Initial import

1 files changed, 1751 insertions, 0 deletions

diff --git a/drivers/staging/comedi/drivers/usbdux.c b/drivers/staging/comedi/drivers/usbdux.c
new file mode 100644
index 000000000..ced05e581
--- /dev/null
+++ b/drivers/staging/comedi/drivers/usbdux.c
@@ -0,0 +1,1751 @@
+/*
+ * usbdux.c
+ * Copyright (C) 2003-2014 Bernd Porr, mail@berndporr.me.uk
+ *
+ * This program is free software; you can redistribute it and/or modify
+ * it under the terms of the GNU General Public License as published by
+ * the Free Software Foundation; either version 2 of the License, or
+ * (at your option) any later version.
+
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ * GNU General Public License for more details.
+ */
+
+/*
+ * Driver: usbdux
+ * Description: University of Stirling USB DAQ & INCITE Technology Limited
+ * Devices: [ITL] USB-DUX (usbdux)
+ * Author: Bernd Porr <mail@berndporr.me.uk>
+ * Updated: 10 Oct 2014
+ * Status: Stable
+ *
+ * Connection scheme for the counter at the digital port:
+ * 0=/CLK0, 1=UP/DOWN0, 2=RESET0, 4=/CLK1, 5=UP/DOWN1, 6=RESET1.
+ * The sampling rate of the counter is approximately 500Hz.
+ *
+ * Note that under USB2.0 the length of the channel list determines
+ * the max sampling rate. If you sample only one channel you get 8kHz
+ * sampling rate. If you sample two channels you get 4kHz and so on.
+ */
+
+/*
+ * I must give credit here to Chris Baugher who
+ * wrote the driver for AT-MIO-16d. I used some parts of this
+ * driver. I also must give credits to David Brownell
+ * who supported me with the USB development.
+ *
+ * Bernd Porr
+ *
+ *
+ * Revision history:
+ * 0.94: D/A output should work now with any channel list combinations
+ * 0.95: .owner commented out for kernel vers below 2.4.19
+ *       sanity checks in ai/ao_cmd
+ * 0.96: trying to get it working with 2.6, moved all memory alloc to comedi's
+ *       attach final USB IDs
+ *       moved memory allocation completely to the corresponding comedi
+ *       functions firmware upload is by fxload and no longer by comedi (due to
+ *       enumeration)
+ * 0.97: USB IDs received, adjusted table
+ * 0.98: SMP, locking, memory alloc: moved all usb memory alloc
+ *       to the usb subsystem and moved all comedi related memory
+ *       alloc to comedi.
+ *       | kernel | registration | usbdux-usb | usbdux-comedi | comedi |
+ * 0.99: USB 2.0: changed protocol to isochronous transfer
+ *                IRQ transfer is too buggy and too risky in 2.0
+ *                for the high speed ISO transfer is now a working version
+ *                available
+ * 0.99b: Increased the iso transfer buffer for high sp.to 10 buffers. Some VIA
+ *        chipsets miss out IRQs. Deeper buffering is needed.
+ * 1.00: full USB 2.0 support for the A/D converter. Now: max 8kHz sampling
+ *       rate.
+ *       Firmware vers 1.00 is needed for this.
+ *       Two 16 bit up/down/reset counter with a sampling rate of 1kHz
+ *       And loads of cleaning up, in particular streamlining the
+ *       bulk transfers.
+ * 1.1:  moved EP4 transfers to EP1 to make space for a PWM output on EP4
+ * 1.2:  added PWM support via EP4
+ * 2.0:  PWM seems to be stable and is not interfering with the other functions
+ * 2.1:  changed PWM API
+ * 2.2:  added firmware kernel request to fix an udev problem
+ * 2.3:  corrected a bug in bulk timeouts which were far too short
+ * 2.4:  fixed a bug which causes the driver to hang when it ran out of data.
+ *       Thanks to Jan-Matthias Braun and Ian to spot the bug and fix it.
+ *
+ */
+
+#include <linux/kernel.h>
+#include <linux/module.h>
+#include <linux/slab.h>
+#include <linux/input.h>
+#include <linux/fcntl.h>
+#include <linux/compiler.h>
+
+#include "../comedi_usb.h"
+
+/* constants for firmware upload and download */
+#define USBDUX_FIRMWARE		"usbdux_firmware.bin"
+#define USBDUX_FIRMWARE_MAX_LEN	0x2000
+#define USBDUX_FIRMWARE_CMD	0xa0
+#define VENDOR_DIR_IN		0xc0
+#define VENDOR_DIR_OUT		0x40
+#define USBDUX_CPU_CS		0xe600
+
+/* usbdux bulk transfer commands */
+#define USBDUX_CMD_MULT_AI	0
+#define USBDUX_CMD_AO		1
+#define USBDUX_CMD_DIO_CFG	2
+#define USBDUX_CMD_DIO_BITS	3
+#define USBDUX_CMD_SINGLE_AI	4
+#define USBDUX_CMD_TIMER_RD	5
+#define USBDUX_CMD_TIMER_WR	6
+#define USBDUX_CMD_PWM_ON	7
+#define USBDUX_CMD_PWM_OFF	8
+
+/* timeout for the USB-transfer in ms */
+#define BULK_TIMEOUT		1000
+
+/* 300Hz max frequ under PWM */
+#define MIN_PWM_PERIOD  ((long)(1E9/300))
+
+/* Default PWM frequency */
+#define PWM_DEFAULT_PERIOD ((long)(1E9/100))
+
+/* Size of one A/D value */
+#define SIZEADIN          ((sizeof(uint16_t)))
+
+/*
+ * Size of the input-buffer IN BYTES
+ * Always multiple of 8 for 8 microframes which is needed in the highspeed mode
+ */
+#define SIZEINBUF         ((8*SIZEADIN))
+
+/* 16 bytes. */
+#define SIZEINSNBUF       16
+
+/* size of one value for the D/A converter: channel and value */
+#define SIZEDAOUT          ((sizeof(uint8_t)+sizeof(uint16_t)))
+
+/*
+ * Size of the output-buffer in bytes
+ * Actually only the first 4 triplets are used but for the
+ * high speed mode we need to pad it to 8 (microframes).
+ */
+#define SIZEOUTBUF         ((8*SIZEDAOUT))
+
+/*
+ * Size of the buffer for the dux commands: just now max size is determined
+ * by the analogue out + command byte + panic bytes...
