# Based on https://github.com/Pro/raspi-toolchain but rewritten completely. # Adapted for the FSFW Example if(NOT DEFINED ENV{RASPBERRY_VERSION}) message(STATUS "Raspberry Pi version not specified, setting version 4!") set(RASPBERRY_VERSION 4) else() set(RASPBERRY_VERSION $ENV{RASPBERRY_VERSION}) endif() # LINUX_ROOTFS should point to the local directory which contains all the # libraries and includes from the target raspi. # The following command can be used to do this, replace and the # local accordingly: # rsync -vR --progress -rl --delete-after --safe-links pi@:/{lib,usr,opt/vc/lib} # LINUX_ROOTFS needs to be passed to the CMake command or defined in the # application CMakeLists.txt before loading the toolchain file. # CROSS_COMPILE also needs to be set accordingly or passed to the CMake command if(NOT DEFINED ENV{LINUX_ROOTFS}) message(FATAL_ERROR "Define the LINUX_ROOTFS variable to point to the Raspberry Pi rootfs." ) else() set(SYSROOT_PATH "$ENV{LINUX_ROOTFS}" CACHE PATH "Local linux root filesystem path") message(STATUS "Raspberry Pi sysroot: ${SYSROOT_PATH}") endif() if(NOT DEFINED ENV{CROSS_COMPILE}) set(CROSS_COMPILE "arm-linux-gnueabihf") message(STATUS "No CROSS_COMPILE environmental variable set, using default ARM linux " "cross compiler name ${CROSS_COMPILE}" ) else() set(CROSS_COMPILE "$ENV{CROSS_COMPILE}") message(STATUS "Using environmental variable CROSS_COMPILE as cross-compiler: " "$ENV{CROSS_COMPILE}" ) endif() message(STATUS "Using sysroot path: ${SYSROOT_PATH}") set(CROSS_COMPILE_CC "${CROSS_COMPILE}-gcc") set(CROSS_COMPILE_CXX "${CROSS_COMPILE}-g++") set(CROSS_COMPILE_LD "${CROSS_COMPILE}-ld") set(CROSS_COMPILE_AR "${CROSS_COMPILE}-ar") set(CROSS_COMPILE_RANLIB "${CROSS_COMPILE}-ranlib") set(CROSS_COMPILE_STRIP "${CROSS_COMPILE}-strip") set(CROSS_COMPILE_NM "${CROSS_COMPILE}-nm") set(CROSS_COMPILE_OBJCOPY "${CROSS_COMPILE}-objcopy") set(CROSS_COMPILE_SIZE "${CROSS_COMPILE}-size") # At the very least, cross compile gcc and g++ have to be set! find_program (CROSS_COMPILE_CC_FOUND ${CROSS_COMPILE_CC} REQUIRED) find_program (CROSS_COMPILE_CXX_FOUND ${CROSS_COMPILE_CXX} REQUIRED) set(CMAKE_CROSSCOMPILING TRUE) set(CMAKE_SYSROOT "${SYSROOT_PATH}") # Define name of the target system set(CMAKE_SYSTEM_NAME "Linux") if(RASPBERRY_VERSION VERSION_GREATER 1) set(CMAKE_SYSTEM_PROCESSOR "armv7") else() set(CMAKE_SYSTEM_PROCESSOR "arm") endif() # Define the compiler set(CMAKE_C_COMPILER ${CROSS_COMPILE_CC}) set(CMAKE_CXX_COMPILER ${CROSS_COMPILE_CXX}) # List of library dirs where LD has to look. Pass them directly through gcc. # LD_LIBRARY_PATH is not evaluated by arm-*-ld set(LIB_DIRS "/opt/cross-pi-gcc/arm-linux-gnueabihf/lib" "/opt/cross-pi-gcc/lib" "${SYSROOT_PATH}/opt/vc/lib" "${SYSROOT_PATH}/lib/${CROSS_COMPILE}" "${SYSROOT_PATH}/usr/local/lib" "${SYSROOT_PATH}/usr/lib/${CROSS_COMPILE}" "${SYSROOT_PATH}/usr/lib" "${SYSROOT_PATH}/usr/lib/${CROSS_COMPILE}/blas" "${SYSROOT_PATH}/usr/lib/${CROSS_COMPILE}/lapack" ) # You can additionally check the linker paths if you add the # flags ' -Xlinker --verbose' set(COMMON_FLAGS "-I${SYSROOT_PATH}/usr/include") foreach(LIB ${LIB_DIRS}) set(COMMON_FLAGS "${COMMON_FLAGS} -L${LIB} -Wl,-rpath-link,${LIB}") endforeach() set(CMAKE_PREFIX_PATH "${CMAKE_PREFIX_PATH}" "${SYSROOT_PATH}/usr/lib/${CROSS_COMPILE}" ) if(RASPBERRY_VERSION VERSION_GREATER 3) set(CMAKE_C_FLAGS "-mcpu=cortex-a72 -mfpu=neon-vfpv4 -mfloat-abi=hard ${COMMON_FLAGS}" CACHE STRING "Flags for Raspberry PI 4" ) set(CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS}" CACHE STRING "Flags for Raspberry PI 4" ) elseif(RASPBERRY_VERSION VERSION_GREATER 2) set(CMAKE_C_FLAGS "-mcpu=cortex-a53 -mfpu=neon-vfpv4 -mfloat-abi=hard ${COMMON_FLAGS}" CACHE STRING "Flags for Raspberry PI 3" ) set(CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS}" CACHE STRING "Flags for Raspberry PI 3" ) elseif(RASPBERRY_VERSION VERSION_GREATER 1) set(CMAKE_C_FLAGS "-mcpu=cortex-a7 -mfpu=neon-vfpv4 -mfloat-abi=hard ${COMMON_FLAGS}" CACHE STRING "Flags for Raspberry PI 2" ) set(CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS}" CACHE STRING "Flags for Raspberry PI 2" ) else() set(CMAKE_C_FLAGS "-mcpu=arm1176jzf-s -mfpu=vfp -mfloat-abi=hard ${COMMON_FLAGS}" CACHE STRING "Flags for Raspberry PI 1 B+ Zero" ) set(CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS}" CACHE STRING "Flags for Raspberry PI 1 B+ Zero" ) endif() set(CMAKE_FIND_ROOT_PATH "${CMAKE_INSTALL_PREFIX};${CMAKE_PREFIX_PATH};${CMAKE_SYSROOT}" ) # search for programs in the build host directories set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER) # for libraries and headers in the target directories set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY) set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY) set(CMAKE_FIND_ROOT_PATH_MODE_PACKAGE ONLY)