diff --git a/CMakeLists.txt b/CMakeLists.txt
index 9249ec4..067b457 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -4,10 +4,23 @@ project ("openGLES 2.0 for Raspberry Pi tutorials")
 
 SET(COMPILE_DEFINITIONS -Werror)
 
+ if (CROSS_COMPILE)
+    message("Cross compilation mode enabled.")
+
+    # Some cmake systems has bug, and uses install rpath
+    # always, even while building
+    # (CMAKE_BUILD_RPATH is always equal to CMAKE_INSTALL_RPATH).
+    # In cross-compilation case such rpath would be wrong.
+    # E.g. we don't need rpath=/opt/vc/lib
+    # but we need rpath=${ROOTFS}/opt/vc/lib
+    # Currently the we just hardcode that linker flag.
+    SET(CMAKE_EXE_LINKER_FLAGS "-Wl,-rpath,${CMAKE_SOURCE_DIR}/libs/ilclient:${CMAKE_SYSROOT}/opt/vc/lib")
+endif(CROSS_COMPILE)
+
 include_directories(
-    /opt/vc/include
-    /opt/vc/include/interface/vcos/pthreads
-    /opt/vc/include/interface/vmcs_host/linux
+    ${CMAKE_SYSROOT}/opt/vc/include
+    ${CMAKE_SYSROOT}/opt/vc/include/interface/vcos/pthreads
+    ${CMAKE_SYSROOT}/opt/vc/include/interface/vmcs_host/linux
 #   ${CMAKE_SOURCE_DIR}/libs/glm/
     ${CMAKE_SOURCE_DIR}/libs/ilclient
     ${CMAKE_SOURCE_DIR}/common
@@ -15,7 +28,7 @@ include_directories(
 
 link_directories(
     ${CMAKE_SOURCE_DIR}/libs/ilclient
-    /opt/vc/lib
+    ${CMAKE_SYSROOT}/opt/vc/lib
 )
 
 
diff --git a/encode_OGL/CMakeLists.txt b/encode_OGL/CMakeLists.txt
index a685287..c8bc6ba 100644
--- a/encode_OGL/CMakeLists.txt
+++ b/encode_OGL/CMakeLists.txt
@@ -12,5 +12,7 @@ target_link_libraries(encode_OGL
         ${GL_LIBS}
         ${CAM_LIBS}
         ${ILC_LIBS}
+        m
+        pthread
 )
-set (CMAKE_C_FLAGS "-DOMX_SKIP64BIT -lpthread -lm")
+set (CMAKE_C_FLAGS "-DOMX_SKIP64BIT")
diff --git a/raspberry-toolchain.cmake b/raspberry-toolchain.cmake
new file mode 100644
index 0000000..5a2546c
--- /dev/null
+++ b/raspberry-toolchain.cmake
@@ -0,0 +1,36 @@
+SET(CMAKE_SYSTEM_NAME Linux)
+SET(CMAKE_SYSTEM_VERSION 1)
+
+# Setup rootfs directory here
+SET(PIROOT  /home/stepan/projects/alpha_racing/raspberry-rootfs/rootfs)
+
+# Directory to raspberry cross compiling tools
+SET(PITOOLS /opt/tools)
+
+SET(TOOLROOT ${PITOOLS}/arm-bcm2708/gcc-linaro-arm-linux-gnueabihf-raspbian-x64)
+
+# specify the cross compiler
+SET(CMAKE_C_COMPILER   ${TOOLROOT}/bin/arm-linux-gnueabihf-gcc)
+SET(CMAKE_CXX_COMPILER ${TOOLROOT}/bin/arm-linux-gnueabihf-g++)
+
+SET(CMAKE_SYSROOT ${PIROOT})
+SET(CMAKE_FIND_ROOT_PATH ${PIROOT})
+
+
+# search for programs in the build host directories
+SET(CMAKE_FIND_ROOT_PATH_MODE_PROGRAM NEVER)
+# for libraries and headers in the target directories
+SET(CMAKE_FIND_ROOT_PATH_MODE_LIBRARY ONLY)
+SET(CMAKE_FIND_ROOT_PATH_MODE_INCLUDE ONLY)
+
+
+# Some cmake systems has bug, and uses install rpath
+# always, even while building.
+# In cross-compilation case such rpath would be wrong.
+# E.g. we don't need rpath=/opt/vc/lib
+# but we need rpath=${ROOTFS}/opt/vc/lib
+# Currently we should hardcode that linker flag in project CMakeLists.txt
+SET(CMAKE_SKIP_BUILD_RPATH True)
+
+set(CROSS_COMPILE True)
+