+ */
+#define SIZEOFDUXBUFFER    ((8*SIZEDAOUT+2))
+
+/* Number of in-URBs which receive the data: min=2 */
+#define NUMOFINBUFFERSFULL     5
+
+/* Number of out-URBs which send the data: min=2 */
+#define NUMOFOUTBUFFERSFULL    5
+
+/* Number of in-URBs which receive the data: min=5 */
+/* must have more buffers due to buggy USB ctr */
+#define NUMOFINBUFFERSHIGH     10
+
+/* Number of out-URBs which send the data: min=5 */
+/* must have more buffers due to buggy USB ctr */
+#define NUMOFOUTBUFFERSHIGH    10
+
+/* number of retries to get the right dux command */
+#define RETRIES 10
+
+static const struct comedi_lrange range_usbdux_ai_range = {
+	4, {
+		BIP_RANGE(4.096),
+		BIP_RANGE(4.096 / 2),
+		UNI_RANGE(4.096),
+		UNI_RANGE(4.096 / 2)
+	}
+};
+
+static const struct comedi_lrange range_usbdux_ao_range = {
+	2, {
+		BIP_RANGE(4.096),
+		UNI_RANGE(4.096)
+	}
+};
+
+struct usbdux_private {
+	/* actual number of in-buffers */
+	int n_ai_urbs;
+	/* actual number of out-buffers */
+	int n_ao_urbs;
+	/* ISO-transfer handling: buffers */
+	struct urb **ai_urbs;
+	struct urb **ao_urbs;
+	/* pwm-transfer handling */
+	struct urb *pwm_urb;
+	/* PWM period */
+	unsigned int pwm_period;
+	/* PWM internal delay for the GPIF in the FX2 */
+	uint8_t pwm_delay;
+	/* size of the PWM buffer which holds the bit pattern */
+	int pwm_buf_sz;
+	/* input buffer for the ISO-transfer */
+	__le16 *in_buf;
+	/* input buffer for single insn */
+	__le16 *insn_buf;
+
+	unsigned int high_speed:1;
+	unsigned int ai_cmd_running:1;
+	unsigned int ao_cmd_running:1;
+	unsigned int pwm_cmd_running:1;
+
+	/* time between samples in units of the timer */
+	unsigned int ai_timer;
+	unsigned int ao_timer;
+	/* counter between aquisitions */
+	unsigned int ai_counter;
+	unsigned int ao_counter;
+	/* interval in frames/uframes */
+	unsigned int ai_interval;
+	/* commands */
+	uint8_t *dux_commands;
+	struct semaphore sem;
+};
+
+static void usbdux_unlink_urbs(struct urb **urbs, int num_urbs)
+{
+	int i;
+
+	for (i = 0; i < num_urbs; i++)
+		usb_kill_urb(urbs[i]);
+}
+
+static void usbdux_ai_stop(struct comedi_device *dev, int do_unlink)
+{
+	struct usbdux_private *devpriv = dev->private;
+
+	if (do_unlink && devpriv->ai_urbs)
+		usbdux_unlink_urbs(devpriv->ai_urbs, devpriv->n_ai_urbs);
+
+	devpriv->ai_cmd_running = 0;
+}
+
+static int usbdux_ai_cancel(struct comedi_device *dev,
+			    struct comedi_subdevice *s)
+{
+	struct usbdux_private *devpriv = dev->private;
+
+	/* prevent other CPUs from submitting new commands just now */
+	down(&devpriv->sem);
+	/* unlink only if the urb really has been submitted */
+	usbdux_ai_stop(dev, devpriv->ai_cmd_running);
+	up(&devpriv->sem);
+
+	return 0;
+}
+
+static void usbduxsub_ai_handle_urb(struct comedi_device *dev,
+				    struct comedi_subdevice *s,
+				    struct urb *urb)
+{
+	struct usbdux_private *devpriv = dev->private;
+	struct comedi_async *async = s->async;
+	struct comedi_cmd *cmd = &async->cmd;
+	int ret;
+	int i;
+
+	devpriv->ai_counter--;
+	if (devpriv->ai_counter == 0) {
+		devpriv->ai_counter = devpriv->ai_timer;
+
+		/* get the data from the USB bus and hand it over to comedi */
+		for (i = 0; i < cmd->chanlist_len; i++) {
+			unsigned int range = CR_RANGE(cmd->chanlist[i]);
+			uint16_t val = le16_to_cpu(devpriv->in_buf[i]);
+
+			/* bipolar data is two's-complement */
+			if (comedi_range_is_bipolar(s, range))
+				val ^= ((s->maxdata + 1) >> 1);
+
+			/* transfer data */
+			if (!comedi_buf_write_samples(s, &val, 1))
+				return;
+		}
+
+		if (cmd->stop_src == TRIG_COUNT &&
+		    async->scans_done >= cmd->stop_arg)
+			async->events |= COMEDI_CB_EOA;
+	}
+
+	/* if command is still running, resubmit urb */
+	if (!(async->events & COMEDI_CB_CANCEL_MASK)) {
+		urb->dev = comedi_to_usb_dev(dev);
+		ret = usb_submit_urb(urb, GFP_ATOMIC);
+		if (ret < 0) {
+			dev_err(dev->class_dev,
+				"urb resubmit failed in int-context! err=%d\n",
+				ret);
+			if (ret == -EL2NSYNC)
+				dev_err(dev->class_dev,
+					"buggy USB host controller or bug in IRQ handler!\n");
+			async->events |= COMEDI_CB_ERROR;
+		}
+	}
+}
+
+static void usbduxsub_ai_isoc_irq(struct urb *urb)
+{
+	struct comedi_device *dev = urb->context;
+	struct comedi_subdevice *s = dev->read_subdev;
+	struct comedi_async *async = s->async;
+	struct usbdux_private *devpriv = dev->private;
+
+	/* exit if not running a command, do not resubmit urb */
+	if (!devpriv->ai_cmd_running)
+		return;
+
+	switch (urb->status) {
+	case 0:
+		/* copy the result in the transfer buffer */
+		memcpy(devpriv->in_buf, urb->transfer_buffer, SIZEINBUF);
+		usbduxsub_ai_handle_urb(dev, s, urb);
+		break;
+
+	case -EILSEQ:
+		/*
+		 * error in the ISOchronous data
+		 * we don't copy the data into the transfer buffer
+		 * and recycle the last data byte
+		 */
+		dev_dbg(dev->class_dev, "CRC error in ISO IN stream\n");
+		usbduxsub_ai_handle_urb(dev, s, urb);
+		break;
+
+	case -ECONNRESET:
+	case -ENOENT:
+	case -ESHUTDOWN:
+	case -ECONNABORTED:
+		/* after an unlink command, unplug, ... etc */
+		async->events |= COMEDI_CB_ERROR;
+		break;
+
+	default:
+		/* a real error */
+		dev_err(dev->class_dev,
+			"Non-zero urb status received in ai intr context: %d\n",
+			urb->status);
+		async->events |= COMEDI_CB_ERROR;
+		break;
+	}
+
+	/*
+	 * comedi_handle_events() cannot be used in this driver. The (*cancel)
+	 * operation would unlink the urb.
