author | Florian Pose <fp@igh-essen.com> |
Wed, 26 Apr 2006 16:43:01 +0000 | |
changeset 210 | 1cc6bcb1e6ae |
parent 208 | b7797f8a813d |
child 212 | 82980deb8b00 |
permissions | -rw-r--r-- |
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/****************************************************************************** |
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* |
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* $Id$ |
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* |
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* Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH |
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* |
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* This file is part of the IgH EtherCAT Master. |
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* |
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* The IgH EtherCAT Master is free software; you can redistribute it |
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* and/or modify it under the terms of the GNU General Public License |
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* as published by the Free Software Foundation; version 2 of the License. |
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* |
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13 |
* The IgH EtherCAT Master is distributed in the hope that it will be |
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* useful, but WITHOUT ANY WARRANTY; without even the implied warranty of |
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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* GNU General Public License for more details. |
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* |
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* You should have received a copy of the GNU General Public License |
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* along with the IgH EtherCAT Master; if not, write to the Free Software |
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* Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA |
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* |
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*****************************************************************************/ |
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/** |
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\file |
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Ethernet-over-EtherCAT (EoE). |
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*/ |
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|
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/*****************************************************************************/ |
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#include <linux/etherdevice.h> |
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#include "../include/ecrt.h" |
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#include "globals.h" |
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#include "master.h" |
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#include "slave.h" |
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#include "mailbox.h" |
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#include "ethernet.h" |
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|
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/*****************************************************************************/ |
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/** |
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Contains the private data of an EoE net_device. |
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*/ |
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typedef struct |
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{ |
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struct net_device_stats stats; /**< device statistics */ |
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ec_eoe_t *eoe; /**< pointer to parent eoe object */ |
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} |
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ec_eoedev_priv_t; |
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|
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/*****************************************************************************/ |
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|
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void ec_eoedev_init(struct net_device *); |
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int ec_eoedev_open(struct net_device *); |
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int ec_eoedev_stop(struct net_device *); |
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int ec_eoedev_tx(struct sk_buff *, struct net_device *); |
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struct net_device_stats *ec_eoedev_stats(struct net_device *); |
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void ec_eoedev_rx(struct net_device *, const uint8_t *, size_t); |
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|
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62 |
/*****************************************************************************/ |
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63 |
|
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64 |
/** |
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65 |
EoE constructor. |
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66 |
*/ |
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67 |
|
203
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68 |
int ec_eoe_init(ec_eoe_t *eoe, ec_slave_t *slave) |
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69 |
{ |
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70 |
ec_eoedev_priv_t *priv; |
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71 |
int result; |
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72 |
|
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73 |
eoe->slave = slave; |
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74 |
eoe->rx_state = EC_EOE_IDLE; |
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75 |
eoe->opened = 0; |
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76 |
|
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77 |
if (!(eoe->dev = |
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78 |
alloc_netdev(sizeof(ec_eoedev_priv_t), "eoe%d", ec_eoedev_init))) { |
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79 |
EC_ERR("Unable to allocate net_device for EoE object!\n"); |
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80 |
goto out_return; |
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81 |
} |
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82 |
|
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83 |
// set EoE object reference |
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84 |
priv = netdev_priv(eoe->dev); |
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85 |
priv->eoe = eoe; |
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86 |
|
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87 |
// connect the net_device to the kernel |
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88 |
if ((result = register_netdev(eoe->dev))) { |
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89 |
EC_ERR("Unable to register net_device: error %i\n", result); |
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90 |
goto out_free; |
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91 |
} |
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92 |
|
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93 |
return 0; |
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94 |
|
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95 |
out_free: |
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96 |
free_netdev(eoe->dev); |
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97 |
eoe->dev = NULL; |
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98 |
out_return: |
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99 |
return -1; |
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100 |
} |
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101 |
|
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102 |
/*****************************************************************************/ |
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103 |
|
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104 |
/** |
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105 |
EoE destructor. |
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106 |
*/ |
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107 |
|
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108 |
void ec_eoe_clear(ec_eoe_t *eoe) |
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109 |
{ |
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110 |
if (eoe->dev) { |
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111 |
unregister_netdev(eoe->dev); |
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112 |
free_netdev(eoe->dev); |
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113 |
} |
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114 |
} |
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115 |
|
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116 |
/*****************************************************************************/ |
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117 |
|
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118 |
/** |
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Runs the EoE state machine. |
197
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GPLv2 License and enhanced Doxygen output.
