--- a/TODO Fri Feb 22 11:33:49 2008 +0000
+++ b/TODO Fri Feb 22 12:29:30 2008 +0000
@@ -23,7 +23,6 @@
* Distributed clocks.
* Support slaves, that don't support the LRW datagram, only LRD/LWR.
* Implement all EtherCAT datagram types.
-* Rename all occurrences of PDO to Pdo.
Future issues:
--- a/documentation/ethercat_doc.tex Fri Feb 22 11:33:49 2008 +0000
+++ b/documentation/ethercat_doc.tex Fri Feb 22 12:29:30 2008 +0000
@@ -197,7 +197,7 @@
\end{itemize}
\item Implementation of the CANopen-over-EtherCAT (CoE) protocol.
\begin{itemize}
- \item Configuration of CoE-capable slaves via SDO interface.
+ \item Configuration of CoE-capable slaves via Sdo interface.
\end{itemize}
\item Implementation of the Ethernet-over-EtherCAT (EoE) protocol.
\begin{itemize}
@@ -323,10 +323,10 @@
\index{Process data}
The slaves offer their inputs and outputs by presenting the master
-so-called ``Process Data Objects'' (PDOs\index{PDO}). The available
-PDOs can be determined by reading out the slave's TXPDO and RXPDO
-E$^2$PROM categories. The realtime module can register the PDOs for
-data exchange during cyclic operation. The sum of all registered PDOs
+so-called ``Process Data Objects'' (Pdos\index{Pdo}). The available
+Pdos can be determined by reading out the slave's TXPDO and RXPDO
+E$^2$PROM categories. The realtime module can register the Pdos for
+data exchange during cyclic operation. The sum of all registered Pdos
defines the ``process data image'', which is exchanged via the
``Logical ReadWrite'' datagrams introduced
in~\cite[section~5.4.2.4]{dlspec}.
@@ -335,7 +335,7 @@
\index{Domain}
The process data image can be easily managed by creating co-called
-``domains'', which group PDOs and allocate the datagrams needed to
+``domains'', which group Pdos and allocate the datagrams needed to
exchange them. Domains are mandatory for process data exchange, so
there has to be at least one. They were introduced for the following
reasons:
@@ -349,11 +349,11 @@
this limit, multiple frames have to be sent, and the image has to be
partitioned for the use of multiple datagrams. A domain manages this
automatically.
-\item Not every PDO has to be exchanged with the same frequency: The
- values of PDOs can vary slowly over time (for example temperature
+\item Not every Pdo has to be exchanged with the same frequency: The
+ values of Pdos can vary slowly over time (for example temperature
values), so exchanging them with a high frequency would just waste
bus bandwidth. For this reason, multiple domains can be created, to
- group different PDOs and so allow separate exchange.
+ group different Pdos and so allow separate exchange.
\end{itemize}
There is no upper limit for the number of domains, but each domain
@@ -363,22 +363,22 @@
\paragraph{FMMU Configuration}
\index{FMMU!Configuration}
-A realtime module can register PDOs for process data exchange. Every
-PDO is part of a memory area in the slave's physical memory, that is
+A realtime module can register Pdos for process data exchange. Every
+Pdo is part of a memory area in the slave's physical memory, that is
protected by a sync manager \cite[section~6.7]{dlspec} for
synchronized access. In order to make a sync manager react on a
datagram accessing its memory, it is necessary to access the last byte
covered by the sync manager. Otherwise the sync manager will not react
on the datagram and no data will be exchanged. That is why the whole
synchronized memory area has to be included into the process data
-image: For example, if a certain PDO of a slave is registered for
+image: For example, if a certain Pdo of a slave is registered for
exchange with a certain domain, one FMMU will be configured to map the
-complete sync-manager-protected memory, the PDO resides in. If a
-second PDO of the same slave is registered for process data exchange
-within the same domain, and this PDO resides in the same
-sync-manager-protected memory as the first PDO, the FMMU configuration
+complete sync-manager-protected memory, the Pdo resides in. If a
+second Pdo of the same slave is registered for process data exchange
+within the same domain, and this Pdo resides in the same
+sync-manager-protected memory as the first Pdo, the FMMU configuration
is not touched, because the appropriate memory is already part of the
-domain's process data image. If the second PDO belongs to another
+domain's process data image. If the second Pdo belongs to another
sync-manager-protected area, this complete area is also included into
the domains process data image. See figure~\ref{fig:fmmus} for an
overview, how FMMU's are configured to map physical memory to logical
@@ -394,7 +394,7 @@
\paragraph{Process Data Pointers}
The figure also demonstrates the way, the realtime module can access the
-exchanged process data: At PDO registration, the realtime module has
+exchanged process data: At Pdo registration, the realtime module has
to provide the address of a process data pointer. Upon calculation of
the domain image and allocation of process data memory, this pointer
is redirected to the appropriate location inside the domain's process
@@ -454,7 +454,7 @@
The idle mode is stopped and the bus is scanned by getting the number
of slaves and executing the ``Slave scan state machine'' (see
section~\ref{sec:fsm-scan}) for each slave. The master is now ready to
-create domains and accept PDO registrations and slave configurations.
+create domains and accept Pdo registrations and slave configurations.
After that, cyclic communication can be done by the realtime module.
\paragraph{Master Phases}
@@ -463,7 +463,7 @@
\begin{enumerate}
\item \textit{Startup} - The master is requested and the bus is
- validated. Domains are created and PDOs are registered. Slave
+ validated. Domains are created and Pdos are registered. Slave
configurations are applied.
\item \textit{Operation} - Cyclic code is run, process data is
exchanged and the master state machine is executed.
@@ -1508,8 +1508,8 @@
\item[sii\_*] These attributes contain values from the ``Slave
Information Interface'' \cite[section~6.4]{dlspec}, mostly identity
and mailbox information, but also the list of sync manager
- configurations and PDOs.
-\item[registered] This flag is set, if one or more PDOs of the slave
+ configurations and Pdos.
+\item[registered] This flag is set, if one or more Pdos of the slave
have been registered for process data exchange. Otherwise a warning
is output, because the slave is unused.
\item[fmmus] Is an array of FMMU configurations, that have to be
@@ -1530,7 +1530,7 @@
\item[online] This flag contains the online state of the slave (i.~e.
if it currently responds to the masters commands). Changes of the
online state are always reported.
-\item[varsize\_fields] is only suitable for slaves that provide PDOs
+\item[varsize\_fields] is only suitable for slaves that provide Pdos
of variable size (like slaves that manage a sub-fieldbus) and
contains information about what size this fields actually should
have.
@@ -1549,7 +1549,7 @@
category and allocates string memory.
\item[ec\_slave\_calc\_sync\_size()] calculates the size of sync
manager contents, because they can be variable due to variable-sized
- PDOs.
+ Pdos.
\item[ec\_slave\_info()] This method prints all slave information into
a buffer for Sysfs reading.
\item[ec\_slave\_mbox\_*()] These functions prepare datagrams for
@@ -1567,12 +1567,12 @@
\paragraph{Slave Methods (Realtime Interface)}
\begin{description}
-\item[ecrt\_slave\_conf\_sdo*()] These methods accept SDO
+\item[ecrt\_slave\_conf\_sdo*()] These methods accept Sdo
configurations, that are applied on slave activation (i.~e.
everytime the slave is configured). The methods differ only in the
- data size of the SDO (8, 16 or 32 bit).
+ data size of the Sdo (8, 16 or 32 bit).
\item[ecrt\_slave\_pdo\_size()] This method specifies the size of a
- variable-sized PDO.
+ variable-sized Pdo.
\end{description}
%------------------------------------------------------------------------------
@@ -1749,7 +1749,7 @@
\label{sec:class-domain}
\index{Domain!Class}
-The domain class encapsules PDO registration and management of the
+The domain class encapsules Pdo registration and management of the
process data image and its exchange. The UML class diagram can be seen
in figure~\ref{fig:uml-domain}.
@@ -1778,8 +1778,8 @@
which the domain's process data are mapped.
\item[response\_count] The sum of the datagrams' working counters at
the last process data exchange. Changes are always reported.
-\item[data\_regs] The (linked) list of PDO registrations. The realtime
- module requests the exchange of certain PDOs and supplies the
+\item[data\_regs] The (linked) list of Pdo registrations. The realtime
+ module requests the exchange of certain Pdos and supplies the
address of process data pointers, that will later point to the
respective locations in the process data image. These ``data
registrations'' are saved in the \textit{data\_regs} list.
@@ -1804,10 +1804,10 @@
\paragraph{Private Domain Methods}
\begin{description}
-\item[ec\_domain\_reg\_pdo\_entry()] This method is used to do a PDO
- registration. It finds the appropriate sync manager covering the PDO
+\item[ec\_domain\_reg\_pdo\_entry()] This method is used to do a Pdo
+ registration. It finds the appropriate sync manager covering the Pdo
data, calculates its offset in the sync-manager-protected memory and
- prepares the FMMU configurations for the related slave. Then the PDO
+ prepares the FMMU configurations for the related slave. Then the Pdo
registration is appended to the list.
\item[ec\_domain\_clear\_data\_regs()] Clearing all process data
registrations is needed in serveral places and therefore has been
@@ -1877,8 +1877,8 @@
changing slave states.
\item[coe\_state] This function pointer stores the current state of
the CoE state machines.
-\item[sdodata] This is an SDO data object that stores information
- about the current SDO to write.
+\item[sdodata] This is an Sdo data object that stores information
+ about the current Sdo to write.
\item[coe\_start] A timestamp attribute to detect timeouts during CoE
configuration.
\end{description}
@@ -2246,9 +2246,9 @@
\subsubsection{Domain Methods}
\label{sec:ecrt-domain}
-\paragraph{PDO Registration}
-
-To access data of a slave's PDO in cyclic operation, it is necessary
+\paragraph{Pdo Registration}
+
+To access data of a slave's Pdo in cyclic operation, it is necessary
to make it part of a process data domain:
\begin{lstlisting}[language=C]
@@ -2263,12 +2263,12 @@
\end{lstlisting}
The \textit{ecrt\_domain\_register\_pdo()} method registers a certain
-PDO as part of the domain and takes the address of the process data
+Pdo as part of the domain and takes the address of the process data
pointer. This pointer will be set on master activation and then can be
parameter to the \textit{EC\_READ\_*} and \textit{EC\_WRITE\_*} macros
described below.
-A perhaps easier way to register multiple PDOs at the same time is to
+A perhaps easier way to register multiple Pdos at the same time is to
fill an array of \textit{ec\_pdo\_reg\_t} and hand it to the
\textit{ecrt\_domain\_register\_pdo\_list()} method. Attention: This
array has to be terminated by an empty structure (\textit{\{\}})!
@@ -2299,9 +2299,9 @@
\subsubsection{Slave Methods}
\label{sec:ecrt-slave}
-\paragraph{SDO Configuration}
-
-To configure slave SDOs, the function interface below can be used:
+\paragraph{Sdo Configuration}
+
+To configure slave Sdos, the function interface below can be used:
\begin{lstlisting}[language=C]
int ecrt_slave_conf_sdo8(ec_slave_t *slave,
@@ -2319,15 +2319,15 @@
\end{lstlisting}
The \textit{ecrt\_slave\_conf\_sdo*()} methods prepare the
-configuration of a certain SDO. The index and subindex of the SDO, and
+configuration of a certain Sdo. The index and subindex of the Sdo, and
the value have to be specified. The configuration is done each time,
-the slave is reconfigured. The methods only differ in the SDO's data
+the slave is reconfigured. The methods only differ in the Sdo's data
type. If the configuration could be prepared, zero is returned. If an
error occured, non-zero is returned.
-\paragraph{Variable-sized PDOs}
-
-For specifying the size of variable-sized PDOs, the following method
+\paragraph{Variable-sized Pdos}
+
+For specifying the size of variable-sized Pdos, the following method
can be used:
\begin{lstlisting}[language=C]
@@ -2336,7 +2336,7 @@
size_t size);
\end{lstlisting}
-The \textit{ecrt\_slave\_pdo\_size()} method takes the name of the PDO
+The \textit{ecrt\_slave\_pdo\_size()} method takes the name of the Pdo
and the size. It returns zero on success, otherwise non-zero.
\subsubsection{Process Data Access}
@@ -2370,7 +2370,7 @@
(\textit{EC\_READ\_*()}, \textit{EC\_WRITE\_*()}). The bytewise macros
carry the data type in their name. Example: \textit{EC\_WRITE\_S16()}
writes a 16 bit signed value to EtherCAT data. The \textit{DATA}
-parameter is supposed to be a process data pointer, as provided at PDO
+parameter is supposed to be a process data pointer, as provided at Pdo
registration.
The macros use the kernel's endianess conversion macros, that are
@@ -2399,7 +2399,7 @@
\label{sec:addr}
\index{Slave!Addressing}
-The master offers the serveral slave addressing schemes (for PDO
+The master offers the serveral slave addressing schemes (for Pdo
registration or configuration) via the realtime interface. For this
reason, slave addresses are ASCII\nomenclature{ASCII}{American
Standard Code for Information Interchange}-coded and passed as a
@@ -3187,19 +3187,19 @@
finished. $\rightarrow$~END
If the slave supports no FMMUs, the FMMU configuration can be
- skipped. If the slave has SDOs to configure, it is begun with
- sending the first SDO. $\rightarrow$~SDO\_CONF
-
- If no SDO configurations are provided, the slave can now directly be
+ skipped. If the slave has Sdos to configure, it is begun with
+ sending the first Sdo. $\rightarrow$~SDO\_CONF
+
+ If no Sdo configurations are provided, the slave can now directly be
brought into the SAFEOP state and the state change state machine is
started again. $\rightarrow$~SAFEOP
- Otherwise, all supported FMMUs are configured according to the PDOs
+ Otherwise, all supported FMMUs are configured according to the Pdos
requested via the master's realtime interface. The appropriate
datagram is issued. $\rightarrow$~FMMU
\item[FMMU] The FMMU configuration datagram was accepted. If the slave
- has SDOs to configure, it is begun with sending the first SDO.
+ has Sdos to configure, it is begun with sending the first Sdo.
$\rightarrow$~SDO\_CONF
Otherwise, the slave can now be brought into the SAFEOP state. The
@@ -3209,7 +3209,7 @@
\item[SDO\_CONF] The CoE state machine is executed until termination.
