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Neue ASCII-Adressierung und Code-Dokumantation.

This commit is contained in:
Florian Pose 2006-02-14 14:50:20 +00:00
parent 0e547f96aa
commit 58edfcfe3e
9 changed files with 706 additions and 360 deletions
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2
TODO
View File

@ -6,3 +6,5 @@ $Id$
- Konfiguration SSI-/Inkrementalgeberklemmen (CoE)
- Ethernet over EtherCAT (EoE)
- eepro100-Kartentreiber
- Proc/SysFS-Interface mit Baumdarstellung des Busses

9
include/EtherCAT_rt.h
View File

@ -30,7 +30,7 @@ ec_master_t *EtherCAT_rt_request_master(unsigned int master_index);
void EtherCAT_rt_release_master(ec_master_t *master);
ec_slave_t *EtherCAT_rt_register_slave(ec_master_t *master,
unsigned int slave_index,
const char *address,
const char *vendor_name,
const char *product_name,
int domain);
@ -106,9 +106,10 @@ struct ec_slave
struct ec_slave_init
{
ec_slave_t **slave_ptr; /**< Zeiger auf den Slave-Zeiger, der mit der
Adresse des Slaves belegt werden soll. */
unsigned int bus_index; /**< Bus-Index des zu registrierenden Slaves */
ec_slave_t **slave_ptr; /**< Zeiger auf den Slave-Zeiger, der später auf
die Slave-Struktur zeigen soll. */
const char *address; /**< ASCII-kodierte Bus-Adresse des zu
registrierenden Slaves \sa ec_address */
const char *vendor_name; /**< Name des Herstellers */
const char *product_name; /**< Name des Slaves-Typs */
unsigned int domain; /**< Domäne, in der registriert werden soll. */

