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This is not a question , just sort of FYI if anybody cares.
Instead of futzing with crosscomplier I have decided to build a local bluetooth application.
I have purged "bluez" from my X86 system.
I have left the "-lbluetooth" linker option intact.
I can compile / link and run the app and get expected errors from accessing basic stuff - such as
dev_id = hci_get_route(NULL); if (dev_id < 0) {
perror("Bluetooth device not found"); }
Next I'll be reinstalling / configuring / make / make install "bluez" , again.
In theory that should get rid of most of the errors without touching the "-lbluetooth" option.
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The following TEST snippet works just fine, however, since the "hci_inquiry" itself generate the expected perror why does the code continues to run and not exiting AFTER "hci_inquiry"?
It does exits AFTER the last test of num_rsp, as expected.
num_rsp = hci_inquiry(dev_id, len, max_rsp, NULL, &ii, flags);
if( num_rsp < 0 ) perror("Error: hci_inquiry");
if( num_rsp < 0 ) perror(NULL);
Here is the expected output:
Error: hci_inquiry: No such device
No such device
hci_inquiry: No such device
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Sorry ,but how does that answer my question about exiting after perror?
I do not see anything indicating it should exit.
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Take another look, it tells you exactly what perror does in the description: Quote: The perror() function produces a message on standard error describing
the last error encountered during a call to a system or library
function.
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After reading this resource www.bluez.org I am trying to figure out how or if it is possible to control implementation of “libbluetooth-dev” on selected architecture.
The “bluez” README suggest some options, but after downloading and scanning thru “configure” file itself I am not sure where to find “configure” dependency on underlying architecture.
The “configure” is several hundred pages long and to be honest - I am little lost where to start.
I also checked this http://www.linuxfromscratch.org/blfs/view/8.3/general/bluez.html but it did not help me.
Any suggestion to accomplish the task will be appreciated.
PS
At present I hesitate to download the “configure” file here – it is too big.
Cheers
Vaclav
Addendum
I think this will answer my question
Cross Compiling BlueZ Bluetooth tools for ARM - BeyondLogic[^]
wget http://www.kernel.org/pub/linux/bluetooth/bluez-5.18.tar.xz
tar -xJf bluez-5.18.tar.xz
cd bluez-5.18
./configure --host=arm-linux-gnueabi --prefix= PKG_CONFIG_PATH=/usr/arm-linux-gnueabi/lib/pkgconfig --disable-systemd --disable-udev --disable-cups --disable-obex --enable-library
make
make install DESTDIR=/usr/arm-linux-gnueabi
make install DESTDIR=/home/export/rootfs
modified 6-Mar-19 18:17pm.
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The proverbial "chicken or egg".
Knowing the term (host) makes the search child's play.
Thanks.
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Hi,
A bit of background:
I recently worked out how to cross compile/build/flash ESP32 projects ( C/C++ ) from my windows 10 machine, from a virtual Ubuntu machine and from a colleague's Apple OSX ( sierra ) machine.
Once I had it up and running on all those platforms from their respective Command line shells ( Using the mingw32 shell on the Windows machine ) I made a set of JSON configuration files for VSCODE that works equally well on all mentioned platforms so that I can use VSCODE to get IDE like functionality.
As I have a Raspberry PI3B and some time for the time being I would like to repeat the same experiment for the raspberry PI. If I can find a way to compile/build/flash C/C++ projects from the mingw command line for the raspberry PI I am sure I could set up VSCODE to provide a sort of IDE functionality for any PI project.
I already have the required "arm-linux-gnueabihf" toolchain but in spite of there being tons of info out there a simple example for say a "hello world" applicaton which uses "make" and a "makefile" is near impossible to find, at least I have not found it.
Any help/pointer much appreciated and if I do succeed I will post how I pulled it off.
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I have been doing same - crosscompiling C++ "between" X86 (Ubuntu) and RPi 3B ( ARM).
I am using Eclipse IDE with Target Communication Framework - TCF.
Not the best setup.
Eclipse C++ IDE is being "updated" at breakneck speed and nobody does QA.
TCF is an orphant with no real relations with Eclipse "foundation".
It has been time consuming process to make Eclipse and TCF to play together.
And to answer your request and be brutally honest - I have not found a single resources explaining how crosscompiling works.
