# HG changeset patch
# User Florian Pose <fp@igh-essen.com>
# Date 1190635931 0
# Node ID 8fa6f825eb7dd48485e337775e496fbdc8556c17
# Parent  6210c426089989b8b74200f840d951738b943365
Updated Doxygen documentation.

diff -r 6210c4260899 -r 8fa6f825eb7d include/ecdb.h
--- a/include/ecdb.h	Mon Sep 24 10:35:00 2007 +0000
+++ b/include/ecdb.h	Mon Sep 24 12:12:11 2007 +0000
@@ -35,8 +35,8 @@
    \file
    EtherCAT Slave Database.
 
-   \warn Please do not create any dependencies to this file! It may be changed
-   between releases. Provide a copy, if you want to use it in foreign
+   \attention Please do not create any dependencies to this file! It may be
+   changed between releases. Provide a copy, if you want to use it in foreign
    projects.
 */
 
diff -r 6210c4260899 -r 8fa6f825eb7d include/ecrt.h
--- a/include/ecrt.h	Mon Sep 24 10:35:00 2007 +0000
+++ b/include/ecrt.h	Mon Sep 24 12:12:11 2007 +0000
@@ -59,10 +59,24 @@
 
 /*****************************************************************************/
 
+/**
+ * EtherCAT real-time interface major version number.
+ */
 #define ECRT_VER_MAJOR 1
+
+/**
+ * EtherCAT real-time interface minor version number.
+ */
 #define ECRT_VER_MINOR 3
 
+/**
+ * EtherCAT real-time interface version word generator.
+ */
 #define ECRT_VERSION(a,b) (((a) << 8) + (b))
+
+/**
+ * EtherCAT real-time interface version word.
+ */
 #define ECRT_VERSION_MAGIC ECRT_VERSION(ECRT_VER_MAJOR, ECRT_VER_MINOR)
 
 /*****************************************************************************/
diff -r 6210c4260899 -r 8fa6f825eb7d master/canopen.c
--- a/master/canopen.c	Mon Sep 24 10:35:00 2007 +0000
+++ b/master/canopen.c	Mon Sep 24 12:12:11 2007 +0000
@@ -171,9 +171,14 @@
 
 /*****************************************************************************/
 
+/**
+ * Get and SDO entry from an SDO via its subindex.
+ * \return pointer to SDO entry, or NULL.
+ */
+
 ec_sdo_entry_t *ec_sdo_get_entry(
-        ec_sdo_t *sdo,
-        uint8_t subindex
+        ec_sdo_t *sdo, /**< SDO */
+        uint8_t subindex /**< entry subindex */
         )
 {
     ec_sdo_entry_t *entry;
@@ -188,6 +193,11 @@
 
 /*****************************************************************************/
 
+/**
+ * Print SDO information to a buffer.
+ * /return size of bytes written to buffer.
+ */ 
+
 ssize_t ec_sdo_info(ec_sdo_t *sdo, /**< SDO */
                     char *buffer /**< target buffer */
                     )
@@ -203,6 +213,11 @@
 
 /*****************************************************************************/
 
+/**
+ * Show an SDO as Sysfs attribute.
+ * /return size of bytes written to buffer.
+ */ 
+
 ssize_t ec_show_sdo_attribute(struct kobject *kobj, /**< kobject */
                               struct attribute *attr,
                               char *buffer
@@ -285,6 +300,11 @@
 }
 
 /*****************************************************************************/
+ 
+/**
+ * Print SDO entry information to a buffer.
+ * \return number of bytes written.
+ */
 
 ssize_t ec_sdo_entry_info(ec_sdo_entry_t *entry, /**< SDO entry */
                           char *buffer /**< target buffer */
@@ -303,6 +323,11 @@
 
 /*****************************************************************************/
 
+/**
+ * Format entry data based on the CANopen data type and print it to a buffer.
+ * \return number of bytes written.
+ */
+
 ssize_t ec_sdo_entry_format_data(ec_sdo_entry_t *entry, /**< SDO entry */
                                  ec_sdo_request_t *request, /**< SDO request */
                                  char *buffer /**< target buffer */
@@ -376,6 +401,13 @@
 
