WIP

.gitmodules

@@ -4,3 +4,6 @@
 [submodule "fsfw"]
 	path = fsfw
 	url = https://egit.irs.uni-stuttgart.de/fsfw/fsfw
+[submodule "contrib/lwip"]
+	path = contrib/lwip
+	url = https://github.com/lwip-tcpip/lwip

CMakeLists.txt

@@ -23,6 +23,9 @@ set(MISSION_PATH mission/)
 set(FreeRTOS_CONFIG_PATH bsp_z7/freeRTOS)
 set(BSP_PATH bsp_z7)
 
+set (LWIP_DIR contrib/lwip)
+
+
 # ##############################################################################
 # Configuration
 # ##############################################################################
@@ -37,6 +40,27 @@ set(BSP_PATH bsp_z7)
 # Add executable
 add_executable(${TARGET_NAME})
 
+# lwip
+set (LWIP_INCLUDE_DIRS
+    "${LWIP_DIR}/src/include"
+    "${LWIP_DIR}/src/include/compat/posix"
+    "${LWIP_DIR}/contrib"
+    "${LWIP_DIR}/contrib/ports/freertos/include"
+    "${BSP_PATH}/lwip"
+)
+include(${LWIP_DIR}/src/Filelists.cmake)
+set(lwip_SRCS
+    ${lwipcore_SRCS}
+    ${lwipcore4_SRCS}
+    ${lwipcore6_SRCS}
+    ${lwipapi_SRCS}
+    ${lwipnetif_SRCS}
+    ${LWIP_DIR}/src/netif/slipif.c
+    ${LWIP_DIR}/contrib/ports/freertos/sys_arch.c
+)
+add_library(lwip ${lwip_SRCS})
+target_include_directories(lwip PUBLIC ${LWIP_INCLUDE_DIRS})
+
 #target_compile_options(${TARGET_NAME} PUBLIC -g -O0 -mcpu=cortex-a9 -mfpu=vfpv3 -mfloat-abi=hard)
 
 # Add freeRTOS
@@ -78,8 +102,9 @@ add_subdirectory(${MISSION_PATH})
 # ##############################################################################
 
 # Add libraries for all sources.
+target_link_libraries(lwip freertos_kernel)
 target_link_libraries(fsfw PUBLIC freertos_kernel)
-target_link_libraries(${TARGET_NAME} PUBLIC fsfw)
+target_link_libraries(${TARGET_NAME} PUBLIC fsfw lwip)
 
 target_include_directories(
     ${TARGET_NAME} PUBLIC ${BSP_PATH})

bsp_z7/lwip/arch/cc.h

@@ -0,0 +1,23 @@
+#pragma once
+
+#include <stdio.h>
+#include <stdlib.h>
+
+#include "lwipopts.h"
+
+/** if you want to use the struct timeval provided
+ * by your system, set this to 0 and include <sys/time.h> in cc.h */
+#define LWIP_TIMEVAL_PRIVATE 0
+#include <sys/time.h>
+
+#define LWIP_ERRNO_INCLUDE <errno.h>
+
+#define LWIP_RAND rand
+
+#define PACK_STRUCT_FIELD(x) x
+#define PACK_STRUCT_STRUCT __attribute__((packed))
+#define PACK_STRUCT_BEGIN
+#define PACK_STRUCT_END
+
+#define LWIP_PLATFORM_ASSERT(x)
+#define LWIP_PLATFORM_DIAG(x) do { printf x; } while(0)

