Obtaining the source

The libswiftnav source and release tarballs are available from GitHub, https://github.com/swift-nav/libswiftnav.

The latest development version of libswiftnav can be cloned from GitHub using the following command:

$ git clone git://github.com/swift-nav/libswiftnav.git

Building from source

libswiftnav makes use of the CMake build system which is available at http://www.cmake.org/ or through your operating system package manager.

First navigate to the libswiftnav root directory and create a build directory where the library will be built.

$ cd libswiftnav $ mkdir build $ cd build

First invoke CMake to configure the build.

$ cmake ../

Once the build has been configured you can build the source and install it as follows.

$ make $ sudo make install

By default libswiftnav will be built both as a shared library `libswiftnav` and a static library `libswiftnav-static`.

Building the documentation

The latest version of the libswiftnav documentation should be available online at http://docs.swift-nav.com/libswiftnav/

The documentation is built using Doxygen (http://www.doxygen.org) and contains diagrams prepared using . To build the diagrams you will require a working distribution including the TikZ package and the 'convert' utility from ImageMagik (http://www.imagemagick.org/).

To build the documentation, from inside your build directory run:

$ make docs

The compiled documentation will placed in `build/docs/html`.

Cross-compiling

libswiftnav was designed from the ground up to be portable and with a view to being run on embedded systems. It should be easy to cross-compile for any target with a standards compliant C compiler.

To cross-compile we need to provide CMake with a few details about our cross-compilation toolchain. We achieve this with a toolchain file. For more details about toolchain files and how to prepare your own, see http://www.cmake.org/Wiki/CMake_Cross_Compiling.

Here we will walk through a cross-compilation for a Cortex-M4 microcontroller using the included toolchain file for the gcc-arm-embedded toolchain (https://launchpad.net/gcc-arm-embedded).

First make a build folder for our target, this can co-exist alongside a native build folder.

$ mkdir build_cm4 $ cd build_cm4

Then configure our build using CMake, specifying the toolchain file we are using.

$ cmake -DCMAKE_TOOLCHAIN_FILE=../cmake/Toolchain-gcc-arm-embedded.cmake ../

Then we can build the source in the usual way.

$ make

If you wish you can install the library to your toolchain environment, this must be configured correctly in the toolchain file. For the included gcc-arm-embedded toolchain file this should work correctly.

$ make install

If your target environment does not support shared libraries then you should specify not to build shared libraries in your toolchain file as follows.

set(BUILD_SHARED_LIBS OFF)

When cross-compiling the generated libraries will have a suffix of the target processor name, e.g. `libswiftnav-static-cortex-m4.a`.