fsfw-example-stm32h7-freertos/CMakeLists.txt

################################################################################
# CMake support for the Flight Software Framework
# Author: R. Mueller
################################################################################

################################################################################
# Pre-Project preparation
################################################################################
cmake_minimum_required(VERSION 3.13)

# set(CMAKE_VERBOSE TRUE)

set(CMAKE_SCRIPT_PATH "${CMAKE_CURRENT_SOURCE_DIR}/cmake")
set(STM32_CMAKE_PATH  "${CMAKE_SCRIPT_PATH}/stm32-cmake")
set(STM32_CUBE_H7_PATH STM32CubeH7)
set(STM32_TOOLCHAIN_PATH $ENV{STM32_TOOLCHAIN_PATH})
set(TARGET_TRIPLET "arm-none-eabi")
set(FSFW_OSAL freertos CACHE STRING "OS for the FSFW")
set(STM32_ADD_NETWORKING_CODE ON)
set(FSFW_HAL_ADD_STM32H7 ON)

# This call has to come before the project call
set(CMAKE_TOOLCHAIN_FILE ${STM32_CMAKE_PATH}/cmake/stm32_gcc.cmake)
# Project Name
project(fsfw-example-stm32h7-freertos ASM C CXX)

################################################################################
# Pre-Sources preparation
################################################################################

# Specify the C++ standard
set(CMAKE_CXX_STANDARD 11)
set(CMAKE_CXX_STANDARD_REQUIRED True)


set(FSFW_OSAL "freertos")
set(TGT_BSP "arm/stm32h743zi-nucleo")
set(FREERTOS_NAMESPACE FreeRTOS::STM32::H7::M7)

# Set names and variables
set(TARGET_NAME ${CMAKE_PROJECT_NAME}) 
set(LIB_FSFW_NAME fsfw)

# Set path names
set(FSFW_PATH fsfw)
set(COMMON_PATH example_common)

set(BSP_PATH "bsp_stm32h7_freertos")
set(COMMON_CONFIG_PATH "${COMMON_PATH}/config")
set(FSFW_CONFIG_PATH "${BSP_PATH}/fsfwconfig")
set(BSP_NUCLEO_PATH "${BSP_PATH}/NUCLEO-H743ZI")
set(BSP_NUCLEO_INC_PATH "${BSP_NUCLEO_PATH}/Inc")

# See stm32-cmake documentation for more information
find_package(CMSIS COMPONENTS STM32H743ZI STM32H7_M7 RTOS REQUIRED)
find_package(FreeRTOS COMPONENTS STM32H7 ARM_CM7 REQUIRED)
find_package(HAL COMPONENTS STM32H7M7 STM32H743ZI RCC GPIO UART TIM CORTEX ETH SPI DMA REQUIRED)
find_package(LwIP REQUIRED)

# These need to be set for the FSFW so the sources are compiled with the ABI flags
# and to compile FreeRTOS first
set(LIB_OS_NAME ${FREERTOS_NAMESPACE}::ARM_CM7)
# This target is used because a custom linker script is used
set(CMSIS_LINK_TARGET CMSIS::STM32::H743xx::M7)
set(FSFW_ADDITIONAL_LINK_LIBS ${CMSIS_LINK_TARGET})
set(FSFW_HAL_LINK_LIBS 
    HAL::STM32::H7::M7::CORTEX
    ${CMSIS_LINK_TARGET}
    ${LIB_OS_NAME}
)
set(FSFW_HAL_ADDITIONAL_INC_PATHS ${BSP_NUCLEO_INC_PATH})
set(FSFW_ADDITIONAL_INC_PATHS 
    "${COMMON_CONFIG_PATH}"
    "${CMAKE_CURRENT_BINARY_DIR}"
    CACHE STRING
    "FSFW configuration paths"
)

configure_file(${COMMON_CONFIG_PATH}/commonConfig.h.in commonConfig.h)
configure_file(${FSFW_CONFIG_PATH}/FSFWConfig.h.in FSFWConfig.h)
configure_file(${FSFW_CONFIG_PATH}/OBSWConfig.h.in OBSWConfig.h)
configure_file(${BSP_NUCLEO_PATH}/Inc/FreeRTOSConfig.h.in FreeRTOSConfig.h)
configure_file(${BSP_NUCLEO_PATH}/Inc/lwipopts.h.in lwipopts.h)

if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
    set(WARNING_FLAGS
        -Wall
        -Wextra
        -Wimplicit-fallthrough=1
        -Wno-unused-parameter
        -Wno-psabi
    )

    set(FSFW_WARNING_FLAGS ${WARNING_FLAGS})
elseif(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
    add_compile_options(/permissive- /d2SSAOptimizer-)
    # To avoid nameclashes with min and max macro
    add_compile_definitions(NOMINMAX)
endif()

