diff --git a/examples/osd/servo-sensor/Makefile b/examples/osd/servo-sensor/Makefile new file mode 100644 index 000000000..dbd2c1410 --- /dev/null +++ b/examples/osd/servo-sensor/Makefile @@ -0,0 +1,88 @@ +all: er-example-server +# Use this target explicitly if requried: er-plugtest-server + +CONTIKI=../../.. +CFLAGS += -DPROJECT_CONF_H=\"project-conf.h\" + +# for static routing, if enabled +ifneq ($(TARGET), minimal-net) +ifneq ($(TARGET), native) +ifneq ($(findstring avr,$(TARGET)), avr) +PROJECT_SOURCEFILES += static-routing.c +endif +endif +endif + +# variable for root Makefile.include +WITH_UIP6=1 +# for some platforms +UIP_CONF_IPV6=1 + +# variable for this Makefile +# configure CoAP implementation (3|7) (er-coap-07 also supports CoAP draft 08) +WITH_COAP=7 + +# new variable since slip-radio +ifneq ($(TARGET), minimal-net) +UIP_CONF_RPL=1 +else +# minimal-net does not support RPL under Linux and is mostly used to test CoAP only +${info INFO: compiling without RPL} +UIP_CONF_RPL=0 +CFLAGS += -DUIP_CONF_ND6_DEF_MAXDADNS=0 +CFLAGS += -DHARD_CODED_ADDRESS=\"fdfd::10\" +CFLAGS += -DUIP_CONF_BUFFER_SIZE=1280 +endif + +# linker optimizations +SMALL=1 + +# REST framework, requires WITH_COAP +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 + +# optional rules to get assembly +#CUSTOM_RULE_C_TO_OBJECTDIR_O = 1 +#CUSTOM_RULE_S_TO_OBJECTDIR_O = 1 + +include $(CONTIKI)/Makefile.include + +# optional rules to get assembly +#$(OBJECTDIR)/%.o: asmdir/%.S +# $(CC) $(CFLAGS) -MMD -c $< -o $@ +# @$(FINALIZE_DEPENDENCY) +# +#asmdir/%.S: %.c +# $(CC) $(CFLAGS) -MMD -S $< -o $@ + +# border router rules +$(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 + +tap0up: + sudo ip address add fdfd::1/64 dev tap0 diff --git a/examples/osd/servo-sensor/README b/examples/osd/servo-sensor/README new file mode 100644 index 000000000..84d7dd2f4 --- /dev/null +++ b/examples/osd/servo-sensor/README @@ -0,0 +1,76 @@ +A Quick Introduction to the Erbium (Er) REST Engine +=================================================== +Compile the Example +------------------- +./run.sh + +OSD-Merkur Board +---------------------- +write the images to the OSD-Merkur Board: + +./flash.sh + +EXAMPLE FILES +------------- +er-example-server.c: A RESTful server example showing how to use the REST layer to develop server-side applications (at the moment only CoAP is implemented for the REST Engine). +er-example-client.c: A CoAP client that polls the /actuators/toggle resource every 10 seconds and cycles through 4 resources on button press (target address is hard-coded). +er-plugtest-server.c: The server used for draft compliance testing at ETSI IoT CoAP Plugtest in Paris, France, March 2012 (configured for minimal-net). + +PRELIMINARIES +------------- +- Make sure rpl-border-router has the same stack and fits into mote memory: + You can disable RDC in border-router project-conf.h (not really required as BR keeps radio turned on). + #undef NETSTACK_CONF_RDC + #define NETSTACK_CONF_RDC nullrdc_driver +- For convenience, define the Cooja addresses in /etc/hosts + aaaa::0212:7401:0001:0101 cooja1 + aaaa::0212:7402:0002:0202 cooja2 + ... +- Get the Copper (Cu) CoAP user-agent from https://addons.mozilla.org/en-US/firefox/addon/copper-270430/ +- Optional: Save your target as default target + $ make TARGET=sky savetarget + +COOJA HOWTO +----------- +Server only: +1) $ make TARGET=cooja server-only.csc +2) Open new terminal +3) $ make connect-router-cooja +4) Start Copper and discover resources at coap://cooja2:5683/ +- Choose "Click button on Sky 2" from the context menu of mote 2 (server) after requesting /test/separate +- Do the same when observing /test/event + +With client: +1) $ make TARGET=cooja server-client.csc +2) Open new terminal +3) $ make connect-router-cooja +4) Wait until red LED toggles on mote 2 (server) +5) Choose "Click button on Sky 3" from the context menu of mote 3 (client) and watch serial output + +DETAILS +------- +Erbium currently implements draft 08 (name "er-coap-07" stems from last technical draft changes). +Central features are commented in er-example-server.c. +In general, apps/er-coap-07 supports: +* All draft 08 header options +* CON Retransmissions (note COAP_MAX_OPEN_TRANSACTIONS) +* Blockwise Transfers (note REST_MAX_CHUNK_SIZE, see er-plugtest-server.c for Block1 uploads) +* Separate Responses (no rest_set_pre_handler() required anymore, note coap_separate_accept(), _reject(), and _resume()) +* Resource Discovery +* Observing Resources (see EVENT_ and PRERIODIC_RESOURCE, note COAP_MAX_OBSERVERS) + +REST IMPLEMENTATIONS +-------------------- +The Makefile uses WITH_COAP to configure different implementations for the Erbium (Er) REST Engine. +* WITH_COAP=7 uses Erbium CoAP 08 apps/er-coap-07/. + The default port for coap-07/-08 is 5683. +* WITH_COAP=3 uses Erbium CoAP 03 apps/er-coap-03/. + The default port for coap-03 is 61616. + er-coap-03 produces some warnings, as it not fully maintained anymore. +* WITH_COAP=0 is a stub to link an Erbium HTTP engine that uses the