Java_se_sics_cooja_corecomm_[CLASS_NAME]_tick(JNIEnv *env, jobject obj)
{
/* Let all simulation interfaces act first */
simNoYield = 1;
doActionsBeforeTick();
simNoYield = 0;
/* Check if any e-timers are pending (save result for state decisions) */
if (etimer_pending()) {
/* Poll etimers */
etimer_request_poll();
simEtimerPending = 1;
} else {
simEtimerPending = 0;
}
/* Let Contiki execute one or a part of the process_run()-function via the thread.
This call stores the process_run() return value */
cooja_mt_exec(&process_run_thread);
/* Let all simulation interfaces act before returning to java */
simNoYield = 1;
doActionsAfterTick();
simNoYield = 0;
/* Look for new e-timers */
if (!simEtimerPending && etimer_pending()) {
/* Poll etimers */
etimer_request_poll();
simEtimerPending = 1;
}
/* Save nearest event timer expiration time (0 if no timers) */
simNextExpirationTime = etimer_next_expiration_time();
}
Java_se_sics_cooja_corecomm_[CLASS_NAME]_tick(JNIEnv *env, jobject obj)
{
/* Let all simulation interfaces act first */
simNoYield = 1;
doActionsBeforeTick();
simNoYield = 0;
/* Poll etimer process */
if (etimer_pending()) {
etimer_request_poll();
}
/* Let Contiki handle a few events.
This call stores the process_run() return value */
cooja_mt_exec(&process_run_thread);
/* Let all simulation interfaces act before returning to java */
simNoYield = 1;
doActionsAfterTick();
simNoYield = 0;
/* Look for new e-timers */
simEtimerPending = etimer_pending();
/* Save nearest event timer expiration time */
if (simEtimerPending) {
simNextExpirationTime = etimer_next_expiration_time() - simCurrentTime;
}
}
/**
* \brief Update the software clock ticks and seconds
*
* This function is used to update the software tick counters whenever the
* system clock might have changed, which can occur upon a SysTick ISR or upon
* wake-up from PM1/2.
*
* For the software clock ticks counter, the Sleep Timer counter value is used
* as the base tick value, and extended to a 64-bit value thanks to a detection
* of wraparounds.
*
* For the seconds counter, the changes of the Sleep Timer counter value are
* added to the reference time, which is either the startup time or the value
* passed to clock_set_seconds().
*
* This function polls the etimer process if an etimer has expired.
*/
static void
update_ticks(void)
{
rtimer_clock_t now;
uint64_t prev_rt_ticks_startup, cur_rt_ticks_startup;
uint32_t cur_rt_ticks_startup_hi;
now = RTIMER_NOW();
prev_rt_ticks_startup = rt_ticks_startup;
cur_rt_ticks_startup_hi = prev_rt_ticks_startup >> 32;
if(now < (rtimer_clock_t)prev_rt_ticks_startup) {
cur_rt_ticks_startup_hi++;
}
cur_rt_ticks_startup = (uint64_t)cur_rt_ticks_startup_hi << 32 | now;
rt_ticks_startup = cur_rt_ticks_startup;
rt_ticks_epoch += cur_rt_ticks_startup - prev_rt_ticks_startup;
/*
* Inform the etimer library that the system clock has changed and that an
* etimer might have expired.
*/
if(etimer_pending()) {
etimer_request_poll();
}
}
void tmr3_isr(void) {
if(bit_is_set(*TMR(3,CSCTRL),TCF1)) {
current_clock++;
if((current_clock % CLOCK_CONF_SECOND) == 0) {
seconds++;
#if BLINK_SECONDS
leds_toggle(LEDS_GREEN);
#endif
}
if(etimer_pending() &&
(etimer_next_expiration_time() - current_clock - 1) > MAX_TICKS) {
etimer_request_poll();
}
/* clear the compare flags */
clear_bit(*TMR(3,SCTRL),TCF);
clear_bit(*TMR(3,CSCTRL),TCF1);
clear_bit(*TMR(3,CSCTRL),TCF2);
return;
} else {
/* this timer didn't create an interrupt condition */
return;
}
}
void tmr0_isr(void) {
if(bit_is_set(*TMR(0,CSCTRL),TCF1)) {
current_clock++;
if((current_clock % CLOCK_CONF_SECOND) == 0) {
seconds++;
/* ADC can be serviced every tick or every second */
#if CLOCK_CONF_SAMPLEADC > 1
adc_service();
#endif
}
#if CLOCK_CONF_SAMPLEADC == 1
adc_service();
#endif
if(etimer_pending() &&
(etimer_next_expiration_time() - current_clock - 1) > MAX_TICKS) {
etimer_request_poll();
}
/* clear the compare flags */
clear_bit(*TMR(0,SCTRL),TCF);
clear_bit(*TMR(0,CSCTRL),TCF1);
clear_bit(*TMR(0,CSCTRL),TCF2);
return;
} else {
/* this timer didn't create an interrupt condition */
return;
}
}
/**
* \brief Let mote execute one "block" of code (tick mote).
