mobeissa / PFE7

Commit 0ce5a8d8309523bff5fc8b55b915a8c2dccdea96

Authored by root
1 parent 93480153

correctif mode dégradé

Showing 2 changed files with 180 additions and 186 deletions   Show diff stats
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RIOT/examples/real_time_app/Makefile
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... ... @@ -22,13 +22,12 @@ USEMODULE += auto_init_gnrc_netif
22 22 # Specify the mandatory networking modules for IPv6 and UDP
23 23 USEMODULE += gnrc_ipv6_router_default
24 24 USEMODULE += gnrc_udp
25   -# Add a routing protocol
26   -USEMODULE += gnrc_rpl
27   -#USEMODULE += auto_init_gnrc_rpl
28 25 # This application dumps received packets to STDIO using the pktdump module
29 26 #USEMODULE += gnrc_pktdump
30 27 # Additional networking modules that can be dropped if not needed
31 28 USEMODULE += gnrc_icmpv6_echo
  29 +# Add a routing protocol
  30 +USEMODULE += gnrc_rpl
32 31 # Add also the shell, some shell commands
33 32 USEMODULE += shell
34 33 USEMODULE += shell_commands
... ...
RIOT/examples/real_time_app/main.c
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... ... @@ -23,8 +23,8 @@
23 23 #include <stdlib.h>
24 24 #include <string.h>
25 25 #include <inttypes.h>
26   -
27 26 #include <arpa/inet.h>
  27 +
28 28 #include "../../boards/stm32f4discovery/include/board.h"
29 29 #include "../../boards/stm32f4discovery/include/periph_conf.h"
30 30 #include "periph/gpio.h"
... ... @@ -38,7 +38,6 @@
38 38 #include "msg.h"
39 39 #include "thread.h"
40 40 #include "sched.h"
41   -#include "thread.h"
42 41 #include "kernel_types.h"
43 42 #include "net/netstats.h"
44 43 #include "net/ipv6/addr.h"
... ... @@ -79,9 +78,9 @@
79 78 #define _STACKSIZE (THREAD_STACKSIZE_DEFAULT + THREAD_EXTRA_STACKSIZE_PRINTF)
80 79 #define MSG_TYPE_ISR (0x3456)
81 80  
82   -#define PWM_FREQ 100
83   -#define PWM_RES 100
84   -#define DEADLINE 15000
  81 +#define PWM_FREQ 1000
  82 +#define PWM_RES 1000
  83 +#define DEADLINE 40000
85 84  
86 85 // addr ipv6 link local node 1: fe80::3734:510e:3317:3402
87 86 uint8_t node1[16]={0xfe,0x80,0x00,0x00,0x00,0x00,0x00,0x00,0x37,0x34,0x51,0x0e,0x33,0x17,0x34,0x02};
... ... @@ -119,64 +118,42 @@ typedef struct tableau {
119 118  
120 119 void *sock_time_server_thread(void *arg)
121 120 {
122   - (void) arg;
123   - local_ntp.port = NTP_PORT;
124   -
125   - if (sock_udp_create(&sock_ntp, &local_ntp, NULL, 0) < 0) {
126   - puts("Error creating UDP sock");
127   - return NULL;
128   - }
129   -
130   - while (1) {
131   - sock_udp_ep_t remote;
132   - ssize_t res;
133   -
134   - if ((res = sock_udp_recv(&sock_ntp,&sntp_packet, sizeof(sntp_packet), SOCK_NO_TIMEOUT,
135   - &remote)) >= 0) {
136   - puts("Received a message");
137   - //printf("TT: %lu\n", byteorder_ntohl(sntp_packet.transmit.seconds));
