From: Frank Mori Hess <fmhess@speakeasy.net>
Date: Thu, 27 Mar 2003 21:00:41 +0000 (+0000)
Subject: replaced all udelay() calls with comedi_udelay() wrapper for RT safety
X-Git-Tag: r0_7_67x~53
X-Git-Url: http://git.tremily.us/?a=commitdiff_plain;h=e241e5596810d604cee2480e42d112d8fe92d004;p=comedi.git

replaced all udelay() calls with comedi_udelay() wrapper for RT safety
---

diff --git a/comedi/drivers/adl_pci9111.c b/comedi/drivers/adl_pci9111.c
index 31da8561..4ab78269 100644
--- a/comedi/drivers/adl_pci9111.c
+++ b/comedi/drivers/adl_pci9111.c
@@ -437,7 +437,7 @@ static void pci9111_timer_set ( comedi_device * dev)
 			     PCI9111_8254_MODE_2|
 			     PCI9111_8254_BINARY_COUNTER);
 
-  udelay(1);
+  comedi_udelay(1);
 
   pci9111_8254_counter_2_set (dev_private->timer_divisor_2);
   pci9111_8254_counter_1_set (dev_private->timer_divisor_1);
diff --git a/comedi/drivers/adl_pci9118.c b/comedi/drivers/adl_pci9118.c
index f8d8cad4..f4f1ba97 100644
--- a/comedi/drivers/adl_pci9118.c
+++ b/comedi/drivers/adl_pci9118.c
@@ -344,11 +344,11 @@ static int pci9118_insn_read_ai(comedi_device *dev,comedi_subdevice *s, comedi_i
 
 	for (n=0; n<insn->n; n++) {
 		outw(0, dev->iobase+PCI9118_SOFTTRG); /* start conversion */
-		udelay(2);
+		comedi_udelay(2);
     		timeout=100;
     		while (timeout--) {
 			if (inl(dev->iobase+PCI9118_ADSTAT) & AdStatus_ADrdy) goto conv_finish;
-			udelay(1);
+			comedi_udelay(1);
     		}
 
     		comedi_error(dev,"A/D insn timeout");
@@ -1611,7 +1611,7 @@ static int pci9118_ai_cmd(comedi_device *dev,comedi_subdevice *s)
 	outl(devpriv->AdControlReg,dev->iobase+PCI9118_ADCNTRL);
 	devpriv->AdFunctionReg=AdFunction_PDTrg|AdFunction_PETrg;	// positive triggers, no S&H, no burst, burst stop, no post trigger, no about trigger, trigger stop
 	outl(devpriv->AdFunctionReg,dev->iobase+PCI9118_ADFUNC);
-	udelay(1);
+	comedi_udelay(1);
 	outl(0,dev->iobase+PCI9118_DELFIFO); // flush FIFO
 	inl(dev->iobase+PCI9118_ADSTAT); // flush A/D and INT status register
 	inl(dev->iobase+PCI9118_INTSRC);
@@ -1778,7 +1778,7 @@ static int setup_channel_list(comedi_device * dev, comedi_subdevice * s, int n_c
 #endif
 #endif
 	outl(0,dev->iobase+PCI9118_SCANMOD);	// close scan queue
-//	udelay(100);				// important delay, or first sample will be cripled
+//	comedi_udelay(100);				// important delay, or first sample will be cripled
 
 	DPRINTK("adl_pci9118 EDBG: END: setup_channel_list()\n");
 	return 1; // we can serve this with scan logic
@@ -1839,7 +1839,7 @@ static void start_pacer(comedi_device * dev, int mode, unsigned int divisor1, un
         outl(0x74, dev->iobase + PCI9118_CNTCTRL);
         outl(0xb4, dev->iobase + PCI9118_CNTCTRL);
 //	outl(0x30, dev->iobase + PCI9118_CNTCTRL);
-        udelay(1);
+        comedi_udelay(1);
   
         if ((mode==1)||(mode==2)||(mode==4)) {
 		outl(divisor2 & 0xff, dev->iobase + PCI9118_CNT2);
@@ -1939,7 +1939,7 @@ static int pci9118_reset(comedi_device *dev)
 	outl(devpriv->ao_data[0],dev->iobase+PCI9118_DA1);// reset A/D outs to 0V
 	outl(devpriv->ao_data[1],dev->iobase+PCI9118_DA2);
 	outl(0,dev->iobase+PCI9118_DO);	// reset digi outs to L
-	udelay(10);
+	comedi_udelay(10);
 	inl(dev->iobase+PCI9118_AD_DATA);
 	outl(0,dev->iobase+PCI9118_DELFIFO); // flush FIFO
 	outl(0,dev->iobase+PCI9118_INTSRC); // remove INT requests
diff --git a/comedi/drivers/adv_pci1710.c b/comedi/drivers/adv_pci1710.c
index 7419058a..7c1ba455 100644
--- a/comedi/drivers/adv_pci1710.c
+++ b/comedi/drivers/adv_pci1710.c
@@ -323,7 +323,7 @@ static int pci171x_insn_read_ai(comedi_device * dev, comedi_subdevice * s, comed
 	for (n=0; n<insn->n; n++) {
 		outw(0, dev->iobase+PCI171x_SOFTTRG); /* start conversion */
     		DPRINTK("adv_pci1710 B n=%d ST=%4x\n",n,inw(dev->iobase+PCI171x_STATUS));
-		//udelay(1);
+		//comedi_udelay(1);
     		DPRINTK("adv_pci1710 C n=%d ST=%4x\n",n,inw(dev->iobase+PCI171x_STATUS));
     		timeout=100;
     		while (timeout--) {
diff --git a/comedi/drivers/cb_das16_cs.c b/comedi/drivers/cb_das16_cs.c
index 371efab5..4917eb2b 100644
--- a/comedi/drivers/cb_das16_cs.c
+++ b/comedi/drivers/cb_das16_cs.c
@@ -483,7 +483,7 @@ static int das16cs_ao_winsn(comedi_device *dev,comedi_subdevice *s,comedi_insn *
 
 		//devpriv->status1 |= 0x0009;
 		outw(devpriv->status1, dev->iobase + 4);
-		udelay(1);
+		comedi_udelay(1);
 
 		status1 = devpriv->status1;
 		//if(chan)status1 &= ~0x0008;
@@ -493,17 +493,17 @@ static int das16cs_ao_winsn(comedi_device *dev,comedi_subdevice *s,comedi_insn *
 
 		printk("0x%04x\n",status1);
 		outw(status1, dev->iobase + 4);
-		udelay(1);
+		comedi_udelay(1);
 
 		for(bit=15;bit>=0;bit--){
 			int b = (d>>bit)&1;
 
 			printk("0x%04x\n",status1 | b | 0x0000);
 			outw(status1 | b | 0x0000, dev->iobase + 4);
-			udelay(1);
+			comedi_udelay(1);
 			printk("0x%04x\n",status1 | b | 0x0004);
 			outw(status1 | b | 0x0004, dev->iobase + 4);
-			udelay(1);
+			comedi_udelay(1);
 		}
 
 		outw(devpriv->status1, dev->iobase + 4);
diff --git a/comedi/drivers/cb_pcidas.c b/comedi/drivers/cb_pcidas.c
index 90e977c4..1d5a295c 100644
--- a/comedi/drivers/cb_pcidas.c
+++ b/comedi/drivers/cb_pcidas.c
@@ -1716,7 +1716,7 @@ static void write_calibration_bitstream( comedi_device *dev, unsigned int regist
 			register_bits |= SERIAL_DATA_IN_BIT;
 		else
 			register_bits &= ~SERIAL_DATA_IN_BIT;
-		udelay( write_delay );
+		comedi_udelay( write_delay );
 		outw( register_bits, devpriv->control_status + CALIBRATION_REG);
 	}
 }
@@ -1726,7 +1726,7 @@ static int caldac_8800_write(comedi_device *dev, unsigned int address, uint8_t v
 	static const int num_caldac_channels = 8;
 	static const int bitstream_length = 11;
 	unsigned int bitstream = ((address & 0x7) << 8) | value;
-	static const int caldac_8800_udelay = 1;
+	static const int caldac_8800_comedi_udelay = 1;
 
 	if(address >= num_caldac_channels)
 	{
@@ -1736,9 +1736,9 @@ static int caldac_8800_write(comedi_device *dev, unsigned int address, uint8_t v
 
 	write_calibration_bitstream( dev, 0, bitstream, bitstream_length );
 
