serial2002.c revision 9e7f2256883c954691e5d395d471e0f125f6b30b
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#include <linux/sched.h> 39#include <linux/slab.h> 40 41#include <asm/termios.h> 42#include <asm/ioctls.h> 43#include <linux/serial.h> 44#include <linux/poll.h> 45 46/* 47 * Board descriptions for two imaginary boards. Describing the 48 * boards in this way is optional, and completely driver-dependent. 49 * Some drivers use arrays such as this, other do not. 50 */ 51struct serial2002_board { 52 const char *name; 53}; 54 55static const struct serial2002_board serial2002_boards[] = { 56 { 57 .name = "serial2002"} 58}; 59 60/* 61 * Useful for shorthand access to the particular board structure 62 */ 63#define thisboard ((const struct serial2002_board *)dev->board_ptr) 64 65struct serial2002_range_table_t { 66 67 /* HACK... */ 68 int length; 69 struct comedi_krange range; 70}; 71 72struct serial2002_private { 73 74 int port; /* /dev/ttyS<port> */ 75 int speed; /* baudrate */ 76 struct file *tty; 77 unsigned int ao_readback[32]; 78 unsigned char digital_in_mapping[32]; 79 unsigned char digital_out_mapping[32]; 80 unsigned char analog_in_mapping[32]; 81 unsigned char analog_out_mapping[32]; 82 unsigned char encoder_in_mapping[32]; 83 struct serial2002_range_table_t in_range[32], out_range[32]; 84}; 85 86/* 87 * most drivers define the following macro to make it easy to 88 * access the private structure. 89 */ 90#define devpriv ((struct serial2002_private *)dev->private) 91 92static int serial2002_attach(struct comedi_device *dev, 93 struct comedi_devconfig *it); 94static int serial2002_detach(struct comedi_device *dev); 95struct comedi_driver driver_serial2002 = { 96 .driver_name = "serial2002", 97 .module = THIS_MODULE, 98 .attach = serial2002_attach, 99 .detach = serial2002_detach, 100 .board_name = &serial2002_boards[0].name, 101 .offset = sizeof(struct serial2002_board), 102 .num_names = ARRAY_SIZE(serial2002_boards), 103}; 104 105static int serial2002_di_rinsn(struct comedi_device *dev, 106 struct comedi_subdevice *s, 107 struct comedi_insn *insn, unsigned int *data); 108static int serial2002_do_winsn(struct comedi_device *dev, 109 struct comedi_subdevice *s, 110 struct comedi_insn *insn, unsigned int *data); 111static int serial2002_ai_rinsn(struct comedi_device *dev, 112 struct comedi_subdevice *s, 113 struct comedi_insn *insn, unsigned int *data); 114static int serial2002_ao_winsn(struct comedi_device *dev, 115 struct comedi_subdevice *s, 116 struct comedi_insn *insn, unsigned int *data); 117static int serial2002_ao_rinsn(struct comedi_device *dev, 118 struct comedi_subdevice *s, 119 struct comedi_insn *insn, unsigned int *data); 120 121struct serial_data { 122 enum { is_invalid, is_digital, is_channel } kind; 123 int index; 124 unsigned long value; 125}; 126 127static long tty_ioctl(struct file *f, unsigned op, unsigned long param) 128{ 129 if (f->f_op->unlocked_ioctl) 130 return f->f_op->unlocked_ioctl(f, op, param); 131 132 return -ENOSYS; 133} 134 135static int tty_write(struct file *f, unsigned char *buf, int count) 136{ 137 int result; 138 mm_segment_t oldfs; 139 140 oldfs = get_fs(); 141 set_fs(KERNEL_DS); 142 f->f_pos = 0; 143 result = f->f_op->write(f, buf, count, &f->f_pos); 144 set_fs(oldfs); 145 return result; 