138   -
139   - // printf("%c\n",remote.addr.ipv6[15]);
140   - //xtimer_ticks64_t now = xtimer_now64();
141   - // heure actuelle du serveur
142   - sntp_packet.receive.seconds=byteorder_htonl( xtimer_now_usec());
143   - sntp_packet.origin.seconds=sntp_packet.transmit.seconds;
144   - sntp_packet.transmit.seconds=byteorder_htonl( xtimer_now_usec());
145   - //printf("heure actuelle : %lu\n",xtimer_now_usec());
146   - //printf("TT2: %lu\n", byteorder_ntohl(sntp_packet.transmit.seconds));
147   - //memset(&sntp_packet, 0, sizeof(sntp_packet));
148   - //ntp_packet_set_vn(&sntp_packet);
149   - //ntp_packet_set_mode(&sntp_packet, NTP_MODE_SERVER);
150   - if (sock_udp_send(&sock_ntp, &sntp_packet, sizeof(sntp_packet), &remote) < 0) {
151   - puts("Error sending reply");
152   - }
153   - }
154   - }
  121 + (void) arg;
  122 + local_ntp.port = NTP_PORT;
  123 +
  124 + if (sock_udp_create(&sock_ntp, &local_ntp, NULL, 0) < 0) {
  125 + puts("Error creating UDP sock");
155 126 return NULL;
156   -}
157   -/*void *pwm_thread(void *arg)
158   -{
159   - (void) arg;
160   - int tourne = 0;
161   - while(1)
162   - {
163   -
164   - if(ordre==1)
165   - {
166   - pwm_set(PWM_DEV(0),1,45);
167   - tourne = 1;
168   - }
169   - else if(ordre==0)
170   - {
171   - pwm_set(PWM_DEV(0),1,0);
172   - tourne = 0;
173   - }
174   - else if(ordre==2 && tourne == 1)
175   - pwm_set(PWM_DEV(0),1,31);
  127 + }
  128 +
  129 + while (1) {
  130 + sock_udp_ep_t remote;
  131 + ssize_t res;
  132 +
  133 + if ((res = sock_udp_recv(&sock_ntp,&sntp_packet, sizeof(sntp_packet), SOCK_NO_TIMEOUT,
  134 + &remote)) >= 0) {
  135 + // puts("Received a message");
  136 + //printf("TT: %lu\n", byteorder_ntohl(sntp_packet.transmit.seconds));
176 137  
  138 + // printf("%c\n",remote.addr.ipv6[15]);
  139 + //xtimer_ticks64_t now = xtimer_now64();
  140 + // heure actuelle du serveur
  141 + sntp_packet.receive.seconds=byteorder_htonl( xtimer_now_usec());
  142 + sntp_packet.origin.seconds=sntp_packet.transmit.seconds;
  143 + sntp_packet.transmit.seconds=byteorder_htonl( xtimer_now_usec());
  144 + //printf("heure actuelle : %lu\n",xtimer_now_usec());
  145 + //printf("TT2: %lu\n", byteorder_ntohl(sntp_packet.transmit.seconds));
  146 + //memset(&sntp_packet, 0, sizeof(sntp_packet));
  147 + //ntp_packet_set_vn(&sntp_packet);
  148 + //ntp_packet_set_mode(&sntp_packet, NTP_MODE_SERVER);
  149 + if (sock_udp_send(&sock_ntp, &sntp_packet, sizeof(sntp_packet), &remote) < 0) {
  150 + puts("Error sending reply");
177 151 }
178   - return NULL;
179   -}*/
  152 + }
  153 + }
  154 + return NULL;
  155 +}
  156 +
180 157  
181 158 void *sock_server_thread(void *arg)
182 159 {
... ... @@ -184,10 +161,11 @@ void *sock_server_thread(void *arg)
184 161 Data buf;
