MIPS: use generic dma noncoherent ops for simple noncoherent platforms

Convert everything not overriding dma-coherence.h to the generic
noncoherent ops.  The new dma-noncoherent.c file duplicates a lot of
the code in dma-default.c, but that file will be gone by the end of
this series.

Signed-off-by: Christoph Hellwig <hch@lst.de>
Patchwork: https://patchwork.linux-mips.org/patch/19544/
Signed-off-by: Paul Burton <paul.burton@mips.com>
Cc: Florian Fainelli <f.fainelli@gmail.com>
Cc: David Daney <david.daney@cavium.com>
Cc: Kevin Cernekee <cernekee@gmail.com>
Cc: Jiaxun Yang <jiaxun.yang@flygoat.com>
Cc: Tom Bogendoerfer <tsbogend@alpha.franken.de>
Cc: Huacai Chen <chenhc@lemote.com>
Cc: iommu@lists.linux-foundation.org
Cc: linux-mips@linux-mips.org
This commit is contained in:
Christoph Hellwig 2018-06-15 13:08:46 +02:00 committed by Paul Burton
parent aa4db77595
commit f8c55dc6e8
No known key found for this signature in database
GPG Key ID: 3EA79FACB57500DD
8 changed files with 216 additions and 28 deletions

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@ -102,7 +102,6 @@ config MIPS_GENERIC
select IRQ_MIPS_CPU select IRQ_MIPS_CPU
select LIBFDT select LIBFDT
select MIPS_CPU_SCACHE select MIPS_CPU_SCACHE
select MIPS_DMA_DEFAULT
select MIPS_GIC select MIPS_GIC
select MIPS_L1_CACHE_SHIFT_7 select MIPS_L1_CACHE_SHIFT_7
select NO_EXCEPT_FILL select NO_EXCEPT_FILL
@ -146,7 +145,6 @@ config MIPS_ALCHEMY
select CEVT_R4K select CEVT_R4K
select CSRC_R4K select CSRC_R4K
select IRQ_MIPS_CPU select IRQ_MIPS_CPU
select MIPS_DMA_DEFAULT
select DMA_MAYBE_COHERENT # Au1000,1500,1100 aren't, rest is select DMA_MAYBE_COHERENT # Au1000,1500,1100 aren't, rest is
select SYS_HAS_CPU_MIPS32_R1 select SYS_HAS_CPU_MIPS32_R1
select SYS_SUPPORTS_32BIT_KERNEL select SYS_SUPPORTS_32BIT_KERNEL
@ -162,7 +160,6 @@ config AR7
select CEVT_R4K select CEVT_R4K
select CSRC_R4K select CSRC_R4K
select IRQ_MIPS_CPU select IRQ_MIPS_CPU
select MIPS_DMA_DEFAULT
select NO_EXCEPT_FILL select NO_EXCEPT_FILL
select SWAP_IO_SPACE select SWAP_IO_SPACE
select SYS_HAS_CPU_MIPS32_R1 select SYS_HAS_CPU_MIPS32_R1
@ -205,7 +202,6 @@ config ATH79
select COMMON_CLK select COMMON_CLK
select CLKDEV_LOOKUP select CLKDEV_LOOKUP
select IRQ_MIPS_CPU select IRQ_MIPS_CPU
select MIPS_DMA_DEFAULT
select MIPS_MACHINE select MIPS_MACHINE
select SYS_HAS_CPU_MIPS32_R2 select SYS_HAS_CPU_MIPS32_R2
select SYS_HAS_EARLY_PRINTK select SYS_HAS_EARLY_PRINTK
@ -263,7 +259,6 @@ config BCM47XX
select HW_HAS_PCI select HW_HAS_PCI
select IRQ_MIPS_CPU select IRQ_MIPS_CPU
select SYS_HAS_CPU_MIPS32_R1 select SYS_HAS_CPU_MIPS32_R1
select MIPS_DMA_DEFAULT
select NO_EXCEPT_FILL select NO_EXCEPT_FILL
select SYS_SUPPORTS_32BIT_KERNEL select SYS_SUPPORTS_32BIT_KERNEL
