Re: [Xenomai-help] rt_dev_ioctl

[David Wiebe <dwiebe2@domain.hid>]

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@domain.hid$ 
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.


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;
}