--- a/documentation/ethercat_doc.tex Mon Dec 29 14:10:27 2008 +0000
+++ b/documentation/ethercat_doc.tex Mon Dec 29 15:19:16 2008 +0000
@@ -227,19 +227,19 @@
\end{itemize}
-\item CANopen-over-EtherCAT (CoE)
+\item CANopen over EtherCAT (CoE)
\begin{itemize}
- \item Sdo upload, download and information service.
-
- \item Slave configuration via Sdos.
-
- \item Sdo access from userspace and from the application.
+ \item SDO upload, download and information service.
+
+ \item Slave configuration via SDOs.
+
+ \item SDO access from userspace and from the application.
\end{itemize}
-\item Ethernet-over-EtherCAT (EoE)
+\item Ethernet over EtherCAT (EoE)
\begin{itemize}
@@ -254,12 +254,12 @@
\begin{itemize}
- \item Showing the current bus with slaves, Pdos and Sdos.
+ \item Showing the current bus with slaves, PDOs and SDOs.
\item Showing the bus configuration.
\item Showing domains and process data.
\item Setting the master's debug level.
\item Writing alias addresses.
- \item Sdo uploading/downloading.
+ \item SDO uploading/downloading.
\item Reading/writing a slave's SII.
\item Setting slave states.
\item Generate slave description XML.
@@ -449,7 +449,7 @@
an Ethernet device, but is not requested by any application yet. The master
runs its state machine (see sec.~\ref{sec:fsm-master}), that automatically
scans the bus for slaves and executes pending operations from the userspace
-interface (for example Sdo access). The command-line tool can be used to
+interface (for example SDO access). The command-line tool can be used to
access the bus, but there is no process data exchange because of the missing
bus configuration.
@@ -470,12 +470,12 @@
\index{Process data}
Slaves offer their inputs and outputs by presenting the master so-called
-``Process Data Objects'' (Pdos\index{Pdo}). The available Pdos can be either
+``Process Data Objects'' (PDOs\index{PDO}). The available PDOs can be either
determined by reading out the slave's TXPDO and RXPDO SII categories from the
-E$^2$PROM (in case of fixed Pdos) or by reading out the appropriate CoE
+E$^2$PROM (in case of fixed PDOs) or by reading out the appropriate CoE
objects (see sec.~\ref{sec:coe}), if available. The application can register
-the Pdos' entries for exchange during cyclic operation. The sum of all
-registered Pdo entries defines the ``process data image'', which is exchanged
+the PDOs' entries for exchange during cyclic operation. The sum of all
+registered PDO entries defines the ``process data image'', which is exchanged
via datagrams with ``logical'' memory access (like LWR, LRD or LRW) introduced
in~\cite[sec.~5.4]{dlspec}.
@@ -483,8 +483,8 @@
\index{Domain}
The process data image can be easily managed by creating so-called
-``domains'', which allow grouped Pdo exchange. They also take care of managing
-the datagram structures needed to exchange the Pdos. Domains are mandatory for
+``domains'', which allow grouped PDO exchange. They also take care of managing
+the datagram structures needed to exchange the PDOs. Domains are mandatory for
process data exchange, so there has to be at least one. They were introduced
for the following reasons:
@@ -498,10 +498,10 @@
to be partitioned for the use of multiple datagrams. A domain manages this
automatically.
-\item Not every Pdo has to be exchanged with the same frequency: The values of
-Pdos can vary slowly over time (for example temperature values), so exchanging
+\item Not every PDO has to be exchanged with the same frequency: The values of
+PDOs can vary slowly over time (for example temperature values), so exchanging
them with a high frequency would just waste bus bandwidth. For this reason,
-multiple domains can be created, to group different Pdos and so allow separate
+multiple domains can be created, to group different PDOs and so allow separate
exchange.
\end{itemize}
@@ -513,21 +513,21 @@
\paragraph{FMMU Configuration}
\index{FMMU!Configuration}
-An application can register Pdo entries for exchange. Every Pdo entry and its
-parent Pdo is part of a memory area in the slave's physical memory, that is
+An application can register PDO entries for exchange. Every PDO entry and its
+parent PDO is part of a memory area in the slave's physical memory, that is
protected by a sync manager \cite[sec.~6.7]{dlspec} for synchronized access.
In order to make a sync manager react on a datagram accessing its memory, it
is necessary to access the last byte covered by the sync manager. Otherwise
the sync manager will not react on the datagram and no data will be exchanged.
