Generic communication interface between the wireless board (mote) and the sensor board. Any kind of sensor board can be connected to the mote using this specification given it provides a SPI peripheral, one input pin with interrupt capability and one digital output. The sensor board must implement a special register set from which all required information can be retrieved. Protocol: http://is.gd/wuQorh Github: http://is.gd/ySj1L9
pt/graham-pt.h
- Committer:
- marcelobarrosalmeida
- Date:
- 2014-04-08
- Revision:
- 1:acdf490d94a7
File content as of revision 1:acdf490d94a7:
/* * Copyright (c) 2004-2005, 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. * * This file is part of the Contiki operating system. * * Author: Adam Dunkels <adam@sics.se> * * $Id: graham-pt.h,v 1.1 2005/10/04 08:30:05 adam Exp $ */ /** * \addtogroup pt * @{ */ /** * \file * Protothreads implementation. * \author * Adam Dunkels <adam@sics.se> * */ #ifndef __PT_H__ #define __PT_H__ #include "lc.h" struct pt { lc_t lc; }; /** * Extended PT. * This add's a flags field to the basic pt structure. */ struct ptx { lc_t lc; unsigned short flags; }; #define PT_THREAD_WAITING 0 #define PT_THREAD_EXITED 1 /** Extended PT flag : thread is sleeping */ #define PT_F_SLEEPING 1 /** Extended PT flag : thread has been flagged to be killed (will exit on next block/wait/yield) */ #define PT_F_KILL 2 /** Extended PT flag : thread is waiting */ #define PT_F_WAITING 4 /** * Declaration of a protothread. * * This macro is used to declare a protothread. All protothreads must * be declared with this macro. * * Example: \code PT_THREAD(consumer(struct pt *p, int event)) { PT_BEGIN(p); while(1) { PT_WAIT_UNTIL(p, event == AVAILABLE); consume(); PT_WAIT_UNTIL(p, event == CONSUMED); acknowledge_consumed(); } PT_END(p); } \endcode * * \param name_args The name and arguments of the C function * implementing the protothread. * * \hideinitializer */ #define PT_THREAD(name_args) char name_args /** * Initialize a protothread. * * Initializes a protothread. Initialization must be done prior to * starting to execute the protothread. * * \param pt A pointer to the protothread control structure. * * Example: * \code void main(void) { struct pt p; int event; PT_INIT(&p); while(PT_SCHEDULE(consumer(&p, event))) { event = get_event(); } } \endcode * * \sa PT_SPAWN() * * \hideinitializer */ #define PT_INIT(pt) LC_INIT((pt)->lc) /** * Declare the start of a protothread inside the C function * implementing the protothread. * * This macro is used to declare the starting point of a * protothread. It should be placed at the start of the function in * which the protothread runs. All C statements above the PT_BEGIN() * invokation will be executed each time the protothread is scheduled. * * \param pt A pointer to the protothread control structure. * * Example: * \code PT_THREAD(producer(struct pt *p, int event)) { PT_BEGIN(p); while(1) { PT_WAIT_UNTIL(p, event == CONSUMED || event == DROPPED); produce(); PT_WAIT_UNTIL(p, event == PRODUCED); } PT_END(p); } \endcode * * \hideinitializer */ #define PT_BEGIN(pt) LC_RESUME((pt)->lc) /** * Block and wait until condition is true. * * This macro blocks the protothread until the specified condition is * true. * * \param pt A pointer to the protothread control structure. * \param condition The condition. * * Example: \code PT_THREAD(seconds(struct pt *p)) { PT_BEGIN(p); PT_WAIT_UNTIL(p, time >= 2 * SECOND); printf("Two seconds have passed\n"); PT_END(p); } \endcode * * \hideinitializer */ #define PT_WAIT_UNTIL(pt, condition) \ do { \ LC_SET((pt)->lc); \ if(sizeof(*(pt))==sizeof(struct ptx)) \ { \ if(((struct ptx*)(pt))->flags&PT_F_KILL) \ { \ PT_INIT(pt); \ return PT_THREAD_EXITED; \ } \ if(condition) \ ((struct ptx*)(pt))->flags&=PT_F_WAITING; \ else \ ((struct ptx*)(pt))->flags|=PT_F_WAITING; \ if(((struct ptx*)(pt))->flags&PT_F_WAITING) { \ return PT_THREAD_WAITING; \ } \ }else{ \ if(!(condition)) { \ return PT_THREAD_WAITING; \ } \ } \ } while(0) /** * Block and wait while condition is true. * * This function blocks and waits while condition is true. See * PT_WAIT_UNTIL(). * * \param pt A pointer to the protothread control structure. * \param cond The condition. * * \hideinitializer */ #define PT_WAIT_WHILE(pt, cond) PT_WAIT_UNTIL((pt), !