drivers/staging/comedi/drivers/serial2002.c

   1 /*
   2     comedi/drivers/serial2002.c
   3     Skeleton code for a Comedi driver
   4
   5     COMEDI - Linux Control and Measurement Device Interface
   6     Copyright (C) 2002 Anders Blomdell <anders.blomdell@control.lth.se>
   7
   8     This program is free software; you can redistribute it and/or modify
   9     it under the terms of the GNU General Public License as published by
  10     the Free Software Foundation; either version 2 of the License, or
  11     (at your option) any later version.
  12
  13     This program is distributed in the hope that it will be useful,
  14     but WITHOUT ANY WARRANTY; without even the implied warranty of
  15     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  16     GNU General Public License for more details.
  17
  18     You should have received a copy of the GNU General Public License
  19     along with this program; if not, write to the Free Software
  20     Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
  21
  22 */
  23
  24 /*
  25 Driver: serial2002
  26 Description: Driver for serial connected hardware
  27 Devices:
  28 Author: Anders Blomdell
  29 Updated: Fri,  7 Jun 2002 12:56:45 -0700
  30 Status: in development
  31
  32 */
  33
  34 #include "../comedidev.h"
  35
  36 #include <linux/delay.h>
  37 #include <linux/ioport.h>
  38 #include <linux/sched.h>
  39
  40 #include <asm/termios.h>
  41 #include <asm/ioctls.h>
  42 #include <linux/serial.h>
  43 #include <linux/poll.h>
  44
  45 /*
  46  * Board descriptions for two imaginary boards.  Describing the
  47  * boards in this way is optional, and completely driver-dependent.
  48  * Some drivers use arrays such as this, other do not.
  49  */
  50 struct serial2002_board {
  51         const char *name;
  52 };
  53
  54 static const struct serial2002_board serial2002_boards[] = {
  55         {
  56          .name = "serial2002"}
  57 };
  58
  59 /*
  60  * Useful for shorthand access to the particular board structure
  61  */
  62 #define thisboard ((const struct serial2002_board *)dev->board_ptr)
  63
  64 struct serial2002_range_table_t {
  65
  66         /*  HACK... */
  67         int length;
  68         struct comedi_krange range;
  69 };
  70
  71 struct serial2002_private {
  72
  73         int port;               /*  /dev/ttyS<port> */
  74         int speed;              /*  baudrate */
  75         struct file *tty;
  76         unsigned int ao_readback[32];
  77         unsigned char digital_in_mapping[32];
  78         unsigned char digital_out_mapping[32];
  79         unsigned char analog_in_mapping[32];
  80         unsigned char analog_out_mapping[32];
  81         unsigned char encoder_in_mapping[32];
  82         struct serial2002_range_table_t in_range[32], out_range[32];
  83 };
  84
  85 /*
  86  * most drivers define the following macro to make it easy to
  87  * access the private structure.
  88  */
  89 #define devpriv ((struct serial2002_private *)dev->private)
  90
  91 static int serial2002_attach(struct comedi_device *dev,
  92                              struct comedi_devconfig *it);
  93 static int serial2002_detach(struct comedi_device *dev);
  94 struct comedi_driver driver_serial2002 = {
  95         .driver_name = "serial2002",
  96         .module = THIS_MODULE,
  97         .attach = serial2002_attach,
  98         .detach = serial2002_detach,
  99         .board_name = &serial2002_boards[0].name,
 100         .offset = sizeof(struct serial2002_board),
 101         .num_names = ARRAY_SIZE(serial2002_boards),
 102 };
 103
 104 static int serial2002_di_rinsn(struct comedi_device *dev,
 105                                struct comedi_subdevice *s,
 106                                struct comedi_insn *insn, unsigned int *data);
 107 static int serial2002_do_winsn(struct comedi_device *dev,
 108                                struct comedi_subdevice *s,
 109                                struct comedi_insn *insn, unsigned int *data);
 110 static int serial2002_ai_rinsn(struct comedi_device *dev,
 111                                struct comedi_subdevice *s,
 112                                struct comedi_insn *insn, unsigned int *data);
 113 static int serial2002_ao_winsn(struct comedi_device *dev,
 114                                struct comedi_subdevice *s,
 115                                struct comedi_insn *insn, unsigned int *data);
 116 static int serial2002_ao_rinsn(struct comedi_device *dev,
 117                                struct comedi_subdevice *s,
 118                                struct comedi_insn *insn, unsigned int *data);
 119
 120 struct serial_data {
 121         enum { is_invalid, is_digital, is_channel } kind;
 122         int index;
 123         unsigned long value;
 124 };
 125
 126 static long tty_ioctl(struct file *f, unsigned op, unsigned long param)
 127 {
 128         if (f->f_op->unlocked_ioctl)
 129                 return f->f_op->unlocked_ioctl(f, op, param);
 130
 131         return -ENOSYS;
 132 }
 133
 134 static int tty_write(struct file *f, unsigned char *buf, int count)
 135 {
 136         int result;
 137         mm_segment_t oldfs;
 138
 139         oldfs = get_fs();
 140         set_fs(KERNEL_DS);
 141         f->f_pos = 0;
 142         result = f->f_op->write(f, buf, count, &f->f_pos);
 143         set_fs(oldfs);
 144         return result;
 145 }
 146
 147 #if 0
 148 /*
 149  * On 2.6.26.3 this occaisonally gave me page faults, worked around by
 150  * settings.c_cc[VMIN] = 0; settings.c_cc[VTIME] = 0
 151  */
 152 static int tty_available(struct file *f)
 153 {
 154         long result = 0;
