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 #ifdef HAVE_UNLOCKED_IOCTL
 129         if (f->f_op->unlocked_ioctl) {
 130                 return f->f_op->unlocked_ioctl(f, op, param);
 131         }
 132 #endif
 133         if (f->f_op->ioctl) {
 134                 return f->f_op->ioctl(f->f_dentry->d_inode, f, op, param);
 135         }
 136         return -ENOSYS;
 137 }
 138
 139 static int tty_write(struct file *f, unsigned char *buf, int count)
 140 {
 141         int result;
 142         mm_segment_t oldfs;
 143
 144         oldfs = get_fs();
 145         set_fs(KERNEL_DS);
 146         f->f_pos = 0;
 147         result = f->f_op->write(f, buf, count, &f->f_pos);
 148         set_fs(oldfs);
 149         return result;
 150 }
 151
 152 #if 0
 153 /*
 154  * On 2.6.26.3 this occaisonally gave me page faults, worked around by
 155  * settings.c_cc[VMIN] = 0; settings.c_cc[VTIME] = 0
 156  */
 157 static int tty_available(struct file *f)
 158 {
 159         long result = 0;
 160         mm_segment_t oldfs;
 161
 162         oldfs = get_fs();
 163         set_fs(KERNEL_DS);
 164         tty_ioctl(f, FIONREAD, (unsigned long)&result);
 165         set_fs(oldfs);
 166         return result;
 167 }
 168 #endif
 169
 170 static int tty_read(struct file *f, int timeout)
 171 {
 172         int result;
 173
 174         result = -1;
 175         if (!IS_ERR(f)) {
 176                 mm_segment_t oldfs;
 177
 178                 oldfs = get_fs();
 179                 set_fs(KERNEL_DS);
 180                 if (f->f_op->poll) {
 181                         struct poll_wqueues table;
 182                         struct timeval start, now;
 183
 184                         do_gettimeofday(&start);
 185                         poll_initwait(&table);
 186                         while (1) {
 187                                 long elapsed;
 188                                 int mask;
 189
 190                                 mask = f->f_op->poll(f, &table.pt);
 191                                 if (mask & (POLLRDNORM | POLLRDBAND | POLLIN |
 192                                             POLLHUP | POLLERR)) {
 193                                         break;
 194                                 }
 195                                 do_gettimeofday(&now);
 196                                 elapsed =
 197                                     (1000000 * (now.tv_sec - start.tv_sec) +
 198                                      now.tv_usec - start.tv_usec);
 199                                 if (elapsed > timeout) {
 200                                         break;
 201                                 }
 202                                 set_current_state(TASK_INTERRUPTIBLE);
 203                                 schedule_timeout(((timeout -
 204                                                    elapsed) * HZ) / 10000);
 205                         }
 206                         poll_freewait(&table);
 207                         {
 208                                 unsigned char ch;
 209
 210                                 f->f_pos = 0;
 211                                 if (f->f_op->read(f, &ch, 1, &f->f_pos) == 1) {
 212                                         result = ch;
 213                                 }
 214                         }
 215                 } else {
 216                         /* Device does not support poll, busy wait */
 217                         int retries = 0;
 218                         while (1) {
 219                                 unsigned char ch;
 220
 221                                 retries++;
 222                                 if (retries >= timeout) {
 223                                         break;
 224                                 }
 225
 226                                 f->f_pos = 0;
 227                                 if (f->f_op->read(f, &ch, 1, &f->f_pos) == 1) {
 228                                         result = ch;
 229                                         break;
 230                                 }
 231                                 udelay(100);
 232                         }
 233                 }
 234                 set_fs(oldfs);
 235         }
 236         return result;
 237 }
 238
 239 static void tty_setspeed(struct file *f, int speed)
 240 {
 241         mm_segment_t oldfs;
 242
 243         oldfs = get_fs();
 244         set_fs(KERNEL_DS);
 245         {
 246                 /*  Set speed */
 247                 struct termios settings;
 248
 249                 tty_ioctl(f, TCGETS, (unsigned long)&settings);
 250 /* printk("Speed: %d\n", settings.c_cflag & (CBAUD | CBAUDEX)); */
 251                 settings.c_iflag = 0;
 252                 settings.c_oflag = 0;
 253                 settings.c_lflag = 0;
 254                 settings.c_cflag = CLOCAL | CS8 | CREAD;
 255                 settings.c_cc[VMIN] = 0;
 256                 settings.c_cc[VTIME] = 0;
 257                 switch (speed) {
 258                 case 2400:{
 259                                 settings.c_cflag |= B2400;
 260                         }
 261                         break;
 262                 case 4800:{
 263                                 settings.c_cflag |= B4800;
 264                         }
 265                         break;
 266                 case 9600:{
 267                                 settings.c_cflag |= B9600;
 268                         }
 269                         break;
 270                 case 19200:{
 271                                 settings.c_cflag |= B19200;
 272                         }
 273                         break;
 274                 case 38400:{
 275                                 settings.c_cflag |= B38400;
 276                         }
 277                         break;
 278                 case 57600:{
