Here an embedded System-on-Chip is build, in an Xilinx Spartan-3 FPGA with Microblaze as the processor.A PLB core System is made with the VGA IP core attached to it. The software written for the MicroBlaze processor specifies the object, the color and the movement of the display. The functionality of the module is verified by implementation on Spartan 3.
標簽： System-on-Chip Microblaze embedded Spartan
上傳時間： 2013-12-20
上傳用戶：上善若水
/* ********************************************************************************************************* * uC/TCP-IP V2 * The Embedded TCP/IP Suite * * (c) Copyright 2003-2010; Micrium, Inc.; Weston, FL * * All rights reserved. Protected by international copyright laws. * * uC/TCP-IP is provided in source form to registered licensees ONLY. It is * illegal to distribute this source code to any third party unless you receive * written permission by an authorized Micrium representative. Knowledge of * the source code may NOT be used to develop a similar product. * * Please help us continue to provide the Embedded community with the finest * software available. Your honesty is greatly appreciated. * * You can contact us at www.micrium.com. ********************************************************************************************************* */ /* ********************************************************************************************************* * * NETWORK TCP LAYER * (TRANSMISSION CONTROL PROTOCOL) * * Filename : net_tcp.h * Version : V2.10 * Programmer(s) : ITJ ********************************************************************************************************* * Note(s) : (1) Supports Transmission Control Protocol as described in RFC #793 with the following * restrictions/constraints : * * (a) TCP Security & Precedence NOT supported RFC # 793, Section 3.6 * * (b) TCP Urgent Data NOT supported RFC # 793, Section 3.7 * 'The Communication of * Urgent Information' * * (c) The following TCP options NOT supported : * * (1) Window Scale RFC #1072, Section 2 * RFC #1323, Section 2 * (2) Selective Acknowledgement (SACK) RFC #1072, Section 3 * RFC #2018 * RFC #2883 * (3) TCP Echo RFC #1072, Section 4 * (4) Timestamp RFC #1323, Section 3.2 * (5) Protection Against Wrapped Sequences (PAWS) RFC #1323, Section 4 * * (d) #### IP-Options-to-TCP-Connection RFC #1122, Section 4.2.3.8 * Handling NOT supported * * (e) #### ICMP-Error-Message-to-TCP-Connection RFC #1122, Section 4.2.3.9 * Handling NOT currently supported * * (2) TCP Layer assumes/requires Network Socket Layer (see 'net_sock.h MODULE Note #1a2'). ********************************************************************************************************* */ /*$PAGE*/ /* ********************************************************************************************************* * MODULE * * Note(s) : (1) TCP Layer module is NOT required for UDP-to-Application API configuration. * * See also 'net_cfg.h TRANSPORT LAYER CONFIGURATION' * & 'net_cfg.h USER DATAGRAM PROTOCOL LAYER CONFIGURATION'. * * See also 'net_tcp.h Note #2'. * * (2) The following TCP-module-present configuration value MUST be pre-#define'd in * 'net_cfg_net.h' PRIOR to all other network modules that require TCP Layer * configuration (see 'net_cfg_net.h TCP LAYER CONFIGURATION Note #2b') : * * NET_TCP_MODULE_PRESENT ********************************************************************************************************* */ #ifdef NET_TCP_MODULE_PRESENT /* See Note #2. */ /* ********************************************************************************************************* * EXTERNS ********************************************************************************************************* */ #if ((defined(NET_TCP_MODULE)) && \ (defined(NET_GLOBALS_EXT))) #define NET_TCP_EXT #else #define NET_TCP_EXT extern #endif /*$PAGE*/ /* ********************************************************************************************************* * DEFINES ********************************************************************************************************* */ /* ********************************************************************************************************* * TCP HEADER DEFINES * * Note(s) : (1) The following TCP value MUST be pre-#define'd in 'net_def.h' PRIOR to 'net_buf.h' so that * the Network Buffer Module can configure maximum buffer