$\rightarrow$~SDO\_CONF
- If another SDO has to be configured, a new SDO download sequence is
+ If another Sdo has to be configured, a new Sdo download sequence is
begun. $\rightarrow$~SDO\_CONF
Otherwise, the slave can now be brought into the SAFEOP state. The
@@ -3616,29 +3616,29 @@
The CANopen-over-EtherCAT protocol \cite[section~5.6]{alspec} is used
to configure slaves on application level. Each CoE-capable slave
-provides a list of SDOs for this reason.
-
-\paragraph{SDO Configuration}
-
-The SDO configurations have to be provided by the realtime module.
+provides a list of Sdos for this reason.
+
+\paragraph{Sdo Configuration}
+
+The Sdo configurations have to be provided by the realtime module.
This is done via the \textit{ecrt\_slave\_conf\_sdo*()} methods (see
section~\ref{sec:ecrt-slave}), that are part of the realtime
-interface. The slave stores the SDO configurations in a linked list,
+interface. The slave stores the Sdo configurations in a linked list,
but does not apply them at once.
-\paragraph{SDO Download State Machine}
-
-The best time to apply SDO configurations is during the slave's PREOP
+\paragraph{Sdo Download State Machine}
+
+The best time to apply Sdo configurations is during the slave's PREOP
state, because mailbox communication is already possible and slave's
application will start with updating input data in the succeeding
-SAFEOP state. Therefore the SDO configuration has to be part of the
+SAFEOP state. Therefore the Sdo configuration has to be part of the
slave configuration state machine (see section~\ref{sec:fsm-conf}): It
-is implemented via an SDO download state machine, that is executed
+is implemented via an Sdo download state machine, that is executed
just before entering the slave's SAFEOP state. In this way, it is
-guaranteed that the SDO configurations are applied each time, the
+guaranteed that the Sdo configurations are applied each time, the
slave is reconfigured.
-The transition diagram of the SDO Download state machine can be seen
+The transition diagram of the Sdo Download state machine can be seen
in figure~\ref{fig:fsm-coedown}.
\begin{figure}[htbp]
@@ -3650,7 +3650,7 @@
\begin{description}
\item[START] The beginning state of the CoE download state
- machine. The ``SDO Download Normal Request'' mailbox command is
+ machine. The ``Sdo Download Normal Request'' mailbox command is
sent. $\rightarrow$~REQUEST
\item[REQUEST] It is checked, if the CoE download request has been
@@ -3659,7 +3659,7 @@
\item[CHECK] If no mailbox data is available, the timer is checked.
\begin{itemize}
- \item If it timed out, the SDO download is aborted.
+ \item If it timed out, the Sdo download is aborted.
$\rightarrow$~ERROR
\item Otherwise, the mailbox is queried again.
$\rightarrow$~CHECK
@@ -3669,16 +3669,16 @@
$\rightarrow$~RESPONSE
\item[RESPONSE] If the mailbox response could not be fetched, the data
- is invalid, the wrong protocol was received, or a ``Abort SDO
- Transfer Request'' was received, the SDO download is aborted.
+ is invalid, the wrong protocol was received, or a ``Abort Sdo
+ Transfer Request'' was received, the Sdo download is aborted.
$\rightarrow$~ERROR
- If a ``SDO Download Normal Response'' acknowledgement was received,
- the SDO download was successful. $\rightarrow$~END
-
-\item[END] The SDO download was successful.
-
-\item[ERROR] The SDO download was aborted due to an error.
+ If a ``Sdo Download Normal Response'' acknowledgement was received,
+ the Sdo download was successful. $\rightarrow$~END
+
+\item[END] The Sdo download was successful.
+
+\item[ERROR] The Sdo download was aborted due to an error.
\end{description}
@@ -3873,7 +3873,7 @@
2: 0x1000, length 0, control 0x24, enable
3: 0x1100, length 0, control 0x20, enable
- PDOs:
+ Pdos:
RXPDO "Channel 1" (0x1600), Sync-Manager 2
"Output" 0x6411:1, 16 bit
RXPDO "Channel 2" (0x1601), Sync-Manager 2
@@ -4492,12 +4492,12 @@
call to \textit{ec\_\-master\_\-activate()}, that will create the
domain memory and configure the mapped process data image.
\item[\normalfont\textcircled{\tiny 8} -- \textcircled{\tiny 12}] The
- configuration of the mapping of certain PDOs in a domain can easily
+ configuration of the mapping of certain Pdos in a domain can easily
be done with the help of an initialization array of the
\textit{ec\_pdo\_reg\_t} type, defined as part of the realtime
interface. Each record must contain the ASCII bus-address of the
slave (see section~\ref{sec:addr}), the slave's vendor ID and
- product code, and the index and subindex of the PDO to map (these
+ product code, and the index and subindex of the Pdo to map (these
four fields can be specified in junction, by using one of the
defines out of the \textit{include/ecdb.h} header). The last field
has to be the address of the process data pointer, so it can later
@@ -4556,7 +4556,7 @@
\textit{ecrt\_\-master\_\-create\_domain()} function also returns a
pointer to the created domain, or \textit{NULL} in error case.
\item[\normalfont\textcircled{\tiny 11}] The registration of domain
- PDOs with an initialization array results in a single function call.
+ Pdos with an initialization array results in a single function call.
Alternatively the data fields could be registered with individual
calls of \textit{ecrt\_domain\_register\_pdo()}.
\item[\normalfont\textcircled{\tiny 16}] After the configuration of
--- a/documentation/graphs/fsm_slave_conf.dot Fri Feb 22 11:33:49 2008 +0000
+++ b/documentation/graphs/fsm_slave_conf.dot Fri Feb 22 12:29:30 2008 +0000
@@ -32,8 +32,8 @@
preop -> end [label="PREOP req."]
preop -> enter_sdo_conf [weight=10]
enter_sdo_conf -> enter_safeop [label="No configuration"]
- enter_sdo_conf -> enter_mapping [label="No SDO configs"]
- enter_sdo_conf -> sdo_conf [label="SDO configs", weight=10]
+ enter_sdo_conf -> enter_mapping [label="No Sdo configs"]
+ enter_sdo_conf -> sdo_conf [label="Sdo configs", weight=10]
sdo_conf -> sdo_conf
sdo_conf -> error
sdo_conf -> enter_mapping [weight=10]
@@ -44,7 +44,7 @@
pdo_conf -> pdo_conf
pdo_conf -> error
pdo_conf -> enter_pdo_sync [weight=10]
- enter_pdo_sync -> pdo_sync [label="PDO SMs", weight=10]
+ enter_pdo_sync -> pdo_sync [label="Pdo SMs", weight=10]
enter_pdo_sync -> enter_fmmu
pdo_sync -> pdo_sync
pdo_sync -> error
--- a/documentation/images/fmmus.eps Fri Feb 22 11:33:49 2008 +0000
+++ b/documentation/images/fmmus.eps Fri Feb 22 12:29:30 2008 +0000
@@ -1,8 +1,8 @@
%!PS-Adobe-2.0 EPSF-2.0
%%Title: fmmus.fig
%%Creator: fig2dev Version 3.2 Patchlevel 4
-%%CreationDate: Sat Aug 5 16:55:20 2006
-%%For: fp@jupiter (Florian Pose)
+%%CreationDate: Fri Feb 22 12:53:29 2008
+%%For: fp@fetlas (Florian Pose)
%%BoundingBox: 0 0 555 299
%%Magnification: 1.0000
%%EndComments
@@ -47,7 +47,7 @@
end
save
newpath 0 299 moveto 0 0 lineto 555 0 lineto 555 299 lineto closepath clip newpath
--27.6 337.3 translate
+-27.6 337.9 translate
1 -1 scale
% This junk string is used by the show operators
@@ -933,7 +933,7 @@
gs 1 -1 sc (Process data pointers) col0 sh gr
/Helvetica ff 180.00 scf sf
3735 4995 m
-gs 1 -1 sc (Registered PDOs) col0 sh gr
+gs 1 -1 sc (Registered Pdo entries) col0 sh gr
% here ends figure;
$F2psEnd
rs
--- a/documentation/images/fmmus.fig Fri Feb 22 11:33:49 2008 +0000
+++ b/documentation/images/fmmus.fig Fri Feb 22 12:29:30 2008 +0000
@@ -206,18 +206,18 @@
3645 5265 3330 5265
2 2 0 1 0 7 50 -1 42 0.000 0 0 -1 0 0 5
3465 4815 3645 4815 3645 5040 3465 5040 3465 4815
-4 0 0 50 -1 16 12 0.0000 4 120 720 675 1395 RAM\001
-4 1 0 50 -1 16 12 0.0000 4 120 660 4095 1350 SM1\001
-4 0 0 50 -1 16 12 0.0000 4 120 720 6390 1395 RAM\001
-4 0 0 50 -1 16 12 0.0000 4 120 1005 540 855 Slave0\001
-4 0 0 50 -1 16 12 0.0000 4 120 1005 6255 855 Slave1\001
-4 1 0 50 -1 16 12 0.0000 4 120 1125 7290 2745 FMMU0\001
-4 1 0 50 -1 16 12 0.0000 4 120 1125 1980 2745 FMMU0\001
-4 1 0 50 -1 16 12 0.0000 4 120 1125 3555 2745 FMMU1\001
-4 1 0 50 -1 16 12 0.0000 4 120 1125 4725 2745 FMMU2\001
-4 1 0 50 -1 16 12 0.0000 4 120 660 1755 1305 SM0\001
-4 1 0 50 -1 16 12 0.0000 4 120 660 8190 1305 SM3\001
-4 0 0 50 -1 16 12 0.0000 4 165 2235 1080 3825 Domain0 Image\001
-4 0 0 50 -1 16 12 0.0000 4 165 2235 4050 3825 Domain1 Image\001
-4 0 0 50 -1 16 12 0.0000 4 150 3090 3735 5310 Process data pointers\001
-4 0 0 50 -1 16 12 0.0000 4 165 2520 3735 4995 Registered PDOs\001
+4 0 0 50 -1 16 12 0.0000 4 135 420 675 1395 RAM\001
+4 1 0 50 -1 16 12 0.0000 4 135 390 4095 1350 SM1\001
+4 0 0 50 -1 16 12 0.0000 4 135 420 6390 1395 RAM\001
+4 0 0 50 -1 16 12 0.0000 4 135 585 540 855 Slave0\001
+4 0 0 50 -1 16 12 0.0000 4 135 585 6255 855 Slave1\001
+4 1 0 50 -1 16 12 0.0000 4 135 675 7290 2745 FMMU0\001
+4 1 0 50 -1 16 12 0.0000 4 135 675 1980 2745 FMMU0\001
+4 1 0 50 -1 16 12 0.0000 4 135 675 3555 2745 FMMU1\001
+4 1 0 50 -1 16 12 0.0000 4 135 675 4725 2745 FMMU2\001
+4 1 0 50 -1 16 12 0.0000 4 135 390 1755 1305 SM0\001
+4 1 0 50 -1 16 12 0.0000 4 135 390 8190 1305 SM3\001
+4 0 0 50 -1 16 12 0.0000 4 180 1290 1080 3825 Domain0 Image\001
+4 0 0 50 -1 16 12 0.0000 4 180 1290 4050 3825 Domain1 Image\001
+4 0 0 50 -1 16 12 0.0000 4 180 1815 3735 5310 Process data pointers\001
+4 0 0 50 -1 16 12 0.0000 4 180 1890 3735 4995 Registered Pdo entries\001
--- a/examples/mini/mini.c Fri Feb 22 11:33:49 2008 +0000
+++ b/examples/mini/mini.c Fri Feb 22 12:29:30 2008 +0000
@@ -233,10 +233,10 @@
}
#endif
- printk(KERN_INFO PFX "Registering PDO entries...\n");
+ printk(KERN_INFO PFX "Registering Pdo entries...\n");
#ifdef PDOS
if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
- printk(KERN_ERR PFX "PDO entry registration failed!\n");
+ printk(KERN_ERR PFX "Pdo entry registration failed!\n");
goto out_release_master;
}
#endif
--- a/examples/msr/msr_sample.c Fri Feb 22 11:33:49 2008 +0000
+++ b/examples/msr/msr_sample.c Fri Feb 22 12:29:30 2008 +0000
@@ -164,9 +164,9 @@
goto out_release_master;
}
- printk(KERN_INFO "Registering PDOs...\n");
+ printk(KERN_INFO "Registering Pdos...\n");
if (ecrt_domain_register_pdo_list(domain1, domain1_pdos)) {
- printk(KERN_ERR "Failed to register PDOs.\n");
+ printk(KERN_ERR "Failed to register Pdos.\n");
goto out_release_master;
}
--- a/examples/rtai/rtai_sample.c Fri Feb 22 11:33:49 2008 +0000
+++ b/examples/rtai/rtai_sample.c Fri Feb 22 12:29:30 2008 +0000
@@ -179,9 +179,9 @@
goto out_release_master;
}
- printk(KERN_INFO PFX "Registering PDOs...\n");
+ printk(KERN_INFO PFX "Registering Pdos...\n");
if (ecrt_domain_register_pdo_list(domain1, domain1_pdo_regs)) {
- printk(KERN_ERR PFX "PDO registration failed!\n");
+ printk(KERN_ERR PFX "Pdo registration failed!\n");
goto out_release_master;
}
--- a/master/canopen.c Fri Feb 22 11:33:49 2008 +0000
+++ b/master/canopen.c Fri Feb 22 12:29:30 2008 +0000
@@ -96,11 +96,11 @@
/*****************************************************************************/
/**
- SDO constructor.
-*/
-
-int ec_sdo_init(ec_sdo_t *sdo, /**< SDO */
- uint16_t index, /**< SDO index */
+ Sdo constructor.
+*/
+
+int ec_sdo_init(ec_sdo_t *sdo, /**< Sdo */
+ uint16_t index, /**< Sdo index */
ec_slave_t *slave /**< parent slave */
)
{
@@ -122,7 +122,7 @@
return -1;
}
if (kobject_add(&sdo->kobj)) {
- EC_ERR("Failed to add SDO kobject.\n");
+ EC_ERR("Failed to add Sdo kobject.\n");
kobject_put(&sdo->kobj);
return -1;
}
@@ -133,11 +133,11 @@
/*****************************************************************************/
/**
- SDO destructor.
- Clears and frees an SDO object.
-*/
-
-void ec_sdo_destroy(ec_sdo_t *sdo /**< SDO */)
+ Sdo destructor.
+ Clears and frees an Sdo object.
+*/
+
+void ec_sdo_destroy(ec_sdo_t *sdo /**< Sdo */)
{
ec_sdo_entry_t *entry, *next;
@@ -155,12 +155,12 @@
/*****************************************************************************/
/**
- Clear and free SDO.
+ Clear and free Sdo.
This method is called by the kobject,
once there are no more references to it.
