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🚧 Extra debug space / debug trampoline #302

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🚧 Extra debug space / debug trampoline #302

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5bf3cef
Add a custom linker script and boot section
wavexx Jan 23, 2022
5fb5ad9
Move speed tables into the boot section in debug
wavexx Jan 23, 2022
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7 changes: 1 addition & 6 deletions CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -135,15 +135,10 @@ add_executable(firmware)
set_target_properties(firmware PROPERTIES CXX_STANDARD 14)

if(CMAKE_CROSSCOMPILING)
#[[
# configure linker script
# configure the linker script
set(LINKER_SCRIPT ${CMAKE_CURRENT_SOURCE_DIR}/src/avr5.xn)
target_link_options(firmware PUBLIC -Wl,-T,${LINKER_SCRIPT})
add_link_dependency(firmware ${LINKER_SCRIPT})
#]]

# limit the text section to 28K (32K - 4k reserved for the bootloader)
target_link_options(firmware PUBLIC -Wl,--defsym=__TEXT_REGION_LENGTH__=28K)

# generate firmware.bin file
objcopy(firmware "ihex" ".hex")
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277 changes: 277 additions & 0 deletions src/avr5.xn
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Original file line number Diff line number Diff line change
@@ -0,0 +1,277 @@
/* Script for -n: mix text and data on same page */
/* Copyright (C) 2014-2015 Free Software Foundation, Inc.
Copying and distribution of this script, with or without modification,
are permitted in any medium without royalty provided the copyright
notice and this notice are preserved. */
OUTPUT_FORMAT("elf32-avr","elf32-avr","elf32-avr")
OUTPUT_ARCH(avr:5)
__TEXT_REGION_ORIGIN__ = 0;
__BOOT_REGION_ORIGIN__ = 0x7000;
__DATA_REGION_ORIGIN__ = DEFINED(__DATA_REGION_ORIGIN__) ? __DATA_REGION_ORIGIN__ : 0x800060;
__TEXT_REGION_LENGTH__ = 28K;
__BOOT_REGION_LENGTH__ = 4K;
__DATA_REGION_LENGTH__ = DEFINED(__DATA_REGION_LENGTH__) ? __DATA_REGION_LENGTH__ : 0xffa0;
__EEPROM_REGION_LENGTH__ = DEFINED(__EEPROM_REGION_LENGTH__) ? __EEPROM_REGION_LENGTH__ : 64K;
__FUSE_REGION_LENGTH__ = DEFINED(__FUSE_REGION_LENGTH__) ? __FUSE_REGION_LENGTH__ : 1K;
__LOCK_REGION_LENGTH__ = DEFINED(__LOCK_REGION_LENGTH__) ? __LOCK_REGION_LENGTH__ : 1K;
__SIGNATURE_REGION_LENGTH__ = DEFINED(__SIGNATURE_REGION_LENGTH__) ? __SIGNATURE_REGION_LENGTH__ : 1K;
__USER_SIGNATURE_REGION_LENGTH__ = DEFINED(__USER_SIGNATURE_REGION_LENGTH__) ? __USER_SIGNATURE_REGION_LENGTH__ : 1K;
MEMORY
{
text (rx) : ORIGIN = __TEXT_REGION_ORIGIN__, LENGTH = __TEXT_REGION_LENGTH__
boot (rx) : ORIGIN = __BOOT_REGION_ORIGIN__, LENGTH = __BOOT_REGION_LENGTH__
data (rw!x) : ORIGIN = __DATA_REGION_ORIGIN__, LENGTH = __DATA_REGION_LENGTH__
eeprom (rw!x) : ORIGIN = 0x810000, LENGTH = __EEPROM_REGION_LENGTH__
fuse (rw!x) : ORIGIN = 0x820000, LENGTH = __FUSE_REGION_LENGTH__
lock (rw!x) : ORIGIN = 0x830000, LENGTH = __LOCK_REGION_LENGTH__
signature (rw!x) : ORIGIN = 0x840000, LENGTH = __SIGNATURE_REGION_LENGTH__
