X-Git-Url: http://rtime.felk.cvut.cz/gitweb/lincan.git/blobdiff_plain/c6d6f58c34e1b6a4c03d1e86d1abf48eeb6f5624..2827b727d2910a3b48f9de7d67b3a67f59e256c7:/lincan/src/main.c diff --git a/lincan/src/main.c b/lincan/src/main.c index a1b6631..23bd6da 100644 --- a/lincan/src/main.c +++ b/lincan/src/main.c @@ -7,7 +7,9 @@ * Version lincan-0.2 9 Jul 2003 */ +#ifndef EXPORT_SYMTAB #define EXPORT_SYMTAB +#endif #include @@ -54,35 +56,60 @@ #include "../include/ioctl.h" #include "../include/write.h" #include "../include/finish.h" +#include "../include/fasync.h" -#define EXPORT_SYMTAB +#ifdef CAN_WITH_RTL +#include +#include "../include/can_iortl.h" +#endif /*CAN_WITH_RTL*/ + +can_spinlock_t canuser_manipulation_lock; /* Module parameters, some must be supplied at module loading time */ int major=CAN_MAJOR; MODULE_PARM(major,"1i"); +MODULE_PARM_DESC(major,"can be used to change default major [" __MODULE_STRING(CAN_MAJOR) "]"); int minor[MAX_TOT_CHIPS]={-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1}; /*MODULE_PARM(minor, "1-" __MODULE_STRING(MAX_TOT_CHIPS)"i");*/ MODULE_PARM(minor, "1-" __MODULE_STRING(MAX_TOT_CHIPS_STR)"i"); +MODULE_PARM_DESC(minor,"can be used to change default starting minor for each channel"); int extended=0; MODULE_PARM(extended,"1i"); +MODULE_PARM_DESC(extended,"enables automatic switching to extended format if ID>2047," + " selects extended frames reception for i82527"); int pelican=0; MODULE_PARM(pelican,"1i"); +MODULE_PARM_DESC(pelican,"unused parameter, PeliCAN used by default for sja1000p chips"); int baudrate[MAX_TOT_CHIPS]; MODULE_PARM(baudrate, "1-" __MODULE_STRING(MAX_TOT_CHIPS_STR)"i"); +MODULE_PARM_DESC(baudrate,"baudrate for each channel in step of 1kHz"); char *hw[MAX_HW_CARDS]={NULL,}; MODULE_PARM(hw, "1-" __MODULE_STRING(MAX_HW_CARDS)"s"); +MODULE_PARM_DESC(hw,"list of boards types to initialize - virtual,pip5,..."); int irq[MAX_IRQ]={-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1}; MODULE_PARM(irq, "1-" __MODULE_STRING(MAX_IRQ)"i"); +MODULE_PARM_DESC(irq,"list of iterrupt signal numbers, most ISA has one per chip, no value for PCI or virtual"); unsigned long io[MAX_HW_CARDS]={-1,-1,-1,-1,-1,-1,-1,-1}; MODULE_PARM(io, "1-" __MODULE_STRING(MAX_HW_CARDS)"i"); +MODULE_PARM_DESC(io,"IO address for each board, use 0 for PCI or virtual"); int stdmask=0; MODULE_PARM(stdmask, "1i"); +MODULE_PARM_DESC(stdmask,"default standard mask for i82527 chips"); int extmask=0; MODULE_PARM(extmask, "1i"); +MODULE_PARM_DESC(extmask,"default extended mask for i82527 chips"); int mo15mask=0; MODULE_PARM(mo15mask, "1i"); +MODULE_PARM_DESC(mo15mask,"mask for communication object 15 of i82527 chips"); int processlocal=0; MODULE_PARM(processlocal, "1i"); +MODULE_PARM_DESC(processlocal,"select postprocessing/loopback of transmitted messages - " + "0 .. disabled, 1 .. can be enabled by FIFO filter, 2 .. enabled by default"); +#ifdef CAN_WITH_RTL +int can_rtl_priority=-1; +MODULE_PARM(can_rtl_priority, "1i"); +MODULE_PARM_DESC(can_rtl_priority,"select priority of chip worker thread"); +#endif /*CAN_WITH_RTL*/ /* Other module attributes */ #ifdef MODULE_SUPPORTED_DEVICE @@ -94,6 +121,9 @@ MODULE_LICENSE("GPL"); #ifdef MODULE_DESCRIPTION MODULE_DESCRIPTION("Universal Linux CAN-bus device driver"); #endif +#ifdef MODULE_AUTHOR +MODULE_AUTHOR("Pavel Pisa , Arnaud Westenberg"); +#endif /* Global structures, used to describe the installed hardware. */ struct canhardware_t canhardware; @@ -111,36 +141,38 @@ devfs_handle_t devfs_handles[MAX_TOT_MSGOBJS]; */ struct mem_addr *mem_head=NULL; -#if (LINUX_VERSION_CODE <= KERNEL_VERSION(2,3,0)) -struct file_operations can_fops= -{ - NULL, /* llseek */ - read: can_read, - write: can_write, - NULL, /* readdir */ - poll: can_poll, - ioctl: can_ioctl, - NULL, /* mmap */ - open: can_open, - NULL, /* flush */ - release: can_close, - NULL, /* fsync */ -}; -#else struct file_operations can_fops= { + #if (LINUX_VERSION_CODE >= KERNEL_VERSION(2,3,0)) owner: THIS_MODULE, + #endif read: can_read, write: can_write, poll: can_poll, ioctl: can_ioctl, open: can_open, release: can_close, + #ifdef CAN_ENABLE_KERN_FASYNC + fasync: can_fasync + #endif /*CAN_ENABLE_KERN_FASYNC*/ }; -#endif 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; @@ -150,6 +182,7 @@ int init_module(void) if (parse_mod_parms()) return -EINVAL; + can_spin_lock_init(&canuser_manipulation_lock); canqueue_kern_initialize(); if (init_hw_struct()) @@ -165,6 +198,16 @@ int init_module(void) return -ENODEV; } + #ifdef CAN_WITH_RTL + can_spin_lock_init(&can_irq_manipulation_lock); + 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; inr_boards; i++) { candev=hardware_p->candevice[i]; if (candev->hwspecops->request_io(candev)) @@ -178,7 +221,7 @@ int init_module(void) goto reset_error; } - spin_lock_init(&hardware_p->rtr_lock); + can_spin_lock_init(&hardware_p->rtr_lock); hardware_p->rtr_queue=NULL; for (i=0; inr_boards; i++) { @@ -186,14 +229,9 @@ int init_module(void) for(j=0; jnr_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; } } @@ -244,6 +282,12 @@ 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); @@ -279,6 +323,11 @@ 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");