From mboxrd@z Thu Jan 1 00:00:00 1970 Message-ID: <4AE7E36D.7040307@domain.hid> Date: Wed, 28 Oct 2009 07:23:41 +0100 From: Francois Touchard MIME-Version: 1.0 Content-Type: multipart/mixed; boundary="------------060305060804000300090304" Subject: [Xenomai-help] PC freezes on call to driver functions List-Id: Help regarding installation and common use of Xenomai List-Unsubscribe: , List-Archive: List-Post: List-Help: List-Subscribe: , To: xenomai@xenomai.org This is a multi-part message in MIME format. --------------060305060804000300090304 Content-Type: text/html; charset=ISO-8859-1 Content-Transfer-Encoding: 7bit Hello,
for teaching purposes, I have a very simple driver built with RTDM to catch interrupts generated on the parallel port via a pulse generator. On receipt of a command passed by ioctl, the driver measures the time interval between two interrupts and stores the result (in fact, the sum of n time intervals, n being passed as parameter of ioctl). The result is returned to the user by a read command.
If I call ioctl immediatly after the open command, the machine freezes and only the reset button is effective. If I insert a print command between open and ioctl, everything works fine.
I use Xenomai 2.4.9.1 and Linux 2.6.29.5. The processor is a Pentium 4. I attach the sources of the driver and the user application.
Any hint ? TIA
Francois

François TOUCHARD	mailto:francois.touchard@domain.hid
ESIL/CPPM	http://pages-perso.esil.univmed.fr/~touchard

François TOUCHARD	mailto:francois.touchard@domain.hid
ESIL/CPPM	http://pages-perso.esil.univmed.fr/~touchard

--------------060305060804000300090304 Content-Type: text/x-csrc; name="pulse_drv.c" Content-Disposition: inline; filename="pulse_drv.c" Content-Transfer-Encoding: quoted-printable X-MIME-Autoconverted: from 8bit to quoted-printable by ccsrelay01.in2p3.fr id n9S6OHBB012277 /************************************************************************= **************** * pulseDrv.c V6 * oct 2009 (c) Fran=C3=A7ois Touchard *************************************************************************= ***************/ #include #include #include #include #include #include #define DEBUG #define VERSION "V6.0.2" #include "pulse.h" /** * global buffer */ rtStat_t RtStat; MODULE_LICENSE("GPL"); MODULE_AUTHOR("francois.touchard@domain.hid"); rtdm_irq_t irq; rtdm_task_t meas_thr; int IRQ_ON=3D0; rtdm_sem_t sem; /************************************************************************= *************/ /* measurement thread = */ /************************************************************************= *************/ void measurement_thread(void *cookie) { struct timespec tc; unsigned int deltatmus; nanosecs_abs_t tcns, tpns, deltatns; int count=3D0; #ifdef DEBUG rtdm_printk("thread launched. Maxcount : %d\n", RtStat.maxcount); #endif while (1) { rtdm_sem_down(&sem); tcns =3D rtdm_clock_read(); =09 if (count > 0) { deltatns =3D tcns - tpns; deltatmus =3D ((long int) deltatns)/1000; RtStat.sum =3D RtStat.sum + deltatmus; if (count =3D=3D 1) { RtStat.min =3D deltatmus; RtStat.max =3D deltatmus; } else { if (deltatmus < RtStat.min) RtStat.min =3D deltatmus; if (deltatmus > RtStat.max) RtStat.max =3D deltatmus; } } else { RtStat.sum =3D 0; deltatmus =3D 0; tpns=3D0; } #ifdef DEBUG rtdm_printk("%s : got IRQ %d : %d mus (sum : %d, min : %d, max %d)\n",=20 DEVICE_NAME, count, deltatmus, RtStat.sum, RtStat.min, RtStat.max); #endif tpns =3D tcns; count ++; if (count > RtStat.maxcount) { #ifdef DEBUG rtdm_printk("thread exit\n"); #endif rtdm_task_destroy(&meas_thr); } } } /************************************************************************= *************/ /* Interrupt routine = */ /************************************************************************= *************/ static int pulse_isr(rtdm_irq_t *irq) { rtdm_sem_up(&sem); return 0; } /** * open the device * statistical data is reset to 0 */ /************************************************************************= *************/ /* Driver open = */ /************************************************************************= *************/ static int PulseOpen_nrt( struct rtdm_dev_context *context,=20 rtdm_user_info_t *user_info,=20 