void rx_task() {
uint8_t i, len, rssi, *local_rx_buf;
bmac_set_cca_thresh(DEFAULT_BMAC_CCA);
bmac_rx_pkt_set_buffer ((char*)rx_buf, RF_MAX_PAYLOAD_SIZE);
while (1) {
if(cache[0]==MyOwnAddress) {
nrk_led_set(RED_LED);
}
else {
nrk_led_clr(RED_LED);
}
bmac_wait_until_rx_pkt();
nrk_led_set(ORANGE_LED);
(char*)local_rx_buf = bmac_rx_pkt_get (&len, &rssi);
for(i=0; i<len; i++) {
putchar(local_rx_buf[i]);
}
RxPacketProcess(local_rx_buf,len);
nrk_led_clr (ORANGE_LED);
bmac_rx_pkt_release();
nrk_wait_until_next_period ();
}
}
void rx_task ()
{
uint8_t i,len;
int8_t rssi, v;
nrk_status_t ret;
uint8_t *local_rx_buf;
// printf( "rx_task: PID=%d\r\n",nrk_get_pid());
bmac_rx_pkt_set_buffer(rx_buf,RF_MAX_PAYLOAD_SIZE);
while(!bmac_started()) nrk_wait_until_next_period();
while(1)
{
if( bmac_rx_pkt_ready()==0)
bmac_wait_until_rx_pkt();
v = nrk_sem_pend(lock);
if( startCnt == 0 )
startCnt = 1;
v = nrk_sem_post(lock);
nrk_led_toggle(GREEN_LED);
local_rx_buf = bmac_rx_pkt_get(&len,&rssi);
printf( "rx_task: rssi=%d data=", rssi);
for( i=0; i<len; i++ ) {
printf( "%c", local_rx_buf[i]);
}
nrk_kprintf( PSTR("\r\n") );
bmac_rx_pkt_release();
}
}
void rx_task ()
{
uint8_t rssi,len,*local_rx_buf,mole, from, received_round;;
int i,r;
bmac_set_cca_thresh(DEFAULT_BMAC_CCA);
bmac_rx_pkt_set_buffer (rx_buf,102);
//cleaning up the target sector in the flash
iap.erase(TARGET_SECTOR,TARGET_SECTOR);
while(!bmac_started());
printf("Receiver node Bmac initialised\n");
while(1) {
nrk_wait_until_next_period();
if( !bmac_rx_pkt_ready())
continue;
printf("received packet\n\r");
nrk_led_toggle(ORANGE_LED);
local_rx_buf = (uint8_t *)bmac_rx_pkt_get (&len, &rssi);
for(i=0;i<2;i++)
printf("%d", local_rx_buf[i]);
printf("\r\n");
for(i = 2; i < len; i++)
printf("0x%X ", local_rx_buf[i]);
// getting function code
for(i = 0; i < 200; i++){
code[i] = local_rx_buf[i+2];
}
//getting function size
functionSize=local_rx_buf[1];
iap.prepare(TARGET_SECTOR, TARGET_SECTOR);
//alloting space and writing the cvode in the flash
if(functionSize % 256 ==0)
r = iap.write( code, sector_start_adress[TARGET_SECTOR], 256);
else
r = iap.write( code, sector_start_adress[TARGET_SECTOR], 256);
printf("size: %d\n", functionSize + functionSize % 256);
printf( "copied: SRAM(0x%08X)->Flash(0x%08X) for %d bytes. (result=0x%08X)\r\n", code, sector_start_adress[ TARGET_SECTOR ], 1024, r );
startAddress+=functionSize;//starting Address for next functtion to be added
functionRecieved = 0;
bmac_rx_pkt_release ();
copied_function=(function) (0xE000 | 1);
//calling the copi8ed function
functionRecieved=1;
}
// pointing the function pointer to the copied code in the flash
}
void rx_task ()
{
uint8_t i, len;
int8_t rssi, val;
uint8_t *local_rx_buf;
nrk_time_t check_period;
printf ("rx_task PID=%d\r\n", nrk_get_pid ());
// init bmac on channel 25
bmac_init (15);
// Enable AES 128 bit encryption
// When encryption is active, messages from plaintext
// source will still be received.
bmac_encryption_set_key(aes_key,16);
bmac_encryption_enable();
// bmac_encryption_disable();
// By default the RX check rate is 100ms
// below shows how to change that
check_period.secs=0;
check_period.nano_secs=25*NANOS_PER_MS;
val=bmac_set_rx_check_rate(check_period);
// The default Clear Channel Assement RSSI threshold is -45
// Setting this value higher means that you will only trigger
// receive with a very strong signal. Setting this lower means
// bmac will try to receive fainter packets. If the value is set
// too high or too low performance will suffer greatly.
// bmac_set_cca_thresh(-45);
//if(val==NRK_ERROR) nrk_kprintf( PSTR("ERROR setting bmac rate\r\n" ));
// This sets the next RX buffer.
// This can be called at anytime before releaseing the packet
// if you wish to do a zero-copy buffer switch
bmac_rx_pkt_set_buffer (rx_buf, RF_MAX_PAYLOAD_SIZE);
while (1) {
// Wait until an RX packet is received
val = bmac_wait_until_rx_pkt ();
// Get the RX packet
nrk_led_set (ORANGE_LED);
local_rx_buf = bmac_rx_pkt_get (&len, &rssi);
if( bmac_rx_pkt_is_encrypted()==1 ) nrk_kprintf( PSTR( "Packet Encrypted\r\n" ));
printf ("Got RX packet len=%d RSSI=%d [", len, rssi);
for (i = 0; i < len; i++)
printf ("%c", local_rx_buf[i]);
printf ("]\r\n");
nrk_led_clr (ORANGE_LED);
// Release the RX buffer so future packets can arrive
bmac_rx_pkt_release ();
}
}
void rx_task ()
{
uint8_t i, len, rssi;
int8_t val;
//char *local_rx_buf;
nrk_time_t check_period;
printf ("rx_task PID=%d\r\n", nrk_get_pid ());
// init bmac on channel 24
bmac_init (5);
bmac_set_cca_thresh(DEFAULT_BMAC_CCA);
bmac_rx_pkt_set_buffer (rx_buf, RF_MAX_PAYLOAD_SIZE);
while (1) {
// Wait until an RX packet is received
val = bmac_wait_until_rx_pkt ();
//printf("Hi..\n");
// Get the RX packet
nrk_led_set (ORANGE_LED);
local_rx_buf = bmac_rx_pkt_get (&len, &rssi);
inter_flag=0;
if(rssi<5){
dst_addr=0x0003;
//inter_tx_buf=local_rx_buf;
}
else
{
dst_addr=0x0001;
}
if(local_rx_buf[0]=='n'){
dst_addr=0x0001;
inter_tx_buf=local_rx_buf;
inter_flag=1;
}
printf("inter_flag: %d",inter_flag);
printf("\r\n");
printf("rx_buf:");
for(i=0;i<len;i++){
printf("%c",local_rx_buf[i]);
}
nrk_led_clr (ORANGE_LED);
// Release the RX buffer so future packets can arrive
bmac_rx_pkt_release ();
// this is necessary
nrk_wait_until_next_period ();
}
}
void rx_task ()
{
uint8_t i, len;
int8_t rssi, val;
uint8_t *local_rx_buf;
nrk_time_t check_period;
// init bmac on channel 25
bmac_init (25);
rx_data_ok=0;
// This sets the next RX buffer.
// This can be called at anytime before releaseing the packet
// if you wish to do a zero-copy buffer switch
bmac_rx_pkt_set_buffer (rx_buf, RF_MAX_PAYLOAD_SIZE);
while (1) {
// Wait until an RX packet is received
val = bmac_wait_until_rx_pkt ();
// Get the RX packet
nrk_led_set(0);
nrk_led_set(1);
nrk_led_set(2);
nrk_led_set(3);
local_rx_buf = bmac_rx_pkt_get (&len, &rssi);
printf("RX received: RSSI = %d\r\n", rssi);
nrk_spin_wait_us(50000);
// Release the RX buffer so future packets can arrive
bmac_rx_pkt_release ();
nrk_led_clr(0);
nrk_led_clr(1);
nrk_led_clr(2);
nrk_led_clr(3);
}
}
void rx_task ()
{
uint8_t i, len, rssi;
int8_t val;
char *local_rx_buf;
nrk_time_t check_period;
printf ("rx_task PID=%d\r\n", nrk_get_pid ());
// init bmac on channel 24
bmac_init (12);
bmac_set_cca_thresh(DEFAULT_BMAC_CCA);
bmac_rx_pkt_set_buffer (rx_buf, RF_MAX_PAYLOAD_SIZE);
rx_count = 0;
while (1) {
// Wait until an RX packet is received
if (tx_count >= 300) {
printf("Total Packet received : %d \r\n", rx_count);
}
val = bmac_wait_until_rx_pkt ();
// Get the RX packet
nrk_led_set (ORANGE_LED);
local_rx_buf = bmac_rx_pkt_get (&len, &rssi);
//if( bmac_rx_pkt_is_encrypted()==1 ) nrk_kprintf( PSTR( "Packet Encrypted\r\n" ));
if ((len > 0) && (rssi > 0)) {
printf ("Got RX packet len=%d RSSI=%d \r\n", len, rssi);
nrk_led_clr (ORANGE_LED);
rx_count++;
}
// Release the RX buffer so future packets can arrive
bmac_rx_pkt_release ();
// this is necessary
nrk_wait_until_next_period ();
}
}
void gateway_task ()
{
uint8_t i, len;
int8_t rssi, val;
uint8_t *local_rx_tx_buf;
uint16_t batt;
nrk_time_t check_period, wait_time;
uint16_t buf;
int8_t fd;
uint8_t j, cnt, level;
nrk_sig_t tx_done_signal;
nrk_sig_mask_t ret;
nrk_time_t next_transmit_time;
nrk_time_t current_time;
nrk_time_t prev_time;
char tmp[4];
printf ("gateway_task PID=%d\r\n", nrk_get_pid ());
next_transmit_time.secs = 0;
next_transmit_time.nano_secs = 0;
// init bmac on channel 25
bmac_init (26);
// By default the RX check rate is 100ms
// below shows how to change that
check_period.secs=0;
check_period.nano_secs=100*NANOS_PER_MS;
val=bmac_set_rx_check_rate(check_period);
// The default Clear Channel Assement RSSI threshold is -32
// Setting this value higher means that you will only trigger
// receive with a very strong signal. Setting this lower means
// bmac will try to receive fainter packets. If the value is set
// too high or too low performance will suffer greatly.
