1 files changed, 138 insertions, 179 deletions

diff --git a/drivers/staging/comedi/drivers/usbduxsigma.c b/drivers/staging/comedi/drivers/usbduxsigma.c
index 898c3c450406..c47f4087568f 100644
--- a/drivers/staging/comedi/drivers/usbduxsigma.c
+++ b/drivers/staging/comedi/drivers/usbduxsigma.c
@@ -66,13 +66,6 @@
 /* internal addresses of the 8051 processor */
 #define USBDUXSUB_CPUCS 0xE600
 
-/* USB endpoints */
-#define USBDUXSIGMA_CMD_OUT_EP		1	/* command output */
-#define USBDUXSIGMA_ISO_OUT_EP		2	/* analog output ISO/IRQ */
-#define USBDUXSIGMA_PWM_OUT_EP		4	/* pwm output */
-#define USBDUXSIGMA_ISO_IN_EP		6	/* analog input ISO/IRQ */
-#define USBDUXSIGMA_CMD_IN_EP		8	/* command input */
-
 /* 300Hz max frequ under PWM */
 #define MIN_PWM_PERIOD  ((long)(1E9/300))
 
@@ -168,6 +161,7 @@ struct usbduxsigma_private {
 	/* input buffer for single insn */
 	int8_t *insn_buf;
 
+	int8_t ao_chanlist[USBDUXSIGMA_NUM_AO_CHAN];
 	unsigned int ao_readback[USBDUXSIGMA_NUM_AO_CHAN];
 
 	unsigned high_speed:1;
@@ -188,25 +182,25 @@ struct usbduxsigma_private {
 	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;
 };
 
+static void usbduxsigma_unlink_urbs(struct urb **urbs, int num_urbs)
+{
+	int i;
+
+	for (i = 0; i < num_urbs; i++)
+		usb_kill_urb(urbs[i]);
+}
+
 static void usbduxsigma_ai_stop(struct comedi_device *dev, int do_unlink)
 {
 	struct usbduxsigma_private *devpriv = dev->private;
 
-	if (do_unlink) {
-		int i;
-
-		for (i = 0; i < devpriv->n_ai_urbs; i++) {
-			if (devpriv->ai_urbs[i])
-				usb_kill_urb(devpriv->ai_urbs[i]);
-		}
-	}
+	if (do_unlink && devpriv->ai_urbs)
+		usbduxsigma_unlink_urbs(devpriv->ai_urbs, devpriv->n_ai_urbs);
 
 	devpriv->ai_cmd_running = 0;
 }
@@ -342,14 +336,8 @@ static void usbduxsigma_ao_stop(struct comedi_device *dev, int do_unlink)
 {
 	struct usbduxsigma_private *devpriv = dev->private;
 
-	if (do_unlink) {
-		int i;
-
-		for (i = 0; i < devpriv->n_ao_urbs; i++) {
-			if (devpriv->ao_urbs[i])
-				usb_kill_urb(devpriv->ao_urbs[i]);
-		}
-	}
+	if (do_unlink && devpriv->ao_urbs)
+		usbduxsigma_unlink_urbs(devpriv->ao_urbs, devpriv->n_ao_urbs);
 
 	devpriv->ao_cmd_running = 0;
 }
@@ -432,7 +420,7 @@ static void usbduxsigma_ao_urb_complete(struct urb *urb)
 		len = s->async->cmd.chanlist_len;
 		*datap++ = len;
 		for (i = 0; i < len; i++) {
-			unsigned int chan = devpriv->dac_commands[i];
+			unsigned int chan = devpriv->ao_chanlist[i];
 			short val;
 
 			ret = comedi_buf_get(s->async, &val);
@@ -643,7 +631,7 @@ static int usbbuxsigma_send_cmd(struct comedi_device *dev, int cmd_type)
 
 	devpriv->dux_commands[0] = cmd_type;
 
