drivers/staging/comedi/drivers/serial2002.c

   1 /*
   2     comedi/drivers/serial2002.c
   3     Skeleton code for a Comedi driver
   4
   5     COMEDI - Linux Control and Measurement Device Interface
   6     Copyright (C) 2002 Anders Blomdell <anders.blomdell@control.lth.se>
   7
   8     This program is free software; you can redistribute it and/or modify
   9     it under the terms of the GNU General Public License as published by
  10     the Free Software Foundation; either version 2 of the License, or
  11     (at your option) any later version.
  12
  13     This program is distributed in the hope that it will be useful,
  14     but WITHOUT ANY WARRANTY; without even the implied warranty of
  15     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  16     GNU General Public License for more details.
  17
  18     You should have received a copy of the GNU General Public License
  19     along with this program; if not, write to the Free Software
  20     Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
  21
  22 */
  23
  24 /*
  25 Driver: serial2002
  26 Description: Driver for serial connected hardware
  27 Devices:
  28 Author: Anders Blomdell
  29 Updated: Fri,  7 Jun 2002 12:56:45 -0700
  30 Status: in development
  31
  32 */
  33
  34 #include "../comedidev.h"
  35
  36 #include <linux/delay.h>
  37 #include <linux/ioport.h>
  38 #include <linux/sched.h>
  39 #include <linux/slab.h>
  40
  41 #include <asm/termios.h>
  42 #include <asm/ioctls.h>
  43 #include <linux/serial.h>
  44 #include <linux/poll.h>
  45
  46 /*
  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.
  50  */
  51 struct serial2002_board {
  52         const char *name;
  53 };
  54
  55 static const struct serial2002_board serial2002_boards[] = {
  56         {
  57          .name = "serial2002"}
  58 };
  59
  60 /*
  61  * Useful for shorthand access to the particular board structure
  62  */
  63 #define thisboard ((const struct serial2002_board *)dev->board_ptr)
  64
  65 struct serial2002_range_table_t {
  66
  67         /*  HACK... */
  68         int length;
  69         struct comedi_krange range;
  70 };
  71
  72 struct serial2002_private {
  73
  74         int port;               /*  /dev/ttyS<port> */
  75         int speed;              /*  baudrate */
  76         struct file *tty;
  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];
  84 };
  85
  86 /*
  87  * most drivers define the following macro to make it easy to
  88  * access the private structure.
  89  */
  90 #define devpriv ((struct serial2002_private *)dev->private)
  91
  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),
 103 };
 104
 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);
 120
 121 struct serial_data {
 122         enum { is_invalid, is_digital, is_channel } kind;
 123         int index;
 124         unsigned long value;
 125 };
 126
 127 static long tty_ioctl(struct file *f, unsigned op, unsigned long param)
 128 {
 129         if (f->f_op->unlocked_ioctl)
 130                 return f->f_op->unlocked_ioctl(f, op, param);
 131
 132         return -ENOSYS;
 133 }
 134
 135 static int tty_write(struct file *f, unsigned char *buf, int count)
 136 {
 137         int result;
 138         mm_segment_t oldfs;
 139
 140         oldfs = get_fs();
 141         set_fs(KERNEL_DS);
 142         f->f_pos = 0;
 143         result = f->f_op->write(f, buf, count, &f->f_pos);
 144         set_fs(oldfs);
 145         return result;
 146 }
 147
 148 #if 0
 149 /*
 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
 152  */
 153 static int tty_available(struct file *f)
 154 {
 155         long result = 0;
 156         mm_segment_t oldfs;
 157
 158         oldfs = get_fs();
 159         set_fs(KERNEL_DS);
 160         tty_ioctl(f, FIONREAD, (unsigned long)&result);
 161         set_fs(oldfs);
 162         return result;
 163 }
 164 #endif
 165
 166 static int tty_read(struct file *f, int timeout)
 167 {
 168         int result;
 169
 170         result = -1;
 171         if (!IS_ERR(f)) {
 172                 mm_segment_t oldfs;
 173
 174                 oldfs = get_fs();
 175                 set_fs(KERNEL_DS);
 176                 if (f->f_op->poll) {
 177                         struct poll_wqueues table;
 178                         struct timeval start, now;
 179
 180                         do_gettimeofday(&start);
 181                         poll_initwait(&table);
 182                         while (1) {
 183                                 long elapsed;
 184                                 int mask;
 185
 186                                 mask = f->f_op->poll(f, &table.pt);
 187                                 if (mask & (POLLRDNORM | POLLRDBAND | POLLIN |
 188                                             POLLHUP | POLLERR)) {
 189                                         break;
 190                                 }
 191                                 do_gettimeofday(&now);
 192                                 elapsed =
 193                                     (1000000 * (now.tv_sec - start.tv_sec) +
 194                                      now.tv_usec - start.tv_usec);
 195                                 if (elapsed > timeout) {
 196                                         break;
 197                                 }
