/**
* Setup program. When user_init runs the debug printouts will not always
* show on the serial console. So i run the inits in here, 2 seconds later.
*/
static void ICACHE_FLASH_ATTR
setup(void) {
ping_init(&pingA, 2, 0, PING_MM); // trigger=GPIO2, echo=GPIO0, set the pins to the same value for one-pin-mode
ping_init(&pingB, 4, 5, PING_MM); // trigger=GPIO4, echo=GPIO5, set the pins to the same value for one-pin-mode
// Start repeating loop timer
os_timer_disarm(&loop_timer);
os_timer_setfn(&loop_timer, (os_timer_func_t *) loop, NULL);
os_timer_arm(&loop_timer, PING_SAMPLE_PERIOD, true);
}
/* This function initializes applications */
static void
apps_init()
{
#if LWIP_DNS_APP && LWIP_DNS
/* wait until the netif is up (for dhcp, autoip or ppp) */
sys_timeout(5000, dns_dorequest, NULL);
#endif /* LWIP_DNS_APP && LWIP_DNS */
#if LWIP_CHARGEN_APP && LWIP_SOCKET
chargen_init();
#endif /* LWIP_CHARGEN_APP && LWIP_SOCKET */
#if LWIP_PING_APP && LWIP_RAW && LWIP_ICMP
ping_init();
#endif /* LWIP_PING_APP && LWIP_RAW && LWIP_ICMP */
#if LWIP_NETBIOS_APP && LWIP_UDP
netbios_init();
#endif /* LWIP_NETBIOS_APP && LWIP_UDP */
#if LWIP_HTTPD_APP && LWIP_TCP
#ifdef LWIP_HTTPD_APP_NETCONN
http_server_netconn_init();
#else /* LWIP_HTTPD_APP_NETCONN */
httpd_init();
#endif /* LWIP_HTTPD_APP_NETCONN */
#endif /* LWIP_HTTPD_APP && LWIP_TCP */
#if LWIP_NETIO_APP && LWIP_TCP
netio_init();
#endif /* LWIP_NETIO_APP && LWIP_TCP */
#if LWIP_RTP_APP && LWIP_SOCKET && LWIP_IGMP
rtp_init();
#endif /* LWIP_RTP_APP && LWIP_SOCKET && LWIP_IGMP */
#if LWIP_SNTP_APP && LWIP_SOCKET
sntp_init();
#endif /* LWIP_SNTP_APP && LWIP_SOCKET */
#if LWIP_SHELL_APP && LWIP_NETCONN
shell_init();
#endif /* LWIP_SHELL_APP && LWIP_NETCONN */
#if LWIP_TCPECHO_APP
#if LWIP_NETCONN && defined(LWIP_TCPECHO_APP_NETCONN)
tcpecho_init();
#else /* LWIP_NETCONN && defined(LWIP_TCPECHO_APP_NETCONN) */
echo_init();
#endif
#endif /* LWIP_TCPECHO_APP && LWIP_NETCONN */
#if LWIP_UDPECHO_APP && LWIP_NETCONN
udpecho_init();
#endif /* LWIP_UDPECHO_APP && LWIP_NETCONN */
#if LWIP_SOCKET_EXAMPLES_APP && LWIP_SOCKET
socket_examples_init();
#endif /* LWIP_SOCKET_EXAMPLES_APP && LWIP_SOCKET */
#ifdef LWIP_APP_INIT
LWIP_APP_INIT();
#endif
}
void doPingLoop()
{
timer_prescaler_t prescaler = TIMER_ONE_1024TH;
ping_init(prescaler);
while (1)
{
unsigned cm = ping_cm_busy_wait(prescaler);
printf0("%d cm\r\n", cm);
}
}
void
xep_init(void)
{
disco_init(); /* init sevice discovery first */
chatstates_init();
composing_init();
delay_init();
muc_init();
oob_init();
ping_init();
registration_init();
vcard_init();
version_init();
}
int
main (int argc, char **argv)
{
int index;
int status = 0;
set_program_name (argv[0]);
if (getuid () == 0)
is_root = true;
/* Parse command line */
