Flow/CMakeLists.txt at master · nickrehm/Flow

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cmake_minimum_required(VERSION 2.8)

# toolchain

#-----------------------------------------------------

option(HOST_TEST "do host based testing (no cross-compiling)" OFF)

if (NOT HOST_TEST)

set(CMAKE_TOOLCHAIN_FILE c 10BC8 make/Toolchain-arm-none-eabi.cmake)

endif()

project(px4flow C ASM)

# config

#-----------------------------------------------------

set(JTAGCONFIG ${CMAKE_SOURCE_DIR}/olimex-jtag-tiny.cfg)

#set(JTAGCONFIG ${CMAKE_SOURCE_DIR}/olimex-arm-usb-tiny-h.cfg)

set(BOARDCONFIG ${CMAKE_SOURCE_DIR}/stm32f4x.cfg)

# dependencies/ programs

#-----------------------------------------------------

find_program(OPENOCD openocd HINT ../../sat/bin/)

# testing

#-----------------------------------------------------

enable_testing()

# packaging

#-----------------------------------------------------

set(CPACK_PACKAGE_CONTACT "px4users@googlegroups.com")

set(CPACK_INCLUDE_TOPLEVEL_DIRECTORY 0)

set(CPACK_PACKAGE_VERSION_MAJOR "0")

set(CPACK_PACKAGE_VERSION_MINOR "0")

set(CPACK_PACKAGE_VERSION_PATCH "0")

include(CPack)

# functions

#-----------------------------------------------------

function(join VARNAME)

string (REGEX REPLACE "([^\\]|^);" "\\1 " _TMP_STR "${${VARNAME}}")

string (REGEX REPLACE "[\\](.)" "\\1" _TMP_STR "${_TMP_STR}") #fixes escaping

set(${VARNAME} "${_TMP_STR}" PARENT_SCOPE)

endfunction()

macro(generate_firmware NAME)

add_custom_target(firmware_${NAME} ALL DEPENDS ${NAME}.px4)

add_custom_command(OUTPUT ${NAME}.px4

COMMAND ${OBJCOPY} --output-format=binary ${NAME} ${NAME}.bin

COMMAND python -u ${CMAKE_SOURCE_DIR}/Tools/px_mkfw.py --board_id 6 > ${NAME}_prototype.px4

COMMAND python -u ${CMAKE_SOURCE_DIR}/Tools/px_mkfw.py --prototype ${NAME}_prototype.px4 --image ${NAME}.bin > ${NAME}.px4

DEPENDS ${NAME})

endmacro()

# flags

#-----------------------------------------------------

if (${CMAKE_SYSTEM_NAME} STREQUAL "Arm")

# board CORTEXM44

set(CPU_FLAGS

-mcpu=cortex-m4

-mthumb

-march=armv7e-m

-mfpu=fpv4-sp-d16

-mfloat-abi=hard

)

else()

set(CPU_FLAGS)

endif()

set(OPT_FLAGS

-O3

-g

-fno-strict-aliasing

-fno-strength-reduce

-fomit-frame-pointer

-funsafe-math-optimizations

-fno-builtin-printf

-ffunction-sections

-fdata-sections

)

set(C_FLAGS

-std=gnu99

-fno-common

)

set(CXX_FLAGS

-fno-exceptions

-fno-rtti

-std=gnu++0x

-fno-threadsafe-statics

)

set(WARNINGS

-Wall

-Wextra

-Wdouble-promotion

-Wshadow

-Wfloat-equal

-Wframe-larger-than=1024

-Wpointer-arith

-Wlogical-op

-Wmissing-declarations

-Wpacked

-Wno-unused-parameter

-Werror=format-security

-Werror=array-bounds

-Wfatal-errors

-Wformat=1

-Werror=unused-but-set-variable

-Werror=unused-variable

-Werror=double-promotion

-Werror=reorder

#-Wcast-qual - generates spurious noreturn attribute warnings, try again later

#-Wconversion - would be nice, but too many "risky-but-safe" conversions in the code

#-Wcast-align - would help catch bad casts in some cases, but generates too many false positives

