Add Servo example
Ralf Schlatterbeck
parent
6695835808
commit
81598323c6
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# Set this to the name of your sketch (without extension .pde)
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SKETCH=sketch
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EXE=arduino-example
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all: $(EXE)
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CONTIKI=../../..
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# Contiki IPv6 configuration
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CONTIKI_WITH_IPV6 = 1
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CFLAGS += -DPROJECT_CONF_H=\"project-conf.h\"
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PROJECT_SOURCEFILES += ${SKETCH}.cpp
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# variable for Makefile.include
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ifneq ($(TARGET), minimal-net)
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CFLAGS += -DUIP_CONF_IPV6_RPL=1
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else
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# minimal-net does not support RPL under Linux and is mostly used to test CoAP only
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${info INFO: compiling without RPL}
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CFLAGS += -DUIP_CONF_IPV6_RPL=0
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CFLAGS += -DHARD_CODED_ADDRESS=\"fdfd::10\"
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${info INFO: compiling with large buffers}
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CFLAGS += -DUIP_CONF_BUFFER_SIZE=2048
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CFLAGS += -DREST_MAX_CHUNK_SIZE=1024
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CFLAGS += -DCOAP_MAX_HEADER_SIZE=640
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endif
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# linker optimizations
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SMALL=1
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# REST Engine shall use Erbium CoAP implementation
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APPS += er-coap
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APPS += rest-engine
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APPS += time json arduino json-resource
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include $(CONTIKI)/Makefile.include
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include $(CONTIKI)/apps/arduino/Makefile.include
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$(CONTIKI)/tools/tunslip6: $(CONTIKI)/tools/tunslip6.c
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(cd $(CONTIKI)/tools && $(MAKE) tunslip6)
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connect-router: $(CONTIKI)/tools/tunslip6
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sudo $(CONTIKI)/tools/tunslip6 aaaa::1/64
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connect-router-cooja: $(CONTIKI)/tools/tunslip6
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sudo $(CONTIKI)/tools/tunslip6 -a 127.0.0.1 aaaa::1/64
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connect-minimal:
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sudo ip address add fdfd::1/64 dev tap0
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#include <arduino-process.h>
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AUTOSTART_PROCESSES(&arduino_sketch);
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/*
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* Copyright (c) 2010, Swedish Institute of Computer Science.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the distribution.
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* 3. Neither the name of the Institute nor the names of its contributors
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* may be used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
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* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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* ARE DISCLAIMED. IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
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* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
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* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
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* OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
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* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
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* OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
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* SUCH DAMAGE.
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*
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*
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*/
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#ifndef PROJECT_RPL_WEB_CONF_H_
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#define PROJECT_RPL_WEB_CONF_H_
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#define PLATFORM_HAS_LEDS 1
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//#define PLATFORM_HAS_BUTTON 1
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#define PLATFORM_HAS_BATTERY 1
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#define SICSLOWPAN_CONF_FRAG 1
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/* For Debug: Dont allow MCU sleeping between channel checks */
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#undef RDC_CONF_MCU_SLEEP
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#define RDC_CONF_MCU_SLEEP 0
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/* Disabling RDC for demo purposes. Core updates often require more memory. */
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/* For projects, optimize memory and enable RDC again. */
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// #undef NETSTACK_CONF_RDC
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//#define NETSTACK_CONF_RDC nullrdc_driver
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/* Increase rpl-border-router IP-buffer when using more than 64. */
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#undef REST_MAX_CHUNK_SIZE
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#define REST_MAX_CHUNK_SIZE 64
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/* Estimate your header size, especially when using Proxy-Uri. */
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/*
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#undef COAP_MAX_HEADER_SIZE
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#define COAP_MAX_HEADER_SIZE 70
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*/
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/* The IP buffer size must fit all other hops, in particular the border router. */
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#undef UIP_CONF_BUFFER_SIZE
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#define UIP_CONF_BUFFER_SIZE 256
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/* Multiplies with chunk size, be aware of memory constraints. */
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#undef COAP_MAX_OPEN_TRANSACTIONS
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#define COAP_MAX_OPEN_TRANSACTIONS 4
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/* Must be <= open transaction number, default is COAP_MAX_OPEN_TRANSACTIONS-1. */
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/*
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#undef COAP_MAX_OBSERVERS
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#define COAP_MAX_OBSERVERS 2
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*/
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/* Filtering .well-known/core per query can be disabled to save space. */
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/*
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#undef COAP_LINK_FORMAT_FILTERING
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#define COAP_LINK_FORMAT_FILTERING 0
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*/
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/* Save some memory for the sky platform. */
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/*
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#undef NBR_TABLE_CONF_MAX_NEIGHBORS
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#define NBR_TABLE_CONF_MAX_NEIGHBORS 10
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#undef UIP_CONF_MAX_ROUTES
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#define UIP_CONF_MAX_ROUTES 10
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*/
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/* Reduce 802.15.4 frame queue to save RAM. */
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/*
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#undef QUEUEBUF_CONF_NUM
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#define QUEUEBUF_CONF_NUM 4
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*/
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/*
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#undef SICSLOWPAN_CONF_FRAG
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#define SICSLOWPAN_CONF_FRAG 1
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*/
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#endif /* PROJECT_RPL_WEB_CONF_H_ */
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/*
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*/
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extern "C" {
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#include <hw_timer.h>
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/* This needs to be the timer that can generate PWM */
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#define TIMER 3
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#define PIN_PWM_A 2 // D2 in Arduino notation, corresponds to HWT_CHANNEL_A
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#define PIN_PWM_B 3 // D3 in Arduino notation, corresponds to HWT_CHANNEL_B
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#define PIN_PWM_C 4 // D4 in Arduino notation, corresponds to HWT_CHANNEL_C
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/* 2.5ms may be too much for your servo, this should be set from the
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* datasheet of the servo if available. If the servo hums when fully
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* engaged, this is almost certainly set too high.
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* The value below is in microseconds.
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*/
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#define SERVO_MAX_US 2500
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static uint16_t pwm_max = 0;
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static uint16_t pwm_max_servo = 0;
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static uint16_t pwm = 1;
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}
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void setup (void)
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{
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// 10.000 µS = 10ms
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hwtimer_pwm_ini (TIMER, 10000, HWT_PWM_FAST, 0);
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hwtimer_pwm_enable (TIMER, HWT_CHANNEL_A);
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hwtimer_set_pwm (TIMER, HWT_CHANNEL_A, pwm);
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pinMode (PIN_PWM_A, OUTPUT);
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pwm_max = hwtimer_pwm_max_ticks (TIMER) - 1;
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pwm_max_servo = (uint16_t)((uint32_t)pwm_max * SERVO_MAX_US / 10000);
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printf ("pwm_max: %u, pwm_max_servo: %u\n", pwm_max, pwm_max_servo);
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//rest_init_engine ();
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//rest_activate_resource (&res_led_pwm, (char *)"led/pwm");
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}
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void loop (void)
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{
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printf ("pwm: %d\n", pwm);
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hwtimer_set_pwm (TIMER, HWT_CHANNEL_A, pwm);
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pwm += pwm_max_servo / 9;
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if (pwm > pwm_max_servo) {
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pwm = 1;
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}
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}
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