1 files changed, 530 insertions, 0 deletions

diff --git a/lib/chibios/os/various/lwip_bindings/lwipthread.c b/lib/chibios/os/various/lwip_bindings/lwipthread.c
new file mode 100644
index 000000000..0260ae61b
--- /dev/null
+++ b/lib/chibios/os/various/lwip_bindings/lwipthread.c
@@ -0,0 +1,530 @@
+/*
+    ChibiOS - Copyright (C) 2006..2018 Giovanni Di Sirio
+
+    Licensed under the Apache License, Version 2.0 (the "License");
+    you may not use this file except in compliance with the License.
+    You may obtain a copy of the License at
+
+        http://www.apache.org/licenses/LICENSE-2.0
+
+    Unless required by applicable law or agreed to in writing, software
+    distributed under the License is distributed on an "AS IS" BASIS,
+    WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+    See the License for the specific language governing permissions and
+    limitations under the License.
+*/
+/*
+ * **** This file incorporates work covered by the following copyright and ****
+ * **** permission notice:                                                 ****
+ *
+ * Copyright (c) 2001-2004 Swedish Institute of Computer Science.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without modification,
+ * are permitted provided that the following conditions are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright notice,
+ *    this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright notice,
+ *    this list of conditions and the following disclaimer in the documentation
+ *    and/or other materials provided with the distribution.
+ * 3. The name of the author may not be used to endorse or promote products
+ *    derived from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE AUTHOR ``AS IS'' AND ANY EXPRESS OR IMPLIED
+ * WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+ * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
+ * SHALL THE AUTHOR BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
+ * OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
+ * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
+ * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING
+ * IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY
+ * OF SUCH DAMAGE.
+ *
+ * This file is part of the lwIP TCP/IP stack.
+ *
+ * Author: Adam Dunkels <[email protected]>
+ *
+ */
+
+/**
+ * @file lwipthread.c
+ * @brief LWIP wrapper thread code.
+ * @addtogroup LWIP_THREAD
+ * @{
+ */
+
+#include "hal.h"
+#include "evtimer.h"
+
+#include "lwipthread.h"
+
+#include <lwip/opt.h>
+#include <lwip/def.h>
+#include <lwip/mem.h>
+#include <lwip/pbuf.h>
+#include <lwip/sys.h>
+#include <lwip/stats.h>
+#include <lwip/snmp.h>
+#include <lwip/tcpip.h>
+#include <netif/etharp.h>
+#include <lwip/netifapi.h>
+
+#if LWIP_DHCP
+#include <lwip/dhcp.h>
+#endif
+
+#if LWIP_AUTOIP
+#include <lwip/autoip.h>
+#endif
+
+#define PERIODIC_TIMER_ID       1
+#define FRAME_RECEIVED_ID       2
+
+/*
+ * Suspension point for initialization procedure.
+ */
+thread_reference_t lwip_trp = NULL;
+
+/*
+ * Stack area for the LWIP-MAC thread.
+ */
+static THD_WORKING_AREA(wa_lwip_thread, LWIP_THREAD_STACK_SIZE);
+
+/*
+ * Initialization.
+ */
+static void low_level_init(struct netif *netif) {
+  /* set MAC hardware address length */
+  netif->hwaddr_len = ETHARP_HWADDR_LEN;
+
+  /* maximum transfer unit */
+  netif->mtu = LWIP_NETIF_MTU;
+
+  /* device capabilities */
+  /* don't set NETIF_FLAG_ETHARP if this device is not an Ethernet one */
+  netif->flags = NETIF_FLAG_BROADCAST | NETIF_FLAG_ETHARP | NETIF_FLAG_LINK_UP;
+
+  /* Do whatever else is needed to initialize interface. */
+}
+
+/*
+ * This function does the actual transmission of the packet. The packet is
+ * contained in the pbuf that is passed to the function. This pbuf
+ * might be chained.
