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https://gitee.com/dlmu-cone/tronone-h7-scaffold
synced 2026-07-23 19:25:09 +08:00
update cmakelists
This commit is contained in:
230
CMakeLists.txt
230
CMakeLists.txt
@@ -1,39 +1,76 @@
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# 设置CMake最低版本要求为3.22
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# ==============================================================================
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# 大连民族大学创一工作室 达妙开发板脚手架-CMake构建系统
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# ==============================================================================
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cmake_minimum_required(VERSION 3.22)
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#欢迎提示
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# ------------------------------------------------------------------------------
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# 1. 机器人兵种选择开关 (Robot Configuration)
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# 请将当前需要编译的机器人设置为 ON，其余保持 OFF
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# ------------------------------------------------------------------------------
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option(INFANTRY_MEC "1. 麦轮步兵 (Mecanum Infantry)" OFF)
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option(INFANTRY_HALF_STEER "2. 半舵步兵 (Half-Steer Infantry)" OFF)
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option(HERO_MEC "3. 麦轮英雄 (Mecanum Hero)" OFF)
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option(SENTRY_STEER "4. 舵轮哨兵 (Steer Sentry)" OFF)
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option(INFANTRY_TRANSFORM "5. 变形步兵 (Transformable Infantry)" OFF)
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option(BALANCE_SERIAL "6. 串联腿平衡步兵 (Serial-Leg Balance)" OFF)
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option(BALANCE_PARALLEL "7. 并联腿平衡步兵 (Parallel-Leg Balance)" OFF)
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option(DART "8. 飞镖架 (Dart System)" OFF)
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# ------------------------------------------------------------------------------
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# 2. 安全互斥检查 (Safety Check)
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# ------------------------------------------------------------------------------
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set(ROBOT_ENABLE_COUNT 0)
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if(INFANTRY_MEC)
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math(EXPR ROBOT_ENABLE_COUNT "${ROBOT_ENABLE_COUNT}+1")
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endif()
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if(INFANTRY_HALF_STEER)
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math(EXPR ROBOT_ENABLE_COUNT "${ROBOT_ENABLE_COUNT}+1")
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endif()
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if(HERO_MEC)
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math(EXPR ROBOT_ENABLE_COUNT "${ROBOT_ENABLE_COUNT}+1")
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endif()
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if(SENTRY_STEER)
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math(EXPR ROBOT_ENABLE_COUNT "${ROBOT_ENABLE_COUNT}+1")
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endif()
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if(INFANTRY_TRANSFORM)
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math(EXPR ROBOT_ENABLE_COUNT "${ROBOT_ENABLE_COUNT}+1")
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endif()
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if(BALANCE_SERIAL)
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math(EXPR ROBOT_ENABLE_COUNT "${ROBOT_ENABLE_COUNT}+1")
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endif()
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if(BALANCE_PARALLEL)
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math(EXPR ROBOT_ENABLE_COUNT "${ROBOT_ENABLE_COUNT}+1")
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endif()
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if(DART)
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math(EXPR ROBOT_ENABLE_COUNT "${ROBOT_ENABLE_COUNT}+1")
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endif()
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if(ROBOT_ENABLE_COUNT GREATER 1)
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message(FATAL_ERROR "【错误】检测到同时开启了 ${ROBOT_ENABLE_COUNT} 个兵种！请检查 option 设置，确保只有一个为 ON。")
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elseif(ROBOT_ENABLE_COUNT EQUAL 0)
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message(WARNING "【警告】未选择任何兵种！将仅编译通用库，无法生成有效固件。")
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endif()
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# ------------------------------------------------------------------------------
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# 3. 基础项目配置 (Project Setup)
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# ------------------------------------------------------------------------------
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message(STATUS "欢迎使用创一工作室达妙开发板脚手架的CMake构建系统")
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message(STATUS "如报错信息为未安装环境，请先安装STM32CubeCLT，可以在ST官网找到下载链接 https://www.st.com/en/development-tools/stm32cubeclt.html")
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message(STATUS "安装完STM32CubeCLT后记得重启刷新编译器环境变量")
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message(STATUS "如使用Makefile，需要自己添加Make构建工具的环境变量，网上搜一搜教程，都有的")
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message(STATUS "本项目默认使用arm-none-eabi-gcc，如需使用starm-clang请注意编译优化设置，截止发布前无法使用starm-clang构建的elf进行debug")
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# 包含自定义的工具链检测脚本
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include(cmake/DetectToolchain.cmake)
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# 定义项目名称
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project(TronOneH7_Scaffold)
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# 将项目目录下的cmake文件夹添加到模块路径中
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list(APPEND CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
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# 启用编译命令导出，便于clangd等工具进行代码索引
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set(CMAKE_EXPORT_COMPILE_COMMANDS TRUE)
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# 启用对C、C++和汇编语言的支持
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enable_language(C CXX ASM)
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# 设置C语言标准为C23