*
* Let mote defined by the active contiki processes and current
* process memory execute some program code. This code must not block
* or else this function will never return. A typical contiki
* process will return when it executes PROCESS_WAIT..() statements.
*
* Before the control is left to contiki processes, any messages
* from the Java part are handled. These may for example be
* incoming network data. After the contiki processes return control,
* messages to the Java part are also handled (those which may need
* special attention).
*
* This is a JNI function and should only be called via the
* responsible Java part (MoteType.java).
*/
JNIEXPORT void JNICALL
Java_org_contikios_cooja_corecomm_CLASSNAME_tick(JNIEnv *env, jobject obj)
{
clock_time_t nextEtimer;
rtimer_clock_t nextRtimer;
simProcessRunValue = 0;
/* Let all simulation interfaces act first */
doActionsBeforeTick();
/* Poll etimer process */
if (etimer_pending()) {
etimer_request_poll();
}
/* Let rtimers run.
* Sets simProcessRunValue */
cooja_mt_exec(&rtimer_thread);
if(simProcessRunValue == 0) {
/* Rtimers done: Let Contiki handle a few events.
* Sets simProcessRunValue */
cooja_mt_exec(&process_run_thread);
}
/* Let all simulation interfaces act before returning to java */
doActionsAfterTick();
/* Do we have any pending timers */
simEtimerPending = etimer_pending() || rtimer_arch_pending();
if(!simEtimerPending) {
return;
}
/* Save nearest expiration time */
nextEtimer = etimer_next_expiration_time() - (clock_time_t) simCurrentTime;
nextRtimer = rtimer_arch_next() - (rtimer_clock_t) simCurrentTime;
if(etimer_pending() && rtimer_arch_pending()) {
simNextExpirationTime = MIN(nextEtimer, nextRtimer);
} else if (etimer_pending()) {
simNextExpirationTime = nextEtimer;
} else if (rtimer_arch_pending()) {
simNextExpirationTime = nextRtimer;
}
}
// alarm timer interrupt handler
ALARM_TIMER_INTERRUPT()
{
// read & unset the highest bit
volatile uint16_t x = TIMER_INTERRUPT_VECTOR;
(void) x;
if (isInSleepMode) {
// wakeup and return
EXIT_SLEEP_MODE();
return;
}
uint16_t tar = ALARM_TIMER_READ();
// Advance jiffies (MansOS time counter) while counter register <= counter
// Spurios interrupts may happen when the alarm timer is restarted after stopping!
while (!timeAfter16(ALARM_TIMER_REGISTER, tar)) {
jiffies += JIFFY_TIMER_MS;
ALARM_TIMER_REGISTER += PLATFORM_ALARM_TIMER_PERIOD;
}
#if PLATFORM_HAS_CORRECTION_TIMER
//
// On MSP430 platforms binary ACLK oscillator usually is used.
// It has constant rate 32768 Hz (the ACLK_SPEED define)
// When ACLK ticks are converted to milliseconds, rounding error is introduced.
// When TIMER_INTERRUPT_HZ = 1000, there are 32 ACLK ticks per millisecond;
// The clock error is (32768 / 32) - 1000 = 1024 - 1000 = 24 milliseconds.
// We improve the precision by applying a fix 24/3 = 8 times per second.
//
while (!timeAfter16(CORRECTION_TIMER_REGISTER, tar)) {
CORRECTION_TIMER_REGISTER += PLATFORM_TIME_CORRECTION_PERIOD;
jiffies -= 3;
}
#endif
#ifdef USE_ALARMS
if (hasAnyReadyAlarms(jiffies)) {
alarmsProcess();
}
#endif
#ifdef USE_PROTOTHREADS
if (etimer_pending() && !etimer_polled()
&& !timeAfter32(jiffies, etimer_next_expiration_time())) {
etimer_request_poll();
EXIT_SLEEP_MODE();
}
#endif
// If TAR still > TACCR0 at this point, we are in trouble:
// the interrupt will not be generated until the next wraparound (2 seconds).
