2 comedi/drivers/serial2002.c
3 Skeleton code for a Comedi driver
5 COMEDI - Linux Control and Measurement Device Interface
6 Copyright (C) 2002 Anders Blomdell <anders.blomdell@control.lth.se>
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.
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.
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.
26 Description: Driver for serial connected hardware
28 Author: Anders Blomdell
29 Updated: Fri, 7 Jun 2002 12:56:45 -0700
30 Status: in development
34 #include "../comedidev.h"
36 #include <linux/delay.h>
37 #include <linux/ioport.h>
38 #include <linux/sched.h>
39 #include <linux/slab.h>
41 #include <asm/termios.h>
42 #include <asm/ioctls.h>
43 #include <linux/serial.h>
44 #include <linux/poll.h>
47 * Board descriptions for two imaginary boards. Describing the
48 * boards in this way is optional, and completely driver-dependent.
49 * Some drivers use arrays such as this, other do not.
51 struct serial2002_board
{
55 static const struct serial2002_board serial2002_boards
[] = {
61 * Useful for shorthand access to the particular board structure
63 #define thisboard ((const struct serial2002_board *)dev->board_ptr)
65 struct serial2002_range_table_t
{
69 struct comedi_krange range
;
72 struct serial2002_private
{
74 int port
; /* /dev/ttyS<port> */
75 int speed
; /* baudrate */
77 unsigned int ao_readback
[32];
78 unsigned char digital_in_mapping
[32];
79 unsigned char digital_out_mapping
[32];
80 unsigned char analog_in_mapping
[32];
81 unsigned char analog_out_mapping
[32];
82 unsigned char encoder_in_mapping
[32];
83 struct serial2002_range_table_t in_range
[32], out_range
[32];
87 * most drivers define the following macro to make it easy to
88 * access the private structure.
90 #define devpriv ((struct serial2002_private *)dev->private)
92 static int serial2002_attach(struct comedi_device
*dev
,
93 struct comedi_devconfig
*it
);
94 static int serial2002_detach(struct comedi_device
*dev
);
95 struct comedi_driver driver_serial2002
= {
96 .driver_name
= "serial2002",
97 .module
= THIS_MODULE
,
98 .attach
= serial2002_attach
,
99 .detach
= serial2002_detach
,
100 .board_name
= &serial2002_boards
[0].name
,
101 .offset
= sizeof(struct serial2002_board
),
102 .num_names
= ARRAY_SIZE(serial2002_boards
),
105 static int serial2002_di_rinsn(struct comedi_device
*dev
,
106 struct comedi_subdevice
*s
,
107 struct comedi_insn
*insn
, unsigned int *data
);
108 static int serial2002_do_winsn(struct comedi_device
*dev
,
109 struct comedi_subdevice
*s
,
110 struct comedi_insn
*insn
, unsigned int *data
);
111 static int serial2002_ai_rinsn(struct comedi_device
*dev
,
112 struct comedi_subdevice
*s
,
113 struct comedi_insn
*insn
, unsigned int *data
);
114 static int serial2002_ao_winsn(struct comedi_device
*dev
,
115 struct comedi_subdevice
*s
,
116 struct comedi_insn
*insn
, unsigned int *data
);
117 static int serial2002_ao_rinsn(struct comedi_device
*dev
,
118 struct comedi_subdevice
*s
,
119 struct comedi_insn
*insn
, unsigned int *data
);
