void app_start(int, char **)
{
// set the baud rate for output printing
get_stdio_serial().baud(YOTTA_CFG_K64F_BORDER_ROUTER_BAUD);
// set heap size and memory error handler for this application
ns_dyn_mem_init(app_stack_heap, APP_DEFINED_HEAP_SIZE, app_heap_error_handler, 0);
trace_init(); // set up the tracing library
set_trace_print_function(trace_printer);
set_trace_config(TRACE_MODE_COLOR | TRACE_ACTIVE_LEVEL_DEBUG | TRACE_CARRIAGE_RETURN);
const char *mac_src = STR(YOTTA_CFG_K64F_BORDER_ROUTER_BACKHAUL_MAC_SRC);
if (strcmp(mac_src, "BOARD") == 0) {
/* Setting the MAC Address from UID (A yotta function)
* Takes UID Mid low and UID low and shuffles them around. */
mbed_mac_address((char *)mac);
} else if (strcmp(mac_src, "CONFIG") == 0) {
/* MAC is defined by the user through yotta configuration */
const uint8_t mac48[] = YOTTA_CFG_K64F_BORDER_ROUTER_BACKHAUL_MAC;
for (uint32_t i = 0; i < sizeof(mac); ++i) {
mac[i] = mac48[i];
}
}
// run LED toggler in the Minar scheduler
minar::Scheduler::postCallback(mbed::util::FunctionPointer0<void>
(toggle_led1).bind()).period(minar::milliseconds(500));
tr_info("Starting K64F border router...");
border_router_start();
}
// Setup once a device is connected.
void NetCentricApp::setupDevice()
{
printf("Connected to Android!\r\n");
float range = 0.0005;
float neutral = 0.0015;
// MAC address is used to determine which robot it is
char mac[6];
mbed_mac_address(mac);
// for(int i=0; i<6;i++) {
// printf("%02X", mac[i]);
// }
// printf("\n");
if(mac[0]==robot1[0] && mac[1]==robot1[1] && mac[2]==robot1[2] && mac[3]==robot1[3] && mac[4]==robot1[4] && mac[5]==robot1[5]) {
neutral = 0.001508; // calibrated for robot 1
} else if(mac[0]==robot2[0] && mac[1]==robot2[1] && mac[2]==robot2[2] && mac[3]==robot2[3] && mac[4]==robot2[4] && mac[5]==robot2[5]) {
neutral = 0.0015; // calibrated for robot 2
}
front.calibrate(range, 60.0, neutral);
right.calibrate(range, 60.0, neutral);
left.calibrate(range, 60.0, neutral);
front = 0.5;
right = 0.5;
left = 0.5;
}
int main() {
MBED_HOSTTEST_TIMEOUT(20);
MBED_HOSTTEST_SELECT(default_auto);
MBED_HOSTTEST_DESCRIPTION(Semihost file system);
MBED_HOSTTEST_START("MBED_A2");
pc.printf("Test the Stream class\n");
printf("connected: %s\n", (semihost_connected()) ? ("Yes") : ("No"));
char mac[16];
mbed_mac_address(mac);
printf("mac address: %02x,%02x,%02x,%02x,%02x,%02x\n", mac[0], mac[1], mac[2], mac[3], mac[4], mac[5]);
LocalFileSystem local("local");
FILE *f;
char *str = TEST_STRING;
char *buffer = (char *)malloc(sizeof(unsigned char) * strlen(TEST_STRING));
int str_len = strlen(TEST_STRING);
// Write
f = test_open("w");
test_write(f, str, str_len);
test_close(f);