// So avoid it at all costs.
while (!timeAfter16(ALARM_TIMER_REGISTER, ALARM_TIMER_READ() + 2)) {
jiffies += JIFFY_TIMER_MS;
ALARM_TIMER_REGISTER += PLATFORM_ALARM_TIMER_PERIOD;
}
}
void SysTick_handler(void) {
(void)SysTick->CTRL;
SCB->ICSR = SCB_ICSR_PENDSTCLR;
current_clock++;
if(etimer_pending() && etimer_next_expiration_time() <= current_clock) {
etimer_request_poll();
}
if (--second_countdown == 0) {
current_seconds++;
second_countdown = CLOCK_SECOND;
}
}
void Contiki_SysTick_Handler(void)
{
ticks++;
if((ticks % CLOCK_SECOND) == 0) {
seconds++;
energest_flush();
}
if(etimer_pending()) {
etimer_request_poll();
}
}
/*---------------------------------------------------------------------------*/
void TIM4_IRQHandler(void)
{
TIM_ClearITPendingBit(TIM4, TIM_IT_Update);
count++;
if(etimer_pending()) {
etimer_request_poll();
}
if (--second_countdown == 0) {
current_seconds++;
second_countdown = CLOCK_SECOND;
}
}
/*---------------------------------------------------------------------------*/
void Timer0IntHandler(void)
{
ROM_TimerIntClear(TIMER0_BASE, TIMER_TIMA_TIMEOUT);
count++;
if(etimer_pending()) {
etimer_request_poll();
}
if (--second_countdown == 0) {
current_seconds++;
second_countdown = CLOCK_SECOND;
}
}
/*---------------------------------------------------------------------------*/
void
st_lib_sys_tick_handler(void)
{
ticks++;
if((ticks % CLOCK_SECOND) == 0) {
seconds++;
energest_flush();
}
HAL_IncTick();
if(etimer_pending()) {
etimer_request_poll();
}
}
/*---------------------------------------------------------------------------*/
void
SysTick_Handler(void)
{
count++;
if(etimer_pending()) {
etimer_request_poll();
}
if(--second_countdown == 0) {
current_seconds++;
second_countdown = CLOCK_SECOND;
}
}
/*---------------------------------------------------------------------------*/
interrupt(TIMERA1_VECTOR) timera1 (void) {
ENERGEST_ON(ENERGEST_TYPE_IRQ);
if(TAIV == 2) {
etimer_interrupt();
if(etimer_pending() &&
(etimer_next_expiration_time() - count - 1) > MAX_TICKS) {
etimer_request_poll();
LPM4_EXIT;
}
}
ENERGEST_OFF(ENERGEST_TYPE_IRQ);
}
/*---------------------------------------------------------------------------*/
void
LETIMER0_IRQHandler(void)
{
LETIMER0->IFC = LETIMER_IEN_UF;
count++;
if(etimer_pending()) {
etimer_request_poll();
}
if(--second_countdown == 0) {
current_seconds++;
second_countdown = CLOCK_SECOND;
}
}
/*---------------------------------------------------------------------------*/
ISR(TIMERA1, timera1)
{
ENERGEST_ON(ENERGEST_TYPE_IRQ);
watchdog_start();
if(TAIV == 2) {
/* HW timer bug fix: Interrupt handler called before TR==CCR.
* Occurs when timer state is toggled between STOP and CONT. */
while(TACTL & MC1 && TACCR1 - TAR == 1);
/* Make sure interrupt time is future */
do {
TACCR1 += INTERVAL;
++count;
/* Make sure the CLOCK_CONF_SECOND is a power of two, to ensure
that the modulo operation below becomes a logical and and not
an expensive divide. Algorithm from Wikipedia:
http://en.wikipedia.org/wiki/Power_of_two */
#if (CLOCK_CONF_SECOND & (CLOCK_CONF_SECOND - 1)) != 0
#error CLOCK_CONF_SECOND must be a power of two (i.e., 1, 2, 4, 8, 16, 32, 64, ...).
#error Change CLOCK_CONF_SECOND in contiki-conf.h.
