purduesigbots · HotelCalifornia · Jan 21, 2020 · Jan 30, 2019 · Feb 22, 2019 · Feb 26, 2019
diff --git a/.gitignore b/.gitignore
@@ -6,6 +6,8 @@ template/
 version
 cquery_log.txt
 compile_commands.json
+.ccls-cache/
+.ccls
 temp.log
 temp.errors
-.d/
+.d/
diff --git a/STYLEGUIDE.md b/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) 2017-2019, Purdue University ACM SIGBots.
+ * Copyright (c) 2017-2020, 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

diff --git a/common.mk b/common.mk
@@ -5,7 +5,7 @@ MFLAGS=-mcpu=cortex-a9 -mfpu=neon-fp16 -mfloat-abi=softfp -Os -g
 CPPFLAGS=-D_POSIX_THREADS -D_UNIX98_THREAD_MUTEX_ATTRIBUTES
 GCCFLAGS=-ffunction-sections -fdata-sections -fdiagnostics-color -funwind-tables
 
-WARNFLAGS+=
+WARNFLAGS+=-Wno-psabi
 
 SPACE :=
 SPACE +=
@@ -14,7 +14,8 @@ COMMA := ,
 DEPDIR := .d
 $(shell mkdir -p $(DEPDIR))
 DEPFLAGS = -MT $$@ -MMD -MP -MF $(DEPDIR)/$$*.Td
-RENAMEDEPENDENCYFILE = $(VV)mv -f $(DEPDIR)/$$*.Td $(DEPDIR)/$$*.d && touch $$@
+MAKEDEPFOLDER = -$(VV)mkdir -p $(DEPDIR)/$$(dir $$(patsubst $(BINDIR)/%, %, $(ROOT)/$$@))
+RENAMEDEPENDENCYFILE = -$(VV)mv -f $(DEPDIR)/$$*.Td $$(patsubst $(SRCDIR)/%, $(DEPDIR)/%.d, $(ROOT)/$$<) && touch $$@
 
 LIBRARIES+=$(wildcard $(FWDIR)/*.a)
 # Cannot include newlib and libc because not all of the req'd stubs are implemented
@@ -167,6 +168,8 @@ ifeq ($(USE_PACKAGE),1)
 DEFAULT_BIN=$(HOT_BIN)
 endif
 
+-include $(wildcard $(FWDIR)/*.mk)
+
 .PHONY: all clean quick
 
 quick: $(DEFAULT_BIN)
@@ -204,10 +207,10 @@ endif
 
 # if project is a library source, compile the archive and link output.elf against the archive rather than source objects
 ifeq ($(IS_LIBRARY),1)
-ELF_DEPS=$(filter-out $(call GETALLOBJ,$(EXCLUDE_SRC_FROM_LIB)), $(call GETALLOBJ,$(EXCLUDE_SRCDIRS)))
+ELF_DEPS+=$(filter-out $(call GETALLOBJ,$(EXCLUDE_SRC_FROM_LIB)), $(call GETALLOBJ,$(EXCLUDE_SRCDIRS)))
 LIBRARIES+=$(LIBAR)
 else
-ELF_DEPS=$(call GETALLOBJ,$(EXCLUDE_SRCDIRS))
+ELF_DEPS+=$(call GETALLOBJ,$(EXCLUDE_SRCDIRS))
 endif
 
 $(MONOLITH_BIN): $(MONOLITH_ELF) $(BINDIR)
@@ -249,7 +252,7 @@ define c_rule
 $(BINDIR)/%.$1.o: $(SRCDIR)/%.$1
 $(BINDIR)/%.$1.o: $(SRCDIR)/%.$1 $(DEPDIR)/$(basename $1).d
 	$(VV)mkdir -p $$(dir $$@)
-	$(VV)mkdir -p $(DEPDIR)/$$(dir $$(patsubst bin/%, %, $$@))
+	$(MAKEDEPFOLDER)
 	$$(call test_output_2,Compiled $$< ,$(CC) -c $(INCLUDE) -iquote"$(INCDIR)/$$(dir $$*)" $(CFLAGS) $(EXTRA_CFLAGS) $(DEPFLAGS) -o $$@ $$<,$(OK_STRING))
 	$(RENAMEDEPENDENCYFILE)
 endef
@@ -259,7 +262,7 @@ define cxx_rule
 $(BINDIR)/%.$1.o: $(SRCDIR)/%.$1
 $(BINDIR)/%.$1.o: $(SRCDIR)/%.$1 $(DEPDIR)/$(basename %).d
 	$(VV)mkdir -p $$(dir $$@)
-	$(VV)mkdir -p $(DEPDIR)/$$(dir $$(patsubst bin/%, %, $$@))
+	$(MAKEDEPFOLDER)
 	$$(call test_output_2,Compiled $$< ,$(CXX) -c $(INCLUDE) -iquote"$(INCDIR)/$$(dir $$*)" $(CXXFLAGS) $(EXTRA_CXXFLAGS) $(DEPFLAGS) -o $$@ $$<,$(OK_STRING))
 	$(RENAMEDEPENDENCYFILE)
 endef
@@ -282,4 +285,4 @@ cxx-sysroot:
 $(DEPDIR)/%.d: ;
 .PRECIOUS: $(DEPDIR)/%.d
 
