int main(int argc, char *argv[]) {
/* Disable driver enable for RS485 ASAP */
//DDRC |= (1 << PC2);
//PORTC &= ~(1 << PC2);
/* init serial line debugging */
UBRR0H = UBRRH_VALUE;
UBRR0L = UBRRL_VALUE;
UCSR0B = (1 << RXCIE1) | (1 << RXEN1) | (1 << TXEN0);
UCSR0C = (1<<UCSZ00) | (1<<UCSZ01);
/* Initialize UART */
net_init();
DBG("READY!\r\n");
DBG("Initializing SPI...\r\n");
spi_init();
DBG("Initializing ENC28J60...\r\n");
init_enc28j60();
DBG("Initialized ENC28J60\r\n");
char obuf[64];
snprintf(obuf, sizeof(obuf), "enc28j60 rev 0x%x\n", read_control_register(REG_EREVID));
DBG(obuf);
char buf[16] = "serial: X\n";
int cnt = 0;
while (1) {
if (eth_to_rs_cnt > 0 &&
eth_to_rs[eth_to_rs_cnt-1] == '$') {
eth_to_rs[eth_to_rs_cnt-1] = '\0';
int dest = 0;
int pktlen = 0;
char minibuf[16];
minibuf[0] = eth_to_rs[1];
minibuf[1] = eth_to_rs[2];
minibuf[2] = '\0';
if (sscanf(minibuf, "%d", &dest) != 1) {
DBG("Could not parse dest\r\n");
eth_to_rs_cnt = 0;
continue;
}
minibuf[0] = eth_to_rs[3];
minibuf[1] = eth_to_rs[4];
if (sscanf(minibuf, "%d", &pktlen) != 1) {
DBG("Could not parse len\r\n");
eth_to_rs_cnt = 0;
continue;
}
if (pktlen != (eth_to_rs_cnt - 6)) {
DBG("lens are not the same\r\n");
minibuf[2] = '\r';
minibuf[3] = '\n';
minibuf[4] = '\0';
DBG(minibuf);
snprintf(minibuf, sizeof(minibuf), "e: %d\r\n", eth_to_rs_cnt-6);
DBG(minibuf);
snprintf(minibuf, sizeof(minibuf), "p: %d\r\n", pktlen);
DBG(minibuf);
eth_to_rs_cnt = 0;
continue;
}
fmt_packet(lbuffer, dest, 0xFF, eth_to_rs + 5, pktlen);
struct buspkt *packet = (struct buspkt*)lbuffer;
send_packet(packet);
syslog_send("sent packet", strlen("sent packet"));
_delay_ms(25);
sendit = 0;
eth_to_rs_cnt = 0;
}
#if 0
network_process();
if (uip_recvlen > 0) {
syslog_send("handling ethernet packet", strlen("handling ethernet packet"));
DBG("Handling packet\r\n");
handle_icmpv6();
if (uip_recvbuf[20] == 0x11) {
syslog_send("handling udp packet", strlen("handling udp packet"));
/* UDP */
uint8_t *udp = uip_recvbuf + 14 + 40;
uint8_t len = udp[5] - 8;
/* TODO: sanity check */
uint8_t *recvpayload = udp + 8 /* udp */;
fmt_packet(lbuffer, uip_recvbuf[53], 0xFF, recvpayload, len);
struct buspkt *packet = (struct buspkt*)lbuffer;
//syslog_send("sending packet", strlen("sending packet"));
send_packet(packet);
_delay_ms(25);
cnt = 85;
syslog_send("ethernet to rs485 done", strlen("ethernet to rs485 done"));
}
//syslog_send("received a packet", strlen("received a packet"));
buf[14] = uip_recvlen;
//syslog_send(uip_recvbuf, uip_recvlen);
uip_recvlen = 0;
}
#endif
_delay_ms(10);
if (cnt++ == 100) {
fmt_packet(lbuffer, 1, 0, "ping", 4);
struct buspkt *packet = (struct buspkt*)lbuffer;
syslog_send("ping sent", strlen("ping sent"));
send_packet(packet);
cnt = 0;
snprintf(obuf, sizeof(obuf), "cnt = %d, rem = %d\r\n",
eth_to_rs_cnt, eth_to_rs_rem);
syslog_send(obuf, strlen(obuf));
}
uint8_t status = bus_status();
if (status == BUS_STATUS_IDLE)
continue;
if (status == BUS_STATUS_MESSAGE) {
/* get a copy of the current packet */
struct buspkt *packet = current_packet();
uint8_t *walk = packet;
uint8_t *payload = (uint8_t*)packet;
payload += sizeof(struct buspkt);
/* check for ping replies */
if (packet->destination == 0x00 &&
memcmp(payload, "pong", strlen("pong")) == 0) {
syslog_send("pong received", strlen("pong received"));
/* TODO: store that this controller is reachable */
/* check if the controller has any waiting messages */
if (payload[4] > 0) {
/* request the message */
