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 2017-05-26 09:14:26 -04:00
parent ca9756413f
commit a82e949c00
26 changed files with 82 additions and 127 deletions

View File

@ -37,7 +37,6 @@ CFLAGS := -I$(OUT) -Isrc -I$(OUT)board-generic/ -O2 -MD -g \
-ffunction-sections -fdata-sections -ffunction-sections -fdata-sections
CFLAGS += -flto -fwhole-program -fno-use-linker-plugin CFLAGS += -flto -fwhole-program -fno-use-linker-plugin
CFLAGS_klipper.o = $(CFLAGS) -Wl,-r -nostdlib
CFLAGS_klipper.elf = $(CFLAGS) -Wl,--gc-sections CFLAGS_klipper.elf = $(CFLAGS) -Wl,--gc-sections
CPPFLAGS = -I$(OUT) -P -MD -MT $@ CPPFLAGS = -I$(OUT) -P -MD -MT $@
@ -84,15 +83,7 @@ $(OUT)compile_time_request.o: $(patsubst %.c, $(OUT)src/%.o.ctr,$(src-y)) ./scri
$(Q)$(PYTHON) ./scripts/buildcommands.py -d $(OUT)klipper.dict $(OUT)klipper.compile_time_request $(OUT)compile_time_request.c $(Q)$(PYTHON) ./scripts/buildcommands.py -d $(OUT)klipper.dict $(OUT)klipper.compile_time_request $(OUT)compile_time_request.c
$(Q)$(CC) $(CFLAGS) -c $(OUT)compile_time_request.c -o $@ $(Q)$(CC) $(CFLAGS) -c $(OUT)compile_time_request.c -o $@
$(OUT)declfunc.lds: src/declfunc.lds.S $(OUT)klipper.elf: $(patsubst %.c, $(OUT)src/%.o,$(src-y)) $(OUT)compile_time_request.o
@echo " Precompiling $@"
$(Q)$(CPP) $(CPPFLAGS) -D__ASSEMBLY__ $< -o $@
$(OUT)klipper.o: $(patsubst %.c, $(OUT)src/%.o,$(src-y)) $(OUT)compile_time_request.o $(OUT)declfunc.lds
@echo " Linking $@"
$(Q)$(CC) $(CFLAGS_klipper.o) -Wl,-T,$(OUT)declfunc.lds $(patsubst %.c, $(OUT)src/%.o,$(src-y)) $(OUT)compile_time_request.o -o $@
$(OUT)klipper.elf: $(OUT)klipper.o
@echo " Linking $@" @echo " Linking $@"
$(Q)$(CC) $(CFLAGS_klipper.elf) $^ -o $@ $(Q)$(CC) $(CFLAGS_klipper.elf) $^ -o $@

