| /* |
| * Synopsys Designware PCIe host controller driver |
| * |
| * Copyright (C) 2013 Samsung Electronics Co., Ltd. |
| * http://www.samsung.com |
| * |
| * Author: Jingoo Han <jg1.han@samsung.com> |
| * |
| * This program is free software; you can redistribute it and/or modify |
| * it under the terms of the GNU General Public License version 2 as |
| * published by the Free Software Foundation. |
| */ |
| |
| #include <linux/irqdomain.h> |
| #include <linux/of_address.h> |
| #include <linux/of_pci.h> |
| #include <linux/pci_regs.h> |
| #include <linux/platform_device.h> |
| |
| #include "pcie-designware.h" |
| |
| static struct pci_ops dw_pcie_ops; |
| |
| static int dw_pcie_rd_own_conf(struct pcie_port *pp, int where, int size, |
| u32 *val) |
| { |
| struct dw_pcie *pci; |
| |
| if (pp->ops->rd_own_conf) |
| return pp->ops->rd_own_conf(pp, where, size, val); |
| |
| pci = to_dw_pcie_from_pp(pp); |
| return dw_pcie_read(pci->dbi_base + where, size, val); |
| } |
| |
| static int dw_pcie_wr_own_conf(struct pcie_port *pp, int where, int size, |
| u32 val) |
| { |
| struct dw_pcie *pci; |
| |
| if (pp->ops->wr_own_conf) |
| return pp->ops->wr_own_conf(pp, where, size, val); |
| |
| pci = to_dw_pcie_from_pp(pp); |
| return dw_pcie_write(pci->dbi_base + where, size, val); |
| } |
| |
| static struct irq_chip dw_msi_irq_chip = { |
| .name = "PCI-MSI", |
| .irq_enable = pci_msi_unmask_irq, |
| .irq_disable = pci_msi_mask_irq, |
| .irq_mask = pci_msi_mask_irq, |
| .irq_unmask = pci_msi_unmask_irq, |
| }; |
| |
| /* MSI int handler */ |
| irqreturn_t dw_handle_msi_irq(struct pcie_port *pp) |
| { |
| u32 val; |
| int i, pos, irq; |
| irqreturn_t ret = IRQ_NONE; |
| |
| for (i = 0; i < MAX_MSI_CTRLS; i++) { |
| dw_pcie_rd_own_conf(pp, PCIE_MSI_INTR0_STATUS + i * 12, 4, |
| &val); |
| if (!val) |
| continue; |
| |
| ret = IRQ_HANDLED; |
| pos = 0; |
| while ((pos = find_next_bit((unsigned long *) &val, 32, |
| pos)) != 32) { |
| irq = irq_find_mapping(pp->irq_domain, i * 32 + pos); |
| dw_pcie_wr_own_conf(pp, PCIE_MSI_INTR0_STATUS + i * 12, |
| 4, 1 << pos); |
| generic_handle_irq(irq); |
| pos++; |
| } |
| } |
| |
| return ret; |
| } |
| |
| void dw_pcie_msi_init(struct pcie_port *pp) |
| { |
| u64 msi_target; |
| |
| pp->msi_data = __get_free_pages(GFP_KERNEL, 0); |
| msi_target = virt_to_phys((void *)pp->msi_data); |
| |
| /* program the msi_data */ |
| dw_pcie_wr_own_conf(pp, PCIE_MSI_ADDR_LO, 4, |
| (u32)(msi_target & 0xffffffff)); |
| dw_pcie_wr_own_conf(pp, PCIE_MSI_ADDR_HI, 4, |
| (u32)(msi_target >> 32 & 0xffffffff)); |
| } |
| |
| static void dw_pcie_msi_clear_irq(struct pcie_port *pp, int irq) |
| { |
| unsigned int res, bit, val; |
| |
| res = (irq / 32) * 12; |
| bit = irq % 32; |
| dw_pcie_rd_own_conf(pp, PCIE_MSI_INTR0_ENABLE + res, 4, &val); |
| val &= ~(1 << bit); |
| dw_pcie_wr_own_conf(pp, PCIE_MSI_INTR0_ENABLE + res, 4, val); |
| } |
| |
| static void clear_irq_range(struct pcie_port *pp, unsigned int irq_base, |
