Commit 4b8f214d authored by Jeroen Vreeken's avatar Jeroen Vreeken
Browse files

move controller to new build

parent 56d8add4
.PHONY: clean all rel_mktemp_dir console controller help .PHONY: clean all rel_mktemp_dir console help
include build.mk include build.mk
...@@ -6,7 +6,6 @@ CONTROLLER_REL_TAR:=$(CURDIR)/controller_$(shell date +%Y%m%d%H%M).tar.gz ...@@ -6,7 +6,6 @@ CONTROLLER_REL_TAR:=$(CURDIR)/controller_$(shell date +%Y%m%d%H%M).tar.gz
CONSOLE_REL_TAR:=$(CURDIR)/console_$(shell date +%Y%m%d%H%M).tar.gz CONSOLE_REL_TAR:=$(CURDIR)/console_$(shell date +%Y%m%d%H%M).tar.gz
all: subdirs all: subdirs
$(MAKE) -C controller
cd libnova-0.13.0 ; ./configure -enable-static -disable-shared --prefix=${CURDIR} ; make; make install cd libnova-0.13.0 ; ./configure -enable-static -disable-shared --prefix=${CURDIR} ; make; make install
$(MAKE) -C console $(MAKE) -C console
...@@ -33,7 +32,6 @@ help: ...@@ -33,7 +32,6 @@ help:
controller: subdirs controller: subdirs
$(MAKE) -C controller
console: subdirs console: subdirs
cd libnova-0.13.0 ; ./configure -enable-static -disable-shared --prefix=${CURDIR} ; make; make install cd libnova-0.13.0 ; ./configure -enable-static -disable-shared --prefix=${CURDIR} ; make; make install
...@@ -41,7 +39,6 @@ console: subdirs ...@@ -41,7 +39,6 @@ console: subdirs
clean: subdirs_CLEAN clean: subdirs_CLEAN
rm -rf common/lib/* rm -rf common/lib/*
$(MAKE) -C controller clean
cd libnova-0.13.0 ; make clean || true cd libnova-0.13.0 ; make clean || true
$(MAKE) -C console clean $(MAKE) -C console clean
...@@ -125,17 +122,21 @@ DIR := $(DIR) ...@@ -125,17 +122,21 @@ DIR := $(DIR)
endef endef
$(eval $(call SUBDIR,common)) $(eval $(call SUBDIR,common))
$(eval $(call SUBDIR,controller))
CFLAGS := -Icommon -Icommon/include -Icontroller
CFLAGS := -Icommon -Icommon/include LDFLAGS := -Lcommon/lib -Lcontroller/lib
LDFLAGS := -Lcommon/lib VPATH += common/lib controller/lib
VPATH += common/lib
subdirs: $(TARGETS) subdirs: $(TARGETS)
SRCS_TMP=$(SRCS:.il=.il.d) SRCS_TMP=$(SRCS:.il=.il.d)
-include $(SRCS_TMP:.c=.d) $(patsubst %.c,.libs/%.d,$(SRCS_TMP)) -include $(SRCS_TMP:.c=.d) $(patsubst %.c,.libs/%.d,$(SRCS_TMP))
SRCS_IL = $(filter %.il,$(SRCS))
$(SRCS_IL): $(IL2C)
subdirs_CLEAN: subdirs_CLEAN:
rm -rf $(CLEAN) rm -rf $(CLEAN)
...@@ -41,7 +41,7 @@ endif ...@@ -41,7 +41,7 @@ endif
define LIB_LINK define LIB_LINK
@echo "LT LD $@" @echo "LT LD $@"
@${LIBTOOL} --quiet --mode=link gcc $(filter %.lo,$^) -o $@ $(LDFLAGS) $($@_LDFLAGS) -static-libtool-libs @${LIBTOOL} --quiet --mode=link gcc $(filter %.lo,$^) -o $@ $(LDFLAGS) $($@_LDFLAGS) -static-libtool-libs -rpath $(abspath $(@D))
@echo "LT INST $@" @echo "LT INST $@"
@${LIBTOOL} --quiet --mode=install install $@ $(abspath $(@D)) @${LIBTOOL} --quiet --mode=install install $@ $(abspath $(@D))
endef endef
...@@ -52,11 +52,10 @@ endef ...@@ -52,11 +52,10 @@ endef
%.tab.c %.tab.h: %.y %.tab.c %.tab.h: %.y
@echo "BISON $<" @echo "BISON $<"
@bison -d $< @bison --defines=$*.tab.h $< -o $*.tab.c
%.yy.c %.yy.h: %.l %.tab.h %.yy.c %.yy.h: %.l %.tab.h
@echo " FLEX $<" @echo " FLEX $<"
@echo $(FLEX) --header-file=$*.yy.h -o $*.yy.c $<
@$(FLEX) --header-file=$*.yy.h -o $*.yy.c $< @$(FLEX) --header-file=$*.yy.h -o $*.yy.c $<
# il2c: instruction list 2 c 'compiler' # il2c: instruction list 2 c 'compiler'
......
