mirror of https://github.com/Desuuuu/klipper.git
build: Use compile_time_request system for init, tasks, and shutdown
Avoid using linker magic to define the init, task, and shutdown functions. Instead, use the compile_time_request system. This simplifies the build and produces more efficient code. Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor
parent
ca9756413f
commit
a82e949c00
11
Makefile
11
Makefile
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@ -37,7 +37,6 @@ CFLAGS := -I$(OUT) -Isrc -I$(OUT)board-generic/ -O2 -MD -g \
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-ffunction-sections -fdata-sections
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CFLAGS += -flto -fwhole-program -fno-use-linker-plugin
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CFLAGS_klipper.o = $(CFLAGS) -Wl,-r -nostdlib
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CFLAGS_klipper.elf = $(CFLAGS) -Wl,--gc-sections
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CPPFLAGS = -I$(OUT) -P -MD -MT $@
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@ -84,15 +83,7 @@ $(OUT)compile_time_request.o: $(patsubst %.c, $(OUT)src/%.o.ctr,$(src-y)) ./scri
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$(Q)$(PYTHON) ./scripts/buildcommands.py -d $(OUT)klipper.dict $(OUT)klipper.compile_time_request $(OUT)compile_time_request.c
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$(Q)$(CC) $(CFLAGS) -c $(OUT)compile_time_request.c -o $@
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$(OUT)declfunc.lds: src/declfunc.lds.S
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@echo " Precompiling $@"
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$(Q)$(CPP) $(CPPFLAGS) -D__ASSEMBLY__ $< -o $@
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$(OUT)klipper.o: $(patsubst %.c, $(OUT)src/%.o,$(src-y)) $(OUT)compile_time_request.o $(OUT)declfunc.lds
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@echo " Linking $@"
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$(Q)$(CC) $(CFLAGS_klipper.o) -Wl,-T,$(OUT)declfunc.lds $(patsubst %.c, $(OUT)src/%.o,$(src-y)) $(OUT)compile_time_request.o -o $@
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$(OUT)klipper.elf: $(OUT)klipper.o
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$(OUT)klipper.elf: $(patsubst %.c, $(OUT)src/%.o,$(src-y)) $(OUT)compile_time_request.o
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@echo " Linking $@"
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$(Q)$(CC) $(CFLAGS_klipper.elf) $^ -o $@
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@ -13,6 +13,7 @@ import msgproto
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FILEHEADER = """
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/* DO NOT EDIT! This is an autogenerated file. See scripts/buildcommands.py. */
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#include "board/irq.h"
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#include "board/pgm.h"
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#include "command.h"
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#include "compiler.h"
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@ -119,6 +120,23 @@ ctr_lookup_static_string(const char *str)
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"""
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return fmt % ("".join(code).strip(),)
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def build_call_lists(call_lists):
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code = []
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for funcname, funcs in call_lists.items():
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func_code = [' extern void %s(void);\n %s();' % (f, f)
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for f in funcs]
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if funcname == 'ctr_run_taskfuncs':
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func_code = [' irq_poll();\n' + fc for fc in func_code]
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fmt = """
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void
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%s(void)
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{
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%s
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}
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"""
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code.append(fmt % (funcname, "\n".join(func_code).strip()))
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return "".join(code)
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def build_param_types(all_param_types):
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sorted_param_types = sorted([(i, a) for a, i in all_param_types.items()])
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params = ['']
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@ -271,6 +289,7 @@ def main():
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encoders = []
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static_strings = []
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constants = {}
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call_lists = {'ctr_run_initfuncs': []}
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# Parse request file
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f = open(incmdfile, 'rb')
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data = f.read()
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@ -314,6 +333,10 @@ def main():
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if name in constants and constants[name] != value:
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error("Conflicting definition for constant '%s'" % name)
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constants[name] = value
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elif cmd == '_DECL_CALLLIST':
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funcname, callname = parts[1:]
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cl = call_lists.setdefault(funcname, [])
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cl.append(callname)
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else:
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error("Unknown build time command '%s'" % cmd)
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# Create unique ids for each message type
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@ -328,6 +351,7 @@ def main():
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all_param_types = {}
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parsercode = build_encoders(encoders, msg_to_id, all_param_types)
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static_strings_code = build_static_strings(static_strings)
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call_lists_code = build_call_lists(call_lists)
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# Create command definitions
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cmd_by_id = dict((msg_to_id[messages_by_name.get(msgname, msgname)], cmd)
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for msgname, cmd in commands.items())
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@ -342,8 +366,8 @@ def main():
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, static_strings, constants, version)
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# Write output
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f = open(outcfile, 'wb')
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f.write(FILEHEADER + paramcode + parsercode + static_strings_code
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+ cmdcode + icode)
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f.write(FILEHEADER + call_lists_code + static_strings_code
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+ paramcode + parsercode + cmdcode + icode)
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f.close()
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# Write data dictionary
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@ -191,16 +191,9 @@ def main():
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for info in funcs.values():
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funcnameroot = info.funcname.split('.')[0]
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funcsbyname[funcnameroot] = info
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mainfunc = funcsbyname.get('sched_main')
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cmdfunc = funcsbyname.get('command_task')
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cmdfunc = funcsbyname.get('sched_main')
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eventfunc = funcsbyname.get('__vector_13', funcsbyname.get('__vector_17'))
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for funcnameroot, info in funcsbyname.items():
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if (funcnameroot.startswith('_DECL_taskfuncs_')
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or funcnameroot.startswith('_DECL_initfuncs_')
