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[examples] Adapt all protothreads to fibers
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11 files changed

+141
-98
lines changed

11 files changed

+141
-98
lines changed

‎examples/avr/fiber/main.cpp

Lines changed: 14 additions & 9 deletions
Original file line numberDiff line numberDiff line change
@@ -54,14 +54,10 @@ struct Test
5454
volatile uint32_t f4counter{0};
5555
} test;
5656

57-
modm::fiber::Stack<128> stack1;
58-
modm::fiber::Stack<128> stack2;
59-
modm::fiber::Stack<128> stack3;
60-
modm::fiber::Stack<128> stack4;
61-
modm::Fiber fiber1(stack1, fiber_function1);
62-
modm::Fiber fiber2(stack2, [](){ fiber_function2(cycles); });
63-
modm::Fiber fiber3(stack3, [](){ test.fiber_function3(); });
64-
modm::Fiber fiber4(stack4, [cyc=uint32_t(cycles)]() mutable { cyc++; test.fiber_function4(cyc); });
57+
modm::Fiber<> fiber1(fiber_function1);
58+
modm::Fiber<> fiber2(+[](){ fiber_function2(cycles); });
59+
modm::Fiber<> fiber3(+[](){ test.fiber_function3(); });
60+
modm::Fiber<> fiber4([cyc=uint32_t(cycles)]() mutable { cyc++; test.fiber_function4(cyc); });
6561

6662
// ATmega2560@16MHz: 239996 yields in 2492668us, 96280 yields per second, 10386ns per yield
6763
int
@@ -72,6 +68,11 @@ main()
7268
MODM_LOG_INFO << "Starting fiber modm::yield benchmark..." << modm::endl;
7369
MODM_LOG_INFO.flush();
7470

71+
fiber1.watermark_stack();
72+
fiber2.watermark_stack();
73+
fiber3.watermark_stack();
74+
fiber4.watermark_stack();
75+
7576
const modm::PreciseTimestamp start = modm::PreciseClock::now();
7677
modm::fiber::Scheduler::run();
7778
const auto diff = (modm::PreciseClock::now() - start);
@@ -82,7 +83,11 @@ main()
8283
MODM_LOG_INFO << " yields per second, ";
8384
MODM_LOG_INFO << uint32_t(std::chrono::nanoseconds(diff).count() / total_counter);
8485
MODM_LOG_INFO << "ns per yield" << modm::endl;
85-
MODM_LOG_INFO.flush();
86+
87+
MODM_LOG_INFO << "Stack usage 1 = " << fiber1.stack_usage() << modm::endl;
88+
MODM_LOG_INFO << "Stack usage 2 = " << fiber2.stack_usage() << modm::endl;
89+
MODM_LOG_INFO << "Stack usage 3 = " << fiber3.stack_usage() << modm::endl;
90+
MODM_LOG_INFO << "Stack usage 4 = " << fiber4.stack_usage() << modm::endl;
8691

8792
while(1) ;
8893
return 0;

‎examples/generic/fiber/main.cpp

Lines changed: 57 additions & 11 deletions
Original file line numberDiff line numberDiff line change
@@ -12,13 +12,15 @@
1212
#include <modm/board.hpp>
1313
#include <modm/debug/logger.hpp>
1414
#include <modm/processing.hpp>
15+
#include <modm/driver/time/cycle_counter.hpp>
1516

1617
using namespace Board;
1718
using namespace std::chrono_literals;
1819

19-
constexpr uint32_t cycles = 1'000'000;
20+
constexpr uint32_t cycles = 100'000;
2021
volatile uint32_t f1counter = 0, f2counter = 0;
2122
uint32_t total_counter=0;
23+
modm_fastdata modm::CycleCounter counter;
2224

2325
void
2426
fiber_function1()
@@ -54,24 +56,57 @@ struct Test
5456
volatile uint32_t f4counter{0};
5557
} test;
5658

