# HG changeset patch # User Florian Pose # Date 1139928620 0 # Node ID a452700db99425238c04b61a9946b51dd52ec725 # Parent 56964b20c15d4a5e463db1fd3b6d1f82ea55fcb7 Neue ASCII-Adressierung und Code-Dokumantation. diff -r 56964b20c15d -r a452700db994 TODO --- a/TODO Tue Feb 14 14:40:47 2006 +0000 +++ b/TODO Tue Feb 14 14:50:20 2006 +0000 @@ -6,3 +6,5 @@ - Konfiguration SSI-/Inkrementalgeberklemmen (CoE) - Ethernet over EtherCAT (EoE) - eepro100-Kartentreiber +- Proc/SysFS-Interface mit Baumdarstellung des Busses + diff -r 56964b20c15d -r a452700db994 include/EtherCAT_rt.h --- a/include/EtherCAT_rt.h Tue Feb 14 14:40:47 2006 +0000 +++ b/include/EtherCAT_rt.h Tue Feb 14 14:50:20 2006 +0000 @@ -30,7 +30,7 @@ void EtherCAT_rt_release_master(ec_master_t *master); ec_slave_t *EtherCAT_rt_register_slave(ec_master_t *master, - unsigned int slave_index, + const char *address, const char *vendor_name, const char *product_name, int domain); @@ -106,9 +106,10 @@ struct ec_slave_init { - ec_slave_t **slave_ptr; /**< Zeiger auf den Slave-Zeiger, der mit der - Adresse des Slaves belegt werden soll. */ - unsigned int bus_index; /**< Bus-Index des zu registrierenden Slaves */ + ec_slave_t **slave_ptr; /**< Zeiger auf den Slave-Zeiger, der später auf + die Slave-Struktur zeigen soll. */ + const char *address; /**< ASCII-kodierte Bus-Adresse des zu + registrierenden Slaves \sa ec_address */ const char *vendor_name; /**< Name des Herstellers */ const char *product_name; /**< Name des Slaves-Typs */ unsigned int domain; /**< Domäne, in der registriert werden soll. */ diff -r 56964b20c15d -r a452700db994 master/Doxyfile --- a/master/Doxyfile Tue Feb 14 14:40:47 2006 +0000 +++ b/master/Doxyfile Tue Feb 14 14:50:20 2006 +0000 @@ -1,15 +1,12 @@ -################################################################ +#--------------------------------------------------------------------------- # -# Doxyfile +# Doxyfile 1.4.4 # -# IgH EtherCAT-Treiber +# IgH EtherCAT-Treiber # -# $LastChangedDate$ -# $Author$ +# $Id$ # -################################################################# - -# Doxyfile 1.2.18 +#--------------------------------------------------------------------------- # This file describes the settings to be used by the documentation system # doxygen (www.doxygen.org) for a project @@ -22,7 +19,7 @@ # Values that contain spaces should be placed between quotes (" ") #--------------------------------------------------------------------------- -# General configuration options +# Project related configuration options #--------------------------------------------------------------------------- # The PROJECT_NAME tag is a single word (or a sequence of words surrounded @@ -43,16 +40,187 @@ OUTPUT_DIRECTORY = doc +# If the CREATE_SUBDIRS tag is set to YES, then doxygen will create +# 4096 sub-directories (in 2 levels) under the output directory of each output +# format and will distribute the generated files over these directories. +# Enabling this option can be useful when feeding doxygen a huge amount of +# source files, where putting all generated files in the same directory would +# otherwise cause performance problems for the file system. + +CREATE_SUBDIRS = NO + # The OUTPUT_LANGUAGE tag is used to specify the language in which all # documentation generated by doxygen is written. Doxygen will use this # information to generate all constant output in the proper language. # The default language is English, other supported languages are: -# Brazilian, Catalan, Chinese, Chinese-Traditional, Croatian, Czech, Danish, Dutch, -# Finnish, French, German, Greek, Hungarian, Italian, Japanese, Japanese-en -# (Japanese with english messages), Korean, Norwegian, Polish, Portuguese, -# Romanian, Russian, Serbian, Slovak, Slovene, Spanish, Swedish and Ukrainian. - -OUTPUT_LANGUAGE = +# Brazilian, Catalan, Chinese, Chinese-Traditional, Croatian, Czech, Danish, +# Dutch, Finnish, French, German, Greek, Hungarian, Italian, Japanese, +# Japanese-en (Japanese with English messages), Korean, Korean-en, Norwegian, +# Polish, Portuguese, Romanian, Russian, Serbian, Slovak, Slovene, Spanish, +# Swedish, and Ukrainian. + +OUTPUT_LANGUAGE = German + +# This tag can be used to specify the encoding used in the generated output. +# The encoding is not always determined by the language that is chosen, +# but also whether or not the output is meant for Windows or non-Windows users. +# In case there is a difference, setting the USE_WINDOWS_ENCODING tag to YES +# forces the Windows encoding (this is the default for the Windows binary), +# whereas setting the tag to NO uses a Unix-style encoding (the default for +# all platforms other than Windows). + +USE_WINDOWS_ENCODING = NO + +# If the BRIEF_MEMBER_DESC tag is set to YES (the default) Doxygen will +# include brief member descriptions after the members that are listed in +# the file and class documentation (similar to JavaDoc). +# Set to NO to disable this. + +BRIEF_MEMBER_DESC = YES + +# If the REPEAT_BRIEF tag is set to YES (the default) Doxygen will prepend +# the brief description of a member or function before the detailed description. +# Note: if both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the +# brief descriptions will be completely suppressed. + +REPEAT_BRIEF = YES + +# This tag implements a quasi-intelligent brief description abbreviator +# that is used to form the text in various listings. Each string +# in this list, if found as the leading text of the brief description, will be +# stripped from the text and the result after processing the whole list, is +# used as the annotated text. Otherwise, the brief description is used as-is. +# If left blank, the following values are used ("$name" is automatically +# replaced with the name of the entity): "The $name class" "The $name widget" +# "The $name file" "is" "provides" "specifies" "contains" +# "represents" "a" "an" "the" + +ABBREVIATE_BRIEF = + +# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then +# Doxygen will generate a detailed section even if there is only a brief +# description. + +ALWAYS_DETAILED_SEC = NO + +# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all +# inherited members of a class in the documentation of that class as if those +# members were ordinary class members. Constructors, destructors and assignment +# operators of the base classes will not be shown. + +INLINE_INHERITED_MEMB = NO + +# If the FULL_PATH_NAMES tag is set to YES then Doxygen will prepend the full +# path before files name in the file list and in the header files. If set +# to NO the shortest path that makes the file name unique will be used. + +FULL_PATH_NAMES = NO + +# If the FULL_PATH_NAMES tag is set to YES then the STRIP_FROM_PATH tag +# can be used to strip a user-defined part of the path. Stripping is +# only done if one of the specified strings matches the left-hand part of +# the path. The tag can be used to show relative paths in the file list. +# If left blank the directory from which doxygen is run is used as the +# path to strip. + +STRIP_FROM_PATH = + +# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of +# the path mentioned in the documentation of a class, which tells +# the reader which header file to include in order to use a class. +# If left blank only the name of the header file containing the class +# definition is used. Otherwise one should specify the include paths that +# are normally passed to the compiler using the -I flag. + +STRIP_FROM_INC_PATH = + +# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter +# (but less readable) file names. This can be useful is your file systems +# doesn't support long names like on DOS, Mac, or CD-ROM. + +SHORT_NAMES = NO + +# If the JAVADOC_AUTOBRIEF tag is set to YES then Doxygen +# will interpret the first line (until the first dot) of a JavaDoc-style +# comment as the brief description. If set to NO, the JavaDoc +# comments will behave just like the Qt-style comments (thus requiring an +# explicit @brief command for a brief description. + +JAVADOC_AUTOBRIEF = YES + +# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make Doxygen +# treat a multi-line C++ special comment block (i.e. a block of //! or /// +# comments) as a brief description. This used to be the default behaviour. +# The new default is to treat a multi-line C++ comment block as a detailed +# description. Set this tag to YES if you prefer the old behaviour instead. + +MULTILINE_CPP_IS_BRIEF = YES + +# If the DETAILS_AT_TOP tag is set to YES then Doxygen +# will output the detailed description near the top, like JavaDoc. +# If set to NO, the detailed description appears after the member +# documentation. + +DETAILS_AT_TOP = YES + +# If the INHERIT_DOCS tag is set to YES (the default) then an undocumented +# member inherits the documentation from any documented member that it +# re-implements. + +INHERIT_DOCS = YES + +# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC +# tag is set to YES, then doxygen will reuse the documentation of the first +# member in the group (if any) for the other members of the group. By default +# all members of a group must be documented explicitly. + +DISTRIBUTE_GROUP_DOC = NO + +# If the SEPARATE_MEMBER_PAGES tag is set to YES, then doxygen will produce +# a new page for each member. If set to NO, the documentation of a member will +# be part of the file/class/namespace that contains it. + +SEPARATE_MEMBER_PAGES = NO + +# The TAB_SIZE tag can be used to set the number of spaces in a tab. +# Doxygen uses this value to replace tabs by spaces in code fragments. + +TAB_SIZE = 3 + +# This tag can be used to specify a number of aliases that acts +# as commands in the documentation. An alias has the form "name=value". +# For example adding "sideeffect=\par Side Effects:\n" will allow you to +# put the command \sideeffect (or @sideeffect) in the documentation, which +# will result in a user-defined paragraph with heading "Side Effects:". +# You can put \n's in the value part of an alias to insert newlines. + +ALIASES = + +# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C +# sources only. Doxygen will then generate output that is more tailored for C. +# For instance, some of the names that are used will be different. The list +# of all members will be omitted, etc. + +OPTIMIZE_OUTPUT_FOR_C = YES + +# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java sources +# only. Doxygen will then generate output that is more tailored for Java. +# For instance, namespaces will be presented as packages, qualified scopes +# will look different, etc. + +OPTIMIZE_OUTPUT_JAVA = NO + +# Set the SUBGROUPING tag to YES (the default) to allow class member groups of +# the same type (for instance a group of public functions) to be put as a +# subgroup of that type (e.g. under the Public Functions section). Set it to +# NO to prevent subgrouping. Alternatively, this can be done per class using +# the \nosubgrouping command. + +SUBGROUPING = YES + +#--------------------------------------------------------------------------- +# Build related configuration options +#--------------------------------------------------------------------------- # If the EXTRACT_ALL tag is set to YES doxygen will assume all entities in # documentation are documented, even if no documentation was available. @@ -77,17 +245,24 @@ EXTRACT_LOCAL_CLASSES = YES +# This flag is only useful for Objective-C code. When set to YES local +# methods, which are defined in the implementation section but not in +# the interface are included in the documentation. +# If set to NO (the default) only methods in the interface are included. + +EXTRACT_LOCAL_METHODS = YES + # If the HIDE_UNDOC_MEMBERS tag is set to YES, Doxygen will hide all # undocumented members of documented classes, files or namespaces. # If set to NO (the default) these members will be included in the # various overviews, but no documentation section is generated. # This option has no effect if EXTRACT_ALL is enabled. -HIDE_UNDOC_MEMBERS = NO +HIDE_UNDOC_MEMBERS = YES # If the HIDE_UNDOC_CLASSES tag is set to YES, Doxygen will hide all # undocumented classes that are normally visible in the class hierarchy. -# If set to NO (the default) these class will be included in the various +# If set to NO (the default) these classes will be included in the various # overviews. This option has no effect if EXTRACT_ALL is enabled. HIDE_UNDOC_CLASSES = YES @@ -99,45 +274,12 @@ HIDE_FRIEND_COMPOUNDS = NO -# If the BRIEF_MEMBER_DESC tag is set to YES (the default) Doxygen will -# include brief member descriptions after the members that are listed in -# the file and class documentation (similar to JavaDoc). -# Set to NO to disable this. - -BRIEF_MEMBER_DESC = YES - -# If the REPEAT_BRIEF tag is set to YES (the default) Doxygen will prepend -# the brief description of a member or function before the detailed description. -# Note: if both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the -# brief descriptions will be completely suppressed. - -REPEAT_BRIEF = YES - -# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then -# Doxygen will generate a detailed section even if there is only a brief -# description. - -ALWAYS_DETAILED_SEC = NO - -# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all inherited -# members of a class in the documentation of that class as if those members were -# ordinary class members. Constructors, destructors and assignment operators of -# the base classes will not be shown. - -INLINE_INHERITED_MEMB = NO - -# If the FULL_PATH_NAMES tag is set to YES then Doxygen will prepend the full -# path before files name in the file list and in the header files. If set -# to NO the shortest path that makes the file name unique will be used. - -FULL_PATH_NAMES = NO - -# If the FULL_PATH_NAMES tag is set to YES then the STRIP_FROM_PATH tag -# can be used to strip a user defined part of the path. Stripping is -# only done if one of the specified strings matches the left-hand part of -# the path. It is allowed to use relative paths in the argument list. - -STRIP_FROM_PATH = +# If the HIDE_IN_BODY_DOCS tag is set to YES, Doxygen will hide any +# documentation blocks found inside the body of a function. +# If set to NO (the default) these blocks will be appended to the +# function's detailed documentation block. + +HIDE_IN_BODY_DOCS = NO # The INTERNAL_DOCS tag determines if documentation # that is typed after a \internal command is included. If the tag is set @@ -146,73 +288,26 @@ INTERNAL_DOCS = NO -# Setting the STRIP_CODE_COMMENTS tag to YES (the default) will instruct -# doxygen to hide any special comment blocks from generated source code -# fragments. Normal C and C++ comments will always remain visible. - -STRIP_CODE_COMMENTS = YES - # If the CASE_SENSE_NAMES tag is set to NO then Doxygen will only generate -# file names in lower case letters. If set to YES upper case letters are also +# file names in lower-case letters. If set to YES upper-case letters are also # allowed. This is useful if you have classes or files whose names only differ # in case and if your file system supports case sensitive file names. Windows -# users are adviced to set this option to NO. +# and Mac users are advised to set this option to NO. CASE_SENSE_NAMES = YES -# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter -# (but less readable) file names. This can be useful is your file