659
master/Doxyfile
View File

@ -1,15 +1,12 @@
################################################################
#---------------------------------------------------------------------------
#
# Doxyfile
# Doxyfile 1.4.4
#
# IgH EtherCAT-Treiber
# IgH EtherCAT-Treiber
#
# $LastChangedDate$
# $Author$
# $Id$
#
#################################################################
# Doxyfile 1.2.18
#---------------------------------------------------------------------------
# This file describes the settings to be used by the documentation system
# doxygen (www.doxygen.org) for a project
@ -22,7 +19,7 @@
# Values that contain spaces should be placed between quotes (" ")
#---------------------------------------------------------------------------
# General configuration options
# Project related configuration options
#---------------------------------------------------------------------------
# The PROJECT_NAME tag is a single word (or a sequence of words surrounded
@ -43,16 +40,187 @@ PROJECT_NUMBER = 0.1
OUTPUT_DIRECTORY = doc
# 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
# format and will distribute the generated files over these directories.
# Enabling this option can be useful when feeding doxygen a huge amount of
# source files, where putting all generated files in the same directory would
# otherwise cause performance problems for the file system.
CREATE_SUBDIRS = NO
# The OUTPUT_LANGUAGE tag is used to specify the language in which all
# documentation generated by doxygen is written. Doxygen will use this
# information to generate all constant output in the proper language.
# The default language is English, other supported languages are:
# Brazilian, Catalan, Chinese, Chinese-Traditional, Croatian, Czech, Danish, Dutch,
# Finnish, French, German, Greek, Hungarian, Italian, Japanese, Japanese-en
# (Japanese with english messages), Korean, Norwegian, Polish, Portuguese,
# Romanian, Russian, Serbian, Slovak, Slovene, Spanish, Swedish and Ukrainian.
# Brazilian, Catalan, Chinese, Chinese-Traditional, Croatian, Czech, Danish,
# Dutch, Finnish, French, German, Greek, Hungarian, Italian, Japanese,
# Japanese-en (Japanese with English messages), Korean, Korean-en, Norwegian,
# Polish, Portuguese, Romanian, Russian, Serbian, Slovak, Slovene, Spanish,
# Swedish, and Ukrainian.
OUTPUT_LANGUAGE =
OUTPUT_LANGUAGE = German
# 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,
# but also whether or not the output is meant for Windows or non-Windows users.
# In case there is a difference, setting the USE_WINDOWS_ENCODING tag to YES
# forces the Windows encoding (this is the default for the Windows binary),
# whereas setting the tag to NO uses a Unix-style encoding (the default for
# all platforms other than Windows).
USE_WINDOWS_ENCODING = NO
# If the BRIEF_MEMBER_DESC tag is set to YES (the default) Doxygen will
# include brief member descriptions after the members that are listed in
# the file and class documentation (similar to JavaDoc).
# Set to NO to disable this.
BRIEF_MEMBER_DESC = YES
# If the REPEAT_BRIEF tag is set to YES (the default) Doxygen will prepend
# the brief description of a member or function before the detailed description.
# Note: if both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the
# brief descriptions will be completely suppressed.
REPEAT_BRIEF = YES
# This tag implements a quasi-intelligent brief description abbreviator
# that is used to form the text in various listings. Each string
# in this list, if found as the leading text of the brief description, will be
# stripped from the text and the result after processing the whole list, is
# used as the annotated text. Otherwise, the brief description is used as-is.
# If left blank, the following values are used ("$name" is automatically
# replaced with the name of the entity): "The $name class" "The $name widget"
# "The $name file" "is" "provides" "specifies" "contains"
# "represents" "a" "an" "the"
ABBREVIATE_BRIEF =
# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then
# Doxygen will generate a detailed section even if there is only a brief
# description.
ALWAYS_DETAILED_SEC = NO
# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all
# inherited members of a class in the documentation of that class as if those
# members were ordinary class members. Constructors, destructors and assignment
# operators of the base classes will not be shown.
INLINE_INHERITED_MEMB = NO
# If the FULL_PATH_NAMES tag is set to YES then Doxygen will prepend the full
# path before files name in the file list and in the header files. If set
# to NO the shortest path that makes the file name unique will be used.
FULL_PATH_NAMES = NO
# If the FULL_PATH_NAMES tag is set to YES then the STRIP_FROM_PATH tag
# can be used to strip a user-defined part of the path. Stripping is
# only done if one of the specified strings matches the left-hand part of
# the path. The tag can be used to show relative paths in the file list.
# If left blank the directory from which doxygen is run is used as the
# path to strip.
STRIP_FROM_PATH =
# The STRIP_FROM_INC_PATH tag can be used to strip a user-defined part of
# the path mentioned in the documentation of a class, which tells
# the reader which header file to include in order to use a class.
# If left blank only the name of the header file containing the class
# definition is used. Otherwise one should specify the include paths that
# are normally passed to the compiler using the -I flag.
STRIP_FROM_INC_PATH =
# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter
# (but less readable) file names. This can be useful is your file systems
# doesn't support long names like on DOS, Mac, or CD-ROM.
SHORT_NAMES = NO
# If the JAVADOC_AUTOBRIEF tag is set to YES then Doxygen
# will interpret the first line (until the first dot) of a JavaDoc-style
# comment as the brief description. If set to NO, the JavaDoc
# comments will behave just like the Qt-style comments (thus requiring an
# explicit @brief command for a brief description.
JAVADOC_AUTOBRIEF = YES
# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make Doxygen
# treat a multi-line C++ special comment block (i.e. a block of //! or ///
# comments) as a brief description. This used to be the default behaviour.
# The new default is to treat a multi-line C++ comment block as a detailed
# description. Set this tag to YES if you prefer the old behaviour instead.
MULTILINE_CPP_IS_BRIEF = YES
# If the DETAILS_AT_TOP tag is set to YES then Doxygen
# will output the detailed description near the top, like JavaDoc.
# If set to NO, the detailed description appears after the member
# documentation.
DETAILS_AT_TOP = YES
# If the INHERIT_DOCS tag is set to YES (the default) then an undocumented
# member inherits the documentation from any documented member that it
# re-implements.
INHERIT_DOCS = YES
# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC
# tag is set to YES, then doxygen will reuse the documentation of the first
# member in the group (if any) for the other members of the group. By default
# all members of a group must be documented explicitly.
DISTRIBUTE_GROUP_DOC = NO
# If the SEPARATE_MEMBER_PAGES tag is set to YES, then doxygen will produce
# a new page for each member. If set to NO, the documentation of a member will
# be part of the file/class/namespace that contains it.
SEPARATE_MEMBER_PAGES = NO
# 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
# 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".
# For example adding "sideeffect=\par Side Effects:\n" will allow you to
# put the command \sideeffect (or @sideeffect) in the documentation, which
# will result in a user-defined paragraph with heading "Side Effects:".
# You can put \n's in the value part of an alias to insert newlines.
ALIASES =
# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C
# sources only. Doxygen will then generate output that is more tailored for C.
# For instance, some of the names that are used will be different. The list
# of all members will be omitted, etc.
OPTIMIZE_OUTPUT_FOR_C = YES
# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java sources
# only. Doxygen will then generate output that is more tailored for Java.
# For instance, namespaces will be presented as packages, qualified scopes
# will look different, etc.
OPTIMIZE_OUTPUT_JAVA = NO
# Set the SUBGROUPING tag to YES (the default) to allow class member groups of
# the same type (for instance a group of public functions) to be put as a
# subgroup of that type (e.g. under the Public Functions section). Set it to
# NO to prevent subgrouping. Alternatively, this can be done per class using
# the \nosubgrouping command.
SUBGROUPING = YES
#---------------------------------------------------------------------------
# Build related configuration options
#---------------------------------------------------------------------------
# If the EXTRACT_ALL tag is set to YES doxygen will assume all entities in
# documentation are documented, even if no documentation was available.
@ -77,17 +245,24 @@ EXTRACT_STATIC = YES
EXTRACT_LOCAL_CLASSES = YES
# This flag is only useful for Objective-C code. When set to YES local
# methods, which are defined in the implementation section but not in
# the interface are included in the documentation.
# If set to NO (the default) only methods in the interface are included.
EXTRACT_LOCAL_METHODS = YES
# If the HIDE_UNDOC_MEMBERS tag is set to YES, Doxygen will hide all
# undocumented members of documented classes, files or namespaces.
# If set to NO (the default) these members will be included in the
# various overviews, but no documentation section is generated.
# This option has no effect if EXTRACT_ALL is enabled.
HIDE_UNDOC_MEMBERS = NO
HIDE_UNDOC_MEMBERS = YES
# 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 class will be included in the various
# 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
@ -99,45 +274,12 @@ HIDE_UNDOC_CLASSES = YES
HIDE_FRIEND_COMPOUNDS = NO
