kernel upgrade

EZ-Robotics · Jan 26, 2023 · c4a5fd0 · c4a5fd0
1 parent e9df6b5
commit c4a5fd0
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Showing 45 changed files with 2,886 additions and 327 deletions.
diff --git a/.gitignore b/.gitignore
@@ -7,9 +7,9 @@
 *.elf
 
 # PROS
-.cache/
 bin/
 .vscode/
+.cache/
 compile_commands.json
 temp.log
 temp.errors

diff --git a/[email protected] b/[email protected]
diff --git a/[email protected] b/[email protected]
diff --git a/Makefile b/Makefile
@@ -27,7 +27,7 @@ EXCLUDE_COLD_LIBRARIES:=
 IS_LIBRARY:=1
 # TODO: CHANGE THIS!
 LIBNAME:=EZ-Template
-VERSION:=2.1.1
+VERSION:=2.1.2
 # EXCLUDE_SRC_FROM_LIB= $(SRCDIR)/unpublishedfile.c
 # this line excludes opcontrol.c and similar files
 EXCLUDE_SRC_FROM_LIB+=$(foreach file, $(SRCDIR)/autons $(SRCDIR)/main,$(foreach cext,$(CEXTS),$(file).$(cext)) $(foreach cxxext,$(CXXEXTS),$(file).$(cxxext)))

diff --git a/common.mk b/common.mk
@@ -2,7 +2,7 @@ ARCHTUPLE=arm-none-eabi-
 DEVICE=VEX EDR V5
 
 MFLAGS=-mcpu=cortex-a9 -mfpu=neon-fp16 -mfloat-abi=softfp -Os -g
-CPPFLAGS=-D_POSIX_THREADS -D_UNIX98_THREAD_MUTEX_ATTRIBUTES
+CPPFLAGS=-D_POSIX_THREADS -D_UNIX98_THREAD_MUTEX_ATTRIBUTES -D_POSIX_TIMERS -D_POSIX_MONOTONIC_CLOCK
 GCCFLAGS=-ffunction-sections -fdata-sections -fdiagnostics-color -funwind-tables
 
 WARNFLAGS+=-Wno-psabi
@@ -227,7 +227,7 @@ $(COLD_BIN): $(COLD_ELF)
 $(COLD_ELF): $(COLD_LIBRARIES)
 	$(VV)mkdir -p $(dir $@)
 	$(call test_output_2,Creating cold package with $(ARCHIVE_TEXT_LIST) ,$(LD) $(LDFLAGS) $(call wlprefix,--gc-keep-exported --whole-archive $^ -lstdc++ --no-whole-archive) $(call wlprefix,-T$(FWDIR)/v5.ld $(LNK_FLAGS) -o $@),$(OK_STRING))
-	$(call test_output_2,Stripping cold package ,$(OBJCOPY) --strip-symbol=install_hot_table --strip-symbol=__libc_init_array --strip-symbol=_PROS_COMPILE_DIRECTORY --strip-symbol=_PROS_COMPILE_TIMESTAMP $@ $@, $(DONE_STRING))
+	$(call test_output_2,Stripping cold package ,$(OBJCOPY) --strip-symbol=install_hot_table --strip-symbol=__libc_init_array --strip-symbol=_PROS_COMPILE_DIRECTORY --strip-symbol=_PROS_COMPILE_TIMESTAMP --strip-symbol=_PROS_COMPILE_TIMESTAMP_INT $@ $@, $(DONE_STRING))
 	@echo Section sizes:
 	-$(VV)$(SIZETOOL) $(SIZEFLAGS) $@ $(SIZES_SED) $(SIZES_NUMFMT)
 