 198                                 set_current_state(TASK_INTERRUPTIBLE);
 199                                 schedule_timeout(((timeout -
 200                                                    elapsed) * HZ) / 10000);
 201                         }
 202                         poll_freewait(&table);
 203                         {
 204                                 unsigned char ch;
 205
 206                                 f->f_pos = 0;
 207                                 if (f->f_op->read(f, &ch, 1, &f->f_pos) == 1) {
 208                                         result = ch;
 209                                 }
 210                         }
 211                 } else {
 212                         /* Device does not support poll, busy wait */
 213                         int retries = 0;
 214                         while (1) {
 215                                 unsigned char ch;
 216
 217                                 retries++;
 218                                 if (retries >= timeout) {
 219                                         break;
 220                                 }
 221
 222                                 f->f_pos = 0;
 223                                 if (f->f_op->read(f, &ch, 1, &f->f_pos) == 1) {
 224                                         result = ch;
 225                                         break;
 226                                 }
 227                                 udelay(100);
 228                         }
 229                 }
 230                 set_fs(oldfs);
 231         }
 232         return result;
 233 }
 234
 235 static void tty_setspeed(struct file *f, int speed)
 236 {
 237         mm_segment_t oldfs;
 238
 239         oldfs = get_fs();
 240         set_fs(KERNEL_DS);
 241         {
 242                 /*  Set speed */
 243                 struct termios settings;
 244
 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;
 253                 switch (speed) {
 254                 case 2400:{
 255                                 settings.c_cflag |= B2400;
 256                         }
 257                         break;
 258                 case 4800:{
 259                                 settings.c_cflag |= B4800;
 260                         }
 261                         break;
 262                 case 9600:{
 263                                 settings.c_cflag |= B9600;
 264                         }
 265                         break;
 266                 case 19200:{
 267                                 settings.c_cflag |= B19200;
 268                         }
 269                         break;
 270                 case 38400:{
 271                                 settings.c_cflag |= B38400;
 272                         }
 273                         break;
 274                 case 57600:{
 275                                 settings.c_cflag |= B57600;
 276                         }
 277                         break;
 278                 case 115200:{
 279                                 settings.c_cflag |= B115200;
 280                         }
 281                         break;
 282                 default:{
 283                                 settings.c_cflag |= B9600;
 284                         }
 285                         break;
 286                 }
 287                 tty_ioctl(f, TCSETS, (unsigned long)&settings);
 288 /* printk("Speed: %d\n", settings.c_cflag & (CBAUD | CBAUDEX)); */
 289         }
 290         {
 291                 /*  Set low latency */
 292                 struct serial_struct settings;
 293
 294                 tty_ioctl(f, TIOCGSERIAL, (unsigned long)&settings);
 295                 settings.flags |= ASYNC_LOW_LATENCY;
 296                 tty_ioctl(f, TIOCSSERIAL, (unsigned long)&settings);
 297         }
 298
 299         set_fs(oldfs);
 300 }
 301
 302 static void poll_digital(struct file *f, int channel)
 303 {
 304         char cmd;
 305
 306         cmd = 0x40 | (channel & 0x1f);
 307         tty_write(f, &cmd, 1);
 308 }
 309
 310 static void poll_channel(struct file *f, int channel)
 311 {
 312         char cmd;
 313
 314         cmd = 0x60 | (channel & 0x1f);
 315         tty_write(f, &cmd, 1);
 316 }
 317
 318 static struct serial_data serial_read(struct file *f, int timeout)
 319 {
 320         struct serial_data result;
 321         int length;
 322
 323         result.kind = is_invalid;
 324         result.index = 0;
 325         result.value = 0;
 326         length = 0;
 327         while (1) {
 328                 int data = tty_read(f, timeout);
 329
 330                 length++;
 331                 if (data < 0) {
 332                         printk("serial2002 error\n");
 333                         break;
 334                 } else if (data & 0x80) {
 335                         result.value = (result.value << 7) | (data & 0x7f);
 336                 } else {
 337                         if (length == 1) {
 338                                 switch ((data >> 5) & 0x03) {
 339                                 case 0:{
 340                                                 result.value = 0;
 341                                                 result.kind = is_digital;
 342                                         }
 343                                         break;
 344                                 case 1:{