 279                                 settings.c_cflag |= B57600;
 280                         }
 281                         break;
 282                 case 115200:{
 283                                 settings.c_cflag |= B115200;
 284                         }
 285                         break;
 286                 default:{
 287                                 settings.c_cflag |= B9600;
 288                         }
 289                         break;
 290                 }
 291                 tty_ioctl(f, TCSETS, (unsigned long)&settings);
 292 /* printk("Speed: %d\n", settings.c_cflag & (CBAUD | CBAUDEX)); */
 293         }
 294         {
 295                 /*  Set low latency */
 296                 struct serial_struct settings;
 297
 298                 tty_ioctl(f, TIOCGSERIAL, (unsigned long)&settings);
 299                 settings.flags |= ASYNC_LOW_LATENCY;
 300                 tty_ioctl(f, TIOCSSERIAL, (unsigned long)&settings);
 301         }
 302
 303         set_fs(oldfs);
 304 }
 305
 306 static void poll_digital(struct file *f, int channel)
 307 {
 308         char cmd;
 309
 310         cmd = 0x40 | (channel & 0x1f);
 311         tty_write(f, &cmd, 1);
 312 }
 313
 314 static void poll_channel(struct file *f, int channel)
 315 {
 316         char cmd;
 317
 318         cmd = 0x60 | (channel & 0x1f);
 319         tty_write(f, &cmd, 1);
 320 }
 321
 322 static struct serial_data serial_read(struct file *f, int timeout)
 323 {
 324         struct serial_data result;
 325         int length;
 326
 327         result.kind = is_invalid;
 328         result.index = 0;
 329         result.value = 0;
 330         length = 0;
 331         while (1) {
 332                 int data = tty_read(f, timeout);
 333
 334                 length++;
 335                 if (data < 0) {
 336                         printk("serial2002 error\n");
 337                         break;
 338                 } else if (data & 0x80) {
 339                         result.value = (result.value << 7) | (data & 0x7f);
 340                 } else {
 341                         if (length == 1) {
 342                                 switch ((data >> 5) & 0x03) {
 343                                 case 0:{
 344                                                 result.value = 0;
 345                                                 result.kind = is_digital;
 346                                         }
 347                                         break;
 348                                 case 1:{
 349                                                 result.value = 1;
 350                                                 result.kind = is_digital;
 351                                         }
 352                                         break;
 353                                 }
 354                         } else {
 355                                 result.value =
 356                                     (result.value << 2) | ((data & 0x60) >> 5);
 357                                 result.kind = is_channel;
 358                         }
 359                         result.index = data & 0x1f;
 360                         break;
 361                 }
 362         }
 363         return result;
 364
 365 }
 366
 367 static void serial_write(struct file *f, struct serial_data data)
 368 {
 369         if (data.kind == is_digital) {
 370                 unsigned char ch =
 371                     ((data.value << 5) & 0x20) | (data.index & 0x1f);
 372                 tty_write(f, &ch, 1);
 373         } else {
 374                 unsigned char ch[6];
 375                 int i = 0;
 376                 if (data.value >= (1L << 30)) {
 377                         ch[i] = 0x80 | ((data.value >> 30) & 0x03);
 378                         i++;
 379                 }
 380                 if (data.value >= (1L << 23)) {
 381                         ch[i] = 0x80 | ((data.value >> 23) & 0x7f);
 382                         i++;
 383                 }
 384                 if (data.value >= (1L << 16)) {
 385                         ch[i] = 0x80 | ((data.value >> 16) & 0x7f);
 386                         i++;
 387                 }
 388                 if (data.value >= (1L << 9)) {
 389                         ch[i] = 0x80 | ((data.value >> 9) & 0x7f);
 390                         i++;
 391                 }
 392                 ch[i] = 0x80 | ((data.value >> 2) & 0x7f);
 393                 i++;
 394                 ch[i] = ((data.value << 5) & 0x60) | (data.index & 0x1f);
 395                 i++;
 396                 tty_write(f, ch, i);
 397         }
 398 }
 399
 400 static void serial_2002_open(struct comedi_device *dev)
 401 {
 402         char port[20];
 403
 404         sprintf(port, "/dev/ttyS%d", devpriv->port);
 405         devpriv->tty = filp_open(port, 0, O_RDWR);
 406         if (IS_ERR(devpriv->tty)) {
 407                 printk("serial_2002: file open error = %ld\n",
 408                        PTR_ERR(devpriv->tty));
 409         } else {
 410                 struct config_t {
 411
 412                         int kind;
 413                         int bits;
 414                         int min;
 415                         int max;
 416                 };
 417
 418                 struct config_t dig_in_config[32];
 419                 struct config_t dig_out_config[32];
 420                 struct config_t chan_in_config[32];
 421                 struct config_t chan_out_config[32];
 422                 int i;
 423
 424                 for (i = 0; i < 32; i++) {
 425                         dig_in_config[i].kind = 0;
 426                         dig_in_config[i].bits = 0;
 427                         dig_in_config[i].min = 0;
 428                         dig_in_config[i].max = 0;
 429                         dig_out_config[i].kind = 0;
