Mateusz Jaskula
KL25 driver for Tango Control System
Revision 0:5d27c333afa6, committed 2014-08-25
- Comitter:
- jskl
- Date:
- Mon Aug 25 12:00:15 2014 +0000
- Child:
- 1:f1ee978773d3
- Commit message:
- Initial Release
Changed in this revision
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/DHCPClient/DHCPClient.cpp Mon Aug 25 12:00:15 2014 +0000
@@ -0,0 +1,212 @@
+// DHCPClient.cpp 2013/4/10
+#include "mbed.h"
+#include "mbed_debug.h"
+#include "UDPSocket.h"
+#include "DHCPClient.h"
+
+#define DBG_DHCP 0
+
+#if DBG_DHCP
+#define DBG(...) do{debug("[%s:%d]", __PRETTY_FUNCTION__,__LINE__);debug(__VA_ARGS__);} while(0);
+#define DBG_HEX(A,B) do{debug("[%s:%d]\r\n", __PRETTY_FUNCTION__,__LINE__);debug_hex(A,B);} while(0);
+#else
+#define DBG(...) while(0);
+#define DBG_HEX(A,B) while(0);
+#endif
+
+int DHCPClient::discover()
+{
+ m_pos = 0;
+ const uint8_t header[] = {0x01,0x01,0x06,0x00};
+ add_buf((uint8_t*)header, sizeof(header));
+ uint32_t x = time(NULL) + rand();
+ xid[0] = x>>24; xid[1] = x>>16; xid[2] = x>>8; xid[3] = x;
+ add_buf(xid, 4);
+ fill_buf(20, 0x00);
+ add_buf(chaddr, 6);
+ fill_buf(10+192, 0x00);
+ const uint8_t options[] = {0x63,0x82,0x53,0x63, // magic cookie
+ 53,1,DHCPDISCOVER, // DHCP option 53: DHCP Discover
+ 55,4,1,3,15,6,
+ 255};
+ add_buf((uint8_t*)options, sizeof(options));
+ return m_pos;
+}
+
+int DHCPClient::request()
+{
+ m_pos = 0;
+ const uint8_t header[] = {0x01,0x01,0x06,0x00};
+ add_buf((uint8_t*)header, sizeof(header));
+ add_buf(xid, 4);
+ fill_buf(12, 0x00);
+ add_buf(siaddr, 4);
+ fill_buf(4, 0x00); // giaddr
+ add_buf(chaddr, 6);
+ fill_buf(10+192, 0x00);
+ const uint8_t options[] = {0x63,0x82,0x53,0x63, // magic cookie
+ 53,1,DHCPREQUEST, // DHCP option 53: DHCP Request
+ 55,4,1,3,15,6, // DHCP option 55:
+ };
+ add_buf((uint8_t*)options, sizeof(options));
+ add_option(50, yiaddr, 4);
+ add_option(54, siaddr, 4);
+ add_option(255);
+ return m_pos;
+}
+
+int DHCPClient::offer(uint8_t buf[], int size) {
+ memcpy(yiaddr, buf+DHCP_OFFSET_YIADDR, 4);
+ memcpy(siaddr, buf+DHCP_OFFSET_SIADDR, 4);
+ uint8_t *p;
+ int msg_type = -1;
+ p = buf + DHCP_OFFSET_OPTIONS;
+ while(*p != 255 && p < (buf+size)) {
+ uint8_t code = *p++;
+ if (code == 0) { // Pad Option
+ continue;
+ }
+ int len = *p++;
+
+ DBG("DHCP option: %d\r\n", code);
+ DBG_HEX(p, len);
+
+ switch(code) {
+ case 53:
+ msg_type = *p;
+ break;
+ case 1:
+ memcpy(netmask, p, 4); // Subnet mask address
+ break;
+ case 3:
+ memcpy(gateway, p, 4); // Gateway IP address
+ break;
+ case 6: // DNS server
+ memcpy(dnsaddr, p, 4);
+ break;
+ case 51: // IP lease time
+ break;
+ case 54: // DHCP server
+ memcpy(siaddr, p, 4);
+ break;
+ }
+ p += len;
+ }
+ return msg_type;
+}
+
+bool DHCPClient::verify(uint8_t buf[], int len) {
+ if (len < DHCP_OFFSET_OPTIONS) {
+ return false;
+ }
+ if (buf[DHCP_OFFSET_OP] != 0x02) {
+ return false;
+ }
+ if (memcmp(buf+DHCP_OFFSET_XID, xid, 4) != 0) {
+ return false;
+ }
+ return true;
+}
+
+void DHCPClient::callback()
+{
+ Endpoint host;
+ int recv_len = m_udp->receiveFrom(host, (char*)m_buf, sizeof(m_buf));
+ if (recv_len < 0) {
+ return;
+ }
+ if (!verify(m_buf, recv_len)) {
+ return;
+ }
+ int r = offer(m_buf, recv_len);
+ if (r == DHCPOFFER) {
+ int send_size = request();
+ m_udp->sendTo(m_server, (char*)m_buf, send_size);
+ } else if (r == DHCPACK) {
+ exit_flag = true;
+ }
+}
+
+void DHCPClient::add_buf(uint8_t c)
+{
+ m_buf[m_pos++] = c;
+}
+
+void DHCPClient::add_buf(uint8_t* buf, int len)
+{
+ for(int i = 0; i < len; i++) {
+ add_buf(buf[i]);
+ }
+}
+
+void DHCPClient::fill_buf(int len, uint8_t data)
+{
+ while(len-- > 0) {
+ add_buf(data);
+ }
+}
+
+void DHCPClient::add_option(uint8_t code, uint8_t* buf, int len)
+{
+ add_buf(code);
+ if (len > 0) {
+ add_buf((uint8_t)len);
+ add_buf(buf, len);
+ }
+}
+
+int DHCPClient::setup(int timeout_ms)
+{
+ eth = WIZnet_Chip::getInstance();
+ if (eth == NULL) {
+ return -1;
+ }
+ eth->reg_rd_mac(SHAR, chaddr);
+ int interval_ms = 5*1000; // 5000msec
+ if (timeout_ms < interval_ms) {
+ interval_ms = timeout_ms;
+ }
+ m_udp = new UDPSocket;
+ m_udp->init();
+ m_udp->set_blocking(false);
+ eth->reg_wr<uint32_t>(SIPR, 0x00000000); // local ip "0.0.0.0"
+ m_udp->bind(68); // local port
+ m_server.set_address("255.255.255.255", 67); // DHCP broadcast
+ exit_flag = false;
+ int err = 0;
+ int seq = 0;
+ int send_size;
+ while(!exit_flag) {
+ switch(seq) {
+ case 0:
+ m_retry = 0;
+ seq++;
+ break;
+ case 1:
+ send_size = discover();
+ m_udp->sendTo(m_server, (char*)m_buf, send_size);
+ m_interval.reset();
+ m_interval.start();
+ seq++;
+ break;
+ case 2:
+ callback();
+ if (m_interval.read_ms() > interval_ms) {
+ DBG("m_retry: %d\n", m_retry);
+ if (++m_retry >= (timeout_ms/interval_ms)) {
+ err = -1;
+ exit_flag = true;
+ }
+ seq--;
+ }
+ break;
+ }
+ }
+ DBG("m_retry: %d, m_interval: %d\n", m_retry, m_interval.read_ms());
+ delete m_udp;
+ return err;
+}
+
+DHCPClient::DHCPClient() {
+}
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/DHCPClient/DHCPClient.h Mon Aug 25 12:00:15 2014 +0000
@@ -0,0 +1,55 @@
+// DHCPClient.h 2013/4/10
+#ifndef DHCPCLIENT_H
+#define DHCPCLIENT_H
+#include "wiznet.h"
+#include "UDPSocket.h"
+
+#define DHCP_OFFSET_OP 0
+#define DHCP_OFFSET_XID 4
+#define DHCP_OFFSET_YIADDR 16
+#define DHCP_OFFSET_SIADDR 20
+#define DHCP_OFFSET_OPTIONS 240
+#define DHCP_MAX_PACKET_SIZE 600
+
+// DHCP Message Type
+#define DHCPDISCOVER 1
+#define DHCPOFFER 2
+#define DHCPREQUEST 3
+#define DHCPDECLINE 4
+#define DHCPACK 5
+#define DHCPNAK 6
+#define DHCPRELEASE 7
+#define DHCPINFORM 8
+
+class DHCPClient {
+public:
+ DHCPClient();
+ int setup(int timeout_ms = 15*1000);
+ uint8_t chaddr[6]; // MAC
+ uint8_t yiaddr[4]; // IP
+ uint8_t dnsaddr[4]; // DNS
+ uint8_t gateway[4];
+ uint8_t netmask[4];
+ uint8_t siaddr[4];
+private:
+ int discover();
+ int request();
+ int offer(uint8_t buf[], int size);
+ void add_buf(uint8_t* buf, int len);
+ void fill_buf(int len, uint8_t data = 0x00);
+ void add_buf(uint8_t c);
+ void add_option(uint8_t code, uint8_t* buf = NULL, int len = 0);
+ bool verify(uint8_t buf[], int len);
+ void callback();
+ UDPSocket* m_udp;
+ Endpoint m_server;
+ uint8_t xid[4];
+ bool exit_flag;
+ Timer m_interval;
+ int m_retry;
+ uint8_t m_buf[DHCP_MAX_PACKET_SIZE];
+ int m_pos;
+ WIZnet_Chip* eth;
+};
+#endif //DHCPCLIENT_H
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/DNSClient/DNSClient.cpp Mon Aug 25 12:00:15 2014 +0000
@@ -0,0 +1,174 @@
+// DNSClient.cpp 2013/8/27
+#include "mbed.h"
+#include "mbed_debug.h"
+#include "DNSClient.h"
+#include "UDPSocket.h"
+#include "dnsname.h"
+#include "wiznet.h"
+
+#define DBG_DNS 0
+
+#if DBG_DNS
+#define DBG2(...) do{debug("[DNS]%p %d %s ", this,__LINE__,__PRETTY_FUNCTION__); debug(__VA_ARGS__); } while(0);
+#else
+#define DBG2(...) while(0);
+#endif
+
+DNSClient::DNSClient(const char* hostname) : m_state(MYNETDNS_START), m_udp(NULL) {
+ m_hostname = hostname;
+}
+
+DNSClient::DNSClient(Endpoint* pHost) : m_state(MYNETDNS_START), m_udp(NULL) {
+}
+
+DNSClient::~DNSClient() {
+ if (m_udp) {
+ delete m_udp;
+ }
+}
+
+void DNSClient::callback()
+{
+ uint8_t buf[512];
+ Endpoint host;
+ int len = m_udp->receiveFrom(host, (char*)buf, sizeof(buf));
+ if (len < 0) {
+ return;
+ }
+ if (memcmp(buf+0, m_id, 2) != 0) { //verify
+ return;
+ }
+ int rcode = response(buf, len);
+ if (rcode == 0) {
+ m_state = MYNETDNS_OK;
+ } else {
+ m_state = MYNETDNS_NOTFOUND;
+ }
+}
+
+int DNSClient::response(uint8_t buf[], int size) {
+ int rcode = buf[3] & 0x0f;
+ if (rcode != 0) {
+ return rcode;
+ }
+ int qdcount = buf[4]<<8|buf[5];
+ int ancount = buf[6]<<8|buf[7];
+ int pos = 12;
+ while(qdcount-- > 0) {
+ dnsname qname(buf);
+ pos = qname.decode(pos); // qname
+ pos += 4; // qtype qclass
+ }
+ while(ancount-- > 0) {
+ dnsname name(buf);
+ pos = name.decode(pos); // name
+ int type = buf[pos]<<8|buf[pos+1];
+ pos += 8; // type class TTL
+ int rdlength = buf[pos]<<8|buf[pos+1]; pos += 2;
+ int rdata_pos = pos;
+ pos += rdlength;
+ if (type == 1) { // A record
+ ip = (buf[rdata_pos]<<24) | (buf[rdata_pos+1]<<16) | (buf[rdata_pos+2]<<8) | buf[rdata_pos+3];
+ }
+#if DBG_DNS
+ printf("%s", name.str.c_str());
+ if (type == 1) {
+ printf(" A %d.%d.%d.%d\n",
+ buf[rdata_pos],buf[rdata_pos+1],buf[rdata_pos+2],buf[rdata_pos+3]);
+ } else if (type == 5) {
+ dnsname rdname(buf);
+ rdname.decode(rdata_pos);
+ printf(" CNAME %s\n", rdname.str.c_str());
+ } else {
+ printf(" TYPE:%d", type);
+ printfBytes(" RDATA:", &buf[rdata_pos], rdlength);
+ }
+#endif
+ }
+ return rcode;
+}
+
+int DNSClient::query(uint8_t buf[], int size, const char* hostname) {
+ const uint8_t header[] = {
+ 0x00,0x00,0x01,0x00, // id=0x0000 QR=0 rd=1 opcode=0 rcode=0
+ 0x00,0x01,0x00,0x00, // qdcount=1 ancount=0
+ 0x00,0x00,0x00,0x00};// nscount=0 arcount=0
+ const uint8_t tail[] = {0x00,0x01,0x00,0x01}; // qtype=A qclass=IN
+ memcpy(buf, header, sizeof(header));
+ int t = rand();
+ m_id[0] = t>>8;
+ m_id[1] = t;
+ memcpy(buf, m_id, 2);
+ dnsname qname(buf);
+ int pos = qname.encode(sizeof(header), (char*)hostname);
+ memcpy(buf+pos, tail, sizeof(tail));
+ pos += sizeof(tail);
+ return pos;
+}
+
+void DNSClient::resolve(const char* hostname) {
+ if (m_udp == NULL) {
+ m_udp = new UDPSocket;
+ }
+ m_udp->init();
+ m_udp->set_blocking(false);
+ Endpoint server;
+ server.set_address("8.8.8.8", 53); // DNS
+ m_udp->bind(rand()&0x7fff);
+ uint8_t buf[256];
+ int size = query(buf, sizeof(buf), hostname);
+#if DBG_DNS
+ printf("hostname:[%s]\n", hostname);
+ printHex(buf, size);
+#endif
+ m_udp->sendTo(server, (char*)buf, size);
+ m_interval.reset();
+ m_interval.start();
+}
+
+void DNSClient::poll() {
+#if DBG_DNS
+ printf("%p m_state: %d, m_udp: %p\n", this, m_state, m_udp);
+ wait_ms(400);
+#endif
+ switch(m_state) {
+ case MYNETDNS_START:
+ m_retry = 0;
+ resolve(m_hostname);
+ m_state = MYNETDNS_PROCESSING;
+ break;
+ case MYNETDNS_PROCESSING:
+ break;
+ case MYNETDNS_NOTFOUND:
+ break;
+ case MYNETDNS_ERROR:
+ break;
+ case MYNETDNS_OK:
+ DBG2("m_retry=%d, m_interval=%d\n", m_retry, m_interval.read_ms());
+ break;
+ }
+ if (m_interval.read_ms() > 1000) {
+ m_interval.stop();
+ DBG2("timeout m_retry=%d\n", m_retry);
+ if (++m_retry >= 2) {
+ m_state = MYNETDNS_ERROR;
+ } else {
+ resolve(m_hostname);
+ m_state = MYNETDNS_PROCESSING;
+ }
+ }
+}
+
+bool DNSClient::lookup(const char* hostname) {
+ m_hostname = hostname;
+ m_state = MYNETDNS_START;
+ while(1) {
+ poll();
+ callback();
+ if (m_state != MYNETDNS_PROCESSING) {
+ break;
+ }
+ }
+ return m_state == MYNETDNS_OK;
+}
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/DNSClient/DNSClient.h Mon Aug 25 12:00:15 2014 +0000
@@ -0,0 +1,35 @@
+// DNSClient.h 2013/4/5
+#pragma once
+
+#include "UDPSocket.h"
+
+class DNSClient {
+public:
+ DNSClient(const char* hostname = NULL);
+ DNSClient(Endpoint* pHost);
+ virtual ~DNSClient();
+ bool lookup(const char* hostname = NULL);
+ uint32_t ip;
+protected:
+ void poll();
+ void callback();
+ int response(uint8_t buf[], int size);
+ int query(uint8_t buf[], int size, const char* hostname);
+ void resolve(const char* hostname);
+ uint8_t m_id[2];
+ Timer m_interval;
+ int m_retry;
+ const char* m_hostname;
+private:
+ enum MyNetDnsState
+ {
+ MYNETDNS_START,
+ MYNETDNS_PROCESSING, //Req has not completed
+ MYNETDNS_NOTFOUND,
+ MYNETDNS_ERROR,
+ MYNETDNS_OK
+ };
+ MyNetDnsState m_state;
+ UDPSocket *m_udp;
+};
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/DNSClient/dnsname.h Mon Aug 25 12:00:15 2014 +0000
@@ -0,0 +1,52 @@
+// dnsname.h 2013/8/27
+#pragma once
+//#include <string>
+#include "pico_string.h"
+class dnsname {
+public:
+ uint8_t *buf;
+ pico_string str;
+ dnsname(uint8_t *s) {
+ buf = s;
+ }
+ int decode(int pos) {
+ while(1) {
+ int len = buf[pos++];
+ if (len == 0x00) {
+ break;
+ }
+ if ((len&0xc0) == 0xc0) { //compress
+ int offset = (len&0x3f)<<8|buf[pos];
+ decode(offset);
+ return pos+1;
+ }
+ if (!str.empty()) {
+ str.append(".");
+ }
+ str.append((const char*)(buf+pos), len);
+ pos += len;
+ }
+ return pos;
+ }
+
+ int encode(int pos, char* s) {
+ while(*s) {
+ char *f = strchr(s, '.');
+ if (f == NULL) {
+ int len = strlen(s);
+ buf[pos++] = len;
+ memcpy(buf+pos, s, len);
+ pos += len;
+ break;
+ }
+ int len = f - s;
+ buf[pos++] = len;
+ memcpy(buf+pos, s, len);
+ s = f+1;
+ pos += len;
+ }
+ buf[pos++] = 0x00;
+ return pos;
+ }
+};
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/GY80/GY80.cpp Mon Aug 25 12:00:15 2014 +0000
@@ -0,0 +1,127 @@
+#include "GY80.h"
+
+Serial pc2(USBTX, USBRX);
+
+GY80::GY80() : Wire( SDA,SCL)
+{
+ Wire.frequency(I2C_FREQ);
+ Accel_Init();
+ Gyro_Init();
+ Magn_Init();
+}
+GY80::~GY80()
+{
+}
+void GY80::Accel_Init()
+{
+ byte data[2];
+ data[0] = 0x2D; // Power register
+ data[1] = 0x08; //Measurement mode
+ Wire.write(ACCEL_ADDRESS, data, 2);
+ wait_ms(1);
+
+ data[0] = 0x31; // Data format register
+ data[1] = 0x08; //Set to full resolution
+ Wire.write(ACCEL_ADDRESS, data, 2);
+ wait_ms(1);
+
+ //
+ data[0] = 0x2C; // Rate
+ data[1] = 0x0D; //Set to 800Hz, normal operation, 0x0A 100hz
+ Wire.write(ACCEL_ADDRESS, data, 2);
+ wait_ms(1);
+}
+
+void GY80::Gyro_Init()
+{
+ byte data[2];
+
+ data[0] = 0x20; //L3G4200D_CTRL_REG1
+ data[1] = 0xCF; // normal power mode, all axes enable, 8:20 9:25 A:50 B:110
+ Wire.write(GYRO_ADDRESS, data, 2);
+ wait_ms(1);
+
+
+ data[0] = 0x23; // L3G4200D_CTRL_REG4
+ data[1] = 0x20; //2000 dps full scale
+ Wire.write(GYRO_ADDRESS, data, 2);
+ wait_ms(1);
+
+
+ data[0] = 0x24; // L3G4200D_CTRL_REG5
+ data[1] = 0x02; //Low Pass Filter
+ Wire.write(GYRO_ADDRESS, data, 2);
+}
+
+void GY80::Magn_Init()
+{
+ byte data[2];
+ data[0] = 0x02;
+ data[1] = 0x00; // 00000000 Set continuous mode (default 10Hz)
+ Wire.write(MAGN_ADDRESS, data, 2);
+ wait_ms(1);
+
+ data[0] = 0x00;
+ data[1] = 0x50; // 01010000
+ Wire.write(MAGN_ADDRESS, data, 2);
+ wait_ms(1);
+}
+
+void GY80::Read_Accel(float* accel_v)
+{
+ byte buff[6];
+ buff[0] = 0x32; // Send address to read from
+ Wire.write(ACCEL_ADDRESS, buff, 1);
+
+ int accel[3];
+ if (Wire.read(ACCEL_ADDRESS, buff,6) == 0) // All bytes received?
