[Xenomai-help] Installation and Makefile Help

[Xenomai-help] Installation and Makefile Help

[Jonathan Haws]

All,

I am new to Xenomai, so please bear with me.

I have a question regarding creating Makefiles for building Xenomai enabled programs.  I would like to simply use "xeno-config" to set my CFLAGS and LDFLAGS settings in the Makefile.

However, the problem I run into is that my target (AMCC 405EX PPC system) requires that I have the --prefix option set to /usr/local/xenomai.  However, that is not the real path to where the libraries are installed on my host system.  They are at ~/eldk/ppc_4xx/usr/local/xenomai.  I then have a script that will build a ramdisk and pull the libraries from the correct location (if anyone has used the root filesystem builder from Denx that is how I am doing it). 

How can I fix that discrepancy?  I would like to accomplish this the correct way and if that is simply creating a symlink, so be it.

Thanks!

Jonathan

Re: [Xenomai-help] Installation and Makefile Help

[Gilles Chanteperdrix]

Jonathan Haws wrote:
> All,
> 
> I am new to Xenomai, so please bear with me.
> 
> I have a question regarding creating Makefiles for building Xenomai 
> enabled programs.  I would like to simply use "xeno-config" to set my
>  CFLAGS and LDFLAGS settings in the Makefile.
> 
> However, the problem I run into is that my target (AMCC 405EX PPC 
> system) requires that I have the --prefix option set to 
> /usr/local/xenomai.  However, that is not the real path to where the 
> libraries are installed on my host system.  They are at 
> ~/eldk/ppc_4xx/usr/local/xenomai.  I then have a script that will 
> build a ramdisk and pull the libraries from the correct location (if 
> anyone has used the root filesystem builder from Denx that is how I 
> am doing it).
> 
> How can I fix that discrepancy?  I would like to accomplish this the 
> correct way and if that is simply creating a symlink, so be it.

Use DESTDIR, that is what it was made for. The makefiles use it when
running "make install", and xeno-config prepends it to the directories
it returns.

So, in a makefile, you woud do:

XENO_DESTDIR:=~/eldk/ppc_4xx
XENO_CONFIG:=$(XENO_DESTDIR)/usr/local/xenomai/bin/xeno-config
XENO_CPPFLAGS:=$(shell DESTDIR=$(XENO_DESTDIR) $(XENO_CONFIG) --xeno-cflags)
XENO_LIBS:=$(shell DESTDIR=$(XENO_DESTDIR) $(XENO_CONFIG) --xeno-ldflags)

Note that to ease working in a cross-compile embedded environnement
you may want to avoid copying header files, documentation, etc... in
the directory that will be used to generate the root filesystem. In
this case pass a different --prefix and --exec-prefix options to 
xenomai configure script.

-- 
					    Gilles.

Re: [Xenomai-help] Installation and Makefile Help

[Jonathan Haws]

> Use DESTDIR, that is what it was made for. The makefiles use it when
> running "make install", and xeno-config prepends it to the
> directories
> it returns.
> 
> So, in a makefile, you woud do:
> 
> XENO_DESTDIR:=~/eldk/ppc_4xx
> XENO_CONFIG:=$(XENO_DESTDIR)/usr/local/xenomai/bin/xeno-config
> XENO_CPPFLAGS:=$(shell DESTDIR=$(XENO_DESTDIR) $(XENO_CONFIG) --
> xeno-cflags)
> XENO_LIBS:=$(shell DESTDIR=$(XENO_DESTDIR) $(XENO_CONFIG) --xeno-
> ldflags)

Ah, that makes sense.  Thanks, Gilles.

 
> Note that to ease working in a cross-compile embedded environnement
> you may want to avoid copying header files, documentation, etc... in
> the directory that will be used to generate the root filesystem. In
> this case pass a different --prefix and --exec-prefix options to
> xenomai configure script.

So, in that case I would do something like the following:

./configure --exec-prefix=~/eldk/ppc_4xx/usr/local/xenomai \
	 --prefix=/usr/local/xenomai --host=ppc-linux

That would put headers, documentation, and other development files in a usable location on the host and the libraries and executables in ~/eldk/ppc_4xx.

Correct?

Thanks for the help!