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@ -13,6 +13,7 @@ import msgproto
FILEHEADER = """ FILEHEADER = """
/* DO NOT EDIT! This is an autogenerated file. See scripts/buildcommands.py. */ /* DO NOT EDIT! This is an autogenerated file. See scripts/buildcommands.py. */
#include "board/irq.h"
#include "board/pgm.h" #include "board/pgm.h"
#include "command.h" #include "command.h"
#include "compiler.h" #include "compiler.h"
@ -119,6 +120,23 @@ ctr_lookup_static_string(const char *str)
""" """
return fmt % ("".join(code).strip(),) return fmt % ("".join(code).strip(),)
def build_call_lists(call_lists):
code = []
for funcname, funcs in call_lists.items():
func_code = [' extern void %s(void);\n %s();' % (f, f)
for f in funcs]
if funcname == 'ctr_run_taskfuncs':
func_code = [' irq_poll();\n' + fc for fc in func_code]
fmt = """
void
%s(void)
{
%s
}
"""
code.append(fmt % (funcname, "\n".join(func_code).strip()))
return "".join(code)
def build_param_types(all_param_types): def build_param_types(all_param_types):
sorted_param_types = sorted([(i, a) for a, i in all_param_types.items()]) sorted_param_types = sorted([(i, a) for a, i in all_param_types.items()])
params = [''] params = ['']
@ -271,6 +289,7 @@ def main():
encoders = [] encoders = []
static_strings = [] static_strings = []
constants = {} constants = {}
call_lists = {'ctr_run_initfuncs': []}
# Parse request file # Parse request file
f = open(incmdfile, 'rb') f = open(incmdfile, 'rb')
data = f.read() data = f.read()
@ -314,6 +333,10 @@ def main():
if name in constants and constants[name] != value: if name in constants and constants[name] != value:
error("Conflicting definition for constant '%s'" % name) error("Conflicting definition for constant '%s'" % name)
constants[name] = value constants[name] = value
elif cmd == '_DECL_CALLLIST':
funcname, callname = parts[1:]
cl = call_lists.setdefault(funcname, [])
cl.append(callname)
else: else:
error("Unknown build time command '%s'" % cmd) error("Unknown build time command '%s'" % cmd)
# Create unique ids for each message type # Create unique ids for each message type
@ -328,6 +351,7 @@ def main():
all_param_types = {} all_param_types = {}
parsercode = build_encoders(encoders, msg_to_id, all_param_types) parsercode = build_encoders(encoders, msg_to_id, all_param_types)
static_strings_code = build_static_strings(static_strings) static_strings_code = build_static_strings(static_strings)
call_lists_code = build_call_lists(call_lists)
# Create command definitions # Create command definitions
cmd_by_id = dict((msg_to_id[messages_by_name.get(msgname, msgname)], cmd) cmd_by_id = dict((msg_to_id[messages_by_name.get(msgname, msgname)], cmd)
for msgname, cmd in commands.items()) for msgname, cmd in commands.items())
@ -342,8 +366,8 @@ def main():
, static_strings, constants, version) , static_strings, constants, version)
# Write output # Write output
f = open(outcfile, 'wb') f = open(outcfile, 'wb')
f.write(FILEHEADER + paramcode + parsercode + static_strings_code f.write(FILEHEADER + call_lists_code + static_strings_code
+ cmdcode + icode) + paramcode + parsercode + cmdcode + icode)
f.close() f.close()
# Write data dictionary # Write data dictionary

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@ -191,16 +191,9 @@ def main():
for info in funcs.values(): for info in funcs.values():
funcnameroot = info.funcname.split('.')[0] funcnameroot = info.funcname.split('.')[0]
funcsbyname[funcnameroot] = info funcsbyname[funcnameroot] = info
mainfunc = funcsbyname.get('sched_main') cmdfunc = funcsbyname.get('sched_main')
cmdfunc = funcsbyname.get('command_task')
eventfunc = funcsbyname.get('__vector_13', funcsbyname.get('__vector_17')) eventfunc = funcsbyname.get('__vector_13', funcsbyname.get('__vector_17'))
for funcnameroot, info in funcsbyname.items(): for funcnameroot, info in funcsbyname.items():
if (funcnameroot.startswith('_DECL_taskfuncs_')
or funcnameroot.startswith('_DECL_initfuncs_')
or funcnameroot.startswith('_DECL_shutdownfuncs_')):
funcname = funcnameroot[funcnameroot.index('_', 7)+1:]
f = funcsbyname[funcname]
mainfunc.noteCall(0, f.funcaddr, mainfunc.basic_stack_usage + 2)
if funcnameroot.startswith('parser_'): if funcnameroot.startswith('parser_'):
f = funcsbyname.get(funcnameroot[7:]) f = funcsbyname.get(funcnameroot[7:])
if f is not None: if f is not None:

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@ -80,7 +80,7 @@ DECL_COMMAND(command_query_analog_in,
"query_analog_in oid=%c clock=%u sample_ticks=%u sample_count=%c" "query_analog_in oid=%c clock=%u sample_ticks=%u sample_count=%c"
" rest_ticks=%u min_value=%hu max_value=%hu"); " rest_ticks=%u min_value=%hu max_value=%hu");
static void void
analog_in_task(void) analog_in_task(void)
{ {
static uint16_t next; static uint16_t next;
@ -106,7 +106,7 @@ analog_in_task(void)
} }
DECL_TASK(analog_in_task); DECL_TASK(analog_in_task);
static void void
analog_in_shutdown(void) analog_in_shutdown(void)
{ {
uint8_t i; uint8_t i;

