File content as of revision 15:990a8b5664e1:

#include "mbed.h"

#include "driverDebug.h"
#include "socket_api.h"
#include "net_interface.h"
#include "system_event.h"
#include "string.h"
#include "net_nwk_scan.h"
#include "socket_security.h"
#include "nwk_stats_api.h"
#include "multicast_api.h"
#include "nsdynmemLIB.h"
#include "randLIB.h"
#include "arm_hal_timer.h"
#include "common_functions.h"
#include "driverRFPhy.h"
#include "driverAtmelRFInterface.h"
#include "nsdl_support.h"
#include "node_cfg.h"

/*** DEBUG ******/
#define DEBUG       1
#if DEBUG
#define debug   printf
#else
#define debug(...)  ""
#endif  // DEBUG

/*******  Hardware Definition  **********/
#if NODE_CONTROLLER
  DigitalOut ledR(PTB22);      // RGB - Red LED
  DigitalOut ledG(PTE26);      // RGB - Green LED
  DigitalOut ledB(PTB21);      // RGB - Blue LED    
  InterruptIn TAP_INT(PTC6);  // INT1 from FXOS8700Q
#endif

/*******  Timers Definitions   ************/
#define RETRY_TIMER             1
#define NSP_REGISTRATION_TIMER  2
#if NODE_CONTROLLER 
  #define ACCELEROMETER_TIMER    3
#endif
#if NODE_HOME
  #define DOOR_CHECK_TIMER        4
#endif

void app_heap_error_handler(heap_fail_t event);
void tasklet_main(arm_event_s *event);
void button_main(arm_event_s *event);

#define APP_DEV_HEAP_SIZE 6000
static uint8_t app_defined_stack_heap[APP_DEV_HEAP_SIZE];
static int8_t main_tasklet_id = -1;

static const uint8_t app_MAC_address[8] = NODE_MAC_ADDRESS;
static int8_t rf_phy_device_register_id = -1;
static int8_t net_6lowpan_id = -1;
static uint32_t channel_list = 0x07FFF800; // All channels

int8_t coap_udp_socket = -1;

#define AUDP_SOCKET_PORT     61630
#define RECV_CTRL_UDP_PORT   1050    // receive
#define SEND_CTRL_UDP_PORT   1060    // send

/** Used for Receive Data source Address store*/
static ns_address_t app_src;
static sn_nsdl_addr_s sn_addr_s;

static int access_point_status = 0;

link_layer_setups_s app_link_info;
link_layer_address_s app_link_address_info;
network_layer_address_s app_nd_address_info;

/* Prototype functions  */
void NSDL_receive_socket(void *cb);
void NSP_registration(void);

extern void create_lqi_resource(uint8_t);
void* own_alloc(uint16_t size);
void own_free(void *ptr);

/***************  Application variables  ***********************/
uint8_t batteryLevel = 100;
enum LED {NONE, RED, GREEN, BLUE};
int ledState = NONE;


/* #defines, definitions and declarations according node profile  */

#if NODE_CONTROLLER
int8_t ctrl_udp_socket = -1;
void empty_udp_receive(void * cb);
void ctrl_udp_send(uint8_t cmd);

#include "FXOS8700Q_TD.h"

#define ACCEL_SAMPLE_TIME   200
FXOS8700Q accel( PTE25, PTE24, FXOS8700CQ_SLAVE_ADDR1); // Proper Ports and I2C Address for K64F Freedom board
bool accel_enable = 1;
   
void tap_detector_handler(void) {
   printf("Tap Detected!\r\n"); 
   
   switch(ledState) {
     case NONE:
        break;
     case RED: 
        ctrl_udp_send('R');   
        break;
     case GREEN:
        ctrl_udp_send('G');
        break;
     case BLUE:
        ctrl_udp_send('B');
        break;            
    }
}

void update_LED(void) {
  
  switch(ledState) {
    case NONE:
      ledState = GREEN;
      ledR = 1;
      ledG = 0;
      ledB = 1;
      break;
      
    case GREEN:
      ledState = RED;
      ledR = 0;
      ledG = 1;
      ledB = 1;
      break;
      
    case RED:
      ledState = BLUE;
      ledR = 1;
      ledG = 1;
      ledB = 0; 
      break;

    case BLUE:
      ledState = NONE;
      ledR = 1;
      ledG = 1;
      ledB = 1;
      break;                
  }       
}

