Re: [Xenomai] Compiling the Xenomai examples

[Stefan Videv <videvstefan@gmail.com>]

On 11/01/2012 04:32 PM, Gilles Chanteperdrix wrote:
> Stefan Videv wrote:
>> Hi All,
>>
>> I've been following this:
>>
>> http://www.xenomai.org/index.php/Examples
>>
>> on how to cross-compile the examples that come with Xenomai.
>>
>> However, running:
>>
>> make XENO=/media/rootfs/usr/xenomai/ ARCH=arm-linux-gnueabi-
>> KSRC=/media/rootfs/usr/include
>>
>> where /media/rootfs/usr/xenomai is where xenomai is installed on the SD
>> card that "powers" my embedded system, arm-linux-gnueabi- is the cross
>> compiler chain I have running on my virtual box, and finally
>> /media/rootfs/usr/include is where I installed the header files for the
>> kernel that is running on my embedded board.
>>
>> To me it seems that the XENO parameter is ignored altogether (same for
>> the KSRC it seems) which results in the particular included .h files not
>> being found on the path. Do I have any options rather than compiling
>> manually?
> The problem is that you are cross-compiling, the instructions apply to
> native compilation. The XENO parameter is not ignored, but as explained on
> the page you linked its role is to locate the xeno-config script. But in
> order for this script to produce the correct flags (and as explained if you
> read xeno-config help) the DESTDIR environment variable needs to be set (to
> /media/rootfs if I understand correctly).
After a quick attempt, things are looking better with DESTDIR. However, 
it still gives errors:

arm-linux-gnueabi-gcc -I/media/rootfs/usr/xenomai/include -D_GNU_SOURCE 
-D_REENTRANT -D__XENO__   -lnative -L/media/rootfs/usr/xenomai/lib 
-lxenomai -lpthread -lrt  -Xlinker -rpath -Xlinker 
/media/rootfs/usr/xenomai/lib  trivial-periodic.c   -o trivial-periodic
/tmp/ccZ8pOKK.o: In function `demo':
trivial-periodic.c:(.text+0x1e): undefined reference to 
`rt_task_set_periodic'
trivial-periodic.c:(.text+0x22): undefined reference to `rt_timer_read'
trivial-periodic.c:(.text+0x2e): undefined reference to 
`rt_task_wait_period'
trivial-periodic.c:(.text+0x32): undefined reference to `rt_timer_read'
/tmp/ccZ8pOKK.o: In function `main':
trivial-periodic.c:(.text+0x10c): undefined reference to `rt_task_create'
trivial-periodic.c:(.text+0x124): undefined reference to `rt_task_start'
trivial-periodic.c:(.text+0x134): undefined reference to `rt_task_delete'
collect2: ld returned 1 exit status
make[1]: *** [trivial-periodic] Error 1
make[1]: Leaving directory 
`/home/stefan/roosenXenomaiBone/xenomai-2.6.1/examples/native'

However, if the above command is modified to look like this:

arm-linux-gnueabi-gcc -I/media/rootfs/usr/xenomai/include -D_GNU_SOURCE 
-D_REENTRANT -D__XENO__   -lnative -L/media/rootfs/usr/xenomai/lib 
-lxenomai -lpthread -lrt  -Xlinker -rpath -Xlinker 
/media/rootfs/usr/xenomai/lib  trivial-periodic.c   -o trivial-periodic 
-lnative -lpthread -lxenomai

It works just fine. How can I fix this in the Makefile, or am I still 
doing something wrong?

Thanks!

>
> Anyway, the examples are examples, to show you how to use Xenomai API and
> compile programs for Xenomai, so, you are supposed to read their Makefiles
> and understand how they work in order to adapt them to your particular
> programs. Running these programs on your target will not bring you much.
> Running the testsuite and the xeno-test script should be more useful.
>
>
>