deac/osd-contiki
1
0
Fork 0
Code Issues Pull requests Releases Wiki Activity

add servo example

Browse source
This commit is contained in:
harald42 2013-02-22 17:04:19 +01:00 committed by harald
parent 36e0dcf22f
commit bba7b84a15
15 changed files with 1641 additions and 0 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

88
examples/osd/servo-sensor/Makefile Normal file
View file

@ -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

76
examples/osd/servo-sensor/README Normal file
View file

@ -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)

465
examples/osd/servo-sensor/er-example-server.c Normal file
View file

@ -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 <kovatsch@inf.ethz.ch>
* Harald Pichler <harald@the-develop.net>
*/
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#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();
}

2
examples/osd/servo-sensor/flash.sh Executable file
View file

@ -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

73
examples/osd/servo-sensor/project-conf.h Normal file
View file

@ -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__ */

6
examples/osd/servo-sensor/run.sh Executable file
View file

@ -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

227
examples/osd/servo-sensor/server-client.csc Normal file
View file

@ -0,0 +1,227 @@
<?xml version="1.0" encoding="UTF-8"?>
<simconf>
<project EXPORT="discard">[CONTIKI_DIR]/tools/cooja/apps/mrm</project>
<project EXPORT="discard">[CONTIKI_DIR]/tools/cooja/apps/mspsim</project>
<project EXPORT="discard">[CONTIKI_DIR]/tools/cooja/apps/avrora</project>
<project EXPORT="discard">[CONTIKI_DIR]/tools/cooja/apps/serial_socket</project>
<project EXPORT="discard">[CONTIKI_DIR]/tools/cooja/apps/collect-view</project>
<simulation>
<title>REST with RPL router</title>
<delaytime>-2147483648</delaytime>
<randomseed>123456</randomseed>
<motedelay_us>1000000</motedelay_us>
<radiomedium>
se.sics.cooja.radiomediums.UDGM
<transmitting_range>50.0</transmitting_range>
<interference_range>50.0</interference_range>
<success_ratio_tx>1.0</success_ratio_tx>
<success_ratio_rx>1.0</success_ratio_rx>
</radiomedium>
<events>
<logoutput>40000</logoutput>
</events>
<motetype>
se.sics.cooja.mspmote.SkyMoteType
<identifier>rplroot</identifier>
<description>Sky RPL Root</description>
<source EXPORT="discard">[CONTIKI_DIR]/examples/ipv6/rpl-border-router/border-router.c</source>
<commands EXPORT="discard">make border-router.sky TARGET=sky</commands>
<firmware EXPORT="copy">[CONTIKI_DIR]/examples/ipv6/rpl-border-router/border-router.sky</firmware>
<moteinterface>se.sics.cooja.interfaces.Position</moteinterface>
<moteinterface>se.sics.cooja.interfaces.RimeAddress</moteinterface>
<moteinterface>se.sics.cooja.interfaces.IPAddress</moteinterface>
<moteinterface>se.sics.cooja.interfaces.Mote2MoteRelations</moteinterface>
<moteinterface>se.sics.cooja.interfaces.MoteAttributes</moteinterface>
<moteinterface>se.sics.cooja.mspmote.interfaces.MspClock</moteinterface>
<moteinterface>se.sics.cooja.mspmote.interfaces.MspMoteID</moteinterface>
<moteinterface>se.sics.cooja.mspmote.interfaces.SkyButton</moteinterface>
<moteinterface>se.sics.cooja.mspmote.interfaces.SkyFlash</moteinterface>