same resource abstraction (REST.x() functions and RESOURCE macros. + +TODOs +----- +* Observe client +* Multiple If-Match ETags +* (Message deduplication) diff --git a/examples/osd/servo-sensor/er-example-server.c b/examples/osd/servo-sensor/er-example-server.c new file mode 100644 index 000000000..86d1293e4 --- /dev/null +++ b/examples/osd/servo-sensor/er-example-server.c @@ -0,0 +1,465 @@ +/* + * Copyright (c) 2011, Matthias Kovatsch and other contributors. + * 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 + * Erbium (Er) SERVO REST Engine example (with CoAP-specific code) + * \author + * Matthias Kovatsch + * Harald Pichler + */ + +#include +#include +#include +#include "contiki.h" +#include "contiki-net.h" + + +/* Define which resources to include to meet memory constraints. */ +#define REST_RES_INFO 1 +#define REST_RES_SERVO 1 +#define REST_RES_TEMPERATURE 0 +#define REST_RES_EVENT 0 +#define REST_RES_LEDS 0 +#define REST_RES_TOGGLE 0 +#define REST_RES_BATTERY 1 + +#if !UIP_CONF_IPV6_RPL && !defined (CONTIKI_TARGET_MINIMAL_NET) && !defined (CONTIKI_TARGET_NATIVE) +#warning "Compiling with static routing!" +#include "static-routing.h" +#endif + +#include "erbium.h" + +#include "dev/led.h" +#if defined (PLATFORM_HAS_BUTTON) +#include "dev/button-sensor.h" +#endif +#if defined (PLATFORM_HAS_LEDS) +#include "dev/leds.h" +#endif +#if defined (PLATFORM_HAS_SERVO) +#include "dev/servo-sensor.h" +#endif +#if defined (PLATFORM_HAS_TEMPERATURE) +#include "dev/temperature-sensor.h" +#endif +#if defined (PLATFORM_HAS_BATTERY) +#include "dev/battery-sensor.h" +#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" +#else +#warning "Erbium example without CoAP-specifc functionality" +#endif /* CoAP-specific example */ + +#define DEBUG 0 +#if DEBUG +#define PRINTF(...) printf(__VA_ARGS__) +#define PRINT6ADDR(addr) PRINTF("[%02x%02x:%02x%02x:%02x%02x:%02x%02x:%02x%02x:%02x%02x:%02x%02x:%02x%02x]", ((uint8_t *)addr)[0], ((uint8_t *)addr)[1], ((uint8_t *)addr)[2], ((uint8_t *)addr)[3], ((uint8_t *)addr)[4], ((uint8_t *)addr)[5], ((uint8_t *)addr)[6], ((uint8_t *)addr)[7], ((uint8_t *)addr)[8], ((uint8_t *)addr)[9], ((uint8_t *)addr)[10], ((uint8_t *)addr)[11], ((uint8_t *)addr)[12], ((uint8_t *)addr)[13], ((uint8_t *)addr)[14], ((uint8_t *)addr)[15]) +#define PRINTLLADDR(lladdr) PRINTF("[%02x:%02x:%02x:%02x:%02x:%02x]",(lladdr)->addr[0], (lladdr)->addr[1], (lladdr)->addr[2], (lladdr)->addr[3],(lladdr)->addr[4], (lladdr)->addr[5]) +#else +#define PRINTF(...) +#define PRINT6ADDR(addr) +#define PRINTLLADDR(addr) +#endif + +/******************************************************************************/ + +#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 buffer for the response payload is provided through the buffer pointer. Simple resources can ignore + * preferred_size and offset, but must respect the REST_MAX_CHUNK_SIZE limit for the buffer. + * If a smaller block size is requested for CoAP, the REST framework automatically splits the data. + */ +void +info_handler(void* request, void* response, uint8_t *buffer, uint16_t preferred_size, int32_t *offset) +{ + char message[100]; + int index = 0; + int length = 0; /* |<-------->| */ + + /* Some data that has the length up to REST_MAX_CHUNK_SIZE. For more, see the chunk resource. */ + // jSON Format + index += sprintf(message + index,"{\n \"Version\" : \"V1.0pre1\",\n"); + index += sprintf(message + index," \"name\" : \"6lowpan-SERVO\"\n"); + index += sprintf(message + index,"}\n"); + + length = strlen(message); + memcpy(buffer, message,length ); + + REST.set_header_content_type(response, REST.type.APPLICATION_JSON); + REST.set_response_payload(response, buffer, length); +} +#endif + +/*A simple actuator example. read the servo status*/ +RESOURCE(servo, METHOD_GET | METHOD_PUT , "actuators/servo", "title=\"Servo\";rt=\"servo\""); +void +servo_handler(void* request, void* response, uint8_t *buffer, uint16_t preferred_size, int32_t *offset) +{ + int success = 1; + + char temp[100]; + int index = 0; + int length = 0; /* |<-------->| */ + const char *value = NULL; + size_t len = 0; + + int servo1 = servo_sensor.value(0); + int servo2 = servo_sensor.value(1); + + switch(REST.get_method_type(request)){ + case METHOD_GET: + // jSON Format + index += sprintf(temp + index,"{\n \"servo1\" : \"%d\",\n",servo1); + index += sprintf(temp + index,"\n \"servo2\" : \"%d\"\n",servo2); + index += sprintf(temp + index,"}\n"); + + length = strlen(temp); + memcpy(buffer, temp,length ); + + REST.set_header_content_type(response, REST.type.APPLICATION_JSON); + REST.set_response_payload(response, buffer, length); + + break; + case METHOD_PUT: + + if (success && (len=REST.get_post_variable(request, "servo1", &value))) { + PRINTF("servo1 %s\n", value); + servo_sensor.configure(0,atoi(value)); + } else { + success = 0; + } + if (success && (len=REST.get_post_variable(request, "servo2", &value))) { + PRINTF("servo2 %s\n", value); + servo_sensor.configure(1,atoi(value)); + } else { + success = 0; + } + break; + default: + success = 