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merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.

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Florian Pose
2009-01-26 11:45:30 +00:00
parent 5ca3d24337
commit 826ae37b26
69 changed files with 879 additions and 878 deletions
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18
FEATURES
View File

@@ -29,11 +29,11 @@ General Features:
* Common API for Realtime-Applications in kernel- and userspace.
- Requesting and releasing masters.
- Dynamic slave configuration, even for slaves that are offline.
- Detailed configuration of the slaves' Pdos and Sdos.
- Creation of process data domains (see below). Registration of Pdo entries
- Detailed configuration of the slaves' PDOs and SDOs.
- Creation of process data domains (see below). Registration of PDO entries
for exchange within a domain.
- Monitoring the states of masters, slave configurations and domains.
- Sdo handlers for application-triggered CoE transfers (see below).
- SDO handlers for application-triggered CoE transfers (see below).
- VoE handlers for Vendor-specific mailbox protocols (see below).
- Similar userspace implementation of the kernel API via a C-library.
- Avoidance of unnecessary copy operations for process data.
@@ -51,17 +51,17 @@ General Features:
- Automatic configuration of slaves, if a application-layer state change is
requested.
* Implementation of the CANopen-over-EtherCAT (CoE) mailbox protocol.
* Implementation of the CANopen over EtherCAT (CoE) mailbox protocol.
- Configuration of CoE-capable slaves.
- Sdo information service (dictionary listing).
- Sdo transfers both via the application interface and the command-line tool.
- SDO information service (dictionary listing).
- SDO transfers both via the application interface and the command-line tool.
* Implementation of the Ethernet-over-EtherCAT (EoE) mailbox protocol.
* Implementation of the Ethernet over EtherCAT (EoE) mailbox protocol.
- Virtual network interface for any EoE-capable slave.
- Both a switched and a routed EoE network architecture is natively supported
and configurable with standard tools.
* Implementation of the Vendor-specific-over-EtherCAT (VoE) mailbox protocol.
* Implementation of the Vendor specific over EtherCAT (VoE) mailbox protocol.
- Communication with vendor-specific mailbox protocols via the API.
* Userspace command-line tool 'ethercat'.
@@ -69,7 +69,7 @@ General Features:
- Reading/Writing alias addresses.
- Listing slave configurations.
- Viewing process data.
- Sdo download/upload; listing Sdo dictionaries.
- SDO download/upload; listing SDO dictionaries.
- Access to slave registers.
- Slave SII (EEPROM) access.
- Controlling application-layer states.

44
NEWS
View File

@@ -34,6 +34,8 @@ Changes since 1.4.0-rc3:
frame.
* Modified licence headers to avoid conflicts with the GPL.
* Restricted licence to GPLv2 only.
* Fixed spelling of 'PDO', 'SDO' (all uppercase) and 'xx over EtherCAT'
(without hyphens).
Changes in 1.4.0-rc3:
@@ -42,7 +44,7 @@ Changes in 1.4.0-rc3:
semaphore was not released.
* Minor fix in 'slaves' command that fixed duplicate display of supported
mailbox protocols.
* The Sdo Information Service is only queried, if the slave has the
* The SDO Information Service is only queried, if the slave has the
corresponding SII bit set.
* Added some missing header files in the command-line-tool code.
* Removed unstable e100, forcedeth, and r8169 drivers.
@@ -73,18 +75,18 @@ Changes in version 1.4.0-rc1:
offers the possibility to use a shared-memory region. Therefore,
added the domain methods ecrt_domain_size() and
ecrt_domain_external_memory().
- Pdo entry registration functions do not return a process data pointer,
- PDO entry registration functions do not return a process data pointer,
but an offset in the domain's process data. In addition, an optional bit
position can be requested. This was necessary for the external domain
memory. An additional advantage is, that the returned offset is
immediately valid. If the domain's process data is allocated internally,
the start address can be retrieved with ecrt_domain_data().
- Replaced ecrt_slave_pdo_mapping/add/clear() with
ecrt_slave_config_pdo_assign_add() to add a Pdo to a sync manager's Pdo
assignment and ecrt_slave_config_pdo_mapping_add() to add a Pdo entry to a
Pdo's mapping. ecrt_slave_config_pdos() is a convenience function
ecrt_slave_config_pdo_assign_add() to add a PDO to a sync manager's PDO
assignment and ecrt_slave_config_pdo_mapping_add() to add a PDO entry to a
PDO's mapping. ecrt_slave_config_pdos() is a convenience function
for both, that uses the new data types ec_pdo_info_t and
ec_pdo_entry_info_t. Pdo entries, that are mapped with these functions
ec_pdo_entry_info_t. PDO entries, that are mapped with these functions
can now immediately be registered, even if the bus is offline.
- Renamed ec_bus_status_t, ec_master_status_t to ec_bus_state_t and
ec_master_state_t, respectively. Renamed ecrt_master_get_status() to
@@ -92,15 +94,15 @@ Changes in version 1.4.0-rc1:
- Added ec_domain_state_t and ec_wc_state_t for a new output parameter
of ecrt_domain_state(). The domain state object does now contain
information, if the process data was exchanged completely.
- Former "Pdo registration" meant Pdo entry registration in fact, therefore
- Former "PDO registration" meant PDO entry registration in fact, therefore
renamed ec_pdo_reg_t to ec_pdo_entry_reg_t and ecrt_domain_register_pdo()
to ecrt_slave_config_reg_pdo_entry().
- Removed ecrt_domain_register_pdo_range(), because it's functionality can
be reached by specifying an explicit Pdo assignment/mapping and
registering the mapped Pdo entries.
- Added an Sdo access interface, working with Sdo requests. These can be
be reached by specifying an explicit PDO assignment/mapping and
registering the mapped PDO entries.
- Added an SDO access interface, working with SDO requests. These can be
scheduled for reading and writing during realtime operation.
- Exported ecrt_slave_config_sdo(), the generic Sdo configuration function.
- Exported ecrt_slave_config_sdo(), the generic SDO configuration function.
- Removed the bus_state and bus_tainted flags from ec_master_state_t.
* Device interface changes:
- Moved device output parameter of ecdev_offer() to return value.
@@ -113,10 +115,10 @@ Changes in version 1.4.0-rc1:
- Set the master's debug level.
- Show domain information.
- Show master information.
- List Pdo assignment/mapping.
- Write an Sdo entry.
- List Sdo dictionaries.
- Read an Sdo entry.
- List PDO assignment/mapping.
- Write an SDO entry.
- List SDO dictionaries.
- Read an SDO entry.
- Output a slave's SII contents.
- Write slave's SII contents.
- Show slaves.
@@ -125,11 +127,11 @@ Changes in version 1.4.0-rc1:
* Removed include/ecdb.h.
* Using the timestamp counter is now optional (configure --enable-cycles),
because it is only available on Intel architectures.
* Sdo dictionaries will now also be fetched in operation mode.
* SDO dictionaries will now also be fetched in operation mode.
* SII write requests will now also be processed in operation mode.
* Mapping of Pdo entries is now supported.
* Current Pdo assignment/mapping is now read via CoE during bus scan, using
direct Sdo access, independent of the dictionary.
* Mapping of PDO entries is now supported.
* Current PDO assignment/mapping is now read via CoE during bus scan, using
direct SDO access, independent of the dictionary.
* Network driver news:
- Added 8139too driver for kernel 2.6.22, thanks to Erwin Burgstaller.
- Added 8139too driver for kernel 2.6.23, thanks to Richard Hacker.
@@ -151,8 +153,8 @@ Changes in version 1.4.0-rc1:
* Added support for slaves that do not support the LRW datagram type. Separate
domains have to be used for inputs and output.
* CoE implementation:
- Use expedites transfer type for Sdos <= 4 byte (thanks to J. Mohre).
- Allow gaps in Pdo mapping (thanks to R. Roesch).
- Use expedites transfer type for SDOs <= 4 byte (thanks to J. Mohre).
- Allow gaps in PDO mapping (thanks to R. Roesch).
- Added some transfer timeouts.
- Ansynchronous handling of Emergency requests.
- Bugfixes.

2
README.EoE
View File

@@ -3,7 +3,7 @@
$Id$
This file shall give additional information on how to set up a network
environment with Ethernet-over-EtherCAT devices.
environment with Ethernet over EtherCAT devices.
A virtual network interface will appear for every EoE-capable slave. The
interface naming scheme is either eoeXsY, where X is the master index and Y is

7
TODO
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@@ -11,8 +11,8 @@ vim: spelllang=en spell
Version 1.5.0:
* Remove ecrt_domain_state().
* Segmented Sdo downloads.
* Implement Sdo handlers in userspace library.
* Segmented SDO downloads.
* Implement SDO handlers in userspace library.
* Clear slave list on link down.
* Check force_config flag before error.
* Remove allow_scanning flag.
@@ -20,11 +20,10 @@ Version 1.5.0:
* Improve application-triggered SDO transfers by moving the statemachine into
the SDO handlers.
* External memory for SDO transfers.
* Bus information via userspace library (slaves, sync managers, pdos, entries).
* Bus information via userspace library (slaves, sync managers, PDOs, entries).
* C++ implementation of the library.
* Distributed clocks.
* Bus simulator interface.
* Pdo -> PDO. Sdo -> SDO "-over-"
Future issues:

2
configure.ac
View File

@@ -321,7 +321,7 @@ if test "x${debugring}" = "x1"; then
fi
#------------------------------------------------------------------------------
# Ethernet-over-EtherCAT support
# Ethernet over EtherCAT support
#------------------------------------------------------------------------------
AC_ARG_ENABLE([eoe],