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# 标准设置 (C23 / C++23)
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set(CMAKE_C_STANDARD 23)
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# 要求必须支持C23标准
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set(CMAKE_C_STANDARD_REQUIRED ON)
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# 启用GNU扩展（GCC/Clang特有的扩展功能）
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set(CMAKE_C_EXTENSIONS ON)
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# 设置C++语言标准为C++23
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set(CMAKE_CXX_STANDARD 23)
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# 要求必须支持C++23标准
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set(CMAKE_CXX_STANDARD_REQUIRED ON)
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# 启用GNU扩展
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set(CMAKE_CXX_EXTENSIONS ON)
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#标准提示
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@@ -58,75 +95,166 @@ endif ()
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message(STATUS "找到的 C 编译器路径: ${CMAKE_C_COMPILER}")
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message(STATUS "找到的 C++ 编译器路径: ${CMAKE_CXX_COMPILER}")
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# 设置C++特定编译选项：启用RTTI，禁用volatile警告
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -frtti -Wno-volatile")
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## 最严格的一集，Warning也是Error！
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#set(CMAKE_CXX_FLAGS "$ENV{CXX_FLAGS} -Werror") # 设置 C++ 编译选项
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#set(CMAKE_C_FLAGS "$ENV{C_FLAGS} -Werror") # 设置 C 编译选项
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# 如果没有指定构建类型，默认为Debug模式
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if (NOT CMAKE_BUILD_TYPE)
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set(CMAKE_BUILD_TYPE "Debug")
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endif ()
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# 打印当前构建类型
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# 编译器标志
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set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -frtti -Wno-volatile")
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message(STATUS "当前构建类型: ${CMAKE_BUILD_TYPE}")
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# 创建可执行文件目标
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# ------------------------------------------------------------------------------
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# 4. 目标与库链接 (Target & Libraries)
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# ------------------------------------------------------------------------------
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add_executable(${CMAKE_PROJECT_NAME})
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# 包含编译选项配置文件
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include(CompileOptions)
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# 包含查找模块（当前被注释掉）
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# FindModules
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# 只有运行了这个，CMake 才会去执行 git clone 云端modules 并配置它的路径
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include(FindModules)
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# 添加STM32CubeMX生成的源码子目录
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# 添加 STM32CubeMX 底层库
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add_subdirectory(cmake/stm32cubemx)
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# 为目标添加链接库
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# 链接库
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target_link_libraries(${CMAKE_PROJECT_NAME}
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stm32cubemx # STM32CubeMX生成的库
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# rpl::rpl # 第三方库（当前被注释掉）
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stm32cubemx
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# 【关键修复 2】恢复 ems 的链接
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# 因为 ems 是通过 FindModules 下载的外部库，不在 User_Code 里。
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# 链接这个库会自动把 ems 的头文件路径加入到你的工程里。
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ems
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${CMAKE_SOURCE_DIR}/Drivers/CMSIS/DSP/Lib/GCC/libarm_cortexM7lfdp_math.a
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)
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link_libraries("Drivers/CMSIS/DSP/Lib/GCC/libarm_cortexM7lfdp_math.a")
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# 添加包含路径
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include_directories(
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./Drivers/CMSIS/Include
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./Drivers/CMSIS/DSP/Include/
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)
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# 添加链接目录
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link_directories(
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./Drivers/CMSIS/DSP/Lib/GCC
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)
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# 递归查找User_Code目录下的所有C和C++源文件
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file(GLOB_RECURSE USER_SOURCES "${PROJECT_SOURCE_DIR}/User_Code/*.c" "${PROJECT_SOURCE_DIR}/User_Code/*.cpp")
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# ==============================================================================
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# 5. 源码与头文件管理 (Source & Header Management)
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# ==============================================================================
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# 将用户源文件添加到可执行目标中
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target_sources(${CMAKE_PROJECT_NAME} PRIVATE
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${USER_SOURCES}
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# 可以在此处添加其他用户源文件
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)
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# 递归查找用户头文件
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# ------------------------------------------------------------------------------
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# A. 头文件管理：全自动模式 (The Old Way)
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# 扫描 User_Code 下的所有头文件。
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# ------------------------------------------------------------------------------
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message(STATUS ">> [Header] 正在全自动递归扫描 User_Code 下所有头文件路径...")
