/* * Copyright (c) 2006, Technical University of Munich * All rights reserved. * * Redistribution and use in source and binary forms, with or without * modification, are permitted provided that the following conditions * are met: * 1. Redistributions of source code must retain the above copyright * notice, this list of conditions and the following disclaimer. * 2. Redistributions in binary form must reproduce the above copyright * notice, this list of conditions and the following disclaimer in the * documentation and/or other materials provided with the distribution. * 3. Neither the name of the Institute nor the names of its contributors * may be used to endorse or promote products derived from this software * without specific prior written permission. * * THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE * ARE DISCLAIMED. IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF * SUCH DAMAGE. * * This file is part of the Contiki operating system. * * @(#)$$ */ /** * \file * Contiki 2.4 kernel for Jackdaw USB stick * * \author * Simon Barner <[email protected]> * David Kopf <[email protected]> */ #define DEBUG 0 #if DEBUG #define PRINTD(FORMAT,args...) printf_P(PSTR(FORMAT),##args) #else #define PRINTD(...) #endif #include <avr/pgmspace.h> #include <avr/fuse.h> #include <avr/eeprom.h> #include <avr/wdt.h> #include <util/delay.h> #include <stdio.h> #include <string.h> #include "lib/mmem.h" #include "loader/symbols-def.h" #include "loader/symtab.h" #include "contiki.h" #include "contiki-net.h" #include "contiki-lib.h" #include "contiki-raven.h" /* Set ANNOUNCE to send boot messages to USB or RS232 serial port */ #define ANNOUNCE 1 /* But only if a serial port exists */ #if USB_CONF_SERIAL||USB_CONF_RS232 #define PRINTA(FORMAT,args...) printf_P(PSTR(FORMAT),##args) #else #define PRINTA(...) #endif #include "usb_task.h" #if USB_CONF_SERIAL #include "cdc_task.h" #endif #if USB_CONF_RS232 #include "dev/rs232.h" #endif /*sz*/ #ifdef AVR_XRAM #include "avr-xram.h" #endif /*sz*/ #include "rndis/rndis_task.h" #if USB_CONF_STORAGE #include "storage/storage_task.h" #endif #include "dev/watchdog.h" #include "dev/usb/usb_drv.h" #if JACKDAW_CONF_USE_SETTINGS #include "settings.h" #endif #if RF230BB //radio driver using contiki core mac #include "radio/rf230bb/rf230bb.h" #include "net/mac/frame802154.h" #define UIP_IP_BUF ((struct uip_ip_hdr *)&uip_buf[UIP_LLH_LEN]) rimeaddr_t macLongAddr; #define tmp_addr macLongAddr #else //legacy radio driver using Atmel/Cisco 802.15.4'ish MAC #include <stdbool.h> #include "mac.h" #include "sicslowmac.h" #include "sicslowpan.h" #include "ieee-15-4-manager.h" #endif /* RF230BB */ /* Test rtimers, also useful for pings, time stamps, routes, stack monitor */ #define TESTRTIMER 0 #if TESTRTIMER #define PINGS 0 #define STAMPS 60 #define ROUTES 120 #define STACKMONITOR 600 uint8_t rtimerflag=1; uint16_t rtime; struct rtimer rt; void rtimercycle(void) {rtimerflag=1;} #endif /* TESTRTIMER */ /*sz*/ //uip_ip6addr_t ipaddr; //uip_ip6addr(&ipaddr, 0xbbbb, 0, 0, 0, 0, 0, 0, 0x200); //uip_ds6_addr_add(&ipaddr, 0, ADDR_MANUAL); //rpl_set_prefix(dag, &ipaddr, 64); /*sz*/ #if UIP_CONF_IPV6_RPL /*---------------------------------------------------------------------------*/ /*--------------------------------- RPL ----------------------------------*/ /*---------------------------------------------------------------------------*/ /* TODO: Put rpl code into another file, once it stabilizes */ /* Set up fallback interface links to direct stack tcpip output to ethernet */ static void init(void) { } void mac_LowpanToEthernet(void); static void output(void) { // if(uip_ipaddr_cmp(&last_sender, &UIP_IP_BUF->srcipaddr)) { /* Do not bounce packets back over USB if the packet was received from USB */ // PRINTA("JACKDAW router: Destination off-link but no route\n"); // } else { PRINTD("SUT: %u\n", uip_len); mac_LowpanToEthernet(); //bounceback trap is done in lowpanToEthernet // } } const struct uip_fallback_interface rpl_interface = { init, output }; #if RPL_BORDER_ROUTER #include "net/rpl/rpl.h" // avr-objdump --section .bss -x ravenusbstick.elf const uint16_t dag_id[] PROGMEM = {0x1111, 0x1100, 0, 0, 0, 0, 0, 0x0011}; PROCESS(border_router_process, "RPL Border Router"); PROCESS_THREAD(border_router_process, ev, data) { PROCESS_BEGIN(); PROCESS_PAUSE(); { rpl_dag_t *dag; char buf[sizeof(dag_id)]; memcpy_P(buf,dag_id,sizeof(dag_id)); dag = rpl_set_root(RPL_DEFAULT_INSTANCE,(uip_ip6addr_t *)buf); /* Assign separate addresses to the jackdaw uip stack and the host network interface, but with the same prefix */ /* E.g. bbbb::200 to the jackdaw and bbbb::1 to the host network interface with $ip -6 address add bbbb::1/64 dev usb0 */ /* Otherwise the host will trap packets intended for the jackdaw, just as the jackdaw will trap RF packets intended for the host */ /* $ifconfig usb0 -arp on Ubuntu to skip the neighbor solicitations. Add explicit neighbors on other OSs */ if(dag != NULL) { PRINTD("created a new RPL dag\n"); #if UIP_CONF_ROUTER_RECEIVE_RA //Contiki stack will shut down until assigned an address from the interface RA //Currently this requires changes in the core rpl-icmp6.c to pass the link-local RA broadcast #else uip_ip6addr_t ipaddr; uip_ip6addr(&ipaddr, 0xbbbb, 0, 0, 0, 0, 0, 0, 0x200); uip_ds6_addr_add(&ipaddr, 0, ADDR_MANUAL); rpl_set_prefix(dag, &ipaddr, 64); #endif } } /* The border router runs with a 100% duty cycle in order to ensure high packet reception rates. */ // NETSTACK_MAC.off(1); while(1) { PROCESS_YIELD(); /* Local and global dag repair can be done from the jackdaw menu */ } PROCESS_END(); } #endif /* RPL_BORDER_ROUTER */ #endif /* UIP_CONF_IPV6_RPL */ /*-------------------------------------------------------------------------*/ /*----------------------Configuration of the .elf file---------------------*/ #if 1 /* The proper way to set the signature is */ #include <avr/signature.h> #else /* Older avr-gcc's may not define the needed SIGNATURE bytes. Do it manually if you get an error */ typedef struct {const unsigned char B2;const unsigned char B1;const unsigned char B0;} __signature_t; #define SIGNATURE __signature_t __signature __attribute__((section (".signature"))) SIGNATURE = { .B2 = 0x82,//SIGNATURE_2, //AT90USB128x .B1 = 0x97,//SIGNATURE_1, //128KB flash .B0 = 0x1E,//SIGNATURE_0, //Atmel }; #endif FUSES ={.low = 0xde, .high = 0x99, .extended = 0xff,}; /* Save the default settings into program flash memory */ const uint8_t default_mac_address[8] PROGMEM = {0x02, 0x12, 0x13, 0xff, 0xfe, 0x14, 0x15, 0x16}; #ifdef CHANNEL_802_15_4 const uint8_t default_channel PROGMEM = CHANNEL_802_15_4; #else const uint8_t default_channel PROGMEM = 26; #endif #ifdef IEEE802154_PANID const uint16_t default_panid PROGMEM = IEEE802154_PANID; #else const uint16_t