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1 /****************************************************************************** |
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2 * |
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3 * d e v i c e . c |
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4 * |
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5 * Methoden für ein EtherCAT-Gerät. |
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6 * |
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7 * $Id$ |
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8 * |
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9 *****************************************************************************/ |
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10 |
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11 #include <linux/module.h> |
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12 #include <linux/skbuff.h> |
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13 #include <linux/if_ether.h> |
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14 #include <linux/netdevice.h> |
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15 #include <linux/delay.h> |
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16 |
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17 #include "device.h" |
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18 |
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19 /*****************************************************************************/ |
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20 |
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21 /** |
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22 EtherCAT-Geräte-Konstuktor. |
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23 |
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24 Initialisiert ein EtherCAT-Gerät, indem es die Variablen |
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25 in der Struktur auf die Default-Werte setzt. |
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26 |
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27 @param ecd Zu initialisierendes EtherCAT-Gerät |
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28 */ |
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29 |
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30 int ec_device_init(ec_device_t *ecd) |
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31 { |
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32 ecd->dev = NULL; |
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33 ecd->open = 0; |
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34 ecd->tx_time = 0; |
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35 ecd->rx_time = 0; |
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36 ecd->tx_intr_cnt = 0; |
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37 ecd->rx_intr_cnt = 0; |
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38 ecd->intr_cnt = 0; |
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39 ecd->state = EC_DEVICE_STATE_READY; |
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40 ecd->rx_data_length = 0; |
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41 ecd->isr = NULL; |
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42 ecd->module = NULL; |
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43 ecd->error_reported = 0; |
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44 |
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45 if ((ecd->tx_skb = dev_alloc_skb(EC_FRAME_SIZE)) == NULL) { |
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46 printk(KERN_ERR "EtherCAT: Could not allocate device tx socket buffer!\n"); |
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47 return -1; |
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48 } |
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49 |
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50 if ((ecd->rx_skb = dev_alloc_skb(EC_FRAME_SIZE)) == NULL) { |
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51 dev_kfree_skb(ecd->tx_skb); |
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52 ecd->tx_skb = NULL; |
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53 printk(KERN_ERR "EtherCAT: Could not allocate device rx socket buffer!\n"); |
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54 return -1; |
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55 } |
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56 |
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57 return 0; |
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58 } |
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59 |
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60 /*****************************************************************************/ |
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61 |
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62 /** |
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63 EtherCAT-Geräte-Destuktor. |
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64 |
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65 Gibt den dynamisch allozierten Speicher des |
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66 EtherCAT-Gerätes (die beiden Socket-Buffer) wieder frei. |
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67 |
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68 @param ecd EtherCAT-Gerät |
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69 */ |
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70 |
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71 void ec_device_clear(ec_device_t *ecd) |
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72 { |
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73 if (ecd->open) ec_device_close(ecd); |
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74 |
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75 ecd->dev = NULL; |
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76 |
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77 if (ecd->tx_skb) { |
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78 dev_kfree_skb(ecd->tx_skb); |
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79 ecd->tx_skb = NULL; |
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80 } |
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81 |
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82 if (ecd->rx_skb) { |
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83 dev_kfree_skb(ecd->rx_skb); |
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84 ecd->rx_skb = NULL; |
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85 } |
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86 } |
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87 |
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88 /*****************************************************************************/ |
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89 |
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90 /** |
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91 Führt die open()-Funktion des Netzwerktreibers aus. |
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92 |
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93 Dies entspricht einem "ifconfig up". Vorher wird der Zeiger |
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94 auf das EtherCAT-Gerät auf Gültigkeit geprüft und der |
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95 Gerätezustand zurückgesetzt. |
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96 |
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97 @param ecd EtherCAT-Gerät |
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98 |
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99 @return 0 bei Erfolg, < 0: Ungültiger Zeiger, oder open() |
