void discover_task()
{
uint8_t len;
uint8_t connection_l;
while (!bmac_started ())
nrk_wait_until_next_period ();
if(log_g) printf("log:discover_task PID=%d\r\n",nrk_get_pid());
while(1) {
nrk_sem_pend(conn_sem);
connection_l = connection_g;
nrk_sem_post(conn_sem);
if(connection_l == 0 && vertsk_active_g == 0 && version_g[MAC_ADDR] > 0) {
nrk_led_toggle(BLUE_LED);
if(log_g) printf("log:Sending discover pkt\r\n");
nrk_sem_pend(tx_sem);
sprintf(tx_buf,"0:%d:S:%d",MAC_ADDR,version_g[MAC_ADDR]);
bmac_tx_pkt(tx_buf, strlen(tx_buf));
nrk_sem_post(tx_sem);
memset(tx_buf,0,strlen(tx_buf));
}
nrk_wait_until_next_period ();
}
}
// atomic_update_network_joined
void inline atomic_update_network_joined(uint8_t update) {
nrk_sem_pend(g_network_joined_mux);
{
g_network_joined = update;
}
nrk_sem_post(g_network_joined_mux);
}
// atomic_update_outlet_state - atomically update outlet state
void inline atomic_update_outlet_state(uint8_t update) {
nrk_sem_pend(g_global_outlet_state_mux);
{
g_global_outlet_state = update;
}
nrk_sem_post(g_global_outlet_state_mux);
}
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();
}
}
// atomic_pop - pop onto the queue atomically
void inline atomic_pop(packet_queue *pq, packet *p, nrk_sem_t *mux) {
nrk_sem_pend(mux);
{
pop(pq, p);
}
nrk_sem_post(mux);
}
void tx_task()
{
uint8_t cnt = 0;
uint8_t val;
int8_t v;
// printf( "tx_task: PID=%d\r\n",nrk_get_pid());
bmac_init(25);
while(!bmac_started()) nrk_wait_until_next_period();
while(1)
{
if (cnt > 25) {
nrk_led_set(BLUE_LED);
nrk_terminate_task();
}
nrk_led_set(RED_LED);
sprintf( tx_buf, "%d", cnt );
val = bmac_tx_pkt(tx_buf, strlen(tx_buf));
nrk_led_clr(RED_LED);
// nrk_kprintf( PSTR("TX task sent data!\r\n") );
nrk_wait_until_next_period();
v = nrk_sem_pend(lock);
if ( startCnt )
cnt++;
v = nrk_sem_post(lock);
}
}
void Task1()
{
uint16_t cnt;
int8_t v;
printf( "My node's address is %d\r\n",NODE_ADDR );
printf( "Task1 PID=%d\r\n",nrk_get_pid());
cnt=0;
while(1) {
nrk_led_toggle(ORANGE_LED);
printf( "Task1 cnt=%d\r\n",cnt );
nrk_kprintf( PSTR("Task1 accessing semaphore\r\n"));
v = nrk_sem_pend(my_semaphore);
if(v==NRK_ERROR) nrk_kprintf( PSTR("T1 error pend\r\n"));
nrk_kprintf( PSTR("Task1 holding semaphore\r\n"));
// wait some time inside semaphore to show the effect
nrk_wait_until_next_period();
v = nrk_sem_post(my_semaphore);
if(v==NRK_ERROR) nrk_kprintf( PSTR("T1 error post\r\n"));
nrk_kprintf( PSTR("Task1 released semaphore\r\n"));
nrk_wait_until_next_period();
cnt++;
}
}
void Task2() {
uint8_t cnt;
int8_t v;
cnt = 0;
while (1) {
nrk_led_toggle(BLUE_LED);
// printf("Task2 cnt=%d\r\n", cnt);
// nrk_kprintf(PSTR("Task2 accessing semaphore\r\n"));
// printf("T2_next_period = %u \n", nrk_cur_task_TCB->next_period);
v = nrk_sem_pend(sem1);
if (v == NRK_ERROR)
nrk_kprintf(PSTR("T2 error pend\r\n"));
// nrk_kprintf(PSTR("Task2 holding semaphore\r\n"));
// printf("In T2 sys_ceiling = %u \n", system_ceiling);
printf("In T2 Q --- ");
nrk_print_readyQ();
printf("\n");
// to something within the critical section
nrk_wait_until_next_period();
v = nrk_sem_post(sem1);
if (v == NRK_ERROR)
nrk_kprintf(PSTR("T2 error post\r\n"));
// nrk_kprintf(PSTR("Task2 released semaphore\r\n"));
nrk_wait_until_next_period();
cnt++;
}
}
void Task1() {
uint16_t cnt;
int8_t v;
cnt = 0;
while (1) {
