static void roStartListeningTimerCb(void *x)
{
// PRINTF("%lu: (%c) LISTEN START\n", getSyncTimeMs(), isRoutingInfoValid() ? '+' : '-');
if (!isListening) {
TPRINTF("+++ start\n");
}
alarmSchedule(&roStartListeningTimer, timeToNextFrame() + 2000);
radioOn();
isListening = true;
alarmSchedule(&roStopListeningTimer, 2000 + 2 * MOTE_TIME_FULL * MAX_MOTES);
}
// Application entry point
void appMain(void)
{
// Initialize and start timer #1 (after 700 milliseconds)
alarmInit(&timer1, onTimer1, NULL);
alarmSchedule(&timer1, 700);
// Initialize and start timer #2 (after 1000 milliseconds)
alarmInit(&timer2, onTimer2, NULL);
alarmSchedule(&timer2, 1000);
// Enter infinite low-power loop
for (;;) {
msleep(2000);
}
}
void amb8420Init(void)
{
RPRINTF("amb8420Init...\n");
amb8420InitSerial();
pinAsOutput(AMB8420_RESET_PORT, AMB8420_RESET_PIN);
pinAsOutput(AMB8420_CONFIG_PORT, AMB8420_CONFIG_PIN);
pinAsOutput(AMB8420_SLEEP_PORT, AMB8420_SLEEP_PIN);
pinAsOutput(AMB8420_TRX_DISABLE_PORT, AMB8420_TRX_DISABLE_PIN);
// pinAsOutput(AMB8420_DATA_REQUEST_PORT, AMB8420_DATA_REQUEST_PIN);
pinAsInput(AMB8420_RTS_PORT, AMB8420_RTS_PIN);
// pinAsInput(AMB8420_DATA_INDICATE_PORT, AMB8420_DATA_INDICATE_PIN);
pinSet(AMB8420_CONFIG_PORT, AMB8420_CONFIG_PIN);
// pinClear(AMB8420_DATA_REQUEST_PORT, AMB8420_DATA_REQUEST_PIN);
// in case interrupts are used (for non-command mode):
//pinIntRising(AMB8420_DATA_INDICATE_PORT, AMB8420_DATA_INDICATE_PIN);
//pinEnableInt(AMB8420_DATA_INDICATE_PORT, AMB8420_DATA_INDICATE_PIN);
initResult = amb8420Reset();
// make sure low power mode is enabled
pinSet(AMB8420_TRX_DISABLE_PORT, AMB8420_TRX_DISABLE_PIN);
pinSet(AMB8420_SLEEP_PORT, AMB8420_SLEEP_PIN);
alarmInit(&radioResetTimer, onRadioReset, NULL);
alarmSchedule(&radioResetTimer, RADIO_RESET_INTERVAL);
RPRINTF("..done\n");
}
void onTimer(void *x)
{
TPRINTF("onTimer\n");
blueLedToggle();
alarmSchedule(&timer, 1000);
}
// Timer #1 callback function
void onTimer1(void *x)
{
static uint8_t counter;
PRINTF("onTimer1\n");
redLedToggle();
// start (schedule) timer #1
alarmSchedule(&timer1, 700);
if (++counter == 3) {
// In case the counter is 3, start (schedule) timer #2 too
PRINTF("reschedule alarm\n");
alarmSchedule(&timer2, 200);
}
}
void onAlarm(void *x) {
redLedToggle();
// schedule the next alarm *exactly* 1000 milliseconds after this one
nextPeriod += PERIOD;
alarmSchedule(&alarm, nextPeriod - getJiffies());
}
void appMain(void)
{
timerBInit();
alarmInit(&blinkTimer, onBlinkTimer, NULL);
alarmInit(&randTimer, onRandTimer, NULL);
alarmSchedule(&blinkTimer, 100);
alarmSchedule(&randTimer, 101);
PRINTF("\n*** starting the app ***\n\n");
for (;;) {
msleep(1000);
}
}
static void onRadioReset(void *x)
{
if (initResult == AMB8420_INIT_HARD_FAIL) return;
#if RADIO_CHIP == RADIO_CHIP_AMB8420
amb8420ResetIfInactive();
#endif
