mirror of
https://github.com/oliverschmidt/contiki.git
synced 2024-08-28 07:28:58 +00:00
Use IP over Rime
This commit is contained in:
parent
88669e1675
commit
3c3714c178
@ -9,6 +9,8 @@ CONTIKI=../..
|
|||||||
|
|
||||||
CORE=core-nosyms.$(TARGET)
|
CORE=core-nosyms.$(TARGET)
|
||||||
|
|
||||||
|
CONTIKI_TARGET_MAIN=contiki-main.c
|
||||||
|
|
||||||
codeprop: $(CONTIKI)/tools/codeprop.c
|
codeprop: $(CONTIKI)/tools/codeprop.c
|
||||||
cc -g -Wall $< -o $@
|
cc -g -Wall $< -o $@
|
||||||
|
|
||||||
|
@ -1,7 +1,7 @@
|
|||||||
STEPPER_ROBOT = leds.c leds-arch.c sam7s-spi.c stepper-process.c stepper.c stepper-interrupt.c stepper-move.c
|
STEPPER_ROBOT = leds.c leds-arch.c sam7s-spi.c stepper-process.c stepper.c stepper-interrupt.c stepper-move.c
|
||||||
|
|
||||||
CODEPROP_SOURCES = codeprop-otf.c ram-segments.c
|
#CODEPROP_SOURCES = codeprop-otf.c ram-segments.c
|
||||||
UIPDRIVERS= cc2420.c cc2420_send_ip.c cc2420_send_uaodv.c cc2420-interrupt.c \
|
UIPDRIVERS= cc2420.c cc2420-interrupt.c \
|
||||||
cc2420-spi.c slip.c
|
cc2420-spi.c slip.c
|
||||||
|
|
||||||
CONTIKI_TARGET_DIRS = . stepper
|
CONTIKI_TARGET_DIRS = . stepper
|
||||||
@ -19,7 +19,7 @@ CONTIKI_TARGET_SOURCEFILES += $(SENSORS) $(STEPPER_ROBOT) \
|
|||||||
|
|
||||||
# include $(CONTIKI)/platform/$(TARGET)/apps/Makefile.apps
|
# include $(CONTIKI)/platform/$(TARGET)/apps/Makefile.apps
|
||||||
|
|
||||||
include $(CONTIKI)/cpu/at91sam7s/Makefile.at91sam7s
|
include $(CONTIKI)/cpu/arm/at91sam7s/Makefile.at91sam7s
|
||||||
|
|
||||||
#contiki-$(TARGET).a: ${addprefix $(OBJECTDIR)/,symbols.o}
|
#contiki-$(TARGET).a: ${addprefix $(OBJECTDIR)/,symbols.o}
|
||||||
|
|
||||||
|
@ -10,8 +10,8 @@ cc2420_fifop_interrupt (void) /* System Interrupt Handler */
|
|||||||
{
|
{
|
||||||
ISR_STORE();
|
ISR_STORE();
|
||||||
ISR_ENABLE_NEST();
|
ISR_ENABLE_NEST();
|
||||||
__cc2420_intr();
|
cc2420_interrupt();
|
||||||
ISR_DISABLE_NEST();
|
ISR_DISABLE_NEST();
|
||||||
*AT91C_AIC_EOICR = 0; /* End of Interrupt */
|
*AT91C_AIC_EOICR = 0; /* End of Interrupt */
|
||||||
ISR_RESTORE();
|
ISR_RESTORE();
|
||||||
}
|
}
|
||||||
|
@ -13,7 +13,7 @@
|
|||||||
#endif
|
#endif
|
||||||
|
|
||||||
void
|
void
|
||||||
__cc2420_arch_init(void)
|
cc2420_arch_init(void)
|
||||||
{
|
{
|
||||||
spi_init();
|
spi_init();
|
||||||
|
|
||||||
|
@ -44,8 +44,8 @@ typedef unsigned int uip_stats_t;
|
|||||||
#define SFD_IS_1 (*AT91C_PIOA_PDSR & AT91C_PIO_PA15)
|
#define SFD_IS_1 (*AT91C_PIOA_PDSR & AT91C_PIO_PA15)
|
||||||
#define CCA_IS_1 1
|
#define CCA_IS_1 1
|
||||||
|
|
||||||
#define SET_RESET_INACTIVE() cc2420_setreg(CC2420_MAIN, 0xf800);
|
#define SET_RESET_INACTIVE() setreg(CC2420_MAIN, 0xf800);
|
||||||
#define SET_RESET_ACTIVE() cc2420_setreg(CC2420_MAIN, 0x0000);
|
#define SET_RESET_ACTIVE() setreg(CC2420_MAIN, 0x0000);
|
||||||
|
|
||||||
#define SET_VREG_ACTIVE()
|
#define SET_VREG_ACTIVE()
|
||||||
#define SET_VREG_INACTIVE()
|
#define SET_VREG_INACTIVE()
|
||||||
@ -66,7 +66,7 @@ do { \
|
|||||||