)

set(C_WARNINGS

-Wbad-function-cast

-Wstrict-prototypes

-Wold-style-declaration

-Wmissing-parameter-type

-Wmissing-prototypes

-Wnested-externs

)

set(CXX_WARNINGS

-Wno-missing-field-initializers

)

set(LD_FLAGS

-Wl,--warn-common

-Wl,--gc-sections

)

set(CMAKE_C_FLAGS

${CPU_FLAGS}

${C_FLAGS}

${WARNINGS}

${C_WARNINGS}

${OPT_FLAGS}

)

join(CMAKE_C_FLAGS)

set(CMAKE_CXX_FLAGS

${CPU_FLAGS}

${CXX_FLAGS}

${WARNINGS}

${CXX_WARNINGS}

${OPT_FLAGS}

)

join(CMAKE_CXX_FLAGS)

set(CMAKE_EXE_LINKER_FLAGS ${LD_FLAGS})

join(CMAKE_EXE_LINKER_FLAGS)

message(STATUS "cflags: ${CMAKE_C_FLAGS}")

add_definitions(-DMAVLINK_SEND_UART_BYTES=mavlink_send_uart_bytes)

include_directories(

src/lib/stm32/st/v1.0.2

src/include

src/modules/flow

src/platforms

src/lib/stm32/st/v1.0.2/STM32_USB_Device_Library/Class/cdc/inc

src/lib/stm32/st/v1.0.2/STM32_USB_Device_Library/Core/inc

src/lib/stm32/st/v1.0.2/STM32F4xx_StdPeriph_Driver/inc

src/lib/stm32/st/v1.0.2/STM32_USB_Device_Library/Core/inc

src/lib/stm32/st/v1.0.2/STM32_USB_OTG_Driver/inc

mavlink/include/mavlink/v1.0

mavlink/include/mavlink/v1.0/common

)

# source

#-------------------------------------------------src----

set(PERIPH_SRC

src/lib/stm32/st/v1.0.2/startup_stm32f4xx.s

src/lib/stm32/st/v1.0.2/STM32F4xx_StdPeriph_Driver/src/misc.c

src/lib/stm32/st/v1.0.2/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_rcc.c

src/lib/stm32/st/v1.0.2/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dma.c

src/lib/stm32/st/v1.0.2/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_dcmi.c

src/lib/stm32/st/v1.0.2/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_i2c.c

src/lib/stm32/st/v1.0.2/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_tim.c

src/lib/stm32/st/v1.0.2/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_spi.c

src/lib/stm32/st/v1.0.2/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_usart.c

src/lib/stm32/st/v1.0.2/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_adc.c

src/lib/stm32/st/v1.0.2/STM32F4xx_StdPeriph_Driver/src/stm32f4xx_gpio.c

src/lib/stm32/st/v1.0.2/STM32_USB_OTG_Driver/src/usb_core.c

src/lib/stm32/st/v1.0.2/STM32_USB_OTG_Driver/src/usb_dcd_int.c

src/lib/stm32/st/v1.0.2/STM32_USB_OTG_Driver/src/usb_dcd.c

src/lib/stm32/st/v1.0.2/STM32_USB_Device_Library/Core/src/usbd_core.c

src/lib/stm32/st/v1.0.2/STM32_USB_Device_Library/Core/src/usbd_req.c

src/lib/stm32/st/v1.0.2/STM32_USB_Device_Library/Core/src/usbd_ioreq.c

src/lib/stm32/st/v1.0.2/STM32_USB_Device_Library/Class/cdc/src/usbd_cdc_core.c

)

set(PX4FLOW_HDRS

src/include/communication.h

src/include/dcmi.h

src/include/debug.h

src/include/flow.h

src/include/gyro.h

src/include/i2c_frame.h

src/include/i2c.h

src/include/led.h

src/include/main.h

src/include/mavlink_bridge_header.h

src/include/mt9v034.h

src/include/settings.h

src/include/sonar.h

src/include/sonar_mode_filter.h

src/include/stm32f4xx_conf.h

src/include/stm32f4xx_it.h

src/include/usart.h

src/include/usb_conf.h

src/include/usbd_cdc_vcp.h

src/include/usbd_conf.h

src/include/usbd_desc.h

src/include/utils.h

)

set(PX4FLOW_SRC

src/modules/flow/communication.c

src/modules/flow/dcmi.c

src/modules/flow/debug.c

src/modules/flow/flow.c

src/modules/flow/gyro.c

src/modules/flow/i2c.c

src/modules/flow/led.c

src/modules/flow/main.c

src/modules/flow/mt9v034.c

src/modules/flow/reset.c

src/modules/flow/settings.c

src/modules/flow/sonar.c

src/modules/flow/sonar_mode_filter.c

src/modules/flow/stm32f4xx_it.c

src/modules/flow/system_stm32f4xx.c

src/modules/flow/usart.c

src/modules/flow/usb_bsp.c

src/modules/flow/usbd_cdc_vcp.c

src/modules/flow/usbd_desc.c

src/modules/flow/usbd_usr.c

src/modules/flow/utils.c

src/modules/flow/system_stm32f4xx.c

src/modules/flow/stm32f4xx_it.c

)

