sched: Add sched.c and sched.h files to make importing Klipper code easier

Add the sched.c code and associated DECL_INIT(), DECL_TASK() macros so
that it is easier to import low-level Klipper code into the CanBoot
repo.

These additional code wrappers do not increase the overall binary size
as gcc does a good job of inlining the wrappers and removing unused
code during the compile process.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>

scripts/buildcommands.py

@@ -10,6 +10,7 @@ FILEHEADER = """
 /* DO NOT EDIT! This is an autogenerated file. See scripts/buildcommands.py. */
 
 #include <stdint.h>
+#include "board/irq.h"
 #include "compiler.h"
 """
 
@@ -19,6 +20,43 @@ def error(msg):
 
 Handlers = []
 
+
+######################################################################
+# C call list generation
+######################################################################
+
+# Create dynamic C functions that call a list of other C functions
+class HandleCallList:
+    def __init__(self):
+        self.call_lists = {'ctr_run_initfuncs': []}
+        self.ctr_dispatch = { '_DECL_CALLLIST': self.decl_calllist }
+    def decl_calllist(self, req):
+        funcname, callname = req.split()[1:]
+        self.call_lists.setdefault(funcname, []).append(callname)
+    def update_data_dictionary(self, data):
+        pass
+    def generate_code(self, options):
+        code = []
+        for funcname, funcs in self.call_lists.items():
+            func_code = ['    extern void %s(void);\n    %s();' % (f, f)
+                         for f in funcs]
+            if funcname == 'ctr_run_taskfuncs':
+                add_poll = '    irq_poll();\n'
+                func_code = [add_poll + fc for fc in func_code]
+                func_code.append(add_poll)
+            fmt = """
+void
+%s(void)
+{
+    %s
+}
+"""
+            code.append(fmt % (funcname, "\n".join(func_code).strip()))
+        return "".join(code)
+
+Handlers.append(HandleCallList())
+
+
 ######################################################################
 # Enumeration and static string generation
 ######################################################################

src/Makefile

@@ -1,3 +1,3 @@
 # Main code build rules
 
-src-y += canboot_main.c led.c
+src-y += canboot_main.c sched.c led.c

src/canboot_main.c

@@ -14,6 +14,7 @@
 #include "ctr.h"            // DECL_CTR
 #include "led.h"            // check_blink_time
 #include "byteorder.h"      // cpu_to_le32
+#include "sched.h"          // sched_run_init
 
 #define PROTO_VERSION   0x00010000      // Version 1.0.0
 #define PROTO_SIZE      4
@@ -291,12 +292,10 @@ check_double_reset(void)
 static void
 enter_bootloader(void)
 {
-    can_init();
+    sched_run_init();
-    led_init();
 
     for (;;) {
-        canbus_rx_task();
+        sched_run_tasks();
-        canbus_tx_task();
         check_blink_time(blink_time);
         if (complete && canbus_tx_clear())
             // wait until we are complete and the ack has returned

src/generic/armcm_irq.c

@@ -6,6 +6,7 @@
 
 #include "board/internal.h" // __CORTEX_M
 #include "irq.h" // irqstatus_t
+#include "sched.h" // DECL_SHUTDOWN
 
 void
 irq_disable(void)
@@ -71,3 +72,4 @@ clear_active_irq(void)
         "1:\n"
         : "=&r"(temp) : "r"(psr), "r"(0xfffffff9) : "r12", "cc");
 }
+DECL_SHUTDOWN(clear_active_irq);

src/generic/canbus.c

@@ -10,6 +10,7 @@
 #include "byteorder.h" // cpu_to_le32
 #include "canbus.h" // canbus_set_uuid
 #include "canboot_main.h"
+#include "sched.h" // sched_wake_task
 
 static uint32_t canbus_assigned_id;
 static uint8_t canbus_uuid[CANBUS_UUID_LEN];
@@ -19,7 +20,7 @@ static uint8_t canbus_uuid[CANBUS_UUID_LEN];
  * Data transmission over CAN
  ****************************************************************/
 
-static volatile uint8_t canbus_tx_wake;
+static struct task_wake canbus_tx_wake;
 static uint8_t transmit_buf[96], transmit_pos, transmit_max;
 
 uint8_t
@@ -31,15 +32,14 @@ canbus_tx_clear(void)
 void
 canbus_notify_tx(void)
 {
-    canbus_tx_wake = 1;
+    sched_wake_task(&canbus_tx_wake);
 }
 
 void
 canbus_tx_task(void)
 {
-    if (!canbus_tx_wake)
+    if (!sched_check_wake(&canbus_tx_wake))
         return;
-    canbus_tx_wake = 0;
     uint32_t id = canbus_assigned_id;
     if (!id) {
         transmit_pos = transmit_max = 0;
@@ -57,6 +57,7 @@ canbus_tx_task(void)
     }
     transmit_pos = tpos;
 }
+DECL_TASK(canbus_tx_task);
 
