[fiber] Channel, Semaphore, Mutex + Benchmark

modm-io · Sep 10, 2020 · 58784c2 · 58784c2
1 parent ff95d68
commit 58784c2
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diff --git a/examples/generic/fiber/main.cpp b/examples/generic/fiber/main.cpp
@@ -0,0 +1,55 @@
+/*
+ * Copyright (c) 2020, Erik Henriksson
+ *
+ * This file is part of the modm project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+// ----------------------------------------------------------------------------
+
+#include <modm/debug/logger.hpp>
+#include <modm/board.hpp>
+#include <modm/processing.hpp>
+
+using namespace Board;
+using namespace std::chrono_literals;
+
+constexpr uint32_t cycles = 1000'000;
+volatile uint32_t counter = 0;
+
+void f1() {
+  while (++counter < cycles) {
+    modm::yield();
+  }
+}
+
+void f2() {
+  while (++counter < cycles) {
+    asm volatile ("");
+    modm::yield();
+  }
+}
+
+modm::fiber::Stack<2048> stack1, stack2;
+modm::Fiber fiber1(stack1, &f1), fiber2(stack2, &f2);
+
+
+// Blue pill (M3 64MHz): Executed 1000000 in 1520841us (657530.94 yields per second)
+// Feather M0 (M0+ 48MHz): Executed 1000000 in 2190108us (456598.50 yields per second)
+int main( int argc, char * argv[])
+{
+  Board::initialize();
+  MODM_LOG_INFO << "Starting fiber modm::yield benchmark..." << modm::endl;
+  MODM_LOG_INFO.flush();
+  const modm::PreciseTimestamp start = modm::PreciseClock::now();
+  modm::fiber::scheduler.start();  const auto diff = (modm::PreciseClock::now() - start);
+  MODM_LOG_INFO << "Benchmark done!" << modm::endl;
+  MODM_LOG_INFO << "Executed " << cycles << " in " << diff << " (";
+  MODM_LOG_INFO.printf("%.2f", cycles * 1'000'000.0 / std::chrono::microseconds(diff).count());
+  MODM_LOG_INFO << " yields per second)" << modm::endl;
+  MODM_LOG_INFO.flush();
+  while (1);
+  return 0;
+}
diff --git a/examples/generic/fiber/openocd.cfg b/examples/generic/fiber/openocd.cfg
@@ -0,0 +1,3 @@
+source [find interface/stlink-v2.cfg]
+
+set CPUTAPID 0x2ba01477
diff --git a/examples/generic/fiber/project.xml b/examples/generic/fiber/project.xml
@@ -0,0 +1,13 @@
+<library>
+  <extends>modm:blue-pill</extends>
+  <!-- <extends>modm:feather-m0</extends> -->
+  <options>
+    <option name="modm:build:build.path">../../../build/generic/fiber</option>
+    <option name="modm:build:openocd.cfg">openocd.cfg</option>
+  </options>
+  <modules>
+    <module>modm:build:scons</module>
+    <module>modm:processing:timer</module>
+    <module>modm:processing:fiber</module>
+  </modules>
+</library>
diff --git a/src/modm/platform/uart/stm32/module.lb b/src/modm/platform/uart/stm32/module.lb
@@ -29,7 +29,7 @@ class Instance(Module):
             BooleanOption(
                 name="buffered",
                 description="",
-                default=True))
+                default=False))
         module.add_option(
             NumericOption(
                 name="buffer.tx",

diff --git a/src/modm/processing/fiber/channel.hpp b/src/modm/processing/fiber/channel.hpp
@@ -0,0 +1,18 @@
+/*
+ * Copyright (c) 2020, Erik Henriksson
+ *
+ * This file is part of the modm project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+// ----------------------------------------------------------------------------
+
+#pragma once
+
+namespace modm {
+
+} // namespace modm
+
+#include "channel_impl.hpp"
diff --git a/...ocessing/fiber/context_cortex_impl.hpp.in → ...ssing/fiber/context_cortex_armv7_impl.hpp b/...ocessing/fiber/context_cortex_impl.hpp.in → ...ssing/fiber/context_cortex_armv7_impl.hpp
@@ -13,14 +13,14 @@
 #include <modm/debug/logger.hpp>
 
 // Stack layout:
-// r8
-// r9
-// r10
-// r11
 // r4
 // r5
 // r6
 // r7
+// r8
+// r9
+// r10
+// r11
 // LR
 // PC
 