-	return usb_bulk_msg(usb, usb_sndbulkpipe(usb, USBDUXSIGMA_CMD_OUT_EP),
+	return usb_bulk_msg(usb, usb_sndbulkpipe(usb, 1),
 			    devpriv->dux_commands, SIZEOFDUXBUFFER,
 			    &nsent, BULK_TIMEOUT);
 }
@@ -657,8 +645,7 @@ static int usbduxsigma_receive_cmd(struct comedi_device *dev, int command)
 	int i;
 
 	for (i = 0; i < RETRIES; i++) {
-		ret = usb_bulk_msg(usb,
-				   usb_rcvbulkpipe(usb, USBDUXSIGMA_CMD_IN_EP),
+		ret = usb_bulk_msg(usb, usb_rcvbulkpipe(usb, 8),
 				   devpriv->insn_buf, SIZEINSNBUF,
 				   &nrec, BULK_TIMEOUT);
 		if (ret < 0)
@@ -686,13 +673,14 @@ static int usbduxsigma_ai_inttrig(struct comedi_device *dev,
 
 	down(&devpriv->sem);
 	if (!devpriv->ai_cmd_running) {
+		devpriv->ai_cmd_running = 1;
 		ret = usbduxsigma_submit_urbs(dev, devpriv->ai_urbs,
 					      devpriv->n_ai_urbs, 1);
 		if (ret < 0) {
+			devpriv->ai_cmd_running = 0;
 			up(&devpriv->sem);
 			return ret;
 		}
-		devpriv->ai_cmd_running = 1;
 		s->async->inttrig = NULL;
 	}
 	up(&devpriv->sem);
@@ -740,14 +728,15 @@ static int usbduxsigma_ai_cmd(struct comedi_device *dev,
 
 	if (cmd->start_src == TRIG_NOW) {
 		/* enable this acquisition operation */
+		devpriv->ai_cmd_running = 1;
 		ret = usbduxsigma_submit_urbs(dev, devpriv->ai_urbs,
 					      devpriv->n_ai_urbs, 1);
 		if (ret < 0) {
+			devpriv->ai_cmd_running = 0;
 			up(&devpriv->sem);
 			return ret;
 		}
 		s->async->inttrig = NULL;
-		devpriv->ai_cmd_running = 1;
 	} else {	/* TRIG_INT */
 		/* wait for an internal signal and submit the urbs later */
 		s->async->inttrig = usbduxsigma_ai_inttrig;
@@ -876,13 +865,14 @@ static int usbduxsigma_ao_inttrig(struct comedi_device *dev,
 
 	down(&devpriv->sem);
 	if (!devpriv->ao_cmd_running) {
+		devpriv->ao_cmd_running = 1;
 		ret = usbduxsigma_submit_urbs(dev, devpriv->ao_urbs,
 					      devpriv->n_ao_urbs, 0);
 		if (ret < 0) {
+			devpriv->ao_cmd_running = 0;
 			up(&devpriv->sem);
 			return ret;
 		}
-		devpriv->ao_cmd_running = 1;
 		s->async->inttrig = NULL;
 	}
 	up(&devpriv->sem);
@@ -1020,20 +1010,21 @@ static int usbduxsigma_ao_cmd(struct comedi_device *dev,
 	/* set current channel of the running acquisition to zero */
 	s->async->cur_chan = 0;
 	for (i = 0; i < cmd->chanlist_len; ++i)
-		devpriv->dac_commands[i] = CR_CHAN(cmd->chanlist[i]);
+		devpriv->ao_chanlist[i] = CR_CHAN(cmd->chanlist[i]);
 
 	devpriv->ao_counter = devpriv->ao_timer;
 