-	udelay(caldac_8800_udelay);
+	comedi_udelay(caldac_8800_comedi_udelay);
 	outw(SELECT_8800_BIT, devpriv->control_status + CALIBRATION_REG);
-	udelay(caldac_8800_udelay);
+	comedi_udelay(caldac_8800_comedi_udelay);
 	outw(0, devpriv->control_status + CALIBRATION_REG);
 
 	return 0;
@@ -1749,15 +1749,15 @@ static int trimpot_7376_write(comedi_device *dev, uint8_t value)
 	static const int bitstream_length = 7;
 	unsigned int bitstream = value & 0x7f;
 	unsigned int register_bits;
-	static const int ad7376_udelay = 1;
+	static const int ad7376_comedi_udelay = 1;
 
 	register_bits = SELECT_TRIMPOT_BIT;
-	udelay( ad7376_udelay );
+	comedi_udelay( ad7376_comedi_udelay );
 	outw( register_bits, devpriv->control_status + CALIBRATION_REG);
 
 	write_calibration_bitstream( dev, register_bits, bitstream, bitstream_length );
 
-	udelay(ad7376_udelay);
+	comedi_udelay(ad7376_comedi_udelay);
 	outw(0, devpriv->control_status + CALIBRATION_REG);
 
 	return 0;
@@ -1772,15 +1772,15 @@ static int trimpot_8402_write(comedi_device *dev, unsigned int channel, uint8_t
 	static const int bitstream_length = 10;
 	unsigned int bitstream = ( ( channel & 0x1 ) << 8 ) | ( value & 0xff );
 	unsigned int register_bits;
-	static const int ad8402_udelay = 1;
+	static const int ad8402_comedi_udelay = 1;
 
 	register_bits = SELECT_TRIMPOT_BIT;
-	udelay( ad8402_udelay );
+	comedi_udelay( ad8402_comedi_udelay );
 	outw( register_bits, devpriv->control_status + CALIBRATION_REG);
 
 	write_calibration_bitstream( dev, register_bits, bitstream, bitstream_length );
 
-	udelay(ad8402_udelay);
+	comedi_udelay(ad8402_comedi_udelay);
 	outw(0, devpriv->control_status + CALIBRATION_REG);
 
 	return 0;
@@ -1795,7 +1795,7 @@ static int wait_for_nvram_ready( unsigned long s5933_base_addr )
 	{
 		if( ( inb( s5933_base_addr + AMCC_OP_REG_MCSR_NVCMD ) & MCSR_NV_BUSY ) == 0 )
 			return 0;
-		udelay( 1 );
+		comedi_udelay( 1 );
 	}
 	return -1;
 }
diff --git a/comedi/drivers/cb_pcidas64.c b/comedi/drivers/cb_pcidas64.c
index 024eb96c..3a2a70f2 100644
--- a/comedi/drivers/cb_pcidas64.c
+++ b/comedi/drivers/cb_pcidas64.c
@@ -1523,7 +1523,7 @@ static int ai_rinsn(comedi_device *dev,comedi_subdevice *s,comedi_insn *insn,lsa
 				if( pipe_full_bits( bits ) )
 					break;
 			}
-			udelay(1);
+			comedi_udelay(1);
 		}
 		DEBUG_PRINT(" looped %i times waiting for data\n", i);
 		if(i == timeout)
@@ -2663,12 +2663,12 @@ static void ad8402_write( comedi_device *dev, unsigned int channel, unsigned int
 	static const int bitstream_length = 10;
 	unsigned int bit, register_bits;
 	unsigned int bitstream = ( ( channel & 0x3 ) << 8 ) | ( value & 0xff );
-	static const int ad8402_udelay = 1;
+	static const int ad8402_comedi_udelay = 1;
 
 	priv(dev)->ad8402_state[ channel ] = value;
 
 	register_bits = SELECT_8402_64XX_BIT;
-	udelay( ad8402_udelay );
+	comedi_udelay( ad8402_comedi_udelay );
 	writew( register_bits, priv(dev)->main_iobase + CALIBRATION_REG );
 
 	for( bit = 1 << ( bitstream_length - 1 ); bit; bit >>= 1 )
@@ -2677,13 +2677,13 @@ static void ad8402_write( comedi_device *dev, unsigned int channel, unsigned int
 			register_bits |= SERIAL_DATA_IN_BIT;
 		else
 			register_bits &= ~SERIAL_DATA_IN_BIT;
-		udelay( ad8402_udelay );
+		comedi_udelay( ad8402_comedi_udelay );
 		writew( register_bits, priv(dev)->main_iobase + CALIBRATION_REG );
-		udelay( ad8402_udelay );
+		comedi_udelay( ad8402_comedi_udelay );
 		writew( register_bits | SERIAL_CLOCK_BIT, priv(dev)->main_iobase + CALIBRATION_REG );
 	}
 
-	udelay( ad8402_udelay );
+	comedi_udelay( ad8402_comedi_udelay );
 	writew( 0, priv(dev)->main_iobase + CALIBRATION_REG );
 }
 
@@ -2722,15 +2722,15 @@ static uint16_t read_eeprom(comedi_device *dev, uint8_t address)
 	const int plx_control_addr = priv(dev)->plx9080_iobase + PLX_CONTROL_REG;
 	uint16_t value;
 	static const int value_length = 16;
-	static const int eeprom_udelay = 1;
+	static const int eeprom_comedi_udelay = 1;
 
-	udelay(eeprom_udelay);
+	comedi_udelay(eeprom_comedi_udelay);
 	priv(dev)->plx_control_bits &= ~CTL_EE_CLK & ~CTL_EE_CS;
 	// make sure we don't send anything to the i2c bus on 4020
 	priv(dev)->plx_control_bits |= CTL_USERO;
 	writel(priv(dev)->plx_control_bits, plx_control_addr);
 	// activate serial eeprom
-	udelay(eeprom_udelay);
+	comedi_udelay(eeprom_comedi_udelay);
 	priv(dev)->plx_control_bits |= CTL_EE_CS;
 	writel(priv(dev)->plx_control_bits, plx_control_addr);
 
@@ -2738,17 +2738,17 @@ static uint16_t read_eeprom(comedi_device *dev, uint8_t address)
 	for(bit = 1 << (bitstream_length - 1); bit; bit >>= 1)
 	{
 		// set bit to be written
-		udelay(eeprom_udelay);
+		comedi_udelay(eeprom_comedi_udelay);
 		if(bitstream & bit)
 			priv(dev)->plx_control_bits |= CTL_EE_W;
 		else
 			priv(dev)->plx_control_bits &= ~CTL_EE_W;
 		writel(priv(dev)->plx_control_bits, plx_control_addr);
 		// clock in bit
-		udelay(eeprom_udelay);
+		comedi_udelay(eeprom_comedi_udelay);
 		priv(dev)->plx_control_bits |= CTL_EE_CLK;
 		writel(priv(dev)->plx_control_bits, plx_control_addr);
-		udelay(eeprom_udelay);
+		comedi_udelay(eeprom_comedi_udelay);
 		priv(dev)->plx_control_bits &= ~CTL_EE_CLK;
 		writel(priv(dev)->plx_control_bits, plx_control_addr);
 	}
@@ -2757,19 +2757,19 @@ static uint16_t read_eeprom(comedi_device *dev, uint8_t address)
 	for(bit = 1 << (value_length - 1); bit; bit >>= 1)
 	{
 		// clock out bit
-		udelay(eeprom_udelay);
+		comedi_udelay(eeprom_comedi_udelay);
 		priv(dev)->plx_control_bits |= CTL_EE_CLK;
 		writel(priv(dev)->plx_control_bits, plx_control_addr);
-		udelay(eeprom_udelay);
+		comedi_udelay(eeprom_comedi_udelay);
 		priv(dev)->plx_control_bits &= ~CTL_EE_CLK;
 		writel(priv(dev)->plx_control_bits, plx_control_addr);
-		udelay(eeprom_udelay);
+		comedi_udelay(eeprom_comedi_udelay);
 		if(readl(plx_control_addr) & CTL_EE_R)
 			value |= bit;
 	}
 
 	// deactivate eeprom serial input
-	udelay(eeprom_udelay);
+	comedi_udelay(eeprom_comedi_udelay);
 	priv(dev)->plx_control_bits &= ~CTL_EE_CS;
 	writel(priv(dev)->plx_control_bits, plx_control_addr);
 
@@ -2930,7 +2930,7 @@ static int caldac_8800_write(comedi_device *dev, unsigned int address, uint8_t v
 	static const int bitstream_length = 11;
 	unsigned int bitstream = ((address & 0x7) << 8) | value;
 	unsigned int bit, register_bits;
-	static const int caldac_8800_udelay = 1;
+	static const int caldac_8800_comedi_udelay = 1;
 
 	if(address >= num_caldac_channels)
 	{
@@ -2943,16 +2943,16 @@ static int caldac_8800_write(comedi_device *dev, unsigned int address, uint8_t v
 		register_bits = 0;
 		if(bitstream & bit)
 			register_bits |= SERIAL_DATA_IN_BIT;
-		udelay(caldac_8800_udelay);
+		comedi_udelay(caldac_8800_comedi_udelay);
 		writew(register_bits, priv(dev)->main_iobase + CALIBRATION_REG);
 		register_bits |= SERIAL_CLOCK_BIT;
-		udelay(caldac_8800_udelay);
+		comedi_udelay(caldac_8800_comedi_udelay);
 		writew(register_bits, priv(dev)->main_iobase + CALIBRATION_REG);
         }
 
