SK-AM62: How to install customized driver.ko file?

Hi Bin,

Thank you very much for your great support.

Below is the customer's reply.

How to compile my own driver. c file with the kernel? I have already specified the kernel in the makefile of the compiled driver,

I can use insmod mount .ko file,but can't use modprobe now.

Thanks
Regards
Shine

Hi Bin,

Customer wanted to put the mytest.c to his own mydriver folder. Does it need other configuration except for adding the driver to makefile?

Thanks
Regards
Shine

Hi Shine,

I haven't built out-of-tree kernel drivers for many years, so I cannot tell exactly what is missing. The customer's driver Makefile looks okay to me, but please ask the customer to ensure

1) the SDK kernel has to be built first, and use "make modules_install" to install all kernel modules to the rootfs

2) the customer's driver Makefile seems missing "make modules_install" entry to install mytest.ko to rootfs

3) the SDK kernel Image should be copied to rootfs as well.

Hi Bin,

Thank you very much.

Customer cp his .ko file which is generated by his makefile to /lib/modules/<uname -a> and using insmod to insert it, it prompted "not found in /lib/modules/uname-a" when executing modprobe. 

According to your suggestion, he put mytest.c to /driver/misc, using make modules to generate .ko, then using make modules install to install mytest.ko successfully. But it can't be found when using lsmod. It prompted below error message when using /lib/modules/5.10.168-rt83-gc1a1291911/kernel/drivers/misc modprobe command. 

Thanks
Regards
Shine

Hi Shine,

Your description and the console log are confusing. I don't fully understand.

In general, modprobe command can only load modules which are installed by "make modules_install" command. modprobe command won't be able to find modules which are "cp"ed to the root filesystem.

The console log shows "depmod mytest.ko" failed, which generally means the running kernel Image is mismatch with the kernel module. When you do 'make modules_install" to install all the built kernel modules to the rootfs, you also have to copy the new kernel Image to the rootfs as well. Basically, the kernel image and modules on the rootfs should come from the same kernel build.

Hi Bin,

Thank you very much. 

Customer executed below commands. 

make ARCH=arm64 CROSS_COMPILE=aarch64-none-linux-gnu- clean

make ARCH=arm64 CROSS_COMPILE=aarch64-none-linux-gnu- tisdk_am62xx-evm-rt_defconfig

make ARCH=arm64 CROSS_COMPILE=aarch64-none-linux-gnu- Image

make ARCH=arm64 CROSS_COMPILE=aarch64-none-linux-gnu- ti/k3-am625-sk.dtb

make ARCH=arm64 CROSS_COMPILE=aarch64-none-linux-gnu- modules

sudo make ARCH=arm64 INSTALL_MOD_PATH=/home/ubuntu/rootfs modules_install

It prompted below message when executing make moduleinstall，but .ko file is already in rootfs.

arch/arm64/Makefile:25: ld does not support --fix-cortex-a53-843419; kernel may be susceptible to erratum

Migrating the image and dtb to SD rootfs, it still shown bad version when executing depmod. 

Thanks
Regards
Shine

Hi Shine,

two questions:

1. what arm toolchain is used? how the arm toolchain PATH is specified?

2. what is the Linux distro on the PC, Ubuntu 18.04 or something else?

Hi Bin,

Thank you very much.

1. Linux ubuntu 5.4.0-150-generic #167~18.04.1-Ubuntu SMP Wed May 24 00:51:42 UTC 2023 x86_64 x86_64 x86_64 GNU/Linux

2. Compiler: export PATH=/home/ubuntu/SDK/linux-devkit/sysroots/x86_64-arago-linux/usr/bin:$PATH

Thanks
Regards
Shine

Hi Shine,

Shine said:

sudo make ARCH=arm64 INSTALL_MOD_PATH=/home/ubuntu/rootfs modules_install

It prompted below message when executing make moduleinstall，but .ko file is already in rootfs.

arch/arm64/Makefile:25: ld does not support --fix-cortex-a53-843419; kernel may be susceptible to erratum

I am not sure what causes this error.