168
documentation/ethercat_doc.tex
View File

@@ -227,19 +227,19 @@ EtherCAT functionality (see chap.~\ref{chap:api}).
\end{itemize}
\item CANopen-over-EtherCAT (CoE)
\item CANopen over EtherCAT (CoE)
\begin{itemize}
\item Sdo upload, download and information service.
\item SDO upload, download and information service.
\item Slave configuration via Sdos.
\item Slave configuration via SDOs.
\item Sdo access from userspace and from the application.
\item SDO access from userspace and from the application.
\end{itemize}
\item Ethernet-over-EtherCAT (EoE)
\item Ethernet over EtherCAT (EoE)
\begin{itemize}
@@ -254,12 +254,12 @@ EtherCAT functionality (see chap.~\ref{chap:api}).
\begin{itemize}
\item Showing the current bus with slaves, Pdos and Sdos.
\item Showing the current bus with slaves, PDOs and SDOs.
\item Showing the bus configuration.
\item Showing domains and process data.
\item Setting the master's debug level.
\item Writing alias addresses.
\item Sdo uploading/downloading.
\item SDO uploading/downloading.
\item Reading/writing a slave's SII.
\item Setting slave states.
\item Generate slave description XML.
@@ -457,7 +457,7 @@ possible until then.
an Ethernet device, but is not requested by any application yet. The master
runs its state machine (see sec.~\ref{sec:fsm-master}), that automatically
scans the bus for slaves and executes pending operations from the userspace
interface (for example Sdo access). The command-line tool can be used to
interface (for example SDO access). The command-line tool can be used to
access the bus, but there is no process data exchange because of the missing
bus configuration.
@@ -478,12 +478,12 @@ process data.
\index{Process data}
Slaves offer their inputs and outputs by presenting the master so-called
``Process Data Objects'' (Pdos\index{Pdo}). The available Pdos can be either
``Process Data Objects'' (PDOs\index{PDO}). The available PDOs can be either
determined by reading out the slave's TXPDO and RXPDO SII categories from the
E$^2$PROM (in case of fixed Pdos) or by reading out the appropriate CoE
E$^2$PROM (in case of fixed PDOs) or by reading out the appropriate CoE
objects (see sec.~\ref{sec:coe}), if available. The application can register
the Pdos' entries for exchange during cyclic operation. The sum of all
registered Pdo entries defines the ``process data image'', which is exchanged
the PDOs' entries for exchange during cyclic operation. The sum of all
registered PDO entries defines the ``process data image'', which is exchanged
via datagrams with ``logical'' memory access (like LWR, LRD or LRW) introduced
in~\cite[sec.~5.4]{dlspec}.
@@ -491,8 +491,8 @@ in~\cite[sec.~5.4]{dlspec}.
\index{Domain}
The process data image can be easily managed by creating so-called
``domains'', which allow grouped Pdo exchange. They also take care of managing
the datagram structures needed to exchange the Pdos. Domains are mandatory for
``domains'', which allow grouped PDO exchange. They also take care of managing
the datagram structures needed to exchange the PDOs. Domains are mandatory for
process data exchange, so there has to be at least one. They were introduced
for the following reasons:
@@ -506,10 +506,10 @@ image exceeds this limit, multiple frames have to be sent, and the image has
to be partitioned for the use of multiple datagrams. A domain manages this
automatically.
\item Not every Pdo has to be exchanged with the same frequency: The values of
Pdos can vary slowly over time (for example temperature values), so exchanging
\item Not every PDO has to be exchanged with the same frequency: The values of
PDOs can vary slowly over time (for example temperature values), so exchanging
them with a high frequency would just waste bus bandwidth. For this reason,
multiple domains can be created, to group different Pdos and so allow separate
multiple domains can be created, to group different PDOs and so allow separate
exchange.
\end{itemize}
@@ -521,21 +521,21 @@ limited by the slaves.
\paragraph{FMMU Configuration}
\index{FMMU!Configuration}
An application can register Pdo entries for exchange. Every Pdo entry and its
parent Pdo is part of a memory area in the slave's physical memory, that is
An application can register PDO entries for exchange. Every PDO entry and its
parent PDO is part of a memory area in the slave's physical memory, that is
protected by a sync manager \cite[sec.~6.7]{dlspec} for synchronized access.
In order to make a sync manager react on a datagram accessing its memory, it
is necessary to access the last byte covered by the sync manager. Otherwise
the sync manager will not react on the datagram and no data will be exchanged.
That is why the whole synchronized memory area has to be included into the
process data image: For example, if a certain Pdo entry of a slave is
process data image: For example, if a certain PDO entry of a slave is
registered for exchange with a certain domain, one FMMU will be configured to
map the complete sync-manager-protected memory, the Pdo entry resides in. If a
second Pdo entry of the same slave is registered for process data exchange
map the complete sync-manager-protected memory, the PDO entry resides in. If a
second PDO entry of the same slave is registered for process data exchange
within the same domain, and it resides in the same sync-manager-protected
memory as the first one, the FMMU configuration is not altered, because the
desired memory is already part of the domain's process data image. If the
second Pdo entry would belong to another sync-manager-protected area, this
second PDO entry would belong to another sync-manager-protected area, this
complete area would also be included into the domains process data image.
Figure~\ref{fig:fmmus} gives an overview, how FMMUs are configured to map
@@ -559,11 +559,11 @@ physical memory to logical process data images.
% Interface version
% Master Requesting and Releasing
% Master Locking
% Configuring Pdo assignment and mapping
% Configuring PDO assignment and mapping
% Domains (memory)
% Pdo entry registration
% Sdo configuration
% Sdo access
% PDO entry registration
% SDO configuration
% SDO access
The application interface provides functions and data structures for
applications to access an EtherCAT master. The complete documentation of the
@@ -580,7 +580,7 @@ Every application should use the master in two steps:
\begin{description}
\item[Configuration] The master is requested and the configuration is applied.
For example, domains are created, slaves are configured and Pdo entries are
For example, domains are created, slaves are configured and PDO entries are
registered (see sec.~\ref{sec:masterconfig}).
\item[Operation] Cyclic code is run and process data are exchanged (see
@@ -1470,7 +1470,7 @@ monitored. If a slave is not in the state it supposed to be, the slave is
\item[Request handling] Requests (either originating from the application or
from external sources) are handled. A request is a job that the master shall
process asynchronously, for example an SII access, Sdo access, or similar.
process asynchronously, for example an SII access, SDO access, or similar.
\end{description}
@@ -1512,10 +1512,10 @@ image memory.
\item[PREOP] If the slave supports CoE, it is set to PREOP state using the
State change FSM (see sec.~\ref{sec:fsm-change}) to enable mailbox
communication and read the Pdo configuration via CoE.
communication and read the PDO configuration via CoE.
\item[Pdos] The Pdos are read via CoE (if supported) using the Pdo Reading FSM
(see sec.~\ref{sec:fsm-pdo}). If this is successful, the Pdo information from
\item[PDOs] The PDOs are read via CoE (if supported) using the PDO Reading FSM
(see sec.~\ref{sec:fsm-pdo}). If this is successful, the PDO information from
the SII (if any) is overwritten.
\end{description}
@@ -1554,18 +1554,18 @@ is skipped.
\item[PREOP] The state change FSM is used to bring the slave to PREOP state.
If this is the requested state, the state machine is finished.
\item[Sdo Configuration] If there is a slave configuration attached (see
sec.~\ref{sec:masterconfig}), and there are any Sdo configurations are
\item[SDO Configuration] If there is a slave configuration attached (see
sec.~\ref{sec:masterconfig}), and there are any SDO configurations are
provided by the application, these are sent to the slave.
\item[Pdo Configuration] The Pdo configuration state machine is executed to
apply all necessary Pdo configurations.
\item[PDO Configuration] The PDO configuration state machine is executed to
apply all necessary PDO configurations.
\item[Pdo Sync Manager Configuration] If any Pdo sync managers exist, they are
\item[PDO Sync Manager Configuration] If any PDO sync managers exist, they are
configured.
\item[FMMU Configuration] If there are FMMUs configurations supplied by the
application (i.\,e.\ if the application registered Pdo entries), they are
application (i.\,e.\ if the application registered PDO entries), they are
applied.
\item[SAFEOP] The state change FSM is used to bring the slave to SAFEOP state.
@@ -1677,60 +1677,60 @@ this state to avoid that another write operation is issued too early.
%------------------------------------------------------------------------------
\section{The Pdo State Machines}
\section{The PDO State Machines}
\label{sec:fsm-pdo}
\index{FSM!Pdo}
\index{FSM!PDO}
The Pdo state machines are a set of state machines that read or write the Pdo
assignment and the Pdo mapping via the ``CoE Communication Area'' described in
\cite[sec. 5.6.7.4]{alspec}. For the object access, the CANopen-over-EtherCAT
The PDO state machines are a set of state machines that read or write the PDO
assignment and the PDO mapping via the ``CoE Communication Area'' described in
\cite[sec. 5.6.7.4]{alspec}. For the object access, the CANopen over EtherCAT
access primitives are used (see sec.~\ref{sec:coe}), so the slave must support
the CoE mailbox protocol.
\paragraph{Pdo Reading FSM} This state machine (fig.~\ref{fig:fsm-pdo-read})
has the purpose to read the complete Pdo configuration of a slave. It reads
the Pdo assignment for each Sync Manager and uses the Pdo Entry Reading FSM
(fig.~\ref{fig:fsm-pdo-entry-read}) to read the mapping for each assigned Pdo.
\paragraph{PDO Reading FSM} This state machine (fig.~\ref{fig:fsm-pdo-read})
has the purpose to read the complete PDO configuration of a slave. It reads
the PDO assignment for each Sync Manager and uses the PDO Entry Reading FSM
(fig.~\ref{fig:fsm-pdo-entry-read}) to read the mapping for each assigned PDO.
\begin{figure}[htbp]
\centering
\includegraphics[width=.4\textwidth]{graphs/fsm_pdo_read}
\caption{Transition Diagram of the Pdo Reading State Machine}
\caption{Transition Diagram of the PDO Reading State Machine}
\label{fig:fsm-pdo-read}
\end{figure}
Basically it reads the every Sync manager's Pdo assignment Sdo's
Basically it reads the every Sync manager's PDO assignment SDO's
(\lstinline+0x1C1x+) number of elements to determine the number of assigned
Pdos for this sync manager and then reads out the subindices of the Sdo to get
the assigned Pdo's indices. When a Pdo index is read, the Pdo Entry Reading
FSM is executed to read the Pdo's mapped Pdo entries.
PDOs for this sync manager and then reads out the subindices of the SDO to get
the assigned PDO's indices. When a PDO index is read, the PDO Entry Reading
FSM is executed to read the PDO's mapped PDO entries.
\paragraph{Pdo Entry Reading FSM} This state machine
(fig.~\ref{fig:fsm-pdo-entry-read}) reads the Pdo mapping (the Pdo entries) of
a Pdo. It reads the respective mapping Sdo (\lstinline+0x1600+ --
\paragraph{PDO Entry Reading FSM} This state machine
(fig.~\ref{fig:fsm-pdo-entry-read}) reads the PDO mapping (the PDO entries) of
a PDO. It reads the respective mapping SDO (\lstinline+0x1600+ --
\lstinline+0x17ff+, or \lstinline+0x1a00+ -- \lstinline+0x1bff+) for the given
Pdo by reading first the subindex zero (number of elements) to determine the
number of mapped Pdo entries. After that, each subindex is read to get the
mapped Pdo entry index, subindex and bit size.
PDO by reading first the subindex zero (number of elements) to determine the
number of mapped PDO entries. After that, each subindex is read to get the
mapped PDO entry index, subindex and bit size.
\begin{figure}[htbp]
\centering
\includegraphics[width=.4\textwidth]{graphs/fsm_pdo_entry_read}
\caption{Transition Diagram of the Pdo Entry Reading State Machine}
\caption{Transition Diagram of the PDO Entry Reading State Machine}
\label{fig:fsm-pdo-entry-read}
\end{figure}
\begin{figure}[htbp]
\centering
\includegraphics[width=.9\textwidth]{graphs/fsm_pdo_conf}
\caption{Transition Diagram of the Pdo Configuration State Machine}
\caption{Transition Diagram of the PDO Configuration State Machine}
\label{fig:fsm-pdo-conf}
\end{figure}
\begin{figure}[htbp]
\centering
\includegraphics[width=.4\textwidth]{graphs/fsm_pdo_entry_conf}
\caption{Transition Diagram of the Pdo Entry Configuration State Machine}
\caption{Transition Diagram of the PDO Entry Configuration State Machine}
\label{fig:fsm-pdo-entry-conf}
\end{figure}
@@ -1744,12 +1744,12 @@ protocols. See the below section for details.
%------------------------------------------------------------------------------
\section{Ethernet-over-EtherCAT (EoE)}
\section{Ethernet over EtherCAT (EoE)}
\label{sec:eoe}
\index{EoE}
The EtherCAT master implements the
Ethernet-over-EtherCAT\nomenclature{EoE}{Ethernet-over-EtherCAT, Mailbox
Ethernet over EtherCAT\nomenclature{EoE}{Ethernet over EtherCAT, Mailbox
Protocol} mailbox protocol~\cite[sec.~5.7]{alspec} to enable the tunneling of
Ethernet frames to special slaves, that can either have physical Ethernet
ports to forward the frames to, or have an own IP stack to receive the frames.
@@ -1903,11 +1903,11 @@ application-layer state is automatically set to OP.
%------------------------------------------------------------------------------
\section{CANopen-over-EtherCAT (CoE)}
\section{CANopen over EtherCAT (CoE)}
\label{sec:coe}
\index{CoE}
The CANopen-over-EtherCAT\nomenclature{CoE}{CANopen-over-EtherCAT, Mailbox
The CANopen over EtherCAT\nomenclature{CoE}{CANopen over EtherCAT, Mailbox
Protocol} protocol~\cite[sec.~5.6]{alspec} is used to configure slaves and
exchange data objects on application level.
@@ -1916,23 +1916,23 @@ exchange data objects on application level.
% Download / Upload
% Expedited / Normal
% Segmenting
% Sdo Info Services
% SDO Info Services
%
\ldots
\paragraph{Sdo Download State Machine}
\paragraph{SDO Download State Machine}
The best time to apply Sdo configurations is during the slave's PREOP state,
The best time to apply SDO configurations is during the slave's PREOP state,
because mailbox communication is already possible and slave's application will
start with updating input data in the succeeding SAFEOP state. Therefore the
Sdo configuration has to be part of the slave configuration state machine (see
sec.~\ref{sec:fsm-conf}): It is implemented via an Sdo download state machine,
SDO configuration has to be part of the slave configuration state machine (see
sec.~\ref{sec:fsm-conf}): It is implemented via an SDO download state machine,
that is executed just before entering the slave's SAFEOP state. In this way,
it is guaranteed that the Sdo configurations are applied each time, the slave
it is guaranteed that the SDO configurations are applied each time, the slave
is reconfigured.
The transition diagram of the Sdo Download state machine can be seen
The transition diagram of the SDO Download state machine can be seen
in figure~\ref{fig:fsm-coedown}.
\begin{figure}[htbp]
@@ -1946,7 +1946,7 @@ in figure~\ref{fig:fsm-coedown}.
\begin{description}
\item[START] The beginning state of the CoE download state
machine. The ``Sdo Download Normal Request'' mailbox command is
machine. The ``SDO Download Normal Request'' mailbox command is
sent. $\rightarrow$~REQUEST
\item[REQUEST] It is checked, if the CoE download request has been
@@ -1955,7 +1955,7 @@ in figure~\ref{fig:fsm-coedown}.
\item[CHECK] If no mailbox data is available, the timer is checked.
\begin{itemize}
\item If it timed out, the Sdo download is aborted.
\item If it timed out, the SDO download is aborted.
$\rightarrow$~ERROR
\item Otherwise, the mailbox is queried again.
$\rightarrow$~CHECK
@@ -1965,22 +1965,22 @@ in figure~\ref{fig:fsm-coedown}.
$\rightarrow$~RESPONSE
\item[RESPONSE] If the mailbox response could not be fetched, the data
is invalid, the wrong protocol was received, or a ``Abort Sdo
Transfer Request'' was received, the Sdo download is aborted.
is invalid, the wrong protocol was received, or a ``Abort SDO
Transfer Request'' was received, the SDO download is aborted.
$\rightarrow$~ERROR
If a ``Sdo Download Normal Response'' acknowledgement was received,
the Sdo download was successful. $\rightarrow$~END
If a ``SDO Download Normal Response'' acknowledgement was received,
the SDO download was successful. $\rightarrow$~END
\item[END] The Sdo download was successful.
\item[END] The SDO download was successful.
\item[ERROR] The Sdo download was aborted due to an error.
\item[ERROR] The SDO download was aborted due to an error.
\end{description}
%------------------------------------------------------------------------------
\section{Vendor-specific-over-EtherCAT (VoE)}
\section{Vendor specific over EtherCAT (VoE)}
\label{sec:voe}
\index{VoE}
@@ -2087,19 +2087,19 @@ sec.~\ref{sec:autonode} for how to install and configure it.
%------------------------------------------------------------------------------
\subsection{Sync Managers, Pdos and Pdo Entries}
\subsection{Sync Managers, PDOs and PDO Entries}
\lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_pdos}
%------------------------------------------------------------------------------
\subsection{Sdo Dictionary}
\subsection{SDO Dictionary}
\lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_sdos}
%------------------------------------------------------------------------------
\subsection{Sdo Access}
\subsection{SDO Access}
\lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_download}

14
documentation/graphs/fsm_pdo_conf.dot
View File

@@ -8,8 +8,8 @@ digraph pdo_conf {
start -> end [fontname="Helvetica",label="No config"]
action_next_sync [shape=point,label=""]
action_next_sync -> action_check_assignment [fontname="Helvetica",label="No Pdos"]
action_next_sync -> action_pdo_mapping [fontname="Helvetica",label="First Pdo",weight=10]
action_next_sync -> action_check_assignment [fontname="Helvetica",label="No PDOs"]
action_next_sync -> action_pdo_mapping [fontname="Helvetica",label="First PDO",weight=10]
action_next_sync -> end [fontname="Helvetica",label="No more SMs"]
action_pdo_mapping [shape=point,label=""]
@@ -29,22 +29,22 @@ digraph pdo_conf {
action_next_pdo_mapping [shape=point,label=""]
action_next_pdo_mapping -> action_check_assignment [weight=10]
action_next_pdo_mapping -> action_pdo_mapping
[fontname="Helvetica",label="Next Pdo"]
[fontname="Helvetica",label="Next PDO"]
action_check_assignment [shape=point,label=""]
action_check_assignment -> action_next_sync [fontname="Helvetica",label="Assign ok"]
action_check_assignment -> zero_pdo_count [weight=10]
zero_pdo_count [fontname="Helvetica"]
zero_pdo_count -> action_next_sync [fontname="Helvetica",label="No Pdos"]
zero_pdo_count -> action_assign_pdo [fontname="Helvetica",label="First Pdo", weight=10]
zero_pdo_count -> action_next_sync [fontname="Helvetica",label="No PDOs"]
zero_pdo_count -> action_assign_pdo [fontname="Helvetica",label="First PDO", weight=10]
action_assign_pdo [shape=point,label=""]
action_assign_pdo -> assign_pdo [weight=10]
assign_pdo [fontname="Helvetica"]
assign_pdo -> set_pdo_count [fontname="Helvetica",label="No more Pdos", weight=10]
assign_pdo -> action_assign_pdo [fontname="Helvetica",label="Next Pdo"]
assign_pdo -> set_pdo_count [fontname="Helvetica",label="No more PDOs", weight=10]
assign_pdo -> action_assign_pdo [fontname="Helvetica",label="Next PDO"]
set_pdo_count [fontname="Helvetica"]
set_pdo_count -> action_next_sync

4
documentation/graphs/fsm_pdo_read.dot
View File

@@ -14,8 +14,8 @@ digraph pdo_read {
pdo_count -> action_next_pdo [weight=5]
action_next_pdo [shape=point,label=""]
action_next_pdo -> pdo [fontname="Helvetica", label="Next Pdo", weight=5]
action_next_pdo -> action_next_sync [fontname="Helvetica", label="No more Pdos"]
action_next_pdo -> pdo [fontname="Helvetica", label="Next PDO", weight=5]
action_next_pdo -> action_next_sync [fontname="Helvetica", label="No more PDOs"]
pdo [fontname="Helvetica"]
pdo -> pdo_entries [weight=5]

4
documentation/graphs/fsm_slave_conf.dot
View File

@@ -31,7 +31,7 @@ digraph slaveconf {
preop -> enter_sdo_conf [weight=10]
enter_sdo_conf [shape=point, label=""]
enter_sdo_conf -> enter_pdo_conf [fontname="Helvetica", label="No Sdos\nconfigured"]
enter_sdo_conf -> enter_pdo_conf [fontname="Helvetica", label="No SDOs\nconfigured"]
enter_sdo_conf -> sdo_conf [weight=10]
sdo_conf [fontname="Helvetica"]
@@ -46,7 +46,7 @@ digraph slaveconf {
pdo_conf -> enter_pdo_sync [weight=10]
enter_pdo_sync [shape=point, label=""]
enter_pdo_sync -> enter_fmmu [fontname="Helvetica", label="No Pdo SMs"]
enter_pdo_sync -> enter_fmmu [fontname="Helvetica", label="No PDO SMs"]
enter_pdo_sync -> pdo_sync [weight=10]
pdo_sync [fontname="Helvetica"]

8
documentation/images/app-config.fig
View File

@@ -95,16 +95,16 @@ Single
4 0 0 50 -1 18 12 0.0000 4 180 1290 3735 2025 Sync Manager\001
4 0 0 50 -1 16 12 0.0000 4 135 450 3735 2385 Index\001
4 0 0 50 -1 16 12 0.0000 4 135 750 3735 2610 Direction\001
4 0 0 50 -1 18 12 0.0000 4 180 1575 3735 3420 Sdo Configuration\001
4 0 0 50 -1 18 12 0.0000 4 180 1575 3735 3420 SDO Configuration\001
4 0 0 50 -1 16 12 0.0000 4 135 450 3735 3780 Index\001
4 0 0 50 -1 16 12 0.0000 4 135 780 3735 4005 Subindex\001
4 0 0 50 -1 16 12 0.0000 4 135 390 3735 4230 Data\001
4 0 0 50 -1 18 12 0.0000 4 180 1140 3735 5040 Sdo Request\001
4 0 0 50 -1 18 12 0.0000 4 180 1140 3735 5040 SDO Request\001
4 0 0 50 -1 16 12 0.0000 4 135 450 3735 5310 Index\001
4 0 0 50 -1 16 12 0.0000 4 135 780 3735 5535 Subindex\001
4 0 0 50 -1 18 12 0.0000 4 135 330 6210 2025 Pdo\001
4 0 0 50 -1 18 12 0.0000 4 135 330 6210 2025 PDO\001
4 0 0 50 -1 16 12 0.0000 4 135 450 6210 2385 Index\001
4 0 0 50 -1 18 12 0.0000 4 180 885 7785 2025 Pdo Entry\001
4 0 0 50 -1 18 12 0.0000 4 180 885 7785 2025 PDO Entry\001
4 0 0 50 -1 16 12 0.0000 4 135 450 7785 2340 Index\001
4 0 0 50 -1 16 12 0.0000 4 135 780 7785 2565 Subindex\001
4 0 0 50 -1 16 12 0.0000 4 180 720 7785 2790 Bitlength\001

2
documentation/images/fmmus.fig
View File

@@ -13,7 +13,7 @@ Single
6 3465 4455 5640 4680
2 2 0 1 0 7 50 -1 42 0.000 0 0 -1 0 0 5
3465 4455 3645 4455 3645 4680 3465 4680 3465 4455
4 0 0 50 -1 16 12 0.0000 4 180 1905 3735 4635 Registered Pdo Entries\001
4 0 0 50 -1 16 12 0.0000 4 180 1905 3735 4635 Registered PDO Entries\001
-6
2 1 1 1 0 7 52 -1 46 4.000 0 0 -1 0 0 2
1215 1665 1620 3870

24
examples/mini/mini.c
View File

@@ -75,7 +75,7 @@ static uint8_t *domain1_pd; // process data memory
#define Beckhoff_EL3152 0x00000002, 0x0c503052
#define Beckhoff_EL4102 0x00000002, 0x10063052
// offsets for Pdo entries
// offsets for PDO entries
static unsigned int off_ana_in;
static unsigned int off_ana_out;
static unsigned int off_dig_out;
@@ -255,12 +255,12 @@ void read_sdo(void)
printk(KERN_INFO PFX "Still busy...\n");
break;
case EC_REQUEST_SUCCESS:
printk(KERN_INFO PFX "Sdo value: 0x%04X\n",
printk(KERN_INFO PFX "SDO value: 0x%04X\n",
EC_READ_U16(ecrt_sdo_request_data(sdo)));
ecrt_sdo_request_read(sdo); // trigger next read
break;
case EC_REQUEST_ERROR:
printk(KERN_INFO PFX "Failed to read Sdo!\n");
printk(KERN_INFO PFX "Failed to read SDO!\n");
ecrt_sdo_request_read(sdo); // retry reading
break;
}
@@ -320,7 +320,7 @@ void cyclic_task(unsigned long data)
check_slave_config_states();
#if SDO_ACCESS
// read process data Sdo
// read process data SDO
read_sdo();
#endif
@@ -394,9 +394,9 @@ int __init init_mini_module(void)
}
#if CONFIGURE_PDOS
printk(KERN_INFO PFX "Configuring Pdos...\n");
printk(KERN_INFO PFX "Configuring PDOs...\n");
if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3152_syncs)) {
printk(KERN_ERR PFX "Failed to configure Pdos.\n");
printk(KERN_ERR PFX "Failed to configure PDOs.\n");
goto out_release_master;
}
@@ -407,7 +407,7 @@ int __init init_mini_module(void)
}
if (ecrt_slave_config_pdos(sc, EC_END, el4102_syncs)) {
printk(KERN_ERR PFX "Failed to configure Pdos.\n");
printk(KERN_ERR PFX "Failed to configure PDOs.\n");
goto out_release_master;
}
@@ -418,15 +418,15 @@ int __init init_mini_module(void)
}
if (ecrt_slave_config_pdos(sc, EC_END, el2004_syncs)) {
printk(KERN_ERR PFX "Failed to configure Pdos.\n");
printk(KERN_ERR PFX "Failed to configure PDOs.\n");
goto out_release_master;
}
#endif
#if SDO_ACCESS
printk(KERN_INFO PFX "Creating Sdo requests...\n");
printk(KERN_INFO PFX "Creating SDO requests...\n");
if (!(sdo = ecrt_slave_config_create_sdo_request(sc_ana_in, 0x3102, 2, 2))) {
printk(KERN_ERR PFX "Failed to create Sdo request.\n");
printk(KERN_ERR PFX "Failed to create SDO request.\n");
goto out_release_master;
}
ecrt_sdo_request_timeout(sdo, 500); // ms
@@ -440,9 +440,9 @@ int __init init_mini_module(void)
}
#endif
printk(KERN_INFO PFX "Registering Pdo entries...\n");
printk(KERN_INFO PFX "Registering PDO entries...\n");
if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
printk(KERN_ERR PFX "Pdo entry registration failed!\n");
printk(KERN_ERR PFX "PDO entry registration failed!\n");
goto out_release_master;
}