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file(GLOB_RECURSE USER_HEADERS "${CMAKE_SOURCE_DIR}/User_Code/*.h" "${CMAKE_SOURCE_DIR}/User_Code/*.hpp")
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# 为每个头文件所在目录添加包含路径
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foreach (header ${USER_HEADERS})
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get_filename_component(dir ${header} DIRECTORY) # 获取头文件所在目录
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target_include_directories(${CMAKE_PROJECT_NAME} PRIVATE ${dir}) # 添加为私有包含目录
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endforeach ()
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# 添加其他包含路径（当前为空）
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# ------------------------------------------------------------------------------
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# B. 源文件管理：半自动模式 (防止兵种冲突)
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# 通用部分全自动扫描，特定兵种部分根据开关选择性扫描。
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# ------------------------------------------------------------------------------
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# 1. 添加通用代码 (BSP & Module & Application 通用框架)
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# 包含 bsp, module 以及 application 下的通用组件 (chassis_app 等)
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file(GLOB_RECURSE COMMON_SOURCES
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"${PROJECT_SOURCE_DIR}/User_Code/bsp/*.c"
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"${PROJECT_SOURCE_DIR}/User_Code/bsp/*.cpp"
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"${PROJECT_SOURCE_DIR}/User_Code/module/*.c"
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"${PROJECT_SOURCE_DIR}/User_Code/module/*.cpp"
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# 包含 application 根目录下的 robot.c 等文件 (不递归)
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"${PROJECT_SOURCE_DIR}/User_Code/application/*.c"
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"${PROJECT_SOURCE_DIR}/User_Code/application/*.cpp"
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# 包含 application 下的通用模块 (根据目录结构递归)
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"${PROJECT_SOURCE_DIR}/User_Code/application/chassis_app/*.c" "${PROJECT_SOURCE_DIR}/User_Code/application/chassis_app/*.cpp"
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"${PROJECT_SOURCE_DIR}/User_Code/application/gimbal_app/*.c" "${PROJECT_SOURCE_DIR}/User_Code/application/gimbal_app/*.cpp"
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"${PROJECT_SOURCE_DIR}/User_Code/application/shoot_app/*.c" "${PROJECT_SOURCE_DIR}/User_Code/application/shoot_app/*.cpp"
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"${PROJECT_SOURCE_DIR}/User_Code/application/indicator_app/*.c" "${PROJECT_SOURCE_DIR}/User_Code/application/indicator_app/*.cpp"
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"${PROJECT_SOURCE_DIR}/User_Code/application/vision_app/*.c" "${PROJECT_SOURCE_DIR}/User_Code/application/vision_app/*.cpp"
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)
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target_sources(${CMAKE_PROJECT_NAME} PRIVATE ${COMMON_SOURCES})
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# 2. 根据开关添加特定兵种代码 (Specific Code)
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# 定义一个变量来存储当前激活的 App 路径
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set(ACTIVE_APP_DIR "")
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# 1. 麦轮步兵
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if(INFANTRY_MEC)
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message(WARNING ">> 当前构建兵种: 麦轮步兵 (INFANTRY_MEC)")
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set(ACTIVE_APP_DIR "${PROJECT_SOURCE_DIR}/User_Code/application/infantry_mec")
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target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE INFANTRY_MEC)
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# 2. 半舵步兵
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elseif(INFANTRY_HALF_STEER)
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message(WARNING ">> 当前构建兵种: 半舵步兵 (INFANTRY_HALF_STEER)")
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set(ACTIVE_APP_DIR "${PROJECT_SOURCE_DIR}/User_Code/application/infantry_half_steer")
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target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE INFANTRY_HALF_STEER)
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# 3. 麦轮英雄
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elseif(HERO_MEC)
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message(WARNING ">> 当前构建兵种: 麦轮英雄 (HERO_MEC)")
