modif dynamic_app

vrobic
1 parent eb2661bd
Showing 8 changed files with 221 additions and 191 deletions Show diff stats
RIOT/examples/dynamic_app/main.c
RIOT/sys/include/net/gnrc/rpl.h
RIOT/sys/include/net/gnrc/rpl/structs.h
RIOT/sys/net/gnrc/network_layer/icmpv6/echo/gnrc_icmpv6_echo.c
RIOT/sys/net/gnrc/network_layer/ipv6/gnrc_ipv6.c
RIOT/sys/net/gnrc/routing/rpl/gnrc_rpl.c
RIOT/sys/net/gnrc/routing/rpl/gnrc_rpl_dodag.c
RIOT/sys/net/gnrc/routing/rpl/of0.c
@@ -25,6 +25,7 @@
 #include <inttypes.h>
 #include <arpa/inet.h>
+#include "periph/gpio.h"
 #include "../../boards/stm32f4discovery/include/board.h"
 #include "../../boards/stm32f4discovery/include/periph_conf.h"
 #include "net/sock/udp.h"
@@ -83,9 +84,9 @@
 #define _STACKSIZE      (THREAD_STACKSIZE_DEFAULT + THREAD_EXTRA_STACKSIZE_PRINTF)
 #define MSG_TYPE_ISR    (0x3456)
-#define PWM_FREQ 100
-#define PWM_RES 100
-#define DEADLINE 24000
+#define PWM_FREQ 1000
+#define PWM_RES 1000
+#define DEADLINE 15000
 static msg_t _main_msg_queue[MAIN_QUEUE_SIZE];
@@ -125,11 +126,11 @@ sock_udp_ep_t local = SOCK_IPV6_EP_ANY;
 sock_udp_t sock; 
 sock_udp_ep_t local_ntp = SOCK_IPV6_EP_ANY;
 sock_udp_t sock_ntp; 
-//static ntp_packet_t sntp_packet;
+static ntp_packet_t sntp_packet;
 typedef struct tableau {
-  uint32_t heure_actuelle;
-  char donnees[2];
+    uint32_t heure_actuelle;
+    char donnees[2];
 }Data;
 /***************** RPL functions *****************/
@@ -138,143 +139,143 @@ int crea_rpl_dodag_root(char *arg1, char *arg2)
 {
     uint8_t instance_id = (uint8_t) atoi(arg1);
     ipv6_addr_t dodag_id;
-
+    
     if (ipv6_addr_from_str(&dodag_id, arg2) == NULL) {
         puts("error: <dodag_id> must be a valid IPv6 address");
         return 1;
     }
-
+    
     gnrc_rpl_instance_t *inst = NULL;
     inst = gnrc_rpl_root_init(instance_id, &dodag_id, false, false);
     if (inst == NULL) {
         char addr_str[IPV6_ADDR_MAX_STR_LEN];
         printf("error: could not add DODAG (%s) to instance (%d)\n",
-                ipv6_addr_to_str(addr_str, &dodag_id, sizeof(addr_str)), instance_id);
+               ipv6_addr_to_str(addr_str, &dodag_id, sizeof(addr_str)), instance_id);
         return 1;
     }
-
+    
     printf("successfully added a new RPL DODAG\n");
     return 0;
 }
-int _gnrc_rpl_send_dis(void)
-{
-    gnrc_rpl_send_DIS(NULL, (ipv6_addr_t *) &ipv6_addr_all_rpl_nodes);
-
-    puts("success: send a DIS\n");
-    return 0;
-}
-
 /***************** /RPL functions ****************/
-/*void *sock_time_server_thread(void *arg)
+void *sock_time_server_thread(void *arg)
 {
     (void) arg;
     local_ntp.port = NTP_PORT;
- 
+    
     if (sock_udp_create(&sock_ntp, &local_ntp, NULL, 0) < 0) {
-          puts("Error creating UDP sock");
-          return NULL;
-      }
- 
-      while (1) {
-          sock_udp_ep_t remote;
-          ssize_t res;
- 
-          if ((res = sock_udp_recv(&sock_ntp,&sntp_packet, sizeof(sntp_packet), SOCK_NO_TIMEOUT,
-                                   &remote)) >= 0) {
-              puts("Received a message");
-            //printf("TT: %lu\n", byteorder_ntohl(sntp_packet.transmit.seconds));
-            
-             // printf("%c\n",remote.addr.ipv6[15]);
-            //xtimer_ticks64_t now = xtimer_now64();
