--- a/devices/ecdev.h Mon Jun 26 15:35:23 2006 +0000
+++ b/devices/ecdev.h Mon Jun 26 16:07:07 2006 +0000
@@ -55,7 +55,11 @@
/*****************************************************************************/
struct ec_device;
-typedef struct ec_device ec_device_t;
+typedef struct ec_device ec_device_t; /**< \see ec_device */
+
+/**
+ Interrupt-Service-Routine Type
+*/
typedef irqreturn_t (*ec_isr_t)(int, void *, struct pt_regs *);
--- a/include/ecrt.h Mon Jun 26 15:35:23 2006 +0000
+++ b/include/ecrt.h Mon Jun 26 16:07:07 2006 +0000
@@ -60,13 +60,13 @@
/*****************************************************************************/
struct ec_master;
-typedef struct ec_master ec_master_t;
+typedef struct ec_master ec_master_t; /**< \see ec_master */
struct ec_domain;
-typedef struct ec_domain ec_domain_t;
+typedef struct ec_domain ec_domain_t; /**< \see ec_domain */
struct ec_slave;
-typedef struct ec_slave ec_slave_t;
+typedef struct ec_slave ec_slave_t; /**< \see ec_slave */
/**
Initialization type for field registrations.
--- a/master/canopen.c Mon Jun 26 15:35:23 2006 +0000
+++ b/master/canopen.c Mon Jun 26 16:07:07 2006 +0000
@@ -54,10 +54,6 @@
/*****************************************************************************/
-const ec_code_msg_t sdo_abort_messages[];
-
-/*****************************************************************************/
-
/**
Reads 32 bit of a CANopen SDO in expedited mode.
\return 0 in case of success, else < 0
@@ -529,25 +525,11 @@
/*****************************************************************************/
/**
- Outputs an SDO abort message.
-*/
-
-void ec_canopen_abort_msg(uint32_t abort_code)
-{
- const ec_code_msg_t *abort_msg;
-
- for (abort_msg = sdo_abort_messages; abort_msg->code; abort_msg++) {
- if (abort_msg->code == abort_code) {
- EC_ERR("SDO abort message 0x%08X: \"%s\".\n",
- abort_msg->code, abort_msg->message);
- return;
- }
- }
-
- EC_ERR("Unknown SDO abort code 0x%08X.\n", abort_code);
-}
-
-/*****************************************************************************/
+ SDO abort messages.
+ The "abort SDO transfer request" supplies an abort code,
+ which can be translated to clear text. This table does
+ the mapping of the codes and messages.
+*/
const ec_code_msg_t sdo_abort_messages[] = {
{0x05030000, "Toggle bit not changed"},
@@ -586,6 +568,27 @@
{}
};
+/*****************************************************************************/
+
+/**
+ Outputs an SDO abort message.
+*/
+
+void ec_canopen_abort_msg(uint32_t abort_code)
+{
+ const ec_code_msg_t *abort_msg;
+
+ for (abort_msg = sdo_abort_messages; abort_msg->code; abort_msg++) {
+ if (abort_msg->code == abort_code) {
+ EC_ERR("SDO abort message 0x%08X: \"%s\".\n",
+ abort_msg->code, abort_msg->message);
+ return;
+ }
+ }
+
+ EC_ERR("Unknown SDO abort code 0x%08X.\n", abort_code);
+}
+
/******************************************************************************
* Realtime interface
*****************************************************************************/
--- a/master/ethernet.c Mon Jun 26 15:35:23 2006 +0000
+++ b/master/ethernet.c Mon Jun 26 16:07:07 2006 +0000
@@ -47,6 +47,14 @@
#include "mailbox.h"
#include "ethernet.h"
+/**
+ Defines the debug level of EoE processing
+
+ 0 = No debug messages.
+ 1 = Output actions.
+ 2 = Output actions and frame data.
+*/
+
#define EOE_DEBUG_LEVEL 0
/*****************************************************************************/
--- a/master/ethernet.h Mon Jun 26 15:35:23 2006 +0000
+++ b/master/ethernet.h Mon Jun 26 16:07:07 2006 +0000
@@ -61,7 +61,7 @@
/*****************************************************************************/
-typedef struct ec_eoe ec_eoe_t;
+typedef struct ec_eoe ec_eoe_t; /**< \see ec_eoe */
/**
Ethernet-over-EtherCAT (EoE) handler.
--- a/master/fsm.c Mon Jun 26 15:35:23 2006 +0000
+++ b/master/fsm.c Mon Jun 26 16:07:07 2006 +0000
@@ -44,10 +44,6 @@
/*****************************************************************************/
-const ec_code_msg_t al_status_messages[];
-
-/*****************************************************************************/
-
void ec_fsm_master_start(ec_fsm_t *);
void ec_fsm_master_broadcast(ec_fsm_t *);
void ec_fsm_master_proc_states(ec_fsm_t *);
@@ -1675,123 +1671,6 @@
/*****************************************************************************/
/**
- Change state: CODE.
