[fiber] Adds a fiber processing library

examples/blue_pill_f103/adns_9800/main.cpp

@@ -26,15 +26,6 @@
 #undef	MODM_LOG_LEVEL
 #define	MODM_LOG_LEVEL modm::log::DEBUG
 
-// Create an IODeviceWrapper around the Uart Peripheral we want to use
-modm::IODeviceWrapper< Usart2, modm::IOBuffer::BlockIfFull > loggerDevice;
-
-// Set all four logger streams to use the UART
-modm::log::Logger modm::log::debug(loggerDevice);
-modm::log::Logger modm::log::info(loggerDevice);
-modm::log::Logger modm::log::warning(loggerDevice);
-modm::log::Logger modm::log::error(loggerDevice);
-
 class BlinkThread : public modm::pt::Protothread
 {
 public:

examples/blue_pill_f103/can/main.cpp

@@ -12,9 +12,6 @@
 #include <modm/board.hpp>
 #include <modm/debug/logger.hpp>
 
-modm::IODeviceWrapper< Usart2, modm::IOBuffer::BlockIfFull > loggerDevice;
-modm::log::Logger modm::log::info(loggerDevice);
-
 // Set the log level
 #undef	MODM_LOG_LEVEL
 #define	MODM_LOG_LEVEL modm::log::INFO

examples/blue_pill_f103/environment/main.cpp

@@ -30,17 +30,6 @@ Bme280Thread bme280Thread;
 #undef	MODM_LOG_LEVEL
 #define	MODM_LOG_LEVEL modm::log::DEBUG
 
-// Create an IODeviceWrapper around the Uart Peripheral we want to use
-modm::IODeviceWrapper< Usart2, modm::IOBuffer::BlockIfFull > loggerDevice;
-modm::IOStream stream(loggerDevice);
-
-// Set all four logger streams to use the UART
-modm::log::Logger modm::log::debug(loggerDevice);
-modm::log::Logger modm::log::info(loggerDevice);
-modm::log::Logger modm::log::warning(loggerDevice);
-modm::log::Logger modm::log::error(loggerDevice);
-
-// ----------------------------------------------------------------------------
 
 using namespace Board;
 

examples/blue_pill_f103/logger/main.cpp

@@ -22,6 +22,9 @@
 #undef	MODM_LOG_LEVEL
 #define	MODM_LOG_LEVEL modm::log::INFO
 
+/*** The following code is included in the modm:board module (board.hpp),
+ * but might be useful if the BSP is not used.
+
 // Create an IODeviceWrapper around the Uart Peripheral we want to use
 modm::IODeviceWrapper< Usart2, modm::IOBuffer::BlockIfFull > loggerDevice;
 
@@ -30,6 +33,7 @@ modm::log::Logger modm::log::debug(loggerDevice);
 modm::log::Logger modm::log::info(loggerDevice);
 modm::log::Logger modm::log::warning(loggerDevice);
 modm::log::Logger modm::log::error(loggerDevice);
+*/
 
 
 class BlinkThread : public modm::pt::Protothread

examples/blue_pill_f103/weight_scale_hx711/main.cpp

@@ -22,16 +22,6 @@ using namespace Board;
 #undef	MODM_LOG_LEVEL
 #define	MODM_LOG_LEVEL modm::log::DEBUG
 
-// Create an IODeviceWrapper around the Uart Peripheral we want to use
-modm::IODeviceWrapper< Usart1, modm::IOBuffer::BlockIfFull > loggerDevice;
-
-// Set all four logger streams to use the UART
-modm::log::Logger modm::log::debug(loggerDevice);
-modm::log::Logger modm::log::info(loggerDevice);
-modm::log::Logger modm::log::warning(loggerDevice);
-modm::log::Logger modm::log::error(loggerDevice);
-
-
 struct hx711_config : public modm::hx711::Config
 {
 	using Sck  = GpioOutputA9;

examples/generic/fiber/main.cpp

@@ -0,0 +1,56 @@
+/*
+ * 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 = 1000'000;
+volatile uint32_t f1counter = 0, f2counter = 0;
+
+void
+f1()
+{
+	while (++f1counter < cycles / 2) { modm::yield(); }
+}
+
+void
+f2()
+{
+	while (++f2counter < cycles / 2) { modm::yield(); }
+}
+
+modm::fiber::Stack<2048> stack1, stack2;
+modm::Fiber fiber1(stack1, &f1), fiber2(stack2, &f2);
+
+// 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(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;
+}

examples/generic/fiber/openocd.cfg

@@ -0,0 +1,3 @@
+source [find interface/stlink-v2.cfg]
+
+set CPUTAPID 0x2ba01477

