cmake_minimum_required(VERSION 3.22)

#
# This file is generated only once,
# and is not re-generated if converter is called multiple times.
#
# User is free to modify the file as much as necessary
#

# Setup compiler settings
set(CMAKE_C_STANDARD 11)
set(CMAKE_C_STANDARD_REQUIRED ON)
set(CMAKE_C_EXTENSIONS ON)


# Define the build type
if(NOT CMAKE_BUILD_TYPE)
    set(CMAKE_BUILD_TYPE "Debug")
endif()

# Set the project name
set(CMAKE_PROJECT_NAME Basic_Framework_MC02)

# Enable compile command to ease indexing with e.g. clangd
set(CMAKE_EXPORT_COMPILE_COMMANDS TRUE)

# Core project settings
project(${CMAKE_PROJECT_NAME})
message("Build type: " ${CMAKE_BUILD_TYPE})

# Enable CMake support for ASM and C languages
enable_language(C ASM)

# Create an executable object type
add_executable(${CMAKE_PROJECT_NAME})

# Add STM32CubeMX generated sources
add_subdirectory(cmake/stm32cubemx)

# Link directories setup
target_link_directories(${CMAKE_PROJECT_NAME} PRIVATE
    Drivers/CMSIS/DSP/Lib/GCC
)

# Add sources to executable
target_sources(${CMAKE_PROJECT_NAME} PRIVATE
    # FreeRTOS
    Middlewares/Third_Party/FreeRTOS/Source/croutine.c
    Middlewares/Third_Party/FreeRTOS/Source/event_groups.c
    Middlewares/Third_Party/FreeRTOS/Source/list.c
    Middlewares/Third_Party/FreeRTOS/Source/queue.c
    Middlewares/Third_Party/FreeRTOS/Source/stream_buffer.c
    Middlewares/Third_Party/FreeRTOS/Source/tasks.c
    Middlewares/Third_Party/FreeRTOS/Source/timers.c
    Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS/cmsis_os.c
    Middlewares/Third_Party/FreeRTOS/Source/portable/MemMang/heap_4.c
    Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c

    # SEGGER RTT
    Middlewares/Third_Party/SEGGER/RTT/SEGGER_RTT_printf.c
    Middlewares/Third_Party/SEGGER/RTT/SEGGER_RTT.c
    Middlewares/Third_Party/SEGGER/RTT/SEGGER_RTT_ASM_ARMv7M.s

    # Core (CubeMX generated but not in stm32cubemx)
    Core/Src/freertos.c

    # bsp
    bsp/dwt/bsp_dwt.c
    bsp/pwm/bsp_pwm.c
    bsp/gpio/bsp_gpio.c
    bsp/spi/bsp_spi.c
    bsp/iic/bsp_iic.c
    bsp/can/bsp_can.c
    bsp/usart/bsp_usart.c
    bsp/log/bsp_log.c
    bsp/bsp_tools.c

    # modules - algorithm
    modules/algorithm/controller.c
    modules/algorithm/kalman_filter.c
    modules/algorithm/QuaternionEKF.c
    modules/algorithm/crc8.c
    modules/algorithm/crc16.c
    modules/algorithm/user_lib.c
    # modules - sensors
    modules/BMI088/bmi088.c
    modules/imu/BMI088driver.c
    modules/imu/BMI088Middleware.c
    modules/imu/ins_task.c
    # modules - communication
    modules/master_machine/master_process.c
    modules/master_machine/seasky_protocol.c
    modules/remote/remote_control.c
    modules/timachine/board_comm.c
    # modules - motor
    modules/motor/DMmotor/dmmotor.c
    modules/motor/motor_task.c
    # modules - system
    modules/message_center/message_center.c
    modules/daemon/daemon.c
    modules/alarm/buzzer.c
    modules/vofa/vofa.c
    modules/opencv/opencv.c

    # application
    application/gimbal/gimbal.c
    application/cmd/robot_cmd.c
    application/robot.c
)

# Add include paths
target_include_directories(${CMAKE_PROJECT_NAME} PRIVATE
    # FreeRTOS
    Middlewares/Third_Party/FreeRTOS/Source/include
    Middlewares/Third_Party/FreeRTOS/Source/CMSIS_RTOS
    Middlewares/Third_Party/FreeRTOS/Source/portable/GCC/ARM_CM4F

    # SEGGER RTT
    Middlewares/Third_Party/SEGGER/RTT
    Middlewares/Third_Party/SEGGER/Config

    # bsp
    bsp/dwt
    bsp/can
    bsp/usart
    bsp/gpio
    bsp/spi
    bsp/iic
    bsp/log
    bsp/pwm
    bsp

    # modules
    modules/algorithm
    modules/BMI088
    modules/imu
    modules/master_machine
    modules/motor/DMmotor
    modules/motor
    modules/remote
    modules/can_comm
    modules/message_center
    modules/daemon
    modules/alarm
    modules/vofa
    modules/opencv
    modules/timachine
    modules

    # application
    application/gimbal
    application/cmd
    application
)

# Add project symbols (macros)
target_compile_definitions(${CMAKE_PROJECT_NAME} PRIVATE
    ARM_MATH_CM7
)

# 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
    c
    m
    nosys
    arm_cortexM7lfdp_math
)