0; + } + if (!success) { + REST.set_response_status(response, REST.status.BAD_REQUEST); + } +} + + +/*A simple actuator example, post variable mode, relay is activated or deactivated*/ +RESOURCE(led1, METHOD_GET | METHOD_PUT , "aktors/led1", "title=\"Led1\";rt=\"led\""); +void +led1_handler(void* request, void* response, uint8_t *buffer, uint16_t preferred_size, int32_t *offset) +{ + char mode[10]; + static uint8_t led1 = 0; + static char name[17]="led1"; + int success = 1; + + char temp[100]; + int index = 0; + size_t len = 0; + + const char *pmode = NULL; + const char *pname = NULL; + + switch(REST.get_method_type(request)){ + case METHOD_GET: + // jSON Format + index += sprintf(temp + index,"{\n \"name\" : \"%s\",\n",name); + if(led1 == 0) + index += sprintf(temp + index," \"mode\" : \"off\"\n"); + if(led1 == 1) + index += sprintf(temp + index," \"mode\" : \"on\"\n"); + index += sprintf(temp + index,"}\n"); + + len = strlen(temp); + memcpy(buffer, temp,len ); + + REST.set_header_content_type(response, REST.type.APPLICATION_JSON); + REST.set_response_payload(response, buffer, len); + break; + case METHOD_POST: + success = 0; + break; + case METHOD_PUT: + if (success && (len=REST.get_post_variable(request, "mode", &pmode))) { + PRINTF("name %s\n", mode); + memcpy(mode, pmode,len); + mode[len]=0; + if (!strcmp(mode, "on")) { + led1_on(); + led1 = 1; + } else if (!strcmp(mode, "off")) { + led1_off(); + led1 = 0; + } else { + success = 0; + } + } else if (success && (len=REST.get_post_variable(request, "name", &pname))) { + PRINTF("name %s\n", name); + memcpy(name, pname,len); + name[len]=0; + } else { + success = 0; + } + break; + default: + success = 0; + } + + if (!success) { + REST.set_response_status(response, REST.status.BAD_REQUEST); + } +} + +/******************************************************************************/ +#if defined (PLATFORM_HAS_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*/ +RESOURCE(leds, METHOD_POST | METHOD_PUT , "actuators/leds", "title=\"LEDs: ?color=r|g|b, POST/PUT mode=on|off\";rt=\"Control\""); + +void +leds_handler(void* request, void* response, uint8_t *buffer, uint16_t preferred_size, int32_t *offset) +{ + size_t len = 0; + const char *color = NULL; + const char *mode = NULL; + uint8_t led = 0; + int success = 1; + + if ((len=REST.get_query_variable(request, "color", &color))) { + PRINTF("color %.*s\n", len, color); + + if (strncmp(color, "r", len)==0) { + led = LEDS_RED; + } else if(strncmp(color,"g", len)==0) { + led = LEDS_GREEN; + } else if (strncmp(color,"b", len)==0) { + led = LEDS_BLUE; + } else { + success = 0; + } + } else { + success = 0; + } + + if (success && (len=REST.get_post_variable(request, "mode", &mode))) { + PRINTF("mode %s\n", mode); + + if (strncmp(mode, "on", len)==0) { + leds_on(led); + } else if (strncmp(mode, "off", len)==0) { + leds_off(led); + } else { + success = 0; + } + } else { + success = 0; + } + + if (!success) { + REST.set_response_status(response, REST.status.BAD_REQUEST); + } +} +#endif + +/******************************************************************************/ +#if REST_RES_TOGGLE +/* A simple actuator example. Toggles the red led */ +RESOURCE(toggle, METHOD_GET | METHOD_PUT | METHOD_POST, "actuators/toggle", "title=\"Red LED\";rt=\"Control\""); +void +toggle_handler(void* request, void* response, uint8_t *buffer, uint16_t preferred_size, int32_t *offset) +{ + leds_toggle(LEDS_RED); +} +#endif +#endif /* PLATFORM_HAS_LEDS */ + +/******************************************************************************/ + +/******************************************************************************/ +#if REST_RES_TEMPERATURE && defined (PLATFORM_HAS_TEMPERATURE) +/* 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 +temperature_handler(void* request, void* response, uint8_t *buffer, uint16_t preferred_size, int32_t *offset) +{ + int temperature = temperature_sensor.value(0); + + const uint16_t *accept = NULL; + int num = REST.get_header_accept(request, &accept); + + if ((num==0) || (num && accept[0]==REST.type.TEXT_PLAIN)) + { + REST.set_header_content_type(response, REST.type.TEXT_PLAIN); + snprintf((char *)buffer, REST_MAX_CHUNK_SIZE, "%d", temperature); + + 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, "{'temperature':%d}", temperature); + + REST.set_response_payload(response, buffer, strlen((char *)buffer)); + } + else + { + REST.set_response_status(response, REST.status.UNSUPPORTED_MADIA_TYPE); + const char *msg = "Supporting content-types text/plain and application/json"; + REST.set_response_payload(response, msg, strlen(msg)); + } +} +#endif /* PLATFORM_HAS_TEMPERATURE */ + +/******************************************************************************/ +#if REST_RES_BATTERY && defined (PLATFORM_HAS_BATTERY) +/* 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 +battery_handler(void* request, void* response, uint8_t *buffer, uint16_t preferred_size, int32_t *offset) +{ + int battery = battery_sensor.value(0); + + const uint16_t *accept = NULL; + int