diff --git a/plugins/serial2002/Makefile b/plugins/serial2002/Makefile
index f5a9a0a068787f033301a726a51e9bd208aed013..a6b40eab0a8e2bb817d8bf010bd029e6a1354311 100644
--- a/plugins/serial2002/Makefile
+++ b/plugins/serial2002/Makefile
@@ -17,5 +17,6 @@ build:
build/serial2002.o: ../../moberg_module.h
build/serial2002.o: serial2002_lib.h
+build/serial2002_lib.o: serial2002_lib.h
build/libmoberg_serial2002.so: build/serial2002.o
build/libmoberg_serial2002.so: build/serial2002_lib.o
diff --git a/plugins/serial2002/serial2002.c b/plugins/serial2002/serial2002.c
index 379da56e3f9f59a0a0b0683ed7925ceaaa69dcdb..79de31d1fd2ab59d8ba4486479cc4ae998211abc 100644
--- a/plugins/serial2002/serial2002.c
+++ b/plugins/serial2002/serial2002.c
@@ -47,6 +47,7 @@ struct moberg_device_context {
int count;
char *name;
int baud;
+ long timeout;
int fd;
} port;
struct remap_analog {
@@ -108,14 +109,14 @@ static struct moberg_status analog_in_read(
struct moberg_channel_context *channel = &analog_in->channel_context;
struct moberg_device_context *device = channel->device;
- struct serial2002_data data = { 0, 0 };
+ struct serial2002_data data;
struct analog_map map = device->analog_in.map[channel->index];
struct moberg_status result = serial2002_poll_channel(
device->port.fd, map.index);
if (! OK(result)) {
goto return_result;
}
- result = serial2002_read(device->port.fd, 1000, &data);
+ result = serial2002_read(device->port.fd, device->port.timeout, &data);
if (OK(result)) {
*value = (data.value * map.delta + map.min);
}
@@ -157,7 +158,7 @@ static struct moberg_status digital_in_read(
if (! OK(result)) {
goto return_result;
}
- result = serial2002_read(device->port.fd, 1000, &data);
+ result = serial2002_read(device->port.fd, device->port.timeout, &data);
if (OK(result)) {
*value = data.value != 0;
}
@@ -188,14 +189,14 @@ static struct moberg_status encoder_in_read(
struct moberg_channel_context *channel = &encoder_in->channel_context;
struct moberg_device_context *device = channel->device;
- struct serial2002_data data = { 0, 0 };
+ struct serial2002_data data;
struct digital_map map = device->encoder_in.map[channel->index];
struct moberg_status result = serial2002_poll_channel(
device->port.fd, map.index);
if (! OK(result)) {
goto return_result;
}
- result = serial2002_read(device->port.fd, 1000, &data);
+ result = serial2002_read(device->port.fd, device->port.timeout, &data);
if (OK(result)) {
*value = (data.value);
}
@@ -307,7 +308,7 @@ static struct moberg_status device_open(struct moberg_device_context *device)
ioctl(fd, TIOCSSERIAL, &settings);
}
struct serial2002_config config;
- result = serial2002_read_config(fd, &config);
+ result = serial2002_read_config(fd, device->port.timeout, &config);
if (! OK(result)) { goto err_result; }
remap_analog(&device->analog_in, SERIAL2002_ANALOG_IN,
config.channel_in, 31);
@@ -426,6 +427,20 @@ static struct moberg_status parse_config(
if (! acceptsym(c, tok_INTEGER, &baud)) { goto syntax_err; }
if (! acceptsym(c, tok_SEMICOLON, NULL)) { goto syntax_err; }
device->port.baud = baud.u.integer.value;
+ } else if (acceptkeyword(c, "timeout")) {
+ token_t timeout;
+ int multiplier = 0;
+ if (! acceptsym(c, tok_EQUAL, NULL)) { goto syntax_err; }
+ if (! acceptsym(c, tok_INTEGER, &timeout)) { goto syntax_err; }
+ if (acceptkeyword(c, "s")) {
+ multiplier = 1000000;
+ } else if (acceptkeyword(c, "ms")) {
+ multiplier = 1000;
+ } else if (acceptkeyword(c, "us")) {
+ multiplier = 1;
+ }
+ if (! acceptsym(c, tok_SEMICOLON, NULL)) { goto syntax_err; }
+ device->port.timeout = timeout.u.integer.value * multiplier;
} else {
goto syntax_err;
}
diff --git a/plugins/serial2002/serial2002_lib.c b/plugins/serial2002/serial2002_lib.c
index 295b43e3003cd8a46ee1b2db3026a24ff632ae34..5fb5354ef921af459cad27c7f7094779b0acdba5 100644
--- a/plugins/serial2002/serial2002_lib.c
