Add Servo example

examples/osd/servo-example/Makefile

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+# Set this to the name of your sketch (without extension .pde)
+SKETCH=sketch
+EXE=arduino-example
+
+all: $(EXE)
+
+CONTIKI=../../..
+
+# Contiki IPv6 configuration
+CONTIKI_WITH_IPV6 = 1
+
+CFLAGS += -DPROJECT_CONF_H=\"project-conf.h\"
+
+PROJECT_SOURCEFILES += ${SKETCH}.cpp
+
+# variable for Makefile.include
+ifneq ($(TARGET), minimal-net)
+CFLAGS += -DUIP_CONF_IPV6_RPL=1
+else
+# minimal-net does not support RPL under Linux and is mostly used to test CoAP only
+${info INFO: compiling without RPL}
+CFLAGS += -DUIP_CONF_IPV6_RPL=0
+CFLAGS += -DHARD_CODED_ADDRESS=\"fdfd::10\"
+${info INFO: compiling with large buffers}
+CFLAGS += -DUIP_CONF_BUFFER_SIZE=2048
+CFLAGS += -DREST_MAX_CHUNK_SIZE=1024
+CFLAGS += -DCOAP_MAX_HEADER_SIZE=640
+endif
+
+# linker optimizations
+SMALL=1
+
+# REST Engine shall use Erbium CoAP implementation
+APPS += er-coap
+APPS += rest-engine
+APPS += time json arduino json-resource
+
+include $(CONTIKI)/Makefile.include
+include $(CONTIKI)/apps/arduino/Makefile.include
+
+$(CONTIKI)/tools/tunslip6:      $(CONTIKI)/tools/tunslip6.c
+	(cd $(CONTIKI)/tools && $(MAKE) tunslip6)
+
+connect-router: $(CONTIKI)/tools/tunslip6
+	sudo $(CONTIKI)/tools/tunslip6 aaaa::1/64
+
+connect-router-cooja:   $(CONTIKI)/tools/tunslip6
+	sudo $(CONTIKI)/tools/tunslip6 -a 127.0.0.1 aaaa::1/64
+
+connect-minimal:
+	sudo ip address add fdfd::1/64 dev tap0

examples/osd/servo-example/arduino-example.c

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+#include <arduino-process.h>
+AUTOSTART_PROCESSES(&arduino_sketch);

examples/osd/servo-example/project-conf.h

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+/*
+ * Copyright (c) 2010, Swedish Institute of Computer Science.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in the
+ *    documentation and/or other materials provided with the distribution.
+ * 3. Neither the name of the Institute nor the names of its contributors
+ *    may be used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED.  IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+ * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ *
+ *
+ */
+
+#ifndef PROJECT_RPL_WEB_CONF_H_
+#define PROJECT_RPL_WEB_CONF_H_
+
+#define PLATFORM_HAS_LEDS    1
+//#define PLATFORM_HAS_BUTTON  1
+#define PLATFORM_HAS_BATTERY 1
+
+#define SICSLOWPAN_CONF_FRAG	1
+
+/* For Debug: Dont allow MCU sleeping between channel checks */
+#undef RDC_CONF_MCU_SLEEP
+#define RDC_CONF_MCU_SLEEP       0
+
+/* Disabling RDC for demo purposes. Core updates often require more memory. */
+/* For projects, optimize memory and enable RDC again. */
+// #undef NETSTACK_CONF_RDC
+//#define NETSTACK_CONF_RDC     nullrdc_driver
+
+/* Increase rpl-border-router IP-buffer when using more than 64. */
+#undef REST_MAX_CHUNK_SIZE
+#define REST_MAX_CHUNK_SIZE    64
+
+/* Estimate your header size, especially when using Proxy-Uri. */
+/*
+#undef COAP_MAX_HEADER_SIZE
+#define COAP_MAX_HEADER_SIZE    70
+*/
+
+/* The IP buffer size must fit all other hops, in particular the border router. */
+
+#undef UIP_CONF_BUFFER_SIZE
+#define UIP_CONF_BUFFER_SIZE    256
+
+
+/* Multiplies with chunk size, be aware of memory constraints. */
+#undef COAP_MAX_OPEN_TRANSACTIONS
+#define COAP_MAX_OPEN_TRANSACTIONS   4
+
+/* Must be <= open transaction number, default is COAP_MAX_OPEN_TRANSACTIONS-1. */
+/*
+#undef COAP_MAX_OBSERVERS
+#define COAP_MAX_OBSERVERS      2
+*/
+
+/* Filtering .well-known/core per query can be disabled to save space. */
+/*
+#undef COAP_LINK_FORMAT_FILTERING
+#define COAP_LINK_FORMAT_FILTERING      0
+*/
+
+/* Save some memory for the sky platform. */
+/*
+#undef NBR_TABLE_CONF_MAX_NEIGHBORS
+#define NBR_TABLE_CONF_MAX_NEIGHBORS     10
+#undef UIP_CONF_MAX_ROUTES
+#define UIP_CONF_MAX_ROUTES   10
+*/
+
+/* Reduce 802.15.4 frame queue to save RAM. */
+/*
+#undef QUEUEBUF_CONF_NUM
+#define QUEUEBUF_CONF_NUM       4
+*/
+
+/*
+#undef SICSLOWPAN_CONF_FRAG
+#define SICSLOWPAN_CONF_FRAG	1
+*/
+
+#endif /* PROJECT_RPL_WEB_CONF_H_ */

examples/osd/servo-example/sketch.pde

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+/*
+ */
+
+extern "C" {
+#include <hw_timer.h>
+/* This needs to be the timer that can generate PWM */
+#define TIMER 3
+#define PIN_PWM_A 2 // D2 in Arduino notation, corresponds to HWT_CHANNEL_A
+#define PIN_PWM_B 3 // D3 in Arduino notation, corresponds to HWT_CHANNEL_B
+#define PIN_PWM_C 4 // D4 in Arduino notation, corresponds to HWT_CHANNEL_C
+/* 2.5ms may be too much for your servo, this should be set from the
+ * datasheet of the servo if available. If the servo hums when fully
+ * engaged, this is almost certainly set too high.
+ * The value below is in microseconds.
+ */
+#define SERVO_MAX_US 2500
+
+static uint16_t pwm_max       = 0;
+static uint16_t pwm_max_servo = 0;
+static uint16_t pwm           = 1;
+
+}
+
+void setup (void)
+{
+
+    // 10.000 µS = 10ms
+    hwtimer_pwm_ini (TIMER, 10000, HWT_PWM_FAST, 0);
+    hwtimer_pwm_enable (TIMER, HWT_CHANNEL_A);
+    hwtimer_set_pwm (TIMER, HWT_CHANNEL_A, pwm);
+    pinMode (PIN_PWM_A, OUTPUT);
+    pwm_max = hwtimer_pwm_max_ticks (TIMER) - 1;
+    pwm_max_servo = (uint16_t)((uint32_t)pwm_max * SERVO_MAX_US / 10000);
+    printf ("pwm_max: %u, pwm_max_servo: %u\n", pwm_max, pwm_max_servo);
+    //rest_init_engine ();
+    //rest_activate_resource (&res_led_pwm,         (char *)"led/pwm");
+}
+
+void loop (void)
+{
+    printf ("pwm: %d\n", pwm);
+    hwtimer_set_pwm (TIMER, HWT_CHANNEL_A, pwm);
+    pwm += pwm_max_servo / 9;
+    if (pwm > pwm_max_servo) {
+        pwm = 1;
+    }
+}