--- a/Doxyfile Thu Apr 20 14:34:58 2006 +0000
+++ b/Doxyfile Fri Apr 21 12:35:17 2006 +0000
@@ -1,10 +1,10 @@
#---------------------------------------------------------------------------
#
-# Doxyfile 1.4.4
+# Doxyfile 1.4.4
#
-# IgH EtherCAT-Treiber
+# IgH EtherCAT driver
#
-# $Id$
+# $Id$
#
#---------------------------------------------------------------------------
@@ -25,7 +25,7 @@
# The PROJECT_NAME tag is a single word (or a sequence of words surrounded
# by quotes) that should identify the project.
-PROJECT_NAME = EtherCAT
+PROJECT_NAME = "IgH EtherCAT master"
# The PROJECT_NUMBER tag can be used to enter a project or revision number.
# This could be handy for archiving the generated documentation or
@@ -38,7 +38,7 @@
# If a relative path is entered, it will be relative to the location
# where doxygen was started. If left blank the current directory will be used.
-OUTPUT_DIRECTORY = doc
+OUTPUT_DIRECTORY = documentation/doxygen-output
# If the CREATE_SUBDIRS tag is set to YES, then doxygen will create
# 4096 sub-directories (in 2 levels) under the output directory of each output
@@ -59,7 +59,7 @@
# Polish, Portuguese, Romanian, Russian, Serbian, Slovak, Slovene, Spanish,
# Swedish, and Ukrainian.
-OUTPUT_LANGUAGE = German
+OUTPUT_LANGUAGE = English
# This tag can be used to specify the encoding used in the generated output.
# The encoding is not always determined by the language that is chosen,
@@ -185,7 +185,7 @@
# The TAB_SIZE tag can be used to set the number of spaces in a tab.
# Doxygen uses this value to replace tabs by spaces in code fragments.
-TAB_SIZE = 3
+TAB_SIZE = 4
# This tag can be used to specify a number of aliases that acts
# as commands in the documentation. An alias has the form "name=value".
@@ -227,7 +227,7 @@
# Private class members and static file members will be hidden unless
# the EXTRACT_PRIVATE and EXTRACT_STATIC tags are set to YES
-EXTRACT_ALL = YES
+EXTRACT_ALL = NO
# If the EXTRACT_PRIVATE tag is set to YES all private members of a class
# will be included in the documentation.
@@ -258,14 +258,14 @@
# various overviews, but no documentation section is generated.
# This option has no effect if EXTRACT_ALL is enabled.
-HIDE_UNDOC_MEMBERS = YES
+HIDE_UNDOC_MEMBERS = NO
# If the HIDE_UNDOC_CLASSES tag is set to YES, Doxygen will hide all
# undocumented classes that are normally visible in the class hierarchy.
# If set to NO (the default) these classes will be included in the various
# overviews. This option has no effect if EXTRACT_ALL is enabled.
-HIDE_UNDOC_CLASSES = YES
+HIDE_UNDOC_CLASSES = NO
# If the HIDE_FRIEND_COMPOUNDS tag is set to YES, Doxygen will hide all
# friend (class|struct|union) declarations.
@@ -432,7 +432,7 @@
# wrong or incomplete parameter documentation, but not about the absence of
# documentation.
-WARN_NO_PARAMDOC = NO
+WARN_NO_PARAMDOC = YES
# The WARN_FORMAT tag determines the format of the warning messages that
# doxygen can produce. The string should contain the $file, $line, and $text
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/LICENSE Fri Apr 21 12:35:17 2006 +0000
@@ -0,0 +1,340 @@
+ GNU GENERAL PUBLIC LICENSE
+ Version 2, June 1991
+
+ Copyright (C) 1989, 1991 Free Software Foundation, Inc.
+ 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+ Preamble
+
+ The licenses for most software are designed to take away your
+freedom to share and change it. By contrast, the GNU General Public
+License is intended to guarantee your freedom to share and change free
+software--to make sure the software is free for all its users. This
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+Foundation's software and to any other program whose authors commit to
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+ TERMS AND CONDITIONS FOR COPYING, DISTRIBUTION AND MODIFICATION
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+a notice placed by the copyright holder saying it may be distributed
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+running the Program is not restricted, and the output from the Program
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+Whether that is true depends on what the Program does.
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+ 1. You may copy and distribute verbatim copies of the Program's
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+You may charge a fee for the physical act of transferring a copy, and
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+ 2. You may modify your copy or copies of the Program or any portion
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+a storage or distribution medium does not bring the other work under
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+either of that version or of any later version published by the Free
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+YOU OR THIRD PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER
+PROGRAMS), EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGES.
+
+ END OF TERMS AND CONDITIONS
+
+ How to Apply These Terms to Your New Programs
+
+ If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+
+ To do so, attach the following notices to the program. It is safest
+to attach them to the start of each source file to most effectively
+convey the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+ <one line to give the program's name and a brief idea of what it does.>
+ Copyright (C) <year> <name of author>
+
+ This program is free software; you can redistribute it and/or modify
+ it under the terms of the GNU General Public License as published by
+ the Free Software Foundation; either version 2 of the License, or
+ (at your option) any later version.
+
+ This program is distributed in the hope that it will be useful,
+ but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with this program; if not, write to the Free Software
+ Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+
+
+Also add information on how to contact you by electronic and paper mail.
+
+If the program is interactive, make it output a short notice like this
+when it starts in an interactive mode:
+
+ Gnomovision version 69, Copyright (C) year name of author
+ Gnomovision comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+ This is free software, and you are welcome to redistribute it
+ under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License. Of course, the commands you use may
+be called something other than `show w' and `show c'; they could even be
+mouse-clicks or menu items--whatever suits your program.
+
+You should also get your employer (if you work as a programmer) or your
+school, if any, to sign a "copyright disclaimer" for the program, if
+necessary. Here is a sample; alter the names:
+
+ Yoyodyne, Inc., hereby disclaims all copyright interest in the program
+ `Gnomovision' (which makes passes at compilers) written by James Hacker.
+
+ <signature of Ty Coon>, 1 April 1989
+ Ty Coon, President of Vice
+
+This General Public License does not permit incorporating your program into
+proprietary programs. If your program is a subroutine library, you may
+consider it more useful to permit linking proprietary applications with the
+library. If this is what you want to do, use the GNU Lesser General
+Public License instead of this License.
--- a/Makefile Thu Apr 20 14:34:58 2006 +0000
+++ b/Makefile Fri Apr 21 12:35:17 2006 +0000
@@ -4,6 +4,23 @@
#
# $Id$
#
+# Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+#
+# This file is part of the IgH EtherCAT Master.
+#
+# The IgH EtherCAT Master is free software; you can redistribute it
+# and/or modify it under the terms of the GNU General Public License
+# as published by the Free Software Foundation; version 2 of the License.
+#
+# The IgH EtherCAT Master is distributed in the hope that it will be
+# useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with the IgH EtherCAT Master; if not, write to the Free Software
+# Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+#
#------------------------------------------------------------------------------
ifneq ($(KERNELRELEASE),)
--- a/README Thu Apr 20 14:34:58 2006 +0000
+++ b/README Fri Apr 21 12:35:17 2006 +0000
@@ -1,11 +1,20 @@
-------------------------------------------------------------------------------
+This is the README file of the IgH EtherCAT Master.
+
$Id$
+Contents:
+1) General Information
+2) Requirements
+3) Building and Installing
+4) Realtime & Tuning
+5) License
+
-------------------------------------------------------------------------------
-General Information
-===================
+1) General Information
+======================
This is an Open-Source EtherCAT master implementation for Linux 2.6.
@@ -23,8 +32,8 @@
-------------------------------------------------------------------------------
-Requirements
-============
+2) Requirements
+===============
1) Software requirements
@@ -39,8 +48,8 @@
-------------------------------------------------------------------------------
-Building and installing
-=======================
+3) Building and installing
+==========================
1) Create a copy of the configuration template:
@@ -66,8 +75,8 @@
-------------------------------------------------------------------------------
-Realtime & Tuning
-=================
+4) Realtime & Tuning
+====================
Realtime patches for the Linux kernel are supported, but not required. The
realtime processing has to be done by the calling module (see API
@@ -78,3 +87,25 @@
recommented (hdparm -d0 <DEV>).
-------------------------------------------------------------------------------
+
+5) License
+==========
+
+Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+
+This file is part of the IgH EtherCAT Master.
+
+The IgH EtherCAT Master is free software; you can redistribute it
+and/or modify it under the terms of the GNU General Public License
+as published by the Free Software Foundation; version 2 of the License.
+
+The IgH EtherCAT Master is distributed in the hope that it will be
+useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with the IgH EtherCAT Master; if not, write to the Free Software
+Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+
+-------------------------------------------------------------------------------
--- a/devices/8139too.c Thu Apr 20 14:34:58 2006 +0000
+++ b/devices/8139too.c Fri Apr 21 12:35:17 2006 +0000
@@ -4,21 +4,26 @@
*
* EtherCAT driver for RTL8139-compatible NICs.
