Reorganized cmake, mostly

.gitignore

@@ -12,7 +12,7 @@
 .vscode/
 *.o
 *.html
-/boards/*/build/
+/build/
 /test/build/
 /site/
 *.idea*

CMakeLists.txt

@@ -0,0 +1,86 @@
+### project settings ###
+
+set(CMAKE_SYSTEM_NAME Generic)
+cmake_minimum_required(VERSION 3.8)
+project(rosflight_firmware C CXX ASM)
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_C_STANDARD 11)
+
+# specify cross-compilers and tools
+set(CMAKE_C_COMPILER arm-none-eabi-gcc)
+set(CMAKE_CXX_COMPILER arm-none-eabi-g++)
+set(CMAKE_ASM_COMPILER  arm-none-eabi-gcc)
+set(CMAKE_AR arm-none-eabi-ar)
+set(CMAKE_OBJCOPY arm-none-eabi-objcopy)
+set(CMAKE_OBJDUMP arm-none-eabi-objdump)
+set(SIZE arm-none-eabi-size)
+
+if(NOT CMAKE_BUILD_TYPE)
+    set(CMAKE_BUILD_TYPE "Release")
+endif()
+
+#add_compile_options(-Wall)
+
+
+### git ###
+
+# clone mavlink submodule if it is missing
+set(FIRMWARE_SUBMODULE_DIR "${CMAKE_CURRENT_SOURCE_DIR}/comms/mavlink/v1.0")
+if(NOT EXISTS "${FIRMWARE_SUBMODULE_DIR}/.git")
+    message(STATUS "Firmware submodule not found at ${FIRMWARE_SUBMODULE_DIR}")
+    execute_process(
+        COMMAND git submodule update --init --recursive
+        WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+    )
+endif()
+
+# get version info
+execute_process(COMMAND git rev-parse --short=8 HEAD
+        OUTPUT_VARIABLE GIT_VERSION_HASH
+        OUTPUT_STRIP_TRAILING_WHITESPACE
+        WORKING_DIRECTORY ${CMAKE_SOURCE_DIR})
+execute_process(COMMAND git describe --tags --abbrev=8 --always --dirty --long
+        OUTPUT_VARIABLE GIT_VERSION_STRING
+        OUTPUT_STRIP_TRAILING_WHITESPACE
+        WORKING_DIRECTORY ${CMAKE_SOURCE_DIR})
+if("${GIT_VERSION_STRING}" STREQUAL "")
+  set(GIT_VERSION_STRING "undefined")
+endif()
+if("${GIT_VERSION_HASH}" STREQUAL "")
+  set(GIT_VERSION_HASH "0")
+endif()
+
+
+### source files ###
+
+include_directories(
+    include
+    include/interface
+
+    lib
+
+    comms/mavlink
+    comms/mavlink/v1.0
+    comms/mavlink/v1.0/common
+    comms/mavlink/v1.0/rosflight
+)
+
+file(GLOB_RECURSE SOURCES
+    "src/*.cpp"
+
+    "lib/turbomath/turbomath.cpp"
+
+    "comms/mavlink/mavlink.cpp"
+)
+
+
+### select boards to compile ###
+
+option(BUILD_VARMINT "Build the varmint board target" ON)
+
+if(BUILD_VARMINT)
+    message(STATUS "Selecting varmint board target")
+    add_subdirectory(boards/varmint)
+endif()
+

boards/varmint/CMakeLists.txt

@@ -1,33 +1,9 @@
-### project settings ###
-
-set(CMAKE_SYSTEM_NAME Generic)
-cmake_minimum_required(VERSION 3.8)
-
-# specify cross-compilers and tools
-set(CMAKE_C_COMPILER arm-none-eabi-gcc)
-set(CMAKE_CXX_COMPILER arm-none-eabi-g++)
-set(CMAKE_ASM_COMPILER  arm-none-eabi-gcc)
-set(CMAKE_AR arm-none-eabi-ar)
-set(CMAKE_OBJCOPY arm-none-eabi-objcopy)
-set(CMAKE_OBJDUMP arm-none-eabi-objdump)
-set(SIZE arm-none-eabi-size)
-set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY)
-
-project(varmint C CXX ASM)
-set(CMAKE_CXX_STANDARD 17)
-set(CMAKE_C_STANDARD 11)
-
-
-### include & source files ###
-
-set(ROSFLIGHT_SOURCE_DIR ${CMAKE_SOURCE_DIR}/../..)
+### source files ###
 
