CubeMX with CMake (#333)

* Move to CMake on Demo/CAN/Send project

* Bringup Receive

* BasicIO to new format, except SIL

* Blink to new structure

* RTOS to cmake

* Make link private

* CAN Projects

* Mapper build sys

* AnalogPWM to cmake

* CANError build sys + formatting

* Front Controller

* LVController to cmake system and remove unused OS

* TMS to build system

* Separate toolchain script to avoid Makefile bug

* Fix first sed command

* BSD Compatible?

* Simplify command since this form is BSD compatible

firmware/CMakeLists.txt

@@ -41,7 +41,6 @@ if(NOT PROJECT_NAME)
 endif()
 
 # Check that the project and platform folders exist.
-
 set(DIR_PROJECT "${CMAKE_CURRENT_SOURCE_DIR}/projects/${PROJECT}")
 assert_exists(DIR PATH ${DIR_PROJECT}
     START "Verifying ${PROJECT} is a project"
@@ -70,6 +69,7 @@ assert_exists(FILE PATH ${MCAL_CONF_FILE}
 )
 
 include(${MCAL_CONF_FILE}) # Should define MCAL
+
 if(NOT DEFINED MCAL)
     message(FATAL_ERROR "Expected MCAL to be defined in \"${MCAL_CONF_FILE}\".")
 endif()
@@ -89,22 +89,18 @@ assert_exists(FILE PATH ${POSTBUILD_FILE}
     ${POSTBUILD_FILE} "\nand leave it empty."
 )
 
-# Sets the compiler, linker, etc based on the mcal's Toolchain.cmake file
-set(TOOLCHAIN_FILE "${DIR_MCAL}/Toolchain.cmake")
-assert_exists(FILE PATH ${TOOLCHAIN_FILE}
-    START "Finding MCAL toolchain file"
-    PASS "Found"
-    FAIL "Not found. If no toolchain setup is required, create the file\n"
-    ${TOOLCHAIN_FILE} "\nand leave it empty."
-)
-
 list(POP_BACK CMAKE_MESSAGE_INDENT)
 message(CHECK_PASS "Success")
 
 # Options are parsed. Start building
 message(STATUS "Building \"${PROJECT}\" for \"${PLATFORM}\" with mcal \"${MCAL}\".")
 
-set(CMAKE_TOOLCHAIN_FILE ${TOOLCHAIN_FILE})
+# clangd export settings
+set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
+set(CMAKE_C_USE_RESPONSE_FILE_FOR_INCLUDES OFF)
+
+project(${PROJECT_NAME})
+
 enable_language(C CXX ASM)
 set(CMAKE_C_STANDARD 11)
 set(CMAKE_C_STANDARD_REQUIRED ON)
@@ -114,14 +110,7 @@ set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_CXX_STANDARD_INCLUDE_DIRECTORIES ${CMAKE_CXX_IMPLICIT_INCLUDE_DIRECTORIES})
 set(CMAKE_CXX_EXTENSIONS ON)
 
-project(${PROJECT_NAME})
-
-# clangd export settings
-set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
-set(CMAKE_C_USE_RESPONSE_FILE_FOR_INCLUDES OFF)
-
 add_executable(main)
-add_library(bindings)
 
 add_subdirectory(shared) # provides "shared" (library)
 add_subdirectory(${DIR_MCAL}) # provides "mcal-<name>" (library)
@@ -130,13 +119,5 @@ add_subdirectory(${DIR_PROJECT}) # modifies "main" (executable)
 add_subdirectory(${DIR_PLATFORM}) # modifies "bindings" (library)
 
 target_link_libraries(main PRIVATE shared)
-target_link_libraries(main PRIVATE bindings)
-
-# Only link/include RTOS if the project supports RTOS
-# The project needs to provide an underlying OS target
-# in the platform/${PLATFORM_NAME}/CMakeLists.txt
-if(TARGET os)
-    target_link_libraries(main PRIVATE os)
-endif()
 
 include("${POSTBUILD_FILE}")

firmware/cmake/build_cubemx.cmake

@@ -1,120 +1,21 @@
 # Blake Freer
-# April 13, 2023
-# This file is included in the cubemx/CMakeLists.txt file of all projects'
+# November 2024
+
+# Generate code from CubeMX. The Makefile modifies the toolchain to fit our
+# system.
+# This file is included in the mcal_conf.cmake file of all projects'
 # platforms that use the stm32f767 mcal
 
-message(STATUS "Generating from CubeMX and adding custom targets.")
 execute_process(
-    # Calls generate_cubemx.mk in the context of this file, which is adjacent to
-    # the board_config.ioc file.
-    COMMAND ${CMAKE_MAKE_PROGRAM} "--file=${CMAKE_SOURCE_DIR}/cmake/generate_cubemx.mk"
-    WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+    COMMAND make "--file=${CMAKE_SOURCE_DIR}/cmake/generate_cubemx.mk"
+    WORKING_DIRECTORY ${DIR_PLATFORM}/cubemx
     RESULT_VARIABLE status
 )
 
 if(status AND NOT status EQUAL 0)
     message(FATAL_ERROR
-    "Failed to generate from CubeMX. You should manually 'Generate Code' \
-    before building."
+        "${out} Failed to generate from CubeMX. You should manually 'Generate Code' before building."
     )
 endif()
 