 /*****************************************************************************/
 
+/**
+ * Start SDO entry reading.
+ * This function blocks, until reading is finished, and is interruptible as
+ * long as the master state machine has not begun with reading.
+ * \return number of bytes written to buffer, or error code.
+ */
+
 ssize_t ec_sdo_entry_read_value(ec_sdo_entry_t *entry, /**< SDO entry */
                                 char *buffer /**< target buffer */
                                 )
@@ -419,6 +451,11 @@
 
 /*****************************************************************************/
 
+/**
+ * Show an SDO entry as Sysfs attribute.
+ * /return size of bytes written to buffer.
+ */ 
+
 ssize_t ec_show_sdo_entry_attribute(struct kobject *kobj, /**< kobject */
                                     struct attribute *attr,
                                     char *buffer
diff -r 6210c4260899 -r 8fa6f825eb7d master/canopen.h
--- a/master/canopen.h	Mon Sep 24 10:35:00 2007 +0000
+++ b/master/canopen.h	Mon Sep 24 12:12:11 2007 +0000
@@ -108,10 +108,10 @@
 typedef struct
 {
     struct list_head list; /**< list item */
-    ec_sdo_entry_t *entry;
+    ec_sdo_entry_t *entry; /**< SDO entry */
     uint8_t *data; /**< pointer to SDO data */
     size_t size; /**< size of SDO data */
-    ec_request_state_t state;
+    ec_request_state_t state; /**< SDO request state */
 }
 ec_sdo_request_t;
 
diff -r 6210c4260899 -r 8fa6f825eb7d master/datagram.c
--- a/master/datagram.c	Mon Sep 24 10:35:00 2007 +0000
+++ b/master/datagram.c	Mon Sep 24 12:12:11 2007 +0000
@@ -309,7 +309,7 @@
  */
 
 void ec_datagram_print_wc_error(
-        const ec_datagram_t *datagram
+        const ec_datagram_t *datagram /**< EtherCAT datagram */
         )
 {
     if (datagram->working_counter == 0)
diff -r 6210c4260899 -r 8fa6f825eb7d master/device.h
--- a/master/device.h	Mon Sep 24 10:35:00 2007 +0000
+++ b/master/device.h	Mon Sep 24 12:12:11 2007 +0000
@@ -47,6 +47,12 @@
 #include "../devices/ecdev.h"
 #include "globals.h"
 
+/**
+ * Size of the transmit ring.
+ * This memory ring is used to transmit frames. It is necessary to use
+ * different memory regions, because otherwise the network device DMA could
+ * send the same data twice, if it is called twice.
+ */
 #define EC_TX_RING_SIZE 2
 
 #ifdef EC_DEBUG_IF
@@ -87,7 +93,7 @@
     uint8_t open; /**< true, if the net_device has been opened */
     uint8_t link_state; /**< device link state */
     struct sk_buff *tx_skb[EC_TX_RING_SIZE]; /**< transmit skb ring */
-    unsigned int tx_ring_index;
+    unsigned int tx_ring_index; /**< last ring entry used to transmit */
     cycles_t cycles_poll; /**< cycles of last poll */
 #ifdef EC_DEBUG_RING
     struct timeval timeval_poll;
diff -r 6210c4260899 -r 8fa6f825eb7d master/fsm_coe_map.c
--- a/master/fsm_coe_map.c	Mon Sep 24 10:35:00 2007 +0000
+++ b/master/fsm_coe_map.c	Mon Sep 24 12:12:11 2007 +0000
@@ -69,7 +69,7 @@
 
 void ec_fsm_coe_map_init(
         ec_fsm_coe_map_t *fsm, /**< finite state machine */
-        ec_fsm_coe_t *fsm_coe /*< CoE state machine to use */
+        ec_fsm_coe_t *fsm_coe /**< CoE state machine to use */
         )
 {
     fsm->state = NULL;
@@ -91,6 +91,7 @@
 /*****************************************************************************/
 
 /**
+ * Clear FSM PDOs.
  */
 
 void ec_fsm_coe_map_clear_pdos(
@@ -154,6 +155,7 @@
  *****************************************************************************/
 
 /**
+ * Start reading mapping.
  */
 
 void ec_fsm_coe_map_state_start(
@@ -168,6 +170,7 @@
 /*****************************************************************************/
 
 /**
+ * Read mapping of next sync manager.
  */
 
 void ec_fsm_coe_map_action_next_sync(
@@ -208,6 +211,7 @@
 /*****************************************************************************/
 
