RodosPlayground

Dependencies

The following libraries are necessary to build RodosPlayground.

• Rodos
• ETL (Embedded Template Library)
• type_safe

Quick installation instructions for those can be found here.

Toolchain files

Generally, toolchain files are specific to the target platforms as well as your environment and setup but not to your project. Therefore they are not supplied with this repo and should be kept at some "global" directory (I, e.g., use ~/programming/cmake/). A toolchain file for an STM32F411 can look something like the following:

# ##################################################################################################
# Cross compiler toolchain
# ##################################################################################################

set(CMAKE_SYSTEM_NAME Generic)
set(CMAKE_SYSTEM_PROCESSOR ARM)

set(TOOLCHAIN_PREFIX arm-none-eabi-)

# Find path to the cross compiler toolchain
execute_process(
    COMMAND which ${TOOLCHAIN_PREFIX}gcc
    OUTPUT_VARIABLE BINUTILS_PATH
    OUTPUT_STRIP_TRAILING_WHITESPACE
)

# Use newlib nano because it is smaller
set(CMAKE_EXE_LINKER_FLAGS_INIT "--specs=nano.specs")

set(CMAKE_C_COMPILER ${TOOLCHAIN_PREFIX}gcc)
set(CMAKE_ASM_COMPILER ${CMAKE_C_COMPILER})
set(CMAKE_CXX_COMPILER ${TOOLCHAIN_PREFIX}g++)

set(CMAKE_OBJCOPY
    ${TOOLCHAIN_PREFIX}objcopy
    CACHE INTERNAL "objcopy tool"
)
set(CMAKE_OBJDUMP
    ${TOOLCHAIN_PREFIX}objdump
    CACHE INTERNAL "objdump tool"
)
set(CMAKE_SIZE_UTIL
    ${TOOLCHAIN_PREFIX}size
    CACHE INTERNAL "size tool"
)

set(CMAKE_FIND_ROOT_PATH ${BINUTILS_PATH})
set(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
set(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
set(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)

# ##################################################################################################
# Platform specific configuration
# ##################################################################################################

# Root folder containing platform specific stuff like libraries
set(platform_root "/usr/local/stm32f411")
list(APPEND CMAKE_FIND_ROOT_PATH "${platform_root}")
# For some reason the toolchain file always runs twice, so REMOVE_DUPLICATES is used to get rid of
# the 2. platform_root that gets appended
list(REMOVE_DUPLICATES CMAKE_FIND_ROOT_PATH)

set(linker_script "${platform_root}/src/rodos/src/bare-metal/stm32f4/scripts/stm32f411xe_flash.ld")
message("Linker script used: ${linker_script}")

# TODO: Find out why if(NOT DEFINED HSE_VALUE) does not work as expected and fails the second time
# the toolchain file is run
message("HSE value used: ${HSE_VALUE}")
add_compile_definitions(HSE_VALUE=${HSE_VALUE} HSE_STARTUP_TIMEOUT=10000000)
add_compile_definitions(USE_STDPERIPH_DRIVER STM32F411xE)

set(compile_and_link_options -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=softfp)

add_compile_options(${compile_and_link_options})
add_compile_options(-gdwarf-2 -mthumb -g3)

add_link_options(${compile_and_link_options})
add_link_options(-Wl,-T${linker_script})
add_link_options(
    -nostartfiles -Xlinker --gc-sections -fno-unwind-tables -fno-asynchronous-unwind-tables
)

You must at least change the platform_root variable to point to the directory in which you install all your cross-compiled libraries for the target platform (=STM32F411).

Presets

This project makes use of CMake presets to simplify the process of configuring the project. As a developer, you should create a CMakeUserPresets.json file at the root of the project that looks something like the following:

{
  "version": 3,
  "cmakeMinimumRequired": {
    "major": 3,
    "minor": 22,
    "patch": 0
  },
  "configurePresets": [
    {
      "name": "dev-common",
      "hidden": true,
      "inherits": ["dev-mode", "cppcheck", "clang-tidy", "unix-common"],
      "generator": "Ninja",
      "cacheVariables": {
        "CMAKE_BUILD_TYPE": "Debug",
        "CMAKE_EXPORT_COMPILE_COMMANDS": "ON",
        "BUILD_MCSS_DOCS": "ON"
      }
    },
    {
      "name": "dev-linux-x86",
      "binaryDir": "${sourceDir}/build/linux-x86",
      "inherits": "dev-common",
      "toolchainFile": "/usr/local/src/rodos/cmake/port/linux-x86.cmake"
    },
    {
      "name": "dev-nucleo",
      "binaryDir": "${sourceDir}/build/nucleo",
      "inherits": "dev-common",
      "toolchainFile": "~/programming/cmake/stm32f411.cmake",
      "cacheVariables": {
        "RODOS_PACKAGE_NAME": "rodos_discovery_f411",
        "HSE_VALUE": "8000000",
        "BOARD_FILE": "Nucleo.hpp"
      }
    },
    {
      "name": "dev-cobc",
      "binaryDir": "${sourceDir}/build/cobc",
      "inherits": "dev-common",
      "toolchainFile": "~/programming/cmake/stm32f411.cmake",
      "cacheVariables": {
        "HSE_VALUE": "12000000",
        "BOARD_FILE": "Nucleo.hpp"
      }
    },
    {
      "name": "dev-coverage",
      "inherits": ["dev-mode", "coverage-unix"],
      "toolchainFile": "/usr/local/src/rodos/cmake/port/linux-x86.cmake"
    }
  ],
  "buildPresets": [
    {
      "name": "dev-linux-x86",
      "configurePreset": "dev-linux-x86",
      "configuration": "Debug",
      "jobs": 4
    },
    {
      "name": "dev-nucleo",
      "configurePreset": "dev-nucleo",
      "configuration": "Debug",
      "jobs": 4
    },
    {
      "name": "dev-cobc",
      "configurePreset": "dev-cobc",
      "configuration": "Debug",
      "jobs": 4
    }
  ],
  "testPresets": [
    {
      "name": "dev-linux-x86",
      "configurePreset": "dev-linux-x86",
      "configuration": "Debug",
      "output": {
        "outputOnFailure": true
      },
      "execution": {
        "jobs": 4
      }
    }
  ]
}

The path to the toolchain files depend on your setup. The number of jobs given in the build and test presets must be adapted by you as well and should ideally be set to the number of threads available on your CPU.

In general, CMakeUserPresets.json is the perfect place in which you can put all sorts of things that you would otherwise want to pass to the configure command in the terminal.

Configure, build and test on Linux

If you followed the above instructions, then you can configure, build and test the project on Linux respectively with the following commands from the project root:

cmake --preset=dev-linux-x86
cmake --build --preset=dev-linux-x86
ctest --preset=dev-linux-x86

To run the HelloWorld example execute

./build/linux-x86/HelloWorld

Configure and build for as well as flash onto Nucleo-F411RE board

If you followed the above instructions, then you can configure and build the project for the Nucleo-F411RE board respectively with the following commands from the project root:

cmake --preset=dev-nucleo
cmake --build --preset=dev-nucleo

To flash the example binary HelloWorld.bin onto the Nucleo board, copy it from build/nucleo to the the storage device the board registers as when connected to a PC.