 	if (cmd->start_src == TRIG_NOW) {
 		/* enable this acquisition operation */
+		devpriv->ao_cmd_running = 1;
 		ret = usbduxsigma_submit_urbs(dev, devpriv->ao_urbs,
 					      devpriv->n_ao_urbs, 0);
 		if (ret < 0) {
+			devpriv->ao_cmd_running = 0;
 			up(&devpriv->sem);
 			return ret;
 		}
 		s->async->inttrig = NULL;
-		devpriv->ao_cmd_running = 1;
 	} else {	/* TRIG_INT */
 		/* wait for an internal signal and submit the urbs later */
 		s->async->inttrig = usbduxsigma_ao_inttrig;
@@ -1049,23 +1040,11 @@ static int usbduxsigma_dio_insn_config(struct comedi_device *dev,
 				       struct comedi_insn *insn,
 				       unsigned int *data)
 {
-	unsigned int chan = CR_CHAN(insn->chanspec);
-	unsigned int mask = 1 << chan;
+	int ret;
 
-	switch (data[0]) {
-	case INSN_CONFIG_DIO_OUTPUT:
-		s->io_bits |= mask;
-		break;
-	case INSN_CONFIG_DIO_INPUT:
-		s->io_bits &= ~mask;
-		break;
-	case INSN_CONFIG_DIO_QUERY:
-		data[1] = (s->io_bits & mask) ? COMEDI_OUTPUT : COMEDI_INPUT;
-		break;
-	default:
-		return -EINVAL;
-		break;
-	}
+	ret = comedi_dio_insn_config(dev, s, insn, data, 0);
+	if (ret)
+		return ret;
 
 	/*
 	 * We don't tell the firmware here as it would take 8 frames
@@ -1194,8 +1173,7 @@ static int usbduxsigma_submit_pwm_urb(struct comedi_device *dev)
 	struct urb *urb = devpriv->pwm_urb;
 
 	/* in case of a resubmission after an unlink... */
-	usb_fill_bulk_urb(urb,
-			  usb, usb_sndbulkpipe(usb, USBDUXSIGMA_PWM_OUT_EP),
+	usb_fill_bulk_urb(urb, usb, usb_sndbulkpipe(usb, 4),
 			  urb->transfer_buffer, devpriv->pwm_buf_sz,
 			  usbduxsigma_pwm_urb_complete, dev);
 
@@ -1237,19 +1215,21 @@ static int usbduxsigma_pwm_start(struct comedi_device *dev,
 
 	memset(devpriv->pwm_urb->transfer_buffer, 0, devpriv->pwm_buf_sz);
 
+	devpriv->pwm_cmd_running = 1;
 	ret = usbduxsigma_submit_pwm_urb(dev);
-	if (ret < 0)
+	if (ret < 0) {
+		devpriv->pwm_cmd_running = 0;
 		return ret;
-	devpriv->pwm_cmd_running = 1;
+	}
 
 	return 0;
 }
 
-static int usbduxsigma_pwm_pattern(struct comedi_device *dev,
-				   struct comedi_subdevice *s,
-				   unsigned int chan,
-				   unsigned int value,
-				   unsigned int sign)
+static void usbduxsigma_pwm_pattern(struct comedi_device *dev,
+				    struct comedi_subdevice *s,
+				    unsigned int chan,
+				    unsigned int value,
+				    unsigned int sign)
 {
 	struct usbduxsigma_private *devpriv = dev->private;
 	char pwm_mask = (1 << chan);	/* DIO bit for the PWM data */
@@ -1270,7 +1250,6 @@ static int usbduxsigma_pwm_pattern(struct comedi_device *dev,
 			c |= sgn_mask;
 		*buf++ = c;
 	}
-	return 1;
 }
 
 static int usbduxsigma_pwm_write(struct comedi_device *dev,
@@ -1291,7 +1270,9 @@ static int usbduxsigma_pwm_write(struct comedi_device *dev,
 	 * The sign is set via a special INSN only, this gives us 8 bits
 	 * for normal operation, sign is 0 by default.
 	 */
-	return usbduxsigma_pwm_pattern(dev, s, chan, data[0], 0);
+	usbduxsigma_pwm_pattern(dev, s, chan, data[0], 0);
+
+	return insn->n;
 }
 
