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 "../comedidev.h"
  30
  31 #include <linux/delay.h>
  32 #include <linux/ioport.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                         while (1) {
 178                                 retries++;
 179                                 if (retries >= timeout)
 180                                         break;
 181
 182                                 if (serial2002_tty_readb(f, &ch) == 1) {
 183                                         result = ch;
 184                                         break;
 185                                 }
 186                                 udelay(100);
 187                         }
 188                 }
 189                 set_fs(oldfs);
 190         }
 191         return result;
 192 }
 193
 194 static void serial2002_tty_setspeed(struct file *f, int speed)
 195 {
 196         struct termios termios;
 197         struct serial_struct serial;
 198         mm_segment_t oldfs;
 199
 200         oldfs = get_fs();
 201         set_fs(KERNEL_DS);
 202
 203         /* Set speed */
 204         serial2002_tty_ioctl(f, TCGETS, (unsigned long)&termios);
 205         termios.c_iflag = 0;
 206         termios.c_oflag = 0;
 207         termios.c_lflag = 0;
 208         termios.c_cflag = CLOCAL | CS8 | CREAD;
 209         termios.c_cc[VMIN] = 0;
 210         termios.c_cc[VTIME] = 0;
 211         switch (speed) {
 212         case 2400:
 213                 termios.c_cflag |= B2400;
 214                 break;
 215         case 4800:
 216                 termios.c_cflag |= B4800;
 217                 break;
 218         case 9600:
 219                 termios.c_cflag |= B9600;
 220                 break;
 221         case 19200:
 222                 termios.c_cflag |= B19200;
 223                 break;
 224         case 38400:
 225                 termios.c_cflag |= B38400;
 226                 break;
 227         case 57600:
 228                 termios.c_cflag |= B57600;
 229                 break;
 230         case 115200:
 231                 termios.c_cflag |= B115200;
 232                 break;
 233         default:
 234                 termios.c_cflag |= B9600;
 235                 break;
 236         }
 237         serial2002_tty_ioctl(f, TCSETS, (unsigned long)&termios);
 238
 239         /* Set low latency */
 240         serial2002_tty_ioctl(f, TIOCGSERIAL, (unsigned long)&serial);
 241         serial.flags |= ASYNC_LOW_LATENCY;
 242         serial2002_tty_ioctl(f, TIOCSSERIAL, (unsigned long)&serial);
 243
 244         set_fs(oldfs);
 245 }
 246
 247 static void serial2002_poll_digital(struct file *f, int channel)
 248 {
 249         char cmd;
 250
 251         cmd = 0x40 | (channel & 0x1f);
 252         serial2002_tty_write(f, &cmd, 1);
 253 }
 254
 255 static void serial2002_poll_channel(struct file *f, int channel)
 256 {
 257         char cmd;
 258
 259         cmd = 0x60 | (channel & 0x1f);
 260         serial2002_tty_write(f, &cmd, 1);
 261 }
 262
 263 static struct serial_data serial2002_read(struct file *f, int timeout)
 264 {
 265         struct serial_data result;
 266         int length;
 267
 268         result.kind = is_invalid;
 269         result.index = 0;
 270         result.value = 0;
 271         length = 0;
 272         while (1) {
 273                 int data = serial2002_tty_read(f, timeout);
 274
 275                 length++;
 276                 if (data < 0) {
 277                         break;
 278                 } else if (data & 0x80) {
 279                         result.value = (result.value << 7) | (data & 0x7f);
 280                 } else {
 281                         if (length == 1) {
 282                                 switch ((data >> 5) & 0x03) {
 283                                 case 0:
 284                                         result.value = 0;
 285                                         result.kind = is_digital;
 286                                         break;
 287                                 case 1:
 288                                         result.value = 1;
 289                                         result.kind = is_digital;
 290                                         break;
 291                                 }
 292                         } else {
 293                                 result.value =
 294                                     (result.value << 2) | ((data & 0x60) >> 5);
 295                                 result.kind = is_channel;
 296                         }
 297                         result.index = data & 0x1f;
 298                         break;
 299                 }
 300         }
 301         return result;
 302
 303 }
 304
 305 static void serial2002_write(struct file *f, struct serial_data data)
 306 {
 307         if (data.kind == is_digital) {
 308                 unsigned char ch =
 309                     ((data.value << 5) & 0x20) | (data.index & 0x1f);
 310                 serial2002_tty_write(f, &ch, 1);
 311         } else {
 312                 unsigned char ch[6];
 313                 int i = 0;
 314                 if (data.value >= (1L << 30)) {
 315                         ch[i] = 0x80 | ((data.value >> 30) & 0x03);
 316                         i++;
 317                 }
 318                 if (data.value >= (1L << 23)) {
