diff options
Diffstat (limited to 'apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_rtw.mk')
| -rwxr-xr-x | apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_rtw.mk | 328 |
1 files changed, 328 insertions, 0 deletions
diff --git a/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_rtw.mk b/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_rtw.mk new file mode 100755 index 000000000..b2123704b --- /dev/null +++ b/apps/attitude_estimator_ekf/codegen/attitudeKalmanfilter_rtw.mk @@ -0,0 +1,328 @@ +# Copyright 1994-2010 The MathWorks, Inc.
+#
+# File : xrt_vcx64.tmf $Revision: 1.1.6.1 $
+#
+# Abstract:
+# Code generation template makefile for building a Windows-based,
+# stand-alone real-time version of MATLAB-code using generated C/C++
+# code and the
+# Microsoft Visual C/C++ compiler version 8, 9, 10 for x64
+#
+# Note that this template is automatically customized by the
+# code generation build procedure to create "<model>.mk"
+#
+# The following defines can be used to modify the behavior of the
+# build:
+#
+# OPT_OPTS - Optimization option. See DEFAULT_OPT_OPTS in
+# vctools.mak for default.
+# OPTS - User specific options.
+# CPP_OPTS - C++ compiler options.
+# USER_SRCS - Additional user sources, such as files needed by
+# S-functions.
+# USER_INCLUDES - Additional include paths
+# (i.e. USER_INCLUDES="-Iwhere-ever -Iwhere-ever2")
+#
+# To enable debugging:
+# set OPT_OPTS=-Zi (may vary with compiler version, see compiler doc)
+# modify tmf LDFLAGS to include /DEBUG
+#
+
+#------------------------ Macros read by make_rtw -----------------------------
+#
+# The following macros are read by the code generation build procedure:
+#
+# MAKECMD - This is the command used to invoke the make utility
+# HOST - What platform this template makefile is targeted for
+# (i.e. PC or UNIX)
+# BUILD - Invoke make from the code generation build procedure
+# (yes/no)?
+# SYS_TARGET_FILE - Name of system target file.
+
+MAKECMD = nmake
+HOST = PC
+BUILD = yes
+SYS_TARGET_FILE = ert.tlc
+BUILD_SUCCESS = ^#^#^# Created
+COMPILER_TOOL_CHAIN = vcx64
+
+#---------------------- Tokens expanded by make_rtw ---------------------------
+#
+# The following tokens, when wrapped with "|>" and "<|" are expanded by the
+# code generation build procedure.
+#
+# MODEL_NAME - Name of the Simulink block diagram
+# MODEL_MODULES - Any additional generated source modules
+# MAKEFILE_NAME - Name of makefile created from template makefile <model>.mk
+# MATLAB_ROOT - Path to where MATLAB is installed.
+# MATLAB_BIN - Path to MATLAB executable.
+# S_FUNCTIONS - List of S-functions.
+# S_FUNCTIONS_LIB - List of S-functions libraries to link.
+# SOLVER - Solver source file name
+# NUMST - Number of sample times
+# TID01EQ - yes (1) or no (0): Are sampling rates of continuous task
+# (tid=0) and 1st discrete task equal.
+# NCSTATES - Number of continuous states
+# BUILDARGS - Options passed in at the command line.
+# MULTITASKING - yes (1) or no (0): Is solver mode multitasking
+# EXT_MODE - yes (1) or no (0): Build for external mode
+# TMW_EXTMODE_TESTING - yes (1) or no (0): Build ext_test.c for external mode
+# testing.
+# EXTMODE_TRANSPORT - Index of transport mechanism (e.g. tcpip, serial) for extmode
+# EXTMODE_STATIC - yes (1) or no (0): Use static instead of dynamic mem alloc.
+# EXTMODE_STATIC_SIZE - Size of static memory allocation buffer.