12
examples/rtai/rtai_sample.c
View File

@@ -80,7 +80,7 @@ static uint8_t *domain1_pd; // process data memory
#define Beckhoff_EL2004 0x00000002, 0x07D43052
#define Beckhoff_EL3162 0x00000002, 0x0C5A3052
static unsigned int off_ana_in; // offsets for Pdo entries
static unsigned int off_ana_in; // offsets for PDO entries
static unsigned int off_dig_out;
const static ec_pdo_entry_reg_t domain1_regs[] = {
@@ -297,9 +297,9 @@ int __init init_mod(void)
}
#ifdef CONFIGURE_PDOS
printk(KERN_INFO PFX "Configuring Pdos...\n");
printk(KERN_INFO PFX "Configuring PDOs...\n");
if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3162_syncs)) {
printk(KERN_ERR PFX "Failed to configure Pdos.\n");
printk(KERN_ERR PFX "Failed to configure PDOs.\n");
goto out_release_master;
}
@@ -309,14 +309,14 @@ int __init init_mod(void)
}
if (ecrt_slave_config_pdos(sc, EC_END, el2004_syncs)) {
printk(KERN_ERR PFX "Failed to configure Pdos.\n");
printk(KERN_ERR PFX "Failed to configure PDOs.\n");
goto out_release_master;
}
#endif
printk(KERN_INFO PFX "Registering Pdo entries...\n");
printk(KERN_INFO PFX "Registering PDO entries...\n");
if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
printk(KERN_ERR PFX "Pdo entry registration failed!\n");
printk(KERN_ERR PFX "PDO entry registration failed!\n");
goto out_release_master;
}

12
examples/user/main.c
View File

@@ -78,7 +78,7 @@ static uint8_t *domain1_pd = NULL;
#define Beckhoff_EL3152 0x00000002, 0x0c503052
#define Beckhoff_EL4102 0x00000002, 0x10063052
// offsets for Pdo entries
// offsets for PDO entries
static unsigned int off_ana_in_status;
static unsigned int off_ana_in_value;
static unsigned int off_ana_out;
@@ -293,9 +293,9 @@ int main(int argc, char **argv)
}
#if CONFIGURE_PDOS
printf("Configuring Pdos...\n");
printf("Configuring PDOs...\n");
if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3152_syncs)) {
fprintf(stderr, "Failed to configure Pdos.\n");
fprintf(stderr, "Failed to configure PDOs.\n");
return -1;
}
@@ -306,7 +306,7 @@ int main(int argc, char **argv)
}
if (ecrt_slave_config_pdos(sc, EC_END, el4102_syncs)) {
fprintf(stderr, "Failed to configure Pdos.\n");
fprintf(stderr, "Failed to configure PDOs.\n");
return -1;
}
@@ -317,7 +317,7 @@ int main(int argc, char **argv)
}
if (ecrt_slave_config_pdos(sc, EC_END, el2004_syncs)) {
fprintf(stderr, "Failed to configure Pdos.\n");
fprintf(stderr, "Failed to configure PDOs.\n");
return -1;
}
#endif
@@ -328,7 +328,7 @@ int main(int argc, char **argv)
return -1;
if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
fprintf(stderr, "Pdo entry registration failed!\n");
fprintf(stderr, "PDO entry registration failed!\n");
return -1;
}

178
include/ecrt.h
View File

@@ -56,18 +56,18 @@
* offers the possibility to use a shared-memory region. Therefore,
* added the domain methods ecrt_domain_size() and
* ecrt_domain_external_memory().
* - Pdo entry registration functions do not return a process data pointer,
* - PDO entry registration functions do not return a process data pointer,
* but an offset in the domain's process data. In addition, an optional bit
* position can be requested. This was necessary for the external domain
* memory. An additional advantage is, that the returned offset is
* immediately valid. If the domain's process data is allocated internally,
* the start address can be retrieved with ecrt_domain_data().
* - Replaced ecrt_slave_pdo_mapping/add/clear() with
* ecrt_slave_config_pdo_assign_add() to add a Pdo to a sync manager's Pdo
* assignment and ecrt_slave_config_pdo_mapping_add() to add a Pdo entry to a
* Pdo's mapping. ecrt_slave_config_pdos() is a convenience function
* ecrt_slave_config_pdo_assign_add() to add a PDO to a sync manager's PDO
* assignment and ecrt_slave_config_pdo_mapping_add() to add a PDO entry to a
* PDO's mapping. ecrt_slave_config_pdos() is a convenience function
* for both, that uses the new data types ec_pdo_info_t and
* ec_pdo_entry_info_t. Pdo entries, that are mapped with these functions
* ec_pdo_entry_info_t. PDO entries, that are mapped with these functions
* can now immediately be registered, even if the bus is offline.
* - Renamed ec_bus_status_t, ec_master_status_t to ec_bus_state_t and
* ec_master_state_t, respectively. Renamed ecrt_master_get_status() to
@@ -75,15 +75,15 @@
* - Added ec_domain_state_t and #ec_wc_state_t for a new output parameter
* of ecrt_domain_state(). The domain state object does now contain
* information, if the process data was exchanged completely.
* - Former "Pdo registration" meant Pdo entry registration in fact, therefore
* - Former "PDO registration" meant PDO entry registration in fact, therefore
* renamed ec_pdo_reg_t to ec_pdo_entry_reg_t and ecrt_domain_register_pdo()
* to ecrt_slave_config_reg_pdo_entry().
* - Removed ecrt_domain_register_pdo_range(), because it's functionality can
* be reached by specifying an explicit Pdo assignment/mapping and
* registering the mapped Pdo entries.
* - Added an Sdo access interface, working with Sdo requests. These can be
* be reached by specifying an explicit PDO assignment/mapping and
* registering the mapped PDO entries.
* - Added an SDO access interface, working with SDO requests. These can be
* scheduled for reading and writing during realtime operation.
* - Exported ecrt_slave_config_sdo(), the generic Sdo configuration function.
* - Exported ecrt_slave_config_sdo(), the generic SDO configuration function.
* - Removed the bus_state and bus_tainted flags from ec_master_state_t.
*
* @{
@@ -223,7 +223,7 @@ typedef struct {
/*****************************************************************************/
/** Direction type for Pdo assignment functions.
/** Direction type for PDO assignment functions.
*/
typedef enum {
EC_DIR_INVALID, /**< Invalid direction. Do not use this value. */
@@ -234,33 +234,33 @@ typedef enum {
/*****************************************************************************/
/** Pdo entry configuration information.
/** PDO entry configuration information.
*
* This is the data type of the \a entries field in ec_pdo_info_t.
*
* \see ecrt_slave_config_pdos().
*/
typedef struct {
uint16_t index; /**< Pdo entry index. */
uint8_t subindex; /**< Pdo entry subindex. */
uint8_t bit_length; /**< Size of the Pdo entry in bit. */
uint16_t index; /**< PDO entry index. */
uint8_t subindex; /**< PDO entry subindex. */
uint8_t bit_length; /**< Size of the PDO entry in bit. */
} ec_pdo_entry_info_t;
/*****************************************************************************/
/** Pdo configuration information.
/** PDO configuration information.
*
* This is the data type of the \a pdos field in ec_sync_info_t.
*
* \see ecrt_slave_config_pdos().
*/
typedef struct {
uint16_t index; /**< Pdo index. */
unsigned int n_entries; /**< Number of Pdo entries in \a entries to map.
uint16_t index; /**< PDO index. */
unsigned int n_entries; /**< Number of PDO entries in \a entries to map.
Zero means, that the default mapping shall be
used (this can only be done if the slave is
present at bus configuration time). */
ec_pdo_entry_info_t *entries; /**< Array of Pdo entries to map. Can either
ec_pdo_entry_info_t *entries; /**< Array of PDO entries to map. Can either
be \a NULL, or must contain at
least \a n_entries values. */
} ec_pdo_info_t;
@@ -269,8 +269,8 @@ typedef struct {
/** Sync manager configuration information.
*
* This can be use to configure multiple sync managers including the Pdo
* assignment and Pdo mapping. It is used as an input parameter type in
* This can be use to configure multiple sync managers including the PDO
* assignment and PDO mapping. It is used as an input parameter type in
* ecrt_slave_config_pdos().
*/
typedef struct {
@@ -278,14 +278,14 @@ typedef struct {
than #EC_MAX_SYNC_MANAGERS for a valid sync manager,
but can also be \a 0xff to mark the end of the list. */
ec_direction_t dir; /**< Sync manager direction. */
unsigned int n_pdos; /**< Number of Pdos in \a pdos. */
ec_pdo_info_t *pdos; /**< Array with Pdos to assign. This must contain
at least \a n_pdos Pdos. */
unsigned int n_pdos; /**< Number of PDOs in \a pdos. */
ec_pdo_info_t *pdos; /**< Array with PDOs to assign. This must contain
at least \a n_pdos PDOs. */
} ec_sync_info_t;
/*****************************************************************************/
/** List record type for Pdo entry mass-registration.
/** List record type for PDO entry mass-registration.
*
* This type is used for the array parameter of the
* ecrt_domain_reg_pdo_entry_list()
@@ -295,14 +295,14 @@ typedef struct {
uint16_t position; /**< Slave position. */
uint32_t vendor_id; /**< Slave vendor ID. */
uint32_t product_code; /**< Slave product code. */
uint16_t index; /**< Pdo entry index. */
uint8_t subindex; /**< Pdo entry subindex. */
unsigned int *offset; /**< Pointer to a variable to store the Pdo entry's
uint16_t index; /**< PDO entry index. */
uint8_t subindex; /**< PDO entry subindex. */
unsigned int *offset; /**< Pointer to a variable to store the PDO entry's
(byte-)offset in the process data. */
unsigned int *bit_position; /**< Pointer to a variable to store a bit
position (0-7) within the \a offset. Can be
NULL, in which case an error is raised if the
Pdo entry does not byte-align. */
PDO entry does not byte-align. */
} ec_pdo_entry_reg_t;
/*****************************************************************************/
@@ -389,7 +389,7 @@ void ecrt_master_callbacks(
*
* For process data exchange, at least one process data domain is needed.
* This method creates a new process data domain and returns a pointer to the
* new domain object. This object can be used for registering Pdos and
* new domain object. This object can be used for registering PDOs and
* exchanging them in cyclic operation.
*
* \return Pointer to the new domain on success, else NULL.
@@ -506,7 +506,7 @@ int ecrt_slave_config_sync_manager(
ec_direction_t dir /**< Input/Output. */
);
/** Add a Pdo to a sync manager's Pdo assignment.
/** Add a PDO to a sync manager's PDO assignment.
*
* \see ecrt_slave_config_pdos()
* \return zero on success, else non-zero
@@ -515,12 +515,12 @@ int ecrt_slave_config_pdo_assign_add(
ec_slave_config_t *sc, /**< Slave configuration. */
uint8_t sync_index, /**< Sync manager index. Must be less
than #EC_MAX_SYNC_MANAGERS. */
uint16_t index /**< Index of the Pdo to assign. */
uint16_t index /**< Index of the PDO to assign. */
);
/** Clear a sync manager's Pdo assignment.
/** Clear a sync manager's PDO assignment.
*
* This can be called before assigning Pdos via
* This can be called before assigning PDOs via
* ecrt_slave_config_pdo_assign_add(), to clear the default assignment of a
* sync manager.
*
@@ -532,34 +532,34 @@ void ecrt_slave_config_pdo_assign_clear(
than #EC_MAX_SYNC_MANAGERS. */
);
/** Add a Pdo entry to the given Pdo's mapping.
/** Add a PDO entry to the given PDO's mapping.
*
* \see ecrt_slave_config_pdos()
* \return zero on success, else non-zero
*/
int ecrt_slave_config_pdo_mapping_add(
ec_slave_config_t *sc, /**< Slave configuration. */
uint16_t pdo_index, /**< Index of the Pdo. */
uint16_t entry_index, /**< Index of the Pdo entry to add to the Pdo's
uint16_t pdo_index, /**< Index of the PDO. */
uint16_t entry_index, /**< Index of the PDO entry to add to the PDO's
mapping. */
uint8_t entry_subindex, /**< Subindex of the Pdo entry to add to the
Pdo's mapping. */
uint8_t entry_bit_length /**< Size of the Pdo entry in bit. */
uint8_t entry_subindex, /**< Subindex of the PDO entry to add to the
PDO's mapping. */
uint8_t entry_bit_length /**< Size of the PDO entry in bit. */
);
/** Clear the mapping of a given Pdo.
/** Clear the mapping of a given PDO.
*
* This can be called before mapping Pdo entries via
* This can be called before mapping PDO entries via
* ecrt_slave_config_pdo_mapping_add(), to clear the default mapping.
*
* \see ecrt_slave_config_pdos()
*/
void ecrt_slave_config_pdo_mapping_clear(
ec_slave_config_t *sc, /**< Slave configuration. */
uint16_t pdo_index /**< Index of the Pdo. */
uint16_t pdo_index /**< Index of the PDO. */
);
/** Specify a complete Pdo configuration.
/** Specify a complete PDO configuration.
*
* This function is a convenience wrapper for the functions
* ecrt_slave_config_sync_manager(), ecrt_slave_config_pdo_assign_clear(),
@@ -568,7 +568,7 @@ void ecrt_slave_config_pdo_mapping_clear(
* automatic code generation.
*
* The following example shows, how to specify a complete configuration,
* including the Pdo mappings. With this information, the master is able to
* including the PDO mappings. With this information, the master is able to
* reserve the complete process data, even if the slave is not present at
* configuration time:
*
@@ -599,9 +599,9 @@ void ecrt_slave_config_pdo_mapping_clear(
* }
* \endcode
*
* The next example shows, how to configure the Pdo assignment only. The
* entries for each assigned Pdo are taken from the Pdo's default mapping.
* Please note, that Pdo entry registration will fail, if the Pdo
* The next example shows, how to configure the PDO assignment only. The
* entries for each assigned PDO are taken from the PDO's default mapping.
* Please note, that PDO entry registration will fail, if the PDO
* configuration is left empty and the slave is offline.
*
* \code
@@ -635,44 +635,44 @@ int ecrt_slave_config_pdos(
configurations. */
);
/** Registers a Pdo entry for process data exchange in a domain.
/** Registers a PDO entry for process data exchange in a domain.
*
* Searches the assigned Pdos for the given Pdo entry. An error is raised, if
* Searches the assigned PDOs for the given PDO entry. An error is raised, if
* the given entry is not mapped. Otherwise, the corresponding sync manager
* and FMMU configurations are provided for slave configuration and the
* respective sync manager's assigned Pdos are appended to the given domain,
* if not already done. The offset of the requested Pdo entry's data inside
* the domain's process data is returned. Optionally, the Pdo entry bit
* respective sync manager's assigned PDOs are appended to the given domain,
* if not already done. The offset of the requested PDO entry's data inside
* the domain's process data is returned. Optionally, the PDO entry bit
* position (0-7) can be retrieved via the \a bit_position output parameter.
* This pointer may be \a NULL, in this case an error is raised if the Pdo
* This pointer may be \a NULL, in this case an error is raised if the PDO
* entry does not byte-align.
*
* \retval >=0 Success: Offset of the Pdo entry's process data.
* \retval >=0 Success: Offset of the PDO entry's process data.
* \retval <0 Error code.
*/
int ecrt_slave_config_reg_pdo_entry(
ec_slave_config_t *sc, /**< Slave configuration. */
uint16_t entry_index, /**< Index of the Pdo entry to register. */
uint8_t entry_subindex, /**< Subindex of the Pdo entry to register. */
uint16_t entry_index, /**< Index of the PDO entry to register. */
uint8_t entry_subindex, /**< Subindex of the PDO entry to register. */
ec_domain_t *domain, /**< Domain. */
unsigned int *bit_position /**< Optional address if bit addressing
is desired */
);
/** Add an Sdo configuration.
/** Add an SDO configuration.
*
* An Sdo configuration is stored in the slave configuration object and is
* An SDO configuration is stored in the slave configuration object and is
* downloaded to the slave whenever the slave is being configured by the
* master. This usually happens once on master activation, but can be repeated
* subsequently, for example after the slave's power supply failed.
*
* \attention The Sdos for Pdo assignment (\p 0x1C10 - \p 0x1C2F) and Pdo
* \attention The SDOs for PDO assignment (\p 0x1C10 - \p 0x1C2F) and PDO
* mapping (\p 0x1600 - \p 0x17FF and \p 0x1A00 - \p 0x1BFF) should not be
* configured with this function, because they are part of the slave
* configuration done by the master. Please use ecrt_slave_config_pdos() and
* friends instead.
*
* This is the generic function for adding an Sdo configuration. Please note
* This is the generic function for adding an SDO configuration. Please note
* that the this function does not do any endianess correction. If
* datatype-specific functions are needed (that automatically correct the
* endianess), have a look at ecrt_slave_config_sdo8(),
@@ -683,8 +683,8 @@ int ecrt_slave_config_reg_pdo_entry(
*/
int ecrt_slave_config_sdo(
ec_slave_config_t *sc, /**< Slave configuration. */
uint16_t index, /**< Index of the Sdo to configure. */
uint8_t subindex, /**< Subindex of the Sdo to configure. */
uint16_t index, /**< Index of the SDO to configure. */
uint8_t subindex, /**< Subindex of the SDO to configure. */
const uint8_t *data, /**< Pointer to the data. */
size_t size /**< Size of the \a data. */
);
@@ -731,15 +731,15 @@ int ecrt_slave_config_sdo32(
uint32_t value /**< Value to set. */
);
/** Create an Sdo request to exchange Sdos during realtime operation.
/** Create an SDO request to exchange SDOs during realtime operation.
*
* The created Sdo request object is freed automatically when the master is
* The created SDO request object is freed automatically when the master is
* released.
*/
ec_sdo_request_t *ecrt_slave_config_create_sdo_request(
ec_slave_config_t *sc, /**< Slave configuration. */
uint16_t index, /**< Sdo index. */
uint8_t subindex, /**< Sdo subindex. */
uint16_t index, /**< SDO index. */
uint8_t subindex, /**< SDO subindex. */
size_t size /**< Data size to reserve. */
);
@@ -771,7 +771,7 @@ void ecrt_slave_config_state(
* Domain methods
*****************************************************************************/
/** Registers a bunch of Pdo entries for a domain.
/** Registers a bunch of PDO entries for a domain.
*
* \todo doc
* \attention The registration array has to be terminated with an empty
@@ -780,7 +780,7 @@ void ecrt_slave_config_state(
*/
int ecrt_domain_reg_pdo_entry_list(
ec_domain_t *domain, /**< Domain. */
const ec_pdo_entry_reg_t *pdo_entry_regs /**< Array of Pdo
const ec_pdo_entry_reg_t *pdo_entry_regs /**< Array of PDO
registrations. */
);
@@ -796,11 +796,11 @@ size_t ecrt_domain_size(
/** Provide external memory to store the domain's process data.
*
* Call this after all Pdo entries have been registered and before activating
* Call this after all PDO entries have been registered and before activating
* the master.
*
* The size of the allocated memory must be at least ecrt_domain_size(), after
* all Pdo entries have been registered.
* all PDO entries have been registered.
*/
void ecrt_domain_external_memory(
ec_domain_t *domain, /**< Domain. */
@@ -858,10 +858,10 @@ void ecrt_domain_state(
);
/*****************************************************************************
* Sdo request methods.
* SDO request methods.
****************************************************************************/
/** Set the timeout for an Sdo request.
/** Set the timeout for an SDO request.
*
* If the request cannot be processed in the specified time, if will be marked
* as failed.
@@ -870,14 +870,14 @@ void ecrt_domain_state(
* the next call of this method.
*/
void ecrt_sdo_request_timeout(
ec_sdo_request_t *req, /**< Sdo request. */
ec_sdo_request_t *req, /**< SDO request. */
uint32_t timeout /**< Timeout in milliseconds. Zero means no
timeout. */
);
/** Access to the Sdo request's data.
/** Access to the SDO request's data.
*
* This function returns a pointer to the request's internal Sdo data memory.
* This function returns a pointer to the request's internal SDO data memory.
*
* - After a read operation was successful, integer data can be evaluated using
* the EC_READ_*() macros as usual. Example:
@@ -893,45 +893,45 @@ void ecrt_sdo_request_timeout(
* \endcode
*
* \attention The return value can be invalid during a read operation, because
* the internal Sdo data memory could be re-allocated if the read Sdo data do
* the internal SDO data memory could be re-allocated if the read SDO data do
* not fit inside.
*
* \return Pointer to the internal Sdo data memory.
* \return Pointer to the internal SDO data memory.
*/
uint8_t *ecrt_sdo_request_data(
ec_sdo_request_t *req /**< Sdo request. */
ec_sdo_request_t *req /**< SDO request. */
);
/** Returns the current Sdo data size.
/** Returns the current SDO data size.
*
* When the Sdo request is created, the data size is set to the size of the
* When the SDO request is created, the data size is set to the size of the
* reserved memory. After a read operation the size is set to the size of the
* read data. The size is not modified in any other situation.
*
* \return Sdo data size in bytes.
* \return SDO data size in bytes.
*/
size_t ecrt_sdo_request_data_size(
const ec_sdo_request_t *req /**< Sdo request. */
const ec_sdo_request_t *req /**< SDO request. */
);
/** Get the current state of the Sdo request.
/** Get the current state of the SDO request.
*
* \return Request state.
*/
ec_request_state_t ecrt_sdo_request_state(
const ec_sdo_request_t *req /**< Sdo request. */
const ec_sdo_request_t *req /**< SDO request. */
);
/** Schedule an Sdo write operation.
/** Schedule an SDO write operation.
*
* \attention This method may not be called while ecrt_sdo_request_state()
* returns EC_SDO_REQUEST_BUSY.
*/
void ecrt_sdo_request_write(
ec_sdo_request_t *req /**< Sdo request. */
ec_sdo_request_t *req /**< SDO request. */
);
/** Schedule an Sdo read operation.
/** Schedule an SDO read operation.
*
* \attention This method may not be called while ecrt_sdo_request_state()
* returns EC_SDO_REQUEST_BUSY.
@@ -941,7 +941,7 @@ void ecrt_sdo_request_write(
* ecrt_sdo_request_state() returns EC_SDO_REQUEST_BUSY.
*/
void ecrt_sdo_request_read(
ec_sdo_request_t *req /**< Sdo request. */
ec_sdo_request_t *req /**< SDO request. */
);
/*****************************************************************************

