I'm writing a simple USB driver to drive a stepper motor based on USB Skeleton 2.2 Driver, kernel 3.8. The basic version is running properly. As a advancement, I introduced KTHREAD to call the DEVICE_WRITE (skel_write) (), so that the driver will be available for other tasks & requests.
Calling procedure : USER (request) -> DEVICE_IOCTL -> KTHREAD -> DEVICE_WRITE.
In this scenario, when I call the DEVICE_WRITE multiple times from KTHREAD through a loop, everything works fine. Then after some iterations, kernel gets messed up, upon seeing the log file, the error is :
Dec 30 01:15:14 mit kernel: [ 962.316843] device_write(efed1180,2,10),ioused : 1
Dec 30 01:15:14 mit kernel: [ 962.316900] data : 0, motor_cnt : 2, master_counter : 20
Dec 30 01:15:14 mit kernel: [ 962.366498] data : 1, motor_cnt : 2, master_counter : 21
Dec 30 01:15:14 mit kernel: [ 962.416116] Write over, going for sleep
Dec 30 01:15:14 mit kernel: [ 962.416125] file : efed1180,data : 2,i : 11
Dec 30 01:15:14 mit kernel: [ 962.416128] device_write(efed1180,2,10),ioused : 1
Dec 30 01:15:14 mit kernel: [ 962.416166] BUG: unable to handle kernel NULL pointer dereference at (null)
Dec 30 01:15:14 mit kernel: [ 962.416254] IP: [] skel_write+0xd7/0x360 [usbstep]
Dec 30 01:15:14 mit kernel: [ 962.416294] *pdpt = 0000000000000000 *pde = f0002accf0002acc
Dec 30 01:15:14 mit kernel: [ 962.416332] Oops: 0000 [#1] SMP
Dec 30 01:15:14 mit kernel: [ 962.416363] Modules linked in: usbstep(OF) parport_pc(F) ppdev(F) bnep rfcomm bluetooth snd_hda_codec_hdmi uvcvideo videobuf2_vmalloc videobuf2_memops videobuf2_core videodev snd_hda_codec_idt coretemp snd_hda_intel kvm snd_hda_codec snd_hwdep(F) snd_pcm(F) snd_page_alloc(F) joydev(F) snd_seq_midi(F) snd_seq_midi_event(F) snd_rawmidi(F) hp_wmi lib80211_crypt_tkip snd_seq(F) snd_seq_device(F) snd_timer(F) sparse_keymap radeon wl(POF) lib80211 ttm drm_kms_helper cfg80211 drm hp_accel lis3lv02d mei input_polldev wmi i2c_algo_bit video(F) intel_ips mac_hid snd(F) lpc_ich soundcore(F) microcode(F) lp(F) parport(F) psmouse(F) serio_raw(F) r8169 ahci(F) libahci(F) [last unloaded: usbstep]
Dec 30 01:15:14 mit kernel: [ 962.416866] Pid: 2997, comm: mitesh Tainted: PF O 3.8.0-26-generic #38-Ubuntu Hewlett-Packard HP ProBook 4520s/1411
Dec 30 01:15:14 mit kernel: [ 962.416928] EIP: 0060:[] EFLAGS: 00010287 CPU: 2
Dec 30 01:15:14 mit kernel: [ 962.416960] EIP is at skel_write+0xd7/0x360 [usbstep]
Dec 30 01:15:14 mit kernel: [ 962.416989] EAX: f0665b84 EBX: 00000014 ECX: 000000d0 EDX: 00000014
Dec 30 01:15:14 mit kernel: [ 962.417024] ESI: f0665b40 EDI: 00000000 EBP: efddbf40 ESP: efddbf04
Dec 30 01:15:14 mit kernel: [ 962.417059] DS: 007b ES: 007b FS: 00d8 GS: 00e0 SS: 0068
Dec 30 01:15:14 mit kernel: [ 962.417089] CR0: 8005003b CR2: 00000000 CR3: 019d1000 CR4: 000007f0
Dec 30 01:15:14 mit kernel: [ 962.417124] DR0: 00000000 DR1: 00000000 DR2: 00000000 DR3: 00000000
Dec 30 01:15:14 mit kernel: [ 962.417158] DR6: ffff0ff0 DR7: 00000400
Dec 30 01:15:14 mit kernel: [ 962.417181] Process mitesh (pid: 2997, ti=efdda000 task=f0bed9b0 task.ti=efdda000)
