int init_module(void) {
int n;
struct shm_status sm;
int retval;
rtapi_switch = rtapi_get_handle();
// first thing: attach global_data
sm.key = OS_KEY(GLOBAL_KEY, rtapi_instance);
sm.size = 0;
sm.flags = 0;
if ((retval = shmdrv_attach(&sm, (void **)&global_data)) < 0) {
// cant use the message ringbuffer just yet
printk("RTAPI:%d ERROR: can attach global segment: %d\n",
rtapi_instance, retval);
return -EINVAL;
}
// fail immediately if the global segment isnt in shape yet
// this catches https://github.com/zultron/linuxcnc/issues/49 early
if (global_data->magic != GLOBAL_READY) {
printk("RTAPI:%d ERROR: bad global magic: 0x%x\n",
rtapi_instance,global_data->magic);
// TBD: remove once cause identified
printk("halsize=%d\n", global_data->hal_size);
printk("msgd pid=%d\n", global_data->rtapi_msgd_pid);
printk("magic=%x\n", global_data->magic);
printk("flavor=%d\n", global_data->rtapi_thread_flavor);
// fail the insmod
return -EINVAL;
}
// say hello - this now goes through the message ringbuffer
rtapi_print_msg(RTAPI_MSG_INFO, "RTAPI:%d %s %s init\n",
rtapi_instance,
rtapi_get_handle()->thread_flavor_name,
GIT_VERSION);
sm.key = OS_KEY(RTAPI_KEY, rtapi_instance);
sm.size = sizeof(rtapi_data_t);
sm.flags = 0;
if ((retval = shmdrv_create(&sm)) < 0) {
rtapi_print_msg(RTAPI_MSG_ERR,
"RTAPI:%d ERROR: can create rtapi segment: %d\n",
rtapi_instance, retval);
return -EINVAL;
}
if ((retval = shmdrv_attach(&sm, (void **)&rtapi_data)) < 0) {
rtapi_print_msg(RTAPI_MSG_ERR,
"RTAPI:%d ERROR: cant attach rtapi segment: %d\n",
rtapi_instance, retval);
return -EINVAL;
}
// make error ringbuffer accessible within RTAPI
ringbuffer_init(&global_data->rtapi_messages, &rtapi_message_buffer);
global_data->rtapi_messages.refcount += 1; // rtapi is 'attached'
// tag messages originating from RT proper
rtapi_set_logtag("rt");
/* this will take care of any threads flavor hook */
init_rtapi_data(rtapi_data);
/* check flavor and serial codes */
if (rtapi_data->thread_flavor_id != THREAD_FLAVOR_ID) {
/* mismatch - release master shared memory block */
rtapi_print_msg(RTAPI_MSG_ERR,
"RTAPI: ERROR: flavor mismatch %d vs %d\n",
rtapi_data->thread_flavor_id, THREAD_FLAVOR_ID);
sm.key = OS_KEY(RTAPI_KEY, rtapi_instance);
sm.size = sizeof(global_data_t);
sm.flags = 0;
if ((retval = shmdrv_detach(&sm)) < 0) {
rtapi_print_msg(RTAPI_MSG_ERR,
"INSTANCE:%d ERROR: shmdrv_detach() returns %d\n",
rtapi_instance, retval);
}
sm.key = OS_KEY(GLOBAL_KEY, rtapi_instance);
sm.size = sizeof(global_data_t);
sm.flags = 0;
if ((retval = shmdrv_detach(&sm)) < 0) {
rtapi_print_msg(RTAPI_MSG_ERR,
"INSTANCE:%d ERROR: shmdrv_detach() returns %d\n",
rtapi_instance, retval);
}
return -EINVAL;
}
if (rtapi_data->serial != RTAPI_SERIAL) {
/* mismatch - release master shared memory block */
rtapi_print_msg(RTAPI_MSG_ERR,
"RTAPI: ERROR: serial mismatch '%d' vs '%d'\n",
rtapi_data->serial, RTAPI_SERIAL);
return -EINVAL;
}
/* set up local pointers to global data */
module_array = rtapi_data->module_array;
task_array = rtapi_data->task_array;
shmem_array = rtapi_data->shmem_array;
/* perform local init */
for (n = 0; n <= RTAPI_MAX_TASKS; n++) {
ostask_array[n] = NULL;
}
for (n = 0; n <= RTAPI_MAX_SHMEMS; n++) {
shmem_addr_array[n] = NULL;
}
rtapi_data->timer_running = 0;
rtapi_data->timer_period = 0;
max_delay = DEFAULT_MAX_DELAY;
#ifdef RT_LINUX_USE_FPU
rt_linux_use_fpu(1);
#endif
#if LINUX_VERSION_CODE > KERNEL_VERSION(2,6,0)
/* on SMP machines, we want to put RT code on the last CPU */
n = NR_CPUS-1;
while ( ! cpu_online(n) ) {
n--;
}
rtapi_data->rt_cpu = n;
#else
/* old kernel, the SMP hooks aren't available, so use CPU 0 */
rtapi_data->rt_cpu = 0;
#endif
#ifdef CONFIG_PROC_FS
/* set up /proc/rtapi */
if (proc_init() != 0) {
rtapi_print_msg(RTAPI_MSG_WARN,
"RTAPI: WARNING: Could not activate /proc entries\n");
proc_clean();
}
#endif
#ifdef HAVE_RTAPI_MODULE_INIT_HOOK
_rtapi_module_init_hook();
#endif
/* done */
rtapi_print_msg(RTAPI_MSG_INFO, "RTAPI:%d Init complete\n",
rtapi_instance);
return 0;
}
int rtapi_init(const char *modname)
{
int n, module_id;
module_data *module;
/* say hello */
rtapi_print_msg(RTAPI_MSG_DBG, "RTAPI: initing module %s\n", modname);
/* get shared memory block from OS and save its address */
errno = 0;
if(!rtapi_data)