+ {
+ accel[0] = (short) ((uint16_t) buff[1] << 8 | buff[0]);
+ accel[1] = (short) ((uint16_t) buff[3] << 8 | buff[2]);
+ accel[2] = (short) ((uint16_t) buff[5] << 8 | buff[4]);
+ }
+ accel_v[0] = (accel[0] - ACCEL_X_OFFSET) * ACCEL_X_SCALE;
+ accel_v[1] = (accel[1] - ACCEL_Y_OFFSET) * ACCEL_Y_SCALE;
+ accel_v[2] = (accel[2] - ACCEL_Z_OFFSET) * ACCEL_Z_SCALE;
+}
+
+
+void GY80::Read_Gyro(float* gyro_v)
+{
+ byte buff[6];
+
+ buff[0] = 0xA8; // 0x28 | (1 << 7) Send address to read from
+ Wire.write(GYRO_ADDRESS, buff, 1);
+ // Request 6 bytes
+ int gyro[3];
+ if (Wire.read(GYRO_ADDRESS, buff,6) == 0) // All bytes received?
+ {
+ gyro[0] = (short) ((uint16_t) buff[1] << 8 | buff[0]);
+ gyro[1] = (short) ((uint16_t) buff[3] << 8 | buff[2]);
+ gyro[2] = (short) ((uint16_t) buff[5] << 8 | buff[4]);
+ }
+ gyro_v[0] = DEG2RAD((gyro[0] - GYRO_X_OFFSET) * GYRO_GAIN_X);
+ gyro_v[1] = DEG2RAD((gyro[1] - GYRO_Y_OFFSET) * GYRO_GAIN_Y);
+ gyro_v[2] = DEG2RAD((gyro[2] - GYRO_Z_OFFSET) * GYRO_GAIN_Z);
+}
+
+void GY80::Read_Magn(float* magn_v)
+{
+ byte buff[6];
+
+ buff[0] = 0x03; // Send address to read from
+ Wire.write(MAGN_ADDRESS, buff, 1);
+
+ // Request 6 bytes
+ int mag[3];
+ if (Wire.read(MAGN_ADDRESS, buff,6) == 0) // All bytes received?
+ {
+ mag[0] = (short) ((uint16_t) buff[1] << 8 | buff[0]);
+ mag[1] = (short) ((uint16_t) buff[3] << 8 | buff[2]);
+ mag[2] = (short) ((uint16_t) buff[5] << 8 | buff[4]);
+ }
+ magn_v[0] = (mag[0] - MAGN_X_OFFSET) * MAGN_X_SCALE;
+ magn_v[1] = (mag[1] - MAGN_Y_OFFSET) * MAGN_Y_SCALE;
+ magn_v[2] = (mag[2] - MAGN_Z_OFFSET) * MAGN_Z_SCALE;
+}
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/GY80/GY80.h Mon Aug 25 12:00:15 2014 +0000
@@ -0,0 +1,90 @@
+#ifndef SENSORS_H
+#define SENSORS_H
+
+#include "mbed.h"
+#define I2C_FREQ 400000
+#define SCL PTC8
+#define SDA PTC9
+
+#define ACCEL_ADDRESS (0xA6) // 0x53 = 0xA6 / 2
+#define MAGN_ADDRESS (0x3C) // 0x1E = 0x3C / 2
+#define GYRO_ADDRESS (0xD2) // 0x68 = 0xD0 / 2
+
+// SENSOR CALIBRATION
+/*****************************************************************/
+// How to calibrate? Read the tutorial at http://dev.qu.tu-berlin.de/projects/sf-razor-9dof-ahrs
+// Put MIN/MAX and OFFSET readings for your board here!
+// Accelerometer
+// "accel x,y,z (min/max) = X_MIN/X_MAX Y_MIN/Y_MAX Z_MIN/Z_MAX"
+#define ACCEL_X_MIN (-255.0f)
+#define ACCEL_X_MAX (260.0f)
+#define ACCEL_Y_MIN (-267.0f)
+#define ACCEL_Y_MAX (255.0f)
+#define ACCEL_Z_MIN (-278.0f)
+#define ACCEL_Z_MAX (238.0f)
+
+// Magnetometer
+// "magn x,y,z (min/max) = X_MIN/X_MAX Y_MIN/Y_MAX Z_MIN/Z_MAX"
+#define MAGN_X_MIN (-520.0f)
+#define MAGN_X_MAX (850.0f)
+#define MAGN_Y_MIN (-640.0f)
+#define MAGN_Y_MAX (684.0f)
+#define MAGN_Z_MIN (-213.0f)
+#define MAGN_Z_MAX (850.0f)
+
+// Gyroscope
+// "gyro x,y,z (current/average) = .../OFFSET_X .../OFFSET_Y .../OFFSET_Z
+#define GYRO_X_OFFSET (-20.5f)
+#define GYRO_Y_OFFSET (0.5f)
+#define GYRO_Z_OFFSET (10.5f)
+
+//*****************************************************************************/
+
+#define GRAVITY 255.0f //this equivalent to 1G in the raw data coming from the accelerometer
+
+#define ACCEL_X_OFFSET ((ACCEL_X_MIN + ACCEL_X_MAX) / 2.0f)
+#define ACCEL_Y_OFFSET ((ACCEL_Y_MIN + ACCEL_Y_MAX) / 2.0f)
+#define ACCEL_Z_OFFSET ((ACCEL_Z_MIN + ACCEL_Z_MAX) / 2.0f)
+#define ACCEL_X_SCALE (GRAVITY / (ACCEL_X_MAX - ACCEL_X_OFFSET))
+#define ACCEL_Y_SCALE (GRAVITY / (ACCEL_Y_MAX - ACCEL_Y_OFFSET))
+#define ACCEL_Z_SCALE (GRAVITY / (ACCEL_Z_MAX - ACCEL_Z_OFFSET))
+
+#define MAGN_X_OFFSET ((MAGN_X_MIN + MAGN_X_MAX) / 2.0f)
+#define MAGN_Y_OFFSET ((MAGN_Y_MIN + MAGN_Y_MAX) / 2.0f)
+#define MAGN_Z_OFFSET ((MAGN_Z_MIN + MAGN_Z_MAX) / 2.0f)
+#define MAGN_X_SCALE (100.0f / (MAGN_X_MAX - MAGN_X_OFFSET))
+#define MAGN_Y_SCALE (100.0f / (MAGN_Y_MAX - MAGN_Y_OFFSET))
+#define MAGN_Z_SCALE (100.0f / (MAGN_Z_MAX - MAGN_Z_OFFSET))
+
+// Gyro gain (conversion from raw to degree per seconds)
+#define GYRO_GAIN 0.061035156f
+#define GYRO_GAIN_X 0.061035156f //X axis Gyro gain
+#define GYRO_GAIN_Y 0.061035156f //Y axis Gyro gain
+#define GYRO_GAIN_Z 0.061035156f //Z axis Gyro gain
+
+#define DEG2RAD(x) (x * 0.01745329252) // *pi/180
+#define RAD2DEG(x) (x * 57.2957795131) // *180/pi
+
+typedef char byte;
+
+class GY80
+{
+public:
+ I2C Wire;
+ GY80();
+ ~GY80();
+ void Read_Accel(float* accel_v);
+ void Read_Gyro(float* );
+ void Read_Magn(float* );
+
+private:
+ short accel[3];
+ short gyro[3];
+ short mag[3];
+ void Accel_Init();
+ void Gyro_Init();
+ void Magn_Init();
+
+};
+
+#endif
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Socket/Endpoint.cpp Mon Aug 25 12:00:15 2014 +0000
@@ -0,0 +1,53 @@
+/* Copyright (C) 2012 mbed.org, MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ * and associated documentation files (the "Software"), to deal in the Software without restriction,
+ * including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all copies or
+ * substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+#include "Socket.h"
+#include "Endpoint.h"
+
+Endpoint::Endpoint() {
+ reset_address();
+}
+Endpoint::~Endpoint() {}
+
+void Endpoint::reset_address(void) {
+ _ipAddress[0] = '\0';
+ _port = 0;
+}
+
+int Endpoint::set_address(const char* host, const int port) {
+ //Resolve DNS address or populate hard-coded IP address
+ WIZnet_Chip* eth = WIZnet_Chip::getInstance();
+ if (eth == NULL) {
+ return -1;
+ }
+ uint32_t addr;
+ if (!eth->gethostbyname(host, &addr)) {
+ return -1;
+ }
+ snprintf(_ipAddress, sizeof(_ipAddress), "%d.%d.%d.%d", (addr>>24)&0xff, (addr>>16)&0xff, (addr>>8)&0xff, addr&0xff);
+ _port = port;
+ return 0;
+}
+
+char* Endpoint::get_address() {
+ return _ipAddress;
+}
+
+int Endpoint::get_port() {
+ return _port;
+}
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Socket/Endpoint.h Mon Aug 25 12:00:15 2014 +0000
@@ -0,0 +1,65 @@
+/* Copyright (C) 2012 mbed.org, MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ * and associated documentation files (the "Software"), to deal in the Software without restriction,
+ * including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all copies or
+ * substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+#ifndef ENDPOINT_H
+#define ENDPOINT_H
+
+#include "wiznet.h"
+
+class UDPSocket;
+
+/**
+IP Endpoint (address, port)
+*/
+class Endpoint {
+ friend class UDPSocket;
+
+public:
+ /** IP Endpoint (address, port)
+ */
+ Endpoint(void);
+
+ ~Endpoint(void);
+
+ /** Reset the address of this endpoint
+ */
+ void reset_address(void);
+
+ /** Set the address of this endpoint
+ \param host The endpoint address (it can either be an IP Address or a hostname that will be resolved with DNS).
+ \param port The endpoint port
+ \return 0 on success, -1 on failure (when an hostname cannot be resolved by DNS).
+ */
+ int set_address(const char* host, const int port);
+
+ /** Get the IP address of this endpoint
+ \return The IP address of this endpoint.
+ */
+ char* get_address(void);
+
+ /** Get the port of this endpoint
+ \return The port of this endpoint
+ */
+ int get_port(void);
+
+protected:
+ char _ipAddress[16];
+ int _port;
+};
+
+#endif
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Socket/Socket.cpp Mon Aug 25 12:00:15 2014 +0000
@@ -0,0 +1,40 @@
+/* Copyright (C) 2012 mbed.org, MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ * and associated documentation files (the "Software"), to deal in the Software without restriction,
+ * including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all copies or
+ * substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include "Socket.h"
+
+Socket::Socket() : _sock_fd(-1),_blocking(true), _timeout(1500) {
+ eth = WIZnet_Chip::getInstance();
+ if (eth == NULL) {
+ error("Socket constructor error: no W5500 instance available!\r\n");
+ }
+}
+
+void Socket::set_blocking(bool blocking, unsigned int timeout) {
+ _blocking = blocking;
+ _timeout = timeout;
+}
+
+int Socket::close() {
+ return (eth->close(_sock_fd)) ? 0 : -1;
+}
+
+Socket::~Socket() {
+ close(); //Don't want to leak
+}
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Socket/Socket.h Mon Aug 25 12:00:15 2014 +0000
@@ -0,0 +1,59 @@
+/* Copyright (C) 2012 mbed.org, MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ * and associated documentation files (the "Software"), to deal in the Software without restriction,
+ * including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all copies or
+ * substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+#ifndef SOCKET_H_
+#define SOCKET_H_
+
+#include "wiznet.h"
+
+#define htons(x) __REV16(x)
+#define ntohs(x) __REV16(x)
+#define htonl(x) __REV(x)
+#define ntohl(x) __REV(x)
+
+/** Socket file descriptor and select wrapper
+ */
+class Socket {
+public:
+ /** Socket
+ */
+ Socket();
+
+ /** Set blocking or non-blocking mode of the socket and a timeout on
+ blocking socket operations
+ \param blocking true for blocking mode, false for non-blocking mode.
+ \param timeout timeout in ms [Default: (1500)ms].
+ */
+ void set_blocking(bool blocking, unsigned int timeout=1500);
+
+ /** Close the socket file descriptor
+ */
+ int close();
+
+ ~Socket();
+
+protected:
+ int _sock_fd;
+ bool _blocking;
+ int _timeout;
+
+ WIZnet_Chip* eth;
+};
+
+
+#endif /* SOCKET_H_ */
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Socket/TCPSocketConnection.cpp Mon Aug 25 12:00:15 2014 +0000
@@ -0,0 +1,113 @@
+/* Copyright (C) 2012 mbed.org, MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ * and associated documentation files (the "Software"), to deal in the Software without restriction,
+ * including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all copies or
+ * substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include "TCPSocketConnection.h"
+
+TCPSocketConnection::TCPSocketConnection()
+{
+}
+
+int TCPSocketConnection::connect(const char* host, const int port)
+{
+ if (_sock_fd < 0) {
+ _sock_fd = eth->new_socket();
+ if (_sock_fd < 0) {
+ return -1;
+ }
+ }
+ if (set_address(host, port) != 0) {
+ return -1;
+ }
+ if (!eth->connect(_sock_fd, get_address(), port)) {
+ return -1;
+ }
+ return 0;
+}
+
+bool TCPSocketConnection::is_connected(void)
+{
+ return eth->is_connected(_sock_fd);
+}
+
+int TCPSocketConnection::send(char* data, int length)
+{
+ int size = eth->wait_writeable(_sock_fd, _blocking ? -1 : _timeout);
+ if (size < 0) {
+ return -1;
+ }
+ if (size > length) {
+ size = length;
+ }
+ return eth->send(_sock_fd, data, size);
+}
+
+// -1 if unsuccessful, else number of bytes written
+int TCPSocketConnection::send_all(char* data, int length)
+{
+ int writtenLen = 0;
+ while (writtenLen < length) {
+ int size = eth->wait_writeable(_sock_fd, _blocking ? -1 : _timeout);
+ if (size < 0) {
+ return -1;
+ }
+ if (size > (length-writtenLen)) {
+ size = (length-writtenLen);
+ }
+ int ret = eth->send(_sock_fd, data + writtenLen, size);
+ if (ret < 0) {
+ return -1;
+ }
+ writtenLen += ret;
+ }
+ return writtenLen;
+}
+
+// -1 if unsuccessful, else number of bytes received
+int TCPSocketConnection::receive(char* data, int length)
+{
+ int size = eth->wait_readable(_sock_fd, _blocking ? -1 : _timeout);
+ if (size < 0) {
+ return -1;
+ }
+ if (size > length) {
+ size = length;
+ }
+ return eth->recv(_sock_fd, data, size);
+}
+
+// -1 if unsuccessful, else number of bytes received
+int TCPSocketConnection::receive_all(char* data, int length)
+{
+ int readLen = 0;
+ while (readLen < length) {
+ int size = eth->wait_readable(_sock_fd, _blocking ? -1 :_timeout);
+ if (size <= 0) {
+ break;
+ }
+ if (size > (length - readLen)) {
+ size = length - readLen;
+ }
+ int ret = eth->recv(_sock_fd, data + readLen, size);
+ if (ret < 0) {
+ return -1;
+ }
+ readLen += ret;
+ }
+ return readLen;
+}
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Socket/TCPSocketConnection.h Mon Aug 25 12:00:15 2014 +0000
@@ -0,0 +1,78 @@
+/* Copyright (C) 2012 mbed.org, MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ * and associated documentation files (the "Software"), to deal in the Software without restriction,
+ * including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all copies or
+ * substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#ifndef TCPSOCKET_H
+#define TCPSOCKET_H
+
+#include "Socket.h"
+#include "Endpoint.h"
+
+/**
+TCP socket connection
+*/
+class TCPSocketConnection: public Socket, public Endpoint {
+ friend class TCPSocketServer;
+
+public:
+ /** TCP socket connection
+ */
+ TCPSocketConnection();
+
+ /** Connects this TCP socket to the server
+ \param host The host to connect to. It can either be an IP Address or a hostname that will be resolved with DNS.