185 162 int compteur = 5;
186 163 int deadline;
  164 + int interruption_msg = 0;
187 165 local.port = 1234;
188 166 sock_udp_ep_t server = { .port = NTP_PORT, .family = AF_INET6 };
189 167 ipv6_addr_from_str((ipv6_addr_t *)&server.addr, "dead:beef::3402");
190   -
  168 +
191 169 if (sock_udp_create(&sock, &local, NULL, 0) < 0) {
192 170 puts("Error creating UDP sock");
193 171 return NULL;
... ... @@ -202,48 +180,62 @@ void *sock_server_thread(void *arg)
202 180 while (1) {
203 181 sock_udp_ep_t remote;
204 182 ssize_t res;
205   - if ((res = sock_udp_recv(&sock, &buf, sizeof(buf), SOCK_NO_TIMEOUT,&remote)) >= 0) {
  183 + if ((res = sock_udp_recv(&sock, &buf, sizeof(buf), 5 * SEC_IN_USEC ,&remote)) >= 0) {
206 184 deadline = xtimer_now_usec() + offset - buf.heure_actuelle;
207 185 printf("tps de transmission : %i\n",deadline);
208 186  
209 187 if(buf.donnees[0] == 'g' && buf.donnees[1] == 'o') {
  188 + if(interruption_msg == 1) {
  189 + if (sntp_sync(&server, SOCK_NO_TIMEOUT) < 0) {
  190 + puts("Error in synchronization");
  191 + return NULL;
  192 + }
  193 + offset = sntp_get_offset();
  194 + printf("offset : %i\n",(int)offset);
  195 + interruption_msg = 0;
  196 + }
210 197 if(deadline >= DEADLINE && compteur >=5) {
211 198 compteur = 0;
212   - if(tourne == 1)
213   - pwm_set(PWM_DEV(0),1,31);
  199 + if (sock_udp_send(&sock, "d", sizeof("d"), &remote) < 0) {
  200 + puts("Error sending reply");
  201 + }
  202 + if(tourne == 1)
  203 + {
  204 + pwm_set(PWM_DEV(0),1,987);
  205 + pwm_set(PWM_DEV(1),1,960);
  206 + }
214 207 if(timer_run == 0) {
215   - if (sock_udp_send(&sock, "d", sizeof("d"), &remote) < 0) {
216   - puts("Error sending reply");
217   - }
218 208 gpio_clear(LED1_PIN);
219 209 gpio_clear(LED2_PIN);
220 210 gpio_set(LED0_PIN);
221 211 timer_set(TIMER_DEV(1),0,25200);
222   - printf("relance timer\n");
223   - if (sntp_sync(&server, SOCK_NO_TIMEOUT) < 0) {
  212 + /* if (sntp_sync(&server, SOCK_NO_TIMEOUT) < 0) {
224 213 puts("Error in synchronization");
225 214 return NULL;
226 215 }
227 216 offset = sntp_get_offset();
228   - printf("offset : %i\n",(int)offset);
  217 + printf("offset : %i\n",(int)offset);*/
229 218 timer_run = 1;
230 219 }
231 220 }
232 221 if(deadline >= DEADLINE && compteur < 5) {
233 222 compteur = 0;
  223 + if (sock_udp_send(&sock, "d", sizeof("d"), &remote) < 0) {
  224 + puts("Error sending reply");
  225 + }
234 226 }
235 227 if(deadline<=DEADLINE && compteur >=5) {
236   - pwm_set(PWM_DEV(0),1,45);
  228 + pwm_set(PWM_DEV(0),1,992);
  229 + pwm_set(PWM_DEV(1),1,658);
237 230 tourne = 1;
238 231 timer_run=0;
239 232 timer_clear(TIMER_DEV(1),0);
240   - printf("clear timer\n");
241   - if (sock_udp_send(&sock, "n", sizeof("n"), &remote) < 0) {
242   - puts("Error sending reply");
243   - }
