Add CMakeLists.txt

.gitignore

@@ -1,3 +1,6 @@
 *.o
 *.a
 /C++/Build
+build/
+C++/.idea/
+C++/cmake-build-release/

C++/CMakeLists.txt

@@ -0,0 +1,26 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(navio2_cpp)
+
+set (CMAKE_CXX_STANDARD 14)
+
+add_subdirectory(Navio)
+
+include_directories(Examples)
+
+set(EXMPL_SRCS
+ AccelGyroMag.cpp
+ ADC.cpp
+ AHRS.cpp
+ Barometer.cpp
+ LED.cpp
+ RCInput.cpp
+ Servo.cpp
+ threaded_baro.cpp)
+
+foreach( testsourcefile ${EXMPL_SRCS} )
+ string( REPLACE ".cpp" "" testname ${testsourcefile} )
+ add_executable( ${testname} Examples/${testsourcefile} )
+ target_link_libraries( ${testname} navio pigpio pthread )
+endforeach( testsourcefile ${EXMPL_SRCS} )
+
+

C++/Navio/CMakeLists.txt

@@ -0,0 +1,60 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(navio)
+
+set(CMAKE_CXX_STANDARD 14)
+
+include_directories(
+ Common
+ Navio+
+ Navio2
+ pigpio
+)
+
+
+set(DEFAULT_BUILD_TYPE "Release")
+if (NOT CMAKE_BUILD_TYPE AND NOT CMAKE_CONFIGURATION_TYPES)
+ message(STATUS "Setting build type to '${DEFAULT_BUILD_TYPE}' as none was specified.")
+ set(CMAKE_BUILD_TYPE "${DEFAULT_BUILD_TYPE}" CACHE STRING "Choose the type of build." FORCE)
+ # Set the possible values of build type for cmake-gui
+ set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug" "Release" "MinSizeRel" "RelWithDebInfo")
+endif ()
+
+include(GNUInstallDirs)
+
+add_subdirectory(pigpio)
+
+set(SOURCE_FILES
+ Common/I2Cdev.cpp
+ Common/MPU9250.cpp
+ Common/MS5611.cpp
+ Common/Ublox.cpp
+ Common/Util.cpp
+ Common/gpio.cpp
+ Navio2/ADC_Navio2.cpp
+ Navio2/LSM9DS1.cpp
+ Navio2/Led_Navio2.cpp
+ Navio2/PWM.cpp
+ Navio2/RCInput_Navio2.cpp
+ Navio2/RCOutput_Navio2.cpp
+ Navio2/RGBled.cpp
+ Navio+/ADC_Navio.cpp
+ Navio+/ADS1115.cpp
+ Navio+/Led_Navio.cpp
+ Navio+/MB85RC256.cpp
+ Navio+/PCA9685.cpp
+ Navio+/RCInput_Navio.cpp
+ Navio+/RCOutput_Navio.cpp
+ )
+
+add_library(navio SHARED ${SOURCE_FILES})
+target_include_directories(navio PUBLIC . Navio+ Navio2 Common pigpio)
+
+# set_target_properties(navio PROPERTIES PUBLIC_HEADER ${HEADER_FILES})
+#install(TARGETS navio
+# LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}
+# PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR})
+#install(DIRECTORY "${CMAKE_SOURCE_DIR}/" # source directory
+# DESTINATION "include" # target directory
+# FILES_MATCHING # install only matched files
+# PATTERN "*.h" # select header files
+#)

C++/Navio/Common/I2Cdev.cpp

@@ -375,34 +375,34 @@ bool I2Cdev::writeBytes(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint8_
 
  if (length > 127) {
  fprintf(stderr, "Byte write count (%d) > 127\n", length);
- return(FALSE);
+ return(false);
  }
 
  fd = open(I2CDEV , O_RDWR);
  if (fd < 0) {
  fprintf(stderr, "Failed to open device: %s\n", strerror(errno));
- return(FALSE);
+ return(false);
  }
  if (ioctl(fd, I2C_SLAVE, devAddr) < 0) {
  fprintf(stderr, "Failed to select device: %s\n", strerror(errno));
  close(fd);
- return(FALSE);
+ return(false);
  }
  buf[0] = regAddr;
  memcpy(buf+1,data,length);
  count = write(fd, buf, length+1);
  if (count < 0) {
  fprintf(stderr, "Failed to write device(%d): %s\n", count, ::strerror(errno));
  close(fd);
- return(FALSE);
+ return(false);
  } else if (count != length+1) {
  fprintf(stderr, "Short write to device, expected %d, got %d\n", length+1, count);
  close(fd);
- return(FALSE);
+ return(false);
  }
  close(fd);
 
- return TRUE;
+ return true;
 }
 
 /** Write multiple words to a 16-bit device register.
@@ -422,18 +422,18 @@ bool I2Cdev::writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16
 
  if (length > 63) {
  fprintf(stderr, "Word write count (%d) > 63\n", length);
- return(FALSE);
+ return(false);
  }
 
  fd = open(I2CDEV, O_RDWR);
  if (fd < 0) {
  fprintf(stderr, "Failed to open device: %s\n", strerror(errno));
- return(FALSE);
+ return(false);
  }
  if (ioctl(fd, I2C_SLAVE, devAddr) < 0) {
  fprintf(stderr, "Failed to select device: %s\n", strerror(errno));
  close(fd);
- return(FALSE);
+ return(false);
  }
  buf[0] = regAddr;
  for (i = 0; i < length; i++) {
@@ -444,14 +444,14 @@ bool I2Cdev::writeWords(uint8_t devAddr, uint8_t regAddr, uint8_t length, uint16
  if (count < 0) {
  fprintf(stderr, "Failed to write device(%d): %s\n", count, ::strerror(errno));
  close(fd);
- return(FALSE);
+ return(false);
  } else if (count != length*2+1) {
  fprintf(stderr, "Short write to device, expected %d, got %d\n", length+1, count);
  close(fd);
- return(FALSE);
+ return(false);
  }
  close(fd);
- return TRUE;
+ return true;
 }
 
 /** Default timeout value for read operations.

C++/Navio/Common/I2Cdev.h

@@ -49,11 +49,6 @@ THE SOFTWARE.
 
 #define I2CDEV RASPBERRY_PI_I2C 
 
-#ifndef TRUE
-#define TRUE (1==1)
-#define FALSE (0==1)
-#endif
-
 #include <stdint.h>
 
 class I2Cdev {

README.md

@@ -63,3 +63,12 @@ Applications and utilities for Navio.
 
 * `export CXX=arm-linux-gnueabihf-g++`
 * Compile the examples via `make`
+* CMake install
+ - `$ cd C++/Navio`
+ - `$ mkdir build && cd build`
+ - `$ cmake ..`
+ - `$ make`
+ - `$ sudo make install`
+* Running example
+ - `$ cd C++/Examples`
+ - `$ g++ AccelGyroMag.cpp -o out -lnavio`