usbduxsigma.c

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/*
   comedi/drivers/usbdux.c
   Copyright (C) 2011 Bernd Porr, [email protected]

   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.

   You should have received a copy of the GNU General Public License
   along with this program; if not, write to the Free Software
   Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.

 */
/*
Driver: usbduxsigma
Description: University of Stirling USB DAQ & INCITE Technology Limited
Devices: [ITL] USB-DUX (usbduxsigma.o)
Author: Bernd Porr <[email protected]>
Updated: 8 Nov 2011
Status: testing
*/
/*
 * 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.
 *
 * Note: the raw data from the A/D converter is 24 bit big endian
 * anything else is little endian to/from the dux board
 *
 *
 * Revision history:
 *   0.1: initial version
 *   0.2: all basic functions implemented, digital I/O only for one port
 *   0.3: proper vendor ID and driver name
 *   0.4: fixed D/A voltage range
 *   0.5: various bug fixes, health check at startup
 *   0.6: corrected wrong input range
 */

/* generates loads of debug info */
/* #define NOISY_DUX_DEBUGBUG */

#include <linux/kernel.h>
#include <linux/module.h>
#include <linux/init.h>
#include <linux/slab.h>
#include <linux/input.h>
#include <linux/usb.h>
#include <linux/fcntl.h>
#include <linux/compiler.h>
#include <linux/firmware.h>
#include "comedi_fc.h"
#include "../comedidev.h"

/* timeout for the USB-transfer in ms*/
#define BULK_TIMEOUT 1000

/* constants for "firmware" upload and download */
#define FIRMWARE "usbduxsigma_firmware.bin"
#define USBDUXSUB_FIRMWARE 0xA0
#define VENDOR_DIR_IN  0xC0
#define VENDOR_DIR_OUT 0x40

/* internal addresses of the 8051 processor */
#define USBDUXSUB_CPUCS 0xE600

/*
 * the minor device number, major is 180 only for debugging purposes and to
 * upload special firmware (programming the eeprom etc) which is not
 * compatible with the comedi framwork
 */
#define USBDUXSUB_MINOR 32

/* max lenghth of the transfer-buffer for software upload */
#define TB_LEN 0x2000

/* Input endpoint number: ISO/IRQ */
#define ISOINEP           6

/* Output endpoint number: ISO/IRQ */
#define ISOOUTEP          2

/* This EP sends DUX commands to USBDUX */
#define COMMAND_OUT_EP     1

/* This EP receives the DUX commands from USBDUX */
#define COMMAND_IN_EP        8

/* Output endpoint for PWM */
#define PWM_EP         4

/* 300Hz max frequ under PWM */
#define MIN_PWM_PERIOD  ((long)(1E9/300))

/* Default PWM frequency */
#define PWM_DEFAULT_PERIOD ((long)(1E9/100))

/* Number of channels (16 AD and offset)*/
#define NUMCHANNELS 16

/* Size of one A/D value */
#define SIZEADIN          ((sizeof(int32_t)))

/*
 * Size of the async input-buffer IN BYTES, the DIO state is transmitted
 * as the first byte.
 */
#define SIZEINBUF         (((NUMCHANNELS+1)*SIZEADIN))

/* 16 bytes. */
#define SIZEINSNBUF       16

/* Number of DA channels */
#define NUMOUTCHANNELS    8

/* size of one value for the D/A converter: channel and value */
#define SIZEDAOUT          ((sizeof(uint8_t)+sizeof(int16_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

/* Total number of usbdux devices */
#define NUMUSBDUX             16

/* Analogue in subdevice */
#define SUBDEV_AD             0

/* Analogue out subdevice */
#define SUBDEV_DA             1

/* Digital I/O */
#define SUBDEV_DIO            2

/* timer aka pwm output */
#define SUBDEV_PWM            3

/* number of retries to get the right dux command */
#define RETRIES 10

/**************************************************/
/* comedi constants */
static const struct comedi_lrange range_usbdux_ai_range = { 1, {
                                BIP_RANGE
                                (2.65/2.0)
                                }
};

static const struct comedi_lrange range_usbdux_ao_range = { 1, {
                                UNI_RANGE
                                (2.5),
                                   }
};

/*
 * private structure of one subdevice
 */

/*
 * This is the structure which holds all the data of
 * this driver one sub device just now: A/D
 */
struct usbduxsub {
    /* attached? */
    int attached;
    /* is it associated with a subdevice? */
    int probed;
    /* pointer to the usb-device */
    struct usb_device *usbdev;
    /* actual number of in-buffers */
    int numOfInBuffers;
    /* actual number of out-buffers */
    int numOfOutBuffers;
    /* ISO-transfer handling: buffers */
    struct urb **urbIn;
    struct urb **urbOut;
    /* pwm-transfer handling */
    struct urb *urbPwm;
    /* PWM period */
    unsigned int pwmPeriod;
    /* PWM internal delay for the GPIF in the FX2 */
    uint8_t pwmDelay;
    /* size of the PWM buffer which holds the bit pattern */
    int sizePwmBuf;
    /* input buffer for the ISO-transfer */
    int32_t *inBuffer;
    /* input buffer for single insn */
    int8_t *insnBuffer;
    /* output buffer for single DA outputs */
    int16_t *outBuffer;
    /* interface number */
    int ifnum;
    /* interface structure in 2.6 */
    struct usb_interface *interface;
    /* comedi device for the interrupt context */
    struct comedi_device *comedidev;
    /* is it USB_SPEED_HIGH or not? */
    short int high_speed;
    /* asynchronous command is running */
    short int ai_cmd_running;
    short int ao_cmd_running;
    /* pwm is running */
    short int pwm_cmd_running;
    /* continuous acquisition */
    short int ai_continuous;
    short int ao_continuous;
    /* number of samples to acquire */
    int ai_sample_count;
    int ao_sample_count;
    /* time between samples in units of the timer */
    unsigned int ai_timer;
    unsigned int ao_timer;
    /* counter between acquisitions */
    unsigned int ai_counter;
    unsigned int ao_counter;
    /* interval in frames/uframes */
    unsigned int ai_interval;
    /* D/A commands */
    uint8_t *dac_commands;
    /* commands */
    uint8_t *dux_commands;
    struct semaphore sem;
};

/*
 * The pointer to the private usb-data of the driver is also the private data
 * for the comedi-device.  This has to be global as the usb subsystem needs
 * global variables. The other reason is that this structure must be there
 * _before_ any comedi command is issued. The usb subsystem must be initialised
 * before comedi can access it.
 */
static struct usbduxsub usbduxsub[NUMUSBDUX];

static DEFINE_SEMAPHORE(start_stop_sem);

/*
 * Stops the data acquision
 * It should be safe to call this function from any context
 */
static int usbduxsub_unlink_InURBs(struct usbduxsub *usbduxsub_tmp)
{
    int i = 0;
    int err = 0;

    if (usbduxsub_tmp && usbduxsub_tmp->urbIn) {
        for (i = 0; i < usbduxsub_tmp->numOfInBuffers; i++) {
            if (usbduxsub_tmp->urbIn[i]) {
                /* We wait here until all transfers have been
                 * cancelled. */
                usb_kill_urb(usbduxsub_tmp->urbIn[i]);
            }
            dev_dbg(&usbduxsub_tmp->interface->dev,
                "comedi: usbdux: unlinked InURB %d, err=%d\n",
                i, err);
        }
    }
    return err;
}

/*
 * This will stop a running acquisition operation
 * Is called from within this driver from both the
 * interrupt context and from comedi
 */
static int usbdux_ai_stop(struct usbduxsub *this_usbduxsub, int do_unlink)
{
    int ret = 0;

    if (!this_usbduxsub) {
        pr_err("comedi?: usbdux_ai_stop: this_usbduxsub=NULL!\n");
        return -EFAULT;
    }
    dev_dbg(&this_usbduxsub->interface->dev, "comedi: usbdux_ai_stop\n");

    if (do_unlink) {
        /* stop aquistion */
        ret = usbduxsub_unlink_InURBs(this_usbduxsub);
    }

    this_usbduxsub->ai_cmd_running = 0;

    return ret;
}

/*
 * This will cancel a running acquisition operation.
 * This is called by comedi but never from inside the driver.
 */
static int usbdux_ai_cancel(struct comedi_device *dev,
                struct comedi_subdevice *s)
{
    struct usbduxsub *this_usbduxsub;
    int res = 0;

    /* force unlink of all urbs */
    this_usbduxsub = dev->private;
    if (!this_usbduxsub)
        return -EFAULT;

    dev_dbg(&this_usbduxsub->interface->dev, "comedi: usbdux_ai_cancel\n");

    /* prevent other CPUs from submitting new commands just now */
    down(&this_usbduxsub->sem);
    if (!(this_usbduxsub->probed)) {
        up(&this_usbduxsub->sem);
        return -ENODEV;
    }
    /* unlink only if the urb really has been submitted */
    res = usbdux_ai_stop(this_usbduxsub, this_usbduxsub->ai_cmd_running);
    up(&this_usbduxsub->sem);
    return res;
}

/* analogue IN - interrupt service routine */
static void usbduxsub_ai_IsocIrq(struct urb *urb)
{
    int i, err, n;
    struct usbduxsub *this_usbduxsub;
    struct comedi_device *this_comedidev;
    struct comedi_subdevice *s;
    int32_t v;
    unsigned int dio_state;

    /* the context variable points to the comedi device */
    this_comedidev = urb->context;
    /* the private structure of the subdevice is struct usbduxsub */
    this_usbduxsub = this_comedidev->private;
    /* subdevice which is the AD converter */
    s = &this_comedidev->subdevices[SUBDEV_AD];

    /* first we test if something unusual has just happened */
    switch (urb->status) {
    case 0:
        /* copy the result in the transfer buffer */
        memcpy(this_usbduxsub->inBuffer,
               urb->transfer_buffer, SIZEINBUF);
        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(&urb->dev->dev,
            "comedi%d: usbdux: CRC error in ISO IN stream.\n",
            this_usbduxsub->comedidev->minor);

        break;

    case -ECONNRESET:
    case -ENOENT:
    case -ESHUTDOWN:
    case -ECONNABORTED:
        /* happens after an unlink command */
        if (this_usbduxsub->ai_cmd_running) {
            /* we are still running a command */
            /* tell this comedi */
            s->async->events |= COMEDI_CB_EOA;
            s->async->events |= COMEDI_CB_ERROR;
            comedi_event(this_usbduxsub->comedidev, s);
            /* stop the transfer w/o unlink */
            usbdux_ai_stop(this_usbduxsub, 0);
        }
        return;

    default:
        /* a real error on the bus */
        /* pass error to comedi if we are really running a command */
        if (this_usbduxsub->ai_cmd_running) {
            dev_err(&urb->dev->dev,
                "Non-zero urb status received in ai intr "
                "context: %d\n", urb->status);
            s->async->events |= COMEDI_CB_EOA;
            s->async->events |= COMEDI_CB_ERROR;
            comedi_event(this_usbduxsub->comedidev, s);
            /* don't do an unlink here */
            usbdux_ai_stop(this_usbduxsub, 0);
        }
        return;
    }

    /*
     * at this point we are reasonably sure that nothing dodgy has happened
     * are we running a command?
     */
    if (unlikely((!(this_usbduxsub->ai_cmd_running)))) {
        /*
         * not running a command, do not continue execution if no
         * asynchronous command is running in particular not resubmit
         */
        return;
    }

    urb->dev = this_usbduxsub->usbdev;

