serial2002.c revision b3fb588d463c575706fe80e9c30bf4b1c7702034 
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
63struct serial2002_range_table_t {
64
65	// HACK...
66	int length;
67	struct comedi_krange range;
68};
69
70
71typedef struct {
72	int port;		// /dev/ttyS<port>
73	int speed;		// baudrate
74	struct file *tty;
75	unsigned int ao_readback[32];
76	unsigned char digital_in_mapping[32];
77	unsigned char digital_out_mapping[32];
78	unsigned char analog_in_mapping[32];
79	unsigned char analog_out_mapping[32];
80	unsigned char encoder_in_mapping[32];
81	struct serial2002_range_table_t in_range[32], out_range[32];
82} serial2002_private;
83
84/*
85 * most drivers define the following macro to make it easy to
86 * access the private structure.
87 */
88#define devpriv ((serial2002_private *)dev->private)
89
90static int serial2002_attach(struct comedi_device * dev, struct comedi_devconfig * it);
91static int serial2002_detach(struct comedi_device * dev);
92struct comedi_driver driver_serial2002 = {
93      driver_name:"serial2002",
94      module:THIS_MODULE,
95      attach:serial2002_attach,
96      detach:serial2002_detach,
97      board_name:&serial2002_boards[0].name,
98      offset:sizeof(serial2002_board),
99      num_names:sizeof(serial2002_boards) / sizeof(serial2002_board),
100};
101
102static int serial2002_di_rinsn(struct comedi_device * dev, struct comedi_subdevice * s,
103	struct comedi_insn * insn, unsigned int * data);
104static int serial2002_do_winsn(struct comedi_device * dev, struct comedi_subdevice * s,
105	struct comedi_insn * insn, unsigned int * data);
106static int serial2002_ai_rinsn(struct comedi_device * dev, struct comedi_subdevice * s,
107	struct comedi_insn * insn, unsigned int * data);
108static int serial2002_ao_winsn(struct comedi_device * dev, struct comedi_subdevice * s,
109	struct comedi_insn * insn, unsigned int * data);
110static int serial2002_ao_rinsn(struct comedi_device * dev, struct comedi_subdevice * s,
111	struct comedi_insn * insn, unsigned int * data);
112
113struct serial_data {
114	enum { is_invalid, is_digital, is_channel } kind;
115	int index;
116	unsigned long value;
117};
118
119static long tty_ioctl(struct file *f, unsigned op, unsigned long param)
120{
121#ifdef HAVE_UNLOCKED_IOCTL
122  	if (f->f_op->unlocked_ioctl) {
123		return f->f_op->unlocked_ioctl(f, op, param);
124	}
125#endif
126	if (f->f_op->ioctl) {
127	  	return f->f_op->ioctl(f->f_dentry->d_inode, f, op, param);
128	}
129	return -ENOSYS;
130}
131
132static int tty_write(struct file *f, unsigned char *buf, int count)
133{
134	int result;
135	mm_segment_t oldfs;
136
137	oldfs = get_fs();
138	set_fs(KERNEL_DS);
139	f->f_pos = 0;
140	result = f->f_op->write(f, buf, count, &f->f_pos);
141	set_fs(oldfs);
142	return result;
143}
144
145#if 0
146/*
147 * On 2.6.26.3 this occaisonally gave me page faults, worked around by
148 * settings.c_cc[VMIN] = 0; settings.c_cc[VTIME] = 0
149 */
150static int tty_available(struct file *f)
151{
152	long result = 0;
153	mm_segment_t oldfs;
154
155	oldfs = get_fs();
156	set_fs(KERNEL_DS);
157	tty_ioctl(f, FIONREAD, (unsigned long)&result);
158	set_fs(oldfs);
159	return result;
160}
161#endif
162
163static int tty_read(struct file *f, int timeout)
164{
165	int result;
166
167	result = -1;
168	if (!IS_ERR(f)) {
169		mm_segment_t oldfs;
170
171		oldfs = get_fs();
172		set_fs(KERNEL_DS);
173		if (f->f_op->poll) {
174			struct poll_wqueues table;
175			struct timeval start, now;
176
177			do_gettimeofday(&start);
178			poll_initwait(&table);
179			while (1) {
180				long elapsed;
181				int mask;
182
183				mask = f->f_op->poll(f, &table.pt);