+	 */
+	if (async->events & COMEDI_CB_CANCEL_MASK)
+		usbdux_ai_stop(dev, 0);
+
+	comedi_event(dev, s);
+}
+
+static void usbdux_ao_stop(struct comedi_device *dev, int do_unlink)
+{
+	struct usbdux_private *devpriv = dev->private;
+
+	if (do_unlink && devpriv->ao_urbs)
+		usbdux_unlink_urbs(devpriv->ao_urbs, devpriv->n_ao_urbs);
+
+	devpriv->ao_cmd_running = 0;
+}
+
+static int usbdux_ao_cancel(struct comedi_device *dev,
+			    struct comedi_subdevice *s)
+{
+	struct usbdux_private *devpriv = dev->private;
+
+	/* prevent other CPUs from submitting a command just now */
+	down(&devpriv->sem);
+	/* unlink only if it is really running */
+	usbdux_ao_stop(dev, devpriv->ao_cmd_running);
+	up(&devpriv->sem);
+
+	return 0;
+}
+
+static void usbduxsub_ao_handle_urb(struct comedi_device *dev,
+				    struct comedi_subdevice *s,
+				    struct urb *urb)
+{
+	struct usbdux_private *devpriv = dev->private;
+	struct comedi_async *async = s->async;
+	struct comedi_cmd *cmd = &async->cmd;
+	uint8_t *datap;
+	int ret;
+	int i;
+
+	devpriv->ao_counter--;
+	if (devpriv->ao_counter == 0) {
+		devpriv->ao_counter = devpriv->ao_timer;
+
+		if (cmd->stop_src == TRIG_COUNT &&
+		    async->scans_done >= cmd->stop_arg) {
+			async->events |= COMEDI_CB_EOA;
+			return;
+		}
+
+		/* transmit data to the USB bus */
+		datap = urb->transfer_buffer;
+		*datap++ = cmd->chanlist_len;
+		for (i = 0; i < cmd->chanlist_len; i++) {
+			unsigned int chan = CR_CHAN(cmd->chanlist[i]);
+			unsigned short val;
+
+			if (!comedi_buf_read_samples(s, &val, 1)) {
+				dev_err(dev->class_dev, "buffer underflow\n");
+				async->events |= COMEDI_CB_OVERFLOW;
+				return;
+			}
+
+			/* pointer to the DA */
+			*datap++ = val & 0xff;
+			*datap++ = (val >> 8) & 0xff;
+			*datap++ = chan << 6;
+			s->readback[chan] = val;
+		}
+	}
+
+	/* if command is still running, resubmit urb for BULK transfer */
+	if (!(async->events & COMEDI_CB_CANCEL_MASK)) {
+		urb->transfer_buffer_length = SIZEOUTBUF;
+		urb->dev = comedi_to_usb_dev(dev);
+		urb->status = 0;
+		if (devpriv->high_speed)
+			urb->interval = 8;	/* uframes */
+		else
+			urb->interval = 1;	/* frames */
+		urb->number_of_packets = 1;
+		urb->iso_frame_desc[0].offset = 0;
+		urb->iso_frame_desc[0].length = SIZEOUTBUF;
+		urb->iso_frame_desc[0].status = 0;
+		ret = usb_submit_urb(urb, GFP_ATOMIC);
+		if (ret < 0) {
+			dev_err(dev->class_dev,
+				"ao urb resubm failed in int-cont. ret=%d",
+				ret);
+			if (ret == -EL2NSYNC)
+				dev_err(dev->class_dev,
+					"buggy USB host controller or bug in IRQ handling!\n");
+			async->events |= COMEDI_CB_ERROR;
+		}
+	}
+}
+
+static void usbduxsub_ao_isoc_irq(struct urb *urb)
+{
+	struct comedi_device *dev = urb->context;
+	struct comedi_subdevice *s = dev->write_subdev;
+	struct comedi_async *async = s->async;
+	struct usbdux_private *devpriv = dev->private;
+
+	/* exit if not running a command, do not resubmit urb */
+	if (!devpriv->ao_cmd_running)
+		return;
+
+	switch (urb->status) {
+	case 0:
+		usbduxsub_ao_handle_urb(dev, s, urb);
+		break;
+
+	case -ECONNRESET:
+	case -ENOENT:
+	case -ESHUTDOWN:
+	case -ECONNABORTED:
+		/* after an unlink command, unplug, ... etc */
+		async->events |= COMEDI_CB_ERROR;
+		break;
+
+	default:
+		/* a real error */
+		dev_err(dev->class_dev,
+			"Non-zero urb status received in ao intr context: %d\n",
+			urb->status);
+		async->events |= COMEDI_CB_ERROR;
+		break;
+	}
+
+	/*
+	 * comedi_handle_events() cannot be used in this driver. The (*cancel)
+	 * operation would unlink the urb.
+	 */
+	if (async->events & COMEDI_CB_CANCEL_MASK)
+		usbdux_ao_stop(dev, 0);
+
+	comedi_event(dev, s);
+}
+
+static int usbdux_submit_urbs(struct comedi_device *dev,
+			      struct urb **urbs, int num_urbs,
+			      int input_urb)
+{
+	struct usb_device *usb = comedi_to_usb_dev(dev);
+	struct usbdux_private *devpriv = dev->private;
+	struct urb *urb;
+	int ret;
+	int i;
+
+	/* Submit all URBs and start the transfer on the bus */
+	for (i = 0; i < num_urbs; i++) {
+		urb = urbs[i];
+
+		/* in case of a resubmission after an unlink... */
+		if (input_urb)
+			urb->interval = devpriv->ai_interval;
+		urb->context = dev;
+		urb->dev = usb;
+		urb->status = 0;
+		urb->transfer_flags = URB_ISO_ASAP;
+
+		ret = usb_submit_urb(urb, GFP_ATOMIC);
+		if (ret)
+			return ret;
+	}
+	return 0;
+}
+
+static int usbdux_ai_cmdtest(struct comedi_device *dev,
+			     struct comedi_subdevice *s, struct comedi_cmd *cmd)
+{
+	struct usbdux_private *this_usbduxsub = dev->private;
+	int err = 0, i;
+	unsigned int tmp_timer;
+
+	/* Step 1 : check if triggers are trivially valid */
+
+	err |= comedi_check_trigger_src(&cmd->start_src, TRIG_NOW | TRIG_INT);
+	err |= comedi_check_trigger_src(&cmd->scan_begin_src, TRIG_TIMER);
+	err |= comedi_check_trigger_src(&cmd->convert_src, TRIG_NOW);
+	err |= comedi_check_trigger_src(&cmd->scan_end_src, TRIG_COUNT);
+	err |= comedi_check_trigger_src(&cmd->stop_src, TRIG_COUNT | TRIG_NONE);
+
+	if (err)
+		return 1;
+
+	/* Step 2a : make sure trigger sources are unique */
+
+	err |= comedi_check_trigger_is_unique(cmd->start_src);
+	err |= comedi_check_trigger_is_unique(cmd->stop_src);
+
+	/* Step 2b : and mutually compatible */
+
+	if (err)
+		return 2;
+
+	/* Step 3: check if arguments are trivially valid */
+
+	err |= comedi_check_trigger_arg_is(&cmd->start_arg, 0);
+
+	if (cmd->scan_begin_src == TRIG_FOLLOW)	/* internal trigger */
+		err |= comedi_check_trigger_arg_is(&cmd->scan_begin_arg, 0);
+
+	if (cmd->scan_begin_src == TRIG_TIMER) {
+		if (this_usbduxsub->high_speed) {
+			/*
+			 * In high speed mode microframes are possible.
+			 * However, during one microframe we can roughly
+			 * sample one channel. Thus, the more channels
+			 * are in the channel list the more time we need.
+			 */
+			i = 1;
+			/* find a power of 2 for the number of channels */
+			while (i < (cmd->chanlist_len))
+				i = i * 2;
+
+			err |= comedi_check_trigger_arg_min(&cmd->
+							    scan_begin_arg,
+							    1000000 / 8 * i);
+			/* now calc the real sampling rate with all the
