L4T 32.2 compilation issue

[Yuriy-Kuchinskiy]

Hi @jetsonhacks, Thank you for the project. I confirm that your code is working with LidarLite V3 & Jetson Nano, with the following wiring map:

VCC J41-4 -> Lidar-Lite (+) 5V (red wire) GND J41-6 -> Lidar-Lite (-) SCL J41-5 -> Lidar-Lite (SCL) SDA J41-3 -> Lidar-Lite (SDA)

Plus, to get code working with L4T 32.2 i have to do the following small changes, due to modifications in libi2c & libi2c-dev (4.0-2)

diff --git a/example/LidarPlotSketch/PlotPractice.pro b/example/LidarPlotSketch/PlotPractice.pro
index 8f14a6e..a7efeda 100644
--- a/example/LidarPlotSketch/PlotPractice.pro
+++ b/example/LidarPlotSketch/PlotPractice.pro
@@ -30,3 +30,5 @@ OTHER_FILES += \

 RESOURCES += \
     PlotPractice.qrc
+
+unix|win32: LIBS += -li2c
diff --git a/example/LidarPlotSketch/lidarlite.h b/example/LidarPlotSketch/lidarlite.h
index 79f6b79..4c359f9 100644
--- a/example/LidarPlotSketch/lidarlite.h
+++ b/example/LidarPlotSketch/lidarlite.h
@@ -25,7 +25,6 @@
 #define LIDARLITE_H

 #include <cstddef>
-#include <linux/i2c-dev.h>
 #include <sys/ioctl.h>
 #include <cstdlib>
 #include <cstdio>
@@ -33,6 +32,10 @@
 #include <unistd.h>
 #include <errno.h>

+extern "C" {
+    #include <i2c/smbus.h>
+    #include <linux/i2c-dev.h>
+}

 // Information taken from PulsedLight knowledge base 5-4-15
 // Internal Control Registers
diff --git a/example/Makefile b/example/Makefile
index d7d3f15..9cc68dd 100755
--- a/example/Makefile
+++ b/example/Makefile
@@ -1,2 +1,2 @@
 all:
-       g++ example.cpp ../src/lidarlite.cpp -I../src -o example
+       g++ example.cpp ../src/lidarlite.cpp -I../src -li2c -o example
diff --git a/src/lidarlite.h b/src/lidarlite.h
index 35343ff..c9289fc 100644
--- a/src/lidarlite.h
+++ b/src/lidarlite.h
@@ -26,7 +26,6 @@
 #define LIDARLITE_H

 #include <cstddef>
-#include <linux/i2c-dev.h>
 #include <sys/ioctl.h>
 #include <cstdlib>
 #include <cstdio>
@@ -34,6 +33,11 @@
 #include <unistd.h>
 #include <errno.h>

+extern "C" {
+    #include <linux/i2c-dev.h>
+    #include <i2c/smbus.h>
+}
+

 // Information taken from PulsedLight knowledge base 5-4-15
 // Internal Control Registers

Please let me know if you would like me to create PR

[muazkurt]

Thank you for your update, it also works for me with the same configuration on Jetson Nano.