void radioTransceiverTask(const void *arg) {
unsigned long tv;
static unsigned long radio_last_tv2 = 0;
while (true){
#if 1
#if 0 //debug
tv=millis();
Serial.println(tv-radio_last_tv2);
radio_last_tv2=tv;
#endif
memset(transceiverBuffer, '\0', sizeof(transceiverBuffer));
sprintf(transceiverBuffer,
"@%3.2f:%3.2f:%3.2f:%3.2f:%3.2f:%3.2f:%3.2f:%3.2f:%3.2f:%d:%d:%d:%d:%d#",
getRoll(), getPitch(), getYaw(), getPidSp(&rollAttitudePidSettings),
getPidSp(&pitchAttitudePidSettings), getYawCenterPoint() + getPidSp(&yawAttitudePidSettings),
getRollGyro(), getPitchGyro(), getYawGyro(),
getThrottlePowerLevel(), getMotorPowerLevelCCW1(),
getMotorPowerLevelCW1(), getMotorPowerLevelCCW2(),
getMotorPowerLevelCW2());
Udp.beginPacket(broadcastIP, localPort);
Udp.write(transceiverBuffer,strlen(transceiverBuffer));
Udp.endPacket();
increasePacketAccCounter();
os_thread_yield();
delay(TRANSMIT_TIMER);
#endif
}
}
void WiFi_forward_to_xcsoar()
{
int bearing = CalcBearing(fo.latitude, fo.longtitude, LATITUDE, LONGTITUDE);
int alt_diff = fo.altitude - ALTITUDE;
char *csum_ptr;
unsigned char cs = 0; //clear any old checksum
Udp.beginPacket(ARGUS_HOSTNAME, XCSOAR_PORT);
snprintf(UDPpacketBuffer, sizeof(UDPpacketBuffer), "$PFLAU,0,1,1,1,%d,2,%d,%u,%X*", \
bearing, alt_diff, (int) fo.distance, fo.addr );
//calculate the checksum
for (unsigned int n = 1; n < strlen(UDPpacketBuffer) - 1; n++) {
cs ^= UDPpacketBuffer[n]; //calculates the checksum
}
csum_ptr = UDPpacketBuffer + strlen(UDPpacketBuffer);
snprintf(csum_ptr, sizeof(UDPpacketBuffer) - strlen(UDPpacketBuffer), "%02X\n", cs);
#ifdef SERIAL_VERBOSE
Serial.println(UDPpacketBuffer);
#endif
Udp.write(UDPpacketBuffer, strlen(UDPpacketBuffer));
Udp.endPacket();
Udp.beginPacket(XCSOAR_HOSTNAME, XCSOAR_PORT);
snprintf(UDPpacketBuffer, sizeof(UDPpacketBuffer), "$PFLAA,2,%d,%d,%d,2,%X,,,,,1*", \
(int) (fo.distance * cos(dtor(bearing))), (int) (fo.distance * sin(dtor(bearing))), \
alt_diff, fo.addr );
cs = 0; //clear any old checksum
for (unsigned int n = 1; n < strlen(UDPpacketBuffer) - 1; n++) {
cs ^= UDPpacketBuffer[n]; //calculates the checksum
}
csum_ptr = UDPpacketBuffer + strlen(UDPpacketBuffer);
snprintf(csum_ptr, sizeof(UDPpacketBuffer) - strlen(UDPpacketBuffer), "%02X\n", cs);
#ifdef SERIAL_VERBOSE
Serial.println(UDPpacketBuffer);
#endif
Udp.write(UDPpacketBuffer, strlen(UDPpacketBuffer));
Udp.endPacket();
}
void Protocol::send(const char* message)
{
#ifdef MODULE_CAN_DEBUG
Serial.print("Send message: ");
Serial.println(message);
#endif
Udp.beginPacket(_ip, _port);
Udp.write(message);
Udp.endPacket();
}
// Send status packet
int send_packet(char *packet, int size, IPAddress exclude) {
int i;
if (my_node_type == MSGMULTI_MASTER) {
for (i = 0; i < MSGMULTI_MAXCLIENTS; i++) {
if ((clients[i].expire > 0) && (clients[i].client != exclude)) {
#ifdef DEBUG
Serial.print("Sending packet to ");
Serial.println(clients[i].client);
#endif
clients[i].expire--;
udp.beginPacket(clients[i].client, STATE_UDP_PORT);
udp.write(packet, size);
return udp.endPacket();
}
}
} else {
udp.beginPacket(WiFi.gatewayIP(), STATE_UDP_PORT);
udp.write(packet, size);
return udp.endPacket();
}
} // void send_packet(IPaddress dest, char *packet, int size)
void at_send_udp_packet(const char *format, ...)
