Have dedicated directory for controller component, with own Makefile

controller/Makefile

+include build.mk
 
-IL2C=il2c/il2c
+CFLAGS= -Wall -O3 \
+	-I. \
+	-Icontroller \
+	-I../common/utils \
+	-I../common/trace \
+	-Idt_azimuth -Idt_elevation -Iec -Ishell -Ilog
+LDFLAGS= -lpthread -lrt -lm -ldl -Wl,-E
+CFLAGS_SIM=-DUSE_AZ_SIM -DUSE_EL_SIM
 
-CFLAGS= -Wall -O3 -I../log/ -I..
-BLOCKSRCS= \
-	block_add.c \
-	block_and2.c \
-	block_bridge_pwm.c \
-	block_counter.c \
-	block_debug.c \
-	block_decoder_uint32_bool.c \
-	block_filter_iir.c \
-	block_filter_lp.c \
-	block_friction.c \
-	block_gain.c \
-	block_gain_var.c \
-	block_joystick.c \
-	block_limit.c \
-	block_limit_dyn.c \
-	block_limit_2nd.c \
-	block_limit_var.c \
-	block_matrix_2x2.c \
-	block_multiplexer.c \
-	block_not.c \
-	block_or2.c \
-	block_or3.c \
-	block_or4.c \
-	block_pid.c \
-	block_pid_aw.c \
-	block_quantize.c \
-	block_random.c \
-	block_register.c \
-	block_setpoint_generator.c \
-	block_setreset.c \
-	block_servo_state.c \
-	block_sine.c \
-	block_subtract.c \
-	block_switch.c \
-	block_trajectplayer.c \
-	block_trigger.c \
-	block_value.c \
-	block_value_bool.c \
-	block_value_uint32.c
+ARCHIVES= \
+	dt_azimuth/dt_azimuth.a \
+	dt_elevation/dt_elevation.a \
+	controller/controller.a \
+	log/log.a \
+	ec/ec.a \
+	shell/shell.a \
+	../common/trace/trace.a \
+	../common/utils/utils.a
 
-CONTROLLERSRCS= \
-	controller_block.c \
-	controller_setpoint_command.c \
-	controller_trace.c \
-	controller_sample.c \
-	controller_dumpdot.c \
-	controller_load.c \
-	controller_load_parser.tab.c \
-	controller_load_parser.yy.c
+dt_ctrl_sim_LDFLAGS=`controller/block_list.sh dt_azimuth/dt_azimuth.a dt_elevation/dt_elevation.a controller/controller.a`
+dt_ctrl_LDFLAGS=$(dt_ctrl_sim_LDFLAGS) `controller/block_list.sh ec/ec.a`
 
+all: dt_ctrl dt_ctrl_sim \
+	trace_list trace_view \
+	test
 
-SRCS= $(CONTROLLERSRCS) $(BLOCKSRCS)
+dt_ctrl: dt_ctrl.o $(ARCHIVES)
 
-BLOCKS=$(BLOCKSRCS:.c=.o)
+dt_ctrl_sim: dt_ctrl_sim.o  $(ARCHIVES)
 
-CONTROLLER= $(CONTROLLERSRCS:.c=.o)
+dt_ctrl_sim.o: dt_ctrl.c
+	@echo "COMPILE: dt_ctrl.c (OUTPUT: dt_ctrl_sim.o)"
+	@$(CC) $(CFLAGS) $(CFLAGS_SIM) dt_ctrl.c -c -o dt_ctrl_sim.o
 
+trace_list: trace_list.o $(ARCHIVES)
 
-all: il2cdir $(BLOCKS) $(CONTROLLER) controllerlib
+trace_view: trace_view.o $(ARCHIVES)
 
+%.a:
+	@echo " SUBDIR: $(@D)"
+	@$(MAKE) -C $(@D)
 
-controller_load_parser.tab.o: controller_load_parser.yy.c
+ec/ec.a: log/log.a shell/shell.a
 
-controller_load.o: controller_load_parser.tab.h controller_load_parser.yy.h
-
-il2cdir:
+test:
 	@echo " SUBDIR: $@"
-	@$(MAKE) -C il2c
+	@$(MAKE) -C test
 
