Including Comedi devices in Simulink RTW model

Tue Jan 10 09:27:11 CET 2006

(Second try to send this message, after the first one hasn't shown up 
after a day's waiting. Sorry for the possible double posting.)

Hello,

I'm having a problem very similar the one from Todd M. Drullinger a year 
ago (https://mail.rtai.org/pipermail/rtai/2005-March/010503.html). 
Perhaps somebody has found a solution?

I've installed Comedi 0.7.70, Comedilib 0.7.22 and RTAI 3.2 according to
Roberto Bucher RTAI-Lab Tutorial version 0.50 (November 2005). I'm using
Matlab 6.5 on Windows to generate the source code, after which I compile
and run this code on a Linux box with Kernel version 2.4.27, patched
with the RTAI HAL/ADEOS patch included in the RTAI download.

The test model included with RTAI-Lab is working fine. I can generate
the code, compile and run it, and then access the running program with
xrtailab. However, when I include a RTAI-Lab Comedi device (for instance
the data_read block), the compiled program will give this error when I
try to run it:

	´óÿ¿Pôÿ¿) opened.
	Comedi find_subdevice failed (No analog input)
	Cannot init mailbox

As far as I understand it, I've loaded all the required modules. I've
adapted a (non-RTAI-Lab) test program named 'encoder.c' which came with 
the NI_660x drivers and when I try to run comedi_find_subdevice_by_type 
in this test program (the function which is giving the error above), it 
workes just fine and I can access the in- and output ports of my three 
NI cards in this way.

Can anybody tell me what is going on?

As many newbie questions on this list are followed by a request for the
lsmod, dmesg and other similar informatie, I've included my dmesg output
(both directly after running the RTAI-Lab generated program with Comedi
devices, as directly after boot), lsmod output and rc.local script. I'm
sorry for the very long email...

Kind regards,
Arno Stienen.

*** DMESG DIRECTLY AFTER RUNNING RTAI-LAB GENERATED PROGRAM ***

smb_trans2_request: result=-104, setting invalid
smb_retry: successful, new pid=166, generation=2
smb_trans2_request: result=-104, setting invalid
smb_retry: successful, new pid=170, generation=2
BAD: null rt_fun_ext[9]
BAD: null rt_fun_ext[9]
BAD: null rt_fun_ext[9]
BAD: null rt_fun_ext[9]
LXRT releases PID 353 (ID: encoder).

*** LOADED MODULES ***

Module                  Size  Used by    Not tainted
ni_660x                14144   0
ni_pcimio              38752   0
8255                    2240   0 [ni_pcimio]
comedi_fc                864   0 [ni_pcimio]
ni_670x                 1904   0
mite                    3028   0 [ni_660x ni_pcimio ni_670x]
rtai_lxrt              56504   0 [ni_pcimio]
rtai_fifos             26796   0 (unused)
rtai_msg               12880   0 (unused)
rtai_netrpc            14548   0 (unused)
rtai_mbx                6928   0 [rtai_netrpc]
rtai_comedi             1868   0 (unused)
kcomedilib              5616   0 [rtai_comedi]
comedi                 22496   0 [ni_660x ni_pcimio 8255 comedi_fc
ni_670x kcomedilib]
rtai_sem               11040   0 [rtai_netrpc rtai_mbx rtai_comedi]
rtai_shm                5968   0 [rtai_comedi]
rtai_ksched            57656   0 [rtai_fifos rtai_msg rtai_netrpc
rtai_mbx rtai_comedi kcomedilib rtai_sem rtai_shm]
rtai_hal                9684   0 [ni_660x ni_pcimio 8255 comedi_fc
ni_670x mite rtai_lxrt rtai_fifos rtai_msg rtai_netrpc rtai_mbx
rtai_comedi kcomedilib comedi rtai_sem rtai_shm rtai_ksched]
smbfs                  39824   2 (autoclean)
ntfs                   51232   1 (autoclean)
agpgart                43684   0 (unused)
e1000                  65196   1
eepro100               18996   1
mii                     2272   0 [eepro100]

*** RC.LOCAL SCRIPT INITIALIZING COMEDI ***

# I've softlinked the RTAI modules to the module tree; the modprobing
# of the modules below results in the loading of all the modules as
# seen above.

/sbin/modprobe rtai_comedi
/sbin/modprobe rtai_netrpc
/sbin/modprobe rtai_msg
/sbin/modprobe rtai_fifos
/sbin/modprobe rtai_lxrt

/sbin/modprobe ni_670x
/sbin/modprobe ni_pcimio
/sbin/modprobe ni_660x

/usr/local/sbin/comedi_config /dev/comedi0 ni_670x
/usr/local/sbin/comedi_config /dev/comedi1 ni_pcimio
/usr/local/sbin/comedi_config /dev/comedi2 ni_660x

*** COMPLETE DMESG AFTER BOOT ***

Linux version 2.4.27-adeos (arno at AR2) (gcc version 3.3.6) #2 Thu Dec 29
11:26:07 CET 2005
[...]
Adeos 2.4r15/x86: Root domain Linux registered.
[...]
Adeos: Pipelining started.
[...]
RTAI[hal]: mounted (PIPED).
Adeos: Domain RTAI registered.
RTAI[hal]: 3.2 mounted over Adeos 2.4r15/x86.
RTAI[hal]: compiled with gcc version 3.3.6.
RTAI[malloc]: kmalloced extent cdc20000, size 131072.
RTAI[malloc]: loaded (global heap size=131072 bytes).
RTAI[sched_lxrt]: loaded (PIPED, UP, KERNEL SPACE).
RTAI[sched_lxrt]: timer=periodic (8254-PIT),.
RTAI[sched_lxrt]: standard tick=100 hz, CPU freq=1193180 hz.
RTAI[sched_lxrt]: timer setup=1676 ns, resched latency=2514 ns.
***** WARNING: GLOBAL HEAP NEITHER SHARABLE NOR USABLE FROM USER SPACE
(use the vmalloc option for RTAI malloc) *****
comedi: version 0.7.70 - David Schleef <ds at schleef.org>
rt_pend_tq: RT bottom half scheduler initialized OK
RTAI[malloc]: kmalloced extent cda00000, size 131072.
RTAI[malloc]: loaded (global heap size=131072 bytes).
RTAI[sched_lxrt]: loaded (PIPED, UP, KERNEL/USER SPACE).
RTAI[sched_lxrt]: timer=periodic (8254-PIT),.
RTAI[sched_lxrt]: standard tick=100 hz, CPU freq=1193180 hz.
RTAI[sched_lxrt]: timer setup=1676 ns, resched latency=2514 ns.
Available NI device IDs: 0x1310 0x2ca0 0x2c90
comedi0: ni_670x: <6>PCI: Found IRQ 7 for device 03:00.0
MITE:0xfeafe000 mapped to d0cdb000 DAQ:0xfeafd000 mapped to d0cdd000
  PCI-6703attached
comedi1: ni_pcimio: pci-6034e<6>PCI: Found IRQ 10 for device 03:01.0
MITE:0xfeafc000 mapped to d0cdf000 DAQ:0xfeafb000 mapped to d0ce1000
  ( irq = 10 )
comedi2: ni_660x: <6>PCI: Found IRQ 3 for device 03:02.0
PCI: Sharing IRQ 3 with 00:1f.3
MITE:0xfeafa000 mapped to d0cf4000 mite: detected NI660X board, using
PCI DAQ SIZE of 8k
DAQ:0xfeaf8000 mapped to d0cf6000
mite: detected NI6602, using other I/O Window Base Size register
  PCI-6602 NI6602: Setting Counterswap on second TIO
attached