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How to cross-compile an application with library dependencies for Yocto Linux?

I wrote an application on my laptop (Ubuntu 14.04) that depends on GStreamer and would like to cross-compile it for my Yocto Linux target (iMX6S-Wandboard). How do I cross-compile the application so that it runs on the target board and is able to use the GStreamer libraries? Thank you, Toan UDPATE: My Makefile: CC=gcc GST_LIBS=`pkg-config […]