1 // SPDX-License-Identifier: GPL-2.0+
4 * Comedi driver for serial connected hardware
6 * COMEDI - Linux Control and Measurement Device Interface
7 * Copyright (C) 2002 Anders Blomdell <anders.blomdell@control.lth.se>
12 * Description: Driver for serial connected hardware
14 * Author: Anders Blomdell
15 * Updated: Fri, 7 Jun 2002 12:56:45 -0700
16 * Status: in development
19 #include <linux/module.h>
20 #include "../comedidev.h"
22 #include <linux/delay.h>
23 #include <linux/sched.h>
24 #include <linux/slab.h>
25 #include <linux/ktime.h>
27 #include <linux/termios.h>
28 #include <asm/ioctls.h>
29 #include <linux/serial.h>
30 #include <linux/poll.h>
32 struct serial2002_range_table_t {
35 struct comedi_krange range;
38 struct serial2002_private {
39 int port; /* /dev/ttyS<port> */
40 int speed; /* baudrate */
42 unsigned int ao_readback[32];
43 unsigned char digital_in_mapping[32];
44 unsigned char digital_out_mapping[32];
45 unsigned char analog_in_mapping[32];
46 unsigned char analog_out_mapping[32];
47 unsigned char encoder_in_mapping[32];
48 struct serial2002_range_table_t in_range[32], out_range[32];
52 enum { is_invalid, is_digital, is_channel } kind;
58 * The configuration serial_data.value read from the device is
59 * a bitmask that defines specific options of a channel:
61 * 4:0 - the channel to configure
62 * 7:5 - the kind of channel
63 * 9:8 - the command used to configure the channel
65 * The remaining bits vary in use depending on the command:
67 * BITS 15:10 - the channel bits (maxdata)
68 * MIN/MAX 12:10 - the units multiplier for the scale
69 * 13 - the sign of the scale
70 * 33:14 - the base value for the range
72 #define S2002_CFG_CHAN(x) ((x) & 0x1f)
73 #define S2002_CFG_KIND(x) (((x) >> 5) & 0x7)
74 #define S2002_CFG_KIND_INVALID 0
75 #define S2002_CFG_KIND_DIGITAL_IN 1
76 #define S2002_CFG_KIND_DIGITAL_OUT 2
77 #define S2002_CFG_KIND_ANALOG_IN 3
78 #define S2002_CFG_KIND_ANALOG_OUT 4
79 #define S2002_CFG_KIND_ENCODER_IN 5
80 #define S2002_CFG_CMD(x) (((x) >> 8) & 0x3)
81 #define S2002_CFG_CMD_BITS 0
82 #define S2002_CFG_CMD_MIN 1
83 #define S2002_CFG_CMD_MAX 2
84 #define S2002_CFG_BITS(x) (((x) >> 10) & 0x3f)
85 #define S2002_CFG_UNITS(x) (((x) >> 10) & 0x7)
86 #define S2002_CFG_SIGN(x) (((x) >> 13) & 0x1)
87 #define S2002_CFG_BASE(x) (((x) >> 14) & 0xfffff)
89 static long serial2002_tty_ioctl(struct file *f, unsigned int op,
92 if (f->f_op->unlocked_ioctl)
93 return f->f_op->unlocked_ioctl(f, op, param);
98 static int serial2002_tty_write(struct file *f, unsigned char *buf, int count)
102 return kernel_write(f, buf, count, &pos);
105 static void serial2002_tty_read_poll_wait(struct file *f, int timeout)
107 struct poll_wqueues table;
111 poll_initwait(&table);
116 mask = f->f_op->poll(f, &table.pt);
117 if (mask & (POLLRDNORM | POLLRDBAND | POLLIN |
118 POLLHUP | POLLERR)) {
122 elapsed = ktime_us_delta(now, start);
123 if (elapsed > timeout)
125 set_current_state(TASK_INTERRUPTIBLE);
126 schedule_timeout(((timeout - elapsed) * HZ) / 10000);
128 poll_freewait(&table);
131 static int serial2002_tty_read(struct file *f, int timeout)
140 serial2002_tty_read_poll_wait(f, timeout);
142 if (kernel_read(f, &ch, 1, &pos) == 1)
145 /* Device does not support poll, busy wait */
150 if (retries >= timeout)
153 if (kernel_read(f, &ch, 1, &pos) == 1) {
157 usleep_range(100, 1000);
164 static void serial2002_tty_setspeed(struct file *f, int speed)
166 struct termios termios;
167 struct serial_struct serial;
174 serial2002_tty_ioctl(f, TCGETS, (unsigned long)&termios);
178 termios.c_cflag = CLOCAL | CS8 | CREAD;
179 termios.c_cc[VMIN] = 0;
180 termios.c_cc[VTIME] = 0;
183 termios.c_cflag |= B2400;
186 termios.c_cflag |= B4800;
