Diff: stack/pico_stack.c

Revision:

10:dd7111d4279f

Child:

23:884f327c3647

Child:

40:c8ab0d2bba0b

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/stack/pico_stack.c	Thu Jun 06 00:38:54 2013 +0000
@@ -0,0 +1,729 @@
+/*********************************************************************
+PicoTCP. Copyright (c) 2012 TASS Belgium NV. Some rights reserved.
+See LICENSE and COPYING for usage.
+
+.
+
+Authors: Daniele Lacamera
+*********************************************************************/
+
+
+#include "pico_config.h"
+#include "pico_frame.h"
+#include "pico_device.h"
+#include "pico_protocol.h"
+#include "pico_stack.h"
+#include "pico_addressing.h"
+#include "pico_dns_client.h"
+
+#include "pico_eth.h"
+#include "pico_arp.h"
+#include "pico_ipv4.h"
+#include "pico_ipv6.h"
+#include "pico_icmp4.h"
+#include "pico_igmp.h"
+#include "pico_udp.h"
+#include "pico_tcp.h"
+#include "pico_socket.h"
+#include "heap.h"
+
+#define IS_LIMITED_BCAST(f) ( ((struct pico_ipv4_hdr *) f->net_hdr)->dst.addr == PICO_IP4_BCAST )
+
+#ifdef PICO_SUPPORT_MCAST
+# define PICO_SIZE_MCAST 3
+  const uint8_t PICO_ETHADDR_MCAST[6] = {0x01, 0x00, 0x5e, 0x00, 0x00, 0x00};
+#endif
+
+volatile unsigned long pico_tick;
+volatile pico_err_t pico_err;
+
+static uint32_t _rand_seed;
+
+void pico_rand_feed(uint32_t feed)
+{
+  if (!feed)
+    return;
+  _rand_seed *= 1664525;
+  _rand_seed += 1013904223;
+  _rand_seed ^= ~(feed);
+}
+
+uint32_t pico_rand(void)
+{
+  pico_rand_feed(pico_tick);
+  return _rand_seed;
+}
+
+/* NOTIFICATIONS: distributed notifications for stack internal errors.
+ */
+
+int pico_notify_socket_unreachable(struct pico_frame *f)
+{
+  if (0) {}
+#ifdef PICO_SUPPORT_ICMP4 
+  else if (IS_IPV4(f)) {
+    pico_icmp4_port_unreachable(f);
+  }
+#endif
+#ifdef PICO_SUPPORT_ICMP6 
+  else if (IS_IPV6(f)) {
+    pico_icmp6_port_unreachable(f);
+  }
+#endif
+
+  return 0;
+}
+
+int pico_notify_proto_unreachable(struct pico_frame *f)
+{
+  if (0) {}
+#ifdef PICO_SUPPORT_ICMP4 
+  else if (IS_IPV4(f)) {
+    pico_icmp4_proto_unreachable(f);
+  }
+#endif
+#ifdef PICO_SUPPORT_ICMP6 
+  else if (IS_IPV6(f)) {
+    pico_icmp6_proto_unreachable(f);
+  }
+#endif
+  return 0;
+}
+
+int pico_notify_dest_unreachable(struct pico_frame *f)
+{
+  if (0) {}
+#ifdef PICO_SUPPORT_ICMP4 
+  else if (IS_IPV4(f)) {
+    pico_icmp4_dest_unreachable(f);
+  }
+#endif
+#ifdef PICO_SUPPORT_ICMP6 
+  else if (IS_IPV6(f)) {
+    pico_icmp6_dest_unreachable(f);
+  }
+#endif
+  return 0;
+}
+
+int pico_notify_ttl_expired(struct pico_frame *f)
+{
+  if (0) {}
+#ifdef PICO_SUPPORT_ICMP4 
+  else if (IS_IPV4(f)) {
+    pico_icmp4_ttl_expired(f);
+  }
+#endif
+#ifdef PICO_SUPPORT_ICMP6 
+  else if (IS_IPV6(f)) {
