PX4-Autopilot/platforms/qurt/cmake/qurt_reqs.cmake

############################################################################
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# Copyright (c) 2022 ModalAI, Inc. All rights reserved.
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set(HEXAGON_SDK_INCLUDES
	${HEXAGON_SDK_ROOT}/incs
	${HEXAGON_SDK_ROOT}/incs/stddef
	${HEXAGON_SDK_ROOT}/rtos/qurt/computev66/include/qurt
	${HEXAGON_SDK_ROOT}/rtos/qurt/computev66/include/posix
	${HEXAGON_SDK_ROOT}/tools/HEXAGON_Tools/8.4.05/Tools/target/hexagon/include
	)

set(TOOLSLIB ${HEXAGON_TOOLS_ROOT}/target/hexagon/lib/${V_ARCH}/G0/pic)

set(HEXAGON_ARCH_FLAGS
	-march=hexagon
	-mcpu=hexagon${V_ARCH}
	)

macro (list2string out in)
	set(list ${ARGV})
	list(REMOVE_ITEM list ${out})
	foreach(item ${list})
		set(${out} "${${out}} ${item}")
	endforeach()
endmacro(list2string)

set(HEXAGON_START_LINK_FLAGS)
list2string(HEXAGON_START_LINK_FLAGS
	${HEXAGON_ARCH_FLAGS}
	-shared
	-call_shared
	-G0
	${TOOLSLIB}/initS.o
	"-o <TARGET>"
	-L${TOOLSLIB}
	-Bsymbolic
	${TOOLSLIB}/libgcc.a
	--wrap=malloc
	--wrap=calloc
	--wrap=free
	--wrap=realloc
	--wrap=memalign
	--wrap=__stack_chk_fail
	-lc
	"-soname=<TARGET_SONAME>"
	)

set(HEXAGON_END_LINK_FLAGS)
list2string(HEXAGON_END_LINK_FLAGS
	--start-group
	-lgcc
	--end-group
	${TOOLSLIB}/finiS.o
	)

set(CMAKE_C_CREATE_SHARED_LIBRARY
	"${HEXAGON_LINK} ${HEXAGON_START_LINK_FLAGS} --start-group --whole-archive <OBJECTS> <LINK_LIBRARIES> --end-group ${HEXAGON_END_LINK_FLAGS}")

set(CMAKE_CXX_CREATE_SHARED_LIBRARY
	"${HEXAGON_LINK} ${HEXAGON_START_LINK_FLAGS} --start-group ${TOOLSLIB}/libc++.so.1 ${TOOLSLIB}/libc++abi.so.1 ${HEXAGON_SDK_ROOT}/libs/weak_refs/ship/hexagon_toolv84/weak_refs.so --end-group --start-group --whole-archive <OBJECTS> <LINK_LIBRARIES> --end-group ${HEXAGON_END_LINK_FLAGS}")

set(DYNAMIC_LIBS -Wl,${TOOLSLIB}/libc++.a)

# Base CPU flags for each of the supported architectures.
set(ARCHCPUFLAGS
	-m${V_ARCH}
	-G0
	)

add_definitions(
	-D __QURT
	-D _PROVIDE_POSIX_TIME_DECLS
	-D _HAS_C9X
	-D restrict=__restrict__
	-D noreturn_function=
	)

# Language-specific flags
set(ARCHCFLAGS
	-D__CUSTOM_FILE_IO__
	)

set(ARCHCXXFLAGS
	-DCONFIG_WCHAR_BUILTIN
	-D__CUSTOM_FILE_IO__
	)

exec_program(${CMAKE_CXX_COMPILER} ${CMAKE_CURRENT_SOURCE_DIR} ARGS -print-libgcc-file-name OUTPUT_VARIABLE LIBGCC)
exec_program(${CMAKE_CXX_COMPILER} ${CMAKE_CURRENT_SOURCE_DIR} ARGS -print-file-name=libm.a OUTPUT_VARIABLE LIBM)
set(EXTRA_LIBS ${EXTRA_LIBS} ${LIBM})