# If the BRIEF_MEMBER_DESC tag is set to YES (the default) Doxygen will
# include brief member descriptions after the members that are listed in
# the file and class documentation (similar to JavaDoc).
# Set to NO to disable this.
# If the HIDE_IN_BODY_DOCS tag is set to YES, Doxygen will hide any
# documentation blocks found inside the body of a function.
# If set to NO (the default) these blocks will be appended to the
# function's detailed documentation block.
BRIEF_MEMBER_DESC = YES
# If the REPEAT_BRIEF tag is set to YES (the default) Doxygen will prepend
# the brief description of a member or function before the detailed description.
# Note: if both HIDE_UNDOC_MEMBERS and BRIEF_MEMBER_DESC are set to NO, the
# brief descriptions will be completely suppressed.
REPEAT_BRIEF = YES
# If the ALWAYS_DETAILED_SEC and REPEAT_BRIEF tags are both set to YES then
# Doxygen will generate a detailed section even if there is only a brief
# description.
ALWAYS_DETAILED_SEC = NO
# If the INLINE_INHERITED_MEMB tag is set to YES, doxygen will show all inherited
# members of a class in the documentation of that class as if those members were
# ordinary class members. Constructors, destructors and assignment operators of
# the base classes will not be shown.
INLINE_INHERITED_MEMB = NO
# If the FULL_PATH_NAMES tag is set to YES then Doxygen will prepend the full
# path before files name in the file list and in the header files. If set
# to NO the shortest path that makes the file name unique will be used.
FULL_PATH_NAMES = NO
# If the FULL_PATH_NAMES tag is set to YES then the STRIP_FROM_PATH tag
# can be used to strip a user defined part of the path. Stripping is
# only done if one of the specified strings matches the left-hand part of
# the path. It is allowed to use relative paths in the argument list.
STRIP_FROM_PATH =
HIDE_IN_BODY_DOCS = NO
# The INTERNAL_DOCS tag determines if documentation
# that is typed after a \internal command is included. If the tag is set
@ -146,73 +288,26 @@ STRIP_FROM_PATH =
INTERNAL_DOCS = NO
# Setting the STRIP_CODE_COMMENTS tag to YES (the default) will instruct
# doxygen to hide any special comment blocks from generated source code
# fragments. Normal C and C++ comments will always remain visible.
STRIP_CODE_COMMENTS = YES
# If the CASE_SENSE_NAMES tag is set to NO then Doxygen will only generate
# file names in lower case letters. If set to YES upper case letters are also
# file names in lower-case letters. If set to YES upper-case letters are also
# allowed. This is useful if you have classes or files whose names only differ
# in case and if your file system supports case sensitive file names. Windows
# users are adviced to set this option to NO.
# and Mac users are advised to set this option to NO.
CASE_SENSE_NAMES = YES
# If the SHORT_NAMES tag is set to YES, doxygen will generate much shorter
# (but less readable) file names. This can be useful is your file systems
# doesn't support long names like on DOS, Mac, or CD-ROM.
SHORT_NAMES = NO
# If the HIDE_SCOPE_NAMES tag is set to NO (the default) then Doxygen
# will show members with their full class and namespace scopes in the
# documentation. If set to YES the scope will be hidden.
HIDE_SCOPE_NAMES = NO
# If the VERBATIM_HEADERS tag is set to YES (the default) then Doxygen
# will generate a verbatim copy of the header file for each class for
# which an include is specified. Set to NO to disable this.
VERBATIM_HEADERS = YES
# If the SHOW_INCLUDE_FILES tag is set to YES (the default) then Doxygen
# will put list of the files that are included by a file in the documentation
# will put a list of the files that are included by a file in the documentation
# of that file.
SHOW_INCLUDE_FILES = NO
# If the JAVADOC_AUTOBRIEF tag is set to YES then Doxygen
# will interpret the first line (until the first dot) of a JavaDoc-style
# comment as the brief description. If set to NO, the JavaDoc
# comments will behave just like the Qt-style comments (thus requiring an
# explict @brief command for a brief description.
JAVADOC_AUTOBRIEF = YES
# The MULTILINE_CPP_IS_BRIEF tag can be set to YES to make Doxygen
# treat a multi-line C++ special comment block (i.e. a block of //! or ///
# comments) as a brief description. This used to be the default behaviour.
# The new default is to treat a multi-line C++ comment block as a detailed
# description. Set this tag to YES if you prefer the old behaviour instead.
MULTILINE_CPP_IS_BRIEF = YES
# If the DETAILS_AT_TOP tag is set to YES then Doxygen
# will output the detailed description near the top, like JavaDoc.
# If set to NO, the detailed description appears after the member
# documentation.
DETAILS_AT_TOP = YES
# If the INHERIT_DOCS tag is set to YES (the default) then an undocumented
# member inherits the documentation from any documented member that it
# reimplements.
INHERIT_DOCS = YES
# If the INLINE_INFO tag is set to YES (the default) then a tag [inline]
# is inserted in the documentation for inline members.
@ -225,17 +320,22 @@ INLINE_INFO = YES
SORT_MEMBER_DOCS = NO
# If member grouping is used in the documentation and the DISTRIBUTE_GROUP_DOC
# tag is set to YES, then doxygen will reuse the documentation of the first
# member in the group (if any) for the other members of the group. By default
# all members of a group must be documented explicitly.
# If the SORT_BRIEF_DOCS tag is set to YES then doxygen will sort the
# brief documentation of file, namespace and class members alphabetically
# by member name. If set to NO (the default) the members will appear in
# declaration order.
DISTRIBUTE_GROUP_DOC = NO
SORT_BRIEF_DOCS = NO
# 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.
# If the SORT_BY_SCOPE_NAME tag is set to YES, the class list will be
# sorted by fully-qualified names, including namespaces. If set to
# NO (the default), the class list will be sorted only by class name,
# not including the namespace part.
# Note: This option is not very useful if HIDE_SCOPE_NAMES is set to YES.
# Note: This option applies only to the class list, not to the
# alphabetical list.
TAB_SIZE = 3
SORT_BY_SCOPE_NAME = NO
# The GENERATE_TODOLIST tag can be used to enable (YES) or
# disable (NO) the todo list. This list is created by putting \todo
@ -256,26 +356,18 @@ GENERATE_TESTLIST = NO
GENERATE_BUGLIST = NO
# The GENERATE_DEPRECATEDLIST tag can be used to enable (YES) or
# disable (NO) the deprecated list. This list is created by putting \deprecated commands in the documentation.
# disable (NO) the deprecated list. This list is created by putting
# \deprecated commands in the documentation.
GENERATE_DEPRECATEDLIST= NO
# 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".
# For example adding "sideeffect=\par Side Effects:\n" will allow you to
# put the command \sideeffect (or @sideeffect) in the documentation, which
# will result in a user defined paragraph with heading "Side Effects:".
# You can put \n's in the value part of an alias to insert newlines.
ALIASES =
# The ENABLED_SECTIONS tag can be used to enable conditional
# documentation sections, marked by \if sectionname ... \endif.
ENABLED_SECTIONS =
# The MAX_INITIALIZER_LINES tag determines the maximum number of lines
# the initial value of a variable or define consist of for it to appear in
# the initial value of a variable or define consists of for it to appear in
# the documentation. If the initializer consists of more lines than specified
# here it will be hidden. Use a value of 0 to hide initializers completely.
# The appearance of the initializer of individual variables and defines in the
@ -284,26 +376,28 @@ ENABLED_SECTIONS =
MAX_INITIALIZER_LINES = 30
# Set the OPTIMIZE_OUTPUT_FOR_C tag to YES if your project consists of C sources
# only. Doxygen will then generate output that is more tailored for C.
# For instance some of the names that are used will be different. The list
# of all members will be omitted, etc.
OPTIMIZE_OUTPUT_FOR_C = YES
# Set the OPTIMIZE_OUTPUT_JAVA tag to YES if your project consists of Java sources
# only. Doxygen will then generate output that is more tailored for Java.
# For instance namespaces will be presented as packages, qualified scopes
# will look different, etc.
OPTIMIZE_OUTPUT_JAVA = NO
# Set the SHOW_USED_FILES tag to NO to disable the list of files generated
# at the bottom of the documentation of classes and structs. If set to YES the
# list will mention the files that were used to generate the documentation.
SHOW_USED_FILES = NO
# If the sources in your project are distributed over multiple directories
# then setting the SHOW_DIRECTORIES tag to YES will show the directory hierarchy
# in the documentation. The default is YES.
SHOW_DIRECTORIES = YES
# The FILE_VERSION_FILTER tag can be used to specify a program or script that
# doxygen should invoke to get the current version for each file (typically from the
# version control system). Doxygen will invoke the program by executing (via
# popen()) the command <command> <input-file>, where <command> is the value of
# the FILE_VERSION_FILTER tag, and <input-file> is the name of an input file
# provided by doxygen. Whatever the progam writes to standard output
# is used as the file version. See the manual for examples.
FILE_VERSION_FILTER =
#---------------------------------------------------------------------------
# configuration options related to warning and progress messages
#---------------------------------------------------------------------------
@ -325,10 +419,27 @@ WARNINGS = YES
WARN_IF_UNDOCUMENTED = YES
# If WARN_IF_DOC_ERROR is set to YES, doxygen will generate warnings for
# potential errors in the documentation, such as not documenting some
# parameters in a documented function, or documenting parameters that
# don't exist or using markup commands wrongly.
WARN_IF_DOC_ERROR = YES
# This WARN_NO_PARAMDOC option can be abled to get warnings for
# functions that are documented, but have no documentation for their parameters
# or return value. If set to NO (the default) doxygen will only warn about
# wrong or incomplete parameter documentation, but not about the absence of
# documentation.
WARN_NO_PARAMDOC = NO