That is why the whole synchronized memory area has to be included into the
-process data image: For example, if a certain Pdo entry of a slave is
+process data image: For example, if a certain PDO entry of a slave is
registered for exchange with a certain domain, one FMMU will be configured to
-map the complete sync-manager-protected memory, the Pdo entry resides in. If a
-second Pdo entry of the same slave is registered for process data exchange
+map the complete sync-manager-protected memory, the PDO entry resides in. If a
+second PDO entry of the same slave is registered for process data exchange
within the same domain, and it resides in the same sync-manager-protected
memory as the first one, the FMMU configuration is not altered, because the
desired memory is already part of the domain's process data image. If the
-second Pdo entry would belong to another sync-manager-protected area, this
+second PDO entry would belong to another sync-manager-protected area, this
complete area would also be included into the domains process data image.
Figure~\ref{fig:fmmus} gives an overview, how FMMUs are configured to map
@@ -551,11 +551,11 @@
% Interface version
% Master Requesting and Releasing
% Master Locking
-% Configuring Pdo assignment and mapping
+% Configuring PDO assignment and mapping
% Domains (memory)
-% Pdo entry registration
-% Sdo configuration
-% Sdo access
+% PDO entry registration
+% SDO configuration
+% SDO access
The application interface provides functions and data structures for
applications to access an EtherCAT master. The complete documentation of the
@@ -572,7 +572,7 @@
\begin{description}
\item[Configuration] The master is requested and the configuration is applied.
-For example, domains are created, slaves are configured and Pdo entries are
+For example, domains are created, slaves are configured and PDO entries are
registered (see sec.~\ref{sec:masterconfig}).
\item[Operation] Cyclic code is run and process data are exchanged (see
@@ -1432,7 +1432,7 @@
\item[Request handling] Requests (either originating from the application or
from external sources) are handled. A request is a job that the master shall
-process asynchronously, for example an SII access, Sdo access, or similar.
+process asynchronously, for example an SII access, SDO access, or similar.
\end{description}
@@ -1474,10 +1474,10 @@
\item[PREOP] If the slave supports CoE, it is set to PREOP state using the
State change FSM (see sec.~\ref{sec:fsm-change}) to enable mailbox
-communication and read the Pdo configuration via CoE.
-
-\item[Pdos] The Pdos are read via CoE (if supported) using the Pdo Reading FSM
-(see sec.~\ref{sec:fsm-pdo}). If this is successful, the Pdo information from
+communication and read the PDO configuration via CoE.
+
+\item[PDOs] The PDOs are read via CoE (if supported) using the PDO Reading FSM
+(see sec.~\ref{sec:fsm-pdo}). If this is successful, the PDO information from
the SII (if any) is overwritten.
\end{description}
@@ -1516,18 +1516,18 @@
\item[PREOP] The state change FSM is used to bring the slave to PREOP state.
If this is the requested state, the state machine is finished.
-\item[Sdo Configuration] If there is a slave configuration attached (see
-sec.~\ref{sec:masterconfig}), and there are any Sdo configurations are
+\item[SDO Configuration] If there is a slave configuration attached (see
+sec.~\ref{sec:masterconfig}), and there are any SDO configurations are
provided by the application, these are sent to the slave.
-\item[Pdo Configuration] The Pdo configuration state machine is executed to
-apply all necessary Pdo configurations.
-
-\item[Pdo Sync Manager Configuration] If any Pdo sync managers exist, they are
+\item[PDO Configuration] The PDO configuration state machine is executed to
+apply all necessary PDO configurations.
+
+\item[PDO Sync Manager Configuration] If any PDO sync managers exist, they are
configured.
\item[FMMU Configuration] If there are FMMUs configurations supplied by the
-application (i.\,e.\ if the application registered Pdo entries), they are
+application (i.\,e.\ if the application registered PDO entries), they are
applied.
\item[SAFEOP] The state change FSM is used to bring the slave to SAFEOP state.