 155         mm_segment_t oldfs;
 156
 157         oldfs = get_fs();
 158         set_fs(KERNEL_DS);
 159         tty_ioctl(f, FIONREAD, (unsigned long)&result);
 160         set_fs(oldfs);
 161         return result;
 162 }
 163 #endif
 164
 165 static int tty_read(struct file *f, int timeout)
 166 {
 167         int result;
 168
 169         result = -1;
 170         if (!IS_ERR(f)) {
 171                 mm_segment_t oldfs;
 172
 173                 oldfs = get_fs();
 174                 set_fs(KERNEL_DS);
 175                 if (f->f_op->poll) {
 176                         struct poll_wqueues table;
 177                         struct timeval start, now;
 178
 179                         do_gettimeofday(&start);
 180                         poll_initwait(&table);
 181                         while (1) {
 182                                 long elapsed;
 183                                 int mask;
 184
 185                                 mask = f->f_op->poll(f, &table.pt);
 186                                 if (mask & (POLLRDNORM | POLLRDBAND | POLLIN |
 187                                             POLLHUP | POLLERR)) {
 188                                         break;
 189                                 }
 190                                 do_gettimeofday(&now);
 191                                 elapsed =
 192                                     (1000000 * (now.tv_sec - start.tv_sec) +
 193                                      now.tv_usec - start.tv_usec);
 194                                 if (elapsed > timeout) {
 195                                         break;
 196                                 }
 197                                 set_current_state(TASK_INTERRUPTIBLE);
 198                                 schedule_timeout(((timeout -
 199                                                    elapsed) * HZ) / 10000);
 200                         }
 201                         poll_freewait(&table);
 202                         {
 203                                 unsigned char ch;
 204
 205                                 f->f_pos = 0;
 206                                 if (f->f_op->read(f, &ch, 1, &f->f_pos) == 1) {
 207                                         result = ch;
 208                                 }
 209                         }
 210                 } else {
 211                         /* Device does not support poll, busy wait */
 212                         int retries = 0;
 213                         while (1) {
 214                                 unsigned char ch;
 215
 216                                 retries++;
 217                                 if (retries >= timeout) {
 218                                         break;
 219                                 }
 220
 221                                 f->f_pos = 0;
 222                                 if (f->f_op->read(f, &ch, 1, &f->f_pos) == 1) {
 223                                         result = ch;
 224                                         break;
 225                                 }
 226                                 udelay(100);
 227                         }
 228                 }
 229                 set_fs(oldfs);
 230         }
 231         return result;
 232 }
 233
 234 static void tty_setspeed(struct file *f, int speed)
 235 {
 236         mm_segment_t oldfs;
 237
 238         oldfs = get_fs();
 239         set_fs(KERNEL_DS);
 240         {
 241                 /*  Set speed */
 242                 struct termios settings;
 243
 244                 tty_ioctl(f, TCGETS, (unsigned long)&settings);
 245 /* printk("Speed: %d\n", settings.c_cflag & (CBAUD | CBAUDEX)); */
 246                 settings.c_iflag = 0;
 247                 settings.c_oflag = 0;
 248                 settings.c_lflag = 0;
 249                 settings.c_cflag = CLOCAL | CS8 | CREAD;
 250                 settings.c_cc[VMIN] = 0;
 251                 settings.c_cc[VTIME] = 0;
 252                 switch (speed) {
 253                 case 2400:{
 254                                 settings.c_cflag |= B2400;
 255                         }
 256                         break;
 257                 case 4800:{
 258                                 settings.c_cflag |= B4800;
 259                         }
 260                         break;
 261                 case 9600:{
 262                                 settings.c_cflag |= B9600;
 263                         }
 264                         break;
 265                 case 19200:{
 266                                 settings.c_cflag |= B19200;
 267                         }
 268                         break;
 269                 case 38400:{
 270                                 settings.c_cflag |= B38400;
 271                         }
 272                         break;
 273                 case 57600:{
 274                                 settings.c_cflag |= B57600;
 275                         }
 276                         break;
 277                 case 115200:{
 278                                 settings.c_cflag |= B115200;
 279                         }
 280                         break;
 281                 default:{
 282                                 settings.c_cflag |= B9600;
 283                         }
 284                         break;
 285                 }
 286                 tty_ioctl(f, TCSETS, (unsigned long)&settings);
 287 /* printk("Speed: %d\n", settings.c_cflag & (CBAUD | CBAUDEX)); */
 288         }
 289         {
 290                 /*  Set low latency */
 291                 struct serial_struct settings;
 292
 293                 tty_ioctl(f, TIOCGSERIAL, (unsigned long)&settings);