-            // heure actuelle du serveur
-            sntp_packet.receive.seconds=byteorder_htonl( xtimer_now_usec());
-            sntp_packet.origin.seconds=sntp_packet.transmit.seconds;
-            sntp_packet.transmit.seconds=byteorder_htonl( xtimer_now_usec());
-            //printf("heure actuelle : %lu\n",xtimer_now_usec());
-            //printf("TT2: %lu\n", byteorder_ntohl(sntp_packet.transmit.seconds));
-           //memset(&sntp_packet, 0, sizeof(sntp_packet)); 
-            //ntp_packet_set_vn(&sntp_packet);
-            //ntp_packet_set_mode(&sntp_packet, NTP_MODE_SERVER);
-              if (sock_udp_send(&sock_ntp, &sntp_packet, sizeof(sntp_packet), &remote) < 0) {
-                  puts("Error sending reply");
-              }
-          }
-      }
+        puts("Error creating UDP sock");
+        return NULL;
+    }
+    
+    while (1) {
+        sock_udp_ep_t remote;
+        ssize_t res;
+        
+        if ((res = sock_udp_recv(&sock_ntp,&sntp_packet, sizeof(sntp_packet), SOCK_NO_TIMEOUT,
+            &remote)) >= 0) {
+            puts("Received a message");
+        //printf("TT: %lu\n", byteorder_ntohl(sntp_packet.transmit.seconds));
+        
+        // printf("%c\n",remote.addr.ipv6[15]);
+        //xtimer_ticks64_t now = xtimer_now64();
+        // heure actuelle du serveur
+        sntp_packet.receive.seconds=byteorder_htonl( xtimer_now_usec());
+        sntp_packet.origin.seconds=sntp_packet.transmit.seconds;
+        sntp_packet.transmit.seconds=byteorder_htonl( xtimer_now_usec());
+        //printf("heure actuelle : %lu\n",xtimer_now_usec());
+        //printf("TT2: %lu\n", byteorder_ntohl(sntp_packet.transmit.seconds));
+        //memset(&sntp_packet, 0, sizeof(sntp_packet)); 
+        //ntp_packet_set_vn(&sntp_packet);
+        //ntp_packet_set_mode(&sntp_packet, NTP_MODE_SERVER);
+        if (sock_udp_send(&sock_ntp, &sntp_packet, sizeof(sntp_packet), &remote) < 0) {
+            puts("Error sending reply");
+        }
+            }
+    }
     return NULL;
-}*/
+}
 void *sock_server_thread(void *arg)
 {
     (void) arg;
     Data buf;
-   // int compteur = 5;
-   // int deadline;
+    int compteur = 5;
+    int deadline;
     local.port = 1234;
     sock_udp_ep_t server = { .port = NTP_PORT, .family = AF_INET6 };
     ipv6_addr_from_str((ipv6_addr_t *)&server.addr, "dead:beef::3402");
     if (sock_udp_create(&sock, &local, NULL, 0) < 0) {
-          puts("Error creating UDP sock");
-          return NULL;
+        puts("Error creating UDP sock");
+        return NULL;
+    }
+    if (sntp_sync(&server, SOCK_NO_TIMEOUT) < 0) {
+        puts("Error in synchronization");
     }
-    /*if (sntp_sync(&server, SOCK_NO_TIMEOUT) < 0) {
-		puts("Error in synchronization");
-		return NULL;
-	      }
-	      offset = sntp_get_offset();
-	      printf("offset : %i\n",(int)offset);*/
+    offset = sntp_get_offset();
+    printf("offset : %i\n",(int)offset);
     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");
-              }*/
-	      
-    	      /*deadline = xtimer_now_usec() + offset - buf.heure_actuelle;
-              printf("tps de transmission : %i\n",deadline);
-	      
-	      if(deadline >= DEADLINE && compteur >=5)