+			 * rounding errors */
+			tmp_timer =
+			    ((unsigned int)(cmd->scan_begin_arg / 125000)) *
+			    125000;
+		} else {
+			/* full speed */
+			/* 1kHz scans every USB frame */
+			err |= comedi_check_trigger_arg_min(&cmd->
+							    scan_begin_arg,
+							    1000000);
+			/*
+			 * calc the real sampling rate with the rounding errors
+			 */
+			tmp_timer = ((unsigned int)(cmd->scan_begin_arg /
+						   1000000)) * 1000000;
+		}
+		err |= comedi_check_trigger_arg_is(&cmd->scan_begin_arg,
+						   tmp_timer);
+	}
+
+	err |= comedi_check_trigger_arg_is(&cmd->scan_end_arg,
+					   cmd->chanlist_len);
+
+	if (cmd->stop_src == TRIG_COUNT)
+		err |= comedi_check_trigger_arg_min(&cmd->stop_arg, 1);
+	else	/* TRIG_NONE */
+		err |= comedi_check_trigger_arg_is(&cmd->stop_arg, 0);
+
+	if (err)
+		return 3;
+
+	return 0;
+}
+
+/*
+ * creates the ADC command for the MAX1271
+ * range is the range value from comedi
+ */
+static uint8_t create_adc_command(unsigned int chan, unsigned int range)
+{
+	uint8_t p = (range <= 1);
+	uint8_t r = ((range % 2) == 0);
+
+	return (chan << 4) | ((p == 1) << 2) | ((r == 1) << 3);
+}
+
+static int send_dux_commands(struct comedi_device *dev, unsigned int cmd_type)
+{
+	struct usb_device *usb = comedi_to_usb_dev(dev);
+	struct usbdux_private *devpriv = dev->private;
+	int nsent;
+
+	devpriv->dux_commands[0] = cmd_type;
+
+	return usb_bulk_msg(usb, usb_sndbulkpipe(usb, 1),
+			    devpriv->dux_commands, SIZEOFDUXBUFFER,
+			    &nsent, BULK_TIMEOUT);
+}
+
+static int receive_dux_commands(struct comedi_device *dev, unsigned int command)
+{
+	struct usb_device *usb = comedi_to_usb_dev(dev);
+	struct usbdux_private *devpriv = dev->private;
+	int ret;
+	int nrec;
+	int i;
+
+	for (i = 0; i < RETRIES; i++) {
+		ret = usb_bulk_msg(usb, usb_rcvbulkpipe(usb, 8),
+				   devpriv->insn_buf, SIZEINSNBUF,
+				   &nrec, BULK_TIMEOUT);
+		if (ret < 0)
+			return ret;
+		if (le16_to_cpu(devpriv->insn_buf[0]) == command)
+			return ret;
+	}
+	/* command not received */
+	return -EFAULT;
+}
+
+static int usbdux_ai_inttrig(struct comedi_device *dev,
+			     struct comedi_subdevice *s,
+			     unsigned int trig_num)
+{
+	struct usbdux_private *devpriv = dev->private;
+	struct comedi_cmd *cmd = &s->async->cmd;
+	int ret;
+
+	if (trig_num != cmd->start_arg)
+		return -EINVAL;
+
+	down(&devpriv->sem);
+
+	if (!devpriv->ai_cmd_running) {
+		devpriv->ai_cmd_running = 1;
+		ret = usbdux_submit_urbs(dev, devpriv->ai_urbs,
+					 devpriv->n_ai_urbs, 1);
+		if (ret < 0) {
+			devpriv->ai_cmd_running = 0;
+			goto ai_trig_exit;
+		}
+		s->async->inttrig = NULL;
+	} else {
+		ret = -EBUSY;
+	}
+
+ai_trig_exit:
+	up(&devpriv->sem);
+	return ret;
+}
+
+static int usbdux_ai_cmd(struct comedi_device *dev, struct comedi_subdevice *s)
+{
+	struct usbdux_private *devpriv = dev->private;
+	struct comedi_cmd *cmd = &s->async->cmd;
+	int len = cmd->chanlist_len;
+	int ret = -EBUSY;
+	int i;
+
+	/* block other CPUs from starting an ai_cmd */
+	down(&devpriv->sem);
+
+	if (devpriv->ai_cmd_running)
+		goto ai_cmd_exit;
+
+	devpriv->dux_commands[1] = len;
+	for (i = 0; i < len; ++i) {
+		unsigned int chan = CR_CHAN(cmd->chanlist[i]);
+		unsigned int range = CR_RANGE(cmd->chanlist[i]);
+
+		devpriv->dux_commands[i + 2] = create_adc_command(chan, range);
+	}
+
+	ret = send_dux_commands(dev, USBDUX_CMD_MULT_AI);
+	if (ret < 0)
+		goto ai_cmd_exit;
+
+	if (devpriv->high_speed) {
+		/*
+		 * every channel gets a time window of 125us. Thus, if we
+		 * sample all 8 channels we need 1ms. If we sample only one
+		 * channel we need only 125us
+		 */
+		devpriv->ai_interval = 1;
+		/* find a power of 2 for the interval */
+		while (devpriv->ai_interval < len)
+			devpriv->ai_interval *= 2;
+
+		devpriv->ai_timer = cmd->scan_begin_arg /
+				    (125000 * devpriv->ai_interval);
+	} else {
+		/* interval always 1ms */
+		devpriv->ai_interval = 1;
+		devpriv->ai_timer = cmd->scan_begin_arg / 1000000;
+	}
+	if (devpriv->ai_timer < 1) {
+		ret = -EINVAL;
+		goto ai_cmd_exit;
+	}
+
+	devpriv->ai_counter = devpriv->ai_timer;
+
+	if (cmd->start_src == TRIG_NOW) {
+		/* enable this acquisition operation */
+		devpriv->ai_cmd_running = 1;
+		ret = usbdux_submit_urbs(dev, devpriv->ai_urbs,
+					 devpriv->n_ai_urbs, 1);
+		if (ret < 0) {
+			devpriv->ai_cmd_running = 0;
+			/* fixme: unlink here?? */
+			goto ai_cmd_exit;
+		}
+		s->async->inttrig = NULL;
+	} else {
+		/* TRIG_INT */
+		/* don't enable the acquision operation */
+		/* wait for an internal signal */
+		s->async->inttrig = usbdux_ai_inttrig;
+	}
+
+ai_cmd_exit:
+	up(&devpriv->sem);
+
+	return ret;
+}
+
+/* Mode 0 is used to get a single conversion on demand */
+static int usbdux_ai_insn_read(struct comedi_device *dev,
+			       struct comedi_subdevice *s,
+			       struct comedi_insn *insn,
+			       unsigned int *data)
+{
+	struct usbdux_private *devpriv = dev->private;
+	unsigned int chan = CR_CHAN(insn->chanspec);
+	unsigned int range = CR_RANGE(insn->chanspec);
+	unsigned int val;
+	int ret = -EBUSY;
+	int i;
+
+	down(&devpriv->sem);
+
+	if (devpriv->ai_cmd_running)
+		goto ai_read_exit;
+
+	/* set command for the first channel */
+	devpriv->dux_commands[1] = create_adc_command(chan, range);
+
+	/* adc commands */
+	ret = send_dux_commands(dev, USBDUX_CMD_SINGLE_AI);
+	if (ret < 0)
+		goto ai_read_exit;
+
+	for (i = 0; i < insn->n; i++) {
+		ret = receive_dux_commands(dev, USBDUX_CMD_SINGLE_AI);
+		if (ret < 0)
+			goto ai_read_exit;
+
+		val = le16_to_cpu(devpriv->insn_buf[1]);
+
+		/* bipolar data is two's-complement */
+		if (comedi_range_is_bipolar(s, range))
+			val ^= ((s->maxdata + 1) >> 1);
+
+		data[i] = val;
+	}
+
+ai_read_exit:
+	up(&devpriv->sem);
+
+	return ret ? ret : insn->n;
+}
+
+static int usbdux_ao_insn_read(struct comedi_device *dev,
+			       struct comedi_subdevice *s,
+			       struct comedi_insn *insn,
+			       unsigned int *data)
+{
+	struct usbdux_private *devpriv = dev->private;
+	int ret;
+
+	down(&devpriv->sem);
+	ret = comedi_readback_insn_read(dev, s, insn, data);
+	up(&devpriv->sem);
