--- /dev/null
+/*
+ comedi/drivers/serial2002.c
+ Skeleton code for a Comedi driver
+
+ COMEDI - Linux Control and Measurement Device Interface
+ Copyright (C) 2002 Anders Blomdell <anders.blomdell@control.lth.se>
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 2 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+
+*/
+
+/*
+Driver: serial2002
+Description: Driver for serial connected hardware
+Devices:
+Author: Anders Blomdell
+Updated: Fri, 7 Jun 2002 12:56:45 -0700
+Status: in development
+
+*/
+
+#include "../comedidev.h"
+
+#include <linux/delay.h>
+#include <linux/ioport.h>
+
+#include <asm/termios.h>
+#include <asm/ioctls.h>
+#include <linux/serial.h>
+#include <linux/poll.h>
+
+/*
+ * Board descriptions for two imaginary boards. Describing the
+ * boards in this way is optional, and completely driver-dependent.
+ * Some drivers use arrays such as this, other do not.
+ */
+typedef struct serial2002_board_struct {
+ const char *name;
+} serial2002_board;
+
+static const serial2002_board serial2002_boards[] = {
+ {
+ name: "serial2002"}
+};
+
+/*
+ * Useful for shorthand access to the particular board structure
+ */
+#define thisboard ((const serial2002_board *)dev->board_ptr)
+
+typedef struct {
+ // HACK...
+ int length;
+ comedi_krange range;
+} serial2002_range_table_t;
+
+typedef struct {
+ int port; // /dev/ttyS<port>
+ int speed; // baudrate
+ struct file *tty;
+ lsampl_t ao_readback[32];
+ unsigned char digital_in_mapping[32];
+ unsigned char digital_out_mapping[32];
+ unsigned char analog_in_mapping[32];
+ unsigned char analog_out_mapping[32];
+ unsigned char encoder_in_mapping[32];
+ serial2002_range_table_t in_range[32], out_range[32];
+} serial2002_private;
+
+/*
+ * most drivers define the following macro to make it easy to
+ * access the private structure.
+ */
+#define devpriv ((serial2002_private *)dev->private)
+
+static int serial2002_attach(comedi_device * dev, comedi_devconfig * it);
+static int serial2002_detach(comedi_device * dev);
+comedi_driver driver_serial2002 = {
+ driver_name:"serial2002",
+ module:THIS_MODULE,
+ attach:serial2002_attach,
+ detach:serial2002_detach,
+ board_name:&serial2002_boards[0].name,
+ offset:sizeof(serial2002_board),
+ num_names:sizeof(serial2002_boards) / sizeof(serial2002_board),
+};
+
+static int serial2002_di_rinsn(comedi_device * dev, comedi_subdevice * s,
+ comedi_insn * insn, lsampl_t * data);
+static int serial2002_do_winsn(comedi_device * dev, comedi_subdevice * s,
+ comedi_insn * insn, lsampl_t * data);
+static int serial2002_ai_rinsn(comedi_device * dev, comedi_subdevice * s,
+ comedi_insn * insn, lsampl_t * data);
+static int serial2002_ao_winsn(comedi_device * dev, comedi_subdevice * s,
+ comedi_insn * insn, lsampl_t * data);
+static int serial2002_ao_rinsn(comedi_device * dev, comedi_subdevice * s,
+ comedi_insn * insn, lsampl_t * data);
+
+struct serial_data {
+ enum { is_invalid, is_digital, is_channel } kind;
