Implemented code for Slamtec rplidar C1

1 files changed, 95 insertions, 0 deletions

diff --git a/LIDAR/mak_common.inc b/LIDAR/mak_common.inc
new file mode 100644
index 0000000..0b63e8d
--- /dev/null
+++ b/LIDAR/mak_common.inc
@@ -0,0 +1,95 @@
+#/*
+# *  RPLIDAR SDK
+# *
+# *  Copyright (c) 2009 - 2014 RoboPeak Team
+# *  http://www.robopeak.com
+# *  Copyright (c) 2014 - 2018 Shanghai Slamtec Co., Ltd.
+# *  http://www.slamtec.com
+# *
+# */
+#/*
+# * Redistribution and use in source and binary forms, with or without
+# * modification, are permitted provided that the following conditions are met:
+# *
+# * 1. Redistributions of source code must retain the above copyright notice,
+# *    this list of conditions and the following disclaimer.
+# *
+# * 2. Redistributions in binary form must reproduce the above copyright notice,
+# *    this list of conditions and the following disclaimer in the documentation
+# *    and/or other materials provided with the distribution.
+# *
+# * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+# * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
+# * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+# * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+# * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+# * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+# * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
+# * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+# * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
+# * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
+# * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+# *
+# */
+
+#  Common Generation Law for rplidar sdk Building
+#
+#
+#
+
+.PHONY: make_subs build_sdk build_app clean_sdk clean_app
+
+make_subs:
+	@for subdir in $(MAKE_TARGETS) ; do  $(MAKE) -C $$subdir $(MAKECMDGOALS) || exit 1;  done
+
+# Define all object files.
+
+_CSRC   = $(filter-out %*.c,$(CSRC))
+_CXXSRC = $(filter-out %*.cpp,$(CXXSRC))
+_ASRC   = $(filter-out %*.S,$(ASRC))
+
+OBJ += $(patsubst %.c, $(TARGET_OBJ_ROOT)/%.o, $(_CSRC))
+OBJ += $(patsubst %.cpp, $(TARGET_OBJ_ROOT)/%.o, $(_CXXSRC))
+OBJ += $(patsubst %.S, $(TARGET_OBJ_ROOT)/%.o, $(_ASRC))
+
+build_sdk:  $(SDK_TARGET)
+
+clean_sdk:
+	$(RMDIR) $(TARGET_OBJ_ROOT)
+	$(RM) $(SDK_TARGET)
+
+build_app: $(APP_TARGET)
+
+clean_app:
+	$(RMDIR) $(TARGET_OBJ_ROOT)
+	$(RM) $(APP_TARGET)
+
+$(SDK_TARGET): $(OBJ) $(EXTRA_OBJ)
+	$(MKDIR) `dirname $@`
+	@for i in $^; do echo " pack `basename $$i`->`basename $@`"; $(AR) rcs $@ $$i; done
+	
+$(APP_TARGET): $(OBJ) $(EXTRA_OBJ) $(SDK_TARGET)
+	@$(MKDIR) `dirname $@`
+	@echo " LD   $@"
+	$(CMD_HIDE)$(CC) $(ALL_CXXFLAGS) -o $@ $^ $(LDFLAGS)  
+
+
+#
+# Compile: create object files from C++ source files.
+$(TARGET_OBJ_ROOT)/%.o: %.cpp
+	@$(MKDIR) `dirname $@`
+	@echo " CXX  $<"
+	$(CMD_HIDE)$(CXX) -c $(ALL_CXXFLAGS) $< -o $@ 
+
+# Compile: create object files from C source files.
+$(TARGET_OBJ_ROOT)/%.o: %.c
+	@$(MKDIR) `dirname $@`
+	@echo " CC   $<"
+	$(CMD_HIDE)$(CC) -c $(ALL_CFLAGS) $< -o $@ 
+
+# Assemble: create object files from assembler source files.
+$(TARGET_OBJ_ROOT)/%.o: %.S
+	@$(MKDIR) `dirname $@`
+	@echo " AS   $<"
+	$(CMD_HIDE)$(CC) -c $(ALL_ASFLAGS) $< -o $@
+