[Xenomai-help] ppc crosscompilation, missing headers

[Xenomai-help] ppc crosscompilation, missing headers

[Peter Feuerer]

Hi all,

I'm trying to crosscompile xenomai 2.3.1 for the ppc-architecture. 
My commands are like this:  (using latest denx ELDK)

export ARCH=ppc
export CROSS_COMPILE=ppc_8xx-

scripts/prepare-kernel.sh --arch=ppc
--linux=/home/piie/toolchains/ppc-4.1/ppc_8xx/usr/src/linux/
--adeos=ksrc/arch/powerpc/patches/adeos-ipipe-2.6.18-ppc-1.5-01.patch

cd bla/usr/src/linux/
make TQM8260_defconfig
make menuconfig
make uImage

Everything is working so far and the kernel with built in xenomai boots
flawless. (dmesg reports xenomai is working)

When trying to crosscompile the xenomai libs and so on, the configure
step is working correctly.

./configure -host=ppc-linux

But the make fails because of missing headers:
[..]
 error: asm/errno.h: No such file or directory
[..]
 error: asm/param.h: No such file or directory
[..]

I took a look at the kernel/include/asm-ppc/ folder and actually these
headers are missing. But they do exist for the "powerpc" architecture.
So I just copied all missing headers from asm-powerpc/ to asm-ppc/ to
try if the xenomai userspace things can be compiled. It worked. But I
think that is not the way it has to be done.
Does anybody know why these headers are missing in asm-ppc? Do I have to
install some kind of BSP-kernel-patch for my specific board? Why are
these headers available for powerpc?

And btw, maybe someone of you knows, why are there 2 architectures for
the powerpc architecture in the kernel tree?

thanks for your help,
--peter

Re: [Xenomai-help] ppc crosscompilation, missing headers

[Wolfgang Grandegger]

Peter Feuerer wrote:
> Hi all,
> 
> I'm trying to crosscompile xenomai 2.3.1 for the ppc-architecture. 
> My commands are like this:  (using latest denx ELDK)
> 
> export ARCH=ppc
> export CROSS_COMPILE=ppc_8xx-
> 
> scripts/prepare-kernel.sh --arch=ppc
> --linux=/home/piie/toolchains/ppc-4.1/ppc_8xx/usr/src/linux/
> --adeos=ksrc/arch/powerpc/patches/adeos-ipipe-2.6.18-ppc-1.5-01.patch
> 
> cd bla/usr/src/linux/
> make TQM8260_defconfig

Hm, ppc_8xx is not the right tool-chain for this board. Please use 
ppc_6xx instead.

> make menuconfig
> make uImage
> 
> Everything is working so far and the kernel with built in xenomai boots
> flawless. (dmesg reports xenomai is working)
> 
> When trying to crosscompile the xenomai libs and so on, the configure
> step is working correctly.
> 
> ./configure -host=ppc-linux
> 
> But the make fails because of missing headers:
> [..]
>  error: asm/errno.h: No such file or directory
> [..]
>  error: asm/param.h: No such file or directory
> [..]
> 
> I took a look at the kernel/include/asm-ppc/ folder and actually these
> headers are missing. But they do exist for the "powerpc" architecture.
> So I just copied all missing headers from asm-powerpc/ to asm-ppc/ to
> try if the xenomai userspace things can be compiled. It worked. But I
> think that is not the way it has to be done.

Of course not and I'm also surprised that it fixed your problem.

> Does anybody know why these headers are missing in asm-ppc? Do I have to
> install some kind of BSP-kernel-patch for my specific board? Why are
> these headers available for powerpc?

No, when compiling for "ppc", the include files in "asm-powerpc" are 
included as well.

> And btw, maybe someone of you knows, why are there 2 architectures for
> the powerpc architecture in the kernel tree?

Traditionally, there was the "arch/ppc" tree for 32-bit PowerPC and 
"arch/ppc64" for 64-bit PowerPC. Both are merged already since a while 
into the new tree "arch/powerpc" ... and the old trees will become 
obsolete sooner than later.

Concerning your problem, I'm unable to reproduce it on my setup. What 
exact version of the ELDK do you use.

Wolfgang.

