On 01/11/2016 03:33 PM, Heinick, J Michael wrote:
.........1.........2.........3.........4.........5.........6.........7....| Currently, I have a RTDM driver that installs with insmod, creates the node in /dev/rtdm, uninstalls with rmmod, and removes the node from /dev/rtdm. At this early stage this RTDM driver is only a skeleton that should log a message with rtdm_printk whenever the open, close, read, write, and ioctl handlers are called. So far I have been unable to get any indication that any of the handlers I have written for the driver are interacting with the small test program even though the program appears to run without errors. The ioctl call in the test program generates the following message in the dmesg file: [12503.672657] [Xenomai] tcgrtdmtest[3595] called regular ioctl() on /dev/rtdm/tcgrtdm The example at http://git.xenomai.org/xenomai-jro.git/tree/demo/posix/cobalt/gpiopwm.c?h=410c recently suggested by Jorge Ramirez Ortiz has been somewhat helpful, but I still do not know what I am missing. Are my rtdm_device and rtdm_driver structures correct enough to get the handlers called, or is the problem elsewhere? Thanks for any help that you can provide. Mike H.
The issue is with the link stage of your user-space program: the posix I/O calls used in your code such as open/ioctl and friends should be provided by libcobalt.so, but they are not. When the substitution takes place, RTDM handles the calls, otherwise the calls are routed via the glibc/uclibc to the regular kernel, which ends up reaching a dummy placeholder driver, which eventually issues the warning message in the kernel log (foo[pid] called regular <func> on /dev/rtdm/device).
The substitution happens when the proper application build flags are used, based on the linker's --wrap switch. So the fix is likely to be applied to your application Makefile. Even if slightly outdated wrt Xenomai 3.x, the doc below gives some hints (you should assume libcobalt.so when reading libpthread_rt.so):
http://xenomai.org/2014/08/porting-a-linux-application-to-xenomai-dual-kernel/#Compilation_for_the_Xenomai_POSIX_skin -- Philippe. _______________________________________________ Xenomai mailing list Xenomai@xenomai.org http://xenomai.org/mailman/listinfo/xenomai