-set(CUSTOM_MAKEFILE "${CMAKE_CURRENT_SOURCE_DIR}/CustomMakefile.mk")
-
-message(STATUS "Building CubeMX objects with the auto-generated Makefile")
-execute_process(
-    # Build all cubemx sources to their objects. This target is added to the
-    # cubemx Makefile by generate_cubemx.mk.
-	COMMAND ${CMAKE_MAKE_PROGRAM} "objects" "--file=${CUSTOM_MAKEFILE}"
-	WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
-)
-
-function(extract_make_variable output makefile var_name)
-    # Get a variable from a Makefile
-    # This requires the Makefile to have the following target & recipe
-    # 
-    # %.value:
-    #     @echo $($*)
-    # 
-    # generate_cubemx.mk appends this target to the cubemx Makefile
-    # See custom_cubemx_targets.mk
-    execute_process(
-        COMMAND ${CMAKE_MAKE_PROGRAM} "--file=${makefile}" "${var_name}.value" "--no-print-directory"
-        WORKING_DIRECTORY ${CMAKE_SOURCE_DIR}
-        COMMAND_ECHO STDOUT
-        OUTPUT_VARIABLE value
-        OUTPUT_STRIP_TRAILING_WHITESPACE
-    )
-    message(VERBOSE "The make variable ${var_name} has the value \"${value}\"")
-    set(${output} ${value} PARENT_SCOPE)
-endfunction()
-
-# Get C_INCLUDES, split string to a list, and remove the -I prefix
-extract_make_variable(include_str "${CUSTOM_MAKEFILE}" "C_INCLUDES")
-separate_arguments(C_INCLUDES NATIVE_COMMAND ${include_str})
-list(TRANSFORM C_INCLUDES REPLACE "^-I" "")
-
-# Get Global #defines
-extract_make_variable(c_def_str "${CUSTOM_MAKEFILE}" "C_DEFS")
-separate_arguments(C_DEFS NATIVE_COMMAND ${c_def_str})
-list(TRANSFORM C_DEFS REPLACE "^-D" "")
-
-# Get MCU which includes the CPU name (cortex-m7), floating point unit, etc
-extract_make_variable(MCU "${CUSTOM_MAKEFILE}" "MCU")
-separate_arguments(MCU NATIVE_COMMAND ${MCU})
-
-# Get the linker flags. These are needed since we manually link the objects
-# instead of using the cubemx Makefile.
-extract_make_variable(ldflags_str "${CUSTOM_MAKEFILE}" "LDFLAGS")
-separate_arguments(LDFLAGS NATIVE_COMMAND ${ldflags_str})
-# Need to fully specify the link script path
-list(TRANSFORM LDFLAGS REPLACE "^-T" "-T${CMAKE_CURRENT_SOURCE_DIR}/")
-# Cannot have "build/" in front of the map output.
-list(TRANSFORM LDFLAGS REPLACE "Map=.*\\.map" "Map=${CMAKE_PROJECT_NAME}.map")
-
-# Prepare the driver target
-add_library(driver)
-set_target_properties(driver PROPERTIES LINKER_LANGUAGE C) # required since the source files are object files
-
-# The sources are all the object files compiled with the CubeMX Makefile
-FILE(GLOB OBJ_DRIVER CONFIGURE_DEPENDS "build/*.o")
-target_sources(driver PUBLIC ${OBJ_DRIVER})
-
-# Apply the Makefile settings to the targets
-target_include_directories(driver PUBLIC ${C_INCLUDES})
-target_compile_definitions(driver PUBLIC ${C_DEFS})
-
-target_compile_options(driver
-PUBLIC
-	${MCU}
-	-fdata-sections
-	-ffunction-sections
-	-Wall
-	-Wextra
-	-Wpedantic
-	-Wshadow
-	-Wdouble-promotion
-	-Wformat=2 -Wformat-truncation
-	-Wundef
-	-fno-common
-	-Wno-unused-parameter
-	-Wno-missing-field-initializers
-	$<$<COMPILE_LANGUAGE:CXX>:
-		-Wno-old-style-cast
-		-Wno-useless-cast
-		-Wconversion
-		-Wno-volatile
-		-Wsuggest-override>
-	$<$<CONFIG:Debug>:-Og -g3 -ggdb>
-	$<$<CONFIG:Release>:-Og -g0>
-)
-
-# Notice that the linker settings are set for the "main" target.
-target_link_options(main
-PRIVATE
-    ${LDFLAGS}
-    $<$<VERSION_GREATER:$<C_COMPILER_VERSION>,10.3.1>:-Wl,--no-warn-rwx-segments>
-    -Wl,--start-group
-    -Wl,--end-group
-    -Wl,--print-memory-usage
-)
+set(CMAKE_TOOLCHAIN_FILE "${DIR_PLATFORM}/cubemx/cmake/racecar-toolchain.cmake")

