initial upload

examples/osd/arduino-distance/Makefile

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+# Set this to the name of your sketch (without extension .pde)
+SKETCH=sketch
+
+ifeq ($(TARGET), osd-merkur)
+PLATFORM_FILES= avr-size arduino-example.osd-merkur.hex \
+    arduino-example.osd-merkur.eep
+endif
+
+all: arduino-example $(PLATFORM_FILES)
+
+CONTIKI=../../..
+
+# Contiki IPv6 configuration
+CONTIKI_WITH_IPV6 = 1
+
+CFLAGS += -DPROJECT_CONF_H=\"project-conf.h\"
+
+PROJECT_SOURCEFILES += ${SKETCH}.cpp
+
+# automatically build RESTful resources
+REST_RESOURCES_DIR = ./resources
+REST_RESOURCES_DIR_COMMON = ../resources-common
+REST_RESOURCES_FILES= $(notdir \
+    $(shell find $(REST_RESOURCES_DIR) -name '*.c') \
+    $(shell find $(REST_RESOURCES_DIR_COMMON) -name '*.c') \
+    )
+
+PROJECTDIRS += $(REST_RESOURCES_DIR) $(REST_RESOURCES_DIR_COMMON)
+PROJECT_SOURCEFILES += $(REST_RESOURCES_FILES)
+
+# variable for Makefile.include
+ifneq ($(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 += arduino
+
+include $(CONTIKI)/Makefile.include
+include $(CONTIKI)/apps/arduino/Makefile.include
+
+avr-size: arduino-example.osd-merkur
+	avr-size -C --mcu=MCU=atmega128rfa1 arduino-example.osd-merkur
+
+arduino-example.osd-merkur.hex: arduino-example.osd-merkur
+	avr-objcopy -j .text -j .data -O ihex arduino-example.osd-merkur \
+	    arduino-example.osd-merkur.hex
+
+arduino-example.osd-merkur.eep: arduino-example.osd-merkur
+	avr-objcopy -j .eeprom --set-section-flags=.eeprom="alloc,load" \
+	    --change-section-lma .eeprom=0 -O ihex                      \
+	    arduino-example.osd-merkur arduino-example.osd-merkur.eep
+
+flash: arduino-example.osd-merkur.hex arduino-example.osd-merkur.eep
+	avrdude -pm128rfa1 -c arduino -P/dev/tty.usbserial-AE01CZ7S -b57600 -e -U \
+	    flash:w:arduino-example.osd-merkur.hex:a -U \
+	    eeprom:w:arduino-example.osd-merkur.eep:a
+
+.PHONY: flash avr-size
+
+$(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/arduino-distance/README.md

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+Arduino compatibility example
+=============================
+
+This example shows that it is now possible to re-use arduino sketches in
+Contiki. This example documents the necessary magic. Arduino specifies
+two routines, `setup` and `loop`. Before `setup` is called, the
+framework initializes hardware. In original Arduino, all this is done in
+a `main` function (in C). For contiki we define a process that does the
+same.
+
+See the documentation file in apps/contiki-compat/README.md

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

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

examples/osd/arduino-distance/flash.sh

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+#!/bin/bash
+make TARGET=osd-merkur flash

examples/osd/arduino-distance/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/arduino-distance/resources/res-distance.c