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or funcnameroot.startswith('_DECL_shutdownfuncs_')):
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funcname = funcnameroot[funcnameroot.index('_', 7)+1:]
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f = funcsbyname[funcname]
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mainfunc.noteCall(0, f.funcaddr, mainfunc.basic_stack_usage + 2)
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if funcnameroot.startswith('parser_'):
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f = funcsbyname.get(funcnameroot[7:])
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if f is not None:
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@ -80,7 +80,7 @@ DECL_COMMAND(command_query_analog_in,
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"query_analog_in oid=%c clock=%u sample_ticks=%u sample_count=%c"
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" rest_ticks=%u min_value=%hu max_value=%hu");
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static void
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void
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analog_in_task(void)
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{
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static uint16_t next;
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@ -106,7 +106,7 @@ analog_in_task(void)
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}
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DECL_TASK(analog_in_task);
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static void
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void
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analog_in_shutdown(void)
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{
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uint8_t i;
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@ -14,7 +14,7 @@ src-$(CONFIG_AVR_USBSERIAL) += avr/usbserial.c ../lib/pjrc_usb_serial/usb_serial
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src-$(CONFIG_AVR_SERIAL) += avr/serial.c
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# Suppress broken "misspelled signal handler" warnings on gcc 4.8.1
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CFLAGS_klipper.o := $(CFLAGS_klipper.o) $(if $(filter 4.8.1, $(shell $(CC) -dumpversion)), -w)
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CFLAGS_klipper.elf := $(CFLAGS_klipper.elf) $(if $(filter 4.8.1, $(shell $(CC) -dumpversion)), -w)
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# Build the additional hex output file
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target-y += $(OUT)klipper.elf.hex
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@ -25,7 +25,7 @@ static uint8_t transmit_pos, transmit_max;
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DECL_CONSTANT(SERIAL_BAUD, CONFIG_SERIAL_BAUD);
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static void
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void
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serial_init(void)
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{
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if (CONFIG_SERIAL_BAUD_U2X) {
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@ -71,7 +71,7 @@ timer_repeat_set(uint16_t next)
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}
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// Reset the timer - clear settings and dispatch next timer immediately
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static void
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void
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timer_reset(void)
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{
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uint16_t now = timer_get();
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@ -81,7 +81,7 @@ timer_reset(void)
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}
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DECL_SHUTDOWN(timer_reset);
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static void
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void
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timer_init(void)
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{
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if (CONFIG_AVR_CLKPR != -1 && (uint8_t)CONFIG_AVR_CLKPR != CLKPR) {
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@ -193,7 +193,7 @@ done:
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// Periodic background task that temporarily boosts priority of
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// timers. This helps prioritize timers when tasks are idling.
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static void
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void
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timer_task(void)
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{
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irq_disable();
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@ -14,7 +14,7 @@ static char receive_buf[USBSERIAL_BUFFER_SIZE];
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static uint8_t receive_pos;
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static char transmit_buf[USBSERIAL_BUFFER_SIZE];
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static void
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void
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usbserial_init(void)
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{
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usb_init();
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@ -18,7 +18,7 @@ ISR(WDT_vect)
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shutdown("Watchdog timer!");
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}
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static void
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void
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watchdog_reset(void)
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{
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wdt_reset();
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@ -29,7 +29,7 @@ watchdog_reset(void)
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}
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DECL_TASK(watchdog_reset);
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static void
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void
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watchdog_init(void)
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{
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// 0.5s timeout, interrupt and system reset
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@ -65,7 +65,7 @@ move_request_size(int size)
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move_item_size = size;
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}
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static void
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void
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move_reset(void)
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{
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if (!move_count)
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@ -201,7 +201,7 @@ DECL_COMMAND_FLAGS(command_get_uptime, HF_IN_SHUTDOWN, "get_uptime");
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#define SUMSQ_BASE 256
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DECL_CONSTANT(STATS_SUMSQ_BASE, SUMSQ_BASE);
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static void
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void
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stats_task(void)
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{
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static uint32_t last, count, sumsq;
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@ -197,7 +197,7 @@ error:
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shutdown("Message encode error");
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}
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static void
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void
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sendf_shutdown(void)
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{
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writeb(&in_sendf, 0);
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@ -289,7 +289,7 @@ nak:
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}
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// Background task that reads commands from the board serial port
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static void
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void
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command_task(void)
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{
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// Process commands.
