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[examples] Add fiber version of AMNB example
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‎examples/nucleo_g071rb/amnb_fiber/main.cpp

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/*
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* Copyright (c) 2019, Niklas Hauser
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*
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* This file is part of the modm project.
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*
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* This Source Code Form is subject to the terms of the Mozilla Public
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* License, v. 2.0. If a copy of the MPL was not distributed with this
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* file, You can obtain one at http://mozilla.org/MPL/2.0/.
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*/
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#include <modm/board.hpp>
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#include <modm/communication/amnb.hpp>
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#include <modm/processing.hpp>
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using namespace Board;
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using namespace std::chrono_literals;
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using namespace modm::amnb;
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using Usart1 = BufferedUart<UsartHal1, UartRxBuffer<32>>;
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using Usart3 = BufferedUart<UsartHal3, UartRxBuffer<16>>;
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using Usart4 = BufferedUart<UsartHal4>;
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// ----------------------------------------------------------------------------
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Listener listeners[] =
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{
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{1, [](uint8_t sender, const uint32_t& data)
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{
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MODM_LOG_INFO << "Node2 and Node3 received Broadcast 1 from '" << sender;
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MODM_LOG_INFO << "': " << data << modm::endl;
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}
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},
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{2, [](uint8_t sender)
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{
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MODM_LOG_INFO << "Node2 and Node3 received Broadcast 2 from '" << sender << "'" << modm::endl;
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}
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},
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};
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Action actions[] =
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{
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{1, []() -> Response
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{
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static uint8_t counter{0};
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MODM_LOG_INFO << "Node1 or Node3 received Action 1" << modm::endl;
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return counter++;
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}
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},
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{2, [](const uint32_t& data) -> Response
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{
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static uint8_t counter{0};
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MODM_LOG_INFO << "Node1 or Node3 received Action 2 with argument: " << data << modm::endl;
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return ErrorResponse(counter++);
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}
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},
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};
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// Two nodes on the same device on different UARTs of course!
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DeviceWrapper<Usart1> device1;
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DeviceWrapper<Usart3> device2;
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DeviceWrapper<Usart4> device3;
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Node node1(device1, 1, actions);
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Node node2(device2, 2, listeners);
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Node node3(device3, 3, actions, listeners);
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modm::Fiber<> fiberNode1t([]{ node1.update_transmit(); });
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modm::Fiber<> fiberNode1r([]{ node1.update_receive(); });
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modm::Fiber<> fiberNode2t([]{ node2.update_transmit(); });
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modm::Fiber<> fiberNode2r([]{ node2.update_receive(); });
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modm::Fiber<> fiberNode3t([]{ node3.update_transmit(); });
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modm::Fiber<> fiberNode3r([]{ node3.update_receive(); });
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// You need to connect D1 with D15 and with A0
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using PinNode1 = GpioC4; // D1
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using PinNode2 = GpioB8; // D15
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using PinNode3 = GpioA0; // A0
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#undef MODM_PROTOTHREAD_STACK_SIZE
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#define MODM_PROTOTHREAD_STACK_SIZE 4096
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class Thread : public modm::pt::Protothread
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{
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modm::ShortPeriodicTimer tmr{1s};
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uint32_t counter{0};
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Result<uint8_t> res1;
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Result<uint8_t, uint8_t> res2;
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public:
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bool inline
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update()
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{
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PT_BEGIN();
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while(true)
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{
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PT_WAIT_UNTIL(tmr.execute());
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node1.broadcast(1, counter++);
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node3.broadcast(2);
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res1 = PT_CALL(node2.request<uint8_t>(1, 1));
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MODM_LOG_INFO << "Node1 responded with: " << res1.error();
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if (res1) { MODM_LOG_INFO << " " << *res1 << modm::endl; }
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res2 = PT_CALL(node1.request<uint8_t, uint8_t>(3, 2, counter));
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MODM_LOG_INFO << "Node3 responded with: " << res2.error();
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if (res2.hasUserError()) {
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MODM_LOG_INFO << " " << *res2.userError() << modm::endl;
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}
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MODM_LOG_INFO << "Node1t stack=" << fiberNode1t.stack_usage() << "\nNode1r stack=" << fiberNode1r.stack_usage() << modm::endl;
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MODM_LOG_INFO << "Node2t stack=" << fiberNode2t.stack_usage() << "\nNode2r stack=" << fiberNode2r.stack_usage() << modm::endl;
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MODM_LOG_INFO << "Node3t stack=" << fiberNode3t.stack_usage() << "\nNode3r stack=" << fiberNode3r.stack_usage() << modm::endl;
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MODM_LOG_INFO << "Thread stack=" << this->stack_usage() << modm::endl;
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}
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PT_END();
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}
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}
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thread;
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// ----------------------------------------------------------------------------
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int
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main()
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{
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Board::initialize();
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LedD13::setOutput();
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Usart1::connect<PinNode1::Tx>();
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Usart1::initialize<SystemClock, 115200>(Usart1::Parity::Even, Usart1::WordLength::Bit9);
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// Use Single-Wire Half-Duplex Mode
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PinNode1::configure(Gpio::OutputType::OpenDrain);
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PinNode1::configure(Gpio::InputType::PullUp);
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USART1->CR1 &= ~USART_CR1_UE;
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USART1->CR3 = USART_CR3_HDSEL;
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USART1->CR1 |= USART_CR1_UE;
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Usart3::connect<PinNode2::Tx>();
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Usart3::initialize<SystemClock, 115200>(Usart1::Parity::Even, Usart1::WordLength::Bit9);
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// Use Single-Wire Half-Duplex Mode
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PinNode2::configure(Gpio::OutputType::OpenDrain);
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PinNode2::configure(Gpio::InputType::PullUp);
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USART3->CR1 &= ~USART_CR1_UE;
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USART3->CR3 = USART_CR3_HDSEL;
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USART3->CR1 |= USART_CR1_UE;
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Usart4::connect<PinNode3::Tx>();
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Usart4::initialize<SystemClock, 115200>(Usart1::Parity::Even, Usart1::WordLength::Bit9);
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// Use Single-Wire Half-Duplex Mode
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PinNode3::configure(Gpio::OutputType::OpenDrain);
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PinNode3::configure(Gpio::InputType::PullUp);
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USART4->CR1 &= ~USART_CR1_UE;
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USART4->CR3 = USART_CR3_HDSEL;
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USART4->CR1 |= USART_CR1_UE;
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fiberNode1t.watermark_stack();
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fiberNode1r.watermark_stack();
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fiberNode2t.watermark_stack();
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fiberNode2r.watermark_stack();
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fiberNode3t.watermark_stack();
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fiberNode3r.watermark_stack();
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thread.watermark_stack();
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modm::fiber::Scheduler::run();
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return 0;
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}

‎examples/nucleo_g071rb/amnb_fiber/project.xml

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<library>
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<extends>modm:nucleo-g071rb</extends>
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<options>
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<option name="modm:build:build.path">../../../build/nucleo_g071rb/amnb_fiber</option>
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<option name="modm:communication:amnb:with_heap">no</option>
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<option name="modm:processing:protothread:use_fiber">yes</option>
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</options>
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<modules>
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<module>modm:platform:gpio</module>
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<module>modm:communication:amnb</module>
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<module>modm:platform:uart:1</module>
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<module>modm:platform:uart:3</module>
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<module>modm:platform:uart:4</module>
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<module>modm:build:scons</module>
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<module>modm:processing:protothread</module>
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<module>modm:processing:fiber</module>
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</modules>
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</library>

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