diff --git a/embedded/atsams70-tinyrouter/atsams70-tinyrouter/src/main.c b/embedded/atsams70-tinyrouter/atsams70-tinyrouter/src/main.c
index 216b13949ca0f0f35d9d23e18a9bae57e10cbd06..f692ee9031df5fe9b9c41ecbe52ed89af70b0fce 100644
--- a/embedded/atsams70-tinyrouter/atsams70-tinyrouter/src/main.c
+++ b/embedded/atsams70-tinyrouter/atsams70-tinyrouter/src/main.c
@@ -73,33 +73,33 @@ void setupperipherals(void){
PMC->PMC_PCER0 = 1 << ID_UART1; // UART1
PMC->PMC_PCER1 = 1 << 12; // UART2
PMC->PMC_PCER1 = 1 << 14; // UART4 go clock go
-
+
// tp1, uart2 & uart 4
PIOD->PIO_ABCDSR[0] = ~(PIO_PER_P25 | PIO_PER_P18);
PIOD->PIO_ABCDSR[0] = ~(PIO_PER_P26 | PIO_PER_P19);
PIOD->PIO_ABCDSR[1] = PIO_PER_P25;
PIOD->PIO_ABCDSR[1] = PIO_PER_P26;
-
+
//tp2, uart0
//PIOA->PIO_ABCDSR[0] = ~PIO_PER_P9;
//PIOA->PIO_ABCDSR[0] = ~PIO_PER_P10;
//PIOA->PIO_ABCDSR[1] = ~PIO_PER_P9;
//PIOA->PIO_ABCDSR[1] = ~PIO_PER_P10;
-
-
+
+
//tp3, uart1
//PIOA->PIO_ABCDSR[0] = ~PIO_PER_P5;
//PIOA->PIO_ABCDSR[0] = ~PIO_PER_P4;
PIOA->PIO_ABCDSR[1] |= PIO_PER_P5;
PIOA->PIO_ABCDSR[1] |= PIO_PER_P4;
-
-
+
+
//tp4, uart4
//PIOD->PIO_ABCDSR[0] &= ~PIO_PER_P18;
//PIOD->PIO_ABCDSR[0] &= ~PIO_PER_P19;
PIOD->PIO_ABCDSR[1] |= PIO_PER_P18;
PIOD->PIO_ABCDSR[1] |= PIO_PER_P19;
-
+
}
void killwatchdog(void){
@@ -111,17 +111,17 @@ void setupinterrupts(void){
NVIC_ClearPendingIRQ(UART2_IRQn);
NVIC_SetPriority(UART2_IRQn, 8);
NVIC_EnableIRQ(UART2_IRQn);
-
+
NVIC_DisableIRQ(UART0_IRQn);
NVIC_ClearPendingIRQ(UART0_IRQn);
NVIC_SetPriority(UART0_IRQn, 8);
NVIC_EnableIRQ(UART0_IRQn);
-
+
NVIC_DisableIRQ(UART1_IRQn);
NVIC_ClearPendingIRQ(UART1_IRQn);
NVIC_SetPriority(UART1_IRQn, 8);
NVIC_EnableIRQ(UART1_IRQn);
-
+
NVIC_DisableIRQ(UART4_IRQn);
NVIC_ClearPendingIRQ(UART4_IRQn);
NVIC_SetPriority(UART4_IRQn, 8);
@@ -129,35 +129,35 @@ void setupinterrupts(void){
}
void setupstatus(void){
-
+
stlb = pin_new(PIOA, PIO_PER_P1);
pin_output(&stlb);
stlr = pin_new(PIOD, PIO_PER_P11);
pin_output(&stlr);
button = pin_new(PIOA, PIO_PER_P15);
pin_input(&button);
-
+
p1lr = pin_new(PIOA, PIO_PER_P22);
pin_output(&p1lr);
p1lg = pin_new(PIOA, PIO_PER_P8);
pin_output(&p1lg);
p1lb = pin_new(PIOA, PIO_PER_P13);
pin_output(&p1lb);
-
+
p2lr = pin_new(PIOA, PIO_PER_P30);
pin_output(&p2lr);
p2lg = pin_new(PIOD, PIO_PER_P9);
pin_output(&p2lg);
p2lb = pin_new(PIOA, PIO_PER_P28);
pin_output(&p2lb);
-
+
p3lr = pin_new(PIOD, PIO_PER_P10);
pin_output(&p3lr);
p3lg = pin_new(PIOA, PIO_PER_P0);
pin_output(&p3lg);
p3lb = pin_new(PIOD, PIO_PER_P15);
pin_output(&p3lb);
-
+
p4lr = pin_new(PIOD, PIO_PER_P13);
pin_output(&p4lr);
p4lg = pin_new(PIOD, PIO_PER_P14);
@@ -204,37 +204,49 @@ void setallstatus(void){
int main (void)
{
- board_init(); // asf
+ node_t* n = (node_t*)malloc(sizeof(node_t));
+ n->myAddress = ADDRESS;
+ n->portBufferSizes = (uint8_t*)malloc(32);
+ for (int port = 0; port < 4; port++) {
+ n->portBufferSizes[port] = 0;
+ }
+ nb->LUT = (uint8_t**)malloc(4096);
