/* * File: pt_cornell.h * Author: brl4 * * Created on November 18, 2014, 9:12 AM */ /* * 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 * * $Id: pt.h,v 1.7 2006/10/02 07:52:56 adam Exp $ */ /** * \addtogroup pt * @{ */ /** * \file * Protothreads implementation. * \author * Adam Dunkels * */ #ifndef __PT_H__ #define __PT_H__ #include "lc.h" struct pt { lc_t lc; int pri; }; #define PT_WAITING 0 #define PT_YIELDED 1 #define PT_EXITED 2 #define PT_ENDED 3 /** * \name Initialization * @{ */ /** * 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. * * \sa PT_SPAWN() * * \hideinitializer */ #define PT_INIT(pt) LC_INIT((pt)->lc) /** @} */ /** * \name Declaration and definition * @{ */ /** * Declaration of a protothread. * * This macro is used to declare a protothread. All protothreads must * be declared with this macro. * * \param name_args The name and arguments of the C function * implementing the protothread. * * \hideinitializer */ #define PT_THREAD(name_args) char name_args /** * 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. * * \hideinitializer */ #define PT_BEGIN(pt) { char PT_YIELD_FLAG = 1; LC_RESUME((pt)->lc) /** * Declare the end of a protothread. * * This macro is used for declaring that a protothread ends. It must * 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_YIELD_FLAG = 0; \ PT_INIT(pt); return PT_ENDED; } /** @} */ /** * \name Blocked wait * @{ */ /** * 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. * * \hideinitializer */ #define PT_WAIT_UNTIL(pt, condition) \ do { \ LC_SET((pt)->lc); \ if(!(condition)) { \ return PT_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)) /** @} */ /** * \name Hierarchical protothreads * @{ */ /** * 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 * * \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. * * \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) /** @} */ /** * \name Exiting and restarting * @{ */ /** * 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_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_EXITED; \ } while(0) /** @} */ /** * \name Calling a protothread * @{ */ /** * 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. * * \param f The call to the C function implementing the protothread to * be scheduled * * \hideinitializer */ #define PT_SCHEDULE(f) ((f) < PT_EXITED) //#define PT_SCHEDULE(f) ((f)) /** @} */ /** * \name Yielding from a protothread * @{ */ /** * Yield from the current protothread. * * This function will yield the protothread, thereby allowing other * processing to take place in the system. * * \param pt A pointer to the protothread control structure. * * \hideinitializer */ #define PT_YIELD(pt) \ do { \ PT_YIELD_FLAG = 0; \ LC_SET((pt)->lc); \ if(PT_YIELD_FLAG == 0) { \ return PT_YIELDED; \ } \ } while(0) /** * \brief Yield from the protothread until a condition occurs. * \param pt A pointer to the protothread control structure. * \param cond The condition. * * This function will yield the protothread, until the * specified condition evaluates to true. * * * \hideinitializer */ #define PT_YIELD_UNTIL(pt, cond) \ do { \ PT_YIELD_FLAG = 0; \ LC_SET((pt)->lc); \ if((PT_YIELD_FLAG == 0) || !