num = REST.get_header_accept(request, &accept); + + if ((num==0) || (num && accept[0]==REST.type.TEXT_PLAIN)) + { + REST.set_header_content_type(response, REST.type.TEXT_PLAIN); + snprintf((char *)buffer, REST_MAX_CHUNK_SIZE, "%d", battery); + + 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)); + } + else + { + REST.set_response_status(response, REST.status.UNSUPPORTED_MADIA_TYPE); + const char *msg = "Supporting content-types text/plain and application/json"; + REST.set_response_payload(response, msg, strlen(msg)); + } +} +#endif /* PLATFORM_HAS_BATTERY */ +/******************************************************************************/ + +void +hw_init() +{ + led1_off(); +} + +PROCESS(rest_server_example, "Erbium Example Server"); + +AUTOSTART_PROCESSES(&rest_server_example, &sensors_process); + +PROCESS_THREAD(rest_server_example, ev, data) +{ + PROCESS_BEGIN(); + PRINTF("Starting Erbium Example Server\n"); + +#ifdef RF_CHANNEL + PRINTF("RF channel: %u\n", RF_CHANNEL); +#endif +#ifdef IEEE802154_PANID + PRINTF("PAN ID: 0x%04X\n", IEEE802154_PANID); +#endif + + PRINTF("uIP buffer: %u\n", UIP_BUFSIZE); + PRINTF("LL header: %u\n", UIP_LLH_LEN); + PRINTF("IP+UDP header: %u\n", UIP_IPUDPH_LEN); + PRINTF("REST max chunk: %u\n", REST_MAX_CHUNK_SIZE); + +/* if static routes are used rather than RPL */ +#if !UIP_CONF_IPV6_RPL && !defined (CONTIKI_TARGET_MINIMAL_NET) && !defined (CONTIKI_TARGET_NATIVE) + set_global_address(); + configure_routing(); +#endif + + /* Initialize the OSD Hardware. */ + hw_init(); + /* Initialize the REST engine. */ + rest_init_engine(); + + /* Activate the application-specific resources. */ + rest_activate_resource(&resource_led1); +#if REST_RES_INFO + rest_activate_resource(&resource_info); +#endif +#if defined (PLATFORM_HAS_LEDS) +#if REST_RES_LEDS + rest_activate_resource(&resource_leds); +#endif +#if REST_RES_TOGGLE + rest_activate_resource(&resource_toggle); +#endif +#endif /* PLATFORM_HAS_LEDS */ +#if defined (PLATFORM_HAS_TEMPERATURE) && REST_RES_TEMPERATURE + SENSORS_ACTIVATE(temperature_sensor); + rest_activate_resource(&resource_temperature); +#endif +#if defined (PLATFORM_HAS_BATTERY) && REST_RES_BATTERY + SENSORS_ACTIVATE(battery_sensor); + rest_activate_resource(&resource_battery); +#endif +#if defined (PLATFORM_HAS_SERVO) && REST_RES_SERVO + SENSORS_ACTIVATE(servo_sensor); + rest_activate_resource(&resource_servo); +#endif + + /* Define application-specific events here. */ + while(1) { + PROCESS_WAIT_EVENT(); + } /* while (1) */ + + PROCESS_END(); +} diff --git a/examples/osd/servo-sensor/flash.sh b/examples/osd/servo-sensor/flash.sh new file mode 100755 index 000000000..e92d472f6 --- /dev/null +++ b/examples/osd/servo-sensor/flash.sh @@ -0,0 +1,2 @@ +#!/bin/bash +sudo avrdude -pm128rfa1 -c arduino -P/dev/ttyUSB0 -b57600 -e -U flash:w:er-example-server.osd-merkur.hex:a -U eeprom:w:er-example-server.osd-merkur.eep:a diff --git a/examples/osd/servo-sensor/project-conf.h b/examples/osd/servo-sensor/project-conf.h new file mode 100644 index 000000000..5c75a104c --- /dev/null +++ b/examples/osd/servo-sensor/project-conf.h @@ -0,0 +1,73 @@ +/* + * 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_SERVO 1 +//#define PLATFORM_HAS_TEMPERATURE 1 +#define PLATFORM_HAS_BATTERY 1 + +#define SICSLOWPAN_CONF_FRAG 1 + +/* 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 + +/* Save some memory for the sky platform. */ +#undef UIP_CONF_DS6_NBR_NBU +#define UIP_CONF_DS6_NBR_NBU 10 +#undef UIP_CONF_DS6_ROUTE_NBU +#define UIP_CONF_DS6_ROUTE_NBU 10 + +/* Increase rpl-border-router IP-buffer when using 128. */ +#ifndef REST_MAX_CHUNK_SIZE +#define REST_MAX_CHUNK_SIZE 64 +#endif + +/* Multiplies with chunk size, be aware of memory constraints. */ +#ifndef COAP_MAX_OPEN_TRANSACTIONS +#define COAP_MAX_OPEN_TRANSACTIONS 2 +#endif + +/* Must be <= open transaction number. */ +#ifndef COAP_MAX_OBSERVERS +#define COAP_MAX_OBSERVERS COAP_MAX_OPEN_TRANSACTIONS-1 +#endif + +/* Reduce 802.15.4 frame queue to save RAM. */ +#undef QUEUEBUF_CONF_NUM +#define QUEUEBUF_CONF_NUM 4 + +#endif /* __PROJECT_RPL_WEB_CONF_H__ */ diff --git a/examples/osd/servo-sensor/run.sh b/examples/osd/servo-sensor/run.sh new file mode 100755 index 000000000..4f21e9b63 --- /dev/null +++ b/examples/osd/servo-sensor/run.sh @@ -0,0 +1,6 @@ +#!