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Merge pull request #2 from NoreSoft/osd

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Osd - Servo-Example
This commit is contained in:
Harald 2015-04-07 09:52:16 +02:00
parent 560117e8f3 29e62c4e20
commit b90acf2491
4 changed files with 97 additions and 132 deletions
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35
examples/osd/servo-sensor/Makefile
View file

@ -31,40 +31,9 @@ endif
# linker optimizations # linker optimizations
SMALL=1 SMALL=1
# REST framework, requires WITH_COAP
ifeq ($(WITH_COAP), 13)
${info INFO: compiling with CoAP-13}
CFLAGS += -DWITH_COAP=13
CFLAGS += -DREST=coap_rest_implementation
CFLAGS += -DUIP_CONF_TCP=0
APPS += er-coap-13
else ifeq ($(WITH_COAP), 12)
${info INFO: compiling with CoAP-12}
CFLAGS += -DWITH_COAP=12
CFLAGS += -DREST=coap_rest_implementation
CFLAGS += -DUIP_CONF_TCP=0
APPS += er-coap-12
else ifeq ($(WITH_COAP), 7)
${info INFO: compiling with CoAP-08}
CFLAGS += -DWITH_COAP=7
CFLAGS += -DREST=coap_rest_implementation
CFLAGS += -DUIP_CONF_TCP=0
APPS += er-coap-07
else ifeq ($(WITH_COAP), 3)
${info INFO: compiling with CoAP-03}
CFLAGS += -DWITH_COAP=3
CFLAGS += -DREST=coap_rest_implementation
CFLAGS += -DUIP_CONF_TCP=0
APPS += er-coap-03
else
${info INFO: compiling with HTTP}
CFLAGS += -DWITH_HTTP
CFLAGS += -DREST=http_rest_implementation
CFLAGS += -DUIP_CONF_TCP=1
APPS += er-http-engine
endif
APPS += erbium APPS += er-coap
APPS += rest-engine
# optional rules to get assembly # optional rules to get assembly
#CUSTOM_RULE_C_TO_OBJECTDIR_O = 1 #CUSTOM_RULE_C_TO_OBJECTDIR_O = 1

88
examples/osd/servo-sensor/er-example-server.c
View file

@ -42,17 +42,17 @@
#include <string.h> #include <string.h>
#include "contiki.h" #include "contiki.h"
#include "contiki-net.h" #include "contiki-net.h"
#include "rest-engine.h"
/* Define which resources to include to meet memory constraints. */ /* Define which resources to include to meet memory constraints. */
#define REST_RES_INFO 1 #define REST_RES_INFO 1
#define REST_RES_T4_SERVO 1 #define REST_RES_SERVO 1
#define REST_RES_T4_SERVO 0
#define REST_RES_LEDS 0 #define REST_RES_LEDS 0
#define REST_RES_TOGGLE 0 #define REST_RES_TOGGLE 0
#define REST_RES_BATTERY 1 #define REST_RES_BATTERY 1
#include "erbium.h"
#if defined (PLATFORM_HAS_BUTTON) #if defined (PLATFORM_HAS_BUTTON)
#include "dev/button-sensor.h" #include "dev/button-sensor.h"
#endif #endif
@ -73,19 +73,6 @@
#endif #endif
/* For CoAP-specific example: not required for normal RESTful Web service. */
#if WITH_COAP == 3
#include "er-coap-03.h"
#elif WITH_COAP == 7
#include "er-coap-07.h"
#elif WITH_COAP == 12
#include "er-coap-12.h"
#elif WITH_COAP == 13
#include "er-coap-13.h"
#else
#warning "Erbium example without CoAP-specifc functionality"
#endif /* CoAP-specific example */
#define DEBUG 0 #define DEBUG 0
#if DEBUG #if DEBUG
#define PRINTF(...) printf(__VA_ARGS__) #define PRINTF(...) printf(__VA_ARGS__)
@ -100,12 +87,6 @@
/******************************************************************************/ /******************************************************************************/
#if REST_RES_INFO #if REST_RES_INFO
/*
* Resources are defined by the RESOURCE macro.
* Signature: resource name, the RESTful methods it handles, and its URI path (omitting the leading slash).
*/
RESOURCE(info, METHOD_GET, "info", "title=\"Info\";rt=\"text\"");
/* /*
* A handler function named [resource name]_handler must be implemented for each RESOURCE. * A handler function named [resource name]_handler must be implemented for each RESOURCE.
