void downlink_init(void)
{
downlink.nb_ovrn = 0;
downlink.nb_bytes = 0;
downlink.nb_msgs = 0;
#if defined DATALINK
#if DATALINK == PPRZ || DATALINK == SUPERBITRF || DATALINK == W5100
pprz_transport_init(&pprz_tp);
#endif
#if DATALINK == XBEE
xbee_init();
#endif
#if DATALINK == W5100
w5100_init();
#endif
#endif
#if USE_PPRZLOG
pprzlog_transport_init();
#endif
#if SITL
ivy_transport_init();
#endif
#if PERIODIC_TELEMETRY
register_periodic_telemetry(DefaultPeriodic, "DATALINK_REPORT", send_downlink);
#endif
}
void init_ap( void )
{
#ifndef SINGLE_MCU /** init done in main_fbw in single MCU */
mcu_init();
#endif /* SINGLE_MCU */
/************* Sensors initialization ***************/
#if USE_GPS
gps_init();
#endif
#ifdef USE_GPIO
GpioInit();
#endif
#if USE_IMU
imu_init();
#endif
#if USE_AHRS_ALIGNER
ahrs_aligner_init();
#endif
#if USE_AHRS
ahrs_init();
#endif
#if USE_BAROMETER
baro_init();
#endif
ins_init();
stateInit();
/************* Links initialization ***************/
#if defined MCU_SPI_LINK || defined MCU_UART_LINK
link_mcu_init();
#endif
#if USE_AUDIO_TELEMETRY
audio_telemetry_init();
#endif
/************ Internal status ***************/
autopilot_init();
h_ctl_init();
v_ctl_init();
nav_init();
modules_init();
settings_init();
/**** start timers for periodic functions *****/
sensors_tid = sys_time_register_timer(1./PERIODIC_FREQUENCY, NULL);
navigation_tid = sys_time_register_timer(1./NAVIGATION_FREQUENCY, NULL);
attitude_tid = sys_time_register_timer(1./CONTROL_FREQUENCY, NULL);
modules_tid = sys_time_register_timer(1./MODULES_FREQUENCY, NULL);
telemetry_tid = sys_time_register_timer(1./60, NULL);
monitor_tid = sys_time_register_timer(1.0, NULL);
/** - start interrupt task */
mcu_int_enable();
#if defined DATALINK
#if DATALINK == XBEE
xbee_init();
#endif
#if DATALINK == W5100
w5100_init();
#endif
#endif /* DATALINK */
#if defined AEROCOMM_DATA_PIN
IO0DIR |= _BV(AEROCOMM_DATA_PIN);
IO0SET = _BV(AEROCOMM_DATA_PIN);
#endif
/************ Multi-uavs status ***************/
#ifdef TRAFFIC_INFO
traffic_info_init();
#endif
}
void init_ap( void ) {
#ifndef SINGLE_MCU /** init done in main_fbw in single MCU */
mcu_init();
#endif /* SINGLE_MCU */
/****** initialize and reset state interface ********/
stateInit();
/************* Sensors initialization ***************/
#if USE_GPS
gps_init();
#endif
#if USE_IMU
imu_init();
#if USE_IMU_FLOAT
imu_float_init();
#endif
#endif
#if USE_AHRS_ALIGNER
ahrs_aligner_init();
#endif
#if USE_AHRS
ahrs_init();
#endif
#if USE_AHRS && USE_IMU
register_periodic_telemetry(DefaultPeriodic, "STATE_FILTER_STATUS", send_fliter_status);
#endif
air_data_init();
#if USE_BARO_BOARD
baro_init();
#endif
ins_init();
/************* Links initialization ***************/
#if defined MCU_SPI_LINK || defined MCU_UART_LINK
link_mcu_init();
#endif
#if USE_AUDIO_TELEMETRY
audio_telemetry_init();
#endif
/************ Internal status ***************/
autopilot_init();
h_ctl_init();
v_ctl_init();
nav_init();
modules_init();
settings_init();
/**** start timers for periodic functions *****/
sensors_tid = sys_time_register_timer(1./PERIODIC_FREQUENCY, NULL);
navigation_tid = sys_time_register_timer(1./NAVIGATION_FREQUENCY, NULL);
attitude_tid = sys_time_register_timer(1./CONTROL_FREQUENCY, NULL);
modules_tid = sys_time_register_timer(1./MODULES_FREQUENCY, NULL);
telemetry_tid = sys_time_register_timer(1./TELEMETRY_FREQUENCY, NULL);
monitor_tid = sys_time_register_timer(1.0, NULL);
/** - start interrupt task */
mcu_int_enable();
#if defined DATALINK
#if DATALINK == XBEE
xbee_init();
#endif
#if DATALINK == W5100
w5100_init();
#endif
#endif /* DATALINK */
#if defined AEROCOMM_DATA_PIN
IO0DIR |= _BV(AEROCOMM_DATA_PIN);
IO0SET = _BV(AEROCOMM_DATA_PIN);
#endif
/************ Multi-uavs status ***************/
#ifdef TRAFFIC_INFO
traffic_info_init();
#endif
/* set initial trim values.