header size (see 'net_def.h TCP * LAYER DEFINES' & 'net_buf.h NETWORK BUFFER INDEX & SIZE DEFINES Note #1') : * * (a) NET_TCP_HDR_SIZE_MAX 60 (NET_TCP_HDR_LEN_MAX * * NET_TCP_HDR_LEN_WORD_SIZE) * * (2) Urgent pointer & data NOT supported (see 'net_tcp.h Note #1b'). ********************************************************************************************************* */ #define NET_TCP_HDR_LEN_MASK 0xF000u #define NET_TCP_HDR_LEN_SHIFT 12u #define NET_TCP_HDR_LEN_NONE 0u #define NET_TCP_HDR_LEN_MIN 5u #define NET_TCP_HDR_LEN_MAX 15u #define NET_TCP_HDR_LEN_WORD_SIZE CPU_WORD_SIZE_32 #define NET_TCP_HDR_SIZE_MIN (NET_TCP_HDR_LEN_MIN * NET_TCP_HDR_LEN_WORD_SIZE) #if 0 /* See Note #1a. */ #define NET_TCP_HDR_SIZE_MAX (NET_TCP_HDR_LEN_MAX * NET_TCP_HDR_LEN_WORD_SIZE) #endif #define NET_TCP_HDR_SIZE_TOT_MIN (NET_IP_HDR_SIZE_TOT_MIN + NET_TCP_HDR_SIZE_MIN) #define NET_TCP_HDR_SIZE_TOT_MAX (NET_IP_HDR_SIZE_TOT_MAX + NET_TCP_HDR_SIZE_MAX) #define NET_TCP_PSEUDO_HDR_SIZE 12u /* = sizeof(NET_TCP_PSEUDO_HDR) */ #define NET_TCP_PORT_NBR_RESERVED NET_PORT_NBR_RESERVED #define NET_TCP_PORT_NBR_NONE NET_TCP_PORT_NBR_RESERVED #define NET_TCP_HDR_URG_PTR_NONE 0x0000u /* See Note #2. */ /*$PAGE*/ /* ********************************************************************************************************* * TCP HEADER FLAG DEFINES * * Note(s) : (1) See 'TCP HEADER Note #2' for flag fields. * * (2) Urgent pointer & data NOT supported (see 'net_tcp.h Note #1b'). ********************************************************************************************************* */ #define NET_TCP_HDR_FLAG_MASK 0x0FFFu #define NET_TCP_HDR_FLAG_NONE DEF_BIT_NONE #define NET_TCP_HDR_FLAG_RESERVED 0x0FE0u /* MUST be '0'. */ #define NET_TCP_HDR_FLAG_URGENT DEF_BIT_05 /* See Note #2. */ #define NET_TCP_HDR_FLAG_ACK DEF_BIT_04 #define NET_TCP_HDR_FLAG_PUSH DEF_BIT_03 #define NET_TCP_HDR_FLAG_RESET DEF_BIT_02 #define NET_TCP_HDR_FLAG_SYNC DEF_BIT_01 #define NET_TCP_HDR_FLAG_FIN DEF_BIT_00 #define NET_TCP_HDR_FLAG_CLOSE NET_TCP_HDR_FLAG_FIN /* ********************************************************************************************************* * TCP FLAG DEFINES ********************************************************************************************************* */ /* ------------------ NET TCP FLAGS ------------------- */ #define NET_TCP_FLAG_NONE DEF_BIT_NONE #define NET_TCP_FLAG_USED DEF_BIT_00 /* TCP conn cur used; i.e. NOT in free TCP conn pool. */ /* ------------------ TCP TX FLAGS ------------------- */ /* TCP tx flags copied from TCP hdr flags. */ #define NET_TCP_FLAG_TX_FIN NET_TCP_HDR_FLAG_FIN #define NET_TCP_FLAG_TX_CLOSE NET_TCP_FLAG_TX_FIN #define NET_TCP_FLAG_TX_SYNC NET_TCP_HDR_FLAG_SYNC #define NET_TCP_FLAG_TX_RESET NET_TCP_HDR_FLAG_RESET #define NET_TCP_FLAG_TX_PUSH NET_TCP_HDR_FLAG_PUSH #define NET_TCP_FLAG_TX_ACK NET_TCP_HDR_FLAG_ACK #define NET_TCP_FLAG_TX_URGENT NET_TCP_HDR_FLAG_URGENT #define NET_TCP_FLAG_TX_BLOCK DEF_BIT_07 /* ------------------ TCP RX FLAGS ------------------- */ #define NET_TCP_FLAG_RX_DATA_PEEK DEF_BIT_08 #define NET_TCP_FLAG_RX_BLOCK DEF_BIT_15 /*$PAGE*/ /* ********************************************************************************************************* * TCP TYPE DEFINES * * Note(s) : (1) NET_TCP_TYPE_&&& #define values specifically chosen as ASCII representations of the TCP * types. Memory displays of TCP types will display with their chosen ASCII names. ********************************************************************************************************* */ /* ------------------ NET TCP TYPES ------------------- */ #if (CPU_CFG_ENDIAN_TYPE == CPU_ENDIAN_TYPE_BIG) #define NET_TCP_TYPE_NONE 0x4E4F4E45u /* "NONE" in ASCII. */ #define NET_TCP_TYPE_CONN 0x54435020u /* "TCP " in ASCII. */ #else #if (CPU_CFG_DATA_SIZE == CPU_WORD_SIZE_32) #define NET_TCP_TYPE_NONE 0x454E4F4Eu /* "NONE" in ASCII. */ #define NET_TCP_TYPE_CONN 0x20504354u /* "TCP " in ASCII. */ #elif (CPU_CFG_DATA_SIZE == CPU_WORD_SIZE_16) #define NET_TCP_TYPE_NONE 0x4F4E454Eu /* "NONE" in ASCII. */ #define NET_TCP_TYPE_CONN 0x43542050u /* "TCP " in ASCII. */ #else /* Dflt CPU_WORD_SIZE_08. */ #define NET_TCP_TYPE_NONE 0x4E4F4E45u /* "NONE" in ASCII. */ #define NET_TCP_TYPE_CONN 0x54435020u /* "TCP " in ASCII. */ #endif #endif /* ********************************************************************************************************* * TCP