# The WARN_FORMAT tag determines the format of the warning messages that
# doxygen can produce. The string should contain the $file, $line, and $text
# tags, which will be replaced by the file and line number from which the
# warning originated and the warning text.
# warning originated and the warning text. Optionally the format may contain
# $version, which will be replaced by the version of the file (if it could
# be obtained via FILE_VERSION_FILTER)
WARN_FORMAT = "$file:$line: $text"
@ -347,14 +458,15 @@ WARN_LOGFILE =
# directories like "/usr/src/myproject". Separate the files or directories
# with spaces.
INPUT = . ../include
INPUT = . \
../include
# If the value of the INPUT tag contains directories, you can use the
# FILE_PATTERNS tag to specify one or more wildcard pattern (like *.cpp
# and *.h) to filter out the source-files in the directories. If left
# blank the following patterns are tested:
# *.c *.cc *.cxx *.cpp *.c++ *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh *.hxx *.hpp
# *.h++ *.idl *.odl
# *.c *.cc *.cxx *.cpp *.c++ *.java *.ii *.ixx *.ipp *.i++ *.inl *.h *.hh *.hxx
# *.hpp *.h++ *.idl *.odl *.cs *.php *.php3 *.inc *.m *.mm
FILE_PATTERNS =
@ -368,16 +480,19 @@ RECURSIVE = NO
# excluded from the INPUT source files. This way you can easily exclude a
# subdirectory from a directory tree whose root is specified with the INPUT tag.
EXCLUDE =
EXCLUDE =
# The EXCLUDE_SYMLINKS tag can be used select whether or not files or directories
# that are symbolic links (a Unix filesystem feature) are excluded from the input.
# The EXCLUDE_SYMLINKS tag can be used select whether or not files or
# directories that are symbolic links (a Unix filesystem feature) are excluded
# from the input.
EXCLUDE_SYMLINKS = NO
# If the value of the INPUT tag contains directories, you can use the
# EXCLUDE_PATTERNS tag to specify one or more wildcard patterns to exclude
# certain files from those directories.
# certain files from those directories. Note that the wildcards are matched
# against the file with absolute path, so to exclude all test directories
# for example use the pattern */test/*
EXCLUDE_PATTERNS = *.mod.c
@ -412,10 +527,20 @@ IMAGE_PATH =
# by executing (via popen()) the command <filter> <input-file>, where <filter>
# is the value of the INPUT_FILTER tag, and <input-file> is the name of an
# input file. Doxygen will then use the output that the filter program writes
# to standard output.
# to standard output. If FILTER_PATTERNS is specified, this tag will be
# ignored.
INPUT_FILTER =
# The FILTER_PATTERNS tag can be used to specify filters on a per file pattern
# basis. Doxygen will compare the file name with each pattern and apply the
# filter if there is a match. The filters are a list of the form:
# pattern=filter (like *.cpp=my_cpp_filter). See INPUT_FILTER for further
# info on how filters are used. If FILTER_PATTERNS is empty, INPUT_FILTER
# is applied to all files.
FILTER_PATTERNS =
# If the FILTER_SOURCE_FILES tag is set to YES, the input filter (if set using
# INPUT_FILTER) will be used to filter the input files when producing source
# files to browse (i.e. when SOURCE_BROWSER is set to YES).
@ -427,7 +552,9 @@ FILTER_SOURCE_FILES = NO
#---------------------------------------------------------------------------
# If the SOURCE_BROWSER tag is set to YES then a list of source files will
# be generated. Documented entities will be cross-referenced with these sources.
# be generated. Documented entities will be cross-referenced with these sources.
# Note: To get rid of all source code in the generated output, make sure also
# VERBATIM_HEADERS is set to NO.
SOURCE_BROWSER = YES
@ -436,17 +563,37 @@ SOURCE_BROWSER = YES
INLINE_SOURCES = NO
# Setting the STRIP_CODE_COMMENTS tag to YES (the default) will instruct
# doxygen to hide any special comment blocks from generated source code
# fragments. Normal C and C++ comments will always remain visible.
STRIP_CODE_COMMENTS = YES
# If the REFERENCED_BY_RELATION tag is set to YES (the default)
# then for each documented function all documented
# functions referencing it will be listed.
REFERENCED_BY_RELATION = YES
REFERENCED_BY_RELATION = NO
# If the REFERENCES_RELATION tag is set to YES (the default)
# then for each documented function all documented entities
# called/used by that function will be listed.
REFERENCES_RELATION = YES
REFERENCES_RELATION = NO
# If the USE_HTAGS tag is set to YES then the references to source code
# will point to the HTML generated by the htags(1) tool instead of doxygen
# built-in source browser. The htags tool is part of GNU's global source
# tagging system (see http://www.gnu.org/software/global/global.html). You
# will need version 4.8.6 or higher.
USE_HTAGS = NO
# If the VERBATIM_HEADERS tag is set to YES (the default) then Doxygen
# will generate a verbatim copy of the header file for each class for
# which an include is specified. Set to NO to disable this.
VERBATIM_HEADERS = YES
#---------------------------------------------------------------------------
# configuration options related to the alphabetical class index
@ -504,10 +651,12 @@ HTML_HEADER =
HTML_FOOTER =
# The HTML_STYLESHEET tag can be used to specify a user defined cascading
# The HTML_STYLESHEET tag can be used to specify a user-defined cascading
# style sheet that is used by each HTML page. It can be used to
# fine-tune the look of the HTML output. If the tag is left blank doxygen
# will generate a default style sheet
# will generate a default style sheet. Note that doxygen will try to copy
# the style sheet file to the HTML output directory, so don't put your own
# stylesheet in the HTML output directory as well, or it will be erased!
HTML_STYLESHEET =
@ -527,14 +676,14 @@ GENERATE_HTMLHELP = NO
# If the GENERATE_HTMLHELP tag is set to YES, the CHM_FILE tag can
# be used to specify the file name of the resulting .chm file. You
# can add a path in front of the file if the result should not be
# written to the html output dir.
# written to the html output directory.
CHM_FILE =
# If the GENERATE_HTMLHELP tag is set to YES, the HHC_LOCATION tag can
# be used to specify the location (absolute path including file name) of
# the HTML help compiler (hhc.exe). If non empty doxygen will try to run
# the html help compiler on the generated index.hhp.
# the HTML help compiler (hhc.exe). If non-empty doxygen will try to run
# the HTML help compiler on the generated index.hhp.
HHC_LOCATION =
@ -551,7 +700,7 @@ GENERATE_CHI = NO
BINARY_TOC = NO
# The TOC_EXPAND flag can be set to YES to add extra items for group members
# to the contents of the Html help documentation and to the tree view.
# to the contents of the HTML help documentation and to the tree view.
TOC_EXPAND = NO
@ -569,10 +718,9 @@ ENUM_VALUES_PER_LINE = 4
# If the GENERATE_TREEVIEW tag is set to YES, a side panel will be
# generated containing a tree-like index structure (just like the one that
# is generated for HTML Help). For this to work a browser that supports
# JavaScript and frames is required (for instance Mozilla, Netscape 4.0+,
# or Internet explorer 4.0+). Note that for large projects the tree generation
# can take a very long time. In such cases it is better to disable this feature.
# Windows users are probably better off using the HTML help feature.
# JavaScript, DHTML, CSS and frames is required (for instance Mozilla 1.0+,
# Netscape 6.0+, Internet explorer 5.0+, or Konqueror). Windows users are
# probably better off using the HTML help feature.
GENERATE_TREEVIEW = YES
@ -597,7 +745,8 @@ GENERATE_LATEX = NO
LATEX_OUTPUT = latex
# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be invoked. If left blank `latex' will be used as the default command name.
# The LATEX_CMD_NAME tag can be used to specify the LaTeX command name to be
# invoked. If left blank `latex' will be used as the default command name.
LATEX_CMD_NAME = latex
@ -651,12 +800,18 @@ USE_PDFLATEX = NO
LATEX_BATCHMODE = NO
# If LATEX_HIDE_INDICES is set to YES then doxygen will not
# include the index chapters (such as File Index, Compound Index, etc.)
# in the output.
LATEX_HIDE_INDICES = NO
#---------------------------------------------------------------------------
# configuration options related to the RTF output
#---------------------------------------------------------------------------
# If the GENERATE_RTF tag is set to YES Doxygen will generate RTF output
# The RTF output is optimised for Word 97 and may not look very pretty with
# The RTF output is optimized for Word 97 and may not look very pretty with
# other RTF readers or editors.
GENERATE_RTF = NO
@ -683,7 +838,7 @@ COMPACT_RTF = NO
RTF_HYPERLINKS = NO
# Load stylesheet definitions from file. Syntax is similar to doxygen's
# config file, i.e. a series of assigments. You only have to provide
# config file, i.e. a series of assignments. You only have to provide
# replacements, missing definitions are set to their default value.
RTF_STYLESHEET_FILE =
@ -727,12 +882,16 @@ MAN_LINKS = NO
# If the GENERATE_XML tag is set to YES Doxygen will
# generate an XML file that captures the structure of
# the code including all documentation. Note that this
# feature is still experimental and incomplete at the
# moment.
# the code including all documentation.
GENERATE_XML = NO
# The XML_OUTPUT tag is used to specify where the XML pages will be put.
# If a relative path is entered the value of OUTPUT_DIRECTORY will be
# put in front of it. If left blank `xml' will be used as the default path.
XML_OUTPUT = xml
# The XML_SCHEMA tag can be used to specify an XML schema,
# which can be used by a validating XML parser to check the
# syntax of the XML files.
@ -745,6 +904,13 @@ XML_SCHEMA =
XML_DTD =
# If the XML_PROGRAMLISTING tag is set to YES Doxygen will
# dump the program listings (including syntax highlighting
# and cross-referencing information) to the XML output. Note that
# enabling this will significantly increase the size of the XML output.
XML_PROGRAMLISTING = YES
#---------------------------------------------------------------------------
# configuration options for the AutoGen Definitions output
#---------------------------------------------------------------------------
@ -757,6 +923,39 @@ XML_DTD =
GENERATE_AUTOGEN_DEF = NO