 430                         dig_out_config[i].bits = 0;
 431                         dig_out_config[i].min = 0;
 432                         dig_out_config[i].max = 0;
 433                         chan_in_config[i].kind = 0;
 434                         chan_in_config[i].bits = 0;
 435                         chan_in_config[i].min = 0;
 436                         chan_in_config[i].max = 0;
 437                         chan_out_config[i].kind = 0;
 438                         chan_out_config[i].bits = 0;
 439                         chan_out_config[i].min = 0;
 440                         chan_out_config[i].max = 0;
 441                 }
 442
 443                 tty_setspeed(devpriv->tty, devpriv->speed);
 444                 poll_channel(devpriv->tty, 31); /*  Start reading configuration */
 445                 while (1) {
 446                         struct serial_data data;
 447
 448                         data = serial_read(devpriv->tty, 1000);
 449                         if (data.kind != is_channel || data.index != 31
 450                             || !(data.value & 0xe0)) {
 451                                 break;
 452                         } else {
 453                                 int command, channel, kind;
 454                                 struct config_t *cur_config = 0;
 455
 456                                 channel = data.value & 0x1f;
 457                                 kind = (data.value >> 5) & 0x7;
 458                                 command = (data.value >> 8) & 0x3;
 459                                 switch (kind) {
 460                                 case 1:{
 461                                                 cur_config = dig_in_config;
 462                                         }
 463                                         break;
 464                                 case 2:{
 465                                                 cur_config = dig_out_config;
 466                                         }
 467                                         break;
 468                                 case 3:{
 469                                                 cur_config = chan_in_config;
 470                                         }
 471                                         break;
 472                                 case 4:{
 473                                                 cur_config = chan_out_config;
 474                                         }
 475                                         break;
 476                                 case 5:{
 477                                                 cur_config = chan_in_config;
 478                                         }
 479                                         break;
 480                                 }
 481
 482                                 if (cur_config) {
 483                                         cur_config[channel].kind = kind;
 484                                         switch (command) {
 485                                         case 0:{
 486                                                         cur_config[channel].bits
 487                                                             =
 488                                                             (data.value >> 10) &
 489                                                             0x3f;
 490                                                 }
 491                                                 break;
 492                                         case 1:{
 493                                                         int unit, sign, min;
 494                                                         unit =
 495                                                             (data.value >> 10) &
 496                                                             0x7;
 497                                                         sign =
 498                                                             (data.value >> 13) &
 499                                                             0x1;
 500                                                         min =
 501                                                             (data.value >> 14) &
 502                                                             0xfffff;
 503
 504                                                         switch (unit) {
 505                                                         case 0:{
 506                                                                         min =
 507                                                                             min
 508                                                                             *
 509                                                                             1000000;
 510                                                                 }
 511                                                                 break;
 512                                                         case 1:{
 513                                                                         min =
 514                                                                             min
 515                                                                             *
 516                                                                             1000;
 517                                                                 }
 518                                                                 break;
 519                                                         case 2:{
 520                                                                         min =
 521                                                                             min
 522                                                                             * 1;
 523                                                                 }