    /* resubmit the urb */
    err = usb_submit_urb(urb, GFP_ATOMIC);
    if (unlikely(err < 0)) {
        dev_err(&urb->dev->dev,
            "comedi_: urb resubmit failed in int-context!"
            "err=%d\n",
            err);
        if (err == -EL2NSYNC)
            dev_err(&urb->dev->dev,
                "buggy USB host controller or bug in IRQ "
                "handler!\n");
        s->async->events |= COMEDI_CB_EOA;
        s->async->events |= COMEDI_CB_ERROR;
        comedi_event(this_usbduxsub->comedidev, s);
        /* don't do an unlink here */
        usbdux_ai_stop(this_usbduxsub, 0);
        return;
    }

    /* get the state of the dio pins to allow external trigger */
    dio_state = be32_to_cpu(this_usbduxsub->inBuffer[0]);

    this_usbduxsub->ai_counter--;
    if (likely(this_usbduxsub->ai_counter > 0))
        return;

    /* timer zero, transfer measurements to comedi */
    this_usbduxsub->ai_counter = this_usbduxsub->ai_timer;

    /* test, if we transmit only a fixed number of samples */
    if (!(this_usbduxsub->ai_continuous)) {
        /* not continuous, fixed number of samples */
        this_usbduxsub->ai_sample_count--;
        /* all samples received? */
        if (this_usbduxsub->ai_sample_count < 0) {
            /* prevent a resubmit next time */
            usbdux_ai_stop(this_usbduxsub, 0);
            /* say comedi that the acquistion is over */
            s->async->events |= COMEDI_CB_EOA;
            comedi_event(this_usbduxsub->comedidev, s);
            return;
        }
    }
    /* get the data from the USB bus and hand it over to comedi */
    n = s->async->cmd.chanlist_len;
    for (i = 0; i < n; i++) {
        /* transfer data, note first byte is the DIO state */
        v = be32_to_cpu(this_usbduxsub->inBuffer[i+1]);
        /* strip status byte */
        v = v & 0x00ffffff;
        /* convert to unsigned */
        v = v ^ 0x00800000;
        /* write the byte to the buffer */
        err = cfc_write_array_to_buffer(s, &v, sizeof(uint32_t));
        if (unlikely(err == 0)) {
            /* buffer overflow */
            usbdux_ai_stop(this_usbduxsub, 0);
            return;
        }
    }
    /* tell comedi that data is there */
    s->async->events |= COMEDI_CB_BLOCK | COMEDI_CB_EOS;
    comedi_event(this_usbduxsub->comedidev, s);
}

static int usbduxsub_unlink_OutURBs(struct usbduxsub *usbduxsub_tmp)
{
    int i = 0;
    int err = 0;

    if (usbduxsub_tmp && usbduxsub_tmp->urbOut) {
        for (i = 0; i < usbduxsub_tmp->numOfOutBuffers; i++) {
            if (usbduxsub_tmp->urbOut[i])
                usb_kill_urb(usbduxsub_tmp->urbOut[i]);

            dev_dbg(&usbduxsub_tmp->interface->dev,
                "comedi: usbdux: unlinked OutURB %d: res=%d\n",
                i, err);
        }
    }
    return err;
}

/* This will cancel a running acquisition operation
 * in any context.
 */
static int usbdux_ao_stop(struct usbduxsub *this_usbduxsub, int do_unlink)
{
    int ret = 0;

    if (!this_usbduxsub)
        return -EFAULT;
    dev_dbg(&this_usbduxsub->interface->dev, "comedi: usbdux_ao_cancel\n");

    if (do_unlink)
        ret = usbduxsub_unlink_OutURBs(this_usbduxsub);

    this_usbduxsub->ao_cmd_running = 0;

    return ret;
}

/* force unlink, is called by comedi */
static int usbdux_ao_cancel(struct comedi_device *dev,
                struct comedi_subdevice *s)
{
    struct usbduxsub *this_usbduxsub = dev->private;
    int res = 0;

    if (!this_usbduxsub)
        return -EFAULT;

    /* prevent other CPUs from submitting a command just now */
    down(&this_usbduxsub->sem);
    if (!(this_usbduxsub->probed)) {
        up(&this_usbduxsub->sem);
        return -ENODEV;
    }
    /* unlink only if it is really running */
    res = usbdux_ao_stop(this_usbduxsub, this_usbduxsub->ao_cmd_running);
    up(&this_usbduxsub->sem);
    return res;
}

static void usbduxsub_ao_IsocIrq(struct urb *urb)
{
    int i, ret;
    uint8_t *datap;
    struct usbduxsub *this_usbduxsub;
    struct comedi_device *this_comedidev;
    struct comedi_subdevice *s;

    /* the context variable points to the subdevice */
    this_comedidev = urb->context;
    /* the private structure of the subdevice is struct usbduxsub */
    this_usbduxsub = this_comedidev->private;

    s = &this_comedidev->subdevices[SUBDEV_DA];

    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 (this_usbduxsub->ao_cmd_running) {
            s->async->events |= COMEDI_CB_EOA;
            comedi_event(this_usbduxsub->comedidev, s);
            usbdux_ao_stop(this_usbduxsub, 0);
        }
        return;

    default:
        /* a real error */
        if (this_usbduxsub->ao_cmd_running) {
            dev_err(&urb->dev->dev,
                "comedi_: Non-zero urb status received in ao "
                "intr context: %d\n", urb->status);
            s->async->events |= COMEDI_CB_ERROR;
            s->async->events |= COMEDI_CB_EOA;
            comedi_event(this_usbduxsub->comedidev, s);
            /* we do an unlink if we are in the high speed mode */
            usbdux_ao_stop(this_usbduxsub, 0);
        }
        return;
    }

    /* are we actually running? */
    if (!(this_usbduxsub->ao_cmd_running))
        return;

    /* normal operation: executing a command in this subdevice */
    this_usbduxsub->ao_counter--;
    if ((int)this_usbduxsub->ao_counter <= 0) {
        /* timer zero */
        this_usbduxsub->ao_counter = this_usbduxsub->ao_timer;

        /* handle non continuous acquisition */
        if (!(this_usbduxsub->ao_continuous)) {
            /* fixed number of samples */
            this_usbduxsub->ao_sample_count--;
            if (this_usbduxsub->ao_sample_count < 0) {
                /* all samples transmitted */
                usbdux_ao_stop(this_usbduxsub, 0);
                s->async->events |= COMEDI_CB_EOA;
                comedi_event(this_usbduxsub->comedidev, s);
                /* no resubmit of the urb */
                return;
            }
        }
        /* transmit data to the USB bus */
        ((uint8_t *) (urb->transfer_buffer))[0] =
            s->async->cmd.chanlist_len;
        for (i = 0; i < s->async->cmd.chanlist_len; i++) {
            short temp;
            if (i >= NUMOUTCHANNELS)
                break;

            /* pointer to the DA */
            datap =
                (&(((uint8_t *) urb->transfer_buffer)[i * 2 + 1]));
            /* get the data from comedi */
            ret = comedi_buf_get(s->async, &temp);
            datap[0] = temp;
            datap[1] = this_usbduxsub->dac_commands[i];
            /* printk("data[0]=%x, data[1]=%x, data[2]=%x\n", */
            /* datap[0],datap[1],datap[2]); */
            if (ret < 0) {
                dev_err(&urb->dev->dev,
                    "comedi: buffer underflow\n");
                s->async->events |= COMEDI_CB_EOA;
                s->async->events |= COMEDI_CB_OVERFLOW;
            }
            /* transmit data to comedi */
            s->async->events |= COMEDI_CB_BLOCK;
            comedi_event(this_usbduxsub->comedidev, s);
        }
    }
    urb->transfer_buffer_length = SIZEOUTBUF;
    urb->dev = this_usbduxsub->usbdev;
    urb->status = 0;
    if (this_usbduxsub->ao_cmd_running) {
        if (this_usbduxsub->high_speed) {
            /* uframes */
            urb->interval = 8;
        } else {
            /* frames */
            urb->interval = 1;
        }
        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(&urb->dev->dev,
                "comedi_: ao urb resubm failed in int-cont. "
                "ret=%d", ret);
            if (ret == EL2NSYNC)
                dev_err(&urb->dev->dev,
                    "buggy USB host controller or bug in "
                    "IRQ handling!\n");

            s->async->events |= COMEDI_CB_EOA;
            s->async->events |= COMEDI_CB_ERROR;
            comedi_event(this_usbduxsub->comedidev, s);
            /* don't do an unlink here */
            usbdux_ao_stop(this_usbduxsub, 0);
        }
    }
}

static int usbduxsub_start(struct usbduxsub *usbduxsub)
{
    int errcode = 0;
    uint8_t local_transfer_buffer[16];

    /* 7f92 to zero */
    local_transfer_buffer[0] = 0;
    errcode = usb_control_msg(usbduxsub->usbdev,
                  /* create a pipe for a control transfer */
                  usb_sndctrlpipe(usbduxsub->usbdev, 0),
                  /* bRequest, "Firmware" */
                  USBDUXSUB_FIRMWARE,
                  /* bmRequestType */
                  VENDOR_DIR_OUT,
                  /* Value */
                  USBDUXSUB_CPUCS,
                  /* Index */
                  0x0000,
                  /* address of the transfer buffer */
                  local_transfer_buffer,
                  /* Length */
                  1,
                  /* Timeout */
                  BULK_TIMEOUT);
    if (errcode < 0) {
        dev_err(&usbduxsub->interface->dev,
            "comedi_: control msg failed (start)\n");
        return errcode;
    }
    return 0;
}

static int usbduxsub_stop(struct usbduxsub *usbduxsub)
{
    int errcode = 0;

    uint8_t local_transfer_buffer[16];

    /* 7f92 to one */
    local_transfer_buffer[0] = 1;
    errcode = usb_control_msg(usbduxsub->usbdev,
                  usb_sndctrlpipe(usbduxsub->usbdev, 0),
                  /* bRequest, "Firmware" */
                  USBDUXSUB_FIRMWARE,
                  /* bmRequestType */
                  VENDOR_DIR_OUT,
                  /* Value */
                  USBDUXSUB_CPUCS,
                  /* Index */
                  0x0000, local_transfer_buffer,
                  /* Length */
                  1,
                  /* Timeout */
                  BULK_TIMEOUT);
    if (errcode < 0) {
        dev_err(&usbduxsub->interface->dev,
            "comedi_: control msg failed (stop)\n");
        return errcode;
    }
    return 0;
}

static int usbduxsub_upload(struct usbduxsub *usbduxsub,
                uint8_t *local_transfer_buffer,
                unsigned int startAddr, unsigned int len)
{
    int errcode;

    errcode = usb_control_msg(usbduxsub->usbdev,
                  usb_sndctrlpipe(usbduxsub->usbdev, 0),
                  /* brequest, firmware */
                  USBDUXSUB_FIRMWARE,
                  /* bmRequestType */
                  VENDOR_DIR_OUT,
                  /* value */
                  startAddr,
                  /* index */
                  0x0000,
                  /* our local safe buffer */
                  local_transfer_buffer,
                  /* length */
                  len,
                  /* timeout */
                  BULK_TIMEOUT);
    dev_dbg(&usbduxsub->interface->dev, "comedi_: result=%d\n", errcode);
    if (errcode < 0) {
        dev_err(&usbduxsub->interface->dev,
            "comedi_: upload failed\n");
        return errcode;
    }
    return 0;
}

