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 <linux/comedidev.h>
36 #include <linux/delay.h>
37 #include <linux/ioport.h>
39 #include <asm/termios.h>
40 #include <asm/ioctls.h>
41 #include <linux/serial.h>
42 #include <linux/poll.h>
45 * Board descriptions for two imaginary boards. Describing the
46 * boards in this way is optional, and completely driver-dependent.
47 * Some drivers use arrays such as this, other do not.
49 typedef struct serial2002_board_struct {
53 serial2002_board serial2002_boards[] = {
59 * Useful for shorthand access to the particular board structure
61 #define thisboard ((serial2002_board *)dev->board_ptr)
67 } serial2002_range_table_t;
70 int port; // /dev/ttyS<port>
71 int speed; // baudrate
73 lsampl_t ao_readback[32];
74 unsigned char digital_in_mapping[32];
75 unsigned char digital_out_mapping[32];
76 unsigned char analog_in_mapping[32];
77 unsigned char analog_out_mapping[32];
78 unsigned char encoder_in_mapping[32];
79 serial2002_range_table_t in_range[32], out_range[32];
83 * most drivers define the following macro to make it easy to
84 * access the private structure.
86 #define devpriv ((serial2002_private *)dev->private)
88 static int serial2002_attach(comedi_device *dev,comedi_devconfig *it);
89 static int serial2002_detach(comedi_device *dev);
90 comedi_driver driver_serial2002={
91 driver_name: "serial2002",
93 attach: serial2002_attach,
94 detach: serial2002_detach,
95 board_name: serial2002_boards,
96 offset: sizeof(serial2002_board),
97 num_names: sizeof(serial2002_boards) / sizeof(serial2002_board),
100 static int serial2002_di_rinsn(comedi_device *dev, comedi_subdevice *s,
101 comedi_insn *insn, lsampl_t *data);
102 static int serial2002_do_winsn(comedi_device *dev, comedi_subdevice *s,
103 comedi_insn *insn, lsampl_t *data);
104 static int serial2002_ai_rinsn(comedi_device *dev, comedi_subdevice *s,
105 comedi_insn *insn,lsampl_t *data);
106 static int serial2002_ao_winsn(comedi_device *dev, comedi_subdevice *s,
107 comedi_insn *insn, lsampl_t *data);
108 static int serial2002_ao_rinsn(comedi_device *dev, comedi_subdevice *s,
109 comedi_insn *insn, lsampl_t *data);
112 enum { is_invalid, is_digital, is_channel } kind;
117 static int tty_write(struct file *f, unsigned char *buf, int count) {
124 result = f->f_op->write(f, buf, count, &f->f_pos);
130 static int tty_available(struct file *f)
137 f->f_op->ioctl(f->f_dentry->d_inode, f, FIONREAD, (int)&result);
142 static int tty_read(struct file *f, int timeout)
153 struct poll_wqueues table;
154 struct timeval start, now;
156 do_gettimeofday(&start);
157 poll_initwait(&table);
162 mask = f->f_op->poll(f, &table.pt);
163 if (mask & (POLLRDNORM|POLLRDBAND|POLLIN|POLLHUP|POLLERR)) { break; }
164 do_gettimeofday(&now);
165 elapsed = (1000000 * (now.tv_sec - start.tv_sec) +
166 now.tv_usec - start.tv_usec);
167 if (elapsed > timeout) { break; }
168 set_current_state(TASK_INTERRUPTIBLE);
169 schedule_timeout(((timeout - elapsed)* HZ) / 10000);
171 poll_freewait(&table);
173 /* Device does not support poll, busy wait */
177 if (retries >= timeout) { break; }
178 if (tty_available(f) > 0) { break; }
182 if (tty_available(f) > 0) {
186 if (f->f_op->read(f, &ch, 1, &f->f_pos) == 1) {
195 static void tty_setspeed(struct file *f, int speed)
203 struct termios settings;
205 f->f_op->ioctl(f->f_dentry->d_inode, f, TCGETS, (int)&settings);