// Read
f = test_open("r");
test_read(f, buffer, str_len);
test_close(f);
// Check the two strings are equal
MBED_HOSTTEST_RESULT((strncmp(buffer, str, str_len) == 0));
}
int main() {
pc.printf("Test the Stream class\n");
printf("connected: %s\n", (semihost_connected()) ? ("Yes") : ("No"));
char mac[16];
mbed_mac_address(mac);
printf("mac address: %02x,%02x,%02x,%02x,%02x,%02x\n", mac[0], mac[1], mac[2], mac[3], mac[4], mac[5]);
LocalFileSystem local("local");
FILE *f;
char* str = TEST_STRING;
char* buffer = (char*) malloc(sizeof(unsigned char)*strlen(TEST_STRING));
int str_len = strlen(TEST_STRING);
// Write
f = test_open("w");
test_write(f, str, str_len);
test_close(f);
// Read
f = test_open("r");
test_read(f, buffer, str_len);
test_close(f);
// Check the two strings are equal
notify_completion((strncmp(buffer, str, str_len) == 0));
}
int main() {
char uid[DEVICE_ID_LENGTH + 1] = {0};
bool result = true;
const int ret = mbed_interface_uid(uid);
if (ret == 0) {
printf("UID: %s\r\n", uid);
}
else {
result = false;
}
char mac[6] = {0}; // @param mac A 6-byte array to write the MAC address
mbed_mac_address(mac);
printf("MAC Address: %02X:%02X:%02X:%02X:%02X:%02X\r\n", mac[0], mac[1], mac[2], mac[3], mac[4], mac[5]);
if (mac[0] == MAC_VENDOR_ARM_0 &&
mac[1] == MAC_VENDOR_ARM_1 &&
mac[2] == MAC_VENDOR_ARM_2) {
printf("MAC Address Prefix: 00:02:F7, Vendor: ARM\r\n");
}
notify_completion(result);
return 0;
}
static void overrideMacAddrIfmbed(NyLPC_TcNetConfig& v)
{
mbed_mac_address((char*)(v.super.eth_mac.addr));
//update default hostname
strcpy(v.hostname,"MiMic");
NyLPC_uitoa2(NyLPC_TcIPv4Config_getEtherMac000120203(&(v.super)),v.hostname+ 5,16,8);
NyLPC_uitoa2((NyLPC_TcIPv4Config_getEtherMac0405xxxx(&(v.super))>>16)&0xffff,v.hostname+13,16,4);
v.services.flags=NyLPC_TcNetConfig_SERVICE_FLAG_MDNS|NyLPC_TcNetConfig_SERVICE_FLAG_UPNP;
}
static void set_mac_address(void) {
#if (MBED_MAC_ADDRESS_SUM != MBED_MAC_ADDR_INTERFACE)
snprintf(mac_addr, 19, "%02x:%02x:%02x:%02x:%02x:%02x", MBED_MAC_ADDR_0, MBED_MAC_ADDR_1, MBED_MAC_ADDR_2,
MBED_MAC_ADDR_3, MBED_MAC_ADDR_4, MBED_MAC_ADDR_5);
#else
char mac[6];
mbed_mac_address(mac);
snprintf(mac_addr, 19, "%02x:%02x:%02x:%02x:%02x:%02x", mac[0], mac[1], mac[2], mac[3], mac[4], mac[5]);
#endif
}
nsapi_error_t LWIP::add_ethernet_interface(EMAC &emac, bool default_if, OnboardNetworkStack::Interface **interface_out)
{
#if LWIP_ETHERNET
Interface *interface = new (std::nothrow) Interface();
if (!interface) {
return NSAPI_ERROR_NO_MEMORY;
}
interface->emac = &emac;
interface->memory_manager = &memory_manager;
interface->ppp = false;
#if (MBED_MAC_ADDRESS_SUM != MBED_MAC_ADDR_INTERFACE)
