+++ /dev/null
-// SPDX-License-Identifier: GPL-2.0+
-/*
- * serial2002.c
- * Comedi driver for serial connected hardware
- *
- * COMEDI - Linux Control and Measurement Device Interface
- * Copyright (C) 2002 Anders Blomdell <anders.blomdell@control.lth.se>
- */
-
-/*
- * Driver: serial2002
- * Description: Driver for serial connected hardware
- * Devices:
- * Author: Anders Blomdell
- * Updated: Fri, 7 Jun 2002 12:56:45 -0700
- * Status: in development
- */
-
-#include <linux/module.h>
-#include "../comedidev.h"
-
-#include <linux/delay.h>
-#include <linux/sched.h>
-#include <linux/slab.h>
-#include <linux/ktime.h>
-
-#include <linux/termios.h>
-#include <asm/ioctls.h>
-#include <linux/serial.h>
-#include <linux/poll.h>
-
-struct serial2002_range_table_t {
- /* HACK... */
- int length;
- struct comedi_krange range;
-};
-
-struct serial2002_private {
- int port; /* /dev/ttyS<port> */
- int speed; /* baudrate */
- struct file *tty;
- unsigned int ao_readback[32];
- unsigned char digital_in_mapping[32];
- unsigned char digital_out_mapping[32];
- unsigned char analog_in_mapping[32];
- unsigned char analog_out_mapping[32];
- unsigned char encoder_in_mapping[32];
- struct serial2002_range_table_t in_range[32], out_range[32];
-};
-
-struct serial_data {
- enum { is_invalid, is_digital, is_channel } kind;
- int index;
- unsigned long value;
-};
-
-/*
- * The configuration serial_data.value read from the device is
- * a bitmask that defines specific options of a channel:
- *
- * 4:0 - the channel to configure
- * 7:5 - the kind of channel
- * 9:8 - the command used to configure the channel
- *
- * The remaining bits vary in use depending on the command:
- *
- * BITS 15:10 - the channel bits (maxdata)
- * MIN/MAX 12:10 - the units multiplier for the scale
- * 13 - the sign of the scale
- * 33:14 - the base value for the range
- */
-#define S2002_CFG_CHAN(x) ((x) & 0x1f)
-#define S2002_CFG_KIND(x) (((x) >> 5) & 0x7)
-#define S2002_CFG_KIND_INVALID 0
-#define S2002_CFG_KIND_DIGITAL_IN 1
-#define S2002_CFG_KIND_DIGITAL_OUT 2
-#define S2002_CFG_KIND_ANALOG_IN 3
-#define S2002_CFG_KIND_ANALOG_OUT 4
-#define S2002_CFG_KIND_ENCODER_IN 5
-#define S2002_CFG_CMD(x) (((x) >> 8) & 0x3)
-#define S2002_CFG_CMD_BITS 0
-#define S2002_CFG_CMD_MIN 1
-#define S2002_CFG_CMD_MAX 2
-#define S2002_CFG_BITS(x) (((x) >> 10) & 0x3f)
-#define S2002_CFG_UNITS(x) (((x) >> 10) & 0x7)
-#define S2002_CFG_SIGN(x) (((x) >> 13) & 0x1)
-#define S2002_CFG_BASE(x) (((x) >> 14) & 0xfffff)
-
-static long serial2002_tty_ioctl(struct file *f, unsigned int op,
- unsigned long param)
-{
- if (f->f_op->unlocked_ioctl)
- return f->f_op->unlocked_ioctl(f, op, param);
-
- return -ENOTTY;
-}
-
-static int serial2002_tty_write(struct file *f, unsigned char *buf, int count)
-{
- loff_t pos = 0;
-
- return kernel_write(f, buf, count, &pos);
-}
-
-static void serial2002_tty_read_poll_wait(struct file *f, int timeout)
