🚧 WIP cmake: enable -mcall-prologues
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plan_buffer_line WITHOUT -mcall-prologues (click to view code block)00030d68 <plan_buffer_line(float, float, float, float const&, float, float const*, unsigned int)>:
void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate, const float* gcode_start_position, uint16_t segment_idx)
{
30d68: 2f 92 push r2
30d6a: 3f 92 push r3
30d6c: 4f 92 push r4
30d6e: 5f 92 push r5
30d70: 6f 92 push r6
30d72: 7f 92 push r7
30d74: 8f 92 push r8
30d76: 9f 92 push r9
30d78: af 92 push r10
30d7a: bf 92 push r11
30d7c: cf 92 push r12
30d7e: df 92 push r13
30d80: ef 92 push r14
30d82: ff 92 push r15
30d84: 0f 93 push r16
30d86: 1f 93 push r17
30d88: cf 93 push r28
30d8a: df 93 push r29
30d8c: cd b7 in r28, 0x3d ; 61
30d8e: de b7 in r29, 0x3e ; 62
30d90: c5 58 subi r28, 0x85 ; 133
30d92: d1 09 sbc r29, r1
30d94: 0f b6 in r0, 0x3f ; 63
30d96: f8 94 cli
30d98: de bf out 0x3e, r29 ; 62
30d9a: 0f be out 0x3f, r0 ; 63
30d9c: cd bf out 0x3d, r28 ; 61
30d9e: 69 a3 std Y+33, r22 ; 0x21
30da0: 7a a3 std Y+34, r23 ; 0x22
30da2: 8b a3 std Y+35, r24 ; 0x23
30da4: 9c a3 std Y+36, r25 ; 0x24
30da6: 2d a3 std Y+37, r18 ; 0x25
30da8: 3e a3 std Y+38, r19 ; 0x26
30daa: 4f a3 std Y+39, r20 ; 0x27
30dac: 58 a7 std Y+40, r21 ; 0x28
30dae: a8 96 adiw r28, 0x28 ; 40
30db0: ec ae std Y+60, r14 ; 0x3c
30db2: fd ae std Y+61, r15 ; 0x3d
30db4: 0e af std Y+62, r16 ; 0x3e
30db6: 1f af std Y+63, r17 ; 0x3f
30db8: a8 97 sbiw r28, 0x28 ; 40
30dba: aa 96 adiw r28, 0x2a ; 42
30dbc: df ae std Y+63, r13 ; 0x3f
30dbe: ce ae std Y+62, r12 ; 0x3e
30dc0: aa 97 sbiw r28, 0x2a ; 42
30dc2: 89 aa std Y+49, r8 ; 0x31
30dc4: 99 ae std Y+57, r9 ; 0x39
30dc6: ad ae std Y+61, r10 ; 0x3d
30dc8: bd aa std Y+53, r11 ; 0x35
30dca: c5 56 subi r28, 0x65 ; 101
30dcc: df 4f sbci r29, 0xFF ; 255
30dce: 08 81 ld r16, Y
30dd0: 19 81 ldd r17, Y+1 ; 0x01
30dd2: cb 59 subi r28, 0x9B ; 155
30dd4: d0 40 sbci r29, 0x00 ; 0
// CRITICAL_SECTION_START; //prevent stack overflow in ISR
// printf_P(PSTR("plan_buffer_line(%f, %f, %f, %f, %f, %u, [%f,%f,%f,%f], %u)\n"), x, y, z, e, feed_rate, extruder, gcode_start_position[0], gcode_start_position[1], gcode_start_position[2], gcode_start_position[3], segment_idx);
// CRITICAL_SECTION_END;
// Calculate the buffer head after we push this byte
uint8_t next_buffer_head = next_block_index(block_buffer_head);
30dd6: 80 91 59 0e lds r24, 0x0E59 ; 0x800e59 <block_buffer_head>
static bool plan_reset_next_e_sched;
// Returns the index of the next block in the ring buffer
// NOTE: Removed modulo (%) operator, which uses an expensive divide and multiplication.