+    pico_icmp6_ttl_expired(f);
+  }
+#endif
+  return 0;
+}
+
+
+/* Transport layer */
+int pico_transport_receive(struct pico_frame *f, uint8_t proto)
+{
+  int ret = -1;
+  switch (proto) {
+
+#ifdef PICO_SUPPORT_ICMP4
+  case PICO_PROTO_ICMP4:
+    ret = pico_enqueue(pico_proto_icmp4.q_in, f);
+    break;
+#endif
+
+#ifdef PICO_SUPPORT_IGMP
+  case PICO_PROTO_IGMP:
+    ret = pico_enqueue(pico_proto_igmp.q_in, f);
+    break;
+#endif
+
+#ifdef PICO_SUPPORT_UDP
+  case PICO_PROTO_UDP:
+    ret = pico_enqueue(pico_proto_udp.q_in, f);
+    break;
+#endif
+
+#ifdef PICO_SUPPORT_TCP
+  case PICO_PROTO_TCP:
+    ret = pico_enqueue(pico_proto_tcp.q_in, f);
+    break;
+#endif
+
+  default:
+    /* Protocol not available */
+    dbg("pkt: no such protocol (%d)\n", proto);
+    pico_notify_proto_unreachable(f);
+    pico_frame_discard(f);
+    ret = -1;
+ }
+ return ret;
+}
+
+int pico_transport_send(struct pico_frame *f)
+{
+  if (!f || !f->sock || !f->sock->proto) {
+    pico_frame_discard(f);
+    return -1;
+  }
+  return f->sock->proto->push(f->sock->net, f);
+}
+
+int pico_network_receive(struct pico_frame *f)
+{
+  if (0) {}
+#ifdef PICO_SUPPORT_IPV4
+  else if (IS_IPV4(f)) {
+    pico_enqueue(pico_proto_ipv4.q_in, f);
+  }
+#endif
+#ifdef PICO_SUPPORT_IPV6
+  else if (IS_IPV6(f)) {
+    pico_enqueue(pico_proto_ipv6.q_in, f);
+  }
+#endif
+  else {
+    dbg("Network not found.\n");
+    pico_frame_discard(f);
+    return -1;
+  }
+  return f->buffer_len;
+}
+
+
+/* Network layer: interface towards socket for frame sending */
+int pico_network_send(struct pico_frame *f)
+{
+  if (!f || !f->sock || !f->sock->net) {
+    pico_frame_discard(f);
+    return -1;
+  }
+  return f->sock->net->push(f->sock->net, f);
+}
+
+int pico_destination_is_local(struct pico_frame *f)
+{
+  if (0) { }
+#ifdef PICO_SUPPORT_IPV4
+  else if (IS_IPV4(f)) {
+    struct pico_ipv4_hdr *hdr = (struct pico_ipv4_hdr *)f->net_hdr;
+    if (pico_ipv4_link_find(&hdr->dst))
+      return 1;
+  }
+#endif
+#ifdef PICO_SUPPORT_IPV6
+  else if (IS_IPV6(f)) {
+  }
+#endif
+  return 0;
+}
+
+int pico_source_is_local(struct pico_frame *f)
+{
+  if (0) { }
+#ifdef PICO_SUPPORT_IPV4
+  else if (IS_IPV4(f)) {
+    struct pico_ipv4_hdr *hdr = (struct pico_ipv4_hdr *)f->net_hdr;
+    if (hdr->src.addr == PICO_IPV4_INADDR_ANY)
+      return 1;
+    if (pico_ipv4_link_find(&hdr->src))
+      return 1;
+  }
+#endif
+#ifdef PICO_SUPPORT_IPV6
+  else if (IS_IPV6(f)) {
+  /* XXX */
+  }
+#endif
+  return 0;
+
+
+}
+
+
+/* DATALINK LEVEL: interface from network to the device
+ * and vice versa.
+ */
+
+/* The pico_ethernet_receive() function is used by 
+ * those devices supporting ETH in order to push packets up 
+ * into the stack. 