244   - gpio_clear(LED2_PIN);
245   - gpio_clear(LED0_PIN);
246   - gpio_set(LED1_PIN);
  233 + if (sock_udp_send(&sock, "n", sizeof("n"), &remote) < 0) {
  234 + puts("Error sending reply");
  235 + }
  236 + gpio_clear(LED2_PIN);
  237 + gpio_clear(LED0_PIN);
  238 + gpio_set(LED1_PIN);
247 239 }
248 240 if(deadline<=DEADLINE && compteur <5) {
249 241 compteur++;
... ... @@ -252,8 +244,24 @@ void *sock_server_thread(void *arg)
252 244 memset(&buf,0,sizeof(buf));
253 245 }
254 246 }
  247 + else {
  248 + puts("msg non recu");
  249 + if(timer_run == 0 && interruption_msg == 0) {
  250 + timer_run = 1;
  251 + timer_set(TIMER_DEV(1),0,25200);
  252 + }
  253 + interruption_msg = 1;
  254 + if(tourne == 1)
  255 + {
  256 + pwm_set(PWM_DEV(0),1,987);
  257 + pwm_set(PWM_DEV(1),1,960);
  258 + gpio_clear(LED1_PIN);
  259 + gpio_clear(LED2_PIN);
  260 + gpio_set(LED0_PIN);
  261 + }
  262 + }
255 263 }
256   - return NULL;
  264 + return NULL;
257 265 }
258 266  
259 267 void *sock_client_thread(void *arg)
... ... @@ -261,7 +269,7 @@ void *sock_client_thread(void *arg)
261 269 (void) arg;
262 270 Data data;
263 271 int vitesse=2;
264   - uint8_t buf[3];
  272 + uint8_t buf[3];pwm_set(PWM_DEV(0),1,0);
265 273 data.donnees[0] = 'g';
266 274 data.donnees[1] = 'o';
267 275 //uint8_t paquet[];
... ... @@ -275,14 +283,8 @@ void *sock_client_thread(void *arg)
275 283 remote.addr.ipv6[3] = 0xef;
276 284 remote.addr.ipv6[14] = 0x34;
277 285 remote.addr.ipv6[15] = 0x1e;
278   -
  286 +
279 287 while (1) {
280   - data.heure_actuelle = xtimer_now_usec();
281   -
282   - if (sock_udp_send(&sock, &data, sizeof(data), &remote) < 0) {
283   - puts("Error sending message");
284   - }
285   - puts("Send a message");
286 288 if(vitesse==2) {
287 289 gpio_clear(LED0_PIN);
288 290 gpio_toggle(LED1_PIN);
... ... @@ -291,9 +293,14 @@ void *sock_client_thread(void *arg)
291 293 gpio_clear(LED1_PIN);
292 294 gpio_toggle(LED0_PIN);
293 295 }
  296 +
  297 + data.heure_actuelle = xtimer_now_usec();
  298 + if (sock_udp_send(&sock, &data, sizeof(data), &remote) < 0) {
  299 + puts("Error sending message");
  300 + }
294 301 if ((res = sock_udp_recv(&sock, buf, sizeof(buf), 0.05 * SEC_IN_USEC,NULL)) < 0) {
295 302 if (res == -ETIMEDOUT) {
296   - puts("Timed out");
  303 + vitesse = 1;
297 304 }
298 305 else {
299 306 puts("Error receiving message");
... ... @@ -317,6 +324,7 @@ void *sock_client_thread(void *arg)
317 324 static void arret_urgence(void *arg,int channel)
318 325 {
319 326 pwm_set(PWM_DEV(0),1,0);
  327 + pwm_set(PWM_DEV(1),1,0);
320 328 tourne = 0;
321 329 timer_run = 0;
322 330 gpio_clear(LED0_PIN);
... ... @@ -325,20 +333,8 @@ static void arret_urgence(void *arg,int channel)
325 333 printf("Arret d'urgence\n");
326 334 }
327 335  
328   -/*static void degradation(void *arg,int channel)