*/
-void ec_sdo_clear(struct kobject *kobj /**< SDO's kobject */)
+void ec_sdo_clear(struct kobject *kobj /**< Sdo's kobject */)
{
ec_sdo_t *sdo = container_of(kobj, ec_sdo_t, kobj);
@@ -172,12 +172,12 @@
/*****************************************************************************/
/**
- * Get and SDO entry from an SDO via its subindex.
- * \return pointer to SDO entry, or NULL.
+ * 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, /**< SDO */
+ ec_sdo_t *sdo, /**< Sdo */
uint8_t subindex /**< entry subindex */
)
{
@@ -194,11 +194,11 @@
/*****************************************************************************/
/**
- * Print SDO information to a buffer.
+ * Print Sdo information to a buffer.
* /return size of bytes written to buffer.
*/
-ssize_t ec_sdo_info(ec_sdo_t *sdo, /**< SDO */
+ssize_t ec_sdo_info(ec_sdo_t *sdo, /**< Sdo */
char *buffer /**< target buffer */
)
{
@@ -214,7 +214,7 @@
/*****************************************************************************/
/**
- * Show an SDO as Sysfs attribute.
+ * Show an Sdo as Sysfs attribute.
* /return size of bytes written to buffer.
*/
@@ -235,12 +235,12 @@
/*****************************************************************************/
/**
- SDO entry constructor.
-*/
-
-int ec_sdo_entry_init(ec_sdo_entry_t *entry, /**< SDO entry */
- uint8_t subindex, /**< SDO entry subindex */
- ec_sdo_t *sdo /**< parent SDO */
+ Sdo entry constructor.
+*/
+
+int ec_sdo_entry_init(ec_sdo_entry_t *entry, /**< Sdo entry */
+ uint8_t subindex, /**< Sdo entry subindex */
+ ec_sdo_t *sdo /**< parent Sdo */
)
{
entry->sdo = sdo;
@@ -271,11 +271,11 @@
/*****************************************************************************/
/**
- SDO entry destructor.
- Clears and frees an SDO entry object.
-*/
-
-void ec_sdo_entry_destroy(ec_sdo_entry_t *entry /**< SDO entry */)
+ Sdo entry destructor.
+ Clears and frees an Sdo entry object.
+*/
+
+void ec_sdo_entry_destroy(ec_sdo_entry_t *entry /**< Sdo entry */)
{
// destroy self
kobject_del(&entry->kobj);
@@ -285,12 +285,12 @@
/*****************************************************************************/
/**
- Clear and free SDO entry.
+ Clear and free Sdo entry.
This method is called by the kobject,
once there are no more references to it.
*/
-void ec_sdo_entry_clear(struct kobject *kobj /**< SDO entry's kobject */)
+void ec_sdo_entry_clear(struct kobject *kobj /**< Sdo entry's kobject */)
{
ec_sdo_entry_t *entry = container_of(kobj, ec_sdo_entry_t, kobj);
@@ -302,11 +302,11 @@
/*****************************************************************************/
/**
- * Print SDO entry information to a buffer.
+ * 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 */
+ssize_t ec_sdo_entry_info(ec_sdo_entry_t *entry, /**< Sdo entry */
char *buffer /**< target buffer */
)
{
@@ -328,8 +328,8 @@
* \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 */
+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 */
)
{
@@ -402,13 +402,13 @@
/*****************************************************************************/
/**
- * Start SDO entry reading.
+ * 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 */
+ssize_t ec_sdo_entry_read_value(ec_sdo_entry_t *entry, /**< Sdo entry */
char *buffer /**< target buffer */
)
{
@@ -452,7 +452,7 @@
/*****************************************************************************/
/**
- * Show an SDO entry as Sysfs attribute.
+ * Show an Sdo entry as Sysfs attribute.
* /return size of bytes written to buffer.
*/
@@ -476,11 +476,11 @@
/*****************************************************************************/
/**
- SDO request constructor.
-*/
-
-void ec_sdo_request_init_read(ec_sdo_request_t *req, /**< SDO request */
- ec_sdo_entry_t *entry /**< SDO entry */
+ Sdo request constructor.
+*/
+
+void ec_sdo_request_init_read(ec_sdo_request_t *req, /**< Sdo request */
+ ec_sdo_entry_t *entry /**< Sdo entry */
)
{
req->entry = entry;
@@ -492,10 +492,10 @@
/*****************************************************************************/
/**
- SDO request destructor.
-*/
-
-void ec_sdo_request_clear(ec_sdo_request_t *req /**< SDO request */)
+ Sdo request destructor.
+*/
+
+void ec_sdo_request_clear(ec_sdo_request_t *req /**< Sdo request */)
{
if (req->data) kfree(req->data);
}
--- a/master/canopen.h Fri Feb 22 11:33:49 2008 +0000
+++ b/master/canopen.h Fri Feb 22 12:29:30 2008 +0000
@@ -50,7 +50,7 @@
/*****************************************************************************/
/**
- CANopen SDO.
+ CANopen Sdo.
*/
struct ec_sdo
@@ -58,9 +58,9 @@
struct kobject kobj; /**< kobject */
struct list_head list; /**< list item */
ec_slave_t *slave; /**< parent slave */
- uint16_t index; /**< SDO index */
+ uint16_t index; /**< Sdo index */
uint8_t object_code; /**< object code */
- char *name; /**< SDO name */
+ char *name; /**< Sdo name */
uint8_t subindices; /**< subindices */
struct list_head entries; /**< entry list */
};
@@ -68,14 +68,14 @@
/*****************************************************************************/
/**
- CANopen SDO entry.
+ CANopen Sdo entry.
*/
typedef struct
{
struct kobject kobj; /**< kobject */
struct list_head list; /**< list item */
- ec_sdo_t *sdo; /**< parent SDO */
+ ec_sdo_t *sdo; /**< parent Sdo */
uint8_t subindex; /**< entry subindex */
uint16_t data_type; /**< entry data type */
uint16_t bit_length; /**< entry length in bit */
@@ -86,32 +86,32 @@
/*****************************************************************************/
/**
- CANopen SDO configuration data.
+ CANopen Sdo configuration data.
*/
typedef struct
{
struct list_head list; /**< list item */
- uint16_t index; /**< SDO index */
- uint8_t subindex; /**< SDO subindex */
- uint8_t *data; /**< pointer to SDO data */
- size_t size; /**< size of SDO data */
+ uint16_t index; /**< Sdo index */
+ uint8_t subindex; /**< Sdo subindex */
+ uint8_t *data; /**< pointer to Sdo data */
+ size_t size; /**< size of Sdo data */
}
ec_sdo_data_t;
/*****************************************************************************/
/**
- CANopen SDO request.
+ CANopen Sdo request.
*/
typedef struct
{
struct list_head list; /**< list item */
- 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; /**< SDO request state */
+ 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; /**< Sdo request state */
}
ec_sdo_request_t;
--- a/master/fmmu_config.c Fri Feb 22 11:33:49 2008 +0000
+++ b/master/fmmu_config.c Fri Feb 22 12:29:30 2008 +0000
@@ -48,14 +48,14 @@
/** FMMU configuration constructor.
*
* Inits an FMMU configuration, sets the logical start address and adds the
- * process data size for the mapped PDOs of the given direction to the domain
+ * process data size for the mapped Pdos of the given direction to the domain
* data size.
*/
void ec_fmmu_config_init(
ec_fmmu_config_t *fmmu, /**< EtherCAT FMMU configuration. */
ec_slave_config_t *sc, /**< EtherCAT slave configuration. */
ec_domain_t *domain, /**< EtherCAT domain. */
- ec_direction_t dir /**< PDO direction. */
+ ec_direction_t dir /**< Pdo direction. */
)
{
fmmu->sc = sc;
--- a/master/fmmu_config.h Fri Feb 22 11:33:49 2008 +0000
+++ b/master/fmmu_config.h Fri Feb 22 12:29:30 2008 +0000
@@ -52,10 +52,10 @@
{
const ec_slave_config_t *sc; /**< EtherCAT slave config. */
const ec_domain_t *domain; /**< Domain. */
- ec_direction_t dir; /**< PDO direction. */
+ ec_direction_t dir; /**< Pdo direction. */
uint32_t logical_start_address; /**< Logical start address. */
- unsigned int data_size; /**< Covered PDO size. */
+ unsigned int data_size; /**< Covered Pdo size. */
}
ec_fmmu_config_t;
--- a/master/fsm_coe.c Fri Feb 22 11:33:49 2008 +0000
+++ b/master/fsm_coe.c Fri Feb 22 12:29:30 2008 +0000
@@ -75,24 +75,24 @@
/*****************************************************************************/
/**
- SDO abort messages.
- The "abort SDO transfer request" supplies an 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"},
- {0x05040000, "SDO protocol timeout"},
+ {0x05040000, "Sdo protocol timeout"},
{0x05040001, "Client/Server command specifier not valid or unknown"},
{0x05040005, "Out of memory"},
{0x06010000, "Unsupported access to an object"},
{0x06010001, "Attempt to read a write-only object"},
{0x06010002, "Attempt to write a read-only object"},
{0x06020000, "This object does not exist in the object directory"},
- {0x06040041, "The object cannot be mapped into the PDO"},
+ {0x06040041, "The object cannot be mapped into the Pdo"},
{0x06040042, "The number and length of the objects to be mapped would"
- " exceed the PDO length"},
+ " exceed the Pdo length"},
{0x06040043, "General parameter incompatibility reason"},
{0x06040047, "Gerneral internal incompatibility in device"},
{0x06060000, "Access failure due to a hardware error"},
@@ -121,7 +121,7 @@
/*****************************************************************************/
/**
- Outputs an SDO abort message.
+ Outputs an Sdo abort message.
*/
void ec_canopen_abort_msg(uint32_t abort_code)
@@ -130,13 +130,13 @@
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",
+ 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);
+ EC_ERR("Unknown Sdo abort code 0x%08X.\n", abort_code);
}
/*****************************************************************************/
@@ -166,7 +166,7 @@
/*****************************************************************************/
/**
- Starts reading a slaves' SDO dictionary.
+ Starts reading a slaves' Sdo dictionary.
*/
void ec_fsm_coe_dictionary(ec_fsm_coe_t *fsm, /**< finite state machine */
@@ -180,12 +180,12 @@
/*****************************************************************************/
/**
- Starts to download an SDO to a slave.
+ Starts to download an Sdo to a slave.
*/
void ec_fsm_coe_download(ec_fsm_coe_t *fsm, /**< finite state machine */
ec_slave_t *slave, /**< EtherCAT slave */
- ec_sdo_data_t *sdodata /**< SDO data object */
+ ec_sdo_data_t *sdodata /**< Sdo data object */
)
{
fsm->slave = slave;
@@ -196,12 +196,12 @@
/*****************************************************************************/
/**
- Starts to upload an SDO from a slave.
+ Starts to upload an Sdo from a slave.
*/
void ec_fsm_coe_upload(ec_fsm_coe_t *fsm, /**< finite state machine */
ec_slave_t *slave, /**< EtherCAT slave */
- ec_sdo_request_t *request /**< SDO request */
+ ec_sdo_request_t *request /**< Sdo request */
)
{
fsm->slave = slave;
@@ -254,11 +254,11 @@
return;
}
- EC_WRITE_U16(data, 0x8 << 12); // SDO information
+ EC_WRITE_U16(data, 0x8 << 12); // Sdo information
EC_WRITE_U8 (data + 2, 0x01); // Get OD List Request
EC_WRITE_U8 (data + 3, 0x00);
EC_WRITE_U16(data + 4, 0x0000);
- EC_WRITE_U16(data + 6, 0x0001); // deliver all SDOs!
+ EC_WRITE_U16(data + 6, 0x0001); // deliver all Sdos!
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_coe_dict_request;
@@ -336,7 +336,7 @@
if (datagram->cycles_received
- fsm->cycles_start >= (cycles_t) 100 * cpu_khz) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Timeout while checking SDO dictionary on slave %i.\n",
+ EC_ERR("Timeout while checking Sdo dictionary on slave %i.\n",
slave->ring_position);
return;
}
@@ -400,18 +400,18 @@
return;
}
- if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
+ if (EC_READ_U16(data) >> 12 == 0x8 && // Sdo information
(EC_READ_U8(data + 2) & 0x7F) == 0x07) { // error response
- EC_ERR("SDO information error response at slave %i!\n",
+ EC_ERR("Sdo information error response at slave %i!\n",
slave->ring_position);
ec_canopen_abort_msg(EC_READ_U32(data + 6));
fsm->state = ec_fsm_coe_error;
return;
}
- if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information
+ if (EC_READ_U16(data) >> 12 != 0x8 || // Sdo information
(EC_READ_U8 (data + 2) & 0x7F) != 0x02) { // Get OD List response
- EC_ERR("Invalid SDO list response at slave %i!\n",
+ EC_ERR("Invalid Sdo list response at slave %i!\n",
slave->ring_position);
ec_print_data(data, rec_size);
fsm->state = ec_fsm_coe_error;
@@ -431,19 +431,19 @@
sdo_index = EC_READ_U16(data + 8 + i * 2);
if (!sdo_index) {
if (slave->master->debug_level)
- EC_WARN("SDO dictionary of slave %i contains index 0x0000.\n",
+ EC_WARN("Sdo dictionary of slave %i contains index 0x0000.\n",
slave->ring_position);
continue;
}
if (!(sdo = (ec_sdo_t *) kmalloc(sizeof(ec_sdo_t), GFP_ATOMIC))) {
- EC_ERR("Failed to allocate memory for SDO!\n");
+ EC_ERR("Failed to allocate memory for Sdo!\n");
fsm->state = ec_fsm_coe_error;
return;
}
if (ec_sdo_init(sdo, sdo_index, slave)) {
- EC_ERR("Failed to init SDO!\n");
+ EC_ERR("Failed to init Sdo!\n");
fsm->state = ec_fsm_coe_error;
return;
}
@@ -453,7 +453,7 @@
fragments_left = EC_READ_U16(data + 4);
if (slave->master->debug_level && fragments_left) {
- EC_DBG("SDO list fragments left: %u\n", fragments_left);
+ EC_DBG("Sdo list fragments left: %u\n", fragments_left);
}
if (EC_READ_U8(data + 2) & 0x80 || fragments_left) { // more messages waiting. check again.
@@ -465,12 +465,12 @@
}
if (list_empty(&slave->sdo_dictionary)) {
- // no SDOs in dictionary. finished.
