From c99551a422f943762a373a3b90f62f133292ef7c Mon Sep 17 00:00:00 2001
From: Brendan <brendan.haines@gmail.com>
Date: Thu, 12 Feb 2015 15:16:53 -0700
Subject: [PATCH] fixes Makefile

---
 CopterController/Makefile        |  9 +++++----
 CopterController/helper_3dmath.h |  2 ++
 CopterController/pidTest.cpp     | 22 +++++++++++-----------
 3 files changed, 18 insertions(+), 15 deletions(-)

diff --git a/CopterController/Makefile b/CopterController/Makefile
index b618317..2aa8a84 100644
--- a/CopterController/Makefile
+++ b/CopterController/Makefile
@@ -1,12 +1,13 @@
-all: pid.o I2Cdev.o MPU6050.o PCA9685.o PCA9685tester pidTest MPU6050dmp_tester
+all: pid.o I2Cdev.o MPU6050.o PCA9685.o PCA9685tester pidTest
+#pidTest MPU6050dmp_tester PCA9685tester
 
 HDRS = pid.h helper_3dmath.h I2Cdev.h MPU6050_6Axis_MotionApps20.h MPU6050.h PCA9685.h PCA9685_Addresses.h
 CXXFLAGS = -DDMP_FIFO_RATE=9 -Wall -lwiringPi
 
 pid.o pidTest.o I2Cdev.o MPU6050.o MPU6050dmp_tester.o PCA9685.o PCA9685tester.o: $(HDRS)
 
-pidTest: pidTest.o pid.o
-	$(CXX) $^ -o $@
+pidTest: pidTest.o pid.o PCA9685.o I2Cdev.o MPU6050.o
+	$(CXX) $^ -lwiringPi -o $@
 
 MPU6050dmp_tester: I2Cdev.o MPU6050.o MPU6050dmp_tester.o
 	$(CXX) $^ -lm `pkg-config gtkmm-3.0 --cflags --libs` -lwiringPi -o $@
@@ -15,4 +16,4 @@ PCA9685tester: PCA9685.o PCA9685tester.o
 	$(CXX) $^ -lwiringPi -o $@
 
 clean:
-	rm I2Cdev.o MPU6050.o MPU6050dmp.o MPU6050dmp_tester.o MPU6050dmp_tester pid.o pidTest.o pidTest
\ No newline at end of file
+	rm I2Cdev.o MPU6050.o MPU6050dmp.o MPU6050dmp_tester.o MPU6050dmp_tester pid.o pidTest.o pidTest PCA9685tester
\ No newline at end of file
diff --git a/CopterController/helper_3dmath.h b/CopterController/helper_3dmath.h
index 9ed260e..35e1de9 100644
--- a/CopterController/helper_3dmath.h
+++ b/CopterController/helper_3dmath.h
@@ -32,6 +32,8 @@ THE SOFTWARE.
 #ifndef _HELPER_3DMATH_H_
 #define _HELPER_3DMATH_H_
 
+#include "math.h"
+
 class Quaternion {
     public:
         float w;
diff --git a/CopterController/pidTest.cpp b/CopterController/pidTest.cpp
index dfebac8..80a8903 100644
--- a/CopterController/pidTest.cpp
+++ b/CopterController/pidTest.cpp
@@ -1,4 +1,5 @@
 #include <iostream>
+#include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
 #include <unistd.h>
@@ -28,15 +29,15 @@ MPU6050 mpu;
 #define SERVO_FREQ 60
 PCA9685 servo;
 
-void setupTCP( portno )
+void setupTCP( int portno )
 {
     struct sockaddr_in serv_addr, cli_addr;
     socklen_t clilen;
 
     std::cout << "setting up TCP on port " << portno << std::endl;
-    sockfd = socket( AF_INET, SOCKET_STREAM, 0 );
+    sockfd = socket( AF_INET, SOCK_STREAM, 0 );
     if( sockfd < 0 )
-        cerror << "ERROR opening socket" << std::endl;
+        std::cerr << "ERROR opening socket" << std::endl;
 
     bzero( (char*) &serv_addr, sizeof(serv_addr) );
     serv_addr.sin_family = AF_INET;
@@ -45,7 +46,7 @@ void setupTCP( portno )
 
     std::cout << "binding socket to portno" << std::endl;
     if( bind( sockfd, (struct sockaddr*) &serv_addr, sizeof(serv_addr) ) )
-        cerror << "ERROR binding socket to portno" << std::endl;
+        std::cerr << "ERROR binding socket to portno" << std::endl;
 
     std::cout << "listening to socket" << std::endl;
     listen( sockfd, 5 );
@@ -54,11 +55,11 @@ void setupTCP( portno )
     std::cout << "waiting for connection..." << std::endl;
     newsockfd = accept( sockfd, (struct sockaddr *) &cli_addr, &clilen );
     if( newsockfd < 0 )
-        cerror << "ERROR on accept" << std::endl;
+        std::cerr << "ERROR on accept" << std::endl;
 
     std::cout << "connection established" << std::endl;
     bzero( buffer, 256 );
-    fcntl( newsockfd, F_SETFL, 0_NONBLOCK );
+    fcntl( newsockfd, F_SETFL, O_NONBLOCK );
 }
 
 void setupPCA()
@@ -90,7 +91,7 @@ int setupMPU()
     }
     else
     {
-        cerror << "MPU6050 connection failed" << std::endl;
+        std::cerr << "MPU6050 connection failed" << std::endl;
         return -1;
     }
 
@@ -107,7 +108,7 @@ int setupMPU()
     }
     else
     {
-        cerror << "DMP initialization failed" << std::endl;
+        std::cerr << "DMP initialization failed" << std::endl;
         return -1;
     }
     return 0;
@@ -143,14 +144,13 @@ void loop()
 
             close( newsockfd );
             close( sockfd );
-            exit;
         }
     }
 
     fifoCount = mpu.getFIFOCount();
     if( fifoCount == 1024)
     {
-        cerror << "FIFO overflow" << std::endl;
+        std::cerr << "FIFO overflow" << std::endl;
     }
     if( fifoCount >= 42 )
     {
@@ -167,7 +167,7 @@ void loop()
 int main( int argc, char* argv[] )
 {
     setup();
-    while true
+    while( true )
     {
         loop();
     }