/* * Copyright (C) 2015 Freie Universität 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 * * @} */ #include #include #include #include #include #include #include #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" #include "net/sntp.h" #include "net/ntp_packet.h" #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 #define DEADLINE 24000 // 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]; char sock_time_server_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; // kernel_pid_t server, client, time_server; int ordre = 0; int64_t offset = 0; int timer_run = 0; int tourne = 0; 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; typedef struct tableau { uint32_t heure_actuelle; char donnees[2]; }Data; 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"); } } } 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),1,31); } return NULL; }*/ void *sock_server_thread(void *arg) { (void) arg; Data buf; 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; } if (sntp_sync(&server, SOCK_NO_TIMEOUT) < 0) { puts("Error in synchronization"); return NULL; } 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)); } } return NULL; } 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] = 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); data.heure_actuelle = xtimer_now_usec(); if (sock_udp_send(NULL, &data, sizeof(data), &remote) < 0) { puts("Error sending message"); } xtimer_sleep(2); } return NULL; } 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"); } /*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),7,THREAD_CREATE_STACKTEST,pwm_thread,NULL,"pwm_thread"); } 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); client=thread_create(sock_client_stack,sizeof(sock_client_stack),8,THREAD_CREATE_STACKTEST,sock_client_thread,NULL,"sock_client_thread"); xtimer_usleep(10000); 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); }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); //sntp_sync(&local,5000); //printf("temps : %i\n",(int)sntp_get_offset()); }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"); _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{ 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"); _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; }