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/*
* Copyright (C) 2015 Freie Universitรคt Berlin
*
* This file is subject to the terms and conditions of the GNU Lesser
* General Public License v2.1. See the file LICENSE in the top level
* directory for more details.
*/
/**
* @ingroup examples
* @{
*
* @file
* @brief Example application for demonstrating the RIOT network stack
*
* @author Hauke Petersen <hauke.petersen@fu-berlin.de>
*
* @}
*/
#include <stdbool.h>
#include <stdint.h>
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <inttypes.h>
#include <arpa/inet.h>
#include "../../boards/stm32f4discovery/include/board.h"
#include "../../boards/stm32f4discovery/include/periph_conf.h"
#include "net/sock/udp.h"
#include "net/gnrc/ipv6.h"
#include "net/af.h"
#include "net/sixlowpan.h"
#include "net/gnrc/pktdump.h"
#include "shell.h"
#include "shell_commands.h"
#include "msg.h"
#include "thread.h"
#include "sched.h"
#include "thread.h"
#include "kernel_types.h"
#include "net/netstats.h"
#include "net/ipv6/addr.h"
#include "periph/timer.h"
#include "net/gnrc/ipv6/netif.h"
#include "net/gnrc/netif.h"
#include "net/gnrc/netapi.h"
#include "net/netopt.h"
#include "net/gnrc/pkt.h"
#include "net/gnrc/pktbuf.h"
#include "net/gnrc/netif/hdr.h"
#include "net/gnrc/sixlowpan/netif.h"
#include "net/fib.h"
#include "net/gnrc/udp.h"
#include "periph/pwm.h"
#include "od.h"
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#include "net/sntp.h"
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#ifdef MODULE_SCHEDSTATISTICS
#include "xtimer.h"
#endif
#ifdef MODULE_TLSF
#include "tlsf.h"
#endif
#define MAIN_QUEUE_SIZE (8)
/**
* @brief The maximal expected link layer address length in byte
*/
#define MAX_ADDR_LEN (8U)
/**
* @brief The default IPv6 prefix length if not specified.
*/
#define SC_NETIF_IPV6_DEFAULT_PREFIX_LEN (64)
#define _STACKSIZE (THREAD_STACKSIZE_DEFAULT + THREAD_EXTRA_STACKSIZE_PRINTF)
#define MSG_TYPE_ISR (0x3456)
#define PWM_FREQ 100
#define PWM_RES 100
// addr ipv6 link local node 1: fe80::3734:510e:3317:3402
uint8_t node1[16]={0xfe,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x37,0x34,0x51,0x0e,0x33,0x17,0x34,0x02};
// addr ipv6 link local node 2: fe80::3634:5110:3473:3762
uint8_t node2[16]={0xfe,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x36,0x34,0x51,0x10,0x34,0x73,0x37,0x62};
//addr ipv6 link local node 3: fe80::3634:5110:3471:3766
uint8_t node3[16]={0xfe,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x36,0x34,0x51,0x10,0x34,0x71,0x37,0x66};
//static char _stack_server[GNRC_PKTDUMP_STACKSIZE];
char pwm_stack[THREAD_STACKSIZE_MAIN];
char sock_server_stack[THREAD_STACKSIZE_MAIN];
char sock_client_stack[THREAD_STACKSIZE_MAIN];
// static gnrc_netreg_entry_t server = GNRC_NETREG_ENTRY_INIT_PID(GNRC_NETREG_DEMUX_CTX_ALL,
// KERNEL_PID_UNDEF);
//
// kernel_pid_t gnrc_server_pid = KERNEL_PID_UNDEF;
//
int ordre = 0;
uint8_t buf[128];
sock_udp_ep_t local = SOCK_IPV6_EP_ANY;
sock_udp_t sock;
//
// static void _dump_snip(gnrc_pktsnip_t *pkt)
// {
// switch (pkt->type) {
// case GNRC_NETTYPE_UNDEF:
// printf("NETTYPE_UNDEF (%i)\n", pkt->type);
// od_hex_dump(pkt->data, pkt->size, OD_WIDTH_DEFAULT);
// printf("wesh magueule\n");
// /*if(strcmp((char *)pkt->data,"go")==0)
// {