146} 147 148#if 0 149/* 150 * On 2.6.26.3 this occaisonally gave me page faults, worked around by 151 * settings.c_cc[VMIN] = 0; settings.c_cc[VTIME] = 0 152 */ 153static int tty_available(struct file *f) 154{ 155 long result = 0; 156 mm_segment_t oldfs; 157 158 oldfs = get_fs(); 159 set_fs(KERNEL_DS); 160 tty_ioctl(f, FIONREAD, (unsigned long)&result); 161 set_fs(oldfs); 162 return result; 163} 164#endif 165 166static int tty_read(struct file *f, int timeout) 167{ 168 int result; 169 170 result = -1; 171 if (!IS_ERR(f)) { 172 mm_segment_t oldfs; 173 174 oldfs = get_fs(); 175 set_fs(KERNEL_DS); 176 if (f->f_op->poll) { 177 struct poll_wqueues table; 178 struct timeval start, now; 179 180 do_gettimeofday(&start); 181 poll_initwait(&table); 182 while (1) { 183 long elapsed; 184 int mask; 185 186 mask = f->f_op->poll(f, &table.pt); 187 if (mask & (POLLRDNORM | POLLRDBAND | POLLIN | 188 POLLHUP | POLLERR)) { 189 break; 190 } 191 do_gettimeofday(&now); 192 elapsed = 193 (1000000 * (now.tv_sec - start.tv_sec) + 194 now.tv_usec - start.tv_usec); 195 if (elapsed > timeout) { 196 break; 197 } 198 set_current_state(TASK_INTERRUPTIBLE); 199 schedule_timeout(((timeout - 200 elapsed) * HZ) / 10000); 201 } 202 poll_freewait(&table); 203 { 204 unsigned char ch; 205 206 f->f_pos = 0; 207 if (f->f_op->read(f, &ch, 1, &f->f_pos) == 1) { 208 result = ch; 209 } 210 } 211 } else { 212 /* Device does not support poll, busy wait */ 213 int retries = 0; 214 while (1) { 215 unsigned char ch; 216 217 retries++; 218 if (retries >= timeout) { 219 break; 220 } 221 222 f->f_pos = 0; 223 if (f->f_op->read(f, &ch, 1, &f->f_pos) == 1) { 224 result = ch; 225 break; 226 } 227 udelay(100); 228 } 229 } 230 set_fs(oldfs); 231 } 232 return result; 233} 234 235static void tty_setspeed(struct file *f, int speed) 236{ 237 mm_segment_t oldfs; 238 239 oldfs = get_fs(); 240 set_fs(KERNEL_DS); 241 { 242 /* Set speed */ 243 struct termios settings; 244 245 tty_ioctl(f, TCGETS, (unsigned long)&settings); 246/* printk("Speed: %d\n", settings.c_cflag & (CBAUD | CBAUDEX)); */ 247 settings.c_iflag = 0; 248 settings.c_oflag = 0; 249 settings.c_lflag = 0; 250 settings.c_cflag = CLOCAL | CS8 | CREAD; 251 settings.c_cc[VMIN] = 0; 252 settings.c_cc[VTIME] = 0; 253 switch (speed) { 254 case 2400:{ 255 settings.c_cflag |= B2400; 256 } 257 break; 258 case 4800:{ 259 settings.c_cflag |= B4800; 260 } 261 break; 262 case 9600:{ 263 settings.c_cflag |= B9600; 264 } 265 break; 266 case 19200:{ 267 settings.c_cflag |= B19200; 268 } 269 break; 270 case 38400:{ 271 settings.c_cflag |= B38400; 272 } 273 break; 274 case 57600:{ 275 settings.c_cflag |= B57600; 276 } 277 break; 278 case 115200:{ 279 settings.c_cflag |= B115200; 280 } 281 break; 282 default:{ 283 settings.c_cflag |= B9600; 284 } 285 break; 286 } 287 tty_ioctl(f, TCSETS, (unsigned long)&settings); 288/* printk("Speed: %d\n", settings.c_cflag & (CBAUD | CBAUDEX)); */ 289 } 290 { 291 /* Set low latency */ 292 struct serial_struct settings; 293 294 tty_ioctl(f, TIOCGSERIAL, (unsigned long)&settings); 295 settings.flags |= ASYNC_LOW_LATENCY; 296 tty_ioctl(f, TIOCSSERIAL, (unsigned long)&settings); 297 } 298 299 set_fs(oldfs); 300} 301 302static void poll_digital(struct file *f, int channel) 303{ 304 char cmd; 305 306 cmd = 0x40 | (channel & 0x1f); 