here's the source of the testing module.
#include <linux/module.h>
#include <linux/kernel.h>
#include <linux/proc_fs.h>
#include <native/task.h>
#include <native/types.h>
#include <native/timer.h>
#include <rtdm/rtdm_driver.h>
#include <nucleus/pod.h>
MODULE_LICENSE("GPL");
MODULE_DESCRIPTION("Hello World Xenomai Application");
/************************* Global Variables ******************************/
RT_TASK thread;
RTIME timer_period_ns;
RTIME task_period_ns;
RTIME expected;
int timer_period_counts;
unsigned long overrun; // rt_task_wait_period() writes here overrun
count.0 if everything OK
/************************* Periodic realtime thread **********************/
void fun(int dummy) {
int count = 0;
while(1) {
++count;
rt_task_wait_period(&overrun);
if ((count%100)==0) {
rtdm_printk("Periode %d ist abgelaufen\n",count);
}
}
}
/************************* Initialisation *******************************/
static int hello_init(void)
{
//testing rt_task_create(...);
int count = 0;
printk("task create");
rt_task_create(&thread,"fun_task",3000,1,0);
printk("created..");
printk("task start");
rt_task_start(&thread,fun,0);
printk("started........");
//timer_period_ns = 10000000;/*10ms*/
/*timer_period_counts = start_rt_timer(nano2count(timer_period_ns));*/
//timer_period_counts=rt_timer_set_mode(rt_timer_ns2tsc(timer_period_ns));
/* Calculate the start time for the task. */
/* We set this to "now plus 10 periods" */
//expected = xnpod_get_time() + 10 * timer_period_counts;
/* Task period initialization */
//task_period_ns =50000000;/*5ms*/
/*rt_task_make_periodic(&thread, expected,
nano2count(task_period_ns));*/
//rt_task_set_periodic(&thread, expected,
rt_timer_ns2tsc(task_period_ns));
return 0;
}
/************************* Cleanup *********************************/
static void hello_exit(void)
{
/*stop_rt_timer();*/
/* Now delete our task */
// rt_task_delete(&thread);
}
module_init(hello_init);
module_exit(hello_exit);
Gilles Chanteperdrix wrote:
> Rodolfo wrote:
>
>> Hi,
>> I am totally new to Xenomai and have no experience with RTAI. I'm trying
>> to load a kernel module that uses the native API for testing, but I get
>> the following segmentation fault. Can anyone help me out??
>>
>
> Please post here the sources of your module.
>
>
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