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28#include <linux/module.h>
29#include "../comedidev.h"
30
31#include <linux/delay.h>
32#include <linux/sched.h>
33#include <linux/slab.h>
34#include <linux/ktime.h>
35
36#include <linux/termios.h>
37#include <asm/ioctls.h>
38#include <linux/serial.h>
39#include <linux/poll.h>
40
41struct serial2002_range_table_t {
42
43 int length;
44 struct comedi_krange range;
45};
46
47struct serial2002_private {
48 int port;
49 int speed;
50 struct file *tty;
51 unsigned int ao_readback[32];
52 unsigned char digital_in_mapping[32];
53 unsigned char digital_out_mapping[32];
54 unsigned char analog_in_mapping[32];
55 unsigned char analog_out_mapping[32];
56 unsigned char encoder_in_mapping[32];
57 struct serial2002_range_table_t in_range[32], out_range[32];
58};
59
60struct serial_data {
61 enum { is_invalid, is_digital, is_channel } kind;
62 int index;
63 unsigned long value;
64};
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81#define S2002_CFG_CHAN(x) ((x) & 0x1f)
82#define S2002_CFG_KIND(x) (((x) >> 5) & 0x7)
83#define S2002_CFG_KIND_INVALID 0
84#define S2002_CFG_KIND_DIGITAL_IN 1
85#define S2002_CFG_KIND_DIGITAL_OUT 2
86#define S2002_CFG_KIND_ANALOG_IN 3
87#define S2002_CFG_KIND_ANALOG_OUT 4
88#define S2002_CFG_KIND_ENCODER_IN 5
89#define S2002_CFG_CMD(x) (((x) >> 8) & 0x3)
90#define S2002_CFG_CMD_BITS 0
91#define S2002_CFG_CMD_MIN 1
92#define S2002_CFG_CMD_MAX 2
93#define S2002_CFG_BITS(x) (((x) >> 10) & 0x3f)
94#define S2002_CFG_UNITS(x) (((x) >> 10) & 0x7)
95#define S2002_CFG_SIGN(x) (((x) >> 13) & 0x1)
96#define S2002_CFG_BASE(x) (((x) >> 14) & 0xfffff)
97
98static long serial2002_tty_ioctl(struct file *f, unsigned int op,
99 unsigned long param)
100{
101 if (f->f_op->unlocked_ioctl)
102 return f->f_op->unlocked_ioctl(f, op, param);
103
104 return -ENOTTY;
105}
106
107static int serial2002_tty_write(struct file *f, unsigned char *buf, int count)
108{
109 const char __user *p = (__force const char __user *)buf;
110 int result;
111 loff_t offset = 0;
112 mm_segment_t oldfs;
113
114 oldfs = get_fs();
115 set_fs(KERNEL_DS);
116 result = __vfs_write(f, p, count, &offset);
117 set_fs(oldfs);
118 return result;
119}
120
121static void serial2002_tty_read_poll_wait(struct file *f, int timeout)
122{
123 struct poll_wqueues table;
124 ktime_t start, now;
125
126 start = ktime_get();
127 poll_initwait(&table);
128 while (1) {
129 long elapsed;
130 int mask;
131
132 mask = f->f_op->poll(f, &table.pt);
133 if (mask & (POLLRDNORM | POLLRDBAND | POLLIN |
134 POLLHUP | POLLERR)) {
135 break;
136 }
137 now = ktime_get();
138 elapsed = ktime_us_delta(now, start);
139 if (elapsed > timeout)
140 break;
141 set_current_state(TASK_INTERRUPTIBLE);
142 schedule_timeout(((timeout - elapsed) * HZ) / 10000);
143 }
144 poll_freewait(&table);
145}
146
147static int serial2002_tty_read(struct file *f, int timeout)
148{
149 unsigned char ch;
150 int result;
151
152 result = -1;
153 if (!IS_ERR(f)) {
154 mm_segment_t oldfs;
155 char __user *p = (__force char __user *)&ch;
