mirror of
https://github.com/iNavFlight/inav.git
synced 2025-07-24 00:35:34 +03:00
a88aaca74b
The configurator does rely on the .hex start address being set to 0x08000000. I'm not sure this is actually required and we should fix the configurator instead. However, in order to allow older versions of configurator to flash newer firmwares, we should the .hex files built with cmake compatible for at least some releases.
436 lines
14 KiB
CMake
436 lines
14 KiB
CMake
include(stm32-bootloader)
|
|
include(stm32f3)
|
|
include(stm32f4)
|
|
include(stm32f7)
|
|
|
|
include(CMakeParseArguments)
|
|
|
|
option(DEBUG_HARDFAULTS "Enable debugging of hard faults via custom handler")
|
|
option(SEMIHOSTING "Enable semihosting")
|
|
|
|
message("-- DEBUG_HARDFAULTS: ${DEBUG_HARDFAULTS}, SEMIHOSTING: ${SEMIHOSTING}")
|
|
|
|
set(CMSIS_DIR "${MAIN_LIB_DIR}/main/CMSIS")
|
|
set(CMSIS_INCLUDE_DIR "${CMSIS_DIR}/Core/Include")
|
|
set(CMSIS_DSP_DIR "${MAIN_LIB_DIR}/main/CMSIS/DSP")
|
|
set(CMSIS_DSP_INCLUDE_DIR "${CMSIS_DSP_DIR}/Include")
|
|
|
|
set(CMSIS_DSP_SRC
|
|
BasicMathFunctions/arm_mult_f32.c
|
|
TransformFunctions/arm_rfft_fast_f32.c
|
|
TransformFunctions/arm_cfft_f32.c
|
|
TransformFunctions/arm_rfft_fast_init_f32.c
|
|
TransformFunctions/arm_cfft_radix8_f32.c
|
|
TransformFunctions/arm_bitreversal2.S
|
|
CommonTables/arm_common_tables.c
|
|
ComplexMathFunctions/arm_cmplx_mag_f32.c
|
|
StatisticsFunctions/arm_max_f32.c
|
|
)
|
|
list(TRANSFORM CMSIS_DSP_SRC PREPEND "${CMSIS_DSP_DIR}/Source/")
|
|
|
|
set(STM32_STARTUP_DIR "${MAIN_SRC_DIR}/startup")
|
|
|
|
main_sources(STM32_VCP_SRC
|
|
drivers/serial_usb_vcp.c
|
|
drivers/usb_io.c
|
|
)
|
|
|
|
main_sources(STM32_SDCARD_SRC
|
|
drivers/sdcard/sdcard.c
|
|
drivers/sdcard/sdcard_spi.c
|
|
drivers/sdcard/sdcard_sdio.c
|
|
drivers/sdcard/sdcard_standard.c
|
|
)
|
|
|
|
# XXX: This code is not STM32 specific
|
|
main_sources(STM32_ASYNCFATFS_SRC
|
|
io/asyncfatfs/asyncfatfs.c
|
|
io/asyncfatfs/fat_standard.c
|
|
)
|
|
|
|
main_sources(STM32_MSC_SRC
|
|
msc/usbd_storage.c
|
|
)
|
|
|
|
main_sources(STM32_MSC_FLASH_SRC
|
|
msc/usbd_storage_emfat.c
|
|
msc/emfat.c
|
|
msc/emfat_file.c
|
|
)
|
|
|
|
main_sources(STM32_MSC_SDCARD_SRC
|
|
msc/usbd_storage_sd_spi.c
|
|
)
|
|
|
|
set(STM32_INCLUDE_DIRS
|
|
"${CMSIS_INCLUDE_DIR}"
|
|
"${CMSIS_DSP_INCLUDE_DIR}"
|
|
"${MAIN_SRC_DIR}/target"
|
|
)
|
|
|
|
set(STM32_DEFINITIONS
|
|
)
|
|
set(STM32_DEFAULT_HSE_MHZ 8)
|
|
set(STM32_LINKER_DIR "${MAIN_SRC_DIR}/target/link")
