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   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
  39 #include <asm/termios.h>
  40 #include <asm/ioctls.h>
  41 #include <linux/serial.h>
  42 #include <linux/poll.h>
  43
  44 /*
  45  * Board descriptions for two imaginary boards.  Describing the
  46  * boards in this way is optional, and completely driver-dependent.
  47  * Some drivers use arrays such as this, other do not.
  48  */
  49 typedef struct serial2002_board_struct {
  50         const char *name;
  51 } serial2002_board;
  52
  53 static const serial2002_board serial2002_boards[] = {
  54         {
  55       name:     "serial2002"}
  56 };
  57
  58 /*
  59  * Useful for shorthand access to the particular board structure
  60  */
  61 #define thisboard ((const serial2002_board *)dev->board_ptr)
  62
  63 struct serial2002_range_table_t {
  64
  65         // HACK...
  66         int length;
  67         struct comedi_krange range;
  68 };
  69
  70
  71 typedef struct {
  72         int port;               // /dev/ttyS<port>
  73         int speed;              // baudrate
  74         struct file *tty;
  75         unsigned int ao_readback[32];
  76         unsigned char digital_in_mapping[32];
  77         unsigned char digital_out_mapping[32];
  78         unsigned char analog_in_mapping[32];
  79         unsigned char analog_out_mapping[32];
  80         unsigned char encoder_in_mapping[32];
  81         struct serial2002_range_table_t in_range[32], out_range[32];
  82 } serial2002_private;
  83
  84 /*
  85  * most drivers define the following macro to make it easy to
  86  * access the private structure.
  87  */
  88 #define devpriv ((serial2002_private *)dev->private)
  89
  90 static int serial2002_attach(struct comedi_device * dev, struct comedi_devconfig * it);
  91 static int serial2002_detach(struct comedi_device * dev);
  92 struct comedi_driver driver_serial2002 = {
  93       driver_name:"serial2002",
  94       module:THIS_MODULE,
  95       attach:serial2002_attach,
  96       detach:serial2002_detach,
  97       board_name:&serial2002_boards[0].name,
  98       offset:sizeof(serial2002_board),
  99       num_names:sizeof(serial2002_boards) / sizeof(serial2002_board),
 100 };
 101
 102 static int serial2002_di_rinsn(struct comedi_device * dev, struct comedi_subdevice * s,
 103         struct comedi_insn * insn, unsigned int * data);
 104 static int serial2002_do_winsn(struct comedi_device * dev, struct comedi_subdevice * s,
 105         struct comedi_insn * insn, unsigned int * data);
 106 static int serial2002_ai_rinsn(struct comedi_device * dev, struct comedi_subdevice * s,
 107         struct comedi_insn * insn, unsigned int * data);
 108 static int serial2002_ao_winsn(struct comedi_device * dev, struct comedi_subdevice * s,
 109         struct comedi_insn * insn, unsigned int * data);
 110 static int serial2002_ao_rinsn(struct comedi_device * dev, struct comedi_subdevice * s,
 111         struct comedi_insn * insn, unsigned int * data);
 112
 113 struct serial_data {
 114         enum { is_invalid, is_digital, is_channel } kind;
 115         int index;
 116         unsigned long value;
 117 };
 118
 119 static long tty_ioctl(struct file *f, unsigned op, unsigned long param)
 120 {
 121 #ifdef HAVE_UNLOCKED_IOCTL
 122         if (f->f_op->unlocked_ioctl) {
 123                 return f->f_op->unlocked_ioctl(f, op, param);
 124         }
 125 #endif
 126         if (f->f_op->ioctl) {
 127                 return f->f_op->ioctl(f->f_dentry->d_inode, f, op, param);
 128         }
 129         return -ENOSYS;
 130 }
 131
 132 static int tty_write(struct file *f, unsigned char *buf, int count)
 133 {
 134         int result;
 135         mm_segment_t oldfs;
 136
 137         oldfs = get_fs();
 138         set_fs(KERNEL_DS);
 139         f->f_pos = 0;
 140         result = f->f_op->write(f, buf, count, &f->f_pos);
 141         set_fs(oldfs);
 142         return result;
 143 }
 144
 145 #if 0
 146 /*
 147  * On 2.6.26.3 this occaisonally gave me page faults, worked around by
 148  * settings.c_cc[VMIN] = 0; settings.c_cc[VTIME] = 0
 149  */
 150 static int tty_available(struct file *f)
 151 {
 152         long result = 0;
 153         mm_segment_t oldfs;
 154
 155         oldfs = get_fs();
 156         set_fs(KERNEL_DS);
 157         tty_ioctl(f, FIONREAD, (unsigned long)&result);
 158         set_fs(oldfs);
 159         return result;
 160 }
 161 #endif
 162
 163 static int tty_read(struct file *f, int timeout)
 164 {
 165         int result;
 166
 167         result = -1;
 168         if (!IS_ERR(f)) {
 169                 mm_segment_t oldfs;
 170
 171                 oldfs = get_fs();
 172                 set_fs(KERNEL_DS);
 173                 if (f->f_op->poll) {
 174                         struct poll_wqueues table;
 175                         struct timeval start, now;
 176
 177                         do_gettimeofday(&start);
 178                         poll_initwait(&table);
 179                         while (1) {
 180                                 long elapsed;
 181                                 int mask;
 182
