[etherlab-dev] Issues Linking EtherLAB to Xenomai 3

[Thomas Bitsky Jr]

I’ve made progress trying to adapt the EtherCAT master to Xenomai-3, but I can’t get the EtherCAT master to link against Xenomai. Can someone tell me why I would get this error? I’m not figuring it out.

Making all in lib
make[2]: Entering directory `/home/user/etherlab-adc/lib'
/bin/bash ../libtool  --tag=CC   --mode=link gcc -fno-strict-aliasing -Wall -DUSE_RTDM  `/usr/xenomai/bin/xeno-config --rtdm --cflags` -fPIC  -g -O2 -version-info 1:0:0  `/usr/xenomai/bin/xeno-config --rtdm --ldflags` -fPIC   -o libethercat_rtdm.la -rpath /opt/etherlab/lib libethercat_rtdm_la-common.lo libethercat_rtdm_la-domain.lo libethercat_rtdm_la-master.lo libethercat_rtdm_la-reg_request.lo libethercat_rtdm_la-sdo_request.lo libethercat_rtdm_la-slave_config.lo libethercat_rtdm_la-voe_handler.lo

*** Warning: Linking the shared library libethercat_rtdm.la against the non-libtool
*** objects  /usr/xenomai/lib/xenomai/bootstrap.o is not portable!
libtool: link: gcc -shared  -fPIC -DPIC  .libs/libethercat_rtdm_la-common.o .libs/libethercat_rtdm_la-domain.o .libs/libethercat_rtdm_la-master.o .libs/libethercat_rtdm_la-reg_request.o .libs/libethercat_rtdm_la-sdo_request.o .libs/libethercat_rtdm_la-slave_config.o .libs/libethercat_rtdm_la-voe_handler.o  /usr/xenomai/lib/xenomai/bootstrap.o   -L/usr/xenomai/lib /usr/xenomai/lib/libcobalt.so -lpthread -lrt  -O2 -Wl,@/usr/xenomai/lib/cobalt.wrappers -Wl,--wrap=main -Wl,--dynamic-list=/usr/xenomai/lib/dynlist.ld   -Wl,-soname -Wl,libethercat_rtdm.so.1 -o .libs/libethercat_rtdm.so.1.0.0
/usr/bin/ld: /usr/xenomai/lib/xenomai/bootstrap.o: relocation R_X86_64_32 against `.rodata.str1.1' can not be used when making a shared object; recompile with -fPIC
/usr/xenomai/lib/xenomai/bootstrap.o: error adding symbols: Bad value

EtherLab Configuration:
$ sudo ./configure --enable-e1000e --enable-generic --disable-8139too --enable-rtdm --enable-cycles --with-xenomai-dir=/usr/xenomai

Xenomai Configuration:
$ ./configure --with-core=cobalt --enable-smp --enable-pshared

System details:
Linux ubuntu 3.10.32xen.x64.generic+ #4 SMP Mon Mar 21 09:27:23 CDT 2016 x86_64 x86_64 x86_64 GNU/Linux

user at ubuntu:~/etherlab-adc$ gcc -v
Using built-in specs.
COLLECT_GCC=gcc
COLLECT_LTO_WRAPPER=/usr/lib/gcc/x86_64-linux-gnu/4.8/lto-wrapper
Target: x86_64-linux-gnu
Configured with: ../src/configure -v --with-pkgversion='Ubuntu 4.8.4-2ubuntu1~14.04.1' --with-bugurl=file:///usr/share/doc/gcc-4.8/README.Bugs --enable-languages=c,c++,java,go,d,fortran,objc,obj-c++ --prefix=/usr --program-suffix=-4.8 --enable-shared --enable-linker-build-id --libexecdir=/usr/lib --without-included-gettext --enable-threads=posix --with-gxx-include-dir=/usr/include/c++/4.8 --libdir=/usr/lib --enable-nls --with-sysroot=/ --enable-clocale=gnu --enable-libstdcxx-debug --enable-libstdcxx-time=yes --enable-gnu-unique-object --disable-libmudflap --enable-plugin --with-system-zlib --disable-browser-plugin --enable-java-awt=gtk --enable-gtk-cairo --with-java-home=/usr/lib/jvm/java-1.5.0-gcj-4.8-amd64/jre --enable-java-home --with-jvm-root-dir=/usr/lib/jvm/java-1.5.0-gcj-4.8-amd64 --with-jvm-jar-dir=/usr/lib/jvm-exports/java-1.5.0-gcj-4.8-amd64 --with-arch-directory=amd64 --with-ecj-jar=/usr/share/java/eclipse-ecj.jar --enable-objc-gc --enable-multiarch --disable-werror --with-arch-32=i686 --with-abi=m64 --with-multilib-list=m32,m64,mx32 --with-tune=generic --enable-checking=release --build=x86_64-linux-gnu --host=x86_64-linux-gnu --target=x86_64-linux-gnu
Thread model: posix
gcc version 4.8.4 (Ubuntu 4.8.4-2ubuntu1~14.04.1)


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