#endif
if(count % CLOCK_CONF_SECOND == 0) {
++seconds;
energest_flush();
}
} while((TACCR1 - TAR) > INTERVAL);
last_tar = TAR;
if(etimer_pending() &&
(etimer_next_expiration_time() - count - 1) > MAX_TICKS) {
etimer_request_poll();
LPM4_EXIT;
}
}
/* if(process_nevents() >= 0) {
LPM4_EXIT;
}*/
watchdog_stop();
ENERGEST_OFF(ENERGEST_TYPE_IRQ);
}
/*---------------------------------------------------------------------------*/
void _TC3_Handler(void)//void TCC0_Handler(void)
{
ENERGEST_ON(ENERGEST_TYPE_IRQ);
ticks++;
if((ticks % CLOCK_SECOND) == 0) {
seconds++;
energest_flush();
// printf("seconds, ticks %d\n", tc_get_count_value(&tc_instance));
}
if(etimer_pending()) {
etimer_request_poll();
}
ENERGEST_OFF(ENERGEST_TYPE_IRQ);
}
static void clock_alarm(handler_arg_t arg)
{
(void)arg;
clock_cnt ++;
clock_sec_cnt ++;
if (etimer_pending() && etimer_next_expiration_time() <= clock_cnt)
{
etimer_request_poll();
}
if (clock_sec_cnt == CLOCK_SECOND)
{
clock_sec ++;
clock_sec_cnt = 0;
}
}
void SysTick_Handler(void)
{
INT_Disable( );
current_clock++;
if(etimer_pending() && etimer_next_expiration_time() <= current_clock)
{
etimer_request_poll();
}
if (--second_countdown == 0)
{
current_seconds++;
second_countdown = CLOCK_SECOND;
}
INT_Enable( );
}
/*---------------------------------------------------------------------------*/
static void
clock_irq_callback( struct tc_module *const module_inst)
{
// ENERGEST_ON(ENERGEST_TYPE_IRQ);
ticks++;
//port_pin_toggle_output_level(PIN_PA23);
if((ticks % CLOCK_SECOND) == 0) {
seconds++;
//energest_flush();
// printf("seconds, ticks %d\n", tc_get_count_value(&tc_instance));
}
if(etimer_pending()) {
etimer_request_poll();
}
//ENERGEST_OFF(ENERGEST_TYPE_IRQ);
}
/*---------------------------------------------------------------------------*/
interrupt(TIMERA1_VECTOR) timera1 (void) {
ENERGEST_ON(ENERGEST_TYPE_IRQ);
int taiv = TAIV;
if(taiv == 2) {
etimer_interrupt();
if(etimer_pending() &&
(etimer_next_expiration_time() - count - 1) > MAX_TICKS) {
etimer_request_poll();
LPM4_EXIT;
}
} else {
if (taiv == TAIV_TACCR2) {
radio_abort_rx();
LPM4_EXIT;
}
}
ENERGEST_OFF(ENERGEST_TYPE_IRQ);
}
/*---------------------------------------------------------------------------*/
int
main(void)
{
/* Hardware initialization */
clock_init();
soc_init();
rtimer_init();
/* Init LEDs here */
leds_init();
leds_off(LEDS_ALL);
fade(LEDS_GREEN);
/* initialize process manager. */
process_init();
/* Init UART */
uart0_init();
#if DMA_ON
dma_init();
#endif
#if SLIP_ARCH_CONF_ENABLE
slip_arch_init(0);
#else
uart0_set_input(serial_line_input_byte);
serial_line_init();
#endif
fade(LEDS_RED);
PUTSTRING("##########################################\n");
putstring(CONTIKI_VERSION_STRING "\n");
putstring("TI SmartRF05 EB\n");
switch(CHIPID) {
case 0xA5:
putstring("cc2530");
break;
case 0xB5:
putstring("cc2531");
break;
case 0x95:
putstring("cc2533");
break;
case 0x8D:
putstring("cc2540");
break;
}
putstring("-F");
switch(CHIPINFO0 & 0x70) {
case 0x40:
putstring("256, ");
break;
case 0x30:
putstring("128, ");
break;
case 0x20:
putstring("64, ");
break;
case 0x10:
putstring("32, ");
break;
}
puthex(CHIPINFO1 + 1);
putstring("KB SRAM\n");
PUTSTRING("\nSDCC Build:\n");
#if STARTUP_VERBOSE
#ifdef HAVE_SDCC_BANKING
PUTSTRING(" With Banking.\n");
