Ejemplo n.º 1
0
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
		}

}
Ejemplo n.º 2
0
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();
}
Ejemplo n.º 3
0
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();
}
Ejemplo n.º 4
0
// 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)
Ejemplo n.º 5
0
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();
}
Ejemplo n.º 6
0
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;
}
Ejemplo n.º 7
0
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;
}
Ejemplo n.º 8
0
// 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();
}
Ejemplo n.º 9
0
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();
}
Ejemplo n.º 10
0
//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
}