2.11.1 (#7)

2.11.1 release. Changes include:

* Fix broken fault reporting
* Add newlines to errorMessages
* Add issue template and contributing message
* Add PROS CLI template generation to automated build
* Implement watchdog timer
* Document watchdog timer and how best to work with it
* Naming fixes and more accurate task timing
* Update Jenkinsfile build
* A new README for a new world

.github/CONTRIBUTING.md

@@ -0,0 +1,22 @@
+# Contributing to PROS
+
+:tada: :+1: :steam_locomotive: Thanks for taking the time to contribute :steam_locomotive: :+1: :tada:
+
+**Did you find a bug?**
+- **Verify the bug lies in PROS.** We receive quite a few reports that are due to bugs in user code, not the kernel.
+- Ensure the bug wasn't already reported by searching GitHub [issues](https://github.com/purduesigbots/pros/issues)
+- If you're unable to find an issue, [open](https://github.com/purduesigbots/pros/issues/new) a new one.
+
+**Did you patch a bug or add a new feature?**
+1. [Fork](https://github.com/purduesigbots/pros/fork) and clone the repository
+2. Create a new branch: `git checkout -b my-branch-name`
+3. Make your changes
+4. Push to your fork and submit a pull request.
+5. Wait for your pull request to be reviewed. In order to ensure that the PROS kernel is stable, we take extra time to test pull requests. As a result, your pull request may take some time to be merged into master.
+
+Here are a few tips that can help expedite your pull request being accepted:
+- Follow existing code's style.
+- Document why you made the changes you did
+- Keep your change as focused as possible. If you have multiple independent changes, make a pull request for each.
+- If you did some testing, describe your procedure and results.
+- If you're fixing an issue, reference it by number

.github/ISSUE_TEMPLATE.md

@@ -0,0 +1,10 @@
+#### Expected Behavior:
+
+#### Actual Behavior:
+
+#### Steps to reproduce:
+
+#### System information:
+Kernel Version:
+
+#### Additional Information

Jenkinsfile

@@ -0,0 +1,40 @@
+stage('Build') {
+	def build_ver = '2.11.0'
+	node('win') {
+		def venv = new edu.purdue.pros.venv()
+		stage('Clean') {
+			if(isUnix()) {
+				sh 'git init'
+				sh 'git clean -x -d -f'
+			} else {
+				bat 'git init'
+				bat 'git clean -x -d -f'
+			}
+		}
+		stage('PROS CLI') {
+			tool 'python3'
+			if(isUnix()) {
+			    sh 'sudo apt-get install -y python3-pip'
+			}
+			venv.create_virtualenv()
+			venv.run 'pip3 install --no-cache-dir git+git://github.com/purduesigbots/pros-cli.git@master', sudo = true
+		}
+		stage('Clone') {
+			checkout scm
+			if(isUnix()) {
+				sh 'git describe --tags > version'
+			} else {
+				bat 'git describe --tags > version'
+			}
+			build_ver = readFile 'version'
+			echo "Build PROS at version ${build_ver}"
+		}
+		toolchain_dir = tool 'arm-gcc'
+		withEnv(["PROS_TOOLCHAIN=${toolchain_dir}"]) {
+		    venv.run 'pros conduct first-run --use-defaults --no-download --no-force'
+		    venv.run 'pros make template'
+		}
+		zip archive: true, dir: 'template', glob: '', zipFile: "kernel-template.zip"
+	}
+}
+

Makefile

@@ -23,7 +23,16 @@ CPPSRC:=$(wildcard *.$(CPPEXT))
 CPPOBJ:=$(patsubst %.o,$(BINDIR)/%.o,$(CPPSRC:.$(CPPEXT)=.o))
 OUT:=$(BINDIR)/$(OUTNAME)
 
-.PHONY: all clean documentation library upload _force_look
+.PHONY: all clean documentation library template upload _force_look release develop
+
+# default version just uses the latest tag
+VERSION := `git describe --abbrev=0`
+release:
+	$(eval CCFLAGS += -D FW_VERSION="$(VERSION)")
+
+develop:
+	$(eval VERSION := `git describe --abbrev=1`)
+	$(eval CCFLAGS += -D FW_VERSION="$(VERSION)")
 