select SYS_SUPPORTS_LITTLE_ENDIAN select SYS_SUPPORTS_LITTLE_ENDIAN
@ -287,7 +282,6 @@ config BCM63XX
select SYNC_R4K select SYNC_R4K
select DMA_NONCOHERENT select DMA_NONCOHERENT
select IRQ_MIPS_CPU select IRQ_MIPS_CPU
select MIPS_DMA_DEFAULT
select SYS_SUPPORTS_32BIT_KERNEL select SYS_SUPPORTS_32BIT_KERNEL
select SYS_SUPPORTS_BIG_ENDIAN select SYS_SUPPORTS_BIG_ENDIAN
select SYS_HAS_EARLY_PRINTK select SYS_HAS_EARLY_PRINTK
@ -310,7 +304,6 @@ config MIPS_COBALT
select I8259 select I8259
select IRQ_MIPS_CPU select IRQ_MIPS_CPU
select IRQ_GT641XX select IRQ_GT641XX
select MIPS_DMA_DEFAULT
select PCI_GT64XXX_PCI0 select PCI_GT64XXX_PCI0
select PCI select PCI
select SYS_HAS_CPU_NEVADA select SYS_HAS_CPU_NEVADA
@ -331,7 +324,6 @@ config MACH_DECSTATION
select CPU_R4000_WORKAROUNDS if 64BIT select CPU_R4000_WORKAROUNDS if 64BIT
select CPU_R4400_WORKAROUNDS if 64BIT select CPU_R4400_WORKAROUNDS if 64BIT
select DMA_NONCOHERENT select DMA_NONCOHERENT
select MIPS_DMA_DEFAULT
select NO_IOPORT_MAP select NO_IOPORT_MAP
select IRQ_MIPS_CPU select IRQ_MIPS_CPU
select SYS_HAS_CPU_R3000 select SYS_HAS_CPU_R3000
@ -391,7 +383,6 @@ config MACH_INGENIC
select SYS_SUPPORTS_ZBOOT_UART16550 select SYS_SUPPORTS_ZBOOT_UART16550
select DMA_NONCOHERENT select DMA_NONCOHERENT
select IRQ_MIPS_CPU select IRQ_MIPS_CPU
select MIPS_DMA_DEFAULT
select PINCTRL select PINCTRL
select GPIOLIB select GPIOLIB
select COMMON_CLK select COMMON_CLK
@ -406,7 +397,6 @@ config LANTIQ
select IRQ_MIPS_CPU select IRQ_MIPS_CPU
select CEVT_R4K select CEVT_R4K
select CSRC_R4K select CSRC_R4K
select MIPS_DMA_DEFAULT
select SYS_HAS_CPU_MIPS32_R1 select SYS_HAS_CPU_MIPS32_R1
select SYS_HAS_CPU_MIPS32_R2 select SYS_HAS_CPU_MIPS32_R2
select SYS_SUPPORTS_BIG_ENDIAN select SYS_SUPPORTS_BIG_ENDIAN
@ -434,7 +424,6 @@ config LASAT
select SYS_HAS_EARLY_PRINTK select SYS_HAS_EARLY_PRINTK
select HW_HAS_PCI select HW_HAS_PCI
select IRQ_MIPS_CPU select IRQ_MIPS_CPU
select MIPS_DMA_DEFAULT
select PCI_GT64XXX_PCI0 select PCI_GT64XXX_PCI0
select MIPS_NILE4 select MIPS_NILE4
select R5000_CPU_SCACHE select R5000_CPU_SCACHE
@ -480,7 +469,6 @@ config MACH_PISTACHIO
select LIBFDT select LIBFDT
select MFD_SYSCON select MFD_SYSCON
select MIPS_CPU_SCACHE select MIPS_CPU_SCACHE
select MIPS_DMA_DEFAULT
select MIPS_GIC select MIPS_GIC
select PINCTRL select PINCTRL
select REGULATOR select REGULATOR
@ -513,7 +501,6 @@ config MIPS_MALTA
select GENERIC_ISA_DMA select GENERIC_ISA_DMA
select HAVE_PCSPKR_PLATFORM select HAVE_PCSPKR_PLATFORM
select IRQ_MIPS_CPU select IRQ_MIPS_CPU
select MIPS_DMA_DEFAULT
select MIPS_GIC select MIPS_GIC
select HW_HAS_PCI select HW_HAS_PCI
select I8253 select I8253
@ -608,7 +595,6 @@ config PMC_MSP
select SYS_SUPPORTS_BIG_ENDIAN select SYS_SUPPORTS_BIG_ENDIAN