|
|
set(STM32_COMPILE_OPTIONS
|
|
-ffunction-sections
|
|
-fdata-sections
|
|
-fno-common
|
|
)
|
|
|
|
set(STM32_LINK_LIBRARIES
|
|
-lm
|
|
-lc
|
|
)
|
|
|
|
if(SEMIHOSTING)
|
|
list(APPEND STM32_LINK_LIBRARIES --specs=rdimon.specs -lrdimon)
|
|
list(APPEND STM32_DEFINITIONS SEMIHOSTING)
|
|
else()
|
|
list(APPEND STM32_LINK_LIBRARIES -lnosys)
|
|
endif()
|
|
|
|
set(STM32_LINK_OPTIONS
|
|
-nostartfiles
|
|
--specs=nano.specs
|
|
-static
|
|
-Wl,-gc-sections
|
|
-Wl,-L${STM32_LINKER_DIR}
|
|
-Wl,--cref
|
|
-Wl,--no-wchar-size-warning
|
|
-Wl,--print-memory-usage
|
|
)
|
|
|
|
macro(get_stm32_target_features output_var dir target_name)
|
|
execute_process(COMMAND "${CMAKE_C_COMPILER}" -E -dD -D${ARGV2} "${ARGV1}/target.h"
|
|
ERROR_VARIABLE _errors
|
|
RESULT_VARIABLE _result
|
|
OUTPUT_STRIP_TRAILING_WHITESPACE
|
|
OUTPUT_VARIABLE _contents)
|
|
|
|
if(NOT _result EQUAL 0)
|
|
message(FATAL_ERROR "error extracting features for stm32 target ${ARGV2}: ${_errors}")
|
|
endif()
|
|
|
|
string(REGEX MATCH "#define[\t ]+USE_VCP" HAS_VCP ${_contents})
|
|
if(HAS_VCP)
|
|
list(APPEND ${ARGV0} VCP)
|
|
endif()
|
|
string(REGEX MATCH "define[\t ]+USE_FLASHFS" HAS_FLASHFS ${_contents})
|
|
if(HAS_FLASHFS)
|
|
list(APPEND ${ARGV0} FLASHFS)
|
|
endif()
|
|
string(REGEX MATCH "define[\t ]+USE_SDCARD" HAS_SDCARD ${_contents})
|
|
if (HAS_SDCARD)
|
|
list(APPEND ${ARGV0} SDCARD)
|
|
string(REGEX MATCH "define[\t ]+USE_SDCARD_SDIO" HAS_SDIO ${_contents})
|
|
if (HAS_SDIO)
|
|
list(APPEND ${ARGV0} SDIO)
|
|
endif()
|
|
endif()
|
|
if(HAS_FLASHFS OR HAS_SDCARD)
|
|
list(APPEND ${ARGV0} MSC)
|
|
endif()
|
|
endmacro()
|
|
|
|
function(get_stm32_flash_size out size)
|
|
# 4: 16, 6: 32, 8: 64, B: 128, C: 256, D: 384, E: 512, F: 768, G: 1024, H: 1536, I: 2048 KiB
|
|
string(TOUPPER ${size} s)
|
|
if(${s} STREQUAL "4")
|
|
set(${out} 16 PARENT_SCOPE)
|
|
return()
|
|
endif()
|
|
if(${s} STREQUAL "6")
|
|
set(${out} 32 PARENT_SCOPE)
|
|
return()
|
|
endif()
|
|
if(${s} STREQUAL "8")
|
|
set(${out} 64 PARENT_SCOPE)
|
|
return()
|
|
endif()
|
|
if(${s} STREQUAL "8")
|
|
set(${out} 64 PARENT_SCOPE)
|
|
return()
|
|
endif()
|
|
if(${s} STREQUAL "B")
|
|
set(${out} 128 PARENT_SCOPE)
|
|
return()
|
|
endif()
|
|
if(${s} STREQUAL "C")
|
|
set(${out} 256 PARENT_SCOPE)
|
|
return()
|
|
endif()
|
|
if(${s} STREQUAL "D")
|
|
set(${out} 384 PARENT_SCOPE)
|
|
return()
|
|
endif()
|
|
if(${s} STREQUAL "E")
|
|
set(${out} 512 PARENT_SCOPE)
|
|
return()
|