307 tty_write(f, &cmd, 1); 308} 309 310static void poll_channel(struct file *f, int channel) 311{ 312 char cmd; 313 314 cmd = 0x60 | (channel & 0x1f); 315 tty_write(f, &cmd, 1); 316} 317 318static struct serial_data serial_read(struct file *f, int timeout) 319{ 320 struct serial_data result; 321 int length; 322 323 result.kind = is_invalid; 324 result.index = 0; 325 result.value = 0; 326 length = 0; 327 while (1) { 328 int data = tty_read(f, timeout); 329 330 length++; 331 if (data < 0) { 332 printk("serial2002 error\n"); 333 break; 334 } else if (data & 0x80) { 335 result.value = (result.value << 7) | (data & 0x7f); 336 } else { 337 if (length == 1) { 338 switch ((data >> 5) & 0x03) { 339 case 0:{ 340 result.value = 0; 341 result.kind = is_digital; 342 } 343 break; 344 case 1:{ 345 result.value = 1; 346 result.kind = is_digital; 347 } 348 break; 349 } 350 } else { 351 result.value = 352 (result.value << 2) | ((data & 0x60) >> 5); 353 result.kind = is_channel; 354 } 355 result.index = data & 0x1f; 356 break; 357 } 358 } 359 return result; 360 361} 362 363static void serial_write(struct file *f, struct serial_data data) 364{ 365 if (data.kind == is_digital) { 366 unsigned char ch = 367 ((data.value << 5) & 0x20) | (data.index & 0x1f); 368 tty_write(f, &ch, 1); 369 } else { 370 unsigned char ch[6]; 371 int i = 0; 372 if (data.value >= (1L << 30)) { 373 ch[i] = 0x80 | ((data.value >> 30) & 0x03); 374 i++; 375 } 376 if (data.value >= (1L << 23)) { 377 ch[i] = 0x80 | ((data.value >> 23) & 0x7f); 378 i++; 379 } 380 if (data.value >= (1L << 16)) { 381 ch[i] = 0x80 | ((data.value >> 16) & 0x7f); 382 i++; 383 } 384 if (data.value >= (1L << 9)) { 385 ch[i] = 0x80 | ((data.value >> 9) & 0x7f); 386 i++; 387 } 388 ch[i] = 0x80 | ((data.value >> 2) & 0x7f); 389 i++; 390 ch[i] = ((data.value << 5) & 0x60) | (data.index & 0x1f); 391 i++; 392 tty_write(f, ch, i); 393 } 394} 395 396static int serial_2002_open(struct comedi_device *dev) 397{ 398 int result; 399 char port[20]; 400 401 sprintf(port, "/dev/ttyS%d", devpriv->port); 402 devpriv->tty = filp_open(port, O_RDWR, 0); 403 if (IS_ERR(devpriv->tty)) { 404 result = (int)PTR_ERR(devpriv->tty); 405 printk("serial_2002: file open error = %d\n", result); 406 } else { 407 struct config_t { 408 409 short int kind; 410 short int bits; 411 int min; 412 int max; 413 }; 414 415 struct config_t dig_in_config[32]; 416 struct config_t dig_out_config[32]; 417 struct config_t chan_in_config[32]; 418 struct config_t chan_out_config[32]; 419 int i; 420 421 result = 0; 422 for (i = 0; i < 32; i++) { 423 dig_in_config[i].kind = 0; 424 dig_in_config[i].bits = 0; 425 dig_in_config[i].min = 0; 426 dig_in_config[i].max = 0; 427 dig_out_config[i].kind = 0; 428 dig_out_config[i].bits = 0; 429 dig_out_config[i].min = 0; 430 dig_out_config[i].max = 0; 431 chan_in_config[i].kind = 0; 432 chan_in_config[i].bits = 0; 433 chan_in_config[i].min = 0; 434 chan_in_config[i].max = 0; 435 chan_out_config[i].kind = 0; 436 chan_out_config[i].bits = 0; 437 chan_out_config[i].min = 0; 438 chan_out_config[i].max = 0; 439 } 440 441 tty_setspeed(devpriv->tty, devpriv->speed); 442 poll_channel(devpriv->tty, 31); /* Start reading configuration */ 443 while (1) { 444 struct serial_data data; 445 446 data = serial_read(devpriv->tty, 1000); 447 if (data.kind != is_channel || data.index != 31 448 || !