fix cross-platofrm compatibility issues and build up CI

Author: CameronBrooks11

.github/workflows/ci.yml

@@ -61,3 +61,28 @@ jobs:
 
       - name: Test
         run: ctest --test-dir build --output-on-failure
+
+  build-arm64:
+    name: Build (ARM64)
+    runs-on: ubuntu-22.04
+    container:
+      image: ubuntu:22.04
+      # request ARM64 emulation — GitHub runners will use qemu for multiarch containers
+      options: --platform linux/arm64
+
+    steps:
+      - uses: actions/checkout@v4
+
+      - name: Install dependencies
+        run: |
+          apt-get update
+          apt-get install -y cmake ninja-build gcc g++ libc6-dev
+
+      - name: Configure
+        run: cmake -S . -B build -G Ninja -DBUILD_TESTING=ON
+
+      - name: Build
+        run: cmake --build build
+
+      - name: Test
+        run: ctest --test-dir build --output-on-failure

examples/c/i2c_scanner/main.c

@@ -5,6 +5,7 @@
 
 #include <stdio.h>
 #include <stdint.h>
+#include <sys/types.h>
 #include "linux_wire.h"
 
 int main(void)

examples/c/i2c_scanner_strict/main.c

@@ -5,6 +5,7 @@
 
 #include <stdio.h>
 #include <stdint.h>
+#include <sys/types.h>
 #include "linux_wire.h"
 
 int main(void)

examples/c/master_multiplier/main.c

@@ -5,7 +5,8 @@
 
 #include <stdio.h>
 #include <stdint.h>
-#include <unistd.h>
+#include <sys/types.h>
+#include <time.h>
 #include "linux_wire.h"
 
 static const uint16_t DEVICE_ADDR = 0x40;
@@ -31,7 +32,9 @@ int main(void)
         return 1;
     }
 
-    usleep(1000); /* small delay to let peripheral respond */
+    /* sleep ~1ms */
+    struct timespec ts = { .tv_sec = 0, .tv_nsec = 1000 * 1000 };
+    nanosleep(&ts, NULL);
 
     uint8_t result = 0;
     ssize_t r = lw_ioctl_read(&bus, DEVICE_ADDR, NULL, 0, &result, 1, 0);

examples/c/master_reader/main.c

@@ -5,6 +5,7 @@
 
 #include <stdio.h>
 #include <stdint.h>
+#include <sys/types.h>
 #include "linux_wire.h"
 
 static const uint16_t DEVICE_ADDR = 0x40;

examples/c/master_writer/main.c

@@ -5,6 +5,7 @@
 
 #include <stdio.h>
 #include <stdint.h>
+#include <sys/types.h>
 #include "linux_wire.h"
 
 static const uint16_t DEVICE_ADDR = 0x40;

examples/cpp/master_multiplier/main.cpp

@@ -1,5 +1,5 @@
 #include <cstdio>
-#include <unistd.h> // for usleep
+#include <time.h>
 #include "Wire.h"
 
 /*
@@ -32,8 +32,9 @@ int main()
         return 1;
     }
 
-    // Wait briefly to allow the Nano to process the value
-    usleep(1000); // 1 ms is enough for AVR callbacks
+    // Wait briefly to allow the Nano to process the value (~1ms)
+    struct timespec ts = { .tv_sec = 0, .tv_nsec = 1000 * 1000 };
+    nanosleep(&ts, NULL);
 
     // Request 1 byte back
     uint8_t count = Wire.requestFrom(DEVICE_ADDR, (uint8_t)1);

src/Wire.cpp

@@ -1,4 +1,6 @@
 #include "Wire.h"
+#include <sys/types.h>
+#include <unistd.h>
 
 #include <cerrno>
 #include <cstring>