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 <linux/mman.h>
#include <rtdm/rtdm_driver.h>
#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");
Makefile
Description: 402397780-Makefile
#include <stdio.h>
#include <signal.h>
#include <unistd.h>
#include <sys/mman.h>
#include <native/task.h>
#include <native/timer.h>
#include <rtdm/rtdm.h>
#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);
if (ret) {
printf("failed to create my_task, code %d\n",ret);
goto error;
}
my_state |= STATE_TASK_CREATED;
printf("my_task created\n");
/* start my_task */
printf("starting my_task\n");
ret = rt_task_start(&my_task,&my_task_proc,NULL);
if (ret) {
printf("failed to start my_task, code %d\n",ret);
goto error;
}
pause();
return 0;
error:
cleanup_all();
return ret;
}
// if TIMERINT is defined, the linux timer interrupt is used // otherwise the parallel port interrupt is used #define TIMERINT // if USEMMAP IS defined, also MMAP operations will be made #define USEMMAP #define DEV_FILE "demodev0" #define DEV_FILE_NAME "demodev" #define DRV_NAME "demodrv" #define BUFFER_SIZE 100000 #define BUFSIZE 17 #define PAR_INT 7 #define TIMER_INT 0 #define BASEPORT 0x378 #define MMAP 0 #define GETVALUE 1 #define SETVALUE 2 #define STATE_FILE_OPENED 1 #define STATE_TASK_CREATED 2
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