c64397d0
 root
creation et utili...
|
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
|
/*
* 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"
|
|
e3258356
root
creation socket d...
|
57
|
#include "net/sntp.h"
|
|
c64397d0
root
creation et utili...
|
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
|
#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)
pwm_set(PWM_DEV(0),1,100);
}
return NULL;
}
void *sock_server_thread(void *arg)
{
(void) arg;
|
|
e3258356
root
creation socket d...
|
257
258
259
260
261
262
|
local.port = 1234;
if (sock_udp_create(&sock, &local, NULL, 0) < 0) {
puts("Error creating UDP sock");
return NULL;
}
|
|
c64397d0
root
creation et utili...
|
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
|
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);
//if (sock_udp_send(&sock, buf, res, &remote) < 0) {
// puts("Error sending reply");
//}
}
}
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);
if (sock_udp_send(NULL, "Hello!", sizeof("Hello!"), &remote) < 0) {
puts("Error sending message");
|
|
c64397d0
root
creation et utili...
|
297
|
}
|
|
e3258356
root
creation socket d...
|
298
|
xtimer_sleep(1);
|
|
c64397d0
root
creation et utili...
|
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
|
}
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);
|
|
e3258356
root
creation socket d...
|
406
|
sntp_sync(&local,5000);
|
|
c64397d0
root
creation et utili...
|
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
|
}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");
thread_create(sock_server_stack,sizeof(sock_server_stack),6,THREAD_CREATE_STACKTEST,sock_server_thread,NULL,"sock_server_thread");
_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");
// }
|
|
c64397d0
root
creation et utili...
|
445
446
447
448
449
450
451
452
453
454
|
_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;
}
|