Linux: AM335x application build error

Tool/software: Linux

I used ti-processor-sdk-linux-rt-am335x-evm-04.03.00.05 for beaglebone black. I try to compile source code by makefile. Are there recommendations for the RTLinux programing?

SOURCE FILE

#include <rtl.h>
#include <time.h>
#include <pthread.h>
pthread_t thread;
void * start_routine(void *arg) {
    struct sched_param p;
    p.sched_priority = 1;
    pthread_setschedparam (pthread_self(), SCHED_FIFO, &p);
    pthread_make_periodic_np (pthread_self(), gethrtime(), 500000000);
    while (1) {
       pthread_wait_np();
       rtl_printf("I'm here; my arg is %x\n", (unsigned) arg);
    }
    return 0;
}
int init_module(void) {
     return pthread_create (&thread, NULL, start_routine, 0);
}
void cleanup_module(void) {
     pthread_cancel (thread);
     pthread_join (thread, NULL);
}

Makefile

obj-m=simple-rt.o
KDIR:=/home/tgtuser/ti-processor-sdk-linux-rt-am335x-evm-04.03.00.05/board-support/linux-rt-4.9.69+gitAUTOINC+7069a470d5-g7069a470d5
CROSS=/home/tgtuser/ti-processor-sdk-linux-rt-am335x-evm-04.03.00.05/linux-devkit/sysroots/x86_64-arago-linux/usr/bin/arm-linux-gnueabihf-

all:
	make -C $(KDIR) M=$(shell pwd) ARCH=arm CROSS_COMPILE=$(CROSS) modules
clean:
	make -C $(KDIR) M=$(shell pwd) ARCH=arm CROSS_COMPILE=$(CROSS) clean

OUTPUT

make -C /home/tgtuser/ti-processor-sdk-linux-rt-am335x-evm-04.03.00.05/board-support/linux-rt-4.9.69+gitAUTOINC+7069a470d5-g7069a470d5 M=/home/tgtuser/workspace/Beaglebone/example/lkm/simple-rt ARCH=arm CROSS_COMPILE=/home/tgtuser/ti-processor-sdk-linux-rt-am335x-evm-04.03.00.05/linux-devkit/sysroots/x86_64-arago-linux/usr/bin/arm-linux-gnueabihf- modules
make[1]: Entering directory `/home/tgtuser/ti-processor-sdk-linux-rt-am335x-evm-04.03.00.05/board-support/linux-rt-4.9.69+gitAUTOINC+7069a470d5-g7069a470d5'

  ERROR: Kernel configuration is invalid.
         include/generated/autoconf.h or include/config/auto.conf are missing.
         Run 'make oldconfig && make prepare' on kernel src to fix it.


  WARNING: Symbol version dump ./Module.symvers
           is missing; modules will have no dependencies and modversions.

  CC [M]  /home/tgtuser/workspace/Beaglebone/example/lkm/simple-rt/simple-rt.o
In file included from <command-line>:0:0:
././include/linux/kconfig.h:4:32: fatal error: generated/autoconf.h: No such file or directory
 #include <generated/autoconf.h>
                                ^
compilation terminated.
make[2]: *** [/home/tgtuser/workspace/Beaglebone/example/lkm/simple-rt/simple-rt.o] Error 1
make[1]: *** [_module_/home/tgtuser/workspace/Beaglebone/example/lkm/simple-rt] Error 2
make[1]: Leaving directory `/home/tgtuser/ti-processor-sdk-linux-rt-am335x-evm-04.03.00.05/board-support/linux-rt-4.9.69+gitAUTOINC+7069a470d5-g7069a470d5'
make: *** [all] Error 2
tgtuser@tgtuser-ubuntu:~/workspace/Beaglebone/example/lkm/simple-rt$ 

Best regards,
Somkiat