etherlabmaster: comparison master/slave.c

equal deleted inserted replaced

-:f7dff1ed01ba
+:04ecf40fc2e9
 /******************************************************************************
-*
-*  s l a v e . c
-*
-*  EtherCAT slave methods.
 *
 *  $Id$
 *
 *  Copyright (C) 2006  Florian Pose, Ingenieurgemeinschaft IgH
 *
 *  along with the IgH EtherCAT Master; if not, write to the Free Software
 *  Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
 *
 *****************************************************************************/
+/**
+\file
+EtherCAT slave methods.
+*/
+/*****************************************************************************/
 #include <linux/module.h>
 #include <linux/delay.h>
 #include "globals.h"
 #include "slave.h"
 int ec_slave_fetch_pdo(ec_slave_t *, const uint8_t *, size_t, ec_pdo_type_t);
 int ec_slave_locate_string(ec_slave_t *, unsigned int, char **);
 ssize_t ec_show_slave_attribute(struct kobject *, struct attribute *, char *);
 /*****************************************************************************/
+/** \cond */
 EC_SYSFS_READ_ATTR(ring_position);
 EC_SYSFS_READ_ATTR(coupler_address);
 EC_SYSFS_READ_ATTR(vendor_name);
 EC_SYSFS_READ_ATTR(product_name);
 .release = ec_slave_clear,
 .sysfs_ops = &sysfs_ops,
 .default_attrs = def_attrs
 };
+/** \endcond */
 /*****************************************************************************/
 const ec_code_msg_t al_status_messages[];
 /*****************************************************************************/
 /**
 Slave constructor.
 \return 0 in case of success, else < 0
-\ingroup Slave
 */
 int ec_slave_init(ec_slave_t *slave, /**< EtherCAT slave */
 ec_master_t *master, /**< EtherCAT master */
 uint16_t ring_position, /**< ring position */
 /*****************************************************************************/
 /**
 Slave destructor.
-\ingroup Slave
 */
 void ec_slave_clear(struct kobject *kobj /**< kobject of the slave */)
 {
 ec_slave_t *slave;
 /*****************************************************************************/
 /**
 Reads all necessary information from a slave.
 \return 0 in case of success, else < 0
-\ingroup Slave
 */
 int ec_slave_fetch(ec_slave_t *slave /**< EtherCAT slave */)
 {
 ec_command_t *command;
 /*****************************************************************************/
 /**
 Reads 16 bit from the slave information interface (SII).
 \return 0 in case of success, else < 0
-\ingroup Slave
 */
 int ec_slave_sii_read16(ec_slave_t *slave,
 /**< EtherCAT slave */
 uint16_t offset,
 /*****************************************************************************/
 /**
 Reads 32 bit from the slave information interface (SII).
 \return 0 in case of success, else < 0
-\ingroup Slave
 */
 int ec_slave_sii_read32(ec_slave_t *slave,
 /**< EtherCAT slave */
 uint16_t offset,
 /*****************************************************************************/
 /**
 Writes 16 bit of data to the slave information interface (SII).
 \return 0 in case of success, else < 0
-\ingroup Slave
 */
 int ec_slave_sii_write16(ec_slave_t *slave,
 /**< EtherCAT slave */
 uint16_t offset,
 /*****************************************************************************/
 /**
 Fetches data from slave's EEPROM.
 \return 0 in case of success, else < 0
-\ingroup Slave
 */
 int ec_slave_fetch_categories(ec_slave_t *slave /**< EtherCAT slave */)
 {
 uint16_t word_offset, cat_type, word_count;
 /*****************************************************************************/
 /**
 Fetches data from a STRING category.
 \return 0 in case of success, else < 0
-\ingroup Slave
 */
 int ec_slave_fetch_strings(ec_slave_t *slave, /**< EtherCAT slave */
 const uint8_t *data /**< category data */
 )
 /*****************************************************************************/
 /**
 Fetches data from a GENERAL category.
 \return 0 in case of success, else < 0
-\ingroup Slave
 */
 int ec_slave_fetch_general(ec_slave_t *slave, /**< EtherCAT slave */
 const uint8_t *data /**< category data */
 )
 /*****************************************************************************/
 /**
 Fetches data from a SYNC MANAGER category.
 \return 0 in case of success, else < 0
-\ingroup Slave
 */
 int ec_slave_fetch_sync(ec_slave_t *slave, /**< EtherCAT slave */
 const uint8_t *data, /**< category data */
 size_t word_count /**< number of words */
 /*****************************************************************************/
 /**
 Fetches data from a [RT]XPDO category.