184				if (mask & (POLLRDNORM | POLLRDBAND | POLLIN |
185						POLLHUP | POLLERR)) {
186					break;
187				}
188				do_gettimeofday(&now);
189				elapsed =
190					(1000000 * (now.tv_sec - start.tv_sec) +
191					now.tv_usec - start.tv_usec);
192				if (elapsed > timeout) {
193					break;
194				}
195				set_current_state(TASK_INTERRUPTIBLE);
196				schedule_timeout(((timeout -
197							elapsed) * HZ) / 10000);
198			}
199			poll_freewait(&table);
200			{
201			  unsigned char ch;
202
203			  f->f_pos = 0;
204			  if (f->f_op->read(f, &ch, 1, &f->f_pos) == 1) {
205			    result = ch;
206			  }
207			}
208		} else {
209			/* Device does not support poll, busy wait */
210			int retries = 0;
211			while (1) {
212			  	unsigned char ch;
213
214				retries++;
215				if (retries >= timeout) {
216					break;
217				}
218
219				f->f_pos = 0;
220				if (f->f_op->read(f, &ch, 1, &f->f_pos) == 1) {
221				  	result = ch;
222					break;
223				}
224				comedi_udelay(100);
225			}
226		}
227		set_fs(oldfs);
228	}
229	return result;
230}
231
232static void tty_setspeed(struct file *f, int speed)
233{
234	mm_segment_t oldfs;
235
236	oldfs = get_fs();
237	set_fs(KERNEL_DS);
238	{
239		// Set speed
240		struct termios settings;
241
242		tty_ioctl(f, TCGETS, (unsigned long)&settings);
243//    printk("Speed: %d\n", settings.c_cflag & (CBAUD | CBAUDEX));
244		settings.c_iflag = 0;
245		settings.c_oflag = 0;
246		settings.c_lflag = 0;
247		settings.c_cflag = CLOCAL | CS8 | CREAD;
248		settings.c_cc[VMIN] = 0;
249		settings.c_cc[VTIME] = 0;
250		switch (speed) {
251		case 2400:{
252				settings.c_cflag |= B2400;
253			}
254			break;
255		case 4800:{
256				settings.c_cflag |= B4800;
257			}
258			break;
259		case 9600:{
260				settings.c_cflag |= B9600;
261			}
262			break;
263		case 19200:{
264				settings.c_cflag |= B19200;
265			}
266			break;
267		case 38400:{
268				settings.c_cflag |= B38400;
269			}
270			break;
271		case 57600:{
272				settings.c_cflag |= B57600;
273			}
274			break;
275		case 115200:{
276				settings.c_cflag |= B115200;
277			}
278			break;
279		default:{
280				settings.c_cflag |= B9600;
281			}
282			break;
283		}
284		tty_ioctl(f, TCSETS, (unsigned long)&settings);
285//    printk("Speed: %d\n", settings.c_cflag & (CBAUD | CBAUDEX));
286	}
287	{
288		// Set low latency
289		struct serial_struct settings;
290
291		tty_ioctl(f, TIOCGSERIAL, (unsigned long)&settings);
292		settings.flags |= ASYNC_LOW_LATENCY;
293		tty_ioctl(f, TIOCSSERIAL, (unsigned long)&settings);
294	}
295
296	set_fs(oldfs);
297}
298
299static void poll_digital(struct file *f, int channel)
300{
301	char cmd;
302
303	cmd = 0x40 | (channel & 0x1f);
304	tty_write(f, &cmd, 1);
305}
306
307static void poll_channel(struct file *f, int channel)
308{
309	char cmd;
310
311	cmd = 0x60 | (channel & 0x1f);
312	tty_write(f, &cmd, 1);
313}
314
315static struct serial_data serial_read(struct file *f, int timeout)
316{
317	struct serial_data result;
318	int length;
319
320	result.kind = is_invalid;
321	result.index = 0;
322	result.value = 0;
323	length = 0;
324	while (1) {
325		int data = tty_read(f, timeout);
326
327		length++;
328		if (data < 0) {
329			printk("serial2002 error\n");
330			break;
331		} else if (data & 0x80) {
332			result.value = (result.value << 7) | (data & 0x7f);
333		} else {
334			if (length == 1) {
335				switch ((data >> 5) & 0x03) {
336				case 0:{
337						result.value = 0;
338						result.kind = is_digital;
339					}
340					break;
341				case 1:{
342						result.value = 1;
343						result.kind = is_digital;
344					}
345					break;
346				}
347			} else {
348				result.value =
349					(result.