+ \param port The host's port to connect to.
+ \return 0 on success, -1 on failure.
+ */
+ int connect(const char* host, const int port);
+
+ /** Check if the socket is connected
+ \return true if connected, false otherwise.
+ */
+ bool is_connected(void);
+
+ /** Send data to the remote host.
+ \param data The buffer to send to the host.
+ \param length The length of the buffer to send.
+ \return the number of written bytes on success (>=0) or -1 on failure
+ */
+ int send(char* data, int length);
+
+ /** Send all the data to the remote host.
+ \param data The buffer to send to the host.
+ \param length The length of the buffer to send.
+ \return the number of written bytes on success (>=0) or -1 on failure
+ */
+ int send_all(char* data, int length);
+
+ /** Receive data from the remote host.
+ \param data The buffer in which to store the data received from the host.
+ \param length The maximum length of the buffer.
+ \return the number of received bytes on success (>=0) or -1 on failure
+ */
+ int receive(char* data, int length);
+
+ /** Receive all the data from the remote host.
+ \param data The buffer in which to store the data received from the host.
+ \param length The maximum length of the buffer.
+ \return the number of received bytes on success (>=0) or -1 on failure
+ */
+ int receive_all(char* data, int length);
+};
+
+#endif
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Socket/TCPSocketServer.cpp Mon Aug 25 12:00:15 2014 +0000
@@ -0,0 +1,94 @@
+/* Copyright (C) 2012 mbed.org, MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ * and associated documentation files (the "Software"), to deal in the Software without restriction,
+ * including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all copies or
+ * substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include "TCPSocketServer.h"
+
+TCPSocketServer::TCPSocketServer() {}
+
+// Server initialization
+int TCPSocketServer::bind(int port)
+{
+
+ if (_sock_fd < 0) {
+ _sock_fd = eth->new_socket();
+ if (_sock_fd < 0) {
+ return -1;
+ }
+ }
+ // set the listen_port for next connection.
+ listen_port = port;
+ // set TCP protocol
+ eth->setProtocol(_sock_fd, TCP);
+ // set local port
+ eth->sreg<uint16_t>(_sock_fd, Sn_PORT, port);
+ // connect the network
+ eth->scmd(_sock_fd, OPEN);
+ return 0;
+}
+
+int TCPSocketServer::listen(int backlog)
+{
+ if (_sock_fd < 0) {
+ return -1;
+ }
+ if (backlog != 1) {
+ return -1;
+ }
+ eth->scmd(_sock_fd, LISTEN);
+ return 0;
+}
+
+
+int TCPSocketServer::accept(TCPSocketConnection& connection)
+{
+ if (_sock_fd < 0) {
+ return -1;
+ }
+ Timer t;
+ t.reset();
+ t.start();
+ while(1) {
+ if (t.read_ms() > _timeout && _blocking == false) {
+ return -1;
+ }
+ if (eth->sreg<uint8_t>(_sock_fd, Sn_SR) == SOCK_ESTABLISHED) {
+ break;
+ }
+ }
+ uint32_t ip = eth->sreg<uint32_t>(_sock_fd, Sn_DIPR);
+ char host[16];
+ snprintf(host, sizeof(host), "%d.%d.%d.%d", (ip>>24)&0xff, (ip>>16)&0xff, (ip>>8)&0xff, ip&0xff);
+ uint16_t port = eth->sreg<uint16_t>(_sock_fd, Sn_DPORT);
+ // change this server socket to connection socket.
+ connection._sock_fd = _sock_fd;
+ connection.set_address(host, port);
+
+ // and then, for the next connection, server socket should be assigned new one.
+ _sock_fd = -1; // want to assign new available _sock_fd.
+ if(bind(listen_port) < 0) {
+ error("No more socket for listening");
+ } else {
+ //return -1;
+ if(listen(1) < 0) {
+ error("No more socket for listening");
+ }
+ }
+
+ return 0;
+}
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Socket/TCPSocketServer.h Mon Aug 25 12:00:15 2014 +0000
@@ -0,0 +1,57 @@
+/* Copyright (C) 2012 mbed.org, MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ * and associated documentation files (the "Software"), to deal in the Software without restriction,
+ * including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all copies or
+ * substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+#ifndef TCPSOCKETSERVER_H
+#define TCPSOCKETSERVER_H
+
+#include "Socket.h"
+#include "TCPSocketConnection.h"
+
+/** TCP Server.
+ */
+class TCPSocketServer : public Socket
+{
+public:
+ /** Instantiate a TCP Server.
+ */
+ TCPSocketServer();
+
+ /** Bind a socket to a specific port.
+ \param port The port to listen for incoming connections on.
+ \return 0 on success, -1 on failure.
+ */
+ int bind(int port);
+
+ /** Start listening for incoming connections.
+ \param backlog number of pending connections that can be queued up at any
+ one time [Default: 1].
+ \return 0 on success, -1 on failure.
+ */
+ int listen(int backlog=1);
+
+ /** Accept a new connection.
+ \param connection A TCPSocketConnection instance that will handle the incoming connection.
+ \return 0 on success, -1 on failure.
+ */
+ int accept(TCPSocketConnection& connection);
+
+private :
+ int listen_port;
+};
+
+#endif
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Socket/UDPSocket.cpp Mon Aug 25 12:00:15 2014 +0000
@@ -0,0 +1,105 @@
+/* Copyright (C) 2012 mbed.org, MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ * and associated documentation files (the "Software"), to deal in the Software without restriction,
+ * including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all copies or
+ * substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include "UDPSocket.h"
+
+static int udp_local_port;
+
+UDPSocket::UDPSocket()
+{
+}
+
+// After init function, bind() should be called.
+int UDPSocket::init(void)
+{
+ if (_sock_fd < 0) {
+ _sock_fd = eth->new_socket();
+ }
+ if (eth->setProtocol(_sock_fd, UDP) == false) return -1;
+ return 0;
+}
+
+// Server initialization
+int UDPSocket::bind(int port)
+{
+ if (_sock_fd < 0) {
+ _sock_fd = eth->new_socket();
+ if (_sock_fd < 0) {
+ return -1;
+ }
+ }
+ // set local port
+ if (port != 0) {
+ eth->sreg<uint16_t>(_sock_fd, Sn_PORT, port);
+ } else {
+ udp_local_port++;
+ eth->sreg<uint16_t>(_sock_fd, Sn_PORT, udp_local_port);
+ }
+ // set udp protocol
+ eth->setProtocol(_sock_fd, UDP);
+ eth->scmd(_sock_fd, OPEN);
+ return 0;
+}
+
+// -1 if unsuccessful, else number of bytes written
+int UDPSocket::sendTo(Endpoint &remote, char *packet, int length)
+{
+ int size = eth->wait_writeable(_sock_fd, _blocking ? -1 : _timeout, length-1);
+ if (size < 0) {
+ return -1;
+ }
+ confEndpoint(remote);
+ int ret = eth->send(_sock_fd, packet, length);
+ return ret;
+}
+
+// -1 if unsuccessful, else number of bytes received
+int UDPSocket::receiveFrom(Endpoint &remote, char *buffer, int length)
+{
+ uint8_t info[8];
+ int size = eth->wait_readable(_sock_fd, _blocking ? -1 : _timeout, sizeof(info));
+ if (size < 0) {
+ return -1;
+ }
+ eth->recv(_sock_fd, (char*)info, sizeof(info));
+ readEndpoint(remote, info);
+ int udp_size = info[6]<<8|info[7];
+ //TEST_ASSERT(udp_size <= (size-sizeof(info)));
+ if (udp_size > (size-sizeof(info))) {
+ return -1;
+ }
+ return eth->recv(_sock_fd, buffer, udp_size);
+}
+
+void UDPSocket::confEndpoint(Endpoint & ep)
+{
+ char * host = ep.get_address();
+ // set remote host
+ eth->sreg_ip(_sock_fd, Sn_DIPR, host);
+ // set remote port
+ eth->sreg<uint16_t>(_sock_fd, Sn_DPORT, ep.get_port());
+}
+
+void UDPSocket::readEndpoint(Endpoint & ep, uint8_t info[])
+{
+ char addr[17];
+ snprintf(addr, sizeof(addr), "%d.%d.%d.%d", info[0], info[1], info[2], info[3]);
+ uint16_t port = info[4]<<8|info[5];
+ ep.set_address(addr, port);
+}
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/Socket/UDPSocket.h Mon Aug 25 12:00:15 2014 +0000
@@ -0,0 +1,69 @@
+/* Copyright (C) 2012 mbed.org, MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ * and associated documentation files (the "Software"), to deal in the Software without restriction,
+ * including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all copies or
+ * substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#ifndef UDPSOCKET_H
+#define UDPSOCKET_H
+
+#include "Endpoint.h"
+#include "Socket.h"
+
+/**
+UDP Socket
+*/
+class UDPSocket: public Socket {
+
+public:
+ /** Instantiate an UDP Socket.
+ */
+ UDPSocket();
+
+ /** Init the UDP Client Socket without binding it to any specific port
+ \return 0 on success, -1 on failure.
+ */
+ int init(void);
+
+ /** Bind a UDP Server Socket to a specific port
+ \param port The port to listen for incoming connections on
+ \return 0 on success, -1 on failure.
+ */
+ int bind(int port = -1);
+
+ /** Send a packet to a remote endpoint
+ \param remote The remote endpoint
+ \param packet The packet to be sent
+ \param length The length of the packet to be sent
+ \return the number of written bytes on success (>=0) or -1 on failure
+ */
+ int sendTo(Endpoint &remote, char *packet, int length);
+
+ /** Receive a packet from a remote endpoint
+ \param remote The remote endpoint
+ \param buffer The buffer for storing the incoming packet data. If a packet
+ is too long to fit in the supplied buffer, excess bytes are discarded
+ \param length The length of the buffer
+ \return the number of received bytes on success (>=0) or -1 on failure
+ */
+ int receiveFrom(Endpoint &remote, char *buffer, int length);
+
+private:
+ void confEndpoint(Endpoint & ep);
+ void readEndpoint(Endpoint & ep, uint8_t info[]);
+};
+
+#endif
+
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/WIZnet/W5100.cpp Mon Aug 25 12:00:15 2014 +0000
@@ -0,0 +1,383 @@
+/* Copyright (C) 2012 mbed.org, MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ * and associated documentation files (the "Software"), to deal in the Software without restriction,
+ * including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all copies or
+ * substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include "mbed.h"
+#include "mbed_debug.h"
+#include "wiznet.h"
+#include "DNSClient.h"
+
+#ifdef USE_W5100
+
+//Debug is disabled by default
+#if 0
+#define DBG(...) do{debug("%p %d %s ", this,__LINE__,__PRETTY_FUNCTION__); debug(__VA_ARGS__); } while(0);
+//#define DBG(x, ...) debug("[WIZnet_Chip:DBG]"x"\r\n", ##__VA_ARGS__);
+#define WARN(x, ...) debug("[WIZnet_Chip:WARN]"x"\r\n", ##__VA_ARGS__);
+#define ERR(x, ...) debug("[WIZnet_Chip:ERR]"x"\r\n", ##__VA_ARGS__);
+#else
+#define DBG(x, ...)
+#define WARN(x, ...)
+#define ERR(x, ...)
+#endif
+
+#if 1
+#define INFO(x, ...) debug("[WIZnet_Chip:INFO]"x"\r\n", ##__VA_ARGS__);
+#else
+#define INFO(x, ...)
+#endif
+
+#define DBG_SPI 0
+
+WIZnet_Chip* WIZnet_Chip::inst;
+
+WIZnet_Chip::WIZnet_Chip(PinName mosi, PinName miso, PinName sclk, PinName _cs, PinName _reset):
+ cs(_cs), reset_pin(_reset)
+{
+ spi = new SPI(mosi, miso, sclk);
+
+ spi->format(8,0);
+ spi->frequency(2000000);
+
+ cs = 1;
+ reset_pin = 1;
+ inst = this;
+}
+
+WIZnet_Chip::WIZnet_Chip(SPI* spi, PinName _cs, PinName _reset):
+ cs(_cs), reset_pin(_reset)
+{
+ this->spi = spi;
+
+ this->spi->format(8,0);
+ this->spi->frequency(2000000);
+
+ cs = 1;
+ reset_pin = 1;
+ inst = this;
+}
+
+bool WIZnet_Chip::setip()
+{
+ reg_wr<uint32_t>(SIPR, ip);
+ reg_wr<uint32_t>(GAR, gateway);
+ reg_wr<uint32_t>(SUBR, netmask);
+ return true;
+}
+
+bool WIZnet_Chip::setProtocol(int socket, Protocol p)
+{
+ if (socket < 0) {
+ return false;
+ }
+ sreg<uint8_t>(socket, Sn_MR, p);
+ return true;
+}
+
+bool WIZnet_Chip::connect(int socket, const char * host, int port, int timeout_ms)
+{
+ if (socket < 0) {
+ return false;
+ }
+ sreg<uint8_t>(socket, Sn_MR, TCP);
+ scmd(socket, OPEN);
+ sreg_ip(socket, Sn_DIPR, host);
+ sreg<uint16_t>(socket, Sn_DPORT, port);
+ sreg<uint16_t>(socket, Sn_PORT, new_port());
+ scmd(socket, CONNECT);
+ Timer t;
+ t.reset();
+ t.start();
+ while(!is_connected(socket)) {
+ if (t.read_ms() > timeout_ms) {
+ return false;
+ }
+ }
+ return true;
+}
+
+bool WIZnet_Chip::gethostbyname(const char* host, uint32_t* ip)
+{
+ uint32_t addr = str_to_ip(host);
