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AP_Networking: new library

This commit is contained in:
Tom Pittenger 2023-07-06 10:46:33 -07:00 committed by Andrew Tridgell
parent 291226eb5d
commit f5a1525fd8
3 changed files with 605 additions and 0 deletions
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393
libraries/AP_Networking/AP_Networking.cpp Normal file
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#include "AP_Networking.h"
#if AP_NETWORKING_ENABLED
#include "AP_Math/definitions.h"
#include <GCS_MAVLink/GCS.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
#include <hal_mii.h>
#include <lwip/sockets.h>
#else
#include <arpa/inet.h>
#include <sys/socket.h>
#endif
extern const AP_HAL::HAL& hal;
const AP_Param::GroupInfo AP_Networking::var_info[] = {
// @Param: ENABLED
// @DisplayName: Enable Networking
// @Description: Enable Networking
// @Values: 0:Disable,1:Enable
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO_FLAGS("ENABLED", 0, AP_Networking, _param.enabled, 0, AP_PARAM_FLAG_ENABLE),
// @Param: IPADDR0
// @DisplayName: IPv4 Address MSB
// @Description: Allows setting static IP address. Example: 192.xxx.xxx.xxx
// @Range: 0 255
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("IPADDR0", 1, AP_Networking, _param.ipaddr[0], AP_NETWORKING_DEFAULT_STATIC_IP_ADDR0),
// @Param: IPADDR1
// @DisplayName: IPv4 Address 2nd byte
// @Description: Allows setting static IP address. Example: xxx.168.xxx.xxx
// @Range: 0 255
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("IPADDR1", 2, AP_Networking, _param.ipaddr[1], AP_NETWORKING_DEFAULT_STATIC_IP_ADDR1),
// @Param: IPADDR2
// @DisplayName: IPv4 Address 3rd byte
// @Description: Allows setting static IP address. Example: xxx.xxx.13.xxx
// @Range: 0 255
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("IPADDR2", 3, AP_Networking, _param.ipaddr[2], AP_NETWORKING_DEFAULT_STATIC_IP_ADDR2),
// @Param: IPADDR3
// @DisplayName: IPv4 Address LSB
// @Description: Allows setting static IP address. Example: xxx.xxx.xxx.14
// @Range: 0 255
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("IPADDR3", 4, AP_Networking, _param.ipaddr[3], AP_NETWORKING_DEFAULT_STATIC_IP_ADDR3),
// @Param: NETMASK
// @DisplayName: IP Subnet mask
// @Description: Allows setting static subnet mask. The value is a count of consecutive bits. Examples: 24 = 255.255.255.0, 16 = 255.255.0.0
// @Range: 0 32
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("NETMASK", 5, AP_Networking, _param.netmask, AP_NETWORKING_DEFAULT_NETMASK),
// @Param: DHCP
// @DisplayName: DHCP client
// @Description: Enable/Disable DHCP client
// @Values: 0:Disable, 1:Enable
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("DHCP", 6, AP_Networking, _param.dhcp, AP_NETWORKING_DEFAULT_DHCP_ENABLE),
// @Param: GWADDR0
// @DisplayName: Gateway IP Address MSB
// @Description: Allows setting static GW address
// @Range: 0 255
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("GWADDR0", 7, AP_Networking, _param.gwaddr[0], AP_NETWORKING_DEFAULT_STATIC_GW_ADDR0),
// @Param: GWADDR1
// @DisplayName: Gateway IP Address 2nd byte
// @Description: Allows setting static GW address
// @Range: 0 255
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("GWADDR1", 8, AP_Networking, _param.gwaddr[1], AP_NETWORKING_DEFAULT_STATIC_GW_ADDR1),
// @Param: GWADDR2
// @DisplayName: Gateway IP Address 3rd byte
// @Description: Allows setting static GW address
// @Range: 0 255
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("GWADDR2", 9, AP_Networking, _param.gwaddr[2], AP_NETWORKING_DEFAULT_STATIC_GW_ADDR2),
// @Param: GWADDR3
// @DisplayName: Gateway IP Address LSB
// @Description: Allows setting static GW address
// @Range: 0 255
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("GWADDR3", 10, AP_Networking, _param.gwaddr[3], AP_NETWORKING_DEFAULT_STATIC_GW_ADDR3),
// @Param: MACADDR0
// @DisplayName: MAC Address MSbyte
// @Description: Allows setting MAC address
// @Range: 0 255
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("MACADDR0", 11, AP_Networking, _param.macaddr[0], AP_NETWORKING_DEFAULT_MAC_ADDR0),
// @Param: MACADDR1
// @DisplayName: MAC Address 2nd byte