/* the FX2LP has twice as much as the standard FX2 */
#define FIRMWARE_MAX_LEN 0x4000

static int firmwareUpload(struct usbduxsub *usbduxsub,
              const u8 *firmwareBinary, int sizeFirmware)
{
    int ret;
    uint8_t *fwBuf;

    if (!firmwareBinary)
        return 0;

    if (sizeFirmware > FIRMWARE_MAX_LEN) {
        dev_err(&usbduxsub->interface->dev,
            "usbduxsigma firmware binary it too large for FX2.\n");
        return -ENOMEM;
    }

    /* we generate a local buffer for the firmware */
    fwBuf = kmemdup(firmwareBinary, sizeFirmware, GFP_KERNEL);
    if (!fwBuf) {
        dev_err(&usbduxsub->interface->dev,
            "comedi_: mem alloc for firmware failed\n");
        return -ENOMEM;
    }

    ret = usbduxsub_stop(usbduxsub);
    if (ret < 0) {
        dev_err(&usbduxsub->interface->dev,
            "comedi_: can not stop firmware\n");
        kfree(fwBuf);
        return ret;
    }

    ret = usbduxsub_upload(usbduxsub, fwBuf, 0, sizeFirmware);
    if (ret < 0) {
        dev_err(&usbduxsub->interface->dev,
            "comedi_: firmware upload failed\n");
        kfree(fwBuf);
        return ret;
    }
    ret = usbduxsub_start(usbduxsub);
    if (ret < 0) {
        dev_err(&usbduxsub->interface->dev,
            "comedi_: can not start firmware\n");
        kfree(fwBuf);
        return ret;
    }
    kfree(fwBuf);
    return 0;
}

static int usbduxsub_submit_InURBs(struct usbduxsub *usbduxsub)
{
    int i, errFlag;

    if (!usbduxsub)
        return -EFAULT;

    /* Submit all URBs and start the transfer on the bus */
    for (i = 0; i < usbduxsub->numOfInBuffers; i++) {
        /* in case of a resubmission after an unlink... */
        usbduxsub->urbIn[i]->interval = usbduxsub->ai_interval;
        usbduxsub->urbIn[i]->context = usbduxsub->comedidev;
        usbduxsub->urbIn[i]->dev = usbduxsub->usbdev;
        usbduxsub->urbIn[i]->status = 0;
        usbduxsub->urbIn[i]->transfer_flags = URB_ISO_ASAP;
        dev_dbg(&usbduxsub->interface->dev,
            "comedi%d: submitting in-urb[%d]: %p,%p intv=%d\n",
            usbduxsub->comedidev->minor, i,
            (usbduxsub->urbIn[i]->context),
            (usbduxsub->urbIn[i]->dev),
            (usbduxsub->urbIn[i]->interval));
        errFlag = usb_submit_urb(usbduxsub->urbIn[i], GFP_ATOMIC);
        if (errFlag) {
            dev_err(&usbduxsub->interface->dev,
                "comedi_: ai: usb_submit_urb(%d) error %d\n",
                i, errFlag);
            return errFlag;
        }
    }
    return 0;
}

static int usbduxsub_submit_OutURBs(struct usbduxsub *usbduxsub)
{
    int i, errFlag;

    if (!usbduxsub)
        return -EFAULT;

    for (i = 0; i < usbduxsub->numOfOutBuffers; i++) {
        dev_dbg(&usbduxsub->interface->dev,
            "comedi_: submitting out-urb[%d]\n", i);
        /* in case of a resubmission after an unlink... */
        usbduxsub->urbOut[i]->context = usbduxsub->comedidev;
        usbduxsub->urbOut[i]->dev = usbduxsub->usbdev;
        usbduxsub->urbOut[i]->status = 0;
        usbduxsub->urbOut[i]->transfer_flags = URB_ISO_ASAP;
        errFlag = usb_submit_urb(usbduxsub->urbOut[i], GFP_ATOMIC);
        if (errFlag) {
            dev_err(&usbduxsub->interface->dev,
                "comedi_: ao: usb_submit_urb(%d) error %d\n",
                i, errFlag);
            return errFlag;
        }
    }
    return 0;
}

static int chanToInterval(int nChannels)
{
    if (nChannels <= 2)
        /* 4kHz */
        return 2;
    if (nChannels <= 8)
        /* 2kHz */
        return 4;
    /* 1kHz */
    return 8;
}

static int usbdux_ai_cmdtest(struct comedi_device *dev,
                 struct comedi_subdevice *s,
                 struct comedi_cmd *cmd)
{
    struct usbduxsub *this_usbduxsub = dev->private;
    int err = 0, i;
    unsigned int tmpTimer;

    if (!(this_usbduxsub->probed))
        return -ENODEV;

    dev_dbg(&this_usbduxsub->interface->dev,
        "comedi%d: usbdux_ai_cmdtest\n", dev->minor);

    /* Step 1 : check if triggers are trivially valid */

    err |= cfc_check_trigger_src(&cmd->start_src, TRIG_NOW | TRIG_INT);
    err |= cfc_check_trigger_src(&cmd->scan_begin_src, TRIG_TIMER);
    err |= cfc_check_trigger_src(&cmd->convert_src, TRIG_NOW);
    err |= cfc_check_trigger_src(&cmd->scan_end_src, TRIG_COUNT);
    err |= cfc_check_trigger_src(&cmd->stop_src, TRIG_COUNT | TRIG_NONE);

    if (err)
        return 1;

    /* Step 2a : make sure trigger sources are unique */

    err |= cfc_check_trigger_is_unique(cmd->start_src);
    err |= cfc_check_trigger_is_unique(cmd->stop_src);

    /* Step 2b : and mutually compatible */

    if (err)
        return 2;

    /* step 3: make sure arguments are trivially compatible */
    if (cmd->start_arg != 0) {
        cmd->start_arg = 0;
        err++;
    }

    if (cmd->scan_begin_src == TRIG_FOLLOW) {
        /* internal trigger */
        if (cmd->scan_begin_arg != 0) {
            cmd->scan_begin_arg = 0;
            err++;
        }
    }

    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 two channels. Thus, the more channels
             * are in the channel list the more time we need.
             */
            i = chanToInterval(cmd->chanlist_len);
            if (cmd->scan_begin_arg < (1000000 / 8 * i)) {
                cmd->scan_begin_arg = 1000000 / 8 * i;
                err++;
            }
            /* now calc the real sampling rate with all the
             * rounding errors */
            tmpTimer =
                ((unsigned int)(cmd->scan_begin_arg / 125000)) *
                125000;
            if (cmd->scan_begin_arg != tmpTimer) {
                cmd->scan_begin_arg = tmpTimer;
                err++;
            }
        } else {
            /* full speed */
            /* 1kHz scans every USB frame */
            if (cmd->scan_begin_arg < 1000000) {
                cmd->scan_begin_arg = 1000000;
                err++;
            }
            /*
             * calc the real sampling rate with the rounding errors
             */
            tmpTimer = ((unsigned int)(cmd->scan_begin_arg /
                           1000000)) * 1000000;
            if (cmd->scan_begin_arg != tmpTimer) {
                cmd->scan_begin_arg = tmpTimer;
                err++;
            }
        }
    }
    /* the same argument */
    if (cmd->scan_end_arg != cmd->chanlist_len) {
        cmd->scan_end_arg = cmd->chanlist_len;
        err++;
    }

    if (cmd->stop_src == TRIG_COUNT) {
        /* any count is allowed */
    } else {
        /* TRIG_NONE */
        if (cmd->stop_arg != 0) {
            cmd->stop_arg = 0;
            err++;
        }
    }

    if (err)
        return 3;

    return 0;
}

/*
 * creates the ADC command for the MAX1271
 * range is the range value from comedi
 */
static void create_adc_command(unsigned int chan,
                   uint8_t *muxsg0,
                   uint8_t *muxsg1)
{
    if (chan < 8)
        (*muxsg0) = (*muxsg0) | (1 << chan);
    else if (chan < 16)
        (*muxsg1) = (*muxsg1) | (1 << (chan-8));
}


/* bulk transfers to usbdux */

#define SENDADCOMMANDS            0
#define SENDDACOMMANDS            1
#define SENDDIOCONFIGCOMMAND      2
#define SENDDIOBITSCOMMAND        3
#define SENDSINGLEAD              4
#define SENDPWMON                 7
#define SENDPWMOFF                8

static int send_dux_commands(struct usbduxsub *this_usbduxsub, int cmd_type)
{
    int result, nsent;

    this_usbduxsub->dux_commands[0] = cmd_type;
#ifdef NOISY_DUX_DEBUGBUG
    printk(KERN_DEBUG "comedi%d: usbdux: dux_commands: ",
           this_usbduxsub->comedidev->minor);
    for (result = 0; result < SIZEOFDUXBUFFER; result++)
        printk(" %02x", this_usbduxsub->dux_commands[result]);
    printk("\n");
#endif
    result = usb_bulk_msg(this_usbduxsub->usbdev,
                  usb_sndbulkpipe(this_usbduxsub->usbdev,
                          COMMAND_OUT_EP),
                  this_usbduxsub->dux_commands, SIZEOFDUXBUFFER,
                  &nsent, BULK_TIMEOUT);
    if (result < 0)
        dev_err(&this_usbduxsub->interface->dev, "comedi%d: "
            "could not transmit dux_command to the usb-device, "
            "err=%d\n", this_usbduxsub->comedidev->minor, result);

    return result;
}

static int receive_dux_commands(struct usbduxsub *this_usbduxsub, int command)
{
    int result = (-EFAULT);
    int nrec;
    int i;

    for (i = 0; i < RETRIES; i++) {
        result = usb_bulk_msg(this_usbduxsub->usbdev,
                      usb_rcvbulkpipe(this_usbduxsub->usbdev,
                              COMMAND_IN_EP),
                      this_usbduxsub->insnBuffer, SIZEINSNBUF,
                      &nrec, BULK_TIMEOUT);
        if (result < 0) {
            dev_err(&this_usbduxsub->interface->dev, "comedi%d: "
                "insn: USB error %d "
                "while receiving DUX command"
                "\n", this_usbduxsub->comedidev->minor,
                result);
            return result;
        }
        if (this_usbduxsub->insnBuffer[0] == command)
            return result;
    }
    /* this is only reached if the data has been requested a couple of
     * times */
    dev_err(&this_usbduxsub->interface->dev, "comedi%d: insn: "
        "wrong data returned from firmware: want %d, got %d.\n",
        this_usbduxsub->comedidev->minor, command,
        this_usbduxsub->insnBuffer[0]);
    return -EFAULT;
}

static int usbdux_ai_inttrig(struct comedi_device *dev,
                 struct comedi_subdevice *s, unsigned int trignum)
{
    int ret;
    struct usbduxsub *this_usbduxsub = dev->private;
    if (!this_usbduxsub)
        return -EFAULT;

    down(&this_usbduxsub->sem);
    if (!(this_usbduxsub->probed)) {
        up(&this_usbduxsub->sem);
        return -ENODEV;
    }
    dev_dbg(&this_usbduxsub->interface->dev,
        "comedi%d: usbdux_ai_inttrig\n", dev->minor);

    if (trignum != 0) {
        dev_err(&this_usbduxsub->interface->dev,
            "comedi%d: usbdux_ai_inttrig: invalid trignum\n",
            dev->minor);
        up(&this_usbduxsub->sem);
        return -EINVAL;
    }
    if (!(this_usbduxsub->ai_cmd_running)) {
        this_usbduxsub->ai_cmd_running = 1;
        ret = usbduxsub_submit_InURBs(this_usbduxsub);
        if (ret < 0) {
            dev_err(&this_usbduxsub->interface->dev,
                "comedi%d: usbdux_ai_inttrig: "
                "urbSubmit: err=%d\n", dev->minor, ret);
            this_usbduxsub->ai_cmd_running = 0;
            up(&this_usbduxsub->sem);
            return ret;
        }
        s->async->inttrig = NULL;
    } else {
        dev_err(&this_usbduxsub->interface->dev,
            "comedi%d: ai_inttrig but acqu is already running\n",
            dev->minor);
    }
    up(&this_usbduxsub->sem);
    return 1;
}

static int usbdux_ai_cmd(struct comedi_device *dev, struct comedi_subdevice *s)
{
    struct comedi_cmd *cmd = &s->async->cmd;
    unsigned int chan;
    int i, ret;
    struct usbduxsub *this_usbduxsub = dev->private;
    int result;
    uint8_t muxsg0 = 0;
    uint8_t muxsg1 = 0;
    uint8_t sysred = 0;

    if (!this_usbduxsub)
        return -EFAULT;

    dev_dbg(&this_usbduxsub->interface->dev,
        "comedi%d: usbdux_ai_cmd\n", dev->minor);