<moteinterface>se.sics.cooja.mspmote.interfaces.SkyCoffeeFilesystem</moteinterface>
<moteinterface>se.sics.cooja.mspmote.interfaces.SkyByteRadio</moteinterface>
<moteinterface>se.sics.cooja.mspmote.interfaces.MspSerial</moteinterface>
<moteinterface>se.sics.cooja.mspmote.interfaces.SkyLED</moteinterface>
<moteinterface>se.sics.cooja.mspmote.interfaces.MspDebugOutput</moteinterface>
<moteinterface>se.sics.cooja.mspmote.interfaces.SkyTemperature</moteinterface>
</motetype>
<motetype>
se.sics.cooja.mspmote.SkyMoteType
<identifier>server</identifier>
<description>Erbium Server</description>
<source EXPORT="discard">[CONTIKI_DIR]/examples/er-rest-example/er-example-server.c</source>
<commands EXPORT="discard">make er-example-server.sky TARGET=sky</commands>
<firmware EXPORT="copy">[CONTIKI_DIR]/examples/er-rest-example/er-example-server.sky</firmware>
<moteinterface>se.sics.cooja.interfaces.Position</moteinterface>
<moteinterface>se.sics.cooja.interfaces.RimeAddress</moteinterface>
<moteinterface>se.sics.cooja.interfaces.IPAddress</moteinterface>
<moteinterface>se.sics.cooja.interfaces.Mote2MoteRelations</moteinterface>
<moteinterface>se.sics.cooja.interfaces.MoteAttributes</moteinterface>
<moteinterface>se.sics.cooja.mspmote.interfaces.MspClock</moteinterface>
<moteinterface>se.sics.cooja.mspmote.interfaces.MspMoteID</moteinterface>
<moteinterface>se.sics.cooja.mspmote.interfaces.SkyButton</moteinterface>
<moteinterface>se.sics.cooja.mspmote.interfaces.SkyFlash</moteinterface>
<moteinterface>se.sics.cooja.mspmote.interfaces.SkyCoffeeFilesystem</moteinterface>
<moteinterface>se.sics.cooja.mspmote.interfaces.SkyByteRadio</moteinterface>
<moteinterface>se.sics.cooja.mspmote.interfaces.MspSerial</moteinterface>
<moteinterface>se.sics.cooja.mspmote.interfaces.SkyLED</moteinterface>
<moteinterface>se.sics.cooja.mspmote.interfaces.MspDebugOutput</moteinterface>
<moteinterface>se.sics.cooja.mspmote.interfaces.SkyTemperature</moteinterface>
</motetype>
<motetype>
se.sics.cooja.mspmote.SkyMoteType
<identifier>client</identifier>
<description>Erbium Client</description>
<source EXPORT="discard">[CONTIKI_DIR]/examples/er-rest-example/er-example-client.c</source>
<commands EXPORT="discard">make er-example-client.sky TARGET=sky</commands>
<firmware EXPORT="copy">[CONTIKI_DIR]/examples/er-rest-example/er-example-client.sky</firmware>
<moteinterface>se.sics.cooja.interfaces.Position</moteinterface>
<moteinterface>se.sics.cooja.interfaces.RimeAddress</moteinterface>
<moteinterface>se.sics.cooja.interfaces.IPAddress</moteinterface>
<moteinterface>se.sics.cooja.interfaces.Mote2MoteRelations</moteinterface>
<moteinterface>se.sics.cooja.interfaces.MoteAttributes</moteinterface>
<moteinterface>se.sics.cooja.mspmote.interfaces.MspClock</moteinterface>
<moteinterface>se.sics.cooja.mspmote.interfaces.MspMoteID</moteinterface>
<moteinterface>se.sics.cooja.mspmote.interfaces.SkyButton</moteinterface>
<moteinterface>se.sics.cooja.mspmote.interfaces.SkyFlash</moteinterface>
<moteinterface>se.sics.cooja.mspmote.interfaces.SkyCoffeeFilesystem</moteinterface>
<moteinterface>se.sics.cooja.mspmote.interfaces.SkyByteRadio</moteinterface>
<moteinterface>se.sics.cooja.mspmote.interfaces.MspSerial</moteinterface>
<moteinterface>se.sics.cooja.mspmote.interfaces.SkyLED</moteinterface>