// @Description: Allows setting MAC address
// @Range: 0 255
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("MACADDR1", 12, AP_Networking, _param.macaddr[1], AP_NETWORKING_DEFAULT_MAC_ADDR1),
// @Param: MACADDR2
// @DisplayName: MAC Address 3rd byte
// @Description: Allows setting MAC address
// @Range: 0 255
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("MACADDR2", 13, AP_Networking, _param.macaddr[2], AP_NETWORKING_DEFAULT_MAC_ADDR2),
// @Param: MACADDR3
// @DisplayName: MAC Address 4th byte
// @Description: Allows setting MAC address
// @Range: 0 255
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("MACADDR3", 14, AP_Networking, _param.macaddr[3], AP_NETWORKING_DEFAULT_MAC_ADDR3),
// @Param: MACADDR4
// @DisplayName: MAC Address 5th byte
// @Description: Allows setting MAC address
// @Range: 0 255
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("MACADDR4", 15, AP_Networking, _param.macaddr[4], AP_NETWORKING_DEFAULT_MAC_ADDR4),
// @Param: MACADDR5
// @DisplayName: MAC Address LSb
// @Description: Allows setting MAC address
// @Range: 0 255
// @RebootRequired: True
// @User: Advanced
AP_GROUPINFO("MACADDR5", 16, AP_Networking, _param.macaddr[5], AP_NETWORKING_DEFAULT_MAC_ADDR5),
AP_GROUPEND
};
AP_Networking::AP_Networking(void)
{
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
if (_singleton != nullptr) {
AP_HAL::panic("AP_Networking must be singleton");
}
#endif
_singleton = this;
AP_Param::setup_object_defaults(this, var_info);
}
void AP_Networking::init()
{
#ifdef HAL_GPIO_ETH_ENABLE
hal.gpio->pinMode(HAL_GPIO_ETH_ENABLE, HAL_GPIO_OUTPUT);
hal.gpio->write(HAL_GPIO_ETH_ENABLE, _param.enabled ? 1 : 0);
#endif
if (!_param.enabled || _init.done) {
return;
}
// set default MAC Address lower 3 bytes to UUID if possible
uint8_t uuid[12];
uint8_t uuid_len = sizeof(uuid);
const bool udid_is_ok = hal.util->get_system_id_unformatted(uuid, uuid_len) && uuid_len >= 3;
if (udid_is_ok) {
_param.macaddr[3].set_default(uuid[uuid_len-2]);
_param.macaddr[4].set_default(uuid[uuid_len-1]);
_param.macaddr[5].set_default(uuid[uuid_len-0]);
}
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
if (!macInit()) {
GCS_SEND_TEXT(MAV_SEVERITY_ERROR, "NET: macInit failed");
return;
}
const uint8_t localMACAddress[6] = {(uint8_t)_param.macaddr[0].get(),
(uint8_t)_param.macaddr[1].get(),
(uint8_t)_param.macaddr[2].get(),
(uint8_t)_param.macaddr[3].get(),
(uint8_t)_param.macaddr[4].get(),
(uint8_t)_param.macaddr[5].get() };
#if !AP_NETWORKING_DHCP_AVAILABLE
set_dhcp_enable(false);
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "NET: DHCP Not Supported");
#endif
net_addr_mode_t addrMode;
if (get_dhcp_enabled()) {
_activeSettings.ip = 0;
_activeSettings.nm = 0;
_activeSettings.gw = 0;
addrMode = NET_ADDRESS_DHCP;
} else {
_activeSettings.ip = get_ip_param();
_activeSettings.nm = get_netmask_param();
_activeSettings.gw = get_gateway_param();
addrMode = NET_ADDRESS_STATIC;
}
struct lwipthread_opts netOptions = { (uint8_t *) localMACAddress,
_activeSettings.ip,
_activeSettings.nm,
_activeSettings.gw,
addrMode };
lwipInit(&netOptions);
#endif
#if AP_NETWORKING_DHCP_AVAILABLE
if (get_dhcp_enabled()) {
// give DHCP a chance to get an address before we show the boot-up address
_activeSettings.announce_ms = AP_HAL::millis();
}
#endif
GCS_SEND_TEXT(MAV_SEVERITY_DEBUG,"NET: Initialized");
_init.done = true;
}
void AP_Networking::announce_address_changes()
{
const uint32_t now_ms = AP_HAL::millis();
if (now_ms - _activeSettings.announce_ms < 1000) {
// Never announce changes any faster than 1 sec
return;
}
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
const uint32_t ip = lwipGetIp();
const uint32_t nm = lwipGetNetmask();
const uint32_t gw = lwipGetGateway();
// struct netif thisif = lwipGetNetIf();
// const uint32_t ip = thisif.ip_addr.u_addr.ip4.addr;
// const uint32_t nm = thisif.netmask.u_addr.ip4.addr;
// const uint32_t gw = thisif.gw.u_addr.ip4.addr;
#else
const uint32_t ip = 0;
const uint32_t nm = 0;
const uint32_t gw = 0;
#endif
if (_activeSettings.announce_at_boot_done &&
ip == _activeSettings.ip &&
nm == _activeSettings.nm &&
gw == _activeSettings.gw)
{
// nothing changed and we've already printed it at least once. Nothing to do.
