Make Arduino timer stuff work on Contiki
New discovery: Contiki also uses timer 0. With almost the same interface as Arduino. So we now completely get rid of wiring.c (only the main file, the other wiring_xxx stay) and implement Arduino timer, delay, etc in terms of the corresponding Contiki routines. Verified that now delay works as expected. The LED in examples/osd/arduino-sketch blinks! Before this, the arduino_init routine in wiring.c destroyed the timer-0 initialization of contiki, making both, contiki timer implementation *and* contiki timer implementation fail if the arduino_init routine was called. Now both work.
This commit is contained in:
Ralf Schlatterbeck
parent
b6e20bf6c0
commit
f0f5391409
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@ -50,6 +50,8 @@
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*/
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#include "arduino-process.h"
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#include "hw_timer.h"
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#include "hw-arduino.h"
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PROCESS(arduino_sketch, "Arduino Sketch Wrapper");
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@ -57,7 +59,7 @@ PROCESS_THREAD(arduino_sketch, ev, data)
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{
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PROCESS_BEGIN();
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arduino_init ();
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arduino_pwm_timer_init ();
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setup ();
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while (1) {
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loop ();
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@ -62,6 +62,7 @@ led_pwm_handler
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const uint16_t *accept = NULL;
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uint16_t a_ctype = REST.type.APPLICATION_JSON;
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uint16_t c_ctype = REST.get_header_content_type (request);
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uint32_t tmp = 0;
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/* Seems like accepted type is currently unsupported? */
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n_acc = REST.get_header_accept (request, &accept);
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@ -136,7 +137,10 @@ led_pwm_handler
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temp [sizeof (temp) - 1] = 0;
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}
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PRINTF ("GOT: %s\n", temp);
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pwm = atoi (temp);
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tmp = strtoul (temp, NULL, 10);
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if (tmp > 255) {
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pwm = 255;
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}
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PRINTF ("Setting: %d\n", pwm);
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REST.set_response_status(response, REST.status.CHANGED);
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} else {
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@ -181,6 +185,7 @@ led_period_handler
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const uint16_t *accept = NULL;
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uint16_t a_ctype = REST.type.APPLICATION_JSON;
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uint16_t c_ctype = REST.get_header_content_type (request);
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uint32_t tmp = 0;
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/* Seems like accepted type is currently unsupported? */
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n_acc = REST.get_header_accept (request, &accept);
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@ -255,7 +260,14 @@ led_period_handler
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temp [sizeof (temp) - 1] = 0;
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}
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PRINTF ("GOT: %s\n", temp);
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period_100ms = (atoi (temp) + 50) / 100;
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tmp = (strtoul (temp, NULL, 10) + 50) / 100;
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if (tmp > 10) {
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tmp = 10;
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}
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if (tmp == 0) {
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tmp = 1;
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}
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period_100ms = tmp;
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PRINTF ("Setting: %dms\n", period_100ms * 100);
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REST.set_response_status(response, REST.status.CHANGED);
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} else {
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@ -28,20 +28,10 @@ void setup (void)
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void loop (void)
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{
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static uint8_t last_pwm = 0;
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if (last_pwm != pwm) {
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last_pwm = pwm;
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analogWrite (LED_PIN, pwm);
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printf
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( "TCNT3: %04X TCCR3A: %04X TCCR3B: %04X TCCR3C: %04X OCR3C: %04X\n"
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, TCNT3, TCCR3A, TCCR3B, TCCR3C, OCR3C
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);
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}
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// Originally I wanted to sleep here to make the LED blink.
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// Sleeping currently doesn't work, something turns off the chip.
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// Maybe a mechanism to guard agains proto-threads taking too long?
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//clock_wait (CLOCK_SECOND * period_100ms / 10);
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//analogWrite (LED_PIN, 0);
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//printf ("After write\n");
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/* Use 255 - pwm, LED on merkur-board is wired to +3.3V */
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analogWrite (LED_PIN, 255 - pwm); /*
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printf ("clock : %u\nmillis: %lu\n", clock_time (), millis ());
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delay (period_100ms * 100);
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analogWrite (LED_PIN, 255); /* OFF: LED on merkur-board is wired to +3.3V */
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delay (period_100ms * 100);
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}
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@ -27,7 +27,7 @@ CONTIKI_TARGET_SOURCEFILES += servo.c servo-sensor.c
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#Needed for Relay 1 to 4
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CONTIKI_TARGET_SOURCEFILES += relay.c relay-sensor.c
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# Arduino
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CONTIKI_TARGET_SOURCEFILES += wiring_digital.c wiring.c wiring_analog.c
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CONTIKI_TARGET_SOURCEFILES += wiring_digital.c wiring_analog.c
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CONTIKIBOARD=.
