147 lines
4.8 KiB
CMake
147 lines
4.8 KiB
CMake
# 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 $ENV{RASPBERRY_VERSION})
|
|
endif()
|
|
|
|
|
|
# RASPBIAN_ROOTFS should point to the local directory which contains all the
|
|
# libraries and includes from the target raspi.
|
|
# The following command can be used to do this, replace <ip-address> and the
|
|
# local <rootfs-path> accordingly:
|
|
# rsync -vR --progress -rl --delete-after --safe-links pi@<ip-address>:/{lib,usr,opt/vc/lib} <rootfs-path>
|
|
# RASPBIAN_ROOTFS needs to be passed to the CMake command or defined in the
|
|
# application CMakeLists.txt before loading the toolchain file.
|
|
|
|
# CROSS_COMPILE also needs to be set accordingly or passed to the CMake command
|
|
|
|
if(NOT DEFINED ENV{RASPBIAN_ROOTFS})
|
|
message(FATAL_ERROR
|
|
"Define the RASPBIAN_ROOTFS variable to point to the Raspberry Pi rootfs."
|
|
)
|
|
else()
|
|
set(SYSROOT_PATH "$ENV{RASPBIAN_ROOTFS}" CACHE PATH "Raspbian 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)
|