nrk_led_toggle(ORANGE_LED);
// printf("Task1 cnt=%d\r\n", cnt);
// nrk_kprintf(PSTR("Task1 accessing semaphore\r\n"));
// printf("T1_next_period = %u \n", nrk_cur_task_TCB->next_period);
v = nrk_sem_pend(sem1);
if (v == NRK_ERROR)
nrk_kprintf(PSTR("T1 error pend\r\n"));
// nrk_kprintf(PSTR("Task1 holding semaphore\r\n"));
// printf("In T1 sys_ceiling = %u \n", system_ceiling);
printf("In T1 Q --- ");
nrk_print_readyQ();
printf("\n");
// to something within the critical section
nrk_wait_until_next_period();
v = nrk_sem_post(sem1);
if (v == NRK_ERROR)
nrk_kprintf(PSTR("T1 error post\r\n"));
// nrk_kprintf(PSTR("Task1 released semaphore\r\n"));
nrk_wait_until_next_period();
if (cnt == 3)
break;
cnt++;
}
nrk_stats_display_all();
}
// atomic_update_button_pressed - atomically update button_pressed flag
void inline atomic_update_button_pressed(uint8_t update) {
nrk_sem_pend(g_button_pressed_mux);
{
g_button_pressed = update;
}
nrk_sem_post(g_button_pressed_mux);
}
// creates Task4 and uses semaphore1
void Task4()
{
uint8_t counter;
uint8_t waitCount=3;
printf( "Task4 PID=%d\r\n",nrk_get_pid());
counter=0;
while(1)
{
nrk_led_toggle(GREEN_LED);
printf( "Task4 counter=%d\r\n",counter );
if(0==waitCount)
{
nrk_kprintf( PSTR("Task4 accessing semaphore1\r\n"));
nrk_sem_pend(semaphore1);
nrk_kprintf( PSTR("Task4 holding semaphore1\r\n"));
}
waitCount++;
if(3==waitCount)
{
nrk_sem_post(semaphore1);
nrk_kprintf( PSTR("Task4 released semaphore1\r\n"));
waitCount=0;
}
nrk_wait_until_next_period();
counter++;
}
}
// atomic_kick_watchdog - atomically kick the watchdog timer
uint8_t inline atomic_kick_watchdog() {
nrk_sem_pend(g_net_watchdog_mux);
{
g_net_watchdog = HEART_FACTOR;
}
nrk_sem_post(g_net_watchdog_mux);
return HEART_FACTOR;
}
void Task2()
{
int16_t cnt;
int8_t val;
uint32_t sector = 0;
nrk_sem_t *radio_sem;
while(1) nrk_wait_until_next_period();
radio_sem= rf_get_sem();
if(radio_sem==NULL) nrk_kprintf( PSTR("radio sem failed!\r\n" ));
printf( "Task2 PID=%u\r\n",nrk_get_pid());
cnt=0;
val=mmc_init();
if(val!=0 ) {
printf( "val=%d\r\n",val );
nrk_kprintf( PSTR("card init failed\r\n") );
while(1);
}
while(1) {
nrk_sem_pend (radio_sem);
printf("\nsector %lu\n\r",sector); // show sector number
val=mmc_readsector(sector,sectorbuffer); // read a data sector
printf( "readsector returned %d\n",val );
for(cnt=0; cnt<32; cnt++ )
printf( "%d ",sectorbuffer[cnt] );
printf( "\n\r" );
val=sectorbuffer[0];
val++;
for(cnt=0; cnt<512; cnt++ )
{
sectorbuffer[cnt]=val;
}
nrk_kprintf( PSTR("Writting\r\n") );
val=mmc_writesector(sector,sectorbuffer); // read a data sector
printf( "writesector returned %d\n",val );
printf( "After write:\r\n" );
val=mmc_readsector(sector,sectorbuffer); // read a data sector
nrk_sem_post(radio_sem);
printf( "readsector returned %d\n",val );
if(val==0)
{
for(cnt=0; cnt<32; cnt++ )
printf( "%d ",sectorbuffer[cnt] );
nrk_kprintf( PSTR("\n\r") );
}
sector++;
// nrk_led_toggle(RED_LED);
// printf( "Task2 signed cnt=%d\r\n",cnt );
nrk_wait_until_next_period();
cnt--;
}
}
// atomic_network_joined - atomically return the network status
uint8_t inline atomic_network_joined() {
uint8_t returnVal;
nrk_sem_pend(g_network_joined_mux);
{
returnVal = g_network_joined;
}
nrk_sem_post(g_network_joined_mux);
return returnVal;
}
// atomic_outlet_state - atomically return outlet state