 /**
+ * Count mapped PDOs.
  */
 
 void ec_fsm_coe_map_state_pdo_count(
@@ -236,6 +240,7 @@
 /*****************************************************************************/
 
 /**
+ * Read next PDO.
  */
 
 void ec_fsm_coe_map_action_next_pdo(
@@ -282,6 +287,7 @@
 /*****************************************************************************/
 
 /**
+ * Fetch PDO information.
  */
 
 void ec_fsm_coe_map_state_pdo(
@@ -362,6 +368,7 @@
 /*****************************************************************************/
 
 /**
+ * Read number of PDO entries.
  */
 
 void ec_fsm_coe_map_state_pdo_entry_count(
@@ -390,6 +397,7 @@
 /*****************************************************************************/
 
 /**
+ * Read next PDO entry.
  */
 
 void ec_fsm_coe_map_action_next_pdo_entry(
@@ -423,6 +431,7 @@
 /*****************************************************************************/
 
 /**
+ * Read PDO entry information.
  */
 
 void ec_fsm_coe_map_state_pdo_entry(
diff -r 6210c4260899 -r 8fa6f825eb7d master/fsm_coe_map.h
--- a/master/fsm_coe_map.h	Mon Sep 24 10:35:00 2007 +0000
+++ b/master/fsm_coe_map.h	Mon Sep 24 12:12:11 2007 +0000
@@ -59,18 +59,18 @@
     ec_fsm_coe_t *fsm_coe; /**< CoE state machine to use */
 
     ec_slave_t *slave; /**< EtherCAT slave */
-    ec_sdo_request_t request;
+    ec_sdo_request_t request; /**< SDO request */
 
-    unsigned int sync_index;
-    ec_sdo_t *sync_sdo;
-    uint8_t sync_subindices;
-    uint16_t sync_subindex;
+    unsigned int sync_index; /**< index of the current sync manager */
+    ec_sdo_t *sync_sdo; /**< pointer to the sync managers mapping SDO */
+    uint8_t sync_subindices; /**< number of mapped PDOs */
+    uint16_t sync_subindex; /**< current subindex in mapping SDO */
 
-    struct list_head pdos;
-    ec_pdo_t *pdo;
-    ec_sdo_t *pdo_sdo;
-    uint8_t pdo_subindices;
-    uint16_t pdo_subindex;
+    struct list_head pdos; /**< list of mapped PDOs */
+    ec_pdo_t *pdo; /**< current PDO */
+    ec_sdo_t *pdo_sdo; /**< current PDO SDO */
+    uint8_t pdo_subindices; /**< number of PDO entries */
+    uint16_t pdo_subindex; /**< current subindex in PDO SDO */
 };
 
 /*****************************************************************************/
diff -r 6210c4260899 -r 8fa6f825eb7d master/fsm_mapping.c
--- a/master/fsm_mapping.c	Mon Sep 24 10:35:00 2007 +0000
+++ b/master/fsm_mapping.c	Mon Sep 24 12:12:11 2007 +0000
@@ -138,10 +138,11 @@
 }
 
 /******************************************************************************
- * PDO mapping state machine
+ * state functions
  *****************************************************************************/
 
 /**
+ * Start mapping configuration.
  */
 
 void ec_fsm_mapping_state_start(
@@ -155,6 +156,7 @@
 /*****************************************************************************/
 
 /**
+ * Process mapping of next sync manager.
  */
 
 void ec_fsm_mapping_next_sync(
@@ -200,6 +202,7 @@
 /*****************************************************************************/
 
 /**
+ * Process mapping of next PDO.
  */
 
 ec_pdo_t *ec_fsm_mapping_next_pdo(
@@ -223,6 +226,7 @@
 /*****************************************************************************/
 
 /**
+ * Set the number of mapped PDOs to zero.
  */
 
 void ec_fsm_mapping_state_zero_count(
@@ -268,6 +272,7 @@
 /*****************************************************************************/
 
 /**
+ * Add a PDO to the sync managers mapping.
  */
 
 void ec_fsm_mapping_state_add_pdo(
@@ -318,6 +323,7 @@
 /*****************************************************************************/
 
