merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.

FEATURES

@@ -29,11 +29,11 @@ General Features:
 * Common API for Realtime-Applications in kernel- and userspace.
   - Requesting and releasing masters.
   - Dynamic slave configuration, even for slaves that are offline.
-  - Detailed configuration of the slaves' Pdos and Sdos.
+  - Detailed configuration of the slaves' PDOs and SDOs.
-  - Creation of process data domains (see below). Registration of Pdo entries
+  - Creation of process data domains (see below). Registration of PDO entries
     for exchange within a domain.
   - Monitoring the states of masters, slave configurations and domains.
-  - Sdo handlers for application-triggered CoE transfers (see below).
+  - SDO handlers for application-triggered CoE transfers (see below).
   - VoE handlers for Vendor-specific mailbox protocols (see below).
   - Similar userspace implementation of the kernel API via a C-library.
   - Avoidance of unnecessary copy operations for process data.
@@ -51,17 +51,17 @@ General Features:
   - Automatic configuration of slaves, if a application-layer state change is
     requested.
 
-* Implementation of the CANopen-over-EtherCAT (CoE) mailbox protocol.
+* Implementation of the CANopen over EtherCAT (CoE) mailbox protocol.
   - Configuration of CoE-capable slaves.
-  - Sdo information service (dictionary listing).
+  - SDO information service (dictionary listing).
-  - Sdo transfers both via the application interface and the command-line tool.
+  - SDO transfers both via the application interface and the command-line tool.
 
-* Implementation of the Ethernet-over-EtherCAT (EoE) mailbox protocol.
+* Implementation of the Ethernet over EtherCAT (EoE) mailbox protocol.
   - Virtual network interface for any EoE-capable slave.
   - Both a switched and a routed EoE network architecture is natively supported
     and configurable with standard tools.
 
-* Implementation of the Vendor-specific-over-EtherCAT (VoE) mailbox protocol.
+* Implementation of the Vendor specific over EtherCAT (VoE) mailbox protocol.
   - Communication with vendor-specific mailbox protocols via the API. 
 
 * Userspace command-line tool 'ethercat'.
@@ -69,7 +69,7 @@ General Features:
   - Reading/Writing alias addresses.
   - Listing slave configurations.
   - Viewing process data.
-  - Sdo download/upload; listing Sdo dictionaries.
+  - SDO download/upload; listing SDO dictionaries.
   - Access to slave registers.
   - Slave SII (EEPROM) access.
   - Controlling application-layer states.

NEWS

@@ -34,6 +34,8 @@ Changes since 1.4.0-rc3:
   frame.
 * Modified licence headers to avoid conflicts with the GPL.
 * Restricted licence to GPLv2 only.
+* Fixed spelling of 'PDO', 'SDO' (all uppercase) and 'xx over EtherCAT'
+  (without hyphens).
 
 Changes in 1.4.0-rc3:
 
@@ -42,7 +44,7 @@ Changes in 1.4.0-rc3:
   semaphore was not released.
 * Minor fix in 'slaves' command that fixed duplicate display of supported
   mailbox protocols.
-* The Sdo Information Service is only queried, if the slave has the
+* The SDO Information Service is only queried, if the slave has the
   corresponding SII bit set.
 * Added some missing header files in the command-line-tool code.
 * Removed unstable e100, forcedeth, and r8169 drivers.
@@ -73,18 +75,18 @@ Changes in version 1.4.0-rc1:
       offers the possibility to use a shared-memory region. Therefore,
       added the domain methods ecrt_domain_size() and
       ecrt_domain_external_memory().
-    - Pdo entry registration functions do not return a process data pointer,
+    - PDO entry registration functions do not return a process data pointer,
       but an offset in the domain's process data. In addition, an optional bit
       position can be requested. This was necessary for the external domain
       memory. An additional advantage is, that the returned offset is
       immediately valid. If the domain's process data is allocated internally,
       the start address can be retrieved with ecrt_domain_data().
     - Replaced ecrt_slave_pdo_mapping/add/clear() with
-      ecrt_slave_config_pdo_assign_add() to add a Pdo to a sync manager's Pdo
+      ecrt_slave_config_pdo_assign_add() to add a PDO to a sync manager's PDO
-      assignment and ecrt_slave_config_pdo_mapping_add() to add a Pdo entry to a
+      assignment and ecrt_slave_config_pdo_mapping_add() to add a PDO entry to a
-      Pdo's mapping. ecrt_slave_config_pdos() is a convenience function
+      PDO's mapping. ecrt_slave_config_pdos() is a convenience function
       for both, that uses the new data types ec_pdo_info_t and
-      ec_pdo_entry_info_t. Pdo entries, that are mapped with these functions
+      ec_pdo_entry_info_t. PDO entries, that are mapped with these functions
       can now immediately be registered, even if the bus is offline.
     - Renamed ec_bus_status_t, ec_master_status_t to ec_bus_state_t and
       ec_master_state_t, respectively. Renamed ecrt_master_get_status() to
@@ -92,15 +94,15 @@ Changes in version 1.4.0-rc1:
     - Added ec_domain_state_t and ec_wc_state_t for a new output parameter
       of ecrt_domain_state(). The domain state object does now contain
       information, if the process data was exchanged completely.
-    - Former "Pdo registration" meant Pdo entry registration in fact, therefore
+    - Former "PDO registration" meant PDO entry registration in fact, therefore
       renamed ec_pdo_reg_t to ec_pdo_entry_reg_t and ecrt_domain_register_pdo()
       to ecrt_slave_config_reg_pdo_entry().
     - Removed ecrt_domain_register_pdo_range(), because it's functionality can
-      be reached by specifying an explicit Pdo assignment/mapping and
+      be reached by specifying an explicit PDO assignment/mapping and
-      registering the mapped Pdo entries.
+      registering the mapped PDO entries.
-    - Added an Sdo access interface, working with Sdo requests. These can be
+    - Added an SDO access interface, working with SDO requests. These can be
       scheduled for reading and writing during realtime operation.
-    - Exported ecrt_slave_config_sdo(), the generic Sdo configuration function.
+    - Exported ecrt_slave_config_sdo(), the generic SDO configuration function.
     - Removed the bus_state and bus_tainted flags from ec_master_state_t.
 * Device interface changes:
     - Moved device output parameter of ecdev_offer() to return value.
@@ -113,10 +115,10 @@ Changes in version 1.4.0-rc1:
     - Set the master's debug level.
     - Show domain information.
     - Show master information.
-    - List Pdo assignment/mapping.
+    - List PDO assignment/mapping.
-    - Write an Sdo entry.
+    - Write an SDO entry.
-    - List Sdo dictionaries.
+    - List SDO dictionaries.
-    - Read an Sdo entry.
+    - Read an SDO entry.
     - Output a slave's SII contents.
     - Write slave's SII contents.
     - Show slaves.
@@ -125,11 +127,11 @@ Changes in version 1.4.0-rc1:
 * Removed include/ecdb.h.
 * Using the timestamp counter is now optional (configure --enable-cycles),
   because it is only available on Intel architectures.
-* Sdo dictionaries will now also be fetched in operation mode.
+* SDO dictionaries will now also be fetched in operation mode.
 * SII write requests will now also be processed in operation mode.
-* Mapping of Pdo entries is now supported.
+* Mapping of PDO entries is now supported.
-* Current Pdo assignment/mapping is now read via CoE during bus scan, using
+* Current PDO assignment/mapping is now read via CoE during bus scan, using
-  direct Sdo access, independent of the dictionary.
+  direct SDO access, independent of the dictionary.
 * Network driver news:
     - Added 8139too driver for kernel 2.6.22, thanks to Erwin Burgstaller.
     - Added 8139too driver for kernel 2.6.23, thanks to Richard Hacker.
@@ -151,8 +153,8 @@ Changes in version 1.4.0-rc1:
 * Added support for slaves that do not support the LRW datagram type. Separate
   domains have to be used for inputs and output.
 * CoE implementation:
-    - Use expedites transfer type for Sdos <= 4 byte (thanks to J. Mohre).
+    - Use expedites transfer type for SDOs <= 4 byte (thanks to J. Mohre).
-    - Allow gaps in Pdo mapping (thanks to R. Roesch).
+    - Allow gaps in PDO mapping (thanks to R. Roesch).
     - Added some transfer timeouts.
     - Ansynchronous handling of Emergency requests.
     - Bugfixes.

README.EoE

@@ -3,7 +3,7 @@
 $Id$
 
 This file shall give additional information on how to set up a network
-environment with Ethernet-over-EtherCAT devices.
+environment with Ethernet over EtherCAT devices.
 
 A virtual network interface will appear for every EoE-capable slave. The
 interface naming scheme is either eoeXsY, where X is the master index and Y is

TODO

@@ -11,8 +11,8 @@ vim: spelllang=en spell
 Version 1.5.0:
 
 * Remove ecrt_domain_state().
-* Segmented Sdo downloads.
+* Segmented SDO downloads.
-* Implement Sdo handlers in userspace library.
+* Implement SDO handlers in userspace library.
 * Clear slave list on link down.
 * Check force_config flag before error.
 * Remove allow_scanning flag.
@@ -20,11 +20,10 @@ Version 1.5.0:
 * Improve application-triggered SDO transfers by moving the statemachine into
   the SDO handlers.
 * External memory for SDO transfers.
-* Bus information via userspace library (slaves, sync managers, pdos, entries).
+* Bus information via userspace library (slaves, sync managers, PDOs, entries).
 * C++ implementation of the library.
 * Distributed clocks.
 * Bus simulator interface.
-* Pdo -> PDO. Sdo -> SDO "-over-"
 
 Future issues:
 

configure.ac

@@ -321,7 +321,7 @@ if test "x${debugring}" = "x1"; then
 fi
 
 #------------------------------------------------------------------------------
-# Ethernet-over-EtherCAT support
+# Ethernet over EtherCAT support
 #------------------------------------------------------------------------------
 
 AC_ARG_ENABLE([eoe],

documentation/ethercat_doc.tex

@@ -227,19 +227,19 @@ EtherCAT functionality (see chap.~\ref{chap:api}).
 
   \end{itemize}
 
-\item CANopen-over-EtherCAT (CoE)
+\item CANopen over EtherCAT (CoE)
 
   \begin{itemize}
 
-  \item Sdo upload, download and information service.
+  \item SDO upload, download and information service.
 
-  \item Slave configuration via Sdos.
+  \item Slave configuration via SDOs.
 
-  \item Sdo access from userspace and from the application.
+  \item SDO access from userspace and from the application.
 
   \end{itemize}
 
-\item Ethernet-over-EtherCAT (EoE)
+\item Ethernet over EtherCAT (EoE)
 
   \begin{itemize}
 
@@ -254,12 +254,12 @@ EtherCAT functionality (see chap.~\ref{chap:api}).
 
   \begin{itemize}
 
-  \item Showing the current bus with slaves, Pdos and Sdos.
+  \item Showing the current bus with slaves, PDOs and SDOs.
   \item Showing the bus configuration.
   \item Showing domains and process data.
   \item Setting the master's debug level.
   \item Writing alias addresses.
-  \item Sdo uploading/downloading.
+  \item SDO uploading/downloading.
   \item Reading/writing a slave's SII.
   \item Setting slave states.
   \item Generate slave description XML.
@@ -457,7 +457,7 @@ possible until then.
 an Ethernet device, but is not requested by any application yet. The master
 runs its state machine (see sec.~\ref{sec:fsm-master}), that automatically
 scans the bus for slaves and executes pending operations from the userspace
-interface (for example Sdo access). The command-line tool can be used to
+interface (for example SDO access). The command-line tool can be used to
 access the bus, but there is no process data exchange because of the missing
 bus configuration.
 
@@ -478,12 +478,12 @@ process data.
 \index{Process data}
 
 Slaves offer their inputs and outputs by presenting the master so-called
-``Process Data Objects'' (Pdos\index{Pdo}). The available Pdos can be either
+``Process Data Objects'' (PDOs\index{PDO}). The available PDOs can be either
 determined by reading out the slave's TXPDO and RXPDO SII categories from the
-E$^2$PROM (in case of fixed Pdos) or by reading out the appropriate CoE
+E$^2$PROM (in case of fixed PDOs) or by reading out the appropriate CoE
 objects (see sec.~\ref{sec:coe}), if available.  The application can register
-the Pdos' entries for exchange during cyclic operation. The sum of all
+the PDOs' entries for exchange during cyclic operation. The sum of all
-registered Pdo entries defines the ``process data image'', which is exchanged
+registered PDO entries defines the ``process data image'', which is exchanged
 via datagrams with ``logical'' memory access (like LWR, LRD or LRW) introduced
 in~\cite[sec.~5.4]{dlspec}.
 
@@ -491,8 +491,8 @@ in~\cite[sec.~5.4]{dlspec}.
 \index{Domain}
 
 The process data image can be easily managed by creating so-called
-``domains'', which allow grouped Pdo exchange. They also take care of managing
+``domains'', which allow grouped PDO exchange. They also take care of managing
-the datagram structures needed to exchange the Pdos. Domains are mandatory for
+the datagram structures needed to exchange the PDOs. Domains are mandatory for
 process data exchange, so there has to be at least one. They were introduced
 for the following reasons:
 
@@ -506,10 +506,10 @@ image exceeds this limit, multiple frames have to be sent, and the image has
 to be partitioned for the use of multiple datagrams. A domain manages this
 automatically.
 
-\item Not every Pdo has to be exchanged with the same frequency: The values of
+\item Not every PDO has to be exchanged with the same frequency: The values of
-Pdos can vary slowly over time (for example temperature values), so exchanging
+PDOs can vary slowly over time (for example temperature values), so exchanging
 them with a high frequency would just waste bus bandwidth. For this reason,
-multiple domains can be created, to group different Pdos and so allow separate
+multiple domains can be created, to group different PDOs and so allow separate
 exchange.
 