Jonathan

Re: [Xenomai-help] Installation and Makefile Help

[Gilles Chanteperdrix]

Jonathan Haws wrote:
>> Use DESTDIR, that is what it was made for. The makefiles use it
>> when running "make install", and xeno-config prepends it to the 
>> directories it returns.
>> 
>> So, in a makefile, you woud do:
>> 
>> XENO_DESTDIR:=~/eldk/ppc_4xx 
>> XENO_CONFIG:=$(XENO_DESTDIR)/usr/local/xenomai/bin/xeno-config 
>> XENO_CPPFLAGS:=$(shell DESTDIR=$(XENO_DESTDIR) $(XENO_CONFIG) -- 
>> xeno-cflags) XENO_LIBS:=$(shell DESTDIR=$(XENO_DESTDIR)
>> $(XENO_CONFIG) --xeno- ldflags)
> 
> Ah, that makes sense.  Thanks, Gilles.
> 
> 
>> Note that to ease working in a cross-compile embedded environnement
>>  you may want to avoid copying header files, documentation, etc...
>> in the directory that will be used to generate the root filesystem.
>> In this case pass a different --prefix and --exec-prefix options to
>>  xenomai configure script.
> 
> So, in that case I would do something like the following:
> 
> ./configure --exec-prefix=~/eldk/ppc_4xx/usr/local/xenomai \ 
> --prefix=/usr/local/xenomai --host=ppc-linux
> 
> That would put headers, documentation, and other development files in
> a usable location on the host and the libraries and executables in
> ~/eldk/ppc_4xx.

Well no, unfortunately not. To get things working properly, you have to 
pass ~/eldk/ppc_4xx as the DESTDIR when running "make install". At least
that is the way the makefiles coming from automake are supposed to be 
used.

So, what you would do is rather:
./configure --exec-prefix=/usr/local/xenomai --prefix=/xenomai-host --host=ppc-linux

And then in the script generating the rootfs, prune the 
~/eldk/ppc_4xx/xenomai-host directory.

-- 
					    Gilles.

Re: [Xenomai-help] Installation and Makefile Help

[Jonathan Haws]

> >> Use DESTDIR, that is what it was made for. The makefiles use it
> >> when running "make install", and xeno-config prepends it to the
> >> directories it returns.
> >>
> >> So, in a makefile, you woud do:
> >>
> >> XENO_DESTDIR:=~/eldk/ppc_4xx
> >> XENO_CONFIG:=$(XENO_DESTDIR)/usr/local/xenomai/bin/xeno-config
> >> XENO_CPPFLAGS:=$(shell DESTDIR=$(XENO_DESTDIR) $(XENO_CONFIG) --
> >> xeno-cflags) XENO_LIBS:=$(shell DESTDIR=$(XENO_DESTDIR)
> >> $(XENO_CONFIG) --xeno- ldflags)
> >
> > Ah, that makes sense.  Thanks, Gilles.
> >
> >
> >> Note that to ease working in a cross-compile embedded
> environnement
> >>  you may want to avoid copying header files, documentation,
> etc...
> >> in the directory that will be used to generate the root
> filesystem.
> >> In this case pass a different --prefix and --exec-prefix options
> to
> >>  xenomai configure script.
> >
> > So, in that case I would do something like the following:
> >
> > ./configure --exec-prefix=~/eldk/ppc_4xx/usr/local/xenomai \
> > --prefix=/usr/local/xenomai --host=ppc-linux
> >
> > That would put headers, documentation, and other development files
> in
> > a usable location on the host and the libraries and executables in
> > ~/eldk/ppc_4xx.
> 
> Well no, unfortunately not. To get things working properly, you have
> to
> pass ~/eldk/ppc_4xx as the DESTDIR when running "make install". At
> least
> that is the way the makefiles coming from automake are supposed to
> be
> used.
> 
> So, what you would do is rather:
> ./configure --exec-prefix=/usr/local/xenomai --prefix=/xenomai-host
> --host=ppc-linux
> 
> And then in the script generating the rootfs, prune the
> ~/eldk/ppc_4xx/xenomai-host directory.

Ah, yes.  I can see that now that I tried exactly what I just mentioned.  This make sense.

Thanks.