 /**
+ * Set the number of mapped PDOs.
  */
 
 void ec_fsm_mapping_state_pdo_count(
diff -r 6210c4260899 -r 8fa6f825eb7d master/fsm_mapping.h
--- a/master/fsm_mapping.h	Mon Sep 24 10:35:00 2007 +0000
+++ b/master/fsm_mapping.h	Mon Sep 24 12:12:11 2007 +0000
@@ -66,7 +66,7 @@
     ec_pdo_t *pdo; /**< current PDO */
     ec_sdo_data_t sdodata; /**< SDO configuration data */
     uint16_t sdo_value; /**< SDO value */
-    unsigned int pdo_count;
+    unsigned int pdo_count; /**< number of mapped PDOs */
 };
 
 /*****************************************************************************/
diff -r 6210c4260899 -r 8fa6f825eb7d master/fsm_master.c
--- a/master/fsm_master.c	Mon Sep 24 10:35:00 2007 +0000
+++ b/master/fsm_master.c	Mon Sep 24 12:12:11 2007 +0000
@@ -417,6 +417,7 @@
 /*****************************************************************************/
 
 /**
+ * Check for slaves that are not configured and configure them.
  */
 
 int ec_fsm_master_action_configure(
@@ -1029,6 +1030,7 @@
 /*****************************************************************************/
 
 /**
+ * Scan the PDO mapping of a slave.
  */
 
 void ec_fsm_master_state_pdomap(
diff -r 6210c4260899 -r 8fa6f825eb7d master/fsm_master.h
--- a/master/fsm_master.h	Mon Sep 24 10:35:00 2007 +0000
+++ b/master/fsm_master.h	Mon Sep 24 12:12:11 2007 +0000
@@ -58,12 +58,12 @@
 
 typedef struct
 {
-    struct list_head list;
-    ec_slave_t *slave;
-    off_t word_offset;
-    size_t word_size;
-    const uint8_t *data;
-    ec_request_state_t state;
+    struct list_head list; /**< list head */
+    ec_slave_t *slave; /**< EtherCAT slave */
+    off_t word_offset; /**< SII address in words */
+    size_t word_size; /**< data size in words */
+    const uint8_t *data; /**< pointer to the data */
+    ec_request_state_t state; /**< state of the request */
 }
 ec_eeprom_write_request_t;
 
diff -r 6210c4260899 -r 8fa6f825eb7d master/fsm_sii.c
--- a/master/fsm_sii.c	Mon Sep 24 10:35:00 2007 +0000
+++ b/master/fsm_sii.c	Mon Sep 24 12:12:11 2007 +0000
@@ -43,8 +43,15 @@
 #include "master.h"
 #include "fsm_sii.h"
 
-#define EEPROM_TIMEOUT 10 // read/write timeout [ms]
-#define EEPROM_INHIBIT  5 // time before evaluating answer at writing [ms]
+/**
+ * Read/Write timeout. [ms]
+ */
+#define EEPROM_TIMEOUT 10
+
+/**
+ * Time before evaluating answer at writing. [ms]
+ */
+#define EEPROM_INHIBIT  5
 
 //#define SII_DEBUG
 
diff -r 6210c4260899 -r 8fa6f825eb7d master/fsm_sii.h
--- a/master/fsm_sii.h	Mon Sep 24 10:35:00 2007 +0000
+++ b/master/fsm_sii.h	Mon Sep 24 12:12:11 2007 +0000
@@ -48,6 +48,9 @@
 
 /*****************************************************************************/
 
+/**
+ * SII access addressing mode.
+ */
 typedef enum
 {
     EC_FSM_SII_POSITION,
diff -r 6210c4260899 -r 8fa6f825eb7d master/fsm_slave.c
--- a/master/fsm_slave.c	Mon Sep 24 10:35:00 2007 +0000
+++ b/master/fsm_slave.c	Mon Sep 24 12:12:11 2007 +0000
@@ -697,6 +697,7 @@
 /*****************************************************************************/
 
 /**
+ * Check for mailbox sync managers to be configured.
  */
 
 void ec_fsm_slave_conf_enter_mbox_sync(
@@ -810,6 +811,7 @@
 /*****************************************************************************/
 
 /**
+ * Request PREOP state.
  */
 
 void ec_fsm_slave_conf_enter_preop(ec_fsm_slave_t *fsm /**< slave state machine */)
@@ -861,6 +863,7 @@
 /*****************************************************************************/
 
