int main(void) {
  MAP_IntVTableBaseSet((unsigned long) &int_vectors[0]);
  MAP_IntMasterEnable();
  PRCMCC3200MCUInit();

/* Console UART init. */
#ifndef NO_DEBUG
  MAP_PRCMPeripheralClkEnable(DEBUG_UART_PERIPH, PRCM_RUN_MODE_CLK);
#if MIOT_DEBUG_UART == 0
  MAP_PinTypeUART(PIN_55, PIN_MODE_3); /* UART0_TX */
  MAP_PinTypeUART(PIN_57, PIN_MODE_3); /* UART0_RX */
#else
  MAP_PinTypeUART(PIN_07, PIN_MODE_5); /* UART1_TX */
  MAP_PinTypeUART(PIN_08, PIN_MODE_5); /* UART1_RX */
#endif
  MAP_UARTConfigSetExpClk(
      DEBUG_UART_BASE, MAP_PRCMPeripheralClockGet(DEBUG_UART_PERIPH),
      MIOT_DEBUG_UART_BAUD_RATE,
      (UART_CONFIG_WLEN_8 | UART_CONFIG_STOP_ONE | UART_CONFIG_PAR_NONE));
  MAP_UARTFIFOLevelSet(DEBUG_UART_BASE, UART_FIFO_TX1_8, UART_FIFO_RX4_8);
  MAP_UARTFIFODisable(DEBUG_UART_BASE);
#endif

  dbg_puts("\r\n\n");

  if (sl_Start(NULL, NULL, NULL) < 0) abort();
  dbg_putc('S');

  int cidx = get_active_boot_cfg_idx();
  if (cidx < 0) abort();
  dbg_putc('0' + cidx);
  struct boot_cfg cfg;
  if (read_boot_cfg(cidx, &cfg) < 0) abort();

  dbg_puts(cfg.app_image_file);
  dbg_putc('@');
  print_addr(cfg.app_load_addr);

  /*
   * Zero memory before loading.
   * This should provide proper initialisation for BSS, wherever it is.
   */
  uint32_t *pstart = (uint32_t *) 0x20000000;
  uint32_t *pend = (&_text_start - 0x100 /* our stack */);
  for (uint32_t *p = pstart; p < pend; p++) *p = 0;

  if (load_image(cfg.app_image_file, (_u8 *) cfg.app_load_addr) != 0) {
    abort();
  }

  dbg_putc('.');

  sl_Stop(0);
  print_addr(*(((uint32_t *) cfg.app_load_addr) + 1));
  dbg_puts("\r\n\n");

  MAP_IntMasterDisable();
  MAP_IntVTableBaseSet(cfg.app_load_addr);

  run(cfg.app_load_addr); /* Does not return. */

  abort();

  return 0; /* not reached */
}

//*****************************************************************************
//
//! \brief  the aim of this example code is to demonstrate File-system
//!          capabilities of the device.
//!         For simplicity, the serial flash is used as the device under test.
//!
//! \param  None
//!
//! \return none
//!
//! \note   Green LED is turned solid in case of success
//!         Red LED is turned solid in case of failure
//
//*****************************************************************************
void main()
{
    long lRetVal;
    unsigned char policyVal;
    long lFileHandle;
    unsigned long ulToken;

    //
    // Initialize Board configurations
    //
    BoardInit();

    //
    // Configure the pinmux settings for the peripherals exercised
    //
    PinMuxConfig();

    //
    // Configure LEDs
    //
    GPIO_IF_LedConfigure(LED1|LED3);

    GPIO_IF_LedOff(MCU_RED_LED_GPIO);
    GPIO_IF_LedOff(MCU_GREEN_LED_GPIO);


    //
    // Initializing the CC3200 networking layers
    //
    lRetVal = sl_Start(NULL, NULL, NULL);
    if(lRetVal < 0)
    {
        GPIO_IF_LedOn(MCU_RED_LED_GPIO);
        LOOP_FOREVER();
    }

    //
    // reset all network policies
    //
    lRetVal = sl_WlanPolicySet(  SL_POLICY_CONNECTION,
                    SL_CONNECTION_POLICY(0,0,0,0,0),
                    &policyVal,
                    1 /*PolicyValLen*/);
    if(lRetVal < 0)
    {
        GPIO_IF_LedOn(MCU_RED_LED_GPIO);
        LOOP_FOREVER();
    }
    
    if(WriteFileToDevice(&ulToken, &lFileHandle) < 0)
    {
        GPIO_IF_LedOn(MCU_RED_LED_GPIO);
        LOOP_FOREVER();
    }

    if(ReadFileFromDevice(ulToken, lFileHandle) < 0)
    {
        GPIO_IF_LedOn(MCU_RED_LED_GPIO);
         LOOP_FOREVER();
    }

    //
    // turn ON the green LED indicating success
    //
    GPIO_IF_LedOn(MCU_GREEN_LED_GPIO);
    lRetVal = sl_Stop(SL_STOP_TIMEOUT);

       LOOP_FOREVER();

}

//*****************************************************************************
//
//! Network_IF_InitDriver
//! The function initializes a CC3200 device and triggers it to start operation
//!  
//! \param  uiMode (device mode in which device will be configured)
//!  
//! \return 0 : sucess, -ve : failure
//
//*****************************************************************************
long
Network_IF_InitDriver(unsigned int uiMode)
{
    long lRetVal = -1;
    // Reset CC3200 Network State Machine
    InitializeAppVariables();

    //
    // Following function configure the device to default state by cleaning
    // the persistent settings stored in NVMEM (viz. connection profiles &
    // policies, power policy etc)
    //
    // Applications may choose to skip this step if the developer is sure
    // that the device is in its default state at start of application
    //
    // Note that all profiles and persistent settings that were done on the
    // device will be lost
    //
    lRetVal = ConfigureSimpleLinkToDefaultState();
    if(lRetVal < 0)
    {
        if (DEVICE_NOT_IN_STATION_MODE == lRetVal)
           UART_PRINT("Failed to configure the device in its default state \n\r");