| unsigned int nvec, unsigned int pos) |
| { |
| unsigned int i; |
| |
| for (i = 0; i < nvec; i++) { |
| irq_set_msi_desc_off(irq_base, i, NULL); |
| /* Disable corresponding interrupt on MSI controller */ |
| if (pp->ops->msi_clear_irq) |
| pp->ops->msi_clear_irq(pp, pos + i); |
| else |
| dw_pcie_msi_clear_irq(pp, pos + i); |
| } |
| |
| bitmap_release_region(pp->msi_irq_in_use, pos, order_base_2(nvec)); |
| } |
| |
| static void dw_pcie_msi_set_irq(struct pcie_port *pp, int irq) |
| { |
| unsigned int res, bit, val; |
| |
| res = (irq / 32) * 12; |
| bit = irq % 32; |
| dw_pcie_rd_own_conf(pp, PCIE_MSI_INTR0_ENABLE + res, 4, &val); |
| val |= 1 << bit; |
| dw_pcie_wr_own_conf(pp, PCIE_MSI_INTR0_ENABLE + res, 4, val); |
| } |
| |
| static int assign_irq(int no_irqs, struct msi_desc *desc, int *pos) |
| { |
| int irq, pos0, i; |
| struct pcie_port *pp; |
| |
| pp = (struct pcie_port *)msi_desc_to_pci_sysdata(desc); |
| pos0 = bitmap_find_free_region(pp->msi_irq_in_use, MAX_MSI_IRQS, |
| order_base_2(no_irqs)); |
| if (pos0 < 0) |
| goto no_valid_irq; |
| |
| irq = irq_find_mapping(pp->irq_domain, pos0); |
| if (!irq) |
| goto no_valid_irq; |
| |
| /* |
| * irq_create_mapping (called from dw_pcie_host_init) pre-allocates |
| * descs so there is no need to allocate descs here. We can therefore |
| * assume that if irq_find_mapping above returns non-zero, then the |
| * descs are also successfully allocated. |
| */ |
| |
| for (i = 0; i < no_irqs; i++) { |
| if (irq_set_msi_desc_off(irq, i, desc) != 0) { |
| clear_irq_range(pp, irq, i, pos0); |
| goto no_valid_irq; |
| } |
| /*Enable corresponding interrupt in MSI interrupt controller */ |
| if (pp->ops->msi_set_irq) |
| pp->ops->msi_set_irq(pp, pos0 + i); |
| else |
| dw_pcie_msi_set_irq(pp, pos0 + i); |
| } |
| |
| *pos = pos0; |
| desc->nvec_used = no_irqs; |
| desc->msi_attrib.multiple = order_base_2(no_irqs); |
| |
| return irq; |
| |
| no_valid_irq: |
| *pos = pos0; |
| return -ENOSPC; |
| } |
| |
| static void dw_msi_setup_msg(struct pcie_port *pp, unsigned int irq, u32 pos) |
| { |
| struct msi_msg msg; |
| u64 msi_target; |
| |
| if (pp->ops->get_msi_addr) |
| msi_target = pp->ops->get_msi_addr(pp); |
| else |
| msi_target = virt_to_phys((void *)pp->msi_data); |
| |
| msg.address_lo = (u32)(msi_target & 0xffffffff); |
| msg.address_hi = (u32)(msi_target >> 32 & 0xffffffff); |
| |
| if (pp->ops->get_msi_data) |
| msg.data = pp->ops->get_msi_data(pp, pos); |
| else |
| msg.data = pos; |
| |
| pci_write_msi_msg(irq, &msg); |
| } |
| |
| static int dw_msi_setup_irq(struct msi_controller *chip, struct pci_dev *pdev, |
| struct msi_desc *desc) |
| { |
| int irq, pos; |
| struct pcie_port *pp = pdev->bus->sysdata; |
| |
| if (desc->msi_attrib.is_msix) |
| return -EINVAL; |
| |
| irq = assign_irq(1, desc, &pos); |
| if (irq < 0) |
| return irq; |
| |
| dw_msi_setup_msg(pp, irq, pos); |
| |
| return 0; |
| } |
| |