netif->interface.hwaddr[0] = MBED_MAC_ADDR_0;
netif->interface.hwaddr[1] = MBED_MAC_ADDR_1;
netif->interface.hwaddr[2] = MBED_MAC_ADDR_2;
netif->interface.hwaddr[3] = MBED_MAC_ADDR_3;
netif->interface.hwaddr[4] = MBED_MAC_ADDR_4;
netif->interface.hwaddr[5] = MBED_MAC_ADDR_5;
#else
mbed_mac_address((char *) interface->netif.hwaddr);
#endif
interface->netif.hwaddr_len = 6;
if (!netif_add(&interface->netif,
#if LWIP_IPV4
0, 0, 0,
#endif
interface, &LWIP::Interface::emac_if_init, tcpip_input)) {
return NSAPI_ERROR_DEVICE_ERROR;
}
if (default_if) {
netif_set_default(&interface->netif);
default_interface = interface;
}
netif_set_link_callback(&interface->netif, &LWIP::Interface::netif_link_irq);
netif_set_status_callback(&interface->netif, &LWIP::Interface::netif_status_irq);
*interface_out = interface;
/* Use mac address as additional seed to random number generator */
uint64_t seed = interface->netif.hwaddr[0];
for (uint8_t i = 1; i < 8; i++) {
seed <<= 8;
seed |= interface->netif.hwaddr[i % 6];
}
lwip_add_random_seed(seed);
return NSAPI_ERROR_OK;
#else
return NSAPI_ERROR_UNSUPPORTED;
#endif //LWIP_ETHERNET
}
/**
* Should be called at the beginning of the program to set up the
* network interface.
*
* This function should be passed as a parameter to netif_add().
*
* @param[in] netif the lwip network interface structure for this netif
* @return ERR_OK if the loopif is initialized
* ERR_MEM if private data couldn't be allocated
* any other err_t on error
*/
err_t eth_arch_enetif_init(struct netif *netif)
{
err_t err;
LWIP_ASSERT("netif != NULL", (netif != NULL));
k64f_enetdata.netif = netif;
// The initialization code uses osDelay, so timers neet to run
SysTick_Init();
/* set MAC hardware address */
#if (MBED_MAC_ADDRESS_SUM != MBED_MAC_ADDR_INTERFACE)
netif->hwaddr[0] = MBED_MAC_ADDR_0;
netif->hwaddr[1] = MBED_MAC_ADDR_1;
netif->hwaddr[2] = MBED_MAC_ADDR_2;
netif->hwaddr[3] = MBED_MAC_ADDR_3;
netif->hwaddr[4] = MBED_MAC_ADDR_4;
netif->hwaddr[5] = MBED_MAC_ADDR_5;
#else
mbed_mac_address((char *)netif->hwaddr);
#endif
netif->hwaddr_len = ETHARP_HWADDR_LEN;
/* maximum transfer unit */
netif->mtu = 1500;
/* device capabilities */
// TODOETH: check if the flags are correct below
netif->flags = NETIF_FLAG_BROADCAST | NETIF_FLAG_ETHARP | NETIF_FLAG_ETHERNET | NETIF_FLAG_IGMP;
/* Initialize the hardware */
netif->state = &k64f_enetdata;
err = low_level_init(netif);
if (err != ERR_OK)
return err;
#if LWIP_NETIF_HOSTNAME
/* Initialize interface hostname */
netif->hostname = "lwipk64f";
#endif /* LWIP_NETIF_HOSTNAME */
netif->name[0] = 'e';
netif->name[1] = 'n';
netif->output = /*k64f_*/etharp_output;
netif->linkoutput = k64f_low_level_output;
return ERR_OK;