Re: [Xenomai-help] ppc crosscompilation, missing headers

[Peter Feuerer]

[-- Attachment #1: Type: text/plain, Size: 2095 bytes --]

Hi Wolfgang,

On Tue, 2007-05-22 at 15:52 +0200, Wolfgang Grandegger wrote:
> 
> Hm, ppc_8xx is not the right tool-chain for this board. Please use 
> ppc_6xx instead.

Yes, you are right, i was using the wrong one. Now I installed the
toolchain for 6xx and use the env-variable:
export CROSS_COMPILE=ppc_82xx-

- kernel compiled as before and is booting (again configured with the
xenomai prepare script and the adeos patch)

But when compiling xenomai, still the same issue.

> > ./configure -host=ppc-linux
> > 
> > But the make fails because of missing headers:
> > [..]
> >  error: asm/errno.h: No such file or directory
> > [..]
> >  error: asm/param.h: No such file or directory
> > [..]
> > 
> > I took a look at the kernel/include/asm-ppc/ folder and actually these
> > headers are missing. But they do exist for the "powerpc" architecture.
> > So I just copied all missing headers from asm-powerpc/ to asm-ppc/ to
> > try if the xenomai userspace things can be compiled. It worked. But I
> > think that is not the way it has to be done.
> 
> Of course not and I'm also surprised that it fixed your problem.

> > Does anybody know why these headers are missing in asm-ppc? Do I have to
> > install some kind of BSP-kernel-patch for my specific board? Why are
> > these headers available for powerpc?
> 
> No, when compiling for "ppc", the include files in "asm-powerpc" are 
> included as well.

it does not seem like that :-(

> 
> > And btw, maybe someone of you knows, why are there 2 architectures for
> > the powerpc architecture in the kernel tree?
> 
> Traditionally, there was the "arch/ppc" tree for 32-bit PowerPC and 
> "arch/ppc64" for 64-bit PowerPC. Both are merged already since a while 
> into the new tree "arch/powerpc" ... and the old trees will become 
> obsolete sooner than later.

Thanks for this information having ppc and powerpc is little confusing.

> Concerning your problem, I'm unable to reproduce it on my setup. What 
> exact version of the ELDK do you use.

I'm using the ELDK 4.1 Toolchain (ppc-2007-01-19.iso) 

The complete log is attached.

--peter

[-- Attachment #2: xenomai-ppc.txt --]
[-- Type: text/plain, Size: 3805 bytes --]

mount -o loop ppc-2007-01-19.iso /mnt/tmp
cd ppc_6
/mnt/tmp/install ppc_6xx
export CROSS_COMPILE=ppc_82xx-
export ARCH=ppc
PATH=$PATH:$(pwd)/usr/bin:$(pwd)/bin
cd ppc_82xx/usr/src/
tar xfj ~/linux-2.6.19.tar.bz2
rm linux
ln -s linux-2.6.19 linux
cd linux
make TQM8260_defconfig
make menuconfig #(nothing changed, just saved and exited)
cd ..
tar xfj ~/xenomai-2.3.1.tar.bz2
cd xenomai-2.3.1
scripts/prepare-kernel.sh --arch=ppc --linux=../linux/ --adoes=ksrc/arch/powerpc/patches/adeos-ipipe-2.6.19-ppc-1.5-01.patch
cd ../linux
make menuconfig #(checked if xenomai is enabled to be built in, saved and exited)
make uImage
cd ../xenomai-2.3.1
./configure --host=ppc-linux
make