| static int dw_msi_setup_irqs(struct msi_controller *chip, struct pci_dev *pdev, |
| int nvec, int type) |
| { |
| #ifdef CONFIG_PCI_MSI |
| int irq, pos; |
| struct msi_desc *desc; |
| struct pcie_port *pp = pdev->bus->sysdata; |
| |
| /* MSI-X interrupts are not supported */ |
| if (type == PCI_CAP_ID_MSIX) |
| return -EINVAL; |
| |
| WARN_ON(!list_is_singular(&pdev->dev.msi_list)); |
| desc = list_entry(pdev->dev.msi_list.next, struct msi_desc, list); |
| |
| irq = assign_irq(nvec, desc, &pos); |
| if (irq < 0) |
| return irq; |
| |
| dw_msi_setup_msg(pp, irq, pos); |
| |
| return 0; |
| #else |
| return -EINVAL; |
| #endif |
| } |
| |
| static void dw_msi_teardown_irq(struct msi_controller *chip, unsigned int irq) |
| { |
| struct irq_data *data = irq_get_irq_data(irq); |
| struct msi_desc *msi = irq_data_get_msi_desc(data); |
| struct pcie_port *pp = (struct pcie_port *)msi_desc_to_pci_sysdata(msi); |
| |
| clear_irq_range(pp, irq, 1, data->hwirq); |
| } |
| |
| static struct msi_controller dw_pcie_msi_chip = { |
| .setup_irq = dw_msi_setup_irq, |
| .setup_irqs = dw_msi_setup_irqs, |
| .teardown_irq = dw_msi_teardown_irq, |
| }; |
| |
| static int dw_pcie_msi_map(struct irq_domain *domain, unsigned int irq, |
| irq_hw_number_t hwirq) |
| { |
| irq_set_chip_and_handler(irq, &dw_msi_irq_chip, handle_simple_irq); |
| irq_set_chip_data(irq, domain->host_data); |
| |
| return 0; |
| } |
| |
| static const struct irq_domain_ops msi_domain_ops = { |
| .map = dw_pcie_msi_map, |
| }; |
| |
| int dw_pcie_host_init(struct pcie_port *pp) |
| { |
| struct dw_pcie *pci = to_dw_pcie_from_pp(pp); |
| struct device *dev = pci->dev; |
| struct device_node *np = dev->of_node; |
| struct platform_device *pdev = to_platform_device(dev); |
| struct pci_bus *bus, *child; |
| struct resource *cfg_res; |
| int i, ret; |
| LIST_HEAD(res); |
| struct resource_entry *win, *tmp; |
| |
| cfg_res = platform_get_resource_byname(pdev, IORESOURCE_MEM, "config"); |
| if (cfg_res) { |
| pp->cfg0_size = resource_size(cfg_res) / 2; |
| pp->cfg1_size = resource_size(cfg_res) / 2; |
| pp->cfg0_base = cfg_res->start; |
| pp->cfg1_base = cfg_res->start + pp->cfg0_size; |
| } else if (!pp->va_cfg0_base) { |
| dev_err(dev, "missing *config* reg space\n"); |
| } |
| |
| ret = of_pci_get_host_bridge_resources(np, 0, 0xff, &res, &pp->io_base); |
| if (ret) |
| return ret; |
| |
| ret = devm_request_pci_bus_resources(dev, &res); |
| if (ret) |
| goto error; |
| |
| /* Get the I/O and memory ranges from DT */ |
| resource_list_for_each_entry_safe(win, tmp, &res) { |
| switch (resource_type(win->res)) { |
| case IORESOURCE_IO: |
| ret = pci_remap_iospace(win->res, pp->io_base); |
| if (ret) { |
| dev_warn(dev, "error %d: failed to map resource %pR\n", |
| ret, win->res); |
| resource_list_destroy_entry(win); |
| } else { |
| pp->io = win->res; |
| pp->io->name = "I/O"; |
| pp->io_size = resource_size(pp->io); |
| pp->io_bus_addr = pp->io->start - win->offset; |