-	udelay(caldac_8800_udelay);
+	comedi_udelay(caldac_8800_comedi_udelay);
 	writew(SELECT_8800_BIT, priv(dev)->main_iobase + CALIBRATION_REG);
-	udelay(caldac_8800_udelay);
+	comedi_udelay(caldac_8800_comedi_udelay);
 	writew(0, priv(dev)->main_iobase + CALIBRATION_REG);
 
 	return 0;
@@ -3022,8 +3022,8 @@ static int caldac_i2c_write(comedi_device *dev, unsigned int caldac_channel, uns
 }
 
 // Their i2c requires a huge delay on setting clock or data high for some reason
-static const int i2c_high_udelay = 1000;
-static const int i2c_low_udelay = 10;
+static const int i2c_high_comedi_udelay = 1000;
+static const int i2c_low_comedi_udelay = 10;
 
 // set i2c data line high or low
 static void i2c_set_sda(comedi_device *dev, int state)
@@ -3036,12 +3036,12 @@ static void i2c_set_sda(comedi_device *dev, int state)
 		// set data line high
 		priv(dev)->plx_control_bits &= ~data_bit;
 		writel(priv(dev)->plx_control_bits, plx_control_addr);
-		udelay(i2c_high_udelay);
+		comedi_udelay(i2c_high_comedi_udelay);
 	}else // set data line low
 	{
 		priv(dev)->plx_control_bits |= data_bit;
 		writel(priv(dev)->plx_control_bits, plx_control_addr);
-		udelay(i2c_low_udelay);
+		comedi_udelay(i2c_low_comedi_udelay);
 	}
 }
 
@@ -3056,12 +3056,12 @@ static void i2c_set_scl(comedi_device *dev, int state)
 		// set clock line high
 		priv(dev)->plx_control_bits &= ~clock_bit;
 		writel(priv(dev)->plx_control_bits, plx_control_addr);
-		udelay(i2c_high_udelay);
+		comedi_udelay(i2c_high_comedi_udelay);
 	}else // set clock line low
 	{
 		priv(dev)->plx_control_bits |= clock_bit;
 		writel(priv(dev)->plx_control_bits, plx_control_addr);
-		udelay(i2c_low_udelay);
+		comedi_udelay(i2c_low_comedi_udelay);
 	}
 }
 
diff --git a/comedi/drivers/daqboard2000.c b/comedi/drivers/daqboard2000.c
index 133b8bb5..1cb8e717 100644
--- a/comedi/drivers/daqboard2000.c
+++ b/comedi/drivers/daqboard2000.c
@@ -334,9 +334,9 @@ static void writeAcqScanListEntry(comedi_device *dev, u16 entry)
 {
   daqboard2000_hw *fpga = devpriv->daq;
 
-  udelay(4);
+  comedi_udelay(4);
   fpga->acqScanListFIFO = entry & 0x00ff;
-  udelay(4);
+  comedi_udelay(4);
   fpga->acqScanListFIFO = (entry >> 8) & 0x00ff;
 }
 
@@ -396,16 +396,16 @@ static int daqboard2000_ai_insn_read(comedi_device *dev, comedi_subdevice *s,
     fpga->acqControl = DAQBOARD2000_SeqStartScanList;
     for (timeout = 0 ; timeout < 20 ; timeout++) {
       if (fpga->acqControl & DAQBOARD2000_AcqConfigPipeFull) { break; }
-      //udelay(2);
+      //comedi_udelay(2);
     }
     fpga->acqControl = DAQBOARD2000_AdcPacerEnable;
     for (timeout = 0 ; timeout < 20 ; timeout++) {
       if (fpga->acqControl & DAQBOARD2000_AcqLogicScanning) { break; }
-      //udelay(2);
+      //comedi_udelay(2);
     }
     for (timeout = 0 ; timeout < 20 ; timeout++) {
       if (fpga->acqControl & DAQBOARD2000_AcqResultsFIFOHasValidData) { break;}
-      //udelay(2);
+      //comedi_udelay(2);
     }
     data[i] = fpga->acqResultsFIFO;
     fpga->acqControl = DAQBOARD2000_AdcPacerDisable;
@@ -442,16 +442,16 @@ static int daqboard2000_ao_insn_write(comedi_device *dev, comedi_subdevice *s,
      * OK, since it works OK without enabling the DAC's, let's keep
      * it as simple as possible...
      */
-    //fpga->dacControl = (chan + 2) * 0x0010 | 0x0001; udelay(1000);
+    //fpga->dacControl = (chan + 2) * 0x0010 | 0x0001; comedi_udelay(1000);
     fpga->dacSetting[chan] = data[i];
     for (timeout = 0 ; timeout < 20 ; timeout++) {
       if ((fpga->dacControl & ((chan + 1) * 0x0010)) == 0) { break; }
-      //udelay(2);
+      //comedi_udelay(2);
     }
     devpriv->ao_readback[chan] = data[i];
   /*  
    * Since we never enabled the DAC's, we don't need to disable it...
-   * fpga->dacControl = (chan + 2) * 0x0010 | 0x0000; udelay(1000);
+   * fpga->dacControl = (chan + 2) * 0x0010 | 0x0000; comedi_udelay(1000);
    */
   }
 
@@ -462,29 +462,29 @@ static void daqboard2000_resetLocalBus(comedi_device *dev)
 {
   printk("daqboard2000_resetLocalBus\n");
   writel(DAQBOARD2000_SECRLocalBusHi, devpriv->plx + 0x6c);
-  udelay(10000);
+  comedi_udelay(10000);
   writel(DAQBOARD2000_SECRLocalBusLo, devpriv->plx + 0x6c);
-  udelay(10000);
+  comedi_udelay(10000);
 }
 
 static void daqboard2000_reloadPLX(comedi_device *dev)
 {
   printk("daqboard2000_reloadPLX\n");
   writel(DAQBOARD2000_SECRReloadLo, devpriv->plx + 0x6c);
-  udelay(10000);
+  comedi_udelay(10000);
   writel(DAQBOARD2000_SECRReloadHi, devpriv->plx + 0x6c);
-  udelay(10000);
+  comedi_udelay(10000);
   writel(DAQBOARD2000_SECRReloadLo, devpriv->plx + 0x6c);
-  udelay(10000);
+  comedi_udelay(10000);
 }
 
 static void daqboard2000_pulseProgPin(comedi_device *dev)
 {
   printk("daqboard2000_pulseProgPin 1\n");
   writel(DAQBOARD2000_SECRProgPinHi, devpriv->plx + 0x6c);
-  udelay(10000);
+  comedi_udelay(10000);
   writel(DAQBOARD2000_SECRProgPinLo, devpriv->plx + 0x6c);
-  udelay(10000); /* Not in the original code, but I like symmetry... */
+  comedi_udelay(10000); /* Not in the original code, but I like symmetry... */
 }
 
 static int daqboard2000_pollCPLD(comedi_device *dev, int mask) {
@@ -499,9 +499,9 @@ static int daqboard2000_pollCPLD(comedi_device *dev, int mask) {
       result=1;
       break;
     }
-    udelay(100);
+    comedi_udelay(100);
   }
-  udelay(5);
+  comedi_udelay(5);
   return result;
 }
 
@@ -509,7 +509,7 @@ static int daqboard2000_writeCPLD(comedi_device *dev, int data)
 {
   int result = 0;
 
-  udelay(10);
+  comedi_udelay(10);
   writew(data, devpriv->daq + 0x1000);
   if ((readw(devpriv->daq + 0x1000) & DAQBOARD2000_CPLD_INIT) == 
       DAQBOARD2000_CPLD_INIT) {
@@ -584,17 +584,17 @@ static void daqboard2000_adcDisarm(comedi_device *dev)
   daqboard2000_hw *fpga = devpriv->daq;
 
   /* Disable hardware triggers */  
-  udelay(2);
+  comedi_udelay(2);
   fpga->trigControl = DAQBOARD2000_TrigAnalog | DAQBOARD2000_TrigDisable;
-  udelay(2);
+  comedi_udelay(2);
   fpga->trigControl = DAQBOARD2000_TrigTTL | DAQBOARD2000_TrigDisable; 
 
   /* Stop the scan list FIFO from loading the configuration pipe */
-  udelay(2);
+  comedi_udelay(2);
   fpga->acqControl = DAQBOARD2000_SeqStopScanList;
 
   /* Stop the pacer clock */
-  udelay(2);
+  comedi_udelay(2);
   fpga->acqControl = DAQBOARD2000_AdcPacerDisable; 
    
