I'm trying to build xenomai 2.1 for an 8272 architecture using kernel 2.6.14.
I've successfully put in the adeos patch.
Here are the problems I've encountered.

1) When doing ./scripts/prepare-kernel.sh I get an error that it can't find the 
file /include/asm-powerpc/ipipe.h.
I copied the file ipipe.h from /include/asm-ppc and reran prepare-kernel.sh 
with no errors.

2) After doing the above and configuring the "prepared" kernel for running with 
xenomai, I tried to build the kernel. I got link errors doing it. An example of 
such a link error is:

kernel/built-in.o: In function 'rthal_init':
:undefined reference to 'rthal_arch_init'


(The list is much longer - many undefined references of this sort.)

Any ideas what the problem may be?

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