(data.value & 0xe0)) { 449 break; 450 } else { 451 int command, channel, kind; 452 struct config_t *cur_config = 0; 453 454 channel = data.value & 0x1f; 455 kind = (data.value >> 5) & 0x7; 456 command = (data.value >> 8) & 0x3; 457 switch (kind) { 458 case 1:{ 459 cur_config = dig_in_config; 460 } 461 break; 462 case 2:{ 463 cur_config = dig_out_config; 464 } 465 break; 466 case 3:{ 467 cur_config = chan_in_config; 468 } 469 break; 470 case 4:{ 471 cur_config = chan_out_config; 472 } 473 break; 474 case 5:{ 475 cur_config = chan_in_config; 476 } 477 break; 478 } 479 480 if (cur_config) { 481 cur_config[channel].kind = kind; 482 switch (command) { 483 case 0:{ 484 cur_config[channel].bits 485 = 486 (data.value >> 10) & 487 0x3f; 488 } 489 break; 490 case 1:{ 491 int unit, sign, min; 492 unit = 493 (data.value >> 10) & 494 0x7; 495 sign = 496 (data.value >> 13) & 497 0x1; 498 min = 499 (data.value >> 14) & 500 0xfffff; 501 502 switch (unit) { 503 case 0:{ 504 min = 505 min 506 * 507 1000000; 508 } 509 break; 510 case 1:{ 511 min = 512 min 513 * 514 1000; 515 } 516 break; 517 case 2:{ 518 min = 519 min 520 * 1; 521 } 522 break; 523 } 524 if (sign) { 525 min = -min; 526 } 527 cur_config[channel].min 528 = min; 529 } 530 break; 531 case 2:{ 532 int unit, sign, max; 533 unit = 534 (data.value >> 10) & 535 0x7; 536 sign = 537 (data.value >> 13) & 538 0x1; 539 max = 540 (data.value >> 14) & 541 0xfffff; 542 543 switch (unit) { 544 case 0:{ 545 max = 546 max 547 * 548 1000000; 549 } 550 break; 551 case 1:{ 552 max = 553 max 554 * 555 1000; 556 } 557 break; 558 case 2:{ 559 max = 560 max 561 * 1; 562 } 563 break; 564 } 565 if (sign) { 566 max = -max; 567 } 568 cur_config[channel].max 569 = max; 570 } 571 break; 572 } 573 } 574 } 575 } 576 for (i = 0; i <= 4; i++) { 577 /* Fill in subdev data */ 578 struct config_t *c; 579 unsigned char *mapping = 0; 580 struct serial2002_range_table_t *range = 0; 581 int kind = 0; 582 583 switch (i) { 584 case 0:{ 585 c = dig_in_config; 586 mapping = devpriv->digital_in_mapping; 587 kind = 1; 588 } 589 break; 590 case 1:{ 591 c = dig_out_config; 592 mapping = devpriv->digital_out_mapping; 593 kind = 2; 594 } 595 break; 596 case 2:{ 597 c = chan_in_config; 598 mapping = devpriv->analog_in_mapping; 599 range = devpriv->in_range; 600 kind = 3; 601 } 602 break; 603 case 3:{ 604 c = chan_out_config; 605 mapping = devpriv->analog_out_mapping; 606 range = devpriv->out_range; 607 kind = 4; 608 } 609 break; 610 case 4:{ 611 c = chan_in_config; 612 mapping = devpriv->encoder_in_mapping; 613 range = devpriv->in_range; 614 kind = 5; 615 } 616 break; 617 default:{ 618 c = 0; 619 } 620 break; 621 } 622 if (c) { 623 struct comedi_subdevice *s; 624 const struct comedi_lrange **range_table_list = 625 NULL; 626 unsigned int *maxdata_list; 627 int j, chan; 628 629 for (chan = 0, j = 0; j < 32; j++) { 630 if (c[j].kind == kind) { 631 chan++; 632 } 633 } 634 s = &dev->subdevices[i]; 635 s->n_chan = chan; 636 s->maxdata = 0; 637 kfree(s->maxdata_list); 638 s->maxdata_list = maxdata_list = 639 kmalloc(sizeof(unsigned int) * s->n_chan, 640 GFP_KERNEL); 641 if (!s->maxdata_list) 642 break; /* error handled below */ 643 kfree(s->range_table_list); 644 s->range_table = NULL; 645 s->range_table_list = NULL; 646 if (range) { 647 s->range_table_list = range_table_list = 648 kmalloc(sizeof 649 (struct 650 serial2002_range_table_t) * 651 s->n_chan, GFP_KERNEL); 652 if (!s->range_table_list) 653 break; /* err handled below */ 654 } 655 for (chan = 0, j = 0; j < 32; j++) { 656 if (c[j].kind == kind) { 657 if (mapping) { 658 mapping[chan] = j; 659 } 660 if (range) { 661 range[j].length = 1; 662 range[j].range.min = 663 c[j].min; 664 range[j].range.max = 665 c[j].max; 666 range_table_list[chan] = 667 (const struct 668 comedi_lrange *) 669 &range[j]; 670 } 671 maxdata_list[chan] = 672 ((long long)1 << c[j].bits) 673 - 1; 674 chan++; 675 } 676 } 677 } 678 } 679 if (i <= 4) { 680 /* Failed to allocate maxdata_list or range_table_list 681 * for a subdevice that needed it. */ 682 result = -ENOMEM; 683 for (i = 0; i <= 4; i++) { 684 struct comedi_subdevice *s; 685 686 s = &dev->subdevices[i]; 687 kfree(s->maxdata_list); 688 s->maxdata_list = NULL; 689 kfree(s->range_table_list); 690 s->range_table_list = NULL; 691 } 692 } 693 if (result) { 694 if (devpriv->tty) { 695 filp_close(devpriv->tty, 0); 696 devpriv->tty = NULL; 697 } 698 } 699 } 700 return result; 701} 702 703static void serial_2002_close(struct comedi_device *dev) 704{ 705 if (!IS_ERR(devpriv->tty) && (devpriv->tty != 0)) { 706 filp_close(devpriv->tty, 0); 707 } 708} 709 710static int serial2002_di_rinsn(struct comedi_device *dev, 711 struct comedi_subdevice *s, 712 struct comedi_insn *insn, unsigned int *data) 713{ 714 int n; 715 int chan; 716 717 chan = devpriv->digital_in_mapping[CR_CHAN(insn->chanspec)]; 718 for (n = 0; n < insn->n; n++) { 719 struct serial_data read; 720 721 poll_digital(devpriv->tty, chan); 722 while (1) { 723 read = serial_read(devpriv->tty, 1000); 724 if (read.kind != is_digital || read.index == chan) { 725 break; 726 } 727 } 728 data[n] = read.value; 729 } 730 return n; 731} 732 733static int serial2002_do_winsn(struct comedi_device *dev, 734 struct comedi_subdevice *s, 735 struct comedi_insn *insn, unsigned int *data) 736{ 737 int n; 738 int chan; 739 740 chan = devpriv->digital_out_mapping[CR_CHAN(insn->chanspec)]; 741 for (n = 0; n < insn->n; n++) { 742 struct serial_data write; 743 744 write.kind = is_digital; 745 write.index = chan; 746 write.value = data[n]; 747 serial_write(devpriv->tty, write); 748 } 749 return n; 750} 751 752static int serial2002_ai_rinsn(struct comedi_device *dev, 753 struct comedi_subdevice *s, 754 struct comedi_insn *insn, unsigned int *data) 755{ 756 int n; 757 int chan; 758 759 chan = devpriv->analog_in_mapping[CR_CHAN(insn->chanspec)]; 760 for (n = 0; n < insn->n; n++) { 761 struct serial_data read; 762 763 poll_channel(devpriv->tty, chan); 764 while (1) { 765 read = serial_read(devpriv->tty, 1000); 766 if (read.kind != is_channel || read.index == chan) { 767 break; 768 } 769 } 770 data[n] = read.value; 771 } 772 return n; 773} 774 775static int serial2002_ao_winsn(struct comedi_device *dev, 776 struct comedi_subdevice *s, 777 struct comedi_insn *insn, unsigned int *data) 778{ 779 int n; 780 int chan; 781 782 chan = devpriv->analog_out_mapping[CR_CHAN(insn->chanspec)]; 783 for (n = 0; n < insn->n; n++) { 784 struct serial_data write; 785 786 write.kind = is_channel; 787 write.index = chan; 788 write.value = data[n]; 789 