From mboxrd@z Thu Jan 1 00:00:00 1970 Date: Fri, 19 Jan 2007 09:02:32 -0800 (PST) From: mani bhatti Subject: Re: [Xenomai-help] problem inserting a kernel module In-Reply-To: <45B0E8BF.5090705@domain.hid> MIME-Version: 1.0 Content-Type: multipart/alternative; boundary="0-1409522326-1169226152=:8561" Content-Transfer-Encoding: 8bit Message-ID: <495954.8561.qm@domain.hid> List-Id: Help regarding installation and common use of Xenomai List-Unsubscribe: , List-Archive: List-Post: List-Help: List-Subscribe: , To: Markus.Franke@domain.hid Cc: xenomai@xenomai.org --0-1409522326-1169226152=:8561 Content-Type: text/plain; charset=iso-8859-1 Content-Transfer-Encoding: 8bit I have got following message No module found in object realtimedriver: Unknown symbol _rtdm_synch_flush realtimedriver: Unknown symbol rtdm_event_signal realtimedriver: Unknown symbol rtdm_event_timedwait realtimedriver: Unknown symbol rtdm_dev_unregister realtimedriver: Unknown symbol rtdm_dev_register realtimedriver: Unknown symbol _rtdm_synch_flush realtimedriver: Unknown symbol rtdm_event_signal realtimedriver: Unknown symbol rtdm_event_timedwait realtimedriver: Unknown symbol rtdm_dev_unregister realtimedriver: Unknown symbol rtdm_dev_register realtimedriver: Unknown symbol _rtdm_synch_flush realtimedriver: Unknown symbol rtdm_event_timedwait realtimedriver: Unknown symbol rtdm_dev_unregister realtimedriver: Unknown symbol rtdm_dev_register realtimedriver: Unknown symbol _rtdm_synch_flush realtimedriver: Unknown symbol rtdm_event_signal realtimedriver: Unknown symbol rtdm_event_timedwait realtimedriver: Unknown symbol rtdm_dev_unregister realtimedriver: Unknown symbol rtdm_dev_register realtimedriver: Unknown symbol rtdm_event_signal realtimedriver: Unknown symbol rtdm_event_timedwait realtimedriver: Unknown symbol rtdm_dev_unregister realtimedriver: Unknown symbol rtdm_dev_register realtimedriver: Unknown symbol _rtdm_synch_flush realtimedriver: Unknown symbol rtdm_event_signal realtimedriver: Unknown symbol rtdm_event_timedwait realtimedriver: Unknown symbol rtdm_dev_unregister realtimedriver: Unknown symbol rtdm_dev_register realtimedriver: Unknown symbol _rtdm_synch_flush realtimedriver: Unknown symbol rtdm_event_signal realtimedriver: Unknown symbol rtdm_dev_unregister realtimedriver: Unknown symbol rtdm_dev_register realtimedriver: Unknown symbol _rtdm_synch_flush realtimedriver: Unknown symbol rtdm_event_signal realtimedriver: Unknown symbol rtdm_event_timedwait realtimedriver: Unknown symbol rtdm_dev_unregister realtimedriver: Unknown symbol rtdm_dev_register realtimedriver: Unknown symbol _rtdm_synch_flush realtimedriver: Unknown symbol rtdm_event_signal realtimedriver: Unknown symbol rtdm_event_timedwait realtimedriver: Unknown symbol rtdm_dev_unregister realtimedriver: Unknown symbol rtdm_dev_register realtimedriver: Unknown symbol _rtdm_synch_flush realtimedriver: Unknown symbol rtdm_event_signal realtimedriver: Unknown symbol rtdm_event_timedwait realtimedriver: Unknown symbol rtdm_dev_unregister realtimedriver: Unknown symbol rtdm_dev_register realtimedriver: Unknown symbol _rtdm_synch_flush realtimedriver: Unknown symbol rtdm_event_signal realtimedriver: Unknown symbol rtdm_event_timedwait realtimedriver: Unknown symbol rtdm_dev_unregister realtimedriver: Unknown symbol rtdm_dev_register realtimedriver: Unknown symbol _rtdm_synch_flush realtimedriver: Unknown symbol rtdm_event_signal realtimedriver: Unknown symbol rtdm_event_timedwait realtimedriver: Unknown symbol rtdm_dev_unregister realtimedriver: Unknown symbol rtdm_dev_register realtimedriver: Unknown symbol _rtdm_synch_flush realtimedriver: Unknown symbol rtdm_event_signal realtimedriver: Unknown symbol rtdm_event_timedwait realtimedriver: Unknown symbol rtdm_dev_unregister realtimedriver: Unknown symbol rtdm_dev_register realtimedriver: Unknown symbol _rtdm_synch_flush realtimedriver: Unknown symbol rtdm_event_signal realtimedriver: Unknown symbol rtdm_event_timedwait realtimedriver: Unknown symbol rtdm_dev_unregister realtimedriver: Unknown symbol rtdm_dev_register realtimedriver: Unknown symbol _rtdm_synch_flush realtimedriver: Unknown symbol rtdm_event_signal realtimedriver: Unknown symbol rtdm_event_timedwait realtimedriver: Unknown symbol rtdm_dev_unregister realtimedriver: Unknown symbol rtdm_dev_register realtimedriver: Unknown symbol _rtdm_synch_flush realtimedriver: Unknown symbol rtdm_event_signal realtimedriver: Unknown symbol rtdm_event_timedwait realtimedriver: Unknown symbol rtdm_dev_unregister realtimedriver: Unknown symbol rtdm_dev_register realtimedriver: Unknown symbol _rtdm_synch_flush realtimedriver: Unknown symbol rtdm_event_signal realtimedriver: Unknown symbol rtdm_event_timedwait realtimedriver: Unknown symbol rtdm_dev_unregister realtimedriver: Unknown symbol rtdm_dev_register realtimedriver: Unknown symbol _rtdm_synch_flush realtimedriver: Unknown symbol rtdm_event_signal realtimedriver: Unknown symbol rtdm_event_timedwait realtimedriver: Unknown symbol rtdm_dev_unregister realtimedriver: Unknown symbol rtdm_dev_register realtimedriver: Unknown symbol _rtdm_synch_flush realtimedriver: Unknown symbol rtdm_event_signal realtimedriver: Unknown symbol rtdm_event_timedwait realtimedriver: Unknown symbol rtdm_dev_unregister realtimedriver: Unknown symbol rtdm_dev_register realtimedriver: Unknown symbol _rtdm_synch_flush realtimedriver: Unknown symbol rtdm_event_signal realtimedriver: Unknown symbol rtdm_event_timedwait realtimedriver: Unknown symbol rtdm_dev_unregister realtimedriver: Unknown symbol rtdm_dev_register realtimedriver: Unknown symbol _rtdm_synch_flush realtimedriver: Unknown symbol rtdm_event_signal realtimedriver: Unknown symbol rtdm_event_timedwait realtimedriver: Unknown symbol rtdm_dev_unregister realtimedriver: Unknown symbol