14
lib/slave_config.c
View File

@@ -73,7 +73,7 @@ int ecrt_slave_config_pdo_assign_add(ec_slave_config_t *sc,
data.index = pdo_index;
if (ioctl(sc->master->fd, EC_IOCTL_SC_ADD_PDO, &data) == -1) {
fprintf(stderr, "Failed to add Pdo: %s\n",
fprintf(stderr, "Failed to add PDO: %s\n",
strerror(errno));
return -1; // FIXME
}
@@ -92,7 +92,7 @@ void ecrt_slave_config_pdo_assign_clear(ec_slave_config_t *sc,
data.sync_index = sync_index;
if (ioctl(sc->master->fd, EC_IOCTL_SC_CLEAR_PDOS, &data) == -1) {
fprintf(stderr, "Failed to clear Pdos: %s\n",
fprintf(stderr, "Failed to clear PDOs: %s\n",
strerror(errno));
}
}
@@ -112,7 +112,7 @@ int ecrt_slave_config_pdo_mapping_add(ec_slave_config_t *sc,
data.entry_bit_length = entry_bit_length;
if (ioctl(sc->master->fd, EC_IOCTL_SC_ADD_ENTRY, &data) == -1) {
fprintf(stderr, "Failed to add Pdo entry: %s\n",
fprintf(stderr, "Failed to add PDO entry: %s\n",
strerror(errno));
return -1; // FIXME
}
@@ -131,7 +131,7 @@ void ecrt_slave_config_pdo_mapping_clear(ec_slave_config_t *sc,
data.index = pdo_index;
if (ioctl(sc->master->fd, EC_IOCTL_SC_CLEAR_ENTRIES, &data) == -1) {
fprintf(stderr, "Failed to clear Pdo entries: %s\n",
fprintf(stderr, "Failed to clear PDO entries: %s\n",
strerror(errno));
}
}
@@ -219,7 +219,7 @@ int ecrt_slave_config_reg_pdo_entry(
ret = ioctl(sc->master->fd, EC_IOCTL_SC_REG_PDO_ENTRY, &data);
if (ret == -1) {
fprintf(stderr, "Failed to register Pdo entry: %s\n",
fprintf(stderr, "Failed to register PDO entry: %s\n",
strerror(errno));
return -2; // FIXME
}
@@ -228,7 +228,7 @@ int ecrt_slave_config_reg_pdo_entry(
*bit_position = data.bit_position;
} else {
if (data.bit_position) {
fprintf(stderr, "Pdo entry 0x%04X:%02X does not byte-align "
fprintf(stderr, "PDO entry 0x%04X:%02X does not byte-align "
"in config %u:%u.\n", index, subindex,
sc->alias, sc->position);
return -3; // FIXME
@@ -252,7 +252,7 @@ int ecrt_slave_config_sdo(ec_slave_config_t *sc, uint16_t index,
data.size = size;
if (ioctl(sc->master->fd, EC_IOCTL_SC_REG_PDO_ENTRY, &data) == -1) {
fprintf(stderr, "Failed to configure Sdo.\n");
fprintf(stderr, "Failed to configure SDO.\n");
return -1; // FIXME
}

2
lib/voe_handler.c
View File

@@ -26,7 +26,7 @@
*****************************************************************************/
/** \file
* Vendor-specific-over-EtherCAT protocol handler functions.
* Vendor specific over EtherCAT protocol handler functions.
*/
/*****************************************************************************/

50
master/cdev.c
View File

@@ -306,7 +306,7 @@ int ec_cdev_ioctl_slave_sync(
/*****************************************************************************/
/** Get slave sync manager Pdo information.
/** Get slave sync manager PDO information.
*/
int ec_cdev_ioctl_slave_sync_pdo(
ec_master_t *master, /**< EtherCAT master. */
@@ -343,7 +343,7 @@ int ec_cdev_ioctl_slave_sync_pdo(
if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(
&sync->pdos, data.pdo_pos))) {
up(&master->master_sem);
EC_ERR("Sync manager %u does not contain a Pdo with "
EC_ERR("Sync manager %u does not contain a PDO with "
"position %u in slave %u!\n", data.sync_index,
data.pdo_pos, data.slave_position);
return -EINVAL;
@@ -363,7 +363,7 @@ int ec_cdev_ioctl_slave_sync_pdo(
/*****************************************************************************/
/** Get slave sync manager Pdo entry information.
/** Get slave sync manager PDO entry information.
*/
int ec_cdev_ioctl_slave_sync_pdo_entry(
ec_master_t *master, /**< EtherCAT master. */
@@ -401,7 +401,7 @@ int ec_cdev_ioctl_slave_sync_pdo_entry(
if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(
&sync->pdos, data.pdo_pos))) {
up(&master->master_sem);
EC_ERR("Sync manager %u does not contain a Pdo with "
EC_ERR("Sync manager %u does not contain a PDO with "
"position %u in slave %u!\n", data.sync_index,
data.pdo_pos, data.slave_position);
return -EINVAL;
@@ -410,7 +410,7 @@ int ec_cdev_ioctl_slave_sync_pdo_entry(
if (!(entry = ec_pdo_find_entry_by_pos_const(
pdo, data.entry_pos))) {
up(&master->master_sem);
EC_ERR("Pdo 0x%04X does not contain an entry with "
EC_ERR("PDO 0x%04X does not contain an entry with "
"position %u in slave %u!\n", data.pdo_pos,
data.entry_pos, data.slave_position);
return -EINVAL;
@@ -604,7 +604,7 @@ int ec_cdev_ioctl_slave_state(
/*****************************************************************************/
/** Get slave Sdo information.
/** Get slave SDO information.
*/
int ec_cdev_ioctl_slave_sdo(
ec_master_t *master, /**< EtherCAT master. */
@@ -632,7 +632,7 @@ int ec_cdev_ioctl_slave_sdo(
if (!(sdo = ec_slave_get_sdo_by_pos_const(
slave, data.sdo_position))) {
up(&master->master_sem);
EC_ERR("Sdo %u does not exist in slave %u!\n",
EC_ERR("SDO %u does not exist in slave %u!\n",
data.sdo_position, data.slave_position);
return -EINVAL;
}
@@ -651,7 +651,7 @@ int ec_cdev_ioctl_slave_sdo(
/*****************************************************************************/
/** Get slave Sdo entry information.
/** Get slave SDO entry information.
*/
int ec_cdev_ioctl_slave_sdo_entry(
ec_master_t *master, /**< EtherCAT master. */
@@ -681,7 +681,7 @@ int ec_cdev_ioctl_slave_sdo_entry(
if (!(sdo = ec_slave_get_sdo_by_pos_const(
slave, -data.sdo_spec))) {
up(&master->master_sem);
EC_ERR("Sdo %u does not exist in slave %u!\n",
EC_ERR("SDO %u does not exist in slave %u!\n",
-data.sdo_spec, data.slave_position);
return -EINVAL;
}
@@ -689,7 +689,7 @@ int ec_cdev_ioctl_slave_sdo_entry(
if (!(sdo = ec_slave_get_sdo_const(
slave, data.sdo_spec))) {
up(&master->master_sem);
EC_ERR("Sdo 0x%04X does not exist in slave %u!\n",
EC_ERR("SDO 0x%04X does not exist in slave %u!\n",
data.sdo_spec, data.slave_position);
return -EINVAL;
}
@@ -698,7 +698,7 @@ int ec_cdev_ioctl_slave_sdo_entry(
if (!(entry = ec_sdo_get_entry_const(
sdo, data.sdo_entry_subindex))) {
up(&master->master_sem);
EC_ERR("Sdo entry 0x%04X:%02X does not exist "
EC_ERR("SDO entry 0x%04X:%02X does not exist "
"in slave %u!\n", sdo->index,
data.sdo_entry_subindex, data.slave_position);
return -EINVAL;
@@ -718,7 +718,7 @@ int ec_cdev_ioctl_slave_sdo_entry(
/*****************************************************************************/
/** Upload Sdo.
/** Upload SDO.
*/
int ec_cdev_ioctl_slave_sdo_upload(
ec_master_t *master, /**< EtherCAT master. */
@@ -803,7 +803,7 @@ int ec_cdev_ioctl_slave_sdo_upload(
/*****************************************************************************/
/** Download Sdo.
/** Download SDO.
*/
int ec_cdev_ioctl_slave_sdo_download(
ec_master_t *master, /**< EtherCAT master. */
@@ -1219,7 +1219,7 @@ int ec_cdev_ioctl_config(
/*****************************************************************************/
/** Get slave configuration Pdo information.
/** Get slave configuration PDO information.
*/
int ec_cdev_ioctl_config_pdo(
ec_master_t *master, /**< EtherCAT master. */
@@ -1255,7 +1255,7 @@ int ec_cdev_ioctl_config_pdo(
&sc->sync_configs[data.sync_index].pdos,
data.pdo_pos))) {
up(&master->master_sem);
EC_ERR("Invalid Pdo position!\n");
EC_ERR("Invalid PDO position!\n");
return -EINVAL;
}
@@ -1273,7 +1273,7 @@ int ec_cdev_ioctl_config_pdo(
/*****************************************************************************/
/** Get slave configuration Pdo entry information.
/** Get slave configuration PDO entry information.
*/
int ec_cdev_ioctl_config_pdo_entry(
ec_master_t *master, /**< EtherCAT master. */
@@ -1310,7 +1310,7 @@ int ec_cdev_ioctl_config_pdo_entry(
&sc->sync_configs[data.sync_index].pdos,
data.pdo_pos))) {
up(&master->master_sem);
EC_ERR("Invalid Pdo position!\n");
EC_ERR("Invalid PDO position!\n");
return -EINVAL;
}
@@ -1336,7 +1336,7 @@ int ec_cdev_ioctl_config_pdo_entry(
/*****************************************************************************/
/** Get slave configuration Sdo information.
/** Get slave configuration SDO information.
*/
int ec_cdev_ioctl_config_sdo(
ec_master_t *master, /**< EtherCAT master. */
@@ -1365,7 +1365,7 @@ int ec_cdev_ioctl_config_sdo(
if (!(req = ec_slave_config_get_sdo_by_pos_const(
sc, data.sdo_pos))) {
up(&master->master_sem);
EC_ERR("Invalid Sdo position!\n");
EC_ERR("Invalid SDO position!\n");
return -EINVAL;
}
@@ -1642,7 +1642,7 @@ out_return:
/*****************************************************************************/
/** Add a Pdo to the assignment.
/** Add a PDO to the assignment.
*/
int ec_cdev_ioctl_sc_add_pdo(
ec_master_t *master, /**< EtherCAT master. */
@@ -1674,7 +1674,7 @@ int ec_cdev_ioctl_sc_add_pdo(
/*****************************************************************************/
/** Clears the Pdo assignment.
/** Clears the PDO assignment.
*/
int ec_cdev_ioctl_sc_clear_pdos(
ec_master_t *master, /**< EtherCAT master. */
@@ -1707,7 +1707,7 @@ int ec_cdev_ioctl_sc_clear_pdos(
/*****************************************************************************/
/** Add an entry to a Pdo's mapping.
/** Add an entry to a PDO's mapping.
*/
int ec_cdev_ioctl_sc_add_entry(
ec_master_t *master, /**< EtherCAT master. */
@@ -1740,7 +1740,7 @@ int ec_cdev_ioctl_sc_add_entry(
/*****************************************************************************/
/** Clears the mapping of a Pdo.
/** Clears the mapping of a PDO.
*/
int ec_cdev_ioctl_sc_clear_entries(
ec_master_t *master, /**< EtherCAT master. */
@@ -1773,7 +1773,7 @@ int ec_cdev_ioctl_sc_clear_entries(
/*****************************************************************************/
/** Registers a Pdo entry.
/** Registers a PDO entry.
*/
int ec_cdev_ioctl_sc_reg_pdo_entry(
ec_master_t *master, /**< EtherCAT master. */
@@ -1818,7 +1818,7 @@ int ec_cdev_ioctl_sc_reg_pdo_entry(
/*****************************************************************************/
/** Configures an Sdo.
/** Configures an SDO.
*/
int ec_cdev_ioctl_sc_sdo(
ec_master_t *master, /**< EtherCAT master. */

2
master/ethernet.c
View File

@@ -26,7 +26,7 @@
/**
\file
Ethernet-over-EtherCAT (EoE).
Ethernet over EtherCAT (EoE).
*/
/*****************************************************************************/

4
master/ethernet.h
View File

@@ -26,7 +26,7 @@
/**
\file
Ethernet-over-EtherCAT (EoE)
Ethernet over EtherCAT (EoE)
*/
/*****************************************************************************/
@@ -56,7 +56,7 @@ ec_eoe_frame_t;
typedef struct ec_eoe ec_eoe_t; /**< \see ec_eoe */
/**
Ethernet-over-EtherCAT (EoE) handler.
Ethernet over EtherCAT (EoE) handler.
The master creates one of these objects for each slave that supports the
EoE protocol.
*/

