It is passed a long time since the last time that I tried to compile the servo.c kernel module.
Today, I restarted my activity on the Fox board and tried to compile the servo
module.
I succeeded with the compilation, but I failed when I tried to insert the
module into the kernel of the Fox.
I did the following:
[EMAIL PROTECTED] /mnt/flash/root]1400# insmod servo.o
Using servo.o
insmod: cannot insert `servo.o': Invalid module format (-1): Exec format error
[EMAIL PROTECTED] /mnt/flash/root]1400#
As you see, I get and "Invalid module format" error.
As you informed last time, in the source file I just commented out the lines
> INC_MOD_USE_COUNT ;
> and
> DEC_MOD_USE_COUNT;
I am using the 2.6 linux kernel. As far as I know the servo.c was developed as
a kernel module for 2.4. Is that the problem ? If so, how can I make this
kernel module for 2.6 ?
In the attachment, you can see the files that I used.
Best regards,
Giovanni
Ernst Mayerhofer <[EMAIL PROTECTED]> wrote:
Sorry, I mean:
MOD_INC_USE_COUNT;
and
MOD_DEC_USE_COUNT;
of course. wish you a nice sunday.
2007/2/11, Ernst Mayerhofer <[EMAIL PROTECTED]>:
>
> I wrote the module for kernel 2.4.
> if i understand this error messages correctly, just comment out the lines
> INC_MOD_USE_COUNT ;
> and
> DEC_MOD_USE_COUNT;
>
> hopefully it will work now.
>
> greets,ernst
>
> 2007/2/11, Giovanni <[EMAIL PROTECTED]>:
> >
> > I tried to compile the servo.c program with the makefile indicated in
> > the email, but I get a compilation error.
> >
> > Here is the Makefile:
> >
> > AXIS_TOP_DIR=/home/giovanni/fox/sdk/sdk-2.01-phrozen-new/devboard-R2_01
> >
> > TARGET := servo
> > WARN := -W -Wstrict-prototypes -Wmissing-prototypes
> > INCLUDE := -isystem /home/giovanni/fox/sdk/sdk-2.01-phrozen-new
> > /devboard-R2_01/os/linux-2.6/include
> > CFLAGS := -O2 -DMODULE -D__KERNEL__ ${WARN} ${INCLUDE} -mlinux -DCRISMMU
> > CC := gcc-cris
> >
> > PREVENT_RECURSIVE_INCLUDE = 1
> >
> > PATH=$PATH:/usr/local/cris
> >
> > ${TARGET}.o: ${TARGET}.c
> >
> > .PHONY: clean
> >
> > clean:
> > rm -rf {TARGET}.o
> >
> > Here is the error:
> >
> > [EMAIL PROTECTED]:~/fox/sdk/sdk-2.01-phrozen-new/devboard-R2_01/apps/servo$
> > make
> > gcc-cris -O2 -DMODULE -D__KERNEL__ -W -Wstrict-prototypes
> > -Wmissing-prototypes -isystem /home/giovanni/fox/sdk/sdk-
> > 2.01-phrozen-new/devboard-R2_01/os/linux-2.6/include -mlinux -DCRISMMU
> > -c -o servo.o servo.c
> > servo.c:29: warning: static declaration for `init_module' follows
> > non-static
> > servo.c:30: warning: static declaration for `cleanup_module' follows
> > non-static
> > servo.c: In function `device_open':
> > servo.c:138: `MOD_INC_USE_COUNT' undeclared (first use in this function)
> > servo.c:138: (Each undeclared identifier is reported only once
> > servo.c:138: for each function it appears in.)
> > servo.c: In function `device_release':
> > servo.c:158: `MOD_DEC_USE_COUNT' undeclared (first use in this function)
> > make: *** [servo.o] Error 1
> >
> > How can I do to make this file compile correctly ?
> >
> > Best regards,
> > Giovanni
> >
> > Ernst Mayerhofer <[EMAIL PROTECTED]<ernst.mayerhofer%40gmail.com>>
> > wrote: if you want to make something which works really well, you have to
> > do
> > it in
> >
> > the kernel ;-)
> >
> > I made a kernel module once. As I modified it now for you and didn't
> > test it
> > on the foxboard, there might be a problem, so feel free to ask me if
> > there
> > is some problem.
> >
> > just compile the servo.c attached with the also attached makefile. you
> > have
> > to change the path of AXIS_TOP_DIR in the Makefile.
> >
> > once you have compiled it, transfer it to the foxboard and type:
> > $ insmod servo.o
> > if you want to see the kernel log messages, type
> > $ dmesg
> > then you can make a new device node , eg
> > $ mknod c /etc/servo c 249 0
> > and, if you want to set the servo to a specific position, write the
> > value of
> > T_on in us to /etc/servo:
> > $ echo 500 > /etc/servo
> >
> > it should work!
