Harald
commit
b90acf2491
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@ -31,40 +31,9 @@ endif
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# linker optimizations
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SMALL=1
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# REST framework, requires WITH_COAP
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ifeq ($(WITH_COAP), 13)
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${info INFO: compiling with CoAP-13}
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CFLAGS += -DWITH_COAP=13
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CFLAGS += -DREST=coap_rest_implementation
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CFLAGS += -DUIP_CONF_TCP=0
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APPS += er-coap-13
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else ifeq ($(WITH_COAP), 12)
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${info INFO: compiling with CoAP-12}
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CFLAGS += -DWITH_COAP=12
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CFLAGS += -DREST=coap_rest_implementation
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CFLAGS += -DUIP_CONF_TCP=0
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APPS += er-coap-12
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else ifeq ($(WITH_COAP), 7)
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${info INFO: compiling with CoAP-08}
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CFLAGS += -DWITH_COAP=7
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CFLAGS += -DREST=coap_rest_implementation
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CFLAGS += -DUIP_CONF_TCP=0
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APPS += er-coap-07
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else ifeq ($(WITH_COAP), 3)
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${info INFO: compiling with CoAP-03}
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CFLAGS += -DWITH_COAP=3
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CFLAGS += -DREST=coap_rest_implementation
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CFLAGS += -DUIP_CONF_TCP=0
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APPS += er-coap-03
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else
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${info INFO: compiling with HTTP}
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CFLAGS += -DWITH_HTTP
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CFLAGS += -DREST=http_rest_implementation
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CFLAGS += -DUIP_CONF_TCP=1
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APPS += er-http-engine
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endif
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APPS += erbium
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APPS += er-coap
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APPS += rest-engine
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# optional rules to get assembly
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#CUSTOM_RULE_C_TO_OBJECTDIR_O = 1
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@ -42,17 +42,17 @@
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#include <string.h>
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#include "contiki.h"
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#include "contiki-net.h"
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#include "rest-engine.h"
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/* Define which resources to include to meet memory constraints. */
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#define REST_RES_INFO 1
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#define REST_RES_T4_SERVO 1
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#define REST_RES_SERVO 1
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#define REST_RES_T4_SERVO 0
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#define REST_RES_LEDS 0
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#define REST_RES_TOGGLE 0
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#define REST_RES_BATTERY 1
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#include "erbium.h"
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#if defined (PLATFORM_HAS_BUTTON)
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#include "dev/button-sensor.h"
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#endif
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@ -73,19 +73,6 @@
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#endif
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/* For CoAP-specific example: not required for normal RESTful Web service. */
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#if WITH_COAP == 3
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#include "er-coap-03.h"
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#elif WITH_COAP == 7
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#include "er-coap-07.h"
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#elif WITH_COAP == 12
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#include "er-coap-12.h"
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#elif WITH_COAP == 13
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#include "er-coap-13.h"
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#else
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#warning "Erbium example without CoAP-specifc functionality"
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#endif /* CoAP-specific example */
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#define DEBUG 0
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#if DEBUG
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#define PRINTF(...) printf(__VA_ARGS__)
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@ -100,12 +87,6 @@
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/******************************************************************************/
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#if REST_RES_INFO
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/*
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* Resources are defined by the RESOURCE macro.
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* Signature: resource name, the RESTful methods it handles, and its URI path (omitting the leading slash).
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*/
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RESOURCE(info, METHOD_GET, "info", "title=\"Info\";rt=\"text\"");
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/*
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* A handler function named [resource name]_handler must be implemented for each RESOURCE.
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* A buffer for the response payload is provided through the buffer pointer. Simple resources can ignore
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@ -113,7 +94,7 @@ RESOURCE(info, METHOD_GET, "info", "title=\"Info\";rt=\"text\"");
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* If a smaller block size is requested for CoAP, the REST framework automatically splits the data.
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*/
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void
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info_handler(void* request, void* response, uint8_t *buffer, uint16_t preferred_size, int32_t *offset)
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info_get_handler(void* request, void* response, uint8_t *buffer, uint16_t preferred_size, int32_t *offset)
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{
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char message[100];
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int index = 0;
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@ -131,11 +112,17 @@ info_handler(void* request, void* response, uint8_t *buffer, uint16_t preferred_
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REST.set_header_content_type(response, REST.type.APPLICATION_JSON);
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REST.set_response_payload(response, buffer, length);
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}
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/*
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* Resources are defined by the RESOURCE macro.
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* Signature: resource name, the RESTful methods it handles, and its URI path (omitting the leading slash).
