Makefile

## change prefix to build for other platforms
#GCC_PREFIX	= avr32-linux-
GCC_PREFIX	=

include Makefile.paths

CXX=$(GCC_PREFIX)g++
AR=$(GCC_PREFIX)ar
CC=$(GCC_PREFIX)gcc

OPTIMIZATION=-O2
CXXFLAGS+=$(OPTIMIZATION) -Wall

OPENAHRS_PATH	= $(realpath ./openAHRS)
OPENAHRS_LIB		= $(OPENAHRS_PATH)/openAHRS.a
OPENAHRS_INC		= $(OPENAHRS_PATH)/include

## change that if you want to try floating point results
FLOAT_TYPE=double


## Prepare basic build variables
all:	openAHRS/openAHRS.a
	@echo	done.

openAHRS/openAHRS.a:	Makefile.build
	@echo ---=== Compiling openAHRS ===---
	make -C openAHRS
	
test-kal7: openAHRS/openAHRS.a Makefile.build
	@echo ---=== Building test-kal7 ===---
	make -C tests/test-kal7

test-eigen2: Makefile.build
	@echo ---=== Building test-eigen2 ===---
	make -C tests/test-eigen2

##prepare neccesary files for build
Makefile.build:	Makefile
	@echo EIGENPATH=$(realpath $(EIGENPATH)) > Makefile.build
	@echo CXXFLAGS += -DFT=$(FLOAT_TYPE)	>> Makefile.build
	@echo CXX=$(CXX) >> Makefile.build
	@echo AR=$(AR)	>> Makefile.build
	@echo CC=$(CC)	>> Makefile.build
	@echo CXXFLAGS +=$(CXXFLAGS) >> Makefile.build
	@echo OPENAHRS_LIB = $(OPENAHRS_LIB) >> Makefile.build
	@echo OPENAHRS_INC = $(OPENAHRS_INC) >> Makefile.build



clean:	Makefile.build
	make clean	-C tests/test-kal7
	make clean	-C tests/test-ukfkal7
	make clean	-C tests/test-calib-ellipsoid
	make clean	-C tests/test-calib-ukfellipsoid
	make clean 	-C openAHRS
	make clean	-C AHRSs
	rm Makefile.build

help:
	@echo
	@echo	___--=== openAHRS Makefile ===--___
	@echo	
	@echo	CAUTION: Please setup the EIGENPATH variable in Makefile.paths first!!
	@echo
	@echo
	@echo	== To compile the main library just type \'make\' with no arguments.
	@echo
	@echo 	== To compile examples you can try \'make example_name\'
	@echo		where example_name is one of
	@echo
	@echo		test-eigen2
	@echo		test-kal7
	@echo


.PHONY: tests test-kal7 help openAHRS/openAHRS.a