+
+	return ret;
+}
+
+static int usbdux_ao_insn_write(struct comedi_device *dev,
+				struct comedi_subdevice *s,
+				struct comedi_insn *insn,
+				unsigned int *data)
+{
+	struct usbdux_private *devpriv = dev->private;
+	unsigned int chan = CR_CHAN(insn->chanspec);
+	unsigned int val = s->readback[chan];
+	__le16 *p = (__le16 *)&devpriv->dux_commands[2];
+	int ret = -EBUSY;
+	int i;
+
+	down(&devpriv->sem);
+
+	if (devpriv->ao_cmd_running)
+		goto ao_write_exit;
+
+	/* number of channels: 1 */
+	devpriv->dux_commands[1] = 1;
+	/* channel number */
+	devpriv->dux_commands[4] = chan << 6;
+
+	for (i = 0; i < insn->n; i++) {
+		val = data[i];
+
+		/* one 16 bit value */
+		*p = cpu_to_le16(val);
+
+		ret = send_dux_commands(dev, USBDUX_CMD_AO);
+		if (ret < 0)
+			goto ao_write_exit;
+
+		s->readback[chan] = val;
+	}
+
+ao_write_exit:
+	up(&devpriv->sem);
+
+	return ret ? ret : insn->n;
+}
+
+static int usbdux_ao_inttrig(struct comedi_device *dev,
+			     struct comedi_subdevice *s,
+			     unsigned int trig_num)
+{
+	struct usbdux_private *devpriv = dev->private;
+	struct comedi_cmd *cmd = &s->async->cmd;
+	int ret;
+
+	if (trig_num != cmd->start_arg)
+		return -EINVAL;
+
+	down(&devpriv->sem);
+
+	if (!devpriv->ao_cmd_running) {
+		devpriv->ao_cmd_running = 1;
+		ret = usbdux_submit_urbs(dev, devpriv->ao_urbs,
+					 devpriv->n_ao_urbs, 0);
+		if (ret < 0) {
+			devpriv->ao_cmd_running = 0;
+			goto ao_trig_exit;
+		}
+		s->async->inttrig = NULL;
+	} else {
+		ret = -EBUSY;
+	}
+
+ao_trig_exit:
+	up(&devpriv->sem);
+	return ret;
+}
+
+static int usbdux_ao_cmdtest(struct comedi_device *dev,
+			     struct comedi_subdevice *s, struct comedi_cmd *cmd)
+{
+	struct usbdux_private *this_usbduxsub = dev->private;
+	int err = 0;
+	unsigned int flags;
+
+	if (!this_usbduxsub)
+		return -EFAULT;
+
+	/* Step 1 : check if triggers are trivially valid */
+
+	err |= comedi_check_trigger_src(&cmd->start_src, TRIG_NOW | TRIG_INT);
+
+	if (0) {		/* (this_usbduxsub->high_speed) */
+		/* the sampling rate is set by the coversion rate */
+		flags = TRIG_FOLLOW;
+	} else {
+		/* start a new scan (output at once) with a timer */
+		flags = TRIG_TIMER;
+	}
+	err |= comedi_check_trigger_src(&cmd->scan_begin_src, flags);
+
+	if (0) {		/* (this_usbduxsub->high_speed) */
+		/*
+		 * in usb-2.0 only one conversion it transmitted
+		 * but with 8kHz/n
+		 */
+		flags = TRIG_TIMER;
+	} else {
+		/*
+		 * all conversion events happen simultaneously with
+		 * a rate of 1kHz/n
+		 */
+		flags = TRIG_NOW;
+	}
+	err |= comedi_check_trigger_src(&cmd->convert_src, flags);
+
+	err |= comedi_check_trigger_src(&cmd->scan_end_src, TRIG_COUNT);
+	err |= comedi_check_trigger_src(&cmd->stop_src, TRIG_COUNT | TRIG_NONE);
+
+	if (err)
+		return 1;
+
+	/* Step 2a : make sure trigger sources are unique */
+
+	err |= comedi_check_trigger_is_unique(cmd->start_src);
+	err |= comedi_check_trigger_is_unique(cmd->stop_src);
+
+	/* Step 2b : and mutually compatible */
+
+	if (err)
+		return 2;
+
+	/* Step 3: check if arguments are trivially valid */
+
+	err |= comedi_check_trigger_arg_is(&cmd->start_arg, 0);
+
+	if (cmd->scan_begin_src == TRIG_FOLLOW)	/* internal trigger */
+		err |= comedi_check_trigger_arg_is(&cmd->scan_begin_arg, 0);
+
+	if (cmd->scan_begin_src == TRIG_TIMER) {
+		err |= comedi_check_trigger_arg_min(&cmd->scan_begin_arg,
+						    1000000);
+	}
+
+	/* not used now, is for later use */
+	if (cmd->convert_src == TRIG_TIMER)
+		err |= comedi_check_trigger_arg_min(&cmd->convert_arg, 125000);
+
+	err |= comedi_check_trigger_arg_is(&cmd->scan_end_arg,
+					   cmd->chanlist_len);
+
+	if (cmd->stop_src == TRIG_COUNT)
+		err |= comedi_check_trigger_arg_min(&cmd->stop_arg, 1);
+	else	/* TRIG_NONE */
+		err |= comedi_check_trigger_arg_is(&cmd->stop_arg, 0);
+
+	if (err)
+		return 3;
+
+	return 0;
+}
+
+static int usbdux_ao_cmd(struct comedi_device *dev, struct comedi_subdevice *s)
+{
+	struct usbdux_private *devpriv = dev->private;
+	struct comedi_cmd *cmd = &s->async->cmd;
+	int ret = -EBUSY;
+
+	down(&devpriv->sem);
+
+	if (devpriv->ao_cmd_running)
+		goto ao_cmd_exit;
+
+	/* we count in steps of 1ms (125us) */
+	/* 125us mode not used yet */
+	if (0) {		/* (devpriv->high_speed) */
+		/* 125us */
+		/* timing of the conversion itself: every 125 us */
+		devpriv->ao_timer = cmd->convert_arg / 125000;
+	} else {
+		/* 1ms */
+		/* timing of the scan: we get all channels at once */
+		devpriv->ao_timer = cmd->scan_begin_arg / 1000000;
+		if (devpriv->ao_timer < 1) {
+			ret = -EINVAL;
+			goto ao_cmd_exit;
+		}
+	}
+
+	devpriv->ao_counter = devpriv->ao_timer;
+
+	if (cmd->start_src == TRIG_NOW) {
+		/* enable this acquisition operation */
+		devpriv->ao_cmd_running = 1;
+		ret = usbdux_submit_urbs(dev, devpriv->ao_urbs,
+					 devpriv->n_ao_urbs, 0);
+		if (ret < 0) {
+			devpriv->ao_cmd_running = 0;
+			/* fixme: unlink here?? */
+			goto ao_cmd_exit;
+		}
+		s->async->inttrig = NULL;
+	} else {
+		/* TRIG_INT */
+		/* submit the urbs later */
+		/* wait for an internal signal */
+		s->async->inttrig = usbdux_ao_inttrig;
+	}
+
+ao_cmd_exit:
+	up(&devpriv->sem);
+
+	return ret;
+}
+
+static int usbdux_dio_insn_config(struct comedi_device *dev,
+				  struct comedi_subdevice *s,
+				  struct comedi_insn *insn,
+				  unsigned int *data)
+{
+	int ret;
+
+	ret = comedi_dio_insn_config(dev, s, insn, data, 0);
+	if (ret)
+		return ret;
+
+	/*
+	 * We don't tell the firmware here as it would take 8 frames
+	 * to submit the information. We do it in the insn_bits.
+	 */
+	return insn->n;
+}
+
+static int usbdux_dio_insn_bits(struct comedi_device *dev,
+				struct comedi_subdevice *s,
+				struct comedi_insn *insn,
+				unsigned int *data)
+{
+	struct usbdux_private *devpriv = dev->private;
+	int ret;
+
+	down(&devpriv->sem);
+
+	comedi_dio_update_state(s, data);
+
+	/* Always update the hardware. See the (*insn_config). */
+	devpriv->dux_commands[1] = s->io_bits;
+	devpriv->dux_commands[2] = s->state;
+
+	/*
+	 * This command also tells the firmware to return
+	 * the digital input lines.