 183                                 mask = f->f_op->poll(f, &table.pt);
 184                                 if (mask & (POLLRDNORM | POLLRDBAND | POLLIN |
 185                                                 POLLHUP | POLLERR)) {
 186                                         break;
 187                                 }
 188                                 do_gettimeofday(&now);
 189                                 elapsed =
 190                                         (1000000 * (now.tv_sec - start.tv_sec) +
 191                                         now.tv_usec - start.tv_usec);
 192                                 if (elapsed > timeout) {
 193                                         break;
 194                                 }
 195                                 set_current_state(TASK_INTERRUPTIBLE);
 196                                 schedule_timeout(((timeout -
 197                                                         elapsed) * HZ) / 10000);
 198                         }
 199                         poll_freewait(&table);
 200                         {
 201                           unsigned char ch;
 202
 203                           f->f_pos = 0;
 204                           if (f->f_op->read(f, &ch, 1, &f->f_pos) == 1) {
 205                             result = ch;
 206                           }
 207                         }
 208                 } else {
 209                         /* Device does not support poll, busy wait */
 210                         int retries = 0;
 211                         while (1) {
 212                                 unsigned char ch;
 213
 214                                 retries++;
 215                                 if (retries >= timeout) {
 216                                         break;
 217                                 }
 218
 219                                 f->f_pos = 0;
 220                                 if (f->f_op->read(f, &ch, 1, &f->f_pos) == 1) {
 221                                         result = ch;
 222                                         break;
 223                                 }
 224                                 comedi_udelay(100);
 225                         }
 226                 }
 227                 set_fs(oldfs);
 228         }
 229         return result;
 230 }
 231
 232 static void tty_setspeed(struct file *f, int speed)
 233 {
 234         mm_segment_t oldfs;
 235
 236         oldfs = get_fs();
 237         set_fs(KERNEL_DS);
 238         {
 239                 // Set speed
 240                 struct termios settings;
 241
 242                 tty_ioctl(f, TCGETS, (unsigned long)&settings);
 243 //    printk("Speed: %d\n", settings.c_cflag & (CBAUD | CBAUDEX));
 244                 settings.c_iflag = 0;
 245                 settings.c_oflag = 0;
 246                 settings.c_lflag = 0;
 247                 settings.c_cflag = CLOCAL | CS8 | CREAD;
 248                 settings.c_cc[VMIN] = 0;
 249                 settings.c_cc[VTIME] = 0;
 250                 switch (speed) {
 251                 case 2400:{
 252                                 settings.c_cflag |= B2400;
 253                         }
 254                         break;
 255                 case 4800:{
 256                                 settings.c_cflag |= B4800;
 257                         }
 258                         break;
 259                 case 9600:{
 260                                 settings.c_cflag |= B9600;
 261                         }
 262                         break;
 263                 case 19200:{
 264                                 settings.c_cflag |= B19200;
 265                         }
 266                         break;
 267                 case 38400:{
 268                                 settings.c_cflag |= B38400;
 269                         }
 270                         break;
 271                 case 57600:{
 272                                 settings.c_cflag |= B57600;
 273                         }
 274                         break;
 275                 case 115200:{
 276                                 settings.c_cflag |= B115200;
 277                         }
 278                         break;
 279                 default:{
 280                                 settings.c_cflag |= B9600;
 281                         }
 282                         break;
 283                 }
 284                 tty_ioctl(f, TCSETS, (unsigned long)&settings);
 285 //    printk("Speed: %d\n", settings.c_cflag & (CBAUD | CBAUDEX));
 286         }
 287         {
 288                 // Set low latency
 289                 struct serial_struct settings;
 290
 291                 tty_ioctl(f, TIOCGSERIAL, (unsigned long)&settings);
 292                 settings.flags |= ASYNC_LOW_LATENCY;
 293                 tty_ioctl(f, TIOCSSERIAL, (unsigned long)&settings);
 294         }
 295
 296         set_fs(oldfs);
 297 }
 298
 299 static void poll_digital(struct file *f, int channel)
 300 {
 301         char cmd;
 302
 303         cmd = 0x40 | (channel & 0x1f);
 304         tty_write(f, &cmd, 1);
 305 }
 306
 307 static void poll_channel(struct file *f, int channel)
