Release 3.1.6

purduesigbots · Feb 18, 2019 · cb1c2ad · cb1c2ad
2 parents f185362 + 5a642a7
commit cb1c2ad
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Showing 29 changed files with 816 additions and 343 deletions.
diff --git a/Makefile b/Makefile
@@ -1,70 +1,66 @@
+################################################################################
+######################### User configurable parameters #########################
+# filename extensions
 CEXTS:=c
 ASMEXTS:=s S
 CXXEXTS:=cpp c++ cc
 
-WARNFLAGS=-Wall -Wpedantic
-
-LIBNAME=libpros
-LIBAR=$(BINDIR)/$(LIBNAME).a
-
+# probably shouldn't modify these, but you may need them below
 ROOT=.
 FWDIR:=$(ROOT)/firmware
 BINDIR=$(ROOT)/bin
 SRCDIR=$(ROOT)/src
 INCDIR=$(ROOT)/include
-IFI_INC=$(FWDIR)/libv5rts/sdk/vexv5/include
-SDK=$(FWDIR)/libv5rts/sdk/vexv5/libv5rts.a
-
-.DEFAULT_GOAL:=quick
+EXTRA_INCDIR=$(FWDIR)/libv5rts/sdk/vexv5/include
 
--include ./common.mk
-
-EXCLUDE_SRCDIRS=$(SRCDIR)/tests
-EXCLUDE_FROM_LIB=$(SRCDIR)/opcontrol.cpp $(SRCDIR)/initialize.cpp $(SRCDIR)/autonomous.cpp
-LIBV5RTS_EXTRACTION_DIR=$(BINDIR)/libv5rts
+# Directories to be excluded from all builds
+EXCLUDE_SRCDIRS+=$(SRCDIR)/tests
 
-TEMPLATE_DIR=$(ROOT)/template
-TEMPLATE_FILES=$(ROOT)/common.mk $(FWDIR)/v5.ld $(INCDIR)/api.h $(INCDIR)/main.h $(INCDIR)/pros/*.* $(SRCDIR)/opcontrol.cpp $(SRCDIR)/initialize.cpp $(SRCDIR)/autonomous.cpp $(INCDIR)/display
+WARNFLAGS+=-Wall -Wpedantic
+EXTRA_CFLAGS=
+EXTRA_CXXFLAGS=
 
-INCLUDE=-iquote$(INCDIR) -iquote$(IFI_INC)
+.DEFAULT_GOAL=quick
+USE_PACKAGE:=0
 
-ASMSRC=$(foreach asmext,$(ASMEXTS),$(call rwildcard, $(SRCDIR),*.$(asmext), $1))
-ASMOBJ=$(addprefix $(BINDIR)/,$(patsubst $(SRCDIR)/%,%.o,$(call ASMSRC,$1)))
-CSRC=$(foreach cext,$(CEXTS),$(call rwildcard, $(SRCDIR),*.$(cext), $1))
-COBJ=$(addprefix $(BINDIR)/,$(patsubst $(SRCDIR)/%,%.o,$(call CSRC,$1)))
-CXXSRC=$(foreach cxxext,$(CXXEXTS),$(call rwildcard, $(SRCDIR),*.$(cxxext), $1))
-CXXOBJ=$(addprefix $(BINDIR)/,$(patsubst $(SRCDIR)/%,%.o,$(call CXXSRC,$1)))
+# Set this to 1 to add additional rules to compile your project as a PROS library template
+IS_LIBRARY:=1
+LIBNAME:=libpros
+VERSION=$(shell cat $(ROOT)/version)
+# EXCLUDE_SRC_FROM_LIB= $(SRCDIR)/unpublishedfile.c
+EXCLUDE_SRC_FROM_LIB+=$(EXCLUDE_SRCDIRS)
+# this line excludes opcontrol.c and similar files
+EXCLUDE_SRC_FROM_LIB+=$(foreach file, $(SRCDIR)/opcontrol $(SRCDIR)/initialize $(SRCDIR)/autonomous,$(foreach cext,$(CEXTS),$(file).$(cext)) $(foreach cxxext,$(CXXEXTS),$(file).$(cxxext)))
 
