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
  19 /*
  20 Driver: serial2002
  21 Description: Driver for serial connected hardware
  22 Devices:
  23 Author: Anders Blomdell
  24 Updated: Fri,  7 Jun 2002 12:56:45 -0700
  25 Status: in development
  26
  27 */
  28
  29 #include <linux/module.h>
  30 #include "../comedidev.h"
  31
  32 #include <linux/delay.h>
  33 #include <linux/sched.h>
  34 #include <linux/slab.h>
  35
  36 #include <linux/termios.h>
  37 #include <asm/ioctls.h>
  38 #include <linux/serial.h>
  39 #include <linux/poll.h>
  40
  41 struct serial2002_range_table_t {
  42
  43         /*  HACK... */
  44         int length;
  45         struct comedi_krange range;
  46 };
  47
  48 struct serial2002_private {
  49
  50         int port;               /*  /dev/ttyS<port> */
  51         int speed;              /*  baudrate */
  52         struct file *tty;
  53         unsigned int ao_readback[32];
  54         unsigned char digital_in_mapping[32];
  55         unsigned char digital_out_mapping[32];
  56         unsigned char analog_in_mapping[32];
  57         unsigned char analog_out_mapping[32];
  58         unsigned char encoder_in_mapping[32];
  59         struct serial2002_range_table_t in_range[32], out_range[32];
  60 };
  61
  62 struct serial_data {
  63         enum { is_invalid, is_digital, is_channel } kind;
  64         int index;
  65         unsigned long value;
  66 };
  67
  68 /*
  69  * The configuration serial_data.value read from the device is
  70  * a bitmask that defines specific options of a channel:
  71  *
  72  * 4:0 - the channel to configure
  73  * 7:5 - the kind of channel
  74  * 9:8 - the command used to configure the channel
  75  *
  76  * The remaining bits vary in use depending on the command:
  77  *
  78  * BITS     15:10 - the channel bits (maxdata)
  79  * MIN/MAX  12:10 - the units multiplier for the scale
  80  *          13    - the sign of the scale
  81  *          33:14 - the base value for the range
  82  */
  83 #define S2002_CFG_CHAN(x)               ((x) & 0x1f)
  84 #define S2002_CFG_KIND(x)               (((x) >> 5) & 0x7)
  85 #define S2002_CFG_KIND_INVALID          0
  86 #define S2002_CFG_KIND_DIGITAL_IN       1
  87 #define S2002_CFG_KIND_DIGITAL_OUT      2
  88 #define S2002_CFG_KIND_ANALOG_IN        3
  89 #define S2002_CFG_KIND_ANALOG_OUT       4
  90 #define S2002_CFG_KIND_ENCODER_IN       5
  91 #define S2002_CFG_CMD(x)                (((x) >> 8) & 0x3)
  92 #define S2002_CFG_CMD_BITS              0
  93 #define S2002_CFG_CMD_MIN               1
  94 #define S2002_CFG_CMD_MAX               2
  95 #define S2002_CFG_BITS(x)               (((x) >> 10) & 0x3f)
  96 #define S2002_CFG_UNITS(x)              (((x) >> 10) & 0x7)
  97 #define S2002_CFG_SIGN(x)               (((x) >> 13) & 0x1)
  98 #define S2002_CFG_BASE(x)               (((x) >> 14) & 0xfffff)
  99
 100 static long serial2002_tty_ioctl(struct file *f, unsigned op,
 101                                  unsigned long param)
 102 {
 103         if (f->f_op->unlocked_ioctl)
 104                 return f->f_op->unlocked_ioctl(f, op, param);
 105
 106         return -ENOSYS;
 107 }
 108
 109 static int serial2002_tty_write(struct file *f, unsigned char *buf, int count)
 110 {
 111         const char __user *p = (__force const char __user *)buf;
 112         int result;
 113         mm_segment_t oldfs;
 114
 115         oldfs = get_fs();
 116         set_fs(KERNEL_DS);
 117         f->f_pos = 0;
 118         result = f->f_op->write(f, p, count, &f->f_pos);
 119         set_fs(oldfs);
 120         return result;
 121 }
 122
 123 static int serial2002_tty_readb(struct file *f, unsigned char *buf)
 124 {
 125         char __user *p = (__force char __user *)buf;
 126
 127         f->f_pos = 0;
 128         return f->f_op->read(f, p, 1, &f->f_pos);
 129 }
 130
 131 static void serial2002_tty_read_poll_wait(struct file *f, int timeout)
 132 {
 133         struct poll_wqueues table;
 134         struct timeval start, now;
 135
 136         do_gettimeofday(&start);
 137         poll_initwait(&table);
 138         while (1) {
 139                 long elapsed;
 140                 int mask;
 141
 142                 mask = f->f_op->poll(f, &table.pt);