350					value << 2) | ((data & 0x60) >> 5);
351				result.kind = is_channel;
352			}
353			result.index = data & 0x1f;
354			break;
355		}
356	}
357	return result;
358
359}
360
361static void serial_write(struct file *f, struct serial_data data)
362{
363	if (data.kind == is_digital) {
364		unsigned char ch =
365			((data.value << 5) & 0x20) | (data.index & 0x1f);
366		tty_write(f, &ch, 1);
367	} else {
368		unsigned char ch[6];
369		int i = 0;
370		if (data.value >= (1L << 30)) {
371			ch[i] = 0x80 | ((data.value >> 30) & 0x03);
372			i++;
373		}
374		if (data.value >= (1L << 23)) {
375			ch[i] = 0x80 | ((data.value >> 23) & 0x7f);
376			i++;
377		}
378		if (data.value >= (1L << 16)) {
379			ch[i] = 0x80 | ((data.value >> 16) & 0x7f);
380			i++;
381		}
382		if (data.value >= (1L << 9)) {
383			ch[i] = 0x80 | ((data.value >> 9) & 0x7f);
384			i++;
385		}
386		ch[i] = 0x80 | ((data.value >> 2) & 0x7f);
387		i++;
388		ch[i] = ((data.value << 5) & 0x60) | (data.index & 0x1f);
389		i++;
390		tty_write(f, ch, i);
391	}
392}
393
394static void serial_2002_open(struct comedi_device * dev)
395{
396	char port[20];
397
398	sprintf(port, "/dev/ttyS%d", devpriv->port);
399	devpriv->tty = filp_open(port, 0, O_RDWR);
400	if (IS_ERR(devpriv->tty)) {
401		printk("serial_2002: file open error = %ld\n",
402			PTR_ERR(devpriv->tty));
403	} else {
404		typedef struct {
405			int kind;
406			int bits;
407			int min;
408			int max;
409		} config_t;
410		config_t dig_in_config[32];
411		config_t dig_out_config[32];
412		config_t chan_in_config[32];
413		config_t chan_out_config[32];
414		int i;
415
416		for (i = 0; i < 32; i++) {
417			dig_in_config[i].kind = 0;
418			dig_in_config[i].bits = 0;
419			dig_in_config[i].min = 0;
420			dig_in_config[i].max = 0;
421			dig_out_config[i].kind = 0;
422			dig_out_config[i].bits = 0;
423			dig_out_config[i].min = 0;
424			dig_out_config[i].max = 0;
425			chan_in_config[i].kind = 0;
426			chan_in_config[i].bits = 0;
427			chan_in_config[i].min = 0;
428			chan_in_config[i].max = 0;
429			chan_out_config[i].kind = 0;
430			chan_out_config[i].bits = 0;
431			chan_out_config[i].min = 0;
432			chan_out_config[i].max = 0;
433		}
434
435		tty_setspeed(devpriv->tty, devpriv->speed);
436		poll_channel(devpriv->tty, 31);	// Start reading configuration
437		while (1) {
438			struct serial_data data;
439
440			data = serial_read(devpriv->tty, 1000);
441			if (data.kind != is_channel || data.index != 31
442				|| !(data.value & 0xe0)) {
443				break;
444			} else {
445				int command, channel, kind;
446				config_t *cur_config = 0;
447
448				channel = data.value & 0x1f;
449				kind = (data.value >> 5) & 0x7;
450				command = (data.value >> 8) & 0x3;
451				switch (kind) {
452				case 1:{
453						cur_config = dig_in_config;
454					}
455					break;
456				case 2:{
457						cur_config = dig_out_config;
458					}
459					break;
460				case 3:{
461						cur_config = chan_in_config;
462					}
463					break;
464				case 4:{
465						cur_config = chan_out_config;
466					}
467					break;
468				case 5:{
469						cur_config = chan_in_config;
470					}
471					break;
472				}
473
474				if (cur_config) {
475					cur_config[channel].kind = kind;
476					switch (command) {
477					case 0:{
478							cur_config[channel].