static inline uint8_t next_block_index(uint8_t block_index) {
if (++ block_index == BLOCK_BUFFER_SIZE)
30dda: 8f 5f subi r24, 0xFF ; 255
30ddc: a1 96 adiw r28, 0x21 ; 33
30dde: 8f af std Y+63, r24 ; 0x3f
30de0: a1 97 sbiw r28, 0x21 ; 33
30de2: 80 31 cpi r24, 0x10 ; 16
30de4: 19 f4 brne .+6 ; 0x30dec <plan_buffer_line(float, float, float, float const&, float, float const*, unsigned int)+0x84>
block_index = 0;
30de6: a1 96 adiw r28, 0x21 ; 33
30de8: 1f ae std Y+63, r1 ; 0x3f
30dea: a1 97 sbiw r28, 0x21 ; 33
// Calculate the buffer head after we push this byte
uint8_t next_buffer_head = next_block_index(block_buffer_head);
// If the buffer is full: good! That means we are well ahead of the robot.
// Rest here until there is room in the buffer.
if (block_buffer_tail == next_buffer_head) {
30dec: 80 91 5a 0e lds r24, 0x0E5A ; 0x800e5a <block_buffer_tail>
30df0: a1 96 adiw r28, 0x21 ; 33
30df2: 2f ad ldd r18, Y+63 ; 0x3f
30df4: a1 97 sbiw r28, 0x21 ; 33
30df6: 82 13 cpse r24, r18
30df8: 0f c0 rjmp .+30 ; 0x30e18 <plan_buffer_line(float, float, float, float const&, float, float const*, unsigned int)+0xb0>
do {
manage_heater();
30dfa: 0f 94 bd 2b call 0x2577a ; 0x2577a <manage_heater()>
// Vojtech: Don't disable motors inside the planner!
manage_inactivity(false);
30dfe: 80 e0 ldi r24, 0x00 ; 0
30e00: 0e 94 a2 6d call 0xdb44 ; 0xdb44 <manage_inactivity(bool)>
lcd_update(0);
30e04: 80 e0 ldi r24, 0x00 ; 0
30e06: 0e 94 90 53 call 0xa720 ; 0xa720 <lcd_update(unsigned char)>
} while (block_buffer_tail == next_buffer_head);
30e0a: 80 91 5a 0e lds r24, 0x0E5A ; 0x800e5a <block_buffer_tail>
30e0e: a1 96 adiw r28, 0x21 ; 33
30e10: 3f ad ldd r19, Y+63 ; 0x3f
30e12: a1 97 sbiw r28, 0x21 ; 33
30e14: 83 17 cp r24, r19
30e16: 89 f3 breq .-30 ; 0x30dfa <plan_buffer_line(float, float, float, float const&, float, float const*, unsigned int)+0x92>
}
#ifdef PLANNER_DIAGNOSTICS
planner_update_queue_min_counter();
#endif /* PLANNER_DIAGNOSTICS */
if(planner_aborted) {
30e18: 40 91 60 0e lds r20, 0x0E60 ; 0x800e60 <planner_aborted>
30e1c: a2 96 adiw r28, 0x22 ; 34
30e1e: 4f af std Y+63, r20 ; 0x3f
30e20: a2 97 sbiw r28, 0x22 ; 34
30e22: 44 23 and r20, r20
30e24: 11 f1 breq .+68 ; 0x30e6a <plan_buffer_line(float, float, float, float const&, float, float const*, unsigned int)+0x102>
// avoid planning the block early if aborted
SERIAL_ECHO_START;
30e26: 89 e0 ldi r24, 0x09 ; 9
30e28: 99 e6 ldi r25, 0x69 ; 105
30e2a: 0e 94 13 5b call 0xb626 ; 0xb626 <serialprintPGM(char const*)>
SERIAL_ECHOLNRPGM(_n("Move aborted"));
30e2e: 86 e3 ldi r24, 0x36 ; 54
30e30: 91 e7 ldi r25, 0x71 ; 113
30e32: 0e 94 3a 5d call 0xba74 ; 0xba74 <serialprintlnPGM(char const*)>
// The stepper timer interrupt will run continuously from now on.
// If there are no planner blocks to be executed by the stepper routine,
// the stepper interrupt ticks at 1kHz to wake up and pick a block
// from the planner queue if available.