 308 {
 309         char cmd;
 310
 311         cmd = 0x60 | (channel & 0x1f);
 312         tty_write(f, &cmd, 1);
 313 }
 314
 315 static struct serial_data serial_read(struct file *f, int timeout)
 316 {
 317         struct serial_data result;
 318         int length;
 319
 320         result.kind = is_invalid;
 321         result.index = 0;
 322         result.value = 0;
 323         length = 0;
 324         while (1) {
 325                 int data = tty_read(f, timeout);
 326
 327                 length++;
 328                 if (data < 0) {
 329                         printk("serial2002 error\n");
 330                         break;
 331                 } else if (data & 0x80) {
 332                         result.value = (result.value << 7) | (data & 0x7f);
 333                 } else {
 334                         if (length == 1) {
 335                                 switch ((data >> 5) & 0x03) {
 336                                 case 0:{
 337                                                 result.value = 0;
 338                                                 result.kind = is_digital;
 339                                         }
 340                                         break;
 341                                 case 1:{
 342                                                 result.value = 1;
 343                                                 result.kind = is_digital;
 344                                         }
 345                                         break;
 346                                 }
 347                         } else {
 348                                 result.value =
 349                                         (result.
 350                                         value << 2) | ((data & 0x60) >> 5);
 351                                 result.kind = is_channel;
 352                         }
 353                         result.index = data & 0x1f;
 354                         break;
 355                 }
 356         }
 357         return result;
 358
 359 }
 360
 361 static void serial_write(struct file *f, struct serial_data data)
 362 {
 363         if (data.kind == is_digital) {
 364                 unsigned char ch =
 365                         ((data.value << 5) & 0x20) | (data.index & 0x1f);
 366                 tty_write(f, &ch, 1);
 367         } else {
 368                 unsigned char ch[6];
 369                 int i = 0;
 370                 if (data.value >= (1L << 30)) {
 371                         ch[i] = 0x80 | ((data.value >> 30) & 0x03);
 372                         i++;
 373                 }
 374                 if (data.value >= (1L << 23)) {
 375                         ch[i] = 0x80 | ((data.value >> 23) & 0x7f);
 376                         i++;
 377                 }
 378                 if (data.value >= (1L << 16)) {
 379                         ch[i] = 0x80 | ((data.value >> 16) & 0x7f);
 380                         i++;
 381                 }
 382                 if (data.value >= (1L << 9)) {
 383                         ch[i] = 0x80 | ((data.value >> 9) & 0x7f);
 384                         i++;
 385                 }
 386                 ch[i] = 0x80 | ((data.value >> 2) & 0x7f);
 387                 i++;
 388                 ch[i] = ((data.value << 5) & 0x60) | (data.index & 0x1f);
 389                 i++;
 390                 tty_write(f, ch, i);
 391         }
 392 }
 393
 394 static void serial_2002_open(struct comedi_device * dev)
 395 {
 396         char port[20];
 397
 398         sprintf(port, "/dev/ttyS%d", devpriv->port);
 399         devpriv->tty = filp_open(port, 0, O_RDWR);
 400         if (IS_ERR(devpriv->tty)) {
 401                 printk("serial_2002: file open error = %ld\n",
 402                         PTR_ERR(devpriv->tty));
 403         } else {
 404                 typedef struct {
 405                         int kind;
 406                         int bits;
 407                         int min;
 408                         int max;
 409                 } config_t;
 410                 config_t dig_in_config[32];
 411                 config_t dig_out_config[32];
 412                 config_t chan_in_config[32];
 413                 config_t chan_out_config[32];
 414                 int i;
 415
 416                 for (i = 0; i < 32; i++) {
 417                         dig_in_config[i].kind = 0;
 418                         dig_in_config[i].bits = 0;
 419                         dig_in_config[i].min = 0;
 420                         dig_in_config[i].max = 0;
 421                         dig_out_config[i].kind = 0;
 422                         dig_out_config[i].bits = 0;
 423                         dig_out_config[i].min = 0;
 424                         dig_out_config[i].max = 0;
 425                         chan_in_config[i].kind = 0;
 426                         chan_in_config[i].bits = 0;
 427                         chan_in_config[i].min = 0;
 428                         chan_in_config[i].max = 0;
 429                         chan_out_config[i].kind = 0;
 430                         chan_out_config[i].bits = 0;
 431                         chan_out_config[i].min = 0;