user_signatures (rw!x) : ORIGIN = 0x850000, LENGTH = __USER_SIGNATURE_REGION_LENGTH__
}
SECTIONS
{
/* Read-only sections, merged into text segment: */
.hash : { *(.hash) }
.dynsym : { *(.dynsym) }
.dynstr : { *(.dynstr) }
.gnu.version : { *(.gnu.version) }
.gnu.version_d : { *(.gnu.version_d) }
.gnu.version_r : { *(.gnu.version_r) }
.rel.init : { *(.rel.init) }
.rela.init : { *(.rela.init) }
.rel.text :
{
*(.rel.text)
*(.rel.text.*)
*(.rel.gnu.linkonce.t*)
}
.rela.text :
{
*(.rela.text)
*(.rela.text.*)
*(.rela.gnu.linkonce.t*)
}
.rel.fini : { *(.rel.fini) }
.rela.fini : { *(.rela.fini) }
.rel.rodata :
{
*(.rel.rodata)
*(.rel.rodata.*)
*(.rel.gnu.linkonce.r*)
}
.rela.rodata :
{
*(.rela.rodata)
*(.rela.rodata.*)
*(.rela.gnu.linkonce.r*)
}
.rel.data :
{
*(.rel.data)
*(.rel.data.*)
*(.rel.gnu.linkonce.d*)
}
.rela.data :
{
*(.rela.data)
*(.rela.data.*)
*(.rela.gnu.linkonce.d*)
}
.rel.ctors : { *(.rel.ctors) }
.rela.ctors : { *(.rela.ctors) }
.rel.dtors : { *(.rel.dtors) }
.rela.dtors : { *(.rela.dtors) }
.rel.got : { *(.rel.got) }
.rela.got : { *(.rela.got) }
.rel.bss : { *(.rel.bss) }
.rela.bss : { *(.rela.bss) }
.rel.plt : { *(.rel.plt) }
.rela.plt : { *(.rela.plt) }
/* Internal text space or external memory. */
.text :
{
*(.vectors)
KEEP(*(.vectors))
/* For data that needs to reside in the lower 64k of progmem. */
*(.progmem.gcc*)
/* PR 13812: Placing the trampolines here gives a better chance
that they will be in range of the code that uses them. */
. = ALIGN(2);
__trampolines_start = . ;
/* The jump trampolines for the 16-bit limited relocs will reside here. */
*(.trampolines)
*(.trampolines*)
__trampolines_end = . ;
/* avr-libc expects these data to reside in lower 64K. */
*libprintf_flt.a:*(.progmem.data)
*libc.a:*(.progmem.data)
*(.progmem*)
. = ALIGN(2);
/* For future tablejump instruction arrays for 3 byte pc devices.
We don't relax jump/call instructions within these sections. */
*(.jumptables)
*(.jumptables*)
/* For code that needs to reside in the lower 128k progmem. */
*(.lowtext)
*(.lowtext*)
__ctors_start = . ;
*(.ctors)
__ctors_end = . ;
__dtors_start = . ;
*(.dtors)
__dtors_end = . ;
KEEP(SORT(*)(.ctors))
KEEP(SORT(*)(.dtors))
/* From this point on, we don't bother about wether the insns are
below or above the 16 bits boundary. */
*(.init0) /* Start here after reset. */
KEEP (*(.init0))
*(.init1)
KEEP (*(.init1))
*(.init2) /* Clear __zero_reg__, set up stack pointer. */
KEEP (*(.init2))
*(.init3)
KEEP (*(.init3))
*(.init4) /* Initialize data and BSS. */
KEEP (*(.init4))
*(.init5)
KEEP (*(.init5))
*(.init6) /* C++ constructors. */
KEEP (*(.init6))
*(.init7)
KEEP (*(.init7))
*(.init8)
KEEP (*(.init8))
*(.init9) /* Call main(). */
KEEP (*(.init9))
*(.text)
. = ALIGN(2);
*(.text.*)
. = ALIGN(2);
*(.fini9) /* _exit() starts here. */
KEEP (*(.fini9))
*(.fini8)
KEEP (*(.fini8))
*(.fini7)
KEEP (*(.fini7))
*(.fini6) /* C++ destructors. */
KEEP (*(.fini6))
*(.fini5)
KEEP (*(.fini5))
*(.fini4)