 \end{itemize}
@@ -521,21 +521,21 @@ limited by the slaves.
 \paragraph{FMMU Configuration}
 \index{FMMU!Configuration}
 
-An application can register Pdo entries for exchange. Every Pdo entry and its
+An application can register PDO entries for exchange. Every PDO entry and its
-parent Pdo is part of a memory area in the slave's physical memory, that is
+parent PDO is part of a memory area in the slave's physical memory, that is
 protected by a sync manager \cite[sec.~6.7]{dlspec} for synchronized access.
 In order to make a sync manager react on a datagram accessing its memory, it
 is necessary to access the last byte covered by the sync manager. Otherwise
 the sync manager will not react on the datagram and no data will be exchanged.
 That is why the whole synchronized memory area has to be included into the
-process data image: For example, if a certain Pdo entry of a slave is
+process data image: For example, if a certain PDO entry of a slave is
 registered for exchange with a certain domain, one FMMU will be configured to
-map the complete sync-manager-protected memory, the Pdo entry resides in. If a
+map the complete sync-manager-protected memory, the PDO entry resides in. If a
-second Pdo entry of the same slave is registered for process data exchange
+second PDO entry of the same slave is registered for process data exchange
 within the same domain, and it resides in the same sync-manager-protected
 memory as the first one, the FMMU configuration is not altered, because the
 desired memory is already part of the domain's process data image. If the
-second Pdo entry would belong to another sync-manager-protected area, this
+second PDO entry would belong to another sync-manager-protected area, this
 complete area would also be included into the domains process data image.
 
 Figure~\ref{fig:fmmus} gives an overview, how FMMUs are configured to map
@@ -559,11 +559,11 @@ physical memory to logical process data images.
 % Interface version
 % Master Requesting and Releasing
 % Master Locking
-% Configuring Pdo assignment and mapping
+% Configuring PDO assignment and mapping
 % Domains (memory)
-% Pdo entry registration
+% PDO entry registration
-% Sdo configuration
+% SDO configuration
-% Sdo access
+% SDO access
 
 The application interface provides functions and data structures for
 applications to access an EtherCAT master. The complete documentation of the
@@ -580,7 +580,7 @@ Every application should use the master in two steps:
 \begin{description}
 
 \item[Configuration] The master is requested and the configuration is applied.
-For example, domains are created, slaves are configured and Pdo entries are
+For example, domains are created, slaves are configured and PDO entries are
 registered (see sec.~\ref{sec:masterconfig}).
 
 \item[Operation] Cyclic code is run and process data are exchanged (see
@@ -1470,7 +1470,7 @@ monitored. If a slave is not in the state it supposed to be, the slave is
 
 \item[Request handling] Requests (either originating from the application or
 from external sources) are handled. A request is a job that the master shall
-process asynchronously, for example an SII access, Sdo access, or similar.
+process asynchronously, for example an SII access, SDO access, or similar.
 
 \end{description}
 
@@ -1512,10 +1512,10 @@ image memory.
 
 \item[PREOP] If the slave supports CoE, it is set to PREOP state using the
 State change FSM (see sec.~\ref{sec:fsm-change}) to enable mailbox
-communication and read the Pdo configuration via CoE.
+communication and read the PDO configuration via CoE.
 
-\item[Pdos] The Pdos are read via CoE (if supported) using the Pdo Reading FSM
+\item[PDOs] The PDOs are read via CoE (if supported) using the PDO Reading FSM
-(see sec.~\ref{sec:fsm-pdo}). If this is successful, the Pdo information from
+(see sec.~\ref{sec:fsm-pdo}). If this is successful, the PDO information from
 the SII (if any) is overwritten.
 
 \end{description}
@@ -1554,18 +1554,18 @@ is skipped.
 \item[PREOP] The state change FSM is used to bring the slave to PREOP state.
 If this is the requested state, the state machine is finished.
 
-\item[Sdo Configuration] If there is a slave configuration attached (see
+\item[SDO Configuration] If there is a slave configuration attached (see
-sec.~\ref{sec:masterconfig}), and there are any Sdo configurations are
+sec.~\ref{sec:masterconfig}), and there are any SDO configurations are
 provided by the application, these are sent to the slave.
 
-\item[Pdo Configuration] The Pdo configuration state machine is executed to
+\item[PDO Configuration] The PDO configuration state machine is executed to
-apply all necessary Pdo configurations.
+apply all necessary PDO configurations.
 
-\item[Pdo Sync Manager Configuration] If any Pdo sync managers exist, they are
+\item[PDO Sync Manager Configuration] If any PDO sync managers exist, they are
 configured.
 
 \item[FMMU Configuration] If there are FMMUs configurations supplied by the
-application (i.\,e.\ if the application registered Pdo entries), they are
+application (i.\,e.\ if the application registered PDO entries), they are
 applied. 
 
 \item[SAFEOP] The state change FSM is used to bring the slave to SAFEOP state.
@@ -1677,60 +1677,60 @@ this state to avoid that another write operation is issued too early.
 
 %------------------------------------------------------------------------------
 
-\section{The Pdo State Machines}
+\section{The PDO State Machines}
 \label{sec:fsm-pdo}
-\index{FSM!Pdo}
+\index{FSM!PDO}
 
-The Pdo state machines are a set of state machines that read or write the Pdo
+The PDO state machines are a set of state machines that read or write the PDO
-assignment and the Pdo mapping via the ``CoE Communication Area'' described in
+assignment and the PDO mapping via the ``CoE Communication Area'' described in
-\cite[sec. 5.6.7.4]{alspec}. For the object access, the CANopen-over-EtherCAT
+\cite[sec. 5.6.7.4]{alspec}. For the object access, the CANopen over EtherCAT
 access primitives are used (see sec.~\ref{sec:coe}), so the slave must support
 the CoE mailbox protocol.
 
-\paragraph{Pdo Reading FSM} This state machine (fig.~\ref{fig:fsm-pdo-read})
+\paragraph{PDO Reading FSM} This state machine (fig.~\ref{fig:fsm-pdo-read})
-has the purpose to read the complete Pdo configuration of a slave. It reads
+has the purpose to read the complete PDO configuration of a slave. It reads
-the Pdo assignment for each Sync Manager and uses the Pdo Entry Reading FSM
+the PDO assignment for each Sync Manager and uses the PDO Entry Reading FSM
-(fig.~\ref{fig:fsm-pdo-entry-read}) to read the mapping for each assigned Pdo.
+(fig.~\ref{fig:fsm-pdo-entry-read}) to read the mapping for each assigned PDO.
 
 \begin{figure}[htbp]
   \centering
   \includegraphics[width=.4\textwidth]{graphs/fsm_pdo_read}
-  \caption{Transition Diagram of the Pdo Reading State Machine}
+  \caption{Transition Diagram of the PDO Reading State Machine}
   \label{fig:fsm-pdo-read}
 \end{figure}
 
-Basically it reads the every Sync manager's Pdo assignment Sdo's
+Basically it reads the every Sync manager's PDO assignment SDO's
 (\lstinline+0x1C1x+) number of elements to determine the number of assigned
-Pdos for this sync manager and then reads out the subindices of the Sdo to get
+PDOs for this sync manager and then reads out the subindices of the SDO to get
-the assigned Pdo's indices. When a Pdo index is read, the Pdo Entry Reading
+the assigned PDO's indices. When a PDO index is read, the PDO Entry Reading
-FSM is executed to read the Pdo's mapped Pdo entries.
+FSM is executed to read the PDO's mapped PDO entries.
 
-\paragraph{Pdo Entry Reading FSM} This state machine
+\paragraph{PDO Entry Reading FSM} This state machine
-(fig.~\ref{fig:fsm-pdo-entry-read}) reads the Pdo mapping (the Pdo entries) of
+(fig.~\ref{fig:fsm-pdo-entry-read}) reads the PDO mapping (the PDO entries) of
-a Pdo. It reads the respective mapping Sdo (\lstinline+0x1600+ --
+a PDO. It reads the respective mapping SDO (\lstinline+0x1600+ --
 \lstinline+0x17ff+, or \lstinline+0x1a00+ -- \lstinline+0x1bff+) for the given
-Pdo by reading first the subindex zero (number of elements) to determine the
+PDO by reading first the subindex zero (number of elements) to determine the
-number of mapped Pdo entries. After that, each subindex is read to get the
+number of mapped PDO entries. After that, each subindex is read to get the
-mapped Pdo entry index, subindex and bit size.
+mapped PDO entry index, subindex and bit size.
 
 \begin{figure}[htbp]
   \centering
   \includegraphics[width=.4\textwidth]{graphs/fsm_pdo_entry_read}
-  \caption{Transition Diagram of the Pdo Entry Reading State Machine}
+  \caption{Transition Diagram of the PDO Entry Reading State Machine}
   \label{fig:fsm-pdo-entry-read}
 \end{figure}
 
 \begin{figure}[htbp]
   \centering
   \includegraphics[width=.9\textwidth]{graphs/fsm_pdo_conf}
-  \caption{Transition Diagram of the Pdo Configuration State Machine}
+  \caption{Transition Diagram of the PDO Configuration State Machine}
   \label{fig:fsm-pdo-conf}
 \end{figure}
 
 \begin{figure}[htbp]
   \centering
   \includegraphics[width=.4\textwidth]{graphs/fsm_pdo_entry_conf}
-  \caption{Transition Diagram of the Pdo Entry Configuration State Machine}
+  \caption{Transition Diagram of the PDO Entry Configuration State Machine}
   \label{fig:fsm-pdo-entry-conf}
 \end{figure}
 
@@ -1744,12 +1744,12 @@ protocols. See the below section for details.
 
 %------------------------------------------------------------------------------
 
-\section{Ethernet-over-EtherCAT (EoE)}
+\section{Ethernet over EtherCAT (EoE)}
 \label{sec:eoe}
 \index{EoE}
 
 The EtherCAT master implements the
-Ethernet-over-EtherCAT\nomenclature{EoE}{Ethernet-over-EtherCAT, Mailbox
+Ethernet over EtherCAT\nomenclature{EoE}{Ethernet over EtherCAT, Mailbox
 Protocol} mailbox protocol~\cite[sec.~5.7]{alspec} to enable the tunneling of
 Ethernet frames to special slaves, that can either have physical Ethernet
 ports to forward the frames to, or have an own IP stack to receive the frames.
@@ -1903,11 +1903,11 @@ application-layer state is automatically set to OP.
 
 %------------------------------------------------------------------------------
 
-\section{CANopen-over-EtherCAT (CoE)}
+\section{CANopen over EtherCAT (CoE)}
 \label{sec:coe}
 \index{CoE}
 
-The CANopen-over-EtherCAT\nomenclature{CoE}{CANopen-over-EtherCAT, Mailbox
+The CANopen over EtherCAT\nomenclature{CoE}{CANopen over EtherCAT, Mailbox
 Protocol} protocol~\cite[sec.~5.6]{alspec} is used to configure slaves and
 exchange data objects on application level.
 
@@ -1916,23 +1916,23 @@ exchange data objects on application level.
 % Download / Upload
 % Expedited / Normal
 % Segmenting
-% Sdo Info Services
+% SDO Info Services
 %
 
 \ldots
 
-\paragraph{Sdo Download State Machine}
+\paragraph{SDO Download State Machine}
 
-The best time to apply Sdo configurations is during the slave's PREOP state,
+The best time to apply SDO configurations is during the slave's PREOP state,
 because mailbox communication is already possible and slave's application will
 start with updating input data in the succeeding SAFEOP state. Therefore the
-Sdo configuration has to be part of the slave configuration state machine (see
+SDO configuration has to be part of the slave configuration state machine (see
-sec.~\ref{sec:fsm-conf}): It is implemented via an Sdo download state machine,
+sec.~\ref{sec:fsm-conf}): It is implemented via an SDO download state machine,
 that is executed just before entering the slave's SAFEOP state. In this way,
-it is guaranteed that the Sdo configurations are applied each time, the slave
+it is guaranteed that the SDO configurations are applied each time, the slave
 is reconfigured.
 
-The transition diagram of the Sdo Download state machine can be seen
+The transition diagram of the SDO Download state machine can be seen
 in figure~\ref{fig:fsm-coedown}.
 
 \begin{figure}[htbp]
@@ -1946,7 +1946,7 @@ in figure~\ref{fig:fsm-coedown}.
 
 \begin{description}
 \item[START] The beginning state of the CoE download state
-  machine. The ``Sdo Download Normal Request'' mailbox command is
+  machine. The ``SDO Download Normal Request'' mailbox command is
   sent. $\rightarrow$~REQUEST
 
 \item[REQUEST] It is checked, if the CoE download request has been
@@ -1955,7 +1955,7 @@ in figure~\ref{fig:fsm-coedown}.
 
 \item[CHECK] If no mailbox data is available, the timer is checked.
   \begin{itemize}
-  \item If it timed out, the Sdo download is aborted.
+  \item If it timed out, the SDO download is aborted.
     $\rightarrow$~ERROR
   \item Otherwise, the mailbox is queried again.
     $\rightarrow$~CHECK
@@ -1965,22 +1965,22 @@ in figure~\ref{fig:fsm-coedown}.
   $\rightarrow$~RESPONSE
 
 \item[RESPONSE] If the mailbox response could not be fetched, the data
-  is invalid, the wrong protocol was received, or a ``Abort Sdo
+  is invalid, the wrong protocol was received, or a ``Abort SDO
-  Transfer Request'' was received, the Sdo download is aborted.
+  Transfer Request'' was received, the SDO download is aborted.
   $\rightarrow$~ERROR
 
-  If a ``Sdo Download Normal Response'' acknowledgement was received,
+  If a ``SDO Download Normal Response'' acknowledgement was received,
-  the Sdo download was successful. $\rightarrow$~END
+  the SDO download was successful. $\rightarrow$~END
 
-\item[END] The Sdo download was successful.
+\item[END] The SDO download was successful.
 
