First Commit

Makefile

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+################################################################################
+######################### User configurable parameters #########################
+# filename extensions
+CEXTS:=c
+ASMEXTS:=s S
+CXXEXTS:=cpp c++ cc
+
+# probably shouldn't modify these, but you may need them below
+ROOT=.
+FWDIR:=$(ROOT)/firmware
+BINDIR=$(ROOT)/bin
+SRCDIR=$(ROOT)/src
+INCDIR=$(ROOT)/include
+
+WARNFLAGS+=
+EXTRA_CFLAGS=
+EXTRA_CXXFLAGS=
+
+# Set to 1 to enable hot/cold linking
+USE_PACKAGE:=1
+
+# Set this to 1 to add additional rules to compile your project as a PROS library template
+IS_LIBRARY:=0
+# TODO: CHANGE THIS!
+LIBNAME:=libbest
+VERSION:=1.0.0
+# EXCLUDE_SRC_FROM_LIB= $(SRCDIR)/unpublishedfile.c
+# this line excludes opcontrol.c and similar files
+EXCLUDE_SRC_FROM_LIB+=$(foreach file, $(SRCDIR)/opcontrol $(SRCDIR)/initialize $(SRCDIR)/autonomous,$(foreach cext,$(CEXTS),$(file).$(cext)) $(foreach cxxext,$(CXXEXTS),$(file).$(cxxext)))
+
+# 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=$(INCDIR)/**/*.h $(INCDIR)/**/*.hpp
+
+.DEFAULT_GOAL=quick
+
+################################################################################
+################################################################################
+########## Nothing below this line should be edited by typical users ###########
+-include ./common.mk

common.mk

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+ARCHTUPLE=arm-none-eabi-
+DEVICE=VEX EDR V5
+
+MFLAGS=-mcpu=cortex-a9 -mfpu=neon-fp16 -mfloat-abi=softfp
+CPPFLAGS=-D_POSIX_THREADS -D_UNIX98_THREAD_MUTEX_ATTRIBUTES -Os
+GCCFLAGS=-ffunction-sections -fdata-sections -fdiagnostics-color
+
+WARNFLAGS+=
+
+SPACE :=
+SPACE +=
+COMMA := ,
+
+LIBRARIES+=$(wildcard $(FWDIR)/*.a)
+wlprefix=-Wl,$(subst $(SPACE),$(COMMA),$1)
+LNK_FLAGS=--gc-sections --start-group $(strip $(LIBRARIES)) -lc -lm -lgcc -lstdc++ -lsupc++ --end-group
+
+ASMFLAGS=$(MFLAGS) $(WARNFLAGS)
+CFLAGS=$(MFLAGS) $(CPPFLAGS) $(WARNFLAGS) $(GCCFLAGS) --std=gnu11
+CXXFLAGS=$(MFLAGS) $(CPPFLAGS) $(WARNFLAGS) -funwind-tables $(GCCFLAGS) --std=gnu++17
+LDFLAGS=$(MFLAGS) $(WARNFLAGS) -nostdlib
+SIZEFLAGS=-d --common
+NUMFMTFLAGS=--to=iec --format %.2f --suffix=B
+
+AR:=$(ARCHTUPLE)ar
+# using arm-none-eabi-as generates a listing by default. This produces a super verbose output.
+# Using gcc accomplishes the same thing without the extra output
+AS:=$(ARCHTUPLE)gcc
+CC:=$(ARCHTUPLE)gcc
+CXX:=$(ARCHTUPLE)g++
+LD:=$(ARCHTUPLE)g++
+OBJCOPY:=$(ARCHTUPLE)objcopy
+SIZETOOL:=$(ARCHTUPLE)size
+READELF:=$(ARCHTUPLE)readelf
+STRIP:=$(ARCHTUPLE)strip
+
+ifneq (, $(shell command -v gnumfmt 2> /dev/null))
+	SIZES_NUMFMT:=| gnumfmt --field=-4 --header $(NUMFMTFLAGS)
+else
+ifneq (, $(shell command -v numfmt 2> /dev/null))
+	SIZES_NUMFMT:=| numfmt --field=-4 --header $(NUMFMTFLAGS)
+else
+	SIZES_NUMFMT:=
+endif
+endif
+
+ifneq (, $(shell command -v sed 2> /dev/null))
+SIZES_SED:=| sed -e 's/  dec/total/'
+else
+SIZES_SED:=
+endif
+
+rwildcard=$(foreach d,$(filter-out $3,$(wildcard $1*)),$(call rwildcard,$d/,$2,$3)$(filter $(subst *,%,$2),$d))
+
