-
Notifications
You must be signed in to change notification settings - Fork 0
/
Copy pathCMakeLists.txt
137 lines (117 loc) · 5 KB
/
CMakeLists.txt
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
#THIS FILE IS AUTO GENERATED FROM THE TEMPLATE! DO NOT CHANGE!
set(CMAKE_SYSTEM_NAME Generic)
set(CMAKE_SYSTEM_VERSION 1)
cmake_minimum_required(VERSION 3.23)
# specify cross-compilers and tools
set(CMAKE_C_COMPILER arm-none-eabi-gcc)
set(CMAKE_CXX_COMPILER arm-none-eabi-g++)
set(CMAKE_ASM_COMPILER arm-none-eabi-gcc)
set(CMAKE_AR arm-none-eabi-ar)
set(CMAKE_OBJCOPY arm-none-eabi-objcopy)
set(CMAKE_OBJDUMP arm-none-eabi-objdump)
set(SIZE arm-none-eabi-size)
set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY)
# project settings
project(InfantryC C CXX ASM)
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_C_STANDARD 11)
################# !!! my cmakelist begin !!! ####################
# for use printf & scanf with float
set(COMMON_FLAGS "-specs=nosys.specs -specs=nano.specs -u _printf_float -u _scanf_float")
################# !!! my cmakelist end !!! ####################
#Uncomment for hardware floating point
add_compile_definitions(ARM_MATH_CM4;ARM_MATH_MATRIX_CHECK;ARM_MATH_ROUNDING)
add_compile_options(-mfloat-abi=hard -mfpu=fpv4-sp-d16)
add_link_options(-mfloat-abi=hard -mfpu=fpv4-sp-d16)
#Uncomment for software floating point
#add_compile_options(-mfloat-abi=soft)
add_compile_options(-mcpu=cortex-m4 -mthumb -mthumb-interwork)
add_compile_options(-ffunction-sections -fdata-sections -fno-common -fmessage-length=0)
# uncomment to mitigate c++17 absolute addresses warnings
#set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-register")
# Enable assembler files preprocessing
add_compile_options($<$<COMPILE_LANGUAGE:ASM>:-x$<SEMICOLON>assembler-with-cpp>)
if ("${CMAKE_BUILD_TYPE}" STREQUAL "Release")
message(STATUS "Maximum optimization for speed")
add_compile_options(-Ofast)
elseif ("${CMAKE_BUILD_TYPE}" STREQUAL "RelWithDebInfo")
message(STATUS "Maximum optimization for speed, debug info included")
add_compile_options(-Ofast -g)
elseif ("${CMAKE_BUILD_TYPE}" STREQUAL "MinSizeRel")
message(STATUS "Maximum optimization for size")
add_compile_options(-Os)
else ()
message(STATUS "Minimal optimization, debug info included")
add_compile_options(-Og -g)
endif ()
include_directories(Core/Inc
Drivers/STM32F4xx_HAL_Driver/Inc
Drivers/STM32F4xx_HAL_Driver/Inc/Legacy
Drivers/CMSIS/Device/ST/STM32F4xx/Include
Drivers/CMSIS/Include Middlewares/Third_Party/FreeRTOS/Source/include
Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS
Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F
Middlewares/ST/ARM/DSP/Inc
################# !!! my cmakelist begin !!! ####################
config/retarget
Shark/IMU/AHRS/inc
Shark/IMU/bsp/inc
Shark/IMU/driver/inc
Shark/IMU/task/inc
Shark/common_lib/communication
Shark/common_lib/controller
Shark/common_lib/encoder
Shark/common_lib/motor
Shark/App/vision
Shark/App/gimbal
################# !!! my cmakelist end !!! ####################
)
# macro definition
add_definitions(
-DDEBUG
-DUSE_HAL_DRIVER
-DSTM32F407xx
################# !!! my cmakelist begin !!! ####################
# my macro definition
-DARM_MATH_CM4
-D__FPU_USED=1U
-D__FPU_PRESENT=1U
-DARM_MATH_MATRIX_CHECK
-DARM_MATH_ROUNDING
################# !!! my cmakelist end !!! ####################
)
# src file path
file(GLOB_RECURSE SOURCES
"Library/*.*"
"Core/*.*"
"Middlewares/*.*"
"Drivers/*.*"
################# !!! my cmakelist begin !!! ####################
# my src file
"config/retarget/*.*"
"Shark/*.*"
################# !!! my cmakelist end !!! ####################
)
set(LINKER_SCRIPT ${CMAKE_SOURCE_DIR}/STM32F407IGHX_FLASH.ld
##################################
)
add_link_options(-Wl,-gc-sections,--print-memory-usage,-Map=${PROJECT_BINARY_DIR}/${PROJECT_NAME}.map)
add_link_options(-mcpu=cortex-m4 -mthumb -mthumb-interwork)
add_link_options(-T ${LINKER_SCRIPT})
################# !!! my cmakelist begin !!! ####################
link_directories(${PROJECT_SOURCE_DIR}/Middlewares/ST/ARM/DSP/Lib)
link_libraries("arm_cortexM4lf_math.a")
link_directories(${PROJECT_SOURCE_DIR}/Shark/IMU/AHRS/src)
################# !!! my cmakelist end !!! ####################
add_executable(${PROJECT_NAME}.elf ${SOURCES} ${LINKER_SCRIPT} )
################# !!! my cmakelist begin !!! ####################
# target link ahrs.lib
target_link_libraries(${PROJECT_NAME}.elf ${PROJECT_SOURCE_DIR}/Shark/IMU/AHRS/src/AHRS.lib)
################# !!! my cmakelist end !!! ####################
set(HEX_FILE ${PROJECT_BINARY_DIR}/${PROJECT_NAME}.hex)
set(BIN_FILE ${PROJECT_BINARY_DIR}/${PROJECT_NAME}.bin)
add_custom_command(TARGET ${PROJECT_NAME}.elf POST_BUILD
COMMAND ${CMAKE_OBJCOPY} -Oihex $<TARGET_FILE:${PROJECT_NAME}.elf> ${HEX_FILE}
COMMAND ${CMAKE_OBJCOPY} -Obinary $<TARGET_FILE:${PROJECT_NAME}.elf> ${BIN_FILE}
COMMENT "Building ${HEX_FILE}
Building ${BIN_FILE}")