(cond)) /** * Block and wait until a child protothread completes. * * This macro schedules a child protothread. The current protothread * will block until the child protothread completes. * * \note The child protothread must be manually initialized with the * PT_INIT() function before this function is used. * * \param pt A pointer to the protothread control structure. * \param thread The child protothread with arguments * * Example: \code PT_THREAD(child(struct pt *p, int event)) { PT_BEGIN(p); PT_WAIT_UNTIL(p, event == EVENT1); PT_END(p); } PT_THREAD(parent(struct pt *p, struct pt *child_pt, int event)) { PT_BEGIN(p); PT_INIT(child_pt); PT_WAIT_THREAD(p, child(child_pt, event)); PT_END(p); } \endcode * * \sa PT_SPAWN() * * \hideinitializer */ #define PT_WAIT_THREAD(pt, thread) PT_WAIT_WHILE((pt), PT_SCHEDULE(thread)) /** * Spawn a child protothread and wait until it exits. * * This macro spawns a child protothread and waits until it exits. The * macro can only be used within a protothread. * * Example: \code static struct pt parent_pt, child_pt; int should_spawn_flag; PT_THREAD(child(struct pt *pt)) { PT_BEGIN(pt); while(all_items_processed()) { process_item(); PT_WAIT_UNTIL(pt, item_processed()); } PT_END(pt); } PT_THREAD(parent(void)) { PT_BEGIN(&parent_pt); if(should_spawn_flag) { PT_SPAWN(&parent_pt, &child_pt, child(&child_pt)); } PT_END(&parent_pt); } \endcode * * * \param pt A pointer to the protothread control structure. * \param child A pointer to the child protothread's control structure. * \param thread The child protothread with arguments * * \hideinitializer */ #define PT_SPAWN(pt, child, thread) \ do { \ PT_INIT((child)); \ PT_WAIT_THREAD((pt), (thread)); \ } while(0) /** * Restart the protothread. * * This macro will block and cause the running protothread to restart * its execution at the place of the PT_BEGIN() call. * * \param pt A pointer to the protothread control structure. * * \hideinitializer */ #define PT_RESTART(pt) \ do { \ PT_INIT(pt); \ return PT_THREAD_WAITING; \ } while(0) /** * Exit the protothread. * * This macro causes the protothread to exit. If the protothread was * spawned by another protothread, the parent protothread will become * unblocked and can continue to run. * * \param pt A pointer to the protothread control structure. * * \hideinitializer */ #define PT_EXIT(pt) \ do { \ PT_INIT(pt); \ return PT_THREAD_EXITED; \ } while(0) /** * Declare the end of a protothread. * * This macro is used for declaring that a protothread ends. It should * always be used together with a matching PT_BEGIN() macro. * * \param pt A pointer to the protothread control structure. * * \hideinitializer */ #define PT_END(pt) LC_END((pt)->lc); PT_EXIT(pt) /** * Schedule a protothread. * * This function shedules a protothread. The return value of the * function is non-zero if the protothread is running or zero if the * protothread has exited. * * Example \code void main(void) { struct pt p; int event; PT_INIT(&p); while(PT_SCHEDULE(consumer(&p, event))) { event = get_event(); } } \endcode * * \param f The call to the C function implementing the protothread to * be scheduled * * \hideinitializer */ #define PT_SCHEDULE(f) (f == PT_THREAD_WAITING) /** * Declarare that a protothread can yield. * * If a protothread should be able to yield with the PT_YIELD() * statement, this flag must be placed first in the protothread's * function body. * * Example: \code static PT_THREAD(loop_thread(struct pt *pt)) { PT_YIELDING(); static int i; PT_BEGIN(pt); for(i = 0; i < 200; ++i) { handle_item(i); PT_YIELD(pt); } PT_END(pt); } \endcode * * \hideinitializer */ #define PT_YIELDING() char pt_yielded = 1 /** * Yield from the current protothread. * * This function will yield the protothread, thereby allowing other * processing to take place in the system. * * \note The PT_YIELDING() flag must be placed first in the * protothread's body if the PT_YIELD() function should be used. * * Example \code static PT_THREAD(fade(struct pt *pt)) { PT_YIELDING(); static int delay; PT_BEGIN(pt); for(delay = 3980; delay > 20; delay -= 20) { leds_red(LEDS_ON); clock_delay(4000 - delay); leds_red(LEDS_OFF); clock_delay(delay); PT_YIELD(pt); } PT_END(pt); } \endcode * \param pt A pointer to the protothread control structure. * * \hideinitializer */ #define PT_YIELD(pt) \ do { \ pt_yielded = 0; \ PT_WAIT_UNTIL(pt, pt_yielded); \ } while(0) /* * Extended Protothread API. * The following functions require a struct ptx, rather than a plan struct pt. */ /** * Put a protothread to sleep. * Execution of the thread won't continue until another thread explicitly wakes the thread * with PT_WAKE(). * Requires a ptx. */ #define PT_SLEEP(ptx) \ do { \ ptx->flags|=PT_F_SLEEPING; \ PT_WAIT_UNTIL(ptx, (((ptx)->flags&PT_F_SLEEPING)==0)); \ } while(0) /** * Wake a protothread. * Wake up a protothread if it is sleeping (ie. has called PT_SLEEP()) - if the thread isn't sleeping, * then it has no effect. * NOTE: Requires a ptx. */ #define PT_WAKE(ptx) (ptx)->flags&=~PT_F_SLEEPING /** * Kill a protothread. * The thread is marked with the kill flag and will exit next time the thread sleeps/waits/yields. * NOTE: Requires a ptx. */ #define PT_KILL(ptx) (ptx)->flags&=~PT_F_KILL /** * Is a protothread blocked? * Returns non-zero is the thread is waiting. * NOTE: Requires a ptx. */ #define PT_ISBLOCKED(ptx) ((ptx)->flags&PT_F_WAITING) #endif /* __PT_H__ */ /** @} */