-{
- struct poll_wqueues table;
- ktime_t start, now;
-
- start = ktime_get();
- poll_initwait(&table);
- while (1) {
- long elapsed;
- __poll_t mask;
-
- mask = vfs_poll(f, &table.pt);
- if (mask & (EPOLLRDNORM | EPOLLRDBAND | EPOLLIN |
- EPOLLHUP | EPOLLERR)) {
- break;
- }
- now = ktime_get();
- elapsed = ktime_us_delta(now, start);
- if (elapsed > timeout)
- break;
- set_current_state(TASK_INTERRUPTIBLE);
- schedule_timeout(((timeout - elapsed) * HZ) / 10000);
- }
- poll_freewait(&table);
-}
-
-static int serial2002_tty_read(struct file *f, int timeout)
-{
- unsigned char ch;
- int result;
- loff_t pos = 0;
-
- result = -1;
- if (!IS_ERR(f)) {
- if (file_can_poll(f)) {
- serial2002_tty_read_poll_wait(f, timeout);
-
- if (kernel_read(f, &ch, 1, &pos) == 1)
- result = ch;
- } else {
- /* Device does not support poll, busy wait */
- int retries = 0;
-
- while (1) {
- retries++;
- if (retries >= timeout)
- break;
-
- if (kernel_read(f, &ch, 1, &pos) == 1) {
- result = ch;
- break;
- }
- usleep_range(100, 1000);
- }
- }
- }
- return result;
-}
-
-static void serial2002_tty_setspeed(struct file *f, int speed)
-{
- struct termios termios;
- struct serial_struct serial;
- mm_segment_t oldfs;
-
- oldfs = get_fs();
- set_fs(KERNEL_DS);
-
- /* Set speed */
- serial2002_tty_ioctl(f, TCGETS, (unsigned long)&termios);
- termios.c_iflag = 0;
- termios.c_oflag = 0;
- termios.c_lflag = 0;
- termios.c_cflag = CLOCAL | CS8 | CREAD;
- termios.c_cc[VMIN] = 0;
- termios.c_cc[VTIME] = 0;
- switch (speed) {
- case 2400:
- termios.c_cflag |= B2400;
- break;
- case 4800:
- termios.c_cflag |= B4800;
- break;
- case 9600:
- termios.c_cflag |= B9600;
- break;
- case 19200:
- termios.c_cflag |= B19200;
- break;
- case 38400:
- termios.c_cflag |= B38400;
- break;
- case 57600:
- termios.c_cflag |= B57600;
- break;
- case 115200:
- termios.c_cflag |= B115200;
- break;
- default:
- termios.c_cflag |= B9600;
- break;
- }
- serial2002_tty_ioctl(f, TCSETS, (unsigned long)&termios);
-
- /* Set low latency */
- serial2002_tty_ioctl(f, TIOCGSERIAL, (unsigned long)&serial);
- serial.flags |= ASYNC_LOW_LATENCY;
- serial2002_tty_ioctl(f, TIOCSSERIAL, (unsigned long)&serial);
-
- set_fs(oldfs);
-}
-
-static void serial2002_poll_digital(struct file *f, int channel)
-{
- char cmd;
-
- cmd = 0x40 | (channel & 0x1f);
- serial2002_tty_write(f, &cmd, 1);
-}
-
-static void serial2002_poll_channel(struct file *f, int channel)
-{
- char cmd;
-
- cmd = 0x60 | (channel & 0x1f);
- serial2002_tty_write(f, &cmd, 1);
-}
-
-static struct serial_data serial2002_read(struct file *f, int timeout)
-{
- struct serial_data result;
- int length;
-
- result.kind = is_invalid;
- result.index = 0;
- result.value = 0;
- length = 0;
- while (1) {
- int data = serial2002_tty_read(f, timeout);
-
- length++;
- if (data < 0) {
- break;
- } else if (data & 0x80) {
- result.value = (result.value << 7) | (data & 0x7f);