189 termios.c_cflag |= B9600;
192 termios.c_cflag |= B19200;
195 termios.c_cflag |= B38400;
198 termios.c_cflag |= B57600;
201 termios.c_cflag |= B115200;
204 termios.c_cflag |= B9600;
207 serial2002_tty_ioctl(f, TCSETS, (unsigned long)&termios);
209 /* Set low latency */
210 serial2002_tty_ioctl(f, TIOCGSERIAL, (unsigned long)&serial);
211 serial.flags |= ASYNC_LOW_LATENCY;
212 serial2002_tty_ioctl(f, TIOCSSERIAL, (unsigned long)&serial);
217 static void serial2002_poll_digital(struct file *f, int channel)
221 cmd = 0x40 | (channel & 0x1f);
222 serial2002_tty_write(f, &cmd, 1);
225 static void serial2002_poll_channel(struct file *f, int channel)
229 cmd = 0x60 | (channel & 0x1f);
230 serial2002_tty_write(f, &cmd, 1);
233 static struct serial_data serial2002_read(struct file *f, int timeout)
235 struct serial_data result;
238 result.kind = is_invalid;
243 int data = serial2002_tty_read(f, timeout);
248 } else if (data & 0x80) {
249 result.value = (result.value << 7) | (data & 0x7f);
252 switch ((data >> 5) & 0x03) {
255 result.kind = is_digital;
259 result.kind = is_digital;
264 (result.value << 2) | ((data & 0x60) >> 5);
265 result.kind = is_channel;
267 result.index = data & 0x1f;
274 static void serial2002_write(struct file *f, struct serial_data data)
276 if (data.kind == is_digital) {
278 ((data.value << 5) & 0x20) | (data.index & 0x1f);
279 serial2002_tty_write(f, &ch, 1);
284 if (data.value >= (1L << 30)) {
285 ch[i] = 0x80 | ((data.value >> 30) & 0x03);
288 if (data.value >= (1L << 23)) {
289 ch[i] = 0x80 | ((data.value >> 23) & 0x7f);
292 if (data.value >= (1L << 16)) {
293 ch[i] = 0x80 | ((data.value >> 16) & 0x7f);
296 if (data.value >= (1L << 9)) {
297 ch[i] = 0x80 | ((data.value >> 9) & 0x7f);
300 ch[i] = 0x80 | ((data.value >> 2) & 0x7f);
302 ch[i] = ((data.value << 5) & 0x60) | (data.index & 0x1f);
304 serial2002_tty_write(f, ch, i);
315 static int serial2002_setup_subdevice(struct comedi_subdevice *s,
316 struct config_t *cfg,
317 struct serial2002_range_table_t *range,
318 unsigned char *mapping,
321 const struct comedi_lrange **range_table_list = NULL;
322 unsigned int *maxdata_list;
325 for (chan = 0, j = 0; j < 32; j++) {
326 if (cfg[j].kind == kind)
331 kfree(s->maxdata_list);
332 maxdata_list = kmalloc_array(s->n_chan, sizeof(unsigned int),
336 s->maxdata_list = maxdata_list;
337 kfree(s->range_table_list);
338 s->range_table = NULL;
339 s->range_table_list = NULL;
340 if (kind == 1 || kind == 2) {
341 s->range_table = &range_digital;
343 range_table_list = kmalloc_array(s->n_chan, sizeof(*range),
345 if (!range_table_list)
347 s->range_table_list = range_table_list;
349 for (chan = 0, j = 0; j < 32; j++) {
350 if (cfg[j].kind == kind) {
353 if (range && range_table_list) {
355 range[j].range.min = cfg[j].min;
356 range[j].range.max = cfg[j].max;
357 range_table_list[chan] =
358 (const struct comedi_lrange *)&range[j];
360 if (cfg[j].bits < 32)
361 maxdata_list[chan] = (1u << cfg[j].bits) - 1;
363 maxdata_list[chan] = 0xffffffff;
370 static int serial2002_setup_subdevs(struct comedi_device *dev)
372 struct serial2002_private *devpriv = dev->private;
373 struct config_t *di_cfg;
374 struct config_t *do_cfg;
375 struct config_t *ai_cfg;
376 struct config_t *ao_cfg;
377 struct config_t *cfg;
378 struct comedi_subdevice *s;
382 /* Allocate the temporary structs to hold the configuration data */
383 di_cfg = kcalloc(32, sizeof(*cfg), GFP_KERNEL);
384 do_cfg = kcalloc(32, sizeof(*cfg), GFP_KERNEL);
385 ai_cfg = kcalloc(32, sizeof(*cfg), GFP_KERNEL);
386 ao_cfg = kcalloc(32, sizeof(*cfg), GFP_KERNEL);
387 if (!di_cfg || !do_cfg || !ai_cfg || !ao_cfg) {
389 goto err_alloc_configs;
392 /* Read the configuration from the connected device */
