添加CMakeLists.txt，可在Linux下使用gcc编译改项目

.gitignore

@@ -1,4 +1,5 @@
 OBJ/
+build/
 *.TMP
 PROJECT/*.txt
 PROJECT/*.ini

.vscode/.cortex-debug.peripherals.state.json

@@ -0,0 +1 @@
+[]

.vscode/.cortex-debug.registers.state.json

@@ -0,0 +1 @@
+[]

.vscode/launch.json

@@ -0,0 +1,17 @@
+{
+    "version": "0.2.0",
+    "configurations": [
+      {
+        "name": "Cortex Debug",
+        "cwd": "${workspaceRoot}",
+        "executable": "./build/BlueSkyPilot.elf", 
+        "request": "launch",
+        "type": "cortex-debug",
+        "servertype": "openocd",
+        "configFiles": [
+          "interface/jlink.cfg",
+          "target/stm32f4x.cfg" 
+        ]
+      }
+    ]
+  }

CMakeLists.txt

@@ -0,0 +1,149 @@
+cmake_minimum_required(VERSION 3.5)
+project(BlueSkyPilot)
+
+set(CMAKE_C_COMPILER arm-none-eabi-gcc)
+set(CMAKE_OBJCOPY arm-none-eabi-objcopy)
+set(CMAKE_SIZE arm-none-eabi-size)
+
+add_definitions(
+-DSTM32F40_41xxx
+-DUSE_STDPERIPH_DRIVER
+-DARM_MATH_CM4
+)
+
+#set(CMAKE_BUILD_TYPE "Debug")
+#set(CMAKE_BUILD_TYPE "Release")
+set(MCU_FLAGS "-mcpu=cortex-m4 -mfloat-abi=hard -mfpu=fpv4-sp-d16")
+set(CMAKE_C_FLAGS "${MCU_FLAGS} -w -Wno-unknown-pragmas")
+set(CMAKE_C_FLAGS_DEBUG "-O0 -g2 -ggdb")
+set(CMAKE_C_FLAGS_RELEASE "-O3")
+
+include_directories(
+    STMLIB
+    STMLIB/inc
+    STMLIB/CORE
+    STMLIB/USB
+    STMLIB/USB/STM32_USB_Device_Library/Class/cdc/inc
+    STMLIB/USB/STM32_USB_Device_Library/Core/inc
+    STMLIB/USB/STM32_USB_OTG_Driver/inc
+    STMLIB/SDIO
+    FreeRTOS/Source/include
+    FreeRTOS/Source/portable/GCC/ARM_CM4F
+    FatFs
+    MAVLINK
+    MAVLINK/common
+    SRC/CONTROL 
+    SRC/DRIVER 
+    SRC/LOG 
+    SRC/MATH 
+    SRC/MESSAGE 
+    SRC/MODULE 
+    SRC/NAVIGATION 
+    SRC/SENSOR
+    SRC/SYSTEM
+    SRC/TASK
+    ${CMAKE_CURRENT_BINARY_DIR}
+)
+
+set_property(SOURCE STMLIB/startup/GCC/startup_stm32f40_41xxx.s PROPERTY LANGUAGE C)
+
+add_library(stm32_lib
+    STMLIB/startup/GCC/startup_stm32f40_41xxx.s
+    STMLIB/src/misc.c 
+    STMLIB/src/stm32f4xx_adc.c 
+    STMLIB/src/stm32f4xx_can.c 
+    STMLIB/src/stm32f4xx_dma.c 
+    STMLIB/src/stm32f4xx_flash.c 
+    STMLIB/src/stm32f4xx_rcc.c 
+    STMLIB/src/stm32f4xx_gpio.c 
+    STMLIB/src/stm32f4xx_tim.c 
+    STMLIB/src/stm32f4xx_spi.c 
+    STMLIB/src/stm32f4xx_pwr.c 
+    STMLIB/src/stm32f4xx_sdio.c 
+    STMLIB/src/stm32f4xx_usart.c 
+    STMLIB/src/stm32f4xx_syscfg.c 
+    STMLIB/system_stm32f4xx.c
+    STMLIB/USB/usb_bsp.c 
+    STMLIB/USB/usbd_desc.c
+    STMLIB/USB/STM32_USB_Device_Library/Class/cdc/src/usbd_cdc_core.c
+    STMLIB/USB/STM32_USB_Device_Library/Core/src/usbd_ioreq.c
+    STMLIB/USB/STM32_USB_Device_Library/Core/src/usbd_req.c
+    STMLIB/USB/STM32_USB_Device_Library/Core/src/usbd_core.c
+    STMLIB/USB/STM32_USB_OTG_Driver/src/usb_core.c