// bmac_set_cca_thresh(-36);
if(val==NRK_ERROR) nrk_kprintf( PSTR("ERROR setting bmac rate\r\n" ));
// This sets the next RX buffer.
// This can be called at anytime before releaseing the packet
// if you wish to do a zero-copy buffer switch
bmac_rx_pkt_set_buffer (rx_buf, RF_MAX_PAYLOAD_SIZE);
// Get and register the tx_done_signal if you want to
// do non-blocking transmits
tx_done_signal = bmac_get_tx_done_signal ();
nrk_signal_register (tx_done_signal);
nrk_time_set(0, 0);
cnt = 0;
// Initially clear all the data buffers
for(i=0; i<(MAX_NODES);i++)
{
for(j=0; j<(WORDS_PER_NODE); j++)
{
data_pkt.node_specific_data[i][j] = 0;
}
}
while (1)
{
nrk_time_get(¤t_time);
// If it is time to flood the network, send the control packets
if(current_time.secs%FLOOD_RATE == 0 && prev_time.secs != current_time.secs || cnt == 0)
{
prev_time = current_time;
cnt ++;
SET_PACKET_COUNT(pkt_buf.pkt_type_cnt, cnt);
#if MODE==DATA_MODE
SET_PACKET_TYPE(pkt_buf.pkt_type_cnt, PKT_TYPE_CONTROL);
#else
SET_PACKET_TYPE(pkt_buf.pkt_type_cnt, PKT_TYPE_DIAG_CONTROL);
#endif
pkt_buf.hop_number = 0;
pkt_buf.time_to_flood = TIME_TO_FLOOD_IN_SECS;
pkt_buf.bmac_check_rate = BMAC_CHECK_RATE_IN_MS;
pkt_buf.maximum_depth = MAXIMUM_DEPTH;
pkt_buf.delay_at_each_level = DELAY_AT_EACH_LEVEL_IN_SECS;
pkt_buf.next_control_time = NEXT_CONTROL_TIME;
pkt_buf.data_push_rate = 0;
for(i=0; i<(MAX_NODES);i++)
{
for(j=0; j<(WORDS_PER_NODE); j++)
{
#if MODE==DATA_MODE
pkt_buf.node_specific_data[i][j] = SENSOR;
#else
pkt_buf.node_specific_data[i][j] = 0;
#endif
}
}
memcpy(tx_buf, &pkt_buf, sizeof(pkt_buf));
// Non-blocking send
nrk_led_set (BLUE_LED);
val = bmac_tx_pkt_nonblocking (tx_buf, sizeof(struct message_packet));
nrk_kprintf (PSTR ("Tx packet enqueued\r\n"));
ret = nrk_event_wait (SIG(tx_done_signal));
if(ret & SIG(tx_done_signal) == 0 )
nrk_kprintf (PSTR ("TX done signal error\r\n"));
nrk_led_clr (BLUE_LED);
}
// If a new packet has been received, then update the information
if(bmac_rx_pkt_ready())
{
// Wait until an RX packet is received
nrk_led_set (ORANGE_LED);
// Get the RX packet
local_rx_tx_buf = bmac_rx_pkt_get (&len, &rssi);
for (i = 0; i < len; i++)
printf ("%d", rx_buf[i]);
printf ("\r\n");
memcpy(&pkt_buf, rx_buf, sizeof(pkt_buf));
nrk_led_clr (ORANGE_LED);
// Release the RX buffer so future packets can arrive
bmac_rx_pkt_release ();
// If the received packet is a data packet then update the information, gateway just ignores the control packets
if(GET_PACKET_TYPE(pkt_buf.pkt_type_cnt) == PKT_TYPE_DIAG_DATA || GET_PACKET_TYPE(pkt_buf.pkt_type_cnt) == PKT_TYPE_DATA)
{
printf("Type = %d\n\r", GET_PACKET_TYPE(pkt_buf.pkt_type_cnt));
printf("Count = %d\n\r", GET_PACKET_COUNT(pkt_buf.pkt_type_cnt));
printf("Hop # = %d\n\r", pkt_buf.hop_number);
printf("TTF = %d\n\r", pkt_buf.time_to_flood);
printf("BCR = %d\n\r", pkt_buf.bmac_check_rate);
printf("Nmax = %d\n\r", pkt_buf.maximum_depth);
printf("Dlev = %d\n\r", pkt_buf.delay_at_each_level);
printf("Nxt = %d\n\r", pkt_buf.next_control_time);
printf("Prate = %d\n\r", pkt_buf.data_push_rate);
for(i=0; i<(MAX_NODES);i++)
{
for(j=0; j<(WORDS_PER_NODE); j++)
{
if(pkt_buf.node_specific_data[i][j] != 0)
data_pkt.node_specific_data[i][j] = pkt_buf.node_specific_data[i][j];
}
}
for(i=0; i<(MAX_NODES);i++)
{
printf("Value @ Node %d is %d (cnt is %d)", i, ((int16_t)data_pkt.node_specific_data[i][1]<<4), (data_pkt.node_specific_data[i][0]&0x3F));
printf("\n\r");
}
}
}
}
}
// This task listens for messages and if it receives an XMPP
// message addressed to broadcast or this node, it will print it out
void rx_task ()
{
uint8_t len;
int8_t rssi, val;
uint8_t *local_rx_buf;
XMPP_PKT_T rxp;
nrk_time_t check_period;
printf ("rx_task PID=%d\r\n", nrk_get_pid ());
// Initialize FireFly LCD v1.2 board
lcd_setup();
lcd_string_display_escape("Waiting\\nfor msg.");
while (!bmac_started ())
nrk_wait_until_next_period ();
check_period.secs = 0;
check_period.nano_secs = 100 * NANOS_PER_MS;
val = bmac_set_rx_check_rate (check_period);
while (1) {
// Wait for new packet if one isn't already available
if (bmac_rx_pkt_ready () == 0) {
val = bmac_wait_until_rx_pkt ();
}
// Get the RX packet
local_rx_buf = bmac_rx_pkt_get (&len, &rssi);
// Check the packet type from raw buffer before unpacking
if ((local_rx_buf[CTRL_FLAGS] & (MOBILE_MASK)) != 0) {
// Set the buffer
p2p_pkt.buf = local_rx_buf;
p2p_pkt.buf_len = len;
p2p_pkt.rssi = rssi;
unpack_peer_2_peer_packet (&p2p_pkt);
// just check the last part of the address because we are lazy
// In the future you should check the whole address so that you
// don't accidentally get someone elses messages
if ((p2p_pkt.dst_subnet_mac[2] == MY_SUBNET_MAC_2 &&
p2p_pkt.dst_subnet_mac[1] == MY_SUBNET_MAC_1 &&
p2p_pkt.dst_subnet_mac[0] == MY_SUBNET_MAC_0 &&
p2p_pkt.dst_mac == MY_MAC )
|| p2p_pkt.dst_mac == BROADCAST)
{
nrk_led_set (GREEN_LED);
// Packet arrived and is good to go
#ifdef TXT_DEBUG
printf ("full mac: %d %d %d %d ", p2p_pkt.src_subnet_mac[0],
p2p_pkt.src_subnet_mac[1], p2p_pkt.src_subnet_mac[2],
p2p_pkt.src_mac);
printf ("rssi: %d ", p2p_pkt.rssi);
printf ("type: %d ", p2p_pkt.pkt_type);
nrk_kprintf (PSTR ("payload: ["));
for (i = p2p_pkt.payload_start; i < p2p_pkt.buf_len; i++)
printf ("%d ", p2p_pkt.buf[i]);
nrk_kprintf (PSTR ("]\r\n"));
#endif
// If it is an XMPP message
if (p2p_pkt.pkt_type == XMPP_PKT) {
nrk_kprintf (PSTR ("XMPP packet for me!\r\n"));
// Unpack the message
xmpp_pkt_unpack (&rxp, p2p_pkt.payload, 0);
// Print it out
printf ("XMPP msg:\r\n");
printf (" seq-num=%d\r\n", p2p_pkt.seq_num);
printf (" from-jid=%s\r\n", rxp.src_jid);
