[fiber] Adds the fiber processing library

.github/workflows/linux.yml

@@ -197,7 +197,7 @@ jobs:
       - name: Compile AVR Unittests ATmega
         if: always()
         run: |
-          (cd test && make compile-mega-2560-pro)
+          (cd test && make compile-mega-2560-pro_A compile-mega-2560-pro_B)
       - name: Quick compile HAL for AVR Devices
         if: always()
         run: |

examples/avr/fiber/main.cpp

@@ -0,0 +1,90 @@
+/*
+ * 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/board.hpp>
+#include <modm/debug/logger.hpp>
+#include <modm/processing.hpp>
+
+using namespace Board;
+using namespace std::chrono_literals;
+
+constexpr uint16_t cycles = 60'000;
+volatile uint16_t f1counter = 0, f2counter = 0;
+uint32_t total_counter=0;
+
+void
+fiber_function1()
+{
+	// MODM_LOG_INFO << MODM_FILE_INFO << modm::endl;
+	while (++f1counter < cycles) { modm::fiber::yield(); total_counter++; }
+}
+
+void
+fiber_function2(void* cyc)
+{
+	// MODM_LOG_INFO << MODM_FILE_INFO << uint16_t(cyc) << modm::endl;
+	while (++f2counter < uint16_t(cyc)) { modm::fiber::yield(); total_counter++; }
+}
+
+struct Test
+{
+	void
+	fiber_function3()
+	{
+		// MODM_LOG_INFO << MODM_FILE_INFO << modm::endl;
+		while (++f3counter < cycles) { modm::fiber::yield(); total_counter++; }
+	}
+
+	void
+	fiber_function4(void* cyc)
+	{
+		// MODM_LOG_INFO << MODM_FILE_INFO << uint16_t(cyc) << modm::endl;
+		while (++f4counter < uint16_t(cyc)) { modm::fiber::yield(); total_counter++; }
+	}
+
+	volatile uint32_t f3counter{0};
+	volatile uint32_t f4counter{0};
+} test;
+
+modm::fiber::Stack<128> stack1;
+modm::fiber::Stack<128> stack2;
+modm::fiber::Stack<128> stack3;
+modm::fiber::Stack<128> stack4;
+modm::Fiber fiber1(stack1, &fiber_function1);
+modm::Fiber fiber2(stack2, &fiber_function2, (void*)cycles);
+modm::Fiber fiber3(stack3, &Test::fiber_function3, test);
+modm::Fiber fiber4(stack4, &Test::fiber_function4, test, (void*)cycles);
+
+// ATmega2560@16MHz: 239996 yields in 2492668us, 96280 yields per second, 10386ns per yield
+int
+main()
+{
+	Board::initialize();
+	Board::LedD13::setOutput();
+	MODM_LOG_INFO << "Starting fiber modm::yield benchmark..." << modm::endl;
+	MODM_LOG_INFO.flush();
+
+	const modm::PreciseTimestamp start = modm::PreciseClock::now();
+
+	modm::fiber::Scheduler::run();
+
+	const auto diff = (modm::PreciseClock::now() - start);
+	MODM_LOG_INFO << "Benchmark done!" << modm::endl;
+	MODM_LOG_INFO << "Executed " << total_counter << " yields in " << diff << modm::endl;
+	MODM_LOG_INFO << uint32_t((total_counter * 1'000'000ull) / std::chrono::microseconds(diff).count());
+	MODM_LOG_INFO << " yields per second, ";
+	MODM_LOG_INFO << uint32_t(std::chrono::nanoseconds(diff).count() / total_counter);
+	MODM_LOG_INFO << "ns per yield" << modm::endl;
+	MODM_LOG_INFO.flush();
+
+	while(1) ;
+	return 0;
+}

examples/avr/fiber/project.xml

@@ -0,0 +1,13 @@
+<library>
+  <extends>modm:mega-2560-pro</extends>
+  <!-- <extends>modm:arduino-nano</extends> -->
+  <options>
+    <option name="modm:build:build.path">../../../build/avr/fiber</option>
+    <option name="modm:io:with_printf">yes</option>
+  </options>
+  <modules>
+    <module>modm:build:scons</module>
+    <module>modm:processing:timer</module>
+    <module>modm:processing:fiber</module>
+  </modules>
+</library>