My latest "task" is to crosscomplie ( still X86 ) with a library build for ARM. See this forum.
Talking about a mess.
Cheers
Vaclav
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I the mean time I have cobbled some things together and I am able to run a make command which appears to produce an output but I am not sure yet it runs on a raspberry PI.
Anyway: I can run "make" which uses this makefile:
TARGET_EXEC ?= a.out
BUILD_DIR ?= ./build
SRC_DIRS ?= ./main
SYSROOT = /c/msys32/home/RPI/SysGCC/arm-linux-gnueabihf/sysroot
CROSS_COMPILE = /C/msys32/home/RPI/SysGCC/bin/arm-linux-gnueabihf
CXX = $(CROSS_COMPILE)-g++ --sysroot $(SYSROOT)
CC = $(CROSS_COMPILE)-gcc --sysroot $(SYSROOT)
AS = $(CROSS_COMPILE)-as
AR = $(CROSS_COMPILE)-ar
NM = $(CROSS_COMPILE)-nm
LD = $(CROSS_COMPILE)-ld
SRCS := $(shell find $(SRC_DIRS) -name *.cpp -or -name *.c -or -name *.s)
OBJS := $(SRCS:%=$(BUILD_DIR)/%.o)
DEPS := $(OBJS:.o=.d)
INC_DIRS := $(shell find $(SRC_DIRS) -type d)
INC_FLAGS := $(addprefix -I,$(INC_DIRS))
CPPFLAGS ?= $(INC_FLAGS) -MMD -MP
$(BUILD_DIR)/$(TARGET_EXEC): $(OBJS)
$(CC) $(OBJS) -o $@ $(LDFLAGS)
# assembly
$(BUILD_DIR)/%.s.o: %.s
$(MKDIR_P) $(dir $@)
$(AS) $(ASFLAGS) -c $< -o $@
# c source
$(BUILD_DIR)/%.c.o: %.c
$(MKDIR_P) $(dir $@)
$(CC) $(CPPFLAGS) $(CFLAGS) -c $< -o $@
# c++ source
$(BUILD_DIR)/%.cpp.o: %.cpp
$(MKDIR_P) $(dir $@)
$(CXX) $(CPPFLAGS) $(CXXFLAGS) -c $< -o $@
.PHONY: clean
clean:
$(RM) -r $(BUILD_DIR)
-include $(DEPS)
MKDIR_P ?= mkdir -p
Most of it comes from here:
A Super-Simple Makefile for Medium-Sized C/C++ Projects[^]
It has some merits as it automatically finds and builds any "c" files located in the "main" directory as specified and any "c" files in any subdirectories.
The bit with the SYSROOT comes from here:
http://www.lilug.org/w/images/e/e6/T_Rothamel_Presentation_CrossCompiling_8_Jul_2014.pdf[^]
It appears to build my hello_world_main.c in directory main, my test.c file in directory main/test and produces the specified a.out file in the Build directory. During the process it calls the necessary arm-linux-gnueabihf-gcc cross development tool so I guess it might just be an operational executable for the Raspberry PI. I will know more tomorrow.
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Thanks for the post.
I must admit that I got so spoiled by Eclipse IDE building the "make" I am really ignorant how to do it manually. Someday it will bite me.
I did not quite get this - is your compiler runnig on Linux or Windows?
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Hi,
Until now I used to use Eclipse a lot as well but having installed the ESP32 toolkit with Eclipse I did get to know a bit more about it as you have to get it up and running via command line first before you can use integrate it with Eclipse. Having done that you don't need to know much about makefiles etc... but I was curious how it all works so I caught on to some of it.
As mentioned It enabled me to combine VSCODE with the build tools instead of Eclipse which I have been using for almost a year or so for ESP32 development.
The main advantage of that is that VSCODE works a lot faster and if you play it right with some ENVIRONMENT VARIABLES you can use exactly the same JSON configuration files for VSCODE on all platforms ( Windows, Linux and MAC OS ) to build the ESP32 application(s). No need to change a single letter in them.
As to your question: I am building the Raspberry PI application on a Windows 10 machine but I am using MSYS2 which creates a MinGW32/64 shell on a windows machine so that you can run Linux style build tools ( like GCC or a GCC cross compiler ) on your Windows machine.
For now I am simply using the command line in the MinGW32 shell to run the make command.