LIBDIR:=$(DIR)/lib LIBDIR:=$(DIR)/lib
ABSLIBDIR:=$(abspath $(LIBDIR))
$(eval $(call SUBDIR,log)) $(eval $(call SUBDIR,log))
$(eval $(call SUBDIR,utils)) $(eval $(call SUBDIR,utils))
......
...@@ -10,7 +10,7 @@ ARCHOBJS := $(ARCHSRCS:.c=.lo) ...@@ -10,7 +10,7 @@ ARCHOBJS := $(ARCHSRCS:.c=.lo)
$(LIBDIR)/libcommand.la: libutils.la liblog.la $(LIBDIR)/libcommand.la: libutils.la liblog.la
$(LIBDIR)/libcommand.la: CFLAGS += -Wall -O3 -fPIC $(LIBDIR)/libcommand.la: CFLAGS += -Wall -O3 -fPIC
$(LIBDIR)/libcommand.la: LDFLAGS += -lutils -lm -llog -rpath $(ABSLIBDIR) $(LIBDIR)/libcommand.la: LDFLAGS += -lutils -lm -llog
$(LIBDIR)/libcommand.la: $(ARCHOBJS) $(LIBDIR)/libcommand.la: $(ARCHOBJS)
$(LIB_LINK) $(LIB_LINK)
......
...@@ -7,7 +7,7 @@ SRCS+=$(ARCHSRCS) ...@@ -7,7 +7,7 @@ SRCS+=$(ARCHSRCS)
TARGETS += $(LIBDIR)/liblog.la TARGETS += $(LIBDIR)/liblog.la
$(LIBDIR)/liblog.la: libutils.la $(LIBDIR)/liblog.la: libutils.la
$(LIBDIR)/liblog.la: LDFLAGS += -lutils -rpath $(ABSLIBDIR) $(LIBDIR)/liblog.la: LDFLAGS += -lutils
$(LIBDIR)/liblog.la: CFLAGS += -Wall -O3 -fPIC $(LIBDIR)/liblog.la: CFLAGS += -Wall -O3 -fPIC
$(LIBDIR)/liblog.la: $(ARCHOBJS) $(LIBDIR)/liblog.la: $(ARCHOBJS)
$(LIB_LINK) $(LIB_LINK)
......
...@@ -12,7 +12,7 @@ ARCHOBJS := $(ARCHSRCS:.c=.lo) ...@@ -12,7 +12,7 @@ ARCHOBJS := $(ARCHSRCS:.c=.lo)
$(LIBDIR)/libtrace.la: libutils.la liblog.la $(LIBDIR)/libtrace.la: libutils.la liblog.la
$(LIBDIR)/libtrace.la: CFLAGS += -Wall -O3 -fPIC $(LIBDIR)/libtrace.la: CFLAGS += -Wall -O3 -fPIC
$(LIBDIR)/libtrace.la: LDFLAGS += -lutils -llog -lm -rpath $(ABSLIBDIR) $(LIBDIR)/libtrace.la: LDFLAGS += -lutils -llog -lm
$(LIBDIR)/libtrace.la: $(ARCHOBJS) $(LIBDIR)/libtrace.la: $(ARCHOBJS)
$(LIB_LINK) $(LIB_LINK)
......
...@@ -22,7 +22,7 @@ ARCHOBJS := $(ARCHSRCS:.c=.lo) ...@@ -22,7 +22,7 @@ ARCHOBJS := $(ARCHSRCS:.c=.lo)
LU_CFLAGS := -Wall -g -fPIC LU_CFLAGS := -Wall -g -fPIC
LU_LDFLAGS := -lpthread -lrt -lm -rpath $(ABSLIBDIR) LU_LDFLAGS := -lpthread -lrt -lm
LU_CFLAGS += `pkg-config --cflags glib-2.0` LU_CFLAGS += `pkg-config --cflags glib-2.0`
LU_LDFLAGS += `pkg-config --libs glib-2.0` LU_LDFLAGS += `pkg-config --libs glib-2.0`
......
...@@ -17,9 +17,6 @@ LDFLAGS+= -ldl ...@@ -17,9 +17,6 @@ LDFLAGS+= -ldl
endif endif
dt_ctrl_LDFLAGS=`./controller/block_list.sh lib/*.a` \
-lcontroller -lblock -lethercat -llog -lshell \
-ldt_azimuth -ldt_elevation
all: dt_ctrl \ all: dt_ctrl \
test \ test \
......
