Unknown symbol rt_task_init (err -22)

Hi, everyone~
I am using the Debian based LinuxCNC with RTAI built in. The samples in testsuite directory ran well, and also I ran an example I found from internet in user space. But when I ran the example RTAI User Manual 3.4, the system says that rtai_kernel_mode_task2: Unknown symbol
rt_task_init (err -22). I do not know what did I miss, the header files or the .ko modules. Have you ever met this problem before? Or can anybody help me?

Thank you~
 
                                                                               Yours: C.P.
                                                                              2016-09-18
******************************************************************************

root@Justice:/home/athrun/桌面/mRTAIcodes#
insmod rtai_kernel_mode_task2.ko 


Error:
could not insert module rtai_kernel_mode_task2.ko: Unknown symbol in
module 


root@Justice:/home/athrun/桌面/mRTAIcodes#
insmod rtai_kernel_mode_task2.ko 


Error:
could not insert module rtai_kernel_mode_task2.ko: Invalid parameters

root@Justice:/home/athrun/桌面/mRTAIcodes#
dmesg -x | tail -20 


kern
 :info  : [ 2352.452246] I-pipe: head domain RTAI registered. 


kern
 :info  : [ 2352.452251] RTAI[hal]: compiled with gcc version 4.7.2
(Debian 4.7.2-5) . 


kern
 :info  : [ 2352.452320] RTAI[hal]: mounted (IPIPE-NOTHREADS,
IMMEDIATE (INTERNAL IRQs DISPATCHED), ISOL_CPUS_MASK: 0). 


kern
 :warn  : [ 2352.452323] SYSINFO: CPUs 4, LINUX APIC IRQ 2312,
TIM_FREQ 6235070, CLK_FREQ 2294831000, CPU_FREQ 2294831000 


kern
 :warn  : [ 2352.452326] RTAI_APIC_TIMER_IPI: RTAI DEFINED 2314,
VECTOR 2314; LINUX_APIC_TIMER_IPI: RTAI DEFINED 2312, VECTOR 2312 


kern
 :warn  : [ 2352.452328] TIMER NAME: lapic; VARIOUSLY FOUND APIC
FREQs: 6235070, 6235070, 1879000 


kern
 :info  : [ 2352.487191] RTAI[malloc]: global heap size = 2097152
bytes, <BSD>. 


kern
 :warn  : [ 2352.487225] , <uses LINUX SYSCALLs>, kstacks pool
size = 524288 bytes. 


kern
 :info  : [ 2352.487229] RTAI[sched]: hard timer type/freq =
APIC/6235070(Hz); default timing: oneshot; linear timed lists. 


kern
 :info  : [ 2352.487232] RTAI[sched]: Linux timer freq = 250 (Hz),
TimeBase freq = 2294831000 hz. 


kern
 :info  : [ 2352.487233] RTAI[sched]: timer setup = 999 ns, resched
latency = 2944 ns. 


kern
 :warn  : [ 2355.778288] rtai_kernel_mode_task2: no symbol version
for rt_task_init 


kern
 :warn  : [ 2355.778291] rtai_kernel_mode_task2: Unknown symbol
rt_task_init (err -22) 

******************************************************************************

The building informations given by make are:   




	
	
	
	


root@Justice:/home/athrun/桌面/mRTAIcodes#
make 


make
-C /lib/modules/3.4-9-rtai-686-pae/build M=/home/athrun/桌面/mRTAIcodes
modules -I/usr/realtime-3.4-9-rtai-686-pae/include 


make[1]:
Entering directory `/usr/src/linux-headers-3.4-9-rtai-686-pae' 


  CC
[M]  /home/athrun/桌面/mRTAIcodes/rtai_kernel_mode_task2.o



/home/athrun/桌面/mRTAIcodes/rtai_kernel_mode_task2.c:
In function ‘init_module’: 


/home/athrun/桌面/mRTAIcodes/rtai_kernel_mode_task2.c:28:9:
warning: passing argument 2
of ‘rt_task_init’ from incompatible pointer type [enabled by
default] 


/usr/realtime-3.4-9-rtai-686-pae/include/rtai_sched.h:246:5:
note: expected ‘void
(*)(long int)’ but argument is of type ‘void
(*)(int)’ 


  Building
modules, stage 2. 


  MODPOST
1 modules 


WARNING:
"rt_task_init"
[/home/athrun/桌面/mRTAIcodes/rtai_kernel_mode_task2.ko]
undefined! 


  LD
[M]  /home/athrun/桌面/mRTAIcodes/rtai_kernel_mode_task2.ko



make[1]:
Leaving directory `/usr/src/linux-headers-3.4-9-rtai-686-pae' 

******************************************************************
The informations given by rtai-info are:



athrun@Justice:/usr/realtime-3.4-9-rtai-686-pae/bin$ ./rtai-info
If some fields are empty or look unusual you may have an old version.
Compare to the current minimal requirements in Documentation/Changes.
 
Linux Justice 3.4-9-rtai-686-pae #1 SMP PREEMPT Debian 3.4.55-4linuxcnc i686 GNU/Linux
 
Gnu C                                               4.7.2-5)
Gnu make                                         3.81
util-linux                                           linux 2.20.1
mount                                              linux 2.20.1 (with libblkid and selinux support)
module-init-tools                              9
e2fsprogs                                         1.42.5
PPP                                                   2.4.5
Linux C Library                                  > libc.2.13
Dynamic linker (ldd)                          2.13
Procps                                              3.3.3
Net-tools                                          1.60
Console-tools                                   0.2.3
Sh-utils                                             8.13
Modules Loaded                                         rtai_sched rtai_hal parport_pc ppdev lp parport bnep rfcomm uinput nfsd nfs nfs_acl auth_rpcgss fscache lockd sunrpc loop snd_hda_codec_realtek uvcvideo videobuf2_vmalloc videobuf2_memops videobuf2_core videodev media i2c_core snd_hda_intel snd_hda_codec snd_hwdep snd_pcm ideapad_laptop sparse_keymap btusb bluetooth coretemp rfkill snd_page_alloc evdev serio_raw snd_seq video battery ac power_supply wmi crc32c_intel aesni_intel aes_i586 aes_generic snd_seq_device snd_timer snd cryptd soundcore button ext4 crc16 jbd2 mbcache usbhid hid sg sd_mod crc_t10dif microcode ahci libahci libata scsi_mod r8169 mii xhci_hcd fan thermal_sys ehci_hcd usbcore usb_common

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