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120 |
*/ |
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121 |
|
145
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void ec_eoe_run(ec_eoe_t *eoe) |
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123 |
{ |
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124 |
uint8_t *data; |
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125 |
ec_master_t *master; |
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|
126 |
size_t rec_size; |
210
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uint8_t fragment_number, frame_number, last_fragment, time_appended; |
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128 |
uint8_t fragment_offset, frame_type; |
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129 |
|
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130 |
if (!eoe->opened) return; |
145
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|
131 |
|
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132 |
master = eoe->slave->master; |
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|
133 |
|
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|
134 |
if (eoe->rx_state == EC_EOE_IDLE) { |
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|
135 |
ec_slave_mbox_prepare_check(eoe->slave); |
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|
136 |
ec_master_queue_command(master, &eoe->slave->mbox_command); |
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|
137 |
eoe->rx_state = EC_EOE_CHECKING; |
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|
138 |
return; |
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|
139 |
} |
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|
140 |
|
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|
141 |
if (eoe->rx_state == EC_EOE_CHECKING) { |
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|
142 |
if (eoe->slave->mbox_command.state != EC_CMD_RECEIVED) { |
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|
143 |
master->stats.eoe_errors++; |
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|
144 |
eoe->rx_state = EC_EOE_IDLE; |
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|
145 |
return; |
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|
146 |
} |
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|
147 |
if (!ec_slave_mbox_check(eoe->slave)) { |
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|
148 |
eoe->rx_state = EC_EOE_IDLE; |
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|
149 |
return; |
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|
150 |
} |
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|
151 |
ec_slave_mbox_prepare_fetch(eoe->slave); |
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|
152 |
ec_master_queue_command(master, &eoe->slave->mbox_command); |
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|
153 |
eoe->rx_state = EC_EOE_FETCHING; |
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|
154 |
return; |
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|
155 |
} |
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|
156 |
|
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|
157 |
if (eoe->rx_state == EC_EOE_FETCHING) { |
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parents:
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|
158 |
if (eoe->slave->mbox_command.state != EC_CMD_RECEIVED) { |
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|
159 |
master->stats.eoe_errors++; |
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|
160 |
eoe->rx_state = EC_EOE_IDLE; |
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|
161 |
return; |
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|
162 |
} |
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|
163 |
if (!(data = ec_slave_mbox_fetch(eoe->slave, 0x02, &rec_size))) { |
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|
164 |
master->stats.eoe_errors++; |
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|
165 |
eoe->rx_state = EC_EOE_IDLE; |
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|
166 |
return; |
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|
167 |
} |
146 | 168 |
|
210
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169 |
frame_type = EC_READ_U16(data) & 0x000F; |
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|
170 |
|
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|
171 |
if (frame_type == 0x00) { // EoE Fragment Request |
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|
172 |
last_fragment = (EC_READ_U16(data) >> 8) & 0x0001; |
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|
173 |
time_appended = (EC_READ_U16(data) >> 9) & 0x0001; |
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|
174 |
fragment_number = EC_READ_U16(data + 2) & 0x003F; |
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|
175 |
fragment_offset = (EC_READ_U16(data + 2) >> 6) & 0x003F; |
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|
176 |
frame_number = (EC_READ_U16(data + 2) >> 12) & 0x000F; |
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|
177 |
|
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|
178 |
#if 0 |
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|
179 |
EC_DBG("EOE fragment req received, fragment: %i, offset: %i," |
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|
180 |
" frame %i%s%s, %i bytes\n", fragment_number, |
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|
181 |
fragment_offset, frame_number, |
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|
182 |
last_fragment ? ", last fragment" : "", |
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|
183 |
time_appended ? ", + timestamp" : "", |
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|
184 |
time_appended ? rec_size - 8 : rec_size - 4); |
1cc6bcb1e6ae
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diff
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|
185 |
|
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diff
changeset
|
186 |
#if 0 |
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|
187 |
EC_DBG(""); |
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|
188 |
for (i = 0; i < rec_size - 4; i++) { |
1cc6bcb1e6ae
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|
189 |
printk("%02X ", data[i + 4]); |
1cc6bcb1e6ae
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|
190 |
if ((i + 1) % 16 == 0) { |
1cc6bcb1e6ae
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|
191 |
printk("\n"); |
1cc6bcb1e6ae
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|
192 |
EC_DBG(""); |
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|
193 |
} |
146 | 194 |
} |
210
1cc6bcb1e6ae
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|
195 |
printk("\n"); |
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|
196 |
#endif |
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diff
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|
197 |
#endif |
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diff
changeset
|
198 |
|
1cc6bcb1e6ae
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diff
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|
199 |
ec_eoedev_rx(eoe->dev, data + 4, |
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|
200 |
time_appended ? rec_size - 8 : rec_size - 4); |
1cc6bcb1e6ae
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208
diff
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|
201 |
} |
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diff
changeset
|
202 |
else { |
1cc6bcb1e6ae
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208
diff
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|
203 |
#if 1 |
1cc6bcb1e6ae
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|
204 |
EC_DBG("other frame received.\n"); |
1cc6bcb1e6ae
EoE frame receiving; regarding open/stop commands.