#---------------------------------------------------------------------------
# configuration options related to the Perl module output
#---------------------------------------------------------------------------
# If the GENERATE_PERLMOD tag is set to YES Doxygen will
# generate a Perl module file that captures the structure of
# the code including all documentation. Note that this
# feature is still experimental and incomplete at the
# moment.
GENERATE_PERLMOD = NO
# If the PERLMOD_LATEX tag is set to YES Doxygen will generate
# the necessary Makefile rules, Perl scripts and LaTeX code to be able
# to generate PDF and DVI output from the Perl module output.
PERLMOD_LATEX = NO
# If the PERLMOD_PRETTY tag is set to YES the Perl module output will be
# nicely formatted so it can be parsed by a human reader. This is useful
# if you want to understand what is going on. On the other hand, if this
# tag is set to NO the size of the Perl module output will be much smaller
# and Perl will parse it just the same.
PERLMOD_PRETTY = YES
# The names of the make variables in the generated doxyrules.make file
# are prefixed with the string contained in PERLMOD_MAKEVAR_PREFIX.
# This is useful so different doxyrules.make files included by the same
# Makefile don't overwrite each other's variables.
PERLMOD_MAKEVAR_PREFIX =
#---------------------------------------------------------------------------
# Configuration options related to the preprocessor
#---------------------------------------------------------------------------
@ -802,11 +1001,13 @@ INCLUDE_FILE_PATTERNS =
# are defined before the preprocessor is started (similar to the -D option of
# gcc). The argument of the tag is a list of macros of the form: name
# or name=definition (no spaces). If the definition and the = are
# omitted =1 is assumed.
# omitted =1 is assumed. To prevent a macro definition from being
# undefined via #undef or recursively expanded use the := operator
# instead of the = operator.
PREDEFINED =
# If the MACRO_EXPANSION and EXPAND_PREDEF_ONLY tags are set to YES then
# If the MACRO_EXPANSION and EXPAND_ONLY_PREDEF tags are set to YES then
# this tag can be used to specify a list of macro names that should be expanded.
# The macro definition that is found in the sources will be used.
# Use the PREDEFINED tag if you want to use a different macro definition.
@ -816,16 +1017,29 @@ EXPAND_AS_DEFINED =
# If the SKIP_FUNCTION_MACROS tag is set to YES (the default) then
# doxygen's preprocessor will remove all function-like macros that are alone
# on a line, have an all uppercase name, and do not end with a semicolon. Such
# function macros are typically used for boiler-plate code, and will confuse the
# parser if not removed.
# function macros are typically used for boiler-plate code, and will confuse
# the parser if not removed.
SKIP_FUNCTION_MACROS = YES
#---------------------------------------------------------------------------
# Configuration::addtions related to external references
# Configuration::additions related to external references
#---------------------------------------------------------------------------
# The TAGFILES tag can be used to specify one or more tagfiles.
# The TAGFILES option can be used to specify one or more tagfiles.
# Optionally an initial location of the external documentation
# can be added for each tagfile. The format of a tag file without
# this location is as follows:
# TAGFILES = file1 file2 ...
# Adding location for the tag files is done as follows:
# TAGFILES = file1=loc1 "file2 = loc2" ...
# where "loc1" and "loc2" can be relative or absolute paths or
# URLs. If a location is present for each tag, the installdox tool
# does not have to be run to correct the links.
# Note that each tag file must have a unique name
# (where the name does NOT include the path)
# If a tag file is not located in the directory in which doxygen
# is run, you must also specify the path to the tagfile here.
TAGFILES =
@ -856,10 +1070,11 @@ PERL_PATH = /usr/bin/perl
#---------------------------------------------------------------------------
# If the CLASS_DIAGRAMS tag is set to YES (the default) Doxygen will
# generate a inheritance diagram (in Html, RTF and LaTeX) for classes with base or
# super classes. Setting the tag to NO turns the diagrams off. Note that this
# option is superceded by the HAVE_DOT option below. This is only a fallback. It is
# recommended to install and use dot, since it yield more powerful graphs.
# generate a inheritance diagram (in HTML, RTF and LaTeX) for classes with base
# or super classes. Setting the tag to NO turns the diagrams off. Note that
# this option is superseded by the HAVE_DOT option below. This is only a
# fallback. It is recommended to install and use dot, since it yields more
# powerful graphs.
CLASS_DIAGRAMS = YES
@ -890,6 +1105,17 @@ CLASS_GRAPH = YES
COLLABORATION_GRAPH = YES
# If the GROUP_GRAPHS and HAVE_DOT tags are set to YES then doxygen
# will generate a graph for groups, showing the direct groups dependencies
GROUP_GRAPHS = YES
# If the UML_LOOK tag is set to YES doxygen will generate inheritance and
# collaboration diagrams in a style similar to the OMG's Unified Modeling
# Language.
UML_LOOK = NO
# If set to YES, the inheritance and collaboration graphs will show the
# relations between templates and their instances.
@ -909,11 +1135,26 @@ INCLUDE_GRAPH = YES
INCLUDED_BY_GRAPH = YES
# If the CALL_GRAPH and HAVE_DOT tags are set to YES then doxygen will
# generate a call dependency graph for every global function or class method.
# Note that enabling this option will significantly increase the time of a run.
# So in most cases it will be better to enable call graphs for selected
# functions only using the \callgraph command.
CALL_GRAPH = NO
# If the GRAPHICAL_HIERARCHY and HAVE_DOT tags are set to YES then doxygen
# will graphical hierarchy of all classes instead of a textual one.
GRAPHICAL_HIERARCHY = YES
# If the DIRECTORY_GRAPH, SHOW_DIRECTORIES and HAVE_DOT tags are set to YES
# then doxygen will show the dependencies a directory has on other directories
# in a graphical way. The dependency relations are determined by the #include
# relations between the files in the directories.
DIRECTORY_GRAPH = YES
# The DOT_IMAGE_FORMAT tag can be used to set the image format of the images
# generated by dot. Possible values are png, jpg, or gif
# If left blank png will be used.
@ -921,7 +1162,7 @@ GRAPHICAL_HIERARCHY = YES
DOT_IMAGE_FORMAT = png
# The tag DOT_PATH can be used to specify the path where the dot tool can be
# found. If left blank, it is assumed the dot tool can be found on the path.
# found. If left blank, it is assumed the dot tool can be found in the path.
DOT_PATH =
@ -947,6 +1188,33 @@ MAX_DOT_GRAPH_WIDTH = 1024
MAX_DOT_GRAPH_HEIGHT = 1024
# The MAX_DOT_GRAPH_DEPTH tag can be used to set the maximum depth of the
# graphs generated by dot. A depth value of 3 means that only nodes reachable
# from the root by following a path via at most 3 edges will be shown. Nodes
# that lay further from the root node will be omitted. Note that setting this
# option to 1 or 2 may greatly reduce the computation time needed for large
# code bases. Also note that a graph may be further truncated if the graph's
# image dimensions are not sufficient to fit the graph (see MAX_DOT_GRAPH_WIDTH
# and MAX_DOT_GRAPH_HEIGHT). If 0 is used for the depth value (the default),
# the graph is not depth-constrained.
MAX_DOT_GRAPH_DEPTH = 0
# Set the DOT_TRANSPARENT tag to YES to generate images with a transparent
# background. This is disabled by default, which results in a white background.
# Warning: Depending on the platform used, enabling this option may lead to
# badly anti-aliased labels on the edges of a graph (i.e. they become hard to
# read).
DOT_TRANSPARENT = NO
# Set the DOT_MULTI_TARGETS tag to YES allow dot to generate multiple output
# files in one run (i.e. multiple -o and -T options on the command line). This
# makes dot run faster, but since only newer versions of dot (>1.8.10)
# support this, this feature is disabled by default.
DOT_MULTI_TARGETS = NO
# If the GENERATE_LEGEND tag is set to YES (the default) Doxygen will
# generate a legend page explaining the meaning of the various boxes and
# arrows in the dot generated graphs.
@ -954,51 +1222,16 @@ MAX_DOT_GRAPH_HEIGHT = 1024
GENERATE_LEGEND = YES
# If the DOT_CLEANUP tag is set to YES (the default) Doxygen will
# remove the intermedate dot files that are used to generate
# remove the intermediate dot files that are used to generate
# the various graphs.
DOT_CLEANUP = YES
#---------------------------------------------------------------------------
# Configuration::addtions related to the search engine
# Configuration::additions related to the search engine
#---------------------------------------------------------------------------
# The SEARCHENGINE tag specifies whether or not a search engine should be
# used. If set to NO the values of all tags below this one will be ignored.
SEARCHENGINE = NO
# The CGI_NAME tag should be the name of the CGI script that
# starts the search engine (doxysearch) with the correct parameters.
# A script with this name will be generated by doxygen.
CGI_NAME = search.cgi
# The CGI_URL tag should be the absolute URL to the directory where the
# cgi binaries are located. See the documentation of your http daemon for
# details.
CGI_URL =
# The DOC_URL tag should be the absolute URL to the directory where the
# documentation is located. If left blank the absolute path to the
# documentation, with file:// prepended to it, will be used.
DOC_URL =
# The DOC_ABSPATH tag should be the absolute path to the directory where the
# documentation is located. If left blank the directory on the local machine
# will be used.
DOC_ABSPATH =
# The BIN_ABSPATH tag must point to the directory where the doxysearch binary
# is installed.
BIN_ABSPATH = /usr/local/bin/
# The EXT_DOC_PATHS tag can be used to specify one or more paths to
# documentation generated for other projects. This allows doxysearch to search
# the documentation for these projects as well.
EXT_DOC_PATHS =