+ for (int i = 0; i < 4; i++) {
+ for (int port = 0; port < 4; port++) {
+ n->LUT[i][port] = 255;
+ }
+ }
+ //board_init(); // asf
sysclk_init(); // asf clock
-
+
setupperipherals(); // peripheral clocks
killwatchdog(); // no thanks
-
+
setupstatus(); // pin setup
-
+
tp1 = tinyport_new(UART2, PIOD, PERIPHERAL_C, PIO_PER_P25, PIO_PER_P26, &p1rbrx, &p1rbtx, &p1lr, &p1lg, &p1lb);
tp2 = tinyport_new(UART0, PIOA, PERIPHERAL_A, PIO_PER_P9, PIO_PER_P10, &p2rbrx, &p2rbtx, &p2lr, &p2lg, &p2lb);
tp3 = tinyport_new(UART1, PIOA, PERIPHERAL_C, PIO_PER_P5, PIO_PER_P4, &p3rbrx, &p3rbtx, &p3lr, &p3lg, &p3lb);
tp4 = tinyport_new(UART4, PIOD, PERIPHERAL_C, PIO_PER_P18, PIO_PER_P19, &p4rbrx, &p4rbtx, &p4lr, &p4lg, &p4lb);
-
+
tp_init(&tp1);
tp_init(&tp2);
tp_init(&tp3);
tp_init(&tp4);
-
+
tinyport_t ports[4] = {tp1, tp2, tp3, tp4};
-
+
setupinterrupts(); // turns interrupt NVICs on
-
+
setallstatus(); // lights off
pin_set(&stlr);
pin_clear(&stlb);
-
+
tp_testlights(&tp1); // fancy
tp_testlights(&tp3);
tp_testlights(&tp2);
tp_testlights(&tp4);
-
+
packet_t packetlooper;
while(1){
@@ -243,30 +255,30 @@ int main (void)
for(int i = 0; i < 4; i++){
tp_packetparser(&ports[i]);
}
-
+
for(int i = 0; i < 4; i++){ // loop over ports and check for packets, add packets to packet buffer
if(ports[i].haspacket){
-
+
packetlooper = ports[i].packet; // pull into buffer
packet_clean(&ports[i].packet); // reset packet states
- ports[i].haspacket = TP_NO_PACKET;
+ ports[i].haspacket = TP_NO_PACKET;
// TODO: update heartbeat / buffer depth
-
+
pin_clear(ports[i].stlb); // for debugging: we have seen a packet on this port
-
+
for(int c = 0; c < packetlooper.size; c ++){ // blocking echo
tp_putchar(&ports[i], packetlooper.raw[c]);
}
-
+
handle_packet();
// put data in block, error if returns 0 b/c overfull ringbuffer
/*
if(!tp_putdata(&ports[i], packetlooper.raw, packetlooper.size)){
- pin_clear(ports[i].stlr);
+ pin_clear(ports[i].stlr);
}
*/
}
-
+
// packet handler
// pull a packet from the buffer,
// handle_packet()
@@ -276,9 +288,9 @@ int main (void)
}
*/
}
-
+
// loop over packet buffer and handle packets
-
+
delay_cycles(1); // one clock tick to relax interrupt scheduler
}
}
@@ -287,7 +299,7 @@ void UART2_Handler(){
if(UART2->UART_SR & UART_SR_RXRDY){
tp_rxhandler(&tp1);
}
-
+
/*
if(UART2->UART_SR & UART_SR_TXRDY){
tp_txhandler(&tp1);
@@ -311,4 +323,4 @@ void UART4_Handler(){
if(UART4->UART_SR & UART_SR_RXRDY){
tp_rxhandler(&tp4);
}
-}
\ No newline at end of file
+}
diff --git a/embedded/atsams70-tinyrouter/atsams70-tinyrouter/src/node.h b/embedded/atsams70-tinyrouter/atsams70-tinyrouter/src/node.h
index 96c9cc9d48249cd59166334ab7972b68ef2e1fe2..3452b30b08d5c0b24bafabd800d553fd385e3097 100644
--- a/embedded/atsams70-tinyrouter/atsams70-tinyrouter/src/node.h
+++ b/embedded/atsams70-tinyrouter/atsams70-tinyrouter/src/node.h
@@ -1,5 +1,7 @@
+#define ADDRESS 0
+
typedef struct {
- uint8_t portBufferSizes[4];
- uint16_t LUT[1024][4]; // TODO: fix representation
