add debug option

CMakeLists.txt

@@ -65,6 +65,14 @@ set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${WARNING_FLAGS}")
 set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} ${WARNING_FLAGS} -Wno-volatile")
 set(CMAKE_CXX_STANDARD 20)
 
+if(NOT CMAKE_BUILD_TYPE)
+    set(CMAKE_BUILD_TYPE Release)
+elseif(CMAKE_BUILD_TYPE STREQUAL "Debug")
+    message(STATUS "Debug mode is enabled")
+    set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -g -DDEBUG")
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -g -DDEBUG")
+endif()
+
 # Prebuild
 include(${CMAKE_DIR}/params.cmake)
 include(${CMAKE_DIR}/git.cmake)
@@ -76,10 +84,6 @@ add_definitions(-DHW_VERSION_MINOR=1)
 # Project
 project(example CXX C ASM)
 
-if(NOT CMAKE_BUILD_TYPE)
-    set(CMAKE_BUILD_TYPE Release)
-endif()
-
 include(${CMAKE_DIR}/full_firmware_info.cmake)
 
 add_subdirectory(${ROOT_DIR}/Src/platform/${APP_PLATFORM})

Makefile

@@ -9,6 +9,13 @@ all: clean_releases cyphal_v2 cyphal_v3 dronecan_v2 dronecan_v3 v3 sitl_dronecan
 # Cyphal
 NUNAVUT_OUT_DIR:=$(BUILD_DIR)/nunavut_out
 IS_DSDL_GENERATED:=$(shell if [ -d ${NUNAVUT_OUT_DIR} ]; then find ${NUNAVUT_OUT_DIR} -mindepth 1 | wc -l; else echo 0; fi)
+
+# Define debug flags and a mechanism to check if debug mode is requested.
+CMAKE_BUILD_TYPE := Release
+ifeq ($(filter debug,$(MAKECMDGOALS)),debug)
+	CMAKE_BUILD_TYPE := Debug
+endif
+
 generate_dsdl:
 	mkdir -p ${NUNAVUT_OUT_DIR}
 	@if [ "$(IS_DSDL_GENERATED)" -eq 0 ]; then \
@@ -20,33 +27,33 @@ generate_dsdl:
 cyphal: cyphal_v2
 cyphal_v2: checks generate_dsdl clean
 	mkdir -p ${BUILD_DIR}/cyphal_v2/obj
-	cd ${BUILD_DIR}/cyphal_v2/obj && cmake -DCAN_PROTOCOL=cyphal -DUSE_PLATFORM_NODE_V2=ON -G "Unix Makefiles" ../../.. && make
+	cd ${BUILD_DIR}/cyphal_v2/obj && cmake -DCAN_PROTOCOL=cyphal -DUSE_PLATFORM_NODE_V2=ON -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} -G "Unix Makefiles" ../../.. && make
 sitl_cyphal: checks generate_dsdl clean
 	mkdir -p ${BUILD_DIR}/cyphal_sitl/obj
-	cd ${BUILD_DIR}/cyphal_sitl/obj && cmake -DCAN_PROTOCOL=cyphal -DUSE_PLATFORM_UBUNTU=ON -G "Unix Makefiles" ../../.. && make
+	cd ${BUILD_DIR}/cyphal_sitl/obj && cmake -DCAN_PROTOCOL=cyphal -DUSE_PLATFORM_UBUNTU=ON -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} -G "Unix Makefiles" ../../.. && make
 cyphal_v3: checks generate_dsdl clean
 	mkdir -p ${BUILD_DIR}/cyphal_v3/obj
-	cd ${BUILD_DIR}/cyphal_v3/obj && cmake -DCAN_PROTOCOL=cyphal -DUSE_PLATFORM_NODE_V3=ON -G "Unix Makefiles" ../../.. && make
+	cd ${BUILD_DIR}/cyphal_v3/obj && cmake -DCAN_PROTOCOL=cyphal -DUSE_PLATFORM_NODE_V3=ON -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} -G "Unix Makefiles" ../../.. && make
 
 # Dronecan:
 dronecan: dronecan_v2
 dronecan_v2: checks clean
 	mkdir -p ${BUILD_DIR}/dronecan_v2/obj
-	cd ${BUILD_DIR}/dronecan_v2/obj && cmake -DCAN_PROTOCOL=dronecan -DUSE_PLATFORM_NODE_V2=ON -G "Unix Makefiles" ../../.. && make
+	cd ${BUILD_DIR}/dronecan_v2/obj && cmake -DCAN_PROTOCOL=dronecan -DUSE_PLATFORM_NODE_V2=ON -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} -G "Unix Makefiles" ../../.. && make
 sitl_dronecan: checks clean
 	mkdir -p ${BUILD_DIR}/dronecan_sitl/obj
-	cd ${BUILD_DIR}/dronecan_sitl/obj && cmake -DCAN_PROTOCOL=dronecan -DUSE_PLATFORM_UBUNTU=ON -G "Unix Makefiles" ../../.. && make
+	cd ${BUILD_DIR}/dronecan_sitl/obj && cmake -DCAN_PROTOCOL=dronecan -DUSE_PLATFORM_UBUNTU=ON -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} -G "Unix Makefiles" ../../.. && make
 dronecan_v3: checks clean
 	mkdir -p ${BUILD_DIR}/dronecan_v3/obj
-	cd ${BUILD_DIR}/dronecan_v3/obj && cmake -DCAN_PROTOCOL=dronecan -DUSE_PLATFORM_NODE_V3=ON -G "Unix Makefiles" ../../.. && make
+	cd ${BUILD_DIR}/dronecan_v3/obj && cmake -DCAN_PROTOCOL=dronecan -DUSE_PLATFORM_NODE_V3=ON -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} -G "Unix Makefiles" ../../.. && make
 
 # Cyphal & DroneCAN
 v2: checks generate_dsdl clean
 	mkdir -p ${BUILD_DIR}/both_v2/obj
-	cd ${BUILD_DIR}/both_v2/obj && cmake -DCAN_PROTOCOL=both -DUSE_PLATFORM_NODE_V2=ON -G "Unix Makefiles" ../../.. && make
+	cd ${BUILD_DIR}/both_v2/obj && cmake -DCAN_PROTOCOL=both -DUSE_PLATFORM_NODE_V2=ON -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} -G "Unix Makefiles" ../../.. && make
 v3: checks generate_dsdl clean
 	mkdir -p ${BUILD_DIR}/both_v3/obj
-	cd ${BUILD_DIR}/both_v3/obj && cmake -DCAN_PROTOCOL=both -DUSE_PLATFORM_NODE_V3=ON -G "Unix Makefiles" ../../.. && make
+	cd ${BUILD_DIR}/both_v3/obj && cmake -DCAN_PROTOCOL=both -DUSE_PLATFORM_NODE_V3=ON -DCMAKE_BUILD_TYPE=${CMAKE_BUILD_TYPE} -G "Unix Makefiles" ../../.. && make
 
 # Common:
 checks:
@@ -72,3 +79,5 @@ clean:
 	-rm -fR ${BUILD_DIR}/*/obj
 distclean:
 	-rm -fR ${BUILD_DIR}/
+debug:
+	echo "Debug mode is enabled"