 143                 if (mask & (POLLRDNORM | POLLRDBAND | POLLIN |
 144                             POLLHUP | POLLERR)) {
 145                         break;
 146                 }
 147                 do_gettimeofday(&now);
 148                 elapsed = (1000000 * (now.tv_sec - start.tv_sec) +
 149                           now.tv_usec - start.tv_usec);
 150                 if (elapsed > timeout)
 151                         break;
 152                 set_current_state(TASK_INTERRUPTIBLE);
 153                 schedule_timeout(((timeout - elapsed) * HZ) / 10000);
 154         }
 155         poll_freewait(&table);
 156 }
 157
 158 static int serial2002_tty_read(struct file *f, int timeout)
 159 {
 160         unsigned char ch;
 161         int result;
 162
 163         result = -1;
 164         if (!IS_ERR(f)) {
 165                 mm_segment_t oldfs;
 166
 167                 oldfs = get_fs();
 168                 set_fs(KERNEL_DS);
 169                 if (f->f_op->poll) {
 170                         serial2002_tty_read_poll_wait(f, timeout);
 171
 172                         if (serial2002_tty_readb(f, &ch) == 1)
 173                                 result = ch;
 174                 } else {
 175                         /* Device does not support poll, busy wait */
 176                         int retries = 0;
 177
 178                         while (1) {
 179                                 retries++;
 180                                 if (retries >= timeout)
 181                                         break;
 182
 183                                 if (serial2002_tty_readb(f, &ch) == 1) {
 184                                         result = ch;
 185                                         break;
 186                                 }
 187                                 udelay(100);
 188                         }
 189                 }
 190                 set_fs(oldfs);
 191         }
 192         return result;
 193 }
 194
 195 static void serial2002_tty_setspeed(struct file *f, int speed)
 196 {
 197         struct termios termios;
 198         struct serial_struct serial;
 199         mm_segment_t oldfs;
 200
 201         oldfs = get_fs();
 202         set_fs(KERNEL_DS);
 203
 204         /* Set speed */
 205         serial2002_tty_ioctl(f, TCGETS, (unsigned long)&termios);
 206         termios.c_iflag = 0;
 207         termios.c_oflag = 0;
 208         termios.c_lflag = 0;
 209         termios.c_cflag = CLOCAL | CS8 | CREAD;
 210         termios.c_cc[VMIN] = 0;
 211         termios.c_cc[VTIME] = 0;
 212         switch (speed) {
 213         case 2400:
 214                 termios.c_cflag |= B2400;
 215                 break;
 216         case 4800:
 217                 termios.c_cflag |= B4800;
 218                 break;
 219         case 9600:
 220                 termios.c_cflag |= B9600;
 221                 break;
 222         case 19200:
 223                 termios.c_cflag |= B19200;
 224                 break;
 225         case 38400:
 226                 termios.c_cflag |= B38400;
 227                 break;
 228         case 57600:
 229                 termios.c_cflag |= B57600;
 230                 break;
 231         case 115200:
 232                 termios.c_cflag |= B115200;
 233                 break;
 234         default:
 235                 termios.c_cflag |= B9600;
 236                 break;
 237         }
 238         serial2002_tty_ioctl(f, TCSETS, (unsigned long)&termios);
 239
 240         /* Set low latency */
 241         serial2002_tty_ioctl(f, TIOCGSERIAL, (unsigned long)&serial);
 242         serial.flags |= ASYNC_LOW_LATENCY;
 243         serial2002_tty_ioctl(f, TIOCSSERIAL, (unsigned long)&serial);
 244
 245         set_fs(oldfs);
 246 }
 247
 248 static void serial2002_poll_digital(struct file *f, int channel)
 249 {
 250         char cmd;
 251
 252         cmd = 0x40 | (channel & 0x1f);
 253         serial2002_tty_write(f, &cmd, 1);
 254 }
 255
 256 static void serial2002_poll_channel(struct file *f, int channel)
 257 {
 258         char cmd;
 259
 260         cmd = 0x60 | (channel & 0x1f);
 261         serial2002_tty_write(f, &cmd, 1);
 262 }
 263
 264 static struct serial_data serial2002_read(struct file *f, int timeout)
 265 {
 266         struct serial_data result;
 267         int length;