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@ -14,7 +14,7 @@ src-$(CONFIG_AVR_USBSERIAL) += avr/usbserial.c ../lib/pjrc_usb_serial/usb_serial
src-$(CONFIG_AVR_SERIAL) += avr/serial.c src-$(CONFIG_AVR_SERIAL) += avr/serial.c
# Suppress broken "misspelled signal handler" warnings on gcc 4.8.1 # Suppress broken "misspelled signal handler" warnings on gcc 4.8.1
CFLAGS_klipper.o := $(CFLAGS_klipper.o) $(if $(filter 4.8.1, $(shell $(CC) -dumpversion)), -w) CFLAGS_klipper.elf := $(CFLAGS_klipper.elf) $(if $(filter 4.8.1, $(shell $(CC) -dumpversion)), -w)
# Build the additional hex output file # Build the additional hex output file
target-y += $(OUT)klipper.elf.hex target-y += $(OUT)klipper.elf.hex

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@ -25,7 +25,7 @@ static uint8_t transmit_pos, transmit_max;
DECL_CONSTANT(SERIAL_BAUD, CONFIG_SERIAL_BAUD); DECL_CONSTANT(SERIAL_BAUD, CONFIG_SERIAL_BAUD);
static void void
serial_init(void) serial_init(void)
{ {
if (CONFIG_SERIAL_BAUD_U2X) { if (CONFIG_SERIAL_BAUD_U2X) {

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@ -71,7 +71,7 @@ timer_repeat_set(uint16_t next)
} }
// Reset the timer - clear settings and dispatch next timer immediately // Reset the timer - clear settings and dispatch next timer immediately
static void void
timer_reset(void) timer_reset(void)
{ {
uint16_t now = timer_get(); uint16_t now = timer_get();
@ -81,7 +81,7 @@ timer_reset(void)
} }
DECL_SHUTDOWN(timer_reset); DECL_SHUTDOWN(timer_reset);
static void void
timer_init(void) timer_init(void)
{ {
if (CONFIG_AVR_CLKPR != -1 && (uint8_t)CONFIG_AVR_CLKPR != CLKPR) { if (CONFIG_AVR_CLKPR != -1 && (uint8_t)CONFIG_AVR_CLKPR != CLKPR) {
@ -193,7 +193,7 @@ done:
// Periodic background task that temporarily boosts priority of // Periodic background task that temporarily boosts priority of
// timers. This helps prioritize timers when tasks are idling. // timers. This helps prioritize timers when tasks are idling.
static void void
timer_task(void) timer_task(void)
{ {
irq_disable(); irq_disable();

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@ -14,7 +14,7 @@ static char receive_buf[USBSERIAL_BUFFER_SIZE];
static uint8_t receive_pos; static uint8_t receive_pos;
static char transmit_buf[USBSERIAL_BUFFER_SIZE]; static char transmit_buf[USBSERIAL_BUFFER_SIZE];
static void void
usbserial_init(void) usbserial_init(void)
{ {
usb_init(); usb_init();

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@ -18,7 +18,7 @@ ISR(WDT_vect)
shutdown("Watchdog timer!"); shutdown("Watchdog timer!");
} }
static void void
watchdog_reset(void) watchdog_reset(void)
{ {
wdt_reset(); wdt_reset();
@ -29,7 +29,7 @@ watchdog_reset(void)
} }
DECL_TASK(watchdog_reset); DECL_TASK(watchdog_reset);
static void void
watchdog_init(void) watchdog_init(void)
{ {
// 0.5s timeout, interrupt and system reset // 0.5s timeout, interrupt and system reset

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@ -65,7 +65,7 @@ move_request_size(int size)
move_item_size = size; move_item_size = size;
} }
static void void
move_reset(void) move_reset(void)
{ {
if (!move_count) if (!move_count)
@ -201,7 +201,7 @@ DECL_COMMAND_FLAGS(command_get_uptime, HF_IN_SHUTDOWN, "get_uptime");
#define SUMSQ_BASE 256 #define SUMSQ_BASE 256
DECL_CONSTANT(STATS_SUMSQ_BASE, SUMSQ_BASE); DECL_CONSTANT(STATS_SUMSQ_BASE, SUMSQ_BASE);
static void void
stats_task(void) stats_task(void)
{ {
static uint32_t last, count, sumsq; static uint32_t last, count, sumsq;