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*/
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RESOURCE(res_info, "title=\"Info\";rt=\"text\"", info_get_handler, NULL, NULL, NULL);
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#endif
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#if defined (PLATFORM_HAS_SERVO)
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/*A simple actuator example. read the servo status*/
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RESOURCE(servo, METHOD_GET | METHOD_PUT , "actuators/servo", "title=\"Servo\";rt=\"servo\"");
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void
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servo_handler(void* request, void* response, uint8_t *buffer, uint16_t preferred_size, int32_t *offset)
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{
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@ -186,10 +173,10 @@ servo_handler(void* request, void* response, uint8_t *buffer, uint16_t preferred
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REST.set_response_status(response, REST.status.BAD_REQUEST);
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}
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}
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RESOURCE(res_servo, "title=\"Servo\";rt=\"servo\"", servo_handler, NULL, servo_handler, NULL );
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#endif
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#if defined (PLATFORM_HAS_T4_SERVO)
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RESOURCE(t4_servo, METHOD_GET | METHOD_PUT , "actuators/t4_servo", "title=\"Timer4Servo\";rt=\"t4_servo\"");
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void
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t4_servo_handler(void* request, void* response, uint8_t *buffer, uint16_t preferred_size, int32_t *offset)
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{
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@ -265,6 +252,7 @@ t4_servo_handler(void* request, void* response, uint8_t *buffer, uint16_t prefer
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REST.set_response_status(response, REST.status.BAD_REQUEST);
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}
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}
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RESOURCE(res_t4_servo,"title=\"Timer4Servo\";rt=\"t4_servo\"", t4_servo_handler, te4_servo_handler, te4_servo_handler, NULL );
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#endif
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@ -273,8 +261,6 @@ t4_servo_handler(void* request, void* response, uint8_t *buffer, uint16_t prefer
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/******************************************************************************/
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#if REST_RES_LEDS
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/*A simple actuator example, depending on the color query parameter and post variable mode, corresponding led is activated or deactivated*/
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RESOURCE(leds, METHOD_POST | METHOD_PUT , "actuators/leds", "title=\"LEDs: ?color=r|g|b, POST/PUT mode=on|off\";rt=\"Control\"");
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void
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leds_handler(void* request, void* response, uint8_t *buffer, uint16_t preferred_size, int32_t *offset)
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{
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@ -318,17 +304,18 @@ leds_handler(void* request, void* response, uint8_t *buffer, uint16_t preferred_
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REST.set_response_status(response, REST.status.BAD_REQUEST);
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}
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}
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RESOURCE(res_leds, "title=\"LEDs: ?color=r|g|b, POST/PUT mode=on|off\";rt=\"Control\"", NULL, leds_handler, leds_handler, NULL);
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#endif
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/******************************************************************************/
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#if REST_RES_TOGGLE
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/* A simple actuator example. Toggles the red led */
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RESOURCE(toggle, METHOD_GET | METHOD_PUT | METHOD_POST, "actuators/toggle", "title=\"Red LED\";rt=\"Control\"");
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void
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toggle_handler(void* request, void* response, uint8_t *buffer, uint16_t preferred_size, int32_t *offset)
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{
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leds_toggle(LEDS_RED);
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}
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RESOURCE(res_toggle, "title=\"Red LED\";rt=\"Control\"", toggle_handler, toggle_handler, toggle_handler, NULL);
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#endif
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#endif /* PLATFORM_HAS_LEDS */
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@ -337,7 +324,6 @@ toggle_handler(void* request, void* response, uint8_t *buffer, uint16_t preferre
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/******************************************************************************/
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#if REST_RES_TEMPERATURE && defined (PLATFORM_HAS_TEMPERATURE)
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/* A simple getter example. Returns the reading from light sensor with a simple etag */
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RESOURCE(temperature, METHOD_GET, "sensors/cputemp", "title=\"Temperature status\";rt=\"temperature-c\"");
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void
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temperature_handler(void* request, void* response, uint8_t *buffer, uint16_t preferred_size, int32_t *offset)
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{
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@ -367,41 +353,37 @@ temperature_handler(void* request, void* response, uint8_t *buffer, uint16_t pre
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REST.set_response_payload(response, msg, strlen(msg));
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}
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}
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RESOURCE(res_temperature, "title=\"Temperature status\";rt=\"temperature-c\"", temperature_handler, NULL, NULL, NULL);
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#endif /* PLATFORM_HAS_TEMPERATURE */
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/******************************************************************************/
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#if REST_RES_BATTERY && defined (PLATFORM_HAS_BATTERY)
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/* A simple getter example. Returns the reading from light sensor with a simple etag */
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RESOURCE(battery, METHOD_GET, "sensors/battery", "title=\"Battery status\";rt=\"battery-mV\"");
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void
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battery_handler(void* request, void* response, uint8_t *buffer, uint16_t preferred_size, int32_t *offset)
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{
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int battery = battery_sensor.value(0);
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const uint16_t *accept = NULL;
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int num = REST.get_header_accept(request, &accept);
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unsigned int accept = -1;
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REST.get_header_accept(request, &accept);
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if ((num==0) || (num && accept[0]==REST.type.TEXT_PLAIN))
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{
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if(accept == -1 || accept == REST.type.TEXT_PLAIN) {
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REST.set_header_content_type(response, REST.type.TEXT_PLAIN);
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snprintf((char *)buffer, REST_MAX_CHUNK_SIZE, "%d", battery);
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REST.set_response_payload(response, (uint8_t *)buffer, strlen((char *)buffer));
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}
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else if (num && (accept[0]==REST.type.APPLICATION_JSON))
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{
