diff options
Diffstat (limited to 'CMakeLists.txt')
| -rw-r--r-- | CMakeLists.txt | 55 |
1 files changed, 50 insertions, 5 deletions
diff --git a/CMakeLists.txt b/CMakeLists.txt index 933710e..86ab72b 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -1,13 +1,17 @@ -cmake_minimum_required(VERSION 3.12) +cmake_minimum_required(VERSION 3.10) -set(PICO_BOARD pico_w) +set(PICO_BOARD rp2040_micro) +set(PICO_BOARD_HEADER_DIRS ${CMAKE_CURRENT_LIST_DIR}/include) # Pull in SDK (must be before project) -include(include/pico-sdk/pico_sdk_init.cmake) -include_directories(include/eigen) +include(${CMAKE_CURRENT_LIST_DIR}/include/pico-sdk/pico_sdk_init.cmake) +include(${CMAKE_CURRENT_LIST_DIR}/include/FreeRTOS-Kernel/portable/ThirdParty/GCC/RP2040/FreeRTOS_Kernel_import.cmake) +include(${CMAKE_CURRENT_LIST_DIR}/include/pico-logger/CMakeLists.txt) +include_directories(${CMAKE_CURRENT_LIST_DIR}/include/eigen) set(CMAKE_EXPORT_COMPILE_COMMANDS ON) set(CMAKE_C_COMPILER arm-none-eabi-gcc) set(CMAKE_CXX_COMPILER arm-none-eabi-g++) +set(CMAKE_TRY_COMPILE_TARGET_TYPE "STATIC_LIBRARY") project(active-drag-system C CXX ASM) set(CMAKE_C_STANDARD 11) @@ -20,13 +24,54 @@ endif() # Initialize the SDK pico_sdk_init() +# BEGIN libfixmath, libfixmatrix, and libfixkalman library generation + add_library(libfixmath INTERFACE) + + file(GLOB libfixmath-srcs ${CMAKE_CURRENT_LIST_DIR}/include/libfixmath/libfixmath/*.c) + target_sources(libfixmath INTERFACE ${libfixmath-srcs}) + target_include_directories(libfixmath INTERFACE + ${CMAKE_CURRENT_LIST_DIR}/include/libfixmath/libfixmath + ) + target_compile_definitions(libfixmath INTERFACE + FIXMATH_FAST_SIN + # FIXMATH_NO_64BIT + # FIXMATH_SIN_LUT + # FIXMATH_NO_CACHE + # FIXMATH_NO_HARD_DIVISION + FIXMATH_NO_OVERFLOW + # FIXMATH_NO_ROUNDING + # FIXMATH_OPTIMIZE_8BIT + ) + + add_library(libfixmatrix INTERFACE) + + file(GLOB libfixmatrix-srcs ${CMAKE_CURRENT_LIST_DIR}/include/libfixmatrix/*.c) + list(FILTER libfixmatrix-srcs EXCLUDE REGEX ".*unittests\\.c$") + target_sources(libfixmatrix INTERFACE ${libfixmatrix-srcs}) + target_include_directories(libfixmatrix INTERFACE + ${CMAKE_CURRENT_LIST_DIR}/include/libfixmatrix + ) + target_compile_definitions(libfixmatrix INTERFACE FIXMATRIX_MAX_SIZE=3) + target_link_libraries(libfixmatrix INTERFACE libfixmath) + + add_library(libfixkalman INTERFACE) + + target_sources(libfixkalman INTERFACE ${CMAKE_CURRENT_LIST_DIR}/include/libfixkalman/fixkalman.c) + target_include_directories(libfixkalman INTERFACE ${CMAKE_CURRENT_LIST_DIR}/include/libfixkalman) + target_compile_definitions(libfixkalman INTERFACE + KALMAN_DISABLE_UC + KALMAN_TIME_VARYING + ) + target_link_libraries(libfixkalman INTERFACE libfixmath libfixmatrix) +# END libfixmath, libfixmatrix, and libfixkalman library generation + add_subdirectory(src) add_subdirectory(tools) - add_compile_options(-Wall -Wno-format # int != int32_t as far as the compiler is concerned because gcc has int32_t as long int -Wno-unused-function # we have some for the docs that aren't called + -fpermissive ) if (CMAKE_C_COMPILER_ID STREQUAL "GNU") add_compile_options(-Wno-maybe-uninitialized) |