On Wed, 2011-06-22 at 20:35 -0700, David Wiebe wrote:
> Hello,
>
> The program included in this email compiles and runs on my beagleboard
> xm. The compiler gives no warnings or anything.
>
> Once I prepend an ioctl call with rt_dev_, I get the following
>
> david@david-HP-TouchSmart-tm2-Notebook-PC:~/06-21-2011-xenomai-spi$
> arm-none-linux-gnueabi-gcc -o xenomai-spi-eth-00002 $CFLAGS
> xenomai-spi-eth-00002.c $LDFLAGS -I
> /home/david/122720101858-beagleboard-working-set/kernel/linux/include/
> /tmp/cc9aLEWN.o: In function `main':
> xenomai-spi-eth-00002.c:(.text+0x334): undefined reference to `rt_dev_ioctl'
> collect2: ld returned 1 exit status
>
> I'm perplexed because as I understand it including rtdm/rtdm.h should
> allow the function rt_dev_ioctl to be used.
>
> In a previous email I received, it was suggested I change the skin to
> rtdm. I set both skin to rtdm. This gave me a different set of errors
> referencing rt_task_set_periodic and the like.
The proper way to build a (simple) native API based foo.c application
using the ancillary RTDM library would be this one:
CFLAGS = $(shell xeno-config --skin=native --cflags)
LDFLAGS = $(shell xeno-config --skin=native --ldflags)
CC = $(shell xeno-config --cc)
all: foo
%: %.c
$(CC) $(CFLAGS) -o $@ $< $(LDFLAGS) -lnative -lrtdm
With the POSIX API, you would have specified --skin=posix.
RTDK is not RTDM-related, it is a set of helper routines to use in
real-time context. It currently provides rt-compatible printf(3) like
services. You get these with the additional -lrtdk spec.
>
>
> Thanks for reading this,
>
> Sincerely,
>
> David
>
> CFLAGS=`DESTDIR=/home/david/sdir
> /home/david/sdir/usr/xenomai/bin/xeno-config --skin native --cflags`
>
> LDFLAGS=`DESTDIR=/home/david/sdir
> /home/david/sdir/usr/xenomai/bin/xeno-config --skin native --ldflags`
>
>
> #include <stdio.h>
> #include <stdlib.h>
> #include <fcntl.h>
> #include <unistd.h>
> #include <sys/stat.h>
> #include <sys/types.h>
> #include <sys/ioctl.h>
> #include <signal.h>
> #include <sys/mman.h>
>
> #include <getopt.h>
> #include <linux/types.h>
> #include <linux/spi/spidev.h>
> #include <string.h>
> #include <sys/socket.h>
> #include <netinet/in.h>
> #include <netdb.h>
>
> #include <native/task.h>
> #include <native/timer.h>
> #include <native/pipe.h>
> #include <rtdk.h>
> #include <rtdm/rtipc.h>
> #include <rtdm/rtdm.h>
> #include <rtdm/rtcan.h>
>
> RT_TASK blink_task;
>
> #define TIMESLEEP 1000000 /* 1 msec(ns) */
>
> #define ARRAY_SIZE(a) (sizeof(a) / sizeof((a)[0]))
> #define PORT 8080
> #define HOST "192.168.1.101"
> #define DIRSIZE 8192
> #define HIGH 1
> #define LOW 0
>
> #define HIGH_TIME 12
> #define LOW_TIME 1
> #define TIME_USEC 0
>
> static const char *device = "/dev/spidev3.0";
> static uint8_t mode;
> static uint8_t bits = 8;
> static uint32_t speed = 11000000;
> //static uint16_t delay=1;
>
>
> int fd;
> FILE *fp;
> FILE *fpx;
> char set_value[4];
> int state;
> int ret = 0;
> //struct sockaddr_in sin;
> struct sockaddr_in pin;
> struct hostent *hp;
> int sd;
> char hostname[100];
> char return_array[400];
> int i;
> void blink(void *arg __attribute__((__unused__)))
> {
> uint8_t tx[] = {
> 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
> 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
> 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
> 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
> 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
> 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
> 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
> 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
> 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
> 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
> 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
> 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
> 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
> 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
> 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
> 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