*
- * Authors: Florian Pose <fp@igh-essen.com>
- * Wilhelm Hagemeister <hm@igh-essen.com>
+ * $Id$
*
- * $Date$
- * $Author$
+ * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
*
- * (C) Copyright IgH 2006
- * Ingenieurgemeinschaft IgH
- * Heinz-Bäcker Str. 34
- * D-45356 Essen
- * Tel.: +49 201/61 99 31
- * Fax.: +49 201/61 98 36
- * E-mail: sp@igh-essen.com
+ * This file is part of the IgH EtherCAT Master.
*
- ******************************************************************************/
+ * The IgH EtherCAT Master is free software; you can redistribute it
+ * and/or modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; version 2 of the License.
+ *
+ * The IgH EtherCAT Master is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the IgH EtherCAT Master; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
+ *****************************************************************************/
/*
8139too.c: A RealTek RTL-8139 Fast Ethernet driver for Linux.
--- a/devices/Makefile Thu Apr 20 14:34:58 2006 +0000
+++ b/devices/Makefile Fri Apr 21 12:35:17 2006 +0000
@@ -6,6 +6,23 @@
#
# $Id$
#
+# Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+#
+# This file is part of the IgH EtherCAT Master.
+#
+# The IgH EtherCAT Master is free software; you can redistribute it
+# and/or modify it under the terms of the GNU General Public License
+# as published by the Free Software Foundation; version 2 of the License.
+#
+# The IgH EtherCAT Master is distributed in the hope that it will be
+# useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with the IgH EtherCAT Master; if not, write to the Free Software
+# Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+#
#------------------------------------------------------------------------------
ifneq ($(KERNELRELEASE),)
--- a/devices/ecdev.h Thu Apr 20 14:34:58 2006 +0000
+++ b/devices/ecdev.h Fri Apr 21 12:35:17 2006 +0000
@@ -4,6 +4,23 @@
*
* $Id$
*
+ * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ * This file is part of the IgH EtherCAT Master.
+ *
+ * The IgH EtherCAT Master is free software; you can redistribute it
+ * and/or modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; version 2 of the License.
+ *
+ * The IgH EtherCAT Master is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the IgH EtherCAT Master; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
*****************************************************************************/
#ifndef _ETHERCAT_DEVICE_H_
--- a/ethercat.sh Thu Apr 20 14:34:58 2006 +0000
+++ b/ethercat.sh Fri Apr 21 12:35:17 2006 +0000
@@ -6,6 +6,23 @@
#
# $Id$
#
+# Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+#
+# This file is part of the IgH EtherCAT Master.
+#
+# The IgH EtherCAT Master is free software; you can redistribute it
+# and/or modify it under the terms of the GNU General Public License
+# as published by the Free Software Foundation; version 2 of the License.
+#
+# The IgH EtherCAT Master is distributed in the hope that it will be
+# useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with the IgH EtherCAT Master; if not, write to the Free Software
+# Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+#
#------------------------------------------------------------------------------
CONFIGFILE=/etc/sysconfig/ethercat
--- a/include/ecrt.h Thu Apr 20 14:34:58 2006 +0000
+++ b/include/ecrt.h Fri Apr 21 12:35:17 2006 +0000
@@ -4,6 +4,23 @@
*
* $Id$
*
+ * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ * This file is part of the IgH EtherCAT Master.
+ *
+ * The IgH EtherCAT Master is free software; you can redistribute it
+ * and/or modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; version 2 of the License.
+ *
+ * The IgH EtherCAT Master is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the IgH EtherCAT Master; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
*****************************************************************************/
#ifndef __ECRT_H__
--- a/install.sh Thu Apr 20 14:34:58 2006 +0000
+++ b/install.sh Fri Apr 21 12:35:17 2006 +0000
@@ -6,6 +6,23 @@
#
# $Id$
#
+# Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+#
+# This file is part of the IgH EtherCAT Master.
+#
+# The IgH EtherCAT Master is free software; you can redistribute it
+# and/or modify it under the terms of the GNU General Public License
+# as published by the Free Software Foundation; version 2 of the License.
+#
+# The IgH EtherCAT Master is distributed in the hope that it will be
+# useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with the IgH EtherCAT Master; if not, write to the Free Software
+# Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+#
#------------------------------------------------------------------------------
CONFIGFILE=/etc/sysconfig/ethercat
--- a/master/Makefile Thu Apr 20 14:34:58 2006 +0000
+++ b/master/Makefile Fri Apr 21 12:35:17 2006 +0000
@@ -6,6 +6,23 @@
#
# $Id$
#
+# Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+#
+# This file is part of the IgH EtherCAT Master.
+#
+# The IgH EtherCAT Master is free software; you can redistribute it
+# and/or modify it under the terms of the GNU General Public License
+# as published by the Free Software Foundation; version 2 of the License.
+#
+# The IgH EtherCAT Master is distributed in the hope that it will be
+# useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with the IgH EtherCAT Master; if not, write to the Free Software
+# Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+#
#------------------------------------------------------------------------------
ifneq ($(KERNELRELEASE),)
--- a/master/canopen.c Thu Apr 20 14:34:58 2006 +0000
+++ b/master/canopen.c Fri Apr 21 12:35:17 2006 +0000
@@ -6,6 +6,23 @@
*
* $Id$
*
+ * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ * This file is part of the IgH EtherCAT Master.
+ *
+ * The IgH EtherCAT Master is free software; you can redistribute it
+ * and/or modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; version 2 of the License.
+ *
+ * The IgH EtherCAT Master is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the IgH EtherCAT Master; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
*****************************************************************************/
#include <linux/delay.h>
@@ -30,7 +47,8 @@
/**
Reads 32 bit of a CANopen SDO in expedited mode.
\return 0 in case of success, else < 0
- */
+ \ingroup Slave
+*/
int ec_slave_sdo_read_exp(ec_slave_t *slave, /**< EtherCAT slave */
uint16_t sdo_index, /**< SDO index */
@@ -79,13 +97,14 @@
/**
Writes a CANopen SDO using expedited mode.
\return 0 in case of success, else < 0
- */
+ \ingroup Slave
+*/
int ec_slave_sdo_write_exp(ec_slave_t *slave, /**< EtherCAT slave */
uint16_t sdo_index, /**< SDO index */
uint8_t sdo_subindex, /**< SDO subindex */
const uint8_t *sdo_data, /**< new value */
- size_t size
+ size_t size /**< Data size in bytes (1 - 4) */
)
{
uint8_t *data;
@@ -138,9 +157,9 @@
/**
Reads a CANopen SDO in normal mode.
\return 0 in case of success, else < 0
-
+ \ingroup Slave
\todo size
- */
+*/
int ecrt_slave_sdo_read(ec_slave_t *slave, /**< EtherCAT slave */
uint16_t sdo_index, /**< SDO index */
@@ -209,6 +228,7 @@
/**
Fetches the SDO dictionary of a slave.
\return 0 in case of success, else < 0
+ \ingroup Slave
*/
int ec_slave_fetch_sdo_list(ec_slave_t *slave /**< EtherCAT slave */)
@@ -291,6 +311,7 @@
/**
Fetches the SDO descriptions for the known SDOs.
\return 0 in case of success, else < 0
+ \ingroup Slave
*/
int ec_slave_fetch_sdo_descriptions(ec_slave_t *slave /**< EtherCAT slave */)
@@ -369,6 +390,7 @@
/**
Fetches all entries (subindices) to an SDO.
\return 0 in case of success, else < 0
+ \ingroup Slave
*/
int ec_slave_fetch_sdo_entries(ec_slave_t *slave, /**< EtherCAT slave */
@@ -516,7 +538,8 @@
Reads an 8-bit SDO in expedited mode.
See ec_slave_sdo_read_exp()
\return 0 in case of success, else < 0
- */
+ \ingroup Slave
+*/
int ecrt_slave_sdo_read_exp8(ec_slave_t *slave, /**< EtherCAT slave */
uint16_t sdo_index, /**< SDO index */
@@ -536,7 +559,8 @@
Reads a 16-bit SDO in expedited mode.
See ec_slave_sdo_read_exp()
\return 0 in case of success, else < 0
- */
+ \ingroup Slave
+*/
int ecrt_slave_sdo_read_exp16(ec_slave_t *slave, /**< EtherCAT slave */
uint16_t sdo_index, /**< SDO index */
@@ -556,7 +580,8 @@
Reads a 32-bit SDO in expedited mode.
See ec_slave_sdo_read_exp()
\return 0 in case of success, else < 0
- */
+ \ingroup Slave
+*/
int ecrt_slave_sdo_read_exp32(ec_slave_t *slave, /**< EtherCAT slave */
uint16_t sdo_index, /**< SDO index */
@@ -575,7 +600,8 @@
/**
Writes an 8-bit SDO in expedited mode.
\return 0 in case of success, else < 0
- */
+ \ingroup Slave
+*/
int ecrt_slave_sdo_write_exp8(ec_slave_t *slave, /**< EtherCAT slave */
uint16_t sdo_index, /**< SDO index */
@@ -591,7 +617,8 @@
/**
Writes a 16-bit SDO in expedited mode.
\return 0 in case of success, else < 0
- */
+ \ingroup Slave
+*/
int ecrt_slave_sdo_write_exp16(ec_slave_t *slave, /**< EtherCAT slave */
uint16_t sdo_index, /**< SDO index */
@@ -609,7 +636,8 @@
/**
Writes a 32-bit SDO in expedited mode.