* A buffer for the response payload is provided through the buffer pointer. Simple resources can ignore * A buffer for the response payload is provided through the buffer pointer. Simple resources can ignore
@ -113,7 +94,7 @@ RESOURCE(info, METHOD_GET, "info", "title=\"Info\";rt=\"text\"");
* If a smaller block size is requested for CoAP, the REST framework automatically splits the data. * If a smaller block size is requested for CoAP, the REST framework automatically splits the data.
*/ */
void void
info_handler(void* request, void* response, uint8_t *buffer, uint16_t preferred_size, int32_t *offset) info_get_handler(void* request, void* response, uint8_t *buffer, uint16_t preferred_size, int32_t *offset)
{ {
char message[100]; char message[100];
int index = 0; int index = 0;
@ -131,11 +112,17 @@ info_handler(void* request, void* response, uint8_t *buffer, uint16_t preferred_
REST.set_header_content_type(response, REST.type.APPLICATION_JSON); REST.set_header_content_type(response, REST.type.APPLICATION_JSON);
REST.set_response_payload(response, buffer, length); REST.set_response_payload(response, buffer, length);
} }
/*
* Resources are defined by the RESOURCE macro.
* Signature: resource name, the RESTful methods it handles, and its URI path (omitting the leading slash).
*/
RESOURCE(res_info, "title=\"Info\";rt=\"text\"", info_get_handler, NULL, NULL, NULL);
#endif #endif
#if defined (PLATFORM_HAS_SERVO) #if defined (PLATFORM_HAS_SERVO)
/*A simple actuator example. read the servo status*/ /*A simple actuator example. read the servo status*/
RESOURCE(servo, METHOD_GET | METHOD_PUT , "actuators/servo", "title=\"Servo\";rt=\"servo\"");
void void
servo_handler(void* request, void* response, uint8_t *buffer, uint16_t preferred_size, int32_t *offset) servo_handler(void* request, void* response, uint8_t *buffer, uint16_t preferred_size, int32_t *offset)
{ {
@ -186,10 +173,10 @@ servo_handler(void* request, void* response, uint8_t *buffer, uint16_t preferred
REST.set_response_status(response, REST.status.BAD_REQUEST); REST.set_response_status(response, REST.status.BAD_REQUEST);
} }
} }
RESOURCE(res_servo, "title=\"Servo\";rt=\"servo\"", servo_handler, NULL, servo_handler, NULL );
#endif #endif
#if defined (PLATFORM_HAS_T4_SERVO) #if defined (PLATFORM_HAS_T4_SERVO)
RESOURCE(t4_servo, METHOD_GET | METHOD_PUT , "actuators/t4_servo", "title=\"Timer4Servo\";rt=\"t4_servo\"");
void void
t4_servo_handler(void* request, void* response, uint8_t *buffer, uint16_t preferred_size, int32_t *offset) t4_servo_handler(void* request, void* response, uint8_t *buffer, uint16_t preferred_size, int32_t *offset)
{ {
@ -265,6 +252,7 @@ t4_servo_handler(void* request, void* response, uint8_t *buffer, uint16_t prefer
REST.set_response_status(response, REST.status.BAD_REQUEST); REST.set_response_status(response, REST.status.BAD_REQUEST);
} }
} }
RESOURCE(res_t4_servo,"title=\"Timer4Servo\";rt=\"t4_servo\"", t4_servo_handler, te4_servo_handler, te4_servo_handler, NULL );
#endif #endif
@ -273,8 +261,6 @@ t4_servo_handler(void* request, void* response, uint8_t *buffer, uint16_t prefer
/******************************************************************************/ /******************************************************************************/
#if REST_RES_LEDS #if REST_RES_LEDS
/*A simple actuator example, depending on the color query parameter and post variable mode, corresponding led is activated or deactivated*/ /*A simple actuator example, depending on the color query parameter and post variable mode, corresponding led is activated or deactivated*/
RESOURCE(leds, METHOD_POST | METHOD_PUT , "actuators/leds", "title=\"LEDs: ?color=r|g|b, POST/PUT mode=on|off\";rt=\"Control\"");
void void
leds_handler(void* request, void* response, uint8_t *buffer, uint16_t preferred_size, int32_t *offset) leds_handler(void* request, void* response, uint8_t *buffer, uint16_t preferred_size, int32_t *offset)
{ {
@ -318,17 +304,18 @@ leds_handler(void* request, void* response, uint8_t *buffer, uint16_t preferred_
REST.set_response_status(response, REST.status.BAD_REQUEST); REST.set_response_status(response, REST.status.BAD_REQUEST);
} }
} }
RESOURCE(res_leds, "title=\"LEDs: ?color=r|g|b, POST/PUT mode=on|off\";rt=\"Control\"", NULL, leds_handler, leds_handler, NULL);
#endif #endif