4
master/fmmu_config.c
View File

@@ -41,7 +41,7 @@
/** FMMU configuration constructor.
*
* Inits an FMMU configuration, sets the logical start address and adds the
* process data size for the mapped Pdos of the given direction to the domain
* process data size for the mapped PDOs of the given direction to the domain
* data size.
*/
void ec_fmmu_config_init(
@@ -49,7 +49,7 @@ void ec_fmmu_config_init(
ec_slave_config_t *sc, /**< EtherCAT slave configuration. */
ec_domain_t *domain, /**< EtherCAT domain. */
uint8_t sync_index, /**< Sync manager index to use. */
ec_direction_t dir /**< Pdo direction. */
ec_direction_t dir /**< PDO direction. */
)
{
INIT_LIST_HEAD(&fmmu->list);

2
master/fmmu_config.h
View File

@@ -47,7 +47,7 @@ typedef struct {
uint8_t sync_index; /**< Index of sync manager to use. */
ec_direction_t dir; /**< FMMU direction. */
uint32_t logical_start_address; /**< Logical start address. */
unsigned int data_size; /**< Covered Pdo size. */
unsigned int data_size; /**< Covered PDO size. */
} ec_fmmu_config_t;
/*****************************************************************************/

206
master/fsm_coe.c
View File

File diff suppressed because it is too large Load Diff

6
master/fsm_coe.h
View File

@@ -44,7 +44,7 @@
typedef struct ec_fsm_coe ec_fsm_coe_t; /**< \see ec_fsm_coe */
/** Finite state machines for the CANopen-over-EtherCAT protocol.
/** Finite state machines for the CANopen over EtherCAT protocol.
*/
struct ec_fsm_coe {
ec_slave_t *slave; /**< slave the FSM runs on */
@@ -53,9 +53,9 @@ struct ec_fsm_coe {
void (*state)(ec_fsm_coe_t *); /**< CoE state function */
unsigned long jiffies_start; /**< CoE timestamp. */
ec_sdo_t *sdo; /**< current Sdo */
ec_sdo_t *sdo; /**< current SDO */
uint8_t subindex; /**< current subindex */
ec_sdo_request_t *request; /**< Sdo request */
ec_sdo_request_t *request; /**< SDO request */
uint8_t toggle; /**< toggle bit for segment commands */
};

36
master/fsm_master.c
View File

@@ -374,9 +374,9 @@ int ec_fsm_master_action_process_phy(
/*****************************************************************************/
/** Check for pending Sdo requests and process one.
/** Check for pending SDO requests and process one.
*
* \return non-zero, if an Sdo request is processed.
* \return non-zero, if an SDO request is processed.
*/
int ec_fsm_master_action_process_sdo(
ec_fsm_master_t *fsm /**< Master state machine. */
@@ -399,7 +399,7 @@ int ec_fsm_master_action_process_sdo(
if (ec_sdo_request_timed_out(req)) {
req->state = EC_INT_REQUEST_FAILURE;
if (master->debug_level)
EC_DBG("Sdo request for slave %u timed out...\n",
EC_DBG("SDO request for slave %u timed out...\n",
slave->ring_position);
continue;
}
@@ -411,7 +411,7 @@ int ec_fsm_master_action_process_sdo(
req->state = EC_INT_REQUEST_BUSY;
if (master->debug_level)
EC_DBG("Processing Sdo request for slave %u...\n",
EC_DBG("Processing SDO request for slave %u...\n",
slave->ring_position);
fsm->idle = 0;
@@ -438,19 +438,19 @@ int ec_fsm_master_action_process_sdo(
slave = request->slave;
if (slave->current_state == EC_SLAVE_STATE_INIT) {
EC_ERR("Discarding Sdo request, slave %u is in INIT.\n",
EC_ERR("Discarding SDO request, slave %u is in INIT.\n",
slave->ring_position);
request->req.state = EC_INT_REQUEST_FAILURE;
wake_up(&master->sdo_queue);
continue;
}
// Found pending Sdo request. Execute it!
// Found pending SDO request. Execute it!
if (master->debug_level)
EC_DBG("Processing Sdo request for slave %u...\n",
EC_DBG("Processing SDO request for slave %u...\n",
slave->ring_position);
// Start uploading Sdo
// Start uploading SDO
fsm->idle = 0;
fsm->sdo_request = &request->req;
fsm->slave = slave;
@@ -476,11 +476,11 @@ void ec_fsm_master_action_idle(
ec_master_t *master = fsm->master;
ec_slave_t *slave;
// Check for pending Sdo requests
// Check for pending SDO requests
if (ec_fsm_master_action_process_sdo(fsm))
return;
// check, if slaves have an Sdo dictionary to read out.
// check, if slaves have an SDO dictionary to read out.
for (slave = master->slaves;
slave < master->slaves + master->slave_count;
slave++) {
@@ -494,13 +494,13 @@ void ec_fsm_master_action_idle(
) continue;
if (master->debug_level) {
EC_DBG("Fetching Sdo dictionary from slave %u.\n",
EC_DBG("Fetching SDO dictionary from slave %u.\n",
slave->ring_position);
}
slave->sdo_dictionary_fetched = 1;
// start fetching Sdo dictionary
// start fetching SDO dictionary
fsm->idle = 0;
fsm->slave = slave;
fsm->state = ec_fsm_master_state_sdo_dictionary;
@@ -869,12 +869,12 @@ void ec_fsm_master_state_sdo_dictionary(
return;
}
// Sdo dictionary fetching finished
// SDO dictionary fetching finished
if (master->debug_level) {
unsigned int sdo_count, entry_count;
ec_slave_sdo_dict_info(slave, &sdo_count, &entry_count);
EC_DBG("Fetched %u Sdos and %u entries from slave %u.\n",
EC_DBG("Fetched %u SDOs and %u entries from slave %u.\n",
sdo_count, entry_count, slave->ring_position);
}
@@ -898,7 +898,7 @@ void ec_fsm_master_state_sdo_request(
if (ec_fsm_coe_exec(&fsm->fsm_coe)) return;
if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
EC_DBG("Failed to process Sdo request for slave %u.\n",
EC_DBG("Failed to process SDO request for slave %u.\n",
fsm->slave->ring_position);
request->state = EC_INT_REQUEST_FAILURE;
wake_up(&master->sdo_queue);
@@ -906,15 +906,15 @@ void ec_fsm_master_state_sdo_request(
return;
}
// Sdo request finished
// SDO request finished
request->state = EC_INT_REQUEST_SUCCESS;
wake_up(&master->sdo_queue);
if (master->debug_level)
EC_DBG("Finished Sdo request for slave %u.\n",
EC_DBG("Finished SDO request for slave %u.\n",
fsm->slave->ring_position);
// check for another Sdo request
// check for another SDO request
if (ec_fsm_master_action_process_sdo(fsm))
return; // processing another request

8
master/fsm_master.h
View File

@@ -70,12 +70,12 @@ typedef struct {
/*****************************************************************************/
/** Slave/Sdo request record for master's Sdo request list.
/** Slave/SDO request record for master's SDO request list.
*/
typedef struct {
struct list_head list; /**< List element. */
ec_slave_t *slave; /**< Slave. */
ec_sdo_request_t req; /**< Sdo request. */
ec_sdo_request_t req; /**< SDO request. */
} ec_master_sdo_request_t;
/*****************************************************************************/
@@ -98,11 +98,11 @@ struct ec_fsm_master {
ec_slave_t *slave; /**< current slave */
ec_sii_write_request_t *sii_request; /**< SII write request */
off_t sii_index; /**< index to SII write request data */
ec_sdo_request_t *sdo_request; /**< Sdo request to process. */
ec_sdo_request_t *sdo_request; /**< SDO request to process. */
ec_phy_request_t *phy_request; /**< Physical memory request to process. */
ec_fsm_coe_t fsm_coe; /**< CoE state machine */
ec_fsm_pdo_t fsm_pdo; /**< Pdo configuration state machine. */
ec_fsm_pdo_t fsm_pdo; /**< PDO configuration state machine. */
ec_fsm_change_t fsm_change; /**< State change state machine */
ec_fsm_slave_config_t fsm_slave_config; /**< slave state machine */
ec_fsm_slave_scan_t fsm_slave_scan; /**< slave state machine */

182
master/fsm_pdo.c
View File

File diff suppressed because it is too large Load Diff

18
master/fsm_pdo.h
View File

@@ -26,7 +26,7 @@
/**
\file
EtherCAT Pdo configuration state machine structures.
EtherCAT PDO configuration state machine structures.
*/
/*****************************************************************************/
@@ -46,23 +46,23 @@
*/
typedef struct ec_fsm_pdo ec_fsm_pdo_t;
/** Pdo configuration state machine.
/** PDO configuration state machine.
*/
struct ec_fsm_pdo
{
void (*state)(ec_fsm_pdo_t *); /**< State function. */
ec_fsm_coe_t *fsm_coe; /**< CoE state machine to use. */
ec_fsm_pdo_entry_t fsm_pdo_entry; /**< Pdo entry state machine. */
ec_pdo_list_t pdos; /**< Pdo configuration. */
ec_sdo_request_t request; /**< Sdo request. */
ec_pdo_t slave_pdo; /**< Pdo actually appearing in a slave. */
ec_fsm_pdo_entry_t fsm_pdo_entry; /**< PDO entry state machine. */
ec_pdo_list_t pdos; /**< PDO configuration. */
ec_sdo_request_t request; /**< SDO request. */
ec_pdo_t slave_pdo; /**< PDO actually appearing in a slave. */
ec_slave_t *slave; /**< Slave the FSM runs on. */
uint8_t sync_index; /**< Current sync manager index. */
ec_sync_t *sync; /**< Current sync manager. */
ec_pdo_t *pdo; /**< Current Pdo. */
unsigned int pdo_pos; /**< Assignment position of current Pdos. */
unsigned int pdo_count; /**< Number of assigned Pdos. */
ec_pdo_t *pdo; /**< Current PDO. */
unsigned int pdo_pos; /**< Assignment position of current PDOs. */
unsigned int pdo_count; /**< Number of assigned PDOs. */
};
/*****************************************************************************/

92
master/fsm_pdo_entry.c
View File

@@ -25,7 +25,7 @@
*****************************************************************************/
/** \file
* EtherCAT Pdo mapping state machine.
* EtherCAT PDO mapping state machine.
*/
/*****************************************************************************/
@@ -60,7 +60,7 @@ void ec_fsm_pdo_entry_state_error(ec_fsm_pdo_entry_t *);
/** Constructor.
*/
void ec_fsm_pdo_entry_init(
ec_fsm_pdo_entry_t *fsm, /**< Pdo mapping state machine. */
ec_fsm_pdo_entry_t *fsm, /**< PDO mapping state machine. */
ec_fsm_coe_t *fsm_coe /**< CoE state machine to use. */
)
{
@@ -73,7 +73,7 @@ void ec_fsm_pdo_entry_init(
/** Destructor.
*/
void ec_fsm_pdo_entry_clear(
ec_fsm_pdo_entry_t *fsm /**< Pdo mapping state machine. */
ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */
)
{
ec_sdo_request_clear(&fsm->request);
@@ -81,12 +81,12 @@ void ec_fsm_pdo_entry_clear(
/*****************************************************************************/
/** Start reading a Pdo's entries.
/** Start reading a PDO's entries.
*/
void ec_fsm_pdo_entry_start_reading(
ec_fsm_pdo_entry_t *fsm, /**< Pdo mapping state machine. */
ec_fsm_pdo_entry_t *fsm, /**< PDO mapping state machine. */
ec_slave_t *slave, /**< slave to configure */
ec_pdo_t *pdo /**< Pdo to read entries for. */
ec_pdo_t *pdo /**< PDO to read entries for. */
)
{
fsm->slave = slave;
@@ -99,12 +99,12 @@ void ec_fsm_pdo_entry_start_reading(
/*****************************************************************************/
/** Start Pdo mapping state machine.
/** Start PDO mapping state machine.
*/
void ec_fsm_pdo_entry_start_configuration(
ec_fsm_pdo_entry_t *fsm, /**< Pdo mapping state machine. */
ec_fsm_pdo_entry_t *fsm, /**< PDO mapping state machine. */
ec_slave_t *slave, /**< slave to configure */
const ec_pdo_t *pdo /**< Pdo with the desired entries. */
const ec_pdo_t *pdo /**< PDO with the desired entries. */
)
{
fsm->slave = slave;
@@ -120,7 +120,7 @@ void ec_fsm_pdo_entry_start_configuration(
* \return false, if state machine has terminated
*/
int ec_fsm_pdo_entry_running(
const ec_fsm_pdo_entry_t *fsm /**< Pdo mapping state machine. */
const ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */
)
{
return fsm->state != ec_fsm_pdo_entry_state_end
@@ -134,7 +134,7 @@ int ec_fsm_pdo_entry_running(
* \return false, if state machine has terminated
*/
int ec_fsm_pdo_entry_exec(
ec_fsm_pdo_entry_t *fsm /**< Pdo mapping state machine. */
ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */
)
{
fsm->state(fsm);
@@ -148,7 +148,7 @@ int ec_fsm_pdo_entry_exec(
* \return true, if the state machine terminated gracefully
*/
int ec_fsm_pdo_entry_success(
const ec_fsm_pdo_entry_t *fsm /**< Pdo mapping state machine. */
const ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */
)
{
return fsm->state == ec_fsm_pdo_entry_state_end;
@@ -158,10 +158,10 @@ int ec_fsm_pdo_entry_success(
* Reading state functions.
*****************************************************************************/
/** Request reading the number of mapped Pdo entries.
/** Request reading the number of mapped PDO entries.
*/
void ec_fsm_pdo_entry_read_state_start(
ec_fsm_pdo_entry_t *fsm /**< Pdo mapping state machine. */
ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */
)
{
ec_sdo_request_address(&fsm->request, fsm->target_pdo->index, 0);
@@ -174,7 +174,7 @@ void ec_fsm_pdo_entry_read_state_start(
/*****************************************************************************/
/** Read number of mapped Pdo entries.
/** Read number of mapped PDO entries.
*/
void ec_fsm_pdo_entry_read_state_count(
ec_fsm_pdo_entry_t *fsm /**< finite state machine */
@@ -184,13 +184,13 @@ void ec_fsm_pdo_entry_read_state_count(
return;
if (!ec_fsm_coe_success(fsm->fsm_coe)) {
EC_ERR("Failed to read number of mapped Pdo entries.\n");
EC_ERR("Failed to read number of mapped PDO entries.\n");
fsm->state = ec_fsm_pdo_entry_state_error;
return;
}
if (fsm->request.data_size != sizeof(uint8_t)) {
EC_ERR("Invalid data size %u at uploading Sdo 0x%04X:%02X.\n",
EC_ERR("Invalid data size %u at uploading SDO 0x%04X:%02X.\n",
fsm->request.data_size, fsm->request.index,
fsm->request.subindex);
fsm->state = ec_fsm_pdo_entry_state_error;
@@ -200,16 +200,16 @@ void ec_fsm_pdo_entry_read_state_count(
fsm->entry_count = EC_READ_U8(fsm->request.data);
if (fsm->slave->master->debug_level)
EC_DBG("%u Pdo entries mapped.\n", fsm->entry_count);
EC_DBG("%u PDO entries mapped.\n", fsm->entry_count);
// read first Pdo entry
// read first PDO entry
fsm->entry_pos = 1;
ec_fsm_pdo_entry_read_action_next(fsm);
}
/*****************************************************************************/
/** Read next Pdo entry.
/** Read next PDO entry.
*/
void ec_fsm_pdo_entry_read_action_next(
ec_fsm_pdo_entry_t *fsm /**< finite state machine */
@@ -230,7 +230,7 @@ void ec_fsm_pdo_entry_read_action_next(
/*****************************************************************************/
/** Read Pdo entry information.
/** Read PDO entry information.
*/
void ec_fsm_pdo_entry_read_state_entry(
ec_fsm_pdo_entry_t *fsm /**< finite state machine */
@@ -239,13 +239,13 @@ void ec_fsm_pdo_entry_read_state_entry(
if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
if (!ec_fsm_coe_success(fsm->fsm_coe)) {
EC_ERR("Failed to read mapped Pdo entry.\n");
EC_ERR("Failed to read mapped PDO entry.\n");
fsm->state = ec_fsm_pdo_entry_state_error;
return;
}
if (fsm->request.data_size != sizeof(uint32_t)) {
EC_ERR("Invalid data size %u at uploading Sdo 0x%04X:%02X.\n",
EC_ERR("Invalid data size %u at uploading SDO 0x%04X:%02X.\n",
fsm->request.data_size, fsm->request.index,
fsm->request.subindex);
fsm->state = ec_fsm_pdo_entry_state_error;
@@ -257,7 +257,7 @@ void ec_fsm_pdo_entry_read_state_entry(
if (!(pdo_entry = (ec_pdo_entry_t *)
kmalloc(sizeof(ec_pdo_entry_t), GFP_KERNEL))) {
EC_ERR("Failed to allocate Pdo entry.\n");
EC_ERR("Failed to allocate PDO entry.\n");
fsm->state = ec_fsm_pdo_entry_state_error;
return;
}
@@ -277,7 +277,7 @@ void ec_fsm_pdo_entry_read_state_entry(
}
if (fsm->slave->master->debug_level) {
EC_DBG("Pdo entry 0x%04X:%02X, %u bit, \"%s\".\n",
EC_DBG("PDO entry 0x%04X:%02X, %u bit, \"%s\".\n",
pdo_entry->index, pdo_entry->subindex,
pdo_entry->bit_length,
pdo_entry->name ? pdo_entry->name : "???");
@@ -285,7 +285,7 @@ void ec_fsm_pdo_entry_read_state_entry(
list_add_tail(&pdo_entry->list, &fsm->target_pdo->entries);
// next Pdo entry
// next PDO entry
fsm->entry_pos++;
ec_fsm_pdo_entry_read_action_next(fsm);
}
@@ -295,17 +295,17 @@ void ec_fsm_pdo_entry_read_state_entry(
* Configuration state functions.
*****************************************************************************/
/** Start Pdo mapping.
/** Start PDO mapping.
*/
void ec_fsm_pdo_entry_conf_state_start(
ec_fsm_pdo_entry_t *fsm /**< Pdo mapping state machine. */
ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */
)
{
// Pdo mapping has to be changed. Does the slave support this?
// PDO mapping has to be changed. Does the slave support this?
if (!(fsm->slave->sii.mailbox_protocols & EC_MBOX_COE)
|| (fsm->slave->sii.has_general
&& !fsm->slave->sii.coe_details.enable_pdo_configuration)) {
EC_WARN("Slave %u does not support changing the Pdo mapping!\n",
EC_WARN("Slave %u does not support changing the PDO mapping!\n",
fsm->slave->ring_position);
fsm->state = ec_fsm_pdo_entry_state_error;
return;
@@ -316,7 +316,7 @@ void ec_fsm_pdo_entry_conf_state_start(
return;
}
// set mapped Pdo entry count to zero
// set mapped PDO entry count to zero
EC_WRITE_U8(fsm->request.data, 0);
fsm->request.data_size = 1;
ec_sdo_request_address(&fsm->request, fsm->source_pdo->index, 0);
@@ -332,10 +332,10 @@ void ec_fsm_pdo_entry_conf_state_start(
/*****************************************************************************/
/** Process next Pdo entry.
/** Process next PDO entry.
*/
ec_pdo_entry_t *ec_fsm_pdo_entry_conf_next_entry(
const ec_fsm_pdo_entry_t *fsm, /**< Pdo mapping state machine. */
const ec_fsm_pdo_entry_t *fsm, /**< PDO mapping state machine. */
const struct list_head *list /**< current entry list item */
)
{
@@ -350,14 +350,14 @@ ec_pdo_entry_t *ec_fsm_pdo_entry_conf_next_entry(
/** Set the number of mapped entries to zero.
*/
void ec_fsm_pdo_entry_conf_state_zero_entry_count(
ec_fsm_pdo_entry_t *fsm /**< Pdo mapping state machine. */
ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */
)
{
if (ec_fsm_coe_exec(fsm->fsm_coe))
return;
if (!ec_fsm_coe_success(fsm->fsm_coe)) {
EC_WARN("Failed to clear Pdo mapping.\n");
EC_WARN("Failed to clear PDO mapping.\n");
fsm->state = ec_fsm_pdo_entry_state_error;
return;
}
@@ -380,16 +380,16 @@ void ec_fsm_pdo_entry_conf_state_zero_entry_count(
/*****************************************************************************/
/** Starts to add a Pdo entry.
/** Starts to add a PDO entry.
*/
void ec_fsm_pdo_entry_conf_action_map(
ec_fsm_pdo_entry_t *fsm /**< Pdo mapping state machine. */
ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */
)
{
uint32_t value;
if (fsm->slave->master->debug_level)
EC_DBG("Mapping Pdo entry 0x%04X:%02X (%u bit) at position %u.\n",
EC_DBG("Mapping PDO entry 0x%04X:%02X (%u bit) at position %u.\n",
fsm->entry->index, fsm->entry->subindex,
fsm->entry->bit_length, fsm->entry_pos);
@@ -407,16 +407,16 @@ void ec_fsm_pdo_entry_conf_action_map(
/*****************************************************************************/
/** Add a Pdo entry.
/** Add a PDO entry.
*/
void ec_fsm_pdo_entry_conf_state_map_entry(
ec_fsm_pdo_entry_t *fsm /**< Pdo mapping state machine. */
ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */
)
{
if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
if (!ec_fsm_coe_success(fsm->fsm_coe)) {
EC_WARN("Failed to map Pdo entry 0x%04X:%02X (%u bit) to "
EC_WARN("Failed to map PDO entry 0x%04X:%02X (%u bit) to "
"position %u.\n", fsm->entry->index, fsm->entry->subindex,
fsm->entry->bit_length, fsm->entry_pos);
fsm->state = ec_fsm_pdo_entry_state_error;
@@ -434,7 +434,7 @@ void ec_fsm_pdo_entry_conf_state_map_entry(
ecrt_sdo_request_write(&fsm->request);
if (fsm->slave->master->debug_level)
EC_DBG("Setting number of Pdo entries to %u.\n", fsm->entry_pos);
EC_DBG("Setting number of PDO entries to %u.\n", fsm->entry_pos);
fsm->state = ec_fsm_pdo_entry_conf_state_set_entry_count;
ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
@@ -452,7 +452,7 @@ void ec_fsm_pdo_entry_conf_state_map_entry(
/** Set the number of entries.
*/
void ec_fsm_pdo_entry_conf_state_set_entry_count(
ec_fsm_pdo_entry_t *fsm /**< Pdo mapping state machine. */
ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */
)
{
if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
@@ -464,7 +464,7 @@ void ec_fsm_pdo_entry_conf_state_set_entry_count(
}
if (fsm->slave->master->debug_level)
EC_DBG("Successfully configured mapping for Pdo 0x%04X.\n",
EC_DBG("Successfully configured mapping for PDO 0x%04X.\n",
fsm->source_pdo->index);
fsm->state = ec_fsm_pdo_entry_state_end; // finished
@@ -477,7 +477,7 @@ void ec_fsm_pdo_entry_conf_state_set_entry_count(
/** State: ERROR.
*/
void ec_fsm_pdo_entry_state_error(
ec_fsm_pdo_entry_t *fsm /**< Pdo mapping state machine. */
ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */
)
{
}
@@ -487,7 +487,7 @@ void ec_fsm_pdo_entry_state_error(
/** State: END.
*/
void ec_fsm_pdo_entry_state_end(
ec_fsm_pdo_entry_t *fsm /**< Pdo mapping state machine. */
ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */
)
{
}