Tomorrow I will be testing if it actually runs on the Raspberry PI and try to remote debug it using gdbserver on the PI and a gdb client on the Mingw32 side. If that works using VSCODE to provide an IDE like system to build/debug it all should be a piece of cake as VSCODE provides support for all of that.
If it all works I will publish an article on how to do it all, then there will be an overview on how to cross compile from a Windows/Linux/OS-X host on a Raspberry PI target that keeps the KISS principle in mind.
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First confirmation: it actually works on the Pi so the cross compilation/build works, now I can try to get the GDB stuff working.
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Great.
I am still trying to figure out the relations between "bluez" and "libbluetooth.x".
My app will eventually pass data from RPi to PC - for better display.
I am tempted to shelve the RPi part for now and do the PC which would be "local" - not crosscomplied.
I did try "configure " (bluez) with -host=..ARM... but got errors I need to interpret to continue.
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Well, it did take most of the day but In the end I got the GDB stuff up and running: gdbserver on the PI and arm-linux-gnueabihf-gdb.exe on the windows machine. It actually uses breakpoints, single stepping etc... as you would expect to find in, for example, Visual Studio.
On Monday I need to do some cleaning up, introduce a few remaining refinements and make some documentation but all in all it works pretty well. I think I will turn it into an article to post here.
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Just FYI - for community benefit - no reply necessary .
1. Retrieve the current "bluez" source from www.bluez.org into desired folder and extract.
2, Modify "configure" file / command options as required (--enable-library etc. )
3. Run "configure"
4. Run "checkinstall" with desired options - (-A to select architecture ) as required
5. Enjoy the ride and you are DONE!
6. Link gcc ("-l") to "bluetooth" library and to library path ("-L") as provided by "configure" output.
This post is yet another request for assistance implementing bluetooth using "bluez".
It is sort of duplicate and vent about my other post which went down on the wrong track.
I am not asking for C++ code, I am asking for assistance to help me understand the overall concept of developing bluethooth application, and also include some details I am having trouble with.
I understand how bluetooth works, no need of any help there.
I have been successfully crosscompiling my Linux app using Eclipse IDE.
No need for any help there neither.
I understand "bluez" is included in Linux kernel and when I try to re "install " it again I get this:
jim@jim-desktop:~$ sudo apt-get install bluez
[sudo] password for jim:
Reading package lists... Done
Building dependency tree
Reading state information... Done
bluez is already the newest version (5.37-0ubuntu5.1).
0 upgraded, 0 newly installed, 0 to remove and 0 not upgraded.
jim@jim-desktop:~$ ssh pi@10.0.1.76
pi@10.0.1.76's password:
Linux pi 4.14.98-v7+ #1200 SMP Tue Feb 12 20:27:48 GMT 2019 armv7l
The programs included with the Debian GNU/Linux system are free software;
the exact distribution terms for each program are described in the
individual files in /usr/share/doc/*/copyright.
Debian GNU/Linux comes with ABSOLUTELY NO WARRANTY, to the extent
permitted by applicable law.
Last login: Mon Mar 4 05:37:40 2019 from 10.0.1.45
pi@pi:~ $ sudo apt-get install bluez
Reading package lists... Done
Building dependency tree
Reading state information... Done
bluez is already the newest version (5.43-2+rpt2+deb9u2).
The following package was automatically installed and is no longer required:
realpath
Use 'sudo apt autoremove' to remove it.
0 upgraded, 0 newly installed, 0 to remove and 13 not upgraded.
pi@pi:~ $
I can run bluetooth system calls , in both OS , to verify bluez too.
Am I correct to say I have "precompiled " bluez application on both systems?
Please note that the latest bluez "not compiled / source" version is 5.50
What I am having trouble with is implementing "bluez" as a development library.
I downloaded the latest "bluez" using this link
http://www.bluez.org/download/
then I followed "README" - basically "configure " and then "install".
Managed to do both without errors. Here are the progress and "issues"
1. I moved the bluez-5.50.tar.xz to a directory and extracted it there. OK
2. Run "./configure ..." within the directory and got tons of tracking messages , too big to post RIGHT NOW. OK
3. Run "sudo make && make install" without getting errors. OK
4. From other sources I should have "bluetooth.x" library SOMEWHERE.
It should be "bluetooth.a" , but I cannot "find …-name..." it.