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100 fehlgeschlagen |
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101 */ |
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102 |
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103 int ec_device_open(ec_device_t *ecd) |
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104 { |
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105 unsigned int i; |
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106 |
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107 if (!ecd) { |
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108 printk(KERN_ERR "EtherCAT: Trying to open a NULL device!\n"); |
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109 return -1; |
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110 } |
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111 |
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112 if (!ecd->dev) { |
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113 printk(KERN_ERR "EtherCAT: No net_device to open!\n"); |
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114 return -1; |
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115 } |
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116 |
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117 if (ecd->open) { |
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118 printk(KERN_WARNING "EtherCAT: Device already opened!\n"); |
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119 } |
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120 else { |
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121 // Device could have received frames before |
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122 for (i = 0; i < 4; i++) ec_device_call_isr(ecd); |
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123 |
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124 // Reset old device state |
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125 ecd->state = EC_DEVICE_STATE_READY; |
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126 ecd->tx_intr_cnt = 0; |
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127 ecd->rx_intr_cnt = 0; |
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128 |
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129 if (ecd->dev->open(ecd->dev) == 0) ecd->open = 1; |
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130 } |
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131 |
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132 return ecd->open ? 0 : -1; |
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133 } |
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134 |
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135 /*****************************************************************************/ |
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136 |
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137 /** |
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138 Führt die stop()-Funktion des net_devices aus. |
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139 |
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140 @param ecd EtherCAT-Gerät |
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141 |
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142 @return 0 bei Erfolg, < 0: Kein Gerät zum Schliessen oder |
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143 Schliessen fehlgeschlagen. |
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144 */ |
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145 |
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146 int ec_device_close(ec_device_t *ecd) |
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147 { |
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148 if (!ecd->dev) { |
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149 printk(KERN_ERR "EtherCAT: No device to close!\n"); |
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150 return -1; |
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151 } |
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152 |
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153 if (!ecd->open) { |
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154 printk(KERN_WARNING "EtherCAT: Device already closed!\n"); |
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155 } |
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156 else { |
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157 printk(KERN_INFO "EtherCAT: Stopping device (txcnt: %u, rxcnt: %u)\n", |
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158 (unsigned int) ecd->tx_intr_cnt, (unsigned int) ecd->rx_intr_cnt); |
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159 |
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160 if (ecd->dev->stop(ecd->dev) == 0) ecd->open = 0; |
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161 } |
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162 |
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163 return !ecd->open ? 0 : -1; |
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164 } |
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165 |
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166 /*****************************************************************************/ |
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167 |
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168 /** |
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169 Sendet einen Rahmen über das EtherCAT-Gerät. |
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170 |
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171 Kopiert die zu sendenden Daten in den statischen Socket- |
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172 Buffer, fügt den Ethernat-II-Header hinzu und ruft die |
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173 start_xmit()-Funktion der Netzwerkkarte auf. |
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174 |
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175 @param ecd EtherCAT-Gerät |
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176 @param data Zeiger auf die zu sendenden Daten |
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177 @param length Länge der zu sendenden Daten |
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178 |
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179 @return 0 bei Erfolg, < 0: Vorheriger Rahmen noch |
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180 nicht empfangen, oder kein Speicher mehr vorhanden |
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181 */ |
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182 |
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183 int ec_device_send(ec_device_t *ecd, unsigned char *data, unsigned int length) |
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184 { |
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185 unsigned char *frame_data; |
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186 struct ethhdr *eth; |
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187 |
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188 if (unlikely(ecd->state == EC_DEVICE_STATE_SENT)) { |
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189 printk(KERN_WARNING "EtherCAT: Warning - Trying to send frame while last " |
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190 " was not received!\n"); |
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191 } |
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192 |
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193 // Clear transmit socket buffer and reserve |
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194 // space for Ethernet-II header |
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195 skb_trim(ecd->tx_skb, 0); |
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196 skb_reserve(ecd->tx_skb, ETH_HLEN); |