select SYS_SUPPORTS_MIPS16 select SYS_SUPPORTS_MIPS16
select IRQ_MIPS_CPU select IRQ_MIPS_CPU
select MIPS_DMA_DEFAULT
select SERIAL_8250 select SERIAL_8250
select SERIAL_8250_CONSOLE select SERIAL_8250_CONSOLE
select USB_EHCI_BIG_ENDIAN_MMIO select USB_EHCI_BIG_ENDIAN_MMIO
@ -626,7 +612,6 @@ config RALINK
select BOOT_RAW select BOOT_RAW
select DMA_NONCOHERENT select DMA_NONCOHERENT
select IRQ_MIPS_CPU select IRQ_MIPS_CPU
select MIPS_DMA_DEFAULT
select USE_OF select USE_OF
select SYS_HAS_CPU_MIPS32_R1 select SYS_HAS_CPU_MIPS32_R1
select SYS_HAS_CPU_MIPS32_R2 select SYS_HAS_CPU_MIPS32_R2
@ -653,7 +638,6 @@ config SGI_IP22
select I8259 select I8259
select IP22_CPU_SCACHE select IP22_CPU_SCACHE
select IRQ_MIPS_CPU select IRQ_MIPS_CPU
select MIPS_DMA_DEFAULT
select GENERIC_ISA_DMA_SUPPORT_BROKEN select GENERIC_ISA_DMA_SUPPORT_BROKEN
select SGI_HAS_I8042 select SGI_HAS_I8042
select SGI_HAS_INDYDOG select SGI_HAS_INDYDOG
@ -714,7 +698,6 @@ config SGI_IP28
select DMA_NONCOHERENT select DMA_NONCOHERENT
select GENERIC_ISA_DMA_SUPPORT_BROKEN select GENERIC_ISA_DMA_SUPPORT_BROKEN
select IRQ_MIPS_CPU select IRQ_MIPS_CPU
select MIPS_DMA_DEFAULT
select HW_HAS_EISA select HW_HAS_EISA
select I8253 select I8253
select I8259 select I8259
@ -865,7 +848,6 @@ config SNI_RM
select I8253 select I8253
select I8259 select I8259
select ISA select ISA
select MIPS_DMA_DEFAULT
select SWAP_IO_SPACE if CPU_BIG_ENDIAN select SWAP_IO_SPACE if CPU_BIG_ENDIAN
select SYS_HAS_CPU_R4X00 select SYS_HAS_CPU_R4X00
select SYS_HAS_CPU_R5000 select SYS_HAS_CPU_R5000
@ -896,7 +878,6 @@ config MIKROTIK_RB532
select DMA_NONCOHERENT select DMA_NONCOHERENT
select HW_HAS_PCI select HW_HAS_PCI
select IRQ_MIPS_CPU select IRQ_MIPS_CPU
select MIPS_DMA_DEFAULT
select SYS_HAS_CPU_MIPS32_R1 select SYS_HAS_CPU_MIPS32_R1
select SYS_SUPPORTS_32BIT_KERNEL select SYS_SUPPORTS_32BIT_KERNEL
select SYS_SUPPORTS_LITTLE_ENDIAN select SYS_SUPPORTS_LITTLE_ENDIAN
@ -1133,7 +1114,12 @@ config DMA_PERDEV_COHERENT
config DMA_NONCOHERENT config DMA_NONCOHERENT
bool bool
select ARCH_HAS_SYNC_DMA_FOR_DEVICE
select ARCH_HAS_SYNC_DMA_FOR_CPU
select NEED_DMA_MAP_STATE select NEED_DMA_MAP_STATE
select DMA_NONCOHERENT_MMAP
select DMA_NONCOHERENT_CACHE_SYNC
select DMA_NONCOHERENT_OPS if !MIPS_DMA_DEFAULT
config SYS_HAS_EARLY_PRINTK config SYS_HAS_EARLY_PRINTK
bool bool

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@ -19,6 +19,8 @@ static inline const struct dma_map_ops *get_arch_dma_ops(struct bus_type *bus)
return &mips_swiotlb_ops; return &mips_swiotlb_ops;
#elif defined(CONFIG_MIPS_DMA_DEFAULT) #elif defined(CONFIG_MIPS_DMA_DEFAULT)
return &mips_default_dma_map_ops; return &mips_default_dma_map_ops;
#elif defined(CONFIG_DMA_NONCOHERENT_OPS)
return &dma_noncoherent_ops;
#else #else