57-
modm_faststack modm::fiber::Stack<2048> stack1;
58-
modm_faststack modm::fiber::Stack<2048> stack2;
59-
modm_faststack modm::fiber::Stack<2048> stack3;
60-
modm_faststack modm::fiber::Stack<2048> stack4;
61-
modm_fastdata modm::Fiber fiber1(stack1, fiber_function1);
62-
modm_fastdata modm::Fiber fiber2(stack2, [](){ fiber_function2(cycles); });
63-
modm_fastdata modm::Fiber fiber3(stack3, [](){ test.fiber_function3(); });
64-
modm_fastdata modm::Fiber fiber4(stack4, [cyc=uint32_t(0)]() mutable { cyc++; test.fiber_function4(cyc); });
59+
// Single purpose fibers to time the yield
60+
modm_faststack modm::Fiber<> fiber_y1([](){ modm::fiber::yield(); counter.stop(); });
61+
modm_faststack modm::Fiber<> fiber_y2([](){ counter.start(); modm::fiber::yield(); });
62+
63+
modm_faststack modm::Fiber<> fiber1(fiber_function1, modm::fiber::Start::Later);
64+
modm_faststack modm::Fiber<> fiber2([](){ fiber_function2(cycles); }, modm::fiber::Start::Later);
65+
modm_faststack modm::Fiber<> fiber3([](){ test.fiber_function3(); }, modm::fiber::Start::Later);
66+
modm_faststack modm::Fiber<> fiber4([cyc=uint32_t(0)]() mutable
67+
{ cyc = cycles; test.fiber_function4(cyc); }, modm::fiber::Start::Later);
68+
69+
// Restartable Fibers
70+
extern modm::Fiber<> fiber_pong;
71+
extern modm::Fiber<> fiber_ping;
72+
modm_faststack modm::Fiber<> fiber_ping([](){
73+
MODM_LOG_INFO << "ping = " << fiber_ping.stack_usage() << modm::endl;
74+
modm::fiber::sleep(1s);
75+
fiber_pong.start();
76+
}, modm::fiber::Start::Later);
77+
modm_faststack modm::Fiber<> fiber_pong([](){
78+
MODM_LOG_INFO << "pong = " << fiber_pong.stack_usage() << modm::endl;
79+
modm::fiber::sleep(1s);
80+
fiber_ping.start();
81+
}, modm::fiber::Start::Later);
6582

6683
// Blue pill (M3 72MHz): Executed 1000000 in 1098591us (910256.88 yields per second)
6784
// Feather M0 (M0+ 48MHz): Executed 1000000 in 1944692us (514220.25 yields per second)
6885
int
6986
main()
7087
{
7188
Board::initialize();
89+
counter.initialize();
7290
MODM_LOG_INFO << "Starting fiber modm::yield benchmark..." << modm::endl;
7391
MODM_LOG_INFO.flush();
7492

93+
fiber_y1.watermark_stack();
94+
fiber_y2.watermark_stack();
95+
// fiber_y1, fiber_y2 were autostarted
96+
{
97+
modm::atomic::Lock l;
98+
modm::fiber::Scheduler::run();
99+
}
100+
101+
MODM_LOG_INFO << "Y1 stack usage: = " << fiber_y1.stack_usage() << modm::endl;
102+
MODM_LOG_INFO << "Y2 stack usage: = " << fiber_y2.stack_usage() << modm::endl;
103+
MODM_LOG_INFO.flush();
104+
105+
// the rest is manually started
106+
fiber1.start(); fiber1.watermark_stack();
107+
fiber2.start(); fiber2.watermark_stack();
108+
fiber3.start(); fiber3.watermark_stack();
109+
fiber4.start(); fiber4.watermark_stack();
75110
const modm::PreciseTimestamp start = modm::PreciseClock::now();
76111
modm::fiber::Scheduler::run();
77112
const auto diff = (modm::PreciseClock::now() - start);
@@ -81,8 +116,19 @@ main()
81116
MODM_LOG_INFO << ((total_counter * 1'000'000ull) / std::chrono::microseconds(diff).count());
82117
MODM_LOG_INFO << " yields per second, ";
83118
MODM_LOG_INFO << (std::chrono::nanoseconds(diff).count() / total_counter);
84-
MODM_LOG_INFO << "ns per yield" << modm::endl;
85-
MODM_LOG_INFO.flush();
119+
MODM_LOG_INFO << "ns per yield slice" << modm::endl;
120+
MODM_LOG_INFO << counter.cycles() << " cycles = " << counter.nanoseconds();
121+
MODM_LOG_INFO << "ns per single yield" << modm::endl;
122+
123+
MODM_LOG_INFO << "F1 stack usage = " << fiber1.stack_usage() << modm::endl;
124+
MODM_LOG_INFO << "F2 stack usage = " << fiber2.stack_usage() << modm::endl;
125+
MODM_LOG_INFO << "F3 stack usage = " << fiber3.stack_usage() << modm::endl;
126+
MODM_LOG_INFO << "F4 stack usage = " << fiber4.stack_usage() << modm::endl;
127+
128+
fiber_ping.watermark_stack();
129+
fiber_pong.watermark_stack();
130+
fiber_ping.start();
131+
modm::fiber::Scheduler::run();
86132

87133
while(1) ;
88134
return 0;

