Added RT-Linux version of sendburst and readburst utilities.

[lincan.git] / lincan / src / main.c

diff --git a/lincan/src/main.c b/lincan/src/main.c
index 918c2f76ecb30a07ac7e4fc38e4dfaf40fe4fd8d..b57c79c87b53e3b00795bd2e28c53d11095be842 100644 (file)
--- a/lincan/src/main.c
+++ b/lincan/src/main.c
@@ -56,8 +56,15 @@
 #include "../include/finish.h"
 #include "../include/fasync.h"
 
+#ifdef CAN_WITH_RTL
+#include <rtl_posixio.h>
+#include "../include/can_iortl.h"
+#endif /*CAN_WITH_RTL*/
+
 #define EXPORT_SYMTAB
 
+can_spinlock_t canuser_manipulation_lock;
+
 /* Module parameters, some must be supplied at module loading time */
 int major=CAN_MAJOR;
 MODULE_PARM(major,"1i");
@@ -95,6 +102,9 @@ MODULE_LICENSE("GPL");
 #ifdef MODULE_DESCRIPTION
 MODULE_DESCRIPTION("Universal Linux CAN-bus device driver");
 #endif
+#ifdef MODULE_AUTHOR
+MODULE_AUTHOR("Pavel Pisa <pisa@cmp.felk.cvut.cz>, Arnaud Westenberg");
+#endif
 
 /* Global structures, used to describe the installed hardware. */
 struct canhardware_t canhardware;
@@ -130,6 +140,20 @@ struct file_operations can_fops=
 
 EXPORT_SYMBOL(can_fops);
 
+
+#ifdef CAN_WITH_RTL
+struct rtl_file_operations can_fops_rtl = {
+       llseek:         NULL,
+       read:           can_read_rtl_posix,
+       write:          can_write_rtl_posix,
+       ioctl:          can_ioctl_rtl_posix,
+       mmap:           NULL,
+       open:           can_open_rtl_posix,
+       release:        can_release_rtl_posix
+};
+#endif /*CAN_WITH_RTL*/
+
+
 int init_module(void)
 {
        int res=0,i=0, j;
@@ -154,6 +178,15 @@ int init_module(void)
                return -ENODEV;
        }
 
+       #ifdef CAN_WITH_RTL
+       canqueue_rtl_initialize();
+       res=rtl_register_rtldev(major,DEVICE_NAME,&can_fops_rtl);
+       if (res<0) {
+               CANMSG("Error registering RT-Linux major number.\n");
+               goto rtldev_error;
+       }
+       #endif /*CAN_WITH_RTL*/
+
        for (i=0; i<hardware_p->nr_boards; i++) {
                candev=hardware_p->candevice[i];
                if (candev->hwspecops->request_io(candev)) 
@@ -175,14 +208,9 @@ int init_module(void)
                for(j=0; j<candev->nr_all_chips; j++) {
                        if((chip=candev->chip[j])==NULL)
                                continue;
-                       if(!chip->chipspecops->irq_handler)
-                               continue;
-                       
-                       if (request_irq(chip->chip_irq,chip->chipspecops->irq_handler,SA_SHIRQ,DEVICE_NAME,chip))
+                       if(can_chip_setup_irq(chip)<0) {
+                               CANMSG("IRQ setup failed\n");
                                goto interrupt_error;
-                       else {
-                               DEBUGMSG("Registered interrupt %d\n",chip->chip_irq);
-                               chip->flags |= CHIP_IRQ_SETUP;
                        }
                }
                
@@ -233,6 +261,12 @@ int init_module(void)
        memory_error: ;
                canhardware_done(hardware_p);
 
+               #ifdef CAN_WITH_RTL
+               rtl_unregister_rtldev(major,DEVICE_NAME);
+       rtldev_error:
+               canqueue_rtl_done();
+               #endif /*CAN_WITH_RTL*/
+
                res=unregister_chrdev(major,DEVICE_NAME);
                if (res<0)
                        CANMSG("Error unloading CAN driver, error: %d\n",res);
@@ -268,6 +302,11 @@ void cleanup_module(void)
 
        canhardware_done(hardware_p);
 
+       #ifdef CAN_WITH_RTL
+       rtl_unregister_rtldev(major,DEVICE_NAME);
+       canqueue_rtl_done();
+       #endif /*CAN_WITH_RTL*/
+
        if ( can_del_mem_list() ) 
                CANMSG("Error deallocating memory\n");