crosscompile:~/toolchains/ppc_6/ppc_82xx/usr/src/xenomai-2.3.1 # make
Making all in src
make[1]: Entering directory `/root/toolchains/ppc_6/ppc_6xx/usr/src/xenomai-2.3.1/src'
Making all in include
make[2]: Entering directory `/root/toolchains/ppc_6/ppc_6xx/usr/src/xenomai-2.3.1/src/include'
make  all-am
make[3]: Entering directory `/root/toolchains/ppc_6/ppc_6xx/usr/src/xenomai-2.3.1/src/include'
make[3]: Nothing to be done for `all-am'.
make[3]: Leaving directory `/root/toolchains/ppc_6/ppc_6xx/usr/src/xenomai-2.3.1/src/include'
make[2]: Leaving directory `/root/toolchains/ppc_6/ppc_6xx/usr/src/xenomai-2.3.1/src/include'
Making all in skins
make[2]: Entering directory `/root/toolchains/ppc_6/ppc_6xx/usr/src/xenomai-2.3.1/src/skins'
Making all in native
make[3]: Entering directory `/root/toolchains/ppc_6/ppc_6xx/usr/src/xenomai-2.3.1/src/skins/native'
if /bin/sh ../../../libtool --tag=CC --mode=compile ppc-linux-gcc -DHAVE_CONFIG_H -I. -I. -I../../../src/include  -O2 -D_GNU_SOURCE -D_REENTRANT -Wall -pipe -D__XENO__ -D__IN_XENO__ -Wstrict-prototypes -I../../../include    -MT libnative_la-alarm.lo -MD -MP -MF ".deps/libnative_la-alarm.Tpo" -c -o libnative_la-alarm.lo `test -f 'alarm.c' || echo './'`alarm.c; \
then mv -f ".deps/libnative_la-alarm.Tpo" ".deps/libnative_la-alarm.Plo"; else rm -f ".deps/libnative_la-alarm.Tpo"; exit 1; fi
 ppc-linux-gcc -DHAVE_CONFIG_H -I. -I. -I../../../src/include -O2 -D_GNU_SOURCE -D_REENTRANT -Wall -pipe -D__XENO__ -D__IN_XENO__ -Wstrict-prototypes -I../../../include -MT libnative_la-alarm.lo -MD -MP -MF .deps/libnative_la-alarm.Tpo -c alarm.c  -fPIC -DPIC -o .libs/libnative_la-alarm.o
In file included from /root/toolchains/ppc_6/usr/../ppc_82xx/usr/include/bits/errno.h:25,
                 from /root/toolchains/ppc_6/usr/../ppc_82xx/usr/include/errno.h:36,
                 from ../../../include/nucleus/types.h:32,
                 from ../../../include/nucleus/queue.h:24,
                 from ../../../include/nucleus/timer.h:23,
                 from ../../../include/native/alarm.h:25,
                 from alarm.c:20:
/root/toolchains/ppc_6/usr/../ppc_82xx/usr/include/linux/errno.h:4:23: error: asm/errno.h: No such file or directory
In file included from ../../../src/include/asm/xenomai/system.h:145,
                 from ../../../include/nucleus/types.h:39,
                 from ../../../include/nucleus/queue.h:24,
                 from ../../../include/nucleus/timer.h:23,
                 from ../../../include/native/alarm.h:25,
                 from alarm.c:20:
../../../include/nucleus/system.h:25:23: error: asm/param.h: No such file or directory
make[3]: *** [libnative_la-alarm.lo] Error 1
make[3]: Leaving directory `/root/toolchains/ppc_6/ppc_6xx/usr/src/xenomai-2.3.1/src/skins/native'
make[2]: *** [all-recursive] Error 1
make[2]: Leaving directory `/root/toolchains/ppc_6/ppc_6xx/usr/src/xenomai-2.3.1/src/skins'
make[1]: *** [all-recursive] Error 1
make[1]: Leaving directory `/root/toolchains/ppc_6/ppc_6xx/usr/src/xenomai-2.3.1/src'
make: *** [all-recursive] Error 1
crosscompile:~/toolchains/ppc_6/ppc_82xx/usr/src/xenomai-2.3.1 #

Re: [Xenomai-help] ppc crosscompilation, missing headers

[Wolfgang Denk]

Dear Peter,

in message <1179844918.6050.64.camel@domain.hid> you wrote:
> 
> But when compiling xenomai, still the same issue.

Please see FAQ 14.1.4. ELDK Include Files Missing
http://www.denx.de/wiki/view/DULG/ELDKIncludeFilesMissing

Best regards,

Wolfgang Denk

-- 
DENX Software Engineering GmbH,     MD: Wolfgang Denk & Detlev Zundel
HRB 165235 Munich, Office: Kirchenstr.5, D-82194 Groebenzell, Germany
Phone: (+49)-8142-66989-10 Fax: (+49)-8142-66989-80 Email: wd@domain.hid
Another dream that failed.  There's nothing sadder.
	-- Kirk, "This side of Paradise", stardate 3417.3

Re: [Xenomai-help] ppc crosscompilation, missing headers

[Wolfgang Grandegger]

