442 lines
12 KiB
C
442 lines
12 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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* @(#)$Id: contiki-sky-main.c,v 1.61 2010/01/14 15:50:13 joxe Exp $
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*/
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#include <signal.h>
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#include <stdio.h>
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#include <string.h>
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#include <io.h>
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#include "contiki.h"
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#include "dev/battery-sensor.h"
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#include "dev/button-sensor.h"
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#include "dev/cc2420.h"
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#include "dev/ds2411.h"
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#include "dev/leds.h"
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#include "dev/light.h"
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#include "dev/serial-line.h"
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#include "dev/sht11.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/mac/frame802154.h"
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#include "net/mac/framer-802154.h"
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#include "net/mac/framer-nullmac.h"
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#include "net/mac/framer.h"
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#if WITH_UIP6
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#include "net/sicslowpan.h"
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#include "net/uip-netif.h"
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#include "net/mac/sicslowmac.h"
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#if UIP_CONF_ROUTER
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#include "net/routing/rimeroute.h"
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#endif /* UIP_CONF_ROUTER*/
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#endif /* WITH_UIP6 */
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#include "net/rime.h"
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#include "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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#include "sys/profile.h"
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SENSORS(&button_sensor);
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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 WITH_UIP
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#define WITH_UIP 0
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#endif
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#if WITH_UIP
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#include "net/uip.h"
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#include "net/uip-fw.h"
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#include "net/uip-fw-drv.h"
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#include "net/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 /* WITH_UIP */
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#define UIP_OVER_MESH_CHANNEL 8
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#if WITH_UIP
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static uint8_t is_gateway;
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#endif /* WITH_UIP */
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#ifdef EXPERIMENT_SETUP
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#include "experiment-setup.h"
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#endif
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#if WITH_NULLMAC
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#define MAC_DRIVER nullmac_driver
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#endif /* WITH_NULLMAC */
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#ifndef MAC_DRIVER
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#ifdef MAC_CONF_DRIVER
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#define MAC_DRIVER MAC_CONF_DRIVER
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#else
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#define MAC_DRIVER xmac_driver
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#endif /* MAC_CONF_DRIVER */
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#endif /* MAC_DRIVER */
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extern const struct mac_driver MAC_DRIVER;
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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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#ifndef RF_CHANNEL
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#define RF_CHANNEL 26
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#endif
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/*---------------------------------------------------------------------------*/
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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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/*---------------------------------------------------------------------------*/
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static void
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set_rime_addr(void)
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{
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rimeaddr_t addr;
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int i;
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memset(&addr, 0, sizeof(rimeaddr_t));
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#if UIP_CONF_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(rimeaddr_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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rimeaddr_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 WITH_UIP
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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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rimeaddr_node_addr.u8[0], rimeaddr_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(&rimeaddr_node_addr);
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uip_over_mesh_make_announced_gateway();
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is_gateway = 1;
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rime_mac->off(1);
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}
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}
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#endif /* WITH_UIP */
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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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uart1_init(BAUD2UBR(115200)); /* Must come before first printf */
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#if WITH_UIP
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slip_arch_init(BAUD2UBR(115200));
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#endif /* WITH_UIP */
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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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/* Restore node id if such has been stored in external mem */
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node_id_restore();
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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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process_start(&sensors_process, NULL);
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/*
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* Initialize light and humidity/temp sensors.
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*/
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/*
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light_sensor.configure(SENSORS_ACTIVE, 1);
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battery_sensor.configure(SENSORS_ACTIVE, 1);
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*/
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sht11_init();
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ctimer_init();
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cc2420_init();
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cc2420_set_pan_addr(IEEE802154_PANID, 0 /*XXX*/, ds2411_id);
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cc2420_set_channel(RF_CHANNEL);
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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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set_rime_addr();
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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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framer_set(&framer_802154);
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#if WITH_UIP6
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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, RF_CHANNEL); */
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/* Setup X-MAC for 802.15.4 */
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queuebuf_init();
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sicslowpan_init(MAC_DRIVER.init(&cc2420_driver));
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printf(" %s channel %u\n", MAC_DRIVER.name, RF_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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int i;
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for(i = 0; i < 7; ++i) {
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printf("%02x%02x:",
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uip_netif_physical_if.addresses[0].ipaddr.u8[i * 2],
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uip_netif_physical_if.addresses[0].ipaddr.u8[i * 2 + 1]);
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}
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printf("%02x%02x\n",
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uip_netif_physical_if.addresses[0].ipaddr.u8[14],
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uip_netif_physical_if.addresses[0].ipaddr.u8[15]);
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}
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#if UIP_CONF_ROUTER
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uip_router_register(&rimeroute);
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#endif /* UIP_CONF_ROUTER */
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#else /* WITH_UIP6 */
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rime_init(MAC_DRIVER.init(&cc2420_driver));
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printf(" %s channel %u\n", rime_mac->name, RF_CHANNEL);
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#endif /* WITH_UIP6 */
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#if !WITH_UIP && !WITH_UIP6
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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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#if PROFILE_CONF_ON
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profile_init();
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#endif /* PROFILE_CONF_ON */
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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(rimeaddr_node_addr.u8[0]);
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#endif /* TIMESYNCH_CONF_ENABLED */
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#if WITH_UIP
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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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rimeaddr_node_addr.u8[0],rimeaddr_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 /* WITH_UIP */
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SENSORS_ACTIVATE(&button_sensor);
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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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#if PROFILE_CONF_ON
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profile_episode_start();
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#endif /* PROFILE_CONF_ON */
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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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#if PROFILE_CONF_ON
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profile_episode_end();
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#endif /* PROFILE_CONF_ON */
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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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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_OFF(ENERGEST_TYPE_CPU);
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ENERGEST_ON(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_OFF(ENERGEST_TYPE_LPM);
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ENERGEST_ON(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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