完成子模块适配

.gitmodules

@@ -0,0 +1,3 @@
+[submodule "robot"]
+	path = robot
+	url = http://123.207.52.103:3000/LiZongdi/robot.git

.project

@@ -0,0 +1,33 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+	<name>32g431</name>
+	<comment></comment>
+	<projects>
+	</projects>
+	<buildSpec>
+		<buildCommand>
+			<name>com.st.stm32cube.ide.cmake.CmakeConfigureProjectBuilder</name>
+			<arguments>
+			</arguments>
+		</buildCommand>
+		<buildCommand>
+			<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
+			<triggers>clean,full,incremental,</triggers>
+			<arguments>
+			</arguments>
+		</buildCommand>
+		<buildCommand>
+			<name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
+			<triggers>full,incremental,</triggers>
+			<arguments>
+			</arguments>
+		</buildCommand>
+	</buildSpec>
+	<natures>
+		<nature>org.eclipse.cdt.core.cnature</nature>
+		<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
+		<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
+		<nature>com.st.stm32cube.ide.cmake.CmakeConfigProjectNature</nature>
+		<nature>com.st.stm32cube.ide.mcu.MCUEndUserDisabledTrustZoneProjectNature</nature>
+	</natures>
+</projectDescription>

CMakeLists.txt

@@ -61,8 +61,11 @@ target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE
 list(REMOVE_ITEM CMAKE_C_IMPLICIT_LINK_LIBRARIES ob)
 
 # Add linked libraries
+set(GENERATED_COMMON_DIR "${CMAKE_BINARY_DIR}/library/common")
+include_directories("${GENERATED_COMMON_DIR}")
+add_subdirectory(robot)
 target_link_libraries(${CMAKE_PROJECT_NAME}
     stm32cubemx
-
+	main
     # Add user defined libraries
 )

CMakePresets.json

@@ -1,38 +1,52 @@
 {
-    "version": 3,
+  "version": 4,
   "configurePresets": [
     {
-            "name": "default",
+      "name": "default-release",
       "hidden": true,
-            "generator": "Ninja",
-            "binaryDir": "${sourceDir}/build/${presetName}",
-		    "toolchainFile": "${sourceDir}/cmake/gcc-arm-none-eabi.cmake",
+      "displayName": "Default Release Build",
+      "description": "Default Release Build",
+      "binaryDir": "${sourceDir}/build",
       "cacheVariables": {
+        "CMAKE_BUILD_TYPE": "Release",
+        "A_BUILD_MAIN": "ON",
+        "BUILD_COMMON": "ON",
+        "MY_BUILD_STATIC": "ON"
       }
     },
     {
-            "name": "Debug",
-            "inherits": "default",
+      "name": "Spool-end",
+      "generator": "Ninja",
+      "toolchainFile": "${sourceDir}/gcc-arm-none-eabi.cmake",
+      "inherits": "default-release",
       "cacheVariables": {
-                "CMAKE_BUILD_TYPE": "Debug"
+        "CMAKE_BUILD_TYPE": "Debug",
+        "BUILD_LUA": "ON",
+        "A_BUILD_MAIN_AS_STATIC_LIB": "ON",
+        "BUILD_LUA_STANDALONE": "OFF",
+        "MY_BUILD_STATIC": "OFF",
+        "BUILD_RINGBUFFER": "ON",
+        "BUILD_PERIPHERAL": "ON",
+        "BUILD_LIST": "ON",
+        "BUILD_BSPMCU": "ON",
+        "MEM_POOL_TOTAL_SIZE": "46*1024",
+        "USE_UART": true,
+        "USE_CAN": true
       }
     },
     {
-            "name": "Release",
-            "inherits": "default",
+      "name": "robot",
+      "inherits": "Spool-end",
       "cacheVariables": {
-                "CMAKE_BUILD_TYPE": "Release"
-            }
+        "BUILD_RBCORE": "ON",
+        "BUILD_OPTIONAL": "ON",
+		"IOC_100PIN": true,
+        "USE_LUA_ST": true,
+        "USE_LUA_ST_CAN": true,
+        "USE_TALNET": true,
+        "USE_LWIP": true,
+        "USE_FREERTOS": true
       }
-    ],
-    "buildPresets": [
-        {
-            "name": "Debug",
-            "configurePreset": "Debug"
-        },
-        {
-            "name": "Release",
-            "configurePreset": "Release"
     }
   ]
 }

gcc-arm-none-eabi.cmake

@@ -0,0 +1,48 @@
+set(CMAKE_SYSTEM_NAME               Generic)
+set(CMAKE_SYSTEM_PROCESSOR          arm)
+
+set(CMAKE_C_COMPILER_ID GNU)
+set(CMAKE_CXX_COMPILER_ID GNU)
+
+# Some default GCC settings
+# arm-none-eabi- must be part of path environment
+set(TOOLCHAIN_PREFIX                arm-none-eabi-)
+
+set(CMAKE_C_COMPILER                ${TOOLCHAIN_PREFIX}gcc)
+set(CMAKE_ASM_COMPILER              ${CMAKE_C_COMPILER})
+set(CMAKE_CXX_COMPILER              ${TOOLCHAIN_PREFIX}g++)
+set(CMAKE_LINKER                    ${TOOLCHAIN_PREFIX}g++)
+set(CMAKE_OBJCOPY                   ${TOOLCHAIN_PREFIX}objcopy)
+set(CMAKE_SIZE                      ${TOOLCHAIN_PREFIX}size)
+
+set(CMAKE_EXECUTABLE_SUFFIX_ASM     ".elf")
+set(CMAKE_EXECUTABLE_SUFFIX_C       ".elf")
+set(CMAKE_EXECUTABLE_SUFFIX_CXX     ".elf")
+
+set(CMAKE_TRY_COMPILE_TARGET_TYPE STATIC_LIBRARY)
+
+# MCU specific flags
+set(TARGET_FLAGS "-mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard ")
+
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${TARGET_FLAGS}")
+set(CMAKE_ASM_FLAGS "${CMAKE_C_FLAGS} -x assembler-with-cpp -MMD -MP")
+set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -Wall -fdata-sections -ffunction-sections -fstack-usage")
+
+# The cyclomatic-complexity parameter must be defined for the Cyclomatic complexity feature in STM32CubeIDE to work.
+# However, most GCC toolchains do not support this option, which causes a compilation error; for this reason, the feature is disabled by default.
+# set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -fcyclomatic-complexity")
+
+set(CMAKE_C_FLAGS_DEBUG "-O0 -g3")
+set(CMAKE_C_FLAGS_RELEASE "-Os -g0")
+set(CMAKE_CXX_FLAGS_DEBUG "-O0 -g3")
+set(CMAKE_CXX_FLAGS_RELEASE "-Os -g0")
+
+set(CMAKE_CXX_FLAGS "${CMAKE_C_FLAGS} -fno-rtti -fno-exceptions -fno-threadsafe-statics")
+set(LINKER_SYMBOLS "-u _fputc -u fputc -u _fgetc -u fgetc")
+set(CMAKE_EXE_LINKER_FLAGS "${TARGET_FLAGS}")
+set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -T \"${CMAKE_SOURCE_DIR}/STM32G431XX_FLASH.ld\"")
+set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} --specs=nano.specs")
+set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,-Map=${CMAKE_PROJECT_NAME}.map -Wl,--gc-sections")
+set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,--print-memory-usage")
+set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} ${LINKER_SYMBOLS}")
+set(TOOLCHAIN_LINK_LIBRARIES "m")

robot

@@ -0,0 +1 @@
+Subproject commit 07754e024e60b4b8766b89f34581dc0738639533