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/**
******************************************************************************
* @file ethernetif.c
* @author MCD Application Team
* @brief This file implements Ethernet network interface drivers for lwIP
******************************************************************************
* @attention
*
* Copyright (c) 2017 STMicroelectronics.
* All rights reserved.
*
* This software is licensed under terms that can be found in the LICENSE file
* in the root directory of this software component.
* If no LICENSE file comes with this software, it is provided AS-IS.
*
******************************************************************************
*/
/* Includes ------------------------------------------------------------------*/
#include "stm32f4xx_hal.h"
#include "lwip/timeouts.h"
#include "lwip/tcpip.h"
#include "netif/etharp.h"
#include "ethernetif.h"
#include <string.h>
/* Private typedef -----------------------------------------------------------*/
/* Private define ------------------------------------------------------------*/
/* The time to block waiting for input. */
#define TIME_WAITING_FOR_INPUT ( osWaitForever )
/* Stack size of the interface thread */
#define INTERFACE_THREAD_STACK_SIZE ( 350 )
/* Define those to better describe your network interface. */
#define IFNAME0 's'
#define IFNAME1 't'
/* Private macro -------------------------------------------------------------*/
/* Private variables ---------------------------------------------------------*/
#if defined ( __ICCARM__ ) /*!< IAR Compiler */
#pragma data_alignment=4
#endif
__ALIGN_BEGIN ETH_DMADescTypeDef DMARxDscrTab[ETH_RXBUFNB] __ALIGN_END;/* Ethernet Rx MA Descriptor */
#if defined ( __ICCARM__ ) /*!< IAR Compiler */
#pragma data_alignment=4
#endif
__ALIGN_BEGIN ETH_DMADescTypeDef DMATxDscrTab[ETH_TXBUFNB] __ALIGN_END;/* Ethernet Tx DMA Descriptor */
#if defined ( __ICCARM__ ) /*!< IAR Compiler */
#pragma data_alignment=4
#endif
__ALIGN_BEGIN uint8_t Rx_Buff[ETH_RXBUFNB][ETH_RX_BUF_SIZE] __ALIGN_END; /* Ethernet Receive Buffer */
#if defined ( __ICCARM__ ) /*!< IAR Compiler */
#pragma data_alignment=4
#endif
__ALIGN_BEGIN uint8_t Tx_Buff[ETH_TXBUFNB][ETH_TX_BUF_SIZE] __ALIGN_END; /* Ethernet Transmit Buffer */
/* Semaphore to signal incoming packets */
osSemaphoreId s_xSemaphore = NULL;
/* Global Ethernet handle*/
ETH_HandleTypeDef EthHandle;
/* Private function prototypes -----------------------------------------------*/
static void ethernetif_input( void const * argument );
/* Private functions ---------------------------------------------------------*/
/*******************************************************************************
Ethernet MSP Routines
*******************************************************************************/
/**
* @brief Initializes the ETH MSP.
* @param heth: ETH handle
* @retval None
*/
void HAL_ETH_MspInit(ETH_HandleTypeDef *heth)
{
GPIO_InitTypeDef GPIO_InitStructure;
/* Enable GPIOs clocks */
__HAL_RCC_GPIOA_CLK_ENABLE();
__HAL_RCC_GPIOB_CLK_ENABLE();
__HAL_RCC_GPIOC_CLK_ENABLE();
__HAL_RCC_GPIOF_CLK_ENABLE();
__HAL_RCC_GPIOG_CLK_ENABLE();
__HAL_RCC_GPIOH_CLK_ENABLE();
__HAL_RCC_GPIOI_CLK_ENABLE();
/* Ethernet pins configuration ************************************************/
/*
ETH_MDIO -------------------------> PA2
ETH_MDC --------------------------> PC1
ETH_PPS_OUT ----------------------> PB5