-\item[ERROR] The Sdo download was aborted due to an error.
+\item[ERROR] The SDO download was aborted due to an error.
 
 \end{description}
 
 %------------------------------------------------------------------------------
 
-\section{Vendor-specific-over-EtherCAT (VoE)}
+\section{Vendor specific over EtherCAT (VoE)}
 \label{sec:voe}
 \index{VoE}
 
@@ -2087,19 +2087,19 @@ sec.~\ref{sec:autonode} for how to install and configure it.
 
 %------------------------------------------------------------------------------
 
-\subsection{Sync Managers, Pdos and Pdo Entries}
+\subsection{Sync Managers, PDOs and PDO Entries}
 
 \lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_pdos}
 
 %------------------------------------------------------------------------------
 
-\subsection{Sdo Dictionary}
+\subsection{SDO Dictionary}
 
 \lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_sdos}
 
 %------------------------------------------------------------------------------
 
-\subsection{Sdo Access}
+\subsection{SDO Access}
 
 \lstinputlisting[basicstyle=\ttfamily\footnotesize]{external/ethercat_download}
 

documentation/graphs/fsm_pdo_conf.dot

@@ -8,8 +8,8 @@ digraph pdo_conf {
     start -> end [fontname="Helvetica",label="No config"]
 
     action_next_sync [shape=point,label=""]
-    action_next_sync -> action_check_assignment [fontname="Helvetica",label="No Pdos"]
+    action_next_sync -> action_check_assignment [fontname="Helvetica",label="No PDOs"]
-    action_next_sync -> action_pdo_mapping [fontname="Helvetica",label="First Pdo",weight=10]
+    action_next_sync -> action_pdo_mapping [fontname="Helvetica",label="First PDO",weight=10]
     action_next_sync -> end [fontname="Helvetica",label="No more SMs"]
 
     action_pdo_mapping [shape=point,label=""]
@@ -29,22 +29,22 @@ digraph pdo_conf {
     action_next_pdo_mapping [shape=point,label=""]
     action_next_pdo_mapping -> action_check_assignment [weight=10]
     action_next_pdo_mapping -> action_pdo_mapping
-    [fontname="Helvetica",label="Next Pdo"]
+    [fontname="Helvetica",label="Next PDO"]
 
     action_check_assignment [shape=point,label=""]
     action_check_assignment -> action_next_sync [fontname="Helvetica",label="Assign ok"]
     action_check_assignment -> zero_pdo_count [weight=10]
 
     zero_pdo_count [fontname="Helvetica"]
-    zero_pdo_count -> action_next_sync [fontname="Helvetica",label="No Pdos"]
+    zero_pdo_count -> action_next_sync [fontname="Helvetica",label="No PDOs"]
-    zero_pdo_count -> action_assign_pdo [fontname="Helvetica",label="First Pdo", weight=10]
+    zero_pdo_count -> action_assign_pdo [fontname="Helvetica",label="First PDO", weight=10]
 
     action_assign_pdo [shape=point,label=""]
     action_assign_pdo -> assign_pdo [weight=10]
 
     assign_pdo [fontname="Helvetica"]
-    assign_pdo -> set_pdo_count [fontname="Helvetica",label="No more Pdos", weight=10]
+    assign_pdo -> set_pdo_count [fontname="Helvetica",label="No more PDOs", weight=10]
-    assign_pdo -> action_assign_pdo [fontname="Helvetica",label="Next Pdo"]
+    assign_pdo -> action_assign_pdo [fontname="Helvetica",label="Next PDO"]
 
     set_pdo_count [fontname="Helvetica"]
     set_pdo_count -> action_next_sync

documentation/graphs/fsm_pdo_read.dot

@@ -14,8 +14,8 @@ digraph pdo_read {
     pdo_count -> action_next_pdo [weight=5]
 
     action_next_pdo [shape=point,label=""]
-    action_next_pdo -> pdo [fontname="Helvetica", label="Next Pdo", weight=5]
+    action_next_pdo -> pdo [fontname="Helvetica", label="Next PDO", weight=5]
-	action_next_pdo -> action_next_sync [fontname="Helvetica", label="No more Pdos"]
+	action_next_pdo -> action_next_sync [fontname="Helvetica", label="No more PDOs"]
 
 	pdo [fontname="Helvetica"]
     pdo -> pdo_entries [weight=5]

documentation/graphs/fsm_slave_conf.dot

@@ -31,7 +31,7 @@ digraph slaveconf {
     preop -> enter_sdo_conf [weight=10]
 
     enter_sdo_conf [shape=point, label=""]
-    enter_sdo_conf -> enter_pdo_conf [fontname="Helvetica", label="No Sdos\nconfigured"]
+    enter_sdo_conf -> enter_pdo_conf [fontname="Helvetica", label="No SDOs\nconfigured"]
     enter_sdo_conf -> sdo_conf [weight=10]
 
     sdo_conf [fontname="Helvetica"]
@@ -46,7 +46,7 @@ digraph slaveconf {
     pdo_conf -> enter_pdo_sync [weight=10]
 
     enter_pdo_sync [shape=point, label=""]
-    enter_pdo_sync -> enter_fmmu [fontname="Helvetica", label="No Pdo SMs"]
+    enter_pdo_sync -> enter_fmmu [fontname="Helvetica", label="No PDO SMs"]
     enter_pdo_sync -> pdo_sync [weight=10]
 
     pdo_sync [fontname="Helvetica"]

documentation/images/app-config.fig

@@ -95,16 +95,16 @@ Single
 4 0 0 50 -1 18 12 0.0000 4 180 1290 3735 2025 Sync Manager\001
 4 0 0 50 -1 16 12 0.0000 4 135 450 3735 2385 Index\001
 4 0 0 50 -1 16 12 0.0000 4 135 750 3735 2610 Direction\001
-4 0 0 50 -1 18 12 0.0000 4 180 1575 3735 3420 Sdo Configuration\001
+4 0 0 50 -1 18 12 0.0000 4 180 1575 3735 3420 SDO Configuration\001
 4 0 0 50 -1 16 12 0.0000 4 135 450 3735 3780 Index\001
 4 0 0 50 -1 16 12 0.0000 4 135 780 3735 4005 Subindex\001
 4 0 0 50 -1 16 12 0.0000 4 135 390 3735 4230 Data\001
-4 0 0 50 -1 18 12 0.0000 4 180 1140 3735 5040 Sdo Request\001
+4 0 0 50 -1 18 12 0.0000 4 180 1140 3735 5040 SDO Request\001
 4 0 0 50 -1 16 12 0.0000 4 135 450 3735 5310 Index\001
 4 0 0 50 -1 16 12 0.0000 4 135 780 3735 5535 Subindex\001
-4 0 0 50 -1 18 12 0.0000 4 135 330 6210 2025 Pdo\001
+4 0 0 50 -1 18 12 0.0000 4 135 330 6210 2025 PDO\001
 4 0 0 50 -1 16 12 0.0000 4 135 450 6210 2385 Index\001
-4 0 0 50 -1 18 12 0.0000 4 180 885 7785 2025 Pdo Entry\001
+4 0 0 50 -1 18 12 0.0000 4 180 885 7785 2025 PDO Entry\001
 4 0 0 50 -1 16 12 0.0000 4 135 450 7785 2340 Index\001
 4 0 0 50 -1 16 12 0.0000 4 135 780 7785 2565 Subindex\001
 4 0 0 50 -1 16 12 0.0000 4 180 720 7785 2790 Bitlength\001

documentation/images/fmmus.fig

@@ -13,7 +13,7 @@ Single
 6 3465 4455 5640 4680
 2 2 0 1 0 7 50 -1 42 0.000 0 0 -1 0 0 5
 	 3465 4455 3645 4455 3645 4680 3465 4680 3465 4455
-4 0 0 50 -1 16 12 0.0000 4 180 1905 3735 4635 Registered Pdo Entries\001
+4 0 0 50 -1 16 12 0.0000 4 180 1905 3735 4635 Registered PDO Entries\001
 -6
 2 1 1 1 0 7 52 -1 46 4.000 0 0 -1 0 0 2
 	 1215 1665 1620 3870

examples/mini/mini.c

@@ -75,7 +75,7 @@ static uint8_t *domain1_pd; // process data memory
 #define Beckhoff_EL3152 0x00000002, 0x0c503052
 #define Beckhoff_EL4102 0x00000002, 0x10063052
 
-// offsets for Pdo entries
+// offsets for PDO entries
 static unsigned int off_ana_in;
 static unsigned int off_ana_out;
 static unsigned int off_dig_out;
@@ -255,12 +255,12 @@ void read_sdo(void)
             printk(KERN_INFO PFX "Still busy...\n");
             break;
         case EC_REQUEST_SUCCESS:
-            printk(KERN_INFO PFX "Sdo value: 0x%04X\n",
+            printk(KERN_INFO PFX "SDO value: 0x%04X\n",
                     EC_READ_U16(ecrt_sdo_request_data(sdo)));
             ecrt_sdo_request_read(sdo); // trigger next read
             break;
         case EC_REQUEST_ERROR:
-            printk(KERN_INFO PFX "Failed to read Sdo!\n");
+            printk(KERN_INFO PFX "Failed to read SDO!\n");
             ecrt_sdo_request_read(sdo); // retry reading
             break;
     }
@@ -320,7 +320,7 @@ void cyclic_task(unsigned long data)
         check_slave_config_states();
         
 #if SDO_ACCESS
-        // read process data Sdo
+        // read process data SDO
         read_sdo();
 #endif
 
@@ -394,9 +394,9 @@ int __init init_mini_module(void)
     }
 
 #if CONFIGURE_PDOS
-    printk(KERN_INFO PFX "Configuring Pdos...\n");
+    printk(KERN_INFO PFX "Configuring PDOs...\n");
     if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3152_syncs)) {
-        printk(KERN_ERR PFX "Failed to configure Pdos.\n");
+        printk(KERN_ERR PFX "Failed to configure PDOs.\n");
         goto out_release_master;
     }
 
@@ -407,7 +407,7 @@ int __init init_mini_module(void)
     }
 
     if (ecrt_slave_config_pdos(sc, EC_END, el4102_syncs)) {
-        printk(KERN_ERR PFX "Failed to configure Pdos.\n");
+        printk(KERN_ERR PFX "Failed to configure PDOs.\n");
         goto out_release_master;
     }
 
@@ -418,15 +418,15 @@ int __init init_mini_module(void)
     }
 
     if (ecrt_slave_config_pdos(sc, EC_END, el2004_syncs)) {
-        printk(KERN_ERR PFX "Failed to configure Pdos.\n");
+        printk(KERN_ERR PFX "Failed to configure PDOs.\n");
         goto out_release_master;
     }
 #endif
 
 #if SDO_ACCESS
-    printk(KERN_INFO PFX "Creating Sdo requests...\n");
+    printk(KERN_INFO PFX "Creating SDO requests...\n");
     if (!(sdo = ecrt_slave_config_create_sdo_request(sc_ana_in, 0x3102, 2, 2))) {
-        printk(KERN_ERR PFX "Failed to create Sdo request.\n");
+        printk(KERN_ERR PFX "Failed to create SDO request.\n");
         goto out_release_master;
     }
     ecrt_sdo_request_timeout(sdo, 500); // ms
@@ -440,9 +440,9 @@ int __init init_mini_module(void)
     }
 #endif
 
-    printk(KERN_INFO PFX "Registering Pdo entries...\n");
+    printk(KERN_INFO PFX "Registering PDO entries...\n");
     if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
-        printk(KERN_ERR PFX "Pdo entry registration failed!\n");
+        printk(KERN_ERR PFX "PDO entry registration failed!\n");
         goto out_release_master;
     }
 

examples/rtai/rtai_sample.c

@@ -80,7 +80,7 @@ static uint8_t *domain1_pd; // process data memory
 #define Beckhoff_EL2004 0x00000002, 0x07D43052
 #define Beckhoff_EL3162 0x00000002, 0x0C5A3052
 
-static unsigned int off_ana_in; // offsets for Pdo entries
+static unsigned int off_ana_in; // offsets for PDO entries
 static unsigned int off_dig_out;
 
 const static ec_pdo_entry_reg_t domain1_regs[] = {
@@ -297,9 +297,9 @@ int __init init_mod(void)
     }
 
 #ifdef CONFIGURE_PDOS
-    printk(KERN_INFO PFX "Configuring Pdos...\n");
+    printk(KERN_INFO PFX "Configuring PDOs...\n");
     if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3162_syncs)) {
-        printk(KERN_ERR PFX "Failed to configure Pdos.\n");
+        printk(KERN_ERR PFX "Failed to configure PDOs.\n");
         goto out_release_master;
     }
 
@@ -309,14 +309,14 @@ int __init init_mod(void)
     }
 
     if (ecrt_slave_config_pdos(sc, EC_END, el2004_syncs)) {
-        printk(KERN_ERR PFX "Failed to configure Pdos.\n");
+        printk(KERN_ERR PFX "Failed to configure PDOs.\n");
         goto out_release_master;
     }
 #endif
 
-    printk(KERN_INFO PFX "Registering Pdo entries...\n");
+    printk(KERN_INFO PFX "Registering PDO entries...\n");
     if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
-        printk(KERN_ERR PFX "Pdo entry registration failed!\n");
+        printk(KERN_ERR PFX "PDO entry registration failed!\n");
         goto out_release_master;
     }
 

examples/user/main.c

@@ -78,7 +78,7 @@ static uint8_t *domain1_pd = NULL;
 #define Beckhoff_EL3152 0x00000002, 0x0c503052
 #define Beckhoff_EL4102 0x00000002, 0x10063052
 