 // Encode and transmit a "response" message
 void
@@ -93,8 +94,8 @@ canboot_sendf(uint8_t* data, uint16_t size)
 
 // Available commands and responses
 #define CANBUS_CMD_QUERY_UNASSIGNED 0x00
-#define CANBUS_CMD_SET_NODEID_CANBOOT 0x11
+#define CANBUS_CMD_SET_CANBOOT_NODEID 0x11
-#define CANBUS_CMD_CLEAR_NODE_ID_CANBOOT 0x12
+#define CANBUS_CMD_CLEAR_CANBOOT_NODEID 0x12
 #define CANBUS_RESP_NEED_NODEID 0x20
 
 // Helper to verify a UUID in a command matches this chip's UUID
@@ -118,7 +119,7 @@ can_process_query_unassigned(uint32_t id, uint32_t len, uint8_t *data)
     uint8_t send[8];
     send[0] = CANBUS_RESP_NEED_NODEID;
     memcpy(&send[1], canbus_uuid, sizeof(canbus_uuid));
-    send[7] = CANBUS_CMD_SET_NODEID_CANBOOT;
+    send[7] = CANBUS_CMD_SET_CANBOOT_NODEID;
     // Send with retry
     for (;;) {
         int ret = canbus_send(CANBUS_ID_ADMIN_RESP, 8, send);
@@ -128,7 +129,7 @@ can_process_query_unassigned(uint32_t id, uint32_t len, uint8_t *data)
 }
 
 static void
-can_process_clear_node_id(void)
+can_process_clear_canboot_nodeid(void)
 {
     canbus_assigned_id = 0;
     canbus_set_filter(canbus_assigned_id);
@@ -143,7 +144,7 @@ can_id_conflict(void)
 }
 
 static void
-can_process_set_nodeid(uint32_t id, uint32_t len, uint8_t *data)
+can_process_set_canboot_nodeid(uint32_t id, uint32_t len, uint8_t *data)
 {
     if (len < 8)
         return;
@@ -168,11 +169,11 @@ can_process(uint32_t id, uint32_t len, uint8_t *data)
     case CANBUS_CMD_QUERY_UNASSIGNED:
         can_process_query_unassigned(id, len, data);
         break;
-    case CANBUS_CMD_SET_NODEID_CANBOOT:
+    case CANBUS_CMD_SET_CANBOOT_NODEID:
-        can_process_set_nodeid(id, len, data);
+        can_process_set_canboot_nodeid(id, len, data);
         break;
-    case CANBUS_CMD_CLEAR_NODE_ID_CANBOOT:
+    case CANBUS_CMD_CLEAR_CANBOOT_NODEID:
-        can_process_clear_node_id();
+        can_process_clear_canboot_nodeid();
         break;
     }
 }
@@ -182,7 +183,13 @@ can_process(uint32_t id, uint32_t len, uint8_t *data)
  * CAN packet reading
  ****************************************************************/
 
-static volatile uint8_t canbus_rx_wake;
+static struct task_wake canbus_rx_wake;
+
+void
+canbus_notify_rx(void)
+{
+    sched_wake_task(&canbus_rx_wake);
+}
 
 // Handle incoming data (called from IRQ handler)
 void
@@ -194,19 +201,12 @@ canbus_process_data(uint32_t id, uint32_t len, uint8_t *data)
     canbus_notify_rx();
 }
 
-void
-canbus_notify_rx(void)
-{
-    canbus_rx_wake = 1;
-}
-
 // Task to process incoming commands and admin messages
 void
 canbus_rx_task(void)
 {
-    if (!canbus_rx_wake)
+    if (!sched_check_wake(&canbus_rx_wake))
         return;
-    canbus_rx_wake = 0;
 
     // Read any pending CAN packets
     for (;;) {
@@ -221,6 +221,8 @@ canbus_rx_task(void)
             can_process(id, ret, data);
     }
 }
+DECL_TASK(canbus_rx_task);
+
 
 /****************************************************************
  * Setup and shutdown
@@ -248,3 +250,4 @@ canbus_shutdown(void)
     canbus_notify_tx();
     canbus_notify_rx();
 }
+DECL_SHUTDOWN(canbus_shutdown);

src/generic/canbus.h

@@ -12,15 +12,12 @@ int canbus_read(uint32_t *id, uint8_t *data);
 int canbus_send(uint32_t id, uint32_t len, uint8_t *data);
 void canbus_set_filter(uint32_t id);
 void canbus_reboot(void);
-void can_init(void);
 