206 // printk("Speed: %d\n", settings.c_cflag & (CBAUD | CBAUDEX));
207 settings.c_iflag = 0;
208 settings.c_oflag = 0;
209 settings.c_lflag = 0;
210 settings.c_cflag = CLOCAL | CS8 | CREAD;
211 settings.c_cc[VMIN] = 1;
212 settings.c_cc[VTIME] = 0;
214 case 2400: { settings.c_cflag |= B2400; } break;
215 case 4800: { settings.c_cflag |= B4800; } break;
216 case 9600: { settings.c_cflag |= B9600; } break;
217 case 19200: { settings.c_cflag |= B19200; } break;
218 case 38400: { settings.c_cflag |= B38400; } break;
219 case 57600: { settings.c_cflag |= B57600; } break;
220 case 115200: { settings.c_cflag |= B115200; } break;
221 default: { settings.c_cflag |= B9600; } break;
223 f->f_op->ioctl(f->f_dentry->d_inode, f, TCSETS, (int)&settings);
224 // printk("Speed: %d\n", settings.c_cflag & (CBAUD | CBAUDEX));
228 struct serial_struct settings;
229 f->f_op->ioctl(f->f_dentry->d_inode, f, TIOCGSERIAL, (int)&settings);
230 settings.flags |= ASYNC_LOW_LATENCY;
231 f->f_op->ioctl(f->f_dentry->d_inode, f, TIOCSSERIAL, (int)&settings);
237 static void poll_digital(struct file *f, int channel) {
240 cmd = 0x40 | (channel & 0x1f);
241 tty_write(f, &cmd, 1);
244 static void poll_channel(struct file *f, int channel) {
247 cmd = 0x60 | (channel & 0x1f);
248 tty_write(f, &cmd, 1);
251 static struct serial_data serial_read(struct file *f, int timeout)
253 struct serial_data result;
256 result.kind = is_invalid;
261 int data = tty_read(f, timeout);
265 printk("serial2002 error\n");
267 } else if (data & 0x80) {
268 result.value = (result.value << 7) | (data & 0x7f);
271 switch ((data>>5) & 0x03) {
272 case 0: { result.value = 0; result.kind = is_digital; } break;
273 case 1: { result.value = 1; result.kind = is_digital; } break;
276 result.value = (result.value << 2) | ((data & 0x60) >> 5);
277 result.kind = is_channel;
279 result.index = data & 0x1f;
287 static void serial_write(struct file *f, struct serial_data data)
289 if (data.kind == is_digital) {
290 unsigned char ch = ((data.value<<5) & 0x20) | (data.index & 0x1f);
291 tty_write(f, &ch, 1);
295 if (data.value >= (1L<<30)) { ch[i] = 0x80|((data.value>>30)&0x03); i++; }
296 if (data.value >= (1L<<23)) { ch[i] = 0x80|((data.value>>23)&0x7f); i++; }
297 if (data.value >= (1L<<16)) { ch[i] = 0x80|((data.value>>16)&0x7f); i++; }
298 if (data.value >= (1L<< 9)) { ch[i] = 0x80|((data.value>> 9)&0x7f); i++; }
299 ch[i] = 0x80|((data.value>> 2)&0x7f); i++;
300 ch[i] = ((data.value<< 5)&0x60)|(data.index & 0x1f); i++;
305 static void serial_2002_open(comedi_device *dev) {
308 sprintf(port, "/dev/ttyS%d", devpriv->port);
309 devpriv->tty = filp_open(port, 0, O_RDWR);
310 if (IS_ERR(devpriv->tty)) {
311 printk("serial_2002: file open error = %x\n", (int)devpriv->tty);
319 config_t dig_in_config[32];
320 config_t dig_out_config[32];
321 config_t chan_in_config[32];
322 config_t chan_out_config[32];
325 for (i = 0 ; i < 32 ; i++) {
326 dig_in_config[i].kind = 0; dig_in_config[i].bits = 0;
327 dig_in_config[i].min = 0; dig_in_config[i].max = 0;
328 dig_out_config[i].kind = 0; dig_out_config[i].bits = 0;
329 dig_out_config[i].min = 0; dig_out_config[i].max = 0;
330 chan_in_config[i].kind = 0; chan_in_config[i].bits = 0;
331 chan_in_config[i].min = 0; chan_in_config[i].max = 0;
332 chan_out_config[i].kind = 0; chan_out_config[i].bits = 0;