 include_directories(
-    # Varmint
     include
     include/board
 
-    # STM32
     lib/usb_device/App
     lib/usb_device/Target
     lib/drivers/STM32H7xx_HAL_Driver/Inc
@@ -36,61 +12,19 @@ include_directories(
     lib/drivers/CMSIS/Include
     lib/middleware/ST/STM32_USB_Device_Library/Core/Inc
     lib/middleware/ST/STM32_USB_Device_Library/Class/CDC/Inc
-
-    # ROSflight
-    ${ROSFLIGHT_SOURCE_DIR}/include
-    ${ROSFLIGHT_SOURCE_DIR}/include/interface
-    ${ROSFLIGHT_SOURCE_DIR}/lib
-
-    # MAVLink
-    ${ROSFLIGHT_SOURCE_DIR}/comms/mavlink
-    ${ROSFLIGHT_SOURCE_DIR}/comms/mavlink/v1.0
-    ${ROSFLIGHT_SOURCE_DIR}/comms/mavlink/v1.0/common
-    ${ROSFLIGHT_SOURCE_DIR}/comms/mavlink/v1.0/rosflight
 )
 
 file(GLOB_RECURSE SOURCES
-    # Varmint
     "src/*.*"
-
-    # STM32
     "lib/usb_device/*.c"
     "lib/drivers/*.c"
     "lib/middleware/*.c"
-
-    # ROSflight
-    "${ROSFLIGHT_SOURCE_DIR}/src/*.cpp"
-    "${ROSFLIGHT_SOURCE_DIR}/lib/turbomath/turbomath.cpp"
-
-    # MAVLink
-    "${ROSFLIGHT_SOURCE_DIR}/comms/mavlink/mavlink.cpp"
 )
 
-set(LINKER_SCRIPT ${CMAKE_SOURCE_DIR}/STM32H753VIHX_FLASH.ld)
+set(LINKER_SCRIPT STM32H753VIHX_FLASH.ld)
 add_link_options(-T ${LINKER_SCRIPT})
 
 
-### git information ###
-
-execute_process(COMMAND git rev-parse --short=8 HEAD
-        OUTPUT_VARIABLE GIT_VERSION_HASH
-        OUTPUT_STRIP_TRAILING_WHITESPACE
-        WORKING_DIRECTORY ${ROSFLIGHT_SOURCE_DIR})
-
-execute_process(COMMAND git describe --tags --abbrev=8 --always --dirty --long
-        OUTPUT_VARIABLE GIT_VERSION_STRING
-        OUTPUT_STRIP_TRAILING_WHITESPACE
-        WORKING_DIRECTORY ${ROSFLIGHT_SOURCE_DIR})
-
-if("${GIT_VERSION_STRING}" STREQUAL "")
-  set(GIT_VERSION_STRING "undefined")
-endif()
-
-if("${GIT_VERSION_HASH}" STREQUAL "")
-  set(GIT_VERSION_HASH "0")
-endif()
-
-
 ### preprocessor, compiler, linker options ###
 
 add_definitions(-DDEBUG -DUSE_HAL_DRIVER -DSTM32H753xx)
@@ -107,20 +41,6 @@ add_compile_options($<$<COMPILE_LANGUAGE:ASM>:-x$<SEMICOLON>assembler-with-cpp>)
 add_link_options(-Wl,-gc-sections,--print-memory-usage,-Map=${PROJECT_BINARY_DIR}/${PROJECT_NAME}.map)
 add_link_options(-mcpu=cortex-m7 -mthumb -mthumb-interwork)
 
-if ("${CMAKE_BUILD_TYPE}" STREQUAL "Release")
-    message(STATUS "Maximum optimization for speed")
-    add_compile_options(-Ofast)
-elseif ("${CMAKE_BUILD_TYPE}" STREQUAL "RelWithDebInfo")
-    message(STATUS "Maximum optimization for speed, debug info included")
-    add_compile_options(-Ofast -g)
-elseif ("${CMAKE_BUILD_TYPE}" STREQUAL "MinSizeRel")
-    message(STATUS "Maximum optimization for size")
-    add_compile_options(-Os)
-else ()
-    message(STATUS "Minimal optimization, debug info included")
-    add_compile_options(-Og -g)
-endif ()
-
 
 ### build target ###