printf (" msg=%s\r\n", rxp.msg);
// Load and display message
lcd_string_array_load(rxp.msg);
}
}
}
// Release the RX buffer so future packets can arrive
bmac_rx_pkt_release ();
}
}
void rx_task ()
{
uint8_t pos,len,i,version;
int8_t rssi;
uint8_t *local_rx_buf;
int16_t recipient,sender,dataseq;
char type;
if(log_g) printf ("log:rx_task PID=%d\r\n", nrk_get_pid ());
// init bmac on channel 15
bmac_init (15);
bmac_rx_pkt_set_buffer (rx_buf, RF_MAX_PAYLOAD_SIZE);
while (1) {
// Wait until an RX packet is received
bmac_wait_until_rx_pkt ();
// Get the RX packet
nrk_led_set (ORANGE_LED);
local_rx_buf = bmac_rx_pkt_get (&len, &rssi);
//if(log_g) printf ("log:Packet recv\n");
//if(log_g) printf ("log:");
//for (i = 0; i < len; i++) {
// if(log_g) printf ("%c", rx_buf[i]);
//}
//if(log_g) printf ("\n");
pos = 0;
recipient = get_next_int(local_rx_buf,&pos,len);
pos+=1;
sender = get_next_int(local_rx_buf,&pos,len);
pos+=1;
type = local_rx_buf[pos];
pos+=2;
if((recipient != 0 && recipient != MAC_ADDR) || sender == MAC_ADDR) {
if(log_g) printf("log:Ignore\r\n");
} else if(recipient == 0 && type == 'S') {
version =get_next_int(local_rx_buf,&pos,len);
on_discover_pkt(sender, version);
} else if (recipient == 0 && type == 'B') {
onBasketBallPkt();
} else if (type == 'C') {
version =get_next_int(local_rx_buf,&pos,len);
onConnectionReq(sender,version);
} else if(type == 'D' ) {
dataseq = get_next_int(local_rx_buf,&pos,len);
onData(sender,dataseq,local_rx_buf,len);
} else if(type == 'A') {
dataseq = get_next_int(local_rx_buf,&pos,len);
onAck(sender, dataseq);
} else if(type == 'M') {
onContactShare(local_rx_buf,len);
}else {
if(log_g) printf("log:Invalid MSG\r\n");
}
// Release the RX buffer so future packets can arrive
memset(local_rx_buf,0,len+1);
bmac_rx_pkt_release ();
nrk_led_clr(ORANGE_LED);
nrk_wait_until_next_period();
}
}
void rx_task ()
{
uint8_t i, len;
uint16_t j;
int8_t rssi, val;
int8_t data_ready, button_state;
uint8_t *local_rx_buf;
uint16_t seq_num;
uint16_t pkt_cnt;
nrk_time_t check_period;
printf ("rx_task PID=%d\r\n", nrk_get_pid ());
// init bmac on channel 25
bmac_init (15);
// Enable AES 128 bit encryption
// When encryption is active, messages from plaintext
// source will still be received.
//bmac_encryption_set_key(aes_key,16);
//bmac_encryption_enable();
// bmac_encryption_disable();
// By default the RX check rate is 100ms
// below shows how to change that
//check_period.secs=0;
//check_period.nano_secs=200*NANOS_PER_MS;
//val=bmac_set_rx_check_rate(check_period);
// The default Clear Channel Assement RSSI threshold is -45
// Setting this value higher means that you will only trigger
// receive with a very strong signal. Setting this lower means
// bmac will try to receive fainter packets. If the value is set
// too high or too low performance will suffer greatly.
bmac_set_cca_thresh(-50);
//if(val==NRK_ERROR) nrk_kprintf( PSTR("ERROR setting bmac rate\r\n" ));
// This sets the next RX buffer.
// This can be called at anytime before releaseing the packet
// if you wish to do a zero-copy buffer switch
bmac_rx_pkt_set_buffer (rx_buf, RF_MAX_PAYLOAD_SIZE);
index=0;
while (1) {
nrk_led_clr(GREEN_LED);
nrk_led_set(RED_LED);
do {
nrk_led_toggle(BLUE_LED);
printf( "\r\nTest Data\r\n" );
for(j=0; j<index; j++ )
{
printf( "run: %u pkts: %u rssi: %d\r\n",j, data[j],rssi_avg[j] );
}
for(j=0; j<100; j++ ) nrk_wait_until_next_period ();
}while( nrk_gpio_get(NRK_BUTTON)==1 );
nrk_led_clr(BLUE_LED);
nrk_led_clr(RED_LED);
for(j=0; j<100; j++ ) nrk_wait_until_next_period ();
nrk_led_set(GREEN_LED);
pkt_cnt=0;
while(1) {
// Wait until an RX packet is received
do {
data_ready=bmac_rx_pkt_ready();
button_state=nrk_gpio_get(NRK_BUTTON);
nrk_wait_until_next_period();
} while(data_ready==0 && button_state==1 );
if(button_state==0) break;
val = bmac_wait_until_rx_pkt ();
// Get the RX packet
nrk_led_set (ORANGE_LED);
local_rx_buf = bmac_rx_pkt_get (&len, &rssi);
//if( bmac_rx_pkt_is_encrypted()==1 ) nrk_kprintf( PSTR( "Packet Encrypted\r\n" ));
//printf ("Got RX packet len=%d RSSI=%d [", len, rssi);
rssi_acc+=rssi;
seq_num=local_rx_buf[1]<<8 | local_rx_buf[0];
printf ("cnt: %u seq num: %u\r\n",pkt_cnt, seq_num);
pkt_cnt++;
nrk_led_clr (ORANGE_LED);
// Release the RX buffer so future packets can arrive
bmac_rx_pkt_release ();
}
rssi_avg[index]=rssi_acc/pkt_cnt;
data[index]=pkt_cnt;
index++;
}
}
void pingMode()
{
// Broadcast for ping
val=bmac_addr_decode_set_my_mac(((uint16_t)my_subnet_mac<<8)|my_mac);
val=bmac_addr_decode_dest_mac((uint16_t)0xffff); // broadcast by default
bmac_addr_decode_enable();
uint8_t i;
// Build a TX packet by hand...
p2p_pkt.pkt_type = PING_PKT;
// set as p2p packet (no US_MASK or DS_MASK)
p2p_pkt.ctrl_flags = MOBILE_MASK ; // | DEBUG_FLAG ;
p2p_pkt.ack_retry= 0x00;
p2p_pkt.ttl = 1;
p2p_pkt.src_subnet_mac[0] = 0;
p2p_pkt.src_subnet_mac[1] = 0;
p2p_pkt.src_subnet_mac[2] = 0;
p2p_pkt.src_mac = my_mac;
p2p_pkt.last_hop_mac = my_mac;
p2p_pkt.dst_subnet_mac[0] = BROADCAST;
p2p_pkt.dst_subnet_mac[1] = BROADCAST;
p2p_pkt.dst_subnet_mac[2] = BROADCAST;
p2p_pkt.dst_mac = BROADCAST;
p2p_pkt.buf=tx_buf;
p2p_pkt.buf_len = P2P_PAYLOAD_START;
p2p_pkt.seq_num = cnt;
p2p_pkt.priority = 0;
cnt++;
// p2p_pkt.payload[0]=my_mac;
// p2p_pkt.payload_len=1;
// ping_p2p_generate(&p2p_pkt);
nrk_led_set (BLUE_LED);
check_period.secs = 0;
check_period.nano_secs = 100 * NANOS_PER_MS;
val = bmac_set_rx_check_rate (check_period);
// Pack data structure values in buffer before transmit
pack_peer_2_peer_packet(&p2p_pkt);
// For blocking transmits, use the following function call.