+ */
+int pico_ethernet_receive(struct pico_frame *f)
+{
+  struct pico_eth_hdr *hdr;
+  if (!f || !f->dev || !f->datalink_hdr)
+    goto discard;
+  hdr = (struct pico_eth_hdr *) f->datalink_hdr;
+  if ( (memcmp(hdr->daddr, f->dev->eth->mac.addr, PICO_SIZE_ETH) != 0) && 
+#ifdef PICO_SUPPORT_MCAST
+    (memcmp(hdr->daddr, PICO_ETHADDR_MCAST, PICO_SIZE_MCAST) != 0) &&
+#endif
+    (memcmp(hdr->daddr, PICO_ETHADDR_ALL, PICO_SIZE_ETH) != 0) ) 
+    goto discard;
+
+  f->net_hdr = f->datalink_hdr + sizeof(struct pico_eth_hdr);
+  if (hdr->proto == PICO_IDETH_ARP)
+    return pico_arp_receive(f);
+  if ((hdr->proto == PICO_IDETH_IPV4) || (hdr->proto == PICO_IDETH_IPV6))
+    return pico_network_receive(f);
+discard:
+  pico_frame_discard(f);
+  return -1;
+}
+
+static int destination_is_bcast(struct pico_frame *f)
+{
+  if (!f)
+    return 0;
+
+  if (IS_IPV6(f))
+    return 0;
+#ifdef PICO_SUPPORT_IPV4
+  else {
+    struct pico_ipv4_hdr *hdr = (struct pico_ipv4_hdr *) f->net_hdr;
+    return pico_ipv4_is_broadcast(hdr->dst.addr);
+  }
+#endif
+  return 0;
+}
+
+#ifdef PICO_SUPPORT_MCAST
+static int destination_is_mcast(struct pico_frame *f)
+{
+  if (!f)
+    return 0;
+
+  if (IS_IPV6(f))
+    return 0;
+#ifdef PICO_SUPPORT_IPV4
+  else {
+    struct pico_ipv4_hdr *hdr = (struct pico_ipv4_hdr *) f->net_hdr;
+    return pico_ipv4_is_multicast(hdr->dst.addr);
+  }
+#endif
+  return 0;
+}
+
+static struct pico_eth *pico_ethernet_mcast_translate(struct pico_frame *f, uint8_t *pico_mcast_mac)
+{
+  struct pico_ipv4_hdr *hdr = (struct pico_ipv4_hdr *) f->net_hdr;
+
+  /* place 23 lower bits of IP in lower 23 bits of MAC */
+  pico_mcast_mac[5] = (long_be(hdr->dst.addr) & 0x000000FF);
+  pico_mcast_mac[4] = (long_be(hdr->dst.addr) & 0x0000FF00) >> 8; 
+  pico_mcast_mac[3] = (long_be(hdr->dst.addr) & 0x007F0000) >> 16;
+
+  return (struct pico_eth *)pico_mcast_mac;
+}
+
+
+#endif /* PICO_SUPPORT_MCAST */
+
+/* This is called by dev loop in order to ensure correct ethernet addressing.
+ * Returns 0 if the destination is unknown, and -1 if the packet is not deliverable
+ * due to ethernet addressing (i.e., no arp association was possible. 
+ *
+ * Only IP packets must pass by this. ARP will always use direct dev->send() function, so
+ * we assume IP is used.
