平台:Code Composer Studio 10.4.0
MSP-EXP430G2 LaunchPad 试验板
MSP430G2553 LaunchPad™ Development Kit (MSP‑EXP430G2ET)
contiki下载:contiki-os Github
本文参考自二、Contiki移植 —— 一根线
本工程示例
新建工程
移植过程
新建contiki文件夹
添加core、cpu文件夹
将Github下载的contiki/core内如下文件复制进刚建好的core文件夹
dev内仅保留watchdog.h
lib内仅保留list.c、list.h
把建好的core文件夹加入路径
core内新建contiki-conf.h
其内容为
#ifndef CONTIKI_CONF_H_
#define CONTIKI_CONF_H_
#include <stdint.h>
#define CCIF
#define CLIF
#define NETSTACK_CONF_WITH_IPV4 1
#define WITH_ASCII 1
#define CLOCK_CONF_SECOND 100
/* These names are deprecated, use C99 names. */
typedef uint8_t u8_t;
typedef uint16_t u16_t;
typedef uint32_t u32_t;
typedef int8_t s8_t;
typedef int16_t s16_t;
typedef int32_t s32_t;
typedef unsigned int clock_time_t;
typedef unsigned int uip_stats_t;
#ifndef BV
#define BV(x) (1<<(x))
#endif
/* uIP configuration */
#define UIP_CONF_LLH_LEN 0
#define UIP_CONF_BROADCAST 1
#define UIP_CONF_LOGGING 1
#define UIP_CONF_BUFFER_SIZE 116
#define UIP_CONF_TCP_FORWARD 1
/* Prefix for relocation sections in ELF files */
#define REL_SECT_PREFIX ".rel"
#define CC_BYTE_ALIGNED __attribute__ ((packed, aligned(1)))
#define USB_EP1_SIZE 64
#define USB_EP2_SIZE 64
#define RAND_MAX 0x7fff
#endif /* CONTIKI_CONF_H_ */
contiki.h 中加入
#include <msp430.h>
#define dint() __disable_interrupt()
#define eint() __enable_interrupt()
cpu文件夹内新建msp430文件夹
将Github下载的contiki/cpu/msp430内如下文件复制进刚建好的msp430文件夹
将Github下载的contiki/cpu/msp430/f1xxx内如下文件复制进刚建好的msp430文件夹
将刚建好的msp430文件夹加入路径
按下小锤子编译,此时有这些错误
将中断服务函数修改为CCS的风格:
watchdog.c中
修改前
修改后
rtimer-arch.c中
修改前
修改后
clock.c中:
修改前
修改后
clock.c中此处提到CLOCK_CONF_SECOND需为2的整数幂
到contiki-conf.h中修改后屏蔽掉#error语句
再次编译,此时仅剩compower.c内有错误
将compower.c、compower.h(暂时用不到)删除后再编译,此时已经没有错误了
关于时间
因我的开发板未焊上外部晶振,故ACLK时钟源只能选为内部低频振荡器 VLO,其标称值是 12kHz, 受温度和供电电压影响(范围 4kHz~20kHz)
本移植案例中,Contiki的时基由定时器A0的中断控制。
本示例中,将TA0的时钟源设为ACLK,将P1.0复用输出测得ACLK频率约为16k:
//-----在P1.0上输出ACLK----
P1SEL |= BIT0;
P1DIR |= BIT0;
将rtimer-arch.h中的RTIMER_ARCH_SECOND设为16000U
修改clock.c的条件编译语句,注释掉#error语句
void
clock_init(void)
{
dint();
/* Select SMCLK (2.4576MHz), clear TAR */
/* TACTL = TASSEL1 | TACLR | ID_3; */
/* Select ACLK 32768Hz clock, divide by 2 */
/* TACTL = TASSEL0 | TACLR | ID_1;*/
/* Select ACLK 32768Hz clock */
/* TACTL = TASSEL0 | TACLR; */
#if INTERVAL==32768/CLOCK_SECOND
TACTL = TASSEL0 | TACLR;
#elif INTERVAL==16384/CLOCK_SECOND
TACTL = TASSEL0 | TACLR | ID_1;
#else
TACTL = TASSEL_1 | TACLR | ID_0; //TA0时钟源设为ACLK,不分频
TACCR0 = RTIMER_ARCH_SECOND;
//#error NEED TO UPDATE clock.c to match interval!