-	      {
-		//ordre = 2;
-		compteur = 0;
-		if(tourne == 1)
-		  pwm_set(PWM_DEV(0),1,31);
-		if(timer_run == 0)
-		{
-		  timer_set(TIMER_DEV(1),0,25200);
-		  printf("relance timer\n");
-		  timer_run = 1;
-		}
-	      }
-	      if(deadline >= DEADLINE && compteur < 5)
-	      {
-		compteur = 0;
-	      }
-	      if(deadline<=DEADLINE && compteur >=5)
-	      {
-		//ordre = 1;
-		pwm_set(PWM_DEV(0),1,45);
-		tourne = 1;
-		timer_run=0;
-		timer_clear(TIMER_DEV(1),0);
-		printf("clear timer\n");
-	      }
-	      if(deadline<=DEADLINE && compteur <5)
-	      {
-		compteur++;
-	      } 
-	   
-	  printf("compteur : %d\n",compteur);
-	  memset(&buf,0,sizeof(buf));*/
-      }
+        sock_udp_ep_t remote;
+        ssize_t res;
+        if ((res = sock_udp_recv(&sock, &buf, sizeof(buf), 5 * SEC_IN_USEC,&remote)) >= 0) {
+            deadline = xtimer_now_usec() + offset - buf.heure_actuelle;
+            printf("tps de transmission : %i\n",deadline);
+            
+            if(buf.donnees[0] == 'g' && buf.donnees[1] == 'o') {
+                if(deadline >= DEADLINE && compteur >=5) {
+                    compteur = 0;
+                    if(tourne == 1){
+                        pwm_set(PWM_DEV(0),1,987);
+                        pwm_set(PWM_DEV(1),1,960);
+                    }
+                    if(timer_run == 0) {
+                        if (sock_udp_send(&sock, "d", sizeof("d"), &remote) < 0) {
+                            puts("Error sending reply");
+                        }
+                        gpio_clear(LED1_PIN);
+                        gpio_clear(LED2_PIN);
+                        gpio_set(LED0_PIN);
+                        timer_set(TIMER_DEV(1),0,25200);
+                        printf("relance timer\n");
+                        if (sntp_sync(&server, SOCK_NO_TIMEOUT) < 0) {
+                            puts("Error in synchronization");
+                            return NULL;
+                        }
+                        offset = sntp_get_offset();
+                        printf("offset : %i\n",(int)offset);
+                        timer_run = 1;
+                    }
+                }
+                if(deadline >= DEADLINE && compteur < 5) {
+                    compteur = 0;
+                }
+                if(deadline<=DEADLINE && compteur >=5) {
+                    pwm_set(PWM_DEV(0),1,992);
+                    pwm_set(PWM_DEV(1),1,658);
+                    tourne = 1;
+                    timer_run=0;
+                    timer_clear(TIMER_DEV(1),0);
+                    printf("clear timer\n");
+                    if (sock_udp_send(&sock, "n", sizeof("n"), &remote) < 0) {
+                        puts("Error sending reply");
+                    }
+                    gpio_clear(LED2_PIN);
+                    gpio_clear(LED0_PIN);
+                    gpio_set(LED1_PIN);
+                }
+                if(deadline<=DEADLINE && compteur <5) {
+                    compteur++;
+                } 
+                printf("compteur : %d\n",compteur);
+                memset(&buf,0,sizeof(buf));
+            }
+        }else{
+            puts("msg non recu");
+        }
     }
     return NULL;
 }