+	 */
+	ret = send_dux_commands(dev, USBDUX_CMD_DIO_BITS);
+	if (ret < 0)
+		goto dio_exit;
+	ret = receive_dux_commands(dev, USBDUX_CMD_DIO_BITS);
+	if (ret < 0)
+		goto dio_exit;
+
+	data[1] = le16_to_cpu(devpriv->insn_buf[1]);
+
+dio_exit:
+	up(&devpriv->sem);
+
+	return ret ? ret : insn->n;
+}
+
+static int usbdux_counter_read(struct comedi_device *dev,
+			       struct comedi_subdevice *s,
+			       struct comedi_insn *insn,
+			       unsigned int *data)
+{
+	struct usbdux_private *devpriv = dev->private;
+	unsigned int chan = CR_CHAN(insn->chanspec);
+	int ret = 0;
+	int i;
+
+	down(&devpriv->sem);
+
+	for (i = 0; i < insn->n; i++) {
+		ret = send_dux_commands(dev, USBDUX_CMD_TIMER_RD);
+		if (ret < 0)
+			goto counter_read_exit;
+		ret = receive_dux_commands(dev, USBDUX_CMD_TIMER_RD);
+		if (ret < 0)
+			goto counter_read_exit;
+
+		data[i] = le16_to_cpu(devpriv->insn_buf[chan + 1]);
+	}
+
+counter_read_exit:
+	up(&devpriv->sem);
+
+	return ret ? ret : insn->n;
+}
+
+static int usbdux_counter_write(struct comedi_device *dev,
+				struct comedi_subdevice *s,
+				struct comedi_insn *insn,
+				unsigned int *data)
+{
+	struct usbdux_private *devpriv = dev->private;
+	unsigned int chan = CR_CHAN(insn->chanspec);
+	__le16 *p = (__le16 *)&devpriv->dux_commands[2];
+	int ret = 0;
+	int i;
+
+	down(&devpriv->sem);
+
+	devpriv->dux_commands[1] = chan;
+
+	for (i = 0; i < insn->n; i++) {
+		*p = cpu_to_le16(data[i]);
+
+		ret = send_dux_commands(dev, USBDUX_CMD_TIMER_WR);
+		if (ret < 0)
+			break;
+	}
+
+	up(&devpriv->sem);
+
+	return ret ? ret : insn->n;
+}
+
+static int usbdux_counter_config(struct comedi_device *dev,
+				 struct comedi_subdevice *s,
+				 struct comedi_insn *insn, unsigned int *data)
+{
+	/* nothing to do so far */
+	return 2;
+}
+
+static void usbduxsub_unlink_pwm_urbs(struct comedi_device *dev)
+{
+	struct usbdux_private *devpriv = dev->private;
+
+	usb_kill_urb(devpriv->pwm_urb);
+}
+
+static void usbdux_pwm_stop(struct comedi_device *dev, int do_unlink)
+{
+	struct usbdux_private *devpriv = dev->private;
+
+	if (do_unlink)
+		usbduxsub_unlink_pwm_urbs(dev);
+
+	devpriv->pwm_cmd_running = 0;
+}
+
+static int usbdux_pwm_cancel(struct comedi_device *dev,
+			     struct comedi_subdevice *s)
+{
+	struct usbdux_private *devpriv = dev->private;
+	int ret;
+
+	down(&devpriv->sem);
+	/* unlink only if it is really running */
+	usbdux_pwm_stop(dev, devpriv->pwm_cmd_running);
+	ret = send_dux_commands(dev, USBDUX_CMD_PWM_OFF);
+	up(&devpriv->sem);
+
+	return ret;
+}
+
+static void usbduxsub_pwm_irq(struct urb *urb)
+{
+	struct comedi_device *dev = urb->context;
+	struct usbdux_private *devpriv = dev->private;
+	int ret;
+
+	switch (urb->status) {
+	case 0:
+		/* success */
+		break;
+
+	case -ECONNRESET:
+	case -ENOENT:
+	case -ESHUTDOWN:
+	case -ECONNABORTED:
+		/*
+		 * after an unlink command, unplug, ... etc
+		 * no unlink needed here. Already shutting down.
+		 */
+		if (devpriv->pwm_cmd_running)
+			usbdux_pwm_stop(dev, 0);
+
+		return;
+
+	default:
+		/* a real error */
+		if (devpriv->pwm_cmd_running) {
+			dev_err(dev->class_dev,
+				"Non-zero urb status received in pwm intr context: %d\n",
+				urb->status);
+			usbdux_pwm_stop(dev, 0);
+		}
+		return;
+	}
+
+	/* are we actually running? */
+	if (!devpriv->pwm_cmd_running)
+		return;
+
+	urb->transfer_buffer_length = devpriv->pwm_buf_sz;
+	urb->dev = comedi_to_usb_dev(dev);
+	urb->status = 0;
+	if (devpriv->pwm_cmd_running) {
+		ret = usb_submit_urb(urb, GFP_ATOMIC);
+		if (ret < 0) {
+			dev_err(dev->class_dev,
+				"pwm urb resubm failed in int-cont. ret=%d",
+				ret);
+			if (ret == -EL2NSYNC)
+				dev_err(dev->class_dev,
+					"buggy USB host controller or bug in IRQ handling!\n");
+
+			/* don't do an unlink here */
+			usbdux_pwm_stop(dev, 0);
+		}
+	}
+}
+
+static int usbduxsub_submit_pwm_urbs(struct comedi_device *dev)
+{
+	struct usb_device *usb = comedi_to_usb_dev(dev);
+	struct usbdux_private *devpriv = dev->private;
+	struct urb *urb = devpriv->pwm_urb;
+
+	/* in case of a resubmission after an unlink... */
+	usb_fill_bulk_urb(urb, usb, usb_sndbulkpipe(usb, 4),
+			  urb->transfer_buffer,
+			  devpriv->pwm_buf_sz,
+			  usbduxsub_pwm_irq,
+			  dev);
+
+	return usb_submit_urb(urb, GFP_ATOMIC);
+}
+
+static int usbdux_pwm_period(struct comedi_device *dev,
+			     struct comedi_subdevice *s,
+			     unsigned int period)
+{
+	struct usbdux_private *devpriv = dev->private;
+	int fx2delay = 255;
+
+	if (period < MIN_PWM_PERIOD)
+		return -EAGAIN;
+
+	fx2delay = (period / (6 * 512 * 1000 / 33)) - 6;
+	if (fx2delay > 255)
+		return -EAGAIN;
+
+	devpriv->pwm_delay = fx2delay;
+	devpriv->pwm_period = period;
+
+	return 0;
+}
+
+static int usbdux_pwm_start(struct comedi_device *dev,
+			    struct comedi_subdevice *s)
+{
+	struct usbdux_private *devpriv = dev->private;
+	int ret = 0;
+
+	down(&devpriv->sem);
+
+	if (devpriv->pwm_cmd_running)
+		goto pwm_start_exit;
+
+	devpriv->dux_commands[1] = devpriv->pwm_delay;
+	ret = send_dux_commands(dev, USBDUX_CMD_PWM_ON);
+	if (ret < 0)
+		goto pwm_start_exit;
+
+	/* initialise the buffer */
+	memset(devpriv->pwm_urb->transfer_buffer, 0, devpriv->pwm_buf_sz);
+
+	devpriv->pwm_cmd_running = 1;
+	ret = usbduxsub_submit_pwm_urbs(dev);
+	if (ret < 0)
+		devpriv->pwm_cmd_running = 0;
+
+pwm_start_exit:
+	up(&devpriv->sem);
+
+	return ret;
+}
+
+static void usbdux_pwm_pattern(struct comedi_device *dev,
+			       struct comedi_subdevice *s,
+			       unsigned int chan,
+			       unsigned int value,
+			       unsigned int sign)
+{
+	struct usbdux_private *devpriv = dev->private;
+	char pwm_mask = (1 << chan);	/* DIO bit for the PWM data */
+	char sgn_mask = (16 << chan);	/* DIO bit for the sign */
+	char *buf = (char *)(devpriv->pwm_urb->transfer_buffer);
+	int szbuf = devpriv->pwm_buf_sz;
+	int i;
+
+	for (i = 0; i < szbuf; i++) {
+		char c = *buf;
+
+		c &= ~pwm_mask;
+		if (i < value)
+			c |= pwm_mask;
+		if (!sign)
+			c &= ~sgn_mask;
+		else
+			c |= sgn_mask;
+		*buf++ = c;
+	}
+}
+
+static int usbdux_pwm_write(struct comedi_device *dev,
+			    struct comedi_subdevice *s,
+			    struct comedi_insn *insn,
+			    unsigned int *data)
+{
+	unsigned int chan = CR_CHAN(insn->chanspec);
+
+	/*
+	 * It doesn't make sense to support more than one value here
+	 * because it would just overwrite the PWM buffer.
+	 */
+	if (insn->n != 1)
+		return -EINVAL;
+
+	/*
+	 * The sign is set via a special INSN only, this gives us 8 bits
+	 * for normal operation, sign is 0 by default.