@@ -272,7 +272,15 @@ $(VV)mkdir -p $(dir $(LDTIMEOBJ))
 @# Pipe a line of code defining _PROS_COMPILE_TOOLSTAMP and _PROS_COMPILE_DIRECTORY into GCC,
 @# which allows compilation from stdin. We define _PROS_COMPILE_DIRECTORY using a command line-defined macro
 @# which is the pwd | tail bit, which will truncate the path to the last 23 characters
-$(call test_output_2,Adding timestamp ,echo 'char const * const _PROS_COMPILE_TIMESTAMP = __DATE__ " " __TIME__; char const * const _PROS_COMPILE_DIRECTORY = "$(shell pwd | tail -c 23)";' | $(CC) -c -x c $(CFLAGS) $(EXTRA_CFLAGS) -o $(LDTIMEOBJ) -,$(OK_STRING))
+@# 
+@# const int _PROS_COMPILE_TIMESTAMP_INT = $(( $(date +%s) - $(date +%z) * 3600 ))
+@# char const * const _PROS_COMPILE_TIEMSTAMP = __DATE__ " " __TIME__
+@# char const * const _PROS_COMPILE_DIRECTORY = "$(shell pwd | tail -c 23)";
+@#
+@# The shell command $$(($$(date +%s)+($$(date +%-z)/100*3600))) fetches the current
+@# unix timestamp, and then adds the UTC timezone offset to account for time zones.
+
+$(call test_output_2,Adding timestamp ,echo 'const int _PROS_COMPILE_TIMESTAMP_INT = $(shell echo $$(($$(date +%s)+($$(date +%-z)/100*3600)))); char const * const _PROS_COMPILE_TIMESTAMP = __DATE__ " " __TIME__; char const * const _PROS_COMPILE_DIRECTORY = "$(shell pwd | tail -c 23)";' | $(CC) -c -x c $(CFLAGS) $(EXTRA_CFLAGS) -o $(LDTIMEOBJ) -,$(OK_STRING))
 endef
 
 # these rules are for build-compile-commands, which just print out sysroot information

diff --git a/firmware/libpros.a b/firmware/libpros.a
diff --git a/firmware/v5-common.ld b/firmware/v5-common.ld
@@ -21,52 +21,52 @@ SECTIONS
    *(.gnu.linkonce.t.*)
    *(.plt)
    *(.gnu_warning)
-   *(.gcc_execpt_table)
+   *(.gcc_except_table)
    *(.glue_7)
    *(.glue_7t)
    *(.vfp11_veneer)
    *(.ARM.extab)
    *(.gnu.linkonce.armextab.*)
-} > MEMORY
+} > RAM
 
 .init : {
    KEEP (*(.init))
-} > MEMORY
+} > RAM
 
 .fini : {
    KEEP (*(.fini))
-} > MEMORY
+} > RAM
 
 .rodata : {
    __rodata_start = .;
    *(.rodata)
    *(.rodata.*)
    *(.gnu.linkonce.r.*)
    __rodata_end = .;
-} > MEMORY
+} > RAM
 
 .rodata1 : {
    __rodata1_start = .;
    *(.rodata1)
    *(.rodata1.*)
    __rodata1_end = .;
-} > MEMORY
+} > RAM
 
 .sdata2 : {
    __sdata2_start = .;
    *(.sdata2)
    *(.sdata2.*)
    *(.gnu.linkonce.s2.*)
    __sdata2_end = .;
-} > MEMORY
+} > RAM
 
 .sbss2 : {
    __sbss2_start = .;
    *(.sbss2)
    *(.sbss2.*)
    *(.gnu.linkonce.sb2.*)
    __sbss2_end = .;
-} > MEMORY
+} > RAM
 
 .data : {
    __data_start = .;
@@ -77,18 +77,18 @@ SECTIONS
    *(.got)
    *(.got.plt)
    __data_end = .;
-} > MEMORY
+} > RAM
 
 .data1 : {
    __data1_start = .;
    *(.data1)
    *(.data1.*)
    __data1_end = .;
-} > MEMORY
+} > RAM
 
 .got : {
    *(.got)
-} > MEMORY
+} > RAM
 
 .ctors : {
    __CTOR_LIST__ = .;
@@ -99,7 +99,7 @@ SECTIONS
    KEEP (*(.ctors))
    __CTOR_END__ = .;
    ___CTORS_END___ = .;
-} > MEMORY
+} > RAM
 
 .dtors : {
    __DTOR_LIST__ = .;
@@ -110,99 +110,99 @@ SECTIONS
    KEEP (*(.dtors))
    __DTOR_END__ = .;
    ___DTORS_END___ = .;
-} > MEMORY
+} > RAM
 
 .fixup : {
    __fixup_start = .;
    *(.fixup)
    __fixup_end = .;
-} > MEMORY
+} > RAM
 
 .eh_frame : {
    *(.eh_frame)
-} > MEMORY
+} > RAM
 
 .eh_framehdr : {
    __eh_framehdr_start = .;
    *(.eh_framehdr)
    __eh_framehdr_end = .;
-} > MEMORY
+} > RAM
 
 .gcc_except_table : {
    *(.gcc_except_table)
-} > MEMORY
+} > RAM
 
 .mmu_tbl (ALIGN(16384)) : {
    __mmu_tbl_start = .;
    *(.mmu_tbl)
    __mmu_tbl_end = .;
-} > MEMORY
+} > RAM
 