        LOOP_FOREVER();
    }

    UART_PRINT("Device is configured in default state \n\r");

    //
    // Assumption is that the device is configured in station mode already
    // and it is in its default state
    //

    lRetVal = sl_Start(NULL,NULL,NULL);

    if (lRetVal < 0 || lRetVal != ROLE_STA)
    {
        UART_PRINT("Failed to start the device \n\r");
        LOOP_FOREVER();
    }

    UART_PRINT("Started SimpleLink Device: STA Mode\n\r");

    if(uiMode == ROLE_AP)
    {
        UART_PRINT("Switching to AP mode on application request\n\r");
        // Switch to AP role and restart
        lRetVal = sl_WlanSetMode(uiMode);
        ASSERT_ON_ERROR(lRetVal);

        lRetVal = sl_Stop(0xFF);

        lRetVal = sl_Start(0, 0, 0);
        ASSERT_ON_ERROR(lRetVal);

        // Check if the device is up in AP Mode
        if (ROLE_AP == lRetVal)
        {
            // If the device is in AP mode, we need to wait for this event
            // before doing anything
            while(!IS_IP_ACQUIRED(g_ulStatus))
            {
#ifndef SL_PLATFORM_MULTI_THREADED
              _SlNonOsMainLoopTask();
#else
              osi_Sleep(1);
#endif
            }
        }
        else
        {
            // We don't want to proceed if the device is not coming up in AP-mode
            ASSERT_ON_ERROR(DEVICE_NOT_IN_AP_MODE);
        }

        UART_PRINT("Re-started SimpleLink Device: AP Mode\n\r");
    }
    else if(uiMode == ROLE_P2P)
    {
        UART_PRINT("Switching to P2P mode on application request\n\r");
        // Switch to AP role and restart
        lRetVal = sl_WlanSetMode(uiMode);
        ASSERT_ON_ERROR(lRetVal);

        lRetVal = sl_Stop(0xFF);

        lRetVal = sl_Start(0, 0, 0);
        ASSERT_ON_ERROR(lRetVal);

//.........这里部分代码省略.........

/*
 * Application's entry point
 */
int main(int argc, char** argv)
{
    _i32 retVal = -1;

    retVal = initializeAppVariables();
    ASSERT_ON_ERROR(retVal);

    /* Stop WDT and initialize the system-clock of the MCU */
    stopWDT();
    initClk();

    /* Configure command line interface */
    CLI_Configure();

    displayBanner();

    /*
     * Following function configures the device to default state by cleaning
     * the persistent settings stored in NVMEM (viz. connection profiles &
     * policies, power policy etc)
     *
     * Applications may choose to skip this step if the developer is sure
     * that the device is in its default state at start of application
     *
     * Note that all profiles and persistent settings that were done on the
     * device will be lost
     */
    retVal = configureSimpleLinkToDefaultState();
    if(retVal < 0)
    {
        if (DEVICE_NOT_IN_STATION_MODE == retVal)
            CLI_Write((_u8 *)" Failed to configure the device in its default state \n\r");

        LOOP_FOREVER();
    }

    CLI_Write((_u8 *)" Device is configured in default state \n\r");

    /*
     * Assumption is that the device is configured in station mode already
     * and it is in its default state
     */
    retVal = sl_Start(0, 0, 0);
    if ((retVal < 0) ||
        (ROLE_STA != retVal) )
    {
        CLI_Write((_u8 *)" Failed to start the device \n\r");
        LOOP_FOREVER();
    }

    CLI_Write((_u8 *)" Device started as STATION \n\r");

    /* Connecting to WLAN AP */
    retVal = establishConnectionWithAP();
    if(retVal < 0)
    {
        CLI_Write((_u8 *)" Failed to establish connection w/ an AP \n\r");
        LOOP_FOREVER();
    }

    CLI_Write((_u8 *)" Connection established w/ AP and IP is acquired \n\r");
    CLI_Write((_u8 *)" Pinging...! \n\r");

    retVal = checkLanConnection();
    if(retVal < 0)
    {
        CLI_Write((_u8 *)" Device couldn't connect to LAN \n\r");
        LOOP_FOREVER();
    }

    CLI_Write((_u8 *)" Device successfully connected to the LAN\r\n");

    retVal = checkInternetConnection();
    if(retVal < 0)
    {
        CLI_Write((_u8 *)" Device couldn't connect to the internet \n\r");
        LOOP_FOREVER();
    }

    CLI_Write((_u8 *)" Device successfully connected to the internet \n\r");
    return 0;
}

long ConnectToNetwork()
{
    long lRetVal = -1;
    unsigned int uiConnectTimeoutCnt =0;
    
    //Start Simplelink Device 
    lRetVal =  sl_Start(NULL,NULL,NULL);
    ASSERT_ON_ERROR(lRetVal);

    if(lRetVal != ROLE_STA)
    {
        if (ROLE_AP == lRetVal)
        {
            // If the device is in AP mode, we need to wait for this event
            // before doing anything
            while(!IS_IP_ACQUIRED(g_ulStatus))
            {
#ifndef SL_PLATFORM_MULTI_THREADED
              _SlNonOsMainLoopTask();
#endif
            }
        }
        //
        // Configure to STA Mode
        //
        lRetVal = ConfigureMode(ROLE_STA);
        if(lRetVal !=ROLE_STA)
        {
            UART_PRINT("Unable to set STA mode...\n\r");
            lRetVal = sl_Stop(SL_STOP_TIMEOUT);
            CLR_STATUS_BIT_ALL(g_ulStatus);
            return DEVICE_NOT_IN_STATION_MODE;
        }
    }

