platform/sky/contiki-sky-main.c

   1 /*
   2  * Copyright (c) 2006, Swedish Institute of Computer Science
   3  * All rights reserved.
   4  *
   5  * Redistribution and use in source and binary forms, with or without
   6  * modification, are permitted provided that the following conditions
   7  * are met:
   8  * 1. Redistributions of source code must retain the above copyright
   9  *    notice, this list of conditions and the following disclaimer.
  10  * 2. Redistributions in binary form must reproduce the above copyright
  11  *    notice, this list of conditions and the following disclaimer in the
  12  *    documentation and/or other materials provided with the distribution.
  13  * 3. Neither the name of the Institute nor the names of its contributors
  14  *    may be used to endorse or promote products derived from this software
  15  *    without specific prior written permission.
  16  *
  17  * THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
  18  * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
  19  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
  20  * ARE DISCLAIMED.  IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
  21  * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
  22  * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
  23  * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
  24  * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
  25  * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
  26  * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
  27  * SUCH DAMAGE.
  28  *
  29  * @(#)$Id: contiki-sky-main.c,v 1.56 2009/06/22 11:14:11 nifi Exp $
  30  */
  31
  32 #include <signal.h>
  33 #include <stdio.h>
  34 #include <string.h>
  35
  36 #include <io.h>
  37
  38 #include "contiki.h"
  39
  40 #include "dev/button-sensor.h"
  41 #include "dev/ds2411.h"
  42 #include "dev/leds.h"
  43 #include "dev/light.h"
  44 #include "dev/battery-sensor.h"
  45 #include "dev/serial-line.h"
  46 #include "dev/sht11.h"
  47 #include "dev/cc2420.h"
  48 #include "dev/slip.h"
  49 #include "dev/uart1.h"
  50 #include "dev/watchdog.h"
  51 #include "dev/xmem.h"
  52
  53 #include "lib/random.h"
  54
  55 #include "net/mac/frame802154.h"
  56
  57 #if WITH_UIP6
  58 #include "net/sicslowpan.h"
  59 #include "net/uip-netif.h"
  60 #include "net/mac/sicslowmac.h"
  61 #if UIP_CONF_ROUTER
  62 #include "net/routing/rimeroute.h"
  63 #include "net/rime/rime-udp.h"
  64 #endif /* UIP_CONF_ROUTER*/
  65 #endif /* WITH_UIP6 */
  66
  67 #include "net/rime.h"
  68
  69 #include "node-id.h"
  70 #include "cfs-coffee-arch.h"
  71 #include "cfs/cfs-coffee.h"
  72 #include "sys/autostart.h"
  73 #include "sys/profile.h"
  74
  75 SENSORS(&button_sensor);
  76
  77 #if DCOSYNCH_CONF_ENABLED
  78 static struct timer mgt_timer;
  79 #endif
  80
  81 #ifndef WITH_UIP
  82 #define WITH_UIP 0
  83 #endif
  84
  85 #if WITH_UIP
  86 #include "net/uip.h"
  87 #include "net/uip-fw.h"
  88 #include "net/uip-fw-drv.h"
  89 #include "net/uip-over-mesh.h"
  90 static struct uip_fw_netif slipif =
  91   {UIP_FW_NETIF(192,168,1,2, 255,255,255,255, slip_send)};
  92 static struct uip_fw_netif meshif =
  93   {UIP_FW_NETIF(172,16,0,0, 255,255,0,0, uip_over_mesh_send)};
  94
  95 #endif /* WITH_UIP */
  96
  97 #define UIP_OVER_MESH_CHANNEL 8