@@ -282,53 +283,83 @@ void *sock_server_thread(void *arg)
 void *sock_client_thread(void *arg)
 {
-     (void) arg;
-     Data data;
-     data.donnees[0] = 'g';
-     data.donnees[1] = 'o';
-     //uint8_t paquet[];
-     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] = 0x34;
-     remote.addr.ipv6[15] = 0x1e;
-//     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);
-     data.heure_actuelle = xtimer_now_usec();
-     
-     if (sock_udp_send(NULL, &data, sizeof(data), &remote) < 0) {
-               puts("Error sending message");
-           }
-     puts("Send a message");
-     xtimer_sleep(2);
-       }
-     return NULL;
+    (void) arg;
+    Data data;
+    int vitesse=2;
+    uint8_t buf[3];
+    ssize_t res;
+    data.donnees[0] = 'g';
+    data.donnees[1] = 'o';
+    //uint8_t paquet[];
+    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] = 0x34;
+    remote.addr.ipv6[15] = 0x1e;
+    //     memcpy(remote.addr.ipv6,addr.u8,IPV6_ADDR_BIT_LEN);
+    while (1) {
+        data.heure_actuelle = xtimer_now_usec();
+        
+        if (sock_udp_send(&sock, &data, sizeof(data), &remote) < 0) {
+            puts("Error sending message");
+        }
+        puts("Send a message");
+        if(vitesse==2) {
+            gpio_clear(LED0_PIN);
+            gpio_toggle(LED1_PIN);
+        }
+        else {
+            gpio_clear(LED1_PIN);
+            gpio_toggle(LED0_PIN);
+        }
+        if ((res = sock_udp_recv(&sock, buf, sizeof(buf), 0.05 * SEC_IN_USEC,NULL)) < 0) {
+            if (res == -ETIMEDOUT) {
+                puts("Timed out");
+            }
+            else {
+                puts("Error receiving message");
+            }
+        }
+        else {
+            printf("Received message: \"");
+            for (int i = 0; i < res; i++) {
+                printf("%c", buf[i]);
+            }
+            if(buf[0] == 'n')
+                vitesse = 2;
+            else vitesse = 1;
+            printf("\"\n");
+        }
+        xtimer_sleep(vitesse);
+    }
+    return NULL;
 }
-/*static void arret_urgence(void *arg,int channel)
+static void arret_urgence(void *arg,int channel)
 {
-  pwm_set(PWM_DEV(0),1,0);
-  tourne = 0;
-  //ordre=0;
-  timer_run = 0;
-  printf("Arret d'urgence\n");
-}*/
+    pwm_set(PWM_DEV(0),1,0);
+    pwm_set(PWM_DEV(1),1,0);
+    tourne = 0;
+    timer_run = 0;
+    gpio_clear(LED0_PIN);
+    gpio_clear(LED1_PIN);
+    gpio_set(LED2_PIN);
+    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)
+ * {
+ *   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 ,&degradation,NULL);
@@ -342,13 +373,14 @@ 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),7,THREAD_CREATE_STACKTEST,pwm_thread,NULL,"pwm_thread");
+    pwm_init(PWM_DEV(1), PWM_LEFT, PWM_FREQ, PWM_RES);
+    pwm_set(PWM_DEV(1),1,0);
+    
+    //    thread_create(pwm_stack,sizeof(pwm_stack),7,THREAD_CREATE_STACKTEST,pwm_thread,NULL,"pwm_thread");
 }
-*/
- 
+
 static void _init_interface(void)
 {
     kernel_pid_t ifs[GNRC_NETIF_NUMOF];
@@ -358,43 +390,38 @@ static void _init_interface(void)
     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);
     }
-    //init RPL
-    //init_RPL(ifs[0]);
-    _gnrc_rpl_send_dis();
+    