bsp_z7/lwip/lwipopts.h

@@ -0,0 +1,341 @@
+/*
+ * Copyright (c) 2001-2003 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 <adam@sics.se>
+ *
+ */
+#ifndef LWIP_LWIPOPTS_H
+#define LWIP_LWIPOPTS_H
+
+#ifdef LWIP_OPTTEST_FILE
+#include "lwipopts_test.h"
+#else /* LWIP_OPTTEST_FILE */
+
+#define LWIP_IPV4                  1
+#define LWIP_IPV6                  1
+
+#define NO_SYS                     0
+#define LWIP_SOCKET                (NO_SYS==0)
+#define LWIP_NETCONN               (NO_SYS==0)
+#define LWIP_NETIF_API             (NO_SYS==0)
+
+#define LWIP_IGMP                  LWIP_IPV4
+#define LWIP_ICMP                  LWIP_IPV4
+
+#define LWIP_SNMP                  LWIP_UDP
+//#define MIB2_STATS                 LWIP_SNMP
+#ifdef LWIP_HAVE_MBEDTLS
+#define LWIP_SNMP_V3               (LWIP_SNMP)
+#endif
+
+#define LWIP_DNS                   LWIP_UDP
+#define LWIP_MDNS_RESPONDER        LWIP_UDP
+
+#define LWIP_NUM_NETIF_CLIENT_DATA (LWIP_MDNS_RESPONDER)
+
+#define LWIP_HAVE_LOOPIF           1
+#define LWIP_NETIF_LOOPBACK        1
+#define LWIP_LOOPBACK_MAX_PBUFS    10
+
+#define TCP_LISTEN_BACKLOG         1
+
+#define LWIP_COMPAT_SOCKETS        1
+#define LWIP_SO_RCVTIMEO           1
+#define LWIP_SO_RCVBUF             1
+
+#define LWIP_TCPIP_CORE_LOCKING    1
+
+#define LWIP_NETIF_LINK_CALLBACK        1
+#define LWIP_NETIF_STATUS_CALLBACK      1
+#define LWIP_NETIF_EXT_STATUS_CALLBACK  1
+
+#ifdef LWIP_DEBUG
+
+#define LWIP_DBG_MIN_LEVEL         0
+#define PPP_DEBUG                  LWIP_DBG_OFF
+#define MEM_DEBUG                  LWIP_DBG_OFF
+#define MEMP_DEBUG                 LWIP_DBG_OFF
+#define PBUF_DEBUG                 LWIP_DBG_OFF
+#define API_LIB_DEBUG              LWIP_DBG_OFF
+#define API_MSG_DEBUG              LWIP_DBG_OFF
+#define TCPIP_DEBUG                LWIP_DBG_OFF
+#define NETIF_DEBUG                LWIP_DBG_OFF
+#define SOCKETS_DEBUG              LWIP_DBG_OFF
+#define DNS_DEBUG                  LWIP_DBG_OFF
+#define AUTOIP_DEBUG               LWIP_DBG_OFF
+#define DHCP_DEBUG                 LWIP_DBG_OFF
+#define IP_DEBUG                   LWIP_DBG_OFF
+#define IP_REASS_DEBUG             LWIP_DBG_OFF
+#define ICMP_DEBUG                 LWIP_DBG_OFF
+#define IGMP_DEBUG                 LWIP_DBG_OFF
+#define UDP_DEBUG                  LWIP_DBG_OFF
+#define TCP_DEBUG                  LWIP_DBG_OFF
+#define TCP_INPUT_DEBUG            LWIP_DBG_OFF
+#define TCP_OUTPUT_DEBUG           LWIP_DBG_OFF
+#define TCP_RTO_DEBUG              LWIP_DBG_OFF
+#define TCP_CWND_DEBUG             LWIP_DBG_OFF
+#define TCP_WND_DEBUG              LWIP_DBG_OFF
+#define TCP_FR_DEBUG               LWIP_DBG_OFF
+#define TCP_QLEN_DEBUG             LWIP_DBG_OFF
+#define TCP_RST_DEBUG              LWIP_DBG_OFF
+#endif
+
+#define LWIP_DBG_TYPES_ON         (LWIP_DBG_ON|LWIP_DBG_TRACE|LWIP_DBG_STATE|LWIP_DBG_FRESH|LWIP_DBG_HALT)
+
+
+/* ---------- Memory options ---------- */
+/* MEM_ALIGNMENT: should be set to the alignment of the CPU for which
+   lwIP is compiled. 4 byte alignment -> define MEM_ALIGNMENT to 4, 2
+   byte alignment -> define MEM_ALIGNMENT to 2. */
+/* MSVC port: intel processors don't need 4-byte alignment,
+   but are faster that way! */
+#define MEM_ALIGNMENT           8U
+
+/* MEM_SIZE: the size of the heap memory. If the application will send
+a lot of data that needs to be copied, this should be set high. */
+#define MEM_SIZE               10240
+
+/* MEMP_NUM_PBUF: the number of memp struct pbufs. If the application
+   sends a lot of data out of ROM (or other static memory), this
+   should be set high. */
+#define MEMP_NUM_PBUF           16