+ *
+ * @param netif the lwip network interface structure for this ethernetif
+ * @param p the MAC packet to send (e.g. IP packet including MAC addresses and type)
+ * @return ERR_OK if the packet could be sent
+ *         an err_t value if the packet couldn't be sent
+ *
+ * @note Returning ERR_MEM here if a DMA queue of your MAC is full can lead to
+ *       strange results. You might consider waiting for space in the DMA queue
+ *       to become available since the stack doesn't retry to send a packet
+ *       dropped because of memory failure (except for the TCP timers).
+ */
+static err_t low_level_output(struct netif *netif, struct pbuf *p) {
+  struct pbuf *q;
+  MACTransmitDescriptor td;
+
+  (void)netif;
+  if (macWaitTransmitDescriptor(&ETHD1, &td, TIME_MS2I(LWIP_SEND_TIMEOUT)) != MSG_OK)
+    return ERR_TIMEOUT;
+
+#if ETH_PAD_SIZE
+  pbuf_header(p, -ETH_PAD_SIZE);        /* drop the padding word */
+#endif
+
+  /* Iterates through the pbuf chain. */
+  for(q = p; q != NULL; q = q->next)
+    macWriteTransmitDescriptor(&td, (uint8_t *)q->payload, (size_t)q->len);
+  macReleaseTransmitDescriptor(&td);
+
+  MIB2_STATS_NETIF_ADD(netif, ifoutoctets, p->tot_len);
+  if (((u8_t*)p->payload)[0] & 1) {
+    /* broadcast or multicast packet*/
+    MIB2_STATS_NETIF_INC(netif, ifoutnucastpkts);
+  } 
+  else {
+    /* unicast packet */
+    MIB2_STATS_NETIF_INC(netif, ifoutucastpkts);
+  }
+  /* increase ifoutdiscards or ifouterrors on error */
+
+#if ETH_PAD_SIZE
+  pbuf_header(p, ETH_PAD_SIZE);         /* reclaim the padding word */
+#endif
+
+  LINK_STATS_INC(link.xmit);
+
+  return ERR_OK;
+}
+
+/*
+ * Receives a frame.
+ * Allocates a pbuf and transfers the bytes of the incoming
+ * packet from the interface into the pbuf.
+ *
+ * @param netif the lwip network interface structure for this ethernetif
+ * @return a pbuf filled with the received packet (including MAC header)
+ *         NULL on memory error
+ */
+static bool low_level_input(struct netif *netif, struct pbuf **pbuf) {
+  MACReceiveDescriptor rd;
+  struct pbuf *q;
+  u16_t len;
+
+  (void)netif;
+
+  osalDbgAssert(pbuf != NULL, "invalid null pointer");
+
+  if (macWaitReceiveDescriptor(&ETHD1, &rd, TIME_IMMEDIATE) != MSG_OK)
+    return false;
+
+  len = (u16_t)rd.size;
+
+#if ETH_PAD_SIZE
+  len += ETH_PAD_SIZE;        /* allow room for Ethernet padding */
+#endif
+
+  /* We allocate a pbuf chain of pbufs from the pool. */
+  *pbuf = pbuf_alloc(PBUF_RAW, len, PBUF_POOL);
+
+  if (*pbuf != NULL) {
+#if ETH_PAD_SIZE
+    pbuf_header(*pbuf, -ETH_PAD_SIZE); /* drop the padding word */
+#endif
+
+    /* Iterates through the pbuf chain. */
+    for(q = *pbuf; q != NULL; q = q->next)
+      macReadReceiveDescriptor(&rd, (uint8_t *)q->payload, (size_t)q->len);
+    macReleaseReceiveDescriptor(&rd);
+
+    MIB2_STATS_NETIF_ADD(netif, ifinoctets, (*pbuf)->tot_len);
+
+    if (*(uint8_t *)((*pbuf)->payload) & 1) {
+      /* broadcast or multicast packet*/
+      MIB2_STATS_NETIF_INC(netif, ifinnucastpkts);
+    } 
+    else {
+      /* unicast packet*/
+      MIB2_STATS_NETIF_INC(netif, ifinucastpkts);
+    }
+
+#if ETH_PAD_SIZE
+    pbuf_header(*pbuf, ETH_PAD_SIZE); /* reclaim the padding word */
+#endif
+
+    LINK_STATS_INC(link.recv);
+  }
+  else {
+    macReleaseReceiveDescriptor(&rd);     // Drop packet
+    LINK_STATS_INC(link.memerr);
+    LINK_STATS_INC(link.drop);
+    MIB2_STATS_NETIF_INC(netif, ifindiscards);
+  }
+  
+  return true;
+}
+
+/*
+ * Called at the beginning of the program to set up the
+ * network interface. It calls the function low_level_init() to do the
+ * actual setup of the hardware.