rtdm_dev_register Markus Franke wrote: Well, some symbols which are referenced by your module are not found in the kernel. A "dmesg()"-call should provide you some information about the missing symbols. Maybe you missed inserting the "RTDM"-kernel module? Regards, Markus mani bhatti wrote: > Hi all > i have a problem inserting the realtimedriver.ko module from captain.at > actually everything works well module is made with out any error from make file and user.c also compiles but when i try to insert following error appears > > insmod: error inserting './realtimedriver.ko': -1 Unknown symbol in module > > Is there any error inside module.Thanks. > i have attached all files.thanks > > > > > > --------------------------------- > Everyone is raving about the all-new Yahoo! Mail beta. > > > ------------------------------------------------------------------------ > > #include > #include > #include "inc.h" > > char dummy_buffer[BUFSIZE]; > int events; > int ioctlvalue; > > // our driver context struct: used for storing various information > struct demodrv_context { > rtdm_irq_t irq_handle; > rtdm_lock_t lock; > int dev_id; > u64 last_timestamp; > rtdm_event_t irq_event; > volatile unsigned long irq_event_lock; > volatile int irq_events; > int64_t timeout; > void *buf; > rtdm_user_info_t *mapped_user_info; > void *mapped_user_addr; > }; > > #ifdef USEMMAP > static void demo_vm_open(struct vm_area_struct *vma) > { > printk("opening %p, private_data = %p\n", vma, > vma->vm_private_data); > } > static void demo_vm_close(struct vm_area_struct *vma) > { > printk("releasing %p, private_data = %p\n", vma, > vma->vm_private_data); > } > static struct vm_operations_struct mmap_ops = { > .open = demo_vm_open, > .close = demo_vm_close, > }; > #endif > > /**********************************************************/ > /* INTERRUPT HANDLING */ > /**********************************************************/ > static int demo_interrupt(rtdm_irq_t *irq_context) > { > struct demodrv_context *ctx; > int dev_id; > // timestamp, if needed, can be obtained list this: > // u64 timestamp = rtdm_clock_read(); > int ret = RTDM_IRQ_HANDLED; // usual return value > > ctx = rtdm_irq_get_arg(irq_context, struct demodrv_context); > dev_id = ctx->dev_id; > > rtdm_lock_get(&ctx->lock); > > // do stuff > #ifdef TIMERINT > if (events > 100) { > rtdm_event_signal(&ctx->irq_event); > events = 0; > } > #else > rtdm_event_signal(&ctx->irq_event); > #endif > events++; > > rtdm_lock_put(&ctx->lock); > // those return values were dropped from the RTDM > // ret = RTDM_IRQ_ENABLE | RTDM_IRQ_PROPAGATE; > > #ifdef TIMERINT > // Only propagate the timer interrupt, so that linux sees it. > // Forwarding interrupts to the non-realtime domain is not a common > // use-case of realtime device drivers, so usually DON'T DO THIS. > // But here we grab the important timer interrupt, so we need to propagate it. > return XN_ISR_PROPAGATE; > #else > // signal interrupt is handled and don't propagate the interrupt to linux > return RTDM_IRQ_HANDLED; > #endif > } > > /**********************************************************/ > /* DRIVER OPEN */ > /**********************************************************/ > int demo_open_rt(struct rtdm_dev_context *context, > rtdm_user_info_t *user_info, > int oflags) > { > struct demodrv_context *my_context; > #ifdef USEMMAP > unsigned long vaddr; > #endif > int dev_id = context->device->device_id; > int ret; > > // get the context for our driver - used to store driver info > my_context = (struct demodrv_context *)context->dev_private; > > #ifdef USEMMAP > // allocate and prepare memory for our buffer > my_context->buf = kmalloc(BUFFER_SIZE, 0); > /* mark pages reserved so that remap_pfn_range works */ > for (vaddr = (unsigned long)my_context->buf; > vaddr < (unsigned long)my_context->buf + BUFFER_SIZE; > vaddr += PAGE_SIZE) > SetPageReserved(virt_to_page(vaddr)); > // write some test value to the start of our buffer > *(int *)my_context->buf = 1234; > > my_context->mapped_user_addr = NULL; > #endif > > // we also have an interrupt handler: > #ifdef TIMERINT > ret = rtdm_irq_request(&my_context->irq_handle, TIMER_INT, > demo_interrupt, > 0, context->device->proc_name, my_context); > #else > ret = rtdm_irq_request(&my_context->irq_handle, PAR_INT, > demo_interrupt, > 0, context->device->proc_name, my_context); > #endif > if (ret < 0) > return ret; > > /* IPC initialisation - cannot fail with used parameters */ > rtdm_lock_init(&my_context->lock); > rtdm_event_init(&my_context->irq_event, 0); > my_context->dev_id = dev_id; > > my_context->irq_events = 0; > my_context->irq_event_lock = 0; > my_context->timeout = 0; // wait INFINITE > > #ifndef TIMERINT > //set port to interrupt mode; pins are output > outb_p(0x10, BASEPORT + 2); > #endif > // enable interrupt in RTDM > rtdm_irq_enable(&my_context->irq_handle); > return 0; > } > > /**********************************************************/ > /* DRIVER CLOSE */ > /**********************************************************/ > int demo_close_rt(struct rtdm_dev_context *context, > rtdm_user_info_t *user_info) > { > struct demodrv_context *my_context; > rtdm_lockctx_t lock_ctx; > #ifdef USEMMAP > unsigned long vaddr; > #endif > // get the context > my_context = (struct demodrv_context *)context->dev_private; > > #ifdef USEMMAP > // printk some test value > printk("%d\n", *((int *)my_context->buf + 10)); > > // munmap our buffer > if (my_context->mapped_user_addr) { > int ret = rtdm_munmap(my_context->mapped_user_info, > my_context->mapped_user_addr, > BUFFER_SIZE); > printk("rtdm_munmap = %p, %d\n", my_context->mapped_user_info, > ret); > } > > /* clear pages reserved */ > for (vaddr = (unsigned long)my_context->buf; > vaddr < (unsigned long)my_context->buf + BUFFER_SIZE; > vaddr += PAGE_SIZE) > ClearPageReserved(virt_to_page(vaddr)); > > kfree(my_context->buf); > #endif > > // if we need to do some stuff with preemption disabled: > rtdm_lock_get_irqsave(&my_context->lock, lock_ctx); > // other stuff here > rtdm_lock_put_irqrestore(&my_context->lock, lock_ctx); > > // free irq in RTDM > rtdm_irq_free(&my_context->irq_handle); > // destroy our interrupt signal/event > rtdm_event_destroy(&my_context->irq_event); > return 0; > } > > /**********************************************************/ > /* DRIVER IOCTL */ > /**********************************************************/ > int demo_ioctl_rt(struct rtdm_dev_context *context, > rtdm_user_info_t *user_info, > int request, > void *arg) > { > struct demodrv_context *my_context; > #ifdef USEMMAP > int err; > #endif > int ret = 0; > my_context = (struct demodrv_context *)context->dev_private; > > switch (request) { > case MMAP: // set mmap pointer > #ifdef USEMMAP > printk("buf = %p:%x\n", my_context->buf, *(int*)my_context->buf); > > err = rtdm_mmap_to_user(user_info, my_context->buf,BUFFER_SIZE, PROT_READ|PROT_WRITE, (void **)arg,&mmap_ops,(void *)0x12345678); > if (!err) { > my_context->mapped_user_info = user_info; > my_context->mapped_user_addr = *(void **)arg; > } > printk("rtdm_mmap = %p %d\n", my_context->mapped_user_info,err); > #else > return -EPERM; > #endif > break; > case GETVALUE: // write "ioctlvalue" to user > if (user_info) { > if (!rtdm_rw_user_ok(user_info, arg, sizeof(int)) || > rtdm_copy_to_user(user_info, arg, &ioctlvalue, > sizeof(int))) > return -EFAULT; > } else > memcpy(arg, &ioctlvalue, sizeof(int)); > break; > case SETVALUE: // read "ioctlvalue" from user > if (user_info) { > if (!rtdm_read_user_ok(user_info, arg, sizeof(int)) || > rtdm_copy_from_user(user_info, &ioctlvalue, arg, > sizeof(int))) > return -EFAULT; > } > break; > default: > ret = -ENOTTY; > } > return ret; > } > > /**********************************************************/ > /* DRIVER READ */ > /**********************************************************/ > int demo_read_rt(struct rtdm_dev_context *context, > rtdm_user_info_t *user_info, void *buf, size_t nbyte) > { > struct demodrv_context *ctx; > int dev_id; > // rtdm_lockctx_t lock_ctx; > char *out_pos = (char *)buf; > rtdm_toseq_t timeout_seq; > int ret; > > // zero bytes requested ? return! > if (nbyte == 0) > return 0; > > // check if R/W actions to user-space are allowed > if (user_info && !rtdm_rw_user_ok(user_info, buf, nbyte)) > return -EFAULT; > > ctx = (struct demodrv_context *)context->dev_private; > dev_id = ctx->dev_id; > > // in case we need to check if reading is allowed (locking) > /* if (test_and_set_bit(0, &ctx->in_lock)) > return -EBUSY; > */ > /* // if we need to do some stuff with preemption disabled: > rtdm_lock_get_irqsave(&ctx->lock, lock_ctx); > // stuff here > rtdm_lock_put_irqrestore(&ctx->lock, lock_ctx); > */ > > // wait: if ctx->timeout = 0, it will block infintely until > // rtdm_event_signal(&ctx->irq_event); is called from our > // interrupt routine > ret = rtdm_event_timedwait(&ctx->irq_event, ctx->timeout, > &timeout_seq); > > // now write the requested stuff to user-space > if (rtdm_copy_to_user(user_info, out_pos, > dummy_buffer, BUFSIZE) != 0) { > ret = -EFAULT; > } else { > ret = BUFSIZE; > } > return ret; > } > > /**********************************************************/ > /* DRIVER WRITE */ > /**********************************************************/ > int demo_write_rt(struct rtdm_dev_context *context, > rtdm_user_info_t *user_info, > const void *buf, size_t nbyte) > { > struct demodrv_context *ctx; > int dev_id; > char *in_pos = (char *)buf; > int ret; > > if (nbyte == 0) > return 0; > if (user_info && !rtdm_read_user_ok(user_info, buf, nbyte)) > return -EFAULT; > > ctx = (struct demodrv_context *)context->dev_private; > dev_id = ctx->dev_id; > > // make write operation atomic > /* ret = rtdm_mutex_timedlock(&ctx->out_lock, > ctx->config.rx_timeout, &timeout_seq); > if (ret) > return ret; */ > > /* // if we need to do some stuff with preemption disabled: > rtdm_lock_get_irqsave(&ctx->lock, lock_ctx); > // stuff here > rtdm_lock_put_irqrestore(&ctx->lock, lock_ctx); > */ > > // now copy the stuff from user-space to our kernel dummy_buffer > if (rtdm_copy_from_user(user_info, dummy_buffer,in_pos, BUFSIZE) != 0) > { > ret = -EFAULT; > } else { > ret = BUFSIZE; > } > > // used when it is atomic > // rtdm_mutex_unlock(&ctx->out_lock); > return ret; > } > > /**********************************************************/ > /* DRIVER OPERATIONS */ > /**********************************************************/ > static struct rtdm_device demo_device = { > struct_version: RTDM_DEVICE_STRUCT_VER, > > device_flags: RTDM_NAMED_DEVICE, > context_size: sizeof(struct demodrv_context), > device_name: DEV_FILE, > > /* open and close functions are not real-time safe due kmalloc > and kfree. If you do not use kmalloc and kfree, and you made > sure that there is no syscall in the open/close handler, you > can declare the open_rt and close_rt handler. > */ > open_rt: NULL, > open_nrt: demo_open_rt, > > ops: { > close_rt: NULL, > close_nrt: demo_close_rt, > > ioctl_rt: NULL, > ioctl_nrt: demo_ioctl_rt, // rtdm_mmap_to_user is not RT safe > > read_rt: demo_read_rt, > read_nrt: NULL, > > write_rt: demo_write_rt, > write_nrt: NULL, > > recvmsg_rt: NULL, > recvmsg_nrt: NULL, > > sendmsg_rt: NULL, > sendmsg_nrt: NULL, > }, > > device_class: RTDM_CLASS_EXPERIMENTAL, > device_sub_class: 222, > driver_name: DRV_NAME, > peripheral_name: DEV_FILE_NAME, > provider_name: "-", > proc_name: demo_device.device_name, > }; > > /**********************************************************/ > /* INIT DRIVER */ > /**********************************************************/ > int init_module(void) > { > return