Debug flags & native linux build

CANlib.cmake

@@ -0,0 +1,190 @@
+# CANlib as a reusable CMake component. See lib/FreeRTOS/FreeRTOS.cmake for the pattern.
+#
+#   canlib_add_library(TARGET <name> MCU <SAME70|SAME51|SAMC21|HOST> ARCH <interface target> [RTOS])
+#
+# MCU HOST builds for an ordinary hosted target (Linux) rather than a Duet MCU, exactly as the same
+# option does in RRFLibraries.cmake. It exists for the SBC-side code, which needs the message
+# definitions - CanMessageFormats, CanId, RemoteInputHandle - so that both ends of the CAN link
+# describe a message with the same declaration instead of a hand-copied one. Differences from an
+# MCU build:
+#   - the sources that need a CAN peripheral or an RTOS are excluded; a hosted consumer only ever
+#     builds messages, it does not drive a bus.
+#   - the freestanding-only compile option -nostdlib is dropped, as is -Werror: this is upstream
+#     source built for a target it was not written for, so a new warning here must not break a
+#     downstream project's build. -fsingle-precision-constant stays, because it changes results
+#     rather than just diagnostics.
+#   - the objects are position-independent, because they get linked into a shared library.
+
+set(CANLIB_DIR "${CMAKE_CURRENT_LIST_DIR}")
+set(CANLIB_LIBRARY_FLAGS
+    "RTOS"
+)
+set(CANLIB_LIBRARY_ARGS
+    "COREN2G_INTERFACE"          # interface target for CoreN2G, if CAN is enabled
+    "FREERTOS_INTERFACE"        # interface target for FreeRTOS, if RTOS is enabled
+    "RRFLIBRARIES_INTERFACE"    # interface target for RRFLibraries, if RTOS is enabled
+)
+
+# Options the consumer must impose on this library's own translation units rather than only on its
+# usage requirements - a forced include being the motivating case, as in RRFLibraries.cmake.
+set(CANLIB_LIBRARY_MULTI_ARGS
+    "EXTRA_COMPILE_OPTIONS"
+)
+
+include("${CMAKE_CURRENT_LIST_DIR}/../DuetArch.cmake")
+
+# Create interface target for CANlib, which is linked into other libraries (e.g. CoreN2G)
+function(canlib_add_interface OUT_TARGET)
+    cmake_parse_arguments(PARSE_ARGV 1 ARG "${CANLIB_LIBRARY_FLAGS}" "${DEFAULT_INTERFACE_ARGS}" "")
+    if(ARG_UNPARSED_ARGUMENTS)
+        message(FATAL_ERROR "canlib_add_interface: unknown arguments: ${ARG_UNPARSED_ARGUMENTS}")
+    endif()
+
+    get_enabled_features(_enabled_features ${CANLIB_LIBRARY_FLAGS})
+    make_library_name(_target "CANlib" INTERFACE ${ARG_MCU} ${_enabled_features})
+    set(${OUT_TARGET} "${_target}" PARENT_SCOPE)
+    if(TARGET ${_target})
+        return()  # already built for this MCU and feature set
+    endif()
+
+    add_library(${_target} INTERFACE)
+    target_include_directories(${_target} INTERFACE "${CANLIB_DIR}/src")
+endfunction()
+
+# Create static library target for CANlib, which is linked into the executable
+function(canlib_add_library OUT_TARGET)
+    cmake_parse_arguments(PARSE_ARGV 1 ARG "${CANLIB_LIBRARY_FLAGS}" "${DEFAULT_LIBRARY_ARGS};${CANLIB_LIBRARY_ARGS}" "${CANLIB_LIBRARY_MULTI_ARGS}")
+    if(ARG_UNPARSED_ARGUMENTS)
+        message(FATAL_ERROR "canlib_add_library: unknown arguments: ${ARG_UNPARSED_ARGUMENTS}")
+    endif()
+
+    get_enabled_features(_enabled_features ${CANLIB_LIBRARY_FLAGS})
+    make_library_name(_target "CANlib" STATIC ${ARG_MCU} ${_enabled_features})
+    set(${OUT_TARGET} "${_target}" PARENT_SCOPE)
+    if(TARGET ${_target})
+        return()  # already built for this MCU and feature set
+    endif()
+
+    set(_src "${CANLIB_DIR}/src")
+    set(_lib "${CANLIB_DIR}/..")
+
+    if(ARG_MCU STREQUAL "SAME70")
+        set(_freertos_port "portable/GCC/ARM_CM7/r0p1")
+
+        # MCU specific compile options
+        set(_mcu_nonrtos_compile_options
+            "-Wfloat-conversion"
+            "-Wsuggest-override"
+            "-fstack-usage"
+        )
+    elseif(ARG_MCU STREQUAL "SAME51")
+        set(_freertos_port "portable/GCC/ARM_CM7/r0p1")
+
+        # MCU specific compile options
+        set(_mcu_compile_options "-fstack-usage")