SEQUENCE NUMBER DEFINES * * Note(s) : (1) TCP initial transmit sequence number is incremented by a fixed value, preferably a large * prime value or a large value with multiple unique factors. * * (a) One reasonable TCP initial transmit sequence number increment value example : * * 65527 = 37 * 23 * 11 * 7 * * * #### NET_TCP_TX_SEQ_NBR_CTR_INC could be developer-configured in 'net_cfg.h'. * * See also 'NET_TCP_TX_GET_SEQ_NBR() Notes #1b2 & #1c2'. ********************************************************************************************************* */ #define NET_TCP_SEQ_NBR_NONE 0u #define NET_TCP_ACK_NBR_NONE NET_TCP_SEQ_NBR_NONE #define NET_TCP_TX_SEQ_NBR_CTR_INC 65527u /* See Note #1. */ #define NET_TCP_ACK_NBR_DUP_WIN_SIZE_SCALE 4 /*$PAGE*/ /* ********************************************************************************************************* * TCP DATA/TOTAL LENGTH DEFINES * * Note(s) : (1) (a) TCP total length #define's (NET_TCP_TOT_LEN) relate to the total size of a complete * TCP packet, including the packet's TCP header. Note that a complete TCP packet MAY * be fragmented in multiple Internet Protocol packets. * * (b) TCP data length #define's (NET_TCP_DATA_LEN) relate to the data size of a complete * TCP packet, equal to the total TCP packet length minus its TCP header size. Note * that a complete TCP packet MAY be fragmented in multiple Internet Protocol packets. ********************************************************************************************************* */ /* See Notes #1a & #1b. */ #define NET_TCP_DATA_LEN_MIN 0u #define NET_TCP_TOT_LEN_MIN (NET_TCP_HDR_SIZE_MIN + NET_TCP_DATA_LEN_MIN) #define NET_TCP_TOT_LEN_MAX (NET_IP_TOT_LEN_MAX - NET_IP_HDR_SIZE_MIN ) #define NET_TCP_DATA_LEN_MAX (NET_TCP_TOT_LEN_MAX - NET_TCP_HDR_SIZE_MIN) /*$PAGE*/ /* ********************************************************************************************************* * TCP SEGMENT SIZE DEFINES * * Note(s) : (1) (a) RFC # 879, Section 3 states that the TCP Maximum Segment Size "counts only * data octets in the segment, ... not the TCP header or the IP header". * * (b) RFC #1122, Section 4.2.2.6 requires that : * * (1) "The MSS value to be sent in an MSS option must be less than or equal to * * (A) MMS_R - 20 * * where MMS_R is the maximum size for a transport-layer message that can * be received." * * (2) "If an MSS option is not received at connection setup, TCP MUST assume a * default send MSS of 536 (576 - 40)." * * See also 'net_ip.h IP DATA/TOTAL LENGTH DEFINES Note #1'. ********************************************************************************************************* */ /* See Note #1. */ #define NET_TCP_MAX_SEG_SIZE_DFLT (NET_IP_MAX_DATAGRAM_SIZE_DFLT - NET_IP_HDR_SIZE_MIN - NET_TCP_HDR_SIZE_MIN) #define NET_TCP_MAX_SEG_SIZE_DFLT_RX NET_TCP_DATA_LEN_MAX /* See Note #1b1. */ #define NET_TCP_MAX_SEG_SIZE_DFLT_TX NET_TCP_MAX_SEG_SIZE_DFLT /* See Note #1b2. */ #define NET_TCP_MAX_SEG_SIZE_NONE 0u #define NET_TCP_MAX_SEG_SIZE_MIN NET_TCP_MAX_SEG_SIZE_DFLT #define NET_TCP_MAX_SEG_SIZE_MAX NET_TCP_DATA_LEN_MAX #define NET_TCP_SEG_LEN_MIN NET_TCP_DATA_LEN_MIN #define NET_TCP_SEG_LEN_MAX NET_TCP_DATA_LEN_MAX #define NET_TCP_SEG_LEN_SYNC 1u #define NET_TCP_SEG_LEN_FIN 1u #define NET_TCP_SEG_LEN_CLOSE NET_TCP_SEG_LEN_FIN #define NET_TCP_SEG_LEN_ACK 0u #define NET_TCP_SEG_LEN_RESET 0u #define NET_TCP_SEG_LEN_PROBE 0u #define NET_TCP_DATA_LEN_TX_SYNC 0u #define NET_TCP_DATA_LEN_TX_FIN 0u #define NET_TCP_DATA_LEN_TX_CLOSE NET_TCP_DATA_LEN_TX_FIN #define NET_TCP_DATA_LEN_TX_ACK 0u #define NET_TCP_DATA_LEN_TX_PROBE_NO_DATA 0u #define NET_TCP_DATA_LEN_TX_PROBE_DATA 1u #define NET_TCP_DATA_LEN_TX_RESET 0u #define NET_TCP_TX_PROBE_DATA 0x00u /* ********************************************************************************************************* * TCP WINDOW SIZE DEFINES * * Note(s) : (1) Although NO RFC specifies the absolute minimum TCP connection window size value allowed, * RFC #793, Section 3.7 'Data Communication : Managing the Window' states that for "the * window ... there is an assumption that this is related to the currently available data * buffer space available for this connection". ********************************************************************************************************* */ #define NET_TCP_WIN_SIZE_NONE 