   /* Stop the input dma (abort channel 1) */
@@ -610,7 +610,7 @@ static void daqboard2000_activateReferenceDacs(comedi_device *dev)
   fpga->refDacs = 0x80 | DAQBOARD2000_PosRefDacSelect;
   for (timeout = 0 ; timeout < 20 ; timeout++) {
     if ((fpga->dacControl & DAQBOARD2000_RefBusy) == 0) { break; }
-    udelay(2);
+    comedi_udelay(2);
   }
 /*  printk("DAQBOARD2000_PosRefDacSelect %d\n", timeout);*/
 
@@ -618,7 +618,7 @@ static void daqboard2000_activateReferenceDacs(comedi_device *dev)
   fpga->refDacs = 0x80 | DAQBOARD2000_NegRefDacSelect;
   for (timeout = 0 ; timeout < 20 ; timeout++) {
     if ((fpga->dacControl & DAQBOARD2000_RefBusy) == 0) { break; }
-    udelay(2);
+    comedi_udelay(2);
   }
 /*  printk("DAQBOARD2000_NegRefDacSelect %d\n", timeout);*/
 }
diff --git a/comedi/drivers/das800.c b/comedi/drivers/das800.c
index 9e9e6ddd..ed347527 100644
--- a/comedi/drivers/das800.c
+++ b/comedi/drivers/das800.c
@@ -829,7 +829,7 @@ static int das800_ai_rinsn(comedi_device *dev, comedi_subdevice *s, comedi_insn
 	range &= 0xf;
 	outb(range, dev->iobase + DAS800_GAIN);
 
-	udelay(5);
+	comedi_udelay(5);
 
 	for(n = 0; n < insn->n; n++)
 	{
diff --git a/comedi/drivers/dt2801.c b/comedi/drivers/dt2801.c
index 5e517baf..d7c6829d 100644
--- a/comedi/drivers/dt2801.c
+++ b/comedi/drivers/dt2801.c
@@ -384,7 +384,7 @@ static int dt2801_reset(comedi_device *dev)
 	outb_p(DT_C_STOP, dev->iobase+DT2801_CMD);
 
 	//dt2801_wait_for_ready(dev);
-	udelay(100);
+	comedi_udelay(100);
 	timeout=10000;
 	do{
 		stat = inb_p(dev->iobase+DT2801_STATUS);
@@ -401,7 +401,7 @@ static int dt2801_reset(comedi_device *dev)
 	outb_p(DT_C_RESET, dev->iobase+DT2801_CMD);
 	//dt2801_writecmd(dev,DT_C_RESET);
 
-	udelay(100);
+	comedi_udelay(100);
 	timeout=10000;
 	do{
 		stat = inb_p(dev->iobase+DT2801_STATUS);
diff --git a/comedi/drivers/dt2811.c b/comedi/drivers/dt2811.c
index 0c6d948f..bcbd86ac 100644
--- a/comedi/drivers/dt2811.c
+++ b/comedi/drivers/dt2811.c
@@ -318,7 +318,7 @@ static int dt2811_attach(comedi_device * dev, comedi_devconfig * it)
 
 #if 0
 	outb(0, dev->iobase + DT2811_ADCSR);
-	udelay(100);
+	comedi_udelay(100);
 	i = inb(dev->iobase + DT2811_ADDATLO);
 	i = inb(dev->iobase + DT2811_ADDATHI);
 #endif
@@ -333,7 +333,7 @@ static int dt2811_attach(comedi_device * dev, comedi_devconfig * it)
 		outb(DT2811_CLRERROR | DT2811_INTENB, dev->iobase + DT2811_ADCSR);
 		outb(0, dev->iobase + DT2811_ADGCR);
 
-		udelay(100);
+		comedi_udelay(100);
 
 		irq = probe_irq_off(irqs);
 		restore_flags(flags);
diff --git a/comedi/drivers/dt2814.c b/comedi/drivers/dt2814.c
index 0b6ff7aa..629348f4 100644
--- a/comedi/drivers/dt2814.c
+++ b/comedi/drivers/dt2814.c
@@ -96,7 +96,7 @@ static int dt2814_ai_insn_read(comedi_device *dev,comedi_subdevice *s,
 		for(i=0;i<DT2814_TIMEOUT;i++){
 			status = inb(dev->iobase+DT2814_CSR);
 printk("dt2814: status: %02x\n",status);
-udelay(10);
+comedi_udelay(10);
 			if(status&DT2814_FINISH)
 				break;
 		}
@@ -250,7 +250,7 @@ static int dt2814_attach(comedi_device *dev,comedi_devconfig *it)
 	dev->board_name = "dt2814";
 
 	outb(0,dev->iobase+DT2814_CSR);
-	udelay(100);
+	comedi_udelay(100);
 	if(inb(dev->iobase+DT2814_CSR)&DT2814_ERR){
 		printk("reset error (fatal)\n");
 		return -EIO;
@@ -267,7 +267,7 @@ static int dt2814_attach(comedi_device *dev,comedi_devconfig *it)
 	
 		outb(0,dev->iobase+DT2814_CSR);
 
-		udelay(100);
+		comedi_udelay(100);
 
 		irq=probe_irq_off(irqs);
 		restore_flags(flags);
diff --git a/comedi/drivers/dt2815.c b/comedi/drivers/dt2815.c
index 254790fd..72faec62 100644
--- a/comedi/drivers/dt2815.c
+++ b/comedi/drivers/dt2815.c
@@ -224,7 +224,7 @@ static int dt2815_attach(comedi_device * dev, comedi_devconfig * it)
     /* This is incredibly slow (approx 20 ms) */
     unsigned int status;
 
-    udelay(1000);
+    comedi_udelay(1000);
     status = inb(dev->iobase + DT2815_STATUS);
     if (status == 4) {
       unsigned int program;
diff --git a/comedi/drivers/dt282x.c b/comedi/drivers/dt282x.c
index cf538324..c2e68ad0 100644
--- a/comedi/drivers/dt282x.c
+++ b/comedi/drivers/dt282x.c
@@ -354,7 +354,7 @@ typedef struct {
 		int _i;					\
 		for(_i=0;_i<DT2821_TIMEOUT;_i++){	\
 			if(a){_i=0;break;}		\
-			udelay(5);			\
+			comedi_udelay(5);			\
 		}					\
 		if(_i){b}				\
 	}while(0)
@@ -1220,7 +1220,7 @@ static int dt282x_attach(comedi_device * dev, comedi_devconfig * it)
 
 		/* trigger interrupt */
 
-		udelay(100);
+		comedi_udelay(100);
 
 		irq = probe_irq_off(irqs);
 		restore_flags(flags);
diff --git a/comedi/drivers/dt3000.c b/comedi/drivers/dt3000.c
index 04fb3799..3e4bb7c2 100644
--- a/comedi/drivers/dt3000.c
+++ b/comedi/drivers/dt3000.c
@@ -295,7 +295,7 @@ static int dt3k_send_cmd(comedi_device *dev,unsigned int cmd)
 		status=readw(dev->iobase+DPR_Command_Mbx);
 		if((status&DT3000_COMPLETION_MASK)!=DT3000_NOTPROCESSED)
 			break;
-		udelay(1);
+		comedi_udelay(1);
 	}
 	if((status&DT3000_COMPLETION_MASK)==DT3000_NOERROR){
 		return 0;
diff --git a/comedi/drivers/fl512.c b/comedi/drivers/fl512.c
index 136c8230..8bf62b4a 100644
--- a/comedi/drivers/fl512.c
+++ b/comedi/drivers/fl512.c
@@ -81,7 +81,7 @@ static int fl512_ai_insn(comedi_device *dev,
     outb(chan,iobase+2);              /* select chan */
     outb(0,iobase+3);                 /* start conversion */
     /* XXX should test "done" flag instead of delay */
-    udelay(30);                       /* sleep 30 usec */
+    comedi_udelay(30);                       /* sleep 30 usec */
     lo_byte = inb(iobase+2);          /* low 8 byte */
     hi_byte = inb(iobase+3) & 0xf;    /* high 4 bit and mask */
     data[n] = lo_byte + (hi_byte << 8);
diff --git a/comedi/drivers/gsc_hpdi.c b/comedi/drivers/gsc_hpdi.c
index 24a05331..6e9aa8f7 100644
--- a/comedi/drivers/gsc_hpdi.c
+++ b/comedi/drivers/gsc_hpdi.c
@@ -450,7 +450,7 @@ static int init_hpdi( comedi_device *dev )
 	uint32_t plx_intcsr_bits;
 
 	writel( BOARD_RESET_BIT, priv(dev)->hpdi_iobase + BOARD_CONTROL_REG );
-	udelay( 10 );
+	comedi_udelay( 10 );
 
 	writel( almost_empty_bits( 32 ) | almost_full_bits( 32 ),
 		priv(dev)->hpdi_iobase + RX_PROG_ALMOST_REG );
diff --git a/comedi/drivers/icp_multi.c b/comedi/drivers/icp_multi.c
index 482b1f2c..06beea7e 100644
--- a/comedi/drivers/icp_multi.c
+++ b/comedi/drivers/icp_multi.c
@@ -264,7 +264,7 @@ static int icp_multi_insn_read_ai(comedi_device * dev, comedi_subdevice * s, com
     		printk("icp multi B n=%d ST=%4x\n",n,readw(dev->iobase+ICP_MULTI_ADC_CSR));
 #endif
 
