How to compile it

Before first compilation, you should execute build/prepare_infrastructure script.

cd build
./prepare_infrastructure script

It downloads repository for h8s processors and configures sources. Then, it should be sufficient to go to the build/<target> directory and call

cd linux
make

Custom compilation flags

To compile the project with debugging flags, put them to config.omk.local. Don't modify config.omk, because this will influence all other developers.

cat <<EOF >> config.omk.local
CFLAGS = -O0 -g -Wall -fno-strict-aliasing
CXXFLAGS = -O0 -g -Wall -fno-strict-aliasing
EOF

make clean
make

Using multiple software configurations

OMK build system allows to configure compilation process so that we can have multiple configurations of software (e.g.: with odometry feedback or without). On the OMK side, the configuration is done by setting make variables, from which headers files can be automatically generated. In sources ifdef can be used to compile differently under different configuration.

Running

make default-config

produces list of all possible configuration variables in config.omk-default (note, that this is also run by prepare_infrastructure).

To use different value than the default one, put the variable assignment to config.omk or (preferably) to config.omk.local.

echo CONFIG_OPEN_LOOP = y >> config.omk.local
make

If you want to compile other configuration only temporarily you can you the following:

touch config.omk  # make OMK notice a change
make CONFIG_OPEN_LOOP=y

or a more permanent way:

touch config.omk
export CONFIG_OPEN_LOOP=y
make -e  # the -e option is important!

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