| } |
| break; |
| case IORESOURCE_MEM: |
| pp->mem = win->res; |
| pp->mem->name = "MEM"; |
| pp->mem_size = resource_size(pp->mem); |
| pp->mem_bus_addr = pp->mem->start - win->offset; |
| break; |
| case 0: |
| pp->cfg = win->res; |
| pp->cfg0_size = resource_size(pp->cfg) / 2; |
| pp->cfg1_size = resource_size(pp->cfg) / 2; |
| pp->cfg0_base = pp->cfg->start; |
| pp->cfg1_base = pp->cfg->start + pp->cfg0_size; |
| break; |
| case IORESOURCE_BUS: |
| pp->busn = win->res; |
| break; |
| } |
| } |
| |
| if (!pci->dbi_base) { |
| pci->dbi_base = devm_pci_remap_cfgspace(dev, |
| pp->cfg->start, |
| resource_size(pp->cfg)); |
| if (!pci->dbi_base) { |
| dev_err(dev, "error with ioremap\n"); |
| ret = -ENOMEM; |
| goto error; |
| } |
| } |
| |
| pp->mem_base = pp->mem->start; |
| |
| if (!pp->va_cfg0_base) { |
| pp->va_cfg0_base = devm_pci_remap_cfgspace(dev, |
| pp->cfg0_base, pp->cfg0_size); |
| if (!pp->va_cfg0_base) { |
| dev_err(dev, "error with ioremap in function\n"); |
| ret = -ENOMEM; |
| goto error; |
| } |
| } |
| |
| if (!pp->va_cfg1_base) { |
| pp->va_cfg1_base = devm_pci_remap_cfgspace(dev, |
| pp->cfg1_base, |
| pp->cfg1_size); |
| if (!pp->va_cfg1_base) { |
| dev_err(dev, "error with ioremap\n"); |
| ret = -ENOMEM; |
| goto error; |
| } |
| } |
| |
| ret = of_property_read_u32(np, "num-viewport", &pci->num_viewport); |
| if (ret) |
| pci->num_viewport = 2; |
| |
| if (IS_ENABLED(CONFIG_PCI_MSI)) { |
| if (!pp->ops->msi_host_init) { |
| pp->irq_domain = irq_domain_add_linear(dev->of_node, |
| MAX_MSI_IRQS, &msi_domain_ops, |
| &dw_pcie_msi_chip); |
| if (!pp->irq_domain) { |
| dev_err(dev, "irq domain init failed\n"); |
| ret = -ENXIO; |
| goto error; |
| } |
| |
| for (i = 0; i < MAX_MSI_IRQS; i++) |
| irq_create_mapping(pp->irq_domain, i); |
| } else { |
| ret = pp->ops->msi_host_init(pp, &dw_pcie_msi_chip); |
| if (ret < 0) |
| goto error; |
| } |
| } |
| |
| if (pp->ops->host_init) |
| pp->ops->host_init(pp); |
| |
| pp->root_bus_nr = pp->busn->start; |
| if (IS_ENABLED(CONFIG_PCI_MSI)) { |
| bus = pci_scan_root_bus_msi(dev, pp->root_bus_nr, |
| &dw_pcie_ops, pp, &res, |
| &dw_pcie_msi_chip); |
| dw_pcie_msi_chip.dev = dev; |
| } else |
| bus = pci_scan_root_bus(dev, pp->root_bus_nr, &dw_pcie_ops, |
| pp, &res); |
| if (!bus) { |
| ret = -ENOMEM; |
| goto error; |
| } |
| |
| if (pp->ops->scan_bus) |
| pp->ops->scan_bus(pp); |
| |
| #ifdef CONFIG_ARM |
| /* support old dtbs that incorrectly describe IRQs */ |
| pci_fixup_irqs(pci_common_swizzle, of_irq_parse_and_map_pci); |
| #endif |
| |
| pci_bus_size_bridges(bus); |
| pci_bus_assign_resources(bus); |
| |
| list_for_each_entry(child, &bus->children, node) |
| pcie_bus_configure_settings(child); |
| |
| pci_bus_add_devices(bus); |
| return 0; |
| |
| error: |
| pci_free_resource_list(&res); |
| return ret; |
| } |
| |
| static int dw_pcie_rd_other_conf(struct pcie_port *pp, struct pci_bus *bus, |
