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Added documentation.

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This commit is contained in:
Florian Pose
2009-05-15 09:05:27 +00:00
parent 637451d170
commit ee89b28e5a
6 changed files with 139 additions and 44 deletions
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1
TODO
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@@ -45,6 +45,7 @@ Version 1.5.0:
the SDO handlers.
* Apply watchdog patches from J. Mohre.
* Move device driver files in subdirectories.
* Document ec_fsm_foe members.
Future issues:

2
master/cdev.c
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@@ -44,6 +44,8 @@
#include "voe_handler.h"
#include "ioctl.h"
/** Set to 1 to enable ioctl() command debugging.
*/
#define DEBUG_IOCTL 0
/*****************************************************************************/

39
master/foe_request.c
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@@ -149,7 +149,9 @@ int ec_foe_request_copy_data(
*
* \return non-zero if the timeout was exceeded, else zero.
*/
int ec_foe_request_timed_out(const ec_foe_request_t *req /**< FoE request. */)
int ec_foe_request_timed_out(
const ec_foe_request_t *req /**< FoE request. */
)
{
return req->issue_timeout
&& jiffies - req->jiffies_start > HZ * req->issue_timeout / 1000;
@@ -157,28 +159,49 @@ int ec_foe_request_timed_out(const ec_foe_request_t *req /**< FoE request. */)
/*****************************************************************************/
void ec_foe_request_timeout(ec_foe_request_t *req, uint32_t timeout)
/** Set the request timeout.
*/
void ec_foe_request_timeout(
ec_foe_request_t *req, /**< FoE request. */
uint32_t timeout /**< Timeout in ms. */
)
{
req->issue_timeout = timeout;
}
/*****************************************************************************/
uint8_t *ec_foe_request_data(ec_foe_request_t *req)
/** Returns a pointer to the request's data.
*
* \return Data pointer.
*/
uint8_t *ec_foe_request_data(
ec_foe_request_t *req /**< FoE request. */
)
{
return req->buffer;
}
/*****************************************************************************/
size_t ec_foe_request_data_size(const ec_foe_request_t *req)
/** Returns the data size.
*
* \return Data size.
*/
size_t ec_foe_request_data_size(
const ec_foe_request_t *req /**< FoE request. */
)
{
return req->data_size;
}
/*****************************************************************************/
void ec_foe_request_read(ec_foe_request_t *req)
/** Prepares a read request (slave to master).
*/
void ec_foe_request_read(
ec_foe_request_t *req /**< FoE request. */
)
{
req->dir = EC_DIR_INPUT;
req->state = EC_INT_REQUEST_QUEUED;
@@ -188,7 +211,11 @@ void ec_foe_request_read(ec_foe_request_t *req)
/*****************************************************************************/
void ec_foe_request_write(ec_foe_request_t *req)
/** Prepares a write request (master to slave).
*/
void ec_foe_request_write(
ec_foe_request_t *req /**< FoE request. */
)
{
req->dir = EC_DIR_OUTPUT;
req->state = EC_INT_REQUEST_QUEUED;

