CC            = cc68k
LD            = ld68k

MICRO         = /usr/micro
PROTO         = ../protocol/
KALMAN        = /usr/vw/mbari/kalman

CFLAGS 	      = -g -m68040 -ansi -pipe -nostdinc -DCPU=MC68040 \
                -DINCLUDE_PROTOTYPES -c -O2 

IFLAGS	      = -I. -I$(KALMAN) -I$(VW)/mbari/h -I$(VW)/h 
 
LINTFLAGS     = -g -O2 -c -DCPU=MC68040

DEST	      = .

EXTHDRS	      = $(VW)/h/vxWorks.h \
	        $(VW)/h/iosLib.h \
	        $(VW)/h/semLib.h \
	        $(VW)/h/memLib.h \
	        $(VW)/h/rngLib.h \
	        $(VW)/h/taskLib.h \
	        $(VW)/h/vxLib.h \
		$(VW)/h/stdioLib.h \
		$(VW)/h/math.h \
		$(VW)/h/wdLib.h \
		$(VW)/h/systime.h \
		$(VW)/h/strLib.h \
		$(VW)/h/fppLib.h \
		$(VW)/h/drv/vme/vmechip2.h \
		$(VW)/h/arch/mc68k/ivMc68k.h \
		$(VW)/mbari/h/dm_errno.h \
	        $(VW)/mbari/h/datamgr.h \
	        $(VW)/mbari/h/types.h \
	        $(VW)/mbari/h/const.h \
	        $(VW)/mbari/h/ModNum.h \
	        $(VW)/mbari/h/usrTime.h \
	        $(VW)/mbari/h/kalmanDM.h \
	        $(VW)/mbari/h/sensorDcon.h \
	        $(VW)/mbari/h/sensorsDm.h \
	        $(VW)/mbari/h/vmeIbc.h \
		$(NULL)

HDRS          = heading_filter.h \
		kalman.h \
		motionpak.h \
		Matrix.h \
		$(NULL)

INSTALL       = install

LDFLAGS       = -r

LIBS          =

MAKEFILE      = Makefile

PROGRAM       = kalman 

SRCS          = kalman.c \
		heading_filter.c \
		Matrix.c \
		$(NULL)

OBJS	      = kalman.o \
		heading_filter.o \
		Matrix.o \
		$(VW)/mbari/control/dmCheck.o \
		$(NULL)

all: 		$(PROGRAM)

kalman.o: 	kalman.c $(LIBS) $(EXTHDRS) $(HDRS)
		$(CC) $(CFLAGS) $(IFLAGS) kalman.c -o kalman.o

heading_filter.o: heading_filter.c $(LIBS) $(EXTHDRS) $(HDRS)
		$(CC) $(CFLAGS) $(IFLAGS) heading_filter.c -o heading_filter.o

Matrix.o: 	Matrix.c $(LIBS) $(EXTHDRS) $(HDRS)
		$(CC) $(CFLAGS) $(IFLAGS) Matrix.c -o Matrix.o

$(PROGRAM): 	$(OBJS)
		$(LD) -r $(OBJS) -o kalman

lint:		kalman.c
		lint $(LINTFLAGS) $(IFLAGS) kalman.c

depend:; 	@mkmf -f $(MAKEFILE) ROOT=$(ROOT)

echo:;		@echo $(HDRS) $(SRCS)

index:;		@ctags -wx $(HDRS) $(SRCS)

###