-		udelay(1);
+		comedi_udelay(1);
 
 #ifdef ICP_MULTI_EXTDEBUG
     		printk("icp multi C n=%d ST=%4x\n",n,readw(dev->iobase+ICP_MULTI_ADC_CSR));
@@ -281,7 +281,7 @@ static int icp_multi_insn_read_ai(comedi_device * dev, comedi_subdevice * s, com
 				printk("icp multi D n=%d tm=%d ST=%4x\n",n,timeout,readw(dev->iobase+ICP_MULTI_ADC_CSR));
 #endif
 
-			udelay(1);
+			comedi_udelay(1);
     		}
 
 		// If we reach here, a timeout has occurred
@@ -381,7 +381,7 @@ static int icp_multi_insn_write_ao(comedi_device * dev, comedi_subdevice * s, co
 				printk("icp multi A n=%d tm=%d ST=%4x\n",n,timeout,readw(dev->iobase+ICP_MULTI_DAC_CSR));
 #endif
 
-			udelay(1);
+			comedi_udelay(1);
     		}
 
 		// If we reach here, a timeout has occurred
@@ -812,7 +812,7 @@ static int icp_multi_reset(comedi_device *dev)
 			writew(devpriv->DacCmdStatus, dev->iobase+ICP_MULTI_DAC_CSR);
 			
 			// Delay to allow DAC time to recover
-			udelay(1);
+			comedi_udelay(1);
 		}
 	
 	// Digital outputs to 0
diff --git a/comedi/drivers/ni_at_a2150.c b/comedi/drivers/ni_at_a2150.c
index 296b1c00..59ca720a 100644
--- a/comedi/drivers/ni_at_a2150.c
+++ b/comedi/drivers/ni_at_a2150.c
@@ -453,7 +453,7 @@ static int a2150_attach(comedi_device *dev, comedi_devconfig *it)
 	{
 		if((DCAL_BIT & inw(dev->iobase + STATUS_REG)) == 0)
 			break;
-		udelay(1000);
+		comedi_udelay(1000);
 	}
 	if(i == timeout)
 	{
@@ -786,7 +786,7 @@ static int a2150_ai_rinsn(comedi_device *dev, comedi_subdevice *s, comedi_insn *
 		{
 			if(inw(dev->iobase + STATUS_REG) & FNE_BIT)
 				break;
-			udelay(1);
+			comedi_udelay(1);
 		}
 		if(i == timeout)
 		{
@@ -803,7 +803,7 @@ static int a2150_ai_rinsn(comedi_device *dev, comedi_subdevice *s, comedi_insn *
 		{
 			if(inw(dev->iobase + STATUS_REG) & FNE_BIT)
 				break;
-			udelay(1);
+			comedi_udelay(1);
 		}
 		if(i == timeout)
 		{
diff --git a/comedi/drivers/ni_labpc.c b/comedi/drivers/ni_labpc.c
index 10037fbd..eb3678cf 100644
--- a/comedi/drivers/ni_labpc.c
+++ b/comedi/drivers/ni_labpc.c
@@ -1245,7 +1245,7 @@ static int labpc_ai_cmd(comedi_device *dev, comedi_subdevice *s)
 		devpriv->command1_bits |= ADC_SCAN_EN_BIT;
 		/* need a brief delay before enabling scan, or scan list will get screwed when you switch
 		 * between scan up to scan down mode - dunno why */
-		udelay(1);
+		comedi_udelay(1);
 		thisboard->write_byte(devpriv->command1_bits, dev->iobase + COMMAND1_REG);
 	}
 
@@ -1660,7 +1660,7 @@ static int labpc_ai_rinsn(comedi_device *dev, comedi_subdevice *s, comedi_insn *
 		{
 			if(thisboard->read_byte(dev->iobase + STATUS1_REG) & DATA_AVAIL_BIT)
 				break;
-			udelay( 1 );
+			comedi_udelay( 1 );
 		}
 		if(i == timeout)
 		{
@@ -2017,11 +2017,11 @@ static void labpc_serial_out(comedi_device *dev, unsigned int value, unsigned in
 			devpriv->command5_bits |= SDATA_BIT;
 		else
 			devpriv->command5_bits &= ~SDATA_BIT;
-		udelay(1);
+		comedi_udelay(1);
 		thisboard->write_byte(devpriv->command5_bits, dev->iobase + COMMAND5_REG);
 		// set clock to load bit
 		devpriv->command5_bits |= SCLOCK_BIT;
-		udelay(1);
+		comedi_udelay(1);
 		thisboard->write_byte(devpriv->command5_bits, dev->iobase + COMMAND5_REG);
 	}
 }
@@ -2037,14 +2037,14 @@ static unsigned int labpc_serial_in(comedi_device *dev)
 	{
 		// set serial clock
 		devpriv->command5_bits |= SCLOCK_BIT;
-		udelay(1);
+		comedi_udelay(1);
 		thisboard->write_byte(devpriv->command5_bits, dev->iobase + COMMAND5_REG);
 		// clear clock bit
 		devpriv->command5_bits &= ~SCLOCK_BIT;
-		udelay(1);
+		comedi_udelay(1);
 		thisboard->write_byte(devpriv->command5_bits, dev->iobase + COMMAND5_REG);
 		// read bits most significant bit first
-		udelay(1);
+		comedi_udelay(1);
 		devpriv->status2_bits = thisboard->read_byte(dev->iobase + STATUS2_REG);
 		if(devpriv->status2_bits & EEPROM_OUT_BIT)
 		{
@@ -2063,10 +2063,10 @@ static unsigned int labpc_eeprom_read(comedi_device *dev, unsigned int address)
 
 	// enable read/write to eeprom
 	devpriv->command5_bits &= ~EEPROM_EN_BIT;
-	udelay(1);
+	comedi_udelay(1);
 	thisboard->write_byte(devpriv->command5_bits, dev->iobase + COMMAND5_REG);
 	devpriv->command5_bits |= EEPROM_EN_BIT | EEPROM_WRITE_UNPROTECT_BIT;
-	udelay(1);
+	comedi_udelay(1);
 	thisboard->write_byte(devpriv->command5_bits, dev->iobase + COMMAND5_REG);
 
 	// send read instruction
@@ -2078,7 +2078,7 @@ static unsigned int labpc_eeprom_read(comedi_device *dev, unsigned int address)
 
 	// disable read/write to eeprom
 	devpriv->command5_bits &= ~EEPROM_EN_BIT & ~EEPROM_WRITE_UNPROTECT_BIT;
-	udelay(1);
+	comedi_udelay(1);
 	thisboard->write_byte(devpriv->command5_bits, dev->iobase + COMMAND5_REG);
 
 	return value;
@@ -2110,22 +2110,22 @@ static unsigned int labpc_eeprom_write(comedi_device *dev, unsigned int address,
 
 	// enable read/write to eeprom
 	devpriv->command5_bits &= ~EEPROM_EN_BIT;
-	udelay(1);
+	comedi_udelay(1);
 	thisboard->write_byte(devpriv->command5_bits, dev->iobase + COMMAND5_REG);
 	devpriv->command5_bits |= EEPROM_EN_BIT | EEPROM_WRITE_UNPROTECT_BIT;
-	udelay(1);
+	comedi_udelay(1);
 	thisboard->write_byte(devpriv->command5_bits, dev->iobase + COMMAND5_REG);
 
 	// send write_enable instruction
 	labpc_serial_out(dev, write_enable_instruction, write_length);
 	devpriv->command5_bits &= ~EEPROM_EN_BIT;
-	udelay(1);
+	comedi_udelay(1);
 	thisboard->write_byte(devpriv->command5_bits, dev->iobase + COMMAND5_REG);
 
 
 	// send write instruction
 	devpriv->command5_bits |= EEPROM_EN_BIT;
-	udelay(1);
+	comedi_udelay(1);
 	thisboard->write_byte(devpriv->command5_bits, dev->iobase + COMMAND5_REG);
 	labpc_serial_out(dev, write_instruction, write_length);
 	// send 8 bit address to write to
@@ -2133,12 +2133,12 @@ static unsigned int labpc_eeprom_write(comedi_device *dev, unsigned int address,
 	// write value
 	labpc_serial_out(dev, value, write_length);
 	devpriv->command5_bits &= ~EEPROM_EN_BIT;
-	udelay(1);
+	comedi_udelay(1);
 	thisboard->write_byte(devpriv->command5_bits, dev->iobase + COMMAND5_REG);
 