-include $(wildcard $(patsubst ./src/%,$(DEPDIR)/%.d,$(basename $(CSRC) $(CXXSRC))))
+include $(wildcard $(patsubst $(SRCDIR)/%,$(DEPDIR)/%.d,$(CSRC) $(CXXSRC)))
diff --git a/firmware/libv5rts b/firmware/libv5rts
diff --git a/include/api.h b/include/api.h
@@ -8,7 +8,7 @@
  * This file should not be modified by users, since it gets replaced whenever
  * a kernel upgrade occurs.
  *
- * Copyright (c) 2017-2019, Purdue University ACM SIGBots.
+ * Copyright (c) 2017-2020, Purdue University ACM SIGBots.
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
@@ -41,14 +41,15 @@
 
 #define PROS_VERSION_MAJOR 3
 #define PROS_VERSION_MINOR 2
-#define PROS_VERSION_PATCH 0
-#define PROS_VERSION_STRING "3.2.0"
+#define PROS_VERSION_PATCH 1
+#define PROS_VERSION_STRING "3.2.1"
 
 #define PROS_ERR (INT32_MAX)
 #define PROS_ERR_F (INFINITY)
 
 #include "pros/adi.h"
 #include "pros/colors.h"
+#include "pros/imu.h"
 #include "pros/llemu.h"
 #include "pros/misc.h"
 #include "pros/motors.h"
@@ -57,6 +58,7 @@
 
 #ifdef __cplusplus
 #include "pros/adi.hpp"
+#include "pros/imu.hpp"
 #include "pros/llemu.hpp"
 #include "pros/misc.hpp"
 #include "pros/motors.hpp"

diff --git a/include/common/cobs.h b/include/common/cobs.h
@@ -5,7 +5,7 @@
  *
  * See common/cobs.c for discussion
  *
- * Copyright (c) 2017-2019, Purdue University ACM SIGBots.
+ * Copyright (c) 2017-2020, Purdue University ACM SIGBots.
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public

diff --git a/include/common/gid.h b/include/common/gid.h
@@ -5,7 +5,7 @@
  *
  * See common/gid.c for discussion
  *
- * Copyright (c) 2017-2019, Purdue University ACM SIGBots.
+ * Copyright (c) 2017-2020, Purdue University ACM SIGBots.
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public

diff --git a/include/common/linkedlist.h b/include/common/linkedlist.h
@@ -6,7 +6,7 @@
  * This file defines a linked list implementation that operates on the FreeRTOS
  * heap, and is able to generically store function pointers and data
  *
- * Copyright (c) 2017-2019, Purdue University ACM SIGBots.
+ * Copyright (c) 2017-2020, 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

diff --git a/include/common/set.h b/include/common/set.h
@@ -5,7 +5,7 @@
  *
  * See common/set.c for discussion
  *
- * Copyright (c) 2017-2019, Purdue University ACM SIGBots.
+ * Copyright (c) 2017-2020, Purdue University ACM SIGBots.
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public

diff --git a/include/common/string.h b/include/common/string.h
@@ -5,7 +5,7 @@
  *
  * See common/string.c for discussion
  *
- * Copyright (c) 2017-2019, Purdue University ACM SIGBots.
+ * Copyright (c) 2017-2020, Purdue University ACM SIGBots.
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public

diff --git a/include/display/lv_conf.h b/include/display/lv_conf.h
@@ -293,7 +293,7 @@
 #define USE_LV_BTNM 1
 