uint8_t inline atomic_outlet_state() {
uint8_t outlet_state = OFF;
nrk_sem_pend(g_global_outlet_state_mux);
{
outlet_state = g_global_outlet_state;
}
nrk_sem_post(g_global_outlet_state_mux);
return outlet_state;
}
/***** HELPER FUNCTIONS *****/
uint8_t inline atomic_size(packet_queue *pq, nrk_sem_t *mux) {
uint8_t toReturn;
nrk_sem_pend(mux);
{
toReturn = pq->size;
}
nrk_sem_post(mux);
return toReturn;
}
// atomic_button_pressed - atomically return the button_pressed flag
uint8_t inline atomic_button_pressed() {
uint8_t returnVal;
nrk_sem_pend(g_button_pressed_mux);
{
returnVal = g_button_pressed;
}
nrk_sem_post(g_button_pressed_mux);
return returnVal;
}
/**********************************************************
* stop sending a carrier pulse; set the radio to idle state
*/
void rf_carrier_off()
{
#ifdef RADIO_PRIORITY_CEILING
nrk_sem_pend(radio_sem);
#endif
cc2420Strobe(CC2420_SRFOFF); // stop radio
#ifdef RADIO_PRIORITY_CEILING
nrk_sem_post(radio_sem);
#endif
}
void rf_set_channel( uint8_t channel )
{
#ifdef RADIO_PRIORITY_CEILING
nrk_sem_pend (radio_sem);
#endif
halRfSetChannel(channel);
#ifdef RADIO_PRIORITY_CEILING
nrk_sem_post(radio_sem);
#endif
}
/**********************************************************
* start sending a carrier pulse
* assumes wdrf_radio_test_mode() was called before doing this
*/
void rf_carrier_on()
{
#ifdef RADIO_PRIORITY_CEILING
nrk_sem_pend(radio_sem);
#endif
cc2420Strobe(CC2420_STXON); // tell radio to start sending
#ifdef RADIO_PRIORITY_CEILING
nrk_sem_post(radio_sem);
#endif
}
// atomic_increment_seq_num - increment sequence number atomically and return
uint16_t inline atomic_increment_seq_num() {
uint16_t returnVal;
nrk_sem_pend(g_seq_num_mux);
{
g_seq_num++;
returnVal = g_seq_num;
}
nrk_sem_post(g_seq_num_mux);
return returnVal;
}
// atomic_decrement_watchdog - atomically decrement watchdog timer
uint8_t inline atomic_decrement_watchdog() {
uint8_t returnVal;
nrk_sem_pend(g_net_watchdog_mux);
{
g_net_watchdog--;
returnVal = g_net_watchdog;
}
nrk_sem_post(g_net_watchdog_mux);
return returnVal;
}
/**********************************************************
* set the radio into "normal" mode (buffered TXFIFO) and go into (data) receive */
void rf_data_mode() {
#ifdef RADIO_PRIORITY_CEILING
nrk_sem_pend(radio_sem);
#endif
cc2420Strobe(CC2420_SRFOFF); //stop radio
cc2420WriteReg(CC2420_MDMCTRL1, 0x0500); // default MDMCTRL1 value
cc2420WriteReg(CC2420_DACTST, 0); // default value
rf_flush_rx_fifo();
#ifdef RADIO_PRIORITY_CEILING
nrk_sem_post(radio_sem);
#endif
}
void rf_polling_rx_on(void) {
#ifdef RADIO_PRIORITY_CEILING
nrk_sem_pend (radio_sem);
#endif
rfSettings.receiveOn = TRUE;
cc2420Strobe(CC2420_SFLUSHRX);
cc2420Strobe(CC2420_SRXON);
rx_ready=0;
#ifdef RADIO_PRIORITY_CEILING
nrk_sem_post(radio_sem);
#endif
} // rf_rx_on()
void retrans_task() {
if(log_g) printf ("log:retrans_task PID=%d\r\n", nrk_get_pid ());
uint8_t cnt = 0;
uint8_t connection_l;
uint8_t data_cnt;
uint8_t prev_data_seq = 0;
// while (!bmac_started ())
nrk_wait_until_next_period ();
while(1) {
nrk_sem_pend(conn_sem);
connection_l = connection_g;
nrk_sem_post(conn_sem);
if(pending_retransmit_g == 1) {
if(log_g) printf("log:Re-transmitting packet\r\n");
bmac_tx_pkt(uart_rx_buf, strlen(uart_rx_buf));
retransmit_count_g++;