    //waiting for the device to Auto Connect
    while(uiConnectTimeoutCnt<AUTO_CONNECTION_TIMEOUT_COUNT &&
        ((!IS_CONNECTED(g_ulStatus)) || (!IS_IP_ACQUIRED(g_ulStatus)))) 
    {
        //Turn Green LED On       
        GPIO_IF_LedOn(MCU_GREEN_LED_GPIO);            
        osi_Sleep(50);            
        //Turn Green LED Off
        GPIO_IF_LedOff(MCU_GREEN_LED_GPIO);            
        osi_Sleep(50);
        
        uiConnectTimeoutCnt++;
    }
    //Couldn't connect Using Auto Profile
    if(uiConnectTimeoutCnt==AUTO_CONNECTION_TIMEOUT_COUNT)
    {
        CLR_STATUS_BIT_ALL(g_ulStatus);
        
        //Turn Green LED On       
        GPIO_IF_LedOn(MCU_GREEN_LED_GPIO);  
        
        //Connect Using Smart Config
        lRetVal = SmartConfigConnect();
        ASSERT_ON_ERROR(lRetVal);

        //Waiting for the device to Auto Connect
        while((!IS_CONNECTED(g_ulStatus)) || (!IS_IP_ACQUIRED(g_ulStatus)))
        {
            MAP_UtilsDelay(500);              
        }
         
        //Turn Green LED Off      
        GPIO_IF_LedOff(MCU_GREEN_LED_GPIO);    
    }

    return SUCCESS;
    
}

int main()
{

    unsigned char ucP2PParam[4];
    long lRetVal = -1;

    //
    // Initialize Board configurations
    //
    BoardInit();
    
    //
    // Pinmuxing for GPIO, UART
    //
    PinMuxConfig();
    
    //
    // configure LEDs
    //
    GPIO_IF_LedConfigure(LED1|LED2|LED3);
    
    // off all LEDs
    GPIO_IF_LedOff(MCU_ALL_LED_IND);
    
#ifndef NOTERM
    //
    // Configuring UART
    //
    InitTerm();
#endif

    
    //
    // Display the Application Banner
    //
    DisplayBanner(APP_NAME);

    UART_PRINT("Scan Wi-FI direct device in your handheld device\n\r");

    // Initializing the CC3200 device
    lRetVal = StartDeviceInP2P();
    if(lRetVal < 0)
    {
    	LOOP_FOREVER(__LINE__);
    }

    // Set any p2p option (SL_CONNECTION_POLICY(0,0,0,any_p2p,0)) to connect to
    // first available p2p device
    sl_WlanPolicySet(SL_POLICY_CONNECTION,SL_CONNECTION_POLICY(1,0,0,0,0),NULL,0);

    // Set the negotiation role (SL_P2P_ROLE_NEGOTIATE).
    // CC3200 will negotiate with remote device GO/client mode.
    // Other valid options are:
    //             - SL_P2P_ROLE_GROUP_OWNER
    //             - SL_P2P_ROLE_CLIENT
    sl_WlanPolicySet(SL_POLICY_P2P, SL_P2P_POLICY(SL_P2P_ROLE_NEGOTIATE,
            SL_P2P_NEG_INITIATOR_ACTIVE),NULL,0);


    // Set P2P Device name
    sl_NetAppSet(SL_NET_APP_DEVICE_CONFIG_ID, NETAPP_SET_GET_DEV_CONF_OPT_DEVICE_URN,
            strlen(P2P_DEVICE_NAME), (unsigned char *)P2P_DEVICE_NAME);

    // Set P2P device type
    sl_WlanSet(SL_WLAN_CFG_P2P_PARAM_ID, WLAN_P2P_OPT_DEV_TYPE,
            strlen(P2P_CONFIG_VALUE), (unsigned char*)P2P_CONFIG_VALUE);

    // setting P2P channel parameters
    ucP2PParam[0] = LISENING_CHANNEL;
    ucP2PParam[1] = REGULATORY_CLASS;
    ucP2PParam[2] = OPERATING_CHANNEL;
    ucP2PParam[3] = REGULATORY_CLASS;

    // Set P2P Device listen and open channel valid channels are 1/6/11
    sl_WlanSet(SL_WLAN_CFG_P2P_PARAM_ID, WLAN_P2P_OPT_CHANNEL_N_REGS,
                sizeof(ucP2PParam), ucP2PParam);

    // Restart as P2P device
    sl_Stop(SL_STOP_TIMEOUT);
    lRetVal = sl_Start(NULL,NULL,NULL);

    if(lRetVal < 0 || lRetVal != ROLE_P2P)
    {
        UART_PRINT("Failed to start the device \n\r");
        LOOP_FOREVER(__LINE__);
    }
    else
    {
        UART_PRINT("Connect to %s \n\r",P2P_DEVICE_NAME);
    }
    
    /* Connect to configure P2P device */
    lRetVal = WlanConnect();

    if(lRetVal == 0)
    {
        GPIO_IF_LedOn(MCU_IP_ALLOC_IND);
    }
    else
    {
//.........这里部分代码省略.........