ENABLE_STEPPER_DRIVER_INTERRUPT();
}
30e36: cb 57 subi r28, 0x7B ; 123
30e38: df 4f sbci r29, 0xFF ; 255
30e3a: 0f b6 in r0, 0x3f ; 63
30e3c: f8 94 cli
30e3e: de bf out 0x3e, r29 ; 62
30e40: 0f be out 0x3f, r0 ; 63
30e42: cd bf out 0x3d, r28 ; 61
30e44: df 91 pop r29
30e46: cf 91 pop r28
30e48: 1f 91 pop r17
30e4a: 0f 91 pop r16
30e4c: ff 90 pop r15
30e4e: ef 90 pop r14
30e50: df 90 pop r13
30e52: cf 90 pop r12
30e54: bf 90 pop r11
30e56: af 90 pop r10
30e58: 9f 90 pop r9
30e5a: 8f 90 pop r8
30e5c: 7f 90 pop r7
30e5e: 6f 90 pop r6
30e60: 5f 90 pop r5
30e62: 4f 90 pop r4
30e64: 3f 90 pop r3
30e66: 2f 90 pop r2
30e68: 08 95 ret
SERIAL_ECHOLNRPGM(_n("Move aborted"));
return;
}When plan_buffer_line WITH -mcall-prologues (click to view code block)0002fbd0 <plan_buffer_line(float, float, float, float const&, float, float const*, unsigned int)>:
void plan_buffer_line(float x, float y, float z, const float &e, float feed_rate, const float* gcode_start_position, uint16_t segment_idx)
{
2fbd0: a5 e8 ldi r26, 0x85 ; 133
2fbd2: b0 e0 ldi r27, 0x00 ; 0
2fbd4: ef e8 ldi r30, 0x8F ; 143
2fbd6: f3 e0 ldi r31, 0x03 ; 3
2fbd8: 0d 94 8a b1 jmp 0x36314 ; 0x36314 <__prologue_saves__>
2fbdc: 69 a3 std Y+33, r22 ; 0x21
2fbde: 7a a3 std Y+34, r23 ; 0x22
2fbe0: 8b a3 std Y+35, r24 ; 0x23
2fbe2: 9c a3 std Y+36, r25 ; 0x24
2fbe4: 2d a3 std Y+37, r18 ; 0x25
2fbe6: 3e a3 std Y+38, r19 ; 0x26
2fbe8: 4f a3 std Y+39, r20 ; 0x27
2fbea: 58 a7 std Y+40, r21 ; 0x28
2fbec: a8 96 adiw r28, 0x28 ; 40
2fbee: ec ae std Y+60, r14 ; 0x3c
2fbf0: fd ae std Y+61, r15 ; 0x3d
2fbf2: 0e af std Y+62, r16 ; 0x3e
2fbf4: 1f af std Y+63, r17 ; 0x3f
2fbf6: a8 97 sbiw r28, 0x28 ; 40
2fbf8: aa 96 adiw r28, 0x2a ; 42
2fbfa: df ae std Y+63, r13 ; 0x3f
2fbfc: ce ae std Y+62, r12 ; 0x3e
2fbfe: aa 97 sbiw r28, 0x2a ; 42
2fc00: 89 aa std Y+49, r8 ; 0x31
2fc02: 99 ae std Y+57, r9 ; 0x39
2fc04: ad ae std Y+61, r10 ; 0x3d
2fc06: bd aa std Y+53, r11 ; 0x35
2fc08: c5 56 subi r28, 0x65 ; 101
2fc0a: df 4f sbci r29, 0xFF ; 255
2fc0c: 08 81 ld r16, Y
2fc0e: 19 81 ldd r17, Y+1 ; 0x01
2fc10: cb 59 subi r28, 0x9B ; 155
2fc12: d0 40 sbci r29, 0x00 ; 0
// CRITICAL_SECTION_START; //prevent stack overflow in ISR
// printf_P(PSTR("plan_buffer_line(%f, %f, %f, %f, %f, %u, [%f,%f,%f,%f], %u)\n"), x, y, z, e, feed_rate, extruder, gcode_start_position[0], gcode_start_position[1], gcode_start_position[2], gcode_start_position[3], segment_idx);
// CRITICAL_SECTION_END;
// Calculate the buffer head after we push this byte
uint8_t next_buffer_head = next_block_index(block_buffer_head);
2fc14: 80 91 59 0e lds r24, 0x0E59 ; 0x800e59 <block_buffer_head>
static bool plan_reset_next_e_sched;
// Returns the index of the next block in the ring buffer
// NOTE: Removed modulo (%) operator, which uses an expensive divide and multiplication.