val = bmac_tx_pkt (p2p_pkt.buf, p2p_pkt.buf_len);
check_period.secs = 0;
check_period.nano_secs = FAST_CHECK_RATE * NANOS_PER_MS;
val = bmac_set_rx_check_rate (check_period);
#ifdef TXT_DEBUG
nrk_kprintf (PSTR ("\r\nPING Packet Sent. Waiting for Replies...\r\n\n"));
#endif
nrk_led_clr (BLUE_LED);
nrk_led_clr(GREEN_LED);
// Wait for packets or timeout
nrk_time_get (&start);
while (1) {
timeout.secs = PING_WAIT_SECS;
timeout.nano_secs = 0;
// Wait until an RX packet is received
//val = bmac_wait_until_rx_pkt ();
nrk_set_next_wakeup (timeout);
my_sigs = nrk_event_wait (SIG (rx_signal) | SIG (nrk_wakeup_signal));
if (my_sigs == 0)
nrk_kprintf (PSTR ("Error calling nrk_event_wait()\r\n"));
if (my_sigs & SIG (rx_signal)) {
// Get the RX packet
local_rx_buf = bmac_rx_pkt_get (&len, &rssi);
// Check the packet type from raw buffer before unpacking
if ((local_rx_buf[CTRL_FLAGS] & (DS_MASK | US_MASK)) == 0) {
// Set the buffer
p2p_pkt.buf=local_rx_buf;
p2p_pkt.buf_len=len;
p2p_pkt.rssi=rssi;
unpack_peer_2_peer_packet(&p2p_pkt);
if (p2p_pkt.dst_mac == my_mac || p2p_pkt.dst_mac == BROADCAST) {
nrk_led_set(GREEN_LED);
// Packet arrived and is good to go
printf( "Mac: %x%x%x",p2p_pkt.src_subnet_mac[0], p2p_pkt.src_subnet_mac[1], p2p_pkt.src_subnet_mac[2]);
printf( "%x ",p2p_pkt.src_mac);
printf( "| RSSI: %d ",p2p_pkt.rssi);
printf( "| Type: %d \r\n",p2p_pkt.pkt_type);
}
}
// Release the RX buffer so future packets can arrive
bmac_rx_pkt_release ();
}
nrk_time_get (¤t);
if (start.secs + PING_WAIT_SECS < current.secs)
break;
}
nrk_kprintf (PSTR ("\r\nDone Waiting for Response...\r\n"));
nrk_led_clr(GREEN_LED);
}
void whacky_task ()
{
uint8_t i, len, fd;
int8_t rssi, val;
uint8_t *local_buf;
uint16_t light, node_id, got_poll;
uint8_t pos;
printf ("whacky_task PID=%d\r\n", nrk_get_pid ());
// Open ADC device as read
fd=nrk_open(FIREFLY_3_SENSOR_BASIC,READ);
if(fd==NRK_ERROR) nrk_kprintf(PSTR("Failed to open sensor driver\r\n"));
printf(PSTR("Sensor opened\r\n"));
// init bmac on channel 15
bmac_init (15);
printf(PSTR("bmac init\r\n"));
srand(1);
// This sets the next RX buffer.
// This can be called at anytime before releasing the packet
// if you wish to do a zero-copy buffer switch
bmac_rx_pkt_set_buffer (rx_buf, RF_MAX_PAYLOAD_SIZE);
printf(PSTR("RX buffer set\r\n"));
while (1)
{
node_id = 0;
got_poll = 0;
printf(PSTR("Waiting for a Packet\r\n"));
// Get the RX packet
nrk_led_set (ORANGE_LED);
// Wait until an RX packet is received
if(!bmac_rx_pkt_ready())
{
val = bmac_wait_until_rx_pkt ();
}
local_buf = bmac_rx_pkt_get (&len, &rssi);
printf ("Got RX packet len=%d RSSI=%d [%s]\r\n", len, rssi, local_buf);
// Check for a poll packet
if(len>5 && local_buf[0] == 'P' && local_buf[1] == 'O' && local_buf[2] == 'L' &&
local_buf[3] == 'L' && local_buf[4] == ':')
{
// Assume that there is a space after POLL
pos = 6;
while(pos < len && local_buf[pos] != '\0' && local_buf[pos] >='0' && local_buf[pos]<='9')
{
node_id *= 10;
node_id += (local_buf[pos]-'0');
pos++;
}
if(pos > 6)
{
got_poll = 1;
}
}
nrk_led_clr (ORANGE_LED);
// Release the RX buffer so future packets can arrive
bmac_rx_pkt_release ();
if(got_poll == 1 && node_id == MAC_ADDR)
{
val=nrk_set_status(fd,SENSOR_SELECT,LIGHT);
val=nrk_read(fd,&light,2);
sprintf (tx_buf, "Node %d Status %u", MAC_ADDR, light);
nrk_led_set (BLUE_LED);
val=bmac_tx_pkt(tx_buf, strlen(tx_buf)+1);
if(val != NRK_OK)
{
nrk_kprintf(PSTR("Could not Transmit!\r\n"));
}
// Task gets control again after TX complete
nrk_kprintf (PSTR ("Tx task sent data!\r\n"));
printf("%s\r\n", tx_buf);
nrk_led_clr (BLUE_LED);
}
}
}
void tx_task ()
{
uint8_t j, i, cnt, error;
int8_t len;
int8_t rssi, val;
uint8_t *local_rx_buf;
nrk_sig_t tx_done_signal;
nrk_sig_t rx_signal;
nrk_sig_mask_t ret;
nrk_time_t check_period;
nrk_time_t timeout, start, current;
nrk_sig_mask_t my_sigs;
printf ("tx_task PID=%d\r\n", nrk_get_pid ());
// Wait until the tx_task starts up bmac
// This should be called by all tasks using bmac that
// do not call bmac_init()...
bmac_init (26);
// Configure address for other packet handlers (my not be needed)
my_mac= MY_MAC;
my_subnet_mac[0]= MY_SUBNET_MAC_0;
my_subnet_mac[1]= MY_SUBNET_MAC_1;
my_subnet_mac[2]= MY_SUBNET_MAC_2;
mac_address= (uint8_t)MY_SUBNET_MAC_2 << 24 | (uint8_t)MY_SUBNET_MAC_1 <<16 | (uint8_t)MY_SUBNET_MAC_0 << 8 | (uint8_t)MY_MAC;
while (!bmac_started ())
nrk_wait_until_next_period ();
bmac_rx_pkt_set_buffer (rx_buf, RF_MAX_PAYLOAD_SIZE);
val =
bmac_addr_decode_set_my_mac (((uint16_t) MY_SUBNET_MAC_0 << 8) | MY_MAC);
val = bmac_addr_decode_dest_mac (0xffff); // broadcast by default
bmac_addr_decode_enable ();
nrk_kprintf (PSTR ("bmac_started()\r\n"));
bmac_set_cca_thresh (-45);
check_period.secs = 0;
check_period.nano_secs = 100 * NANOS_PER_MS;
val = bmac_set_rx_check_rate (check_period);
// Get and register the tx_done_signal if you want to
// do non-blocking transmits
tx_done_signal = bmac_get_tx_done_signal ();
nrk_signal_register (tx_done_signal);
rx_signal = bmac_get_rx_pkt_signal ();
nrk_signal_register (rx_signal);
cnt = 0;
while (1) {
// Build a TX packet by hand...
p2p_pkt.pkt_type = DATA_STORAGE_PKT;
p2p_pkt.ctrl_flags = LINK_ACK | MOBILE_MASK; // | DEBUG_FLAG ;
p2p_pkt.ack_retry = 0x0f;
p2p_pkt.ttl = 1;
p2p_pkt.src_subnet_mac[0] = MY_SUBNET_MAC_0;
p2p_pkt.src_subnet_mac[1] = MY_SUBNET_MAC_1;
p2p_pkt.src_subnet_mac[2] = MY_SUBNET_MAC_2;
p2p_pkt.src_mac = MY_MAC;
p2p_pkt.last_hop_mac = MY_MAC;
// p2p_pkt.dst_subnet_mac[0] = BROADCAST;
// p2p_pkt.dst_subnet_mac[1] = BROADCAST;
// p2p_pkt.dst_subnet_mac[2] = BROADCAST;
// p2p_pkt.dst_mac = BROADCAST;
p2p_pkt.dst_subnet_mac[0] = BROADCAST;
p2p_pkt.dst_subnet_mac[1] = BROADCAST;
p2p_pkt.dst_subnet_mac[2] = BROADCAST;
p2p_pkt.dst_mac = 0x1;
p2p_pkt.buf = tx_buf;
p2p_pkt.buf_len = P2P_PAYLOAD_START;
p2p_pkt.seq_num = cnt;
p2p_pkt.priority = 0;
p2p_pkt.check_rate = 100;
p2p_pkt.payload = &(tx_buf[P2P_PAYLOAD_START]);
cnt++;
#ifdef TEST_WRITE
data_pkt.mode=EE_WRITE;
data_pkt.addr=0x110; // Must be greater than 0x100
data_pkt.data_len=0x10;
// point the eeprom data structure to our local data buffer
data_pkt.eeprom_payload=eeprom_data;
// copy over some data
for(i=0; i<data_pkt.data_len; i++ )
data_pkt.eeprom_payload[i]=i;
#endif
#ifdef TEST_READ
data_pkt.mode=EE_READ;
data_pkt.addr=0x200; // Must be greater than 0x100
data_pkt.data_len=0x3d;
#endif
// add the eeprom pkt to the p2p pkt
p2p_pkt.payload_len= eeprom_storage_pkt_pack(&data_pkt, p2p_pkt.payload);
// Pack data structure values in buffer before transmit
pack_peer_2_peer_packet (&p2p_pkt);
nrk_led_set (BLUE_LED);
check_period.secs = 0;
check_period.nano_secs = 100 * NANOS_PER_MS;
val = bmac_set_rx_check_rate (check_period);
nrk_kprintf( PSTR("sending: " ));
for(i=0; i<p2p_pkt.buf_len; i++ )
printf( "%u ",p2p_pkt.buf[i] );
printf( "\r\n" );
// For blocking transmits, use the following function call.