#endif

#if 1
void printf_array(uint8_t *ptr , uint16_t len)
{
    uint16_t i;
    for(i=0; i<len; i++)
    {
        if(i)
        {
            if(i%16== 0)
            {
                debug("\r\n");
                if(len > 64)
                {
                    uint8_t x =254;
                    while(x--);
                }
            }
            else
            {
                debug(":");
            }
        }
        debug_hex(*ptr++);
    }
    debug("\r\n");
}



void debug_integer(uint8_t width, uint8_t base, int16_t n)
{
  uint8_t bfr[8];
  uint8_t *ptr = bfr;
  uint8_t ctr = 0;

  if (width > 7) width = 7;

  ptr += width;
  *ptr-- = 0;

  if (base == 16)
  {
      do
      {
          *ptr = n & 0x0F;
          if (*ptr < 10) *ptr += '0';
          else *ptr += ('A'-10);
          ptr--;
          n >>= 4;
          ctr++;
      }while((ctr & 1) || (ctr < width));
  }
  else
  {
      uint8_t negative = 0;
      if (n < 0)
      { negative = 1;
        n = -n;
      }
      ctr++;
      do
      {
        *ptr-- = (n % 10) + '0';
        n /= 10;
        ctr++;
      }while ((ctr < width) && n);
      if (negative)
      {
        *ptr-- = '-';
      }
      else
      {
        *ptr-- = ' ';
      }
  }
  ptr++;
  //debug_send(ptr);
    debug((const char *)ptr);
}


void printf_ipv6_address(uint8_t *addr_ptr)
{
    if(addr_ptr)
    {
        uint8_t i, d_colon = 0;
        uint16_t current_value = 0, last_value = 0;

        for(i=0; i< 16;i += 2)
        {
            current_value =  (*addr_ptr++ << 8);
            current_value += *addr_ptr++;

            if(i == 0)
            {
                last_value = current_value;
                debug_hex(current_value >> 8);
                debug_hex(current_value );
                debug(":");
            }
            else
            {
                if(current_value == 0)
                {
                    if(i== 14)
                    {
                        debug(":");
                        //debug_put('0');
                        debug("0");
                    }
                    else
                    {
                        if(last_value == 0)
                        {
                            if(d_colon == 0)
                            {
                                d_colon=1;
                            }
                        }
                        else
                        {
                            if(d_colon == 2)
                            {
                                //debug_put('0');
                                debug("0");
                                debug(":");
                            }
                        }
                    }
                }
                else
                {
                    if(last_value == 0)
                    {
                        if(d_colon == 1)
                        {
                            debug(":");
                            d_colon = 2;
                        }
                        else
                        {
                            //debug_put('0');
                            debug("0");
                            debug(":");
                        }
                    }
                    if(current_value > 0x00ff)
                    {
                        debug_hex(current_value >> 8);
                    }
                    debug_hex(current_value );
                    if(i< 14)
                    {
                        debug(":");
                    }
                }
                last_value = current_value;
            }
        }
    }
    else
    {
        debug("Address Print: pointer NULL");
    }
    debug("\r\n");
}
#endif

int main()
{
#if NODE_CONTROLLER      
  ledR = 1;
  ledG = 1;
  ledB = 1;
  TAP_INT.rise(&tap_detector_handler); 
#endif
 
  debug("\r\nApplication Start\r\n");
  ns_dyn_mem_init(app_defined_stack_heap, APP_DEV_HEAP_SIZE, app_heap_error_handler,0);
  rf_set_mac_address(app_MAC_address);
 
