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Implement Protothreads as Fibers #1001

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merged 9 commits into from
May 14, 2023
Merged

Implement Protothreads as Fibers #1001

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baa88d2
[rtt] Fix getSize implementation
salkinium May 14, 2023
d5790bf
[tools] Allow for debugging with GDB cmd shell
salkinium Apr 29, 2023
725a69e
[driver] Add cycle counter for AVR and Cortex-M
salkinium Apr 30, 2023
95e3f79
[multicore] Align placement macros with naming convention
salkinium May 7, 2023
031731d
[fiber] Enable fibers by default
salkinium Apr 29, 2023
c1af10d
[fiber] Refactor and document
salkinium May 6, 2023
c9c43cc
[processing] Implement Protothreads/Resumables using Fibers
salkinium May 6, 2023
2ee8e42
[platform] Support fibers in resumable drivers
salkinium Apr 30, 2023
c1bf519
[examples] Adapt all protothreads to fibers
salkinium May 14, 2023
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28 changes: 15 additions & 13 deletions README.md
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Expand Up @@ -61,7 +61,8 @@ git clone --recurse-submodules --jobs 8 https://github.com/modm-io/modm.git
- UART, I<sup>2</sup>C, SPI, CAN and Ethernet.
- Interfaces and drivers for many external I<sup>2</sup>C and SPI sensors and devices.
- Debug/logging system with IOStream and printf interface.
- Lightweight, stackless threads and resumable functions using cooperative multitasking.
- Cooperative, stackless protothreads and resumable functions.
- Cooperative, stackful fibers and scheduler.
- Functional (partial) libstdc++ implementation for AVRs.
- Useful filter, interpolation and geometric algorithms.
- Lightweight unit testing system (suitable for AVRs).
Expand Down Expand Up @@ -723,86 +724,87 @@ you specific needs.
<td align="center"><a href="https://modm.io/reference/module/modm-driver-bmp085">BMP085</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-bno055">BNO055</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-cat24aa">CAT24AA</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-cycle_counter">CYCLE-COUNTER</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-drv832x_spi">DRV832X</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ds1302">DS1302</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ds1302">DS1302</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ds1631">DS1631</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ds18b20">DS18B20</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ea_dog">EA-DOG</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-encoder_input">Encoder Input</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-encoder_input-bitbang">Encoder Input BitBang</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-encoder_output-bitbang">Encoder Output BitBang</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-encoder_output-bitbang">Encoder Output BitBang</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ft245">FT245</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ft6x06">FT6x06</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-gpio_sampler">Gpio Sampler</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-hclax">HCLAx</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-hd44780">HD44780</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-hmc58x">HMC58x</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-hmc58x">HMC58x</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-hmc6343">HMC6343</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-hx711">HX711</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-i2c-eeprom">I2C-EEPROM</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ili9341">ILI9341</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-is31fl3733">IS31FL3733</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-itg3200">ITG3200</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-itg3200">ITG3200</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-l3gd20">L3GD20</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-lan8720a">LAN8720A</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-lawicel">LAWICEL</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-lis302dl">LIS302DL</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-lis3dsh">LIS3DSH</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-lis3mdl">LIS3MDL</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-lis3mdl">LIS3MDL</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-lm75">LM75</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-lp503x">LP503x</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-lsm303a">LSM303A</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-lsm6ds33">LSM6DS33</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-lsm6dso">LSM6DSO</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ltc2984">LTC2984</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ltc2984">LTC2984</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-max31855">MAX31855</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-max31865">MAX31865</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-max6966">MAX6966</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-max7219">MAX7219</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-mcp23x17">MCP23x17</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-mcp2515">MCP2515</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-mcp2515">MCP2515</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-mcp7941x">MCP7941x</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-mcp990x">MCP990X</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-mmc5603">MMC5603</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ms5611">MS5611</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ms5837">MS5837</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-nokia5110">NOKIA5110</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-nokia5110">NOKIA5110</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-nrf24">NRF24</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-parallel_tft_display">TFT-DISPLAY</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-pat9125el">PAT9125EL</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-pca8574">PCA8574</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-pca9535">PCA9535</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-pca9548a">PCA9548A</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-pca9548a">PCA9548A</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-pca9685">PCA9685</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-sh1106">SH1106</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-siemens_s65">SIEMENS-S65</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-siemens_s75">SIEMENS-S75</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-sk6812">SK6812</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-sk9822">SK9822</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-sk9822">SK9822</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-ssd1306">SSD1306</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-st7586s">ST7586S</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-st7789">ST7789</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-stts22h">STTS22H</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-stusb4500">STUSB4500</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-sx1276">SX1276</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-sx1276">SX1276</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-tcs3414">TCS3414</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-tcs3472">TCS3472</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-tlc594x">TLC594x</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-tmp102">TMP102</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-tmp12x">TMP12x</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-tmp175">TMP175</a></td>
</tr><tr>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-tmp175">TMP175</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-touch2046">TOUCH2046</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-vl53l0">VL53L0</a></td>
<td align="center"><a href="https://modm.io/reference/module/modm-driver-vl6180">VL6180</a></td>
Expand Down
23 changes: 14 additions & 9 deletions examples/avr/fiber/main.cpp
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Expand Up @@ -54,14 +54,10 @@ struct Test
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(cycles); });
modm::Fiber fiber3(stack3, [](){ test.fiber_function3(); });
modm::Fiber fiber4(stack4, [cyc=uint32_t(cycles)]() mutable { cyc++; test.fiber_function4(cyc); });
modm::Fiber<> fiber1(fiber_function1);
modm::Fiber<> fiber2(+[](){ fiber_function2(cycles); });
modm::Fiber<> fiber3(+[](){ test.fiber_function3(); });
modm::Fiber<> fiber4([cyc=uint32_t(cycles)]() mutable { cyc++; test.fiber_function4(cyc); });

