26 files changed, 82 insertions, 127 deletions
diff --git a/Makefile b/Makefile
index 39535898..8e1965a0 100644
--- a/Makefile
+++ b/Makefile
@@ -37,7 +37,6 @@ CFLAGS := -I$(OUT) -Isrc -I$(OUT)board-generic/ -O2 -MD -g \
     -ffunction-sections -fdata-sections
 CFLAGS += -flto -fwhole-program -fno-use-linker-plugin
 
-CFLAGS_klipper.o = $(CFLAGS) -Wl,-r -nostdlib
 CFLAGS_klipper.elf = $(CFLAGS) -Wl,--gc-sections
 
 CPPFLAGS = -I$(OUT) -P -MD -MT $@
@@ -84,15 +83,7 @@ $(OUT)compile_time_request.o: $(patsubst %.c, $(OUT)src/%.o.ctr,$(src-y)) ./scri
 	$(Q)$(PYTHON) ./scripts/buildcommands.py -d $(OUT)klipper.dict $(OUT)klipper.compile_time_request $(OUT)compile_time_request.c
 	$(Q)$(CC) $(CFLAGS) -c $(OUT)compile_time_request.c -o $@
 
-$(OUT)declfunc.lds: src/declfunc.lds.S
-	@echo "  Precompiling $@"
-	$(Q)$(CPP) $(CPPFLAGS) -D__ASSEMBLY__ $< -o $@
-
-$(OUT)klipper.o: $(patsubst %.c, $(OUT)src/%.o,$(src-y)) $(OUT)compile_time_request.o $(OUT)declfunc.lds
-	@echo "  Linking $@"
-	$(Q)$(CC) $(CFLAGS_klipper.o) -Wl,-T,$(OUT)declfunc.lds $(patsubst %.c, $(OUT)src/%.o,$(src-y))  $(OUT)compile_time_request.o -o $@
-
-$(OUT)klipper.elf: $(OUT)klipper.o
+$(OUT)klipper.elf: $(patsubst %.c, $(OUT)src/%.o,$(src-y)) $(OUT)compile_time_request.o
 	@echo "  Linking $@"
 	$(Q)$(CC) $(CFLAGS_klipper.elf) $^ -o $@
 
diff --git a/scripts/buildcommands.py b/scripts/buildcommands.py
index 54a01caa..3935fa63 100644
--- a/scripts/buildcommands.py
+++ b/scripts/buildcommands.py
@@ -13,6 +13,7 @@ import msgproto
 FILEHEADER = """
 /* DO NOT EDIT!  This is an autogenerated file.  See scripts/buildcommands.py. */
 
+#include "board/irq.h"
 #include "board/pgm.h"
 #include "command.h"
 #include "compiler.h"
@@ -119,6 +120,23 @@ ctr_lookup_static_string(const char *str)
 """
     return fmt % ("".join(code).strip(),)
 
+def build_call_lists(call_lists):
+    code = []
+    for funcname, funcs in call_lists.items():
+        func_code = ['    extern void %s(void);\n    %s();' % (f, f)
+                     for f in funcs]
+        if funcname == 'ctr_run_taskfuncs':
+            func_code = ['    irq_poll();\n' + fc for fc in func_code]
+        fmt = """
+void
+%s(void)
+{
+    %s
+}
+"""
+        code.append(fmt % (funcname, "\n".join(func_code).strip()))
+    return "".join(code)
+
 def build_param_types(all_param_types):
     sorted_param_types = sorted([(i, a) for a, i in all_param_types.items()])
     params = ['']
@@ -271,6 +289,7 @@ def main():
     encoders = []
     static_strings = []
     constants = {}
+    call_lists = {'ctr_run_initfuncs': []}
     # Parse request file
     f = open(incmdfile, 'rb')
     data = f.read()
@@ -314,6 +333,10 @@ def main():
             if name in constants and constants[name] != value:
                 error("Conflicting definition for constant '%s'" % name)
             constants[name] = value
+        elif cmd == '_DECL_CALLLIST':
+            funcname, callname = parts[1:]
+            cl = call_lists.setdefault(funcname, [])
+            cl.append(callname)
         else:
             error("Unknown build time command '%s'" % cmd)
     # Create unique ids for each message type
@@ -328,6 +351,7 @@ def main():
     all_param_types = {}
     parsercode = build_encoders(encoders, msg_to_id, all_param_types)
     static_strings_code = build_static_strings(static_strings)
+    call_lists_code = build_call_lists(call_lists)
     # Create command definitions
     cmd_by_id = dict((msg_to_id[messages_by_name.get(msgname, msgname)], cmd)
                      for msgname, cmd in commands.items())
@@ -342,8 +366,8 @@ def main():
                                      , static_strings, constants, version)
     # Write output
     f = open(outcfile, 'wb')
-    f.write(FILEHEADER + paramcode + parsercode + static_strings_code
-            + cmdcode + icode)
+    f.write(FILEHEADER + call_lists_code + static_strings_code
+            + paramcode + parsercode + cmdcode + icode)
     f.close()
 