  // init RF interface
  debug("Init RF Interface...\r\n");
  rf_phy_device_register_id = rf_device_register();

  randLIB_seed_random();
    
  debug("Init ARM Timer...\r\n");
  arm_timer_init();//Init Timer
  
  //Init nanostack & Event OS
  debug("Init Net Core...\r\n");
  net_init_core();
  debug("Create Tasklets...\r\n");
  main_tasklet_id = arm_ns_tasklet_create(&tasklet_main);
  if(main_tasklet_id < 0)
  {
    //Tasklet cerate fail
    error("Tasklet create fail.."); 
    while(1); 
  }
  
  debug("Event Dispatch\r\n");
  event_dispatch();
}

/**
  * @brief  This function handles Hard Fault exception.
  * @param  None
  * @retval None
  */
void HardFault_Handler(void)
{
  /* Go to infinite loop when Hard Fault exception occurs */
  while (1)
  {
  }
}
void app_heap_error_handler(heap_fail_t event)
{
    switch (event)
    {
        case NS_DYN_MEM_NULL_FREE:
            break;
        case NS_DYN_MEM_DOUBLE_FREE:
            break;

        case NS_DYN_MEM_ALLOCATE_SIZE_NOT_VALID:
            break;
        case NS_DYN_MEM_POINTER_NOT_VALID:
            break;

        case NS_DYN_MEM_HEAP_SECTOR_CORRUPTED:
            break;

        case NS_DYN_MEM_HEAP_SECTOR_UNITIALIZED:
            break;
                
        default:

            break;
    }
    while(1);
}


/**
  * \brief Network state event handler.
  * \param event show network start response or current network state.
  *
  * - NET_READY: Save NVK peristant data to NVM and Net role
  * - NET_NO_BEACON: Link Layer Active Scan Fail, Stack is Already at Idle state
  * - NET_NO_ND_ROUTER: No ND Router at current Channel Stack is Already at Idle state
  * - NET_BORDER_ROUTER_LOST: Connection to Access point is lost wait for Scan Result
  * - NET_PARENT_POLL_FAIL: Host should run net start without any PAN-id filter and all channels
  * - NET_PANA_SERVER_AUTH_FAIL: Pana Authentication fail, Stack is Already at Idle state
  */
void app_parse_network_event(arm_event_s *event )
{
  arm_nwk_interface_status_type_e status = (arm_nwk_interface_status_type_e)event->event_data;
  switch (status)
  {
    case ARM_NWK_BOOTSTRAP_READY:
      /* NEtwork is ready and node is connected to Access Point */
      if(access_point_status==0)
      {
        uint8_t temp_ipv6[16];
        debug("Network Connection Ready\r\n");
        access_point_status=1;
        //Read Address

        if( arm_nwk_nd_address_read(net_6lowpan_id,&app_nd_address_info) != 0)
        {
          debug("ND Address read fail\r\n");
        }
        else
        {
          debug("ND Access Point: ");
          printf_ipv6_address(app_nd_address_info.border_router); //REVIEW

          debug("ND Prefix 64: ");
          printf_array(app_nd_address_info.prefix, 8);            //REVIEW

          if(arm_net_address_get(net_6lowpan_id,ADDR_IPV6_GP,temp_ipv6) == 0)
          {
            debug("GP IPv6: ");
            printf_ipv6_address(temp_ipv6);         //REVIEW
          }
        }

        if( arm_nwk_mac_address_read(net_6lowpan_id,&app_link_address_info) != 0)
        {
          debug("MAC Address read fail\r\n");
        }
        else
        {
          uint8_t temp[2];
          common_write_16_bit(app_link_address_info.mac_short,temp);
          debug("MAC 16-bit: ");
          printf_array(temp, 2);  //REVIEW
          common_write_16_bit(app_link_address_info.PANId,temp);
          debug("PAN-ID: ");
          printf_array(temp, 2);  //REVIEW
          debug("MAC 64-bit: ");
          printf_array(app_link_address_info.long_euid64, 8); //REVIEW
          debug("EUID64(Based on MAC 64-bit address): ");
          printf_array(app_link_address_info.euid64, 8);  //REVIEW
        }
      }
      break;
    
    case ARM_NWK_NWK_SCAN_FAIL:
      /* Link Layer Active Scan Fail, Stack is Already at Idle state */
      debug("Link Layer Scan Fail: No Beacons\r\n");
      access_point_status=0;
      //dnssd_disable(1);
      break;
    
    case ARM_NWK_IP_ADDRESS_ALLOCATION_FAIL:
      /* No ND Router at current Channel Stack is Already at Idle state */
      debug("ND Scan/ GP REG fail\r\n");
      access_point_status=0;
      //dnssd_disable(1);
      break;
    
    case ARM_NWK_NWK_CONNECTION_DOWN:
      /* Connection to Access point is lost wait for Scan Result */
      debug("ND/RPL scan new network\r\n");
      access_point_status=0;
      break;

    case ARM_NWK_NWK_PARENT_POLL_FAIL:
      access_point_status=0;
      break;
    
    case ARM_NWK_AUHTENTICATION_FAIL:
      debug("Network authentication fail\r\n");
      access_point_status=0;
      break;
    
    default:
      debug_hex(status);    //REVIEW
      debug("Unknow event");
      break;
  }
  
  if(access_point_status == 0)
  {
    //Set Timer for new Trig
    timer_sys_event(RETRY_TIMER, 10000);
  }
}


