485 lines
14 KiB
C
485 lines
14 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 <stdarg.h>
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#include "contiki.h"
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#include "cc2420.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/uart0.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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#include "dev/adxl345.h"
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#include "sys/clock.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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extern unsigned char node_mac[8];
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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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#ifndef NETSTACK_CONF_WITH_IPV4
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#define NETSTACK_CONF_WITH_IPV4 0
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#endif
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#if NETSTACK_CONF_WITH_IPV4
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#include "net/ip/uip.h"
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#include "net/ipv4/uip-fw.h"
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#include "net/ipv4/uip-fw-drv.h"
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#include "net/ipv4/uip-over-mesh.h"
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static struct uip_fw_netif slipif =
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{ UIP_FW_NETIF(192, 168, 1, 2, 255, 255, 255, 255, slip_send) };
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static struct uip_fw_netif meshif =
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{ UIP_FW_NETIF(172, 16, 0, 0, 255, 255, 0, 0, uip_over_mesh_send) };
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#endif /* NETSTACK_CONF_WITH_IPV4 */
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#define UIP_OVER_MESH_CHANNEL 8
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#if NETSTACK_CONF_WITH_IPV4
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static uint8_t is_gateway;
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#endif /* NETSTACK_CONF_WITH_IPV4 */
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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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#include <stdio.h>
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#define PRINTF(...) printf(__VA_ARGS__)
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#else
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#define PRINTF(...)
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#endif
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void init_platform(void);
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/*---------------------------------------------------------------------------*/
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#ifdef UART0_CONF_BAUD_RATE
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#define UART0_BAUD_RATE UART0_CONF_BAUD_RATE
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#else
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#define UART0_BAUD_RATE 115200
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#endif
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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
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uip_log(char *msg)
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{
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puts(msg);
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}
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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, node_mac, 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] = node_mac[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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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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/*--------------------------------------------------------------------------*/
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#if NETSTACK_CONF_WITH_IPV4
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static void
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set_gateway(void)
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{
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if(!is_gateway) {
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leds_on(LEDS_RED);
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printf("%d.%d: making myself the IP network gateway.\n\n",
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linkaddr_node_addr.u8[0], linkaddr_node_addr.u8[1]);
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printf("IPv4 address of the gateway: %d.%d.%d.%d\n\n",
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uip_ipaddr_to_quad(&uip_hostaddr));
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uip_over_mesh_set_gateway(&linkaddr_node_addr);
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uip_over_mesh_make_announced_gateway();
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is_gateway = 1;
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}
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}
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#endif /* NETSTACK_CONF_WITH_IPV4 */
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/*---------------------------------------------------------------------------*/
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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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clock_wait(100);
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uart0_init(BAUD2UBR(UART0_BAUD_RATE)); /* Must come before first printf */
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#if NETSTACK_CONF_WITH_IPV4
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slip_arch_init(BAUD2UBR(UART0_BAUD_RATE));
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#endif /* NETSTACK_CONF_WITH_IPV4 */
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xmem_init();
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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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/* Restore node id if such has been stored in external mem */
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node_id_restore();
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/* If no MAC address was burned, we use the node id or the Z1 product ID */
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if(!(node_mac[0] | node_mac[1] | node_mac[2] | node_mac[3] |
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node_mac[4] | node_mac[5] | node_mac[6] | node_mac[7])) {
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#ifdef SERIALNUM
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if(!node_id) {
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PRINTF("Node id is not set, using Z1 product ID\n");
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node_id = SERIALNUM;
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}
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#endif
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node_mac[0] = 0xc1; /* Hardcoded for Z1 */
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node_mac[1] = 0x0c; /* Hardcoded for Revision C */
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node_mac[2] = 0x00; /* Hardcoded to arbitrary even number so that
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the 802.15.4 MAC address is compatible with
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an Ethernet MAC address - byte 0 (byte 2 in
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the DS ID) */
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node_mac[3] = 0x00; /* Hardcoded */
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node_mac[4] = 0x00; /* Hardcoded */
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node_mac[5] = 0x00; /* Hardcoded */
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node_mac[6] = node_id >> 8;
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node_mac[7] = node_id & 0xff;
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}
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/* Overwrite node MAC if desired at compile time */
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#ifdef MACID
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#warning "***** CHANGING DEFAULT MAC *****"
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node_mac[0] = 0xc1; /* Hardcoded for Z1 */
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node_mac[1] = 0x0c; /* Hardcoded for Revision C */
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node_mac[2] = 0x00; /* Hardcoded to arbitrary even number so that
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the 802.15.4 MAC address is compatible with
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an Ethernet MAC address - byte 0 (byte 2 in
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the DS ID) */
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node_mac[3] = 0x00; /* Hardcoded */
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node_mac[4] = 0x00; /* Hardcoded */
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node_mac[5] = 0x00; /* Hardcoded */
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node_mac[6] = MACID >> 8;
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node_mac[7] = MACID & 0xff;
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#endif
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#ifdef IEEE_802154_MAC_ADDRESS
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/* for setting "hardcoded" IEEE 802.15.4 MAC addresses */
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{
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uint8_t ieee[] = IEEE_802154_MAC_ADDRESS;
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memcpy(node_mac, ieee, sizeof(uip_lladdr.addr));
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node_mac[7] = node_id & 0xff;
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}
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#endif /* IEEE_802154_MAC_ADDRESS */
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/*
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* Initialize Contiki and our processes.