 345                                                 result.value = 1;
 346                                                 result.kind = is_digital;
 347                                         }
 348                                         break;
 349                                 }
 350                         } else {
 351                                 result.value =
 352                                     (result.value << 2) | ((data & 0x60) >> 5);
 353                                 result.kind = is_channel;
 354                         }
 355                         result.index = data & 0x1f;
 356                         break;
 357                 }
 358         }
 359         return result;
 360
 361 }
 362
 363 static void serial_write(struct file *f, struct serial_data data)
 364 {
 365         if (data.kind == is_digital) {
 366                 unsigned char ch =
 367                     ((data.value << 5) & 0x20) | (data.index & 0x1f);
 368                 tty_write(f, &ch, 1);
 369         } else {
 370                 unsigned char ch[6];
 371                 int i = 0;
 372                 if (data.value >= (1L << 30)) {
 373                         ch[i] = 0x80 | ((data.value >> 30) & 0x03);
 374                         i++;
 375                 }
 376                 if (data.value >= (1L << 23)) {
 377                         ch[i] = 0x80 | ((data.value >> 23) & 0x7f);
 378                         i++;
 379                 }
 380                 if (data.value >= (1L << 16)) {
 381                         ch[i] = 0x80 | ((data.value >> 16) & 0x7f);
 382                         i++;
 383                 }
 384                 if (data.value >= (1L << 9)) {
 385                         ch[i] = 0x80 | ((data.value >> 9) & 0x7f);
 386                         i++;
 387                 }
 388                 ch[i] = 0x80 | ((data.value >> 2) & 0x7f);
 389                 i++;
 390                 ch[i] = ((data.value << 5) & 0x60) | (data.index & 0x1f);
 391                 i++;
 392                 tty_write(f, ch, i);
 393         }
 394 }
 395
 396 static void serial_2002_open(struct comedi_device *dev)
 397 {
 398         char port[20];
 399
 400         sprintf(port, "/dev/ttyS%d", devpriv->port);
 401         devpriv->tty = filp_open(port, O_RDWR, 0);
 402         if (IS_ERR(devpriv->tty)) {
 403                 printk("serial_2002: file open error = %ld\n",
 404                        PTR_ERR(devpriv->tty));
 405         } else {
 406                 struct config_t {
 407
 408                         short int kind;
 409                         short int bits;
 410                         int min;
 411                         int max;
 412                 };
 413
 414                 struct config_t dig_in_config[32];
 415                 struct config_t dig_out_config[32];
 416                 struct config_t chan_in_config[32];
 417                 struct config_t chan_out_config[32];
 418                 int i;
 419
 420                 for (i = 0; i < 32; i++) {
 421                         dig_in_config[i].kind = 0;
 422                         dig_in_config[i].bits = 0;
 423                         dig_in_config[i].min = 0;
 424                         dig_in_config[i].max = 0;
 425                         dig_out_config[i].kind = 0;
 426                         dig_out_config[i].bits = 0;
 427                         dig_out_config[i].min = 0;
 428                         dig_out_config[i].max = 0;
 429                         chan_in_config[i].kind = 0;
 430                         chan_in_config[i].bits = 0;
 431                         chan_in_config[i].min = 0;
 432                         chan_in_config[i].max = 0;
 433                         chan_out_config[i].kind = 0;
 434                         chan_out_config[i].bits = 0;
 435                         chan_out_config[i].min = 0;
 436                         chan_out_config[i].max = 0;
 437                 }
 438
 439                 tty_setspeed(devpriv->tty, devpriv->speed);
 440                 poll_channel(devpriv->tty, 31); /*  Start reading configuration */
 441                 while (1) {
 442                         struct serial_data data;
 443
 444                         data = serial_read(devpriv->tty, 1000);
 445                         if (data.kind != is_channel || data.index != 31
 446                             || !(data.value & 0xe0)) {
 447                                 break;
 448                         } else {
 449                                 int command, channel, kind;
 450                                 struct config_t *cur_config = 0;
 451
 452                                 channel = data.value & 0x1f;
 453                                 kind = (data.value >> 5) & 0x7;
 454                                 command = (data.value >> 8) & 0x3;
 455                                 switch (kind) {
 456                                 case 1:{
 457                                                 cur_config = dig_in_config;
 458                                         }
 459                                         break;
 460                                 case 2:{
 461                                                 cur_config = dig_out_config;
 462                                         }