ETH_MII_RXD2 ---------------------> PH6
ETH_MII_RXD3 ---------------------> PH7
ETH_MII_TX_CLK -------------------> PC3
ETH_MII_TXD2 ---------------------> PC2
ETH_MII_TXD3 ---------------------> PB8
ETH_MII_RX_CLK -------------------> PA1
ETH_MII_RX_DV --------------------> PA7
ETH_MII_RXD0 ---------------------> PC4
ETH_MII_RXD1 ---------------------> PC5
ETH_MII_TX_EN --------------------> PG11
ETH_MII_TXD0 ---------------------> PG13
ETH_MII_TXD1 ---------------------> PG14
ETH_MII_RX_ER --------------------> PI10 (not configured)
ETH_MII_CRS ----------------------> PA0 (not configured)
ETH_MII_COL ----------------------> PH3 (not configured)
*/
/* Configure PA1, PA2 and PA7 */
GPIO_InitStructure.Speed = GPIO_SPEED_HIGH;
GPIO_InitStructure.Mode = GPIO_MODE_AF_PP;
GPIO_InitStructure.Pull = GPIO_NOPULL;
GPIO_InitStructure.Alternate = GPIO_AF11_ETH;
GPIO_InitStructure.Pin = GPIO_PIN_1 | GPIO_PIN_2 | GPIO_PIN_7;
HAL_GPIO_Init(GPIOA, &GPIO_InitStructure);
/* Configure PB5 and PB8 */
GPIO_InitStructure.Pin = GPIO_PIN_5 | GPIO_PIN_8;
HAL_GPIO_Init(GPIOB, &GPIO_InitStructure);
/* Configure PC1, PC2, PC3, PC4 and PC5 */
GPIO_InitStructure.Pin = GPIO_PIN_1 | GPIO_PIN_2 | GPIO_PIN_3 | GPIO_PIN_4 | GPIO_PIN_5;
HAL_GPIO_Init(GPIOC, &GPIO_InitStructure);
/* Configure PG11, PG14 and PG13 */
GPIO_InitStructure.Pin = GPIO_PIN_11 | GPIO_PIN_13 | GPIO_PIN_14;
HAL_GPIO_Init(GPIOG, &GPIO_InitStructure);
/* Configure PH6, PH7 */
GPIO_InitStructure.Pin = GPIO_PIN_6 | GPIO_PIN_7;
HAL_GPIO_Init(GPIOH, &GPIO_InitStructure);
/* Configure PA0
GPIO_InitStructure.Pin = GPIO_PIN_0;
HAL_GPIO_Init(GPIOA, &GPIO_InitStructure);
Note: Ethernet Full duplex mode works properly in the default setting
(which MII_CRS is not connected to PA0 of STM32F4x9NIH6) because PA0 is shared
with Wakeup button and MC_ENA.
If Half duplex mode is needed, uncomment PA0 configuration code source (above
the note) and close the SB7 solder bridge of the STM324x9I-EVAL board .
*/
/* Configure PH3
GPIO_InitStructure.Pin = GPIO_PIN_3;
HAL_GPIO_Init(GPIOH, &GPIO_InitStructure);
Note: Ethernet Full duplex mode works properly in the default setting
(which MII_COL is not connected to PH3 of STM32F4x9NIH6) because PH3 is shared
with SDRAM chip select SDNE0.
If Half duplex mode is needed, uncomment PH3 configuration code source (above
the note) and close SB8 solder bridge of the STM324x9I-EVAL board.
*/
/* Configure PI10
GPIO_InitStructure.Pin = GPIO_PIN_10;
HAL_GPIO_Init(GPIOI, &GPIO_InitStructure);
Note: Ethernet works properly in the default setting (which RX_ER is not
connected to PI10 of STM32F4x9NIH6) because PI10 is shared with data signal
of SDRAM.
If RX_ER signal is needed, uncomment PI10 configuration code source (above
the note) then remove R244 and solder R43 of the STM324x9I-EVAL board.
*/
/* Enable the Ethernet global Interrupt */
HAL_NVIC_SetPriority(ETH_IRQn, 0x7, 0);
HAL_NVIC_EnableIRQ(ETH_IRQn);
/* Enable ETHERNET clock */
__HAL_RCC_ETH_CLK_ENABLE();
}
/**
* @brief Ethernet Rx Transfer completed callback
* @param heth: ETH handle
* @retval None
*/
void HAL_ETH_RxCpltCallback(ETH_HandleTypeDef *heth)
{
osSemaphoreRelease(s_xSemaphore);
}
/*******************************************************************************
LL Driver Interface ( LwIP stack --> ETH)
*******************************************************************************/
/**
* @brief In this function, the hardware should be initialized.
* Called from ethernetif_init().