// //pwm_set(PWM_DEV(0),1,25);
// ordre = 1;
// timer_set(XTIMER_DEV,0,8400);
// timer_clear(TIMER_DEV(1),0);
// }
// else
// {
// //pwm_set(PWM_DEV(0),1,0);
// ordre = 0;
// }*/
// break;
// #ifdef MODULE_GNRC_NETIF
// case GNRC_NETTYPE_NETIF:
// printf("NETTYPE_NETIF (%i)\n", pkt->type);
// gnrc_netif_hdr_print(pkt->data);
// break;
// #endif
// #ifdef MODULE_GNRC_SIXLOWPAN
// case GNRC_NETTYPE_SIXLOWPAN:
// printf("NETTYPE_SIXLOWPAN (%i)\n", pkt->type);
// sixlowpan_print(pkt->data, pkt->size);
// break;
// #endif
// #ifdef MODULE_GNRC_IPV6
// case GNRC_NETTYPE_IPV6:
// printf("NETTYPE_IPV6 (%i)\n", pkt->type);
// ipv6_hdr_print(pkt->data);
// break;
// #endif
// #ifdef MODULE_GNRC_ICMPV6
// case GNRC_NETTYPE_ICMPV6:
// printf("NETTYPE_ICMPV6 (%i)\n", pkt->type);
// break;
// #endif
// #ifdef MODULE_GNRC_TCP
// case GNRC_NETTYPE_TCP:
// printf("NETTYPE_TCP (%i)\n", pkt->type);
// break;
// #endif
// #ifdef MODULE_GNRC_UDP
// case GNRC_NETTYPE_UDP:
// printf("NETTYPE_UDP (%i)\n", pkt->type);
// udp_hdr_print(pkt->data);
// break;
// #endif
// #ifdef TEST_SUITES
// case GNRC_NETTYPE_TEST:
// printf("NETTYPE_TEST (%i)\n", pkt->type);
// od_hex_dump(pkt->data, pkt->size, OD_WIDTH_DEFAULT);
// break;
// #endif
// default:
// printf("NETTYPE_UNKNOWN (%i)\n", pkt->type);
// od_hex_dump(pkt->data, pkt->size, OD_WIDTH_DEFAULT);
// break;
// }
// }
//
// static void _dump(gnrc_pktsnip_t *pkt)
// {
// int snips = 0;
// int size = 0;
// gnrc_pktsnip_t *snip = pkt;
//
// while (snip != NULL) {
// printf("~~ SNIP %2i - size: %3u byte, type: ", snips,
// (unsigned int)snip->size);
// _dump_snip(snip);
// ++snips;
// size += snip->size;
// snip = snip->next;
// }
//
// printf("~~ PKT - %2i snips, total size: %3i byte\n", snips, size);
// gnrc_pktbuf_release(pkt);
// }
//
//
// static void *_serverloop(void *arg)
// {
// (void)arg;
// msg_t msg, reply;
// msg_t msg_queue[GNRC_PKTDUMP_MSG_QUEUE_SIZE];
//
// /* setup the message queue */
// msg_init_queue(msg_queue, GNRC_PKTDUMP_MSG_QUEUE_SIZE);
//
// reply.content.value = (uint32_t)(-ENOTSUP);
// reply.type = GNRC_NETAPI_MSG_TYPE_ACK;
//
// while (1) {
// msg_receive(&msg);
//
// switch (msg.type) {
// case GNRC_NETAPI_MSG_TYPE_RCV:
// puts("PKTDUMP: data received:");
// _dump(msg.content.ptr);
// break;
// case GNRC_NETAPI_MSG_TYPE_SND:
// puts("PKTDUMP: data to send:");
// _dump(msg.content.ptr);
// break;
// case GNRC_NETAPI_MSG_TYPE_GET:
// case GNRC_NETAPI_MSG_TYPE_SET:
// msg_reply(&msg, &reply);
// break;
// default:
// puts("PKTDUMP: received something unexpected");
// break;
// }
// }
//
// /* never reached */
// return NULL;
// }
void *pwm_thread(void *arg)
{
(void) arg;
int tourne = 0;
while(1)
{
if(ordre==1)
{
pwm_set(PWM_DEV(0),1,45);
tourne = 1;
}
else if(ordre==0)
{
pwm_set(PWM_DEV(0),1,0);
tourne = 0;
}
else if(ordre==2 && tourne == 1)
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pwm_set(PWM_DEV(0),1,31);
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}
return NULL;
}
void *sock_server_thread(void *arg)
{
(void) arg;
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local.port = 1234;
if (sock_udp_create(&sock, &local, NULL, 0) < 0) {
puts("Error creating UDP sock");
return NULL;
}
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//sntp_sync(&local,5000);