alarmSchedule(&radioResetTimer, RADIO_RESET_INTERVAL);
}
static void roGreenLedTimerCb(void *x) {
isGreenLedOn = !isGreenLedOn;
if (isGreenLedOn) {
if (isRoutingInfoValid()) greenLedOn();
} else {
greenLedOff();
}
alarmSchedule(&roGreenLedTimer, isGreenLedOn ? 100 : 5000);
}
void onBlinkTimer(void *x)
{
redLedOn();
mdelay(100);
redLedOff();
uint32_t now = getTimeMs();
uint32_t untilFrameEnd = BLINK_INTERVAL - now % BLINK_INTERVAL;
alarmSchedule(&blinkTimer, untilFrameEnd);
}
void routingInit(void)
{
socketOpen(&roSocket, routingReceive);
socketBind(&roSocket, ROUTING_PROTOCOL_PORT);
alarmInit(&roCheckTimer, roCheckTimerCb, NULL);
alarmInit(&roForwardTimer, roForwardTimerCb, NULL);
alarmInit(&roOutOfOrderForwardTimer, roOutOfOrderForwardTimerCb, NULL);
alarmInit(&roRequestTimer, roRequestTimerCb, NULL);
alarmInit(&roStopListeningTimer, roStopListeningTimerCb, NULL);
alarmInit(&roStartListeningTimer, roStartListeningTimerCb, NULL);
alarmInit(&roGreenLedTimer, roGreenLedTimerCb, NULL);
alarmInit(&watchdogTimer, watchdogTimerCb, NULL);
alarmSchedule(&roCheckTimer, randomInRange(1000, 3000));
alarmSchedule(&roForwardTimer, calcNextForwardTime(0));
alarmSchedule(&roStartListeningTimer, 110);
alarmSchedule(&roGreenLedTimer, 10000);
// alarmSchedule(&watchdogTimer, 1000);
}
void alarmCallback(void *param)
{
uint16_t i = (uint16_t) param;
// PRINTF("alarm %d at jiffies=%lu\n", i, getJiffies());
alarm.data = (void *) (i + 1);
// reschedule the alarm
alarmSchedule(&alarm, 10);
// simulate a lockup
if (i == 10) for (;;);
}
// -------------------------------------
// Main function
// -------------------------------------
void appMain(void)
{
uint16_t i;
// timers (used to get an extra interrupt context)
alarmInit(&timer, onTimer, NULL);
alarmSchedule(&timer, 1000);
// radio
radioSetReceiveHandle(radioRecvCb);
radioOn();
for (i = 0; i < BUFFER_SIZE; i++) {
buffer[i] = i;
}
randomInit();
// SELECT_FLASH;
// extFlashBulkErase();
// UNSELECT_FLASH;
for (i = 0; ; i++) {
uint32_t address = i * 64ul;
SELECT_FLASH;
if (IS_ALIGNED(address, EXT_FLASH_SECTOR_SIZE)) {
PRINTF("erase address %lu\n", address);
flashErase(address);
}
PRINTF("write address %lu\n", address);
flashWrite(address);
if (address > 0) {
PRINTF("verify...\n");
flashRead(address - 64);
}
UNSELECT_FLASH;
msleep(randomInRange(400, 1000));
PRINTF("send smth to radio...\n");
radioSend("hello world", sizeof("hello world"));
greenLedToggle();
}
}
void appMain(void)
{
alarmInit(&alarm, alarmCallback, (void *) 0);
alarmSchedule(&alarm, 10);
for (;;) {
// PRINT("in app main...\n");
redLedToggle();
#if 1 // will get different error messages depending on whether in mdelay or in msleep
msleep(1000);
#else
mdelay(1000);
#endif
}
}
static void roRequestTimerCb(void *x)
{
// check if already found the info
static uint8_t cnt;