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diff
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|
205 |
#endif |
1cc6bcb1e6ae
EoE frame receiving; regarding open/stop commands.
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diff
changeset
|
206 |
} |
146 | 207 |
|
145
11a82e4fd31b
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|
208 |
eoe->rx_state = EC_EOE_IDLE; |
11a82e4fd31b
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changeset
|
209 |
return; |
11a82e4fd31b
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diff
changeset
|
210 |
} |
11a82e4fd31b
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changeset
|
211 |
} |
11a82e4fd31b
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parents:
diff
changeset
|
212 |
|
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changeset
|
213 |
/*****************************************************************************/ |
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parents:
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changeset
|
214 |
|
197
b9a6e2c22745
GPLv2 License and enhanced Doxygen output.
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195
diff
changeset
|
215 |
/** |
199
04ecf40fc2e9
Doxygen added interface modules and file documentation.
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197
diff
changeset
|
216 |
Prints EoE object information. |
197
b9a6e2c22745
GPLv2 License and enhanced Doxygen output.
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diff
changeset
|
217 |
*/ |
b9a6e2c22745
GPLv2 License and enhanced Doxygen output.
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diff
changeset
|
218 |
|
145
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|
219 |
void ec_eoe_print(const ec_eoe_t *eoe) |
11a82e4fd31b
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|
220 |
{ |
11a82e4fd31b
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|
221 |
EC_INFO(" EoE slave %i\n", eoe->slave->ring_position); |
11a82e4fd31b
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parents:
diff
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|
222 |
EC_INFO(" RX State %i\n", eoe->rx_state); |
210
1cc6bcb1e6ae
EoE frame receiving; regarding open/stop commands.
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|
223 |
EC_INFO(" Assigned device: %s (%s)\n", eoe->dev->name, |
1cc6bcb1e6ae
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diff
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|
224 |
eoe->opened ? "opened" : "closed"); |
145
11a82e4fd31b
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|
225 |
} |
11a82e4fd31b
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|
226 |
|
11a82e4fd31b
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parents:
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|
227 |
/*****************************************************************************/ |
203
c1f305e339c6
EoE net_device implementation.
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199
diff
changeset
|
228 |
|
c1f305e339c6
EoE net_device implementation.
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diff
changeset
|
229 |
/** |
c1f305e339c6
EoE net_device implementation.
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diff
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|
230 |
Initializes a net_device structure for an EoE object. |
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EoE net_device implementation.
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199
diff
changeset
|
231 |
*/ |
c1f305e339c6
EoE net_device implementation.