     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)){
         crea_rpl_dodag_root("1", "dead:beef::3402");
-	_gnrc_rpl_send_dis();
-	client=thread_create(sock_client_stack,sizeof(sock_client_stack),8,THREAD_CREATE_STACKTEST,sock_client_thread,NULL,"sock_client_thread");
-       // xtimer_usleep(200);
-        //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");
-       // xtimer_usleep(200);
+        client=thread_create(sock_client_stack,sizeof(sock_client_stack),8,THREAD_CREATE_STACKTEST,sock_client_thread,NULL,"sock_client_thread");
+        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");
     }else if((addr.u8[14]==0x37)&&(addr.u8[15]==0x62)){
-       
+        
     }else if((addr.u8[14]==0x34)&&(addr.u8[15]==0x12)){
-	//_init_timer();
-	//_init_pwm();
-	/*server=thread_create(sock_server_stack,sizeof(sock_server_stack),6,THREAD_CREATE_STACKTEST,sock_server_thread,NULL,"sock_server_thread");*/
     }else if((addr.u8[14]==0x34)&&(addr.u8[15]==0x0a)){
     }else if((addr.u8[14]==0x34)&&(addr.u8[15]==0x1e)){
-      server=thread_create(sock_server_stack,sizeof(sock_server_stack),6,THREAD_CREATE_STACKTEST,sock_server_thread,NULL,"sock_server_thread");
+        _init_timer();
+        _init_pwm();
+        xtimer_sleep(2);
+        server=thread_create(sock_server_stack,sizeof(sock_server_stack),6,THREAD_CREATE_STACKTEST,sock_server_thread,NULL,"sock_server_thread");
     }else{
         puts("new node ?");
     }
@@ -403,9 +430,9 @@ static void _init_interface(void)
 int main(void)
 {
-
     msg_init_queue(_main_msg_queue, MAIN_QUEUE_SIZE);
     puts("RIOT network stack example application");
+    
     _init_interface();
     /* start shell */
@@ -294,7 +294,7 @@ static inline bool GNRC_RPL_COUNTER_GREATER_THAN(uint8_t A, uint8_t B)
  * @{
  */
 #ifndef GNRC_RPL_DEFAULT_LIFETIME
-#define GNRC_RPL_DEFAULT_LIFETIME (5)
+#define GNRC_RPL_DEFAULT_LIFETIME (1)
 #endif
 #ifndef GNRC_RPL_LIFETIME_UNIT
 #define GNRC_RPL_LIFETIME_UNIT (60)
@@ -297,7 +297,7 @@ struct gnrc_rpl_instance {
 };
 /*******************************************************************/
 //ADDED BY PFE7 2017
-static uint8_t dodag_insert;
+//uint8_t LED_flag_dodag;
 //\ADDED BY PFE7 2017
 /*******************************************************************/
 #ifdef __cplusplus
@@ -20,7 +20,7 @@
 #include "net/gnrc/ipv6/hdr.h"
 #include "utlist.h"
-#define ENABLE_DEBUG    (1)
+#define ENABLE_DEBUG    (0)
 #include "debug.h"
 #if ENABLE_DEBUG
@@ -906,7 +906,7 @@ static void _receive(gnrc_pktsnip_t *pkt)
 #ifdef MODULE_GNRC_IPV6_ROUTER    /* only routers redirect */
         /* redirect to next hop */
-        printf("ipv6: decrement hop limit to %u\n", (uint8_t) (hdr->hl - 1));
+        DEBUG("ipv6: decrement hop limit to %u\n", (uint8_t) (hdr->hl - 1));
         /* RFC 4291, section 2.5.6 states: "Routers must not forward any
          * packets with Link-Local source or destination addresses to other
@@ -923,7 +923,7 @@ static void _receive(gnrc_pktsnip_t *pkt)
             gnrc_pktsnip_t *reversed_pkt = NULL, *ptr = pkt;
             DEBUG("ipv6: forward packet to next hop\n");
-	    printf ("transmission\n");
+	   // printf ("transmission\n");
             /* pkt might not be writable yet, if header was given above */