{
/* Construct databuffer to send */
char mybuffer[AT_UDP_MAX_LENGTH];
va_list myargs;
va_start (myargs, format);
vsnprintf(mybuffer, AT_UDP_MAX_LENGTH, format, myargs);
va_end(myargs);
//Serial.println(mybuffer);
at_udp.beginPacket(drone_ip, AT_UDP_PORT);
at_udp.print(mybuffer);
at_udp.endPacket();
}
void CAIPSendData(CAEndpoint_t *endpoint,
const void *data, uint32_t dataLength, bool isMulticast)
{
OIC_LOG(DEBUG, TAG, "IN");
VERIFY_NON_NULL_VOID(data, TAG, "data");
VERIFY_NON_NULL_VOID(endpoint, TAG, "endpoint");
OIC_LOG_V(DEBUG, TAG, "remoteip: %s", endpoint->addr);
OIC_LOG_V(DEBUG, TAG, "port: %d", endpoint->port);
uint8_t ip[4] = {0};
uint16_t parsedPort = 0;
CAResult_t res = CAParseIPv4AddressInternal(endpoint->addr, ip, sizeof(ip),
&parsedPort);
if (res != CA_STATUS_OK)
{
OIC_LOG_V(ERROR, TAG, "Remote adrs parse fail %d", res);
return;
}
IPAddress remoteIp(ip);
Udp.beginPacket(remoteIp, endpoint->port);
uint32_t bytesWritten = 0;
while (bytesWritten < dataLength)
{
// get remaining bytes
size_t writeCount = dataLength - bytesWritten;
// write upto max ARDUINO_WIFI_BUFFERSIZE bytes
writeCount = Udp.write((uint8_t *)data + bytesWritten,
(writeCount > ARDUINO_IP_BUFFERSIZE ?
ARDUINO_IP_BUFFERSIZE:writeCount));
if(writeCount == 0)
{
// write failed
OIC_LOG_V(ERROR, TAG, "Failed after %u", bytesWritten);
break;
}
bytesWritten += writeCount;
}
if (Udp.endPacket() == 0)
{
OIC_LOG(ERROR, TAG, "Failed to send");
return;
}
OIC_LOG(DEBUG, TAG, "OUT");
return;
}
AJ_Status AJ_Net_SendTo(AJ_IOBuffer* buf)
{
int ret;
uint32_t tx = AJ_IO_BUF_AVAIL(buf);
AJ_InfoPrintf(("AJ_Net_SendTo(buf=0x%p)\n", buf));
if (tx > 0) {
// send to subnet-directed broadcast address
#ifdef WIFI_UDP_WORKING
IPAddress subnet = WiFi.subnetMask();
IPAddress localIp = WiFi.localIP();
#else
IPAddress subnet = Ethernet.subnetMask();
IPAddress localIp = Ethernet.localIP();
#endif
uint32_t directedBcastAddr = (uint32_t(subnet) & uint32_t(localIp)) | (~uint32_t(subnet));
IPAddress a(directedBcastAddr);
ret = g_clientUDP.beginPacket(IPAddress(directedBcastAddr), AJ_UDP_PORT);
AJ_InfoPrintf(("AJ_Net_SendTo(): beginPacket to %d.%d.%d.%d, result = %d\n", a[0], a[1], a[2], a[3], ret));
if (ret == 0) {
AJ_InfoPrintf(("AJ_Net_SendTo(): no sender\n"));
}
ret = g_clientUDP.write(buf->readPtr, tx);
AJ_InfoPrintf(("AJ_Net_SendTo(): SendTo write %d\n", ret));
if (ret == 0) {
AJ_ErrPrintf(("AJ_Net_Sendto(): no bytes. status=AJ_ERR_WRITE\n"));
return AJ_ERR_WRITE;
}
buf->readPtr += ret;
ret = g_clientUDP.endPacket();
if (ret == 0) {
AJ_ErrPrintf(("AJ_Net_Sendto(): endPacket() error. status=AJ_ERR_WRITE\n"));
return AJ_ERR_WRITE;
}
}
AJ_IO_BUF_RESET(buf);
AJ_InfoPrintf(("AJ_Net_SendTo(): status=AJ_OK\n"));
return AJ_OK;
}
// send an NTP request to the time server at the given address
void sendNTPpacket(IPAddress &address) {
// set all bytes in the buffer to 0
memset(packetBuffer, 0, NTP_PACKET_SIZE);
// Initialize values needed to form NTP request
// (see URL above for details on the packets)
packetBuffer[0] = 0b11100011; // LI, Version, Mode
packetBuffer[1] = 0; // Stratum, or type of clock
packetBuffer[2] = 6; // Polling Interval
packetBuffer[3] = 0xEC; // Peer Clock Precision
// 8 bytes of zero for Root Delay & Root Dispersion
packetBuffer[12] = 49;
packetBuffer[13] = 0x4E;
packetBuffer[14] = 49;
packetBuffer[15] = 52;
// all NTP fields have been given values, now
// you can send a packet requesting a timestamp:
Udp.beginPacket(address, 123); // NTP requests are to port 123
Udp.write(packetBuffer, NTP_PACKET_SIZE);
Udp.endPacket();
}
void WiFi_forward_to_argus()
{
char str_lat[16];
char str_lon[16];
dtostrf(fo.latitude, 8, 4, str_lat);
dtostrf(fo.longtitude, 8, 4, str_lon);
Udp.beginPacket(ARGUS_HOSTNAME, ARGUS_PORT);
snprintf(UDPpacketBuffer, sizeof(UDPpacketBuffer), "%u %X %s %s %d %s %s %u", \
fo.timestamp * 1000, fo.addr, str_lat, str_lon, fo.altitude, "0" , "0" , TypeADSB );
#ifdef SERIAL_VERBOSE
Serial.println(UDPpacketBuffer);
#endif
Udp.write(UDPpacketBuffer, strlen(UDPpacketBuffer));
Udp.endPacket();
}
//This gets the time from the server and sets the system Time.