-*/
-
-void ec_fsm_change_code(ec_fsm_t *fsm /**< finite state machine */)
-{
- ec_command_t *command = &fsm->command;
- ec_slave_t *slave = fsm->slave;
- uint32_t code;
- const ec_code_msg_t *al_msg;
-
- if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
- EC_ERR("Reception of AL status code command failed.\n");
- slave->state_error = 1;
- fsm->change_state = ec_fsm_change_error;
- return;
- }
-
- if ((code = EC_READ_U16(command->data))) {
- for (al_msg = al_status_messages; al_msg->code; al_msg++) {
- if (al_msg->code != code) continue;
- EC_ERR("AL status message 0x%04X: \"%s\".\n",
- al_msg->code, al_msg->message);
- break;
- }
- if (!al_msg->code)
- EC_ERR("Unknown AL status code 0x%04X.\n", code);
- }
-
- // acknowledge "old" slave state
- ec_command_npwr(command, slave->station_address, 0x0120, 2);
- EC_WRITE_U16(command->data, slave->current_state);
- ec_master_queue_command(fsm->master, command);
- fsm->change_state = ec_fsm_change_ack;
-}
-
-/*****************************************************************************/
-
-/**
- Change state: ACK.
-*/
-
-void ec_fsm_change_ack(ec_fsm_t *fsm /**< finite state machine */)
-{
- ec_command_t *command = &fsm->command;
- ec_slave_t *slave = fsm->slave;
-
- if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
- EC_ERR("Reception of state ack command failed.\n");
- slave->state_error = 1;
- fsm->change_state = ec_fsm_change_error;
- return;
- }
-
- // read new AL status
- ec_command_nprd(command, slave->station_address, 0x0130, 2);
- ec_master_queue_command(fsm->master, command);
- fsm->change_state = ec_fsm_change_ack2;
-}
-
-/*****************************************************************************/
-
-/**
- Change state: ACK.
- Acknowledge 2.
-*/
-
-void ec_fsm_change_ack2(ec_fsm_t *fsm /**< finite state machine */)
-{
- ec_command_t *command = &fsm->command;
- ec_slave_t *slave = fsm->slave;
-
- if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
- EC_ERR("Reception of state ack check command failed.\n");
- slave->state_error = 1;
- fsm->change_state = ec_fsm_change_error;
- return;
- }
-
- slave->current_state = EC_READ_U8(command->data);
-
- if (slave->current_state == fsm->change_new) {
- EC_INFO("Acknowleged state 0x%02X on slave %i.\n",
- slave->current_state, slave->ring_position);
- slave->state_error = 1;
- fsm->change_state = ec_fsm_change_error;
- return;
- }
-
- EC_WARN("Failed to acknowledge state 0x%02X on slave %i"
- " - Timeout!\n", fsm->change_new, slave->ring_position);
- slave->state_error = 1;
- fsm->change_state = ec_fsm_change_error;
-}
-
-/*****************************************************************************/
-
-/**
- Change state: END.
-*/
-
-void ec_fsm_change_end(ec_fsm_t *fsm /**< finite state machine */)
-{
-}
-
-/*****************************************************************************/
-
-/**
- Change state: ERROR.
-*/
-
-void ec_fsm_change_error(ec_fsm_t *fsm /**< finite state machine */)
-{
-}
-
-/*****************************************************************************/
-
-/**
Application layer status messages.
*/
@@ -1816,3 +1695,120 @@
};
/*****************************************************************************/
+
+/**
+ Change state: CODE.
+*/
+
+void ec_fsm_change_code(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_command_t *command = &fsm->command;
+ ec_slave_t *slave = fsm->slave;
+ uint32_t code;
+ const ec_code_msg_t *al_msg;
+
+ if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
+ EC_ERR("Reception of AL status code command failed.\n");
+ slave->state_error = 1;
+ fsm->change_state = ec_fsm_change_error;
+ return;
+ }
+
+ if ((code = EC_READ_U16(command->data))) {
+ for (al_msg = al_status_messages; al_msg->code; al_msg++) {
+ if (al_msg->code != code) continue;
+ EC_ERR("AL status message 0x%04X: \"%s\".\n",
+ al_msg->code, al_msg->message);
+ break;
+ }
+ if (!al_msg->code)
+ EC_ERR("Unknown AL status code 0x%04X.\n", code);
+ }
+
+ // acknowledge "old" slave state
+ ec_command_npwr(command, slave->station_address, 0x0120, 2);
+ EC_WRITE_U16(command->data, slave->current_state);
+ ec_master_queue_command(fsm->master, command);
+ fsm->change_state = ec_fsm_change_ack;
+}
+
+/*****************************************************************************/
+
+/**
+ Change state: ACK.