IL2C=il2c/il2c
CFLAGS= -O3 -Wall \
-I../controller/ \
-I../../common/log/ -I../shell/ \
-I.. \
-I../../common/include \
-I../../common
BLOCKSRCS= \
block_add.c \
block_and2.il \
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_limit.c \
block_limit_dyn.c \
block_limit_2nd.c \
block_limit_var.c \
block_matrix_2x2.c \
block_multiplexer.c \
block_not.il \
block_or2.il \
block_or3.il \
block_or4.il \
block_pid.c \
block_pid_aw.c \
block_quadrature_decoder.c \
block_quantize.c \
block_random.c \
block_rangecheck.c \
block_register.il \
block_setpoint_generator.c \
block_setreset.il \
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
OS= $(shell uname -s)
ifneq ($(OS), FreeBSD)
BLOCKSRCS+= \
block_joystick.c
endif
SRCS= $(BLOCKSRCS)
BLOCKSRCSC=$(BLOCKSRCS:.c=.lo)
BLOCKS=$(BLOCKSRCSC:.il=.il2c.lo)
all: il2cdir libblock.la_install
il2cdir:
@echo " SUBDIR: $@"
@$(MAKE) -C il2c
.PHONY: il2cdir
$(BLOCKSRCS): il2cdir
libblock.la_LDFLAGS=-rpath ${CURDIR}/../lib -lm
libblock.la: $(BLOCKS)
libblock.la_install: libblock.la
@echo "CP $^ to libdir"
@${LIBTOOL} --quiet --mode=install install libblock.la ${CURDIR}/../lib
clean:
rm -rf *.o *.a *.yy.* *.tab.* *.d *.lo *.la .libs
@$(MAKE) -C il2c clean
include ../build.mk
...@@ -21,8 +21,8 @@ ...@@ -21,8 +21,8 @@
#include <stdlib.h> #include <stdlib.h>
#include <string.h> #include <string.h>
#include "controller_block.h" #include <controller/controller_block.h>
#include "block_add.h"
/* /*
inputs outputs inputs outputs
......
...@@ -20,7 +20,7 @@ ...@@ -20,7 +20,7 @@
#include <stdlib.h> #include <stdlib.h>
#include <string.h> #include <string.h>
#include "controller_block.h" #include <controller/controller_block.h>
/* /*
inputs outputs inputs outputs
......
...@@ -20,7 +20,7 @@ ...@@ -20,7 +20,7 @@
#include <stdlib.h> #include <stdlib.h>
#include <string.h> #include <string.h>
#include "controller_block.h" #include <controller/controller_block.h>
/* /*
inputs outputs inputs outputs
......
...@@ -21,7 +21,7 @@ ...@@ -21,7 +21,7 @@
#include <stdlib.h> #include <stdlib.h>
#include <string.h> #include <string.h>
#include "controller_block.h" #include <controller/controller_block.h>
/* /*
inputs inputs
......
...@@ -20,7 +20,7 @@ ...@@ -20,7 +20,7 @@
#include <stdlib.h> #include <stdlib.h>
#include <string.h> #include <string.h>
#include "controller_block.h" #include <controller/controller_block.h>
/* /*
inputs outputs inputs outputs
......
...@@ -21,8 +21,8 @@ ...@@ -21,8 +21,8 @@
#include <stdlib.h> #include <stdlib.h>
#include <string.h> #include <string.h>
#include "controller_block.h" #include <controller/controller_block.h>
#include "block_filter_iir.h" #include <block/block_filter_iir.h>
/* /*
inputs outputs inputs outputs
......
...@@ -19,7 +19,7 @@ ...@@ -19,7 +19,7 @@
#ifndef _INCLUDE_BLOCK_IIR_ #ifndef _INCLUDE_BLOCK_IIR_
#define _INCLUDE_BLOCK_IIR_ #define _INCLUDE_BLOCK_IIR_
#include "controller_block.h" #include <controller/controller_block.h>
struct controller_block * block_filter_iir_create(char *name); struct controller_block * block_filter_iir_create(char *name);
......
...@@ -21,8 +21,8 @@ ...@@ -21,8 +21,8 @@
#include <stdlib.h> #include <stdlib.h>
#include <string.h> #include <string.h>
#include "controller_block.h" #include <controller/controller_block.h>
#include "block_filter_lp.h"
/* /*
inputs outputs inputs outputs
......
...@@ -22,7 +22,7 @@ ...@@ -22,7 +22,7 @@
#include <string.h> #include <string.h>
#include <math.h> #include <math.h>
#include "controller_block.h" #include <controller/controller_block.h>
/* /*
inputs outputs inputs outputs
......
...@@ -21,7 +21,7 @@ ...@@ -21,7 +21,7 @@
#include <stdlib.h> #include <stdlib.h>
#include <string.h> #include <string.h>
#include "controller_block.h" #include <controller/controller_block.h>
/* /*
inputs outputs inputs outputs
......
...@@ -19,7 +19,7 @@ ...@@ -19,7 +19,7 @@
#ifndef _INCLUDE_BLOCK_GAIN_ #ifndef _INCLUDE_BLOCK_GAIN_
#define _INCLUDE_BLOCK_GAIN_ #define _INCLUDE_BLOCK_GAIN_
#include "controller_block.h" #include <controller/controller_block.h>
struct controller_block * block_gain_create(char *name); struct controller_block * block_gain_create(char *name);
......
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