 	// disable read/write to eeprom
 	devpriv->command5_bits &= ~EEPROM_EN_BIT & ~EEPROM_WRITE_UNPROTECT_BIT;
-	udelay(1);
+	comedi_udelay(1);
 	thisboard->write_byte(devpriv->command5_bits, dev->iobase + COMMAND5_REG);
 
 	return 0;
@@ -2152,10 +2152,10 @@ static unsigned int labpc_eeprom_read_status(comedi_device *dev)
 
 	// enable read/write to eeprom
 	devpriv->command5_bits &= ~EEPROM_EN_BIT;
-	udelay(1);
+	comedi_udelay(1);
 	thisboard->write_byte(devpriv->command5_bits, dev->iobase + COMMAND5_REG);
 	devpriv->command5_bits |= EEPROM_EN_BIT | EEPROM_WRITE_UNPROTECT_BIT;
-	udelay(1);
+	comedi_udelay(1);
 	thisboard->write_byte(devpriv->command5_bits, dev->iobase + COMMAND5_REG);
 
 	// send read status instruction
@@ -2165,7 +2165,7 @@ static unsigned int labpc_eeprom_read_status(comedi_device *dev)
 
 	// disable read/write to eeprom
 	devpriv->command5_bits &= ~EEPROM_EN_BIT & ~EEPROM_WRITE_UNPROTECT_BIT;
-	udelay(1);
+	comedi_udelay(1);
 	thisboard->write_byte(devpriv->command5_bits, dev->iobase + COMMAND5_REG);
 
 	return value;
@@ -2179,7 +2179,7 @@ static void __write_caldac(comedi_device *dev, unsigned int channel, unsigned in
 
 	// clear caldac load bit and make sure we don't write to eeprom
 	devpriv->command5_bits &= ~CALDAC_LOAD_BIT & ~EEPROM_EN_BIT & ~EEPROM_WRITE_UNPROTECT_BIT;
-	udelay(1);
+	comedi_udelay(1);
 	thisboard->write_byte(devpriv->command5_bits, dev->iobase + COMMAND5_REG);
 
 	/* write 4 bit channel, LSB first (NI appears to have gotten confused here
@@ -2196,10 +2196,10 @@ static void __write_caldac(comedi_device *dev, unsigned int channel, unsigned in
 
 	// set and clear caldac bit to load caldac value
 	devpriv->command5_bits |= CALDAC_LOAD_BIT;
-	udelay(1);
+	comedi_udelay(1);
 	thisboard->write_byte(devpriv->command5_bits, dev->iobase + COMMAND5_REG);
 	devpriv->command5_bits &= ~CALDAC_LOAD_BIT;
-	udelay(1);
+	comedi_udelay(1);
 	thisboard->write_byte(devpriv->command5_bits, dev->iobase + COMMAND5_REG);
 }
 
diff --git a/comedi/drivers/ni_mio_common.c b/comedi/drivers/ni_mio_common.c
index 2bf0e2cd..1116a712 100644
--- a/comedi/drivers/ni_mio_common.c
+++ b/comedi/drivers/ni_mio_common.c
@@ -893,7 +893,7 @@ static int ni_ai_drain_dma(comedi_device *dev )
 		if( win_in( AI_Status_1_Register ) & AI_FIFO_Empty_St &&
 			mite_bytes_in_transit( mite, AI_DMA_CHAN ) == 0 )
 			break;
-		udelay( 1 );
+		comedi_udelay( 1 );
 	}
 	if( i == timeout )
 	{
@@ -1154,7 +1154,7 @@ static int ni_ai_insn_read(comedi_device *dev,comedi_subdevice *s,comedi_insn *i
 	if(boardtype.reg_611x){
 		for(n=0; n < num_adc_stages_611x; n++){
 			win_out(AI_CONVERT_Pulse, AI_Command_1_Register);
-			udelay(1);
+			comedi_udelay(1);
 		}
 		for(n=0; n<insn->n; n++){
 			win_out(AI_CONVERT_Pulse, AI_Command_1_Register);
@@ -1313,7 +1313,7 @@ static void ni_load_channelgain_list(comedi_device *dev,unsigned int n_chan,
 				win_out(1,ADC_FIFO_Clear);
 				return;
 			}
-			udelay(1);
+			comedi_udelay(1);
 		}
 		rt_printk("ni_mio_common: timeout loading channel/gain list\n");
 	}
@@ -2053,7 +2053,7 @@ static int ni_ao_inttrig(comedi_device *dev,comedi_subdevice *s,
 	win_out(devpriv->ao_mode3,AO_Mode_3_Register);
 
 	/* wait for DACs to be loaded */
-	udelay(100);
+	comedi_udelay(100);
 
 	win_out(devpriv->ao_cmd1|AO_UI_Arm|AO_UC_Arm|AO_BC_Arm|AO_DAC1_Update_Mode|AO_DAC0_Update_Mode,
 		AO_Command_1_Register);
@@ -2720,12 +2720,12 @@ static void ni_write_caldac(comedi_device *dev,int addr,int val)
 
 	for(bit=1<<(bits-1);bit;bit>>=1){
 		ni_writeb(((bit&bitstring)?0x02:0),Serial_Command);
-		udelay(1);
+		comedi_udelay(1);
 		ni_writeb(1|((bit&bitstring)?0x02:0),Serial_Command);
-		udelay(1);
+		comedi_udelay(1);
 	}
 	ni_writeb(loadbit,Serial_Command);
-	udelay(1);
+	comedi_udelay(1);
 	ni_writeb(0,Serial_Command);
 }
 
diff --git a/comedi/drivers/ni_pcimio.c b/comedi/drivers/ni_pcimio.c
index bdcb7c57..293dee19 100644
--- a/comedi/drivers/ni_pcimio.c
+++ b/comedi/drivers/ni_pcimio.c
@@ -85,7 +85,7 @@ Bugs:
 
 	need to slow down DAC loading.  I don't trust NI's claim that
 	two writes to the PCI bus slows IO enough.  I would prefer to
-	use udelay().  Timing specs: (clock)
+	use comedi_udelay().  Timing specs: (clock)
 		AD8522		30ns
 		DAC8043		120ns
 		DAC8800		60ns
diff --git a/comedi/drivers/pcl711.c b/comedi/drivers/pcl711.c
index 41943c9d..a67a2351 100644
--- a/comedi/drivers/pcl711.c
+++ b/comedi/drivers/pcl711.c
@@ -258,7 +258,7 @@ static int pcl711_ai_insn(comedi_device *dev,comedi_subdevice *s,
 			hi = inb(dev->iobase + PCL711_AD_HI);
 			if (!(hi & PCL711_DRDY))
 				goto ok;
-			udelay(1);
+			comedi_udelay(1);
 		}
 		rt_printk("comedi%d: pcl711: A/D timeout\n", dev->minor);
 		return -ETIME;
diff --git a/comedi/drivers/pcl812.c b/comedi/drivers/pcl812.c
index 570b7c44..1afcc165 100644
--- a/comedi/drivers/pcl812.c
+++ b/comedi/drivers/pcl812.c
@@ -430,13 +430,13 @@ static int pcl812_ai_insn_read(comedi_device *dev,comedi_subdevice *s,
 	setup_range_channel(dev, s, insn->chanspec, 1); // select channel and renge
 	for(n=0;n<insn->n;n++){
 		outb(255, dev->iobase + PCL812_SOFTTRIG);	/* start conversion */
-		udelay(5);
+		comedi_udelay(5);
 		timeout = 50;	/* wait max 50us, it must finish under 33us */
 		while (timeout--) {
 			hi = inb(dev->iobase + PCL812_AD_HI);
 			if (!(hi & PCL812_DRDY))
 				goto conv_finish;
-			udelay(1);
+			comedi_udelay(1);
 		}
 		rt_printk("comedi%d: pcl812: (%s at 0x%x) A/D insn read timeout\n", dev->minor, dev->board_name, dev->iobase);
 		outb(devpriv->mode_reg_int|0, dev->iobase + PCL812_MODE);
@@ -462,12 +462,12 @@ static int acl8216_ai_insn_read(comedi_device *dev,comedi_subdevice *s,
 	setup_range_channel(dev, s, insn->chanspec, 1); // select channel and renge
 	for(n=0;n<insn->n;n++){
 		outb(255, dev->iobase + PCL812_SOFTTRIG);	/* start conversion */
-		udelay(5);
+		comedi_udelay(5);
 		timeout = 50;	/* wait max 50us, it must finish under 33us */
 		while (timeout--) {
 			if (!(inb(dev->iobase + ACL8216_STATUS) & ACL8216_DRDY))
 				goto conv_finish;
-			udelay(1);
+			comedi_udelay(1);
 		}
 		rt_printk("comedi%d: pcl812: (%s at 0x%x) A/D insn read timeout\n", dev->minor, dev->board_name, dev->iobase);
 		outb(0, dev->iobase + PCL812_MODE);
@@ -864,7 +864,7 @@ static void interrupt_pcl812_ai_int(int irq, void *d, struct pt_regs *regs)
 			if (!(inb(dev->iobase + ACL8216_STATUS) & ACL8216_DRDY)) {
 			    err=0; break;
 			}
-			udelay(1);
+			comedi_udelay(1);
 		}
 	} else {
 		mask=0x0fff;
@@ -872,7 +872,7 @@ static void interrupt_pcl812_ai_int(int irq, void *d, struct pt_regs *regs)
 			if (!(inb(dev->iobase + PCL812_AD_HI) & PCL812_DRDY)) {
 			    err=0; break;
 			}
-			udelay(1);
+			comedi_udelay(1);
 		}
 	}
 	