+ char buf[17];
+ snprintf(buf, sizeof(buf), "%d.%d.%d.%d", (addr>>24)&0xff, (addr>>16)&0xff, (addr>>8)&0xff, addr&0xff);
+ if (strcmp(buf, host) == 0) {
+ *ip = addr;
+ return true;
+ }
+ DNSClient client;
+ if(client.lookup(host)) {
+ *ip = client.ip;
+ return true;
+ }
+ return false;
+}
+
+bool WIZnet_Chip::disconnect()
+{
+ return true;
+}
+
+bool WIZnet_Chip::is_connected(int socket)
+{
+ if (sreg<uint8_t>(socket, Sn_SR) == SOCK_ESTABLISHED) {
+ return true;
+ }
+ return false;
+}
+
+void WIZnet_Chip::reset()
+{
+ reset_pin = 1;
+ reset_pin = 0;
+ wait_us(2); // 2us
+ reset_pin = 1;
+ wait_ms(150); // 150ms
+
+ reg_wr<uint8_t>(MR, 1<<7);
+
+ reg_wr_mac(SHAR, mac);
+}
+
+bool WIZnet_Chip::close(int socket)
+{
+ if (socket < 0) {
+ return false;
+ }
+ // if not connected, return
+ if (sreg<uint8_t>(socket, Sn_SR) == SOCK_CLOSED) {
+ return true;
+ }
+
+ scmd(socket, CLOSE);
+ sreg<uint8_t>(socket, Sn_IR, 0xff);
+ return true;
+}
+
+int WIZnet_Chip::wait_readable(int socket, int wait_time_ms, int req_size)
+{
+ if (socket < 0) {
+ return -1;
+ }
+ Timer t;
+ t.reset();
+ t.start();
+ while(1) {
+ int size = 0; int size1 = 0;
+ do {
+ size = sreg<uint16_t>(socket, Sn_RX_RSR);
+ if (size != 0) size1 = sreg<uint16_t>(socket, Sn_RX_RSR);
+ }while(size != size1);
+
+ if (size > req_size) {
+ return size;
+ }
+ if (wait_time_ms != (-1) && t.read_ms() > wait_time_ms) {
+ break;
+ }
+ }
+ return -1;
+}
+
+int WIZnet_Chip::wait_writeable(int socket, int wait_time_ms, int req_size)
+{
+ if (socket < 0) {
+ return -1;
+ }
+ Timer t;
+ t.reset();
+ t.start();
+ while(1) {
+ int size = sreg<uint16_t>(socket, Sn_TX_FSR);
+ if (size > req_size) {
+ return size;
+ }
+ if (wait_time_ms != (-1) && t.read_ms() > wait_time_ms) {
+ break;
+ }
+ }
+ return -1;
+}
+
+int WIZnet_Chip::send(int socket, const char * str, int len)
+{
+ if (socket < 0) {
+ return -1;
+ }
+ uint16_t base = 0x4000 + socket * 0x800; // each socket has 2K buffer
+ uint16_t ptr = sreg<uint16_t>(socket, Sn_TX_WR);
+ uint16_t dst = base + (ptr&(0x800-1));
+ if ((dst + len) > (base+0x800)) {
+ int len2 = base + 0x800 - dst;
+ spi_write(dst, (uint8_t*)str, len2);
+ spi_write(base, (uint8_t*)str+len2, len-len2);
+ } else {
+ spi_write(dst, (uint8_t*)str, len);
+ }
+ sreg<uint16_t>(socket, Sn_TX_WR, ptr + len);
+ scmd(socket, SEND);
+ return len;
+}
+
+int WIZnet_Chip::recv(int socket, char* buf, int len)
+{
+ if (socket < 0) {
+ return -1;
+ }
+ uint16_t base = 0x6000 + socket * 0x800; // each socket has 2K buffer
+ uint16_t ptr = sreg<uint16_t>(socket, Sn_RX_RD);
+ uint16_t src = base + (ptr&(0x800-1));
+ if ((src + len) > (base+0x800)) {
+ int len2 = base + 0x800 - src;
+ spi_read(src, (uint8_t*)buf, len2);
+ spi_read(base, (uint8_t*)buf+len2, len-len2);
+ } else {
+ spi_read(src, (uint8_t*)buf, len);
+ }
+ sreg<uint16_t>(socket, Sn_RX_RD, ptr + len);
+ scmd(socket, RECV);
+ return len;
+}
+
+int WIZnet_Chip::new_socket()
+{
+ for(int s = 0; s < MAX_SOCK_NUM; s++) {
+ if (sreg<uint8_t>(s, Sn_SR) == SOCK_CLOSED) {
+ return s;
+ }
+ }
+ return -1;
+}
+
+uint16_t WIZnet_Chip::new_port()
+{
+ uint16_t port = rand();
+ port |= 49152;
+ return port;
+}
+
+void WIZnet_Chip::scmd(int socket, Command cmd)
+{
+ sreg<uint8_t>(socket, Sn_CR, cmd);
+ while(sreg<uint8_t>(socket, Sn_CR));
+}
+
+void WIZnet_Chip::spi_write(uint16_t addr, const uint8_t *buf, uint16_t len)
+{
+ for(int i = 0; i < len; i++) {
+ cs = 0;
+ spi->write(0xf0);
+ spi->write(addr >> 8);
+ spi->write(addr & 0xff);
+ addr++;
+ spi->write(buf[i]);
+ cs = 1;
+ }
+#if DBG_SPI
+ debug("[SPI]W %04x(%d)", addr, len);
+ for(int i = 0; i < len; i++) {
+ debug(" %02x", buf[i]);
+ if (i > 16) {
+ debug(" ...");
+ break;
+ }
+ }
+ debug("\r\n");
+#endif
+}
+
+void WIZnet_Chip::spi_read(uint16_t addr, uint8_t *buf, uint16_t len)
+{
+ for(int i = 0; i < len; i++) {
+ cs = 0;
+ spi->write(0x0f);
+ spi->write(addr >> 8);
+ spi->write(addr & 0xff);
+ addr++;
+ buf[i] = spi->write(0);
+ cs = 1;
+ }
+#if DBG_SPI
+ debug("[SPI]R %04x(%d)", addr, len);
+ for(int i = 0; i < len; i++) {
+ debug(" %02x", buf[i]);
+ if (i > 16) {
+ debug(" ...");
+ break;
+ }
+ }
+ debug("\r\n");
+ if ((addr&0xf0ff)==0x4026 || (addr&0xf0ff)==0x4003) {
+ wait_ms(200);
+ }
+#endif
+}
+
+uint32_t str_to_ip(const char* str)
+{
+ uint32_t ip = 0;
+ char* p = (char*)str;
+ for(int i = 0; i < 4; i++) {
+ ip |= atoi(p);
+ p = strchr(p, '.');
+ if (p == NULL) {
+ break;
+ }
+ ip <<= 8;
+ p++;
+ }
+ return ip;
+}
+
+void printfBytes(char* str, uint8_t* buf, int len)
+{
+ printf("%s %d:", str, len);
+ for(int i = 0; i < len; i++) {
+ printf(" %02x", buf[i]);
+ }
+ printf("\n");
+}
+
+void printHex(uint8_t* buf, int len)
+{
+ for(int i = 0; i < len; i++) {
+ if ((i%16) == 0) {
+ printf("%p", buf+i);
+ }
+ printf(" %02x", buf[i]);
+ if ((i%16) == 15) {
+ printf("\n");
+ }
+ }
+ printf("\n");
+}
+
+void debug_hex(uint8_t* buf, int len)
+{
+ for(int i = 0; i < len; i++) {
+ if ((i%16) == 0) {
+ debug("%p", buf+i);
+ }
+ debug(" %02x", buf[i]);
+ if ((i%16) == 15) {
+ debug("\n");
+ }
+ }
+ debug("\n");
+}
+
+#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/WIZnet/W5100.h Mon Aug 25 12:00:15 2014 +0000
@@ -0,0 +1,262 @@
+/* Copyright (C) 2012 mbed.org, MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ * and associated documentation files (the "Software"), to deal in the Software without restriction,
+ * including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all copies or
+ * substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ */
+
+#pragma once
+
+#include "mbed.h"
+#include "mbed_debug.h"
+
+#define TEST_ASSERT(A) while(!(A)){debug("\n\n%s@%d %s ASSERT!\n\n",__PRETTY_FUNCTION__,__LINE__,#A);exit(1);};
+
+#define DEFAULT_WAIT_RESP_TIMEOUT 500
+
+enum Protocol {
+ CLOSED = 0,
+ TCP = 1,
+ UDP = 2,
+};
+
+enum Command {
+ OPEN = 0x01,
+ LISTEN = 0x02,
+ CONNECT = 0x04,
+ DISCON = 0x08,
+ CLOSE = 0x10,
+ SEND = 0x20,
+ SEND_MAC = 0x21,
+ SEND_KEEP = 0x22,
+ RECV = 0x40,
+
+};
+
+enum Interrupt {
+ INT_CON = 0x01,
+ INT_DISCON = 0x02,
+ INT_RECV = 0x04,
+ INT_TIMEOUT = 0x08,
+ INT_SEND_OK = 0x10,
+};
+
+enum Status {
+ SOCK_CLOSED = 0x00,
+ SOCK_INIT = 0x13,
+ SOCK_LISTEN = 0x14,
+ SOCK_ESTABLISHED = 0x17,
+ SOCK_CLOSE_WAIT = 0x1c,
+ SOCK_UDP = 0x22,
+};
+
+#define MAX_SOCK_NUM 4
+
+#define MR 0x0000
+#define GAR 0x0001
+#define SUBR 0x0005
+#define SHAR 0x0009
+#define SIPR 0x000f
+
+// W5100 socket
+#define Sn_MR 0x0400
+#define Sn_CR 0x0401
+#define Sn_IR 0x0402
+#define Sn_SR 0x0403
+#define Sn_PORT 0x0404
+#define Sn_DIPR 0x040c
+#define Sn_DPORT 0x0410
+//#define Sn_RXBUF_SIZE 0x401e
+//#define Sn_TXBUF_SIZE 0x401f
+#define Sn_TX_FSR 0x0420
+#define Sn_TX_WR 0x0424
+#define Sn_RX_RSR 0x0426
+#define Sn_RX_RD 0x0428
+
+class WIZnet_Chip {
+public:
+ /*
+ * Constructor
+ *
+ * @param spi spi class
+ * @param cs cs of the W5200
+ * @param reset reset pin of the W5200
+ */
+ WIZnet_Chip(PinName mosi, PinName miso, PinName sclk, PinName cs, PinName reset);
+ WIZnet_Chip(SPI* spi, PinName cs, PinName reset);
+
+ /*
+ * Connect the W5200 module to the ssid contained in the constructor.
+ *
+ * @return true if connected, false otherwise
+ */
+ bool setip();
+
+ /*
+ * Disconnect the W5200 module from the access point
+ *
+ * @ returns true if successful
+ */
+ bool disconnect();
+
+ /*
+ * Open a tcp connection with the specified host on the specified port
+ *
+ * @param host host (can be either an ip address or a name. If a name is provided, a dns request will be established)
+ * @param port port
+ * @ returns true if successful
+ */
+ bool connect(int socket, const char * host, int port, int timeout_ms = 10*1000);
+
+ /*
+ * Set the protocol (UDP or TCP)
+ *
+ * @param p protocol
+ * @ returns true if successful
+ */
+ bool setProtocol(int socket, Protocol p);
+
+ /*
+ * Reset the W5100 module
+ */
+ void reset();
+
+
+ int wait_readable(int socket, int wait_time_ms, int req_size = 0);
+
+ int wait_writeable(int socket, int wait_time_ms, int req_size = 0);
+
+ /*
+ * Check if a tcp link is active
+ *
+ * @returns true if successful
+ */
+ bool is_connected(int socket);
+
+ /*
+ * Close a tcp connection
+ *
+ * @ returns true if successful
+ */
+ bool close(int socket);
+
+ /*
+ * @param str string to be sent
+ * @param len string length
+ */
+ int send(int socket, const char * str, int len);
+
+ int recv(int socket, char* buf, int len);
+
+ /*
+ * Return true if the module is using dhcp
+ *
+ * @returns true if the module is using dhcp
+ */
+ bool isDHCP() {
+ return dhcp;
+ }
+
+ bool gethostbyname(const char* host, uint32_t* ip);
+
+ static WIZnet_Chip * getInstance() {
+ return inst;
+ };
+
+ int new_socket();
+ uint16_t new_port();
+ void scmd(int socket, Command cmd);
+
+ template<typename T>
+ void sreg(int socket, uint16_t addr, T data) {
+ reg_wr<T>(addr+0x100*socket, data);
+ }
+
+ template<typename T>
+ T sreg(int socket, uint16_t addr) {
+ return reg_rd<T>(addr+0x100*socket);
+ }
+
+ template<typename T>
+ void reg_wr(uint16_t addr, T data) {
+ uint8_t buf[sizeof(T)];
+ *reinterpret_cast<T*>(buf) = data;
+ for(int i = 0; i < sizeof(buf)/2; i++) { // Little Endian to Big Endian
+ uint8_t t = buf[i];
+ buf[i] = buf[sizeof(buf)-1-i];
+ buf[sizeof(buf)-1-i] = t;
+ }
+ spi_write(addr, buf, sizeof(buf));
+ }
+
+ template<typename T>
+ T reg_rd(uint16_t addr) {
+ uint8_t buf[sizeof(T)];
+ spi_read(addr, buf, sizeof(buf));
+ for(int i = 0; i < sizeof(buf)/2; i++) { // Big Endian to Little Endian
+ uint8_t t = buf[i];
+ buf[i] = buf[sizeof(buf)-1-i];
+ buf[sizeof(buf)-1-i] = t;
+ }
+ return *reinterpret_cast<T*>(buf);
+ }
+
+ void reg_rd_mac(uint16_t addr, uint8_t* data) {
+ spi_read(addr, data, 6);
+ }
+
+ void reg_wr_ip(uint16_t addr, const char* ip) {
+ uint8_t buf[4];
+ char* p = (char*)ip;
+ for(int i = 0; i < 4; i++) {
+ buf[i] = atoi(p);
+ p = strchr(p, '.');
+ if (p == NULL) {
+ break;
+ }
+ p++;
+ }
+ spi_write(addr, buf, sizeof(buf));
+ }
+
+ void sreg_ip(int socket, uint16_t addr, const char* ip) {
+ reg_wr_ip(addr+0x100*socket, ip);
+ }
+
+protected:
+ uint8_t mac[6];
+ uint32_t ip;
+ uint32_t netmask;
+ uint32_t gateway;
+ uint32_t dnsaddr;
+ bool dhcp;
+
+ static WIZnet_Chip* inst;
+
+ void reg_wr_mac(uint16_t addr, uint8_t* data) {
+ spi_write(addr, data, 6);
+ }
+
+ void spi_write(uint16_t addr, const uint8_t *buf, uint16_t len);
+ void spi_read(uint16_t addr, uint8_t *buf, uint16_t len);
+ SPI* spi;
+ DigitalOut cs;
+ DigitalOut reset_pin;
+};
+
+extern uint32_t str_to_ip(const char* str);
+extern void printfBytes(char* str, uint8_t* buf, int len);
+extern void printHex(uint8_t* buf, int len);
+extern void debug_hex(uint8_t* buf, int len);
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/WIZnet/W5200.cpp Mon Aug 25 12:00:15 2014 +0000
@@ -0,0 +1,374 @@
+/* Copyright (C) 2012 mbed.org, MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ * and associated documentation files (the "Software"), to deal in the Software without restriction,
+ * including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all copies or
+ * substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include "mbed.h"
+#include "mbed_debug.h"
+#include "wiznet.h"
+#include "DNSClient.h"
+
+#ifdef USE_W5200
+
+//Debug is disabled by default
+#if 0
+#define DBG(...) do{debug("%p %d %s ", this,__LINE__,__PRETTY_FUNCTION__); debug(__VA_ARGS__); } while(0);
+//#define DBG(x, ...) debug("[WIZnet_Chip:DBG]"x"\r\n", ##__VA_ARGS__);
+#define WARN(x, ...) debug("[WIZnet_Chip:WARN]"x"\r\n", ##__VA_ARGS__);
+#define ERR(x, ...) debug("[WIZnet_Chip:ERR]"x"\r\n", ##__VA_ARGS__);
+#else
+#define DBG(x, ...)
+#define WARN(x, ...)
+#define ERR(x, ...)
+#endif
+
+#if 1
+#define INFO(x, ...) debug("[WIZnet_Chip:INFO]"x"\r\n", ##__VA_ARGS__);
+#else
+#define INFO(x, ...)