 268
 269         result.kind = is_invalid;
 270         result.index = 0;
 271         result.value = 0;
 272         length = 0;
 273         while (1) {
 274                 int data = serial2002_tty_read(f, timeout);
 275
 276                 length++;
 277                 if (data < 0) {
 278                         break;
 279                 } else if (data & 0x80) {
 280                         result.value = (result.value << 7) | (data & 0x7f);
 281                 } else {
 282                         if (length == 1) {
 283                                 switch ((data >> 5) & 0x03) {
 284                                 case 0:
 285                                         result.value = 0;
 286                                         result.kind = is_digital;
 287                                         break;
 288                                 case 1:
 289                                         result.value = 1;
 290                                         result.kind = is_digital;
 291                                         break;
 292                                 }
 293                         } else {
 294                                 result.value =
 295                                     (result.value << 2) | ((data & 0x60) >> 5);
 296                                 result.kind = is_channel;
 297                         }
 298                         result.index = data & 0x1f;
 299                         break;
 300                 }
 301         }
 302         return result;
 303
 304 }
 305
 306 static void serial2002_write(struct file *f, struct serial_data data)
 307 {
 308         if (data.kind == is_digital) {
 309                 unsigned char ch =
 310                     ((data.value << 5) & 0x20) | (data.index & 0x1f);
 311                 serial2002_tty_write(f, &ch, 1);
 312         } else {
 313                 unsigned char ch[6];
 314                 int i = 0;
 315
 316                 if (data.value >= (1L << 30)) {
 317                         ch[i] = 0x80 | ((data.value >> 30) & 0x03);
 318                         i++;
 319                 }
 320                 if (data.value >= (1L << 23)) {
 321                         ch[i] = 0x80 | ((data.value >> 23) & 0x7f);
 322                         i++;
 323                 }
 324                 if (data.value >= (1L << 16)) {
 325                         ch[i] = 0x80 | ((data.value >> 16) & 0x7f);
 326                         i++;
 327                 }
 328                 if (data.value >= (1L << 9)) {
 329                         ch[i] = 0x80 | ((data.value >> 9) & 0x7f);
 330                         i++;
 331                 }
 332                 ch[i] = 0x80 | ((data.value >> 2) & 0x7f);
 333                 i++;
 334                 ch[i] = ((data.value << 5) & 0x60) | (data.index & 0x1f);
 335                 i++;
 336                 serial2002_tty_write(f, ch, i);
 337         }
 338 }
 339
 340 struct config_t {
 341         short int kind;
 342         short int bits;
 343         int min;
 344         int max;
 345 };
 346
 347 static int serial2002_setup_subdevice(struct comedi_subdevice *s,
 348                                       struct config_t *cfg,
 349                                       struct serial2002_range_table_t *range,
 350                                       unsigned char *mapping,
 351                                       int kind)
 352 {
 353         const struct comedi_lrange **range_table_list = NULL;
 354         unsigned int *maxdata_list;
 355         int j, chan;
 356
 357         for (chan = 0, j = 0; j < 32; j++) {
 358                 if (cfg[j].kind == kind)
 359                         chan++;
 360         }
 361         s->n_chan = chan;
 362         s->maxdata = 0;
 363         kfree(s->maxdata_list);
 364         maxdata_list = kmalloc_array(s->n_chan, sizeof(unsigned int),
 365                                      GFP_KERNEL);
 366         if (!maxdata_list)
 367                 return -ENOMEM;
 368         s->maxdata_list = maxdata_list;
 369         kfree(s->range_table_list);
 370         s->range_table = NULL;
 371         s->range_table_list = NULL;
 372         if (kind == 1 || kind == 2) {
 373                 s->range_table = &range_digital;
