# HG changeset patch # User Florian Pose # Date 1241010956 0 # Node ID 41e3baa2da23901c6277daaad17b659ad47f72e9 # Parent d41e4537b75f29ff58f186944b5aa62ef4ba5af4 Updated command doc. diff -r d41e4537b75f -r 41e3baa2da23 documentation/Makefile --- a/documentation/Makefile Wed Apr 29 13:06:38 2009 +0000 +++ b/documentation/Makefile Wed Apr 29 13:15:56 2009 +0000 @@ -16,15 +16,21 @@ data \ debug \ domains \ + download \ + foe_read \ + foe_write \ + graph \ master \ pdos \ + reg_read \ + reg_write \ sdos \ - download \ - upload \ - slaves \ sii_read \ sii_write \ + slaves \ states \ + upload \ + version \ xml EXT_PREFIX := external/ethercat_ diff -r d41e4537b75f -r 41e3baa2da23 documentation/ethercat_doc.tex --- a/documentation/ethercat_doc.tex Wed Apr 29 13:06:38 2009 +0000 +++ b/documentation/ethercat_doc.tex Wed Apr 29 13:15:56 2009 +0000 @@ -2107,6 +2107,28 @@ %------------------------------------------------------------------------------ +\subsection{SDO Access} + +\lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_download} + +\lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_upload} + +%------------------------------------------------------------------------------ + +\subsection{File-Access over EtherCAT} + +\lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_foe_read} + +\lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_foe_write} + +%------------------------------------------------------------------------------ + +\subsection{Creating Topology Graphs} + +\lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_graph} + +%------------------------------------------------------------------------------ + \subsection{Master and Ethernet Devices} \lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_master} @@ -2119,17 +2141,71 @@ %------------------------------------------------------------------------------ +\subsection{Register Access} + +\lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_reg_read} + +\lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_reg_write} + +%------------------------------------------------------------------------------ + \subsection{SDO Dictionary} \lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_sdos} %------------------------------------------------------------------------------ -\subsection{SDO Access} - -\lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_download} - -\lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_upload} +\subsection{SII Access} +\label{sec:siiaccess} +\index{SII!Access} + +It is possible to directly read or write the complete SII contents of the +slaves. This was introduced for the reasons below: + +\begin{itemize} + +\item The format of the SII data is still in development and categories can be +added in the future. With read and write access, the complete memory contents +can be easily backed up and restored. + +\item Some SII data fields have to be altered (like the alias address). A quick +writing must be possible for that. + +\item Through reading access, analyzing category data is possible from +userspace. + +\end{itemize} + +\lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_sii_read} + +Reading out SII data is as easy as other commands. Though the data are in +binary format, analysis is easier with a tool like \textit{hexdump}: + +\begin{lstlisting} +$ `\textbf{ethercat sii\_read --position 3 | hexdump}` +0000000 0103 0000 0000 0000 0000 0000 0000 008c +0000010 0002 0000 3052 07f0 0000 0000 0000 0000 +0000020 0000 0000 0000 0000 0000 0000 0000 0000 +... +\end{lstlisting} + +Backing up SII contents can easily done with a redirection: + +\begin{lstlisting} +$ `\textbf{ethercat sii\_read --position 3 > sii-of-slave3.bin}` +\end{lstlisting} + +To download SII contents to a slave, writing access to the master's character +device is necessary (see sec.~\ref{sec:cdev}). + +\lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_sii_write} + +\begin{lstlisting} +# `\textbf{ethercat sii\_write --position 3 sii-of-slave3.bin}` +\end{lstlisting} + +The SII contents will be checked for validity and then sent to the slave. The +write operation may take a few seconds. %------------------------------------------------------------------------------ @@ -2151,66 +2227,18 @@ %------------------------------------------------------------------------------ -\subsection{SII Access} -\label{sec:siiaccess} -\index{SII!Access} - -It is possible to directly read or write the complete SII contents of the -slaves. This was introduced for the reasons below: - -\begin{itemize} - -\item The format of the SII data is still in development and categories can be -added in the future. With read and write access, the complete memory contents -can be easily backed up and restored. - -\item Some SII data fields have to be altered (like the alias address). A quick -writing must be possible for that. - -\item Through reading access, analyzing category data is possible from -userspace. - -\end{itemize} - -\lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_sii_read} - -Reading out SII data is as easy as other commands. Though the data are in -binary format, analysis is easier with a tool like \textit{hexdump}: - -\begin{lstlisting} -$ `\textbf{ethercat sii\_read --position 3 | hexdump}` -0000000 0103 0000 0000 0000 0000 0000 0000 008c -0000010 0002 0000 3052 07f0 0000 0000 0000 0000 -0000020 0000 0000 0000 0000 0000 0000 0000 0000 -... -\end{lstlisting} - -Backing up SII contents can easily done with a redirection: - -\begin{lstlisting} -$ `\textbf{ethercat sii\_read --position 3 > sii-of-slave3.bin}` -\end{lstlisting} - -To download SII contents to a slave, writing access to the master's character -device is necessary (see sec.~\ref{sec:cdev}). - -\lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_sii_write} - -\begin{lstlisting} -# `\textbf{ethercat sii\_write --position 3 sii-of-slave3.bin}` -\end{lstlisting} - -The SII contents will be checked for validity and then sent to the slave. The -write operation may take a few seconds. - -%------------------------------------------------------------------------------ - \subsection{Requesting Application-Layer States} \lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_states} %------------------------------------------------------------------------------ +\subsection{Displaying the Master Version} + +\lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_version} + +%------------------------------------------------------------------------------ + \subsection{Generating Slave Description XML} \lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_xml}