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*/
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random_init(node_mac[6] + node_mac[7]);
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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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SENSORS_ACTIVATE(adxl345);
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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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leds_off(LEDS_ALL);
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#ifdef SERIALNUM
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PRINTF("Ref ID: %u\n", SERIALNUM);
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#endif
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PRINTF(CONTIKI_VERSION_STRING " started. ");
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if(node_id) {
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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 not set\n");
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}
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#if NETSTACK_CONF_WITH_IPV6
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memcpy(&uip_lladdr.addr, node_mac, 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_CHANNEL); */
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/* Setup X-MAC for 802.15.4 */
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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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printf("%s %s, channel check rate %lu Hz, radio channel %u\n",
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NETSTACK_MAC.name, NETSTACK_RDC.name,
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CLOCK_SECOND / (NETSTACK_RDC.channel_check_interval() == 0 ? 1 :
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NETSTACK_RDC.channel_check_interval()),
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CC2420_CONF_CHANNEL);
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process_start(&tcpip_process, NULL);
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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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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_RDC.init();
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NETSTACK_MAC.init
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NETSTACK_NETWORK.init();
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printf("%s %s, channel check rate %lu Hz, radio channel %u\n",
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NETSTACK_MAC.name, NETSTACK_RDC.name,
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CLOCK_SECOND / (NETSTACK_RDC.channel_check_interval() == 0 ? 1 :
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NETSTACK_RDC.channel_check_interval()),
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CC2420_CONF_CHANNEL);
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#endif /* NETSTACK_CONF_WITH_IPV6 */
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#if !NETSTACK_CONF_WITH_IPV4 && !NETSTACK_CONF_WITH_IPV6
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uart0_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]);
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#endif /* TIMESYNCH_CONF_ENABLED */
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#if NETSTACK_CONF_WITH_IPV4
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process_start(&tcpip_process, NULL);
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process_start(&uip_fw_process, NULL); /* Start IP output */
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process_start(&slip_process, NULL);
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slip_set_input_callback(set_gateway);
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{
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uip_ipaddr_t hostaddr, netmask;
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uip_init();
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uip_ipaddr(&hostaddr, 172, 16,
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linkaddr_node_addr.u8[0], linkaddr_node_addr.u8[1]);
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uip_ipaddr(&netmask, 255, 255, 0, 0);
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uip_ipaddr_copy(&meshif.ipaddr, &hostaddr);
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uip_sethostaddr(&hostaddr);
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uip_setnetmask(&netmask);
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uip_over_mesh_set_net(&hostaddr, &netmask);
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/* uip_fw_register(&slipif);*/
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uip_over_mesh_set_gateway_netif(&slipif);
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uip_fw_default(&meshif);
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uip_over_mesh_init(UIP_OVER_MESH_CHANNEL);
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printf("uIP started with IP address %d.%d.%d.%d\n",
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uip_ipaddr_to_quad(&hostaddr));
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}
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#endif /* NETSTACK_CONF_WITH_IPV4 */
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energest_init();
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ENERGEST_ON(ENERGEST_TYPE_CPU);
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print_processes(autostart_processes);
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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_start();
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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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/* uart0_active is for avoiding LPM3 when still sending or receiving */
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if(process_nevents() != 0 || uart0_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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timer_reset(&mgt_timer);
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msp430_sync_dco();
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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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_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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/* 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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