*
* @param netif the already initialized lwip network interface structure
* for this ethernetif
*/
static void low_level_init(struct netif *netif)
{
uint32_t regvalue = 0;
uint8_t macaddress[6]= { MAC_ADDR0, MAC_ADDR1, MAC_ADDR2, MAC_ADDR3, MAC_ADDR4, MAC_ADDR5 };
EthHandle.Instance = ETH;
EthHandle.Init.MACAddr = macaddress;
EthHandle.Init.AutoNegotiation = ETH_AUTONEGOTIATION_ENABLE;
EthHandle.Init.Speed = ETH_SPEED_100M;
EthHandle.Init.DuplexMode = ETH_MODE_FULLDUPLEX;
EthHandle.Init.MediaInterface = ETH_MEDIA_INTERFACE_MII;
EthHandle.Init.RxMode = ETH_RXINTERRUPT_MODE;
EthHandle.Init.ChecksumMode = ETH_CHECKSUM_BY_HARDWARE;
EthHandle.Init.PhyAddress = DP83848_PHY_ADDRESS;
/* configure ethernet peripheral (GPIOs, clocks, MAC, DMA) */
if (HAL_ETH_Init(&EthHandle) == HAL_OK)
{
/* Set netif link flag */
netif->flags |= NETIF_FLAG_LINK_UP;
}
/* Initialize Tx Descriptors list: Chain Mode */
HAL_ETH_DMATxDescListInit(&EthHandle, DMATxDscrTab, &Tx_Buff[0][0], ETH_TXBUFNB);
/* Initialize Rx Descriptors list: Chain Mode */
HAL_ETH_DMARxDescListInit(&EthHandle, DMARxDscrTab, &Rx_Buff[0][0], ETH_RXBUFNB);
/* set netif MAC hardware address length */
netif->hwaddr_len = ETH_HWADDR_LEN;
/* set netif MAC hardware address */
netif->hwaddr[0] = MAC_ADDR0;
netif->hwaddr[1] = MAC_ADDR1;
netif->hwaddr[2] = MAC_ADDR2;
netif->hwaddr[3] = MAC_ADDR3;
netif->hwaddr[4] = MAC_ADDR4;
netif->hwaddr[5] = MAC_ADDR5;
/* set netif maximum transfer unit */
netif->mtu = 1500;
/* Accept broadcast address and ARP traffic */
netif->flags |= NETIF_FLAG_BROADCAST | NETIF_FLAG_ETHARP;
/* create a binary semaphore used for informing ethernetif of frame reception */
osSemaphoreDef(SEM);
s_xSemaphore = osSemaphoreCreate(osSemaphore(SEM) , 1 );
/* create the task that handles the ETH_MAC */
osThreadDef(EthIf, ethernetif_input, osPriorityRealtime, 0, INTERFACE_THREAD_STACK_SIZE);
osThreadCreate (osThread(EthIf), netif);
/* Enable MAC and DMA transmission and reception */
HAL_ETH_Start(&EthHandle);
/**** Configure PHY to generate an interrupt when Eth Link state changes ****/
/* Read Register Configuration */
HAL_ETH_ReadPHYRegister(&EthHandle, PHY_MICR, ®value);
regvalue |= (PHY_MICR_INT_EN | PHY_MICR_INT_OE);
/* Enable Interrupts */
HAL_ETH_WritePHYRegister(&EthHandle, PHY_MICR, regvalue );
/* Read Register Configuration */
HAL_ETH_ReadPHYRegister(&EthHandle, PHY_MISR, ®value);
regvalue |= PHY_MISR_LINK_INT_EN;
/* Enable Interrupt on change of link status */
HAL_ETH_WritePHYRegister(&EthHandle, PHY_MISR, regvalue);
}
/**
* @brief This function should do the actual transmission of the packet. The packet is
* contained in the pbuf that is passed to the function. This pbuf
* might be chained.
*
* @param netif the lwip network interface structure for this ethernetif
* @param p the MAC packet to send (e.g. IP packet including MAC addresses and type)
* @return ERR_OK if the packet could be sent
* an err_t value if the packet couldn't be sent
*
* @note Returning ERR_MEM here if a DMA queue of your MAC is full can lead to
* strange results. You might consider waiting for space in the DMA queue
* to become available since the stack doesn't retry to send a packet
* dropped because of memory failure (except for the TCP timers).