systems -# doesn't support long names like on DOS, Mac, or CD-ROM. - -SHORT_NAMES = NO - # If the HIDE_SCOPE_NAMES tag is set to NO (the default) then Doxygen # will show members with their full class and namespace scopes in the # documentation. If set to YES the scope will be hidden. HIDE_SCOPE_NAMES = NO -# If the VERBATIM_HEADERS tag is set to YES (the default) then Doxygen -# will generate a verbatim copy of the header file for each class for -# which an include is specified. Set to NO to disable this. - -VERBATIM_HEADERS = YES - # If the SHOW_INCLUDE_FILES tag is set to YES (the default) then Doxygen -# will put list of the files that are included by a file in the documentation +# will put a list of the files that are included by a file in the documentation # of that file. SHOW_INCLUDE_FILES = NO -# If the JAVADOC_AUTOBRIEF tag is set to YES then Doxygen -# will interpret the first line (until the first dot) of a JavaDoc-style -# comment as the brief description. If set to NO, the JavaDoc -# comments will behave just like the Qt-style comments (thus requiring an -# explict @brief command for a brief description. - -JAVADOC_AUTOBRIEF = YES - -# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make Doxygen -# treat a multi-line C++ special comment block (i.e. a block of //! or /// -# comments) as a brief description. This used to be the default behaviour. -# The new default is to treat a multi-line C++ comment block as a detailed -# description. Set this tag to YES if you prefer the old behaviour instead. - -MULTILINE_CPP_IS_BRIEF = YES - -# If the DETAILS_AT_TOP tag is set to YES then Doxygen -# will output the detailed description near the top, like JavaDoc. -# If set to NO, the detailed description appears after the member -# documentation. - -DETAILS_AT_TOP = YES - -# If the INHERIT_DOCS tag is set to YES (the default) then an undocumented -# member inherits the documentation from any documented member that it -# reimplements. - -INHERIT_DOCS = YES - # If the INLINE_INFO tag is set to YES (the default) then a tag [inline] # is inserted in the documentation for inline members. @@ -225,17 +320,22 @@ SORT_MEMBER_DOCS = NO -# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC -# tag is set to YES, then doxygen will reuse the documentation of the first -# member in the group (if any) for the other members of the group. By default -# all members of a group must be documented explicitly. - -DISTRIBUTE_GROUP_DOC = NO - -# The TAB_SIZE tag can be used to set the number of spaces in a tab. -# Doxygen uses this value to replace tabs by spaces in code fragments. - -TAB_SIZE = 3 +# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the +# brief documentation of file, namespace and class members alphabetically +# by member name. If set to NO (the default) the members will appear in +# declaration order. + +SORT_BRIEF_DOCS = NO + +# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be +# sorted by fully-qualified names, including namespaces. If set to +# NO (the default), the class list will be sorted only by class name, +# not including the namespace part. +# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES. +# Note: This option applies only to the class list, not to the +# alphabetical list. + +SORT_BY_SCOPE_NAME = NO # The GENERATE_TODOLIST tag can be used to enable (YES) or # disable (NO) the todo list. This list is created by putting \todo @@ -256,26 +356,18 @@ GENERATE_BUGLIST = NO # The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or -# disable (NO) the deprecated list. This list is created by putting \deprecated commands in the documentation. +# disable (NO) the deprecated list. This list is created by putting +# \deprecated commands in the documentation. GENERATE_DEPRECATEDLIST= NO -# This tag can be used to specify a number of aliases that acts -# as commands in the documentation. An alias has the form "name=value". -# For example adding "sideeffect=\par Side Effects:\n" will allow you to -# put the command \sideeffect (or @sideeffect) in the documentation, which -# will result in a user defined paragraph with heading "Side Effects:". -# You can put \n's in the value part of an alias to insert newlines. - -ALIASES = - # The ENABLED_SECTIONS tag can be used to enable conditional # documentation sections, marked by \if sectionname ... \endif. ENABLED_SECTIONS = # The MAX_INITIALIZER_LINES tag determines the maximum number of lines -# the initial value of a variable or define consist of for it to appear in +# the initial value of a variable or define consists of for it to appear in # the documentation. If the initializer consists of more lines than specified # here it will be hidden. Use a value of 0 to hide initializers completely. # The appearance of the initializer of individual variables and defines in the @@ -284,26 +376,28 @@ MAX_INITIALIZER_LINES = 30 -# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C sources -# only. Doxygen will then generate output that is more tailored for C. -# For instance some of the names that are used will be different. The list -# of all members will be omitted, etc. - -OPTIMIZE_OUTPUT_FOR_C = YES - -# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java sources -# only. Doxygen will then generate output that is more tailored for Java. -# For instance namespaces will be presented as packages, qualified scopes -# will look different, etc. - -OPTIMIZE_OUTPUT_JAVA = NO - # Set the SHOW_USED_FILES tag to NO to disable the list of files generated # at the bottom of the documentation of classes and structs. If set to YES the # list will mention the files that were used to generate the documentation. SHOW_USED_FILES = NO +# If the sources in your project are distributed over multiple directories +# then setting the SHOW_DIRECTORIES tag to YES will show the directory hierarchy +# in the documentation. The default is YES. + +SHOW_DIRECTORIES = YES + +# The FILE_VERSION_FILTER tag can be used to specify a program or script that +# doxygen should invoke to get the current version for each file (typically from the +# version control system). Doxygen will invoke the program by executing (via +# popen()) the command , where is the value of +# the FILE_VERSION_FILTER tag, and is the name of an input file +# provided by doxygen. Whatever the progam writes to standard output +# is used as the file version. See the manual for examples. + +FILE_VERSION_FILTER = + #--------------------------------------------------------------------------- # configuration options related to warning and progress messages #--------------------------------------------------------------------------- @@ -325,10 +419,27 @@ WARN_IF_UNDOCUMENTED = YES +# If WARN_IF_DOC_ERROR is set to YES, doxygen will generate warnings for +# potential errors in the documentation, such as not documenting some +# parameters in a documented function, or documenting parameters that +# don't exist or using markup commands wrongly. + +WARN_IF_DOC_ERROR = YES + +# This WARN_NO_PARAMDOC option can be abled to get warnings for +# functions that are documented, but have no documentation for their parameters +# or return value. If set to NO (the default) doxygen will only warn about +# wrong or incomplete parameter documentation, but not about the absence of +# documentation. + +WARN_NO_PARAMDOC = NO + # The WARN_FORMAT tag determines the format of the warning messages that # doxygen can produce. The string should contain the $file, $line, and $text # tags, which will be replaced by the file and line number from which the -# warning originated and the warning text. +# warning originated and the warning text. Optionally the format may contain +# $version, which will