/**
  * \brief Handler for events sent to the application.
  * \param event received event.
  *
  * - EV_NETWORK event, Network Event state event handler
  * - EV_INIT, Set Certificate Chain list, init multicast, Start net start if NVM have session
  * - EV_DEBUG, Terminal handler
  */
void tasklet_main(arm_event_s *event)
{
  if(event->sender == 0)
  {
    arm_library_event_type_e event_type;
    event_type = (arm_library_event_type_e)event->event_type;

    switch(event_type)
    {
      case ARM_LIB_NWK_INTERFACE_EVENT:
        /* Network Event state event handler */
        debug("Event: ARM_LIB_NWK_INTERFACE\r\n");
        app_parse_network_event(event);                  
        break;

      case ARM_LIB_TASKLET_INIT_EVENT:
        /*Init event from stack at start-up*/
        debug("Event: ARM_LIB_TASKLET_INIT\r\n");
#if NODE_CONTROLLER  
        timer_sys_event(ACCELEROMETER_TIMER, ACCEL_SAMPLE_TIME);
#endif  
        multicast_set_parameters(10,0,20,3,75 );

#if NODE_CONTROLLER
        /* open a socket to support control for REMOTE_NODE */                                             
        ctrl_udp_socket = socket_open(SOCKET_UDP, SEND_CTRL_UDP_PORT, empty_udp_receive); 
#endif

        net_6lowpan_id = arm_nwk_interface_init(NET_INTERFACE_RF_6LOWPAN, rf_phy_device_register_id, "6LoWPAN_BORDER_ROUTER");
        if(net_6lowpan_id < 0) 
        {
          debug("Interface Generate Fail\r\n");
          while(1);
        } 
        else 
        {
          //SET Bootsrap
          if(arm_nwk_interface_configure_6lowpan_bootstrap_set(net_6lowpan_id, NET_6LOWPAN_HOST, 1) != 0)  // Last parameter enables MLE protocol
          {
            //Bootsrap SET fail
            debug("Bootstrap Fail\r\n");
            while(1);
          }
          else
          {
            int8_t retval = -1;
            arm_nwk_6lowpan_gp_address_mode(net_6lowpan_id, NET_6LOWPAN_GP16_ADDRESS, NODE_SHORT_ADDRESS, 1);  // 5 = short address for link-layer // 1 = generate automatically if duplicate address is encountered
            arm_nwk_link_layer_security_mode(net_6lowpan_id, NET_SEC_MODE_NO_LINK_SECURITY, 0, 0);
            arm_nwk_6lowpan_link_scan_paramameter_set(rf_phy_device_register_id, channel_list, 5);
            retval = arm_nwk_interface_up(net_6lowpan_id);
            if(retval != 0)
            {
              //6Lowpan Bootsrap start fail
              debug("6LowPAN Bootstrap start Fail\r\n");
              while(1);
            }
            else
            {
              //6Lowpan Bootsrap start OK
              debug("6LowPAN Bootstrap Start OK\r\n");
            }  
            // open sockets
            coap_udp_socket = socket_open(SOCKET_UDP, AUDP_SOCKET_PORT, NSDL_receive_socket);
            // Start NSDL
            nsdl_run();     
          }
          timer_sys_event(NSP_REGISTRATION_TIMER, RD_UPDATE_PERIOD);
        }
        break;
                                    
