Building applications for Xenomai 3.x
Compiling a Xenomai 3 application
Please refer to this document for detailed explanations on the build and setup processes of a Xenomai application.
To sum it up, you should use the xeno-config script to get the
proper compilation and linker flags related to Xenomai, in order to
build your application for whichever Cobalt or Mercury core.
The complete usage of the xeno-config script can be found at
this
URL.
For the impatient, here is a trivial Makefile fragment retrieving the
compiler and flags for building the single-file application vxapp.c,
over the VxWorks emulation API:
XENO_CONFIG := /usr/xenomai/bin/xeno-config CFLAGS := $(shell $(XENO_CONFIG) --vxworks --cflags) LDFLAGS := $(shell $(XENO_CONFIG) --vxworks --ldflags) CC := $(shell $(XENO_CONFIG) --cc) EXECUTABLE := vxapp all: $(EXECUTABLE) %: %.c $(CC) -o $@ $< $(CFLAGS) $(LDFLAGS)
Compiling a RTDM-based module
The rules for building a regular kernel module/driver apply to
RTDM-based drivers as well, with no additional requirement. For
instance, the Makefile recipe for building some_driver.ko, composed
of two files, namely foo.c and bar.c, based on the RTDM API, would be:
obj-y += some_driver.o some_driver-y := foo.o bar.o
Building this module out of the kernel tree should be done from the directory containing the module sources, as follows:
$ make -C /path/to/kernel/tree M=$PWD modules
| Before the driver module can be built for a dual kernel configuration, the target kernel tree must have been prepared and built as documented here. |