 # By default, compile program
 all: $(BINDIR) $(OUT)
@@ -50,6 +59,14 @@ library: clean $(BINDIR) $(SUBDIRS) $(ASMOBJ) $(COBJ) $(CPPOBJ)
 	$(MCUPREFIX)ar rvs $(BINDIR)/$(LIBNAME)_sym.a $(BINDIR)/*.o
 	$(MCUPREFIX)objcopy -S -g --strip-unneeded --keep-symbols public.txt $(BINDIR)/$(LIBNAME)_sym.a $(BINDIR)/$(LIBNAME).a
 
+TEMPLATEFILES:=src/auto.c src/init.c src/opcontrol.c include/API.h include/main.h firmware
+template: library
+	-rm -rf $(addprefix $(ROOT)/template/,$(TEMPLATEFILES))
+	mkdir -p $(ROOT)/template/src $(ROOT)/template/inlcude $(ROOT)/template/firmware
+	$(foreach f,$(TEMPLATEFILES),cp -r $(ROOT)/$(f) $(ROOT)/template/$(f); )
+	cp $(BINDIR)/$(LIBNAME).a $(ROOT)/template/firmware/$(LIBNAME).a
+	pros conduct create-template kernel $(VERSION) pros-mainline --location $(ROOT)/template -u "firmware/$(LIBNAME).a" -u "include/API.h" -u "common.mk" -i "template.pros"
+
 # Builds the documentation
 documentation:
 	doxygen Doxyfile

include/API.h

@@ -1578,6 +1578,14 @@ void wait(const unsigned long time);
  * @param time the duration of the delay in milliseconds (1 000 milliseconds per second)
  */
 void waitUntil(unsigned long *previousWakeTime, const unsigned long time);
+/**
+ * Enables IWDG watchdog timer which will reset the cortex if it locks up due to static shock
+ * or a misbehaving task preventing the timer to be reset. Not recovering from static shock
+ * will cause the robot to continue moving its motors indefinitely until turned off manually.
+ *
+ * This function should only be called once in initializeIO()
+ */
+void watchdogInit();
 
 // End C++ extern to C
 #ifdef __cplusplus

include/kernel.h

@@ -27,7 +27,7 @@ extern "C" {
 
 #define FW_VERSION_MAJOR "2"
 #define FW_VERSION_MINOR "11"
-#define FW_VERSION_PATCH "0"
+#define FW_VERSION_PATCH "1"
 
 #define FW_VERSION FW_VERSION_MAJOR "." FW_VERSION_MINOR "." FW_VERSION_PATCH
 

include/watchdog.h

@@ -0,0 +1,29 @@
+/*
+ * watchdog.h - IWDG API for reseting the cortex when something goes wrong
+ *
+ * Copyright (c) 2011-2016, Purdue University ACM SIGBots.
+ * All rights reserved.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ *
+ * PROS contains FreeRTOS (http://www.freertos.org) whose source code may be
+ * obtained from http://sourceforge.net/projects/freertos/files/ or on request.
+ */
+
+#ifndef WATCHDOG_H_
+#define WATCHDOG_H_
+
+/*
+ * Public API Function to enable watchdog.
+ * Must be called in initializeIO
+ */
+void watchdogInit();
+
+/*
+ * Initilaizes the watchdog and feed task if watchdog is enabled
+ */
+void watchdogStart();
+
+#endif

public.txt

@@ -96,4 +96,5 @@ delayMicroseconds
 micros
 millis
 wait
-waitUntil
+waitUntil
+iwdgEnable

src/kernel.c

@@ -19,6 +19,7 @@
 #include <periph.h>
 #include <supervisor.h>
 #include <taskpriv.h>
+#include <watchdog.h>
 
 // Low-resolution clock
 extern volatile uint32_t _clockLowRes;
@@ -29,15 +30,15 @@ extern volatile uint32_t _clockLowRes;
 // Error messages for _exit
 // Since SDIV by 0 is configured not to fault, no divide by 0 can occur here
 static const char * const errorMessages[] = {
-	"Segmentation fault", "Segmentation fault", "Illegal instruction",
-	"Stack overflow", "System task failure"
+	"Segmentation fault\n", "Segmentation fault\n", "Illegal instruction\n",
+	"Stack overflow\n", "System task failure\n"
 };
 static const char * const crashMessage =
 	"\r\nThe VEX Cortex has stopped working!\r\nError cause: ";
 