156 loff_t offset = 0;
157
158 oldfs = get_fs();
159 set_fs(KERNEL_DS);
160 if (f->f_op->poll) {
161 serial2002_tty_read_poll_wait(f, timeout);
162
163 if (__vfs_read(f, p, 1, &offset) == 1)
164 result = ch;
165 } else {
166
167 int retries = 0;
168
169 while (1) {
170 retries++;
171 if (retries >= timeout)
172 break;
173
174 if (__vfs_read(f, p, 1, &offset) == 1) {
175 result = ch;
176 break;
177 }
178 usleep_range(100, 1000);
179 }
180 }
181 set_fs(oldfs);
182 }
183 return result;
184}
185
186static void serial2002_tty_setspeed(struct file *f, int speed)
187{
188 struct termios termios;
189 struct serial_struct serial;
190 mm_segment_t oldfs;
191
192 oldfs = get_fs();
193 set_fs(KERNEL_DS);
194
195
196 serial2002_tty_ioctl(f, TCGETS, (unsigned long)&termios);
197 termios.c_iflag = 0;
198 termios.c_oflag = 0;
199 termios.c_lflag = 0;
200 termios.c_cflag = CLOCAL | CS8 | CREAD;
201 termios.c_cc[VMIN] = 0;
202 termios.c_cc[VTIME] = 0;
203 switch (speed) {
204 case 2400:
205 termios.c_cflag |= B2400;
206 break;
207 case 4800:
208 termios.c_cflag |= B4800;
209 break;
210 case 9600:
211 termios.c_cflag |= B9600;
212 break;
213 case 19200:
214 termios.c_cflag |= B19200;
215 break;
216 case 38400:
217 termios.c_cflag |= B38400;
218 break;
219 case 57600:
220 termios.c_cflag |= B57600;
221 break;
222 case 115200:
223 termios.c_cflag |= B115200;
224 break;
225 default:
226 termios.c_cflag |= B9600;
227 break;
228 }
229 serial2002_tty_ioctl(f, TCSETS, (unsigned long)&termios);
230
231
232 serial2002_tty_ioctl(f, TIOCGSERIAL, (unsigned long)&serial);
233 serial.flags |= ASYNC_LOW_LATENCY;
234 serial2002_tty_ioctl(f, TIOCSSERIAL, (unsigned long)&serial);
235
236 set_fs(oldfs);
237}
238
239static void serial2002_poll_digital(struct file *f, int channel)
240{
241 char cmd;
242
243 cmd = 0x40 | (channel & 0x1f);
244 serial2002_tty_write(f, &cmd, 1);
245}
246
247static void serial2002_poll_channel(struct file *f, int channel)
248{
249 char cmd;
250
251 cmd = 0x60 | (channel & 0x1f);
252 serial2002_tty_write(f, &cmd, 1);
253}
254
255static struct serial_data serial2002_read(struct file *f, int timeout)
256{
257 struct serial_data result;
258 int length;
259
260 result.kind = is_invalid;
261 result.index = 0;
262 result.value = 0;
263 length = 0;
264 while (1) {
265 int data = serial2002_tty_read(f, timeout);
266
267 length++;
268 if (data < 0) {
269 break;
270 } else if (data & 0x80) {
271 result.value = (result.value << 7) | (data & 0x7f);
272 } else {
273 if (length == 1) {
274 switch ((data >> 5) & 0x03) {
275 case 0:
276 result.value = 0;
277 result.kind = is_digital;
278 break;
279 case 1:
280 result.value = 1;
281 result.kind = is_digital;
282 break;
283 }
284 } else {
285 result.value =
286 (result.value << 2) | ((data & 0x60) >> 5);
287 result.kind = is_channel;
288 }
289 result.index = data & 0x1f;
290 break;
291 }
292 }
293 return result;
294}
295
296static void serial2002_write(struct file *f, struct serial_data data)
297{
298 if (data.kind == is_digital) {
299 unsigned char ch =
300 ((data.value << 5) & 0x20) | (data.index & 0x1f);