if (isRoutingInfoValid() && cnt > 5) return;
cnt++;
if (isRoutingInfoValid()) return;
// add jitter
routingRequestTimeout += randomNumberBounded(100);
alarmSchedule(&roRequestTimer, routingRequestTimeout);
if (routingRequestTimeout < ROUTING_REQUEST_MAX_EXP_TIMEOUT) {
// use exponential increments
routingRequestTimeout *= 2;
} else if (routingRequestTimeout < ROUTING_REQUEST_MAX_TIMEOUT) {
// use linear increments
routingRequestTimeout += ROUTING_REQUEST_MAX_EXP_TIMEOUT;
} else {
// move back to initial (small) timeout
routingRequestTimeout = ROUTING_REQUEST_INIT_TIMEOUT;
}
TPRINTF("SEND ROUTING REQUEST\n");
radioOn(); // wait for response
isListening = true;
RoutingRequestPacket_t req;
req.packetType = ROUTING_REQUEST;
req.senderType = SENDER_COLLECTOR;
socketSendEx(&roSocket, &req, sizeof(req), MOS_ADDR_BROADCAST);
alarmSchedule(&roStopListeningTimer, ROUTING_REPLY_WAIT_TIMEOUT);
}
void alarmCallback(void *param)
{
(void) param;
// lock the mutex in kernel context
uint32_t start, end;
start = getJiffies();
mutexLock(&testMutex);
end = getJiffies();
PRINTF("in alarm callback, mutex lock time=%lu\n", end - start);
mdelay(1300);
mutexUnlock(&testMutex);
// reschedule the alarm
alarmSchedule(&alarm, ALARM_INTERVAL);
}
void appMain(void)
{
redLedToggle();
// initialize and schedule the alarm
alarmInit(&alarm, onAlarm, NULL);
nextPeriod = PERIOD;
// jiffie counter starts from 0 (zero) after reset
alarmSchedule(&alarm, PERIOD - getJiffies());
// enter infinite low-power loop
for (;;) {
sleep(10);
}
}
static void roForwardTimerCb(void *x)
{
static uint8_t moteToProcess;
bool roOK = isRoutingInfoValid();
if (motes[moteToProcess].address != 0
&& timeAfter32(motes[moteToProcess].validUntil, (uint32_t)getJiffies())
&& hopCountToRoot < MAX_HOP_COUNT
&& roOK) {
forwardRoutingInfo(moteToProcess);
}
moteToProcess++;
if (moteToProcess == MAX_MOTES) moteToProcess = 0;
alarmSchedule(&roForwardTimer, calcNextForwardTime(moteToProcess));
}
void appMain(void)
{
// initialize the alarm
alarmInit(&alarm, alarmCallback, NULL);
// schedule the alarm after specific interval
alarmSchedule(&alarm, ALARM_INTERVAL);
for (;;) {
ledToggle();
// lock the mutex in user context
uint32_t start, end;
start = getJiffies();
mutexLock(&testMutex);
end = getJiffies();
PRINTF("in user main, mutex lock time=%lu\n", end - start);
mdelay(1000);
mutexUnlock(&testMutex);
}
}
static void roCheckTimerCb(void *x)
{
alarmSchedule(&roCheckTimer, 5000 + randomNumberBounded(1000));
bool routingOk = isRoutingInfoValid();
if (routingSearching) {
// was searching for routing info
if (routingOk) {
routingSearching = false;
alarmRemove(&roRequestTimer);
}
} else {
// was not searching for routing info
if (!routingOk) {
routingSearching = true;
routingRequestTimeout = ROUTING_REQUEST_INIT_TIMEOUT;
roRequestTimerCb(NULL);
}
}
}
static void watchdogTimerCb(void *x) {