#endif /* HAVE_SDCC_BANKING */
#ifdef SDCC_MODEL_LARGE
PUTSTRING(" --model-large\n");
#endif /* SDCC_MODEL_LARGE */
#ifdef SDCC_MODEL_HUGE
PUTSTRING(" --model-huge\n");
#endif /* SDCC_MODEL_HUGE */
#ifdef SDCC_STACK_AUTO
PUTSTRING(" --stack-auto\n");
#endif /* SDCC_STACK_AUTO */
PUTCHAR('\n');
PUTSTRING(" Net: ");
PUTSTRING(NETSTACK_NETWORK.name);
PUTCHAR('\n');
PUTSTRING(" MAC: ");
PUTSTRING(NETSTACK_MAC.name);
PUTCHAR('\n');
PUTSTRING(" RDC: ");
PUTSTRING(NETSTACK_RDC.name);
PUTCHAR('\n');
PUTSTRING("##########################################\n");
#endif
watchdog_init();
/* Initialise the H/W RNG engine. */
random_init(0);
/* start services */
process_start(&etimer_process, NULL);
ctimer_init();
/* initialize the netstack */
netstack_init();
set_rime_addr();
#if BUTTON_SENSOR_ON || ADC_SENSOR_ON
process_start(&sensors_process, NULL);
BUTTON_SENSOR_ACTIVATE();
ADC_SENSOR_ACTIVATE();
#endif
#if UIP_CONF_IPV6
memcpy(&uip_lladdr.addr, &rimeaddr_node_addr, sizeof(uip_lladdr.addr));
queuebuf_init();
process_start(&tcpip_process, NULL);
#endif /* UIP_CONF_IPV6 */
#if VIZTOOL_CONF_ON
process_start(&viztool_process, NULL);
#endif
energest_init();
ENERGEST_ON(ENERGEST_TYPE_CPU);
autostart_start(autostart_processes);
watchdog_start();
fade(LEDS_YELLOW);
while(1) {
do {
/* Reset watchdog and handle polls and events */
watchdog_periodic();
#if CLOCK_CONF_STACK_FRIENDLY
if(sleep_flag) {
if(etimer_pending() &&
(etimer_next_expiration_time() - clock_time() - 1) > MAX_TICKS) {
etimer_request_poll();
}
sleep_flag = 0;
}
#endif
r = process_run();
} while(r > 0);
len = NETSTACK_RADIO.pending_packet();
if(len) {
packetbuf_clear();
len = NETSTACK_RADIO.read(packetbuf_dataptr(), PACKETBUF_SIZE);
if(len > 0) {
packetbuf_set_datalen(len);
NETSTACK_RDC.input();
}
}
#if LPM_MODE
#if (LPM_MODE==LPM_MODE_PM2)
SLEEP &= ~OSC_PD; /* Make sure both HS OSCs are on */
while(!(SLEEP & HFRC_STB)); /* Wait for RCOSC to be stable */
CLKCON |= OSC; /* Switch to the RCOSC */
while(!(CLKCON & OSC)); /* Wait till it's happened */
SLEEP |= OSC_PD; /* Turn the other one off */
#endif /* LPM_MODE==LPM_MODE_PM2 */
/*
* Set MCU IDLE or Drop to PM1. Any interrupt will take us out of LPM
* Sleep Timer will wake us up in no more than 7.8ms (max idle interval)
*/
SLEEPCMD = (SLEEPCMD & 0xFC) | (LPM_MODE - 1);
#if (LPM_MODE==LPM_MODE_PM2)
/*
* Wait 3 NOPs. Either an interrupt occurred and SLEEP.MODE was cleared or
* no interrupt occurred and we can safely power down
*/
__asm
nop
nop
nop
__endasm;
if(SLEEPCMD & SLEEP_MODE0) {
#endif /* LPM_MODE==LPM_MODE_PM2 */
ENERGEST_OFF(ENERGEST_TYPE_CPU);
ENERGEST_ON(ENERGEST_TYPE_LPM);
/* We are only interested in IRQ energest while idle or in LPM */
ENERGEST_IRQ_RESTORE(irq_energest);
/* Go IDLE or Enter PM1 */
PCON |= PCON_IDLE;
/* First instruction upon exiting PM1 must be a NOP */
__asm
nop
__endasm;
/* Remember energest IRQ for next pass */
ENERGEST_IRQ_SAVE(irq_energest);
ENERGEST_ON(ENERGEST_TYPE_CPU);
ENERGEST_OFF(ENERGEST_TYPE_LPM);
#if (LPM_MODE==LPM_MODE_PM2)
SLEEPCMD &= ~SLEEP_OSC_PD; /* Make sure both HS OSCs are on */
while(!(SLEEPCMD & SLEEP_XOSC_STB)); /* Wait for XOSC to be stable */
CLKCONCMD &= ~CLKCONCMD_OSC; /* Switch to the XOSC */
/*
* On occasion the XOSC is reported stable when in reality it's not.
