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>
40 #include <asm/termios.h>
41 #include <asm/ioctls.h>
42 #include <linux/serial.h>
43 #include <linux/poll.h>
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.
50 struct serial2002_board {
54 static const struct serial2002_board serial2002_boards[] = {
60 * Useful for shorthand access to the particular board structure
62 #define thisboard ((const struct serial2002_board *)dev->board_ptr)
64 struct serial2002_range_table_t {
68 struct comedi_krange range;
71 struct serial2002_private {
73 int port; /* /dev/ttyS<port> */
74 int speed; /* baudrate */
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];
86 * most drivers define the following macro to make it easy to
87 * access the private structure.
89 #define devpriv ((struct serial2002_private *)dev->private)
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),
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);
121 enum { is_invalid, is_digital, is_channel } kind;
126 static long tty_ioctl(struct file *f, unsigned op, unsigned long param)
128 if (f->f_op->unlocked_ioctl)
129 return f->f_op->unlocked_ioctl(f, op, param);
134 static int tty_write(struct file *f, unsigned char *buf, int count)
142 result = f->f_op->write(f, buf, count, &f->f_pos);
149 * On 2.6.26.3 this occaisonally gave me page faults, worked around by
150 * settings.c_cc[VMIN] = 0; settings.c_cc[VTIME] = 0
152 static int tty_available(struct file *f)
159 tty_ioctl(f, FIONREAD, (unsigned long)&result);
165 static int tty_read(struct file *f, int timeout)
176 struct poll_wqueues table;
177 struct timeval start, now;
179 do_gettimeofday(&start);
180 poll_initwait(&table);
185 mask = f->f_op->poll(f, &table.pt);
186 if (mask & (POLLRDNORM | POLLRDBAND | POLLIN |
187 POLLHUP | POLLERR)) {
190 do_gettimeofday(&now);
192 (1000000 * (now.tv_sec - start.tv_sec) +
193 now.tv_usec - start.tv_usec);
194 if (elapsed > timeout) {
197 set_current_state(TASK_INTERRUPTIBLE);
198 schedule_timeout(((timeout -
199 elapsed) * HZ) / 10000);
201 poll_freewait(&table);
206 if (f->f_op->read(f, &ch, 1, &f->f_pos) == 1) {
211 /* Device does not support poll, busy wait */
217 if (retries >= timeout) {
222 if (f->f_op->read(f, &ch, 1, &f->f_pos) == 1) {
234 static void tty_setspeed(struct file *f, int speed)
242 struct termios settings;
244 tty_ioctl(f, TCGETS, (unsigned long)&settings);
245 /* printk("Speed: %d\n", settings.c_cflag & (CBAUD | CBAUDEX)); */
246 settings.c_iflag = 0;
247 settings.c_oflag = 0;
248 settings.c_lflag = 0;
249 settings.c_cflag = CLOCAL | CS8 | CREAD;
250 settings.c_cc[VMIN] = 0;
251 settings.c_cc[VTIME] = 0;
254 settings.c_cflag |= B2400;
258 settings.c_cflag |= B4800;
262 settings.c_cflag |= B9600;
266 settings.c_cflag |= B19200;
270 settings.c_cflag |= B38400;
274 settings.c_cflag |= B57600;
278 settings.c_cflag |= B115200;
282 settings.c_cflag |= B9600;
286 tty_ioctl(f, TCSETS, (unsigned long)&settings);
287 /* printk("Speed: %d\n", settings.c_cflag & (CBAUD | CBAUDEX)); */
290 /* Set low latency */
291 struct serial_struct settings;
293 tty_ioctl(f, TIOCGSERIAL, (unsigned long)&settings);
294 settings.flags |= ASYNC_LOW_LATENCY;
295 tty_ioctl(f, TIOCSSERIAL, (unsigned long)&settings);
301 static void poll_digital(struct file *f, int channel)
305 cmd = 0x40 | (channel & 0x1f);
306 tty_write(f, &cmd, 1);
309 static void poll_channel(struct file *f, int channel)
313 cmd = 0x60 | (channel & 0x1f);
314 tty_write(f, &cmd, 1);
317 static struct serial_data serial_read(struct file *f, int timeout)
319 struct serial_data result;
322 result.kind = is_invalid;
327 int data = tty_read(f, timeout);
331 printk("serial2002 error\n");
333 } else if (data & 0x80) {
334 result.value = (result.value << 7) | (data & 0x7f);
337 switch ((data >> 5) & 0x03) {
340 result.kind = is_digital;
345 result.kind = is_digital;
351 (result.value << 2) | ((data & 0x60) >> 5);
352 result.kind = is_channel;