serial_write(devpriv->tty, write); 790 devpriv->ao_readback[chan] = data[n]; 791 } 792 return n; 793} 794 795static int serial2002_ao_rinsn(struct comedi_device *dev, 796 struct comedi_subdevice *s, 797 struct comedi_insn *insn, unsigned int *data) 798{ 799 int n; 800 int chan = CR_CHAN(insn->chanspec); 801 802 for (n = 0; n < insn->n; n++) { 803 data[n] = devpriv->ao_readback[chan]; 804 } 805 806 return n; 807} 808 809static int serial2002_ei_rinsn(struct comedi_device *dev, 810 struct comedi_subdevice *s, 811 struct comedi_insn *insn, unsigned int *data) 812{ 813 int n; 814 int chan; 815 816 chan = devpriv->encoder_in_mapping[CR_CHAN(insn->chanspec)]; 817 for (n = 0; n < insn->n; n++) { 818 struct serial_data read; 819 820 poll_channel(devpriv->tty, chan); 821 while (1) { 822 read = serial_read(devpriv->tty, 1000); 823 if (read.kind != is_channel || read.index == chan) { 824 break; 825 } 826 } 827 data[n] = read.value; 828 } 829 return n; 830} 831 832static int serial2002_attach(struct comedi_device *dev, 833 struct comedi_devconfig *it) 834{ 835 struct comedi_subdevice *s; 836 837 printk("comedi%d: serial2002: ", dev->minor); 838 dev->board_name = thisboard->name; 839 if (alloc_private(dev, sizeof(struct serial2002_private)) < 0) { 840 return -ENOMEM; 841 } 842 dev->open = serial_2002_open; 843 dev->close = serial_2002_close; 844 devpriv->port = it->options[0]; 845 devpriv->speed = it->options[1]; 846 printk("/dev/ttyS%d @ %d\n", devpriv->port, devpriv->speed); 847 848 if (alloc_subdevices(dev, 5) < 0) 849 return -ENOMEM; 850 851 /* digital input subdevice */ 852 s = dev->subdevices + 0; 853 s->type = COMEDI_SUBD_DI; 854 s->subdev_flags = SDF_READABLE; 855 s->n_chan = 0; 856 s->maxdata = 1; 857 s->range_table = &range_digital; 858 s->insn_read = &serial2002_di_rinsn; 859 860 /* digital output subdevice */ 861 s = dev->subdevices + 1; 862 s->type = COMEDI_SUBD_DO; 863 s->subdev_flags = SDF_WRITEABLE; 864 s->n_chan = 0; 865 s->maxdata = 1; 866 s->range_table = &range_digital; 867 s->insn_write = &serial2002_do_winsn; 868 869 /* analog input subdevice */ 870 s = dev->subdevices + 2; 871 s->type = COMEDI_SUBD_AI; 872 s->subdev_flags = SDF_READABLE | SDF_GROUND; 873 s->n_chan = 0; 874 s->maxdata = 1; 875 s->range_table = 0; 876 s->insn_read = &serial2002_ai_rinsn; 877 878 /* analog output subdevice */ 879 s = dev->subdevices + 3; 880 s->type = COMEDI_SUBD_AO; 881 s->subdev_flags = SDF_WRITEABLE; 882 s->n_chan = 0; 883 s->maxdata = 1; 884 s->range_table = 0; 885 s->insn_write = &serial2002_ao_winsn; 886 s->insn_read = &serial2002_ao_rinsn; 887 888 /* encoder input subdevice */ 889 s = dev->subdevices + 4; 890 s->type = COMEDI_SUBD_COUNTER; 891 s->subdev_flags = SDF_READABLE | SDF_LSAMPL; 892 s->n_chan = 0; 893 s->maxdata = 1; 894 s->range_table = 0; 895 s->insn_read = &serial2002_ei_rinsn; 896 897 return 1; 898} 899 900static int serial2002_detach(struct comedi_device *dev) 901{ 902 struct comedi_subdevice *s; 903 int i; 904 905 printk("comedi%d: serial2002: remove\n", dev->minor); 906 for (i = 0; i < 4; i++) { 907 s = &dev->subdevices[i]; 908 if (s->maxdata_list) { 909 kfree(s->maxdata_list); 910 } 911 if (s->range_table_list) { 912 kfree(s->range_table_list); 913 } 914 } 915 return 0; 916} 917 918COMEDI_INITCLEANUP(driver_serial2002); 919