be replaced by the version of the file (if it could +# be obtained via FILE_VERSION_FILTER) WARN_FORMAT = "$file:$line: $text" @@ -347,14 +458,15 @@ # directories like "/usr/src/myproject". Separate the files or directories # with spaces. -INPUT = . ../include +INPUT = . \ + ../include # If the value of the INPUT tag contains directories, you can use the # FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp # and *.h) to filter out the source-files in the directories. If left # blank the following patterns are tested: -# *.c *.cc *.cxx *.cpp *.c++ *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh *.hxx *.hpp -# *.h++ *.idl *.odl +# *.c *.cc *.cxx *.cpp *.c++ *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh *.hxx +# *.hpp *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm FILE_PATTERNS = @@ -368,16 +480,19 @@ # excluded from the INPUT source files. This way you can easily exclude a # subdirectory from a directory tree whose root is specified with the INPUT tag. -EXCLUDE = - -# The EXCLUDE_SYMLINKS tag can be used select whether or not files or directories -# that are symbolic links (a Unix filesystem feature) are excluded from the input. +EXCLUDE = + +# The EXCLUDE_SYMLINKS tag can be used select whether or not files or +# directories that are symbolic links (a Unix filesystem feature) are excluded +# from the input. EXCLUDE_SYMLINKS = NO # If the value of the INPUT tag contains directories, you can use the # EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude -# certain files from those directories. +# certain files from those directories. Note that the wildcards are matched +# against the file with absolute path, so to exclude all test directories +# for example use the pattern */test/* EXCLUDE_PATTERNS = *.mod.c @@ -412,10 +527,20 @@ # by executing (via popen()) the command , where # is the value of the INPUT_FILTER tag, and is the name of an # input file. Doxygen will then use the output that the filter program writes -# to standard output. +# to standard output. If FILTER_PATTERNS is specified, this tag will be +# ignored. INPUT_FILTER = +# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern +# basis. Doxygen will compare the file name with each pattern and apply the +# filter if there is a match. The filters are a list of the form: +# pattern=filter (like *.cpp=my_cpp_filter). See INPUT_FILTER for further +# info on how filters are used. If FILTER_PATTERNS is empty, INPUT_FILTER +# is applied to all files. + +FILTER_PATTERNS = + # If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using # INPUT_FILTER) will be used to filter the input files when producing source # files to browse (i.e. when SOURCE_BROWSER is set to YES). @@ -427,7 +552,9 @@ #--------------------------------------------------------------------------- # If the SOURCE_BROWSER tag is set to YES then a list of source files will -# be generated. Documented entities will be cross-referenced with these sources. +# be generated. Documented entities will be cross-referenced with these sources. +# Note: To get rid of all source code in the generated output, make sure also +# VERBATIM_HEADERS is set to NO. SOURCE_BROWSER = YES @@ -436,17 +563,37 @@ INLINE_SOURCES = NO +# Setting the STRIP_CODE_COMMENTS tag to YES (the default) will instruct +# doxygen to hide any special comment blocks from generated source code +# fragments. Normal C and C++ comments will always remain visible. + +STRIP_CODE_COMMENTS = YES + # If the REFERENCED_BY_RELATION tag is set to YES (the default) # then for each documented function all documented # functions referencing it will be listed. -REFERENCED_BY_RELATION = YES +REFERENCED_BY_RELATION = NO # If the REFERENCES_RELATION tag is set to YES (the default) # then for each documented function all documented entities # called/used by that function will be listed. -REFERENCES_RELATION = YES +REFERENCES_RELATION = NO + +# If the USE_HTAGS tag is set to YES then the references to source code +# will point to the HTML generated by the htags(1) tool instead of doxygen +# built-in source browser. The htags tool is part of GNU's global source +# tagging system (see http://www.gnu.org/software/global/global.html). You +# will need version 4.8.6 or higher. + +USE_HTAGS = NO + +# If the VERBATIM_HEADERS tag is set to YES (the default) then Doxygen +# will generate a verbatim copy of the header file for each class for +# which an include is specified. Set to NO to disable this. + +VERBATIM_HEADERS = YES #--------------------------------------------------------------------------- # configuration options related to the alphabetical class index @@ -504,10 +651,12 @@ HTML_FOOTER = -# The HTML_STYLESHEET tag can be used to specify a user defined cascading +# The HTML_STYLESHEET tag can be used to specify a user-defined cascading # style sheet that is used by each HTML page. It can be used to # fine-tune the look of the HTML output. If the tag is left blank doxygen -# will generate a default style sheet +# will generate a default style sheet. Note that doxygen will try to copy +# the style sheet file to the HTML output directory, so don't put your own +# stylesheet in the HTML output directory as well, or it will be erased! HTML_STYLESHEET = @@ -527,14 +676,14 @@ # If the GENERATE_HTMLHELP tag is set to YES, the CHM_FILE tag can # be used to specify the file name of the resulting .chm file. You # can add a path in front of the file if the result should not be -# written to the html output dir. +# written to the html output directory. CHM_FILE = # If the GENERATE_HTMLHELP tag is set to YES, the HHC_LOCATION tag can # be used to specify the location (absolute path including file name) of -# the HTML help compiler (hhc.exe). If non empty doxygen will try to run -# the html help compiler on the generated index.hhp. +# the HTML help compiler (hhc.exe). If non-empty doxygen will try to run +# the HTML help compiler on the generated index.hhp. HHC_LOCATION = @@ -551,7 +700,7 @@ BINARY_TOC = NO # The TOC_EXPAND flag can be set to YES to add extra items for group members -# to the contents of the Html help documentation and to the tree view. +# to the contents of the HTML help documentation and to the tree view. TOC_EXPAND = NO @@ -569,10 +718,9 @@ # If the GENERATE_TREEVIEW tag is set to YES, a side panel will be # generated containing a tree-like index structure (just like the one that # is generated for HTML Help). For this to work a browser that supports -# JavaScript and frames is required (for instance Mozilla, Netscape 4.0+, -# or Internet explorer 4.0+). Note that for large projects the tree generation -# can take a very long time. In such cases it is better to disable this feature. -# Windows users are probably better off using the HTML help feature. +# JavaScript, DHTML, CSS and frames is required (for instance Mozilla 1.0+, +# Netscape 6.0+, Internet explorer 5.0+, or Konqueror). Windows users are +# probably better off using the HTML help feature. GENERATE_TREEVIEW = YES @@ -597,7 +745,8 @@ LATEX_OUTPUT = latex -# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be invoked. If left blank `latex' will be used as the default command name. +# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be +# invoked. If left blank `latex' will be used as the default command name. LATEX_CMD_NAME = latex @@ -651,12 +800,18 @@ LATEX_BATCHMODE = NO +# If LATEX_HIDE_INDICES is set to YES then doxygen will not +# include the index chapters (such as File Index, Compound Index, etc.) +# in the output. + +LATEX_HIDE_INDICES = NO + #--------------------------------------------------------------------------- # configuration options related to the RTF output #--------------------------------------------------------------------------- # If the GENERATE_RTF tag is set to YES Doxygen will generate RTF output -# The RTF output is optimised for Word 97 and may not look very pretty with +# The RTF output is optimized for Word 97 and may not look very pretty with # other RTF readers or editors. GENERATE_RTF = NO @@ -683,7 +838,7 @@ RTF_HYPERLINKS = NO # Load stylesheet definitions from file. Syntax is similar to doxygen's -# config file, i.e. a series of assigments. You only have to provide +# config file, i.e. a series of assignments. You only have to provide # replacements, missing definitions are set to their default value. RTF_STYLESHEET_FILE = @@ -727,12 +882,16 @@ # If the GENERATE_XML tag is set to YES Doxygen will # generate an XML file that captures the structure of -# the code including all documentation. Note that this -# feature is still experimental and incomplete at the -# moment. +# the code including all documentation. GENERATE_XML = NO +# The XML_OUTPUT tag is used to specify where the XML pages will be put. +# If a relative path is entered the value of OUTPUT_DIRECTORY will be +# put in front of it. If left blank `xml' will be used as the default path. + +XML_OUTPUT = xml + # The XML_SCHEMA tag can be used to specify an XML schema, # which can be used by a validating XML parser to check the # syntax of the XML files. @@ -745,6 +904,13 @@ XML_DTD = +# If the XML_PROGRAMLISTING tag is set to YES Doxygen will +# dump the program listings (including syntax highlighting +# and cross-referencing information) to the XML output. Note that +# enabling this will significantly increase the size of the XML output. + +XML_PROGRAMLISTING = YES + #--------------------------------------------------------------------------- # configuration options for the AutoGen Definitions output #--------------------------------------------------------------------------- @@ -758,6 +924,39 @@ GENERATE_AUTOGEN_DEF = NO #--------------------------------------------------------------------------- +# configuration options related to the Perl module output +#--------------------------------------------------------------------------- + +# If the GENERATE_PERLMOD tag is set to YES Doxygen will +# generate a Perl module file that captures the structure of +# the code including all documentation. Note that this +# feature is still experimental and incomplete at the +# moment. + +GENERATE_PERLMOD = NO + +# If the PERLMOD_LATEX tag is set to YES Doxygen will generate +# the necessary Makefile rules, Perl scripts and LaTeX code to be able +# to generate PDF and DVI output from the Perl module output. + +PERLMOD_LATEX = NO + +# If the PERLMOD_PRETTY tag is set to YES the Perl module output will be +# nicely formatted so it can be parsed by a human reader. This is useful +# if you want to understand what is going on. On the other hand, if this +# tag is set to NO the size of the Perl module output will be much smaller +# and Perl will parse it just the same. + +PERLMOD_PRETTY = YES + +# The names of the make variables in the generated doxyrules.make file +# are prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX. +# This is useful so different doxyrules.make files included by the same +# Makefile don't overwrite each other's variables. + +PERLMOD_MAKEVAR_PREFIX = + +#--------------------------------------------------------------------------- # Configuration options related to the preprocessor #--------------------------------------------------------------------------- @@ -802,11 +1001,13 @@ # are defined before the preprocessor is started (similar to the -D option of # gcc). The argument of the tag is a list of macros of the form: name # or name=definition (no spaces). If the definition and the = are -# omitted =1 is assumed. +# omitted =1 is assumed. To prevent a macro definition from being +# undefined via #undef or recursively expanded use the := operator +# instead of the = operator. PREDEFINED = -# If the MACRO_EXPANSION and EXPAND_PREDEF_ONLY tags are set to YES then +# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then # this tag can be used to specify a list of macro names that should be expanded. # The macro definition that is found in the sources will be used. # Use the PREDEFINED tag if you want to use a different macro definition. @@ -816,16 +1017,29 @@ # If the SKIP_FUNCTION_MACROS tag is set to YES (the default) then # doxygen's preprocessor will remove all function-like macros that are alone # on a line, have an all uppercase name, and do not end with a semicolon. Such -# function macros are typically used for boiler-plate code, and will confuse the -# parser if not removed. +# function macros are typically used for boiler-plate code, and will confuse +# the parser if not removed. SKIP_FUNCTION_MACROS = YES #--------------------------------------------------------------------------- -# Configuration::addtions related to external references -#--------------------------------------------------------------------------- - -# The TAGFILES tag can be used to specify one or more tagfiles. +# Configuration::additions related to external references +#--------------------------------------------------------------------------- + +# The TAGFILES option can be used to specify one or more tagfiles. +# Optionally an initial location of the external documentation +# can be added for each tagfile. The format of a tag file without +# this location is as follows: +# TAGFILES = file1 file2 ... +# Adding location for the tag files is done as follows: +# TAGFILES = file1=loc1 "file2 = loc2" ... +# where "loc1" and "loc2" can be relative or absolute paths or +# URLs. If a location is present for each tag, the installdox tool +# does not have to be run to correct the links. +# Note that each tag file must have a unique name +# (where the name does NOT include the path) +# If a tag file is not located in the directory in which doxygen +# is run, you must also specify the path to the tagfile here. TAGFILES = @@ -856,10 +1070,11 @@ #--------------------------------------------------------------------------- # If the CLASS_DIAGRAMS tag is set to YES (the default) Doxygen will -# generate a inheritance diagram (in Html, RTF and LaTeX) for classes with base or -# super classes. Setting the tag to NO turns the diagrams off. Note that this -# option is superceded by the HAVE_DOT option below. This is only a fallback. It is -# recommended to install and use dot, since it yield more powerful graphs. +# generate a inheritance diagram (in HTML, RTF and LaTeX) for classes with base +# or super classes. Setting the tag to NO turns the diagrams off. Note that +# this option is superseded by the HAVE_DOT option below. This is only a +# fallback. It is recommended to install and use dot, since it yields more +# powerful graphs. CLASS_DIAGRAMS = YES @@ -890,6 +1105,17 @@ COLLABORATION_GRAPH = YES +# If the GROUP_GRAPHS and HAVE_DOT tags are set to YES then doxygen +# will generate a graph for groups, showing the direct groups dependencies + +GROUP_GRAPHS = YES + +# If the UML_LOOK tag is set to YES doxygen will generate inheritance and +# collaboration diagrams in a style similar to the OMG's Unified Modeling +# Language. + +UML_LOOK = NO + # If set to YES, the inheritance and collaboration graphs will show the # relations between templates and their instances. @@ -909,11 +1135,26 @@ INCLUDED_BY_GRAPH = YES +# If the CALL_GRAPH and HAVE_DOT tags are set to YES then doxygen will +# generate a call dependency graph for every global function or class method. +# Note that enabling this option will significantly increase the time of a run. +# So in most cases it will be better to