staging: comedi: new driver usbduxsigma

This adds a new driver file usbduxsigma which is the driver for
a new board by ITL. The driver has been tested and is working fine.

Signed-off-by: Bernd Porr <berndporr@f2s.com>
Signed-off-by: Greg Kroah-Hartman <gregkh@suse.de>

drivers/staging/comedi/Kconfig

@@ -1244,11 +1244,10 @@ config COMEDI_DT9812
 	  called dt9812.
 
 config COMEDI_USBDUX
-	tristate "ITL USBDUX support"
+	tristate "ITL USB-DUX-D support"
 	default N
 	---help---
-	  Enable support for the University of Stirling USB DAQ and INCITE
-	  Technology Limited driver
+	  Enable support for the Incite Technology Ltd USB-DUX-D Board
 
 	  To compile this driver as a module, choose M here: the module will be
 	  called usbdux.
@@ -1258,12 +1257,21 @@ config COMEDI_USBDUXFAST
 	select COMEDI_FC
 	default N
 	---help---
-	  Enable support for the University of Stirling USB-DUXfast and INCITE
-	  Technology Limited driver
+	  Enable support for the Incite Technology Ltd USB-DUXfast Board
 
 	  To compile this driver as a module, choose M here: the module will be
 	  called usbduxfast.
 
+config COMEDI_USBDUXSIGMA
+	tristate "ITL USB-DUXsigma support"
+	select COMEDI_FC
+	default N
+	---help---
+	  Enable support for the Incite Technology Ltd USB-DUXsigma Board
+
+	  To compile this driver as a module, choose M here: the module will be
+	  called usbduxsigma.
+
 config COMEDI_VMK80XX
 	tristate "Velleman VM110/VM140 USB Board support"
 	default N

drivers/staging/comedi/drivers/Makefile

@@ -126,6 +126,7 @@ obj-$(CONFIG_COMEDI_QUATECH_DAQP_CS)	+= quatech_daqp_cs.o
 obj-$(CONFIG_COMEDI_DT9812)		+= dt9812.o
 obj-$(CONFIG_COMEDI_USBDUX)		+= usbdux.o
 obj-$(CONFIG_COMEDI_USBDUXFAST)		+= usbduxfast.o
+obj-$(CONFIG_COMEDI_USBDUXSIGMA)	+= usbduxsigma.o
 obj-$(CONFIG_COMEDI_VMK80XX)		+= vmk80xx.o
 
