PROCESS_THREAD(tcp_process, ev, data)
{
static char incoming[10];
static struct psock ps;
PROCESS_BEGIN();
uart0_set_br(1000000);
tcp_listen(UIP_HTONS(2020));
while(1) {
PROCESS_YIELD();
}
{
/* wait for tcp connection */
PROCESS_WAIT_EVENT_UNTIL(ev==tcpip_event && uip_connected());
/* start estimator process and init psock connection handler */
process_start(&ahrs_process, NULL);
PSOCK_INIT(&ps,incoming,sizeof(incoming));
/* loop until connection is closed */
while (!(uip_aborted() || uip_closed() || uip_timedout())) {
PROCESS_YIELD_UNTIL(ev==tcpip_event);
handle_connection(&ps);
}
/* stop ahrs process */
process_exit(&ahrs_process);
}
PROCESS_END();
}
PROCESS_THREAD(udp_process, ev, data)
{
static struct uip_udp_conn *s;
static struct etimer et;
PROCESS_BEGIN();
uart0_set_br(1000000);
/* setup udp connection */
s = udp_broadcast_new(UIP_HTONS(2020),NULL); // incoming
udp_bind(s,UIP_HTONS(2020)); // outgoing
/* start estimator process and init psock connection handler */
process_start(&ahrs_process, NULL);
etimer_set(&et, SEND_INTERVAL);
while(1) {
PROCESS_WAIT_EVENT_UNTIL(ev==PROCESS_EVENT_TIMER);
uip_udp_packet_send(s,msg,strlen(msg));
etimer_restart(&et);
}
PROCESS_END();
}
void uart0_init(unsigned long br)
{
vAHI_UartSetRTSCTS(E_AHI_UART_0, false);
vAHI_UartEnable(E_AHI_UART_0);
vAHI_UartReset(E_AHI_UART_0, true, true);
uart0_set_br(br);
vAHI_UartSetRTSCTS(E_AHI_UART_0, false);
vAHI_Uart0RegisterCallback(irq);
vAHI_UartSetInterrupt(E_AHI_UART_0, false, /* modem status */
false, /* rx line error status */
false, /* tx fifo empty */
true, /* rx data there */
E_AHI_UART_FIFO_LEVEL_1);
vAHI_UartSetRTSCTS(E_AHI_UART_0, false);
vAHI_UartReset(E_AHI_UART_0, false, false);
}
