Makefile-native-shared

#
# Makefile for eMPL Linux userland implementation
#

CC = gcc
CFLAGS = -Wall -fPIC

# add -DI2C_DEBUG for debugging
#for MPU9150:
#DEFS = -DEMPL_TARGET_LINUX -DMPU9150 -DAK8975_SECONDARY
#for MPU6050 with no magnetometer:
DEFS = -DEMPL_TARGET_LINUX -DMPU6050

EMPLDIR = eMPL
GLUEDIR = glue
MPUDIR = mpu9150

OBJS = inv_mpu.o \
       inv_mpu_dmp_motion_driver.o \
       linux_glue.o \
       mpu9150.o \
       quaternion.o \
       vector3d.o


all : libimu imucal


libimu : $(OBJS) libimu.o
	$(CC) libimu.o $(OBJS) -shared -o libimu.so
	sudo cp -f ./libimu.so /usr/lib/libimu.so

imucal : $(OBJS) imucal.o
	$(CC) $(CFLAGS) $(OBJS) imucal.o -lm -o imucal

libimu.o : libimu.c
	$(CC) $(CFLAGS) -I $(EMPLDIR) -I $(GLUEDIR) -I $(MPUDIR) $(DEFS) -c libimu.c

imucal.o : imucal.c
	$(CC) $(CFLAGS) -I $(EMPLDIR) -I $(GLUEDIR) -I $(MPUDIR) $(DEFS) -c imucal.c

mpu9150.o : $(MPUDIR)/mpu9150.c
	$(CC) $(CFLAGS) $(DEFS) -I $(EMPLDIR) -I $(GLUEDIR) -c $(MPUDIR)/mpu9150.c

quaternion.o : $(MPUDIR)/quaternion.c
	$(CC) $(CFLAGS) $(DEFS) -c $(MPUDIR)/quaternion.c

vector3d.o : $(MPUDIR)/vector3d.c
	$(CC) $(CFLAGS) $(DEFS) -c $(MPUDIR)/vector3d.c

linux_glue.o : $(GLUEDIR)/linux_glue.c
	$(CC) $(CFLAGS) $(DEFS) -I $(EMPLDIR) -I $(GLUEDIR) -c $(GLUEDIR)/linux_glue.c

inv_mpu_dmp_motion_driver.o : $(EMPLDIR)/inv_mpu_dmp_motion_driver.c
	$(CC) $(CFLAGS) $(DEFS) -I $(EMPLDIR) -I $(GLUEDIR) -c $(EMPLDIR)/inv_mpu_dmp_motion_driver.c

inv_mpu.o : $(EMPLDIR)/inv_mpu.c
	$(CC) $(CFLAGS) $(DEFS) -I $(EMPLDIR) -I $(GLUEDIR) -c $(EMPLDIR)/inv_mpu.c

clean:
	rm -f *.o *.a *.so

veryclean: clean
	rm -f imu imucal