build.mk

BLOCK_TARGETS := $(LIBDIR)/libblock.la

OS= $(shell uname -s)

$(eval $(call SUBDIR,il2c))

BLOCKS := \
	add \
	bridge_pwm \
	command_bool \
	counter \
	debug \
	decoder_uint32_bool \
	filter_iir \
	filter_lp \
	friction \
	gain \
	gain_var \
	inverse_proportional \
	limit \
	limit_dyn \
	limit_2nd \
	limit_var \
	matrix_2x2 \
	multiplexer \
	pid \
	pid_aw \
	quadrature_decoder \
	quantize \
	random \
	rangecheck \
	setpoint_generator_1d \
	setpoint_generator_3d \
	servo_state \
	sine \
	state_machine \
	subtract \
	switch \
	trajectplayer \
	trigger \
	value \
	value_bool \
	value_uint32

BLOCKS_IL := \
	and2 \
	not \
	or2 \
	or3 \
	or4 \
	register \
	setreset

ifneq ($(OS), FreeBSD)
BLOCKS+= \
	joystick
endif

BLOCK_SRCS_IL := $(addsuffix .il,$(addprefix $(DIR)/block_,$(BLOCKS_IL)))

$(BLOCK_SRCS_IL): $(IL2C)

BLOCK_SRCS := $(addsuffix .c,$(addprefix $(DIR)/block_,$(BLOCKS))) \
	$(BLOCK_SRCS_IL)

BLOCK_OBJSC := $(BLOCK_SRCS:.c=.lo)
BLOCK_OBJS := $(BLOCK_OBJSC:.il=.il2c.lo)


$(BLOCK_OBJS): CFLAGS += -O3 -Wall
$(LIBDIR)/libblock.la_LDFLAGS += -lm -lcontroller -llog
$(LIBDIR)/libblock.la: libcontroller.la liblog.la
$(LIBDIR)/libblock.la: $(BLOCK_OBJS)
	$(LIB_LINK)

CTRL_BLOCKS += $(BLOCKS) $(BLOCKS_IL)
CTRL_BLOCK_LIBS += libblock.la

TARGETS += $(BLOCK_TARGETS)
CLEAN += $(BLOCK_TARGETS) $(BLOCK_OBJS)
SRCS += $(BLOCK_SRCS)

CTRL_TESTS += \
	$(DIR)/block_command_bool.test.ctrl \
	$(DIR)/block_gain.test.ctrl \
	$(DIR)/block_limit.test.ctrl \
	$(DIR)/block_matrix_2x2.test.ctrl \
	$(DIR)/block_not.test.ctrl \
	$(DIR)/block_pid_aw.test.ctrl \
	$(DIR)/block_rangecheck.test.ctrl \
	$(DIR)/block_setpoint_generator_1d.test.ctrl \
	$(DIR)/block_setpoint_generator_3d.test.ctrl \
	$(DIR)/block_servo_state.test.ctrl \
	$(DIR)/block_quantize.test.ctrl