rtapi_data = rtai_malloc(RTAPI_KEY, sizeof(rtapi_data_t));
// the check for -1 here is because rtai_malloc (in at least
// rtai 3.6.1, and probably others) has a bug where it
// sometimes returns -1 on error
if (rtapi_data == NULL || rtapi_data == (rtapi_data_t*)-1) {
rtapi_print_msg(RTAPI_MSG_ERR,
"RTAPI: ERROR: could not open shared memory (%s)\n", strerror(errno));
check_memlock_limit("could not open shared memory");
rtapi_data = 0;
return -ENOMEM;
}
nummods++;
/* perform a global init if needed */
init_rtapi_data(rtapi_data);
/* check revision code */
if (rtapi_data->rev_code != rev_code) {
/* mismatch - release master shared memory block */
rtapi_print_msg(RTAPI_MSG_ERR, "RTAPI: ERROR: version mismatch %d vs %d\n", rtapi_data->rev_code, rev_code);
return -EINVAL;
}
/* set up local pointers to global data */
module_array = rtapi_data->module_array;
task_array = rtapi_data->task_array;
shmem_array = rtapi_data->shmem_array;
sem_array = rtapi_data->sem_array;
fifo_array = rtapi_data->fifo_array;
irq_array = rtapi_data->irq_array;
/* perform local init */
for (n = 0; n <= RTAPI_MAX_SHMEMS; n++) {
shmem_addr_array[n] = NULL;
}
/* get the mutex */
rtapi_mutex_get(&(rtapi_data->mutex));
/* find empty spot in module array */
n = 1;
while ((n <= RTAPI_MAX_MODULES) && (module_array[n].state != NO_MODULE)) {
n++;
}
if (n > RTAPI_MAX_MODULES) {
/* no room */
rtapi_mutex_give(&(rtapi_data->mutex));
rtapi_print_msg(RTAPI_MSG_ERR, "RTAPI: ERROR: reached module limit %d\n",
n);
return -EMFILE;
}
/* we have space for the module */
module_id = n;
module = &(module_array[n]);
/* update module data */
module->state = USERSPACE;
if (modname != NULL) {
/* use name supplied by caller, truncating if needed */
snprintf(module->name, RTAPI_NAME_LEN, "%s", modname);
} else {
/* make up a name */
snprintf(module->name, RTAPI_NAME_LEN, "ULMOD%03d", module_id);
}
rtapi_data->ul_module_count++;
rtapi_mutex_give(&(rtapi_data->mutex));
rtapi_print_msg(RTAPI_MSG_DBG, "RTAPI: module '%s' inited, ID = %02d\n",
module->name, module_id);
return module_id;
}
int rtapi_init(char *modname)
{
int n, module_id;
module_data *module;
/* say hello */
rtapi_print_msg(RTAPI_MSG_DBG, "RTAPI: initing module %s\n", modname);
/* setup revision string and code, and print opening message */
setup_revision_info();
/* get shared memory block from OS and save its address */
errno = 0;
rtapi_data = rtai_malloc(RTAPI_KEY, sizeof(rtapi_data_t));
if (rtapi_data == NULL || rtapi_data == (rtapi_data_t*)-1) {
rtapi_print_msg(RTAPI_MSG_ERR,
"RTAPI: ERROR: could not open shared memory (errno=%d)\n", errno);
return RTAPI_NOMEM;
}
/* perform a global init if needed */
init_rtapi_data(rtapi_data);
/* check revision code */
if (rtapi_data->rev_code != rev_code) {
/* mismatch - release master shared memory block */
rtapi_print_msg(RTAPI_MSG_ERR, "RTAPI: ERROR: version mismatch %d vs %d\n", rtapi_data->rev_code, rev_code);
rtai_free(RTAPI_KEY, rtapi_data);
return RTAPI_FAIL;
}
/* set up local pointers to global data */
module_array = rtapi_data->module_array;
task_array = rtapi_data->task_array;
shmem_array = rtapi_data->shmem_array;
sem_array = rtapi_data->sem_array;
fifo_array = rtapi_data->fifo_array;
irq_array = rtapi_data->irq_array;
/* perform local init */
for (n = 0; n <= RTAPI_MAX_SHMEMS; n++) {
shmem_addr_array[n] = NULL;
}
/* get the mutex */
rtapi_mutex_get(&(rtapi_data->mutex));
/* find empty spot in module array */
n = 1;
while ((n <= RTAPI_MAX_MODULES) && (module_array[n].state != NO_MODULE)) {
n++;
}
if (n > RTAPI_MAX_MODULES) {
/* no room */
rtapi_mutex_give(&(rtapi_data->mutex));
rtapi_print_msg(RTAPI_MSG_ERR, "RTAPI: ERROR: reached module limit %d\n",
n);
return RTAPI_LIMIT;
}
/* we have space for the module */
module_id = n;
module = &(module_array[n]);
/* update module data */
module->state = USERSPACE;
if (modname != NULL) {
/* use name supplied by caller, truncating if needed */
snprintf(module->name, RTAPI_NAME_LEN, "%s", modname);
} else {
/* make up a name */
snprintf(module->name, RTAPI_NAME_LEN, "ULMOD%03d", module_id);
}
rtapi_data->ul_module_count++;
rtapi_mutex_give(&(rtapi_data->mutex));
rtapi_print_msg(RTAPI_MSG_DBG, "RTAPI: module '%s' inited, ID = %02d\n",
module->name, module_id);
return module_id;
}