/bin/bash +make clean TARGET=osd-merkur +make TARGET=osd-merkur +avr-size -C --mcu=MCU=atmega128rfa1 er-example-server.osd-merkur +avr-objcopy -j .text -j .data -O ihex er-example-server.osd-merkur er-example-server.osd-merkur.hex +avr-objcopy -j .eeprom --set-section-flags=.eeprom="alloc,load" --change-section-lma .eeprom=0 -O ihex er-example-server.osd-merkur er-example-server.osd-merkur.eep diff --git a/examples/osd/servo-sensor/server-client.csc b/examples/osd/servo-sensor/server-client.csc new file mode 100644 index 000000000..8c45fdf02 --- /dev/null +++ b/examples/osd/servo-sensor/server-client.csc @@ -0,0 +1,227 @@ + + + [CONTIKI_DIR]/tools/cooja/apps/mrm + [CONTIKI_DIR]/tools/cooja/apps/mspsim + [CONTIKI_DIR]/tools/cooja/apps/avrora + [CONTIKI_DIR]/tools/cooja/apps/serial_socket + [CONTIKI_DIR]/tools/cooja/apps/collect-view + + REST with RPL router + -2147483648 + 123456 + 1000000 + + se.sics.cooja.radiomediums.UDGM + 50.0 + 50.0 + 1.0 + 1.0 + + + 40000 + + + se.sics.cooja.mspmote.SkyMoteType + rplroot + Sky RPL Root + [CONTIKI_DIR]/examples/ipv6/rpl-border-router/border-router.c + make border-router.sky TARGET=sky + [CONTIKI_DIR]/examples/ipv6/rpl-border-router/border-router.sky + se.sics.cooja.interfaces.Position + se.sics.cooja.interfaces.RimeAddress + se.sics.cooja.interfaces.IPAddress + se.sics.cooja.interfaces.Mote2MoteRelations + se.sics.cooja.interfaces.MoteAttributes + se.sics.cooja.mspmote.interfaces.MspClock + se.sics.cooja.mspmote.interfaces.MspMoteID + se.sics.cooja.mspmote.interfaces.SkyButton + se.sics.cooja.mspmote.interfaces.SkyFlash + se.sics.cooja.mspmote.interfaces.SkyCoffeeFilesystem + se.sics.cooja.mspmote.interfaces.SkyByteRadio + se.sics.cooja.mspmote.interfaces.MspSerial + se.sics.cooja.mspmote.interfaces.SkyLED + se.sics.cooja.mspmote.interfaces.MspDebugOutput + se.sics.cooja.mspmote.interfaces.SkyTemperature + + + se.sics.cooja.mspmote.SkyMoteType + server + Erbium Server + [CONTIKI_DIR]/examples/er-rest-example/er-example-server.c + make er-example-server.sky TARGET=sky + [CONTIKI_DIR]/examples/er-rest-example/er-example-server.sky + se.sics.cooja.interfaces.Position + se.sics.cooja.interfaces.RimeAddress + se.sics.cooja.interfaces.IPAddress + se.sics.cooja.interfaces.Mote2MoteRelations + se.sics.cooja.interfaces.MoteAttributes + se.sics.cooja.mspmote.interfaces.MspClock + se.sics.cooja.mspmote.interfaces.MspMoteID + se.sics.cooja.mspmote.interfaces.SkyButton + se.sics.cooja.mspmote.interfaces.SkyFlash + se.sics.cooja.mspmote.interfaces.SkyCoffeeFilesystem + se.sics.cooja.mspmote.interfaces.SkyByteRadio + se.sics.cooja.mspmote.interfaces.MspSerial + se.sics.cooja.mspmote.interfaces.SkyLED + se.sics.cooja.mspmote.interfaces.MspDebugOutput + se.sics.cooja.mspmote.interfaces.SkyTemperature + + + se.sics.cooja.mspmote.SkyMoteType + client + Erbium Client + [CONTIKI_DIR]/examples/er-rest-example/er-example-client.c + make er-example-client.sky TARGET=sky + [CONTIKI_DIR]/examples/er-rest-example/er-example-client.sky + se.sics.cooja.interfaces.Position + se.sics.cooja.interfaces.RimeAddress + se.sics.cooja.interfaces.IPAddress + se.sics.cooja.interfaces.Mote2MoteRelations + se.sics.cooja.interfaces.MoteAttributes + se.sics.cooja.mspmote.interfaces.MspClock + se.sics.cooja.mspmote.interfaces.MspMoteID + se.sics.cooja.mspmote.interfaces.SkyButton + se.sics.cooja.mspmote.interfaces.SkyFlash + se.sics.cooja.mspmote.interfaces.SkyCoffeeFilesystem + se.sics.cooja.mspmote.interfaces.SkyByteRadio + se.sics.cooja.mspmote.interfaces.MspSerial + se.sics.cooja.mspmote.interfaces.SkyLED + se.sics.cooja.mspmote.interfaces.MspDebugOutput + se.sics.cooja.mspmote.interfaces.SkyTemperature + + + + + se.sics.cooja.interfaces.Position + 33.260163187353555 + 30.643217359962595 + 0.0 + + + se.sics.cooja.mspmote.interfaces.MspMoteID + 1 + + rplroot + + + + + se.sics.cooja.interfaces.Position + 46.57186415376375 + 40.35946215910942 + 0.0 + + + se.sics.cooja.mspmote.interfaces.MspMoteID + 2 + + server + + + + + se.sics.cooja.interfaces.Position + 18.638049428485125 + 47.55034515769599 + 0.0 + + + se.sics.cooja.mspmote.interfaces.MspMoteID + 3 + + client + + + + se.sics.cooja.plugins.SimControl + 259 + 0 + 179 + 0 + 0 + + + se.sics.cooja.plugins.Visualizer + + se.sics.cooja.plugins.skins.IDVisualizerSkin + se.sics.cooja.plugins.skins.UDGMVisualizerSkin + se.sics.cooja.plugins.skins.MoteTypeVisualizerSkin + se.sics.cooja.plugins.skins.AttributeVisualizerSkin + se.sics.cooja.plugins.skins.LEDVisualizerSkin + se.sics.cooja.plugins.skins.AddressVisualizerSkin + 3.61568947862321 0.0 0.0 3.61568947862321 15.610600779367 -85.92728269158351 + + 300 + 2 + 178 + 261 + 1 + + + se.sics.cooja.plugins.LogListener + + + + + 762 + 3 + 491 + 2 + 182 + + + se.sics.cooja.plugins.RadioLogger + + 150 + + + 451 + -1 + 305 + 73 + 140 + true + + + SerialSocketServer + 0 + 422 + 4 + 74 + 578 + 18 + + + se.sics.cooja.plugins.TimeLine + + 0 + 1 + 2 + + + + + 125 + 25.49079397896416 + + 1624 + 5 + 252 + 6 + 712 + + + se.sics.cooja.plugins.MoteInterfaceViewer + 2 + + Serial port + 0,0 + + 853 + 1 + 491 + 765 + 182 + + + diff --git a/examples/osd/servo-sensor/server-only.csc b/examples/osd/servo-sensor/server-only.csc new file mode 100644 index 000000000..d5eee34d6 --- /dev/null +++ b/examples/osd/servo-sensor/server-only.csc @@ -0,0 +1,189 @@ + + + [CONTIKI_DIR]/tools/cooja/apps/mrm + [CONTIKI_DIR]/tools/cooja/apps/mspsim + [CONTIKI_DIR]/tools/cooja/apps/avrora + [CONTIKI_DIR]/tools/cooja/apps/serial_socket + [CONTIKI_DIR]/tools/cooja/apps/collect-view + + REST with RPL router + -2147483648 + 123456 + 1000000 + + se.sics.cooja.radiomediums.UDGM + 50.0 + 50.0 + 1.0 + 1.0 + + + 40000 + + + se.sics.cooja.mspmote.SkyMoteType + rplroot + Sky RPL Root + [CONTIKI_DIR]/examples/ipv6/rpl-border-router/border-router.c + make border-router.sky TARGET=sky + [CONTIKI_DIR]/examples/ipv6/rpl-border-router/border-router.sky + se.sics.cooja.interfaces.Position + se.sics.cooja.interfaces.RimeAddress + se.sics.cooja.interfaces.IPAddress + se.sics.cooja.interfaces.Mote2MoteRelations + se.sics.cooja.interfaces.MoteAttributes + se.sics.cooja.mspmote.interfaces.MspClock + se.sics.cooja.mspmote.interfaces.MspMoteID + se.sics.cooja.mspmote.interfaces.SkyButton + se.sics.cooja.mspmote.interfaces.SkyFlash + se.sics.cooja.mspmote.interfaces.SkyCoffeeFilesystem + se.sics.cooja.mspmote.interfaces.SkyByteRadio + se.sics.cooja.mspmote.interfaces.MspSerial + se.sics.cooja.mspmote.interfaces.SkyLED + se.sics.cooja.mspmote.interfaces.MspDebugOutput + se.sics.cooja.mspmote.interfaces.SkyTemperature + + + se.sics.cooja.mspmote.SkyMoteType + server + Erbium Server + [CONTIKI_DIR]/examples/er-rest-example/er-example-server.c + make er-example-server.sky TARGET=sky + [CONTIKI_DIR]/examples/er-rest-example/er-example-server.sky + se.sics.cooja.interfaces.Position + se.sics.cooja.interfaces.RimeAddress + se.sics.cooja.interfaces.IPAddress + se.sics.cooja.interfaces.Mote2MoteRelations + se.sics.cooja.interfaces.MoteAttributes + se.sics.cooja.mspmote.interfaces.MspClock + se.sics.cooja.mspmote.interfaces.MspMoteID + se.sics.cooja.mspmote.interfaces.SkyButton + se.sics.cooja.mspmote.interfaces.SkyFlash + se.sics.cooja.mspmote.interfaces.SkyCoffeeFilesystem + se.sics.cooja.mspmote.interfaces.SkyByteRadio + se.sics.cooja.mspmote.interfaces.MspSerial + se.sics.cooja.mspmote.interfaces.SkyLED + se.sics.cooja.mspmote.interfaces.MspDebugOutput + se.sics.cooja.mspmote.interfaces.SkyTemperature + + + + + se.sics.cooja.interfaces.Position + 33.260163187353555 + 30.643217359962595 + 0.0 + + + se.sics.cooja.mspmote.interfaces.MspMoteID + 1 + + rplroot + + + + + se.sics.cooja.interfaces.Position + 35.100895239785295 + 39.70574552287428 + 0.0 + + + se.sics.cooja.mspmote.interfaces.MspMoteID + 2 + + server + + + + se.sics.cooja.plugins.SimControl + 259 + 5 + 179 + 0 + 0 + + + se.sics.cooja.plugins.Visualizer + + se.sics.cooja.plugins.skins.IDVisualizerSkin + se.sics.cooja.plugins.skins.UDGMVisualizerSkin + se.sics.cooja.plugins.skins.MoteTypeVisualizerSkin + se.sics.cooja.plugins.skins.AttributeVisualizerSkin + se.sics.cooja.plugins.skins.LEDVisualizerSkin + se.sics.cooja.plugins.skins.AddressVisualizerSkin + 7.9849281638410705 0.0 0.0 7.9849281638410705 -133.27812697619663 -225.04752569190535 + + 300 + 4 + 175 + 263 + 3 + + + se.sics.cooja.plugins.LogListener + + + + + 560 + 1 + 326 + 1 + 293 + + + se.sics.cooja.plugins.RadioLogger + + 150 + + + 451 + -1 + 305 + 73 + 140 + true + + + SerialSocketServer + 0 + 422 + 2 + 74 + 39 + 199 + + + se.sics.cooja.plugins.TimeLine + + 0 + 1 + + + + + 125 + 25.49079397896416 + + 1624 + 3 + 252 + 4 + 622 + + + se.sics.cooja.plugins.MoteInterfaceViewer + 1 + + Serial port + 0,0 + + 702 + 0 + 646 + 564 + 2 + + + diff --git a/examples/osd/servo-sensor/static-routing.c b/examples/osd/servo-sensor/static-routing.c new file mode 100644 index 000000000..628594892 --- /dev/null +++ b/examples/osd/servo-sensor/static-routing.c @@ -0,0 +1,155 @@ +/* + * static-routing.c + * + * Created on: Oct 12, 2010 + * Author: simonduq + */ + +#include +#include "static-routing.h" + +#define DEBUG 0 +#if DEBUG +#include +#define PRINTF(...) printf(__VA_ARGS__) +#define PRINT6ADDR(addr) PRINTF(" %02x%02x:%02x%02x:%02x%02x:%02x%02x:%02x%02x:%02x%02x:%02x%02x:%02x%02x ", ((uint8_t *)addr)[0], ((uint8_t *)addr)[1], ((uint8_t *)addr)[2], ((uint8_t *)addr)[3], ((uint8_t *)addr)[4], ((uint8_t *)addr)[5], ((uint8_t *)addr)[6], ((uint8_t *)addr)[7], ((uint8_t *)addr)[8], ((uint8_t *)addr)[9], ((uint8_t *)addr)[10], ((uint8_t *)addr)[11], ((uint8_t *)addr)[12], ((uint8_t *)addr)[13], ((uint8_t *)addr)[14], ((uint8_t *)addr)[15]) +#define PRINTLLADDR(lladdr) PRINTF(" %02x:%02x:%02x:%02x:%02x:%02x ",(lladdr)->addr[0], (lladdr)->addr[1], (lladdr)->addr[2], (lladdr)->addr[3],(lladdr)->addr[4], (lladdr)->addr[5]) +#else +#define PRINTF(...) +#define PRINT6ADDR(addr) +#define PRINTLLADDR(addr) +#endif + +#include "contiki-net.h" +#include "node-id.h" + +int node_rank; + +struct id_to_addrs { + int id; + uint32_t addr; +}; + +const struct id_to_addrs motes_addrs[] = { +/* + * Static routing requires a map nodeid => address. + * The nodeid can be programmed with the sky-shell. + * The addresses should also be added to /etc/hosts. + * + * aaaa::212:7400:1160:f62d sky1 + * aaaa::212:7400:0da0:d748 sky2 + * aaaa::212:7400:116e:c325 sky3 + * aaaa::212:7400:116e:c444 sky4 + * aaaa::212:7400:115e:b717 sky5 + * + * Add the nodeid and last 4 bytes of the address to the map. + */ + {1, 0x1160f62d}, + {2, 0x0da0d748}, + {3, 0x116ec325}, + {4, 0x116ec444}, + {5, 0x115eb717}, +}; +/* Define the size of the map. */ +#define NODES_IN_MAP 5 + +uint32_t get_mote_suffix(int rank) { + if(--rank >=0 && rank<(sizeof(motes_addrs)/sizeof(struct id_to_addrs))) { + return motes_addrs[rank].addr; + } + return 0; +} + +int get_mote_id(uint32_t