rtdm_dev_register(&demo_device); > } > > /**********************************************************/ > /* CLEANUP DRIVER */ > /**********************************************************/ > void cleanup_module(void) > { > rtdm_dev_unregister(&demo_device, 1000); > } > > MODULE_LICENSE("GPL"); > MODULE_DESCRIPTION("RTDM Real Time Driver Example"); > > > ------------------------------------------------------------------------ > > #include > #include > #include > #include > > #include > #include > #include > #include "inc.h" > > unsigned int my_state = 0; > int timer_started = 0; > int my_fd = -1; > int shutdownnow = 0; > RT_TASK my_task; > // --s-ms-us-ns > RTIME my_task_period_ns = 1000000000llu; > > #ifdef USEMMAP > void *mmappointer; > #endif > > /**********************************************************/ > /* CLOSE RT DRIVER */ > /**********************************************************/ > static int close_file( int fd, unsigned char *name) { > int ret,i=0; > do { > i++; > ret = rt_dev_close(fd); > switch(-ret){ > case EBADF: printf("%s -> invalid fd or context\n",name); > break; > case EAGAIN: printf("%s -> EAGAIN (%d times)\n",name,i); > rt_task_sleep(50000); // wait 50us > break; > case 0: printf("%s -> closed\n",name); > break; > default: printf("%s -> ???\n",name); > break; > } > } while (ret == -EAGAIN && i < 10); > return ret; > } > > /**********************************************************/ > /* CLEANING UP */ > /**********************************************************/ > void cleanup_all(void) { > if (my_state & STATE_FILE_OPENED) { > close_file( my_fd, DEV_FILE " (user)"); > my_state &= ~STATE_FILE_OPENED; > } > if (my_state & STATE_TASK_CREATED) { > printf("delete my_task\n"); > rt_task_delete(&my_task); > my_state &= ~STATE_TASK_CREATED; > } > if (timer_started) { > printf("stop timer\n"); > rt_timer_stop(); > } > } > > void catch_signal(int sig) { > shutdownnow = 1; > cleanup_all(); > printf("exit\n"); > return; > } > > /**********************************************************/ > /* REAL TIME TASK */ > /**********************************************************/ > void my_task_proc(void *arg) { > int ret; > ssize_t sz = sizeof(RTIME); > ssize_t written = 0; > ssize_t read = 0; > int counter = 0; > int readbackcounter; > unsigned char buf[17] = "CAPTAIN WAS HERE\0"; > unsigned char buf2[17] = "XXXXXXXXXXXXXXXX\0"; > /* no periodic task, due blocking read from the RT driver (see below > too) > ret = rt_task_set_periodic(NULL, TM_NOW, > rt_timer_ns2ticks(my_task_period_ns)); > if (ret) { > printf("error while set periodic, code %d\n",ret); > goto exit_my_task; > } > */ > > #ifdef USEMMAP > printf("ioctl = %d\n", rt_dev_ioctl(my_fd, MMAP, &mmappointer)); > printf("*p = %d, p = %p\n", *((int *)mmappointer), mmappointer); > #endif > > while (1) { > sprintf(buf, "CAPTAIN %d", counter); > counter++; > if (counter > 100) counter = 0; > /* switch to primary mode */ > ret = rt_task_set_mode(0, T_PRIMARY, NULL); > if (ret) { > printf("error while rt_task_set_mode, code %d\n",ret); > goto exit_my_task; > } > > /* // rt_dev_read blocks, so we can't use rt_task_wait_period here, > // otherwise we get a ETIMEDOUT 110 = Connection timed out > // after the next rt_task_wait_period > ret = rt_task_wait_period(NULL); > if (ret) { > printf("error while rt_task_wait_period, code %d\n",ret); > goto exit_my_task; > } > */ > sz = sizeof(buf); > written = rt_dev_write(my_fd, &buf, sizeof(buf)); > printf("WRITE: written=%d sz=%d\n", written, sz); > if (written != sz ) { > if (written < 0 ) { > printf("error while rt_dev_write, code %d\n",written); > } else { > printf("only %d / %d byte transmitted\n",written, sz); > } > goto exit_my_task; > } > > sz = sizeof(buf2); > read = rt_dev_read(my_fd, &buf2, sizeof(buf2)); > if (read == sz ) { > printf("READ: read=%s\n",buf2); > } else { > if (read < 0 ) { > printf("error while rt_dev_read, code %d\n",read); > } else { > printf("only %d / %d byte received \n",read,sz); > } > } > > // read blocks, so check if user hit CTRL-C meanwhile > // otherwise we segfault when mmap'ing > if (shutdownnow == 1) break; > > #ifdef USEMMAP > *((int *)mmappointer + 10) = counter + 1000; > printf("MMAP: *((int *)mmappointer + 10) = %d\n", > *((int *)mmappointer + 10)); > #endif > > rt_dev_ioctl(my_fd, SETVALUE, &counter); > rt_dev_ioctl(my_fd, GETVALUE, &readbackcounter); > printf("IOCTL: readbackcounter=%d\n", readbackcounter); > > > } > exit_my_task: > if (my_state & STATE_FILE_OPENED) { > if (!close_file( my_fd, DEV_FILE " (write)")) { > my_state &= ~STATE_FILE_OPENED; > } > } > printf("exit\n"); > } > > /**********************************************************/ > /* MAIN: mainly RT task initialization */ > /**********************************************************/ > int main(int argc, char* argv[]) { > int ret = 0; > signal(SIGTERM, catch_signal); > signal(SIGINT, catch_signal); > > printf("PRESS CTRL-C to EXIT\n"); > /* no memory-swapping for this programm */ > mlockall(MCL_CURRENT | MCL_FUTURE); > > > /* open DEV_FILE */ > my_fd = rt_dev_open( DEV_FILE, 0); > if (my_fd < 0) { > printf("can't open %s\n", DEV_FILE); > goto error; > } > my_state |= STATE_FILE_OPENED; > printf("%s opened\n", DEV_FILE); > > /* create my_task */ > ret = rt_task_create(&my_task,"my_task",0,50,0); === message truncated ===begin:vcard fn:Markus Franke n:Franke;Markus adr;quoted-printable:;;Vettersstra=C3=9Fe 64/722;Chemnitz;Saxony;09126;Germany email;internet:Markus.Franke@domain.hid x-mozilla-html:FALSE url:http://www.tu-chemnitz.de/~franm version:2.1 end:vcard --------------------------------- Want to start your own business? Learn how on Yahoo! Small Business. --0-1409522326-1169226152=:8561 Content-Type: text/html; charset=iso-8859-1 Content-Transfer-Encoding: 8bit I have got following message