-GETALLOBJ=$(sort $(call ASMOBJ,$1) $(call COBJ,$1) $(call CXXOBJ,$1))
+# files that get distributed to every user (beyond your source archive) - add
+# whatever files you want here. This line is configured to add all header files
+# that are in the the include directory get exported
+TEMPLATE_FILES=$(ROOT)/common.mk $(FWDIR)/v5.ld $(FWDIR)/v5-common.ld $(FWDIR)/v5-hot.ld
+TEMPLATE_FILES+= $(INCDIR)/api.h $(INCDIR)/main.h $(INCDIR)/pros/*.* $(INCDIR)/display
+TEMPLATE_FILES+= $(SRCDIR)/opcontrol.cpp $(SRCDIR)/initialize.cpp $(SRCDIR)/autonomous.cpp
 
-LIBRARIES=-L$(FWDIR) -Wl,--start-group $(wildcard $(FWDIR)/*.a) $(SDK) -lc -lm -lgcc -lstdc++ -lsupc++ -Wl,--end-group
-ARCHIVE_TEXT_LIST:=$(subst $(SPACE),$(COMMA),$(notdir $(basename $(wildcard $(FWDIR)/*.a) $(SDK))))
+PATCHED_SDK=$(FWDIR)/libv5rts/sdk/vexv5/libv5rts.patched.a
 
-ifndef OUTBIN
-OUTNAME:=output
-endif
-OUTBIN:=$(BINDIR)/$(OUTNAME).bin
-OUTELF:=$(BINDIR)/$(OUTNAME).elf
-LDTIMEOBJ:=$(BINDIR)/_pros_ld_timestamp.o
+EXTRA_LIB_DEPS=$(INCDIR)/api.h $(PATCHED_SDK)
 
-.PHONY: all clean quick library clean-library template clean-template version fix-libv5rts
-
-quick: $(OUTBIN)
-
-all: clean $(OUTBIN)
+################################################################################
+################################################################################
+########## Nothing below this line should be edited by typical users ###########
+-include ./common.mk
 
-clean: clean-library
-	@echo Cleaning project
-	-$Drm -rf $(BINDIR)
+.PHONY: $(INCDIR)/api.h
+$(INCDIR)/api.h: version.py
+	$(VV)python version.py
 
-clean-library:
-	@echo Cleaning libpros
-	-$Drm -f $(LIBAR)
+$(PATCHED_SDK): $(FWDIR)/libv5rts/sdk/vexv5/libv5rts.a
+	@echo -n "Stripping unwanted symbols from libv5rts.a "
+	$(call test_output,$D$(STRIP) $^ @libv5rts-strip-options.txt -o $@, $(DONE_STRING))
 
-library: version clean-library $(LIBAR)
 
-version: version.py
-	$(VV)python version.py
+CREATE_TEMPLATE_ARGS=--system "./**/*"
+CREATE_TEMPLATE_ARGS+=--user "src/opcontrol.{c,cpp,cc}" --user "src/initialize.{cpp,c,cc}" --user "src/autonomous.{cpp,c,cc}" --user "include/main.{hpp,h,hh}" --user "Makefile"
+CREATE_TEMPLATE_ARGS+=--target v5
+CREATE_TEMPLATE_ARGS+=--output bin/monolith.bin --cold_output bin/cold.package.bin --hot_output bin/hot.package.bin --cold_addr 58720256 --hot_addr 125829120
 
 template: clean-template library
 	$(VV)mkdir -p $(TEMPLATE_DIR)
@@ -74,68 +70,16 @@ template: clean-template library
 	$Dcp $(LIBAR) $(TEMPLATE_DIR)/firmware
 	$Dcp $(ROOT)/template-Makefile $(TEMPLATE_DIR)/Makefile
 	@echo "Creating template"
-	$Dprosv5 c create-template $(TEMPLATE_DIR) kernel $(shell cat $(ROOT)/version) --system "./**/*" --user "src/opcontrol.{c,cpp,cc}" --user "src/initialize.{cpp,c,cc}" --user "src/autonomous.{cpp,c,cc}" --user "include/main.{hpp,h,hh}" --user "Makefile" --target v5 --output bin/output.bin
-
-clean-template:
-	-$Drm -rf $(TEMPLATE_DIR)
-
-fix-libv5rts:
-	@echo -n "Stripping unwanted symbols from libv5rts.a "
-	$(call test_output,$D$(STRIP) $(SDK) @libv5rts-strip-options.txt,$(DONE_STRING))
+	$Dprosv5 c create-template $(TEMPLATE_DIR) kernel $(shell cat $(ROOT)/version) $(CREATE_TEMPLATE_ARGS)
 