fmt_packet(lbuffer, packet->source, 0, "send", 4);
struct buspkt *reply = (struct buspkt*)lbuffer;
//syslog_send("sending packet", strlen("sending packet"));
_delay_ms(25);
send_packet(reply);
syslog_send("sendreq sent", strlen("sendreq sent"));
//syslog_send(reply, reply->length_lo + sizeof(struct buspkt));
_delay_ms(25);
cnt = 0;
}
}
#if 0
/* copy packet->destination into the MAC and IPv6 address */
uip_buf[5] = packet->destination; /* MAC */
uip_buf[53] = packet->destination; /* IPv6 */
/* copy packet->source into the MAC and IPv6 address */
uip_buf[11] = packet->source; /* MAC */
uip_buf[37] = packet->source; /* IPv6 */
raw_send(payload, packet->length_lo);
#endif
char minibuf[16];
snprintf(minibuf, sizeof(minibuf), "^%02d%02d", 0, packet->length_lo);
uart_puts(minibuf);
uint8_t c;
for (c = 0; c < sizeof(struct buspkt); c++) {
while ( !( UCSR0A & (1<<UDRE0)) );
UDR0 = walk[c];
}
for (c = 0; c < packet->length_lo; c++) {
while ( !( UCSR0A & (1<<UDRE0)) );
UDR0 = payload[c];
}
while ( !( UCSR0A & (1<<UDRE0)) );
UDR0 = '$';
/* discard the packet from serial buffer */
packet_done();
continue;
}
if (status == BUS_STATUS_WRONG_CRC) {
syslog_send("broken", strlen("broken"));
struct buspkt *packet = current_packet();
raw_send(packet, 16);
skip_byte();
continue;
}
}
}
void
network_init(void)
{
uip_ipaddr_t ip;
(void) ip; /* Keep GCC quiet. */
uip_init();
#if defined(RFM12_IP_SUPPORT) && defined(UIP_MULTI_STACK)
uip_stack_set_active(STACK_RFM12);
rfm12_stack_init();
#endif
#if defined(ZBUS_SUPPORT) && defined(UIP_MULTI_STACK)
uip_stack_set_active(STACK_ZBUS);
zbus_stack_init();
#endif
#ifdef OPENVPN_SUPPORT
uip_stack_set_active(STACK_OPENVPN);
openvpn_init();
#endif
/* load base network settings */
# ifdef DEBUG_NET_CONFIG
debug_printf("net: loading base network settings\n");
# endif
#ifdef ETHERNET_SUPPORT
# ifdef ENC28J60_SUPPORT
uip_stack_set_active(STACK_ENC);
# else /* TAP_SUPPORT */
uip_stack_set_active(STACK_TAP);
#endif
/* use uip buffer as generic space here, since when this function is called,
* no network packets will be processed */
#ifdef EEPROM_SUPPORT
/* use global network packet buffer for configuration */
uint8_t checksum = eeprom_get_chksum();
uint8_t saved_checksum;
eeprom_restore_char(crc, &saved_checksum);
if (checksum != saved_checksum)
eeprom_init();
#endif
#ifdef ETHERNET_SUPPORT
network_config_load();
#endif
/* Do the autoconfiguration after the MAC is set */
# if UIP_CONF_IPV6 && !defined(IPV6_STATIC_SUPPORT)
uip_setprefixlen(64);
uip_ip6autoconfig(0xFE80, 0x0000, 0x0000, 0x0000);
# endif
# if defined(IPV6_STATIC_SUPPORT) && defined(TFTPOMATIC_SUPPORT)
const char *filename = CONF_TFTP_IMAGE;
set_CONF_TFTP_IP(&ip);
tftp_fire_tftpomatic(&ip, filename);
bootload_delay = CONF_BOOTLOAD_DELAY;
# endif /* IPV6_STATIC_SUPPORT && TFTPOMATIC_SUPPORT */
# elif !defined(ROUTER_SUPPORT) /* and not ETHERNET_SUPPORT */
/* Don't allow for eeprom-based configuration of rfm12/zbus IP address,
mainly for code size reasons. */
set_CONF_ETHERRAPE_IP(&ip);
uip_sethostaddr(&ip);
# endif /* not ETHERNET_SUPPORT and not ROUTER_SUPPORT */
ethersex_meta_netinit();
# ifdef ENC28J60_SUPPORT
init_enc28j60();
# endif
# ifdef ETHERNET_SUPPORT
# if UIP_CONF_IPV6
uip_neighbor_init();
# else
uip_arp_init();
# endif
# else /* ETHERNET_SUPPORT */
/* set at least fixed default gateway address
* to allow multi stack routing */
set_CONF_ETHERRAPE_GATEWAY(&ip);
uip_setdraddr(&ip);
# endif /* ETHERNET_SUPPORT */
}