No module found in object
realtimedriver: Unknown symbol _rtdm_synch_flush
realtimedriver: Unknown symbol rtdm_event_signal
realtimedriver: Unknown symbol rtdm_event_timedwait
realtimedriver: Unknown symbol rtdm_dev_unregister
realtimedriver: Unknown symbol rtdm_dev_register
realtimedriver: Unknown symbol _rtdm_synch_flush
realtimedriver: Unknown symbol rtdm_event_signal
realtimedriver: Unknown symbol rtdm_event_timedwait
realtimedriver: Unknown symbol rtdm_dev_unregister
realtimedriver: Unknown symbol rtdm_dev_register
realtimedriver: Unknown symbol _rtdm_synch_flush
realtimedriver: Unknown symbol rtdm_event_timedwait
realtimedriver: Unknown symbol rtdm_dev_unregister
realtimedriver: Unknown symbol rtdm_dev_register
realtimedriver: Unknown symbol _rtdm_synch_flush
realtimedriver: Unknown symbol rtdm_event_signal
realtimedriver: Unknown symbol rtdm_event_timedwait
realtimedriver: Unknown symbol rtdm_dev_unregister
realtimedriver: Unknown symbol rtdm_dev_register
realtimedriver: Unknown symbol rtdm_event_signal
realtimedriver: Unknown symbol rtdm_event_timedwait
realtimedriver: Unknown symbol rtdm_dev_unregister
realtimedriver: Unknown symbol rtdm_dev_register
realtimedriver: Unknown symbol _rtdm_synch_flush
realtimedriver: Unknown symbol rtdm_event_signal
realtimedriver: Unknown symbol rtdm_event_timedwait
realtimedriver: Unknown symbol rtdm_dev_unregister
realtimedriver: Unknown symbol rtdm_dev_register
realtimedriver: Unknown symbol _rtdm_synch_flush
realtimedriver: Unknown symbol rtdm_event_signal
realtimedriver: Unknown symbol rtdm_dev_unregister
realtimedriver: Unknown symbol rtdm_dev_register
realtimedriver: Unknown symbol _rtdm_synch_flush
realtimedriver: Unknown symbol rtdm_event_signal
realtimedriver: Unknown symbol rtdm_event_timedwait
realtimedriver: Unknown symbol rtdm_dev_unregister
realtimedriver: Unknown symbol rtdm_dev_register
realtimedriver: Unknown symbol _rtdm_synch_flush
realtimedriver: Unknown symbol rtdm_event_signal
realtimedriver: Unknown symbol rtdm_event_timedwait
realtimedriver: Unknown symbol rtdm_dev_unregister
realtimedriver: Unknown symbol rtdm_dev_register
realtimedriver: Unknown symbol _rtdm_synch_flush
realtimedriver: Unknown symbol rtdm_event_signal
realtimedriver: Unknown symbol rtdm_event_timedwait
realtimedriver: Unknown symbol rtdm_dev_unregister
realtimedriver: Unknown symbol rtdm_dev_register
realtimedriver: Unknown symbol _rtdm_synch_flush
realtimedriver: Unknown symbol rtdm_event_signal
realtimedriver: Unknown symbol rtdm_event_timedwait
realtimedriver: Unknown symbol rtdm_dev_unregister
realtimedriver: Unknown symbol rtdm_dev_register
realtimedriver: Unknown symbol _rtdm_synch_flush
realtimedriver: Unknown symbol rtdm_event_signal
realtimedriver: Unknown symbol rtdm_event_timedwait
realtimedriver: Unknown symbol rtdm_dev_unregister
realtimedriver: Unknown symbol rtdm_dev_register
realtimedriver: Unknown symbol _rtdm_synch_flush
realtimedriver: Unknown symbol rtdm_event_signal
realtimedriver: Unknown symbol rtdm_event_timedwait
realtimedriver: Unknown symbol rtdm_dev_unregister
realtimedriver: Unknown symbol rtdm_dev_register
realtimedriver: Unknown symbol _rtdm_synch_flush
realtimedriver: Unknown symbol rtdm_event_signal
realtimedriver: Unknown symbol rtdm_event_timedwait
realtimedriver: Unknown symbol rtdm_dev_unregister
realtimedriver: Unknown symbol rtdm_dev_register
realtimedriver: Unknown symbol _rtdm_synch_flush
realtimedriver: Unknown symbol rtdm_event_signal
realtimedriver: Unknown symbol rtdm_event_timedwait
realtimedriver: Unknown symbol rtdm_dev_unregister
realtimedriver: Unknown symbol rtdm_dev_register
realtimedriver: Unknown symbol _rtdm_synch_flush
realtimedriver: Unknown symbol rtdm_event_signal
realtimedriver: Unknown symbol rtdm_event_timedwait
realtimedriver: Unknown symbol rtdm_dev_unregister
realtimedriver: Unknown symbol rtdm_dev_register
realtimedriver: Unknown symbol _rtdm_synch_flush
realtimedriver: Unknown symbol rtdm_event_signal
realtimedriver: Unknown symbol rtdm_event_timedwait
realtimedriver: Unknown symbol rtdm_dev_unregister
realtimedriver: Unknown symbol rtdm_dev_register
realtimedriver: Unknown symbol _rtdm_synch_flush
realtimedriver: Unknown symbol rtdm_event_signal
realtimedriver: Unknown symbol rtdm_event_timedwait
realtimedriver: Unknown symbol rtdm_dev_unregister
realtimedriver: Unknown symbol rtdm_dev_register
realtimedriver: Unknown symbol _rtdm_synch_flush
realtimedriver: Unknown symbol rtdm_event_signal
realtimedriver: Unknown symbol rtdm_event_timedwait
realtimedriver: Unknown symbol rtdm_dev_unregister
realtimedriver: Unknown symbol rtdm_dev_register
realtimedriver: Unknown symbol _rtdm_synch_flush
realtimedriver: Unknown symbol rtdm_event_signal
realtimedriver: Unknown symbol rtdm_event_timedwait
realtimedriver: Unknown symbol rtdm_dev_unregister
realtimedriver: Unknown symbol rtdm_dev_register
realtimedriver: Unknown symbol _rtdm_synch_flush
realtimedriver: Unknown symbol rtdm_event_signal
realtimedriver: Unknown symbol rtdm_event_timedwait
realtimedriver: Unknown symbol rtdm_dev_unregister
realtimedriver: Unknown symbol rtdm_dev_register



Markus Franke <Markus.Franke@domain.hid> wrote:
Well, some symbols which are referenced by your module are not found in
the kernel. A "dmesg()"-call should provide you some information about
the missing symbols. Maybe you missed inserting the "RTDM"-kernel module?

Regards,
Markus

mani bhatti wrote:
> Hi all
> i have a problem inserting the realtimedriver.ko module from captain.at
> actually everything works well module is made with out any error from make file and user.c also compiles but when i try to insert following error appears
>
> insmod: error inserting './realtimedriver.ko': -1 Unknown symbol in module
>
> Is there any error inside module.Thanks.