 432                         chan_out_config[i].max = 0;
 433                 }
 434
 435                 tty_setspeed(devpriv->tty, devpriv->speed);
 436                 poll_channel(devpriv->tty, 31); // Start reading configuration
 437                 while (1) {
 438                         struct serial_data data;
 439
 440                         data = serial_read(devpriv->tty, 1000);
 441                         if (data.kind != is_channel || data.index != 31
 442                                 || !(data.value & 0xe0)) {
 443                                 break;
 444                         } else {
 445                                 int command, channel, kind;
 446                                 config_t *cur_config = 0;
 447
 448                                 channel = data.value & 0x1f;
 449                                 kind = (data.value >> 5) & 0x7;
 450                                 command = (data.value >> 8) & 0x3;
 451                                 switch (kind) {
 452                                 case 1:{
 453                                                 cur_config = dig_in_config;
 454                                         }
 455                                         break;
 456                                 case 2:{
 457                                                 cur_config = dig_out_config;
 458                                         }
 459                                         break;
 460                                 case 3:{
 461                                                 cur_config = chan_in_config;
 462                                         }
 463                                         break;
 464                                 case 4:{
 465                                                 cur_config = chan_out_config;
 466                                         }
 467                                         break;
 468                                 case 5:{
 469                                                 cur_config = chan_in_config;
 470                                         }
 471                                         break;
 472                                 }
 473
 474                                 if (cur_config) {
 475                                         cur_config[channel].kind = kind;
 476                                         switch (command) {
 477                                         case 0:{
 478                                                         cur_config[channel].
 479                                                                 bits =
 480                                                                 (data.
 481                                                                 value >> 10) &
 482                                                                 0x3f;
 483                                                 }
 484                                                 break;
 485                                         case 1:{
 486                                                         int unit, sign, min;
 487                                                         unit = (data.
 488                                                                 value >> 10) &
 489                                                                 0x7;
 490                                                         sign = (data.
 491                                                                 value >> 13) &
 492                                                                 0x1;
 493                                                         min = (data.
 494                                                                 value >> 14) &
 495                                                                 0xfffff;
 496
 497                                                         switch (unit) {
 498                                                         case 0:{
 499                                                                         min = min * 1000000;
 500                                                                 }
 501                                                                 break;
 502                                                         case 1:{
 503                                                                         min = min * 1000;
 504                                                                 }
 505                                                                 break;
 506                                                         case 2:{
 507                                                                         min = min * 1;
 508                                                                 }
 509                                                                 break;
 510                                                         }
 511                                                         if (sign) {
 512                                                                 min = -min;
 513                                                         }
 514                                                         cur_config[channel].