(cond)) { \ return PT_YIELDED; \ } \ } while(0) /** @} */ #endif /* __PT_H__ */ #ifndef __PT_SEM_H__ #define __PT_SEM_H__ #include "pt.h" struct pt_sem { unsigned int count; }; /** * Initialize a semaphore * * This macro initializes a semaphore with a value for the * counter. Internally, the semaphores use an "unsigned int" to * represent the counter, and therefore the "count" argument should be * within range of an unsigned int. * * \param s (struct pt_sem *) A pointer to the pt_sem struct * representing the semaphore * * \param c (unsigned int) The initial count of the semaphore. * \hideinitializer */ #define PT_SEM_INIT(s, c) (s)->count = c /** * Wait for a semaphore * * This macro carries out the "wait" operation on the semaphore. The * wait operation causes the protothread to block while the counter is * zero. When the counter reaches a value larger than zero, the * protothread will continue. * * \param pt (struct pt *) A pointer to the protothread (struct pt) in * which the operation is executed. * * \param s (struct pt_sem *) A pointer to the pt_sem struct * representing the semaphore * * \hideinitializer */ #define PT_SEM_WAIT(pt, s) \ do { \ PT_WAIT_UNTIL(pt, (s)->count > 0); \ --(s)->count; \ } while(0) /** * Signal a semaphore * * This macro carries out the "signal" operation on the semaphore. The * signal operation increments the counter inside the semaphore, which * eventually will cause waiting protothreads to continue executing. * * \param pt (struct pt *) A pointer to the protothread (struct pt) in * which the operation is executed. * * \param s (struct pt_sem *) A pointer to the pt_sem struct * representing the semaphore * * \hideinitializer */ #define PT_SEM_SIGNAL(pt, s) ++(s)->count #endif /* __PT_SEM_H__ */ //===================================================================== //=== BRL4 additions for PIC 32 ======================================= //===================================================================== // macro to time a thread execution interveal in millisec // max time 4000 sec #include #define PT_YIELD_TIME_msec(delay_time) \ do { static unsigned int time_thread ;\ time_thread = time_tick_millsec + (unsigned int)delay_time ; \ PT_YIELD_UNTIL(pt, (time_tick_millsec >= time_thread)); \ } while(0); // macro to time a thread execution interveal // parameter is in MICROSEC // Max time is 4000 sec //#define PT_YIELD_TIME_usec(delay_time) \ // do { static unsigned int time_thread, delta=0, time45; time45=ReadTimer45();\ /// time_thread = time45 + (unsigned int)delay_time ; \ // if (time_thread < time45) {delta = UINT_MAX - time45; } \ // PT_YIELD_UNTIL(pt, (delta==0 && ReadTimer45()= time_thread+delta)); \ // } while(0); // PT_YIELD_UNTIL(pt, ReadTimer45()+delta >= time_thread+delta); //#define PT_YIELD_TIME_usec(delay_time) \ // do { static signed int time_thread ; \ // time_thread = (signed int)delay_time + (signed int)ReadTimer45() ; \ // PT_YIELD_UNTIL(pt, (signed int)ReadTimer45() >= time_thread); \ // } while(0); // macro to return system time #define PT_GET_TIME() (time_tick_millsec) // init rate sehcduler //#define PT_INIT(pt, priority) LC_INIT((pt)->lc ; (pt)->pri = priority) //PT_PRIORITY_INIT #define PT_RATE_INIT() int pt_pri_count = 0; // maitain proority frame count //PT_PRIORITY_LOOP maitains a counter used to control execution #define PT_RATE_LOOP() pt_pri_count = (pt_pri_count+1) & 0xf ; // schecedule priority thread //PT_PRIORITY_SCHEDULE // 5 levels // rate 0 is highest -- every time thru loop // priority 1 -- every 2 times thru loop // priority 2 -- every 4 times thru loop // 3 is -- every 8 times thru loop #define PT_RATE_SCHEDULE(f,rate) \ if((rate==0) | \ (rate==1 && ((pt_pri_count & 0b1)==0) ) | \ (rate==2 && ((pt_pri_count & 0b11)==0) ) | \ (rate==3 && ((pt_pri_count & 0b111)==0)) | \ (rate==4 && ((pt_pri_count & 