Peter Feuerer wrote:
> Hi Wolfgang,
> 
> On Tue, 2007-05-22 at 15:52 +0200, Wolfgang Grandegger wrote:
>> Hm, ppc_8xx is not the right tool-chain for this board. Please use 
>> ppc_6xx instead.
> 
> Yes, you are right, i was using the wrong one. Now I installed the
> toolchain for 6xx and use the env-variable:
> export CROSS_COMPILE=ppc_82xx-
> 
> - kernel compiled as before and is booting (again configured with the
> xenomai prepare script and the adeos patch)
> 
> But when compiling xenomai, still the same issue.
> 
>>> ./configure -host=ppc-linux
>>>
>>> But the make fails because of missing headers:
>>> [..]
>>>  error: asm/errno.h: No such file or directory
>>> [..]
>>>  error: asm/param.h: No such file or directory
>>> [..]
>>>
>>> I took a look at the kernel/include/asm-ppc/ folder and actually these
>>> headers are missing. But they do exist for the "powerpc" architecture.
>>> So I just copied all missing headers from asm-powerpc/ to asm-ppc/ to
>>> try if the xenomai userspace things can be compiled. It worked. But I
>>> think that is not the way it has to be done.
>> Of course not and I'm also surprised that it fixed your problem.
> 
>>> Does anybody know why these headers are missing in asm-ppc? Do I have to
>>> install some kind of BSP-kernel-patch for my specific board? Why are
>>> these headers available for powerpc?
>> No, when compiling for "ppc", the include files in "asm-powerpc" are 
>> included as well.
> 
> it does not seem like that :-(
> 
>>> And btw, maybe someone of you knows, why are there 2 architectures for
>>> the powerpc architecture in the kernel tree?
>> Traditionally, there was the "arch/ppc" tree for 32-bit PowerPC and 
>> "arch/ppc64" for 64-bit PowerPC. Both are merged already since a while 
>> into the new tree "arch/powerpc" ... and the old trees will become 
>> obsolete sooner than later.
> 
> Thanks for this information having ppc and powerpc is little confusing.
> 
>> Concerning your problem, I'm unable to reproduce it on my setup. What 
>> exact version of the ELDK do you use.
> 
> I'm using the ELDK 4.1 Toolchain (ppc-2007-01-19.iso) 

OK, in the meantime I know that the problem is known with ELDK 4.x as 
described http://www.denx.de/wiki/view/DULG/ELDKIncludeFilesMissing.

Wolfgang.

Re: [Xenomai-help] ppc crosscompilation, missing headers

[Peter Feuerer]

Dear Wolfgang * 2,

thank you very much for the help, its compiling now.

Have a nice day :)
kind regards,
--peter

Re: [Xenomai-help] ppc crosscompilation, missing headers

[Peter Feuerer]

[-- Attachment #1: Type: text/plain, Size: 700 bytes --]

Hi,

History:
https://mail.gna.org/public/xenomai-help/2007-05/msg00260.html

> Please see FAQ 14.1.4. ELDK Include Files Missing
> http://www.denx.de/wiki/view/DULG/ELDKIncludeFilesMissing

After doing this workaround, I'm able to compile the userspace part of
Xenomai, but now I can't compile any little kernelmodule using the
xenomai api. I attached the Makefile and the sourcecode of my little
example.

When trying to compile it cannot find headers like asm/param.h or
asm/types.h (because they are not in krnsrc/include/asm-ppc/ and the
workaround just added the userspace/libc headers). I guess there must be
something wrong with the Makefile, but I cannot find the problem.

regards,
--peter

[-- Attachment #2: Makefile --]
[-- Type: text/x-makefile, Size: 510 bytes --]

### List of modules to be build
MODULES = krn

### Default to sources of currently running kernel
KSRC:=../../usr/src/linux

OBJS     := ${patsubst %, %.o, $(MODULES)}
CLEANMOD := ${patsubst %, .%*, $(MODULES)}
PWD      := $(shell if [ "$$PWD" != "" ]; then echo $$PWD; else pwd; fi)

obj-m        := $(OBJS)
EXTRA_CFLAGS := -I$(KSRC)/include/xenomai -I$(KSRC)/include/xenomai/posix

all::
	$(MAKE) -C $(KSRC) SUBDIRS=$(PWD) modules

clean::
	$(RM) $(CLEANMOD) *.o *.ko *.mod.c Module*.symvers
	$(RM) -R .tmp*

[-- Attachment #3: krn.c --]
[-- Type: text/x-csrc, Size: 512 bytes --]