\return 0 in case of success, else < 0
- */
+ \ingroup Slave
+*/
int ecrt_slave_sdo_write_exp32(ec_slave_t *slave, /**< EtherCAT slave */
uint16_t sdo_index, /**< SDO index */
--- a/master/command.c Thu Apr 20 14:34:58 2006 +0000
+++ b/master/command.c Fri Apr 21 12:35:17 2006 +0000
@@ -6,6 +6,23 @@
*
* $Id$
*
+ * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ * This file is part of the IgH EtherCAT Master.
+ *
+ * The IgH EtherCAT Master is free software; you can redistribute it
+ * and/or modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; version 2 of the License.
+ *
+ * The IgH EtherCAT Master is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the IgH EtherCAT Master; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
*****************************************************************************/
#include <linux/slab.h>
@@ -32,9 +49,10 @@
/**
Command constructor.
-*/
-
-void ec_command_init(ec_command_t *command)
+ \ingroup Command
+*/
+
+void ec_command_init(ec_command_t *command /**< EtherCAT command */)
{
command->type = EC_CMD_NONE;
command->address.logical = 0x00000000;
@@ -50,9 +68,10 @@
/**
Command destructor.
-*/
-
-void ec_command_clear(ec_command_t *command)
+ \ingroup Command
+*/
+
+void ec_command_clear(ec_command_t *command /**< EtherCAT command */)
{
if (command->data) kfree(command->data);
}
@@ -61,10 +80,14 @@
/**
Allocates command data memory.
- \return 0 in case of success, else < 0
-*/
-
-int ec_command_prealloc(ec_command_t *command, size_t size)
+ If the allocated memory is already larger than requested, nothing ist done.
+ \return 0 in case of success, else < 0
+ \ingroup Command
+*/
+
+int ec_command_prealloc(ec_command_t *command, /**< EtherCAT command */
+ size_t size /**< New size in bytes */
+ )
{
if (size <= command->mem_size) return 0;
@@ -89,6 +112,7 @@
Initializes an EtherCAT NPRD command.
Node-adressed physical read.
\return 0 in case of success, else < 0
+ \ingroup Command
*/
int ec_command_nprd(ec_command_t *command,
@@ -117,6 +141,7 @@
Initializes an EtherCAT NPWR command.
Node-adressed physical write.
\return 0 in case of success, else < 0
+ \ingroup Command
*/
int ec_command_npwr(ec_command_t *command,
@@ -145,6 +170,7 @@
Initializes an EtherCAT APRD command.
Autoincrement physical read.
\return 0 in case of success, else < 0
+ \ingroup Command
*/
int ec_command_aprd(ec_command_t *command,
@@ -170,6 +196,7 @@
Initializes an EtherCAT APWR command.
Autoincrement physical write.
\return 0 in case of success, else < 0
+ \ingroup Command
*/
int ec_command_apwr(ec_command_t *command,
@@ -195,6 +222,7 @@
Initializes an EtherCAT BRD command.
Broadcast read.
\return 0 in case of success, else < 0
+ \ingroup Command
*/
int ec_command_brd(ec_command_t *command,
@@ -218,6 +246,7 @@
Initializes an EtherCAT BWR command.
Broadcast write.
\return 0 in case of success, else < 0
+ \ingroup Command
*/
int ec_command_bwr(ec_command_t *command,
@@ -241,6 +270,7 @@
Initializes an EtherCAT LRW command.
Logical read write.
\return 0 in case of success, else < 0
+ \ingroup Command
*/
int ec_command_lrw(ec_command_t *command,
--- a/master/command.h Thu Apr 20 14:34:58 2006 +0000
+++ b/master/command.h Fri Apr 21 12:35:17 2006 +0000
@@ -6,6 +6,23 @@
*
* $Id$
*
+ * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ * This file is part of the IgH EtherCAT Master.
+ *
+ * The IgH EtherCAT Master is free software; you can redistribute it
+ * and/or modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; version 2 of the License.
+ *
+ * The IgH EtherCAT Master is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the IgH EtherCAT Master; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
*****************************************************************************/
#ifndef _EC_COMMAND_H_
@@ -18,6 +35,16 @@
/*****************************************************************************/
/**
+ \defgroup Command EtherCAT command
+ Data types and functions for EtherCAT commands.
+ An EtherCAT command is sent and received using the ec_command_t data type.
+ It is passed to the master, which handles commands in a queue.
+ \{
+*/
+
+/*****************************************************************************/
+
+/**
EtherCAT command type.
*/
@@ -89,6 +116,8 @@
}
ec_command_t;
+/** \} */
+
/*****************************************************************************/
void ec_command_init(ec_command_t *);
--- a/master/device.c Thu Apr 20 14:34:58 2006 +0000
+++ b/master/device.c Fri Apr 21 12:35:17 2006 +0000
@@ -6,6 +6,23 @@
*
* $Id$
*
+ * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ * This file is part of the IgH EtherCAT Master.
+ *
+ * The IgH EtherCAT Master is free software; you can redistribute it
+ * and/or modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; version 2 of the License.
+ *
+ * The IgH EtherCAT Master is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the IgH EtherCAT Master; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
*****************************************************************************/
#include <linux/module.h>
@@ -22,6 +39,7 @@
/**
Device constructor.
\return 0 in case of success, else < 0
+ \ingroup Device
*/
int ec_device_init(ec_device_t *device, /**< EtherCAT device */
@@ -62,6 +80,7 @@
/**
EtherCAT device destuctor.
+ \ingroup Device
*/
void ec_device_clear(ec_device_t *device /**< EtherCAT device */)
@@ -75,6 +94,7 @@
/**
Opens the EtherCAT device.
\return 0 in case of success, else < 0
+ \ingroup Device
*/
int ec_device_open(ec_device_t *device /**< EtherCAT device */)
@@ -106,6 +126,7 @@
/**
Stops the EtherCAT device.
\return 0 in case of success, else < 0
+ \ingroup Device
*/
int ec_device_close(ec_device_t *device /**< EtherCAT device */)
@@ -130,6 +151,7 @@
/**
Returns a pointer to the device's transmit memory.
\return pointer to the TX socket buffer
+ \ingroup Device
*/
uint8_t *ec_device_tx_data(ec_device_t *device /**< EtherCAT device */)
@@ -143,6 +165,7 @@
Sends the content of the transmit socket buffer.
Cuts the socket buffer content to the (now known) size, and calls the
start_xmit() function of the assigned net_device.
+ \ingroup Device
*/
void ec_device_send(ec_device_t *device, /**< EtherCAT device */
@@ -168,6 +191,7 @@
/**
Calls the interrupt service routine of the assigned net_device.
+ \ingroup Device
*/
void ec_device_call_isr(ec_device_t *device /**< EtherCAT device */)
@@ -182,6 +206,7 @@
/**
Accepts a received frame.
Forwards the received data to the master.
+ \ingroup Device
*/
void ecdev_receive(ec_device_t *device, /**< EtherCAT device */
@@ -201,6 +226,7 @@
/**
Sets a new link state.
+ \ingroup Device
*/
void ecdev_link_state(ec_device_t *device, /**< EtherCAT device */
--- a/master/device.h Thu Apr 20 14:34:58 2006 +0000
+++ b/master/device.h Fri Apr 21 12:35:17 2006 +0000
@@ -6,6 +6,23 @@
*
* $Id$
*
+ * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ * This file is part of the IgH EtherCAT Master.
+ *
+ * The IgH EtherCAT Master is free software; you can redistribute it
+ * and/or modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; version 2 of the License.
+ *
+ * The IgH EtherCAT Master is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the IgH EtherCAT Master; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
*****************************************************************************/
#ifndef _EC_DEVICE_H_
@@ -20,6 +37,16 @@
/*****************************************************************************/
/**
+ \defgroup Device EtherCAT device
+ Data types and functions for EtherCAT devices.
+ An EtherCAT device is the connection from an EtherCAT master to a network
+ interface card.
+ \{
+*/
+
+/*****************************************************************************/
+
+/**
EtherCAT device.
An EtherCAT device is a network interface card, that is owned by an
@@ -37,6 +64,8 @@
uint8_t link_state; /**< device link state */
};
+/** \} */
+
/*****************************************************************************/
int ec_device_init(ec_device_t *, ec_master_t *, struct net_device *,
--- a/master/domain.c Thu Apr 20 14:34:58 2006 +0000
+++ b/master/domain.c Fri Apr 21 12:35:17 2006 +0000
@@ -6,6 +6,23 @@
*
* $Id$
*
+ * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ * This file is part of the IgH EtherCAT Master.
+ *
+ * The IgH EtherCAT Master is free software; you can redistribute it
+ * and/or modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; version 2 of the License.
+ *
+ * The IgH EtherCAT Master is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the IgH EtherCAT Master; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
*****************************************************************************/
#include "globals.h"
@@ -42,6 +59,7 @@
/**
Domain constructor.
\return 0 in case of success, else < 0
+ \ingroup Domain
*/
int ec_domain_init(ec_domain_t *domain, /**< EtherCAT domain */
@@ -75,6 +93,7 @@
/**
Domain destructor.
