forked from ROMEO/obsw
further cleanup
This commit is contained in:
120
CMakeLists.txt
120
CMakeLists.txt
@ -3,25 +3,21 @@ cmake_minimum_required(VERSION 3.13)
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# Project Name
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project(romeo-obsw C ASM)
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# ##############################################################################
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# Pre-Sources preparation
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# ##############################################################################
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# Set names and variables
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set(TARGET_NAME ${CMAKE_PROJECT_NAME})
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# Set path names
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set(OBSW_NAME romeo-obsw)
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set(FreeRTOS_PATH FreeRTOS-Kernel/)
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set(MISSION_PATH mission/)
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# Compiler Options
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set(ROMEO_Z7_COMPILE_OPTIONS -c -fmessage-length=0 -g -O0 -mcpu=cortex-a9 -mfpu=vfpv3 -mfloat-abi=hard -ffunction-sections -fdata-sections)
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set(ROMEO_LINUX_COMPILE_OPTIONS -c -fmessage-length=0 -g -O0 -ffunction-sections -fdata-sections)
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set(ROMEO_Z7_LINK_OPTIONS -Wl,--cref -Wl,-Map=${OBSW_NAME}.map -mcpu=cortex-a9 -mfpu=vfpv3 -mfloat-abi=hard -Wl,-build-id=none -T${CMAKE_SOURCE_DIR}/bsp_z7/freeRTOS/lscript.ld -specs=${CMAKE_SOURCE_DIR}/bsp_z7/freeRTOS/Xilinx.spec )
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set(ROMEO_WARNING_FLAGS
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-Wall
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-Wextra
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-Wpedantic
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-Werror)
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# ##############################################################################
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# Configuration
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# ##############################################################################
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# CMake options which are only available when crosscompiling
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if (${CMAKE_CROSSCOMPILING})
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set(ZYNQ_UART UART1 CACHE STRING "Which PS UART to use for stdout")
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set_property(CACHE ZYNQ_UART PROPERTY STRINGS UART0 UART1)
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@ -34,85 +30,95 @@ else()
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unset(ZYNQ_UART CACHE)
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endif()
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# ##############################################################################
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# Executable and Sources
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# ##############################################################################
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# Add main executable
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add_executable(${OBSW_NAME})
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# Add executable
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add_executable(${TARGET_NAME})
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# lwip
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# export lwip path, so the bsp can find it
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if(${CMAKE_CROSSCOMPILING})
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set (LWIP_DIR ${CMAKE_CURRENT_SOURCE_DIR}/contrib/lwip)
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endif()
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# Add freeRTOS
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# Platform dependend configuration
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# Includes setting the FreeRTOS port, compiler options and
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# selecting the bsp
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if(${CMAKE_CROSSCOMPILING})
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#TODO: this somewhat hardcodes zynq as the only cross target
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set(FREERTOS_PORT GCC_ARM_CA9 CACHE STRING "")
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set(FREERTOS_HEAP 1 CACHE STRING "")
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# config library for FreeRTOS
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add_library(freertos_config INTERFACE)
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# The config file directory
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target_include_directories(freertos_config SYSTEM
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INTERFACE bsp_z7/freeRTOS) # The config file directory
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INTERFACE bsp_z7/freeRTOS)
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# no coverage tests
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target_compile_definitions(freertos_config
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INTERFACE
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projCOVERAGE_TEST=0)
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# FreeRTOS config depends on bsp headers
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target_include_directories(
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freertos_config INTERFACE bsp_z7/ps7_cortexa9_0/include)
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if(${CMAKE_SYSTEM_PROCESSOR} STREQUAL armv7a-none-eabihf)
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# our compiler options, will trickle down through the project
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target_compile_options(freertos_config INTERFACE -c -fmessage-length=0 -g -O0 -mcpu=cortex-a9 -mfpu=vfpv3 -mfloat-abi=hard -ffunction-sections -fdata-sections)
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else()
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message(FATAL_ERROR "invalid architecture ${CMAKE_SYSTEM_PROCESSOR}")
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endif()
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# Compiler options, we set them on the FreeRTOS config, will trickle down from there
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target_compile_options(freertos_config INTERFACE ${ROMEO_Z7_COMPILE_OPTIONS})
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# add the bsp
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add_subdirectory(bsp_z7)
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target_link_options(${TARGET_NAME} PRIVATE -Wl,--cref -Wl,-Map=${TARGET_NAME}.map -mcpu=cortex-a9 -mfpu=vfpv3 -mfloat-abi=hard -Wl,-build-id=none -T${CMAKE_SOURCE_DIR}/bsp_z7/freeRTOS/lscript.ld -specs=${CMAKE_SOURCE_DIR}/bsp_z7/freeRTOS/Xilinx.spec )
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# Link options for cross build
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target_link_options(${OBSW_NAME} PRIVATE ${ROMEO_Z7_LINK_OPTIONS})
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else()
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# So far, only unix port supported when not crosscompiling
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set(FREERTOS_PORT GCC_POSIX CACHE STRING "")
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# config library for FreeRTOS
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add_library(freertos_config INTERFACE)
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# The config file directory
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target_include_directories(freertos_config SYSTEM
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INTERFACE bsp_linux/freeRTOS) # The config file directory
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target_compile_options(freertos_config INTERFACE -c -fmessage-length=0 -g -O0 -ffunction-sections -fdata-sections)
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INTERFACE bsp_linux/freeRTOS)
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# Compiler options, we set them on the FreeRTOS config, will trickle down from there
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target_compile_options(freertos_config INTERFACE ${ROMEO_LINUX_COMPILE_OPTIONS})
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# No coverage tests, no tracing
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target_compile_definitions(freertos_config
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INTERFACE
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projCOVERAGE_TEST=0
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projENABLE_TRACING=0)
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# add the bsp
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add_subdirectory(bsp_linux)
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endif()
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# Add FreeRTOS
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add_subdirectory(${FreeRTOS_PATH})
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# Common stuff that is not mission code, mostly code shared between bsps
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add_subdirectory(common)
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add_subdirectory(${MISSION_PATH})
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# Mission code, in our case C glue between rust and bsp
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add_subdirectory(mission)
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# The actual mission code, in rust, exported as library `mission_rust`
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add_subdirectory(mission_rust)
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# We provide a firmware image for an interface board as part of the z7 build
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# This is a second executable, excluded from `all` builds
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if(${CMAKE_CROSSCOMPILING})
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add_subdirectory(sim_interface)
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endif()
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# ##############################################################################
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# Post-Sources preparation
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# ##############################################################################
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# Link all libraries into the binary
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# bsp depends on FreeRTOS, so we do not need to link it again
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target_link_libraries(${OBSW_NAME} PUBLIC bsp mission_rust )
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# Add libraries for all sources.
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if(${CMAKE_CROSSCOMPILING})
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endif()
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target_link_libraries(${TARGET_NAME} PUBLIC bsp mission_rust lwip )
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# target_include_directories(
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# ${TARGET_NAME} PUBLIC ${BSP_PATH})
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# Common link options
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target_link_options(${OBSW_NAME} PRIVATE "-Wl,--gc-sections")
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# Removed unused sections.
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target_link_options(${TARGET_NAME} PRIVATE "-Wl,--gc-sections")
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if(CMAKE_VERBOSE)
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message(STATUS "Warning flags: ${WARNING_FLAGS}")
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endif()
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# Compile options for all sources.
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target_compile_options(${TARGET_NAME} PRIVATE ${WARNING_FLAGS})
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# Common compile options
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target_compile_options(${OBSW_NAME} PRIVATE ${ROMEO_WARNING_FLAGS})
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