0b1111)==0))) \ PT_SCHEDULE(f); // macro to use 4 bit DAC as debugger output // level range 0-15; duration in microseconds // -- with zero meaning HOLD it on forever //while((signed int)ReadTimer45() <= time_hold){}; // time_hold = duration + ReadTimer45() ; #define PT_DEBUG_VALUE(level, duration) \ do { static int i ; \ CVRCON = CVRCON_setup | (level & 0xf); \ if (duration>0){ \ for (i=0; icount=1 #define PT_SEM_CLEAR(s) (s)->count=0 #define PT_SEM_READ(s) (s)->count #define PT_SEM_ACCEPT(s) \ s->count; \ if (s->count) s->count-- ; \ //==================================================================== //=== serial setup =================================================== // UART parameters #define BAUDRATE 9600 // must match PC end #define PB_DIVISOR (1 << OSCCONbits.PBDIV) // read the peripheral bus divider, FPBDIV #define PB_FREQ SYS_FREQ/PB_DIVISOR // periperhal bus frequency #define clrscr() printf( "\x1b[2J") #define home() printf( "\x1b[H") #define pcr() printf( '\r') #define crlf putchar(0x0a); putchar(0x0d); #define backspace 0x7f // make sure your backspace matches this! #define max_chars 32 // for input/output buffer //==================================================================== // build a string from the UART2 ///////////// ////////////////////////////////////////////// char PT_term_buffer[max_chars]; int num_char; int PT_GetSerialBuffer(struct pt *pt) { static char character; // mark the beginnning of the input thread PT_BEGIN(pt); num_char = 0; //memset(term_buffer, 0, max_chars); while(num_char < max_chars) { // get the character // yield until there is a valid character so that other // threads can execute PT_YIELD_UNTIL(pt, UARTReceivedDataIsAvailable(UART2)); // while(!UARTReceivedDataIsAvailable(UART2)){}; character = UARTGetDataByte(UART2); PT_YIELD_UNTIL(pt, UARTTransmitterIsReady(UART2)); UARTSendDataByte(UART2, character); // unomment to check backspace character!!! //printf("--%x--",character ); // end line if(character == '\r'){ PT_term_buffer[num_char] = 0; // zero terminate the string //crlf; // send a new line PT_YIELD_UNTIL(pt, UARTTransmitterIsReady(UART2)); UARTSendDataByte(UART2, '\n'); break; } // backspace else if (character == backspace){ PT_YIELD_UNTIL(pt, UARTTransmitterIsReady(UART2)); UARTSendDataByte(UART2, ' '); PT_YIELD_UNTIL(pt, UARTTransmitterIsReady(UART2)); UARTSendDataByte(UART2, backspace); num_char--; // check for buffer underflow if (num_char<0) {num_char = 0 ;} } else {PT_term_buffer[num_char++] = character ;} //if (character == backspace) } //end while(num_char < max_size) // kill this input thread, to allow spawning thread to execute PT_EXIT(pt); // and indicate the end of the thread PT_END(pt); } //==================================================================== // === send a string to the UART2 ==================================== char PT_send_buffer[max_chars]; int num_send_chars ; int PutSerialBuffer(struct pt *pt) { PT_BEGIN(pt); num_send_chars = 0; while (PT_send_buffer[num_send_chars] != 0){ PT_YIELD_UNTIL(pt, UARTTransmitterIsReady(UART2)); UARTSendDataByte(UART2, PT_send_buffer[num_send_chars]); num_send_chars++; } // kill this output thread, to allow spawning thread to execute PT_EXIT(pt); // and indicate the end of the thread PT_END(pt); } //==================================================================== // === DMA send string to the UART2 ================================== int PT_DMA_PutSerialBuffer(struct pt *pt) { PT_BEGIN(pt); //mPORTBSetBits(BIT_0); // check for null string