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@ -197,7 +197,7 @@ error:
shutdown("Message encode error"); shutdown("Message encode error");
} }
static void void
sendf_shutdown(void) sendf_shutdown(void)
{ {
writeb(&in_sendf, 0); writeb(&in_sendf, 0);
@ -289,7 +289,7 @@ nak:
} }
// Background task that reads commands from the board serial port // Background task that reads commands from the board serial port
static void void
command_task(void) command_task(void)
{ {
// Process commands. // Process commands.

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@ -1,27 +0,0 @@
// Linker script that defines symbols around sections. The DECL_X()
// macros need this linker script to place _start and _end symbols
// around the list of declared items.
#include "autoconf.h" // CONFIG_MACH_AVR
#include "compiler.h" // __PASTE
#if CONFIG_MACH_AVR
#define DECL_SECTION .progmem.data.
#else
#define DECL_SECTION .rodata.
#endif
#define DECLWRAPPER(NAME) \
__PASTE(DECL_SECTION, NAME) : SUBALIGN(1) { \
NAME ## _start = . ; \
*( .rodata. ## NAME ##.pre* ) \
*( .rodata. ## NAME ##* ) \
*( .rodata. ## NAME ##.post* ) \
NAME ## _end = . ; \
}
SECTIONS
{
DECLWRAPPER(taskfuncs)
DECLWRAPPER(initfuncs)
DECLWRAPPER(shutdownfuncs)
}

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@ -112,7 +112,7 @@ command_end_stop_query(uint32_t *args)
} }
DECL_COMMAND(command_end_stop_query, "end_stop_query oid=%c"); DECL_COMMAND(command_end_stop_query, "end_stop_query oid=%c");
static void void
end_stop_task(void) end_stop_task(void)
{ {
static uint16_t next; static uint16_t next;

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@ -40,7 +40,7 @@ irq_poll(void)
} }
// Clear the active irq if a shutdown happened in an irq handler // Clear the active irq if a shutdown happened in an irq handler
static void void
clear_active_irq(void) clear_active_irq(void)
{ {
uint32_t psr; uint32_t psr;

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@ -82,7 +82,7 @@ timer_dispatch_many(void)
// Periodic background task that temporarily boosts priority of // Periodic background task that temporarily boosts priority of
// timers. This helps prioritize timers when tasks are idling. // timers. This helps prioritize timers when tasks are idling.
static void void
timer_task(void) timer_task(void)
{ {
irq_disable(); irq_disable();
@ -91,7 +91,7 @@ timer_task(void)
} }
DECL_TASK(timer_task); DECL_TASK(timer_task);
static void void
timer_irq_shutdown(void) timer_irq_shutdown(void)
{ {
timer_repeat_until = timer_read_time() + TIMER_IDLE_REPEAT_TICKS; 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)
DECL_COMMAND(command_schedule_digital_out, DECL_COMMAND(command_schedule_digital_out,
"schedule_digital_out oid=%c clock=%u value=%c"); "schedule_digital_out oid=%c clock=%u value=%c");
static void void
digital_out_shutdown(void) digital_out_shutdown(void)
{ {
uint8_t i; uint8_t i;
@ -212,7 +212,7 @@ command_schedule_soft_pwm_out(uint32_t *args)
DECL_COMMAND(command_schedule_soft_pwm_out, DECL_COMMAND(command_schedule_soft_pwm_out,
"schedule_soft_pwm_out oid=%c clock=%u value=%hu"); "schedule_soft_pwm_out oid=%c clock=%u value=%hu");
static void void
soft_pwm_shutdown(void) soft_pwm_shutdown(void)
{ {
uint8_t i; uint8_t i;