+ */
+int pico_ethernet_send(struct pico_frame *f)
+{
+  struct pico_eth *dstmac = NULL;
+
+  if (IS_IPV6(f)) {
+    /*TODO: Neighbor solicitation */
+    dstmac = NULL;
+  }
+
+  else if (IS_IPV4(f)) {
+    if (IS_BCAST(f) || destination_is_bcast(f)) {
+      dstmac = (struct pico_eth *) PICO_ETHADDR_ALL;
+    } 
+#ifdef PICO_SUPPORT_MCAST
+    else if (destination_is_mcast(f)) {
+      uint8_t pico_mcast_mac[6] = {0x01, 0x00, 0x5e, 0x00, 0x00, 0x00};
+      dstmac = pico_ethernet_mcast_translate(f, pico_mcast_mac);
+    } 
+#endif
+    else {
+      dstmac = pico_arp_get(f);
+      if (!dstmac)
+        return 0;
+    }
+    /* This sets destination and source address, then pushes the packet to the device. */
+    if (dstmac && (f->start > f->buffer) && ((f->start - f->buffer) >= PICO_SIZE_ETHHDR)) {
+      struct pico_eth_hdr *hdr;
+      f->start -= PICO_SIZE_ETHHDR;
+      f->len += PICO_SIZE_ETHHDR;
+      f->datalink_hdr = f->start;
+      hdr = (struct pico_eth_hdr *) f->datalink_hdr;
+      memcpy(hdr->saddr, f->dev->eth->mac.addr, PICO_SIZE_ETH);
+      memcpy(hdr->daddr, dstmac, PICO_SIZE_ETH);
+      hdr->proto = PICO_IDETH_IPV4;
+      if(!memcmp(hdr->daddr, hdr->saddr, PICO_SIZE_ETH)){
+        dbg("sending out packet destined for our own mac\n");
+        return pico_ethernet_receive(f);
+      }else if(IS_LIMITED_BCAST(f)){
+        return pico_device_broadcast(f);
+      }else {
+        return f->dev->send(f->dev, f->start, f->len);
+        /* Frame is discarded after this return by the caller */
+      }
+    } else {
+      return -1;
+    }
+  } /* End IPV4 ethernet addressing */
+  return -1;
+}
+
+void pico_store_network_origin(void *src, struct pico_frame *f)
+{
+  #ifdef PICO_SUPPORT_IPV4
+  struct pico_ip4 *ip4;
+  #endif
+
+  #ifdef PICO_SUPPORT_IPV6
+  struct pico_ip6 *ip6;
+  #endif
+
+  #ifdef PICO_SUPPORT_IPV4
+  if (IS_IPV4(f)) {
+    struct pico_ipv4_hdr *hdr;
+    hdr = (struct pico_ipv4_hdr *) f->net_hdr;
+    ip4 = (struct pico_ip4 *) src;
+    ip4->addr = hdr->src.addr;
+  }
+  #endif
+  #ifdef PICO_SUPPORT_IPV6
+  if (IS_IPV6(f)) {
+    struct pico_ipv6_hdr *hdr;
+    hdr = (struct pico_ipv6_hdr *) f->net_hdr;
+    ip6 = (struct pico_ip6 *) src;
+    memcpy(ip6->addr, hdr->src.addr, PICO_SIZE_IP6);
+  }
+  #endif
+}
+
+
+/* LOWEST LEVEL: interface towards devices. */
+/* Device driver will call this function which returns immediately.
+ * Incoming packet will be processed later on in the dev loop.
+ */
+int pico_stack_recv(struct pico_device *dev, uint8_t *buffer, int len)
+{
+  struct pico_frame *f;
+  int ret;
+  if (len <= 0)
+    return -1;
+  f = pico_frame_alloc(len);
+  if (!f)
+    return -1;
+
+  /* Association to the device that just received the frame. */
+  f->dev = dev;
+
+  /* Setup the start pointer, lenght. */
+  f->start = f->buffer;
+  f->len = f->buffer_len;
+  if (f->len > 8) {
+    int mid_frame = (f->buffer_len >> 2)<<1;
+    mid_frame -= (mid_frame % 4);
+    pico_rand_feed(*(uint32_t*)(f->buffer + mid_frame));
+  }
+  memcpy(f->buffer, buffer, len);
+  ret = pico_enqueue(dev->q_in, f);
+  if (ret <= 0) {
+    pico_frame_discard(f);
+  }
+  return ret;
+}
+
+int pico_sendto_dev(struct pico_frame *f)
+{
+  if (!f->dev) {
+    pico_frame_discard(f);
+    return -1;
+  } else {
+    if (f->len > 8) {
+      int mid_frame = (f->buffer_len >> 2)<<1;
+      mid_frame -= (mid_frame % 4);
+      pico_rand_feed(*(uint32_t*)(f->buffer + mid_frame));
+    }
+    return pico_enqueue(f->dev->q_out, f);
+  }
+}
+
+struct pico_timer
+{
+  unsigned long expire;
+  void *arg;
