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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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
Makefile
View File

@ -37,7 +37,6 @@ CFLAGS := -I$(OUT) -Isrc -I$(OUT)board-generic/ -O2 -MD -g \
-ffunction-sections -fdata-sections
CFLAGS += -flto -fwhole-program -fno-use-linker-plugin
CFLAGS_klipper.o = $(CFLAGS) -Wl,-r -nostdlib
CFLAGS_klipper.elf = $(CFLAGS) -Wl,--gc-sections
CPPFLAGS = -I$(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
$(Q)$(CC) $(CFLAGS) -c $(OUT)compile_time_request.c -o $@
$(OUT)declfunc.lds: src/declfunc.lds.S
@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
$(OUT)klipper.elf: $(patsubst %.c, $(OUT)src/%.o,$(src-y)) $(OUT)compile_time_request.o
@echo " Linking $@"
$(Q)$(CC) $(CFLAGS_klipper.elf) $^ -o $@

28
scripts/buildcommands.py
View File

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

9
scripts/checkstack.py
View File

@ -191,16 +191,9 @@ def main():
for info in funcs.values():
funcnameroot = info.funcname.split('.')[0]
funcsbyname[funcnameroot] = info
mainfunc = funcsbyname.get('sched_main')
cmdfunc = funcsbyname.get('command_task')
cmdfunc = funcsbyname.get('sched_main')
eventfunc = funcsbyname.get('__vector_13', funcsbyname.get('__vector_17'))
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_'):
f = funcsbyname.get(funcnameroot[7:])
if f is not None:

4
src/adccmds.c
View File

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

2
src/avr/Makefile
View File

@ -14,7 +14,7 @@ src-$(CONFIG_AVR_USBSERIAL) += avr/usbserial.c ../lib/pjrc_usb_serial/usb_serial
src-$(CONFIG_AVR_SERIAL) += avr/serial.c
# 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
target-y += $(OUT)klipper.elf.hex

2
src/avr/serial.c
View File

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

6
src/avr/timer.c
View File

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

2
src/avr/usbserial.c
View File

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

4
src/avr/watchdog.c
View File

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

4
src/basecmd.c
View File

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

4
src/command.c
View File

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

27
src/declfunc.lds.S
View File

@ -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)
}

2
src/endstop.c
View File

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

2
src/generic/armcm_irq.c
View File

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

4
src/generic/timer_irq.c
View File

@ -82,7 +82,7 @@ timer_dispatch_many(void)
// Periodic background task that temporarily boosts priority of
// timers. This helps prioritize timers when tasks are idling.
static void
void
timer_task(void)
{
irq_disable();
@ -91,7 +91,7 @@ timer_task(void)
}
DECL_TASK(timer_task);
static void
void
timer_irq_shutdown(void)
{
timer_repeat_until = timer_read_time() + TIMER_IDLE_REPEAT_TICKS;

4
src/gpiocmds.c
View File

@ -67,7 +67,7 @@ command_schedule_digital_out(uint32_t *args)
DECL_COMMAND(command_schedule_digital_out,
"schedule_digital_out oid=%c clock=%u value=%c");
static void
void
digital_out_shutdown(void)
{
uint8_t i;
@ -212,7 +212,7 @@ command_schedule_soft_pwm_out(uint32_t *args)
DECL_COMMAND(command_schedule_soft_pwm_out,
"schedule_soft_pwm_out oid=%c clock=%u value=%hu");
static void
void
soft_pwm_shutdown(void)
{
uint8_t i;

11
src/pru/Makefile
View File

@ -9,9 +9,10 @@ dirs-y += lib/pru_rpmsg
CFLAGS += -Os -mmcu=am335x.pru1
CFLAGS += -Ilib/pru_rpmsg/include -Ilib/pru_rpmsg/include/am335x
CFLAGS_klipper.o := $(filter-out -mmcu=%, $(CFLAGS_klipper.o))
CFLAGS_klipper.elf := $(CFLAGS) -minrt -T src/pru/pru.lds
CFLAGS_klipper.elf := $(filter-out -mmcu=%, $(CFLAGS))
CFLAGS_klipper.elf += -Wl,-r -nostdlib -Wl,-T,src/pru/pru.lds
CFLAGS_pru0.elf := $(filter-out -mmcu=%, $(CFLAGS)) -minrt -mmcu=am335x.pru0
CFLAGS_pru1.elf := $(CFLAGS) -minrt
# Add source files
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
# 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))
@echo " Linking $@"
$(Q)$(CC) $(CFLAGS_pru0.elf) $^ -o $@
$(OUT)pru1.elf: $(OUT)klipper.elf
@echo " Linking $@"
$(Q)$(CC) $(CFLAGS_pru1.elf) $^ -o $@

7
src/pru/main.c
View File

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

2
src/pwmcmds.c
View File

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

4
src/sam3x8e/main.c
View File

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

2
src/sam3x8e/serial.c
View File

@ -27,7 +27,7 @@ static uint32_t transmit_pos, transmit_max;
DECL_CONSTANT(SERIAL_BAUD, CONFIG_SERIAL_BAUD);
static void
void
serial_init(void)
{
gpio_peripheral('A', PIO_PA8A_URXD, 'A', 1);

4
src/sam3x8e/timer.c
View File

@ -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
View File

@ -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
View File

@ -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

2
src/simulator/main.c
View File

@ -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.

2
src/stepper.c
View File

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