iu_argp_init ("ping6", program_authors);
argp_parse (&argp, argc, argv, 0, &index, NULL);
ping = ping_init (0, getpid ());
if (ping == NULL)
/* ping_init() prints our error message. */
exit (1);
setsockopt (ping->ping_fd, SOL_SOCKET, SO_BROADCAST, (char *) &one, sizeof (one));
/* Reset root privileges */
setuid (getuid ());
argc -= index;
argv += index;
if (count != 0)
ping_set_count (ping, count);
if (socket_type != 0)
ping_set_sockopt (ping, socket_type, &one, sizeof (one));
if (options & OPT_INTERVAL)
ping_set_interval (ping, interval);
init_data_buffer (patptr, pattern_len);
while (argc--)
{
status |= ping_echo (*argv++);
ping_reset (ping);
}
return status;
}
int
ping_main (struct Ping_Options *Ping_Opt)
{
int one = 1;
int ret = 0;
if (getuid () == 0)
is_root = true;
/* Parse command line */
parse_opt(Ping_Opt);
ping = ping_init (ICMP_ECHO, getpid ());
if (ping == NULL)
/* ping_init() prints our error message. */
exit (1);
ping_set_sockopt (ping, SO_BROADCAST, (char *) &one, sizeof (one));
/* Reset root privileges */
setuid (getuid ());
if (count != 0)
ping_set_count (ping, count);
if (socket_type != 0)
ping_set_sockopt (ping, socket_type, &one, sizeof (one));
if (options & OPT_INTERVAL)
ping_set_interval (ping, interval);
init_data_buffer (patptr, pattern_len);
ret = ping_echo (Ping_Opt->Host);
Ping_Opt->SuccessCount = ping->ping_num_recv;
Ping_Opt->FailureCount = ping->ping_num_xmit - ping->ping_num_recv;
Ping_Opt->AverageResponseTime = ping->avg_time;
Ping_Opt->MaximumResponseTime = ping->max_time;
Ping_Opt->MinimumResponseTime = ping->min_time;
free (ping);
free (data_buffer);
return ret;
}
/*!
* @brief main function
*/
int main(void)
{
ip_addr_t fsl_netif0_ipaddr, fsl_netif0_netmask, fsl_netif0_gw;
app_low_level_init();
OSA_Init();
lwip_init();
IP4_ADDR(&fsl_netif0_ipaddr, 192,168,2,102);
IP4_ADDR(&fsl_netif0_netmask, 255,255,255,0);
IP4_ADDR(&fsl_netif0_gw, 192,168,2,100);
netif_add(&fsl_netif0, &fsl_netif0_ipaddr, &fsl_netif0_netmask, &fsl_netif0_gw, NULL, ethernetif_init, ethernet_input);
netif_set_default(&fsl_netif0);
netif_set_up(&fsl_netif0);
ping_init();
return 0;
}
gint main(gint argc, gchar *argv[]) {
pingData.shadowlib = &ping_functionTable;
ping_init(&pingData);
ping_new(argc, argv);
gint epolld = epoll_create(1);
if(epolld == -1) {
ping_log(G_LOG_LEVEL_WARNING, __FUNCTION__, "Error in epoll_create");
close(epolld);
return -1;
}
struct epoll_event ev;
ev.events = EPOLLIN | EPOLLOUT;
/* watch the server epoll descriptors */
if(pingData.epolld) {
ev.data.fd = pingData.epolld;
epoll_ctl(epolld, EPOLL_CTL_ADD, ev.data.fd, &ev);
}
struct epoll_event events[10];
int nReadyFDs;
while(TRUE) {
/* wait for some events */
nReadyFDs = epoll_wait(epolld, events, 10, 0);