/******************************************************************************/ /******************************************************************************/
#if REST_RES_TOGGLE #if REST_RES_TOGGLE
/* A simple actuator example. Toggles the red led */ /* A simple actuator example. Toggles the red led */
RESOURCE(toggle, METHOD_GET | METHOD_PUT | METHOD_POST, "actuators/toggle", "title=\"Red LED\";rt=\"Control\"");
void void
toggle_handler(void* request, void* response, uint8_t *buffer, uint16_t preferred_size, int32_t *offset) toggle_handler(void* request, void* response, uint8_t *buffer, uint16_t preferred_size, int32_t *offset)
{ {
leds_toggle(LEDS_RED); leds_toggle(LEDS_RED);
} }
RESOURCE(res_toggle, "title=\"Red LED\";rt=\"Control\"", toggle_handler, toggle_handler, toggle_handler, NULL);
#endif #endif
#endif /* PLATFORM_HAS_LEDS */ #endif /* PLATFORM_HAS_LEDS */
@ -337,7 +324,6 @@ toggle_handler(void* request, void* response, uint8_t *buffer, uint16_t preferre
/******************************************************************************/ /******************************************************************************/
#if REST_RES_TEMPERATURE && defined (PLATFORM_HAS_TEMPERATURE) #if REST_RES_TEMPERATURE && defined (PLATFORM_HAS_TEMPERATURE)
/* A simple getter example. Returns the reading from light sensor with a simple etag */ /* A simple getter example. Returns the reading from light sensor with a simple etag */
RESOURCE(temperature, METHOD_GET, "sensors/cputemp", "title=\"Temperature status\";rt=\"temperature-c\"");
void void
temperature_handler(void* request, void* response, uint8_t *buffer, uint16_t preferred_size, int32_t *offset) temperature_handler(void* request, void* response, uint8_t *buffer, uint16_t preferred_size, int32_t *offset)
{ {
@ -367,41 +353,37 @@ temperature_handler(void* request, void* response, uint8_t *buffer, uint16_t pre
REST.set_response_payload(response, msg, strlen(msg)); REST.set_response_payload(response, msg, strlen(msg));
} }
} }
RESOURCE(res_temperature, "title=\"Temperature status\";rt=\"temperature-c\"", temperature_handler, NULL, NULL, NULL);
#endif /* PLATFORM_HAS_TEMPERATURE */ #endif /* PLATFORM_HAS_TEMPERATURE */
/******************************************************************************/ /******************************************************************************/
#if REST_RES_BATTERY && defined (PLATFORM_HAS_BATTERY) #if REST_RES_BATTERY && defined (PLATFORM_HAS_BATTERY)
/* A simple getter example. Returns the reading from light sensor with a simple etag */ /* A simple getter example. Returns the reading from light sensor with a simple etag */
RESOURCE(battery, METHOD_GET, "sensors/battery", "title=\"Battery status\";rt=\"battery-mV\"");
void void
battery_handler(void* request, void* response, uint8_t *buffer, uint16_t preferred_size, int32_t *offset) battery_handler(void* request, void* response, uint8_t *buffer, uint16_t preferred_size, int32_t *offset)
{ {
int battery = battery_sensor.value(0); int battery = battery_sensor.value(0);
const uint16_t *accept = NULL; unsigned int accept = -1;
int num = REST.get_header_accept(request, &accept); REST.get_header_accept(request, &accept);
if ((num==0) || (num && accept[0]==REST.type.TEXT_PLAIN)) if(accept == -1 || accept == REST.type.TEXT_PLAIN) {
{
REST.set_header_content_type(response, REST.type.TEXT_PLAIN); REST.set_header_content_type(response, REST.type.TEXT_PLAIN);
snprintf((char *)buffer, REST_MAX_CHUNK_SIZE, "%d", battery); snprintf((char *)buffer, REST_MAX_CHUNK_SIZE, "%d.%02d", battery/1000, battery % 1000);
REST.set_response_payload(response, (uint8_t *)buffer, strlen((char *)buffer));
}
else if (num && (accept[0]==REST.type.APPLICATION_JSON))
{
REST.set_header_content_type(response, REST.type.APPLICATION_JSON);
snprintf((char *)buffer, REST_MAX_CHUNK_SIZE, "{'battery':%d}", battery);
REST.set_response_payload(response, buffer, strlen((char *)buffer)); REST.set_response_payload(response, buffer, strlen((char *)buffer));
} } else if(accept == REST.type.APPLICATION_JSON) {
else REST.set_header_content_type(response, REST.type.APPLICATION_JSON);
{ snprintf((char *)buffer, REST_MAX_CHUNK_SIZE, "{'battery':%d.%02d}", battery/1000, battery % 1000);
REST.set_response_payload(response, buffer, strlen((char *)buffer));
} else {
