/drivers/staging/comedi/drivers/serial2002.c

  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 <linux/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				set_current_state(TASK_INTERRUPTIBLE);
198				schedule_timeout(((timeout -
199						   elapsed) * HZ) / 10000);
200			}
201			poll_freewait(&table);
202			{
203				unsigned char ch;
204
205				f->f_pos = 0;
206				if (f->f_op->read(f, &ch, 1, &f->f_pos) == 1)
207					result = ch;
208			}
209		} else {
210			/* Device does not support poll, busy wait */
211			int retries = 0;
212			while (1) {
213				unsigned char ch;
214
215				retries++;
216				if (retries >= timeout)
217					break;
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				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(KERN_ERR "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.value << 2) | ((data & 0x60) >> 5);
350				result.kind = is_channel;
351			}
352			result.index = data & 0x1f;
353			break;
354		}
355	}
356	return result;
357
358}
359
360static void serial_write(struct file *f, struct serial_data data)
361{
362	if (data.kind == is_digital) {
363		unsigned char ch =
364		    ((data.value << 5) & 0x20) | (data.index & 0x1f);
365		tty_write(f, &ch, 1);
366	} else {
367		unsigned char ch[6];
368		int i = 0;
369		if (data.value >= (1L << 30)) {
370			ch[i] = 0x80 | ((data.value >> 30) & 0x03);
371			i++;
372		}
373		if (data.value >= (1L << 23)) {
374			ch[i] = 0x80 | ((data.value >> 23) & 0x7f);
375			i++;
376		}
377		if (data.value >= (1L << 16)) {
378			ch[i] = 0x80 | ((data.value >> 16) & 0x7f);
379			i++;
380		}
381		if (data.value >= (1L << 9)) {
382			ch[i] = 0x80 | ((data.value >> 9) & 0x7f);
383			i++;
384		}
385		ch[i] = 0x80 | ((data.value >> 2) & 0x7f);
386		i++;
387		ch[i] = ((data.value << 5) & 0x60) | (data.index & 0x1f);
388		i++;
389		tty_write(f, ch, i);
390	}
391}
392
393static int serial_2002_open(struct comedi_device *dev)
394{
395	int result;
396	char port[20];
397
398	sprintf(port, "/dev/ttyS%d", devpriv->port);
399	devpriv->tty = filp_open(port, O_RDWR, 0);
400	if (IS_ERR(devpriv->tty)) {
401		result = (int)PTR_ERR(devpriv->tty);
402		printk(KERN_ERR "serial_2002: file open error = %d\n", result);
403	} else {
404		struct config_t {
405
406			short int kind;
407			short int bits;
408			int min;
409			int max;
410		};
411
412		struct config_t *dig_in_config;
413		struct config_t *dig_out_config;
414		struct config_t *chan_in_config;
415		struct config_t *chan_out_config;
416		int i;
417
418		result = 0;
419		dig_in_config = kcalloc(32, sizeof(struct config_t),
420				GFP_KERNEL);
421		dig_out_config = kcalloc(32, sizeof(struct config_t),
422				GFP_KERNEL);
423		chan_in_config = kcalloc(32, sizeof(struct config_t),
424				GFP_KERNEL);
425		chan_out_config = kcalloc(32, sizeof(struct config_t),
426				GFP_KERNEL);
427		if (!dig_in_config || !dig_out_config
428		    || !chan_in_config || !chan_out_config) {
429			result = -ENOMEM;
430			goto err_alloc_configs;
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				struct config_t *cur_config = NULL;
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].bits
477							    =
478							    (data.value >> 10) &
479							    0x3f;
480						}
481						break;
482					case 1:{
483							int unit, sign, min;
484							unit =
485							    (data.value >> 10) &
486							    0x7;
487							sign =
488							    (data.value >> 13) &
489							    0x1;
490							min =
491							    (data.value >> 14) &
492							    0xfffff;
493