//*****************************************************************************
//
//! \brief Connecting to a WLAN Accesspoint
//! This function connects to the required AP (SSID_NAME).
//! This code example assumes the AP doesn't use WIFI security.
//! The function will return only once we are connected
//! and have acquired IP address
//!
//! \param[in] None
//!
//! \return 0 means success, -1 means failure
//!
//! \note
//!
//! \warning    If the WLAN connection fails or we don't aquire an IP address,
//!             We will be stuck in this function forever.
//
//*****************************************************************************
int WlanConnect()
{
    int iRetCode = 0;
    int iRetVal = 0;
    int iConnect = 0;
    unsigned char ucQueueMsg = 0;
    SlSecParams_t secParams;

    secParams.Key = (signed char *)SECURITY_KEY;
    secParams.KeyLen = strlen((const char *)secParams.Key);
    secParams.Type = SECURITY_TYPE;

    //
    // Set up the watchdog interrupt handler.
    //
    WDT_IF_Init(WatchdogIntHandler, MILLISECONDS_TO_TICKS(WD_PERIOD_MS));
    /* Enabling the Sleep clock for the Watch Dog Timer*/
    MAP_PRCMPeripheralClkEnable(PRCM_WDT, PRCM_SLP_MODE_CLK);
    
    g_ucFeedWatchdog = 1;
    g_ucWdogCount = 0;
    while(!(ucQueueMsg & (EVENT_IP_ACQUIRED|CONNECTION_FAILED)))
    {
        UART_PRINT("Trying to connect to AP: ");
        UART_PRINT(SSID_NAME);
        UART_PRINT("\n\r");
        sl_WlanConnect((signed char *)SSID_NAME,
                        strlen((const char *)SSID_NAME), 0, &secParams, 0);
        iConnect = 0;
        do{
            osi_MsgQRead(&g_tConnection, &ucQueueMsg, OSI_WAIT_FOREVER);

            switch(ucQueueMsg)
            {
                case EVENT_CONNECTION:
                    iConnect = 1;
                    break;

                case EVENT_IP_ACQUIRED:
                    iRetVal = 0;
                    break;

                case WDOG_EXPIRED:

                    //
                    // disconnect from the Access Point
                    //
                    if(iConnect)
                    {
                        WlanDisconnect();
                    }

                    //
                    // stop the simplelink with reqd. timeout value (30 ms)
                    //
                    sl_Stop(SL_STOP_TIMEOUT);

                    UART_PRINT("sl stop\n\r");

                    MAP_UtilsDelay(8000);

                    //
                    // starting the simplelink
                    //
                    sl_Start(NULL, NULL, NULL);

                    UART_PRINT("sl start\n\r");
                    break;

                case EVENT_DISCONNECTION:
                    iConnect = 0;
                    break;

                case CONNECTION_FAILED:
                    iRetVal = -1;
                    break;

                default:
                    UART_PRINT("unexpected event\n\r");
                    break;
            }
        }while(ucQueueMsg == (unsigned char)EVENT_CONNECTION);
//.........这里部分代码省略.........

void Task_WifiScan(void* params)
{
    (void)params; //avoid unused error
    long retval;
    unsigned char policy;
    unsigned int policy_len;

    LOG(LOG_VERBOSE, "Starting WiFi network scan...");

    SetLEDBlink(LED_1, LED_BLINK_PATTERN_WIFI_SCANNING);

    if(WifiDefaultSettings() == RET_FAILURE) {
        goto error;
    }

    retval = sl_Start(0,0,0);
    if(retval<0)  {
        goto error;
    }

    //first, delete current connection policy
    policy = SL_CONNECTION_POLICY(0,0,0,0,0);
    retval = sl_WlanPolicySet(SL_POLICY_CONNECTION, policy, NULL, 0);
    if(retval<0)  {
        goto error;
    }

    //make scan policy
    policy = SL_SCAN_POLICY(1);
    policy_len = WIFI_SCAN_TIME_S;
    retval = sl_WlanPolicySet(SL_POLICY_SCAN, policy, (unsigned char*)&policy_len, sizeof(policy_len));
    if(retval<0)  {
        goto error;
    }

    //wait for the scan to complete
    const TickType_t delay = (1100*WIFI_SCAN_TIME_S) / portTICK_PERIOD_MS;
    vTaskDelay(delay);

    //get the results back
    unsigned char index = 0;
    retval = sl_WlanGetNetworkList(index, (unsigned char)WIFI_NUM_NETWORKS, &(wifi_state.networks[index]));

    //retval holds the number of networks now, and they are saved in the state.

    //disable the scan
    policy = SL_SCAN_POLICY(0);
    retval = sl_WlanPolicySet(SL_POLICY_SCAN, policy, NULL, 0);
    if(retval<0)  {
        goto error;
    }

    //disable SimpleLink altogether
    retval = sl_Stop(SL_STOP_TIMEOUT);
    if(retval<0)  {
        goto error;
    }

    LOG(LOG_VERBOSE, "WiFi network scan complete.");

    ClearLED(LED_1);

#ifdef DO_STACK_CHECK
    wifi_state.stack_watermark = uxTaskGetStackHighWaterMark(NULL);
#endif

    //exit (delete this task)
    WifiTaskEndCallback(&Task_WifiScan);
    vTaskDelete(NULL);

    return;

error:
    SetLEDBlink(LED_1, LED_BLINK_PATTERN_WIFI_FAILED);
    TASK_RETURN_ERROR(ERROR_UNKNOWN, "WIFI scan fail");
    return;
}

//****************************************************************************
//
//!    \brief Connects to the Network in AP or STA Mode - If ForceAP Jumper is
//!                                             Placed, Force it to AP mode
//!
//! \return  0 - Success
//!            -1 - Failure
//
//****************************************************************************
long ConnectToNetwork()
{
    long lRetVal = -1;
    unsigned int uiConnectTimeoutCnt =0;

    // staring simplelink
    lRetVal =  sl_Start(NULL,NULL,NULL);
    ASSERT_ON_ERROR( lRetVal);

    // Device is in AP Mode and Force AP Jumper is not Connected
    if(ROLE_STA != lRetVal && g_uiDeviceModeConfig == ROLE_STA )
    {
        if (ROLE_AP == lRetVal)
        {
            // If the device is in AP mode, we need to wait for this event 
            // before doing anything 
            while(!IS_IP_ACQUIRED(g_ulStatus))
            {
            #ifndef SL_PLATFORM_MULTI_THREADED
              _SlNonOsMainLoopTask(); 
            #endif
            }
        }
        //Switch to STA Mode
        lRetVal = ConfigureMode(ROLE_STA);
        ASSERT_ON_ERROR( lRetVal);
    }