    /* block other CPUs from starting an ai_cmd */
    down(&this_usbduxsub->sem);

    if (!(this_usbduxsub->probed)) {
        up(&this_usbduxsub->sem);
        return -ENODEV;
    }
    if (this_usbduxsub->ai_cmd_running) {
        dev_err(&this_usbduxsub->interface->dev, "comedi%d: "
            "ai_cmd not possible. Another ai_cmd is running.\n",
            dev->minor);
        up(&this_usbduxsub->sem);
        return -EBUSY;
    }
    /* set current channel of the running acquisition to zero */
    s->async->cur_chan = 0;

    /* first the number of channels per time step */
    this_usbduxsub->dux_commands[1] = cmd->chanlist_len;

    /* CONFIG0 */
    this_usbduxsub->dux_commands[2] = 0x12;

    /* CONFIG1: 23kHz sampling rate, delay = 0us,  */
    this_usbduxsub->dux_commands[3] = 0x03;

    /* CONFIG3: differential channels off */
    this_usbduxsub->dux_commands[4] = 0x00;

    for (i = 0; i < cmd->chanlist_len; i++) {
        chan = CR_CHAN(cmd->chanlist[i]);
        create_adc_command(chan, &muxsg0, &muxsg1);
        if (i >= NUMCHANNELS) {
            dev_err(&this_usbduxsub->interface->dev,
                "comedi%d: channel list too long\n",
                dev->minor);
            break;
        }
    }
    this_usbduxsub->dux_commands[5] = muxsg0;
    this_usbduxsub->dux_commands[6] = muxsg1;
    this_usbduxsub->dux_commands[7] = sysred;

    dev_dbg(&this_usbduxsub->interface->dev,
        "comedi %d: sending commands to the usb device: size=%u\n",
        dev->minor, NUMCHANNELS);

    result = send_dux_commands(this_usbduxsub, SENDADCOMMANDS);
    if (result < 0) {
        up(&this_usbduxsub->sem);
        return result;
    }

    if (this_usbduxsub->high_speed) {
        /*
         * every 2 channels get a time window of 125us. Thus, if we
         * sample all 16 channels we need 1ms. If we sample only one
         * channel we need only 125us
         */
        this_usbduxsub->ai_interval =
            chanToInterval(cmd->chanlist_len);
        this_usbduxsub->ai_timer = cmd->scan_begin_arg / (125000 *
                              (this_usbduxsub->
                               ai_interval));
    } else {
        /* interval always 1ms */
        this_usbduxsub->ai_interval = 1;
        this_usbduxsub->ai_timer = cmd->scan_begin_arg / 1000000;
    }
    if (this_usbduxsub->ai_timer < 1) {
        dev_err(&this_usbduxsub->interface->dev, "comedi%d: ai_cmd: "
            "timer=%d, scan_begin_arg=%d. "
            "Not properly tested by cmdtest?\n", dev->minor,
            this_usbduxsub->ai_timer, cmd->scan_begin_arg);
        up(&this_usbduxsub->sem);
        return -EINVAL;
    }
    this_usbduxsub->ai_counter = this_usbduxsub->ai_timer;

    if (cmd->stop_src == TRIG_COUNT) {
        /* data arrives as one packet */
        this_usbduxsub->ai_sample_count = cmd->stop_arg;
        this_usbduxsub->ai_continuous = 0;
    } else {
        /* continuous acquisition */
        this_usbduxsub->ai_continuous = 1;
        this_usbduxsub->ai_sample_count = 0;
    }

    if (cmd->start_src == TRIG_NOW) {
        /* enable this acquisition operation */
        this_usbduxsub->ai_cmd_running = 1;
        ret = usbduxsub_submit_InURBs(this_usbduxsub);
        if (ret < 0) {
            this_usbduxsub->ai_cmd_running = 0;
            /* fixme: unlink here?? */
            up(&this_usbduxsub->sem);
            return ret;
        }
        s->async->inttrig = NULL;
    } else {
        /* TRIG_INT */
        /* don't enable the acquision operation */
        /* wait for an internal signal */
        s->async->inttrig = usbdux_ai_inttrig;
    }
    up(&this_usbduxsub->sem);
    return 0;
}

/* 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)
{
    int i;
    int32_t one = 0;
    int chan;
    int err;
    struct usbduxsub *this_usbduxsub = dev->private;
    uint8_t muxsg0 = 0;
    uint8_t muxsg1 = 0;
    uint8_t sysred = 0;

    if (!this_usbduxsub)
        return 0;

    dev_dbg(&this_usbduxsub->interface->dev,
        "comedi%d: ai_insn_read, insn->n=%d, insn->subdev=%d\n",
        dev->minor, insn->n, insn->subdev);

    down(&this_usbduxsub->sem);
    if (!(this_usbduxsub->probed)) {
        up(&this_usbduxsub->sem);
        return -ENODEV;
    }
    if (this_usbduxsub->ai_cmd_running) {
        dev_err(&this_usbduxsub->interface->dev,
            "comedi%d: ai_insn_read not possible. "
            "Async Command is running.\n", dev->minor);
        up(&this_usbduxsub->sem);
        return 0;
    }

    /* sample one channel */
    /* CONFIG0: chopper on */
    this_usbduxsub->dux_commands[1] = 0x16;

    /* CONFIG1: 2kHz sampling rate */
    this_usbduxsub->dux_commands[2] = 0x80;

    /* CONFIG3: differential channels off */
    this_usbduxsub->dux_commands[3] = 0x00;

    chan = CR_CHAN(insn->chanspec);
    create_adc_command(chan, &muxsg0, &muxsg1);

    this_usbduxsub->dux_commands[4] = muxsg0;
    this_usbduxsub->dux_commands[5] = muxsg1;
    this_usbduxsub->dux_commands[6] = sysred;

    /* adc commands */
    err = send_dux_commands(this_usbduxsub, SENDSINGLEAD);
    if (err < 0) {
        up(&this_usbduxsub->sem);
        return err;
    }

    for (i = 0; i < insn->n; i++) {
        err = receive_dux_commands(this_usbduxsub, SENDSINGLEAD);
        if (err < 0) {
            up(&this_usbduxsub->sem);
            return 0;
        }
        /* 32 bits big endian from the A/D converter */
        one = be32_to_cpu(*((int32_t *)
                    ((this_usbduxsub->insnBuffer)+1)));
        /* mask out the status byte */
        one = one & 0x00ffffff;
        /* turn it into an unsigned integer */
        one = one ^ 0x00800000;
        data[i] = one;
    }
    up(&this_usbduxsub->sem);
    return i;
}




static int usbdux_getstatusinfo(struct comedi_device *dev, int chan)
{
    struct usbduxsub *this_usbduxsub = dev->private;
    uint8_t sysred = 0;
    uint32_t one;
    int err;

    if (!this_usbduxsub)
        return 0;

    if (this_usbduxsub->ai_cmd_running) {
        dev_err(&this_usbduxsub->interface->dev,
            "comedi%d: status read not possible. "
            "Async Command is running.\n", dev->minor);
        return 0;
    }

    /* CONFIG0 */
    this_usbduxsub->dux_commands[1] = 0x12;

    /* CONFIG1: 2kHz sampling rate */
    this_usbduxsub->dux_commands[2] = 0x80;

    /* CONFIG3: differential channels off */
    this_usbduxsub->dux_commands[3] = 0x00;

    if (chan == 1) {
        /* ADC offset */
        sysred = sysred | 1;
    } else if (chan == 2) {
        /* VCC */
        sysred = sysred | 4;
    } else if (chan == 3) {
        /* temperature */
        sysred = sysred | 8;
    } else if (chan == 4) {
        /* gain */
        sysred = sysred | 16;
    } else if (chan == 5) {
        /* ref */
        sysred = sysred | 32;
    }

    this_usbduxsub->dux_commands[4] = 0;
    this_usbduxsub->dux_commands[5] = 0;
    this_usbduxsub->dux_commands[6] = sysred;

    /* adc commands */
    err = send_dux_commands(this_usbduxsub, SENDSINGLEAD);
    if (err < 0)
        return err;

    err = receive_dux_commands(this_usbduxsub, SENDSINGLEAD);
    if (err < 0)
        return err;

    /* 32 bits big endian from the A/D converter */
    one = be32_to_cpu(*((int32_t *)((this_usbduxsub->insnBuffer)+1)));
    /* mask out the staus byte */
    one = one & 0x00ffffff;
    one = one ^ 0x00800000;

    return (int)one;
}






/************************************/
/* analog out */

static int usbdux_ao_insn_read(struct comedi_device *dev,
                   struct comedi_subdevice *s,
                   struct comedi_insn *insn, unsigned int *data)
{
    int i;
    int chan = CR_CHAN(insn->chanspec);
    struct usbduxsub *this_usbduxsub = dev->private;

    if (!this_usbduxsub)
        return -EFAULT;

    down(&this_usbduxsub->sem);
    if (!(this_usbduxsub->probed)) {
        up(&this_usbduxsub->sem);
        return -ENODEV;
    }
    for (i = 0; i < insn->n; i++)
        data[i] = this_usbduxsub->outBuffer[chan];

    up(&this_usbduxsub->sem);
    return i;
}

static int usbdux_ao_insn_write(struct comedi_device *dev,
                struct comedi_subdevice *s,
                struct comedi_insn *insn, unsigned int *data)
{
    int i, err;
    int chan = CR_CHAN(insn->chanspec);
    struct usbduxsub *this_usbduxsub = dev->private;

    if (!this_usbduxsub)
        return -EFAULT;

    dev_dbg(&this_usbduxsub->interface->dev,
        "comedi%d: ao_insn_write\n", dev->minor);

    down(&this_usbduxsub->sem);
    if (!(this_usbduxsub->probed)) {
        up(&this_usbduxsub->sem);
        return -ENODEV;
    }
    if (this_usbduxsub->ao_cmd_running) {
        dev_err(&this_usbduxsub->interface->dev,
            "comedi%d: ao_insn_write: "
            "ERROR: asynchronous ao_cmd is running\n", dev->minor);
        up(&this_usbduxsub->sem);
        return 0;
    }

    for (i = 0; i < insn->n; i++) {
        dev_dbg(&this_usbduxsub->interface->dev,
            "comedi%d: ao_insn_write: data[chan=%d,i=%d]=%d\n",
            dev->minor, chan, i, data[i]);