Dec 30 01:15:14 mit kernel: [ 962.417223] Stack:
Dec 30 01:15:14 mit kernel: [ 962.417236] f0665b84 efddbf58 efddbf58 0000000a 00000001 efddbf58 00000000 efddbf40
Dec 30 01:15:14 mit kernel: [ 962.417301] c1609d81 00000002 f06c5d40 00000014 0000000c efddbf58 f1487408 efddbf6c
Dec 30 01:15:14 mit kernel: [ 962.417398] f8585546 00000000 efed1180 efddbf58 0000000b f6eb0032 aa092dff f6eb7ebc
Dec 30 01:15:14 mit kernel: [ 962.417475] Call Trace:
Dec 30 01:15:14 mit kernel: [ 962.417504] [] ? printk+0x4d/0x4f
Dec 30 01:15:14 mit kernel: [ 962.417559] [] tele+0x86/0xc0 [usbstep]
Dec 30 01:15:14 mit kernel: [ 962.417618] [] ? skel_write+0x360/0x360 [usbstep]
Dec 30 01:15:14 mit kernel: [ 962.417691] [] kthread+0x94/0xa0
Dec 30 01:15:14 mit kernel: [ 962.417744] [] ? __hrtimer_start_range_ns+0x2e0/0x460
Dec 30 01:15:14 mit kernel: [ 962.417819] [] ret_from_kernel_thread+0x1b/0x28
Dec 30 01:15:14 mit kernel: [ 962.417886] [] ? kthread_create_on_node+0xc0/0xc0
Dec 30 01:15:14 mit kernel: [ 962.417951] Code: c0 89 c6 0f 84 83 01 00 00 83 c3 0a b8 00 0e 00 00 81 fb 00 0e 00 00 b9 d0 00 00 00 0f 46 c3 89 45 f0 8d 46 44 8b 55 f0 89 04 24 <8b> 07 e8 52 9f ee c8 85 c0 89 45 e4 0f 84 0f 01 00 00 8d 47 54
Dec 30 01:15:14 mit kernel: [ 962.418433] EIP: [] skel_write+0xd7/0x360 [usbstep] SS:ESP 0068:efddbf04
Dec 30 01:15:14 mit kernel: [ 962.418530] CR2: 0000000000000000
Dec 30 01:15:14 mit kernel: [ 962.433930] ---[ end trace 63245eeeb64414aa ]---
Here goes the code : KTHREAD
int tele(void *__tele_data) {
struct tele_data *tele_data = __tele_data;
int i=0;
char *dptr=NULL;
char numb[4];
sprintf(numb,"%d",tele_data->num);
dptr=numb;
for(i=0;i<30;i++) {
is_ioctl_used=1;
printk("file : %p,data : %s,i : %d\n", tele_data->file,dptr,i);
skel_write(tele_data->file,(char *)dptr, 10, 0);
printk("Write over, going for sleep\n");
}
return 0;
}
DEVICE_WRITE -
static ssize_t skel_write(struct file *file, const char *user_buffer,
size_t count, loff_t *ppos)
{
struct usb_skel *dev;
int retval = 0,i = 0,motor_count,dir=0;
struct urb *urb = NULL;
char *buf = NULL;
char *buf1 = NULL;
size_t writesize = min(count+10, (size_t)MAX_TRANSFER);
printk(KERN_INFO "device_write(%p,%s,%d),ioused : %d\n", file, user_buffer, count,is_ioctl_used);
dev = file->private_data;
// verify that we actually have some data to write
if (count == 0)
goto exit;
/*
* limit the number of URBs in flight to stop a user from using up all
* RAM
*/
if (!(file->f_flags & O_NONBLOCK)) {
if (down_interruptible(&dev->limit_sem)) {
retval = -ERESTARTSYS;
goto exit;
}
} else {
if (down_trylock(&dev->limit_sem)) {
retval = -EAGAIN;
goto exit;
}
}
spin_lock_irq(&dev->err_lock);
retval = dev->errors;
if (retval < 0) {
// any error is reported once
dev->errors = 0;
// to preserve notifications about reset
retval = (retval == -EPIPE) ? retval : -EIO;
}
spin_unlock_irq(&dev->err_lock);
if (retval < 0)
goto error;
/* create a urb, and a buffer for it, and copy the data to the urb */
buf1=(char *)kmalloc(sizeof(char)*20,GFP_KERNEL); //Allocate 2nd buffer.