-// offsets for Pdo entries
+// offsets for PDO entries
 static unsigned int off_ana_in_status;
 static unsigned int off_ana_in_value;
 static unsigned int off_ana_out;
@@ -293,9 +293,9 @@ int main(int argc, char **argv)
     }
 
 #if CONFIGURE_PDOS
-    printf("Configuring Pdos...\n");
+    printf("Configuring PDOs...\n");
     if (ecrt_slave_config_pdos(sc_ana_in, EC_END, el3152_syncs)) {
-        fprintf(stderr, "Failed to configure Pdos.\n");
+        fprintf(stderr, "Failed to configure PDOs.\n");
         return -1;
     }
 
@@ -306,7 +306,7 @@ int main(int argc, char **argv)
     }
 
     if (ecrt_slave_config_pdos(sc, EC_END, el4102_syncs)) {
-        fprintf(stderr, "Failed to configure Pdos.\n");
+        fprintf(stderr, "Failed to configure PDOs.\n");
         return -1;
     }
 
@@ -317,7 +317,7 @@ int main(int argc, char **argv)
     }
 
     if (ecrt_slave_config_pdos(sc, EC_END, el2004_syncs)) {
-        fprintf(stderr, "Failed to configure Pdos.\n");
+        fprintf(stderr, "Failed to configure PDOs.\n");
         return -1;
     }
 #endif
@@ -328,7 +328,7 @@ int main(int argc, char **argv)
         return -1;
 
     if (ecrt_domain_reg_pdo_entry_list(domain1, domain1_regs)) {
-        fprintf(stderr, "Pdo entry registration failed!\n");
+        fprintf(stderr, "PDO entry registration failed!\n");
 		return -1;
     }
 

include/ecrt.h

@@ -56,18 +56,18 @@
  *   offers the possibility to use a shared-memory region. Therefore,
  *   added the domain methods ecrt_domain_size() and
  *   ecrt_domain_external_memory().
- * - Pdo entry registration functions do not return a process data pointer,
+ * - PDO entry registration functions do not return a process data pointer,
  *   but an offset in the domain's process data. In addition, an optional bit
  *   position can be requested. This was necessary for the external domain
  *   memory. An additional advantage is, that the returned offset is
  *   immediately valid. If the domain's process data is allocated internally,
  *   the start address can be retrieved with ecrt_domain_data().
  * - Replaced ecrt_slave_pdo_mapping/add/clear() with
- *   ecrt_slave_config_pdo_assign_add() to add a Pdo to a sync manager's Pdo
+ *   ecrt_slave_config_pdo_assign_add() to add a PDO to a sync manager's PDO
- *   assignment and ecrt_slave_config_pdo_mapping_add() to add a Pdo entry to a
+ *   assignment and ecrt_slave_config_pdo_mapping_add() to add a PDO entry to a
- *   Pdo's mapping. ecrt_slave_config_pdos() is a convenience function
+ *   PDO's mapping. ecrt_slave_config_pdos() is a convenience function
  *   for both, that uses the new data types ec_pdo_info_t and
- *   ec_pdo_entry_info_t. Pdo entries, that are mapped with these functions
+ *   ec_pdo_entry_info_t. PDO entries, that are mapped with these functions
  *   can now immediately be registered, even if the bus is offline.
  * - Renamed ec_bus_status_t, ec_master_status_t to ec_bus_state_t and
  *   ec_master_state_t, respectively. Renamed ecrt_master_get_status() to
@@ -75,15 +75,15 @@
  * - Added ec_domain_state_t and #ec_wc_state_t for a new output parameter
  *   of ecrt_domain_state(). The domain state object does now contain
  *   information, if the process data was exchanged completely.
- * - Former "Pdo registration" meant Pdo entry registration in fact, therefore
+ * - Former "PDO registration" meant PDO entry registration in fact, therefore
  *   renamed ec_pdo_reg_t to ec_pdo_entry_reg_t and ecrt_domain_register_pdo()
  *   to ecrt_slave_config_reg_pdo_entry().
  * - Removed ecrt_domain_register_pdo_range(), because it's functionality can
- *   be reached by specifying an explicit Pdo assignment/mapping and
+ *   be reached by specifying an explicit PDO assignment/mapping and
- *   registering the mapped Pdo entries.
+ *   registering the mapped PDO entries.
- * - Added an Sdo access interface, working with Sdo requests. These can be
+ * - Added an SDO access interface, working with SDO requests. These can be
  *   scheduled for reading and writing during realtime operation.
- * - Exported ecrt_slave_config_sdo(), the generic Sdo configuration function.
+ * - Exported ecrt_slave_config_sdo(), the generic SDO configuration function.
  * - Removed the bus_state and bus_tainted flags from ec_master_state_t.
  *
  * @{
@@ -223,7 +223,7 @@ typedef struct {
 
 /*****************************************************************************/
 
-/** Direction type for Pdo assignment functions.
+/** Direction type for PDO assignment functions.
  */
 typedef enum {
     EC_DIR_INVALID, /**< Invalid direction. Do not use this value. */
@@ -234,33 +234,33 @@ typedef enum {
 
 /*****************************************************************************/
 
-/** Pdo entry configuration information.
+/** PDO entry configuration information.
  *
  * This is the data type of the \a entries field in ec_pdo_info_t.
  *
  * \see ecrt_slave_config_pdos().
  */
 typedef struct {
-    uint16_t index; /**< Pdo entry index. */
+    uint16_t index; /**< PDO entry index. */
-    uint8_t subindex; /**< Pdo entry subindex. */
+    uint8_t subindex; /**< PDO entry subindex. */
-    uint8_t bit_length; /**< Size of the Pdo entry in bit. */
+    uint8_t bit_length; /**< Size of the PDO entry in bit. */
 } ec_pdo_entry_info_t;
 
 /*****************************************************************************/
 
-/** Pdo configuration information.
+/** PDO configuration information.
  * 
  * This is the data type of the \a pdos field in ec_sync_info_t.
  * 
  * \see ecrt_slave_config_pdos().
  */
 typedef struct {
-    uint16_t index; /**< Pdo index. */
+    uint16_t index; /**< PDO index. */
-    unsigned int n_entries; /**< Number of Pdo entries in \a entries to map.
+    unsigned int n_entries; /**< Number of PDO entries in \a entries to map.
                               Zero means, that the default mapping shall be
                               used (this can only be done if the slave is
                               present at bus configuration time). */
-    ec_pdo_entry_info_t *entries; /**< Array of Pdo entries to map. Can either
+    ec_pdo_entry_info_t *entries; /**< Array of PDO entries to map. Can either
                                     be \a NULL, or must contain at
                                     least \a n_entries values. */
 } ec_pdo_info_t;
@@ -269,8 +269,8 @@ typedef struct {
 
 /** Sync manager configuration information.
  *
- * This can be use to configure multiple sync managers including the Pdo
+ * This can be use to configure multiple sync managers including the PDO
- * assignment and Pdo mapping. It is used as an input parameter type in
+ * assignment and PDO mapping. It is used as an input parameter type in
  * ecrt_slave_config_pdos().
  */
 typedef struct {
@@ -278,14 +278,14 @@ typedef struct {
                      than #EC_MAX_SYNC_MANAGERS for a valid sync manager,
                      but can also be \a 0xff to mark the end of the list. */
     ec_direction_t dir; /**< Sync manager direction. */
-    unsigned int n_pdos; /**< Number of Pdos in \a pdos. */
+    unsigned int n_pdos; /**< Number of PDOs in \a pdos. */
-    ec_pdo_info_t *pdos; /**< Array with Pdos to assign. This must contain
+    ec_pdo_info_t *pdos; /**< Array with PDOs to assign. This must contain
-                            at least \a n_pdos Pdos. */
+                            at least \a n_pdos PDOs. */
 } ec_sync_info_t;
 
 /*****************************************************************************/
 
-/** List record type for Pdo entry mass-registration.
+/** List record type for PDO entry mass-registration.
  *
  * This type is used for the array parameter of the
  * ecrt_domain_reg_pdo_entry_list()
@@ -295,14 +295,14 @@ typedef struct {
     uint16_t position; /**< Slave position. */
     uint32_t vendor_id; /**< Slave vendor ID. */
     uint32_t product_code; /**< Slave product code. */
-    uint16_t index; /**< Pdo entry index. */
+    uint16_t index; /**< PDO entry index. */
-    uint8_t subindex; /**< Pdo entry subindex. */
+    uint8_t subindex; /**< PDO entry subindex. */
-    unsigned int *offset; /**< Pointer to a variable to store the Pdo entry's
+    unsigned int *offset; /**< Pointer to a variable to store the PDO entry's
                        (byte-)offset in the process data. */
     unsigned int *bit_position; /**< Pointer to a variable to store a bit 
                                   position (0-7) within the \a offset. Can be
                                   NULL, in which case an error is raised if the
-                                  Pdo entry does not byte-align. */
+                                  PDO entry does not byte-align. */
 } ec_pdo_entry_reg_t;
 
 /*****************************************************************************/
@@ -389,7 +389,7 @@ void ecrt_master_callbacks(
  *
  * For process data exchange, at least one process data domain is needed.
  * This method creates a new process data domain and returns a pointer to the
- * new domain object. This object can be used for registering Pdos and
+ * new domain object. This object can be used for registering PDOs and
  * exchanging them in cyclic operation.
  *
  * \return Pointer to the new domain on success, else NULL.
@@ -506,7 +506,7 @@ int ecrt_slave_config_sync_manager(
         ec_direction_t dir /**< Input/Output. */
         );
 
-/** Add a Pdo to a sync manager's Pdo assignment.
+/** Add a PDO to a sync manager's PDO assignment.
  *
  * \see ecrt_slave_config_pdos()
  * \return zero on success, else non-zero
@@ -515,12 +515,12 @@ int ecrt_slave_config_pdo_assign_add(
         ec_slave_config_t *sc, /**< Slave configuration. */
         uint8_t sync_index, /**< Sync manager index. Must be less
                               than #EC_MAX_SYNC_MANAGERS. */
-        uint16_t index /**< Index of the Pdo to assign. */
+        uint16_t index /**< Index of the PDO to assign. */
         );
 
-/** Clear a sync manager's Pdo assignment.
+/** Clear a sync manager's PDO assignment.
  *
- * This can be called before assigning Pdos via
+ * This can be called before assigning PDOs via
  * ecrt_slave_config_pdo_assign_add(), to clear the default assignment of a
  * sync manager.
  * 
@@ -532,34 +532,34 @@ void ecrt_slave_config_pdo_assign_clear(
                               than #EC_MAX_SYNC_MANAGERS. */
         );
 
-/** Add a Pdo entry to the given Pdo's mapping.
+/** Add a PDO entry to the given PDO's mapping.
  *
  * \see ecrt_slave_config_pdos()
  * \return zero on success, else non-zero
  */
 int ecrt_slave_config_pdo_mapping_add(
         ec_slave_config_t *sc, /**< Slave configuration. */
-        uint16_t pdo_index, /**< Index of the Pdo. */
+        uint16_t pdo_index, /**< Index of the PDO. */
-        uint16_t entry_index, /**< Index of the Pdo entry to add to the Pdo's
+        uint16_t entry_index, /**< Index of the PDO entry to add to the PDO's
                                 mapping. */
-        uint8_t entry_subindex, /**< Subindex of the Pdo entry to add to the
+        uint8_t entry_subindex, /**< Subindex of the PDO entry to add to the
-                                  Pdo's mapping. */
+                                  PDO's mapping. */
-        uint8_t entry_bit_length /**< Size of the Pdo entry in bit. */
+        uint8_t entry_bit_length /**< Size of the PDO entry in bit. */
         );
 
-/** Clear the mapping of a given Pdo.
+/** Clear the mapping of a given PDO.
  *
- * This can be called before mapping Pdo entries via
+ * This can be called before mapping PDO entries via
  * ecrt_slave_config_pdo_mapping_add(), to clear the default mapping.
  *
  * \see ecrt_slave_config_pdos()
  */
 void ecrt_slave_config_pdo_mapping_clear(
         ec_slave_config_t *sc, /**< Slave configuration. */
-        uint16_t pdo_index /**< Index of the Pdo. */
+        uint16_t pdo_index /**< Index of the PDO. */
         );
 
-/** Specify a complete Pdo configuration.
+/** Specify a complete PDO configuration.
  *
  * This function is a convenience wrapper for the functions
  * ecrt_slave_config_sync_manager(), ecrt_slave_config_pdo_assign_clear(),
@@ -568,7 +568,7 @@ void ecrt_slave_config_pdo_mapping_clear(
  * automatic code generation.
  *
  * The following example shows, how to specify a complete configuration,
- * including the Pdo mappings. With this information, the master is able to
+ * including the PDO mappings. With this information, the master is able to
  * reserve the complete process data, even if the slave is not present at
  * configuration time:
  *
@@ -599,9 +599,9 @@ void ecrt_slave_config_pdo_mapping_clear(
  * }
  * \endcode
  * 
- * The next example shows, how to configure the Pdo assignment only. The
+ * The next example shows, how to configure the PDO assignment only. The
- * entries for each assigned Pdo are taken from the Pdo's default mapping.
+ * entries for each assigned PDO are taken from the PDO's default mapping.
- * Please note, that Pdo entry registration will fail, if the Pdo
+ * Please note, that PDO entry registration will fail, if the PDO
  * configuration is left empty and the slave is offline.
  *
  * \code
@@ -635,44 +635,44 @@ int ecrt_slave_config_pdos(
                                        configurations. */
         );
 
