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Author: billylin609

CMakeLists.txt

@@ -1,9 +1,21 @@
+option(TARGET_STM "Build for STM32F0 using ARM toolchain" OFF)
+
 cmake_minimum_required(VERSION 3.14)
 project(MotorControllerLib)
 
 set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 
+if(TARGET_STM)
+  message(STATUS "Configuring build for STM32F0")
+  set(CMAKE_TOOLCHAIN_FILE "${CMAKE_SOURCE_DIR}/cmake/arm-gcc-toolchain.cmake")
+  set(CMAKE_CXX_STANDARD 17)
+else()
+  message(STATUS "Configuring build for native Linux")
+  set(CMAKE_CXX_STANDARD 17)
+  set(CMAKE_CXX_STANDARD_REQUIRED ON)
+endif()
+
 # === Library Target ===
 add_library(Odrive STATIC
     src/lib.cpp
@@ -17,34 +29,37 @@ install(TARGETS Odrive
 
 install(DIRECTORY inc/ DESTINATION include)
 
-# === Enable Testing ===
-include(CTest)  # enables BUILD_TESTING option
-if(BUILD_TESTING)
+if(NOT CMAKE_CROSSCOMPILING)
+  # === Enable Testing ===
+  include(CTest)  # enables BUILD_TESTING option
+  if(BUILD_TESTING)
 
-    # Fetch GoogleTest
-    include(FetchContent)
-    FetchContent_Declare(
-      googletest
-      URL https://github.com/google/googletest/archive/03597a01ee50ed33e9dfd640b249b4be3799d395.zip
-    )
-    set(gtest_force_shared_crt ON CACHE BOOL "" FORCE)
-    FetchContent_MakeAvailable(googletest)
+      # Fetch GoogleTest
+      include(FetchContent)
+      FetchContent_Declare(
+        googletest
+        URL https://github.com/google/googletest/archive/03597a01ee50ed33e9dfd640b249b4be3799d395.zip
+      )
+      set(gtest_force_shared_crt ON CACHE BOOL "" FORCE)
+      FetchContent_MakeAvailable(googletest)
 
-    # === Test Executable ===
-    add_executable(utils_test
-        test/test_can_header.cpp
-        test/test_can_msg.cpp
-    )
+      # === Test Executable ===
+      add_executable(utils_test
+          test/test_can_header.cpp
+          test/test_can_msg.cpp
+      )
 
-    target_include_directories(utils_test PRIVATE ${CMAKE_SOURCE_DIR}/inc)
+      target_include_directories(utils_test PRIVATE ${CMAKE_SOURCE_DIR}/inc)
 
-    target_link_libraries(utils_test
-        PRIVATE
-        Odrive         # <-- your library
-        GTest::gtest_main
-    )
+      target_link_libraries(utils_test
+          PRIVATE
+          Odrive         # <-- your library
+          GTest::gtest_main
+      )
 
-    include(GoogleTest)
-    gtest_discover_tests(utils_test)
+      include(GoogleTest)
+      gtest_discover_tests(utils_test)
 
-endif()
+  endif()
+
+endif()

README.md

@@ -83,19 +83,25 @@ class Logging {
 # Compile Library and UnitTest
 
 ```bash
+# Linux Target
+# Option 1:
 mkdir build && cd build
-
 cmake .. && cd ..
+make
 
-# Create build folder based on CMakeLists.txt
-# Install Location to your application
+# Option 2:
 cmake -B build -DCMAKE_INSTALL_PREFIX=lib -DBUILD_TESTING=OFF
-
 cmake --build build
-
 cmake --install build
 ```
 
+```cpp
+# STM Target
+cmake -B build_stm -DCMAKE_INSTALL_PREFIX=lib_stm -DBUILD_TESTING=OFF -DTARGET_STM=ON
+cmake --build build_stm
+cmake --install build_stm
+```
+
 # Testing and Validation
 
 ```bash

cmake/arm-gcc-toolchain.cmake

@@ -0,0 +1,19 @@
+# Set compiler
+set(CMAKE_SYSTEM_NAME Generic)
+set(CMAKE_SYSTEM_PROCESSOR cortex-m0)
+
+# Specify cross compiler
+set(CMAKE_C_COMPILER arm-none-eabi-gcc)
+set(CMAKE_CXX_COMPILER arm-none-eabi-g++)
+set(CMAKE_ASM_COMPILER arm-none-eabi-gcc)
+
+# No standard C library, no OS
+set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY)
+set(CMAKE_EXE_LINKER_FLAGS_INIT "")
+set(CMAKE_C_FLAGS_INIT "-mcpu=cortex-m0 -mthumb -mfloat-abi=soft -fno-exceptions -ffunction-sections -fdata-sections")
+set(CMAKE_CXX_FLAGS_INIT "${CMAKE_C_FLAGS_INIT} -fno-rtti")
+set(CMAKE_ASM_FLAGS_INIT "-mcpu=cortex-m0 -mthumb")
+
+# Prevent default CMake stdlib linkage
+set(CMAKE_CXX_STANDARD_LIBRARIES "")
+set(CMAKE_C_STANDARD_LIBRARIES "")