> 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
> 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
> 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
> 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
> 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
> 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
> 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
> 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
> 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
> 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
> 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
> 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
> 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
> 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
> 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
> 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
> 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
> 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
> 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
> 0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,0x00,
> };
> uint8_t rx[ARRAY_SIZE(tx)] = {0, };
> struct spi_ioc_transfer tr = {
> .tx_buf = (unsigned long)tx,
> .rx_buf = (unsigned long)rx,
> .len = ARRAY_SIZE(tx),
> .delay_usecs = TIME_USEC,
> .speed_hz = speed,
> .bits_per_word = bits,
> };
> rt_task_set_periodic(NULL, TM_NOW, TIMESLEEP);
> if (ret == -1)
> printf("can't set spi mode");
> while(1)
> {
> rt_task_wait_period(NULL);
> ret = ioctl(fd, SPI_IOC_MESSAGE(1), &tr);
> for(i = 0;i < 360;i++)
> {
> return_array[i] = 68;
> }
> return_array[359] = 0;
>
> if (ret < 1)
> printf("can't send spi message");
>
> if (send(sd, return_array, strlen(return_array), 0) == -1)
> {
> perror("send");
> exit(1);
> }
> }
> }
>
> void catch_signal() {}
>
> int main(void)
> {
> signal(SIGTERM, catch_signal);
> signal(SIGINT, catch_signal);
>
> /* Avoids memory swapping for this program */
> mlockall(MCL_CURRENT|MCL_FUTURE);
>
> fd = open(device, O_RDWR);
> // fd = rt_dev_open(device, O_RDWR);
> if (fd < 0)
> printf("can't open device");
>
> mode |= SPI_CPHA;
> /*
> * spi mode
> */
> ret = ioctl(fd, SPI_IOC_WR_MODE, &mode);
> if (ret == -1)
> printf("can't set spi mode");
>
> ret = ioctl(fd, SPI_IOC_RD_MODE, &mode);
> if (ret == -1)
> printf("can't get spi mode");
>
> /*
> * bits per word
> */
> ret = ioctl(fd, SPI_IOC_WR_BITS_PER_WORD, &bits);
> if (ret == -1)
> printf("can't set bits per word");
>
> ret = ioctl(fd, SPI_IOC_RD_BITS_PER_WORD, &bits);
> if (ret == -1)
> printf("can't get bits per word");
>
> /*
> * max speed hz
> */
> ret = ioctl(fd, SPI_IOC_WR_MAX_SPEED_HZ, &speed);
> if (ret == -1)
> printf("can't set max speed hz");
>
> ret = ioctl(fd, SPI_IOC_RD_MAX_SPEED_HZ, &speed);
> if (ret == -1)
> printf("can't get max speed hz");
> /************************************************/
> /* Ethernet stuff */
> /************************************************/
> strcpy(hostname,"192.168.0.101");//HOST);
>
>
> /* go find out about the desired host machine */
> if ((hp = gethostbyname(hostname)) == 0)
> {
> perror("gethostbyname");
> exit(1);
> }
>
> /* fill in the socket structure with host information */
> memset(&pin, 0, sizeof(pin));
> pin.sin_family = AF_INET;
> pin.sin_addr.s_addr = ((struct in_addr *)(hp->h_addr))->s_addr;
> pin.sin_port = htons(PORT);
>
> /* grab an Internet domain socket */
> if ((sd = socket(AF_INET, SOCK_STREAM, 0)) == -1)
> {
> perror("socket");
> exit(1);
> }
>
> /* connect to PORT on HOST */
> if (connect(sd,(struct sockaddr *) &pin, sizeof(pin)) == -1)
> {
> perror("connect");
> exit(1);
> }
>
> /* Task Creation */
> rt_task_create(&blink_task, "blinkLed", 0, 99, 0);
> rt_task_start(&blink_task, &blink, NULL);
> getchar();
> rt_task_delete(&blink_task);
> close(fd);
>
> return 0;
> }
>
>
> _______________________________________________
> Xenomai-help mailing list
> [email protected]
> https://mail.gna.org/listinfo/xenomai-help
--
Philippe.
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