基于am5728芯片的ethercat和ROS开源协议栈的配置流程-3-Xenomai 编译和安装_xenomai ros 开发

基于am5728基板的ethercat和ROS开源协议栈的配置流程-3-Xenomai 编译和安装

Xenomai 编译和安装

##编译
#配置环境变量
export PATH=$HOME/ti-linux-kernel-dev/dl/gcc-linaro-6.4.1-2017.11-x86_64_arm-linux-gnueabihf/bin/:$PATH
alias sudo='sudo env PATH=$PATH'

cd $HOME
mkdir xenomai_build
cd xenomai_build
../xenomai-3.0.7/configure CFLAGS="-march=armv7-a -mfpu=vfp3" LDFLAGS="-march=armv7-a -mfpu=vfp3" --build=i686-pc-linux-gnu --host=arm-linux-gnueabihf --with-core=cobalt --enable-smp --enable-pshared --with-pic=yes
make


##安装
cd $HOME/xenomai_build
#sudo make DESTDIR=/install
#libtool /user/xenomai/lib/
sudo make DESTDIR=$HOME/rootfs install

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