+  void (*timer)(unsigned long timestamp, void *arg);
+};
+
+typedef struct pico_timer pico_timer;
+
+DECLARE_HEAP(pico_timer, expire);
+
+static heap_pico_timer *Timers;
+
+void pico_check_timers(void)
+{
+  struct pico_timer timer;
+  struct pico_timer *t = heap_first(Timers);
+  pico_tick = PICO_TIME_MS();
+  while((t) && (t->expire < pico_tick)) {
+    t->timer(pico_tick, t->arg);
+    heap_peek(Timers, &timer);
+    t = heap_first(Timers);
+  }
+}
+
+
+#define PROTO_DEF_NR      11
+#define PROTO_DEF_AVG_NR  4
+#define PROTO_DEF_SCORE   32
+#define PROTO_MIN_SCORE   32
+#define PROTO_MAX_SCORE   128
+#define PROTO_LAT_IND     3   /* latecy indication 0-3 (lower is better latency performance), x1, x2, x4, x8 */
+#define PROTO_MAX_LOOP    (PROTO_MAX_SCORE<<PROTO_LAT_IND) /* max global loop score, so per tick */
+
+static int calc_score(int *score, int *index, int avg[][PROTO_DEF_AVG_NR], int *ret)
+{
+  int temp, i, j, sum;
+  int max_total = PROTO_MAX_LOOP, total = 0;
+
+  //dbg("USED SCORES> "); 
+
+  for (i = 0; i < PROTO_DEF_NR; i++) {
+
+    /* if used looped score */
+    if (ret[i] < score[i]) {
+      temp = score[i] - ret[i]; /* remaining loop score */
+      
+      //dbg("%3d - ",temp);
+
+      if (index[i] >= PROTO_DEF_AVG_NR)
+        index[i] = 0;           /* reset index */
+      j = index[i];
+      avg[i][j] = temp;
+
+      index[i]++; 
+
+      if (ret[i] == 0 && (score[i]<<1 <= PROTO_MAX_SCORE) && ((total+(score[i]<<1)) < max_total) ) {        /* used all loop score -> increase next score directly */
+        score[i] <<= 1;
+        total += score[i];
+        continue;
+      }
+
+      sum = 0;
+      for (j = 0; j < PROTO_DEF_AVG_NR; j++)
+        sum += avg[i][j];       /* calculate sum */
+
+      sum >>= 2;                /* divide by 4 to get average used score */
+
+      /* criterion to increase next loop score */
+      if (sum > (score[i] - (score[i]>>2))  && (score[i]<<1 <= PROTO_MAX_SCORE) && ((total+(score[i]<<1)) < max_total)) { /* > 3/4 */
+        score[i] <<= 1;         /* double loop score */
+        total += score[i];
+        continue;
+      }
+
+      /* criterion to decrease next loop score */
+      if (sum < (score[i]>>2) && (score[i]>>1 >= PROTO_MIN_SCORE)) { /* < 1/4 */
+        score[i] >>= 1;         /* half loop score */
+        total += score[i];
+        continue;
+      }
+
+      /* also add non-changed scores */
+      total += score[i];
+    }
+    else if (ret[i] == score[i]) {
+      /* no used loop score - gradually decrease */
+      
+    //  dbg("%3d - ",0);
+
+      if (index[i] >= PROTO_DEF_AVG_NR)
+        index[i] = 0;           /* reset index */
+      j = index[i];
+      avg[i][j] = 0;
+
+      index[i]++; 
+
+      sum = 0;
+      for (j = 0; j < PROTO_DEF_AVG_NR; j++)
+        sum += avg[i][j];       /* calculate sum */
+
+      sum >>= 2;                /* divide by 4 to get average used score */
+
+      if ((sum == 0) && (score[i]>>1 >= PROTO_MIN_SCORE)) {
+        score[i] >>= 1;         /* half loop score */
+        total += score[i];
+        for (j = 0; j < PROTO_DEF_AVG_NR; j++)
+          avg[i][j] = score[i];
+      }
+      
+    }
+  }
+
+  //dbg("\n");
+
+  return 0;
+}
+
+
+
+/* 
+
+         .                                                               
+       .vS.                                                              
+     <aoSo.                                                              
+    .XoS22.                                                              
+    .S2S22.             ._...              ......            ..._.       