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>

examples/linux/fiber/main.cpp

@@ -0,0 +1,56 @@
+/*
+ * 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 <chrono>
+#include <cmath>
+#include <modm/debug/logger.hpp>
+#include <modm/processing.hpp>
+
+using namespace std::chrono_literals;
+
+#define STACK_SIZE 1024
+
+void
+f1()
+{
+	MODM_LOG_INFO << "f1" << modm::endl;
+	modm::yield();
+	MODM_LOG_INFO << "f1 done" << modm::endl;
+}
+
+void
+f2()
+{
+	MODM_LOG_INFO << "f2" << modm::endl;
+	modm::yield();
+	MODM_LOG_INFO << "f2 done" << modm::endl;
+}
+
+void
+idle()
+{
+	MODM_LOG_INFO << "idle" << modm::endl;
+	modm::yield();
+	MODM_LOG_INFO << "all done" << modm::endl;
+}
+
+modm::fiber::Stack<STACK_SIZE> stack1, stack2, stack_idle;
+modm::Fiber fiber1(stack1, &f1), fiber2(stack2, &f2), fiber_idle(stack_idle, &idle);
+
+int
+main(void)
+{
+	MODM_LOG_INFO << "Start" << modm::endl;
+	modm::fiber::scheduler.start();
+	// Will never get here.
+	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>

examples/nucleo_f031k6/sk6812/main.cpp

@@ -17,7 +17,7 @@
 using namespace Board;
 
 using Output = Board::D11;
-modm::Sk6812w<SpiMaster1, Output, 8*8> leds;
+modm::Sk6812w<SpiMaster1, Output, 4*4> leds;
 modm::ShortPeriodicTimer tmr{33ms};
 
 int

examples/samd/context/main.cpp

@@ -0,0 +1,64 @@
+/*
+ * 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>
+
+#define MODM_LOG_LEVEL modm::log::INFO
+#undef MODM_BOARD_HAS_LOGGER
+
+using namespace Board;
+using namespace std::chrono_literals;
+
+modm_fastdata uint32_t stack1[64], stack2[64];  // 64 bytes stack
+modm_fastdata modm_context f1_ctx, f2_ctx, m_ctx;
+
+modm_naked void
+f1()
+{
+#ifdef MODM_BOARD_HAS_LOGGER
+	MODM_LOG_INFO << "f1: entered" << modm::endl;
+#endif
+	while (1)
+	{
+		A0::set();
+		modm_jumpcontext(&f1_ctx, f2_ctx);
+	}
+}
+
+modm_naked void
+f2()
+{
+#ifdef MODM_BOARD_HAS_LOGGER
+	MODM_LOG_INFO << "f2: entered" << modm::endl;
+#endif
+	while (1)
+	{
+		A0::reset();
+		modm_jumpcontext(&f2_ctx, f1_ctx);
+	}
+}
+
+// Frequency of A0 is 766.5kHz, resulting in ~36 CPU cycles per context switch (incl. overhead).
+int
+main()
+{
+	Board::initialize();
+	A0::setOutput();
+	f1_ctx = modm_makecontext((void**)stack1, sizeof(stack1), &f1, nullptr);
+	f2_ctx = modm_makecontext((void**)stack2, sizeof(stack2), &f2, nullptr);
+	MODM_LOG_DEBUG << "main: Jumping to f1 with sp-addr: " << modm::hex << f1_ctx.sp
+				   << " and f-addr: " << modm::hex << *(uint32_t*)(f1_ctx.sp + 0x10) << modm::endl;
+	modm_jumpcontext(&m_ctx, f1_ctx);
+	// Will never get here.
+	return 0;
+}

examples/samd/context/project.xml

@@ -0,0 +1,10 @@
+<library>
+  <extends>modm:feather-m0</extends>
+  <options>
+    <option name="modm:build:build.path">../../../build/samd/context</option>
+  </options>
+  <modules>
+    <module>modm:build:scons</module>
+    <module>modm:processing:fiber</module>
+  </modules>
+</library>

examples/samd/fiber/main.cpp

@@ -0,0 +1,73 @@
+/*
+ * 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;
+
+#ifdef MODM_BOARD_HAS_LOGGER
+#define STACK_SIZE 512
+#else
+// Without logging, we only need 4 byte (storing PC when performing a jump), plus space for
+// another 8 registers (32 bytes), which are pushed to the stack by hardware when an interrupt
+// happens (i.e. SysTick).
+#define STACK_SIZE 40
+#endif
+
+void
+f1();
+
+void
+f2();
+
+modm::fiber::Stack<STACK_SIZE> stack1, stack2;
+modm::Fiber fiber1(stack1, &f1), fiber2(stack2, &f2);
+
+void
+f1()
+{
+#ifdef MODM_BOARD_HAS_LOGGER
+	MODM_LOG_INFO << "f1: entered" << modm::endl;
+#endif
+	while (1)
+	{
+		A0::set();
+		modm::yield();
+	}
+}
+
+void
+f2()
+{
+#ifdef MODM_BOARD_HAS_LOGGER
+	MODM_LOG_INFO << "f2: entered" << modm::endl;
+#endif
+	while (1)
+	{
+		A0::reset();
+		modm::yield();
+	}
+}
+
+// Frequency of A0 is 625.3kHz, resulting in ~45 CPU cycles per context switch (incl. GPIO
+// overhead).
+int
+main(int argc, char* argv[])
+{
+	Board::initialize();
+	A0::setOutput();
+	modm::fiber::scheduler.start();
+	// Will never get here.
+	return 0;
+}

examples/samd/fiber/project.xml

@@ -0,0 +1,10 @@
+<library>
+  <extends>modm:feather-m0</extends>
+  <options>
+    <option name="modm:build:build.path">../../../build/samd/fiber</option>
+  </options>
+  <modules>
+    <module>modm:build:scons</module>
+    <module>modm:processing:fiber</module>
+  </modules>
+</library>