+	 */
+	usbdux_pwm_pattern(dev, s, chan, data[0], 0);
+
+	return insn->n;
+}
+
+static int usbdux_pwm_config(struct comedi_device *dev,
+			     struct comedi_subdevice *s,
+			     struct comedi_insn *insn,
+			     unsigned int *data)
+{
+	struct usbdux_private *devpriv = dev->private;
+	unsigned int chan = CR_CHAN(insn->chanspec);
+
+	switch (data[0]) {
+	case INSN_CONFIG_ARM:
+		/*
+		 * if not zero the PWM is limited to a certain time which is
+		 * not supported here
+		 */
+		if (data[1] != 0)
+			return -EINVAL;
+		return usbdux_pwm_start(dev, s);
+	case INSN_CONFIG_DISARM:
+		return usbdux_pwm_cancel(dev, s);
+	case INSN_CONFIG_GET_PWM_STATUS:
+		data[1] = devpriv->pwm_cmd_running;
+		return 0;
+	case INSN_CONFIG_PWM_SET_PERIOD:
+		return usbdux_pwm_period(dev, s, data[1]);
+	case INSN_CONFIG_PWM_GET_PERIOD:
+		data[1] = devpriv->pwm_period;
+		return 0;
+	case INSN_CONFIG_PWM_SET_H_BRIDGE:
+		/*
+		 * data[1] = value
+		 * data[2] = sign (for a relay)
+		 */
+		usbdux_pwm_pattern(dev, s, chan, data[1], (data[2] != 0));
+		return 0;
+	case INSN_CONFIG_PWM_GET_H_BRIDGE:
+		/* values are not kept in this driver, nothing to return here */
+		return -EINVAL;
+	}
+	return -EINVAL;
+}
+
+static int usbdux_firmware_upload(struct comedi_device *dev,
+				  const u8 *data, size_t size,
+				  unsigned long context)
+{
+	struct usb_device *usb = comedi_to_usb_dev(dev);
+	uint8_t *buf;
+	uint8_t *tmp;
+	int ret;
+
+	if (!data)
+		return 0;
+
+	if (size > USBDUX_FIRMWARE_MAX_LEN) {
+		dev_err(dev->class_dev,
+			"usbdux firmware binary it too large for FX2.\n");
+		return -ENOMEM;
+	}
+
+	/* we generate a local buffer for the firmware */
+	buf = kmemdup(data, size, GFP_KERNEL);
+	if (!buf)
+		return -ENOMEM;
+
+	/* we need a malloc'ed buffer for usb_control_msg() */
+	tmp = kmalloc(1, GFP_KERNEL);
+	if (!tmp) {
+		kfree(buf);
+		return -ENOMEM;
+	}
+
+	/* stop the current firmware on the device */
+	*tmp = 1;	/* 7f92 to one */
+	ret = usb_control_msg(usb, usb_sndctrlpipe(usb, 0),
+			      USBDUX_FIRMWARE_CMD,
+			      VENDOR_DIR_OUT,
+			      USBDUX_CPU_CS, 0x0000,
+			      tmp, 1,
+			      BULK_TIMEOUT);
+	if (ret < 0) {
+		dev_err(dev->class_dev, "can not stop firmware\n");
+		goto done;
+	}
+
+	/* upload the new firmware to the device */
+	ret = usb_control_msg(usb, usb_sndctrlpipe(usb, 0),
+			      USBDUX_FIRMWARE_CMD,
+			      VENDOR_DIR_OUT,
+			      0, 0x0000,
+			      buf, size,
+			      BULK_TIMEOUT);
+	if (ret < 0) {
+		dev_err(dev->class_dev, "firmware upload failed\n");
+		goto done;
+	}
+
+	/* start the new firmware on the device */
+	*tmp = 0;	/* 7f92 to zero */
+	ret = usb_control_msg(usb, usb_sndctrlpipe(usb, 0),
+			      USBDUX_FIRMWARE_CMD,
+			      VENDOR_DIR_OUT,
+			      USBDUX_CPU_CS, 0x0000,
+			      tmp, 1,
+			      BULK_TIMEOUT);
+	if (ret < 0)
+		dev_err(dev->class_dev, "can not start firmware\n");
+
+done:
+	kfree(tmp);
+	kfree(buf);
+	return ret;
+}
+
+static int usbdux_alloc_usb_buffers(struct comedi_device *dev)
+{
+	struct usb_device *usb = comedi_to_usb_dev(dev);
+	struct usbdux_private *devpriv = dev->private;
+	struct urb *urb;
+	int i;
+
+	devpriv->dux_commands = kzalloc(SIZEOFDUXBUFFER, GFP_KERNEL);
+	devpriv->in_buf = kzalloc(SIZEINBUF, GFP_KERNEL);
+	devpriv->insn_buf = kzalloc(SIZEINSNBUF, GFP_KERNEL);
+	devpriv->ai_urbs = kcalloc(devpriv->n_ai_urbs, sizeof(void *),
+				   GFP_KERNEL);
+	devpriv->ao_urbs = kcalloc(devpriv->n_ao_urbs, sizeof(void *),
+				   GFP_KERNEL);
+	if (!devpriv->dux_commands || !devpriv->in_buf || !devpriv->insn_buf ||
+	    !devpriv->ai_urbs || !devpriv->ao_urbs)
+		return -ENOMEM;
+
+	for (i = 0; i < devpriv->n_ai_urbs; i++) {
+		/* one frame: 1ms */
+		urb = usb_alloc_urb(1, GFP_KERNEL);
+		if (!urb)
+			return -ENOMEM;
+		devpriv->ai_urbs[i] = urb;
+
+		urb->dev = usb;
+		urb->context = dev;
+		urb->pipe = usb_rcvisocpipe(usb, 6);
+		urb->transfer_flags = URB_ISO_ASAP;
+		urb->transfer_buffer = kzalloc(SIZEINBUF, GFP_KERNEL);
+		if (!urb->transfer_buffer)
+			return -ENOMEM;
+
+		urb->complete = usbduxsub_ai_isoc_irq;
+		urb->number_of_packets = 1;
+		urb->transfer_buffer_length = SIZEINBUF;
+		urb->iso_frame_desc[0].offset = 0;
+		urb->iso_frame_desc[0].length = SIZEINBUF;
+	}
+
+	for (i = 0; i < devpriv->n_ao_urbs; i++) {
+		/* one frame: 1ms */
+		urb = usb_alloc_urb(1, GFP_KERNEL);
+		if (!urb)
+			return -ENOMEM;
+		devpriv->ao_urbs[i] = urb;
+
+		urb->dev = usb;
+		urb->context = dev;
+		urb->pipe = usb_sndisocpipe(usb, 2);
+		urb->transfer_flags = URB_ISO_ASAP;
+		urb->transfer_buffer = kzalloc(SIZEOUTBUF, GFP_KERNEL);
+		if (!urb->transfer_buffer)
+			return -ENOMEM;
+
+		urb->complete = usbduxsub_ao_isoc_irq;
+		urb->number_of_packets = 1;
+		urb->transfer_buffer_length = SIZEOUTBUF;
+		urb->iso_frame_desc[0].offset = 0;
+		urb->iso_frame_desc[0].length = SIZEOUTBUF;
+		if (devpriv->high_speed)
+			urb->interval = 8;	/* uframes */
+		else
+			urb->interval = 1;	/* frames */
+	}
+
+	/* pwm */
+	if (devpriv->pwm_buf_sz) {
+		urb = usb_alloc_urb(0, GFP_KERNEL);
+		if (!urb)
+			return -ENOMEM;
+		devpriv->pwm_urb = urb;
+
+		/* max bulk ep size in high speed */
+		urb->transfer_buffer = kzalloc(devpriv->pwm_buf_sz,
+					       GFP_KERNEL);
+		if (!urb->transfer_buffer)
+			return -ENOMEM;
+	}
+
+	return 0;
+}
+
+static void usbdux_free_usb_buffers(struct comedi_device *dev)