‎examples/generic/fiber/project.xml

Lines changed: 2 additions & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -3,10 +3,12 @@
33
<!-- <extends>modm:nucleo-g071rb</extends> -->
44
<options>
55
<option name="modm:build:build.path">../../../build/generic/fiber</option>
6+
<option name="modm:io:with_long_long">yes</option>
67
</options>
78
<modules>
89
<module>modm:build:scons</module>
910
<module>modm:processing:timer</module>
1011
<module>modm:processing:fiber</module>
12+
<module>modm:driver:cycle_counter</module>
1113
</modules>
1214
</library>

‎examples/linux/fiber/main.cpp

Lines changed: 3 additions & 4 deletions
Original file line numberDiff line numberDiff line change
@@ -33,15 +33,14 @@ struct Test
3333
}
3434
} test;
3535

36-
modm::fiber::Stack<1024> stack1;
37-
modm::fiber::Stack<1024> stack2;
38-
modm::Fiber fiber1(stack1, hello);
36+
modm::Fiber<> fiber1(hello);
37+
modm::fiber::Stack<> stack2;
3938

4039
int
4140
main(void)
4241
{
4342
const char *arg = "World";
44-
modm::Fiber fiber2(stack2, [=]() { test.world(arg); });
43+
modm::fiber::Task fiber2(stack2, [=]() { test.world(arg); });
4544

4645
MODM_LOG_INFO << "Start" << modm::endl;
4746
modm::fiber::Scheduler::run();

‎examples/rp_pico/fiber/main.cpp

Lines changed: 14 additions & 17 deletions
Original file line numberDiff line numberDiff line change
@@ -57,23 +57,17 @@ fiber_function2(CoreData& d)
5757
}
5858
}
5959

60-
// put cores to mostly equalent environment
61-
modm_core0_data CoreData d0;
62-
modm_core1_data CoreData d1;
63-
64-
modm_core0_noinit modm::fiber::Stack<384> stack01;
65-
modm_core0_noinit modm::fiber::Stack<384> stack02;
66-
modm_core1_noinit modm::fiber::Stack<384> stack11;
67-
modm_core1_noinit modm::fiber::Stack<384> stack12;
68-
69-
modm_core0_data
70-
modm::Fiber fiber01(stack01, []() { fiber_function1(d0); }, 0);
71-
modm_core0_data
72-
modm::Fiber fiber02(stack02, []() { fiber_function2(d0); }, 0);
73-
modm_core1_data
74-
modm::Fiber fiber11(stack11, []() { fiber_function1(d1); }, 1);
75-
modm_core1_data
76-
modm::Fiber fiber12(stack12, []() { fiber_function2(d1); }, 1);
60+
// put cores to mostly equivalent environment
61+
modm_fastdata_core0 CoreData d0;
62+
modm_fastdata_core1 CoreData d1;
63+
64+
modm_faststack_core0 modm::Fiber<256> fiber01([](){fiber_function1(d0);});
65+
modm_faststack_core0 modm::Fiber<256> fiber02([](){fiber_function2(d0);});
66+
// Do not autostart these fibers, otherwise they run on the Core0 scheduler!
67+
modm_faststack_core1
68+
modm::Fiber<256> fiber11([](){fiber_function1(d1);}, modm::fiber::Start::Later);
69+
modm_faststack_core1
70+
modm::Fiber<256> fiber12([](){fiber_function2(d1);}, modm::fiber::Start::Later);
7771

7872
template<typename TimeDiff>
7973
static void
@@ -92,6 +86,9 @@ print_result(const CoreData& d, TimeDiff diff)
9286
void
9387
core1_main()
9488
{
89+
// Start the fibers on the Core1 scheduler
90+
fiber11.start();
91+
fiber12.start();
9592
const modm::PreciseTimestamp start = modm::PreciseClock::now();
9693
modm::fiber::Scheduler::run();
9794
const auto diff = (modm::PreciseClock::now() - start);

‎examples/stm32f3_discovery/accelerometer/main.cpp

Lines changed: 1 addition & 5 deletions
Original file line numberDiff line numberDiff line change
@@ -76,17 +76,13 @@ class ReaderThread : public modm::pt::Protothread
7676

7777
ReaderThread reader;
7878

79-
8079
int
8180
main()
8281
{
8382
Board::initialize();
8483
Board::initializeLsm3();
8584

86-
while (true)
87-
{
88-
reader.update();
89-
}
85+
modm::fiber::Scheduler::run();
9086

9187
return 0;
9288
}

‎examples/stm32f3_discovery/accelerometer/project.xml

Lines changed: 1 addition & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -2,6 +2,7 @@
22
<extends>modm:disco-f303vc</extends>
33
<options>
44
<option name="modm:build:build.path">../../../build/stm32f3_discovery/accelerometer</option>
5+
<option name="modm:processing:protothread:use_fiber">yes</option>
56
</options>
67
<modules>
78
<module>modm:math:filter</module>