 524                                                                 break;
 525                                                         }
 526                                                         if (sign) {
 527                                                                 min = -min;
 528                                                         }
 529                                                         cur_config[channel].min
 530                                                             = min;
 531                                                 }
 532                                                 break;
 533                                         case 2:{
 534                                                         int unit, sign, max;
 535                                                         unit =
 536                                                             (data.value >> 10) &
 537                                                             0x7;
 538                                                         sign =
 539                                                             (data.value >> 13) &
 540                                                             0x1;
 541                                                         max =
 542                                                             (data.value >> 14) &
 543                                                             0xfffff;
 544
 545                                                         switch (unit) {
 546                                                         case 0:{
 547                                                                         max =
 548                                                                             max
 549                                                                             *
 550                                                                             1000000;
 551                                                                 }
 552                                                                 break;
 553                                                         case 1:{
 554                                                                         max =
 555                                                                             max
 556                                                                             *
 557                                                                             1000;
 558                                                                 }
 559                                                                 break;
 560                                                         case 2:{
 561                                                                         max =
 562                                                                             max
 563                                                                             * 1;
 564                                                                 }
 565                                                                 break;
 566                                                         }
 567                                                         if (sign) {
 568                                                                 max = -max;
 569                                                         }
 570                                                         cur_config[channel].max
 571                                                             = max;
 572                                                 }
 573                                                 break;
 574                                         }
 575                                 }
 576                         }
 577                 }
 578                 for (i = 0; i <= 4; i++) {
 579                         /*  Fill in subdev data */
 580                         struct config_t *c;
 581                         unsigned char *mapping = 0;
 582                         struct serial2002_range_table_t *range = 0;
 583                         int kind = 0;
 584
 585                         switch (i) {
 586                         case 0:{
 587                                         c = dig_in_config;
 588                                         mapping = devpriv->digital_in_mapping;
 589                                         kind = 1;
 590                                 }
 591                                 break;
 592                         case 1:{
 593                                         c = dig_out_config;
 594                                         mapping = devpriv->digital_out_mapping;
 595                                         kind = 2;
 596                                 }
 597                                 break;
 598                         case 2:{
 599                                         c = chan_in_config;
 600                                         mapping = devpriv->analog_in_mapping;
 601                                         range = devpriv->in_range;
 602                                         kind = 3;
 603                                 }
 604                                 break;
 605                         case 3:{
 606                                         c = chan_out_config;
 607                                         mapping = devpriv->analog_out_mapping;
 608                                         range = devpriv->out_range;
 609                                         kind = 4;
 610                                 }
 611                                 break;
 612                         case 4:{
 613                                         c = chan_in_config;
 614                                         mapping = devpriv->encoder_in_mapping;