The SDK top level Makefile supports compiling kernel, Does the customer see the same issue if compiling the kernel using SDK top level Makefile?

Hello Bin,

Thank you very much. 

Compiling the kernel using SDK top level makefile, after executing make install, it still prompted below error message "arch/arm64/Makefile:25: ld does not support --fix-cortex-a53-843419; kernel may be susceptible to erratum"

It can't mount by using modprobe in linux, it prompted bad version when using depmod. It has the same issue when using pci_endpoint_test.ko. 

Customer is not sure which step cause the issue. 

The only difference is that it prompted below error when using depmod after makefile in SDK top level. 

root@am62xx-evm:/lib/modules/5.10.168-rt83-gc1a1291911/kernel/drivers/misc#
root@am62xx-evm:/lib/modules/5.10.168-rt83-gc1a1291911/kernel/drivers/misc# depmod mytest
depmod: ERROR: Bad version passed mytest
root@am62xx-evm:/lib/modules/5.10.168-rt83-gc1a1291911/kernel/drivers/misc# depmod
depmod: ERROR: failed to load symbols from /lib/modules/5.10.168-rt83-gc1a1291911/kernel/fs/cifs/cifs.ko: Invalid argument
depmod: ERROR: failed to load symbols from /lib/modules/5.10.168-rt83-gc1a1291911/kernel/fs/btrfs/btrfs.ko: Invalid argument
depmod: ERROR: failed to load symbols from /lib/modules/5.10.168-rt83-gc1a1291911/kernel/drivers/net/wireless/intel/iwlwifi/mvm/iwlmvm.ko: Invalid argument
depmod: ERROR: failed to load symbols from /lib/modules/5.10.168-rt83-gc1a1291911/kernel/drivers/net/wireless/marvell/mwifiex/mwifiex.ko: Invalid argument
depmod: ERROR: failed to load symbols from /lib/modules/5.10.168-rt83-gc1a1291911/kernel/sound/core/snd-hwdep.ko: Invalid argument
depmod: ERROR: failed to load symbols from /lib/modules/5.10.168-rt83-gc1a1291911/kernel/sound/core/snd-rawmidi.ko: Invalid argument
depmod: ERROR: failed to load symbols from /lib/modules/5.10.168-rt83-gc1a1291911/kernel/sound/usb/snd-usb-audio.ko: Invalid argument
depmod: ERROR: failed to load symbols from /lib/modules/5.10.168-rt83-gc1a1291911/kernel/sound/usb/snd-usbmidi-lib.ko: Invalid argument
depmod: ERROR: failed to load symbols from /lib/modules/5.10.168-rt83-gc1a1291911/kernel/sound/soc/codecs/snd-soc-pcm3168a.ko: Invalid argument
depmod: ERROR: failed to load symbols from /lib/modules/5.10.168-rt83-gc1a1291911/kernel/sound/soc/codecs/snd-soc-pcm3168a-i2c.ko: Invalid argument
depmod: ERROR: failed to load symbols from /lib/modules/5.10.168-rt83-gc1a1291911/kernel/sound/soc/codecs/snd-soc-tlv320aic31xx.ko: Invalid argument
depmod: ERROR: failed to load symbols from /lib/modules/5.10.168-rt83-gc1a1291911/kernel/sound/soc/codecs/snd-soc-tlv320aic3x.ko: Invalid argument
depmod: ERROR: failed to load symbols from /lib/modules/5.10.168-rt83-gc1a1291911/kernel/sound/soc/codecs/snd-soc-wcd934x.ko: Invalid argument