examples/generic/fiber/main.cpp

@@ -0,0 +1,90 @@
+/*
+ * 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/board.hpp>
+#include <modm/debug/logger.hpp>
+#include <modm/processing.hpp>
+
+using namespace Board;
+using namespace std::chrono_literals;
+
+constexpr uint32_t cycles = 1'000'000;
+volatile uint32_t f1counter = 0, f2counter = 0;
+uint32_t total_counter=0;
+
+void
+fiber_function1()
+{
+	MODM_LOG_INFO << MODM_FILE_INFO << modm::endl;
+	while (++f1counter < cycles) { modm::fiber::yield(); total_counter++; }
+}
+
+void
+fiber_function2(void* cyc)
+{
+	MODM_LOG_INFO << MODM_FILE_INFO << modm::endl;
+	while (++f2counter < uint32_t(cyc)) { modm::fiber::yield(); total_counter++; }
+}
+
+struct Test
+{
+	void
+	fiber_function3()
+	{
+		MODM_LOG_INFO << MODM_FILE_INFO << modm::endl;
+		while (++f3counter < cycles) { modm::fiber::yield(); total_counter++; }
+	}
+
+	void
+	fiber_function4(void* cyc)
+	{
+		MODM_LOG_INFO << MODM_FILE_INFO << modm::endl;
+		while (++f4counter < uint32_t(cyc)) { modm::fiber::yield(); total_counter++; }
+	}
+
+	volatile uint32_t f3counter{0};
+	volatile uint32_t f4counter{0};
+} test;
+
+modm_fastdata modm::fiber::Stack<2048> stack1;
+modm_fastdata modm::fiber::Stack<2048> stack2;
+modm_fastdata modm::fiber::Stack<2048> stack3;
+modm_fastdata modm::fiber::Stack<2048> stack4;
+modm_fastdata modm::Fiber fiber1(stack1, &fiber_function1);
+modm_fastdata modm::Fiber fiber2(stack2, &fiber_function2, (void*)cycles);
+modm_fastdata modm::Fiber fiber3(stack3, &Test::fiber_function3, test);
+modm_fastdata modm::Fiber fiber4(stack4, &Test::fiber_function4, test, (void*)cycles);
+
+// Blue pill (M3 72MHz): Executed 1000000 in 1098591us (910256.88 yields per second)
+// Feather M0 (M0+ 48MHz): Executed 1000000 in 1944692us (514220.25 yields per second)
+int
+main()
+{
+	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::run();
+
+	const auto diff = (modm::PreciseClock::now() - start);
+	MODM_LOG_INFO << "Benchmark done!" << modm::endl;
+	MODM_LOG_INFO << "Executed " << total_counter << " yields in " << diff << modm::endl;
+	MODM_LOG_INFO << ((total_counter * 1'000'000ull) / std::chrono::microseconds(diff).count());
+	MODM_LOG_INFO << " yields per second, ";
+	MODM_LOG_INFO << (std::chrono::nanoseconds(diff).count() / total_counter);
+	MODM_LOG_INFO << "ns per yield" << modm::endl;
+	MODM_LOG_INFO.flush();
+
+	while(1) ;
+	return 0;
+}

examples/generic/fiber/project.xml

@@ -0,0 +1,12 @@
+<library>
+  <!-- <extends>modm:nucleo-f429zi</extends> -->
+  <extends>modm:nucleo-g071rb</extends>
+  <options>
+    <option name="modm:build:build.path">../../../build/generic/fiber</option>
+  </options>
+  <modules>
+    <module>modm:build:scons</module>
+    <module>modm:processing:timer</module>
+    <module>modm:processing:fiber</module>
+  </modules>
+</library>

examples/linux/fiber/main.cpp

@@ -0,0 +1,49 @@
+/*
+ * Copyright (c) 2021, Niklas Hauser
+ *
+ * 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.hpp>
+#include <modm/processing.hpp>
+
+void hello()
+{
+	for(int ii=0; ii<10; ii++)
+	{
+		MODM_LOG_INFO << "Hello ";
+		modm::fiber::yield();
+	}
+}
+
+struct Test
+{
+	void world(void *arg)
+	{
+		for(int ii=0; ii<10; ii++)
+		{
+			MODM_LOG_INFO << (char*)arg << modm::endl;
+			modm::fiber::yield();
+		}
+	}
+} test;
+
+modm::fiber::Stack<1024> stack1;
+modm::Fiber fiber1(stack1, &hello);
+// You can pass class methods and arguments as well
+modm::fiber::Stack<1024> stack2;
+modm::Fiber fiber2(stack2, &Test::world, test, (void*)"World");
+
+int
+main(void)
+{
+	MODM_LOG_INFO << "Start" << modm::endl;
+	modm::fiber::Scheduler::run();
+	MODM_LOG_INFO << "End" << modm::endl;
+	return 0;
+}

examples/linux/fiber/project.xml

@@ -0,0 +1,12 @@
+<library>
+  <options>
+    <option name="modm:target">hosted-linux</option>
+    <option name="modm:build:build.path">../../../build/linux/fiber</option>
+  </options>
+  <modules>
+    <module>modm:debug</module>
+    <module>modm:platform:core</module>
+    <module>modm:processing:fiber</module>
+    <module>modm:build:scons</module>
+  </modules>
+</library>

src/modm/architecture/utils.hpp

@@ -129,6 +129,8 @@
 	#define modm_fallthrough		__attribute__((fallthrough))
 	#define modm_noreturn			__attribute__((noreturn))
 	#define modm_warn_unused_result	__attribute__((warn_unused_result))
+	#define modm_naked				__attribute__((naked))
+	#define modm_fiber				modm_naked
 