if(is_ioctl_used) { //Whether the write function is called from IOCTL or Directly (echo > /dev/stepper)
sprintf(buf1,user_buffer);
} else {
if (copy_from_user(buf1, user_buffer,count)) {
retval = -EFAULT;
goto error;
}
}
motor_count=simple_strtol(buf1,NULL,10);
if(motor_count<0) { //Rotation counts of stepper motor.
motor_count=motor_count * -1; //If motor_count<0 then rotate in anti-clock direction.
dir=1;
}
urb = usb_alloc_urb(0, GFP_KERNEL);
if (!urb) {
retval = -ENOMEM;
goto error;
}
buf = usb_alloc_coherent(dev->udev, writesize, GFP_KERNEL,
&urb->transfer_dma);
if (!buf) {
retval = -ENOMEM;
goto error;
}
/* this lock makes sure we don't submit URBs to gone devices */
mutex_lock(&dev->io_mutex);
if (!dev->interface) { /* disconnect() was called */
mutex_unlock(&dev->io_mutex);
retval = -ENODEV;
goto error;
}
/* initialize the urb properly */
usb_fill_int_urb(urb, dev->udev,
usb_sndintpipe(dev->udev, dev->bulk_out_endpointAddr),
buf, writesize, skel_write_bulk_callback, dev,dev->bInterval);
urb->transfer_flags |= URB_NO_TRANSFER_DMA_MAP;
usb_anchor_urb(urb, &dev->submitted);
for(i=0;i<motor_count;i++) { //Loop to rotate motor based on counts.
printk("data : %d, motor_cnt : %d, master_counter : %d\n",ptr->data,motor_count,master_counter);
if(dir==0) ptr=ptr->next;
else ptr=ptr->prev;
// Fill the buffers.
buf[0]=0x01;
buf[1]=0;
buf[2]=ptr->data;
/* send the data out the bulk port */
retval = usb_submit_urb(urb, GFP_KERNEL);
if (retval) {
dev_err(&dev->interface->dev,
"%s - failed submitting write urb, error %d\n",
__func__, retval);
mutex_unlock(&dev->io_mutex);
goto error_unanchor;
}
if(++master_counter && master_counter > 47) master_counter=0;
/*
* release our reference to this urb, the USB core will eventually free
* it entirely
*/
mdelay(50); //Delay is required to match with motor speed.
}
mutex_unlock(&dev->io_mutex);
usb_free_coherent(dev->udev, writesize, buf, urb->transfer_dma);
kfree(buf1);
usb_free_urb(urb);
is_ioctl_used=0;
return writesize;
error_unanchor:
usb_unanchor_urb(urb);
error:
if (urb) {
usb_free_coherent(dev->udev, writesize, buf, urb->transfer_dma);
usb_free_urb(urb);
}
up(&dev->limit_sem);
exit:
return retval;
}
I'm new to kernel programming and might be missing out something.
Thankyou for your support and time.
Regards,
Mitesh