787 lines
18 KiB
C
787 lines
18 KiB
C
/*
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* serial2002.c
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* Comedi driver for serial connected hardware
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*
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* COMEDI - Linux Control and Measurement Device Interface
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* Copyright (C) 2002 Anders Blomdell <anders.blomdell@control.lth.se>
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*/
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/*
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* Driver: serial2002
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* Description: Driver for serial connected hardware
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* Devices:
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* Author: Anders Blomdell
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* Updated: Fri, 7 Jun 2002 12:56:45 -0700
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* Status: in development
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*/
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#include <linux/module.h>
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#include "../comedidev.h"
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#include <linux/delay.h>
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#include <linux/sched.h>
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#include <linux/slab.h>
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#include <linux/ktime.h>
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#include <linux/termios.h>
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#include <asm/ioctls.h>
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#include <linux/serial.h>
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#include <linux/poll.h>
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struct serial2002_range_table_t {
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/* HACK... */
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int length;
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struct comedi_krange range;
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};
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struct serial2002_private {
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int port; /* /dev/ttyS<port> */
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int speed; /* baudrate */
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struct file *tty;
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unsigned int ao_readback[32];
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unsigned char digital_in_mapping[32];
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unsigned char digital_out_mapping[32];
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unsigned char analog_in_mapping[32];
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unsigned char analog_out_mapping[32];
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unsigned char encoder_in_mapping[32];
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struct serial2002_range_table_t in_range[32], out_range[32];
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};
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struct serial_data {
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enum { is_invalid, is_digital, is_channel } kind;
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int index;
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unsigned long value;
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};
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/*
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* The configuration serial_data.value read from the device is
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* a bitmask that defines specific options of a channel:
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*
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* 4:0 - the channel to configure
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* 7:5 - the kind of channel
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* 9:8 - the command used to configure the channel
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*
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* The remaining bits vary in use depending on the command:
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*
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* BITS 15:10 - the channel bits (maxdata)
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* MIN/MAX 12:10 - the units multiplier for the scale
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* 13 - the sign of the scale
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* 33:14 - the base value for the range
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*/
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#define S2002_CFG_CHAN(x) ((x) & 0x1f)
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#define S2002_CFG_KIND(x) (((x) >> 5) & 0x7)
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#define S2002_CFG_KIND_INVALID 0
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#define S2002_CFG_KIND_DIGITAL_IN 1
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#define S2002_CFG_KIND_DIGITAL_OUT 2
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#define S2002_CFG_KIND_ANALOG_IN 3
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#define S2002_CFG_KIND_ANALOG_OUT 4
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#define S2002_CFG_KIND_ENCODER_IN 5
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#define S2002_CFG_CMD(x) (((x) >> 8) & 0x3)
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#define S2002_CFG_CMD_BITS 0
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#define S2002_CFG_CMD_MIN 1
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#define S2002_CFG_CMD_MAX 2
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#define S2002_CFG_BITS(x) (((x) >> 10) & 0x3f)
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#define S2002_CFG_UNITS(x) (((x) >> 10) & 0x7)
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#define S2002_CFG_SIGN(x) (((x) >> 13) & 0x1)
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#define S2002_CFG_BASE(x) (((x) >> 14) & 0xfffff)
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static long serial2002_tty_ioctl(struct file *f, unsigned int op,
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unsigned long param)
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{
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if (f->f_op->unlocked_ioctl)
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return f->f_op->unlocked_ioctl(f, op, param);
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return -ENOTTY;
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}
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static int serial2002_tty_write(struct file *f, unsigned char *buf, int count)
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{
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loff_t pos = 0;
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return kernel_write(f, buf, count, &pos);
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}
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static void serial2002_tty_read_poll_wait(struct file *f, int timeout)
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{
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struct poll_wqueues table;
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ktime_t start, now;
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start = ktime_get();
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poll_initwait(&table);
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while (1) {
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long elapsed;
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int mask;
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mask = f->f_op->poll(f, &table.pt);
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if (mask & (POLLRDNORM | POLLRDBAND | POLLIN |
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POLLHUP | POLLERR)) {
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break;
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}
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now = ktime_get();
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elapsed = ktime_us_delta(now, start);
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if (elapsed > timeout)