 463                                         break;
 464                                 case 3:{
 465                                                 cur_config = chan_in_config;
 466                                         }
 467                                         break;
 468                                 case 4:{
 469                                                 cur_config = chan_out_config;
 470                                         }
 471                                         break;
 472                                 case 5:{
 473                                                 cur_config = chan_in_config;
 474                                         }
 475                                         break;
 476                                 }
 477
 478                                 if (cur_config) {
 479                                         cur_config[channel].kind = kind;
 480                                         switch (command) {
 481                                         case 0:{
 482                                                         cur_config[channel].bits
 483                                                             =
 484                                                             (data.value >> 10) &
 485                                                             0x3f;
 486                                                 }
 487                                                 break;
 488                                         case 1:{
 489                                                         int unit, sign, min;
 490                                                         unit =
 491                                                             (data.value >> 10) &
 492                                                             0x7;
 493                                                         sign =
 494                                                             (data.value >> 13) &
 495                                                             0x1;
 496                                                         min =
 497                                                             (data.value >> 14) &
 498                                                             0xfffff;
 499
 500                                                         switch (unit) {
 501                                                         case 0:{
 502                                                                         min =
 503                                                                             min
 504                                                                             *
 505                                                                             1000000;
 506                                                                 }
 507                                                                 break;
 508                                                         case 1:{
 509                                                                         min =
 510                                                                             min
 511                                                                             *
 512                                                                             1000;
 513                                                                 }
 514                                                                 break;
 515                                                         case 2:{
 516                                                                         min =
 517                                                                             min
 518                                                                             * 1;
 519                                                                 }
 520                                                                 break;
 521                                                         }
 522                                                         if (sign) {
 523                                                                 min = -min;
 524                                                         }
 525                                                         cur_config[channel].min
 526                                                             = min;
 527                                                 }
 528                                                 break;
 529                                         case 2:{
 530                                                         int unit, sign, max;
 531                                                         unit =
 532                                                             (data.value >> 10) &
 533                                                             0x7;
 534                                                         sign =
 535                                                             (data.value >> 13) &
 536                                                             0x1;
 537                                                         max =
 538                                                             (data.value >> 14) &
 539                                                             0xfffff;
 540
 541                                                         switch (unit) {