default_panid PROGMEM = 0xABCD; #endif #ifdef IEEE802154_PANADDR const uint16_t default_panaddr PROGMEM = IEEE802154_PANID; #else const uint16_t default_panaddr PROGMEM = 0; #endif #ifdef RF230_MAX_TX_POWER const uint8_t default_txpower PROGMEM = RF230_MAX_TX_POWER; #else const uint8_t default_txpower PROGMEM = 0; #endif #if JACKDAW_CONF_RANDOM_MAC #include "rng.h" static void generate_new_eui64(uint8_t eui64[8]) { eui64[0] = 0x02; eui64[1] = rng_get_uint8(); eui64[2] = rng_get_uint8(); eui64[3] = 0xFF; eui64[4] = 0xFE; eui64[5] = rng_get_uint8(); eui64[6] = rng_get_uint8(); eui64[7] = rng_get_uint8(); } #endif /* JACKDAW_CONF_RANDOM_MAC */ #if !JACKDAW_CONF_USE_SETTINGS /****************************No settings manager*****************************/ /* If not using the settings manager, put the default values into EEMEM * These can be manually changed and kept over program reflash. * The channel and bit complement are used to check EEMEM integrity, * If corrupt all values will be rewritten with the default flash values. * To make this work, get the channel before anything else. */ uint8_t eemem_mac_address[8] EEMEM = {0x02, 0x12, 0x13, 0xff, 0xfe, 0x14, 0x15, 0x16}; #ifdef CHANNEL_802_15_4 uint8_t eemem_channel[2] EEMEM = {CHANNEL_802_15_4, ~CHANNEL_802_15_4}; #else uint8_t eemem_channel[2] EMEM = {26, ~26}; #endif #ifdef IEEE802154_PANID uint16_t eemem_panid EEMEM = IEEE802154_PANID; #else uint16_t eemem_panid EEMEM = 0xABCD; #endif #ifdef IEEE802154_PANADDR uint16_t eemem_panaddr EEMEM = IEEE802154_PANADDR; #else uint16_t eemem_panaddr EEMEM = 0; #endif #ifdef RF230_MAX_TX_POWER uint8_t eemem_txpower EEMEM = RF230_MAX_TX_POWER; #else uint8_t eemem_txpower EEMEM = 0; #endif static uint8_t get_channel_from_eeprom() { uint8_t x[2]; *(uint16_t *)x = eeprom_read_word ((uint16_t *)&eemem_channel); if((uint8_t)x[0]!=(uint8_t)~x[1]) {//~x[1] can promote comparison to 16 bit /* Verification fails, rewrite everything */ uint8_t mac[8]; #if JACKDAW_CONF_RANDOM_MAC PRINTA("Generating random MAC address.\n"); generate_new_eui64(&mac); #else {uint8_t i; for (i=0;i<8;i++) mac[i] = pgm_read_byte_near(default_mac_address+i);} #endif eeprom_write_block(&mac, &eemem_mac_address, 8); eeprom_write_word(&eemem_panid , pgm_read_word_near(&default_panid)); eeprom_write_word(&eemem_panaddr, pgm_read_word_near(&default_panaddr)); eeprom_write_byte(&eemem_txpower, pgm_read_byte_near(&default_txpower)); x[0] = pgm_read_byte_near(&default_channel); x[1]= ~x[0]; eeprom_write_word((uint16_t *)&eemem_channel, *(uint16_t *)x); } return x[0]; } static bool get_eui64_from_eeprom(uint8_t macptr[8]) { eeprom_read_block ((void *)macptr, &eemem_mac_address, 8); return macptr[0]!=0xFF; } static uint16_t get_panid_from_eeprom(void) { return eeprom_read_word(&eemem_panid); } static uint16_t get_panaddr_from_eeprom(void) { return eeprom_read_word (&eemem_panaddr); } static uint8_t get_txpower_from_eeprom(void) { return eeprom_read_byte(&eemem_txpower); } #else /* !JACKDAW_CONF_USE_SETTINGS */ /******************************Settings manager******************************/ static uint8_t get_channel_from_eeprom() { uint8_t x = settings_get_uint8(SETTINGS_KEY_CHANNEL, 0); if(!x) x = pgm_read_byte_near(&default_channel); return x; } static bool get_eui64_from_eeprom(uint8_t macptr[8]) { size_t size = 8; if(settings_get(SETTINGS_KEY_EUI64, 0, (unsigned char*)macptr, &size)==SETTINGS_STATUS_OK) { PRINTD("<=Get EEPROM MAC address.