 294                 settings.flags |= ASYNC_LOW_LATENCY;
 295                 tty_ioctl(f, TIOCSSERIAL, (unsigned long)&settings);
 296         }
 297
 298         set_fs(oldfs);
 299 }
 300
 301 static void poll_digital(struct file *f, int channel)
 302 {
 303         char cmd;
 304
 305         cmd = 0x40 | (channel & 0x1f);
 306         tty_write(f, &cmd, 1);
 307 }
 308
 309 static void poll_channel(struct file *f, int channel)
 310 {
 311         char cmd;
 312
 313         cmd = 0x60 | (channel & 0x1f);
 314         tty_write(f, &cmd, 1);
 315 }
 316
 317 static struct serial_data serial_read(struct file *f, int timeout)
 318 {
 319         struct serial_data result;
 320         int length;
 321
 322         result.kind = is_invalid;
 323         result.index = 0;
 324         result.value = 0;
 325         length = 0;
 326         while (1) {
 327                 int data = tty_read(f, timeout);
 328
 329                 length++;
 330                 if (data < 0) {
 331                         printk("serial2002 error\n");
 332                         break;
 333                 } else if (data & 0x80) {
 334                         result.value = (result.value << 7) | (data & 0x7f);
 335                 } else {
 336                         if (length == 1) {
 337                                 switch ((data >> 5) & 0x03) {
 338                                 case 0:{
 339                                                 result.value = 0;
 340                                                 result.kind = is_digital;
 341                                         }
 342                                         break;
 343                                 case 1:{
 344                                                 result.value = 1;
 345                                                 result.kind = is_digital;
 346                                         }
 347                                         break;
 348                                 }
 349                         } else {
 350                                 result.value =
 351                                     (result.value << 2) | ((data & 0x60) >> 5);
 352                                 result.kind = is_channel;
 353                         }
 354                         result.index = data & 0x1f;
 355                         break;
 356                 }
 357         }
 358         return result;
 359
 360 }
 361
 362 static void serial_write(struct file *f, struct serial_data data)
 363 {
 364         if (data.kind == is_digital) {
 365                 unsigned char ch =
 366                     ((data.value << 5) & 0x20) | (data.index & 0x1f);
 367                 tty_write(f, &ch, 1);
 368         } else {
 369                 unsigned char ch[6];
 370                 int i = 0;
 371                 if (data.value >= (1L << 30)) {
 372                         ch[i] = 0x80 | ((data.value >> 30) & 0x03);
 373                         i++;
 374                 }
 375                 if (data.value >= (1L << 23)) {
 376                         ch[i] = 0x80 | ((data.value >> 23) & 0x7f);
 377                         i++;
 378                 }
 379                 if (data.value >= (1L << 16)) {
 380                         ch[i] = 0x80 | ((data.value >> 16) & 0x7f);
 381                         i++;
 382                 }
 383                 if (data.value >= (1L << 9)) {
 384                         ch[i] = 0x80 | ((data.value >> 9) & 0x7f);
 385                         i++;
 386                 }
 387                 ch[i] = 0x80 | ((data.value >> 2) & 0x7f);
 388                 i++;
 389                 ch[i] = ((data.value << 5) & 0x60) | (data.index & 0x1f);
 390                 i++;
 391                 tty_write(f, ch, i);
 392         }
 393 }
 394
 395 static void serial_2002_open(struct comedi_device *dev)
 396 {
 397         char port[20];
 398
 399         sprintf(port, "/dev/ttyS%d", devpriv->port);
 400         devpriv->tty = filp_open(port, O_RDWR, 0);
 401         if (IS_ERR(devpriv->tty)) {
 402                 printk("serial_2002: file open error = %ld\n",
 403                        PTR_ERR(devpriv->tty));
 404         } else {
 405                 struct config_t {
 406
 407                         short int kind;
 408                         short int bits;
 409                         int min;
 410                         int max;
 411                 };
 412
 413                 struct config_t dig_in_config[32];
 414                 struct config_t dig_out_config[32];
 415                 struct config_t chan_in_config[32];
 416                 struct config_t chan_out_config[32];
 417                 int i;
 418
 419                 for (i = 0; i < 32; i++) {
 420                         dig_in_config[i].kind = 0;
 421                         dig_in_config[i].bits = 0;
 422                         dig_in_config[i].min = 0;
 423                         dig_in_config[i].max = 0;
 424                         dig_out_config[i].kind = 0;
 425                         dig_out_config[i].bits = 0;
 426                         dig_out_config[i].min = 0;
 427                         dig_out_config[i].max = 0;
 428                         chan_in_config[i].kind = 0;
 429                         chan_in_config[i].bits = 0;
 430                         chan_in_config[i].min = 0;
 431                         chan_in_config[i].max = 0;
 432                         chan_out_config[i].kind = 0;
 433                         chan_out_config[i].bits = 0;
 434                         chan_out_config[i].min = 0;
 435                         chan_out_config[i].max = 0;
 436                 }