  98 #if WITH_UIP
  99 static uint8_t is_gateway;
 100 #endif /* WITH_UIP */
 101
 102 #ifdef EXPERIMENT_SETUP
 103 #include "experiment-setup.h"
 104 #endif
 105
 106 #if WITH_NULLMAC
 107 #define MAC_DRIVER nullmac_driver
 108 #endif /* WITH_NULLMAC */
 109
 110 #ifndef MAC_DRIVER
 111 #ifdef MAC_CONF_DRIVER
 112 #define MAC_DRIVER MAC_CONF_DRIVER
 113 #else
 114 #define MAC_DRIVER xmac_driver
 115 #endif /* MAC_CONF_DRIVER */
 116 #endif /* MAC_DRIVER */
 117
 118 extern const struct mac_driver MAC_DRIVER;
 119
 120 /*---------------------------------------------------------------------------*/
 121 #if 0
 122 int
 123 force_float_inclusion()
 124 {
 125   extern int __fixsfsi;
 126   extern int __floatsisf;
 127   extern int __mulsf3;
 128   extern int __subsf3;
 129
 130   return __fixsfsi + __floatsisf + __mulsf3 + __subsf3;
 131 }
 132 #endif
 133 /*---------------------------------------------------------------------------*/
 134 void uip_log(char *msg) { puts(msg); }
 135 /*---------------------------------------------------------------------------*/
 136 #ifndef RF_CHANNEL
 137 #define RF_CHANNEL              26
 138 #endif
 139 /*---------------------------------------------------------------------------*/
 140 void
 141 force_inclusion(int d1, int d2)
 142 {
 143   snprintf(NULL, 0, "%d", d1 % d2);
 144 }
 145 /*---------------------------------------------------------------------------*/
 146 static void
 147 set_rime_addr(void)
 148 {
 149   rimeaddr_t addr;
 150   int i;
 151
 152   memset(&addr, 0, sizeof(rimeaddr_t));
 153 #if UIP_CONF_IPV6
 154   memcpy(addr.u8, ds2411_id, sizeof(addr.u8));
 155 #else
 156   if(node_id == 0) {
 157     for(i = 0; i < sizeof(rimeaddr_t); ++i) {
 158       addr.u8[i] = ds2411_id[7 - i];
 159     }
 160   } else {
 161     addr.u8[0] = node_id & 0xff;
 162     addr.u8[1] = node_id >> 8;
 163   }
 164 #endif
 165   rimeaddr_set_node_addr(&addr);
 166   printf("Rime started with address ");
 167   for(i = 0; i < sizeof(addr.u8) - 1; i++) {
 168     printf("%d.", addr.u8[i]);
 169   }
 170   printf("%d\n", addr.u8[i]);
 171 }
 172 /*---------------------------------------------------------------------------*/
 173 static void
 174 print_processes(struct process * const processes[])
 175 {
 176   /*  const struct process * const * p = processes;*/
 177   printf("Starting");
 178   while(*processes != NULL) {
 179     printf(" '%s'", (*processes)->name);
 180     processes++;
 181   }
 182   putchar('\n');
 183 }
 184 /*--------------------------------------------------------------------------*/
 185 #if WITH_UIP
 186 static void
 187 set_gateway(void)
 188 {
 189   if(!is_gateway) {
 190     leds_on(LEDS_RED);
 191     printf("%d.%d: making myself the IP network gateway.\n\n",
 192            rimeaddr_node_addr.u8[0], rimeaddr_node_addr.u8[1]);
 193     printf("IPv4 address of the gateway: %d.%d.%d.%d\n\n",
 194            uip_ipaddr_to_quad(&uip_hostaddr));
 195     uip_over_mesh_set_gateway(&rimeaddr_node_addr);
 196     uip_over_mesh_make_announced_gateway();
 197     is_gateway = 1;
 198
 199     rime_mac->off(1);
 200   }
 201 }
 202 #endif /* WITH_UIP */
 203 /*---------------------------------------------------------------------------*/
 204 int
 205 main(int argc, char **argv)
 206 {
 207   /*
 208    * Initalize hardware.
