Orocos on Microblaze processor?

Hi all,

I am wondering if I can run OROCOS on MicroBlaze soft processor (FPGA) provided by Xilinx.

The MicroBlaze processor has a GNU based toolchain "microblaze-unknow-linux-gnu" (the one I am using is created by PetaLinux):

$ microblaze-unknown-linux-gnu-gcc -v Using built-in specs. Target: microblaze-unknown-linux-gnu Configured with: /home/buildbot/plgx_bld/Petalinux-v2.2/2011_11_21/toolchains/microblaze-unknown-linux-gnu/crosstool-ng-microblaze/targets/src/gcc-4.1.2/configure --build=i386-build_redhat-linux-gnu --host=i386-build_redhat-linux-gnu --target=microblaze-unknown-linux-gnu --prefix=/home/buildbot/plgx_bld/Petalinux-v2.2/2011_11_21/toolchains/microblaze-unknown-linux-gnu/tool-build --with-sysroot=/home/buildbot/plgx_bld/Petalinux-v2.2/2011_11_21/toolchains/microblaze-unknown-linux-gnu/tool-build/microblaze-unknown-linux-gnu//sys-root --enable-languages=c,c++ --enable-multilib --enable-__cxa_atexit --with-local-prefix=/home/buildbot/plgx_bld/Petalinux-v2.2/2011_11_21/toolchains/microblaze-unknown-linux-gnu/tool-build/microblaze-unknown-linux-gnu//sys-root --disable-nls --enable-threads=posix --enable-symvers=gnu --enable-c99 --enable-long-long --enable-target-optspace Thread model: posix gcc version 4.1.2

The toolchain is not defined in orocos-toolchain-2.5.0/rtt/rtt/os. I think by creating a directory "oro_microblaze" and modifying some related files, OROCOS can be cross-compiled.

Xenomai does not support microblaze, which might be another issue ..

Thanks in advance! Best regards, Lin