Add libswiftnav as a submodule.

.gitmodules

@@ -1,3 +1,6 @@
 [submodule "libopencm3"]
 	path = libopencm3
 	url = https://github.com/libopencm3/libopencm3.git
+[submodule "libswiftnav"]
+	path = libswiftnav
+	url = https://github.com/swift-nav/libswiftnav.git

Makefile

@@ -14,11 +14,11 @@ else
 	MAKEFLAGS += PRN=$(PRN)
 endif
 
-.PHONY: all tests firmware bootloader docs libopencm3
+.PHONY: all tests firmware bootloader docs libopencm3 libswiftnav
 
 all: firmware bootloader tests
 
-firmware: libopencm3
+firmware: libopencm3 libswiftnav
 	@printf "BUILD   src\n"; \
 	$(MAKE) -C src $(MAKEFLAGS)
 
@@ -38,13 +38,21 @@ libopencm3:
 	@printf "BUILD   libopencm3\n"; \
 	$(MAKE) -C libopencm3 $(MAKEFLAGS)
 
+libswiftnav:
+	@printf "BUILD   libswiftnav\n"; \
+	mkdir -p libswiftnav/build; cd libswiftnav/build; \
+	cmake -DCMAKE_TOOLCHAIN_FILE=../cmake/Toolchain-gcc-arm-embedded.cmake ../
+
+	$(MAKE) -C libswiftnav/build $(MAKEFLAGS)
 clean:
 	@printf "CLEAN   src\n"; \
 	$(MAKE) -C src $(MAKEFLAGS) clean
 	@printf "CLEAN   bootloader\n"; \
 	$(MAKE) -C bootloader $(MAKEFLAGS) clean
 	@printf "CLEAN   libopencm3\n"; \
 	$(MAKE) -C libopencm3 $(MAKEFLAGS) clean
+	@printf "CLEAN   libswiftnav\n"; \
+	$(RM) -rf libswiftnav/build
 	$(Q)for i in tests/*; do \
 		if [ -d $$i ]; then \
 			printf "CLEAN   $$i\n"; \

bootloader/Makefile

@@ -55,14 +55,18 @@ CFLAGS += -Os -Wall -Wextra -Werror -std=gnu99 \
 			    -mcpu=cortex-m4 -march=armv7e-m -mthumb \
 			    -mfloat-abi=hard -mfpu=fpv4-sp-d16
 
-CFLAGS += -I$(SWIFTNAV_ROOT)/src -I../libopencm3/include
+CFLAGS += -I$(SWIFTNAV_ROOT)/src \
+          -I$(SWIFTNAV_ROOT)/libopencm3/include \
+          -I$(SWIFTNAV_ROOT)/libswiftnav/include
 
 LDSCRIPT ?= $(SWIFTNAV_ROOT)/stm32/swiftnav.ld
 LDFLAGS += -lc -lnosys -T$(LDSCRIPT) -nostartfiles \
 					 -Wl,-wrap,printf -Wl,--gc-sections \
 					 -mcpu=cortex-m4 -march=armv7e-m -mthumb \
 					 -mfloat-abi=hard -mfpu=fpv4-sp-d16 \
-					 -lopencm3_stm32f4 -lswiftnav-static-cortex-m4 -lm -L../libopencm3/lib
+					 -lopencm3_stm32f4 -lswiftnav-static-cortex-m4 -lm \
+					 -L$(SWIFTNAV_ROOT)/libopencm3/lib \
+					 -L$(SWIFTNAV_ROOT)/libswiftnav/build/src
 
 # Be silent per default, but 'make V=1' will show all compiler calls.
 ifneq ($(V),1)

stm32/Makefile.include

@@ -60,14 +60,17 @@ CFLAGS += -O0 -g -Wall -Wextra -Werror -std=gnu99 \
           -mcpu=cortex-m4 -march=armv7e-m -mthumb \
           -mfloat-abi=hard -mfpu=fpv4-sp-d16
 
-CFLAGS += -I$(SWIFTNAV_ROOT)/src -I$(SWIFTNAV_ROOT)/libopencm3/include
+CFLAGS += -I$(SWIFTNAV_ROOT)/src \
+          -I$(SWIFTNAV_ROOT)/libopencm3/include \
+          -I$(SWIFTNAV_ROOT)/libswiftnav/include
 
 LDSCRIPT ?= $(SWIFTNAV_ROOT)/stm32/swiftnav.ld
 LDFLAGS += -lc -lnosys -T$(LDSCRIPT) -nostartfiles -Wl,--gc-sections \
            -mcpu=cortex-m4 -march=armv7e-m -mthumb \
            -mfloat-abi=hard -mfpu=fpv4-sp-d16 \
            -lopencm3_stm32f4 -lswiftnav-static-cortex-m4 -lm \
-           -L$(SWIFTNAV_ROOT)/libopencm3/lib
+           -L$(SWIFTNAV_ROOT)/libopencm3/lib \
+           -L$(SWIFTNAV_ROOT)/libswiftnav/build/src
 
 OOCD ?= openocd
 OOCD_INTERFACE ?= flossjtag