2
master/Makefile
View File

@ -48,6 +48,8 @@ doc:
cleandoc:
@rm -rf doc
.PHONY: doc
#------------------------------------------------------------------------------
endif

19
master/command.h
View File

@ -30,13 +30,12 @@ ec_command_state_t;
/**
EtherCAT-Adresse.
Im EtherCAT-Rahmen sind 4 Bytes für die Adresse reserviert, die
ja nach Kommandoty eine andere bedeutung haben: Bei Autoinkrement-
befehlen sind die ersten zwei Bytes die (negative)
Autoinkrement-Adresse, bei Knoten-adressierten Befehlen entsprechen
sie der Knotenadresse. Das dritte und vierte Byte entspricht in
diesen Fällen der physikalischen Speicheradresse auf dem Slave.
Bei einer logischen Adressierung entsprechen alle vier Bytes
Im EtherCAT-Rahmen sind 4 Bytes für die Adresse reserviert, die je nach
Kommandotyp, eine andere Bedeutung haben können: Bei Autoinkrementbefehlen
sind die ersten zwei Bytes die (negative) Autoinkrement-Adresse, bei Knoten-
adressierten Befehlen entsprechen sie der Knotenadresse. Das dritte und
vierte Byte entspricht in diesen Fällen der physikalischen Speicheradresse
auf dem Slave. Bei einer logischen Adressierung entsprechen alle vier Bytes
der logischen Adresse.
*/
@ -53,7 +52,7 @@ typedef union
unsigned short mem; /**< Physikalische Speicheradresse im Slave */
}
phy;
phy; /**< Physikalische Adresse */
unsigned long logical; /**< Logische Adresse */
unsigned char raw[4]; /**< Rohdaten für die Generierung des Frames */
@ -68,12 +67,12 @@ ec_address_t;
typedef struct ec_command
{
ec_command_type_t type; /**< Typ des Kommandos (APRD, NPWR, etc...) */
ec_command_type_t type; /**< Typ des Kommandos (APRD, NPWR, etc) */
ec_address_t address; /**< Adresse des/der Empfänger */
unsigned int data_length; /**< Länge der zu sendenden und/oder
empfangenen Daten */
ec_command_state_t state; /**< Zustand des Kommandos
(bereit, gesendet, etc...) */
(bereit, gesendet, etc) */
unsigned char index; /**< Kommando-Index, mit der das Kommando gesendet
wurde (wird vom Master beim Senden gesetzt. */
unsigned int working_counter; /**< Working-Counter bei Empfang (wird