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break;
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set_current_state(TASK_INTERRUPTIBLE);
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schedule_timeout(((timeout - elapsed) * HZ) / 10000);
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}
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poll_freewait(&table);
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}
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static int serial2002_tty_read(struct file *f, int timeout)
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{
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unsigned char ch;
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int result;
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loff_t pos = 0;
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result = -1;
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if (!IS_ERR(f)) {
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if (f->f_op->poll) {
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serial2002_tty_read_poll_wait(f, timeout);
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if (kernel_read(f, &ch, 1, &pos) == 1)
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result = ch;
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} else {
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/* Device does not support poll, busy wait */
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int retries = 0;
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while (1) {
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retries++;
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if (retries >= timeout)
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break;
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if (kernel_read(f, &ch, 1, &pos) == 1) {
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result = ch;
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break;
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}
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usleep_range(100, 1000);
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}
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}
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}
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return result;
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}
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static void serial2002_tty_setspeed(struct file *f, int speed)
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{
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struct termios termios;
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struct serial_struct serial;
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mm_segment_t oldfs;
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oldfs = get_fs();
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set_fs(KERNEL_DS);
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/* Set speed */
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serial2002_tty_ioctl(f, TCGETS, (unsigned long)&termios);
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termios.c_iflag = 0;
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termios.c_oflag = 0;
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termios.c_lflag = 0;
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termios.c_cflag = CLOCAL | CS8 | CREAD;
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termios.c_cc[VMIN] = 0;
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termios.c_cc[VTIME] = 0;
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switch (speed) {
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case 2400:
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termios.c_cflag |= B2400;
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break;
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case 4800:
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termios.c_cflag |= B4800;
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break;
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case 9600:
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termios.c_cflag |= B9600;
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break;
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case 19200:
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termios.c_cflag |= B19200;
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break;
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case 38400:
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termios.c_cflag |= B38400;
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break;
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case 57600:
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termios.c_cflag |= B57600;
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break;
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case 115200:
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termios.c_cflag |= B115200;
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break;
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default:
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termios.c_cflag |= B9600;
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break;
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}
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serial2002_tty_ioctl(f, TCSETS, (unsigned long)&termios);
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/* Set low latency */
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serial2002_tty_ioctl(f, TIOCGSERIAL, (unsigned long)&serial);
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serial.flags |= ASYNC_LOW_LATENCY;
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serial2002_tty_ioctl(f, TIOCSSERIAL, (unsigned long)&serial);
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set_fs(oldfs);
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}
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static void serial2002_poll_digital(struct file *f, int channel)
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{
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char cmd;
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cmd = 0x40 | (channel & 0x1f);
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serial2002_tty_write(f, &cmd, 1);
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}
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static void serial2002_poll_channel(struct file *f, int channel)
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{
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char cmd;
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cmd = 0x60 | (channel & 0x1f);
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serial2002_tty_write(f, &cmd, 1);
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}
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static struct serial_data serial2002_read(struct file *f, int timeout)
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{
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struct serial_data result;
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int length;
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result.kind = is_invalid;
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result.index = 0;
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result.value = 0;
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length = 0;
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while (1) {
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int data = serial2002_tty_read(f, timeout);
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length++;
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if (data < 0) {
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break;
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} else if (data & 0x80) {
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result.value = (result.value << 7) | (data & 0x7f);
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} else {
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if (length == 1) {
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switch ((data >> 5) & 0x03) {
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case 0:
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result.value = 0;
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result.kind = is_digital;
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break;
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case 1:
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result.value = 1;