        /* number of channels: 1 */
        this_usbduxsub->dux_commands[1] = 1;
        /* channel number */
        this_usbduxsub->dux_commands[2] = data[i];
        this_usbduxsub->outBuffer[chan] = data[i];
        this_usbduxsub->dux_commands[3] = chan;
        err = send_dux_commands(this_usbduxsub, SENDDACOMMANDS);
        if (err < 0) {
            up(&this_usbduxsub->sem);
            return err;
        }
    }
    up(&this_usbduxsub->sem);

    return i;
}

static int usbdux_ao_inttrig(struct comedi_device *dev,
                 struct comedi_subdevice *s, unsigned int trignum)
{
    int ret;
    struct usbduxsub *this_usbduxsub = dev->private;

    if (!this_usbduxsub)
        return -EFAULT;

    down(&this_usbduxsub->sem);

    if (!(this_usbduxsub->probed)) {
        ret = -ENODEV;
        goto out;
    }
    if (trignum != 0) {
        dev_err(&this_usbduxsub->interface->dev,
            "comedi%d: usbdux_ao_inttrig: invalid trignum\n",
            dev->minor);
        ret = -EINVAL;
        goto out;
    }
    if (!(this_usbduxsub->ao_cmd_running)) {
        this_usbduxsub->ao_cmd_running = 1;
        ret = usbduxsub_submit_OutURBs(this_usbduxsub);
        if (ret < 0) {
            dev_err(&this_usbduxsub->interface->dev,
                "comedi%d: usbdux_ao_inttrig: submitURB: "
                "err=%d\n", dev->minor, ret);
            this_usbduxsub->ao_cmd_running = 0;
            goto out;
        }
        s->async->inttrig = NULL;
    } else {
        dev_err(&this_usbduxsub->interface->dev,
            "comedi%d: ao_inttrig but acqu is already running.\n",
            dev->minor);
    }
    ret = 1;
out:
    up(&this_usbduxsub->sem);
    return ret;
}

static int usbdux_ao_cmdtest(struct comedi_device *dev,
                 struct comedi_subdevice *s,
                 struct comedi_cmd *cmd)
{
    struct usbduxsub *this_usbduxsub = dev->private;
    int err = 0;
    unsigned int flags;

    if (!this_usbduxsub)
        return -EFAULT;

    if (!(this_usbduxsub->probed))
        return -ENODEV;

    dev_dbg(&this_usbduxsub->interface->dev,
        "comedi%d: usbdux_ao_cmdtest\n", dev->minor);

    /* Step 1 : check if triggers are trivially valid */

    err |= cfc_check_trigger_src(&cmd->start_src, TRIG_NOW | TRIG_INT);

    if (0) {        /* (this_usbduxsub->high_speed) */
        /*
         * start immediately a new scan
         * 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 |= cfc_check_trigger_src(&cmd->scan_begin_src, flags);

    err |= cfc_check_trigger_src(&cmd->convert_src, TRIG_NOW);
    err |= cfc_check_trigger_src(&cmd->scan_end_src, TRIG_COUNT);
    err |= cfc_check_trigger_src(&cmd->stop_src, TRIG_COUNT | TRIG_NONE);

    if (err)
        return 1;

    /* Step 2a : make sure trigger sources are unique */

    err |= cfc_check_trigger_is_unique(cmd->start_src);
    err |= cfc_check_trigger_is_unique(cmd->stop_src);

    /* Step 2b : and mutually compatible */

    if (err)
        return 2;

    /* step 3: make sure arguments are trivially compatible */

    if (cmd->start_arg != 0) {
        cmd->start_arg = 0;
        err++;
    }

    if (cmd->scan_begin_src == TRIG_FOLLOW) {
        /* internal trigger */
        if (cmd->scan_begin_arg != 0) {
            cmd->scan_begin_arg = 0;
            err++;
        }
    }

    if (cmd->scan_begin_src == TRIG_TIMER) {
        /* timer */
        if (cmd->scan_begin_arg < 1000000) {
            cmd->scan_begin_arg = 1000000;
            err++;
        }
    }
    /* not used now, is for later use */
    if (cmd->convert_src == TRIG_TIMER) {
        if (cmd->convert_arg < 125000) {
            cmd->convert_arg = 125000;
            err++;
        }
    }

    /* the same argument */
    if (cmd->scan_end_arg != cmd->chanlist_len) {
        cmd->scan_end_arg = cmd->chanlist_len;
        err++;
    }

    if (cmd->stop_src == TRIG_COUNT) {
        /* any count is allowed */
    } else {
        /* TRIG_NONE */
        if (cmd->stop_arg != 0) {
            cmd->stop_arg = 0;
            err++;
        }
    }

    dev_dbg(&this_usbduxsub->interface->dev, "comedi%d: err=%d, "
        "scan_begin_src=%d, scan_begin_arg=%d, convert_src=%d, "
        "convert_arg=%d\n", dev->minor, err, cmd->scan_begin_src,
        cmd->scan_begin_arg, cmd->convert_src, cmd->convert_arg);

    if (err)
        return 3;

    return 0;
}

static int usbdux_ao_cmd(struct comedi_device *dev, struct comedi_subdevice *s)
{
    struct comedi_cmd *cmd = &s->async->cmd;
    unsigned int chan, gain;
    int i, ret;
    struct usbduxsub *this_usbduxsub = dev->private;

    if (!this_usbduxsub)
        return -EFAULT;

    down(&this_usbduxsub->sem);
    if (!(this_usbduxsub->probed)) {
        up(&this_usbduxsub->sem);
        return -ENODEV;
    }
    dev_dbg(&this_usbduxsub->interface->dev,
        "comedi%d: %s\n", dev->minor, __func__);

    /* set current channel of the running acquisition to zero */
    s->async->cur_chan = 0;
    for (i = 0; i < cmd->chanlist_len; ++i) {
        chan = CR_CHAN(cmd->chanlist[i]);
        gain = CR_RANGE(cmd->chanlist[i]);
        if (i >= NUMOUTCHANNELS) {
            dev_err(&this_usbduxsub->interface->dev,
                "comedi%d: %s: channel list too long\n",
                dev->minor, __func__);
            break;
        }
        this_usbduxsub->dac_commands[i] = chan;
        dev_dbg(&this_usbduxsub->interface->dev,
            "comedi%d: dac command for ch %d is %x\n",
            dev->minor, i, this_usbduxsub->dac_commands[i]);
    }

    /* we count in steps of 1ms (125us) */
    /* 125us mode not used yet */
    if (0) {        /* (this_usbduxsub->high_speed) */
        /* 125us */
        /* timing of the conversion itself: every 125 us */
        this_usbduxsub->ao_timer = cmd->convert_arg / 125000;
    } else {
        /* 1ms */
        /* timing of the scan: we get all channels at once */
        this_usbduxsub->ao_timer = cmd->scan_begin_arg / 1000000;
        dev_dbg(&this_usbduxsub->interface->dev,
            "comedi%d: scan_begin_src=%d, scan_begin_arg=%d, "
            "convert_src=%d, convert_arg=%d\n", dev->minor,
            cmd->scan_begin_src, cmd->scan_begin_arg,
            cmd->convert_src, cmd->convert_arg);
        dev_dbg(&this_usbduxsub->interface->dev,
            "comedi%d: ao_timer=%d (ms)\n",
            dev->minor, this_usbduxsub->ao_timer);
        if (this_usbduxsub->ao_timer < 1) {
            dev_err(&this_usbduxsub->interface->dev,
                "comedi%d: usbdux: ao_timer=%d, "
                "scan_begin_arg=%d. "
                "Not properly tested by cmdtest?\n",
                dev->minor, this_usbduxsub->ao_timer,
                cmd->scan_begin_arg);
            up(&this_usbduxsub->sem);
            return -EINVAL;
        }
    }
    this_usbduxsub->ao_counter = this_usbduxsub->ao_timer;

    if (cmd->stop_src == TRIG_COUNT) {
        /* not continuous */
        /* counter */
        /* high speed also scans everything at once */
        if (0) {    /* (this_usbduxsub->high_speed) */
            this_usbduxsub->ao_sample_count =
                (cmd->stop_arg) * (cmd->scan_end_arg);
        } else {
            /* there's no scan as the scan has been */
            /* perf inside the FX2 */
            /* data arrives as one packet */
            this_usbduxsub->ao_sample_count = cmd->stop_arg;
        }
        this_usbduxsub->ao_continuous = 0;
    } else {
        /* continuous acquisition */
        this_usbduxsub->ao_continuous = 1;
        this_usbduxsub->ao_sample_count = 0;
    }

    if (cmd->start_src == TRIG_NOW) {
        /* enable this acquisition operation */
        this_usbduxsub->ao_cmd_running = 1;
        ret = usbduxsub_submit_OutURBs(this_usbduxsub);
        if (ret < 0) {
            this_usbduxsub->ao_cmd_running = 0;
            /* fixme: unlink here?? */
            up(&this_usbduxsub->sem);
            return ret;
        }
        s->async->inttrig = NULL;
    } else {
        /* TRIG_INT */
        /* submit the urbs later */
        /* wait for an internal signal */
        s->async->inttrig = usbdux_ao_inttrig;
    }

    up(&this_usbduxsub->sem);
    return 0;
}

static int usbdux_dio_insn_config(struct comedi_device *dev,
                  struct comedi_subdevice *s,
                  struct comedi_insn *insn, unsigned int *data)
{
    int chan = CR_CHAN(insn->chanspec);

    /* The input or output configuration of each digital line is
     * configured by a special insn_config instruction.  chanspec
     * contains the channel to be changed, and data[0] contains the
     * value COMEDI_INPUT or COMEDI_OUTPUT. */

    switch (data[0]) {
    case INSN_CONFIG_DIO_OUTPUT:
        s->io_bits |= 1 << chan;    /* 1 means Out */
        break;
    case INSN_CONFIG_DIO_INPUT:
        s->io_bits &= ~(1 << chan);
        break;
    case INSN_CONFIG_DIO_QUERY:
        data[1] =
            (s->io_bits & (1 << chan)) ? COMEDI_OUTPUT : COMEDI_INPUT;
        break;
    default:
        return -EINVAL;
        break;
    }
    /* 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 usbduxsub *this_usbduxsub = dev->private;
    int err;

    if (!this_usbduxsub)
        return -EFAULT;

    down(&this_usbduxsub->sem);

    if (!(this_usbduxsub->probed)) {
        up(&this_usbduxsub->sem);
        return -ENODEV;
    }

    /* The insn data is a mask in data[0] and the new data
     * in data[1], each channel cooresponding to a bit. */
    s->state &= ~data[0];
    s->state |= data[0] & data[1];
    /* The commands are 8 bits wide */
    this_usbduxsub->dux_commands[1] = (s->io_bits) & 0x000000FF;
    this_usbduxsub->dux_commands[4] = (s->state) & 0x000000FF;
    this_usbduxsub->dux_commands[2] = ((s->io_bits) & 0x0000FF00) >> 8;
    this_usbduxsub->dux_commands[5] = ((s->state) & 0x0000FF00) >> 8;
    this_usbduxsub->dux_commands[3] = ((s->io_bits) & 0x00FF0000) >> 16;
    this_usbduxsub->dux_commands[6] = ((s->state) & 0x00FF0000) >> 16;