+ *
+ * This function should be passed as a parameter to netifapi_netif_add().
+ *
+ * @param netif the lwip network interface structure for this ethernetif
+ * @return ERR_OK if the loopif is initialised
+ *         ERR_MEM if private data couldn't be allocated
+ *         any other err_t on error
+ */
+static err_t ethernetif_init(struct netif *netif) {
+  osalDbgAssert((netif != NULL), "netif != NULL");
+
+  /*
+   * Initialize the snmp variables and counters inside the struct netif.
+   * The last argument should be replaced with your link speed, in units
+   * of bits per second.
+   */
+  MIB2_INIT_NETIF(netif, snmp_ifType_ethernet_csmacd, LWIP_LINK_SPEED);
+
+  netif->state = NULL;
+  netif->name[0] = LWIP_IFNAME0;
+  netif->name[1] = LWIP_IFNAME1;
+  /* We directly use etharp_output() here to save a function call.
+   * You can instead declare your own function an call etharp_output()
+   * from it if you have to do some checks before sending (e.g. if link
+   * is available...) */
+  netif->output = etharp_output;
+  netif->linkoutput = low_level_output;
+
+  /* initialize the hardware */
+  low_level_init(netif);
+
+  return ERR_OK;
+}
+
+static net_addr_mode_t addressMode;
+static ip4_addr_t ip, gateway, netmask;
+static struct netif thisif;
+
+void lwipDefaultLinkUpCB(void *p)
+{
+  struct netif *ifc = (struct netif*) p;
+  (void) ifc;
+#if LWIP_AUTOIP
+  if (addressMode == NET_ADDRESS_AUTO)
+    autoip_start(ifc);
+#endif
+#if LWIP_DHCP
+  if (addressMode == NET_ADDRESS_DHCP)
+    dhcp_start(ifc);
+#endif
+}
+
+void lwipDefaultLinkDownCB(void *p)
+{
+  struct netif *ifc = (struct netif*) p;
+  (void) ifc;
+#if LWIP_AUTOIP
+  if (addressMode == NET_ADDRESS_AUTO)
+    autoip_stop(ifc);
+#endif
+#if LWIP_DHCP
+  if (addressMode == NET_ADDRESS_DHCP)
+    dhcp_stop(ifc);
+#endif
+}
+
+/**
+ * @brief LWIP handling thread.
+ *
+ * @param[in] p pointer to a @p lwipthread_opts structure or @p NULL
+ * @return The function does not return.