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REST.set_header_content_type(response, REST.type.APPLICATION_JSON);
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snprintf((char *)buffer, REST_MAX_CHUNK_SIZE, "{'battery':%d}", battery);
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snprintf((char *)buffer, REST_MAX_CHUNK_SIZE, "%d.%02d", battery/1000, battery % 1000);
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REST.set_response_payload(response, buffer, strlen((char *)buffer));
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}
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else
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{
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} else if(accept == REST.type.APPLICATION_JSON) {
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REST.set_header_content_type(response, REST.type.APPLICATION_JSON);
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snprintf((char *)buffer, REST_MAX_CHUNK_SIZE, "{'battery':%d.%02d}", battery/1000, battery % 1000);
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REST.set_response_payload(response, buffer, strlen((char *)buffer));
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} else {
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REST.set_response_status(response, REST.status.NOT_ACCEPTABLE);
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const char *msg = "Supporting content-types text/plain and application/json";
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REST.set_response_payload(response, msg, strlen(msg));
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}
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}
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RESOURCE(res_battery, "title=\"Battery status\";rt=\"battery-mV\"", battery_handler, NULL, NULL, NULL);
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#endif /* PLATFORM_HAS_BATTERY */
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/******************************************************************************/
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@ -447,27 +429,31 @@ PROCESS_THREAD(rest_server_example, ev, data)
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/* Activate the application-specific resources. */
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#if REST_RES_INFO
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rest_activate_resource(&resource_info);
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rest_activate_resource(&res_info, "info");
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#endif
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#if defined (PLATFORM_HAS_LEDS)
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#if REST_RES_LEDS
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rest_activate_resource(&resource_leds);
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rest_activate_resource(&res_leds, "actuators/leds");
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#endif
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#if REST_RES_TOGGLE
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rest_activate_resource(&resource_toggle);
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rest_activate_resource(&res_toggle, "actuators/toggle");
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#endif
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#endif /* PLATFORM_HAS_LEDS */
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#if defined (PLATFORM_HAS_TEMPERATURE) && REST_RES_TEMPERATURE
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SENSORS_ACTIVATE(temperature_sensor);
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rest_activate_resource(&resource_temperature);
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rest_activate_resource(&res_temperature, "sensors/cputemp");
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#endif
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#if defined (PLATFORM_HAS_BATTERY) && REST_RES_BATTERY
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SENSORS_ACTIVATE(battery_sensor);
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rest_activate_resource(&resource_battery);
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rest_activate_resource(&res_battery, "sensors/battery");
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#endif
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#if defined (PLATFORM_HAS_SERVO) && REST_RES_SERVO
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SENSORS_ACTIVATE(servo_sensor);
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rest_activate_resource(&res_servo, "actuators/servo");
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#endif
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#if defined (PLATFORM_HAS_T4_SERVO) && REST_RES_T4_SERVO
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SENSORS_ACTIVATE(t4_servo_sensor);
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rest_activate_resource(&resource_t4_servo);
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rest_activate_resource(&res_t4_servo, "actuators/t4_servo");
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#endif
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/* Define application-specific events here. */
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@ -34,7 +34,8 @@
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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_T4_SERVO 1
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#define PLATFORM_HAS_SERVO
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//#define PLATFORM_HAS_T4_SERVO 1
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#define PLATFORM_HAS_BATTERY 1
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#define SICSLOWPAN_CONF_FRAG 1
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@ -52,9 +52,9 @@
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* servo device
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*/
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#define SERVO_OFFSET 1000
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#define SERVO_MAX 1000
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#define SERVO_INIT 500
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#define SERVO_MIN 575
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#define SERVO_MAX 2425
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#define SERVO_INIT 1500
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unsigned int servoa=SERVO_INIT;
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unsigned int servob=SERVO_INIT;
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@ -62,47 +62,48 @@ unsigned int servob=SERVO_INIT;
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void
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servo_init(void)
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{
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// Port B initialization
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// Func7=Out Func6=Out Func5=Out Func4=In Func3=In Func2=In Func1=In Func0=In
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// State7=0 State6=0 State5=0 State4=T State3=T State2=T State1=T State0=T
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PORTB=0x00;
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DDRB=0xE0;
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// Timer/Counter 1 initialization
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// Clock source: System Clock
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// Clock value: 2000.000 kHz
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// Mode: Ph. & fr. cor. PWM top=ICR1
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// OC1A output: Connected
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// OC1B output: Connected
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// OC1C output: Connected
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// Noise Canceler: Off
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// Input Capture on Falling Edge
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// Timer1 Overflow Interrupt: Off
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// Input Capture Interrupt: Off
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// Compare A Match Interrupt: Off
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// Compare B Match Interrupt: Off
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// Compare C Match Interrupt: Off
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TCCR1A=0xA8;
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TCCR1B=0x12;
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TCNT1H=0x00;
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TCNT1L=0x00;
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// ICR1 has a computed value of 20,000 - see the ESawdust.com/blog article for how this
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// value was derived.