    /* This command also tells the firmware to return */
    /* the digital input lines */
    err = send_dux_commands(this_usbduxsub, SENDDIOBITSCOMMAND);
    if (err < 0) {
        up(&this_usbduxsub->sem);
        return err;
    }
    err = receive_dux_commands(this_usbduxsub, SENDDIOBITSCOMMAND);
    if (err < 0) {
        up(&this_usbduxsub->sem);
        return err;
    }

    data[1] = (((unsigned int)(this_usbduxsub->insnBuffer[1]))&0xff) |
        ((((unsigned int)(this_usbduxsub->insnBuffer[2]))&0xff) << 8) |
        ((((unsigned int)(this_usbduxsub->insnBuffer[3]))&0xff) << 16);

    s->state = data[1];

    up(&this_usbduxsub->sem);
    return insn->n;
}

/***********************************/
/* PWM */

static int usbduxsub_unlink_PwmURBs(struct usbduxsub *usbduxsub_tmp)
{
    int err = 0;

    if (usbduxsub_tmp && usbduxsub_tmp->urbPwm) {
        if (usbduxsub_tmp->urbPwm)
            usb_kill_urb(usbduxsub_tmp->urbPwm);
        dev_dbg(&usbduxsub_tmp->interface->dev,
            "comedi: unlinked PwmURB: res=%d\n", err);
    }
    return err;
}

/* This cancels a running acquisition operation
 * in any context.
 */
static int usbdux_pwm_stop(struct usbduxsub *this_usbduxsub, int do_unlink)
{
    int ret = 0;

    if (!this_usbduxsub)
        return -EFAULT;

    dev_dbg(&this_usbduxsub->interface->dev, "comedi: %s\n", __func__);
    if (do_unlink)
        ret = usbduxsub_unlink_PwmURBs(this_usbduxsub);

    this_usbduxsub->pwm_cmd_running = 0;

    return ret;
}

/* force unlink - is called by comedi */
static int usbdux_pwm_cancel(struct comedi_device *dev,
                 struct comedi_subdevice *s)
{
    struct usbduxsub *this_usbduxsub = dev->private;
    int res = 0;

    /* unlink only if it is really running */
    res = usbdux_pwm_stop(this_usbduxsub, this_usbduxsub->pwm_cmd_running);

    dev_dbg(&this_usbduxsub->interface->dev,
        "comedi %d: sending pwm off command to the usb device.\n",
        dev->minor);
    res = send_dux_commands(this_usbduxsub, SENDPWMOFF);
    if (res < 0)
        return res;

    return res;
}

static void usbduxsub_pwm_irq(struct urb *urb)
{
    int ret;
    struct usbduxsub *this_usbduxsub;
    struct comedi_device *this_comedidev;
    struct comedi_subdevice *s;

    /* printk(KERN_DEBUG "PWM: IRQ\n"); */

    /* the context variable points to the subdevice */
    this_comedidev = urb->context;
    /* the private structure of the subdevice is struct usbduxsub */
    this_usbduxsub = this_comedidev->private;

    s = &this_comedidev->subdevices[SUBDEV_DA];

    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 (this_usbduxsub->pwm_cmd_running)
            usbdux_pwm_stop(this_usbduxsub, 0);

        return;

    default:
        /* a real error */
        if (this_usbduxsub->pwm_cmd_running) {
            dev_err(&this_usbduxsub->interface->dev,
                "comedi_: Non-zero urb status received in "
                "pwm intr context: %d\n", urb->status);
            usbdux_pwm_stop(this_usbduxsub, 0);
        }
        return;
    }

    /* are we actually running? */
    if (!(this_usbduxsub->pwm_cmd_running))
        return;

    urb->transfer_buffer_length = this_usbduxsub->sizePwmBuf;
    urb->dev = this_usbduxsub->usbdev;
    urb->status = 0;
    if (this_usbduxsub->pwm_cmd_running) {
        ret = usb_submit_urb(urb, GFP_ATOMIC);
        if (ret < 0) {
            dev_err(&this_usbduxsub->interface->dev,
                "comedi_: pwm urb resubm failed in int-cont. "
                "ret=%d", ret);
            if (ret == EL2NSYNC)
                dev_err(&this_usbduxsub->interface->dev,
                    "buggy USB host controller or bug in "
                    "IRQ handling!\n");

            /* don't do an unlink here */
            usbdux_pwm_stop(this_usbduxsub, 0);
        }
    }
}

static int usbduxsub_submit_PwmURBs(struct usbduxsub *usbduxsub)
{
    int errFlag;

    if (!usbduxsub)
        return -EFAULT;

    dev_dbg(&usbduxsub->interface->dev, "comedi_: submitting pwm-urb\n");

    /* in case of a resubmission after an unlink... */
    usb_fill_bulk_urb(usbduxsub->urbPwm,
              usbduxsub->usbdev,
              usb_sndbulkpipe(usbduxsub->usbdev, PWM_EP),
              usbduxsub->urbPwm->transfer_buffer,
              usbduxsub->sizePwmBuf, usbduxsub_pwm_irq,
              usbduxsub->comedidev);

    errFlag = usb_submit_urb(usbduxsub->urbPwm, GFP_ATOMIC);
    if (errFlag) {
        dev_err(&usbduxsub->interface->dev,
            "comedi_: usbduxsigma: pwm: usb_submit_urb error %d\n",
            errFlag);
        return errFlag;
    }
    return 0;
}

static int usbdux_pwm_period(struct comedi_device *dev,
                 struct comedi_subdevice *s, unsigned int period)
{
    struct usbduxsub *this_usbduxsub = dev->private;
    int fx2delay = 255;

    if (period < MIN_PWM_PERIOD) {
        dev_err(&this_usbduxsub->interface->dev,
            "comedi%d: illegal period setting for pwm.\n",
            dev->minor);
        return -EAGAIN;
    } else {
        fx2delay = period / ((int)(6 * 512 * (1.0 / 0.033))) - 6;
        if (fx2delay > 255) {
            dev_err(&this_usbduxsub->interface->dev,
                "comedi%d: period %d for pwm is too low.\n",
                dev->minor, period);
            return -EAGAIN;
        }
    }
    this_usbduxsub->pwmDelay = fx2delay;
    this_usbduxsub->pwmPeriod = period;
    dev_dbg(&this_usbduxsub->interface->dev, "%s: frequ=%d, period=%d\n",
        __func__, period, fx2delay);
    return 0;
}

/* is called from insn so there's no need to do all the sanity checks */
static int usbdux_pwm_start(struct comedi_device *dev,
                struct comedi_subdevice *s)
{
    int ret, i;
    struct usbduxsub *this_usbduxsub = dev->private;

    dev_dbg(&this_usbduxsub->interface->dev, "comedi%d: %s\n",
        dev->minor, __func__);

    if (this_usbduxsub->pwm_cmd_running) {
        /* already running */
        return 0;
    }

    this_usbduxsub->dux_commands[1] = ((uint8_t) this_usbduxsub->pwmDelay);
    ret = send_dux_commands(this_usbduxsub, SENDPWMON);
    if (ret < 0)
        return ret;

    /* initialise the buffer */
    for (i = 0; i < this_usbduxsub->sizePwmBuf; i++)
        ((char *)(this_usbduxsub->urbPwm->transfer_buffer))[i] = 0;

    this_usbduxsub->pwm_cmd_running = 1;
    ret = usbduxsub_submit_PwmURBs(this_usbduxsub);
    if (ret < 0) {
        this_usbduxsub->pwm_cmd_running = 0;
        return ret;
    }
    return 0;
}

/* generates the bit pattern for PWM with the optional sign bit */
static int usbdux_pwm_pattern(struct comedi_device *dev,
                  struct comedi_subdevice *s, int channel,
                  unsigned int value, unsigned int sign)
{
    struct usbduxsub *this_usbduxsub = dev->private;
    int i, szbuf;
    char *pBuf;
    char pwm_mask;
    char sgn_mask;
    char c;

    if (!this_usbduxsub)
        return -EFAULT;

    /* this is the DIO bit which carries the PWM data */
    pwm_mask = (1 << channel);
    /* this is the DIO bit which carries the optional direction bit */
    sgn_mask = (16 << channel);
    /* this is the buffer which will be filled with the with bit */
    /* pattern for one period */
    szbuf = this_usbduxsub->sizePwmBuf;
    pBuf = (char *)(this_usbduxsub->urbPwm->transfer_buffer);
    for (i = 0; i < szbuf; i++) {
        c = *pBuf;
        /* reset bits */
        c = c & (~pwm_mask);
        /* set the bit as long as the index is lower than the value */
        if (i < value)
            c = c | pwm_mask;
        /* set the optional sign bit for a relay */
        if (!sign) {
            /* positive value */
            c = c & (~sgn_mask);
        } else {
            /* negative value */
            c = c | sgn_mask;
        }
        *(pBuf++) = c;
    }
    return 1;
}

static int usbdux_pwm_write(struct comedi_device *dev,
                struct comedi_subdevice *s,
                struct comedi_insn *insn, unsigned int *data)
{
    struct usbduxsub *this_usbduxsub = dev->private;

    if (!this_usbduxsub)
        return -EFAULT;

    if ((insn->n) != 1) {
        /*
         * doesn't make sense to have more than one value here because
         * it would just overwrite the PWM buffer a couple of times
         */
        return -EINVAL;
    }

    /*
     * the sign is set via a special INSN only, this gives us 8 bits for
     * normal operation
     * relay sign 0 by default
     */
    return usbdux_pwm_pattern(dev, s, CR_CHAN(insn->chanspec), data[0], 0);
}

static int usbdux_pwm_read(struct comedi_device *x1,
               struct comedi_subdevice *x2, struct comedi_insn *x3,
               unsigned int *x4)
{
    /* not needed */
    return -EINVAL;
};

/* switches on/off PWM */
static int usbdux_pwm_config(struct comedi_device *dev,
                 struct comedi_subdevice *s,
                 struct comedi_insn *insn, unsigned int *data)
{
    struct usbduxsub *this_usbduxsub = dev->private;
    switch (data[0]) {
    case INSN_CONFIG_ARM:
        /* switch it on */
        dev_dbg(&this_usbduxsub->interface->dev,
            "comedi%d: %s: pwm on\n", dev->minor, __func__);
        /*
         * 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:
        dev_dbg(&this_usbduxsub->interface->dev,
            "comedi%d: %s: pwm off\n", dev->minor, __func__);
        return usbdux_pwm_cancel(dev, s);
    case INSN_CONFIG_GET_PWM_STATUS:
        /*
         * to check if the USB transmission has failed or in case PWM
         * was limited to n cycles to check if it has terminated
         */
        data[1] = this_usbduxsub->pwm_cmd_running;
        return 0;
    case INSN_CONFIG_PWM_SET_PERIOD:
        dev_dbg(&this_usbduxsub->interface->dev,
            "comedi%d: %s: setting period\n", dev->minor,
            __func__);
        return usbdux_pwm_period(dev, s, data[1]);
    case INSN_CONFIG_PWM_GET_PERIOD:
        data[1] = this_usbduxsub->pwmPeriod;
        return 0;
    case INSN_CONFIG_PWM_SET_H_BRIDGE:
        /* value in the first byte and the sign in the second for a
           relay */
        return usbdux_pwm_pattern(dev, s,
                      /* the channel number */
                      CR_CHAN(insn->chanspec),
                      /* actual PWM data */
                      data[1],
                      /* just a sign */
                      (data[2] != 0));
    case INSN_CONFIG_PWM_GET_H_BRIDGE:
        /* values are not kept in this driver, nothing to return */
        return -EINVAL;
    }
    return -EINVAL;
}

/* end of PWM */
/*****************************************************************/

static void tidy_up(struct usbduxsub *usbduxsub_tmp)
{
    int i;

    if (!usbduxsub_tmp)
        return;
    dev_dbg(&usbduxsub_tmp->interface->dev, "comedi_: tiding up\n");

