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Makefile now generates objects and include dirs automatically #45

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7 changes: 7 additions & 0 deletions Makefile
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Original file line number Diff line number Diff line change
@@ -1,3 +1,7 @@
PVDXOS_DIR = $(CURDIR)

export PVDXOS_DIR

ifeq ($(OS),Windows_NT)
# Pure Windows (e.g. MSYS2/MinGW). Note that in WSL, $(OS) is *not* Windows_NT.
GDBCMD = gdb-multiarch
Expand Down Expand Up @@ -44,6 +48,9 @@ test: bootloader_target
flash_monkey:
python3 scripts/flip_rand_bit.py

list_files:
make -C src list_files

# this command will start gdb from a breakpoint at main
# use connect_bl to start from the beginning
connect:
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196 changes: 35 additions & 161 deletions src/Makefile
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Original file line number Diff line number Diff line change
@@ -1,165 +1,34 @@
###############################################################################
##################### ADDING SOMETHING? READ THIS FIRST! #####################
###############################################################################
###
### When adding a new C file to the source, you must do 2 things:
### - Add the file to the OBJS list below (with a .o extension)
### - If it is in a new directory, Add the directory to the EXTRA_VPATH list below (with a .c extension)
### Remember to add the trailing \ to the end of each line!
###
###############################################################################
###############################################################################
###############################################################################

### ALL C FILES SHOULD HAVE AN OBJECT FILE LISTED HERE ###
export OBJS := \
../src/linalg/LinearAlgebra/add.o \
../src/linalg/LinearAlgebra/chol.o \
../src/linalg/LinearAlgebra/cofact.o \
../src/linalg/LinearAlgebra/copy.o \
../src/linalg/LinearAlgebra/cut.o \
../src/linalg/LinearAlgebra/det.o \
../src/linalg/LinearAlgebra/diag.o \
../src/linalg/LinearAlgebra/diagpower.o \
../src/linalg/LinearAlgebra/dot.o \
../src/linalg/LinearAlgebra/eabs.o \
../src/linalg/LinearAlgebra/eig.o \
../src/linalg/LinearAlgebra/eye.o \
../src/linalg/LinearAlgebra/hankel.o \
../src/linalg/LinearAlgebra/horzcat.o \
../src/linalg/LinearAlgebra/insert.o \
../src/linalg/LinearAlgebra/inv.o \
../src/linalg/LinearAlgebra/linprog.o \
../src/linalg/LinearAlgebra/linsolve.o \
../src/linalg/LinearAlgebra/lu.o \
../src/linalg/LinearAlgebra/maxvector.o \
../src/linalg/LinearAlgebra/mdiag.o \
../src/linalg/LinearAlgebra/minvector.o \
../src/linalg/LinearAlgebra/move.o \
../src/linalg/LinearAlgebra/mpower.o \
../src/linalg/LinearAlgebra/mul.o \
../src/linalg/LinearAlgebra/norm.o \
../src/linalg/LinearAlgebra/ones.o \
../src/linalg/LinearAlgebra/pinv.o \
../src/linalg/LinearAlgebra/power.o \
../src/linalg/LinearAlgebra/print.o \
../src/linalg/LinearAlgebra/qr.o \
../src/linalg/LinearAlgebra/rank.o \
../src/linalg/LinearAlgebra/repmat.o \
../src/linalg/LinearAlgebra/scale.o \
../src/linalg/LinearAlgebra/sqrte.o \
../src/linalg/LinearAlgebra/sub.o \
../src/linalg/LinearAlgebra/sumrows.o \
../src/linalg/LinearAlgebra/svd.o \
../src/linalg/LinearAlgebra/toeplitz.o \
../src/linalg/LinearAlgebra/tran.o \
../src/linalg/LinearAlgebra/tril.o \
../src/linalg/LinearAlgebra/triu.o \
../src/linalg/LinearAlgebra/vec.o \
../src/linalg/LinearAlgebra/vertcat.o \
../src/linalg/LinearAlgebra/zeros.o \
../src/linalg/LinearAlgebra/eps.o \
\
../src/main.o \
\
../src/mutexes/mutexes.o \
\
../src/misc/printf/SEGGER_RTT.o \
../src/misc/printf/SEGGER_RTT_printf.o \
\
../src/misc/rtos_support/rtos_static_memory.o \
../src/misc/rtos_support/rtos_stack_overflow.o \
\
../src/misc/logging/logging.o \
\
../src/misc/exception_handlers/default_handler.o \
../src/misc/exception_handlers/specific_handlers.o \
\
../src/drivers/display/display_driver.o \
../src/drivers/gyro/SCH1.o \
../src/drivers/magnetometer/magnetometer_driver.o \
../src/drivers/photodiode/photodiode_driver.o \
../src/drivers/rtc/rtc_driver.o \
../src/drivers/watchdog/watchdog_driver.o \
../src/drivers/at86rf215/at86rf215.o \
\
../src/tasks/heartbeat/heartbeat_main.o \
\
../src/tasks/watchdog/watchdog_task.o \
../src/tasks/watchdog/watchdog_main.o \
\
../src/tasks/cosmic_monkey/cosmic_monkey_main.o \
../src/tasks/cosmic_monkey/cosmic_monkey_task.o \
\
../src/tasks/display/display_task.o \
../src/tasks/display/display_main.o \
../src/tasks/display/image_buffers/image_buffer_BrownLogo.o \
../src/tasks/display/image_buffers/image_buffer_PVDX.o \
../src/tasks/adcs/adcs_task.o \
../src/tasks/adcs/adcs_main.o \
\
../src/tasks/task_manager/task_manager_main.o \
../src/tasks/task_manager/task_manager_task.o \
\
../src/tasks/command_dispatcher/command_dispatcher_main.o \
../src/tasks/command_dispatcher/command_dispatcher_task.o \
\
../src/tasks/shell/shell_main.o \
../src/tasks/shell/shell_helpers.o \
../src/tasks/shell/shell_commands.o \
\
../src/tasks/task_list.o \
\
../src/checks/device_checks.o \
\
../src/ccsds/spp.o \
../src/ccsds/cfdp_pdu.o \
../src/tests/test.o \