5. At this point the linker , actually cross linker , references to anything "bluetooth" such as "-lbluethooth" or "-libbluetooth" yields " not found " cross linker error.
6. I can read the ./configure and make outputs but it is hard for me manually find WHERE is the referenced library file.
My BASIC "concept question" is – if I run "install" WHERE would Linux put ANY library , conceptually.
7. I can compile / link "bluetooth" includes – so WHO (Linux OS , bluez) installed them?
As always . I will greatly appreciate any help.
Cheers
Vaclav
modified 20-Mar-19 23:43pm.
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It should: install the library in one of the standard locations. Alternatively if it installs in a private location then some document in the package should tell you where it is. Have a look in /lib /lib64 /usr/lib and /usr/lib64 for the library. You could try something like:
find /lib /lib64 /usr/lib /usr/lib64 -iname '*bluetooth*' -print
Also see if it has been put somewhere else by
echo $LD_LIBRARY_PATH
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I did try this and it looks as
/usr/lib/x86_64-linux-gnu/libbluetooth.a
or
/usr/lib/bluetooth/bluetoothd
maybe the right place
I'll try to link to it
jim@jim-desktop:~$ sudo find /lib /lib64 /usr/lib /usr/lib64 -type f -iname "*bluetooth*" -print
/lib/systemd/system/bluetooth.target
/lib/systemd/system/bluetooth.service
/lib/modules/4.15.0-45-generic/kernel/net/bluetooth/bluetooth_6lowpan.ko
/lib/modules/4.15.0-45-generic/kernel/net/bluetooth/bluetooth.ko
/lib/modules/4.15.0-45-generic/kernel/drivers/platform/x86/toshiba_bluetooth.ko
/lib/modules/4.15.0-43-generic/kernel/net/bluetooth/bluetooth_6lowpan.ko
/lib/modules/4.15.0-43-generic/kernel/net/bluetooth/bluetooth.ko
/lib/modules/4.15.0-43-generic/kernel/drivers/platform/x86/toshiba_bluetooth.ko
/lib/udev/rules.d/50-bluetooth-hci-auto-poweron.rules
/lib/udev/hwdb.d/20-bluetooth-vendor-product.hwdb
/usr/lib/i386-linux-gnu/libbluetooth.so.3.18.10
/usr/lib/bluetooth/bluetoothd
/usr/lib/pm-utils/power.d/usb_bluetooth
/usr/lib/plainbox-provider-checkbox/bin/bluetooth_scan
/usr/lib/plainbox-provider-checkbox/bin/bluetooth_transfer_stress
/usr/lib/plainbox-provider-checkbox/bin/bluetooth_test
/usr/lib/plainbox-provider-checkbox/bin/audio_bluetooth_loopback_test
/usr/lib/x86_64-linux-gnu/libgnome-bluetooth.so.13.0.1
/usr/lib/x86_64-linux-gnu/NetworkManager/libnm-device-plugin-bluetooth.so
/usr/lib/x86_64-linux-gnu/libbluetooth.a
/usr/lib/x86_64-linux-gnu/libbluetooth.so.3.18.10
find: ‘/usr/lib64’: No such file or directory
jim@jim-desktop:~$
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This is the archive file: /usr/lib/x86_64-linux-gnu/libbluetooth.a. The other one is probably part of the bluetooth driver (looks like a daemon process). So you need the following options for the linker:
-L /usr/lib/x86_64-linux-gnu -l bluetooth
The first one tells the linker to search that directory, and the second one gives the 'base' name of the archive file.
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does this makes sense ??