<moteinterface>se.sics.cooja.mspmote.interfaces.MspDebugOutput</moteinterface>
<moteinterface>se.sics.cooja.mspmote.interfaces.SkyTemperature</moteinterface>
</motetype>
<mote>
<breakpoints />
<interface_config>
se.sics.cooja.interfaces.Position
<x>33.260163187353555</x>
<y>30.643217359962595</y>
<z>0.0</z>
</interface_config>
<interface_config>
se.sics.cooja.mspmote.interfaces.MspMoteID
<id>1</id>
</interface_config>
<motetype_identifier>rplroot</motetype_identifier>
</mote>
<mote>
<breakpoints />
<interface_config>
se.sics.cooja.interfaces.Position
<x>46.57186415376375</x>
<y>40.35946215910942</y>
<z>0.0</z>
</interface_config>
<interface_config>
se.sics.cooja.mspmote.interfaces.MspMoteID
<id>2</id>
</interface_config>
<motetype_identifier>server</motetype_identifier>
</mote>
<mote>
<breakpoints />
<interface_config>
se.sics.cooja.interfaces.Position
<x>18.638049428485125</x>
<y>47.55034515769599</y>
<z>0.0</z>
</interface_config>
<interface_config>
se.sics.cooja.mspmote.interfaces.MspMoteID
<id>3</id>
</interface_config>
<motetype_identifier>client</motetype_identifier>
</mote>
</simulation>
<plugin>
se.sics.cooja.plugins.SimControl
<width>259</width>
<z>0</z>
<height>179</height>
<location_x>0</location_x>
<location_y>0</location_y>
</plugin>
<plugin>
se.sics.cooja.plugins.Visualizer
<plugin_config>
<skin>se.sics.cooja.plugins.skins.IDVisualizerSkin</skin>
<skin>se.sics.cooja.plugins.skins.UDGMVisualizerSkin</skin>
<skin>se.sics.cooja.plugins.skins.MoteTypeVisualizerSkin</skin>
<skin>se.sics.cooja.plugins.skins.AttributeVisualizerSkin</skin>
<skin>se.sics.cooja.plugins.skins.LEDVisualizerSkin</skin>
<skin>se.sics.cooja.plugins.skins.AddressVisualizerSkin</skin>
<viewport>3.61568947862321 0.0 0.0 3.61568947862321 15.610600779367 -85.92728269158351</viewport>
</plugin_config>
<width>300</width>
<z>2</z>
<height>178</height>
<location_x>261</location_x>
<location_y>1</location_y>
</plugin>
<plugin>
se.sics.cooja.plugins.LogListener
<plugin_config>
<filter />
<coloring />
</plugin_config>
<width>762</width>
<z>3</z>
<height>491</height>
<location_x>2</location_x>
<location_y>182</location_y>
</plugin>
<plugin>
se.sics.cooja.plugins.RadioLogger
<plugin_config>
<split>150</split>
<analyzers name="6lowpan" />
</plugin_config>
<width>451</width>
<z>-1</z>
<height>305</height>
<location_x>73</location_x>
<location_y>140</location_y>
<minimized>true</minimized>
</plugin>
<plugin>
SerialSocketServer
<mote_arg>0</mote_arg>
<width>422</width>
<z>4</z>
<height>74</height>
<location_x>578</location_x>
<location_y>18</location_y>
</plugin>
<plugin>
se.sics.cooja.plugins.TimeLine
<plugin_config>
<mote>0</mote>
<mote>1</mote>
<mote>2</mote>
<showRadioRXTX />
<showRadioHW />
<showLEDs />
<showWatchpoints />
<split>125</split>
<zoomfactor>25.49079397896416</zoomfactor>
</plugin_config>
<width>1624</width>
<z>5</z>
<height>252</height>
<location_x>6</location_x>
<location_y>712</location_y>
</plugin>
<plugin>
se.sics.cooja.plugins.MoteInterfaceViewer
<mote_arg>2</mote_arg>
<plugin_config>
<interface>Serial port</interface>
<scrollpos>0,0</scrollpos>
</plugin_config>
<width>853</width>
<z>1</z>
<height>491</height>
<location_x>765</location_x>
<location_y>182</location_y>
</plugin>
</simconf>