479								bits =
480								(data.
481								value >> 10) &
482								0x3f;
483						}
484						break;
485					case 1:{
486							int unit, sign, min;
487							unit = (data.
488								value >> 10) &
489								0x7;
490							sign = (data.
491								value >> 13) &
492								0x1;
493							min = (data.
494								value >> 14) &
495								0xfffff;
496
497							switch (unit) {
498							case 0:{
499									min = min * 1000000;
500								}
501								break;
502							case 1:{
503									min = min * 1000;
504								}
505								break;
506							case 2:{
507									min = min * 1;
508								}
509								break;
510							}
511							if (sign) {
512								min = -min;
513							}
514							cur_config[channel].
515								min = min;
516						}
517						break;
518					case 2:{
519							int unit, sign, max;
520							unit = (data.
521								value >> 10) &
522								0x7;
523							sign = (data.
524								value >> 13) &
525								0x1;
526							max = (data.
527								value >> 14) &
528								0xfffff;
529
530							switch (unit) {
531							case 0:{
532									max = max * 1000000;
533								}
534								break;
535							case 1:{
536									max = max * 1000;
537								}
538								break;
539							case 2:{
540									max = max * 1;
541								}
542								break;
543							}
544							if (sign) {
545								max = -max;
546							}
547							cur_config[channel].
548								max = max;
549						}
550						break;
551					}
552				}
553			}
554		}
555		for (i = 0; i <= 4; i++) {
556			// Fill in subdev data
557			config_t *c;
558			unsigned char *mapping = 0;
559			struct serial2002_range_table_t *range = 0;
560			int kind = 0;
561
562			switch (i) {
563			case 0:{
564					c = dig_in_config;
565					mapping = devpriv->digital_in_mapping;
566					kind = 1;
567				}
568				break;
569			case 1:{
570					c = dig_out_config;
571					mapping = devpriv->digital_out_mapping;
572					kind = 2;
573				}
574				break;
575			case 2:{
576					c = chan_in_config;
577					mapping = devpriv->analog_in_mapping;
578					range = devpriv->in_range;
579					kind = 3;
580				}
581				break;
582			case 3:{
583					c = chan_out_config;
584					mapping = devpriv->analog_out_mapping;
585					range = devpriv->out_range;
586					kind = 4;
587				}
588				break;
589			case 4:{
590					c = chan_in_config;
591					mapping = devpriv->encoder_in_mapping;
592					range = devpriv->in_range;
593					kind = 5;
594				}
595				break;
596			default:{
597					c = 0;
598				}
599				break;
600			}
601			if (c) {
602				struct comedi_subdevice *s;
603				const struct comedi_lrange **range_table_list = NULL;
604				unsigned int *maxdata_list;
605				int j, chan;
606
607				for (chan = 0, j = 0; j < 32; j++) {
608					if (c[j].kind == kind) {
609						chan++;
610					}
611				}
612				s = &dev->subdevices[i];
613				s->n_chan = chan;
614				s->maxdata = 0;
615				if (s->maxdata_list) {
616					kfree(s->maxdata_list);
617				}
618				s->maxdata_list = maxdata_list =
619					kmalloc(sizeof(unsigned int) * s->n_chan,
620					GFP_KERNEL);
621				if (s->range_table_list) {
622					kfree(s->range_table_list);
623				}
624				if (range) {
625					s->range_table = 0;
626					s->range_table_list = range_table_list =
627						kmalloc(sizeof
628						(struct serial2002_range_table_t) *
629						s->n_chan, GFP_KERNEL);
630				}
631				for (chan = 0, j = 0; j < 32; j++) {
632					if (c[j].kind == kind) {
633						if (mapping) {
634							mapping[chan] = j;
635						}
636						if (range) {
637							range[j].length = 1;
638							range[j].range.min =
639								c[j].min;
640							range[j].range.max =
641								c[j].max;
642							range_table_list[chan] =
643								(const struct
644								comedi_lrange *)
645								&range[j];
646						}
647						maxdata_list[chan] =
648							((long long)1 << c[j].