393 serial2002_tty_setspeed(devpriv->tty, devpriv->speed);
394 serial2002_poll_channel(devpriv->tty, 31);
396 struct serial_data data = serial2002_read(devpriv->tty, 1000);
397 int kind = S2002_CFG_KIND(data.value);
398 int channel = S2002_CFG_CHAN(data.value);
399 int range = S2002_CFG_BASE(data.value);
400 int cmd = S2002_CFG_CMD(data.value);
402 if (data.kind != is_channel || data.index != 31 ||
403 kind == S2002_CFG_KIND_INVALID)
407 case S2002_CFG_KIND_DIGITAL_IN:
410 case S2002_CFG_KIND_DIGITAL_OUT:
413 case S2002_CFG_KIND_ANALOG_IN:
416 case S2002_CFG_KIND_ANALOG_OUT:
419 case S2002_CFG_KIND_ENCODER_IN:
427 continue; /* unknown kind, skip it */
429 cfg[channel].kind = kind;
432 case S2002_CFG_CMD_BITS:
433 cfg[channel].bits = S2002_CFG_BITS(data.value);
435 case S2002_CFG_CMD_MIN:
436 case S2002_CFG_CMD_MAX:
437 switch (S2002_CFG_UNITS(data.value)) {
448 if (S2002_CFG_SIGN(data.value))
450 if (cmd == S2002_CFG_CMD_MIN)
451 cfg[channel].min = range;
453 cfg[channel].max = range;
458 /* Fill in subdevice data */
459 for (i = 0; i <= 4; i++) {
460 unsigned char *mapping = NULL;
461 struct serial2002_range_table_t *range = NULL;
464 s = &dev->subdevices[i];
469 mapping = devpriv->digital_in_mapping;
470 kind = S2002_CFG_KIND_DIGITAL_IN;
474 mapping = devpriv->digital_out_mapping;
475 kind = S2002_CFG_KIND_DIGITAL_OUT;
479 mapping = devpriv->analog_in_mapping;
480 range = devpriv->in_range;
481 kind = S2002_CFG_KIND_ANALOG_IN;
485 mapping = devpriv->analog_out_mapping;
486 range = devpriv->out_range;
487 kind = S2002_CFG_KIND_ANALOG_OUT;
491 mapping = devpriv->encoder_in_mapping;
492 range = devpriv->in_range;
493 kind = S2002_CFG_KIND_ENCODER_IN;
497 if (serial2002_setup_subdevice(s, cfg, range, mapping, kind))
498 break; /* err handled below */
502 * Failed to allocate maxdata_list or range_table_list
503 * for a subdevice that needed it.
506 for (i = 0; i <= 4; i++) {
507 s = &dev->subdevices[i];
508 kfree(s->maxdata_list);
509 s->maxdata_list = NULL;
510 kfree(s->range_table_list);
511 s->range_table_list = NULL;
523 filp_close(devpriv->tty, NULL);
531 static int serial2002_open(struct comedi_device *dev)
533 struct serial2002_private *devpriv = dev->private;
537 sprintf(port, "/dev/ttyS%d", devpriv->port);
538 devpriv->tty = filp_open(port, O_RDWR, 0);
539 if (IS_ERR(devpriv->tty)) {
540 result = (int)PTR_ERR(devpriv->tty);
541 dev_err(dev->class_dev, "file open error = %d\n", result);
543 result = serial2002_setup_subdevs(dev);
548 static void serial2002_close(struct comedi_device *dev)
550 struct serial2002_private *devpriv = dev->private;
552 if (!IS_ERR(devpriv->tty) && devpriv->tty)
553 filp_close(devpriv->tty, NULL);
556 static int serial2002_di_insn_read(struct comedi_device *dev,
557 struct comedi_subdevice *s,
558 struct comedi_insn *insn,
561 struct serial2002_private *devpriv = dev->private;
565 chan = devpriv->digital_in_mapping[CR_CHAN(insn->chanspec)];
566 for (n = 0; n < insn->n; n++) {
567 struct serial_data read;
569 serial2002_poll_digital(devpriv->tty, chan);
571 read = serial2002_read(devpriv->tty, 1000);
572 if (read.kind != is_digital || read.index == chan)
575 data[n] = read.value;
580 static int serial2002_do_insn_write(struct comedi_device *dev,
581 struct comedi_subdevice *s,
582 struct comedi_insn *insn,
585 struct serial2002_private *devpriv = dev->private;
589 chan = devpriv->digital_out_mapping[CR_CHAN(insn->chanspec)];
590 for (n = 0; n < insn->n; n++) {
591 struct serial_data write;
593 write.kind = is_digital;
595 write.value = data[n];
596 serial2002_write(devpriv->tty, write);
601 static int serial2002_ai_insn_read(struct comedi_device *dev,
602 struct comedi_subdevice *s,
603 struct comedi_insn *insn,