 static int usbduxsigma_pwm_config(struct comedi_device *dev,
@@ -1326,8 +1307,8 @@ static int usbduxsigma_pwm_config(struct comedi_device *dev,
 		 * data[1] = value
 		 * data[2] = sign (for a relay)
 		 */
-		return usbduxsigma_pwm_pattern(dev, s, chan,
-					       data[1], (data[2] != 0));
+		usbduxsigma_pwm_pattern(dev, s, chan, data[1], (data[2] != 0));
+		return 0;
 	case INSN_CONFIG_PWM_GET_H_BRIDGE:
 		/* values are not kept in this driver, nothing to return */
 		return -EINVAL;
@@ -1386,90 +1367,6 @@ static int usbduxsigma_getstatusinfo(struct comedi_device *dev, int chan)
 	return (int)val;
 }
 
-static int usbduxsigma_attach_common(struct comedi_device *dev)
-{
-	struct usbduxsigma_private *devpriv = dev->private;
-	struct comedi_subdevice *s;
-	int n_subdevs;
-	int offset;
-	int ret;
-
-	down(&devpriv->sem);
-
-	if (devpriv->high_speed)
-		n_subdevs = 4;	/* with pwm */
-	else
-		n_subdevs = 3;	/* without pwm */
-	ret = comedi_alloc_subdevices(dev, n_subdevs);
-	if (ret) {
-		up(&devpriv->sem);
-		return ret;
-	}
-
-	/* Analog Input subdevice */
-	s = &dev->subdevices[0];
-	dev->read_subdev = s;
-	s->type		= COMEDI_SUBD_AI;
-	s->subdev_flags	= SDF_READABLE | SDF_GROUND | SDF_CMD_READ | SDF_LSAMPL;
-	s->n_chan	= NUMCHANNELS;
-	s->len_chanlist	= NUMCHANNELS;
-	s->maxdata	= 0x00ffffff;
-	s->range_table	= &usbduxsigma_ai_range;
-	s->insn_read	= usbduxsigma_ai_insn_read;
-	s->do_cmdtest	= usbduxsigma_ai_cmdtest;
-	s->do_cmd	= usbduxsigma_ai_cmd;
-	s->cancel	= usbduxsigma_ai_cancel;
-
-	/* Analog Output subdevice */
-	s = &dev->subdevices[1];
-	dev->write_subdev = s;
-	s->type		= COMEDI_SUBD_AO;
-	s->subdev_flags	= SDF_WRITABLE | SDF_GROUND | SDF_CMD_WRITE;
-	s->n_chan	= USBDUXSIGMA_NUM_AO_CHAN;
-	s->len_chanlist	= s->n_chan;
-	s->maxdata	= 0x00ff;
-	s->range_table	= &range_unipolar2_5;
-	s->insn_write	= usbduxsigma_ao_insn_write;
-	s->insn_read	= usbduxsigma_ao_insn_read;
-	s->do_cmdtest	= usbduxsigma_ao_cmdtest;
-	s->do_cmd	= usbduxsigma_ao_cmd;
-	s->cancel	= usbduxsigma_ao_cancel;
-
-	/* Digital I/O subdevice */
-	s = &dev->subdevices[2];
-	s->type		= COMEDI_SUBD_DIO;
-	s->subdev_flags	= SDF_READABLE | SDF_WRITABLE;
-	s->n_chan	= 24;
-	s->maxdata	= 1;
-	s->range_table	= &range_digital;
-	s->insn_bits	= usbduxsigma_dio_insn_bits;
-	s->insn_config	= usbduxsigma_dio_insn_config;
-
-	if (devpriv->high_speed) {
-		/* Timer / pwm subdevice */
-		s = &dev->subdevices[3];
-		s->type		= COMEDI_SUBD_PWM;
-		s->subdev_flags	= SDF_WRITABLE | SDF_PWM_HBRIDGE;
-		s->n_chan	= 8;
-		s->maxdata	= devpriv->pwm_buf_sz;
-		s->insn_write	= usbduxsigma_pwm_write;
-		s->insn_config	= usbduxsigma_pwm_config;
-
-		usbduxsigma_pwm_period(dev, s, PWM_DEFAULT_PERIOD);
-	}
-
-	up(&devpriv->sem);
-
-	offset = usbduxsigma_getstatusinfo(dev, 0);
-	if (offset < 0)
-		dev_err(dev->class_dev,
-			"Communication to USBDUXSIGMA failed! Check firmware and cabling\n");
-
-	dev_info(dev->class_dev, "attached, ADC_zero = %x\n", offset);
-
-	return 0;
-}
-
 static int usbduxsigma_firmware_upload(struct comedi_device *dev,
 				       const u8 *data, size_t size,
 				       unsigned long context)
@@ -1548,7 +1445,6 @@ static int usbduxsigma_alloc_usb_buffers(struct comedi_device *dev)
 	struct urb *urb;
 	int i;
 