329   -{
330   - ordre=2;
331   - //pwm_set(PWM_DEV(0),1,0);
332   - printf("Ralentissement\n");
333   - timer_set(TIMER_DEV(1),0,25200);
334   -}*/
335   -
336 336 static void _init_timer(void)
337 337 {
338   - printf("ok timer\n");
339   - //timer_init(XTIMER_DEV, CLOCK_CORECLOCK/2 ,&degradation,NULL);
340   - //timer_set(XTIMER_DEV, 0, 8400);
341   - //timer_irq_enable(XTIMER_DEV);
342 338 timer_init(TIMER_DEV(1), CLOCK_CORECLOCK/2 ,&arret_urgence,NULL);
343 339 timer_irq_enable(TIMER_DEV(1));
344 340 }
... ... @@ -347,100 +343,99 @@ static void _init_pwm(void)
347 343 {
348 344 pwm_init(PWM_DEV(0), PWM_LEFT, PWM_FREQ, PWM_RES);
349 345 pwm_set(PWM_DEV(0),1,0);
  346 + pwm_init(PWM_DEV(1), PWM_LEFT, PWM_FREQ, PWM_RES);
  347 + pwm_set(PWM_DEV(1),1,0);
350 348 }
351 349  
352   -
353   - static void _init_interface(void)
354   - {
355   - kernel_pid_t ifs[GNRC_NETIF_NUMOF];
356   - ipv6_addr_t addr = IPV6_ADDR_UNSPECIFIED;
357   - ipv6_addr_t tmp_addr= IPV6_ADDR_UNSPECIFIED;
358   - uint8_t hwaddr[MAX_ADDR_LEN];
359   - int res;
360   -
361   - gnrc_netif_get(ifs);
362   -
363   - //addresses gobales
364   - addr.u8[0] = 0xde;
365   - addr.u8[1] = 0xad;
366   - addr.u8[2] = 0xbe;
367   - addr.u8[3] = 0xef;
368   -
369   - res = gnrc_netapi_get(ifs[0], NETOPT_ADDRESS, 0, hwaddr, sizeof(hwaddr));
370   -
371   - if (res >= 0) {
372   - addr.u8[14] = *hwaddr;
373   - addr.u8[15] = *(hwaddr+1);
374   - }
375   - memcpy(tmp_addr.u8,addr.u8,IPV6_ADDR_BIT_LEN);
376   -
377   - gnrc_ipv6_netif_add_addr(ifs[0], &addr, 64, GNRC_IPV6_NETIF_ADDR_FLAGS_UNICAST);
378   - /* model ipv6 addr: dead:beef::Hwaddr */
379   - if((addr.u8[14]==0x34)&&(addr.u8[15]==0x02)){
380   -
381   - tmp_addr.u8[14] = 0x34;
382   - tmp_addr.u8[15] = 0x1e;
383   - //fibroute dest: dead:beef::3766 via fe80::3634:5110:3473:3762
384   - fib_add_entry(&gnrc_ipv6_fib_table, ifs[0],tmp_addr.u8, IN6ADDRSZ, 0,node2, IN6ADDRSZ, 0, FIB_LIFETIME_NO_EXPIRE);
385   - tmp_addr.u8[14] = 0x37;
386   - tmp_addr.u8[15] = 0x62;
387   - //fibroute dest: dead:beef::3762 via fe80::3634:5110:3473:3762
388   - fib_add_entry(&gnrc_ipv6_fib_table, ifs[0],tmp_addr.u8, IN6ADDRSZ, 0,node2, IN6ADDRSZ, 0, FIB_LIFETIME_NO_EXPIRE);
389   - client=thread_create(sock_client_stack,sizeof(sock_client_stack),8,THREAD_CREATE_STACKTEST,sock_client_thread,NULL,"sock_client_thread");
390   - //xtimer_usleep(10000);
391   - time_server=thread_create(sock_time_server_stack,sizeof(sock_time_server_stack),6,THREAD_CREATE_STACKTEST,sock_time_server_thread,NULL,"sock_time_server_thread");
392   - // xtimer_usleep(200);
393   - }else if((addr.u8[14]==0x37)&&(addr.u8[15]==0x62)){
394   - tmp_addr.u8[14] = 0x34;
395   - tmp_addr.u8[15] = 0x1e;
396   - //fibroute dest: dead:beef::3766 via fe80::3634:5110:3471:3766
