help

Hi, I'm korean.
sorry for both hesitating english expression and linux beginner. please understand...

I did a periodic task for rtlinux. At the compilation step everythings ok but I have the 'segmentation fault' error when my rt_task module is inserted to kernel space. I read the related mailing list contents but I never found out the solution about this problem.

I'm using debian, rtlinux-3.1, linux kernel-2.4.4, comedi-0.7.65, comedilib-0.7.19

source code(analog out) is following
//====================================================================
#include
#include
#include
#include
#include
#include

int dev = 0; // device: 0
int subdev = 1; // analog output

pthread_t daq_run;

#define milisec 1000000

void *daq_th1(void)
{
lsampl_t data;

struct sched_param daq_p;
daq_p.sched_priority = 1;
pthread_setschedparam(pthread_self(),SCHED_FIFO,&daq_p);
pthread_setfp_np(pthread_self(),1);

pthread_make_periodic_np (pthread_self(),gethrtime(),milisec*1000);

data = 1000;

while(1){
pthread_wait_np();
if (data >= 4000) data = 4000;
comedi_data_write(dev,subdev,0,0,AREF_GROUND,&data);
data = data + 100;
}
return 0;
}

int init_module(void)
{
comedi_lock(dev,subdev);
comedi_open(dev);

pthread_create(&daq_run,NULL,daq_th1,0);

return 0;
}

void cleanup_module(void)
{
pthread_delete_np(daq_run);

comedi_cancel(dev,subdev);
comedi_unlock(dev,subdev);
comedi_close(dev);
}
===============================================================//

makefile is following
//==============================================================
all: daqtest.o
COMEDI = -I/root/hwang/DAQ_test/comedi/comedi-0.7.65/include

include ../../rtl.mk

daqtest.o: daqtest.c
$(CC) $(COMEDI) $(INCLUDE) $(CFLAGS) -c daqtest.c

test: all
_at_echo "type 'return' to continue"
_at_read junk
(cd ../../; scripts/rmrtl)
_at_echo "type 'return' to insert rt_components"
_at_read junk
(cd ../../; scripts/insrtl)
_at_echo "type 'return' to insert your module"
_at_read junk
_at_insmod daqtest.o # (_at___at_) -------> occur 'segmentation fault' error at this point
_at_sleep 3
_at_echo "type 'return' to rmmod"
_at_read junk
-rmmod daqtest

clean:
rm -f *.o

include $(RTL_DIR)/Rules.make
==============================================================//

I did execute the following before executing the upper step
1) modprobe comedi
2) modprobe ni_pcimio
3) modprobe kcomedilib

what's the problem?
please teaching me!!!!!
thank you

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