|
|
||||||
#define SPI_DISABLE() (*AT91C_SPI_CR = AT91C_SPI_LASTXFER)
|
#define SPI_DISABLE() (*AT91C_SPI_CR = AT91C_SPI_LASTXFER)
|
||||||
|
|
||||||
#define CLEAR_FIFOP_INT() /* Cleared by the wrapper */
|
#define CLEAR_FIFOP_INT() (*AT91C_AIC_ICCR = (1 << AT91C_ID_IRQ1))
|
||||||
|
|
||||||
#define LOOP_20_SYMBOLS (MCK/28125) /* Assume the loop takes 9 cycles */
|
#define LOOP_20_SYMBOLS (MCK/28125) /* Assume the loop takes 9 cycles */
|
||||||
|
|
||||||
@ -76,7 +76,18 @@ do { \
|
|||||||
#define UIP_CONF_LOGGING 1
|
#define UIP_CONF_LOGGING 1
|
||||||
#define UIP_CONF_BUFFER_SIZE 116
|
#define UIP_CONF_BUFFER_SIZE 116
|
||||||
|
|
||||||
|
#define UIP_CONF_TCP_FORWARD 1
|
||||||
|
|
||||||
|
/* USB definitions */
|
||||||
|
#define USB_EP1_SIZE 64
|
||||||
|
#define USB_EP2_SIZE 64
|
||||||
|
#define USB_EP3_SIZE 64
|
||||||
|
|
||||||
|
#define USB_RBC_NUM_BLOCKS 16
|
||||||
/* Prefix for relocation sections in ELF files */
|
/* Prefix for relocation sections in ELF files */
|
||||||
#define REL_SECT_PREFIX ".rel"
|
#define REL_SECT_PREFIX ".rel"
|
||||||
|
|
||||||
|
#define CC_BYTE_ALIGNED __attribute__ ((packed, aligned(1)))
|
||||||
|
|
||||||
|
|
||||||
#endif /* __CONTIKI_CONF_H__CDBB4VIH3I__ */
|
#endif /* __CONTIKI_CONF_H__CDBB4VIH3I__ */
|
||||||
|
@ -4,9 +4,6 @@
|
|||||||
#include <debug-uart.h>
|
#include <debug-uart.h>
|
||||||
#include <ctype.h>
|
#include <ctype.h>
|
||||||
#include <stdio.h>
|
#include <stdio.h>
|
||||||
#include <net/uip.h>
|
|
||||||
#include "net/uip-fw-drv.h"
|
|
||||||
#include "net/uaodv.h"
|
|
||||||
#include <dev/cc2420.h>
|
#include <dev/cc2420.h>
|
||||||
#include <dev/cc2420_const.h>
|
#include <dev/cc2420_const.h>
|
||||||
#include <dev/spi.h>
|
#include <dev/spi.h>
|
||||||
@ -18,16 +15,62 @@
|
|||||||
#include <net/psock.h>
|
#include <net/psock.h>
|
||||||
#include <unistd.h>
|
#include <unistd.h>
|
||||||
|
|
||||||
|
#include "net/mac/nullmac.h"
|
||||||
|
#include "net/rime.h"
|
||||||
|
|
||||||
|
#include "contiki-main.h"
|
||||||
|
|
||||||
#ifndef RF_CHANNEL
|
#ifndef RF_CHANNEL
|
||||||
#define RF_CHANNEL 15
|
#define RF_CHANNEL 15
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
|
|
||||||
|
#if WITH_UIP
|
||||||
|
#include "net/uip.h"
|
||||||
|
#include "net/uip-fw.h"
|
||||||
|
#include "net/uip-fw-drv.h"
|
||||||
|
#include "net/uip-over-mesh.h"
|
||||||
|
|
||||||
|
|
||||||
|
static struct uip_fw_netif meshif =
|
||||||
|
{UIP_FW_NETIF(172,16,0,0, 255,255,0,0, uip_over_mesh_send)};
|
||||||
|
|
||||||
|
#define UIP_OVER_MESH_CHANNEL 9
|
||||||
|
|
||||||
|
uint8_t is_gateway = 0;
|
||||||
|
struct trickle_conn gateway_trickle;
|
||||||
|
|
||||||
|
#endif /* WITH_UIP */
|
||||||
|
|
||||||
extern char __heap_end__;
|
extern char __heap_end__;
|
||||||
extern char __heap_start__;
|
extern char __heap_start__;
|
||||||
|
|
||||||
struct uip_fw_netif cc2420if =
|
|
||||||
{UIP_FW_NETIF(172,16,0,129, 255,255,0,0, cc2420_send_ip)};
|
rimeaddr_t node_addr __attribute__((weak)) = {{0,2}};