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result.kind = is_digital;
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break;
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}
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} else {
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result.value =
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(result.value << 2) | ((data & 0x60) >> 5);
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result.kind = is_channel;
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}
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result.index = data & 0x1f;
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break;
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}
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}
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return result;
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}
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static void serial2002_write(struct file *f, struct serial_data data)
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{
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if (data.kind == is_digital) {
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unsigned char ch =
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((data.value << 5) & 0x20) | (data.index & 0x1f);
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serial2002_tty_write(f, &ch, 1);
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} else {
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unsigned char ch[6];
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int i = 0;
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if (data.value >= (1L << 30)) {
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ch[i] = 0x80 | ((data.value >> 30) & 0x03);
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i++;
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}
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if (data.value >= (1L << 23)) {
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ch[i] = 0x80 | ((data.value >> 23) & 0x7f);
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i++;
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}
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if (data.value >= (1L << 16)) {
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ch[i] = 0x80 | ((data.value >> 16) & 0x7f);
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i++;
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}
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if (data.value >= (1L << 9)) {
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ch[i] = 0x80 | ((data.value >> 9) & 0x7f);
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i++;
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}
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ch[i] = 0x80 | ((data.value >> 2) & 0x7f);
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i++;
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ch[i] = ((data.value << 5) & 0x60) | (data.index & 0x1f);
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i++;
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serial2002_tty_write(f, ch, i);
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}
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}
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struct config_t {
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short int kind;
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short int bits;
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int min;
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int max;
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};
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static int serial2002_setup_subdevice(struct comedi_subdevice *s,
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struct config_t *cfg,
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struct serial2002_range_table_t *range,
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unsigned char *mapping,
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int kind)
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{
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const struct comedi_lrange **range_table_list = NULL;
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unsigned int *maxdata_list;
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int j, chan;
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for (chan = 0, j = 0; j < 32; j++) {
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if (cfg[j].kind == kind)
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chan++;
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}
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s->n_chan = chan;
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s->maxdata = 0;
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kfree(s->maxdata_list);
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maxdata_list = kmalloc_array(s->n_chan, sizeof(unsigned int),
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GFP_KERNEL);
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if (!maxdata_list)
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return -ENOMEM;
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s->maxdata_list = maxdata_list;
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kfree(s->range_table_list);
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s->range_table = NULL;
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s->range_table_list = NULL;
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if (kind == 1 || kind == 2) {
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s->range_table = &range_digital;
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} else if (range) {
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range_table_list = kmalloc_array(s->n_chan, sizeof(*range),
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GFP_KERNEL);
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if (!range_table_list)
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return -ENOMEM;
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s->range_table_list = range_table_list;
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}
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for (chan = 0, j = 0; j < 32; j++) {
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if (cfg[j].kind == kind) {
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if (mapping)
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mapping[chan] = j;
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if (range && range_table_list) {
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range[j].length = 1;
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range[j].range.min = cfg[j].min;
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range[j].range.max = cfg[j].max;
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range_table_list[chan] =
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(const struct comedi_lrange *)&range[j];
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}
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if (cfg[j].bits < 32)
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maxdata_list[chan] = (1u << cfg[j].bits) - 1;
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else
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maxdata_list[chan] = 0xffffffff;
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chan++;
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}
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}
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return 0;
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}
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static int serial2002_setup_subdevs(struct comedi_device *dev)
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{
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struct serial2002_private *devpriv = dev->private;
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struct config_t *di_cfg;
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struct config_t *do_cfg;
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struct config_t *ai_cfg;
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struct config_t *ao_cfg;
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struct config_t *cfg;
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struct comedi_subdevice *s;
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int result = 0;
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int i;