################################################################################
# Executable and Sources
################################################################################

# Add executable
add_executable(${TARGET_NAME})

# Add subdirectories
add_subdirectory(${BSP_PATH})
add_subdirectory(${FSFW_PATH})
# add_subdirectory(${LIB_FSFW_HAL_PATH})
add_subdirectory(${COMMON_PATH})

################################################################################
# Post-Sources preparation
################################################################################

# Add libraries for all sources.
target_link_libraries(${TARGET_NAME} PRIVATE
    ${LIB_FSFW_NAME}
    # ${LIB_FSFW_HAL_NAME}
    ${FREERTOS_NAMESPACE}::Heap::4
    ${FREERTOS_NAMESPACE}::ARM_CM7
    HAL::STM32::H7::M7::RCC
    HAL::STM32::H7::M7::RCCEx
    HAL::STM32::H7::M7::GPIO
    HAL::STM32::H7::M7::UART
    HAL::STM32::H7::M7::CORTEX
    HAL::STM32::H7::M7::TIM
    HAL::STM32::H7::M7::TIMEx
    HAL::STM32::H7::M7::ETH
    HAL::STM32::H7::M7::SPI
    HAL::STM32::H7::M7::DMA
    ${CMSIS_LINK_TARGET}
    CMSIS::STM32::H7::M7::RTOS
    STM32::NoSys
    STM32::Nano
    STM32::Nano::FloatPrint
    STM32::Nano::FloatScan
    LwIP
    LwIP::IPv4
    LwIP::NETIF
)

# Add include paths for all sources.
target_include_directories(${TARGET_NAME} PRIVATE
    ${CMAKE_CURRENT_SOURCE_DIR}
    ${CMAKE_CURRENT_BINARY_DIR}
    ${FSFW_CONFIG_PATH}
)    


if(CMAKE_CXX_COMPILER_ID STREQUAL "GNU")
    target_link_options(${TARGET_NAME} PRIVATE
        "-Wl,-Map=${TARGET_NAME}.map"
    )

    # Remove unused sections.
    target_compile_options(${TARGET_NAME} PRIVATE
        "-ffunction-sections"
        "-fdata-sections"
    )

    # Removed unused sections.
    if(NOT FSFW_OSAL MATCHES rtems)
        target_link_options(${TARGET_NAME} PRIVATE
            "-Wl,--gc-sections"
        )
    endif()
elseif(CMAKE_CXX_COMPILER_ID STREQUAL "MSVC")
endif()

if(CMAKE_VERBOSE)
    message(STATUS "Warning flags: ${WARNING_FLAGS}")
endif()
         

# Compile options for all sources.
target_compile_options(${TARGET_NAME} PRIVATE
    ${WARNING_FLAGS}
)

if(TGT_BSP)
    set(TARGET_STRING "Target BSP: ${TGT_BSP}")
else()
    set(TARGET_STRING "Target BSP: Hosted")
endif()

string(CONCAT POST_BUILD_COMMENT
    "Build directory: ${CMAKE_BINARY_DIR}\n"
    "Target OSAL: ${FSFW_OSAL}\n"
    "Target Build Type: ${CMAKE_BUILD_TYPE}\n"
    "${TARGET_STRING}"
)

stm32_add_linker_script(${TARGET_NAME} "PRIVATE" "${BSP_NUCLEO_PATH}/STM32H743ZITx_FLASH.ld")

include (${CMAKE_SCRIPT_PATH}/BuildType.cmake)
set_build_type()

stm32_print_size_of_target(${TARGET_NAME})
stm32_generate_binary_file(${TARGET_NAME})