12
master/fsm_pdo_entry.h
View File

@@ -25,7 +25,7 @@
*****************************************************************************/
/** \file
* EtherCAT Pdo entry configuration state machine structures.
* EtherCAT PDO entry configuration state machine structures.
*/
/*****************************************************************************/
@@ -44,20 +44,20 @@
*/
typedef struct ec_fsm_pdo_entry ec_fsm_pdo_entry_t;
/** Pdo configuration state machine.
/** PDO configuration state machine.
*/
struct ec_fsm_pdo_entry
{
void (*state)(ec_fsm_pdo_entry_t *); /**< state function */
ec_fsm_coe_t *fsm_coe; /**< CoE state machine to use */
ec_sdo_request_t request; /**< Sdo request. */
ec_sdo_request_t request; /**< SDO request. */
ec_slave_t *slave; /**< Slave the FSM runs on. */
ec_pdo_t *target_pdo; /**< Pdo to read the mapping for. */
const ec_pdo_t *source_pdo; /**< Pdo with desired mapping. */
ec_pdo_t *target_pdo; /**< PDO to read the mapping for. */
const ec_pdo_t *source_pdo; /**< PDO with desired mapping. */
const ec_pdo_entry_t *entry; /**< Current entry. */
unsigned int entry_count; /**< Number of entries. */
unsigned int entry_pos; /**< Position in Pdo mapping. */
unsigned int entry_pos; /**< Position in PDO mapping. */
};
/*****************************************************************************/

26
master/fsm_slave_config.c
View File

@@ -74,7 +74,7 @@ void ec_fsm_slave_config_init(
ec_datagram_t *datagram, /**< datagram structure to use */
ec_fsm_change_t *fsm_change, /**< State change state machine to use. */
ec_fsm_coe_t *fsm_coe, /**< CoE state machine to use. */
ec_fsm_pdo_t *fsm_pdo /**< Pdo configuration state machine to use. */
ec_fsm_pdo_t *fsm_pdo /**< PDO configuration state machine to use. */
)
{
ec_sdo_request_init(&fsm->request_copy);
@@ -436,7 +436,7 @@ void ec_fsm_slave_config_state_preop(
/*****************************************************************************/
/** Check for Sdo configurations to be applied.
/** Check for SDO configurations to be applied.
*/
void ec_fsm_slave_config_enter_sdo_conf(
ec_fsm_slave_config_t *fsm /**< slave state machine */
@@ -445,12 +445,12 @@ void ec_fsm_slave_config_enter_sdo_conf(
ec_slave_t *slave = fsm->slave;
// No CoE configuration to be applied?
if (list_empty(&slave->config->sdo_configs)) { // skip Sdo configuration
if (list_empty(&slave->config->sdo_configs)) { // skip SDO configuration
ec_fsm_slave_config_enter_pdo_conf(fsm);
return;
}
// start Sdo configuration
// start SDO configuration
fsm->state = ec_fsm_slave_config_state_sdo_conf;
fsm->request = list_entry(fsm->slave->config->sdo_configs.next,
ec_sdo_request_t, list);
@@ -471,7 +471,7 @@ void ec_fsm_slave_config_state_sdo_conf(
if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
if (!ec_fsm_coe_success(fsm->fsm_coe)) {
EC_ERR("Sdo configuration failed for slave %u.\n",
EC_ERR("SDO configuration failed for slave %u.\n",
fsm->slave->ring_position);
fsm->slave->error_flag = 1;
fsm->state = ec_fsm_slave_config_state_error;
@@ -483,7 +483,7 @@ void ec_fsm_slave_config_state_sdo_conf(
return;
}
// Another Sdo to configure?
// Another SDO to configure?
if (fsm->request->list.next != &fsm->slave->config->sdo_configs) {
fsm->request = list_entry(fsm->request->list.next,
ec_sdo_request_t, list);
@@ -494,7 +494,7 @@ void ec_fsm_slave_config_state_sdo_conf(
return;
}
// All Sdos are now configured.
// All SDOs are now configured.
ec_fsm_slave_config_enter_pdo_conf(fsm);
}
@@ -506,7 +506,7 @@ void ec_fsm_slave_config_enter_pdo_conf(
ec_fsm_slave_config_t *fsm /**< slave state machine */
)
{
// Start configuring Pdos
// Start configuring PDOs
ec_fsm_pdo_start_configuration(fsm->fsm_pdo, fsm->slave);
fsm->state = ec_fsm_slave_config_state_pdo_conf;
fsm->state(fsm); // execute immediately
@@ -529,7 +529,7 @@ void ec_fsm_slave_config_state_pdo_conf(
}
if (!ec_fsm_pdo_success(fsm->fsm_pdo)) {
EC_WARN("Pdo configuration failed on slave %u.\n",
EC_WARN("PDO configuration failed on slave %u.\n",
fsm->slave->ring_position);
}
@@ -538,7 +538,7 @@ void ec_fsm_slave_config_state_pdo_conf(
/*****************************************************************************/
/** Check for Pdo sync managers to be configured.
/** Check for PDO sync managers to be configured.
*/
void ec_fsm_slave_config_enter_pdo_sync(
ec_fsm_slave_config_t *fsm /**< slave state machine */
@@ -559,7 +559,7 @@ void ec_fsm_slave_config_enter_pdo_sync(
}
if (slave->sii.sync_count <= offset) {
// no Pdo sync managers to configure
// no PDO sync managers to configure
ec_fsm_slave_config_enter_fmmu(fsm);
return;
}
@@ -587,7 +587,7 @@ void ec_fsm_slave_config_enter_pdo_sync(
/*****************************************************************************/
/** Configure Pdo sync managers.
/** Configure PDO sync managers.
*/
void ec_fsm_slave_config_state_pdo_sync(
ec_fsm_slave_config_t *fsm /**< slave state machine */
@@ -661,7 +661,7 @@ void ec_fsm_slave_config_enter_fmmu(
if (!(sync = ec_slave_get_sync(slave, fmmu->sync_index))) {
slave->error_flag = 1;
fsm->state = ec_fsm_slave_config_state_error;
EC_ERR("Failed to determine Pdo sync manager for FMMU on slave"
EC_ERR("Failed to determine PDO sync manager for FMMU on slave"
" %u!\n", slave->ring_position);
return;
}

6
master/fsm_slave_config.h
View File

@@ -53,13 +53,13 @@ struct ec_fsm_slave_config
ec_datagram_t *datagram; /**< Datagram used in the state machine. */
ec_fsm_change_t *fsm_change; /**< State change state machine. */
ec_fsm_coe_t *fsm_coe; /**< CoE state machine. */
ec_fsm_pdo_t *fsm_pdo; /**< Pdo configuration state machine. */
ec_fsm_pdo_t *fsm_pdo; /**< PDO configuration state machine. */
ec_slave_t *slave; /**< Slave the FSM runs on. */
void (*state)(ec_fsm_slave_config_t *); /**< State function. */
unsigned int retries; /**< Retries on datagram timeout. */
ec_sdo_request_t *request; /**< Sdo request for Sdo configuration. */
ec_sdo_request_t request_copy; /**< Copied Sdo request. */
ec_sdo_request_t *request; /**< SDO request for SDO configuration. */
ec_sdo_request_t request_copy; /**< Copied SDO request. */
};
/*****************************************************************************/

10
master/fsm_slave_scan.c
View File

@@ -65,7 +65,7 @@ void ec_fsm_slave_scan_init(
ec_datagram_t *datagram, /**< Datagram to use. */
ec_fsm_slave_config_t *fsm_slave_config, /**< Slave configuration
state machine to use. */
ec_fsm_pdo_t *fsm_pdo /**< Pdo configuration machine to use. */
ec_fsm_pdo_t *fsm_pdo /**< PDO configuration machine to use. */
)
{
fsm->datagram = datagram;
@@ -536,12 +536,12 @@ void ec_fsm_slave_scan_state_sii_data(ec_fsm_slave_scan_t *fsm /**< slave state
break;
case 0x0032:
if (ec_slave_fetch_sii_pdos( slave, (uint8_t *) cat_word,
cat_size * 2, EC_DIR_INPUT)) // TxPdo
cat_size * 2, EC_DIR_INPUT)) // TxPDO
goto end;
break;
case 0x0033:
if (ec_slave_fetch_sii_pdos( slave, (uint8_t *) cat_word,
cat_size * 2, EC_DIR_OUTPUT)) // RxPdo
cat_size * 2, EC_DIR_OUTPUT)) // RxPDO
goto end;
break;
default:
@@ -625,7 +625,7 @@ void ec_fsm_slave_scan_enter_pdos(
ec_slave_t *slave = fsm->slave;
if (slave->master->debug_level)
EC_DBG("Scanning Pdo assignment and mapping of slave %u.\n",
EC_DBG("Scanning PDO assignment and mapping of slave %u.\n",
slave->ring_position);
fsm->state = ec_fsm_slave_scan_state_pdos;
ec_fsm_pdo_start_reading(fsm->fsm_pdo, slave);
@@ -648,7 +648,7 @@ void ec_fsm_slave_scan_state_pdos(
return;
}
// reading Pdo configuration finished
// reading PDO configuration finished
fsm->state = ec_fsm_slave_scan_state_end;
}

2
master/fsm_slave_scan.h
View File

@@ -55,7 +55,7 @@ struct ec_fsm_slave_scan
ec_datagram_t *datagram; /**< Datagram used in the state machine. */
ec_fsm_slave_config_t *fsm_slave_config; /**< Slave configuration state
machine to use. */
ec_fsm_pdo_t *fsm_pdo; /**< Pdo configuration state machine to use. */
ec_fsm_pdo_t *fsm_pdo; /**< PDO configuration state machine to use. */
unsigned int retries; /**< Retries on datagram timeout. */
void (*state)(ec_fsm_slave_scan_t *); /**< State function. */

20
master/globals.h
View File

@@ -51,7 +51,7 @@
/** Number of state machine retries on datagram timeout. */
#define EC_FSM_RETRIES 3
/** Seconds to wait before fetching Sdo dictionary
/** Seconds to wait before fetching SDO dictionary
after slave entered PREOP state. */
#define EC_WAIT_SDO_DICT 3
@@ -126,21 +126,21 @@ typedef enum {
/** Supported mailbox protocols.
*/
enum {
EC_MBOX_AOE = 0x01, /**< ADS-over-EtherCAT */
EC_MBOX_EOE = 0x02, /**< Ethernet-over-EtherCAT */
EC_MBOX_COE = 0x04, /**< CANopen-over-EtherCAT */
EC_MBOX_FOE = 0x08, /**< File-Access-over-EtherCAT */
EC_MBOX_SOE = 0x10, /**< Servo-Profile-over-EtherCAT */
EC_MBOX_AOE = 0x01, /**< ADS over EtherCAT */
EC_MBOX_EOE = 0x02, /**< Ethernet over EtherCAT */
EC_MBOX_COE = 0x04, /**< CANopen over EtherCAT */
EC_MBOX_FOE = 0x08, /**< File-Access over EtherCAT */
EC_MBOX_SOE = 0x10, /**< Servo-Profile over EtherCAT */
EC_MBOX_VOE = 0x20 /**< Vendor specific */
};
/** Slave information interface CANopen-over-EtherCAT details flags.
/** Slave information interface CANopen over EtherCAT details flags.
*/
typedef struct {
uint8_t enable_sdo : 1; /**< Enable Sdo access. */
uint8_t enable_sdo : 1; /**< Enable SDO access. */
uint8_t enable_sdo_info : 1; /**< SDO information service available. */
uint8_t enable_pdo_assign : 1; /**< Pdo mapping configurable. */
uint8_t enable_pdo_configuration : 1; /**< Pdo configuration possible. */
uint8_t enable_pdo_assign : 1; /**< PDO mapping configurable. */
uint8_t enable_pdo_configuration : 1; /**< PDO configuration possible. */
uint8_t enable_upload_at_startup : 1; /**< ?. */
uint8_t enable_sdo_complete_access : 1; /**< Complete access possible. */
} ec_sii_coe_details_t;

6
master/master.c
View File

@@ -981,7 +981,7 @@ schedule:
/*****************************************************************************/
#ifdef EC_EOE
/** Starts Ethernet-over-EtherCAT processing on demand.
/** Starts Ethernet over EtherCAT processing on demand.
*/
void ec_master_eoe_start(ec_master_t *master /**< EtherCAT master */)
{
@@ -1008,7 +1008,7 @@ void ec_master_eoe_start(ec_master_t *master /**< EtherCAT master */)
/*****************************************************************************/
/** Stops the Ethernet-over-EtherCAT processing.
/** Stops the Ethernet over EtherCAT processing.
*/
void ec_master_eoe_stop(ec_master_t *master /**< EtherCAT master */)
{
@@ -1022,7 +1022,7 @@ void ec_master_eoe_stop(ec_master_t *master /**< EtherCAT master */)
/*****************************************************************************/
/** Does the Ethernet-over-EtherCAT processing.
/** Does the Ethernet over EtherCAT processing.
*/
void ec_master_eoe_run(unsigned long data /**< master pointer */)
{