 209    */
 210   msp430_cpu_init();
 211   clock_init();
 212   leds_init();
 213   leds_on(LEDS_RED);
 214
 215   uart1_init(BAUD2UBR(115200)); /* Must come before first printf */
 216 #if WITH_UIP
 217   slip_arch_init(BAUD2UBR(115200));
 218 #endif /* WITH_UIP */
 219
 220   leds_on(LEDS_GREEN);
 221   ds2411_init();
 222
 223   /* XXX hack: Fix it so that the 802.15.4 MAC address is compatible
 224      with an Ethernet MAC address - byte 0 (byte 2 in the DS ID)
 225      cannot be odd. */
 226   ds2411_id[2] &= 0xfe;
 227
 228   leds_on(LEDS_BLUE);
 229   xmem_init();
 230
 231   leds_off(LEDS_RED);
 232   rtimer_init();
 233   /*
 234    * Hardware initialization done!
 235    */
 236
 237
 238   /* Restore node id if such has been stored in external mem */
 239   node_id_restore();
 240
 241   random_init(ds2411_id[0] + node_id);
 242
 243   leds_off(LEDS_BLUE);
 244   /*
 245    * Initialize Contiki and our processes.
 246    */
 247   process_init();
 248   process_start(&etimer_process, NULL);
 249   process_start(&sensors_process, NULL);
 250
 251   /*
 252    * Initialize light and humidity/temp sensors.
 253    */
 254   sensors_light_init();
 255   battery_sensor.activate();
 256   sht11_init();
 257
 258   ctimer_init();
 259
 260   cc2420_init();
 261   cc2420_set_pan_addr(IEEE802154_PANID, 0 /*XXX*/, ds2411_id);
 262   cc2420_set_channel(RF_CHANNEL);
 263
 264   printf(CONTIKI_VERSION_STRING " started. ");
 265   if(node_id > 0) {
 266     printf("Node id is set to %u.\n", node_id);
 267   } else {
 268     printf("Node id is not set.\n");
 269   }
 270   set_rime_addr();
 271   printf("MAC %02x:%02x:%02x:%02x:%02x:%02x:%02x:%02x",
 272          ds2411_id[0], ds2411_id[1], ds2411_id[2], ds2411_id[3],
 273          ds2411_id[4], ds2411_id[5], ds2411_id[6], ds2411_id[7]);
 274
 275 #if WITH_UIP6
 276   memcpy(&uip_lladdr.addr, ds2411_id, sizeof(uip_lladdr.addr));
 277   sicslowpan_init(sicslowmac_init(&cc2420_driver));
 278   process_start(&tcpip_process, NULL);
 279   printf(" %s channel %u\n", sicslowmac_driver.name, RF_CHANNEL);
 280 #if UIP_CONF_ROUTER
 281   rime_init(rime_udp_init(NULL));
 282   uip_router_register(&rimeroute);
 283 #endif /* UIP_CONF_ROUTER */
 284 #else /* WITH_UIP6 */
 285   rime_init(MAC_DRIVER.init(&cc2420_driver));
 286   printf(" %s channel %u\n", rime_mac->name, RF_CHANNEL);
 287 #endif /* WITH_UIP6 */
 288
 289 #if !WITH_UIP && !WITH_UIP6
 290   uart1_set_input(serial_line_input_byte);
 291   serial_line_init();
 292 #endif
 293
 294 #if PROFILE_CONF_ON
 295   profile_init();
 296 #endif /* PROFILE_CONF_ON */
 297
 298   leds_off(LEDS_GREEN);
 299
 300 #if TIMESYNCH_CONF_ENABLED
 301   timesynch_init();
 302   timesynch_set_authority_level(rimeaddr_node_addr.u8[0]);
 303 #endif /* TIMESYNCH_CONF_ENABLED */
 304
 305 #if WITH_UIP
 306   process_start(&tcpip_process, NULL);
 307   process_start(&uip_fw_process, NULL); /* Start IP output */
 308   process_start(&slip_process, NULL);
 309
 310   slip_set_input_callback(set_gateway);
 311
 312   {
 313     uip_ipaddr_t hostaddr, netmask;
 314
 315     uip_init();
 316
 317     uip_ipaddr(&hostaddr, 172,16,
 318                rimeaddr_node_addr.u8[0],rimeaddr_node_addr.u8[1]);
 319     uip_ipaddr(&netmask, 255,255,0,0);
 320     uip_ipaddr_copy(&meshif.ipaddr, &hostaddr);
 321
 322     uip_sethostaddr(&hostaddr);
 323     uip_setnetmask(&netmask);
 324     uip_over_mesh_set_net(&hostaddr, &netmask);
 325     /*    uip_fw_register(&slipif);*/
 326     uip_over_mesh_set_gateway_netif(&slipif);
 327     uip_fw_default(&meshif);
 328     uip_over_mesh_init(UIP_OVER_MESH_CHANNEL);
 329     printf("uIP started with IP address %d.%d.%d.%d\n",
 330            uip_ipaddr_to_quad(&hostaddr));
 331   }
 332 #endif /* WITH_UIP */
 333
 334   button_sensor.activate();
 335
 336   energest_init();
 337   ENERGEST_ON(ENERGEST_TYPE_CPU);
 338
 339   print_processes(autostart_processes);
 340   autostart_start(autostart_processes);
 341
 342   /*
 343    * This is the scheduler loop.