301 serial2002_tty_write(f, &ch, 1);
302 } else {
303 unsigned char ch[6];
304 int i = 0;
305
306 if (data.value >= (1L << 30)) {
307 ch[i] = 0x80 | ((data.value >> 30) & 0x03);
308 i++;
309 }
310 if (data.value >= (1L << 23)) {
311 ch[i] = 0x80 | ((data.value >> 23) & 0x7f);
312 i++;
313 }
314 if (data.value >= (1L << 16)) {
315 ch[i] = 0x80 | ((data.value >> 16) & 0x7f);
316 i++;
317 }
318 if (data.value >= (1L << 9)) {
319 ch[i] = 0x80 | ((data.value >> 9) & 0x7f);
320 i++;
321 }
322 ch[i] = 0x80 | ((data.value >> 2) & 0x7f);
323 i++;
324 ch[i] = ((data.value << 5) & 0x60) | (data.index & 0x1f);
325 i++;
326 serial2002_tty_write(f, ch, i);
327 }
328}
329
330struct config_t {
331 short int kind;
332 short int bits;
333 int min;
334 int max;
335};
336
337static int serial2002_setup_subdevice(struct comedi_subdevice *s,
338 struct config_t *cfg,
339 struct serial2002_range_table_t *range,
340 unsigned char *mapping,
341 int kind)
342{
343 const struct comedi_lrange **range_table_list = NULL;
344 unsigned int *maxdata_list;
345 int j, chan;
346
347 for (chan = 0, j = 0; j < 32; j++) {
348 if (cfg[j].kind == kind)
349 chan++;
350 }
351 s->n_chan = chan;
352 s->maxdata = 0;
353 kfree(s->maxdata_list);
354 maxdata_list = kmalloc_array(s->n_chan, sizeof(unsigned int),
355 GFP_KERNEL);
356 if (!maxdata_list)
357 return -ENOMEM;
358 s->maxdata_list = maxdata_list;
359 kfree(s->range_table_list);
360 s->range_table = NULL;
361 s->range_table_list = NULL;
362 if (kind == 1 || kind == 2) {
363 s->range_table = &range_digital;
364 } else if (range) {
365 range_table_list = kmalloc_array(s->n_chan, sizeof(*range),
366 GFP_KERNEL);
367 if (!range_table_list)
368 return -ENOMEM;
369 s->range_table_list = range_table_list;
370 }
371 for (chan = 0, j = 0; j < 32; j++) {
372 if (cfg[j].kind == kind) {
373 if (mapping)
374 mapping[chan] = j;
375 if (range && range_table_list) {
376 range[j].length = 1;
377 range[j].range.min = cfg[j].min;
378 range[j].range.max = cfg[j].max;
379 range_table_list[chan] =
380 (const struct comedi_lrange *)&range[j];
381 }
382 if (cfg[j].bits < 32)
383 maxdata_list[chan] = (1u << cfg[j].bits) - 1;
384 else
385 maxdata_list[chan] = 0xffffffff;
386 chan++;
387 }
388 }
389 return 0;
390}
391
392static int serial2002_setup_subdevs(struct comedi_device *dev)
393{
394 struct serial2002_private *devpriv = dev->private;
395 struct config_t *di_cfg;
396 struct config_t *do_cfg;
397 struct config_t *ai_cfg;
398 struct config_t *ao_cfg;
399 struct config_t *cfg;
400 struct comedi_subdevice *s;
401 int result = 0;
402 int i;
403
404
405 di_cfg = kcalloc(32, sizeof(*cfg), GFP_KERNEL);
406 do_cfg = kcalloc(32, sizeof(*cfg), GFP_KERNEL);
407 ai_cfg = kcalloc(32, sizeof(*cfg), GFP_KERNEL);
408 ao_cfg = kcalloc(32, sizeof(*cfg), GFP_KERNEL);
409 if (!di_cfg || !do_cfg || !ai_cfg || !ao_cfg) {
410 result = -ENOMEM;
411 goto err_alloc_configs;
412 }
413
414
415 serial2002_tty_setspeed(devpriv->tty, devpriv->speed);
416 serial2002_poll_channel(devpriv->tty, 31);
417 while (1) {
