diff --git a/CMakeLists.txt b/CMakeLists.txt
index c74a1b2..9f328e3 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,4 +1,5 @@
 cmake_minimum_required(VERSION 3.22)
+include("cmake/gcc-arm-none-eabi.cmake")
 
 #
 # This file is generated only once,
@@ -7,16 +8,48 @@ cmake_minimum_required(VERSION 3.22)
 # User is free to modify the file as much as necessary
 #
 
+# option(BALANCE "Enable balance" ON)
+# option(STEER "Enable steer" ON)
+option(OMNI "Enable omni" ON)
+#option(INFANTRY_OMNI "Enable infantry moni" ON)
+# option(HERO "Enable hero" ON)
+#option(HERO_STEER "Enable hero_steer" ON)
+# option(DART_STAND "Enable dart stand" ON)
+# option(ENGINEER "Enable engineer" ON)
+
+
+
+
 # Setup compiler settings
 set(CMAKE_C_STANDARD 23)
 set(CMAKE_C_STANDARD_REQUIRED ON)
 set(CMAKE_C_EXTENSIONS ON)
 
+set(CMAKE_CXX_STANDARD 23)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_CXX_EXTENSIONS ON)
 
-# Define the build type
+if(CMAKE_BUILD_TYPE STREQUAL "Debug")
+    set(CMAKE_C_FLAGS_DEBUG "-O0 -g")
+    set(CMAKE_CXX_FLAGS_DEBUG "-O0 -g")
+elseif(CMAKE_BUILD_TYPE STREQUAL "Release")
+    set(CMAKE_C_FLAGS_RELEASE "-O3")
+    set(CMAKE_CXX_FLAGS_RELEASE "-O3")
+elseif(CMAKE_BUILD_TYPE STREQUAL "RelWithDebInfo")
+    set(CMAKE_C_FLAGS_RELWITHDEBINFO "-O2 -g")
+    set(CMAKE_CXX_FLAGS_RELWITHDEBINFO "-O2 -g")
+elseif(CMAKE_BUILD_TYPE STREQUAL "MinSizeRel")
+    set(CMAKE_C_FLAGS_MINSIZEREL "-Os")
+    set(CMAKE_CXX_FLAGS_MINSIZEREL "-Os")
+endif()
+
+set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -frtti -Wno-volatile")
+
+# 定义构建类型
 if(NOT CMAKE_BUILD_TYPE)
     set(CMAKE_BUILD_TYPE "Debug")
 endif()
+message("Build type: ${CMAKE_BUILD_TYPE}")
 
 # Set the project name
 set(CMAKE_PROJECT_NAME TronOneH7_Scaffold)
@@ -28,41 +61,159 @@ set(CMAKE_EXPORT_COMPILE_COMMANDS TRUE)
 project(${CMAKE_PROJECT_NAME})
 message("Build type: " ${CMAKE_BUILD_TYPE})
 
-# Enable CMake support for ASM and C languages
-enable_language(C ASM)
+# 启用对 ASM 和 C 语言的 CMake 支持
+enable_language(C CXX ASM)
 
 # Create an executable object type
 add_executable(${CMAKE_PROJECT_NAME})
 
+# 添加子目录
+#add_subdirectory(cmake/stm32cubemx)
+#add_subdirectory(User_Code/bsp)
+#add_subdirectory(User_Code/module)
+#if(STEER)
+#    add_subdirectory(User_Code/user/steer)
+#    message("You set STEER")
+#elseif(BALANCE)
+#    add_subdirectory(User_Code/user/balance)
+#    message("You set BALANCE")
+#elseif(OMNI)
+#    add_subdirectory(User_Code/user/omni)
+#    message("You set OMNI")
+#elseif(INFANTRY_OMNI)
+#    add_subdirectory(User_Code/user/infantry_omni)
+#    message("You set INFANTRY_OMNI")
+#elseif(DART_STAND)
+#    add_subdirectory(User_Code/user/dart_stand)
+#    message("You set DART_STAND")
+#elseif(ENGINEER)
+#    add_subdirectory(User_Code/user/engineer)
+#    message("You set ENGINEER")
+#elseif(HERO)
+#    add_subdirectory(User_Code/user/hero)
+#    message("You set HERO")
+#elseif(HERO_STEER)
+#    add_subdirectory(User_Code/user/hero_steer)
+#    message("You set HERO_STEER")
+#endif()
+
 # Add STM32CubeMX generated sources
 add_subdirectory(cmake/stm32cubemx)
 
