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ethercat
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Added missing code documentation.

This commit is contained in:
Florian Pose 2006-08-09 15:00:20 +00:00
parent c44b3f9dc0
commit 7aa7a95c2e
5 changed files with 47 additions and 13 deletions
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4
include/ecdb.h
View File

@ -43,12 +43,16 @@
/*****************************************************************************/ /*****************************************************************************/
/** \cond */
#define Beckhoff_EL4132_Output1 0x00000002, 0x10243052, 0x6411, 1 #define Beckhoff_EL4132_Output1 0x00000002, 0x10243052, 0x6411, 1
#define Beckhoff_EL4132_Output2 0x00000002, 0x10243052, 0x6411, 2 #define Beckhoff_EL4132_Output2 0x00000002, 0x10243052, 0x6411, 2
#define Beckhoff_EL5001_Status 0x00000002, 0x13893052, 0x3101, 1 #define Beckhoff_EL5001_Status 0x00000002, 0x13893052, 0x3101, 1
#define Beckhoff_EL5001_Value 0x00000002, 0x13893052, 0x3101, 2 #define Beckhoff_EL5001_Value 0x00000002, 0x13893052, 0x3101, 2
/** \endcond */
/*****************************************************************************/ /*****************************************************************************/
#endif #endif

2
master/domain.c
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@ -159,7 +159,7 @@ void ec_domain_clear(struct kobject *kobj /**< kobject of the domain */)
int ec_domain_reg_pdo_entry(ec_domain_t *domain, /**< EtherCAT domain */ int ec_domain_reg_pdo_entry(ec_domain_t *domain, /**< EtherCAT domain */
ec_slave_t *slave, /**< slave */ ec_slave_t *slave, /**< slave */
const ec_sii_pdo_t *pdo, const ec_sii_pdo_t *pdo, /**< PDO */
const ec_sii_pdo_entry_t *entry, const ec_sii_pdo_entry_t *entry,
/**< PDO registration entry */ /**< PDO registration entry */
void **data_ptr /**< pointer to the process data void **data_ptr /**< pointer to the process data

40
master/fsm.c
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@ -164,6 +164,10 @@ void ec_fsm_execute(ec_fsm_t *fsm /**< finite state machine */)
/*****************************************************************************/ /*****************************************************************************/
/**
Initializes the master startup state machine.
*/
void ec_fsm_startup(ec_fsm_t *fsm) void ec_fsm_startup(ec_fsm_t *fsm)
{ {
fsm->master_state = ec_fsm_startup_start; fsm->master_state = ec_fsm_startup_start;
@ -171,7 +175,12 @@ void ec_fsm_startup(ec_fsm_t *fsm)
/*****************************************************************************/ /*****************************************************************************/
int ec_fsm_startup_running(ec_fsm_t *fsm) /**
Returns the running state of the master startup state machine.
\return non-zero if not terminated yet.
*/
int ec_fsm_startup_running(ec_fsm_t *fsm /**< Finite state machine */)
{ {
return fsm->master_state != ec_fsm_end && return fsm->master_state != ec_fsm_end &&
fsm->master_state != ec_fsm_error; fsm->master_state != ec_fsm_error;
@ -179,13 +188,22 @@ int ec_fsm_startup_running(ec_fsm_t *fsm)
/*****************************************************************************/ /*****************************************************************************/
int ec_fsm_startup_success(ec_fsm_t *fsm) /**
Returns, if the master startup state machine terminated with success.
\return non-zero if successful.
*/
int ec_fsm_startup_success(ec_fsm_t *fsm /**< Finite state machine */)
{ {
return fsm->master_state == ec_fsm_end; return fsm->master_state == ec_fsm_end;
} }
/*****************************************************************************/ /*****************************************************************************/
/**
Initializes the master configuration state machine.
*/
void ec_fsm_configuration(ec_fsm_t *fsm) void ec_fsm_configuration(ec_fsm_t *fsm)
{ {
fsm->master_state = ec_fsm_configuration_start; fsm->master_state = ec_fsm_configuration_start;
@ -193,7 +211,12 @@ void ec_fsm_configuration(ec_fsm_t *fsm)
/*****************************************************************************/ /*****************************************************************************/
int ec_fsm_configuration_running(ec_fsm_t *fsm) /**
Returns the running state of the master configuration state machine.
\return non-zero if not terminated yet.
*/
int ec_fsm_configuration_running(ec_fsm_t *fsm /**< Finite state machine */)
{ {
return fsm->master_state != ec_fsm_end && return fsm->master_state != ec_fsm_end &&
fsm->master_state != ec_fsm_error; fsm->master_state != ec_fsm_error;
@ -201,7 +224,12 @@ int ec_fsm_configuration_running(ec_fsm_t *fsm)
/*****************************************************************************/ /*****************************************************************************/
int ec_fsm_configuration_success(ec_fsm_t *fsm) /**
Returns, if the master confuguration state machine terminated with success.
\return non-zero if successful.
*/
int ec_fsm_configuration_success(ec_fsm_t *fsm /**< Finite state machine */)
{ {
return fsm->master_state == ec_fsm_end; return fsm->master_state == ec_fsm_end;
} }
@ -327,6 +355,10 @@ void ec_fsm_startup_scan(ec_fsm_t *fsm /**< finite state machine */)
* master configuration state machine * master configuration state machine
*****************************************************************************/ *****************************************************************************/
/**
Master configuration state machine: START.
*/
void ec_fsm_configuration_start(ec_fsm_t *fsm /**< finite state machine */) void ec_fsm_configuration_start(ec_fsm_t *fsm /**< finite state machine */)
{ {
ec_master_t *master = fsm->master; ec_master_t *master = fsm->master;

2
master/slave.c
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@ -916,7 +916,7 @@ uint16_t ec_slave_calc_sync_size(const ec_slave_t *slave,
\return non-zero if slave is a bus coupler \return non-zero if slave is a bus coupler
*/ */
int ec_slave_is_coupler(const ec_slave_t *slave) int ec_slave_is_coupler(const ec_slave_t *slave /**< EtherCAT slave */)
{ {
// TODO: Better bus coupler criterion // TODO: Better bus coupler criterion
return slave->sii_vendor_id == 0x00000002 return slave->sii_vendor_id == 0x00000002

12
master/slave.h
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@ -201,11 +201,11 @@ ec_sdo_entry_t;
typedef struct typedef struct
{ {
struct list_head list; struct list_head list; /**< list item */
uint16_t index; uint16_t index; /**< SDO index */
uint8_t subindex; uint8_t subindex; /**< SDO subindex */
uint8_t *data; uint8_t *data; /**< pointer to SDO data */
size_t size; size_t size; /**< size of SDO data */
} }
ec_sdo_data_t; ec_sdo_data_t;
@ -333,9 +333,7 @@ int ec_slave_locate_string(ec_slave_t *, unsigned int, char **);
uint16_t ec_slave_calc_sync_size(const ec_slave_t *, uint16_t ec_slave_calc_sync_size(const ec_slave_t *,
const ec_sii_sync_t *); const ec_sii_sync_t *);
void ec_slave_print(const ec_slave_t *, unsigned int);
int ec_slave_is_coupler(const ec_slave_t *); int ec_slave_is_coupler(const ec_slave_t *);
//int ec_slave_check_crc(ec_slave_t *);
/*****************************************************************************/ /*****************************************************************************/