 615                                         range = devpriv->in_range;
 616                                         kind = 5;
 617                                 }
 618                                 break;
 619                         default:{
 620                                         c = 0;
 621                                 }
 622                                 break;
 623                         }
 624                         if (c) {
 625                                 struct comedi_subdevice *s;
 626                                 const struct comedi_lrange **range_table_list =
 627                                     NULL;
 628                                 unsigned int *maxdata_list;
 629                                 int j, chan;
 630
 631                                 for (chan = 0, j = 0; j < 32; j++) {
 632                                         if (c[j].kind == kind) {
 633                                                 chan++;
 634                                         }
 635                                 }
 636                                 s = &dev->subdevices[i];
 637                                 s->n_chan = chan;
 638                                 s->maxdata = 0;
 639                                 if (s->maxdata_list) {
 640                                         kfree(s->maxdata_list);
 641                                 }
 642                                 s->maxdata_list = maxdata_list =
 643                                     kmalloc(sizeof(unsigned int) * s->n_chan,
 644                                             GFP_KERNEL);
 645                                 if (s->range_table_list) {
 646                                         kfree(s->range_table_list);
 647                                 }
 648                                 if (range) {
 649                                         s->range_table = 0;
 650                                         s->range_table_list = range_table_list =
 651                                             kmalloc(sizeof
 652                                                     (struct
 653                                                      serial2002_range_table_t) *
 654                                                     s->n_chan, GFP_KERNEL);
 655                                 }
 656                                 for (chan = 0, j = 0; j < 32; j++) {
 657                                         if (c[j].kind == kind) {
 658                                                 if (mapping) {
 659                                                         mapping[chan] = j;
 660                                                 }
 661                                                 if (range) {
 662                                                         range[j].length = 1;
 663                                                         range[j].range.min =
 664                                                             c[j].min;
 665                                                         range[j].range.max =
 666                                                             c[j].max;
 667                                                         range_table_list[chan] =
 668                                                             (const struct
 669                                                              comedi_lrange *)
 670                                                             &range[j];
 671                                                 }
 672                                                 maxdata_list[chan] =
 673                                                     ((long long)1 << c[j].bits)
 674                                                     - 1;
 675                                                 chan++;
 676                                         }
 677                                 }
 678                         }
 679                 }
 680         }
 681 }
 682
 683 static void serial_2002_close(struct comedi_device *dev)
 684 {
 685         if (!IS_ERR(devpriv->tty) && (devpriv->tty != 0)) {
 686                 filp_close(devpriv->tty, 0);
 687         }
 688 }
 689
 690 static int serial2002_di_rinsn(struct comedi_device *dev,
 691                                struct comedi_subdevice *s,
 692                                struct comedi_insn *insn, unsigned int *data)
 693 {
 694         int n;
 695         int chan;
 696
 697         chan = devpriv->digital_in_mapping[CR_CHAN(insn->chanspec)];
 698         for (n = 0; n < insn->n; n++) {
 699                 struct serial_data read;
 700
 701                 poll_digital(devpriv->tty, chan);
 702                 while (1) {
 703                         read = serial_read(devpriv->tty, 1000);
 704                         if (read.kind != is_digital || read.index == chan) {
 705                                 break;
 706                         }
 707                 }
 708                 data[n] = read.value;
 709         }
 710         return n;
 711 }
 712
 713 static int serial2002_do_winsn(struct comedi_device *dev,
 714                                struct comedi_subdevice *s,
 715                                struct comedi_insn *insn, unsigned int *data)
 716 {
 717         int n;
 718         int chan;
 719
 720         chan = devpriv->digital_out_mapping[CR_CHAN(insn->chanspec)];
 721         for (n = 0; n < insn->n; n++) {
 722                 struct serial_data write;
 723
 724                 write.kind = is_digital;
 725                 write.index = chan;
 726                 write.value = data[n];
 727                 serial_write(devpriv->tty, write);
 728         }
 729         return n;
 730 }
 731
 732 static int serial2002_ai_rinsn(struct comedi_device *dev,
 733                                struct comedi_subdevice *s,