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197 |
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198 // Copy data to socket buffer |
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199 frame_data = skb_put(ecd->tx_skb, length); |
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200 memcpy(frame_data, data, length); |
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201 |
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202 // Add Ethernet-II-Header |
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203 if (unlikely((eth = (struct ethhdr *) |
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204 skb_push(ecd->tx_skb, ETH_HLEN)) == NULL)) { |
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205 printk(KERN_ERR "EtherCAT: device_send -" |
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206 " Could not allocate Ethernet-II header!\n"); |
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207 return -1; |
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208 } |
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209 |
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210 // Protocol type |
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211 eth->h_proto = htons(0x88A4); |
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212 // Hardware address |
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213 memcpy(eth->h_source, ecd->dev->dev_addr, ecd->dev->addr_len); |
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214 // Broadcast address |
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215 memset(eth->h_dest, 0xFF, ecd->dev->addr_len); |
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216 |
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217 rdtscl(ecd->tx_time); // Get CPU cycles |
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218 |
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219 // Start sending of frame |
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220 ecd->state = EC_DEVICE_STATE_SENT; |
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221 ecd->dev->hard_start_xmit(ecd->tx_skb, ecd->dev); |
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222 |
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223 return 0; |
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224 } |
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225 |
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226 /*****************************************************************************/ |
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227 |
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228 /** |
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229 Holt einen empfangenen Rahmen von der Netzwerkkarte. |
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230 |
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231 Zuerst wird geprüft, ob überhaupt ein Rahmen empfangen |
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232 wurde. Wenn ja, wird dieser in den angegebenen |
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233 Speicherbereich kopiert. |
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234 |
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235 @param ecd EtherCAT-Gerät |
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236 @param data Zeiger auf den Speicherbereich, in den die |
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237 empfangenen Daten kopiert werden sollen |
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238 |
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239 @return Anzahl der kopierten Bytes bei Erfolg, sonst < 0 |
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240 */ |
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241 |
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242 int ec_device_receive(ec_device_t *ecd, unsigned char *data) |
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243 { |
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244 if (unlikely(ecd->state != EC_DEVICE_STATE_RECEIVED)) { |
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245 if (likely(ecd->error_reported)) { |
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246 printk(KERN_ERR "EtherCAT: receive - Nothing received!\n"); |
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247 ecd->error_reported = 1; |
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248 } |
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249 return -1; |
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250 } |
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251 |
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252 if (unlikely(ecd->rx_data_length > EC_FRAME_SIZE)) { |
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253 if (likely(ecd->error_reported)) { |
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254 printk(KERN_ERR "EtherCAT: receive - " |
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255 " Reveived frame is too long (%i Bytes)!\n", |
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256 ecd->rx_data_length); |
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257 ecd->error_reported = 1; |
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258 } |
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259 return -1; |
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260 } |
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261 |
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262 if (unlikely(ecd->error_reported)) { |
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263 ecd->error_reported = 0; |
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264 } |
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265 |
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266 memcpy(data, ecd->rx_data, ecd->rx_data_length); |
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267 |
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268 return ecd->rx_data_length; |
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269 } |
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270 |
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271 /*****************************************************************************/ |
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272 |
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273 /** |
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274 Ruft die Interrupt-Routine der Netzwerkkarte auf. |
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275 |
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276 @param ecd EtherCAT-Gerät |
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277 |
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278 @return Anzahl der kopierten Bytes bei Erfolg, sonst < 0 |
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279 */ |
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280 |
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281 void ec_device_call_isr(ec_device_t *ecd) |
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282 { |
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283 if (likely(ecd->isr)) ecd->isr(0, ecd->dev, NULL); |
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284 } |
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285 |
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286 /*****************************************************************************/ |
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287 |
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288 /** |
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289 Gibt alle Informationen über das Device-Objekt aus. |
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290 |
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291 @param ecd EtherCAT-Gerät |
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292 */ |
