Worlds Code

.gitignore

@@ -1,3 +1,6 @@
+# CLion
+.idea/
+
 # Compiled Object files
 *.o
 *.obj

CMakeLists.txt

@@ -0,0 +1,38 @@
+cmake_minimum_required(VERSION 3.20)
+project(DEVIL5-RobotCode LANGUAGES C CXX)
+
+# Modern C++
+set(CMAKE_C_STANDARD 11)
+set(CMAKE_CXX_STANDARD 20)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_CXX_EXTENSIONS OFF)
+
+# Include source and header files
+include_directories(
+        ${CMAKE_SOURCE_DIR}/src
+        ${CMAKE_SOURCE_DIR}/include
+)
+
+file(GLOB_RECURSE SOURCES
+        src/*.c
+        src/*.cpp
+        include/*.h
+        include/*.hpp
+)
+
+# Dummy build target for Intellisense purposes
+add_executable(dummy_index ${SOURCES})
+set_target_properties(dummy_index PROPERTIES
+        LINKER_LANGUAGE CXX
+        EXCLUDE_FROM_ALL TRUE
+        CXX_STANDARD 20
+        CXX_STANDARD_REQUIRED YES
+        CXX_EXTENSIONS NO
+)
+
+# Actual build target that points to PROS's Makefile
+add_custom_target(vex_build ALL
+        COMMAND make
+        WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
+        COMMENT "Building project with PROS Makefile"
+)

Makefile

@@ -14,7 +14,7 @@ INCDIR=$(ROOT)/include
 
 WARNFLAGS+=
 EXTRA_CFLAGS=
-EXTRA_CXXFLAGS=
+EXTRA_CXXFLAGS=-Wall -Wextra -Wpedantic -Wdouble-promotion -Wno-unused-parameter
 
 # Set to 1 to enable hot/cold linking
 USE_PACKAGE:=1

arm-none-eabi-toolchain.cmake

@@ -0,0 +1,19 @@
+# Indicate cross-compilation
+set(CMAKE_SYSTEM_NAME Generic)
+set(CMAKE_SYSTEM_PROCESSOR arm)
+
+# Compilers
+set(CMAKE_C_COMPILER "$ENV{PROS_TOOLCHAIN}/bin/arm-none-eabi-gcc.exe")
+set(CMAKE_CXX_COMPILER "$ENV{PROS_TOOLCHAIN}/bin/arm-none-eabi-g++.exe")
+
+# Disable trying to compile test programs for the host
+set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY)
+
+# Paths for finding includes and libraries
+set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
+set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
+set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
+
+# Additional flags for ARM Cortex V5 (VEX)
+set(CMAKE_C_FLAGS "--specs=nosys.specs -mcpu=cortex-m7 -mthumb")
+set(CMAKE_CXX_FLAGS "--specs=nosys.specs -mcpu=cortex-m7 -mthumb")

common.mk

@@ -1,7 +1,7 @@
 ARCHTUPLE=arm-none-eabi-
 DEVICE=VEX EDR V5
 
-MFLAGS=-mcpu=cortex-a9 -mfpu=neon-fp16 -mfloat-abi=softfp -Os -g
+MFLAGS=-mcpu=cortex-a9 -mfpu=neon-fp16 -mfloat-abi=hard -Os -g -mthumb
 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
 
@@ -20,8 +20,8 @@ WARNFLAGS+=-Wno-psabi
 SPACE := $() $()
 COMMA := ,
 
-C_STANDARD?=gnu11
-CXX_STANDARD?=gnu++20
+C_STANDARD?=gnu2x
+CXX_STANDARD?=gnu++23
 
 DEPDIR := .d
 $(shell mkdir -p $(DEPDIR))
@@ -34,7 +34,7 @@ LIBRARIES+=$(wildcard $(FWDIR)/*.a)
 EXCLUDE_COLD_LIBRARIES+=$(FWDIR)/libc.a $(FWDIR)/libm.a
 COLD_LIBRARIES=$(filter-out $(EXCLUDE_COLD_LIBRARIES), $(LIBRARIES))
 wlprefix=-Wl,$(subst $(SPACE),$(COMMA),$1)
-LNK_FLAGS=--gc-sections --start-group $(strip $(LIBRARIES)) -lgcc -lstdc++ --end-group -T$(FWDIR)/v5-common.ld
+LNK_FLAGS=--gc-sections --start-group $(strip $(LIBRARIES)) -lgcc -lstdc++ --end-group -T$(FWDIR)/v5-common.ld --no-warn-rwx-segments --sort-section=alignment --sort-common
 
 ASMFLAGS=$(MFLAGS) $(WARNFLAGS)
 CFLAGS=$(MFLAGS) $(CPPFLAGS) $(WARNFLAGS) $(GCCFLAGS) --std=$(C_STANDARD)
@@ -188,7 +188,7 @@ quick: $(DEFAULT_BIN)
 
 all: clean $(DEFAULT_BIN)
 
-clean:
+clean::
 	@echo Cleaning project
 	-$Drm -rf $(BINDIR)
 	-$Drm -rf $(DEPDIR)
@@ -206,14 +206,15 @@ clean-template:
 	-$Drm -rf $(TEMPLATE_DIR)
 