return &dma_direct_ops; return &dma_direct_ops;
#endif #endif

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@ -10,7 +10,6 @@ config LOONGSON1_LS1B
select CSRC_R4K if !MIPS_EXTERNAL_TIMER select CSRC_R4K if !MIPS_EXTERNAL_TIMER
select SYS_HAS_CPU_LOONGSON1B select SYS_HAS_CPU_LOONGSON1B
select DMA_NONCOHERENT select DMA_NONCOHERENT
select MIPS_DMA_DEFAULT
select BOOT_ELF32 select BOOT_ELF32
select IRQ_MIPS_CPU select IRQ_MIPS_CPU
select SYS_SUPPORTS_32BIT_KERNEL select SYS_SUPPORTS_32BIT_KERNEL
@ -27,7 +26,6 @@ config LOONGSON1_LS1C
select CSRC_R4K if !MIPS_EXTERNAL_TIMER select CSRC_R4K if !MIPS_EXTERNAL_TIMER
select SYS_HAS_CPU_LOONGSON1C select SYS_HAS_CPU_LOONGSON1C
select DMA_NONCOHERENT select DMA_NONCOHERENT
select MIPS_DMA_DEFAULT
select BOOT_ELF32 select BOOT_ELF32
select IRQ_MIPS_CPU select IRQ_MIPS_CPU
select SYS_SUPPORTS_32BIT_KERNEL select SYS_SUPPORTS_32BIT_KERNEL

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@ -18,6 +18,7 @@ obj-$(CONFIG_64BIT) += pgtable-64.o
obj-$(CONFIG_HIGHMEM) += highmem.o obj-$(CONFIG_HIGHMEM) += highmem.o
obj-$(CONFIG_HUGETLB_PAGE) += hugetlbpage.o obj-$(CONFIG_HUGETLB_PAGE) += hugetlbpage.o
obj-$(CONFIG_MIPS_DMA_DEFAULT) += dma-default.o obj-$(CONFIG_MIPS_DMA_DEFAULT) += dma-default.o
obj-$(CONFIG_DMA_NONCOHERENT) += dma-noncoherent.o
obj-$(CONFIG_SWIOTLB) += dma-swiotlb.o obj-$(CONFIG_SWIOTLB) += dma-swiotlb.o
obj-$(CONFIG_CPU_R4K_CACHE_TLB) += c-r4k.o cex-gen.o tlb-r4k.o obj-$(CONFIG_CPU_R4K_CACHE_TLB) += c-r4k.o cex-gen.o tlb-r4k.o

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@ -0,0 +1,208 @@
// SPDX-License-Identifier: GPL-2.0
/*
* Copyright (C) 2000 Ani Joshi <ajoshi@unixbox.com>
* Copyright (C) 2000, 2001, 06 Ralf Baechle <ralf@linux-mips.org>
* swiped from i386, and cloned for MIPS by Geert, polished by Ralf.
*/
#include <linux/dma-direct.h>
#include <linux/dma-noncoherent.h>
#include <linux/dma-contiguous.h>
#include <linux/highmem.h>
#include <asm/cache.h>
#include <asm/cpu-type.h>
#include <asm/dma-coherence.h>
#include <asm/io.h>
#ifdef CONFIG_DMA_PERDEV_COHERENT
static inline int dev_is_coherent(struct device *dev)
{
return dev->archdata.dma_coherent;
}
#else
static inline int dev_is_coherent(struct device *dev)
{
switch (coherentio) {
default:
case IO_COHERENCE_DEFAULT:
return hw_coherentio;
case IO_COHERENCE_ENABLED:
return 1;
case IO_COHERENCE_DISABLED:
return 0;
}
}
#endif /* CONFIG_DMA_PERDEV_COHERENT */
/*
* The affected CPUs below in 'cpu_needs_post_dma_flush()' can speculatively
* fill random cachelines with stale data at any time, requiring an extra
* flush post-DMA.
*
* Warning on the terminology - Linux calls an uncached area coherent; MIPS
* terminology calls memory areas with hardware maintained coherency coherent.