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293 |
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294 void ec_device_debug(ec_device_t *ecd) |
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295 { |
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296 printk(KERN_DEBUG "---EtherCAT device information begin---\n"); |
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297 |
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298 if (ecd) |
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299 { |
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300 printk(KERN_DEBUG "Assigned net_device: %X\n", |
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301 (unsigned) ecd->dev); |
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302 printk(KERN_DEBUG "Transmit socket buffer: %X\n", |
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303 (unsigned) ecd->tx_skb); |
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304 printk(KERN_DEBUG "Receive socket buffer: %X\n", |
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305 (unsigned) ecd->rx_skb); |
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306 printk(KERN_DEBUG "Time of last transmission: %u\n", |
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307 (unsigned) ecd->tx_time); |
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308 printk(KERN_DEBUG "Time of last receive: %u\n", |
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309 (unsigned) ecd->rx_time); |
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310 printk(KERN_DEBUG "Number of transmit interrupts: %u\n", |
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311 (unsigned) ecd->tx_intr_cnt); |
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312 printk(KERN_DEBUG "Number of receive interrupts: %u\n", |
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313 (unsigned) ecd->rx_intr_cnt); |
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314 printk(KERN_DEBUG "Total Number of interrupts: %u\n", |
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315 (unsigned) ecd->intr_cnt); |
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316 printk(KERN_DEBUG "Actual device state: %i\n", |
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317 (int) ecd->state); |
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318 printk(KERN_DEBUG "Receive buffer: %X\n", |
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319 (unsigned) ecd->rx_data); |
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320 printk(KERN_DEBUG "Receive buffer fill state: %u/%u\n", |
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321 (unsigned) ecd->rx_data_length, EC_FRAME_SIZE); |
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322 } |
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323 else |
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324 { |
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325 printk(KERN_DEBUG "Device is NULL!\n"); |
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326 } |
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327 |
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328 printk(KERN_DEBUG "---EtherCAT device information end---\n"); |
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329 } |
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330 |
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331 /****************************************************************************** |
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332 * |
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333 * Treiberschnittstelle |
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334 * |
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335 *****************************************************************************/ |
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336 |
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337 void EtherCAT_dev_state(ec_device_t *ecd, ec_device_state_t state) |
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338 { |
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339 if (state == EC_DEVICE_STATE_TIMEOUT && ecd->state != EC_DEVICE_STATE_SENT) { |
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340 printk(KERN_WARNING "EtherCAT: Wrong status at timeout: %i\n", ecd->state); |
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341 } |
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342 |
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343 ecd->state = state; |
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344 } |
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345 |
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346 /*****************************************************************************/ |
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347 |
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348 int EtherCAT_dev_is_ec(ec_device_t *ecd, struct net_device *dev) |
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349 { |
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350 return ecd->dev == dev; |
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351 } |
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352 |
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353 /*****************************************************************************/ |
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354 |
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355 int EtherCAT_dev_receive(ec_device_t *ecd, void *data, unsigned int size) |
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356 { |
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357 if (ecd->state != EC_DEVICE_STATE_SENT) |
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358 { |
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359 printk(KERN_WARNING "EtherCAT: Received frame while not in SENT state!\n"); |
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360 return -1; |
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361 } |
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362 |
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363 // Copy received data to ethercat-device buffer, skip Ethernet-II header |
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364 memcpy(ecd->rx_data, data, size); |
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365 ecd->rx_data_length = size; |
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366 ecd->state = EC_DEVICE_STATE_RECEIVED; |
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367 |
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368 return 0; |
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369 } |
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370 |
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371 /*****************************************************************************/ |
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372 |
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373 EXPORT_SYMBOL(EtherCAT_dev_is_ec); |
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374 EXPORT_SYMBOL(EtherCAT_dev_state); |
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375 EXPORT_SYMBOL(EtherCAT_dev_receive); |
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376 |
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377 /*****************************************************************************/ |
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378 |
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379 /* Emacs-Konfiguration |
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380 ;;; Local Variables: *** |
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381 ;;; c-basic-offset:2 *** |
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382 ;;; End: *** |
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383 */ |