‎examples/stm32f3_discovery/rotation/main.cpp

Lines changed: 36 additions & 48 deletions
Original file line numberDiff line numberDiff line change
@@ -18,15 +18,15 @@ using namespace Board;
1818

1919
// maps arbitrary gpios to a bit
2020
using LedRingLeft = SoftwareGpioPort<
21-
Board::LedSouth, // 4
21+
// Board::LedSouth, // 4
2222
Board::LedSouthWest, // 3
2323
Board::LedWest, // 2
2424
Board::LedNorthWest, // 1
2525
Board::LedNorth // 0
2626
>;
2727
// Symmetry \o/
2828
using LedRingRight = SoftwareGpioPort<
29-
Board::LedSouth, // 4
29+
// Board::LedSouth, // 4
3030
Board::LedSouthEast, // 3
3131
Board::LedEast, // 2
3232
Board::LedNorthEast, // 1
@@ -39,68 +39,56 @@ Board::l3g::Gyroscope::Data data;
3939
Board::l3g::Gyroscope gyro(data);
4040

4141

42-
class ReaderThread : public modm::pt::Protothread
42+
modm_faststack modm::Fiber<> fiber_gyro([]()
4343
{
44-
public:
45-
bool
46-
update()
47-
{
48-
PT_BEGIN();
49-
50-
// initialize with limited range of 250 degrees per second
51-
PT_CALL(gyro.configure(gyro.Scale::Dps250));
52-
53-
while (true)
54-
{
55-
// read out the sensor
56-
PT_CALL(gyro.readRotation());
44+
// initialize with limited range of 250 degrees per second
45+
gyro.configure(gyro.Scale::Dps250);
5746

58-
// update the moving average
59-
averageZ.update(gyro.getData().getZ());
47+
modm::filter::MovingAverage<float, 25> averageZ;
48+
while (true)
49+
{
50+
// read out the sensor
51+
gyro.readRotation();
6052

61-
{
62-
float value = averageZ.getValue();
63-
// normalize rotation and scale by 5 leds
64-
uint16_t leds = abs(value / 200 * 5);
65-
leds = (1ul << leds) - 1;
53+
// update the moving average
54+
averageZ.update(gyro.getData().getZ());
6655

67-
// use left or right half ring depending on sign
68-
if (value < 0) {
69-
LedRingRight::write(0);
70-
LedRingLeft::write(leds);
71-
}
72-
else {
73-
LedRingLeft::write(0);
74-
LedRingRight::write(leds);
75-
}
76-
}
56+
float value = averageZ.getValue();
57+
// normalize rotation and scale by 5 leds
58+
uint16_t leds = abs(value / 200 * 5);
59+
leds = (1ul << leds) - 1;
7760

78-
// repeat every 5 ms
79-
timeout.restart(5ms);
80-
PT_WAIT_UNTIL(timeout.isExpired());
61+
// use left or right half ring depending on sign
62+
if (value < 0) {
63+
LedRingRight::write(0);
64+
LedRingLeft::write(leds);
65+
}
66+
else {
67+
LedRingLeft::write(0);
68+
LedRingRight::write(leds);
8169
}
8270

83-
PT_END();
71+
// repeat every 5 ms
72+
modm::fiber::sleep(5ms);
8473
}
74+
});
8575

86-
private:
87-
modm::ShortTimeout timeout;
88-
modm::filter::MovingAverage<float, 25> averageZ;
89-
};
90-
91-
ReaderThread reader;
92-
76+
modm_faststack modm::Fiber<> fiber_blinky([]()
77+
{
78+
while (true)
79+
{
80+
Board::LedSouth::toggle();
81+
modm::fiber::sleep(1s);
82+
}
83+
});
9384

9485
int
9586
main()
9687
{
9788
Board::initialize();
9889
Board::initializeL3g();
9990

100-
while (true)
101-
{
102-
reader.update();
103-
}
91+
modm::fiber::Scheduler::run();
10492

10593
return 0;
10694
}

‎examples/stm32f3_discovery/rotation/project.xml

Lines changed: 1 addition & 0 deletions
Original file line numberDiff line numberDiff line change
@@ -2,6 +2,7 @@
22
<extends>modm:disco-f303vc</extends>
33
<options>
44
<option name="modm:build:build.path">../../../build/stm32f3_discovery/rotation</option>
5+
<option name="modm:processing:protothread:use_fiber">yes</option>
56
</options>
67
<modules>
78
<module>modm:math:filter</module>

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