How to add include/library path to my application to compile using DigiESP?

I want to cross compile my application for connectcore wi-imx51.My application has both dbus and gstreamer functionalities.What should my Makefile have to compile this application?Is there some steps to follow to do the same?Can I have my own build rule/Makefile?

Your help is greatly appreciated.
Thank You

Refer to understand how to cross-compile on Digi Embedded Linux(DEL)