# HG changeset patch # User Florian Pose # Date 1242378327 0 # Node ID 3099d78343eac18294a01ad734fa11d6639fef46 # Parent be932bb417b80dce23d1bb026148fc4e39047403 Added documentation. diff -r be932bb417b8 -r 3099d78343ea TODO --- a/TODO Wed May 13 09:09:58 2009 +0000 +++ b/TODO Fri May 15 09:05:27 2009 +0000 @@ -45,6 +45,7 @@ the SDO handlers. * Apply watchdog patches from J. Mohre. * Move device driver files in subdirectories. +* Document ec_fsm_foe members. Future issues: diff -r be932bb417b8 -r 3099d78343ea master/cdev.c --- a/master/cdev.c Wed May 13 09:09:58 2009 +0000 +++ b/master/cdev.c Fri May 15 09:05:27 2009 +0000 @@ -44,6 +44,8 @@ #include "voe_handler.h" #include "ioctl.h" +/** Set to 1 to enable ioctl() command debugging. + */ #define DEBUG_IOCTL 0 /*****************************************************************************/ diff -r be932bb417b8 -r 3099d78343ea master/foe_request.c --- a/master/foe_request.c Wed May 13 09:09:58 2009 +0000 +++ b/master/foe_request.c Fri May 15 09:05:27 2009 +0000 @@ -149,7 +149,9 @@ * * \return non-zero if the timeout was exceeded, else zero. */ -int ec_foe_request_timed_out(const ec_foe_request_t *req /**< FoE request. */) +int ec_foe_request_timed_out( + const ec_foe_request_t *req /**< FoE request. */ + ) { return req->issue_timeout && jiffies - req->jiffies_start > HZ * req->issue_timeout / 1000; @@ -157,28 +159,49 @@ /*****************************************************************************/ -void ec_foe_request_timeout(ec_foe_request_t *req, uint32_t timeout) +/** Set the request timeout. + */ +void ec_foe_request_timeout( + ec_foe_request_t *req, /**< FoE request. */ + uint32_t timeout /**< Timeout in ms. */ + ) { req->issue_timeout = timeout; } /*****************************************************************************/ -uint8_t *ec_foe_request_data(ec_foe_request_t *req) +/** Returns a pointer to the request's data. + * + * \return Data pointer. + */ +uint8_t *ec_foe_request_data( + ec_foe_request_t *req /**< FoE request. */ + ) { return req->buffer; } /*****************************************************************************/ -size_t ec_foe_request_data_size(const ec_foe_request_t *req) +/** Returns the data size. + * + * \return Data size. + */ +size_t ec_foe_request_data_size( + const ec_foe_request_t *req /**< FoE request. */ + ) { return req->data_size; } /*****************************************************************************/ -void ec_foe_request_read(ec_foe_request_t *req) +/** Prepares a read request (slave to master). + */ +void ec_foe_request_read( + ec_foe_request_t *req /**< FoE request. */ + ) { req->dir = EC_DIR_INPUT; req->state = EC_INT_REQUEST_QUEUED; @@ -188,7 +211,11 @@ /*****************************************************************************/ -void ec_foe_request_write(ec_foe_request_t *req) +/** Prepares a write request (master to slave). + */ +void ec_foe_request_write( + ec_foe_request_t *req /**< FoE request. */ + ) { req->dir = EC_DIR_OUTPUT; req->state = EC_INT_REQUEST_QUEUED; diff -r be932bb417b8 -r 3099d78343ea master/fsm_foe.c --- a/master/fsm_foe.c Wed May 13 09:09:58 2009 +0000 +++ b/master/fsm_foe.c Fri May 15 09:05:27 2009 +0000 @@ -46,8 +46,12 @@ */ #define EC_FSM_FOE_TIMEOUT 3000 +/** Mailbox type FoE. + */ #define EC_MBOX_TYPE_FILEACCESS 0x04 +/** Size of the FoE header. + */ #define EC_FOE_HEADER_SIZE 6 // uint8_t OpCode // uint8_t reserved @@ -152,6 +156,8 @@ /*****************************************************************************/ +/** Prepares an FoE transfer. + */ void ec_fsm_foe_transfer( ec_fsm_foe_t *fsm, /**< State machine. */ ec_slave_t *slave, /**< EtherCAT slave. */ @@ -263,7 +269,11 @@ /*****************************************************************************/ -void ec_fsm_foe_write(ec_fsm_foe_t *fsm /**< finite state machine */) +/** Start a write operation. + */ +void ec_fsm_foe_write( + ec_fsm_foe_t *fsm /**< FoE statemachine. */ + ) { fsm->tx_buffer = fsm->request->buffer; fsm->tx_buffer_size = fsm->request->data_size; @@ -276,10 +286,9 @@ } /*****************************************************************************/ -/** - Initializes the SII write state machine. -*/ - + +/** Initializes the FoE write state machine. + */ void ec_fsm_foe_write_start(ec_fsm_foe_t *fsm /**< finite state machine */) { ec_slave_t *slave = fsm->slave; @@ -309,7 +318,11 @@ /*****************************************************************************/ -void ec_fsm_foe_state_ack_check(ec_fsm_foe_t *fsm) +/** Check for acknowledge. + */ +void ec_fsm_foe_state_ack_check( + ec_fsm_foe_t *fsm /**< FoE statemachine. */ + ) { ec_datagram_t *datagram = fsm->datagram; ec_slave_t *slave = fsm->slave; @@ -359,9 +372,12 @@ /*****************************************************************************/ -void ec_fsm_foe_state_ack_read(ec_fsm_foe_t *fsm) -{ - +/** Acknowledge a read operation. + */ +void ec_fsm_foe_state_ack_read( + ec_fsm_foe_t *fsm /**< FoE statemachine. */ + ) +{ ec_datagram_t *datagram = fsm->datagram; ec_slave_t *slave = fsm->slave; uint8_t *data, mbox_prot; @@ -433,13 +449,15 @@ } /*****************************************************************************/ -/** - State: WRQ SENT. - Checks is the previous transmit datagram succeded and sends the next - fragment, if necessary. -*/ - -void ec_fsm_foe_state_wrq_sent(ec_fsm_foe_t *fsm) + +/** State: WRQ SENT. + * + * Checks is the previous transmit datagram succeded and sends the next + * fragment, if necessary. + */ +void ec_fsm_foe_state_wrq_sent( + ec_fsm_foe_t *fsm /**< FoE statemachine. */ + ) { ec_datagram_t *datagram = fsm->datagram; ec_slave_t *slave = fsm->slave; @@ -474,13 +492,15 @@ } /*****************************************************************************/ -/** - State: WRQ SENT. - Checks is the previous transmit datagram succeded and sends the next - fragment, if necessary. -*/ - -void ec_fsm_foe_state_data_sent(ec_fsm_foe_t *fsm) + +/** State: WRQ SENT. + * + * Checks is the previous transmit datagram succeded and sends the next + * fragment, if necessary. + */ +void ec_fsm_foe_state_data_sent( + ec_fsm_foe_t *fsm /**< Foe statemachine. */ + ) { ec_datagram_t *datagram = fsm->datagram; ec_slave_t *slave = fsm->slave; @@ -543,7 +563,11 @@ /*****************************************************************************/ -int ec_foe_prepare_send_ack(ec_fsm_foe_t *foe) +/** Prepare to send an acknowledge. + */ +int ec_foe_prepare_send_ack( + ec_fsm_foe_t *foe /**< FoE statemachine. */ + ) { uint8_t *data; @@ -559,13 +583,16 @@ } /*****************************************************************************/ -/** - State: RRQ SENT. - Checks is the previous transmit datagram succeded and sends the next - fragment, if necessary. -*/ - -void ec_fsm_foe_state_rrq_sent( ec_fsm_foe_t *fsm ) { + +/** State: RRQ SENT. + * + * Checks is the previous transmit datagram succeded and sends the next + * fragment, if necessary. + */ +void ec_fsm_foe_state_rrq_sent( + ec_fsm_foe_t *fsm /**< FoE statemachine. */ + ) +{ ec_datagram_t *datagram = fsm->datagram; ec_slave_t *slave = fsm->slave; @@ -600,7 +627,11 @@ /*****************************************************************************/ -void ec_fsm_foe_read(ec_fsm_foe_t *fsm /**< finite state machine */) +/** Start a read operation. + */ +void ec_fsm_foe_read( + ec_fsm_foe_t *fsm /**< FoE state machine. */ + ) { fsm->state = ec_fsm_foe_read_start; fsm->rx_filename = fsm->request->file_name; @@ -612,7 +643,11 @@ /*****************************************************************************/ -void ec_fsm_foe_read_start(ec_fsm_foe_t *fsm /**< finite state machine */) +/** Starting state for read operations. + */ +void ec_fsm_foe_read_start( + ec_fsm_foe_t *fsm /**< FoE statemachine. */ + ) { size_t current_size; ec_slave_t *slave = fsm->slave; @@ -645,7 +680,12 @@ /*****************************************************************************/ -void ec_fsm_foe_state_data_check ( ec_fsm_foe_t *fsm ) { +/** Check for data. + */ +void ec_fsm_foe_state_data_check( + ec_fsm_foe_t *fsm /**< FoE statemachine. */ + ) +{ ec_datagram_t *datagram = fsm->datagram; ec_slave_t *slave = fsm->slave; @@ -694,7 +734,11 @@ /*****************************************************************************/ -void ec_fsm_foe_state_data_read(ec_fsm_foe_t *fsm) +/** Start reading data. + */ +void ec_fsm_foe_state_data_read( + ec_fsm_foe_t *fsm /**< FoE statemachine. */ + ) { size_t rec_size; uint8_t *data, opCode, packet_no, mbox_prot; @@ -815,8 +859,12 @@ /*****************************************************************************/ -void ec_fsm_foe_state_sent_ack( ec_fsm_foe_t *fsm ) { - +/** Sent an acknowledge. + */ +void ec_fsm_foe_state_sent_ack( + ec_fsm_foe_t *fsm /**< FoE statemachine. */ + ) +{ ec_datagram_t *datagram = fsm->datagram; ec_slave_t *slave = fsm->slave; @@ -859,7 +907,12 @@ /*****************************************************************************/ -void ec_foe_set_tx_error(ec_fsm_foe_t *fsm, uint32_t errorcode) +/** Set an error code and go to the send error state. + */ +void ec_foe_set_tx_error( + ec_fsm_foe_t *fsm, /**< FoE statemachine. */ + uint32_t errorcode /**< FoE error code. */ + ) { fsm->tx_errors++; fsm->request->result = errorcode; @@ -868,7 +921,12 @@ /*****************************************************************************/ -void ec_foe_set_rx_error(ec_fsm_foe_t *fsm, uint32_t errorcode) +/** Set an error code and go to the receive error state. + */ +void ec_foe_set_rx_error( + ec_fsm_foe_t *fsm, /**< FoE statemachine. */ + uint32_t errorcode /**< FoE error code. */ + ) { fsm->rx_errors++; fsm->request->result = errorcode; diff -r be932bb417b8 -r 3099d78343ea master/fsm_foe.h --- a/master/fsm_foe.h Wed May 13 09:09:58 2009 +0000 +++ b/master/fsm_foe.h Fri May 15 09:05:27 2009 +0000 @@ -60,6 +60,8 @@ ec_foe_request_t *request; /**< FoE request */ uint8_t toggle; /**< toggle bit for segment commands */ + /** \cond */ + uint32_t tx_errors; uint8_t *tx_buffer; uint32_t tx_buffer_size; @@ -81,6 +83,8 @@ uint32_t rx_last_packet; uint8_t *rx_filename; uint32_t rx_filename_len; + + /** \endcond */ }; /*****************************************************************************/ diff -r be932bb417b8 -r 3099d78343ea master/slave.h --- a/master/slave.h Wed May 13 09:09:58 2009 +0000 +++ b/master/slave.h Fri May 15 09:05:27 2009 +0000 @@ -124,10 +124,13 @@ ec_slave_state_t current_state; /**< Current application state. */ unsigned int error_flag; /**< Stop processing after an error. */ unsigned int force_config; /**< Force (re-)configuration. */ - uint16_t configured_rx_mailbox_offset; - uint16_t configured_rx_mailbox_size; - uint16_t configured_tx_mailbox_offset; - uint16_t configured_tx_mailbox_size; + uint16_t configured_rx_mailbox_offset; /**< Configured receive mailbox + offset. */ + uint16_t configured_rx_mailbox_size; /**< Configured receive mailbox size. + */ + uint16_t configured_tx_mailbox_offset; /**< Configured send mailbox + offset. */ + uint16_t configured_tx_mailbox_size; /**< Configured send mailbox size. */ // base data uint8_t base_type; /**< Slave type. */