You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
105 lines
2.2 KiB
105 lines
2.2 KiB
# CPU
|
|
|
|
CC = clang
|
|
CXX = clang++
|
|
|
|
WARN_FLAGS = -Werror=implicit-function-declaration \
|
|
-Werror=incompatible-pointer-types \
|
|
-Werror=int-conversion \
|
|
-Werror=return-type \
|
|
-Werror=format-extra-args
|
|
|
|
JSON_FLAGS = -I$(PHONELIBS)/json/src
|
|
|
|
CFLAGS = -std=gnu11 -g -O2 -fPIC $(WARN_FLAGS) -Iinclude $(JSON_FLAGS) -I.
|
|
CXXFLAGS = -std=c++11 -g -O2 -fPIC $(WARN_FLAGS) -Iinclude $(JSON_FLAGS) -I.
|
|
LDFLAGS =
|
|
|
|
# profile
|
|
# CXXFLAGS += -DTURBOCV_PROFILE=1
|
|
|
|
PHONELIBS = ../../phonelibs
|
|
BASEDIR = ../..
|
|
EXTERNAL = ../../external
|
|
PYTHONLIBS =
|
|
|
|
UNAME_M := $(shell uname -m)
|
|
|
|
ifeq ($(UNAME_M),x86_64)
|
|
# computer
|
|
|
|
ZMQ_FLAGS = -I$(PHONELIBS)/zmq/aarch64/include
|
|
ZMQ_LIBS = -L$(BASEDIR)/external/zmq/lib/ \
|
|
-l:libczmq.a -l:libzmq.a -lpthread
|
|
|
|
OPENCV_LIBS = -lopencv_core -lopencv_highgui -lopencv_features2d -lopencv_imgproc
|
|
|
|
CXXFLAGS += -fopenmp
|
|
LDFLAGS += -lomp
|
|
|
|
else
|
|
# phone
|
|
ZMQ_FLAGS = -I$(PHONELIBS)/zmq/aarch64/include
|
|
ZMQ_LIBS = -L$(PHONELIBS)/zmq/aarch64/lib \
|
|
-l:libczmq.a -l:libzmq.a \
|
|
-lgnustl_shared
|
|
|
|
OPENCV_FLAGS = -I$(PHONELIBS)/opencv/include
|
|
OPENCV_LIBS = -Wl,--enable-new-dtags -Wl,-rpath,/usr/local/lib/python2.7/site-packages -L/usr/local/lib/python2.7/site-packages -l:cv2.so
|
|
|
|
endif
|
|
|
|
.PHONY: all
|
|
all: orbd
|
|
|
|
include ../common/cereal.mk
|
|
|
|
DEP_OBJS = ../common/visionipc.o ../common/swaglog.o $(PHONELIBS)/json/src/json.o
|
|
|
|
orbd: orbd_dsp.o $(DEP_OBJS) calculator_stub.o freethedsp.o
|
|
@echo "[ LINK ] $@"
|
|
$(CXX) -fPIC -o '$@' $^ \
|
|
$(LDFLAGS) \
|
|
$(ZMQ_LIBS) \
|
|
$(CEREAL_LIBS) \
|
|
-L/usr/lib \
|
|
-L/system/vendor/lib64 \
|
|
-ladsprpc \
|
|
-lm -lz -llog
|
|
|
|
%.o: %.c
|
|
@echo "[ CC ] $@"
|
|
$(CC) $(CFLAGS) \
|
|
$(ZMQ_FLAGS) \
|
|
-I../ \
|
|
-I../../ \
|
|
-c -o '$@' '$<'
|
|
|
|
orbd_dsp.o: orbd.cc
|
|
@echo "[ CXX ] $@"
|
|
$(CXX) $(CXXFLAGS) \
|
|
$(CEREAL_CXXFLAGS) \
|
|
$(ZMQ_FLAGS) \
|
|
$(OPENCV_FLAGS) \
|
|
-DDSP \
|
|
-I../ \
|
|
-I../../ \
|
|
-I../../../ \
|
|
-I./include \
|
|
-c -o '$@' '$<'
|
|
|
|
freethedsp.o: dsp/freethedsp.c
|
|
@echo "[ CC ] $@"
|
|
$(CC) $(CFLAGS) \
|
|
-c -o '$@' '$<'
|
|
|
|
calculator_stub.o: dsp/gen/calculator_stub.c
|
|
@echo "[ CC ] $@"
|
|
$(CC) $(CFLAGS) -I./include -c -o '$@' '$<'
|
|
|
|
-include internal.mk
|
|
|
|
.PHONY: clean
|
|
clean:
|
|
rm -f *.o turbocv.so orbd test/turbocv_profile test/turbocv_test test/*.o *_lut.h
|
|
|
|
|