#include <linux/module.h>
#include <native/task.h>

MODULE_LICENSE("GPL");
RT_TASK task;

void foo_task(void *cookie) {
   int i=0;
	rt_task_set_periodic(NULL, TM_NOW, 50000000);
   while(1)
   {
      rt_task_wait_period(NULL);
      printk("foo %d\n",i++);
   }
}

int init_module(void)
{
	rt_task_create(&task, "foo_task", 0, 99, 0);
	rt_task_start(&task, &foo_task,NULL);
	
	printk("krn module loaded\n");
	return 0;
}

void cleanup_module(void)
{
	rt_task_delete(&task);
	printk("krn module unloaded\n");
}

Re: [Xenomai-help] ppc crosscompilation, missing headers

[Wolfgang Grandegger]

Peter Feuerer wrote:
> Hi,
> 
> History:
> https://mail.gna.org/public/xenomai-help/2007-05/msg00260.html
> 
>> Please see FAQ 14.1.4. ELDK Include Files Missing
>> http://www.denx.de/wiki/view/DULG/ELDKIncludeFilesMissing
> 
> After doing this workaround, I'm able to compile the userspace part of
> Xenomai, but now I can't compile any little kernelmodule using the
> xenomai api. I attached the Makefile and the sourcecode of my little
> example.
> 
> When trying to compile it cannot find headers like asm/param.h or
> asm/types.h (because they are not in krnsrc/include/asm-ppc/ and the
> workaround just added the userspace/libc headers). I guess there must be
> something wrong with the Makefile, but I cannot find the problem.

Just add ARCH=ppc to you make command.

Wolfgang.

Re: [Xenomai-help] ppc crosscompilation, missing headers

[Peter Feuerer]

On Wed, 2007-05-23 at 10:27 +0200, Wolfgang Grandegger wrote:
> Peter Feuerer wrote:
> > Hi,
> > 
> > History:
> > https://mail.gna.org/public/xenomai-help/2007-05/msg00260.html
> > 
> >> Please see FAQ 14.1.4. ELDK Include Files Missing
> >> http://www.denx.de/wiki/view/DULG/ELDKIncludeFilesMissing
> > 
> > After doing this workaround, I'm able to compile the userspace part of
> > Xenomai, but now I can't compile any little kernelmodule using the
> > xenomai api. I attached the Makefile and the sourcecode of my little
> > example.
> > 
> > When trying to compile it cannot find headers like asm/param.h or
> > asm/types.h (because they are not in krnsrc/include/asm-ppc/ and the
> > workaround just added the userspace/libc headers). I guess there must be
> > something wrong with the Makefile, but I cannot find the problem.
> 
> Just add ARCH=ppc to you make command.

ARCH=ppc is already set as environment variable, nevertheless I tried to
compile it using "make ARCH=ppc" and to add it to Makefile's make line.
Still the same Problem.

--peter

Re: [Xenomai-help] ppc crosscompilation, missing headers

[Wolfgang Grandegger]

Peter Feuerer wrote:
> On Wed, 2007-05-23 at 10:27 +0200, Wolfgang Grandegger wrote:
>> Peter Feuerer wrote:
>>> Hi,
>>>
>>> History:
>>> https://mail.gna.org/public/xenomai-help/2007-05/msg00260.html
>>>
>>>> Please see FAQ 14.1.4. ELDK Include Files Missing
>>>> http://www.denx.de/wiki/view/DULG/ELDKIncludeFilesMissing
>>> After doing this workaround, I'm able to compile the userspace part of
>>> Xenomai, but now I can't compile any little kernelmodule using the
>>> xenomai api. I attached the Makefile and the sourcecode of my little
>>> example.
>>>
>>> When trying to compile it cannot find headers like asm/param.h or
>>> asm/types.h (because they are not in krnsrc/include/asm-ppc/ and the
>>> workaround just added the userspace/libc headers). I guess there must be
>>> something wrong with the Makefile, but I cannot find the problem.
>> Just add ARCH=ppc to you make command.
> 
> ARCH=ppc is already set as environment variable, nevertheless I tried to
> compile it using "make ARCH=ppc" and to add it to Makefile's make line.
> Still the same Problem.