+#endif
+
+#define DBG_SPI 0
+
+WIZnet_Chip* WIZnet_Chip::inst;
+
+WIZnet_Chip::WIZnet_Chip(PinName mosi, PinName miso, PinName sclk, PinName _cs, PinName _reset):
+ cs(_cs), reset_pin(_reset)
+{
+ spi = new SPI(mosi, miso, sclk);
+ cs = 1;
+ reset_pin = 1;
+ inst = this;
+}
+
+WIZnet_Chip::WIZnet_Chip(SPI* spi, PinName _cs, PinName _reset):
+ cs(_cs), reset_pin(_reset)
+{
+ this->spi = spi;
+ cs = 1;
+ reset_pin = 1;
+ inst = this;
+}
+
+bool WIZnet_Chip::setip()
+{
+ reg_wr<uint32_t>(SIPR, ip);
+ reg_wr<uint32_t>(GAR, gateway);
+ reg_wr<uint32_t>(SUBR, netmask);
+ return true;
+}
+
+bool WIZnet_Chip::setProtocol(int socket, Protocol p)
+{
+ if (socket < 0) {
+ return false;
+ }
+ sreg<uint8_t>(socket, Sn_MR, p);
+ return true;
+}
+
+bool WIZnet_Chip::connect(int socket, const char * host, int port, int timeout_ms)
+{
+ if (socket < 0) {
+ return false;
+ }
+ sreg<uint8_t>(socket, Sn_MR, TCP);
+ scmd(socket, OPEN);
+ sreg_ip(socket, Sn_DIPR, host);
+ sreg<uint16_t>(socket, Sn_DPORT, port);
+ sreg<uint16_t>(socket, Sn_PORT, new_port());
+ scmd(socket, CONNECT);
+ Timer t;
+ t.reset();
+ t.start();
+ while(!is_connected(socket)) {
+ if (t.read_ms() > timeout_ms) {
+ return false;
+ }
+ }
+ return true;
+}
+
+bool WIZnet_Chip::gethostbyname(const char* host, uint32_t* ip)
+{
+ uint32_t addr = str_to_ip(host);
+ char buf[17];
+ snprintf(buf, sizeof(buf), "%d.%d.%d.%d", (addr>>24)&0xff, (addr>>16)&0xff, (addr>>8)&0xff, addr&0xff);
+ if (strcmp(buf, host) == 0) {
+ *ip = addr;
+ return true;
+ }
+ DNSClient client;
+ if(client.lookup(host)) {
+ *ip = client.ip;
+ return true;
+ }
+ return false;
+}
+
+bool WIZnet_Chip::disconnect()
+{
+ return true;
+}
+
+bool WIZnet_Chip::is_connected(int socket)
+{
+ if (sreg<uint8_t>(socket, Sn_SR) == SOCK_ESTABLISHED) {
+ return true;
+ }
+ return false;
+}
+
+void WIZnet_Chip::reset()
+{
+ reset_pin = 1;
+ reset_pin = 0;
+ wait_us(2); // 2us
+ reset_pin = 1;
+ wait_ms(150); // 150ms
+
+ reg_wr<uint8_t>(MR, 1<<7);
+
+ reg_wr_mac(SHAR, mac);
+}
+
+bool WIZnet_Chip::close(int socket)
+{
+ if (socket < 0) {
+ return false;
+ }
+ // if not connected, return
+ if (sreg<uint8_t>(socket, Sn_SR) == SOCK_CLOSED) {
+ return true;
+ }
+ if (sreg<uint8_t>(socket, Sn_MR) == TCP) {
+ scmd(socket, DISCON);
+ }
+ scmd(socket, CLOSE);
+ sreg<uint8_t>(socket, Sn_IR, 0xff);
+ return true;
+}
+
+int WIZnet_Chip::wait_readable(int socket, int wait_time_ms, int req_size)
+{
+ if (socket < 0) {
+ return -1;
+ }
+ Timer t;
+ t.reset();
+ t.start();
+ while(1) {
+ int size = sreg<uint16_t>(socket, Sn_RX_RSR);
+ if (size > req_size) {
+ return size;
+ }
+ if (wait_time_ms != (-1) && t.read_ms() > wait_time_ms) {
+ break;
+ }
+ }
+ return -1;
+}
+
+int WIZnet_Chip::wait_writeable(int socket, int wait_time_ms, int req_size)
+{
+ if (socket < 0) {
+ return -1;
+ }
+ Timer t;
+ t.reset();
+ t.start();
+ while(1) {
+ int size = sreg<uint16_t>(socket, Sn_TX_FSR);
+ if (size > req_size) {
+ return size;
+ }
+ if (wait_time_ms != (-1) && t.read_ms() > wait_time_ms) {
+ break;
+ }
+ }
+ return -1;
+}
+
+int WIZnet_Chip::send(int socket, const char * str, int len)
+{
+ if (socket < 0) {
+ return -1;
+ }
+ uint16_t base = 0x8000 + socket * 0x800;
+ uint16_t ptr = sreg<uint16_t>(socket, Sn_TX_WR);
+ uint16_t dst = base + (ptr&(0x800-1));
+ if ((dst + len) > (base+0x800)) {
+ int len2 = base + 0x800 - dst;
+ spi_write(dst, (uint8_t*)str, len2);
+ spi_write(base, (uint8_t*)str+len2, len-len2);
+ } else {
+ spi_write(dst, (uint8_t*)str, len);
+ }
+ sreg<uint16_t>(socket, Sn_TX_WR, ptr + len);
+ scmd(socket, SEND);
+ return len;
+}
+
+int WIZnet_Chip::recv(int socket, char* buf, int len)
+{
+ if (socket < 0) {
+ return -1;
+ }
+ uint16_t base = 0xc000 + socket * 0x800;
+ uint16_t ptr = sreg<uint16_t>(socket, Sn_RX_RD);
+ uint16_t src = base + (ptr&(0x800-1));
+ if ((src + len) > (base+0x800)) {
+ int len2 = base + 0x800 - src;
+ spi_read(src, (uint8_t*)buf, len2);
+ spi_read(base, (uint8_t*)buf+len2, len-len2);
+ } else {
+ spi_read(src, (uint8_t*)buf, len);
+ }
+ sreg<uint16_t>(socket, Sn_RX_RD, ptr + len);
+ scmd(socket, RECV);
+ return len;
+}
+
+int WIZnet_Chip::new_socket()
+{
+ for(int s = 0; s < 8; s++) {
+ if (sreg<uint8_t>(s, Sn_SR) == SOCK_CLOSED) {
+ return s;
+ }
+ }
+ return -1;
+}
+
+uint16_t WIZnet_Chip::new_port()
+{
+ uint16_t port = rand();
+ port |= 49152;
+ return port;
+}
+
+void WIZnet_Chip::scmd(int socket, Command cmd)
+{
+ sreg<uint8_t>(socket, Sn_CR, cmd);
+ while(sreg<uint8_t>(socket, Sn_CR));
+}
+
+void WIZnet_Chip::spi_write(uint16_t addr, const uint8_t *buf, uint16_t len)
+{
+ cs = 0;
+ spi->write(addr >> 8);
+ spi->write(addr & 0xff);
+ spi->write((0x80 | ((len & 0x7f00) >> 8)));
+ spi->write(len & 0xff);
+ for(int i = 0; i < len; i++) {
+ spi->write(buf[i]);
+ }
+ cs = 1;
+
+#if DBG_SPI
+ debug("[SPI]W %04x(%d)", addr, len);
+ for(int i = 0; i < len; i++) {
+ debug(" %02x", buf[i]);
+ if (i > 16) {
+ debug(" ...");
+ break;
+ }
+ }
+ debug("\r\n");
+#endif
+}
+
+void WIZnet_Chip::spi_read(uint16_t addr, uint8_t *buf, uint16_t len)
+{
+ cs = 0;
+ spi->write(addr >> 8);
+ spi->write(addr & 0xff);
+ spi->write((0x00 | ((len & 0x7f00) >> 8)));
+ spi->write(len & 0xff);
+ for(int i = 0; i < len; i++) {
+ buf[i] = spi->write(0);
+ }
+ cs = 1;
+
+#if DBG_SPI
+ debug("[SPI]R %04x(%d)", addr, len);
+ for(int i = 0; i < len; i++) {
+ debug(" %02x", buf[i]);
+ if (i > 16) {
+ debug(" ...");
+ break;
+ }
+ }
+ debug("\r\n");
+ if ((addr&0xf0ff)==0x4026 || (addr&0xf0ff)==0x4003) {
+ wait_ms(200);
+ }
+#endif
+}
+
+uint32_t str_to_ip(const char* str)
+{
+ uint32_t ip = 0;
+ char* p = (char*)str;
+ for(int i = 0; i < 4; i++) {
+ ip |= atoi(p);
+ p = strchr(p, '.');
+ if (p == NULL) {
+ break;
+ }
+ ip <<= 8;
+ p++;
+ }
+ return ip;
+}
+
+void printfBytes(char* str, uint8_t* buf, int len)
+{
+ printf("%s %d:", str, len);
+ for(int i = 0; i < len; i++) {
+ printf(" %02x", buf[i]);
+ }
+ printf("\n");
+}
+
+void printHex(uint8_t* buf, int len)
+{
+ for(int i = 0; i < len; i++) {
+ if ((i%16) == 0) {
+ printf("%p", buf+i);
+ }
+ printf(" %02x", buf[i]);
+ if ((i%16) == 15) {
+ printf("\n");
+ }
+ }
+ printf("\n");
+}
+
+void debug_hex(uint8_t* buf, int len)
+{
+ for(int i = 0; i < len; i++) {
+ if ((i%16) == 0) {
+ debug("%p", buf+i);
+ }
+ debug(" %02x", buf[i]);
+ if ((i%16) == 15) {
+ debug("\n");
+ }
+ }
+ debug("\n");
+}
+
+#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/WIZnet/W5200.h Mon Aug 25 12:00:15 2014 +0000
@@ -0,0 +1,264 @@
+/* Copyright (C) 2012 mbed.org, MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ * and associated documentation files (the "Software"), to deal in the Software without restriction,
+ * including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all copies or
+ * substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ */
+
+#pragma once
+
+#include "mbed.h"
+#include "mbed_debug.h"
+
+#define TEST_ASSERT(A) while(!(A)){debug("\n\n%s@%d %s ASSERT!\n\n",__PRETTY_FUNCTION__,__LINE__,#A);exit(1);};
+
+#define DEFAULT_WAIT_RESP_TIMEOUT 500
+
+enum Protocol {
+ CLOSED = 0,
+ TCP = 1,
+ UDP = 2,
+};
+
+enum Command {
+ OPEN = 0x01,
+ LISTEN = 0x02,
+ CONNECT = 0x04,
+ DISCON = 0x08,
+ CLOSE = 0x10,
+ SEND = 0x20,
+ SEND_MAC = 0x21,
+ SEND_KEEP = 0x22,
+ RECV = 0x40,
+
+};
+
+enum Interrupt {
+ INT_CON = 0x01,
+ INT_DISCON = 0x02,
+ INT_RECV = 0x04,
+ INT_TIMEOUT = 0x08,
+ INT_SEND_OK = 0x10,
+};
+
+enum Status {
+ SOCK_CLOSED = 0x00,
+ SOCK_INIT = 0x13,
+ SOCK_LISTEN = 0x14,
+ SOCK_SYNSENT = 0x15,
+ SOCK_ESTABLISHED = 0x17,
+ SOCK_CLOSE_WAIT = 0x1c,
+ SOCK_UDP = 0x22,
+};
+
+#define MAX_SOCK_NUM 8
+
+#define MR 0x0000
+#define GAR 0x0001
+#define SUBR 0x0005
+#define SHAR 0x0009
+#define SIPR 0x000f
+#define PHYSTATUS 0x0035
+
+// W5200 socket
+#define Sn_MR 0x4000
+#define Sn_CR 0x4001
+#define Sn_IR 0x4002
+#define Sn_SR 0x4003
+#define Sn_PORT 0x4004
+#define Sn_DIPR 0x400c
+#define Sn_DPORT 0x4010
+#define Sn_RXBUF_SIZE 0x401e
+#define Sn_TXBUF_SIZE 0x401f
+#define Sn_TX_FSR 0x4020
+#define Sn_TX_WR 0x4024
+#define Sn_RX_RSR 0x4026
+#define Sn_RX_RD 0x4028
+
+class WIZnet_Chip {
+public:
+ /*
+ * Constructor
+ *
+ * @param spi spi class
+ * @param cs cs of the W5200
+ * @param reset reset pin of the W5200
+ */
+ WIZnet_Chip(PinName mosi, PinName miso, PinName sclk, PinName cs, PinName reset);
+ WIZnet_Chip(SPI* spi, PinName cs, PinName reset);
+
+ /*
+ * Connect the W5200 module to the ssid contained in the constructor.
+ *
+ * @return true if connected, false otherwise
+ */
+ bool setip();
+
+ /*
+ * Disconnect the W5200 module from the access point
+ *
+ * @ returns true if successful
+ */
+ bool disconnect();
+
+ /*
+ * Open a tcp connection with the specified host on the specified port
+ *
+ * @param host host (can be either an ip address or a name. If a name is provided, a dns request will be established)
+ * @param port port
+ * @ returns true if successful
+ */
+ bool connect(int socket, const char * host, int port, int timeout_ms = 10*1000);
+
+ /*
+ * Set the protocol (UDP or TCP)
+ *
+ * @param p protocol
+ * @ returns true if successful
+ */
+ bool setProtocol(int socket, Protocol p);
+
+ /*
+ * Reset the W5200 module
+ */
+ void reset();
+
+
+ int wait_readable(int socket, int wait_time_ms, int req_size = 0);
+
+ int wait_writeable(int socket, int wait_time_ms, int req_size = 0);
+
+ /*
+ * Check if a tcp link is active
+ *
+ * @returns true if successful
+ */
+ bool is_connected(int socket);
+
+ /*
+ * Close a tcp connection
+ *
+ * @ returns true if successful
+ */
+ bool close(int socket);
+
+ /*
+ * @param str string to be sent
+ * @param len string length
+ */
+ int send(int socket, const char * str, int len);
+
+ int recv(int socket, char* buf, int len);
+
+ /*
+ * Return true if the module is using dhcp
+ *
+ * @returns true if the module is using dhcp
+ */
+ bool isDHCP() {
+ return dhcp;
+ }
+
+ bool gethostbyname(const char* host, uint32_t* ip);
+
+ static WIZnet_Chip * getInstance() {
+ return inst;
+ };
+
+ int new_socket();
+ uint16_t new_port();
+ void scmd(int socket, Command cmd);
+
+ template<typename T>
+ void sreg(int socket, uint16_t addr, T data) {
+ reg_wr<T>(addr+0x100*socket, data);
+ }
+
+ template<typename T>
+ T sreg(int socket, uint16_t addr) {
+ return reg_rd<T>(addr+0x100*socket);
+ }
+
+ template<typename T>
+ void reg_wr(uint16_t addr, T data) {
+ uint8_t buf[sizeof(T)];
+ *reinterpret_cast<T*>(buf) = data;
+ for(int i = 0; i < sizeof(buf)/2; i++) { // Little Endian to Big Endian
+ uint8_t t = buf[i];
+ buf[i] = buf[sizeof(buf)-1-i];
+ buf[sizeof(buf)-1-i] = t;
+ }
+ spi_write(addr, buf, sizeof(buf));
+ }
+
+ template<typename T>
+ T reg_rd(uint16_t addr) {
+ uint8_t buf[sizeof(T)];
+ spi_read(addr, buf, sizeof(buf));
+ for(int i = 0; i < sizeof(buf)/2; i++) { // Big Endian to Little Endian
+ uint8_t t = buf[i];
+ buf[i] = buf[sizeof(buf)-1-i];
+ buf[sizeof(buf)-1-i] = t;
+ }
+ return *reinterpret_cast<T*>(buf);
+ }
+
+ void reg_rd_mac(uint16_t addr, uint8_t* data) {
+ spi_read(addr, data, 6);
+ }
+
+ void reg_wr_ip(uint16_t addr, const char* ip) {
+ uint8_t buf[4];
+ char* p = (char*)ip;
+ for(int i = 0; i < 4; i++) {
+ buf[i] = atoi(p);
+ p = strchr(p, '.');
+ if (p == NULL) {
+ break;
+ }
+ p++;
+ }
+ spi_write(addr, buf, sizeof(buf));
+ }
+
+ void sreg_ip(int socket, uint16_t addr, const char* ip) {
+ reg_wr_ip(addr+0x100*socket, ip);
+ }
+
+protected:
+ uint8_t mac[6];
+ uint32_t ip;
+ uint32_t netmask;
+ uint32_t gateway;
+ uint32_t dnsaddr;
+ bool dhcp;
+
+ static WIZnet_Chip* inst;
+
+ void reg_wr_mac(uint16_t addr, uint8_t* data) {
+ spi_write(addr, data, 6);
+ }
+
+ void spi_write(uint16_t addr, const uint8_t *buf, uint16_t len);
+ void spi_read(uint16_t addr, uint8_t *buf, uint16_t len);
+ SPI* spi;
+ DigitalOut cs;
+ DigitalOut reset_pin;
+};
+
+extern uint32_t str_to_ip(const char* str);
+extern void printfBytes(char* str, uint8_t* buf, int len);
+extern void printHex(uint8_t* buf, int len);
+extern void debug_hex(uint8_t* buf, int len);
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/WIZnet/W5500.cpp Mon Aug 25 12:00:15 2014 +0000
@@ -0,0 +1,421 @@
+/* Copyright (C) 2012 mbed.org, MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ * and associated documentation files (the "Software"), to deal in the Software without restriction,
+ * including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all copies or
+ * substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include "mbed.h"
+#include "mbed_debug.h"
+#include "wiznet.h"
+#include "DNSClient.h"
+
+#ifdef USE_W5500
+//Debug is disabled by default
+#if 0
+#define DBG(...) do{debug("%p %d %s ", this,__LINE__,__PRETTY_FUNCTION__); debug(__VA_ARGS__); } while(0);
+//#define DBG(x, ...) debug("[W5500:DBG]"x"\r\n", ##__VA_ARGS__);
+#define WARN(x, ...) debug("[W5500:WARN]"x"\r\n", ##__VA_ARGS__);
+#define ERR(x, ...) debug("[W5500:ERR]"x"\r\n", ##__VA_ARGS__);
+#else
+#define DBG(x, ...)
+#define WARN(x, ...)
+#define ERR(x, ...)
+#endif
+
+#if 1
+#define INFO(x, ...) debug("[W5500:INFO]"x"\r\n", ##__VA_ARGS__);
+#else
+#define INFO(x, ...)
+#endif
+
+#define DBG_SPI 0
+
+WIZnet_Chip* WIZnet_Chip::inst;
+
+WIZnet_Chip::WIZnet_Chip(PinName mosi, PinName miso, PinName sclk, PinName _cs, PinName _reset):
+ cs(_cs), reset_pin(_reset)
+{
+ spi = new SPI(mosi, miso, sclk);
+ cs = 1;
+ reset_pin = 1;
+ inst = this;
+}
+
+WIZnet_Chip::WIZnet_Chip(SPI* spi, PinName _cs, PinName _reset):
+ cs(_cs), reset_pin(_reset)
+{
+ this->spi = spi;
+ cs = 1;
+ reset_pin = 1;
+ inst = this;
+}
+
+// Set the IP
+bool WIZnet_Chip::setip()
+{
+ reg_wr<uint32_t>(SIPR, ip);
+ reg_wr<uint32_t>(GAR, gateway);
+ reg_wr<uint32_t>(SUBR, netmask);
+ return true;
+}
+
+bool WIZnet_Chip::setProtocol(int socket, Protocol p)
+{
+ if (socket < 0) {
+ return false;
+ }
+ sreg<uint8_t>(socket, Sn_MR, p);
+ return true;
+}
+
+bool WIZnet_Chip::connect(int socket, const char * host, int port, int timeout_ms)
+{
+ if (socket < 0) {
+ return false;
+ }
+ sreg<uint8_t>(socket, Sn_MR, TCP);
+ scmd(socket, OPEN);
+ sreg_ip(socket, Sn_DIPR, host);
+ sreg<uint16_t>(socket, Sn_DPORT, port);
+ sreg<uint16_t>(socket, Sn_PORT, new_port());
+ scmd(socket, CONNECT);
+ Timer t;
+ t.reset();
+ t.start();
+ while(!is_connected(socket)) {
+ if (t.read_ms() > timeout_ms) {
+ return false;
+ }
+ }
+ return true;
+}
+
+bool WIZnet_Chip::gethostbyname(const char* host, uint32_t* ip)
+{
+ uint32_t addr = str_to_ip(host);
+ char buf[17];
+ snprintf(buf, sizeof(buf), "%d.%d.%d.%d", (addr>>24)&0xff, (addr>>16)&0xff, (addr>>8)&0xff, addr&0xff);
+ if (strcmp(buf, host) == 0) {
+ *ip = addr;
+ return true;
+ }
+ DNSClient client;
+ if(client.lookup(host)) {
+ *ip = client.ip;
+ return true;
+ }
+ return false;
+}
+
+bool WIZnet_Chip::disconnect()
+{
+ return true;
+}
+
+bool WIZnet_Chip::is_connected(int socket)
+{
+ /*
+ if (sreg<uint8_t>(socket, Sn_SR) == SOCK_ESTABLISHED) {
+ return true;
+ }
+ */
+ uint8_t tmpSn_SR;
+ tmpSn_SR = sreg<uint8_t>(socket, Sn_SR);
+ // packet sending is possible, when state is SOCK_CLOSE_WAIT.
+ if ((tmpSn_SR == SOCK_ESTABLISHED) || (tmpSn_SR == SOCK_CLOSE_WAIT)) {
+ return true;
+ }
+ return false;
+}
+
+// Reset the chip & set the buffer
+void WIZnet_Chip::reset()
+{
+ reset_pin = 1;
+ reset_pin = 0;
+ wait_us(500); // 500us (w5500)
+ reset_pin = 1;
+ wait_ms(400); // 400ms (w5500)
+
+#if defined(USE_WIZ550IO_MAC)
+ reg_rd_mac(SHAR, mac); // read the MAC address inside the module
+#endif
+
+ reg_wr_mac(SHAR, mac);
+
+ // set RX and TX buffer size
+ for (int socket = 0; socket < MAX_SOCK_NUM; socket++) {
+ sreg<uint8_t>(socket, Sn_RXBUF_SIZE, 2);
+ sreg<uint8_t>(socket, Sn_TXBUF_SIZE, 2);
+ }
+}
+
+
+bool WIZnet_Chip::close(int socket)
+{
+ if (socket < 0) {
+ return false;
+ }
+ // if not connected, return
+ if (sreg<uint8_t>(socket, Sn_SR) == SOCK_CLOSED) {
+ return true;
+ }
+ if (sreg<uint8_t>(socket, Sn_MR) == TCP) {
+ scmd(socket, DISCON);
+ }
+ scmd(socket, CLOSE);
+ sreg<uint8_t>(socket, Sn_IR, 0xff);
+ return true;
+}
+
+int WIZnet_Chip::wait_readable(int socket, int wait_time_ms, int req_size)
+{
+ if (socket < 0) {
+ return -1;
+ }
+ Timer t;
+ t.reset();
+ t.start();
+ while(1) {
+ //int size = sreg<uint16_t>(socket, Sn_RX_RSR);
+ // during the reading Sn_RX_RXR, it has the possible change of this register.
