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-rw-r--r--digital/io/src/Makefile27
1 files changed, 19 insertions, 8 deletions
diff --git a/digital/io/src/Makefile b/digital/io/src/Makefile
index 5dfea34b..5cbea0ba 100644
--- a/digital/io/src/Makefile
+++ b/digital/io/src/Makefile
@@ -3,14 +3,16 @@ BASE = ../../avr
# Name of the program to build.
PROGS = io
# Sources to compile.
-io_SOURCES = main.c servo.avr.c eeprom.avr.c pwm.c \
- switch.avr.c chrono.c main_timer.avr.c servo_pos.c \
+io_SOURCES = main.c fsm_queue.c servo.avr.c eeprom.avr.c pwm.c \
+ switch.avr.c chrono.c timer.avr.c servo_pos.c \
twi_master.c asserv.c mimot.c \
simu.host.c contact.c usdist.c radar.c \
- path.c food.c events.host.c
+ path.c food.c events.host.c \
+ fsm.host.c init.c move.c top.c hola.c loader.c fsm_AI_gen.avr.c
# Modules needed for IO.
MODULES = proto uart twi utils adc math/fixed math/geometry path/astar \
trace flash spi
+AI_MODULES = twi_master common utils fsm
# Configuration file.
CONFIGFILE = avrconfig.h
# IO board use an ATMega128.
@@ -19,11 +21,20 @@ AVR_MCU = atmega128
OPTIMIZE = -O2
HOST_LIBS = -lm
-# FSM.
-FSM = ai
-FSM_SOURCES := top init move loader hola
-# Include FSM makefile.
-include $(BASE)/make/Makefile.fsm
+vpath %.c $(AI_MODULES:%=../../ai/src/%)
+vpath %.h $(AI_MODULES:%=../../ai/src/%)
+INCLUDES += -I. $(AI_MODULES:%=-I../../ai/src/%)
+
+EXTRA_CLEAN_FILES = fsm_AI_gen.h fsm_AI_gen.avr.c
+
+include $(BASE)/make/Makefile.gen
+
+# FSM generation.
+obj/main.avr.o: fsm_AI_gen.h
+fsm_AI_gen.avr.c: fsm_AI_gen.h
+fsm_AI_gen.h: io.host
+ ./$< --gen
+ mv fsm_AI_gen.c fsm_AI_gen.avr.c
events.h events.host.c: trace.trc
PYTHONPATH=$(BASE)/../../host python $(BASE)/../../tools/trace/trace.py -t create -i $< -o