+ int index;
+ unsigned long value;
+};
+
+static long tty_ioctl(struct file *f, unsigned op, unsigned long param)
+{
+#ifdef HAVE_UNLOCKED_IOCTL
+ if (f->f_op->unlocked_ioctl) {
+ return f->f_op->unlocked_ioctl(f, op, param);
+ }
+#endif
+ if (f->f_op->ioctl) {
+ return f->f_op->ioctl(f->f_dentry->d_inode, f, op, param);
+ }
+ return -ENOSYS;
+}
+
+static int tty_write(struct file *f, unsigned char *buf, int count)
+{
+ int result;
+ mm_segment_t oldfs;
+
+ oldfs = get_fs();
+ set_fs(KERNEL_DS);
+ f->f_pos = 0;
+ result = f->f_op->write(f, buf, count, &f->f_pos);
+ set_fs(oldfs);
+ return result;
+}
+
+#if 0
+/*
+ * On 2.6.26.3 this occaisonally gave me page faults, worked around by
+ * settings.c_cc[VMIN] = 0; settings.c_cc[VTIME] = 0
+ */
+static int tty_available(struct file *f)
+{
+ long result = 0;
+ mm_segment_t oldfs;
+
+ oldfs = get_fs();
+ set_fs(KERNEL_DS);
+ tty_ioctl(f, FIONREAD, (unsigned long)&result);
+ set_fs(oldfs);
+ return result;
+}
+#endif
+
+static int tty_read(struct file *f, int timeout)
+{
+ int result;
+
+ result = -1;
+ if (!IS_ERR(f)) {
+ mm_segment_t oldfs;
+
+ oldfs = get_fs();
+ set_fs(KERNEL_DS);
+ if (f->f_op->poll) {
+ struct poll_wqueues table;
+ struct timeval start, now;
+
+ do_gettimeofday(&start);
+ poll_initwait(&table);
+ while (1) {
+ long elapsed;
+ int mask;
+
+ mask = f->f_op->poll(f, &table.pt);
+ if (mask & (POLLRDNORM | POLLRDBAND | POLLIN |
+ POLLHUP | POLLERR)) {
+ break;
+ }
+ do_gettimeofday(&now);
+ elapsed =
+ (1000000 * (now.tv_sec - start.tv_sec) +
+ now.tv_usec - start.tv_usec);
+ if (elapsed > timeout) {
+ break;
+ }
+ set_current_state(TASK_INTERRUPTIBLE);
+ schedule_timeout(((timeout -
+ elapsed) * HZ) / 10000);
+ }
+ poll_freewait(&table);
+ {
+ unsigned char ch;
+
+ f->f_pos = 0;
+ if (f->f_op->read(f, &ch, 1, &f->f_pos) == 1) {
+ result = ch;
+ }
+ }
+ } else {
+ /* Device does not support poll, busy wait */
+ int retries = 0;
+ while (1) {
+ unsigned char ch;
+
+ retries++;
+ if (retries >= timeout) {
+ break;
+ }
+
+ f->f_pos = 0;
+ if (f->f_op->read(f, &ch, 1, &f->f_pos) == 1) {
+ result = ch;
+ break;
+ }
+ comedi_udelay(100);
+ }
+ }
+ set_fs(oldfs);
+ }
+ return result;
+}
+
+static void tty_setspeed(struct file *f, int speed)
+{
+ mm_segment_t oldfs;
+
+ oldfs = get_fs();
+ set_fs(KERNEL_DS);
+ {
+ // Set speed
+ struct termios settings;
+
+ tty_ioctl(f, TCGETS, (unsigned long)&settings);
+// printk("Speed: %d\n", settings.c_cflag & (CBAUD | CBAUDEX));
+ settings.c_iflag = 0;
+ settings.c_oflag = 0;
+ settings.c_lflag = 0;
+ settings.c_cflag = CLOCAL | CS8 | CREAD;
+ settings.c_cc[VMIN] = 0;
+ settings.c_cc[VTIME] = 0;
+ switch (speed) {
+ case 2400:{
+ settings.c_cflag |= B2400;
+ }
+ break;
+ case 4800:{
+ settings.c_cflag |= B4800;
+ }
+ break;
+ case 9600:{
+ settings.c_cflag |= B9600;
+ }
+ break;
+ case 19200:{
+ settings.c_cflag |= B19200;
+ }
+ break;
+ case 38400:{
+ settings.c_cflag |= B38400;
+ }