- } else {
- if (length == 1) {
- switch ((data >> 5) & 0x03) {
- case 0:
- result.value = 0;
- result.kind = is_digital;
- break;
- case 1:
- result.value = 1;
- result.kind = is_digital;
- break;
- }
- } else {
- result.value =
- (result.value << 2) | ((data & 0x60) >> 5);
- result.kind = is_channel;
- }
- result.index = data & 0x1f;
- break;
- }
- }
- return result;
-}
-
-static void serial2002_write(struct file *f, struct serial_data data)
-{
- if (data.kind == is_digital) {
- unsigned char ch =
- ((data.value << 5) & 0x20) | (data.index & 0x1f);
- serial2002_tty_write(f, &ch, 1);
- } else {
- unsigned char ch[6];
- int i = 0;
-
- if (data.value >= (1L << 30)) {
- ch[i] = 0x80 | ((data.value >> 30) & 0x03);
- i++;
- }
- if (data.value >= (1L << 23)) {
- ch[i] = 0x80 | ((data.value >> 23) & 0x7f);
- i++;
- }
- if (data.value >= (1L << 16)) {
- ch[i] = 0x80 | ((data.value >> 16) & 0x7f);
- i++;
- }
- if (data.value >= (1L << 9)) {
- ch[i] = 0x80 | ((data.value >> 9) & 0x7f);
- i++;
- }
- ch[i] = 0x80 | ((data.value >> 2) & 0x7f);
- i++;
- ch[i] = ((data.value << 5) & 0x60) | (data.index & 0x1f);
- i++;
- serial2002_tty_write(f, ch, i);
- }
-}
-
-struct config_t {
- short int kind;
- short int bits;
- int min;
- int max;
-};
-
-static int serial2002_setup_subdevice(struct comedi_subdevice *s,
- struct config_t *cfg,
- struct serial2002_range_table_t *range,
- unsigned char *mapping,
- int kind)
-{
- const struct comedi_lrange **range_table_list = NULL;
- unsigned int *maxdata_list;
- int j, chan;
-
- for (chan = 0, j = 0; j < 32; j++) {
- if (cfg[j].kind == kind)
- chan++;
- }
- s->n_chan = chan;
- s->maxdata = 0;
- kfree(s->maxdata_list);
- maxdata_list = kmalloc_array(s->n_chan, sizeof(unsigned int),
- GFP_KERNEL);
- if (!maxdata_list)
- return -ENOMEM;
- s->maxdata_list = maxdata_list;
- kfree(s->range_table_list);
- s->range_table = NULL;
- s->range_table_list = NULL;
- if (kind == 1 || kind == 2) {
- s->range_table = &range_digital;
- } else if (range) {
- range_table_list = kmalloc_array(s->n_chan, sizeof(*range),
- GFP_KERNEL);
- if (!range_table_list)
- return -ENOMEM;
- s->range_table_list = range_table_list;
- }
- for (chan = 0, j = 0; j < 32; j++) {
- if (cfg[j].kind == kind) {
- if (mapping)
- mapping[chan] = j;
- if (range && range_table_list) {
- range[j].length = 1;
- range[j].range.min = cfg[j].min;
- range[j].range.max = cfg[j].max;
- range_table_list[chan] =
- (const struct comedi_lrange *)&range[j];
- }
- if (cfg[j].bits < 32)
- maxdata_list[chan] = (1u << cfg[j].bits) - 1;
- else
- maxdata_list[chan] = 0xffffffff;
- chan++;
- }
- }
- return 0;
-}
-
-static int serial2002_setup_subdevs(struct comedi_device *dev)
-{
- struct serial2002_private *devpriv = dev->private;
- struct config_t *di_cfg;
- struct config_t *do_cfg;
- struct config_t *ai_cfg;
- struct config_t *ao_cfg;
- struct config_t *cfg;
- struct comedi_subdevice *s;