0u #define NET_TCP_WIN_SIZE_MIN NET_TCP_MAX_SEG_SIZE_MIN #define NET_TCP_WIN_SIZE_MAX DEF_INT_16U_MAX_VAL /*$PAGE*/ /* ********************************************************************************************************* * TCP HEADER OPTIONS DEFINES * * Note(s) : (1) See the following RFC's for TCP options summary : * * (a) RFC # 793, Section 3.1 'Header Format : Options' * (b) RFC #1122; Sections 4.2.2.5, 4.2.2.6 * * (2) TCP option types are encoded in the first octet for each TCP option as follows : * * -------- * | TYPE | * -------- * * The TCP option type value determines the TCP option format : * * (a) The following TCP option types are single-octet TCP options -- i.e. the option type * octet is the ONLY octet for the TCP option. * * (1) TYPE = 0 End of Options List * (2) TYPE = 1 No Operation * * * (b) All other TCP options MUST be multi-octet TCP options (see RFC #1122, Section 4.2.2.5) : * * ------------------------------ * | TYPE | LEN | TCP OPT | * ------------------------------ * * where * TYPE Indicates the specific TCP option type * LEN Indicates the total TCP option length, in octets, including * the option type & the option length octets * TCP OPT Additional TCP option octets, if any, that contain the remaining * TCP option information * * The following TCP option types are multi-octet TCP options where the option's second * octet specify the total TCP option length, in octets, including the option type & the * option length octets : * * (1) TYPE = 2 Maximum Segment Size See RFC # 793, Section 3.1 'Header Format : * Options : Maximum Segment Size'; * RFC #1122, Section 4.2.2.6; * RFC # 879, Section 3 * * (2) TYPE = 3 Window Scale See 'net_tcp.h Note #1c1' * (3) TYPE = 4 SACK Allowed See 'net_tcp.h Note #1c2' * (4) TYPE = 5 SACK Option See 'net_tcp.h Note #1c2' * (5) TYPE = 6 Echo Request See 'net_tcp.h Note #1c3' * (6) TYPE = 7 Echo Reply See 'net_tcp.h Note #1c3' * (7) TYPE = 8 Timestamp See 'net_tcp.h Note #1c4' * * (3) TCP header allows for a maximum option list length of 40 octets : * * NET_TCP_HDR_OPT_SIZE_MAX = NET_TCP_HDR_SIZE_MAX - NET_TCP_HDR_SIZE_MIN * * = 60 - 20 * * = 40 * * (4) 'NET_TCP_OPT_SIZE' MUST be pre-defined PRIOR to all definitions that require TCP option * size data type. ********************************************************************************************************* */ /*$PAGE*/ #define NET_TCP_HDR_OPT_END_LIST 0u #define NET_TCP_HDR_OPT_NOP 1u #define NET_TCP_HDR_OPT_MAX_SEG_SIZE 2u #define NET_TCP_HDR_OPT_WIN_SCALE 3u #define NET_TCP_HDR_OPT_SACK_PERMIT 4u #define NET_TCP_HDR_OPT_SACK 5u #define NET_TCP_HDR_OPT_ECHO_REQ 6u #define NET_TCP_HDR_OPT_ECHO_REPLY 7u #define NET_TCP_HDR_OPT_TS 8u #define NET_TCP_HDR_OPT_PAD NET_TCP_HDR_OPT_END_LIST #define NET_TCP_HDR_OPT_LEN_END_LIST 1u #define NET_TCP_HDR_OPT_LEN_NOP 1u #define NET_TCP_HDR_OPT_LEN_MAX_SEG_SIZE 4u #define NET_TCP_HDR_OPT_LEN_WIN_SCALE 3u #define NET_TCP_HDR_OPT_LEN_SACK_PERMIT 2u #define NET_TCP_HDR_OPT_LEN_ECHO_REQ 6u #define NET_TCP_HDR_OPT_LEN_ECHO_REPLY 6u #define NET_TCP_HDR_OPT_LEN_TS 10u #define NET_TCP_HDR_OPT_LEN_SACK_MIN 6u #define NET_TCP_HDR_OPT_LEN_SACK_MAX 38u #define NET_TCP_HDR_OPT_LEN_MIN 1u #define NET_TCP_HDR_OPT_LEN_MIN_LEN 2u #define NET_TCP_HDR_OPT_LEN_MAX 38u typedef CPU_INT32U NET_TCP_OPT_SIZE; /* TCP opt size data type (see Note #4). */ #define NET_TCP_HDR_OPT_SIZE_WORD (sizeof(NET_TCP_OPT_SIZE)) #define NET_TCP_HDR_OPT_SIZE_MAX (NET_TCP_HDR_SIZE_MAX - NET_TCP_HDR_SIZE_MIN) #define NET_TCP_HDR_OPT_NBR_MIN 0u #define NET_TCP_HDR_OPT_NBR_MAX (NET_TCP_HDR_OPT_SIZE_MAX / NET_TCP_HDR_OPT_SIZE_WORD) #define NET_TCP_HDR_OPT_IX NET_TCP_HDR_SIZE_MIN /*$PAGE*/ /* ********************************************************************************************************* * TCP OPTION CONFIGURATION TYPE DEFINES * * Note(s) : (1) NET_TCP_OPT_CFG_TYPE_&&& #define values specifically chosen as ASCII representations of * the TCP option configuration types. Memory displays of TCP option configuration buffers * will display the TCP option configuration TYPEs with their chosen ASCII names. ********************************************************************************************************* */ /* ---------------- TCP OPT CFG TYPES ----------------- */ #if (CPU_CFG_ENDIAN_TYPE == CPU_ENDIAN_TYPE_BIG) #define NET_TCP_OPT_CFG_TYPE_NONE 0x4E4F4E45u /* "NONE" in ASCII. */ #define NET_TCP_OPT_CFG_TYPE_MAX_SEG_SIZE 0x4D535320u /* "MSS " in ASCII. */ #define NET_TCP_OPT_CFG_TYPE_WIN_SCALE 0x57494E20u /* "WIN " in ASCII (see 'net_tcp.h Note #1c1'). */ #define NET_TCP_OPT_CFG_TYPE_SACK_PERMIT 0x53434B50u /* "SCKP" in ASCII (see 'net_tcp.h Note #1c2'). */ #define NET_TCP_OPT_CFG_TYPE_SACK 0x5341434Bu /* "SACK" in ASCII (see 'net_tcp.h Note #1c2'). */ #define NET_TCP_OPT_CFG_TYPE_ECHO_REQ 0x45524551u /* "EREQ" in ASCII (see 'net_tcp.h Note #1c3'). */ #define NET_TCP_OPT_CFG_TYPE_ECHO_REPLY 0x4543484Fu /* "ECHO" in ASCII (see 'net_tcp.h Note #1c3'). */ #define NET_TCP_OPT_CFG_TYPE_TS 0x54532020u /* "TS " in ASCII (see 'net_tcp.h Note #1c4'). */ #else #if (CPU_CFG_DATA_SIZE == CPU_WORD_SIZE_32) #define NET_TCP_OPT_CFG_TYPE_NONE 0x454E4F4Eu /* "NONE" in ASCII. */ #define NET_TCP_OPT_CFG_TYPE_MAX_SEG_SIZE 0x2053534Du /* "MSS " in ASCII. */ #define NET_TCP_OPT_CFG_TYPE_WIN_SCALE 0x204E4957u /* "WIN " in ASCII (see 'net_tcp.h Note #1c1'). */ #define NET_TCP_OPT_CFG_TYPE_SACK_PERMIT 0x504B4353u /* "SCKP" in ASCII (see 'net_tcp.h Note #1c2'). */ #define NET_TCP_OPT_CFG_TYPE_SACK 0x4B434153u /* "SACK" in ASCII (see 'net_tcp.h Note #1c2'). */ #define NET_TCP_OPT_CFG_TYPE_ECHO_REQ 0x51455245u /* "EREQ" in ASCII (see 'net_tcp.h Note #1c3'). */ #define NET_TCP_OPT_CFG_TYPE_ECHO_REPLY 0x4F484345u /* "ECHO" in ASCII (see 'net_tcp.h Note #1c3'). */ #define NET_TCP_OPT_CFG_TYPE_TS 0x20205354u /* "TS " in ASCII (see 'net_tcp.h Note #1c4'). */ #elif (CPU_CFG_DATA_SIZE == CPU_WORD_SIZE_16) #define NET_TCP_OPT_CFG_TYPE_NONE 0x4F4E454Eu /* "NONE" in ASCII. */ #define NET_TCP_OPT_CFG_TYPE_MAX_SEG_SIZE 0x534D2053u /* "MSS " in ASCII. */ #define NET_TCP_OPT_CFG_TYPE_WIN_SCALE 0x4957204Eu /* "WIN " in ASCII (see 'net_tcp.h Note #1c1'). */ #define NET_TCP_OPT_CFG_TYPE_SACK_PERMIT 0x4353504Bu /* "SCKP" in ASCII (see 'net_tcp.h Note #1c2'). */ #define NET_TCP_OPT_CFG_TYPE_SACK 0x41534B43u /* "SACK" in ASCII (see 'net_tcp.h Note #1c2'). */ #define NET_TCP_OPT_CFG_TYPE_ECHO_REQ 0x52455145u /* "EREQ" in ASCII (see 'net_tcp.h Note #1c3'). */ #define NET_TCP_OPT_CFG_TYPE_ECHO_REPLY 0x43454F48u /* "ECHO" in ASCII (see 'net_tcp.h Note #1c3'). */ #define NET_TCP_OPT_CFG_TYPE_TS 0x53542020u /* "TS " in ASCII (see 'net_tcp.h Note #1c4'). */ #else /* Dflt CPU_WORD_SIZE_08. */ #define NET_TCP_OPT_CFG_TYPE_NONE 0x4E4F4E45u /* "NONE" in ASCII. */ #define NET_TCP_OPT_CFG_TYPE_MAX_SEG_SIZE 0x4D535320u /* "MSS " in ASCII. */ #define NET_TCP_OPT_CFG_TYPE_WIN_SCALE 0x57494E20u /* "WIN " in ASCII (see 'net_tcp.h Note #1c1'). */ #define NET_TCP_OPT_CFG_TYPE_SACK_PERMIT 0x53434B50u /* "SCKP" in ASCII (see 'net_tcp.h Note #1c2'). */ #define NET_TCP_OPT_CFG_TYPE_SACK 0x5341434Bu /* "SACK" in ASCII (see 'net_tcp.h Note #1c2'). */ #define NET_TCP_OPT_CFG_TYPE_ECHO_REQ 0x45524551u /* "EREQ" in ASCII (see 'net_tcp.h Note #1c3'). */ #define NET_TCP_OPT_CFG_TYPE_ECHO_REPLY 0x4543484Fu /* "ECHO" in ASCII (see 'net_tcp.h Note #1c3'). */ #define NET_TCP_OPT_CFG_TYPE_TS 0x54532020u /* "TS " in ASCII (see 'net_tcp.h Note #1c4'). */ #endif #endif /*$PAGE*/ /* ********************************************************************************************************* * TCP CONNECTION TIMEOUT DEFINES * * Note(s) : (1) (a) (1) RFC #1122, Section 4.2.2.13 'DISCUSSION' states that "the graceful close algorithm * of TCP requires that the connection state remain defined on (at least) one end of * the connection, for a timeout period of 2xMSL ... During this period, the (remote * socket, local socket) pair that defines the connection is busy and cannot be reused". * * (2) The following sections reiterate that the TIME-WAIT state timeout scalar is two * maximum segment lifetimes (2 MSL) : * * (A) RFC #793, Section 3.9 'Event Processing : SEGMENT ARRIVES : * Check Sequence Number : TIME-WAIT STATE' * (B) RFC #793, Section 3.9 'Event Processing : SEGMENT ARRIVES : * Check FIN Bit : TIME-WAIT STATE' * * (b) (1) RFC #793, Section 3.3 'Sequence Numbers : Knowing When to Keep Quiet' states that * "the Maximum Segment Lifetime (MSL) is ... to be 2 minutes. This is an engineering * choice, and may be changed if experience indicates it is desirable to do so". * * (2) Microsoft Corporation's Windows XP defaults MSL to 15 seconds. ********************************************************************************************************* */ /* Max seg timeout (see Note #1b) : */ #define NET_TCP_CONN_TIMEOUT_MAX_SEG_MIN_SEC ( 0u ) /* ... min = 0 seconds */ #define NET_TCP_CONN_TIMEOUT_MAX_SEG_MAX_SEC ( 2u * DEF_TIME_NBR_SEC_PER_MIN) /* ... max = 2 minutes */ #define NET_TCP_CONN_TIMEOUT_MAX_SEG_DFLT_SEC ( 15u ) /* ... dflt = 15 seconds */ #define NET_TCP_CONN_TIMEOUT_MAX_SEG_SCALAR 2u /* ... scalar (see Note #1a). */ #define NET_TCP_CONN_TIMEOUT_CONN_DFLT_SEC (120u * DEF_TIME_NBR_SEC_PER_MIN) /* Dflt conn timeout = 120 minutes */ #define NET_TCP_CONN_TIMEOUT_USER_DFLT_SEC ( 30u * DEF_TIME_NBR_SEC_PER_MIN) /* Dflt user timeout = 30 minutes */ /*$PAGE*/ /* ********************************************************************************************************* * TCP CONNECTION STATES * * Note(s) : (1) See the following RFC's for TCP state machine summary : * * (a) RFC # 793; Sections 3.2, 3.4, 3.5, 3.9 * (b) RFC #1122; Sections 4.2.2.8, 4.2.2.10, 4.2.2.11, 4.2.2.13, 4.2.2.18, 4.2.2.20 * * (2) (a) #### Additional closing-data-available state used for closing connections to allow the * application layer to receive any remaining data. * * See also 'net_tcp.c NetTCP_RxPktConnHandlerFinWait1() Note #2f5A2', * 'net_tcp.c NetTCP_RxPktConnHandlerFinWait2() Note #2f5B', * 'net_tcp.c NetTCP_RxPktConnHandlerClosing() Note #2d2B2a1B', * & 'net_tcp.c NetTCP_RxPktConnHandlerLastAck() Note #2d2A1b'. ********************************************************************************************************* */ #define NET_TCP_CONN_STATE_NONE 0u #define NET_TCP_CONN_STATE_FREE 1u #define NET_TCP_CONN_STATE_CLOSED 10u #define NET_TCP_CONN_STATE_LISTEN 20u #define NET_TCP_CONN_STATE_SYNC_RXD 30u #define NET_TCP_CONN_STATE_SYNC_RXD_PASSIVE 31u #define NET_TCP_CONN_STATE_SYNC_RXD_ACTIVE 32u #define NET_TCP_CONN_STATE_SYNC_TXD 35u #define NET_TCP_CONN_STATE_CONN 40u #define NET_TCP_CONN_STATE_FIN_WAIT_1 50u #define NET_TCP_CONN_STATE_FIN_WAIT_2 51u #define NET_TCP_CONN_STATE_CLOSING 52u #define NET_TCP_CONN_STATE_TIME_WAIT 53u #define NET_TCP_CONN_STATE_CLOSE_WAIT 55u #define NET_TCP_CONN_STATE_LAST_ACK 56u #define NET_TCP_CONN_STATE_CLOSING_DATA_AVAIL 59u /* See Note #2a. */ /* ********************************************************************************************************* * TCP CONNECTION QUEUE STATES ********************************************************************************************************* */ #define NET_TCP_RX_Q_STATE_NONE 0u #define NET_TCP_RX_Q_STATE_CLOSED 100u #define NET_TCP_RX_Q_STATE_CLOSING 101u #define NET_TCP_RX_Q_STATE_SYNC 110u #define NET_TCP_RX_Q_STATE_CONN 111u #define NET_TCP_TX_Q_STATE_NONE 0u #define NET_TCP_TX_Q_STATE_CLOSED 200u #define NET_TCP_TX_Q_STATE_CLOSING 201u #define NET_TCP_TX_Q_STATE_SYNC 210u #define NET_TCP_TX_Q_STATE_CONN 211u #define NET_TCP_TX_Q_STATE_SUSPEND 215u #define NET_TCP_TX_Q_STATE_CLOSED_SUSPEND 220u #define NET_TCP_TX_Q_STATE_CLOSING_SUSPEND 221u /*$PAGE*/ /* ********************************************************************************************************* * TCP CONNECTION CODE DEFINES **************
上傳時間： 2015-11-22
上傳用戶：the same kong
Guided vehicles (GVs) are commonly used for the internal transportation of loads in warehouses, production plants and terminals. These guided vehicles can be routed with a variety of vehicle dispatching rules in an attempt to meet performance criteria such as minimizing the average load waiting times. In this research, we use simulation models of three companies to evaluate the performance of several real-time vehicle dispatching rules, in part described in the literature. It appears that there is a clear difference in average load waiting time between the different dispatching rules in the different environments. Simple rules, based on load and vehicle proximity (distance-based) perform best for all cases. The penalty for this is a relatively high maximum load waiting time. A distance-based rule with time truncation, giving more priority to loads that have to wait longer than a time threshold, appears to yield the best possible overall performance. A rule that particularly considers load-waiting time performs poor overall. We also show that using little pre-arrival information of loads leads to a significant improvement in the performance of the dispatching rules without changing their performance ranking.