jim@jim-desktop:/media/jim/DEV/BLUEZ/bluez-5.50$ sudo make install
make --no-print-directory install-am
/bin/mkdir -p '/usr/local/bin'
/bin/bash ./libtool --mode=install /usr/bin/install -c client/bluetoothctl monitor/btmon tools/rctest tools/l2test tools/l2ping tools/bccmd tools/bluemoon tools/hex2hcd tools/mpris-proxy tools/btattach '/usr/local/bin'
libtool: install: /usr/bin/install -c client/bluetoothctl /usr/local/bin/bluetoothctl
libtool: install: /usr/bin/install -c monitor/btmon /usr/local/bin/btmon
libtool: install: /usr/bin/install -c tools/rctest /usr/local/bin/rctest
libtool: install: /usr/bin/install -c tools/l2test /usr/local/bin/l2test
libtool: install: /usr/bin/install -c tools/l2ping /usr/local/bin/l2ping
libtool: install: /usr/bin/install -c tools/bccmd /usr/local/bin/bccmd
libtool: install: /usr/bin/install -c tools/bluemoon /usr/local/bin/bluemoon
libtool: install: /usr/bin/install -c tools/hex2hcd /usr/local/bin/hex2hcd
libtool: install: /usr/bin/install -c tools/mpris-proxy /usr/local/bin/mpris-proxy
libtool: install: /usr/bin/install -c tools/btattach /usr/local/bin/btattach
/bin/mkdir -p '/usr/local/libexec/bluetooth'
/bin/bash ./libtool --mode=install /usr/bin/install -c src/bluetoothd obexd/src/obexd '/usr/local/libexec/bluetooth'
libtool: install: /usr/bin/install -c src/bluetoothd /usr/local/libexec/bluetooth/bluetoothd
libtool: install: /usr/bin/install -c obexd/src/obexd /usr/local/libexec/bluetooth/obexd
/bin/mkdir -p '/usr/local/lib/cups/backend'
/bin/bash ./libtool --mode=install /usr/bin/install -c profiles/cups/bluetooth '/usr/local/lib/cups/backend'
libtool: install: /usr/bin/install -c profiles/cups/bluetooth /usr/local/lib/cups/backend/bluetooth
/bin/mkdir -p '/etc/dbus-1/system.d'
/usr/bin/install -c -m 644 src/bluetooth.conf '/etc/dbus-1/system.d'
/bin/mkdir -p '/usr/share/dbus-1/services'
/usr/bin/install -c -m 644 obexd/src/org.bluez.obex.service '/usr/share/dbus-1/services'
/bin/mkdir -p '/usr/share/dbus-1/system-services'
/usr/bin/install -c -m 644 src/org.bluez.service '/usr/share/dbus-1/system-services'
/bin/mkdir -p '/usr/local/share/man/man1'
/usr/bin/install -c -m 644 tools/rctest.1 tools/l2ping.1 tools/bccmd.1 tools/btattach.1 tools/hid2hci.1 '/usr/local/share/man/man1'
/bin/mkdir -p '/usr/local/share/man/man8'
/usr/bin/install -c -m 644 src/bluetoothd.8 '/usr/local/share/man/man8'
/bin/mkdir -p '/lib/udev/rules.d'
/usr/bin/install -c -m 644 tools/97-hid2hci.rules '/lib/udev/rules.d'
/bin/mkdir -p '/lib/systemd/system'
/usr/bin/install -c -m 644 src/bluetooth.service '/lib/systemd/system'
/bin/mkdir -p '/usr/lib/systemd/user'
/usr/bin/install -c -m 644 obexd/src/obex.service '/usr/lib/systemd/user'
/bin/mkdir -p '/lib/udev'
/bin/bash ./libtool --mode=install /usr/bin/install -c tools/hid2hci '/lib/udev'
libtool: install: /usr/bin/install -c tools/hid2hci /lib/udev/hid2hci
jim@jim-desktop:/media/jim/DEV/BLUEZ/bluez-5.50$
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As a package install it looks OK, but as it is not something I am familiar with I can't really say whether it's correct or not.
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still no go.
Not sure where is the liker looking for the "bluetooth".
I am including edited , FOR MOST PART DELETED , linker verbose output.
Maybe the crosslinking process needs help , more options. I just do not know.
Perhaps the highlighted part could help to figure this out.