REST.set_response_status(response, REST.status.NOT_ACCEPTABLE); REST.set_response_status(response, REST.status.NOT_ACCEPTABLE);
const char *msg = "Supporting content-types text/plain and application/json"; const char *msg = "Supporting content-types text/plain and application/json";
REST.set_response_payload(response, msg, strlen(msg)); REST.set_response_payload(response, msg, strlen(msg));
} }
} }
RESOURCE(res_battery, "title=\"Battery status\";rt=\"battery-mV\"", battery_handler, NULL, NULL, NULL);
#endif /* PLATFORM_HAS_BATTERY */ #endif /* PLATFORM_HAS_BATTERY */
/******************************************************************************/ /******************************************************************************/
@ -447,27 +429,31 @@ PROCESS_THREAD(rest_server_example, ev, data)
/* Activate the application-specific resources. */ /* Activate the application-specific resources. */
#if REST_RES_INFO #if REST_RES_INFO
rest_activate_resource(&resource_info); rest_activate_resource(&res_info, "info");
#endif #endif
#if defined (PLATFORM_HAS_LEDS) #if defined (PLATFORM_HAS_LEDS)
#if REST_RES_LEDS #if REST_RES_LEDS
rest_activate_resource(&resource_leds); rest_activate_resource(&res_leds, "actuators/leds");
#endif #endif
#if REST_RES_TOGGLE #if REST_RES_TOGGLE
rest_activate_resource(&resource_toggle); rest_activate_resource(&res_toggle, "actuators/toggle");
#endif #endif
#endif /* PLATFORM_HAS_LEDS */ #endif /* PLATFORM_HAS_LEDS */
#if defined (PLATFORM_HAS_TEMPERATURE) && REST_RES_TEMPERATURE #if defined (PLATFORM_HAS_TEMPERATURE) && REST_RES_TEMPERATURE
SENSORS_ACTIVATE(temperature_sensor); SENSORS_ACTIVATE(temperature_sensor);
rest_activate_resource(&resource_temperature); rest_activate_resource(&res_temperature, "sensors/cputemp");
#endif #endif
#if defined (PLATFORM_HAS_BATTERY) && REST_RES_BATTERY #if defined (PLATFORM_HAS_BATTERY) && REST_RES_BATTERY
SENSORS_ACTIVATE(battery_sensor); SENSORS_ACTIVATE(battery_sensor);
rest_activate_resource(&resource_battery); rest_activate_resource(&res_battery, "sensors/battery");
#endif
#if defined (PLATFORM_HAS_SERVO) && REST_RES_SERVO
SENSORS_ACTIVATE(servo_sensor);
rest_activate_resource(&res_servo, "actuators/servo");
#endif #endif
#if defined (PLATFORM_HAS_T4_SERVO) && REST_RES_T4_SERVO #if defined (PLATFORM_HAS_T4_SERVO) && REST_RES_T4_SERVO
SENSORS_ACTIVATE(t4_servo_sensor); SENSORS_ACTIVATE(t4_servo_sensor);
rest_activate_resource(&resource_t4_servo); rest_activate_resource(&res_t4_servo, "actuators/t4_servo");
#endif #endif
/* Define application-specific events here. */ /* Define application-specific events here. */

3
examples/osd/servo-sensor/project-conf.h
View file

@ -34,7 +34,8 @@
//#define PLATFORM_HAS_LEDS 1 //#define PLATFORM_HAS_LEDS 1
//#define PLATFORM_HAS_BUTTON 1 //#define PLATFORM_HAS_BUTTON 1
#define PLATFORM_HAS_T4_SERVO 1 #define PLATFORM_HAS_SERVO
//#define PLATFORM_HAS_T4_SERVO 1
#define PLATFORM_HAS_BATTERY 1 #define PLATFORM_HAS_BATTERY 1
#define SICSLOWPAN_CONF_FRAG 1 #define SICSLOWPAN_CONF_FRAG 1

103
platform/osd-merkur/dev/servo.c
View file

@ -52,9 +52,9 @@
* servo device * servo device
*/ */
#define SERVO_OFFSET 1000 #define SERVO_MIN 575
#define SERVO_MAX 1000 #define SERVO_MAX 2425
#define SERVO_INIT 500 #define SERVO_INIT 1500
unsigned int servoa=SERVO_INIT; unsigned int servoa=SERVO_INIT;
unsigned int servob=SERVO_INIT; unsigned int servob=SERVO_INIT;
@ -62,47 +62,48 @@ unsigned int servob=SERVO_INIT;
void void
servo_init(void) servo_init(void)
{ {
// Port B initialization // Port E initialization
// Func7=Out Func6=Out Func5=Out Func4=In Func3=In Func2=In Func1=In Func0=In // Set Pin 3 and 4 to output mode for OCR1A and OCR2A
// State7=0 State6=0 State5=0 State4=T State3=T State2=T State1=T State0=T DDRE |= 1<<3 | 1<<4;
PORTB=0x00;
DDRB=0xE0;
// Timer/Counter 1 initialization
// Clock source: System Clock
// Clock value: 2000.000 kHz
// Mode: Ph. & fr. cor. PWM top=ICR1
// OC1A output: Connected
// OC1B output: Connected
// OC1C output: Connected
// Noise Canceler: Off
// Input Capture on Falling Edge
// Timer1 Overflow Interrupt: Off
// Input Capture Interrupt: Off
// Compare A Match Interrupt: Off
// Compare B Match Interrupt: Off
// Compare C Match Interrupt: Off
TCCR1A=0xA8;
TCCR1B=0x12;
TCNT1H=0x00;
TCNT1L=0x00;
// ICR1 has a computed value of 20,000 - see the ESawdust.com/blog article for how this
// value was derived.
