My work-in-progress self-driving RC car.
Most host code runs on a Raspberry Pi; some runs on an Atmel AVR connected to it via SPI.
To build on a host with a raspberry pi cross-compiler (mine's called arm-none-linux-gnueabi-gcc, you may need to edit crosscompile.cmake):
mkdir build
cd build
cmake -DCMAKE_TOOLCHAIN_FILE=../crosscompile.cmake ..
make -j4
Building on a raspberry pi is more straightforward but slow.