|
||||||
|
|
||||||
|
/*--------------------------------------------------------------------------*/
|
||||||
|
#if WITH_UIP
|
||||||
|
|
||||||
|
/* Receive address of gateway */
|
||||||
|
|
||||||
|
static void
|
||||||
|
trickle_recv(struct trickle_conn *c)
|
||||||
|
{
|
||||||
|
if (!is_gateway) {
|
||||||
|
struct gateway_msg *msg;
|
||||||
|
msg = rimebuf_dataptr();
|
||||||
|
printf("%d.%d: gateway message: %d.%d\n",
|
||||||
|
rimeaddr_node_addr.u8[0], rimeaddr_node_addr.u8[1],
|
||||||
|
msg->gateway.u8[0], msg->gateway.u8[1]);
|
||||||
|
|
||||||
|
uip_over_mesh_set_gateway(&msg->gateway);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
const static struct trickle_callbacks trickle_call = {trickle_recv};
|
||||||
|
|
||||||
|
/*---------------------------------------------------------------------------*/
|
||||||
|
#endif
|
||||||
|
|
||||||
#if 0
|
#if 0
|
||||||
/* Wathcdog is already disabled in startup code */
|
/* Wathcdog is already disabled in startup code */
|
||||||
@ -48,10 +91,6 @@ wdt_reset()
|
|||||||
static uip_ipaddr_t gw_addr = {{172,16,0,1}};
|
static uip_ipaddr_t gw_addr = {{172,16,0,1}};
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
PROCINIT(&etimer_process, &tcpip_process, &cc2420_process,
|
|
||||||
&uip_fw_process /*, &uaodv_process */
|
|
||||||
);
|
|
||||||
|
|
||||||
|
|
||||||
int
|
int
|
||||||
main()
|
main()
|
||||||
@ -64,24 +103,65 @@ main()
|
|||||||
|
|
||||||
dbg_setup_uart();
|
dbg_setup_uart();
|
||||||
printf("Initialising\n");
|
printf("Initialising\n");
|
||||||
leds_arch_init();
|
leds_init();
|
||||||
clock_init();
|
clock_init();
|
||||||
uip_sethostaddr(&cc2420if.ipaddr);
|
|
||||||
uip_setnetmask(&cc2420if.netmask);
|
|
||||||
|
|
||||||
/*uip_setdraddr(&gw_addr);*/
|
|
||||||
cc2420_init();
|
|
||||||
cc2420_set_chan_pan_addr(RF_CHANNEL, HTONS(0x2024), uip_hostaddr.u16[1], NULL);
|
|
||||||
process_init();
|
process_init();
|
||||||
uip_init();
|
process_start(&etimer_process, NULL);
|
||||||
uip_fw_default(&cc2420if);
|
|
||||||
tcpip_set_forwarding(1);
|
ctimer_init();
|
||||||
|
|
||||||
|
enableIRQ();
|
||||||
|
|
||||||
|
printf("Beginning CC2420 setup\n");
|
||||||
|
cc2420_init();
|
||||||
|
cc2420_set_pan_addr(0x2024, 0, NULL);
|
||||||
|
cc2420_set_channel(RF_CHANNEL);
|
||||||
|
rime_init(nullmac_init(&cc2420_driver));
|
||||||
|
printf("CC2420 setup done\n");
|
||||||
|
|
||||||
|
rimeaddr_set_node_addr(&node_addr);
|
||||||
|
printf("Rime started with address %d.%d\n", node_addr.u8[0], node_addr.u8[1]);
|
||||||
|
|
||||||
|
#if WITH_UIP
|
||||||
|
{
|
||||||
|
uip_ipaddr_t hostaddr, netmask;
|
||||||
|
|
||||||
|
uip_init();
|
||||||
|
|
||||||
|
uip_ipaddr(&hostaddr, 172,16,
|
||||||
|
rimeaddr_node_addr.u8[0],rimeaddr_node_addr.u8[1]);
|
||||||
|
uip_ipaddr(&netmask, 255,255,0,0);
|
||||||
|
uip_ipaddr_copy(&meshif.ipaddr, &hostaddr);
|
||||||
|
printf("Host addr\n");
|
||||||
|
uip_sethostaddr(&hostaddr);
|
||||||
|
uip_setnetmask(&netmask);