 734                                struct comedi_insn *insn, unsigned int *data)
 735 {
 736         int n;
 737         int chan;
 738
 739         chan = devpriv->analog_in_mapping[CR_CHAN(insn->chanspec)];
 740         for (n = 0; n < insn->n; n++) {
 741                 struct serial_data read;
 742
 743                 poll_channel(devpriv->tty, chan);
 744                 while (1) {
 745                         read = serial_read(devpriv->tty, 1000);
 746                         if (read.kind != is_channel || read.index == chan) {
 747                                 break;
 748                         }
 749                 }
 750                 data[n] = read.value;
 751         }
 752         return n;
 753 }
 754
 755 static int serial2002_ao_winsn(struct comedi_device *dev,
 756                                struct comedi_subdevice *s,
 757                                struct comedi_insn *insn, unsigned int *data)
 758 {
 759         int n;
 760         int chan;
 761
 762         chan = devpriv->analog_out_mapping[CR_CHAN(insn->chanspec)];
 763         for (n = 0; n < insn->n; n++) {
 764                 struct serial_data write;
 765
 766                 write.kind = is_channel;
 767                 write.index = chan;
 768                 write.value = data[n];
 769                 serial_write(devpriv->tty, write);
 770                 devpriv->ao_readback[chan] = data[n];
 771         }
 772         return n;
 773 }
 774
 775 static int serial2002_ao_rinsn(struct comedi_device *dev,
 776                                struct comedi_subdevice *s,
 777                                struct comedi_insn *insn, unsigned int *data)
 778 {
 779         int n;
 780         int chan = CR_CHAN(insn->chanspec);
 781
 782         for (n = 0; n < insn->n; n++) {
 783                 data[n] = devpriv->ao_readback[chan];
 784         }
 785
 786         return n;
 787 }
 788
 789 static int serial2002_ei_rinsn(struct comedi_device *dev,
 790                                struct comedi_subdevice *s,
 791                                struct comedi_insn *insn, unsigned int *data)
 792 {
 793         int n;
 794         int chan;
 795
 796         chan = devpriv->encoder_in_mapping[CR_CHAN(insn->chanspec)];
 797         for (n = 0; n < insn->n; n++) {
 798                 struct serial_data read;
 799
 800                 poll_channel(devpriv->tty, chan);
 801                 while (1) {
 802                         read = serial_read(devpriv->tty, 1000);
 803                         if (read.kind != is_channel || read.index == chan) {
 804                                 break;
 805                         }
 806                 }
 807                 data[n] = read.value;
 808         }
 809         return n;
 810 }
 811
 812 static int serial2002_attach(struct comedi_device *dev,
 813                              struct comedi_devconfig *it)
 814 {
 815         struct comedi_subdevice *s;
 816
 817         printk("comedi%d: serial2002: ", dev->minor);
 818         dev->board_name = thisboard->name;
 819         if (alloc_private(dev, sizeof(struct serial2002_private)) < 0) {
 820                 return -ENOMEM;
 821         }
 822         dev->open = serial_2002_open;
 823         dev->close = serial_2002_close;
 824         devpriv->port = it->options[0];
 825         devpriv->speed = it->options[1];
 826         printk("/dev/ttyS%d @ %d\n", devpriv->port, devpriv->speed);
 827
 828         if (alloc_subdevices(dev, 5) < 0)
 829                 return -ENOMEM;
 830
 831         /* digital input subdevice */
 832         s = dev->subdevices + 0;
 833         s->type = COMEDI_SUBD_DI;
 834         s->subdev_flags = SDF_READABLE;
 835         s->n_chan = 0;
 836         s->maxdata = 1;
 837         s->range_table = &range_digital;
 838         s->insn_read = &serial2002_di_rinsn;
 839
 840         /* digital output subdevice */
 841         s = dev->subdevices + 1;
 842         s->type = COMEDI_SUBD_DO;
 843         s->subdev_flags = SDF_WRITEABLE;
 844         s->n_chan = 0;
 845         s->maxdata = 1;
 846         s->range_table = &range_digital;
 847         s->insn_write = &serial2002_do_winsn;
 848
 849         /* analog input subdevice */
 850         s = dev->subdevices + 2;
 851         s->type = COMEDI_SUBD_AI;
 852         s->subdev_flags = SDF_READABLE | SDF_GROUND;
 853         s->n_chan = 0;
 854         s->maxdata = 1;
 855         s->range_table = 0;
 856         s->insn_read = &serial2002_ai_rinsn;
 857
 858         /* analog output subdevice */
 859         s = dev->subdevices + 3;
 860         s->type = COMEDI_SUBD_AO;
 861         s->subdev_flags = SDF_WRITEABLE;
 862         s->n_chan = 0;
 863         s->maxdata = 1;
 864         s->range_table = 0;
 865         s->insn_write = &serial2002_ao_winsn;
 866         s->insn_read = &serial2002_ao_rinsn;
 867
 868         /* encoder input subdevice */
 869         s = dev->subdevices + 4;
 870         s->type = COMEDI_SUBD_COUNTER;
 871         s->subdev_flags = SDF_READABLE | SDF_LSAMPL;
 872         s->n_chan = 0;
 873         s->maxdata = 1;
 874         s->range_table = 0;
 875         s->insn_read = &serial2002_ei_rinsn;
 876
 877         return 1;
 878 }
 879
 880 static int serial2002_detach(struct comedi_device *dev)
 881 {
 882         struct comedi_subdevice *s;
 883         int i;
 884
 885         printk("comedi%d: serial2002: remove\n", dev->minor);
 886         for (i = 0; i < 4; i++) {
 887                 s = &dev->subdevices[i];
 888                 if (s->maxdata_list) {
 889                         kfree(s->maxdata_list);
 890                 }
 891                 if (s->range_table_list) {
 892                         kfree(s->range_table_list);
 893                 }
 894         }
 895         return 0;
 896 }
 897
 898 COMEDI_INITCLEANUP(driver_serial2002);