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 <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");
>
>
> ------------------------------------------------------------------------
>
> #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
>
>
> ------------------------------------------------------------------------
>
> _______________________________________________
> Xenomai-help mailing list
> [email protected]
> https://mail.gna.org/listinfo/xenomai-help
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