+++ b/plugins/serial2002/serial2002_lib.c
@@ -43,7 +43,7 @@ static struct moberg_status tty_write(int fd, unsigned char *buf, int count)
return MOBERG_OK;
}
-static struct moberg_status tty_read(int fd, int timeout, unsigned char *value)
+static struct moberg_status tty_read(int fd, long timeout, unsigned char *value)
{
struct pollfd pollfd;
@@ -83,8 +83,8 @@ struct moberg_status serial2002_poll_channel(int fd, int channel)
return tty_write(fd, &cmd, 1);
}
-struct moberg_status serial2002_read(int f, int timeout,
- struct serial2002_data *value)
+struct moberg_status serial2002_read(int f, long timeout,
+ struct serial2002_data *value)
{
int length;
@@ -211,6 +211,7 @@ static struct moberg_status update_channel(struct serial2002_channel *channel,
static struct moberg_status do_read_config(
int fd,
+ long timeout,
struct serial2002_config *config)
{
struct serial2002_data data = { 0, 0 };
@@ -218,7 +219,7 @@ static struct moberg_status do_read_config(
memset(config, 0, sizeof(*config));
serial2002_poll_channel(fd, 31);
while (1) {
- struct moberg_status result = serial2002_read(fd, 1000, &data);
+ struct moberg_status result = serial2002_read(fd, timeout, &data);
if (! OK(result)) { return result; }
unsigned int channel = (data.value & 0x0001f);
unsigned int kind = (data.value & 0x00e0) >> 5;
@@ -285,9 +286,10 @@ static struct moberg_status check_config(struct serial2002_config *c)
struct moberg_status serial2002_read_config(
int fd,
+ long timeout,
struct serial2002_config *config)
{
- struct moberg_status result = do_read_config(fd, config);
+ struct moberg_status result = do_read_config(fd, timeout, config);
if (OK(result)) {
result = check_config(config);
}
@@ -295,399 +297,3 @@ struct moberg_status serial2002_read_config(
}
-#if 0
-
-static void x() {
- typedef struct {
- short int kind;
- short int bits;
- int min;
- int max;
- } config_t;
- config_t *dig_in_config;
- config_t *dig_out_config;
- config_t *chan_in_config;
- config_t *chan_out_config;
- int i;
-
- result = 0;
- dig_in_config = kcalloc(32, sizeof(config_t), GFP_KERNEL);
- dig_out_config = kcalloc(32, sizeof(config_t), GFP_KERNEL);
- chan_in_config = kcalloc(32, sizeof(config_t), GFP_KERNEL);
- chan_out_config = kcalloc(32, sizeof(config_t), GFP_KERNEL);
- if (!dig_in_config || !dig_out_config
- || !chan_in_config || !chan_out_config) {
- result = -ENOMEM;
- goto err_alloc_configs;
- }
-
- tty_setspeed(devpriv->tty, devpriv->speed);
- poll_channel(devpriv->tty, 31); // Start reading configuration
- while (1) {
- struct serial2002_data data;
-
- data = serial_read(devpriv->tty, 1000);
- if (data.kind != is_channel || data.index != 31
- || !(data.value & 0xe0)) {
- break;
- } else {
- int command, channel, kind;
- config_t *cur_config = 0;
-
- channel = data.value & 0x1f;
- kind = (data.value >> 5) & 0x7;
- command = (data.value >> 8) & 0x3;
- switch (kind) {
- case 1:{
- cur_config = dig_in_config;
- }
- break;
- case 2:{
- cur_config = dig_out_config;
- }
- break;
- case 3:{
- cur_config = chan_in_config;
- }
- break;
- case 4:{
- cur_config = chan_out_config;
- }
- break;
- case 5:{
- cur_config = chan_in_config;
- }
- break;
- }
-
- if (cur_config) {
- cur_config[channel].kind = kind;
- switch (command) {
- case 0:{
- cur_config[channel].
- bits =
- (data.
- value >> 10) &
- 0x3f;
- }
- break;
- case 1:{
- int unit, sign, min;
- unit = (data.
- value >> 10) &
- 0x7;
- sign = (data.
- value >> 13) &
- 0x1;
- min = (data.
- value >> 14) &
- 0xfffff;
-
- switch (unit) {
- case 0:{
- min = min * 1000000;
- }
- break;
- case 1:{
- min = min * 1000;
- }
- break;
- case 2:{
- min = min * 1;
- }
- break;
- }
- if (sign) {
- min = -min;
- }
- cur_config[channel].
- min = min;
- }
- break;
- case 2:{
- int unit, sign, max;
- unit = (data.
- value >> 10) &
- 0x7;
- sign = (data.
- value >> 13) &
- 0x1;
- max = (data.
