Add steps for compiling the kernel

[Skyluker4]

Edit from PROS Team: This method of including the SDK from VCS is unsupported. VCS uses a different SDK from that given to third-party developers and functionality within PROS may break.

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It is possible for anyone to compile the kernel, it just requires a few extra steps. VCS actually ships with the SDK and can be added to PROS.

Steps:

1. Download Vex Coding Studio
2. Copy the libv5rt header files (the ones prefixed with "v5_") from where the VCS SDK is installed to [pros source folder]/firmware/libv5rts/sdk/vexv5/include/

• In Windows they are in %localappdata%/VEX Coding Studio/VEX Coding Studio/sdk/vexv5/include/

3. Copy the prosv5rt library (libv5rt.a) to [pros source folder]/firmware/libv5rts/sdk/vexv5/ and rename it to libv5rts.a

• In Windows it is located in the folder %localappdata%/VEX Coding Studio/VEX Coding Studio/sdk/vexv5/

4. Define the function vexBackgroundProcessing defined in v5_api.h.

• Create the source file [pros source folder]/src/libv5rts/sdk/vexv5/v5_api.c and add the following code:

#include "v5_api.h"

#pragma GCC push_options
#pragma GCC optimize("O1")
void vexBackgroundProcessing(void) {
    __asm__ ("ldr r3, [pc, #4]");
    __asm__ ("ldr r3, [r3, #92]");
    __asm__ ("bx r3");
    __asm__ ("cmneq pc, #0");
}
#pragma GCC pop_options

• and edit v5_api.h so that the function declaration is

void                  vexBackgroundProcessing( void ) __attribute__((naked));

5. Compile with prosv5 make

Solution

Update the readme to include steps on how to compile the kernel and possibly add the code above to the repo so anyone can build the kernel themselves.

[Jerrylum]

It is work, at least in the compiler
I haven't used in the Brain yeah.

Also, I think the library probably have VCS's method too.

[Jerrylum]

Expand

That's how I made it

Steps:

1. Download Vex Coding Studio and run the program at least once

so the Studio can init itself.

2. Copy the libv5rt header files to [pros source folder]\include\

libv5rt header files is in %appdata%\Local\VEX Coding Studio\VEX Coding Studio\sdk\vexv5\include. You only need files with "v5_" prefixed. (v5.h to v5_vcs_options.h)

3. Copy the libv5rt.a to [pros source folder]\firmware\libv5rts\sdk\vexv5, and rename it to libv5rts.a

libv5rt.a is in %appdata%\Local\VEX Coding Studio\VEX Coding Studio\sdk\vexv5

4. Create file v5_api.c in [pros source folder]\src\system\ and add the following code:

#include "v5_api.h"

#pragma GCC push_options
#pragma GCC optimize("O1")
void vexBackgroundProcessing(void) {
    __asm__ ("ldr r3, [pc, #4]");
    __asm__ ("ldr r3, [r3, #92]");
    __asm__ ("bx r3");
    __asm__ ("cmneq pc, #0");
}
#pragma GCC pop_options

5. Edit v5_api.h so that the function declaration is

void                  vexBackgroundProcessing( void ) __attribute__((naked));

v5_api.h is in the *[pros source folder]\include*

6. Compile with prosv5 make

[Jerrylum]

I tested about it, you can use the raw method on VEX CODE STUDIO but PROS can't. Also, the library has VEX CODE STUDIO's methods

raw method mean The super security VEX's proprietary Software Development Kit

What it means?

you can write VCS code on the Notepad++ and compile or upload it using PROS CLI. OR
write your own code without PROS kernel. OR
add VCS support on the PROS Kernel. OR
use PROS API and SDK in your project.

Finally, it is no reason to private the SDK right now.

[HotelCalifornia]

We do not distribute the SDK because it is proprietary and owned by VEX. We can't stop you from doing this on your own, but we're also not going to support it.