if (PT_send_buffer[0]==0)PT_EXIT(pt); // sent the first character PT_YIELD_UNTIL(pt, UARTTransmitterIsReady(UART2)); UARTSendDataByte(UART2, PT_send_buffer[0]); //DmaChnStartTxfer(DMA_CHANNEL1, DMA_WAIT_NOT, 0); // start the DMA DmaChnEnable(DMA_CHANNEL1); // wait for DMA done //mPORTBClearBits(BIT_0); PT_YIELD_UNTIL(pt, DmaChnGetEvFlags(DMA_CHANNEL1) & DMA_EV_BLOCK_DONE); // kill this output thread, to allow spawning thread to execute PT_EXIT(pt); // and indicate the end of the thread PT_END(pt); } //====================================================================== // === setup uart and DMA and timer and vREF // debugging putput global int CVRCON_setup ; unsigned int time_tick_millsec ; // Timer 2 interrupt handler /////// // ipl2 means "interrupt priority level 2" void __ISR(_TIMER_5_VECTOR, ipl2) Timer2Handler(void) { // clear the interrupt flag mT5ClearIntFlag(); //count millseconds time_tick_millsec++ ; } void PT_setup (void) { // Configure the device for maximum performance but do not change the PBDIV // Given the options, this function will change the flash wait states, RAM // wait state and enable prefetch cache but will not change the PBDIV. // The PBDIV value is already set via the pragma FPBDIV option above.. SYSTEMConfig(SYS_FREQ, SYS_CFG_WAIT_STATES | SYS_CFG_PCACHE); // === init the USART i/o pins ========= PPSInput (2, U2RX, RPB11); //Assign U2RX to pin RPB11 -- Physical pin 22 on 28 PDIP PPSOutput(4, RPB10, U2TX); //Assign U2TX to pin RPB10 -- Physical pin 21 on 28 PDIP ANSELA =0; //make sure analog is cleared ANSELB =0; // === init the uart2 =================== UARTConfigure(UART2, UART_ENABLE_PINS_TX_RX_ONLY); UARTSetLineControl(UART2, UART_DATA_SIZE_8_BITS | UART_PARITY_NONE | UART_STOP_BITS_1); UARTSetDataRate(UART2, PB_FREQ, BAUDRATE); UARTEnable(UART2, UART_ENABLE_FLAGS(UART_PERIPHERAL | UART_RX | UART_TX)); printf("\n\r..protothreads start..\n\r"); // === set up DMA for UART output ========= // configure the channel and enable end-on-match DmaChnOpen(DMA_CHANNEL1, DMA_CHN_PRI2, DMA_OPEN_MATCH); // trigger a byte everytime the UART is empty DmaChnSetEventControl(DMA_CHANNEL1, DMA_EV_START_IRQ_EN|DMA_EV_MATCH_EN|DMA_EV_START_IRQ(_UART2_TX_IRQ)); // source and destination DmaChnSetTxfer(DMA_CHANNEL1, PT_send_buffer+1, (void*)&U2TXREG, max_chars, 1, 1); // signal when done DmaChnSetEvEnableFlags(DMA_CHANNEL1, DMA_EV_BLOCK_DONE); // set null as ending character (of a string) DmaChnSetMatchPattern(DMA_CHANNEL1, 0x00); // ===Set up timer5 ====================== // timer 5: on, interrupts, internal clock, prescalar 32, // ticks once/microsec! // set up to count millsec OpenTimer5(T5_ON | T5_SOURCE_INT | T5_PS_1_32 , 999); // set up the timer interrupt with a priority of 2 ConfigIntTimer5(T5_INT_ON | T5_INT_PRIOR_2); mT5ClearIntFlag(); // and clear the interrupt flag // zero the system time tick time_tick_millsec = 0; //=== Set up VREF as a debugger output ======= // set up the Vref pin and use as a DAC // enable module| eanble output | use low range output | use internal reference | desired step CVREFOpen( CVREF_ENABLE | CVREF_OUTPUT_ENABLE | CVREF_RANGE_LOW | CVREF_SOURCE_AVDD | CVREF_STEP_0 ); // And read back setup from CVRCON for speed later // 0x8060 is enabled with output enabled, Vdd ref, and 0-0.6(Vdd) range CVRCON_setup = CVRCON; //CVRCON = 0x8060 from Tahmid http://tahmidmc.blogspot.com/ // setup system wide interrupts // IF you need them for some other service besides ProtoThreads //INTEnableSystemMultiVectoredInt(); }