 344    */
 345 #if DCOSYNCH_CONF_ENABLED
 346   timer_set(&mgt_timer, DCOSYNCH_PERIOD * CLOCK_SECOND);
 347 #endif
 348   watchdog_start();
 349   /*  watchdog_stop();*/
 350   while(1) {
 351     int r;
 352 #if PROFILE_CONF_ON
 353     profile_episode_start();
 354 #endif /* PROFILE_CONF_ON */
 355     do {
 356       /* Reset watchdog. */
 357       watchdog_periodic();
 358       r = process_run();
 359     } while(r > 0);
 360 #if PROFILE_CONF_ON
 361     profile_episode_end();
 362 #endif /* PROFILE_CONF_ON */
 363
 364     /*
 365      * Idle processing.
 366      */
 367     int s = splhigh();          /* Disable interrupts. */
 368     /* uart1_active is for avoiding LPM3 when still sending or receiving */
 369     if(process_nevents() != 0 || uart1_active()) {
 370       splx(s);                  /* Re-enable interrupts. */
 371     } else {
 372       static unsigned long irq_energest = 0;
 373
 374 #if DCOSYNCH_CONF_ENABLED
 375       /* before going down to sleep possibly do some management */
 376       if (timer_expired(&mgt_timer)) {
 377         timer_reset(&mgt_timer);
 378         msp430_sync_dco();
 379       }
 380 #endif
 381
 382       /* Re-enable interrupts and go to sleep atomically. */
 383       ENERGEST_OFF(ENERGEST_TYPE_CPU);
 384       ENERGEST_ON(ENERGEST_TYPE_LPM);
 385       /* We only want to measure the processing done in IRQs when we
 386          are asleep, so we discard the processing time done when we
 387          were awake. */
 388       energest_type_set(ENERGEST_TYPE_IRQ, irq_energest);
 389       watchdog_stop();
 390       _BIS_SR(GIE | SCG0 | SCG1 | CPUOFF); /* LPM3 sleep. This
 391                                               statement will block
 392                                               until the CPU is
 393                                               woken up by an
 394                                               interrupt that sets
 395                                               the wake up flag. */
 396
 397       /* We get the current processing time for interrupts that was
 398          done during the LPM and store it for next time around.  */
 399       dint();
 400       irq_energest = energest_type_time(ENERGEST_TYPE_IRQ);
 401       eint();
 402       watchdog_start();
 403       ENERGEST_OFF(ENERGEST_TYPE_LPM);
 404       ENERGEST_ON(ENERGEST_TYPE_CPU);
 405     }
 406   }
 407
 408   return 0;
 409 }
 410 /*---------------------------------------------------------------------------*/
 411 #if LOG_CONF_ENABLED
 412 void
 413 log_message(char *m1, char *m2)
 414 {
 415   printf("%s%s\n", m1, m2);
 416 }
 417 #endif /* LOG_CONF_ENABLED */