- value >> 14) &
- 0xfffff;
-
- switch (unit) {
- case 0:{
- max = max * 1000000;
- }
- break;
- case 1:{
- max = max * 1000;
- }
- break;
- case 2:{
- max = max * 1;
- }
- break;
- }
- if (sign) {
- max = -max;
- }
- cur_config[channel].
- max = max;
- }
- break;
- }
- }
- }
- }
- for (i = 0; i <= 4; i++) {
- // Fill in subdev data
- config_t *c;
- unsigned char *mapping = 0;
- serial2002_range_table_t *range = 0;
- int kind = 0;
-
- switch (i) {
- case 0:{
- c = dig_in_config;
- mapping = devpriv->digital_in_mapping;
- kind = 1;
- }
- break;
- case 1:{
- c = dig_out_config;
- mapping = devpriv->digital_out_mapping;
- kind = 2;
- }
- break;
- case 2:{
- c = chan_in_config;
- mapping = devpriv->analog_in_mapping;
- range = devpriv->in_range;
- kind = 3;
- }
- break;
- case 3:{
- c = chan_out_config;
- mapping = devpriv->analog_out_mapping;
- range = devpriv->out_range;
- kind = 4;
- }
- break;
- case 4:{
- c = chan_in_config;
- mapping = devpriv->encoder_in_mapping;
- range = devpriv->in_range;
- kind = 5;
- }
- break;
- default:{
- c = 0;
- }
- break;
- }
- if (c) {
- comedi_subdevice *s;
- const comedi_lrange **range_table_list = NULL;
- unsigned int *maxdata_list;
- int j, chan;
-
- for (chan = 0, j = 0; j < 32; j++) {
- if (c[j].kind == kind) {
- chan++;
- }
- }
- s = &dev->subdevices[i];
- s->n_chan = chan;
- s->maxdata = 0;
- kfree(s->maxdata_list);
- s->maxdata_list = maxdata_list =
- kmalloc(sizeof(lsampl_t) * s->n_chan,
- GFP_KERNEL);
- if (!s->maxdata_list) {
- break; /* error handled below */
- }
- kfree(s->range_table_list);
- s->range_table = 0;
- s->range_table_list = 0;
- if (kind == 1 || kind == 2) {
- s->range_table = &range_digital;
- } else if (range) {
- s->range_table_list = range_table_list =
- kmalloc(sizeof
- (serial2002_range_table_t) *
- s->n_chan, GFP_KERNEL);
- if (!s->range_table_list) {
- break; /* error handled below */
- }
- }
- for (chan = 0, j = 0; j < 32; j++) {
- if (c[j].kind == kind) {
- if (mapping) {
- mapping[chan] = j;
- }
- if (range) {
- range[j].length = 1;
- range[j].range.min =
- c[j].min;
- range[j].range.max =
- c[j].max;
- range_table_list[chan] =
- (const
- comedi_lrange *)
- &range[j];
- }
- maxdata_list[chan] =
- ((long long)1 << c[j].
- bits) - 1;
- chan++;
- }
- }
- }
- }
- 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++) {
- comedi_subdevice *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(dig_in_config);
- kfree(dig_out_config);
- kfree(chan_in_config);
- kfree(chan_out_config);
- if (result) {
- if (devpriv->tty) {
- filp_close(devpriv->tty, 0);
- devpriv->tty = NULL;
- }
- }
-}
-return result;
-}
-
-static int serial2002_di_rinsn(comedi_device * dev, comedi_subdevice * s,
- comedi_insn * insn, lsampl_t * data)
-{
- int n;
- int chan;
-
- chan = devpriv->digital_in_mapping[CR_CHAN(insn->chanspec)];
- for (n = 0; n < insn->n; n++) {
- struct serial2002_data read;
-
- poll_digital(devpriv->tty, chan);
- while (1) {
- read = serial_read(devpriv->tty, 1000);
- if (read.kind != is_digital || read.index == chan) {
- break;
- }
- }
- data[n] = read.value;
- }
- return n;
-}
-
-static int serial2002_do_winsn(comedi_device * dev, comedi_subdevice * s,
- comedi_insn * insn, lsampl_t * data)
-{
- int n;
- int chan;
-
- chan = devpriv->digital_out_mapping[CR_CHAN(insn->chanspec)];
- for (n = 0; n < insn->n; n++) {
- struct serial2002_data write;
-
- write.kind = is_digital;
- write.index = chan;
- write.value = data[n];
- serial_write(devpriv->tty, write);
- }
- return n;
-}
-
-static int serial2002_ai_rinsn(comedi_device * dev, comedi_subdevice * s,
- comedi_insn * insn, lsampl_t * data)
-{
- int n;
- int chan;
-
- chan = devpriv->analog_in_mapping[CR_CHAN(insn->chanspec)];
- for (n = 0; n < insn->n; n++) {