126
master/fsm_foe.c
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@@ -46,8 +46,12 @@
*/
#define EC_FSM_FOE_TIMEOUT 3000
/** Mailbox type FoE.
*/
#define EC_MBOX_TYPE_FILEACCESS 0x04
/** Size of the FoE header.
*/
#define EC_FOE_HEADER_SIZE 6
// uint8_t OpCode
// uint8_t reserved
@@ -152,6 +156,8 @@ int ec_fsm_foe_success(ec_fsm_foe_t *fsm /**< Finite state machine */)
/*****************************************************************************/
/** Prepares an FoE transfer.
*/
void ec_fsm_foe_transfer(
ec_fsm_foe_t *fsm, /**< State machine. */
ec_slave_t *slave, /**< EtherCAT slave. */
@@ -263,7 +269,11 @@ int ec_foe_prepare_wrq_send(ec_fsm_foe_t *fsm)
/*****************************************************************************/
void ec_fsm_foe_write(ec_fsm_foe_t *fsm /**< finite state machine */)
/** Start a write operation.
*/
void ec_fsm_foe_write(
ec_fsm_foe_t *fsm /**< FoE statemachine. */
)
{
fsm->tx_buffer = fsm->request->buffer;
fsm->tx_buffer_size = fsm->request->data_size;
@@ -276,10 +286,9 @@ void ec_fsm_foe_write(ec_fsm_foe_t *fsm /**< finite state machine */)
}
/*****************************************************************************/
/**
Initializes the SII write state machine.
*/
/** Initializes the FoE write state machine.
*/
void ec_fsm_foe_write_start(ec_fsm_foe_t *fsm /**< finite state machine */)
{
ec_slave_t *slave = fsm->slave;
@@ -309,7 +318,11 @@ void ec_fsm_foe_write_start(ec_fsm_foe_t *fsm /**< finite state machine */)
/*****************************************************************************/
void ec_fsm_foe_state_ack_check(ec_fsm_foe_t *fsm)
/** Check for acknowledge.
*/
void ec_fsm_foe_state_ack_check(
ec_fsm_foe_t *fsm /**< FoE statemachine. */
)
{
ec_datagram_t *datagram = fsm->datagram;
ec_slave_t *slave = fsm->slave;
@@ -359,9 +372,12 @@ void ec_fsm_foe_state_ack_check(ec_fsm_foe_t *fsm)
/*****************************************************************************/
void ec_fsm_foe_state_ack_read(ec_fsm_foe_t *fsm)
/** Acknowledge a read operation.
*/
void ec_fsm_foe_state_ack_read(
ec_fsm_foe_t *fsm /**< FoE statemachine. */
)
{
ec_datagram_t *datagram = fsm->datagram;
ec_slave_t *slave = fsm->slave;
uint8_t *data, mbox_prot;
@@ -433,13 +449,15 @@ void ec_fsm_foe_state_ack_read(ec_fsm_foe_t *fsm)
}
/*****************************************************************************/
/**
State: WRQ SENT.
Checks is the previous transmit datagram succeded and sends the next
fragment, if necessary.
*/
void ec_fsm_foe_state_wrq_sent(ec_fsm_foe_t *fsm)
/** State: WRQ SENT.
*
* Checks is the previous transmit datagram succeded and sends the next
* fragment, if necessary.
*/
void ec_fsm_foe_state_wrq_sent(
ec_fsm_foe_t *fsm /**< FoE statemachine. */
)
{
ec_datagram_t *datagram = fsm->datagram;
ec_slave_t *slave = fsm->slave;
@@ -474,13 +492,15 @@ void ec_fsm_foe_state_wrq_sent(ec_fsm_foe_t *fsm)
}
/*****************************************************************************/
/**
State: WRQ SENT.
Checks is the previous transmit datagram succeded and sends the next
fragment, if necessary.
*/
void ec_fsm_foe_state_data_sent(ec_fsm_foe_t *fsm)
/** State: WRQ SENT.
*
* Checks is the previous transmit datagram succeded and sends the next
* fragment, if necessary.
*/
void ec_fsm_foe_state_data_sent(
ec_fsm_foe_t *fsm /**< Foe statemachine. */
)
{
ec_datagram_t *datagram = fsm->datagram;
ec_slave_t *slave = fsm->slave;
@@ -543,7 +563,11 @@ int ec_foe_prepare_rrq_send(ec_fsm_foe_t *fsm)
/*****************************************************************************/
int ec_foe_prepare_send_ack(ec_fsm_foe_t *foe)
/** Prepare to send an acknowledge.
*/
int ec_foe_prepare_send_ack(
ec_fsm_foe_t *foe /**< FoE statemachine. */
)
{
uint8_t *data;
@@ -559,13 +583,16 @@ int ec_foe_prepare_send_ack(ec_fsm_foe_t *foe)
}
/*****************************************************************************/
/**
State: RRQ SENT.
Checks is the previous transmit datagram succeded and sends the next
fragment, if necessary.
*/
void ec_fsm_foe_state_rrq_sent( ec_fsm_foe_t *fsm ) {
/** State: RRQ SENT.
*
* Checks is the previous transmit datagram succeded and sends the next
* fragment, if necessary.
*/
void ec_fsm_foe_state_rrq_sent(
ec_fsm_foe_t *fsm /**< FoE statemachine. */
)
{
ec_datagram_t *datagram = fsm->datagram;
ec_slave_t *slave = fsm->slave;
@@ -600,7 +627,11 @@ void ec_fsm_foe_state_rrq_sent( ec_fsm_foe_t *fsm ) {
/*****************************************************************************/
void ec_fsm_foe_read(ec_fsm_foe_t *fsm /**< finite state machine */)
/** Start a read operation.
*/
void ec_fsm_foe_read(
ec_fsm_foe_t *fsm /**< FoE state machine. */
)
{
fsm->state = ec_fsm_foe_read_start;
fsm->rx_filename = fsm->request->file_name;
@@ -612,7 +643,11 @@ void ec_fsm_foe_read(ec_fsm_foe_t *fsm /**< finite state machine */)
/*****************************************************************************/
void ec_fsm_foe_read_start(ec_fsm_foe_t *fsm /**< finite state machine */)
/** Starting state for read operations.
*/
void ec_fsm_foe_read_start(
ec_fsm_foe_t *fsm /**< FoE statemachine. */
)
{
size_t current_size;
ec_slave_t *slave = fsm->slave;
@@ -645,7 +680,12 @@ void ec_fsm_foe_read_start(ec_fsm_foe_t *fsm /**< finite state machine */)
/*****************************************************************************/
void ec_fsm_foe_state_data_check ( ec_fsm_foe_t *fsm ) {
/** Check for data.
*/
void ec_fsm_foe_state_data_check(
ec_fsm_foe_t *fsm /**< FoE statemachine. */
)
{
ec_datagram_t *datagram = fsm->datagram;
ec_slave_t *slave = fsm->slave;
@@ -694,7 +734,11 @@ void ec_fsm_foe_state_data_check ( ec_fsm_foe_t *fsm ) {
/*****************************************************************************/
void ec_fsm_foe_state_data_read(ec_fsm_foe_t *fsm)
/** Start reading data.
*/
void ec_fsm_foe_state_data_read(
ec_fsm_foe_t *fsm /**< FoE statemachine. */
)
{
size_t rec_size;
uint8_t *data, opCode, packet_no, mbox_prot;
@@ -815,8 +859,12 @@ void ec_fsm_foe_state_data_read(ec_fsm_foe_t *fsm)
/*****************************************************************************/
void ec_fsm_foe_state_sent_ack( ec_fsm_foe_t *fsm ) {
/** Sent an acknowledge.
*/
void ec_fsm_foe_state_sent_ack(
ec_fsm_foe_t *fsm /**< FoE statemachine. */
)
{
ec_datagram_t *datagram = fsm->datagram;
ec_slave_t *slave = fsm->slave;
@@ -859,7 +907,12 @@ void ec_fsm_foe_state_sent_ack( ec_fsm_foe_t *fsm ) {
/*****************************************************************************/
void ec_foe_set_tx_error(ec_fsm_foe_t *fsm, uint32_t errorcode)
/** Set an error code and go to the send error state.
*/
void ec_foe_set_tx_error(
ec_fsm_foe_t *fsm, /**< FoE statemachine. */
uint32_t errorcode /**< FoE error code. */
)
{
fsm->tx_errors++;
fsm->request->result = errorcode;
@@ -868,7 +921,12 @@ void ec_foe_set_tx_error(ec_fsm_foe_t *fsm, uint32_t errorcode)
/*****************************************************************************/
void ec_foe_set_rx_error(ec_fsm_foe_t *fsm, uint32_t errorcode)
/** Set an error code and go to the receive error state.
*/
void ec_foe_set_rx_error(
ec_fsm_foe_t *fsm, /**< FoE statemachine. */
uint32_t errorcode /**< FoE error code. */
)
{
fsm->rx_errors++;
fsm->request->result = errorcode;

