--- a/examples/Makefile
+++ b/examples/Makefile
@@ -1,77 +1,24 @@
 # Mostly written by Jonathan Larmour, Red Hat, Inc.
+# Reference to ecos.mak added by John Dallaway, eCosCentric Limited, 2003-01-20
 # This file is in the public domain and may be used for any purpose
 
-# PKG_INSTALL_DIR might need to be edited.  Right now it is set
-# assuming that a user ran pkgconf.tcl in /cygdrive/c/ecos-work on Windows NT,
-# or used the Configuration Tool with C:\ecos-work as a build-tree.
-#
-# You can also override it on the make command-line, e.g.:
-#   make PKG_INSTALL_DIR=/myecc/install
-# or you can set it in your environment
+# Usage:   make ECOS_INSTALL=/path/to/ecos/install
 
-PKG_INSTALL_DIR = /cygdrive/c/ecos-work/install
-
-# You must also set XCC to the name of your cross-compiler, including any
-# options it needs.
+ECOS_INSTALL=$$(ECOS_INSTALL) # override on make command line
 
-# Uncomment one of the below, or invoke make with the name of the compiler
-# you want, e.g.:
-#   make XCC="sparclite-elf-gcc -mcpu=sparclite -msoft-float"
-# You can also set XCC in your environment
+include $(ECOS_INSTALL)/include/pkgconf/ecos.mak
 
-#XCC = mn10300-elf-gcc                                 # MN10300/AM31
-#XCC = mn10300-elf-gcc -mam33                          # AM33
-#XCC = mips-tx39-elf-gcc                               # MIPS TX39
-#XCC = mips-tx49-elf-gcc -mips2 -EL                    # MIPS TX49 LITTLE-ENDIAN
-#XCC = mips-tx49-elf-gcc -mips2 -EB                    # MIPS TX49 BIG-ENDIAN
-#XCC = mips64vr4300-elf-gcc -mgp32 -EB                 # MIPS VR4300
-#XCC = sh-elf-gcc -m3 -mb                              # SH3 BIG-ENDIAN
-#XCC = sh-elf-gcc -m3 -ml                              # SH3 LITTLE-ENDIAN
-#XCC = powerpc-eabi-gcc -msoft-float -mcpu=860         # POWERPC
-#XCC = arm-elf-gcc -mcpu=arm7di                        # AEB
-#XCC = arm-elf-gcc -mcpu=arm7tdmi                      # PID7
-#XCC = arm-elf-gcc -mcpu=arm7tdmi -mbig-endian         # PID7 BIG-ENDIAN
-#XCC = arm-elf-gcc -mcpu=arm9                          # PID9
-#XCC = thumb-elf-gcc -mthumb-interwork                 # PID7 THUMB
-#XCC = thumb-elf-gcc -mthumb-interwork -mbig-endian    # PID7 THUMB BIG-ENDIAN
-#XCC = arm-elf-gcc -mcpu=arm710c -D__CL7111            # CIRRUS LOGIC CL7111
-#XCC = arm-elf-gcc -mcpu=arm7tdmi -D__EDB7211          # CIRRUS LOGIC EDB7211
-#XCC = arm-elf-gcc -mcpu=arm7tdmi -D__EDB7209          # CIRRUS LOGIC EDB7209
-#XCC = arm-elf-gcc -mcpu=arm7tdmi -D__EDB7209 -D__EDB7212 # CIRRUS LOGIC EDB7212
-#XCC = arm-elf-gcc -mcpu=arm7tdmi                      # ARM COGENT CMA230
-#XCC = arm-elf-gcc -mcpu=arm7tdmi -D__CMA222           # ARM COGENT CMA222
-#XCC = thumb-elf-gcc                                   # ARM COGENT CMA230 THUMB
-#XCC = arm-elf-gcc -mcpu=strongarm                     # EBSA285
-#XCC = arm-elf-gcc -mcpu=strongarm1100                 # ASSABET/BRUTUS
-#XCC = sparclite-elf-gcc -msoft-float -mcpu=sparclite  # SPARCLITE
-#XCC = i686-pc-linux-gnu-gcc                           # SYNTHETIC LINUX
-#XCC = i386-elf-gcc                                    # i386 PC
-#XCC = v850-elf-gcc                                    # NEC v850
+XCC           = $(ECOS_COMMAND_PREFIX)gcc
+XCXX          = $(XCC)
+XLD           = $(XCC)
 
