This repository contains some sample code showing how to create periodic threads in Linux. There is a full description of the code in my post on the Inner Penguin blog, named Over and over again: periodic tasks in Linux

    $ make

Override CC with the compiler you want to use, for example:

    make CC=~/x-tools/arm-cortex_a8-linux-gnueabihf/bin/arm-cortex_a8-linux-gnueabihf-gcc

When you install a Yocto Project SDK, you will find a script that sets up the environment for the toolchain. Among other things, it sets the CC shell variable. So, to build the samples, you would do something like this:

    $ . /opt/poky/2.0.1/environment-setup-armv5e-poky-linux-gnueabi
    $ make