// 20000 == 0x4e20 so that's what goes into the high and low byte of the ICR1 register
// alternatively, Codevision would let you just do ICR1 = 20000;
ICR1H=0x4E;
ICR1L=0x20;
/* OCR1AH=0x00; // Timer/Counter 3 initialization
OCR1AL=0x00; // Clock source: System Clock
*/ // Clock value: 2000.000 kHz
// OCR1A will govern the steering servo, OCR1B will govern throttle // Mode: Ph. & fr. cor. PWM top=ICR1
OCR1A = 1500; // set it to an initial position somewhere in the middle of the 1 to 2ms range // OC3A output: Connected
// OC3B output: Connected
// OC3C output: Connected
// Noise Canceler: Off
// Input Capture on Falling Edge
// Timer3 Overflow Interrupt: Off
// Input Capture Interrupt: Off
// Compare A Match Interrupt: Off
// Compare B Match Interrupt: Off
// Compare C Match Interrupt: Off
// OCR1A will govern the steering servo, OCR1B will govern throttle /* TCCR3A = [COM3A1|COM3A0|COM3B1|COM3B0||FOC3A|FOC3B|WGM31|WGM30] */
OCR1B = 1500; // set it to an initial position somewhere in the middle of the 1 to 2ms range /* 1 0 1 0 1 0 0 0 */
// start with motor off - no duty cycle at all TCCR3A=0xA8;
OCR1CH=0x00; /* TCCR3B = [ ICNC3| ICES3| -| WGM33||WGM32| CS32| CS31| CS30] */
OCR1CL=0x00; /* 0 0 0 1 0 0 1 0 */
TCCR3B=0x12;
TCNT3H=0x00;
TCNT3L=0x00;
// ICR3 has a computed value of 20,000 - see the chip manual for how this
// value was derived.
// 20000 == 0x4e20 so that's what goes into the high and low byte of the ICR3 register
// alternatively, Codevision would let you just do ICR3 = 20000;
ICR3H=0x4E;
ICR3L=0x20;
// OCR3A will govern the steering servo, OCR3B will govern throttle
OCR3A = servoa; // set it to an initial position somewhere in the middle of the 1 to 2ms range
// OCR3A will govern the steering servo, OCR3B will govern throttle
OCR3B = servob; // set it to an initial position somewhere in the middle of the 1 to 2ms range
// start with motor off - no duty cycle at all
OCR3CH=0x00;
OCR3CL=0x00;
} }
/*---------------------------------------------------------------------------*/ /*---------------------------------------------------------------------------*/
/* /*
@ -134,14 +135,22 @@ unsigned int
servo_set(unsigned i,unsigned int j) servo_set(unsigned i,unsigned int j)
{ {
if(j > SERVO_MAX) if(j > SERVO_MAX)
j=SERVO_MAX; j=SERVO_MAX;
if(j < SERVO_MIN)
j=SERVO_MIN;
if(i==0) if(i==0)
{
servoa=j; servoa=j;
OCR1A = SERVO_OFFSET + servoa; OCR3A = servoa;
return 1; return 1;
}
if(i==1) if(i==1)
{
servob=j; servob=j;
OCR1A = SERVO_OFFSET + servob; OCR3B = servob;
return 1; return 1;
}
return 0;
} }