122 enum { is_invalid
, is_digital
, is_channel
} kind
;
127 static long tty_ioctl(struct file
*f
, unsigned op
, unsigned long param
)
129 if (f
->f_op
->unlocked_ioctl
)
130 return f
->f_op
->unlocked_ioctl(f
, op
, param
);
135 static int tty_write(struct file
*f
, unsigned char *buf
, int count
)
143 result
= f
->f_op
->write(f
, buf
, count
, &f
->f_pos
);
150 * On 2.6.26.3 this occaisonally gave me page faults, worked around by
151 * settings.c_cc[VMIN] = 0; settings.c_cc[VTIME] = 0
153 static int tty_available(struct file
*f
)
160 tty_ioctl(f
, FIONREAD
, (unsigned long)&result
);
166 static int tty_read(struct file
*f
, int timeout
)
177 struct poll_wqueues table
;
178 struct timeval start
, now
;
180 do_gettimeofday(&start
);
181 poll_initwait(&table
);
186 mask
= f
->f_op
->poll(f
, &table
.pt
);
187 if (mask
& (POLLRDNORM
| POLLRDBAND
| POLLIN
|
188 POLLHUP
| POLLERR
)) {
191 do_gettimeofday(&now
);
193 (1000000 * (now
.tv_sec
- start
.tv_sec
) +
194 now
.tv_usec
- start
.tv_usec
);
195 if (elapsed
> timeout
) {
198 set_current_state(TASK_INTERRUPTIBLE
);
199 schedule_timeout(((timeout
-
200 elapsed
) * HZ
) / 10000);
202 poll_freewait(&table
);
207 if (f
->f_op
->read(f
, &ch
, 1, &f
->f_pos
) == 1) {
212 /* Device does not support poll, busy wait */
218 if (retries
>= timeout
) {
223 if (f
->f_op
->read(f
, &ch
, 1, &f
->f_pos
) == 1) {
235 static void tty_setspeed(struct file
*f
, int speed
)
243 struct termios settings
;
245 tty_ioctl(f
, TCGETS
, (unsigned long)&settings
);
246 /* printk("Speed: %d\n", settings.c_cflag & (CBAUD | CBAUDEX)); */
247 settings
.c_iflag
= 0;
248 settings
.c_oflag
= 0;
249 settings
.c_lflag
= 0;
250 settings
.c_cflag
= CLOCAL
| CS8
| CREAD
;
251 settings
.c_cc
[VMIN
] = 0;
252 settings
.c_cc
[VTIME
] = 0;
255 settings
.c_cflag
|= B2400
;
259 settings
.c_cflag
|= B4800
;
263 settings
.c_cflag
|= B9600
;
267 settings
.c_cflag
|= B19200
;
271 settings
.c_cflag
|= B38400
;
275 settings
.c_cflag
|= B57600
;
279 settings
.c_cflag
|= B115200
;
283 settings
.c_cflag
|= B9600
;
287 tty_ioctl(f
, TCSETS
, (unsigned long)&settings
);
288 /* printk("Speed: %d\n", settings.c_cflag & (CBAUD | CBAUDEX)); */
291 /* Set low latency */
292 struct serial_struct settings
;
294 tty_ioctl(f
, TIOCGSERIAL
, (unsigned long)&settings
);
295 settings
.flags
|= ASYNC_LOW_LATENCY
;
296 tty_ioctl(f
, TIOCSSERIAL
, (unsigned long)&settings
);
302 static void poll_digital(struct file
*f
, int channel
)
306 cmd
= 0x40 | (channel
& 0x1f);
307 tty_write(f
, &cmd
, 1);
310 static void poll_channel(struct file
*f
, int channel
)
314 cmd
= 0x60 | (channel
& 0x1f);
315 tty_write(f
, &cmd
, 1);
318 static struct serial_data
serial_read(struct file
*f
, int timeout
)
320 struct serial_data result
;
323 result
.kind
= is_invalid
;
328 int data
= tty_read(f
, timeout
);
332 printk("serial2002 error\n");
334 } else if (data
& 0x80) {
335 result
.value
= (result
.value
<< 7) | (data
& 0x7f);
338 switch ((data
>> 5) & 0x03) {
341 result
.kind
= is_digital
;
346 result
.kind
= is_digital
;
352 (result
