Fixed all compile errors and blatant warnings.

personalrobotics · Mar 4, 2019 · fab4814 · fab4814
1 parent 8eacc01
commit fab4814
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Showing 80 changed files with 90,314 additions and 615 deletions.
diff --git a/common.mk b/common.mk
@@ -21,7 +21,7 @@ CFLAGS += -DPEAK_CAN
 endif
 
 ifeq ($(CAN_HARDWARE),socket)
-LDFLAGS += -lrtdm
+LDFLAGS += -ltrank
 CFLAGS += -DSOCKET_CAN
 endif
 
@@ -42,8 +42,9 @@ endif
 
 ifeq ($(TARGET_OS),xenomai)
 CFLAGS += -DXENOMAI
+CFLAGS += -I/usr/xenomai/include/trank
 CFLAGS += -I/usr/xenomai/include
-LDFLAGS += -L/usr/xenomai/lib -rdynamic -lnative
+LDFLAGS += -L/usr/xenomai/lib -rdynamic -lalchemy
 SKIN = xeno
 ### Xenomai directory, xeno-config and library directory ###########
 XENO_DIR          ?= /usr/xenomai
@@ -58,9 +59,9 @@ CFLAGS += -Dxeno_conform
 endif
 
 ### User space application compile options #########################
-USERAPP_LIBS      ?= -lnative 
-USERAPP_LDFLAGS   ?= $(shell $(XENO_CONFIG) --skin=native --ldflags) -L$(XENO_LIB_DIR)
-USERAPP_CFLAGS    ?= $(shell $(XENO_CONFIG) --skin=native --cflags)
+USERAPP_LIBS      ?= -lalchemy
+USERAPP_LDFLAGS   ?= $(shell $(XENO_CONFIG) --skin=alchemy --ldflags) -L$(XENO_LIB_DIR)
+USERAPP_CFLAGS    ?= $(shell $(XENO_CONFIG) --skin=alchemy --cflags)
 
 #USERAPP_LDFLAGS   ?= $(shell $(XENO_CONFIG) --$(SKIN)-ldflags) -L$(XENO_LIB_DIR)
 #USERAPP_CFLAGS    ?= $(shell $(XENO_CONFIG) --$(SKIN)-cflags)

diff --git a/examples/ex1-jointposition/ex1 b/examples/ex1-jointposition/ex1
diff --git a/examples/ex1-jointposition/ex1.map b/examples/ex1-jointposition/ex1.map
diff --git a/examples/ex1-jointposition/main.c b/examples/ex1-jointposition/main.c
@@ -61,6 +61,9 @@
 /* Allow us to catch the Ctrl-C signal and exit gracefully */
 #include <signal.h>
 
+/* usleep */
+#include <unistd.h>
+
 /* Provides mlockall(), prevent process memory from being swapped out to disk */
 #include <sys/mman.h>
 

diff --git a/examples/ex1-jointposition/main.o b/examples/ex1-jointposition/main.o
diff --git a/examples/ex2-gcomp/ex2 b/examples/ex2-gcomp/ex2
diff --git a/examples/ex2-gcomp/ex2.map b/examples/ex2-gcomp/ex2.map