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Initial implementation of avr hardware timer

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Mainly for PWM use for now.
With example to set the LED to different brightness via COAP.
We switch the LED with 50 kHz (20µs) in this example.
This commit is contained in:
Ralf Schlatterbeck 2014-06-21 13:13:48 +02:00
parent 5077010fc0
commit cfec3c6e2d
12 changed files with 1171 additions and 1 deletions
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1
examples/osd/pwm-example/.gitignore vendored Normal file
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*.o

99
examples/osd/pwm-example/Makefile Normal file
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all: er-example-server \
er-example-server.osd-merkur.hex er-example-server.osd-merkur.eep
# use this target explicitly if requried: er-plugtest-server
# variable for this Makefile
# configure CoAP implementation (3|7|12|13) (er-coap-07 also supports CoAP draft 08)
WITH_COAP=13
# for some platforms
UIP_CONF_IPV6=1
# IPv6 make config disappeared completely
CFLAGS += -DUIP_CONF_IPV6=1
CONTIKI=../../..
CFLAGS += -DPROJECT_CONF_H=\"project-conf.h\"
PROJECT_SOURCEFILES += resource_led_pwm.c
# variable for Makefile.include
ifneq ($(TARGET), minimal-net)
CFLAGS += -DUIP_CONF_IPV6_RPL=1
else
# minimal-net does not support RPL under Linux and is mostly used to test CoAP only
${info INFO: compiling without RPL}
CFLAGS += -DUIP_CONF_IPV6_RPL=0
CFLAGS += -DHARD_CODED_ADDRESS=\"fdfd::10\"
${info INFO: compiling with large buffers}
CFLAGS += -DUIP_CONF_BUFFER_SIZE=2048
CFLAGS += -DREST_MAX_CHUNK_SIZE=1024
CFLAGS += -DCOAP_MAX_HEADER_SIZE=640
endif
# linker optimizations
SMALL=1
# REST framework, requires WITH_COAP
ifeq ($(WITH_COAP), 13)
${info INFO: compiling with CoAP-13}
CFLAGS += -DWITH_COAP=13
CFLAGS += -DREST=coap_rest_implementation
CFLAGS += -DUIP_CONF_TCP=0
APPS += er-coap-13
else ifeq ($(WITH_COAP), 12)
${info INFO: compiling with CoAP-12}
CFLAGS += -DWITH_COAP=12
CFLAGS += -DREST=coap_rest_implementation
CFLAGS += -DUIP_CONF_TCP=0
APPS += er-coap-12
else ifeq ($(WITH_COAP), 7)
${info INFO: compiling with CoAP-08}
CFLAGS += -DWITH_COAP=7
CFLAGS += -DREST=coap_rest_implementation
CFLAGS += -DUIP_CONF_TCP=0
APPS += er-coap-07
else ifeq ($(WITH_COAP), 3)
${info INFO: compiling with CoAP-03}
CFLAGS += -DWITH_COAP=3
CFLAGS += -DREST=coap_rest_implementation
CFLAGS += -DUIP_CONF_TCP=0
APPS += er-coap-03
else
${info INFO: compiling with HTTP}
CFLAGS += -DWITH_HTTP
CFLAGS += -DREST=http_rest_implementation
CFLAGS += -DUIP_CONF_TCP=1
APPS += er-http-engine
endif
APPS += erbium json
include $(CONTIKI)/Makefile.include
er-example-server.osd-merkur.hex: er-example-server.osd-merkur
avr-objcopy -j .text -j .data -O ihex er-example-server.osd-merkur \
er-example-server.osd-merkur.hex
er-example-server.osd-merkur.eep: er-example-server.osd-merkur
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
flash: er-example-server.osd-merkur.hex er-example-server.osd-merkur.eep
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
.PHONY: flash
$(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
connect-minimal:
sudo ip address add fdfd::1/64 dev tap0

149
examples/osd/pwm-example/er-example-server.c Normal file
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/*
* 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) PWM REST Engine example (with CoAP-specific code)
* \author
* Matthias Kovatsch <kovatsch@inf.ethz.ch>
* Ralf Schlatterbeck <rsc@runtux.com>
*/
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include "contiki.h"
#include "contiki-net.h"
#include "jsonparse.h"
#include "erbium.h"
#include "er-coap-13.h"
#include "led_pwm.h"
#define DEBUG 1
#if DEBUG
#define PRINTF(...) printf(__VA_ARGS__)
#else
#define PRINTF(...)
#endif
/******************************************************************************/
/*
* 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\" : \"PWM\"\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);
}
void
hw_init()
{
led_pwm_init ();
}
PROCESS(rest_server_example, "Erbium Example Server");
AUTOSTART_PROCESSES(&rest_server_example);
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_info);
rest_activate_resource(&resource_led_pwm);
/* Define application-specific events here. */
while(1) {
PROCESS_WAIT_EVENT();
} /* while (1) */
PROCESS_END();
}