649							bits) - 1;
650						chan++;
651					}
652				}
653			}
654		}
655	}
656}
657
658static void serial_2002_close(struct comedi_device * dev)
659{
660	if (!IS_ERR(devpriv->tty) && (devpriv->tty != 0)) {
661		filp_close(devpriv->tty, 0);
662	}
663}
664
665static int serial2002_di_rinsn(struct comedi_device * dev, struct comedi_subdevice * s,
666	struct comedi_insn * insn, unsigned int * data)
667{
668	int n;
669	int chan;
670
671	chan = devpriv->digital_in_mapping[CR_CHAN(insn->chanspec)];
672	for (n = 0; n < insn->n; n++) {
673		struct serial_data read;
674
675		poll_digital(devpriv->tty, chan);
676		while (1) {
677			read = serial_read(devpriv->tty, 1000);
678			if (read.kind != is_digital || read.index == chan) {
679				break;
680			}
681		}
682		data[n] = read.value;
683	}
684	return n;
685}
686
687static int serial2002_do_winsn(struct comedi_device * dev, struct comedi_subdevice * s,
688	struct comedi_insn * insn, unsigned int * data)
689{
690	int n;
691	int chan;
692
693	chan = devpriv->digital_out_mapping[CR_CHAN(insn->chanspec)];
694	for (n = 0; n < insn->n; n++) {
695		struct serial_data write;
696
697		write.kind = is_digital;
698		write.index = chan;
699		write.value = data[n];
700		serial_write(devpriv->tty, write);
701	}
702	return n;
703}
704
705static int serial2002_ai_rinsn(struct comedi_device * dev, struct comedi_subdevice * s,
706	struct comedi_insn * insn, unsigned int * data)
707{
708	int n;
709	int chan;
710
711	chan = devpriv->analog_in_mapping[CR_CHAN(insn->chanspec)];
712	for (n = 0; n < insn->n; n++) {
713		struct serial_data read;
714
715		poll_channel(devpriv->tty, chan);
716		while (1) {
717			read = serial_read(devpriv->tty, 1000);
718			if (read.kind != is_channel || read.index == chan) {
719				break;
720			}
721		}
722		data[n] = read.value;
723	}
724	return n;
725}
726
727static int serial2002_ao_winsn(struct comedi_device * dev, struct comedi_subdevice * s,
728	struct comedi_insn * insn, unsigned int * data)
729{
730	int n;
731	int chan;
732
733	chan = devpriv->analog_out_mapping[CR_CHAN(insn->chanspec)];
734	for (n = 0; n < insn->n; n++) {
735		struct serial_data write;
736
737		write.kind = is_channel;
738		write.index = chan;
739		write.value = data[n];
740		serial_write(devpriv->tty, write);
741		devpriv->ao_readback[chan] = data[n];
742	}
743	return n;
744}
745
746static int serial2002_ao_rinsn(struct comedi_device * dev, struct comedi_subdevice * s,
747	struct comedi_insn * insn, unsigned int * data)
748{
749	int n;
750	int chan = CR_CHAN(insn->chanspec);
751
752	for (n = 0; n < insn->n; n++) {
753		data[n] = devpriv->ao_readback[chan];
754	}
755
756	return n;
757}
758
759static int serial2002_ei_rinsn(struct comedi_device * dev, struct comedi_subdevice * s,