 // canbus.c
 void canbus_notify_tx(void);
 void canbus_notify_rx(void);
 void canbus_process_data(uint32_t id, uint32_t len, uint8_t *data);
 void canbus_set_uuid(void *data);
-void canbus_tx_task(void);
-void canbus_rx_task(void);
 uint8_t canbus_tx_clear(void);
 
 #endif // canbus.h

src/led.c

@@ -9,6 +9,7 @@
 #include "board/misc.h" // timer_read_time
 #include "ctr.h" // DECL_CTR
 #include "led.h" // check_blink_time
+#include "sched.h" // DECL_INIT
 
 DECL_CTR("DECL_LED_PIN " __stringify(CONFIG_STATUS_LED_PIN));
 extern uint32_t led_gpio, led_gpio_high; // Generated by buildcommands.py
@@ -27,6 +28,7 @@ led_init(void)
     udelay(10);
     last_blink_time = timer_read_time();
 }
+DECL_INIT(led_init);
 
 void
 check_blink_time(uint32_t usec)

src/led.h

@@ -1,7 +1,6 @@
 #ifndef __LED_H
 #define __LED_H
 
-void led_init();
 void check_blink_time(uint32_t usec);
 
 #endif // led.h

src/sched.c

@@ -0,0 +1,41 @@
+// Basic scheduling functions and startup code
+//
+// Copyright (C) 2016-2022  Kevin O'Connor <kevin@koconnor.net>
+//
+// This file may be distributed under the terms of the GNU GPLv3 license.
+
+#include "board/io.h" // readb
+#include "sched.h" // sched_check_periodic
+
+// Note that a task is ready to run
+void
+sched_wake_task(struct task_wake *w)
+{
+    writeb(&w->wake, 1);
+}
+
+// Check if a task is ready to run (as indicated by sched_wake_task)
+uint8_t
+sched_check_wake(struct task_wake *w)
+{
+    if (!readb(&w->wake))
+        return 0;
+    writeb(&w->wake, 0);
+    return 1;
+}
+
+void
+sched_run_init(void)
+{
+    // Run all init functions marked with DECL_INIT()
+    extern void ctr_run_initfuncs(void);
+    ctr_run_initfuncs();
+}
+
+void
+sched_run_tasks(void)
+{
+    // Run all task functions marked with DECL_TASK()
+    extern void ctr_run_taskfuncs(void);
+    ctr_run_taskfuncs();
+}

src/sched.h

@@ -0,0 +1,29 @@
+#ifndef __SCHED_H
+#define __SCHED_H
+
+#include <stdint.h> // uint32_t
+#include "ctr.h" // DECL_CTR
+
+// Declare an init function (called at firmware startup)
+#define DECL_INIT(FUNC) _DECL_CALLLIST(ctr_run_initfuncs, FUNC)
+// Declare a task function (called periodically during normal runtime)
+#define DECL_TASK(FUNC) _DECL_CALLLIST(ctr_run_taskfuncs, FUNC)
+// Declare a shutdown function (called on an emergency stop)
+#define DECL_SHUTDOWN(FUNC) _DECL_CALLLIST(ctr_run_shutdownfuncs, FUNC)
+
+// Task waking struct
+struct task_wake {
+    uint8_t wake;
+};
+
+// sched.c
+void sched_wake_task(struct task_wake *w);
+uint8_t sched_check_wake(struct task_wake *w);
+void sched_run_init(void);
+void sched_run_tasks(void);
+
+// Compiler glue for DECL_X macros above.
+#define _DECL_CALLLIST(NAME, FUNC)                                      \
+    DECL_CTR("_DECL_CALLLIST " __stringify(NAME) " " __stringify(FUNC))
+
+#endif // sched.h

src/stm32/can.c

@@ -13,7 +13,7 @@
 #include "generic/armcm_boot.h" // armcm_enable_irq
 #include "generic/canbus.h" // canbus_notify_tx
 #include "internal.h" // enable_pclock
-#include "ctr.h"      // DECL_CONSTANT_STR
+#include "sched.h" // DECL_INIT
 
 #if CONFIG_STM32_CANBUS_PA11_PA12 || CONFIG_STM32_CANBUS_PA11_PA12_REMAP
  DECL_CONSTANT_STR("RESERVE_PINS_CAN", "PA11,PA12");
@@ -317,3 +317,4 @@ can_init(void)
     uint64_t hash = fasthash64((uint8_t*)UID_BASE, 12, 0xA16231A7);
     canbus_set_uuid(&hash);
 }
+DECL_INIT(can_init);