 437
 438                 tty_setspeed(devpriv->tty, devpriv->speed);
 439                 poll_channel(devpriv->tty, 31); /*  Start reading configuration */
 440                 while (1) {
 441                         struct serial_data data;
 442
 443                         data = serial_read(devpriv->tty, 1000);
 444                         if (data.kind != is_channel || data.index != 31
 445                             || !(data.value & 0xe0)) {
 446                                 break;
 447                         } else {
 448                                 int command, channel, kind;
 449                                 struct config_t *cur_config = 0;
 450
 451                                 channel = data.value & 0x1f;
 452                                 kind = (data.value >> 5) & 0x7;
 453                                 command = (data.value >> 8) & 0x3;
 454                                 switch (kind) {
 455                                 case 1:{
 456                                                 cur_config = dig_in_config;
 457                                         }
 458                                         break;
 459                                 case 2:{
 460                                                 cur_config = dig_out_config;
 461                                         }
 462                                         break;
 463                                 case 3:{
 464                                                 cur_config = chan_in_config;
 465                                         }
 466                                         break;
 467                                 case 4:{
 468                                                 cur_config = chan_out_config;
 469                                         }
 470                                         break;
 471                                 case 5:{
 472                                                 cur_config = chan_in_config;
 473                                         }
 474                                         break;
 475                                 }
 476
 477                                 if (cur_config) {
 478                                         cur_config[channel].kind = kind;
 479                                         switch (command) {
 480                                         case 0:{
 481                                                         cur_config[channel].bits
 482                                                             =
 483                                                             (data.value >> 10) &
 484                                                             0x3f;
 485                                                 }
 486                                                 break;
 487                                         case 1:{
 488                                                         int unit, sign, min;
 489                                                         unit =
 490                                                             (data.value >> 10) &
 491                                                             0x7;
 492                                                         sign =
 493                                                             (data.value >> 13) &
 494                                                             0x1;
 495                                                         min =
 496                                                             (data.value >> 14) &
 497                                                             0xfffff;
 498
 499                                                         switch (unit) {
 500                                                         case 0:{
 501                                                                         min =
 502                                                                             min
 503                                                                             *
 504                                                                             1000000;
 505                                                                 }
 506                                                                 break;
 507                                                         case 1:{
 508                                                                         min =
 509                                                                             min
 510                                                                             *
 511                                                                             1000;
 512                                                                 }
 513                                                                 break;
 514                                                         case 2:{
 515                                                                         min =
 516                                                                             min
 517                                                                             * 1;
 518                                                                 }
 519                                                                 break;
 520                                                         }
 521                                                         if (sign) {
 522                                                                 min = -min;
 523                                                         }
 524                                                         cur_config[channel].min
 525                                                             = min;