int oflags)=20 { RtStat.sum =3D 0; #ifdef DEBUG rtdm_printk("%s : device opened in nrt context\n", DEVICE_NAME); #endif return 0; } static int PulseOpen_rt( struct rtdm_dev_context *context,=20 rtdm_user_info_t *user_info,=20 int oflags)=20 { RtStat.sum =3D 0; #ifdef DEBUG rtdm_printk("%s : device opened in rt context\n", DEVICE_NAME); #endif return 0; } /************************************************************************= *************/ /* Driver close = */ /************************************************************************= *************/ static int PulseClose_nrt( struct rtdm_dev_context *context,=20 rtdm_user_info_t *user_info)=20 { if (IRQ_ON) { rtdm_irq_free(&irq); } #ifdef DEBUG rtdm_printk("%s : device closed in nrt context\n", DEVICE_NAME); #endif return 0; } static int PulseClose_rt( struct rtdm_dev_context *context,=20 rtdm_user_info_t *user_info)=20 { if (IRQ_ON) { rtdm_irq_free(&irq); } #ifdef DEBUG rtdm_printk("%s : device closed in rt context\n", DEVICE_NAME); #endif return 0; } /************************************************************************= ************/ /* Driver ioctl = */ /************************************************************************= ************/ static int PulseIoctl_nrt( struct rtdm_dev_context *context,=20 rtdm_user_info_t *user_info,=20 int cmd,=20 void *arg) { int ret; switch (cmd) { case RPP_ISR: IRQ_ON=3D1; #ifdef DEBUG rtdm_printk("ISR measurement\n"); #endif rtdm_irq_free(&irq); // Stores maximum number of captured interrupts (passed in ioctl argument= ) in kernel space ret =3D rtdm_safe_copy_from_user(user_info,=20 &RtStat.maxcount, arg, sizeof(int)); if (ret) { rtdm_printk("%s : error on rtdm_safe_copy_from_user %d\n", DEVICE_NAME, ret); rtdm_irq_free(&irq); return ret; } #ifdef DEBUG rtdm_printk("%s : maxcount %d copied from user to kernel\n", DEVICE_NAME, RtStat.maxcount); #endif // Semaphore initialisation rtdm_sem_init(&sem, 0); RtStat.sum =3D 0; // Measurement task initialisation. No argument passed, priority : 30, no= n cyclic task ret =3D rtdm_task_init(&meas_thr, "AcqPulse", measurement_thread, NULL, 30, 0); if (ret) { rtdm_printk("%s : error on rtdm_task_init %d\n" ,DEVICE_NAME, ret); } // irq handler initialisation ret =3D rtdm_irq_request(&irq, PulseInt_Irq,=20 pulse_isr, 0, "pulse", 0); if (ret) { rtdm_printk("%s : error on rtdm_irq_request %d\n" ,DEVICE_NAME, ret); return ret; } #ifdef DEBUG rtdm_printk("%s : IRQ enabled\n", DEVICE_NAME); #endif // enable interrupts on parallel port interface outb(PulseCtr_Enable, PulseInt_Ctrl); // wait for the end of measurement. Polling every 100 ms rtdm_task_join_nrt(&meas_thr, 100); rtdm_sem_destroy(&sem); rtdm_irq_free(&irq); // Disable interrupts on parallel port interface outb(PulseCtr_Disable, PulseInt_Ctrl); return 0; case RPP_POLL: #ifdef DEBUG rtdm_printk("POLL measurement, arg %d\n", (int) arg); #endif return -1; default: rtdm_printk("invalid ioctl\n"); return -1; } } /************************************************************************= ************/ /* Driver read = */ /************************************************************************= ************/ static ssize_t PulseRead_rt( struct rtdm_dev_context *context,=20 rtdm_user_info_t *user_info,=20 void *buf,=20 size_t nbyte) {=09 int ret; char *out_pos =3D (char *) buf; #ifdef DEBUG rtdm_printk("%s : read device\n", DEVICE_NAME); #endif ret =3D rtdm_safe_copy_to_user(user_info, out_pos, &RtStat, sizeof(rtSta= t_t)); if (ret) { rtdm_printk("%s : error on rtdm_copy_to_user %d\n", DEVICE_NAME, ret); return ret; } #ifdef DEBUG rtdm_printk("%s : copied from kernel to user\n", DEVICE_NAME); #endif=09 return sizeof(rtStat_t);; } /************************************************************************= *********/ /* Structure describing the device = */ /************************************************************************= *********/ static struct rtdm_device device =3D { struct_version : RTDM_DEVICE_STRUCT_VER, device_flags : RTDM_NAMED_DEVICE, context_size : sizeof(rtStat_t), device_name : DEVICE_NAME, =09 open_nrt : PulseOpen_nrt, open_rt : PulseOpen_rt, ops : { close_nrt : PulseClose_nrt, close_rt : PulseClose_rt, ioctl_nrt : PulseIoctl_nrt, ioctl_rt : PulseIoctl_nrt, read_nrt : PulseRead_rt, read_rt : PulseRead_rt, write_nrt : NULL, write_rt : NULL, recvmsg_rt: NULL, recvmsg_nrt: NULL, sendmsg_rt: NULL, sendmsg_nrt: NULL, }, device_class : RTDM_CLASS_EXPERIMENTAL, device_sub_class : 4711, profile_version : 1, driver_name : DRIVER_NAME, driver_version : RTDM_DRIVER_VER(0,1,2), peripheral_name : "Pulse", provider_name : "esil_info", proc_name : device.device_name, }; int __init pulse_init(void) { rtdm_dev_register (&device); rtdm_printk("PulseDrv %s loaded. ", VERSION); #ifdef DEBUG rtdm_printk("DEBUG mode\n"); #else rtdm_printk("NODEBUG mode\n"); #endif return 0; } void __exit pulse_exit(void) { rtdm_dev_unregister(&device, 1000); rtdm_printk("PulseDrv %s unloaded\n", VERSION); } module_init(pulse_init); module_exit(pulse_exit); --------------060305060804000300090304 Content-Type: text/x-csrc; name="user.c" Content-Disposition: inline; filename="user.c" Content-Transfer-Encoding: 7bit #include #include #include #include #include #include #include #include "pulse.h" #define USER_NAME "pulse user" #define DEBUG int device; int nmeas; void *thread_code(void *cookie) { int ret; rtStat_t Stat; float freq, period; // device = rt_dev_open(DEVICE_NAME, 0); device = open(DEVICE_NAME, 0); if (device < 0) { printf("%s : Error open %s %s\n", USER_NAME, DEVICE_NAME, strerror(device)); exit(1); } #ifdef DEBUG printf("thread : opened\n"); #endif // ret = rt_dev_ioctl(device, RPP_ISR, &nmeas); ret = ioctl(device, RPP_ISR, &nmeas); if (ret < 0) { printf("%s : Error while ioctl : %s \n", USER_NAME, strerror(-ret)); exit(1); } #ifdef DEBUG printf("thread : ioctl\n"); #endif // ret = rt_dev_read(device, &Stat, sizeof(rtStat_t)); ret = read(device, &Stat, sizeof(rtStat_t)); if (ret < 0) { printf("%s : Error while read : %s \n", USER_NAME, strerror(-ret)); exit(1); } period = ((float) Stat.sum/ (float)Stat.maxcount)/1.E6; freq = 1./period; printf ("period %f s frequency %f Hz \n", period, freq); printf ("min : %f max : %f delta t : %f\n", (float)Stat.min/1.E6, (float)Stat.max/1.E6, (float)(Stat.max-Stat.min)/1.E6); printf("thread : read\n"); // ret = rt_dev_close(device); ret = close(device); if (ret < 0) { printf("Error while closing %s\n", USER_NAME); exit(1); } printf("thread : closed\n"); pthread_exit(NULL); } int main(int argc, char *argv[]) { int device, ret; pthread_t tid; pthread_attr_t attr; struct sched_param sp; if (argc == 2) { nmeas = atoi(argv[1]); } else { nmeas = 5; } ret = mlockall(MCL_CURRENT | MCL_FUTURE); if (ret) { printf("error mlockall\n"); exit(1); } ret = pthread_attr_init(&attr); if (ret) { printf("error pthread_attr_init\n"); exit(1); } ret = pthread_attr_setinheritsched(&attr, PTHREAD_EXPLICIT_SCHED); if (ret) { printf("error pthread_attr_setinheritsched\n"); exit(1); } ret = pthread_attr_setschedpolicy(&attr, SCHED_FIFO); if (ret) { printf("error pthread_attr_setschedpolicy\n"); exit(1); } sp.sched_priority = 1; ret = pthread_attr_setschedparam(&attr, &sp); if (ret) { printf("error pthread_attr_setschedparam\n"); exit(1); } ret = pthread_create(&tid, &attr, thread_code, NULL); if (ret) { printf("error pthread_create\n"); exit(1); } ret = pthread_join(tid, NULL); if (ret) { printf("error pthread_join\n"); exit(1); } printf("main : joined\n"); // scanf("%c", &ret); return 0; } --------------060305060804000300090304 Content-Type: text/x-chdr; name="pulse.h" Content-Disposition: inline; filename="pulse.h" Content-Transfer-Encoding: 7bit /************************************************* * Fichier pulse.h *************************************************/ #define DEVICE_NAME "Pulse" #define DRIVER_NAME "PulseDrv" typedef enum { RPP_ISR, RPP_POLL, } Ioctl_ops; typedef enum { PulseInt_Port = 0x378, /*------------------------Data access */ PulseInt_Sts = PulseInt_Port+1, /*Status register */ PulseInt_Ctrl = PulseInt_Port+2, /*Control register */ PulseInt_Irq = 7, /*Interrupt vector */ PulseCtr_Enable = 0x10, /* Control register command */ PulseCtr_Disable = 0x00, PulseSts_Ack = 0x40, } PulseInt_t; typedef struct RtStat_s { long int sum; int maxcount; long int min; long int max; } rtStat_t; --------------060305060804000300090304--