+ // no Sdos in dictionary. finished.
fsm->state = ec_fsm_coe_end; // success
return;
}
- // fetch SDO descriptions
+ // fetch Sdo descriptions
fsm->sdo = list_entry(slave->sdo_dictionary.next, ec_sdo_t, list);
if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8))) {
@@ -478,11 +478,11 @@
return;
}
- EC_WRITE_U16(data, 0x8 << 12); // SDO information
+ EC_WRITE_U16(data, 0x8 << 12); // Sdo information
EC_WRITE_U8 (data + 2, 0x03); // Get object description request
EC_WRITE_U8 (data + 3, 0x00);
EC_WRITE_U16(data + 4, 0x0000);
- EC_WRITE_U16(data + 6, fsm->sdo->index); // SDO index
+ EC_WRITE_U16(data + 6, fsm->sdo->index); // Sdo index
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_coe_dict_desc_request;
@@ -505,7 +505,7 @@
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Failed to receive CoE SDO description request datagram for"
+ EC_ERR("Failed to receive CoE Sdo description request datagram for"
" slave %i (datagram state %i).\n",
slave->ring_position, datagram->state);
return;
@@ -513,7 +513,7 @@
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Reception of CoE SDO description"
+ EC_ERR("Reception of CoE Sdo description"
" request failed on slave %i: ", slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
@@ -560,7 +560,7 @@
if (datagram->cycles_received
- fsm->cycles_start >= (cycles_t) 100 * cpu_khz) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Timeout while checking SDO description on slave %i.\n",
+ EC_ERR("Timeout while checking Sdo description on slave %i.\n",
slave->ring_position);
return;
}
@@ -597,7 +597,7 @@
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Failed to receive CoE SDO description response datagram from"
+ EC_ERR("Failed to receive CoE Sdo description response datagram from"
" slave %i (datagram state %i).\n",
slave->ring_position, datagram->state);
return;
@@ -605,7 +605,7 @@
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Reception of CoE SDO description"
+ EC_ERR("Reception of CoE Sdo description"
" response failed on slave %i: ", slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
@@ -623,21 +623,21 @@
return;
}
- if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
+ if (EC_READ_U16(data) >> 12 == 0x8 && // Sdo information
(EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response
- EC_ERR("SDO information error response at slave %i while"
- " fetching SDO 0x%04X!\n", slave->ring_position,
+ EC_ERR("Sdo information error response at slave %i while"
+ " fetching Sdo 0x%04X!\n", slave->ring_position,
sdo->index);
ec_canopen_abort_msg(EC_READ_U32(data + 6));
fsm->state = ec_fsm_coe_error;
return;
}
- if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information
+ if (EC_READ_U16(data) >> 12 != 0x8 || // Sdo information
(EC_READ_U8 (data + 2) & 0x7F) != 0x04 || // Object desc. response
- EC_READ_U16(data + 6) != sdo->index) { // SDO index
+ EC_READ_U16(data + 6) != sdo->index) { // Sdo index
EC_ERR("Invalid object description response at slave %i while"
- " fetching SDO 0x%04X!\n", slave->ring_position,
+ " fetching Sdo 0x%04X!\n", slave->ring_position,
sdo->index);
ec_print_data(data, rec_size);
fsm->state = ec_fsm_coe_error;
@@ -657,7 +657,7 @@
name_size = rec_size - 12;
if (name_size) {
if (!(sdo->name = kmalloc(name_size + 1, GFP_ATOMIC))) {
- EC_ERR("Failed to allocate SDO name!\n");
+ EC_ERR("Failed to allocate Sdo name!\n");
fsm->state = ec_fsm_coe_error;
return;
}
@@ -681,12 +681,12 @@
return;
}
- EC_WRITE_U16(data, 0x8 << 12); // SDO information
+ EC_WRITE_U16(data, 0x8 << 12); // Sdo information
EC_WRITE_U8 (data + 2, 0x05); // Get entry description request
EC_WRITE_U8 (data + 3, 0x00);
EC_WRITE_U16(data + 4, 0x0000);
- EC_WRITE_U16(data + 6, sdo->index); // SDO index
- EC_WRITE_U8 (data + 8, fsm->subindex); // SDO subindex
+ EC_WRITE_U16(data + 6, sdo->index); // Sdo index
+ EC_WRITE_U8 (data + 8, fsm->subindex); // Sdo subindex
EC_WRITE_U8 (data + 9, 0x00); // value info (no values)
fsm->retries = EC_FSM_RETRIES;
@@ -711,7 +711,7 @@
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Failed to receive CoE SDO entry request datagram for"
+ EC_ERR("Failed to receive CoE Sdo entry request datagram for"
" slave %i (datagram state %i).\n",
slave->ring_position, datagram->state);
return;
@@ -719,7 +719,7 @@
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Reception of CoE SDO entry request failed on slave %i: ",
+ EC_ERR("Reception of CoE Sdo entry request failed on slave %i: ",
slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
@@ -767,7 +767,7 @@
if (datagram->cycles_received
- fsm->cycles_start >= (cycles_t) 100 * cpu_khz) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Timeout while checking SDO entry on slave %i.\n",
+ EC_ERR("Timeout while checking Sdo entry on slave %i.\n",
slave->ring_position);
return;
}
@@ -805,7 +805,7 @@
if (datagram->state != EC_DATAGRAM_RECEIVED) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Failed to receive CoE SDO description response datagram from"
+ EC_ERR("Failed to receive CoE Sdo description response datagram from"
" slave %i (datagram state %i).\n",
slave->ring_position, datagram->state);
return;
@@ -813,7 +813,7 @@
if (datagram->working_counter != 1) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Reception of CoE SDO description"
+ EC_ERR("Reception of CoE Sdo description"
" response failed on slave %i: ", slave->ring_position);
ec_datagram_print_wc_error(datagram);
return;
@@ -831,22 +831,22 @@
return;
}
- if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
+ if (EC_READ_U16(data) >> 12 == 0x8 && // Sdo information
(EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response
- EC_ERR("SDO information error response at slave %i while"
- " fetching SDO entry 0x%04X:%i!\n", slave->ring_position,
+ EC_ERR("Sdo information error response at slave %i while"
+ " fetching Sdo entry 0x%04X:%i!\n", slave->ring_position,
sdo->index, fsm->subindex);
ec_canopen_abort_msg(EC_READ_U32(data + 6));
fsm->state = ec_fsm_coe_error;
return;
}
- if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information
+ if (EC_READ_U16(data) >> 12 != 0x8 || // Sdo information
(EC_READ_U8(data + 2) & 0x7F) != 0x06 || // Entry desc. response
- EC_READ_U16(data + 6) != sdo->index || // SDO index
- EC_READ_U8(data + 8) != fsm->subindex) { // SDO subindex
+ EC_READ_U16(data + 6) != sdo->index || // Sdo index
+ EC_READ_U8(data + 8) != fsm->subindex) { // Sdo subindex
EC_ERR("Invalid entry description response at slave %i while"
- " fetching SDO entry 0x%04X:%i!\n", slave->ring_position,
+ " fetching Sdo entry 0x%04X:%i!\n", slave->ring_position,
sdo->index, fsm->subindex);
ec_print_data(data, rec_size);
fsm->state = ec_fsm_coe_error;
@@ -881,7 +881,7 @@
if (data_size) {
uint8_t *desc;
if (!(desc = kmalloc(data_size + 1, GFP_ATOMIC))) {
- EC_ERR("Failed to allocate SDO entry name!\n");
+ EC_ERR("Failed to allocate Sdo entry name!\n");
fsm->state = ec_fsm_coe_error;
return;
}
@@ -900,12 +900,12 @@
return;
}
- EC_WRITE_U16(data, 0x8 << 12); // SDO information
+ EC_WRITE_U16(data, 0x8 << 12); // Sdo information
EC_WRITE_U8 (data + 2, 0x05); // Get entry description request
EC_WRITE_U8 (data + 3, 0x00);
EC_WRITE_U16(data + 4, 0x0000);
- EC_WRITE_U16(data + 6, sdo->index); // SDO index
- EC_WRITE_U8 (data + 8, fsm->subindex); // SDO subindex
+ EC_WRITE_U16(data + 6, sdo->index); // Sdo index
+ EC_WRITE_U8 (data + 8, fsm->subindex); // Sdo subindex
EC_WRITE_U8 (data + 9, 0x00); // value info (no values)
fsm->retries = EC_FSM_RETRIES;
@@ -913,7 +913,7 @@
return;
}
- // another SDO description to fetch?
+ // another Sdo description to fetch?
if (fsm->sdo->list.next != &slave->sdo_dictionary) {
fsm->sdo = list_entry(fsm->sdo->list.next, ec_sdo_t, list);
@@ -922,11 +922,11 @@
return;
}
- EC_WRITE_U16(data, 0x8 << 12); // SDO information
+ EC_WRITE_U16(data, 0x8 << 12); // Sdo information
EC_WRITE_U8 (data + 2, 0x03); // Get object description request
EC_WRITE_U8 (data + 3, 0x00);
EC_WRITE_U16(data + 4, 0x0000);
- EC_WRITE_U16(data + 6, fsm->sdo->index); // SDO index
+ EC_WRITE_U16(data + 6, fsm->sdo->index); // Sdo index
fsm->retries = EC_FSM_RETRIES;
fsm->state = ec_fsm_coe_dict_desc_request;
@@ -952,11 +952,11 @@
uint8_t *data;
if (fsm->slave->master->debug_level)
- EC_DBG("Downloading SDO 0x%04X:%i to slave %i.\n",
+ EC_DBG("Downloading Sdo 0x%04X:%i to slave %i.\n",
sdodata->index, sdodata->subindex, slave->ring_position);
if (slave->sii_rx_mailbox_size < 6 + 10 + sdodata->size) {
- EC_ERR("SDO fragmenting not supported yet!\n");
+ EC_ERR("Sdo fragmenting not supported yet!\n");
fsm->state = ec_fsm_coe_error;
return;
}
@@ -967,7 +967,7 @@
return;
}
- EC_WRITE_U16(data, 0x2 << 12); // SDO request
+ EC_WRITE_U16(data, 0x2 << 12); // Sdo request
EC_WRITE_U8 (data + 2, (0x1 // size specified
| 0x1 << 5)); // Download request
EC_WRITE_U16(data + 3, sdodata->index);
@@ -1051,7 +1051,7 @@
if (datagram->cycles_received
- fsm->cycles_start >= (cycles_t) 100 * cpu_khz) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Timeout while checking SDO configuration on slave %i.\n",
+ EC_ERR("Timeout while checking Sdo configuration on slave %i.\n",
slave->ring_position);
return;
}
@@ -1120,10 +1120,10 @@
return;
}
- if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
- EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
- fsm->state = ec_fsm_coe_error;
- EC_ERR("SDO download 0x%04X:%X (%i bytes) aborted on slave %i.\n",
+ if (EC_READ_U16(data) >> 12 == 0x2 && // Sdo request
+ EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort Sdo transfer request
+ fsm->state = ec_fsm_coe_error;
+ EC_ERR("Sdo download 0x%04X:%X (%i bytes) aborted on slave %i.\n",
sdodata->index, sdodata->subindex, sdodata->size,
slave->ring_position);
if (rec_size < 10) {
@@ -1135,14 +1135,14 @@
return;
}
- if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
+ if (EC_READ_U16(data) >> 12 != 0x3 || // Sdo response
EC_READ_U8 (data + 2) >> 5 != 0x3 || // Download response
EC_READ_U16(data + 3) != sdodata->index || // index
EC_READ_U8 (data + 5) != sdodata->subindex) { // subindex
fsm->state = ec_fsm_coe_error;
- EC_ERR("SDO download 0x%04X:%X (%i bytes) failed:\n",
+ EC_ERR("Sdo download 0x%04X:%X (%i bytes) failed:\n",
sdodata->index, sdodata->subindex, sdodata->size);
- EC_ERR("Invalid SDO download response at slave %i!\n",
+ EC_ERR("Invalid Sdo download response at slave %i!\n",
slave->ring_position);
ec_print_data(data, rec_size);
return;
@@ -1167,7 +1167,7 @@
uint8_t *data;
if (master->debug_level)
- EC_DBG("Uploading SDO 0x%04X:%i from slave %i.\n",
+ EC_DBG("Uploading Sdo 0x%04X:%i from slave %i.\n",
entry->sdo->index, entry->subindex, slave->ring_position);
if (!(data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 10))) {
@@ -1175,7 +1175,7 @@
return;
}
- EC_WRITE_U16(data, 0x2 << 12); // SDO request
+ EC_WRITE_U16(data, 0x2 << 12); // Sdo request
EC_WRITE_U8 (data + 2, 0x2 << 5); // initiate upload request
EC_WRITE_U16(data + 3, entry->sdo->index);
EC_WRITE_U8 (data + 5, entry->subindex);
@@ -1262,7 +1262,7 @@
if (datagram->cycles_received
- fsm->cycles_start >= (cycles_t) 100 * cpu_khz) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Timeout while checking SDO upload on slave %i.\n",
+ EC_ERR("Timeout while checking Sdo upload on slave %i.\n",
slave->ring_position);
return;
}
@@ -1334,15 +1334,15 @@
}
if (rec_size < 3) {
- EC_ERR("Received currupted SDO upload response (%u bytes)!\n", rec_size);
+ EC_ERR("Received currupted Sdo upload response (%u bytes)!\n", rec_size);
ec_print_data(data, rec_size);
fsm->state = ec_fsm_coe_error;
return;
}
- if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
- EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
- EC_ERR("SDO upload 0x%04X:%X aborted on slave %i.\n",
+ if (EC_READ_U16(data) >> 12 == 0x2 && // Sdo request
+ EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort Sdo transfer request
+ EC_ERR("Sdo upload 0x%04X:%X aborted on slave %i.\n",
entry->sdo->index, entry->subindex, slave->ring_position);
if (rec_size >= 10)
ec_canopen_abort_msg(EC_READ_U32(data + 6));
@@ -1363,19 +1363,19 @@
if (expedited) {
if (rec_size < 7) {
- EC_ERR("Received currupted SDO expedited upload"
+ EC_ERR("Received currupted Sdo expedited upload"
" response (only %u bytes)!\n", rec_size);
ec_print_data(data, rec_size);
fsm->state = ec_fsm_coe_error;
return;
}
- if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
+ if (EC_READ_U16(data) >> 12 != 0x3 || // Sdo response
EC_READ_U8 (data + 2) >> 5 != 0x2 || // upload response
EC_READ_U16(data + 3) != entry->sdo->index || // index
EC_READ_U8 (data + 5) != entry->subindex) { // subindex
- EC_ERR("SDO upload 0x%04X:%X failed:\n", entry->sdo->index, entry->subindex);
- EC_ERR("Invalid SDO upload response at slave %i!\n",
+ EC_ERR("Sdo upload 0x%04X:%X failed:\n", entry->sdo->index, entry->subindex);
+ EC_ERR("Invalid Sdo upload response at slave %i!\n",
slave->ring_position);
ec_print_data(data, rec_size);
fsm->state = ec_fsm_coe_error;
@@ -1390,7 +1390,7 @@
}
if (rec_size < 6 + complete_size) {
- EC_ERR("Received currupted SDO expedited upload"
+ EC_ERR("Received currupted Sdo expedited upload"
" response (only %u bytes)!\n", rec_size);
ec_print_data(data, rec_size);
fsm->state = ec_fsm_coe_error;
@@ -1399,7 +1399,7 @@
if (!(request->data = (uint8_t *)
kmalloc(complete_size + 1, GFP_ATOMIC))) {
- EC_ERR("Failed to allocate %i bytes of SDO data!\n",
+ EC_ERR("Failed to allocate %i bytes of Sdo data!\n",
complete_size);
fsm->state = ec_fsm_coe_error;
return;
@@ -1411,19 +1411,19 @@
} else { // normal
if (rec_size < 10) {
- EC_ERR("Received currupted SDO normal upload"
+ EC_ERR("Received currupted Sdo normal upload"
" response (only %u bytes)!\n", rec_size);
ec_print_data(data, rec_size);
fsm->state = ec_fsm_coe_error;
return;
}
- if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
+ if (EC_READ_U16(data) >> 12 != 0x3 || // Sdo response
EC_READ_U8 (data + 2) >> 5 != 0x2 || // upload response
EC_READ_U16(data + 3) != entry->sdo->index || // index
EC_READ_U8 (data + 5) != entry->subindex) { // subindex
- EC_ERR("SDO upload 0x%04X:%X failed:\n", entry->sdo->index, entry->subindex);
- EC_ERR("Invalid SDO upload response at slave %i!\n",
+ EC_ERR("Sdo upload 0x%04X:%X failed:\n", entry->sdo->index, entry->subindex);
+ EC_ERR("Invalid Sdo upload response at slave %i!\n",
slave->ring_position);
ec_print_data(data, rec_size);
fsm->state = ec_fsm_coe_error;
@@ -1442,7 +1442,7 @@
if (!(request->data = (uint8_t *)
kmalloc(complete_size + 1, GFP_ATOMIC))) {
- EC_ERR("Failed to allocate %i bytes of SDO data!\n",
+ EC_ERR("Failed to allocate %i bytes of Sdo data!\n",
complete_size);
fsm->state = ec_fsm_coe_error;
return;
@@ -1454,7 +1454,7 @@
fsm->toggle = 0;
if (data_size < complete_size) {
- EC_WARN("SDO data incomplete (%i / %i).\n",
+ EC_WARN("Sdo data incomplete (%i / %i).\n",
data_size, complete_size);
if (!(data = ec_slave_mbox_prepare_send(slave, datagram,
@@ -1463,7 +1463,7 @@
return;
}
- EC_WRITE_U16(data, 0x2 << 12); // SDO request
+ EC_WRITE_U16(data, 0x2 << 12); // Sdo request
EC_WRITE_U8 (data + 2, (fsm->toggle << 4 // toggle
| 0x3 << 5)); // upload segment request
@@ -1553,7 +1553,7 @@
if (datagram->cycles_received
- fsm->cycles_start >= (cycles_t) 100 * cpu_khz) {
fsm->state = ec_fsm_coe_error;
- EC_ERR("Timeout while checking SDO upload segment on slave %i.\n",
+ EC_ERR("Timeout while checking Sdo upload segment on slave %i.\n",
slave->ring_position);
return;
}
@@ -1625,25 +1625,25 @@
}
if (rec_size < 10) {
- EC_ERR("Received currupted SDO upload segment response!\n");
+ EC_ERR("Received currupted Sdo upload segment response!\n");
ec_print_data(data, rec_size);
fsm->state = ec_fsm_coe_error;
return;
}
- if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
- EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
- EC_ERR("SDO upload 0x%04X:%X aborted on slave %i.\n",
+ if (EC_READ_U16(data) >> 12 == 0x2 && // Sdo request
+ EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort Sdo transfer request
+ EC_ERR("Sdo upload 0x%04X:%X aborted on slave %i.\n",
entry->sdo->index, entry->subindex, slave->ring_position);
ec_canopen_abort_msg(EC_READ_U32(data + 6));
fsm->state = ec_fsm_coe_error;
return;
}
- if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
+ if (EC_READ_U16(data) >> 12 != 0x3 || // Sdo response
EC_READ_U8 (data + 2) >> 5 != 0x0) { // upload segment response
- EC_ERR("SDO upload 0x%04X:%X failed:\n", entry->sdo->index, entry->subindex);
- EC_ERR("Invalid SDO upload segment response at slave %i!\n",
+ EC_ERR("Sdo upload 0x%04X:%X failed:\n", entry->sdo->index, entry->subindex);
+ EC_ERR("Invalid Sdo upload segment response at slave %i!\n",
slave->ring_position);
ec_print_data(data, rec_size);
fsm->state = ec_fsm_coe_error;
@@ -1655,7 +1655,7 @@
data_size = rec_size - 10;
if (data_size != seg_size) {
- EC_WARN("SDO segment data invalid (%i / %i)"
+ EC_WARN("Sdo segment data invalid (%i / %i)"
" - Fragmenting not implemented.\n",
data_size, seg_size);
}
@@ -1671,7 +1671,7 @@
return;
}
- EC_WRITE_U16(data, 0x2 << 12); // SDO request
+ EC_WRITE_U16(data, 0x2 << 12); // Sdo request
EC_WRITE_U8 (data + 2, (fsm->toggle << 4 // toggle
| 0x3 << 5)); // upload segment request
--- a/master/fsm_coe.h Fri Feb 22 11:33:49 2008 +0000
+++ b/master/fsm_coe.h Fri Feb 22 12:29:30 2008 +0000
@@ -62,11 +62,11 @@
unsigned int retries; /**< retries upon datagram timeout */
void (*state)(ec_fsm_coe_t *); /**< CoE state function */
- ec_sdo_data_t *sdodata; /**< input/output: SDO data object */
+ ec_sdo_data_t *sdodata; /**< input/output: Sdo data object */
cycles_t cycles_start; /**< CoE timestamp */
- ec_sdo_t *sdo; /**< current SDO */
+ ec_sdo_t *sdo; /**< current Sdo */
uint8_t subindex; /**< current subindex */
- ec_sdo_request_t *request; /**< SDO request */
+ ec_sdo_request_t *request; /**< Sdo request */
uint8_t toggle; /**< toggle bit for segment commands */
};
--- a/master/fsm_coe_map.c Fri Feb 22 11:33:49 2008 +0000
+++ b/master/fsm_coe_map.c Fri Feb 22 12:29:30 2008 +0000
@@ -89,7 +89,7 @@
/*****************************************************************************/
/**
- Starts to upload an SDO from a slave.
+ Starts to upload an Sdo from a slave.
*/
void ec_fsm_coe_map_start(
@@ -163,13 +163,13 @@
continue;
if (slave->master->debug_level)
- EC_DBG("Reading PDO mapping of sync manager %u of slave %u.\n",
+ EC_DBG("Reading Pdo mapping of sync manager %u of slave %u.\n",
fsm->sync_index, slave->ring_position);
ec_pdo_mapping_clear_pdos(&fsm->mapping);
if (!(entry = ec_sdo_get_entry(fsm->sync_sdo, 0))) {
- EC_ERR("SDO 0x%04X has no subindex 0 on slave %u.\n",
+ EC_ERR("Sdo 0x%04X has no subindex 0 on slave %u.\n",
fsm->sync_sdo->index,
fsm->slave->ring_position);
fsm->state = ec_fsm_coe_map_state_error;
@@ -189,7 +189,7 @@
/*****************************************************************************/
/**
- * Count mapped PDOs.
+ * Count mapped Pdos.
*/
void ec_fsm_coe_map_state_pdo_count(
@@ -199,7 +199,7 @@
if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
if (!ec_fsm_coe_success(fsm->fsm_coe)) {
- EC_ERR("Failed to read number of mapped PDOs from slave %u.\n",
+ EC_ERR("Failed to read number of mapped Pdos from slave %u.\n",
fsm->slave->ring_position);
fsm->state = ec_fsm_coe_map_state_error;
return;
@@ -208,9 +208,9 @@
fsm->sync_subindices = EC_READ_U8(fsm->request.data);
if (fsm->slave->master->debug_level)
- EC_DBG(" %u PDOs mapped.\n", fsm->sync_subindices);
-
- // read first PDO
+ EC_DBG(" %u Pdos mapped.\n", fsm->sync_subindices);
+
+ // read first Pdo
fsm->sync_subindex = 1;
ec_fsm_coe_map_action_next_pdo(fsm);
}
@@ -218,7 +218,7 @@
/*****************************************************************************/
/**
- * Read next PDO.
+ * Read next Pdo.
*/
void ec_fsm_coe_map_action_next_pdo(
@@ -230,7 +230,7 @@
if (fsm->sync_subindex <= fsm->sync_subindices) {
if (!(entry = ec_sdo_get_entry(fsm->sync_sdo,
fsm->sync_subindex))) {
- EC_ERR("SDO 0x%04X has no subindex %u on slave %u.\n",
+ EC_ERR("Sdo 0x%04X has no subindex %u on slave %u.\n",
fsm->sync_sdo->index,
fsm->sync_subindex,
fsm->slave->ring_position);
@@ -265,7 +265,7 @@
/*****************************************************************************/
/**
- * Fetch PDO information.
+ * Fetch Pdo information.
*/
void ec_fsm_coe_map_state_pdo(
@@ -275,7 +275,7 @@
if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
if (!ec_fsm_coe_success(fsm->fsm_coe)) {
- EC_ERR("Failed to read mapped PDO index from slave %u.\n",
+ EC_ERR("Failed to read mapped Pdo index from slave %u.\n",
fsm->slave->ring_position);
fsm->state = ec_fsm_coe_map_state_error;
return;
@@ -286,7 +286,7 @@
if (!(fsm->pdo = (ec_pdo_t *)
kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
- EC_ERR("Failed to allocate PDO.\n");
+ EC_ERR("Failed to allocate Pdo.\n");
fsm->state = ec_fsm_coe_map_state_error;
return;
}
@@ -297,10 +297,10 @@
ec_sync_direction(fsm->slave->sii_syncs + fsm->sync_index);
if (fsm->slave->master->debug_level)
- EC_DBG(" PDO 0x%04X.\n", fsm->pdo->index);
+ EC_DBG(" Pdo 0x%04X.\n", fsm->pdo->index);
if (!(fsm->pdo_sdo = ec_slave_get_sdo(fsm->slave, fsm->pdo->index))) {
- EC_ERR("Slave %u has no SDO 0x%04X.\n",
+ EC_ERR("Slave %u has no Sdo 0x%04X.\n",
fsm->slave->ring_position, fsm->pdo->index);
ec_pdo_clear(fsm->pdo);
kfree(fsm->pdo);
@@ -316,7 +316,7 @@
}
if (!(entry = ec_sdo_get_entry(fsm->pdo_sdo, 0))) {
- EC_ERR("SDO 0x%04X has no subindex 0 on slave %u.\n",
+ EC_ERR("Sdo 0x%04X has no subindex 0 on slave %u.\n",
fsm->pdo_sdo->index,
fsm->slave->ring_position);
ec_pdo_clear(fsm->pdo);
@@ -338,7 +338,7 @@
/*****************************************************************************/
/**
- * Read number of PDO entries.
+ * Read number of Pdo entries.
*/
void ec_fsm_coe_map_state_pdo_entry_count(
@@ -348,7 +348,7 @@
if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
if (!ec_fsm_coe_success(fsm->fsm_coe)) {
- EC_ERR("Failed to read number of mapped PDO entries from slave %u.\n",
+ EC_ERR("Failed to read number of mapped Pdo entries from slave %u.\n",
fsm->slave->ring_position);
fsm->state = ec_fsm_coe_map_state_error;
return;
@@ -357,9 +357,9 @@
fsm->pdo_subindices = EC_READ_U8(fsm->request.data);
if (fsm->slave->master->debug_level)
- EC_DBG(" %u PDO entries mapped.\n", fsm->pdo_subindices);
-
- // read first PDO entry
+ EC_DBG(" %u Pdo entries mapped.\n", fsm->pdo_subindices);
+
+ // read first Pdo entry
fsm->pdo_subindex = 1;
ec_fsm_coe_map_action_next_pdo_entry(fsm);
}
@@ -367,7 +367,7 @@
/*****************************************************************************/
/**
- * Read next PDO entry.
+ * Read next Pdo entry.
*/
void ec_fsm_coe_map_action_next_pdo_entry(
@@ -379,7 +379,7 @@
if (fsm->pdo_subindex <= fsm->pdo_subindices) {
if (!(entry = ec_sdo_get_entry(fsm->pdo_sdo,
fsm->pdo_subindex))) {
- EC_ERR("SDO 0x%04X has no subindex %u on slave %u.\n",
+ EC_ERR("Sdo 0x%04X has no subindex %u on slave %u.\n",
fsm->pdo_sdo->index, fsm->pdo_subindex,
fsm->slave->ring_position);
fsm->state = ec_fsm_coe_map_state_error;
@@ -393,7 +393,7 @@
return;
}
- // next PDO
+ // next Pdo
fsm->sync_subindex++;
ec_fsm_coe_map_action_next_pdo(fsm);
}
@@ -401,7 +401,7 @@
/*****************************************************************************/
/**
- * Read PDO entry information.
+ * Read Pdo entry information.