      case ARM_LIB_SYSTEM_TIMER_EVENT:
        timer_sys_event_cancel(event->event_id);
        if (event->event_id == NSP_REGISTRATION_TIMER) 
        {   
          printf("Time to register...\r\n");                                    
          NSP_registration();
      #if BATTERY
          batteryLevel -= 10;
          if (batteryLevel == 0)
            batteryLevel = 100;
      #endif
          timer_sys_event(NSP_REGISTRATION_TIMER, RD_UPDATE_PERIOD);                                 
        } 
        else if (event->event_id == RETRY_TIMER) 
        {
          debug("Event: ARM_LIB_SYSTEM_TIMER (event_id = 1)\r\n");
          int8_t retval = -1;
          retval = arm_nwk_interface_up(net_6lowpan_id);
          if(retval != 0)
          {
            //6Lowpan Bootsrap start fail
            debug("6LowPAN Bootstrap Start Failure\r\n");
            while(1);
          }
          else
          {
            //6Lowpan Bootsrap start OK
            debug("6LowPAN Bootstrap Start OK\r\n");
          }             
        }
#if NODE_CONTROLLER        
        else if (event->event_id == ACCELEROMETER_TIMER)
        {
          if (accel.getAccX() < -0.85f && accel_enable) 
          {
            accel_enable = 0;
            update_LED();
          }  
          if (accel.getAccX() > -0.35f) 
            accel_enable = 1;
          
          timer_sys_event(ACCELEROMETER_TIMER, ACCEL_SAMPLE_TIME);   
        }    
#endif  

        break;
                                
      default:
        break;
    }
  }
}

void NSDL_receive_socket(void * cb)
{
  socket_callback_t * cb_res =0;
  int16_t length;
  cb_res = (socket_callback_t *) cb;
  uint8_t *payload;

  if(cb_res->event_type == SOCKET_DATA)
  {
    debug("LINK LQI:");
    debug_hex(cb_res->LINK_LQI);
    create_lqi_resource(cb_res->LINK_LQI);
    debug("\r\n");

    if ( cb_res->d_len > 0)
    {
      payload = (uint8_t *) own_alloc(cb_res->d_len);
      if(payload)
      {
        //Read data to the RX buffer
        length = socket_read(cb_res->socket_id, &app_src, payload, cb_res->d_len);  //replace rx_buffer payload
        if(length)
        {
          if(cb_res->socket_id == coap_udp_socket)
          {
            // Handles data received in UDP socket                      
            // Call application protocol parser.
            sn_addr_s.type = SN_NSDL_ADDRESS_TYPE_IPV6;
            sn_addr_s.addr_len = 16;
            sn_addr_s.port = app_src.identifier;
            sn_addr_s.addr_ptr = app_src.address;
            printf("Data 1\r\n");   
            if(sn_nsdl_process_coap(payload, length, &sn_addr_s))  // 0= ok, -1=failure
            {
              debug("Error processing CoAP packet\r\n");
            }
            printf("Data 4\r\n");   
          }
        }
        own_free(payload);
      }
    }
  }
#if 1       // enabled for debug
  else if(cb_res->event_type == SOCKET_TX_DONE)
  {
    //debug("*");
  }
  else if(cb_res->event_type == SOCKET_NO_ROUTE)
  {
    debug("SOCKET_NO_ROUTE\r\n");
  }
  else if(cb_res->event_type == SOCKET_TX_FAIL)
  {
    debug("SOCKET_TX_FAIL\r\n");
  }
#endif   
}

#if NODE_CONTROLLER 
void ctrl_udp_send(uint8_t cmd)
{
  uint8_t * payload = 0;
  ns_address_t address;
  /*SET UDP echo Port*/
  address.identifier = RECV_CTRL_UDP_PORT;  

  uint8_t node_address[16] = REMOTE_NODE;       
    
  payload = (uint8_t *) ns_dyn_mem_alloc(1);        
  if(payload)
  {
    uint8_t *ptr = payload;
     
    memcpy(address.address,node_address,16); 
    address.type = ADDRESS_IPV6;
    *ptr = cmd;
    if(socket_sendto(ctrl_udp_socket, &address, payload, (1)) != 0)
    {
      debug("Ctrl UDP Failed\r\n");
    }
    else
    {
      debug("Ctrl UDP Ok\r\n");
    }
    ns_dyn_mem_free(payload);
  }
  else
  {
    debug("No Heap for Ctrl UDP\r\n");
  }
}
// we don't expect to receive data
void empty_udp_receive(void * cb) {
    
}
#endif