@@ -47,16 +47,7 @@ modm_startcontext(const modm_context &to)
 		"add r3, r3, #1"		"\n\t" // Stay in thumb mode
 		"push {r3}"				"\n\t" // Save instruction address to stack (to be used for PC later)
 
-%% if "m0" in core
-		"push {r4-r7, lr}"		"\n\t"
-		"mov r4, r8"			"\n\t"
-		"mov r5, r9"			"\n\t"
-		"mov r6, r10"			"\n\t"
-		"mov r7, r11"			"\n\t"
-		"push {r4-r7}"			"\n\t"
-%% else
 		"push {r4-r11, lr}"		"\n\t"
-%% endif
 
 		"mov r3, sp"			"\n\t"
 		"str r3, [%[main_sp]]"	"\n\t" // Store the main SP in "main_sp"
@@ -66,16 +57,7 @@ modm_startcontext(const modm_context &to)
 		"orr r3, r2"			"\n\t"
 		"msr control, r3"		"\n\t"
 
-%% if "m0" in core
-		"pop {r4-r7}"			"\n\t"
-		"mov r8, r4"			"\n\t"
-		"mov r9, r5"			"\n\t"
-		"mov r10, r6"			"\n\t"
-		"mov r11, r7"			"\n\t"
-		"pop {r4-r7}"			"\n\t"
-%% else
 		"pop {r4-r11}"			"\n\t"
-%% endif
 		"pop {r3}"				"\n\t"
 		"mov lr, r3"			"\n\t"
 
@@ -100,32 +82,13 @@ modm_jumpcontext(modm_context* from, const modm_context &to)
 		"add r3, r3, #1"		"\n\t" // Stay in thumb mode
 		"push {r3}"				"\n\t" // Save instruction address to stack (to be used for PC later)
 
-%% if "m0" in core
-		"push {r4-r7, lr}"		"\n\t"
-		"mov r4, r8"			"\n\t"
-		"mov r5, r9"			"\n\t"
-		"mov r6, r10"			"\n\t"
-		"mov r7, r11"			"\n\t"
-		"push {r4-r7}"			"\n\t"
-%% else
 		"push {r4-r11, lr}"		"\n\t"
-%% endif
-
 
 		"mov r3, sp"			"\n\t"
 		"str r3, [%[from_sp]]"	"\n\t" // Store the SP in "from"
 		"mov sp, %[to_sp]"		"\n\t" // Restore SP from "to"
 
-%% if "m0" in core
-		"pop {r4-r7}"			"\n\t"
-		"mov r8, r4"			"\n\t"
-		"mov r9, r5"			"\n\t"
-		"mov r10, r6"			"\n\t"
-		"mov r11, r7"			"\n\t"
-		"pop {r4-r7}"			"\n\t"
-%% else
 		"pop {r4-r11}"			"\n\t"
-%% endif
 		"pop {r3}"				"\n\t"
 		"mov lr, r3"			"\n\t"
 
@@ -149,16 +112,7 @@ modm_endcontext()
 		"bic r1, r1, r2"		"\n\t"
 		"msr control, r1"		"\n\t"
 
-%% if "m0" in core
-		"pop {r4-r7}"			"\n\t"
-		"mov r8, r4"			"\n\t"
-		"mov r9, r5"			"\n\t"
-		"mov r10, r6"			"\n\t"
-		"mov r11, r7"			"\n\t"
-		"pop {r4-r7}"			"\n\t"
-%% else
 		"pop {r4-r11}"			"\n\t"
-%% endif
 		"pop {r3}"				"\n\t"
 		"mov lr, r3"			"\n\t"
 