+ \ingroup Domain
*/
void ec_domain_clear(struct kobject *kobj /**< kobject of the domain */)
@@ -101,6 +120,7 @@
/**
Registeres a data field in a domain.
\return 0 in case of success, else < 0
+ \ingroup Domain
*/
int ec_domain_reg_field(ec_domain_t *domain, /**< EtherCAT domain */
@@ -138,6 +158,7 @@
/**
Clears the list of the registered data fields.
+ \ingroup Domain
*/
void ec_domain_clear_field_regs(ec_domain_t *domain /**< EtherCAT domain */)
@@ -155,6 +176,7 @@
/**
Allocates a process data command and appends it to the list.
\return 0 in case of success, else < 0
+ \ingroup Domain
*/
int ec_domain_add_command(ec_domain_t *domain, /**< EtherCAT domain */
@@ -188,6 +210,7 @@
corresponding FMMUs and sets the process data pointer of the registered
data fields.
\return 0 in case of success, else < 0
+ \ingroup Domain
*/
int ec_domain_alloc(ec_domain_t *domain, /**< EtherCAT domain */
@@ -281,6 +304,7 @@
This number isn't really the number of responding slaves, but the sum of
the working counters of all domain commands. Some slaves increase the
working counter by 2, some by 1.
+ \ingroup Domain
*/
void ec_domain_response_count(ec_domain_t *domain, /**< EtherCAT domain */
@@ -299,6 +323,7 @@
/**
Formats attribute data for SysFS reading.
\return number of bytes to read
+ \ingroup Domain
*/
ssize_t ec_show_domain_attribute(struct kobject *kobj, /**< kobject */
@@ -327,6 +352,7 @@
- If \a field_count is greater then 1, it is assumed that \a data_ptr
is an array of the respective size.
\return pointer to the slave on success, else NULL
+ \ingroup Domain
*/
ec_slave_t *ecrt_domain_register_field(ec_domain_t *domain,
@@ -418,6 +444,7 @@
Registeres a bunch of data fields.
Caution! The list has to be terminated with a NULL structure ({})!
\return 0 in case of success, else < 0
+ \ingroup Domain
*/
int ecrt_domain_register_field_list(ec_domain_t *domain,
@@ -443,6 +470,7 @@
/**
Places all process data commands in the masters command queue.
+ \ingroup Domain
*/
void ecrt_domain_queue(ec_domain_t *domain /**< EtherCAT domain */)
@@ -458,6 +486,7 @@
/**
Processes received process data.
+ \ingroup Domain
*/
void ecrt_domain_process(ec_domain_t *domain /**< EtherCAT domain */)
@@ -481,6 +510,7 @@
/**
Returns the state of a domain.
\return 0 if all commands were received, else -1.
+ \ingroup Domain
*/
int ecrt_domain_state(ec_domain_t *domain /**< EtherCAT domain */)
--- a/master/domain.h Thu Apr 20 14:34:58 2006 +0000
+++ b/master/domain.h Fri Apr 21 12:35:17 2006 +0000
@@ -6,6 +6,23 @@
*
* $Id$
*
+ * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ * This file is part of the IgH EtherCAT Master.
+ *
+ * The IgH EtherCAT Master is free software; you can redistribute it
+ * and/or modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; version 2 of the License.
+ *
+ * The IgH EtherCAT Master is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the IgH EtherCAT Master; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
*****************************************************************************/
#ifndef _EC_DOMAIN_H_
@@ -21,6 +38,15 @@
/*****************************************************************************/
/**
+ \defgroup Domain EtherCAT domain
+ Data types and methods for EtherCAT domains.
+ A domain handles process data IO with a group of slaves.
+ \{
+*/
+
+/*****************************************************************************/
+
+/**
Data field registration type.
*/
@@ -55,6 +81,8 @@
struct list_head field_regs; /**< data field registrations */
};
+/** \} */
+
/*****************************************************************************/
int ec_domain_init(ec_domain_t *, ec_master_t *, unsigned int);
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/master/doxygen.c Fri Apr 21 12:35:17 2006 +0000
@@ -0,0 +1,54 @@
+/******************************************************************************
+ *
+ * d o x y g e n . c
+ *
+ * Just for the doxygen mainpage.
+ *
+ * $Id$
+ *
+ *****************************************************************************/
+
+/**
+ \mainpage The IgH EtherCAT master
+
+ \section sec_docs Documentation
+
+ You will find the code documentation in the modules section.
+
+ There is an external API documentation for the realtime interface.
+
+ For information how to build and install, see the README file.
+
+ \section sec_contact Contact
+
+ \verbatim
+ Florian Pose <fp@igh-essen.com>
+ Ingenieurgemeinschaft IgH
+ Heinz-Baecker-Str. 34
+ D-45356 Essen
+ http://igh-essen.com
+ \endverbatim
+
+ \section sec_license License
+
+ \verbatim
+ Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+
+ This file is part of the IgH EtherCAT Master.
+
+ The IgH EtherCAT Master is free software; you can redistribute it
+ and/or modify it under the terms of the GNU General Public License
+ as published by the Free Software Foundation; version 2 of the License.
+
+ The IgH EtherCAT Master is distributed in the hope that it will be
+ useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+ MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ GNU General Public License for more details.
+
+ You should have received a copy of the GNU General Public License
+ along with the IgH EtherCAT Master; if not, write to the Free Software
+ Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ \endverbatim
+*/
+
+/*****************************************************************************/
--- a/master/ethernet.c Thu Apr 20 14:34:58 2006 +0000
+++ b/master/ethernet.c Fri Apr 21 12:35:17 2006 +0000
@@ -6,6 +6,23 @@
*
* $Id$
*
+ * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ * This file is part of the IgH EtherCAT Master.
+ *
+ * The IgH EtherCAT Master is free software; you can redistribute it
+ * and/or modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; version 2 of the License.
+ *
+ * The IgH EtherCAT Master is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the IgH EtherCAT Master; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
*****************************************************************************/
#include "../include/ecrt.h"
@@ -17,6 +34,10 @@
/*****************************************************************************/
+/**
+ \ingroup EoE
+*/
+
void ec_eoe_init(ec_eoe_t *eoe, ec_slave_t *slave)
{
eoe->slave = slave;
@@ -25,12 +46,20 @@
/*****************************************************************************/
+/**
+ \ingroup EoE
+*/
+
void ec_eoe_clear(ec_eoe_t *eoe)
{
}
/*****************************************************************************/
+/**
+ \ingroup EoE
+*/
+
void ec_eoe_run(ec_eoe_t *eoe)
{
uint8_t *data;
@@ -110,6 +139,10 @@
/*****************************************************************************/
+/**
+ \ingroup EoE
+*/
+
void ec_eoe_print(const ec_eoe_t *eoe)
{
EC_INFO(" EoE slave %i\n", eoe->slave->ring_position);
--- a/master/ethernet.h Thu Apr 20 14:34:58 2006 +0000
+++ b/master/ethernet.h Fri Apr 21 12:35:17 2006 +0000
@@ -6,6 +6,23 @@
*
* $Id$
*
+ * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ * This file is part of the IgH EtherCAT Master.
+ *
+ * The IgH EtherCAT Master is free software; you can redistribute it
+ * and/or modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; version 2 of the License.
+ *
+ * The IgH EtherCAT Master is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the IgH EtherCAT Master; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
*****************************************************************************/
#include <linux/list.h>
@@ -17,24 +34,44 @@
/*****************************************************************************/
+/**
+ \defgroup EoE EtherCAT-over-Ethernet (EoE)
+ Data types and functions for Ethernet-over-EtherCAT.
+ \{
+*/
+
+/*****************************************************************************/
+
+/**
+ State of an EoE object.
+*/
+
typedef enum
{
- EC_EOE_IDLE,
- EC_EOE_CHECKING,
- EC_EOE_FETCHING
+ EC_EOE_IDLE, /**< Idle. The next step ist to check for data. */
+ EC_EOE_CHECKING, /**< Checking frame was sent. */
+ EC_EOE_FETCHING /**< There is new data. Fetching frame was sent. */
}
ec_eoe_state_t;
/*****************************************************************************/
+/**
+ Ethernet-over-EtherCAT (EoE) Object.
+ The master creates one of these objects for each slave that supports the
+ EoE protocol.
+*/
+
typedef struct
{
- struct list_head list;
- ec_slave_t *slave;
- ec_eoe_state_t rx_state;
+ struct list_head list; /**< list item */
+ ec_slave_t *slave; /**< pointer to the corresponding slave */
+ ec_eoe_state_t rx_state; /**< state of the state machine */
}
ec_eoe_t;
+/** \} */
+
/*****************************************************************************/
void ec_eoe_init(ec_eoe_t *, ec_slave_t *);
--- a/master/globals.h Thu Apr 20 14:34:58 2006 +0000
+++ b/master/globals.h Fri Apr 21 12:35:17 2006 +0000
@@ -6,6 +6,23 @@
*
* $Id$
*
+ * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ * This file is part of the IgH EtherCAT Master.
+ *
+ * The IgH EtherCAT Master is free software; you can redistribute it
+ * and/or modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; version 2 of the License.