if(nReadyFDs == -1) {
ping_log(G_LOG_LEVEL_WARNING, __FUNCTION__, "Error in epoll_wait");
return -1;
}
//ping_log(G_LOG_LEVEL_MESSAGE, __FUNCTION__, "have %d fds ready", nReadyFDs);
for(int i = 0; i < nReadyFDs; i++) {
ping_activate();
}
}
return 0;
}
int main(void)
#endif
{
ip_addr_t fsl_netif0_ipaddr, fsl_netif0_netmask, fsl_netif0_gw;
app_low_level_init();
OSA_Init();
LWIP_DEBUGF(PING_DEBUG,("TCP/IP initializing...\r\n"));
tcpip_init(NULL,NULL);
LWIP_DEBUGF(PING_DEBUG,("TCP/IP initialized.\r\n"));
IP4_ADDR(&fsl_netif0_ipaddr, 192,168,2,102);
IP4_ADDR(&fsl_netif0_netmask, 255,255,255,0);
IP4_ADDR(&fsl_netif0_gw, 192,168,2,100);
netif_add(&fsl_netif0, &fsl_netif0_ipaddr, &fsl_netif0_netmask, &fsl_netif0_gw, NULL, ethernetif_init, tcpip_input);
netif_set_default(&fsl_netif0);
ping_init();
}
void doSweepLoop()
{
sei();
servo_data_t *servo = create_jim_servo();
ir_init(ADC_ONE_64TH, ADC_AREF, 2);
timer_prescaler_t prescaler = TIMER_ONE_1024TH;
ping_init(prescaler);
oi_t *oiSensor = malloc(sizeof(oi_t));
oi_tare_encoders(&(oiSensor->left_encoder), &(oiSensor->right_encoder));
int velocity = 0;
int radius = 0;
int leftWheelVelocity = 0;
int rightWheelVelocity = 0;
oi_full_mode();
ir_enable_continous_mode();
sendPing();
printf0("creating stored ir sensor lookup table...\r\n");
list_t *lookup_table = create_jims_ir_sensor_lookup_table();
printf0("done...\r\n");
while (1)
{
char c = '\0';
char ping_available = 0;
unsigned p_cm;
if (volatile_ping_capture_complete)
{
ping_available = 1;
unsigned long end_capture_count = tmr1_read_input_capture_count();
unsigned long end_time_cap = (volatile_timer1_overflows << 16) | end_capture_count;
unsigned long delta = end_time_cap - volatile_ping_send_pulse_start_time;
p_cm = ping_count_to_cm(prescaler, delta);
//send again
sendPing();
}
int requestIrCalibration = 0;
handleInput(servo, &leftWheelVelocity, &rightWheelVelocity, &requestIrCalibration);
if (requestIrCalibration)
{
lfreefree(lookup_table);
cli();
lookup_table = create_ir_lookup_table_from_ping(servo, prescaler);
sei();
}
unsigned voltage = ir_read_voltage_avg(1);
unsigned calculatedDist = ir_lookup_distance(lookup_table, voltage);
double ir_cm = calculatedDist * 0.254;
ir_cm = calculatedDist / 10;
char buff[200];
ftoa(buff, ir_cm);
//unsigned p_cm; //= ping_cm_busy_wait(prescaler);
//p_cm = ping_count_to_cm(prescaler, volatile_timer1_capture_count);
unsigned curDeg = servo_calculate_position_deg(servo);
//printf0("%d volts \t\t calculatedDist= %u \r\n", voltage, calculatedDist);
printf0("%uº \t %s ir_cm [%u v]\t", curDeg, buff, voltage);
printf0(" pw=%u\t", servo->cur_pulse_width);
if (ping_available)
printf0("%u p_cm\t", p_cm);
printf0("\r\n");
}
}
/**
* Initiates the GPIO for one-pin mode.