*/
void ec_fsm_coe_map_state_pdo_entry(
@@ -411,7 +411,7 @@
if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
if (!ec_fsm_coe_success(fsm->fsm_coe)) {
- EC_ERR("Failed to read index of mapped PDO entry from slave %u.\n",
+ EC_ERR("Failed to read index of mapped Pdo entry from slave %u.\n",
fsm->slave->ring_position);
fsm->state = ec_fsm_coe_map_state_error;
return;
@@ -427,7 +427,7 @@
if (!(pdo_entry = (ec_pdo_entry_t *)
kmalloc(sizeof(ec_pdo_entry_t), GFP_KERNEL))) {
- EC_ERR("Failed to allocate PDO entry.\n");
+ EC_ERR("Failed to allocate Pdo entry.\n");
fsm->state = ec_fsm_coe_map_state_error;
return;
}
@@ -438,9 +438,9 @@
pdo_entry->bit_length = pdo_entry_info & 0xFF;
if (!pdo_entry->index && !pdo_entry->subindex) {
- // we have a gap in the PDO, next PDO entry
+ // we have a gap in the Pdo, next Pdo entry
if (fsm->slave->master->debug_level) {
- EC_DBG(" PDO entry gap: %u bit.\n",
+ EC_DBG(" Pdo entry gap: %u bit.\n",
pdo_entry->bit_length);
}
@@ -458,7 +458,7 @@
}
if (!(sdo = ec_slave_get_sdo(fsm->slave, pdo_entry->index))) {
- EC_ERR("Slave %u has no SDO 0x%04X.\n",
+ EC_ERR("Slave %u has no Sdo 0x%04X.\n",
fsm->slave->ring_position, pdo_entry->index);
ec_pdo_entry_clear(pdo_entry);
kfree(pdo_entry);
@@ -467,7 +467,7 @@
}
if (!(entry = ec_sdo_get_entry(sdo, pdo_entry->subindex))) {
- EC_ERR("Slave %u has no SDO entry 0x%04X:%u.\n",
+ EC_ERR("Slave %u has no Sdo entry 0x%04X:%u.\n",
fsm->slave->ring_position, pdo_entry->index,
pdo_entry->subindex);
ec_pdo_entry_clear(pdo_entry);
@@ -484,14 +484,14 @@
}
if (fsm->slave->master->debug_level) {
- EC_DBG(" PDO entry 0x%04X \"%s\" (%u bit).\n", pdo_entry->index,
+ EC_DBG(" Pdo entry 0x%04X \"%s\" (%u bit).\n", pdo_entry->index,
pdo_entry->name ? pdo_entry->name : "???",
pdo_entry->bit_length);
}
list_add_tail(&pdo_entry->list, &fsm->pdo->entries);
- // next PDO entry
+ // next Pdo entry
fsm->pdo_subindex++;
ec_fsm_coe_map_action_next_pdo_entry(fsm);
}
--- a/master/fsm_coe_map.h Fri Feb 22 11:33:49 2008 +0000
+++ b/master/fsm_coe_map.h Fri Feb 22 12:29:30 2008 +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; /**< SDO request */
+ ec_sdo_request_t request; /**< Sdo request */
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 */
+ 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 */
ec_pdo_mapping_t mapping; /**< Mapping to apply. */
- 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 */
+ 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 */
};
/*****************************************************************************/
--- a/master/fsm_master.c Fri Feb 22 11:33:49 2008 +0000
+++ b/master/fsm_master.c Fri Feb 22 12:29:30 2008 +0000
@@ -359,8 +359,8 @@
/*****************************************************************************/
/**
- * Check for pending SDO requests and process one.
- * \return non-zero, if an SDO request is processed.
+ * Check for pending Sdo requests and process one.
+ * \return non-zero, if an Sdo request is processed.
*/
int ec_fsm_master_action_process_sdo(
@@ -389,19 +389,19 @@
if (slave->current_state == EC_SLAVE_STATE_INIT ||
slave->online_state == EC_SLAVE_OFFLINE ||
slave->error_flag) {
- EC_ERR("Discarding SDO request, slave %i not ready.\n",
+ EC_ERR("Discarding Sdo request, slave %i not ready.\n",
slave->ring_position);
request->state = EC_REQUEST_FAILURE;
wake_up(&master->sdo_queue);
continue;
}
- // found pending SDO request. execute it!
+ // found pending Sdo request. execute it!
if (master->debug_level)
- EC_DBG("Processing SDO request for slave %i...\n",
+ EC_DBG("Processing Sdo request for slave %i...\n",
slave->ring_position);
- // start uploading SDO
+ // start uploading Sdo
fsm->idle = 0;
fsm->slave = slave;
fsm->sdo_request = request;
@@ -493,13 +493,13 @@
return;
}
- // Check for a pending SDO request
+ // Check for a pending Sdo request
if (ec_fsm_master_action_process_sdo(fsm))
return;
if (master->mode == EC_MASTER_MODE_IDLE) {
- // check, if slaves have an SDO dictionary to read out.
+ // check, if slaves have an Sdo dictionary to read out.
list_for_each_entry(slave, &master->slaves, list) {
if (!(slave->sii_mailbox_protocols & EC_MBOX_COE)
|| slave->sdo_dictionary_fetched
@@ -509,13 +509,13 @@
|| slave->error_flag) continue;
if (master->debug_level) {
- EC_DBG("Fetching SDO dictionary from slave %i.\n",
+ EC_DBG("Fetching Sdo dictionary from slave %i.\n",
slave->ring_position);
}
slave->sdo_dictionary_fetched = 1;
- // start fetching SDO dictionary
+ // start fetching Sdo dictionary
fsm->idle = 0;
fsm->slave = slave;
fsm->state = ec_fsm_master_state_sdodict;
@@ -524,7 +524,7 @@
return;
}
- // check, if slaves have their PDO mapping to be read.
+ // check, if slaves have their Pdo mapping to be read.
list_for_each_entry(slave, &master->slaves, list) {
if (!(slave->sii_mailbox_protocols & EC_MBOX_COE)
|| slave->pdo_mapping_fetched
@@ -533,13 +533,13 @@
|| slave->online_state == EC_SLAVE_OFFLINE) continue;
if (master->debug_level) {
- EC_DBG("Fetching PDO mapping from slave %i via CoE.\n",
+ EC_DBG("Fetching Pdo mapping from slave %i via CoE.\n",
slave->ring_position);
}
slave->pdo_mapping_fetched = 1;
- // start fetching PDO mapping
+ // start fetching Pdo mapping
fsm->idle = 0;
fsm->state = ec_fsm_master_state_pdomap;
ec_fsm_coe_map_start(&fsm->fsm_coe_map, slave);
@@ -1004,7 +1004,7 @@
/*****************************************************************************/
/**
- Master state: SDODICT.
+ Master state: SdoDICT.
*/
void ec_fsm_master_state_sdodict(ec_fsm_master_t *fsm /**< master state machine */)
@@ -1019,12 +1019,12 @@
return;
}
- // SDO dictionary fetching finished
+ // Sdo dictionary fetching finished
if (master->debug_level) {
unsigned int sdo_count, entry_count;
ec_slave_sdo_dict_info(slave, &sdo_count, &entry_count);
- EC_DBG("Fetched %i SDOs and %i entries from slave %i.\n",
+ EC_DBG("Fetched %i Sdos and %i entries from slave %i.\n",
sdo_count, entry_count, slave->ring_position);
}
@@ -1034,7 +1034,7 @@
/*****************************************************************************/
/**
- * Scan the PDO mapping of a slave.
+ * Scan the Pdo mapping of a slave.
*/
void ec_fsm_master_state_pdomap(
@@ -1048,14 +1048,14 @@
return;
}
- // fetching of PDO mapping finished
+ // fetching of Pdo mapping finished
fsm->state = ec_fsm_master_state_end;
}
/*****************************************************************************/
/**
- Master state: SDO REQUEST.
+ Master state: Sdo REQUEST.
*/
void ec_fsm_master_state_sdo_request(ec_fsm_master_t *fsm /**< master state machine */)
@@ -1066,7 +1066,7 @@
if (ec_fsm_coe_exec(&fsm->fsm_coe)) return;
if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
- EC_DBG("Failed to process SDO request for slave %i.\n",
+ EC_DBG("Failed to process Sdo request for slave %i.\n",
fsm->slave->ring_position);
request->state = EC_REQUEST_FAILURE;
wake_up(&master->sdo_queue);
@@ -1074,15 +1074,15 @@
return;
}
- // SDO request finished
+ // Sdo request finished
request->state = EC_REQUEST_COMPLETE;
wake_up(&master->sdo_queue);
if (master->debug_level)
- EC_DBG("Finished SDO request for slave %i.\n",
+ EC_DBG("Finished Sdo request for slave %i.\n",
fsm->slave->ring_position);
- // check for another SDO request
+ // check for another Sdo request
if (ec_fsm_master_action_process_sdo(fsm))
return; // processing another request
--- a/master/fsm_master.h Fri Feb 22 11:33:49 2008 +0000
+++ b/master/fsm_master.h Fri Feb 22 12:29:30 2008 +0000
@@ -94,7 +94,7 @@
ec_slave_t *slave; /**< current slave */
ec_eeprom_write_request_t *eeprom_request; /**< EEPROM write request */
off_t eeprom_index; /**< index to EEPROM write request data */
- ec_sdo_request_t *sdo_request; /**< SDO request to process */
+ ec_sdo_request_t *sdo_request; /**< Sdo request to process */
ec_fsm_slave_t fsm_slave; /**< slave state machine */
ec_fsm_sii_t fsm_sii; /**< SII state machine */
--- a/master/fsm_pdo_config.c Fri Feb 22 11:33:49 2008 +0000
+++ b/master/fsm_pdo_config.c Fri Feb 22 12:29:30 2008 +0000
@@ -194,7 +194,7 @@
fsm->pdo->index, fsm->slave->ring_position);
}
- // set mapped PDO count to zero
+ // set mapped Pdo count to zero
fsm->sdodata.index = fsm->pdo->index;
fsm->sdodata.subindex = 0; // number of configured entries
EC_WRITE_U8(&fsm->sdo_value, 0);
--- a/master/fsm_pdo_config.h Fri Feb 22 11:33:49 2008 +0000
+++ b/master/fsm_pdo_config.h Fri Feb 22 12:29:30 2008 +0000
@@ -32,7 +32,7 @@
*****************************************************************************/
/** \file
- * EtherCAT PDO configuration state machine structures.
+ * EtherCAT Pdo configuration state machine structures.
*/
/*****************************************************************************/
@@ -60,11 +60,11 @@
ec_fsm_coe_t *fsm_coe; /**< CoE state machine to use */
ec_slave_t *slave; /**< Slave the FSM runs on. */
- const ec_pdo_t *pdo; /**< Current PDO to configure. */
+ const ec_pdo_t *pdo; /**< Current Pdo to configure. */
const ec_pdo_entry_t *entry; /**< Current entry. */
- ec_sdo_data_t sdodata; /**< SDO configuration data. */
- uint16_t sdo_value; /**< SDO value. */
+ ec_sdo_data_t sdodata; /**< Sdo configuration data. */
+ uint16_t sdo_value; /**< Sdo value. */
unsigned int entry_count; /**< Number of configured entries. */
};
--- a/master/fsm_pdo_mapping.c Fri Feb 22 11:33:49 2008 +0000
+++ b/master/fsm_pdo_mapping.c Fri Feb 22 12:29:30 2008 +0000
@@ -32,7 +32,7 @@
*****************************************************************************/
/** \file
- * EtherCAT PDO mapping state machine.
+ * EtherCAT Pdo mapping state machine.
*/
/*****************************************************************************/
@@ -80,7 +80,7 @@
/*****************************************************************************/
-/** Start PDO mapping configuration state machine.
+/** Start Pdo mapping configuration state machine.
*/
void ec_fsm_pdo_mapping_start(
ec_fsm_pdo_mapping_t *fsm, /**< mapping state machine */
@@ -195,17 +195,17 @@
}
if (fsm->slave->master->debug_level) {
- EC_DBG("Configuring PDO mapping for SM%u of slave %u.\n",
+ EC_DBG("Configuring Pdo mapping for SM%u of slave %u.\n",
fsm->sync->index, fsm->slave->ring_position);
}
- // set mapped PDO count to zero
+ // set mapped Pdo count to zero
fsm->sdodata.index = 0x1C10 + fsm->sync->index;
- fsm->sdodata.subindex = 0; // mapped PDO count
- EC_WRITE_U8(&fsm->sdo_value, 0); // zero PDOs mapped
+ fsm->sdodata.subindex = 0; // mapped Pdo count
+ EC_WRITE_U8(&fsm->sdo_value, 0); // zero Pdos mapped
fsm->sdodata.size = 1;
if (fsm->slave->master->debug_level)
- EC_DBG("Setting PDO count to zero for SM%u.\n", fsm->sync->index);
+ EC_DBG("Setting Pdo count to zero for SM%u.\n", fsm->sync->index);
fsm->state = ec_fsm_pdo_mapping_state_zero_count;
ec_fsm_coe_download(fsm->fsm_coe, fsm->slave, &fsm->sdodata);
@@ -214,16 +214,16 @@
/*****************************************************************************/
-/** Process mapping of next PDO.
+/** Process mapping of next Pdo.
*/
ec_pdo_t *ec_fsm_pdo_mapping_next_pdo(
const ec_fsm_pdo_mapping_t *fsm, /**< mapping state machine */
- const struct list_head *list /**< current PDO list item */
+ const struct list_head *list /**< current Pdo list item */
)
{
list = list->next;
if (list == &fsm->mapping->pdos)
- return NULL; // no next PDO
+ return NULL; // no next Pdo
return list_entry(list, ec_pdo_t, list);
}
@@ -240,7 +240,7 @@
fsm->sdodata.size = 2;
if (fsm->slave->master->debug_level)
- EC_DBG("Mapping PDO 0x%04X at position %u.\n",
+ EC_DBG("Mapping Pdo 0x%04X at position %u.\n",
fsm->pdo->index, fsm->sdodata.subindex);
fsm->state = ec_fsm_pdo_mapping_state_add_pdo;
@@ -250,7 +250,7 @@
/*****************************************************************************/
-/** Set the number of mapped PDOs to zero.
+/** Set the number of mapped Pdos to zero.
*/
void ec_fsm_pdo_mapping_state_zero_count(
ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */
@@ -259,31 +259,31 @@
if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
if (!ec_fsm_coe_success(fsm->fsm_coe)) {
- EC_ERR("Failed to clear PDO mapping for slave %u.\n",
+ EC_ERR("Failed to clear Pdo mapping for slave %u.\n",
fsm->slave->ring_position);
fsm->state = ec_fsm_pdo_mapping_state_error;
return;
}
- // map all PDOs belonging to the current sync manager
+ // map all Pdos belonging to the current sync manager
- // find first PDO
+ // find first Pdo
if (!(fsm->pdo = ec_fsm_pdo_mapping_next_pdo(fsm, &fsm->mapping->pdos))) {
if (fsm->slave->master->debug_level)
- EC_DBG("No PDOs to map for SM%u of slave %u.\n",
+ EC_DBG("No Pdos to map for SM%u of slave %u.\n",
fsm->sync->index, fsm->slave->ring_position);
ec_fsm_pdo_mapping_next_sync(fsm);
return;
}
- // add first PDO to mapping
+ // add first Pdo to mapping
fsm->pdo_count = 1;
ec_fsm_pdo_mapping_add_pdo(fsm);
}
/*****************************************************************************/
-/** Add a PDO to the sync managers mapping.