+ *
+ * The IgH EtherCAT Master is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the IgH EtherCAT Master; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
*****************************************************************************/
#ifndef _EC_GLOBALS_
@@ -17,8 +34,13 @@
* EtherCAT master
*****************************************************************************/
+/** master main version */
#define EC_MASTER_VERSION_MAIN 1
+
+/** master sub version (after the dot) */
#define EC_MASTER_VERSION_SUB 0
+
+/** master extra version (just a string) */
#define EC_MASTER_VERSION_EXTRA "trunk"
/** maximum number of FMMUs per slave */
@@ -31,7 +53,7 @@
/** maximum size of an EtherCAT frame (without header and CRC) */
#define EC_MAX_FRAME_SIZE 1500
-/** ... minimum size */
+/** minimum size of an EtherCAT frame (without header and CRC) */
#define EC_MIN_FRAME_SIZE 46
/** size of an EtherCAT frame header */
--- a/master/mailbox.c Thu Apr 20 14:34:58 2006 +0000
+++ b/master/mailbox.c Fri Apr 21 12:35:17 2006 +0000
@@ -6,6 +6,23 @@
*
* $Id$
*
+ * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ * This file is part of the IgH EtherCAT Master.
+ *
+ * The IgH EtherCAT Master is free software; you can redistribute it
+ * and/or modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; version 2 of the License.
+ *
+ * The IgH EtherCAT Master is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the IgH EtherCAT Master; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
*****************************************************************************/
#include <linux/slab.h>
@@ -20,6 +37,7 @@
/**
Prepares a mailbox-send command.
\return pointer to mailbox command data
+ \ingroup Slave
*/
uint8_t *ec_slave_mbox_prepare_send(ec_slave_t *slave, /**< slave */
@@ -60,6 +78,7 @@
/**
Prepares a command for checking the mailbox state.
\return 0 in case of success, else < 0
+ \ingroup Slave
*/
int ec_slave_mbox_prepare_check(ec_slave_t *slave /**< slave */)
@@ -78,6 +97,7 @@
/**
Processes a mailbox state checking command.
\return 0 in case of success, else < 0
+ \ingroup Slave
*/
int ec_slave_mbox_check(const ec_slave_t *slave /**< slave */)
@@ -90,6 +110,7 @@
/**
Prepares a command to fetch mailbox data.
\return 0 in case of success, else < 0
+ \ingroup Slave
*/
int ec_slave_mbox_prepare_fetch(ec_slave_t *slave /**< slave */)
@@ -107,6 +128,7 @@
/**
Processes received mailbox data.
\return pointer to the received data
+ \ingroup Slave
*/
uint8_t *ec_slave_mbox_fetch(ec_slave_t *slave, /**< slave */
@@ -139,6 +161,7 @@
/**
Sends a mailbox command and waits for its reception.
\return pointer to the received data
+ \ingroup Slave
*/
uint8_t *ec_slave_mbox_simple_io(ec_slave_t *slave, /**< slave */
@@ -165,6 +188,7 @@
/**
Waits for the reception of a mailbox command.
\return pointer to the received data
+ \ingroup Slave
*/
uint8_t *ec_slave_mbox_simple_receive(ec_slave_t *slave, /**< slave */
--- a/master/mailbox.h Thu Apr 20 14:34:58 2006 +0000
+++ b/master/mailbox.h Fri Apr 21 12:35:17 2006 +0000
@@ -6,6 +6,23 @@
*
* $Id$
*
+ * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ * This file is part of the IgH EtherCAT Master.
+ *
+ * The IgH EtherCAT Master is free software; you can redistribute it
+ * and/or modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; version 2 of the License.
+ *
+ * The IgH EtherCAT Master is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the IgH EtherCAT Master; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
*****************************************************************************/
#ifndef _EC_MAILBOX_H_
--- a/master/master.c Thu Apr 20 14:34:58 2006 +0000
+++ b/master/master.c Fri Apr 21 12:35:17 2006 +0000
@@ -6,6 +6,23 @@
*
* $Id$
*
+ * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ * This file is part of the IgH EtherCAT Master.
+ *
+ * The IgH EtherCAT Master is free software; you can redistribute it
+ * and/or modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; version 2 of the License.
+ *
+ * The IgH EtherCAT Master is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the IgH EtherCAT Master; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
*****************************************************************************/
#include <linux/module.h>
@@ -56,6 +73,7 @@
/**
Master constructor.
\return 0 in case of success, else < 0
+ \ingroup Master
*/
int ec_master_init(ec_master_t *master, /**< EtherCAT master */
@@ -101,6 +119,7 @@
Master destructor.
Removes all pending commands, clears the slave list, clears all domains
and frees the device.
+ \ingroup Master
*/
void ec_master_clear(struct kobject *kobj /**< kobject of the master */)
@@ -130,6 +149,7 @@
Resets the master.
Note: This function has to be called, everytime ec_master_release() is
called, to free the slave list, domains etc.
+ \ingroup Master
*/
void ec_master_reset(ec_master_t *master /**< EtherCAT master */)
@@ -190,6 +210,7 @@
/**
Places a command in the command queue.
+ \ingroup Master
*/
void ec_master_queue_command(ec_master_t *master, /**< EtherCAT master */
@@ -217,6 +238,7 @@
/**
Sends the commands in the queue.
\return 0 in case of success, else < 0
+ \ingroup Master
*/
void ec_master_send_commands(ec_master_t *master /**< EtherCAT master */)
@@ -318,6 +340,7 @@
Processes a received frame.
This function is called by the network driver for every received frame.
\return 0 in case of success, else < 0
+ \ingroup Master
*/
void ec_master_receive(ec_master_t *master, /**< EtherCAT master */
@@ -405,6 +428,7 @@
Sends a single command and waits for its reception.
If the slave doesn't respond, the command is sent again.
\return 0 in case of success, else < 0
+ \ingroup Master
*/
int ec_master_simple_io(ec_master_t *master, /**< EtherCAT master */
@@ -449,6 +473,7 @@
Scans the EtherCAT bus for slaves.
Creates a list of slave structures for further processing.
\return 0 in case of success, else < 0
+ \ingroup Master
*/
int ec_master_bus_scan(ec_master_t *master /**< EtherCAT master */)
@@ -572,6 +597,7 @@
Output statistics in cyclic mode.
This function outputs statistical data on demand, but not more often than
necessary. The output happens at most once a second.
+ \ingroup Master
*/
void ec_master_output_stats(ec_master_t *master /**< EtherCAT master */)
@@ -607,6 +633,7 @@
/**
Starts the Free-Run mode.
+ \ingroup Master
*/
void ec_master_freerun_start(ec_master_t *master /**< EtherCAT master */)
@@ -639,6 +666,7 @@
/**
Stops the Free-Run mode.
+ \ingroup Master
*/
void ec_master_freerun_stop(ec_master_t *master /**< EtherCAT master */)
@@ -655,6 +683,7 @@
/**
Free-Run mode function.
+ \ingroup Master
*/
void ec_master_freerun(unsigned long data /**< private timer data = master */)
@@ -678,115 +707,9 @@
/*****************************************************************************/
/**
- Translates an ASCII coded bus-address to a slave pointer.
- These are the valid addressing schemes:
- - \a "X" = the X. slave on the bus,
- - \a "X:Y" = the Y. slave after the X. branch (bus coupler),
- - \a "#X" = the slave with alias X,
- - \a "#X:Y" = the Y. slave after the branch (bus coupler) with alias X.
- X and Y are zero-based indices and may be provided in hexadecimal or octal
- notation (with respective prefix).
- \return pointer to the slave on success, else NULL
-*/
-
-ec_slave_t *ecrt_master_get_slave(const ec_master_t *master, /**< Master */
- const char *address /**< address string */
- )
-{
- unsigned long first, second;
- char *remainder, *remainder2;
- unsigned int alias_requested, alias_found;
- ec_slave_t *alias_slave = NULL, *slave;
-
- if (!address || address[0] == 0) return NULL;
-
- alias_requested = 0;
- if (address[0] == '#') {
- alias_requested = 1;
- address++;
- }
-
- first = simple_strtoul(address, &remainder, 0);
- if (remainder == address) {
- EC_ERR("Slave address \"%s\" - First number empty!\n", address);
- return NULL;
- }
-
- if (alias_requested) {
- alias_found = 0;
- list_for_each_entry(alias_slave, &master->slaves, list) {
- if (alias_slave->sii_alias == first) {
- alias_found = 1;
- break;
- }
- }
- if (!alias_found) {
- EC_ERR("Slave address \"%s\" - Alias not found!\n", address);
- return NULL;
- }
- }
-
- if (!remainder[0]) { // absolute position
- if (alias_requested) {
- return alias_slave;
- }
- else {
- list_for_each_entry(slave, &master->slaves, list) {
- if (slave->ring_position == first) return slave;
- }
- EC_ERR("Slave address \"%s\" - Absolute position invalid!\n",
- address);
- }
- }
- else if (remainder[0] == ':') { // field position
- remainder++;
- second = simple_strtoul(remainder, &remainder2, 0);
-
- if (remainder2 == remainder) {
- EC_ERR("Slave address \"%s\" - Second number empty!\n", address);
- return NULL;
- }
-
- if (remainder2[0]) {
- EC_ERR("Slave address \"%s\" - Invalid trailer!\n", address);
- return NULL;
- }
-
- if (alias_requested) {
- if (!alias_slave->type ||
- alias_slave->type->special != EC_TYPE_BUS_COUPLER) {
- EC_ERR("Slave address \"%s\": Alias slave must be bus coupler"
- " in colon mode.\n", address);
- return NULL;
- }
- list_for_each_entry(slave, &master->slaves, list) {
- if (slave->coupler_index == alias_slave->coupler_index
- && slave->coupler_subindex == second)
- return slave;
- }
- EC_ERR("Slave address \"%s\" - Bus coupler %i has no %lu. slave"
- " following!\n", address, alias_slave->ring_position,
- second);
- return NULL;
- }
- else {
- list_for_each_entry(slave, &master->slaves, list) {
- if (slave->coupler_index == first
- && slave->coupler_subindex == second) return slave;
- }
- }
- }
- else
- EC_ERR("Slave address \"%s\" - Invalid format!\n", address);
-
- return NULL;
-}
-
-/*****************************************************************************/
-
-/**
Initializes a sync manager configuration page.
