serial2002.c revision 71b5f4f11971dea972832ad63a994c7e5b45db6b 
1/*
2    comedi/drivers/serial2002.c
3    Skeleton code for a Comedi driver
4
5    COMEDI - Linux Control and Measurement Device Interface
6    Copyright (C) 2002 Anders Blomdell <anders.blomdell@control.lth.se>
7
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.
12
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.
17
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.
21
22*/
23
24/*
25Driver: serial2002
26Description: Driver for serial connected hardware
27Devices:
28Author: Anders Blomdell
29Updated: Fri,  7 Jun 2002 12:56:45 -0700
30Status: in development
31
32*/
33
34#include "../comedidev.h"
35
36#include <linux/delay.h>
37#include <linux/ioport.h>
38
39#include <asm/termios.h>
40#include <asm/ioctls.h>
41#include <linux/serial.h>
42#include <linux/poll.h>
43
44/*
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.
48 */
49typedef struct serial2002_board_struct {
50	const char *name;
51} serial2002_board;
52
53static const serial2002_board serial2002_boards[] = {
54	{
55      name:	"serial2002"}
56};
57
58/*
59 * Useful for shorthand access to the particular board structure
60 */
61#define thisboard ((const serial2002_board *)dev->board_ptr)
62
63typedef struct {
64	// HACK...
65	int length;
66	comedi_krange range;
67} serial2002_range_table_t;
68
69typedef struct {
70	int port;		// /dev/ttyS<port>
71	int speed;		// baudrate
72	struct file *tty;
73	unsigned int 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];
80} serial2002_private;
81
82/*
83 * most drivers define the following macro to make it easy to
84 * access the private structure.
85 */
86#define devpriv ((serial2002_private *)dev->private)
87
88static int serial2002_attach(struct comedi_device * dev, comedi_devconfig * it);
89static int serial2002_detach(struct comedi_device * dev);
90comedi_driver driver_serial2002 = {
91      driver_name:"serial2002",
92      module:THIS_MODULE,
93      attach:serial2002_attach,
94      detach:serial2002_detach,
95      board_name:&serial2002_boards[0].name,
96      offset:sizeof(serial2002_board),
97      num_names:sizeof(serial2002_boards) / sizeof(serial2002_board),
98};
99
100static int serial2002_di_rinsn(struct comedi_device * dev, comedi_subdevice * s,
101	comedi_insn * insn, unsigned int * data);
102static int serial2002_do_winsn(struct comedi_device * dev, comedi_subdevice * s,
103	comedi_insn * insn, unsigned int * data);
104static int serial2002_ai_rinsn(struct comedi_device * dev, comedi_subdevice * s,
105	comedi_insn * insn, unsigned int * data);
106static int serial2002_ao_winsn(struct comedi_device * dev, comedi_subdevice * s,
107	comedi_insn * insn, unsigned int * data);
108static int serial2002_ao_rinsn(struct comedi_device * dev, comedi_subdevice * s,
109	comedi_insn * insn, unsigned int * data);
110
111struct serial_data {
112	enum { is_invalid, is_digital, is_channel } kind;
113	int index;
114	unsigned long value;
115};
116
117static long tty_ioctl(struct file *f, unsigned op, unsigned long param)
118{
119#ifdef HAVE_UNLOCKED_IOCTL
120  	if (f->f_op->unlocked_ioctl) {
121		return f->f_op->unlocked_ioctl(f, op, param);
122	}
123#endif
124	if (f->f_op->ioctl) {
125	  	return f->f_op->ioctl(f->f_dentry->d_inode, f, op, param);
126	}
127	return -ENOSYS;
128}
129
130static int tty_write(struct file *f, unsigned char *buf, int count)
131{
132	int result;
133	mm_segment_t oldfs;
