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[example] Add RP2040 examples
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‎.github/workflows/linux.yml

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if: always()
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run: |
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(cd examples && ../tools/scripts/examples_compile.py samv)
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- name: Examples RP20 Devices
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if: always()
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run: |
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(cd examples && ../tools/scripts/examples_compile.py rp_pico)
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- name: Execute Python Scripts
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if: always()
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run: |

‎examples/generic/delay/project.xml

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<!-- <extends>modm:nucleo-l432kc</extends> -->
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<!-- <extends>modm:nucleo-l476rg</extends> -->
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<!-- <extends>modm:samd21-mini</extends> -->
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<!-- <extends>modm:rp-pico</extends> -->
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<options>
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<option name="modm:build:build.path">../../../build/generic/delay</option>
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<option name="modm:io:with_printf">true</option>

‎examples/generic/usb/project.xml

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<!-- <extends>modm:disco-f303vc</extends> -->
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<!-- <extends>modm:disco-f407vg</extends> -->
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<!-- <extends>modm:disco-f746ng</extends> -->
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<!-- <extends>modm:rp-pico</extends> -->
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<options>
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<option name="modm:build:build.path">../../../build/generic/usb</option>
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<option name="modm:build:openocd.cfg">openocd.cfg</option>

‎examples/rp_pico/blink/main.cpp

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/*
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* Copyright (c) 2016, Sascha Schade
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* Copyright (c) 2017, 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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// ----------------------------------------------------------------------------
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#include <modm/board.hpp>
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using namespace Board;
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/*
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* Blinks the green user LED with 1 Hz.
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* It is on for 90% of the time and off for 10% of the time.
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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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LedGreen::setOutput();
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while (true)
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{
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LedGreen::set();
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modm::delay(900ms);
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LedGreen::reset();
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modm::delay(100ms);
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}
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return 0;
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}

‎examples/rp_pico/blink/project.xml

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<library>
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<extends>modm:rp-pico</extends>
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<options>
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<option name="modm:build:build.path">../../../build/rp_pico/blink</option>
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<option name="modm:platform:cortex-m:vector_table_location">ram</option>
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</options>
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<modules>
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<module>modm:build:scons</module>
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</modules>
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</library>

‎examples/rp_pico/fiber/main.cpp

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/*
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* Copyright (c) 2022, Andrey Kunitsyn
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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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// ----------------------------------------------------------------------------
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#include <modm/board.hpp>
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#include <modm/debug/logger.hpp>
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#include <modm/processing.hpp>
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#include <mutex>
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using namespace Board;
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using namespace std::chrono_literals;
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// Create an IODeviceWrapper around the Uart Peripheral we want to use
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modm::IODeviceWrapper<Uart0, modm::IOBuffer::BlockIfFull> loggerDevice;
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// Set all four logger streams to use the UART
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modm::log::Logger modm::log::debug(loggerDevice);
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modm::log::Logger modm::log::info(loggerDevice);
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modm::log::Logger modm::log::warning(loggerDevice);
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modm::log::Logger modm::log::error(loggerDevice);
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constexpr uint32_t cycles = 1'000'000;
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static multicore::Mutex log_mutex;
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struct CoreData
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{
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uint32_t total_counter = 0;
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uint32_t f1counter = 0;
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uint32_t f2counter = 0;
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};
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void
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fiber_function1(CoreData& d)
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{
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while (++d.f1counter < cycles)
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{
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modm::fiber::yield();
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d.total_counter++;
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}
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}
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void
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fiber_function2(CoreData& d)
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{
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while (++d.f2counter < cycles)
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{
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modm::fiber::yield();
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d.total_counter++;
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}
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}
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// put cores to mostly equalent environment
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modm_core0_data CoreData d0;
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modm_core1_data CoreData d1;
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modm_core0_noinit modm::fiber::Stack<384> stack01;
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modm_core0_noinit modm::fiber::Stack<384> stack02;
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modm_core1_noinit modm::fiber::Stack<384> stack11;
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modm_core1_noinit modm::fiber::Stack<384> stack12;
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modm_core0_data
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modm::Fiber fiber01(stack01, []() { fiber_function1(d0); }, 0);
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modm_core0_data
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modm::Fiber fiber02(stack02, []() { fiber_function2(d0); }, 0);
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modm_core1_data
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modm::Fiber fiber11(stack11, []() { fiber_function1(d1); }, 1);
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modm_core1_data
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modm::Fiber fiber12(stack12, []() { fiber_function2(d1); }, 1);
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template<typename TimeDiff>
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static void
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print_result(const CoreData& d, TimeDiff diff)
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{
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std::lock_guard<multicore::Mutex> g(log_mutex);
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MODM_LOG_INFO << "Benchmark for core" << multicore::Core::cpuId() << " done!" << modm::endl;
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MODM_LOG_INFO << "Executed " << d.total_counter << " yields in " << diff << modm::endl;
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MODM_LOG_INFO << ((d.total_counter * 1'000'000ull) / std::chrono::microseconds(diff).count());
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MODM_LOG_INFO << " yields per second, ";
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MODM_LOG_INFO << (std::chrono::nanoseconds(diff).count() / d.total_counter);
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MODM_LOG_INFO << "ns per yield" << modm::endl;
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MODM_LOG_INFO.flush();
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}
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void
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core1_main()
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{
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const modm::PreciseTimestamp start = modm::PreciseClock::now();
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modm::fiber::Scheduler::run();
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const auto diff = (modm::PreciseClock::now() - start);
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print_result(d1, diff);
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while (true) __NOP();
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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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// initialize Uart0 for MODM_LOG_*
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Uart0::connect<GpioOutput0::Tx>();
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Uart0::initialize<Board::SystemClock, 115200_Bd>();
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MODM_LOG_INFO << "Starting fiber modm::yield benchmark..." << modm::endl;
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MODM_LOG_INFO.flush();
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multicore::Core1::run(core1_main);
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const modm::PreciseTimestamp start = modm::PreciseClock::now();
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modm::fiber::Scheduler::run();
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const auto diff = (modm::PreciseClock::now() - start);
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print_result(d0, diff);
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while (true) __NOP();
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return 0;
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}