+    STMLIB/USB/STM32_USB_OTG_Driver/src/usb_dcd_int.c
+    STMLIB/USB/STM32_USB_OTG_Driver/src/usb_dcd.c
+)
+
+add_library(freertos
+    FreeRTOS/Source/tasks.c 
+    FreeRTOS/Source/list.c 
+    FreeRTOS/Source/queue.c 
+    FreeRTOS/Source/portable/GCC/ARM_CM4F/port.c 
+    FreeRTOS/Source/portable/MemMang/heap_4.c
+)
+
+add_library(fatfs
+    FatFs/diskio.c 
+    FatFs/ff.c 
+    FatFs/option/ccsbcs.c
+    STMLIB/SDIO/stm32f4_sdio_sd_LowLevel.c
+    STMLIB/SDIO/stm32f4_sdio_sd.c
+)
+target_link_libraries(fatfs
+    stm32_lib
+)
+
+file(GLOB SRC_DRIVER SRC/DRIVER/*.c)
+file(GLOB SRC_CONTROL SRC/CONTROL/*.c)
+file(GLOB SRC_LOG SRC/LOG/*.c)
+file(GLOB SRC_MATH SRC/MATH/*.c)
+file(GLOB SRC_MESSAGE SRC/MESSAGE/*.c)
+file(GLOB SRC_MODULE SRC/MODULE/*.c)
+file(GLOB SRC_NAVIGATION SRC/NAVIGATION/*.c)
+file(GLOB SRC_SENSOR SRC/SENSOR/*.c)
+file(GLOB SRC_SYSTEM SRC/SYSTEM/*.c)
+file(GLOB SRC_TASK SRC/TASK/*.c)
+
+add_library(${PROJECT_NAME}
+    ${SRC_DRIVER}
+    ${SRC_CONTROL}
+    ${SRC_LOG}
+    ${SRC_MATH}
+    ${SRC_MESSAGE}
+    ${SRC_MODULE}
+    ${SRC_NAVIGATION}
+    ${SRC_SENSOR}
+    ${SRC_SYSTEM}
+    ${SRC_TASK}
+)
+target_link_libraries(${PROJECT_NAME} -lm
+    stm32_lib
+    fatfs
+    freertos
+)
+
+set(LINKER_SCRIPT ${CMAKE_CURRENT_SOURCE_DIR}/STMLIB/STM32F405RGTx_FLASH.ld)
+set(CMAKE_EXE_LINKER_FLAGS
+"--specs=nano.specs -specs=nosys.specs -nostartfiles -T${LINKER_SCRIPT} -Wl,-Map=${PROJECT_BINARY_DIR}/${PROJECT_NAME}.map,--cref -Wl,--gc-sections"
+)
+
+add_executable(${PROJECT_NAME}.elf SRC/main.c)
+target_link_libraries(${PROJECT_NAME}.elf
+    ${PROJECT_NAME}
+)
+
+set(ELF_FILE ${PROJECT_BINARY_DIR}/${PROJECT_NAME}.elf)
+set(HEX_FILE ${PROJECT_BINARY_DIR}/${PROJECT_NAME}.hex)
+set(BIN_FILE ${PROJECT_BINARY_DIR}/${PROJECT_NAME}.bin)
+
+add_custom_command(TARGET "${PROJECT_NAME}.elf" POST_BUILD
+    COMMAND ${CMAKE_OBJCOPY} -Obinary ${ELF_FILE} ${BIN_FILE}
+    COMMAND ${CMAKE_OBJCOPY} -Oihex  ${ELF_FILE} ${HEX_FILE}
+    COMMENT "Building ${PROJECT_NAME}.bin and ${PROJECT_NAME}.hex"
+
+    COMMAND ${CMAKE_COMMAND} -E copy ${HEX_FILE} "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}.hex"
+    COMMAND ${CMAKE_COMMAND} -E copy ${BIN_FILE} "${CMAKE_CURRENT_BINARY_DIR}/${PROJECT_NAME}.bin"
+
+    COMMAND ${CMAKE_SIZE} --format=berkeley ${PROJECT_NAME}.elf ${PROJECT_NAME}.hex
+    COMMENT "Invoking: Cross ARM GNU Print Size"
+)

FreeRTOS/Source/include/FreeRTOSConfig.h

@@ -44,9 +44,10 @@
 /* Ensure stdint is only used by the compiler, and not the assembler. */
 #if defined(__ICCARM__) || defined(__CC_ARM) ||defined(__GUNC__)
 #include <stdint.h>
-extern uint32_t SystemCoreClock;
 #endif
 
+extern uint32_t SystemCoreClock;
+
 //--------------------------------------------
 #define configCPU_USAGE_CALCULATE 1
 #ifdef configCPU_USAGE_CALCULATE