[examples] Adapt all protothreads to fibers

examples/arduino_nano/color/main.cpp

@@ -15,65 +15,61 @@
 
 using namespace modm::platform;
 
-class Sensorthread : public modm::pt::Protothread
-{
-private:
-	modm::ShortTimeout timeout;
+modm::tcs3472::Data data;
+modm::Tcs3472<I2cMaster> sensor{data};
+using TCS3472_INT = Board::D2;
 
-	modm::tcs3472::Data data;
-	modm::Tcs3472<I2cMaster> sensor{data};
-	using TCS3472_INT = Board::D2;
+void sensor_fiber()
+{
+	TCS3472_INT::setInput(Gpio::InputType::PullUp);
 
-public:
-	bool
-	update()
+	MODM_LOG_INFO << "Ping TCS34725" << modm::endl;
+	// ping the device until it responds
+	while (true)
 	{
-		PT_BEGIN();
-
-		TCS3472_INT::setInput(Gpio::InputType::PullUp);
-
-		MODM_LOG_INFO << "Ping TCS34725" << modm::endl;
-		// ping the device until it responds
-		while (true)
-		{
-			// we wait until the task started
-			if (PT_CALL(sensor.ping())) { break; }
-			// otherwise, try again in 100ms
-			timeout.restart(100ms);
-			PT_WAIT_UNTIL(timeout.isExpired());
-		}
+		// we wait until the task started
+		if (sensor.ping()) break;
+		// otherwise, try again in 100ms
+		modm::fiber::sleep(100ms);
+	}
 
-		MODM_LOG_INFO << "TCS34725 responded" << modm::endl;
+	MODM_LOG_INFO << "TCS34725 responded" << modm::endl;
 
-		PT_CALL(sensor.initialize(sensor.Enable_InterruptMode_Waittime));
-		PT_CALL(sensor.configure(modm::tcs3472::Gain::X16, modm::tcs3472::IntegrationTime::MSEC_2_4));
-		PT_CALL(sensor.setInterruptPersistenceFilter(modm::tcs3472::InterruptPersistence::CNT_20));
-		// Setup WaitTime to further slow down samplerate
-		PT_CALL(sensor.setWaitTime(modm::tcs3472::WaitTime::MSEC_2_4));
+	sensor.initialize(sensor.Enable_InterruptMode_Waittime);
+	sensor.configure(modm::tcs3472::Gain::X16, modm::tcs3472::IntegrationTime::MSEC_2_4);
+	sensor.setInterruptPersistenceFilter(modm::tcs3472::InterruptPersistence::CNT_20);
+	// Setup WaitTime to further slow down samplerate
+	sensor.setWaitTime(modm::tcs3472::WaitTime::MSEC_2_4);
 
-		// Dummy read required
-		PT_CALL(sensor.readColor());
-		// Fetch one sample ...
-		PT_CALL(sensor.readColor());
-		// ...and set the high threshold 20% above current clear
-		PT_CALL(sensor.setInterruptHighThreshold(data.getClear() * 1.2));
+	// Dummy read required
+	sensor.readColor();
+	// Fetch one sample ...
+	sensor.readColor();
+	// ...and set the high threshold 20% above current clear
+	sensor.setInterruptHighThreshold(data.getClear() * 1.2);
 
-		while (true)
+	while (true)
+	{
+		sensor.reloadInterrupt();
+		while(TCS3472_INT::read() == false)
+			modm::fiber::yield();
+		if (sensor.readColor())
 		{
-			PT_CALL(sensor.reloadInterrupt());
-			PT_WAIT_UNTIL(TCS3472_INT::read() == false);
-			if (PT_CALL(sensor.readColor()))
-			{
-				const auto rgb = data.getColor();
-				MODM_LOG_INFO << "RGB: " << rgb << "\tHSV: " << modm::color::Hsv(rgb) << modm::endl;
-			}
+			const auto rgb = data.getColor();
+			MODM_LOG_INFO << "RGB: " << rgb << "\tHSV: " << modm::color::Hsv(rgb) << modm::endl;
 		}
-
-		PT_END();
 	}
-};
+}
 
-Sensorthread sensorthread;
+modm::StackFiber<> fiber1(sensor_fiber);
+modm::StackFiber<> fiber2([]()
+{
+	while(true)
+	{
+		Board::LedD13::toggle();
+		modm::fiber::sleep(0.5s);
+	}
+}
 
 int
 main()
@@ -82,11 +78,8 @@ main()
 	I2cMaster::initialize<Board::SystemClock, 100_kHz>();
 
 	LedD13::setOutput();
-	modm::ShortPeriodicTimer heartbeat(500ms);
 
-	while (true)
-	{
-		sensorthread.update();
-		if (heartbeat.execute()) Board::LedD13::toggle();
-	}
+	modm::fiber::Scheduler::run();
+
+	return 0;
 }

examples/arduino_nano/color/project.xml

@@ -2,6 +2,7 @@
   <extends>modm:arduino-nano</extends>
   <options>
     <option name="modm:build:build.path">../../../build/arduino_nano/color</option>
+    <option name="modm:processing:protothread:use_fiber">yes</option>
   </options>
   <modules>
     <module>modm:build:scons</module>

examples/stm32f3_discovery/accelerometer/main.cpp

@@ -26,7 +26,7 @@ class ReaderThread : public modm::pt::Protothread
 {
 public:
 	bool
-	update()
+	run()
 	{
 		PT_BEGIN();
 