Building target: VNAR_19350
Invoking: Cross G++ Linker
arm-linux-gnueabihf-g++ -L/media/jim/DEV/BLUEZ/BlueZ-5.50 -L/usr/lib/bluetooth/bluetoothd -L/usr/lib/bluetooth -L/usr/local/libexec/bluetooth/ -v -o "VNAR_19350" ./src/MODULES/SOURCE_CODE/src/ESA_BASE_BAD.o ./src/MODULES/M_WIRE/CLASSWIRE.o ./src/MODULES/M_VNARODULE_1602/C_SPI_LCD.o ./src/MODULES/MODULE_1602/C_SSP.o ./src/MODULES/MODULE_1602/C_gpio.o ./src/VNA_1022_BASE.o -lbluetooth.a -lbluetoothd -lstdc++ -lm -lgcc_s -lgcc -lc -lgcc_s -lgcc /usr/lib/gcc-cross/arm-linux-gnueabihf/5/crtend.o /usr/lib/gcc-cross/arm-linux-gnueabihf/5/../../../../arm-linux-gnueabihf/lib/../lib/crtn.o
/usr/lib/gcc-cross/arm-linux-gnueabihf/5/../../../../arm-linux-gnueabihf/bin/ld: cannot find -lbluetooth.a
/usr/lib/gcc-cross/arm-linux-gnueabihf/5/../../../../arm-linux-gnueabihf/bin/ld: cannot find -lbluetoothd
collect2: error: ld returned 1 exit status
make: *** [VNAR_19350] Error 1
makefile:80: recipe for target 'VNAR_19350' failed
"make all" terminated with exit code 2. Build might be incomplete.
I did use
-L /usr/lib/x86_64-linux-gnu -l bluetooth
and got a message about "invalid" file type - it tried to link to "libbluetooth.o"
I could go back and try that again and post the output if it helps.
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5. At this point the linker , actually cross linker , references to anything "bluetooth" such as "-lbluethooth" or "-libbluetooth" yields " not found " cross linker error.
There's the problem. On your X86_64 box, you've installed bluez-X86_64. The linker will not link an X86_64 lib into an ARM target. Your X86_64 linux distribution may provide a libbluetooth-devel-arm package that will work with the cross compiler, but I doubt that.
I've just been poking about on my rpi-2 (raspian-debian jessie), and I think the following might work for you. Note that if you're on a pi3 or using something other jessie, things will be slightly different.
on the pi:
sudo apt-get install -d libbluetooth-dev
The -d flag downloads the package and puts it in /var/cache/apt/archives/, but doesn't actually install it. I see there's a lot of files there, so it might be worth checking to see if you've already got the package there already. On my system its libbluetooth-dev_5.23-2+rpi2_armhf.deb, so I expect yours will be similar.
on the X86_64, we'll assume that you've got a $HOME/tmp that you will use for copying and you will put the package contents in $HOME/rpi. Vary as necessary in the following:
cd $HOME/tmp
scp pi@10.0.1.76:/var/cache/apt/archives/libbluetooth-dev_5.23-2+rpi2_armhf.deb
mkdir $HOME/rpi
cd $HOME/rpi
dpkg -x $HOME/tmp/libbluetooth-dev_5.23-2+rpi2_armhf.deb
This will unpack the contents of the libbluetooth-dev package in the current directory. You should now have usr/include, usr/lib and usr/share in the $HOME/rpi directory, and you can now remove $HOME/tmp/libbluetooth-dev_5.23-2+rpi2_armhf.deb file. If you check your $HOME/rpi/lib/arm-linux-gnueabihf directory, you will probably find a broken link for libbluetooth.so. If you're happy just using the static linked .a library, you can delete the broken link. If you'd like to use the shared library, then scp /usr/lib/arm-linux-gnueabihf/libbluetooth.so.3.17.1 from the pi to $HOME/pi/lib/arm-linux-gnueabeihf (once again things may be different if you're on a different OS version than me).
Now add flags for -I $HOME/rpi/usr/include and -L$HOME/rpi/usr/lib/arm-linux-gnueabihf -lbluetooth to your IDE. (check the last part of the -L path if not on jessie). This way, at least, you have the same includes and libs available to your cross compiler as you have on the pi, but you'll have to remember to update the X86_64 if you update the bluetooth package on the pi.
Now, I haven't tried this, beyond unpacking the pi package (on the pi...) so it might not work, but I think it should. If there are any dependencies that libbluetooth-dev has that are needed, you'll need to repeat this process with them, too.
If this doesn't work, you may have to use the crosscompiler to build libbluetooth (and any of its dependencies).
Update:
I have had a chance to try this out, and can confirm it should work. Not knowing where to start with libbluetooth, I wrote a short ncurses program which I was able to cross-compile using the technique above and run on my rpi. I did run into an issue where libncurses has a dependency on libtinfo, so I had to track that down and add it to my $HOME/rpi, so you may have to do the same with any dependencies libbluetooth might have.
modified 5-Mar-19 20:22pm.
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