return;
}
_activeSettings.ip = ip;
_activeSettings.nm = nm;
_activeSettings.gw = gw;
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "NET: IP %s", get_ip_active_str());
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "NET: Mask %s", get_netmask_active_str());
GCS_SEND_TEXT(MAV_SEVERITY_INFO, "NET: Gateway %s", get_gateway_active_str());
if (!_activeSettings.announce_at_boot_done && ip == 0 && nm == 0 && gw == 0 && get_dhcp_enabled()) {
GCS_SEND_TEXT(MAV_SEVERITY_INFO,"NET: DHCP enabled, waiting for IP");
}
_activeSettings.announce_ms = now_ms;
_activeSettings.announce_at_boot_done = true;
}
void AP_Networking::update()
{
if (!is_healthy()) {
return;
}
announce_address_changes();
}
uint32_t AP_Networking::convert_netmask_bitcount_to_ip(const uint32_t netmask_bitcount)
{
if (netmask_bitcount > 32) {
return 0;
}
uint32_t netmask_ip = 0;
for (uint32_t i=0; i<netmask_bitcount; i++) {
netmask_ip |= (1UL << i);
}
return netmask_ip;
}
uint8_t AP_Networking::convert_netmask_ip_to_bitcount(const uint32_t netmask_ip)
{
uint32_t netmask_bitcount = 0;
for (uint32_t i=0; i<32; i++) {
// note, netmask LSB is IP MSB
if ((netmask_ip & (1UL<<i)) == 0) {
break;
}
netmask_bitcount++;
}
return netmask_bitcount;
}
uint32_t AP_Networking::convert_str_to_ip(char* ip_str)
{
uint32_t ip = 0;
inet_pton(AF_INET, ip_str, &ip);
return ip;
}
char* AP_Networking::convert_ip_to_str(const uint8_t ip[4])
{
static char _str_buffer[20];
if (hal.util->snprintf(_str_buffer, sizeof(_str_buffer), "%u.%u.%u.%u", (unsigned)ip[0], (unsigned)ip[1], (unsigned)ip[2], (unsigned)ip[3]) == 0) {
_str_buffer[0] = '\0';
}
return _str_buffer;
}
char* AP_Networking::convert_ip_to_str(const uint32_t ip)
{
uint8_t ip_array[4];
ip_array[3] = ((ip >> 24) & 0xff);
ip_array[2] = ((ip >> 16) & 0xff);
ip_array[1] = ((ip >> 8) & 0xff);
ip_array[0] = (ip & 0xff);
return convert_ip_to_str(ip_array);
}
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
int32_t AP_Networking::send_udp(struct udp_pcb *pcb, const ip4_addr_t &ip4_addr, const uint16_t port, const uint8_t* data, uint16_t data_len)
{
if (!AP::network().is_healthy()) {
return ERR_IF;
}
if (pcb == nullptr) {
return ERR_ARG;
}
data_len = (data == nullptr) ? 0 : data_len;
struct pbuf *p = pbuf_alloc(PBUF_TRANSPORT, data_len, PBUF_RAM);
if (p == nullptr) {
return ERR_MEM;
}
ip_addr_t dst;
ip_addr_copy_from_ip4(dst, ip4_addr);
if (data_len > 0) {
memcpy(p->payload, data, data_len);
}
const err_t err = udp_sendto(pcb, p, &dst, port);
pbuf_free(p);
return err == ERR_OK ? data_len : err;
}
#endif // #if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
AP_Networking *AP_Networking::_singleton;
namespace AP {
AP_Networking &network() {
return *AP_Networking::get_singleton();
}
}
#endif // AP_NETWORKING_ENABLED

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libraries/AP_Networking/AP_Networking.h Normal file
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#pragma once
#include "AP_Networking_Config.h"
#if AP_NETWORKING_ENABLED
#include <AP_HAL/AP_HAL.h>
#include <AP_Param/AP_Param.h>
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
#include "lwipthread.h"
#include "lwip/udp.h"
#include <lwip/ip_addr.h>
#else
#include <AP_Common/missing/byteswap.h>