depmod: ERROR: failed to load symbols from /lib/modules/5.10.168-rt83-gc1a1291911/kernel/sound/soc/codecs/snd-soc-wm8904.ko: Invalid argument
depmod: ERROR: failed to load symbols from /lib/modules/5.10.168-rt83-gc1a1291911/kernel/sound/soc/codecs/snd-soc-wsa881x.ko: Invalid argument
depmod: ERROR: failed to load symbols from /lib/modules/5.10.168-rt83-gc1a1291911/kernel/sound/soc/codecs/snd-soc-simple-amplifier.ko: Invalid argument
depmod: ERROR: failed to load symbols from /lib/modules/5.10.168-rt83-gc1a1291911/kernel/sound/soc/generic/snd-soc-simple-card-utils.ko: Invalid argument
depmod: ERROR: failed to load symbols from /lib/modules/5.10.168-rt83-gc1a1291911/kernel/sound/soc/generic/snd-soc-simple-card.ko: Invalid argument
depmod: ERROR: failed to load symbols from /lib/modules/5.10.168-rt83-gc1a1291911/kernel/sound/soc/generic/snd-soc-audio-graph-card.ko: Invalid argument
depmod: ERROR: failed to load symbols from /lib/modules/5.10.168-rt83-gc1a1291911/kernel/sound/soc/ti/snd-soc-j721e-evm.ko: Invalid argument
depmod: ERROR: failed to load symbols from /lib/modules/5.10.168-rt83-gc1a1291911/kernel/samples/rpmsg/rpmsg_client_sample.ko: Invalid argument
depmod: ERROR: failed to load symbols from /lib/modules/5.10.168-rt83-gc1a1291911/kernel/net/netfilter/nf_conntrack.ko: Invalid argument
depmod: ERROR: failed to load symbols from /lib/modules/5.10.168-rt83-gc1a1291911/kernel/net/xfrm/xfrm_algo.ko: Invalid argument
depmod: ERROR: failed to load symbols from /lib/modules/5.10.168-rt83-gc1a1291911/kernel/net/xfrm/xfrm_user.ko: Invalid argument
depmod: ERROR: failed to load symbols from /lib/modules/5.10.168-rt83-gc1a1291911/kernel/net/xfrm/xfrm_ipcomp.ko: Invalid argument
depmod: ERROR: failed to load symbols from /lib/modules/5.10.168-rt83-gc1a1291911/kernel/net/ipv6/ipv6.ko: Invalid argument
depmod: ERROR: failed to load symbols from /lib/modules/5.10.168-rt83-gc1a1291911/kernel/net/wireless/cfg80211.ko: Invalid argument
depmod: ERROR: failed to load symbols from /lib/modules/5.10.168-rt83-gc1a1291911/kernel/net/bridge/bridge.ko: Invalid argument
depmod: ERROR: failed to load symbols from /lib/modules/5.10.168-rt83-gc1a1291911/kernel/net/bluetooth/bluetooth.ko: Invalid argument
depmod: ERROR: failed to load symbols from /lib/modules/5.10.168-rt83-gc1a1291911/kernel/net/sctp/sctp.ko: Invalid argument
depmod: ERROR: failed to load symbols from /lib/modules/5.10.168-rt83-gc1a1291911/kernel/net/mac80211/mac80211.ko: Invalid argument
root@am62xx-evm:/lib/modules/5.10.168-rt83-gc1a1291911/kernel/drivers/misc# modprobe mytest.ko
modprobe: FATAL: Module mytest.ko not found in directory /lib/modules/5.10.168-rt83-gc1a1291911
root@am62xx-evm:/lib/modules/5.10.168-rt83-gc1a1291911/kernel/drivers/misc# ls
eeprom mytest.ko pci_endpoint_test.ko uacce
root@am62xx-evm:/lib/modules/5.10.168-rt83-gc1a1291911/kernel/drivers/misc# depmod pci_endpoint_test.ko
depmod: ERROR: Bad version passed pci_endpoint_test.ko