 // _exit - Exits the program with an error message
 void __attribute__((noreturn)) _exit(int status) {
-	char c; const char *buffer = (const char *)crashMessage;
+	char c; char const * buffer = crashMessage;
 	__disable_irq();
 	// No point in safeRobot(), since no interrupts can run and therefore no
 	// EXTI or SPI interrupts can be used to send state/start user code
@@ -49,7 +50,7 @@ void __attribute__((noreturn)) _exit(int status) {
 	}
 	// Dump message
 	if ((unsigned int)status < 5U) {
-		buffer = (const char *)&errorMessages[status];
+		buffer = errorMessages[status];
 		while ((c = *buffer++) != 0) {
 			while (!(USART1->SR & USART_SR_TXE));
 			USART1->DR = c;
@@ -120,6 +121,8 @@ void startKernel() {
 	//__libc_init_array();
 	// User I/O initialization, really should be empty in most cases
 	initializeIO();
+	// Watchdog initialization, resets cortex when it locks up
+	watchdogStart();
 #ifndef NO_FILESYSTEM
 	// File system scan with the TRIM enabled/disabled
 	fsScan((csr & RCC_CSR_PORRSTF) ? true : false);

src/watchdog.c

@@ -0,0 +1,53 @@
+/*
+ * watchdog.c - IWDG API for reseting the cortex when something goes wrong
+ *
+ * Copyright (c) 2011-2016, Purdue University ACM SIGBots.
+ * All rights reserved.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ *
+ * PROS contains FreeRTOS (http://www.freertos.org) whose source code may be
+ * obtained from http://sourceforge.net/projects/freertos/files/ or on request.
+ */
+
+#include <stdint.h>
+#include <watchdog.h>
+#include <task.h>
+
+static bool iwdgEnabled = false;
+
+// iwdgInit - Enables the watchdog
+void watchdogInit() {
+	iwdgEnabled = true;
+}
+
+// iwdgFeed - Resets the watchdog's timer
+static inline void _iwdgFeed() {
+	IWDG->KR = 0xAAAA;
+}
+
+static void _iwdgTask(void* ud) {
+	(void)(ud);
+	clock_t now = timeLowRes();
+	for (;;) {
+		_iwdgFeed();
+		taskDelayUntil(&now, 125);
+	}
+}
+
+// iwdgStart - Initializes the watchdog with a timeout
+void watchdogStart() {
+  // implementation based on STM32 IWDG guidance. (https://goo.gl/sQaIF3)
+	if (!iwdgEnabled) return;
+
+	IWDG->KR = 0x5555; // enable access to iwdg reg (prevents accidental writes into iwdg cofig by runaway code)
+	IWDG->PR = 2; // prescaler divides low speed internal (LSI) oscillator
+	IWDG->RLR = 2500; // (timeout * 40) / exp(2, (2 + prescalerCode)) as per specification
+	IWDG->KR = 0xAAAA; // refresh the watchdog (i.e. load these settings)
+	IWDG->KR = 0xCCCC; // start the watchdog
+	_iwdgFeed(); // feed it once and start the task
+
+	taskCreate(_iwdgTask, TASK_MINIMAL_STACK_SIZE, NULL, TASK_PRIORITY_DEFAULT);
+}

