Compile c++ program for Beaglebone Black PRU with CMake

README.md

To run you need to have the pru compiler and pru software support package downloaded.

When running cmake, use the following flags:

-DCMAKE_EXE_LINKER_FLAGS="-iti-cgt-pru_2.3.3/lib AM335x_PRU.cmd"
-DPRU_COMPILER_HOME=ti-cgt-pru_2.3.3
-DPRU_SOFTPKG_HOME=pru-software-support-package-5.9.0

Modify according to your local paths.

Use custom-compiler-clpru.yaml to configure CLion with the pru compiler. See this.

AM335x_PRU.cmd is a linker file provided by TI and can be found in the software package.

CMakeLists.txt

cmake_minimum_required(VERSION 3.16)
project(bbb_pru C CXX)

set(STACK_SIZE 0x100)
set(HEAP_SIZE 0x100)

set(CMAKE_C_COMPILER ${PRU_COMPILER_HOME}/bin/clpru)
set(CMAKE_CXX_COMPILER ${PRU_COMPILER_HOME}/bin/clpru)
set(CMAKE_LINKER ${PRU_COMPILER_HOME}/bin/lnkpru)
set(CMAKE_AR ${PRU_COMPILER_HOME}/bin/arpru)

set(CMAKE_FIND_ROOT_PATH ${PRU_COMPILER_HOME})

set(CMAKE_C_COMPILE_OBJECT "<CMAKE_C_COMPILER> <DEFINES> <INCLUDES> <FLAGS> -fe <OBJECT> <SOURCE>")
set(CMAKE_C_LINK_EXECUTABLE "<CMAKE_LINKER> <CMAKE_C_LINK_FLAGS> <LINK_FLAGS> -o <TARGET> <OBJECTS> <LINK_LIBRARIES> <OBJECTS>")
set(CMAKE_C_COMPILER_ABI ELF)
set(CMAKE_C_STANDARD 99)
set(CMAKE_C99_EXTENSION_COMPILE_OPTION --c99)
unset(CMAKE_C_IMPLICIT_INCLUDE_DIRECTORIES)
unset(CMAKE_C_IMPLICIT_LINK_DIRECTORIES)
unset(CMAKE_C_IMPLICIT_LINK_LIBRARIES)

set(CMAKE_CXX_COMPILER_ABI ELF)
unset(CMAKE_CXX_IMPLICIT_INCLUDE_DIRECTORIES)
unset(CMAKE_CXX_IMPLICIT_LINK_DIRECTORIES)
unset(CMAKE_CXX_IMPLICIT_LINK_LIBRARIES)

include_directories(${PRU_SOFTPKG_HOME}/include)
include_directories(${PRU_SOFTPKG_HOME}/include/am335x)

add_executable(pru_program main.cpp)
target_compile_options(pru_program PRIVATE
        --include_path=${CMAKE_CURRENT_SOURCE_DIR}/include
        --include_path=${PRU_COMPILER_HOME}/include
        --include_path=${PRU_SOFTPKG_HOME}/include
        --include_path=${PRU_SOFTPKG_HOME}/include/am335x
        -v3
        -O2
        --display_error_number
        -ppd
        -ppa
        --asm_listing
        --c_src_interlist
        --endian=little
        --hardware_mac=on
        --obj_directory=${CMAKE_CURRENT_BINARY_DIR}
        --pp_directory=${CMAKE_CURRENT_BINARY_DIR}
        --c++03
        --float_operations_allowed=none
        )
target_link_options(pru_program PRIVATE
        -i${PRU_COMPILER_HOME}/lib
        -i${PRU_COMPILER_HOME}/include
        --reread_libs
        --warn_sections
        --stack_size=${STACK_SIZE}
        --heap_size=${HEAP_SIZE}
        -m ${CMAKE_CURRENT_BINARY_DIR}/pru_program.map)
target_link_libraries(pru_program PRIVATE
        --library=libc.a
        --library=${PRU_SOFTPKG_HOME}/lib/rpmsg_lib.lib)
set_target_properties(pru_program
        PROPERTIES
        SUFFIX ".out"
)

add_custom_target(pru_program_arm_bin
        COMMAND "${PRU_COMPILER_HOME}/bin/hexpru"
        "${PRU_COMPILER_HOME}/bin.cmd"
        "pru_program.out"
        DEPENDS pru_test
        WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR})

custom-compiler-clpru.yaml

compilers:
  - description: TI PRU
    match-sources: ".*\\.c"
    match-language: C
    match-compiler-exe: "(.*/)?clpru(\\.exe)?"
    code-insight-target-name: avr
    include-dirs: ${compiler-exe-dir}/../include
    defines:
      _DATA_ACCESS:
    defines-text: "
#define __PRU__
#define __SIZE_T_TYPE__ unsigned	
#define __PTRDIFF_T_TYPE__ int
#define __far
"

  - description: CPP TI PRU
    match-sources: ".*\\.cpp"
    match-language: CPP
    match-compiler-exe: "(.*/)?clpru(\\.exe)?"
    code-insight-target-name: avr
    include-dirs: ["${compiler-exe-dir}/../include", "${compiler-exe-dir}/../include/stlport"]
    defines:
      _DATA_ACCESS:
    defines-text: "	
#define __PRU__
#define __STDC__ 1
#define __STDC_HOSTED__ 1	
#define __cplusplus 201402L
#define __SIZE_T_TYPE__ unsigned	
#define __PTRDIFF_T_TYPE__ int
#define __far
"

main.cpp

int main() {
    return 0;
}

resource_table_empty.h

#pragma once

#include <stddef.h>
#include <rsc_types.h>

struct my_resource_table {
    struct resource_table base;

    uint32_t offset[1]; /* Should match 'num' in actual definition */
};

#pragma DATA_SECTION(".resource_table")
#pragma RETAIN
struct my_resource_table pru_remoteproc_ResourceTable = {
        1,    /* we're the first version that implements this */
        0,    /* number of entries in the table */
        0, 0,    /* reserved, must be zero */
        0,    /* offset[0] */
};

Very useful, thank you!