- struct serial2002_data read;
-
- poll_channel(devpriv->tty, chan);
- while (1) {
- read = serial_read(devpriv->tty, 1000);
- if (read.kind != is_channel || read.index == chan) {
- break;
- }
- }
- data[n] = read.value;
- }
- return n;
-}
-
-static int serial2002_ao_winsn(comedi_device * dev, comedi_subdevice * s,
- comedi_insn * insn, lsampl_t * data)
-{
- int n;
- int chan;
-
- chan = devpriv->analog_out_mapping[CR_CHAN(insn->chanspec)];
- for (n = 0; n < insn->n; n++) {
- struct serial2002_data write;
-
- write.kind = is_channel;
- write.index = chan;
- write.value = data[n];
- serial_write(devpriv->tty, write);
- devpriv->ao_readback[chan] = data[n];
- }
- return n;
-}
-
-static int serial2002_ao_rinsn(comedi_device * dev, comedi_subdevice * s,
- comedi_insn * insn, lsampl_t * data)
-{
- 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_ei_rinsn(comedi_device * dev, comedi_subdevice * s,
- comedi_insn * insn, lsampl_t * data)
-{
- int n;
- int chan;
-
- chan = devpriv->encoder_in_mapping[CR_CHAN(insn->chanspec)];
- for (n = 0; n < insn->n; n++) {
- struct serial2002_data read;
-
- poll_channel(devpriv->tty, chan);
- while (1) {
- read = serial_read(devpriv->tty, 1000);
- if (read.kind != is_channel || read.index == chan) {
- break;
- }
- }
- data[n] = read.value;
- }
- return n;
-}
-
-#endif
diff --git a/plugins/serial2002/serial2002_lib.h b/plugins/serial2002/serial2002_lib.h
index f53133a0a942f16325806bc4a87e55d8dd2758a8..dc56e3e203f670ec30656400441e93f8c0725ca8 100644
--- a/plugins/serial2002/serial2002_lib.h
+++ b/plugins/serial2002/serial2002_lib.h
@@ -53,12 +53,13 @@ struct moberg_status serial2002_poll_digital(int fd, int channel);
struct moberg_status serial2002_poll_channel(int fd, int channel);
-struct moberg_status serial2002_read(int fd, int timeout,
+struct moberg_status serial2002_read(int fd, long timeout,
struct serial2002_data *data);
struct moberg_status serial2002_write(int fd, struct serial2002_data data);
struct moberg_status serial2002_read_config(int fd,
+ long timeout,
struct serial2002_config *config);
#endif
diff --git a/test/.config/moberg.d/00-comedi_ttyUSB0_serial.conf b/test/.config/moberg.d/00-comedi_ttyUSB0_serial.conf
new file mode 100644
index 0000000000000000000000000000000000000000..22ffc4a4f2ab379574cd259c6586296de6035188
--- /dev/null
+++ b/test/.config/moberg.d/00-comedi_ttyUSB0_serial.conf
@@ -0,0 +1,14 @@
+driver(serial2002) {
+ config {
+ /* Parsed by parse_config in libmoberg_serial2002.so */
+ device = "/dev/ttyUSB0" ;
+ baud = 115200 ;
+ }
+ /* Moberg mapping[indices] = {driver specific}[indices]
+ {driver specific} is parsed by parse_map in libmoberg_serial2002.so */
+ map analog_in[0:7] = analog_in[0:7] ;
+ map analog_out[0:7] = analog_out[0:7] ;
+ map digital_in[0:7] = digital_in[0:7] ;
+ map digital_out[0:7] = digital_out[0:7] ;
+ map encoder_in[0:7] = encoder_in[0:7] ;
+}
diff --git a/test/.config/moberg.d/30-comedi_ttyUSB0_serial.conf b/test/.config/moberg.d/30-comedi_ttyUSB0_serial.conf
new file mode 100644
index 0000000000000000000000000000000000000000..480bc5d06c75d52eca82eab161c1abe985fce21f
--- /dev/null
+++ b/test/.config/moberg.d/30-comedi_ttyUSB0_serial.conf
@@ -0,0 +1,17 @@
+driver(serial2002) {
+ config {
+ /* Parsed by parse_config in libmoberg_serial2002.so */
+ device = "/dev/ttyUSB0" ;
+ baud = 115200 ;
+ timeout = 1 s ;
+ timeout = 100 ms ;
+ timeout = 10000 us ;
+ }
+ /* Moberg mapping[indices] = {driver specific}[indices]
+ {driver specific} is parsed by parse_map in libmoberg_serial2002.so */
+ map analog_in[30:37] = analog_in[0:7] ;
+ map analog_out[30:37] = analog_out[0:7] ;
+ map digital_in[30:37] = digital_in[0:7] ;
+ map digital_out[30:37] = digital_out[0:7] ;
+ map encoder_in[30:37] = encoder_in[0:7] ;
+}