* We need to wait for a safeguard of 64us or more before selecting it
*/
clock_delay(10);
while(CLKCONCMD & CLKCONCMD_OSC); /* Wait till it's happened */
}
#endif /* LPM_MODE==LPM_MODE_PM2 */
#endif /* LPM_MODE */
}
}
int
main(int argc, char **argv)
{
clock_init();
#if NETSTACK_CONF_WITH_IPV6
#if UIP_CONF_IPV6_RPL
printf(CONTIKI_VERSION_STRING " started with IPV6, RPL\n");
#else
printf(CONTIKI_VERSION_STRING " started with IPV6\n");
#endif
#else
printf(CONTIKI_VERSION_STRING " started\n");
#endif
/* crappy way of remembering and accessing argc/v */
contiki_argc = argc;
contiki_argv = argv;
/* native under windows is hardcoded to use the first one or two args */
/* for wpcap configuration so this needs to be "removed" from */
/* contiki_args (used by the native-border-router) */
#ifdef __CYGWIN__
contiki_argc--;
contiki_argv++;
#ifdef UIP_FALLBACK_INTERFACE
contiki_argc--;
contiki_argv++;
#endif
#endif
process_init();
process_start(&etimer_process, NULL);
ctimer_init();
rtimer_init();
prepare_network();
serial_line_init();
/* Make standard output unbuffered. */
setvbuf(stdout, (char *)NULL, _IONBF, 0);
select_set_callback(STDIN_FILENO, &stdin_fd);
while(1) {
fd_set fdr;
fd_set fdw;
int maxfd;
int i;
int retval;
struct timeval tv;
retval = process_run();
tv.tv_sec = 0;
tv.tv_usec = 0;
if(!retval) {
if(etimer_pending()) {
clock_time_t t = etimer_next_expiration_time() - clock_time() - 1;
if(t < MAX_TICKS) {
tv.tv_sec = t / CLOCK_SECOND;
tv.tv_usec = (t % CLOCK_SECOND) * 1000;
if(tv.tv_usec == 0 && tv.tv_sec == 0) {
/* Clock time resolution is milliseconds. Avoid millisecond
busy loops. */
tv.tv_usec = 250;
}
}
} else {
tv.tv_sec = 60;
}
/* TODO Replace the busy polling used to read data from the slip pthread */
if(tv.tv_sec) {
tv.tv_sec = 0;
tv.tv_usec = 10000;
} else if(tv.tv_usec > 10000) {
tv.tv_usec = 10000;
}
}
FD_ZERO(&fdr);
FD_ZERO(&fdw);
maxfd = 0;
for(i = 0; i <= select_max; i++) {
if(select_callback[i] != NULL && select_callback[i]->set_fd(&fdr, &fdw)) {
maxfd = i;
}
}
retval = select(maxfd + 1, &fdr, &fdw, NULL, &tv);
if(retval < 0) {
if(errno != EINTR) {
perror("select");
}
} else if(retval > 0) {
/* timeout => retval == 0 */
for(i = 0; i <= maxfd; i++) {
if(select_callback[i] != NULL) {
select_callback[i]->handle_fd(&fdr, &fdw);
}
}
}
if(etimer_pending() &&
(etimer_next_expiration_time() - clock_time() - 1) > MAX_TICKS) {
etimer_request_poll();
}
}
return 0;
}
/*---------------------------------------------------------------------------*/
clock_time_t
etimer_next_expiration_time(void)
{
return etimer_pending() ? next_expiration : 0;
}
/*---------------------------------------------------------------------------*/
int
main(void)
{
/* Hardware initialization */
bus_init();//ʱÖÓ³õʼ»¯
rtimer_init();//¼ÆʱÆ÷³õʼ»¯
/* model-specific h/w init. */
io_port_init();
/* Init LEDs here */
leds_init();//LED³õʼ»¯
/*LEDS_GREEN indicate LEDs Init finished*/
fade(LEDS_GREEN);
/* initialize process manager. */
process_init();//½ø³Ì¹ÜÀí³õʼ»¯
/* Init UART0
* Based on the EJOY MCU CC2430 Circuit Design
* */
uart0_init();//UART0´®¿Ú³õʼ»¯
#if DMA_ON
dma_init();//DMA³õʼ»¯
#endif
#if SLIP_ARCH_CONF_ENABLE
/* On cc2430, the argument is not used */
slip_arch_init(0);//SLIP³õʼ»¯
#else
uart1_set_input(serial_line_input_byte);
serial_line_init();
#endif
PUTSTRING("##########################################\n");
putstring(CONTIKI_VERSION_STRING "\n");