282
master/master.c
View File

@ -36,11 +36,11 @@ void ec_output_lost_frames(ec_master_t *);
/**
Konstruktor des EtherCAT-Masters.
@param master Zeiger auf den zu initialisierenden EtherCAT-Master
*/
void ec_master_init(ec_master_t *master)
void ec_master_init(ec_master_t *master
/**< Zeiger auf den zu initialisierenden EtherCAT-Master */
)
{
master->bus_slaves = NULL;
master->bus_slaves_count = 0;
@ -62,11 +62,11 @@ void ec_master_init(ec_master_t *master)
Entfernt alle Kommandos aus der Liste, löscht den Zeiger
auf das Slave-Array und gibt die Prozessdaten frei.
@param master Zeiger auf den zu löschenden Master
*/
void ec_master_clear(ec_master_t *master)
void ec_master_clear(ec_master_t *master
/**< Zeiger auf den zu löschenden Master */
)
{
if (master->bus_slaves) {
kfree(master->bus_slaves);
@ -85,11 +85,11 @@ void ec_master_clear(ec_master_t *master)
Bei einem "release" sollte immer diese Funktion aufgerufen werden,
da sonst Slave-Liste, Domains, etc. weiter existieren.
@param master Zeiger auf den zurückzusetzenden Master
*/
void ec_master_reset(ec_master_t *master)
void ec_master_reset(ec_master_t *master
/**< Zeiger auf den zurückzusetzenden Master */
)
{
if (master->bus_slaves) {
kfree(master->bus_slaves);
@ -112,13 +112,11 @@ void ec_master_reset(ec_master_t *master)
/**
Öffnet das EtherCAT-Geraet des Masters.
@param master Der EtherCAT-Master
@return 0, wenn alles o.k., < 0, wenn das Geraet nicht geoeffnet werden
konnte.
\return 0, wenn alles o.k., < 0, wenn kein Gerät registriert wurde oder
es nicht geoeffnet werden konnte.
*/
int ec_master_open(ec_master_t *master)
int ec_master_open(ec_master_t *master /**< Der EtherCAT-Master */)
{
if (!master->device_registered) {
printk(KERN_ERR "EtherCAT: No device registered!\n");
@ -137,11 +135,9 @@ int ec_master_open(ec_master_t *master)
/**
Schliesst das EtherCAT-Geraet, auf dem der Master arbeitet.
@param master Der EtherCAT-Master
*/
void ec_master_close(ec_master_t *master)
void ec_master_close(ec_master_t *master /**< EtherCAT-Master */)
{
if (!master->device_registered) {
printk(KERN_WARNING "EtherCAT: Warning -"
@ -160,13 +156,14 @@ void ec_master_close(ec_master_t *master)
Sendet ein einzelnes Kommando in einem Frame und
wartet auf dessen Empfang.
@param master EtherCAT-Master
@param cmd Kommando zum Senden/Empfangen
@return 0 bei Erfolg, sonst < 0
\return 0 bei Erfolg, sonst < 0
*/
int ec_simple_send_receive(ec_master_t *master, ec_command_t *cmd)
int ec_simple_send_receive(ec_master_t *master,
/**< EtherCAT-Master */
ec_command_t *cmd
/**< Kommando zum Senden/Empfangen */
)
{
unsigned int tries_left;
@ -194,13 +191,12 @@ int ec_simple_send_receive(ec_master_t *master, ec_command_t *cmd)
/**
Sendet ein einzelnes Kommando in einem Frame.
@param master EtherCAT-Master
@param cmd Kommando zum Senden
@return 0 bei Erfolg, sonst < 0
\return 0 bei Erfolg, sonst < 0
*/
int ec_simple_send(ec_master_t *master, ec_command_t *cmd)
int ec_simple_send(ec_master_t *master, /**< EtherCAT-Master */
ec_command_t *cmd /**< Kommando zum Senden */
)
{
unsigned int length, framelength, i;
@ -294,13 +290,12 @@ int ec_simple_send(ec_master_t *master, ec_command_t *cmd)
Wartet auf den Empfang eines einzeln gesendeten
Kommandos.
@param master EtherCAT-Master
@param cmd Gesendetes Kommando
@return 0 bei Erfolg, sonst < 0
\return 0 bei Erfolg, sonst < 0
*/
int ec_simple_receive(ec_master_t *master, ec_command_t *cmd)
int ec_simple_receive(ec_master_t *master, /**< EtherCAT-Master */
ec_command_t *cmd /**< Gesendetes Kommando */
)
{
unsigned int length;
int ret;
@ -377,12 +372,10 @@ int ec_simple_receive(ec_master_t *master, ec_command_t *cmd)
/**
Durchsucht den Bus nach Slaves.
@param master Der EtherCAT-Master
@return 0 bei Erfolg, sonst < 0
*/
int ec_scan_for_slaves(ec_master_t *master)
int ec_scan_for_slaves(ec_master_t *master /**< EtherCAT-Master */)
{
ec_command_t cmd;
ec_slave_t *slave;
@ -510,17 +503,19 @@ int ec_scan_for_slaves(ec_master_t *master)
Liest Daten aus dem Slave-Information-Interface
eines EtherCAT-Slaves.
@param master EtherCAT-Master
@param node_address Knotenadresse des Slaves
@param offset Adresse des zu lesenden SII-Registers
@param target Zeiger auf einen 4 Byte großen Speicher
zum Ablegen der Daten
@return 0 bei Erfolg, sonst < 0
\return 0 bei Erfolg, sonst < 0
*/
int ec_sii_read(ec_master_t *master, unsigned short int node_address,
unsigned short int offset, unsigned int *target)
int ec_sii_read(ec_master_t *master,
/**< EtherCAT-Master */
unsigned short int node_address,
/**< Knotenadresse des Slaves */
unsigned short int offset,
/**< Adresse des zu lesenden SII-Registers */
unsigned int *target
/**< Zeiger auf einen 4 Byte großen Speicher zum Ablegen der
Daten */
)
{
ec_command_t cmd;
unsigned char data[10];
@ -586,20 +581,18 @@ int ec_sii_read(ec_master_t *master, unsigned short int node_address,
/*****************************************************************************/
/**
Ändert den Zustand eines Slaves (asynchron).
Ändert den Zustand eines Slaves.
Führt eine (asynchrone) Zustandsänderung bei einem Slave durch.
@param master EtherCAT-Master
@param slave Slave, dessen Zustand geändert werden soll
@param state_and_ack Neuer Zustand, evtl. mit gesetztem
Acknowledge-Flag
@return 0 bei Erfolg, sonst < 0
\return 0 bei Erfolg, sonst < 0
*/
int ec_state_change(ec_master_t *master, ec_slave_t *slave,
unsigned char state_and_ack)
int ec_state_change(ec_master_t *master,
/**<EtherCAT-Master */
ec_slave_t *slave,
/**< Slave, dessen Zustand geändert werden soll */
unsigned char state_and_ack
/**< Neuer Zustand, evtl. mit gesetztem Acknowledge-Flag */
)
{
ec_command_t cmd;
unsigned char data[2];
@ -670,11 +663,9 @@ int ec_state_change(ec_master_t *master, ec_slave_t *slave,
/**
Gibt Frame-Inhalte zwecks Debugging aus.
@param master EtherCAT-Master
*/
void ec_output_debug_data(const ec_master_t *master)
void ec_output_debug_data(const ec_master_t *master /**< EtherCAT-Master */)
{
unsigned int i;
@ -705,11 +696,9 @@ void ec_output_debug_data(const ec_master_t *master)
/**
Gibt von Zeit zu Zeit die Anzahl verlorener Frames aus.
@param master EtherCAT-Master
*/
void ec_output_lost_frames(ec_master_t *master)
void ec_output_lost_frames(ec_master_t *master /**< EtherCAT-Master */)
{
unsigned long int t;
@ -723,6 +712,92 @@ void ec_output_lost_frames(ec_master_t *master)
}
}
/*****************************************************************************/
/**
Wandelt eine ASCII-kodierte Bus-Adresse in einen Slave-Zeiger.
Gültige Adress-Strings sind Folgende:
- \a "X" = der X. Slave im Bus,
- \a "X:Y" = der Y. Slave hinter dem X. Buskoppler,
- \a "#X" = der Slave mit der SSID X,
- \a "#X:Y" = der Y. Slave hinter dem Buskoppler mit der SSID X.
\return Zeiger auf Slave bei Erfolg, sonst NULL
*/
ec_slave_t *ec_address(const ec_master_t *master,
/**< EtherCAT-Master */
const char *address
/**< Address-String */
)
{
unsigned long first, second;
char *remainder, *remainder2;
unsigned int i;
int coupler_idx, slave_idx;
ec_slave_t *slave;
if (!address || address[0] == 0) return NULL;
if (address[0] == '#') {
printk(KERN_ERR "EtherCAT: Bus ID - #<SSID> not implemented yet!\n");
return NULL;
}
first = simple_strtoul(address, &remainder, 0);
if (remainder == address) {
printk(KERN_ERR "EtherCAT: Bus ID - First number empty!\n");
return NULL;
}
if (!remainder[0]) { // absolute position
if (first < master->bus_slaves_count) {
return master->bus_slaves + first;
}
printk(KERN_ERR "EtherCAT: Bus ID - Absolute position illegal!\n");
}
else if (remainder[0] == ':') { // field position
remainder++;
second = simple_strtoul(remainder, &remainder2, 0);
if (remainder2 == remainder) {
printk(KERN_ERR "EtherCAT: Bus ID - Sencond number empty!\n");
return NULL;
}
if (remainder2[0]) {
printk(KERN_ERR "EtherCAT: Bus ID - Illegal trailer (2)!\n");
return NULL;
}
coupler_idx = -1;
slave_idx = 0;
for (i = 0; i < master->bus_slaves_count; i++, slave_idx++) {
slave = master->bus_slaves + i;
if (!slave->type) continue;
if (strcmp(slave->type->vendor_name, "Beckhoff") == 0 &&
strcmp(slave->type->product_name, "EK1100") == 0) {
coupler_idx++;
slave_idx = 0;
}
if (coupler_idx == first && slave_idx == second) return slave;
}
}
else {
printk(KERN_ERR "EtherCAT: Bus ID - Illegal trailer!\n");
}
return NULL;
}
/******************************************************************************
*
* Echtzeitschnittstelle
@ -732,20 +807,21 @@ void ec_output_lost_frames(ec_master_t *master)
/**
Registriert einen Slave beim Master.
@param master Der EtherCAT-Master
@param bus_index Index des Slaves im EtherCAT-Bus
@param vendor_name String mit dem Herstellernamen
@param product_name String mit dem Produktnamen
@param domain Domäne, in der der Slave sein soll
@return Zeiger auf den Slave bei Erfolg, sonst NULL
\return Zeiger auf den Slave bei Erfolg, sonst NULL
*/
ec_slave_t *EtherCAT_rt_register_slave(ec_master_t *master,
unsigned int bus_index,
/**< EtherCAT-Master */
const char *address,
/**< ASCII-Addresse des Slaves, siehe
auch ec_address() */
const char *vendor_name,
/**< Herstellername */
const char *product_name,
int domain)
/**< Produktname */
int domain
/**< Domäne */
)
{
ec_slave_t *slave;
const ec_slave_type_t *type;
@ -757,21 +833,20 @@ ec_slave_t *EtherCAT_rt_register_slave(ec_master_t *master,
return NULL;
}
if (bus_index >= master->bus_slaves_count) {
printk(KERN_ERR "EtherCAT: Illegal bus index! (%i / %i)\n", bus_index,
master->bus_slaves_count);
if ((slave = ec_address(master, address)) == NULL) {
printk(KERN_ERR "EtherCAT: Illegal address: \"%s\"\n", address);
return NULL;
}
slave = master->bus_slaves + bus_index;
if (slave->registered) {
printk(KERN_ERR "EtherCAT: Slave %i is already registered!\n", bus_index);
printk(KERN_ERR "EtherCAT: Slave \"%s\" (position %i) has already been"
" registered!\n", address, slave->ring_position * (-1));
return NULL;
}
if (!slave->type) {
printk(KERN_ERR "EtherCAT: Unknown slave at position %i!\n", bus_index);
printk(KERN_ERR "EtherCAT: Slave \"%s\" (position %i) has unknown type!\n",
address, slave->ring_position * (-1));
return NULL;
}
@ -829,23 +904,24 @@ ec_slave_t *EtherCAT_rt_register_slave(ec_master_t *master,
/**
Registriert eine ganze Liste von Slaves beim Master.
@param master Der EtherCAT-Master
@param slaves Array von Slave-Initialisierungsstrukturen
@param count Anzahl der Strukturen in "slaves"
@return 0 bei Erfolg, sonst < 0
\return 0 bei Erfolg, sonst < 0
*/
int EtherCAT_rt_register_slave_list(ec_master_t *master,
/**< EtherCAT-Master */
const ec_slave_init_t *slaves,
unsigned int count)
/**< Array von Slave-Initialisierungs-
strukturen */
unsigned int count
/**< Anzahl der Strukturen in \a slaves */
)
{
unsigned int i;
for (i = 0; i < count; i++)
{
if ((*(slaves[i].slave_ptr) =
EtherCAT_rt_register_slave(master, slaves[i].bus_index,
EtherCAT_rt_register_slave(master, slaves[i].address,
slaves[i].vendor_name,
slaves[i].product_name,
slaves[i].domain)) == NULL)
@ -864,12 +940,10 @@ int EtherCAT_rt_register_slave_list(ec_master_t *master,
Slaves durch. Setzt Sync-Manager und FMMU's, führt die entsprechenden
Zustandsübergänge durch, bis der Slave betriebsbereit ist.
@param master EtherCAT-Master
@return 0 bei Erfolg, sonst < 0
\return 0 bei Erfolg, sonst < 0
*/
int EtherCAT_rt_activate_slaves(ec_master_t *master)
int EtherCAT_rt_activate_slaves(ec_master_t *master /**< EtherCAT-Master */)
{
unsigned int i;
ec_slave_t *slave;
@ -1072,12 +1146,10 @@ int EtherCAT_rt_activate_slaves(ec_master_t *master)
/**
Setzt alle Slaves zurück in den Init-Zustand.
@param master EtherCAT-Master
@return 0 bei Erfolg, sonst < 0
\return 0 bei Erfolg, sonst < 0
*/
int EtherCAT_rt_deactivate_slaves(ec_master_t *master)
int EtherCAT_rt_deactivate_slaves(ec_master_t *master /**< EtherCAT-Master */)
{
ec_slave_t *slave;
unsigned int i;
@ -1098,15 +1170,16 @@ int EtherCAT_rt_deactivate_slaves(ec_master_t *master)
/**
Sendet und empfängt Prozessdaten der angegebenen Domäne
@param master EtherCAT-Master
@param domain Domäne
@param timeout_us Timeout in Mikrosekunden
@return 0 bei Erfolg, sonst < 0
\return 0 bei Erfolg, sonst < 0
*/
int EtherCAT_rt_domain_xio(ec_master_t *master, unsigned int domain,
unsigned int timeout_us)
int EtherCAT_rt_domain_xio(ec_master_t *master,
/**< EtherCAT-Master */
unsigned int domain,
/**< Domäne */
unsigned int timeout_us
/**< Timeout in Mikrosekunden */
)
{
unsigned int i;
ec_domain_t *dom;
@ -1183,9 +1256,18 @@ int EtherCAT_rt_domain_xio(ec_master_t *master, unsigned int domain,
/**
Setzt die Debug-Ebene des Masters.
Folgende Debug-level sind definiert:
- 1: Nur Positionsmarken in bestimmten Funktionen
- 2: Komplette Frame-Inhalte
*/
void EtherCAT_rt_debug_level(ec_master_t *master, int level)
void EtherCAT_rt_debug_level(ec_master_t *master,
/**< EtherCAT-Master */
int level
/**< Debug-Level */
)
{
master->debug_level = level;
}

