🔖 Release 3.2.0

.arclint

@@ -7,7 +7,8 @@
 		},
 		"spelling": {
 			"type": "spelling",
-			"include": "(.*)"
+			"include": "(.*)",
+			"exclude": "(^(src|include)|(rtos/|display/lv_.*))"
 		},
 		"text": {
 			"type": "text",

.gitignore

@@ -8,3 +8,4 @@ cquery_log.txt
 compile_commands.json
 temp.log
 temp.errors
+.d/

Makefile

@@ -30,14 +30,16 @@ 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)))
+EXCLUDE_SRC_FROM_LIB+=$(foreach file, $(SRCDIR)/main,$(foreach cext,$(CEXTS),$(file).$(cext)) $(foreach cxxext,$(CXXEXTS),$(file).$(cxxext)))
 
 # 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 $(FWDIR)/v5-hot.ld
+TEMPLATE_FILES+=$(FWDIR)/libc.a $(FWDIR)/libm.a
 TEMPLATE_FILES+= $(INCDIR)/api.h $(INCDIR)/main.h $(INCDIR)/pros/*.* $(INCDIR)/display
-TEMPLATE_FILES+= $(SRCDIR)/opcontrol.cpp $(SRCDIR)/initialize.cpp $(SRCDIR)/autonomous.cpp
+TEMPLATE_FILES+= $(SRCDIR)/main.cpp
+TEMPLATE_FILES+= $(ROOT)/template-gitignore
 
 PATCHED_SDK=$(FWDIR)/libv5rts/sdk/vexv5/libv5rts.patched.a
 
@@ -53,12 +55,11 @@ $(INCDIR)/api.h: version.py
 	$(VV)python version.py
 
 $(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))
+	$(call test_output_2,Stripping unwanted symbols from libv5rts.a ,$(STRIP) $^ @libv5rts-strip-options.txt -o $@, $(DONE_STRING))
 
 
 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+=--user "src/main.{cpp,c,cc}" --user "include/main.{hpp,h,hh}" --user "Makefile" --user ".gitignore"
 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
 
@@ -69,17 +70,16 @@ template: clean-template library
 	$(VV)mkdir -p $(TEMPLATE_DIR)/firmware
 	$Dcp $(LIBAR) $(TEMPLATE_DIR)/firmware
 	$Dcp $(ROOT)/template-Makefile $(TEMPLATE_DIR)/Makefile
+	$Dmv $(TEMPLATE_DIR)/template-gitignore $(TEMPLATE_DIR)/.gitignore
 	@echo "Creating template"
 	$Dprosv5 c create-template $(TEMPLATE_DIR) kernel $(shell cat $(ROOT)/version) $(CREATE_TEMPLATE_ARGS)
 
 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) && $(AR) x ../../$(PATCHED_SDK),$(DONE_STRING))
+	$(call test_output_2,Extracting libv5rts ,cd $(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)) $(call GETALLOBJ,$(EXCLUDE_SRC_FROM_LIB)),$(DONE_STRING))
+	$(call test_output_2,Creating $@ ,$(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))

STYLEGUIDE.md

@@ -49,7 +49,7 @@ These should be placed at the very start of a file.
  * This file should not be modified by users, since it gets replaced whenever
  * a kernel upgrade occurs.
  *
- * Copyright (c) 2017-2018, Purdue University ACM SIGBots.
+ * Copyright (c) 2017-2019, Purdue University ACM SIGBots.
  *
  * 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

VSCode.md

@@ -4,3 +4,5 @@ Use the following include paths for intellisense completion:
 "${env:PROS_TOOLCHAIN}/lib/gcc/arm-none-eabi/6.3.1/include",
 "${workspaceRoot}",
 "${workspaceRoot}/include"
+
+Add "_INTELLISENSE" to your defines to fix certain intellisense errors that will actually compile without issue