-# Link directories setup
-target_link_directories(${CMAKE_PROJECT_NAME} PRIVATE
-    # Add user defined library search paths
-)
-
-# Add sources to executable
-target_sources(${CMAKE_PROJECT_NAME} PRIVATE
-    # Add user sources here
-)
-
-# Add include paths
-target_include_directories(${CMAKE_PROJECT_NAME} PRIVATE
-    # Add user defined include paths
-)
-
-# Add project symbols (macros)
-target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE
-    # Add user defined symbols
-)
-
-# Remove wrong libob.a library dependency when using cpp files
-list(REMOVE_ITEM CMAKE_C_IMPLICIT_LINK_LIBRARIES ob)
-
 # Add linked libraries
 target_link_libraries(${CMAKE_PROJECT_NAME}
     stm32cubemx
-
+#    ${CMAKE_SOURCE_DIR}/Drivers/CMSIS/DSP/Lib/GCC/libarm_cortexM7lfdp_math.a
     # Add user defined libraries
 )
+#link_libraries("Drivers/CMSIS/DSP/Lib/GCC/libarm_cortexM7lfdp_math.a")
+#
+## 添加包含路径
+#include_directories(
+#        ./Drivers/CMSIS/Include
+#        ./Drivers/CMSIS/DSP/Include/
+#)
+## 添加链接目录
+#link_directories(
+#        ./Drivers/CMSIS/DSP/Lib/GCC
+#)
+#
+## 添加编译选项
+#add_compile_options(-pipe -Wall -fmessage-length=0 # basic options
+#        -ffunction-sections -fdata-sections -fno-common # optimize options
+#)
+#add_link_options(-pipe -Wl,--no-warn-rwx-segments # close RWX warning
+#        -lc -lstdc++ -lm -lnosys # lib options
+#        -Wl,--gc-sections -flto -specs=nano.specs -specs=nosys.specs # optimize options
+#)
+#
+## 添加全局宏定义
+#add_definitions(
+#        -DUSE_HAL_DRIVER
+#        -DARM_MATH_CM7
+#        -DARM_MATH_MATRIX_CHECK
+#        -DARM_MATH_ROUNDING
+#        -DARM_MATH_LOOPUNROLL
+#        -DDISABLEFLOAT16
+#)
+#
+## 添加目标编译选项
+#target_compile_options(${CMAKE_PROJECT_NAME} PRIVATE
+#        -mthumb
+#        -mthumb-interwork
+#        -mfpu=fpv5-d16
+#        -mfloat-abi=hard
+#)
+#
+## 忽略 usbd_desc.c 文件中由于缺少字段初始化引起的警告
+#set_source_files_properties(
+#        ${CMAKE_CURRENT_SOURCE_DIR}/USB_DEVICE/App/usbd_desc.c
+#        PROPERTIES COMPILE_FLAGS -Wno-missing-field-initializers
+#)
+## 忽略特定文件中的未使用参数警告
+#set_source_files_properties(
+#        ${CMAKE_CURRENT_SOURCE_DIR}/Core/Src/freertos.c
+#        ${CMAKE_CURRENT_SOURCE_DIR}/USB_DEVICE/App/usbd_cdc_if.c
+#        PROPERTIES COMPILE_FLAGS -Wno-unused-parameter
+#)
+
+# Link directories setup
+target_link_directories(${CMAKE_PROJECT_NAME} PRIVATE
+        # Add user defined library search paths
+)
+
+# Add sources to executable
+target_sources(${CMAKE_PROJECT_NAME} PRIVATE
+        # Add user sources here
+)
+
+# Add include paths
+target_include_directories(${CMAKE_PROJECT_NAME} PRIVATE
+        # Add user defined include paths
+)
+
+# Add project symbols (macros)
+target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE
+#        RM_REFEREE
+        # Add user defined symbols
+)
+
+# 添加全局宏定义
+#if(OMNI)
+#    target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE
+#            SENTRY
+#            OMNI
+#    )
+#elseif(INFANTRY_OMNI)
+#    target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE
+#            # SENTRY
+#            INFANTRY_OMNI
+#    )
+#elseif(STEER)
+#    target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE
+#            STEER
+#    )
+#elseif(BALANCE)
+#    target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE
+#            BALANCE
+#    )
+#elseif(HERO)
+#    target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE
+#            HERO
+#    )
+#elseif(HERO_STEER)
+#    target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE
+#            HERO_STEER
+#    )
+#elseif(DART_STAND)
+#    target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE
+#            DART_STAND
+#    )
+#elseif(ENGINEER)
+#    target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE
+#            ENGINEER
+#    )
+#endif()
+
+# Remove wrong libob.a library dependency when using cpp files
+list(REMOVE_ITEM CMAKE_C_IMPLICIT_LINK_LIBRARIES ob)