|
endif()
|
|
if(${s} STREQUAL "F")
|
|
set(${out} 768 PARENT_SCOPE)
|
|
return()
|
|
endif()
|
|
if(${s} STREQUAL "G")
|
|
set(${out} 1024 PARENT_SCOPE)
|
|
return()
|
|
endif()
|
|
if(${s} STREQUAL "H")
|
|
set(${out} 1536 PARENT_SCOPE)
|
|
return()
|
|
endif()
|
|
if(${s} STREQUAL "I")
|
|
set(${out} 2048 PARENT_SCOPE)
|
|
return()
|
|
endif()
|
|
endfunction()
|
|
|
|
function(add_hex_target name exe hex)
|
|
add_custom_target(${name} ALL
|
|
cmake -E env PATH=$ENV{PATH}
|
|
# TODO: Overriding the start address with --set-start 0x08000000
|
|
# seems to be required due to some incorrect assumptions about .hex
|
|
# files in the configurator. Verify wether that's the case and fix
|
|
# the bug in configurator or delete this comment.
|
|
${CMAKE_OBJCOPY} -Oihex --set-start 0x08000000 $<TARGET_FILE:${exe}> ${hex}
|
|
BYPRODUCTS ${hex}
|
|
)
|
|
endfunction()
|
|
|
|
function(add_bin_target name exe bin)
|
|
add_custom_target(${name}
|
|
cmake -E env PATH=$ENV{PATH}
|
|
${CMAKE_OBJCOPY} -Obinary $<TARGET_FILE:${exe}> ${bin}
|
|
BYPRODUCTS ${bin}
|
|
)
|
|
endfunction()
|
|
|
|
function(generate_map_file target)
|
|
if(CMAKE_VERSION VERSION_LESS 3.15)
|
|
set(map "$<TARGET_FILE:${target}>.map")
|
|
else()
|
|
set(map "$<TARGET_FILE_DIR:${target}>/$<TARGET_FILE_BASE_NAME:${target}>.map")
|
|
endif()
|
|
target_link_options(${target} PRIVATE "-Wl,-Map,${map}")
|
|
endfunction()
|
|
|
|
function(set_linker_script target script)
|
|
set(script_path ${STM32_LINKER_DIR}/${args_LINKER_SCRIPT}.ld)
|
|
if(NOT EXISTS ${script_path})
|
|
message(FATAL_ERROR "linker script ${script_path} doesn't exist")
|
|
endif()
|
|
set_target_properties(${target} PROPERTIES LINK_DEPENDS ${script_path})
|
|
target_link_options(${elf_target} PRIVATE -T${script_path})
|
|
endfunction()
|
|
|
|
function(add_stm32_executable)
|
|
cmake_parse_arguments(
|
|
args
|
|
# Boolean arguments
|
|
""
|
|
# Single value arguments
|
|
"FILENAME;NAME;OPTIMIZATION;OUTPUT_BIN_FILENAME;OUTPUT_HEX_FILENAME;OUTPUT_TARGET_NAME"
|
|
# Multi-value arguments
|
|
"COMPILE_DEFINITIONS;COMPILE_OPTIONS;INCLUDE_DIRECTORIES;LINK_OPTIONS;LINKER_SCRIPT;SOURCES"
|
|
# Start parsing after the known arguments
|
|
${ARGN}
|
|
)
|
|
set(elf_target ${args_NAME}.elf)
|
|
add_executable(${elf_target})
|
|
target_sources(${elf_target} PRIVATE ${args_SOURCES})
|
|
target_include_directories(${elf_target} PRIVATE ${CMAKE_CURRENT_SOURCE_DIR} ${args_INCLUDE_DIRECTORIES} ${STM32_INCLUDE_DIRS})
|
|