The referenced memory (\a data) must be at least EC_SYNC_SIZE bytes.
+ \ingroup Master
*/
void ec_sync_config(const ec_sync_t *sync, /**< sync manager */
@@ -805,6 +728,7 @@
/**
Initializes a sync manager configuration page with EEPROM data.
The referenced memory (\a data) must be at least EC_SYNC_SIZE bytes.
+ \ingroup Master
*/
void ec_eeprom_sync_config(const ec_eeprom_sync_t *sync, /**< sync manager */
@@ -823,6 +747,7 @@
/**
Initializes an FMMU configuration page.
The referenced memory (\a data) must be at least EC_FMMU_SIZE bytes.
+ \ingroup Master
*/
void ec_fmmu_config(const ec_fmmu_t *fmmu, /**< FMMU */
@@ -845,6 +770,7 @@
/**
Formats attribute data for SysFS read access.
\return number of bytes to read
+ \ingroup Master
*/
ssize_t ec_show_master_attribute(struct kobject *kobj, /**< kobject */
@@ -875,6 +801,7 @@
/**
Processes the watchdog command.
+ \ingroup Master
*/
void ec_master_process_watch_command(ec_master_t *master
@@ -918,6 +845,22 @@
}
}
+/*****************************************************************************/
+
+/**
+ Does the Ethernet-over-EtherCAT processing.
+ \ingroup Master
+*/
+
+void ec_master_run_eoe(ec_master_t *master /**< EtherCAT master */)
+{
+ ec_eoe_t *eoe;
+
+ list_for_each_entry(eoe, &master->eoe_slaves, list) {
+ ec_eoe_run(eoe);
+ }
+}
+
/******************************************************************************
* Realtime interface
*****************************************************************************/
@@ -925,6 +868,7 @@
/**
Creates a domain.
\return pointer to new domain on success, else NULL
+ \ingroup Master
*/
ec_domain_t *ecrt_master_create_domain(ec_master_t *master /**< master */)
@@ -970,6 +914,7 @@
managers and FMMUs, and does the appropriate transitions, until the slave
is operational.
\return 0 in case of success, else < 0
+ \ingroup Master
*/
int ecrt_master_activate(ec_master_t *master /**< EtherCAT master */)
@@ -1156,6 +1101,7 @@
/**
Resets all slaves to INIT state.
+ \ingroup Master
*/
void ecrt_master_deactivate(ec_master_t *master /**< EtherCAT master */)
@@ -1175,6 +1121,7 @@
Fetches the SDO dictionaries of all slaves.
Slaves that do not support the CoE protocol are left out.
\return 0 in case of success, else < 0
+ \ingroup Master
*/
int ecrt_master_fetch_sdo_lists(ec_master_t *master /**< EtherCAT master */)
@@ -1198,6 +1145,7 @@
/**
Sends queued commands and waits for their reception.
+ \ingroup Master
*/
void ecrt_master_sync_io(ec_master_t *master /**< EtherCAT master */)
@@ -1253,6 +1201,7 @@
/**
Asynchronous sending of commands.
+ \ingroup Master
*/
void ecrt_master_async_send(ec_master_t *master /**< EtherCAT master */)
@@ -1279,6 +1228,7 @@
/**
Asynchronous receiving of commands.
+ \ingroup Master
*/
void ecrt_master_async_receive(ec_master_t *master /**< EtherCAT master */)
@@ -1313,6 +1263,7 @@
Prepares synchronous IO.
Queues all domain commands and sends them. Then waits a certain time, so
that ecrt_master_sasync_receive() can be called securely.
+ \ingroup Master
*/
void ecrt_master_prepare_async_io(ec_master_t *master /**< EtherCAT master */)
@@ -1340,6 +1291,7 @@
/**
Does all cyclic master work.
+ \ingroup Master
*/
void ecrt_master_run(ec_master_t *master /**< EtherCAT master */)
@@ -1358,10 +1310,119 @@
/*****************************************************************************/
/**
+ Translates an ASCII coded bus-address to a slave pointer.
+ These are the valid addressing schemes:
+ - \a "X" = the X. slave on the bus,
+ - \a "X:Y" = the Y. slave after the X. branch (bus coupler),
+ - \a "#X" = the slave with alias X,
+ - \a "#X:Y" = the Y. slave after the branch (bus coupler) with alias X.
+ X and Y are zero-based indices and may be provided in hexadecimal or octal
+ notation (with respective prefix).
+ \return pointer to the slave on success, else NULL
+ \ingroup Master
+*/
+
+ec_slave_t *ecrt_master_get_slave(const ec_master_t *master, /**< Master */
+ const char *address /**< address string */
+ )
+{
+ unsigned long first, second;
+ char *remainder, *remainder2;
+ unsigned int alias_requested, alias_found;
+ ec_slave_t *alias_slave = NULL, *slave;
+
+ if (!address || address[0] == 0) return NULL;
+
+ alias_requested = 0;
+ if (address[0] == '#') {
+ alias_requested = 1;
+ address++;
+ }
+
+ first = simple_strtoul(address, &remainder, 0);
+ if (remainder == address) {
+ EC_ERR("Slave address \"%s\" - First number empty!\n", address);
+ return NULL;
+ }
+
+ if (alias_requested) {
+ alias_found = 0;
+ list_for_each_entry(alias_slave, &master->slaves, list) {
+ if (alias_slave->sii_alias == first) {
+ alias_found = 1;
+ break;
+ }
+ }
+ if (!alias_found) {
+ EC_ERR("Slave address \"%s\" - Alias not found!\n", address);
+ return NULL;
+ }
+ }
+
+ if (!remainder[0]) { // absolute position
+ if (alias_requested) {
+ return alias_slave;
+ }
+ else {
+ list_for_each_entry(slave, &master->slaves, list) {
+ if (slave->ring_position == first) return slave;
+ }
+ EC_ERR("Slave address \"%s\" - Absolute position invalid!\n",
+ address);
+ }
+ }
+ else if (remainder[0] == ':') { // field position
+ remainder++;
+ second = simple_strtoul(remainder, &remainder2, 0);
+
+ if (remainder2 == remainder) {
+ EC_ERR("Slave address \"%s\" - Second number empty!\n", address);
+ return NULL;
+ }
+
+ if (remainder2[0]) {
+ EC_ERR("Slave address \"%s\" - Invalid trailer!\n", address);
+ return NULL;
+ }
+
+ if (alias_requested) {
+ if (!alias_slave->type ||
+ alias_slave->type->special != EC_TYPE_BUS_COUPLER) {
+ EC_ERR("Slave address \"%s\": Alias slave must be bus coupler"
+ " in colon mode.\n", address);
+ return NULL;
+ }
+ list_for_each_entry(slave, &master->slaves, list) {
+ if (slave->coupler_index == alias_slave->coupler_index
+ && slave->coupler_subindex == second)
+ return slave;
+ }
+ EC_ERR("Slave address \"%s\" - Bus coupler %i has no %lu. slave"
+ " following!\n", address, alias_slave->ring_position,
+ second);
+ return NULL;
+ }
+ else {
+ list_for_each_entry(slave, &master->slaves, list) {
+ if (slave->coupler_index == first
+ && slave->coupler_subindex == second) return slave;
+ }
+ }
+ }
+ else
+ EC_ERR("Slave address \"%s\" - Invalid format!\n", address);
+
+ return NULL;
+}
+
+/*****************************************************************************/
+
+/**
Sets the debug level of the master.
The following levels are valid:
- 1: only output positions marks and basic data
- 2: additional frame data output
+ \ingroup Master
*/
void ecrt_master_debug(ec_master_t *master, /**< EtherCAT master */
@@ -1382,6 +1443,7 @@
- 0: Only slave types and positions
- 1: with EEPROM contents
- >1: with SDO dictionaries
+ \ingroup Master
*/
void ecrt_master_print(const ec_master_t *master, /**< EtherCAT master */
@@ -1408,21 +1470,6 @@
/*****************************************************************************/
-/**
- Does the Ethernet-over-EtherCAT processing.