}
err_t eth_arch_enetif_init(struct netif *netif)
{
ethernet_cfg_t ethcfg;
/* set MAC hardware address */
#if (MBED_MAC_ADDRESS_SUM != MBED_MAC_ADDR_INTERFACE)
netif->hwaddr[0] = MBED_MAC_ADDR_0;
netif->hwaddr[1] = MBED_MAC_ADDR_1;
netif->hwaddr[2] = MBED_MAC_ADDR_2;
netif->hwaddr[3] = MBED_MAC_ADDR_3;
netif->hwaddr[4] = MBED_MAC_ADDR_4;
netif->hwaddr[5] = MBED_MAC_ADDR_5;
#else
mbed_mac_address((char *)netif->hwaddr);
#endif
netif->hwaddr_len = ETHARP_HWADDR_LEN;
/* maximum transfer unit */
netif->mtu = 1500;
/* device capabilities */
netif->flags = NETIF_FLAG_BROADCAST | NETIF_FLAG_ETHARP | NETIF_FLAG_ETHERNET | NETIF_FLAG_IGMP;
#if LWIP_NETIF_HOSTNAME
/* Initialize interface hostname */
netif->hostname = "lwiprza1";
#endif /* LWIP_NETIF_HOSTNAME */
netif->name[0] = 'e';
netif->name[1] = 'n';
netif->output = rza1_etharp_output;
netif->linkoutput = rza1_low_level_output;
/* Initialize the hardware */
ethcfg.int_priority = 6;
ethcfg.recv_cb = &rza1_recv_callback;
ethcfg.ether_mac = (char *)netif->hwaddr;
ethernetext_init(ðcfg);
/* semaphore */
sys_sem_new(&recv_ready_sem, 0);
/* task */
sys_thread_new("rza1_recv_task", rza1_recv_task, netif, DEFAULT_THREAD_STACKSIZE, RECV_TASK_PRI);
sys_thread_new("rza1_phy_task", rza1_phy_task, netif, DEFAULT_THREAD_STACKSIZE, PHY_TASK_PRI);
return ERR_OK;
}
static void mbed_lwip_set_mac_address(struct netif *netif)
{
#if (MBED_MAC_ADDRESS_SUM != MBED_MAC_ADDR_INTERFACE)
netif->hwaddr[0] = MBED_MAC_ADDR_0;
netif->hwaddr[1] = MBED_MAC_ADDR_1;
netif->hwaddr[2] = MBED_MAC_ADDR_2;
netif->hwaddr[3] = MBED_MAC_ADDR_3;
netif->hwaddr[4] = MBED_MAC_ADDR_4;
netif->hwaddr[5] = MBED_MAC_ADDR_5;
#else
mbed_mac_address((char *)netif->hwaddr);
#endif
netif->hwaddr_len = ETH_HWADDR_LEN;
/* Use mac address as additional seed to random number generator */
uint64_t seed = netif->hwaddr[0];
for (uint8_t i = 1; i < 8; i++) {
seed <<= 8;
seed |= netif->hwaddr[i % 6];
}
lwip_add_random_seed(seed);
}
/**
* Should be called at the beginning of the program to set up the
* network interface.
*
* This function should be passed as a parameter to netif_add().
*
* @param[in] netif the lwip network interface structure for this lpc_enetif
* @return ERR_OK if the loopif is initialized
* ERR_MEM if private data couldn't be allocated
* any other err_t on error
*/
err_t lpc_enetif_init(struct netif *netif)
{
err_t err;
LWIP_ASSERT("netif != NULL", (netif != NULL));
lpc_enetdata.netif = netif;
/* set MAC hardware address */
LWIP_DEBUGF(UDP_LPC_EMAC | LWIP_DBG_TRACE,
("hwaddress check\r\n"));
#if (MBED_MAC_ADDRESS_SUM != MBED_MAC_ADDR_INTERFACE)
netif->hwaddr[0] = MBED_MAC_ADDR_0;
netif->hwaddr[1] = MBED_MAC_ADDR_1;
