freeRTOS操作系统机器人实现
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cmake_minimum_required(VERSION 3.10)
get_filename_component(TARGET_NAME ${CMAKE_CURRENT_SOURCE_DIR} NAME)
option(A_BUILD_MAIN_AS_STATIC_LIB "Build as a static library instead of an executable" OFF)
set(MAIN_SRCS
main.c
)
if(A_BUILD_MAIN_AS_STATIC_LIB)
add_library(${TARGET_NAME} STATIC ${MAIN_SRCS})
else()
add_executable(${TARGET_NAME} ${MAIN_SRCS})
endif()
if(CMAKE_BUILD_TYPE STREQUAL "Debug")
target_compile_definitions(${TARGET_NAME} PRIVATE DEBUG)
endif()
if(A_BUILD_MAIN_AS_STATIC_LIB)
set_target_properties(${TARGET_NAME} PROPERTIES
ARCHIVE_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/output
)
else()
set_target_properties(${TARGET_NAME} PROPERTIES
RUNTIME_OUTPUT_DIRECTORY ${PROJECT_SOURCE_DIR}/output
)
endif()
target_include_directories(${TARGET_NAME}
PRIVATE
${CMAKE_CURRENT_SOURCE_DIR}
)
string(TOLOWER "${CMAKE_SYSTEM_NAME}" SYSTEM_NAME_LOWER)
if(CMAKE_CROSSCOMPILING AND NOT SYSTEM_NAME_LOWER MATCHES "linux|windows|darwin|android")
message(STATUS ">>> 检测到裸机/RTOS 环境 (${CMAKE_SYSTEM_NAME}),屏蔽 pthread。")
else()
find_package(Threads REQUIRED)
target_link_libraries(${CURRENT_TARGET_NAME}
PUBLIC Threads::Threads
PRIVATE ${CMAKE_DL_LIBS}
)
if(CMAKE_SYSTEM_NAME STREQUAL "Linux")
target_link_libraries(${CURRENT_TARGET_NAME} PRIVATE rt)
endif()
endif()
if(DEFINED GLOBAL_ENABLED_MODULES AND NOT GLOBAL_ENABLED_MODULES STREQUAL "")
message(STATUS "[Main] Linking modules: ${GLOBAL_ENABLED_MODULES}")
target_link_libraries(${TARGET_NAME} PUBLIC ${GLOBAL_ENABLED_MODULES})
else()
message(STATUS "[Main] No additional modules linked.")
endif()
if(DEFINED GLOBAL_ENABLED_MACROS AND NOT GLOBAL_ENABLED_MACROS STREQUAL "")
message(STATUS "[Main] Defining macros: ${GLOBAL_ENABLED_MACROS}")
target_compile_definitions(${TARGET_NAME} PUBLIC ${GLOBAL_ENABLED_MACROS})
endif()
target_compile_options(${TARGET_NAME}
PRIVATE
-Wall
-Werror
$<$<CONFIG:Debug>:-g -O0>
$<$<CONFIG:Release>:-O2>
)