Split dispatch init/run, join IPv6 multicast discovery group in firmware

firmware/firmware.cpp

@@ -1,5 +1,17 @@
 #include "dispatch.h"
 #include "handlers.h"
+#include "w6300.h"
+
+static constexpr uint16_t PICOMAP_DISCOVERY_PORT = 28777;
+
+static constexpr std::array<uint8_t, 16> picomap_discovery_ip = {
+    0xff, 0x02, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+    0x70, 0x69, 0x63, 0x6f, 0x6d, 0x61, 0x70, 0x00,
+};
+
+static constexpr std::array<uint8_t, 6> picomap_discovery_mac = {
+    0x33, 0x33, 0x6d, 0x61, 0x70, 0x00,
+};
 
 static constexpr handler_entry handlers[] = {
     {RequestPICOBOOT::ext_id, handle_picoboot},
@@ -7,5 +19,17 @@ static constexpr handler_entry handlers[] = {
 };
 
 int main() {
-    dispatch(handlers);
+    dispatch_init();
+
+    auto sn = w6300::socket_id{1};
+    w6300::set_socket_dest_mac(sn, picomap_discovery_mac);
+    w6300::ip_address addr = {};
+    std::copy(picomap_discovery_ip.begin(), picomap_discovery_ip.end(), addr.ip.begin());
+    addr.len = 16;
+    w6300::set_socket_dest_ip(sn, addr);
+    w6300::set_socket_dest_port(sn, w6300::port_num{PICOMAP_DISCOVERY_PORT});
+    w6300::open_socket(sn, w6300::protocol::udp6, w6300::port_num{PICOMAP_DISCOVERY_PORT},
+                       w6300::sock_flag::multi_enable);
+
+    dispatch_run(handlers);
 }

firmware/include/dispatch.h

@@ -8,4 +8,5 @@ struct handler_entry {
     void (*handle)(usb_cdc&, uint32_t);
 };
 
-[[noreturn]] void dispatch(std::span<const handler_entry> handlers);
+void dispatch_init();
+[[noreturn]] void dispatch_run(std::span<const handler_entry> handlers);

firmware/lib/dispatch.cpp

@@ -6,15 +6,17 @@
 #include "timer_queue.h"
 #include "net.h"
 
-[[noreturn]] void dispatch(std::span<const handler_entry> handlers) {
+void dispatch_init() {
+    tusb_init();
+    net_init();
+}
+
+[[noreturn]] void dispatch_run(std::span<const handler_entry> handlers) {
     std::unordered_map<int8_t, void (*)(usb_cdc&, uint32_t)> handler_map;
     for (auto& entry : handlers) {
         handler_map[entry.type_id] = entry.handle;
     }
 
-    tusb_init();
-    net_init();
-
     static usb_cdc usb;
     static timer_queue timers;
     static static_vector<uint8_t, 256> rx_buf;

firmware/test.cpp

@@ -7,5 +7,6 @@ static constexpr handler_entry handlers[] = {
 };
 
 int main() {
-    dispatch(handlers);
+    dispatch_init();
+    dispatch_run(handlers);
 }

firmware/w6300/w6300.cpp

@@ -1730,6 +1730,10 @@ uint16_t get_socket_mss(socket_id sid) {
     return get_sn_mssr(static_cast<uint8_t>(sid));
 }
 
+void set_socket_dest_mac(socket_id sid, const std::array<uint8_t, 6>& mac) {
+    set_sn_dhar(static_cast<uint8_t>(sid), const_cast<uint8_t*>(mac.data()));
+}
+
 void set_socket_dest_ip(socket_id sid, const ip_address& addr) {
     uint8_t sn = static_cast<uint8_t>(sid);
     if (addr.len == 16) set_sn_dip6r(sn, const_cast<uint8_t*>(addr.ip.data()));

firmware/w6300/w6300.h

@@ -247,6 +247,7 @@ void set_socket_tos(socket_id sn, uint8_t tos);
 uint8_t get_socket_tos(socket_id sn);
 void set_socket_mss(socket_id sn, uint16_t mss);
 uint16_t get_socket_mss(socket_id sn);
+void set_socket_dest_mac(socket_id sn, const std::array<uint8_t, 6>& mac);
 void set_socket_dest_ip(socket_id sn, const ip_address& addr);
 ip_address get_socket_dest_ip(socket_id sn);
 void set_socket_dest_port(socket_id sn, port_num port);