--- a/master/canopen.c Thu Apr 20 14:34:58 2006 +0000
+++ b/master/canopen.c Fri Apr 21 12:35:17 2006 +0000
@@ -6,6 +6,23 @@
*
* $Id$
*
+ * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ * This file is part of the IgH EtherCAT Master.
+ *
+ * The IgH EtherCAT Master is free software; you can redistribute it
+ * and/or modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; version 2 of the License.
+ *
+ * The IgH EtherCAT Master is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * 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
+ *
*****************************************************************************/
#include <linux/delay.h>
@@ -30,7 +47,8 @@
/**
Reads 32 bit of a CANopen SDO in expedited mode.
\return 0 in case of success, else < 0
- */
+ \ingroup Slave
+*/
int ec_slave_sdo_read_exp(ec_slave_t *slave, /**< EtherCAT slave */
uint16_t sdo_index, /**< SDO index */
@@ -79,13 +97,14 @@
/**
Writes a CANopen SDO using expedited mode.
\return 0 in case of success, else < 0
- */
+ \ingroup Slave
+*/
int ec_slave_sdo_write_exp(ec_slave_t *slave, /**< EtherCAT slave */
uint16_t sdo_index, /**< SDO index */
uint8_t sdo_subindex, /**< SDO subindex */
const uint8_t *sdo_data, /**< new value */
- size_t size
+ size_t size /**< Data size in bytes (1 - 4) */
)
{
uint8_t *data;
@@ -138,9 +157,9 @@
/**
Reads a CANopen SDO in normal mode.
\return 0 in case of success, else < 0
-
+ \ingroup Slave
\todo size
- */
+*/
int ecrt_slave_sdo_read(ec_slave_t *slave, /**< EtherCAT slave */
uint16_t sdo_index, /**< SDO index */
@@ -209,6 +228,7 @@
/**
Fetches the SDO dictionary of a slave.
\return 0 in case of success, else < 0
+ \ingroup Slave
*/
int ec_slave_fetch_sdo_list(ec_slave_t *slave /**< EtherCAT slave */)
@@ -291,6 +311,7 @@
/**
Fetches the SDO descriptions for the known SDOs.
\return 0 in case of success, else < 0
+ \ingroup Slave
*/
int ec_slave_fetch_sdo_descriptions(ec_slave_t *slave /**< EtherCAT slave */)
@@ -369,6 +390,7 @@
/**
Fetches all entries (subindices) to an SDO.
\return 0 in case of success, else < 0
+ \ingroup Slave
*/
int ec_slave_fetch_sdo_entries(ec_slave_t *slave, /**< EtherCAT slave */
@@ -516,7 +538,8 @@
Reads an 8-bit SDO in expedited mode.
See ec_slave_sdo_read_exp()
\return 0 in case of success, else < 0
- */
+ \ingroup Slave
+*/
int ecrt_slave_sdo_read_exp8(ec_slave_t *slave, /**< EtherCAT slave */
uint16_t sdo_index, /**< SDO index */
@@ -536,7 +559,8 @@
Reads a 16-bit SDO in expedited mode.
See ec_slave_sdo_read_exp()
\return 0 in case of success, else < 0
- */
+ \ingroup Slave
+*/
int ecrt_slave_sdo_read_exp16(ec_slave_t *slave, /**< EtherCAT slave */
uint16_t sdo_index, /**< SDO index */
@@ -556,7 +580,8 @@
Reads a 32-bit SDO in expedited mode.
See ec_slave_sdo_read_exp()
\return 0 in case of success, else < 0
- */
+ \ingroup Slave
+*/
int ecrt_slave_sdo_read_exp32(ec_slave_t *slave, /**< EtherCAT slave */
uint16_t sdo_index, /**< SDO index */
@@ -575,7 +600,8 @@
/**
Writes an 8-bit SDO in expedited mode.
\return 0 in case of success, else < 0
- */
+ \ingroup Slave
+*/
int ecrt_slave_sdo_write_exp8(ec_slave_t *slave, /**< EtherCAT slave */
uint16_t sdo_index, /**< SDO index */
@@ -591,7 +617,8 @@
/**
Writes a 16-bit SDO in expedited mode.
\return 0 in case of success, else < 0
- */
+ \ingroup Slave
+*/
int ecrt_slave_sdo_write_exp16(ec_slave_t *slave, /**< EtherCAT slave */
uint16_t sdo_index, /**< SDO index */
@@ -609,7 +636,8 @@
/**
Writes a 32-bit SDO in expedited mode.
\return 0 in case of success, else < 0
- */
+ \ingroup Slave
+*/
int ecrt_slave_sdo_write_exp32(ec_slave_t *slave, /**< EtherCAT slave */
uint16_t sdo_index, /**< SDO index */