- int result = 0;
- int i;
-
- /* Allocate the temporary structs to hold the configuration data */
- di_cfg = kcalloc(32, sizeof(*cfg), GFP_KERNEL);
- do_cfg = kcalloc(32, sizeof(*cfg), GFP_KERNEL);
- ai_cfg = kcalloc(32, sizeof(*cfg), GFP_KERNEL);
- ao_cfg = kcalloc(32, sizeof(*cfg), GFP_KERNEL);
- if (!di_cfg || !do_cfg || !ai_cfg || !ao_cfg) {
- result = -ENOMEM;
- goto err_alloc_configs;
- }
-
- /* Read the configuration from the connected device */
- serial2002_tty_setspeed(devpriv->tty, devpriv->speed);
- serial2002_poll_channel(devpriv->tty, 31);
- while (1) {
- struct serial_data data = serial2002_read(devpriv->tty, 1000);
- int kind = S2002_CFG_KIND(data.value);
- int channel = S2002_CFG_CHAN(data.value);
- int range = S2002_CFG_BASE(data.value);
- int cmd = S2002_CFG_CMD(data.value);
-
- if (data.kind != is_channel || data.index != 31 ||
- kind == S2002_CFG_KIND_INVALID)
- break;
-
- switch (kind) {
- case S2002_CFG_KIND_DIGITAL_IN:
- cfg = di_cfg;
- break;
- case S2002_CFG_KIND_DIGITAL_OUT:
- cfg = do_cfg;
- break;
- case S2002_CFG_KIND_ANALOG_IN:
- cfg = ai_cfg;
- break;
- case S2002_CFG_KIND_ANALOG_OUT:
- cfg = ao_cfg;
- break;
- case S2002_CFG_KIND_ENCODER_IN:
- cfg = ai_cfg;
- break;
- default:
- cfg = NULL;
- break;
- }
- if (!cfg)
- continue; /* unknown kind, skip it */
-
- cfg[channel].kind = kind;
-
- switch (cmd) {
- case S2002_CFG_CMD_BITS:
- cfg[channel].bits = S2002_CFG_BITS(data.value);
- break;
- case S2002_CFG_CMD_MIN:
- case S2002_CFG_CMD_MAX:
- switch (S2002_CFG_UNITS(data.value)) {
- case 0:
- range *= 1000000;
- break;
- case 1:
- range *= 1000;
- break;
- case 2:
- range *= 1;
- break;
- }
- if (S2002_CFG_SIGN(data.value))
- range = -range;
- if (cmd == S2002_CFG_CMD_MIN)
- cfg[channel].min = range;
- else
- cfg[channel].max = range;
- break;
- }
- }
-
- /* Fill in subdevice data */
- for (i = 0; i <= 4; i++) {
- unsigned char *mapping = NULL;
- struct serial2002_range_table_t *range = NULL;
- int kind = 0;
-
- s = &dev->subdevices[i];
-
- switch (i) {
- case 0:
- cfg = di_cfg;
- mapping = devpriv->digital_in_mapping;
- kind = S2002_CFG_KIND_DIGITAL_IN;
- break;
- case 1:
- cfg = do_cfg;
- mapping = devpriv->digital_out_mapping;
- kind = S2002_CFG_KIND_DIGITAL_OUT;
- break;
- case 2:
- cfg = ai_cfg;
- mapping = devpriv->analog_in_mapping;
- range = devpriv->in_range;
- kind = S2002_CFG_KIND_ANALOG_IN;
- break;
- case 3:
- cfg = ao_cfg;
- mapping = devpriv->analog_out_mapping;
- range = devpriv->out_range;
- kind = S2002_CFG_KIND_ANALOG_OUT;
- break;
- case 4:
- cfg = ai_cfg;
- mapping = devpriv->encoder_in_mapping;
- range = devpriv->in_range;
- kind = S2002_CFG_KIND_ENCODER_IN;
- break;
- }
-
- if (serial2002_setup_subdevice(s, cfg, range, mapping, kind))
- break; /* err handled below */
- }
- if (i <= 4) {
- /*
- * Failed to allocate maxdata_list or range_table_list
- * for a subdevice that needed it.
