Add Arduino compatibility layer
We can now directly compile arduino sketches (.pde) files. Arduino compatible analogWrite works now. But there is still a long way to go, serial I/O and timer stuff (delay, millis etc) currently don't work (not tested but I don't expect this to work). It can be used in an arduino sketch or in a normal contiki program. We get a PWM frequency of 490.2 Hz (a period of 2.040 ms), that's Arduino compatible. If you need different frequencies see native timer usage in examples/osd/pwm-example In a contiki program you have to call arduino_pwm_timer_init to initialize the timer before pwm works. The arduino sketch wrapper already does this. For running a sketch, see examples/osd/arduino-sketch
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Ralf Schlatterbeck
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22 changed files with 999 additions and 361 deletions
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dev/arduino/arduino-compat.h
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dev/arduino/arduino-compat.h
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/*
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* Copyright (c) 2014, Ralf Schlatterbeck Open Source Consulting
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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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* This file is part of the Contiki operating system.
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*/
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/**
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* \defgroup Hardware independent Arduino compatibility
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*
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* This file is meant to be included into a compatible Arduino.h
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*
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* Arduino calls the combination of an AVR timer and the corresponding
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* channel a timer. So Arduinos definition of timer is different from
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* that of AVR documentation. Arduino defines arbitrary TIMERXX macros
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* that are later parsed in a big switch statement.
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*
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* We use a better representation of timer values than arduino here:
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* The AVRs have max. 6 (numbered 0-5) timers. For representing these we
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* need 3 bits. In addition each timer can have channels A-D (or just
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* one channel in which case there is no alphabetic suffix). We can
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* represent this in 2 bits. We add one bit to each for future
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* compatibility and come up with 7 bits, still easily represented in 8
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* bit with room for a 'NOT_ON_TIMER' value. From these we can easily
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* compute the channel and timer by shifting. No need for a big switch
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* statement, and -- which is the common case -- when initializing with
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* a constant for the pin, the compiler can compute everything at
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* compile-time (that's why the analogWrite below is implemented as a
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* static inline function).
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*
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* Note that Arduino also defines some TIMERX without an alphabetic
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* suffix (e.g. TIMER2). I suspect this is for microcontrollers that
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* only have one channel for a certain timer. So this is currently
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* defined the same as TIMER2A because they are never used together.
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* This may be wrong and may be a bug.
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*
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* Note that the hardware definition still has to define a
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* digitalPinToTimer macro. We suggest to not implement this with a
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* static table in program memory (as currently done by arduino) but
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* instead as an if-cascade (as a C-macro). This allows the compiler to
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* completely compute the if-cascade at compile-time if the used pin is
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* a constant, resulting in *much* smaller code-footprint in the most
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* common use-case.
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*
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* @{
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*/
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/**
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* \file
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* Header file for arduino compatibility
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* \author
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* Ralf Schlatterbeck <rsc@runtux.com>
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*
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*/
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/* To be included by a compatible Arduino.h */
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#ifdef __cplusplus
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extern "C" {
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#endif
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#include "contiki.h"
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#include "hw_timer.h"
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#ifdef __cplusplus
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} // extern "C"
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#endif
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#define HW_TIMER_SHIFT 3
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#define NOT_ON_TIMER 0xFF
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#define TIMER0A ((0 << HW_TIMER_SHIFT) | HWT_CHANNEL_A)
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#define TIMER0B ((0 << HW_TIMER_SHIFT) | HWT_CHANNEL_B)
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#define TIMER1A ((1 << HW_TIMER_SHIFT) | HWT_CHANNEL_A)
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#define TIMER1B ((1 << HW_TIMER_SHIFT) | HWT_CHANNEL_B)
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#define TIMER1C ((1 << HW_TIMER_SHIFT) | HWT_CHANNEL_C)
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#define TIMER2 ((2 << HW_TIMER_SHIFT) | HWT_CHANNEL_A)
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#define TIMER2A ((2 << HW_TIMER_SHIFT) | HWT_CHANNEL_A)
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#define TIMER2B ((2 << HW_TIMER_SHIFT) | HWT_CHANNEL_B)
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#define TIMER3A ((3 << HW_TIMER_SHIFT) | HWT_CHANNEL_A)
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#define TIMER3B ((3 << HW_TIMER_SHIFT) | HWT_CHANNEL_B)
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#define TIMER3C ((3 << HW_TIMER_SHIFT) | HWT_CHANNEL_C)
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#define TIMER4A ((4 << HW_TIMER_SHIFT) | HWT_CHANNEL_A)
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#define TIMER4B ((4 << HW_TIMER_SHIFT) | HWT_CHANNEL_B)
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#define TIMER4C ((4 << HW_TIMER_SHIFT) | HWT_CHANNEL_C)
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#define TIMER4D ((4 << HW_TIMER_SHIFT) | HWT_CHANNEL_D)
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#define TIMER5A ((5 << HW_TIMER_SHIFT) | HWT_CHANNEL_A)
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#define TIMER5B ((5 << HW_TIMER_SHIFT) | HWT_CHANNEL_B)
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#define TIMER5C ((5 << HW_TIMER_SHIFT) | HWT_CHANNEL_C)
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#ifdef __cplusplus
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extern "C" {
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#endif
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static inline void analogWrite(uint8_t pin, int val)
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{
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/*
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* Note on the timer usage: Arduino has code here that
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* explicitly checks if the given val is 0 or 0xFF.
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* The 16-bit timers on Arduino use the phase correct PWM
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* waveform generation mode which already sets the output to
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* continuous low for 0 or continuous high for 0xFF. When using
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* an 8-bit timer, Arduino uses fast PWM which creates a tiny
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* spike for 0, so to be Arduino-compatible in this mode we use
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* digitalWrite in this case.
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*/
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uint8_t arduino_timer = digitalPinToTimer(pin);
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pinMode(pin, OUTPUT);
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if (val == 0 || arduino_timer == NOT_ON_TIMER) {
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digitalWrite(pin, (val < 128) ? LOW : HIGH);
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} else {
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uint8_t t = arduino_timer >> HW_TIMER_SHIFT;
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uint8_t c = arduino_timer & HWT_CHANNEL_MASK;
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hwtimer_pwm_enable (t, c);
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hwtimer_set_pwm (t, c, val);
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}
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}
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#ifdef __cplusplus
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} // extern "C"
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#endif
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/*
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* VI settings, see coding style
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* ex:ts=8:et:sw=2
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*/
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/** @} */
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