 374         } else if (range) {
 375                 range_table_list = kmalloc_array(s->n_chan, sizeof(*range),
 376                                                  GFP_KERNEL);
 377                 if (!range_table_list)
 378                         return -ENOMEM;
 379                 s->range_table_list = range_table_list;
 380         }
 381         for (chan = 0, j = 0; j < 32; j++) {
 382                 if (cfg[j].kind == kind) {
 383                         if (mapping)
 384                                 mapping[chan] = j;
 385                         if (range) {
 386                                 range[j].length = 1;
 387                                 range[j].range.min = cfg[j].min;
 388                                 range[j].range.max = cfg[j].max;
 389                                 range_table_list[chan] =
 390                                     (const struct comedi_lrange *)&range[j];
 391                         }
 392                         maxdata_list[chan] = ((long long)1 << cfg[j].bits) - 1;
 393                         chan++;
 394                 }
 395         }
 396         return 0;
 397 }
 398
 399 static int serial2002_setup_subdevs(struct comedi_device *dev)
 400 {
 401         struct serial2002_private *devpriv = dev->private;
 402         struct config_t *di_cfg;
 403         struct config_t *do_cfg;
 404         struct config_t *ai_cfg;
 405         struct config_t *ao_cfg;
 406         struct config_t *cfg;
 407         struct comedi_subdevice *s;
 408         int result = 0;
 409         int i;
 410
 411         /* Allocate the temporary structs to hold the configuration data */
 412         di_cfg = kcalloc(32, sizeof(*cfg), GFP_KERNEL);
 413         do_cfg = kcalloc(32, sizeof(*cfg), GFP_KERNEL);
 414         ai_cfg = kcalloc(32, sizeof(*cfg), GFP_KERNEL);
 415         ao_cfg = kcalloc(32, sizeof(*cfg), GFP_KERNEL);
 416         if (!di_cfg || !do_cfg || !ai_cfg || !ao_cfg) {
 417                 result = -ENOMEM;
 418                 goto err_alloc_configs;
 419         }
 420
 421         /* Read the configuration from the connected device */
 422         serial2002_tty_setspeed(devpriv->tty, devpriv->speed);
 423         serial2002_poll_channel(devpriv->tty, 31);
 424         while (1) {
 425                 struct serial_data data = serial2002_read(devpriv->tty, 1000);
 426                 int kind = S2002_CFG_KIND(data.value);
 427                 int channel = S2002_CFG_CHAN(data.value);
 428                 int range = S2002_CFG_BASE(data.value);
 429                 int cmd = S2002_CFG_CMD(data.value);
 430
 431                 if (data.kind != is_channel || data.index != 31 ||
 432                     kind == S2002_CFG_KIND_INVALID)
 433                         break;
 434
 435                 switch (kind) {
 436                 case S2002_CFG_KIND_DIGITAL_IN:
 437                         cfg = di_cfg;
 438                         break;
 439                 case S2002_CFG_KIND_DIGITAL_OUT:
 440                         cfg = do_cfg;
 441                         break;
 442                 case S2002_CFG_KIND_ANALOG_IN:
 443                         cfg = ai_cfg;
 444                         break;
 445                 case S2002_CFG_KIND_ANALOG_OUT:
 446                         cfg = ao_cfg;
 447                         break;
 448                 case S2002_CFG_KIND_ENCODER_IN:
 449                         cfg = ai_cfg;
 450                         break;
 451                 default:
 452                         cfg = NULL;
 453                         break;
 454                 }
 455                 if (!cfg)
 456                         continue;       /* unknown kind, skip it */
 457
 458                 cfg[channel].kind = kind;
 459
 460                 switch (cmd) {
 461                 case S2002_CFG_CMD_BITS:
 462                         cfg[channel].bits = S2002_CFG_BITS(data.value);
 463                         break;
 464                 case S2002_CFG_CMD_MIN:
 465                 case S2002_CFG_CMD_MAX:
 466                         switch (S2002_CFG_UNITS(data.value)) {
 467                         case 0:
 468                                 range *= 1000000;
 469                                 break;
 470                         case 1:
 471                                 range *= 1000;
 472                                 break;
 473                         case 2:
 474                                 range *= 1;
 475                                 break;
 476                         }
 477                         if (S2002_CFG_SIGN(data.value))
 478                                 range = -range;
 479                         if (cmd == S2002_CFG_CMD_MIN)
 480                                 cfg[channel].min = range;
 481                         else
 482                                 cfg[channel].max = range;
 483                         break;
 484                 }
 485         }
 486
 487         /* Fill in subdevice data */
 488         for (i = 0; i <= 4; i++) {
 489                 unsigned char *mapping = NULL;
 490                 struct serial2002_range_table_t *range = NULL;
 491                 int kind = 0;
 492
 493                 s = &dev->subdevices[i];
 494
 495                 switch (i) {
 496                 case 0:
 497                         cfg = di_cfg;
 498                         mapping = devpriv->digital_in_mapping;
 499                         kind = S2002_CFG_KIND_DIGITAL_IN;
 500                         break;
 501                 case 1:
 502                         cfg = do_cfg;
 503                         mapping = devpriv->digital_out_mapping;
 504                         kind = S2002_CFG_KIND_DIGITAL_OUT;
 505                         break;
 506                 case 2:
 507                         cfg = ai_cfg;
 508                         mapping = devpriv->analog_in_mapping;
 509                         range = devpriv->in_range;
 510                         kind = S2002_CFG_KIND_ANALOG_IN;
 511                         break;
 512                 case 3:
 513                         cfg = ao_cfg;
 514                         mapping = devpriv->analog_out_mapping;
 515                         range = devpriv->out_range;
 516                         kind = S2002_CFG_KIND_ANALOG_OUT;
 517                         break;
 518                 case 4:
 519                         cfg = ai_cfg;
 520                         mapping = devpriv->encoder_in_mapping;
 521                         range = devpriv->in_range;
 522                         kind = S2002_CFG_KIND_ENCODER_IN;
 523                         break;
 524                 }
 525
 526                 if (serial2002_setup_subdevice(s, cfg, range, mapping, kind))
 527                         break;  /* err handled below */
 528         }
 529         if (i <= 4) {
 530                 /*
 531                  * Failed to allocate maxdata_list or range_table_list
 532                  * for a subdevice that needed it.
 533                  */
 534                 result = -ENOMEM;
 535                 for (i = 0; i <= 4; i++) {
 536                         s = &dev->subdevices[i];
 537                         kfree(s->maxdata_list);
 538                         s->maxdata_list = NULL;
 539                         kfree(s->range_table_list);
 540                         s->range_table_list = NULL;
 541                 }
 542         }
 543
 544 err_alloc_configs:
 545         kfree(di_cfg);
 546         kfree(do_cfg);
 547         kfree(ai_cfg);
 548         kfree(ao_cfg);
 549
 550         if (result) {
 551                 if (devpriv->tty) {
 552                         filp_close(devpriv->tty, NULL);
 553                         devpriv->tty = NULL;
 554                 }
 555         }
 556
 557         return result;
 558 }
 559
 560 static int serial2002_open(struct comedi_device *dev)
 561 {
 562         struct serial2002_private *devpriv = dev->private;
 563         int result;
 564         char port[20];
 565
 566         sprintf(port, "/dev/ttyS%d", devpriv->port);
 567         devpriv->tty = filp_open(port, O_RDWR, 0);
 568         if (IS_ERR(devpriv->tty)) {
 569                 result = (int)PTR_ERR(devpriv->tty);
 570                 dev_err(dev->class_dev, "file open error = %d\n", result);
 571         } else {
 572                 result = serial2002_setup_subdevs(dev);
 573         }
 574         return result;
 575 }
 576
 577 static void serial2002_close(struct comedi_device *dev)
 578 {
 579         struct serial2002_private *devpriv = dev->private;