target_compile_definitions(${elf_target} PRIVATE ${args_COMPILE_DEFINITIONS})
|
|
target_compile_options(${elf_target} PRIVATE ${STM32_COMPILE_OPTIONS} ${args_COMPILE_OPTIONS})
|
|
if(WARNINGS_AS_ERRORS)
|
|
target_compile_options(${elf_target} PRIVATE -Werror)
|
|
endif()
|
|
if (IS_RELEASE_BUILD)
|
|
target_compile_options(${elf_target} PRIVATE ${args_OPTIMIZATION})
|
|
target_link_options(${elf_target} PRIVATE ${args_OPTIMIZATION})
|
|
endif()
|
|
target_link_libraries(${elf_target} PRIVATE ${STM32_LINK_LIBRARIES})
|
|
target_link_options(${elf_target} PRIVATE ${STM32_LINK_OPTIONS} ${args_LINK_OPTIONS})
|
|
generate_map_file(${elf_target})
|
|
set_linker_script(${elf_target} ${args_LINKER_SCRIPT})
|
|
if(args_FILENAME)
|
|
set(basename ${CMAKE_BINARY_DIR}/${args_FILENAME})
|
|
set(hex_filename ${basename}.hex)
|
|
add_hex_target(${args_NAME} ${elf_target} ${hex_filename})
|
|
set(bin_filename ${basename}.bin)
|
|
add_bin_target(${args_NAME}.bin ${elf_target} ${bin_filename})
|
|
endif()
|
|
if(args_OUTPUT_BIN_FILENAME)
|
|
set(${args_OUTPUT_BIN_FILENAME} ${bin_filename} PARENT_SCOPE)
|
|
endif()
|
|
if(args_OUTPUT_TARGET_NAME)
|
|
set(${args_OUTPUT_TARGET_NAME} ${elf_target} PARENT_SCOPE)
|
|
endif()
|
|
if(args_OUTPUT_HEX_FILENAME)
|
|
set(${args_OUTPUT_HEX_FILENAME} ${hex_filename} PARENT_SCOPE)
|
|
endif()
|
|
endfunction()
|
|
|
|
function(target_stm32)
|
|
if(NOT arm-none-eabi STREQUAL TOOLCHAIN)
|
|
return()
|
|
endif()
|
|
# Parse keyword arguments
|
|
cmake_parse_arguments(
|
|
args
|
|
# Boolean arguments
|
|
"DISABLE_MSC;BOOTLOADER"
|
|
# Single value arguments
|
|
"HSE_MHZ;LINKER_SCRIPT;NAME;OPENOCD_TARGET;OPTIMIZATION;STARTUP;SVD"
|
|
# Multi-value arguments
|
|
"COMPILE_DEFINITIONS;COMPILE_OPTIONS;INCLUDE_DIRECTORIES;LINK_OPTIONS;SOURCES;MSC_SOURCES;MSC_INCLUDE_DIRECTORIES;VCP_SOURCES;VCP_INCLUDE_DIRECTORIES"
|
|
# Start parsing after the known arguments
|
|
${ARGN}
|
|
)
|
|
set(name ${args_NAME})
|
|
|
|
if (args_HSE_MHZ)
|
|
set(hse_mhz ${args_HSE_MHZ})
|
|
else()
|
|
set(hse_mhz ${STM32_DEFAULT_HSE_MHZ})
|
|
endif()
|
|
|
|
set(target_sources ${STM32_STARTUP_DIR}/${args_STARTUP})
|
|
list(APPEND target_sources ${args_SOURCES})
|
|
file(GLOB target_c_sources "${CMAKE_CURRENT_SOURCE_DIR}/*.c")
|
|
file(GLOB target_h_sources "${CMAKE_CURRENT_SOURCE_DIR}/*.h")
|
|
list(APPEND target_sources ${target_c_sources} ${target_h_sources})
|
|
|
|
set(target_include_directories ${args_INCLUDE_DIRECTORIES})
|
|
|
|