 542                                                         case 0:{
 543                                                                         max =
 544                                                                             max
 545                                                                             *
 546                                                                             1000000;
 547                                                                 }
 548                                                                 break;
 549                                                         case 1:{
 550                                                                         max =
 551                                                                             max
 552                                                                             *
 553                                                                             1000;
 554                                                                 }
 555                                                                 break;
 556                                                         case 2:{
 557                                                                         max =
 558                                                                             max
 559                                                                             * 1;
 560                                                                 }
 561                                                                 break;
 562                                                         }
 563                                                         if (sign) {
 564                                                                 max = -max;
 565                                                         }
 566                                                         cur_config[channel].max
 567                                                             = max;
 568                                                 }
 569                                                 break;
 570                                         }
 571                                 }
 572                         }
 573                 }
 574                 for (i = 0; i <= 4; i++) {
 575                         /*  Fill in subdev data */
 576                         struct config_t *c;
 577                         unsigned char *mapping = 0;
 578                         struct serial2002_range_table_t *range = 0;
 579                         int kind = 0;
 580
 581                         switch (i) {
 582                         case 0:{
 583                                         c = dig_in_config;
 584                                         mapping = devpriv->digital_in_mapping;
 585                                         kind = 1;
 586                                 }
 587                                 break;
 588                         case 1:{
 589                                         c = dig_out_config;
 590                                         mapping = devpriv->digital_out_mapping;
 591                                         kind = 2;
 592                                 }
 593                                 break;
 594                         case 2:{
 595                                         c = chan_in_config;
 596                                         mapping = devpriv->analog_in_mapping;
 597                                         range = devpriv->in_range;
 598                                         kind = 3;
 599                                 }
 600                                 break;
 601                         case 3:{
 602                                         c = chan_out_config;
 603                                         mapping = devpriv->analog_out_mapping;
 604                                         range = devpriv->out_range;
 605                                         kind = 4;
 606                                 }
 607                                 break;
 608                         case 4:{
 609                                         c = chan_in_config;
 610                                         mapping = devpriv->encoder_in_mapping;
 611                                         range = devpriv->in_range;
 612                                         kind = 5;
 613                                 }
 614                                 break;
 615                         default:{
 616                                         c = 0;
 617                                 }
 618                                 break;
 619                         }
 620                         if (c) {
 621                                 struct comedi_subdevice *s;
 622                                 const struct comedi_lrange **range_table_list =
 623                                     NULL;
 624                                 unsigned int *maxdata_list;
 625                                 int j, chan;
 626
 627                                 for (chan = 0, j = 0; j < 32; j++) {
 628                                         if (c[j].kind == kind) {
 629                                                 chan++;
 630                                         }