 /**
+ * Check for SDO configurations to be applied.
  */
 
 void ec_fsm_slave_conf_enter_sdoconf(ec_fsm_slave_t *fsm /**< slave state machine */)
@@ -916,6 +919,7 @@
 /*****************************************************************************/
 
 /**
+ * Check for alternative PDO mappings to be applied.
  */
 
 void ec_fsm_slave_conf_enter_mapconf(
@@ -962,6 +966,7 @@
 /*****************************************************************************/
 
 /**
+ * Check for PDO sync managers to be configured.
  */
 
 void ec_fsm_slave_conf_enter_pdo_sync(
@@ -994,6 +999,7 @@
 /*****************************************************************************/
 
 /**
+ * Configure PDO sync managers.
  */
 
 void ec_fsm_slave_conf_state_pdo_sync(ec_fsm_slave_t *fsm /**< slave state machine */)
@@ -1027,7 +1033,8 @@
 /*****************************************************************************/
 
 /**
-*/
+ * Check for FMMUs to be configured.
+ */
 
 void ec_fsm_slave_conf_enter_fmmu(ec_fsm_slave_t *fsm /**< slave state machine */)
 {
@@ -1089,6 +1096,7 @@
 /*****************************************************************************/
 
 /**
+ * Request SAVEOP state.
  */
 
 void ec_fsm_slave_conf_enter_saveop(ec_fsm_slave_t *fsm /**< slave state machine */)
diff -r 6210c4260899 -r 8fa6f825eb7d master/fsm_slave.h
--- a/master/fsm_slave.h	Mon Sep 24 10:35:00 2007 +0000
+++ b/master/fsm_slave.h	Mon Sep 24 12:12:11 2007 +0000
@@ -66,7 +66,7 @@
 
     void (*state)(ec_fsm_slave_t *); /**< state function */
     ec_sdo_data_t *sdodata; /**< SDO configuration data */
-    uint16_t sii_offset; 
+    uint16_t sii_offset; /**< SII offset in words */
 
     ec_fsm_sii_t fsm_sii; /**< SII state machine */
     ec_fsm_change_t fsm_change; /**< State change state machine */
diff -r 6210c4260899 -r 8fa6f825eb7d master/globals.h
--- a/master/globals.h	Mon Sep 24 10:35:00 2007 +0000
+++ b/master/globals.h	Mon Sep 24 12:12:11 2007 +0000
@@ -201,7 +201,7 @@
 
 /*****************************************************************************/
 
-typedef struct ec_sdo ec_sdo_t;
+typedef struct ec_sdo ec_sdo_t; /**< \see ec_sdo */
 
 /*****************************************************************************/
 
diff -r 6210c4260899 -r 8fa6f825eb7d master/master.c
--- a/master/master.c	Mon Sep 24 10:35:00 2007 +0000
+++ b/master/master.c	Mon Sep 24 12:12:11 2007 +0000
@@ -57,13 +57,11 @@
 /*****************************************************************************/
 
 void ec_master_destroy_domains(ec_master_t *);
-void ec_master_sync_io(ec_master_t *);
 static int ec_master_idle_thread(ec_master_t *);
 static int ec_master_operation_thread(ec_master_t *);
 #ifdef EC_EOE
 void ec_master_eoe_run(unsigned long);
 #endif
-void ec_master_check_sdo(unsigned long);
 ssize_t ec_show_master_attribute(struct kobject *, struct attribute *, char *);
 ssize_t ec_store_master_attribute(struct kobject *, struct attribute *,
                                   const char *, size_t);
@@ -917,10 +915,15 @@
 