+ break;
+ case 57600:{
+ settings.c_cflag |= B57600;
+ }
+ break;
+ case 115200:{
+ settings.c_cflag |= B115200;
+ }
+ break;
+ default:{
+ settings.c_cflag |= B9600;
+ }
+ break;
+ }
+ tty_ioctl(f, TCSETS, (unsigned long)&settings);
+// printk("Speed: %d\n", settings.c_cflag & (CBAUD | CBAUDEX));
+ }
+ {
+ // Set low latency
+ struct serial_struct settings;
+
+ tty_ioctl(f, TIOCGSERIAL, (unsigned long)&settings);
+ settings.flags |= ASYNC_LOW_LATENCY;
+ tty_ioctl(f, TIOCSSERIAL, (unsigned long)&settings);
+ }
+
+ set_fs(oldfs);
+}
+
+static void poll_digital(struct file *f, int channel)
+{
+ char cmd;
+
+ cmd = 0x40 | (channel & 0x1f);
+ tty_write(f, &cmd, 1);
+}
+
+static void poll_channel(struct file *f, int channel)
+{
+ char cmd;
+
+ cmd = 0x60 | (channel & 0x1f);
+ tty_write(f, &cmd, 1);
+}
+
+static struct serial_data serial_read(struct file *f, int timeout)
+{
+ struct serial_data result;
+ int length;
+
+ result.kind = is_invalid;
+ result.index = 0;
+ result.value = 0;
+ length = 0;
+ while (1) {
+ int data = tty_read(f, timeout);
+
+ length++;
+ if (data < 0) {
+ printk("serial2002 error\n");
+ break;
+ } else if (data & 0x80) {
+ result.value = (result.value << 7) | (data & 0x7f);
+ } else {
+ if (length == 1) {
+ switch ((data >> 5) & 0x03) {
+ case 0:{
+ result.value = 0;
+ result.kind = is_digital;
+ }
+ break;
+ case 1:{
+ result.value = 1;
+ result.kind = is_digital;
+ }
+ break;
+ }
+ } else {
+ result.value =
+ (result.
+ value << 2) | ((data & 0x60) >> 5);
+ result.kind = is_channel;
+ }
+ result.index = data & 0x1f;
+ break;
+ }
+ }
+ return result;
+
+}
+
+static void serial_write(struct file *f, struct serial_data data)
+{
+ if (data.kind == is_digital) {
+ unsigned char ch =
+ ((data.value << 5) & 0x20) | (data.index & 0x1f);
+ tty_write(f, &ch, 1);
+ } else {
+ unsigned char ch[6];
+ int i = 0;
+ if (data.value >= (1L << 30)) {
+ ch[i] = 0x80 | ((data.value >> 30) & 0x03);
+ i++;
+ }
+ if (data.value >= (1L << 23)) {
+ ch[i] = 0x80 | ((data.value >> 23) & 0x7f);
+ i++;
+ }
+ if (data.value >= (1L << 16)) {
+ ch[i] = 0x80 | ((data.value >> 16) & 0x7f);
+ i++;
+ }
+ if (data.value >= (1L << 9)) {
+ ch[i] = 0x80 | ((data.value >> 9) & 0x7f);
+ i++;
+ }
+ ch[i] = 0x80 | ((data.value >> 2) & 0x7f);
+ i++;
+ ch[i] = ((data.value << 5) & 0x60) | (data.index & 0x1f);
+ i++;
+ tty_write(f, ch, i);
+ }
+}
+
+static void serial_2002_open(comedi_device * dev)
+{
+ char port[20];
+
+ sprintf(port, "/dev/ttyS%d", devpriv->port);
+ devpriv->tty = filp_open(port, 0, O_RDWR);
+ if (IS_ERR(devpriv->tty)) {
+ printk("serial_2002: file open error = %ld\n",
+ PTR_ERR(devpriv->tty));
+ } else {
+ typedef struct {
+ int kind;
+ int bits;
+ int min;
+ int max;
+ } config_t;
+ config_t dig_in_config[32];
+ config_t dig_out_config[32];
+ config_t chan_in_config[32];
+ config_t chan_out_config[32];
+ int i;
+
+ for (i = 0; i < 32; i++) {
+ dig_in_config[i].kind = 0;
+ dig_in_config[i].bits = 0;