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/* Allocate the temporary structs to hold the configuration data */
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di_cfg = kcalloc(32, sizeof(*cfg), GFP_KERNEL);
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do_cfg = kcalloc(32, sizeof(*cfg), GFP_KERNEL);
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ai_cfg = kcalloc(32, sizeof(*cfg), GFP_KERNEL);
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ao_cfg = kcalloc(32, sizeof(*cfg), GFP_KERNEL);
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if (!di_cfg || !do_cfg || !ai_cfg || !ao_cfg) {
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result = -ENOMEM;
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goto err_alloc_configs;
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}
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/* Read the configuration from the connected device */
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serial2002_tty_setspeed(devpriv->tty, devpriv->speed);
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serial2002_poll_channel(devpriv->tty, 31);
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while (1) {
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struct serial_data data = serial2002_read(devpriv->tty, 1000);
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int kind = S2002_CFG_KIND(data.value);
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int channel = S2002_CFG_CHAN(data.value);
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int range = S2002_CFG_BASE(data.value);
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int cmd = S2002_CFG_CMD(data.value);
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if (data.kind != is_channel || data.index != 31 ||
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kind == S2002_CFG_KIND_INVALID)
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break;
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switch (kind) {
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case S2002_CFG_KIND_DIGITAL_IN:
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cfg = di_cfg;
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break;
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case S2002_CFG_KIND_DIGITAL_OUT:
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cfg = do_cfg;
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break;
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case S2002_CFG_KIND_ANALOG_IN:
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cfg = ai_cfg;
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break;
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case S2002_CFG_KIND_ANALOG_OUT:
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cfg = ao_cfg;
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break;
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case S2002_CFG_KIND_ENCODER_IN:
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cfg = ai_cfg;
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break;
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default:
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cfg = NULL;
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break;
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}
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if (!cfg)
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continue; /* unknown kind, skip it */
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cfg[channel].kind = kind;
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switch (cmd) {
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case S2002_CFG_CMD_BITS:
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cfg[channel].bits = S2002_CFG_BITS(data.value);
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break;
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case S2002_CFG_CMD_MIN:
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case S2002_CFG_CMD_MAX:
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switch (S2002_CFG_UNITS(data.value)) {
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case 0:
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range *= 1000000;
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break;
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case 1:
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range *= 1000;
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break;
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case 2:
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range *= 1;
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break;
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}
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if (S2002_CFG_SIGN(data.value))
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range = -range;
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if (cmd == S2002_CFG_CMD_MIN)
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cfg[channel].min = range;
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else
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cfg[channel].max = range;
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break;
|
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}
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}
|
|
|
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/* Fill in subdevice data */
|
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for (i = 0; i <= 4; i++) {
|
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unsigned char *mapping = NULL;
|
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struct serial2002_range_table_t *range = NULL;
|
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int kind = 0;
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s = &dev->subdevices[i];
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|
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switch (i) {
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case 0:
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cfg = di_cfg;
|
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mapping = devpriv->digital_in_mapping;
|
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kind = S2002_CFG_KIND_DIGITAL_IN;
|
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break;
|
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case 1:
|
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cfg = do_cfg;
|
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mapping = devpriv->digital_out_mapping;
|
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kind = S2002_CFG_KIND_DIGITAL_OUT;
|
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break;
|
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case 2:
|
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cfg = ai_cfg;
|
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mapping = devpriv->analog_in_mapping;
|
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range = devpriv->in_range;
|
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kind = S2002_CFG_KIND_ANALOG_IN;
|
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break;
|
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case 3:
|
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cfg = ao_cfg;
|
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mapping = devpriv->analog_out_mapping;
|
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range = devpriv->out_range;
|
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kind = S2002_CFG_KIND_ANALOG_OUT;
|
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break;
|
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case 4:
|
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cfg = ai_cfg;
|
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mapping = devpriv->encoder_in_mapping;
|
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range = devpriv->in_range;
|
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kind = S2002_CFG_KIND_ENCODER_IN;
|
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break;
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}
|
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|
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if (serial2002_setup_subdevice(s, cfg, range, mapping, kind))
|
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break; /* err handled below */
|
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}
|
|
if (i <= 4) {
|
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/*
|
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* Failed to allocate maxdata_list or range_table_list
|
|
* for a subdevice that needed it.