static inline uint8_t next_block_index(uint8_t block_index) {
if (++ block_index == BLOCK_BUFFER_SIZE)
2fc18: 8f 5f subi r24, 0xFF ; 255
2fc1a: a1 96 adiw r28, 0x21 ; 33
2fc1c: 8f af std Y+63, r24 ; 0x3f
2fc1e: a1 97 sbiw r28, 0x21 ; 33
2fc20: 80 31 cpi r24, 0x10 ; 16
2fc22: 19 f4 brne .+6 ; 0x2fc2a <plan_buffer_line(float, float, float, float const&, float, float const*, unsigned int)+0x5a>
block_index = 0;
2fc24: a1 96 adiw r28, 0x21 ; 33
2fc26: 1f ae std Y+63, r1 ; 0x3f
2fc28: a1 97 sbiw r28, 0x21 ; 33
// Calculate the buffer head after we push this byte
uint8_t next_buffer_head = next_block_index(block_buffer_head);
// If the buffer is full: good! That means we are well ahead of the robot.
// Rest here until there is room in the buffer.
if (block_buffer_tail == next_buffer_head) {
2fc2a: 80 91 5a 0e lds r24, 0x0E5A ; 0x800e5a <block_buffer_tail>
2fc2e: a1 96 adiw r28, 0x21 ; 33
2fc30: 2f ad ldd r18, Y+63 ; 0x3f
2fc32: a1 97 sbiw r28, 0x21 ; 33
2fc34: 82 13 cpse r24, r18
2fc36: 0f c0 rjmp .+30 ; 0x2fc56 <plan_buffer_line(float, float, float, float const&, float, float const*, unsigned int)+0x86>
do {
manage_heater();
2fc38: 0f 94 5e 27 call 0x24ebc ; 0x24ebc <manage_heater()>
// Vojtech: Don't disable motors inside the planner!
manage_inactivity(false);
2fc3c: 80 e0 ldi r24, 0x00 ; 0
2fc3e: 0e 94 b8 6c call 0xd970 ; 0xd970 <manage_inactivity(bool)>
lcd_update(0);
2fc42: 80 e0 ldi r24, 0x00 ; 0
2fc44: 0e 94 7d 53 call 0xa6fa ; 0xa6fa <lcd_update(unsigned char)>
} while (block_buffer_tail == next_buffer_head);
2fc48: 80 91 5a 0e lds r24, 0x0E5A ; 0x800e5a <block_buffer_tail>
2fc4c: a1 96 adiw r28, 0x21 ; 33
2fc4e: 3f ad ldd r19, Y+63 ; 0x3f
2fc50: a1 97 sbiw r28, 0x21 ; 33
2fc52: 83 17 cp r24, r19
2fc54: 89 f3 breq .-30 ; 0x2fc38 <plan_buffer_line(float, float, float, float const&, float, float const*, unsigned int)+0x68>
}
#ifdef PLANNER_DIAGNOSTICS
planner_update_queue_min_counter();
#endif /* PLANNER_DIAGNOSTICS */
if(planner_aborted) {
2fc56: 40 91 60 0e lds r20, 0x0E60 ; 0x800e60 <planner_aborted>
2fc5a: a2 96 adiw r28, 0x22 ; 34
2fc5c: 4f af std Y+63, r20 ; 0x3f
2fc5e: a2 97 sbiw r28, 0x22 ; 34
2fc60: 44 23 and r20, r20
2fc62: 69 f0 breq .+26 ; 0x2fc7e <plan_buffer_line(float, float, float, float const&, float, float const*, unsigned int)+0xae>
// avoid planning the block early if aborted
SERIAL_ECHO_START;
2fc64: 85 e2 ldi r24, 0x25 ; 37
2fc66: 9b e6 ldi r25, 0x6B ; 107
2fc68: 0e 94 ef 5a call 0xb5de ; 0xb5de <serialprintPGM(char const*)>
SERIAL_ECHOLNRPGM(_n("Move aborted"));
2fc6c: 82 e5 ldi r24, 0x52 ; 82
2fc6e: 93 e7 ldi r25, 0x73 ; 115
2fc70: 0e 94 04 5d call 0xba08 ; 0xba08 <serialprintlnPGM(char const*)>
// The stepper timer interrupt will run continuously from now on.