+
+MODEL = attitudeKalmanfilter
+MODULES = attitudeKalmanfilter.c eye.c mrdivide.c norm.c attitudeKalmanfilter_initialize.c attitudeKalmanfilter_terminate.c rt_nonfinite.c rtGetNaN.c rtGetInf.c
+MAKEFILE = attitudeKalmanfilter_rtw.mk
+MATLAB_ROOT = C:\Program Files\MATLAB\R2011a
+ALT_MATLAB_ROOT = C:\PROGRA~1\MATLAB\R2011a
+MATLAB_BIN = C:\Program Files\MATLAB\R2011a\bin
+ALT_MATLAB_BIN = C:\PROGRA~1\MATLAB\R2011a\bin
+S_FUNCTIONS =
+S_FUNCTIONS_LIB =
+SOLVER =
+NUMST = 1
+TID01EQ = 0
+NCSTATES = 0
+BUILDARGS = GENERATE_REPORT=1 ADD_MDL_NAME_TO_GLOBALS=0
+MULTITASKING = 0
+EXT_MODE = 0
+TMW_EXTMODE_TESTING = 0
+EXTMODE_TRANSPORT = 0
+EXTMODE_STATIC = 0
+EXTMODE_STATIC_SIZE = 1000000
+
+MODELREFS =
+SHARED_SRC =
+SHARED_SRC_DIR =
+SHARED_BIN_DIR =
+SHARED_LIB =
+TARGET_LANG_EXT = c
+OPTIMIZATION_FLAGS = /O2 /Oy-
+ADDITIONAL_LDFLAGS =
+
+#--------------------------- Model and reference models -----------------------
+MODELLIB = attitudeKalmanfilter.lib
+MODELREF_LINK_LIBS =
+MODELREF_LINK_RSPFILE = attitudeKalmanfilter_ref.rsp
+MODELREF_INC_PATH =
+RELATIVE_PATH_TO_ANCHOR = F:\CODEGE~1
+MODELREF_TARGET_TYPE = RTW
+
+!if "$(MATLAB_ROOT)" != "$(ALT_MATLAB_ROOT)"
+MATLAB_ROOT = $(ALT_MATLAB_ROOT)
+!endif
+!if "$(MATLAB_BIN)" != "$(ALT_MATLAB_BIN)"
+MATLAB_BIN = $(ALT_MATLAB_BIN)
+!endif
+
+#--------------------------- Tool Specifications ------------------------------
+
+CPU = AMD64
+!include $(MATLAB_ROOT)\rtw\c\tools\vctools.mak
+APPVER = 5.02
+
+PERL = $(MATLAB_ROOT)\sys\perl\win32\bin\perl
+#------------------------------ Include/Lib Path ------------------------------
+
+MATLAB_INCLUDES = $(MATLAB_ROOT)\simulink\include
+MATLAB_INCLUDES = $(MATLAB_INCLUDES);$(MATLAB_ROOT)\extern\include
+MATLAB_INCLUDES = $(MATLAB_INCLUDES);$(MATLAB_ROOT)\rtw\c\src
+MATLAB_INCLUDES = $(MATLAB_INCLUDES);$(MATLAB_ROOT)\rtw\c\src\ext_mode\common
+
+# Additional file include paths
+
+MATLAB_INCLUDES = $(MATLAB_INCLUDES);F:\codegenerationMatlabAttFilter\codegen\lib\attitudeKalmanfilter
+MATLAB_INCLUDES = $(MATLAB_INCLUDES);F:\codegenerationMatlabAttFilter
+
+INCLUDE = .;$(RELATIVE_PATH_TO_ANCHOR);$(MATLAB_INCLUDES);$(INCLUDE);$(MODELREF_INC_PATH)
+
+!if "$(SHARED_SRC_DIR)" != ""
+INCLUDE = $(INCLUDE);$(SHARED_SRC_DIR)
+!endif
+
+#------------------------ External mode ---------------------------------------
+# Uncomment -DVERBOSE to have information printed to stdout
+# To add a new transport layer, see the comments in
+# <matlabroot>/toolbox/simulink/simulink/extmode_transports.m
+!if $(EXT_MODE) == 1
+EXT_CC_OPTS = -DEXT_MODE # -DVERBOSE
+!if $(EXTMODE_TRANSPORT) == 0 #tcpip
+EXT_SRC = updown.c rtiostream_interface.c rtiostream_tcpip.c
+EXT_LIB = wsock32.lib
+!endif
+!if $(EXTMODE_TRANSPORT) == 1 #serial_win32
