use add_subdirectory() instead of include() for platform cmake files

RaccoonlabDev · Jun 24, 2024 · 8f97080 · 8f97080
1 parent cad5f4a
commit 8f97080
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Showing 4 changed files with 112 additions and 74 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -3,6 +3,9 @@
 cmake_minimum_required(VERSION 3.15.3)
 project(example CXX C ASM)
 
+# Define options
+option(USE_PLATFORM_UBUNTU "Build for SITL (Software In The Loop)" OFF)
+
 if(NOT CMAKE_BUILD_TYPE)
     set(CMAKE_BUILD_TYPE Release)
 endif()
@@ -13,6 +16,7 @@ set(SRC_DIR ${ROOT_DIR}/Src)
 set(CMAKE_DIR ${ROOT_DIR}/cmake)
 set(LIBPARAMS_PATH ${ROOT_DIR}/Libs/libparams)
 set(BUILD_SRC_DIR ${ROOT_DIR}/build/src)
+set(BUILD_OBJ_DIR ${ROOT_DIR}/build/obj)
 
 if(CAN_PROTOCOL STREQUAL "dronecan" OR CAN_PROTOCOL STREQUAL "cyphal")
     set(APPLICATION_DIR ${ROOT_DIR}/Src/${CAN_PROTOCOL}_application)
@@ -62,75 +66,4 @@ add_definitions(-DHW_VERSION_MINOR=1)
 
 set(CMAKE_CXX_STANDARD 20)
 
-include(${ROOT_DIR}/Src/platform/${APP_PLATFORM}/CMakeLists.txt)
-set(EXECUTABLE ${PROJECT_NAME}.out)
-add_executable(${EXECUTABLE}
-    ${libparams}
-    ${APPLICATION_SOURCES}
-    ${BUILD_SRC_DIR}/params.cpp
-    ${ROOT_DIR}/Src/common/algorithms.cpp
-    ${ROOT_DIR}/Src/common/module.cpp
-    ${PLATFORM_SOURCES}
-)
-
-target_include_directories(${EXECUTABLE} PRIVATE
-    ${BUILD_SRC_DIR}
-    ${APPLICATION_HEADERS}
-    ${ROOT_DIR}/Src/common
-    ${PLATFORM_HEADERS}
-)
-
-target_compile_options(${EXECUTABLE} PRIVATE
-    -Wall
-    -Wextra
-    -Wfloat-equal
-    -Werror
-    -Wundef
-    -Wshadow
-    -Wpointer-arith
-    -Wunreachable-code
-    -Wstrict-overflow=5
-    -Wwrite-strings
-    -Wswitch-default
-)
-
-
-if(USE_PLATFORM_UBUNTU)
-else()
-    target_compile_definitions(${EXECUTABLE} PRIVATE
-        -DUSE_HAL_DRIVER
-        -D${CPU}
-        -DCYPHAL_NUM_OF_CAN_BUSES=1
-    )
-    target_compile_options(${EXECUTABLE} PRIVATE
-        -mcpu=${TARGET_ARCHITECTURE}
-        -mthumb
-        -fdata-sections
-        -ffunction-sections
-        -lc -lm -lnosys
-        -specs=nano.specs
-        --specs=nosys.specs
-    )
-
-    target_link_options(${EXECUTABLE} PRIVATE
-        -T${ldFile}
-        -mcpu=${TARGET_ARCHITECTURE}
-        -mthumb
-        --specs=nosys.specs
-        -specs=nano.specs
-        -lc
-        -lm
-        -lnosys
-        -Wl,-Map=${PROJECT_NAME}.map,--cref
-        -Wl,--gc-sections
-    )
-
-    # Post-build
-    add_custom_command(TARGET ${EXECUTABLE}
-        POST_BUILD
-        COMMAND ${CMAKE_SIZE} ${EXECUTABLE}
-        COMMAND ${CMAKE_OBJCOPY} -O ihex ${EXECUTABLE} ${PROJECT_NAME}.hex
-        COMMAND ${CMAKE_OBJCOPY} -O binary ${EXECUTABLE} ${PROJECT_NAME}.bin
-        COMMAND ${CMAKE_OBJCOPY} -I binary -O elf32-little ${EXECUTABLE} ${PROJECT_NAME}.elf
-    )
-endif()
+add_subdirectory(${ROOT_DIR}/Src/platform/${APP_PLATFORM})
diff --git a/Makefile b/Makefile
@@ -21,15 +21,15 @@ cyphal: checks generate_dsdl clean
 	cd ${BUILD_OBJ_DIR} && cmake -DCAN_PROTOCOL=cyphal ../.. && make
 sitl_cyphal: checks generate_dsdl clean
 	mkdir -p ${BUILD_OBJ_DIR}
-	cd ${BUILD_OBJ_DIR} && cmake -DCAN_PROTOCOL=cyphal -DUSE_PLATFORM_UBUNTU=1 ../.. && make
+	cd ${BUILD_OBJ_DIR} && cmake -DCAN_PROTOCOL=cyphal -DUSE_PLATFORM_UBUNTU=ON ../.. && make
 