enable call graphs for selected +# functions only using the \callgraph command. + +CALL_GRAPH = NO + # If the GRAPHICAL_HIERARCHY and HAVE_DOT tags are set to YES then doxygen # will graphical hierarchy of all classes instead of a textual one. GRAPHICAL_HIERARCHY = YES +# If the DIRECTORY_GRAPH, SHOW_DIRECTORIES and HAVE_DOT tags are set to YES +# then doxygen will show the dependencies a directory has on other directories +# in a graphical way. The dependency relations are determined by the #include +# relations between the files in the directories. + +DIRECTORY_GRAPH = YES + # The DOT_IMAGE_FORMAT tag can be used to set the image format of the images # generated by dot. Possible values are png, jpg, or gif # If left blank png will be used. @@ -921,7 +1162,7 @@ DOT_IMAGE_FORMAT = png # The tag DOT_PATH can be used to specify the path where the dot tool can be -# found. If left blank, it is assumed the dot tool can be found on the path. +# found. If left blank, it is assumed the dot tool can be found in the path. DOT_PATH = @@ -947,6 +1188,33 @@ MAX_DOT_GRAPH_HEIGHT = 1024 +# The MAX_DOT_GRAPH_DEPTH tag can be used to set the maximum depth of the +# graphs generated by dot. A depth value of 3 means that only nodes reachable +# from the root by following a path via at most 3 edges will be shown. Nodes +# that lay further from the root node will be omitted. Note that setting this +# option to 1 or 2 may greatly reduce the computation time needed for large +# code bases. Also note that a graph may be further truncated if the graph's +# image dimensions are not sufficient to fit the graph (see MAX_DOT_GRAPH_WIDTH +# and MAX_DOT_GRAPH_HEIGHT). If 0 is used for the depth value (the default), +# the graph is not depth-constrained. + +MAX_DOT_GRAPH_DEPTH = 0 + +# Set the DOT_TRANSPARENT tag to YES to generate images with a transparent +# background. This is disabled by default, which results in a white background. +# Warning: Depending on the platform used, enabling this option may lead to +# badly anti-aliased labels on the edges of a graph (i.e. they become hard to +# read). + +DOT_TRANSPARENT = NO + +# Set the DOT_MULTI_TARGETS tag to YES allow dot to generate multiple output +# files in one run (i.e. multiple -o and -T options on the command line). This +# makes dot run faster, but since only newer versions of dot (>1.8.10) +# support this, this feature is disabled by default. + +DOT_MULTI_TARGETS = NO + # If the GENERATE_LEGEND tag is set to YES (the default) Doxygen will # generate a legend page explaining the meaning of the various boxes and # arrows in the dot generated graphs. @@ -954,51 +1222,16 @@ GENERATE_LEGEND = YES # If the DOT_CLEANUP tag is set to YES (the default) Doxygen will -# remove the intermedate dot files that are used to generate +# remove the intermediate dot files that are used to generate # the various graphs. DOT_CLEANUP = YES #--------------------------------------------------------------------------- -# Configuration::addtions related to the search engine +# Configuration::additions related to the search engine #--------------------------------------------------------------------------- # The SEARCHENGINE tag specifies whether or not a search engine should be # used. If set to NO the values of all tags below this one will be ignored. SEARCHENGINE = NO - -# The CGI_NAME tag should be the name of the CGI script that -# starts the search engine (doxysearch) with the correct parameters. -# A script with this name will be generated by doxygen. - -CGI_NAME = search.cgi - -# The CGI_URL tag should be the absolute URL to the directory where the -# cgi binaries are located. See the documentation of your http daemon for -# details. - -CGI_URL = - -# The DOC_URL tag should be the absolute URL to the directory where the -# documentation is located. If left blank the absolute path to the -# documentation, with file:// prepended to it, will be used. - -DOC_URL = - -# The DOC_ABSPATH tag should be the absolute path to the directory where the -# documentation is located. If left blank the directory on the local machine -# will be used. - -DOC_ABSPATH = - -# The BIN_ABSPATH tag must point to the directory where the doxysearch binary -# is installed. - -BIN_ABSPATH = /usr/local/bin/ - -# The EXT_DOC_PATHS tag can be used to specify one or more paths to -# documentation generated for other projects. This allows doxysearch to search -# the documentation for these projects as well. - -EXT_DOC_PATHS = diff -r 56964b20c15d -r a452700db994 master/Makefile --- a/master/Makefile Tue Feb 14 14:40:47 2006 +0000 +++ b/master/Makefile Tue Feb 14 14:50:20 2006 +0000 @@ -48,6 +48,8 @@ cleandoc: @rm -rf doc +.PHONY: doc + #------------------------------------------------------------------------------ endif diff -r 56964b20c15d -r a452700db994 master/command.h --- a/master/command.h Tue Feb 14 14:40:47 2006 +0000 +++ b/master/command.h Tue Feb 14 14:50:20 2006 +0000 @@ -30,13 +30,12 @@ /** EtherCAT-Adresse. - Im EtherCAT-Rahmen sind 4 Bytes für die Adresse reserviert, die - ja nach Kommandoty eine andere bedeutung haben: Bei Autoinkrement- - befehlen sind die ersten zwei Bytes die (negative) - Autoinkrement-Adresse, bei Knoten-adressierten Befehlen entsprechen - sie der Knotenadresse. Das dritte und vierte Byte entspricht in - diesen Fällen der physikalischen Speicheradresse auf dem Slave. - Bei einer logischen Adressierung entsprechen alle vier Bytes + Im EtherCAT-Rahmen sind 4 Bytes für die Adresse reserviert, die je nach + Kommandotyp, eine andere Bedeutung haben können: Bei Autoinkrementbefehlen + sind die ersten zwei Bytes die (negative) Autoinkrement-Adresse, bei Knoten- + adressierten Befehlen entsprechen sie der Knotenadresse. Das dritte und + vierte Byte entspricht in diesen Fällen der physikalischen Speicheradresse + auf dem Slave. Bei einer logischen Adressierung entsprechen alle vier Bytes der logischen Adresse. */ @@ -53,7 +52,7 @@ unsigned short mem; /**< Physikalische Speicheradresse im Slave */ } - phy; + phy; /**< Physikalische Adresse */ unsigned long logical; /**< Logische Adresse */ unsigned char raw[4]; /**< Rohdaten für die Generierung des Frames */ @@ -68,12 +67,12 @@ typedef struct ec_command { - ec_command_type_t type; /**< Typ des Kommandos (APRD, NPWR, etc...) */ + ec_command_type_t type; /**< Typ des Kommandos (APRD, NPWR, etc) */ ec_address_t address; /**< Adresse des/der Empfänger */ unsigned int data_length; /**< Länge der zu sendenden und/oder empfangenen Daten */ ec_command_state_t state; /**< Zustand des Kommandos - (bereit, gesendet, etc...) */ + (bereit, gesendet, etc) */ unsigned char index; /**< Kommando-Index, mit der das Kommando gesendet wurde (wird vom Master beim Senden gesetzt. */ unsigned int working_counter; /**< Working-Counter bei Empfang (wird diff -r 56964b20c15d -r a452700db994 master/master.c --- a/master/master.c Tue Feb 14 14:40:47 2006 +0000 +++ b/master/master.c Tue Feb 14 14:50:20 2006 +0000 @@ -36,11 +36,11 @@ /** Konstruktor des EtherCAT-Masters. - - @param master Zeiger auf den zu initialisierenden EtherCAT-Master -*/ - -void ec_master_init(ec_master_t *master) +*/ + +void ec_master_init(ec_master_t *master + /**< Zeiger auf den zu initialisierenden EtherCAT-Master */ + ) { master->bus_slaves = NULL; master->bus_slaves_count = 0; @@ -62,11 +62,11 @@ Entfernt alle Kommandos aus der Liste, löscht den Zeiger auf das Slave-Array und gibt die Prozessdaten frei. - - @param master Zeiger auf den zu löschenden Master -*/ - -void ec_master_clear(ec_master_t *master) +*/ + +void ec_master_clear(ec_master_t *master + /**< Zeiger auf den zu löschenden Master */ + ) { if (master->bus_slaves) { kfree(master->bus_slaves); @@ -85,11 +85,11 @@ Bei einem "release" sollte immer diese Funktion aufgerufen werden, da sonst Slave-Liste, Domains, etc. weiter existieren. - - @param master Zeiger auf den zurückzusetzenden Master -*/ - -void ec_master_reset(ec_master_t *master) +*/ + +void ec_master_reset(ec_master_t *master + /**< Zeiger auf den zurückzusetzenden Master */ + ) { if (master->bus_slaves) { kfree(master->bus_slaves); @@ -112,13 +112,11 @@ /** Öffnet das EtherCAT-Geraet des Masters. - @param master Der EtherCAT-Master - - @return 0, wenn alles o.k., < 0, wenn das Geraet nicht geoeffnet werden - konnte. -*/ - -int ec_master_open(ec_master_t *master) + \return 0, wenn alles o.k., < 0, wenn kein Gerät registriert wurde oder + es nicht geoeffnet werden konnte. +*/ + +int ec_master_open(ec_master_t *master /**< Der EtherCAT-Master */) { if (!master->device_registered) { printk(KERN_ERR "EtherCAT: No device registered!