494							switch (unit) {
495							case 0:{
496									min =
497									    min
498									    *
499									    1000000;
500								}
501								break;
502							case 1:{
503									min =
504									    min
505									    *
506									    1000;
507								}
508								break;
509							case 2:{
510									min =
511									    min
512									    * 1;
513								}
514								break;
515							}
516							if (sign)
517								min = -min;
518							cur_config[channel].min
519							    = min;
520						}
521						break;
522					case 2:{
523							int unit, sign, max;
524							unit =
525							    (data.value >> 10) &
526							    0x7;
527							sign =
528							    (data.value >> 13) &
529							    0x1;
530							max =
531							    (data.value >> 14) &
532							    0xfffff;
533
534							switch (unit) {
535							case 0:{
536									max =
537									    max
538									    *
539									    1000000;
540								}
541								break;
542							case 1:{
543									max =
544									    max
545									    *
546									    1000;
547								}
548								break;
549							case 2:{
550									max =
551									    max
552									    * 1;
553								}
554								break;
555							}
556							if (sign)
557								max = -max;
558							cur_config[channel].max
559							    = max;
560						}
561						break;
562					}
563				}
564			}
565		}
566		for (i = 0; i <= 4; i++) {
567			/*  Fill in subdev data */
568			struct config_t *c;
569			unsigned char *mapping = NULL;
570			struct serial2002_range_table_t *range = NULL;
571			int kind = 0;
572
573			switch (i) {
574			case 0:{
575					c = dig_in_config;
576					mapping = devpriv->digital_in_mapping;
577					kind = 1;
578				}
579				break;
580			case 1:{
581					c = dig_out_config;
582					mapping = devpriv->digital_out_mapping;
583					kind = 2;
584				}
585				break;
586			case 2:{
587					c = chan_in_config;
588					mapping = devpriv->analog_in_mapping;
589					range = devpriv->in_range;
590					kind = 3;
591				}
592				break;
593			case 3:{
594					c = chan_out_config;
595					mapping = devpriv->analog_out_mapping;
596					range = devpriv->out_range;
597					kind = 4;
598				}
599				break;
600			case 4:{
601					c = chan_in_config;
602					mapping = devpriv->encoder_in_mapping;
603					range = devpriv->in_range;
604					kind = 5;
605				}
606				break;
607			default:{
608					c = NULL;
609				}
610				break;
611			}
612			if (c) {
613				struct comedi_subdevice *s;
614				const struct comedi_lrange **range_table_list =
615				    NULL;
616				unsigned int *maxdata_list;
617				int j, chan;
618
619				for (chan = 0, j = 0; j < 32; j++) {
620					if (c[j].kind == kind)
621						chan++;
622				}
623				s = &dev->subdevices[i];
624				s->n_chan = chan;
625				s->maxdata = 0;
626				kfree(s->maxdata_list);
627				s->maxdata_list = maxdata_list =
628				    kmalloc(sizeof(unsigned int) * s->n_chan,
629					    GFP_KERNEL);
630				if (!s->maxdata_list)
631					break;	/* error handled below */
632				kfree(s->range_table_list);
633				s->range_table = NULL;
634				s->range_table_list = NULL;
635				if (range) {
636					s->range_table_list = range_table_list =
637					    kmalloc(sizeof
638						    (struct
639						     serial2002_range_table_t) *
640						    s->n_chan, GFP_KERNEL);
641					if (!s->range_table_list)
642						break;	/* err handled below */
643				}
644				for (chan = 0, j = 0; j < 32; j++) {
645					if (c[j].kind == kind) {
646						if (mapping)
647							mapping[chan] = j;
648						if (range) {