418 struct serial_data data = serial2002_read(devpriv->tty, 1000);
419 int kind = S2002_CFG_KIND(data.value);
420 int channel = S2002_CFG_CHAN(data.value);
421 int range = S2002_CFG_BASE(data.value);
422 int cmd = S2002_CFG_CMD(data.value);
423
424 if (data.kind != is_channel || data.index != 31 ||
425 kind == S2002_CFG_KIND_INVALID)
426 break;
427
428 switch (kind) {
429 case S2002_CFG_KIND_DIGITAL_IN:
430 cfg = di_cfg;
431 break;
432 case S2002_CFG_KIND_DIGITAL_OUT:
433 cfg = do_cfg;
434 break;
435 case S2002_CFG_KIND_ANALOG_IN:
436 cfg = ai_cfg;
437 break;
438 case S2002_CFG_KIND_ANALOG_OUT:
439 cfg = ao_cfg;
440 break;
441 case S2002_CFG_KIND_ENCODER_IN:
442 cfg = ai_cfg;
443 break;
444 default:
445 cfg = NULL;
446 break;
447 }
448 if (!cfg)
449 continue;
450
451 cfg[channel].kind = kind;
452
453 switch (cmd) {
454 case S2002_CFG_CMD_BITS:
455 cfg[channel].bits = S2002_CFG_BITS(data.value);
456 break;
457 case S2002_CFG_CMD_MIN:
458 case S2002_CFG_CMD_MAX:
459 switch (S2002_CFG_UNITS(data.value)) {
460 case 0:
461 range *= 1000000;
462 break;
463 case 1:
464 range *= 1000;
465 break;
466 case 2:
467 range *= 1;
468 break;
469 }
470 if (S2002_CFG_SIGN(data.value))
471 range = -range;
472 if (cmd == S2002_CFG_CMD_MIN)
473 cfg[channel].min = range;
474 else
475 cfg[channel].max = range;
476 break;
477 }
478 }
479
480
481 for (i = 0; i <= 4; i++) {
482 unsigned char *mapping = NULL;
483 struct serial2002_range_table_t *range = NULL;
484 int kind = 0;
485
486 s = &dev->subdevices[i];
487
488 switch (i) {
489 case 0:
490 cfg = di_cfg;
491 mapping = devpriv->digital_in_mapping;
492 kind = S2002_CFG_KIND_DIGITAL_IN;
493 break;
494 case 1:
495 cfg = do_cfg;
496 mapping = devpriv->digital_out_mapping;
497 kind = S2002_CFG_KIND_DIGITAL_OUT;
498 break;
499 case 2:
500 cfg = ai_cfg;
501 mapping = devpriv->analog_in_mapping;
502 range = devpriv->in_range;
503 kind = S2002_CFG_KIND_ANALOG_IN;
504 break;
505 case 3:
506 cfg = ao_cfg;
507 mapping = devpriv->analog_out_mapping;
508 range = devpriv->out_range;
509 kind = S2002_CFG_KIND_ANALOG_OUT;
510 break;
511 case 4:
512 cfg = ai_cfg;
513 mapping = devpriv->encoder_in_mapping;
514 range = devpriv->in_range;
515 kind = S2002_CFG_KIND_ENCODER_IN;
516 break;
517 }
518
519 if (serial2002_setup_subdevice(s, cfg, range, mapping, kind))
520 break;
521 }
522 if (i <= 4) {
523
524
525
526
527 result = -ENOMEM;
528 for (i = 0; i <= 4; i++) {
529 s = &dev->subdevices[i];
530 kfree(s->maxdata_list);
531 s->maxdata_list = NULL;
532 kfree(s->range_table_list);
533 s->range_table_list = NULL;
534 }
535 }
536
537err_alloc_configs:
538 kfree(di_cfg);
539 kfree(do_cfg);
540 kfree(ai_cfg);
541 kfree(ao_cfg);
542
543 if (result) {
544 if (devpriv->tty) {
545 filp_close(devpriv->tty, NULL);
546 devpriv->tty = NULL;
547 }
548 }
549
550 return result;
551}
552
553static int serial2002_open(struct comedi_device *dev)
554{
555 struct serial2002_private *devpriv = dev->private;
556 int result;
557 char port[20];
558
559 sprintf(port, "/dev/ttyS%d", devpriv->port);
560 devpriv->tty = filp_open(port, O_RDWR, 0);