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examples/osd/pwm-example/flash.sh Executable file
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#!/bin/bash
make TARGET=osd-merkur flash

26
examples/osd/pwm-example/led_pwm.h Normal file
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/**
* \defgroup LED PWM example
*
* Resource definition for LED PWM module
*
* @{
*/
/**
* \file
* Resource definitions for the LED PWM module
*
* \author
* Ralf Schlatterbeck <rsc@tux.runtux.com>
*/
#ifndef led_pwm_h
#define led_pwm_h
#include "contiki.h"
#include "erbium.h"
extern resource_t resource_led_pwm;
extern void led_pwm_init (void);
#endif // led_pwm_h
/** @} */

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examples/osd/pwm-example/project-conf.h Normal file
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/*
* 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 SICSLOWPAN_CONF_FRAG 1
/* For Debug: Dont allow MCU sleeping between channel checks */
#undef RDC_CONF_MCU_SLEEP
#define RDC_CONF_MCU_SLEEP 0
/* 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
/* Increase rpl-border-router IP-buffer when using more than 64. */
#undef REST_MAX_CHUNK_SIZE
#define REST_MAX_CHUNK_SIZE 64
/* Estimate your header size, especially when using Proxy-Uri. */
/*
#undef COAP_MAX_HEADER_SIZE
#define COAP_MAX_HEADER_SIZE 70
*/
/* The IP buffer size must fit all other hops, in particular the border router. */
#undef UIP_CONF_BUFFER_SIZE
#define UIP_CONF_BUFFER_SIZE 256
/* Multiplies with chunk size, be aware of memory constraints. */
#undef COAP_MAX_OPEN_TRANSACTIONS
#define COAP_MAX_OPEN_TRANSACTIONS 4
/* Must be <= open transaction number, default is COAP_MAX_OPEN_TRANSACTIONS-1. */
/*
#undef COAP_MAX_OBSERVERS
#define COAP_MAX_OBSERVERS 2
*/
/* Filtering .well-known/core per query can be disabled to save space. */
/*
#undef COAP_LINK_FORMAT_FILTERING
#define COAP_LINK_FORMAT_FILTERING 0
*/
/* Save some memory for the sky platform. */
/*
#undef NBR_TABLE_CONF_MAX_NEIGHBORS
#define NBR_TABLE_CONF_MAX_NEIGHBORS 10
#undef UIP_CONF_MAX_ROUTES
#define UIP_CONF_MAX_ROUTES 10
*/
/* Reduce 802.15.4 frame queue to save RAM. */
/*
#undef QUEUEBUF_CONF_NUM
#define QUEUEBUF_CONF_NUM 4
*/
/*
#undef SICSLOWPAN_CONF_FRAG
#define SICSLOWPAN_CONF_FRAG 1
*/
#endif /* PROJECT_RPL_WEB_CONF_H_ */