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@ -9,9 +9,10 @@ dirs-y += lib/pru_rpmsg
CFLAGS += -Os -mmcu=am335x.pru1 CFLAGS += -Os -mmcu=am335x.pru1
CFLAGS += -Ilib/pru_rpmsg/include -Ilib/pru_rpmsg/include/am335x CFLAGS += -Ilib/pru_rpmsg/include -Ilib/pru_rpmsg/include/am335x
CFLAGS_klipper.o := $(filter-out -mmcu=%, $(CFLAGS_klipper.o)) CFLAGS_klipper.elf := $(filter-out -mmcu=%, $(CFLAGS))
CFLAGS_klipper.elf := $(CFLAGS) -minrt -T src/pru/pru.lds CFLAGS_klipper.elf += -Wl,-r -nostdlib -Wl,-T,src/pru/pru.lds
CFLAGS_pru0.elf := $(filter-out -mmcu=%, $(CFLAGS)) -minrt -mmcu=am335x.pru0 CFLAGS_pru0.elf := $(filter-out -mmcu=%, $(CFLAGS)) -minrt -mmcu=am335x.pru0
CFLAGS_pru1.elf := $(CFLAGS) -minrt
# Add source files # Add source files
src-y := $(filter-out debugcmds.c, $(src-y)) src-y := $(filter-out debugcmds.c, $(src-y))
@ -22,8 +23,12 @@ pru0-y := pru/pru0.c
pru0-y += ../lib/pru_rpmsg/pru_rpmsg.c ../lib/pru_rpmsg/pru_virtqueue.c pru0-y += ../lib/pru_rpmsg/pru_rpmsg.c ../lib/pru_rpmsg/pru_virtqueue.c
# Build the additional PRU0 binary # Build the additional PRU0 binary
target-y += $(OUT)pru0.elf target-y += $(OUT)pru0.elf $(OUT)pru1.elf
$(OUT)pru0.elf: $(patsubst %.c, $(OUT)src/%.o,$(pru0-y)) $(OUT)pru0.elf: $(patsubst %.c, $(OUT)src/%.o,$(pru0-y))
@echo " Linking $@" @echo " Linking $@"
$(Q)$(CC) $(CFLAGS_pru0.elf) $^ -o $@ $(Q)$(CC) $(CFLAGS_pru0.elf) $^ -o $@
$(OUT)pru1.elf: $(OUT)klipper.elf
@echo " Linking $@"
$(Q)$(CC) $(CFLAGS_pru1.elf) $^ -o $@

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@ -75,7 +75,7 @@ irq_poll(void)
_irq_poll(); _irq_poll();
} }
static void void
timer_shutdown(void) timer_shutdown(void)
{ {
// Reenable timer irq // Reenable timer irq
@ -86,12 +86,13 @@ timer_shutdown(void)
} }
DECL_SHUTDOWN(timer_shutdown); DECL_SHUTDOWN(timer_shutdown);
static void void
timer_init(void) timer_init(void)
{ {
CT_IEP.TMR_CNT = 0; CT_IEP.TMR_CNT = 0;
timer_shutdown(); timer_shutdown();
} }
DECL_INIT(timer_init);
/**************************************************************** /****************************************************************
@ -211,8 +212,6 @@ main(void)
; ;
writel(&SHARED_MEM->signal, SIGNAL_PRU1_READY); writel(&SHARED_MEM->signal, SIGNAL_PRU1_READY);
timer_init();
sched_main(); sched_main();
return 0; return 0;
} }

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@ -59,7 +59,7 @@ command_schedule_pwm_out(uint32_t *args)
DECL_COMMAND(command_schedule_pwm_out, DECL_COMMAND(command_schedule_pwm_out,
"schedule_pwm_out oid=%c clock=%u value=%hu"); "schedule_pwm_out oid=%c clock=%u value=%hu");
static void void
pwm_shutdown(void) pwm_shutdown(void)
{ {
uint8_t i; uint8_t i;

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@ -16,14 +16,14 @@ DECL_CONSTANT(MCU, "sam3x8e");
* watchdog handler * watchdog handler
****************************************************************/ ****************************************************************/
static void void
watchdog_reset(void) watchdog_reset(void)
{ {
WDT->WDT_CR = 0xA5000001; WDT->WDT_CR = 0xA5000001;
} }
DECL_TASK(watchdog_reset); DECL_TASK(watchdog_reset);
static void void
watchdog_init(void) watchdog_init(void)
{ {
uint32_t timeout = 32768 / 2; // 500ms timeout uint32_t timeout = 32768 / 2; // 500ms timeout