| u32 devfn, int where, int size, u32 *val) |
| { |
| int ret, type; |
| u32 busdev, cfg_size; |
| u64 cpu_addr; |
| void __iomem *va_cfg_base; |
| struct dw_pcie *pci = to_dw_pcie_from_pp(pp); |
| |
| if (pp->ops->rd_other_conf) |
| return pp->ops->rd_other_conf(pp, bus, devfn, where, size, val); |
| |
| busdev = PCIE_ATU_BUS(bus->number) | PCIE_ATU_DEV(PCI_SLOT(devfn)) | |
| PCIE_ATU_FUNC(PCI_FUNC(devfn)); |
| |
| if (bus->parent->number == pp->root_bus_nr) { |
| type = PCIE_ATU_TYPE_CFG0; |
| cpu_addr = pp->cfg0_base; |
| cfg_size = pp->cfg0_size; |
| va_cfg_base = pp->va_cfg0_base; |
| } else { |
| type = PCIE_ATU_TYPE_CFG1; |
| cpu_addr = pp->cfg1_base; |
| cfg_size = pp->cfg1_size; |
| va_cfg_base = pp->va_cfg1_base; |
| } |
| |
| dw_pcie_prog_outbound_atu(pci, PCIE_ATU_REGION_INDEX1, |
| type, cpu_addr, |
| busdev, cfg_size); |
| ret = dw_pcie_read(va_cfg_base + where, size, val); |
| if (pci->num_viewport <= 2) |
| dw_pcie_prog_outbound_atu(pci, PCIE_ATU_REGION_INDEX1, |
| PCIE_ATU_TYPE_IO, pp->io_base, |
| pp->io_bus_addr, pp->io_size); |
| |
| return ret; |
| } |
| |
| static int dw_pcie_wr_other_conf(struct pcie_port *pp, struct pci_bus *bus, |
| u32 devfn, int where, int size, u32 val) |
| { |
| int ret, type; |
| u32 busdev, cfg_size; |
| u64 cpu_addr; |
| void __iomem *va_cfg_base; |
| struct dw_pcie *pci = to_dw_pcie_from_pp(pp); |
| |
| if (pp->ops->wr_other_conf) |
| return pp->ops->wr_other_conf(pp, bus, devfn, where, size, val); |
| |
| busdev = PCIE_ATU_BUS(bus->number) | PCIE_ATU_DEV(PCI_SLOT(devfn)) | |
| PCIE_ATU_FUNC(PCI_FUNC(devfn)); |
| |
| if (bus->parent->number == pp->root_bus_nr) { |
| type = PCIE_ATU_TYPE_CFG0; |
| cpu_addr = pp->cfg0_base; |
| cfg_size = pp->cfg0_size; |
| va_cfg_base = pp->va_cfg0_base; |
| } else { |
| type = PCIE_ATU_TYPE_CFG1; |
| cpu_addr = pp->cfg1_base; |
| cfg_size = pp->cfg1_size; |
| va_cfg_base = pp->va_cfg1_base; |
| } |
| |
| dw_pcie_prog_outbound_atu(pci, PCIE_ATU_REGION_INDEX1, |
| type, cpu_addr, |
| busdev, cfg_size); |
| ret = dw_pcie_write(va_cfg_base + where, size, val); |
| if (pci->num_viewport <= 2) |
| dw_pcie_prog_outbound_atu(pci, PCIE_ATU_REGION_INDEX1, |
| PCIE_ATU_TYPE_IO, pp->io_base, |
| pp->io_bus_addr, pp->io_size); |
| |
| return ret; |
| } |
| |
| static int dw_pcie_valid_device(struct pcie_port *pp, struct pci_bus *bus, |
| int dev) |
| { |
| struct dw_pcie *pci = to_dw_pcie_from_pp(pp); |
| |
| /* If there is no link, then there is no device */ |
| if (bus->number != pp->root_bus_nr) { |
| if (!dw_pcie_link_up(pci)) |
| return 0; |
| } |
| |
| /* access only one slot on each root port */ |
| if (bus->number == pp->root_bus_nr && dev > 0) |
| return 0; |
| |
| return 1; |
| } |
| |
| static int dw_pcie_rd_conf(struct pci_bus *bus, u32 devfn, int where, |
| int size, u32 *val) |
| { |
| struct pcie_port *pp = bus->sysdata; |
| |
| if (!dw_pcie_valid_device(pp, bus, PCI_SLOT(devfn))) { |
| *val = 0xffffffff; |
