullmac-like MAC for 802.15.4 */
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/* sicslowpan_init(sicslowmac_init(&cc2420_driver)); */
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/* PRINTF(" %s channel %u\n", sicslowmac_driver.name, CC2420_CONF_CCA_THRESH); */
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/* Setup X-MAC for 802.15.4 */
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queuebuf_init();
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NETSTACK_MAC.init();
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NETSTACK_NETWORK.init();
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PRINTF("%s, radio channel %u, CCA threshold %i\n",
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NETSTACK_MAC.name,
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CC2420_CONF_CHANNEL,
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CC2420_CONF_CCA_THRESH);
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process_start(&tcpip_process, NULL);
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#if DEBUG
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PRINTF("Tentative link-local IPv6 address ");
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{
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uip_ds6_addr_t *lladdr;
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int i;
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lladdr = uip_ds6_get_link_local(-1);
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for(i = 0; i < 7; ++i) {
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PRINTF("%02x%02x:", lladdr->ipaddr.u8[i * 2],
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lladdr->ipaddr.u8[i * 2 + 1]);
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}
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PRINTF("%02x%02x\n", lladdr->ipaddr.u8[14], lladdr->ipaddr.u8[15]);
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}
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#endif /* DEBUG */
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if(!UIP_CONF_IPV6_RPL) {
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uip_ipaddr_t ipaddr;
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int i;
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uip_ip6addr(&ipaddr, UIP_DS6_DEFAULT_PREFIX, 0, 0, 0, 0, 0, 0, 0);
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uip_ds6_set_addr_iid(&ipaddr, &uip_lladdr);
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uip_ds6_addr_add(&ipaddr, 0, ADDR_TENTATIVE);
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PRINTF("Tentative global IPv6 address ");
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for(i = 0; i < 7; ++i) {
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PRINTF("%02x%02x:",
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ipaddr.u8[i * 2], ipaddr.u8[i * 2 + 1]);
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}
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PRINTF("%02x%02x\n",
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ipaddr.u8[7 * 2], ipaddr.u8[7 * 2 + 1]);
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}
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#else /* NETSTACK_CONF_WITH_IPV6 */
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NETSTACK_MAC.init();
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NETSTACK_NETWORK.init();
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PRINTF("%s, radio channel %u\n",
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NETSTACK_MAC.name CC2420_CONF_CHANNEL);
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#endif /* NETSTACK_CONF_WITH_IPV6 */
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#if !NETSTACK_CONF_WITH_IPV6
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uart1_set_input(serial_line_input_byte);
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serial_line_init();
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#endif
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leds_off(LEDS_GREEN);
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#if TIMESYNCH_CONF_ENABLED
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timesynch_init();
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timesynch_set_authority_level((linkaddr_node_addr.u8[0] << 4) + 16);
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#endif /* TIMESYNCH_CONF_ENABLED */
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watchdog_start();
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#if !PROCESS_CONF_NO_PROCESS_NAMES
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print_processes(autostart_processes);
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#endif /* !PROCESS_CONF_NO_PROCESS_NAMES */
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autostart_start(autostart_processes);
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/*
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* This is the scheduler loop.
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*/
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#if DCOSYNCH_CONF_ENABLED
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timer_set(&mgt_timer, DCOSYNCH_PERIOD * CLOCK_SECOND);
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#endif
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/* watchdog_stop();*/
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while(1) {
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int r;
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do {
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/* Reset watchdog. */
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watchdog_periodic();
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r = process_run();
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} while(r > 0);
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/*
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* Idle processing.
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*/
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int s = splhigh(); /* Disable interrupts. */
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/* uart1_active is for avoiding LPM3 when still sending or receiving */
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if(process_nevents() != 0 || uart1_active()) {
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splx(s); /* Re-enable interrupts. */
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} else {
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static unsigned long irq_energest = 0;
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#if DCOSYNCH_CONF_ENABLED
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/* before going down to sleep possibly do some management */
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if(timer_expired(&mgt_timer)) {
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watchdog_periodic();
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timer_reset(&mgt_timer);
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msp430_sync_dco();
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#if CC2420_CONF_SFD_TIMESTAMPS
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cc2420_arch_sfd_init();
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#endif /* CC2420_CONF_SFD_TIMESTAMPS */
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}
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#endif
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/* Re-enable interrupts and go to sleep atomically. */
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ENERGEST_SWITCH(ENERGEST_TYPE_CPU, ENERGEST_TYPE_LPM);
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/* We only want to measure the processing done in IRQs when we
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are asleep, so we discard the processing time done when we
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were awake. */
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energest_type_set(ENERGEST_TYPE_IRQ, irq_energest);
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watchdog_stop();
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/* check if the DCO needs to be on - if so - only LPM 1 */
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if (msp430_dco_required) {
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_BIS_SR(GIE | CPUOFF); /* LPM1 sleep for DMA to work!. */
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} else {
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_BIS_SR(GIE | SCG0 | SCG1 | CPUOFF); /* LPM3 sleep. This
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statement will block
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until the CPU is
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woken up by an
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interrupt that sets
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the wake up flag. */
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}
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/* We get the current processing time for interrupts that was
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done during the LPM and store it for next time around. */
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dint();
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irq_energest = energest_type_time(ENERGEST_TYPE_IRQ);
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eint();
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watchdog_start();
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ENERGEST_SWITCH(ENERGEST_TYPE_LPM, ENERGEST_TYPE_CPU);
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}
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}
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return 0;
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}
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/*---------------------------------------------------------------------------*/
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#if LOG_CONF_ENABLED
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void
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log_message(char *m1, char *m2)
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{
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printf("%s%s\n", m1, m2);
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}
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#endif /* LOG_CONF_ENABLED */
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