‎examples/rp_pico/fiber/project.xml

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<library>
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<extends>modm:rp-pico</extends>
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<options>
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<option name="modm:build:build.path">../../../build/rp_pico/fiber</option>
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<option name="modm:__fibers">yes</option>
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</options>
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<modules>
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<module>modm:debug</module>
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<module>modm:platform:uart:0</module>
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<module>modm:platform:multicore</module>
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<module>modm:build:scons</module>
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<module>modm:processing:timer</module>
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<module>modm:processing:fiber</module>
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</modules>
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</library>

‎examples/rp_pico/logger/main.cpp

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/*
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* Copyright (c) 2011, Fabian Greif
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* Copyright (c) 2013, Kevin Läufer
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* Copyright (c) 2013-2017, Niklas Hauser
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* Copyright (c) 2014, 2016, Sascha Schade
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* Copyright (c) 2022, Andrey Kunitsyn
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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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// ----------------------------------------------------------------------------
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#include <modm/board.hpp>
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#include <modm/debug/logger.hpp>
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#include <modm/processing/protothread.hpp>
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#include <modm/processing/timer.hpp>
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// ----------------------------------------------------------------------------
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// Set the log level
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#undef MODM_LOG_LEVEL
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#define MODM_LOG_LEVEL modm::log::INFO
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// Create an IODeviceWrapper around the Uart Peripheral we want to use
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modm::IODeviceWrapper<Uart0, modm::IOBuffer::BlockIfFull> loggerDevice;
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// Set all four logger streams to use the UART
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modm::log::Logger modm::log::debug(loggerDevice);
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modm::log::Logger modm::log::info(loggerDevice);
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modm::log::Logger modm::log::warning(loggerDevice);
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modm::log::Logger modm::log::error(loggerDevice);
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class BlinkThread : public modm::pt::Protothread
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{
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public:
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BlinkThread() { timeout.restart(100ms); }
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bool
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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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Board::LedGreen::reset();
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PT_WAIT_UNTIL(timeout.isExpired());
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timeout.restart(100ms);
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Board::LedGreen::set();
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PT_WAIT_UNTIL(timeout.isExpired());
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timeout.restart(900ms);
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MODM_LOG_INFO << "Seconds since reboot: " << ++uptime << modm::endl;
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}
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PT_END();
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}
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private:
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modm::ShortTimeout timeout;
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uint32_t uptime;
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};
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BlinkThread blinkThread;
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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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// initialize Uart0 for MODM_LOG_*
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Uart0::connect<GpioOutput0::Tx>();
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Uart0::initialize<Board::SystemClock, 115200_Bd>();
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// Use the logging streams to print some messages.
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// Change MODM_LOG_LEVEL above to enable or disable these messages
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MODM_LOG_DEBUG << "debug" << modm::endl;
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MODM_LOG_INFO << "info" << modm::endl;
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MODM_LOG_WARNING << "warning" << modm::endl;
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MODM_LOG_ERROR << "error" << modm::endl;
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while (true) { blinkThread.update(); }
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return 0;
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}

‎examples/rp_pico/logger/project.xml

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<library>
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<extends>modm:rp-pico</extends>
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<options>
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<option name="modm:build:build.path">../../../build/rp_pico/logger</option>
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</options>
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<modules>
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<module>modm:debug</module>
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<module>modm:platform:gpio</module>
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<module>modm:platform:uart:0</module>
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<module>modm:processing:timer</module>
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<module>modm:processing:protothread</module>
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<module>modm:build:scons</module>
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</modules>
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</library>

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