# Full optimization and Link Time Optimization (LTO)
set(QURT_OPTIMIZATION_FLAGS -O3 -flto)

# Flags we pass to the C compiler
list2string(CFLAGS
	${ARCHCFLAGS}
	${ARCHCPUFLAGS}
	${QURT_OPTIMIZATION_FLAGS}
	${HEXAGON_INCLUDE_DIRS}
	)

# Flags we pass to the C++ compiler
list2string(CXXFLAGS
    -Wno-inconsistent-missing-override
	${ARCHCXXFLAGS}
	${ARCHCPUFLAGS}
	${QURT_OPTIMIZATION_FLAGS}
	${HEXAGON_INCLUDE_DIRS}
	)

# Set cmake flags
list2string(QURT_CMAKE_C_FLAGS
	${CMAKE_C_FLAGS}
	${CFLAGS}
	)

set(CMAKE_C_FLAGS "${QURT_CMAKE_C_FLAGS}")

list2string(QURT_CMAKE_CXX_FLAGS
	${CMAKE_CXX_FLAGS}
	${CXXFLAGS}
	)

set(CMAKE_CXX_FLAGS ${QURT_CMAKE_CXX_FLAGS})

# Flags we pass to the linker
# CMake make test builds of apps to validate the compiler
# These settings enable CMake to build the required test apps
list2string(CMAKE_EXE_LINKER_FLAGS
	-m${V_ARCH}
	-mG0lib
	-G0
	-fpic
	-shared
	-Wl,-Bsymbolic
	-Wl,--wrap=malloc
	-Wl,--wrap=calloc
	-Wl,--wrap=free
	-Wl,--wrap=realloc
	-Wl,--wrap=memalign
	-Wl,--wrap=__stack_chk_fail
	${DYNAMIC_LIBS}
	-lc
	${EXTRALDFLAGS}
	)

include (CMakeParseArguments)

# Process DSP files
function (QURT_LIB)
	set(options)
	set(oneValueArgs LIB_NAME)
	set(multiValueArgs SOURCES LINK_LIBS INCS FLAGS)
	cmake_parse_arguments(QURT_LIB "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN} )

	include_directories(
		${CMAKE_CURRENT_BINARY_DIR}
		)

	if ("${QURT_LIB_SOURCES}" STREQUAL "")
		message(FATAL_ERROR "QURT_LIB called without SOURCES")
	else()
		# Build lib that is run on the DSP
		add_library(${QURT_LIB_LIB_NAME} SHARED
			${QURT_LIB_SOURCES}
			)

		if (NOT "${QURT_LIB_FLAGS}" STREQUAL "")
			set_target_properties(${QURT_LIB_LIB_NAME} PROPERTIES COMPILE_FLAGS "${QURT_LIB_FLAGS}")
		endif()

		if (NOT "${QURT_LIB_INCS}" STREQUAL "")
			target_include_directories(${QURT_LIB_LIB_NAME} PUBLIC ${QURT_LIB_INCS})
		endif()

		target_link_libraries(${QURT_LIB_LIB_NAME}
			${QURT_LIB_LINK_LIBS}
			)
	endif()

	set(DSPLIB_TARGET_PATH "/usr/lib/rfsa/adsp/")

	# Add a rule to load the files onto the target that run in the DSP
	add_custom_target(lib${QURT_LIB_LIB_NAME}-load
		DEPENDS ${QURT_LIB_LIB_NAME}
		COMMAND adb wait-for-device
		COMMAND adb push lib${QURT_LIB_LIB_NAME}.so ${DSPLIB_TARGET_PATH}
		COMMAND echo "Pushed lib${QURT_LIB_LIB_NAME}.so and dependencies to ${DSPLIB_TARGET_PATH}"
		)
endfunction()