| return PCIBIOS_DEVICE_NOT_FOUND; |
| } |
| |
| if (bus->number == pp->root_bus_nr) |
| return dw_pcie_rd_own_conf(pp, where, size, val); |
| |
| return dw_pcie_rd_other_conf(pp, bus, devfn, where, size, val); |
| } |
| |
| static int dw_pcie_wr_conf(struct pci_bus *bus, u32 devfn, |
| int where, int size, u32 val) |
| { |
| struct pcie_port *pp = bus->sysdata; |
| |
| if (!dw_pcie_valid_device(pp, bus, PCI_SLOT(devfn))) |
| return PCIBIOS_DEVICE_NOT_FOUND; |
| |
| if (bus->number == pp->root_bus_nr) |
| return dw_pcie_wr_own_conf(pp, where, size, val); |
| |
| return dw_pcie_wr_other_conf(pp, bus, devfn, where, size, val); |
| } |
| |
| static struct pci_ops dw_pcie_ops = { |
| .read = dw_pcie_rd_conf, |
| .write = dw_pcie_wr_conf, |
| }; |
| |
| static u8 dw_pcie_iatu_unroll_enabled(struct dw_pcie *pci) |
| { |
| u32 val; |
| |
| val = dw_pcie_readl_dbi(pci, PCIE_ATU_VIEWPORT); |
| if (val == 0xffffffff) |
| return 1; |
| |
| return 0; |
| } |
| |
| void dw_pcie_setup_rc(struct pcie_port *pp) |
| { |
| u32 val; |
| struct dw_pcie *pci = to_dw_pcie_from_pp(pp); |
| |
| dw_pcie_setup(pci); |
| |
| /* setup RC BARs */ |
| dw_pcie_writel_dbi(pci, PCI_BASE_ADDRESS_0, 0x00000004); |
| dw_pcie_writel_dbi(pci, PCI_BASE_ADDRESS_1, 0x00000000); |
| |
| /* setup interrupt pins */ |
| val = dw_pcie_readl_dbi(pci, PCI_INTERRUPT_LINE); |
| val &= 0xffff00ff; |
| val |= 0x00000100; |
| dw_pcie_writel_dbi(pci, PCI_INTERRUPT_LINE, val); |
| |
| /* setup bus numbers */ |
| val = dw_pcie_readl_dbi(pci, PCI_PRIMARY_BUS); |
| val &= 0xff000000; |
| val |= 0x00010100; |
| dw_pcie_writel_dbi(pci, PCI_PRIMARY_BUS, val); |
| |
| /* setup command register */ |
| val = dw_pcie_readl_dbi(pci, PCI_COMMAND); |
| val &= 0xffff0000; |
| val |= PCI_COMMAND_IO | PCI_COMMAND_MEMORY | |
| PCI_COMMAND_MASTER | PCI_COMMAND_SERR; |
| dw_pcie_writel_dbi(pci, PCI_COMMAND, val); |
| |
| /* |
| * If the platform provides ->rd_other_conf, it means the platform |
| * uses its own address translation component rather than ATU, so |
| * we should not program the ATU here. |
| */ |
| if (!pp->ops->rd_other_conf) { |
| /* get iATU unroll support */ |
| pci->iatu_unroll_enabled = dw_pcie_iatu_unroll_enabled(pci); |
| dev_dbg(pci->dev, "iATU unroll: %s\n", |
| pci->iatu_unroll_enabled ? "enabled" : "disabled"); |
| |
| dw_pcie_prog_outbound_atu(pci, PCIE_ATU_REGION_INDEX0, |
| PCIE_ATU_TYPE_MEM, pp->mem_base, |
| pp->mem_bus_addr, pp->mem_size); |
| if (pci->num_viewport > 2) |
| dw_pcie_prog_outbound_atu(pci, PCIE_ATU_REGION_INDEX2, |
| PCIE_ATU_TYPE_IO, pp->io_base, |
| pp->io_bus_addr, pp->io_size); |
| } |
| |
| dw_pcie_wr_own_conf(pp, PCI_BASE_ADDRESS_0, 4, 0); |
| |
| /* program correct class for RC */ |
| dw_pcie_wr_own_conf(pp, PCI_CLASS_DEVICE, 2, PCI_CLASS_BRIDGE_PCI); |
| |
| dw_pcie_rd_own_conf(pp, PCIE_LINK_WIDTH_SPEED_CONTROL, 4, &val); |
| val |= PORT_LOGIC_SPEED_CHANGE; |
| dw_pcie_wr_own_conf(pp, PCIE_LINK_WIDTH_SPEED_CONTROL, 4, val); |
| } |