X-Git-Url: http://rtime.felk.cvut.cz/gitweb/lincan.git/blobdiff_plain/91dfab84182937b62ef64cb12d8e4f89e6d5c3ec..2c5dbee366e95b46de0cb95cab23d2a94a13f184:/lincan/src/main.c

diff --git a/lincan/src/main.c b/lincan/src/main.c
index 918c2f7..817d678 100644
--- 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;
@@ -139,6 +163,7 @@ int init_module(void)
 	if (parse_mod_parms())
 		return -EINVAL;
 
+	can_spin_lock_init(&canuser_manipulation_lock);
 	canqueue_kern_initialize();
 
 	if (init_hw_struct())
@@ -154,6 +179,15 @@ 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 +209,9 @@ 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 +262,12 @@ 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 +303,11 @@ 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");