*/
static err_t low_level_output(struct netif *netif, struct pbuf *p)
{
err_t errval;
struct pbuf *q;
uint8_t *buffer = (uint8_t *)(EthHandle.TxDesc->Buffer1Addr);
__IO ETH_DMADescTypeDef *DmaTxDesc;
uint32_t framelength = 0;
uint32_t bufferoffset = 0;
uint32_t byteslefttocopy = 0;
uint32_t payloadoffset = 0;
DmaTxDesc = EthHandle.TxDesc;
bufferoffset = 0;
/* copy frame from pbufs to driver buffers */
for(q = p; q != NULL; q = q->next)
{
/* Is this buffer available? If not, goto error */
if((DmaTxDesc->Status & ETH_DMATXDESC_OWN) != (uint32_t)RESET)
{
errval = ERR_USE;
goto error;
}
/* Get bytes in current lwIP buffer */
byteslefttocopy = q->len;
payloadoffset = 0;
/* Check if the length of data to copy is bigger than Tx buffer size*/
while( (byteslefttocopy + bufferoffset) > ETH_TX_BUF_SIZE )
{
/* Copy data to Tx buffer*/
memcpy( (uint8_t*)((uint8_t*)buffer + bufferoffset), (uint8_t*)((uint8_t*)q->payload + payloadoffset), (ETH_TX_BUF_SIZE - bufferoffset) );
/* Point to next descriptor */
DmaTxDesc = (ETH_DMADescTypeDef *)(DmaTxDesc->Buffer2NextDescAddr);
/* Check if the buffer is available */
if((DmaTxDesc->Status & ETH_DMATXDESC_OWN) != (uint32_t)RESET)
{
errval = ERR_USE;
goto error;
}
buffer = (uint8_t *)(DmaTxDesc->Buffer1Addr);
byteslefttocopy = byteslefttocopy - (ETH_TX_BUF_SIZE - bufferoffset);
payloadoffset = payloadoffset + (ETH_TX_BUF_SIZE - bufferoffset);
framelength = framelength + (ETH_TX_BUF_SIZE - bufferoffset);
bufferoffset = 0;
}
/* Copy the remaining bytes */
memcpy( (uint8_t*)((uint8_t*)buffer + bufferoffset), (uint8_t*)((uint8_t*)q->payload + payloadoffset), byteslefttocopy );
bufferoffset = bufferoffset + byteslefttocopy;
framelength = framelength + byteslefttocopy;
}
/* Prepare transmit descriptors to give to DMA */
HAL_ETH_TransmitFrame(&EthHandle, framelength);
errval = ERR_OK;
error:
/* When Transmit Underflow flag is set, clear it and issue a Transmit Poll Demand to resume transmission */
if ((EthHandle.Instance->DMASR & ETH_DMASR_TUS) != (uint32_t)RESET)
{
/* Clear TUS ETHERNET DMA flag */
EthHandle.Instance->DMASR = ETH_DMASR_TUS;
/* Resume DMA transmission*/
EthHandle.Instance->DMATPDR = 0;
}
return errval;
}
/**
* @brief Should allocate a pbuf and transfer the bytes of the incoming
* packet from the interface into the pbuf.
