here you go mer

PROS/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 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 $(INCDIR)/**/*.hpp
+
+.DEFAULT_GOAL=quick
+
+################################################################################
+################################################################################
+########## Nothing below this line should be edited by typical users ###########
+-include ./common.mk
+
+INCLUDE=-isystem$(INCDIR)
+
+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))
+
+LIBRARIES=-Wl,--start-group $(wildcard $(FWDIR)/*.a) -lm -lgcc -Wl,--end-group
+ARCHIVE_TEXT_LIST:=$(subst $(SPACE),$(COMMA),$(notdir $(basename $(wildcard $(FWDIR)/*.a))))
+
+ifndef OUTBIN
+OUTNAME:=output
+endif
+OUTBIN:=$(BINDIR)/$(OUTNAME).bin
+OUTELF:=$(BINDIR)/$(OUTNAME).elf
+
+.PHONY: all clean quick
+
+quick: $(OUTBIN)
+
+all: clean $(OUTBIN)
+
+clean:
+	@echo Cleaning project
+	-$Drm -rf $(BINDIR)
+
+upload-legacy:
+	@java -jar firmware/uniflash.jar vex $(BINDIR)/$(OUTBIN)
+
+upload:
+	pros flash -f $(BINDIR)/$(OUTBIN)
+
+
+$(OUTBIN): $(OUTELF) $(BINDIR)
+	@echo -n "Creating $@ for $(DEVICE) "
+	$(call test_output,$D$(OBJCOPY) $< -O binary $@,$(DONE_STRING))
+
+$(OUTELF): $(call GETALLOBJ,$(EXCLUDE_SRCDIRS))
+	@echo -n "Linking project with $(ARCHIVE_TEXT_LIST) "
+	$(call test_output,$D$(LD) $(LDFLAGS) $^ $(LIBRARIES) -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))))
+
+
+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))
+	@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
+endif

PROS/common.mk

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+ARCHTUPLE=arm-none-eabi-
+DEVICE=VexCortex
+
+MFLAGS=-mthumb -mcpu=cortex-m3 -mlittle-endian
+CPPFLAGS=-Os
+GCCFLAGS=-ffunction-sections -fsigned-char -fomit-frame-pointer -fsingle-precision-constant -fdiagnostics-color
+
+WARNFLAGS+=
+
+SPACE :=
+SPACE +=
+COMMA := ,
+LNK_FLAGS = --gc-sections
+
+ASMFLAGS=$(MFLAGS) $(WARNFLAGS)
+CFLAGS=$(MFLAGS) $(CPPFLAGS) $(WARNFLAGS) $(GCCFLAGS) -std=gnu99
+CXXFLAGS=$(MFLAGS) $(CPPFLAGS) $(WARNFLAGS) -fno-exceptions -fno-rtti -felide-constructors $(GCCFLAGS) --std=gnu++11
+LDFLAGS=$(MFLAGS) $(WARNFLAGS) -nostartfiles -Wl,-static -Bfirmware -Wl,-u,VectorTable -Wl,-T -Xlinker firmware/cortex.ld $(subst ?%,$(SPACE),$(addprefix -Wl$(COMMA), $(LNK_FLAGS)))
+SIZEFLAGS=-d --common
+NUMFMTFLAGS=--to=iec --format %.2f --suffix=B
+
+AR:=$(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)gcc
+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
+
+# 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 -