333 chan_out_config[i].min = 0; chan_out_config[i].max = 0;
336 tty_setspeed(devpriv->tty, devpriv->speed);
337 poll_channel(devpriv->tty, 31); // Start reading configuration
339 struct serial_data data;
341 data = serial_read(devpriv->tty, 1000);
342 if (data.kind!=is_channel || data.index!=31 || !(data.value & 0xe0)) {
345 int command, channel, kind;
346 config_t *cur_config = 0;
348 channel = data.value & 0x1f;
349 kind = (data.value>>5) & 0x7;
350 command = (data.value>>8) & 0x3;
352 case 1: { cur_config = dig_in_config; } break;
353 case 2: { cur_config = dig_out_config; } break;
354 case 3: { cur_config = chan_in_config; } break;
355 case 4: { cur_config = chan_out_config; } break;
356 case 5: { cur_config = chan_in_config; } break;
360 cur_config[channel].kind = kind;
363 cur_config[channel].bits = (data.value >> 10) & 0x3f;
367 unit = (data.value >> 10) & 0x7;
368 sign = (data.value >> 13) & 0x1;
369 min = (data.value >> 14) & 0xfffff;
372 case 0: { min = min * 1000000; } break;
373 case 1: { min = min * 1000; } break;
374 case 2: { min = min * 1; } break;
376 if (sign) { min = -min; }
377 cur_config[channel].min = min;
381 unit = (data.value >> 10) & 0x7;
382 sign = (data.value >> 13) & 0x1;
383 max = (data.value >> 14) & 0xfffff;
386 case 0: { max = max * 1000000; } break;
387 case 1: { max = max * 1000; } break;
388 case 2: { max = max * 1; } break;
390 if (sign) { max = -max; }
391 cur_config[channel].max = max;
397 for (i = 0 ; i <= 4 ; i++) {
398 // Fill in subdev data
400 unsigned char *mapping = 0;
401 serial2002_range_table_t *range = 0;
407 mapping = devpriv->digital_in_mapping;
412 mapping = devpriv->digital_out_mapping;
417 mapping = devpriv->analog_in_mapping;
418 range = devpriv->in_range;
423 mapping = devpriv->analog_out_mapping;
424 range = devpriv->out_range;
429 mapping = devpriv->encoder_in_mapping;
430 range = devpriv->in_range;
433 default: { c = 0; } break;
439 for (chan = 0, j = 0 ; j < 32 ; j++) {
440 if (c[j].kind == kind) { chan++; }
442 s = &dev->subdevices[i];
445 if (s->maxdata_list) { kfree(s->maxdata_list); }
446 s->maxdata_list = kmalloc(sizeof(lsampl_t)*s->n_chan, GFP_KERNEL);
447 if (s->range_table_list) { kfree(s->range_table_list); }
450 s->range_table_list =
451 kmalloc(sizeof(serial2002_range_table_t)*s->n_chan, GFP_KERNEL);
453 for (chan = 0, j = 0 ; j < 32 ; j++) {
454 if (c[j].kind == kind) {
455 if (mapping) { mapping[chan] = j; }
458 range[j].range.min = c[j].min;
459 range[j].range.max = c[j].max;
460 s->range_table_list[chan] = (comedi_lrange*)&range[j];
462 s->maxdata_list[chan] = ((long long)1<<c[j].bits) - 1;
471 static void serial_2002_close(comedi_device *dev) {
472 if (!IS_ERR(devpriv->tty) && (devpriv->tty != 0)) {
473 filp_close(devpriv->tty, 0);
477 static int serial2002_di_rinsn(comedi_device *dev, comedi_subdevice *s,
478 comedi_insn *insn, lsampl_t *data)
483 chan = devpriv->digital_in_mapping[CR_CHAN(insn->chanspec)];
484 for(n = 0 ; n < insn->n ; n++){
485 struct serial_data read;
487 poll_digital(devpriv->tty, chan);
489 read = serial_read(devpriv->tty, 1000);
490 if (read.kind != is_digital || read.index == chan) { break; }
492 data[n] = read.value;
497 static int serial2002_do_winsn(comedi_device *dev, comedi_subdevice *s,
498 comedi_insn *insn, lsampl_t *data)
503 chan = devpriv->digital_out_mapping[CR_CHAN(insn->chanspec)];