 \return 0 in case of success, else < 0
-\ingroup Slave
 */
 int ec_slave_fetch_pdo(ec_slave_t *slave, /**< EtherCAT slave */
 const uint8_t *data, /**< category data */
 size_t word_count, /**< number of words */
 /*****************************************************************************/
 /**
 Searches the string list for an index and allocates a new string.
 \return 0 in case of success, else < 0
-\ingroup Slave
 \todo documentation
 */
 int ec_slave_locate_string(ec_slave_t *slave, /**< EtherCAT slave */
 unsigned int index, /**< string index */
 /*****************************************************************************/
 /**
 Acknowledges an error after a state transition.
-\ingroup Slave
 */
 void ec_slave_state_ack(ec_slave_t *slave, /**< EtherCAT slave */
 uint8_t state /**< previous state */
 )
 /**
 Reads the AL status code of a slave and displays it.
 If the AL status code is not supported, or if no error occurred (both
 resulting in code = 0), nothing is displayed.
-\ingroup Slave
 */
 void ec_slave_read_al_status_code(ec_slave_t *slave /**< EtherCAT slave */)
 {
 ec_command_t *command;
 /*****************************************************************************/
 /**
 Does a state transition.
 \return 0 in case of success, else < 0
-\ingroup Slave
 */
 int ec_slave_state_change(ec_slave_t *slave, /**< EtherCAT slave */
 uint8_t state /**< new state */
 )
 of the corresponding sync manager is covered. Seperate FMMUs arce configured
 for each domain.
 If the FMMU configuration is already prepared, the function returns with
 success.
 \return 0 in case of success, else < 0
-\ingroup Slave
 */
 int ec_slave_prepare_fmmu(ec_slave_t *slave, /**< EtherCAT slave */
 const ec_domain_t *domain, /**< domain */
 const ec_sync_t *sync  /**< sync manager */
 Outputs all information about a certain slave.
 Verbosity:
 - 0: Only slave types and addresses
 - 1: with EEPROM information
 - >1: with SDO dictionaries
-\ingroup Slave
 */
 void ec_slave_print(const ec_slave_t *slave, /**< EtherCAT slave */
 unsigned int verbosity /**< verbosity level */
 )
 /*****************************************************************************/
 /**
 Outputs the values of the CRC faoult counters and resets them.
 \return 0 in case of success, else < 0
-\ingroup Slave
 */
 int ec_slave_check_crc(ec_slave_t *slave /**< EtherCAT slave */)
 {
 ec_command_t *command;
 }
 /*****************************************************************************/
 /**
-Writes the "configured station alias" to the slave's EEPROM.
-\return 0 in case of success, else < 0
-\ingroup Slave
-*/
-int ecrt_slave_write_alias(ec_slave_t *slave, /**< EtherCAT slave */
-uint16_t alias /**< new alias */
-)
-{
-return ec_slave_sii_write16(slave, 0x0004, alias);
-}
-/*****************************************************************************/
-/**
 Formats attribute data for SysFS read access.
 \return number of bytes to read
-\ingroup Slave
+\ingroup RealTimeInterface
 */
 ssize_t ec_show_slave_attribute(struct kobject *kobj, /**< slave's kobject */
 struct attribute *attr, /**< attribute */
 char *buffer /**< memory to store data */
 return 0;
 }
 /*****************************************************************************/
+/**
+Application layer status messages.
+*/
 const ec_code_msg_t al_status_messages[] = {
 {0x0001, "Unspecified error"},
 {0x0011, "Invalud requested state change"},
 {0x0012, "Unknown requested state"},
 {0x0022, "Slave needs PREOP"},
 {0x0023, "Slave needs SAVEOP"},
 {}
 };
-/*****************************************************************************/
+/******************************************************************************
+*  Realtime interface
+*****************************************************************************/
+/**
+Writes the "configured station alias" to the slave's EEPROM.
+\return 0 in case of success, else < 0
+\ingroup RealtimeInterface
+*/
+int ecrt_slave_write_alias(ec_slave_t *slave, /**< EtherCAT slave */
+uint16_t alias /**< new alias */
+)
+{
+return ec_slave_sii_write16(slave, 0x0004, alias);
+}
+/*****************************************************************************/
+/**< \cond */
 EXPORT_SYMBOL(ecrt_slave_write_alias);
-/*****************************************************************************/
+/**< \endcond */
+/*****************************************************************************/

changeset 199	04ecf40fc2e9
parent 197	b9a6e2c22745
child 238	b4960499098f