### ALL DIRECTORIES WITH SOURCE FILES MUST BE LISTED HERE ###
### THESE ARE WRITTEN RELATIVE TO THE ./ASF/gcc/Makefile FILE ###
export EXTRA_VPATH := \
../../src \
../../src/misc \
../../src/misc/printf \
../../src/misc/rtos_support \
../../src/misc/logging \
../../src/misc/exception_handlers \
../../src/drivers \
../../src/drivers/display \
../../src/drivers/gyro \
../../src/drivers/magnetometer \
../../src/drivers/magnetorquer \
../../src/drivers/at86rf215 \
../../src/drivers/rtc \
../../src/drivers/photodiode \
../../src/drivers/watchdog \
../../src/tasks \
../../src/tasks/watchdog \
../../src/tasks/heartbeat \
../../src/tasks/cosmic_monkey \
../../src/tasks/display \
../../src/tasks/display/image_buffers \
../../src/tasks/task_manager \
../../src/tasks/command_dispatcher \
../../src/tasks/shell \
../../src/tasks/radio \
../../src/tasks/adcs \
../../src/mutexes \
../../src/checks \
../../src/ccsds \
../../src/tests \
../../src/linalg \
../../src/linalg/Lapack \
../../src/linalg/LinearAlgebra \
../../src/tasks/adcs \
../../src/mutexes

###############################################################################
###############################################################################
###############################################################################
##############################################################################
################## OBJECT FILE AND INCLUDE PATH DISCOVERY ####################
##############################################################################

# list of directories and files to exclude from compilation
EXCLUDE_PATHS := $(PVDXOS_DIR)/src/libraries/adcs \
$(PVDXOS_DIR)/src/linalg/Lapack \

# generate flags to pass to find to exclude paths from above
EXCLUDE_FLAGS := $(foreach dir,$(EXCLUDE_PATHS),-not -path "$(dir)/*")

# Discover all c files in src dir
SRCS := $(shell find $(PVDXOS_DIR)/src -name "*.c" $(EXCLUDE_FLAGS))

# Substitute .c suffix with .o to create output object names
export OBJS := $(patsubst %.c,%.o,$(SRCS))

# Create list of directories to include from
export EXTRA_VPATH := $(sort $(dir $(SRCS)))

# Print discovered objs and VPATH for debugging
$(info Parsed OBJS:)
$(eval $(foreach f,$(OBJS),$(info $(f))))

$(info Parsed EXTRA_VPATH:)
$(eval $(foreach f,$(EXTRA_VPATH),$(info $(f))))

##############################################################################
##############################################################################
##############################################################################

#Technical stuff

#Makefile usually uses /bin/sh to evaluate commands, so we need to change it to /bin/bash
Expand Down Expand Up @@ -260,6 +129,11 @@ clean:
&& rm -f ./PVDXos.bin ./PVDXos.elf \
&& echo " --- Cleaned Build Files --- "

# this is a cheat, since it's just a nop. Execution stops after
# info statements at the top of Makefile
list_files:
@:

# When updating the ASF configuration, this must be run once in order to automatically integrate the new ASF config
# Hopefully nobody ever needs to touch this, but you can add to it if you want to automatically trigger an action when the ASF is updated
# The worst part of this is step 6, making text modifications to the stock ASF Makefile
Expand Down
1 change: 1 addition & 0 deletions src/libraries/adcs
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Submodule adcs added at 31dff4
2 changes: 1 addition & 1 deletion src/linalg/Lapack/Scr/sorm2r.c
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Expand Up @@ -180,7 +180,7 @@ static integer c__1 = 1;
return 0;
}

if (left && !notran || !left && notran) {
if ((left && !notran) || !left && notran) {
i1 = 1;
i2 = *k;
i3 = 1;
Expand Down
77 changes: 4 additions & 73 deletions src/tests/test.c
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@@ -1,9 +1,8 @@