4
master/fsm_foe.h
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@@ -60,6 +60,8 @@ struct ec_fsm_foe {
ec_foe_request_t *request; /**< FoE request */
uint8_t toggle; /**< toggle bit for segment commands */
/** \cond */
uint32_t tx_errors;
uint8_t *tx_buffer;
uint32_t tx_buffer_size;
@@ -81,6 +83,8 @@ struct ec_fsm_foe {
uint32_t rx_last_packet;
uint8_t *rx_filename;
uint32_t rx_filename_len;
/** \endcond */
};
/*****************************************************************************/

11
master/slave.h
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@@ -124,10 +124,13 @@ struct ec_slave
ec_slave_state_t current_state; /**< Current application state. */
unsigned int error_flag; /**< Stop processing after an error. */
unsigned int force_config; /**< Force (re-)configuration. */
uint16_t configured_rx_mailbox_offset;
uint16_t configured_rx_mailbox_size;
uint16_t configured_tx_mailbox_offset;
uint16_t configured_tx_mailbox_size;
uint16_t configured_rx_mailbox_offset; /**< Configured receive mailbox
offset. */
uint16_t configured_rx_mailbox_size; /**< Configured receive mailbox size.
*/
uint16_t configured_tx_mailbox_offset; /**< Configured send mailbox
offset. */
uint16_t configured_tx_mailbox_size; /**< Configured send mailbox size. */
// base data
uint8_t base_type; /**< Slave type. */