 # Comedi NI drivers

drivers/staging/comedi/drivers/usbduxsigma.c

@@ -0,0 +1,2880 @@
+#define DRIVER_VERSION "v0.5"
+#define DRIVER_AUTHOR "Bernd Porr, BerndPorr@f2s.com"
+#define DRIVER_DESC "Stirling/ITL USB-DUX SIGMA -- Bernd.Porr@f2s.com"
+/*
+   comedi/drivers/usbdux.c
+   Copyright (C) 2011 Bernd Porr, Bernd.Porr@f2s.com
+
+   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 <BerndPorr@f2s.com>
+Updated: 21 Jul 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: inital 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
+ */
+
+/* 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"
+
+#define BOARDNAME "usbduxsigma"
+
+/* timeout for the USB-transfer in ms*/
+#define BULK_TIMEOUT 1000
+
+/* constants for "firmware" upload and download */
+#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)
+								}
+};
+
+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;
+	/* continous aquisition */
+	short int ai_continous;
+	short int ao_continous;
+	/* 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 aquisitions */
+	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_continous)) {
+		/* not continous, 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 continous aquisition */
+		if (!(this_usbduxsub->ao_continous)) {
+			/* 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)
+{
+	int err = 0, tmp, i;
+	unsigned int tmpTimer;
+	struct usbduxsub *this_usbduxsub = dev->private;
+
+	if (!(this_usbduxsub->probed))
+		return -ENODEV;
+
+	dev_dbg(&this_usbduxsub->interface->dev,
+		"comedi%d: usbdux_ai_cmdtest\n", dev->minor);
+
+	/* make sure triggers are valid */
+	/* Only immediate triggers are allowed */
+	tmp = cmd->start_src;
+	cmd->start_src &= TRIG_NOW | TRIG_INT;
+	if (!cmd->start_src || tmp != cmd->start_src)
+		err++;
+
+	/* trigger should happen timed */
+	tmp = cmd->scan_begin_src;
+	/* start a new _scan_ with a timer */
+	cmd->scan_begin_src &= TRIG_TIMER;
+	if (!cmd->scan_begin_src || tmp != cmd->scan_begin_src)
+		err++;
+
+	/* scanning is continous */
+	tmp = cmd->convert_src;
+	cmd->convert_src &= TRIG_NOW;
+	if (!cmd->convert_src || tmp != cmd->convert_src)
+		err++;
+
+	/* issue a trigger when scan is finished and start a new scan */
+	tmp = cmd->scan_end_src;
+	cmd->scan_end_src &= TRIG_COUNT;
+	if (!cmd->scan_end_src || tmp != cmd->scan_end_src)
+		err++;
+
+	/* trigger at the end of count events or not, stop condition or not */
+	tmp = cmd->stop_src;
+	cmd->stop_src &= TRIG_COUNT | TRIG_NONE;
+	if (!cmd->stop_src || tmp != cmd->stop_src)
+		err++;
+
+	if (err)
+		return 1;
+
+	/*
+	 * step 2: make sure trigger sources are unique and mutually compatible
+	 * note that mutual compatibility is not an issue here
+	 */
+	if (cmd->scan_begin_src != TRIG_FOLLOW &&
+	    cmd->scan_begin_src != TRIG_EXT &&
+	    cmd->scan_begin_src != TRIG_TIMER)
+		err++;
+	if (cmd->stop_src != TRIG_COUNT && cmd->stop_src != TRIG_NONE)
+		err++;
+
+	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 aquisition 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_continous = 0;
+	} else {
+		/* continous aquisition */
+		this_usbduxsub->ai_continous = 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 staus 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)) {
+		up(&this_usbduxsub->sem);
+		return -ENODEV;
+	}
+	if (trignum != 0) {
+		dev_err(&this_usbduxsub->interface->dev,
+			"comedi%d: usbdux_ao_inttrig: invalid trignum\n",
+			dev->minor);
+		return -EINVAL;
+	}
+	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;
+			up(&this_usbduxsub->sem);
+			return ret;
+		}
+		s->async->inttrig = NULL;
+	} else {
+		dev_err(&this_usbduxsub->interface->dev,
+			"comedi%d: ao_inttrig but acqu is already running.\n",
+			dev->minor);
+	}
+	up(&this_usbduxsub->sem);
+	return 1;
+}
+
+static int usbdux_ao_cmdtest(struct comedi_device *dev,
+			     struct comedi_subdevice *s,
+			     struct comedi_cmd *cmd)
+{