    //Device is in STA Mode and Force AP Jumper is Connected
    if(ROLE_AP != lRetVal && g_uiDeviceModeConfig == ROLE_AP )
    {
         //Switch to AP Mode
         lRetVal = ConfigureMode(ROLE_AP);
         ASSERT_ON_ERROR( lRetVal);

    }

    //No Mode Change Required
    if(lRetVal == ROLE_AP)
    {
        //waiting for the AP to acquire IP address from Internal DHCP Server
        // If the device is in AP mode, we need to wait for this event 
        // before doing anything 
        while(!IS_IP_ACQUIRED(g_ulStatus))
        {
        #ifndef SL_PLATFORM_MULTI_THREADED
            _SlNonOsMainLoopTask(); 
        #endif
        }
        //Stop Internal HTTP Server
        lRetVal = sl_NetAppStop(SL_NET_APP_HTTP_SERVER_ID);
        ASSERT_ON_ERROR( lRetVal);

        //Start Internal HTTP Server
        lRetVal = sl_NetAppStart(SL_NET_APP_HTTP_SERVER_ID);
        ASSERT_ON_ERROR( lRetVal);

       char cCount=0;
       
       //Blink LED 3 times to Indicate AP Mode
       for(cCount=0;cCount<3;cCount++)
       {
           //Turn RED LED On
           GPIO_IF_LedOn(MCU_RED_LED_GPIO);
           osi_Sleep(400);
           
           //Turn RED LED Off
           GPIO_IF_LedOff(MCU_RED_LED_GPIO);
           osi_Sleep(400);
       }

       char ssid[32];
	   unsigned short len = 32;
	   unsigned short config_opt = WLAN_AP_OPT_SSID;
	   sl_WlanGet(SL_WLAN_CFG_AP_ID, &config_opt , &len, (unsigned char* )ssid);
	   UART_PRINT("\n\r Connect to : \'%s\'\n\r\n\r",ssid);
    }
    else
    {
        //Stop Internal HTTP Server
        lRetVal = sl_NetAppStop(SL_NET_APP_HTTP_SERVER_ID);
        ASSERT_ON_ERROR( lRetVal);

        //Start Internal HTTP Server
        lRetVal = sl_NetAppStart(SL_NET_APP_HTTP_SERVER_ID);
        ASSERT_ON_ERROR( lRetVal);

    	//waiting for the device to Auto Connect
        while(uiConnectTimeoutCnt<AUTO_CONNECTION_TIMEOUT_COUNT &&
            ((!IS_CONNECTED(g_ulStatus)) || (!IS_IP_ACQUIRED(g_ulStatus)))) 
        {
//.........这里部分代码省略.........

//*****************************************************************************
//
//! Configure the device as xmpp client
//!
//! \param  pvParameters pointer to parameters
//!
//! \return None
//
//*****************************************************************************
static void XmppClient(void *pvParameters)
{
    SlNetAppXmppOpt_t XmppOption;
    SlNetAppXmppUserName_t UserName;
    SlNetAppXmppPassword_t Password;
    SlNetAppXmppDomain_t Domain;
    SlNetAppXmppResource_t Resource;
    unsigned char pRemoteJid[REMOTE_USERID_LEN];
    unsigned char pRecvMessage[RECV_MSG_LEN];
    signed short  Status = 0;

    long lRetVal = -1;
    InitializeAppVariables();

    //
    // Following function configure the device to default state by cleaning
    // the persistent settings stored in NVMEM (viz. connection profiles &
    // policies, power policy etc)
    //
    // Applications may choose to skip this step if the developer is sure
    // that the device is in its default state at start of applicaton
    //
    // Note that all profiles and persistent settings that were done on the
    // device will be lost
    //
    lRetVal = ConfigureSimpleLinkToDefaultState();
    if(lRetVal < 0)
    {
        if (DEVICE_NOT_IN_STATION_MODE == lRetVal)
        {
           UART_PRINT("Failed to configure the device in its default state\n\r");
        }

        LOOP_FOREVER();
    }

    UART_PRINT("Device is configured in default state \n\r");

    //
    // Assumption is that the device is configured in station mode already
    // and it is in its default state
    //

    lRetVal = sl_Start(0, 0, 0);

    if (lRetVal < 0 || ROLE_STA != lRetVal)
    {
      UART_PRINT("Failed to start the device \n\r");
      LOOP_FOREVER();
    }

    UART_PRINT("Device started as STATION \n\r");

    // Connecting to WLAN AP - Set with static parameters defined at the top
    // After this call we will be connected and have IP address
    lRetVal = WlanConnect();
    if(lRetVal < 0)
    {
        UART_PRINT("Unable to connect wlan.\n\r");
        LOOP_FOREVER();
    }


    // Configuring different parameters which are required for XMPP connection
    XmppOption.Port = XMPP_DST_PORT;
    XmppOption.Family = SL_AF_INET;
    XmppOption.SecurityMethod = SO_SECMETHOD_SSLV3;
    XmppOption.SecurityCypher = SECURE_MASK_SSL_RSA_WITH_RC4_128_SHA;
    XmppOption.Ip = XMPP_IP_ADDR;

    //DNS query to get IP address of XMPP Server
//    lRetVal = sl_NetAppDnsGetHostByName(XMPP_DOMAIN_NAME, \
//                                    strlen((const char *)XMPP_DOMAIN_NAME), \
//                                    (unsigned long*)&XmppOption.Ip, SL_AF_INET);
//
//    if(lRetVal < 0)
//    {
//        UART_PRINT("Device couldn't retrive the host name \n\r");
//        GPIO_IF_LedOn(MCU_RED_LED_GPIO);
//        LOOP_FOREVER();
//    }

    lRetVal = sl_NetAppXmppSet(SL_NET_APP_XMPP_ID, NETAPP_XMPP_ADVANCED_OPT, \
                    sizeof(SlNetAppXmppOpt_t), (unsigned char *)&XmppOption);

    if(lRetVal < 0)
    {
        UART_PRINT("Unable to connect wlan.\n\r");
        LOOP_FOREVER();
    }
    // Configure Client's user name
//.........这里部分代码省略.........