504 for(n = 0 ; n < insn->n ; n++){
505 struct serial_data write;
507 write.kind = is_digital;
509 write.value = data[n];
510 serial_write(devpriv->tty, write);
515 static int serial2002_ai_rinsn(comedi_device *dev, comedi_subdevice *s,
516 comedi_insn *insn, lsampl_t *data)
521 chan = devpriv->analog_in_mapping[CR_CHAN(insn->chanspec)];
522 for(n = 0 ; n < insn->n ; n++){
523 struct serial_data read;
525 poll_channel(devpriv->tty, chan);
527 read = serial_read(devpriv->tty, 1000);
528 if (read.kind != is_channel || read.index == chan) { break; }
530 data[n] = read.value;
535 static int serial2002_ao_winsn(comedi_device *dev, comedi_subdevice *s,
536 comedi_insn *insn,lsampl_t *data)
541 chan = devpriv->analog_out_mapping[CR_CHAN(insn->chanspec)];
542 for(n = 0 ; n < insn->n ; n++){
543 struct serial_data write;
545 write.kind = is_channel;
547 write.value = data[n];
548 serial_write(devpriv->tty, write);
549 devpriv->ao_readback[chan] = data[n];
554 static int serial2002_ao_rinsn(comedi_device *dev, comedi_subdevice *s,
555 comedi_insn *insn,lsampl_t *data)
558 int chan = CR_CHAN(insn->chanspec);
560 for(n = 0; n < insn->n ; n++) {
561 data[n] = devpriv->ao_readback[chan];
567 static int serial2002_ei_rinsn(comedi_device *dev, comedi_subdevice *s,
568 comedi_insn *insn, lsampl_t *data)
573 chan = devpriv->encoder_in_mapping[CR_CHAN(insn->chanspec)];
574 for(n = 0 ; n < insn->n ; n++){
575 struct serial_data read;
577 poll_channel(devpriv->tty, chan);
579 read = serial_read(devpriv->tty, 1000);
580 if (read.kind != is_channel || read.index == chan) { break; }
582 data[n] = read.value;
587 static int serial2002_attach(comedi_device *dev, comedi_devconfig *it)
591 printk("comedi%d: serial2002: ",dev->minor);
592 dev->board_name = thisboard->name;
593 if(alloc_private(dev,sizeof(serial2002_private)) < 0) {
596 dev->open = serial_2002_open;
597 dev->close = serial_2002_close;
598 devpriv->port = it->options[0];
599 devpriv->speed = it->options[1];
600 printk("/dev/ttyS%d @ %d\n", devpriv->port, devpriv->speed);
602 if(alloc_subdevices(dev, 5)<0)
605 /* digital input subdevice */
606 s = dev->subdevices+0;
607 s->type = COMEDI_SUBD_DI;
608 s->subdev_flags = SDF_READABLE;
611 s->range_table = &range_digital;
612 s->insn_read = &serial2002_di_rinsn;
614 /* digital output subdevice */
615 s = dev->subdevices+1;
616 s->type = COMEDI_SUBD_DO;
617 s->subdev_flags = SDF_WRITEABLE;
620 s->range_table = &range_digital;
621 s->insn_write = &serial2002_do_winsn;
623 /* analog input subdevice */
625 s->type = COMEDI_SUBD_AI;
626 s->subdev_flags = SDF_READABLE|SDF_GROUND;
630 s->insn_read = &serial2002_ai_rinsn;
632 /* analog output subdevice */
634 s->type = COMEDI_SUBD_AO;
635 s->subdev_flags = SDF_WRITEABLE;
639 s->insn_write = &serial2002_ao_winsn;
640 s->insn_read = &serial2002_ao_rinsn;
642 /* encoder input subdevice */
644 s->type = COMEDI_SUBD_COUNTER;
645 s->subdev_flags = SDF_READABLE | SDF_LSAMPL;
649 s->insn_read = &serial2002_ei_rinsn;
651 printk("attached\n");
657 static int serial2002_detach(comedi_device *dev)
662 printk("comedi%d: serial2002: remove\n",dev->minor);
663 for (i = 0 ; i < 4 ; i++) {
664 s = &dev->subdevices[i];
665 if (s->maxdata_list) { kfree(s->maxdata_list); }
666 if (s->range_table_list) { kfree(s->range_table_list); }
671 COMEDI_INITCLEANUP(driver_serial2002);