+ */
+static THD_FUNCTION(lwip_thread, p) {
+  event_timer_t evt;
+  event_listener_t el0, el1;
+  static const MACConfig mac_config = {thisif.hwaddr};
+  err_t result;
+  tcpip_callback_fn link_up_cb = NULL;
+  tcpip_callback_fn link_down_cb = NULL;
+
+  chRegSetThreadName(LWIP_THREAD_NAME);
+
+  /* Initializes the thing.*/
+  tcpip_init(NULL, NULL);
+
+  /* TCP/IP parameters, runtime or compile time.*/
+  if (p) {
+    lwipthread_opts_t *opts = p;
+    unsigned i;
+
+    for (i = 0; i < 6; i++)
+      thisif.hwaddr[i] = opts->macaddress[i];
+    ip.addr = opts->address;
+    gateway.addr = opts->gateway;
+    netmask.addr = opts->netmask;
+    addressMode = opts->addrMode;
+#if LWIP_NETIF_HOSTNAME
+    thisif.hostname = opts->ourHostName;
+#endif
+    link_up_cb = opts->link_up_cb;
+    link_down_cb = opts->link_down_cb;
+  }
+  else {
+    thisif.hwaddr[0] = LWIP_ETHADDR_0;
+    thisif.hwaddr[1] = LWIP_ETHADDR_1;
+    thisif.hwaddr[2] = LWIP_ETHADDR_2;
+    thisif.hwaddr[3] = LWIP_ETHADDR_3;
+    thisif.hwaddr[4] = LWIP_ETHADDR_4;
+    thisif.hwaddr[5] = LWIP_ETHADDR_5;
+    LWIP_IPADDR(&ip);
+    LWIP_GATEWAY(&gateway);
+    LWIP_NETMASK(&netmask);
+#if LWIP_DHCP
+    addressMode = NET_ADDRESS_DHCP;
+#elif LWIP_AUTOIP
+    addressMode = NET_ADDRESS_AUTO;
+#else
+    addressMode = NET_ADDRESS_STATIC;
+#endif
+#if LWIP_NETIF_HOSTNAME
+    thisif.hostname = NULL;
+#endif
+  }
+
+  if (!link_up_cb)
+    link_up_cb = lwipDefaultLinkUpCB;
+  if (!link_down_cb)
+    link_down_cb = lwipDefaultLinkDownCB;
+
+#if LWIP_NETIF_HOSTNAME
+  if (thisif.hostname == NULL)
+    thisif.hostname = LWIP_NETIF_HOSTNAME_STRING;
+#endif
+
+  macStart(&ETHD1, &mac_config);
+
+  MIB2_INIT_NETIF(&thisif, snmp_ifType_ethernet_csmacd, 0);
+
+  /* Add interface. */
+  result = netifapi_netif_add(&thisif, &ip, &netmask, &gateway, NULL, ethernetif_init, tcpip_input);
+  if (result != ERR_OK)
+  {
+    chThdSleepMilliseconds(1000);     // Give some time to print any other diagnostics.
+    osalSysHalt("netif_add error");   // Not sure what else we can do if an error occurs here.
+  };
+
+  netifapi_netif_set_default(&thisif);
+  netifapi_netif_set_up(&thisif);
+
+  /* Setup event sources.*/
+  evtObjectInit(&evt, LWIP_LINK_POLL_INTERVAL);
+  evtStart(&evt);
+  chEvtRegisterMask(&evt.et_es, &el0, PERIODIC_TIMER_ID);
+  chEvtRegisterMask(macGetReceiveEventSource(&ETHD1), &el1, FRAME_RECEIVED_ID);
+  chEvtAddEvents(PERIODIC_TIMER_ID | FRAME_RECEIVED_ID);
+
+  /* Resumes the caller and goes to the final priority.*/
+  chThdResume(&lwip_trp, MSG_OK);
+  chThdSetPriority(LWIP_THREAD_PRIORITY);
+
+  while (true) {
+    eventmask_t mask = chEvtWaitAny(ALL_EVENTS);
+    if (mask & PERIODIC_TIMER_ID) {
+      bool current_link_status = macPollLinkStatus(&ETHD1);
+      if (current_link_status != netif_is_link_up(&thisif)) {
+        if (current_link_status) {
+          tcpip_callback_with_block((tcpip_callback_fn) netif_set_link_up,
+                                     &thisif, 0);
+          tcpip_callback_with_block(link_up_cb, &thisif, 0);
+        }
+        else {
+          tcpip_callback_with_block((tcpip_callback_fn) netif_set_link_down,
+                                     &thisif, 0);
+          tcpip_callback_with_block(link_down_cb, &thisif, 0);
+        }
+      }
+    }
+
+    if (mask & FRAME_RECEIVED_ID) {
+      struct pbuf *p;
+      while (low_level_input(&thisif, &p)) {
+        if (p != NULL) {
+          struct eth_hdr *ethhdr = p->payload;
+          switch (htons(ethhdr->type)) {
+            /* IP or ARP packet? */
+            case ETHTYPE_IP:
+            case ETHTYPE_ARP:
+              /* full packet send to tcpip_thread to process */
+              if (thisif.input(p, &thisif) == ERR_OK)
+                break;
+              LWIP_DEBUGF(NETIF_DEBUG, ("ethernetif_input: IP input error\n"));
+          /* Falls through */
+            default:
+              pbuf_free(p);
+          }
+        }
+      }
+    }
+  }
+}
+
+/**
+ * @brief   Initializes the lwIP subsystem.