354 result.index = data & 0x1f;
362 static void serial_write(struct file *f, struct serial_data data)
364 if (data.kind == is_digital) {
366 ((data.value << 5) & 0x20) | (data.index & 0x1f);
367 tty_write(f, &ch, 1);
371 if (data.value >= (1L << 30)) {
372 ch[i] = 0x80 | ((data.value >> 30) & 0x03);
375 if (data.value >= (1L << 23)) {
376 ch[i] = 0x80 | ((data.value >> 23) & 0x7f);
379 if (data.value >= (1L << 16)) {
380 ch[i] = 0x80 | ((data.value >> 16) & 0x7f);
383 if (data.value >= (1L << 9)) {
384 ch[i] = 0x80 | ((data.value >> 9) & 0x7f);
387 ch[i] = 0x80 | ((data.value >> 2) & 0x7f);
389 ch[i] = ((data.value << 5) & 0x60) | (data.index & 0x1f);
395 static void serial_2002_open(struct comedi_device *dev)
399 sprintf(port, "/dev/ttyS%d", devpriv->port);
400 devpriv->tty = filp_open(port, O_RDWR, 0);
401 if (IS_ERR(devpriv->tty)) {
402 printk("serial_2002: file open error = %ld\n",
403 PTR_ERR(devpriv->tty));
413 struct config_t dig_in_config[32];
414 struct config_t dig_out_config[32];
415 struct config_t chan_in_config[32];
416 struct config_t chan_out_config[32];
419 for (i = 0; i < 32; i++) {
420 dig_in_config[i].kind = 0;
421 dig_in_config[i].bits = 0;
422 dig_in_config[i].min = 0;
423 dig_in_config[i].max = 0;
424 dig_out_config[i].kind = 0;
425 dig_out_config[i].bits = 0;
426 dig_out_config[i].min = 0;
427 dig_out_config[i].max = 0;
428 chan_in_config[i].kind = 0;
429 chan_in_config[i].bits = 0;
430 chan_in_config[i].min = 0;
431 chan_in_config[i].max = 0;
432 chan_out_config[i].kind = 0;
433 chan_out_config[i].bits = 0;
434 chan_out_config[i].min = 0;
435 chan_out_config[i].max = 0;
438 tty_setspeed(devpriv->tty, devpriv->speed);
439 poll_channel(devpriv->tty, 31); /* Start reading configuration */
441 struct serial_data data;
443 data = serial_read(devpriv->tty, 1000);
444 if (data.kind != is_channel || data.index != 31
445 || !(data.value & 0xe0)) {
448 int command, channel, kind;
449 struct config_t *cur_config = 0;
451 channel = data.value & 0x1f;
452 kind = (data.value >> 5) & 0x7;
453 command = (data.value >> 8) & 0x3;
456 cur_config = dig_in_config;
460 cur_config = dig_out_config;
464 cur_config = chan_in_config;
468 cur_config = chan_out_config;
472 cur_config = chan_in_config;
478 cur_config[channel].kind = kind;
481 cur_config[channel].bits
524 cur_config[channel].min
565 cur_config[channel].max
573 for (i = 0; i <= 4; i++) {
574 /* Fill in subdev data */
576 unsigned char *mapping = 0;
577 struct serial2002_range_table_t *range = 0;
583 mapping = devpriv->digital_in_mapping;
589 mapping = devpriv->digital_out_mapping;
595 mapping = devpriv->analog_in_mapping;
596 range = devpriv->in_range;
602 mapping = devpriv->analog_out_mapping;
603 range = devpriv->out_range;
609 mapping = devpriv->encoder_in_mapping;
610 range = devpriv->in_range;
620 struct comedi_subdevice *s;
621 const struct comedi_lrange **range_table_list =
623 unsigned int *maxdata_list;
626 for (chan = 0, j = 0; j < 32; j++) {
627 if (c[j].kind == kind) {
631 s = &dev->subdevices[i];
634 if (s->maxdata_list) {
635 kfree(s->maxdata_list);
637 s->maxdata_list = maxdata_list =
638 kmalloc(sizeof(unsigned int) * s->n_chan,
640 if (s->range_table_list) {
641 kfree(s->range_table_list);
645 s->range_table_list = range_table_list =
648 serial2002_range_table_t) *
649 s->n_chan, GFP_KERNEL);
651 for (chan = 0, j = 0; j < 32; j++) {
652 if (c[j].kind == kind) {
662 range_table_list[chan] =
668 ((long long)1 << c[j].bits)
678 static void serial_2002_close(struct comedi_device *dev)
680 if (!IS_ERR(devpriv->tty) && (devpriv->tty != 0)) {
681 filp_close(devpriv->tty, 0);
685 static int serial2002_di_rinsn(struct comedi_device *dev,
686 struct comedi_subdevice *s,
687 struct comedi_insn *insn, unsigned int *data)
692 chan = devpriv->digital_in_mapping[CR_CHAN(insn->chanspec)];
693 for (n = 0; n < insn->n; n++) {
694 struct serial_data read;
696 poll_digital(devpriv->tty, chan);