@@ -83,10 +83,7 @@ main()
 	Board::initialize();
 	Board::initializeLsm3();
 
-	while (true)
-	{
-		reader.update();
-	}
+	modm::fiber::Scheduler::run();
 
 	return 0;
 }

examples/stm32f3_discovery/accelerometer/project.xml

@@ -2,6 +2,7 @@
   <extends>modm:disco-f303vc</extends>
   <options>
     <option name="modm:build:build.path">../../../build/stm32f3_discovery/accelerometer</option>
+    <option name="modm:processing:protothread:use_fiber">yes</option>
   </options>
   <modules>
     <module>modm:math:filter</module>

examples/stm32f3_discovery/rotation/main.cpp

@@ -18,15 +18,15 @@ using namespace Board;
 
 // maps arbitrary gpios to a bit
 using LedRingLeft = SoftwareGpioPort<
-	Board::LedSouth,		// 4
+//	Board::LedSouth,		// 4
 	Board::LedSouthWest,	// 3
 	Board::LedWest,			// 2
 	Board::LedNorthWest,	// 1
 	Board::LedNorth			// 0
 	>;
 // Symmetry \o/
 using LedRingRight = SoftwareGpioPort<
-	Board::LedSouth,		// 4
+//	Board::LedSouth,		// 4
 	Board::LedSouthEast,	// 3
 	Board::LedEast,			// 2
 	Board::LedNorthEast,	// 1
@@ -39,68 +39,63 @@ Board::l3g::Gyroscope::Data data;
 Board::l3g::Gyroscope gyro(data);
 
 
-class ReaderThread : public modm::pt::Protothread
+void thread1()
 {
-public:
-	bool
-	update()
-	{
-		PT_BEGIN();
-
-		// initialize with limited range of 250 degrees per second
-		PT_CALL(gyro.configure(gyro.Scale::Dps250));
-
-		while (true)
-		{
-			// read out the sensor
-			PT_CALL(gyro.readRotation());
+	// initialize with limited range of 250 degrees per second
+	gyro.configure(gyro.Scale::Dps250);
 
-			// update the moving average
-			averageZ.update(gyro.getData().getZ());
+	modm::filter::MovingAverage<float, 25> averageZ;
+	while (true)
+	{
+		// read out the sensor
+		gyro.readRotation();
 
-			{
-				float value = averageZ.getValue();
-				// normalize rotation and scale by 5 leds
-				uint16_t leds = abs(value / 200 * 5);
-				leds = (1ul << leds) - 1;
+		// update the moving average
+		averageZ.update(gyro.getData().getZ());
 
-				// use left or right half ring depending on sign
-				if (value < 0) {
-					LedRingRight::write(0);
-					LedRingLeft::write(leds);
-				}
-				else {
-					LedRingLeft::write(0);
-					LedRingRight::write(leds);
-				}
-			}
+		float value = averageZ.getValue();
+		// normalize rotation and scale by 5 leds
+		uint16_t leds = abs(value / 200 * 5);
+		leds = (1ul << leds) - 1;
 
-			// repeat every 5 ms
-			timeout.restart(5ms);
-			PT_WAIT_UNTIL(timeout.isExpired());
+		// use left or right half ring depending on sign
+		if (value < 0) {
+			LedRingRight::write(0);
+			LedRingLeft::write(leds);
+		}
+		else {
+			LedRingLeft::write(0);
+			LedRingRight::write(leds);
 		}
 
-		PT_END();
+		// repeat every 5 ms
+		modm::fiber::sleep(5ms);
 	}
-
-private:
-	modm::ShortTimeout timeout;
-	modm::filter::MovingAverage<float, 25> averageZ;
-};
-
-ReaderThread reader;
-
+}
+modm::StackFiber<> fiber1(thread1);
+modm::StackFiber<> fiber2([]()
+{
+	while (true)
+	{
+		Board::LedSouth::toggle();
+		modm::fiber::sleep(1s);
+	}
+});
 
 int
 main()
 {
 	Board::initialize();
 	Board::initializeL3g();
 
-	while (true)
-	{
-		reader.update();
-	}
+	// You can also call fibers in the main function, before the scheduler
+	// has started, in which case the yield function simply returns immediately.
+	// This then behaves identically to RF_CALL_BLOCKING.
+	// thread1();
+
+	// However, if your program progress depends on other fibers, then you
+	// need to start the scheduler.
+	modm::fiber::Scheduler::run();
 
 	return 0;
 }

examples/stm32f3_discovery/rotation/project.xml

@@ -2,6 +2,7 @@
   <extends>modm:disco-f303vc</extends>
   <options>
     <option name="modm:build:build.path">../../../build/stm32f3_discovery/rotation</option>
+    <option name="modm:processing:protothread:use_fiber">yes</option>
   </options>
   <modules>
     <module>modm:math:filter</module>