-*/
-
-void ec_master_run_eoe(ec_master_t *master /**< EtherCAT master */)
-{
- ec_eoe_t *eoe;
-
- list_for_each_entry(eoe, &master->eoe_slaves, list) {
- ec_eoe_run(eoe);
- }
-}
-
-/*****************************************************************************/
-
EXPORT_SYMBOL(ecrt_master_create_domain);
EXPORT_SYMBOL(ecrt_master_activate);
EXPORT_SYMBOL(ecrt_master_deactivate);
--- a/master/master.h Thu Apr 20 14:34:58 2006 +0000
+++ b/master/master.h Fri Apr 21 12:35:17 2006 +0000
@@ -6,6 +6,23 @@
*
* $Id$
*
+ * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ * This file is part of the IgH EtherCAT Master.
+ *
+ * The IgH EtherCAT Master is free software; you can redistribute it
+ * and/or modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; version 2 of the License.
+ *
+ * The IgH EtherCAT Master is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the IgH EtherCAT Master; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
*****************************************************************************/
#ifndef _EC_MASTER_H_
@@ -21,6 +38,14 @@
/*****************************************************************************/
/**
+ \defgroup Master EtherCAT master
+ Data types and functions of the EtherCAT master.
+ \{
+*/
+
+/*****************************************************************************/
+
+/**
EtherCAT master mode.
*/
@@ -80,6 +105,8 @@
ec_master_mode_t mode; /**< master mode */
};
+/** \} */
+
/*****************************************************************************/
// master creation and deletion
--- a/master/module.c Thu Apr 20 14:34:58 2006 +0000
+++ b/master/module.c Fri Apr 21 12:35:17 2006 +0000
@@ -8,13 +8,22 @@
*
* $Id$
*
- * (C) Copyright IgH 2005
- * Ingenieurgemeinschaft IgH
- * Heinz-Bäcker Str. 34
- * D-45356 Essen
- * Tel.: +49 201/61 99 31
- * Fax.: +49 201/61 98 36
- * E-mail: sp@igh-essen.com
+ * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ * This file is part of the IgH EtherCAT Master.
+ *
+ * The IgH EtherCAT Master is free software; you can redistribute it
+ * and/or modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; version 2 of the License.
+ *
+ * The IgH EtherCAT Master is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the IgH EtherCAT Master; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
*****************************************************************************/
--- a/master/slave.c Thu Apr 20 14:34:58 2006 +0000
+++ b/master/slave.c Fri Apr 21 12:35:17 2006 +0000
@@ -6,6 +6,23 @@
*
* $Id$
*
+ * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ * This file is part of the IgH EtherCAT Master.
+ *
+ * The IgH EtherCAT Master is free software; you can redistribute it
+ * and/or modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; version 2 of the License.
+ *
+ * The IgH EtherCAT Master is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the IgH EtherCAT Master; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
*****************************************************************************/
#include <linux/module.h>
@@ -65,6 +82,7 @@
/**
Slave constructor.
\return 0 in case of success, else < 0
+ \ingroup Slave
*/
int ec_slave_init(ec_slave_t *slave, /**< EtherCAT slave */
@@ -135,6 +153,7 @@
/**
Slave destructor.
+ \ingroup Slave
*/
void ec_slave_clear(struct kobject *kobj /**< kobject of the slave */)
@@ -201,6 +220,7 @@
/**
Reads all necessary information from a slave.
\return 0 in case of success, else < 0
+ \ingroup Slave
*/
int ec_slave_fetch(ec_slave_t *slave /**< EtherCAT slave */)
@@ -278,6 +298,7 @@
/**
Reads 16 bit from the slave information interface (SII).
\return 0 in case of success, else < 0
+ \ingroup Slave
*/
int ec_slave_sii_read16(ec_slave_t *slave,
@@ -338,6 +359,7 @@
/**
Reads 32 bit from the slave information interface (SII).
\return 0 in case of success, else < 0
+ \ingroup Slave
*/
int ec_slave_sii_read32(ec_slave_t *slave,
@@ -398,6 +420,7 @@
/**
Writes 16 bit of data to the slave information interface (SII).
\return 0 in case of success, else < 0
+ \ingroup Slave
*/
int ec_slave_sii_write16(ec_slave_t *slave,
@@ -468,6 +491,7 @@
/**
Fetches data from slave's EEPROM.
\return 0 in case of success, else < 0
+ \ingroup Slave
*/
int ec_slave_fetch_categories(ec_slave_t *slave /**< EtherCAT slave */)
@@ -560,6 +584,7 @@
/**
Fetches data from a STRING category.
\return 0 in case of success, else < 0
+ \ingroup Slave
*/
int ec_slave_fetch_strings(ec_slave_t *slave, /**< EtherCAT slave */
@@ -598,6 +623,7 @@
/**
Fetches data from a GENERAL category.
\return 0 in case of success, else < 0
+ \ingroup Slave
*/
int ec_slave_fetch_general(ec_slave_t *slave, /**< EtherCAT slave */
@@ -625,6 +651,7 @@
/**
Fetches data from a SYNC MANAGER category.
\return 0 in case of success, else < 0
+ \ingroup Slave
*/
int ec_slave_fetch_sync(ec_slave_t *slave, /**< EtherCAT slave */
@@ -661,6 +688,7 @@
/**
Fetches data from a [RT]XPDO category.
\return 0 in case of success, else < 0
+ \ingroup Slave
*/
int ec_slave_fetch_pdo(ec_slave_t *slave, /**< EtherCAT slave */
@@ -722,9 +750,14 @@
/**
Searches the string list for an index and allocates a new string.
\return 0 in case of success, else < 0
-*/
-
-int ec_slave_locate_string(ec_slave_t *slave, unsigned int index, char **ptr)
+ \ingroup Slave
+ \todo documentation
+*/
+
+int ec_slave_locate_string(ec_slave_t *slave, /**< EtherCAT slave */
+ unsigned int index, /**< string index */
+ char **ptr /**< Address of the string pointer */
+ )
{
ec_eeprom_string_t *string;
char *err_string;
@@ -767,6 +800,7 @@
/**
Acknowledges an error after a state transition.
+ \ingroup Slave
*/
void ec_slave_state_ack(ec_slave_t *slave, /**< EtherCAT slave */
@@ -822,7 +856,8 @@
/**
Reads the AL status code of a slave and displays it.
If the AL status code is not supported, or if no error occurred (both
- resulting in code=0), nothing is displayed.
+ resulting in code = 0), nothing is displayed.
+ \ingroup Slave
*/
void ec_slave_read_al_status_code(ec_slave_t *slave /**< EtherCAT slave */)
@@ -858,6 +893,7 @@
/**
Does a state transition.
\return 0 in case of success, else < 0
+ \ingroup Slave
*/
int ec_slave_state_change(ec_slave_t *slave, /**< EtherCAT slave */
@@ -927,6 +963,7 @@
If the FMMU configuration is already prepared, the function returns with
success.
\return 0 in case of success, else < 0
+ \ingroup Slave
*/
int ec_slave_prepare_fmmu(ec_slave_t *slave, /**< EtherCAT slave */
@@ -965,6 +1002,7 @@
- 0: Only slave types and addresses
- 1: with EEPROM information
- >1: with SDO dictionaries
+ \ingroup Slave
*/
void ec_slave_print(const ec_slave_t *slave, /**< EtherCAT slave */
@@ -1126,6 +1164,7 @@
/**
Outputs the values of the CRC faoult counters and resets them.
\return 0 in case of success, else < 0
+ \ingroup Slave
*/
int ec_slave_check_crc(ec_slave_t *slave /**< EtherCAT slave */)
@@ -1181,10 +1220,11 @@
/**
Writes the "configured station alias" to the slave's EEPROM.
\return 0 in case of success, else < 0
-*/
-
-int ecrt_slave_write_alias(ec_slave_t *slave, /** EtherCAT slave */
- uint16_t alias /** new alias */
+ \ingroup Slave
+*/
+
+int ecrt_slave_write_alias(ec_slave_t *slave, /**< EtherCAT slave */
+ uint16_t alias /**< new alias */
)
{
return ec_slave_sii_write16(slave, 0x0004, alias);
@@ -1195,6 +1235,7 @@
/**
Formats attribute data for SysFS read access.
\return number of bytes to read
+ \ingroup Slave
*/
ssize_t ec_show_slave_attribute(struct kobject *kobj, /**< slave's kobject */
--- a/master/slave.h Thu Apr 20 14:34:58 2006 +0000
+++ b/master/slave.h Fri Apr 21 12:35:17 2006 +0000
@@ -6,6 +6,23 @@
*
* $Id$
*
+ * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ * This file is part of the IgH EtherCAT Master.
+ *
+ * The IgH EtherCAT Master is free software; you can redistribute it
+ * and/or modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; version 2 of the License.
+ *
+ * The IgH EtherCAT Master is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the IgH EtherCAT Master; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
*****************************************************************************/
#ifndef _EC_SLAVE_H_
@@ -21,6 +38,14 @@
/*****************************************************************************/
/**
+ \defgroup Slave EtherCAT slave
+ Data types and functions for EtherCAT slaves.
+ \{
+*/
+
+/*****************************************************************************/
+
+/**
State of an EtherCAT slave.