+	int err = 0, tmp;
+	struct usbduxsub *this_usbduxsub = dev->private;
+
+	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);
+
+	/* make sure triggers are valid */
+	/* Only immediate triggers are allowed */
+	tmp = cmd->start_src;
+	cmd->start_src &= TRIG_NOW | TRIG_INT;
+	if (!cmd->start_src || tmp != cmd->start_src)
+		err++;
+
+	/* trigger should happen timed */
+	tmp = cmd->scan_begin_src;
+	/* just now we scan also in the high speed mode every frame */
+	/* this is due to ehci driver limitations */
+	if (0) {		/* (this_usbduxsub->high_speed) */
+		/* start immidiately a new scan */
+		/* the sampling rate is set by the coversion rate */
+		cmd->scan_begin_src &= TRIG_FOLLOW;
+	} else {
+		/* start a new scan (output at once) with a timer */
+		cmd->scan_begin_src &= TRIG_TIMER;
+	}
+	if (!cmd->scan_begin_src || tmp != cmd->scan_begin_src)
+		err++;
+
+	/* scanning is continous */
+	tmp = cmd->convert_src;
+
+	/* all conversion events happen simultaneously */
+	cmd->convert_src &= TRIG_NOW;
+
+	if (!cmd->convert_src || tmp != cmd->convert_src)
+		err++;
+
+	/* issue a trigger when scan is finished and start a new scan */
+	tmp = cmd->scan_end_src;
+	cmd->scan_end_src &= TRIG_COUNT;
+	if (!cmd->scan_end_src || tmp != cmd->scan_end_src)
+		err++;
+
+	/* trigger at the end of count events or not, stop condition or not */
+	tmp = cmd->stop_src;
+	cmd->stop_src &= TRIG_COUNT | TRIG_NONE;
+	if (!cmd->stop_src || tmp != cmd->stop_src)
+		err++;
+
+	if (err)
+		return 1;
+
+	/*
+	 * step 2: make sure trigger sources
+	 * are unique and mutually compatible
+	 * note that mutual compatibility is not an issue here
+	 */
+	if (cmd->scan_begin_src != TRIG_FOLLOW &&
+	    cmd->scan_begin_src != TRIG_EXT &&
+	    cmd->scan_begin_src != TRIG_TIMER)
+		err++;
+	if (cmd->stop_src != TRIG_COUNT && cmd->stop_src != TRIG_NONE)
+		err++;
+
+	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 aquisition 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 continous */
+		/* 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_continous = 0;
+	} else {
+		/* continous aquisition */
+		this_usbduxsub->ao_continous = 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;
+
+	if (insn->n != 2)
+		return -EINVAL;
+
+	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 2;
+}
+
+/***********************************/
+/* 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 void usbdux_firmware_request_complete_handler(const struct firmware *fw,
+						     void *context)
+{
+	struct usbduxsub *usbduxsub_tmp = context;
+	struct usb_device *usbdev = usbduxsub_tmp->usbdev;
+	int ret;
+
+	if (fw == NULL) {
+		dev_err(&usbdev->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(&usbdev->dev,
+			"Could not upload firmware (err=%d)\n", ret);
+		goto out;
+	}
+	comedi_usb_auto_config(usbdev, BOARDNAME);
+out:
+	release_firmware(fw);
+}
+
+/* allocate memory for the urbs and initialise them */
+static int usbduxsigma_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,
+				      "usbduxsigma_firmware.bin",
+				      &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_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(udev);
+	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");
+}
+
+/* is called when comedi-config is called */
+static int usbduxsigma_attach(struct comedi_device *dev,
+			      struct comedi_devconfig *it)
+{
+	int ret;
+	int index;
+	int i;
+	struct usbduxsub *udev;
+
+	int offset;
+
+	struct comedi_subdevice *s = NULL;
+	dev->private = NULL;
+
+	down(&start_stop_sem);
+	/* find a valid device which has been detected by the probe function of
+	 * the usb */
+	index = -1;
+	for (i = 0; i < NUMUSBDUX; i++) {
+		if ((usbduxsub[i].probed) && (!usbduxsub[i].attached)) {
+			index = i;
+			break;
+		}
+	}
+
+	if (index < 0) {
+		printk(KERN_ERR "comedi%d: usbduxsigma: error: attach failed,"
+		       "dev not connected to the usb bus.\n", dev->minor);
