################################################################################
#
# IMU Calibration NanoApp Makefile
#
################################################################################

# Aliases ######################################################################

ALGOS_DIR = $(ANDROID_BUILD_TOP)/device/google/contexthub/firmware/os/algos

# Common Compiler Flags ########################################################

# Include paths.
COMMON_CFLAGS += -I.
COMMON_CFLAGS += -Iash/include/ash_api
COMMON_CFLAGS += -Iapps/imu_cal/include
COMMON_CFLAGS += -I$(ALGOS_DIR)

# Calibration algorithm enable flags.
COMMON_CFLAGS += -DMAG_CAL_ENABLED
COMMON_CFLAGS += -DGYRO_CAL_ENABLED
COMMON_CFLAGS += -DACCEL_CAL_ENABLED
COMMON_CFLAGS += -DOVERTEMPCAL_GYRO_ENABLED
COMMON_CFLAGS += -DDIVERSITY_CHECK_ENABLED
#COMMON_CFLAGS += -DSPHERE_FIT_ENABLED
#COMMON_CFLAGS += -DGYRO_OTC_FACTORY_CAL_ENABLED

# Debug testing flags.
#COMMON_CFLAGS += -DMAG_CAL_DEBUG_ENABLE
#COMMON_CFLAGS += -DDIVERSE_DEBUG_ENABLE
#COMMON_CFLAGS += -DGYRO_CAL_DBG_ENABLED
#COMMON_CFLAGS += -DOVERTEMPCAL_DBG_ENABLED
#COMMON_CFLAGS += -DACCEL_CAL_DBG_ENABLED
COMMON_CFLAGS += -DNANO_SENSOR_CAL_DBG_ENABLED

# Debug options.
#COMMON_CFLAGS += -DOVERTEMPCAL_DBG_LOG_TEMP
#COMMON_CFLAGS += -DIMU_TEMP_DBG_ENABLED

# Common Source Files ##########################################################

COMMON_SRCS += apps/imu_cal/imu_cal.cc
COMMON_SRCS += apps/imu_cal/nano_calibration.cc
COMMON_SRCS += $(ALGOS_DIR)/calibration/accelerometer/accel_cal.c
COMMON_SRCS += $(ALGOS_DIR)/calibration/common/calibration_data.c
COMMON_SRCS += $(ALGOS_DIR)/calibration/common/diversity_checker.c
COMMON_SRCS += $(ALGOS_DIR)/calibration/common/sphere_fit_calibration.c
COMMON_SRCS += $(ALGOS_DIR)/calibration/gyroscope/gyro_cal.c
COMMON_SRCS += $(ALGOS_DIR)/calibration/gyroscope/gyro_stillness_detect.c
COMMON_SRCS += $(ALGOS_DIR)/calibration/magnetometer/mag_cal.c
COMMON_SRCS += $(ALGOS_DIR)/calibration/magnetometer/mag_sphere_fit.c
COMMON_SRCS += $(ALGOS_DIR)/calibration/over_temp/over_temp_cal.c
COMMON_SRCS += $(ALGOS_DIR)/common/math/levenberg_marquardt.c
COMMON_SRCS += $(ALGOS_DIR)/common/math/mat.c
COMMON_SRCS += $(ALGOS_DIR)/common/math/quat.c
COMMON_SRCS += $(ALGOS_DIR)/common/math/vec.c