main.c

MANTIS是由科罗拉多大学开发的传感器网络嵌入式操作系统。 这是mantis的0.9.5版本的源码。

//  This file is part of MANTIS OS, Operating System
//  See http://mantis.cs.colorado.edu/
//
//  Copyright (C) 2003,2004,2005 University of Colorado, Boulder
//
//  This program is free software; you can redistribute it and/or
//  modify it under the terms of the mos license (see file LICENSE)

/*
  Project Mantis
  File: mantis.c
  Author: Jeff Rose
  Date: 1-25-03

  This is where it all starts, and ends.
*/

/** @file main.c
 * @brief This is where it all starts, and ends.
 * @author Jeff Rose
 * @date 01/25/2003
 */

#include "mos.h"
#include <stdlib.h>

#ifndef PLATFORM_LINUX

#if defined(PLATFORM_MICA2) || defined(PLATFORM_MICA2DOT)
#include "cc1000_raw.h"
#include "cc1000_tdma.h"
#include "cc1000_csma.h"
#endif

#if defined(PLATFORM_MICAZ) || defined(PLATFORM_TELOSB)
#include "cc2420.h"
#endif

#if defined(PLATFORM_TELOSB)
#include "telos-flash.h"
#endif


#if defined(ARCH_AVR)
#include "avr-eeprom.h"
#include "avr-adc.h"
#include "atmel-flash.h"
#include "avr-i2c.h"
#include "avr-rssi.h"
#endif

#if defined(PLATFORM_MICA_ANY)
#include "mica2-ultrasound.h"
#include "mica2-light-temp.h"
#include "mica2-sounder.h"
#include "mica2-battery.h"
#include "mica2-magnet.h"
#include "mica2-accel.h"
#include "mica2-mic.h"
#include "mica2-id.h"
#endif

#if defined(ARCH_MICRO)
#include "adc.h"
#endif

#include "node_id.h"
#include "uart.h"
#include "dev.h"
#include "printf.h"
#include "loopback.h"
#include "dev-loopback.h"
#endif

#ifdef PLATFORM_LINUX
#include "arg.h"
#include "gevent.h"
#include <stdio.h>
#define START_STACK_SIZE 0

#include "serial.h"
#include "terminal.h"
//#include "udp.h"
#include "xmos_radio.h"
#include "xmos-flash.h"

#endif

#include "led.h"
#include "msched.h"
#include "com.h"
#include "clock.h"

/** @brief Application's start function. */
extern void start(void);

/** @brief preStart() is the function for the startup thread, which is the
 * one spawned by main().  
 *
 * It does all the initialization that needs to happen after the 
 * kernel is up and running, and then it calls the application start function.
 */
void pre_start(void)
{
   //TODO: this should somehow be auto-generated
#ifdef PLATFORM_LINUX
   mos_node_id_init();	// must be called before gevent_init ()
   gevent_init();

   serial_init();
   terminal_init();
   //udp_init();
   xmos_radio_init();	// gevent_init() must be called first
   xmos_flash_init();	// gevent_init() must be called first
   
#elif defined(ARCH_MICRO)
   adc_init();
   
#if defined(PLATFORM_MICA2) || defined(PLATFORM_MICA2DOT)
#if defined(AVR_RSSI) || !defined(SCONS)
   avr_rssi_init();
#endif
#endif

   //mica2_magnet_init();
   printf_init();
   //mica2_ultrasound_init();
   //dev_loopback_init();
   //com_loopback_init();

   PLAT_INIT();
   
   uart_init();

#if defined(ARCH_AVR)
   avr_eeprom_init();
   avr_i2c_init();
   
#if defined(PLATFORM_MICA_ANY)   
#if defined(MICA2_LIGHT_TEMP) || !defined(SCONS)
   mica2_light_temp_init();
#endif

#if defined(MICA2_MIC) || !defined(SCONS)
   mica2_mic_init();
#endif

#if defined(MICA2_ACCEL) || !defined(SCONS)
   mica2_accel_init();
#endif

#if defined(MICA2_BATTERY) || !defined(SCONS)
   mica2_battery_init();
#endif

#endif //if platform mica2, mica2dot, micaz   
#endif //if defined(ARCH_AVR)

   
#if defined(PLATFORM_MICA2) || defined (PLATFORM_MICAZ)

   atmel_flash_init();

#if defined(MICA2_ID) || !defined(SCONS)
   mica2_id_init();   
#endif

#if defined(MICA2_SOUNDER) || !defined(SCONS)
   mica2_sounder_init();
#endif

   mos_node_id_init();
#endif
   // MAC layer

   //which MAC to use is defined in com.h
   
#if defined(PLATFORM_MICA2) || defined(PLATFORM_MICA2DOT)
   
#ifdef CC1000_RAW
   cc1000_raw_init();
#endif
   
#ifdef CC1000_CSMA
   cc1000_csma_init();
#endif
   
#ifdef CC1000_CSMA_ACK
   cc1000_csma_ack_init();
#endif
   
#ifdef CC1000_BMAC
   cc1000_bmac_init();
#endif
   
#ifdef CC1000_TDMA
   cc1000_tdma_init(mos_node_id_get());
#endif
   
#endif /* PLATFORM_MICA2 / PLATFORM_MICA2DOT */

   clock_init();
   
#ifdef PLATFORM_TELOSB
   kernel_timer_init();
#endif
   
#if defined(PLATFORM_MICAZ) || defined(PLATFORM_TELOSB)
#if defined(CC2420) || !defined(SCONS)
   cc2420_init();
#endif
#endif

#if defined(PLATFORM_TELOSB)
   st_flash_init();
   sht11_init();
   mos_node_id_init();
#endif

 
#ifdef PLATFORM_AVRDEV
#if defined(CC2420) || !defined(SCONS)
   maxstream_init();
#endif
#endif
   
   // seed the rng
   srandom(mos_node_id_get());
   
#endif /* ARCH_MICRO */

#ifdef PLATFORM_MICA_ANY
   //FIXME: light and temp won't right work unless we read from another ADC
   //driver first
   uint8_t val;
#warning ADC Hack
   dev_read(DEV_MICA2_ACCEL_Y, &val, sizeof(val));
#endif
   
   start();

#ifdef PLATFORM_LINUX
   mos_thread_suspend(); //fixes threading issue with freebsd
#endif
}

/** @brief main function, inits the kernel and spawns the start thread. */
#ifdef PLATFORM_LINUX
int main(int argc, char *argv[])
{
   arg_init(argc,argv);
#else
int main(void)
{
#endif
   sched_init(); //init scheduler--THIS MUST BE FIRST
   led_init(); //init leds early, to allow led debugging elsewhere
   com_init(); //init com system
   
   mos_thread_new(pre_start, START_STACK_SIZE, PRIORITY_NORMAL);
   
   //start the scheduler (never returns)
   mos_sched_start();
   
   return 0;
}