Add Arduino compatibility layer

We can now directly compile arduino sketches (.pde) files.
Arduino compatible analogWrite works now.
But there is still a long way to go, serial I/O and timer stuff (delay,
millis etc) currently don't work (not tested but I don't expect this to
work).
It can be used in an arduino sketch or in a normal contiki program.
We get a PWM frequency of 490.2 Hz (a period of 2.040 ms), that's
Arduino compatible. If you need different frequencies see native timer
usage in examples/osd/pwm-example
In a contiki program you have to call arduino_pwm_timer_init to
initialize the timer before pwm works. The arduino sketch wrapper
already does this.
For running a sketch, see examples/osd/arduino-sketch

examples/osd/arduino-sketch/Makefile

@@ -0,0 +1,102 @@
+# Set this to the name of your sketch (without extension .pde)
+SKETCH=sketch
+
+all: arduino-example \
+     arduino-example.osd-merkur.hex arduino-example.osd-merkur.eep
+
+# 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 ${SKETCH}.cpp
+
+# variable for Makefile.include
+ifneq ($(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 time json arduino
+
+include $(CONTIKI)/Makefile.include
+include $(CONTIKI)/apps/arduino/Makefile.include
+
+arduino-example.osd-merkur.hex: arduino-example.osd-merkur
+	avr-objcopy -j .text -j .data -O ihex arduino-example.osd-merkur \
+	    arduino-example.osd-merkur.hex
+
+arduino-example.osd-merkur.eep: arduino-example.osd-merkur
+	avr-objcopy -j .eeprom --set-section-flags=.eeprom="alloc,load" \
+	    --change-section-lma .eeprom=0 -O ihex                      \
+	    arduino-example.osd-merkur arduino-example.osd-merkur.eep
+
+flash: arduino-example.osd-merkur.hex arduino-example.osd-merkur.eep
+	avrdude -pm128rfa1 -c arduino -P/dev/ttyUSB0 -b57600 -e -U \
+	    flash:w:arduino-example.osd-merkur.hex:a -U \
+	    eeprom:w:arduino-example.osd-merkur.eep:a
+
+.PHONY: flash
+
+$(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

examples/osd/arduino-sketch/README.md

@@ -0,0 +1,11 @@
+Arduino compatibility example
+=============================
+
+This example shows that it is now possible to re-use arduino sketches in
+Contiki. This example documents the necessary magic. Arduino specifies
+two routines, `setup` and `loop`. Before `setup` is called, the
+framework initializes hardware. In original Arduino, all this is done in
+a `main` function (in C). For contiki we define a process that does the
+same.
+
+See the documentation file in apps/contiki-compat/README.md

examples/osd/arduino-sketch/arduino-example.c

@@ -0,0 +1,2 @@
+#include <arduino-process.h>
+AUTOSTART_PROCESSES(&arduino_sketch);

examples/osd/arduino-sketch/flash.sh

@@ -0,0 +1,2 @@
+#!/bin/bash
+make TARGET=osd-merkur flash

examples/osd/arduino-sketch/led_pwm.h

@@ -0,0 +1,30 @@
+/**
+ * \defgroup Arduino LED PWM example
+ *
+ * Resource definition for Arduino LED PWM module
+ *
+ * @{
+ */
+
+/**
+ * \file
+ *         Resource definitions for the Arduino LED PWM module
+ *      
+ * \author
+ *         Ralf Schlatterbeck <rsc@tux.runtux.com>
+ */
+
+#ifndef led_pwm_h
+#define led_pwm_h
+#include "contiki.h"
+#include "contiki-net.h"
+#include "erbium.h"
+#include "er-coap-13.h"
+
+extern uint8_t pwm;
+extern uint8_t period_100ms;
+extern resource_t resource_led_pwm;
+extern resource_t resource_led_period;
+
+#endif // led_pwm_h
+/** @} */

examples/osd/arduino-sketch/project-conf.h

@@ -0,0 +1,101 @@
+/*
+ * 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_BATTERY 1
+
+#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_ */

examples/osd/arduino-sketch/resource_led_pwm.c

@@ -0,0 +1,273 @@
+/**
+ * \file
+ *      Resource for Arduino PWM
+ * \author
+ *      Ralf Schlatterbeck <rsc@runtux.com>
+ *
+ * \brief get/put pwm and period for LED pin
+ *
+ * quick&dirty implementation, this should factor json parsing.
+ * But json format will probably change, there is a draft rfc.
+ */
+
+#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 "led_pwm.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
+
+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);
+        PRINTF ("Setting: %d\n", pwm);
+        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);
+  }
+}
+
+RESOURCE \
+    ( led_period, METHOD_GET | METHOD_PUT
+    , "led/period"
+    , "title=\"LED Period\";rt=\"led period\""
+    );
+
+void
+led_period_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", period_100ms * 100);
+      } else { // jSON Format
+        index += sprintf
+          ( temp + index
+          ,"{\n \"period\" : \"%d\"\n}\n"
+          , period_100ms * 100
+          );
+      }
+      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, "period") != 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);
+        period_100ms = (atoi (temp) + 50) / 100;
+        PRINTF ("Setting: %dms\n", period_100ms * 100);
+        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);
+  }
+}

examples/osd/arduino-sketch/run.sh

@@ -0,0 +1,5 @@
+#!/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

examples/osd/arduino-sketch/sketch.pde

@@ -0,0 +1,47 @@
+/*
+ * Sample arduino sketch using contiki features.
+ * We turn the LED on and off and allow setting the interval and the
+ * brightness of the LED via coap.
+ * Unfortunately sleeping for long times in loop() isn't currently
+ * possible, something turns off the CPU (including PWM outputs) if a
+ * Proto-Thread is taking too long. We need to find out how to sleep in
+ * a Contiki-compatible way.
+ * Note that for a normal arduino sketch you won't have to include any
+ * of the contiki-specific files here, the sketch should just work.
+ */
+
+extern "C" {
+#include <stdio.h>
+#include "led_pwm.h"
+#define LED_PIN 5
+
+uint8_t pwm          = 128;
+uint8_t period_100ms = 10; /* one second */
+}
+
+void setup (void)
+{
+    rest_init_engine ();
+    rest_activate_resource (&resource_led_pwm);
+    rest_activate_resource (&resource_led_period);
+}
+
+void loop (void)
+{
+    static uint8_t last_pwm = 0;
+    if (last_pwm != pwm) {
+        last_pwm = pwm;
+        analogWrite (LED_PIN, pwm);
+        printf
+            ( "TCNT3: %04X TCCR3A: %04X TCCR3B: %04X TCCR3C: %04X OCR3C: %04X\n"
+            , TCNT3, TCCR3A, TCCR3B, TCCR3C, OCR3C
+            );
+    }
+
+    // Originally I wanted to sleep here to make the LED blink.
+    // Sleeping currently doesn't work, something turns off the chip.
+    // Maybe a mechanism to guard agains proto-threads taking too long?
+    //clock_wait (CLOCK_SECOND * period_100ms / 10);
+    //analogWrite (LED_PIN, 0);
+    //printf ("After write\n");
+}