// putstring(SENSINODE_MODEL " (CC24");
puthex(((CHIPID >> 3) | 0x20));
putstring("-" FLASH_SIZE ")\n");
#if STARTUP_VERBOSE
#ifdef HAVE_SDCC_BANKING
PUTSTRING(" With Banking.\n");
#endif /* HAVE_SDCC_BANKING */
#ifdef SDCC_MODEL_LARGE
PUTSTRING(" --model-large\n");
#endif /* SDCC_MODEL_LARGE */
#ifdef SDCC_MODEL_HUGE
PUTSTRING(" --model-huge\n");
#endif /* SDCC_MODEL_HUGE */
#ifdef SDCC_STACK_AUTO
PUTSTRING(" --stack-auto\n");
#endif /* SDCC_STACK_AUTO */
PUTCHAR('\n');
PUTSTRING(" Net: ");
PUTSTRING(NETSTACK_NETWORK.name);
PUTCHAR('\n');
PUTSTRING(" MAC: ");
PUTSTRING(NETSTACK_MAC.name);
PUTCHAR('\n');
PUTSTRING(" RDC: ");
PUTSTRING(NETSTACK_RDC.name);
PUTCHAR('\n');
PUTSTRING("##########################################\n");
#endif
watchdog_init();//¿´ÃŹ·³õʼ»¯
/* Initialise the cc2430 RNG engine. */
random_init(0);//Ëæ»úÊýÉú³ÉÆ÷³õʼ»¯
/* start services */
process_start(&etimer_process, NULL);//
ctimer_init();//ctimer³õʼ»¯
/* initialize the netstack */
netstack_init();//ÍøÂçµ×²ãÕ»³õʼ»¯
set_rime_addr();//rimeµØÖ·ÉèÖÃ
//there is no sensor for us maintenance
#if BUTTON_SENSOR_ON || ADC_SENSOR_ON
process_start(&sensors_process, NULL);
sensinode_sensors_activate();
#endif
//IPV6,YES!
#if UIP_CONF_IPV6
memcpy(&uip_lladdr.addr, &rimeaddr_node_addr, sizeof(uip_lladdr.addr));
queuebuf_init();
process_start(&tcpip_process, NULL);
//DISCO
#if DISCO_ENABLED
process_start(&disco_process, NULL);
#endif /* DISCO_ENABLED */
//VIZTOOL
#if VIZTOOL_CONF_ON
process_start(&viztool_process, NULL);
#endif
#if (!UIP_CONF_IPV6_RPL)
{
uip_ipaddr_t ipaddr;
uip_ip6addr(&ipaddr, 0x2001, 0x630, 0x301, 0x6453, 0, 0, 0, 0);
uip_ds6_set_addr_iid(&ipaddr, &uip_lladdr);
uip_ds6_addr_add(&ipaddr, 0, ADDR_TENTATIVE);
}
#endif /* UIP_CONF_IPV6_RPL */
#endif /* UIP_CONF_IPV6 */
/*
* Acknowledge the UART1 RX interrupt
* now that we're sure we are ready to process it
*
* We don't need it. by MW
*/
// model_uart_intr_en();
energest_init();
ENERGEST_ON(ENERGEST_TYPE_CPU);
fade(LEDS_RED);
#if BATMON_CONF_ON
process_start(&batmon_process, NULL);
#endif
autostart_start(autostart_processes);
watchdog_start();
while(1) {
do {
/* Reset watchdog and handle polls and events */
watchdog_periodic();
/**/
#if !CLOCK_CONF_ACCURATE
if(sleep_flag) {
if(etimer_pending() &&
(etimer_next_expiration_time() - count - 1) > MAX_TICKS) { /*core/sys/etimer.c*/
etimer_request_poll();
}
sleep_flag = 0;
}
#endif
r = process_run();
} while(r > 0);
#if SHORTCUTS_CONF_NETSTACK
len = NETSTACK_RADIO.pending_packet();
if(len) {
packetbuf_clear();
len = NETSTACK_RADIO.read(packetbuf_dataptr(), PACKETBUF_SIZE);
if(len > 0) {
packetbuf_set_datalen(len);
NETSTACK_RDC.input();
}
}
#endif
#if LPM_MODE
#if (LPM_MODE==LPM_MODE_PM2)
SLEEP &= ~OSC_PD; /* Make sure both HS OSCs are on */
while(!(SLEEP & HFRC_STB)); /* Wait for RCOSC to be stable */
CLKCON |= OSC; /* Switch to the RCOSC */
while(!(CLKCON & OSC)); /* Wait till it's happened */
SLEEP |= OSC_PD; /* Turn the other one off */
#endif /* LPM_MODE==LPM_MODE_PM2 */
/*
* Set MCU IDLE or Drop to PM1. Any interrupt will take us out of LPM
* Sleep Timer will wake us up in no more than 7.8ms (max idle interval)
*/
SLEEP = (SLEEP & 0xFC) | (LPM_MODE - 1);
#if (LPM_MODE==LPM_MODE_PM2)
/*
* Wait 3 NOPs. Either an interrupt occurred and SLEEP.MODE was cleared or
* no interrupt occurred and we can safely power down
*/
__asm
nop
nop
nop