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@ -1,27 +0,0 @@
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// Linker script that defines symbols around sections. The DECL_X()
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// macros need this linker script to place _start and _end symbols
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// around the list of declared items.
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#include "autoconf.h" // CONFIG_MACH_AVR
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#include "compiler.h" // __PASTE
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#if CONFIG_MACH_AVR
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#define DECL_SECTION .progmem.data.
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#else
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#define DECL_SECTION .rodata.
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#endif
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#define DECLWRAPPER(NAME) \
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__PASTE(DECL_SECTION, NAME) : SUBALIGN(1) { \
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NAME ## _start = . ; \
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*( .rodata. ## NAME ##.pre* ) \
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*( .rodata. ## NAME ##* ) \
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*( .rodata. ## NAME ##.post* ) \
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NAME ## _end = . ; \
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}
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SECTIONS
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{
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DECLWRAPPER(taskfuncs)
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DECLWRAPPER(initfuncs)
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DECLWRAPPER(shutdownfuncs)
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}
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@ -112,7 +112,7 @@ command_end_stop_query(uint32_t *args)
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}
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DECL_COMMAND(command_end_stop_query, "end_stop_query oid=%c");
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static void
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void
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end_stop_task(void)
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{
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static uint16_t next;
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@ -40,7 +40,7 @@ irq_poll(void)
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}
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// Clear the active irq if a shutdown happened in an irq handler
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static void
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void
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clear_active_irq(void)
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{
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uint32_t psr;
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@ -82,7 +82,7 @@ timer_dispatch_many(void)
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// Periodic background task that temporarily boosts priority of
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// timers. This helps prioritize timers when tasks are idling.
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static void
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void
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timer_task(void)
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{
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irq_disable();
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@ -91,7 +91,7 @@ timer_task(void)
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}
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DECL_TASK(timer_task);
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static void
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void
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timer_irq_shutdown(void)
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{
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timer_repeat_until = timer_read_time() + TIMER_IDLE_REPEAT_TICKS;
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@ -67,7 +67,7 @@ command_schedule_digital_out(uint32_t *args)
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DECL_COMMAND(command_schedule_digital_out,
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"schedule_digital_out oid=%c clock=%u value=%c");
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static void
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void
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digital_out_shutdown(void)
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{
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uint8_t i;
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@ -212,7 +212,7 @@ command_schedule_soft_pwm_out(uint32_t *args)
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DECL_COMMAND(command_schedule_soft_pwm_out,
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"schedule_soft_pwm_out oid=%c clock=%u value=%hu");
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static void
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void
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soft_pwm_shutdown(void)
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{
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uint8_t i;
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@ -9,9 +9,10 @@ dirs-y += lib/pru_rpmsg
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CFLAGS += -Os -mmcu=am335x.pru1
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CFLAGS += -Ilib/pru_rpmsg/include -Ilib/pru_rpmsg/include/am335x
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CFLAGS_klipper.o := $(filter-out -mmcu=%, $(CFLAGS_klipper.o))
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CFLAGS_klipper.elf := $(CFLAGS) -minrt -T src/pru/pru.lds
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CFLAGS_klipper.elf := $(filter-out -mmcu=%, $(CFLAGS))
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CFLAGS_klipper.elf += -Wl,-r -nostdlib -Wl,-T,src/pru/pru.lds
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CFLAGS_pru0.elf := $(filter-out -mmcu=%, $(CFLAGS)) -minrt -mmcu=am335x.pru0
