--- a/master/slave.c Mon Sep 24 10:35:00 2007 +0000
+++ b/master/slave.c Mon Sep 24 12:12:11 2007 +0000
@@ -282,7 +282,8 @@
/*****************************************************************************/
/**
-*/
+ * SDO kobject clear method.
+ */
void ec_slave_sdos_clear(struct kobject *kobj /**< kobject for SDOs */)
{
@@ -374,6 +375,7 @@
/*****************************************************************************/
/**
+ * Request a slave state and resets the error flag.
*/
void ec_slave_request_state(ec_slave_t *slave, /**< EtherCAT slave */
@@ -875,7 +877,9 @@
* \return 0 case of success, otherwise error code.
*/
-int ec_slave_schedule_eeprom_writing(ec_eeprom_write_request_t *request)
+int ec_slave_schedule_eeprom_writing(
+ ec_eeprom_write_request_t *request /**< EEPROM write request */
+ )
{
ec_master_t *master = request->slave->master;
@@ -924,7 +928,10 @@
* \return CRC8
*/
-uint8_t ec_slave_eeprom_crc(const uint8_t *data, size_t length)
+uint8_t ec_slave_eeprom_crc(
+ const uint8_t *data, /**< pointer to data */
+ size_t length /**< number of bytes in \a data */
+ )
{
unsigned int i;
uint8_t bit, byte, crc = 0x48;
@@ -1179,6 +1186,8 @@
/*****************************************************************************/
/**
+ * Get the sync manager for either Rx- or Tx-PDOs.
+ * \return pointer to sync manager, or NULL.
*/
ec_sync_t *ec_slave_get_pdo_sync(
@@ -1372,6 +1381,10 @@
/*****************************************************************************/
+/**
+ * Clear slave's PDO mapping.
+ */
+
void ecrt_slave_pdo_mapping_clear(
ec_slave_t *slave, /**< EtherCAT slave */
ec_direction_t dir /**< output/input */
@@ -1393,10 +1406,14 @@
/*****************************************************************************/
+/**
+ * Add a PDO to the list of known mapped PDOs.
+ */
+
int ecrt_slave_pdo_mapping_add(
ec_slave_t *slave, /**< EtherCAT slave */
ec_direction_t dir, /**< input/output */
- uint16_t pdo_index /**< Index of PDO mapping list */)
+ uint16_t pdo_index /**< Index of mapped PDO */)
{
ec_pdo_t *pdo;
ec_sync_t *sync;
@@ -1444,6 +1461,11 @@
/*****************************************************************************/
+/**
+ * Convenience function for ecrt_slave_pdo_mapping_clear() and
+ * ecrt_slave_pdo_mapping_add().
+ */
+
int ecrt_slave_pdo_mapping(ec_slave_t *slave, /**< EtherCAT slave */
ec_direction_t dir, /**< input/output */
unsigned int num_args, /**< Number of following arguments */