\n"); return true; } #if JACKDAW_CONF_RANDOM_MAC PRINTA("--Generating random MAC address.\n"); generate_new_eui64(macptr); #else {uint8_t i;for (i=0;i<8;i++) macptr[i] = pgm_read_byte_near(default_mac_address+i);} #endif settings_add(SETTINGS_KEY_EUI64,(unsigned char*)macptr,8); PRINTA("->Set EEPROM MAC address.\n"); return true; } static uint16_t get_panid_from_eeprom(void) { uint16_t x; if (settings_check(SETTINGS_KEY_PAN_ID,0)) { x = settings_get_uint16(SETTINGS_KEY_PAN_ID,0); PRINTD("<-Get EEPROM PAN ID of %04x.\n",x); } else { x=pgm_read_word_near(&default_panid); if (settings_add_uint16(SETTINGS_KEY_PAN_ID,x)==SETTINGS_STATUS_OK) { PRINTA("->Set EEPROM PAN ID to %04x.\n",x); } } return x; } static uint16_t get_panaddr_from_eeprom(void) { uint16_t x; if (settings_check(SETTINGS_KEY_PAN_ADDR,0)) { x = settings_get_uint16(SETTINGS_KEY_PAN_ADDR,0); PRINTD("<-Get EEPROM PAN address of %04x.\n",x); } else { x=pgm_read_word_near(&default_panaddr); if (settings_add_uint16(SETTINGS_KEY_PAN_ADDR,x)==SETTINGS_STATUS_OK) { PRINTA("->Set EEPROM PAN address to %04x.\n",x); } } return x; } static uint8_t get_txpower_from_eeprom(void) { uint8_t x; if (settings_check(SETTINGS_KEY_TXPOWER,0)) { x = settings_get_uint8(SETTINGS_KEY_TXPOWER,0); PRINTD("<-Get EEPROM tx power of %d. (0=max)\n",x); } else { x=pgm_read_byte_near(&default_txpower); if (settings_add_uint8(SETTINGS_KEY_TXPOWER,x)==SETTINGS_STATUS_OK) { PRINTA("->Set EEPROM tx power of %d. (0=max)\n",x); } } return x; } #endif /* !JACKDAW_CONF_USE_SETTINGS */ /*-------------------------------------------------------------------------*/ /*-----------------------------Low level initialization--------------------*/ static void initialize(void) { watchdog_init(); watchdog_start(); #if CONFIG_STACK_MONITOR /* Simple stack pointer highwater monitor. The 'm' command in cdc_task.c * looks for the first overwritten magic number. */ { extern uint16_t __bss_end; uint16_t p=(uint16_t)&__bss_end; do { *(uint16_t *)p = 0x4242; p+=100; } while (p<SP-100); //don't overwrite our own stack } #endif /* Initialize hardware */ // Checks for "finger", jumps to DFU if present. init_lowlevel(); /* Clock */ clock_init(); /* XRAM *//*sz*/ #ifdef AVR_XRAM xram_enable(); #endif /*sz*/ /* Leds are referred to by number to prevent any possible confusion :) */ /* Led0 Blue Led1 Red Led2 Green Led3 Yellow */ Leds_init(); Led1_on(); /* Get a random (or probably different) seed for the 802.15.4 packet sequence number. * Some layers will ignore duplicates found in a history (e.g. Contikimac) * causing the initial packets to be ignored after a short-cycle restart. */ ADMUX =0x1E; //Select AREF as reference, measure 1.1 volt bandgap reference. ADCSRA=1<<ADEN; //Enable ADC, not free running, interrupt disabled, fastest clock ADCSRA|=1<<ADSC; //Start conversion while (ADCSRA&(1<<ADSC)); //Wait till done PRINTD("ADC=%d\n",ADC); random_init(ADC); ADCSRA=0; //Disable ADC #if USB_CONF_RS232 /* Use rs232 port for serial out (tx, rx, gnd are the three pads behind jackdaw leds */ rs232_init(RS232_PORT_0, USART_BAUD_57600,USART_PARITY_NONE | USART_STOP_BITS_1 | USART_DATA_BITS_8); /* Redirect stdout to second port */ rs232_redirect_stdout(RS232_PORT_0); #if ANNOUNCE PRINTA("\n\n*******Booting %s*******\n",CONTIKI_VERSION_STRING); #endif #endif /* rtimer init needed for low power protocols */ rtimer_init(); /* Process subsystem. */ process_init(); /* etimer process must be started before USB or ctimer init */ process_start(&etimer_process, NULL); Led2_on(); /* Now we can start USB enumeration */ process_start(&usb_process, NULL); /* Start CDC enumeration, bearing in mind that it may fail */ /* Hopefully we'll get a stdout for startup messages, if we don't already */ #if USB_CONF_SERIAL process_start(&cdc_process, NULL); {unsigned short i; for (i=0;i<65535;i++) { process_run(); watchdog_periodic(); if (stdout) break; } #if !USB_CONF_RS232 PRINTA("\n\n*******Booting %s*******\n",CONTIKI_VERSION_STRING); #endif } #endif if (!stdout) Led3_on(); #if RF230BB #if JACKDAW_CONF_USE_SETTINGS PRINTA("Settings manager will be used.\n"); #else {uint8_t x[2]; *(uint16_t *)x = eeprom_read_word((uint16_t *)&eemem_channel); if((uint8_t)x[0]!=(uint8_t)~x[1]) { PRINTA("Invalid EEPROM settings detected. Rewriting with default values.\n"); get_channel_from_eeprom(); } } #endif ctimer_init(); /* Start radio and radio receive process */ /* Note this starts RF230 process, so must be done after process_init */ NETSTACK_RADIO.init(); /* Set addresses BEFORE starting tcpip process */ memset(&tmp_addr, 0, sizeof(rimeaddr_t)); if(get_eui64_from_eeprom(tmp_addr.u8)); //Fix MAC address init_net(); #if UIP_CONF_IPV6 memcpy(&uip_lladdr.addr, &tmp_addr.u8, 8); #endif rf230_set_pan_addr( get_panid_from_eeprom(), get_panaddr_from_eeprom(), (uint8_t *)&tmp_addr.u8 ); rf230_set_channel(get_channel_from_eeprom()); rf230_set_txpower(get_txpower_from_eeprom()); rimeaddr_set_node_addr(&tmp_addr); /* Initialize stack protocols */ queuebuf_init(); NETSTACK_RDC.init(); NETSTACK_MAC.init(); NETSTACK_NETWORK.init(); #if ANNOUNCE PRINTA("MAC address %x:%x:%x:%x:%x:%x:%x:%x\n\r",tmp_addr.u8[0],tmp_addr.u8[1],tmp_addr.u8[2],tmp_addr.u8[3],tmp_addr.u8[4],tmp_addr.u8[5],tmp_addr.u8[6],tmp_addr.u8[7]); PRINTA("%s %s, channel %u, panid 0x%X",NETSTACK_MAC.name, NETSTACK_RDC.name, rf230_get_channel(), IEEE802154_PANID); if (NETSTACK_RDC.channel_check_interval) { unsigned short tmp; tmp=CLOCK_SECOND / (NETSTACK_RDC.channel_check_interval == 0 ? 1:\ NETSTACK_RDC.channel_check_interval()); if (tmp<65535) PRINTA(", check rate %u Hz",tmp); } PRINTA("\n"); #endif #if UIP_CONF_IPV6_RPL #if RPL_BORDER_ROUTER process_start(&tcpip_process, NULL); process_start(&border_router_process, NULL); PRINTD ("RPL Border Router Started\n"); #else process_start(&tcpip_process, NULL); PRINTD ("RPL Started\n"); #endif #if RPL_HTTPD_SERVER extern struct process httpd_process; process_start(&httpd_process, NULL); PRINTD ("Webserver Started\n"); #endif #endif /* UIP_CONF_IPV6_RPL */ #else /* RF230BB */ /* The order of starting these is important! */ process_start(&mac_process, NULL); process_start(&tcpip_process, NULL); #endif /* RF230BB */ /* Start ethernet network and storage process */ process_start(&usb_eth_process, NULL); #if USB_CONF_STORAGE process_start(&storage_process, NULL); #endif /* Autostart other processes */ /* There are none in the default build so autostart_processes will be unresolved in the link. */ /* The AUTOSTART_PROCESSES macro which defines it can only be used in the .co module. */ /* See /examples/ravenusbstick/ravenusb.c for an autostart template. */ #if 0 autostart_start(autostart_processes); #endif #if ANNOUNCE #if USB_CONF_RS232 PRINTA("Online.\n"); #else PRINTA("Online. Type ? for Jackdaw menu.