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examples/osd/pwm-example/resource_led_pwm.c Normal file
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/**
* \file
* Resource for hardware timer handling
* \author
* Ralf Schlatterbeck <rsc@runtux.com>
*
* \brief get/put pwm for LED pin
*/
#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include "contiki.h"
#include "jsonparse.h"
/* Only coap 13 for now */
#include "er-coap-13.h"
#include "hw_timer.h"
/* Error-handling macro */
# define BYE(_exp, _tag) \
do { \
PRINTF("Expect "_exp": %d\n",_tag); \
success=0; \
goto bye; \
} while(0)
#define DEBUG 1
#if DEBUG
#define PRINTF(...) printf(__VA_ARGS__)
#else
#define PRINTF(...)
#endif
static uint16_t max_ticks = 0, pwm = 0;
void led_pwm_init (void)
{
int8_t result = hwtimer_pwm_ini (3, 20, HWT_PWM_PHASE_CORRECT, 0);
PRINTF ("HWTIMER init: %d\n", result);
max_ticks = hwtimer_pwm_max_ticks (3);
pwm = max_ticks / 2;
hwtimer_set_pwm (3, HWT_CHANNEL_C, pwm);
hwtimer_pwm_inverse (3, HWT_CHANNEL_C);
DDRE |= (1<<PINE5);
}
RESOURCE \
( led_pwm, METHOD_GET | METHOD_PUT
, "led/pwm"
, "title=\"LED PWM\";rt=\"led pwm\""
);
void
led_pwm_handler
( void* request
, void* response
, uint8_t *buffer
, uint16_t preferred_size
, int32_t *offset
)
{
int success = 1;
int i;
char temp[100];
int index = 0;
int length = 0;
int tag = 0;
const uint8_t *bytes = NULL;
size_t len = 0;
int n_acc = 0;
const uint16_t *accept = NULL;
uint16_t a_ctype = REST.type.APPLICATION_JSON;
uint16_t c_ctype = REST.get_header_content_type (request);
/* Seems like accepted type is currently unsupported? */
n_acc = REST.get_header_accept (request, &accept);
for (i=0; i<n_acc; i++) {
if ( accept [i] == REST.type.TEXT_PLAIN
|| accept [i] == REST.type.APPLICATION_JSON
)
{
a_ctype = accept [i];
break;
}
}
switch(REST.get_method_type(request)) {
case METHOD_GET:
// TEXT format
if (a_ctype == REST.type.TEXT_PLAIN) {
index += sprintf (temp + index, "%d\n", pwm);
} else { // jSON Format
index += sprintf
( temp + index
,"{\n \"pwm\" : \"%d\"\n}\n"
, pwm
);
}
length = strlen(temp);
memcpy (buffer, temp, length);
REST.set_header_content_type (response, a_ctype);
REST.set_response_payload (response, buffer, length);
break;
case METHOD_PUT:
if ((len = coap_get_payload(request, &bytes))) {
PRINTF ("PUT: len: %d, %s\n", len, (char *)bytes);
if (c_ctype == REST.type.TEXT_PLAIN) {
temp [sizeof (temp) - 1] = 0;
strncpy (temp, (char *)bytes, MIN (len + 1, sizeof (temp) - 1));
} else { // jSON Format
struct jsonparse_state state;
struct jsonparse_state *parser = &state;
jsonparse_setup (parser, (char *)bytes, len);
if ((tag = jsonparse_next (parser)) != JSON_TYPE_OBJECT) {
BYE ("OBJECT", tag);
}
if ((tag = jsonparse_next (parser)) != JSON_TYPE_PAIR_NAME) {
BYE ("PAIR_NAME", tag);
}
while (jsonparse_strcmp_value (parser, "pwm") != 0) {
tag = jsonparse_next (parser);
if (tag != JSON_TYPE_PAIR) {
BYE ("PAIR", tag);
}
tag = jsonparse_next (parser);
tag = jsonparse_next (parser);
if (tag != ',') {
BYE (",", tag);
}
tag = jsonparse_next (parser);
if (tag != JSON_TYPE_PAIR_NAME) {
BYE ("PAIR_NAME", tag);
}
}
tag = jsonparse_next (parser);
if (tag != JSON_TYPE_PAIR) {
BYE ("PAIR", tag);
}
tag = jsonparse_next (parser);
if (tag != JSON_TYPE_STRING) {
BYE ("STRING", tag);
}
jsonparse_copy_value (parser, temp, sizeof (temp));
temp [sizeof (temp) - 1] = 0;
}
PRINTF ("GOT: %s\n", temp);
pwm = atoi (temp);
if (pwm > max_ticks) {
pwm = max_ticks;
}
PRINTF ("Setting: %d (max=%d)\n", pwm, max_ticks);
hwtimer_pwm_inverse (3, HWT_CHANNEL_C);
DDRE |= (1<<PINE5);
hwtimer_set_pwm (3, HWT_CHANNEL_C, pwm);
PRINTF
( "TCNT3: %04X TCCR3A: %04X TCCR3B: %04X TCCR3C: %04X OCR3C: %04X\n"
, TCNT3, TCCR3A, TCCR3B, TCCR3C, OCR3C
);
REST.set_response_status(response, REST.status.CHANGED);
} else {
PRINTF ("PUT: len: %d\n", len);
success = 0;
}
bye :
break;
default:
success = 0;
}
if (!success) {
REST.set_response_status(response, REST.status.BAD_REQUEST);
}
}

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#!/bin/bash
# For the new bootloader (using a jump-table) you want to use
# BOOTLOADER_GET_MAC=0x0001ff80 (which is the current default)
make clean TARGET=osd-merkur
make TARGET=osd-merkur BOOTLOADER_GET_MAC=0x0001f3a0