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|
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void ec_eoedev_init(struct net_device *dev /**< pointer to the net_device */) |
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{ |
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ec_eoedev_priv_t *priv; |
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unsigned int i; |
203
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|
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// initialize net_device |
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ether_setup(dev); |
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dev->open = ec_eoedev_open; |
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dev->stop = ec_eoedev_stop; |
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dev->hard_start_xmit = ec_eoedev_tx; |
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dev->get_stats = ec_eoedev_stats; |
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|
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for (i = 0; i < 6; i++) dev->dev_addr[i] = (i + 1) | (i + 1) << 4; |
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|
203
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// initialize private data |
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priv = netdev_priv(dev); |
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memset(priv, 0, sizeof(ec_eoedev_priv_t)); |
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} |
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|
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/*****************************************************************************/ |
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|
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/** |
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Opens the virtual network device. |
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256 |
*/ |
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|
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int ec_eoedev_open(struct net_device *dev /**< EoE net_device */) |
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{ |
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ec_eoedev_priv_t *priv = netdev_priv(dev); |
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priv->eoe->opened = 1; |
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netif_start_queue(dev); |
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EC_INFO("%s (slave %i) opened.\n", dev->name, |
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priv->eoe->slave->ring_position); |
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return 0; |
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|
266 |
} |
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|
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/*****************************************************************************/ |
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|
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/** |
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Stops the virtual network device. |
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*/ |
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|
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int ec_eoedev_stop(struct net_device *dev /**< EoE net_device */) |
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{ |
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ec_eoedev_priv_t *priv = netdev_priv(dev); |
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netif_stop_queue(dev); |
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priv->eoe->opened = 0; |
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EC_INFO("%s (slave %i) stopped.\n", dev->name, |
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priv->eoe->slave->ring_position); |
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281 |
return 0; |
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|
282 |
} |
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|
283 |
|
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|
284 |
/*****************************************************************************/ |
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|
285 |
|
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|
286 |
/** |
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287 |
Transmits data via the virtual network device. |
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|
288 |
*/ |
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|
289 |
|
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int ec_eoedev_tx(struct sk_buff *skb, /**< transmit socket buffer */ |
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struct net_device *dev /**< EoE net_device */ |
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292 |
) |
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|
293 |
{ |
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ec_eoedev_priv_t *priv = netdev_priv(dev); |
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priv->stats.tx_packets++; |
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dev_kfree_skb(skb); |
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EC_INFO("EoE device sent %i octets.\n", skb->len); |
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298 |
return 0; |
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|
299 |
} |
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|
300 |
|
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|
301 |
/*****************************************************************************/ |
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|
302 |
|
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|
303 |
/** |
210
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304 |
Receives data from the bus and passes it to the network stack. |
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|
305 |
*/ |
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|
306 |
|
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|
307 |
void ec_eoedev_rx(struct net_device *dev, /**< EoE net_device */ |
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|
308 |
const uint8_t *data, /**< pointer to the data */ |
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size_t size /**< size of the received data */ |
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|
310 |
) |
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|
311 |
{ |
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|
312 |
ec_eoedev_priv_t *priv = netdev_priv(dev); |
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|
313 |
struct sk_buff *skb; |
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|
314 |
|
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|
315 |
// allocate socket buffer |
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|
316 |
if (!(skb = dev_alloc_skb(size + 2))) { |
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|
317 |
if (printk_ratelimit()) |
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|
318 |
EC_WARN("EoE RX: low on mem. frame dropped.\n"); |
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|
319 |
priv->stats.rx_dropped++; |
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|
320 |
return; |
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|
321 |
} |
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|
322 |
|
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|
323 |
// copy received data to socket buffer |
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|
324 |
memcpy(skb_put(skb, size), data, size); |
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|
325 |
|
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|
326 |
// set socket buffer fields |
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|
327 |
skb->dev = dev; |
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|
328 |
skb->protocol = eth_type_trans(skb, dev); |
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|
329 |
skb->ip_summed = CHECKSUM_UNNECESSARY; |
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|
330 |
|
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|
331 |
// update statistics |
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|
332 |
priv->stats.rx_packets++; |
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|
333 |
priv->stats.rx_bytes += size; |
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changeset
|
334 |
|
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|
335 |
// pass socket buffer to network stack |
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|
336 |
netif_rx(skb); |
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|
337 |
} |
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diff
changeset
|
338 |
|
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changeset
|
339 |
/*****************************************************************************/ |
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changeset
|
340 |
|
1cc6bcb1e6ae
EoE frame receiving; regarding open/stop commands.
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|
341 |
/** |
203
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|
342 |
Gets statistics about the virtual network device. |
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|
343 |
*/ |
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changeset
|
344 |
|
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|
345 |
struct net_device_stats *ec_eoedev_stats(struct net_device *dev |
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|
346 |
/**< EoE net_device */) |
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|
347 |
{ |
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|
348 |
ec_eoedev_priv_t *priv = netdev_priv(dev); |
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|
349 |
return &priv->stats; |
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|
350 |
} |
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diff
changeset
|
351 |
|
c1f305e339c6
EoE net_device implementation.
Florian Pose <fp@igh-essen.com>
parents:
199
diff
changeset
|
352 |
/*****************************************************************************/ |