- */
- result = -ENOMEM;
- for (i = 0; i <= 4; i++) {
- s = &dev->subdevices[i];
- kfree(s->maxdata_list);
- s->maxdata_list = NULL;
- kfree(s->range_table_list);
- s->range_table_list = NULL;
- }
- }
-
-err_alloc_configs:
- kfree(di_cfg);
- kfree(do_cfg);
- kfree(ai_cfg);
- kfree(ao_cfg);
-
- if (result) {
- if (devpriv->tty) {
- filp_close(devpriv->tty, NULL);
- devpriv->tty = NULL;
- }
- }
-
- return result;
-}
-
-static int serial2002_open(struct comedi_device *dev)
-{
- struct serial2002_private *devpriv = dev->private;
- int result;
- char port[20];
-
- sprintf(port, "/dev/ttyS%d", devpriv->port);
- devpriv->tty = filp_open(port, O_RDWR, 0);
- if (IS_ERR(devpriv->tty)) {
- result = (int)PTR_ERR(devpriv->tty);
- dev_err(dev->class_dev, "file open error = %d\n", result);
- } else {
- result = serial2002_setup_subdevs(dev);
- }
- return result;
-}
-
-static void serial2002_close(struct comedi_device *dev)
-{
- struct serial2002_private *devpriv = dev->private;
-
- if (!IS_ERR(devpriv->tty) && devpriv->tty)
- filp_close(devpriv->tty, NULL);
-}
-
-static int serial2002_di_insn_read(struct comedi_device *dev,
- struct comedi_subdevice *s,
- struct comedi_insn *insn,
- unsigned int *data)
-{
- struct serial2002_private *devpriv = dev->private;
- int n;
- int chan;
-
- chan = devpriv->digital_in_mapping[CR_CHAN(insn->chanspec)];
- for (n = 0; n < insn->n; n++) {
- struct serial_data read;
-
- serial2002_poll_digital(devpriv->tty, chan);
- while (1) {
- read = serial2002_read(devpriv->tty, 1000);
- if (read.kind != is_digital || read.index == chan)
- break;
- }
- data[n] = read.value;
- }
- return n;
-}
-
-static int serial2002_do_insn_write(struct comedi_device *dev,
- struct comedi_subdevice *s,
- struct comedi_insn *insn,
- unsigned int *data)
-{
- struct serial2002_private *devpriv = dev->private;
- int n;
- int chan;
-
- chan = devpriv->digital_out_mapping[CR_CHAN(insn->chanspec)];
- for (n = 0; n < insn->n; n++) {
- struct serial_data write;
-
- write.kind = is_digital;
- write.index = chan;
- write.value = data[n];
- serial2002_write(devpriv->tty, write);
- }
- return n;
-}
-
-static int serial2002_ai_insn_read(struct comedi_device *dev,
- struct comedi_subdevice *s,
- struct comedi_insn *insn,
- unsigned int *data)
-{
- struct serial2002_private *devpriv = dev->private;
- int n;
- int chan;
-
- chan = devpriv->analog_in_mapping[CR_CHAN(insn->chanspec)];
- for (n = 0; n < insn->n; n++) {
- struct serial_data read;
-
- serial2002_poll_channel(devpriv->tty, chan);
- while (1) {
- read = serial2002_read(devpriv->tty, 1000);
- if (read.kind != is_channel || read.index == chan)
- break;
- }
- data[n] = read.value;
- }
- return n;
-}
-
-static int serial2002_ao_insn_write(struct comedi_device *dev,
- struct comedi_subdevice *s,
- struct comedi_insn *insn,
- unsigned int *data)
-{
- struct serial2002_private *devpriv = dev->private;
- int n;
- int chan;
-
- chan = devpriv->analog_out_mapping[CR_CHAN(insn->chanspec)];
- for (n = 0; n < insn->n; n++) {
- struct serial_data write;
-
- write.kind = is_channel;
- write.index = chan;
- write.value = data[n];
- serial2002_write(devpriv->tty, write);
- devpriv->ao_readback[chan] = data[n];
- }
- return n;
-}
-