+  :=|2S2X2|=++;      <vSX2XX2z+          |vSSSXSSs>.      :iXXZUZXXe=    
+  )2SS2SS2S2S2I    =oS2S2S2S2X22;.    _vuXS22S2S2S22i  ._wZZXZZZXZZXZX=  
+  )22S2S2S2S2Sl    |S2S2S22S2SSSXc:  .S2SS2S2S22S2SS= .]#XZZZXZXZZZZZZ:  
+  )oSS2SS2S2Sol     |2}!"""!32S22S(. uS2S2Se**12oS2e  ]dXZZXX2?YYXXXZ*   
+   .:2S2So:..-.      .      :]S2S2e;=X2SS2o     .)oc  ]XZZXZ(     =nX:   
+    .S2S22.          ___s_i,.)oS2So(;2SS2So,       `  3XZZZZc,      -    
+    .S2SSo.        =oXXXSSS2XoS2S2o( XS2S2XSos;.      ]ZZZZXXXX|=        
+    .S2S22.      .)S2S2S22S2S2S2S2o( "X2SS2S2S2Sus,,  +3XZZZZZXZZoos_    
+    .S2S22.     .]2S2SS22S222S2SS2o(  ]S22S2S2S222So   :3XXZZZZZZZZXXv   
+    .S2S22.     =u2SS2e"~---"{2S2So(   -"12S2S2SSS2Su.   "?SXXXZXZZZZXo  
+    .S2SSo.     )SS22z;      :S2S2o(       ={vS2S2S22v      .<vXZZZZZZZ; 
+    .S2S2S:     ]oSS2c;      =22S2o(          -"S2SS2n          ~4XXZXZ( 
+    .2S2S2i     )2S2S2[.    .)XS2So(  <;.      .2S2S2o :<.       ]XZZZX( 
+     nX2S2S,,_s_=3oSS2SoaasuXXS2S2o( .oXoasi_aioSSS22l.]dZoaas_aadXZZXZ' 
+     vS2SSSXXX2; )S2S2S2SoS2S2S2S2o( iS2S222XSoSS22So.)nXZZXXXZZXXZZXZo  
+     +32S22S2Sn  -+S2S2S2S2So22S2So( 12S2SS2S2SS22S}- )SXXZZZZZZZZZXX!-  
+      .)S22222i    .i2S2S2o>;:S2S2o(  .<vSoSoSo2S(;     :nXXXXXZXXX(     
+       .-~~~~-        --- .   - -        --~~~--           --^^~~-       
+                                  .                                      