Besides, customer tried to install the /driver/misc/pci_endpoint_test.ko, but the modprobe is still failed. 

Thanks
Regards
Shine

Hi Shine,

Please use 'history' in the Linux PC terminal to show all the commands used to build and install the kernel, including compiling the custom mytest.ko driver, and attach the log here.

Hello Bin,

Thank you very much. 

Below are the commands：

594 history
595 export PATH=/home/ubuntu/ti-processor-sdk-linux-rt-am62xx-evm-08.06.00.42/linux-devkit/sysroots/x86_64-arago-linux/usr/bin:$PATH
596 echo $PATH
597 make ARCH=arm64 CROSS_COMPILE=aarch64-none-linux-gnu- clean
598 cp '/home/ubuntu/SDK/board-support/linux-rt-5.10.168+gitAUTOINC+c1a1291911-gc1a1291911/drivers/misc/mytest.c' ./board-support/linux-rt-5.10.168+gitAUTOINC+c1a1291911-gc1a1291911/drivers/misc/
599 vi ./board-support/linux-rt-5.10.168+gitAUTOINC+c1a1291911-gc1a1291911/drivers/misc/Makefile
600 make ARCH=arm64 CROSS_COMPILE=aarch64-none-linux-gnu- tisdk_am62xx-evm-rt_defconfig
601 cd ./board-support/linux-rt-5.10.168+gitAUTOINC+c1a1291911-gc1a1291911/
602 make ARCH=arm64 CROSS_COMPILE=aarch64-none-linux-gnu- tisdk_am62xx-evm-rt_defconfig
603 make ARCH=arm64 CROSS_COMPILE=aarch64-none-linux-gnu- Image
604 make ARCH=arm64 CROSS_COMPILE=aarch64-none-linux-gnu- make ARCH=arm64 CROSS_COMPILE=aarch64-none-linux-gnu- modules
605 make ARCH=arm64 CROSS_COMPILE=aarch64-none-linux-gnu- modules
606 sudo umount /media/ubuntu/root
607 sudo mount /dev/sdb2 /home/ubuntu/rootfs
608 make ARCH=arm64 CROSS_COMPILE=aarch64-none-linux-gnu- ti/k3-am625-sk.dtb
609 sudo rm -f /home/ubuntu/rootfs/boot/*
610 sudo cp '/home/ubuntu/ti-processor-sdk-linux-rt-am62xx-evm-08.06.00.42/board-support/linux-rt-5.10.168+gitAUTOINC+c1a1291911-gc1a1291911/arch/arm64/boot/Image' /home/ubuntu/rootfs/boot
611 sudo cp '/home/ubuntu/ti-processor-sdk-linux-rt-am62xx-evm-08.06.00.42/board-support/linux-rt-5.10.168+gitAUTOINC+c1a1291911-gc1a1291911/arch/arm64/boot/dts/ti/k3-am625-sk.dtb' /home/ubuntu/rootfs/boot
612 sudo make ARCH=arm64 INSTALL_MOD_PATH=/home/ubuntu/rootfs modules_install
613 sudo umount /home/ubuntu/rootfs
614 history

Add below code to driver/misc/makefile：

obj-m  += mytest.o

It still prompted bad version

Attached is the log

7774.log.txt

Thanks
Regards
Shine

Hey Shine,

Could you attach the output of "modinfo mytest.ko"?

Regards,

Randolph

Hi Randolph,

Thank you very much.

Please see below output.

Regards
Shine

Shine,

That seems to be correct. Just to be sure, you aren't playing around with SELinux or anything that would explicitly want extra attributes attached to the file, right?

Regards,

Randolph

Hi Randolph,

Thank you very much. 

Customer only used  tisdk_am62xx-evm-rt_defconfig to make kernel. rootfs and uboot are generated when flashing base.image. He is using insmod to mount mytest.ko and modprobe module, pci_endpoint_test.ko can't mount either. So customer doubted if there is something wrong when compiling. 

Thanks
Regards
Shine

Hi Shine,

I just noticed the customer passes a .ko module file to depmod command. This usage is not correct. Please see the explanation of 'depmod <filenames>' in 'man depmod' command.

"If filenames are given on the command line, only those modules are examined (which is
rarely useful unless all modules are listed)."

Actually since the customer has added driver mytest.c to the kernel tree drivers/misc/ folder,  The specific 'depmod' command on EVM is no longer needed, The module dependencies are already generated when 'make ... modules'.

Please let me know if the customer still has other issues in loading or using mytest.ko.

Hi Bin,

Thank you very much.
 
The problem is that it will prompt "not found" when using modprobe  after mounting and installing the mytest.c to /driver/misc. The problem is the same when using msic/pci**.ko. 

Regards
Shine

Hi Bin,

Customer's problem has been resolved. 

Thank you very much for your great help.

Regards
Shine