#include "tests/test.h"

#include "ccsds/cfdp_pdu.h"
#include "ccsds/spp.h"
#include "linalg/LinearAlgebra/declareFunctions.h"
#include "test.h"
#include "test_linalg.h"
#include "cfdp_pdu.h"
#include "spp.h"
#include "logging.h"

int tests_passed = 0;
Expand Down Expand Up @@ -47,74 +46,6 @@ void test_spp(void) {
PVDX_ASSERT_MSG(packet.header.data_length == 0xAA, "data_length");
}

void test_matrix_product(void) {
test_log("----- testing matrix product -----\n");

// test case for 2*2 matrix product
float A[4] = {1., 2., 3., 4.};
float B[4] = {5., 6., 7., 8.};
float C[4] = {0.};
float C_expected[4] = {19., 22., 43., 50.};

mul(A, B, false, C, 2, 2, 2);
// log_matrix(C, 2, 2);

if (dbl_eps_close_matrix(C, C_expected, 2, 2, DBL_EPSILON)) {
test_log("1 * 2 matrix product test passed!\n");
} else {
test_log("2 * 2 matrix product test failed!\n");
}

// 4*4 identity matrix test
float identity[4 * 4] = {0.};
float large_result[4 * 4] = {0.};

eye(identity, 4, 4);

mul(identity, identity, false, large_result, 4, 4, 4);

if (dbl_eps_close_matrix(identity, large_result, 4, 4, DBL_EPSILON)) {
test_log("Identity matrix squared test passed!\n");
} else {
test_log("Identity matrix squared test failed!\n");
}

float A_large[4 * 4] = {1., 2., 3., 4., 5., 6., 7., 8., 9., 10., 11., 12., 13., 14., 15., 16.};

mul(A_large, identity, false, large_result, 4, 4, 4);

if (dbl_eps_close_matrix(A_large, large_result, 4, 4, DBL_EPSILON)) {
test_log("Identity post-multiplication test passed!\n");
} else {
test_log("Identity post-multiplication test failed!\n");
}

mul(identity, A_large, false, large_result, 4, 4, 4);

if (dbl_eps_close_matrix(A_large, large_result, 4, 4, DBL_EPSILON)) {
test_log("Identity pre-multiplication test passed!\n");
} else {
test_log("Identity pre-multiplication test failed!\n");
}

float B_large[4 * 4] = {5.24829, 6.21496, 3.27374, 3.49223, 1.52040, 3.70849, 7.21884, 0.41667,
7.77438, 8.24807, 8.63347, 2.01096, 8.29170, 1.46735, 8.53606, 5.14221};

float C_large[4 * 4] = {1.92304, 0.14043, 1.64762, 4.97396, 0.68077, 4.99275, 7.04041, 2.44857,
8.22049, 1.66745, 7.94150, 0.56302, 2.68638, 7.59450, 1.43236, 3.59834};

float large_multiplication_expected[4 * 4] = {50.6168, 63.7473, 83.4036, 55.732, 65.9102, 33.9305, 86.5396, 22.2066,
96.939, 71.9404, 142.322, 70.9624, 100.929, 61.7765, 99.1469, 68.1449};

mul(B_large, C_large, false, large_result, 4, 4, 4);

if (dbl_eps_close_matrix(large_result, large_multiplication_expected, 4, 4, DBL_EPSILON)) {
test_log("Large matrix product test passed!\n");
} else {
test_log("Large matrix product test failed!\n");
}
}

void test_cfdp(void) {
test_log("----- testing cfdp -----\n");

Expand Down
20 changes: 1 addition & 19 deletions src/tests/test_linalg.c
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Original file line number Diff line number Diff line change
Expand Up @@ -9,27 +9,9 @@

#include "test_linalg.h"

#include "linalg/LinearAlgebra/declareFunctions.h"
#include "declareFunctions.h"
#include "logging.h"

/**
* \fn debug_matrix
*
* \brief Debug prints a matrix A, with the dimension row x column
*
* \param A the matrix to print (as a 1D array in row-major order)
* \param row the number of rows in the matrix
* \param column the number of columns in the matrix
*/
void debug_matrix(float *A, int row, int column) {
for (int i = 0; i < row; i++) {
for (int j = 0; j < column; j++) {
printf("%0.18f ", *(A++));
}
printf("\n");
}
printf("\n");
}

void test_matrix_product(void) {
test_log("----- testing matrix product -----\n");
Expand Down