 # Dronecan:
 dronecan: checks clean
 	mkdir -p ${BUILD_OBJ_DIR}
 	cd ${BUILD_OBJ_DIR} && cmake -DCAN_PROTOCOL=dronecan ../.. && make
 sitl_dronecan: checks clean
 	mkdir -p ${BUILD_OBJ_DIR}
-	cd ${BUILD_OBJ_DIR} && cmake -DCAN_PROTOCOL=dronecan -DUSE_PLATFORM_UBUNTU=1 ../.. && make
+	cd ${BUILD_OBJ_DIR} && cmake -DCAN_PROTOCOL=dronecan -DUSE_PLATFORM_UBUNTU=ON ../.. && make
 
 # Common:
 checks:

diff --git a/Src/platform/stm32f103/CMakeLists.txt b/Src/platform/stm32f103/CMakeLists.txt
@@ -43,3 +43,71 @@ set(PLATFORM_SOURCES
 set(PLATFORM_HEADERS
     ${stm32CubeMxHeaders}
 )
+
+set(EXECUTABLE ${PROJECT_NAME}.out)
+add_executable(${EXECUTABLE}
+    ${libparams}
+    ${APPLICATION_SOURCES}
+    ${BUILD_SRC_DIR}/params.cpp
+    ${ROOT_DIR}/Src/common/algorithms.cpp
+    ${ROOT_DIR}/Src/common/module.cpp
+    ${PLATFORM_SOURCES}
+)
+
+target_include_directories(${EXECUTABLE} PRIVATE
+    ${BUILD_SRC_DIR}
+    ${APPLICATION_HEADERS}
+    ${ROOT_DIR}/Src/common
+    ${PLATFORM_HEADERS}
+)
+
+target_compile_options(${EXECUTABLE} PRIVATE
+    -Wall
+    -Wextra
+    -Wfloat-equal
+    -Werror
+    -Wundef
+    -Wshadow
+    -Wpointer-arith
+    -Wunreachable-code
+    -Wstrict-overflow=5
+    -Wwrite-strings
+    -Wswitch-default
+)
+
+target_compile_definitions(${EXECUTABLE} PRIVATE
+    -DUSE_HAL_DRIVER
+    -D${CPU}
+    -DCYPHAL_NUM_OF_CAN_BUSES=1
+)
+target_compile_options(${EXECUTABLE} PRIVATE
+    -mcpu=${TARGET_ARCHITECTURE}
+    -mthumb
+    -fdata-sections
+    -ffunction-sections
+    -lc -lm -lnosys
+    -specs=nano.specs
+    --specs=nosys.specs
+)
+
+target_link_options(${EXECUTABLE} PRIVATE
+    -T${ldFile}
+    -mcpu=${TARGET_ARCHITECTURE}
+    -mthumb
+    --specs=nosys.specs
+    -specs=nano.specs
+    -lc
+    -lm
+    -lnosys
+    -Wl,-Map=${PROJECT_NAME}.map,--cref
+    -Wl,--gc-sections
+)
+
+# Post-build
+add_custom_command(TARGET ${EXECUTABLE}
+    POST_BUILD
+    COMMAND ${CMAKE_SIZE} ${EXECUTABLE}
+    COMMAND ${CMAKE_OBJCOPY} -O ihex ${EXECUTABLE} ${BUILD_OBJ_DIR}/${PROJECT_NAME}.hex
+    COMMAND ${CMAKE_OBJCOPY} -O binary ${EXECUTABLE} ${BUILD_OBJ_DIR}/${PROJECT_NAME}.bin
+    COMMAND ${CMAKE_OBJCOPY} -I binary -O elf32-little ${EXECUTABLE} ${BUILD_OBJ_DIR}/${PROJECT_NAME}.elf
+)
diff --git a/Src/platform/ubuntu/CMakeLists.txt b/Src/platform/ubuntu/CMakeLists.txt
@@ -13,3 +13,40 @@ set(PLATFORM_SOURCES
 set(PLATFORM_HEADERS
     ${CMAKE_CURRENT_LIST_DIR}
 )
+
+set(EXECUTABLE ${PROJECT_NAME}.out)
+add_executable(${EXECUTABLE}
+    ${libparams}
+    ${APPLICATION_SOURCES}
+    ${BUILD_SRC_DIR}/params.cpp
+    ${ROOT_DIR}/Src/common/algorithms.cpp
+    ${ROOT_DIR}/Src/common/module.cpp
+    ${PLATFORM_SOURCES}
+)
+
+target_include_directories(${EXECUTABLE} PRIVATE
+    ${BUILD_SRC_DIR}
+    ${APPLICATION_HEADERS}
+    ${ROOT_DIR}/Src/common
+    ${PLATFORM_HEADERS}
+)
+
+target_compile_options(${EXECUTABLE} PRIVATE
+    -Wall
+    -Wextra
+    -Wfloat-equal
+    -Werror
+    -Wundef
+    -Wshadow
+    -Wpointer-arith
+    -Wunreachable-code
+    -Wstrict-overflow=5
+    -Wwrite-strings
+    -Wswitch-default
+)
+
+# Post-build
+add_custom_command(TARGET ${EXECUTABLE}
+    POST_BUILD
+    COMMAND ${CMAKE_COMMAND} -E copy_if_different ${EXECUTABLE} ${BUILD_OBJ_DIR}/${EXECUTABLE}
+)