+/* MEMP_NUM_RAW_PCB: the number of UDP protocol control blocks. One
+   per active RAW "connection". */
+#define MEMP_NUM_RAW_PCB        3
+/* MEMP_NUM_UDP_PCB: the number of UDP protocol control blocks. One
+   per active UDP "connection". */
+#define MEMP_NUM_UDP_PCB        8
+/* MEMP_NUM_TCP_PCB: the number of simulatenously active TCP
+   connections. */
+#define MEMP_NUM_TCP_PCB        5
+/* MEMP_NUM_TCP_PCB_LISTEN: the number of listening TCP
+   connections. */
+#define MEMP_NUM_TCP_PCB_LISTEN 8
+/* MEMP_NUM_TCP_SEG: the number of simultaneously queued TCP
+   segments. */
+#define MEMP_NUM_TCP_SEG        16
+/* MEMP_NUM_SYS_TIMEOUT: the number of simulateously active
+   timeouts. */
+#define MEMP_NUM_SYS_TIMEOUT    17
+
+/* The following four are used only with the sequential API and can be
+   set to 0 if the application only will use the raw API. */
+/* MEMP_NUM_NETBUF: the number of struct netbufs. */
+#define MEMP_NUM_NETBUF         2
+/* MEMP_NUM_NETCONN: the number of struct netconns. */
+#define MEMP_NUM_NETCONN        12
+/* MEMP_NUM_TCPIP_MSG_*: the number of struct tcpip_msg, which is used
+   for sequential API communication and incoming packets. Used in
+   src/api/tcpip.c. */
+#define MEMP_NUM_TCPIP_MSG_API   16
+#define MEMP_NUM_TCPIP_MSG_INPKT 16
+
+#define TCPIP_THREAD_STACKSIZE          1024
+
+/* Enable all socket operations */
+#define LWIP_TCP_KEEPALIVE          1
+#define LWIP_SO_SNDTIMEO            1
+#define LWIP_SO_RCVTIMEO            1
+#define LWIP_SO_RCVBUF              1
+#define LWIP_SO_LINGER              1
+#define SO_REUSE                    1
+#define LWIP_MULTICAST_TX_OPTIONS   1
+
+
+/* ---------- Pbuf options ---------- */
+/* PBUF_POOL_SIZE: the number of buffers in the pbuf pool. */
+#define PBUF_POOL_SIZE          120
+
+/* PBUF_POOL_BUFSIZE: the size of each pbuf in the pbuf pool. */
+#define PBUF_POOL_BUFSIZE       256
+
+/** SYS_LIGHTWEIGHT_PROT
+ * define SYS_LIGHTWEIGHT_PROT in lwipopts.h if you want inter-task protection
+ * for certain critical regions during buffer allocation, deallocation and memory
+ * allocation and deallocation.
+ */
+#define SYS_LIGHTWEIGHT_PROT    (NO_SYS==0)
+
+
+/* ---------- TCP options ---------- */
+#define LWIP_TCP                0
+#define TCP_TTL                 255
+
+#define LWIP_ALTCP              (LWIP_TCP)
+#ifdef LWIP_HAVE_MBEDTLS
+#define LWIP_ALTCP_TLS          (LWIP_TCP)
+#define LWIP_ALTCP_TLS_MBEDTLS  (LWIP_TCP)
+#endif
+
+
+/* Controls if TCP should queue segments that arrive out of
+   order. Define to 0 if your device is low on memory. */
+#define TCP_QUEUE_OOSEQ         1
+
+/* TCP Maximum segment size. */
+#define TCP_MSS                 1024
+
+/* TCP sender buffer space (bytes). */
+#define TCP_SND_BUF             2048
+
+/* TCP sender buffer space (pbufs). This must be at least = 2 *
+   TCP_SND_BUF/TCP_MSS for things to work. */
+#define TCP_SND_QUEUELEN       (4 * TCP_SND_BUF/TCP_MSS)
+
+/* TCP writable space (bytes). This must be less than or equal
+   to TCP_SND_BUF. It is the amount of space which must be
+   available in the tcp snd_buf for select to return writable */
+#define TCP_SNDLOWAT           (TCP_SND_BUF/2)
+
+/* TCP receive window. */
+#define TCP_WND                 (20 * 1024)
+
+/* Maximum number of retransmissions of data segments. */
+#define TCP_MAXRTX              12
+
+/* Maximum number of retransmissions of SYN segments. */
+#define TCP_SYNMAXRTX           4
+
+
+#define TCPIP_MBOX_SIZE                 5
+
+/* ---------- ARP options ---------- */
+#define LWIP_ARP                1
+#define ARP_TABLE_SIZE          10