# building

#-----------------------------------------------------

if (${CMAKE_SYSTEM_NAME} STREQUAL "Arm")

# periph lib

add_library(periph STATIC ${PERIPH_SRC})

set_target_properties(periph PROPERTIES

LINK_FLAGS ""

#COMPILE_FLAGS "-Werror"

)

# board executable

add_executable(px4flow ${PX4FLOW_SRC} ${PX4FLOW_HDRS})

target_compile_definitions(px4flow PUBLIC CONFIG_ARCH_BOARD_PX4FLOW_V1)

target_link_libraries(px4flow periph nosys m)

set_target_properties(px4flow PROPERTIES

LINK_FLAGS "-T${CMAKE_SOURCE_DIR}/baremetal-configs/px4flow-v1/scripts/ld.script"

#COMPILE_FLAGS "-Werror"

)

generate_firmware(px4flow)

else()

# host based testing

include_directories(unittests)

add_executable(sonar_mode_filter

src/modules/flow/sonar_mode_filter.c

include/sonar_mode_filter.h

unittests/tests.c

)

#set_target_properties(sonar_mode_filter PROPERTIES

# COMPILE_FLAGS "-Werror"

add_test(sonar_mode_filter sonar_mode_filter)

endif()

# flashing

#-----------------------------------------------------

add_custom_target(flash

COMMAND ${OPENOCD} --search ../px4_flow -f${JTAGCONFIG} -f${BOARDCONFIG} -c"init; reset halt; flash write_image erase px4flow.elf; reset run; shutdown")

add_custom_target(flash-bootloader

COMMAND ${OPENOCD} --search ../px4_flow -f${JTAGCONFIG} -f${BOARDCONFIG} -c"init; reset halt; flash write_image erase px4flow_bl.elf; reset run; shutdown")

add_custom_target(flash-both

COMMAND ${OPENOCD} --search ../px4_flow -f${JTAGCONFIG} -f${BOARDCONFIG} -c"init; reset halt; flash write_image erase px4flow.elf; reset run" -c"init; reset halt; flash write_image erase px4flow_bl.elf; reset run; shutdown")

# for debugging with GDB

add_custom_target(flash-both-no-shutdown

if (${CMAKE_HOST_SYSTEM_NAME} STREQUAL "Linux")

set(SERIAL_PORTS "/dev/ttyACM5,/dev/ttyACM4,/dev/ttyACM3,/dev/ttyACM2,/dev/ttyACM1,/dev/ttyACM0")

elseif (${CMAKE_HOST_APPLE})

set(SERIAL_PORTS "/dev/tty.usbmodemPX1,/dev/tty.usbmodemPX2,/dev/tty.usbmodemPX3,/dev/tty.usbmodemPX4,/dev/tty.usbmodem1,/dev/tty.usbmodem2,/dev/tty.usbmodem3,/dev/tty.usbmodem4")

else()

set(SERIAL_PORTS "\\\\.\\COM32,\\\\.\\COM31,\\\\.\\COM30,\\\\.\\COM29,\\\\.\\COM28,\\\\.\\COM27,\\\\.\\COM26,\\\\.\\COM25,\\\\.\\COM24,\\\\.\\COM23,\\\\.\\COM22,\\\\.\\COM21,\\\\.\\COM20,\\\\.\\COM19,\\\\.\\COM18,\\\\.\\COM17,\\\\.\\COM16,\\\\.\\COM15,\\\\.\\COM14,\\\\.\\COM13,\\\\.\\COM12,\\\\.\\COM11,\\\\.\\COM10,\\\\.\\COM9,\\\\.\\COM8,\\\\.\\COM7,\\\\.\\COM6,\\\\.\\COM5,\\\\.\\COM4,\\\\.\\COM3,\\\\.\\COM2,\\\\.\\COM1,\\\\.\\COM0")

endif()

add_custom_target(upload-usb

COMMAND echo "Attempting to flash PX4FLOW board via USB ${SERIAL_PORTS}"

COMMAND python -u ${CMAKE_SOURCE_DIR}/Tools/px_uploader.py px4flow.px4 --baud 921600 --port ${SERIAL_PORTS}

DEPENDS px4flow.px4)

# vim: set et fenc= ff=unix sts=0 sw=4 ts=4 ft=cmake :

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