+ // so read twice and get same value then use size information.
+ int size, size2;
+ do {
+ size = sreg<uint16_t>(socket, Sn_RX_RSR);
+ size2 = sreg<uint16_t>(socket, Sn_RX_RSR);
+ } while (size != size2);
+
+ if (size > req_size) {
+ return size;
+ }
+ if (wait_time_ms != (-1) && t.read_ms() > wait_time_ms) {
+ break;
+ }
+ }
+ return -1;
+}
+
+int WIZnet_Chip::wait_writeable(int socket, int wait_time_ms, int req_size)
+{
+ if (socket < 0) {
+ return -1;
+ }
+ Timer t;
+ t.reset();
+ t.start();
+ while(1) {
+ //int size = sreg<uint16_t>(socket, Sn_TX_FSR);
+ // during the reading Sn_TX_FSR, it has the possible change of this register.
+ // so read twice and get same value then use size information.
+ int size, size2;
+ do {
+ size = sreg<uint16_t>(socket, Sn_TX_FSR);
+ size2 = sreg<uint16_t>(socket, Sn_TX_FSR);
+ } while (size != size2);
+
+ if (size > req_size) {
+ return size;
+ }
+ if (wait_time_ms != (-1) && t.read_ms() > wait_time_ms) {
+ break;
+ }
+ }
+ return -1;
+}
+
+int WIZnet_Chip::send(int socket, const char * str, int len)
+{
+ if (socket < 0) {
+ return -1;
+ }
+ uint16_t ptr = sreg<uint16_t>(socket, Sn_TX_WR);
+ uint8_t cntl_byte = (0x14 + (socket << 5));
+ spi_write(ptr, cntl_byte, (uint8_t*)str, len);
+ sreg<uint16_t>(socket, Sn_TX_WR, ptr + len);
+ scmd(socket, SEND);
+ uint8_t tmp_Sn_IR;
+ while (( (tmp_Sn_IR = sreg<uint8_t>(socket, Sn_IR)) & INT_SEND_OK) != INT_SEND_OK) {
+ // @Jul.10, 2014 fix contant name, and udp sendto function.
+ switch (sreg<uint8_t>(socket, Sn_SR)) {
+ case SOCK_CLOSED :
+ close(socket);
+ return 0;
+ //break;
+ case SOCK_UDP :
+ // ARP timeout is possible.
+ if ((tmp_Sn_IR & INT_TIMEOUT) == INT_TIMEOUT) {
+ sreg<uint8_t>(socket, Sn_IR, INT_TIMEOUT);
+ return 0;
+ }
+ break;
+ default :
+ break;
+ }
+ }
+ /*
+ while ((sreg<uint8_t>(socket, Sn_IR) & INT_SEND_OK) != INT_SEND_OK) {
+ if (sreg<uint8_t>(socket, Sn_SR) == CLOSED) {
+ close(socket);
+ return 0;
+ }
+ }
+ */
+ sreg<uint8_t>(socket, Sn_IR, INT_SEND_OK);
+
+ return len;
+}
+
+int WIZnet_Chip::recv(int socket, char* buf, int len)
+{
+ if (socket < 0) {
+ return -1;
+ }
+ uint16_t ptr = sreg<uint16_t>(socket, Sn_RX_RD);
+ uint8_t cntl_byte = (0x18 + (socket << 5));
+ spi_read(ptr, cntl_byte, (uint8_t*)buf, len);
+ sreg<uint16_t>(socket, Sn_RX_RD, ptr + len);
+ scmd(socket, RECV);
+ return len;
+}
+
+int WIZnet_Chip::new_socket()
+{
+ for(int s = 0; s < MAX_SOCK_NUM; s++) {
+ if (sreg<uint8_t>(s, Sn_SR) == SOCK_CLOSED) {
+ return s;
+ }
+ }
+ return -1;
+}
+
+uint16_t WIZnet_Chip::new_port()
+{
+ uint16_t port = rand();
+ port |= 49152;
+ return port;
+}
+
+void WIZnet_Chip::scmd(int socket, Command cmd)
+{
+ sreg<uint8_t>(socket, Sn_CR, cmd);
+ while(sreg<uint8_t>(socket, Sn_CR));
+}
+
+void WIZnet_Chip::spi_write(uint16_t addr, uint8_t cb, const uint8_t *buf, uint16_t len)
+{
+ cs = 0;
+ spi->write(addr >> 8);
+ spi->write(addr & 0xff);
+ spi->write(cb);
+ for(int i = 0; i < len; i++) {
+ spi->write(buf[i]);
+ }
+ cs = 1;
+
+#if DBG_SPI
+ debug("[SPI]W %04x(%02x %d)", addr, cb, len);
+ for(int i = 0; i < len; i++) {
+ debug(" %02x", buf[i]);
+ if (i > 16) {
+ debug(" ...");
+ break;
+ }
+ }
+ debug("\r\n");
+#endif
+}
+
+void WIZnet_Chip::spi_read(uint16_t addr, uint8_t cb, uint8_t *buf, uint16_t len)
+{
+ cs = 0;
+ spi->write(addr >> 8);
+ spi->write(addr & 0xff);
+ spi->write(cb);
+ for(int i = 0; i < len; i++) {
+ buf[i] = spi->write(0);
+ }
+ cs = 1;
+
+#if DBG_SPI
+ debug("[SPI]R %04x(%02x %d)", addr, cb, len);
+ for(int i = 0; i < len; i++) {
+ debug(" %02x", buf[i]);
+ if (i > 16) {
+ debug(" ...");
+ break;
+ }
+ }
+ debug("\r\n");
+ if ((addr&0xf0ff)==0x4026 || (addr&0xf0ff)==0x4003) {
+ wait_ms(200);
+ }
+#endif
+}
+
+uint32_t str_to_ip(const char* str)
+{
+ uint32_t ip = 0;
+ char* p = (char*)str;
+ for(int i = 0; i < 4; i++) {
+ ip |= atoi(p);
+ p = strchr(p, '.');
+ if (p == NULL) {
+ break;
+ }
+ ip <<= 8;
+ p++;
+ }
+ return ip;
+}
+
+void printfBytes(char* str, uint8_t* buf, int len)
+{
+ printf("%s %d:", str, len);
+ for(int i = 0; i < len; i++) {
+ printf(" %02x", buf[i]);
+ }
+ printf("\n");
+}
+
+void printHex(uint8_t* buf, int len)
+{
+ for(int i = 0; i < len; i++) {
+ if ((i%16) == 0) {
+ printf("%p", buf+i);
+ }
+ printf(" %02x", buf[i]);
+ if ((i%16) == 15) {
+ printf("\n");
+ }
+ }
+ printf("\n");
+}
+
+void debug_hex(uint8_t* buf, int len)
+{
+ for(int i = 0; i < len; i++) {
+ if ((i%16) == 0) {
+ debug("%p", buf+i);
+ }
+ debug(" %02x", buf[i]);
+ if ((i%16) == 15) {
+ debug("\n");
+ }
+ }
+ debug("\n");
+}
+
+#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/WIZnet/W5500.h Mon Aug 25 12:00:15 2014 +0000
@@ -0,0 +1,273 @@
+/* Copyright (C) 2012 mbed.org, MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ * and associated documentation files (the "Software"), to deal in the Software without restriction,
+ * including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all copies or
+ * substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ *
+ */
+
+#pragma once
+
+#include "mbed.h"
+#include "mbed_debug.h"
+
+#define TEST_ASSERT(A) while(!(A)){debug("\n\n%s@%d %s ASSERT!\n\n",__PRETTY_FUNCTION__,__LINE__,#A);exit(1);};
+
+#define DEFAULT_WAIT_RESP_TIMEOUT 500
+
+enum Protocol {
+ CLOSED = 0,
+ TCP = 1,
+ UDP = 2,
+};
+
+enum Command {
+ OPEN = 0x01,
+ LISTEN = 0x02,
+ CONNECT = 0x04,
+ DISCON = 0x08,
+ CLOSE = 0x10,
+ SEND = 0x20,
+ SEND_MAC = 0x21,
+ SEND_KEEP = 0x22,
+ RECV = 0x40,
+
+};
+
+enum Interrupt {
+ INT_CON = 0x01,
+ INT_DISCON = 0x02,
+ INT_RECV = 0x04,
+ INT_TIMEOUT = 0x08,
+ INT_SEND_OK = 0x10,
+};
+
+enum Status {
+ SOCK_CLOSED = 0x00,
+ SOCK_INIT = 0x13,
+ SOCK_LISTEN = 0x14,
+ SOCK_SYNSENT = 0x15,
+ SOCK_ESTABLISHED = 0x17,
+ SOCK_CLOSE_WAIT = 0x1c,
+ SOCK_UDP = 0x22,
+};
+
+#define MAX_SOCK_NUM 8
+
+#define MR 0x0000
+#define GAR 0x0001
+#define SUBR 0x0005
+#define SHAR 0x0009
+#define SIPR 0x000f
+#define PHYSTATUS 0x0035
+
+// W5500 socket register
+#define Sn_MR 0x0000
+#define Sn_CR 0x0001
+#define Sn_IR 0x0002
+#define Sn_SR 0x0003
+#define Sn_PORT 0x0004
+#define Sn_DIPR 0x000c
+#define Sn_DPORT 0x0010
+#define Sn_RXBUF_SIZE 0x001e
+#define Sn_TXBUF_SIZE 0x001f
+#define Sn_TX_FSR 0x0020
+#define Sn_TX_WR 0x0024
+#define Sn_RX_RSR 0x0026
+#define Sn_RX_RD 0x0028
+
+class WIZnet_Chip {
+public:
+ /*
+ * Constructor
+ *
+ * @param spi spi class
+ * @param cs cs of the W5500
+ * @param reset reset pin of the W5500
+ */
+ WIZnet_Chip(PinName mosi, PinName miso, PinName sclk, PinName cs, PinName reset);
+ WIZnet_Chip(SPI* spi, PinName cs, PinName reset);
+
+ /*
+ * Connect the W5500 to the ssid contained in the constructor.
+ *
+ * @return true if connected, false otherwise
+ */
+ bool setip();
+
+ /*
+ * Disconnect the connection
+ *
+ * @ returns true
+ */
+ bool disconnect();
+
+ /*
+ * Open a tcp connection with the specified host on the specified port
+ *
+ * @param host host (can be either an ip address or a name. If a name is provided, a dns request will be established)
+ * @param port port
+ * @ returns true if successful
+ */
+ bool connect(int socket, const char * host, int port, int timeout_ms = 10*1000);
+
+ /*
+ * Set the protocol (UDP or TCP)
+ *
+ * @param p protocol
+ * @ returns true if successful
+ */
+ bool setProtocol(int socket, Protocol p);
+
+ /*
+ * Reset the W5500
+ */
+ void reset();
+
+ int wait_readable(int socket, int wait_time_ms, int req_size = 0);
+
+ int wait_writeable(int socket, int wait_time_ms, int req_size = 0);
+
+ /*
+ * Check if a tcp link is active
+ *
+ * @returns true if successful
+ */
+ bool is_connected(int socket);
+
+ /*
+ * Close a tcp connection
+ *
+ * @ returns true if successful
+ */
+ bool close(int socket);
+
+ /*
+ * @param str string to be sent
+ * @param len string length
+ */
+ int send(int socket, const char * str, int len);
+
+ int recv(int socket, char* buf, int len);
+
+ /*
+ * Return true if the module is using dhcp
+ *
+ * @returns true if the module is using dhcp
+ */
+ bool isDHCP() {
+ return dhcp;
+ }
+
+ bool gethostbyname(const char* host, uint32_t* ip);
+
+ static WIZnet_Chip * getInstance() {
+ return inst;
+ };
+
+ int new_socket();
+ uint16_t new_port();
+ void scmd(int socket, Command cmd);
+
+ template<typename T>
+ void sreg(int socket, uint16_t addr, T data) {
+ reg_wr<T>(addr, (0x0C + (socket << 5)), data);
+ }
+
+ template<typename T>
+ T sreg(int socket, uint16_t addr) {
+ return reg_rd<T>(addr, (0x08 + (socket << 5)));
+ }
+
+ template<typename T>
+ void reg_wr(uint16_t addr, T data) {
+ return reg_wr(addr, 0x04, data);
+ }
+
+ template<typename T>
+ void reg_wr(uint16_t addr, uint8_t cb, T data) {
+ uint8_t buf[sizeof(T)];
+ *reinterpret_cast<T*>(buf) = data;
+ for(int i = 0; i < sizeof(buf)/2; i++) { // Little Endian to Big Endian
+ uint8_t t = buf[i];
+ buf[i] = buf[sizeof(buf)-1-i];
+ buf[sizeof(buf)-1-i] = t;
+ }
+ spi_write(addr, cb, buf, sizeof(buf));
+ }
+
+ template<typename T>
+ T reg_rd(uint16_t addr) {
+ return reg_rd<T>(addr, 0x00);
+ }
+
+ template<typename T>
+ T reg_rd(uint16_t addr, uint8_t cb) {
+ uint8_t buf[sizeof(T)];
+ spi_read(addr, cb, buf, sizeof(buf));
+ for(int i = 0; i < sizeof(buf)/2; i++) { // Big Endian to Little Endian
+ uint8_t t = buf[i];
+ buf[i] = buf[sizeof(buf)-1-i];
+ buf[sizeof(buf)-1-i] = t;
+ }
+ return *reinterpret_cast<T*>(buf);
+ }
+
+ void reg_rd_mac(uint16_t addr, uint8_t* data) {
+ spi_read(addr, 0x00, data, 6);
+ }
+
+ void reg_wr_ip(uint16_t addr, uint8_t cb, const char* ip) {
+ uint8_t buf[4];
+ char* p = (char*)ip;
+ for(int i = 0; i < 4; i++) {
+ buf[i] = atoi(p);
+ p = strchr(p, '.');
+ if (p == NULL) {
+ break;
+ }
+ p++;
+ }
+ spi_write(addr, cb, buf, sizeof(buf));
+ }
+
+ void sreg_ip(int socket, uint16_t addr, const char* ip) {
+ reg_wr_ip(addr, (0x0C + (socket << 5)), ip);
+ }
+
+protected:
+ uint8_t mac[6];
+ uint32_t ip;
+ uint32_t netmask;
+ uint32_t gateway;
+ uint32_t dnsaddr;
+ bool dhcp;
+
+ static WIZnet_Chip* inst;
+
+ void reg_wr_mac(uint16_t addr, uint8_t* data) {
+ spi_write(addr, 0x04, data, 6);
+ }
+
+ void spi_write(uint16_t addr, uint8_t cb, const uint8_t *buf, uint16_t len);
+ void spi_read(uint16_t addr, uint8_t cb, uint8_t *buf, uint16_t len);
+ SPI* spi;
+ DigitalOut cs;
+ DigitalOut reset_pin;
+};
+
+extern uint32_t str_to_ip(const char* str);
+extern void printfBytes(char* str, uint8_t* buf, int len);
+extern void printHex(uint8_t* buf, int len);
+extern void debug_hex(uint8_t* buf, int len);
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/WIZnet/wiznet.h Mon Aug 25 12:00:15 2014 +0000 @@ -0,0 +1,43 @@ +/* Copyright (C) 2012 mbed.org, MIT License + * + * Permission is hereby granted, free of charge, to any person obtaining a copy of this software + * and associated documentation files (the "Software"), to deal in the Software without restriction, + * including without limitation the rights to use, copy, modify, merge, publish, distribute, + * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is + * furnished to do so, subject to the following conditions: + * + * The above copyright notice and this permission notice shall be included in all copies or + * substantial portions of the Software. + * + * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING + * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND + * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, + * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + * + */ + +#pragma once + +#include "mbed.h" +#include "mbed_debug.h" + +#define USE_W5500 +//#define USE_W5200 +//#define USE_W5100 + +#if defined(USE_W5500) +#include "W5500.h" + +//#define USE_WIZ550IO_MAC // using the MAC address stored in the WIZ550io + +#endif + +#if defined(USE_W5200) +#include "W5200.h" +#endif + +#if defined(USE_W5100) +#include "W5100.h" + +#endif
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/WIZnetInterface.cpp Mon Aug 25 12:00:15 2014 +0000
@@ -0,0 +1,123 @@
+/* Copyright (C) 2012 mbed.org, MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ * and associated documentation files (the "Software"), to deal in the Software without restriction,
+ * including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all copies or
+ * substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include "WIZnetInterface.h"
+#include "DHCPClient.h"
+
+WIZnetInterface::WIZnetInterface(PinName mosi, PinName miso, PinName sclk, PinName cs, PinName reset) :
+ WIZnet_Chip(mosi, miso, sclk, cs, reset)
+{
+ ip_set = false;
+}
+
+WIZnetInterface::WIZnetInterface(SPI* spi, PinName cs, PinName reset) :
+ WIZnet_Chip(spi, cs, reset)
+{
+ ip_set = false;
+}
+
+int WIZnetInterface::init(uint8_t * mac)
+{
+ dhcp = true;
+ //
+ for (int i =0; i < 6; i++) this->mac[i] = mac[i];
+ //
+ reset();
+ return 0;
+}
+
+int WIZnetInterface::init(uint8_t * mac, const char* ip, const char* mask, const char* gateway)
+{
+ dhcp = false;
+ //
+ for (int i =0; i < 6; i++) this->mac[i] = mac[i];
+ //
+ this->ip = str_to_ip(ip);
+ strcpy(ip_string, ip);
+ ip_set = true;
+ this->netmask = str_to_ip(mask);
+ this->gateway = str_to_ip(gateway);
+ reset();
+ return 0;
+}
+
+// Connect Bring the interface up, start DHCP if needed.
+int WIZnetInterface::connect()
+{
+ if (dhcp) {
+ int r = IPrenew();
+ if (r < 0) {
+ return r;
+ }
+ }
+
+ if (WIZnet_Chip::setip() == false) return -1;
+ return 0;
+}
+
+// Disconnect Bring the interface down.
+int WIZnetInterface::disconnect()
+{
+ if (WIZnet_Chip::disconnect() == false) return -1;
+ return 0;
+}
+
+char* WIZnetInterface::getIPAddress()
+{
+ uint32_t ip = reg_rd<uint32_t>(SIPR);
+ snprintf(ip_string, sizeof(ip_string), "%d.%d.%d.%d", (ip>>24)&0xff, (ip>>16)&0xff, (ip>>8)&0xff, ip&0xff);
+ return ip_string;
+}
+
+char* WIZnetInterface::getNetworkMask()
+{
+ uint32_t ip = reg_rd<uint32_t>(SUBR);
+ snprintf(mask_string, sizeof(mask_string), "%d.%d.%d.%d", (ip>>24)&0xff, (ip>>16)&0xff, (ip>>8)&0xff, ip&0xff);
+ return mask_string;
+}
+
+char* WIZnetInterface::getGateway()
+{
+ uint32_t ip = reg_rd<uint32_t>(GAR);
+ snprintf(gw_string, sizeof(gw_string), "%d.%d.%d.%d", (ip>>24)&0xff, (ip>>16)&0xff, (ip>>8)&0xff, ip&0xff);
+ return gw_string;
+}
+
+char* WIZnetInterface::getMACAddress()
+{
+ uint8_t mac[6];
+ reg_rd_mac(SHAR, mac);
+ snprintf(mac_string, sizeof(mac_string), "%02X:%02X:%02X:%02X:%02X:%02X", mac[0], mac[1], mac[2], mac[3], mac[4], mac[5]);
+ return mac_string;
+
+}
+
+int WIZnetInterface::IPrenew(int timeout_ms)
+{
+ DHCPClient dhcp;
+ int err = dhcp.setup(timeout_ms);
+ if (err == (-1)) {
+ return -1;
+ }
+// printf("Connected, IP: %d.%d.%d.%d\n", dhcp.yiaddr[0], dhcp.yiaddr[1], dhcp.yiaddr[2], dhcp.yiaddr[3]);
+ ip = (dhcp.yiaddr[0] <<24) | (dhcp.yiaddr[1] <<16) | (dhcp.yiaddr[2] <<8) | dhcp.yiaddr[3];
+ gateway = (dhcp.gateway[0]<<24) | (dhcp.gateway[1]<<16) | (dhcp.gateway[2]<<8) | dhcp.gateway[3];
+ netmask = (dhcp.netmask[0]<<24) | (dhcp.netmask[1]<<16) | (dhcp.netmask[2]<<8) | dhcp.netmask[3];
+ dnsaddr = (dhcp.dnsaddr[0]<<24) | (dhcp.dnsaddr[1]<<16) | (dhcp.dnsaddr[2]<<8) | dhcp.dnsaddr[3];
+ return 0;
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/WIZnetInterface.h Mon Aug 25 12:00:15 2014 +0000
@@ -0,0 +1,88 @@
+/* Copyright (C) 2012 mbed.org, MIT License
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ * and associated documentation files (the "Software"), to deal in the Software without restriction,
+ * including without limitation the rights to use, copy, modify, merge, publish, distribute,
+ * sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all copies or
+ * substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#pragma once
+#include "wiznet.h"
+
+ /** Interface using Wiznet chip to connect to an IP-based network
+ *
+ */
+class WIZnetInterface: public WIZnet_Chip {
+public:
+
+ /**
+ * Constructor
+ *
+ * \param mosi mbed pin to use for SPI
+ * \param miso mbed pin to use for SPI
+ * \param sclk mbed pin to use for SPI
+ * \param cs chip select of the WIZnet_Chip
+ * \param reset reset pin of the WIZnet_Chip
+ */
+ WIZnetInterface(PinName mosi, PinName miso, PinName sclk, PinName cs, PinName reset);
+ WIZnetInterface(SPI* spi, PinName cs, PinName reset);
+
+ /** Initialize the interface with DHCP.
+ * Initialize the interface and configure it to use DHCP (no connection at this point).
+ * \return 0 on success, a negative number on failure
+ */
+ int init(uint8_t * mac); //With DHCP
+
+ /** Initialize the interface with a static IP address.
+ * Initialize the interface and configure it with the following static configuration (no connection at this point).
+ * \param ip the IP address to use
+ * \param mask the IP address mask
+ * \param gateway the gateway to use
+ * \return 0 on success, a negative number on failure
+ */
+ int init(uint8_t * mac, const char* ip, const char* mask, const char* gateway);
+
+ /** Connect
+ * Bring the interface up, start DHCP if needed.
+ * \return 0 on success, a negative number on failure
+ */
+ int connect();
+
+ /** Disconnect
+ * Bring the interface down
+ * \return 0 on success, a negative number on failure
+ */
+ int disconnect();
+
+ /** Get IP address & MAC address
+ *
+ * @ returns ip address
+ */
+ char* getIPAddress();
+ char* getNetworkMask();
+ char* getGateway();
+ char* getMACAddress();
+
+ int IPrenew(int timeout_ms = 15*1000);
+
+private:
+ char ip_string[20];
+ char mask_string[20];
+ char gw_string[20];
+ char mac_string[20];
+ bool ip_set;
+};
+
+#include "TCPSocketConnection.h"
+#include "TCPSocketServer.h"
+#include "UDPSocket.h"
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp Mon Aug 25 12:00:15 2014 +0000
@@ -0,0 +1,287 @@
+
+#include "mbed.h"
+#include "WIZnetInterface.h"
+#include "GY80.h"
+#include "tsi_sensor.h"
+#include "main.h"
+
+
+int main() /// Main Function:
+{
+
+
+ pc.attach(&SerialInterHandler, Serial::RxIrq); /// - configures serial port interrupts & choose handler
+ menu_prop(); /// - shows 5 sec menu
+ pc.attach(NULL, Serial::RxIrq); /// - disables serial port interrupts after 5s
+ tick1.attach_us(&read_data, 10000); /// - reads data from sensors in 10ms intervals
+ if(init_eth() == 1) { /// - initializes ethernet communication
+ wait(0.001); // wait
+ eth_comm(); /// - and tcp/ip server if no error occured
+ } else { //
+ return -1; /// - or returns an error
+ } ///
+ while(1); // infinit loop
+}
+
+int init_eth()
+{
+ /**
+ * Initializes ethernet communication by configuring WIZ550io via SPI interface.
+ * DHCP or Static IP configuration could be used.
+ * Use of them is user configurable via serial port.
+ */
+ int ret; // error code variable
+
+ // MAC Adress setting:
+ mac[0] = 0x00;
+ mac[1] = 0x08;
+ mac[2] = 0xDC;
+ mac[3] = 0x1D;
+ mac[4] = 0x2E;
+ mac[5] = 0x74;
+
+ pc.printf("\r \n Ethernet Initialization \n");
+
+ if (USE_DHCP){
+ ret = eth.init(mac); // Use DHCP
+ }
+ else{
+ ret = eth.init(mac, IP_Addr, IP_Subnet, IP_Gateway); // static configuration
+ }
+ if (!ret) { // if error don't happen
+ pc.printf("\r \n Initialized, MAC: %s\n", eth.getMACAddress());
+ } else { // else show error code
+ pc.printf("\r \n Error eth.init() - ret = %d\n", ret);
+ return -1;
+ }
+
+ ret = eth.connect();
+ if (!ret) {
+ pc.printf("\r \nIP: %s, MASK: %s, GW: %s\n",
+ eth.getIPAddress(), eth.getNetworkMask(), eth.getGateway());
+ } else {
+ pc.printf("\r \n Error eth.connect() - ret = %d\n", ret);
+ return -1;
+ }
+ return 1;
+
+}
+
+void eth_comm()
+{
+ /**
+ * Creates server and waits for client to connect.
+ * Sends reveiced buffer with commands to comm_handler.
+ * And sends reply created by comm_handler to client.
+ */
+ TCPSocketServer server; // TCP/IP server object
+ server.bind(ECHO_SERVER_PORT); // binding listen port
+ server.listen(); // start listening
+
+ while (true) { // infinit loop
+ pc.printf("\n \r Wait for new connection...\n"); // pc info
+ TCPSocketConnection client; // TCP/IP client object
+ server.accept(client); // accept connection
+ client.set_blocking(false, 1500); // no blocking connections, timeout after (1.5)s
+ pc.printf("\n \r Connection from: %s\n", client.get_address()); // pc info
+ char buffer[256]; // Data buffer
+ while (true) { // loop
+ for(int i =0; i < 256; i++) buffer[i] = '\0'; // clear buffer
+ int n = client.receive(buffer, sizeof(buffer)); // receive data & save it to buffer
+ if (n <= 0) break; // break if buffer is empty or error occured
+ comm_handler(buffer); // send received command to communication handler
+ n = strlen(buffer); // check buffer length
+ pc.printf("\n \r BUFF: %s, strlen: %d, size: %d, n: %d", buffer, strlen(buffer), sizeof(buffer), n); // pc info, just for debug
+ client.send(buffer, n); // send reply
+ for(int i =0; i < 256; i++) buffer[i] = '\0'; // clear buffer
+ if (n <= 0) break; // if error occured send break
+ } //
+ client.close(); // close connection
+ } //
+}
+
+void read_data()
+{
+ /**
+ * Reads sensor data in 10ms intervals.
+ * And saves them.
+ */
+ sensor.Read_Magn(magn); // read magnitude
+ sensor.Read_Accel(accel); // read acceleration
+ sensor.Read_Gyro(gyro); // read gyroscope
+ TSI_pos = tsi.readPercentage(); // read percentage position of touch sensor
+}
+
+void comm_handler(char* command)
+{
+ /** This function gets data buffer with command
+ * and prepares answer to be sent.
+ */
+
+ pc.printf("\n \r %s \n \r", command); // send received command to pc (DEBUG)
+ if(strcmp(command,"read_sensor")==0) { // data read from sensor
+ sprintf(command, "Sensor data: %10f,%10f,%10f,%10f,%10f,%10f,%10f,%10f,%10f, %10f", magn[0], magn[1], magn[2], accel[0], accel[1], accel[2], gyro[0], gyro[1], gyro[2], TSI_pos); // enter data to buffer
+ wait(0.001); // wait
+ pc.printf("\n \r sending sensor data!"); // pc info (debug)
+ } else if (strcmp(command,"check_ports")==0) { // check I/O ports current values
+ sprintf(command, "Ports values: P1: %d, P2: %d, P3: %d, P4: %d, P5: %d, P6: %d", P1.read(), P2.read(), P3.read(), P4.read(), P5.read(), P6.read());
+ } else if (strcmp(command,"get_P1")==0) { // get P1 value
+ sprintf(command, "P1 value: %d", P1.read()); //
+ } else if(strcmp(command,"set_P1_o")==0) { // set P1 as output
+ P1.output(); //
+ sprintf(command, "P1 is now set as output"); //
+ } else if (strcmp(command,"set_P1_i")==0) { // set P1 as input
+ P1.input(); //
+ sprintf(command, "P1 is now set as input"); //
+ } else if (strcmp(command,"set_P1_1")==0) { // set P1 as 1
+ P1.output(); // set to output
+ P1.write(1); // write 1 to P1
+ sprintf(command, "P1 value is now: %d ", P1.read()); // reply with current value to check
+ } else if (strcmp(command,"set_P1_0")==0) { // set P1 as 0
+ P1.output(); //
+ P1.write(0);
+ sprintf(command, "P1 value is now: %d ", P1.read());
+ } else if (strcmp(command,"get_P2")==0) {
+ sprintf(command, "P2 value: %d", P2.read());
+ } else if (strcmp(command,"set_P2_o")==0) {
+ P2.output();
+ sprintf(command, "P2 is now set as output");
+ } else if (strcmp(command,"set_P2_i")==0) {
+ P2.input();
+ sprintf (command, "P2 is now set as input");
+ } else if (strcmp(command,"set_P2_1")==0) {
+ P2.output();
+ P2.write(1);
+ sprintf(command, "P2 value is now: %d ", P2.read());
+ } else if (strcmp(command,"set_P2_0")==0) {
+ P2.output();
+ P2.write(0);
+ sprintf(command, "P2 value is now: %d ", P2.read());
+ } else if (strcmp(command,"get_P3")==0) {
+ sprintf(command, "P3 value: %d", P3.read());
+ } else if (strcmp(command,"set_P3_o")==0) {
+ P3.output();
+ sprintf(command, "P3 is now set as output");
+ } else if (strcmp(command,"set_P3_i")==0) {
+ P3.input();
+ sprintf (command, "P3 is now set as input");
+ } else if (strcmp(command,"set_P3_1")==0) {
+ P3.output();
+ P3.write(1);
+ sprintf(command, "P3 value is now: %d ", P3.read());
+ } else if (strcmp(command,"set_P3_0")==0) {
+ P3.output();
+ P3.write(0);
+ sprintf(command, "P3 value is now: %d ", P3.read());
+ } else if (strcmp(command,"get_P4")==0) {
+ sprintf(command, "P4 value: %d", P4.read());
+ } else if (strcmp(command,"set_P4_o")==0) {
+ P4.output();
+ sprintf(command, "P4 is now set as output");
+ } else if (strcmp(command,"set_P4_i")==0) {
+ P4.input();
+ sprintf (command, "P4 is now set as input");
+ } else if (strcmp(command,"set_P4_1")==0) {
+ P4.output();
+ P4.write(1);
+ sprintf(command, "P4 value is now: %d ", P4.read());
+ } else if (strcmp(command,"set_P4_0")==0) {
+ P4.output();
+ P4.write(0);
+ sprintf(command, "P4 value is now: %d ", P4.read());
+ } else if (strcmp(command,"get_P5")==0) {
+ sprintf(command, "P5 value: %d", P5.read());
+ } else if (strcmp(command,"set_P5_o")==0) {
+ P5.output();
+ sprintf(command, "P5 is now set as output");
+ } else if (strcmp(command,"set_P5_i")==0) {
+ P5.input();
+ sprintf (command, "P5 is now set as input");
+ } else if (strcmp(command,"set_P5_1")==0) {
+ P5.output();
+ P5.write(1);
+ sprintf(command, "P5 value is now: %d ", P5.read());
+ } else if (strcmp(command,"set_P5_0")==0) {
+ P5.output();
+ P5.write(0);
+ sprintf(command, "P5 value is now: %d ", P5.read());
+ } else if (strcmp(command,"get_P6")==0) {
+ sprintf(command, "P6 value: %d", P6.read());
+ } else if (strcmp(command,"set_P6_o")==0) {
+ P6.output();
+ sprintf(command, "P6 is now set as output");
+ } else if (strcmp(command,"set_P6_i")==0) {
+ P6.input();
+ sprintf (command, "P6 is now set as input");
+ } else if (strcmp(command,"set_P6_1")==0) {
+ P6.output();
+ P6.write(1);
+ sprintf(command, "P6 value is now: %d ", P6.read());
+ } else if (strcmp(command,"set_P6_0")==0) {
+ P6.output();
+ P6.write(0);
+ sprintf(command, "P6 value is now: %d ", P6.read());
+ } else sprintf(command, "Unknown Command!");
+}
+
+void SerialInterHandler()
+{
+ /**
+ Enables to configure Ethernet card via serial port in first 5 seconds from KL25Z startup.
+ */
+ pc.getc(); // gets 1 char from buffer and clears it
+ pc.printf("\n \rUse DHCP? \n \ry-yes ");
+ char from_serial;
+ while (true) {
+ if (pc.readable()) {
+ from_serial= pc.getc();
+ break;
+ }
+ }
+ pc.printf("\n \r%c", from_serial);
+ if (from_serial=='y') {
+ USE_DHCP = true;
+ pc.printf("\n \rUsing DHCP ");
+ return;
+ }
+ else if (from_serial=='n') {
+ USE_DHCP = false;
+ pc.printf("\n \rStatic IP configuration ");
+ pc.printf("\n \rCurrent config:");
+ pc.printf("\r \nIP: %s, MASK: %s, GW: %s\n", IP_Addr, IP_Subnet, IP_Gateway);
+ pc.printf("\n \rDo you want to change it?");
+ if(pc.getc()=='y'){
+ pc.printf("\n \rIP: \n \r Press 'enter and then backspace' to end and save \r \n Remember to Enter all 15 characters!\n \r");
+ pc.scanf("%s" ,IP_Addr);
+ pc.printf("new IP: %s", IP_Addr);
+ pc.printf("\n \r Enter Subnet Mask:");
+ pc.scanf("%s", IP_Subnet);
+ pc.printf("\n \r new Mask: %s", IP_Subnet);
+ pc.printf("\n \r Enter Gateway:");
+ pc.scanf("%s", IP_Gateway);
+ pc.printf("\r \n IP: %s, MASK: %s, GW: %s\n", IP_Addr, IP_Subnet, IP_Gateway);
+ }
+ else return;
+ return;
+ }
+ else pc.printf("\n \rWrong key! Nothing to do");
+}
+
+void menu_prop()
+{
+ /**
+ Counting down time left to enter menu.
