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
Diff: pt/graham-pt.h
- Revision:
- 1:acdf490d94a7
diff -r 01c4d4d8febf -r acdf490d94a7 pt/graham-pt.h --- /dev/null Thu Jan 01 00:00:00 1970 +0000 +++ b/pt/graham-pt.h Tue Apr 08 16:34:20 2014 +0000 @@ -0,0 +1,493 @@ +/* + * 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__ */ + + +/** @} */