//printf("temps : %i\n",(int)sntp_get_offset());
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while (1) {
sock_udp_ep_t remote;
ssize_t res;
if ((res = sock_udp_recv(&sock, buf, sizeof(buf), SOCK_NO_TIMEOUT,
&remote)) >= 0) {
puts("Received a message");
printf("%s\n",buf);
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if (sock_udp_send(&sock, buf, res, &remote) < 0) {
puts("Error sending reply");
}
if(strcmp((char *)buf,"go")==0)
{
ordre = 1;
timer_set(XTIMER_DEV,0,8400);
timer_clear(TIMER_DEV(1),0);
}
else
{
ordre = 0;
}
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}
}
return NULL;
}
void *sock_client_thread(void *arg)
{
(void) arg;
sock_udp_ep_t remote = { .family = AF_INET6 };
remote.port = 1234;
remote.addr.ipv6[0] = 0xde;
remote.addr.ipv6[1] = 0xad;
remote.addr.ipv6[2] = 0xbe;
remote.addr.ipv6[3] = 0xef;
remote.addr.ipv6[14] = 0x37;
remote.addr.ipv6[15] = 0x66;
// memcpy(remote.addr.ipv6,addr.u8,IPV6_ADDR_BIT_LEN);
while (1) {
// //ipv6_addr_set_all_nodes_multicast((ipv6_addr_t *)&remote.addr.ipv6,
// // IPV6_ADDR_MCAST_SCP_LINK_LOCAL);
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if (sock_udp_send(NULL, "go", sizeof("go"), &remote) < 0) {
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puts("Error sending message");
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}
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xtimer_sleep(1);
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}
return NULL;
}
static void arret_urgence(void *arg,int channel)
{
//pwm_set(PWM_DEV(0),1,0);
ordre=0;
printf("Arret d'urgence\n");
}
static void degradation(void *arg,int channel)
{
ordre=2;
//pwm_set(PWM_DEV(0),1,0);
printf("Ralentissement\n");
timer_set(TIMER_DEV(1),0,25200);
}
static void _init_timer(void)
{
printf("ok timer\n");
timer_init(XTIMER_DEV, CLOCK_CORECLOCK/2 ,°radation,NULL);
timer_set(XTIMER_DEV, 0, 8400);
timer_irq_enable(XTIMER_DEV);
timer_init(TIMER_DEV(1), CLOCK_CORECLOCK/2 ,&arret_urgence,NULL);
timer_irq_enable(TIMER_DEV(1));
}
static void _init_pwm(void)
{
pwm_init(PWM_DEV(0), PWM_LEFT, PWM_FREQ, PWM_RES);
pwm_set(PWM_DEV(0),1,0);
thread_create(pwm_stack,sizeof(pwm_stack),8,THREAD_CREATE_STACKTEST,pwm_thread,NULL,"pwm_thread");
}
// static void start_server(char *port_str)
// {
// uint16_t port;
//
// /* check if server is already running */
// if (server.target.pid != KERNEL_PID_UNDEF) {
// printf("Error: server already running on port %" PRIu32 "\n",
// server.demux_ctx);
// return;
// }
// /* parse port */
// port = (uint16_t)atoi(port_str);
// if (port == 0) {
// puts("Error: invalid port specified");
// return;
// }
// /* start server (which means registering pktdump for the chosen port) */
// server.target.pid = gnrc_server_pid;
// server.demux_ctx = (uint32_t)port;
// gnrc_netreg_register(GNRC_NETTYPE_UDP, &server);
// printf("Success: started UDP server on port %" PRIu16 "\n", port);
// }
static void _init_interface(void)
{
kernel_pid_t ifs[GNRC_NETIF_NUMOF];
ipv6_addr_t addr = IPV6_ADDR_UNSPECIFIED;
ipv6_addr_t tmp_addr= IPV6_ADDR_UNSPECIFIED;
uint8_t hwaddr[MAX_ADDR_LEN];
int res;
gnrc_netif_get(ifs);
//addresses gobales
addr.u8[0] = 0xde;
addr.u8[1] = 0xad;
addr.u8[2] = 0xbe;
addr.u8[3] = 0xef;
res = gnrc_netapi_get(ifs[0], NETOPT_ADDRESS, 0, hwaddr, sizeof(hwaddr));