@@ -1055,7 +1055,7 @@ static void setup_range_channel(comedi_device * dev, comedi_subdevice * s,
 	outb(gain_reg, dev->iobase + PCL812_GAIN); /* select gain */
 
         if (wait) {
-		udelay(devpriv->max_812_ai_mode0_rangewait); // XXX this depends on selected range and can be very long for some high gain ranges!
+		comedi_udelay(devpriv->max_812_ai_mode0_rangewait); // XXX this depends on selected range and can be very long for some high gain ranges!
         }
 }
 
@@ -1070,7 +1070,7 @@ static void start_pacer(comedi_device * dev, int mode, unsigned int divisor1, un
 #endif
         outb(0xb4, dev->iobase + PCL812_CTRCTL);
         outb(0x74, dev->iobase + PCL812_CTRCTL);
-        udelay(1);
+        comedi_udelay(1);
   
         if (mode==1) {
 		outb(divisor2 & 0xff, dev->iobase + PCL812_CTR2);
@@ -1155,10 +1155,10 @@ static void pcl812_reset(comedi_device * dev)
 	case boardPCL813:
 	case boardISO813:
 	case boardACL8113:
-		udelay(5);
+		comedi_udelay(5);
 		break;
 	}
-	udelay(5);
+	comedi_udelay(5);
 #ifdef PCL812_EXTDEBUG
 	rt_printk("pcl812 EDBG: END: pcl812_reset(...)\n");
 #endif
diff --git a/comedi/drivers/pcl816.c b/comedi/drivers/pcl816.c
index 5a7d83f5..7e797267 100644
--- a/comedi/drivers/pcl816.c
+++ b/comedi/drivers/pcl816.c
@@ -253,7 +253,7 @@ static int pcl816_ai_insn_read(comedi_device *dev, comedi_subdevice *s,
 				outb (0, dev->iobase + PCL816_CLRINT);	/* clear INT (conversion end) flag */
 				break;
 			}
-			udelay (1);
+			comedi_udelay (1);
 		}
 		// Return timeout error
 		if(!timeout) {
@@ -283,7 +283,7 @@ interrupt_pcl816_ai_mode13_int (int irq, void *d, struct pt_regs *regs)
   while (timeout--) {
 	  if (!(inb (dev->iobase + PCL816_STATUS) & PCL816_STATUS_DRDY_MASK)) 
 		break;
-      udelay (1);
+      comedi_udelay (1);
   }
   if(!timeout) { 			// timeout, bail error
 	outb (0, dev->iobase + PCL816_CLRINT);	/* clear INT request */
@@ -624,7 +624,7 @@ static int pcl816_ai_cmd(comedi_device *dev,comedi_subdevice *s)
 
 	if (!check_and_setup_channel_list (dev, s, cmd->chanlist, cmd->chanlist_len))
 	    return -EINVAL;
-	udelay (1);
+	comedi_udelay (1);
 
 		
     devpriv->ai_act_scan=0;
@@ -753,7 +753,7 @@ pcl816_ai_cancel (comedi_device * dev, comedi_subdevice * s)
 	case INT_TYPE_AI1_INT:
 	case INT_TYPE_AI3_INT:
 	  outb (inb (dev->iobase + PCL816_CONTROL) & 0x73, dev->iobase + PCL816_CONTROL);	/* Stop A/D */
-	  udelay (1);
+	  comedi_udelay (1);
 	  outb (0, dev->iobase + PCL816_CONTROL);	/* Stop A/D */
 	  outb (0xb0, dev->iobase + PCL816_CTRCTL);	/* Stop pacer */
 	  outb (0x70, dev->iobase + PCL816_CTRCTL);
@@ -782,17 +782,17 @@ pcl816_ai_cancel (comedi_device * dev, comedi_subdevice * s)
 static int pcl816_check (int iobase)
 {
   outb (0x00, iobase + PCL816_MUX);
-  udelay (1);
+  comedi_udelay (1);
   if (inb (iobase + PCL816_MUX) != 0x00)
     return 1;			//there isn't card
   outb (0x55, iobase + PCL816_MUX);
-  udelay (1);
+  comedi_udelay (1);
   if (inb (iobase + PCL816_MUX) != 0x55)
     return 1;			//there isn't card
   outb (0x00, iobase + PCL816_MUX);
-  udelay (1);
+  comedi_udelay (1);
   outb (0x18, iobase + PCL816_CONTROL);
-  udelay (1);
+  comedi_udelay (1);
   if (inb (iobase + PCL816_CONTROL) != 0x18)
     return 1;			//there isn't card
   return 0;			// ok, card exist
@@ -807,10 +807,10 @@ pcl816_reset (comedi_device * dev)
 {
 //  outb (0, dev->iobase + PCL818_DA_LO);	// DAC=0V
 //  outb (0, dev->iobase + PCL818_DA_HI);
-//  udelay (1);
+//  comedi_udelay (1);
 //  outb (0, dev->iobase + PCL818_DO_HI);	// DO=$0000
 //  outb (0, dev->iobase + PCL818_DO_LO);
-//  udelay (1);
+//  comedi_udelay (1);
   outb (0, dev->iobase + PCL816_CONTROL);
   outb (0, dev->iobase + PCL816_MUX);
   outb (0, dev->iobase + PCL816_CLRINT);
@@ -832,10 +832,10 @@ start_pacer (comedi_device * dev, int mode, unsigned int divisor1,
 	outb (0x32, dev->iobase + PCL816_CTRCTL);
 	outb (0xff, dev->iobase + PCL816_CTR0);
 	outb (0x00, dev->iobase + PCL816_CTR0);
-	udelay (1);
+	comedi_udelay (1);
     outb(0xb4, dev->iobase + PCL816_CTRCTL);	// set counter 2 as mode 3
     outb(0x74, dev->iobase + PCL816_CTRCTL);	// set counter 1 as mode 3
-    udelay(1);
+    comedi_udelay(1);
 
 	if (mode == 1) {
 	    DPRINTK("mode %d, divisor1 %d, divisor2 %d\n", mode, divisor1, divisor2);
@@ -912,7 +912,7 @@ check_and_setup_channel_list (comedi_device * dev, comedi_subdevice * s, unsigne
 	  outb (CR_RANGE(chanlist[0]), dev->iobase + PCL816_RANGE);	/* select gain */
   }
 
-  udelay (1);
+  comedi_udelay (1);
 
   outb (devpriv->ai_act_chanlist[0] | (devpriv->ai_act_chanlist[seglen - 1] << 4),
 	dev->iobase + PCL816_MUX);	/* select channel interval to scan */
diff --git a/comedi/drivers/pcl818.c b/comedi/drivers/pcl818.c
index 298965cd..4d5e19e1 100644
--- a/comedi/drivers/pcl818.c
+++ b/comedi/drivers/pcl818.c
@@ -391,7 +391,7 @@ static int pcl818_ai_insn_read(comedi_device *dev, comedi_subdevice *s,
         	while (timeout--) {
 			if (inb(dev->iobase + PCL818_STATUS) & 0x10)
 				goto conv_finish;
-			udelay(1);
+			comedi_udelay(1);
         	}
         	comedi_error(dev,"A/D insn timeout");
 		/* clear INT (conversion end) flag */
@@ -494,7 +494,7 @@ static void interrupt_pcl818_ai_mode13_int(int irq, void *d, struct pt_regs *reg
 
 	while (timeout--) {
 		if (inb(dev->iobase + PCL818_STATUS) & 0x10) goto conv_finish;
-		udelay(1);
+		comedi_udelay(1);
         }
         outb(0,dev->iobase+PCL818_STATUS); /* clear INT request */
         comedi_error(dev,"A/D mode1/3 IRQ without DRDY!");
@@ -880,7 +880,7 @@ static int pcl818_ai_mode13(int mode, comedi_device * dev, comedi_subdevice * s,
 	start_pacer(dev, -1, 0, 0); // stop pacer
 
         if (!check_and_setup_channel_list(dev, s, it)) return -EINVAL;
-	udelay(1);
+	comedi_udelay(1);
 
         devpriv->int13_act_scan=it->n;
         devpriv->int13_act_chan=0;
@@ -1049,7 +1049,7 @@ static void start_pacer(comedi_device * dev, int mode, unsigned int divisor1, un
         outb(0xb4, dev->iobase + PCL818_CTRCTL);
         outb(0x74, dev->iobase + PCL818_CTRCTL);
 	outb(0x30, dev->iobase + PCL818_CTRCTL);
-        udelay(1);
+        comedi_udelay(1);
   
         if (mode==1) {
 		outb(divisor2 & 0xff, dev->iobase + PCL818_CTR2);
@@ -1122,7 +1122,7 @@ static int check_and_setup_channel_list(comedi_device * dev, comedi_subdevice *
 		outb(CR_RANGE(it->chanlist[i]), dev->iobase+PCL818_RANGE); /* select gain */
 	}
 