set(target_definitions ${STM32_DEFINITIONS})
|
|
|
|
get_stm32_target_features(features "${CMAKE_CURRENT_SOURCE_DIR}" ${name})
|
|
set_property(TARGET ${elf_target} PROPERTY FEATURES ${features})
|
|
|
|
if(VCP IN_LIST features)
|
|
list(APPEND target_sources ${STM32_VCP_SRC} ${args_VCP_SOURCES})
|
|
list(APPEND target_include_directories ${args_VCP_INCLUDE_DIRECTORIES})
|
|
endif()
|
|
if(SDCARD IN_LIST features)
|
|
list(APPEND target_sources ${STM32_SDCARD_SRC} ${STM32_ASYNCFATFS_SRC})
|
|
endif()
|
|
|
|
set(msc_sources)
|
|
if(NOT args_DISABLE_MSC AND MSC IN_LIST features)
|
|
list(APPEND target_include_directories ${args_MSC_INCLUDE_DIRECTORIES})
|
|
list(APPEND msc_sources ${STM32_MSC_SRC} ${args_MSC_SOURCES})
|
|
list(APPEND target_definitions USE_USB_MSC)
|
|
if(FLASHFS IN_LIST features)
|
|
list(APPEND msc_sources ${STM32_MSC_FLASH_SRC})
|
|
endif()
|
|
if (SDCARD IN_LIST features)
|
|
list(APPEND msc_sources ${STM32_MSC_SDCARD_SRC})
|
|
endif()
|
|
endif()
|
|
|
|
math(EXPR hse_value "${hse_mhz} * 1000000")
|
|
list(APPEND target_definitions "HSE_VALUE=${hse_value}")
|
|
if(args_COMPILE_DEFINITIONS)
|
|
list(APPEND target_definitions ${args_COMPILE_DEFINITIONS})
|
|
endif()
|
|
if(DEBUG_HARDFAULTS)
|
|
list(APPEND target_definitions DEBUG_HARDFAULTS)
|
|
endif()
|
|
|
|
string(TOLOWER ${PROJECT_NAME} lowercase_project_name)
|
|
set(binary_name ${lowercase_project_name}_${FIRMWARE_VERSION}_${name})
|
|
if(DEFINED BUILD_SUFFIX AND NOT "" STREQUAL "${BUILD_SUFFIX}")
|
|
set(binary_name "${binary_name}_${BUILD_SUFFIX}")
|
|
endif()
|
|
|
|
# Main firmware
|
|
add_stm32_executable(
|
|
NAME ${name}
|
|
FILENAME ${binary_name}
|
|
SOURCES ${target_sources} ${msc_sources} ${CMSIS_DSP_SRC} ${COMMON_SRC}
|
|
COMPILE_DEFINITIONS ${target_definitions}
|
|
COMPILE_OPTIONS ${args_COMPILE_OPTIONS}
|
|
INCLUDE_DIRECTORIES ${target_include_directories}
|
|
LINK_OPTIONS ${args_LINK_OPTIONS}
|
|
LINKER_SCRIPT ${args_LINKER_SCRIPT}
|
|
OPTIMIZATION ${args_OPTIMIZATION}
|
|
|
|
OUTPUT_HEX_FILENAME main_hex_filename
|
|
OUTPUT_TARGET_NAME main_target_name
|
|
)
|
|
|
|
set_property(TARGET ${main_target_name} PROPERTY OPENOCD_TARGET ${args_OPENOCD_TARGET})
|
|
set_property(TARGET ${main_target_name} PROPERTY OPENOCD_DEFAULT_INTERFACE stlink)
|
|
set_property(TARGET ${main_target_name} PROPERTY SVD ${args_SVD})
|
|
|
|
setup_firmware_target(${main_target_name} ${name} ${ARGN})
|
|
|
|
if(args_BOOTLOADER)
|
|
# Bootloader for the target
|
|
set(bl_suffix _bl)