.value
<< 2) | ((data
& 0x60) >> 5);
353 result
.kind
= is_channel
;
355 result
.index
= data
& 0x1f;
363 static void serial_write(struct file
*f
, struct serial_data data
)
365 if (data
.kind
== is_digital
) {
367 ((data
.value
<< 5) & 0x20) | (data
.index
& 0x1f);
368 tty_write(f
, &ch
, 1);
372 if (data
.value
>= (1L << 30)) {
373 ch
[i
] = 0x80 | ((data
.value
>> 30) & 0x03);
376 if (data
.value
>= (1L << 23)) {
377 ch
[i
] = 0x80 | ((data
.value
>> 23) & 0x7f);
380 if (data
.value
>= (1L << 16)) {
381 ch
[i
] = 0x80 | ((data
.value
>> 16) & 0x7f);
384 if (data
.value
>= (1L << 9)) {
385 ch
[i
] = 0x80 | ((data
.value
>> 9) & 0x7f);
388 ch
[i
] = 0x80 | ((data
.value
>> 2) & 0x7f);
390 ch
[i
] = ((data
.value
<< 5) & 0x60) | (data
.index
& 0x1f);
396 static int serial_2002_open(struct comedi_device
*dev
)
401 sprintf(port
, "/dev/ttyS%d", devpriv
->port
);
402 devpriv
->tty
= filp_open(port
, O_RDWR
, 0);
403 if (IS_ERR(devpriv
->tty
)) {
404 result
= (int)PTR_ERR(devpriv
->tty
);
405 printk("serial_2002: file open error = %d\n", result
);
415 struct config_t
*dig_in_config
;
416 struct config_t
*dig_out_config
;
417 struct config_t
*chan_in_config
;
418 struct config_t
*chan_out_config
;
422 dig_in_config
= kcalloc(32, sizeof(struct config_t
),
424 dig_out_config
= kcalloc(32, sizeof(struct config_t
),
426 chan_in_config
= kcalloc(32, sizeof(struct config_t
),
428 chan_out_config
= kcalloc(32, sizeof(struct config_t
),
430 if (!dig_in_config
|| !dig_out_config
431 || !chan_in_config
|| !chan_out_config
) {
433 goto err_alloc_configs
;
436 tty_setspeed(devpriv
->tty
, devpriv
->speed
);
437 poll_channel(devpriv
->tty
, 31); /* Start reading configuration */
439 struct serial_data data
;
441 data
= serial_read(devpriv
->tty
, 1000);
442 if (data
.kind
!= is_channel
|| data
.index
!= 31
443 || !(data
.value
& 0xe0)) {
446 int command
, channel
, kind
;
447 struct config_t
*cur_config
= NULL
;
449 channel
= data
.value
& 0x1f;
450 kind
= (data
.value
>> 5) & 0x7;
451 command
= (data
.value
>> 8) & 0x3;
454 cur_config
= dig_in_config
;
458 cur_config
= dig_out_config
;
462 cur_config
= chan_in_config
;
466 cur_config
= chan_out_config
;
470 cur_config
= chan_in_config
;
476 cur_config
[channel
].kind
= kind
;
479 cur_config
[channel
].bits
522 cur_config
[channel
].min
563 cur_config
[channel
].max
571 for (i
= 0; i
<= 4; i
++) {
572 /* Fill in subdev data */
574 unsigned char *mapping
= NULL
;
575 struct serial2002_range_table_t
*range
= NULL
;
581 mapping
= devpriv
->digital_in_mapping
;
587 mapping
= devpriv
->digital_out_mapping
;
593 mapping
= devpriv
->analog_in_mapping
;
594 range
= devpriv
->in_range
;
600 mapping
= devpriv
->analog_out_mapping
;
601 range
= devpriv
->out_range
;
607 mapping
= devpriv
->encoder_in_mapping
;
608 range
= devpriv
->in_range
;
618 struct comedi_subdevice
*s
;
619 const struct comedi_lrange
**range_table_list
=
621 unsigned int *maxdata_list
;
624 for (chan
= 0, j
= 0; j
< 32; j
++) {
625 if (c
[j
].kind
== kind
) {
629 s
= &dev
->subdevices
[i
];
632 kfree(s
