static void reset_mac_unlocked(struct net_device *dev)
{
struct au1000_private *const aup = netdev_priv(dev);
int i;
hard_stop(dev);
*aup->enable = MAC_EN_CLOCK_ENABLE;
au_sync_delay(2);
*aup->enable = 0;
au_sync_delay(2);
aup->tx_full = 0;
for (i = 0; i < NUM_RX_DMA; i++) {
/* reset control bits */
aup->rx_dma_ring[i]->buff_stat &= ~0xf;
}
for (i = 0; i < NUM_TX_DMA; i++) {
/* reset control bits */
aup->tx_dma_ring[i]->buff_stat &= ~0xf;
}
aup->mac_enabled = 0;
}
//Main Function
int main()
{
init_devices();
while(1)
{
forward(); //both wheels forward
_delay_ms(1000);
hard_stop();
_delay_ms(300);
back(); //both wheels backward
_delay_ms(1000);
hard_stop();
_delay_ms(300);
left(); //Left wheel backward, Right wheel forward
_delay_ms(1000);
hard_stop();
_delay_ms(300);
right(); //Left wheel forward, Right wheel backward
_delay_ms(1000);
hard_stop();
_delay_ms(300);
soft_left(); //Left wheel stationary, Right wheel forward
_delay_ms(1000);
hard_stop();
_delay_ms(300);
soft_right(); //Left wheel forward, Right wheel is stationary
_delay_ms(1000);
hard_stop();
_delay_ms(300);
soft_left_2(); //Left wheel backward, right wheel stationary
_delay_ms(1000);
hard_stop();
_delay_ms(300);
soft_right_2(); //Left wheel stationary, Right wheel backward
_delay_ms(1000);
hard_stop();
_delay_ms(300);
}
}
static void au1000_timer(unsigned long data)
{
struct net_device *dev = (struct net_device *)data;
struct au1000_private *aup = (struct au1000_private *) dev->priv;
unsigned char if_port;
u16 link, speed;
if (!dev) {
/* fatal error, don't restart the timer */
printk(KERN_ERR "au1000_timer error: NULL dev\n");
return;
}
if_port = dev->if_port;
#ifdef CLEANUP
if (aup->phy_ops->phy_status(dev, aup->phy_addr, &link, &speed) == 0) {
if (link) {
if (!(dev->flags & IFF_RUNNING)) {
netif_carrier_on(dev);
dev->flags |= IFF_RUNNING;
printk(KERN_INFO "%s: link up\n", dev->name);
}
}
else {
if (dev->flags & IFF_RUNNING) {
netif_carrier_off(dev);
dev->flags &= ~IFF_RUNNING;
dev->if_port = 0;
printk(KERN_INFO "%s: link down\n", dev->name);
}
}
}
#endif
if (link && (dev->if_port != if_port) &&
(dev->if_port != IF_PORT_UNKNOWN)) {
hard_stop(dev);
if (dev->if_port == IF_PORT_100BASEFX) {
printk(KERN_INFO "%s: going to full duplex\n",
dev->name);
aup->mac->control |= MAC_FULL_DUPLEX;
au_sync_delay(1);
}
else {
aup->mac->control &= ~MAC_FULL_DUPLEX;
au_sync_delay(1);
}
enable_rx_tx(dev);
}
aup->timer.expires = RUN_AT((1*HZ));
aup->timer.data = (unsigned long)dev;
aup->timer.function = &au1000_timer; /* timer handler */
add_timer(&aup->timer);
}
static void reset_mac(struct net_device *dev)
{
u32 flags;
struct au1000_private *aup = (struct au1000_private *) dev->priv;
if (au1000_debug > 4)
printk(KERN_INFO "%s: reset mac, aup %x\n",
dev->name, (unsigned)aup);
spin_lock_irqsave(&aup->lock, flags);
del_timer(&aup->timer);
hard_stop(dev);
*aup->enable = MAC_EN_CLOCK_ENABLE;
au_sync_delay(2);
*aup->enable = 0;
au_sync_delay(2);
aup->tx_full = 0;
spin_unlock_irqrestore(&aup->lock, flags);
}
static void reset_mac(struct net_device *dev)
{
int i;
u32 flags;
struct au1000_private *aup = (struct au1000_private *) dev->priv;
if (au1000_debug > 4)
printk(KERN_INFO "%s: reset mac, aup %x\n",
dev->name, (unsigned)aup);
spin_lock_irqsave(&aup->lock, flags);
del_timer(&aup->timer);
hard_stop(dev);
#ifdef CONFIG_BCM5222_DUAL_PHY
if (aup->mac_id != 0) {
#endif
/* If BCM5222, we can't leave MAC0 in reset because then
* we can't access the dual phy for ETH1 */
*aup->enable = MAC_EN_CLOCK_ENABLE;
au_sync_delay(2);
*aup->enable = 0;
au_sync_delay(2);
#ifdef CONFIG_BCM5222_DUAL_PHY
}
#endif
aup->tx_full = 0;
for (i = 0; i < NUM_RX_DMA; i++) {
/* reset control bits */
aup->rx_dma_ring[i]->buff_stat &= ~0xf;
}
for (i = 0; i < NUM_TX_DMA; i++) {
/* reset control bits */
aup->tx_dma_ring[i]->buff_stat &= ~0xf;
}
spin_unlock_irqrestore(&aup->lock, flags);
}
static void
au1000_adjust_link(struct net_device *dev)
{
struct au1000_private *aup = netdev_priv(dev);
struct phy_device *phydev = aup->phy_dev;
unsigned long flags;
int status_change = 0;
BUG_ON(!aup->phy_dev);
spin_lock_irqsave(&aup->lock, flags);
if (phydev->link && (aup->old_speed != phydev->speed)) {
// speed changed
switch(phydev->speed) {
case SPEED_10:
case SPEED_100:
break;
default:
printk(KERN_WARNING
"%s: Speed (%d) is not 10/100 ???\n",
dev->name, phydev->speed);
break;
}
aup->old_speed = phydev->speed;
status_change = 1;
}
if (phydev->link && (aup->old_duplex != phydev->duplex)) {
// duplex mode changed
/* switching duplex mode requires to disable rx and tx! */
hard_stop(dev);
if (DUPLEX_FULL == phydev->duplex)
aup->mac->control = ((aup->mac->control
| MAC_FULL_DUPLEX)
& ~MAC_DISABLE_RX_OWN);
else
aup->mac->control = ((aup->mac->control
& ~MAC_FULL_DUPLEX)
| MAC_DISABLE_RX_OWN);
au_sync_delay(1);
enable_rx_tx(dev);
aup->old_duplex = phydev->duplex;
status_change = 1;
}
if(phydev->link != aup->old_link) {
// link state changed
if (!phydev->link) {
/* link went down */
aup->old_speed = 0;
aup->old_duplex = -1;
}
aup->old_link = phydev->link;
status_change = 1;
}
spin_unlock_irqrestore(&aup->lock, flags);
if (status_change) {
if (phydev->link)
printk(KERN_INFO "%s: link up (%d/%s)\n",
dev->name, phydev->speed,
DUPLEX_FULL == phydev->duplex ? "Full" : "Half");
else
printk(KERN_INFO "%s: link down\n", dev->name);
}
}