val = bmac_tx_pkt (p2p_pkt.buf, p2p_pkt.buf_len);
check_period.secs = 0;
check_period.nano_secs = FAST_CHECK_RATE * NANOS_PER_MS;
val = bmac_set_rx_check_rate (check_period);
#ifdef TXT_DEBUG
nrk_kprintf (PSTR ("\r\nSent Request:\r\n"));
#endif
nrk_led_clr (BLUE_LED);
nrk_led_clr (GREEN_LED);
// Wait for packets or timeout
nrk_time_get (&start);
while (1) {
timeout.secs = REPLY_WAIT_SECS;
timeout.nano_secs = 0;
// Wait until an RX packet is received
//val = bmac_wait_until_rx_pkt ();
if(bmac_rx_pkt_ready()==0)
{
nrk_set_next_wakeup (timeout);
my_sigs = nrk_event_wait (SIG (rx_signal) | SIG (nrk_wakeup_signal));
}
if (my_sigs == 0)
nrk_kprintf (PSTR ("Error calling nrk_event_wait()\r\n"));
if (my_sigs & SIG (rx_signal)) {
// Get the RX packet
local_rx_buf = bmac_rx_pkt_get (&len, &rssi);
// Check the packet type from raw buffer before unpacking
if ((local_rx_buf[CTRL_FLAGS] & (DS_MASK | US_MASK)) == 0) {
// Set the buffer
p2p_pkt.buf = local_rx_buf;
p2p_pkt.buf_len = len;
p2p_pkt.rssi = rssi;
unpack_peer_2_peer_packet (&p2p_pkt);
#ifdef TXT_DEBUG
if ((p2p_pkt.dst_subnet_mac[2] == MY_SUBNET_MAC_2 &&
p2p_pkt.dst_subnet_mac[1] == MY_SUBNET_MAC_1 &&
p2p_pkt.dst_subnet_mac[0] == MY_SUBNET_MAC_0 &&
p2p_pkt.dst_mac == MY_MAC )
|| p2p_pkt.dst_mac == BROADCAST)
{
nrk_led_set (GREEN_LED);
// Packet arrived and is good to go
printf ("full mac: %d %d %d %d ", p2p_pkt.src_subnet_mac[0],
p2p_pkt.src_subnet_mac[1], p2p_pkt.src_subnet_mac[2],
p2p_pkt.src_mac);
printf ("rssi: %d ", p2p_pkt.rssi);
printf ("type: %d ", p2p_pkt.pkt_type);
nrk_kprintf (PSTR ("payload: ["));
for (i = 0; i < p2p_pkt.payload_len; i++)
printf ("%d ", p2p_pkt.payload[i]);
nrk_kprintf (PSTR ("]\r\n"));
if(p2p_pkt.pkt_type== DATA_STORAGE_PKT )
{
eeprom_storage_pkt_unpack(&data_pkt, p2p_pkt.payload );
nrk_kprintf( PSTR("\r\n Storage Packet " ));
nrk_kprintf( PSTR("\r\n Mode: " ));
switch(data_pkt.mode)
{
case EE_REPLY: nrk_kprintf( PSTR( "Reply")); break;
case EE_ERROR: nrk_kprintf( PSTR( "Error" )); break;
case EE_READ: nrk_kprintf( PSTR( "Read" )); break;
case EE_WRITE: nrk_kprintf( PSTR( "Write" )); break;
default: nrk_kprintf( PSTR( "unknown" ));
}
nrk_kprintf( PSTR("\r\n From: " ));
printf( "%u",data_pkt.mac );
nrk_kprintf( PSTR("\r\n Addr: " ));
printf( "%u",data_pkt.addr);
nrk_kprintf( PSTR("\r\n Len: " ));
printf( "%u",data_pkt.data_len);
nrk_kprintf( PSTR("\r\n Data: " ));
for(i=0; i<data_pkt.data_len; i++ ) printf( "%u ",data_pkt.eeprom_payload[i]);
nrk_kprintf( PSTR("\r\n" ));
}
}
#endif
}
}
nrk_time_get (¤t);
if (start.secs + REPLY_WAIT_SECS < current.secs)
break;
// Release the RX buffer so future packets can arrive
bmac_rx_pkt_release ();
}
nrk_kprintf (PSTR ("Done Waiting for response...\r\n"));
nrk_wait_until_next_period ();
}
}
// rx_msg_task() - receive messages from the network
void rx_msg_task() {
// local variable instantiation
int8_t rssi;
uint8_t len;
packet rx_packet;
uint8_t *local_rx_buf;
volatile uint8_t local_network_joined = FALSE;
volatile uint8_t rx_source_id = 0;
volatile uint8_t node_id;
volatile uint8_t rx_payload = 0;
volatile msg_type rx_type;
// print task PID
printf("rx_msg PID: %d.\r\n", nrk_get_pid());
// initialize network receive buffer
bmac_rx_pkt_set_buffer(g_net_rx_buf, RF_MAX_PAYLOAD_SIZE);
// Wait until bmac has started.
while (!bmac_started ()) {
nrk_wait_until_next_period ();
}
// loop forever - run the task
while(1) {
// only execute if there is a packet available
if(bmac_rx_pkt_ready()) {
nrk_led_set(BLUE_LED);
// get the packet, parse and release
local_rx_buf = bmac_rx_pkt_get(&len, &rssi);
parse_msg(&rx_packet, local_rx_buf, len);
bmac_rx_pkt_release();
// print incoming packet if appropriate
if(TRUE == g_verbose) {
nrk_kprintf(PSTR("RX: "));
print_packet(&rx_packet);
}
// get message parameters
rx_source_id = rx_packet.source_id;
rx_type = rx_packet.type;
// only receive the message if it's not from this node
if((GATEWAY_MAC == rx_source_id) || (SERVER_MAC == rx_source_id)) {
// determine if the network has been joined
local_network_joined = atomic_network_joined();
// execute the normal sequence of events if the network has been joined
if(TRUE == local_network_joined) {
// put the message in the right queue based on the type
switch(rx_type) {
// command received -> actuate or ignore
case MSG_CMD:
// if command is for this node and add it to the action queue.
node_id = rx_packet.payload[CMD_NODE_ID_INDEX];
if(MAC_ADDR == node_id) {
atomic_push(&g_act_queue, &rx_packet, g_act_queue_mux);
if (TRUE == g_verbose) {
nrk_kprintf(PSTR("Received command ^^^\r\n"));
}
}
case MSG_HANDACK:
case MSG_HEARTBEAT:
case MSG_RESET:
atomic_kick_watchdog();
break;
case MSG_HAND:
case MSG_DATA:
case MSG_CMDACK:
case MSG_NO_MESSAGE:
case MSG_GATEWAY:
default:
break;
}
}
// if the local_network_joined flag hasn't been set yet, check status
else {
// if a handshake ack has been received, then set the network joined flag. Otherwise, ignore.
rx_payload = rx_packet.payload[HANDACK_NODE_ID_INDEX];
if((MSG_HANDACK == rx_type) && (MAC_ADDR == rx_payload)) {
atomic_update_network_joined(TRUE);
atomic_kick_watchdog();
local_network_joined = atomic_network_joined();
}
}
}
nrk_led_clr(BLUE_LED);
}
nrk_wait_until_next_period();
}
nrk_kprintf(PSTR("Fallthrough: rx_msg_task\r\n"));
}
void tx_task ()
{
uint8_t j, i, error,unique;
uint8_t samples;
int8_t len;
int8_t rssi, val;
uint8_t *local_rx_buf;
nrk_sig_t tx_done_signal;
nrk_sig_t rx_signal;
nrk_sig_mask_t ret;
nrk_time_t check_period;
nrk_time_t timeout, start, current;
nrk_sig_mask_t my_sigs;
printf ("tx_task PID=%d\r\n", nrk_get_pid ());
// Wait until the tx_task starts up bmac
// This should be called by all tasks using bmac that
// do not call bmac_init()...
bmac_init (26);
bmac_rx_pkt_set_buffer (rx_buf, RF_MAX_PAYLOAD_SIZE);
val=bmac_addr_decode_set_my_mac(((uint16_t)MY_SUBNET_MAC_0<<8)|MY_MAC);
val=bmac_addr_decode_dest_mac(0xffff); // broadcast by default
bmac_addr_decode_enable();
nrk_kprintf (PSTR ("bmac_started()\r\n"));
bmac_set_cca_thresh (-45);
check_period.secs = 0;
check_period.nano_secs = 100 * NANOS_PER_MS;
val = bmac_set_rx_check_rate (check_period);
// Get and register the tx_done_signal if you want to
// do non-blocking transmits
tx_done_signal = bmac_get_tx_done_signal ();
nrk_signal_register (tx_done_signal);
rx_signal = bmac_get_rx_pkt_signal ();
nrk_signal_register (rx_signal);
cnt = 0;
check_period.secs = 0;
check_period.nano_secs = DEFAULT_CHECK_RATE * NANOS_PER_MS;
val = bmac_set_rx_check_rate (check_period);
while (1) {
my_nlist_elements=0;
for(samples=0; samples<10; samples++ )
{
nrk_led_set (GREEN_LED);
check_period.secs = 0;
check_period.nano_secs = DEFAULT_CHECK_RATE * NANOS_PER_MS;
val = bmac_set_rx_check_rate (check_period);
build_ping_pkt( &p2p_pkt );
// Pack data structure values in buffer before transmit
pack_peer_2_peer_packet(&p2p_pkt);
// For blocking transmits, use the following function call.