Hm, it works for me. You moved around header files in your kernel 
include path. Have you already cleaned up? And add V=1 to the make 
command to check the compile command.

Wolfgang.

Re: [Xenomai-help] ppc crosscompilation, missing headers

[Peter Feuerer]

On Wed, 2007-05-23 at 11:09 +0200, Wolfgang Grandegger wrote:
> Peter Feuerer wrote:
> > On Wed, 2007-05-23 at 10:27 +0200, Wolfgang Grandegger wrote:
> >> Peter Feuerer wrote:
> >>> Hi,
> >>>
> >>> History:
> >>> https://mail.gna.org/public/xenomai-help/2007-05/msg00260.html
> >>>
> >>>> Please see FAQ 14.1.4. ELDK Include Files Missing
> >>>> http://www.denx.de/wiki/view/DULG/ELDKIncludeFilesMissing
> >>> After doing this workaround, I'm able to compile the userspace part of
> >>> Xenomai, but now I can't compile any little kernelmodule using the
> >>> xenomai api. I attached the Makefile and the sourcecode of my little
> >>> example.
> >>>
> >>> When trying to compile it cannot find headers like asm/param.h or
> >>> asm/types.h (because they are not in krnsrc/include/asm-ppc/ and the
> >>> workaround just added the userspace/libc headers). I guess there must be
> >>> something wrong with the Makefile, but I cannot find the problem.
> >> Just add ARCH=ppc to you make command.
> > 
> > ARCH=ppc is already set as environment variable, nevertheless I tried to
> > compile it using "make ARCH=ppc" and to add it to Makefile's make line.
> > Still the same Problem.
> 
> Hm, it works for me. You moved around header files in your kernel 
> include path. Have you already cleaned up? And add V=1 to the make 
> command to check the compile command.

This is a complete new installation of denx ELDK 4.1 and a complete
fresh kernel, just patched with the adeos patch and compiled, no hacks,
or workarounds here. I sent the log how I installed everything some
emails ago.

Got it, the V=1 told me to make a "make oldconfig && make prepare" in
the kernel src then I was able to compile it. What ever that made, it
made it working.

thanks for your help!

--peter

Re: [Xenomai-help] ppc crosscompilation, missing headers

[Wolfgang Grandegger]

Peter Feuerer wrote:
> On Wed, 2007-05-23 at 11:09 +0200, Wolfgang Grandegger wrote:
>> Peter Feuerer wrote:
>>> On Wed, 2007-05-23 at 10:27 +0200, Wolfgang Grandegger wrote:
>>>> Peter Feuerer wrote:
>>>>> Hi,
>>>>>
>>>>> History:
>>>>> https://mail.gna.org/public/xenomai-help/2007-05/msg00260.html
>>>>>
>>>>>> Please see FAQ 14.1.4. ELDK Include Files Missing
>>>>>> http://www.denx.de/wiki/view/DULG/ELDKIncludeFilesMissing
>>>>> After doing this workaround, I'm able to compile the userspace part of
>>>>> Xenomai, but now I can't compile any little kernelmodule using the
>>>>> xenomai api. I attached the Makefile and the sourcecode of my little
>>>>> example.
>>>>>
>>>>> When trying to compile it cannot find headers like asm/param.h or
>>>>> asm/types.h (because they are not in krnsrc/include/asm-ppc/ and the
>>>>> workaround just added the userspace/libc headers). I guess there must be
>>>>> something wrong with the Makefile, but I cannot find the problem.
>>>> Just add ARCH=ppc to you make command.
>>> ARCH=ppc is already set as environment variable, nevertheless I tried to
>>> compile it using "make ARCH=ppc" and to add it to Makefile's make line.
>>> Still the same Problem.
>> Hm, it works for me. You moved around header files in your kernel 
>> include path. Have you already cleaned up? And add V=1 to the make 
>> command to check the compile command.
> 
> This is a complete new installation of denx ELDK 4.1 and a complete
> fresh kernel, just patched with the adeos patch and compiled, no hacks,
> or workarounds here. I sent the log how I installed everything some
> emails ago.
> 
> Got it, the V=1 told me to make a "make oldconfig && make prepare" in
> the kernel src then I was able to compile it. What ever that made, it
> made it working.

Good, it makes some required header files.

Wolfgang.