__endasm;
if (SLEEP & SLEEP_MODE0) {
#endif /* LPM_MODE==LPM_MODE_PM2 */
ENERGEST_OFF(ENERGEST_TYPE_CPU);
ENERGEST_ON(ENERGEST_TYPE_LPM);
/* We are only interested in IRQ energest while idle or in LPM */
ENERGEST_IRQ_RESTORE(irq_energest);
/* Go IDLE or Enter PM1 */
PCON |= IDLE;
/* First instruction upon exiting PM1 must be a NOP */
__asm
nop
__endasm;
/* Remember energest IRQ for next pass */
ENERGEST_IRQ_SAVE(irq_energest);
ENERGEST_ON(ENERGEST_TYPE_CPU);
ENERGEST_OFF(ENERGEST_TYPE_LPM);
#if (LPM_MODE==LPM_MODE_PM2)
SLEEP &= ~OSC_PD; /* Make sure both HS OSCs are on */
while(!(SLEEP & XOSC_STB)); /* Wait for XOSC to be stable */
CLKCON &= ~OSC; /* Switch to the XOSC */
/*
* On occasion the XOSC is reported stable when in reality it's not.
* We need to wait for a safeguard of 64us or more before selecting it
*/
clock_delay(10);
while(CLKCON & OSC); /* Wait till it's happened */
}
#endif /* LPM_MODE==LPM_MODE_PM2 */
#endif /* LPM_MODE */
}
}
/*---------------------------------------------------------------------------*/
int
main(int argc, char **argv)
{
PRINTF(">> %s:main()\n", __FILE__);
start:
/* Yield once during bootup */
kleenet_schedule_state(MILLISECOND);
kleenet_yield_state();
simCurrentTime = NODE_TIME();
PRINTF("> Executing Contiki at simulation time %lu\n", clock_time());
/* Code from contiki-cooja-main.c:process_run_thread_loop (before loop) */
doActionsBeforeTick();
contiki_init();
doActionsAfterTick();
while (1) {
/* reboot */
if ((clock_seconds() >= failure_delay()) && reboot_once) {
/* symbolic node reboot every 10 seconds */
if (clock_seconds() % 10 == 0) {
if (failure_reboot_node()) {
PRINTF("main(): rebooting node once @ %lu, %lu seconds\n",
clock_time(), clock_seconds());
reboot_once = 0;
exit_all_processes();
goto start;
}
}
}
/* halt */
if ((clock_seconds() >= failure_delay()) && halt_once) {
/* symbolic node outage every 10 seconds */
if (clock_seconds() % 10 == 0) {
if (failure_halt_node()) {
PRINTF("main(): halting node once @ %lu, %lu seconds\n",
clock_time(), clock_seconds());
halt_once = 0;
exit_all_processes();
/* loop forerver */
while(1) {
kleenet_schedule_state(MILLISECOND);
kleenet_yield_state();
}
}
}
}
/* Update time */
simCurrentTime = NODE_TIME();
simProcessRunValue = 0;
/* Do actions before tick */
doActionsBeforeTick();
/* Poll etimer process */
if (etimer_pending()) {
etimer_request_poll();
}
/* Code from contiki-cooja-main.c:process_run_thread_loop */
simProcessRunValue = process_run();
while(simProcessRunValue-- > 0) {
process_run();
}
simProcessRunValue = process_nevents();
/* Do actions after tick */
doActionsAfterTick();
/* Request next tick for remaining events / timers */
if (simProcessRunValue != 0) {
kleenet_schedule_state(MILLISECOND);
kleenet_yield_state();
continue;
}
/* Request tick next wakeup time */
if (etimer_pending()) {
simNextExpirationTime = etimer_next_expiration_time() - simCurrentTime;
} else {
simNextExpirationTime = 0;
PRINTF("WARNING: No more timers pending\n");
kleenet_schedule_state(MILLISECOND);
kleenet_yield_state();
continue;
}
/* check next expiration time */
if (simNextExpirationTime <= 0) {
PRINTF("WARNING: Event timer already expired, but has been delayed: %lu\n",
simNextExpirationTime);
kleenet_schedule_state(MILLISECOND);
} else {
kleenet_schedule_state(simNextExpirationTime*MILLISECOND);
}
/* yield active state */
kleenet_yield_state();
}
return 0;
}