-	udelay(1);
+	comedi_udelay(1);
 
 	/* select channel interval to sca n*/
 	outb(devpriv->act_chanlist[0] | (devpriv->act_chanlist[seglen-1] << 4),
@@ -1169,7 +1169,7 @@ static int pcl818_ai_cancel(comedi_device * dev, comedi_subdevice * s)
 		case INT_TYPE_AO3_INT:
 #endif
 			outb(inb(dev->iobase+PCL818_CONTROL)& 0x73, dev->iobase+PCL818_CONTROL); /* Stop A/D */
-			udelay(1);
+			comedi_udelay(1);
 			outb(0, dev->iobase+PCL818_CONTROL); /* Stop A/D */
 			outb(0xb4, dev->iobase + PCL818_CTRCTL);/* Stop pacer */
 			outb(0x74, dev->iobase + PCL818_CTRCTL);
@@ -1202,15 +1202,15 @@ static int pcl818_ai_cancel(comedi_device * dev, comedi_subdevice * s)
 static int pcl818_check(int iobase) 
 {
         outb(0x00, iobase + PCL818_MUX);
-        udelay(1); 
+        comedi_udelay(1); 
         if (inb(iobase + PCL818_MUX)!=0x00) return 1; //there isn't card
         outb(0x55, iobase + PCL818_MUX);
-        udelay(1); 
+        comedi_udelay(1); 
         if (inb(iobase + PCL818_MUX)!=0x55) return 1; //there isn't card
         outb(0x00, iobase + PCL818_MUX);
-        udelay(1); 
+        comedi_udelay(1); 
         outb(0x18, iobase + PCL818_CONTROL); 
-        udelay(1); 
+        comedi_udelay(1); 
         if (inb(iobase + PCL818_CONTROL)!=0x18) return 1; //there isn't card
         return 0; // ok, card exist
 }
@@ -1228,10 +1228,10 @@ static void pcl818_reset(comedi_device * dev)
         }
         outb(0, dev->iobase + PCL818_DA_LO); // DAC=0V
         outb(0, dev->iobase + PCL818_DA_HI);
-        udelay(1);
+        comedi_udelay(1);
         outb(0, dev->iobase + PCL818_DO_HI); // DO=$0000
         outb(0, dev->iobase + PCL818_DO_LO);
-        udelay(1);
+        comedi_udelay(1);
         outb(0, dev->iobase + PCL818_CONTROL);
         outb(0, dev->iobase + PCL818_CNTENABLE);
         outb(0, dev->iobase + PCL818_MUX);
diff --git a/comedi/drivers/plx9080.h b/comedi/drivers/plx9080.h
index fc163b45..447117cc 100644
--- a/comedi/drivers/plx9080.h
+++ b/comedi/drivers/plx9080.h
@@ -379,7 +379,7 @@ static inline int plx9080_abort_dma( unsigned long iobase, unsigned int channel
 	for( i = 0; ( dma_status & PLX_DMA_DONE_BIT ) && i < timeout; i++ )
 	{
 		dma_status = readb( dma_cs_addr );
-		udelay( 1 );
+		comedi_udelay( 1 );
 	}
 	if( i == timeout )
 	{
@@ -388,14 +388,14 @@ static inline int plx9080_abort_dma( unsigned long iobase, unsigned int channel
 	}
 	// disable channel
 	writeb( 0, dma_cs_addr );
-	udelay( 1 );
+	comedi_udelay( 1 );
 	// abort channel
 	writeb( PLX_DMA_ABORT_BIT, dma_cs_addr );
 	// wait for dma done bit
 	dma_status = readb( dma_cs_addr );
 	for( i = 0; ( dma_status & PLX_DMA_DONE_BIT ) == 0 && i < timeout; i++ )
 	{
-		udelay( 1 );
+		comedi_udelay( 1 );
 		dma_status = readb( dma_cs_addr );
 	}
 	if( i == timeout )
diff --git a/comedi/drivers/rtd520.c b/comedi/drivers/rtd520.c
index d91c8370..56b0352f 100644
--- a/comedi/drivers/rtd520.c
+++ b/comedi/drivers/rtd520.c
@@ -135,7 +135,7 @@ Configuration options:
 #define RTD_DMA_TIMEOUT	33000		/* 1 msec */
 #else
 /* by delaying, power and electrical noise are reduced somewhat */
-#define WAIT_QUIETLY	udelay (1)
+#define WAIT_QUIETLY	comedi_udelay (1)
 #define RTD_ADC_TIMEOUT	2000		/* in usec */
 #define RTD_DAC_TIMEOUT	2000		/* in usec */
 #define RTD_DMA_TIMEOUT	1000		/* in usec */
@@ -995,7 +995,7 @@ static int rtd_attach (
 					/* initialize board, per RTD spec */
 					/* also, initialize shadow registers */
     RtdResetBoard (dev);
-    udelay (100);			/* needed? */
+    comedi_udelay (100);			/* needed? */
     RtdInterruptMask (dev,0);		/* and sets shadow */
     RtdInterruptClearMask (dev,~0);	/* and sets shadow */
     RtdInterruptClear(dev);		/* clears bits set by mask */
@@ -1392,7 +1392,7 @@ void abort_dma (
 
     /* disable channel (required) */
     writeb(0, dma_cs_addr);
-    udelay(1);				/* needed?? */
+    comedi_udelay(1);				/* needed?? */
     /* set abort bit for channel */
     writeb(PLX_DMA_ABORT_BIT, dma_cs_addr);
 
diff --git a/comedi/drivers/rti800.c b/comedi/drivers/rti800.c
index c102fed8..e38a3f4c 100644
--- a/comedi/drivers/rti800.c
+++ b/comedi/drivers/rti800.c
@@ -197,7 +197,7 @@ static int rti800_ai_insn_read(comedi_device *dev,comedi_subdevice *s,
 				return -EIO;
 			}
 			if (status & RTI800_DONE)break;
-			//udelay(8);
+			//comedi_udelay(8);
 		}
 		if(t == 0){
 			rt_printk("rti800: timeout\n");
diff --git a/comedi/drivers/serial2002.c b/comedi/drivers/serial2002.c
index b6933693..f70eb62a 100644
--- a/comedi/drivers/serial2002.c
+++ b/comedi/drivers/serial2002.c
@@ -154,7 +154,7 @@ static int tty_read(struct file *f, int timeout)
 	if (count == 1) {	result = ch; }
 	break;
       }
-      udelay(100);
+      comedi_udelay(100);
     }
     set_fs(oldfs);
   }
diff --git a/include/linux/comedi_rt.h b/include/linux/comedi_rt.h
index e694f89a..42140c5a 100644
--- a/include/linux/comedi_rt.h
+++ b/include/linux/comedi_rt.h
@@ -35,14 +35,17 @@
 #include <linux/slab.h>
 #include <linux/errno.h>
 #include <linux/spinlock.h>
+#include <linux/delay.h>
 
 #ifdef CONFIG_COMEDI_RT
 
 #ifdef CONFIG_COMEDI_RTAI
 #include <rtai.h>
+#include <rtai_sched.h>
 #endif
 #ifdef CONFIG_COMEDI_RTL
 #include <rtl_core.h>
+#include <time.h>
 //#ifdef RTLINUX_VERSION_CODE
 #include <rtl_sync.h>
 //#endif
@@ -124,4 +127,17 @@ static inline void comedi_spin_unlock_irqrestore(spinlock_t *lock_ptr, unsigned
 
 }
 
+/* define a RT safe udelay */
+static inline void comedi_udelay( unsigned int usec )
+{
+#if defined(CONFIG_COMEDI_RTAI)
+	static const int nanosec_per_usec = 1000;
+	rt_busy_sleep( usec * nanosec_per_usec );
+#elif defined(CONFIG_COMEDI_RTL)
+	usleep( usec );
+#else
+	udelay( usec );
+#endif
+}
+
 #endif