/*****************************************************************************

* Module Name: uIP-AVR Port - main control loop shell

*

* Created By: Louis Beaudoin (www.embedded-creations.com)

*

* Original Release: September 21, 2002

*

* Modifications from Sven Sperner <cethss@gmail.com>

*

* Module Description:

* This main control loop shell provides everything required for a basic uIP

* application using the RTL8019AS NIC

*

*****************************************************************************/

#include <avr/pgmspace.h>

#include "uip.h"

#include "nic.h"

#include "uip_arp.h"

#include "compiler.h"

#include "services.h"

#include "usart.h"

#include "mca25.h"

#include "servo.h"

//#include "clock.h"

#define BUF ((struct uip_eth_hdr *)&uip_buf[0])

//#define LED_RED (PIND & (1 <<7))

volatile unsigned char usart_timeout;

mca25_t mca25_stat;

/*****************************************************************************

* Periodic Timout Functions and variables

*

* The periodic timeout rate can be changed depeding on your application

* Modify these functions and variables based on your AVR device and clock

* rate

* The current setup will interrupt every 256 timer ticks when the timer

* counter overflows. timerCounter must count until 0.5 seconds have

* alapsed

*****************************************************************************/

#define TIMER_PRESCALE 1024

#define TIMERCOUNTER_PERIODIC_TIMEOUT (F_CPU / TIMER_PRESCALE / 2 / 256)

static unsigned char timerCounter;

void initTimer(void)

{

TCCR0=5; //outp( 5, TCCR0 ) ; // timer0 prescale 1/1024

// interrupt on overflow

TIMSK|=(1<<TOIE0); //sbi( TIMSK, TOIE0 ) ;

timerCounter = 0;

}

#ifdef __IMAGECRAFT__

#pragma interrupt_handler SIG_OVERFLOW0:iv_TIMER0_OVF

#endif

SIGNAL(SIG_OVERFLOW0)

{

timerCounter++;

if((unsigned char)!(timerCounter&3)) if (usart_timeout) usart_timeout--;

}

/*****************************************************************************

* Main Control Loop

*

*

*****************************************************************************/

int main(void)

{

//led PB4

// Pins als Ausgänge definieren:

DDRB |= (1 << 4);

PORTB |= (0 << 4);

//DDRD |= (1 << 7);

//PORTD |= (1 << 7);

unsigned char i;

unsigned char arptimer=0;

// init NIC device driver

nic_init();

// init uIP

uip_init();

// init app

services_init();

// init ARP cache

uip_arp_init();

// init periodic timer

initTimer();

SET_USART_9600();

//PORTB |= (1 << 4); //LED PB4 ein

sei();

// if((mca25_stat.init=mca25_init())==0) mca25_stat.init=mca25_configure();

// if(mca25_stat.init) {

// print error message?;

// }

#if USE_MCA25_CAM

//DEBUG:

MCA25_ERROR_LED_OFF();

MCA25_CLOCK_LED_OFF();

//DDRB = 0xFF;

MCA25_STATUS_LED_ON();

mca25_init();

mca25_configure();

MCA25_STATUS_LED_OFF();

MCA25_ERROR_LED_ON();

MCA25_CLOCK_LED_ON();

#endif

// #if USE_CLOCK

// Start_Clock();

//#endif

#if USE_SERVO

servo_init();

#endif

//PORTD |= (1 << 7);

while(1)

{

// look for a packet

uip_len = nic_poll();

if(uip_len == 0)

{

// if timed out, call periodic function for each connection

if(timerCounter > TIMERCOUNTER_PERIODIC_TIMEOUT)

{

timerCounter = 0;

for(i = 0; i < UIP_CONNS; i++)

{

uip_periodic(i);

// transmit a packet, if one is ready

if(uip_len > 0)

{

uip_arp_out();

nic_send();

}

}

/* Call the ARP timer function every 10 seconds. */

if(++arptimer == 20)

{

uip_arp_timer();

arptimer = 0;

}

}

}

else // packet received

{

// process an IP packet

if(BUF->type == htons(UIP_ETHTYPE_IP))

{

// add the source to the ARP cache

// also correctly set the ethernet packet length before processing

uip_arp_ipin();

uip_input();

// transmit a packet, if one is ready

if(uip_len > 0)

{

uip_arp_out();

nic_send();

}

}

// process an ARP packet

else if(BUF->type == htons(UIP_ETHTYPE_ARP))

{

uip_arp_arpin();

// transmit a packet, if one is ready

if(uip_len > 0)

nic_send();

}

}

}

return 1;

}