|
|
add_stm32_executable(
|
|
NAME ${name}${bl_suffix}
|
|
FILENAME ${binary_name}${bl_suffix}
|
|
SOURCES ${target_sources} ${BOOTLOADER_SOURCES}
|
|
COMPILE_DEFINITIONS ${target_definitions} BOOTLOADER MSP_FIRMWARE_UPDATE
|
|
COMPILE_OPTIONS ${args_COMPILE_OPTIONS}
|
|
INCLUDE_DIRECTORIES ${target_include_directories}
|
|
LINK_OPTIONS ${args_LINK_OPTIONS}
|
|
LINKER_SCRIPT ${args_LINKER_SCRIPT}${bl_suffix}
|
|
OPTIMIZATION ${args_OPTIMIZATION}
|
|
|
|
OUTPUT_BIN_FILENAME bl_bin_filename
|
|
OUTPUT_HEX_FILENAME bl_hex_filename
|
|
OUTPUT_TARGET_NAME bl_target_name
|
|
)
|
|
setup_executable(${bl_target_name} ${name})
|
|
|
|
# Main firmware, but for running with the bootloader
|
|
set(for_bl_suffix _for_bl)
|
|
add_stm32_executable(
|
|
NAME ${name}${for_bl_suffix}
|
|
FILENAME ${binary_name}${for_bl_suffix}
|
|
SOURCES ${target_sources} ${msc_sources} ${CMSIS_DSP_SRC} ${COMMON_SRC}
|
|
COMPILE_DEFINITIONS ${target_definitions} MSP_FIRMWARE_UPDATE
|
|
COMPILE_OPTIONS ${args_COMPILE_OPTIONS}
|
|
INCLUDE_DIRECTORIES ${target_include_directories}
|
|
LINK_OPTIONS ${args_LINK_OPTIONS}
|
|
LINKER_SCRIPT ${args_LINKER_SCRIPT}${for_bl_suffix}
|
|
OPTIMIZATION ${args_OPTIMIZATION}
|
|
|
|
OUTPUT_BIN_FILENAME for_bl_bin_filename
|
|
OUTPUT_HEX_FILENAME for_bl_hex_filename
|
|
OUTPUT_TARGET_NAME for_bl_target_name
|
|
)
|
|
setup_executable(${for_bl_target_name} ${name})
|
|
|
|
# Combined with bootloader and main firmware
|
|
set(with_bl_suffix _with_bl)
|
|
set(combined_hex ${CMAKE_BINARY_DIR}/${binary_name}${with_bl_suffix}.hex)
|
|
set(with_bl_target ${name}${with_bl_suffix})
|
|
add_custom_target(${with_bl_target}
|
|
${CMAKE_SOURCE_DIR}/src/utils/combine_tool ${bl_bin_filename} ${for_bl_bin_filename} ${combined_hex}
|
|
BYPRODUCTS ${combined_hex}
|
|
)
|
|
add_dependencies(${with_bl_target} ${bl_target_name} ${for_bl_target_name})
|
|
endif()
|
|
|
|
# clean_<target>
|
|
set(generator_cmd "")
|
|
if (CMAKE_GENERATOR STREQUAL "Unix Makefiles")
|
|
set(generator_cmd "make")
|
|
elseif(CMAKE_GENERATOR STREQUAL "Ninja")
|
|
set(generator_cmd "ninja")
|
|
endif()
|
|
if (NOT generator_cmd STREQUAL "")
|
|
set(clean_target "clean_${name}")
|
|
add_custom_target(${clean_target}
|
|
WORKING_DIRECTORY ${CMAKE_BINARY_DIR}
|
|
COMMAND ${generator_cmd} clean
|
|
COMMENT "Removing intermediate files for ${name}")
|
|
set_property(TARGET ${clean_target} PROPERTY
|
|
EXCLUDE_FROM_ALL 1
|
|
EXCLUDE_FROM_DEFAULT_BUILD 1)
|
|
endif()
|
|
endfunction()
|