760	struct comedi_insn * insn, unsigned int * data)
761{
762	int n;
763	int chan;
764
765	chan = devpriv->encoder_in_mapping[CR_CHAN(insn->chanspec)];
766	for (n = 0; n < insn->n; n++) {
767		struct serial_data read;
768
769		poll_channel(devpriv->tty, chan);
770		while (1) {
771			read = serial_read(devpriv->tty, 1000);
772			if (read.kind != is_channel || read.index == chan) {
773				break;
774			}
775		}
776		data[n] = read.value;
777	}
778	return n;
779}
780
781static int serial2002_attach(struct comedi_device * dev, struct comedi_devconfig * it)
782{
783	struct comedi_subdevice *s;
784
785	printk("comedi%d: serial2002: ", dev->minor);
786	dev->board_name = thisboard->name;
787	if (alloc_private(dev, sizeof(serial2002_private)) < 0) {
788		return -ENOMEM;
789	}
790	dev->open = serial_2002_open;
791	dev->close = serial_2002_close;
792	devpriv->port = it->options[0];
793	devpriv->speed = it->options[1];
794	printk("/dev/ttyS%d @ %d\n", devpriv->port, devpriv->speed);
795
796	if (alloc_subdevices(dev, 5) < 0)
797		return -ENOMEM;
798
799	/* digital input subdevice */
800	s = dev->subdevices + 0;
801	s->type = COMEDI_SUBD_DI;
802	s->subdev_flags = SDF_READABLE;
803	s->n_chan = 0;
804	s->maxdata = 1;
805	s->range_table = &range_digital;
806	s->insn_read = &serial2002_di_rinsn;
807
808	/* digital output subdevice */
809	s = dev->subdevices + 1;
810	s->type = COMEDI_SUBD_DO;
811	s->subdev_flags = SDF_WRITEABLE;
812	s->n_chan = 0;
813	s->maxdata = 1;
814	s->range_table = &range_digital;
815	s->insn_write = &serial2002_do_winsn;
816
817	/* analog input subdevice */
818	s = dev->subdevices + 2;
819	s->type = COMEDI_SUBD_AI;
820	s->subdev_flags = SDF_READABLE | SDF_GROUND;
821	s->n_chan = 0;
822	s->maxdata = 1;
823	s->range_table = 0;
824	s->insn_read = &serial2002_ai_rinsn;
825
826	/* analog output subdevice */
827	s = dev->subdevices + 3;
828	s->type = COMEDI_SUBD_AO;
829	s->subdev_flags = SDF_WRITEABLE;
830	s->n_chan = 0;
831	s->maxdata = 1;
832	s->range_table = 0;
833	s->insn_write = &serial2002_ao_winsn;
834	s->insn_read = &serial2002_ao_rinsn;
835
836	/* encoder input subdevice */
837	s = dev->subdevices + 4;
838	s->type = COMEDI_SUBD_COUNTER;
839	s->subdev_flags = SDF_READABLE | SDF_LSAMPL;
840	s->n_chan = 0;
841	s->maxdata = 1;
842	s->range_table = 0;
843	s->insn_read = &serial2002_ei_rinsn;
844
845	return 1;
846}
847
848static int serial2002_detach(struct comedi_device * dev)
849{
850	struct comedi_subdevice *s;
851	int i;
852
853	printk("comedi%d: serial2002: remove\n", dev->minor);
854	for (i = 0; i < 4; i++) {
855		s = &dev->subdevices[i];
856		if (s->maxdata_list) {
857			kfree(s->maxdata_list);
858		}
859		if (s->range_table_list) {
860			kfree(s->range_table_list);
861		}
862	}
863	return 0;
864}
865
866COMEDI_INITCLEANUP(driver_serial2002);
867