 /*Keyboard (dependencies: lv_btnm)*/
-#define USE_LV_KB 0
+#define USE_LV_KB 1
 
 /*Check box (dependencies: lv_btn, lv_label)*/
 #define USE_LV_CB 1

diff --git a/include/kapi.h b/include/kapi.h
@@ -8,7 +8,7 @@
  * creation of statically allocated FreeRTOS primitives like tasks, semaphores,
  * and queues.
  *
- * Copyright (c) 2017-2019, Purdue University ACM SIGBots.
+ * Copyright (c) 2017-2020, Purdue University ACM SIGBots.
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public

diff --git a/include/main.h b/include/main.h
@@ -4,7 +4,7 @@
  * Contains common definitions and header files used throughout your PROS
  * project.
  *
- * Copyright (c) 2017-2019, Purdue University ACM SIGBots.
+ * Copyright (c) 2017-2020, Purdue University ACM SIGBots.
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public

diff --git a/include/pros/adi.h b/include/pros/adi.h
@@ -8,7 +8,7 @@
  * This file should not be modified by users, since it gets replaced whenever
  * a kernel upgrade occurs.
  *
- * Copyright (c) 2017-2019, Purdue University ACM SIGBots.
+ * Copyright (c) 2017-2020, 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
@@ -18,6 +18,7 @@
 #ifndef _PROS_ADI_H_
 #define _PROS_ADI_H_
 
+#include <stdbool.h>
 #include <stdint.h>
 #ifndef PROS_ERR
 #define PROS_ERR (INT32_MAX)
@@ -576,11 +577,11 @@ int32_t adi_ultrasonic_get(adi_ultrasonic_t ult);
  * EADDRINUSE - The port is not configured as an ultrasonic
  *
  * \param port_ping
- *        The port connected to the orange OUTPUT cable. This should be in the
- *        next highest port following port_echo.
- * \param port_echo
- *        The port connected to the yellow INPUT cable. This should be in port
+ *        The port connected to the orange OUTPUT cable. This should be in port
  *        1, 3, 5, or 7 ('A', 'C', 'E', 'G').
+ * \param port_echo
+ *        The port connected to the yellow INPUT cable. This should be in the
+ *        next highest port following port_ping.
  *
  * \return An adi_ultrasonic_t object to be stored and used for later calls to
  * ultrasonic functions

diff --git a/include/pros/adi.hpp b/include/pros/adi.hpp
@@ -8,7 +8,7 @@
  * This file should not be modified by users, since it gets replaced whenever
  * a kernel upgrade occurs.
  *
- * Copyright (c) 2017-2019, Purdue University ACM SIGBots.
+ * Copyright (c) 2017-2020, 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
@@ -424,11 +424,11 @@ class ADIUltrasonic : private ADIPort {
 	 * ENXIO - The given value is not within the range of ADI Ports.
 	 *
 	 * \param port_ping
-	 *        The port connected to the orange OUTPUT cable. This should be in the
-	 *        next highest port following port_echo.
-	 * \param port_echo
-	 *        The port connected to the yellow INPUT cable. This should be in port
+	 *        The port connected to the orange OUTPUT cable. This should be in port
 	 *        1, 3, 5, or 7 ('A', 'C', 'E', 'G').
+	 * \param port_echo
+	 *        The port connected to the yellow INPUT cable. This should be in the
+	 *        next highest port following port_ping.
 	 */
 	ADIUltrasonic(std::uint8_t port_ping, std::uint8_t port_echo);
 

diff --git a/include/pros/api_legacy.h b/include/pros/api_legacy.h
@@ -10,7 +10,7 @@
  * This file should not be modified by users, since it gets replaced whenever
  * a kernel upgrade occurs.
  *
- * Copyright (c) 2017-2019, Purdue University ACM SIGBots.
+ * Copyright (c) 2017-2020, Purdue University ACM SIGBots.
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public

diff --git a/include/pros/apix.h b/include/pros/apix.h
@@ -12,7 +12,7 @@
  * This file should not be modified by users, since it gets replaced whenever
  * a kernel upgrade occurs.
  *
- * Copyright (c) 2017-2019, Purdue University ACM SIGBots.
+ * Copyright (c) 2017-2020, Purdue University ACM SIGBots.
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
@@ -369,6 +369,7 @@ void queue_reset(queue_t queue);
 typedef enum v5_device_e {
 	E_DEVICE_NONE = 0,
 	E_DEVICE_MOTOR = 2,
+	E_DEVICE_IMU = 6,
 	E_DEVICE_RADIO = 8,
 	E_DEVICE_VISION = 11,
 	E_DEVICE_ADI = 12,

diff --git a/include/pros/colors.h b/include/pros/colors.h
@@ -6,7 +6,7 @@
  * This file should not be modified by users, since it gets replaced whenever
  * a kernel upgrade occurs.
  *
- * Copyright (c) 2017-2019 Purdue University ACM SIGBots.
+ * Copyright (c) 2017-2020 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