-/** Registers a Pdo entry for process data exchange in a domain.
+/** Registers a PDO entry for process data exchange in a domain.
  *
- * Searches the assigned Pdos for the given Pdo entry. An error is raised, if
+ * Searches the assigned PDOs for the given PDO entry. An error is raised, if
  * the given entry is not mapped. Otherwise, the corresponding sync manager
  * and FMMU configurations are provided for slave configuration and the
- * respective sync manager's assigned Pdos are appended to the given domain,
+ * respective sync manager's assigned PDOs are appended to the given domain,
- * if not already done. The offset of the requested Pdo entry's data inside
+ * if not already done. The offset of the requested PDO entry's data inside
- * the domain's process data is returned. Optionally, the Pdo entry bit
+ * the domain's process data is returned. Optionally, the PDO entry bit
  * position (0-7) can be retrieved via the \a bit_position output parameter.
- * This pointer may be \a NULL, in this case an error is raised if the Pdo
+ * This pointer may be \a NULL, in this case an error is raised if the PDO
  * entry does not byte-align.
  *
- * \retval >=0 Success: Offset of the Pdo entry's process data.
+ * \retval >=0 Success: Offset of the PDO entry's process data.
  * \retval  <0 Error code.
  */
 int ecrt_slave_config_reg_pdo_entry(
         ec_slave_config_t *sc, /**< Slave configuration. */
-        uint16_t entry_index, /**< Index of the Pdo entry to register. */
+        uint16_t entry_index, /**< Index of the PDO entry to register. */
-        uint8_t entry_subindex, /**< Subindex of the Pdo entry to register. */
+        uint8_t entry_subindex, /**< Subindex of the PDO entry to register. */
         ec_domain_t *domain, /**< Domain. */
         unsigned int *bit_position /**< Optional address if bit addressing 
                                  is desired */
         );
 
-/** Add an Sdo configuration.
+/** Add an SDO configuration.
  *
- * An Sdo configuration is stored in the slave configuration object and is
+ * An SDO configuration is stored in the slave configuration object and is
  * downloaded to the slave whenever the slave is being configured by the
  * master. This usually happens once on master activation, but can be repeated
  * subsequently, for example after the slave's power supply failed.
  *
- * \attention The Sdos for Pdo assignment (\p 0x1C10 - \p 0x1C2F) and Pdo
+ * \attention The SDOs for PDO assignment (\p 0x1C10 - \p 0x1C2F) and PDO
  * mapping (\p 0x1600 - \p 0x17FF and \p 0x1A00 - \p 0x1BFF) should not be
  * configured with this function, because they are part of the slave
  * configuration done by the master. Please use ecrt_slave_config_pdos() and
  * friends instead.
  *
- * This is the generic function for adding an Sdo configuration. Please note
+ * This is the generic function for adding an SDO configuration. Please note
  * that the this function does not do any endianess correction. If
  * datatype-specific functions are needed (that automatically correct the
  * endianess), have a look at ecrt_slave_config_sdo8(),
@@ -683,8 +683,8 @@ int ecrt_slave_config_reg_pdo_entry(
  */
 int ecrt_slave_config_sdo(
         ec_slave_config_t *sc, /**< Slave configuration. */
-        uint16_t index, /**< Index of the Sdo to configure. */
+        uint16_t index, /**< Index of the SDO to configure. */
-        uint8_t subindex, /**< Subindex of the Sdo to configure. */
+        uint8_t subindex, /**< Subindex of the SDO to configure. */
         const uint8_t *data, /**< Pointer to the data. */
         size_t size /**< Size of the \a data. */
         );
@@ -731,15 +731,15 @@ int ecrt_slave_config_sdo32(
         uint32_t value /**< Value to set. */
         );
 
-/** Create an Sdo request to exchange Sdos during realtime operation.
+/** Create an SDO request to exchange SDOs during realtime operation.
  *
- * The created Sdo request object is freed automatically when the master is
+ * The created SDO request object is freed automatically when the master is
  * released.
  */
 ec_sdo_request_t *ecrt_slave_config_create_sdo_request(
         ec_slave_config_t *sc, /**< Slave configuration. */
-        uint16_t index, /**< Sdo index. */
+        uint16_t index, /**< SDO index. */
-        uint8_t subindex, /**< Sdo subindex. */
+        uint8_t subindex, /**< SDO subindex. */
         size_t size /**< Data size to reserve. */
         );
 
@@ -771,7 +771,7 @@ void ecrt_slave_config_state(
  * Domain methods
  *****************************************************************************/
 
-/** Registers a bunch of Pdo entries for a domain.
+/** Registers a bunch of PDO entries for a domain.
  *
  * \todo doc
  * \attention The registration array has to be terminated with an empty
@@ -780,7 +780,7 @@ void ecrt_slave_config_state(
  */
 int ecrt_domain_reg_pdo_entry_list(
         ec_domain_t *domain, /**< Domain. */
-        const ec_pdo_entry_reg_t *pdo_entry_regs /**< Array of Pdo
+        const ec_pdo_entry_reg_t *pdo_entry_regs /**< Array of PDO
                                                    registrations. */
         );
 
@@ -796,11 +796,11 @@ size_t ecrt_domain_size(
 
 /** Provide external memory to store the domain's process data.
  *
- * Call this after all Pdo entries have been registered and before activating
+ * Call this after all PDO entries have been registered and before activating
  * the master.
  *
  * The size of the allocated memory must be at least ecrt_domain_size(), after
- * all Pdo entries have been registered.
+ * all PDO entries have been registered.
  */
 void ecrt_domain_external_memory(
         ec_domain_t *domain, /**< Domain. */
@@ -858,10 +858,10 @@ void ecrt_domain_state(
         );
 
 /*****************************************************************************
- * Sdo request methods.
+ * SDO request methods.
  ****************************************************************************/
 
-/** Set the timeout for an Sdo request.
+/** Set the timeout for an SDO request.
  *
  * If the request cannot be processed in the specified time, if will be marked
  * as failed.
@@ -870,14 +870,14 @@ void ecrt_domain_state(
  * the next call of this method.
  */
 void ecrt_sdo_request_timeout(
-        ec_sdo_request_t *req, /**< Sdo request. */
+        ec_sdo_request_t *req, /**< SDO request. */
         uint32_t timeout /**< Timeout in milliseconds. Zero means no
                            timeout. */
         );
 
-/** Access to the Sdo request's data.
+/** Access to the SDO request's data.
  *
- * This function returns a pointer to the request's internal Sdo data memory.
+ * This function returns a pointer to the request's internal SDO data memory.
  *
  * - After a read operation was successful, integer data can be evaluated using
  *   the EC_READ_*() macros as usual. Example:
@@ -893,45 +893,45 @@ void ecrt_sdo_request_timeout(
  *   \endcode
  *
  * \attention The return value can be invalid during a read operation, because
- * the internal Sdo data memory could be re-allocated if the read Sdo data do
+ * the internal SDO data memory could be re-allocated if the read SDO data do
  * not fit inside.
  *
- * \return Pointer to the internal Sdo data memory.
+ * \return Pointer to the internal SDO data memory.
  */
 uint8_t *ecrt_sdo_request_data(
-        ec_sdo_request_t *req /**< Sdo request. */
+        ec_sdo_request_t *req /**< SDO request. */
         );
 
-/** Returns the current Sdo data size.
+/** Returns the current SDO data size.
  *
- * When the Sdo request is created, the data size is set to the size of the
+ * When the SDO request is created, the data size is set to the size of the
  * reserved memory. After a read operation the size is set to the size of the
  * read data. The size is not modified in any other situation.
  *
- * \return Sdo data size in bytes.
+ * \return SDO data size in bytes.
  */
 size_t ecrt_sdo_request_data_size(
-        const ec_sdo_request_t *req /**< Sdo request. */
+        const ec_sdo_request_t *req /**< SDO request. */
         );
 
-/** Get the current state of the Sdo request.
+/** Get the current state of the SDO request.
  *
  * \return Request state.
  */
 ec_request_state_t ecrt_sdo_request_state(
-    const ec_sdo_request_t *req /**< Sdo request. */
+    const ec_sdo_request_t *req /**< SDO request. */
     );
 
-/** Schedule an Sdo write operation.
+/** Schedule an SDO write operation.
  *
  * \attention This method may not be called while ecrt_sdo_request_state()
  * returns EC_SDO_REQUEST_BUSY.
  */
 void ecrt_sdo_request_write(
-        ec_sdo_request_t *req /**< Sdo request. */
+        ec_sdo_request_t *req /**< SDO request. */
         );
 
-/** Schedule an Sdo read operation.
+/** Schedule an SDO read operation.
  *
  * \attention This method may not be called while ecrt_sdo_request_state()
  * returns EC_SDO_REQUEST_BUSY.
@@ -941,7 +941,7 @@ void ecrt_sdo_request_write(
  * ecrt_sdo_request_state() returns EC_SDO_REQUEST_BUSY.
  */
 void ecrt_sdo_request_read(
-        ec_sdo_request_t *req /**< Sdo request. */
+        ec_sdo_request_t *req /**< SDO request. */
         );
 
 /*****************************************************************************

lib/slave_config.c

@@ -73,7 +73,7 @@ int ecrt_slave_config_pdo_assign_add(ec_slave_config_t *sc,
     data.index = pdo_index;
 
     if (ioctl(sc->master->fd, EC_IOCTL_SC_ADD_PDO, &data) == -1) {
-        fprintf(stderr, "Failed to add Pdo: %s\n",
+        fprintf(stderr, "Failed to add PDO: %s\n",
                 strerror(errno));
         return -1;  // FIXME
     }
@@ -92,7 +92,7 @@ void ecrt_slave_config_pdo_assign_clear(ec_slave_config_t *sc,
     data.sync_index = sync_index;
 
     if (ioctl(sc->master->fd, EC_IOCTL_SC_CLEAR_PDOS, &data) == -1) {
-        fprintf(stderr, "Failed to clear Pdos: %s\n",
+        fprintf(stderr, "Failed to clear PDOs: %s\n",
                 strerror(errno));
     }
 }
@@ -112,7 +112,7 @@ int ecrt_slave_config_pdo_mapping_add(ec_slave_config_t *sc,
     data.entry_bit_length = entry_bit_length;
 
     if (ioctl(sc->master->fd, EC_IOCTL_SC_ADD_ENTRY, &data) == -1) {
-        fprintf(stderr, "Failed to add Pdo entry: %s\n",
+        fprintf(stderr, "Failed to add PDO entry: %s\n",
                 strerror(errno));
         return -1;  // FIXME
     }
@@ -131,7 +131,7 @@ void ecrt_slave_config_pdo_mapping_clear(ec_slave_config_t *sc,
     data.index = pdo_index;
 
     if (ioctl(sc->master->fd, EC_IOCTL_SC_CLEAR_ENTRIES, &data) == -1) {
-        fprintf(stderr, "Failed to clear Pdo entries: %s\n",
+        fprintf(stderr, "Failed to clear PDO entries: %s\n",
                 strerror(errno));
     }
 }
@@ -219,7 +219,7 @@ int ecrt_slave_config_reg_pdo_entry(
 
     ret = ioctl(sc->master->fd, EC_IOCTL_SC_REG_PDO_ENTRY, &data);
     if (ret == -1) {
-        fprintf(stderr, "Failed to register Pdo entry: %s\n",
+        fprintf(stderr, "Failed to register PDO entry: %s\n",
                 strerror(errno));
         return -2; // FIXME
     }
@@ -228,7 +228,7 @@ int ecrt_slave_config_reg_pdo_entry(
         *bit_position = data.bit_position;
     } else {
         if (data.bit_position) {
-            fprintf(stderr, "Pdo entry 0x%04X:%02X does not byte-align "
+            fprintf(stderr, "PDO entry 0x%04X:%02X does not byte-align "
                     "in config %u:%u.\n", index, subindex,
                     sc->alias, sc->position);
             return -3; // FIXME
@@ -252,7 +252,7 @@ int ecrt_slave_config_sdo(ec_slave_config_t *sc, uint16_t index,
     data.size = size;
 
     if (ioctl(sc->master->fd, EC_IOCTL_SC_REG_PDO_ENTRY, &data) == -1) {
-        fprintf(stderr, "Failed to configure Sdo.\n");
+        fprintf(stderr, "Failed to configure SDO.\n");
         return -1; // FIXME
     }
 

lib/voe_handler.c

@@ -26,7 +26,7 @@
  *****************************************************************************/
 
 /** \file
- * Vendor-specific-over-EtherCAT protocol handler functions.
+ * Vendor specific over EtherCAT protocol handler functions.
  */
 
 /*****************************************************************************/

master/cdev.c

@@ -306,7 +306,7 @@ int ec_cdev_ioctl_slave_sync(
 
 /*****************************************************************************/
 
-/** Get slave sync manager Pdo information.
+/** Get slave sync manager PDO information.
  */
 int ec_cdev_ioctl_slave_sync_pdo(
         ec_master_t *master, /**< EtherCAT master. */
@@ -343,7 +343,7 @@ int ec_cdev_ioctl_slave_sync_pdo(
     if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(
                     &sync->pdos, data.pdo_pos))) {
         up(&master->master_sem);
-        EC_ERR("Sync manager %u does not contain a Pdo with "
+        EC_ERR("Sync manager %u does not contain a PDO with "
                 "position %u in slave %u!\n", data.sync_index,
                 data.pdo_pos, data.slave_position);
         return -EINVAL;
@@ -363,7 +363,7 @@ int ec_cdev_ioctl_slave_sync_pdo(
 