//This function is also used as syncProvider:
time_t RRTime::getTime(){
unsigned int localPort = 8888; // local port to listen for UDP packets
/* Don't hardwire the IP address or we won't get the benefits of the pool.
* Lookup the IP address for the host name instead */
//IPAddress timeServerIP(132, 163, 4, 102); // time-b.timefreq.bldrdoc.gov
IPAddress timeServerIP; // time.nist.gov NTP server address
const char* ntpServerName = "europe.pool.ntp.org";
static const int NTP_PACKET_SIZE = 48; // NTP time stamp is in the first 48 bytes of the message
byte packetBuffer[ NTP_PACKET_SIZE]; //buffer to hold incoming and outgoing packet
const int timeZone = 1; // Central European Time
WiFiUDP udp; // A UDP instance to let us send and receive packets over UDP
udp.begin(localPort);
DEBUGPRINT.print("Local port: ");
DEBUGPRINT.println(udp.localPort());
DEBUGPRINT.println("waiting for sync");
//get a random server from the pool
if(!WiFi.hostByName(ntpServerName, timeServerIP)){
DEBUGPRINT.print("ERROR; Could not resolve IP using ");
IPAddress fallBack(132, 163, 4, 102);
timeServerIP = fallBack;
DEBUGPRINT.println(timeServerIP);
}
DEBUGPRINT.print("Timesever IP:");
DEBUGPRINT.println(timeServerIP);
while (udp.parsePacket() > 0) ; // discard any previously received packets
DEBUGPRINT.println("Transmit NTP Request");
// set all bytes in the buffer to 0
/////////////////////////////////////////////////////////////////////////
memset(packetBuffer, 0, NTP_PACKET_SIZE);
// Initialize values needed to form NTP request
// (see URL above for details on the packets)
packetBuffer[0] = 0b11100011; // LI, Version, Mode
packetBuffer[1] = 0; // Stratum, or type of clock
packetBuffer[2] = 6; // Polling Interval
packetBuffer[3] = 0xEC; // Peer Clock Precision
// 8 bytes of zero for Root Delay & Root Dispersion
packetBuffer[12] = 49;
packetBuffer[13] = 0x4E;
packetBuffer[14] = 49;
packetBuffer[15] = 52;
// all NTP fields have been given values, now
// you can send a packet requesting a timestamp:
udp.beginPacket(timeServerIP, 123); //NTP requests are to port 123
udp.write(packetBuffer, NTP_PACKET_SIZE);
udp.endPacket();
/////////////////////////////////////////////////////////////////////////
uint32_t beginWait = millis();
while (millis() - beginWait < 3000) {
int size = udp.parsePacket();
if (size >= NTP_PACKET_SIZE) {
DEBUGPRINT.println("Receive NTP Response");
udp.read(packetBuffer, NTP_PACKET_SIZE); // read packet into the buffer
unsigned long secsSince1900;
// convert four bytes starting at location 40 to a long integer
secsSince1900 = (unsigned long)packetBuffer[40] << 24;
secsSince1900 |= (unsigned long)packetBuffer[41] << 16;
secsSince1900 |= (unsigned long)packetBuffer[42] << 8;
secsSince1900 |= (unsigned long)packetBuffer[43];
//store last sync:
lastSync = millis();
return secsSince1900 - 2208988800UL + timeZone * SECS_PER_HOUR;
}
}
DEBUGPRINT.println("No NTP Response :-(");
return 0; // return 0 if unable to get the time
}