 526                                                 }
 527                                                 break;
 528                                         case 2:{
 529                                                         int unit, sign, max;
 530                                                         unit =
 531                                                             (data.value >> 10) &
 532                                                             0x7;
 533                                                         sign =
 534                                                             (data.value >> 13) &
 535                                                             0x1;
 536                                                         max =
 537                                                             (data.value >> 14) &
 538                                                             0xfffff;
 539
 540                                                         switch (unit) {
 541                                                         case 0:{
 542                                                                         max =
 543                                                                             max
 544                                                                             *
 545                                                                             1000000;
 546                                                                 }
 547                                                                 break;
 548                                                         case 1:{
 549                                                                         max =
 550                                                                             max
 551                                                                             *
 552                                                                             1000;
 553                                                                 }
 554                                                                 break;
 555                                                         case 2:{
 556                                                                         max =
 557                                                                             max
 558                                                                             * 1;
 559                                                                 }
 560                                                                 break;
 561                                                         }
 562                                                         if (sign) {
 563                                                                 max = -max;
 564                                                         }
 565                                                         cur_config[channel].max
 566                                                             = max;
 567                                                 }
 568                                                 break;
 569                                         }
 570                                 }
 571                         }
 572                 }
 573                 for (i = 0; i <= 4; i++) {
 574                         /*  Fill in subdev data */
 575                         struct config_t *c;
 576                         unsigned char *mapping = 0;
 577                         struct serial2002_range_table_t *range = 0;
 578                         int kind = 0;
 579
 580                         switch (i) {
 581                         case 0:{
 582                                         c = dig_in_config;
 583                                         mapping = devpriv->digital_in_mapping;
 584                                         kind = 1;
 585                                 }
 586                                 break;
 587                         case 1:{
 588                                         c = dig_out_config;
 589                                         mapping = devpriv->digital_out_mapping;
 590                                         kind = 2;
 591                                 }
 592                                 break;
 593                         case 2:{
 594                                         c = chan_in_config;
 595                                         mapping = devpriv->analog_in_mapping;
 596                                         range = devpriv->in_range;
 597                                         kind = 3;
 598                                 }
 599                                 break;
 600                         case 3:{
 601                                         c = chan_out_config;
 602                                         mapping = devpriv->analog_out_mapping;
 603                                         range = devpriv->out_range;
 604                                         kind = 4;
 605                                 }
 606                                 break;
 607                         case 4:{
 608                                         c = chan_in_config;
 609                                         mapping = devpriv->encoder_in_mapping;
 610                                         range = devpriv->in_range;
 611                                         kind = 5;
 612                                 }
 613                                 break;
 614                         default:{
 615                                         c = 0;
 616                                 }