6
master/master.h
View File

@@ -139,7 +139,7 @@ struct ec_master {
#ifdef EC_EOE
struct timer_list eoe_timer; /**< EoE timer object. */
unsigned int eoe_running; /**< \a True, if EoE processing is active. */
struct list_head eoe_handlers; /**< Ethernet-over-EtherCAT handlers. */
struct list_head eoe_handlers; /**< Ethernet over EtherCAT handlers. */
#endif
spinlock_t internal_lock; /**< Spinlock used in \a IDLE phase. */
@@ -154,8 +154,8 @@ struct ec_master {
wait_queue_head_t sii_queue; /**< Wait queue for SII
write requests from user space. */
struct list_head slave_sdo_requests; /**< Sdo access requests. */
wait_queue_head_t sdo_queue; /**< Wait queue for Sdo access requests
struct list_head slave_sdo_requests; /**< SDO access requests. */
wait_queue_head_t sdo_queue; /**< Wait queue for SDO access requests
from user space. */
struct list_head phy_requests; /**< Physical memory requests. */

50
master/pdo.c
View File

@@ -38,10 +38,10 @@
/*****************************************************************************/
/** Pdo constructor.
/** PDO constructor.
*/
void ec_pdo_init(
ec_pdo_t *pdo /**< EtherCAT Pdo */
ec_pdo_t *pdo /**< EtherCAT PDO */
)
{
pdo->sync_index = -1; // not assigned
@@ -51,7 +51,7 @@ void ec_pdo_init(
/*****************************************************************************/
/** Pdo copy constructor.
/** PDO copy constructor.
*
* \retval 0 Success.
* \retval <0 Error code.
@@ -83,9 +83,9 @@ out_return:
/*****************************************************************************/
/** Pdo destructor.
/** PDO destructor.
*/
void ec_pdo_clear(ec_pdo_t *pdo /**< EtherCAT Pdo. */)
void ec_pdo_clear(ec_pdo_t *pdo /**< EtherCAT PDO. */)
{
if (pdo->name)
kfree(pdo->name);
@@ -95,13 +95,13 @@ void ec_pdo_clear(ec_pdo_t *pdo /**< EtherCAT Pdo. */)
/*****************************************************************************/
/** Clear Pdo entry list.
/** Clear PDO entry list.
*/
void ec_pdo_clear_entries(ec_pdo_t *pdo /**< EtherCAT Pdo. */)
void ec_pdo_clear_entries(ec_pdo_t *pdo /**< EtherCAT PDO. */)
{
ec_pdo_entry_t *entry, *next;
// free all Pdo entries
// free all PDO entries
list_for_each_entry_safe(entry, next, &pdo->entries, list) {
list_del(&entry->list);
ec_pdo_entry_clear(entry);
@@ -111,13 +111,13 @@ void ec_pdo_clear_entries(ec_pdo_t *pdo /**< EtherCAT Pdo. */)
/*****************************************************************************/
/** Set Pdo name.
/** Set PDO name.
*
* \retval 0 Success.
* \retval <0 Error code.
*/
int ec_pdo_set_name(
ec_pdo_t *pdo, /**< Pdo. */
ec_pdo_t *pdo, /**< PDO. */
const char *name /**< New name. */
)
{
@@ -131,7 +131,7 @@ int ec_pdo_set_name(
if (name && (len = strlen(name))) {
if (!(pdo->name = (char *) kmalloc(len + 1, GFP_KERNEL))) {
EC_ERR("Failed to allocate Pdo name.\n");
EC_ERR("Failed to allocate PDO name.\n");
return -ENOMEM;
}
memcpy(pdo->name, name, len + 1);
@@ -144,7 +144,7 @@ int ec_pdo_set_name(
/*****************************************************************************/
/** Add a new Pdo entry to the configuration.
/** Add a new PDO entry to the configuration.
*
* \retval Pointer to the added entry, otherwise a ERR_PTR() code.
*/
@@ -158,7 +158,7 @@ ec_pdo_entry_t *ec_pdo_add_entry(
ec_pdo_entry_t *entry;
if (!(entry = kmalloc(sizeof(ec_pdo_entry_t), GFP_KERNEL))) {
EC_ERR("Failed to allocate memory for Pdo entry.\n");
EC_ERR("Failed to allocate memory for PDO entry.\n");
return ERR_PTR(-ENOMEM);
}
@@ -172,7 +172,7 @@ ec_pdo_entry_t *ec_pdo_add_entry(
/*****************************************************************************/
/** Copy Pdo entries from another Pdo.
/** Copy PDO entries from another PDO.
*
* \retval 0 Success.
* \retval <0 Error code.
@@ -187,7 +187,7 @@ int ec_pdo_copy_entries(ec_pdo_t *pdo, const ec_pdo_t *other)
list_for_each_entry(other_entry, &other->entries, list) {
if (!(entry = (ec_pdo_entry_t *)
kmalloc(sizeof(ec_pdo_entry_t), GFP_KERNEL))) {
EC_ERR("Failed to allocate memory for Pdo entry copy.\n");
EC_ERR("Failed to allocate memory for PDO entry copy.\n");
return -ENOMEM;
}
@@ -205,14 +205,14 @@ int ec_pdo_copy_entries(ec_pdo_t *pdo, const ec_pdo_t *other)
/*****************************************************************************/
/** Compares the entries of two Pdos.
/** Compares the entries of two PDOs.
*
* \retval 1 The entries of the given Pdos are equal.
* \retval 0 The entries of the given Pdos differ.
* \retval 1 The entries of the given PDOs are equal.
* \retval 0 The entries of the given PDOs differ.
*/
int ec_pdo_equal_entries(
const ec_pdo_t *pdo1, /**< First Pdo. */
const ec_pdo_t *pdo2 /**< Second Pdo. */
const ec_pdo_t *pdo1, /**< First PDO. */
const ec_pdo_t *pdo2 /**< Second PDO. */
)
{
const struct list_head *head1, *head2, *item1, *item2;
@@ -241,12 +241,12 @@ int ec_pdo_equal_entries(
/*****************************************************************************/
/** Get the number of Pdo entries.
/** Get the number of PDO entries.
*
* \return Number of Pdo entries.
* \return Number of PDO entries.
*/
unsigned int ec_pdo_entry_count(
const ec_pdo_t *pdo /**< Pdo. */
const ec_pdo_t *pdo /**< PDO. */
)
{
const ec_pdo_entry_t *entry;
@@ -261,12 +261,12 @@ unsigned int ec_pdo_entry_count(
/*****************************************************************************/
/** Finds a Pdo entry via its position in the list.
/** Finds a PDO entry via its position in the list.
*
* Const version.
*/
const ec_pdo_entry_t *ec_pdo_find_entry_by_pos_const(
const ec_pdo_t *pdo, /**< Pdo. */
const ec_pdo_t *pdo, /**< PDO. */
unsigned int pos /**< Position in the list. */
)
{

8
master/pdo.h
View File

@@ -41,14 +41,14 @@
/*****************************************************************************/
/** Pdo description.
/** PDO description.
*/
typedef struct {
struct list_head list; /**< List item. */
uint16_t index; /**< Pdo index. */
uint16_t index; /**< PDO index. */
int8_t sync_index; /**< Assigned sync manager. \todo remove? */
char *name; /**< Pdo name. */
struct list_head entries; /**< List of Pdo entries. */
char *name; /**< PDO name. */
struct list_head entries; /**< List of PDO entries. */
} ec_pdo_t;
/*****************************************************************************/

26
master/pdo_entry.c
View File

@@ -37,10 +37,10 @@
/*****************************************************************************/
/** Pdo entry constructor.
/** PDO entry constructor.
*/
void ec_pdo_entry_init(
ec_pdo_entry_t *entry /**< Pdo entry. */
ec_pdo_entry_t *entry /**< PDO entry. */
)
{
entry->name = NULL;
@@ -48,14 +48,14 @@ void ec_pdo_entry_init(
/*****************************************************************************/
/** Pdo entry copy constructor.
/** PDO entry copy constructor.
*
* \retval 0 Success.
* \retval <0 Error code.
*/
int ec_pdo_entry_init_copy(
ec_pdo_entry_t *entry, /**< Pdo entry. */
const ec_pdo_entry_t *other /**< Pdo entry to copy from. */
ec_pdo_entry_t *entry, /**< PDO entry. */
const ec_pdo_entry_t *other /**< PDO entry to copy from. */
)
{
entry->index = other->index;
@@ -68,9 +68,9 @@ int ec_pdo_entry_init_copy(
/*****************************************************************************/
/** Pdo entry destructor.
/** PDO entry destructor.
*/
void ec_pdo_entry_clear(ec_pdo_entry_t *entry /**< Pdo entry. */)
void ec_pdo_entry_clear(ec_pdo_entry_t *entry /**< PDO entry. */)
{
if (entry->name)
kfree(entry->name);
@@ -78,13 +78,13 @@ void ec_pdo_entry_clear(ec_pdo_entry_t *entry /**< Pdo entry. */)
/*****************************************************************************/
/** Set Pdo entry name.
/** Set PDO entry name.
*
* \retval 0 Success.
* \retval <0 Error code.
*/
int ec_pdo_entry_set_name(
ec_pdo_entry_t *entry, /**< Pdo entry. */
ec_pdo_entry_t *entry, /**< PDO entry. */
const char *name /**< New name. */
)
{
@@ -98,7 +98,7 @@ int ec_pdo_entry_set_name(
if (name && (len = strlen(name))) {
if (!(entry->name = (char *) kmalloc(len + 1, GFP_KERNEL))) {
EC_ERR("Failed to allocate Pdo entry name.\n");
EC_ERR("Failed to allocate PDO entry name.\n");
return -ENOMEM;
}
memcpy(entry->name, name, len + 1);
@@ -111,14 +111,14 @@ int ec_pdo_entry_set_name(
/*****************************************************************************/
/** Compares two Pdo entries.
/** Compares two PDO entries.
*
* \retval 1 The entries are equal.
* \retval 0 The entries differ.
*/
int ec_pdo_entry_equal(
const ec_pdo_entry_t *entry1, /**< First Pdo entry. */
const ec_pdo_entry_t *entry2 /**< Second Pdo entry. */
const ec_pdo_entry_t *entry1, /**< First PDO entry. */
const ec_pdo_entry_t *entry2 /**< Second PDO entry. */
)
{
return entry1->index == entry2->index

6
master/pdo_entry.h
View File

@@ -40,12 +40,12 @@
/*****************************************************************************/
/** Pdo entry description.
/** PDO entry description.
*/
typedef struct {
struct list_head list; /**< list item */
uint16_t index; /**< Pdo entry index */
uint8_t subindex; /**< Pdo entry subindex */
uint16_t index; /**< PDO entry index */
uint8_t subindex; /**< PDO entry subindex */
char *name; /**< entry name */
uint8_t bit_length; /**< entry length in bit */
} ec_pdo_entry_t;

82
master/pdo_list.c
View File

@@ -26,7 +26,7 @@
/**
\file
EtherCAT Pdo list methods.
EtherCAT PDO list methods.
*/
/*****************************************************************************/
@@ -42,10 +42,10 @@
/*****************************************************************************/
/** Pdo list constructor.
/** PDO list constructor.
*/
void ec_pdo_list_init(
ec_pdo_list_t *pl /**< Pdo list. */
ec_pdo_list_t *pl /**< PDO list. */
)
{
INIT_LIST_HEAD(&pl->list);
@@ -53,18 +53,18 @@ void ec_pdo_list_init(
/*****************************************************************************/
/** Pdo list destructor.
/** PDO list destructor.
*/
void ec_pdo_list_clear(ec_pdo_list_t *pl /**< Pdo list. */)
void ec_pdo_list_clear(ec_pdo_list_t *pl /**< PDO list. */)
{
ec_pdo_list_clear_pdos(pl);
}
/*****************************************************************************/
/** Clears the list of mapped Pdos.
/** Clears the list of mapped PDOs.
*/
void ec_pdo_list_clear_pdos(ec_pdo_list_t *pl /**< Pdo list. */)
void ec_pdo_list_clear_pdos(ec_pdo_list_t *pl /**< PDO list. */)
{
ec_pdo_t *pdo, *next;
@@ -77,12 +77,12 @@ void ec_pdo_list_clear_pdos(ec_pdo_list_t *pl /**< Pdo list. */)
/*****************************************************************************/
/** Calculates the total size of the mapped Pdo entries.
/** Calculates the total size of the mapped PDO entries.
*
* \retval Data size in byte.
*/
uint16_t ec_pdo_list_total_size(
const ec_pdo_list_t *pl /**< Pdo list. */
const ec_pdo_list_t *pl /**< PDO list. */
)
{
unsigned int bit_size;
@@ -107,19 +107,19 @@ uint16_t ec_pdo_list_total_size(
/*****************************************************************************/
/** Add a new Pdo to the list.
/** Add a new PDO to the list.
*
* \return Pointer to new Pdo, otherwise an ERR_PTR() code.
* \return Pointer to new PDO, otherwise an ERR_PTR() code.
*/
ec_pdo_t *ec_pdo_list_add_pdo(
ec_pdo_list_t *pl, /**< Pdo list. */
uint16_t index /**< Pdo index. */
ec_pdo_list_t *pl, /**< PDO list. */
uint16_t index /**< PDO index. */
)
{
ec_pdo_t *pdo;
if (!(pdo = (ec_pdo_t *) kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
EC_ERR("Failed to allocate memory for Pdo.\n");
EC_ERR("Failed to allocate memory for PDO.\n");
return ERR_PTR(-ENOMEM);
}
@@ -131,27 +131,27 @@ ec_pdo_t *ec_pdo_list_add_pdo(
/*****************************************************************************/
/** Add the copy of an existing Pdo to the list.
/** Add the copy of an existing PDO to the list.
*
* \return 0 on success, else < 0
*/
int ec_pdo_list_add_pdo_copy(
ec_pdo_list_t *pl, /**< Pdo list. */
const ec_pdo_t *pdo /**< Pdo to add. */
ec_pdo_list_t *pl, /**< PDO list. */
const ec_pdo_t *pdo /**< PDO to add. */
)
{
ec_pdo_t *mapped_pdo;
int ret;
// Pdo already mapped?
// PDO already mapped?
list_for_each_entry(mapped_pdo, &pl->list, list) {
if (mapped_pdo->index != pdo->index) continue;
EC_ERR("Pdo 0x%04X is already mapped!\n", pdo->index);
EC_ERR("PDO 0x%04X is already mapped!\n", pdo->index);
return -EEXIST;
}
if (!(mapped_pdo = kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
EC_ERR("Failed to allocate Pdo memory.\n");
EC_ERR("Failed to allocate PDO memory.\n");
return -ENOMEM;
}
@@ -167,13 +167,13 @@ int ec_pdo_list_add_pdo_copy(
/*****************************************************************************/
/** Makes a deep copy of another Pdo list.
/** Makes a deep copy of another PDO list.
*
* \return 0 on success, else < 0
*/
int ec_pdo_list_copy(
ec_pdo_list_t *pl, /**< Pdo list. */
const ec_pdo_list_t *other /**< Pdo list to copy from. */
ec_pdo_list_t *pl, /**< PDO list. */
const ec_pdo_list_t *other /**< PDO list to copy from. */
)
{
ec_pdo_t *other_pdo;
@@ -181,7 +181,7 @@ int ec_pdo_list_copy(
ec_pdo_list_clear_pdos(pl);
// Pdo already mapped?
// PDO already mapped?
list_for_each_entry(other_pdo, &other->list, list) {
ret = ec_pdo_list_add_pdo_copy(pl, other_pdo);
if (ret)
@@ -193,13 +193,13 @@ int ec_pdo_list_copy(
/*****************************************************************************/
/** Compares two Pdo lists.
/** Compares two PDO lists.
*
* Only the list is compared, not the Pdo entries (i. e. the Pdo
* Only the list is compared, not the PDO entries (i. e. the PDO
* mapping).
*
* \retval 1 The given Pdo lists are equal.
* \retval 0 The given Pdo lists differ.
* \retval 1 The given PDO lists are equal.
* \retval 0 The given PDO lists differ.
*/
int ec_pdo_list_equal(
const ec_pdo_list_t *pl1, /**< First list. */
@@ -233,11 +233,11 @@ int ec_pdo_list_equal(
/*****************************************************************************/
/** Finds a Pdo with the given index.
/** Finds a PDO with the given index.
*/
ec_pdo_t *ec_pdo_list_find_pdo(
const ec_pdo_list_t *pl, /**< Pdo list. */
uint16_t index /**< Pdo index. */
const ec_pdo_list_t *pl, /**< PDO list. */
uint16_t index /**< PDO index. */
)
{
ec_pdo_t *pdo;
@@ -253,11 +253,11 @@ ec_pdo_t *ec_pdo_list_find_pdo(
/*****************************************************************************/
/** Finds a Pdo with the given index and returns a const pointer.
/** Finds a PDO with the given index and returns a const pointer.
*/
const ec_pdo_t *ec_pdo_list_find_pdo_const(
const ec_pdo_list_t *pl, /**< Pdo list. */
uint16_t index /**< Pdo index. */
const ec_pdo_list_t *pl, /**< PDO list. */
uint16_t index /**< PDO index. */
)
{
const ec_pdo_t *pdo;
@@ -273,12 +273,12 @@ const ec_pdo_t *ec_pdo_list_find_pdo_const(
/*****************************************************************************/
/** Finds a Pdo via its position in the list.
/** Finds a PDO via its position in the list.
*
* Const version.
*/
const ec_pdo_t *ec_pdo_list_find_pdo_by_pos_const(
const ec_pdo_list_t *pl, /**< Pdo list. */
const ec_pdo_list_t *pl, /**< PDO list. */
unsigned int pos /**< Position in the list. */
)
{
@@ -295,12 +295,12 @@ const ec_pdo_t *ec_pdo_list_find_pdo_by_pos_const(
/*****************************************************************************/
/** Get the number of Pdos in the list.
/** Get the number of PDOs in the list.
*
* \return Number of Pdos.
* \return Number of PDOs.
*/
unsigned int ec_pdo_list_count(
const ec_pdo_list_t *pl /**< Pdo list. */
const ec_pdo_list_t *pl /**< PDO list. */
)
{
const ec_pdo_t *pdo;
@@ -315,10 +315,10 @@ unsigned int ec_pdo_list_count(
/*****************************************************************************/
/** Outputs the Pdos in the list.
/** Outputs the PDOs in the list.
*/
void ec_pdo_list_print(
const ec_pdo_list_t *pl /**< Pdo list. */
const ec_pdo_list_t *pl /**< PDO list. */
)
{
const ec_pdo_t *pdo;