397   - fib_add_entry(&gnrc_ipv6_fib_table, ifs[0],tmp_addr.u8, IN6ADDRSZ, 0,node3, IN6ADDRSZ, 0, FIB_LIFETIME_NO_EXPIRE);
398   - tmp_addr.u8[14] = 0x34;
399   - tmp_addr.u8[15] = 0x02;
400   - //fibroute dest: dead:beef::3402 via fe80::3734:510e:3317:3402
401   - fib_add_entry(&gnrc_ipv6_fib_table, ifs[0],tmp_addr.u8, IN6ADDRSZ, 0,node1, IN6ADDRSZ, 0, FIB_LIFETIME_NO_EXPIRE);
402   - }else if((addr.u8[14]==0x34)&&(addr.u8[15]==0x1e)){
403   - tmp_addr.u8[14] = 0x34;
404   - tmp_addr.u8[15] = 0x02;
405   - //fibroute dest: dead:beef::3402 via fe80::3634:5110:3473:3762
406   - 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;
407   - tmp_addr.u8[14] = 0x37;
408   - tmp_addr.u8[15] = 0x62;
409   - //fibroute dest: dead:beef::3762 via fe80::3634:5110:3473:3762
410   - fib_add_entry(&gnrc_ipv6_fib_table, ifs[0],tmp_addr.u8, IN6ADDRSZ, 0,node2, IN6ADDRSZ, 0, FIB_LIFETIME_NO_EXPIRE);
411   - //start_server("1234");
412   - _init_timer();
413   - _init_pwm();
414   - server=thread_create(sock_server_stack,sizeof(sock_server_stack),6,THREAD_CREATE_STACKTEST,sock_server_thread,NULL,"sock_server_thread");
415   -
416   -
417   - }else{
418   - puts("new node ?");
419   - }
420   - }
  350 +
  351 +static void _init_interface(void)
  352 +{
  353 + kernel_pid_t ifs[GNRC_NETIF_NUMOF];
  354 + ipv6_addr_t addr = IPV6_ADDR_UNSPECIFIED;
  355 + ipv6_addr_t tmp_addr= IPV6_ADDR_UNSPECIFIED;
  356 + uint8_t hwaddr[MAX_ADDR_LEN];
  357 + int res;
  358 +
  359 + gnrc_netif_get(ifs);
  360 +
  361 + //addresses gobales
  362 + addr.u8[0] = 0xde;
  363 + addr.u8[1] = 0xad;
  364 + addr.u8[2] = 0xbe;
  365 + addr.u8[3] = 0xef;
  366 +
  367 + res = gnrc_netapi_get(ifs[0], NETOPT_ADDRESS, 0, hwaddr, sizeof(hwaddr));
  368 +
  369 + if (res >= 0) {
  370 + addr.u8[14] = *hwaddr;
  371 + addr.u8[15] = *(hwaddr+1);
  372 + }
  373 + memcpy(tmp_addr.u8,addr.u8,IPV6_ADDR_BIT_LEN);
  374 +
  375 + gnrc_ipv6_netif_add_addr(ifs[0], &addr, 64, GNRC_IPV6_NETIF_ADDR_FLAGS_UNICAST);
  376 + /* model ipv6 addr: dead:beef::Hwaddr */
  377 + if((addr.u8[14]==0x34)&&(addr.u8[15]==0x02)){
  378 +
  379 + tmp_addr.u8[14] = 0x34;
  380 + tmp_addr.u8[15] = 0x1e;
  381 + //fibroute dest: dead:beef::3766 via fe80::3634:5110:3473:3762
  382 + fib_add_entry(&gnrc_ipv6_fib_table, ifs[0],tmp_addr.u8, IN6ADDRSZ, 0,node2, IN6ADDRSZ, 0, FIB_LIFETIME_NO_EXPIRE);
  383 + tmp_addr.u8[14] = 0x37;
  384 + tmp_addr.u8[15] = 0x62;
  385 + //fibroute dest: dead:beef::3762 via fe80::3634:5110:3473:3762
  386 + fib_add_entry(&gnrc_ipv6_fib_table, ifs[0],tmp_addr.u8, IN6ADDRSZ, 0,node2, IN6ADDRSZ, 0, FIB_LIFETIME_NO_EXPIRE);
  387 + client=thread_create(sock_client_stack,sizeof(sock_client_stack),8,THREAD_CREATE_STACKTEST,sock_client_thread,NULL,"sock_client_thread");
