--- a/documentation/ethercat_doc.tex Wed Nov 05 13:41:56 2008 +0000
+++ b/documentation/ethercat_doc.tex Wed Nov 05 13:48:14 2008 +0000
@@ -357,10 +357,80 @@
%------------------------------------------------------------------------------
-\section{Phases}
+\section{Master Module}
+\label{sec:mastermod}
+\index{Master module}
+
+The EtherCAT master kernel module \textit{ec\_master} can contain multiple
+master instances. Each master waits for a certain Ethernet device identified
+by its MAC address\index{MAC address}. These addresses have to be specified on
+module loading via the \textit{main\_devices} module parameter. The number of
+master instances to initialize is taken from the number of MAC addresses
+given.
+
+The below command loads the master module with a single master instance that
+waits for the Ethernet device with the MAC address
+\lstinline+00:0E:0C:DA:A2:20+. The master will be accessible via index $0$.
+
+\begin{lstlisting}
+# `\textbf{modprobe ec\_master main\_devices=00:0E:0C:DA:A2:20}`
+\end{lstlisting}
+
+MAC addresses for multiple masters have to be separated by commas:
+
+\begin{lstlisting}
+# `\textbf{modprobe ec\_master main\_devices=00:0E:0C:DA:A2:20,00:e0:81:71:d5:1c}`
+\end{lstlisting}
+
+The two masters can be addressed by their indices 0 and 1 respectively (see
+figure~\ref{fig:masters}). The master index is needed for the
+\lstinline+ecrt_master_request()+ function of the application interface (see
+chap.~\ref{chap:api}) and the \lstinline+--master+ option of the
+\textit{ethercat} command-line tool (see sec.~\ref{sec:tool}), which defaults
+to $0$.
+
+\begin{figure}[htbp]
+ \centering
+ \includegraphics[width=.5\textwidth]{images/masters}
+ \caption{Multiple masters in one module}
+ \label{fig:masters}
+\end{figure}
+
+\paragraph{Init Script}
+\index{Init script}
+
+In most cases it is not necessary to load the master module and the Ethernet
+driver modules manually. There is an init script available, so the master can
+be started as a service (see sec.~\ref{sec:system}).
+
+\paragraph{Syslog}
+
+The master module outputs information about its state and events to the kernel
+ring buffer. These also end up in the system logs. The above module loading
+command should result in the messages below:
+
+\begin{lstlisting}
+# `\textbf{dmesg | tail -2}`
+EtherCAT: Master driver `\masterversion`
+EtherCAT: 2 masters waiting for devices.
+
+# `\textbf{tail -2 /var/log/messages}`
+Jul 4 10:22:45 ethercat kernel: EtherCAT: Master driver `\masterversion`
+Jul 4 10:22:45 ethercat kernel: EtherCAT: 2 masters waiting
+ for devices.
+\end{lstlisting}
+
+All EtherCAT master output is prefixed with \lstinline+EtherCAT+ which makes
+searching the logs easier.
+
+%------------------------------------------------------------------------------
+
+\section{Master Phases}
\index{Master phases}
-The EtherCAT master runs through several phases (see fig.~\ref{fig:phases}):
+Every EtherCAT master provided by the master module (see
+sec.~\ref{sec:mastermod}) runs through several phases (see
+fig.~\ref{fig:phases}):
\begin{figure}[htbp]
\centering
@@ -390,83 +460,6 @@
%------------------------------------------------------------------------------
-\section{General Behavior}
-\index{Master behavior}
-
-\ldots
-
-% TODO Behavior (Scanning)
-
-%------------------------------------------------------------------------------
-
-\section{Master Module}
-\label{sec:mastermod}
-\index{Master module}
-
-The EtherCAT master kernel module \textit{ec\_master} can contain multiple
-master instances. Each master waits for a certain Ethernet device identified
-by its MAC address\index{MAC address}. These addresses have to be specified on
-module loading via the \textit{main\_devices} module parameter. The number of
-master instances to initialize is taken from the number of MAC addresses
-given.
-
-The below command loads the master module with a single master instance that
-waits for the Ethernet device with the MAC address
-\lstinline+00:0E:0C:DA:A2:20+. The master will be accessible via index $0$.
-
-\begin{lstlisting}
-# `\textbf{modprobe ec\_master main\_devices=00:0E:0C:DA:A2:20}`
-\end{lstlisting}
-
-MAC addresses for multiple masters have to be separated by commas:
-
-\begin{lstlisting}
-# `\textbf{modprobe ec\_master main\_devices=00:0E:0C:DA:A2:20,00:e0:81:71:d5:1c}`
-\end{lstlisting}
-
-The two masters can be addressed by their indices 0 and 1 respectively (see
-figure~\ref{fig:masters}). The master index is needed for the
-\lstinline+ecrt_master_request()+ function of the application interface (see
-chap.~\ref{chap:api}) and the \lstinline+--master+ option of the
-\textit{ethercat} command-line tool (see sec.~\ref{sec:tool}), which defaults
-to $0$.
-
-\begin{figure}[htbp]
- \centering
- \includegraphics[width=.5\textwidth]{images/masters}
- \caption{Multiple masters in one module}
- \label{fig:masters}
-\end{figure}
-
-\paragraph{Init Script}
-\index{Init script}
-
-In most cases it is not necessary to load the master module and the Ethernet
-driver modules manually. There is an init script available, so the master can
-be started as a service (see sec.~\ref{sec:system}).
-
-\paragraph{Syslog}
-
-The master module outputs information about its state and events to the kernel
-ring buffer. These also end up in the system logs. The above module loading
-command should result in the messages below:
-
-\begin{lstlisting}
-# `\textbf{dmesg | tail -2}`
-EtherCAT: Master driver `\masterversion`
-EtherCAT: 2 masters waiting for devices.
-
-# `\textbf{tail -2 /var/log/messages}`
-Jul 4 10:22:45 ethercat kernel: EtherCAT: Master driver `\masterversion`
-Jul 4 10:22:45 ethercat kernel: EtherCAT: 2 masters waiting
- for devices.
-\end{lstlisting}
-
-All EtherCAT master output is prefixed with \lstinline+EtherCAT+ which makes
-searching the logs easier.
-
-%------------------------------------------------------------------------------
-
\section{Process Data}
\label{sec:processdata}