Alphan Ulusoy wrote: > Hi all, > > I' am trying to send small UDP datagrams in a real-time system. I can't > get a satisfactory performance when I send these packets from a > userspace Xenomai task using sendto() call. > > That's why I tried to code a small kernel module to make some > measurements. However; whenever > • A xenomai task > • An alarm function > • A thread created with kthread_run() form a xenomai task > that includes the sock_sendmsg() call runs, system crashes. However, if > a write a regular kernel module, the it works just fine... > > Below you can find the code and the crash dump. > > Does anyone have any suggestions? >
You are misusing a co-kernel system. You may want to start from there: http://www.xenomai.org/documentation/branches/v2.3.x/pdf/Life-with-Adeos-rev-B.pdf You should try xenomai-help instead; the current list is for Xenomai development matters. > > Best regards, > > alphan > > ------- Code --------- > > #include "misc_kernel.h" > #include "ncs_const.h" > #include "xenomai.h" > //TODO: Remove unnecessary includes > #include <linux/kernel.h> > #include <linux/module.h> > #include <linux/init.h> > #include <linux/kthread.h> > > #include <linux/errno.h> > #include <linux/types.h> > > #include <linux/netdevice.h> > #include <linux/ip.h> > #include <linux/in.h> > > #include <linux/delay.h> > > #define TASK_PRIO 99 /* Highest RT > priority */ > #define TASK_MODE T_CPU(0) /* Bound to CPU #0 */ > #define TASK_STKSZ 32000 /* Stack size > (in bytes) * > #define ALARM_PERIOD 1000000000 > #define INADDR_SEND (unsigned long int)0xC0A80204 > //192.168.2.4 in hex > #define CONNECT_PORT 6355 > > > MODULE_LICENSE("GPL v2"); > MODULE_DESCRIPTION("Kernel UDP Transmission Latency & Jitter Test Module"); > > static RT_ALARM aid; > static RT_TASK tid; > static startMarkFrame currentStartMark; > static struct socket* sock_send; > static struct sockaddr_in addr_send; > static struct msghdr msg; > static struct iovec iov; > static mm_segment_t oldfs; > > static void coordTask(void *cookie) { > > printk("\n"); > iov.iov_base = ¤tStartMark; > iov.iov_len = sizeof(currentStartMark); > > msg.msg_flags = 0; > msg.msg_name = &addr_send; > msg.msg_namelen = sizeof(struct sockaddr_in); > msg.msg_control = NULL; > msg.msg_controllen = 0; > msg.msg_iov = &iov; > msg.msg_iovlen = 1; > msg.msg_control = NULL; > > oldfs = get_fs(); > printk("21 "); > set_fs(KERNEL_DS); > printk("22 "); > sock_sendmsg(sock_send,&msg,sizeof(currentStartMark)); > printk("23 "); > set_fs(oldfs); > printk("24 "); > > currentStartMark.sequenceNumber++; > printk("25 "); > } > > int coordInit(void) { > > int err; > > printk("\nStarting Kernel UDP Transmission Test Module...\n"); > > /* */ > /* Create Socket */ > /* */ > if ((err = sock_create(PF_INET, SOCK_DGRAM, IPPROTO_UDP, > &sock_send)) < 0 ) > { > printk("sock_create() failed with code: %d\n",err); > goto fail; > } > addr_send.sin_family = AF_INET; > addr_send.sin_addr.s_addr = htonl(INADDR_SEND); > addr_send.sin_port = htons(CONNECT_PORT); > > if ((err = sock_send->ops->connect(sock_send, (struct sockaddr > *)&addr_send, sizeof(struct sockaddr), 0) < 0 )) > { > printk("connect() failed with code: %d \n",err); > goto fail; > } > > > /* */ > /* Initialize variables */ > /* */ > currentStartMark.frameType = START_MARK_FRAME; > currentStartMark.sequenceNumber = 0x00; > > > err = rt_task_create(&tid, "Kenrel UDP Task", TASK_STKSZ, TASK_PRIO, > TASK_MODE); > if (err) { > printk("rt_task_create() failed: code %d\n", err); > goto fail; > } > > > rt_task_start(&tid,&coordTask,NULL); > > > fail: > > return err; > > } > > void coordCleanup(void) { > //rt_alarm_delete(&aid); > rt_task_delete(&tid); > printk("\nKernel UDP module removed!