189
examples/osd/servo-sensor/server-only.csc Normal file
View file

@ -0,0 +1,189 @@
<?xml version="1.0" encoding="UTF-8"?>
<simconf>
<project EXPORT="discard">[CONTIKI_DIR]/tools/cooja/apps/mrm</project>
<project EXPORT="discard">[CONTIKI_DIR]/tools/cooja/apps/mspsim</project>
<project EXPORT="discard">[CONTIKI_DIR]/tools/cooja/apps/avrora</project>
<project EXPORT="discard">[CONTIKI_DIR]/tools/cooja/apps/serial_socket</project>
<project EXPORT="discard">[CONTIKI_DIR]/tools/cooja/apps/collect-view</project>
<simulation>
<title>REST with RPL router</title>
<delaytime>-2147483648</delaytime>
<randomseed>123456</randomseed>
<motedelay_us>1000000</motedelay_us>
<radiomedium>
se.sics.cooja.radiomediums.UDGM
<transmitting_range>50.0</transmitting_range>
<interference_range>50.0</interference_range>
<success_ratio_tx>1.0</success_ratio_tx>
<success_ratio_rx>1.0</success_ratio_rx>
</radiomedium>
<events>
<logoutput>40000</logoutput>
</events>
<motetype>
se.sics.cooja.mspmote.SkyMoteType
<identifier>rplroot</identifier>
<description>Sky RPL Root</description>
<source EXPORT="discard">[CONTIKI_DIR]/examples/ipv6/rpl-border-router/border-router.c</source>
<commands EXPORT="discard">make border-router.sky TARGET=sky</commands>
<firmware EXPORT="copy">[CONTIKI_DIR]/examples/ipv6/rpl-border-router/border-router.sky</firmware>
<moteinterface>se.sics.cooja.interfaces.Position</moteinterface>
<moteinterface>se.sics.cooja.interfaces.RimeAddress</moteinterface>
<moteinterface>se.sics.cooja.interfaces.IPAddress</moteinterface>
<moteinterface>se.sics.cooja.interfaces.Mote2MoteRelations</moteinterface>
<moteinterface>se.sics.cooja.interfaces.MoteAttributes</moteinterface>
<moteinterface>se.sics.cooja.mspmote.interfaces.MspClock</moteinterface>
<moteinterface>se.sics.cooja.mspmote.interfaces.MspMoteID</moteinterface>
<moteinterface>se.sics.cooja.mspmote.interfaces.SkyButton</moteinterface>
<moteinterface>se.sics.cooja.mspmote.interfaces.SkyFlash</moteinterface>
<moteinterface>se.sics.cooja.mspmote.interfaces.SkyCoffeeFilesystem</moteinterface>
<moteinterface>se.sics.cooja.mspmote.interfaces.SkyByteRadio</moteinterface>
<moteinterface>se.sics.cooja.mspmote.interfaces.MspSerial</moteinterface>
<moteinterface>se.sics.cooja.mspmote.interfaces.SkyLED</moteinterface>
<moteinterface>se.sics.cooja.mspmote.interfaces.MspDebugOutput</moteinterface>
<moteinterface>se.sics.cooja.mspmote.interfaces.SkyTemperature</moteinterface>
</motetype>
<motetype>
se.sics.cooja.mspmote.SkyMoteType
<identifier>server</identifier>
<description>Erbium Server</description>
<source EXPORT="discard">[CONTIKI_DIR]/examples/er-rest-example/er-example-server.c</source>
<commands EXPORT="discard">make er-example-server.sky TARGET=sky</commands>
<firmware EXPORT="copy">[CONTIKI_DIR]/examples/er-rest-example/er-example-server.sky</firmware>
<moteinterface>se.sics.cooja.interfaces.Position</moteinterface>
<moteinterface>se.sics.cooja.interfaces.RimeAddress</moteinterface>
<moteinterface>se.sics.cooja.interfaces.IPAddress</moteinterface>
<moteinterface>se.sics.cooja.interfaces.Mote2MoteRelations</moteinterface>
<moteinterface>se.sics.cooja.interfaces.MoteAttributes</moteinterface>
<moteinterface>se.sics.cooja.mspmote.interfaces.MspClock</moteinterface>
<moteinterface>se.sics.cooja.mspmote.interfaces.MspMoteID</moteinterface>
<moteinterface>se.sics.cooja.mspmote.interfaces.SkyButton</moteinterface>
<moteinterface>se.sics.cooja.mspmote.interfaces.SkyFlash</moteinterface>
<moteinterface>se.sics.cooja.mspmote.interfaces.SkyCoffeeFilesystem</moteinterface>
<moteinterface>se.sics.cooja.mspmote.interfaces.SkyByteRadio</moteinterface>
<moteinterface>se.sics.cooja.mspmote.interfaces.MspSerial</moteinterface>
<moteinterface>se.sics.cooja.mspmote.interfaces.SkyLED</moteinterface>
<moteinterface>se.sics.cooja.mspmote.interfaces.MspDebugOutput</moteinterface>
<moteinterface>se.sics.cooja.mspmote.interfaces.SkyTemperature</moteinterface>
</motetype>
<mote>
<breakpoints />
<interface_config>
se.sics.cooja.interfaces.Position
<x>33.260163187353555</x>
<y>30.643217359962595</y>