+# Colors
+NO_COLOR=\x1b[0m
+OK_COLOR=\x1b[32;01m
+ERROR_COLOR=\x1b[31;01m
+WARN_COLOR=\x1b[33;01m
+STEP_COLOR=\x1b[37;01m
+OK_STRING=$(OK_COLOR)[OK]$(NO_COLOR)
+DONE_STRING=$(OK_COLOR)[DONE]$(NO_COLOR)
+ERROR_STRING=$(ERROR_COLOR)[ERRORS]$(NO_COLOR)
+WARN_STRING=$(WARN_COLOR)[WARNINGS]$(NO_COLOR)
+ECHO=/bin/echo -e
+echo=@$(ECHO) "$2$1$(NO_COLOR)"
+echon=@$(ECHO) -n "$2$1$(NO_COLOR)"
+
+define test_output
+@rm -f temp.log temp.errors
+$1 2> temp.log || touch temp.errors
+@if test -e temp.errors; then $(ECHO) "$(ERROR_STRING)" && cat temp.log; elif test -s temp.log; then $(ECHO) "$(WARN_STRING)" && cat temp.log; else $(ECHO) "$2"; fi;
+@if test -e temp.errors; then rm -f temp.log temp.errors && false; fi;
+@rm -f temp.log temp.errors
+endef
+
+# Makefile Verbosity
+ifeq ("$(origin VERBOSE)", "command line")
+BUILD_VERBOSE = $(VERBOSE)
+endif
+ifeq ("$(origin V)", "command line")
+BUILD_VERBOSE = $(V)
+endif
+
+ifndef BUILD_VERBOSE
+BUILD_VERBOSE = 0
+endif
+
+# R is reduced (default messages) - build verbose = 0
+# V is verbose messages - verbosity = 1
+# VV is super verbose - verbosity = 2
+ifeq ($(BUILD_VERBOSE), 0)
+R = @echo
+D = @
+VV = @
+endif
+ifeq ($(BUILD_VERBOSE), 1)
+R = @echo
+D =
+VV = @
+endif
+ifeq ($(BUILD_VERBOSE), 2)
+R =
+D =
+VV =
+endif
+
+INCLUDE=$(foreach dir,$(INCDIR) $(EXTRA_INCDIR),-iquote"$(dir)")
+
+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,$1)))
+
+GETALLOBJ=$(sort $(call ASMOBJ,$1) $(call COBJ,$1) $(call CXXOBJ,$1))
+
+ARCHIVE_TEXT_LIST=$(subst $(SPACE),$(COMMA),$(notdir $(basename $(LIBRARIES))))
+
+LDTIMEOBJ:=$(BINDIR)/_pros_ld_timestamp.o
+
+MONOLITH_BIN:=$(BINDIR)/monolith.bin
+MONOLITH_ELF:=$(basename $(MONOLITH_BIN)).elf
+
+HOT_BIN:=$(BINDIR)/hot.package.bin
+HOT_ELF:=$(basename $(HOT_BIN)).elf
+COLD_BIN:=$(BINDIR)/cold.package.bin
+COLD_ELF:=$(basename $(COLD_BIN)).elf
+
+# Check if USE_PACKAGE is defined to check for migration steps from purduesigbots/pros#87
+ifndef USE_PACKAGE
+$(error Your Makefile must be migrated! Visit https://pros.cs.purdue.edu/v5/releases/kernel3.1.6.html to learn how)
+endif
+
+DEFAULT_BIN=$(MONOLITH_BIN)
+ifeq ($(USE_PACKAGE),1)
+DEFAULT_BIN=$(HOT_BIN)
+endif
+
+.PHONY: all clean quick
+
+quick: $(DEFAULT_BIN)
+
+all: clean $(DEFAULT_BIN)
+
+clean:
+	@echo Cleaning project
+	-$Drm -rf $(BINDIR)
+
+ifeq ($(IS_LIBRARY),1)
+ifeq ($(LIBNAME),libbest)
+$(errror "You should rename your library! libbest is the default library name and should be changed")
+endif
+
+LIBAR=$(BINDIR)/$(LIBNAME).a
+TEMPLATE_DIR=$(ROOT)/template
+
+clean-template:
+	@echo Cleaning $(TEMPLATE_DIR)
+	-$Drm -rf $(TEMPLATE_DIR)
+
+$(LIBAR): $(call GETALLOBJ,$(EXCLUDE_SRC_FROM_LIB)) $(EXTRA_LIB_DEPS)
+	-$Drm -f $@
+	@echo -n "Creating $@ "
+	$(call test_output,$D$(AR) rcs $@ $^, $(DONE_STRING))
+
+.PHONY: library
+library: $(LIBAR)
+
+.PHONY: template
+template: clean-template $(LIBAR)
+	$Dprosv5 c create-template . $(LIBNAME) $(VERSION) $(foreach file,$(TEMPLATE_FILES) $(LIBAR),--system "$(file)") --target v5 $(CREATE_TEMPLATE_FLAGS)
+endif
+
+# if project is a library source, compile the archive and link output.elf against the archive rather than source objects