if (res >= 0) {
addr.u8[14] = *hwaddr;
addr.u8[15] = *(hwaddr+1);
}
memcpy(tmp_addr.u8,addr.u8,IPV6_ADDR_BIT_LEN);
gnrc_ipv6_netif_add_addr(ifs[0], &addr, 64, GNRC_IPV6_NETIF_ADDR_FLAGS_UNICAST);
/* model ipv6 addr: dead:beef::Hwaddr */
if((addr.u8[14]==0x34)&&(addr.u8[15]==0x02)){
tmp_addr.u8[14] = 0x37;
tmp_addr.u8[15] = 0x66;
//fibroute dest: dead:beef::3766 via fe80::3634:5110:3473:3762
fib_add_entry(&gnrc_ipv6_fib_table, ifs[0],tmp_addr.u8, IN6ADDRSZ, 0,node2, IN6ADDRSZ, 0, FIB_LIFETIME_NO_EXPIRE);
tmp_addr.u8[14] = 0x37;
tmp_addr.u8[15] = 0x62;
//fibroute dest: dead:beef::3762 via fe80::3634:5110:3473:3762
fib_add_entry(&gnrc_ipv6_fib_table, ifs[0],tmp_addr.u8, IN6ADDRSZ, 0,node2, IN6ADDRSZ, 0, FIB_LIFETIME_NO_EXPIRE);
thread_create(sock_client_stack,sizeof(sock_client_stack),8,THREAD_CREATE_STACKTEST,sock_client_thread,NULL,"sock_client_thread");
}else if((addr.u8[14]==0x37)&&(addr.u8[15]==0x62)){
tmp_addr.u8[14] = 0x37;
tmp_addr.u8[15] = 0x66;
//fibroute dest: dead:beef::3766 via fe80::3634:5110:3471:3766
fib_add_entry(&gnrc_ipv6_fib_table, ifs[0],tmp_addr.u8, IN6ADDRSZ, 0,node3, IN6ADDRSZ, 0, FIB_LIFETIME_NO_EXPIRE);
tmp_addr.u8[14] = 0x34;
tmp_addr.u8[15] = 0x02;
//fibroute dest: dead:beef::3402 via fe80::3734:510e:3317:3402
fib_add_entry(&gnrc_ipv6_fib_table, ifs[0],tmp_addr.u8, IN6ADDRSZ, 0,node1, IN6ADDRSZ, 0, FIB_LIFETIME_NO_EXPIRE);
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//sntp_sync(&local,5000);
//printf("temps : %i\n",(int)sntp_get_offset());
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}else if((addr.u8[14]==0x37)&&(addr.u8[15]==0x66)){
tmp_addr.u8[14] = 0x34;
tmp_addr.u8[15] = 0x02;
//fibroute dest: dead:beef::3402 via fe80::3634:5110:3473:3762
fib_add_entry(&gnrc_ipv6_fib_table, ifs[0],tmp_addr.u8, IN6ADDRSZ, 0,node2, IN6ADDRSZ, 0, FIB_LIFETIME_NO_EXPIRE); tmp_addr.u8[14] = 0x37;
tmp_addr.u8[15] = 0x62;
//fibroute dest: dead:beef::3762 via fe80::3634:5110:3473:3762
fib_add_entry(&gnrc_ipv6_fib_table, ifs[0],tmp_addr.u8, IN6ADDRSZ, 0,node2, IN6ADDRSZ, 0, FIB_LIFETIME_NO_EXPIRE);
//start_server("1234");
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thread_create(sock_server_stack,sizeof(sock_server_stack),5,THREAD_CREATE_STACKTEST,sock_server_thread,NULL,"sock_server_thread");
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_init_pwm();
_init_timer();
}else{
puts("new node ?");
}
}
static msg_t _main_msg_queue[MAIN_QUEUE_SIZE];
extern int udp_cmd(int argc, char **argv);
static const shell_command_t shell_commands[] = {
{ "udp", "send data over UDP and listen on UDP ports", udp_cmd },
{ NULL, NULL, NULL }
};
int main(void)
{
msg_init_queue(_main_msg_queue, MAIN_QUEUE_SIZE);
puts("RIOT network stack example application");
// if (gnrc_server_pid == KERNEL_PID_UNDEF) {
// gnrc_server_pid = thread_create(_stack_server, sizeof(_stack_server), GNRC_PKTDUMP_PRIO,
// THREAD_CREATE_STACKTEST,
// _serverloop, NULL, "serverloop");
// }
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_init_interface();
/* start shell */
puts("All up, running the shell now");
char line_buf[SHELL_DEFAULT_BUFSIZE];
shell_run(shell_commands, line_buf, SHELL_DEFAULT_BUFSIZE);
/* should be never reached */
return 0;
}
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