try to build user servo loop

usrServo/sampleKernelModule/Makefile.Deltatau

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+#------------------------------------------------------------------------------
+# Copyright (C) Delta Tau Data Systems Inc., 2007
+# All rights reserved.
+# 
+# Generic makefile for any c realtime C plc 0, user servo or user phase
+# For a new project change the following
+# 
+# 1.) usralgo-objs should be assigned the 'C' source code files that need to be compiled
+# 2.) issue the command 'make depend' the first time a project is created and
+#     (every time an additional 'C' file is added to the project the command 
+#     'make depend' must be issued)
+# 3.) issue the command make clean 
+# 4.) issue the command make
+#
+# Notes
+# --------
+# Change DTDEBUG above to -O2 for release w/ optimization
+# Change DTDEBUG above to -g3 for debug 
+# arm,i386,i385hv,ppc460-2,ppc460-1,ppc405
+#------------------------------------------------------------------------------
+
+PMAC_ARCH=ppc465-2
+
+ifeq ($(PMAC_ARCH),ppc465-2)
+ARCH=powerpc
+#CROSS_COMPILE=powerpc-meau-linux-gnu-
+CROSS_COMPILE=/opt/eldk-4.2/usr/bin/ppc_4xxFP-
+KDIR=/opt/powerpc-465-rootfs/usr/src/linux-3.2.21-serengeti-smp
+KSRC=/opt/powerpc-465-rootfs/usr/src/linux-3.2.21-serengeti-smp
+#CC=powerpc-meau-linux-gnu-gcc
+#AS=powerpc-meau-linux-gnu-as
+#LD=powerpc-meau-linux-gnu-gcc
+CC=/opt/eldk-4.2/usr/bin/ppc_4xxFP-gcc
+AS=/opt/eldk-4.2/usr/bin/ppc_4xxFP-gcc
+LD=/opt/eldk-4.2/usr/bin/ppc_4xxFP-gcc
+#STRIP=i686-meau-linux-gnu-strip
+INCLUDE=/opt/powerpc-465-rootfs/usr/lib/gcc/powerpc-linux-gnu/4.6/include
+XENOMAI_INC_DIR=/opt/powerpc-465-rootfs/usr/local/xenomai-2.6.2.1/include
+XENOMAI_LIB_DIR=/opt/powerpc-465-rootfs/usr/local/xenomai-2.6.2.1/lib
+RPATH=-Wl,-rpath-link,/opt/powerpc-465-rootfs/lib/powerpc-linux-gnu
+ROOTFS_DIR=/opt/powerpc-465-rootfs
+endif
+
+#RTPMACINCLUDEDIR=/usr/local/dtlibs/rtpmac
+#LIBPPMACINCLUDEDIR=/usr/local/dtlibs/libppmac
+RTPMACINCLUDEDIR=../ppmac/rtpmac/
+LIBPPMACINCLUDEDIR=../ppmac/libppmac/
+
+export ARCH
+export CROSS_COMPILE
+
+OBJS     := ${patsubst %, %.o, $(MODULES)}
+CLEANMOD := ${patsubst %, .%*, $(MODULES)}
+PWD      := $(shell if [ "$$PWD" != "" ]; then echo $$PWD; else pwd; fi)
+
+
+#obj-m	+= usralgo.o
+#usralgo-objs := usralgomain.o \
+usrcode.o
+obj-m += hello.o
+
+
+
+LDFLAGS := -nostdlib
+EXTRA_CFLAGS :=  -O2 -DCONFIG_460EX -D_GNU_SOURCE -D_REENTRANT -D__XENO__  -mhard-float -I$(RTPMACINCLUDEDIR) -I$(LIBPPMACINCLUDEDIR) -I$(XENOMAI_INC_DIR) -I$(XENOMAI_INC_DIR)/posix -I$(KSRC)/include/xenomai -I$(KSRC)/include/xenomai/posix -I$(INCLUDE) $(ADD_CFLAGS) --sysroot=$(ROOTFS_DIR)
+KBUILD_EXTRA_SYMBOLS := /usr/local/dtlibs/libppmac/Module.symvers
+
+%.o: %.S
+	$(CC) -s -D__KERNEL__ -x c -E $< -o $*.i
+	$(AS)  -mbooke -o $@ $*.i
+
+#all::
+#	cp -f /usr/local/usralgo/usralgomain.c $(PWD)
+all:
+	$(MAKE) -C $(KSRC) SUBDIRS=$(PWD) modules
+#	mv -f usralgo.ko ../../bin/Debug/
+
+#modules:
+#	@echo "$(CFLAGS)"
+
+bclean::
+	$(RM) *.o .*.o.d .*.o.cmd *.ko *.log
+	$(RM) -R .tmp*
+	$(RM) .runinfo
+	rm -rf .runinfo .tmp* .*.o.d .*.o.cmd .*.cmd *.o *.ko *.mod.c *.i *.so Module.symvers modules.order
+
+clean::
+	$(RM) *.o .*.o.d .*.o.cmd *.ko
+	$(RM) -R .tmp*
+	$(RM) .runinfo
+	rm -rf .runinfo .tmp* .*.o.d .*.o.cmd .*.cmd *.o *.ko *.mod.c *.i *.so Module.symvers modules.order
+
+dbg:
+	@echo PATH $(PATH)

usrServo/sampleKernelModule/Makefile.Ubuntu

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+obj-m += hello.o
+
+all:
+	make -C /lib/modules/$(shell uname -r)/build M=$(PWD) modules
+#	make -C /lib/modules/$(shell uname -r)/build M=$(PWD) modules V=1
+
+clean:
+	make -C /lib/modules/$(shell uname -r)/build M=$(PWD) clean

usrServo/sampleKernelModule/hello.c

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+#include <linux/module.h>    // included for all kernel modules
+#include <linux/kernel.h>    // included for KERN_INFO
+#include <linux/init.h>      // included for __init and __exit macros
+
+MODULE_LICENSE("GPL");
+MODULE_AUTHOR("Lakshmanan");
+MODULE_DESCRIPTION("A Simple Hello World module");
+
+static int __init hello_init(void)
+{
+    printk(KERN_INFO "Hello world!\n");
+    return 0;    // Non-zero return means that the module couldn't be loaded.
+}
+
+static void __exit hello_cleanup(void)
+{
+    printk(KERN_INFO "Cleaning up module.\n");
+}
+
+module_init(hello_init);
+module_exit(hello_cleanup);