What I am trying to do seems a very basic stuff, but I can\'t find anything about it. I am working on a project built as usual:
project
|-- bin
|-- inc
`-- s
To answer your second question, you can navigate through the errors using the quickfix functionality in VIM. Quickfix stores the errors in a buffer and allows you to navigate forward/backwards through them.
You may have to define the error regexp to allow VIM to identify these from Make's output, but I seem to remember that it works out-of-the-box rather well (I've had to modify how it works for Java Ant builds - obviously doesn't apply here)