Jonathan

Re: [Xenomai-help] Installation and Makefile Help

[Jonathan Haws]

> > >> Use DESTDIR, that is what it was made for. The makefiles use it
> > >> when running "make install", and xeno-config prepends it to the
> > >> directories it returns.
> > >>
> > >> So, in a makefile, you woud do:
> > >>
> > >> XENO_DESTDIR:=~/eldk/ppc_4xx
> > >> XENO_CONFIG:=$(XENO_DESTDIR)/usr/local/xenomai/bin/xeno-config
> > >> XENO_CPPFLAGS:=$(shell DESTDIR=$(XENO_DESTDIR) $(XENO_CONFIG) -
> -
> > >> xeno-cflags) XENO_LIBS:=$(shell DESTDIR=$(XENO_DESTDIR)
> > >> $(XENO_CONFIG) --xeno- ldflags)
> > >
> > > Ah, that makes sense.  Thanks, Gilles.
> > >
> > >
> > >> Note that to ease working in a cross-compile embedded
> > environnement
> > >>  you may want to avoid copying header files, documentation,
> > etc...
> > >> in the directory that will be used to generate the root
> > filesystem.
> > >> In this case pass a different --prefix and --exec-prefix
> options
> > to
> > >>  xenomai configure script.
> > >
> > > So, in that case I would do something like the following:
> > >
> > > ./configure --exec-prefix=~/eldk/ppc_4xx/usr/local/xenomai \
> > > --prefix=/usr/local/xenomai --host=ppc-linux
> > >
> > > That would put headers, documentation, and other development
> files
> > in
> > > a usable location on the host and the libraries and executables
> in
> > > ~/eldk/ppc_4xx.
> >
> > Well no, unfortunately not. To get things working properly, you
> have
> > to
> > pass ~/eldk/ppc_4xx as the DESTDIR when running "make install". At
> > least
> > that is the way the makefiles coming from automake are supposed to
> > be
> > used.
> >
> > So, what you would do is rather:
> > ./configure --exec-prefix=/usr/local/xenomai --prefix=/xenomai-
> host
> > --host=ppc-linux
> >
> > And then in the script generating the rootfs, prune the
> > ~/eldk/ppc_4xx/xenomai-host directory.
> 
> Ah, yes.  I can see that now that I tried exactly what I just
> mentioned.  This make sense.


Follow up question:

I am trying to get a kernel module to build correctly and I am running into problems passing the Xenomai information to the kbuild system.  Here is what I am seeing:

rm -rf *.o *~ core .depend .*.cmd *.ko *.mod.c .tmp_versions *.order \
                        *.symvers main
echo -I/home/jhaws/eldk/ppc_4xx/xenomai-host/include -D_GNU_SOURCE -D_REENTRANT -D__XENO__
-I/home/jhaws/eldk/ppc_4xx/xenomai-host/include -D_GNU_SOURCE -D_REENTRANT -D__XENO__
make -C ~/embedded-linux/linux-2.6-xenomai M=/home/jhaws/workspace/benchFPGA modules
make[1]: Entering directory `/home/jhaws/embedded-linux/linux-2.6-xenomai'
  CC [M]  /home/jhaws/workspace/benchFPGA/fpgaDriver.o
/home/jhaws/workspace/benchFPGA/fpgaDriver.c:34:24: error: native/sem.h: No such file or directory
In file included from /home/jhaws/workspace/benchFPGA/fpgaDriver.c:37:
/home/jhaws/workspace/benchFPGA/fpga.h:248: error: expected specifier-qualifier-list before 'RT_SEM'
/home/jhaws/workspace/benchFPGA/fpgaDriver.c: In function 'fpga_isr':
/home/jhaws/workspace/benchFPGA/fpgaDriver.c:126: error: implicit declaration of function 'rt_sem_v'
/home/jhaws/workspace/benchFPGA/fpgaDriver.c:126: error: 'fpga_dev' has no member named 'sarSem'
/home/jhaws/workspace/benchFPGA/fpgaDriver.c: In function 'fpga_init':
/home/jhaws/workspace/benchFPGA/fpgaDriver.c:164: error: 'fpga_dev' has no member named 'openCount'
/home/jhaws/workspace/benchFPGA/fpgaDriver.c:166: error: 'fpga_dev' has no member named 'cdev'
/home/jhaws/workspace/benchFPGA/fpgaDriver.c:167: error: 'fpga_dev' has no member named 'cdev'
/home/jhaws/workspace/benchFPGA/fpgaDriver.c:168: error: 'fpga_dev' has no member named 'cdev'
/home/jhaws/workspace/benchFPGA/fpgaDriver.c:169: error: 'fpga_dev' has no member named 'cdev'
/home/jhaws/workspace/benchFPGA/fpgaDriver.c: In function 'fpga_exit':
/home/jhaws/workspace/benchFPGA/fpgaDriver.c:199: error: 'fpga_dev' has no member named 'cdev'
/home/jhaws/workspace/benchFPGA/fpgaDriver.c: In function 'fpga_probe':
/home/jhaws/workspace/benchFPGA/fpgaDriver.c:232: error: 'fpga_dev' has no member named 'pcidev'
/home/jhaws/workspace/benchFPGA/fpgaDriver.c:330: error: implicit declaration of function 'rt_sem_create'
/home/jhaws/workspace/benchFPGA/fpgaDriver.c:330: error: 'fpga_dev' has no member named 'sarSem'
/home/jhaws/workspace/benchFPGA/fpgaDriver.c:330: error: 'S_FIFO' undeclared (first use in this function)
/home/jhaws/workspace/benchFPGA/fpgaDriver.c:330: error: (Each undeclared identifier is reported only once
/home/jhaws/workspace/benchFPGA/fpgaDriver.c:330: error: for each function it appears in.)
/home/jhaws/workspace/benchFPGA/fpgaDriver.c:335: error: 'fpga_dev' has no member named 'igsSem'
/home/jhaws/workspace/benchFPGA/fpgaDriver.c:340: error: 'fpga_dev' has no member named 'novaSem'
/home/jhaws/workspace/benchFPGA/fpgaDriver.c:347: error: 'fpga_dev' has no member named 'pcidev'
/home/jhaws/workspace/benchFPGA/fpgaDriver.c:351: error: implicit declaration of function 'rt_sem_delete'
/home/jhaws/workspace/benchFPGA/fpgaDriver.c:351: error: 'fpga_dev' has no member named 'novaSem'
/home/jhaws/workspace/benchFPGA/fpgaDriver.c:352: error: 'fpga_dev' has no member named 'igsSem'
/home/jhaws/workspace/benchFPGA/fpgaDriver.c:353: error: 'fpga_dev' has no member named 'sarSem'
/home/jhaws/workspace/benchFPGA/fpgaDriver.c: In function 'fpga_remove':
/home/jhaws/workspace/benchFPGA/fpgaDriver.c:385: error: 'fpga_dev' has no member named 'novaSem'
/home/jhaws/workspace/benchFPGA/fpgaDriver.c:386: error: 'fpga_dev' has no member named 'igsSem'
/home/jhaws/workspace/benchFPGA/fpgaDriver.c:387: error: 'fpga_dev' has no member named 'sarSem'
/home/jhaws/workspace/benchFPGA/fpgaDriver.c:390: error: 'fpga_dev' has no member named 'pcidev'
/home/jhaws/workspace/benchFPGA/fpgaDriver.c: In function 'fpga_open':
/home/jhaws/workspace/benchFPGA/fpgaDriver.c:408: error: 'fpga_dev' has no member named 'pcidev'
/home/jhaws/workspace/benchFPGA/fpgaDriver.c:414: error: 'fpga_dev' has no member named 'openCount'
/home/jhaws/workspace/benchFPGA/fpgaDriver.c:416: error: 'fpga_dev' has no member named 'openCount'
/home/jhaws/workspace/benchFPGA/fpgaDriver.c:422: error: 'fpga_dev' has no member named 'openCount'
/home/jhaws/workspace/benchFPGA/fpgaDriver.c:425: error: 'fpga_dev' has no member named 'pcidev'
/home/jhaws/workspace/benchFPGA/fpgaDriver.c:428: error: 'fpga_dev' has no member named 'pcidev'
/home/jhaws/workspace/benchFPGA/fpgaDriver.c:429: error: 'fpga_dev' has no member named 'pcidev'
/home/jhaws/workspace/benchFPGA/fpgaDriver.c:432: error: 'fpga_dev' has no member named 'pcidev'
/home/jhaws/workspace/benchFPGA/fpgaDriver.c: In function 'fpga_release':
/home/jhaws/workspace/benchFPGA/fpgaDriver.c:455: error: 'fpga_dev' has no member named 'pcidev'
/home/jhaws/workspace/benchFPGA/fpgaDriver.c:455: error: 'fpga_dev' has no member named 'pcidev'
/home/jhaws/workspace/benchFPGA/fpgaDriver.c:458: error: 'fpga_dev' has no member named 'openCount'
make[2]: *** [/home/jhaws/workspace/benchFPGA/fpgaDriver.o] Error 1
make[1]: *** [_module_/home/jhaws/workspace/benchFPGA] Error 2
make[1]: Leaving directory `/home/jhaws/embedded-linux/linux-2.6-xenomai'
make: *** [modules] Error 2

That is when I run a make clean all.