 631                                 }
 632                                 s = &dev->subdevices[i];
 633                                 s->n_chan = chan;
 634                                 s->maxdata = 0;
 635                                 if (s->maxdata_list) {
 636                                         kfree(s->maxdata_list);
 637                                 }
 638                                 s->maxdata_list = maxdata_list =
 639                                     kmalloc(sizeof(unsigned int) * s->n_chan,
 640                                             GFP_KERNEL);
 641                                 if (s->range_table_list) {
 642                                         kfree(s->range_table_list);
 643                                 }
 644                                 if (range) {
 645                                         s->range_table = 0;
 646                                         s->range_table_list = range_table_list =
 647                                             kmalloc(sizeof
 648                                                     (struct
 649                                                      serial2002_range_table_t) *
 650                                                     s->n_chan, GFP_KERNEL);
 651                                 }
 652                                 for (chan = 0, j = 0; j < 32; j++) {
 653                                         if (c[j].kind == kind) {
 654                                                 if (mapping) {
 655                                                         mapping[chan] = j;
 656                                                 }
 657                                                 if (range) {
 658                                                         range[j].length = 1;
 659                                                         range[j].range.min =
 660                                                             c[j].min;
 661                                                         range[j].range.max =
 662                                                             c[j].max;
 663                                                         range_table_list[chan] =
 664                                                             (const struct
 665                                                              comedi_lrange *)
 666                                                             &range[j];
 667                                                 }
 668                                                 maxdata_list[chan] =
 669                                                     ((long long)1 << c[j].bits)
 670                                                     - 1;
 671                                                 chan++;
 672                                         }
 673                                 }
 674                         }
 675                 }
 676         }
 677 }
 678
 679 static void serial_2002_close(struct comedi_device *dev)
 680 {
 681         if (!IS_ERR(devpriv->tty) && (devpriv->tty != 0)) {
 682                 filp_close(devpriv->tty, 0);
 683         }
 684 }
 685
 686 static int serial2002_di_rinsn(struct comedi_device *dev,
 687                                struct comedi_subdevice *s,
 688                                struct comedi_insn *insn, unsigned int *data)
 689 {
 690         int n;
 691         int chan;
 692
 693         chan = devpriv->digital_in_mapping[CR_CHAN(insn->chanspec)];
 694         for (n = 0; n < insn->n; n++) {
 695                 struct serial_data read;
 696
 697                 poll_digital(devpriv->tty, chan);
 698                 while (1) {
 699                         read = serial_read(devpriv->tty, 1000);
 700                         if (read.kind != is_digital || read.index == chan) {
 701                                 break;
 702                         }
 703                 }
 704                 data[n] = read.value;
 705         }
 706         return n;
 707 }
 708
 709 static int serial2002_do_winsn(struct comedi_device *dev,
 710                                struct comedi_subdevice *s,
 711                                struct comedi_insn *insn, unsigned int *data)
 712 {
 713         int n;
 714         int chan;
 715
 716         chan = devpriv->digital_out_mapping[CR_CHAN(insn->chanspec)];
 717         for (n = 0; n < insn->n; n++) {
 718                 struct serial_data write;
 719
 720                 write.kind = is_digital;
 721                 write.index = chan;
 722                 write.value = data[n];
 723                 serial_write(devpriv->tty, write);
 724         }
 725         return n;
 726 }
 727
 728 static int serial2002_ai_rinsn(struct comedi_device *dev,
 729                                struct comedi_subdevice *s,
 730                                struct comedi_insn *insn, unsigned int *data)
 731 {
 732         int n;
 733         int chan;
 734
 735         chan = devpriv->analog_in_mapping[CR_CHAN(insn->chanspec)];
 736         for (n = 0; n < insn->n; n++) {
 737                 struct serial_data read;
 738
 739                 poll_channel(devpriv->tty, chan);
 740                 while (1) {
 741                         read = serial_read(devpriv->tty, 1000);
 742                         if (read.kind != is_channel || read.index == chan) {