649							range[j].length = 1;
650							range[j].range.min =
651							    c[j].min;
652							range[j].range.max =
653							    c[j].max;
654							range_table_list[chan] =
655							    (const struct
656							     comedi_lrange *)
657							    &range[j];
658						}
659						maxdata_list[chan] =
660						    ((long long)1 << c[j].bits)
661						    - 1;
662						chan++;
663					}
664				}
665			}
666		}
667		if (i <= 4) {
668			/* Failed to allocate maxdata_list or range_table_list
669			 * for a subdevice that needed it.  */
670			result = -ENOMEM;
671			for (i = 0; i <= 4; i++) {
672				struct comedi_subdevice *s;
673
674				s = &dev->subdevices[i];
675				kfree(s->maxdata_list);
676				s->maxdata_list = NULL;
677				kfree(s->range_table_list);
678				s->range_table_list = NULL;
679			}
680		}
681
682err_alloc_configs:
683		kfree(dig_in_config);
684		kfree(dig_out_config);
685		kfree(chan_in_config);
686		kfree(chan_out_config);
687
688		if (result) {
689			if (devpriv->tty) {
690				filp_close(devpriv->tty, 0);
691				devpriv->tty = NULL;
692			}
693		}
694	}
695	return result;
696}
697
698static void serial_2002_close(struct comedi_device *dev)
699{
700	if (!IS_ERR(devpriv->tty) && (devpriv->tty != 0))
701		filp_close(devpriv->tty, 0);
702}
703
704static int serial2002_di_rinsn(struct comedi_device *dev,
705			       struct comedi_subdevice *s,
706			       struct comedi_insn *insn, unsigned int *data)
707{
708	int n;
709	int chan;
710
711	chan = devpriv->digital_in_mapping[CR_CHAN(insn->chanspec)];
712	for (n = 0; n < insn->n; n++) {
713		struct serial_data read;
714
715		poll_digital(devpriv->tty, chan);
716		while (1) {
717			read = serial_read(devpriv->tty, 1000);
718			if (read.kind != is_digital || read.index == chan)
719				break;
720		}
721		data[n] = read.value;
722	}
723	return n;
724}
725
726static int serial2002_do_winsn(struct comedi_device *dev,
727			       struct comedi_subdevice *s,
728			       struct comedi_insn *insn, unsigned int *data)
729{
730	int n;
731	int chan;
732
733	chan = devpriv->digital_out_mapping[CR_CHAN(insn->chanspec)];
734	for (n = 0; n < insn->n; n++) {
735		struct serial_data write;
736
737		write.kind = is_digital;
738		write.index = chan;
739		write.value = data[n];
740		serial_write(devpriv->tty, write);
741	}
742	return n;
743}
744
745static int serial2002_ai_rinsn(struct comedi_device *dev,
746			       struct comedi_subdevice *s,
747			       struct comedi_insn *insn, unsigned int *data)
748{
749	int n;
750	int chan;
751
752	chan = devpriv->analog_in_mapping[CR_CHAN(insn->chanspec)];
753	for (n = 0; n < insn->n; n++) {
754		struct serial_data read;
755
756		poll_channel(devpriv->tty, chan);
757		while (1) {
758			read = serial_read(devpriv->tty, 1000);
759			if (read.kind != is_channel || read.index == chan)
760				break;
761		}
762		data[n] = read.value;
763	}
764	return n;
765}
766
767static int serial2002_ao_winsn(struct comedi_device *dev,
768			       struct comedi_subdevice *s,
769			       struct comedi_insn *insn, unsigned int *data)
770{
771	int n;
772	int chan;
773
774	chan = devpriv->analog_out_mapping[CR_CHAN(insn->chanspec)];
775	for (n = 0; n < insn->n; n++) {
776		struct serial_data write;
777
778		write.kind = is_channel;
779		write.index = chan;
780		write.value = data[n];
781		serial_write(devpriv->tty, write);
782		devpriv->ao_readback[chan] = data[n];
783	}
784	return n;
785}
786
787static int serial2002_ao_rinsn(struct comedi_device *dev,
788			       struct comedi_subdevice *s,