->maxdata_list
);
633 s
->maxdata_list
= maxdata_list
=
634 kmalloc(sizeof(unsigned int) * s
->n_chan
,
636 if (!s
->maxdata_list
)
637 break; /* error handled below */
638 kfree(s
->range_table_list
);
639 s
->range_table
= NULL
;
640 s
->range_table_list
= NULL
;
642 s
->range_table_list
= range_table_list
=
645 serial2002_range_table_t
) *
646 s
->n_chan
, GFP_KERNEL
);
647 if (!s
->range_table_list
)
648 break; /* err handled below */
650 for (chan
= 0, j
= 0; j
< 32; j
++) {
651 if (c
[j
].kind
== kind
) {
661 range_table_list
[chan
] =
667 ((long long)1 << c
[j
].bits
)
675 /* Failed to allocate maxdata_list or range_table_list
676 * for a subdevice that needed it. */
678 for (i
= 0; i
<= 4; i
++) {
679 struct comedi_subdevice
*s
;
681 s
= &dev
->subdevices
[i
];
682 kfree(s
->maxdata_list
);
683 s
->maxdata_list
= NULL
;
684 kfree(s
->range_table_list
);
685 s
->range_table_list
= NULL
;
690 kfree(dig_in_config
);
691 kfree(dig_out_config
);
692 kfree(chan_in_config
);
693 kfree(chan_out_config
);
697 filp_close(devpriv
->tty
, 0);
705 static void serial_2002_close(struct comedi_device
*dev
)
707 if (!IS_ERR(devpriv
->tty
) && (devpriv
->tty
!= 0)) {
708 filp_close(devpriv
->tty
, 0);
712 static int serial2002_di_rinsn(struct comedi_device
*dev
,
713 struct comedi_subdevice
*s
,
714 struct comedi_insn
*insn
, unsigned int *data
)
719 chan
= devpriv
->digital_in_mapping
[CR_CHAN(insn
->chanspec
)];
720 for (n
= 0; n
< insn
->n
; n
++) {
721 struct serial_data read
;
723 poll_digital(devpriv
->tty
, chan
);
725 read
= serial_read(devpriv
->tty
, 1000);
726 if (read
.kind
!= is_digital
|| read
.index
== chan
) {
730 data
[n
] = read
.value
;
735 static int serial2002_do_winsn(struct comedi_device
*dev
,
736 struct comedi_subdevice
*s
,
737 struct comedi_insn
*insn
, unsigned int *data
)
742 chan
= devpriv
->digital_out_mapping
[CR_CHAN(insn
->chanspec
)];
743 for (n
= 0; n
< insn
->n
; n
++) {
744 struct serial_data write
;
746 write
.kind
= is_digital
;
748 write
.value
= data
[n
];
749 serial_write(devpriv
->tty
, write
);
754 static int serial2002_ai_rinsn(struct comedi_device
*dev
,
755 struct comedi_subdevice
*s
,
756 struct comedi_insn
*insn
, unsigned int *data
)
761 chan
= devpriv
->analog_in_mapping
[CR_CHAN(insn
->chanspec
)];
762 for (n
= 0; n
< insn
->n
; n
++) {
763 struct serial_data read
;
765 poll_channel(devpriv
->tty
, chan
);
767 read
= serial_read(devpriv
->tty
, 1000);
768 if (read
.kind
!= is_channel
|| read
.index
== chan
) {
772 data
[n
] = read
.value
;
777 static int serial2002_ao_winsn(struct comedi_device
*dev
,
778 struct comedi_subdevice
*s
,
779 struct comedi_insn
*insn
, unsigned int *data
)
784 chan
= devpriv
->analog_out_mapping
[CR_CHAN(insn
->chanspec
)];
785 for (n
= 0; n
< insn
->n
; n
++) {
786 struct serial_data write
;
788 write
.kind
= is_channel
;
790 write
.value
= data
[n
];
791 serial_write(devpriv
->tty
, write
);
792 devpriv
->ao_readback
[chan
] = data
[n
];
797 static int serial2002_ao_rinsn(struct comedi_device
*dev
,
798 struct comedi_subdevice