\n"); > } > > module_init(coordInit); > module_exit(coordCleanup); > > > -------- Stack trace ---------- > > [ 454.999957] Starting Kernel UDP Transmission Test Module... > [ 455.021232] 1 2 3 4 5 6 <3>BUG: Unhandled exception over domain > Xenomai at 0xc0145cfe - switching to ROOT > [ 455.021484] Pid: 3643, comm: insmod Not tainted 2.6.26.5 #9 > [ 455.021558] [<c0112351>] __ipipe_handle_exception+0x1b1/0x1c0 > [ 455.021644] [<c0145cfe>] __ipipe_restore_root+0x1e/0x30 > [ 455.021724] [<c03a7633>] error_code+0x6f/0x7c > [ 455.021803] [<c0326c96>] __alloc_skb+0x36/0x120 > [ 455.021881] [<c0145cfe>] __ipipe_restore_root+0x1e/0x30 > [ 455.021960] [<c0182795>] kmem_cache_alloc+0x55/0xd0 > [ 455.022001] [<c0326c96>] __alloc_skb+0x36/0x120 > [ 455.022001] [<c0322c08>] sock_alloc_send_skb+0x168/0x1b0 > [ 455.022001] [<c0348611>] ip_append_data+0x711/0x970 > [ 455.022001] [<c0349540>] ip_generic_getfrag+0x0/0xb0 > [ 455.022001] [<c0364730>] udp_sendmsg+0x2f0/0x660 > [ 455.022001] [<c036ab37>] inet_sendmsg+0x37/0x70 > [ 455.022001] [<c032062e>] sock_sendmsg+0xbe/0xf0 > [ 455.022001] [<c0150260>] xntimer_start_aperiodic+0x0/0x200 > [ 455.022001] [<c012ef50>] autoremove_wake_function+0x0/0x50 > [ 455.022001] [<c0150260>] xntimer_start_aperiodic+0x0/0x200 > [ 455.022001] [<c014bc35>] xnpod_suspend_thread+0x1f5/0x200 > [ 455.022001] [<c027e184>] vscnprintf+0x14/0x20 > [ 455.022001] [<c011cc04>] printk+0xc4/0xe0 > [ 455.022001] [<f890b180>] coordTask+0x0/0x104 [deneme2] > [ 455.022001] [<f890b238>] coordTask+0xb8/0x104 [deneme2] > [ 455.022001] [<c014c162>] xnarch_thread_redirect+0x32/0x50 > [ 455.022001] [<f890b180>] coordTask+0x0/0x104 [deneme2] > [ 455.022001] ======================= > [ 455.022001] ------------[ cut here ]------------ > [ 455.022001] kernel BUG at kernel/ipipe/core.c:323! > [ 455.022001] invalid opcode: 0000 [#1] PREEMPT > [ 455.022001] Modules linked in: deneme2(+) arc4 ecb crypto_blkcipher > cryptomgr crypto_algapi [last unloaded: deneme2] > [ 455.022001] > [ 455.022001] Pid: 3643, comm: insmod Not tainted (2.6.26.5 #9) > [ 455.022001] EIP: 0060:[<c0145cfe>] EFLAGS: 00010202 CPU: 0 > [ 455.022001] EIP is at __ipipe_restore_root+0x1e/0x30 > [ 455.022001] EAX: 00000000 EBX: f74586c0 ECX: c0326c96 EDX: c0491b9c > [ 455.022001] ESI: 00000000 EDI: c0491b20 EBP: 000000c0 ESP: f7d37870 > [ 455.022001] DS: 007b ES: 007b FS: 0000 GS: 0033 SS: 0068 > [ 455.022001] Process insmod (pid: 3643, ti=f7d36000 task=f7f2aa20 > task.ti=f7512000)<0> > [ 455.022001] I-pipe domain Linux > [ 455.022001] Stack: c0182795 00000000 00000000 000004d0 00000200 > 00000000 0000003d 000004d0 > [ 455.022001] c0491b20 c0326c96 00000000 f7c3ea00 7fffffff > 0000000a 000004d0 c0322c08 > [ 455.022001] ffffffff 0000003d 00000000 00000000 f74fa700 > 00000000 00000000 f74fa700 > [ 455.022001] Call Trace: > [ 455.022001] [<c0182795>] kmem_cache_alloc+0x55/0xd0 > [ 455.022001] [<c0326c96>] __alloc_skb+0x36/0x120 > [ 455.022001] [<c0322c08>] sock_alloc_send_skb+0x168/0x1b0 > [ 455.022001] [<c0348611>] ip_append_data+0x711/0x970 > [ 455.022001] [<c0349540>] ip_generic_getfrag+0x0/0xb0 > [ 455.022001] [<c0364730>] udp_sendmsg+0x2f0/0x660 > [ 455.022001] [<c036ab37>] inet_sendmsg+0x37/0x70 > [ 455.022001] [<c032062e>] sock_sendmsg+0xbe/0xf0 > [ 455.022001] [<c0150260>] xntimer_start_aperiodic+0x0/0x200 > [ 455.022001] [<c012ef50>] autoremove_wake_function+0x0/0x50 > [ 455.022001] [<c0150260>] xntimer_start_aperiodic+0x0/0x200 > [ 455.022001] [<c014bc35>] xnpod_suspend_thread+0x1f5/0x200 > [ 455.022001] [<c027e184>] vscnprintf+0x14/0x20 > [ 455.022001] [<c011cc04>] printk+0xc4/0xe0 > [ 455.022001] [<f890b180>] coordTask+0x0/0x104 [deneme2] > [ 455.022001] [<f890b238>] coordTask+0xb8/0x104 [deneme2] > [ 455.022001] [<c014c162>] xnarch_thread_redirect+0x32/0x50 > [ 455.022001] [<f890b180>] coordTask+0x0/0x104 [deneme2] > [ 455.022001] ======================= > [ 455.022001] Code: 90 90 90 90 90 90 90 90 90 90 90 90 90 81 3d 20 e8 > 45 c0 c0 0a 55 c0 75 12 85 c0 74 09 0f ba 2d c0 d4 45 c0 00 c3 e9 a2 ff > ff ff <0f> 0b eb fe 8d b4 26 00 00 00 00 8d bc 27 00 00 00 00 89 c1 8b > [ 455.022001] EIP: [<c0145cfe>] __ipipe_restore_root+0x1e/0x30 SS:ESP > 0068:f7d37870 > [ 455.022001] ---[ end trace 415d3c300348194e ]--- > > > ------------------------------------------------------------------------ > > _______________________________________________ > Xenomai-core mailing list > Xenomai-core@gna.org > https://mail.gna.org/listinfo/xenomai-core -- Philippe. _______________________________________________ Xenomai-core mailing list Xenomai-core@gna.org https://mail.gna.org/listinfo/xenomai-core