 580
 581         if (!IS_ERR(devpriv->tty) && devpriv->tty)
 582                 filp_close(devpriv->tty, NULL);
 583 }
 584
 585 static int serial2002_di_insn_read(struct comedi_device *dev,
 586                                    struct comedi_subdevice *s,
 587                                    struct comedi_insn *insn,
 588                                    unsigned int *data)
 589 {
 590         struct serial2002_private *devpriv = dev->private;
 591         int n;
 592         int chan;
 593
 594         chan = devpriv->digital_in_mapping[CR_CHAN(insn->chanspec)];
 595         for (n = 0; n < insn->n; n++) {
 596                 struct serial_data read;
 597
 598                 serial2002_poll_digital(devpriv->tty, chan);
 599                 while (1) {
 600                         read = serial2002_read(devpriv->tty, 1000);
 601                         if (read.kind != is_digital || read.index == chan)
 602                                 break;
 603                 }
 604                 data[n] = read.value;
 605         }
 606         return n;
 607 }
 608
 609 static int serial2002_do_insn_write(struct comedi_device *dev,
 610                                     struct comedi_subdevice *s,
 611                                     struct comedi_insn *insn,
 612                                     unsigned int *data)
 613 {
 614         struct serial2002_private *devpriv = dev->private;
 615         int n;
 616         int chan;
 617
 618         chan = devpriv->digital_out_mapping[CR_CHAN(insn->chanspec)];
 619         for (n = 0; n < insn->n; n++) {
 620                 struct serial_data write;
 621
 622                 write.kind = is_digital;
 623                 write.index = chan;
 624                 write.value = data[n];
 625                 serial2002_write(devpriv->tty, write);
 626         }
 627         return n;
 628 }
 629
 630 static int serial2002_ai_insn_read(struct comedi_device *dev,
 631                                    struct comedi_subdevice *s,
 632                                    struct comedi_insn *insn,
 633                                    unsigned int *data)
 634 {
 635         struct serial2002_private *devpriv = dev->private;
 636         int n;
 637         int chan;
 638
 639         chan = devpriv->analog_in_mapping[CR_CHAN(insn->chanspec)];
 640         for (n = 0; n < insn->n; n++) {
 641                 struct serial_data read;
 642
 643                 serial2002_poll_channel(devpriv->tty, chan);
 644                 while (1) {
 645                         read = serial2002_read(devpriv->tty, 1000);
 646                         if (read.kind != is_channel || read.index == chan)
 647                                 break;
 648                 }
 649                 data[n] = read.value;
 650         }
 651         return n;
 652 }
 653
 654 static int serial2002_ao_insn_write(struct comedi_device *dev,
 655                                     struct comedi_subdevice *s,
 656                                     struct comedi_insn *insn,
 657                                     unsigned int *data)
 658 {
 659         struct serial2002_private *devpriv = dev->private;
 660         int n;
 661         int chan;
 662
 663         chan = devpriv->analog_out_mapping[CR_CHAN(insn->chanspec)];
 664         for (n = 0; n < insn->n; n++) {
 665                 struct serial_data write;
 666
 667                 write.kind = is_channel;
 668                 write.index = chan;
 669                 write.value = data[n];
 670                 serial2002_write(devpriv->tty, write);
 671                 devpriv->ao_readback[chan] = data[n];
 672         }
 673         return n;
 674 }
 675
 676 static int serial2002_ao_insn_read(struct comedi_device *dev,
 677                                    struct comedi_subdevice *s,
 678                                    struct comedi_insn *insn,
 679                                    unsigned int *data)
 680 {
 681         struct serial2002_private *devpriv = dev->private;
 682         int n;
 683         int chan = CR_CHAN(insn->chanspec);
 684
 685         for (n = 0; n < insn->n; n++)
 686                 data[n] = devpriv->ao_readback[chan];
 687
 688         return n;
 689 }
 690