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@ -27,7 +27,7 @@ static uint32_t transmit_pos, transmit_max;
DECL_CONSTANT(SERIAL_BAUD, CONFIG_SERIAL_BAUD); DECL_CONSTANT(SERIAL_BAUD, CONFIG_SERIAL_BAUD);
static void void
serial_init(void) serial_init(void)
{ {
gpio_peripheral('A', PIO_PA8A_URXD, 'A', 1); 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; return TC0->TC_CHANNEL[0].TC_CV;
} }
static void void
timer_init(void) timer_init(void)
{ {
TcChannel *tc = &TC0->TC_CHANNEL[0]; TcChannel *tc = &TC0->TC_CHANNEL[0];
@ -44,7 +44,7 @@ timer_init(void)
} }
DECL_INIT(timer_init); DECL_INIT(timer_init);
static void void
timer_shutdown(void) timer_shutdown(void)
{ {
// Reenable timer irq // Reenable timer irq

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@ -1,6 +1,6 @@
// Basic scheduling functions and startup/shutdown code. // 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. // 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. // Shutdown all user timers on an emergency stop.
static void void
sched_timer_shutdown(void) sched_timer_shutdown(void)
{ {
timer_list = &deleted_timer; timer_list = &deleted_timer;
@ -209,11 +209,8 @@ run_shutdown(void)
{ {
uint32_t cur = timer_read_time(); uint32_t cur = timer_read_time();
shutdown_status = 2; shutdown_status = 2;
struct callback_handler *p; extern void ctr_run_shutdownfuncs(void);
foreachdecl(p, shutdownfuncs) { ctr_run_shutdownfuncs();
void (*func)(void) = READP(p->func);
func();
}
shutdown_status = 1; shutdown_status = 1;
irq_enable(); irq_enable();
@ -252,39 +249,20 @@ sched_shutdown(uint_fast8_t reason)
* Startup and background task processing * Startup and background task processing
****************************************************************/ ****************************************************************/
// Invoke all init functions (as declared by DECL_INIT) // Auto-generated code in out/compile_time_requests.c
static void extern void ctr_run_initfuncs(void);
run_init(void) extern void ctr_run_taskfuncs(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();
}
}
// Main loop of program // Main loop of program
void void
sched_main(void) sched_main(void)
{ {
run_init(); ctr_run_initfuncs();
int ret = setjmp(shutdown_jmp); int ret = setjmp(shutdown_jmp);
if (ret) if (ret)
run_shutdown(); run_shutdown();
for (;;) for (;;)
run_task(); ctr_run_taskfuncs();
} }

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@ -2,14 +2,14 @@
#define __SCHED_H #define __SCHED_H
#include <stdint.h> // uint32_t #include <stdint.h> // uint32_t
#include "compiler.h" // __section #include "ctr.h" // DECL_CTR
// Declare an init function (called at firmware startup) // 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) // 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) // 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() ) // Timer structure for scheduling timed events (see sched_add_timer() )
struct timer { struct timer {
@ -33,15 +33,7 @@ void sched_report_shutdown(void);
void sched_main(void); void sched_main(void);
// Compiler glue for DECL_X macros above. // Compiler glue for DECL_X macros above.
struct callback_handler { #define _DECL_CALLLIST(NAME, FUNC) \
void (*func)(void); DECL_CTR("_DECL_CALLLIST " __stringify(NAME) " " __stringify(FUNC))
};
#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 ++)
#endif // sched.h #endif // sched.h

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@ -117,7 +117,7 @@ console_push_output(uint8_t len)
****************************************************************/ ****************************************************************/
// Periodically sleep so we don't consume all CPU // Periodically sleep so we don't consume all CPU
static void void
simu_pause(void) simu_pause(void)
{ {
// XXX - should check that no timers are present. // XXX - should check that no timers are present.

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@ -284,7 +284,7 @@ stepper_stop(struct stepper *s)
} }
} }
static void void
stepper_shutdown(void) stepper_shutdown(void)
{ {
uint8_t i; uint8_t i;