--- a/documentation/ethercat_doc.tex Tue Oct 21 14:37:50 2008 +0000
+++ b/documentation/ethercat_doc.tex Wed Oct 22 08:17:34 2008 +0000
@@ -327,39 +327,41 @@
\begin{figure}[htbp]
\centering
\includegraphics[width=.9\textwidth]{images/architecture}
- \caption{Master architecture}
+ \caption{Master Architecture}
\label{fig:arch}
\end{figure}
-\paragraph{Master Module}
-\index{Master module}
-
-Kernel module containing one or more EtherCAT master instances (see
-sec.~\ref{sec:mastermod}), the ``Device Interface'' (see sec.~\ref{sec:ecdev})
-and the ``Application Interface'' (see chap.~\ref{chap:api}).
-
-\paragraph{Device Modules}
-\index{Device modules}
-
-EtherCAT-capable Ethernet device driver modules\index{Device modules}, that
-offer their devices to the EtherCAT master via the device interface (see
-sec.~\ref{sec:ecdev}). These modified network drivers can handle network
-devices used for EtherCAT operation and ``normal'' Ethernet devices in
-parallel. A master can accept a certain device and then is able to send and
-receive EtherCAT frames. Ethernet devices declined by the master module are
-connected to the kernel's network stack as usual.
-
-\paragraph{Application Modules}
-\index{Application module}
-
-Kernel modules, that use the EtherCAT master (usually for cyclic exchange of
-process data with EtherCAT slaves). These modules are not part of the EtherCAT
-master code\footnote{Although there are some examples provided in the
-\textit{examples/} directory.}, but have to be generated or written by the
-user. An application module can ``request'' a master through the application
-interface (see chap.~\ref{chap:api}). If this succeeds, the module has the
-control over the master: It can provide a bus configuration and exchange
-process data.
+The components of the master environment are described below:
+
+\begin{description}
+
+\item[Master Module]\index{Master Module} Kernel module containing one or more
+EtherCAT master instances (see sec.~\ref{sec:mastermod}), the ``Device
+Interface'' (see sec.~\ref{sec:ecdev}) and the ``Application Interface'' (see
+chap.~\ref{chap:api}).
+
+\item[Device Modules]\index{Device modules} EtherCAT-capable Ethernet device
+driver modules\index{Device modules}, that offer their devices to the EtherCAT
+master via the device interface (see sec.~\ref{sec:ecdev}). These modified
+network drivers can handle network devices used for EtherCAT operation and
+``normal'' Ethernet devices in parallel. A master can accept a certain device
+and then is able to send and receive EtherCAT frames. Ethernet devices
+declined by the master module are connected to the kernel's network stack as
+usual.
+
+\item[Application]\index{Application} A program that uses the EtherCAT master
+(usually for cyclic exchange of process data with EtherCAT slaves). These
+programs are not part of the EtherCAT master code\footnote{Although there are
+some examples provided in the \textit{examples/} directory.}, but have to be
+generated or written by the user. An application can ``request'' a master
+through the application interface (see chap.~\ref{chap:api}). If this
+succeeds, it has the control over the master: It can provide a bus
+configuration and exchange process data. Applications can be kernel modules
+(that use the kernel application interface directly) or userspace programs,
+that use the application interface via the EtherCAT library (see
+sec.~\ref{sec:userlib}).
+
+\end{description}
%------------------------------------------------------------------------------
@@ -374,6 +376,7 @@
\caption{Master phases and transitions}
\label{fig:phases}
\end{figure}
+
\begin{description}
\item[Orphaned phase]\index{Orphaned phase} This mode takes effect, when the
@@ -590,7 +593,10 @@
sec.~\ref{sec:masterconfig}).
\item[Operation] Cyclic code is run, process data is exchanged (see
-sec.~\ref{sec:cyclic}).
+sec.~\ref{sec:cyclic}). To enter operation mode, the master has to be
+``activated'' to calculate the process data image and apply the bus
+configuration for the first time. After activation, the application is in
+charge to send and receive frames.
\end{description}
@@ -636,14 +642,15 @@
semaphores, or other methods to protect critical sections.
The master itself can not provide locking mechanisms, because it has no chance
-to know the appropriate kind of lock. For example if the application uses RTAI
-functionality, ordinary kernel semaphores would not be sufficient. For that, an
-important design decision was made: The application that reserved a master must
-have the total control, therefore it has to take responsibility for providing
-the appropriate locking mechanisms. If another instance wants to access the
-master, it has to request the master lock by callbacks, that have to be set by
-the application. Moreover the application can deny access to the master if it
-considers it to be awkward at the moment.
+to know the appropriate kind of lock. For example if the application is in
+kernelspace and uses RTAI functionality, ordinary kernel semaphores would not
+be sufficient. For that, an important design decision was made: The
+application that reserved a master must have the total control, therefore it
+has to take responsibility for providing the appropriate locking mechanisms.
+If another instance wants to access the master, it has to request the master
+lock by callbacks, that have to be set by the application. Moreover the
+application can deny access to the master if it considers it to be awkward at
+the moment.
\begin{figure}[htbp]
\centering
--- a/documentation/images/architecture.fig Tue Oct 21 14:37:50 2008 +0000
+++ b/documentation/images/architecture.fig Wed Oct 22 08:17:34 2008 +0000
@@ -71,29 +71,29 @@
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4 1 0 50 -1 16 10 0.0000 4 120 615 5445 5925 Interface\001
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-4 1 0 50 -1 16 12 0.0000 4 135 765 5175 1755 'ethercat'\001
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4 1 0 50 -1 16 10 0.0000 4 150 750 6795 7200 net_device\001
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-4 2 0 50 -1 12 10 0.0000 4 135 810 7110 6210 netif_*()\001
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4 1 0 50 -1 16 12 0.0000 4 135 1200 6345 6750 Driver Module\001
4 0 0 50 -1 16 12 0.0000 4 135 2130 4005 3870 EtherCAT Master Module\001
@@ -153,8 +162,15 @@
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