suffix) { +#if IN_COOJA + return suffix & 0xff; +#else + int i; + for(i=0; i<(sizeof(motes_addrs)/sizeof(struct id_to_addrs)); i++) { + if(suffix == motes_addrs[i].addr) { + return motes_addrs[i].id; + } + } + return 0; +#endif +} + +void set_global_address(void) { + uip_ipaddr_t ipaddr; + + uip_ip6addr(&ipaddr, 0xaaaa, 0, 0, 0, 0, 0, 0, 0); + uip_ds6_set_addr_iid(&ipaddr, &uip_lladdr); + uip_ds6_addr_add(&ipaddr, 0, ADDR_AUTOCONF); +} + +static void add_route_ext(int dest, int next) { + PRINTF("add route ext %d %d\n", dest, next); + uip_ipaddr_t ipaddr_dest, ipaddr_next; + uip_ip6addr(&ipaddr_dest, 0xaaaa, 0, 0, 0, 0, 0, 0, dest); +#if IN_COOJA + uip_ip6addr(&ipaddr_next, 0xfe80, 0, 0, 0, 0x0212, 0x7400 | next, next, next<<8 | next); +#else + uint32_t next_suffix = get_mote_suffix(next); + uip_ip6addr(&ipaddr_next, 0xfe80, 0, 0, 0, 0x0212, 0x7400, (next_suffix >> 16) & 0xffff, next_suffix & 0xffff); +#endif + uip_ds6_route_add(&ipaddr_dest, 128, &ipaddr_next, 0); +} + +void add_route(int dest, int next) { + PRINTF("add route %d %d\n", dest, next); + uip_ipaddr_t ipaddr_dest, ipaddr_next; +#if IN_COOJA + uip_ip6addr(&ipaddr_dest, 0xaaaa, 0, 0, 0, 0x0212, 0x7400 | dest, dest, dest<<8 | dest); + uip_ip6addr(&ipaddr_next, 0xfe80, 0, 0, 0, 0x0212, 0x7400 | next, next, next<<8 | next); +#else + uint32_t dest_suffix = get_mote_suffix(dest); + uint32_t next_suffix = get_mote_suffix(next); + uip_ip6addr(&ipaddr_dest, 0xaaaa, 0, 0, 0, 0x0212, 0x7400, (dest_suffix >> 16) & 0xffff, dest_suffix & 0xffff); + uip_ip6addr(&ipaddr_next, 0xfe80, 0, 0, 0, 0x0212, 0x7400, (next_suffix >> 16) & 0xffff, next_suffix & 0xffff); +#endif + uip_ds6_route_add(&ipaddr_dest, 128, &ipaddr_next, 0); +} + +void configure_routing(void) { + int i; +#if IN_COOJA + node_rank = node_id; +#else + node_rank = -1; + for(i=0; i<(sizeof(motes_addrs)/sizeof(struct id_to_addrs)); ++i) { + if(node_id == motes_addrs[i].id) { + node_rank = i+1; + break; + } + } + + if(node_rank == -1) { + printf("unable to configure routing, node_id=%d\n", node_id); + return; + } +#endif + + printf("configure_routing, node_id=%d, node_rank %d\n", node_id, node_rank); + + if (node_rank == 1) { /* border router #1 */ + add_route_ext(2, 2); + for(i=2; i<=NODES_IN_MAP; ++i) { + add_route(i, 2); + } + } else if (node_rank < NODES_IN_MAP) { /* other node */ + add_route_ext(1, node_rank-1); + add_route_ext(2, node_rank+1); + for(i=1; i<=NODES_IN_MAP; ++i) { + if(inode_rank) { + add_route(i, node_rank+1); + } + } + } else if (node_rank == NODES_IN_MAP) { /* 2nd border router */ + add_route_ext(1, NODES_IN_MAP-1); + for(i=1; i<=NODES_IN_MAP-1; ++i) { + add_route(i, NODES_IN_MAP-1); + } + } +} diff --git a/examples/osd/servo-sensor/static-routing.h b/examples/osd/servo-sensor/static-routing.h new file mode 100644 index 000000000..0dff0b7ba --- /dev/null +++ b/examples/osd/servo-sensor/static-routing.h @@ -0,0 +1,20 @@ +/* + * static-routing.h + * + * Created on: Oct 12, 2010 + * Author: simonduq + */ + +#ifndef STATICROUTING_H_ +#define STATICROUTING_H_ + +#include "contiki.h" + +extern int node_rank; +extern uint32_t get_mote_suffix(int id); +extern int get_mote_id(uint32_t suffix); +extern void add_route(int dest, int next); +extern void set_global_address(void); +extern void configure_routing(void); + +#endif /* STATICROUTING_H_ */ diff --git a/platform/osd-merkur/Makefile.osd-merkur b/platform/osd-merkur/Makefile.osd-merkur index ded157f14..1a95ecf09 100644 --- a/platform/osd-merkur/Makefile.osd-merkur +++ b/platform/osd-merkur/Makefile.osd-merkur @@ -16,6 +16,9 @@ CONTIKI_TARGET_SOURCEFILES += battery-sensor.c #Needed for PIR CONTIKI_TARGET_SOURCEFILES += pir-sensor.c CONTIKIAVR=$(CONTIKI)/cpu/avr +#Needed for PIR +CONTIKI_TARGET_SOURCEFILES += servo.c servo-sensor.c + CONTIKIBOARD=. BOOTLOADER_START = 0x1F000 CONTIKI_PLAT_DEFS = -DF_CPU=16000000UL -DAUTO_CRC_PADDING=2 diff --git a/platform/osd-merkur/dev/servo-sensor.c b/platform/osd-merkur/dev/servo-sensor.c new file mode 100644 index 000000000..9da3caf80 --- /dev/null +++ b/platform/osd-merkur/dev/servo-sensor.c @@ -0,0 +1,100 @@ +/* +* Copyright (c) , Harald Pichler. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* 1. Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* 2. Redistributions in binary form must reproduce the above copyright +* notice, this list of conditions and the following disclaimer in the +* documentation and/or other materials provided with the distribution. +* 3. Neither the name of the Institute nor the names of its contributors +* may be used to endorse or promote products derived from this software +* without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE INSTITUTE AND CONTRIBUTORS ``AS IS'' AND +* ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE +* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE +* ARE DISCLAIMED. IN NO EVENT SHALL THE INSTITUTE OR CONTRIBUTORS BE LIABLE +* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL +* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS +* OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) +* HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY +* OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF +* SUCH DAMAGE. +* +* @(#)$Id: servo-sensor.c,v 1.0 2013/02/20 19:34:06 nifi Exp $ +*/ + +/** +* \file +* Servo sensor header file for Atmega128rfa1. +* \author +* Harald Pichler +*/ + +#include "contiki.h" +#include "dev/servo.h" +#include "dev/servo-sensor.h" + +#define PRINTF(...) printf(__VA_ARGS__) + +const struct sensors_sensor servo_sensor; +static int status(int type); +static int enabled = 0; + +/*---------------------------------------------------------------------------*/ +static int +value(int type) +{ + switch(type) { + case SERVO_SENSOR_A: + return servo_get(0);; + + /* Total Solar Radiation. */ + case SERVO_SENSOR_B: + return servo_get(1); + } + return 0; +} +/*---------------------------------------------------------------------------*/ +static int +configure(int type, int c) +{ + switch(type) { + case SENSORS_ACTIVE: + if(c) { + if(!status(SENSORS_ACTIVE)) { + servo_init(); + enabled = 1; + } + } else { + servo_off(); + enabled = 1; + } + break; + case SERVO_SENSOR_A: + servo_set(0,c); + break; + case SERVO_SENSOR_B: + servo_set(1,c); + break; + } + return 0; +} +/*---------------------------------------------------------------------------*/ +static int +status(int type) +{ + switch(type) { + case SENSORS_ACTIVE: + case SENSORS_READY: + return enabled; + } + return 0; +} +/*---------------------------------------------------------------------------*/ +SENSORS_SENSOR(servo_sensor, SERVO_SENSOR, value, configure, status); diff --git a/platform/osd-merkur/dev/servo-sensor.h b/platform/osd-merkur/dev/servo-sensor.h new file mode 100644 index 000000000..44e50c0f8 --- /dev/null +++ b/platform/osd-merkur/dev/servo-sensor.h @@ -0,0 +1,50 @@ +/* +* Copyright (c), Harald Pichler. +* 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. +* +* @(#)$Id: servo-sensor.h,v 1.0 2013/02/20 19:34:06 nifi Exp $ +*/ + +/** +* \file +* Servo sensor header file for Atmega128rfa1. +* \author +* Harald Pichler +*/ + +#ifndef __SERVO_SENSOR_H__ +#define __SERVO_SENSOR_H__ + +#include "lib/sensors.h" + +extern const struct sensors_sensor servo_sensor; + +#define SERVO_SENSOR "Servo" +#define SERVO_SENSOR_A 0 +#define SERVO_SENSOR_B 1 + +#endif /* __SERVO_SENSOR_H__ */ diff --git a/platform/osd-merkur/dev/servo.c b/platform/osd-merkur/dev/servo.c new file mode 100644 index 000000000..1e4169b89 --- /dev/null +++ b/platform/osd-merkur/dev/servo.c @@ -0,0 +1,147 @@ +/* + * Copyright (c) 2007, 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. + * + */ + +/* + * Device driver for the Sensirion SHT1x/SHT7x family of humidity and + * temperature sensors. + */ + +#include "contiki.h" +#include +#include + +#define DEBUG 0 + +#if DEBUG +#include +#define PRINTF(...) printf(__VA_ARGS__) +#else +#define PRINTF(...) +#endif + +/*---------------------------------------------------------------------------*/ +/*---------------------------------------------------------------------------*/ +/* + * servo device + */ + +#define SERVO_OFFSET 1000 +#define SERVO_MAX 1000 +#define SERVO_INIT 500 + +unsigned int servoa=SERVO_INIT; +unsigned int servob=SERVO_INIT; + +void +servo_init(void) +{ +// Port B initialization +// Func7=Out Func6=Out Func5=Out Func4=In Func3=In Func2=In Func1=In Func0=In +// State7=0 State6=0 State5=0 State4=T State3=T State2=T State1=T State0=T +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; +OCR1AL=0x00; +*/ +// OCR1A will govern the steering servo, OCR1B will govern throttle +OCR1A = 1500; // set it to an initial position somewhere in the middle of the 1 to 2ms range + +// OCR1A will govern the steering servo, OCR1B will govern throttle +OCR1B = 1500; // 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 +OCR1CH=0x00; +OCR1CL=0x00; +} +/*---------------------------------------------------------------------------*/ +/* + * Power of device. + */ +void +servo_off(void) +{ + +} +/*---------------------------------------------------------------------------*/ +/* + * get servo position + */ +unsigned int +servo_get(unsigned int i) +{ + if(i==0) + return servoa; + if(i==1) + return servob; + return 0; +} +/*---------------------------------------------------------------------------*/ +/* + * Set servo position + */ +unsigned int +servo_set(unsigned i,unsigned int j) +{ + if(j > SERVO_MAX) + j=SERVO_MAX; + + if(i==0) + servoa=j; + OCR1A = SERVO_OFFSET + servoa; + return 1; + if(i==1) + servob=j; + OCR1A = SERVO_OFFSET + servob; + return 1; +} diff --git a/platform/osd-merkur/dev/servo.h b/platform/osd-merkur/dev/servo.h new file mode 100644 index 000000000..c10f8657c --- /dev/null +++ b/platform/osd-merkur/dev/servo.h @@ -0,0 +1,40 @@ +/* + * Copyright (c) 2007, 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 SERVO_H +#define SERVO_H + +void servo_init(void); +void servo_off(void); + +unsigned int servo_get(unsigned int i); +unsigned int servo_set(unsigned i,unsigned int j); + +#endif /* SHT11_H */