|
||||||
|
uip_over_mesh_set_net(&hostaddr, &netmask);
|
||||||
|
/* uip_fw_register(&slipif);*/
|
||||||
|
/*uip_over_mesh_set_gateway_netif(&slipif);*/
|
||||||
|
uip_fw_register(&meshif);
|
||||||
|
uip_fw_default(&meshif);
|
||||||
|
printf("Mesh init\n");
|
||||||
|
uip_over_mesh_init(UIP_OVER_MESH_CHANNEL);
|
||||||
|
printf("uIP started with IP address %d.%d.%d.%d\n",
|
||||||
|
uip_ipaddr_to_quad(&hostaddr));
|
||||||
|
}
|
||||||
|
#endif /* WITH_UIP */
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
#if WITH_UIP
|
||||||
|
process_start(&tcpip_process, NULL);
|
||||||
|
process_start(&uip_fw_process, NULL); /* Start IP output */
|
||||||
|
|
||||||
|
trickle_open(&gateway_trickle, CLOCK_SECOND * 4, GATEWAY_TRICKLE_CHANNEL,
|
||||||
|
&trickle_call);
|
||||||
|
#endif /* WITH_UIP */
|
||||||
|
|
||||||
printf("Heap size: %ld bytes\n", &__heap_end__ - (char*)sbrk(0));
|
printf("Heap size: %ld bytes\n", &__heap_end__ - (char*)sbrk(0));
|
||||||
printf("Started\n");
|
printf("Started\n");
|
||||||
|
|
||||||
procinit_init();
|
/* procinit_init(); */
|
||||||
enableIRQ();
|
|
||||||
cc2420_on();
|
|
||||||
autostart_start(autostart_processes);
|
autostart_start(autostart_processes);
|
||||||
printf("Processes running\n");
|
printf("Processes running\n");
|
||||||
while(1) {
|
while(1) {
|
||||||
|
@ -8,12 +8,17 @@
|
|||||||
#include <debug-uart.h>
|
#include <debug-uart.h>
|
||||||
|
|
||||||
#include <net/uip-fw-drv.h>
|
#include <net/uip-fw-drv.h>
|
||||||
|
#include <net/uip-over-mesh.h>
|
||||||
#include <dev/slip.h>
|
#include <dev/slip.h>
|
||||||
|
|
||||||
|
#include "contiki-main.h"
|
||||||
|
|
||||||
/* SLIP interface */
|
/* SLIP interface */
|
||||||
|
|
||||||
extern struct uip_fw_netif cc2420if;
|
extern struct uip_fw_netif cc2420if;
|
||||||
|
|
||||||
|
rimeaddr_t node_addr = {{0,129}};
|
||||||
|
|
||||||
static struct uip_fw_netif slipif =
|
static struct uip_fw_netif slipif =
|
||||||
{UIP_FW_NETIF(0,0,0,0, 255,255,255,255, slip_send)};
|
{UIP_FW_NETIF(0,0,0,0, 255,255,255,255, slip_send)};
|
||||||
|
|
||||||
@ -25,6 +30,7 @@ static unsigned char interrupt_buffer[16];
|
|||||||
#define DEV_TO_HOST 0x81
|
#define DEV_TO_HOST 0x81
|
||||||
#define HOST_TO_DEV 0x02
|
#define HOST_TO_DEV 0x02
|
||||||
|
|
||||||
|
#define GATEWAY_TRICKLE_CHANNEL 8
|
||||||
void
|
void
|
||||||
slip_arch_init(unsigned long ubr)
|
slip_arch_init(unsigned long ubr)
|
||||||
{
|
{
|
||||||
@ -36,6 +42,26 @@ slip_arch_writeb(unsigned char c)
|
|||||||
while(usb_send_data(DEV_TO_HOST, &c, 1) != 1);
|
while(usb_send_data(DEV_TO_HOST, &c, 1) != 1);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
#if WITH_UIP
|
||||||
|
|
||||||
|
static void
|
||||||
|
set_gateway(void)
|
||||||
|
{
|
||||||
|
struct gateway_msg msg;
|
||||||
|
/* Make this node the gateway node, unless it already is the
|
||||||
|
gateway. */
|
||||||
|
if(!is_gateway) {
|
||||||
|
leds_on(LEDS_RED);
|
||||||
|
printf("%d.%d: making myself the gateway\n",