-$(LIBAR): fix-libv5rts $(call GETALLOBJ,$(EXCLUDE_SRCDIRS) $(EXCLUDE_FROM_LIB))
+LIBV5RTS_EXTRACTION_DIR=$(BINDIR)/libv5rts
+$(LIBAR): $(call GETALLOBJ,$(EXCLUDE_SRC_FROM_LIB)) $(EXTRA_LIB_DEPS)
 	$(VV)mkdir -p $(LIBV5RTS_EXTRACTION_DIR)
 	@echo -n "Extracting libv5rts "
-	$(call test_output,$Dcd $(LIBV5RTS_EXTRACTION_DIR) && $(AR) x ../../$(SDK),$(DONE_STRING))
-	$(eval LIBV5RTS_OBJECTS := $(shell $(AR) t $(SDK)))
+	$(call test_output,$Dcd $(LIBV5RTS_EXTRACTION_DIR) && $(AR) x ../../$(PATCHED_SDK),$(DONE_STRING))
+	$(eval LIBV5RTS_OBJECTS := $(shell $(AR) t $(PATCHED_SDK)))
+	-$Drm -f $@
 	@echo -n "Creating $@ "
-	$(call test_output,$D$(AR) rcs $@ $(addprefix $(LIBV5RTS_EXTRACTION_DIR)/, $(LIBV5RTS_OBJECTS)) $(filter-out fix-libv5rts,$^),$(DONE_STRING))
+	$(call test_output,$D$(AR) rcs $@ $(addprefix $(LIBV5RTS_EXTRACTION_DIR)/, $(LIBV5RTS_OBJECTS)) $(call GETALLOBJ,$(EXCLUDE_SRC_FROM_LIB)),$(DONE_STRING))
 # @echo -n "Stripping non-public symbols "
 # $(call test_output,$D$(OBJCOPY) -S -D -g --strip-unneeded --keep-symbols public_symbols.txt $@,$(DONE_STRING))
-
-$(OUTBIN): $(OUTELF)
-	$(VV)mkdir -p $(dir $@)
-	@echo -n "Creating $@ for $(DEVICE) "
-	$(call test_output,$D$(OBJCOPY) $< -O binary $@,$(DONE_STRING))
-
-$(OUTELF): fix-libv5rts $(call GETALLOBJ,$(EXCLUDE_SRCDIRS))
-	$(call _pros_ld_timestamp)
-	@echo -n "Linking project with $(ARCHIVE_TEXT_LIST) "
-	$(call test_output,$D$(LD) $(LDFLAGS) $(filter-out fix-libv5rts,$^) $(LDTIMEOBJ) $(LIBRARIES) -o $@,$(OK_STRING))
-	@echo Section sizes:
-	-$(VV)$(SIZETOOL) $(SIZEFLAGS) $@ $(SIZES_SED) $(SIZES_NUMFMT)
-
-define asm_rule
-$(BINDIR)/%.$1.o: $(SRCDIR)/%.$1
-	$(VV)mkdir -p $$(dir $$@)
-	@echo -n "Compiling $$< "
-	$(VV)mkdir -p $$(dir $$@)
-	$$(call test_output,$D$(AS) -c $(ASMFLAGS) -o $$@ $$<,$(OK_STRING))
-endef
-$(foreach asmext,$(ASMEXTS),$(eval $(call asm_rule,$(asmext))))
-
-define c_rule
-$(BINDIR)/%.$1.o: $(SRCDIR)/%.$1
-	$(VV)mkdir -p $$(dir $$@)
-	@echo -n "Compiling $$< "
-	$(VV)mkdir -p $$(dir $$@)
-	$$(call test_output,$D$(CC) -c $(INCLUDE) -iquote$(INCDIR)/$$(dir $$*) $(CFLAGS) $(EXTRA_CFLAGS) -o $$@ $$<,$(OK_STRING))
-endef
-$(foreach cext,$(CEXTS),$(eval $(call c_rule,$(cext))))
-
-define cxx_rule
-$(BINDIR)/%.$1.o: $(SRCDIR)/%.$1
-	$(VV)mkdir -p $$(dir $$@)
-	@echo -n "Compiling $$< "
-	$(VV)mkdir -p $$(dir $$@)
-	$$(call test_output,$D$(CXX) -c $(INCLUDE) -iquote$(INCDIR)/$$(dir $$*) $(CXXFLAGS) $(EXTRA_CXXFLAGS) -o $$@ $$<,$(OK_STRING))
-endef
-$(foreach cxxext,$(CXXEXTS),$(eval $(call cxx_rule,$(cxxext))))
-
-define _pros_ld_timestamp
-@echo -n "Adding timestamp "
-@# Pipe a line of code defining _PROS_COMPILE_TOOLSTAMP and _PROS_COMPILE_DIRECTORY into GCC,
-@# which allows compilation from stdin. We define _PROS_COMPILE_DIRECTORY using a command line-defined macro
-@# which is the pwd | sed ... | tail bit, which will grab the last 3 segments of the path and truncate it 23 characters
-$(call test_output, @echo 'char const * const _PROS_COMPILE_TIMESTAMP = __DATE__ " " __TIME__; char const * const _PROS_COMPILE_DIRECTORY = PCD;' | $(CC) -c -x c $(CFLAGS) $(EXTRA_CFLAGS) -DPCD="\"`pwd | tail -c 23`\"" -o $(LDTIMEOBJ) -,$(OK_STRING))
-endef
diff --git a/README.md b/README.md
@@ -1,5 +1,7 @@
 # PROS Kernel for the VEX V5 Brain
 