+EXT_SRC = ext_svr.c updown.c ext_work.c ext_svr_serial_transport.c
+EXT_SRC = $(EXT_SRC) ext_serial_pkt.c ext_serial_win32_port.c
+EXT_LIB =
+!endif
+!if $(TMW_EXTMODE_TESTING) == 1
+EXT_SRC = $(EXT_SRC) ext_test.c
+EXT_CC_OPTS = $(EXT_CC_OPTS) -DTMW_EXTMODE_TESTING
+!endif
+!if $(EXTMODE_STATIC) == 1
+EXT_SRC = $(EXT_SRC) mem_mgr.c
+EXT_CC_OPTS = $(EXT_CC_OPTS) -DEXTMODE_STATIC -DEXTMODE_STATIC_SIZE=$(EXTMODE_STATIC_SIZE)
+!endif
+!else
+EXT_SRC =
+EXT_CC_OPTS =
+EXT_LIB =
+!endif
+
+#------------------------ rtModel ----------------------------------------------
+
+RTM_CC_OPTS = -DUSE_RTMODEL
+
+#----------------- Compiler and Linker Options --------------------------------
+
+# Optimization Options
+# Set OPT_OPTS=-Zi for debugging (may depend on compiler version)
+OPT_OPTS = $(DEFAULT_OPT_OPTS)
+
+# General User Options
+OPTS =
+
+!if "$(OPTIMIZATION_FLAGS)" != ""
+CC_OPTS = $(OPTS) $(EXT_CC_OPTS) $(RTM_CC_OPTS) $(OPTIMIZATION_FLAGS)
+!else
+CC_OPTS = $(OPT_OPTS) $(OPTS) $(EXT_CC_OPTS) $(RTM_CC_OPTS)
+!endif
+
+CPP_REQ_DEFINES = -DMODEL=$(MODEL) -DRT -DNUMST=$(NUMST) \
+ -DTID01EQ=$(TID01EQ) -DNCSTATES=$(NCSTATES) \
+ -DMT=$(MULTITASKING) -DHAVESTDIO
+
+# Uncomment this line to move warning level to W4
+# cflags = $(cflags:W3=W4)
+CFLAGS = $(CC_OPTS) $(CPP_REQ_DEFINES) $(USER_INCLUDES) \
+ $(cflags) $(cvarsmt) /wd4996
+CPPFLAGS = $(CPP_OPTS) $(CC_OPTS) $(CPP_REQ_DEFINES) $(USER_INCLUDES) \
+ $(cflags) $(cvarsmt) /wd4996 /EHsc-
+LDFLAGS = $(ldebug) $(conflags) $(EXT_LIB) $(conlibs) libcpmt.lib $(ADDITIONAL_LDFLAGS)
+
+# libcpmt.lib is the multi-threaded, static lib version of the C++ standard lib
+
+#----------------------------- Source Files -----------------------------------
+
+
+#Standalone executable
+!if "$(MODELREF_TARGET_TYPE)" == "NONE"
+PRODUCT = $(RELATIVE_PATH_TO_ANCHOR)\$(MODEL).exe
+REQ_SRCS = $(MODULES) $(EXT_SRC)
+
+#Model Reference Target
+!else
+PRODUCT = $(MODELLIB)
+REQ_SRCS = $(MODULES) $(EXT_SRC)
+!endif
+
+USER_SRCS =
+
+SRCS = $(REQ_SRCS) $(USER_SRCS) $(S_FUNCTIONS)
+OBJS_CPP_UPPER = $(SRCS:.CPP=.obj)
+OBJS_CPP_LOWER = $(OBJS_CPP_UPPER:.cpp=.obj)
+OBJS_C_UPPER = $(OBJS_CPP_LOWER:.C=.obj)
+OBJS = $(OBJS_C_UPPER:.c=.obj)
+SHARED_OBJS = $(SHARED_SRC:.c=.obj)
+# ------------------------- Additional Libraries ------------------------------
+
+LIBS =
+
+
+LIBS = $(LIBS)
+
+# ---------------------------- Linker Script ----------------------------------
+
+CMD_FILE = $(MODEL).lnk
+GEN_LNK_SCRIPT = $(MATLAB_ROOT)\rtw\c\tools\mkvc_lnk.pl
+
+#--------------------------------- Rules --------------------------------------
+all: set_environment_variables $(PRODUCT)
+
+!if "$(MODELREF_TARGET_TYPE)" == "NONE"
+#--- Stand-alone model ---
+$(PRODUCT) : $(OBJS) $(SHARED_LIB) $(LIBS) $(MODELREF_LINK_LIBS)
+ @cmd /C "echo ### Linking ..."