|
||||||
|
rimeaddr_node_addr.u8[0], rimeaddr_node_addr.u8[1]);
|
||||||
|
uip_over_mesh_set_gateway(&rimeaddr_node_addr);
|
||||||
|
rimeaddr_copy(&(msg.gateway), &rimeaddr_node_addr);
|
||||||
|
rimebuf_copyfrom(&msg, sizeof(struct gateway_msg));
|
||||||
|
trickle_send(&gateway_trickle);
|
||||||
|
is_gateway = 1;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
#endif /* WITH_UIP */
|
||||||
|
|
||||||
PROCESS(gateway_process, "Gateway process");
|
PROCESS(gateway_process, "Gateway process");
|
||||||
|
|
||||||
@ -49,14 +75,17 @@ PROCESS_THREAD(gateway_process, ev , data)
|
|||||||
usb_cdc_acm_setup();
|
usb_cdc_acm_setup();
|
||||||
|
|
||||||
uip_fw_default(&slipif);
|
uip_fw_default(&slipif);
|
||||||
uip_fw_register(&cc2420if);
|
uip_over_mesh_set_gateway_netif(&slipif);
|
||||||
|
|
||||||
process_start(&slip_process, NULL);
|
process_start(&slip_process, NULL);
|
||||||
|
|
||||||
|
set_gateway();
|
||||||
|
|
||||||
while(ev != PROCESS_EVENT_EXIT) {
|
while(ev != PROCESS_EVENT_EXIT) {
|
||||||
PROCESS_WAIT_EVENT();
|
PROCESS_WAIT_EVENT();
|
||||||
if (ev == PROCESS_EVENT_TIMER) {
|
if (ev == PROCESS_EVENT_TIMER) {
|
||||||
leds_toggle(LEDS_YELLOW);
|
leds_toggle(LEDS_YELLOW);
|
||||||
|
/* printf("FIFOP: %d\n", FIFOP_IS_1); */
|
||||||
etimer_restart(&timer);
|
etimer_restart(&timer);
|
||||||
} else if (ev == PROCESS_EVENT_MSG) {
|
} else if (ev == PROCESS_EVENT_MSG) {
|
||||||
const struct usb_user_msg * const msg = data;
|
const struct usb_user_msg * const msg = data;
|
||||||
@ -81,8 +110,8 @@ PROCESS_THREAD(gateway_process, ev , data)
|
|||||||
break;
|
break;
|
||||||
case USB_USER_MSG_TYPE_EP_OUT(2):
|
case USB_USER_MSG_TYPE_EP_OUT(2):
|
||||||
{
|
{
|
||||||
unsigned int len = msg->data.length;
|
/*unsigned int len = msg->data.length;
|
||||||
/* printf("Received %d:\n", len); */
|
printf("Received %d:\n", len); */
|
||||||
{
|
{
|
||||||
unsigned char ch;
|
unsigned char ch;
|
||||||
unsigned int xfer;
|
unsigned int xfer;
|
||||||
|
@ -4,9 +4,6 @@
|
|||||||
#include <debug-uart.h>
|
#include <debug-uart.h>
|
||||||
#include <ctype.h>
|
#include <ctype.h>
|
||||||
#include <stdio.h>
|
#include <stdio.h>
|
||||||
#include <net/uip.h>
|
|
||||||
#include "net/uip-fw-drv.h"
|
|
||||||
#include "net/uaodv.h"
|
|
||||||
#include <dev/cc2420.h>
|
#include <dev/cc2420.h>
|
||||||
#include <dev/cc2420_const.h>
|
#include <dev/cc2420_const.h>
|
||||||
#include <dev/spi.h>
|
#include <dev/spi.h>
|
||||||
@ -22,11 +19,33 @@
|
|||||||
#include <stepper.h>
|
#include <stepper.h>
|
||||||
#include <stepper-move.h>
|
#include <stepper-move.h>
|
||||||
|
|
||||||
|
#include "net/mac/nullmac.h"
|
||||||
|
#include "net/rime.h"
|
||||||
|
|
||||||
|
|
||||||
#ifndef RF_CHANNEL
|
#ifndef RF_CHANNEL
|
||||||
#define RF_CHANNEL 15
|
#define RF_CHANNEL 15
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
|
#ifndef WITH_UIP
|
||||||
|
#define WITH_UIP 1
|
||||||
|
#endif
|
||||||
|
|
||||||
|
#if WITH_UIP
|
||||||
|