標簽： Testing and classifying vehicle dispatching rules in three real-world settings
上傳時間： 2016-04-01
上傳用戶：五塊錢的油條
Improved guaranteed cost control and quantum adaptive control are developed in this study for a quadrotor helicopter with state delay and actuator faults. Improved guaranteed cost control is designed to eliminate disturbance effects and guarantee the robust stability of a quadrotor helicopter with state delay. The inapplicability of guaranteed cost control to the quadrotor linear model is addressed by combining guaranteed cost control with a model reference linear quadratic regulator. In the event of actuator faults, quadrotor tracking performance is maintained through quantum adaptive control. Finally, the availability of the proposed scheme is verified through numerical simulation
標簽： Control Helicopter Guaranteed Quadrotor Adaptive Strategy Improved Quantum Delay State
上傳時間： 2017-07-15
上傳用戶：bingzi_ml
AEC-Q100 qualified ? 12 V and 24 V battery systems compliance ? 3.3 V and 5 V logic compatible I/O ? 8-channel configurable MOSFET pre-driver – High-side (N-channel and P-channel MOS) – Low-side (N-channel MOS) – H-bridge (up to 2 H-bridge) – Peak & Hold (2 loads) ? Operating battery supply voltage 3.8 V to 36 V ? Operating VDD supply voltage 4.5 V to 5.5 V ? All device pins, except the ground pins, withstand at least 40 V ? Programmable gate charge/discharge currents for improving EMI behavior
標簽： configurable Automotive pre-driver suitable channel systems MOSFET fully High side
上傳時間： 2019-03-27
上傳用戶：guaixiaolong
obot control, a subject aimed at making robots behave as desired, has been extensively developed for more than two decades. Among many books being published on this subject, a common feature is to treat a robot as a single system that is to be controlled by a variety of control algorithms depending on different scenarios and control objectives. However, when a robot becomes more complex and its degrees of freedom of motion increase substantially, the needed control computation can easily go beyond the scope a modern computer can handle within a pre-specified sampling period. A solution is to base the control on subsystem dynamics.
標簽： decomposition virtual control
上傳時間： 2019-09-04
上傳用戶：txb96
In this chapter we give a quick overview of control theory, explaining why integral feedback control works, describing PID controllers, and summariz- ing some of the currently available techniques for PID controller design. This background will serve to motivate our results on PID control, pre- sented in the subsequent chapters.