@@ -1639,60 +1639,60 @@
%------------------------------------------------------------------------------
-\section{The Pdo State Machines}
+\section{The PDO State Machines}
\label{sec:fsm-pdo}
-\index{FSM!Pdo}
-
-The Pdo state machines are a set of state machines that read or write the Pdo
-assignment and the Pdo mapping via the ``CoE Communication Area'' described in
-\cite[sec. 5.6.7.4]{alspec}. For the object access, the CANopen-over-EtherCAT
+\index{FSM!PDO}
+
+The PDO state machines are a set of state machines that read or write the PDO
+assignment and the PDO mapping via the ``CoE Communication Area'' described in
+\cite[sec. 5.6.7.4]{alspec}. For the object access, the CANopen over EtherCAT
access primitives are used (see sec.~\ref{sec:coe}), so the slave must support
the CoE mailbox protocol.
-\paragraph{Pdo Reading FSM} This state machine (fig.~\ref{fig:fsm-pdo-read})
-has the purpose to read the complete Pdo configuration of a slave. It reads
-the Pdo assignment for each Sync Manager and uses the Pdo Entry Reading FSM
-(fig.~\ref{fig:fsm-pdo-entry-read}) to read the mapping for each assigned Pdo.
+\paragraph{PDO Reading FSM} This state machine (fig.~\ref{fig:fsm-pdo-read})
+has the purpose to read the complete PDO configuration of a slave. It reads
+the PDO assignment for each Sync Manager and uses the PDO Entry Reading FSM
+(fig.~\ref{fig:fsm-pdo-entry-read}) to read the mapping for each assigned PDO.
\begin{figure}[htbp]
\centering
\includegraphics[width=.4\textwidth]{graphs/fsm_pdo_read}
- \caption{Transition Diagram of the Pdo Reading State Machine}
+ \caption{Transition Diagram of the PDO Reading State Machine}
\label{fig:fsm-pdo-read}
\end{figure}
-Basically it reads the every Sync manager's Pdo assignment Sdo's
+Basically it reads the every Sync manager's PDO assignment SDO's
(\lstinline+0x1C1x+) number of elements to determine the number of assigned
-Pdos for this sync manager and then reads out the subindices of the Sdo to get
-the assigned Pdo's indices. When a Pdo index is read, the Pdo Entry Reading
-FSM is executed to read the Pdo's mapped Pdo entries.
-
-\paragraph{Pdo Entry Reading FSM} This state machine
-(fig.~\ref{fig:fsm-pdo-entry-read}) reads the Pdo mapping (the Pdo entries) of
-a Pdo. It reads the respective mapping Sdo (\lstinline+0x1600+ --
+PDOs for this sync manager and then reads out the subindices of the SDO to get
+the assigned PDO's indices. When a PDO index is read, the PDO Entry Reading
+FSM is executed to read the PDO's mapped PDO entries.
+
+\paragraph{PDO Entry Reading FSM} This state machine
+(fig.~\ref{fig:fsm-pdo-entry-read}) reads the PDO mapping (the PDO entries) of
+a PDO. It reads the respective mapping SDO (\lstinline+0x1600+ --
\lstinline+0x17ff+, or \lstinline+0x1a00+ -- \lstinline+0x1bff+) for the given
-Pdo by reading first the subindex zero (number of elements) to determine the
-number of mapped Pdo entries. After that, each subindex is read to get the
-mapped Pdo entry index, subindex and bit size.
+PDO by reading first the subindex zero (number of elements) to determine the
+number of mapped PDO entries. After that, each subindex is read to get the
+mapped PDO entry index, subindex and bit size.
\begin{figure}[htbp]
\centering
\includegraphics[width=.4\textwidth]{graphs/fsm_pdo_entry_read}
- \caption{Transition Diagram of the Pdo Entry Reading State Machine}
+ \caption{Transition Diagram of the PDO Entry Reading State Machine}
\label{fig:fsm-pdo-entry-read}
\end{figure}
\begin{figure}[htbp]
\centering
\includegraphics[width=.9\textwidth]{graphs/fsm_pdo_conf}
- \caption{Transition Diagram of the Pdo Configuration State Machine}
+ \caption{Transition Diagram of the PDO Configuration State Machine}
\label{fig:fsm-pdo-conf}
\end{figure}
\begin{figure}[htbp]
\centering
\includegraphics[width=.4\textwidth]{graphs/fsm_pdo_entry_conf}
- \caption{Transition Diagram of the Pdo Entry Configuration State Machine}
+ \caption{Transition Diagram of the PDO Entry Configuration State Machine}
\label{fig:fsm-pdo-entry-conf}
\end{figure}
@@ -1706,12 +1706,12 @@
%------------------------------------------------------------------------------
-\section{Ethernet-over-EtherCAT (EoE)}
+\section{Ethernet over EtherCAT (EoE)}
\label{sec:eoe}
\index{EoE}
The EtherCAT master implements the
-Ethernet-over-EtherCAT\nomenclature{EoE}{Ethernet-over-EtherCAT, Mailbox
+Ethernet over EtherCAT\nomenclature{EoE}{Ethernet over EtherCAT, Mailbox
Protocol} mailbox protocol~\cite[sec.~5.7]{alspec} to enable the tunneling of
Ethernet frames to special slaves, that can either have physical Ethernet
ports to forward the frames to, or have an own IP stack to receive the frames.