*
* @param netif the lwip network interface structure for this ethernetif
* @return a pbuf filled with the received packet (including MAC header)
* NULL on memory error
*/
static struct pbuf * low_level_input(struct netif *netif)
{
struct pbuf *p = NULL, *q = NULL;
uint16_t len = 0;
uint8_t *buffer;
__IO ETH_DMADescTypeDef *dmarxdesc;
uint32_t bufferoffset = 0;
uint32_t payloadoffset = 0;
uint32_t byteslefttocopy = 0;
uint32_t i=0;
/* get received frame */
if(HAL_ETH_GetReceivedFrame_IT(&EthHandle) != HAL_OK)
return NULL;
/* Obtain the size of the packet and put it into the "len" variable. */
len = EthHandle.RxFrameInfos.length;
buffer = (uint8_t *)EthHandle.RxFrameInfos.buffer;
if (len > 0)
{
/* We allocate a pbuf chain of pbufs from the Lwip buffer pool */
p = pbuf_alloc(PBUF_RAW, len, PBUF_POOL);
}
if (p != NULL)
{
dmarxdesc = EthHandle.RxFrameInfos.FSRxDesc;
bufferoffset = 0;
for(q = p; q != NULL; q = q->next)
{
byteslefttocopy = q->len;
payloadoffset = 0;
/* Check if the length of bytes to copy in current pbuf is bigger than Rx buffer size */
while( (byteslefttocopy + bufferoffset) > ETH_RX_BUF_SIZE )
{
/* Copy data to pbuf */
memcpy( (uint8_t*)((uint8_t*)q->payload + payloadoffset), (uint8_t*)((uint8_t*)buffer + bufferoffset), (ETH_RX_BUF_SIZE - bufferoffset));
/* Point to next descriptor */
dmarxdesc = (ETH_DMADescTypeDef *)(dmarxdesc->Buffer2NextDescAddr);
buffer = (uint8_t *)(dmarxdesc->Buffer1Addr);
byteslefttocopy = byteslefttocopy - (ETH_RX_BUF_SIZE - bufferoffset);
payloadoffset = payloadoffset + (ETH_RX_BUF_SIZE - bufferoffset);
bufferoffset = 0;
}
/* Copy remaining data in pbuf */
memcpy( (uint8_t*)((uint8_t*)q->payload + payloadoffset), (uint8_t*)((uint8_t*)buffer + bufferoffset), byteslefttocopy);
bufferoffset = bufferoffset + byteslefttocopy;
}
}
/* Release descriptors to DMA */
/* Point to first descriptor */
dmarxdesc = EthHandle.RxFrameInfos.FSRxDesc;
/* Set Own bit in Rx descriptors: gives the buffers back to DMA */
for (i=0; i< EthHandle.RxFrameInfos.SegCount; i++)
{
dmarxdesc->Status |= ETH_DMARXDESC_OWN;
dmarxdesc = (ETH_DMADescTypeDef *)(dmarxdesc->Buffer2NextDescAddr);
}
/* Clear Segment_Count */
EthHandle.RxFrameInfos.SegCount =0;
/* When Rx Buffer unavailable flag is set: clear it and resume reception */
if ((EthHandle.Instance->DMASR & ETH_DMASR_RBUS) != (uint32_t)RESET)
{
/* Clear RBUS ETHERNET DMA flag */
EthHandle.Instance->DMASR = ETH_DMASR_RBUS;
/* Resume DMA reception */
EthHandle.Instance->DMARPDR = 0;
}
return p;
}
/**
* @brief This function is the ethernetif_input task, it is processed when a packet
* is ready to be read from the interface. It uses the function low_level_input()
* that should handle the actual reception of bytes from the network
* interface. Then the type of the received packet is determined and
* the appropriate input function is called.
*
* @param netif the lwip network interface structure for this ethernetif
*/
void ethernetif_input( void const * argument )
{
struct pbuf *p;
struct netif *netif = (struct netif *) argument;
for( ;; )
{
if (osSemaphoreWait( s_xSemaphore, TIME_WAITING_FOR_INPUT)==osOK)
{
do
{
LOCK_TCPIP_CORE();
p = low_level_input( netif );
if (p != NULL)
{
if (netif->input( p, netif) != ERR_OK )
{
pbuf_free(p);
}
}
UNLOCK_TCPIP_CORE();
}while(p!=NULL);
}
}
}
/**
* @brief Should be called at the beginning of the program to set up the
* network interface. It calls the function low_level_init() to do the
* actual setup of the hardware.
*
* This function should be passed as a parameter to netif_add().
*
* @param netif the lwip network interface structure for this ethernetif
* @return ERR_OK if the loopif is initialized
* ERR_MEM if private data couldn't be allocated
* any other err_t on error
*/
err_t ethernetif_init(struct netif *netif)
{
LWIP_ASSERT("netif != NULL", (netif != NULL));
#if LWIP_NETIF_HOSTNAME
/* Initialize interface hostname */
netif->hostname = "lwip";
#endif /* LWIP_NETIF_HOSTNAME */
netif->name[0] = IFNAME0;
netif->name[1] = IFNAME1;
netif->output = etharp_output;
netif->linkoutput = low_level_output;
/* initialize the hardware */
low_level_init(netif);
return ERR_OK;
}
/**
* @brief This function sets the netif link status.