#define IP4_ADDR_VALUE(a,b,c,d) be32toh(UINT32_VALUE(a,b,c,d))
#endif
#define IP4_ADDR_VALUE_FROM_ARRAY(array) IP4_ADDR_VALUE(array[0],array[1],array[2],array[3])
#define IP4_ADDR_FROM_ARRAY(dest_ip, array) IP4_ADDR(dest_ip, array[0],array[1],array[2],array[3])
#define IP_ADDR_FROM_ARRAY(dest_ip, array) IP4_ADDR_FROM_ARRAY(dest_ip, array)
class AP_Networking
{
public:
AP_Networking();
/* Do not allow copies */
CLASS_NO_COPY(AP_Networking);
void init();
void update();
static AP_Networking *get_singleton(void) { return _singleton; }
bool is_healthy() const { return _param.enabled && _init.done; }
bool get_dhcp_enabled() const { return _param.dhcp; }
void set_dhcp_enable(const bool enable) { _param.dhcp.set(enable); }
uint32_t get_ip_active() const { return _activeSettings.ip; }
uint32_t get_ip_param() const { return IP4_ADDR_VALUE_FROM_ARRAY(_param.ipaddr); }
char* get_ip_active_str() const { return convert_ip_to_str(get_ip_active()); }
char* get_ip_param_str() const { return convert_ip_to_str(get_ip_param()); }
void set_ip_param_str(const char* ip_str) { set_ip_param(convert_str_to_ip((char*)ip_str)); }
void set_ip_param(const uint32_t ip) {
//put_le32_ptr(_param.ipaddr->get(), ip);
_param.ipaddr[3].set_and_save((ip >> 24) & 0xff);
_param.ipaddr[2].set_and_save((ip >> 16) & 0xff);
_param.ipaddr[1].set_and_save((ip >> 8) & 0xff);
_param.ipaddr[0].set_and_save(ip & 0xff);
}
uint32_t get_netmask_active() const { return _activeSettings.nm; }
uint32_t get_netmask_param() const { return convert_netmask_bitcount_to_ip(_param.netmask.get()); }
char* get_netmask_active_str() { return convert_ip_to_str(get_netmask_active()); }
char* get_netmask_param_str() { return convert_ip_to_str(get_netmask_param()); }
void set_netmask_param_str(const char* nm_str) { set_netmask_param(convert_str_to_ip((char*)nm_str)); }
void set_netmask_param(const uint32_t nm) { _param.netmask.set(convert_netmask_ip_to_bitcount(nm)); }
uint32_t get_gateway_active() const { return _activeSettings.gw; }
uint32_t get_gateway_param() const { return IP4_ADDR_VALUE_FROM_ARRAY(_param.gwaddr); }
char* get_gateway_active_str() { return convert_ip_to_str(get_gateway_active()); }
char* get_gateway_param_str() { return convert_ip_to_str(get_gateway_param()); }
void set_gateway_param_str(const char* gw_str) { set_gateway_param(convert_str_to_ip((char*)gw_str)); }
void set_gateway_param(const uint32_t gw) {
//put_le32_ptr(_param.gwaddr->get(), gw);
_param.gwaddr[3].set_and_save((gw >> 24) & 0xff);
_param.gwaddr[2].set_and_save((gw >> 16) & 0xff);
_param.gwaddr[1].set_and_save((gw >> 8) & 0xff);
_param.gwaddr[0].set_and_save(gw & 0xff);
}
static uint32_t convert_str_to_ip(char* ip_str);
static char* convert_ip_to_str(const uint8_t ip[4]);
static char* convert_ip_to_str(const uint32_t ip);
static uint32_t convert_netmask_bitcount_to_ip(const uint32_t netmask_bitcount);
static uint8_t convert_netmask_ip_to_bitcount(const uint32_t netmask_ip);
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
static int32_t send_udp(struct udp_pcb *pcb, const ip4_addr_t &ip4_addr, const uint16_t port, const uint8_t* data, uint16_t data_len);
#endif
static const struct AP_Param::GroupInfo var_info[];
private:
static int tftp_fd;
