upgrade PROS

Author: SizzinSeal

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)
@@ -188,14 +188,14 @@ quick: $(DEFAULT_BIN)
 
 all: clean $(DEFAULT_BIN)
 
-clean:
+clean::
 	@echo Cleaning project
 	-$Drm -rf $(BINDIR)
 	-$Drm -rf $(DEPDIR)
 
 ifeq ($(IS_LIBRARY),1)
 ifeq ($(LIBNAME),libbest)
-$(errror "You should rename your library! libbest is the default library name and should be changed")
+$(error "You should rename your library! libbest is the default library name and should be changed")
 endif
 
 LIBAR=$(BINDIR)/$(LIBNAME).a
@@ -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/libc.a

@@ -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 = .;
 }

firmware/libm.a

@@ -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"

firmware/libpros.a

@@ -9,7 +9,7 @@
  * 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
@@ -69,6 +69,16 @@ enum class MotorGears {
 	invalid = INT32_MAX ///< Error return code
 };
 
+/**
+ * \enum MotorType
+ * Indicates the type of a motor
+ */
+enum class MotorType {
+	v5 = 0, ///< 11w motor
+	exp = 1, ///< 5.5w motor
+	invalid = INT32_MAX ///< Error return code
+};
+
 
 // Provide Aliases for MotorGears
 using MotorGearset = MotorGears;
@@ -957,6 +967,34 @@ class AbstractMotor {
 	 */
 	virtual std::vector<std::int32_t> is_reversed_all(void) const = 0;
 
+	/**
+	 * Gets the type of the motor
+	 * 
+	 * This function uses the following values of errno when an error state is
+	 * reached:
+	 * ENODEV - The port cannot be configured as a motor
+	 *
+     * \param index Optional parameter. 
+     *           The index of the motor to get the target position of.
+     *           By default index is 0, and will return an error for an out of bounds index
+	 *
+	 * \return One of MotorType according to the type of the motor,
+	 * or pros::MotorType::invalid if the operation failed
+	 */
+	virtual MotorType get_type(const std::uint8_t index = 0) const = 0;
+
+	/**
+	 * Gets a vector of the type(s) of the motor(s).
+	 *
+	 * This function uses the following values of errno when an error state is
+	 * reached:
+	 * ENODEV - The port cannot be configured as a motor
+	 * 
+	 * \return A vector of MotorType according to the type(s) of the motor(s),
+	 * or pros::MotorType::invalid if the operation failed.
+	 */
+	virtual std::vector<MotorType> get_type_all(void) const = 0;
+
 	/**
 	 * Sets one of MotorBrake to the motor. Works with the C enum
 	 * and the C++ enum class.

firmware/v5-common.ld

@@ -7,7 +7,7 @@
  * This file should not be modified by users, since it gets replaced whenever
  * a kernel upgrade occurs.
  *
- * \copyright (c) 2017-2023, Purdue University ACM SIGBots.
+ * \copyright (c) 2017-2024, 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