val = bmac_tx_pkt (p2p_pkt.buf, p2p_pkt.buf_len);
check_period.secs = 0;
check_period.nano_secs = p2p_pkt.check_rate * NANOS_PER_MS;
val = bmac_set_rx_check_rate (check_period);
#ifdef TXT_DEBUG
nrk_kprintf (PSTR ("\r\nSent Request:\r\n"));
#endif
nrk_led_clr (GREEN_LED);
// Wait for packets or timeout
nrk_time_get (&start);
while (1) {
timeout.secs = REPLY_WAIT_SECS;
timeout.nano_secs = 0;
// Wait until an RX packet is received
//val = bmac_wait_until_rx_pkt ();
nrk_set_next_wakeup (timeout);
my_sigs = nrk_event_wait (SIG (rx_signal) | SIG (nrk_wakeup_signal));
if (my_sigs == 0)
nrk_kprintf (PSTR ("Error calling nrk_event_wait()\r\n"));
if (my_sigs & SIG (rx_signal)) {
// Get the RX packet
local_rx_buf = bmac_rx_pkt_get (&len, &rssi);
// Check the packet type from raw buffer before unpacking
if ((local_rx_buf[CTRL_FLAGS] & (DS_MASK | US_MASK)) == 0) {
// Set the buffer
p2p_pkt.buf=local_rx_buf;
p2p_pkt.buf_len=len;
p2p_pkt.rssi=rssi;
unpack_peer_2_peer_packet(&p2p_pkt);
#ifdef TXT_DEBUG
// Check if newly received packet is for this node
if (((p2p_pkt.dst_subnet_mac[2] == MY_SUBNET_MAC_2 &&
p2p_pkt.dst_subnet_mac[1] == MY_SUBNET_MAC_1 &&
p2p_pkt.dst_subnet_mac[0] == MY_SUBNET_MAC_0 &&
p2p_pkt.dst_mac == MY_MAC )
|| p2p_pkt.dst_mac == BROADCAST)
&& p2p_pkt.pkt_type==PING_PKT) {
// Packet arrived and is good to go
printf( "src: %d ",p2p_pkt.src_mac);
printf( "rssi: %d ",p2p_pkt.rssi);
printf( "subnet: %d %d %d ",p2p_pkt.src_subnet_mac[0], p2p_pkt.src_subnet_mac[1], p2p_pkt.src_subnet_mac[2]);
printf( "type: %d ",p2p_pkt.pkt_type);
nrk_kprintf (PSTR ("payload: ["));
for (i = 0; i < p2p_pkt.payload_len; i++)
printf ("%d ", p2p_pkt.payload[i]);
nrk_kprintf (PSTR ("]\r\n"));
unique=1;
// Check if the MAC is unique
for(i=0; i<my_nlist_elements; i++ )
{
if(my_nlist[i*NLIST_SIZE]==p2p_pkt.src_subnet_mac[2] &&
my_nlist[i*NLIST_SIZE+1]==p2p_pkt.src_subnet_mac[1] &&
my_nlist[i*NLIST_SIZE+2]==p2p_pkt.src_subnet_mac[0] &&
my_nlist[i*NLIST_SIZE+3]==p2p_pkt.src_mac)
{
unique=0;
break;
}
}
// If MAC is unique, add it
if(unique)
{
my_nlist[my_nlist_elements*NLIST_SIZE]=p2p_pkt.src_subnet_mac[2];
my_nlist[my_nlist_elements*NLIST_SIZE+1]=p2p_pkt.src_subnet_mac[1];
my_nlist[my_nlist_elements*NLIST_SIZE+2]=p2p_pkt.src_subnet_mac[0];
my_nlist[my_nlist_elements*NLIST_SIZE+3]=p2p_pkt.src_mac;
my_nlist[my_nlist_elements*NLIST_SIZE+4]=p2p_pkt.rssi;
my_nlist_elements++;
}
}
#endif
}
// Release the RX buffer so future packets can arrive
bmac_rx_pkt_release ();
}
nrk_time_get (¤t);
if (start.secs + REPLY_WAIT_SECS < current.secs)
break;
}
cnt++;
}
check_period.secs = 0;
check_period.nano_secs = DEFAULT_CHECK_RATE * NANOS_PER_MS;
val = bmac_set_rx_check_rate (check_period);
nrk_kprintf (PSTR ("Done Waiting for response...\r\n"));
nrk_kprintf (PSTR ("\r\n\r\nSurvey Says:\r\n"));
nrk_kprintf( PSTR("LOC_DESC: \"location name\"\r\n" ));
for(i=0; i<my_nlist_elements; i++ )
{
nrk_kprintf( PSTR( "MAC: " ));
if(my_nlist[i*NLIST_SIZE]<0x10) printf( "0%x", my_nlist[i*NLIST_SIZE] );
else printf( "%x", my_nlist[i*NLIST_SIZE] );
if(my_nlist[i*NLIST_SIZE]<0x10) printf( "0%x", my_nlist[i*NLIST_SIZE+1] );
else printf( "%x", my_nlist[i*NLIST_SIZE+1] );
if(my_nlist[i*NLIST_SIZE]<0x10) printf( "0%x", my_nlist[i*NLIST_SIZE+2] );
else printf( "%x", my_nlist[i*NLIST_SIZE+2] );
if(my_nlist[i*NLIST_SIZE]<0x10) printf( "0%x", my_nlist[i*NLIST_SIZE+3] );
else printf( "%x", my_nlist[i*NLIST_SIZE+3] );
printf( " RSSI: %d\r\n", (int8_t)my_nlist[i*NLIST_SIZE+4] );
}
nrk_wait_until_next_period ();
}
}
/******************************************************************************************************
*
*
*Receive task execution
*
*
*
*
******************************************************************************************************/
void rx_task ()
{
uint8_t rssi,len,*local_rx_buf,v;
int receivedSeqNo=0,senderNode = 0;
bmac_set_cca_thresh(DEFAULT_BMAC_CCA);
bmac_rx_pkt_set_buffer (rx_buf,RF_MAX_PAYLOAD_SIZE);
while(!bmac_started());
printf("Receiver node Bmac initialised\n");
while(1) {
if( !bmac_rx_pkt_ready())
continue;
//printf("received packet\n\r");
nrk_led_toggle(ORANGE_LED);
local_rx_buf = (uint8_t *)bmac_rx_pkt_get (&len, &rssi);
//If my own packet then dont receive
if(local_rx_buf[SOURCE_ADDRESS_LOCATION]==MY_ID)
{
continue;
}
//Sample the data
receivedSeqNo = local_rx_buf[SEQUENCE_NUM_LOCATION];
senderNode = local_rx_buf[SOURCE_ADDRESS_LOCATION];
//Check if the message is intended for me
if(len!=0 && local_rx_buf[DESTINATION_ADDRESS_LOCATION]==MY_ID)
{
//Check the type of data
switch(local_rx_buf[MESSAGE_TYPE_LOCATION])
{
case DATA:
if(receivedSeqNo>lastReceivedSequenceNo[senderNode])
{
receiveComplete[senderNode] =0;
printf("received new packet\n\r");
//Process and send the acknowledgement to the receiver
lastReceivedSequenceNo[senderNode]=receivedSeqNo;
extractPacket(local_rx_buf,&receiveData[DATA_LOCATION(senderNode)],len,senderNode);
if(local_rx_buf[PACKET_NUM_LOCATION]==FIRST_PACKET)
{
receivedPacketSize[senderNode]=0;
receivedPacketSize[senderNode] +=(len-HEADER_SIZE);
}
else
{
receivedPacketSize[senderNode] +=(len-HEADER_SIZE);
}
//Send the acknowledgement
ack_buf[senderNode][DESTINATION_ADDRESS_LOCATION]=senderNode;
ack_buf[senderNode][SOURCE_ADDRESS_LOCATION]= MY_ID;
ack_buf[senderNode][SEQUENCE_NUM_LOCATION] = receivedSeqNo;
ack_buf[senderNode][MESSAGE_TYPE_LOCATION] = DATA_PACKET_ACK;
receiverNextPacket[senderNode]= SEND_ACK;
if(local_rx_buf[PACKET_NUM_LOCATION]==LAST_PACKET)
{
receiveComplete[senderNode] =1;
for(int i=0;i<receivedPacketSize[senderNode];i++)
{
printf("%d \t",receiveData[i]);
}
}
sendAckFlag[senderNode]=1;
}
else
{
printf("received old packet\n\r");
ack_buf[senderNode][DESTINATION_ADDRESS_LOCATION]=senderNode;
ack_buf[senderNode][SOURCE_ADDRESS_LOCATION]= MY_ID;
ack_buf[senderNode][SEQUENCE_NUM_LOCATION] = lastReceivedSequenceNo[senderNode];
ack_buf[senderNode][MESSAGE_TYPE_LOCATION] = DATA_PACKET_ACK;
//Send the acknowledgement to the sender
receiverNextPacket[senderNode]= SEND_ACK;
sendAckFlag[senderNode]=1;
}
//v=nrk_event_signal( signal_ack );
break;
case DATA_PACKET_ACK:
//If it is a new ACK packet then accept it. Else dont bother
if(lastSentSequenceNo[senderNode]==receivedSeqNo)
{
printf("Received Ack\n");
switch(sendNextPacket[senderNode])
{
case WAIT_ACK:
sendNextPacket[senderNode]= IN_PROGRESS;
printf("Sent IN_PROGRESS\n");
break;
case LAST_PACKET_ACK:
printf("Sent end_PROGRESS\n");
sendNextPacket[senderNode] = END;
break;
default:
printf("Error shouldn't have entered here");
break;
}
}
break;
default:
break;
}
}
bmac_rx_pkt_release ();
nrk_wait_until_next_period();
}
// pointing the function pointer to the copied code in the flash
}
// Run update Mode Protocol
void updateMode()
{
// Set destination
val=bmac_addr_decode_set_my_mac(((uint16_t)my_subnet_mac<<8)|my_mac);
val=bmac_addr_decode_dest_mac(((uint16_t)dest_mac[1]<<8)|dest_mac[0]);
bmac_addr_decode_enable();
while(programState == UPDATE)
{
// Build tx packet by txState
buildTxPkt();
nrk_led_toggle (BLUE_LED);
check_period.secs = 0;
check_period.nano_secs = 100 * NANOS_PER_MS;
val = bmac_set_rx_check_rate (check_period);
// Send with hardware acknowledgement.
