[ts-7000] TS-7300 RTAI floating point

["matej.spindler" <>]

Hello !

I'm developing a hard real time motion controller using RTAI and
ts-7300 board.

The problem is I am getting unresolved symbols:

:rtai_control# insmod rtai_control.o
rtai_control.o: rtai_control.o: unresolved symbol __fixdfsi
rtai_control.o: rtai_control.o: unresolved symbol __floatsidf
rtai_control.o: rtai_control.o: unresolved symbol __muldf3
rtai_control.o: rtai_control.o: unresolved symbol __subdf3
rtai_control.o: rtai_control.o: unresolved symbol __ltdf2
rtai_control.o: rtai_control.o: unresolved symbol __adddf3
rtai_control.o: rtai_control.o: unresolved symbol __gtdf2 

Rtai itself is running fine. Some of my test modules are running like
they should.

As soon as i use something like
double omega;
omega = 2 * PI *freq;

I get the errors.

For cross compiling i use crosstool-linux-gcc-3.3.4-glibc-2.3.2
provided by technology-systems.

In Makefile i use:
RTAI_CFLAGS = $(shell
/home/matej/Desktop/ARM/rtai/realtime/bin/rtai-config --module-cflags)

rtai_control: rtai_control.c
        $(CROSS_COMPILE)$(CC) $(RTAI_CFLAGS) -c 

and the resulting command:

arm-linux-gcc -I. -I/home/matej/Desktop/ARM/kernel/linux24/include/
-D__KERNEL__ -I/home/matej/Desktop/ARM/rtai/realtime/include -Wall
-Wstrict-prototypes -Wno-trigraphs -Os -fno-strict-aliasing
-fno-common -fomit-frame-pointer -Uarm -fno-common -pipe -mapcs-32
-D__LINUX_ARM_ARCH__=4 -march=armv4 -mtune=arm9tdmi -msoft-float -Uarm
-DMODULE -DEXPORT_SYMTAB -Wall -ffast-math -msoft-float -c rtai_control.c

obviously -msoft-float in there.

Same module with similar Makefile works ok on x86 machine.  


Any help would be appreciated! 


Matej


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