+ uint8_t* portBufferSizes;
+ uint8_t** LUT; // 1024 x 4
uint16_t myAddress;
} node_t;
diff --git a/embedded/atsams70-tinyrouter/atsams70-tinyrouter/src/packet.h b/embedded/atsams70-tinyrouter/atsams70-tinyrouter/src/packet.h
index 63c966187c25ccbaa4a0c448cb39c8273cfb8dd0..a57def3e1f62b190af9c3e0a961d7a24660bee98 100644
--- a/embedded/atsams70-tinyrouter/atsams70-tinyrouter/src/packet.h
+++ b/embedded/atsams70-tinyrouter/atsams70-tinyrouter/src/packet.h
@@ -9,7 +9,8 @@
#ifndef PACKET_H_
#define PACKET_H_
-#include "asf.h"
+//#include "asf.h"
+#include <stdint.h>
typedef struct{
uint8_t raw[255];
diff --git a/embedded/atsams70-tinyrouter/atsams70-tinyrouter/src/packet_handling.c b/embedded/atsams70-tinyrouter/atsams70-tinyrouter/src/packet_handling.c
index 65cd0bb90a7207687af7fa4aab79477eb4c98cb4..e67e246383f97ac0ae784d9fbc4fb0a7b82a5d27 100644
--- a/embedded/atsams70-tinyrouter/atsams70-tinyrouter/src/packet_handling.c
+++ b/embedded/atsams70-tinyrouter/atsams70-tinyrouter/src/packet_handling.c
@@ -2,6 +2,9 @@
#include "node.h"
#include "packet_handling.h"
#include <string.h>
+#include <stdlib.h>
+
+#define MAX_HOPCOUNT 6
int parse_type(packet_t* p) {
return p->raw[0];
@@ -12,7 +15,7 @@ void update_LUT(node_t* n, uint16_t src, uint8_t hopCount, uint8_t port) {
}
void send_packet(packet_t* p, uint8_t port) {
- // TODO:
+ // TODO:
}
void broadcast_packet(packet_t* p, uint8_t exclude) {
@@ -22,21 +25,21 @@ void broadcast_packet(packet_t* p, uint8_t exclude) {
if (exclude != 3) send_packet(p, 3);
}
-packet_t* turn_to_standard_flood(node_t* n, packet_t* p) {
- packet_t* newPacket = (packet_t*)malloc(sizeof(packet_t));
- memcpy((void*)newPacket->raw, (const void*)p->raw, (size_t)256);
- newPacket->destination = p->destination;
- newPacket->source = n->myAddress;
- newPacket->hopcount = p->hopcount;
- newPacket->size = p->size;
- newPacket->counter = p->counter;
- return newPacket;
+int in_table(node_t* n, uint8_t dest) {
+ return !(n->LUT[dest][0] != MAX_HOPCOUNT && n->LUT[dest][1] != MAX_HOPCOUNT &&
+ n->LUT[dest][2] != MAX_HOPCOUNT && n->LUT[dest][3] != MAX_HOPCOUNT);
}
void handle_packet(node_t* n, packet_t* p, uint8_t port) {
+ if (p->hopcount > MAX_HOPCOUNT) {
+ free((void*)p);
+ return;
+ }
+
if (parse_type(p) != BUFFER_UPDATE) {
update_LUT(n, p->source, p->hopcount, port);
}
+
switch (parse_type(p)) {
case STANDARD:
if (p->destination == n->myAddress) {
@@ -44,7 +47,7 @@ void handle_packet(node_t* n, packet_t* p, uint8_t port) {
//reply
} else {
p->hopcount++;
- if (n->LUT[p->destination]) {
+ if (in_table(n, p->destination)) {
int bestPort = 0;
int bestHopCount = n->LUT[p->destination][0];
for (int i = 0; i < 4; i++) {
@@ -55,7 +58,8 @@ void handle_packet(node_t* n, packet_t* p, uint8_t port) {
}
send_packet(p, bestPort);
} else {
- broadcast_packet(turn_to_standard_flood(n, p), port);
+ p->raw[0] = STANDARD_FLOOD;
+ broadcast_packet(p, 4);
}
}
break;