+ dig_in_config[i].min = 0;
+ dig_in_config[i].max = 0;
+ dig_out_config[i].kind = 0;
+ dig_out_config[i].bits = 0;
+ dig_out_config[i].min = 0;
+ dig_out_config[i].max = 0;
+ chan_in_config[i].kind = 0;
+ chan_in_config[i].bits = 0;
+ chan_in_config[i].min = 0;
+ chan_in_config[i].max = 0;
+ chan_out_config[i].kind = 0;
+ chan_out_config[i].bits = 0;
+ chan_out_config[i].min = 0;
+ chan_out_config[i].max = 0;
+ }
+
+ tty_setspeed(devpriv->tty, devpriv->speed);
+ poll_channel(devpriv->tty, 31); // Start reading configuration
+ while (1) {
+ struct serial_data data;
+
+ data = serial_read(devpriv->tty, 1000);
+ if (data.kind != is_channel || data.index != 31
+ || !(data.value & 0xe0)) {
+ break;
+ } else {
+ int command, channel, kind;
+ config_t *cur_config = 0;
+
+ channel = data.value & 0x1f;
+ kind = (data.value >> 5) & 0x7;
+ command = (data.value >> 8) & 0x3;
+ switch (kind) {
+ case 1:{
+ cur_config = dig_in_config;
+ }
+ break;
+ case 2:{
+ cur_config = dig_out_config;
+ }
+ break;
+ case 3:{
+ cur_config = chan_in_config;
+ }
+ break;
+ case 4:{
+ cur_config = chan_out_config;
+ }
+ break;
+ case 5:{
+ cur_config = chan_in_config;
+ }
+ break;
+ }
+
+ if (cur_config) {
+ cur_config[channel].kind = kind;
+ switch (command) {
+ case 0:{
+ cur_config[channel].
+ bits =
+ (data.
+ value >> 10) &
+ 0x3f;
+ }
+ break;
+ case 1:{
+ int unit, sign, min;
+ unit = (data.
+ value >> 10) &
+ 0x7;
+ sign = (data.
+ value >> 13) &
+ 0x1;
+ min = (data.
+ value >> 14) &
+ 0xfffff;
+
+ switch (unit) {
+ case 0:{
+ min = min * 1000000;
+ }
+ break;
+ case 1:{
+ min = min * 1000;
+ }
+ break;
+ case 2:{
+ min = min * 1;
+ }
+ break;
+ }
+ if (sign) {
+ min = -min;
+ }
+ cur_config[channel].
+ min = min;
+ }
+ break;
+ case 2:{
+ int unit, sign, max;
+ unit = (data.
+ value >> 10) &
+ 0x7;
+ sign = (data.
+ value >> 13) &
+ 0x1;
+ max = (data.
+ value >> 14) &
+ 0xfffff;
+
+ switch (unit) {
+ case 0:{
+ max = max * 1000000;
+ }
+ break;
+ case 1:{
+ max = max * 1000;
+ }
+ break;
+ case 2:{
+ max = max * 1;
+ }
+ break;
+ }
+ if (sign) {
+ max = -max;
+ }
+ cur_config[channel].
+ max = max;
+ }
+ break;
+ }
+ }
+ }
+ }
+ for (i = 0; i <= 4; i++) {
+ // Fill in subdev data
+ config_t *c;
+ unsigned char *mapping = 0;
+ serial2002_range_table_t *range = 0;
+ int kind = 0;
+
+ switch (i) {
+ case 0:{
+ c = dig_in_config;
+ mapping = devpriv->digital_in_mapping;
+ kind = 1;
+ }
+ break;
+ case 1:{
+ c = dig_out_config;
+ mapping = devpriv->digital_out_mapping;
+ kind = 2;
+ }
+ break;
+ case 2:{
+ c = chan_in_config;
+ mapping = devpriv->analog_in_mapping;
+ range = devpriv->in_range;
+ kind = 3;
+ }
+ break;
+ case 3:{
+ c = chan_out_config;
+ mapping = devpriv->analog_out_mapping;
+ range = devpriv->out_range;
+ kind = 4;
+ }
+ break;
+ case 4:{
+ c = chan_in_config;
+ mapping = devpriv->encoder_in_mapping;
+ range = devpriv->in_range;
+ kind = 5;
+ }
+ break;
+ default:{
+ c = 0;
+ }
+ break;