6
master/pdo_list.h
View File

@@ -26,7 +26,7 @@
/**
\file
EtherCAT Pdo list structure.
EtherCAT PDO list structure.
*/
/*****************************************************************************/
@@ -41,10 +41,10 @@
/*****************************************************************************/
/** EtherCAT Pdo list.
/** EtherCAT PDO list.
*/
typedef struct {
struct list_head list; /**< List of Pdos. */
struct list_head list; /**< List of PDOs. */
} ec_pdo_list_t;
/*****************************************************************************/

28
master/sdo.c
View File

@@ -26,7 +26,7 @@
/**
\file
CANopen Sdo functions.
CANopen SDO functions.
*/
/*****************************************************************************/
@@ -42,9 +42,9 @@
/** Constructor.
*/
void ec_sdo_init(
ec_sdo_t *sdo, /**< Sdo. */
ec_sdo_t *sdo, /**< SDO. */
ec_slave_t *slave, /**< Parent slave. */
uint16_t index /**< Sdo index. */
uint16_t index /**< SDO index. */
)
{
sdo->slave = slave;
@@ -57,12 +57,12 @@ void ec_sdo_init(
/*****************************************************************************/
/** Sdo destructor.
/** SDO destructor.
*
* Clears and frees an Sdo object.
* Clears and frees an SDO object.
*/
void ec_sdo_clear(
ec_sdo_t *sdo /**< Sdo. */
ec_sdo_t *sdo /**< SDO. */
)
{
ec_sdo_entry_t *entry, *next;
@@ -80,13 +80,13 @@ void ec_sdo_clear(
/*****************************************************************************/
/** Get an Sdo entry from an Sdo via its subindex.
/** Get an SDO entry from an SDO via its subindex.
*
* \retval >0 Pointer to the requested Sdo entry.
* \retval NULL Sdo entry not found.
* \retval >0 Pointer to the requested SDO entry.
* \retval NULL SDO entry not found.
*/
ec_sdo_entry_t *ec_sdo_get_entry(
ec_sdo_t *sdo, /**< Sdo. */
ec_sdo_t *sdo, /**< SDO. */
uint8_t subindex /**< Entry subindex. */
)
{
@@ -103,15 +103,15 @@ ec_sdo_entry_t *ec_sdo_get_entry(
/*****************************************************************************/
/** Get an Sdo entry from an Sdo via its subindex.
/** Get an SDO entry from an SDO via its subindex.
*
* const version.
*
* \retval >0 Pointer to the requested Sdo entry.
* \retval NULL Sdo entry not found.
* \retval >0 Pointer to the requested SDO entry.
* \retval NULL SDO entry not found.
*/
const ec_sdo_entry_t *ec_sdo_get_entry_const(
const ec_sdo_t *sdo, /**< Sdo. */
const ec_sdo_t *sdo, /**< SDO. */
uint8_t subindex /**< Entry subindex. */
)
{

8
master/sdo.h
View File

@@ -26,7 +26,7 @@
/**
\file
EtherCAT CANopen Sdo structure.
EtherCAT CANopen SDO structure.
*/
/*****************************************************************************/
@@ -41,14 +41,14 @@
/*****************************************************************************/
/** CANopen Sdo.
/** CANopen SDO.
*/
struct ec_sdo {
struct list_head list; /**< List item. */
ec_slave_t *slave; /**< Parent slave. */
uint16_t index; /**< Sdo index. */
uint16_t index; /**< SDO index. */
uint8_t object_code; /**< Object code. */
char *name; /**< Sdo name. */
char *name; /**< SDO name. */
uint8_t max_subindex; /**< Maximum subindex. */
struct list_head entries; /**< List of entries. */
};

8
master/sdo_entry.c
View File

@@ -26,7 +26,7 @@
/**
\file
CANopen-over-EtherCAT Sdo entry functions.
CANopen over EtherCAT SDO entry functions.
*/
/*****************************************************************************/
@@ -40,8 +40,8 @@
/** Constructor.
*/
void ec_sdo_entry_init(
ec_sdo_entry_t *entry, /**< Sdo entry. */
ec_sdo_t *sdo, /**< Parent Sdo. */
ec_sdo_entry_t *entry, /**< SDO entry. */
ec_sdo_t *sdo, /**< Parent SDO. */
uint8_t subindex /**< Subindex. */
)
{
@@ -57,7 +57,7 @@ void ec_sdo_entry_init(
/** Destructor.
*/
void ec_sdo_entry_clear(
ec_sdo_entry_t *entry /**< Sdo entry. */
ec_sdo_entry_t *entry /**< SDO entry. */
)
{

6
master/sdo_entry.h
View File

@@ -26,7 +26,7 @@
/**
\file
EtherCAT CANopen Sdo entry structure.
EtherCAT CANopen SDO entry structure.
*/
/*****************************************************************************/
@@ -46,11 +46,11 @@ typedef struct ec_sdo ec_sdo_t; /**< \see ec_sdo. */
/*****************************************************************************/
/** CANopen Sdo entry.
/** CANopen SDO entry.
*/
typedef struct {
struct list_head list; /**< List item. */
ec_sdo_t *sdo; /**< Parent Sdo. */
ec_sdo_t *sdo; /**< Parent SDO. */
uint8_t subindex; /**< Subindex. */
uint16_t data_type; /**< Data type. */
uint16_t bit_length; /**< Data size in bit. */

36
master/sdo_request.c
View File

@@ -25,7 +25,7 @@
*****************************************************************************/
/** \file
* Canopen-over-EtherCAT Sdo request functions.
* Canopen over EtherCAT SDO request functions.
*/
/*****************************************************************************/
@@ -37,7 +37,7 @@
/*****************************************************************************/
/** Default timeout in ms to wait for Sdo transfer responses.
/** Default timeout in ms to wait for SDO transfer responses.
*/
#define EC_SDO_REQUEST_RESPONSE_TIMEOUT 3000
@@ -47,10 +47,10 @@ void ec_sdo_request_clear_data(ec_sdo_request_t *);
/*****************************************************************************/
/** Sdo request constructor.
/** SDO request constructor.
*/
void ec_sdo_request_init(
ec_sdo_request_t *req /**< Sdo request. */
ec_sdo_request_t *req /**< SDO request. */
)
{
req->data = NULL;
@@ -65,10 +65,10 @@ void ec_sdo_request_init(
/*****************************************************************************/
/** Sdo request destructor.
/** SDO request destructor.
*/
void ec_sdo_request_clear(
ec_sdo_request_t *req /**< Sdo request. */
ec_sdo_request_t *req /**< SDO request. */
)
{
ec_sdo_request_clear_data(req);
@@ -76,7 +76,7 @@ void ec_sdo_request_clear(
/*****************************************************************************/
/** Copy another Sdo request.
/** Copy another SDO request.
*
* \attention Only the index subindex and data are copied.
*/
@@ -92,10 +92,10 @@ int ec_sdo_request_copy(
/*****************************************************************************/
/** Sdo request destructor.
/** SDO request destructor.
*/
void ec_sdo_request_clear_data(
ec_sdo_request_t *req /**< Sdo request. */
ec_sdo_request_t *req /**< SDO request. */
)
{
if (req->data) {
@@ -109,12 +109,12 @@ void ec_sdo_request_clear_data(
/*****************************************************************************/
/** Set the Sdo address.
/** Set the SDO address.
*/
void ec_sdo_request_address(
ec_sdo_request_t *req, /**< Sdo request. */
uint16_t index, /**< Sdo index. */
uint8_t subindex /**< Sdo subindex. */
ec_sdo_request_t *req, /**< SDO request. */
uint16_t index, /**< SDO index. */
uint8_t subindex /**< SDO subindex. */
)
{
req->index = index;
@@ -130,7 +130,7 @@ void ec_sdo_request_address(
* \return 0 on success, otherwise -ENOMEM.
*/
int ec_sdo_request_alloc(
ec_sdo_request_t *req, /**< Sdo request. */
ec_sdo_request_t *req, /**< SDO request. */
size_t size /**< Data size to allocate. */
)
{
@@ -140,7 +140,7 @@ int ec_sdo_request_alloc(
ec_sdo_request_clear_data(req);
if (!(req->data = (uint8_t *) kmalloc(size, GFP_KERNEL))) {
EC_ERR("Failed to allocate %u bytes of Sdo memory.\n", size);
EC_ERR("Failed to allocate %u bytes of SDO memory.\n", size);
return -ENOMEM;
}
@@ -151,7 +151,7 @@ int ec_sdo_request_alloc(
/*****************************************************************************/
/** Copies Sdo data from an external source.
/** Copies SDO data from an external source.
*
* If the \a mem_size is to small, new memory is allocated.
*
@@ -159,7 +159,7 @@ int ec_sdo_request_alloc(
* \retval <0 Error code.
*/
int ec_sdo_request_copy_data(
ec_sdo_request_t *req, /**< Sdo request. */
ec_sdo_request_t *req, /**< SDO request. */
const uint8_t *source, /**< Source data. */
size_t size /**< Number of bytes in \a source. */
)
@@ -179,7 +179,7 @@ int ec_sdo_request_copy_data(
*
* \return non-zero if the timeout was exceeded, else zero.
*/
int ec_sdo_request_timed_out(const ec_sdo_request_t *req /**< Sdo request. */)
int ec_sdo_request_timed_out(const ec_sdo_request_t *req /**< SDO request. */)
{
return req->issue_timeout
&& jiffies - req->jiffies_start > HZ * req->issue_timeout / 1000;

18
master/sdo_request.h
View File

@@ -26,7 +26,7 @@
/**
\file
EtherCAT CANopen Sdo request structure.
EtherCAT CANopen SDO request structure.
*/
/*****************************************************************************/
@@ -40,15 +40,15 @@
/*****************************************************************************/
/** CANopen Sdo request.
/** CANopen SDO request.
*/
struct ec_sdo_request {
struct list_head list; /**< List item. */
uint16_t index; /**< Sdo index. */
uint8_t subindex; /**< Sdo subindex. */
uint8_t *data; /**< Pointer to Sdo data. */
size_t mem_size; /**< Size of Sdo data memory. */
size_t data_size; /**< Size of Sdo data. */
uint16_t index; /**< SDO index. */
uint8_t subindex; /**< SDO subindex. */
uint8_t *data; /**< Pointer to SDO data. */
size_t mem_size; /**< Size of SDO data memory. */
size_t data_size; /**< Size of SDO data. */
uint32_t issue_timeout; /**< Maximum time in ms, the processing of the
request may take. */
uint32_t response_timeout; /**< Maximum time in ms, the transfer is
@@ -56,11 +56,11 @@ struct ec_sdo_request {
ec_direction_t dir; /**< Direction. EC_DIR_OUTPUT means downloading to
the slave, EC_DIR_INPUT means uploading from the
slave. */
ec_internal_request_state_t state; /**< Sdo request state. */
ec_internal_request_state_t state; /**< SDO request state. */
unsigned long jiffies_start; /**< Jiffies, when the request was issued. */
unsigned long jiffies_sent; /**< Jiffies, when the upload/download
request was sent. */
uint32_t abort_code; /**< Sdo request abort code. Zero on success. */
uint32_t abort_code; /**< SDO request abort code. Zero on success. */
};
/*****************************************************************************/

52
master/slave.c
View File

@@ -140,7 +140,7 @@ void ec_slave_clear(ec_slave_t *slave /**< EtherCAT slave */)
if (slave->config)
ec_slave_config_detach(slave->config);
// free all Sdos
// free all SDOs
list_for_each_entry_safe(sdo, next_sdo, &slave->sdo_dictionary, list) {
list_del(&sdo->list);
ec_sdo_clear(sdo);
@@ -157,7 +157,7 @@ void ec_slave_clear(ec_slave_t *slave /**< EtherCAT slave */)
// free all sync managers
ec_slave_clear_sync_managers(slave);
// free all SII Pdos
// free all SII PDOs
list_for_each_entry_safe(pdo, next_pdo, &slave->sii.pdos, list) {
list_del(&pdo->list);
ec_pdo_clear(pdo);
@@ -398,7 +398,7 @@ int ec_slave_fetch_sii_syncs(
/*****************************************************************************/
/**
Fetches data from a [RT]XPdo category.
Fetches data from a [RT]xPDO category.
\return 0 in case of success, else < 0
*/
@@ -406,7 +406,7 @@ int ec_slave_fetch_sii_pdos(
ec_slave_t *slave, /**< EtherCAT slave */
const uint8_t *data, /**< category data */
size_t data_size, /**< number of bytes */
ec_direction_t dir /**< Pdo direction. */
ec_direction_t dir /**< PDO direction. */
)
{
int ret;
@@ -416,7 +416,7 @@ int ec_slave_fetch_sii_pdos(
while (data_size >= 8) {
if (!(pdo = kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
EC_ERR("Failed to allocate Pdo memory.\n");
EC_ERR("Failed to allocate PDO memory.\n");
return -ENOMEM;
}
@@ -438,7 +438,7 @@ int ec_slave_fetch_sii_pdos(
for (i = 0; i < entry_count; i++) {
if (!(entry = kmalloc(sizeof(ec_pdo_entry_t), GFP_KERNEL))) {
EC_ERR("Failed to allocate Pdo entry memory.\n");
EC_ERR("Failed to allocate PDO entry memory.\n");
return -ENOMEM;
}
@@ -459,12 +459,12 @@ int ec_slave_fetch_sii_pdos(
data += 8;
}
// if sync manager index is positive, the Pdo is mapped by default
// if sync manager index is positive, the PDO is mapped by default
if (pdo->sync_index >= 0) {
ec_sync_t *sync;
if (!(sync = ec_slave_get_sync(slave, pdo->sync_index))) {
EC_ERR("Invalid SM index %i for Pdo 0x%04X in slave %u.",
EC_ERR("Invalid SM index %i for PDO 0x%04X in slave %u.",
pdo->sync_index, pdo->index, slave->ring_position);
return -ENOENT;
}
@@ -524,11 +524,11 @@ ec_sync_t *ec_slave_get_sync(
/*****************************************************************************/
/**
Counts the total number of Sdos and entries in the dictionary.
Counts the total number of SDOs and entries in the dictionary.
*/
void ec_slave_sdo_dict_info(const ec_slave_t *slave, /**< EtherCAT slave */
unsigned int *sdo_count, /**< number of Sdos */
unsigned int *sdo_count, /**< number of SDOs */
unsigned int *entry_count /**< total number of
entries */
)
@@ -551,13 +551,13 @@ void ec_slave_sdo_dict_info(const ec_slave_t *slave, /**< EtherCAT slave */
/*****************************************************************************/
/**
* Get an Sdo from the dictionary.
* \returns The desired Sdo, or NULL.
* Get an SDO from the dictionary.
* \returns The desired SDO, or NULL.
*/
ec_sdo_t *ec_slave_get_sdo(
ec_slave_t *slave, /**< EtherCAT slave */
uint16_t index /**< Sdo index */
uint16_t index /**< SDO index */
)
{
ec_sdo_t *sdo;
@@ -574,16 +574,16 @@ ec_sdo_t *ec_slave_get_sdo(
/*****************************************************************************/
/**
* Get an Sdo from the dictionary.
* Get an SDO from the dictionary.
*
* const version.
*
* \returns The desired Sdo, or NULL.
* \returns The desired SDO, or NULL.
*/
const ec_sdo_t *ec_slave_get_sdo_const(
const ec_slave_t *slave, /**< EtherCAT slave */
uint16_t index /**< Sdo index */
uint16_t index /**< SDO index */
)
{
const ec_sdo_t *sdo;
@@ -599,13 +599,13 @@ const ec_sdo_t *ec_slave_get_sdo_const(
/*****************************************************************************/
/** Get an Sdo from the dictionary, given its position in the list.
* \returns The desired Sdo, or NULL.
/** Get an SDO from the dictionary, given its position in the list.
* \returns The desired SDO, or NULL.
*/
const ec_sdo_t *ec_slave_get_sdo_by_pos_const(
const ec_slave_t *slave, /**< EtherCAT slave. */
uint16_t sdo_position /**< Sdo list position. */
uint16_t sdo_position /**< SDO list position. */
)
{
const ec_sdo_t *sdo;
@@ -621,8 +621,8 @@ const ec_sdo_t *ec_slave_get_sdo_by_pos_const(
/*****************************************************************************/
/** Get the number of Sdos in the dictionary.
* \returns Sdo count.
/** Get the number of SDOs in the dictionary.
* \returns SDO count.
*/
uint16_t ec_slave_sdo_count(
@@ -641,12 +641,12 @@ uint16_t ec_slave_sdo_count(
/*****************************************************************************/
/** Finds a mapped Pdo.
* \returns The desired Pdo object, or NULL.
/** Finds a mapped PDO.
* \returns The desired PDO object, or NULL.
*/
const ec_pdo_t *ec_slave_find_pdo(
const ec_slave_t *slave, /**< Slave. */
uint16_t index /**< Pdo index to find. */
uint16_t index /**< PDO index to find. */
)
{
unsigned int i;
@@ -667,7 +667,7 @@ const ec_pdo_t *ec_slave_find_pdo(
/*****************************************************************************/
/** Find name for a Pdo and its entries.
/** Find name for a PDO and its entries.
*/
void ec_slave_find_names_for_pdo(
ec_slave_t *slave,
@@ -698,7 +698,7 @@ void ec_slave_find_names_for_pdo(
/*****************************************************************************/
/** Attach Pdo names.
/** Attach PDO names.
*/
void ec_slave_attach_pdo_names(
ec_slave_t *slave

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