698 read = serial_read(devpriv->tty, 1000);
699 if (read.kind != is_digital || read.index == chan) {
703 data[n] = read.value;
708 static int serial2002_do_winsn(struct comedi_device *dev,
709 struct comedi_subdevice *s,
710 struct comedi_insn *insn, unsigned int *data)
715 chan = devpriv->digital_out_mapping[CR_CHAN(insn->chanspec)];
716 for (n = 0; n < insn->n; n++) {
717 struct serial_data write;
719 write.kind = is_digital;
721 write.value = data[n];
722 serial_write(devpriv->tty, write);
727 static int serial2002_ai_rinsn(struct comedi_device *dev,
728 struct comedi_subdevice *s,
729 struct comedi_insn *insn, unsigned int *data)
734 chan = devpriv->analog_in_mapping[CR_CHAN(insn->chanspec)];
735 for (n = 0; n < insn->n; n++) {
736 struct serial_data read;
738 poll_channel(devpriv->tty, chan);
740 read = serial_read(devpriv->tty, 1000);
741 if (read.kind != is_channel || read.index == chan) {
745 data[n] = read.value;
750 static int serial2002_ao_winsn(struct comedi_device *dev,
751 struct comedi_subdevice *s,
752 struct comedi_insn *insn, unsigned int *data)
757 chan = devpriv->analog_out_mapping[CR_CHAN(insn->chanspec)];
758 for (n = 0; n < insn->n; n++) {
759 struct serial_data write;
761 write.kind = is_channel;
763 write.value = data[n];
764 serial_write(devpriv->tty, write);
765 devpriv->ao_readback[chan] = data[n];
770 static int serial2002_ao_rinsn(struct comedi_device *dev,
771 struct comedi_subdevice *s,
772 struct comedi_insn *insn, unsigned int *data)
775 int chan = CR_CHAN(insn->chanspec);
777 for (n = 0; n < insn->n; n++) {
778 data[n] = devpriv->ao_readback[chan];
784 static int serial2002_ei_rinsn(struct comedi_device *dev,
785 struct comedi_subdevice *s,
786 struct comedi_insn *insn, unsigned int *data)
791 chan = devpriv->encoder_in_mapping[CR_CHAN(insn->chanspec)];
792 for (n = 0; n < insn->n; n++) {
793 struct serial_data read;
795 poll_channel(devpriv->tty, chan);
797 read = serial_read(devpriv->tty, 1000);
798 if (read.kind != is_channel || read.index == chan) {
802 data[n] = read.value;
807 static int serial2002_attach(struct comedi_device *dev,
808 struct comedi_devconfig *it)
810 struct comedi_subdevice *s;
812 printk("comedi%d: serial2002: ", dev->minor);
813 dev->board_name = thisboard->name;
814 if (alloc_private(dev, sizeof(struct serial2002_private)) < 0) {
817 dev->open = serial_2002_open;
818 dev->close = serial_2002_close;
819 devpriv->port = it->options[0];
820 devpriv->speed = it->options[1];
821 printk("/dev/ttyS%d @ %d\n", devpriv->port, devpriv->speed);
823 if (alloc_subdevices(dev, 5) < 0)
826 /* digital input subdevice */
827 s = dev->subdevices + 0;
828 s->type = COMEDI_SUBD_DI;
829 s->subdev_flags = SDF_READABLE;
832 s->range_table = &range_digital;
833 s->insn_read = &serial2002_di_rinsn;
835 /* digital output subdevice */
836 s = dev->subdevices + 1;
837 s->type = COMEDI_SUBD_DO;
838 s->subdev_flags = SDF_WRITEABLE;
841 s->range_table = &range_digital;
842 s->insn_write = &serial2002_do_winsn;
844 /* analog input subdevice */
845 s = dev->subdevices + 2;
846 s->type = COMEDI_SUBD_AI;
847 s->subdev_flags = SDF_READABLE | SDF_GROUND;
851 s->insn_read = &serial2002_ai_rinsn;
853 /* analog output subdevice */
854 s = dev->subdevices + 3;
855 s->type = COMEDI_SUBD_AO;
856 s->subdev_flags = SDF_WRITEABLE;
860 s->insn_write = &serial2002_ao_winsn;
861 s->insn_read = &serial2002_ao_rinsn;
863 /* encoder input subdevice */
864 s = dev->subdevices + 4;
865 s->type = COMEDI_SUBD_COUNTER;
866 s->subdev_flags = SDF_READABLE | SDF_LSAMPL;
870 s->insn_read = &serial2002_ei_rinsn;
875 static int serial2002_detach(struct comedi_device *dev)
877 struct comedi_subdevice *s;
880 printk("comedi%d: serial2002: remove\n", dev->minor);
881 for (i = 0; i < 4; i++) {
882 s = &dev->subdevices[i];
883 if (s->maxdata_list) {
884 kfree(s->maxdata_list);
886 if (s->range_table_list) {
887 kfree(s->range_table_list);
893 COMEDI_INITCLEANUP(driver_serial2002);