#include "net/uip.h"
|
||||||
|
#include "net/uip-fw.h"
|
||||||
|
#include "net/uip-fw-drv.h"
|
||||||
|
#include "net/uip-over-mesh.h"
|
||||||
|
|
||||||
|
static struct uip_fw_netif meshif =
|
||||||
|
{UIP_FW_NETIF(172,16,0,0, 255,255,0,0, uip_over_mesh_send)};
|
||||||
|
|
||||||
|
#define UIP_OVER_MESH_CHANNEL 9
|
||||||
|
|
||||||
|
#endif /* WITH_UIP */
|
||||||
|
|
||||||
|
static rimeaddr_t node_addr = {{0,2}};
|
||||||
|
|
||||||
extern char __heap_end__;
|
extern char __heap_end__;
|
||||||
extern char __heap_start__;
|
extern char __heap_start__;
|
||||||
|
|
||||||
@ -66,69 +85,6 @@ robot_stepper_init()
|
|||||||
stepper1_steps_run, stepper1_steps_hold,
|
stepper1_steps_run, stepper1_steps_hold,
|
||||||
(sizeof(stepper1_steps_run) / sizeof(stepper1_steps_run[0])));}
|
(sizeof(stepper1_steps_run) / sizeof(stepper1_steps_run[0])));}
|
||||||
|
|
||||||
struct uip_fw_netif cc2420if =
|
|
||||||
{UIP_FW_NETIF(172,16,0,2, 255,255,0,0, cc2420_send_ip)};
|
|
||||||
|
|
||||||
|
|
||||||
#if 0
|
|
||||||
PROCESS(udprecv_process, "UDP recv process");
|
|
||||||
|
|
||||||
PROCESS_THREAD(udprecv_process, ev, data)
|
|
||||||
{
|
|
||||||
static struct uip_udp_conn *c;
|
|
||||||
|
|
||||||
PROCESS_EXITHANDLER(goto exit);
|
|
||||||
PROCESS_BEGIN();
|
|
||||||
|
|
||||||
printf("udprecv_process starting\n");
|
|
||||||
|
|
||||||
{
|
|
||||||
uip_ipaddr_t any;
|
|
||||||
uip_ipaddr(&any, 0,0,0,0);
|
|
||||||
c = udp_new(&any, HTONS(0), NULL);
|
|
||||||
uip_udp_bind(c, HTONS(4321));
|
|
||||||
}
|
|
||||||
|
|
||||||
while(1) {
|
|
||||||
PROCESS_YIELD();
|
|
||||||
|
|
||||||
if(ev == tcpip_event && uip_newdata()) {
|
|
||||||
u8_t *src = ((struct uip_udpip_hdr *)uip_buf)->srcipaddr.u8;
|
|
||||||
printf("%d.%d.%d.%d: %s\n",
|
|
||||||
src[0], src[1], src[2], src[3], (char *)uip_appdata);
|
|
||||||
}
|
|
||||||
}
|
|
||||||
|
|
||||||
exit:
|
|
||||||
/* Contiki does automatic garbage collection of uIP state and we
|
|
||||||
* need not worry about that. */
|
|
||||||
printf("udprecv_process exiting\n");
|
|
||||||
PROCESS_END();
|
|
||||||
}
|
|
||||||
|
|
||||||
PROCESS(wd_test_process, "Watchdog test process");
|
|
||||||
|
|
||||||
|
|
||||||
PROCESS_THREAD(wd_test_process, ev, data)
|
|
||||||
{
|
|
||||||
static struct etimer timer;
|
|
||||||
PROCESS_BEGIN();
|
|
||||||
|
|
||||||
printf("tcp_test_process starting\n");
|
|
||||||
|
|
||||||
etimer_set(&timer, 25*CLOCK_SECOND);
|
|
||||||
while(1) {
|
|
||||||
PROCESS_WAIT_EVENT_UNTIL(ev == PROCESS_EVENT_EXIT ||
|
|
||||||
ev== PROCESS_EVENT_TIMER);
|
|
||||||
if (ev == PROCESS_EVENT_EXIT) break;
|
|
||||||
printf("Blocking execution\n");
|
|
||||||
while(1);
|
|
||||||
}
|
|
||||||
|
|
||||||
PROCESS_END();
|
|
||||||
}
|
|
||||||
#endif
|
|
||||||
|
|
||||||
|
|
||||||
#if 0
|
#if 0
|
||||||
/* Wathcdog is already disabled in startup code */
|
/* Wathcdog is already disabled in startup code */
|
||||||
@ -149,10 +105,6 @@ wdt_reset()
|
|||||||
static uip_ipaddr_t gw_addr = {{172,16,0,1}};