 617                                 break;
 618                         }
 619                         if (c) {
 620                                 struct comedi_subdevice *s;
 621                                 const struct comedi_lrange **range_table_list =
 622                                     NULL;
 623                                 unsigned int *maxdata_list;
 624                                 int j, chan;
 625
 626                                 for (chan = 0, j = 0; j < 32; j++) {
 627                                         if (c[j].kind == kind) {
 628                                                 chan++;
 629                                         }
 630                                 }
 631                                 s = &dev->subdevices[i];
 632                                 s->n_chan = chan;
 633                                 s->maxdata = 0;
 634                                 if (s->maxdata_list) {
 635                                         kfree(s->maxdata_list);
 636                                 }
 637                                 s->maxdata_list = maxdata_list =
 638                                     kmalloc(sizeof(unsigned int) * s->n_chan,
 639                                             GFP_KERNEL);
 640                                 if (s->range_table_list) {
 641                                         kfree(s->range_table_list);
 642                                 }
 643                                 if (range) {
 644                                         s->range_table = 0;
 645                                         s->range_table_list = range_table_list =
 646                                             kmalloc(sizeof
 647                                                     (struct
 648                                                      serial2002_range_table_t) *
 649                                                     s->n_chan, GFP_KERNEL);
 650                                 }
 651                                 for (chan = 0, j = 0; j < 32; j++) {
 652                                         if (c[j].kind == kind) {
 653                                                 if (mapping) {
 654                                                         mapping[chan] = j;
 655                                                 }
 656                                                 if (range) {
 657                                                         range[j].length = 1;
 658                                                         range[j].range.min =
 659                                                             c[j].min;
 660                                                         range[j].range.max =
 661                                                             c[j].max;
 662                                                         range_table_list[chan] =
 663                                                             (const struct
 664                                                              comedi_lrange *)
 665                                                             &range[j];
 666                                                 }
 667                                                 maxdata_list[chan] =
 668                                                     ((long long)1 << c[j].bits)
 669                                                     - 1;
 670                                                 chan++;
 671                                         }
 672                                 }
 673                         }
 674                 }
 675         }
 676 }
 677
 678 static void serial_2002_close(struct comedi_device *dev)
 679 {
 680         if (!IS_ERR(devpriv->tty) && (devpriv->tty != 0)) {
 681                 filp_close(devpriv->tty, 0);
 682         }
 683 }
 684
 685 static int serial2002_di_rinsn(struct comedi_device *dev,
 686                                struct comedi_subdevice *s,
 687                                struct comedi_insn *insn, unsigned int *data)
 688 {
 689         int n;
 690         int chan;
 691
 692         chan = devpriv->digital_in_mapping[CR_CHAN(insn->chanspec)];
 693         for (n = 0; n < insn->n; n++) {
 694                 struct serial_data read;
 695
 696                 poll_digital(devpriv->tty, chan);
 697                 while (1) {
 698                         read = serial_read(devpriv->tty, 1000);
 699                         if (read.kind != is_digital || read.index == chan) {
 700                                 break;
 701                         }
 702                 }
 703                 data[n] = read.value;
 704         }
 705         return n;
 706 }
 707
 708 static int serial2002_do_winsn(struct comedi_device *dev,
 709                                struct comedi_subdevice *s,
 710                                struct comedi_insn *insn, unsigned int *data)
 711 {
 712         int n;
 713         int chan;
 714
 715         chan = devpriv->digital_out_mapping[CR_CHAN(insn->chanspec)];
 716         for (n = 0; n < insn->n; n++) {
 717                 struct serial_data write;
 718
 719                 write.kind = is_digital;
 720                 write.index = chan;
 721                 write.value = data[n];
 722                 serial_write(devpriv->tty, write);
 723         }
 724         return n;
 725 }
 726
 727 static int serial2002_ai_rinsn(struct comedi_device *dev,
 728                                struct comedi_subdevice *s,
 729                                struct comedi_insn *insn, unsigned int *data)
 730 {
 731         int n;
 732         int chan;
 733
 734         chan = devpriv->analog_in_mapping[CR_CHAN(insn->chanspec)];