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

fiber1.watermark_stack();
fiber2.watermark_stack();
fiber3.watermark_stack();
fiber4.watermark_stack();

const modm::PreciseTimestamp start = modm::PreciseClock::now();
modm::fiber::Scheduler::run();
const auto diff = (modm::PreciseClock::now() - start);
Expand All @@ -82,7 +83,11 @@ main()
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();

MODM_LOG_INFO << "Stack usage 1 = " << fiber1.stack_usage() << modm::endl;
MODM_LOG_INFO << "Stack usage 2 = " << fiber2.stack_usage() << modm::endl;
MODM_LOG_INFO << "Stack usage 3 = " << fiber3.stack_usage() << modm::endl;
MODM_LOG_INFO << "Stack usage 4 = " << fiber4.stack_usage() << modm::endl;

while(1) ;
return 0;
Expand Down
1 change: 0 additions & 1 deletion examples/avr/fiber/project.xml
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Expand Up @@ -3,7 +3,6 @@
<!-- <extends>modm:arduino-nano</extends> -->
<options>
<option name="modm:build:build.path">../../../build/avr/fiber</option>
<option name="modm:__fibers">yes</option>
</options>
<modules>
<module>modm:build:scons</module>
Expand Down
65 changes: 14 additions & 51 deletions examples/generic/delay/main.cpp
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Expand Up @@ -10,6 +10,7 @@
// ----------------------------------------------------------------------------

#include <modm/board.hpp>
#include <modm/driver/time/cycle_counter.hpp>

using namespace Board;