+ * @note    The function exits after the initialization is finished.
+ *
+ * @param[in] opts      pointer to the configuration structure, if @p NULL
+ *                      then the static configuration is used.
+ */
+void lwipInit(const lwipthread_opts_t *opts) {
+
+  /* Creating the lwIP thread (it changes priority internally).*/
+  chThdCreateStatic(wa_lwip_thread, sizeof (wa_lwip_thread),
+                    chThdGetPriorityX() - 1, lwip_thread, (void *)opts);
+
+  /* Waiting for the lwIP thread complete initialization. Note,
+     this thread reaches the thread reference object first because
+     the relative priorities.*/
+  chSysLock();
+  chThdSuspendS(&lwip_trp);
+  chSysUnlock();
+}
+
+typedef struct lwip_reconf_params {
+  const lwipreconf_opts_t *opts;
+  semaphore_t completion;
+} lwip_reconf_params_t;
+
+static void do_reconfigure(void *p)
+{
+  lwip_reconf_params_t *reconf = (lwip_reconf_params_t*) p;
+
+  switch (addressMode) {
+#if LWIP_DHCP
+  case NET_ADDRESS_DHCP: {
+    if (netif_is_up(&thisif))
+      dhcp_stop(&thisif);
+    break;
+  }
+#endif
+  case NET_ADDRESS_STATIC: {
+    ip4_addr_t zero = { 0 };
+    netif_set_ipaddr(&thisif, &zero);
+    netif_set_netmask(&thisif, &zero);
+    netif_set_gw(&thisif, &zero);
+    break;
+  }
+#if LWIP_AUTOIP
+  case NET_ADDRESS_AUTO: {
+    if (netif_is_up(&thisif))
+      autoip_stop(&thisif);
+    break;
+  }
+#endif
+  }
+
+  ip.addr = reconf->opts->address;
+  gateway.addr = reconf->opts->gateway;
+  netmask.addr = reconf->opts->netmask;
+  addressMode = reconf->opts->addrMode;
+
+  switch (addressMode) {
+#if LWIP_DHCP
+  case NET_ADDRESS_DHCP: {
+    if (netif_is_up(&thisif))
+      dhcp_start(&thisif);
+    break;
+  }
+#endif
+  case NET_ADDRESS_STATIC: {
+    netif_set_ipaddr(&thisif, &ip);
+    netif_set_netmask(&thisif, &netmask);
+    netif_set_gw(&thisif, &gateway);
+    break;
+  }
+#if LWIP_AUTOIP
+  case NET_ADDRESS_AUTO: {
+    if (netif_is_up(&thisif))
+      autoip_start(&thisif);
+    break;
+  }
+#endif
+  }
+
+  chSemSignal(&reconf->completion);
+}
+
+void lwipReconfigure(const lwipreconf_opts_t *opts)
+{
+  lwip_reconf_params_t params;
+  params.opts = opts;
+  chSemObjectInit(&params.completion, 0);
+  tcpip_callback_with_block(do_reconfigure, &params, 0);
+  chSemWait(&params.completion);
+}
+
+/** @} */