watchdogStart(WATCHDOG_EXPIRE_1000MS);
alarmSchedule(&watchdogTimer, 500);
}
static void routingReceive(Socket_t *s, uint8_t *data, uint16_t len)
{
// PRINTF("routingReceive %d bytes from %#04x\n", len,
// s->recvMacInfo->originalSrc.shortAddr);
// PRINTF("routing rx\n");
if (len == 0) {
PRINTF("routingReceive: no data!\n");
return;
}
#if PRECONFIGURED_NH_TO_ROOT
if (s->recvMacInfo->originalSrc.shortAddr != PRECONFIGURED_NH_TO_ROOT) {
PRINTF("Dropping routing info: not from the nexthop, but from %#04x\n",
s->recvMacInfo->originalSrc.shortAddr);
return;
}
PRINTF("Got routing info from the nexthop\n");
#endif
uint8_t type = data[0];
if (type == ROUTING_REQUEST) {
uint8_t senderType = data[1];
if (senderType != SENDER_MOTE) return;
uint8_t idx = markAsSeen(s->recvMacInfo->originalSrc.shortAddr, true);
if (gotRreq == 0xff) {
gotRreq = idx;
alarmSchedule(&roOutOfOrderForwardTimer, randomNumberBounded(400));
}
return;
}
if (type != ROUTING_INFORMATION) {
PRINTF("routingReceive: unknown type!\n");
return;
}
if (len < sizeof(RoutingInfoPacket_t)) {
PRINTF("routingReceive: too short for info packet!\n");
return;
}
RoutingInfoPacket_t ri;
memcpy(&ri, data, sizeof(RoutingInfoPacket_t));
bool update = false;
if (!isRoutingInfoValid() || timeAfter16(ri.seqnum, lastSeenSeqnum)) {
// XXX: theoretically should add some time to avoid switching to
// worse path only because packets from it travel faster
update = true;
TPRINTF("RI updated: > seqnum\n");
}
else if (ri.seqnum == lastSeenSeqnum) {
if (ri.hopCount < hopCountToRoot) {
update = true;
TPRINTF("RI updated: < metric\n");
}
else if (ri.hopCount == hopCountToRoot && !seenRoutingInThisFrame) {
update = true;
TPRINTF("RI updated: == metric\n");
}
}
if (ri.hopCount > MAX_HOP_COUNT) update = false;
if (update) {
if (timeSinceFrameStart() < 2000 || timeSinceFrameStart() > 4000) {
PRINTF("*** forwarder (?) sends out of time!\n");
}
seenRoutingInThisFrame = true;
rootAddress = ri.rootAddress;
nexthopToRoot = s->recvMacInfo->originalSrc.shortAddr;
lastSeenSeqnum = ri.seqnum;
hopCountToRoot = ri.hopCount;
lastRootMessageTime = (uint32_t) getJiffies();
int64_t oldRootClockDeltaMs = rootClockDeltaMs;
rootClockDeltaMs = ri.rootClockMs - getTimeMs64();
if (abs((int32_t)oldRootClockDeltaMs - (int32_t)rootClockDeltaMs) > 500) {
PRINTF("large delta change=%ld, time sync off?!\n", (int32_t)rootClockDeltaMs - (int32_t)oldRootClockDeltaMs);
PRINTF("delta: old=%ld, new=%ld\n", (int32_t)oldRootClockDeltaMs, (int32_t)rootClockDeltaMs);
}
// TPRINTF("OK!%s\n", isListening ? "" : " (not listening)");
// reschedule next listen start after this timesync
alarmSchedule(&roStartListeningTimer, timeToNextFrame() + 2000);
}
else {
TPRINTF("RI not updated!\n");
}
}
void onRandTimer(void *x)
{
alarmSchedule(&randTimer, 100 + randomNumberBounded(100));
}