*
* Note that the R14000 and R16000 should also be checked for in this condition.
* However this function is only called on non-I/O-coherent systems and only the
* R10000 and R12000 are used in such systems, the SGI IP28 Indigo² rsp.
* SGI IP32 aka O2.
*/
static inline bool cpu_needs_post_dma_flush(struct device *dev)
{
if (dev_is_coherent(dev))
return false;
switch (boot_cpu_type()) {
case CPU_R10000:
case CPU_R12000:
case CPU_BMIPS5000:
return true;
default:
/*
* Presence of MAARs suggests that the CPU supports
* speculatively prefetching data, and therefore requires
* the post-DMA flush/invalidate.
*/
return cpu_has_maar;
}
}
void *arch_dma_alloc(struct device *dev, size_t size,
dma_addr_t *dma_handle, gfp_t gfp, unsigned long attrs)
{
void *ret;
ret = dma_direct_alloc(dev, size, dma_handle, gfp, attrs);
if (!ret)
return NULL;
if (!dev_is_coherent(dev) && !(attrs & DMA_ATTR_NON_CONSISTENT)) {
dma_cache_wback_inv((unsigned long) ret, size);
ret = UNCAC_ADDR(ret);
}
return ret;
}
void arch_dma_free(struct device *dev, size_t size, void *cpu_addr,
dma_addr_t dma_addr, unsigned long attrs)
{
if (!(attrs & DMA_ATTR_NON_CONSISTENT) && !dev_is_coherent(dev))
cpu_addr = (void *)CAC_ADDR((unsigned long)cpu_addr);
dma_direct_free(dev, size, cpu_addr, dma_addr, attrs);
}
int arch_dma_mmap(struct device *dev, struct vm_area_struct *vma,
void *cpu_addr, dma_addr_t dma_addr, size_t size,
unsigned long attrs)
{
unsigned long user_count = vma_pages(vma);
unsigned long count = PAGE_ALIGN(size) >> PAGE_SHIFT;
unsigned long addr = (unsigned long)cpu_addr;
unsigned long off = vma->vm_pgoff;
unsigned long pfn;
int ret = -ENXIO;
if (!dev_is_coherent(dev))
addr = CAC_ADDR(addr);
pfn = page_to_pfn(virt_to_page((void *)addr));
if (attrs & DMA_ATTR_WRITE_COMBINE)
vma->vm_page_prot = pgprot_writecombine(vma->vm_page_prot);
else
vma->vm_page_prot = pgprot_noncached(vma->vm_page_prot);
if (dma_mmap_from_dev_coherent(dev, vma, cpu_addr, size, &ret))
return ret;
if (off < count && user_count <= (count - off)) {
ret = remap_pfn_range(vma, vma->vm_start,
pfn + off,
user_count << PAGE_SHIFT,
vma->vm_page_prot);
}
return ret;
}
static inline void dma_sync_virt(void *addr, size_t size,
enum dma_data_direction dir)
{
switch (dir) {
case DMA_TO_DEVICE:
dma_cache_wback((unsigned long)addr, size);
break;
case DMA_FROM_DEVICE:
dma_cache_inv((unsigned long)addr, size);
break;
case DMA_BIDIRECTIONAL:
dma_cache_wback_inv((unsigned long)addr, size);
break;
default:
BUG();
}
}
/*
* A single sg entry may refer to multiple physically contiguous pages. But
* we still need to process highmem pages individually. If highmem is not
* configured then the bulk of this loop gets optimized out.
