66 lines
3.0 KiB
Makefile
66 lines
3.0 KiB
Makefile
CC ?= cc
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CFLAGS ?= -std=c11 -O2 -Wall -Wextra -Wpedantic
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CFLAGS += -I../../gps_system/header
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LDLIBS ?= -lm
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GPS_TIME_SOURCE := ../../gps_system/src/gps_time_anchor.c
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ESKF_SOURCES := ../../gps_system/src/eskf.c ../../gps_system/src/fusion_motion.c ../../gps_system/src/fusion_engine.c ../../gps_system/src/fusion_gps_adapter.c ../../gps_system/src/fusion_bus.c
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IMU_PROFILE_SOURCE := ../../gps_system/src/imu_sensor_profile.c
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.PHONY: all test sanitize profile benchmark clean
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all: standalone_gps_integrity_test eskf_motion_test fusion_synthetic_test imu_quality_synthetic_test
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standalone_gps_integrity_test: standalone_gps_integrity_test.c $(GPS_TIME_SOURCE)
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$(CC) $(CFLAGS) $^ -o $@ $(LDLIBS)
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eskf_motion_test: eskf_motion_test.c $(ESKF_SOURCES)
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$(CC) $(CFLAGS) $^ -o $@ $(LDLIBS)
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fusion_synthetic_test: fusion_synthetic_test.c $(ESKF_SOURCES)
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$(CC) $(CFLAGS) $^ -o $@ $(LDLIBS)
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imu_quality_synthetic_test: imu_quality_synthetic_test.c $(ESKF_SOURCES) $(IMU_PROFILE_SOURCE)
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$(CC) $(CFLAGS) $^ -o $@ $(LDLIBS)
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test: standalone_gps_integrity_test eskf_motion_test fusion_synthetic_test imu_quality_synthetic_test
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./standalone_gps_integrity_test
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./eskf_motion_test
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./fusion_synthetic_test
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./imu_quality_synthetic_test
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sanitize:
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$(CC) -std=c11 -O1 -g -Wall -Wextra -Wpedantic -Werror \
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-fsanitize=address,undefined -fno-omit-frame-pointer \
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-I../../gps_system/header eskf_motion_test.c $(ESKF_SOURCES) \
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-o eskf_motion_test_san $(LDLIBS)
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ASAN_OPTIONS=detect_leaks=1:halt_on_error=1 \
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UBSAN_OPTIONS=halt_on_error=1 ./eskf_motion_test_san
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$(CC) -std=c11 -O1 -g -Wall -Wextra -Wpedantic -Werror \
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-fsanitize=address,undefined -fno-omit-frame-pointer \
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-I../../gps_system/header fusion_synthetic_test.c $(ESKF_SOURCES) \
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-o fusion_synthetic_test_san $(LDLIBS)
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ASAN_OPTIONS=detect_leaks=1:halt_on_error=1 \
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UBSAN_OPTIONS=halt_on_error=1 ./fusion_synthetic_test_san
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$(CC) -std=c11 -O1 -g -Wall -Wextra -Wpedantic -Werror \
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-fsanitize=address,undefined -fno-omit-frame-pointer \
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-I../../gps_system/header imu_quality_synthetic_test.c $(ESKF_SOURCES) \
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$(IMU_PROFILE_SOURCE) -o imu_quality_synthetic_test_san $(LDLIBS)
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ASAN_OPTIONS=detect_leaks=1:halt_on_error=1 \
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UBSAN_OPTIONS=halt_on_error=1 ./imu_quality_synthetic_test_san
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profile:
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$(CC) -std=c11 -O2 -g -pg -Wall -Wextra -Wpedantic \
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-I../../gps_system/header fusion_synthetic_test.c $(ESKF_SOURCES) \
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-o fusion_synthetic_test_gprof $(LDLIBS)
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./fusion_synthetic_test_gprof
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gprof ./fusion_synthetic_test_gprof gmon.out
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benchmark: standalone_gps_integrity_test
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./standalone_gps_integrity_test --bench-clean 100000
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./standalone_gps_integrity_test --bench-single 100000
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./standalone_gps_integrity_test --bench-double 100000
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clean:
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rm -f standalone_gps_integrity_test standalone_gps_integrity_test_san standalone_gps_integrity_test_gprof eskf_motion_test eskf_motion_test_san fusion_synthetic_test fusion_synthetic_test_san fusion_synthetic_test_gprof fusion_synthetic_trace imu_quality_synthetic_test imu_quality_synthetic_test_san gmon.out
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