netif->hwaddr[2] = MBED_MAC_ADDR_2;
netif->hwaddr[3] = MBED_MAC_ADDR_3;
netif->hwaddr[4] = MBED_MAC_ADDR_4;
netif->hwaddr[5] = MBED_MAC_ADDR_5;
LWIP_DEBUGF(UDP_LPC_EMAC | LWIP_DBG_TRACE,
("using mbed address\r\n"));
#else
LWIP_DEBUGF(UDP_LPC_EMAC | LWIP_DBG_TRACE,
("using our address\r\n"));
mbed_mac_address((char *)netif->hwaddr);
#endif
netif->hwaddr_len = ETHARP_HWADDR_LEN;
/* maximum transfer unit */
netif->mtu = 1500;
/* device capabilities */
netif->flags = NETIF_FLAG_BROADCAST | NETIF_FLAG_ETHARP | NETIF_FLAG_ETHERNET | NETIF_FLAG_IGMP;
/* Initialize the hardware */
LWIP_DEBUGF(UDP_LPC_EMAC | LWIP_DBG_TRACE,
("initialize the hw\r\n"));
netif->state = &lpc_enetdata;
LWIP_DEBUGF(UDP_LPC_EMAC | LWIP_DBG_TRACE,
("calling low_level_init\r\n"));
err = low_level_init(netif);
if (err != ERR_OK) {
LWIP_DEBUGF(UDP_LPC_EMAC | LWIP_DBG_TRACE,
("low_level_init error %d!\r\n", err));
return err;
}
#if LWIP_NETIF_HOSTNAME
/* Initialize interface hostname */
netif->hostname = "lwiplpc";
#endif /* LWIP_NETIF_HOSTNAME */
netif->name[0] = 'e';
netif->name[1] = 'n';
netif->output = lpc_etharp_output;
netif->linkoutput = lpc_low_level_output;
/* CMSIS-RTOS, start tasks */
LWIP_DEBUGF(UDP_LPC_EMAC | LWIP_DBG_TRACE,
("running RTOS tasks\r\n"));
#if NO_SYS == 0
#ifdef CMSIS_OS_RTX
memset(lpc_enetdata.xTXDCountSem.data, 0, sizeof(lpc_enetdata.xTXDCountSem.data));
lpc_enetdata.xTXDCountSem.def.semaphore = lpc_enetdata.xTXDCountSem.data;
#endif
lpc_enetdata.xTXDCountSem.id = osSemaphoreCreate(&lpc_enetdata.xTXDCountSem.def, LPC_NUM_BUFF_TXDESCS);
LWIP_ASSERT("xTXDCountSem creation error", (lpc_enetdata.xTXDCountSem.id != NULL));
err = sys_mutex_new(&lpc_enetdata.TXLockMutex);
LWIP_ASSERT("TXLockMutex creation error", (err == ERR_OK));
/* Packet receive task */
lpc_enetdata.RxThread = sys_thread_new("receive_thread", packet_rx, netif->state, DEFAULT_THREAD_STACKSIZE, RX_PRIORITY);
LWIP_ASSERT("RxThread creation error", (lpc_enetdata.RxThread));
/* Transmit cleanup task */
err = sys_sem_new(&lpc_enetdata.TxCleanSem, 0);
LWIP_ASSERT("TxCleanSem creation error", (err == ERR_OK));
sys_thread_new("txclean_thread", packet_tx, netif->state, DEFAULT_THREAD_STACKSIZE, TX_PRIORITY);
/* periodic PHY status update */
osTimerId phy_timer = osTimerCreate(osTimer(phy_update), osTimerPeriodic, (void *)netif);
osTimerStart(phy_timer, 250);
#endif
LWIP_DEBUGF(UDP_LPC_EMAC | LWIP_DBG_TRACE,
("returning from lpc_enetif_init, %d\r\n", ERR_OK));
return ERR_OK;
}
void ethernet_address(char *mac) {
mbed_mac_address(mac);
}
/**
* Should be called at the beginning of the program to set up the
* network interface.
*
* This function should be passed as a parameter to netif_add().