<z>0.0</z>
</interface_config>
<interface_config>
se.sics.cooja.mspmote.interfaces.MspMoteID
<id>1</id>
</interface_config>
<motetype_identifier>rplroot</motetype_identifier>
</mote>
<mote>
<breakpoints />
<interface_config>
se.sics.cooja.interfaces.Position
<x>35.100895239785295</x>
<y>39.70574552287428</y>
<z>0.0</z>
</interface_config>
<interface_config>
se.sics.cooja.mspmote.interfaces.MspMoteID
<id>2</id>
</interface_config>
<motetype_identifier>server</motetype_identifier>
</mote>
</simulation>
<plugin>
se.sics.cooja.plugins.SimControl
<width>259</width>
<z>5</z>
<height>179</height>
<location_x>0</location_x>
<location_y>0</location_y>
</plugin>
<plugin>
se.sics.cooja.plugins.Visualizer
<plugin_config>
<skin>se.sics.cooja.plugins.skins.IDVisualizerSkin</skin>
<skin>se.sics.cooja.plugins.skins.UDGMVisualizerSkin</skin>
<skin>se.sics.cooja.plugins.skins.MoteTypeVisualizerSkin</skin>
<skin>se.sics.cooja.plugins.skins.AttributeVisualizerSkin</skin>
<skin>se.sics.cooja.plugins.skins.LEDVisualizerSkin</skin>
<skin>se.sics.cooja.plugins.skins.AddressVisualizerSkin</skin>
<viewport>7.9849281638410705 0.0 0.0 7.9849281638410705 -133.27812697619663 -225.04752569190535</viewport>
</plugin_config>
<width>300</width>
<z>4</z>
<height>175</height>
<location_x>263</location_x>
<location_y>3</location_y>
</plugin>
<plugin>
se.sics.cooja.plugins.LogListener
<plugin_config>
<filter />
<coloring />
</plugin_config>
<width>560</width>
<z>1</z>
<height>326</height>
<location_x>1</location_x>
<location_y>293</location_y>
</plugin>
<plugin>
se.sics.cooja.plugins.RadioLogger
<plugin_config>
<split>150</split>
<analyzers name="6lowpan" />
</plugin_config>
<width>451</width>
<z>-1</z>
<height>305</height>
<location_x>73</location_x>
<location_y>140</location_y>
<minimized>true</minimized>
</plugin>
<plugin>
SerialSocketServer
<mote_arg>0</mote_arg>
<width>422</width>
<z>2</z>
<height>74</height>
<location_x>39</location_x>
<location_y>199</location_y>
</plugin>
<plugin>
se.sics.cooja.plugins.TimeLine
<plugin_config>
<mote>0</mote>
<mote>1</mote>
<showRadioRXTX />
<showRadioHW />
<showLEDs />
<showWatchpoints />
<split>125</split>
<zoomfactor>25.49079397896416</zoomfactor>
</plugin_config>
<width>1624</width>
<z>3</z>
<height>252</height>
<location_x>4</location_x>
<location_y>622</location_y>
</plugin>
<plugin>
se.sics.cooja.plugins.MoteInterfaceViewer
<mote_arg>1</mote_arg>
<plugin_config>
<interface>Serial port</interface>
<scrollpos>0,0</scrollpos>
</plugin_config>
<width>702</width>
<z>0</z>
<height>646</height>
<location_x>564</location_x>
<location_y>2</location_y>
</plugin>
</simconf>

155
examples/osd/servo-sensor/static-routing.c Normal file
View file

@ -0,0 +1,155 @@
/*
* static-routing.c
*
* Created on: Oct 12, 2010
* Author: simonduq
*/
#include <stdio.h>
#include "static-routing.h"
#define DEBUG 0
#if DEBUG
#include <stdio.h>
#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(i<node_rank) {
add_route(i, node_rank-1);
} else if(i>node_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);
}
}
}

20
examples/osd/servo-sensor/static-routing.h Normal file
View file

@ -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_ */

3
platform/osd-merkur/Makefile.osd-merkur
View file

@ -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

100
platform/osd-merkur/dev/servo-sensor.c Normal file
View file

@ -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 <harald@the-develop.net>
*/
#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);

50
platform/osd-merkur/dev/servo-sensor.h Normal file
View file

@ -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 <harald@the-develop.net>
*/
#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__ */

147
platform/osd-merkur/dev/servo.c Normal file
View file

@ -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 <stdio.h>
#include <dev/servo.h>
#define DEBUG 0
#if DEBUG
#include <stdio.h>
#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;
}

40
platform/osd-merkur/dev/servo.h Normal file
View file

@ -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 */