@@ -1865,11 +1865,11 @@
%------------------------------------------------------------------------------
-\section{CANopen-over-EtherCAT (CoE)}
+\section{CANopen over EtherCAT (CoE)}
\label{sec:coe}
\index{CoE}
-The CANopen-over-EtherCAT\nomenclature{CoE}{CANopen-over-EtherCAT, Mailbox
+The CANopen over EtherCAT\nomenclature{CoE}{CANopen over EtherCAT, Mailbox
Protocol} protocol~\cite[sec.~5.6]{alspec} is used to configure slaves and
exchange data objects on application level.
@@ -1878,23 +1878,23 @@
% Download / Upload
% Expedited / Normal
% Segmenting
-% Sdo Info Services
+% SDO Info Services
%
\ldots
-\paragraph{Sdo Download State Machine}
-
-The best time to apply Sdo configurations is during the slave's PREOP state,
+\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
-Sdo configuration has to be part of the slave configuration state machine (see
-sec.~\ref{sec:fsm-conf}): It is implemented via an Sdo download state machine,
+SDO configuration has to be part of the slave configuration state machine (see
+sec.~\ref{sec:fsm-conf}): It is implemented via an SDO download state machine,
that is executed just before entering the slave's SAFEOP state. In this way,
-it is guaranteed that the Sdo configurations are applied each time, the slave
+it is guaranteed that the SDO configurations are applied each time, the slave
is reconfigured.
-The transition diagram of the Sdo Download state machine can be seen
+The transition diagram of the SDO Download state machine can be seen
in figure~\ref{fig:fsm-coedown}.
\begin{figure}[htbp]
@@ -1908,7 +1908,7 @@
\begin{description}
\item[START] The beginning state of the CoE download state
- machine. The ``Sdo Download Normal Request'' mailbox command is
+ machine. The ``SDO Download Normal Request'' mailbox command is
sent. $\rightarrow$~REQUEST
\item[REQUEST] It is checked, if the CoE download request has been
@@ -1917,7 +1917,7 @@
\item[CHECK] If no mailbox data is available, the timer is checked.
\begin{itemize}
- \item If it timed out, the Sdo download is aborted.
+ \item If it timed out, the SDO download is aborted.
$\rightarrow$~ERROR
\item Otherwise, the mailbox is queried again.
$\rightarrow$~CHECK
@@ -1927,16 +1927,16 @@
$\rightarrow$~RESPONSE
\item[RESPONSE] If the mailbox response could not be fetched, the data
- is invalid, the wrong protocol was received, or a ``Abort Sdo
- Transfer Request'' was received, the Sdo download is aborted.
+ is invalid, the wrong protocol was received, or a ``Abort SDO
+ Transfer Request'' was received, the SDO download is aborted.
$\rightarrow$~ERROR
- If a ``Sdo Download Normal Response'' acknowledgement was received,
- the Sdo download was successful. $\rightarrow$~END
-
-\item[END] The Sdo download was successful.
-
-\item[ERROR] The Sdo download was aborted due to an error.
+ If a ``SDO Download Normal Response'' acknowledgement was received,
+ the SDO download was successful. $\rightarrow$~END
+
+\item[END] The SDO download was successful.
+
+\item[ERROR] The SDO download was aborted due to an error.
\end{description}
@@ -2027,19 +2027,19 @@
%------------------------------------------------------------------------------
-\subsection{Sync Managers, Pdos and Pdo Entries}
+\subsection{Sync Managers, PDOs and PDO Entries}
\lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_pdos}
%------------------------------------------------------------------------------
-\subsection{Sdo Dictionary}
+\subsection{SDO Dictionary}
\lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_sdos}
%------------------------------------------------------------------------------
-\subsection{Sdo Access}
+\subsection{SDO Access}
\lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_download}