> > notice that if you want to use it, you have to enable the fast timer
> > api.
> >
> > greets and pardon for my bad english,
> >
> > ernst mayerhofer
> >
> > 2007/2/2, Giovanni <[EMAIL PROTECTED] <pino_otto%40yahoo.com>>:
> > >
> > > This solution sounds cool.
> > >
> > > Did you try it with a real case ?
> > >
> > > I would like to run some real working code based on this idea. If you
> > have
> > > some code ready to run, can you post it ? Otherwise we can collaborate
> > to
> > > develop some working code and test it.
> > >
> > > Best regards,
> > > Giovanni
> > >
> > > spargelzack <[EMAIL PROTECTED]
> > > <spargelzack%40yahoo.com><spargelzack%40yahoo.com>>
> > wrote:
> > > (sorry if this shows up twice, i'm not familiar with the yahoo groups
> > >
> > > interface yet)
> > >
> > > Hi Everybody
> > >
> > > I found a cheap + fast solution for using servos with the foxboard.
> > >
> > > First, there is a way to use the i/o lines not described on the
> > > acmesystems website (it's well known on the axis developer website
> > > though). You can use write() on Ports A+B after proper initialization.
> > >
> > > The Clock interval is around 5 us, so you have to pass about 4000
> > > values for a full 2ms period.
> > >
> > > But as i found out, the 20ms interval isn't all that important. What
> > > matters is the length of the pulse.
> > >
> > > So, here's my code:
> > >
> > > --
> > > #include <stdio.h>
> > > #include "stdlib.h"
> > > #include "unistd.h"
> > > #include "sys/ioctl.h"
> > > #include "fcntl.h"
> > > #include <sys/time.h>
> > > #include <asm/etraxgpio.h>
> > >
> > > int main(int argc, char **argv){
> > > int fd;
> > > int i;
> > > int pos;
> > > unsigned char mask;
> > > unsigned char period[4000];
> > >
> > > if(argc > 1)
> > > pos = atoi(argv[1]);
> > > else
> > > pos = 100;
> > >
> > > // better use memset() here, but this is proof-of-concept code
> > > for(i=0; i<pos+1; i++){
> > > if(pos > i)
> > > period[i] = 0xFF;
> > > else
> > > period[i] = 0;
> > > }
> > >
> > > fd = open("/dev/gpiob", O_RDWR);
> > >
> > > if(!fd){
> > > printf("open error\n");
> > > exit(-1);
> > > }
> > >
> > > mask = 1<<6 | 1<<7; // use pins PB6 and PB7 according to the
> > > fox pinout
> > >
> > > // prepare for write()
> > > if(ioctl(fd, _IO(ETRAXGPIO_IOCTYPE, IO_CFG_WRITE_MODE),
> > > IO_CFG_WRITE_MODE_VALUE(1, mask, 1<<1))){
> > > perror("ioctl error");
> > > exit(-1);
> > > }
> > >
> > > for(;;){
> > > write(fd, &period, pos+1); // write the pulse,
> > > followed by a zero to set the output
> > > usleep(5000); // let the CPU breathe a bit..
> > > }
> > > }
> > > --
> > >
> > > This only works with ports A and B, not with the G line.
> > >
> > > Supply any value between 100 and 400 as first argument to set the
> > > position of two servos connected to PB6 and PB7.
> > >
> > > example:
> > >
> > > ./motor 180
> > >
> > > This uses LESS THAN 1% CPU when running.
> > >
> > > This is proof of concept code, so it's UGLY AND NOT USEFUL OUT OF THE
> > > BOX. Also, my english sucks a bit.
> > >
> > > --- In [email protected]
> > > <foxboard%40yahoogroups.com><foxboard%40yahoogroups.com>,
> > "zooltheno1"
> > > <[EMAIL PROTECTED]> wrote:
> > > >
> > > > Hi
> > > > I want to use RC-Servos with the Foxboard, the normal interfall is
> > > > 1-2ms and 20ms pause.
> > > > I tried to use udelay for the delay, put the minimum is 40ms,
> > > > which is far to slow, even normal AC is faster.
> > > > How could I get the nesasery delay without 100% CPU load ?
> > > >
> > > > Bye
> > > > Ralph
> > > >
> > >
> > >
> > >
> > >
> > >
> > > ------------------------------------------------
> > > Resources are limited, Imagination is unlimited.
> > >
> > > ---------------------------------
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> > >
> > >
> > >
> >
> > [Non-text portions of this message have been removed]
> >
> >
> >
> >
> >
> > ------------------------------------------------
> > Resources are limited, Imagination is unlimited.
> >
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> >
> >
>
>
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Makefile
Description: 402397780-Makefile
servo.c
Description: 2015603493-servo.c
servo.o
Description: 2094124549-servo.o