 691 static int serial2002_encoder_insn_read(struct comedi_device *dev,
 692                                         struct comedi_subdevice *s,
 693                                         struct comedi_insn *insn,
 694                                         unsigned int *data)
 695 {
 696         struct serial2002_private *devpriv = dev->private;
 697         int n;
 698         int chan;
 699
 700         chan = devpriv->encoder_in_mapping[CR_CHAN(insn->chanspec)];
 701         for (n = 0; n < insn->n; n++) {
 702                 struct serial_data read;
 703
 704                 serial2002_poll_channel(devpriv->tty, chan);
 705                 while (1) {
 706                         read = serial2002_read(devpriv->tty, 1000);
 707                         if (read.kind != is_channel || read.index == chan)
 708                                 break;
 709                 }
 710                 data[n] = read.value;
 711         }
 712         return n;
 713 }
 714
 715 static int serial2002_attach(struct comedi_device *dev,
 716                              struct comedi_devconfig *it)
 717 {
 718         struct serial2002_private *devpriv;
 719         struct comedi_subdevice *s;
 720         int ret;
 721
 722         devpriv = comedi_alloc_devpriv(dev, sizeof(*devpriv));
 723         if (!devpriv)
 724                 return -ENOMEM;
 725
 726         devpriv->port = it->options[0];
 727         devpriv->speed = it->options[1];
 728
 729         ret = comedi_alloc_subdevices(dev, 5);
 730         if (ret)
 731                 return ret;
 732
 733         /* digital input subdevice */
 734         s = &dev->subdevices[0];
 735         s->type         = COMEDI_SUBD_DI;
 736         s->subdev_flags = SDF_READABLE;
 737         s->n_chan       = 0;
 738         s->maxdata      = 1;
 739         s->range_table  = &range_digital;
 740         s->insn_read    = serial2002_di_insn_read;
 741
 742         /* digital output subdevice */
 743         s = &dev->subdevices[1];
 744         s->type         = COMEDI_SUBD_DO;
 745         s->subdev_flags = SDF_WRITABLE;
 746         s->n_chan       = 0;
 747         s->maxdata      = 1;
 748         s->range_table  = &range_digital;
 749         s->insn_write   = serial2002_do_insn_write;
 750
 751         /* analog input subdevice */
 752         s = &dev->subdevices[2];
 753         s->type         = COMEDI_SUBD_AI;
 754         s->subdev_flags = SDF_READABLE | SDF_GROUND;
 755         s->n_chan       = 0;
 756         s->maxdata      = 1;
 757         s->range_table  = NULL;
 758         s->insn_read    = serial2002_ai_insn_read;
 759
 760         /* analog output subdevice */
 761         s = &dev->subdevices[3];
 762         s->type         = COMEDI_SUBD_AO;
 763         s->subdev_flags = SDF_WRITABLE;
 764         s->n_chan       = 0;
 765         s->maxdata      = 1;
 766         s->range_table  = NULL;
 767         s->insn_write   = serial2002_ao_insn_write;
 768         s->insn_read    = serial2002_ao_insn_read;
 769
 770         /* encoder input subdevice */
 771         s = &dev->subdevices[4];
 772         s->type         = COMEDI_SUBD_COUNTER;
 773         s->subdev_flags = SDF_READABLE | SDF_LSAMPL;
 774         s->n_chan       = 0;
 775         s->maxdata      = 1;
 776         s->range_table  = NULL;
 777         s->insn_read    = serial2002_encoder_insn_read;
 778
 779         dev->open       = serial2002_open;
 780         dev->close      = serial2002_close;
 781
 782         return 0;
 783 }
 784
 785 static void serial2002_detach(struct comedi_device *dev)
 786 {
 787         struct comedi_subdevice *s;
 788         int i;
 789
 790         for (i = 0; i < dev->n_subdevices; i++) {
 791                 s = &dev->subdevices[i];
 792                 kfree(s->maxdata_list);
 793                 kfree(s->range_table_list);
 794         }
 795 }
 796
 797 static struct comedi_driver serial2002_driver = {
 798         .driver_name    = "serial2002",
 799         .module         = THIS_MODULE,
 800         .attach         = serial2002_attach,
 801         .detach         = serial2002_detach,
 802 };
 803 module_comedi_driver(serial2002_driver);
 804
 805 MODULE_AUTHOR("Comedi http://www.comedi.org");
 806 MODULE_DESCRIPTION("Comedi low-level driver");
 807 MODULE_LICENSE("GPL");