Expand All @@ -18,6 +19,7 @@ using namespace Board;
modm::IODeviceWrapper<UsbUart0, modm::IOBuffer::DiscardIfFull> usb_io_device;
modm::log::Logger modm::log::info(usb_io_device);
#endif
modm_fastdata modm::CycleCounter counter;
#ifdef TCNT1
constexpr uint32_t SystemCoreClock = F_CPU;
#endif
Expand All @@ -27,39 +29,19 @@ run_delay_ns(uint32_t ns)
{
#ifdef CFG_TUSB_MCU
tud_task();
#endif
#ifdef TCNT1
uint16_t start, stop;
#else
uint32_t start, stop;
#endif
{
modm::atomic::Lock _;
#ifdef TCNT1
start = TCNT1;
#elif defined DWT
start = DWT->CYCCNT;
#else
SysTick->CTRL = SysTick_CTRL_ENABLE_Msk | SysTick_CTRL_CLKSOURCE_Msk;
SysTick->LOAD = (1ul << 23);
SysTick->VAL = 0;
stop = SysTick->VAL;
#endif
counter.start();
modm::delay_ns(ns);
#ifdef TCNT1
stop = TCNT1;
#elif defined DWT
stop = DWT->CYCCNT;
#else
start = SysTick->VAL;
#endif
counter.stop();
}
#ifdef CFG_TUSB_MCU
tud_task();
#endif
const uint32_t cycles = (stop - start) - 4;
const uint32_t cycles = counter.cycles();
const uint32_t expected = uint64_t(SystemCoreClock) * ns / 1'000'000'000ull;
const uint32_t real = cycles * 1'000'000'000ull / SystemCoreClock;
const uint32_t real = counter.nanoseconds();
MODM_LOG_INFO.printf("%8lu | %7lu | %7lu | %8lu %c\n", ns, expected, cycles, real,
(cycles < expected*1.2f ? (cycles > expected*0.8f ? ' ' : '<') : '>')) << modm::flush;
#ifdef CFG_TUSB_MCU
Expand All @@ -72,39 +54,19 @@ run_delay_us(uint32_t us)
{
#ifdef CFG_TUSB_MCU
tud_task();
#endif
#ifdef TCNT1
uint16_t start, stop;
#else
uint32_t start, stop;
#endif
{
modm::atomic::Lock _;
#ifdef TCNT1
start = TCNT1;
#elif defined DWT
start = DWT->CYCCNT;
#else
SysTick->CTRL = SysTick_CTRL_ENABLE_Msk | SysTick_CTRL_CLKSOURCE_Msk;
SysTick->LOAD = (1ul << 23);
SysTick->VAL = 0;
stop = SysTick->VAL;
#endif
counter.start();
modm::delay_us(us);
#ifdef TCNT1
stop = TCNT1;
#elif defined DWT
stop = DWT->CYCCNT;
#else
start = SysTick->VAL;
#endif
counter.stop();
}
#ifdef CFG_TUSB_MCU
tud_task();
#endif
const uint32_t cycles = (stop - start) - 4;
const uint32_t cycles = counter.cycles();
const uint32_t expected = uint64_t(SystemCoreClock) * us / 1'000'000ull;
const uint32_t real = cycles * 1'000'000ull / SystemCoreClock;
const uint32_t real = counter.microseconds();
MODM_LOG_INFO.printf("%8lu | %8lu | %8lu | %8lu %c\n", us, expected, cycles, real,
(cycles < expected*1.2f ? (cycles > expected*0.8f ? ' ' : '<') : '>')) << modm::flush;
#ifdef CFG_TUSB_MCU
Expand Down Expand Up @@ -174,9 +136,7 @@ run_test_us(bool short_test=false)
int main()
{
Board::initialize();

TCCR1A = 0;
TCCR1B = (1 << CS10);
counter.initialize();

run_test_ns();
run_test_us();
Expand All @@ -192,6 +152,7 @@ int main()
{
Board::initialize();
Board::initializeUsbFs();
counter.initialize(true);
tusb_init();

MODM_LOG_INFO << "Hello World\n";
Expand Down Expand Up @@ -229,11 +190,13 @@ int main()
{
Board::stlink::Uart::connect<Board::stlink::Tx::Tx>();
Board::stlink::Uart::initialize<BootClock, 115200_Bd, 5_pct>();
counter.initialize(true);

run_test_ns();
run_test_us();

Board::initialize();
counter.initialize(true);

run_test_ns();
run_test_us();
Expand Down
1 change: 1 addition & 0 deletions examples/generic/delay/project.xml
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Expand Up @@ -26,6 +26,7 @@
<modules>
<module>modm:build:scons</module>
<module>modm:debug</module>
<module>modm:driver:cycle_counter</module>
<!-- <module>modm:tinyusb</module> -->
</modules>
</library>
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