+        set(_mcu_rtos_compile_options "-fdump-rtl-expand")
+        set(_mcu_nonrtos_compile_options
+            "-Wfloat-conversion"
+            "-Wsuggest-override"
+        )
+    elseif(ARG_MCU STREQUAL "SAME4E")
+        set(_freertos_port "portable/GCC/ARM_CM4F")
+
+        # MCU specific compile options
+        set(_mcu_compile_options
+            "-Wfloat-conversion"
+            "-Wsuggest-override"
+            "-fstack-usage"
+            "-Os"  # Use Os optimisation
+        )
+    elseif(ARG_MCU STREQUAL "SAMC21")
+        set(_freertos_port "portable/GCC/ARM_CM0")
+
+        # MCU specific compile options
+        set(_mcu_compile_options
+            "-Wfloat-conversion"
+            "-Wsuggest-override"
+            "-fstack-usage"
+        )
+    elseif(ARG_MCU STREQUAL "RP2040")
+        set(_freertos_port "portable/GCC/ARM_CM0")
+
+        # MCU specific compile options
+        set(_mcu_compile_options
+            "-Wfloat-conversion"
+            "-Wsuggest-override"
+            "-fstack-usage"
+        )
+    elseif(ARG_MCU STREQUAL "HOST")
+        # CanSettings drives a CAN peripheral and CanMessageBuffer's allocator is built on the RTOS
+        # free list; a hosted consumer builds messages and does not need either
+        set(_excludes "CanSettings" "CanMessageBuffer")
+    else()
+        message(FATAL_ERROR "canlib_add_library: unsupported MCU '${ARG_MCU}'")
+    endif()
+
+    file(GLOB_RECURSE _srcs CONFIGURE_DEPENDS "${_src}/*.cpp")
+    foreach(_ex IN LISTS _excludes)
+        list(FILTER _srcs EXCLUDE REGEX "${_ex}")
+    endforeach()
+    add_library(${_target} STATIC ${_srcs})
+
+    target_link_libraries(${_target} PUBLIC I_${_target}) # link own interface target
+    target_link_libraries(${_target} PRIVATE
+        ${ARG_COREN2G_INTERFACE}
+        ${ARG_RRFLIBRARIES_INTERFACE}
+    ) # link library dependencies
+
+    if(ARG_RTOS)
+        target_link_libraries(${_target} PRIVATE ${ARG_FREERTOS_INTERFACE})
+        # target_include_directories(${_target} PRIVATE
+        #     "${_lib}/FreeRTOS/src/include"
+        #     "${_lib}/FreeRTOS/src/${_freertos_port}"
+        # )
+        # target_compile_definitions(${_target} PRIVATE RTOS)
+        target_compile_options(${_target} PRIVATE ${_mcu_rtos_compile_options})
+    else()
+        target_compile_options(${_target} PRIVATE ${_mcu_nonrtos_compile_options})
+    endif()
+
+    # Options that only make sense freestanding, or that turn an upstream warning into a downstream
+    # build failure. A HOST build is this source compiled for a target it was not written for, so it
+    # opts out of both groups.
+    #
+    # -fsingle-precision-constant is deliberately NOT in this group, for the same reason as in
+    # RRFLibraries.cmake: it decides whether a literal like 0.01 is float or double. Dropping it
+    # would change what HeaterModel computes relative to the firmware, and fill the build with
+    # -Wdouble-promotion warnings saying so.
+    set(_freestanding_options
+        -nostdlib
+        -Werror)
+    if(ARG_MCU STREQUAL "HOST")
+        set(_freestanding_options)
+        set_target_properties(${_target} PROPERTIES
+            POSITION_INDEPENDENT_CODE ON
+            CXX_STANDARD 20
+            CXX_STANDARD_REQUIRED ON)
+    endif()
+
+    target_compile_options(${_target} PRIVATE
+        -ffunction-sections
+        -fdata-sections
+        -fno-threadsafe-statics
+        -fno-rtti # not for SAME51_nonRTOS
+        -fno-exceptions
+        -Wundef
+        -Wdouble-promotion
+        -Werror=return-type
+        -Wall
+        -Wnoexcept
+        -Wshadow
+        -Wsign-promo
+        -fsingle-precision-constant
+        ${_freestanding_options}
+        $<$<NOT:$<CONFIG:Debug>>:-O2>
+        $<$<CONFIG:Debug>:-Og;-g3>
+        ${_mcu_compile_options} # might override default optimisation flags above
+        ${ARG_EXTRA_COMPILE_OPTIONS}
+    )
+    target_link_libraries(${_target} PRIVATE ${ARG_ARCH})
+endfunction()