\n"); @@ -137,11 +135,9 @@ /** Schliesst das EtherCAT-Geraet, auf dem der Master arbeitet. - - @param master Der EtherCAT-Master -*/ - -void ec_master_close(ec_master_t *master) +*/ + +void ec_master_close(ec_master_t *master /**< EtherCAT-Master */) { if (!master->device_registered) { printk(KERN_WARNING "EtherCAT: Warning -" @@ -160,13 +156,14 @@ Sendet ein einzelnes Kommando in einem Frame und wartet auf dessen Empfang. - @param master EtherCAT-Master - @param cmd Kommando zum Senden/Empfangen - - @return 0 bei Erfolg, sonst < 0 -*/ - -int ec_simple_send_receive(ec_master_t *master, ec_command_t *cmd) + \return 0 bei Erfolg, sonst < 0 +*/ + +int ec_simple_send_receive(ec_master_t *master, + /**< EtherCAT-Master */ + ec_command_t *cmd + /**< Kommando zum Senden/Empfangen */ + ) { unsigned int tries_left; @@ -194,13 +191,12 @@ /** Sendet ein einzelnes Kommando in einem Frame. - @param master EtherCAT-Master - @param cmd Kommando zum Senden - - @return 0 bei Erfolg, sonst < 0 -*/ - -int ec_simple_send(ec_master_t *master, ec_command_t *cmd) + \return 0 bei Erfolg, sonst < 0 +*/ + +int ec_simple_send(ec_master_t *master, /**< EtherCAT-Master */ + ec_command_t *cmd /**< Kommando zum Senden */ + ) { unsigned int length, framelength, i; @@ -294,13 +290,12 @@ Wartet auf den Empfang eines einzeln gesendeten Kommandos. - @param master EtherCAT-Master - @param cmd Gesendetes Kommando - - @return 0 bei Erfolg, sonst < 0 -*/ - -int ec_simple_receive(ec_master_t *master, ec_command_t *cmd) + \return 0 bei Erfolg, sonst < 0 +*/ + +int ec_simple_receive(ec_master_t *master, /**< EtherCAT-Master */ + ec_command_t *cmd /**< Gesendetes Kommando */ + ) { unsigned int length; int ret; @@ -377,12 +372,10 @@ /** Durchsucht den Bus nach Slaves. - @param master Der EtherCAT-Master - @return 0 bei Erfolg, sonst < 0 */ -int ec_scan_for_slaves(ec_master_t *master) +int ec_scan_for_slaves(ec_master_t *master /**< EtherCAT-Master */) { ec_command_t cmd; ec_slave_t *slave; @@ -510,17 +503,19 @@ Liest Daten aus dem Slave-Information-Interface eines EtherCAT-Slaves. - @param master EtherCAT-Master - @param node_address Knotenadresse des Slaves - @param offset Adresse des zu lesenden SII-Registers - @param target Zeiger auf einen 4 Byte großen Speicher - zum Ablegen der Daten - - @return 0 bei Erfolg, sonst < 0 -*/ - -int ec_sii_read(ec_master_t *master, unsigned short int node_address, - unsigned short int offset, unsigned int *target) + \return 0 bei Erfolg, sonst < 0 +*/ + +int ec_sii_read(ec_master_t *master, + /**< EtherCAT-Master */ + unsigned short int node_address, + /**< Knotenadresse des Slaves */ + unsigned short int offset, + /**< Adresse des zu lesenden SII-Registers */ + unsigned int *target + /**< Zeiger auf einen 4 Byte großen Speicher zum Ablegen der + Daten */ + ) { ec_command_t cmd; unsigned char data[10]; @@ -586,20 +581,18 @@ /*****************************************************************************/ /** - Ändert den Zustand eines Slaves (asynchron). - - Führt eine (asynchrone) Zustandsänderung bei einem Slave durch. - - @param master EtherCAT-Master - @param slave Slave, dessen Zustand geändert werden soll - @param state_and_ack Neuer Zustand, evtl. mit gesetztem - Acknowledge-Flag - - @return 0 bei Erfolg, sonst < 0 -*/ - -int ec_state_change(ec_master_t *master, ec_slave_t *slave, - unsigned char state_and_ack) + Ändert den Zustand eines Slaves. + + \return 0 bei Erfolg, sonst < 0 +*/ + +int ec_state_change(ec_master_t *master, + /** not implemented yet!\n"); + return NULL; + } + + first = simple_strtoul(address, &remainder, 0); + if (remainder == address) { + printk(KERN_ERR "EtherCAT: Bus ID - First number empty!\n"); + return NULL; + } + + if (!remainder[0]) { // absolute position + if (first < master->bus_slaves_count) { + return master->bus_slaves + first; + } + + printk(KERN_ERR "EtherCAT: Bus ID - Absolute position illegal!\n"); + } + + else if (remainder[0] == ':') { // field position + + remainder++; + second = simple_strtoul(remainder, &remainder2, 0); + + if (remainder2 == remainder) { + printk(KERN_ERR "EtherCAT: Bus ID - Sencond number empty!\n"); + return NULL; + } + + if (remainder2[0]) { + printk(KERN_ERR "EtherCAT: Bus ID - Illegal trailer (2)!\n"); + return NULL; + } + + coupler_idx = -1; + slave_idx = 0; + for (i = 0; i < master->bus_slaves_count; i++, slave_idx++) { + slave = master->bus_slaves + i; + if (!slave->type) continue; + + if (strcmp(slave->type->vendor_name, "Beckhoff") == 0 && + strcmp(slave->type->product_name, "EK1100") == 0) { + coupler_idx++; + slave_idx = 0; + } + + if (coupler_idx == first && slave_idx == second) return slave; + } + } + + else { + printk(KERN_ERR "EtherCAT: Bus ID - Illegal trailer!\n"); + } + + return NULL; +} + /****************************************************************************** * * Echtzeitschnittstelle @@ -732,20 +807,21 @@ /** Registriert einen Slave beim Master. - @param master Der EtherCAT-Master - @param bus_index Index des Slaves im EtherCAT-Bus - @param vendor_name String mit dem Herstellernamen - @param product_name String mit dem Produktnamen - @param domain Domäne, in der der Slave sein soll - - @return Zeiger auf den Slave bei Erfolg, sonst NULL + \return Zeiger auf den Slave bei Erfolg, sonst NULL */ ec_slave_t *EtherCAT_rt_register_slave(ec_master_t *master, - unsigned int bus_index, + /**< EtherCAT-Master */ + const char *address, + /**< ASCII-Addresse des Slaves, siehe + auch ec_address() */ const char *vendor_name, + /**< Herstellername */ const char *product_name, - int domain) + /**< Produktname */ + int domain + /**< Domäne */ + ) { ec_slave_t *slave; const ec_slave_type_t *type; @@ -757,21 +833,20 @@ return NULL; } - if (bus_index >= master->bus_slaves_count) { - printk(KERN_ERR "EtherCAT: Illegal bus index! (%i / %i)\n", bus_index, - master->bus_slaves_count); + if ((slave = ec_address(master, address)) == NULL) { + printk(KERN_ERR "EtherCAT: Illegal address: \"%s\"\n", address); return NULL; } - slave = master->bus_slaves + bus_index; - if (slave->registered) { - printk(KERN_ERR "EtherCAT: Slave %i is already registered!\n", bus_index); + printk(KERN_ERR "EtherCAT: Slave \"%s\" (position %i) has already been" + " registered!\n", address, slave->ring_position * (-1)); return NULL; } if (!slave->type) { - printk(KERN_ERR "EtherCAT: Unknown slave at position %i!\n", bus_index); + printk(KERN_ERR "EtherCAT: Slave \"%s\" (position %i) has unknown type!