while(1)
{
val = bmac_tx_pkt (tx_buf, len);
// Break if message ack recieved or is a broadcast
if(val == NRK_OK){
nrk_kprintf(PSTR("Packet Sent\r\n"));
break;
}
else{
nrk_kprintf(PSTR("Packet ReSent\r\n"));
}
// Resend if ack not recieved
nrk_wait_until_next_period();
}
#ifdef TXT_DEBUG
nrk_kprintf (PSTR ("\r\nSent Request:\r\n"));
#endif
nrk_led_clr (BLUE_LED);
nrk_led_clr(GREEN_LED);
// Wait if reply expected / Change TX state if not
//***********************************************************
if(needReply == FALSE)
{
// Change TX state, update page number
changeState();
}
else
{
// Wait for packets or timeout
#ifdef TXT_DEBUG
nrk_kprintf (PSTR ("\r\nExpecting Reply\r\n"));
#endif
timeout.secs = REPLY_WAIT_SECS;
timeout.nano_secs = REPLY_WAIT_NANOSECS;
nrk_set_next_wakeup (timeout);
my_sigs = nrk_event_wait (SIG (rx_signal) | SIG (nrk_wakeup_signal));
if (my_sigs == 0)
nrk_kprintf (PSTR ("Error calling nrk_event_wait()\r\n"));
if (my_sigs & SIG (rx_signal))
{
// Get the RX packet
local_rx_buf = bmac_rx_pkt_get (&len, &rssi);
nrk_led_clr (ORANGE_LED);
#ifdef TXT_DEBUG
nrk_kprintf (PSTR ("Recieved Reply\r\n"));
#endif
// Handle recieved packet
updateReplyRecieved();
}
else
{
#ifdef TXT_DEBUG
nrk_kprintf (PSTR ("Timed Out Waiting for response...\r\n"));
#endif
}
}
nrk_wait_until_next_period();
}
}
void nl_rx_task()
{
uint8_t len; // to hold the size of the received packet, always = sizeof(NW_Packet)
int8_t rssi; // to hold rssi of received packet
uint8_t *local_rx_buf; // pointer to receive buffer of link layer
int8_t val; // status variable to hold the return type of function calls
int8_t flag;
nrk_time_t start, end, elapsed; // needed by nl_rx_task()
// to decide when to send own NGB_LIST
if(DEBUG_NL >= 1)
{
nrk_kprintf(PSTR("NL_RX_TASK PID = "));
printf("%d\r\n",nrk_get_pid());
}
// initialise the timer
nrk_time_get(&start);
end.secs = start.secs;
end.nano_secs = start.nano_secs;
// initialise the link layer
val = bmac_init(25);
if(val == NRK_ERROR)
{
nrk_int_disable();
nrk_led_set(RED_LED);
while(1)
nrk_kprintf(PSTR("NL: Error returned by bmac_init()\r\n"));
}
// give the link layer a rx buffer
val = bmac_rx_pkt_set_buffer(rx_buf, RF_BUFFER_SIZE);
if(val == NRK_ERROR)
{
nrk_int_disable();
nrk_led_set(RED_LED);
while(1)
nrk_kprintf(PSTR("NL: Error returned by bmac_rx_pkt_set_buffer()\r\n"));
}
// start processing forever
while(1)
{
// decide whether it is time to send your own Ngb_List message
if(CONNECTED_TO_GATEWAY == TRUE)
{
nrk_time_get(&end);
val = nrk_time_sub(&elapsed, end, start);
nrk_time_compact_nanos(&elapsed);
if(elapsed.secs >= NGB_LIST_PERIOD)
{
ntg_pkt.type = SERIAL_NGB_LIST;
ntg_pkt.length = SIZE_MSG_NGB_LIST;
enter_cr(nl_sem, 34);
pack_Msg_NgbList(ntg_pkt.data, &nl);
leave_cr(nl_sem, 34);
pack_NodeToGatewaySerial_Packet_header(to_gw_buf, &ntg_pkt);
memcpy(to_gw_buf + SIZE_NODETOGATEWAYSERIAL_PACKET_HEADER, ntg_pkt.data, MAX_SERIAL_PAYLOAD);
if(DEBUG_NL == 2)
{
nrk_kprintf(PSTR("Sending own NGB_LIST message to gateway\r\n"));
}
sendToSerial(to_gw_buf, SIZE_NODETOGATEWAYSERIAL_PACKET);
// reset the timer
start.secs = end.secs;
start.nano_secs = end.nano_secs;
} // end if
} // end if
if(DEBUG_NL >= 1)
{
nrk_kprintf(PSTR("Waiting for next pkt from link layer\r\n"));
}
flag = 0;
// wait for the next packet
while(bmac_rx_pkt_ready() == 0)
{
val = bmac_wait_until_rx_pkt();
if(DEBUG_NL == 2)
{
nrk_kprintf(PSTR("NL: bmac_wait_until_rx_packet() returned "));
printf("%d\n", val);
}
}
// Get the packet
do
{
local_rx_buf = bmac_rx_pkt_get(&len,&rssi);
if(local_rx_buf == NULL)
{
nrk_kprintf(PSTR("NL: NULL returned by bmac_rx_pkt_get()\r\n"));
}
} while(local_rx_buf == NULL);
// sanity check for debugging
if(len != SIZE_NW_PACKET) // this should not happen
{
/*
nrk_int_disable();
nrk_led_set(RED_LED);
while(1)
{
nrk_kprintf(PSTR("NL: Wrong length of packet received: "));
printf("%d\r\n", len);
}
*/
if(DEBUG_NL >= 1)
{
nrk_kprintf(PSTR("NL: nl_rx_task(): Wrong length of packet received: "));
printf("%d\r\n", len);
}
flag = 1;
}
nrk_led_set(GREEN_LED);
if(DEBUG_NL == 2)// || flag == 1)
{
int8_t i;
nrk_kprintf(PSTR("NL: Contents of received packet are\r\n"));
printf("[");
for(i = 0; i < len; i++)
printf("%d ", local_rx_buf[i]);
printf("]\r\n");
}
if(flag == 1)
{
bmac_rx_pkt_release(); // drop the packet and go receive another
nrk_led_clr(GREEN_LED);
continue;
}
// unpack the packet header from the received buffer
unpack_NW_Packet_header(&pkt_rx, local_rx_buf);
// copy the packet payload to the data field of the local packet
memcpy(pkt_rx.data, local_rx_buf + SIZE_NW_PACKET_HEADER, MAX_NETWORK_PAYLOAD);
// Release the RX buffer quickly so future packets can arrive
bmac_rx_pkt_release();
// begin processing this packet
if(pkt_type(&pkt_rx) == APPLICATION) // its an application layer packet
{
// case 1: Destination is NODE_ADDR or BCAST_ADDR
if(pkt_rx.dest == NODE_ADDR || pkt_rx.dest == BCAST_ADDR)
process_app_pkt(&pkt_rx, rssi);
// case 2: I am enroute to the destination
else if(pkt_rx.nextHop == NODE_ADDR)
{
if(pkt_rx.src == NODE_ADDR) // routing table corrupted
{
nrk_int_disable();
nrk_led_set(RED_LED);
while(1)
{
nrk_kprintf(PSTR("Routing table corrupted at "));
printf("%d\r\n", NODE_ADDR);
} // end while
} // end if
else
route_packet(&pkt_rx);
} // end if
// case 3: Routing tables still not made
else if(pkt_rx.nextHop == BCAST_ADDR)
route_packet(&pkt_rx);
else
; // drop all other packets
} // end if(type == APPLICATION)
else
{
if(pkt_type(&pkt_rx) == NW_CONTROL) // its a network control packet
{
// case 1: Destination is NODE_ADDR or BCAST_ADDR
if(pkt_rx.dest == NODE_ADDR || pkt_rx.dest == BCAST_ADDR)
process_nw_ctrl_pkt(&pkt_rx, rssi);
// case 2: I am enroute to a destination
else if(pkt_rx.nextHop == NODE_ADDR)
{
if(pkt_rx.src == NODE_ADDR) // routing table corrupted
{
nrk_int_disable();
nrk_led_set(RED_LED);
while(1)
{
nrk_kprintf(PSTR("Routing table corrupted at "));
printf("%d\r\n", NODE_ADDR);
} // end while
} // end if
else
route_packet(&pkt_rx);
} // end if
// case 3: Routing tables still not made
else if(pkt_rx.nextHop == BCAST_ADDR)
route_packet(&pkt_rx);
else
; // drop all other packets
} // end if(type == NW_CONTROL)
else // unknown packet type
{
nrk_kprintf(PSTR("NL: Unknown pkt type received = "));
printf("%d\r\n", pkt_type(&pkt_rx));
}
}
nrk_led_clr(GREEN_LED);
} // end while(1)
return;
} // end nl_rx_task
void tx_task ()
{
uint8_t i, unique;
uint8_t samples ;
uint8_t len;
int8_t rssi, val;
uint8_t *local_rx_buf;
nrk_sig_t tx_done_signal;
nrk_sig_t rx_signal;
nrk_time_t check_period;
nrk_time_t timeout, start, current;
nrk_sig_mask_t my_sigs;
printf ("tx_task PID=%d\r\n", nrk_get_pid ());
// Wait until the tx_task starts up bmac
// This should be called by all tasks using bmac that
// do not call bmac_init()...
