osd-contiki/platform/stepper-robot/gateway/gateway.c

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#include <stdio.h>
#include <sys/etimer.h>
#include <sys/process.h>
#include <sys/autostart.h>
#include <usb/usb-api.h>
#include <usb/cdc-acm.h>
#include <dev/leds.h>
#include <debug-uart.h>
#include <net/uip-fw-drv.h>
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#include <net/uip-over-mesh.h>
#include <dev/slip.h>
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#include "contiki-main.h"
/* SLIP interface */
extern struct uip_fw_netif cc2420if;
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rimeaddr_t node_addr = {{0,129}};
static struct uip_fw_netif slipif =
{UIP_FW_NETIF(0,0,0,0, 255,255,255,255, slip_send)};
/* USB buffers */
static unsigned char input_buffer[128];
static unsigned char output_buffer[128];
static unsigned char interrupt_buffer[16];
#define DEV_TO_HOST 0x81
#define HOST_TO_DEV 0x02
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#define GATEWAY_TRICKLE_CHANNEL 8
void
slip_arch_init(unsigned long ubr)
{
}
void
slip_arch_writeb(unsigned char c)
{
while(usb_send_data(DEV_TO_HOST, &c, 1) != 1);
}
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#if WITH_UIP
static void
set_gateway(void)
{
struct gateway_msg msg;
/* Make this node the gateway node, unless it already is the
gateway. */
if(!is_gateway) {
leds_on(LEDS_RED);
printf("%d.%d: making myself the gateway\n",
rimeaddr_node_addr.u8[0], rimeaddr_node_addr.u8[1]);
uip_over_mesh_set_gateway(&rimeaddr_node_addr);
rimeaddr_copy(&(msg.gateway), &rimeaddr_node_addr);
rimebuf_copyfrom(&msg, sizeof(struct gateway_msg));
trickle_send(&gateway_trickle);
is_gateway = 1;
}
}
#endif /* WITH_UIP */
PROCESS(gateway_process, "Gateway process");
PROCESS_THREAD(gateway_process, ev , data)
{
static struct etimer timer;
PROCESS_BEGIN();
usb_set_user_process(process_current);
usb_setup();
usb_cdc_acm_setup();
uip_fw_default(&slipif);
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uip_over_mesh_set_gateway_netif(&slipif);
process_start(&slip_process, NULL);
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set_gateway();
while(ev != PROCESS_EVENT_EXIT) {
PROCESS_WAIT_EVENT();
if (ev == PROCESS_EVENT_TIMER) {
leds_toggle(LEDS_YELLOW);
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/* printf("FIFOP: %d\n", FIFOP_IS_1); */
etimer_restart(&timer);
} else if (ev == PROCESS_EVENT_MSG) {
const struct usb_user_msg * const msg = data;
switch(msg->type) {
case USB_USER_MSG_TYPE_CONFIG:
printf("User config\n");
if (msg->data.config != 0) {
usb_setup_bulk_endpoint(DEV_TO_HOST,
input_buffer, sizeof(input_buffer));
usb_setup_bulk_endpoint(HOST_TO_DEV,
output_buffer, sizeof(output_buffer));
usb_setup_interrupt_endpoint(0x83,interrupt_buffer,
sizeof(interrupt_buffer));
etimer_set(&timer, CLOCK_SECOND);
} else {
etimer_stop(&timer);
usb_disable_endpoint(DEV_TO_HOST);
usb_disable_endpoint(HOST_TO_DEV);
usb_disable_endpoint(0x83);
}
break;
case USB_USER_MSG_TYPE_EP_OUT(2):
{
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/*unsigned int len = msg->data.length;
printf("Received %d:\n", len); */
{
unsigned char ch;
unsigned int xfer;
while((xfer = usb_recv_data(HOST_TO_DEV, &ch, 1)) > 0) {
/* printf(" %02x",ch); */
if (slip_input_byte(ch)) break;
}
/* printf("\n"); */
}
}
break;
}
}
}
printf("USB test process exited\n");
PROCESS_END();
}
AUTOSTART_PROCESSES(&gateway_process);