561 if (IS_ERR(devpriv->tty)) {
562 result = (int)PTR_ERR(devpriv->tty);
563 dev_err(dev->class_dev, "file open error = %d\n", result);
564 } else {
565 result = serial2002_setup_subdevs(dev);
566 }
567 return result;
568}
569
570static void serial2002_close(struct comedi_device *dev)
571{
572 struct serial2002_private *devpriv = dev->private;
573
574 if (!IS_ERR(devpriv->tty) && devpriv->tty)
575 filp_close(devpriv->tty, NULL);
576}
577
578static int serial2002_di_insn_read(struct comedi_device *dev,
579 struct comedi_subdevice *s,
580 struct comedi_insn *insn,
581 unsigned int *data)
582{
583 struct serial2002_private *devpriv = dev->private;
584 int n;
585 int chan;
586
587 chan = devpriv->digital_in_mapping[CR_CHAN(insn->chanspec)];
588 for (n = 0; n < insn->n; n++) {
589 struct serial_data read;
590
591 serial2002_poll_digital(devpriv->tty, chan);
592 while (1) {
593 read = serial2002_read(devpriv->tty, 1000);
594 if (read.kind != is_digital || read.index == chan)
595 break;
596 }
597 data[n] = read.value;
598 }
599 return n;
600}
601
602static int serial2002_do_insn_write(struct comedi_device *dev,
603 struct comedi_subdevice *s,
604 struct comedi_insn *insn,
605 unsigned int *data)
606{
607 struct serial2002_private *devpriv = dev->private;
608 int n;
609 int chan;
610
611 chan = devpriv->digital_out_mapping[CR_CHAN(insn->chanspec)];
612 for (n = 0; n < insn->n; n++) {
613 struct serial_data write;
614
615 write.kind = is_digital;
616 write.index = chan;
617 write.value = data[n];
618 serial2002_write(devpriv->tty, write);
619 }
620 return n;
621}
622
623static int serial2002_ai_insn_read(struct comedi_device *dev,
624 struct comedi_subdevice *s,
625 struct comedi_insn *insn,
626 unsigned int *data)
627{
628 struct serial2002_private *devpriv = dev->private;
629 int n;
630 int chan;
631
632 chan = devpriv->analog_in_mapping[CR_CHAN(insn->chanspec)];
633 for (n = 0; n < insn->n; n++) {
634 struct serial_data read;
635
636 serial2002_poll_channel(devpriv->tty, chan);
637 while (1) {
638 read = serial2002_read(devpriv->tty, 1000);
639 if (read.kind != is_channel || read.index == chan)
640 break;
641 }
642 data[n] = read.value;
643 }
644 return n;
645}
646
647static int serial2002_ao_insn_write(struct comedi_device *dev,
648 struct comedi_subdevice *s,
649 struct comedi_insn *insn,
650 unsigned int *data)
651{
652 struct serial2002_private *devpriv = dev->private;
653 int n;
654 int chan;
655
656 chan = devpriv->analog_out_mapping[CR_CHAN(insn->chanspec)];
657 for (n = 0; n < insn->n; n++) {
658 struct serial_data write;
659
660 write.kind = is_channel;
661 write.index = chan;
662 write.value = data[n];
663 serial2002_write(devpriv->tty, write);
664 devpriv->ao_readback[chan] = data[n];
665 }
666 return n;
667}
668
669static int serial2002_ao_insn_read(struct comedi_device *dev,
670 struct comedi_subdevice *s,
671 struct comedi_insn *insn,
672 unsigned int *data)
673{
674 struct serial2002_private *devpriv = dev->private;
675 int n;
676 int chan = CR_CHAN(insn->chanspec);