> i have attached all files.thanks
>
>
>
>
>
> ---------------------------------
> Everyone is raving about the all-new Yahoo! Mail beta.
>
>
> ------------------------------------------------------------------------
>
> #include
> #include
> #include "inc.h"
>
> char dummy_buffer[BUFSIZE];
> int events;
> int ioctlvalue;
>
> // our driver context struct: used for storing various information
> struct demodrv_context {
> rtdm_irq_t irq_handle;
> rtdm_lock_t lock;
> int dev_id;
> u64 last_timestamp;
> rtdm_event_t irq_event;
> volatile unsigned long irq_event_lock;
> volatile int irq_events;
> int64_t timeout;
> void *buf;
> rtdm_user_info_t *mapped_user_info;
> void *mapped_user_addr;
> };
>
> #ifdef USEMMAP
> static void demo_vm_open(struct vm_area_struct *vma)
> {
> printk("opening %p, private_data = %p\n", vma,
> vma->vm_private_data);
> }
> static void demo_vm_close(struct vm_area_struct *vma)
> {
> printk("releasing %p, private_data = %p\n", vma,
> vma->vm_private_data);
> }
> static struct vm_operations_struct mmap_ops = {
> .open = demo_vm_open,
> .close = demo_vm_close,
> };
> #endif
>
> /**********************************************************/
> /* INTERRUPT HANDLING */
> /**********************************************************/
> static int demo_interrupt(rtdm_irq_t *irq_context)
> {
> struct demodrv_context *ctx;
> int dev_id;
> // timestamp, if needed, can be obtained list this:
> // u64 timestamp = rtdm_clock_read();
> int ret = RTDM_IRQ_HANDLED; // usual return value
>
> ctx = rtdm_irq_get_arg(irq_context, struct demodrv_context);
> dev_id = ctx->dev_id;
>
> rtdm_lock_get(&ctx->lock);
>
> // do stuff
> #ifdef TIMERINT
> if (events > 100) {
> rtdm_event_signal(&ctx->irq_event);
> events = 0;
> }
> #else
> rtdm_event_signal(&ctx->irq_event);
> #endif
> events++;
>
> rtdm_lock_put(&ctx->lock);
> // those return values were dropped from the RTDM
> // ret = RTDM_IRQ_ENABLE | RTDM_IRQ_PROPAGATE;
>
> #ifdef TIMERINT
> // Only propagate the timer interrupt, so that linux sees it.
> // Forwarding interrupts to the non-realtime domain is not a common
> // use-case of realtime device drivers, so usually DON'T DO THIS.
> // But here we grab the important timer interrupt, so we need to propagate it.
> return XN_ISR_PROPAGATE;
> #else
> // signal interrupt is handled and don't propagate the interrupt to linux
> return RTDM_IRQ_HANDLED;
> #endif
> }
>
> /**********************************************************/
> /* DRIVER OPEN */
> /**********************************************************/
> int demo_open_rt(struct rtdm_dev_context *context,
> rtdm_user_info_t *user_info,
> int oflags)
> {
> struct demodrv_context *my_context;
> #ifdef USEMMAP
> unsigned long vaddr;
> #endif
> int dev_id = context->device->device_id;
> int ret;
>
> // get the context for our driver - used to store driver info
> my_context = (struct demodrv_context *)context->dev_private;
>
> #ifdef USEMMAP
> // allocate and prepare memory for our buffer
> my_context->buf = kmalloc(BUFFER_SIZE, 0);
> /* mark pages reserved so that remap_pfn_range works */
> for (vaddr = (unsigned long)my_context->buf;
> vaddr < (unsigned long)my_context->buf + BUFFER_SIZE;
> vaddr += PAGE_SIZE)
> SetPageReserved(virt_to_page(vaddr));
> // write some test value to the start of our buffer
> *(int *)my_context->buf = 1234;
>
> my_context->mapped_user_addr = NULL;
> #endif
>
> // we also have an interrupt handler:
> #ifdef TIMERINT
> ret = rtdm_irq_request(&my_context->irq_handle, TIMER_INT,
> demo_interrupt,
> 0, context->device->proc_name, my_context);
> #else
> ret = rtdm_irq_request(&my_context->irq_handle, PAR_INT,
> demo_interrupt,
> 0, context->device->proc_name, my_context);
> #endif
> if (ret < 0)
> return ret;
>
> /* IPC initialisation - cannot fail with used parameters */
> rtdm_lock_init(&my_context->lock);
> rtdm_event_init(&my_context->irq_event, 0);
> my_context->dev_id = dev_id;
>
> my_context->irq_events = 0;
> my_context->irq_event_lock = 0;
> my_context->timeout = 0; // wait INFINITE
>
> #ifndef TIMERINT
> //set port to interrupt mode; pins are output
> outb_p(0x10, BASEPORT + 2);
> #endif
> // enable interrupt in RTDM
> rtdm_irq_enable(&my_context->irq_handle);
> return 0;
> }
>
> /**********************************************************/
> /* DRIVER CLOSE */
> /**********************************************************/
> int demo_close_rt(struct rtdm_dev_context *context,
> rtdm_user_info_t *user_info)
> {
> struct demodrv_context *my_context;
> rtdm_lockctx_t lock_ctx;
> #ifdef USEMMAP
> unsigned long vaddr;
> #endif
> // get the context
> my_context = (struct demodrv_context *)context->dev_private;
>
> #ifdef USEMMAP
> // printk some test value
> printk("%d\n", *((int *)my_context->buf + 10));
>
> // munmap our buffer
> if (my_context->mapped_user_addr) {
> int ret = rtdm_munmap(my_context->mapped_user_info,
> my_context->mapped_user_addr,
> BUFFER_SIZE);
> printk("rtdm_munmap = %p, %d\n", my_context->mapped_user_info,
> ret);
> }
>
> /* clear pages reserved */
> for (vaddr = (unsigned long)my_context->buf;
> vaddr < (unsigned long)my_context->buf + BUFFER_SIZE;