Here is the Makefile:

###############################################################################
#
# Makefile for FPGA Driver
#
###############################################################################
#
# This makefile is a generic makefile which will compile a module outside the
# kernel source tree.  KERNELDIR specifies where the location of the kernel 
# source tree is and is passed on to the subsequent make call for the target.
#

# Comment / uncomment the following line to disable / enable debugging flags
# DEBUG = y

ifeq ($(DEBUG),y)
	DFLAGS = -O -g -DFPGA_DEBUG
else
	DFLAGS = -O2
endif 

###############################################################################
# Definitions
#
# To build Xenomai enabled programs, access to xeno-config is needed.  It is
# typically located in <ELDK-PATH>/ppc_4xx/usr/local/xenomai/bin.
# xeno-config is used to get the necessary flags for the compiler and linker
# to be able to link the correct libraries in.  However, xeno-config returns
# the location of the libraries on the target, which is /usr/local/xenomai, 
# typically.  To work around this use DESTDIR.  DESTDIR will be prepended to
# the paths coming out of the call to xeno-config.
#
#		e.g. -I/usr/local/xenomai would become -I$(DESTDIR)/usr/local/xenomai
#
# See the definitions below for examples of usage of DESTDIR.
###############################################################################
ELDK_ROOTPATH = ~/eldk/ppc_4xx
XENOMAI = $(ELDK_ROOTPATH)/usr/local/xenomai
XENO_CONFIG = $(XENOMAI)/bin/xeno-config
XENO_CFLAGS = $(shell DESTDIR=$(ELDK_ROOTPATH) $(XENO_CONFIG) --xeno-cflags)
XENO_LIBS = $(shell DESTDIR=$(ELDK_ROOTPATH) $(XENO_CONFIG) --xeno-ldflags)

CC = ppc_4xx-gcc
OBJCOPY = ppc_4xx-objcopy
READELF = ppc_4xx-readelf
LD = ppc_4xx-ld
KCFLAGS = -Wall $(XENO_CFLAGS) $(DFLAGS)
KAFLAGS = -mregnames
LDFLAGS = $(XENO_LIBS) -static
LIBS = -lnative -lpthread cacheFuncs.o


###############################################################################
# Targets
############################################################################### 

# Get Kernel Information
ifeq ($(KERNELRELEASE),)

	KERNELDIR := ~/embedded-linux/linux-2.6-xenomai
	PWD := $(shell pwd)

all: modules main
	
modules:
	echo $(XENO_CFLAGS)
	$(MAKE) -C $(KERNELDIR) M=$(PWD) modules
	
main:
	ppc_4xx-gcc $(EXTRA_CFLAGS) $(LDFLAGS) -o main main.c $(LIBS)
	
cacheFuncs.o:
	ppc_4xx-gcc -mregnames -c cacheFuncs.S
	
modules_install:
	$(MAKE) -C $(KERNELDIR) M=$(PWD) modules_install
	
clean:
	rm -rf *.o *~ core .depend .*.cmd *.ko *.mod.c .tmp_versions *.order \
			*.symvers main
	
.PHONY: modules modules_install clean

else

#	We are calling make from the kernel build system, therefore we simply define
#	what the modules are.
	
	obj-m := fpgaDriver.o

endif


It seems like the kbuild system is not seeing the native/sem.h file, and thus is causing all the subsequent errors.  However, I have the KCFLAGS set to what they need to be, so what am I missing?

Thanks!

Re: [Xenomai-help] Installation and Makefile Help

[Gilles Chanteperdrix]

Jonathan Haws wrote:
> else
> 
> #	We are calling make from the kernel build system, therefore we simply define
> #	what the modules are.
> 	
> 	obj-m := fpgaDriver.o

EXTRA_CFLAGS+=-Iinclude/xenomai

> 
> endif

You can put that in a file named "Kbuild" too, this avoids the big if.

There are Makefile examples in xenomai sources "examples" sub-directory.

-- 
					    Gilles.

Re: [Xenomai-help] Installation and Makefile Help

[Jonathan Haws]

> > else
> >
> > #	We are calling make from the kernel build system, therefore we
> simply define
> > #	what the modules are.
> >
> > 	obj-m := fpgaDriver.o
> 
> EXTRA_CFLAGS+=-Iinclude/xenomai
> 
> >
> > endif
> 
> You can put that in a file named "Kbuild" too, this avoids the big
> if.
> 
> There are Makefile examples in xenomai sources "examples" sub-
> directory.

Thanks for pointing me to the examples.  They helped.