*/
bool ICACHE_FLASH_ATTR
ping_initOnePinMode(Ping_Data *pingData, int8_t triggerAndEchoPin, Ping_Unit unit) {
return ping_init(pingData, triggerAndEchoPin, triggerAndEchoPin, unit);
}
void
netmain_init(void)
{
int e;
int i;
char * msg;
#ifdef IP_V6
ip6_addr host;
#endif
printf("\n%s\n", name);
printf("Copyright 1997-2006 by InterNiche Technologies. All rights reserved. \n");
#ifndef SUPERLOOP
/* call this to do pre-task setup including intialization of port_prep */
msg = pre_task_setup();
if (msg)
panic(msg);
#endif
#ifdef INCLUDE_NVPARMS /* system uses InterNiche NV system */
e = get_nv_params(); /* get flash parameters into data structs */
if (e)
{
printf("fatal error (%d) reading NV parameters.\n", e);
panic("nv");
}
/* set static iface IP info up from stored parameters. These may
be overwritten from command line parms or DHCP later. */
for (i = 0; i < STATIC_NETS; i++)
{
netstatic[i].n_ipaddr = inet_nvparms.ifs[i].ipaddr;
netstatic[i].snmask = inet_nvparms.ifs[i].subnet;
netstatic[i].n_defgw = inet_nvparms.ifs[i].gateway;
#ifdef IP_MULTICAST
/* Create a dummy entry for the Ethernet interface mcastlist */
/* If this entry is set to NULL, multicast is not supported */
/* on this interface */
netstatic[i].n_mcastlist = mcastlist;
#endif /* IP_MULTICAST */
#ifdef IP_V6
IP6CPY(&host, &inet_nvparms.ifs[i].ipv6addr);
if ( (host.addr[0] == 0xFE) && (host.addr[1] == 0xC0))
{
netstatic[i].v6addrs[IPA_SITE] = ip6_mkaddr(&netstatic[i],
IPA_SITE, &host);
}
else if ( (host.addr[0] == 0xFE) && (host.addr[1] == 0x80) )
{
printf ("[IPV6 init]error : bad IPV6 address\n");
}
else if (host.addr[0] != 0)
{
netstatic[i].v6addrs[IPA_GLOBAL] = ip6_mkaddr(&netstatic[i],
IPA_GLOBAL, &host );
}
#endif
}
#ifdef DNS_CLIENT
/* set DNS client's server list from nvparms information */
MEMCPY(dns_servers, inet_nvparms.dns_servers, sizeof(dns_servers));
#ifdef DNS_CLIENT_UPDT
MEMCPY(soa_mname, inet_nvparms.dns_zone_name, sizeof(soa_mname));
#endif /* DNS_CLIENT_UPDT */
#endif /* DNS_CLIENT */
#ifdef USE_COMPORT
comportcfg.comport = comport_nvparms.comport;
comportcfg.LineProtocol = comport_nvparms.LineProtocol;
#endif /* USE_COMPORT */
#endif /* INCLUDE_NVPARMS */
#ifndef INCLUDE_NVPARMS
#ifdef USE_COMPORT
comportcfg.comport = 0x01;
comportcfg.LineProtocol = PPP; /* Default to PPP */
#endif /* USE_COMPORT */
#endif /* INCLUDE_NVPARMS */
msg = ip_startup();
if (msg)
{
printf("inet startup error: %s\n", msg);
panic("IP");
}
#if defined(MEMDEV_SIZE) && defined(VFS_FILES)
init_memdev(); /* init the mem and null test devices */
#endif
#ifdef IP_MULTICAST
#ifdef INCLUDE_TCP
/* call the IP multicast test program */