> vaddr += PAGE_SIZE)
> ClearPageReserved(virt_to_page(vaddr));
>
> kfree(my_context->buf);
> #endif
>
> // if we need to do some stuff with preemption disabled:
> rtdm_lock_get_irqsave(&my_context->lock, lock_ctx);
> // other stuff here
> rtdm_lock_put_irqrestore(&my_context->lock, lock_ctx);
>
> // free irq in RTDM
> rtdm_irq_free(&my_context->irq_handle);
> // destroy our interrupt signal/event
> rtdm_event_destroy(&my_context->irq_event);
> return 0;
> }
>
> /**********************************************************/
> /* DRIVER IOCTL */
> /**********************************************************/
> int demo_ioctl_rt(struct rtdm_dev_context *context,
> rtdm_user_info_t *user_info,
> int request,
> void *arg)
> {
> struct demodrv_context *my_context;
> #ifdef USEMMAP
> int err;
> #endif
> int ret = 0;
> my_context = (struct demodrv_context *)context->dev_private;
>
> switch (request) {
> case MMAP: // set mmap pointer
> #ifdef USEMMAP
> printk("buf = %p:%x\n", my_context->buf, *(int*)my_context->buf);
>
> err = rtdm_mmap_to_user(user_info, my_context->buf,BUFFER_SIZE, PROT_READ|PROT_WRITE, (void **)arg,&mmap_ops,(void *)0x12345678);
> if (!err) {
> my_context->mapped_user_info = user_info;
> my_context->mapped_user_addr = *(void **)arg;
> }
> printk("rtdm_mmap = %p %d\n", my_context->mapped_user_info,err);
> #else
> return -EPERM;
> #endif
> break;
> case GETVALUE: // write "ioctlvalue" to user
> if (user_info) {
> if (!rtdm_rw_user_ok(user_info, arg, sizeof(int)) ||
> rtdm_copy_to_user(user_info, arg, &ioctlvalue,
> sizeof(int)))
> return -EFAULT;
> } else
> memcpy(arg, &ioctlvalue, sizeof(int));
> break;
> case SETVALUE: // read "ioctlvalue" from user
> if (user_info) {
> if (!rtdm_read_user_ok(user_info, arg, sizeof(int)) ||
> rtdm_copy_from_user(user_info, &ioctlvalue, arg,
> sizeof(int)))
> return -EFAULT;
> }
> break;
> default:
> ret = -ENOTTY;
> }
> return ret;
> }
>
> /**********************************************************/
> /* DRIVER READ */
> /**********************************************************/
> int demo_read_rt(struct rtdm_dev_context *context,
> rtdm_user_info_t *user_info, void *buf, size_t nbyte)
> {
> struct demodrv_context *ctx;
> int dev_id;
> // rtdm_lockctx_t lock_ctx;
> char *out_pos = (char *)buf;
> rtdm_toseq_t timeout_seq;
> int ret;
>
> // zero bytes requested ? return!
> if (nbyte == 0)
> return 0;
>
> // check if R/W actions to user-space are allowed
> if (user_info && !rtdm_rw_user_ok(user_info, buf, nbyte))
> return -EFAULT;
>
> ctx = (struct demodrv_context *)context->dev_private;
> dev_id = ctx->dev_id;
>
> // in case we need to check if reading is allowed (locking)
> /* if (test_and_set_bit(0, &ctx->in_lock))
> return -EBUSY;
> */
> /* // if we need to do some stuff with preemption disabled:
> rtdm_lock_get_irqsave(&ctx->lock, lock_ctx);
> // stuff here
> rtdm_lock_put_irqrestore(&ctx->lock, lock_ctx);
> */
>
> // wait: if ctx->timeout = 0, it will block infintely until
> // rtdm_event_signal(&ctx->irq_event); is called from our
> // interrupt routine
> ret = rtdm_event_timedwait(&ctx->irq_event, ctx->timeout,
> &timeout_seq);
>
> // now write the requested stuff to user-space
> if (rtdm_copy_to_user(user_info, out_pos,
> dummy_buffer, BUFSIZE) != 0) {
> ret = -EFAULT;
> } else {
> ret = BUFSIZE;
> }
> return ret;
> }
>
> /**********************************************************/
> /* DRIVER WRITE */
> /**********************************************************/
> int demo_write_rt(struct rtdm_dev_context *context,
> rtdm_user_info_t *user_info,
> const void *buf, size_t nbyte)
> {
> struct demodrv_context *ctx;
> int dev_id;
> char *in_pos = (char *)buf;
> int ret;
>
> if (nbyte == 0)
> return 0;
> if (user_info && !rtdm_read_user_ok(user_info, buf, nbyte))
> return -EFAULT;
>
> ctx = (struct demodrv_context *)context->dev_private;
> dev_id = ctx->dev_id;
>
> // make write operation atomic
> /* ret = rtdm_mutex_timedlock(&ctx->out_lock,
> ctx->config.rx_timeout, &timeout_seq);
> if (ret)
> return ret; */
>
> /* // if we need to do some stuff with preemption disabled:
> rtdm_lock_get_irqsave(&ctx->lock, lock_ctx);
> // stuff here
> rtdm_lock_put_irqrestore(&ctx->lock, lock_ctx);
> */
>
> // now copy the stuff from user-space to our kernel dummy_buffer
> if (rtdm_copy_from_user(user_info, dummy_buffer,in_pos, BUFSIZE) != 0)
> {
> ret = -EFAULT;
> } else {
> ret = BUFSIZE;
> }
>
> // used when it is atomic
> // rtdm_mutex_unlock(&ctx->out_lock);
> return ret;
> }
>
> /**********************************************************/
> /* DRIVER OPERATIONS */
> /**********************************************************/
> static struct rtdm_device demo_device = {
> struct_version: RTDM_DEVICE_STRUCT_VER,
>
> device_flags: RTDM_NAMED_DEVICE,
> context_size: sizeof(struct demodrv_context),
> device_name: DEV_FILE,
>
> /* open and close functions are not real-time safe due kmalloc
> and kfree. If you do not use kmalloc and kfree, and you made
> sure that there is no syscall in the open/close handler, you
> can declare the open_rt and close_rt handler.
