For more infomation about this bug, visit
Summary: apci-drivers not usable with rtai-3.5 and linux-2.6.19
Product: OCL
Version: trunk
Platform: All
OS/Version: All
Status: NEW
Severity: normal
Priority: P2
Component: Hardware
AssignedTo: orocos-dev [..] ...
ReportedBy: ruben [dot] smits [..] ...
CC: orocos-dev [..] ...
Estimated Hours: 0.0

Hi,

i tried to build the apci-drivers for rtai-3.5 and the linux-2.6.19 kernel.
RTT's make check works fine so i think there is nothing wrong with this
combination of rtai and linux kernel.

making the apci-drivers however resulted in the following warning:

make[1]: Entering directory `/usr/src/linux-headers-2.6.19.7rtai-3.5'
CC [M] /src/ocl/hardware/apci/drivers/lxrt/apci_lxrt.o
Building modules, stage 2.
MODPOST 1 modules
WARNING: "apci1710_ssi_read_latest_all"
[/src/ocl/hardware/apci/drivers/lxrt/apci_lxrt.ko] undefined!
WARNING: "apci1710_ssi_read_latest"
[/src/ocl/hardware/apci/drivers/lxrt/apci_lxrt.ko] undefined!
WARNING: "apci1710_ssi_refresh"
[/src/ocl/hardware/apci/drivers/lxrt/apci_lxrt.ko] undefined!
WARNING: "apci1710_ssi_read_all"
[/src/ocl/hardware/apci/drivers/lxrt/apci_lxrt.ko] undefined!
WARNING: "apci1710_ssi_read" [/src/ocl/hardware/apci/drivers/lxrt/apci_lxrt.ko]
undefined!
WARNING: "apci1710_ssi_init" [/src/ocl/hardware/apci/drivers/lxrt/apci_lxrt.ko]
undefined!
WARNING: "apci1710_get_device"
[/src/ocl/hardware/apci/drivers/lxrt/apci_lxrt.ko] undefined!
WARNING: "apci2200_get_number_off_digital_outputs"
[/src/ocl/hardware/apci/drivers/lxrt/apci_lxrt.ko] undefined!
WARNING: "apci2200_set_output_off"
[/src/ocl/hardware/apci/drivers/lxrt/apci_lxrt.ko] undefined!
WARNING: "apci2200_set_output_on"
[/src/ocl/hardware/apci/drivers/lxrt/apci_lxrt.ko] undefined!
WARNING: "apci2200_get_output_status"
[/src/ocl/hardware/apci/drivers/lxrt/apci_lxrt.ko] undefined!
WARNING: "apci2200_get_input_status"
[/src/ocl/hardware/apci/drivers/lxrt/apci_lxrt.ko] undefined!
WARNING: "apci2200_get_device"
[/src/ocl/hardware/apci/drivers/lxrt/apci_lxrt.ko] undefined!
WARNING: "i_APCI1032_Read32DigitalInput"
[/src/ocl/hardware/apci/drivers/lxrt/apci_lxrt.ko] undefined!
WARNING: "i_APCI1032_Read16DigitalInput"
[/src/ocl/hardware/apci/drivers/lxrt/apci_lxrt.ko] undefined!
WARNING: "i_APCI1032_Read8DigitalInput"
[/src/ocl/hardware/apci/drivers/lxrt/apci_lxrt.ko] undefined!
WARNING: "i_APCI1032_Read1DigitalInput"
[/src/ocl/hardware/apci/drivers/lxrt/apci_lxrt.ko] undefined!
WARNING: "set_rt_fun_ext_index"
[/src/ocl/hardware/apci/drivers/lxrt/apci_lxrt.ko] undefined!
WARNING: "reset_rt_fun_ext_index"
[/src/ocl/hardware/apci/drivers/lxrt/apci_lxrt.ko] undefined!
CC /src/ocl/hardware/apci/drivers/lxrt/apci_lxrt.mod.o
LD [M] /src/ocl/hardware/apci/drivers/lxrt/apci_lxrt.ko
make[1]: Leaving directory `/usr/src/linux-headers-2.6.19.7rtai-3.5'

and non usable apci-modules. The test-programmes for the apci-drivers give very
strange kernel-messages:

sudo ./test2200
0.001 [ Warning][Toolkit] No 'CORBA' transport available for uint
0.001 [ Warning][Toolkit] No 'CORBA' transport available for char
Segmentation fault

kernel-message:

printing eip:
f889002b
*pde = 00000000
Oops: 0000 [#10]
Modules linked in: apci_lxrt apci2200(P) ssi(P) apci1710(P) apci1032 rtai_sem
rtai_shm rtai_lxrt rtai_hal
CPU: 0
EIP: 0060:[] Tainted: P VLI
EFLAGS: 00013286 (2.6.19.7rtai-3.5 #2)
EIP is at apci2200_get_output_status+0x1f/0x29 [apci2200]
eax: ffffffff ebx: 08055804 ecx: 00000000 edx: 08055804
esi: ffffffff edi: bfcca5b0 ebp: f8890f80 esp: e1387ec4
ds: 007b es: 007b ss: 0068
Process test2200 (pid: 15074, ti=e1386000 task=c6572a90 task.ti=e1386000)
Stack: 00000000 013f2586 f8890227 f88ab6a0 bfcca308 bfcca5b0 080557e4 f889a2ac
f8890f80 ffffffff 080557e4 bfcca5b0 080557e4 bfcca5b0 00000000 08055804
080557e4 00000000 f888b13a 0d00e808 00000000 c0113e1f c6572a90 c012504a
Call Trace:
[] apci2200_set_output_off+0x28/0x38 [apci2200]
[] rtai_lxrt_invoke+0x13c/0x1b6c [rtai_lxrt]
[] rtai_syscall_dispatcher+0x47/0xd8 [rtai_hal]
[] rtai_uvec_handler+0x1a/0x30 [rtai_hal]
DWARF2 unwinder stuck at rtai_uvec_handler+0x1a/0x30 [rtai_hal]

Leftover inexact backtrace:

=======================
Code: b8 80 0f 89 f8 c3 b8 10 00 00 00 c3 83 ec 08 85 c0 75 18 c7 44 24 04 56
03 89 f8 c7 04 24 8b 03 89 f8 e8 a8 68 88 c7 31 c0 eb 07 <8b> 50 08 83 c2 04 ed
5a 59 c3 83 ec 08 85 c0 75 18 c7 44 24 04
EIP: [] apci2200_get_output_status+0x1f/0x29 [apci2200] SS:ESP
0068:e1387ec4
LXRT releases PID 15074 (ID: test2200).

Anyone any ideas what's going on???

Ruben