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+/*
+ * Copyright (c) 2013, Institute for Pervasive Computing, ETH Zurich
+ * 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.
+ *
+ * This file is part of the Contiki operating system.
+ */
+
+/**
+ * \file
+ *      Moisture resource
+ * \author
+ *      Harald Pichler <harald@the-develop.net>
+ */
+
+#include "contiki.h"
+
+#include <string.h>
+#include "rest-engine.h"
+#include "Arduino.h"
+#include "sketch.h"
+
+
+#define clockCyclesPerMicrosecond() ( F_CPU / 1000000L )
+#define clockCyclesToMicroseconds(a) ( (a) / clockCyclesPerMicrosecond() )
+#define microsecondsToClockCycles(a) ( (a) * clockCyclesPerMicrosecond() )
+
+unsigned long pulseIn(uint8_t pin, uint8_t state, unsigned long timeout)
+{
+        // cache the port and bit of the pin in order to speed up the
+        // pulse width measuring loop and achieve finer resolution.  calling
+        // digitalRead() instead yields much coarser resolution.
+        uint8_t bit = digitalPinToBitMask(pin);
+        uint8_t port = digitalPinToPort(pin);
+        uint8_t stateMask = (state ? bit : 0);
+        unsigned long width = 0; // keep initialization out of time critical area
+
+        // convert the timeout from microseconds to a number of times through
+        // the initial loop; it takes 16 clock cycles per iteration.
+        unsigned long numloops = 0;
+        unsigned long maxloops = microsecondsToClockCycles(timeout) / 16;
+
+        // wait for any previous pulse to end
+        while ((*portInputRegister(port) & bit) == stateMask)
+                if (numloops++ == maxloops)
+                        return 0;
+        // wait for the pulse to start
+        while ((*portInputRegister(port) & bit) != stateMask)
+                if (numloops++ == maxloops)
+                        return 0;
+
+        // wait for the pulse to stop
+        while ((*portInputRegister(port) & bit) == stateMask)
+                width++;
+
+        // convert the reading to microseconds. The loop has been determined
+        // to be 10 clock cycles long and have about 16 clocks between the edge
+        // and the start of the loop. There will be some error introduced by
+        // the interrupt handlers.
+        return clockCyclesToMicroseconds(width * 10 + 16);
+}
+
+
+
+
+static void res_get_handler(void *request, void *response, uint8_t *buffer, uint16_t preferred_size, int32_t *offset);
+
+/* A simple getter example. Returns the reading from the sensor with a simple etag */
+RESOURCE(res_distance,
+         "title=\"Distance status\";rt=\"Distance\"",
+         res_get_handler,
+         NULL,
+         NULL,
+         NULL);
+
+static void
+res_get_handler(void *request, void *response, uint8_t *buffer, uint16_t preferred_size, int32_t *offset)
+{
+
+  unsigned int accept = -1;
+  REST.get_header_accept(request, &accept);
+
+  long duration, distance;
+
+  digitalWrite(TRIG_PIN, LOW);
+  delayMicroseconds(2);
+  digitalWrite(TRIG_PIN, HIGH);
+  delayMicroseconds(20);
+  digitalWrite(TRIG_PIN, LOW);
+
+  duration = pulseIn(ECHO_PIN, HIGH, 500000);
+
+  // found this computation in some arduino examples
+  //distance = (duration/2) / 29.1;
+  // to get millimeters (duration -20) / 3.18 is a good approach
+  distance = (duration-20)/3.18;
+
+  if(accept == -1 || accept == REST.type.TEXT_PLAIN) {
+    REST.set_header_content_type(response, REST.type.TEXT_PLAIN);
+    snprintf((char *)buffer, REST_MAX_CHUNK_SIZE, "%ld", distance);
+
+    REST.set_response_payload(response, buffer, strlen((char *)buffer));
+  } else if(accept == REST.type.APPLICATION_JSON) {
+    REST.set_header_content_type(response, REST.type.APPLICATION_JSON);
+    snprintf((char *)buffer, REST_MAX_CHUNK_SIZE, "{'distance':%ld}", distance);
+
+    REST.set_response_payload(response, buffer, strlen((char *)buffer));
+  } else {
+    REST.set_response_status(response, REST.status.NOT_ACCEPTABLE);
+    const char *msg = "Supporting content-types text/plain and application/json";
+    REST.set_response_payload(response, msg, strlen(msg));
+  }
+}
+

examples/osd/arduino-distance/run.sh

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+#!/bin/bash
+# For the new bootloader (using a jump-table) you want to use
+# BOOTLOADER_GET_MAC=0x0001ff80 (which is the current default)
+make clean TARGET=osd-merkur
+make TARGET=osd-merkur BOOTLOADER_GET_MAC=0x0001f3a0

examples/osd/arduino-distance/sketch.h

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+#ifndef Sketch_h
+#define Sketch_h
+
+// HC-SR04 Ultrasonic Ranging Module has 4 pins
+
+// HC-SR04 pin Vcc (needs 5v)
+
+// HC-SR04 pin Trig (3.3v input = Merkurboard output)
+#define TRIG_PIN 19
+
+// HC-SR04 pin Echo (3.3v output = Merkurboard input)
+#define ECHO_PIN 20
+
+// HC-SR04 pin Gnd
+
+#endif
+

examples/osd/arduino-distance/sketch.pde

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+/*
+ * Sample arduino sketch using contiki features.
+ * We turn the LED off 
+ * We allow read the moisture sensor
+ * Unfortunately sleeping for long times in loop() isn't currently
+ * possible, something turns off the CPU (including PWM outputs) if a
+ * Proto-Thread is taking too long. We need to find out how to sleep in
+ * a Contiki-compatible way.
+ * Note that for a normal arduino sketch you won't have to include any
+ * of the contiki-specific files here, the sketch should just work.
+ */
+
+extern "C" {
+#include "sketch.h"
+#include "rest-engine.h"
+#include "net/netstack.h"
+
+extern volatile uint8_t mcusleepcycle;  // default 16
+extern resource_t res_battery, res_distance;
+#define LED_PIN 4    /* LED Pin */
+
+}
+
+void setup (void)
+{
+    NETSTACK_MAC.off(1);
+
+    // switch off the led
+    pinMode(LED_PIN, OUTPUT);
+    digitalWrite(LED_PIN, HIGH);
+    // init coap resourcen
+    rest_init_engine ();
+    rest_activate_resource (&res_battery, "s/battery");
+    rest_activate_resource (&res_distance, "s/distance");
+
+    pinMode(TRIG_PIN, OUTPUT);
+    pinMode(ECHO_PIN, INPUT);
+}
+
+void loop (void)
+{
+    mcusleepcycle=0;  // dont sleep
+
+    mcusleepcycle=16; // sleep, wakeup every 32 cycles
+}
+