static int WifiDefaultSettings(void)
{
    long retval = -1;
    unsigned char val = 1;

    unsigned char config, config_len;

    //filters
    _WlanRxFilterOperationCommandBuff_t filter_mask = {
        .Padding = {0}
    };

    //initialize the SimpleLink API
    retval = sl_Start(0,0,0);
    if(retval < 0) {
        RETURN_ERROR(ERROR_UNKNOWN, "SL start fail");
    }

    //set device in station mode
    if(retval != ROLE_STA) {
        if(retval == ROLE_AP) { //we need to wait for an event before doing anything
            while(!IS_IP_ACQUIRED(wifi_state.status)) {
#ifndef SL_PLATFORM_MULTI_THREADED
                _SlNonOsMainLoopTask();
#endif
            }
        }
        //change mode to Station
        retval = sl_WlanSetMode(ROLE_STA);
        if(retval < 0) {
            RETURN_ERROR(ERROR_UNKNOWN, "WLAN mode fail");
        }
        //restart
        retval = sl_Stop(0xFF);
        if(retval < 0) {
            RETURN_ERROR(ERROR_UNKNOWN, "SL stop fail");
        }
        retval = sl_Start(0,0,0);
        if(retval < 0) {
            RETURN_ERROR(ERROR_UNKNOWN, "SL start fail");
        }

        if(retval != ROLE_STA) {
            RETURN_ERROR(ERROR_UNKNOWN, "WLAN mode fail");
        }
    }

    //get SimpleLink version
    config = SL_DEVICE_GENERAL_VERSION;
    config_len = sizeof(SlVersionFull);
    retval = sl_DevGet(SL_DEVICE_GENERAL_CONFIGURATION, &config, &config_len, (unsigned char*)&wifi_state.version);
    if(retval<0) {
        RETURN_ERROR(retval, "WIFI conf fail");
    }

    //default connection policy
    retval = sl_WlanPolicySet(SL_POLICY_CONNECTION,
                              SL_CONNECTION_POLICY(1, 0, 0, 0, 0),
                              NULL,
                              0);
    if(retval<0) {
        RETURN_ERROR(retval, "WIFI policy fail");
    }

    //disconnect
    retval = sl_WlanDisconnect();
    if(retval == 0) { //not yet disconnected
        while(IS_CONNECTED(wifi_state.status)) {
#ifndef SL_PLATFORM_MULTI_THREADED
            _SlNonOsMainLoopTask();
#endif
        }
    }

    //Enable DHCP client
    retval = sl_NetCfgSet(SL_IPV4_STA_P2P_CL_DHCP_ENABLE,1,1,&val);
    if(retval<0) {
        RETURN_ERROR(retval, "WIFI conf fail");
    }

    //Disable scan policy
    config = SL_SCAN_POLICY(0);
    retval = sl_WlanPolicySet(SL_POLICY_SCAN, config, NULL, 0);
    if(retval<0) {
        RETURN_ERROR(retval, "WIFI policy fail");
    }

    //Set Tx power level for station mode
    //Number between 0-15, as dB offset from max power - 0 will set max power
    val = 0;
    retval = sl_WlanSet(SL_WLAN_CFG_GENERAL_PARAM_ID,
                        WLAN_GENERAL_PARAM_OPT_STA_TX_POWER, 1, (unsigned char *)&val);
    if(retval<0) {
        RETURN_ERROR(retval, "WIFI set fail");
    }

    // Set PM policy to normal
    retval = sl_WlanPolicySet(SL_POLICY_PM , SL_NORMAL_POLICY, NULL, 0);
    if(retval<0) {
        RETURN_ERROR(retval, "WIFI policy fail");
//.........这里部分代码省略.........

int main(void)
{

	/* Init board */
	BoardInit();

	/* Init GPIO */
	InitGPIO();

	/* Init UART */
	MAP_PRCMPeripheralClkEnable(PRCM_UARTA0, PRCM_RUN_MODE_CLK);
    InitTerm();

    /* Init I2C */
    I2C_IF_Open(I2C_MASTER_MODE_FST);

    /* Init the internet! */
    // http://azug.minpet.unibas.ch/~lukas/bricol/ti_simplelink/resources/swru368.pdf SECTION 10
	dhcpParams.lease_time = 1000;
	dhcpParams.ipv4_addr_start = 0xc0a80102;
	dhcpParams.ipv4_addr_last = 0xc0a801fe;


	sl_Start(NULL,NULL,NULL);
	MAP_UtilsDelay(8000000);

	// config IP etc
	ipV4.ipV4 = 0xc0a80101;
	ipV4.ipV4Mask = 0xFFFFFF00;
	ipV4.ipV4Gateway = 0xc0a80101;
	ipV4.ipV4DnsServer = 0xc0a80101;
	sl_NetCfgSet(SL_IPV4_AP_P2P_GO_STATIC_ENABLE, 1 ,sizeof(SlNetCfgIpV4Args_t), (unsigned char*) &ipV4);

	sl_WlanSetMode(ROLE_AP);

	// config SSID
	sl_WlanSet(SL_WLAN_CFG_AP_ID,WLAN_AP_OPT_SSID, strlen(myssid), (unsigned char*) myssid);

	sl_Stop(100);
	sl_Start(NULL,NULL,NULL);

	// start DHCP server
	sl_NetAppStop(SL_NET_APP_DHCP_SERVER_ID);
	sl_NetAppSet(SL_NET_APP_DHCP_SERVER_ID, NETAPP_SET_DHCP_SRV_BASIC_OPT, outLen,(unsigned char*) &dhcpParams);
	sl_NetAppStart(SL_NET_APP_DHCP_SERVER_ID);


