# HG changeset patch # User Florian Pose # Date 1225880910 0 # Node ID 7853befa1a8317d7c5bbe450c3f3a1abed20ce3e # Parent 6b835fae2cab16edd9251ac9a0a528051c28ac13 merge -c1513 trunk: sec:ecrt is a chapter; sec:eoeimp -> sec:eoe, ... diff -r 6b835fae2cab -r 7853befa1a83 documentation/ethercat_doc.tex --- a/documentation/ethercat_doc.tex Wed Nov 05 10:17:42 2008 +0000 +++ b/documentation/ethercat_doc.tex Wed Nov 05 10:28:30 2008 +0000 @@ -199,7 +199,7 @@ \end{itemize} \item Common ``Application Interface'' for applications, that want to use -EtherCAT functionality (see section~\ref{sec:ecrt}). +EtherCAT functionality (see chap.~\ref{sec:ecrt}). \item \textit{Domains} are introduced, to allow grouping of process data transfers with different slave groups and task periods. @@ -332,7 +332,7 @@ Kernel module containing one or more EtherCAT master instances (see section~\ref{sec:mastermod}), the ``Device Interface'' (see section~\ref{sec:ecdev}) and the ``Application Interface'' (see -section~\ref{sec:ecrt}). +chap.~\ref{sec:ecrt}). \paragraph{Device Modules} \index{Device modules} @@ -353,7 +353,7 @@ master code\footnote{Although there are some examples provided in the \textit{examples/} directory.}, but have to be generated or written by the user. An application module can ``request'' a master through the application -interface (see section~\ref{sec:ecrt}). If this succeeds, the module has the +interface (see chap.~\ref{sec:ecrt}). If this succeeds, the module has the control over the master: It can provide a bus configuration and exchange process data. @@ -428,7 +428,7 @@ The two masters can be addressed by their indices 0 and 1 respectively (see figure~\ref{fig:masters}). The master index is needed for the \lstinline+ecrt_master_request()+ function of the application interface (see -section~\ref{sec:ecrt}) and the \lstinline+--master+ option of the +chap.~\ref{sec:ecrt}) and the \lstinline+--master+ option of the \textit{ethercat} command-line tool (see section~\ref{sec:ethercat}), which defaults to $0$. @@ -629,7 +629,7 @@ In some cases, one master is used by several instances, for example when an application does cyclic process data exchange, and there are EoE-capable slaves that require to exchange Ethernet data with the kernel (see -section~\ref{sec:eoeimp}). For this reason, the master is a shared resource, +section~\ref{sec:eoe}). For this reason, the master is a shared resource, and access to it has to be sequentialized. This is usually done by locking with semaphores, or other methods to protect critical sections. @@ -655,8 +655,8 @@ the master-internal EoE process uses it to communicate with EoE-capable slaves. Both have to acquire the master lock before access: The application task can access the lock natively, while the EoE process has to use the -callbacks. See the application interface documentation -(section~\ref{sec:ecrt} of how to use the locking callbacks. +callbacks. See the application interface documentation (chap.~\ref{sec:ecrt} +of how to use the locking callbacks. %------------------------------------------------------------------------------ @@ -1007,7 +1007,7 @@ one instance is using the master, but if more instances want to (synchronously\footnote{At this time, synchronous master access will be adequate to show the advantages of an FSM. The asynchronous - approach will be discussed in section~\ref{sec:eoeimp}}) use the + approach will be discussed in section~\ref{sec:eoe}}) use the master, it is inevitable to think about an alternative to the sequential model. @@ -1577,7 +1577,7 @@ assignment and the Pdo mapping via the ``CoE Communication Area'' described in \cite[section 5.6.7.4]{alspec}. For the object access, the CANopen-over-EtherCAT access primitives are used (see -section~\ref{sec:coeimp}), so the slave must support the CoE mailbox protocol. +section~\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 @@ -1637,7 +1637,7 @@ %------------------------------------------------------------------------------ \section{Ethernet-over-EtherCAT (EoE)} -\label{sec:eoeimp} +\label{sec:eoe} \index{EoE} The EtherCAT master implements the Ethernet-over-EtherCAT mailbox protocol to @@ -1795,7 +1795,7 @@ %------------------------------------------------------------------------------ \section{CANopen-over-EtherCAT (CoE)} -\label{sec:coeimp} +\label{sec:coe} \index{CoE} The CANopen-over-EtherCAT protocol \cite[section~5.6]{alspec} is used to