Quadrotor

/*

 * Copyright (c) 2010 by Cristian Maglie <c.maglie@bug.st>

 *

 * This file is free software; you can redistribute it and/or modify

 * it under the terms of either the GNU General Public License version 2

 * or the GNU Lesser General Public License version 2.1, both as

 * published by the Free Software Foundation.

 */

#ifndef        W5100_H_INCLUDED

#define        W5100_H_INCLUDED

#include <avr/pgmspace.h>

#include <SPI.h>

#define MAX_SOCK_NUM 4

typedef uint8_t SOCKET;

#define IDM_OR  0x8000

#define IDM_AR0 0x8001

#define IDM_AR1 0x8002

#define IDM_DR  0x8003

/*

class MR {

public:

  static const uint8_t RST   = 0x80;

  static const uint8_t PB    = 0x10;

  static const uint8_t PPPOE = 0x08;

  static const uint8_t LB    = 0x04;

  static const uint8_t AI    = 0x02;

  static const uint8_t IND   = 0x01;

};

*/

/*

class IR {

public:

  static const uint8_t CONFLICT = 0x80;

  static const uint8_t UNREACH  = 0x40;

  static const uint8_t PPPoE    = 0x20;

  static const uint8_t SOCK0    = 0x01;

  static const uint8_t SOCK1    = 0x02;

  static const uint8_t SOCK2    = 0x04;

  static const uint8_t SOCK3    = 0x08;

  static inline uint8_t SOCK(SOCKET ch) { return (0x01 << ch); };

};

*/

class SnMR {

public:

  static const uint8_t CLOSE  = 0x00;

  static const uint8_t TCP    = 0x01;

  static const uint8_t UDP    = 0x02;

  static const uint8_t IPRAW  = 0x03;

  static const uint8_t MACRAW = 0x04;

  static const uint8_t PPPOE  = 0x05;

  static const uint8_t ND     = 0x20;

  static const uint8_t MULTI  = 0x80;

};

enum SockCMD {

  Sock_OPEN      = 0x01,

  Sock_LISTEN    = 0x02,

  Sock_CONNECT   = 0x04,

  Sock_DISCON    = 0x08,

  Sock_CLOSE     = 0x10,

  Sock_SEND      = 0x20,

  Sock_SEND_MAC  = 0x21,

  Sock_SEND_KEEP = 0x22,

  Sock_RECV      = 0x40

};

/*class SnCmd {

public:

  static const uint8_t OPEN      = 0x01;

  static const uint8_t LISTEN    = 0x02;

  static const uint8_t CONNECT   = 0x04;

  static const uint8_t DISCON    = 0x08;

  static const uint8_t CLOSE     = 0x10;

  static const uint8_t SEND      = 0x20;

  static const uint8_t SEND_MAC  = 0x21;

  static const uint8_t SEND_KEEP = 0x22;

  static const uint8_t RECV      = 0x40;

};

*/

class SnIR {

public:

  static const uint8_t SEND_OK = 0x10;

  static const uint8_t TIMEOUT = 0x08;

  static const uint8_t RECV    = 0x04;

  static const uint8_t DISCON  = 0x02;

  static const uint8_t CON     = 0x01;

};

class SnSR {

public:

  static const uint8_t CLOSED      = 0x00;

  static const uint8_t INIT        = 0x13;

  static const uint8_t LISTEN      = 0x14;

  static const uint8_t SYNSENT     = 0x15;

  static const uint8_t SYNRECV     = 0x16;

  static const uint8_t ESTABLISHED = 0x17;

  static const uint8_t FIN_WAIT    = 0x18;

  static const uint8_t CLOSING     = 0x1A;

  static const uint8_t TIME_WAIT   = 0x1B;

  static const uint8_t CLOSE_WAIT  = 0x1C;

  static const uint8_t LAST_ACK    = 0x1D;

  static const uint8_t UDP         = 0x22;

  static const uint8_t IPRAW       = 0x32;

  static const uint8_t MACRAW      = 0x42;

  static const uint8_t PPPOE       = 0x5F;

};

class IPPROTO {

public:

  static const uint8_t IP   = 0;

  static const uint8_t ICMP = 1;

  static const uint8_t IGMP = 2;

  static const uint8_t GGP  = 3;

  static const uint8_t TCP  = 6;

  static const uint8_t PUP  = 12;

  static const uint8_t UDP  = 17;

  static const uint8_t IDP  = 22;

  static const uint8_t ND   = 77;

  static const uint8_t RAW  = 255;

};

class W5100Class {

public:

  void init();

  /**

   * @brief        This function is being used for copy the data form Receive buffer of the chip to application buffer.