|
static uip_ipaddr_t gw_addr = {{172,16,0,1}};
|
||||||
#endif
|
#endif
|
||||||
|
|
||||||
PROCINIT(&etimer_process, &tcpip_process, &cc2420_process,
|
|
||||||
&uip_fw_process /*, &uaodv_process */
|
|
||||||
);
|
|
||||||
|
|
||||||
|
|
||||||
int
|
int
|
||||||
main()
|
main()
|
||||||
@ -167,23 +119,55 @@ main()
|
|||||||
printf("Initialising\n");
|
printf("Initialising\n");
|
||||||
leds_arch_init();
|
leds_arch_init();
|
||||||
clock_init();
|
clock_init();
|
||||||
uip_sethostaddr(&cc2420if.ipaddr);
|
|
||||||
uip_setnetmask(&cc2420if.netmask);
|
|
||||||
|
|
||||||
/*uip_setdraddr(&gw_addr);*/
|
|
||||||
cc2420_init();
|
|
||||||
cc2420_set_chan_pan_addr(RF_CHANNEL, HTONS(0x2024), uip_hostaddr.u16[1], NULL);
|
|
||||||
process_init();
|
process_init();
|
||||||
uip_init();
|
process_start(&etimer_process, NULL);
|
||||||
uip_fw_default(&cc2420if);
|
ctimer_init();
|
||||||
tcpip_set_forwarding(1);
|
|
||||||
|
robot_stepper_init();
|
||||||
|
|
||||||
|
enableIRQ();
|
||||||
|
|
||||||
|
cc2420_init();
|
||||||
|
cc2420_set_pan_addr(0x2024, 0, &uip_hostaddr.u16[1]);
|
||||||
|
cc2420_set_channel(RF_CHANNEL);
|
||||||
|
rime_init(nullmac_init(&cc2420_driver));
|
||||||
|
printf("CC2420 setup done\n");
|
||||||
|
|
||||||
|
rimeaddr_set_node_addr(&node_addr);
|
||||||
|
|
||||||
|
#if WITH_UIP
|
||||||
|
{
|
||||||
|
uip_ipaddr_t hostaddr, netmask;
|
||||||
|
|
||||||
|
uip_init();
|
||||||
|
|
||||||
|
uip_ipaddr(&hostaddr, 172,16,
|
||||||
|
rimeaddr_node_addr.u8[0],rimeaddr_node_addr.u8[1]);
|
||||||
|
uip_ipaddr(&netmask, 255,255,0,0);
|
||||||
|
uip_ipaddr_copy(&meshif.ipaddr, &hostaddr);
|
||||||
|
printf("Host addr\n");
|
||||||
|
uip_sethostaddr(&hostaddr);
|
||||||
|
uip_setnetmask(&netmask);
|
||||||
|
uip_over_mesh_set_net(&hostaddr, &netmask);
|
||||||
|
/* uip_fw_register(&slipif);*/
|
||||||
|
/*uip_over_mesh_set_gateway_netif(&slipif);*/
|
||||||
|
uip_fw_default(&meshif);
|
||||||
|
printf("Mesh init\n");
|
||||||
|
uip_over_mesh_init(UIP_OVER_MESH_CHANNEL);
|
||||||
|
printf("uIP started with IP address %d.%d.%d.%d\n",
|
||||||
|
uip_ipaddr_to_quad(&hostaddr));
|
||||||
|
}
|
||||||
|
#endif /* WITH_UIP */
|
||||||
|
|
||||||
|
|
||||||
|
#if WITH_UIP
|
||||||
|
process_start(&tcpip_process, NULL);
|
||||||
|
process_start(&uip_fw_process, NULL); /* Start IP output */
|
||||||
|
#endif /* WITH_UIP */
|
||||||
|
|
||||||
printf("Heap size: %ld bytes\n", &__heap_end__ - (char*)sbrk(0));
|
printf("Heap size: %ld bytes\n", &__heap_end__ - (char*)sbrk(0));
|
||||||
printf("Started\n");
|
printf("Started\n");
|
||||||
|
|
||||||
robot_stepper_init();
|
|
||||||
procinit_init();
|
|
||||||
enableIRQ();
|
|
||||||
cc2420_on();
|
|
||||||
autostart_start(autostart_processes);
|
autostart_start(autostart_processes);
|
||||||
printf("Processes running\n");
|
printf("Processes running\n");
|
||||||
while(1) {
|
while(1) {
|
||||||
|
@ -276,7 +276,8 @@ handle_line(const char *input_line, const char *inend, ReplyBuffer *reply)
