--- a/master/globals.h Mon Dec 29 14:10:27 2008 +0000
+++ b/master/globals.h Mon Dec 29 15:19:16 2008 +0000
@@ -50,7 +50,7 @@
/** Number of state machine retries on datagram timeout. */
#define EC_FSM_RETRIES 3
-/** Seconds to wait before fetching Sdo dictionary
+/** Seconds to wait before fetching SDO dictionary
after slave entered PREOP state. */
#define EC_WAIT_SDO_DICT 3
@@ -122,21 +122,21 @@
/** Supported mailbox protocols.
*/
enum {
- EC_MBOX_AOE = 0x01, /**< ADS-over-EtherCAT */
- EC_MBOX_EOE = 0x02, /**< Ethernet-over-EtherCAT */
- EC_MBOX_COE = 0x04, /**< CANopen-over-EtherCAT */
- EC_MBOX_FOE = 0x08, /**< File-Access-over-EtherCAT */
- EC_MBOX_SOE = 0x10, /**< Servo-Profile-over-EtherCAT */
+ EC_MBOX_AOE = 0x01, /**< ADS over EtherCAT */
+ EC_MBOX_EOE = 0x02, /**< Ethernet over EtherCAT */
+ EC_MBOX_COE = 0x04, /**< CANopen over EtherCAT */
+ EC_MBOX_FOE = 0x08, /**< File-Access over EtherCAT */
+ EC_MBOX_SOE = 0x10, /**< Servo-Profile over EtherCAT */
EC_MBOX_VOE = 0x20 /**< Vendor specific */
};
-/** Slave information interface CANopen-over-EtherCAT details flags.
+/** Slave information interface CANopen over EtherCAT details flags.
*/
typedef struct {
- uint8_t enable_sdo : 1; /**< Enable Sdo access. */
+ uint8_t enable_sdo : 1; /**< Enable SDO access. */
uint8_t enable_sdo_info : 1; /**< SDO information service available. */
- uint8_t enable_pdo_assign : 1; /**< Pdo mapping configurable. */
- uint8_t enable_pdo_configuration : 1; /**< Pdo configuration possible. */
+ uint8_t enable_pdo_assign : 1; /**< PDO mapping configurable. */
+ uint8_t enable_pdo_configuration : 1; /**< PDO configuration possible. */
uint8_t enable_upload_at_startup : 1; /**< ?. */
uint8_t enable_sdo_complete_access : 1; /**< Complete access possible. */
} ec_sii_coe_details_t;