1
master/master.h
View File

@ -61,6 +61,7 @@ void ec_master_close(ec_master_t *);
// Slave management
int ec_scan_for_slaves(ec_master_t *);
ec_slave_t *ec_address(const ec_master_t *, const char *);
// Data
int ec_simple_send_receive(ec_master_t *, ec_command_t *);

29
mini/mini.c
View File

@ -24,9 +24,9 @@ struct timer_list timer;
ec_slave_init_t slaves[] = {
// Zeiger, Index, Herstellername, Produktname, Domäne
{ &s_out, 2, "Beckhoff", "EL2004", 1 },
{ &s_in, 1, "Beckhoff", "EL3102", 1 },
{ &s_ssi, 7, "Beckhoff", "EL5001", 1 }
{ &s_in, "1", "Beckhoff", "EL3102", 1 },
{ &s_out, "2", "Beckhoff", "EL2004", 1 },
{ &s_ssi, "3", "Beckhoff", "EL5001", 1 }
};
#define SLAVE_COUNT (sizeof(slaves) / sizeof(ec_slave_init_t))
@ -35,12 +35,28 @@ ec_slave_init_t slaves[] = {
void run(unsigned long data)
{
static unsigned int counter;
// Klemmen-IO
EC_WRITE_EL20XX(s_out, 3, EC_READ_EL31XX(s_in, 0) < 0);
if (!counter) {
EtherCAT_rt_debug_level(master, 2);
}
// Prozessdaten lesen und schreiben
EtherCAT_rt_domain_xio(master, 1, 100);
if (counter) {
counter--;
}
else {
EtherCAT_rt_debug_level(master, 0);
printk("SSI status=%X value=%u\n",
EC_READ_EL5001_STATE(s_ssi), EC_READ_EL5001_VALUE(s_ssi));
counter = 1000;
}
// Timer neu starten
timer.expires += HZ / 1000;
add_timer(&timer);
@ -71,14 +87,15 @@ int __init init_mini_module(void)
printk("Configuring EtherCAT slaves.\n");
EtherCAT_rt_debug_level(master, 2);
if (EtherCAT_rt_canopen_sdo_write(master, s_ssi, 0x4067, 0, 2, 2)) {
printk(KERN_ERR "EtherCAT: Could not set SSI baud rate!\n");
goto out_release_master;
}
EtherCAT_rt_debug_level(master, 0);
if (EtherCAT_rt_canopen_sdo_write(master, s_ssi, 0x4061, 4, 1, 1)) {
printk(KERN_ERR "EtherCAT: Could not set SSI feature bit!\n");
goto out_release_master;
}
printk("Starting cyclic sample thread.\n");

63
rt/msr_module.c
View File

@ -52,16 +52,15 @@ static struct ipipe_sysinfo sys_info;
// EtherCAT
ec_master_t *master = NULL;
ec_slave_t *s_in1, *s_out1, *s_out2, *s_out3;
ec_slave_t *s_in1, *s_out1, *s_ssi, *s_inc;
double value;
int dig1;
uint16_t angle0;
ec_slave_init_t slaves[] = {
{&s_in1, 1, "Beckhoff", "EL3102", 0},
{&s_out1, 8, "Beckhoff", "EL2004", 0},
{&s_out2, 9, "Beckhoff", "EL2004", 0},
{&s_out3, 10, "Beckhoff", "EL2004", 0}
{&s_in1, "1", "Beckhoff", "EL3102", 0},
{&s_out1, "2", "Beckhoff", "EL2004", 0},
{&s_ssi, "3", "Beckhoff", "EL5001", 0},
{&s_inc, "0:4", "Beckhoff", "EL5101", 0}
};
#define SLAVE_COUNT (sizeof(slaves) / sizeof(ec_slave_init_t))
@ -78,30 +77,29 @@ static void msr_controller_run(void)
msr_jitter_run(MSR_ABTASTFREQUENZ);
EC_WRITE_EL20XX(s_out1, 3, EC_READ_EL31XX(s_in1, 0) < 0);
if (!counter) {
EtherCAT_rt_debug_level(master, 2);
}
// Prozessdaten lesen und schreiben
EtherCAT_rt_domain_xio(master, 0, 40);
if (counter) {
counter--;
}
else {
// "Star Trek"-Effekte
EC_WRITE_EL20XX(s_out1, 0, jiffies & 1);
EC_WRITE_EL20XX(s_out1, 1, (jiffies >> 1) & 1);
EC_WRITE_EL20XX(s_out1, 2, (jiffies >> 2) & 1);
EC_WRITE_EL20XX(s_out1, 3, (jiffies >> 3) & 1);
EC_WRITE_EL20XX(s_out2, 0, (jiffies >> 4) & 1);
EC_WRITE_EL20XX(s_out2, 1, (jiffies >> 3) & 1);
EC_WRITE_EL20XX(s_out2, 2, (jiffies >> 2) & 1);
EC_WRITE_EL20XX(s_out2, 3, (jiffies >> 6) & 1);
EC_WRITE_EL20XX(s_out3, 0, (jiffies >> 7) & 1);
EC_WRITE_EL20XX(s_out3, 1, (jiffies >> 2) & 1);
EC_WRITE_EL20XX(s_out3, 2, (jiffies >> 8) & 1);
EtherCAT_rt_debug_level(master, 0);
printk("SSI status=0x%X value=%u\n",
EC_READ_EL5001_STATE(s_ssi), EC_READ_EL5001_VALUE(s_ssi));
printk("INC status=0x%X value=%u\n",
EC_READ_EL5101_STATE(s_inc), EC_READ_EL5101_VALUE(s_inc));
counter = MSR_ABTASTFREQUENZ / 4;
counter = MSR_ABTASTFREQUENZ * 5;
}
EC_WRITE_EL20XX(s_out3, 3, EC_READ_EL31XX(s_in1, 0) < 0);
// Prozessdaten lesen und schreiben
EtherCAT_rt_domain_xio(master, 0, 40);
angle0 = EC_READ_EL5101_VALUE(s_inc);
}
/******************************************************************************
@ -143,7 +141,7 @@ void domain_entry(void)
ipipe_virtualize_irq(ipipe_current_domain,sys_info.archdep.tmirq,
&msr_run, NULL, IPIPE_HANDLE_MASK);
ipipe_tune_timer(1000000000UL/MSR_ABTASTFREQUENZ,0);
ipipe_tune_timer(1000000000UL / MSR_ABTASTFREQUENZ, 0);
}
/******************************************************************************
@ -162,8 +160,9 @@ void domain_entry(void)
int msr_globals_register(void)
{
msr_reg_kanal("/value", "V", &value, TDBL);
msr_reg_kanal("/dig1", "", &dig1, TINT);
//msr_reg_kanal("/value", "V", &value, TDBL);
//msr_reg_kanal("/dig1", "", &dig1, TINT);
msr_reg_kanal("/angle0", "", &angle0, TINT);
return 0;
}
@ -201,6 +200,16 @@ int __init init_rt_module(void)
goto out_release_master;
}
if (EtherCAT_rt_canopen_sdo_write(master, s_ssi, 0x4067, 0, 1, 2)) {
printk(KERN_ERR "EtherCAT: Could not set SSI baud rate!\n");
goto out_release_master;
}
if (EtherCAT_rt_canopen_sdo_write(master, s_ssi, 0x4061, 4, 1, 1)) {
printk(KERN_ERR "EtherCAT: Could not set SSI feature bit!\n");
goto out_release_master;
}
do_gettimeofday(&process_time);
msr_time_increment.tv_sec = 0;
msr_time_increment.tv_usec = (unsigned int) (1000000 / MSR_ABTASTFREQUENZ);