u_mctest_init();
#endif
#endif
/* clear debugging flags. Port can optionally turn them
* back on in post_task_setup();
* NDEBUG = UPCTRACE | IPTRACE | TPTRACE ;
*/
NDEBUG = 0;
/* print IP address of the first interface - for user's benefit */
printf("IP address of %s : %s\n" , ((NET)(netlist.q_head))->name,
print_ipad(((NET)(netlist.q_head))->n_ipaddr));
#ifndef SUPERLOOP
/* call this per-target routine after basic tasks & net are up */
msg = post_task_setup();
if (msg)
panic(msg);
#endif
#ifdef PING_APP
ping_init();
#endif /* PING_APP */
#ifdef RAWIPTEST
raw_test_init();
#endif /* RAWIPTEST */
#if defined(TFTP_CLIENT) || defined(TFTP_SERVER)
tftp_init();
#endif /* TFTP */
#ifdef TESTMENU
install_menu(testmenu);
#endif /* TESTMENU */
#ifdef USE_AUTOIP
Upnp_init(); /* start Auto IP before DHCP client */
#endif /* USE_AUTOIP */
#ifdef DHCP_CLIENT
if( POWERUP_CONFIG_DHCP_ENABLED )
dhc_setup(); /* kick off any DHCP clients */
#endif /* DHCP_CLIENT */
#ifdef DHCP_SERVER
#ifdef INCLUDE_NVPARMS
if(dhserve_nvparms.ServeDHCP)
#endif
{
e = dhcp_init();
if(e)
{
dprintf("Error %d starting DHCP server.\n",e);
}
else
{
exit_hook(dhcpsrv_cleanup);
dprintf("Started DHCP server\n");
}
}
#endif /* DHCP_SERVER */
#ifdef IN_MENUS
printf(prompt);
#endif
#ifdef UDPSTEST
e=udp_echo_init();
if ( e == SUCCESS )
{
exit_hook(udp_echo_cleanup);
}
else
dprintf("Error %d starting UDP Echo server.\n",e);
#endif
#ifdef RIP_SUPPORT
e=rip_init();
if ( e == SUCCESS )
{
exit_hook(rip_cleanup);
}
else
dprintf("Error %d starting RIP server.\n",e);
#endif
#ifdef INICHE_SYSLOG
e =syslog_init();
if (e == SUCCESS)
exit_hook(closelog);
else
dprintf("Error %d initializing syslog client.\n",e);
#endif
#ifdef FTP_CLIENT
fc_callback=ftpc_callback;
#endif
/* The following initializations take place when SUPERLOOP is enabled.
* Otherwise they would be done in the respective task.
*/
#ifdef SUPERLOOP
#ifdef INCLUDE_SNMP
e = snmp_init();
if (e == SUCCESS)
exit_hook(snmp_cleanup);
else
dprintf("Error %d initializing SNMP agent.\n",e);
#endif /* INCLUDE_SNMP */
#ifdef WEBPORT
e = http_init(); /* start up http server */
if (e)
dprintf("Error %d starting HTTP server.\n",e);
#endif /* WEBPORT */
#ifdef FTP_SERVER
e = ftps_init();
if ( e == SUCCESS )
{
exit_hook(ftps_cleanup);
}
else
dprintf("Error %d starting FTP server.\n",e);
#endif /* FTP_SERVER */
#ifdef TELNET_SVR
e=tel_init();
if ( e == SUCCESS )
{
exit_hook(tel_cleanup);
}
else
dprintf("Error %d starting TELNET server.\n",e);
#endif
#ifdef TCP_ECHOTEST
e=tcp_echo_init();
if ( e == SUCCESS )
{
exit_hook(tcp_echo_cleanup);
}
else
dprintf("Error %d starting TCP Echo server.\n",e);