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// 20000 == 0x4e20 so that's what goes into the high and low byte of the ICR1 register
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// alternatively, Codevision would let you just do ICR1 = 20000;
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ICR1H=0x4E;
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ICR1L=0x20;
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// Port E initialization
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// Set Pin 3 and 4 to output mode for OCR1A and OCR2A
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DDRE |= 1<<3 | 1<<4;
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/* OCR1AH=0x00;
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OCR1AL=0x00;
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*/
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// OCR1A will govern the steering servo, OCR1B will govern throttle
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OCR1A = 1500; // set it to an initial position somewhere in the middle of the 1 to 2ms range
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// Timer/Counter 3 initialization
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// Clock source: System Clock
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// Clock value: 2000.000 kHz
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// Mode: Ph. & fr. cor. PWM top=ICR1
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// OC3A output: Connected
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// OC3B output: Connected
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// OC3C output: Connected
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// Noise Canceler: Off
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// Input Capture on Falling Edge
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// Timer3 Overflow Interrupt: Off
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// Input Capture Interrupt: Off
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// Compare A Match Interrupt: Off
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// Compare B Match Interrupt: Off
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// Compare C Match Interrupt: Off
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// OCR1A will govern the steering servo, OCR1B will govern throttle
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OCR1B = 1500; // set it to an initial position somewhere in the middle of the 1 to 2ms range
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// start with motor off - no duty cycle at all
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OCR1CH=0x00;
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OCR1CL=0x00;
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/* TCCR3A = [COM3A1|COM3A0|COM3B1|COM3B0||FOC3A|FOC3B|WGM31|WGM30] */
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/* 1 0 1 0 1 0 0 0 */
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TCCR3A=0xA8;
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/* TCCR3B = [ ICNC3| ICES3| -| WGM33||WGM32| CS32| CS31| CS30] */
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/* 0 0 0 1 0 0 1 0 */
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TCCR3B=0x12;
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TCNT3H=0x00;
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TCNT3L=0x00;
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// ICR3 has a computed value of 20,000 - see the chip manual for how this
|
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// value was derived.
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// 20000 == 0x4e20 so that's what goes into the high and low byte of the ICR3 register
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// alternatively, Codevision would let you just do ICR3 = 20000;
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ICR3H=0x4E;
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ICR3L=0x20;
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// OCR3A will govern the steering servo, OCR3B will govern throttle
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OCR3A = servoa; // set it to an initial position somewhere in the middle of the 1 to 2ms range
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// OCR3A will govern the steering servo, OCR3B will govern throttle
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OCR3B = servob; // set it to an initial position somewhere in the middle of the 1 to 2ms range
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// start with motor off - no duty cycle at all
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OCR3CH=0x00;
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OCR3CL=0x00;
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}
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/*---------------------------------------------------------------------------*/
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/*
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||||
|
|
@ -134,14 +135,22 @@ unsigned int
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servo_set(unsigned i,unsigned int j)
|
||||
{
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if(j > SERVO_MAX)
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j=SERVO_MAX;
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j=SERVO_MAX;
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if(j < SERVO_MIN)
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j=SERVO_MIN;
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if(i==0)
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{
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servoa=j;
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OCR1A = SERVO_OFFSET + servoa;
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return 1;
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OCR3A = servoa;
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return 1;
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}
|
||||
if(i==1)
|
||||
{
|
||||
servob=j;
|
||||
OCR1A = SERVO_OFFSET + servob;
|
||||
return 1;
|
||||
OCR3B = servob;
|
||||
return 1;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in a new issue