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