✨ Link Time Optimization (LTO)

common.mk

@@ -3,7 +3,7 @@ DEVICE=VEX EDR V5
 
 MFLAGS=-mcpu=cortex-a9 -mfpu=neon-fp16 -mfloat-abi=hard -Os -g
 CPPFLAGS=-D_POSIX_THREADS -D_UNIX98_THREAD_MUTEX_ATTRIBUTES -D_POSIX_TIMERS -D_POSIX_MONOTONIC_CLOCK
-GCCFLAGS=-ffunction-sections -fdata-sections -fdiagnostics-color -funwind-tables
+GCCFLAGS=-ffunction-sections -fdata-sections -fdiagnostics-color -funwind-tables -flto
 
 # Check if the llemu files in libvgl exist. If they do, define macros that the
 # llemu headers in the kernel repo can use to conditionally include the libvgl
@@ -43,7 +43,7 @@ LDFLAGS=$(MFLAGS) $(WARNFLAGS) -nostdlib $(GCCFLAGS)
 SIZEFLAGS=-d --common
 NUMFMTFLAGS=--to=iec --format %.2f --suffix=B
 
-AR:=$(ARCHTUPLE)ar
+AR:=$(ARCHTUPLE)gcc-ar
 # using arm-none-eabi-as generates a listing by default. This produces a super verbose output.
 # Using gcc accomplishes the same thing without the extra output
 AS:=$(ARCHTUPLE)gcc

include/pros/rtos.h

@@ -820,7 +820,7 @@ uint32_t task_notify_take(bool clear_on_exit, uint32_t timeout);
  * }
  * \endcode
  */
-bool task_notify_clear(task_t task);
+int32_t task_notify_clear(task_t task);
 
 /**
  * Creates a mutex.

include/rtos/tcb.h

@@ -3,6 +3,28 @@
 #include "rtos/FreeRTOS.h"
 #include "rtos/list.h"
 
+/* Sometimes the FreeRTOSConfig.h settings only allow a task to be created using
+dynamically allocated RAM, in which case when any task is deleted it is known
+that both the task's stack and TCB need to be freed.  Sometimes the
+FreeRTOSConfig.h settings only allow a task to be created using statically
+allocated RAM, in which case when any task is deleted it is known that neither
+the task's stack or TCB should be freed.  Sometimes the FreeRTOSConfig.h
+settings allow a task to be created using either statically or dynamically
+allocated RAM, in which case a member of the TCB is used to record whether the
+stack and/or TCB were allocated statically or dynamically, so when a task is
+deleted the RAM that was allocated dynamically is freed again and no attempt is
+made to free the RAM that was allocated statically.
+tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE is only true if it is possible for a
+task to be created using either statically or dynamically allocated RAM.  Note
+that if portUSING_MPU_WRAPPERS is 1 then a protected task can be created with
+a statically allocated stack and a dynamically allocated TCB.
+!!!NOTE!!! If the definition of tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE is
+changed then the definition of static_task_s_t must also be updated. */
+#define tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE	( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
+#define tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB 		( ( uint8_t ) 0 )
+#define tskSTATICALLY_ALLOCATED_STACK_ONLY 			( ( uint8_t ) 1 )
+#define tskSTATICALLY_ALLOCATED_STACK_AND_TCB		( ( uint8_t ) 2 )
+
 /*
  * Task control block.  A task control block (TCB) is allocated for each task,
  * and stores task state information, including a pointer to the task's context

include/system/hot.h

@@ -1,5 +1,7 @@
 #pragma once
 
+#include <unwind-arm-common.h>
+
 struct hot_table {
 	char const* compile_timestamp;
 	char const* compile_directory;
@@ -14,4 +16,13 @@ struct hot_table {
 	} functions;
 };
 
+// exidx is the table that tells the unwinder how to unwind a stack frame
+// for a PC. Under hot/cold, there's two tables and the unwinder was kind
+// enough to let us implement a function to give it a table for a PC so
+// support for hot/cold is as easy as it gets
+struct __EIT_entry {
+	_uw fnoffset;
+	_uw content;
+};
+
 extern struct hot_table* const HOT_TABLE;

src/rtos/tasks.c

@@ -77,28 +77,6 @@ functions but without including stdio.h here. */
  */
 #define tskSTACK_FILL_BYTE	( 0xa5U )
 
-/* Sometimes the FreeRTOSConfig.h settings only allow a task to be created using
-dynamically allocated RAM, in which case when any task is deleted it is known
-that both the task's stack and TCB need to be freed.  Sometimes the
-FreeRTOSConfig.h settings only allow a task to be created using statically
-allocated RAM, in which case when any task is deleted it is known that neither
-the task's stack or TCB should be freed.  Sometimes the FreeRTOSConfig.h
-settings allow a task to be created using either statically or dynamically
-allocated RAM, in which case a member of the TCB is used to record whether the
-stack and/or TCB were allocated statically or dynamically, so when a task is
-deleted the RAM that was allocated dynamically is freed again and no attempt is
-made to free the RAM that was allocated statically.
-tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE is only true if it is possible for a
-task to be created using either statically or dynamically allocated RAM.  Note
-that if portUSING_MPU_WRAPPERS is 1 then a protected task can be created with
-a statically allocated stack and a dynamically allocated TCB.
-!!!NOTE!!! If the definition of tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE is
-changed then the definition of static_task_s_t must also be updated. */
-#define tskSTATIC_AND_DYNAMIC_ALLOCATION_POSSIBLE	( ( configSUPPORT_STATIC_ALLOCATION == 1 ) && ( configSUPPORT_DYNAMIC_ALLOCATION == 1 ) )
-#define tskDYNAMICALLY_ALLOCATED_STACK_AND_TCB 		( ( uint8_t ) 0 )
-#define tskSTATICALLY_ALLOCATED_STACK_ONLY 			( ( uint8_t ) 1 )
-#define tskSTATICALLY_ALLOCATED_STACK_AND_TCB		( ( uint8_t ) 2 )
-
 /* If any of the following are set then task stacks are filled with a known
 value so the high water mark can be determined.  If none of the following are
 set then don't fill the stack so there is no unnecessary dependency on memset. */

src/system/hot.c

@@ -23,8 +23,8 @@ extern char const* _PROS_COMPILE_TIMESTAMP;
 extern char const* _PROS_COMPILE_DIRECTORY;
 extern const int   _PROS_COMPILE_TIMESTAMP_INT;
 
-extern unsigned __exidx_start;
-extern unsigned __exidx_end;
+extern struct __EIT_entry __exidx_start;
+extern struct __EIT_entry __exidx_end;
 
 // this expands to a bunch of:
 // extern void autonomous();

src/system/unwind.c

@@ -72,14 +72,6 @@ static inline void print_phase2_vrs(struct phase2_vrs* vrs) {
 	fputs("\n", stderr);
 }
 
-// exidx is the table that tells the unwinder how to unwind a stack frame
-// for a PC. Under hot/cold, there's two tables and the unwinder was kind
-// enough to let us implement a function to give it a table for a PC so
-// support for hot/cold is as easy as it gets
-struct __EIT_entry {
-	_uw fnoffset;
-	_uw content;
-};
 // these are all defined by the linker
 extern struct __EIT_entry __exidx_start;
 extern struct __EIT_entry __exidx_end;