134
135	oldfs = get_fs();
136	set_fs(KERNEL_DS);
137	f->f_pos = 0;
138	result = f->f_op->write(f, buf, count, &f->f_pos);
139	set_fs(oldfs);
140	return result;
141}
142
143#if 0
144/*
145 * On 2.6.26.3 this occaisonally gave me page faults, worked around by
146 * settings.c_cc[VMIN] = 0; settings.c_cc[VTIME] = 0
147 */
148static int tty_available(struct file *f)
149{
150	long result = 0;
151	mm_segment_t oldfs;
152
153	oldfs = get_fs();
154	set_fs(KERNEL_DS);
155	tty_ioctl(f, FIONREAD, (unsigned long)&result);
156	set_fs(oldfs);
157	return result;
158}
159#endif
160
161static int tty_read(struct file *f, int timeout)
162{
163	int result;
164
165	result = -1;
166	if (!IS_ERR(f)) {
167		mm_segment_t oldfs;
168
169		oldfs = get_fs();
170		set_fs(KERNEL_DS);
171		if (f->f_op->poll) {
172			struct poll_wqueues table;
173			struct timeval start, now;
174
175			do_gettimeofday(&start);
176			poll_initwait(&table);
177			while (1) {
178				long elapsed;
179				int mask;
180
181				mask = f->f_op->poll(f, &table.pt);
182				if (mask & (POLLRDNORM | POLLRDBAND | POLLIN |
183						POLLHUP | POLLERR)) {
184					break;
185				}
186				do_gettimeofday(&now);
187				elapsed =
188					(1000000 * (now.tv_sec - start.tv_sec) +
189					now.tv_usec - start.tv_usec);
190				if (elapsed > timeout) {
191					break;
192				}
193				set_current_state(TASK_INTERRUPTIBLE);
194				schedule_timeout(((timeout -
195							elapsed) * HZ) / 10000);
196			}
197			poll_freewait(&table);
198			{
199			  unsigned char ch;
200
201			  f->f_pos = 0;
202			  if (f->f_op->read(f, &ch, 1, &f->f_pos) == 1) {
203			    result = ch;
204			  }
205			}
206		} else {
207			/* Device does not support poll, busy wait */
208			int retries = 0;
209			while (1) {
210			  	unsigned char ch;
211
212				retries++;
213				if (retries >= timeout) {
214					break;
215				}
216
217				f->f_pos = 0;
218				if (f->f_op->read(f, &ch, 1, &f->f_pos) == 1) {
219				  	result = ch;
220					break;
221				}
222				comedi_udelay(100);
223			}
224		}
225		set_fs(oldfs);
226	}
227	return result;
228}
229
230static void tty_setspeed(struct file *f, int speed)
231{
232	mm_segment_t oldfs;
233
234	oldfs = get_fs();
235	set_fs(KERNEL_DS);
236	{
237		// Set speed
238		struct termios settings;
239
240		tty_ioctl(f, TCGETS, (unsigned long)&settings);
241//    printk("Speed: %d\n", settings.c_cflag & (CBAUD | CBAUDEX));
242		settings.c_iflag = 0;
243		settings.c_oflag = 0;
244		settings.c_lflag = 0;
245		settings.c_cflag = CLOCAL | CS8 | CREAD;
246		settings.c_cc[VMIN] = 0;
247		settings.c_cc[VTIME] = 0;
248		switch (speed) {
249		case 2400:{
250				settings.c_cflag |= B2400;
251			}
252			break;
253		case 4800:{
254				settings.c_cflag |= B4800;
255			}
256			break;
257		case 9600:{
258				settings.c_cflag |= B9600;
259			}
260			break;
261		case 19200:{
262				settings.c_cflag |= B19200;
263			}
264			break;
265		case 38400:{
266				settings.c_cflag |= B38400;
267			}
268			break;
269		case 57600:{
270				settings.c_cflag |= B57600;
271			}
272			break;
273		case 115200:{
274				settings.c_cflag |= B115200;
275			}
276			break;
277		default:{
278				settings.c_cflag |= B9600;
279			}
280			break;
281		}
282		tty_ioctl(f, TCSETS, (unsigned long)&settings);
283//    printk("Speed: %d\n", settings.c_cflag & (CBAUD | CBAUDEX));
284	}
285	{
286		// Set low latency
287		struct serial_struct settings;
288
289		tty_ioctl(f, TIOCGSERIAL, (unsigned long)&settings);