#endif
/* Initialize ccr1 to create the X ms interval. */
/* CCR1 interrupt enabled, interrupt occurs when timer equals CCR. */
TACCTL1 = CCIE;
/* Interrupt after X ms. */
TACCR1 = INTERVAL;
/* Start Timer_A in continuous mode. */
TACTL |= MC1;
count = 0;
/* Enable interrupts. */
eint();
}
多任务示例
两个任务分别反转LED1、LED2,它们延时的时间互不相同,LED1为1s,LED2为0.5s。
main.c
#include <msp430.h>
#include <sys/process.h>
#include <sys/procinit.h>
#include <sys/etimer.h>
#include <sys/autostart.h>
#include <sys/clock.h>
unsigned int idle_count = 0;
#define Contiki_etimer_DelayMS(MS) \
etimer_set(&et, MS/(1000/CLOCK_SECOND)); \
PROCESS_WAIT_EVENT_UNTIL(etimer_expired(&et))
PROCESS(led1_blink_process, "Led1");
AUTOSTART_PROCESSES(&led1_blink_process);
PROCESS_THREAD(led1_blink_process, ev, data)
{
static struct etimer et;
PROCESS_BEGIN();
while(1)
{
P1OUT |= BIT0; // set P1.0
Contiki_etimer_DelayMS(1000);
P1OUT &= ~BIT0; // reset
Contiki_etimer_DelayMS(1000);
}
PROCESS_END();
}
PROCESS(led2_blink_process, "Led2");
AUTOSTART_PROCESSES(&led2_blink_process);
PROCESS_THREAD(led2_blink_process, ev, data)
{
static struct etimer et;
PROCESS_BEGIN();
while(1)
{
P1OUT |= BIT6; // set P1.6
Contiki_etimer_DelayMS(500);
P1OUT &= ~BIT6; // reset
Contiki_etimer_DelayMS(500);
}
PROCESS_END();
}
/**
* main.c
*/
int main(void)
{
WDTCTL = WDTPW | WDTHOLD; // stop watchdog timer
//16Mhz
if (CALBC1_16MHZ==0xFF) // If calibration constant erased
{
while(1); // do not load, trap CPU!!
}
DCOCTL = CALDCO_16MHZ; // 调取出厂校准后存储在Flash中的参数
BCSCTL1 = CALBC1_16MHZ; // 将DCO设为16MHz
BCSCTL2 |= DIVM_0 | DIVS_0; // MCLK、SMCLK均不分频
BCSCTL3 |= LFXT1S1; // 将ACLK时钟源设为内部低频振荡器, 其标称值是 12kHz, 受温度和供电电压影响(范围 4kHz~20kHz)
// //-----在P1.0上输出ACLK----
// P1SEL |= BIT0;
// P1DIR |= BIT0;
//-----在P1.4上输出SMCLK----
P1SEL |= BIT4;
P1DIR |= BIT4;
P1DIR |= BIT0; // Set P1.0 to output direction
P1DIR |= BIT6; // Set P1.6 to output direction
clock_init();
process_init();
process_start(&etimer_process, NULL);
// autostart_start(autostart_processes);
process_start(&led1_blink_process, NULL);
process_start(&led2_blink_process, NULL);
while(1)
{
do
{
} while(process_run() > 0);
idle_count++;
/* Idle! */
/* Stop processor clock */
/* asm("wfi"::); */
}
return 0;
}
内存使用情况
效果
LED1:理论1s 实测1.097s 误差9.7%
LED2:理论0.5s 实测0.547s 误差9.4%
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