KEEP (*(.fini4))
*(.fini3)
KEEP (*(.fini3))
*(.fini2)
KEEP (*(.fini2))
*(.fini1)
KEEP (*(.fini1))
*(.fini0) /* Infinite loop after program termination. */
KEEP (*(.fini0))
_etext = . ;
} > text
/* Space normally reserved for the bootloader, abused in debug builds. */
.boot :
{
/* Boot trampoline. */
*(.boot)
KEEP (*(.boot))
/* Other optional symbols. */
*(.boot*)
} > boot
.data :
{
PROVIDE (__data_start = .) ;
*(.data)
*(.data*)
*(.gnu.linkonce.d*)
*(.rodata) /* We need to include .rodata here if gcc is used */
*(.rodata*) /* with -fdata-sections. */
*(.gnu.linkonce.r*)
. = ALIGN(2);
_edata = . ;
PROVIDE (__data_end = .) ;
} > data AT> text
.bss ADDR(.data) + SIZEOF (.data) : AT (ADDR (.bss))
{
PROVIDE (__bss_start = .) ;
*(.bss)
*(.bss*)
*(COMMON)
PROVIDE (__bss_end = .) ;
} > data
__data_load_start = LOADADDR(.data);
__data_load_end = __data_load_start + SIZEOF(.data);
/* Global data not cleared after reset. */
.noinit ADDR(.bss) + SIZEOF (.bss) : AT (ADDR (.noinit))
{
PROVIDE (__noinit_start = .) ;
*(.noinit*)
PROVIDE (__noinit_end = .) ;
_end = . ;
PROVIDE (__heap_start = .) ;
} > data
.eeprom :
{
/* See .data above... */
KEEP(*(.eeprom*))
__eeprom_end = . ;
} > eeprom
.fuse :
{
KEEP(*(.fuse))
KEEP(*(.lfuse))
KEEP(*(.hfuse))
KEEP(*(.efuse))
} > fuse
.lock :
{
KEEP(*(.lock*))
} > lock
.signature :
{
KEEP(*(.signature*))
} > signature
.user_signatures :
{
KEEP(*(.user_signatures*))
} > user_signatures
/* Stabs debugging sections. */
.stab 0 : { *(.stab) }
.stabstr 0 : { *(.stabstr) }
.stab.excl 0 : { *(.stab.excl) }
.stab.exclstr 0 : { *(.stab.exclstr) }
.stab.index 0 : { *(.stab.index) }
.stab.indexstr 0 : { *(.stab.indexstr) }
.comment 0 : { *(.comment) }
.note.gnu.build-id : { *(.note.gnu.build-id) }
/* DWARF debug sections.
Symbols in the DWARF debugging sections are relative to the beginning
of the section so we begin them at 0. */
/* DWARF 1 */
.debug 0 : { *(.debug) }
.line 0 : { *(.line) }
/* GNU DWARF 1 extensions */
.debug_srcinfo 0 : { *(.debug_srcinfo) }
.debug_sfnames 0 : { *(.debug_sfnames) }
/* DWARF 1.1 and DWARF 2 */
.debug_aranges 0 : { *(.debug_aranges) }
.debug_pubnames 0 : { *(.debug_pubnames) }
/* DWARF 2 */
.debug_info 0 : { *(.debug_info .gnu.linkonce.wi.*) }
.debug_abbrev 0 : { *(.debug_abbrev) }
.debug_line 0 : { *(.debug_line .debug_line.* .debug_line_end ) }
.debug_frame 0 : { *(.debug_frame) }
.debug_str 0 : { *(.debug_str) }
.debug_loc 0 : { *(.debug_loc) }
.debug_macinfo 0 : { *(.debug_macinfo) }
/* SGI/MIPS DWARF 2 extensions */
.debug_weaknames 0 : { *(.debug_weaknames) }
.debug_funcnames 0 : { *(.debug_funcnames) }
.debug_typenames 0 : { *(.debug_typenames) }
.debug_varnames 0 : { *(.debug_varnames) }
/* DWARF 3 */
.debug_pubtypes 0 : { *(.debug_pubtypes) }
.debug_ranges 0 : { *(.debug_ranges) }
/* DWARF Extension. */
.debug_macro 0 : { *(.debug_macro) }
}
7 changes: 7 additions & 0 deletions src/main.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -360,3 +360,10 @@ int main() {
}
return 0;
}