+#define ARP_QUEUEING            1
+#define ARP_QUEUE_LEN         10
+
+
+/* ---------- IP options ---------- */
+/* Define IP_FORWARD to 1 if you wish to have the ability to forward
+   IP packets across network interfaces. If you are going to run lwIP
+   on a device with only one network interface, define this to 0. */
+#define IP_FORWARD              0
+
+/* IP reassembly and segmentation.These are orthogonal even
+ * if they both deal with IP fragments */
+#define IP_REASSEMBLY           1
+#define IP_REASS_MAX_PBUFS      (10 * ((1500 + PBUF_POOL_BUFSIZE - 1) / PBUF_POOL_BUFSIZE))
+#define MEMP_NUM_REASSDATA      IP_REASS_MAX_PBUFS
+#define IP_FRAG                 1
+#define IPV6_FRAG_COPYHEADER    1
+
+/* ---------- ICMP options ---------- */
+#define ICMP_TTL                255
+
+
+/* ---------- DHCP options ---------- */
+/* Define LWIP_DHCP to 1 if you want DHCP configuration of
+   interfaces. */
+#define LWIP_DHCP               0
+
+/* 1 if you want to do an ARP check on the offered address
+   (recommended). */
+#define DHCP_DOES_ARP_CHECK    (LWIP_DHCP)
+
+
+/* ---------- AUTOIP options ------- */
+#define LWIP_AUTOIP            (LWIP_DHCP)
+#define LWIP_DHCP_AUTOIP_COOP  (LWIP_DHCP && LWIP_AUTOIP)
+
+
+/* ---------- UDP options ---------- */
+#define LWIP_UDP                1
+#define LWIP_UDPLITE            LWIP_UDP
+#define UDP_TTL                 255
+#define DEFAULT_UDP_RECVMBOX_SIZE       4
+
+/* ---------- RAW options ---------- */
+#define LWIP_RAW                1
+#define DEFAULT_TCP_RECVMBOX_SIZE       2
+
+/* ---------- Statistics options ---------- */
+
+#define LWIP_STATS              0
+#define LWIP_STATS_DISPLAY      0
+
+#if LWIP_STATS
+#define LINK_STATS              1
+#define IP_STATS                1
+#define ICMP_STATS              1
+#define IGMP_STATS              1
+#define IPFRAG_STATS            1
+#define UDP_STATS               1
+#define TCP_STATS               1
+#define MEM_STATS               1
+#define MEMP_STATS              1
+#define PBUF_STATS              1
+#define SYS_STATS               1
+#endif /* LWIP_STATS */
+
+/* ---------- NETBIOS options ---------- */
+#define LWIP_NETBIOS_RESPOND_NAME_QUERY 1
+
+/* ---------- PPP options ---------- */
+
+#define PPP_SUPPORT             0      /* Set > 0 for PPP */
+
+#if PPP_SUPPORT
+
+#define NUM_PPP                 1      /* Max PPP sessions. */
+
+
+/* Select modules to enable.  Ideally these would be set in the makefile but
+ * we're limited by the command line length so you need to modify the settings
+ * in this file.
+ */
+#define PPPOE_SUPPORT           1
+#define PPPOS_SUPPORT           1
+
+#define PAP_SUPPORT             1      /* Set > 0 for PAP. */
+#define CHAP_SUPPORT            1      /* Set > 0 for CHAP. */
+#define MSCHAP_SUPPORT          0      /* Set > 0 for MSCHAP */
+#define CBCP_SUPPORT            0      /* Set > 0 for CBCP (NOT FUNCTIONAL!) */
+#define CCP_SUPPORT             0      /* Set > 0 for CCP */
+#define VJ_SUPPORT              0      /* Set > 0 for VJ header compression. */
+#define MD5_SUPPORT             1      /* Set > 0 for MD5 (see also CHAP) */
+
+#endif /* PPP_SUPPORT */
+
+#endif /* LWIP_OPTTEST_FILE */
+
+/* The following defines must be done even in OPTTEST mode: */
+
+#define LWIP_FREERTOS_CHECK_CORE_LOCKING 1
+
+
+void sys_check_core_locking(void);
+#define LWIP_ASSERT_CORE_LOCKED()  sys_check_core_locking()
+
+void sys_mark_tcpip_thread(void);
+#define LWIP_MARK_TCPIP_THREAD()   sys_mark_tcpip_thread()
+
+// Disable slip task
+#define SLIP_USE_RX_THREAD 0
+
+#endif /* LWIP_LWIPOPTS_H */