290		settings.flags |= ASYNC_LOW_LATENCY;
291		tty_ioctl(f, TIOCSSERIAL, (unsigned long)&settings);
292	}
293
294	set_fs(oldfs);
295}
296
297static void poll_digital(struct file *f, int channel)
298{
299	char cmd;
300
301	cmd = 0x40 | (channel & 0x1f);
302	tty_write(f, &cmd, 1);
303}
304
305static void poll_channel(struct file *f, int channel)
306{
307	char cmd;
308
309	cmd = 0x60 | (channel & 0x1f);
310	tty_write(f, &cmd, 1);
311}
312
313static struct serial_data serial_read(struct file *f, int timeout)
314{
315	struct serial_data result;
316	int length;
317
318	result.kind = is_invalid;
319	result.index = 0;
320	result.value = 0;
321	length = 0;
322	while (1) {
323		int data = tty_read(f, timeout);
324
325		length++;
326		if (data < 0) {
327			printk("serial2002 error\n");
328			break;
329		} else if (data & 0x80) {
330			result.value = (result.value << 7) | (data & 0x7f);
331		} else {
332			if (length == 1) {
333				switch ((data >> 5) & 0x03) {
334				case 0:{
335						result.value = 0;
336						result.kind = is_digital;
337					}
338					break;
339				case 1:{
340						result.value = 1;
341						result.kind = is_digital;
342					}
343					break;
344				}
345			} else {
346				result.value =
347					(result.
348					value << 2) | ((data & 0x60) >> 5);
349				result.kind = is_channel;
350			}
351			result.index = data & 0x1f;
352			break;
353		}
354	}
355	return result;
356
357}
358
359static void serial_write(struct file *f, struct serial_data data)
360{
361	if (data.kind == is_digital) {
362		unsigned char ch =
363			((data.value << 5) & 0x20) | (data.index & 0x1f);
364		tty_write(f, &ch, 1);
365	} else {
366		unsigned char ch[6];
367		int i = 0;
368		if (data.value >= (1L << 30)) {
369			ch[i] = 0x80 | ((data.value >> 30) & 0x03);
370			i++;
371		}
372		if (data.value >= (1L << 23)) {
373			ch[i] = 0x80 | ((data.value >> 23) & 0x7f);
374			i++;
375		}
376		if (data.value >= (1L << 16)) {
377			ch[i] = 0x80 | ((data.value >> 16) & 0x7f);
378			i++;
379		}
380		if (data.value >= (1L << 9)) {
381			ch[i] = 0x80 | ((data.value >> 9) & 0x7f);
382			i++;
383		}
384		ch[i] = 0x80 | ((data.value >> 2) & 0x7f);
385		i++;
386		ch[i] = ((data.value << 5) & 0x60) | (data.index & 0x1f);
387		i++;
388		tty_write(f, ch, i);
389	}
390}
391
392static void serial_2002_open(struct comedi_device * dev)
393{
394	char port[20];
395
396	sprintf(port, "/dev/ttyS%d", devpriv->port);
397	devpriv->tty = filp_open(port, 0, O_RDWR);
398	if (IS_ERR(devpriv->tty)) {
399		printk("serial_2002: file open error = %ld\n",
400			PTR_ERR(devpriv->tty));
401	} else {
402		typedef struct {
403			int kind;
404			int bits;
405			int min;
406			int max;
407		} config_t;
408		config_t dig_in_config[32];
409		config_t dig_out_config[32];
410		config_t chan_in_config[32];
411		config_t chan_out_config[32];
412		int i;
413
414		for (i = 0; i < 32; i++) {
415			dig_in_config[i].kind = 0;
416			dig_in_config[i].bits = 0;
417			dig_in_config[i].min = 0;
418			dig_in_config[i].max = 0;
419			dig_out_config[i].kind = 0;
420			dig_out_config[i].bits = 0;
421			dig_out_config[i].min = 0;
422			dig_out_config[i].max = 0;
423			chan_in_config[i].kind = 0;
424			chan_in_config[i].bits = 0;
425			chan_in_config[i].min = 0;
426			chan_in_config[i].max = 0;
427			chan_out_config[i].kind = 0;
428			chan_out_config[i].bits = 0;
429			chan_out_config[i].min = 0;
430			chan_out_config[i].max = 0;
431		}
432