|
|
*/
|
|
result = -ENOMEM;
|
|
for (i = 0; i <= 4; i++) {
|
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s = &dev->subdevices[i];
|
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kfree(s->maxdata_list);
|
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s->maxdata_list = NULL;
|
|
kfree(s->range_table_list);
|
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s->range_table_list = NULL;
|
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}
|
|
}
|
|
|
|
err_alloc_configs:
|
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kfree(di_cfg);
|
|
kfree(do_cfg);
|
|
kfree(ai_cfg);
|
|
kfree(ao_cfg);
|
|
|
|
if (result) {
|
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if (devpriv->tty) {
|
|
filp_close(devpriv->tty, NULL);
|
|
devpriv->tty = NULL;
|
|
}
|
|
}
|
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|
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return result;
|
|
}
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static int serial2002_open(struct comedi_device *dev)
|
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{
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struct serial2002_private *devpriv = dev->private;
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int result;
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char port[20];
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sprintf(port, "/dev/ttyS%d", devpriv->port);
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devpriv->tty = filp_open(port, O_RDWR, 0);
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if (IS_ERR(devpriv->tty)) {
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result = (int)PTR_ERR(devpriv->tty);
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dev_err(dev->class_dev, "file open error = %d\n", result);
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} else {
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result = serial2002_setup_subdevs(dev);
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}
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return result;
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}
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static void serial2002_close(struct comedi_device *dev)
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{
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struct serial2002_private *devpriv = dev->private;
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if (!IS_ERR(devpriv->tty) && devpriv->tty)
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filp_close(devpriv->tty, NULL);
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}
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static int serial2002_di_insn_read(struct comedi_device *dev,
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struct comedi_subdevice *s,
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struct comedi_insn *insn,
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unsigned int *data)
|
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{
|
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struct serial2002_private *devpriv = dev->private;
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int n;
|
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int chan;
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|
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chan = devpriv->digital_in_mapping[CR_CHAN(insn->chanspec)];
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for (n = 0; n < insn->n; n++) {
|
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struct serial_data read;
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serial2002_poll_digital(devpriv->tty, chan);
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while (1) {
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read = serial2002_read(devpriv->tty, 1000);
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if (read.kind != is_digital || read.index == chan)
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break;
|
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}
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data[n] = read.value;
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}
|
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return n;
|
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}
|
|
|
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static int serial2002_do_insn_write(struct comedi_device *dev,
|
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struct comedi_subdevice *s,
|
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struct comedi_insn *insn,
|
|
unsigned int *data)
|
|
{
|
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struct serial2002_private *devpriv = dev->private;
|
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int n;
|
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int chan;
|
|
|
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chan = devpriv->digital_out_mapping[CR_CHAN(insn->chanspec)];
|
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for (n = 0; n < insn->n; n++) {
|
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struct serial_data write;
|
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|
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write.kind = is_digital;
|