+ }
+ if (c) {
+ comedi_subdevice *s;
+ const comedi_lrange **range_table_list = NULL;
+ unsigned int *maxdata_list;
+ int j, chan;
+
+ for (chan = 0, j = 0; j < 32; j++) {
+ if (c[j].kind == kind) {
+ chan++;
+ }
+ }
+ s = &dev->subdevices[i];
+ s->n_chan = chan;
+ s->maxdata = 0;
+ if (s->maxdata_list) {
+ kfree(s->maxdata_list);
+ }
+ s->maxdata_list = maxdata_list =
+ kmalloc(sizeof(lsampl_t) * s->n_chan,
+ GFP_KERNEL);
+ if (s->range_table_list) {
+ kfree(s->range_table_list);
+ }
+ if (range) {
+ s->range_table = 0;
+ s->range_table_list = range_table_list =
+ kmalloc(sizeof
+ (serial2002_range_table_t) *
+ s->n_chan, GFP_KERNEL);
+ }
+ for (chan = 0, j = 0; j < 32; j++) {
+ if (c[j].kind == kind) {
+ if (mapping) {
+ mapping[chan] = j;
+ }
+ if (range) {
+ range[j].length = 1;
+ range[j].range.min =
+ c[j].min;
+ range[j].range.max =
+ c[j].max;
+ range_table_list[chan] =
+ (const
+ comedi_lrange *)
+ &range[j];
+ }
+ maxdata_list[chan] =
+ ((long long)1 << c[j].
+ bits) - 1;
+ chan++;
+ }
+ }
+ }
+ }
+ }
+}
+
+static void serial_2002_close(comedi_device * dev)
+{
+ if (!IS_ERR(devpriv->tty) && (devpriv->tty != 0)) {
+ filp_close(devpriv->tty, 0);
+ }
+}
+
+static int serial2002_di_rinsn(comedi_device * dev, comedi_subdevice * s,
+ comedi_insn * insn, lsampl_t * data)
+{
+ int n;
+ int chan;
+
+ chan = devpriv->digital_in_mapping[CR_CHAN(insn->chanspec)];
+ for (n = 0; n < insn->n; n++) {
+ struct serial_data read;
+
+ poll_digital(devpriv->tty, chan);
+ while (1) {
+ read = serial_read(devpriv->tty, 1000);
+ if (read.kind != is_digital || read.index == chan) {
+ break;
+ }
+ }
+ data[n] = read.value;
+ }
+ return n;
+}
+
+static int serial2002_do_winsn(comedi_device * dev, comedi_subdevice * s,
+ comedi_insn * insn, lsampl_t * data)
+{
+ int n;
+ int chan;
+
+ chan = devpriv->digital_out_mapping[CR_CHAN(insn->chanspec)];
+ for (n = 0; n < insn->n; n++) {
+ struct serial_data write;
+
+ write.kind = is_digital;
+ write.index = chan;
+ write.value = data[n];
+ serial_write(devpriv->tty, write);
+ }
+ return n;
+}
+
+static int serial2002_ai_rinsn(comedi_device * dev, comedi_subdevice * s,
+ comedi_insn * insn, lsampl_t * data)
+{
+ int n;
+ int chan;
+
+ chan = devpriv->analog_in_mapping[CR_CHAN(insn->chanspec)];
+ for (n = 0; n < insn->n; n++) {
+ struct serial_data read;
+
+ poll_channel(devpriv->tty, chan);
+ while (1) {
+ read = serial_read(devpriv->tty, 1000);
+ if (read.kind != is_channel || read.index == chan) {
+ break;
+ }
+ }
+ data[n] = read.value;
+ }
+ return n;
+}
+
+static int serial2002_ao_winsn(comedi_device * dev, comedi_subdevice * s,
+ comedi_insn * insn, lsampl_t * data)
+{
+ int n;
+ int chan;
+
+ chan = devpriv->analog_out_mapping[CR_CHAN(insn->chanspec)];
+ for (n = 0; n < insn->n; n++) {
+ struct serial_data write;
+
+ write.kind = is_channel;
+ write.index = chan;
+ write.value = data[n];
+ serial_write(devpriv->tty, write);
+ devpriv->ao_readback[chan] = data[n];