標簽： Controllers Time-Delay Systems PID for
上傳時間： 2020-06-10
上傳用戶：shancjb
這是我在做大學教授期間推薦給我學生的一本書，非常好，適合入門學習。《python深度學習》由Keras之父、現任Google人工智能研究員的弗朗索瓦?肖萊（Franc?ois Chollet）執筆，詳盡介紹了用Python和Keras進行深度學習的探索實踐，包括計算機視覺、自然語言處理、產生式模型等應用。書中包含30多個代碼示例，步驟講解詳細透徹。作者在github公布了代碼，代碼幾乎囊括了本書所有知識點。在學習完本書后，讀者將具備搭建自己的深度學習環境、建立圖像識別模型、生成圖像和文字等能力。但是有一個小小的遺憾：代碼的解釋和注釋是全英文的，即使英文水平較好的朋友看起來也很吃力。本人認為，這本書和代碼是初學者入門深度學習及Keras最好的工具。作者在github公布了代碼，本人參照書本，對全部代碼做了中文解釋和注釋，并下載了代碼所需要的一些數據集（尤其是“貓狗大戰”數據集），并對其中一些圖像進行了本地化，代碼全部測試通過。（請按照文件順序運行，代碼前后有部分關聯）。以下代碼包含了全書約80%左右的知識點，代碼目錄：2.1: A first look at a neural network（ 初識神經網絡）3.5: Classifying movie reviews（電影評論分類：二分類問題）3.6: Classifying newswires（新聞分類：多分類問題 ）3.7: Predicting house prices（預測房價：回歸問題）4.4: Underfitting and overfitting（ 過擬合與欠擬合）5.1: Introduction to convnets（卷積神經網絡簡介）5.2: Using convnets with small datasets（在小型數據集上從頭開始訓練一個卷積網絡）5.3: Using a pre-trained convnet（使用預訓練的卷積神經網絡）5.4: Visualizing what convnets learn（卷積神經網絡的可視化）
上傳時間： 2022-01-30
上傳用戶：
STM32L053C8T6數據手冊Features ? Ultra-low-power platform – 1.65 V to 3.6 V power supply – -40 to 125 °C temperature range – 0.27 μA Standby mode (2 wakeup pins) – 0.4 μA Stop mode (16 wakeup lines) – 0.8 μA Stop mode + RTC + 8 KB RAM retention – 139 μA/MHz Run mode at 32 MHz – 3.5 μs wakeup time (from RAM) – 5 μs wakeup time (from Flash) ? Core: ARM? 32-bit Cortex?-M0+ with MPU – From 32 kHz up to 32 MHz max. – 0.95 DMIPS/MHz ? Reset and supply management – Ultra-safe, low-power BOR (brownout reset) with 5 selectable thresholds – Ultralow power POR/PDR – Programmable voltage detector (PVD) ? Clock sources – 1 to 25 MHz crystal oscillator – 32 kHz oscillator for RTC with calibration – High speed internal 16 MHz factory-trimmed RC (+/- 1%) – Internal low-power 37 kHz RC – Internal multispeed low-power 65 kHz to 4.2 MHz RC – PLL for CPU clock ? Pre-programmed bootloader – USART, SPI supported ? Development support – Serial wire debug supported ? Up to 51 fast I/Os (45 I/Os 5V tolerant) ? Memories – Up to 64 KB Flash with ECC – 8KB RAM – 2 KB of data EEPROM with ECC – 20-byte backup register
標簽： stm32l053c8t6
上傳時間： 2022-02-06
上傳用戶：
用三點法實現機器人三維位置測量的研究摘 要 ：提 出 了一 種 微 小 爬 壁 機 器 人 三 維 位 置 測 量 的新 方 法 。筆 者 通 過 深 入 分 析 研 究各 種 位 置 測 控 方 法 與 系 統 ，提 出采 用單 目視 覺方 法 中的 聚 焦法 ，以 CCD作 為 傳 感 器 ，用 三 點 法 實現 對 機 器 人 的 三 維 位 置 測 量 。 驗 證性 實驗 結果表 明 ，本研 究提 出的測 量原 理和 系統是 正 確 可行 的 。 關鍵詞 ：機 器人 ；位置 測量 ；CCD傳 感 器 ；單 目視 覺 ；攝 像 機 標 定 中 圖分 類 號 ：TP242．6 文 獻 標 識 碼 ：B Abstract：A new 3D position measurementmethod Ofa wall—climbing micro robothas been researched．Researc— hing on the various position measuring and controlling method，theauthorhasputforwardanewprojecttomeas— ure the 3D position of the robot，in which the focusing method with singlecamera and CCD sensorhasbeen used to getthe position information．The elementary experiment has verified the principle and the system． Key words：robot；position detection；CCD sensor；single camera vision；camera caiibration 位置測量技 術是智 能機 器人 的關鍵 技術 ，是各 種 機器人控 制系統 中極 為重 要 的環節 ，也 是 國內外研 究 的熱點所 在。 按 照測試 系統 與被 測機 器 人 的關 系 ，可 以將位 置 測量技術 分為接觸 式和非接觸式 兩大類 。接觸 式測量 系統 由于在測 量過程 中或多或少地 對機器人施 加 了載 荷 ，因而僅適用于靜 態 位置測 量 。而動 態 位 置測量 系 統 主要分 5類 ：①激光跟蹤 系統 ；@ CCD交 互測量 收 稿 日期 ：2001—07—03 基 金項 目：國家 863高科技 研 究 資助 項 目(9804-06)；教 育 部 高 等 學校 骨干教 師 資助 計 3t,j項 目 作者 簡 介 ：張 智海 (1973一 )，男 ，工 學碩 士 ，主 要 研 究 方 向 為 智 能 機 器人 測 控 技 術 。 系統 ；③ 超聲波 測量 系統 ；④ PSD(positionsensitivede— vice)位 置 測 量 系統 ；⑤ 帶 有 接 近覺 傳 感 器 的 測量 系 統 。位置測量 還可 以從另一個分類 角度劃分為主動式 測量和被動 式測 量 。主動式測 量主要可 以分為結 構光方法和激光 自動聚焦法兩類 。被 動式測量 主要 可 以分為雙 目視 覺 、三 目視覺 、單 目視覺 等方法 。 對 比以上各種方法 的 優缺 點 ，針對 筆者 研制 的微 小爬壁機器人 的空 間三 維位 置 測量 的要 求 ，測量 系統 必須滿足尺 寸小 、分 辨率 高 、穩定 性 和可 靠性 好 、時 間 響應快等特 點 ，提 出了采用 單 目視覺方法 中的聚焦法 ， 選用 CCD作 為傳感器 ，用 三點法實現對機器人 的三維 位置測量 ，并用 Matlab和 V
標簽： 機器人
上傳時間： 2022-02-12
上傳用戶：