#endif
#ifdef TCP_CIPHERTEST
e=tcp_cipher_init();
if ( e == SUCCESS )
{
exit_hook(tcp_cipher_cleanup);
}
else
dprintf("Error %d starting TCP cipher server.\n",e);
#endif
#ifdef USE_CRYPTOENG
e = ce_init();
if(e != 0)
{
dprintf("ce_init() failed\n");
panic("prep_modules");
}
#endif
#ifdef SMTP_ALERTS
smtp_init ();
#endif
#endif /* SUPERLOOP */
USE_ARG(e); /* Avoid compiler warnings */
USE_ARG(i);
} /* end of netmain_init() */
/* This function initializes applications */
static void
apps_init(void)
{
#if LWIP_DNS_APP && LWIP_DNS
/* wait until the netif is up (for dhcp, autoip or ppp) */
sys_timeout(5000, dns_dorequest, NULL);
#endif /* LWIP_DNS_APP && LWIP_DNS */
#if LWIP_CHARGEN_APP && LWIP_SOCKET
chargen_init();
#endif /* LWIP_CHARGEN_APP && LWIP_SOCKET */
#if LWIP_PING_APP && LWIP_RAW && LWIP_ICMP
ping_init();
#endif /* LWIP_PING_APP && LWIP_RAW && LWIP_ICMP */
#if LWIP_NETBIOS_APP && LWIP_UDP
netbiosns_init();
#ifndef NETBIOS_LWIP_NAME
#if LWIP_NETIF_HOSTNAME
netbiosns_set_name(netif_default->hostname);
#else
netbiosns_set_name("NETBIOSLWIPDEV");
#endif
#endif
#endif /* LWIP_NETBIOS_APP && LWIP_UDP */
#if LWIP_HTTPD_APP && LWIP_TCP
#ifdef LWIP_HTTPD_APP_NETCONN
http_server_netconn_init();
#else /* LWIP_HTTPD_APP_NETCONN */
httpd_init();
#endif /* LWIP_HTTPD_APP_NETCONN */
#endif /* LWIP_HTTPD_APP && LWIP_TCP */
#if LWIP_MDNS_RESPONDER
mdns_resp_init();
#if LWIP_NETIF_HOSTNAME
mdns_resp_add_netif(netif_default, netif_default->hostname, 3600);
#else
mdns_resp_add_netif(netif_default, "lwip", 3600);
#endif
mdns_resp_add_service(netif_default, "lwipweb", "_http", DNSSD_PROTO_TCP, HTTPD_SERVER_PORT, 3600, srv_txt, NULL);
#endif
#if LWIP_NETIO_APP && LWIP_TCP
netio_init();
#endif /* LWIP_NETIO_APP && LWIP_TCP */
#if LWIP_RTP_APP && LWIP_SOCKET && LWIP_IGMP
rtp_init();
#endif /* LWIP_RTP_APP && LWIP_SOCKET && LWIP_IGMP */
#if LWIP_SNTP_APP && LWIP_SOCKET
sntp_init();
#endif /* LWIP_SNTP_APP && LWIP_SOCKET */
#if LWIP_SHELL_APP && LWIP_NETCONN
shell_init();
#endif /* LWIP_SHELL_APP && LWIP_NETCONN */
#if LWIP_TCPECHO_APP
#if LWIP_NETCONN && defined(LWIP_TCPECHO_APP_NETCONN)
tcpecho_init();
#else /* LWIP_NETCONN && defined(LWIP_TCPECHO_APP_NETCONN) */
tcpecho_raw_init();
#endif
#endif /* LWIP_TCPECHO_APP && LWIP_NETCONN */
#if LWIP_UDPECHO_APP && LWIP_NETCONN
udpecho_init();
#endif /* LWIP_UDPECHO_APP && LWIP_NETCONN */
#if LWIP_LWIPERF_APP
lwiperf_start_tcp_server_default(lwiperf_report, NULL);
#endif
#if LWIP_SOCKET_EXAMPLES_APP && LWIP_SOCKET
socket_examples_init();
#endif /* LWIP_SOCKET_EXAMPLES_APP && LWIP_SOCKET */
#ifdef LWIP_APP_INIT
LWIP_APP_INIT();
#endif
}