+*/
+
+void ec_fsm_change_ack(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_command_t *command = &fsm->command;
+ ec_slave_t *slave = fsm->slave;
+
+ if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
+ EC_ERR("Reception of state ack command failed.\n");
+ slave->state_error = 1;
+ fsm->change_state = ec_fsm_change_error;
+ return;
+ }
+
+ // read new AL status
+ ec_command_nprd(command, slave->station_address, 0x0130, 2);
+ ec_master_queue_command(fsm->master, command);
+ fsm->change_state = ec_fsm_change_ack2;
+}
+
+/*****************************************************************************/
+
+/**
+ Change state: ACK.
+ Acknowledge 2.
+*/
+
+void ec_fsm_change_ack2(ec_fsm_t *fsm /**< finite state machine */)
+{
+ ec_command_t *command = &fsm->command;
+ ec_slave_t *slave = fsm->slave;
+
+ if (command->state != EC_CMD_RECEIVED || command->working_counter != 1) {
+ EC_ERR("Reception of state ack check command failed.\n");
+ slave->state_error = 1;
+ fsm->change_state = ec_fsm_change_error;
+ return;
+ }
+
+ slave->current_state = EC_READ_U8(command->data);
+
+ if (slave->current_state == fsm->change_new) {
+ EC_INFO("Acknowleged state 0x%02X on slave %i.\n",
+ slave->current_state, slave->ring_position);
+ slave->state_error = 1;
+ fsm->change_state = ec_fsm_change_error;
+ return;
+ }
+
+ EC_WARN("Failed to acknowledge state 0x%02X on slave %i"
+ " - Timeout!\n", fsm->change_new, slave->ring_position);
+ slave->state_error = 1;
+ fsm->change_state = ec_fsm_change_error;
+}
+
+/*****************************************************************************/
+
+/**
+ Change state: END.
+*/
+
+void ec_fsm_change_end(ec_fsm_t *fsm /**< finite state machine */)
+{
+}
+
+/*****************************************************************************/
+
+/**
+ Change state: ERROR.
+*/
+
+void ec_fsm_change_error(ec_fsm_t *fsm /**< finite state machine */)
+{
+}
+
+/*****************************************************************************/
--- a/master/fsm.h Mon Jun 26 15:35:23 2006 +0000
+++ b/master/fsm.h Mon Jun 26 16:07:07 2006 +0000
@@ -47,9 +47,7 @@
/*****************************************************************************/
-typedef struct ec_fsm ec_fsm_t;
-
-/*****************************************************************************/
+typedef struct ec_fsm ec_fsm_t; /**< \see ec_fsm */
/**
Finite state machine of an EtherCAT master.
--- a/master/master.h Mon Jun 26 15:35:23 2006 +0000
+++ b/master/master.h Mon Jun 26 16:07:07 2006 +0000
@@ -115,7 +115,7 @@
ec_fsm_t fsm; /**< master state machine */
ec_master_mode_t mode; /**< master mode */
- struct timer_list eoe_timer; /** EoE timer object */
+ struct timer_list eoe_timer; /**< EoE timer object */
unsigned int eoe_running; /**< non-zero, if EoE processing is active. */
struct list_head eoe_handlers; /**< Ethernet-over-EtherCAT handlers */
spinlock_t internal_lock; /**< spinlock used in freerun mode */
--- a/master/module.c Mon Jun 26 15:35:23 2006 +0000
+++ b/master/module.c Mon Jun 26 16:07:07 2006 +0000
@@ -66,9 +66,9 @@
/*****************************************************************************/
-static int ec_master_count = 1;
-static int ec_eoe_devices = 0;
-static struct list_head ec_masters;
+static int ec_master_count = 1; /**< parameter value, number of masters */
+static int ec_eoe_devices = 0; /**< parameter value, number of EoE interf. */
+static struct list_head ec_masters; /**< list of masters */
/*****************************************************************************/
--- a/master/types.h Mon Jun 26 15:35:23 2006 +0000
+++ b/master/types.h Mon Jun 26 16:07:07 2006 +0000
@@ -47,8 +47,8 @@
/*****************************************************************************/
-#define EC_MAX_FIELDS 10
-#define EC_MAX_SYNC 16
+#define EC_MAX_FIELDS 10 /**< maximal number of data fields per sync manager */
+#define EC_MAX_SYNC 16 /**< maximal number of sync managers per type */
/*****************************************************************************/