 515                                                                 min = min;
 516                                                 }
 517                                                 break;
 518                                         case 2:{
 519                                                         int unit, sign, max;
 520                                                         unit = (data.
 521                                                                 value >> 10) &
 522                                                                 0x7;
 523                                                         sign = (data.
 524                                                                 value >> 13) &
 525                                                                 0x1;
 526                                                         max = (data.
 527                                                                 value >> 14) &
 528                                                                 0xfffff;
 529
 530                                                         switch (unit) {
 531                                                         case 0:{
 532                                                                         max = max * 1000000;
 533                                                                 }
 534                                                                 break;
 535                                                         case 1:{
 536                                                                         max = max * 1000;
 537                                                                 }
 538                                                                 break;
 539                                                         case 2:{
 540                                                                         max = max * 1;
 541                                                                 }
 542                                                                 break;
 543                                                         }
 544                                                         if (sign) {
 545                                                                 max = -max;
 546                                                         }
 547                                                         cur_config[channel].
 548                                                                 max = max;
 549                                                 }
 550                                                 break;
 551                                         }
 552                                 }
 553                         }
 554                 }
 555                 for (i = 0; i <= 4; i++) {
 556                         // Fill in subdev data
 557                         config_t *c;
 558                         unsigned char *mapping = 0;
 559                         struct serial2002_range_table_t *range = 0;
 560                         int kind = 0;
 561
 562                         switch (i) {
 563                         case 0:{
 564                                         c = dig_in_config;
 565                                         mapping = devpriv->digital_in_mapping;
 566                                         kind = 1;
 567                                 }
 568                                 break;
 569                         case 1:{
 570                                         c = dig_out_config;
 571                                         mapping = devpriv->digital_out_mapping;
 572                                         kind = 2;
 573                                 }
 574                                 break;
 575                         case 2:{
 576                                         c = chan_in_config;
 577                                         mapping = devpriv->analog_in_mapping;
 578                                         range = devpriv->in_range;
 579                                         kind = 3;
 580                                 }
 581                                 break;
 582                         case 3:{
 583                                         c = chan_out_config;
 584                                         mapping = devpriv->analog_out_mapping;
 585                                         range = devpriv->out_range;
 586                                         kind = 4;
 587                                 }
 588                                 break;
 589                         case 4:{
 590                                         c = chan_in_config;
 591                                         mapping = devpriv->encoder_in_mapping;
 592                                         range = devpriv->in_range;
 593                                         kind = 5;
 594                                 }
 595                                 break;
 596                         default:{
 597                                         c = 0;
 598                                 }
 599                                 break;
 600                         }
 601                         if (c) {
 602                                 struct comedi_subdevice *s;
 603                                 const struct comedi_lrange **range_table_list = NULL;
 604                                 unsigned int *maxdata_list;
 605                                 int j, chan;
 606
 607                                 for (chan = 0, j = 0; j < 32; j++) {
 608                                         if (c[j].kind == kind) {
 609                                                 chan++;
 610                                         }
 611                                 }
 612                                 s = &dev->subdevices[i];
 613                                 s->n_chan = chan;
 614                                 s->maxdata = 0;
 615                                 if (s->maxdata_list) {
 616                                         kfree(s->maxdata_list);
 617                                 }
 618                                 s->maxdata_list = maxdata_list =
 619                                         kmalloc(sizeof(unsigned int) * s->n_chan,
 620                                         GFP_KERNEL);
 621                                 if (s->range_table_list) {
 622                                         kfree(s->range_table_list);
 623                                 }
 624                                 if (range) {
 625                                         s->range_table = 0;
 626                                         s->range_table_list = range_table_list =
 627                                                 kmalloc(sizeof
 628                                                 (struct serial2002_range_table_t) *
 629                                                 s->n_chan, GFP_KERNEL);
 630                                 }
 631                                 for (chan = 0, j = 0; j < 32; j++) {
 632                                         if (c[j].kind == kind) {
 633                                                 if (mapping) {
 634                                                         mapping[chan] = j;
 635                                                 }
 636                                                 if (range) {
 637                                                         range[j].length = 1;
 638                                                         range[j].range.min =
 639                                                                 c[j].min;
 640                                                         range[j].range.max =
 641                                                                 c[j].max;
 642                                                         range_table_list[chan] =
 643                                                                 (const struct
 644                                                                 comedi_lrange *)
 645                                                                 &range[j];
 646                                                 }
 647                                                 maxdata_list[chan] =
 648                                                         ((long long)1 << c[j].