+ $(PERL) $(GEN_LNK_SCRIPT) $(CMD_FILE) $(OBJS)
+ $(LD) $(LDFLAGS) $(S_FUNCTIONS_LIB) $(SHARED_LIB) $(LIBS) $(MAT_LIBS) @$(CMD_FILE) @$(MODELREF_LINK_RSPFILE) -out:$@
+ @del $(CMD_FILE)
+ @cmd /C "echo $(BUILD_SUCCESS) executable $(MODEL).exe"
+!else
+#--- Model reference code generation Target ---
+$(PRODUCT) : $(OBJS) $(SHARED_LIB)
+ @cmd /C "echo ### Linking ..."
+ $(PERL) $(GEN_LNK_SCRIPT) $(CMD_FILE) $(OBJS)
+ $(LD) -lib /OUT:$(PRODUCT) @$(CMD_FILE) $(S_FUNCTIONS_LIB)
+ @cmd /C "echo $(BUILD_SUCCESS) static library $(MODELLIB)"
+!endif
+
+{$(MATLAB_ROOT)\rtw\c\src}.c.obj :
+ @cmd /C "echo ### Compiling $<"
+ $(CC) $(CFLAGS) $<
+
+{$(MATLAB_ROOT)\rtw\c\src\ext_mode\common}.c.obj :
+ @cmd /C "echo ### Compiling $<"
+ $(CC) $(CFLAGS) $<
+
+{$(MATLAB_ROOT)\rtw\c\src\rtiostream\rtiostreamtcpip}.c.obj :
+ @cmd /C "echo ### Compiling $<"
+ $(CC) $(CFLAGS) $<
+
+{$(MATLAB_ROOT)\rtw\c\src\ext_mode\serial}.c.obj :
+ @cmd /C "echo ### Compiling $<"
+ $(CC) $(CFLAGS) $<
+
+{$(MATLAB_ROOT)\rtw\c\src\ext_mode\custom}.c.obj :
+ @cmd /C "echo ### Compiling $<"
+ $(CC) $(CFLAGS) $<
+
+# Additional sources
+
+
+
+
+
+# Put these rule last, otherwise nmake will check toolboxes first
+
+{$(RELATIVE_PATH_TO_ANCHOR)}.c.obj :
+ @cmd /C "echo ### Compiling $<"
+ $(CC) $(CFLAGS) $<
+
+{$(RELATIVE_PATH_TO_ANCHOR)}.cpp.obj :
+ @cmd /C "echo ### Compiling $<"
+ $(CC) $(CPPFLAGS) $<
+
+.c.obj :
+ @cmd /C "echo ### Compiling $<"
+ $(CC) $(CFLAGS) $<
+
+.cpp.obj :
+ @cmd /C "echo ### Compiling $<"
+ $(CC) $(CPPFLAGS) $<
+
+!if "$(SHARED_LIB)" != ""
+$(SHARED_LIB) : $(SHARED_SRC)
+ @cmd /C "echo ### Creating $@"
+ @$(CC) $(CFLAGS) -Fo$(SHARED_BIN_DIR)\ @<<
+$?
+<<
+ @$(LIBCMD) /nologo /out:$@ $(SHARED_OBJS)
+ @cmd /C "echo ### $@ Created"
+!endif
+
+
+set_environment_variables:
+ @set INCLUDE=$(INCLUDE)
+ @set LIB=$(LIB)
+
+# Libraries:
+
+
+
+
+
+#----------------------------- Dependencies -----------------------------------
+
+$(OBJS) : $(MAKEFILE) rtw_proj.tmw
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