+ifeq ($(IS_LIBRARY),1)
+ELF_DEPS=$(filter-out $(call GETALLOBJ,$(EXCLUDE_SRC_FROM_LIB)), $(call GETALLOBJ,$(EXCLUDE_SRCDIRS)))
+LIBRARIES+=$(LIBAR)
+else
+ELF_DEPS=$(call GETALLOBJ,$(EXCLUDE_SRCDIRS))
+endif
+
+$(MONOLITH_BIN): $(MONOLITH_ELF) $(BINDIR)
+	@echo -n "Creating $@ for $(DEVICE) "
+	$(call test_output,$D$(OBJCOPY) $< -O binary -R .hot_init $@,$(DONE_STRING))
+
+$(MONOLITH_ELF): $(ELF_DEPS) $(LIBRARIES)
+	$(call _pros_ld_timestamp)
+	@echo -n "Linking project with $(ARCHIVE_TEXT_LIST) "
+	$(call test_output,$D$(LD) $(LDFLAGS) $(ELF_DEPS) $(LDTIMEOBJ) $(call wlprefix,-T$(FWDIR)/v5.ld $(LNK_FLAGS)) -o $@,$(OK_STRING))
+	@echo Section sizes:
+	-$(VV)$(SIZETOOL) $(SIZEFLAGS) $@ $(SIZES_SED) $(SIZES_NUMFMT)
+
+$(COLD_BIN): $(COLD_ELF)
+	@echo -n "Creating cold package binary for $(DEVICE) "
+	$(call test_output,$D$(OBJCOPY) $< -O binary -R .hot_init $@,$(DONE_STRING))
+
+$(COLD_ELF): $(LIBRARIES)
+	$(call _pros_ld_timestamp)
+	@echo -n "Creating cold package with $(ARCHIVE_TEXT_LIST) "
+	$(call test_output,$D$(LD) $(LDFLAGS) $(LDTIMEOBJ) $(call wlprefix,--gc-keep-exported --whole-archive $^ -lstdc++ --no-whole-archive) $(call wlprefix,-T$(FWDIR)/v5.ld $(LNK_FLAGS) -o $@),$(OK_STRING))
+	@echo -n "Stripping cold package "
+	$(call test_output,$D$(OBJCOPY) --strip-symbol=install_hot_table --strip-symbol=__libc_init_array --strip-symbol=_PROS_COMPILE_DIRECTORY --strip-symbol=_PROS_COMPILE_TIMESTAMP $@ $@, $(DONE_STRING))
+	@echo Section sizes:
+	-$(VV)$(SIZETOOL) $(SIZEFLAGS) $@ $(SIZES_SED) $(SIZES_NUMFMT)
+
+$(HOT_BIN): $(HOT_ELF) $(COLD_BIN)
+	@echo -n "Creating $@ for $(DEVICE) "
+	$(call test_output,$D$(OBJCOPY) $< -O binary $@,$(DONE_STRING))
+
+$(HOT_ELF): $(COLD_ELF) $(ELF_DEPS)
+	$(call _pros_ld_timestamp)
+	@echo -n "Linking hot project with $(COLD_ELF) and $(ARCHIVE_TEXT_LIST) "
+	$(call test_output,$D$(LD) $(LDFLAGS) $(call wlprefix,-nostartfiles -R $<) $(filter-out $<,$^) $(LDTIMEOBJ) $(LIBRARIES) $(call wlprefix,-T$(FWDIR)/v5-hot.ld $(LNK_FLAGS) -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 $$< "
+	$$(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 $$< "
+	$$(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 $$< "
+	$$(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
+$(VV)mkdir -p $(dir $(LDTIMEOBJ))
+@echo -n "Adding timestamp "
+@# Pipe a line of code defining _PROS_COMPILE_TOOLSTAMP and _PROS_COMPILE_DIRECTORY into GCC,
+@# which allows compilation from stdin. We define _PROS_COMPILE_DIRECTORY using a command line-defined macro
+@# which is the pwd | tail bit, which will truncate the path to the last 23 characters
+$(call test_output, $(VV)echo 'char const * const _PROS_COMPILE_TIMESTAMP = __DATE__ " " __TIME__; char const * const _PROS_COMPILE_DIRECTORY = "$(shell pwd | tail -c 23)";' | $(CC) -c -x c $(CFLAGS) $(EXTRA_CFLAGS) -o $(LDTIMEOBJ) -,$(OK_STRING))
+endef
+
+# these rules are for build-compile-commands, which just print out sysroot information
+cc-sysroot:
+	@echo | $(CC) -c -x c $(CFLAGS) $(EXTRA_CFLAGS) --verbose -o /dev/null -
+cxx-sysroot:
+	@echo | $(CXX) -c -x c++ $(CXXFLAGS) $(EXTRA_CXXFLAGS) --verbose -o /dev/null -