 649                                                         bits) - 1;
 650                                                 chan++;
 651                                         }
 652                                 }
 653                         }
 654                 }
 655         }
 656 }
 657
 658 static void serial_2002_close(struct comedi_device * dev)
 659 {
 660         if (!IS_ERR(devpriv->tty) && (devpriv->tty != 0)) {
 661                 filp_close(devpriv->tty, 0);
 662         }
 663 }
 664
 665 static int serial2002_di_rinsn(struct comedi_device * dev, struct comedi_subdevice * s,
 666         struct comedi_insn * insn, unsigned int * data)
 667 {
 668         int n;
 669         int chan;
 670
 671         chan = devpriv->digital_in_mapping[CR_CHAN(insn->chanspec)];
 672         for (n = 0; n < insn->n; n++) {
 673                 struct serial_data read;
 674
 675                 poll_digital(devpriv->tty, chan);
 676                 while (1) {
 677                         read = serial_read(devpriv->tty, 1000);
 678                         if (read.kind != is_digital || read.index == chan) {
 679                                 break;
 680                         }
 681                 }
 682                 data[n] = read.value;
 683         }
 684         return n;
 685 }
 686
 687 static int serial2002_do_winsn(struct comedi_device * dev, struct comedi_subdevice * s,
 688         struct comedi_insn * insn, unsigned int * data)
 689 {
 690         int n;
 691         int chan;
 692
 693         chan = devpriv->digital_out_mapping[CR_CHAN(insn->chanspec)];
 694         for (n = 0; n < insn->n; n++) {
 695                 struct serial_data write;
 696
 697                 write.kind = is_digital;
 698                 write.index = chan;
 699                 write.value = data[n];
 700                 serial_write(devpriv->tty, write);
 701         }
 702         return n;
 703 }
 704
 705 static int serial2002_ai_rinsn(struct comedi_device * dev, struct comedi_subdevice * s,
 706         struct comedi_insn * insn, unsigned int * data)
 707 {
 708         int n;
 709         int chan;
 710
 711         chan = devpriv->analog_in_mapping[CR_CHAN(insn->chanspec)];
 712         for (n = 0; n < insn->n; n++) {
 713                 struct serial_data read;
 714
 715                 poll_channel(devpriv->tty, chan);
 716                 while (1) {
 717                         read = serial_read(devpriv->tty, 1000);
 718                         if (read.kind != is_channel || read.index == chan) {
 719                                 break;
 720                         }
 721                 }
 722                 data[n] = read.value;
 723         }
 724         return n;
 725 }
 726
 727 static int serial2002_ao_winsn(struct comedi_device * dev, struct comedi_subdevice * s,
 728         struct comedi_insn * insn, unsigned int * data)
 729 {
 730         int n;
 731         int chan;
 732
 733         chan = devpriv->analog_out_mapping[CR_CHAN(insn->chanspec)];
 734         for (n = 0; n < insn->n; n++) {
 735                 struct serial_data write;
 736
 737                 write.kind = is_channel;
 738                 write.index = chan;
 739                 write.value = data[n];
 740                 serial_write(devpriv->tty, write);
 741                 devpriv->ao_readback[chan] = data[n];
 742         }
 743         return n;
 744 }
 745
 746 static int serial2002_ao_rinsn(struct comedi_device * dev, struct comedi_subdevice * s,
 747         struct comedi_insn * insn, unsigned int * data)
 748 {
 749         int n;
 750         int chan = CR_CHAN(insn->chanspec);
 751
 752         for (n = 0; n < insn->n; n++) {
 753                 data[n] = devpriv->ao_readback[chan];
 754         }
 755
 756         return n;
 757 }
 758