firmware/cmake/custom_toolchain.sh

@@ -0,0 +1,14 @@
+# Modify the CubeMX-generated toolchain file to work with out build system.
+# These commands are not in the Makefile since Make messes with the ${} characters
+# in the `sed` replacement string.
+
+# CubeMX forces CMake to skip its automatic compiler detection, which messes
+# with our clangd setup. Comment out the lines that do this.
+sed -E '/set\(CMAKE.*COMPILER_FORCED.*$/s/^/# /g' $1 > tmp.txt
+mv tmp.txt $1
+
+# CubeMX incorrectly assumes that our top-level CMakeLists.txt is in the same
+# directory as the .ioc file. This means that the linker script directory is wrong.
+# Find the "-T ** .ld" line and replace the CMAKE variable with the current directory.
+sed -E "/-T.*\.ld/s|\\\$\{CMAKE_SOURCE_DIR\}|${PWD}|g" $1 > tmp.txt
+mv tmp.txt $1

firmware/cmake/generate_cubemx.mk

@@ -9,6 +9,7 @@ endif
 # Find the JAVA which is installed with CubeMX. Spaces in path are escaped.
 space := $(subst ,, )
 
+# Known bug: Expanding CUBEMX_JAVA twice does not work.
 ifeq ($(shell uname), Darwin)
 # MacOS
 	CUBEMX_JAVA := $(dir $(subst $(space),\$(space),$(CUBEMX_PATH)))jre/Contents/Home/bin/java
@@ -17,8 +18,6 @@ else
 	CUBEMX_JAVA := $(dir $(subst $(space),\$(space),$(CUBEMX_PATH)))jre/bin/java
 endif
 
-# Known bug: Expanding CUBEMX_JAVA twice does not work.
-
 IOC_FILE = board_config.ioc
 
 CUBEMX_GEN_SCRIPT = cubemx_script.txt
@@ -29,18 +28,17 @@ CUSTOM_TARGETS_FILE = $(BUILD_SYS_DIR)custom_cubemx_targets.mk
 
 CUBEMX_GEN_SCRIPT_TEMPLATE := $(BUILD_SYS_DIR)generate_cubemx_script.txt.template
 
-# Copy the CubeMX makefile and custom targets into a new makefile
-CustomMakefile.mk: Makefile $(CUSTOM_TARGETS_FILE)
-	@echo "Creating $@ from [$^]"
-	cat Makefile > $@
-	cat $(CUSTOM_TARGETS_FILE) >> $@ 
+cmake/racecar-toolchain.cmake: cmake/gcc-arm-none-eabi.cmake
+	@echo "Modifying autogen toolchain file."
+	cp $< $@
+	. $(BUILD_SYS_DIR)custom_toolchain.sh $@
 
 # This recipe will execute whenever IOC_FILE has a newer timestamp than the
-# Makefile, i.e. whenever IOC_FILE has been updated but new code has not been
-# generated.
-Makefile: $(IOC_FILE) $(CUBEMX_GEN_SCRIPT_TEMPLATE)
+# generated toolchain file, i.e. whenever IOC_FILE has been updated but new code
+# has not been generated.
+cmake/gcc-arm-none-eabi.cmake: $(IOC_FILE) $(CUBEMX_GEN_SCRIPT_TEMPLATE)
 	@echo "Autogenerating from CubeMX. If you don't want to do this, you must manually 'Generate Code' before building."
-# Create an file containing commands to generate the cubemx code.
+# Create a file containing commands to generate the cubemx code.
 	sed -e 's/IOC_FILE/$(IOC_FILE)/g' $(CUBEMX_GEN_SCRIPT_TEMPLATE) > $(CUBEMX_GEN_SCRIPT)
 
 # Run the cubemx program to generate code.

firmware/projects/Demo/AnalogPWM/CMakeLists.txt

@@ -1 +1 @@
-target_sources(main PUBLIC main.cc)
+target_sources(main PRIVATE main.cc)

firmware/projects/Demo/AnalogPWM/platforms/cli/CMakeLists.txt

@@ -1,3 +1,2 @@
-target_sources(bindings PRIVATE bindings.cc)
-
-target_link_libraries(bindings PUBLIC mcal-cli)
+target_sources(main PRIVATE bindings.cc)
+target_link_libraries(main PRIVATE mcal-cli)

firmware/projects/Demo/BasicIO/CMakeLists.txt

@@ -7,10 +7,5 @@
 
 target_sources(main PRIVATE main.cc)
 
-target_include_directories(main
-	PRIVATE
-	${CMAKE_CURRENT_SOURCE_DIR}/inc
-)
-
 # Notice that we don't include any mcal/ or platform /subdirectory in this CMake
 # file. The master CMakeLists handles platform selection and library linking.

firmware/projects/Demo/BasicIO/bindings.h

@@ -0,0 +1,12 @@
+#pragma once
+
+#include "shared/periph/gpio.h"
+
+namespace bindings {
+
+extern shared::periph::DigitalInput& button_di;
+extern shared::periph::DigitalOutput& indicator_do;
+
+extern void Initialize();
+
+}  // namespace bindings