// If there are no planner blocks to be executed by the stepper routine,
// the stepper interrupt ticks at 1kHz to wake up and pick a block
// from the planner queue if available.
ENABLE_STEPPER_DRIVER_INTERRUPT();
}
2fc74: cb 57 subi r28, 0x7B ; 123
2fc76: df 4f sbci r29, 0xFF ; 255
2fc78: e2 e1 ldi r30, 0x12 ; 18
2fc7a: 0d 94 a6 b1 jmp 0x3634c ; 0x3634c <__epilogue_restores__>
SERIAL_ECHOLNRPGM(_n("Move aborted"));
return;
}Where we have the following new routines: __prologue_saves__ (click to view code block)00036314 <__prologue_saves__>:
36314: 2f 92 push r2
36316: 3f 92 push r3
36318: 4f 92 push r4
3631a: 5f 92 push r5
3631c: 6f 92 push r6
3631e: 7f 92 push r7
36320: 8f 92 push r8
36322: 9f 92 push r9
36324: af 92 push r10
36326: bf 92 push r11
36328: cf 92 push r12
3632a: df 92 push r13
3632c: ef 92 push r14
3632e: ff 92 push r15
36330: 0f 93 push r16
36332: 1f 93 push r17
36334: cf 93 push r28
36336: df 93 push r29
36338: cd b7 in r28, 0x3d ; 61
3633a: de b7 in r29, 0x3e ; 62
3633c: ca 1b sub r28, r26
3633e: db 0b sbc r29, r27
36340: 0f b6 in r0, 0x3f ; 63
36342: f8 94 cli
36344: de bf out 0x3e, r29 ; 62
36346: 0f be out 0x3f, r0 ; 63
36348: cd bf out 0x3d, r28 ; 61
3634a: 19 94 eijmpIt's intersting that the epilogue uses __epilogue_restores__ (click to view code block)0003634c <__epilogue_restores__>:
3634c: 2a 88 ldd r2, Y+18 ; 0x12
3634e: 39 88 ldd r3, Y+17 ; 0x11
36350: 48 88 ldd r4, Y+16 ; 0x10
36352: 5f 84 ldd r5, Y+15 ; 0x0f
36354: 6e 84 ldd r6, Y+14 ; 0x0e
36356: 7d 84 ldd r7, Y+13 ; 0x0d
36358: 8c 84 ldd r8, Y+12 ; 0x0c
3635a: 9b 84 ldd r9, Y+11 ; 0x0b
3635c: aa 84 ldd r10, Y+10 ; 0x0a
3635e: b9 84 ldd r11, Y+9 ; 0x09
36360: c8 84 ldd r12, Y+8 ; 0x08
36362: df 80 ldd r13, Y+7 ; 0x07
36364: ee 80 ldd r14, Y+6 ; 0x06
36366: fd 80 ldd r15, Y+5 ; 0x05
36368: 0c 81 ldd r16, Y+4 ; 0x04
3636a: 1b 81 ldd r17, Y+3 ; 0x03
3636c: aa 81 ldd r26, Y+2 ; 0x02
3636e: b9 81 ldd r27, Y+1 ; 0x01
36370: ce 0f add r28, r30
36372: d1 1d adc r29, r1
36374: 0f b6 in r0, 0x3f ; 63
36376: f8 94 cli
36378: de bf out 0x3e, r29 ; 62
3637a: 0f be out 0x3f, r0 ; 63
3637c: cd bf out 0x3d, r28 ; 61
3637e: ed 01 movw r28, r26
36380: 08 95 ret |
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Reading further I found that the stack pointer registers, SPH and SPL have addresses 0x3E and 0x3D 0x3F is SREG (AVR Status Register) According the info here https://gcc.gnu.org/wiki/avr-gcc, Y points to the stack frame, not the stack pointer.
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3d-gussner
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-mcall-prologues-mcall-prologues
Reduces flash memory usage by ~5KB The CMake build outputs an ASM file for the firmware image and is human readable. To see the impacted functions, look for these routines: __prologue_saves__ __epilogue_restores__ They should come in pairs. For more info about this option, see: https://gcc.gnu.org/onlinedocs/gcc-7.3.0/gcc/AVR-Options.html#AVR-Options
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Idea to reduce flash memory usage by ~5KB. There is some performance impact due to calling two routines, needs to be scoped/investigated. If we run out flash memory, then this could be a good way to free some of it.