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BOOTLOADER_START = 0x1F000
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@ -69,10 +69,6 @@ extern "C"{
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#define interrupts() sei()
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#define noInterrupts() cli()
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#define clockCyclesPerMicrosecond() ( F_CPU / 1000000L )
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#define clockCyclesToMicroseconds(a) ( (a) / clockCyclesPerMicrosecond() )
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#define microsecondsToClockCycles(a) ( (a) * clockCyclesPerMicrosecond() )
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#define lowByte(w) ((uint8_t) ((w) & 0xff))
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#define highByte(w) ((uint8_t) ((w) >> 8))
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@ -102,10 +98,6 @@ int digitalRead(uint8_t);
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int analogRead(uint8_t);
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void analogReference(uint8_t mode);
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unsigned long millis(void);
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unsigned long micros(void);
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void delay(unsigned long);
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void delayMicroseconds(unsigned int us);
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unsigned long pulseIn(uint8_t pin, uint8_t state, unsigned long timeout);
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void shiftOut(uint8_t dataPin, uint8_t clockPin, uint8_t bitOrder, uint8_t val);
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@ -48,6 +48,12 @@
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*
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*/
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#ifdef __cplusplus
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extern "C"{
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#endif
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#include "contiki.h"
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/*
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* The OSD hardware only supports timer 3 for PWM, timer 2 is used by
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* contiki for sleep/wakeup timing and is not usable for PWM.
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@ -65,9 +71,39 @@
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#define arduino_pwm_timer_init() \
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(hwtimer_ini (3, HWT_WGM_PWM_PHASE_8_BIT, HWT_CLOCK_PRESCALER_64, 0))
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/*
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* micros on arduino takes timer overflows into account.
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* We put in the seconds counter. To get a consistent seconds / ticks
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* value we have to disable interrupts.
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*/
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static inline uint32_t micros (void)
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{
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uint32_t ticks;
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uint8_t sreg = SREG;
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cli ();
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ticks = clock_seconds () * 1000000L
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+ clock_time () * 1000L / CLOCK_SECOND;
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SREG = sreg;
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return ticks;
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}
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/*
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* millis counts only internal timer ticks since start, not trying to do
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* something about overflows. Note that we don't try to emulate overflow
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* behaviour of arduino implementation.
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*/
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#define millis() (((uint32_t)clock_time())*1000L/CLOCK_SECOND)
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#define micros() (clock_seconds()*1000L+
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#define delay(ms) clock_delay_msec(ms)
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#define delayMicroseconds(us) clock_delay_usec(us)
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/*
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* VI settings, see coding style
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* ex:ts=8:et:sw=2
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*/
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#ifdef __cplusplus
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} // extern "C"
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#endif
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/** @} */
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@ -1,245 +0,0 @@
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/*
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wiring.c - Partial implementation of the Wiring API for the ATmega8.
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Part of Arduino - http://www.arduino.cc/
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Copyright (c) 2005-2006 David A. Mellis
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This library is free software; you can redistribute it and/or
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modify it under the terms of the GNU Lesser General Public
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License as published by the Free Software Foundation; either
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version 2.1 of the License, or (at your option) any later version.
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This library is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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Lesser General Public License for more details.
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You should have received a copy of the GNU Lesser General
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Public License along with this library; if not, write to the
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Free Software Foundation, Inc., 59 Temple Place, Suite 330,
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Boston, MA 02111-1307 USA
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$Id$
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*/
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#include "wiring_private.h"
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#include "hw-arduino.h"
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// the prescaler is set so that timer0 ticks every 64 clock cycles, and the
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// the overflow handler is called every 256 ticks.
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#define MICROSECONDS_PER_TIMER0_OVERFLOW (clockCyclesToMicroseconds(64 * 256))
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// the whole number of milliseconds per timer0 overflow
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#define MILLIS_INC (MICROSECONDS_PER_TIMER0_OVERFLOW / 1000)
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// the fractional number of milliseconds per timer0 overflow. we shift right
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// by three to fit these numbers into a byte. (for the clock speeds we care
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// about - 8 and 16 MHz - this doesn't lose precision.)
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#define FRACT_INC ((MICROSECONDS_PER_TIMER0_OVERFLOW % 1000) >> 3)
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#define FRACT_MAX (1000 >> 3)
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volatile unsigned long timer0_overflow_count = 0;
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volatile unsigned long timer0_millis = 0;
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static unsigned char timer0_fract = 0;
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#if defined(__AVR_ATtiny24__) || defined(__AVR_ATtiny44__) || defined(__AVR_ATtiny84__)
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SIGNAL(TIM0_OVF_vect)
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#else
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SIGNAL(TIMER0_OVF_vect)
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#endif
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{
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// copy these to local variables so they can be stored in registers
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// (volatile variables must be read from memory on every access)
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unsigned long m = timer0_millis;
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unsigned char f = timer0_fract;
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m += MILLIS_INC;
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f += FRACT_INC;
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if (f >= FRACT_MAX) {
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f -= FRACT_MAX;
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m += 1;
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}
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timer0_fract = f;
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timer0_millis = m;
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timer0_overflow_count++;
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}
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unsigned long millis()
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{
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unsigned long m;
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uint8_t oldSREG = SREG;
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// disable interrupts while we read timer0_millis or we might get an
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// inconsistent value (e.g. in the middle of a write to timer0_millis)
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cli();
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m = timer0_millis;
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SREG = oldSREG;
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return m;
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}
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unsigned long micros() {
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unsigned long m;
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uint8_t oldSREG = SREG, t;
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cli();
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m = timer0_overflow_count;
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#if defined(TCNT0)
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t = TCNT0;
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#elif defined(TCNT0L)
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t = TCNT0L;
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#else
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#error TIMER 0 not defined
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#endif
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#ifdef TIFR0
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if ((TIFR0 & _BV(TOV0)) && (t < 255))
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m++;
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#else
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if ((TIFR & _BV(TOV0)) && (t < 255))
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m++;
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#endif
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SREG = oldSREG;
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return ((m << 8) + t) * (64 / clockCyclesPerMicrosecond());
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}
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void delay(unsigned long ms)
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{
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uint16_t start = (uint16_t)micros();
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while (ms > 0) {
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if (((uint16_t)micros() - start) >= 1000) {
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ms--;
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start += 1000;
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}
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}
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}
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/* Delay for the given number of microseconds. Assumes a 8 or 16 MHz clock. */
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void delayMicroseconds(unsigned int us)
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{
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// calling avrlib's delay_us() function with low values (e.g. 1 or
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// 2 microseconds) gives delays longer than desired.