-	devpriv->dac_commands = kzalloc(NUMOUTCHANNELS, GFP_KERNEL);
 	devpriv->dux_commands = kzalloc(SIZEOFDUXBUFFER, GFP_KERNEL);
 	devpriv->in_buf = kzalloc(SIZEINBUF, GFP_KERNEL);
 	devpriv->insn_buf = kzalloc(SIZEINSNBUF, GFP_KERNEL);
@@ -1556,8 +1452,7 @@ static int usbduxsigma_alloc_usb_buffers(struct comedi_device *dev)
 				   GFP_KERNEL);
 	devpriv->ao_urbs = kcalloc(devpriv->n_ao_urbs, sizeof(*urb),
 				   GFP_KERNEL);
-	if (!devpriv->dac_commands || !devpriv->dux_commands ||
-	    !devpriv->in_buf || !devpriv->insn_buf ||
+	if (!devpriv->dux_commands || !devpriv->in_buf || !devpriv->insn_buf ||
 	    !devpriv->ai_urbs || !devpriv->ao_urbs)
 		return -ENOMEM;
 
@@ -1571,7 +1466,7 @@ static int usbduxsigma_alloc_usb_buffers(struct comedi_device *dev)
 		/* will be filled later with a pointer to the comedi-device */
 		/* and ONLY then the urb should be submitted */
 		urb->context = NULL;
-		urb->pipe = usb_rcvisocpipe(usb, USBDUXSIGMA_ISO_IN_EP);
+		urb->pipe = usb_rcvisocpipe(usb, 6);
 		urb->transfer_flags = URB_ISO_ASAP;
 		urb->transfer_buffer = kzalloc(SIZEINBUF, GFP_KERNEL);
 		if (!urb->transfer_buffer)
@@ -1593,7 +1488,7 @@ static int usbduxsigma_alloc_usb_buffers(struct comedi_device *dev)
 		/* will be filled later with a pointer to the comedi-device */
 		/* and ONLY then the urb should be submitted */
 		urb->context = NULL;
-		urb->pipe = usb_sndisocpipe(usb, USBDUXSIGMA_ISO_OUT_EP);
+		urb->pipe = usb_sndisocpipe(usb, 2);
 		urb->transfer_flags = URB_ISO_ASAP;
 		urb->transfer_buffer = kzalloc(SIZEOUTBUF, GFP_KERNEL);
 		if (!urb->transfer_buffer)
@@ -1609,19 +1504,16 @@ static int usbduxsigma_alloc_usb_buffers(struct comedi_device *dev)
 			urb->interval = 1;	/* frames */
 	}
 