PROS/firmware/STM32F10x.ld

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+/* Memory space definitions */
+MEMORY {
+	RAM (xrw) : ORIGIN = 0x20000000, LENGTH = 64K
+	FLASH (rx) : ORIGIN = 0x08000000, LENGTH = 384K
+}
+
+/* Higher address of the user mode stack */
+EXTERN ( _estack );
+PROVIDE ( _estack = ORIGIN(RAM) + LENGTH(RAM) );
+
+/* This sends all unreferenced IRQHandlers to reset. */
+PROVIDE ( ISR_SWI = 0 );
+PROVIDE ( ISR_IRQ = 0 );
+PROVIDE ( ISR_Prefetch = 0 );
+PROVIDE ( ISR_Abort = 0 );
+PROVIDE ( ISR_FIQ = 0 );
+
+PROVIDE ( ISR_NMI = 0 );
+PROVIDE ( ISR_HardFault = 0 );
+PROVIDE ( ISR_MemManage = 0 );
+PROVIDE ( ISR_BusFault = 0 );
+PROVIDE ( ISR_UsageFault = 0 );
+
+PROVIDE ( ISR_SVC = 0 );
+PROVIDE ( ISR_DebugMon = 0 );
+PROVIDE ( ISR_PendSV = 0 );
+PROVIDE ( ISR_SysTick = 0 );
+
+PROVIDE ( ISR_WWDG = 0 );
+PROVIDE ( ISR_PVD = 0 );
+PROVIDE ( ISR_TAMPER = 0 );
+PROVIDE ( ISR_RTC = 0 );
+PROVIDE ( ISR_FLASH = 0 );
+PROVIDE ( ISR_RCC = 0 );
+PROVIDE ( ISR_EXTI0 = 0 );
+PROVIDE ( ISR_EXTI1 = 0 );
+PROVIDE ( ISR_EXTI2 = 0 );
+PROVIDE ( ISR_EXTI3 = 0 );
+PROVIDE ( ISR_EXTI4 = 0 );
+PROVIDE ( ISR_DMAChannel1 = 0 );
+PROVIDE ( ISR_DMAChannel2 = 0 );
+PROVIDE ( ISR_DMAChannel3 = 0 );
+PROVIDE ( ISR_DMAChannel4 = 0 );
+PROVIDE ( ISR_DMAChannel5 = 0 );
+PROVIDE ( ISR_DMAChannel6 = 0 );
+PROVIDE ( ISR_DMAChannel7 = 0 );
+PROVIDE ( ISR_DMA1_Channel1 = 0 );
+PROVIDE ( ISR_DMA1_Channel2 = 0 );
+PROVIDE ( ISR_DMA1_Channel3 = 0 );
+PROVIDE ( ISR_DMA1_Channel4 = 0 );
+PROVIDE ( ISR_DMA1_Channel5 = 0 );
+PROVIDE ( ISR_DMA1_Channel6 = 0 );
+PROVIDE ( ISR_DMA1_Channel7 = 0 );
+PROVIDE ( ISR_ADC = 0 );
+PROVIDE ( ISR_ADC1_2 = 0 );
+PROVIDE ( ISR_USB_HP_CAN_TX = 0 );
+PROVIDE ( ISR_USB_HP_CAN1_TX = 0 );
+PROVIDE ( ISR_USB_LP_CAN_RX0 = 0 );
+PROVIDE ( ISR_USB_LP_CAN1_RX0 = 0 );
+PROVIDE ( ISR_CAN_RX1 = 0 );
+PROVIDE ( ISR_CAN1_RX1 = 0 );
+PROVIDE ( ISR_CAN_SCE = 0 );
+PROVIDE ( ISR_CAN1_SCE = 0 );
+PROVIDE ( ISR_EXTI9_5 = 0 );
+PROVIDE ( ISR_TIM1_BRK = 0 );
+PROVIDE ( ISR_TIM1_UP = 0 );
+PROVIDE ( ISR_TIM1_TRG_COM = 0 );
+PROVIDE ( ISR_TIM1_CC = 0 );
+PROVIDE ( ISR_TIM2 = 0 );
+PROVIDE ( ISR_TIM3 = 0 );
+PROVIDE ( ISR_TIM4 = 0 );
+PROVIDE ( ISR_I2C1_EV = 0 );
+PROVIDE ( ISR_I2C1_ER = 0 );
+PROVIDE ( ISR_I2C2_EV = 0 );
+PROVIDE ( ISR_I2C2_ER = 0 );
+PROVIDE ( ISR_SPI1 = 0 );
+PROVIDE ( ISR_SPI2 = 0 );
+PROVIDE ( ISR_USART1 = 0 );
+PROVIDE ( ISR_USART2 = 0 );
+PROVIDE ( ISR_USART3 = 0 );
+PROVIDE ( ISR_EXTI15_10 = 0 );
+PROVIDE ( ISR_RTCAlarm = 0 );
+PROVIDE ( ISR_USBWakeUp = 0 );
+PROVIDE ( ISR_TIM8_BRK = 0 );
+PROVIDE ( ISR_TIM8_UP = 0 );
+PROVIDE ( ISR_TIM8_TRG_COM = 0 );
+PROVIDE ( ISR_TIM8_CC = 0 );
+PROVIDE ( ISR_ADC3 = 0 );
+PROVIDE ( ISR_FSMC = 0 );
+PROVIDE ( ISR_SDIO = 0 );
+PROVIDE ( ISR_TIM5 = 0 );
+PROVIDE ( ISR_SPI3 = 0 );
+PROVIDE ( ISR_UART4 = 0 );
+PROVIDE ( ISR_UART5 = 0 );
+PROVIDE ( ISR_TIM6 = 0 );
+PROVIDE ( ISR_TIM7 = 0 );
+PROVIDE ( ISR_DMA2_Channel1 = 0 );
+PROVIDE ( ISR_DMA2_Channel2 = 0 );
+PROVIDE ( ISR_DMA2_Channel3 = 0 );
+PROVIDE ( ISR_DMA2_Channel4_5 = 0 );