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write.index = chan;
|
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write.value = data[n];
|
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serial2002_write(devpriv->tty, write);
|
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}
|
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return n;
|
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}
|
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|
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static int serial2002_ai_insn_read(struct comedi_device *dev,
|
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struct comedi_subdevice *s,
|
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struct comedi_insn *insn,
|
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unsigned int *data)
|
|
{
|
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struct serial2002_private *devpriv = dev->private;
|
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int n;
|
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int chan;
|
|
|
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chan = devpriv->analog_in_mapping[CR_CHAN(insn->chanspec)];
|
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for (n = 0; n < insn->n; n++) {
|
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struct serial_data read;
|
|
|
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serial2002_poll_channel(devpriv->tty, chan);
|
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while (1) {
|
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read = serial2002_read(devpriv->tty, 1000);
|
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if (read.kind != is_channel || read.index == chan)
|
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break;
|
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}
|
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data[n] = read.value;
|
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}
|
|
return n;
|
|
}
|
|
|
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static int serial2002_ao_insn_write(struct comedi_device *dev,
|
|
struct comedi_subdevice *s,
|
|
struct comedi_insn *insn,
|
|
unsigned int *data)
|
|
{
|
|
struct serial2002_private *devpriv = dev->private;
|
|
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];
|
|
serial2002_write(devpriv->tty, write);
|
|
devpriv->ao_readback[chan] = data[n];
|
|
}
|
|
return n;
|
|
}
|
|
|
|
static int serial2002_ao_insn_read(struct comedi_device *dev,
|
|
struct comedi_subdevice *s,
|
|
struct comedi_insn *insn,
|
|
unsigned int *data)
|
|
{
|
|
struct serial2002_private *devpriv = dev->private;
|
|
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_encoder_insn_read(struct comedi_device *dev,
|
|
struct comedi_subdevice *s,
|
|
struct comedi_insn *insn,
|
|
unsigned int *data)
|
|
{
|
|
struct serial2002_private *devpriv = dev->private;
|
|
int n;
|
|
int chan;
|
|
|
|
chan = devpriv->encoder_in_mapping[CR_CHAN(insn->chanspec)];
|
|
for (n = 0; n < insn->n; n++) {
|
|
struct serial_data read;
|
|
|
|
serial2002_poll_channel(devpriv->tty, chan);
|
|
while (1) {
|
|
read = serial2002_read(devpriv->tty, 1000);
|
|
if (read.kind != is_channel || read.index == chan)
|
|
break;
|
|
}
|
|
data[n] = read.value;
|
|
}
|
|
return n;
|
|
}
|
|
|
|
static int serial2002_attach(struct comedi_device *dev,
|
|
struct comedi_devconfig *it)
|
|
{
|
|
struct serial2002_private *devpriv;
|
|
struct comedi_subdevice *s;
|
|
int ret;
|
|
|
|
devpriv = comedi_alloc_devpriv(dev, sizeof(*devpriv));
|
|
if (!devpriv)
|
|
return -ENOMEM;
|
|
|
|
devpriv->port = it->options[0];
|
|
devpriv->speed = it->options[1];
|
|
|
|
ret = comedi_alloc_subdevices(dev, 5);
|
|
if (ret)
|
|
return ret;
|
|
|
|
/* 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_insn_read;
|
|
|
|
/* digital output subdevice */
|
|
s = &dev->subdevices[1];
|
|
s->type = COMEDI_SUBD_DO;
|
|
s->subdev_flags = SDF_WRITABLE;
|
|
s->n_chan = 0;
|
|
s->maxdata = 1;
|
|
s->range_table = &range_digital;
|
|
s->insn_write = serial2002_do_insn_write;
|
|
|
|
/* 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 = NULL;
|
|
s->insn_read = serial2002_ai_insn_read;
|
|
|
|
/* analog output subdevice */
|
|
s = &dev->subdevices[3];
|
|
s->type = COMEDI_SUBD_AO;
|
|
s->subdev_flags = SDF_WRITABLE;
|
|
s->n_chan = 0;
|
|
s->maxdata = 1;
|
|
s->range_table = NULL;
|
|
s->insn_write = serial2002_ao_insn_write;
|
|
s->insn_read = serial2002_ao_insn_read;
|
|
|
|
/* 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 = NULL;
|
|
s->insn_read = serial2002_encoder_insn_read;
|
|
|
|
dev->open = serial2002_open;
|
|
dev->close = serial2002_close;
|
|
|
|
return 0;
|
|
}
|
|
|
|
static void serial2002_detach(struct comedi_device *dev)
|
|
{
|
|
struct comedi_subdevice *s;
|
|
int i;
|
|
|
|
for (i = 0; i < dev->n_subdevices; i++) {
|
|
s = &dev->subdevices[i];
|
|
kfree(s->maxdata_list);
|
|
kfree(s->range_table_list);
|
|
}
|
|
}
|
|
|
|
static struct comedi_driver serial2002_driver = {
|
|
.driver_name = "serial2002",
|
|
.module = THIS_MODULE,
|
|
.attach = serial2002_attach,
|
|
.detach = serial2002_detach,
|
|
};
|
|
module_comedi_driver(serial2002_driver);
|
|
|
|
MODULE_AUTHOR("Comedi http://www.comedi.org");
|
|
MODULE_DESCRIPTION("Comedi low-level driver");
|
|
MODULE_LICENSE("GPL");
|