diff --git a/src/modm/processing/fiber/context_cortex_m0_impl.hpp b/src/modm/processing/fiber/context_cortex_m0_impl.hpp
@@ -0,0 +1,137 @@
+/*
+ * Copyright (c) 2020, Erik Henriksson
+ *
+ * This file is part of the modm project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+// ----------------------------------------------------------------------------
+
+#include <modm/platform/device.hpp>
+#include <modm/debug/logger.hpp>
+
+// Stack layout:
+// r8
+// r9
+// r10
+// r11
+// r4
+// r5
+// r6
+// r7
+// LR
+// PC
+
+
+modm_context
+modm_makecontext(modm_stack_t* stack, std::size_t stack_size,
+                 void (*fn)(void), void (*end)(void)) {
+  modm_stack_t* sp = stack + stack_size / sizeof(modm_stack_t);
+  *--sp = (modm_stack_t) fn; // PC
+  *--sp = (modm_stack_t) end; // LR
+  sp -= 8; // r4-r11
+  return {sp, stack_size};
+}
+
+void
+modm_startcontext(const modm_context &to) {
+  modm_stack_t** main_sp = &main_context.sp;
+  modm_stack_t* to_sp = to.sp;
+  asm volatile(
+    "adr r3, 1f\n\t" // Load address of instruction after "pop {pc}" into r3
+    "add r3, r3, #1\n\t" // Stay in thumb mode
+    "push {r3}\n\t" // Save instruction address to stack (to be used for PC later)
+
+    "push {r4-r7, lr}\n\t"
+    "mov r4, r8\n\t"
+    "mov r5, r9\n\t"
+    "mov r6, r10\n\t"
+    "mov r7, r11\n\t"
+    "push {r4-r7}\n\t"
+
+    "mov r3, sp\n\t"
+    "str r3, [%[main_sp]]\n\t" // Store the main SP in "main_sp"
+    "msr psp, %[to_sp]\n\t" // Set PSP to top of stack
+    "mrs r3, control\n\t"
+    "mov r2, #0x2\n\t" // Set SPSEL
+    "orr r3, r2\n\t"
+    "msr control, r3\n\t"
+
+    "pop {r4-r7}\n\t"
+    "mov r8, r4\n\t"
+    "mov r9, r5\n\t"
+    "mov r10, r6\n\t"
+    "mov r11, r7\n\t"
+    "pop {r4-r7}\n\t"
+    "pop {r3}\n\t"
+    "mov lr, r3\n\t"
+
+    "pop {pc}\n\t" // Perform the jump
+    ".align 2\n\t"
+    "1:\n\t"
+    /*outputs*/: [main_sp] "+r" (main_sp), [to_sp] "+r" (to_sp)
+    /*inputs*/:
+    /*clobbers*/: "r2", "r3", "r4", "r5", "r6", "r7", "r8", "r9", "r10", "r11", "r12", "memory");
+}
+
+void
+modm_jumpcontext(modm_context* from, const modm_context &to) {
+  register modm_stack_t** from_sp asm("r0") = &from->sp;
+  register modm_stack_t* to_sp asm("r1") = to.sp;
+  asm volatile(
+    "adr r3, 1f\n\t" // Load address of instruction after "pop {pc}" into r3
+    "add r3, r3, #1\n\t" // Stay in thumb mode
+    "push {r3}\n\t" // Save instruction address to stack (to be used for PC later)
+
+    "push {r4-r7, lr}\n\t"
+    "mov r4, r8\n\t"
+    "mov r5, r9\n\t"
+    "mov r6, r10\n\t"
+    "mov r7, r11\n\t"
+    "push {r4-r7}\n\t"
+
+    "mov r3, sp\n\t"
+    "str r3, [%[from_sp]]\n\t" // Store the SP in "from"
+    "mov sp, %[to_sp]\n\t" // Restore SP from "to"
+
+    "pop {r4-r7}\n\t"
+    "mov r8, r4\n\t"
+    "mov r9, r5\n\t"
+    "mov r10, r6\n\t"
+    "mov r11, r7\n\t"
+    "pop {r4-r7}\n\t"
+    "pop {r3}\n\t"
+    "mov lr, r3\n\t"
+
+    "pop {pc}\n\t" // Perform the jump
+    ".align 2\n\t"
+    "1:\n\t"
+    /*outputs*/: [from_sp] "+r" (from_sp), [to_sp] "+r" (to_sp)
+    /*inputs*/:
+    /*clobbers*/: "r2", "r3", "r4", "r5", "r6", "r7", "r8", "r9", "r10", "r11", "r12", "memory");
+}
+
+void
+modm_endcontext() {
+  asm volatile(
+    "mrs r1, control\n\t"
+    "mov r2, #0x2\n\t" // Unset SPSEL
+    "bic r1, r1, r2\n\t"
+    "msr control, r1\n\t"
+
+    "pop {r4-r7}\n\t"
+    "mov r8, r4\n\t"
+    "mov r9, r5\n\t"
+    "mov r10, r6\n\t"
+    "mov r11, r7\n\t"
+    "pop {r4-r7}\n\t"
+    "pop {r3}\n\t"
+    "mov lr, r3\n\t"
+
+    "pop {pc}\n\t" // Perform the jump
+    /*outputs*/:
+    /*inputs*/:
+    /*clobbers*/: "r0", "r1", "r2", "r3", "r4", "r5", "r6", "r7", "r8", "r9", "r10", "r11", "r12", "memory");
+  }