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CFLAGS_pru1.elf := $(CFLAGS) -minrt
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# Add source files
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src-y := $(filter-out debugcmds.c, $(src-y))
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@ -22,8 +23,12 @@ pru0-y := pru/pru0.c
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pru0-y += ../lib/pru_rpmsg/pru_rpmsg.c ../lib/pru_rpmsg/pru_virtqueue.c
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# Build the additional PRU0 binary
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target-y += $(OUT)pru0.elf
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target-y += $(OUT)pru0.elf $(OUT)pru1.elf
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$(OUT)pru0.elf: $(patsubst %.c, $(OUT)src/%.o,$(pru0-y))
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@echo " Linking $@"
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$(Q)$(CC) $(CFLAGS_pru0.elf) $^ -o $@
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$(OUT)pru1.elf: $(OUT)klipper.elf
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@echo " Linking $@"
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$(Q)$(CC) $(CFLAGS_pru1.elf) $^ -o $@
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@ -75,7 +75,7 @@ irq_poll(void)
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_irq_poll();
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}
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static void
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void
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timer_shutdown(void)
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{
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// Reenable timer irq
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@ -86,12 +86,13 @@ timer_shutdown(void)
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}
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DECL_SHUTDOWN(timer_shutdown);
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static void
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void
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timer_init(void)
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{
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CT_IEP.TMR_CNT = 0;
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timer_shutdown();
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}
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DECL_INIT(timer_init);
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/****************************************************************
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@ -211,8 +212,6 @@ main(void)
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;
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writel(&SHARED_MEM->signal, SIGNAL_PRU1_READY);
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timer_init();
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sched_main();
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return 0;
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}
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@ -59,7 +59,7 @@ command_schedule_pwm_out(uint32_t *args)
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DECL_COMMAND(command_schedule_pwm_out,
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"schedule_pwm_out oid=%c clock=%u value=%hu");
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static void
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void
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pwm_shutdown(void)
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{
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uint8_t i;
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|
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@ -16,14 +16,14 @@ DECL_CONSTANT(MCU, "sam3x8e");
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* watchdog handler
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****************************************************************/
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static void
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void
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watchdog_reset(void)
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{
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WDT->WDT_CR = 0xA5000001;
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}
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DECL_TASK(watchdog_reset);
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static void
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void
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watchdog_init(void)
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{
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uint32_t timeout = 32768 / 2; // 500ms timeout
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|
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@ -27,7 +27,7 @@ static uint32_t transmit_pos, transmit_max;
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DECL_CONSTANT(SERIAL_BAUD, CONFIG_SERIAL_BAUD);
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static void
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void
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serial_init(void)
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{
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gpio_peripheral('A', PIO_PA8A_URXD, 'A', 1);
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|
|
@ -25,7 +25,7 @@ timer_read_time(void)
|
|||
return TC0->TC_CHANNEL[0].TC_CV;
|
||||
}
|
||||
|
||||
static void
|
||||
void
|
||||
timer_init(void)
|
||||
{
|
||||
TcChannel *tc = &TC0->TC_CHANNEL[0];
|
||||
|
|
@ -44,7 +44,7 @@ timer_init(void)
|
|||
}
|
||||
DECL_INIT(timer_init);
|
||||
|
||||
static void
|
||||
void
|
||||
timer_shutdown(void)
|
||||
{
|
||||
// Reenable timer irq
|
||||
|
|
|
|||
40
src/sched.c
40
src/sched.c
|
|
@ -1,6 +1,6 @@
|
|||
// Basic scheduling functions and startup/shutdown code.
|
||||
//
|
||||
// Copyright (C) 2016 Kevin O'Connor <kevin@koconnor.net>
|
||||
// Copyright (C) 2016,2017 Kevin O'Connor <kevin@koconnor.net>
|
||||
//
|
||||
// This file may be distributed under the terms of the GNU GPLv3 license.
|
||||
|
||||
|
|
@ -167,7 +167,7 @@ sched_timer_dispatch(void)
|
|||
}
|
||||
|
||||
// Shutdown all user timers on an emergency stop.