if(retransmit_count_g==5)
terminate_connection();
} else {
// this checks if there is a connection and one is receivng data then
// if the sender shuts down then the connection is terminated after a while
if(connection_l == 1 && data_index_g < 0) {
if(recv_data_seq_g == prev_data_seq)
data_cnt++;
if(recv_data_seq_g > prev_data_seq)
{
data_cnt = 0;
prev_data_seq = recv_data_seq_g;
}
if(data_cnt > 5) {
if(log_g)nrk_kprintf(PSTR("log:Recv cn term\n"));
terminate_connection();
data_cnt = 0;
}
}
cnt++;
//if(log_g) printf("log:ver activ con:%d cnt:%d\n",connection_l,cnt);
if(cnt>0 && connection_l == 0) {
cnt = 0;
vertsk_active_g = 1;
}
}
nrk_wait_until_next_period();
}
}
void rf_tx_power(uint8_t pwr)
{
uint16_t tmp;
//tmp=0x5070;
#ifdef RADIO_PRIORITY_CEILING
nrk_sem_pend (radio_sem);
#endif
tmp=0xA0E0;
tmp=tmp | (pwr&0x1F);
FASTSPI_SETREG(CC2420_TXCTRL, tmp); // Set the FIFOP threshold to maximum
#ifdef RADIO_PRIORITY_CEILING
nrk_sem_post(radio_sem);
#endif
}
//-------------------------------------------------------------------------------------------------------
// void rf_rx_off(void)
//
// DESCRIPTION:
// Disables the CC2420 receiver and the FIFOP interrupt.
//-------------------------------------------------------------------------------------------------------
void rf_rx_off(void) {
#ifdef RADIO_PRIORITY_CEILING
nrk_sem_pend (radio_sem);
#endif
// XXX
//SET_VREG_INACTIVE();
rfSettings.receiveOn = FALSE;
cc2420Strobe(CC2420_SRFOFF);
rx_ready=0;
#ifdef RADIO_PRIORITY_CEILING
nrk_sem_post(radio_sem);
#endif
// DISABLE_FIFOP_INT();
} // rf_rx_off()
/**********************************************************
* set the radio into "normal" mode (buffered TXFIFO) and go into (data) receive */
void rf_data_mode() {
#ifdef RADIO_PRIORITY_CEILING
nrk_sem_pend(radio_sem);
#endif
FASTSPI_STROBE(CC2420_SRFOFF); //stop radio
FASTSPI_SETREG(CC2420_MDMCTRL1, 0x0500); // default MDMCTRL1 value
FASTSPI_SETREG(CC2420_DACTST, 0); // default value
rf_flush_rx_fifo();
#ifdef RADIO_PRIORITY_CEILING
nrk_sem_post(radio_sem);
#endif
}
int8_t slip_tx (uint8_t * buf, uint8_t size)
{
uint8_t i;
int8_t v;
uint8_t checksum;
// Make sure size is less than 128 so it doesn't act as a control
// message
if (size > 128) {
_nrk_errno_set (3);
return NRK_ERROR;
}
v = nrk_sem_pend (slip_tx_sem);
if (v == NRK_ERROR) {
nrk_kprintf (PSTR ("SLIP TX ERROR: Access to semaphore failed\r\n"));
_nrk_errno_set (1);
return NRK_ERROR;
}
// Send the start byte
put_byte (START);
put_byte (size);
checksum = 0;
// Send payload and stuff bytes as needed
for (i = 0; i < size; i++) {
if (buf[i] == END || buf[i] == ESC)
put_byte (ESC);
put_byte (buf[i]);
checksum += buf[i];
}
// Make sure checksum is less than 128 so it doesn't act as a control
// message
checksum &= 0x7F;
// Send the end byte
put_byte (checksum);
put_byte (END);
v = nrk_sem_post (slip_tx_sem);
if (v == NRK_ERROR) {
nrk_kprintf (PSTR ("SLIP TX ERROR: Release of semaphore failed\r\n"));
_nrk_errno_set (2);
return NRK_ERROR;
}
return NRK_OK;
}
void rf_set_rx(RF_RX_INFO *pRRI, uint8_t channel )
{
#ifdef RADIO_PRIORITY_CEILING
nrk_sem_pend (radio_sem);
#endif
FASTSPI_STROBE(CC2420_SFLUSHRX);
FASTSPI_STROBE(CC2420_SFLUSHRX);
halRfSetChannel(channel);
rfSettings.pRxInfo = pRRI;
#ifdef RADIO_PRIORITY_CEILING
nrk_sem_post(radio_sem);
#endif
}