 /*****************************************************************************/
 
+/**
+ * Prints the device information to a buffer.
+ * \return number of bytes written.
+ */
+
 ssize_t ec_master_device_info(
-        const ec_device_t *device,
-        const uint8_t *mac,
-        char *buffer
+        const ec_device_t *device, /**< EtherCAT device */
+        const uint8_t *mac, /**< MAC address */
+        char *buffer /**< target buffer */
         )
 {
     unsigned int frames_lost;
diff -r 6210c4260899 -r 8fa6f825eb7d master/master.h
--- a/master/master.h	Mon Sep 24 10:35:00 2007 +0000
+++ b/master/master.h	Mon Sep 24 12:12:11 2007 +0000
@@ -132,7 +132,7 @@
 
     int debug_level; /**< master debug level */
     ec_stats_t stats; /**< cyclic statistics */
-    unsigned int pdo_slaves_offline; /** number of slaves, for which PDOs
+    unsigned int pdo_slaves_offline; /**< number of slaves, for which PDOs
                                        were registered and that are offline
                                        (used for bus status) */
     unsigned int frames_timed_out; /**< there were frame timeouts in the last
diff -r 6210c4260899 -r 8fa6f825eb7d master/module.c
--- a/master/module.c	Mon Sep 24 10:35:00 2007 +0000
+++ b/master/module.c	Mon Sep 24 12:12:11 2007 +0000
@@ -75,7 +75,7 @@
 static dev_t device_number; /**< XML character device number */
 ec_xmldev_t xmldev; /**< XML character device */
 
-char *ec_master_version_str = EC_MASTER_VERSION;
+char *ec_master_version_str = EC_MASTER_VERSION; /**< master version string */
 
 /*****************************************************************************/
 
@@ -207,6 +207,10 @@
  * MAC address functions
  ****************************************************************************/
 
+/**
+ * \return true, if two MAC addresses are equal.
+ */
+
 int ec_mac_equal(const uint8_t *mac1, const uint8_t *mac2)
 {
     unsigned int i;
@@ -220,7 +224,15 @@
                 
 /*****************************************************************************/
 
-ssize_t ec_mac_print(const uint8_t *mac, char *buffer)
+/**
+ * Print a MAC address to a buffer.
+ * \return number of bytes written.
+ */
+
+ssize_t ec_mac_print(
+        const uint8_t *mac, /**< MAC address */
+        char *buffer /**< target buffer */
+        )
 {
     off_t off = 0;
     unsigned int i;
@@ -235,6 +247,10 @@
 
 /*****************************************************************************/
 
+/**
+ * \return true, if the MAC address is all-zero.
+ */
+
 int ec_mac_is_zero(const uint8_t *mac)
 {
     unsigned int i;
@@ -248,6 +264,10 @@
 
 /*****************************************************************************/
 
+/**
+ * \return true, if the given MAC address is the broadcast address.
+ */
+
 int ec_mac_is_broadcast(const uint8_t *mac)
 {
     unsigned int i;
@@ -261,6 +281,13 @@
 
 /*****************************************************************************/
 
+/**
+ * Parse a MAC address from a string.
+ * The MAC address must follow the regexp
+ * "([0-9a-fA-F]{2}:){5}[0-9a-fA-F]{2}".
+   \return 0 on success, else < 0
+ */
+
 static int ec_mac_parse(uint8_t *mac, const char *src, int allow_empty)
 {
     unsigned int i, value;
diff -r 6210c4260899 -r 8fa6f825eb7d master/slave.c
--- a/master/slave.c	Mon Sep 24 10:35:00 2007 +0000
+++ b/master/slave.c	Mon Sep 24 12:12:11 2007 +0000
@@ -282,7 +282,8 @@
 /*****************************************************************************/
 
 /**
-*/
+ * SDO kobject clear method.
+ */
 
 void ec_slave_sdos_clear(struct kobject *kobj /**< kobject for SDOs */)
 {
@@ -374,6 +375,7 @@
 /*****************************************************************************/
 
 /**
+ * Request a slave state and resets the error flag.
  */
 
 void ec_slave_request_state(ec_slave_t *slave, /**< EtherCAT slave */
@@ -875,7 +877,9 @@
  * \return 0 case of success, otherwise error code.
  */
 
-int ec_slave_schedule_eeprom_writing(ec_eeprom_write_request_t *request)
+int ec_slave_schedule_eeprom_writing(
+        ec_eeprom_write_request_t *request /**< EEPROM write request */
+        )
 {
     ec_master_t *master = request->slave->master;
 
@@ -924,7 +928,10 @@
  * \return CRC8
  */
 
-uint8_t ec_slave_eeprom_crc(const uint8_t *data, size_t length)
+uint8_t ec_slave_eeprom_crc(
+        const uint8_t *data, /**< pointer to data */
+        size_t length /**< number of bytes in \a data */
+        )
 {
     unsigned int i;
     uint8_t bit, byte, crc = 0x48;
@@ -1179,6 +1186,8 @@
 /*****************************************************************************/
 