             ipv6 = gnrc_pktbuf_start_write(ipv6);
             if (ipv6 == NULL) {
@@ -19,19 +19,15 @@
 #include "net/gnrc/ipv6/netif.h"
 #include "net/gnrc.h"
 #include "mutex.h"
-
+#include "board.h"
+#include "periph_conf.h"
+#include "periph/gpio.h"
 #include "net/gnrc/rpl.h"
+
 #ifdef MODULE_GNRC_RPL_P2P
 #include "net/gnrc/rpl/p2p.h"
 #include "net/gnrc/rpl/p2p_dodag.h"
 #endif
-/*******************************************************************/
-//ADDED BY PFE7 2017
-//#include "../../boards/stm32f4discovery/include/board.h"
-//#include "../../boards/stm32f4discovery/include/periph_conf.h"
-
-//\ADDED BY PFE7 2017
-/*******************************************************************/
 #define ENABLE_DEBUG    (0)
 #include "debug.h"
@@ -128,7 +124,6 @@ gnrc_rpl_instance_t *gnrc_rpl_root_init(uint8_t instance_id, ipv6_addr_t *dodag_
     trickle_start(gnrc_rpl_pid, &dodag->trickle, GNRC_RPL_MSG_TYPE_TRICKLE_INTERVAL,
                   GNRC_RPL_MSG_TYPE_TRICKLE_CALLBACK, (1 << dodag->dio_min),
                   dodag->dio_interval_doubl, dodag->dio_redun);
-
     return inst;
 }
@@ -288,6 +283,16 @@ void _update_lifetime(void)
     for (int i = 0; i < GNRC_RPL_INSTANCES_NUMOF; ++i) {
         inst = &gnrc_rpl_instances[i];
         if (inst->state != 0) {
+            /*******************************************************************/
+            //ADDED BY PFE7 2017
+            if((inst->dodag.my_rank >= GNRC_RPL_INFINITE_RANK) || (inst-> dodag.my_rank<=0)){
+                LED3_OFF;
+            }
+            else{
+                LED3_ON;                
+            }
+            //\ADDED BY PFE7 2017
+            /*******************************************************************/
             if ((inst->cleanup > 0) && (inst->dodag.parents == NULL) &&
                 (inst->dodag.my_rank == GNRC_RPL_INFINITE_RANK)) {
                 inst->cleanup -= GNRC_RPL_LIFETIME_UPDATE_STEP;
@@ -349,9 +349,7 @@ static gnrc_rpl_parent_t *_gnrc_rpl_find_preferred_parent(gnrc_rpl_dodag_t *doda
 #endif
     }
-    printf("AVmy_rank : %d\n",dodag->my_rank);
     dodag->my_rank = dodag->instance->of->calc_rank(dodag->parents, 0);
-    printf("my_rank : %d\n",dodag->my_rank);
     if (dodag->my_rank != old_rank) {
         trickle_reset_timer(&dodag->trickle);
     }
@@ -57,7 +57,7 @@ uint16_t calc_rank(gnrc_rpl_parent_t *parent, uint16_t base_rank)
             puts("pas parent");
             return GNRC_RPL_INFINITE_RANK;
         }
-        puts("if1");
+        //puts("if1");
         base_rank = parent->rank;
     }
@@ -65,14 +65,14 @@ uint16_t calc_rank(gnrc_rpl_parent_t *parent, uint16_t base_rank)
     uint16_t add;
     if (parent != NULL) {
-         puts("if2");
+         //puts("if2");
         //add = parent->dodag->instance->min_hop_rank_inc;
         /*******************************************************************/
         //ADDED BY PFE7 2017    
         add = 256 - (parent->mc.rssi + parent->mc.lqi)/10;
         parent->dodag->instance->min_hop_rank_inc=add;
-        printf("add= %u\n",add);
+        //printf("add= %u\n",add);
         //\ADDED BY PFE7 2017
         /*******************************************************************/