  388 + time_server=thread_create(sock_time_server_stack,sizeof(sock_time_server_stack),6,THREAD_CREATE_STACKTEST,sock_time_server_thread,NULL,"sock_time_server_thread");
  389 + }else if((addr.u8[14]==0x37)&&(addr.u8[15]==0x62)){
  390 + tmp_addr.u8[14] = 0x34;
  391 + tmp_addr.u8[15] = 0x1e;
  392 + //fibroute dest: dead:beef::3766 via fe80::3634:5110:3471:3766
  393 + fib_add_entry(&gnrc_ipv6_fib_table, ifs[0],tmp_addr.u8, IN6ADDRSZ, 0,node3, IN6ADDRSZ, 0, FIB_LIFETIME_NO_EXPIRE);
  394 + tmp_addr.u8[14] = 0x34;
  395 + tmp_addr.u8[15] = 0x02;
  396 + //fibroute dest: dead:beef::3402 via fe80::3734:510e:3317:3402
  397 + fib_add_entry(&gnrc_ipv6_fib_table, ifs[0],tmp_addr.u8, IN6ADDRSZ, 0,node1, IN6ADDRSZ, 0, FIB_LIFETIME_NO_EXPIRE);
  398 + }else if((addr.u8[14]==0x34)&&(addr.u8[15]==0x1e)){
  399 + tmp_addr.u8[14] = 0x34;
  400 + tmp_addr.u8[15] = 0x02;
  401 + //fibroute dest: dead:beef::3402 via fe80::3634:5110:3473:3762
  402 + 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;
  403 + tmp_addr.u8[14] = 0x37;
  404 + tmp_addr.u8[15] = 0x62;
  405 + //fibroute dest: dead:beef::3762 via fe80::3634:5110:3473:3762
  406 + fib_add_entry(&gnrc_ipv6_fib_table, ifs[0],tmp_addr.u8, IN6ADDRSZ, 0,node2, IN6ADDRSZ, 0, FIB_LIFETIME_NO_EXPIRE);
  407 + _init_timer();
  408 + _init_pwm();
  409 + server=thread_create(sock_server_stack,sizeof(sock_server_stack),6,THREAD_CREATE_STACKTEST,sock_server_thread,NULL,"sock_server_thread");
  410 +
  411 +
  412 + }else{
  413 + puts("new node ?");
  414 + }
  415 +}
421 416  
422 417 static msg_t _main_msg_queue[MAIN_QUEUE_SIZE];
423 418  
424 419 extern int udp_cmd(int argc, char **argv);
425 420  
426 421 static const shell_command_t shell_commands[] = {
427   - { "udp", "send data over UDP and listen on UDP ports", udp_cmd },
428   - { NULL, NULL, NULL }
  422 + { "udp", "send data over UDP and listen on UDP ports", udp_cmd },
  423 + { NULL, NULL, NULL }
429 424 };
430 425  
431 426  
432 427 int main(void)
433 428 {
434   -
435   - msg_init_queue(_main_msg_queue, MAIN_QUEUE_SIZE);
436   - puts("RIOT network stack example application");
437   - _init_interface();
438   -
439   - /* start shell */
440   - puts("All up, running the shell now");
441   - char line_buf[SHELL_DEFAULT_BUFSIZE];
442   - shell_run(shell_commands, line_buf, SHELL_DEFAULT_BUFSIZE);
443   -
444   - /* should be never reached */
445   - return 0;
  429 +
  430 + msg_init_queue(_main_msg_queue, MAIN_QUEUE_SIZE);
  431 + puts("RIOT network stack example application");
  432 + _init_interface();
  433 +
  434 + /* start shell */
  435 + puts("All up, running the shell now");
  436 + char line_buf[SHELL_DEFAULT_BUFSIZE];
  437 + shell_run(shell_commands, line_buf, SHELL_DEFAULT_BUFSIZE);
  438 +
  439 + /* should be never reached */
  440 + return 0;
446 441 }
... ...