	//Stop Internal HTTP Serve
	long lRetVal = -1;
	lRetVal = sl_NetAppStop(SL_NET_APP_HTTP_SERVER_ID);
	ASSERT_ON_ERROR( lRetVal);

	//Start Internal HTTP Server
	lRetVal = sl_NetAppStart(SL_NET_APP_HTTP_SERVER_ID);
	ASSERT_ON_ERROR( lRetVal);

	 /* Finished init the internet! */

	setRLED();

    /* Wait for operator */
    while(!readDIP1());

    clearRLED();

    /* Init IMU (alongside timers and interrupt */
    imu_setup();

    /* Init odometers */
    odometer_setup();

    set_controller_parameters(kp, ki, kd);
    set__odo_controller_parameters(kp_odo, ki_odo, kd_odo);

    /* Init motors (alongside motor GPIO, timers and interrupt */
	motorSetup();



    controller_setup();
    odometer_controller_setup();      // MUST be the last init called!


	while(1)
	{
		_SlNonOsMainLoopTask();
	}
}

int main(int argc, char** argv)
{
    SlSockAddrIn_t      Addr = {0};

    _u32  cipher = SL_SEC_MASK_SSL_RSA_WITH_RC4_128_SHA;
    _u32  googleIP = 0;
    _u8   method = SL_SO_SEC_METHOD_SSLV3;

    _i32   AddrSize = -1;
    _i32   g_SockID = -1;
    _i32   retVal = -1;

    retVal = initializeAppVariables();
    ASSERT_ON_ERROR(retVal);

    /* Stop WDT and initialize the system-clock of the MCU
       These functions needs to be implemented in PAL */
    stopWDT();
    initClk();

    /* Configure command line interface */
    CLI_Configure();

    displayBanner();

    /*
     * Following function configures the device to default state by cleaning
     * the persistent settings stored in NVMEM (viz. connection profiles &
     * policies, power policy etc)
     *
     * Applications may choose to skip this step if the developer is sure
     * that the device is in its default state at start of application
     *
     * Note that all profiles and persistent settings that were done on the
     * device will be lost
     */
    retVal = configureSimpleLinkToDefaultState();
    if(retVal < 0)
    {
        if (DEVICE_NOT_IN_STATION_MODE == retVal)
        {
            CLI_Write(" Failed to configure the device in its default state \n\r");
        }

        LOOP_FOREVER();
    }

    CLI_Write(" Device is configured in default state \n\r");

    /*
     * Assumption is that the device is configured in station mode already
     * and it is in its default state
     */
    /* Initializing the CC3100 device */
    retVal = sl_Start(0, 0, 0);
    if ((retVal < 0) ||
            (ROLE_STA != retVal) )
    {
        CLI_Write(" Failed to start the device \n\r");
        LOOP_FOREVER();
    }

    CLI_Write(" Device started as STATION \n\r");

    /* Connecting to WLAN AP - Set with static parameters defined at the top
       After this call we will be connected and have IP address */
    retVal = establishConnectionWithAP();
    if(retVal < 0)
    {
        CLI_Write(" Failed to establish connection w/ an AP \n\r");
        LOOP_FOREVER();
    }

    CLI_Write(" Connection established w/ AP and IP is acquired \n\r");

    /* Update the CC3100 time */
    retVal = SetTime();
    if (retVal < 0)
    {
        CLI_Write(" Failed to set the device time \n\r");
        LOOP_FOREVER();
    }

    CLI_Write(" Establishing secure connection w/ google server \n\r");

    /* get the server name via a DNS request */
    retVal = sl_NetAppDnsGetHostByName(g_Google, pal_Strlen(g_Google),
                                       &googleIP, SL_AF_INET);
    if( retVal < 0 )
    {
        CLI_Write(" Failed to get the IP address \n\r");
        LOOP_FOREVER();
    }

    Addr.sin_family = SL_AF_INET;
    Addr.sin_port = sl_Htons(GOOGLE_DST_PORT);
    Addr.sin_addr.s_addr = sl_Htonl(googleIP);

    AddrSize = sizeof(SlSockAddrIn_t);

//.........这里部分代码省略.........

int connectToAccessPoint(){
	long lRetVal = -1;
    GPIO_IF_LedConfigure(LED1|LED3);

    GPIO_IF_LedOff(MCU_RED_LED_GPIO);
    GPIO_IF_LedOff(MCU_GREEN_LED_GPIO);

    lRetVal = InitializeAppVariables();
    ASSERT_ON_ERROR(lRetVal);

    //
    // Following function configure the device to default state by cleaning
    // the persistent settings stored in NVMEM (viz. connection profiles &
    // policies, power policy etc)
    //
    // Applications may choose to skip this step if the developer is sure
    // that the device is in its default state at start of applicaton
    //
    // Note that all profiles and persistent settings that were done on the
    // device will be lost
    //
    lRetVal = ConfigureSimpleLinkToDefaultState();
    if(lRetVal < 0)
    {
      if (DEVICE_NOT_IN_STATION_MODE == lRetVal)
          UART_PRINT("Failed to configure the device in its default state \n\r");

      return lRetVal;
    }

    UART_PRINT("Device is configured in default state \n\r");

    CLR_STATUS_BIT_ALL(g_ulStatus);

    ///
    // Assumption is that the device is configured in station mode already
    // and it is in its default state
    //
    lRetVal = sl_Start(0, 0, 0);
    if (lRetVal < 0 || ROLE_STA != lRetVal)
    {
        UART_PRINT("Failed to start the device \n\r");
        return lRetVal;
    }

    UART_PRINT("Device started as STATION \n\r");