433		tty_setspeed(devpriv->tty, devpriv->speed);
434		poll_channel(devpriv->tty, 31);	// Start reading configuration
435		while (1) {
436			struct serial_data data;
437
438			data = serial_read(devpriv->tty, 1000);
439			if (data.kind != is_channel || data.index != 31
440				|| !(data.value & 0xe0)) {
441				break;
442			} else {
443				int command, channel, kind;
444				config_t *cur_config = 0;
445
446				channel = data.value & 0x1f;
447				kind = (data.value >> 5) & 0x7;
448				command = (data.value >> 8) & 0x3;
449				switch (kind) {
450				case 1:{
451						cur_config = dig_in_config;
452					}
453					break;
454				case 2:{
455						cur_config = dig_out_config;
456					}
457					break;
458				case 3:{
459						cur_config = chan_in_config;
460					}
461					break;
462				case 4:{
463						cur_config = chan_out_config;
464					}
465					break;
466				case 5:{
467						cur_config = chan_in_config;
468					}
469					break;
470				}
471
472				if (cur_config) {
473					cur_config[channel].kind = kind;
474					switch (command) {
475					case 0:{
476							cur_config[channel].
477								bits =
478								(data.
479								value >> 10) &
480								0x3f;
481						}
482						break;
483					case 1:{
484							int unit, sign, min;
485							unit = (data.
486								value >> 10) &
487								0x7;
488							sign = (data.
489								value >> 13) &
490								0x1;
491							min = (data.
492								value >> 14) &
493								0xfffff;
494
495							switch (unit) {
496							case 0:{
497									min = min * 1000000;
498								}
499								break;
500							case 1:{
501									min = min * 1000;
502								}
503								break;
504							case 2:{
505									min = min * 1;
506								}
507								break;
508							}
509							if (sign) {
510								min = -min;
511							}
512							cur_config[channel].
513								min = min;
514						}
515						break;
516					case 2:{
517							int unit, sign, max;
518							unit = (data.
519								value >> 10) &
520								0x7;
521							sign = (data.
522								value >> 13) &
523								0x1;
524							max = (data.
525								value >> 14) &
526								0xfffff;
527
528							switch (unit) {
529							case 0:{
530									max = max * 1000000;
531								}
532								break;
533							case 1:{
534									max = max * 1000;
535								}
536								break;
537							case 2:{
538									max = max * 1;
539								}
540								break;
541							}
542							if (sign) {
543								max = -max;
544							}
545							cur_config[channel].
546								max = max;
547						}
548						break;
549					}
550				}
551			}
552		}
553		for (i = 0; i <= 4; i++) {
554			// Fill in subdev data
555			config_t *c;
556			unsigned char *mapping = 0;
557			serial2002_range_table_t *range = 0;
558			int kind = 0;
559
560			switch (i) {
561			case 0:{
562					c = dig_in_config;
563					mapping = devpriv->digital_in_mapping;
564					kind = 1;
565				}
566				break;
567			case 1:{
568					c = dig_out_config;
569					mapping = devpriv->digital_out_mapping;
570					kind = 2;
571				}
572				break;
573			case 2:{
574					c = chan_in_config;
575					mapping = devpriv->analog_in_mapping;
576					range = devpriv->in_range;
577					kind = 3;
578				}
579				break;
580			case 3:{
581					c = chan_out_config;
582					mapping = devpriv->analog_out_mapping;
583					range = devpriv->out_range;
584					kind = 4;
585				}
586				break;
587			case 4:{
588					c = chan_in_config;
589					mapping = devpriv->encoder_in_mapping;