\n", + address, slave->ring_position * (-1)); return NULL; } @@ -829,23 +904,24 @@ /** Registriert eine ganze Liste von Slaves beim Master. - @param master Der EtherCAT-Master - @param slaves Array von Slave-Initialisierungsstrukturen - @param count Anzahl der Strukturen in "slaves" - - @return 0 bei Erfolg, sonst < 0 + \return 0 bei Erfolg, sonst < 0 */ int EtherCAT_rt_register_slave_list(ec_master_t *master, + /**< EtherCAT-Master */ const ec_slave_init_t *slaves, - unsigned int count) + /**< Array von Slave-Initialisierungs- + strukturen */ + unsigned int count + /**< Anzahl der Strukturen in \a slaves */ + ) { unsigned int i; for (i = 0; i < count; i++) { if ((*(slaves[i].slave_ptr) = - EtherCAT_rt_register_slave(master, slaves[i].bus_index, + EtherCAT_rt_register_slave(master, slaves[i].address, slaves[i].vendor_name, slaves[i].product_name, slaves[i].domain)) == NULL) @@ -864,12 +940,10 @@ Slaves durch. Setzt Sync-Manager und FMMU's, führt die entsprechenden Zustandsübergänge durch, bis der Slave betriebsbereit ist. - @param master EtherCAT-Master - - @return 0 bei Erfolg, sonst < 0 -*/ - -int EtherCAT_rt_activate_slaves(ec_master_t *master) + \return 0 bei Erfolg, sonst < 0 +*/ + +int EtherCAT_rt_activate_slaves(ec_master_t *master /**< EtherCAT-Master */) { unsigned int i; ec_slave_t *slave; @@ -1072,12 +1146,10 @@ /** Setzt alle Slaves zurück in den Init-Zustand. - @param master EtherCAT-Master - - @return 0 bei Erfolg, sonst < 0 -*/ - -int EtherCAT_rt_deactivate_slaves(ec_master_t *master) + \return 0 bei Erfolg, sonst < 0 +*/ + +int EtherCAT_rt_deactivate_slaves(ec_master_t *master /**< EtherCAT-Master */) { ec_slave_t *slave; unsigned int i; @@ -1098,15 +1170,16 @@ /** Sendet und empfängt Prozessdaten der angegebenen Domäne - @param master EtherCAT-Master - @param domain Domäne - @param timeout_us Timeout in Mikrosekunden - - @return 0 bei Erfolg, sonst < 0 -*/ - -int EtherCAT_rt_domain_xio(ec_master_t *master, unsigned int domain, - unsigned int timeout_us) + \return 0 bei Erfolg, sonst < 0 +*/ + +int EtherCAT_rt_domain_xio(ec_master_t *master, + /**< EtherCAT-Master */ + unsigned int domain, + /**< Domäne */ + unsigned int timeout_us + /**< Timeout in Mikrosekunden */ + ) { unsigned int i; ec_domain_t *dom; @@ -1183,9 +1256,18 @@ /** Setzt die Debug-Ebene des Masters. -*/ - -void EtherCAT_rt_debug_level(ec_master_t *master, int level) + + Folgende Debug-level sind definiert: + + - 1: Nur Positionsmarken in bestimmten Funktionen + - 2: Komplette Frame-Inhalte +*/ + +void EtherCAT_rt_debug_level(ec_master_t *master, + /**< EtherCAT-Master */ + int level + /**< Debug-Level */ + ) { master->debug_level = level; } diff -r 56964b20c15d -r a452700db994 master/master.h --- a/master/master.h Tue Feb 14 14:40:47 2006 +0000 +++ b/master/master.h Tue Feb 14 14:50:20 2006 +0000 @@ -61,6 +61,7 @@ // Slave management int ec_scan_for_slaves(ec_master_t *); +ec_slave_t *ec_address(const ec_master_t *, const char *); // Data int ec_simple_send_receive(ec_master_t *, ec_command_t *); diff -r 56964b20c15d -r a452700db994 mini/mini.c --- a/mini/mini.c Tue Feb 14 14:40:47 2006 +0000 +++ b/mini/mini.c Tue Feb 14 14:50:20 2006 +0000 @@ -24,9 +24,9 @@ ec_slave_init_t slaves[] = { // Zeiger, Index, Herstellername, Produktname, Domäne - { &s_out, 2, "Beckhoff", "EL2004", 1 }, - { &s_in, 1, "Beckhoff", "EL3102", 1 }, - { &s_ssi, 7, "Beckhoff", "EL5001", 1 } + { &s_in, "1", "Beckhoff", "EL3102", 1 }, + { &s_out, "2", "Beckhoff", "EL2004", 1 }, + { &s_ssi, "3", "Beckhoff", "EL5001", 1 } }; #define SLAVE_COUNT (sizeof(slaves) / sizeof(ec_slave_init_t)) @@ -35,12 +35,28 @@ void run(unsigned long data) { + static unsigned int counter; + // Klemmen-IO EC_WRITE_EL20XX(s_out, 3, EC_READ_EL31XX(s_in, 0) < 0); + if (!counter) { + EtherCAT_rt_debug_level(master, 2); + } + // Prozessdaten lesen und schreiben EtherCAT_rt_domain_xio(master, 1, 100); + if (counter) { + counter--; + } + else { + EtherCAT_rt_debug_level(master, 0); + printk("SSI status=%X value=%u\n", + EC_READ_EL5001_STATE(s_ssi), EC_READ_EL5001_VALUE(s_ssi)); + counter = 1000; + } + // Timer neu starten timer.expires += HZ / 1000; add_timer(&timer); @@ -71,14 +87,15 @@ printk("Configuring EtherCAT slaves.\n"); - EtherCAT_rt_debug_level(master, 2); - if (EtherCAT_rt_canopen_sdo_write(master, s_ssi, 0x4067, 0, 2, 2)) { printk(KERN_ERR "EtherCAT: Could not set SSI baud rate!\n"); goto out_release_master; } - EtherCAT_rt_debug_level(master, 0); + if (EtherCAT_rt_canopen_sdo_write(master, s_ssi, 0x4061, 4, 1, 1)) { + printk(KERN_ERR "EtherCAT: Could not set SSI feature bit!\n"); + goto out_release_master; + } printk("Starting cyclic sample thread.\n"); diff -r 56964b20c15d -r a452700db994 rt/msr_module.c --- a/rt/msr_module.c Tue Feb 14 14:40:47 2006 +0000 +++ b/rt/msr_module.c Tue Feb 14 14:50:20 2006 +0000 @@ -52,16 +52,15 @@ // EtherCAT ec_master_t *master = NULL; -ec_slave_t *s_in1, *s_out1, *s_out2, *s_out3; - -double value; -int dig1; +ec_slave_t *s_in1, *s_out1, *s_ssi, *s_inc; + +uint16_t angle0; ec_slave_init_t slaves[] = { - {&s_in1, 1, "Beckhoff", "EL3102", 0}, - {&s_out1, 8, "Beckhoff", "EL2004", 0}, - {&s_out2, 9, "Beckhoff", "EL2004", 0}, - {&s_out3, 10, "Beckhoff", "EL2004", 0} + {&s_in1, "1", "Beckhoff", "EL3102", 0}, + {&s_out1, "2", "Beckhoff", "EL2004", 0}, + {&s_ssi, "3", "Beckhoff", "EL5001", 0}, + {&s_inc, "0:4", "Beckhoff", "EL5101", 0} }; #define SLAVE_COUNT (sizeof(slaves) / sizeof(ec_slave_init_t)) @@ -78,30 +77,29 @@ msr_jitter_run(MSR_ABTASTFREQUENZ); + EC_WRITE_EL20XX(s_out1, 3, EC_READ_EL31XX(s_in1, 0) < 0); + + if (!counter) { + EtherCAT_rt_debug_level(master, 2); + } + + // Prozessdaten lesen und schreiben + EtherCAT_rt_domain_xio(master, 0, 40); + if (counter) { counter--; } else { - // "Star Trek"-Effekte - EC_WRITE_EL20XX(s_out1, 0, jiffies & 1); - EC_WRITE_EL20XX(s_out1, 1, (jiffies >> 1) & 1); - EC_WRITE_EL20XX(s_out1, 2, (jiffies >> 2) & 1); - EC_WRITE_EL20XX(s_out1, 3, (jiffies >> 3) & 1); - EC_WRITE_EL20XX(s_out2, 0, (jiffies >> 4) & 1); - EC_WRITE_EL20XX(s_out2, 1, (jiffies >> 3) & 1); - EC_WRITE_EL20XX(s_out2, 2, (jiffies >> 2) & 1); - EC_WRITE_EL20XX(s_out2, 3, (jiffies >> 6) & 1); - EC_WRITE_EL20XX(s_out3, 0, (jiffies >> 7) & 1); - EC_WRITE_EL20XX(s_out3, 1, (jiffies >> 2) & 1); - EC_WRITE_EL20XX(s_out3, 2, (jiffies >> 8) & 1); - - counter = MSR_ABTASTFREQUENZ / 4; - } - - EC_WRITE_EL20XX(s_out3, 3, EC_READ_EL31XX(s_in1, 0) < 0); - - // Prozessdaten lesen und schreiben - EtherCAT_rt_domain_xio(master, 0, 40); + EtherCAT_rt_debug_level(master, 0); + printk("SSI status=0x%X value=%u\n", + EC_READ_EL5001_STATE(s_ssi), EC_READ_EL5001_VALUE(s_ssi)); + printk("INC status=0x%X value=%u\n", + EC_READ_EL5101_STATE(s_inc), EC_READ_EL5101_VALUE(s_inc)); + + counter = MSR_ABTASTFREQUENZ * 5; + } + + angle0 = EC_READ_EL5101_VALUE(s_inc); } /****************************************************************************** @@ -143,7 +141,7 @@ ipipe_virtualize_irq(ipipe_current_domain,sys_info.archdep.tmirq, &msr_run, NULL, IPIPE_HANDLE_MASK); - ipipe_tune_timer(1000000000UL/MSR_ABTASTFREQUENZ,0); + ipipe_tune_timer(1000000000UL / MSR_ABTASTFREQUENZ, 0); } /****************************************************************************** @@ -162,8 +160,9 @@ int msr_globals_register(void) { - msr_reg_kanal("/value", "V", &value, TDBL); - msr_reg_kanal("/dig1", "", &dig1, TINT); + //msr_reg_kanal("/value", "V", &value, TDBL); + //msr_reg_kanal("/dig1", "", &dig1, TINT); + msr_reg_kanal("/angle0", "", &angle0, TINT); return 0; } @@ -201,6 +200,16 @@ goto out_release_master; } + if (EtherCAT_rt_canopen_sdo_write(master, s_ssi, 0x4067, 0, 1, 2)) { + printk(KERN_ERR "EtherCAT: Could not set SSI baud rate!\n"); + goto out_release_master; + } + + if (EtherCAT_rt_canopen_sdo_write(master, s_ssi, 0x4061, 4, 1, 1)) { + printk(KERN_ERR "EtherCAT: Could not set SSI feature bit!\n"); + goto out_release_master; + } + do_gettimeofday(&process_time); msr_time_increment.tv_sec = 0; msr_time_increment.tv_usec = (unsigned int) (1000000 / MSR_ABTASTFREQUENZ);