> */
> open_rt: NULL,
> open_nrt: demo_open_rt,
>
> ops: {
> close_rt: NULL,
> close_nrt: demo_close_rt,
>
> ioctl_rt: NULL,
> ioctl_nrt: demo_ioctl_rt, // rtdm_mmap_to_user is not RT safe
>
> read_rt: demo_read_rt,
> read_nrt: NULL,
>
> write_rt: demo_write_rt,
> write_nrt: NULL,
>
> recvmsg_rt: NULL,
> recvmsg_nrt: NULL,
>
> sendmsg_rt: NULL,
> sendmsg_nrt: NULL,
> },
>
> device_class: RTDM_CLASS_EXPERIMENTAL,
> device_sub_class: 222,
> driver_name: DRV_NAME,
> peripheral_name: DEV_FILE_NAME,
> provider_name: "-",
> proc_name: demo_device.device_name,
> };
>
> /**********************************************************/
> /* INIT DRIVER */
> /**********************************************************/
> int init_module(void)
> {
> return rtdm_dev_register(&demo_device);
> }
>
> /**********************************************************/
> /* CLEANUP DRIVER */
> /**********************************************************/
> void cleanup_module(void)
> {
> rtdm_dev_unregister(&demo_device, 1000);
> }
>
> MODULE_LICENSE("GPL");
> MODULE_DESCRIPTION("RTDM Real Time Driver Example");
>
>
> ------------------------------------------------------------------------
>
> #include
> #include
> #include
> #include
>
> #include
> #include
> #include
> #include "inc.h"
>
> unsigned int my_state = 0;
> int timer_started = 0;
> int my_fd = -1;
> int shutdownnow = 0;
> RT_TASK my_task;
> // --s-ms-us-ns
> RTIME my_task_period_ns = 1000000000llu;
>
> #ifdef USEMMAP
> void *mmappointer;
> #endif
>
> /**********************************************************/
> /* CLOSE RT DRIVER */
> /**********************************************************/
> static int close_file( int fd, unsigned char *name) {
> int ret,i=0;
> do {
> i++;
> ret = rt_dev_close(fd);
> switch(-ret){
> case EBADF: printf("%s -> invalid fd or context\n",name);
> break;
> case EAGAIN: printf("%s -> EAGAIN (%d times)\n",name,i);
> rt_task_sleep(50000); // wait 50us
> break;
> case 0: printf("%s -> closed\n",name);
> break;
> default: printf("%s -> ???\n",name);
> break;
> }
> } while (ret == -EAGAIN && i < 10);
> return ret;
> }
>
> /**********************************************************/
> /* CLEANING UP */
> /**********************************************************/
> void cleanup_all(void) {
> if (my_state & STATE_FILE_OPENED) {
> close_file( my_fd, DEV_FILE " (user)");
> my_state &= ~STATE_FILE_OPENED;
> }
> if (my_state & STATE_TASK_CREATED) {
> printf("delete my_task\n");
> rt_task_delete(&my_task);
> my_state &= ~STATE_TASK_CREATED;
> }
> if (timer_started) {
> printf("stop timer\n");
> rt_timer_stop();
> }
> }
>
> void catch_signal(int sig) {
> shutdownnow = 1;
> cleanup_all();
> printf("exit\n");
> return;
> }
>
> /**********************************************************/
> /* REAL TIME TASK */
> /**********************************************************/
> void my_task_proc(void *arg) {
> int ret;
> ssize_t sz = sizeof(RTIME);
> ssize_t written = 0;
> ssize_t read = 0;
> int counter = 0;
> int readbackcounter;
> unsigned char buf[17] = "CAPTAIN WAS HERE\0";
> unsigned char buf2[17] = "XXXXXXXXXXXXXXXX\0";
> /* no periodic task, due blocking read from the RT driver (see below
> too)
> ret = rt_task_set_periodic(NULL, TM_NOW,
> rt_timer_ns2ticks(my_task_period_ns));
> if (ret) {
> printf("error while set periodic, code %d\n",ret);
> goto exit_my_task;
> }
> */
>
> #ifdef USEMMAP
> printf("ioctl = %d\n", rt_dev_ioctl(my_fd, MMAP, &mmappointer));
> printf("*p = %d, p = %p\n", *((int *)mmappointer), mmappointer);
> #endif
>
> while (1) {
> sprintf(buf, "CAPTAIN %d", counter);
> counter++;
> if (counter > 100) counter = 0;
> /* switch to primary mode */
> ret = rt_task_set_mode(0, T_PRIMARY, NULL);
> if (ret) {
> printf("error while rt_task_set_mode, code %d\n",ret);
> goto exit_my_task;
> }
>
> /* // rt_dev_read blocks, so we can't use rt_task_wait_period here,
> // otherwise we get a ETIMEDOUT 110 = Connection timed out
> // after the next rt_task_wait_period
> ret = rt_task_wait_period(NULL);
> if (ret) {
> printf("error while rt_task_wait_period, code %d\n",ret);
> goto exit_my_task;
> }
> */
> sz = sizeof(buf);
> written = rt_dev_write(my_fd, &buf, sizeof(buf));
> printf("WRITE: written=%d sz=%d\n", written, sz);
> if (written != sz ) {
> if (written < 0 ) {
> printf("error while rt_dev_write, code %d\n",written);
> } else {
> printf("only %d / %d byte transmitted\n",written, sz);
> }
> goto exit_my_task;
> }
>
> sz = sizeof(buf2);
> read = rt_dev_read(my_fd, &buf2, sizeof(buf2));
> if (read == sz ) {
> printf("READ: read=%s\n",buf2);
> } else {
> if (read < 0 ) {
> printf("error while rt_dev_read, code %d\n",read);
> } else {
> printf("only %d / %d byte received \n",read,sz);
> }
> }
>
> // read blocks, so check if user hit CTRL-C meanwhile
> // otherwise we segfault when mmap'ing
> if (shutdownnow == 1) break;
>
> #ifdef USEMMAP
> *((int *)mmappointer + 10) = counter + 1000;
> printf("MMAP: *((int *)mmappointer + 10) = %d\n",
> *((int *)mmappointer + 10));
> #endif
>
> rt_dev_ioctl(my_fd, SETVALUE, &counter);
> rt_dev_ioctl(my_fd, GETVALUE, &readbackcounter);
> printf("IOCTL: readbackcounter=%d\n", readbackcounter);
>
>
> }
> exit_my_task:
> if (my_state & STATE_FILE_OPENED) {
> if (!close_file( my_fd, DEV_FILE " (write)")) {
> my_state &= ~STATE_FILE_OPENED;
> }
> }
> printf("exit\n");
> }
>
> /**********************************************************/
> /* MAIN: mainly RT task initialization */
> /**********************************************************/
> int main(int argc, char* argv[]) {
> int ret = 0;
> signal(SIGTERM, catch_signal);
> signal(SIGINT, catch_signal);
>
> printf("PRESS CTRL-C to EXIT\n");
> /* no memory-swapping for this programm */
> mlockall(MCL_CURRENT | MCL_FUTURE);
>
>
> /* open DEV_FILE */
> my_fd = rt_dev_open( DEV_FILE, 0);
> if (my_fd < 0) {
> printf("can't open %s\n", DEV_FILE);
> goto error;
> }
> my_state |= STATE_FILE_OPENED;
> printf("%s opened\n", DEV_FILE);
>
> /* create my_task */
> ret = rt_task_create(&my_task,"my_task",0,50,0);

=== message truncated ===begin:vcard
fn:Markus Franke
n:Franke;Markus
adr;quoted-printable:;;Vettersstra=C3=9Fe 64/722;Chemnitz;Saxony;09126;Germany
email;internet:Markus.Franke@domain.hid
x-mozilla-html:FALSE
url:http://www.tu-chemnitz.de/~franm
version:2.1
end:vcard


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