\n"); #endif #endif Leds_off(); } /*-------------------------------------------------------------------------*/ /*---------------------------------Main Routine----------------------------*/ int main(void) { /* GCC depends on register r1 set to 0 (?) */ asm volatile ("clr r1"); /* Initialize in a subroutine to maximize stack space */ initialize(); #if DEBUG {struct process *p; for(p = PROCESS_LIST();p != NULL; p = ((struct process *)p->next)) { PRINTA("Process=%p Thread=%p Name=\"%s\" \n",p,p->thread,PROCESS_NAME_STRING(p)); } } #endif while(1) { process_run(); watchdog_periodic(); /* Print rssi of all received packets, useful for range testing */ #ifdef RF230_MIN_RX_POWER uint8_t lastprint; if (rf230_last_rssi != lastprint) { //can be set in halbb.c interrupt routine PRINTA("%u ",rf230_last_rssi); lastprint=rf230_last_rssi; } #endif #if 0 /* Clock.c can trigger a periodic PLL calibration in the RF230BB driver. * This can show when that happens. */ extern uint8_t rf230_calibrated; if (rf230_calibrated) { PRINTA("\nRF230 calibrated!\n"); rf230_calibrated=0; } #endif #if TESTRTIMER /* Timeout can be increased up to 8 seconds maximum. * A one second cycle is convenient for triggering the various debug printouts. * The triggers are staggered to avoid printing everything at once. * My Jackdaw is 4% slow. */ if (rtimerflag) { rtimer_set(&rt, RTIMER_NOW()+ RTIMER_ARCH_SECOND*1UL, 1,(void *) rtimercycle, NULL); rtimerflag=0; #if STAMPS if ((rtime%STAMPS)==0) { PRINTA("%us ",rtime); if (rtime%STAMPS*10) PRINTA("\n"); } #endif rtime+=1; #if PINGS && UIP_CONF_IPV6_RPL extern void raven_ping6(void); if ((rtime%PINGS)==1) { PRINTA("**Ping\n"); raven_ping6(); } #endif #if ROUTES && UIP_CONF_IPV6_RPL if ((rtime%ROUTES)==2) { extern uip_ds6_nbr_t uip_ds6_nbr_cache[]; extern uip_ds6_route_t uip_ds6_routing_table[]; extern uip_ds6_netif_t uip_ds6_if; uint8_t i,j; PRINTA("\nAddresses [%u max]\n",UIP_DS6_ADDR_NB); for (i=0;i<UIP_DS6_ADDR_NB;i++) { if (uip_ds6_if.addr_list[i].isused) { uip_debug_ipaddr_print(&uip_ds6_if.addr_list[i].ipaddr); PRINTA("\n"); } } PRINTA("\nNeighbors [%u max]\n",UIP_DS6_NBR_NB); for(i = 0,j=1; i < UIP_DS6_NBR_NB; i++) { if(uip_ds6_nbr_cache[i].isused) { uip_debug_ipaddr_print(&uip_ds6_nbr_cache[i].ipaddr); PRINTA("\n"); j=0; } } if (j) PRINTA(" <none>"); PRINTA("\nRoutes [%u max]\n",UIP_DS6_ROUTE_NB); for(i = 0,j=1; i < UIP_DS6_ROUTE_NB; i++) { if(uip_ds6_routing_table[i].isused) { uip_debug_ipaddr_print(&uip_ds6_routing_table[i].ipaddr); PRINTA("/%u (via ", uip_ds6_routing_table[i].length); uip_debug_ipaddr_print(&uip_ds6_routing_table[i].nexthop); // if(uip_ds6_routing_table[i].state.lifetime < 600) { PRINTA(") %lus\n", uip_ds6_routing_table[i].state.lifetime); // } else { // PRINTA(")\n"); // } j=0; } } if (j) PRINTA(" <none>"); PRINTA("\n---------\n"); } #endif #if STACKMONITOR && CONFIG_STACK_MONITOR if ((rtime%STACKMONITOR)==3) { extern uint16_t __bss_end; uint16_t p=(uint16_t)&__bss_end; do { if (*(uint16_t *)p != 0x4242) { PRINTA("Never-used stack > %d bytes\n",p-(uint16_t)&__bss_end); break; } p+=100; } while (p<RAMEND-10); } #endif } #endif /* TESTRTIMER */ //Use with RF230BB DEBUGFLOW to show path through driver #if RF230BB&&0 extern uint8_t debugflowsize,debugflow[]; //in rf230bb.c if (debugflowsize) { debugflow[debugflowsize]=0; PRINTA("%s",debugflow); debugflowsize=0; } #endif } return 0; }