-	if (devpriv->high_speed) {
-		/* max bulk ep size in high speed */
-		devpriv->pwm_buf_sz = 512;
+	if (devpriv->pwm_buf_sz) {
 		urb = usb_alloc_urb(0, GFP_KERNEL);
 		if (!urb)
 			return -ENOMEM;
 		devpriv->pwm_urb = urb;
-		urb->transfer_buffer = kzalloc(devpriv->pwm_buf_sz, GFP_KERNEL);
+
+		urb->transfer_buffer = kzalloc(devpriv->pwm_buf_sz,
+					       GFP_KERNEL);
 		if (!urb->transfer_buffer)
 			return -ENOMEM;
-	} else {
-		devpriv->pwm_urb = NULL;
-		devpriv->pwm_buf_sz = 0;
 	}
 
 	return 0;
@@ -1633,11 +1525,6 @@ static void usbduxsigma_free_usb_buffers(struct comedi_device *dev)
 	struct urb *urb;
 	int i;
 
-	/* force unlink all urbs */
-	usbduxsigma_ai_stop(dev, 1);
-	usbduxsigma_ao_stop(dev, 1);
-	usbduxsigma_pwm_stop(dev, 1);
-
 	urb = devpriv->pwm_urb;
 	if (urb) {
 		kfree(urb->transfer_buffer);
@@ -1666,7 +1553,6 @@ static void usbduxsigma_free_usb_buffers(struct comedi_device *dev)
 	kfree(devpriv->insn_buf);
 	kfree(devpriv->in_buf);
 	kfree(devpriv->dux_commands);
-	kfree(devpriv->dac_commands);
 }
 
 static int usbduxsigma_auto_attach(struct comedi_device *dev,
@@ -1675,29 +1561,23 @@ static int usbduxsigma_auto_attach(struct comedi_device *dev,
 	struct usb_interface *intf = comedi_to_usb_interface(dev);
 	struct usb_device *usb = comedi_to_usb_dev(dev);
 	struct usbduxsigma_private *devpriv;
+	struct comedi_subdevice *s;
+	int offset;
 	int ret;
 
-	devpriv = kzalloc(sizeof(*devpriv), GFP_KERNEL);
+	devpriv = comedi_alloc_devpriv(dev, sizeof(*devpriv));
 	if (!devpriv)
 		return -ENOMEM;
-	dev->private = devpriv;
 
 	sema_init(&devpriv->sem, 1);
-	usb_set_intfdata(intf, devpriv);
 
-	ret = usb_set_interface(usb,
-				intf->altsetting->desc.bInterfaceNumber, 3);
-	if (ret < 0) {
-		dev_err(dev->class_dev,
-			"could not set alternate setting 3 in high speed\n");
-		return -ENODEV;
-	}
+	usb_set_intfdata(intf, devpriv);
 
-	/* test if it is high speed (USB 2.0) */
 	devpriv->high_speed = (usb->speed == USB_SPEED_HIGH);
 	if (devpriv->high_speed) {
 		devpriv->n_ai_urbs = NUMOFINBUFFERSHIGH;
 		devpriv->n_ao_urbs = NUMOFOUTBUFFERSHIGH;
+		devpriv->pwm_buf_sz = 512;
 	} else {
 		devpriv->n_ai_urbs = NUMOFINBUFFERSFULL;
 		devpriv->n_ao_urbs = NUMOFOUTBUFFERSFULL;
@@ -1707,12 +1587,84 @@ static int usbduxsigma_auto_attach(struct comedi_device *dev,
 	if (ret)
 		return ret;
 
+	/* setting to alternate setting 3: enabling iso ep and bulk ep. */
+	ret = usb_set_interface(usb, intf->altsetting->desc.bInterfaceNumber,
+				3);
+	if (ret < 0) {
+		dev_err(dev->class_dev,
+			"could not set alternate setting 3 in high speed\n");
+		return ret;
+	}
+
 	ret = comedi_load_firmware(dev, &usb->dev, FIRMWARE,
 				   usbduxsigma_firmware_upload, 0);
 	if (ret)
 		return ret;
 