    //
    //Connecting to WLAN AP
    //
    lRetVal = WlanConnect();
    if(lRetVal < 0)
    {
        UART_PRINT("Failed to establish connection w/ an AP \n\r");
        GPIO_IF_LedOn(MCU_RED_LED_GPIO);
        return lRetVal;
    }

    UART_PRINT("Connection established w/ AP and IP is aquired \n\r");
    return 0;
}

int main2(void)
{
    UINT8  IsDHCP = 0;
    int32_t i32CommandStatus;
    _NetCfgIpV4Args_t ipV4;

    unsigned char len = sizeof(_NetCfgIpV4Args_t);
    int Status = 0;

    /* Stop WDT */
    stopWDT();

    /* Initialize the system clock of MCU */
    initClk();

    Board_Init();       // initialize LaunchPad I/O and PD1 LED
    ConfigureUART();    // Initialize the UART.
    UARTprintf("Section 11.4 IoT example, Volume 2 Real-time interfacing\n");
    UARTprintf("This application is configured to measure analog signals from Ain7=PD0\n");
    UARTprintf("  and send UDP packets to IP: %d.%d.%d.%d  Port: %d\n\n",
      SL_IPV4_BYTE(IP_ADDR,3), SL_IPV4_BYTE(IP_ADDR,2), 
      SL_IPV4_BYTE(IP_ADDR,1), SL_IPV4_BYTE(IP_ADDR,0),PORT_NUM);
    /* Initializing the CC3100 device */
    sl_Start(0, 0, 0);

    /* Connecting to WLAN AP - Set with static parameters defined at the top
       After this call we will be connected and have IP address */
    WlanConnect();

    /* Read the IP parameter */
    sl_NetCfgGet(SL_IPV4_STA_P2P_CL_GET_INFO,&IsDHCP,&len,
            (unsigned char *)&ipV4);

    //Print the IP
    UARTprintf("This node is at IP: %d.%d.%d.%d\n",  SL_IPV4_BYTE(ipV4.ipV4,3), SL_IPV4_BYTE(ipV4.ipV4,2), SL_IPV4_BYTE(ipV4.ipV4,1), SL_IPV4_BYTE(ipV4.ipV4,0));

    //
    // Loop forever waiting  for commands from PC...
    //
    while(1)
    {
        //
        // Print prompt for user.
        //
        UARTprintf("\n>");

        //
        // Peek to see if a full command is ready for processing.
        //
        while(UARTPeek('\r') == -1)
        {
            //
            // Approximately 1 millisecond delay.
            //
            ROM_SysCtlDelay(ROM_SysCtlClockGet() / 3000);
        }

        //
        // A '\r' was detected so get the line of text from the receive buffer.
        //
        UARTgets(g_cInput,sizeof(g_cInput));

        //
        // Pass the line from the user to the command processor.
        // It will be parsed and valid commands executed.
        //
        i32CommandStatus = CmdLineProcess(g_cInput);

        //
        // Handle the case of bad command.
        //
        if(i32CommandStatus == CMDLINE_BAD_CMD)
        {
            UARTprintf("    Bad command. Try again.\n");
        }
        //
        // Handle the case of too many arguments.
        //
        else if(i32CommandStatus == CMDLINE_TOO_MANY_ARGS)
        {
            UARTprintf("    Too many arguments for command. Try again.\n");
        }
        //
        // Handle the case of too few arguments.
        //
        else if(i32CommandStatus == CMDLINE_TOO_FEW_ARGS)
        {
            UARTprintf("    Too few arguments for command. Try again.\n");
        }
        //
        // Handle the case of too few arguments.
        //
        else if(i32CommandStatus == CMDLINE_INVALID_ARG)
        {
            UARTprintf("    Invalid command argument(s). Try again.\n");
        }
    }
    
}

int main(void)
{
    long lRetVal = -1;
    //
    // Initialize Board configurations
    //
    BoardInit();

    InitializeAppVariables();
    //
    // Following function configure the device to default state by cleaning
    // the persistent settings stored in NVMEM (viz. connection profiles &
    // policies, power policy etc)
    //
    // Applications may choose to skip this step if the developer is sure
    // that the device is in its default state at start of applicaton
    //
    // Note that all profiles and persistent settings that were done on the
    // device will be lost
    //
    lRetVal = ConfigureSimpleLinkToDefaultState();
    if(lRetVal < 0)
    {
        if (DEVICE_NOT_IN_STATION_MODE == lRetVal)
        {
            UART_PRINT("Failed to configure the device in its default state\n\r");
        }

        LOOP_FOREVER();
    }

    UART_PRINT("Device is configured in default state \n\r");

    //
    // Assumption is that the device is configured in station mode already
    // and it is in its default state
    //
    lRetVal = sl_Start(0, 0, 0);
    if (lRetVal < 0 || ROLE_STA != lRetVal)
    {
        UART_PRINT("Failed to start the device \n\r");
        LOOP_FOREVER();
    }

    UART_PRINT("Device started as STATION \n\r");

    /* Connect to our AP using SmartConfig method */
    lRetVal = SetConnectionPolicy();
    if(lRetVal < 0)
    {
        ERR_PRINT(lRetVal);
        LOOP_FOREVER();
    }

    // revert all settings
    lRetVal = sl_WlanProfileDel(0xFF);
    if(lRetVal < 0)
    {
        ERR_PRINT(lRetVal);
        LOOP_FOREVER();
    }

    lRetVal = sl_Stop(SL_STOP_TIMEOUT);

    LOOP_FOREVER();
}

//*****************************************************************************
//
//! Check the device mode and switch to P2P mode
//! restart the NWP to activate P2P mode
//!
//! \param  None
//!
//! \return status code - Success:0, Failure:-ve
//
//*****************************************************************************
long StartDeviceInP2P()
{
    long retVal = -1;
    // Reset CC3200 Network State Machine
    InitializeAppVariables();

    //
    // Following function configure the device to default state by cleaning
    // the persistent settings stored in NVMEM (viz. connect