Cross Compile for ARM Cortex-A9

[jmtobin-uh]

I am trying to cross compile cFS from a linux desktop to put on a ARM Cortex-A9 (actual board is a Zedboard).

I have created a toolchain named arm-cortex9 and attempted to make in two separate ways:

Attempt 1 used the following commands
make SIMULATION=arm-cortex9 prep -- which seemed to successfully prep
make -- unsuccessful
make fails with the following

[  0%] Building C object osal/generic-linux_impl/CMakeFiles/osal_generic-linux_impl.dir/src/bsp_start.c.o
cfs_for_plnx/cFS/osal/src/bsp/generic-linux/src/bsp_start.c: In function 'OS_BSP_Initialize':
cfs_for_plnx/cFS/osal/src/bsp/generic-linux/src/bsp_start.c:81:14: warning: implicit declaration of function 'pthread_mutexattr_init' [-Wimplicit-function-declaration]
   81 |     status = pthread_mutexattr_init(&mutex_attr);
      |              ^~~~~~~~~~~~~~~~~~~~~~
cfs_for_plnx/cFS/osal/src/bsp/generic-linux/src/bsp_start.c:86:14: warning: implicit declaration of function 'pthread_mutexattr_setprotocol' [-Wimplicit-function-declaration]
   86 |     status = pthread_mutexattr_setprotocol(&mutex_attr, PTHREAD_PRIO_INHERIT);
      |              ^~~~~~~~~~~~~~~~~~~~~~~~~~~~~
cfs_for_plnx/cFS/osal/src/bsp/generic-linux/src/bsp_start.c:86:57: error: 'PTHREAD_PRIO_INHERIT' undeclared (first use in this function)
   86 |     status = pthread_mutexattr_setprotocol(&mutex_attr, PTHREAD_PRIO_INHERIT);
      |                                                         ^~~~~~~~~~~~~~~~~~~~
cfs_for_plnx/cFS/osal/src/bsp/generic-linux/src/bsp_start.c:86:57: note: each undeclared identifier is reported only once for each function it appears in
cfs_for_plnx/cFS/osal/src/bsp/generic-linux/src/bsp_start.c:91:14: warning: implicit declaration of function 'pthread_mutex_init' [-Wimplicit-function-declaration]
   91 |     status = pthread_mutex_init(&OS_BSP_GenericLinuxGlobal.AccessMutex, &mutex_attr);
      |              ^~~~~~~~~~~~~~~~~~
cfs_for_plnx/cFS/osal/src/bsp/generic-linux/src/bsp_start.c: In function 'OS_BSP_Lock_Impl':
cfs_for_plnx/cFS/osal/src/bsp/generic-linux/src/bsp_start.c:106:14: warning: implicit declaration of function 'pthread_mutex_lock' [-Wimplicit-function-declaration]
  106 |     status = pthread_mutex_lock(&OS_BSP_GenericLinuxGlobal.AccessMutex);
      |              ^~~~~~~~~~~~~~~~~~
cfs_for_plnx/cFS/osal/src/bsp/generic-linux/src/bsp_start.c:118:9: warning: implicit declaration of function 'pthread_setcancelstate' [-Wimplicit-function-declaration]
  118 |         pthread_setcancelstate(PTHREAD_CANCEL_DISABLE, &OS_BSP_GenericLinuxGlobal.AccessCancelState);
      |         ^~~~~~~~~~~~~~~~~~~~~~
cfs_for_plnx/cFS/osal/src/bsp/generic-linux/src/bsp_start.c:118:32: error: 'PTHREAD_CANCEL_DISABLE' undeclared (first use in this function)
  118 |         pthread_setcancelstate(PTHREAD_CANCEL_DISABLE, &OS_BSP_GenericLinuxGlobal.AccessCancelState);
      |                                ^~~~~~~~~~~~~~~~~~~~~~
cfs_for_plnx/cFS/osal/src/bsp/generic-linux/src/bsp_start.c: In function 'OS_BSP_Unlock_Impl':
cfs_for_plnx/cFS/osal/src/bsp/generic-linux/src/bsp_start.c:130:14: warning: implicit declaration of function 'pthread_mutex_unlock' [-Wimplicit-function-declaration]
  130 |     status = pthread_mutex_unlock(&OS_BSP_GenericLinuxGlobal.AccessMutex);
make[7]: *** [osal/generic-linux_impl/CMakeFiles/osal_generic-linux_impl.dir/build.make:76: osal/generic-linux_impl/CMakeFiles/osal_generic-linux_impl.dir/src/bsp_start.c.o] Error 1
make[6]: *** [CMakeFiles/Makefile2:796: osal/generic-linux_impl/CMakeFiles/osal_generic-linux_impl.dir/all] Error 2
make[5]: *** [Makefile:146: all] Error 2
make[4]: *** [CMakeFiles/arm_cortex9_default_cpu1-all.dir/build.make:70: CMakeFiles/arm_cortex9_default_cpu1-all] Error 2
make[3]: *** [CMakeFiles/Makefile2:415: CMakeFiles/arm_cortex9_default_cpu1-all.dir/all] Error 2
make[2]: *** [CMakeFiles/Makefile2:186: CMakeFiles/mission-all.dir/rule] Error 2
make[1]: *** [Makefile:179: mission-all] Error 2
make: *** [Makefile:119: all] Error 2

Usually those warnings would be considered errors too but i disabled -Werror earlier (I will turn it back on).

This seems to be an issue with pthread, but not sure how to resolve.

I am using gcc-arm-none-eabi version 10.3-2021.10.

Attempt 2 used the following
make prep arm-cortex9
which fails with

make -C build/native/default_cpu1 arm-cortex9
make[1]: *** build/native/default_cpu1: No such file or directory.  Stop.
make: *** [Makefile:98: arm-cortex9] Error 2

If I change ARCH variable in the top level makefile to arm-cortex9/default_cpu1 instead of native, it fails with

make -C build/arm-cortex9/default_cpu1 arm-cortex9
make[1]: Entering directory 'cfs_for_plnx/cFS/build/arm-cortex9/default_cpu1'
make[1]: *** No rule to make target 'arm-cortex9'.  Stop.
make[1]: Leaving directory 'cfs_for_plnx/cFS/build/arm-cortex9/default_cpu1'
make: *** [Makefile:98: arm-cortex9] Error 2

I am currently unsure how to resolve either issue. Thanks. Let me know if any other docs/details are necessary.