*/
static inline void dma_sync_phys(phys_addr_t paddr, size_t size,
enum dma_data_direction dir)
{
struct page *page = pfn_to_page(paddr >> PAGE_SHIFT);
unsigned long offset = paddr & ~PAGE_MASK;
size_t left = size;
do {
size_t len = left;
if (PageHighMem(page)) {
void *addr;
if (offset + len > PAGE_SIZE) {
if (offset >= PAGE_SIZE) {
page += offset >> PAGE_SHIFT;
offset &= ~PAGE_MASK;
}
len = PAGE_SIZE - offset;
}
addr = kmap_atomic(page);
dma_sync_virt(addr + offset, len, dir);
kunmap_atomic(addr);
} else
dma_sync_virt(page_address(page) + offset, size, dir);
offset = 0;
page++;
left -= len;
} while (left);
}
void arch_sync_dma_for_device(struct device *dev, phys_addr_t paddr,
size_t size, enum dma_data_direction dir)
{
if (!dev_is_coherent(dev))
dma_sync_phys(paddr, size, dir);
}
void arch_sync_dma_for_cpu(struct device *dev, phys_addr_t paddr,
size_t size, enum dma_data_direction dir)
{
if (cpu_needs_post_dma_flush(dev))
dma_sync_phys(paddr, size, dir);
}
void arch_dma_cache_sync(struct device *dev, void *vaddr, size_t size,
enum dma_data_direction direction)
{
BUG_ON(direction == DMA_NONE);
if (!dev_is_coherent(dev))
dma_sync_virt(vaddr, size, direction);
}

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@ -11,7 +11,6 @@ config PIC32MZDA
select CEVT_R4K select CEVT_R4K
select CSRC_R4K select CSRC_R4K
select DMA_NONCOHERENT select DMA_NONCOHERENT
select MIPS_DMA_DEFAULT
select SYS_HAS_CPU_MIPS32_R2 select SYS_HAS_CPU_MIPS32_R2
select SYS_HAS_EARLY_PRINTK select SYS_HAS_EARLY_PRINTK
select SYS_SUPPORTS_32BIT_KERNEL select SYS_SUPPORTS_32BIT_KERNEL

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@ -16,7 +16,6 @@ config MACH_TX49XX
config MACH_TXX9 config MACH_TXX9
bool bool
select DMA_NONCOHERENT select DMA_NONCOHERENT
select MIPS_DMA_DEFAULT
select SWAP_IO_SPACE select SWAP_IO_SPACE
select SYS_HAS_EARLY_PRINTK select SYS_HAS_EARLY_PRINTK
select SYS_SUPPORTS_32BIT_KERNEL select SYS_SUPPORTS_32BIT_KERNEL

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@ -9,7 +9,6 @@ config CASIO_E55
select CEVT_R4K select CEVT_R4K
select CSRC_R4K select CSRC_R4K
select DMA_NONCOHERENT select DMA_NONCOHERENT
select MIPS_DMA_DEFAULT
select IRQ_MIPS_CPU select IRQ_MIPS_CPU
select ISA select ISA
select SYS_SUPPORTS_32BIT_KERNEL select SYS_SUPPORTS_32BIT_KERNEL
@ -20,7 +19,6 @@ config IBM_WORKPAD
select CEVT_R4K select CEVT_R4K
select CSRC_R4K select CSRC_R4K
select DMA_NONCOHERENT select DMA_NONCOHERENT
select MIPS_DMA_DEFAULT
select IRQ_MIPS_CPU select IRQ_MIPS_CPU
select ISA select ISA
select SYS_SUPPORTS_32BIT_KERNEL select SYS_SUPPORTS_32BIT_KERNEL
@ -31,7 +29,6 @@ config TANBAC_TB022X
select CEVT_R4K select CEVT_R4K
select CSRC_R4K select CSRC_R4K
select DMA_NONCOHERENT select DMA_NONCOHERENT
select MIPS_DMA_DEFAULT
select IRQ_MIPS_CPU select IRQ_MIPS_CPU
select HW_HAS_PCI select HW_HAS_PCI
select SYS_SUPPORTS_32BIT_KERNEL select SYS_SUPPORTS_32BIT_KERNEL
@ -48,7 +45,6 @@ config VICTOR_MPC30X
select CEVT_R4K select CEVT_R4K
select CSRC_R4K select CSRC_R4K
select DMA_NONCOHERENT select DMA_NONCOHERENT
select MIPS_DMA_DEFAULT
select IRQ_MIPS_CPU select IRQ_MIPS_CPU
select HW_HAS_PCI select HW_HAS_PCI
select PCI_VR41XX select PCI_VR41XX
@ -60,7 +56,6 @@ config ZAO_CAPCELLA
select CEVT_R4K select CEVT_R4K
select CSRC_R4K select CSRC_R4K
select DMA_NONCOHERENT select DMA_NONCOHERENT
select MIPS_DMA_DEFAULT
select IRQ_MIPS_CPU select IRQ_MIPS_CPU
select HW_HAS_PCI select HW_HAS_PCI
select PCI_VR41XX select PCI_VR41XX