606 struct serial2002_private *devpriv = dev->private;
610 chan = devpriv->analog_in_mapping[CR_CHAN(insn->chanspec)];
611 for (n = 0; n < insn->n; n++) {
612 struct serial_data read;
614 serial2002_poll_channel(devpriv->tty, chan);
616 read = serial2002_read(devpriv->tty, 1000);
617 if (read.kind != is_channel || read.index == chan)
620 data[n] = read.value;
625 static int serial2002_ao_insn_write(struct comedi_device *dev,
626 struct comedi_subdevice *s,
627 struct comedi_insn *insn,
630 struct serial2002_private *devpriv = dev->private;
634 chan = devpriv->analog_out_mapping[CR_CHAN(insn->chanspec)];
635 for (n = 0; n < insn->n; n++) {
636 struct serial_data write;
638 write.kind = is_channel;
640 write.value = data[n];
641 serial2002_write(devpriv->tty, write);
642 devpriv->ao_readback[chan] = data[n];
647 static int serial2002_ao_insn_read(struct comedi_device *dev,
648 struct comedi_subdevice *s,
649 struct comedi_insn *insn,
652 struct serial2002_private *devpriv = dev->private;
654 int chan = CR_CHAN(insn->chanspec);
656 for (n = 0; n < insn->n; n++)
657 data[n] = devpriv->ao_readback[chan];
662 static int serial2002_encoder_insn_read(struct comedi_device *dev,
663 struct comedi_subdevice *s,
664 struct comedi_insn *insn,
667 struct serial2002_private *devpriv = dev->private;
671 chan = devpriv->encoder_in_mapping[CR_CHAN(insn->chanspec)];
672 for (n = 0; n < insn->n; n++) {
673 struct serial_data read;
675 serial2002_poll_channel(devpriv->tty, chan);
677 read = serial2002_read(devpriv->tty, 1000);
678 if (read.kind != is_channel || read.index == chan)
681 data[n] = read.value;
686 static int serial2002_attach(struct comedi_device *dev,
687 struct comedi_devconfig *it)
689 struct serial2002_private *devpriv;
690 struct comedi_subdevice *s;
693 devpriv = comedi_alloc_devpriv(dev, sizeof(*devpriv));
697 devpriv->port = it->options[0];
698 devpriv->speed = it->options[1];
700 ret = comedi_alloc_subdevices(dev, 5);
704 /* digital input subdevice */
705 s = &dev->subdevices[0];
706 s->type = COMEDI_SUBD_DI;
707 s->subdev_flags = SDF_READABLE;
710 s->range_table = &range_digital;
711 s->insn_read = serial2002_di_insn_read;
713 /* digital output subdevice */
714 s = &dev->subdevices[1];
715 s->type = COMEDI_SUBD_DO;
716 s->subdev_flags = SDF_WRITABLE;
719 s->range_table = &range_digital;
720 s->insn_write = serial2002_do_insn_write;
722 /* analog input subdevice */
723 s = &dev->subdevices[2];
724 s->type = COMEDI_SUBD_AI;
725 s->subdev_flags = SDF_READABLE | SDF_GROUND;
728 s->range_table = NULL;
729 s->insn_read = serial2002_ai_insn_read;
731 /* analog output subdevice */
732 s = &dev->subdevices[3];
733 s->type = COMEDI_SUBD_AO;
734 s->subdev_flags = SDF_WRITABLE;
737 s->range_table = NULL;
738 s->insn_write = serial2002_ao_insn_write;
739 s->insn_read = serial2002_ao_insn_read;
741 /* encoder input subdevice */
742 s = &dev->subdevices[4];
743 s->type = COMEDI_SUBD_COUNTER;
744 s->subdev_flags = SDF_READABLE | SDF_LSAMPL;
747 s->range_table = NULL;
748 s->insn_read = serial2002_encoder_insn_read;
750 dev->open = serial2002_open;
751 dev->close = serial2002_close;
756 static void serial2002_detach(struct comedi_device *dev)
758 struct comedi_subdevice *s;
761 for (i = 0; i < dev->n_subdevices; i++) {
762 s = &dev->subdevices[i];
763 kfree(s->maxdata_list);
764 kfree(s->range_table_list);
768 static struct comedi_driver serial2002_driver = {
769 .driver_name = "serial2002",
770 .module = THIS_MODULE,
771 .attach = serial2002_attach,
772 .detach = serial2002_detach,
774 module_comedi_driver(serial2002_driver);
776 MODULE_AUTHOR("Comedi http://www.comedi.org");
777 MODULE_DESCRIPTION("Comedi low-level driver");
778 MODULE_LICENSE("GPL");