+{
+	struct usbdux_private *devpriv = dev->private;
+	struct urb *urb;
+	int i;
+
+	urb = devpriv->pwm_urb;
+	if (urb) {
+		kfree(urb->transfer_buffer);
+		usb_free_urb(urb);
+	}
+	if (devpriv->ao_urbs) {
+		for (i = 0; i < devpriv->n_ao_urbs; i++) {
+			urb = devpriv->ao_urbs[i];
+			if (urb) {
+				kfree(urb->transfer_buffer);
+				usb_free_urb(urb);
+			}
+		}
+		kfree(devpriv->ao_urbs);
+	}
+	if (devpriv->ai_urbs) {
+		for (i = 0; i < devpriv->n_ai_urbs; i++) {
+			urb = devpriv->ai_urbs[i];
+			if (urb) {
+				kfree(urb->transfer_buffer);
+				usb_free_urb(urb);
+			}
+		}
+		kfree(devpriv->ai_urbs);
+	}
+	kfree(devpriv->insn_buf);
+	kfree(devpriv->in_buf);
+	kfree(devpriv->dux_commands);
+}
+
+static int usbdux_auto_attach(struct comedi_device *dev,
+			      unsigned long context_unused)
+{
+	struct usb_interface *intf = comedi_to_usb_interface(dev);
+	struct usb_device *usb = comedi_to_usb_dev(dev);
+	struct usbdux_private *devpriv;
+	struct comedi_subdevice *s;
+	int ret;
+
+	devpriv = comedi_alloc_devpriv(dev, sizeof(*devpriv));
+	if (!devpriv)
+		return -ENOMEM;
+
+	sema_init(&devpriv->sem, 1);
+
+	usb_set_intfdata(intf, devpriv);
+
+	devpriv->high_speed = (usb->speed == USB_SPEED_HIGH);
+	if (devpriv->high_speed) {
+		devpriv->n_ai_urbs = NUMOFINBUFFERSHIGH;
+		devpriv->n_ao_urbs = NUMOFOUTBUFFERSHIGH;
+		devpriv->pwm_buf_sz = 512;
+	} else {
+		devpriv->n_ai_urbs = NUMOFINBUFFERSFULL;
+		devpriv->n_ao_urbs = NUMOFOUTBUFFERSFULL;
+	}
+
+	ret = usbdux_alloc_usb_buffers(dev);
+	if (ret)
+		return ret;
+
+	/* setting to alternate setting 3: enabling iso ep and bulk ep. */
+	ret = usb_set_interface(usb, intf->altsetting->desc.bInterfaceNumber,
+				3);
+	if (ret < 0) {
+		dev_err(dev->class_dev,
+			"could not set alternate setting 3 in high speed\n");
+		return ret;
+	}
+
+	ret = comedi_load_firmware(dev, &usb->dev, USBDUX_FIRMWARE,
+				   usbdux_firmware_upload, 0);
+	if (ret < 0)
+		return ret;
+
+	ret = comedi_alloc_subdevices(dev, (devpriv->high_speed) ? 5 : 4);
+	if (ret)
+		return ret;
+
+	/* Analog Input subdevice */
+	s = &dev->subdevices[0];
+	dev->read_subdev = s;
+	s->type		= COMEDI_SUBD_AI;
+	s->subdev_flags	= SDF_READABLE | SDF_GROUND | SDF_CMD_READ;
+	s->n_chan	= 8;
+	s->maxdata	= 0x0fff;
+	s->len_chanlist	= 8;
+	s->range_table	= &range_usbdux_ai_range;
+	s->insn_read	= usbdux_ai_insn_read;
+	s->do_cmdtest	= usbdux_ai_cmdtest;
+	s->do_cmd	= usbdux_ai_cmd;
+	s->cancel	= usbdux_ai_cancel;
+
+	/* Analog Output subdevice */
+	s = &dev->subdevices[1];
+	dev->write_subdev = s;
+	s->type		= COMEDI_SUBD_AO;
+	s->subdev_flags	= SDF_WRITABLE | SDF_GROUND | SDF_CMD_WRITE;
+	s->n_chan	= 4;
+	s->maxdata	= 0x0fff;
+	s->len_chanlist	= s->n_chan;
+	s->range_table	= &range_usbdux_ao_range;
+	s->do_cmdtest	= usbdux_ao_cmdtest;
+	s->do_cmd	= usbdux_ao_cmd;
+	s->cancel	= usbdux_ao_cancel;
+	s->insn_read	= usbdux_ao_insn_read;
+	s->insn_write	= usbdux_ao_insn_write;
+
+	ret = comedi_alloc_subdev_readback(s);
+	if (ret)
+		return ret;
+
+	/* Digital I/O subdevice */
+	s = &dev->subdevices[2];
+	s->type		= COMEDI_SUBD_DIO;
+	s->subdev_flags	= SDF_READABLE | SDF_WRITABLE;
+	s->n_chan	= 8;
+	s->maxdata	= 1;
+	s->range_table	= &range_digital;
+	s->insn_bits	= usbdux_dio_insn_bits;
+	s->insn_config	= usbdux_dio_insn_config;
+
+	/* Counter subdevice */
+	s = &dev->subdevices[3];
+	s->type		= COMEDI_SUBD_COUNTER;
+	s->subdev_flags	= SDF_WRITABLE | SDF_READABLE;
+	s->n_chan	= 4;
+	s->maxdata	= 0xffff;
+	s->insn_read	= usbdux_counter_read;
+	s->insn_write	= usbdux_counter_write;
+	s->insn_config	= usbdux_counter_config;
+
+	if (devpriv->high_speed) {
+		/* PWM subdevice */
+		s = &dev->subdevices[4];
+		s->type		= COMEDI_SUBD_PWM;
+		s->subdev_flags	= SDF_WRITABLE | SDF_PWM_HBRIDGE;
+		s->n_chan	= 8;
+		s->maxdata	= devpriv->pwm_buf_sz;
+		s->insn_write	= usbdux_pwm_write;
+		s->insn_config	= usbdux_pwm_config;
+
+		usbdux_pwm_period(dev, s, PWM_DEFAULT_PERIOD);
+	}
+
+	return 0;
+}
+
+static void usbdux_detach(struct comedi_device *dev)
+{
+	struct usb_interface *intf = comedi_to_usb_interface(dev);
+	struct usbdux_private *devpriv = dev->private;
+
+	usb_set_intfdata(intf, NULL);
+
+	if (!devpriv)
+		return;
+
+	down(&devpriv->sem);
+
+	/* force unlink all urbs */
+	usbdux_pwm_stop(dev, 1);
+	usbdux_ao_stop(dev, 1);
+	usbdux_ai_stop(dev, 1);
+
+	usbdux_free_usb_buffers(dev);
+
+	up(&devpriv->sem);
+}
+
+static struct comedi_driver usbdux_driver = {
+	.driver_name	= "usbdux",
+	.module		= THIS_MODULE,
+	.auto_attach	= usbdux_auto_attach,
+	.detach		= usbdux_detach,
+};
+
+static int usbdux_usb_probe(struct usb_interface *intf,
+			    const struct usb_device_id *id)
+{
+	return comedi_usb_auto_config(intf, &usbdux_driver, 0);
+}
+
+static const struct usb_device_id usbdux_usb_table[] = {
+	{ USB_DEVICE(0x13d8, 0x0001) },
+	{ USB_DEVICE(0x13d8, 0x0002) },
+	{ }
+};
+MODULE_DEVICE_TABLE(usb, usbdux_usb_table);
+
+static struct usb_driver usbdux_usb_driver = {
+	.name		= "usbdux",
+	.probe		= usbdux_usb_probe,
+	.disconnect	= comedi_usb_auto_unconfig,
+	.id_table	= usbdux_usb_table,
+};
+module_comedi_usb_driver(usbdux_driver, usbdux_usb_driver);
+
+MODULE_AUTHOR("Bernd Porr, BerndPorr@f2s.com");
+MODULE_DESCRIPTION("Stirling/ITL USB-DUX -- Bernd.Porr@f2s.com");
+MODULE_LICENSE("GPL");
+MODULE_FIRMWARE(USBDUX_FIRMWARE);