 /*****************************************************************************/
 
-/** Get slave sync manager Pdo entry information.
+/** Get slave sync manager PDO entry information.
  */
 int ec_cdev_ioctl_slave_sync_pdo_entry(
         ec_master_t *master, /**< EtherCAT master. */
@@ -401,7 +401,7 @@ int ec_cdev_ioctl_slave_sync_pdo_entry(
     if (!(pdo = ec_pdo_list_find_pdo_by_pos_const(
                     &sync->pdos, data.pdo_pos))) {
         up(&master->master_sem);
-        EC_ERR("Sync manager %u does not contain a Pdo with "
+        EC_ERR("Sync manager %u does not contain a PDO with "
                 "position %u in slave %u!\n", data.sync_index,
                 data.pdo_pos, data.slave_position);
         return -EINVAL;
@@ -410,7 +410,7 @@ int ec_cdev_ioctl_slave_sync_pdo_entry(
     if (!(entry = ec_pdo_find_entry_by_pos_const(
                     pdo, data.entry_pos))) {
         up(&master->master_sem);
-        EC_ERR("Pdo 0x%04X does not contain an entry with "
+        EC_ERR("PDO 0x%04X does not contain an entry with "
                 "position %u in slave %u!\n", data.pdo_pos,
                 data.entry_pos, data.slave_position);
         return -EINVAL;
@@ -604,7 +604,7 @@ int ec_cdev_ioctl_slave_state(
 
 /*****************************************************************************/
 
-/** Get slave Sdo information.
+/** Get slave SDO information.
  */
 int ec_cdev_ioctl_slave_sdo(
         ec_master_t *master, /**< EtherCAT master. */
@@ -632,7 +632,7 @@ int ec_cdev_ioctl_slave_sdo(
     if (!(sdo = ec_slave_get_sdo_by_pos_const(
                     slave, data.sdo_position))) {
         up(&master->master_sem);
-        EC_ERR("Sdo %u does not exist in slave %u!\n",
+        EC_ERR("SDO %u does not exist in slave %u!\n",
                 data.sdo_position, data.slave_position);
         return -EINVAL;
     }
@@ -651,7 +651,7 @@ int ec_cdev_ioctl_slave_sdo(
 
 /*****************************************************************************/
 
-/** Get slave Sdo entry information.
+/** Get slave SDO entry information.
  */
 int ec_cdev_ioctl_slave_sdo_entry(
         ec_master_t *master, /**< EtherCAT master. */
@@ -681,7 +681,7 @@ int ec_cdev_ioctl_slave_sdo_entry(
         if (!(sdo = ec_slave_get_sdo_by_pos_const(
                         slave, -data.sdo_spec))) {
             up(&master->master_sem);
-            EC_ERR("Sdo %u does not exist in slave %u!\n",
+            EC_ERR("SDO %u does not exist in slave %u!\n",
                     -data.sdo_spec, data.slave_position);
             return -EINVAL;
         }
@@ -689,7 +689,7 @@ int ec_cdev_ioctl_slave_sdo_entry(
         if (!(sdo = ec_slave_get_sdo_const(
                         slave, data.sdo_spec))) {
             up(&master->master_sem);
-            EC_ERR("Sdo 0x%04X does not exist in slave %u!\n",
+            EC_ERR("SDO 0x%04X does not exist in slave %u!\n",
                     data.sdo_spec, data.slave_position);
             return -EINVAL;
         }
@@ -698,7 +698,7 @@ int ec_cdev_ioctl_slave_sdo_entry(
     if (!(entry = ec_sdo_get_entry_const(
                     sdo, data.sdo_entry_subindex))) {
         up(&master->master_sem);
-        EC_ERR("Sdo entry 0x%04X:%02X does not exist "
+        EC_ERR("SDO entry 0x%04X:%02X does not exist "
                 "in slave %u!\n", sdo->index,
                 data.sdo_entry_subindex, data.slave_position);
         return -EINVAL;
@@ -718,7 +718,7 @@ int ec_cdev_ioctl_slave_sdo_entry(
 
 /*****************************************************************************/
 
-/** Upload Sdo.
+/** Upload SDO.
  */
 int ec_cdev_ioctl_slave_sdo_upload(
         ec_master_t *master, /**< EtherCAT master. */
@@ -803,7 +803,7 @@ int ec_cdev_ioctl_slave_sdo_upload(
 
 /*****************************************************************************/
 
-/** Download Sdo.
+/** Download SDO.
  */
 int ec_cdev_ioctl_slave_sdo_download(
         ec_master_t *master, /**< EtherCAT master. */
@@ -1219,7 +1219,7 @@ int ec_cdev_ioctl_config(
 
 /*****************************************************************************/
 
-/** Get slave configuration Pdo information.
+/** Get slave configuration PDO information.
  */
 int ec_cdev_ioctl_config_pdo(
         ec_master_t *master, /**< EtherCAT master. */
@@ -1255,7 +1255,7 @@ int ec_cdev_ioctl_config_pdo(
                     &sc->sync_configs[data.sync_index].pdos,
                     data.pdo_pos))) {
         up(&master->master_sem);
-        EC_ERR("Invalid Pdo position!\n");
+        EC_ERR("Invalid PDO position!\n");
         return -EINVAL;
     }
 
@@ -1273,7 +1273,7 @@ int ec_cdev_ioctl_config_pdo(
 
 /*****************************************************************************/
 
-/** Get slave configuration Pdo entry information.
+/** Get slave configuration PDO entry information.
  */
 int ec_cdev_ioctl_config_pdo_entry(
         ec_master_t *master, /**< EtherCAT master. */
@@ -1310,7 +1310,7 @@ int ec_cdev_ioctl_config_pdo_entry(
                     &sc->sync_configs[data.sync_index].pdos,
                     data.pdo_pos))) {
         up(&master->master_sem);
-        EC_ERR("Invalid Pdo position!\n");
+        EC_ERR("Invalid PDO position!\n");
         return -EINVAL;
     }
 
@@ -1336,7 +1336,7 @@ int ec_cdev_ioctl_config_pdo_entry(
 
 /*****************************************************************************/
 
-/** Get slave configuration Sdo information.
+/** Get slave configuration SDO information.
  */
 int ec_cdev_ioctl_config_sdo(
         ec_master_t *master, /**< EtherCAT master. */
@@ -1365,7 +1365,7 @@ int ec_cdev_ioctl_config_sdo(
     if (!(req = ec_slave_config_get_sdo_by_pos_const(
                     sc, data.sdo_pos))) {
         up(&master->master_sem);
-        EC_ERR("Invalid Sdo position!\n");
+        EC_ERR("Invalid SDO position!\n");
         return -EINVAL;
     }
 
@@ -1642,7 +1642,7 @@ out_return:
 
 /*****************************************************************************/
 
-/** Add a Pdo to the assignment.
+/** Add a PDO to the assignment.
  */
 int ec_cdev_ioctl_sc_add_pdo(
         ec_master_t *master, /**< EtherCAT master. */
@@ -1674,7 +1674,7 @@ int ec_cdev_ioctl_sc_add_pdo(
 
 /*****************************************************************************/
 
-/** Clears the Pdo assignment.
+/** Clears the PDO assignment.
  */
 int ec_cdev_ioctl_sc_clear_pdos(
         ec_master_t *master, /**< EtherCAT master. */
@@ -1707,7 +1707,7 @@ int ec_cdev_ioctl_sc_clear_pdos(
 
 /*****************************************************************************/
 
-/** Add an entry to a Pdo's mapping.
+/** Add an entry to a PDO's mapping.
  */
 int ec_cdev_ioctl_sc_add_entry(
         ec_master_t *master, /**< EtherCAT master. */
@@ -1740,7 +1740,7 @@ int ec_cdev_ioctl_sc_add_entry(
 
 /*****************************************************************************/
 
-/** Clears the mapping of a Pdo.
+/** Clears the mapping of a PDO.
  */
 int ec_cdev_ioctl_sc_clear_entries(
         ec_master_t *master, /**< EtherCAT master. */
@@ -1773,7 +1773,7 @@ int ec_cdev_ioctl_sc_clear_entries(
 
 /*****************************************************************************/
 
-/** Registers a Pdo entry.
+/** Registers a PDO entry.
  */
 int ec_cdev_ioctl_sc_reg_pdo_entry(
         ec_master_t *master, /**< EtherCAT master. */
@@ -1818,7 +1818,7 @@ int ec_cdev_ioctl_sc_reg_pdo_entry(
 
 /*****************************************************************************/
 
-/** Configures an Sdo.
+/** Configures an SDO.
  */
 int ec_cdev_ioctl_sc_sdo(
         ec_master_t *master, /**< EtherCAT master. */

master/ethernet.c

@@ -26,7 +26,7 @@
 
 /**
    \file
-   Ethernet-over-EtherCAT (EoE).
+   Ethernet over EtherCAT (EoE).
 */
 
 /*****************************************************************************/

master/ethernet.h

@@ -26,7 +26,7 @@
 
 /**
    \file
-   Ethernet-over-EtherCAT (EoE)
+   Ethernet over EtherCAT (EoE)
 */
 
 /*****************************************************************************/
@@ -56,7 +56,7 @@ ec_eoe_frame_t;
 typedef struct ec_eoe ec_eoe_t; /**< \see ec_eoe */
 
 /**
-   Ethernet-over-EtherCAT (EoE) handler.
+   Ethernet over EtherCAT (EoE) handler.
    The master creates one of these objects for each slave that supports the
    EoE protocol.
 */

master/fmmu_config.c

@@ -41,7 +41,7 @@
 /** FMMU configuration constructor.
  *
  * Inits an FMMU configuration, sets the logical start address and adds the
- * process data size for the mapped Pdos of the given direction to the domain
+ * process data size for the mapped PDOs of the given direction to the domain
  * data size.
  */
 void ec_fmmu_config_init(
@@ -49,7 +49,7 @@ void ec_fmmu_config_init(
         ec_slave_config_t *sc, /**< EtherCAT slave configuration. */
         ec_domain_t *domain, /**< EtherCAT domain. */
         uint8_t sync_index, /**< Sync manager index to use. */
-        ec_direction_t dir /**< Pdo direction. */
+        ec_direction_t dir /**< PDO direction. */
         )
 {
     INIT_LIST_HEAD(&fmmu->list);

master/fmmu_config.h

@@ -47,7 +47,7 @@ typedef struct {
     uint8_t sync_index; /**< Index of sync manager to use. */
     ec_direction_t dir; /**< FMMU direction. */
     uint32_t logical_start_address; /**< Logical start address. */
-    unsigned int data_size; /**< Covered Pdo size. */
+    unsigned int data_size; /**< Covered PDO size. */
 } ec_fmmu_config_t;
 
 /*****************************************************************************/

master/fsm_coe.c

@@ -74,24 +74,24 @@ void ec_fsm_coe_error(ec_fsm_coe_t *);
 /*****************************************************************************/
 
 /**
-   Sdo abort messages.
+   SDO abort messages.
-   The "abort Sdo transfer request" supplies an abort code,
+   The "abort SDO transfer request" supplies an abort code,
    which can be translated to clear text. This table does
    the mapping of the codes and messages.
 */
 
 const ec_code_msg_t sdo_abort_messages[] = {
     {0x05030000, "Toggle bit not changed"},
-    {0x05040000, "Sdo protocol timeout"},
+    {0x05040000, "SDO protocol timeout"},
     {0x05040001, "Client/Server command specifier not valid or unknown"},
     {0x05040005, "Out of memory"},
     {0x06010000, "Unsupported access to an object"},
     {0x06010001, "Attempt to read a write-only object"},
     {0x06010002, "Attempt to write a read-only object"},
     {0x06020000, "This object does not exist in the object directory"},
-    {0x06040041, "The object cannot be mapped into the Pdo"},
+    {0x06040041, "The object cannot be mapped into the PDO"},
     {0x06040042, "The number and length of the objects to be mapped would"
-     " exceed the Pdo length"},
+     " exceed the PDO length"},
     {0x06040043, "General parameter incompatibility reason"},
     {0x06040047, "Gerneral internal incompatibility in device"},
     {0x06060000, "Access failure due to a hardware error"},
@@ -120,7 +120,7 @@ const ec_code_msg_t sdo_abort_messages[] = {
 /*****************************************************************************/
 
 /**
-   Outputs an Sdo abort message.
+   Outputs an SDO abort message.
 */
 
 void ec_canopen_abort_msg(uint32_t abort_code)
@@ -129,13 +129,13 @@ void ec_canopen_abort_msg(uint32_t abort_code)
 
     for (abort_msg = sdo_abort_messages; abort_msg->code; abort_msg++) {
         if (abort_msg->code == abort_code) {
-            EC_ERR("Sdo abort message 0x%08X: \"%s\".\n",
+            EC_ERR("SDO abort message 0x%08X: \"%s\".\n",
                    abort_msg->code, abort_msg->message);
             return;
         }
     }
 
-    EC_ERR("Unknown Sdo abort code 0x%08X.\n", abort_code);
+    EC_ERR("Unknown SDO abort code 0x%08X.\n", abort_code);
 }
 
 /*****************************************************************************/
@@ -165,7 +165,7 @@ void ec_fsm_coe_clear(ec_fsm_coe_t *fsm /**< finite state machine */)
 /*****************************************************************************/
 
 /**
-   Starts reading a slaves' Sdo dictionary.
+   Starts reading a slaves' SDO dictionary.
 */
 
 void ec_fsm_coe_dictionary(ec_fsm_coe_t *fsm, /**< finite state machine */
@@ -179,13 +179,13 @@ void ec_fsm_coe_dictionary(ec_fsm_coe_t *fsm, /**< finite state machine */
 /*****************************************************************************/
 