template/Makefile

@@ -0,0 +1,53 @@
+# Universal C Makefile for MCU targets
+
+# Path to project root (NO trailing slash!)
+ROOT=..
+# Binary output directory
+BINDIR=$(ROOT)/bin
+# Subdirectories to include in the build
+SUBDIRS=
+
+# Nothing below here needs to be modified by typical users
+
+# Include common aspects of this project
+-include $(ROOT)/common.mk
+
+ASMSRC:=$(wildcard *.$(ASMEXT))
+ASMOBJ:=$(patsubst %.o,$(BINDIR)/%.o,$(ASMSRC:.$(ASMEXT)=.o))
+HEADERS:=$(wildcard *.$(HEXT))
+CSRC=$(wildcard *.$(CEXT))
+COBJ:=$(patsubst %.o,$(BINDIR)/%.o,$(CSRC:.$(CEXT)=.o))
+CPPSRC:=$(wildcard *.$(CPPEXT))
+CPPOBJ:=$(patsubst %.o,$(BINDIR)/%.o,$(CPPSRC:.$(CPPEXT)=.o))
+OUT:=$(BINDIR)/$(OUTNAME)
+
+.PHONY: all do_subdirs _force_look
+
+# By default, compile program
+all: do_subdirs .
+
+# Phony force-look target
+_force_look:
+	@true
+
+# Compiles the program if anything is changed
+.: $(SUBDIRS) $(ASMOBJ) $(COBJ) $(CPPOBJ)
+	@touch .
+
+# Builds the subdirectories
+do_subdirs: _force_look
+	@for dir in $(SUBDIRS); do $(MAKE) --no-print-directory -C $$dir || exit 1; done
+
+# Assembly source file management
+$(ASMOBJ): $(BINDIR)/%.o: %.$(ASMEXT)
+	@echo AS $<
+	@$(AS) $(AFLAGS) -o $@ $<
+
+# Object management
+$(COBJ): $(BINDIR)/%.o: %.$(CEXT) $(HEADERS)
+	@echo CC $(INCLUDE) $<
+	@$(CC) $(INCLUDE) $(CFLAGS) -o $@ $<
+
+$(CPPOBJ): $(BINDIR)/%.o: %.$(CPPEXT) $(HEADERS)
+	@echo CPC $(INCLUDE) $<
+	@$(CPPCC) $(INCLUDE) $(CPPFLAGS) -o $@ $<

template/common.mk

@@ -0,0 +1,47 @@
+# Universal C Makefile for MCU targets
+# Top-level template file to configure build
+
+MAKE_COMMAND=make
+
+# Makefile for IFI VeX Cortex Microcontroller (STM32F103VD series)
+DEVICE=VexCortex
+# Libraries to include in the link (use -L and -l) e.g. -lm, -lmyLib
+LIBRARIES=$(wildcard $(ROOT)/firmware/*.a) -lgcc -lm
+# Prefix for ARM tools (must be on the path)
+MCUPREFIX=arm-none-eabi-
+# Flags for the assembler
+MCUAFLAGS=-mthumb -mcpu=cortex-m3 -mlittle-endian
+# Flags for the compiler
+MCUCFLAGS=-mthumb -mcpu=cortex-m3 -mlittle-endian -mfloat-abi=soft
+# Flags for the linker
+MCULFLAGS=-nostartfiles -Wl,-static -Bfirmware -Wl,-u,VectorTable -Wl,-T -Xlinker firmware/cortex.ld
+# Prepares the elf file by converting it to a binary that java can write
+MCUPREPARE=$(OBJCOPY) $(OUT) -O binary $(BINDIR)/$(OUTBIN)
+# Advanced sizing flags
+SIZEFLAGS=
+# Uploads program using java
+UPLOAD=@java -jar firmware/uniflash.jar vex $(BINDIR)/$(OUTBIN)
+
+# Advanced options
+ASMEXT=s
+CEXT=c
+CPPEXT=cpp
+HEXT=h
+INCLUDE=-I$(ROOT)/include -I$(ROOT)/src
+OUTBIN=output.bin
+OUTNAME=output.elf
+
+# Flags for programs
+AFLAGS:=$(MCUAFLAGS)
+ARFLAGS:=$(MCUCFLAGS)
+CCFLAGS:=-c -Wall $(MCUCFLAGS) -Os -ffunction-sections -fsigned-char -fomit-frame-pointer -fsingle-precision-constant
+CFLAGS:=$(CCFLAGS) -std=gnu99 -Werror=implicit-function-declaration
+CPPFLAGS:=$(CCFLAGS) -fno-exceptions -fno-rtti -felide-constructors
+LDFLAGS:=-Wall $(MCUCFLAGS) $(MCULFLAGS) -Wl,--gc-sections
+
+# Tools used in program
+AR:=$(MCUPREFIX)ar
+AS:=$(MCUPREFIX)as
+CC:=$(MCUPREFIX)gcc
+CPPCC:=$(MCUPREFIX)g++
+OBJCOPY:=$(MCUPREFIX)objcopy