azure-build-libc.yaml

@@ -0,0 +1,85 @@
+###############################################################################
+#
+# This pipeline builds newlib with the same flags as the official toolchain,
+# but adds -funwind-tables so we can have proper unwind info inside libc
+#
+###############################################################################
+variables:
+  source_url: 'https://developer.arm.com/-/media/Files/downloads/gnu-rm/8-2018q4/gcc-arm-none-eabi-8-2018-q4-major-src.tar.bz2'
+  source_directory: 'gcc-arm-none-eabi-8-2018-q4-major'
+
+jobs:
+- job: BuildLibc
+  pool:
+    vmImage: 'ubuntu-16.04'
+  timeoutInMinutes: 0
+  steps:
+    - bash: |
+        sudo apt-get install software-properties-common
+        sudo dpkg --add-architecture i386
+        sudo add-apt-repository ppa:team-gcc-arm-embedded/ppa
+        sudo apt-get update
+        sudo apt-get install build-essential autoconf autogen bison dejagnu flex flip gawk git gperf gzip \
+                             nsis openssh-client p7zip-full perl python-dev libisl-dev scons tcl tofrodos \
+                             wget libncurses5-dev pv
+        sudo apt-get install gcc-arm-embedded
+      displayName: Install apt packages
+    - bash: |
+        curl -L $(source_url) -o $(source_directory).tar.bz2
+        pv -f $(source_directory).tar.bz2 | tar -xjf -
+      displayName: Download/extract arm-none-eabi-gcc source
+    - bash: |
+        sed -i '95s/TERM|\\/TERM|agent.jobstatus|\\/' ./build-common.sh
+        sed -i '302s/http:\/\/www.mr511.de\/software\//https:\/\/github.com\/gnu-mcu-eclipse\/files\/raw\/master\/libs\//' ./build-common.sh
+      displayName: Edit ./build-common.sh
+      workingDirectory: $(source_directory)
+    - bash: |
+        sed -i "294s/.*/saveenvvar CFLAGS_FOR_TARGET '-g -O2 -ffunction-sections -fdata-sections -funwind-tables'/" ./build-toolchain.sh
+        head -n 316 ./build-toolchain.sh > ./build-toolchain.sh
+      displayName: Edit ./build-toolchain.sh
+      workingDirectory: $(source_directory)
+    - bash: |
+        ./install-sources.sh --skip_steps=mingw32
+      displayName: Install sources
+      workingDirectory: $(source_directory)
+    - bash: |
+        ./build-prerequisites.sh --skip_steps=mingw32
+      displayName: Build prerequisites
+      workingDirectory: $(source_directory)
+    - bash: |
+        export CFLAGS_FOR_TARGET='-g -O2 -ffunction-sections -fdata-sections -funwind-tables'
+        export ROOT=`pwd`
+        mkdir -p $ROOT/build-native/newlib
+        pushd $ROOT/build-native/newlib
+        $ROOT/src/newlib/configure                                                                          \
+          --build="`uname -m | sed 'y/XI/xi/'`"-linux-gnu --host="`uname -m | sed 'y/XI/xi/'`"-linux-gnu    \
+          --target=arm-none-eabi                                                                            \
+          --prefix=$ROOT/newlib                                                                             \
+          --enable-newlib-io-long-long                                                                      \
+          --enable-newlib-io-c99-formats                                                                    \
+          --enable-newlib-register-fini                                                                     \
+          --enable-newlib-retargetable-locking                                                              \
+          --disable-newlib-supplied-syscalls                                                                \
+          --disable-nls                                                                                     \
+
+        make -j`grep ^processor /proc/cpuinfo|wc -l`
+        make install
+
+        ls -R $ROOT/newlib
+        ls -R $ROOT/build-native/newlib
+
+        cp $ROOT/newlib/arm-none-eabi/lib/thumb/v7-ar/libc.a $(Build.ArtifactStagingDirectory)
+        cp $ROOT/newlib/arm-none-eabi/lib/thumb/v7-ar/libm.a $(Build.ArtifactStagingDirectory)
+        ls $(Build.ArtifactStagingDirectory)
+
+        TARGET_LIBRARIES=`find $(Build.ArtifactStagingDirectory) -name \*.a`
+        for target_lib in $TARGET_LIBRARIES ; do
+          echo Stripping $target_lib
+          arm-none-eabi-objcopy -R .comment -R .note -R .debug_info -R .debug_aranges -R .debug_pubnames -R .debug_pubtypes -R .debug_abbrev -R .debug_line -R .debug_str -R .debug_ranges -R .debug_loc $target_lib || true
+        done
+      displayName: Build toolchain
+      workingDirectory: $(source_directory)
+    - task: PublishPipelineArtifact@0
+      inputs:
+        artifactName: 'newlib'
+        targetPath: $(Build.ArtifactStagingDirectory)

azure-pipelines.yml

@@ -1,5 +1,9 @@
 jobs:
 - job: BuildTemplate
+  variables:
+    toolchain_update_short: 8-2019q3
+    toolchain_update: 8-2019-q3
+    toolchain: https://developer.arm.com/-/media/Files/downloads/gnu-rm/$(toolchain_update_short)/RC1.1/gcc-arm-none-eabi-$(toolchain_update)-update-linux.tar.bz2
   pool:
     vmImage: 'ubuntu-16.04'
   steps:
@@ -10,9 +14,9 @@ jobs:
       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
+      curl -LSso toolchain.tar.bz2 $(toolchain)
+      tar -xjvf toolchain.tar.bz2
+      echo "##vso[task.prependpath]$(pwd)/gcc-arm-none-eabi-$(toolchain_update)-update/bin"
     displayName: Install gcc-arm-embedded
   - task: UsePythonVersion@0
     inputs: