How to build with OpenCM3 + FreeRTOS + CMake to ARM CM4? - c++

Question

I am trying to program an ARM STM32F407 on an STM32F4Discovery board. First, I built a project with OpenCM3 + CMakeLists.txt. It worked! The LED flashed. ;-) Now, I'm trying to make the same project with OpenCM3 + FreeRTOS + CMakeLists.txt. Is not working! :-( It is not able to link xTaskCreate and vTaskDelay.
Please can anyone see where I'm going wrong?
I got my FreeRTOSConfig.h from here.
Below I show the error messages and my CMakeLists.txt file.
[100%] Linking C executable TesteRTOS.elf
/usr/local/Cellar/arm-none-eabi-gcc/10.3-2021.07/gcc/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/bin/ld: CMakeFiles/TesteRTOS.dir/src/Teste.c.o: in function `GreenLEDTask':
Teste.c:(.text.GreenLEDTask+0x16): undefined reference to `vTaskDelay'
/usr/local/Cellar/arm-none-eabi-gcc/10.3-2021.07/gcc/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/bin/ld: CMakeFiles/TesteRTOS.dir/src/Teste.c.o: in function `main':
Teste.c:(.text.main+0x20): undefined reference to `xTaskCreate'
/usr/local/Cellar/arm-none-eabi-gcc/10.3-2021.07/gcc/bin/../lib/gcc/arm-none-eabi/10.3.1/../../../../arm-none-eabi/bin/ld: Teste.c:(.text.main+0x24): undefined reference to `vTaskStartScheduler'
collect2: error: ld returned 1 exit status
make[2]: *** [TesteRTOS.elf] Error 1
make[1]: *** [CMakeFiles/TesteRTOS.dir/all] Error 2
make: *** [all] Error 2
cmake_minimum_required(VERSION 3.13)
set(HAVE_FLAG_SEARCH_PATHS_FIRST 0)
set(CMAKE_C_COMPILER_WORKS 1)
set(CMAKE_CXX_COMPILER_WORKS 1)
set(CMAKE_SHARED_LIBRARY_LINK_C_FLAGS "")
set(CMAKE_SHARED_LIBRARY_LINK_CXX_FLAGS "")
set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
project(TesteRTOS C CXX ASM)
set(PROJECT_DIR ${CMAKE_CURRENT_SOURCE_DIR}/src)
set(MCU_LINKER_SCRIPT ${PROJECT_DIR}/linkerscript.ld)
set(MCU_ROM_ADDRESS 0x08000000)
set(CPU_PARAMETERS
-mcpu=cortex-m4
-mthumb
-mfpu=fpv4-sp-d16
-mfloat-abi=hard
)
set(OPENCM3_COMPILER_FLAGS -DSTM32F4)
set(OPENCM3_MCU_LIB opencm3_stm32f4)
set(RTOS_PATH ~/Documents/STM32/FreeRTOS-Kernel)
set(RTOS_PORTABLE ARM_CM4F)
enable_language(C CXX ASM)
set(CMAKE_C_STANDARD 11)
set(CMAKE_C_STANDARD_REQUIRED ON)
set(CMAKE_C_EXTENSIONS ON)
set(CMAKE_CXX_STANDARD 20)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS ON)
# Specify the cross compiler
SET(CMAKE_C_COMPILER /usr/local/bin/arm-none-eabi-gcc)
SET(CMAKE_CXX_COMPILER /usr/local/bin/arm-none-eabi-g++)
set(CMAKE_ASM_COMPILER /usr/local/bin/arm-none-eabi-gcc)
set(CMAKE_AR /usr/local/bin/arm-none-eabi-ar)
SET(CMAKE_OBJCOPY /usr/local/bin/arm-none-eabi-objcopy)
SET(CMAKE_SIZE /usr/local/bin/arm-none-eabi-size)
file(GLOB_RECURSE PROJECT_SOURCES FOLLOW_SYMLINKS
${PROJECT_DIR}/*.cpp
${PROJECT_DIR}/*.c
)
add_executable(${CMAKE_PROJECT_NAME}
${PROJECT_SOURCES}
)
set_target_properties(${CMAKE_PROJECT_NAME} PROPERTIES
SUFFIX ".elf"
)
target_include_directories(${CMAKE_PROJECT_NAME} PRIVATE
$ENV{OPENCM3_PATH}/include
${PROJECT_DIR}
${RTOS_PATH}/include
)
FILE(GLOB FreeRTOS_src ${RTOS_PATH}/*.c)
add_library(FreeRTOS STATIC
${FreeRTOS_src}
${RTOS_PATH}/portable/GCC/${RTOS_PORTABLE}/port.c
${RTOS_PATH}/portable/MemMang/heap_4.c
)
target_include_directories(FreeRTOS PUBLIC
${RTOS_PATH}/include
${RTOS_PATH}/portable/GCC/${RTOS_PORTABLE}/
${PROJECT_DIR}
)
target_compile_options(FreeRTOS PRIVATE
${CPU_PARAMETERS}
${OPENCM3_COMPILER_FLAGS}
-Wall -Wextra -Wundef -Wshadow -Wredundant-decls
-fno-common -ffunction-sections -fdata-sections -MD
$<$<CONFIG:Debug>:-Og -g3 -ggdb>
$<$<CONFIG:Release>:-Og -g0>
)
target_compile_options(${CMAKE_PROJECT_NAME} PRIVATE
${CPU_PARAMETERS}
${OPENCM3_COMPILER_FLAGS}
-Wall -Wextra -Wundef -Wshadow -Wredundant-decls
-fno-common -ffunction-sections -fdata-sections -MD
$<$<CONFIG:Debug>:-Og -g3 -ggdb>
$<$<CONFIG:Release>:-Og -g0>
)
target_link_options(${CMAKE_PROJECT_NAME} PRIVATE
--static -nostartfiles
--specs=nosys.specs
-T${MCU_LINKER_SCRIPT} -L$ENV{OPENCM3_PATH}/lib
${CPU_PARAMETERS}
-ggdb3 -Wl,-Map=${CMAKE_PROJECT_NAME}.map
-Wl,--start-group -lc -lgcc -lnosys -Wl,--end-group
-Wl,--cref -Wl,--gc-sections
)
target_link_libraries(${CMAKE_PROJECT_NAME} ${OPENCM3_MCU_LIB} FreeRTOS)
add_custom_command(TARGET ${CMAKE_PROJECT_NAME} POST_BUILD
COMMAND ${CMAKE_SIZE} $<TARGET_FILE:${CMAKE_PROJECT_NAME}>)
add_custom_command(TARGET ${CMAKE_PROJECT_NAME} POST_BUILD
COMMAND ${CMAKE_OBJCOPY} -O ihex $<TARGET_FILE:${CMAKE_PROJECT_NAME}>
${CMAKE_PROJECT_NAME}.hex
COMMAND ${CMAKE_OBJCOPY} -O binary $<TARGET_FILE:${CMAKE_PROJECT_NAME}>
${CMAKE_PROJECT_NAME}.bin
COMMENT "Creating ${PROJECT_NAME}.bin and ${PROJECT_NAME}.hex."
)
add_custom_target(FLASH
st-flash --reset write ${PROJECT_NAME}.bin ${MCU_ROM_ADDRESS}
DEPENDS ${CMAKE_PROJECT_NAME}
COMMENT "Flashing ${PROJECT_NAME}"
)