3D-printing/klipper
1
0
Fork 0
mirror of https://github.com/Klipper3d/klipper.git synced 2025-08-05 04:54:11 -06:00
Code Issues Projects Releases Packages Wiki Activity Actions 4

build: Use compile_time_request system for init, tasks, and shutdown

Browse source 
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
Download patch file Download diff file Expand all files Collapse all files

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;