    /* shows the usb subsystem that the driver is down */
    if (usbduxsub_tmp->interface)
        usb_set_intfdata(usbduxsub_tmp->interface, NULL);

    usbduxsub_tmp->probed = 0;

    if (usbduxsub_tmp->urbIn) {
        if (usbduxsub_tmp->ai_cmd_running) {
            usbduxsub_tmp->ai_cmd_running = 0;
            usbduxsub_unlink_InURBs(usbduxsub_tmp);
        }
        for (i = 0; i < usbduxsub_tmp->numOfInBuffers; i++) {
            kfree(usbduxsub_tmp->urbIn[i]->transfer_buffer);
            usbduxsub_tmp->urbIn[i]->transfer_buffer = NULL;
            usb_kill_urb(usbduxsub_tmp->urbIn[i]);
            usb_free_urb(usbduxsub_tmp->urbIn[i]);
            usbduxsub_tmp->urbIn[i] = NULL;
        }
        kfree(usbduxsub_tmp->urbIn);
        usbduxsub_tmp->urbIn = NULL;
    }
    if (usbduxsub_tmp->urbOut) {
        if (usbduxsub_tmp->ao_cmd_running) {
            usbduxsub_tmp->ao_cmd_running = 0;
            usbduxsub_unlink_OutURBs(usbduxsub_tmp);
        }
        for (i = 0; i < usbduxsub_tmp->numOfOutBuffers; i++) {
            if (usbduxsub_tmp->urbOut[i]->transfer_buffer) {
                kfree(usbduxsub_tmp->
                      urbOut[i]->transfer_buffer);
                usbduxsub_tmp->urbOut[i]->transfer_buffer =
                    NULL;
            }
            if (usbduxsub_tmp->urbOut[i]) {
                usb_kill_urb(usbduxsub_tmp->urbOut[i]);
                usb_free_urb(usbduxsub_tmp->urbOut[i]);
                usbduxsub_tmp->urbOut[i] = NULL;
            }
        }
        kfree(usbduxsub_tmp->urbOut);
        usbduxsub_tmp->urbOut = NULL;
    }
    if (usbduxsub_tmp->urbPwm) {
        if (usbduxsub_tmp->pwm_cmd_running) {
            usbduxsub_tmp->pwm_cmd_running = 0;
            usbduxsub_unlink_PwmURBs(usbduxsub_tmp);
        }
        kfree(usbduxsub_tmp->urbPwm->transfer_buffer);
        usbduxsub_tmp->urbPwm->transfer_buffer = NULL;
        usb_kill_urb(usbduxsub_tmp->urbPwm);
        usb_free_urb(usbduxsub_tmp->urbPwm);
        usbduxsub_tmp->urbPwm = NULL;
    }
    kfree(usbduxsub_tmp->inBuffer);
    usbduxsub_tmp->inBuffer = NULL;
    kfree(usbduxsub_tmp->insnBuffer);
    usbduxsub_tmp->insnBuffer = NULL;
    kfree(usbduxsub_tmp->outBuffer);
    usbduxsub_tmp->outBuffer = NULL;
    kfree(usbduxsub_tmp->dac_commands);
    usbduxsub_tmp->dac_commands = NULL;
    kfree(usbduxsub_tmp->dux_commands);
    usbduxsub_tmp->dux_commands = NULL;
    usbduxsub_tmp->ai_cmd_running = 0;
    usbduxsub_tmp->ao_cmd_running = 0;
    usbduxsub_tmp->pwm_cmd_running = 0;
}

static int usbduxsigma_attach_common(struct comedi_device *dev,
                     struct usbduxsub *uds)
{
    int ret;
    struct comedi_subdevice *s;
    int n_subdevs;
    int offset;

    down(&uds->sem);
    /* pointer back to the corresponding comedi device */
    uds->comedidev = dev;
    dev->board_name = "usbduxsigma";
    /* set number of subdevices */
    if (uds->high_speed)
        n_subdevs = 4;  /* with pwm */
    else
        n_subdevs = 3;  /* without pwm */
    ret = comedi_alloc_subdevices(dev, n_subdevs);
    if (ret) {
        up(&uds->sem);
        return ret;
    }
    /* private structure is also simply the usb-structure */
    dev->private = uds;
    /* the first subdevice is the A/D converter */
    s = &dev->subdevices[SUBDEV_AD];
    /* the URBs get the comedi subdevice */
    /* which is responsible for reading */
    /* this is the subdevice which reads data */
    dev->read_subdev = s;
    /* the subdevice receives as private structure the */
    /* usb-structure */
    s->private = NULL;
    /* analog input */
    s->type = COMEDI_SUBD_AI;
    /* readable and ref is to ground, 32 bit wide data! */
    s->subdev_flags = SDF_READABLE | SDF_GROUND |
        SDF_CMD_READ | SDF_LSAMPL;
    /* 16 A/D channels */
    s->n_chan = NUMCHANNELS;
    /* length of the channellist */
    s->len_chanlist = NUMCHANNELS;
    /* callback functions */
    s->insn_read = usbdux_ai_insn_read;
    s->do_cmdtest = usbdux_ai_cmdtest;
    s->do_cmd = usbdux_ai_cmd;
    s->cancel = usbdux_ai_cancel;
    /* max value from the A/D converter (24bit) */
    s->maxdata = 0x00FFFFFF;
    /* range table to convert to physical units */
    s->range_table = (&range_usbdux_ai_range);
    /* analog output subdevice */
    s = &dev->subdevices[SUBDEV_DA];
    /* analog out */
    s->type = COMEDI_SUBD_AO;
    /* backward pointer */
    dev->write_subdev = s;
    /* the subdevice receives as private structure the */
    /* usb-structure */
    s->private = NULL;
    /* are writable */
    s->subdev_flags = SDF_WRITABLE | SDF_GROUND | SDF_CMD_WRITE;
    /* 4 channels */
    s->n_chan = 4;
    /* length of the channellist */
    s->len_chanlist = 4;
    /* 8 bit resolution */
    s->maxdata = 0x00ff;
    /* unipolar range */
    s->range_table = (&range_usbdux_ao_range);
    /* callback */
    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;
    /* digital I/O subdevice */
    s = &dev->subdevices[SUBDEV_DIO];
    s->type = COMEDI_SUBD_DIO;
    s->subdev_flags = SDF_READABLE | SDF_WRITABLE;
    /* 8 external and 16 internal channels */
    s->n_chan = 24;
    s->maxdata = 1;
    s->range_table = (&range_digital);
    s->insn_bits = usbdux_dio_insn_bits;
    s->insn_config = usbdux_dio_insn_config;
    /* we don't use it */
    s->private = NULL;
    if (uds->high_speed) {
        /* timer / pwm subdevice */
        s = &dev->subdevices[SUBDEV_PWM];
        s->type = COMEDI_SUBD_PWM;
        s->subdev_flags = SDF_WRITABLE | SDF_PWM_HBRIDGE;
        s->n_chan = 8;
        /* this defines the max duty cycle resolution */
        s->maxdata = uds->sizePwmBuf;
        s->insn_write = usbdux_pwm_write;
        s->insn_read = usbdux_pwm_read;
        s->insn_config = usbdux_pwm_config;
        usbdux_pwm_period(dev, s, PWM_DEFAULT_PERIOD);
    }
    /* finally decide that it's attached */
    uds->attached = 1;
    up(&uds->sem);
    offset = usbdux_getstatusinfo(dev, 0);
    if (offset < 0)
        dev_err(&uds->interface->dev,
            "Communication to USBDUXSIGMA failed! Check firmware and cabling.");
    dev_info(&uds->interface->dev,
         "comedi%d: attached, ADC_zero = %x\n", dev->minor, offset);
    return 0;
}

static int usbduxsigma_attach_usb(struct comedi_device *dev,
                  struct usb_interface *uinterf)
{
    int ret;
    struct usbduxsub *uds;

    dev->private = NULL;
    down(&start_stop_sem);
    uds = usb_get_intfdata(uinterf);
    if (!uds || !uds->probed) {
        dev_err(dev->class_dev,
            "usbduxsigma: error: attach_usb failed, not connected\n");
        ret = -ENODEV;
    } else if (uds->attached) {
        dev_err(dev->class_dev,
               "usbduxsigma: error: attach_usb failed, already attached\n");
        ret = -ENODEV;
    } else
        ret = usbduxsigma_attach_common(dev, uds);
    up(&start_stop_sem);
    return ret;
}

static void usbduxsigma_detach(struct comedi_device *dev)
{
    struct usbduxsub *usb = dev->private;

    if (usb) {
        down(&usb->sem);
        dev->private = NULL;
        usb->attached = 0;
        usb->comedidev = NULL;
        up(&usb->sem);
    }
}

static struct comedi_driver usbduxsigma_driver = {
    .driver_name    = "usbduxsigma",
    .module     = THIS_MODULE,
    .attach_usb = usbduxsigma_attach_usb,
    .detach     = usbduxsigma_detach,
};

static void usbdux_firmware_request_complete_handler(const struct firmware *fw,
                             void *context)
{
    struct usbduxsub *usbduxsub_tmp = context;
    struct usb_interface *uinterf = usbduxsub_tmp->interface;
    int ret;

    if (fw == NULL) {
        dev_err(&uinterf->dev,
            "Firmware complete handler without firmware!\n");
        return;
    }

    /*
     * we need to upload the firmware here because fw will be
     * freed once we've left this function
     */
    ret = firmwareUpload(usbduxsub_tmp, fw->data, fw->size);

    if (ret) {
        dev_err(&uinterf->dev,
            "Could not upload firmware (err=%d)\n", ret);
        goto out;
    }
    comedi_usb_auto_config(uinterf, &usbduxsigma_driver);
out:
    release_firmware(fw);
}

static int usbduxsigma_usb_probe(struct usb_interface *uinterf,
                 const struct usb_device_id *id)
{
    struct usb_device *udev = interface_to_usbdev(uinterf);
    struct device *dev = &uinterf->dev;
    int i;
    int index;
    int ret;

    dev_dbg(dev, "comedi_: usbdux_: "
        "finding a free structure for the usb-device\n");

    down(&start_stop_sem);
    /* look for a free place in the usbdux array */
    index = -1;
    for (i = 0; i < NUMUSBDUX; i++) {
        if (!(usbduxsub[i].probed)) {
            index = i;
            break;
        }
    }

    /* no more space */
    if (index == -1) {
        dev_err(dev, "Too many usbduxsigma-devices connected.\n");
        up(&start_stop_sem);
        return -EMFILE;
    }
    dev_dbg(dev, "comedi_: usbdux: "
        "usbduxsub[%d] is ready to connect to comedi.\n", index);

    sema_init(&(usbduxsub[index].sem), 1);
    /* save a pointer to the usb device */
    usbduxsub[index].usbdev = udev;

    /* save the interface itself */
    usbduxsub[index].interface = uinterf;
    /* get the interface number from the interface */
    usbduxsub[index].ifnum = uinterf->altsetting->desc.bInterfaceNumber;
    /* hand the private data over to the usb subsystem */
    /* will be needed for disconnect */
    usb_set_intfdata(uinterf, &(usbduxsub[index]));

    dev_dbg(dev, "comedi_: usbdux: ifnum=%d\n", usbduxsub[index].ifnum);

    /* test if it is high speed (USB 2.0) */
    usbduxsub[index].high_speed =
        (usbduxsub[index].usbdev->speed == USB_SPEED_HIGH);

