[examples] Enable all protothread as fibers

examples/nucleo_g071rb/amnb/main.cpp

@@ -70,8 +70,8 @@ class Thread : public modm::pt::Protothread
 	Result<uint8_t, uint8_t> res2;
 
 public:
-	bool inline
-	update()
+	bool
+	run()
 	{
 		PT_BEGIN();
 
@@ -98,6 +98,23 @@ class Thread : public modm::pt::Protothread
 }
 thread;
 
+class NodeThread : public modm::pt::Protothread
+{
+public:
+	bool run()
+	{
+		while (true)
+		{
+			node1.update();
+			node2.update();
+			node3.update();
+			modm::fiber::yield();
+		}
+		return false;
+	}
+}
+nodeThread;
+
 // ----------------------------------------------------------------------------
 int
 main()
@@ -132,13 +149,7 @@ main()
 	USART4->CR3 = USART_CR3_HDSEL;
 	USART4->CR1 |= USART_CR1_UE;
 
-	while (true)
-	{
-		node1.update();
-		node2.update();
-		node3.update();
-		thread.update();
-	}
+	modm::fiber::Scheduler::run();
 
 	return 0;
 }

examples/nucleo_g071rb/amnb/project.xml

@@ -6,6 +6,7 @@
     <option name="modm:platform:uart:3:buffer.rx">16</option>
     <option name="modm:platform:uart:4:buffer.rx">0</option>
     <option name="modm:communication:amnb:with_heap">False</option>
+    <option name="modm:processing:protothread:use_fiber">yes</option>
   </options>
   <modules>
     <module>modm:platform:gpio</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
@@ -39,56 +39,55 @@ Board::l3g::Gyroscope::Data data;
 Board::l3g::Gyroscope gyro(data);
 
 
-class ReaderThread : public modm::pt::Protothread
+void thread1()
 {
-public:
-	bool
-	update()
+	// initialize with limited range of 250 degrees per second
+	gyro.configure(gyro.Scale::Dps250);
+
+	modm::filter::MovingAverage<float, 25> averageZ;
+	while (true)
 	{
-		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());
-
-			// update the moving average
-			averageZ.update(gyro.getData().getZ());
-
-			{
-				float value = averageZ.getValue();
-				// normalize rotation and scale by 5 leds
-				uint16_t leds = abs(value / 200 * 5);
-				leds = (1ul << leds) - 1;
-
-				// 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);
-				}
-			}
-
-			// repeat every 5 ms
-			timeout.restart(5ms);
-			PT_WAIT_UNTIL(timeout.isExpired());
+		// read out the sensor
+		gyro.readRotation();
+
+		// update the moving average
+		averageZ.update(gyro.getData().getZ());
+
+		float value = averageZ.getValue();
+		// normalize rotation and scale by 5 leds
+		uint16_t leds = abs(value / 200 * 5);
+		leds = (1ul << leds) - 1;
+
+		// 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::ShortTimeout timeout(5ms);
+		while(not timeout.execute())
+			modm::fiber::yield();
 	}
+}
+modm_faststack modm::fiber::Stack<512> stack1;
+modm_fastdata  modm::Fiber fiber1(stack1, thread1);
 
-private:
-	modm::ShortTimeout timeout;
-	modm::filter::MovingAverage<float, 25> averageZ;
-};
+modm_faststack modm::fiber::Stack<256> stack2;
+modm_fastdata  modm::Fiber fiber2(stack2, []()
+{
+	modm::ShortPeriodicTimer timer(1s);
+	while (true)
+	{
+		if(timer.execute()) Board::LedSouth::toggle();
+		modm::fiber::yield();
+	}
+});
 
-ReaderThread reader;
 
 
 int
@@ -97,10 +96,14 @@ 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>