+/** Add a Pdo to the sync managers mapping.
*/
void ec_fsm_pdo_mapping_state_add_pdo(
ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */
@@ -292,21 +292,21 @@
if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
if (!ec_fsm_coe_success(fsm->fsm_coe)) {
- EC_ERR("Failed to map PDO 0x%04X for SM%u of slave %u.\n",
+ EC_ERR("Failed to map Pdo 0x%04X for SM%u of slave %u.\n",
fsm->pdo->index, fsm->sync->index, fsm->slave->ring_position);
fsm->state = ec_fsm_pdo_mapping_state_error;
return;
}
- // find next PDO
+ // find next Pdo
if (!(fsm->pdo = ec_fsm_pdo_mapping_next_pdo(fsm, &fsm->pdo->list))) {
- // no more PDOs to map. write PDO count
+ // no more Pdos to map. write Pdo count
fsm->sdodata.subindex = 0;
EC_WRITE_U8(&fsm->sdo_value, fsm->pdo_count);
fsm->sdodata.size = 1;
if (fsm->slave->master->debug_level)
- EC_DBG("Setting number of mapped PDOs to %u.\n",
+ EC_DBG("Setting number of mapped Pdos to %u.\n",
fsm->pdo_count);
fsm->state = ec_fsm_pdo_mapping_state_pdo_count;
@@ -315,14 +315,14 @@
return;
}
- // add next PDO to mapping
+ // add next Pdo to mapping
fsm->pdo_count++;
ec_fsm_pdo_mapping_add_pdo(fsm);
}
/*****************************************************************************/
-/** Set the number of mapped PDOs.
+/** Set the number of mapped Pdos.
*/
void ec_fsm_pdo_mapping_state_pdo_count(
ec_fsm_pdo_mapping_t *fsm /**< mapping state machine */
@@ -331,14 +331,14 @@
if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
if (!ec_fsm_coe_success(fsm->fsm_coe)) {
- EC_ERR("Failed to set number of mapped PDOs for slave %u.\n",
+ EC_ERR("Failed to set number of mapped Pdos for slave %u.\n",
fsm->slave->ring_position);
fsm->state = ec_fsm_pdo_mapping_state_error;
return;
}
if (fsm->slave->master->debug_level)
- EC_DBG("Successfully set PDO mapping for SM%u of slave %u.\n",
+ EC_DBG("Successfully set Pdo mapping for SM%u of slave %u.\n",
fsm->sync->index, fsm->slave->ring_position);
// mapping configuration for this sync manager complete.
--- a/master/fsm_pdo_mapping.h Fri Feb 22 11:33:49 2008 +0000
+++ b/master/fsm_pdo_mapping.h Fri Feb 22 12:29:30 2008 +0000
@@ -33,7 +33,7 @@
/**
\file
- EtherCAT PDO mapping state machine structures.
+ EtherCAT Pdo mapping state machine structures.
*/
/*****************************************************************************/
@@ -66,8 +66,8 @@
const ec_pdo_mapping_t *mapping; /**< Target Pdo mapping. */
const ec_pdo_t *pdo; /**< Current Pdo. */
- ec_sdo_data_t sdodata; /**< SDO configuration data. */
- uint16_t sdo_value; /**< SDO value. */
+ ec_sdo_data_t sdodata; /**< Sdo configuration data. */
+ uint16_t sdo_value; /**< Sdo value. */
unsigned int pdo_count; /**< Number of mapped Pdos. */
};
--- a/master/fsm_slave.c Fri Feb 22 11:33:49 2008 +0000
+++ b/master/fsm_slave.c Fri Feb 22 12:29:30 2008 +0000
@@ -869,7 +869,7 @@
/*****************************************************************************/
/**
- * Check for SDO configurations to be applied.
+ * Check for Sdo configurations to be applied.
*/
void ec_fsm_slave_conf_enter_sdo_conf(ec_fsm_slave_t *fsm /**< slave state machine */)
@@ -883,12 +883,12 @@
}
// No CoE configuration to be applied?
- if (list_empty(&slave->config->sdo_configs)) { // skip SDO configuration
+ if (list_empty(&slave->config->sdo_configs)) { // skip Sdo configuration
ec_fsm_slave_conf_enter_mapping(fsm);
return;
}
- // start SDO configuration
+ // start Sdo configuration
fsm->state = ec_fsm_slave_conf_state_sdo_conf;
fsm->sdodata =
list_entry(fsm->slave->config->sdo_configs.next, ec_sdo_data_t, list);
@@ -909,14 +909,14 @@
if (ec_fsm_coe_exec(&fsm->fsm_coe)) return;
if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
- EC_ERR("SDO configuration failed for slave %u.\n",
+ EC_ERR("Sdo configuration failed for slave %u.\n",
fsm->slave->ring_position);
fsm->slave->error_flag = 1;
fsm->state = ec_fsm_slave_state_error;
return;
}
- // Another SDO to configure?
+ // Another Sdo to configure?
if (fsm->sdodata->list.next != &fsm->slave->config->sdo_configs) {
fsm->sdodata =
list_entry(fsm->sdodata->list.next, ec_sdo_data_t, list);
@@ -925,21 +925,21 @@
return;
}
- // All SDOs are now configured.
+ // All Sdos are now configured.
ec_fsm_slave_conf_enter_mapping(fsm);
}
/*****************************************************************************/
/**
- * Check for PDO mappings to be applied.
+ * Check for Pdo mappings to be applied.
*/
void ec_fsm_slave_conf_enter_mapping(
ec_fsm_slave_t *fsm /**< slave state machine */
)
{
- // start configuring PDO mapping
+ // start configuring Pdo mapping
fsm->state = ec_fsm_slave_conf_state_mapping;
ec_fsm_pdo_mapping_start(&fsm->fsm_pdo_map, fsm->slave);
ec_fsm_pdo_mapping_exec(&fsm->fsm_pdo_map); // execute immediately
@@ -958,7 +958,7 @@
if (ec_fsm_pdo_mapping_exec(&fsm->fsm_pdo_map)) return;
if (!ec_fsm_pdo_mapping_success(&fsm->fsm_pdo_map)) {
- EC_ERR("PDO mapping configuration failed for slave %u.\n",
+ EC_ERR("Pdo mapping configuration failed for slave %u.\n",
fsm->slave->ring_position);
fsm->slave->error_flag = 1;
fsm->state = ec_fsm_slave_state_error;
@@ -997,7 +997,7 @@
/*****************************************************************************/
/**
- * Check for PDO sync managers to be configured.
+ * Check for Pdo sync managers to be configured.
*/
void ec_fsm_slave_conf_enter_pdo_sync(
@@ -1043,7 +1043,7 @@
/*****************************************************************************/
/**
- * Configure PDO sync managers.
+ * Configure Pdo sync managers.
*/
void ec_fsm_slave_conf_state_pdo_sync(ec_fsm_slave_t *fsm /**< slave state machine */)
@@ -1101,7 +1101,7 @@
fmmu = &slave->config->fmmu_configs[i];
if (!(sync = ec_slave_get_pdo_sync(slave, fmmu->dir))) {
fsm->state = ec_fsm_slave_state_error;
- EC_ERR("Failed to determine PDO sync manager for FMMU on slave"
+ EC_ERR("Failed to determine Pdo sync manager for FMMU on slave"
" %u!\n", slave->ring_position);
return;
}
--- a/master/fsm_slave.h Fri Feb 22 11:33:49 2008 +0000
+++ b/master/fsm_slave.h Fri Feb 22 12:29:30 2008 +0000
@@ -64,7 +64,7 @@
unsigned int retries; /**< Retries on datagram timeout. */
void (*state)(ec_fsm_slave_t *); /**< State function. */
- ec_sdo_data_t *sdodata; /**< SDO configuration data. */
+ ec_sdo_data_t *sdodata; /**< Sdo configuration data. */
uint16_t sii_offset; /**< SII offset in words. */
ec_fsm_sii_t fsm_sii; /**< SII state machine. */
--- a/master/globals.h Fri Feb 22 11:33:49 2008 +0000
+++ b/master/globals.h Fri Feb 22 12:29:30 2008 +0000
@@ -57,7 +57,7 @@
/** Number of state machine retries on datagram timeout. */
#define EC_FSM_RETRIES 3
-/** Seconds to wait before fetching SDO dictionary
+/** Seconds to wait before fetching Sdo dictionary
after slave entered PREOP state. */
#define EC_WAIT_SDO_DICT 3
--- a/master/master.c Fri Feb 22 11:33:49 2008 +0000
+++ b/master/master.c Fri Feb 22 12:29:30 2008 +0000
@@ -146,7 +146,7 @@
master->stats.corrupted = 0;
master->stats.unmatched = 0;
master->stats.output_jiffies = 0;
- master->pdo_slaves_offline = 0; // assume all PDO slaves online
+ master->pdo_slaves_offline = 0; // assume all Pdo slaves online
master->frames_timed_out = 0;
for (i = 0; i < HZ; i++) {
@@ -1007,7 +1007,7 @@
master->slave_count);
off += sprintf(buffer + off, "Status: %s\n",
master->fsm.tainted ? "TAINTED" : "sane");
- off += sprintf(buffer + off, "PDO slaves: %s\n",
+ off += sprintf(buffer + off, "Pdo slaves: %s\n",
master->pdo_slaves_offline ? "INCOMPLETE" : "online");
off += sprintf(buffer + off, "\nDevices:\n");
--- a/master/master.h Fri Feb 22 11:33:49 2008 +0000
+++ b/master/master.h Fri Feb 22 12:29:30 2008 +0000
@@ -128,7 +128,7 @@
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
@@ -161,10 +161,10 @@
wait_queue_head_t eeprom_queue; /**< wait queue for EEPROM
write requests from user space */
- struct list_head sdo_requests; /**< SDO access requests */
+ struct list_head sdo_requests; /**< Sdo access requests */
struct semaphore sdo_sem; /**< semaphore protecting the list of
- SDO access requests */
- wait_queue_head_t sdo_queue; /**< wait queue for SDO access requests
+ Sdo access requests */
+ wait_queue_head_t sdo_queue; /**< wait queue for Sdo access requests
from user space */
};
--- a/master/pdo.c Fri Feb 22 11:33:49 2008 +0000
+++ b/master/pdo.c Fri Feb 22 12:29:30 2008 +0000
@@ -48,10 +48,10 @@
/*****************************************************************************/
-/** PDO constructor.
+/** Pdo constructor.
*/
void ec_pdo_init(
- ec_pdo_t *pdo /**< EtherCAT PDO */
+ ec_pdo_t *pdo /**< EtherCAT Pdo */
)
{
pdo->sync_index = -1; // not assigned
@@ -87,9 +87,9 @@
/*****************************************************************************/
-/** PDO destructor.
- */
-void ec_pdo_clear(ec_pdo_t *pdo /**< EtherCAT PDO */)
+/** Pdo destructor.
+ */
+void ec_pdo_clear(ec_pdo_t *pdo /**< EtherCAT Pdo */)
{
if (pdo->name)
kfree(pdo->name);
@@ -101,11 +101,11 @@
/** Clear Pdo entry list.
*/
-void ec_pdo_clear_entries(ec_pdo_t *pdo /**< EtherCAT PDO */)
+void ec_pdo_clear_entries(ec_pdo_t *pdo /**< EtherCAT Pdo */)
{
ec_pdo_entry_t *entry, *next;
- // free all PDO entries
+ // free all Pdo entries
list_for_each_entry_safe(entry, next, &pdo->entries, list) {
list_del(&entry->list);
ec_pdo_entry_clear(entry);
@@ -129,7 +129,7 @@
if (name && (len = strlen(name))) {
if (!(pdo->name = (char *) kmalloc(len + 1, GFP_KERNEL))) {
- EC_ERR("Failed to allocate PDO name.\n");
+ EC_ERR("Failed to allocate Pdo name.\n");
return -1;
}
memcpy(pdo->name, name, len + 1);
@@ -153,7 +153,7 @@
list_for_each_entry(other_entry, &other->entries, list) {
if (!(entry = (ec_pdo_entry_t *)
kmalloc(sizeof(ec_pdo_entry_t), GFP_KERNEL))) {
- EC_ERR("Failed to allocate memory for PDO entry copy.\n");
+ EC_ERR("Failed to allocate memory for Pdo entry copy.\n");
return -1;
}
@@ -261,7 +261,7 @@
if (name && (len = strlen(name))) {
if (!(entry->name = (char *) kmalloc(len + 1, GFP_KERNEL))) {
- EC_ERR("Failed to allocate PDO entry name.\n");
+ EC_ERR("Failed to allocate Pdo entry name.\n");
return -1;
}
memcpy(entry->name, name, len + 1);
--- a/master/pdo.h Fri Feb 22 11:33:49 2008 +0000
+++ b/master/pdo.h Fri Feb 22 12:29:30 2008 +0000
@@ -49,25 +49,25 @@
/*****************************************************************************/
-/** PDO description.
+/** Pdo description.
*/
typedef struct {
struct list_head list; /**< List item. */
- ec_direction_t dir; /**< PDO direction. */
- uint16_t index; /**< PDO index. */
+ ec_direction_t dir; /**< Pdo direction. */
+ uint16_t index; /**< Pdo index. */
int8_t sync_index; /**< Assigned sync manager. */
- char *name; /**< PDO name. */
- struct list_head entries; /**< List of PDO entries. */
+ char *name; /**< Pdo name. */
+ struct list_head entries; /**< List of Pdo entries. */
} ec_pdo_t;
/*****************************************************************************/
-/** PDO entry description.
+/** Pdo entry description.
*/
typedef struct {
struct list_head list; /**< list item */
- uint16_t index; /**< PDO entry index */
- uint8_t subindex; /**< PDO entry subindex */
+ uint16_t index; /**< Pdo entry index */
+ uint8_t subindex; /**< Pdo entry subindex */
char *name; /**< entry name */
uint8_t bit_length; /**< entry length in bit */
} ec_pdo_entry_t;
--- a/master/pdo_mapping.c Fri Feb 22 11:33:49 2008 +0000
+++ b/master/pdo_mapping.c Fri Feb 22 12:29:30 2008 +0000
@@ -85,7 +85,7 @@
/*****************************************************************************/
-/** Calculates the total size of the mapped PDO entries.
+/** Calculates the total size of the mapped Pdo entries.
*
* \retval Data size in byte.