+ }
+ return n;
+}
+
+static int serial2002_ao_rinsn(comedi_device * dev, comedi_subdevice * s,
+ comedi_insn * insn, lsampl_t * data)
+{
+ int n;
+ int chan = CR_CHAN(insn->chanspec);
+
+ for (n = 0; n < insn->n; n++) {
+ data[n] = devpriv->ao_readback[chan];
+ }
+
+ return n;
+}
+
+static int serial2002_ei_rinsn(comedi_device * dev, comedi_subdevice * s,
+ comedi_insn * insn, lsampl_t * data)
+{
+ int n;
+ int chan;
+
+ chan = devpriv->encoder_in_mapping[CR_CHAN(insn->chanspec)];
+ for (n = 0; n < insn->n; n++) {
+ struct serial_data read;
+
+ poll_channel(devpriv->tty, chan);
+ while (1) {
+ read = serial_read(devpriv->tty, 1000);
+ if (read.kind != is_channel || read.index == chan) {
+ break;
+ }
+ }
+ data[n] = read.value;
+ }
+ return n;
+}
+
+static int serial2002_attach(comedi_device * dev, comedi_devconfig * it)
+{
+ comedi_subdevice *s;
+
+ printk("comedi%d: serial2002: ", dev->minor);
+ dev->board_name = thisboard->name;
+ if (alloc_private(dev, sizeof(serial2002_private)) < 0) {
+ return -ENOMEM;
+ }
+ dev->open = serial_2002_open;
+ dev->close = serial_2002_close;
+ devpriv->port = it->options[0];
+ devpriv->speed = it->options[1];
+ printk("/dev/ttyS%d @ %d\n", devpriv->port, devpriv->speed);
+
+ if (alloc_subdevices(dev, 5) < 0)
+ return -ENOMEM;
+
+ /* digital input subdevice */
+ s = dev->subdevices + 0;
+ s->type = COMEDI_SUBD_DI;
+ s->subdev_flags = SDF_READABLE;
+ s->n_chan = 0;
+ s->maxdata = 1;
+ s->range_table = &range_digital;
+ s->insn_read = &serial2002_di_rinsn;
+
+ /* digital output subdevice */
+ s = dev->subdevices + 1;
+ s->type = COMEDI_SUBD_DO;
+ s->subdev_flags = SDF_WRITEABLE;
+ s->n_chan = 0;
+ s->maxdata = 1;
+ s->range_table = &range_digital;
+ s->insn_write = &serial2002_do_winsn;
+
+ /* analog input subdevice */
+ s = dev->subdevices + 2;
+ s->type = COMEDI_SUBD_AI;
+ s->subdev_flags = SDF_READABLE | SDF_GROUND;
+ s->n_chan = 0;
+ s->maxdata = 1;
+ s->range_table = 0;
+ s->insn_read = &serial2002_ai_rinsn;
+
+ /* analog output subdevice */
+ s = dev->subdevices + 3;
+ s->type = COMEDI_SUBD_AO;
+ s->subdev_flags = SDF_WRITEABLE;
+ s->n_chan = 0;
+ s->maxdata = 1;
+ s->range_table = 0;
+ s->insn_write = &serial2002_ao_winsn;
+ s->insn_read = &serial2002_ao_rinsn;
+
+ /* encoder input subdevice */
+ s = dev->subdevices + 4;
+ s->type = COMEDI_SUBD_COUNTER;
+ s->subdev_flags = SDF_READABLE | SDF_LSAMPL;
+ s->n_chan = 0;
+ s->maxdata = 1;
+ s->range_table = 0;
+ s->insn_read = &serial2002_ei_rinsn;
+
+ return 1;
+}
+
+static int serial2002_detach(comedi_device * dev)
+{
+ comedi_subdevice *s;
+ int i;
+
+ printk("comedi%d: serial2002: remove\n", dev->minor);
+ for (i = 0; i < 4; i++) {
+ s = &dev->subdevices[i];
+ if (s->maxdata_list) {
+ kfree(s->maxdata_list);
+ }
+ if (s->range_table_list) {
+ kfree(s->range_table_list);
+ }
+ }
+ return 0;
+}
+
+COMEDI_INITCLEANUP(driver_serial2002);
git.openpandora.org / pandora-kernel.git / commitdiff