|
|||||||
reply_str(reply, "OK\n");
|
reply_str(reply, "OK\n");
|
||||||
} else if (input_line[0] == 'p') {
|
} else if (input_line[0] == 'p') {
|
||||||
reply_char(reply, 'p');
|
reply_char(reply, 'p');
|
||||||
format_int_hex(&reply->write, REPLY_BUFFER_END(reply), cc2420_last_rssi);
|
format_int_hex(&reply->write, REPLY_BUFFER_END(reply),
|
||||||
|
cc2420_last_rssi);
|
||||||
reply_char(reply, ',');
|
reply_char(reply, ',');
|
||||||
format_uint_hex(&reply->write, REPLY_BUFFER_END(reply),
|
format_uint_hex(&reply->write, REPLY_BUFFER_END(reply),
|
||||||
cc2420_last_correlation);
|
cc2420_last_correlation);
|
||||||
@ -443,12 +444,52 @@ PROCESS_THREAD(udp_stepper_process, ev, data)
|
|||||||
PROCESS_END();
|
PROCESS_END();
|
||||||
}
|
}
|
||||||
|
|
||||||
|
static const uint32_t stepper0_steps_acc[] = MICRO_STEP(0,3);
|
||||||
|
static const uint32_t stepper0_steps_run[] = MICRO_STEP(0,2);
|
||||||
|
static const uint32_t stepper0_steps_hold[] = MICRO_STEP(0,1);
|
||||||
|
|
||||||
|
static const uint32_t stepper1_steps_acc[] = MICRO_STEP(1,3);
|
||||||
|
static const uint32_t stepper1_steps_run[] = MICRO_STEP(1,2);
|
||||||
|
static const uint32_t stepper1_steps_hold[] = MICRO_STEP(1,1);
|
||||||
|
|
||||||
|
static StepperAccSeq seq_heap[40];
|
||||||
|
|
||||||
|
static void
|
||||||
|
init_seq_heap()
|
||||||
|
{
|
||||||
|
unsigned int i;
|
||||||
|
for(i = 0; i < sizeof(seq_heap)/sizeof(seq_heap[0]); i++) {
|
||||||
|
seq_heap[i].next = NULL;
|
||||||
|
stepper_free_seq(&seq_heap[i]);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
static void
|
||||||
|
robot_stepper_init()
|
||||||
|
{
|
||||||
|
disableIRQ();
|
||||||
|
init_seq_heap();
|
||||||
|
stepper_init(AT91C_BASE_TC0, AT91C_ID_TC0);
|
||||||
|
*AT91C_PIOA_OER = STEPPER_INHIBIT;
|
||||||
|
*AT91C_PIOA_MDER = STEPPER_INHIBIT; /* | STEPPER0_IOMASK; */
|
||||||
|
*AT91C_PIOA_CODR = STEPPER_INHIBIT;
|
||||||
|
stepper_init_io(1, STEPPER_IOMASK(0), stepper0_steps_acc,
|
||||||
|
stepper0_steps_run, stepper0_steps_hold,
|
||||||
|
(sizeof(stepper0_steps_run) / sizeof(stepper0_steps_run[0])));
|
||||||
|
stepper_init_io(0, STEPPER_IOMASK(1), stepper1_steps_acc,
|
||||||
|
stepper1_steps_run, stepper1_steps_hold,
|
||||||
|
(sizeof(stepper1_steps_run) / sizeof(stepper1_steps_run[0])));
|
||||||
|
enableIRQ();
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
PROCESS(stepper_process, "Stepper control process");
|
PROCESS(stepper_process, "Stepper control process");
|
||||||
|
|
||||||
PROCESS_THREAD(stepper_process, ev, data)
|
PROCESS_THREAD(stepper_process, ev, data)
|
||||||
{
|
{
|
||||||
PROCESS_EXITHANDLER(goto exit);
|
PROCESS_EXITHANDLER(goto exit);
|
||||||
PROCESS_BEGIN();
|
PROCESS_BEGIN();
|
||||||
|
robot_stepper_init();
|
||||||
tcp_listen(HTONS(1010));
|
tcp_listen(HTONS(1010));
|
||||||
|
|
||||||
process_start(&udp_stepper_process, NULL);
|
process_start(&udp_stepper_process, NULL);
|
||||||
|
Loading…
Reference in New Issue
Block a user