*/
@@ -121,20 +121,20 @@
*/
int ec_pdo_mapping_add_pdo(
ec_pdo_mapping_t *pm, /**< Pdo mapping. */
- const ec_pdo_t *pdo /**< PDO to add. */
+ const ec_pdo_t *pdo /**< Pdo to add. */
)
{
ec_pdo_t *mapped_pdo;
- // PDO already mapped?
+ // Pdo already mapped?
list_for_each_entry(mapped_pdo, &pm->pdos, list) {
if (mapped_pdo->index != pdo->index) continue;
- EC_ERR("PDO 0x%04X is already mapped!\n", pdo->index);
+ EC_ERR("Pdo 0x%04X is already mapped!\n", pdo->index);
return -1;
}
if (!(mapped_pdo = kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
- EC_ERR("Failed to allocate memory for PDO mapping.\n");
+ EC_ERR("Failed to allocate memory for Pdo mapping.\n");
return -1;
}
@@ -193,7 +193,7 @@
entry_info = &pdo_info->entries[i];
if (!(entry = kmalloc(sizeof(ec_pdo_entry_t), GFP_KERNEL))) {
- EC_ERR("Failed to allocate memory for PDO entry.\n");
+ EC_ERR("Failed to allocate memory for Pdo entry.\n");
goto out_free;
}
@@ -260,14 +260,14 @@
*/
int ec_pdo_mapping_copy(
ec_pdo_mapping_t *pm, /**< Pdo mapping. */
- const ec_pdo_mapping_t *other /**< PDO mapping to copy from. */
+ const ec_pdo_mapping_t *other /**< Pdo mapping to copy from. */
)
{
ec_pdo_t *other_pdo;
ec_pdo_mapping_clear_pdos(pm);
- // PDO already mapped?
+ // Pdo already mapped?
list_for_each_entry(other_pdo, &other->pdos, list) {
if (ec_pdo_mapping_add_pdo(pm, other_pdo))
return -1;
--- a/master/pdo_mapping.h Fri Feb 22 11:33:49 2008 +0000
+++ b/master/pdo_mapping.h Fri Feb 22 12:29:30 2008 +0000
@@ -49,7 +49,7 @@
/*****************************************************************************/
-/** EtherCAT PDO mapping.
+/** EtherCAT Pdo mapping.
*/
typedef struct {
struct list_head pdos; /**< List of Pdos. */
--- a/master/slave.c Fri Feb 22 11:33:49 2008 +0000
+++ b/master/slave.c Fri Feb 22 12:29:30 2008 +0000
@@ -178,7 +178,7 @@
goto out_slave_put;
}
- // init SDO kobject and add it to the hierarchy
+ // init Sdo kobject and add it to the hierarchy
memset(&slave->sdo_kobj, 0x00, sizeof(struct kobject));
kobject_init(&slave->sdo_kobj);
slave->sdo_kobj.ktype = &ktype_ec_slave_sdos;
@@ -188,7 +188,7 @@
goto out_sdo_put;
}
if (kobject_add(&slave->sdo_kobj)) {
- EC_ERR("Failed to add SDOs kobject.\n");
+ EC_ERR("Failed to add Sdos kobject.\n");
goto out_sdo_put;
}
@@ -216,13 +216,13 @@
if (slave->config)
ec_slave_config_detach(slave->config);
- // free all SDOs
+ // free all Sdos
list_for_each_entry_safe(sdo, next_sdo, &slave->sdo_dictionary, list) {
list_del(&sdo->list);
ec_sdo_destroy(sdo);
}
- // free SDO kobject
+ // free Sdo kobject
kobject_del(&slave->sdo_kobj);
kobject_put(&slave->sdo_kobj);
@@ -262,7 +262,7 @@
kfree(slave->sii_syncs);
}
- // free all SII PDOs
+ // free all SII Pdos
list_for_each_entry_safe(pdo, next_pdo, &slave->sii_pdos, list) {
list_del(&pdo->list);
ec_pdo_clear(pdo);
@@ -277,10 +277,10 @@
/*****************************************************************************/
/**
- * SDO kobject clear method.
+ * Sdo kobject clear method.
*/
-void ec_slave_sdos_clear(struct kobject *kobj /**< kobject for SDOs */)
+void ec_slave_sdos_clear(struct kobject *kobj /**< kobject for Sdos */)
{
}
@@ -490,7 +490,7 @@
/*****************************************************************************/
/**
- Fetches data from a [RT]XPDO category.
+ Fetches data from a [RT]XPdo category.
\return 0 in case of success, else < 0
*/
@@ -498,7 +498,7 @@
ec_slave_t *slave, /**< EtherCAT slave */
const uint8_t *data, /**< category data */
size_t data_size, /**< number of bytes */
- ec_direction_t dir /**< PDO direction. */
+ ec_direction_t dir /**< Pdo direction. */
)
{
ec_pdo_t *pdo;
@@ -507,7 +507,7 @@
while (data_size >= 8) {
if (!(pdo = kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
- EC_ERR("Failed to allocate PDO memory.\n");
+ EC_ERR("Failed to allocate Pdo memory.\n");
return -1;
}
@@ -529,7 +529,7 @@
for (i = 0; i < entry_count; i++) {
if (!(entry = kmalloc(sizeof(ec_pdo_entry_t), GFP_KERNEL))) {
- EC_ERR("Failed to allocate PDO entry memory.\n");
+ EC_ERR("Failed to allocate Pdo entry memory.\n");
return -1;
}
@@ -549,12 +549,12 @@
data += 8;
}
- // if sync manager index is positive, the PDO is mapped by default
+ // if sync manager index is positive, the Pdo is mapped by default
if (pdo->sync_index >= 0) {
ec_sync_t *sync;
if (pdo->sync_index >= slave->sii_sync_count) {
- EC_ERR("Invalid SM index %i for PDO 0x%04X in slave %u.",
+ EC_ERR("Invalid SM index %i for Pdo 0x%04X in slave %u.",
pdo->sync_index, pdo->index, slave->ring_position);
return -1;
}
@@ -722,7 +722,7 @@
}
if (slave->sii_sync_count) {
- buf += sprintf(buf, "Sync managers / PDO mapping:\n");
+ buf += sprintf(buf, "Sync managers / Pdo mapping:\n");
for (i = 0; i < slave->sii_sync_count; i++) {
sync = &slave->sii_syncs[i];
@@ -733,10 +733,10 @@
sync->enable ? "enable" : "disable");
if (list_empty(&sync->mapping.pdos)) {
- buf += sprintf(buf, " No PDOs mapped.\n");
+ buf += sprintf(buf, " No Pdos mapped.\n");
} else if (sync->mapping_source != EC_SYNC_MAPPING_NONE) {
buf += sprintf(buf,
- " PDO mapping information from %s.\n",
+ " Pdo mapping information from %s.\n",
sync->mapping_source == EC_SYNC_MAPPING_SII
? "SII" : "CoE");
}
@@ -760,7 +760,7 @@
// type-cast to avoid warnings on some compilers
if (!list_empty((struct list_head *) &slave->sii_pdos)) {
- buf += sprintf(buf, "Available PDOs from SII:\n");
+ buf += sprintf(buf, "Available Pdos from SII:\n");
list_for_each_entry(pdo, &slave->sii_pdos, list) {
buf += sprintf(buf, " %s 0x%04X \"%s\"",
@@ -1111,7 +1111,7 @@
/*****************************************************************************/
/**
- * Get the sync manager for either Rx- or Tx-PDOs.
+ * Get the sync manager for either Rx- or Tx-Pdos.
* \return pointer to sync manager, or NULL.
*/
@@ -1161,11 +1161,11 @@
/*****************************************************************************/
/**
- Counts the total number of SDOs and entries in the dictionary.
+ Counts the total number of Sdos and entries in the dictionary.
*/
void ec_slave_sdo_dict_info(const ec_slave_t *slave, /**< EtherCAT slave */
- unsigned int *sdo_count, /**< number of SDOs */
+ unsigned int *sdo_count, /**< number of Sdos */
unsigned int *entry_count /**< total number of
entries */
)
@@ -1188,13 +1188,13 @@
/*****************************************************************************/
/**
- * Get an SDO from the dictionary.
- * \returns The desired SDO, or NULL.
+ * Get an Sdo from the dictionary.
+ * \returns The desired Sdo, or NULL.
*/
ec_sdo_t *ec_slave_get_sdo(
ec_slave_t *slave /**< EtherCAT slave */,
- uint16_t index /**< SDO index */
+ uint16_t index /**< Sdo index */
)
{
ec_sdo_t *sdo;
--- a/master/slave.h Fri Feb 22 11:33:49 2008 +0000
+++ b/master/slave.h Fri Feb 22 12:29:30 2008 +0000
@@ -152,12 +152,12 @@
char *sii_name; /**< slave name acc. to EEPROM */
int16_t sii_current_on_ebus; /**< power consumption */
- struct kobject sdo_kobj; /**< kobject for SDOs */
- struct list_head sdo_dictionary; /**< SDO dictionary list */
+ struct kobject sdo_kobj; /**< kobject for Sdos */
+ struct list_head sdo_dictionary; /**< Sdo dictionary list */
uint8_t sdo_dictionary_fetched; /**< dictionary has been fetched */
unsigned long jiffies_preop; /**< time, the slave went to PREOP */
- uint8_t pdo_mapping_fetched; /**< PDO mapping has been fetched */
+ uint8_t pdo_mapping_fetched; /**< Pdo mapping has been fetched */
};
/*****************************************************************************/
--- a/master/slave_config.c Fri Feb 22 11:33:49 2008 +0000
+++ b/master/slave_config.c Fri Feb 22 12:29:30 2008 +0000
@@ -167,7 +167,7 @@
for (dir = EC_DIR_OUTPUT; dir <= EC_DIR_INPUT; dir++)
ec_pdo_mapping_clear(&sc->mapping[dir]);
- // free all SDO configurations
+ // free all Sdo configurations
list_for_each_entry_safe(sdodata, next_sdodata, &sc->sdo_configs, list) {
list_del(&sdodata->list);
kfree(sdodata->data);
@@ -195,7 +195,7 @@
int ec_slave_config_prepare_fmmu(
ec_slave_config_t *sc, /**< Slave configuration. */
ec_domain_t *domain, /**< Domain. */
- ec_direction_t dir /**< PDO direction. */
+ ec_direction_t dir /**< Pdo direction. */
)
{
unsigned int i;
@@ -263,7 +263,7 @@
// type-cast to avoid warnings on some compilers
if (!list_empty((struct list_head *) &sc->sdo_configs)) {
- buf += sprintf(buf, "\nSDO configurations:\n");
+ buf += sprintf(buf, "\nSdo configurations:\n");
list_for_each_entry(sdodata, &sc->sdo_configs, list) {
switch (sdodata->size) {
@@ -304,7 +304,7 @@
/*****************************************************************************/
-/** Adds an SDO configuration.
+/** Adds an Sdo configuration.
*/
int ec_slave_config_sdo(ec_slave_config_t *sc, uint16_t index,
uint8_t subindex, const uint8_t *data, size_t size)
@@ -319,12 +319,12 @@
if (!(sdodata = (ec_sdo_data_t *)
kmalloc(sizeof(ec_sdo_data_t), GFP_KERNEL))) {
- EC_ERR("Failed to allocate memory for SDO configuration object!\n");
+ EC_ERR("Failed to allocate memory for Sdo configuration object!\n");
return -1;
}
if (!(sdodata->data = (uint8_t *) kmalloc(size, GFP_KERNEL))) {
- EC_ERR("Failed to allocate memory for SDO configuration data!\n");
+ EC_ERR("Failed to allocate memory for Sdo configuration data!\n");
kfree(sdodata);
return -1;
}
@@ -481,7 +481,7 @@
}
}
- EC_ERR("PDO entry 0x%04X:%u is not mapped in slave config %u:%u.\n",
+ EC_ERR("Pdo entry 0x%04X:%u is not mapped in slave config %u:%u.\n",
index, subindex, sc->alias, sc->position);
return -1;
--- a/master/slave_config.h Fri Feb 22 11:33:49 2008 +0000
+++ b/master/slave_config.h Fri Feb 22 12:29:30 2008 +0000
@@ -69,9 +69,9 @@
ec_slave_t *slave; /**< Slave pointer. This is \a NULL, if the slave is
offline. */
- ec_pdo_mapping_t mapping[2]; /**< Output and input PDO mapping. */
+ ec_pdo_mapping_t mapping[2]; /**< Output and input Pdo mapping. */
- struct list_head sdo_configs; /**< SDO configurations. */
+ struct list_head sdo_configs; /**< Sdo configurations. */
ec_fmmu_config_t fmmu_configs[EC_MAX_FMMUS]; /**< FMMU configurations. */
uint8_t used_fmmus; /**< Number of FMMUs used. */
--- a/master/sync.c Fri Feb 22 11:33:49 2008 +0000
+++ b/master/sync.c Fri Feb 22 12:29:30 2008 +0000
@@ -98,13 +98,13 @@
/*****************************************************************************/
-/** Adds a PDO to the list of known mapped PDOs.
+/** Adds a Pdo to the list of known mapped Pdos.
*
* \return 0 on success, else < 0
*/
int ec_sync_add_pdo(
ec_sync_t *sync, /**< EtherCAT sync manager. */
- const ec_pdo_t *pdo /**< PDO to map. */
+ const ec_pdo_t *pdo /**< Pdo to map. */
)
{
return ec_pdo_mapping_add_pdo(&sync->mapping, pdo);
--- a/master/sync.h Fri Feb 22 11:33:49 2008 +0000
+++ b/master/sync.h Fri Feb 22 12:29:30 2008 +0000
@@ -49,13 +49,13 @@
/*****************************************************************************/
-/** EtherCAT sync manager PDO mapping information source.
+/** EtherCAT sync manager Pdo mapping information source.
*/
typedef enum {
- EC_SYNC_MAPPING_NONE, /**< No PDO mapping information. */
- EC_SYNC_MAPPING_SII, /**< PDO mapping information from SII. */
- EC_SYNC_MAPPING_COE, /**< PDO mapping information from CoE dictionary. */
- EC_SYNC_MAPPING_CUSTOM, /**< PDO mapping configured externally. */
+ EC_SYNC_MAPPING_NONE, /**< No Pdo mapping information. */
+ EC_SYNC_MAPPING_SII, /**< Pdo mapping information from SII. */
+ EC_SYNC_MAPPING_COE, /**< Pdo mapping information from CoE dictionary. */
+ EC_SYNC_MAPPING_CUSTOM, /**< Pdo mapping configured externally. */
} ec_sync_mapping_source_t;
/*****************************************************************************/