 735         for (n = 0; n < insn->n; n++) {
 736                 struct serial_data read;
 737
 738                 poll_channel(devpriv->tty, chan);
 739                 while (1) {
 740                         read = serial_read(devpriv->tty, 1000);
 741                         if (read.kind != is_channel || read.index == chan) {
 742                                 break;
 743                         }
 744                 }
 745                 data[n] = read.value;
 746         }
 747         return n;
 748 }
 749
 750 static int serial2002_ao_winsn(struct comedi_device *dev,
 751                                struct comedi_subdevice *s,
 752                                struct comedi_insn *insn, unsigned int *data)
 753 {
 754         int n;
 755         int chan;
 756
 757         chan = devpriv->analog_out_mapping[CR_CHAN(insn->chanspec)];
 758         for (n = 0; n < insn->n; n++) {
 759                 struct serial_data write;
 760
 761                 write.kind = is_channel;
 762                 write.index = chan;
 763                 write.value = data[n];
 764                 serial_write(devpriv->tty, write);
 765                 devpriv->ao_readback[chan] = data[n];
 766         }
 767         return n;
 768 }
 769
 770 static int serial2002_ao_rinsn(struct comedi_device *dev,
 771                                struct comedi_subdevice *s,
 772                                struct comedi_insn *insn, unsigned int *data)
 773 {
 774         int n;
 775         int chan = CR_CHAN(insn->chanspec);
 776
 777         for (n = 0; n < insn->n; n++) {
 778                 data[n] = devpriv->ao_readback[chan];
 779         }
 780
 781         return n;
 782 }
 783
 784 static int serial2002_ei_rinsn(struct comedi_device *dev,
 785                                struct comedi_subdevice *s,
 786                                struct comedi_insn *insn, unsigned int *data)
 787 {
 788         int n;
 789         int chan;
 790
 791         chan = devpriv->encoder_in_mapping[CR_CHAN(insn->chanspec)];
 792         for (n = 0; n < insn->n; n++) {
 793                 struct serial_data read;
 794
 795                 poll_channel(devpriv->tty, chan);
 796                 while (1) {
 797                         read = serial_read(devpriv->tty, 1000);
 798                         if (read.kind != is_channel || read.index == chan) {
 799                                 break;
 800                         }
 801                 }
 802                 data[n] = read.value;
 803         }
 804         return n;
 805 }
 806
 807 static int serial2002_attach(struct comedi_device *dev,
 808                              struct comedi_devconfig *it)
 809 {
 810         struct comedi_subdevice *s;
 811
 812         printk("comedi%d: serial2002: ", dev->minor);
 813         dev->board_name = thisboard->name;
 814         if (alloc_private(dev, sizeof(struct serial2002_private)) < 0) {
 815                 return -ENOMEM;
 816         }
 817         dev->open = serial_2002_open;
 818         dev->close = serial_2002_close;
 819         devpriv->port = it->options[0];
 820         devpriv->speed = it->options[1];
 821         printk("/dev/ttyS%d @ %d\n", devpriv->port, devpriv->speed);
 822
 823         if (alloc_subdevices(dev, 5) < 0)
 824                 return -ENOMEM;
 825
 826         /* digital input subdevice */
 827         s = dev->subdevices + 0;
 828         s->type = COMEDI_SUBD_DI;
 829         s->subdev_flags = SDF_READABLE;
 830         s->n_chan = 0;
 831         s->maxdata = 1;
 832         s->range_table = &range_digital;
 833         s->insn_read = &serial2002_di_rinsn;
 834
 835         /* digital output subdevice */
 836         s = dev->subdevices + 1;
 837         s->type = COMEDI_SUBD_DO;
 838         s->subdev_flags = SDF_WRITEABLE;
 839         s->n_chan = 0;
 840         s->maxdata = 1;
 841         s->range_table = &range_digital;
 842         s->insn_write = &serial2002_do_winsn;
 843
 844         /* analog input subdevice */
 845         s = dev->subdevices + 2;
 846         s->type = COMEDI_SUBD_AI;
 847         s->subdev_flags = SDF_READABLE | SDF_GROUND;
 848         s->n_chan = 0;
 849         s->maxdata = 1;
 850         s->range_table = 0;
 851         s->insn_read = &serial2002_ai_rinsn;
 852
 853         /* analog output subdevice */
 854         s = dev->subdevices + 3;
 855         s->type = COMEDI_SUBD_AO;
 856         s->subdev_flags = SDF_WRITEABLE;
 857         s->n_chan = 0;
 858         s->maxdata = 1;
 859         s->range_table = 0;
 860         s->insn_write = &serial2002_ao_winsn;
 861         s->insn_read = &serial2002_ao_rinsn;
 862
 863         /* encoder input subdevice */
 864         s = dev->subdevices + 4;
 865         s->type = COMEDI_SUBD_COUNTER;
 866         s->subdev_flags = SDF_READABLE | SDF_LSAMPL;
 867         s->n_chan = 0;
 868         s->maxdata = 1;
 869         s->range_table = 0;
 870         s->insn_read = &serial2002_ei_rinsn;
 871
 872         return 1;
 873 }
 874
 875 static int serial2002_detach(struct comedi_device *dev)
 876 {
 877         struct comedi_subdevice *s;
 878         int i;
 879
 880         printk("comedi%d: serial2002: remove\n", dev->minor);
 881         for (i = 0; i < 4; i++) {
 882                 s = &dev->subdevices[i];
 883                 if (s->maxdata_list) {
 884                         kfree(s->maxdata_list);
 885                 }
 886                 if (s->range_table_list) {
 887                         kfree(s->range_table_list);
 888                 }
 889         }
 890         return 0;
 891 }
 892
 893 COMEDI_INITCLEANUP(driver_serial2002);