 .ARM.exidx : {
    __exidx_start = .;
    *(.ARM.exidx*)
    *(.gnu.linkonce.armexidix.*.*)
    __exidx_end = .;
-} > MEMORY
+} > RAM
 
 .preinit_array : {
    __preinit_array_start = .;
    KEEP (*(SORT(.preinit_array.*)))
    KEEP (*(.preinit_array))
    __preinit_array_end = .;
-} > MEMORY
+} > RAM
 
 .init_array : {
    __init_array_start = .;
    KEEP (*(SORT(.init_array.*)))
    KEEP (*(.init_array))
    __init_array_end = .;
-} > MEMORY
+} > RAM
 
 .fini_array : {
    __fini_array_start = .;
    KEEP (*(SORT(.fini_array.*)))
    KEEP (*(.fini_array))
    __fini_array_end = .;
-} > MEMORY
+} > RAM
 
 .ARM.attributes : {
    __ARM.attributes_start = .;
    *(.ARM.attributes)
    __ARM.attributes_end = .;
-} > MEMORY
+} > RAM
 
 .sdata : {
    __sdata_start = .;
    *(.sdata)
    *(.sdata.*)
    *(.gnu.linkonce.s.*)
    __sdata_end = .;
-} > MEMORY
+} > RAM
 
 .sbss (NOLOAD) : {
    __sbss_start = .;
    *(.sbss)
    *(.sbss.*)
    *(.gnu.linkonce.sb.*)
    __sbss_end = .;
-} > MEMORY
+} > RAM
 
 .tdata : {
    __tdata_start = .;
    *(.tdata)
    *(.tdata.*)
    *(.gnu.linkonce.td.*)
    __tdata_end = .;
-} > MEMORY
+} > RAM
 
 .tbss : {
    __tbss_start = .;
    *(.tbss)
    *(.tbss.*)
    *(.gnu.linkonce.tb.*)
    __tbss_end = .;
-} > MEMORY
+} > RAM
 
 .bss (NOLOAD) : {
    __bss_start = .;
@@ -211,7 +211,7 @@ SECTIONS
    *(.gnu.linkonce.b.*)
    *(COMMON)
    __bss_end = .;
-} > MEMORY
+} > RAM
 
 _SDA_BASE_ = __sdata_start + ((__sbss_end - __sdata_start) / 2 );
 

diff --git a/firmware/v5-hot.ld b/firmware/v5-hot.ld
@@ -28,6 +28,6 @@ MEMORY
    HOT_MEMORY : ORIGIN = start_of_hot_mem, LENGTH = _HOT_MEM_SIZE  /* Just over 8 MB */
 }
 
-REGION_ALIAS("MEMORY", HOT_MEMORY);
+REGION_ALIAS("RAM", HOT_MEMORY);
 
 ENTRY(install_hot_table)
diff --git a/firmware/v5.ld b/firmware/v5.ld
@@ -28,6 +28,6 @@ MEMORY
    HOT_MEMORY : ORIGIN = start_of_hot_mem, LENGTH = _HOT_MEM_SIZE  /* Just over 8 MB */
 }
 
-REGION_ALIAS("MEMORY", COLD_MEMORY);
+REGION_ALIAS("RAM", COLD_MEMORY);
 
 ENTRY(vexStartup)
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) 2017-2021, Purdue University ACM SIGBots.
+ * Copyright (c) 2017-2022, Purdue University ACM SIGBots.
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
@@ -40,19 +40,18 @@
 #endif /* __cplusplus */
 
 #define PROS_VERSION_MAJOR 3
-#define PROS_VERSION_MINOR 5
-#define PROS_VERSION_PATCH 4
-#define PROS_VERSION_STRING "3.5.4"
-
-#define PROS_ERR (INT32_MAX)
-#define PROS_ERR_F (INFINITY)
+#define PROS_VERSION_MINOR 7
+#define PROS_VERSION_PATCH 3
+#define PROS_VERSION_STRING "3.7.3"
 
 #include "pros/adi.h"
 #include "pros/colors.h"
 #include "pros/distance.h"
+#include "pros/error.h"
 #include "pros/ext_adi.h"
 #include "pros/gps.h"
 #include "pros/imu.h"
+#include "pros/link.h"
 #include "pros/llemu.h"
 #include "pros/misc.h"
 #include "pros/motors.h"
@@ -75,6 +74,7 @@
 #include "pros/rtos.hpp"
 #include "pros/screen.hpp"
 #include "pros/vision.hpp"
+#include "pros/link.hpp"
 #endif
 
 #endif  // _PROS_API_H_