 319                         ch[i] = 0x80 | ((data.value >> 23) & 0x7f);
 320                         i++;
 321                 }
 322                 if (data.value >= (1L << 16)) {
 323                         ch[i] = 0x80 | ((data.value >> 16) & 0x7f);
 324                         i++;
 325                 }
 326                 if (data.value >= (1L << 9)) {
 327                         ch[i] = 0x80 | ((data.value >> 9) & 0x7f);
 328                         i++;
 329                 }
 330                 ch[i] = 0x80 | ((data.value >> 2) & 0x7f);
 331                 i++;
 332                 ch[i] = ((data.value << 5) & 0x60) | (data.index & 0x1f);
 333                 i++;
 334                 serial2002_tty_write(f, ch, i);
 335         }
 336 }
 337
 338 struct config_t {
 339         short int kind;
 340         short int bits;
 341         int min;
 342         int max;
 343 };
 344
 345 static int serial2002_setup_subdevice(struct comedi_subdevice *s,
 346                                       struct config_t *cfg,
 347                                       struct serial2002_range_table_t *range,
 348                                       unsigned char *mapping,
 349                                       int kind)
 350 {
 351         const struct comedi_lrange **range_table_list = NULL;
 352         unsigned int *maxdata_list;
 353         int j, chan;
 354
 355         for (chan = 0, j = 0; j < 32; j++) {
 356                 if (cfg[j].kind == kind)
 357                         chan++;
 358         }
 359         s->n_chan = chan;
 360         s->maxdata = 0;
 361         kfree(s->maxdata_list);
 362         maxdata_list = kmalloc(sizeof(unsigned int) * s->n_chan, GFP_KERNEL);
 363         if (!maxdata_list)
 364                 return -ENOMEM;
 365         s->maxdata_list = maxdata_list;
 366         kfree(s->range_table_list);
 367         s->range_table = NULL;
 368         s->range_table_list = NULL;
 369         if (kind == 1 || kind == 2) {
 370                 s->range_table = &range_digital;
 371         } else if (range) {
 372                 range_table_list =
 373                         kmalloc(sizeof(struct serial2002_range_table_t) *
 374                                 s->n_chan, GFP_KERNEL);
 375                 if (!range_table_list)
 376                         return -ENOMEM;
 377                 s->range_table_list = range_table_list;
 378         }
 379         for (chan = 0, j = 0; j < 32; j++) {
 380                 if (cfg[j].kind == kind) {
 381                         if (mapping)
 382                                 mapping[chan] = j;
 383                         if (range) {
 384                                 range[j].length = 1;
 385                                 range[j].range.min = cfg[j].min;
 386                                 range[j].range.max = cfg[j].max;
 387                                 range_table_list[chan] =
 388                                     (const struct comedi_lrange *)&range[j];
 389                         }
 390                         maxdata_list[chan] = ((long long)1 << cfg[j].bits) - 1;
 391                         chan++;
 392                 }
 393         }
 394         return 0;
 395 }
 396
 397 static int serial2002_setup_subdevs(struct comedi_device *dev)
 398 {
 399         struct serial2002_private *devpriv = dev->private;
 400         struct config_t *di_cfg;
 401         struct config_t *do_cfg;
 402         struct config_t *ai_cfg;
 403         struct config_t *ao_cfg;
 404         struct config_t *cfg;
 405         struct comedi_subdevice *s;
 406         int result = 0;
 407         int i;
 408
 409         /* Allocate the temporary structs to hold the configuration data */
 410         di_cfg = kcalloc(32, sizeof(*cfg), GFP_KERNEL);
 411         do_cfg = kcalloc(32, sizeof(*cfg), GFP_KERNEL);
 412         ai_cfg = kcalloc(32, sizeof(*cfg), GFP_KERNEL);
 413         ao_cfg = kcalloc(32, sizeof(*cfg), GFP_KERNEL);
 414         if (!di_cfg || !do_cfg || !ai_cfg || !ao_cfg) {
 415                 result = -ENOMEM;
 416                 goto err_alloc_configs;
 417         }
 418
 419         /* Read the configuration from the connected device */
 420         serial2002_tty_setspeed(devpriv->tty, devpriv->speed);
 421         serial2002_poll_channel(devpriv->tty, 31);
 422         while (1) {
 423                 struct serial_data data;
 424
 425                 data = serial2002_read(devpriv->tty, 1000);
 426                 if (data.kind != is_channel || data.index != 31 ||
 427                     S2002_CFG_KIND(data.value) == S2002_CFG_KIND_INVALID) {
 428                         break;
 429                 } else {
 430                         int channel = S2002_CFG_CHAN(data.value);
 431                         int range = S2002_CFG_BASE(data.value);
 432
 433                         switch (S2002_CFG_KIND(data.value)) {
 434                         case S2002_CFG_KIND_DIGITAL_IN:
 435                                 cfg = di_cfg;
 436                                 break;
 437                         case S2002_CFG_KIND_DIGITAL_OUT:
 438                                 cfg = do_cfg;
 439                                 break;
 440                         case S2002_CFG_KIND_ANALOG_IN:
 441                                 cfg = ai_cfg;