-	return usbduxsigma_attach_common(dev);
+	ret = comedi_alloc_subdevices(dev, (devpriv->high_speed) ? 4 : 3);
+	if (ret)
+		return ret;
+
+	/* Analog Input subdevice */
+	s = &dev->subdevices[0];
+	dev->read_subdev = s;
+	s->type		= COMEDI_SUBD_AI;
+	s->subdev_flags	= SDF_READABLE | SDF_GROUND | SDF_CMD_READ | SDF_LSAMPL;
+	s->n_chan	= NUMCHANNELS;
+	s->len_chanlist	= NUMCHANNELS;
+	s->maxdata	= 0x00ffffff;
+	s->range_table	= &usbduxsigma_ai_range;
+	s->insn_read	= usbduxsigma_ai_insn_read;
+	s->do_cmdtest	= usbduxsigma_ai_cmdtest;
+	s->do_cmd	= usbduxsigma_ai_cmd;
+	s->cancel	= usbduxsigma_ai_cancel;
+
+	/* Analog Output subdevice */
+	s = &dev->subdevices[1];
+	dev->write_subdev = s;
+	s->type		= COMEDI_SUBD_AO;
+	s->subdev_flags	= SDF_WRITABLE | SDF_GROUND | SDF_CMD_WRITE;
+	s->n_chan	= USBDUXSIGMA_NUM_AO_CHAN;
+	s->len_chanlist	= s->n_chan;
+	s->maxdata	= 0x00ff;
+	s->range_table	= &range_unipolar2_5;
+	s->insn_write	= usbduxsigma_ao_insn_write;
+	s->insn_read	= usbduxsigma_ao_insn_read;
+	s->do_cmdtest	= usbduxsigma_ao_cmdtest;
+	s->do_cmd	= usbduxsigma_ao_cmd;
+	s->cancel	= usbduxsigma_ao_cancel;
+
+	/* Digital I/O subdevice */
+	s = &dev->subdevices[2];
+	s->type		= COMEDI_SUBD_DIO;
+	s->subdev_flags	= SDF_READABLE | SDF_WRITABLE;
+	s->n_chan	= 24;
+	s->maxdata	= 1;
+	s->range_table	= &range_digital;
+	s->insn_bits	= usbduxsigma_dio_insn_bits;
+	s->insn_config	= usbduxsigma_dio_insn_config;
+
+	if (devpriv->high_speed) {
+		/* Timer / pwm subdevice */
+		s = &dev->subdevices[3];
+		s->type		= COMEDI_SUBD_PWM;
+		s->subdev_flags	= SDF_WRITABLE | SDF_PWM_HBRIDGE;
+		s->n_chan	= 8;
+		s->maxdata	= devpriv->pwm_buf_sz;
+		s->insn_write	= usbduxsigma_pwm_write;
+		s->insn_config	= usbduxsigma_pwm_config;
+
+		usbduxsigma_pwm_period(dev, s, PWM_DEFAULT_PERIOD);
+	}
+
+	offset = usbduxsigma_getstatusinfo(dev, 0);
+	if (offset < 0)
+		dev_err(dev->class_dev,
+			"Communication to USBDUXSIGMA failed! Check firmware and cabling\n");
+
+	dev_info(dev->class_dev, "attached, ADC_zero = %x\n", offset);
+
+	return 0;
 }
 
 static void usbduxsigma_detach(struct comedi_device *dev)
@@ -1720,13 +1672,20 @@ static void usbduxsigma_detach(struct comedi_device *dev)
 	struct usb_interface *intf = comedi_to_usb_interface(dev);
 	struct usbduxsigma_private *devpriv = dev->private;
 
+	usb_set_intfdata(intf, NULL);
+
 	if (!devpriv)
 		return;
 
-	usb_set_intfdata(intf, NULL);
-
 	down(&devpriv->sem);
+
+	/* force unlink all urbs */
+	usbduxsigma_ai_stop(dev, 1);
+	usbduxsigma_ao_stop(dev, 1);
+	usbduxsigma_pwm_stop(dev, 1);
+
 	usbduxsigma_free_usb_buffers(dev);
+
 	up(&devpriv->sem);
 }