@@ -64,7 +68,7 @@ void handle_packet(node_t* n, packet_t* p, uint8_t port) {
//process
} else {
p->hopcount++;
- if (n->LUT[p->destination]) {
+ if (in_table(n, p->destination)) {
int bestPort = 0;
int bestHopCount = n->LUT[p->destination][0];
for (int i = 0; i < 4; i++) {
@@ -75,12 +79,13 @@ void handle_packet(node_t* n, packet_t* p, uint8_t port) {
}
send_packet(p, bestPort);
} else {
- broadcast_packet(turn_to_standard_flood(n, p), port);
+ p->raw[0] = STANDARD_FLOOD;
+ broadcast_packet(p, 4);
}
}
break;
case STANDARD_FLOOD:
- n->LUT[p->destination][port] = 255;
+ n->LUT[p->destination][port] = MAX_HOPCOUNT;
if (p->destination == n->myAddress) {
//process
//reply
@@ -97,12 +102,13 @@ void handle_packet(node_t* n, packet_t* p, uint8_t port) {
}
send_packet(p, bestPort);
} else {
- broadcast_packet(turn_to_standard_flood(n, p), port);
+ p->raw[0] = STANDARD_FLOOD;
+ broadcast_packet(p, port);
}
}
break;
case ACK_FLOOD:
- n->LUT[p->destination][port] = 255;
+ n->LUT[p->destination][port] = MAX_HOPCOUNT;
if (p->destination == n->myAddress) {
//process
} else {
@@ -118,7 +124,8 @@ void handle_packet(node_t* n, packet_t* p, uint8_t port) {
}
send_packet(p, bestPort);
} else {
- broadcast_packet(turn_to_standard_flood(n, p), port);
+ p->raw[0] = STANDARD_FLOOD;
+ broadcast_packet(p, port);
}
}
break;
@@ -127,3 +134,8 @@ void handle_packet(node_t* n, packet_t* p, uint8_t port) {
break;
}
}
+
+int main() {
+
+ return 0;
+}
diff --git a/embedded/atsams70-tinyrouter/atsams70-tinyrouter/src/packet_handling.h b/embedded/atsams70-tinyrouter/atsams70-tinyrouter/src/packet_handling.h
index 7f8c316b1093c5d93e888b9eba3b5b3919b54ee4..b0cb2ec383ed0c9a5abf6a67d12bc4fb27acf130 100644
--- a/embedded/atsams70-tinyrouter/atsams70-tinyrouter/src/packet_handling.h
+++ b/embedded/atsams70-tinyrouter/atsams70-tinyrouter/src/packet_handling.h
@@ -3,7 +3,7 @@
*
* Created: 12/7/2017 2:14:08 PM
* Author: Jake
- */
+ */
#ifndef PACKET_HANDLING_H_
@@ -19,10 +19,8 @@ void send_packet(packet_t* p, uint8_t port);
void broadcast_packet(packet_t* p, uint8_t exclude);
-packet_t* turn_to_standard_flood(node_t* n, packet_t* p);
-
void handle_packet(node_t* n, packet_t* p, uint8_t port);
+int in_table(node_t* n, uint8_t dest);
-
-#endif /* PACKET_HANDLING_H_ */
\ No newline at end of file
+#endif /* PACKET_HANDLING_H_ */
diff --git a/embedded/atsams70-tinyrouter/atsams70-tinyrouter/src/pin.h b/embedded/atsams70-tinyrouter/atsams70-tinyrouter/src/pin.h
index 134b176b0f36964a646e98b75e2953c8b9784d8a..08ef9fbb42d01f1eaa4654fe334a1013fd15b9a0 100644
--- a/embedded/atsams70-tinyrouter/atsams70-tinyrouter/src/pin.h
+++ b/embedded/atsams70-tinyrouter/atsams70-tinyrouter/src/pin.h
@@ -3,7 +3,7 @@
*
* Created: 11/23/2017 1:11:45 PM
* Author: Jake
- */
+ */
#ifndef PIN_H_
@@ -29,4 +29,4 @@ void pin_clear(pin_t *pin);
void pin_input(pin_t *pin);
bool pin_get_state(pin_t *pin);
-#endif /* PIN_H_ */
\ No newline at end of file
+#endif /* PIN_H_ */