 442                                 break;
 443                         case S2002_CFG_KIND_ANALOG_OUT:
 444                                 cfg = ao_cfg;
 445                                 break;
 446                         case S2002_CFG_KIND_ENCODER_IN:
 447                                 cfg = ai_cfg;
 448                                 break;
 449                         default:
 450                                 cfg = NULL;
 451                                 break;
 452                         }
 453                         if (!cfg)
 454                                 continue;       /* unknown kind, skip it */
 455
 456                         cfg[channel].kind = S2002_CFG_KIND(data.value);
 457
 458                         switch (S2002_CFG_CMD(data.value)) {
 459                         case S2002_CFG_CMD_BITS:
 460                                 cfg[channel].bits = S2002_CFG_BITS(data.value);
 461                                 break;
 462                         case S2002_CFG_CMD_MIN:
 463                         case S2002_CFG_CMD_MAX:
 464                                 switch (S2002_CFG_UNITS(data.value)) {
 465                                 case 0:
 466                                         range *= 1000000;
 467                                         break;
 468                                 case 1:
 469                                         range *= 1000;
 470                                         break;
 471                                 case 2:
 472                                         range *= 1;
 473                                         break;
 474                                 }
 475                                 if (S2002_CFG_SIGN(data.value))
 476                                         range = -range;
 477                                 if (S2002_CFG_CMD(data.value) ==
 478                                     S2002_CFG_CMD_MIN)
 479                                         cfg[channel].min = range;
 480                                 else
 481                                         cfg[channel].max = range;
 482                                 break;
 483                         }
 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 = kzalloc(sizeof(*devpriv), GFP_KERNEL);
 723         if (!devpriv)
 724                 return -ENOMEM;
 725         dev->private = devpriv;
 726
 727         devpriv->port = it->options[0];
 728         devpriv->speed = it->options[1];
 729
 730         ret = comedi_alloc_subdevices(dev, 5);
 731         if (ret)
 732                 return ret;
 733
 734         /* digital input subdevice */
 735         s = &dev->subdevices[0];
 736         s->type         = COMEDI_SUBD_DI;
 737         s->subdev_flags = SDF_READABLE;
 738         s->n_chan       = 0;
 739         s->maxdata      = 1;
 740         s->range_table  = &range_digital;
 741         s->insn_read    = serial2002_di_insn_read;
 742
 743         /* digital output subdevice */
 744         s = &dev->subdevices[1];
 745         s->type         = COMEDI_SUBD_DO;
 746         s->subdev_flags = SDF_WRITEABLE;
 747         s->n_chan       = 0;
 748         s->maxdata      = 1;
 749         s->range_table  = &range_digital;
 750         s->insn_write   = serial2002_do_insn_write;
 751
 752         /* analog input subdevice */
 753         s = &dev->subdevices[2];
 754         s->type         = COMEDI_SUBD_AI;
 755         s->subdev_flags = SDF_READABLE | SDF_GROUND;
 756         s->n_chan       = 0;
 757         s->maxdata      = 1;
 758         s->range_table  = NULL;
 759         s->insn_read    = serial2002_ai_insn_read;
 760
 761         /* analog output subdevice */
 762         s = &dev->subdevices[3];
 763         s->type         = COMEDI_SUBD_AO;
 764         s->subdev_flags = SDF_WRITEABLE;
 765         s->n_chan       = 0;
 766         s->maxdata      = 1;
 767         s->range_table  = NULL;
 768         s->insn_write   = serial2002_ao_insn_write;
 769         s->insn_read    = serial2002_ao_insn_read;
 770
 771         /* encoder input subdevice */
 772         s = &dev->subdevices[4];
 773         s->type         = COMEDI_SUBD_COUNTER;
 774         s->subdev_flags = SDF_READABLE | SDF_LSAMPL;
 775         s->n_chan       = 0;
 776         s->maxdata      = 1;
 777         s->range_table  = NULL;
 778         s->insn_read    = serial2002_encoder_insn_read;
 779
 780         dev->open       = serial2002_open;
 781         dev->close      = serial2002_close;
 782
 783         return 0;
 784 }
 785
 786 static void serial2002_detach(struct comedi_device *dev)
 787 {
 788         struct comedi_subdevice *s;
 789         int i;
 790
 791         for (i = 0; i < dev->n_subdevices; i++) {
 792                 s = &dev->subdevices[i];
 793                 kfree(s->maxdata_list);
 794                 kfree(s->range_table_list);
 795         }
 796 }
 797
 798 static struct comedi_driver serial2002_driver = {
 799         .driver_name    = "serial2002",
 800         .module         = THIS_MODULE,
 801         .attach         = serial2002_attach,
 802         .detach         = serial2002_detach,
 803 };
 804 module_comedi_driver(serial2002_driver);
 805
 806 MODULE_AUTHOR("Comedi http://www.comedi.org");
 807 MODULE_DESCRIPTION("Comedi low-level driver");
 808 MODULE_LICENSE("GPL");