590					range = devpriv->in_range;
591					kind = 5;
592				}
593				break;
594			default:{
595					c = 0;
596				}
597				break;
598			}
599			if (c) {
600				comedi_subdevice *s;
601				const comedi_lrange **range_table_list = NULL;
602				unsigned int *maxdata_list;
603				int j, chan;
604
605				for (chan = 0, j = 0; j < 32; j++) {
606					if (c[j].kind == kind) {
607						chan++;
608					}
609				}
610				s = &dev->subdevices[i];
611				s->n_chan = chan;
612				s->maxdata = 0;
613				if (s->maxdata_list) {
614					kfree(s->maxdata_list);
615				}
616				s->maxdata_list = maxdata_list =
617					kmalloc(sizeof(unsigned int) * s->n_chan,
618					GFP_KERNEL);
619				if (s->range_table_list) {
620					kfree(s->range_table_list);
621				}
622				if (range) {
623					s->range_table = 0;
624					s->range_table_list = range_table_list =
625						kmalloc(sizeof
626						(serial2002_range_table_t) *
627						s->n_chan, GFP_KERNEL);
628				}
629				for (chan = 0, j = 0; j < 32; j++) {
630					if (c[j].kind == kind) {
631						if (mapping) {
632							mapping[chan] = j;
633						}
634						if (range) {
635							range[j].length = 1;
636							range[j].range.min =
637								c[j].min;
638							range[j].range.max =
639								c[j].max;
640							range_table_list[chan] =
641								(const
642								comedi_lrange *)
643								&range[j];
644						}
645						maxdata_list[chan] =
646							((long long)1 << c[j].
647							bits) - 1;
648						chan++;
649					}
650				}
651			}
652		}
653	}
654}
655
656static void serial_2002_close(struct comedi_device * dev)
657{
658	if (!IS_ERR(devpriv->tty) && (devpriv->tty != 0)) {
659		filp_close(devpriv->tty, 0);
660	}
661}
662
663static int serial2002_di_rinsn(struct comedi_device * dev, comedi_subdevice * s,
664	comedi_insn * insn, unsigned int * data)
665{
666	int n;
667	int chan;
668
669	chan = devpriv->digital_in_mapping[CR_CHAN(insn->chanspec)];
670	for (n = 0; n < insn->n; n++) {
671		struct serial_data read;
672
673		poll_digital(devpriv->tty, chan);
674		while (1) {
675			read = serial_read(devpriv->tty, 1000);
676			if (read.kind != is_digital || read.index == chan) {
677				break;
678			}
679		}
680		data[n] = read.value;
681	}
682	return n;
683}
684
685static int serial2002_do_winsn(struct comedi_device * dev, comedi_subdevice * s,
686	comedi_insn * insn, unsigned int * data)
687{
688	int n;
689	int chan;
690
691	chan = devpriv->digital_out_mapping[CR_CHAN(insn->chanspec)];
692	for (n = 0; n < insn->n; n++) {
693		struct serial_data write;
694
695		write.kind = is_digital;
696		write.index = chan;
697		write.value = data[n];
698		serial_write(devpriv->tty, write);
699	}
700	return n;
701}
702
703static int serial2002_ai_rinsn(struct comedi_device * dev, comedi_subdevice * s,
704	comedi_insn * insn, unsigned int * data)
705{
706	int n;
707	int chan;
708
709	chan = devpriv->analog_in_mapping[CR_CHAN(insn->chanspec)];
710	for (n = 0; n < insn->n; n++) {
711		struct serial_data read;
712
713		poll_channel(devpriv->tty, chan);
714		while (1) {
715			read = serial_read(devpriv->tty, 1000);
716			if (read.kind != is_channel || read.index == chan) {
717				break;
718			}
719		}
720		data[n] = read.value;
721	}
722	return n;
723}
724
725static int serial2002_ao_winsn(struct comedi_device * dev, comedi_subdevice * s,
726	comedi_insn * insn, unsigned int * data)
727{
728	int n;
729	int chan;
730
731	chan = devpriv->analog_out_mapping[CR_CHAN(insn->chanspec)];
