Changes to build system so swiftlib is built as a library and linked …

…with the firmware image.

Makefile

@@ -14,15 +14,19 @@ else
 	MAKEFLAGS += PRN=$(PRN)
 endif
 
-.PHONY: all tests firmware docs
+.PHONY: all tests firmware docs libswiftnav
 
-all: firmware tests
+all: libswiftnav firmware tests
 
-firmware:
+libswiftnav:
+	@printf "BUILD   libswiftnav\n"; \
+	$(MAKE) -C libswiftnav $(MAKEFLAGS)
+
+firmware: libswiftnav
 	@printf "BUILD   src\n"; \
 	$(MAKE) -C src $(MAKEFLAGS)
 
-tests:
+tests: libswiftnav
 	$(Q)for i in tests/*; do \
 		if [ -d $$i ]; then \
 			printf "BUILD   $$i\n"; \
@@ -31,6 +35,8 @@ tests:
 	done
 
 clean:
+	@printf "CLEAN   libswiftnav\n"; \
+	$(MAKE) -C libswiftnav $(MAKEFLAGS) clean
 	@printf "CLEAN   src\n"; \
 	$(MAKE) -C src $(MAKEFLAGS) clean
 	$(Q)for i in tests/*; do \

libswiftnav/Makefile

@@ -0,0 +1,63 @@
+##
+## This file is part of the libopencm3 project.
+##
+## Copyright (C) 2009 Uwe Hermann <[email protected]>
+## Copyright (C) 2012 Fergus Noble <[email protected]>
+##
+## This program is free software: you can redistribute it and/or modify
+## it under the terms of the GNU General Public License as published by
+## the Free Software Foundation, either version 3 of the License, or
+## (at your option) any later version.
+##
+## This program is distributed in the hope that it will be useful,
+## but WITHOUT ANY WARRANTY; without even the implied warranty of
+## MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+## GNU General Public License for more details.
+##
+## You should have received a copy of the GNU General Public License
+## along with this program.  If not, see <http://www.gnu.org/licenses/>.
+##
+
+LIBNAME		= libswiftnav
+
+PREFIX	?= arm-none-eabi
+CC		= $(PREFIX)-gcc
+AR		= $(PREFIX)-ar
+CFLAGS += -O3 -g -Wall -Wextra -Werror \
+		   -mcpu=cortex-m3 -mthumb -Wstrict-prototypes \
+		   -ffunction-sections -fdata-sections -MD \
+		   -fno-common -msoft-float \
+		   -DGIT_VERSION="\"$(GIT_VERSION)\"" -std=gnu99
+# ARFLAGS	= rcsv
+ARFLAGS	= rcs
+OBJS = linear_algebra.o \
+			 coord_system.o \
+			 pvt.o \
+			 track.o \
+			 nav_msg.o \
+			 ephemeris.o \
+			 tropo.o \
+
+# Be silent per default, but 'make V=1' will show all compiler calls.
+ifneq ($(V),1)
+Q := @
+endif
+
+all: $(LIBNAME).a
+
+$(LIBNAME).a: $(OBJS)
+	@printf "  AR      $(subst $(shell pwd)/,,$(@))\n"
+	$(Q)$(AR) $(ARFLAGS) $@ $^
+
+%.o: %.c
+	@printf "  CC      $(subst $(shell pwd)/,,$(@))\n"
+	$(Q)$(CC) $(CFLAGS) -o $@ -c $<
+
+clean:
+	$(Q)rm -f *.o *.d
+	$(Q)rm -f $(LIBNAME).a
+
+.PHONY: clean
+
+-include $(OBJS:.o=.d)
+

src/Makefile

@@ -1,13 +1,5 @@
 BINARY = swiftnav-firmware
 
-SWIFTLIB_OBJS = ../swiftlib/linear_algebra.o \
-                ../swiftlib/coord_system.o \
-                ../swiftlib/pvt.o \
-                ../swiftlib/track.o \
-                ../swiftlib/nav_msg.o \
-                ../swiftlib/ephemeris.o \
-                ../swiftlib/tropo.o \
-
 OBJS = main.o \
        debug.o \
        swift_nap_io.o \
@@ -21,7 +13,6 @@ OBJS = main.o \
        hw/leds.o \
        hw/spi.o \
        hw/usart.o \
-       $(SWIFTLIB_OBJS)
 
 include ../stm32/Makefile.include
 

stm32/Makefile.include

@@ -34,7 +34,7 @@ CFLAGS += -O3 -g -Wall -Wextra -Werror -I$(TOOLCHAIN_DIR)/include -I$(SWIFTNAV_R
        -fno-common -mcpu=cortex-m3 -mthumb -msoft-float -MD -DSTM32F2 \
        -DGIT_VERSION="\"$(GIT_VERSION)\"" -std=gnu99
 LDSCRIPT = $(SWIFTNAV_ROOT)/stm32/swiftnav.ld
-LDFLAGS += -lc -lnosys -L$(TOOLCHAIN_DIR)/lib \
+LDFLAGS += -lc -lnosys -L$(TOOLCHAIN_DIR)/lib -L$(SWIFTNAV_ROOT)/libswiftnav \
         -L$(TOOLCHAIN_DIR)/lib/stm32/f2 \
         -T$(LDSCRIPT) -nostartfiles -Wl,--gc-sections \
         -mthumb -march=armv7 -mfix-cortex-m3-ldrd -msoft-float -lm
@@ -81,7 +81,7 @@ flash: $(BINARY).flash
 
 %.elf: $(OBJS)
 	@printf "  LD      $(subst $(shell pwd)/,,$(@))\n"
-	$(Q)$(LD) -o $(*).elf $(OBJS) -lopencm3_stm32f2 -Xlinker -Map=$(*).map $(LDFLAGS)
+	$(Q)$(LD) -o $(*).elf $(OBJS) -lopencm3_stm32f2 -lswiftnav -Xlinker -Map=$(*).map $(LDFLAGS)
 
 %.o: %.c Makefile
 	@printf "  CC      $(subst $(shell pwd)/,,$(@))\n"