 759 static int serial2002_ei_rinsn(struct comedi_device * dev, struct comedi_subdevice * s,
 760         struct comedi_insn * insn, unsigned int * data)
 761 {
 762         int n;
 763         int chan;
 764
 765         chan = devpriv->encoder_in_mapping[CR_CHAN(insn->chanspec)];
 766         for (n = 0; n < insn->n; n++) {
 767                 struct serial_data read;
 768
 769                 poll_channel(devpriv->tty, chan);
 770                 while (1) {
 771                         read = serial_read(devpriv->tty, 1000);
 772                         if (read.kind != is_channel || read.index == chan) {
 773                                 break;
 774                         }
 775                 }
 776                 data[n] = read.value;
 777         }
 778         return n;
 779 }
 780
 781 static int serial2002_attach(struct comedi_device * dev, struct comedi_devconfig * it)
 782 {
 783         struct comedi_subdevice *s;
 784
 785         printk("comedi%d: serial2002: ", dev->minor);
 786         dev->board_name = thisboard->name;
 787         if (alloc_private(dev, sizeof(serial2002_private)) < 0) {
 788                 return -ENOMEM;
 789         }
 790         dev->open = serial_2002_open;
 791         dev->close = serial_2002_close;
 792         devpriv->port = it->options[0];
 793         devpriv->speed = it->options[1];
 794         printk("/dev/ttyS%d @ %d\n", devpriv->port, devpriv->speed);
 795
 796         if (alloc_subdevices(dev, 5) < 0)
 797                 return -ENOMEM;
 798
 799         /* digital input subdevice */
 800         s = dev->subdevices + 0;
 801         s->type = COMEDI_SUBD_DI;
 802         s->subdev_flags = SDF_READABLE;
 803         s->n_chan = 0;
 804         s->maxdata = 1;
 805         s->range_table = &range_digital;
 806         s->insn_read = &serial2002_di_rinsn;
 807
 808         /* digital output subdevice */
 809         s = dev->subdevices + 1;
 810         s->type = COMEDI_SUBD_DO;
 811         s->subdev_flags = SDF_WRITEABLE;
 812         s->n_chan = 0;
 813         s->maxdata = 1;
 814         s->range_table = &range_digital;
 815         s->insn_write = &serial2002_do_winsn;
 816
 817         /* analog input subdevice */
 818         s = dev->subdevices + 2;
 819         s->type = COMEDI_SUBD_AI;
 820         s->subdev_flags = SDF_READABLE | SDF_GROUND;
 821         s->n_chan = 0;
 822         s->maxdata = 1;
 823         s->range_table = 0;
 824         s->insn_read = &serial2002_ai_rinsn;
 825
 826         /* analog output subdevice */
 827         s = dev->subdevices + 3;
 828         s->type = COMEDI_SUBD_AO;
 829         s->subdev_flags = SDF_WRITEABLE;
 830         s->n_chan = 0;
 831         s->maxdata = 1;
 832         s->range_table = 0;
 833         s->insn_write = &serial2002_ao_winsn;
 834         s->insn_read = &serial2002_ao_rinsn;
 835
 836         /* encoder input subdevice */
 837         s = dev->subdevices + 4;
 838         s->type = COMEDI_SUBD_COUNTER;
 839         s->subdev_flags = SDF_READABLE | SDF_LSAMPL;
 840         s->n_chan = 0;
 841         s->maxdata = 1;
 842         s->range_table = 0;
 843         s->insn_read = &serial2002_ei_rinsn;
 844
 845         return 1;
 846 }
 847
 848 static int serial2002_detach(struct comedi_device * dev)
 849 {
 850         struct comedi_subdevice *s;
 851         int i;
 852
 853         printk("comedi%d: serial2002: remove\n", dev->minor);
 854         for (i = 0; i < 4; i++) {
 855                 s = &dev->subdevices[i];
 856                 if (s->maxdata_list) {
 857                         kfree(s->maxdata_list);
 858                 }
 859                 if (s->range_table_list) {
 860                         kfree(s->range_table_list);
 861                 }
 862         }
 863         return 0;
 864 }
 865
 866 COMEDI_INITCLEANUP(driver_serial2002);