*
* @param[in] netif the lwip network interface structure for this netif
* @return ERR_OK if the loopif is initialized
* ERR_MEM if private data couldn't be allocated
* any other err_t on error
*/
err_t eth_arch_enetif_init(struct netif *netif)
{
err_t err;
LWIP_ASSERT("netif != NULL", (netif != NULL));
k64f_enetdata.netif = netif;
/* set MAC hardware address */
#if (MBED_MAC_ADDRESS_SUM != MBED_MAC_ADDR_INTERFACE)
netif->hwaddr[0] = MBED_MAC_ADDR_0;
netif->hwaddr[1] = MBED_MAC_ADDR_1;
netif->hwaddr[2] = MBED_MAC_ADDR_2;
netif->hwaddr[3] = MBED_MAC_ADDR_3;
netif->hwaddr[4] = MBED_MAC_ADDR_4;
netif->hwaddr[5] = MBED_MAC_ADDR_5;
#else
mbed_mac_address((char *)netif->hwaddr);
#endif
netif->hwaddr_len = ETHARP_HWADDR_LEN;
/* maximum transfer unit */
netif->mtu = 1500;
/* device capabilities */
// TODOETH: check if the flags are correct below
netif->flags = NETIF_FLAG_BROADCAST | NETIF_FLAG_ETHARP | NETIF_FLAG_ETHERNET | NETIF_FLAG_IGMP;
/* Initialize the hardware */
netif->state = &k64f_enetdata;
err = low_level_init(netif);
if (err != ERR_OK)
return err;
#if LWIP_NETIF_HOSTNAME
/* Initialize interface hostname */
netif->hostname = "lwipk64f";
#endif /* LWIP_NETIF_HOSTNAME */
netif->name[0] = 'e';
netif->name[1] = 'n';
netif->output = k64f_etharp_output;
netif->linkoutput = k64f_low_level_output;
/* CMSIS-RTOS, start tasks */
#ifdef CMSIS_OS_RTX
memset(k64f_enetdata.xTXDCountSem.data, 0, sizeof(k64f_enetdata.xTXDCountSem.data));
k64f_enetdata.xTXDCountSem.def.semaphore = k64f_enetdata.xTXDCountSem.data;
#endif
k64f_enetdata.xTXDCountSem.id = osSemaphoreCreate(&k64f_enetdata.xTXDCountSem.def, ENET_TX_RING_LEN);
LWIP_ASSERT("xTXDCountSem creation error", (k64f_enetdata.xTXDCountSem.id != NULL));
err = sys_mutex_new(&k64f_enetdata.TXLockMutex);
LWIP_ASSERT("TXLockMutex creation error", (err == ERR_OK));
/* Packet receive task */
err = sys_sem_new(&k64f_enetdata.RxReadySem, 0);
LWIP_ASSERT("RxReadySem creation error", (err == ERR_OK));
sys_thread_new("receive_thread", packet_rx, netif->state, DEFAULT_THREAD_STACKSIZE, RX_PRIORITY);
/* Transmit cleanup task */
err = sys_sem_new(&k64f_enetdata.TxCleanSem, 0);
LWIP_ASSERT("TxCleanSem creation error", (err == ERR_OK));
sys_thread_new("txclean_thread", packet_tx, netif->state, DEFAULT_THREAD_STACKSIZE, TX_PRIORITY);
/* PHY monitoring task */
sys_thread_new("phy_thread", k64f_phy_task, netif, DEFAULT_THREAD_STACKSIZE, PHY_PRIORITY);
/* Allow the PHY task to detect the initial link state and set up the proper flags */
osDelay(10);
return ERR_OK;
}
/**
* Should be called at the beginning of the program to set up the
* network interface.
*
* This function should be passed as a parameter to netif_add().