 $(LIBAR): $(call GETALLOBJ,$(EXCLUDE_SRC_FROM_LIB)) $(EXTRA_LIB_DEPS)
+	-$Dmkdir $(BINDIR)
 	-$Drm -f $@
 	$(call test_output_2,Creating $@ ,$(AR) rcs $@ $^, $(DONE_STRING))
 
 .PHONY: library
 library: $(LIBAR)
 
 .PHONY: template
-template: clean-template $(LIBAR)
+template:: clean-template $(LIBAR)
 	$Dpros c create-template . $(LIBNAME) $(VERSION) $(foreach file,$(TEMPLATE_FILES) $(LIBAR),--system "$(file)") --target v5 $(CREATE_TEMPLATE_FLAGS)
 endif
 
@@ -262,7 +263,7 @@ $(foreach asmext,$(ASMEXTS),$(eval $(call asm_rule,$(asmext))))
 
 define c_rule
 $(BINDIR)/%.$1.o: $(SRCDIR)/%.$1
-$(BINDIR)/%.$1.o: $(SRCDIR)/%.$1 $(DEPDIR)/$(basename $1).d
+$(BINDIR)/%.$1.o: $(SRCDIR)/%.$1 $(DEPDIR)/$(basename %).d
 	$(VV)mkdir -p $$(dir $$@)
 	$(MAKEDEPFOLDER)
 	$$(call test_output_2,Compiled $$< ,$(CC) -c $(INCLUDE) -iquote"$(INCDIR)/$$(dir $$*)" $(CFLAGS) $(EXTRA_CFLAGS) $(DEPFLAGS) -o $$@ $$<,$(OK_STRING))
@@ -305,4 +306,4 @@ cxx-sysroot:
 $(DEPDIR)/%.d: ;
 .PRECIOUS: $(DEPDIR)/%.d
 
-include $(wildcard $(patsubst $(SRCDIR)/%,$(DEPDIR)/%.d,$(CSRC) $(CXXSRC)))
+include $(wildcard $(patsubst $(SRCDIR)/%,$(DEPDIR)/%.d,$(CSRC) $(CXXSRC)))

firmware/v5-common.ld

@@ -132,12 +132,6 @@ SECTIONS
    *(.gcc_except_table)
 } > RAM
 
-.mmu_tbl (ALIGN(16384)) : {
-   __mmu_tbl_start = .;
-   *(.mmu_tbl)
-   __mmu_tbl_end = .;
-} > RAM
-
 .ARM.exidx : {
    __exidx_start = .;
    *(.ARM.exidx*)
@@ -166,11 +160,9 @@ SECTIONS
    __fini_array_end = .;
 } > RAM
 
-.ARM.attributes : {
-   __ARM.attributes_start = .;
-   *(.ARM.attributes)
-   __ARM.attributes_end = .;
-} > RAM
+/DISCARD/ : {
+  *(.ARM.attributes*)
+}
 
 .sdata : {
    __sdata_start = .;
@@ -228,36 +220,7 @@ _SDA2_BASE_ = __sdata2_start + ((__sbss2_end - __sdata2_start) / 2 );
    _heap_end = .;
    HeapLimit = .;
 } > HEAP
-
-.stack (NOLOAD) : {
-   . = ALIGN(16);
-   _stack_end = .;
-   . += _STACK_SIZE;
-   . = ALIGN(16);
-   _stack = .;
-   __stack = _stack;
-   . = ALIGN(16);
-   _irq_stack_end = .;
-   . += _IRQ_STACK_SIZE;
-   . = ALIGN(16);
-   __irq_stack = .;
-   _supervisor_stack_end = .;
-   . += _SUPERVISOR_STACK_SIZE;
-   . = ALIGN(16);
-   __supervisor_stack = .;
-   _abort_stack_end = .;
-   . += _ABORT_STACK_SIZE;
-   . = ALIGN(16);
-   __abort_stack = .;
-   _fiq_stack_end = .;
-   . += _FIQ_STACK_SIZE;
-   . = ALIGN(16);
-   __fiq_stack = .;
-   _undef_stack_end = .;
-   . += _UNDEF_STACK_SIZE;
-   . = ALIGN(16);
-   __undef_stack = .;
-} > COLD_MEMORY
-
+/* There are no sections for the stack. This is intentional, since VEXOs sets up a stack before
+   starting the program, and FreeRTOS task stacks are dynamically allocated. */
 _end = .;
 }

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 Copyright (c) 2017-2023, Purdue University ACM SIGBots.
+ * \copyright Copyright (c) 2017-2024, Purdue University ACM SIGBots.
  * All rights reserved.
  *
  * This Source Code Form is subject to the terms of the Mozilla Public
@@ -39,13 +39,8 @@
 #include <unistd.h>
 #endif /* __cplusplus */
 
-#define PROS_VERSION_MAJOR 4
-#define PROS_VERSION_MINOR 1
-#define PROS_VERSION_PATCH 1
-#define PROS_VERSION_STRING "4.1.1"
-
-
 #include "pros/adi.h"
+#include "pros/ai_vision.h"
 #include "pros/colors.h"
 #include "pros/device.h"
 #include "pros/distance.h"
@@ -65,6 +60,7 @@
 
 #ifdef __cplusplus
 #include "pros/adi.hpp"
+#include "pros/ai_vision.hpp"
 #include "pros/colors.hpp"
 #include "pros/device.hpp"
 #include "pros/distance.hpp"