-static int serial2002_ao_insn_read(struct comedi_device *dev,
- struct comedi_subdevice *s,
- struct comedi_insn *insn,
- unsigned int *data)
-{
- struct serial2002_private *devpriv = dev->private;
- int n;
- int chan = CR_CHAN(insn->chanspec);
-
- for (n = 0; n < insn->n; n++)
- data[n] = devpriv->ao_readback[chan];
-
- return n;
-}
-
-static int serial2002_encoder_insn_read(struct comedi_device *dev,
- struct comedi_subdevice *s,
- struct comedi_insn *insn,
- unsigned int *data)
-{
- struct serial2002_private *devpriv = dev->private;
- int n;
- int chan;
-
- chan = devpriv->encoder_in_mapping[CR_CHAN(insn->chanspec)];
- for (n = 0; n < insn->n; n++) {
- struct serial_data read;
-
- serial2002_poll_channel(devpriv->tty, chan);
- while (1) {
- read = serial2002_read(devpriv->tty, 1000);
- if (read.kind != is_channel || read.index == chan)
- break;
- }
- data[n] = read.value;
- }
- return n;
-}
-
-static int serial2002_attach(struct comedi_device *dev,
- struct comedi_devconfig *it)
-{
- struct serial2002_private *devpriv;
- struct comedi_subdevice *s;
- int ret;
-
- devpriv = comedi_alloc_devpriv(dev, sizeof(*devpriv));
- if (!devpriv)
- return -ENOMEM;
-
- devpriv->port = it->options[0];
- devpriv->speed = it->options[1];
-
- ret = comedi_alloc_subdevices(dev, 5);
- if (ret)
- return ret;
-
- /* digital input subdevice */
- s = &dev->subdevices[0];
- s->type = COMEDI_SUBD_DI;
- s->subdev_flags = SDF_READABLE;
- s->n_chan = 0;
- s->maxdata = 1;
- s->range_table = &range_digital;
- s->insn_read = serial2002_di_insn_read;
-
- /* digital output subdevice */
- s = &dev->subdevices[1];
- s->type = COMEDI_SUBD_DO;
- s->subdev_flags = SDF_WRITABLE;
- s->n_chan = 0;
- s->maxdata = 1;
- s->range_table = &range_digital;
- s->insn_write = serial2002_do_insn_write;
-
- /* analog input subdevice */
- s = &dev->subdevices[2];
- s->type = COMEDI_SUBD_AI;
- s->subdev_flags = SDF_READABLE | SDF_GROUND;
- s->n_chan = 0;
- s->maxdata = 1;
- s->range_table = NULL;
- s->insn_read = serial2002_ai_insn_read;
-
- /* analog output subdevice */
- s = &dev->subdevices[3];
- s->type = COMEDI_SUBD_AO;
- s->subdev_flags = SDF_WRITABLE;
- s->n_chan = 0;
- s->maxdata = 1;
- s->range_table = NULL;
- s->insn_write = serial2002_ao_insn_write;
- s->insn_read = serial2002_ao_insn_read;
-
- /* encoder input subdevice */
- s = &dev->subdevices[4];
- s->type = COMEDI_SUBD_COUNTER;
- s->subdev_flags = SDF_READABLE | SDF_LSAMPL;
- s->n_chan = 0;
- s->maxdata = 1;
- s->range_table = NULL;
- s->insn_read = serial2002_encoder_insn_read;
-
- dev->open = serial2002_open;
- dev->close = serial2002_close;
-
- return 0;
-}
-
-static void serial2002_detach(struct comedi_device *dev)
-{
- struct comedi_subdevice *s;
- int i;
-
- for (i = 0; i < dev->n_subdevices; i++) {
- s = &dev->subdevices[i];
- kfree(s->maxdata_list);
- kfree(s->range_table_list);
- }
-}
-
-static struct comedi_driver serial2002_driver = {
- .driver_name = "serial2002",
- .module = THIS_MODULE,
- .attach = serial2002_attach,
- .detach = serial2002_detach,
-};
-module_comedi_driver(serial2002_driver);
-
-MODULE_AUTHOR("Comedi http://www.comedi.org");
-MODULE_DESCRIPTION("Comedi low-level driver");
-MODULE_LICENSE("GPL");
projects / platform / kernel / linux-rpi.git / commitdiff