*
* @param[in] netif the lwip network interface structure for this netif
* @return ERR_OK if the loopif is initialized
* ERR_MEM if private data couldn't be allocated
* any other err_t on error
*/
err_t eth_arch_enetif_init(struct netif *netif)
{
err_t err;
LWIP_ASSERT("netif != NULL", (netif != NULL));
k64f_enetdata.netif = netif;
/* set MAC hardware address */
#if (MBED_MAC_ADDRESS_SUM != MBED_MAC_ADDR_INTERFACE)
netif->hwaddr[0] = MBED_MAC_ADDR_0;
netif->hwaddr[1] = MBED_MAC_ADDR_1;
netif->hwaddr[2] = MBED_MAC_ADDR_2;
netif->hwaddr[3] = MBED_MAC_ADDR_3;
netif->hwaddr[4] = MBED_MAC_ADDR_4;
netif->hwaddr[5] = MBED_MAC_ADDR_5;
#else
mbed_mac_address((char *)netif->hwaddr);
#endif
/* Ethernet address length */
netif->hwaddr_len = ETH_HWADDR_LEN;
/* maximum transfer unit */
netif->mtu = 1500;
/* device capabilities */
// TODOETH: check if the flags are correct below
netif->flags = NETIF_FLAG_BROADCAST | NETIF_FLAG_ETHARP | NETIF_FLAG_ETHERNET;
/* Initialize the hardware */
netif->state = &k64f_enetdata;
err = low_level_init(netif);
if (err != ERR_OK)
return err;
#if LWIP_NETIF_HOSTNAME
/* Initialize interface hostname */
netif->hostname = "lwipk64f";
#endif /* LWIP_NETIF_HOSTNAME */
netif->name[0] = 'e';
netif->name[1] = 'n';
#if LWIP_IPV4
netif->output = k64f_etharp_output_ipv4;
#if LWIP_IGMP
netif->igmp_mac_filter = igmp_mac_filter;
netif->flags |= NETIF_FLAG_IGMP;
#endif
#endif
#if LWIP_IPV6
netif->output_ip6 = k64f_etharp_output_ipv6;
#if LWIP_IPV6_MLD
netif->mld_mac_filter = mld_mac_filter;
netif->flags |= NETIF_FLAG_MLD6;
#else
// Would need to enable all multicasts here - no API in fsl_enet to do that
#error "IPv6 multicasts won't be received if LWIP_IPV6_MLD is disabled, breaking the system"
#endif
#endif
netif->linkoutput = k64f_low_level_output;
/* CMSIS-RTOS, start tasks */
memset(&k64f_enetdata.xTXDCountSem.data, 0, sizeof(k64f_enetdata.xTXDCountSem.data));
k64f_enetdata.xTXDCountSem.attr.cb_mem = &k64f_enetdata.xTXDCountSem.data;
k64f_enetdata.xTXDCountSem.attr.cb_size = sizeof(k64f_enetdata.xTXDCountSem.data);
k64f_enetdata.xTXDCountSem.id = osSemaphoreNew(ENET_TX_RING_LEN, ENET_TX_RING_LEN, &k64f_enetdata.xTXDCountSem.attr);
LWIP_ASSERT("xTXDCountSem creation error", (k64f_enetdata.xTXDCountSem.id != NULL));
err = sys_mutex_new(&k64f_enetdata.TXLockMutex);
LWIP_ASSERT("TXLockMutex creation error", (err == ERR_OK));
/* Packet receive task */
err = sys_sem_new(&k64f_enetdata.RxReadySem, 0);
LWIP_ASSERT("RxReadySem creation error", (err == ERR_OK));
#ifdef LWIP_DEBUG
sys_thread_new("k64f_emac_rx_thread", packet_rx, netif->state, DEFAULT_THREAD_STACKSIZE*5, RX_PRIORITY);
#else
sys_thread_new("k64f_emac_thread", packet_rx, netif->state, DEFAULT_THREAD_STACKSIZE, RX_PRIORITY);
#endif
/* Transmit cleanup task */
err = sys_sem_new(&k64f_enetdata.TxCleanSem, 0);
LWIP_ASSERT("TxCleanSem creation error", (err == ERR_OK));
sys_thread_new("k64f_emac_txclean_thread", packet_tx, netif->state, DEFAULT_THREAD_STACKSIZE, TX_PRIORITY);
/* PHY monitoring task */
sys_thread_new("k64f_emac_phy_thread", k64f_phy_task, netif, DEFAULT_THREAD_STACKSIZE, PHY_PRIORITY);
/* Allow the PHY task to detect the initial link state and set up the proper flags */
osDelay(10);
return ERR_OK;
}