-###### VARIABLES
-# Any of these can be overriden on the command-line or in your environment
-
-ifeq ($(findstring sh-elf-gcc,$(XCC)),sh-elf-gcc)
-CFLAGS        = -ggdb
-else
-CFLAGS        = -g
-endif
-
+CFLAGS        = -I$(ECOS_INSTALL)/include
 CXXFLAGS      = $(CFLAGS)
+LDFLAGS       = -nostartfiles -L$(ECOS_INSTALL)/lib -Ttarget.ld
 
-EXTRACFLAGS   = -Wall -I$(PKG_INSTALL_DIR)/include -ffunction-sections -fdata-sections
-
-EXTRACXXFLAGS = $(EXTRACFLAGS) -fno-exceptions -fno-rtti -fvtable-gc -finit-priority
-
-LDFLAGS       = -nostartfiles -L$(PKG_INSTALL_DIR)/lib -Wl,--gc-sections
-LIBS          = -Ttarget.ld -nostdlib
+# RULES
 
-LD            = $(XCC)
-XCXX          = $(XCC)
-
-###### RULES
-
-.PHONY: all clean CCCHECK
+.PHONY: all clean
 
 all: hello twothreads simple-alarm serial
 
@@ -80,37 +27,29 @@ clean:
 	-rm -f simple-alarm simple-alarm.o serial serial.o
 	-rm -f instrument-test instrument-test.o
 
-CCCHECK:
-ifeq ($(XCC),)
-	@echo You must set XCC to the name of your cross-compiler
-	@false
-endif
-
-
 %.o: %.c
-	$(XCC) -c -o $*.o $(CFLAGS) $(EXTRACFLAGS) $<
+	$(XCC) -c -o $*.o $(CFLAGS) $(ECOS_GLOBAL_CFLAGS) $<
 
 %.o: %.cxx
-	$(XCXX) -c -o $*.o $(CXXFLAGS) $(EXTRACXXFLAGS) $<
+	$(XCXX) -c -o $*.o $(CXXFLAGS) $(ECOS_GLOBAL_CFLAGS) $<
 
 %.o: %.C
-	$(XCXX) -c -o $*.o $(CXXFLAGS) $(EXTRACXXFLAGS) $<
+	$(XCXX) -c -o $*.o $(CXXFLAGS) $(ECOS_GLOBAL_CFLAGS) $<
 
 %.o: %.cc
-	$(XCXX) -c -o $*.o $(CXXFLAGS) $(EXTRACXXFLAGS) $<
+	$(XCXX) -c -o $*.o $(CXXFLAGS) $(ECOS_GLOBAL_CFLAGS) $<
 
-hello: CCCHECK hello.o
-	$(LD) $(LDFLAGS) -o $@ $@.o $(LIBS)
+hello: hello.o
+	$(XLD) $(LDFLAGS) $(ECOS_GLOBAL_LDFLAGS) -o $@ $@.o
 
-twothreads: CCCHECK twothreads.o
-	$(LD) $(LDFLAGS) -o $@ $@.o $(LIBS)
+twothreads: twothreads.o
+	$(XLD) $(LDFLAGS) $(ECOS_GLOBAL_LDFLAGS) -o $@ $@.o
 
-simple-alarm: CCCHECK simple-alarm.o
-	$(LD) $(LDFLAGS) -o $@ $@.o $(LIBS)
+simple-alarm: simple-alarm.o
+	$(XLD) $(LDFLAGS) $(ECOS_GLOBAL_LDFLAGS) -o $@ $@.o
 
-serial: CCCHECK serial.o
-	$(LD) $(LDFLAGS) -o $@ $@.o $(LIBS)
+serial: serial.o
+	$(XLD) $(LDFLAGS) $(ECOS_GLOBAL_LDFLAGS) -o $@ $@.o
 
-instrument-test: CCCHECK instrument-test.o
-	$(LD) $(LDFLAGS) -o $@ $@.o $(LIBS)
-
+instrument-test: instrument-test.o
+	$(XLD) $(LDFLAGS) $(ECOS_GLOBAL_LDFLAGS) -o $@ $@.o