+                                                                         
+
+ ... curious about our source code? We are hiring! mailto:<recruiting@tass.be>
+
+
+*/
+
+void pico_stack_tick(void)
+{
+    static int score[PROTO_DEF_NR] = {PROTO_DEF_SCORE, PROTO_DEF_SCORE, PROTO_DEF_SCORE, PROTO_DEF_SCORE, PROTO_DEF_SCORE, PROTO_DEF_SCORE, PROTO_DEF_SCORE, PROTO_DEF_SCORE, PROTO_DEF_SCORE, PROTO_DEF_SCORE, PROTO_DEF_SCORE};
+    static int index[PROTO_DEF_NR] = {0,0,0,0,0,0};
+    static int avg[PROTO_DEF_NR][PROTO_DEF_AVG_NR];
+    static int ret[PROTO_DEF_NR] = {0};
+
+    pico_check_timers();
+
+    //dbg("LOOP_SCORES> %3d - %3d - %3d - %3d - %3d - %3d - %3d - %3d - %3d - %3d - %3d\n",score[0],score[1],score[2],score[3],score[4],score[5],score[6],score[7],score[8],score[9],score[10]);
+
+    //score = pico_protocols_loop(100);
+
+    ret[0] = pico_devices_loop(score[0],PICO_LOOP_DIR_IN);
+    pico_rand_feed(ret[0]);
+
+    ret[1] = pico_protocol_datalink_loop(score[1], PICO_LOOP_DIR_IN);
+    pico_rand_feed(ret[1]);
+
+    ret[2] = pico_protocol_network_loop(score[2], PICO_LOOP_DIR_IN);
+    pico_rand_feed(ret[2]);
+
+    ret[3] = pico_protocol_transport_loop(score[3], PICO_LOOP_DIR_IN);
+    pico_rand_feed(ret[3]);
+
+
+    ret[5] = score[5];
+#if defined (PICO_SUPPORT_IPV4) || defined (PICO_SUPPORT_IPV6)
+#if defined (PICO_SUPPORT_TCP) || defined (PICO_SUPPORT_UDP)
+    ret[5] = pico_sockets_loop(score[5]); // swapped
+    pico_rand_feed(ret[5]);
+#endif
+#endif
+
+    ret[4] = pico_protocol_socket_loop(score[4], PICO_LOOP_DIR_IN);
+    pico_rand_feed(ret[4]);
+
+
+    ret[6] = pico_protocol_socket_loop(score[6], PICO_LOOP_DIR_OUT);
+    pico_rand_feed(ret[6]);
+
+    ret[7] = pico_protocol_transport_loop(score[7], PICO_LOOP_DIR_OUT);
+    pico_rand_feed(ret[7]);
+
+    ret[8] = pico_protocol_network_loop(score[8], PICO_LOOP_DIR_OUT);
+    pico_rand_feed(ret[8]);
+
+    ret[9] = pico_protocol_datalink_loop(score[9], PICO_LOOP_DIR_OUT);
+    pico_rand_feed(ret[9]);
+
+    ret[10] = pico_devices_loop(score[10],PICO_LOOP_DIR_OUT);
+    pico_rand_feed(ret[10]);
+
+    /* calculate new loop scores for next iteration */
+    calc_score(score, index,(int (*)[]) avg, ret);
+}
+
+void pico_stack_loop(void)
+{
+  while(1) {
+    pico_stack_tick();
+    PICO_IDLE();
+  }
+}
+
+void pico_timer_add(unsigned long expire, void (*timer)(unsigned long, void *), void *arg)
+{
+  pico_timer t;
+  t.expire = PICO_TIME_MS() + expire;
+  t.arg = arg;
+  t.timer = timer;
+  heap_insert(Timers, &t);
+  if (Timers->n > PICO_MAX_TIMERS) {
+    dbg("Warning: I have %d timers\n", Timers->n);
+  }
+}
+
+void pico_stack_init(void)
+{
+
+#ifdef PICO_SUPPORT_IPV4
+  pico_protocol_init(&pico_proto_ipv4);
+#endif
+
+#ifdef PICO_SUPPORT_IPV6
+  pico_protocol_init(&pico_proto_ipv6);
+#endif
+
+#ifdef PICO_SUPPORT_ICMP4
+  pico_protocol_init(&pico_proto_icmp4);
+#endif
+
+#ifdef PICO_SUPPORT_IGMP
+  pico_protocol_init(&pico_proto_igmp);
+#endif
+
+#ifdef PICO_SUPPORT_UDP
+  pico_protocol_init(&pico_proto_udp);
+#endif
+
+#ifdef PICO_SUPPORT_TCP
+  pico_protocol_init(&pico_proto_tcp);
+#endif
+
+#ifdef PICO_SUPPORT_DNS_CLIENT
+  pico_dns_client_init();
+#endif
+
+  pico_rand_feed(123456);
+
+  /* Initialize timer heap */
+  Timers = heap_init();
+  pico_stack_tick();
+  pico_stack_tick();
+  pico_stack_tick();
+}
+