 	#ifdef MODM_COMPILER_MINGW
 	 	// FIXME: Windows Object Format PE does not support weak symbols
@@ -144,10 +146,12 @@
 	#	define modm_fastcode
 	#	define modm_ramcode
 	#	define modm_fastdata
+	#	define modm_faststack
 	#else
 	#	define modm_fastcode		modm_section(".fastcode")
 	#	define modm_ramcode			modm_fastcode
 	#	define modm_fastdata		modm_section(".fastdata")
+	#	define modm_faststack		modm_section(".faststack")
 	#endif
 
 	#ifdef __cplusplus

src/modm/platform/core/cortex/linker.macros

@@ -143,11 +143,13 @@ TOTAL_STACK_SIZE   = MAIN_STACK_SIZE + PROCESS_STACK_SIZE;
 	} >{{memory}}
 %% endmacro
 
-%% macro section(memory, name, sections=[])
-	.{{name}} :
+%% macro section(memory, name, sections=[], noload=False)
+	.{{name}}{% if noload %} (NOLOAD){% endif %} :
 	{
 		. = ALIGN(4);
+	%% if not noload
 		__{{name}}_load = LOADADDR(.{{name}});
+	%% endif
 		__{{name}}_start = .;
 		*(.{{name}} .{{name}}.*)
 		. = ALIGN(4);

src/modm/platform/core/cortex/ram.ld.in

@@ -26,6 +26,8 @@ SECTIONS
 
 {{ linker.section_stack(cont_ram_regions[0].name|upper, "__vec_offset - TOTAL_STACK_SIZE") }}
 
+{{ linker.section(cont_ram_regions[0].name|upper, "faststack", noload=True) }}
+
 %% if vector_table_location == "ram"
 {{ linker.section_vector_ram(cont_ram_regions[0].name|upper) }}
 %% endif

src/modm/platform/core/cortex/vectors.c.in

@@ -31,7 +31,6 @@ typedef void (* const FunctionPointer)(void);
 
 // defined in the linkerscript
 extern uint32_t __main_stack_top[];
-extern uint32_t __process_stack_top[];
 
 // Define the vector table
 modm_section(".vector_rom")

src/modm/platform/core/stm32/dccm.ld.in

@@ -39,6 +39,8 @@ SECTIONS
 
 {{ linker.section_stack("CCM") }}
 
+{{ linker.section("CCM", "faststack", noload=True) }}
+
 	/* CCM can only be accessed by D-Bus, do not place .fastcode here! */
 {{ linker.section("CCM AT >FLASH", "fastdata", sections=["data_ccm"]) }}
 %% do table_copy.append("fastdata")

src/modm/platform/core/stm32/iccm.ld.in

@@ -18,6 +18,8 @@ SECTIONS
 
 {{ linker.section_stack(cont_ram_regions[0].name|upper) }}
 
+{{ linker.section(cont_ram_regions[0].name|upper, "faststack", noload=True) }}
+
 {{ linker.section_ram(cont_ram_regions[0].name|upper, "FLASH",
                       sections_data=["data_" + cont_ram_regions[0].contains[0].name],
                       sections_bss=["bss_" + cont_ram_regions[0].contains[0].name]) }}

src/modm/platform/core/stm32/idtcm.ld.in

@@ -29,6 +29,8 @@ SECTIONS
 
 {{ linker.section_stack("CONT_DTCM") }}
 
+{{ linker.section("CONT_DTCM", "faststack", noload=True) }}
+
 {{ linker.section_ram(cont_ram_regions[0].name|upper, "FLASH",
                       sections_data=["fastdata", "data_" + cont_ram_regions[0].contains[0].name],
                       sections_bss=["bss_" + cont_ram_regions[0].contains[0].name]) }}

src/modm/processing/fiber.hpp

@@ -0,0 +1,17 @@
+/*
+ * 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 "fiber/fiber.hpp"
+#include "fiber/scheduler.hpp"
+
+#include "fiber/channel.hpp"
+#include "fiber/semaphore.hpp"
+#include "fiber/mutex.hpp"