* these are passed to fbw via inter_mcu.
*/
ap_state->command_roll_trim = COMMAND_ROLL_TRIM;
ap_state->command_pitch_trim = COMMAND_PITCH_TRIM;
ap_state->command_yaw_trim = COMMAND_YAW_TRIM;
}
int main(void)
{
ansi_init();
uart_init();// Initialize UART Peripheral
IntializeTimer();
// Clear the Screen of the hyper terminal <send clear code>
spi_init();// Initialize SPI
w5100_init();// Initial the W5100 Ethernet
if(S0_initialize_socket(MR_TCP,30000))
{
printf("INIT DONE 2\n");
//S0_connect(dest_ip,dest_port);
}
printf("%x\n",get_socket0_status());
uart_putch('\0',&uart_str);
uart_flush();
host= http_extract_host(url);
relativeAddress = http_extract_relativeAddress(url,strlen(host));
request= http_create_request(method,relativeAddress,httpV,host);
;//="GET / HTTP/1.1\r\nHost: www.google.com\r\nConnection: keep-alive\r\nUser-Agent: Mozilla/5.0 (windows NT 6.1; wow64) Applewebkit/537.11 (KHTML, like Gecko) Chrome/23.0.1271.97 safari/537.11\r\nAccept: text/html\r\nAccept-Encoding: gzip, deflate\r\n";
//printf("%s",request);
S0_connect(dest_ip,dest_port);
if(get_socket0_status() == SOCK_ESTABLISHED)
{
printf("Connected\n");
uart_putch('\0',&uart_str);
}
// Loop forever
int loop = 1, counter = 0;
//sei();
while(loop)
{
// keep reading the socket zero status
// and handle at least socket closed and socket established
uint8_t sockstat=get_socket0_status();
switch(sockstat/*Handle all possible socket status here*/)
{
case SOCK_CLOSED:
//printf("ERROR1\n");
//uart_putch('\0',&uart_str);
//S0_connect(dest_ip,dest_port);
printf("%x\n",get_socket0_status());
uart_putch('\0',&uart_str);
loop = 0;
break;
case SOCK_ESTABLISHED:
printf("SOCK_ESTABLISHED\n");
uart_putch('\0',&uart_str);
// Get the client request size
// And read the client Request in temp buffer
// make sure the temp buffer is sending GET request
S0_send((uint8_t*)request,strlen(request));
printf("Request Sent\n");
uart_putch('\0',&uart_str);
uart_flush();
_delay_ms(2000);
if(S0_RX_getReceivedSize() != 0)
{
counter++;
S0_recv(buf,S0_RX_getReceivedSize());
printf("RECV Response\n");
uart_putch('\0',&uart_str);
printf("%s",(char*)buf);
uart_putch('\0',&uart_str);
//loop =0;
}
// create a buffer that will hold the response and send it
// if the GET request has an option to turn on/off a LED Carry that now.
// finally disconnect the socket with the client.
break;
case SOCK_FIN_WAIT:
case SOCK_CLOSING:
case SOCK_TIME_WAIT:
case SOCK_CLOSE_WAIT:
case SOCK_LAST_ACK:
loop = 0;
printf("Recevied %d\n",counter);
uart_putch('\0',&uart_str);
close(0);
// force the socket to be closed
break;
//default:
//printf("nothing\n");
}
}
return 0;
}
void main(void)
{
char key;
videomode(VIDEOMODE_80COL);
printf("Init\n");
w5100_init(&parms);
printf("(S)end or e(X)it\n");
do
{
unsigned len;
if (kbhit())
{
key = cgetc();
}
else
{
key = '\0';
}
if (key == 's')
{
unsigned i;
len = 500;
printf("Send Len %d To %d.%d.%d.%d", len, parms.serverip[0],
parms.serverip[1],
parms.serverip[2],
parms.serverip[3]);
while (!w5100_send_init(len))
{
printf("!");
}
for (i = 0; i < len; ++i)
{
w5100_send_byte(i);
}
w5100_send_done();
printf(".\n");
}
len = w5100_recv_init();
if (len)
{
unsigned i;
printf("Recv Len %d From %d.%d.%d.%d", len, parms.serverip[0],
parms.serverip[1],
parms.serverip[2],
parms.serverip[3]);
for (i = 0; i < len; ++i)
{
if ((i % 24) == 0)
{
printf("\n$%04X:", i);
}
printf(" %02X", w5100_recv_byte());
}
w5100_recv_done();
printf(".\n");
}
}
while (key != 'x');
printf("Done\n");
}