Makefile

@@ -1,9 +1,25 @@
 # CANlib Master Makefile
 # Builds CANlib for various MCU configurations
 
-# Cross-compiler toolchain (relative to project root)
-#CROSS_COMPILE ?= ../arm-gnu-toolchain-13.2.Rel1-x86_64-arm-none-eabi/bin/arm-none-eabi-
-CROSS_COMPILE ?= ../arm-gnu-toolchain-15.2.rel1-x86_64-arm-none-eabi/bin/arm-none-eabi-
+# Cross-compiler toolchain.
+# RepRapFirmware exports CROSS_COMPILE when building this as a submodule.
+# When building CANlib standalone, fall back to a toolchain on PATH.
+ARM_GNU_TOOLCHAIN_VERSION ?= 15.2.rel1
+HOST_ARCH_RAW := $(shell uname -m)
+
+ifeq ($(HOST_ARCH_RAW),aarch64)
+ARM_GNU_TOOLCHAIN_HOST_ARCH := aarch64
+else ifeq ($(HOST_ARCH_RAW),arm64)
+ARM_GNU_TOOLCHAIN_HOST_ARCH := aarch64
+else ifeq ($(HOST_ARCH_RAW),x86_64)
+ARM_GNU_TOOLCHAIN_HOST_ARCH := x86_64
+else ifeq ($(HOST_ARCH_RAW),amd64)
+ARM_GNU_TOOLCHAIN_HOST_ARCH := x86_64
+else
+ARM_GNU_TOOLCHAIN_HOST_ARCH := $(HOST_ARCH_RAW)
+endif
+
+CROSS_COMPILE ?= $(abspath ../arm-gnu-toolchain-$(ARM_GNU_TOOLCHAIN_VERSION)-$(ARM_GNU_TOOLCHAIN_HOST_ARCH)-arm-none-eabi/bin/arm-none-eabi-)
 export CROSS_COMPILE
 
 # Toolchain commands

Makefiles/RP2040_RTOS.mk

@@ -44,7 +44,8 @@ CXXFLAGS := -c -std=c++20 \
 	-Wshadow \
 	-Wsign-promo \
 	$(INCLUDES) \
-	$(DEFINES)
+	$(DEFINES) \
+	$(DEBUG_FLAGS)
 
 OBJS := $(CPP_SRCS:%.cpp=$(BUILD_DIR)/%.o)
 DEPS := $(OBJS:.o=.d)

Makefiles/SAM4E_RTOS.mk

@@ -46,7 +46,8 @@ CXXFLAGS := -c -std=c++20 \
 	-Wshadow \
 	-Wsign-promo \
 	$(INCLUDES) \
-	$(DEFINES)
+	$(DEFINES) \
+	$(DEBUG_FLAGS)
 
 OBJS := $(CPP_SRCS:%.cpp=$(BUILD_DIR)/%.o)
 DEPS := $(OBJS:.o=.d)

Makefiles/SAMC21_RTOS.mk

@@ -44,7 +44,8 @@ CXXFLAGS := -c -std=c++20 \
 	-Wshadow \
 	-Wsign-promo \
 	$(INCLUDES) \
-	$(DEFINES)
+	$(DEFINES) \
+	$(DEBUG_FLAGS)
 
 OBJS := $(CPP_SRCS:%.cpp=$(BUILD_DIR)/%.o)
 DEPS := $(OBJS:.o=.d)

Makefiles/SAMC21_nonRTOS.mk

@@ -41,7 +41,8 @@ CXXFLAGS := -c -std=c++20 \
 	-Wshadow \
 	-Wsign-promo \
 	$(INCLUDES) \
-	$(DEFINES)
+	$(DEFINES) \
+	$(DEBUG_FLAGS)
 
 OBJS := $(CPP_SRCS:%.cpp=$(BUILD_DIR)/%.o)
 DEPS := $(OBJS:.o=.d)

Makefiles/SAME51_RTOS.mk

@@ -41,7 +41,8 @@ CXXFLAGS := -c -std=c++20 \
 	-O2 \
 	-Wall \
 	$(INCLUDES) \
-	$(DEFINES)
+	$(DEFINES) \
+	$(DEBUG_FLAGS)
 
 OBJS := $(CPP_SRCS:%.cpp=$(BUILD_DIR)/%.o)
 DEPS := $(OBJS:.o=.d)

Makefiles/SAME51_nonRTOS.mk

@@ -43,7 +43,8 @@ CXXFLAGS := -c -std=c++20 \
 	-Wshadow \
 	-Wsign-promo \
 	$(INCLUDES) \
-	$(DEFINES)
+	$(DEFINES) \
+	$(DEBUG_FLAGS)
 
 OBJS := $(CPP_SRCS:%.cpp=$(BUILD_DIR)/%.o)
 DEPS := $(OBJS:.o=.d)

Makefiles/SAME70_RTOS.mk

@@ -40,7 +40,8 @@ CXXFLAGS := -c -std=c++20 \
 	-O2 \
 	-Wall \
 	$(INCLUDES) \
-	$(DEFINES)
+	$(DEFINES) \
+	$(DEBUG_FLAGS)
 
 OBJS := $(CPP_SRCS:%.cpp=$(BUILD_DIR)/%.o)
 DEPS := $(OBJS:.o=.d)

Makefiles/SAME70_nonRTOS.mk

@@ -44,7 +44,8 @@ CXXFLAGS := -c -std=c++20 \
 	-Wshadow \
 	-Wsign-promo \
 	$(INCLUDES) \
-	$(DEFINES)
+	$(DEFINES) \
+	$(DEBUG_FLAGS)
 
 OBJS := $(CPP_SRCS:%.cpp=$(BUILD_DIR)/%.o)
 DEPS := $(OBJS:.o=.d)