677
678 for (n = 0; n < insn->n; n++)
679 data[n] = devpriv->ao_readback[chan];
680
681 return n;
682}
683
684static int serial2002_encoder_insn_read(struct comedi_device *dev,
685 struct comedi_subdevice *s,
686 struct comedi_insn *insn,
687 unsigned int *data)
688{
689 struct serial2002_private *devpriv = dev->private;
690 int n;
691 int chan;
692
693 chan = devpriv->encoder_in_mapping[CR_CHAN(insn->chanspec)];
694 for (n = 0; n < insn->n; n++) {
695 struct serial_data read;
696
697 serial2002_poll_channel(devpriv->tty, chan);
698 while (1) {
699 read = serial2002_read(devpriv->tty, 1000);
700 if (read.kind != is_channel || read.index == chan)
701 break;
702 }
703 data[n] = read.value;
704 }
705 return n;
706}
707
708static int serial2002_attach(struct comedi_device *dev,
709 struct comedi_devconfig *it)
710{
711 struct serial2002_private *devpriv;
712 struct comedi_subdevice *s;
713 int ret;
714
715 devpriv = comedi_alloc_devpriv(dev, sizeof(*devpriv));
716 if (!devpriv)
717 return -ENOMEM;
718
719 devpriv->port = it->options[0];
720 devpriv->speed = it->options[1];
721
722 ret = comedi_alloc_subdevices(dev, 5);
723 if (ret)
724 return ret;
725
726
727 s = &dev->subdevices[0];
728 s->type = COMEDI_SUBD_DI;
729 s->subdev_flags = SDF_READABLE;
730 s->n_chan = 0;
731 s->maxdata = 1;
732 s->range_table = &range_digital;
733 s->insn_read = serial2002_di_insn_read;
734
735
736 s = &dev->subdevices[1];
737 s->type = COMEDI_SUBD_DO;
738 s->subdev_flags = SDF_WRITABLE;
739 s->n_chan = 0;
740 s->maxdata = 1;
741 s->range_table = &range_digital;
742 s->insn_write = serial2002_do_insn_write;
743
744
745 s = &dev->subdevices[2];
746 s->type = COMEDI_SUBD_AI;
747 s->subdev_flags = SDF_READABLE | SDF_GROUND;
748 s->n_chan = 0;
749 s->maxdata = 1;
750 s->range_table = NULL;
751 s->insn_read = serial2002_ai_insn_read;
752
753
754 s = &dev->subdevices[3];
755 s->type = COMEDI_SUBD_AO;
756 s->subdev_flags = SDF_WRITABLE;
757 s->n_chan = 0;
758 s->maxdata = 1;
759 s->range_table = NULL;
760 s->insn_write = serial2002_ao_insn_write;
761 s->insn_read = serial2002_ao_insn_read;
762
763
764 s = &dev->subdevices[4];
765 s->type = COMEDI_SUBD_COUNTER;
766 s->subdev_flags = SDF_READABLE | SDF_LSAMPL;
767 s->n_chan = 0;
768 s->maxdata = 1;
769 s->range_table = NULL;
770 s->insn_read = serial2002_encoder_insn_read;
771
772 dev->open = serial2002_open;
773 dev->close = serial2002_close;
774
775 return 0;
776}
777
778static void serial2002_detach(struct comedi_device *dev)
779{
780 struct comedi_subdevice *s;
781 int i;
782
783 for (i = 0; i < dev->n_subdevices; i++) {
784 s = &dev->subdevices[i];
785 kfree(s->maxdata_list);
786 kfree(s->range_table_list);
787 }
788}
789
790static struct comedi_driver serial2002_driver = {
791 .driver_name = "serial2002",
792 .module = THIS_MODULE,
793 .attach = serial2002_attach,
794 .detach = serial2002_detach,
795};
796module_comedi_driver(serial2002_driver);
797
798MODULE_AUTHOR("Comedi http://www.comedi.org");
799MODULE_DESCRIPTION("Comedi low-level driver");
800MODULE_LICENSE("GPL");
801