 /**
-   Starts to transfer an Sdo to/from a slave.
+   Starts to transfer an SDO to/from a slave.
 */
 
 void ec_fsm_coe_transfer(
         ec_fsm_coe_t *fsm, /**< State machine. */
         ec_slave_t *slave, /**< EtherCAT slave. */
-        ec_sdo_request_t *request /**< Sdo request. */
+        ec_sdo_request_t *request /**< SDO request. */
         )
 {
     fsm->slave = slave;
@@ -275,7 +275,7 @@ void ec_fsm_coe_dict_start(ec_fsm_coe_t *fsm /**< finite state machine */)
     }
 
     if (slave->sii.has_general && !slave->sii.coe_details.enable_sdo_info) {
-        EC_ERR("Slave %u does not support Sdo information service!\n",
+        EC_ERR("Slave %u does not support SDO information service!\n",
                 slave->ring_position);
         fsm->state = ec_fsm_coe_error;
         return;
@@ -287,11 +287,11 @@ void ec_fsm_coe_dict_start(ec_fsm_coe_t *fsm /**< finite state machine */)
         return;
     }
 
-    EC_WRITE_U16(data, 0x8 << 12); // Sdo information
+    EC_WRITE_U16(data, 0x8 << 12); // SDO information
     EC_WRITE_U8 (data + 2, 0x01); // Get OD List Request
     EC_WRITE_U8 (data + 3, 0x00);
     EC_WRITE_U16(data + 4, 0x0000);
-    EC_WRITE_U16(data + 6, 0x0001); // deliver all Sdos!
+    EC_WRITE_U16(data + 6, 0x0001); // deliver all SDOs!
 
     fsm->retries = EC_FSM_RETRIES;
     fsm->state = ec_fsm_coe_dict_request;
@@ -370,7 +370,7 @@ void ec_fsm_coe_dict_check(ec_fsm_coe_t *fsm /**< finite state machine */)
             (datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
         if (diff_ms >= EC_FSM_COE_DICT_TIMEOUT) {
             fsm->state = ec_fsm_coe_error;
-            EC_ERR("Timeout while waiting for Sdo dictionary list response "
+            EC_ERR("Timeout while waiting for SDO dictionary list response "
                     "on slave %u.\n", slave->ring_position);
             return;
         }
@@ -443,18 +443,18 @@ void ec_fsm_coe_dict_response(ec_fsm_coe_t *fsm /**< finite state machine */)
     }
 
     if (rec_size < 3) {
-        EC_ERR("Received corrupted Sdo dictionary response (size %u).\n",
+        EC_ERR("Received corrupted SDO dictionary response (size %u).\n",
                 rec_size);
         fsm->state = ec_fsm_coe_error;
         return;
     }
 
-    if (EC_READ_U16(data) >> 12 == 0x8 && // Sdo information
+    if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
         (EC_READ_U8(data + 2) & 0x7F) == 0x07) { // error response
-        EC_ERR("Sdo information error response at slave %u!\n",
+        EC_ERR("SDO information error response at slave %u!\n",
                slave->ring_position);
         if (rec_size < 10) {
-            EC_ERR("Incomplete Sdo information error response:\n");
+            EC_ERR("Incomplete SDO information error response:\n");
             ec_print_data(data, rec_size);
         } else {
             ec_canopen_abort_msg(EC_READ_U32(data + 6));
@@ -463,10 +463,10 @@ void ec_fsm_coe_dict_response(ec_fsm_coe_t *fsm /**< finite state machine */)
         return;
     }
 
-    if (EC_READ_U16(data) >> 12 != 0x8 || // Sdo information
+    if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information
         (EC_READ_U8 (data + 2) & 0x7F) != 0x02) { // Get OD List response
         if (fsm->slave->master->debug_level) {
-            EC_DBG("Invalid Sdo list response at slave %u! Retrying...\n",
+            EC_DBG("Invalid SDO list response at slave %u! Retrying...\n",
                     slave->ring_position);
             ec_print_data(data, rec_size);
         }
@@ -489,13 +489,13 @@ void ec_fsm_coe_dict_response(ec_fsm_coe_t *fsm /**< finite state machine */)
         sdo_index = EC_READ_U16(data + 8 + i * 2);
         if (!sdo_index) {
             if (slave->master->debug_level)
-                EC_WARN("Sdo dictionary of slave %u contains index 0x0000.\n",
+                EC_WARN("SDO dictionary of slave %u contains index 0x0000.\n",
                         slave->ring_position);
             continue;
         }
 
         if (!(sdo = (ec_sdo_t *) kmalloc(sizeof(ec_sdo_t), GFP_KERNEL))) {
-            EC_ERR("Failed to allocate memory for Sdo!\n");
+            EC_ERR("Failed to allocate memory for SDO!\n");
             fsm->state = ec_fsm_coe_error;
             return;
         }
@@ -506,7 +506,7 @@ void ec_fsm_coe_dict_response(ec_fsm_coe_t *fsm /**< finite state machine */)
 
     fragments_left = EC_READ_U16(data + 4);
     if (slave->master->debug_level && fragments_left) {
-        EC_DBG("Sdo list fragments left: %u\n", fragments_left);
+        EC_DBG("SDO list fragments left: %u\n", fragments_left);
     }
 
     if (EC_READ_U8(data + 2) & 0x80 || fragments_left) { // more messages waiting. check again.
@@ -518,12 +518,12 @@ void ec_fsm_coe_dict_response(ec_fsm_coe_t *fsm /**< finite state machine */)
     }
 
     if (list_empty(&slave->sdo_dictionary)) {
-        // no Sdos in dictionary. finished.
+        // no SDOs in dictionary. finished.
         fsm->state = ec_fsm_coe_end; // success
         return;
     }
 
-    // fetch Sdo descriptions
+    // fetch SDO descriptions
     fsm->sdo = list_entry(slave->sdo_dictionary.next, ec_sdo_t, list);
 
     data = ec_slave_mbox_prepare_send(slave, datagram, 0x03, 8);
@@ -532,11 +532,11 @@ void ec_fsm_coe_dict_response(ec_fsm_coe_t *fsm /**< finite state machine */)
         return;
     }
 
-    EC_WRITE_U16(data, 0x8 << 12); // Sdo information
+    EC_WRITE_U16(data, 0x8 << 12); // SDO information
     EC_WRITE_U8 (data + 2, 0x03); // Get object description request
     EC_WRITE_U8 (data + 3, 0x00);
     EC_WRITE_U16(data + 4, 0x0000);
-    EC_WRITE_U16(data + 6, fsm->sdo->index); // Sdo index
+    EC_WRITE_U16(data + 6, fsm->sdo->index); // SDO index
 
     fsm->retries = EC_FSM_RETRIES;
     fsm->state = ec_fsm_coe_dict_desc_request;
@@ -559,7 +559,7 @@ void ec_fsm_coe_dict_desc_request(ec_fsm_coe_t *fsm /**< finite state machine */
 
     if (datagram->state != EC_DATAGRAM_RECEIVED) {
         fsm->state = ec_fsm_coe_error;
-        EC_ERR("Failed to receive CoE Sdo description request datagram for"
+        EC_ERR("Failed to receive CoE SDO description request datagram for"
                " slave %u (datagram state %u).\n",
                slave->ring_position, datagram->state);
         return;
@@ -567,7 +567,7 @@ void ec_fsm_coe_dict_desc_request(ec_fsm_coe_t *fsm /**< finite state machine */
 
     if (datagram->working_counter != 1) {
         fsm->state = ec_fsm_coe_error;
-        EC_ERR("Reception of CoE Sdo description"
+        EC_ERR("Reception of CoE SDO description"
                 " request failed on slave %u: ", slave->ring_position);
         ec_datagram_print_wc_error(datagram);
         return;
@@ -615,7 +615,7 @@ void ec_fsm_coe_dict_desc_check(ec_fsm_coe_t *fsm /**< finite state machine */)
             (datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
         if (diff_ms >= EC_FSM_COE_DICT_TIMEOUT) {
             fsm->state = ec_fsm_coe_error;
-            EC_ERR("Timeout while waiting for Sdo object description "
+            EC_ERR("Timeout while waiting for SDO object description "
                     "response on slave %u.\n", slave->ring_position);
             return;
         }
@@ -652,7 +652,7 @@ void ec_fsm_coe_dict_desc_response(ec_fsm_coe_t *fsm
 
     if (datagram->state != EC_DATAGRAM_RECEIVED) {
         fsm->state = ec_fsm_coe_error;
-        EC_ERR("Failed to receive CoE Sdo description response datagram from"
+        EC_ERR("Failed to receive CoE SDO description response datagram from"
                " slave %u (datagram state %u).\n",
                slave->ring_position, datagram->state);
         return;
@@ -660,7 +660,7 @@ void ec_fsm_coe_dict_desc_response(ec_fsm_coe_t *fsm
 
     if (datagram->working_counter != 1) {
         fsm->state = ec_fsm_coe_error;
-        EC_ERR("Reception of CoE Sdo description"
+        EC_ERR("Reception of CoE SDO description"
                 " response failed on slave %u: ", slave->ring_position);
         ec_datagram_print_wc_error(datagram);
         return;
@@ -687,16 +687,16 @@ void ec_fsm_coe_dict_desc_response(ec_fsm_coe_t *fsm
     }
 
     if (rec_size < 3) {
-        EC_ERR("Received corrupted Sdo description response (size %u).\n",
+        EC_ERR("Received corrupted SDO description response (size %u).\n",
                 rec_size);
         fsm->state = ec_fsm_coe_error;
         return;
     }
 
-    if (EC_READ_U16(data) >> 12 == 0x8 && // Sdo information
+    if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
         (EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response
-        EC_ERR("Sdo information error response at slave %u while"
+        EC_ERR("SDO information error response at slave %u while"
-               " fetching Sdo 0x%04X!\n", slave->ring_position,
+               " fetching SDO 0x%04X!\n", slave->ring_position,
                sdo->index);
         ec_canopen_abort_msg(EC_READ_U32(data + 6));
         fsm->state = ec_fsm_coe_error;
@@ -704,18 +704,18 @@ void ec_fsm_coe_dict_desc_response(ec_fsm_coe_t *fsm
     }
 
     if (rec_size < 8) {
-        EC_ERR("Received corrupted Sdo description response (size %u).\n",
+        EC_ERR("Received corrupted SDO description response (size %u).\n",
                 rec_size);
         fsm->state = ec_fsm_coe_error;
         return;
     }
 
-    if (EC_READ_U16(data) >> 12 != 0x8 || // Sdo information
+    if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information
         (EC_READ_U8 (data + 2) & 0x7F) != 0x04 || // Object desc. response
-        EC_READ_U16(data + 6) != sdo->index) { // Sdo index
+        EC_READ_U16(data + 6) != sdo->index) { // SDO index
         if (fsm->slave->master->debug_level) {
             EC_DBG("Invalid object description response at slave %u while"
-                    " fetching Sdo 0x%04X!\n", slave->ring_position,
+                    " fetching SDO 0x%04X!\n", slave->ring_position,
                     sdo->index);
             ec_print_data(data, rec_size);
         }
@@ -739,7 +739,7 @@ void ec_fsm_coe_dict_desc_response(ec_fsm_coe_t *fsm
     name_size = rec_size - 12;
     if (name_size) {
         if (!(sdo->name = kmalloc(name_size + 1, GFP_KERNEL))) {
-            EC_ERR("Failed to allocate Sdo name!\n");
+            EC_ERR("Failed to allocate SDO name!\n");
             fsm->state = ec_fsm_coe_error;
             return;
         }
@@ -764,12 +764,12 @@ void ec_fsm_coe_dict_desc_response(ec_fsm_coe_t *fsm
         return;
     }
 
-    EC_WRITE_U16(data, 0x8 << 12); // Sdo information
+    EC_WRITE_U16(data, 0x8 << 12); // SDO information
     EC_WRITE_U8 (data + 2, 0x05); // Get entry description request
     EC_WRITE_U8 (data + 3, 0x00);
     EC_WRITE_U16(data + 4, 0x0000);
-    EC_WRITE_U16(data + 6, sdo->index); // Sdo index
+    EC_WRITE_U16(data + 6, sdo->index); // SDO index
-    EC_WRITE_U8 (data + 8, fsm->subindex); // Sdo subindex
+    EC_WRITE_U8 (data + 8, fsm->subindex); // SDO subindex
     EC_WRITE_U8 (data + 9, 0x00); // value info (no values)
 
     fsm->retries = EC_FSM_RETRIES;
@@ -794,7 +794,7 @@ void ec_fsm_coe_dict_entry_request(ec_fsm_coe_t *fsm
 
     if (datagram->state != EC_DATAGRAM_RECEIVED) {
         fsm->state = ec_fsm_coe_error;
-        EC_ERR("Failed to receive CoE Sdo entry request datagram for"
+        EC_ERR("Failed to receive CoE SDO entry request datagram for"
                " slave %u (datagram state %u).\n",
                slave->ring_position, datagram->state);
         return;
@@ -802,7 +802,7 @@ void ec_fsm_coe_dict_entry_request(ec_fsm_coe_t *fsm
 
     if (datagram->working_counter != 1) {
         fsm->state = ec_fsm_coe_error;
-        EC_ERR("Reception of CoE Sdo entry request failed on slave %u: ",
+        EC_ERR("Reception of CoE SDO entry request failed on slave %u: ",
                 slave->ring_position);
         ec_datagram_print_wc_error(datagram);
         return;
@@ -851,7 +851,7 @@ void ec_fsm_coe_dict_entry_check(ec_fsm_coe_t *fsm
             (datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
         if (diff_ms >= EC_FSM_COE_DICT_TIMEOUT) {
             fsm->state = ec_fsm_coe_error;
-            EC_ERR("Timeout while waiting for Sdo entry description response "
+            EC_ERR("Timeout while waiting for SDO entry description response "
                     "on slave %u.\n", slave->ring_position);
             return;
         }
@@ -889,7 +889,7 @@ void ec_fsm_coe_dict_entry_response(ec_fsm_coe_t *fsm
 
     if (datagram->state != EC_DATAGRAM_RECEIVED) {
         fsm->state = ec_fsm_coe_error;
-        EC_ERR("Failed to receive CoE Sdo description response datagram from"
+        EC_ERR("Failed to receive CoE SDO description response datagram from"
                " slave %u (datagram state %u).\n",
                slave->ring_position, datagram->state);
         return;
@@ -897,7 +897,7 @@ void ec_fsm_coe_dict_entry_response(ec_fsm_coe_t *fsm
 
     if (datagram->working_counter != 1) {
         fsm->state = ec_fsm_coe_error;
-        EC_ERR("Reception of CoE Sdo description"
+        EC_ERR("Reception of CoE SDO description"
                 " response failed on slave %u: ", slave->ring_position);
         ec_datagram_print_wc_error(datagram);
         return;
@@ -924,16 +924,16 @@ void ec_fsm_coe_dict_entry_response(ec_fsm_coe_t *fsm
     }
 
     if (rec_size < 3) {
-        EC_ERR("Received corrupted Sdo entry description response "
+        EC_ERR("Received corrupted SDO entry description response "
                 "(size %u).\n", rec_size);
         fsm->state = ec_fsm_coe_error;
         return;
     }
 