 /**
+ * Get the sync manager for either Rx- or Tx-PDOs.
+ * \return pointer to sync manager, or NULL.
  */
 
 ec_sync_t *ec_slave_get_pdo_sync(
@@ -1372,6 +1381,10 @@
 
 /*****************************************************************************/
 
+/**
+ * Clear slave's PDO mapping.
+ */
+
 void ecrt_slave_pdo_mapping_clear(
         ec_slave_t *slave, /**< EtherCAT slave */
         ec_direction_t dir /**< output/input */
@@ -1393,10 +1406,14 @@
 
 /*****************************************************************************/
 
+/**
+ * Add a PDO to the list of known mapped PDOs.
+ */
+
 int ecrt_slave_pdo_mapping_add(
         ec_slave_t *slave, /**< EtherCAT slave */
         ec_direction_t dir, /**< input/output */
-        uint16_t pdo_index /**< Index of PDO mapping list */)
+        uint16_t pdo_index /**< Index of mapped PDO */)
 {
     ec_pdo_t *pdo;
     ec_sync_t *sync;
@@ -1444,6 +1461,11 @@
 
 /*****************************************************************************/
 
+/**
+ * Convenience function for ecrt_slave_pdo_mapping_clear() and
+ * ecrt_slave_pdo_mapping_add().
+ */
+
 int ecrt_slave_pdo_mapping(ec_slave_t *slave, /**< EtherCAT slave */
         ec_direction_t dir, /**< input/output */
         unsigned int num_args, /**< Number of following arguments */
diff -r 6210c4260899 -r 8fa6f825eb7d master/slave.h
--- a/master/slave.h	Mon Sep 24 10:35:00 2007 +0000
+++ b/master/slave.h	Mon Sep 24 12:12:11 2007 +0000
@@ -83,6 +83,7 @@
 /*****************************************************************************/
 
 /**
+ * EtherCAT slave online state.
  */
 
 typedef enum {
diff -r 6210c4260899 -r 8fa6f825eb7d master/sync.c
--- a/master/sync.c	Mon Sep 24 10:35:00 2007 +0000
+++ b/master/sync.c	Mon Sep 24 12:12:11 2007 +0000
@@ -140,6 +140,8 @@
 /*****************************************************************************/
 
 /**
+ * Adds a PDO to the list of known mapped PDOs.
+ * \return 0 on success, else < 0
  */
 
 int ec_sync_add_pdo(
@@ -178,6 +180,7 @@
 /*****************************************************************************/
 
 /**
+ * Clears the list of known mapped PDOs.
  */
 
 void ec_sync_clear_pdos(
@@ -197,6 +200,7 @@
 /*****************************************************************************/
 
 /**
+ * \return Type of PDOs covered by the given sync manager.
  */
 
 ec_pdo_type_t ec_sync_get_pdo_type(
diff -r 6210c4260899 -r 8fa6f825eb7d master/xmldev.c
--- a/master/xmldev.c	Mon Sep 24 10:35:00 2007 +0000
+++ b/master/xmldev.c	Mon Sep 24 12:12:11 2007 +0000
@@ -45,6 +45,8 @@
 
 /*****************************************************************************/
 
+/** \cond */
+
 static char *test_str = "hello world!\n";
 
 int ecxmldev_open(struct inode *, struct file *);
@@ -169,4 +171,6 @@
     return -EFAULT;
 }
 
+/** \endcond */
+
 /*****************************************************************************/
diff -r 6210c4260899 -r 8fa6f825eb7d master/xmldev.h
--- a/master/xmldev.h	Mon Sep 24 10:35:00 2007 +0000
+++ b/master/xmldev.h	Mon Sep 24 12:12:11 2007 +0000
@@ -63,11 +63,15 @@
 
 /*****************************************************************************/
 
+/** \cond */
+
 int ec_xmldev_init(ec_xmldev_t *, ec_master_t *, dev_t);
 void ec_xmldev_clear(ec_xmldev_t *);
 
 int ec_xmldev_request(ec_xmldev_t *, uint32_t, uint32_t);
 
+/** \endcond */
+
 /*****************************************************************************/
 
 #endif