* @param netif: the network interface
* @retval None
*/
void ethernetif_set_link(void const *argument)
{
uint32_t regvalue = 0;
struct link_str *link_arg = (struct link_str *)argument;
for(;;)
{
if (osSemaphoreWait( link_arg->semaphore, 100)== osOK)
{
/* Read PHY_MISR*/
HAL_ETH_ReadPHYRegister(&EthHandle, PHY_MISR, ®value);
/* Check whether the link interrupt has occurred or not */
if((regvalue & PHY_LINK_INTERRUPT) != (uint16_t)RESET)
{
/* Read PHY_SR*/
HAL_ETH_ReadPHYRegister(&EthHandle, PHY_SR, ®value);
/* Check whether the link is up or down*/
if((regvalue & PHY_LINK_STATUS)!= (uint16_t)RESET)
{
netif_set_link_up(link_arg->netif);
}
else
{
netif_set_link_down(link_arg->netif);
}
}
}
}
}
/**
* @brief Link callback function, this function is called on change of link status
* to update low level driver configuration.
* @param netif: The network interface
* @retval None
*/
void ethernetif_update_config(struct netif *netif)
{
__IO uint32_t tickstart = 0;
uint32_t regvalue = 0;
if(netif_is_link_up(netif))
{
/* Restart the auto-negotiation */
if(EthHandle.Init.AutoNegotiation != ETH_AUTONEGOTIATION_DISABLE)
{
/* Enable Auto-Negotiation */
HAL_ETH_WritePHYRegister(&EthHandle, PHY_BCR, PHY_AUTONEGOTIATION);
/* Get tick */
tickstart = HAL_GetTick();
/* Wait until the auto-negotiation will be completed */
do
{
HAL_ETH_ReadPHYRegister(&EthHandle, PHY_BSR, ®value);
/* Check for the Timeout ( 1s ) */
if((HAL_GetTick() - tickstart ) > 1000)
{
/* In case of timeout */
goto error;
}
} while (((regvalue & PHY_AUTONEGO_COMPLETE) != PHY_AUTONEGO_COMPLETE));
/* Read the result of the auto-negotiation */
HAL_ETH_ReadPHYRegister(&EthHandle, PHY_SR, ®value);
/* Configure the MAC with the Duplex Mode fixed by the auto-negotiation process */
if((regvalue & PHY_DUPLEX_STATUS) != (uint32_t)RESET)
{
/* Set Ethernet duplex mode to Full-duplex following the auto-negotiation */
EthHandle.Init.DuplexMode = ETH_MODE_FULLDUPLEX;
}
else
{
/* Set Ethernet duplex mode to Half-duplex following the auto-negotiation */
EthHandle.Init.DuplexMode = ETH_MODE_HALFDUPLEX;
}
/* Configure the MAC with the speed fixed by the auto-negotiation process */
if(regvalue & PHY_SPEED_STATUS)
{
/* Set Ethernet speed to 10M following the auto-negotiation */
EthHandle.Init.Speed = ETH_SPEED_10M;
}
else
{
/* Set Ethernet speed to 100M following the auto-negotiation */
EthHandle.Init.Speed = ETH_SPEED_100M;
}
}
else /* AutoNegotiation Disable */
{
error :
/* Check parameters */
assert_param(IS_ETH_SPEED(EthHandle.Init.Speed));
assert_param(IS_ETH_DUPLEX_MODE(EthHandle.Init.DuplexMode));
/* Set MAC Speed and Duplex Mode to PHY */
HAL_ETH_WritePHYRegister(&EthHandle, PHY_BCR, ((uint16_t)(EthHandle.Init.DuplexMode >> 3) |
(uint16_t)(EthHandle.Init.Speed >> 1)));
}
/* ETHERNET MAC Re-Configuration */
HAL_ETH_ConfigMAC(&EthHandle, (ETH_MACInitTypeDef *) NULL);
/* Restart MAC interface */
HAL_ETH_Start(&EthHandle);
}
else
{
/* Stop MAC interface */
HAL_ETH_Stop(&EthHandle);
}
ethernetif_notify_conn_changed(netif);
}
/**
* @brief This function notify user about link status changement.
* @param netif: the network interface
* @retval None
*/
__weak void ethernetif_notify_conn_changed(struct netif *netif)
{
/* NOTE : This is function could be implemented in user file
when the callback is needed,
*/
}
u32_t sys_now(void)
{
return HAL_GetTick();
}