 743                                 break;
 744                         }
 745                 }
 746                 data[n] = read.value;
 747         }
 748         return n;
 749 }
 750
 751 static int serial2002_ao_winsn(struct comedi_device *dev,
 752                                struct comedi_subdevice *s,
 753                                struct comedi_insn *insn, unsigned int *data)
 754 {
 755         int n;
 756         int chan;
 757
 758         chan = devpriv->analog_out_mapping[CR_CHAN(insn->chanspec)];
 759         for (n = 0; n < insn->n; n++) {
 760                 struct serial_data write;
 761
 762                 write.kind = is_channel;
 763                 write.index = chan;
 764                 write.value = data[n];
 765                 serial_write(devpriv->tty, write);
 766                 devpriv->ao_readback[chan] = data[n];
 767         }
 768         return n;
 769 }
 770
 771 static int serial2002_ao_rinsn(struct comedi_device *dev,
 772                                struct comedi_subdevice *s,
 773                                struct comedi_insn *insn, unsigned int *data)
 774 {
 775         int n;
 776         int chan = CR_CHAN(insn->chanspec);
 777
 778         for (n = 0; n < insn->n; n++) {
 779                 data[n] = devpriv->ao_readback[chan];
 780         }
 781
 782         return n;
 783 }
 784
 785 static int serial2002_ei_rinsn(struct comedi_device *dev,
 786                                struct comedi_subdevice *s,
 787                                struct comedi_insn *insn, unsigned int *data)
 788 {
 789         int n;
 790         int chan;
 791
 792         chan = devpriv->encoder_in_mapping[CR_CHAN(insn->chanspec)];
 793         for (n = 0; n < insn->n; n++) {
 794                 struct serial_data read;
 795
 796                 poll_channel(devpriv->tty, chan);
 797                 while (1) {
 798                         read = serial_read(devpriv->tty, 1000);
 799                         if (read.kind != is_channel || read.index == chan) {
 800                                 break;
 801                         }
 802                 }
 803                 data[n] = read.value;
 804         }
 805         return n;
 806 }
 807
 808 static int serial2002_attach(struct comedi_device *dev,
 809                              struct comedi_devconfig *it)
 810 {
 811         struct comedi_subdevice *s;
 812
 813         printk("comedi%d: serial2002: ", dev->minor);
 814         dev->board_name = thisboard->name;
 815         if (alloc_private(dev, sizeof(struct serial2002_private)) < 0) {
 816                 return -ENOMEM;
 817         }
 818         dev->open = serial_2002_open;
 819         dev->close = serial_2002_close;
 820         devpriv->port = it->options[0];
 821         devpriv->speed = it->options[1];
 822         printk("/dev/ttyS%d @ %d\n", devpriv->port, devpriv->speed);
 823
 824         if (alloc_subdevices(dev, 5) < 0)
 825                 return -ENOMEM;
 826
 827         /* digital input subdevice */
 828         s = dev->subdevices + 0;
 829         s->type = COMEDI_SUBD_DI;
 830         s->subdev_flags = SDF_READABLE;
 831         s->n_chan = 0;
 832         s->maxdata = 1;
 833         s->range_table = &range_digital;
 834         s->insn_read = &serial2002_di_rinsn;
 835
 836         /* digital output subdevice */
 837         s = dev->subdevices + 1;
 838         s->type = COMEDI_SUBD_DO;
 839         s->subdev_flags = SDF_WRITEABLE;
 840         s->n_chan = 0;
 841         s->maxdata = 1;
 842         s->range_table = &range_digital;
 843         s->insn_write = &serial2002_do_winsn;
 844
 845         /* analog input subdevice */
 846         s = dev->subdevices + 2;
 847         s->type = COMEDI_SUBD_AI;
 848         s->subdev_flags = SDF_READABLE | SDF_GROUND;
 849         s->n_chan = 0;
 850         s->maxdata = 1;
 851         s->range_table = 0;
 852         s->insn_read = &serial2002_ai_rinsn;
 853
 854         /* analog output subdevice */
 855         s = dev->subdevices + 3;
 856         s->type = COMEDI_SUBD_AO;
 857         s->subdev_flags = SDF_WRITEABLE;
 858         s->n_chan = 0;
 859         s->maxdata = 1;
 860         s->range_table = 0;
 861         s->insn_write = &serial2002_ao_winsn;
 862         s->insn_read = &serial2002_ao_rinsn;
 863
 864         /* encoder input subdevice */
 865         s = dev->subdevices + 4;
 866         s->type = COMEDI_SUBD_COUNTER;
 867         s->subdev_flags = SDF_READABLE | SDF_LSAMPL;
 868         s->n_chan = 0;
 869         s->maxdata = 1;
 870         s->range_table = 0;
 871         s->insn_read = &serial2002_ei_rinsn;
 872
 873         return 1;
 874 }
 875
 876 static int serial2002_detach(struct comedi_device *dev)
 877 {
 878         struct comedi_subdevice *s;
 879         int i;
 880
 881         printk("comedi%d: serial2002: remove\n", dev->minor);
 882         for (i = 0; i < 4; i++) {
 883                 s = &dev->subdevices[i];
 884                 if (s->maxdata_list) {
 885                         kfree(s->maxdata_list);
 886                 }
 887                 if (s->range_table_list) {
 888                         kfree(s->range_table_list);
 889                 }
 890         }
 891         return 0;
 892 }
 893
 894 COMEDI_INITCLEANUP(driver_serial2002);