static AP_Networking *_singleton;
uint8_t _num_instances; // number of feature instances
void announce_address_changes();
struct {
bool done;
} _init;
struct {
AP_Int16 ipaddr[4];
AP_Int8 netmask; // bits to mask. example: (16 == 255.255.0.0) and (24 == 255.255.255.0)
AP_Int16 gwaddr[4];
AP_Int8 dhcp;
AP_Int16 macaddr[6];
AP_Int8 enabled;
AP_Int32 options;
} _param;
struct {
uint32_t ip;
uint32_t nm;
uint32_t gw;
uint32_t announce_ms;
bool announce_at_boot_done;
} _activeSettings;
HAL_Semaphore _sem;
};
namespace AP {
AP_Networking &network();
};
#endif // AP_NETWORKING_ENABLED

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libraries/AP_Networking/AP_Networking_Config.h Normal file
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#include <AP_HAL/AP_HAL_Boards.h>
#ifndef AP_NETWORKING_ENABLED
#define AP_NETWORKING_ENABLED 0
#endif
#if CONFIG_HAL_BOARD == HAL_BOARD_CHIBIOS
#define AP_NETWORKING_DHCP_AVAILABLE LWIP_DHCP
#else
#define AP_NETWORKING_DHCP_AVAILABLE 1 // for non-ChibiOS, assume it's available
#endif
// ---------------------------
// Below are default params
// ---------------------------
#ifndef AP_NETWORKING_DEFAULT_OPTIONS
#define AP_NETWORKING_DEFAULT_OPTIONS 0
#endif
// Default DHCP
#ifndef AP_NETWORKING_DEFAULT_DHCP_ENABLE
#define AP_NETWORKING_DEFAULT_DHCP_ENABLE 0
#endif
// Default Static IP Address: 192.168.13.13
#ifndef AP_NETWORKING_DEFAULT_STATIC_IP_ADDR0
#define AP_NETWORKING_DEFAULT_STATIC_IP_ADDR0 192
#endif
#ifndef AP_NETWORKING_DEFAULT_STATIC_IP_ADDR1
#define AP_NETWORKING_DEFAULT_STATIC_IP_ADDR1 168
#endif
#ifndef AP_NETWORKING_DEFAULT_STATIC_IP_ADDR2
#define AP_NETWORKING_DEFAULT_STATIC_IP_ADDR2 13
#endif
#ifndef AP_NETWORKING_DEFAULT_STATIC_IP_ADDR3
#define AP_NETWORKING_DEFAULT_STATIC_IP_ADDR3 14
#endif
// Default Netmask: 24
// Note, the netmask is the number of consecutive bits
#ifndef AP_NETWORKING_DEFAULT_NETMASK
#define AP_NETWORKING_DEFAULT_NETMASK 24 // 255.255.255.0
// #define AP_NETWORKING_DEFAULT_NETMASK 16 // 255.255.0.0
#endif
// Default Static IP Address: 192.168.13.1
#ifndef AP_NETWORKING_DEFAULT_STATIC_GW_ADDR0
#define AP_NETWORKING_DEFAULT_STATIC_GW_ADDR0 192
#endif
#ifndef AP_NETWORKING_DEFAULT_STATIC_GW_ADDR1
#define AP_NETWORKING_DEFAULT_STATIC_GW_ADDR1 168
#endif
#ifndef AP_NETWORKING_DEFAULT_STATIC_GW_ADDR2
#define AP_NETWORKING_DEFAULT_STATIC_GW_ADDR2 13
#endif
#ifndef AP_NETWORKING_DEFAULT_STATIC_GW_ADDR3
#define AP_NETWORKING_DEFAULT_STATIC_GW_ADDR3 1
#endif
// Default MAC Address: 2C:AF:51:03:CF:46
// Note, lower 3 bytes (ADDR3,4,5) will be replaced with the platform UUID
#ifndef AP_NETWORKING_DEFAULT_MAC_ADDR0
#define AP_NETWORKING_DEFAULT_MAC_ADDR0 0xC2 //LWIP_ETHADDR_0
#endif
#ifndef AP_NETWORKING_DEFAULT_MAC_ADDR1
#define AP_NETWORKING_DEFAULT_MAC_ADDR1 0xAF //LWIP_ETHADDR_1
#endif
#ifndef AP_NETWORKING_DEFAULT_MAC_ADDR2
#define AP_NETWORKING_DEFAULT_MAC_ADDR2 0x51 //LWIP_ETHADDR_2
#endif
#ifndef AP_NETWORKING_DEFAULT_MAC_ADDR3
#define AP_NETWORKING_DEFAULT_MAC_ADDR3 0x03 //LWIP_ETHADDR_3
#endif
#ifndef AP_NETWORKING_DEFAULT_MAC_ADDR4
#define AP_NETWORKING_DEFAULT_MAC_ADDR4 0xCF //LWIP_ETHADDR_4
#endif
#ifndef AP_NETWORKING_DEFAULT_MAC_ADDR5
#define AP_NETWORKING_DEFAULT_MAC_ADDR5 0x46 //LWIP_ETHADDR_5
#endif