*/
@@ -244,6 +269,8 @@
ec_command_t mbox_command; /**< mailbox command */
};
+/** \} */
+
/*****************************************************************************/
// slave construction/destruction
--- a/master/types.c Thu Apr 20 14:34:58 2006 +0000
+++ b/master/types.c Fri Apr 21 12:35:17 2006 +0000
@@ -6,6 +6,23 @@
*
* $Id$
*
+ * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ * This file is part of the IgH EtherCAT Master.
+ *
+ * The IgH EtherCAT Master is free software; you can redistribute it
+ * and/or modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; version 2 of the License.
+ *
+ * The IgH EtherCAT Master is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the IgH EtherCAT Master; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
*****************************************************************************/
#include <linux/module.h>
--- a/master/types.h Thu Apr 20 14:34:58 2006 +0000
+++ b/master/types.h Fri Apr 21 12:35:17 2006 +0000
@@ -6,6 +6,23 @@
*
* $Id$
*
+ * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ * This file is part of the IgH EtherCAT Master.
+ *
+ * The IgH EtherCAT Master is free software; you can redistribute it
+ * and/or modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; version 2 of the License.
+ *
+ * The IgH EtherCAT Master is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the IgH EtherCAT Master; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
*****************************************************************************/
#ifndef _EC_TYPES_H_
@@ -24,6 +41,7 @@
/**
Special slaves.
+ \ingroup Slave
*/
typedef enum
@@ -38,6 +56,7 @@
/**
Process data field.
+ \ingroup Slave
*/
typedef struct
@@ -51,6 +70,7 @@
/**
Sync-Manager.
+ \ingroup Slave
*/
typedef struct
@@ -66,6 +86,7 @@
/**
Slave description type.
+ \ingroup Slave
*/
typedef struct ec_slave_type
@@ -82,6 +103,7 @@
/**
Slave type identification.
+ \ingroup Slave
*/
typedef struct
--- a/mini/Makefile Thu Apr 20 14:34:58 2006 +0000
+++ b/mini/Makefile Fri Apr 21 12:35:17 2006 +0000
@@ -6,6 +6,23 @@
#
# $Id$
#
+# Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+#
+# This file is part of the IgH EtherCAT Master.
+#
+# The IgH EtherCAT Master is free software; you can redistribute it
+# and/or modify it under the terms of the GNU General Public License
+# as published by the Free Software Foundation; version 2 of the License.
+#
+# The IgH EtherCAT Master is distributed in the hope that it will be
+# useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with the IgH EtherCAT Master; if not, write to the Free Software
+# Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+#
#----------------------------------------------------------------
ifneq ($(KERNELRELEASE),)
--- a/mini/mini.c Thu Apr 20 14:34:58 2006 +0000
+++ b/mini/mini.c Fri Apr 21 12:35:17 2006 +0000
@@ -6,6 +6,23 @@
*
* $Id$
*
+ * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ * This file is part of the IgH EtherCAT Master.
+ *
+ * The IgH EtherCAT Master is free software; you can redistribute it
+ * and/or modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; version 2 of the License.
+ *
+ * The IgH EtherCAT Master is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the IgH EtherCAT Master; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
*****************************************************************************/
#include <linux/module.h>
--- a/rt/Makefile Thu Apr 20 14:34:58 2006 +0000
+++ b/rt/Makefile Fri Apr 21 12:35:17 2006 +0000
@@ -4,6 +4,23 @@
#
# $Id$
#
+# Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+#
+# This file is part of the IgH EtherCAT Master.
+#
+# The IgH EtherCAT Master is free software; you can redistribute it
+# and/or modify it under the terms of the GNU General Public License
+# as published by the Free Software Foundation; version 2 of the License.
+#
+# The IgH EtherCAT Master is distributed in the hope that it will be
+# useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with the IgH EtherCAT Master; if not, write to the Free Software
+# Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+#
#------------------------------------------------------------------------------
ifneq ($(KERNELRELEASE),)
--- a/rt/install.sh Thu Apr 20 14:34:58 2006 +0000
+++ b/rt/install.sh Fri Apr 21 12:35:17 2006 +0000
@@ -6,6 +6,23 @@
#
# $Id: install.sh 5 2006-04-07 13:49:10Z fp $
#
+# Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+#
+# This file is part of the IgH EtherCAT Master.
+#
+# The IgH EtherCAT Master is free software; you can redistribute it
+# and/or modify it under the terms of the GNU General Public License
+# as published by the Free Software Foundation; version 2 of the License.
+#
+# The IgH EtherCAT Master is distributed in the hope that it will be
+# useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with the IgH EtherCAT Master; if not, write to the Free Software
+# Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+#
#------------------------------------------------------------------------------
# Fetch parameters
--- a/rt/msr_param.h Thu Apr 20 14:34:58 2006 +0000
+++ b/rt/msr_param.h Fri Apr 21 12:35:17 2006 +0000
@@ -1,6 +1,23 @@
/******************************************************************************
*
- * $Id$
+ * $Id$
+ *
+ * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ * This file is part of the IgH EtherCAT Master.
+ *
+ * The IgH EtherCAT Master is free software; you can redistribute it
+ * and/or modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; version 2 of the License.
+ *
+ * The IgH EtherCAT Master is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the IgH EtherCAT Master; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*
*****************************************************************************/
--- a/rt/msr_rt.c Thu Apr 20 14:34:58 2006 +0000
+++ b/rt/msr_rt.c Fri Apr 21 12:35:17 2006 +0000
@@ -4,18 +4,25 @@
*
* Kernelmodul für 2.6 Kernel zur Meßdatenerfassung, Steuerung und Regelung.
*
- * Autor: Wilhelm Hagemeister, Florian Pose
- *
- * (C) Copyright IgH 2002
- * Ingenieurgemeinschaft IgH
- * Heinz-Bäcker Str. 34
- * D-45356 Essen
- * Tel.: +49 201/61 99 31
- * Fax.: +49 201/61 98 36
- * E-mail: hm@igh-essen.com
- *
* $Id$
*
+ * Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+ *
+ * This file is part of the IgH EtherCAT Master.
+ *
+ * The IgH EtherCAT Master is free software; you can redistribute it
+ * and/or modify it under the terms of the GNU General Public License
+ * as published by the Free Software Foundation; version 2 of the License.
+ *
+ * The IgH EtherCAT Master is distributed in the hope that it will be
+ * useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with the IgH EtherCAT Master; if not, write to the Free Software
+ * Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+ *
*****************************************************************************/
// Linux
--- a/rt/msrserv.pl Thu Apr 20 14:34:58 2006 +0000
+++ b/rt/msrserv.pl Fri Apr 21 12:35:17 2006 +0000
@@ -1,30 +1,35 @@
#!/usr/bin/perl -w
-#------------------------------------------------------------
-#
-# (C) Copyright
-# Ingenieurgemeinschaft IgH
-# Heinz-Baecker-Strasse 34
-# D-45356 Essen
-# Tel.: +49-201/61 99 31
-# Fax.: +49-201/61 98 36
-# WWW: http://www.igh-essen.com
-# Email: msr@igh-essen.com
-#
-#------------------------------------------------------------
-#
-# Multithreaded Server
-# according to the example from "Programming Perl"
-# this code is improved according to the example from
-# perldoc perlipc, so now safely being usable under Perl 5.8
-# (see note (*))
-#
-# works with read/write on a device-file
-#
-# $Revision: 1.1 $
-# $Date: 2004/10/01 16:00:42 $
-# $RCSfile: msrserv.pl,v $
-#
-#------------------------------------------------------------
+
+#------------------------------------------------------------------------------
+#
+# Copyright (C) 2006 Ingenieurgemeinschaft IgH
+#
+# This file is part of the IgH EtherCAT Master.
+#
+# The IgH EtherCAT Master is free software; you can redistribute it
+# and/or modify it under the terms of the GNU General Public License
+# as published by the Free Software Foundation; version 2 of the License.
+#
+# The IgH EtherCAT Master is distributed in the hope that it will be
+# useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with the IgH EtherCAT Master; if not, write to the Free Software
+# Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+#
+#------------------------------------------------------------------------------
+#
+# Multithreaded Server
+# according to the example from "Programming Perl"
+# this code is improved according to the example from
+# perldoc perlipc, so now safely being usable under Perl 5.8
+# (see note (*))
+#
+# works with read/write on a device-file
+#
+#------------------------------------------------------------------------------
require 5.002;
use strict;
--- a/tools/ec_list.pl Thu Apr 20 14:34:58 2006 +0000
+++ b/tools/ec_list.pl Fri Apr 21 12:35:17 2006 +0000
@@ -8,6 +8,23 @@
#
# $Id: slave.c 340 2006-04-11 10:17:30Z fp $
#
+# Copyright (C) 2006 Florian Pose, Ingenieurgemeinschaft IgH
+#
+# This file is part of the IgH EtherCAT Master.
+#
+# The IgH EtherCAT Master is free software; you can redistribute it
+# and/or modify it under the terms of the GNU General Public License
+# as published by the Free Software Foundation; version 2 of the License.
+#
+# The IgH EtherCAT Master is distributed in the hope that it will be
+# useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
+# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+# GNU General Public License for more details.
+#
+# You should have received a copy of the GNU General Public License
+# along with the IgH EtherCAT Master; if not, write to the Free Software
+# Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
+#
#------------------------------------------------------------------------------
use strict;