789			       struct comedi_insn *insn, unsigned int *data)
790{
791	int n;
792	int chan = CR_CHAN(insn->chanspec);
793
794	for (n = 0; n < insn->n; n++)
795		data[n] = devpriv->ao_readback[chan];
796
797	return n;
798}
799
800static int serial2002_ei_rinsn(struct comedi_device *dev,
801			       struct comedi_subdevice *s,
802			       struct comedi_insn *insn, unsigned int *data)
803{
804	int n;
805	int chan;
806
807	chan = devpriv->encoder_in_mapping[CR_CHAN(insn->chanspec)];
808	for (n = 0; n < insn->n; n++) {
809		struct serial_data read;
810
811		poll_channel(devpriv->tty, chan);
812		while (1) {
813			read = serial_read(devpriv->tty, 1000);
814			if (read.kind != is_channel || read.index == chan)
815				break;
816		}
817		data[n] = read.value;
818	}
819	return n;
820}
821
822static int serial2002_attach(struct comedi_device *dev,
823			     struct comedi_devconfig *it)
824{
825	struct comedi_subdevice *s;
826
827	printk("comedi%d: serial2002: ", dev->minor);
828	dev->board_name = thisboard->name;
829	if (alloc_private(dev, sizeof(struct serial2002_private)) < 0)
830		return -ENOMEM;
831	dev->open = serial_2002_open;
832	dev->close = serial_2002_close;
833	devpriv->port = it->options[0];
834	devpriv->speed = it->options[1];
835	printk("/dev/ttyS%d @ %d\n", devpriv->port, devpriv->speed);
836
837	if (alloc_subdevices(dev, 5) < 0)
838		return -ENOMEM;
839
840	/* digital input subdevice */
841	s = dev->subdevices + 0;
842	s->type = COMEDI_SUBD_DI;
843	s->subdev_flags = SDF_READABLE;
844	s->n_chan = 0;
845	s->maxdata = 1;
846	s->range_table = &range_digital;
847	s->insn_read = &serial2002_di_rinsn;
848
849	/* digital output subdevice */
850	s = dev->subdevices + 1;
851	s->type = COMEDI_SUBD_DO;
852	s->subdev_flags = SDF_WRITEABLE;
853	s->n_chan = 0;
854	s->maxdata = 1;
855	s->range_table = &range_digital;
856	s->insn_write = &serial2002_do_winsn;
857
858	/* analog input subdevice */
859	s = dev->subdevices + 2;
860	s->type = COMEDI_SUBD_AI;
861	s->subdev_flags = SDF_READABLE | SDF_GROUND;
862	s->n_chan = 0;
863	s->maxdata = 1;
864	s->range_table = 0;
865	s->insn_read = &serial2002_ai_rinsn;
866
867	/* analog output subdevice */
868	s = dev->subdevices + 3;
869	s->type = COMEDI_SUBD_AO;
870	s->subdev_flags = SDF_WRITEABLE;
871	s->n_chan = 0;
872	s->maxdata = 1;
873	s->range_table = 0;
874	s->insn_write = &serial2002_ao_winsn;
875	s->insn_read = &serial2002_ao_rinsn;
876
877	/* encoder input subdevice */
878	s = dev->subdevices + 4;
879	s->type = COMEDI_SUBD_COUNTER;
880	s->subdev_flags = SDF_READABLE | SDF_LSAMPL;
881	s->n_chan = 0;
882	s->maxdata = 1;
883	s->range_table = 0;
884	s->insn_read = &serial2002_ei_rinsn;
885
886	return 1;
887}
888
889static int serial2002_detach(struct comedi_device *dev)
890{
891	struct comedi_subdevice *s;
892	int i;
893
894	printk("comedi%d: serial2002: remove\n", dev->minor);
895	for (i = 0; i < 5; i++) {
896		s = &dev->subdevices[i];
897		kfree(s->maxdata_list);
898		kfree(s->range_table_list);
899	}
900	return 0;
901}
902
903static int __init driver_serial2002_init_module(void)
904{
905	return comedi_driver_register(&driver_serial2002);
906}
907
908static void __exit driver_serial2002_cleanup_module(void)
909{
910	comedi_driver_unregister(&driver_serial2002);
911}
912
913module_init(driver_serial2002_init_module);
914module_exit(driver_serial2002_cleanup_module);
915
916MODULE_AUTHOR("Comedi http://www.comedi.org");
917MODULE_DESCRIPTION("Comedi low-level driver");
918MODULE_LICENSE("GPL");