     # Write data dictionary
diff --git a/scripts/checkstack.py b/scripts/checkstack.py
index 07d88176..34314218 100755
--- a/scripts/checkstack.py
+++ b/scripts/checkstack.py
@@ -191,16 +191,9 @@ def main():
     for info in funcs.values():
         funcnameroot = info.funcname.split('.')[0]
         funcsbyname[funcnameroot] = info
-    mainfunc = funcsbyname.get('sched_main')
-    cmdfunc = funcsbyname.get('command_task')
+    cmdfunc = funcsbyname.get('sched_main')
     eventfunc = funcsbyname.get('__vector_13', funcsbyname.get('__vector_17'))
     for funcnameroot, info in funcsbyname.items():
-        if (funcnameroot.startswith('_DECL_taskfuncs_')
-            or funcnameroot.startswith('_DECL_initfuncs_')
-            or funcnameroot.startswith('_DECL_shutdownfuncs_')):
-            funcname = funcnameroot[funcnameroot.index('_', 7)+1:]
-            f = funcsbyname[funcname]
-            mainfunc.noteCall(0, f.funcaddr, mainfunc.basic_stack_usage + 2)
         if funcnameroot.startswith('parser_'):
             f = funcsbyname.get(funcnameroot[7:])
             if f is not None:
diff --git a/src/adccmds.c b/src/adccmds.c
index 5f1fabb4..526325ad 100644
--- a/src/adccmds.c
+++ b/src/adccmds.c
@@ -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;
diff --git a/src/avr/Makefile b/src/avr/Makefile
index fa9258b1..94cebfff 100644
--- a/src/avr/Makefile
+++ b/src/avr/Makefile
@@ -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
diff --git a/src/avr/serial.c b/src/avr/serial.c
index 8628b602..3aff121f 100644
--- a/src/avr/serial.c
+++ b/src/avr/serial.c
@@ -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) {
diff --git a/src/avr/timer.c b/src/avr/timer.c
index a0acac73..92459af3 100644
--- a/src/avr/timer.c
+++ b/src/avr/timer.c
@@ -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();
diff --git a/src/avr/usbserial.c b/src/avr/usbserial.c
index 4cf1bd0f..3b14ea0a 100644
--- a/src/avr/usbserial.c
+++ b/src/avr/usbserial.c
@@ -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();
diff --git a/src/avr/watchdog.c b/src/avr/watchdog.c
index 306f2cd8..61b5fc5f 100644
--- a/src/avr/watchdog.c
+++ b/src/avr/watchdog.c
@@ -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
diff --git a/src/basecmd.c b/src/basecmd.c
index 600b8106..742a9e26 100644
--- a/src/basecmd.c
+++ b/src/basecmd.c
@@ -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;
diff --git a/src/command.c b/src/command.c
index 522b0223..2a248f16 100644
--- a/src/command.c
+++ b/src/command.c
@@ -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.
diff --git a/src/declfunc.lds.S b/src/declfunc.lds.S
deleted file mode 100644
index ba564bbf..00000000
--- a/src/declfunc.lds.S
+++ /dev/null
@@ -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)
-}
diff --git a/src/endstop.c b/src/endstop.c
index 7a1fb1d9..aaaf1baa 100644
--- a/src/endstop.c
+++ b/src/endstop.c
@@ -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;
diff --git a/src/generic/armcm_irq.c b/src/generic/armcm_irq.c
index 9c01ab0d..7778c389 100644
--- a/src/generic/armcm_irq.c
+++ b/src/generic/armcm_irq.c
@@ -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;
diff --git a/src/generic/timer_irq.c b/src/generic/timer_irq.c
index 69f4e64a..07161eee 100644
--- a/src/generic/timer_irq.c
+++ b/src/generic/timer_irq.c
@@ -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;
diff --git a/src/gpiocmds.c b/src/gpiocmds.c
index a0e476b9..69f60f97 100644
--- a/src/gpiocmds.c
+++ b/src/gpiocmds.c
@@ -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;
diff --git a/src/pru/Makefile b/src/pru/Makefile
index 4e326955..5f5739b4 100644
--- a/src/pru/Makefile
+++ b/src/pru/Makefile
@@ -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 $@
diff --git a/src/pru/main.c b/src/pru/main.c
index df69a01e..46722709 100644
--- a/src/pru/main.c
+++ b/src/pru/main.c
@@ -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;
 }
diff --git a/src/pwmcmds.c b/src/pwmcmds.c
index f5a289d2..4709a91e 100644
--- a/src/pwmcmds.c
+++ b/src/pwmcmds.c
@@ -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;
diff --git a/src/sam3x8e/main.c b/src/sam3x8e/main.c
index 50cc18b4..63c27cd7 100644
--- a/src/sam3x8e/main.c
+++ b/src/sam3x8e/main.c
@@ -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
diff --git a/src/sam3x8e/serial.c b/src/sam3x8e/serial.c
index 9203385d..2b76a69b 100644
--- a/src/sam3x8e/serial.c
+++ b/src/sam3x8e/serial.c
@@ -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);
diff --git a/src/sam3x8e/timer.c b/src/sam3x8e/timer.c
index 498e22cb..0bc21dae 100644
--- a/src/sam3x8e/timer.c
+++ b/src/sam3x8e/timer.c
@@ -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
diff --git a/src/sched.c b/src/sched.c
index f82b0060..542e3747 100644
--- a/src/sched.c
+++ b/src/sched.c
@@ -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();
 }
diff --git a/src/sched.h b/src/sched.h
index 9d6411d0..ad5c2c08 100644
--- a/src/sched.h
+++ b/src/sched.h
@@ -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
diff --git a/src/simulator/main.c b/src/simulator/main.c
index 72d0abaf..47dd49f4 100644
--- a/src/simulator/main.c
+++ b/src/simulator/main.c
@@ -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.
diff --git a/src/stepper.c b/src/stepper.c
index 258ecfda..09c615a2 100644
--- a/src/stepper.c
+++ b/src/stepper.c
@@ -284,7 +284,7 @@ stepper_stop(struct stepper *s)
     }
 }
 
-static void
+void
 stepper_shutdown(void)
 {
     uint8_t i;