|
||||
static void
|
||||
void
|
||||
sched_timer_shutdown(void)
|
||||
{
|
||||
timer_list = &deleted_timer;
|
||||
|
|
@ -209,11 +209,8 @@ run_shutdown(void)
|
|||
{
|
||||
uint32_t cur = timer_read_time();
|
||||
shutdown_status = 2;
|
||||
struct callback_handler *p;
|
||||
foreachdecl(p, shutdownfuncs) {
|
||||
void (*func)(void) = READP(p->func);
|
||||
func();
|
||||
}
|
||||
extern void ctr_run_shutdownfuncs(void);
|
||||
ctr_run_shutdownfuncs();
|
||||
shutdown_status = 1;
|
||||
irq_enable();
|
||||
|
||||
|
|
@ -252,39 +249,20 @@ sched_shutdown(uint_fast8_t reason)
|
|||
* Startup and background task processing
|
||||
****************************************************************/
|
||||
|
||||
// Invoke all init functions (as declared by DECL_INIT)
|
||||
static void
|
||||
run_init(void)
|
||||
{
|
||||
struct callback_handler *p;
|
||||
foreachdecl(p, initfuncs) {
|
||||
void (*func)(void) = READP(p->func);
|
||||
func();
|
||||
}
|
||||
}
|
||||
|
||||
// Invoke all background task functions (as declared by DECL_TASK)
|
||||
static void
|
||||
run_task(void)
|
||||
{
|
||||
struct callback_handler *p;
|
||||
foreachdecl(p, taskfuncs) {
|
||||
irq_poll();
|
||||
void (*func)(void) = READP(p->func);
|
||||
func();
|
||||
}
|
||||
}
|
||||
// Auto-generated code in out/compile_time_requests.c
|
||||
extern void ctr_run_initfuncs(void);
|
||||
extern void ctr_run_taskfuncs(void);
|
||||
|
||||
// Main loop of program
|
||||
void
|
||||
sched_main(void)
|
||||
{
|
||||
run_init();
|
||||
ctr_run_initfuncs();
|
||||
|
||||
int ret = setjmp(shutdown_jmp);
|
||||
if (ret)
|
||||
run_shutdown();
|
||||
|
||||
for (;;)
|
||||
run_task();
|
||||
ctr_run_taskfuncs();
|
||||
}
|
||||
|
|
|
|||
20
src/sched.h
20
src/sched.h
|
|
@ -2,14 +2,14 @@
|
|||
#define __SCHED_H
|
||||
|
||||
#include <stdint.h> // uint32_t
|
||||
#include "compiler.h" // __section
|
||||
#include "ctr.h" // DECL_CTR
|
||||
|
||||
// Declare an init function (called at firmware startup)
|
||||
#define DECL_INIT(FUNC) _DECL_CALLBACK(initfuncs, FUNC)
|
||||
#define DECL_INIT(FUNC) _DECL_CALLLIST(ctr_run_initfuncs, FUNC)
|
||||
// Declare a task function (called periodically during normal runtime)
|
||||
#define DECL_TASK(FUNC) _DECL_CALLBACK(taskfuncs, FUNC)
|
||||
#define DECL_TASK(FUNC) _DECL_CALLLIST(ctr_run_taskfuncs, FUNC)
|
||||
// Declare a shutdown function (called on an emergency stop)
|
||||
#define DECL_SHUTDOWN(FUNC) _DECL_CALLBACK(shutdownfuncs, FUNC)
|
||||
#define DECL_SHUTDOWN(FUNC) _DECL_CALLLIST(ctr_run_shutdownfuncs, FUNC)
|
||||
|
||||
// Timer structure for scheduling timed events (see sched_add_timer() )
|
||||
struct timer {
|
||||
|
|
@ -33,15 +33,7 @@ void sched_report_shutdown(void);
|
|||
void sched_main(void);
|
||||
|
||||
// Compiler glue for DECL_X macros above.
|
||||
struct callback_handler {
|
||||
void (*func)(void);
|
||||
};
|
||||
#define _DECL_CALLBACK(NAME, FUNC) \
|
||||
const struct callback_handler _DECL_ ## NAME ## _ ## FUNC __visible \
|
||||
__section(".rodata." __stringify(NAME) ) = { .func = FUNC }
|
||||
|
||||
#define foreachdecl(ITER, NAME) \
|
||||
extern typeof(*ITER) NAME ## _start[], NAME ## _end[]; \
|
||||
for (ITER = NAME ## _start ; ITER < NAME ## _end ; ITER ++)
|
||||
#define _DECL_CALLLIST(NAME, FUNC) \
|
||||
DECL_CTR("_DECL_CALLLIST " __stringify(NAME) " " __stringify(FUNC))
|
||||
|
||||
#endif // sched.h
|
||||
|
|
|
|||
|
|
@ -117,7 +117,7 @@ console_push_output(uint8_t len)
|
|||
****************************************************************/
|
||||
|
||||
// Periodically sleep so we don't consume all CPU
|
||||
static void
|
||||
void
|
||||
simu_pause(void)
|
||||
{
|
||||
// XXX - should check that no timers are present.
|
||||
|
|
|
|||
|
|
@ -284,7 +284,7 @@ stepper_stop(struct stepper *s)
|
|||
}
|
||||
}
|
||||
|
||||
static void
|
||||
void
|
||||
stepper_shutdown(void)
|
||||
{
|
||||
uint8_t i;
|
||||
|
|
|
|||
Loading…
Reference in New Issue