   * 

   * It calculate the actual physical address where one has to read

   * the data from Receive buffer. Here also take care of the condition while it exceed

   * the Rx memory uper-bound of socket.

   */

  void read_data(SOCKET s, volatile uint8_t * src, volatile uint8_t * dst, uint16_t len);

  /**

   * @brief         This function is being called by send() and sendto() function also. 

   * 

   * This function read the Tx write pointer register and after copy the data in buffer update the Tx write pointer

   * register. User should read upper byte first and lower byte later to get proper value.

   */

  void send_data_processing(SOCKET s, const uint8_t *data, uint16_t len);

  /**

   * @brief A copy of send_data_processing that uses the provided ptr for the

   *        write offset.  Only needed for the "streaming" UDP API, where

   *        a single UDP packet is built up over a number of calls to

   *        send_data_processing_ptr, because TX_WR doesn't seem to get updated

   *        correctly in those scenarios

   * @param ptr value to use in place of TX_WR.  If 0, then the value is read

   *        in from TX_WR

   * @return New value for ptr, to be used in the next call

   */

// FIXME Update documentation

  void send_data_processing_offset(SOCKET s, uint16_t data_offset, const uint8_t *data, uint16_t len);

  /**

   * @brief        This function is being called by recv() also.

   * 

   * This function read the Rx read pointer register

   * and after copy the data from receive buffer update the Rx write pointer register.

   * User should read upper byte first and lower byte later to get proper value.

   */

  void recv_data_processing(SOCKET s, uint8_t *data, uint16_t len, uint8_t peek = 0);

  inline void setGatewayIp(uint8_t *_addr);

  inline void getGatewayIp(uint8_t *_addr);

  inline void setSubnetMask(uint8_t *_addr);

  inline void getSubnetMask(uint8_t *_addr);

  inline void setMACAddress(uint8_t * addr);

  inline void getMACAddress(uint8_t * addr);

  inline void setIPAddress(uint8_t * addr);

  inline void getIPAddress(uint8_t * addr);

  inline void setRetransmissionTime(uint16_t timeout);

  inline void setRetransmissionCount(uint8_t _retry);

  void execCmdSn(SOCKET s, SockCMD _cmd);

  uint16_t getTXFreeSize(SOCKET s);

  uint16_t getRXReceivedSize(SOCKET s);

  // W5100 Registers

  // ---------------

private:

  static uint8_t write(uint16_t _addr, uint8_t _data);

  static uint16_t write(uint16_t addr, const uint8_t *buf, uint16_t len);

  static uint8_t read(uint16_t addr);

  static uint16_t read(uint16_t addr, uint8_t *buf, uint16_t len);

#define __GP_REGISTER8(name, address)             \

  static inline void write##name(uint8_t _data) { \

    write(address, _data);                        \

  }                                               \

  static inline uint8_t read##name() {            \

    return read(address);                         \

  }

#define __GP_REGISTER16(name, address)            \

  static void write##name(uint16_t _data) {       \

    write(address,   _data >> 8);                 \

    write(address+1, _data & 0xFF);               \

  }                                               \

  static uint16_t read##name() {                  \

    uint16_t res = read(address);                 \

    res = (res << 8) + read(address + 1);         \

    return res;                                   \

  }

#define __GP_REGISTER_N(name, address, size)      \

  static uint16_t write##name(uint8_t *_buff) {   \

    return write(address, _buff, size);           \

  }                                               \

  static uint16_t read##name(uint8_t *_buff) {    \

    return read(address, _buff, size);            \

  }

public:

  __GP_REGISTER8 (MR,     0x0000);    // Mode

  __GP_REGISTER_N(GAR,    0x0001, 4); // Gateway IP address

  __GP_REGISTER_N(SUBR,   0x0005, 4); // Subnet mask address

  __GP_REGISTER_N(SHAR,   0x0009, 6); // Source MAC address

  __GP_REGISTER_N(SIPR,   0x000F, 4); // Source IP address

  __GP_REGISTER8 (IR,     0x0015);    // Interrupt

  __GP_REGISTER8 (IMR,    0x0016);    // Interrupt Mask

  __GP_REGISTER16(RTR,    0x0017);    // Timeout address

  __GP_REGISTER8 (RCR,    0x0019);    // Retry count

  __GP_REGISTER8 (RMSR,   0x001A);    // Receive memory size

  __GP_REGISTER8 (TMSR,   0x001B);    // Transmit memory size

  __GP_REGISTER8 (PATR,   0x001C);    // Authentication type address in PPPoE mode

  __GP_REGISTER8 (PTIMER, 0x0028);    // PPP LCP Request Timer

  __GP_REGISTER8 (PMAGIC, 0x0029);    // PPP LCP Magic Number

  __GP_REGISTER_N(UIPR,   0x002A, 4); // Unreachable IP address in UDP mode

  __GP_REGISTER16(UPORT,  0x002E);    // Unreachable Port address in UDP mode

#undef __GP_REGISTER8

#undef __GP_REGISTER16

#undef __GP_REGISTER_N

  // W5100 Socket registers

  // ----------------------

private:

  static inline uint8_t readSn(SOCKET _s, uint16_t _addr);

  static inline uint8_t writeSn(SOCKET _s, uint16_t _addr, uint8_t _data);

  static inline uint16_t readSn(SOCKET _s, uint16_t _addr, uint8_t *_buf, uint16_t len);

  static inline uint16_t writeSn(SOCKET _s, uint16_t _addr, uint8_t *_buf, uint16_t len);

  static const uint16_t CH_BASE = 0x0400;

  static const uint16_t CH_SIZE = 0x0100;

#define __SOCKET_REGISTER8(name, address)                    \

  static inline void write##name(SOCKET _s, uint8_t _data) { \

    writeSn(_s, address, _data);                             \

  }                                                          \

  static inline uint8_t read##name(SOCKET _s) {              \

    return readSn(_s, address);                              \

  }

#define __SOCKET_REGISTER16(name, address)                   \

  static void write##name(SOCKET _s, uint16_t _data) {       \

    writeSn(_s, address,   _data >> 8);                      \

    writeSn(_s, address+1, _data & 0xFF);                    \

  }                                                          \

  static uint16_t read##name(SOCKET _s) {                    \

    uint16_t res = readSn(_s, address);                      \

    res = (res << 8) + readSn(_s, address + 1);              \

    return res;                                              \

  }

#define __SOCKET_REGISTER_N(name, address, size)             \

  static uint16_t write##name(SOCKET _s, uint8_t *_buff) {   \

    return writeSn(_s, address, _buff, size);                \

  }                                                          \

  static uint16_t read##name(SOCKET _s, uint8_t *_buff) {    \

    return readSn(_s, address, _buff, size);                 \

  }

public:

  __SOCKET_REGISTER8(SnMR,        0x0000)        // Mode

  __SOCKET_REGISTER8(SnCR,        0x0001)        // Command

  __SOCKET_REGISTER8(SnIR,        0x0002)        // Interrupt

  __SOCKET_REGISTER8(SnSR,        0x0003)        // Status

  __SOCKET_REGISTER16(SnPORT,     0x0004)        // Source Port

  __SOCKET_REGISTER_N(SnDHAR,     0x0006, 6)     // Destination Hardw Addr

  __SOCKET_REGISTER_N(SnDIPR,     0x000C, 4)     // Destination IP Addr

  __SOCKET_REGISTER16(SnDPORT,    0x0010)        // Destination Port

  __SOCKET_REGISTER16(SnMSSR,     0x0012)        // Max Segment Size

  __SOCKET_REGISTER8(SnPROTO,     0x0014)        // Protocol in IP RAW Mode

  __SOCKET_REGISTER8(SnTOS,       0x0015)        // IP TOS

  __SOCKET_REGISTER8(SnTTL,       0x0016)        // IP TTL

  __SOCKET_REGISTER16(SnTX_FSR,   0x0020)        // TX Free Size

  __SOCKET_REGISTER16(SnTX_RD,    0x0022)        // TX Read Pointer

  __SOCKET_REGISTER16(SnTX_WR,    0x0024)        // TX Write Pointer

  __SOCKET_REGISTER16(SnRX_RSR,   0x0026)        // RX Free Size

  __SOCKET_REGISTER16(SnRX_RD,    0x0028)        // RX Read Pointer

  __SOCKET_REGISTER16(SnRX_WR,    0x002A)        // RX Write Pointer (supported?)

#undef __SOCKET_REGISTER8

#undef __SOCKET_REGISTER16

#undef __SOCKET_REGISTER_N

private:

  static const uint8_t  RST = 7; // Reset BIT

  static const int SOCKETS = 4;

  static const uint16_t SMASK = 0x07FF; // Tx buffer MASK

  static const uint16_t RMASK = 0x07FF; // Rx buffer MASK

public:

  static const uint16_t SSIZE = 2048; // Max Tx buffer size

private:

  static const uint16_t RSIZE = 2048; // Max Rx buffer size

  uint16_t SBASE[SOCKETS]; // Tx buffer base address

  uint16_t RBASE[SOCKETS]; // Rx buffer base address

private:

#if defined(__AVR_ATmega1280__) || defined(__AVR_ATmega2560__)

  inline static void initSS()    { DDRB  |=  _BV(4); };

  inline static void setSS()     { PORTB &= ~_BV(4); };

  inline static void resetSS()   { PORTB |=  _BV(4); };

#elif defined(__AVR_ATmega32U4__) || defined(__AVR_AT90USB1286__) || defined(__AVR_AT90USB646__) || defined(__AVR_AT90USB162__)

  inline static void initSS()    { DDRB  |=  _BV(0); };

  inline static void setSS()     { PORTB &= ~_BV(0); };

  inline static void resetSS()   { PORTB |=  _BV(0); }; 

#else

  inline static void initSS()    { DDRB  |=  _BV(2); };

  inline static void setSS()     { PORTB &= ~_BV(2); };

  inline static void resetSS()   { PORTB |=  _BV(2); };

#endif

};

extern W5100Class W5100;

uint8_t W5100Class::readSn(SOCKET _s, uint16_t _addr) {

  return read(CH_BASE + _s * CH_SIZE + _addr);

}

uint8_t W5100Class::writeSn(SOCKET _s, uint16_t _addr, uint8_t _data) {

  return write(CH_BASE + _s * CH_SIZE + _addr, _data);

}

uint16_t W5100Class::readSn(SOCKET _s, uint16_t _addr, uint8_t *_buf, uint16_t _len) {

  return read(CH_BASE + _s * CH_SIZE + _addr, _buf, _len);

}

uint16_t W5100Class::writeSn(SOCKET _s, uint16_t _addr, uint8_t *_buf, uint16_t _len) {

  return write(CH_BASE + _s * CH_SIZE + _addr, _buf, _len);

}

void W5100Class::getGatewayIp(uint8_t *_addr) {

  readGAR(_addr);

}

void W5100Class::setGatewayIp(uint8_t *_addr) {

  writeGAR(_addr);

}

void W5100Class::getSubnetMask(uint8_t *_addr) {

  readSUBR(_addr);

}

void W5100Class::setSubnetMask(uint8_t *_addr) {

  writeSUBR(_addr);

}

void W5100Class::getMACAddress(uint8_t *_addr) {

  readSHAR(_addr);

}

void W5100Class::setMACAddress(uint8_t *_addr) {

  writeSHAR(_addr);

}

void W5100Class::getIPAddress(uint8_t *_addr) {

  readSIPR(_addr);

}

void W5100Class::setIPAddress(uint8_t *_addr) {

  writeSIPR(_addr);

}

void W5100Class::setRetransmissionTime(uint16_t _timeout) {

  writeRTR(_timeout);

}

void W5100Class::setRetransmissionCount(uint8_t _retry) {

  writeRCR(_retry);

}

#endif