+[![Build Status](https://dev.azure.com/purdue-acm-sigbots/Kernel/_apis/build/status/purduesigbots.pros?branchName=develop)](https://dev.azure.com/purdue-acm-sigbots/Kernel/_build/latest?definitionId=5&branchName=develop)
+
 ### What is PROS?
 PROS is a lightweight and fast alternative open source operating system for the VEX V5 Brain. PROS is built with developers in mind and with a focus on providing an environment for industry-applicable experience.
 

diff --git a/azure-pipelines.yml b/azure-pipelines.yml
@@ -0,0 +1,52 @@
+jobs:
+- job: BuildTemplate
+  pool:
+    vmImage: 'ubuntu-16.04'
+  steps:
+  - task: InstallSSHKey@0
+    inputs:
+      sshKeySecureFile: id_sigbot_github_azure_devops
+      hostName: $(gh.knownhosts)
+      sshPublicKey: $(gh.publickey)
+  - checkout: self
+  - bash: |
+      sudo add-apt-repository ppa:team-gcc-arm-embedded/ppa
+      sudo apt-get update
+      sudo apt-get install gcc-arm-embedded
+    displayName: Install gcc-arm-embedded
+  - task: UsePythonVersion@0
+    inputs:
+      addToPath: true
+      versionSpec: '3.6'
+  - task: PipAuthenticate@0
+    inputs:
+      artifactFeeds: 'pros-cli'
+  - bash: pip install pros-cli-v5
+    displayName: Install CLI
+  - bash: |
+      make template
+      mkdir -p artifacts
+      cp template/*.zip artifacts
+    displayName: Build template
+  - bash: |
+      echo "##vso[build.UpdateBuildNumber]`cat version`"
+      echo "##vso[task.setvariable variable=KernelVersion]`cat version`"
+    displayName: Update Build Number
+  - bash: |
+      make
+    displayName: Build binaries
+  - task: PublishPipelineArtifact@0
+    inputs:
+      targetPath: artifacts
+      artifactName: template
+    condition: succeeded()
+  # - task: UniversalPackages@0
+  #   inputs:
+  #     command: publish
+  #     publishDirectory: artifacts
+  #     vstsFeedPublish: 'pros-depot-nightly'
+  #     vstsFeedPackagePublish: 'kernel'
+  #     versionOption: custom
+  #     versionPublish: $(KernelVersion)
+  #     packagePublishDescription: 'CI Build of Kernel'
+  #   condition: and(succeeded(), or(eq(variables['Build.SourceBranch'], 'refs/heads/master'), eq(variables['Build.SourceBranch'], 'refs/heads/develop')))