*s
,
799 struct comedi_insn
*insn
, unsigned int *data
)
802 int chan
= CR_CHAN(insn
->chanspec
);
804 for (n
= 0; n
< insn
->n
; n
++) {
805 data
[n
] = devpriv
->ao_readback
[chan
];
811 static int serial2002_ei_rinsn(struct comedi_device
*dev
,
812 struct comedi_subdevice
*s
,
813 struct comedi_insn
*insn
, unsigned int *data
)
818 chan
= devpriv
->encoder_in_mapping
[CR_CHAN(insn
->chanspec
)];
819 for (n
= 0; n
< insn
->n
; n
++) {
820 struct serial_data read
;
822 poll_channel(devpriv
->tty
, chan
);
824 read
= serial_read(devpriv
->tty
, 1000);
825 if (read
.kind
!= is_channel
|| read
.index
== chan
) {
829 data
[n
] = read
.value
;
834 static int serial2002_attach(struct comedi_device
*dev
,
835 struct comedi_devconfig
*it
)
837 struct comedi_subdevice
*s
;
839 printk("comedi%d: serial2002: ", dev
->minor
);
840 dev
->board_name
= thisboard
->name
;
841 if (alloc_private(dev
, sizeof(struct serial2002_private
)) < 0) {
844 dev
->open
= serial_2002_open
;
845 dev
->close
= serial_2002_close
;
846 devpriv
->port
= it
->options
[0];
847 devpriv
->speed
= it
->options
[1];
848 printk("/dev/ttyS%d @ %d\n", devpriv
->port
, devpriv
->speed
);
850 if (alloc_subdevices(dev
, 5) < 0)
853 /* digital input subdevice */
854 s
= dev
->subdevices
+ 0;
855 s
->type
= COMEDI_SUBD_DI
;
856 s
->subdev_flags
= SDF_READABLE
;
859 s
->range_table
= &range_digital
;
860 s
->insn_read
= &serial2002_di_rinsn
;
862 /* digital output subdevice */
863 s
= dev
->subdevices
+ 1;
864 s
->type
= COMEDI_SUBD_DO
;
865 s
->subdev_flags
= SDF_WRITEABLE
;
868 s
->range_table
= &range_digital
;
869 s
->insn_write
= &serial2002_do_winsn
;
871 /* analog input subdevice */
872 s
= dev
->subdevices
+ 2;
873 s
->type
= COMEDI_SUBD_AI
;
874 s
->subdev_flags
= SDF_READABLE
| SDF_GROUND
;
878 s
->insn_read
= &serial2002_ai_rinsn
;
880 /* analog output subdevice */
881 s
= dev
->subdevices
+ 3;
882 s
->type
= COMEDI_SUBD_AO
;
883 s
->subdev_flags
= SDF_WRITEABLE
;
887 s
->insn_write
= &serial2002_ao_winsn
;
888 s
->insn_read
= &serial2002_ao_rinsn
;
890 /* encoder input subdevice */
891 s
= dev
->subdevices
+ 4;
892 s
->type
= COMEDI_SUBD_COUNTER
;
893 s
->subdev_flags
= SDF_READABLE
| SDF_LSAMPL
;
897 s
->insn_read
= &serial2002_ei_rinsn
;
902 static int serial2002_detach(struct comedi_device
*dev
)
904 struct comedi_subdevice
*s
;
907 printk("comedi%d: serial2002: remove\n", dev
->minor
);
908 for (i
= 0; i
< 5; i
++) {
909 s
= &dev
->subdevices
[i
];
910 if (s
->maxdata_list
) {
911 kfree(s
->maxdata_list
);
913 if (s
->range_table_list
) {
914 kfree(s
->range_table_list
);
920 static int __init
driver_serial2002_init_module(void)
922 return comedi_driver_register(&driver_serial2002
);
925 static void __exit
driver_serial2002_cleanup_module(void)
927 comedi_driver_unregister(&driver_serial2002
);
930 module_init(driver_serial2002_init_module
);
931 module_exit(driver_serial2002_cleanup_module
);
933 MODULE_AUTHOR("Comedi http://www.comedi.org");
934 MODULE_DESCRIPTION("Comedi low-level driver");
935 MODULE_LICENSE("GPL");