#if defined(_DEBUG) && defined(__AVR__)
/// Bootloader trampoline to restart normal execution
void __attribute__((naked, section(".boot"))) boot() {
asm volatile("jmp 0x0");
}
#endif
4 changes: 2 additions & 2 deletions src/modules/speed_table.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -6,7 +6,7 @@ namespace speed_table {

#if F_CPU == 16000000

const st_timer_t speed_table_fast[256][2] PROGMEM = {
const st_timer_t speed_table_fast[256][2] ST_PROGMEM = {
{ 62500, 55556 }, { 6944, 3268 }, { 3676, 1176 }, { 2500, 607 }, { 1893, 369 }, { 1524, 249 }, { 1275, 179 }, { 1096, 135 },
{ 961, 105 }, { 856, 85 }, { 771, 69 }, { 702, 58 }, { 644, 49 }, { 595, 42 }, { 553, 37 }, { 516, 32 },
{ 484, 28 }, { 456, 25 }, { 431, 23 }, { 408, 20 }, { 388, 19 }, { 369, 16 }, { 353, 16 }, { 337, 14 },
Expand Down Expand Up @@ -41,7 +41,7 @@ const st_timer_t speed_table_fast[256][2] PROGMEM = {
{ 31, 0 }, { 31, 0 }, { 31, 0 }, { 31, 1 }, { 30, 0 }, { 30, 0 }, { 30, 0 }, { 30, 0 }
};

const st_timer_t speed_table_slow[256][2] PROGMEM = {
const st_timer_t speed_table_slow[256][2] ST_PROGMEM = {
{ 62500, 12500 }, { 50000, 8334 }, { 41666, 5952 }, { 35714, 4464 }, { 31250, 3473 }, { 27777, 2777 }, { 25000, 2273 }, { 22727, 1894 },
{ 20833, 1603 }, { 19230, 1373 }, { 17857, 1191 }, { 16666, 1041 }, { 15625, 920 }, { 14705, 817 }, { 13888, 731 }, { 13157, 657 },
{ 12500, 596 }, { 11904, 541 }, { 11363, 494 }, { 10869, 453 }, { 10416, 416 }, { 10000, 385 }, { 9615, 356 }, { 9259, 331 },
Expand Down
11 changes: 9 additions & 2 deletions src/modules/speed_table.h
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Original file line number Diff line number Diff line change
Expand Up @@ -5,6 +5,13 @@
#include "../hal/cpu.h"
#include "math.h"

// Move speed tables into the bootloader section in debug builds to conserve data space
#if defined(_DEBUG) && defined(__AVR__)
#define ST_PROGMEM __attribute__((section(".boot1")))
#else
#define ST_PROGMEM PROGMEM
#endif

namespace modules {

/// Speed tables for acceleration calculations
Expand All @@ -17,10 +24,10 @@ static_assert(F_CPU / config::stepTimerFrequencyDivider == 2000000,
"speed tables not compatible for the requested frequency");

/// Lookup table for rates equal or higher than 8*256
extern const st_timer_t speed_table_fast[256][2] PROGMEM;
extern const st_timer_t speed_table_fast[256][2] ST_PROGMEM;

/// Lookup table for lower step rates
extern const st_timer_t speed_table_slow[256][2] PROGMEM;
extern const st_timer_t speed_table_slow[256][2] ST_PROGMEM;

/// Calculate the next timer interval and steps according to current step rate
static inline st_timer_t calc_timer(st_timer_t step_rate, uint8_t &step_loops) {
Expand Down
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