etherlabmaster: comparison documentation/ethercat

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-:6327ce8c4274
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 \begin{titlepage}
 \begin{center}
 \rule{\textwidth}{1.5mm}
-{\Huge\bf IgH \includegraphics[height=2.4ex]{images/ethercat}
+{\Huge\sf\textbf{IgH \includegraphics[height=2.4ex]{images/ethercat}
-Master \masterversion\\[1ex]
+Master \masterversion}\\[1ex]
-Documentation}
+\textbf{Documentation}}
 \vspace{1ex}
 \rule{\textwidth}{1.5mm}
 \vspace{\fill} {\Large Dipl.-Ing. (FH) Florian Pose,
 \begin{itemize}
 \item Loading and storing files via the command-line tool.
 \item Updating a slave's firmware can be done easily.
+\end{itemize}
+\item Servo Profile over EtherCAT (SoE)
+\begin{itemize}
+\item Implemented according to IEC 61800-7 \cite{soespec}.
+\item Storing IDN configurations, that are written to the slave during
+startup.
+\item Accessing IDNs via the command-line tool.
+\item Accessing IDNs at runtime via the the user-space library.
 \end{itemize}
 \item Userspace command-line-tool ``ethercat'' (see sec.~\ref{sec:tool})
 \item Reading/Writing alias addresses.
 \item Listing slave configurations.
 \item Viewing process data.
 \item SDO download/upload; listing SDO dictionaries.
 \item Loading and storing files via FoE.
+\item SoE IDN access.
 \item Access to slave registers.
 \item Slave SII (EEPROM) access.
 \item Controlling application-layer states.
 \item Generation of slave description XML and C-code from existing slaves.
 % Configuring PDO assignment and mapping
 % Domains (memory)
 % PDO entry registration
 % SDO configuration
 % SDO access
+% IDN configurations
+% IDN access
 The application interface provides functions and data structures for
 applications to access an EtherCAT master. The complete documentation of the
 interface is included as Doxygen~\cite{doxygen} comments in the header file
 \textit{include/ecrt.h}. It can either be read directly from the file
 upper approximation}. To check for bus synchrony, the system time difference
 registers can also be cyclically read via the command-line-tool (see
 sec.~\ref{sec:regaccess}):
 \begin{lstlisting}
-$ `\textbf{watch -n0 "ethercat reg\_read -p4 -tint32 0x92c"}`
+$ `\textbf{watch -n0 "ethercat reg\_read -p4 -tsm32 0x92c"}`
 \end{lstlisting}
 \paragraph{Sync Signals} Synchronous clocks are only the prerequisite for
 synchronous events on the bus. Each slave with DC support provides two ``sync
 signals'', that can be programmed to create events, that will for example
 %------------------------------------------------------------------------------
 \chapter{Mailbox Protocol Implementations}
 \index{Mailbox}
-The EtherCAT master implements the EoE and the CoE mailbox
+The EtherCAT master implements the CANopen over EtherCAT (CoE), Ethernet over
-protocols. See the below section for details.
+EtherCAT (EoE), File-access over EtherCAT (FoE), Vendor-specific over EtherCAT
+(VoE) and Servo Profile over EtherCAT (SoE) mailbox protocols. See the below
+sections for details.
 %------------------------------------------------------------------------------
 \section{Ethernet over EtherCAT (EoE)}
 \label{sec:eoe}
 % Expedited / Normal
 % Segmenting
 % SDO Info Services
 %
-\ldots
 \paragraph{SDO Download State Machine}
 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
 For more information about using VoE handlers, see sec.~\ref{sec:api-voe} or
 the example applications provided in the \textit{examples/} subdirectory.
 %------------------------------------------------------------------------------
+\section{Servo Profile over EtherCAT (SoE)}
+\label{sec:soe}
+\index{SoE}
+The SoE protocol implements the Service Channel layer, specified in IEC
+61800-7 \cite{soespec} via EtherCAT mailboxes.
+The SoE protocol is quite similar to the CoE protocol (see
+sec.~\ref{sec:coe}). Instead of SDO indices and subindices, so-called
+identification numbers (IDNs) identify parameters.
+The implementation covers the ``SCC Read'' and ``SCC Write'' primitives, each
+with the ability to fragment data.
+There are several ways to use the SoE implementation:
+\begin{itemize}
+\item Reading and writing IDNs via the command-line tool (see
+sec.~\ref{sec:soeaccess}).
+\item Storing configurations for arbitrary IDNs via the application interface
+(see chap.~\ref{chap:api}, i.\,e.~\lstinline+ecrt_slave_config_idn()+). These
+configurations are written to the slave during configuration in PREOP state,
+before going to SAFEOP.
+\item The user-space library (see sec.~\ref{sec:userlib}), offers functions to
+read/write IDNs in blocking mode (\lstinline+ecrt_master_read_idn()+,
+\lstinline+ecrt_master_write_idn()+).
+\end{itemize}
+%------------------------------------------------------------------------------
 \chapter{Userspace Interfaces}
 \label{sec:user}
 \index{Userspace}
 For the master runs as a kernel module, accessing it is natively limited to
 0     0:0  PREOP  +  EK1100 Ethernet Kopplerklemme (2A E-Bus)
 1  5555:0  PREOP  +  EL3162 2K. Ana. Eingang 0-10V
 2  5555:1  PREOP  +  EL4102 2K. Ana. Ausgang 0-10V
 3  5555:2  PREOP  +  EL2004 4K. Dig. Ausgang 24V, 0,5A
 \end{lstlisting}
+%------------------------------------------------------------------------------
+\subsection{SoE IDN Access}
+\label{sec:soeaccess}
+\lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_soe_read}
+\lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_soe_write}
 %------------------------------------------------------------------------------
 \subsection{Requesting Application-Layer States}
 \bibitem{mercurial} Mercurial SCM. \url{http://mercurial.selenic.com}, 2010.
 \bibitem{autoconf} Autoconf -- GNU Project -- Free Software Foundation (FSF).
 \url{http://www.gnu.org/software/autoconf}, 2010.
+\bibitem{soespec} IEC 61800-7-304: Adjustable speed electrical power drive
+systems - Part 7-300: Generic interface and use of profiles for power drive
+systems - Mapping of profiles to network technologies. International
+Electrotechnical Commission (IEC), 2007.
 \end{thebibliography}
 \printnomenclature
 \addcontentsline{toc}{chapter}{\nomname}
 \markleft{\nomname}

changeset 1917	6129a5f715fb
parent 1772	b4c85bedd68f
child 2076	1baafcd263cc
child 2141	64f03f19124b