TARGET := gps_system

# The current Genesys2 Rocket/fabric domain that clocks the UART is 50 MHz.
# Keep the requested 115200 baud physical rather than producing 57600 baud
# with the common 100 MHz fallback divider.
BSP_UART_CLOCK_HZ ?= 50000000

APP_SRCS := \
	gps_test.c \
	src/tdk_icm42688.c \
	src/eskf.c \
	src/fusion_motion.c \
	src/fusion_engine.c \
	src/fusion_bus.c \
	src/fusion_gps_adapter.c \
	src/navigation_fusion.c \
	src/gps_fusion_publisher.c \
	src/gps_ip.c \
	src/gps_interrupt_handlers.c \
	src/gps_time_anchor.c \
	src/gps_pps.c \
	src/linked_list.c \
	src/NavEquations.c \
	src/matrixLib.c

BSP_SRCS := init.c uart.c plic.c irq.c spi_flash.c pmod_spi.c

TDK_IMU_ODR_HZ ?= 500
GPS_NAV_SOLVE_TIMER_TICKS ?= 50

include ../common/app.mk

CFLAGS += -Iheader
CFLAGS += -DTDK_IMU_ODR_HZ=$(TDK_IMU_ODR_HZ) \
	-DGPS_NAV_SOLVE_TIMER_TICKS=$(GPS_NAV_SOLVE_TIMER_TICKS)
LDLIBS += -lm

ifeq ($(GPS_DEBUG),1)
CFLAGS += -DDEBUG -DGPS_DEBUG_LEVEL=$(GPS_DEBUG_LEVEL)
endif

ifeq ($(GPS_NAV_DIAGNOSTICS),1)
CFLAGS += -DGPS_NAV_JUMP_DIAGNOSTICS=1
endif