732	for (n = 0; n < insn->n; n++) {
733		struct serial_data write;
734
735		write.kind = is_channel;
736		write.index = chan;
737		write.value = data[n];
738		serial_write(devpriv->tty, write);
739		devpriv->ao_readback[chan] = data[n];
740	}
741	return n;
742}
743
744static int serial2002_ao_rinsn(struct comedi_device * dev, comedi_subdevice * s,
745	comedi_insn * insn, unsigned int * data)
746{
747	int n;
748	int chan = CR_CHAN(insn->chanspec);
749
750	for (n = 0; n < insn->n; n++) {
751		data[n] = devpriv->ao_readback[chan];
752	}
753
754	return n;
755}
756
757static int serial2002_ei_rinsn(struct comedi_device * dev, comedi_subdevice * s,
758	comedi_insn * insn, unsigned int * data)
759{
760	int n;
761	int chan;
762
763	chan = devpriv->encoder_in_mapping[CR_CHAN(insn->chanspec)];
764	for (n = 0; n < insn->n; n++) {
765		struct serial_data read;
766
767		poll_channel(devpriv->tty, chan);
768		while (1) {
769			read = serial_read(devpriv->tty, 1000);
770			if (read.kind != is_channel || read.index == chan) {
771				break;
772			}
773		}
774		data[n] = read.value;
775	}
776	return n;
777}
778
779static int serial2002_attach(struct comedi_device * dev, comedi_devconfig * it)
780{
781	comedi_subdevice *s;
782
783	printk("comedi%d: serial2002: ", dev->minor);
784	dev->board_name = thisboard->name;
785	if (alloc_private(dev, sizeof(serial2002_private)) < 0) {
786		return -ENOMEM;
787	}
788	dev->open = serial_2002_open;
789	dev->close = serial_2002_close;
790	devpriv->port = it->options[0];
791	devpriv->speed = it->options[1];
792	printk("/dev/ttyS%d @ %d\n", devpriv->port, devpriv->speed);
793
794	if (alloc_subdevices(dev, 5) < 0)
795		return -ENOMEM;
796
797	/* digital input subdevice */
798	s = dev->subdevices + 0;
799	s->type = COMEDI_SUBD_DI;
800	s->subdev_flags = SDF_READABLE;
801	s->n_chan = 0;
802	s->maxdata = 1;
803	s->range_table = &range_digital;
804	s->insn_read = &serial2002_di_rinsn;
805
806	/* digital output subdevice */
807	s = dev->subdevices + 1;
808	s->type = COMEDI_SUBD_DO;
809	s->subdev_flags = SDF_WRITEABLE;
810	s->n_chan = 0;
811	s->maxdata = 1;
812	s->range_table = &range_digital;
813	s->insn_write = &serial2002_do_winsn;
814
815	/* analog input subdevice */
816	s = dev->subdevices + 2;
817	s->type = COMEDI_SUBD_AI;
818	s->subdev_flags = SDF_READABLE | SDF_GROUND;
819	s->n_chan = 0;
820	s->maxdata = 1;
821	s->range_table = 0;
822	s->insn_read = &serial2002_ai_rinsn;
823
824	/* analog output subdevice */
825	s = dev->subdevices + 3;
826	s->type = COMEDI_SUBD_AO;
827	s->subdev_flags = SDF_WRITEABLE;
828	s->n_chan = 0;
829	s->maxdata = 1;
830	s->range_table = 0;
831	s->insn_write = &serial2002_ao_winsn;
832	s->insn_read = &serial2002_ao_rinsn;
833
834	/* encoder input subdevice */
835	s = dev->subdevices + 4;
836	s->type = COMEDI_SUBD_COUNTER;
837	s->subdev_flags = SDF_READABLE | SDF_LSAMPL;
838	s->n_chan = 0;
839	s->maxdata = 1;
840	s->range_table = 0;
841	s->insn_read = &serial2002_ei_rinsn;
842
843	return 1;
844}
845
846static int serial2002_detach(struct comedi_device * dev)
847{
848	comedi_subdevice *s;
849	int i;
850
851	printk("comedi%d: serial2002: remove\n", dev->minor);
852	for (i = 0; i < 4; i++) {
853		s = &dev->subdevices[i];
854		if (s->maxdata_list) {
855			kfree(s->maxdata_list);
856		}
857		if (s->range_table_list) {
858			kfree(s->range_table_list);
859		}
860	}
861	return 0;
862}
863
864COMEDI_INITCLEANUP(driver_serial2002);
865