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//delay_us(us);
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#if F_CPU >= 20000000L
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// for the 20 MHz clock on rare Arduino boards
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// for a one-microsecond delay, simply wait 2 cycle and return. The overhead
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// of the function call yields a delay of exactly a one microsecond.
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__asm__ __volatile__ (
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"nop" "\n\t"
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"nop"); //just waiting 2 cycle
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if (--us == 0)
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return;
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// the following loop takes a 1/5 of a microsecond (4 cycles)
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// per iteration, so execute it five times for each microsecond of
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// delay requested.
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us = (us<<2) + us; // x5 us
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// account for the time taken in the preceeding commands.
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us -= 2;
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#elif F_CPU >= 16000000L
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// for the 16 MHz clock on most Arduino boards
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// for a one-microsecond delay, simply return. the overhead
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// of the function call yields a delay of approximately 1 1/8 us.
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if (--us == 0)
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return;
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// the following loop takes a quarter of a microsecond (4 cycles)
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// per iteration, so execute it four times for each microsecond of
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// delay requested.
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us <<= 2;
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// account for the time taken in the preceeding commands.
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us -= 2;
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#else
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// for the 8 MHz internal clock on the ATmega168
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// for a one- or two-microsecond delay, simply return. the overhead of
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// the function calls takes more than two microseconds. can't just
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// subtract two, since us is unsigned; we'd overflow.
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if (--us == 0)
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return;
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if (--us == 0)
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return;
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// the following loop takes half of a microsecond (4 cycles)
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// per iteration, so execute it twice for each microsecond of
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// delay requested.
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us <<= 1;
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// partially compensate for the time taken by the preceeding commands.
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// we can't subtract any more than this or we'd overflow w/ small delays.
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us--;
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#endif
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// busy wait
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__asm__ __volatile__ (
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"1: sbiw %0,1" "\n\t" // 2 cycles
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"brne 1b" : "=w" (us) : "0" (us) // 2 cycles
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);
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}
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void arduino_init()
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{
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// this needs to be called before setup() or some functions won't
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// work there
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// on the ATmega168, timer 0 is also used for fast hardware pwm
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// (using phase-correct PWM would mean that timer 0 overflowed half as often
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// resulting in different millis() behavior on the ATmega8 and ATmega168)
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/*
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* RSC: Keep timer0 for now, until we decide how to implement
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* millis() etc in a contiki-compatible way
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*/
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#if defined(TCCR0A) && defined(WGM01)
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sbi(TCCR0A, WGM01);
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sbi(TCCR0A, WGM00);
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#endif
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// set timer 0 prescale factor to 64
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#if defined(__AVR_ATmega128__)
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// CPU specific: different values for the ATmega128
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sbi(TCCR0, CS02);
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#elif defined(TCCR0) && defined(CS01) && defined(CS00)
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// this combination is for the standard atmega8
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sbi(TCCR0, CS01);
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sbi(TCCR0, CS00);
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#elif defined(TCCR0B) && defined(CS01) && defined(CS00)
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// this combination is for the standard 168/328/1280/2560
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sbi(TCCR0B, CS01);
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sbi(TCCR0B, CS00);
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#elif defined(TCCR0A) && defined(CS01) && defined(CS00)
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// this combination is for the __AVR_ATmega645__ series
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sbi(TCCR0A, CS01);
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sbi(TCCR0A, CS00);
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#else
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#error Timer 0 prescale factor 64 not set correctly
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#endif
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// enable timer 0 overflow interrupt
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#if defined(TIMSK) && defined(TOIE0)
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sbi(TIMSK, TOIE0);
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#elif defined(TIMSK0) && defined(TOIE0)
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sbi(TIMSK0, TOIE0);
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#else
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#error Timer 0 overflow interrupt not set correctly
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#endif
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/*
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* All other PCM timers are initialized here in a
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* platform-specific way
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*/
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arduino_pwm_timer_init ();
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/*
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* Removed the rest which manipulates the serial pins
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*/
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}
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