    /* create space for the commands of the DA converter */
    usbduxsub[index].dac_commands = kzalloc(NUMOUTCHANNELS, GFP_KERNEL);
    if (!usbduxsub[index].dac_commands) {
        dev_err(dev, "comedi_: usbduxsigma: "
            "error alloc space for dac commands\n");
        tidy_up(&(usbduxsub[index]));
        up(&start_stop_sem);
        return -ENOMEM;
    }
    /* create space for the commands going to the usb device */
    usbduxsub[index].dux_commands = kzalloc(SIZEOFDUXBUFFER, GFP_KERNEL);
    if (!usbduxsub[index].dux_commands) {
        dev_err(dev, "comedi_: usbduxsigma: "
            "error alloc space for dux commands\n");
        tidy_up(&(usbduxsub[index]));
        up(&start_stop_sem);
        return -ENOMEM;
    }
    /* create space for the in buffer and set it to zero */
    usbduxsub[index].inBuffer = kzalloc(SIZEINBUF, GFP_KERNEL);
    if (!(usbduxsub[index].inBuffer)) {
        dev_err(dev, "comedi_: usbduxsigma: "
            "could not alloc space for inBuffer\n");
        tidy_up(&(usbduxsub[index]));
        up(&start_stop_sem);
        return -ENOMEM;
    }
    /* create space of the instruction buffer */
    usbduxsub[index].insnBuffer = kzalloc(SIZEINSNBUF, GFP_KERNEL);
    if (!(usbduxsub[index].insnBuffer)) {
        dev_err(dev, "comedi_: usbduxsigma: "
            "could not alloc space for insnBuffer\n");
        tidy_up(&(usbduxsub[index]));
        up(&start_stop_sem);
        return -ENOMEM;
    }
    /* create space for the outbuffer */
    usbduxsub[index].outBuffer = kzalloc(SIZEOUTBUF, GFP_KERNEL);
    if (!(usbduxsub[index].outBuffer)) {
        dev_err(dev, "comedi_: usbduxsigma: "
            "could not alloc space for outBuffer\n");
        tidy_up(&(usbduxsub[index]));
        up(&start_stop_sem);
        return -ENOMEM;
    }
    /* setting to alternate setting 3: enabling iso ep and bulk ep. */
    i = usb_set_interface(usbduxsub[index].usbdev,
                  usbduxsub[index].ifnum, 3);
    if (i < 0) {
        dev_err(dev, "comedi_: usbduxsigma%d: "
            "could not set alternate setting 3 in high speed.\n",
            index);
        tidy_up(&(usbduxsub[index]));
        up(&start_stop_sem);
        return -ENODEV;
    }
    if (usbduxsub[index].high_speed)
        usbduxsub[index].numOfInBuffers = NUMOFINBUFFERSHIGH;
    else
        usbduxsub[index].numOfInBuffers = NUMOFINBUFFERSFULL;

    usbduxsub[index].urbIn =
        kzalloc(sizeof(struct urb *) * usbduxsub[index].numOfInBuffers,
            GFP_KERNEL);
    if (!(usbduxsub[index].urbIn)) {
        dev_err(dev, "comedi_: usbduxsigma: "
            "Could not alloc. urbIn array\n");
        tidy_up(&(usbduxsub[index]));
        up(&start_stop_sem);
        return -ENOMEM;
    }
    for (i = 0; i < usbduxsub[index].numOfInBuffers; i++) {
        /* one frame: 1ms */
        usbduxsub[index].urbIn[i] = usb_alloc_urb(1, GFP_KERNEL);
        if (usbduxsub[index].urbIn[i] == NULL) {
            dev_err(dev, "comedi_: usbduxsigma%d: "
                "Could not alloc. urb(%d)\n", index, i);
            tidy_up(&(usbduxsub[index]));
            up(&start_stop_sem);
            return -ENOMEM;
        }
        usbduxsub[index].urbIn[i]->dev = usbduxsub[index].usbdev;
        /* will be filled later with a pointer to the comedi-device */
        /* and ONLY then the urb should be submitted */
        usbduxsub[index].urbIn[i]->context = NULL;
        usbduxsub[index].urbIn[i]->pipe =
            usb_rcvisocpipe(usbduxsub[index].usbdev, ISOINEP);
        usbduxsub[index].urbIn[i]->transfer_flags = URB_ISO_ASAP;
        usbduxsub[index].urbIn[i]->transfer_buffer =
            kzalloc(SIZEINBUF, GFP_KERNEL);
        if (!(usbduxsub[index].urbIn[i]->transfer_buffer)) {
            dev_err(dev, "comedi_: usbduxsigma%d: "
                "could not alloc. transb.\n", index);
            tidy_up(&(usbduxsub[index]));
            up(&start_stop_sem);
            return -ENOMEM;
        }
        usbduxsub[index].urbIn[i]->complete = usbduxsub_ai_IsocIrq;
        usbduxsub[index].urbIn[i]->number_of_packets = 1;
        usbduxsub[index].urbIn[i]->transfer_buffer_length = SIZEINBUF;
        usbduxsub[index].urbIn[i]->iso_frame_desc[0].offset = 0;
        usbduxsub[index].urbIn[i]->iso_frame_desc[0].length =
            SIZEINBUF;
    }

    /* out */
    if (usbduxsub[index].high_speed)
        usbduxsub[index].numOfOutBuffers = NUMOFOUTBUFFERSHIGH;
    else
        usbduxsub[index].numOfOutBuffers = NUMOFOUTBUFFERSFULL;

    usbduxsub[index].urbOut =
        kzalloc(sizeof(struct urb *) * usbduxsub[index].numOfOutBuffers,
            GFP_KERNEL);
    if (!(usbduxsub[index].urbOut)) {
        dev_err(dev, "comedi_: usbduxsigma: "
            "Could not alloc. urbOut array\n");
        tidy_up(&(usbduxsub[index]));
        up(&start_stop_sem);
        return -ENOMEM;
    }
    for (i = 0; i < usbduxsub[index].numOfOutBuffers; i++) {
        /* one frame: 1ms */
        usbduxsub[index].urbOut[i] = usb_alloc_urb(1, GFP_KERNEL);
        if (usbduxsub[index].urbOut[i] == NULL) {
            dev_err(dev, "comedi_: usbduxsigma%d: "
                "Could not alloc. urb(%d)\n", index, i);
            tidy_up(&(usbduxsub[index]));
            up(&start_stop_sem);
            return -ENOMEM;
        }
        usbduxsub[index].urbOut[i]->dev = usbduxsub[index].usbdev;
        /* will be filled later with a pointer to the comedi-device */
        /* and ONLY then the urb should be submitted */
        usbduxsub[index].urbOut[i]->context = NULL;
        usbduxsub[index].urbOut[i]->pipe =
            usb_sndisocpipe(usbduxsub[index].usbdev, ISOOUTEP);
        usbduxsub[index].urbOut[i]->transfer_flags = URB_ISO_ASAP;
        usbduxsub[index].urbOut[i]->transfer_buffer =
            kzalloc(SIZEOUTBUF, GFP_KERNEL);
        if (!(usbduxsub[index].urbOut[i]->transfer_buffer)) {
            dev_err(dev, "comedi_: usbduxsigma%d: "
                "could not alloc. transb.\n", index);
            tidy_up(&(usbduxsub[index]));
            up(&start_stop_sem);
            return -ENOMEM;
        }
        usbduxsub[index].urbOut[i]->complete = usbduxsub_ao_IsocIrq;
        usbduxsub[index].urbOut[i]->number_of_packets = 1;
        usbduxsub[index].urbOut[i]->transfer_buffer_length =
            SIZEOUTBUF;
        usbduxsub[index].urbOut[i]->iso_frame_desc[0].offset = 0;
        usbduxsub[index].urbOut[i]->iso_frame_desc[0].length =
            SIZEOUTBUF;
        if (usbduxsub[index].high_speed) {
            /* uframes */
            usbduxsub[index].urbOut[i]->interval = 8;
        } else {
            /* frames */
            usbduxsub[index].urbOut[i]->interval = 1;
        }
    }

    /* pwm */
    if (usbduxsub[index].high_speed) {
        /* max bulk ep size in high speed */
        usbduxsub[index].sizePwmBuf = 512;
        usbduxsub[index].urbPwm = usb_alloc_urb(0, GFP_KERNEL);
        if (usbduxsub[index].urbPwm == NULL) {
            dev_err(dev, "comedi_: usbduxsigma%d: "
                "Could not alloc. pwm urb\n", index);
            tidy_up(&(usbduxsub[index]));
            up(&start_stop_sem);
            return -ENOMEM;
        }
        usbduxsub[index].urbPwm->transfer_buffer =
            kzalloc(usbduxsub[index].sizePwmBuf, GFP_KERNEL);
        if (!(usbduxsub[index].urbPwm->transfer_buffer)) {
            dev_err(dev, "comedi_: usbduxsigma%d: "
                "could not alloc. transb. for pwm\n", index);
            tidy_up(&(usbduxsub[index]));
            up(&start_stop_sem);
            return -ENOMEM;
        }
    } else {
        usbduxsub[index].urbPwm = NULL;
        usbduxsub[index].sizePwmBuf = 0;
    }

    usbduxsub[index].ai_cmd_running = 0;
    usbduxsub[index].ao_cmd_running = 0;
    usbduxsub[index].pwm_cmd_running = 0;

    /* we've reached the bottom of the function */
    usbduxsub[index].probed = 1;
    up(&start_stop_sem);

    ret = request_firmware_nowait(THIS_MODULE,
                      FW_ACTION_HOTPLUG,
                      FIRMWARE,
                      &udev->dev,
                      GFP_KERNEL,
                      usbduxsub + index,
                      usbdux_firmware_request_complete_handler
                      );

    if (ret) {
        dev_err(dev, "Could not load firmware (err=%d)\n", ret);
        return ret;
    }

    dev_info(dev, "comedi_: successfully initialised.\n");
    /* success */
    return 0;
}

static void usbduxsigma_usb_disconnect(struct usb_interface *intf)
{
    struct usbduxsub *usbduxsub_tmp = usb_get_intfdata(intf);
    struct usb_device *udev = interface_to_usbdev(intf);

    if (!usbduxsub_tmp) {
        dev_err(&intf->dev,
            "comedi_: disconnect called with null pointer.\n");
        return;
    }
    if (usbduxsub_tmp->usbdev != udev) {
        dev_err(&intf->dev, "comedi_: BUG! wrong ptr!\n");
        return;
    }
    if (usbduxsub_tmp->ai_cmd_running)
        /* we are still running a command */
        usbdux_ai_stop(usbduxsub_tmp, 1);
    if (usbduxsub_tmp->ao_cmd_running)
        /* we are still running a command */
        usbdux_ao_stop(usbduxsub_tmp, 1);
    comedi_usb_auto_unconfig(intf);
    down(&start_stop_sem);
    down(&usbduxsub_tmp->sem);
    tidy_up(usbduxsub_tmp);
    up(&usbduxsub_tmp->sem);
    up(&start_stop_sem);
    dev_info(&intf->dev, "comedi_: disconnected from the usb\n");
}

static const struct usb_device_id usbduxsigma_usb_table[] = {
    { USB_DEVICE(0x13d8, 0x0020) },
    { USB_DEVICE(0x13d8, 0x0021) },
    { USB_DEVICE(0x13d8, 0x0022) },
    { }
};
MODULE_DEVICE_TABLE(usb, usbduxsigma_usb_table);

static struct usb_driver usbduxsigma_usb_driver = {
    .name       = "usbduxsigma",
    .probe      = usbduxsigma_usb_probe,
    .disconnect = usbduxsigma_usb_disconnect,
    .id_table   = usbduxsigma_usb_table,
};
module_comedi_usb_driver(usbduxsigma_driver, usbduxsigma_usb_driver);

MODULE_AUTHOR("Bernd Porr, [email protected]");
MODULE_DESCRIPTION("Stirling/ITL USB-DUX SIGMA -- [email protected]");
MODULE_LICENSE("GPL");
MODULE_FIRMWARE(FIRMWARE);