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