contrib/lwip

@@ -0,0 +1 @@
+Subproject commit 84fde1ebbfe35b3125fc2d89b8a456cbacf148e9

mission/CMakeLists.txt

@@ -1 +1 @@
-target_sources(${TARGET_NAME} PRIVATE main.cpp controller/PrintController.cpp)
+target_sources(${TARGET_NAME} PRIVATE main.cpp testIp.cpp controller/PrintController.cpp)

mission/main.cpp

@@ -160,7 +160,7 @@ int main(void) {
       mission, /* The function that implements the task. */
       "init", /* The text name assigned to the task - for debug only as it is not used by the
                       kernel. */
-      configMINIMAL_STACK_SIZE, /* The size of the stack to allocate to the task. */
+      1024, /* The size of the stack to allocate to the task. */
       &taskParameters, /* The parameter passed to the task - not used in this simple case. */
       1,               /* The priority assigned to the task. */
       nullptr); /* The task handle is not required, so NULL is passed. */
@@ -180,10 +180,14 @@ int main(void) {
   return 0;
 }
 
+void testIp();
+
 void mission(void *){
 
   printf("Starting Mission\n");
 
+  testIp();
+
   sif::debug << "OStreams working" << std::endl;
 
   ObjectManager* objManager = ObjectManager::instance();

mission/testIp.cpp

@@ -0,0 +1,58 @@
+#include "lwip/sio.h"
+#include <arpa/inet.h>
+#include <cstring>
+#include <lwip/ip_addr.h>
+#include <lwip/tcpip.h>
+#include <netif/slipif.h>
+#include <sys/socket.h>
+
+#include <xuartps.h>
+
+extern "C" {
+void myInitDone(void *arg) {
+  puts("init done");
+
+  puts("socket");
+
+  int serverSocket = socket(AF_INET, SOCK_DGRAM, 0);
+  if (serverSocket == -1) {
+    puts("socket failed");
+    return;
+  }
+
+  sockaddr_in serverAddr;
+
+  memset(&serverAddr, 0, sizeof(serverAddr));
+
+  serverAddr.sin_family = AF_INET6;
+  serverAddr.sin_port = htons(0xcafe);
+  serverAddr.sin_addr.s_addr = inet_addr("10.0.0.13");
+
+  uint8_t data[] = {1, 2, 3, 4, 5, 6, 7};
+
+  puts("send");
+
+  sendto(serverSocket, data, sizeof(data), 0, (sockaddr *)&serverAddr,
+         sizeof(serverAddr));
+}
+}
+
+sio_fd_t sio_open(u8_t devnum) { return 0; }
+
+void sio_send(u8_t c, sio_fd_t fd) { XUartPs_SendByte(STDOUT_BASEADDRESS, c); }
+
+void testIp() {
+  struct netif netif;
+
+  tcpip_init(myInitDone, nullptr);
+
+  ip_addr_t slip_addr = IPADDR4_INIT_BYTES(10, 0, 0, 32),
+            slip_mask = IPADDR4_INIT_BYTES(255, 255, 255, 0),
+            slip_gw = IPADDR4_INIT_BYTES(255, 255, 255, 0);
+
+  netif_add(&netif, &slip_addr.u_addr.ip4, &slip_mask.u_addr.ip4,
+            &slip_gw.u_addr.ip4, NULL, slipif_init, netif_input);
+
+  netif_set_default(&netif);
+  netif_set_up(&netif);
+}