+		up(&start_stop_sem);
+		return -ENODEV;
+	}
+
+	udev = &usbduxsub[index];
+	down(&udev->sem);
+	/* pointer back to the corresponding comedi device */
+	udev->comedidev = dev;
+
+	/* trying to upload the firmware into the FX2 */
+	if (comedi_aux_data(it->options, 0) &&
+	    it->options[COMEDI_DEVCONF_AUX_DATA_LENGTH]) {
+		firmwareUpload(udev, comedi_aux_data(it->options, 0),
+			       it->options[COMEDI_DEVCONF_AUX_DATA_LENGTH]);
+	}
+
+	dev->board_name = BOARDNAME;
+
+	/* set number of subdevices */
+	if (udev->high_speed) {
+		/* with pwm */
+		dev->n_subdevices = 4;
+	} else {
+		/* without pwm */
+		dev->n_subdevices = 3;
+	}
+
+	/* allocate space for the subdevices */
+	ret = alloc_subdevices(dev, dev->n_subdevices);
+	if (ret < 0) {
+		dev_err(&udev->interface->dev,
+			"comedi%d: no space for subdev\n", dev->minor);
+		up(&start_stop_sem);
+		return ret;
+	}
+
+	/* private structure is also simply the usb-structure */
+	dev->private = udev;
+
+	/* 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 out */
+	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 */
+	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 (udev->high_speed) {
+		/* timer / pwm */
+		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 = udev->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 */
+	udev->attached = 1;
+
+	up(&udev->sem);
+
+	up(&start_stop_sem);
+
+	offset = usbdux_getstatusinfo(dev, 0);
+	if (offset < 0)
+		dev_err(&udev->interface->dev,
+			"Communication to USBDUXSIGMA failed!"
+			"Check firmware and cabling.");
+
+	dev_info(&udev->interface->dev,
+		 "comedi%d: attached, ADC_zero = %x", dev->minor, offset);
+
+	return 0;
+}
+
+static int usbduxsigma_detach(struct comedi_device *dev)
+{
+	struct usbduxsub *usbduxsub_tmp;
+
+	if (!dev) {
+		printk(KERN_ERR
+		       "comedi? usbduxsigma detach: dev=NULL\n");
+		return -EFAULT;
+	}
+
+	usbduxsub_tmp = dev->private;
+	if (!usbduxsub_tmp) {
+		printk(KERN_ERR
+		       "comedi?: usbduxsigma detach: private=NULL\n");
+		return -EFAULT;
+	}
+
+	dev_dbg(&usbduxsub_tmp->interface->dev,
+		"comedi%d: detach usb device\n",
+		dev->minor);
+
+	down(&usbduxsub_tmp->sem);
+	/* Don't allow detach to free the private structure */
+	/* It's one entry of of usbduxsub[] */
+	dev->private = NULL;
+	usbduxsub_tmp->attached = 0;
+	usbduxsub_tmp->comedidev = NULL;
+	dev_info(&usbduxsub_tmp->interface->dev,
+		"comedi%d: successfully detached.\n", dev->minor);
+	up(&usbduxsub_tmp->sem);
+	return 0;
+}
+
+/* main driver struct */
+static struct comedi_driver driver_usbduxsigma = {
+	.driver_name = "usbduxsigma",
+	.module = THIS_MODULE,
+	.attach = usbduxsigma_attach,
+	.detach = usbduxsigma_detach,
+};
+
+/* Table with the USB-devices */
+static const struct usb_device_id usbduxsigma_table[] = {
+	{USB_DEVICE(0x13d8, 0x0020)},
+	{USB_DEVICE(0x13d8, 0x0021)},
+	{USB_DEVICE(0x13d8, 0x0022)},
+	{}			/* Terminating entry */
+};
+
+MODULE_DEVICE_TABLE(usb, usbduxsigma_table);
+
+/* The usbduxsub-driver */
+static struct usb_driver usbduxsigma_driver = {
+	.name = BOARDNAME,
+	.probe = usbduxsigma_probe,
+	.disconnect = usbduxsigma_disconnect,
+	.id_table = usbduxsigma_table,
+};
+
+/* Can't use the nice macro as I have also to initialise the USB */
+/* subsystem: */
+/* registering the usb-system _and_ the comedi-driver */
+static int __init init_usbduxsigma(void)
+{
+	printk(KERN_INFO KBUILD_MODNAME ": "
+	       DRIVER_VERSION ":" DRIVER_DESC "\n");
+	usb_register(&usbduxsigma_driver);
+	comedi_driver_register(&driver_usbduxsigma);
+	return 0;
+}
+
+/* deregistering the comedi driver and the usb-subsystem */
+static void __exit exit_usbduxsigma(void)
+{
+	comedi_driver_unregister(&driver_usbduxsigma);
+	usb_deregister(&usbduxsigma_driver);
+}
+
+module_init(init_usbduxsigma);
+module_exit(exit_usbduxsigma);
+
+MODULE_AUTHOR(DRIVER_AUTHOR);
+MODULE_DESCRIPTION(DRIVER_DESC);
+MODULE_LICENSE("GPL");