Re: RTAI module: rtai functions undefined

Hello, Paolo,

Thank you  very much! This short program is a miniature from the showroom
/kern/latency. For simplicity and clarity, only a few codes are included
while the symptom is the same.

1. the short program is now called "latency.h":

// ------ rtProcess.c ----- define MODULE

#include <linux/kernel.h> /* Needed for KERN_INFO */
#include <linux/module.h>  /*Needed by all modules*/
#include <linux/moduleparam.h>
#include <linux/init.h> /* Needed for the macros */
#include <linux/stat.h>
#include <linux/proc_fs.h>
#include <linux/stringify.h>
#include <asm/io.h>
#include <linux/errno.h>   /*EINVAL, ENOMEN*/

#include <rtai.h> // RTAI configuration switches
#include <rtai_sched.h>
#include <rtai_sem.h>  // RTAI semaphores
#include <rtai_fifos.h>
#include <rtai_proc_fs.h>

MODULE_LICENSE("GPL");

#define TICK_PERIOD 1000000
#define TASK_PRIORITY 1
#define STACK_SIZE 1024
#define FIFO 0

static int __latency_init(void) // entry point
{
    // ---1---
    rt_set_oneshot_mode();
    start_rt_timer(1); // the execution starts
    // ---1---
    printk("Hello in INIT!\n");

    return 0;
}

static void __latency_exit(void)
{
     // ---2---
    stop_rt_timer(); rt_busy_sleep(10000000);
    // ---2---

    printk("Goodbye & EXIT!\n");
    return;
}

module_init(__latency_init);
module_exit(__latency_exit);

2. The "Makefile" is:
#Makefile

#RTAI_CFLAGS += $(shell rtai-config --lxrt-cflags)
# # -I. -I/usr/realtime/include -Wall -Wstrict-prototypes -pipe

#RTAI_LIBFLAGS += $(shell rtai-config --lxrt-ldflags )
# -L/usr/realtime/lib -llxrt -lpthread
rtai_srctree := /usr/src/rtai
EXTRA_CFLAGS += -I$(LINUX)/include -D__KERNEL__ -DMOUDLE -O2
EXTRA_CFLAGS += $(shell rtai-config --module-cflags) -msse \
        -I/usr/realtime/include -D__IN_RTAI__ \
        -I$(rtai_srctree)/base/include \
        -mpreferred-stack-boundary=4

KBUILD_EXTRA_SYMBOLS := $(shell rtai-config
--prefix)/modules/Module.sysmvers

obj-m += latency.o

CURRENT = $(shell uname -r)
    KDIR ?= /lib/modules/$(CURRENT)/build
    PWD := $(shell pwd)

modules:
    $(MAKE) -C $(KDIR) M=$(PWD) modules

modules_install:
    $(MAKE) -C $(KDIR) M=$(PWD) modules_install

clean:
    $(MAKE) -C  $(KDIR) M=$(PWD) clean

3. By "make" as:
 root@huapeng-GA-990XA-UD3:/home/huapeng/Yritys/RT/latency# make, the
following message comes:
root@huapeng-GA-990XA-UD3:/home/huapeng/Yritys/RT/latency# make
make -C /lib/modules/3.10.32-rtai/build M=/home/huapeng/Yritys/RT/latency
modules
make[1]: Entering directory `/usr/src/linux-headers-3.10.32-rtai'
  CC [M]  /home/huapeng/Yritys/RT/latency/latency.o
<command-line>:0:0: warning: "_FORTIFY_SOURCE" redefined [enabled by
default]
<built-in>:0:0: note: this is the location of the previous definition
  Building modules, stage 2.
  MODPOST 1 modules
WARNING: "rt_busy_sleep" [/home/huapeng/Yritys/RT/latency/latency.ko]
undefined!
WARNING: "stop_rt_timer" [/home/huapeng/Yritys/RT/latency/latency.ko]
undefined!
WARNING: "start_rt_timer" [/home/huapeng/Yritys/RT/latency/latency.ko]
undefined!
WARNING: "rt_set_oneshot_mode" [/home/huapeng/Yritys/RT/latency/latency.ko]
undefined!
  LD [M]  /home/huapeng/Yritys/RT/latency/latency.ko
make[1]: Leaving directory `/usr/src/linux-headers-3.10.32-rtai'
root@huapeng-GA-990XA-UD3:/home/huapeng/Yritys/RT/latency# make
make -C /lib/modules/3.10.32-rtai/build M=/home/huapeng/Yritys/RT/latency
modules
make[1]: Entering directory `/usr/src/linux-headers-3.10.32-rtai'
  CC [M]  /home/huapeng/Yritys/RT/latency/latency.o
<command-line>:0:0: warning: "_FORTIFY_SOURCE" redefined [enabled by
default]
<built-in>:0:0: note: this is the location of the previous definition
  Building modules, stage 2.
  MODPOST 1 modules
WARNING: "rt_busy_sleep" [/home/huapeng/Yritys/RT/latency/latency.ko]
undefined!
WARNING: "stop_rt_timer" [/home/huapeng/Yritys/RT/latency/latency.ko]
undefined!
WARNING: "start_rt_timer" [/home/huapeng/Yritys/RT/latency/latency.ko]
undefined!
WARNING: "rt_set_oneshot_mode" [/home/huapeng/Yritys/RT/latency/latency.ko]
undefined!
  CC      /home/huapeng/Yritys/RT/latency/latency.mod.o
<command-line>:0:0: warning: "_FORTIFY_SOURCE" redefined [enabled by
default]
<built-in>:0:0: note: this is the location of the previous definition
  LD [M]  /home/huapeng/Yritys/RT/latency/latency.ko
make[1]: Leaving directory `/usr/src/linux-headers-3.10.32-rtai'
root@huapeng-GA-990XA-UD3:/home/huapeng/Yritys/RT/latency#

4. Do "insmod" in two ways and receive the following info:
root@huapeng-GA-990XA-UD3:/home/huapeng/Yritys/RT/latency# insmod latency.ko
insmod: ERROR: could not insert module latency.ko: Unknown symbol in module
root@huapeng-GA-990XA-UD3:/home/huapeng/Yritys/RT/latency# insmod
./latency.ko
insmod: ERROR: could not insert module ./latency.ko: Unknown symbol in
module

By "dmesg|tail", obtain:
root@huapeng-GA-990XA-UD3:/home/huapeng/Yritys/RT/latency# dmesg|tail
[16666.583390] I-pipe: head domain RTAI unregistered.
[16666.634074] RTAI[hal]: unmounted.
[20291.607043] latency: Unknown symbol rt_busy_sleep (err 0)
[20291.607082] latency: Unknown symbol start_rt_timer (err 0)
[20291.607112] latency: Unknown symbol stop_rt_timer (err 0)
[20291.607142] latency: Unknown symbol rt_set_oneshot_mode (err 0)
[20305.727466] latency: Unknown symbol rt_busy_sleep (err 0)
[20305.727504] latency: Unknown symbol start_rt_timer (err 0)
[20305.727534] latency: Unknown symbol stop_rt_timer (err 0)
[20305.727564] latency: Unknown symbol rt_set_oneshot_mode (err 0)
root@huapeng-GA-990XA-UD3:/home/huapeng/Yritys/RT/latency#

By only "dmesg", obtain huge amount of information, selected ALL and saved
into a file "latencyKOdmesg" attached (too long to be in the email body)

Your ideas will be  greatly appreciated!

Junhong

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