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OK, it's definitely it, after adding compiler and linker flags in manifest.xml all works fine. It also seems the only documentation to it is the one stated in the question, so a certain knowledge of makefile syntax is assumed. I, for instance, added this:

<export>
    <cpp cflags="-I${prefix}/src" lflags="-L${prefix}/lib -Wl,-rpath,${prefix}/lib -lMyLib"/>
  </export>

This will cause my header files from src to be exported (I'm not following the convention to place header files in an include directory, so maybe you'll have to replace src with include), a library directory added to linker's knowledge and a library libMyLib.so (or .o) placed in one of the above declared directories to be linked.

OK, it's definitely it, after adding compiler and linker flags in manifest.xml all works fine. It also seems the only documentation to it is the one stated in the question, so a certain knowledge of makefile syntax is assumed. I, for instance, added this:

<export>
    <cpp cflags="-I${prefix}/src" lflags="-L${prefix}/lib -Wl,-rpath,${prefix}/lib -lMyLib"/>
 </export>

This will cause my header files from src to be exported (I'm not following the convention to place header files in an include directory, so maybe you'll have to replace src with include), a library directory added to linker's knowledge and a library libMyLib.so (or .o) placed in one of the above declared directories to be linked.