main函数改为由bsp提供

Author: Jiu-xiao

CMakeLists.txt

@@ -13,6 +13,8 @@ project(
   DESCRIPTION "MCU for Robomaster"
   VERSION 2022.0.0
   LANGUAGES C CXX ASM)
+
+set(EXECUTABLE_OUTPUT_PATH ${CMAKE_CURRENT_SOURCE_DIR}/build)
 # ---------------------------------------------------------------------------------------
 # Tools
 include(${CMAKE_CURRENT_SOURCE_DIR}/utils/CMake/tools.cmake)

hw/bsp/MiniPC/board.cmake

@@ -5,3 +5,21 @@ set(BOARD_NAME MiniPC)
 set(BOARD_DIR ${BSP_DIR}/${BOARD_NAME})
 
 add_subdirectory(${BOARD_DIR}/drivers)
+
+add_executable(${PROJECT_NAME}.elf ${BOARD_DIR}/main.cpp)
+
+target_link_libraries(
+  ${PROJECT_NAME}.elf
+  PUBLIC bsp
+  PUBLIC system
+  PUBLIC robot
+  )
+
+
+target_include_directories(
+  ${PROJECT_NAME}.elf
+  PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}
+  PRIVATE $<TARGET_PROPERTY:bsp,INTERFACE_INCLUDE_DIRECTORIES>
+  PRIVATE $<TARGET_PROPERTY:system,INTERFACE_INCLUDE_DIRECTORIES>
+  PRIVATE $<TARGET_PROPERTY:robot,INTERFACE_INCLUDE_DIRECTORIES>
+  )

hw/bsp/MiniPC/debug/launch.json

@@ -8,7 +8,7 @@
             "name": "(gdb) 启动",
             "type": "cppdbg",
             "request": "launch",
-            "program": "${workspaceRoot}/build/src/xrobot.elf",
+            "program": "${workspaceRoot}/build/xrobot.elf",
             "args": [],
             "stopAtEntry": true,
             "cwd": "${fileDirname}",

hw/bsp/MiniPC/main.cpp

@@ -0,0 +1,9 @@
+#include "bsp.h"
+#include "robot.hpp"
+#include "thread.hpp"
+
+int main() {
+  bsp_init();
+  robot_init();
+  System::Thread::StartKernel();
+}

hw/bsp/Webots/board.cmake

@@ -11,3 +11,20 @@ set(USE_SIMULATOR true)
 add_compile_definitions(USE_SIMULATOR)
 
 add_subdirectory(${BOARD_DIR}/drivers)
+
+add_executable(${PROJECT_NAME}.elf ${BOARD_DIR}/main.cpp)
+
+target_link_libraries(
+  ${PROJECT_NAME}.elf
+  PUBLIC bsp
+  PUBLIC system
+  PUBLIC robot)
+
+
+target_include_directories(
+  ${PROJECT_NAME}.elf
+  PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}
+  PRIVATE $<TARGET_PROPERTY:bsp,INTERFACE_INCLUDE_DIRECTORIES>
+  PRIVATE $<TARGET_PROPERTY:system,INTERFACE_INCLUDE_DIRECTORIES>
+  PRIVATE $<TARGET_PROPERTY:robot,INTERFACE_INCLUDE_DIRECTORIES>
+)

hw/bsp/Webots/debug/launch.json

@@ -8,7 +8,7 @@
             "name": "(gdb) 启动",
             "type": "cppdbg",
             "request": "launch",
-            "program": "${workspaceRoot}/build/src/xrobot.elf",
+            "program": "${workspaceRoot}/build/xrobot.elf",
             "args": [],
             "stopAtEntry": true,
             "cwd": "${fileDirname}",

hw/bsp/Webots/main.cpp

@@ -0,0 +1,9 @@
+#include "bsp.h"
+#include "robot.hpp"
+#include "thread.hpp"
+
+int main() {
+  bsp_init();
+  robot_init();
+  System::Thread::StartKernel();
+}

hw/bsp/node_imu/board.cmake

@@ -13,3 +13,20 @@ include(${MCU_DIR}/st/cmake/mcu_stm32f3.cmake)
 include(${MCU_DIR}/st/cmake/toolchain_utils.cmake)
 
 add_subdirectory(${BOARD_DIR}/drivers)
+
+add_executable(${PROJECT_NAME}.elf ${BOARD_DIR}/main.cpp)
+
+target_link_libraries(
+  ${PROJECT_NAME}.elf
+  PUBLIC bsp
+  PUBLIC system
+  PUBLIC robot)
+
+
+target_include_directories(
+  ${PROJECT_NAME}.elf
+  PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}
+  PRIVATE $<TARGET_PROPERTY:bsp,INTERFACE_INCLUDE_DIRECTORIES>
+  PRIVATE $<TARGET_PROPERTY:system,INTERFACE_INCLUDE_DIRECTORIES>
+  PRIVATE $<TARGET_PROPERTY:robot,INTERFACE_INCLUDE_DIRECTORIES>
+)

hw/bsp/node_imu/debug/launch.json

@@ -3,7 +3,7 @@
         {
             "name": "ARM-Debug",
             "cwd": "${workspaceRoot}",
-            "executable": "${workspaceRoot}/build/src/xrobot.elf",
+            "executable": "${workspaceRoot}/build/xrobot.elf",
             "request": "launch",
             "type": "cortex-debug",
             "servertype": "jlink",

hw/bsp/node_imu/main.cpp

@@ -0,0 +1,9 @@
+#include "bsp.h"
+#include "robot.hpp"
+#include "thread.hpp"
+
+int main() {
+  bsp_init();
+  robot_init();
+  System::Thread::StartKernel();
+}