1 files changed, 111 insertions, 0 deletions
diff --git a/unittests/Makefile b/unittests/Makefile
new file mode 100644
index 000000000..e55411a75
--- /dev/null
+++ b/unittests/Makefile
@@ -0,0 +1,111 @@
+
+CC=g++
+CFLAGS=-I. -I../src/modules -I ../src/include -I../src/drivers \
+	-I../src -I../src/lib -D__EXPORT="" -Dnullptr="0" -lm
+
+# Points to the root of Google Test, relative to where this file is.
+# Remember to tweak this if you move this file.
+GTEST_DIR = gtest
+
+# Flags passed to the preprocessor.
+# Set Google Test's header directory as a system directory, such that
+# the compiler doesn't generate warnings in Google Test headers.
+CFLAGS += -isystem $(GTEST_DIR)/include
+
+# All Google Test headers.  Usually you shouldn't change this
+# definition.
+GTEST_HEADERS = $(GTEST_DIR)/include/gtest/*.h \
+                $(GTEST_DIR)/include/gtest/internal/*.h
+
+# Usually you shouldn't tweak such internal variables, indicated by a
+# trailing _.
+GTEST_SRCS_ = $(GTEST_DIR)/src/*.cc $(GTEST_DIR)/src/*.h $(GTEST_HEADERS)
+
+# For simplicity and to avoid depending on Google Test's
+# implementation details, the dependencies specified below are
+# conservative and not optimized.  This is fine as Google Test
+# compiles fast and for ordinary users its source rarely changes.
+gtest-all.o: $(GTEST_SRCS_)
+	$(CC) $(CFLAGS) -I$(GTEST_DIR) -c \
+            $(GTEST_DIR)/src/gtest-all.cc
+
+gtest_main.o: $(GTEST_SRCS_)
+	$(CC) $(CFLAGS) -I$(GTEST_DIR) -c \
+            $(GTEST_DIR)/src/gtest_main.cc
+
+gtest.a: gtest-all.o
+	$(AR) $(ARFLAGS) $@ $^
+
+gtest_main.a: gtest-all.o gtest_main.o
+	$(AR) $(ARFLAGS) $@ $^
+
+
+all: sample_unittest mixer_test sbus2_test autodeclination_test st24_test sf0x_test
+
+MIXER_FILES=../src/systemcmds/tests/test_mixer.cpp \
+		../src/systemcmds/tests/test_conv.cpp \
+		../src/modules/systemlib/mixer/mixer_simple.cpp \
+		../src/modules/systemlib/mixer/mixer_multirotor.cpp \
+		../src/modules/systemlib/mixer/mixer.cpp \
+		../src/modules/systemlib/mixer/mixer_group.cpp \
+		../src/modules/systemlib/mixer/mixer_load.c \
+		../src/modules/systemlib/pwm_limit/pwm_limit.c \
+		hrt.cpp \
+		mixer_test.cpp
+
+SBUS2_FILES=../src/modules/px4iofirmware/sbus.c \
+		hrt.cpp \
+		sbus2_test.cpp
+
+ST24_FILES=../src/lib/rc/st24.c \
+		hrt.cpp \
+		st24_test.cpp
+
+SF0X_FILES= \
+		hrt.cpp \
+		sf0x_test.cpp \
+		../src/drivers/sf0x/sf0x_parser.cpp
+
+AUTODECLINATION_FILES= ../src/lib/geo_lookup/geo_mag_declination.c \
+		hrt.cpp \
+		autodeclination_test.cpp
+
+# Builds a sample test. A test should link with either gtest.a or
+# gtest_main.a, depending on whether it defines its own main()
+# function.
+sample.o: sample.cc sample.h $(GTEST_HEADERS)
+	$(CC) $(CFLAGS) -c sample.cc
+
+sample_unittest.o: sample_unittest.cc \
+                     sample.h $(GTEST_HEADERS)
+	$(CC) $(CFLAGS) -c sample_unittest.cc
+
+sample_unittest: sample.o sample_unittest.o gtest_main.a
+	$(CC) $(CFLAGS) $^ -o $@
+
+
+mixer_test: $(MIXER_FILES)
+	$(CC) -o mixer_test $(MIXER_FILES) $(CFLAGS)
+
+sbus2_test: $(SBUS2_FILES)
+	$(CC) -o sbus2_test $(SBUS2_FILES) $(CFLAGS)
+
+sf0x_test: $(SF0X_FILES)
+	$(CC) -o sf0x_test $(SF0X_FILES) $(CFLAGS)
+
+autodeclination_test: $(SBUS2_FILES)
+	$(CC) -o autodeclination_test $(AUTODECLINATION_FILES) $(CFLAGS)
+
+st24_test: $(ST24_FILES)
+	$(CC) -o st24_test $(ST24_FILES) $(CFLAGS)
+
+unittests: clean mixer_test sbus2_test sf0x_test autodeclination_test st24_test
+	./mixer_test
+	./sbus2_test
+	./sf0x_test
+	./autodeclination_test
+	./st24_test
+
+.PHONY: clean
+clean:
+	rm -f gtest.a gtest_main.a *.o $(ODIR)/*.o *~ core $(INCDIR)/*~ sample_unittest mixer_test sbus2_test autodeclination_test st24_test sf0x_test