+ */
+ pc.printf("\n \r Press any key to enter menu \n \r 5");
+ wait(1);
+ pc.printf("\n \r 4");
+ wait(1);
+ pc.printf("\n \r 3");
+ wait(1);
+ pc.printf("\n \r 2");
+ wait(1);
+ pc.printf("\n \r 1");
+ wait(1);
+ pc.printf("\n \r 0 \n \r Starting!");
+
+}
\ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/main.h Mon Aug 25 12:00:15 2014 +0000 @@ -0,0 +1,133 @@ +/** @file main.cpp */ +/** @file main.h +* +* \brief +* Program main features: +* - enables communication via ethernet +* - reads data from GY-80 sensor +* - reads data from built-in touch sensor +* - enables configuration of Wiz550io ethernet card via PC serial port +* +* +* Peripherals connection details: +* +* WIZ550io pins are connected to: +* - MOSI -> PTD2 +* - MISO -> PTD3 +* - SCLK -> PTD1 +* - CS -> PTD0 +* - RST -> PTA20 +* - VCC -> +3.3V +* - GND -> GND +* +* IMU GY-80 pins: +* - VCC -> +5V +* - GND -> GND +* - SDA -> PTC9 +* - SCL -> PTC8 +* - Connection to other I2C port may not work!!! +* +* Serial port communication is available via virtual OpenSDA COM port. +* Detailed description about configuring OpenSDA available here: https://mbed.org/handbook/Windows-serial-configuration . +* +* Digital I/O ports pins and names: +* - PTE20 -> P1 +* - PTE21 -> P2 +* - PTE22 -> P3 +* - PTE23 -> P4 +* - PTE29 -> P5 +* - PTE30 -> P6 +* +* Ethernet commands: +* Available commands: +* - "read_sensor" - reads all sensor data - Reply form: "Sensor data: magnX, magnY, magnZ, accelX, accelY, accelZ, gyroX, gyroY, gyroZ, TSIposition" +* - "check_ports" - reads ports P1 to P6 status - Reply form: "Port values: P1: %d, P2: %d, P3: %d, P4: %d, P5: %d, P6: %d" +* Single port commands: +* - "set_P$_i" - sets port as input - Reply: "P1 is now set as input" +* - "set_P$_o" - sets port as output - Reply: "P1 is now set as output" +* - "set_P$_1" - sets port as 1 (High) - Reply: "P1 value is now: %d " +* - "set_P$_0" - sets port as 0 (low) - Reply: "P1 value is now: %d " +* - "get_P$" - gets port value - Reply: "P1 value: %d" +* - $ mark is port number from 1-6 +* +* @author Mateusz Jaskula +* +*/ + + + +// Set server communication port to 22 +#define ECHO_SERVER_PORT 22 + + +/// SPI communication with WIZ550io initialization +SPI spi(PTD2, PTD3, PTD1); /// mosi, miso, sclk + +/// Ethernet communication via WIZ550io +WIZnetInterface eth(&spi, PTD0, PTA20); /// spi, cs, reset + +/// Serial communication init +Serial pc(USBTX,USBRX); + +/// TSI Electrodes definition: +#define ELEC0 9 +/// TSI Electrodes definition: +#define ELEC1 10 + + +/// port P1 is connected to PTE20 pin +DigitalInOut P1(PTE20); +/// port P1 is connected to PTE21 pin +DigitalInOut P2(PTE21); +/// port P2 is connected to PTE22 pin +DigitalInOut P3(PTE22); +/// port P3 is connected to PTE23 pin +DigitalInOut P4(PTE23); +/// port P4 is connected to PTE29 pin +DigitalInOut P5(PTE29); +/// port P5 is connected to PTE30 pin +DigitalInOut P6(PTE30); + + +/// Defines use of DHCP protocol or Static IP Configuration +bool USE_DHCP = true; + +// Static IP setting. Using MAC stored in WIZ550io + char IP_Addr[16] = "192.168.133.015"; /// IP + char IP_Subnet[16] = "255.255.255.000"; /// Subnet Mask + char IP_Gateway[16] = "192.168.133.001"; /// Gateway + +/// MAC Adress global variable +uint8_t mac[6]; + +/// GY80 IMU sensor Object +GY80 sensor; + +// GY80 Data is being hold here +float magn[3]; /// Current magnitude +float accel[3]; /// Current acceleration +float gyro[3]; /// current gyroscope + +/// TSI Slider object: +TSIAnalogSlider tsi(ELEC0, ELEC1, 100); + +/// TSI Slider position: +float TSI_pos; + +/// Ticker generates time based interrups to read data from sensors in 10ms intervals. +Ticker tick1; + + +//Functions declaration: +// Initializes eth communication with MAC, IP, Subnet Mask asd Gateway +int init_eth(); +// Handles ethernet communication +void eth_comm(); +// Reads data from sensor with 1ms freq +void read_data(); +// Reads commands and takes action +void comm_handler(char* command); +// Enables configuration mode +void SerialInterHandler(); +// 5 sec serial menu with info how to enter configuration mode +void menu_prop();
--- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/mbed.bld Mon Aug 25 12:00:15 2014 +0000 @@ -0,0 +1,1 @@ +http://mbed.org/users/mbed_official/code/mbed/builds/9327015d4013 \ No newline at end of file
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/pico_string.h Mon Aug 25 12:00:15 2014 +0000
@@ -0,0 +1,46 @@
+// pico_string.h 2013/8/27
+#pragma once
+class pico_string {
+public:
+ pico_string(){
+ _len = 0;
+ _buf = (char*)malloc(1);
+ if (_buf) {
+ _buf[0] = '\0';
+ }
+ }
+ ~pico_string() {
+ if (_buf) {
+ free(_buf);
+ }
+ }
+ bool empty() {
+ return _len == 0;
+ }
+ void append(const char* s, int len) {
+ if (_buf == NULL) {
+ return;
+ }
+ char* p = (char*)malloc(_len+len+1);
+ if (p == NULL) {
+ return;
+ }
+ memcpy(p, _buf, _len);
+ memcpy(p+_len, s, len);
+ p[_len+len] = '\0';
+ free(_buf);
+ _buf = p;
+ }
+ void append(const char* s) {
+ append(s, strlen(s));
+ }
+ char* c_str() {
+ if (_buf) {
+ return _buf;
+ }
+ return "";
+ }
+private:
+ char* _buf;
+ int _len;
+};
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/tsi_sensor/tsi_sensor.cpp Mon Aug 25 12:00:15 2014 +0000
@@ -0,0 +1,148 @@
+/* Freescale Semiconductor Inc.
+ * mbed Microcontroller Library
+ * (c) Copyright 2014 ARM Limited.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ * and associated documentation files (the "Software"), to deal in the Software without
+ * restriction, including without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all copies or
+ * substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#include "mbed.h"
+#include "tsi_sensor.h"
+
+void tsi_irq(void);
+TSIAnalogSlider *TSIAnalogSlider::_instance;
+
+TSIAnalogSlider::TSIAnalogSlider(uint32_t elec0, uint32_t elec1,
+ uint32_t range)
+: _elec0(elec0), _elec1(elec1), _range(range) {
+ _instance = this;
+ _current_elec = &_elec0;
+ SIM->SCGC5 |= SIM_SCGC5_TSI_MASK;
+
+ TSI0->GENCS |= (TSI_GENCS_ESOR_MASK | TSI_GENCS_MODE(0) | TSI_GENCS_REFCHRG(4)
+ | TSI_GENCS_DVOLT(0) | TSI_GENCS_EXTCHRG(7) | TSI_GENCS_PS(4)
+ | TSI_GENCS_NSCN(11) | TSI_GENCS_TSIIEN_MASK | TSI_GENCS_STPE_MASK);
+ TSI0->GENCS |= TSI_GENCS_TSIEN_MASK;
+
+ NVIC_SetVector(TSI0_IRQn, (uint32_t)&tsi_irq);
+ NVIC_EnableIRQ(TSI0_IRQn);
+
+ selfCalibration();
+}
+
+static void initBaseline(TSIElectrode& elec)
+{
+ uint32_t channel0 = elec.getChannel();
+ TSI0->DATA = ((channel0 << TSI_DATA_TSICH_SHIFT) );
+ TSI0->DATA |= TSI_DATA_SWTS_MASK;
+ while(!(TSI0->GENCS & TSI_GENCS_EOSF_MASK));
+ TSI0->GENCS |= TSI_GENCS_EOSF_MASK;
+ elec.setBaseline(TSI0->DATA & TSI_DATA_TSICNT_MASK);
+}
+
+void TSIAnalogSlider::selfCalibration(void)
+{
+ TSI0->GENCS |= TSI_GENCS_EOSF_MASK; // Clear End of Scan Flag
+ TSI0->GENCS &= ~TSI_GENCS_TSIEN_MASK; // Disable TSI module
+
+ uint32_t trigger_backup;
+ if(TSI0->GENCS & TSI_GENCS_STM_MASK) { // Back-up TSI Trigger mode from Application
+ trigger_backup = 1;
+ } else {
+ trigger_backup = 0;
+ }
+
+ TSI0->GENCS &= ~TSI_GENCS_STM_MASK; // Use SW trigger
+ TSI0->GENCS &= ~TSI_GENCS_TSIIEN_MASK; // Enable TSI interrupts
+ TSI0->GENCS |= TSI_GENCS_TSIEN_MASK; // Enable TSI module
+
+ initBaseline(_elec0);
+ initBaseline(_elec1);
+
+ TSI0->DATA = ((_elec0.getChannel() << TSI_DATA_TSICH_SHIFT));
+
+ TSI0->GENCS &= ~TSI_GENCS_TSIEN_MASK; // Disable TSI module
+ TSI0->GENCS |= TSI_GENCS_TSIIEN_MASK; // Enale TSI interrupt
+ if (trigger_backup) { // Restore trigger mode
+ TSI0->GENCS |= TSI_GENCS_STM_MASK;
+ } else {
+ TSI0->GENCS &= ~TSI_GENCS_STM_MASK;
+ }
+
+ TSI0->GENCS |= TSI_GENCS_TSIEN_MASK; // Enable TSI module
+ TSI0->DATA |= TSI_DATA_SWTS_MASK;
+}
+
+
+void TSIAnalogSlider::sliderRead(void ) {
+ if (_scan_in_progress) {
+ _scan_in_progress = 0;
+ uint32_t delta0 = _elec0.getDelta();
+ uint32_t delta1 = _elec1.getDelta();
+
+ if ((delta0 > _elec0.getThreshold()) || (delta1 > _elec1.getThreshold())) {
+ uint32_t perc_pos0 = (delta0 * 100) / (delta0 + delta1);
+ uint32_t perc_pos1 = (delta1 * 100) / (delta0 + delta1);
+ setSliderPercPosition(0, perc_pos0);
+ setSliderPercPosition(1, perc_pos1);
+ uint32_t dist_pos0 = (perc_pos0 * _range) / 100;
+ uint32_t dist_pos1 = (perc_pos0 * _range) / 100;
+ setSliderDisPosition(0, dist_pos0);
+ setSliderDisPosition(1, dist_pos1);
+
+ setAbsolutePosition(((100 - perc_pos0) + perc_pos1) / 2);
+ setAbsoluteDistance(((_range - dist_pos0) + dist_pos1) / 2);
+ } else {
+ setSliderPercPosition(0, 0);
+ setSliderPercPosition(1, 0);
+ setSliderDisPosition(0, 0);
+ setSliderDisPosition(1, 0);
+ setAbsolutePosition(0);
+ setAbsoluteDistance(0);
+ }
+ }
+}
+
+float TSIAnalogSlider::readPercentage() {
+ sliderRead();
+ return (float)getAbsolutePosition() / 100.0;
+}
+
+uint32_t TSIAnalogSlider::readDistance() {
+ sliderRead();
+ return getAbsoluteDistance();
+}
+
+static void changeElectrode(TSIAnalogSlider *analog_slider)
+{
+ TSIElectrode* elec = analog_slider->getCurrentElectrode();
+ uint32_t signal = (TSI0->DATA & TSI_DATA_TSICNT_MASK);
+ elec->setSignal(signal);
+
+ TSIElectrode *next_elec = analog_slider->getNextElectrode(elec);
+
+ analog_slider->setCurrentElectrode(next_elec);
+ TSI0->DATA = ((next_elec->getChannel() << TSI_DATA_TSICH_SHIFT) );
+ TSI0->DATA |= TSI_DATA_SWTS_MASK;
+}
+
+
+void tsi_irq(void)
+{
+ TSIAnalogSlider *analog_slider = TSIAnalogSlider::getInstance();
+ analog_slider->setScan(1);
+ TSI0->GENCS |= TSI_GENCS_EOSF_MASK; // Clear End of Scan Flag
+ changeElectrode(analog_slider);
+}
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/tsi_sensor/tsi_sensor.h Mon Aug 25 12:00:15 2014 +0000
@@ -0,0 +1,198 @@
+/* Freescale Semiconductor Inc.
+ *
+ * mbed Microcontroller Library
+ * (c) Copyright 2009-2012 ARM Limited.
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy of this software
+ * and associated documentation files (the "Software"), to deal in the Software without
+ * restriction, including without limitation the rights to use, copy, modify, merge, publish,
+ * distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in all copies or
+ * substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING
+ * BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,
+ * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
+ */
+
+#ifndef TSISENSOR_H
+#define TSISENSOR_H
+
+/**
+* TSISensor example
+*
+* @code
+* #include "mbed.h"
+* #include "TSISensor.h"
+*
+* int main(void) {
+* DigitalOut led(LED_GREEN);
+* TSIElectrode elec0(9);
+* TSIElectrode elec1(10);
+* TSIAnalogSlider tsi(elec0, elec1, 40);
+*
+* while (true) {
+* printf("slider percentage: %f%\r\n", tsi.readPercentage());
+* printf("slider distance: %dmm\r\n", tsi.readDistance());
+* wait(1);
+* led = !led;
+* }
+* }
+* @endcode
+*/
+#define NO_TOUCH 0
+
+/** TSI Electrode with simple data required for touch detection.
+ */
+class TSIElectrode {
+public:
+ /** Initialize electrode.
+ */
+ TSIElectrode(uint32_t tsi_channel) : _threshold(100) {
+ _channel = (uint8_t)tsi_channel;
+ }
+ /** Set baseline.
+ */
+ void setBaseline(uint32_t baseline) {
+ _baseline = (uint16_t)baseline;
+ }
+ /** Set threshold.
+ */
+ void setThreshold(uint32_t threshold) {
+ _threshold = (uint16_t)threshold;
+ }
+ /** Set signal.
+ */
+ void setSignal(uint32_t signal) {
+ _signal = (uint16_t)signal;
+ }
+ /** Get baseline.
+ */
+ uint32_t getBaseline() {
+ return _baseline;
+ }
+ /** Get delta.
+ */
+ uint32_t getDelta() {
+ int32_t delta = getSignal() - getBaseline();
+ if (delta < 0) {
+ return 0;
+ } else {
+ return delta;
+ }
+ }
+ /** Get signal.
+ */
+ uint32_t getSignal() {
+ return _signal;
+ }
+ /** Get threshold.
+ */
+ uint32_t getThreshold() {
+ return _threshold;
+ }
+ /** Get channel.
+ */
+ uint32_t getChannel() {
+ return _channel;
+ }
+private:
+ uint8_t _channel;
+ uint16_t _signal;
+ uint16_t _baseline;
+ uint16_t _threshold;
+};
+
+/** Analog slider which consists of two electrodes.
+ */
+class TSIAnalogSlider {
+public:
+ /**
+ * Initialize the TSI Touch Sensor
+ */
+ TSIAnalogSlider(uint32_t elec0, uint32_t elec1, uint32_t range);
+ /**
+ * Read Touch Sensor percentage value
+ *
+ * @returns percentage value between [0 ... 1]
+ */
+ float readPercentage();
+ /**
+ * Read Touch Sensor distance
+ *
+ * @returns distance in mm. The value is between [0 ... _range]
+ */
+ uint32_t readDistance();
+ /** Get current electrode.
+ */
+ TSIElectrode* getCurrentElectrode() {
+ return _current_elec;
+ }
+ /** Set current electrode which is being measured.
+ */
+ void setCurrentElectrode(TSIElectrode *elec){
+ _current_elec = elec;
+ }
+ /** Get next electrode.
+ */
+ TSIElectrode* getNextElectrode(TSIElectrode* electrode) {
+ if (electrode->getChannel() == _elec0.getChannel()) {
+ return &_elec1;
+ } else {
+ return &_elec0;
+ }
+ }
+ /** Return absolute distance position.
+ */
+ uint32_t getAbsoluteDistance() {
+ return _absolute_distance_pos;
+ }
+ /** Return absolute precentage position.
+ */
+ uint32_t getAbsolutePosition() {
+ return _absolute_percentage_pos;
+ }
+ /** Set value to the scan in progress flag.
+ */
+ void setScan(uint32_t scan) {
+ _scan_in_progress = scan;
+ }
+ /** Return instance to Analog slider. Used in tsi irq.
+ */
+ static TSIAnalogSlider *getInstance() {
+ return _instance;
+ }
+private:
+ void sliderRead(void);
+ void selfCalibration(void);
+ void setSliderPercPosition(uint32_t elec_num, uint32_t position) {
+ _percentage_position[elec_num] = position;
+ }
+ void setSliderDisPosition(uint32_t elec_num, uint32_t position) {
+ _distance_position[elec_num] = position;
+ }
+ void setAbsolutePosition(uint32_t position) {
+ _absolute_percentage_pos = position;
+ }
+ void setAbsoluteDistance(uint32_t distance) {
+ _absolute_distance_pos = distance;
+ }
+private:
+ TSIElectrode _elec0;
+ TSIElectrode _elec1;
+ uint8_t _scan_in_progress;
+ TSIElectrode* _current_elec;
+ uint8_t _percentage_position[2];
+ uint8_t _distance_position[2];
+ uint32_t _absolute_percentage_pos;
+ uint32_t _absolute_distance_pos;
+ uint8_t _range;
+protected:
+ static TSIAnalogSlider *_instance;
+};
+
+#endif