[Xenomai] Build simple application with Xenomai 3.x

Ran Shalit ranshalit at gmail.com
Mon Feb 6 11:25:37 CET 2017


It seems to be OK now.
I  had error in Makefile & xenomai configuration.

Thank you,
Ran

On Mon, Feb 6, 2017 at 12:02 PM, Ran Shalit <ranshalit at gmail.com> wrote:
> Hello,
> I have installed xenomai 3.3 with kernel 4.1 ,ubuntu 14.04  and it all
> seems to work very well, resulting in good performace ~20u  ,tested
> with cyclictest and latency. (I just has some issue with install,
> "debuild -uc -us" , seems not to created /usr/xenomai/demo, so I
> installed again  with "make install")
>
> Now, I then tried to build a very simlpe application.
> Is there a simple code sample with Makefile for xenomai 3 demonstration ?
>
> I did find the following link with example:
> http://www.acadis.org/pages/captain.at/timer-task
>
> So I tried it but it gives errors:
> 1. it first gave the following errors:
> "...fatal error: native/task.h: No such file or directory"
> so I changed from:
> #include <native/task.h>
> to:
> #include <trank/native/task.h>
> Is it correct ? Or should I use  <alchemy/task.h> instead ?
> 2. I also had to remove <trank/native/intr.h> bevause there is no such file.
> 3. Then I got link errors:
>
> user at user-desktop:~/rt/xen/myapp$ make
> gcc -o test test.c -I/usr/xenomai/include/mercury
> -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -D__MERCURY__
> -I/usr/xenomai/include/vxworks -lvxworks  -lcopperplate
> /usr/xenomai/lib/xenomai/bootstrap.o -Wl,--wrap=main
> -Wl,--dynamic-list=/usr/xenomai/lib/dynlist.ld -L/usr/xenomai/lib
> -lmercury -lpthread -lrt
> /tmp/cc3dm9ne.o: In function `testtask':
> test.c:(.text+0x1e): undefined reference to `rt_timer_ns2ticks'
> test.c:(.text+0x30): undefined reference to `rt_task_set_periodic'
> test.c:(.text+0x5d): undefined reference to `rt_task_wait_period'
> /tmp/cc3dm9ne.o: In function `clean_exit':
> test.c:(.text+0xd3): undefined reference to `rt_task_delete'
> /tmp/cc3dm9ne.o: In function `main':
> test.c:(.text+0x14d): undefined reference to `rt_task_spawn'
> collect2: error: ld returned 1 exit status
> make: *** [test] Error 1
> user at user-desktop:~/rt/xen/myapp$
>
> The make options seems to include the required library , so I am not
> sure why I get these link errors.
>
>
> This is the makefile:
> =======
> 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 := test
>
> all: $(EXECUTABLE)
>
> %: %.c
>     $(CC) -o $@ $< $(CFLAGS) $(LDFLAGS)
> ======
>
> Regards,
> Ran



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