-.PHONY: il2cdir
 
-controllerlib: controller.a($(BLOCKS) $(CONTROLLER))
+.PHONY: test
 
 clean:
-	rm -rf *.o *.a *.yy.* *.tab.* *.d
-	@$(MAKE) -C il2c clean
-
-include ../build.mk
+	rm -f *.o *.d
+	rm -f dt_az dt_az_ctrl \
+	    command_shell \
+	    trace_list trace_view \
+	    dt_ctrl \
+	    dt_ctrl_sim
+	$(MAKE) -C controller clean
+	$(MAKE) -C dt_azimuth clean
+	$(MAKE) -C dt_elevation clean
+	$(MAKE) -C ec clean
+	$(MAKE) -C test clean
+	$(MAKE) -C shell clean
+	$(MAKE) -C log clean

controller/build.mk

+# Some make rules to make output pretty....
+
+# default ARFLAGS also has 'v', but we don't want it to be verbose.
+ARFLAGS= -r
+
+# make sure libs from /usr/local/lib are found
+VPATH= /lib64 /usr/lib64 /usr/local/lib64 /lib /usr/lib /usr/local/lib
+
+%.o : %.c
+	@echo "   CC  $<"
+	@$(CC) -MD $(CFLAGS) -c $<
+
+%: %.o
+	@echo "   LD  $@"
+	@$(LINK.o) $^ $(LOADLIBES) $(LDLIBS) $($@_LDFLAGS) -o $@
+
+(%): %
+	@echo "   AR  $< in $@"
+	@$(AR) $(ARFLAGS) $@ $<
+
+%.tab.c %.tab.h: %.y
+	@echo "BISON  $<"
+	@bison -d $<
+
+%.yy.c: %.l %.tab.h
+	@echo " FLEX  $<"
+	@flex -o $@ $<
+
+# il2c: instruction list 2 c 'compiler'
+%.c %.h: %.il
+	@echo " IL2C  $<"
+	@$(IL2C) $<
+
+# dot -> pdf
+%.pdf: %.dot
+	@echo "  DOT  $<"
+	@dot $< -o $@ -Tpdf
+
+-include $(SRCS:.c=.d)

controller/controller/Makefile

+
+IL2C=il2c/il2c
+
+CFLAGS= -Wall -O3 -I../log/ -I..
+BLOCKSRCS= \
+	block_add.c \
+	block_and2.c \
+	block_bridge_pwm.c \
+	block_counter.c \
+	block_debug.c \
+	block_decoder_uint32_bool.c \
+	block_filter_iir.c \
+	block_filter_lp.c \
+	block_friction.c \
+	block_gain.c \
+	block_gain_var.c \
+	block_joystick.c \
+	block_limit.c \
+	block_limit_dyn.c \
+	block_limit_2nd.c \
+	block_limit_var.c \
+	block_matrix_2x2.c \
+	block_multiplexer.c \
+	block_not.c \
+	block_or2.c \
+	block_or3.c \
+	block_or4.c \
+	block_pid.c \
+	block_pid_aw.c \
+	block_quantize.c \
+	block_random.c \
+	block_register.c \
+	block_setpoint_generator.c \
+	block_setreset.c \
+	block_servo_state.c \
+	block_sine.c \
+	block_subtract.c \
+	block_switch.c \
+	block_trajectplayer.c \
+	block_trigger.c \
+	block_value.c \
+	block_value_bool.c \
+	block_value_uint32.c
+
+CONTROLLERSRCS= \
+	controller_block.c \
+	controller_setpoint_command.c \
+	controller_trace.c \
+	controller_sample.c \
+	controller_dumpdot.c \
+	controller_load.c \
+	controller_load_parser.tab.c \
+	controller_load_parser.yy.c
+
+
+SRCS= $(CONTROLLERSRCS) $(BLOCKSRCS)
+
+BLOCKS=$(BLOCKSRCS:.c=.o)
+
+CONTROLLER= $(CONTROLLERSRCS:.c=.o)
+
+
+all: il2cdir $(BLOCKS) $(CONTROLLER) controllerlib
+
+
+controller_load_parser.tab.o: controller_load_parser.yy.c
+
+controller_load.o: controller_load_parser.tab.h controller_load_parser.yy.h
+
+il2cdir:
+	@echo " SUBDIR: $@"
+	@$(MAKE) -C il2c
+
+.PHONY: il2cdir
+
+controllerlib: controller.a($(BLOCKS) $(CONTROLLER))
+
+clean:
+	rm -rf *.o *.a *.yy.* *.tab.* *.d
+	@$(MAKE) -C il2c clean
+
+include ../build.mk