bmac_init (26);
bmac_rx_pkt_set_buffer (rx_buf, RF_MAX_PAYLOAD_SIZE);
val =
bmac_addr_decode_set_my_mac (((uint16_t) MY_SUBNET_MAC_0 << 8) | MY_MAC );
val = bmac_addr_decode_dest_mac (0xffff); // broadcast by default
bmac_addr_decode_enable ();
nrk_kprintf (PSTR ("bmac_started()\r\n"));
bmac_set_cca_thresh (-45);
check_period.secs = 0;
check_period.nano_secs = 100 * NANOS_PER_MS;
val = bmac_set_rx_check_rate (check_period);
// Get and register the tx_done_signal if you want to
// do non-blocking transmits
tx_done_signal = bmac_get_tx_done_signal ();
nrk_signal_register (tx_done_signal);
rx_signal = bmac_get_rx_pkt_signal ();
nrk_signal_register (rx_signal);
cnt = 0;
check_period.secs = 0;
check_period.nano_secs = DEFAULT_CHECK_RATE * NANOS_PER_MS;
val = bmac_set_rx_check_rate (check_period);
// Main loop that does:
// 1) Sends out ping message
// 2) Collects replies, build neighbor list and then times out
// 3) Repeat 1 and 2 for 3 times
// 4) Build Extended Neighborlist packet
// 5) Send Neighbor list packet
// 6) Wait until next period and repeat 1-6
while (1) {
nrk_led_clr (ORANGE_LED);
// Set our local neighbor list to be empty
my_nlist_elements = 0;
for (samples = 0; samples < 3; samples++) {
nrk_led_set (GREEN_LED);
check_period.secs = 0;
check_period.nano_secs = DEFAULT_CHECK_RATE * NANOS_PER_MS;
val = bmac_set_rx_check_rate (check_period);
// Construct a ping packet to send (this is being built into tx_buf)
build_ping_pkt (&p2p_pkt);
// Pack data structure values in buffer before transmit
pack_peer_2_peer_packet (&p2p_pkt);
// Send the Ping packet
val = bmac_tx_pkt (p2p_pkt.buf, p2p_pkt.buf_len);
// Set update rate based on p2p reply rate.
// This is usually faster to limit congestion
check_period.secs = 0;
check_period.nano_secs = p2p_pkt.check_rate * NANOS_PER_MS;
val = bmac_set_rx_check_rate (check_period);
#ifdef TXT_DEBUG
nrk_kprintf (PSTR ("Pinging...\r\n"));
#endif
nrk_led_clr (GREEN_LED);
// Grab start time for timeout
nrk_time_get (&start);
while (1) {
// Set the amount of time to wait for timeout
timeout.secs = REPLY_WAIT_SECS;
timeout.nano_secs = 0;
// Check if packet is already ready, or wait until one arrives
// Also set timeout to break from function if no packets come
my_sigs=0;
if (bmac_rx_pkt_ready () == 0) {
nrk_set_next_wakeup (timeout);
my_sigs =
nrk_event_wait (SIG (rx_signal) | SIG (nrk_wakeup_signal));
}
if (my_sigs == 0)
nrk_kprintf (PSTR ("Error calling nrk_event_wait()\r\n"));
if (my_sigs & SIG (rx_signal)) {
// Get the RX packet
local_rx_buf = bmac_rx_pkt_get (&len, &rssi);
// Check the packet type from raw buffer before unpacking
if ((local_rx_buf[CTRL_FLAGS] & (DS_MASK | US_MASK)) == 0) {
// Setup a p2p packet data structure with the newly received buffer
p2p_pkt.buf = local_rx_buf;
p2p_pkt.buf_len = len;
p2p_pkt.rssi = rssi;
// Unpack the data from the array into the p2p_pkt data struct
unpack_peer_2_peer_packet (&p2p_pkt);
// Check if newly received packet is for this node
if (((p2p_pkt.dst_subnet_mac[2] == MY_SUBNET_MAC_2 &&
p2p_pkt.dst_subnet_mac[1] == MY_SUBNET_MAC_1 &&
p2p_pkt.dst_subnet_mac[0] == MY_SUBNET_MAC_0 &&
p2p_pkt.dst_mac == MY_MAC )
|| p2p_pkt.dst_mac == BROADCAST)
&& (p2p_pkt.pkt_type == PING_PKT)) {
// Packet arrived and is ping pkt!
// Lets print some values out on the terminal
printf ("full mac: %d %d %d %d ", p2p_pkt.src_subnet_mac[0],
p2p_pkt.src_subnet_mac[1], p2p_pkt.src_subnet_mac[2],
p2p_pkt.src_mac);
printf ("rssi: %d ", p2p_pkt.rssi);
printf ("type: %d ", p2p_pkt.pkt_type);
nrk_kprintf (PSTR ("payload: ["));
for (i = 0; i < p2p_pkt.payload_len; i++)
printf ("%d ", p2p_pkt.payload[i]);
nrk_kprintf (PSTR ("]\r\n"));
unique = 1;
// Check if the MAC of this ping is unique or if it already
// exists in our neighbor list
for (i = 0; i < my_nlist_elements; i++) {
if (my_nlist[i * NLIST_SIZE] == p2p_pkt.src_subnet_mac[2] &&
my_nlist[i * NLIST_SIZE + 1] == p2p_pkt.src_subnet_mac[1] &&
my_nlist[i * NLIST_SIZE + 2] == p2p_pkt.src_subnet_mac[0] &&
my_nlist[i * NLIST_SIZE + 3] == p2p_pkt.src_mac) {
unique = 0;
break;
}
}
// If MAC is unique, add it to our neighbor list
if (unique) {
my_nlist[my_nlist_elements * NLIST_SIZE] =
p2p_pkt.src_subnet_mac[2];
my_nlist[my_nlist_elements * NLIST_SIZE + 1] =
p2p_pkt.src_subnet_mac[1];
my_nlist[my_nlist_elements * NLIST_SIZE + 2] =
p2p_pkt.src_subnet_mac[0];
my_nlist[my_nlist_elements * NLIST_SIZE + 3] =
p2p_pkt.src_mac;
my_nlist[my_nlist_elements * NLIST_SIZE + 4] = p2p_pkt.rssi;
my_nlist_elements++;
}
}
}
}
// Check if we are done waiting for pings
nrk_time_get (¤t);
if (start.secs + REPLY_WAIT_SECS < current.secs)
break; // exit loops waiting for pings
// Release the RX buffer so future packets can arrive
bmac_rx_pkt_release ();
// Go back to top loop to wait for more pings
}
cnt++;
// Repeat ping 3 times
}
// Now we are ready to build extended neighborlist packet and send it to gateway
check_period.secs = 0;
check_period.nano_secs = DEFAULT_CHECK_RATE * NANOS_PER_MS;
val = bmac_set_rx_check_rate (check_period);
nrk_kprintf (PSTR ("Done Waiting for response...\r\n"));
// If we have any neighbors, build the list
if (my_nlist_elements > 0) {
// Look in this function for format of extended neighborlist packet
// This function also configures the parameters and destination address
// of the p2p packet. The values are probably okay as defaults.
build_extended_neighbor_list_pkt (&p2p_pkt, my_nlist,
my_nlist_elements);
// This function takes at p2p struct and packs it into an array for sending
pack_peer_2_peer_packet (&p2p_pkt);
nrk_led_set (BLUE_LED);
// Send the list to the gateway.
val = bmac_tx_pkt (p2p_pkt.buf, p2p_pkt.buf_len);
printf ("size of pkt: %d\r\n", p2p_pkt.buf_len);
nrk_kprintf (PSTR ("sent neighbor list packet\r\n"));
nrk_led_clr (BLUE_LED);
}
else {
nrk_led_set (RED_LED);
nrk_spin_wait_us (1000);
nrk_led_clr (RED_LED);
}
// Wait a long time until we send out the pings again
// This is in a loop so that period can be small for
// other uses.
for (i = 0; i < 10; i++)
nrk_wait_until_next_period ();
// Might as well release packets that arrived during long
// break since they are not replies to your ping.
bmac_rx_pkt_release ();
}
}