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set(ACTIVE_APP_DIR "${PROJECT_SOURCE_DIR}/User_Code/application/hero_mec")
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target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE HERO_MEC)
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# 4. 舵轮哨兵
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elseif(SENTRY_STEER)
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message(WARNING ">> 当前构建兵种: 舵轮哨兵 (SENTRY_STEER)")
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set(ACTIVE_APP_DIR "${PROJECT_SOURCE_DIR}/User_Code/application/sentry_steer")
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target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE SENTRY_STEER SENTRY)
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# 5. 变形步兵
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elseif(INFANTRY_TRANSFORM)
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message(WARNING ">> 当前构建兵种: 变形步兵 (INFANTRY_TRANSFORM)")
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set(ACTIVE_APP_DIR "${PROJECT_SOURCE_DIR}/User_Code/application/infantry_transform")
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target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE INFANTRY_TRANSFORM)
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# 6. 串联腿平衡步兵
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elseif(BALANCE_SERIAL)
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message(WARNING ">> 当前构建兵种: 串联腿平衡步兵 (BALANCE_SERIAL)")
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set(ACTIVE_APP_DIR "${PROJECT_SOURCE_DIR}/User_Code/application/balance_serial")
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target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE BALANCE_SERIAL BALANCE)
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# 7. 并联腿平衡步兵
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elseif(BALANCE_PARALLEL)
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message(WARNING ">> 当前构建兵种: 并联腿平衡步兵 (BALANCE_PARALLEL)")
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set(ACTIVE_APP_DIR "${PROJECT_SOURCE_DIR}/User_Code/application/balance_parallel")
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target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE BALANCE_PARALLEL BALANCE)
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# 8. 飞镖架
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elseif(DART)
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message(WARNING ">> 当前构建兵种: 飞镖架 (DART)")
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set(ACTIVE_APP_DIR "${PROJECT_SOURCE_DIR}/User_Code/application/dart")
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target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE DART)
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endif()
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# 执行特定代码的添加
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if(ACTIVE_APP_DIR)
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if(EXISTS "${ACTIVE_APP_DIR}")
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# 添加该兵种目录下的所有源码
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file(GLOB_RECURSE APP_SOURCES "${ACTIVE_APP_DIR}/*.c" "${ACTIVE_APP_DIR}/*.cpp")
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target_sources(${CMAKE_PROJECT_NAME} PRIVATE ${APP_SOURCES})
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else()
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message(FATAL_ERROR ">> [ERROR] 选中的兵种目录不存在: ${ACTIVE_APP_DIR}")
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endif()
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endif()
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# ------------------------------------------------------------------------------
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# 6. 其他设置
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# ------------------------------------------------------------------------------
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# 其他自定义头文件路径（如果还有不在 User_Code 里的）
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target_include_directories(${CMAKE_PROJECT_NAME} PRIVATE
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# 可以在此处添加其他包含目录
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)
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# 添加全局宏定义
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target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE
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# RM_REFEREE # 裁判系统宏定义（当前被注释掉）
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# RM_REFEREE
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)
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