-    if (EC_READ_U16(data) >> 12 == 0x8 && // Sdo information
+    if (EC_READ_U16(data) >> 12 == 0x8 && // SDO information
         (EC_READ_U8 (data + 2) & 0x7F) == 0x07) { // error response
-        EC_ERR("Sdo information error response at slave %u while"
+        EC_ERR("SDO information error response at slave %u while"
-               " fetching Sdo entry 0x%04X:%02X!\n", slave->ring_position,
+               " fetching SDO entry 0x%04X:%02X!\n", slave->ring_position,
                sdo->index, fsm->subindex);
         ec_canopen_abort_msg(EC_READ_U32(data + 6));
         fsm->state = ec_fsm_coe_error;
@@ -941,19 +941,19 @@ void ec_fsm_coe_dict_entry_response(ec_fsm_coe_t *fsm
     }
 
     if (rec_size < 9) {
-        EC_ERR("Received corrupted Sdo entry description response "
+        EC_ERR("Received corrupted SDO entry description response "
                 "(size %u).\n", rec_size);
         fsm->state = ec_fsm_coe_error;
         return;
     }
 
-    if (EC_READ_U16(data) >> 12 != 0x8 || // Sdo information
+    if (EC_READ_U16(data) >> 12 != 0x8 || // SDO information
         (EC_READ_U8(data + 2) & 0x7F) != 0x06 || // Entry desc. response
-        EC_READ_U16(data + 6) != sdo->index || // Sdo index
+        EC_READ_U16(data + 6) != sdo->index || // SDO index
-        EC_READ_U8(data + 8) != fsm->subindex) { // Sdo subindex
+        EC_READ_U8(data + 8) != fsm->subindex) { // SDO subindex
         if (fsm->slave->master->debug_level) {
             EC_DBG("Invalid entry description response at slave %u while"
-                    " fetching Sdo entry 0x%04X:%02X!\n", slave->ring_position,
+                    " fetching SDO entry 0x%04X:%02X!\n", slave->ring_position,
                     sdo->index, fsm->subindex);
             ec_print_data(data, rec_size);
         }
@@ -987,7 +987,7 @@ void ec_fsm_coe_dict_entry_response(ec_fsm_coe_t *fsm
     if (data_size) {
         uint8_t *desc;
         if (!(desc = kmalloc(data_size + 1, GFP_KERNEL))) {
-            EC_ERR("Failed to allocate Sdo entry name!\n");
+            EC_ERR("Failed to allocate SDO entry name!\n");
             fsm->state = ec_fsm_coe_error;
             return;
         }
@@ -1007,12 +1007,12 @@ void ec_fsm_coe_dict_entry_response(ec_fsm_coe_t *fsm
             return;
         }
 
-        EC_WRITE_U16(data, 0x8 << 12); // Sdo information
+        EC_WRITE_U16(data, 0x8 << 12); // SDO information
         EC_WRITE_U8 (data + 2, 0x05); // Get entry description request
         EC_WRITE_U8 (data + 3, 0x00);
         EC_WRITE_U16(data + 4, 0x0000);
-        EC_WRITE_U16(data + 6, sdo->index); // Sdo index
+        EC_WRITE_U16(data + 6, sdo->index); // SDO index
-        EC_WRITE_U8 (data + 8, fsm->subindex); // Sdo subindex
+        EC_WRITE_U8 (data + 8, fsm->subindex); // SDO subindex
         EC_WRITE_U8 (data + 9, 0x00); // value info (no values)
 
         fsm->retries = EC_FSM_RETRIES;
@@ -1020,7 +1020,7 @@ void ec_fsm_coe_dict_entry_response(ec_fsm_coe_t *fsm
         return;
     }
 
-    // another Sdo description to fetch?
+    // another SDO description to fetch?
     if (fsm->sdo->list.next != &slave->sdo_dictionary) {
         fsm->sdo = list_entry(fsm->sdo->list.next, ec_sdo_t, list);
 
@@ -1030,11 +1030,11 @@ void ec_fsm_coe_dict_entry_response(ec_fsm_coe_t *fsm
             return;
         }
 
-        EC_WRITE_U16(data, 0x8 << 12); // Sdo information
+        EC_WRITE_U16(data, 0x8 << 12); // SDO information
         EC_WRITE_U8 (data + 2, 0x03); // Get object description request
         EC_WRITE_U8 (data + 3, 0x00);
         EC_WRITE_U16(data + 4, 0x0000);
-        EC_WRITE_U16(data + 6, fsm->sdo->index); // Sdo index
+        EC_WRITE_U16(data + 6, fsm->sdo->index); // SDO index
 
         fsm->retries = EC_FSM_RETRIES;
         fsm->state = ec_fsm_coe_dict_desc_request;
@@ -1061,7 +1061,7 @@ void ec_fsm_coe_down_start(ec_fsm_coe_t *fsm /**< finite state machine */)
     uint8_t size;
 
     if (fsm->slave->master->debug_level) {
-        EC_DBG("Downloading Sdo 0x%04X:%02X to slave %u.\n",
+        EC_DBG("Downloading SDO 0x%04X:%02X to slave %u.\n",
                request->index, request->subindex, slave->ring_position);
         ec_print_data(request->data, request->data_size);
     }
@@ -1081,7 +1081,7 @@ void ec_fsm_coe_down_start(ec_fsm_coe_t *fsm /**< finite state machine */)
 
 	    size = 4 - request->data_size;
 
-	    EC_WRITE_U16(data, 0x2 << 12); // Sdo request
+	    EC_WRITE_U16(data, 0x2 << 12); // SDO request
 	    EC_WRITE_U8 (data + 2, (0x3 // size specified, expedited
 								| size << 2
 	                            | 0x1 << 5)); // Download request
@@ -1096,7 +1096,7 @@ void ec_fsm_coe_down_start(ec_fsm_coe_t *fsm /**< finite state machine */)
 	}
     else { // request->data_size > 4, use normal transfer type
 	    if (slave->sii.rx_mailbox_size < 6 + 10 + request->data_size) {
-	        EC_ERR("Sdo fragmenting not supported yet!\n");
+	        EC_ERR("SDO fragmenting not supported yet!\n");
 	        fsm->state = ec_fsm_coe_error;
 	        return;
 	    }
@@ -1108,7 +1108,7 @@ void ec_fsm_coe_down_start(ec_fsm_coe_t *fsm /**< finite state machine */)
 	        return;
 	    }
 
-	    EC_WRITE_U16(data, 0x2 << 12); // Sdo request
+	    EC_WRITE_U16(data, 0x2 << 12); // SDO request
 	    EC_WRITE_U8 (data + 2, (0x1 // size indicator, normal
 	                            | 0x1 << 5)); // Download request
 	    EC_WRITE_U16(data + 3, request->index);
@@ -1156,7 +1156,7 @@ void ec_fsm_coe_down_request(ec_fsm_coe_t *fsm /**< finite state machine */)
                 (jiffies - fsm->request->jiffies_sent) * 1000 / HZ;
             if (diff_ms < fsm->request->response_timeout) {
                 if (fsm->slave->master->debug_level) {
-                    EC_DBG("Slave %u did not respond to Sdo download request. "
+                    EC_DBG("Slave %u did not respond to SDO download request. "
                             "Retrying after %u ms...\n",
                             slave->ring_position, (u32) diff_ms);
                 }
@@ -1213,7 +1213,7 @@ void ec_fsm_coe_down_check(ec_fsm_coe_t *fsm /**< finite state machine */)
             (datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
         if (diff_ms >= fsm->request->response_timeout) {
             fsm->state = ec_fsm_coe_error;
-            EC_ERR("Timeout while waiting for Sdo download response on "
+            EC_ERR("Timeout while waiting for SDO download response on "
                     "slave %u.\n", slave->ring_position);
             return;
         }
@@ -1295,10 +1295,10 @@ void ec_fsm_coe_down_response(ec_fsm_coe_t *fsm /**< finite state machine */)
         return;
     }
 
-    if (EC_READ_U16(data) >> 12 == 0x2 && // Sdo request
+    if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
-        EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort Sdo transfer request
+        EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
         fsm->state = ec_fsm_coe_error;
-        EC_ERR("Sdo download 0x%04X:%02X (%u bytes) aborted on slave %u.\n",
+        EC_ERR("SDO download 0x%04X:%02X (%u bytes) aborted on slave %u.\n",
                request->index, request->subindex, request->data_size,
                slave->ring_position);
         if (rec_size < 10) {
@@ -1311,12 +1311,12 @@ void ec_fsm_coe_down_response(ec_fsm_coe_t *fsm /**< finite state machine */)
         return;
     }
 
-    if (EC_READ_U16(data) >> 12 != 0x3 || // Sdo response
+    if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
         EC_READ_U8 (data + 2) >> 5 != 0x3 || // Download response
         EC_READ_U16(data + 3) != request->index || // index
         EC_READ_U8 (data + 5) != request->subindex) { // subindex
         if (slave->master->debug_level) {
-            EC_DBG("Invalid Sdo download response at slave %u! Retrying...\n",
+            EC_DBG("Invalid SDO download response at slave %u! Retrying...\n",
                     slave->ring_position);
             ec_print_data(data, rec_size);
         }
@@ -1345,7 +1345,7 @@ void ec_fsm_coe_up_start(ec_fsm_coe_t *fsm /**< finite state machine */)
     uint8_t *data;
 
     if (master->debug_level)
-        EC_DBG("Uploading Sdo 0x%04X:%02X from slave %u.\n",
+        EC_DBG("Uploading SDO 0x%04X:%02X from slave %u.\n",
                request->index, request->subindex, slave->ring_position);
 
     if (!(slave->sii.mailbox_protocols & EC_MBOX_COE)) {
@@ -1360,7 +1360,7 @@ void ec_fsm_coe_up_start(ec_fsm_coe_t *fsm /**< finite state machine */)
         return;
     }
 
-    EC_WRITE_U16(data, 0x2 << 12); // Sdo request
+    EC_WRITE_U16(data, 0x2 << 12); // SDO request
     EC_WRITE_U8 (data + 2, 0x2 << 5); // initiate upload request
     EC_WRITE_U16(data + 3, request->index);
     EC_WRITE_U8 (data + 5, request->subindex);
@@ -1405,7 +1405,7 @@ void ec_fsm_coe_up_request(ec_fsm_coe_t *fsm /**< finite state machine */)
                 (jiffies - fsm->request->jiffies_sent) * 1000 / HZ;
             if (diff_ms < fsm->request->response_timeout) {
                 if (fsm->slave->master->debug_level) {
-                    EC_DBG("Slave %u did not respond to Sdo upload request. "
+                    EC_DBG("Slave %u did not respond to SDO upload request. "
                             "Retrying after %u ms...\n",
                             slave->ring_position, (u32) diff_ms);
                 }
@@ -1462,7 +1462,7 @@ void ec_fsm_coe_up_check(ec_fsm_coe_t *fsm /**< finite state machine */)
             (datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
         if (diff_ms >= fsm->request->response_timeout) {
             fsm->state = ec_fsm_coe_error;
-            EC_ERR("Timeout while waiting for Sdo upload response on "
+            EC_ERR("Timeout while waiting for SDO upload response on "
                     "slave %u.\n", slave->ring_position);
             return;
         }
@@ -1542,14 +1542,14 @@ void ec_fsm_coe_up_response(ec_fsm_coe_t *fsm /**< finite state machine */)
 
     if (rec_size < 3) {
         fsm->state = ec_fsm_coe_error;
-        EC_ERR("Received currupted Sdo upload response (%u bytes)!\n", rec_size);
+        EC_ERR("Received currupted SDO upload response (%u bytes)!\n", rec_size);
         ec_print_data(data, rec_size);
         return;
     }
 
-    if (EC_READ_U16(data) >> 12 == 0x2 && // Sdo request
+    if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
-        EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort Sdo transfer request
+        EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
-        EC_ERR("Sdo upload 0x%04X:%02X aborted on slave %u.\n",
+        EC_ERR("SDO upload 0x%04X:%02X aborted on slave %u.\n",
                request->index, request->subindex, slave->ring_position);
         if (rec_size >= 10) {
             request->abort_code = EC_READ_U32(data + 6);
@@ -1567,18 +1567,18 @@ void ec_fsm_coe_up_response(ec_fsm_coe_t *fsm /**< finite state machine */)
     if (expedited) {
         if (rec_size < 7) {
             fsm->state = ec_fsm_coe_error;
-            EC_ERR("Received currupted Sdo expedited upload"
+            EC_ERR("Received currupted SDO expedited upload"
                     " response (only %u bytes)!\n", rec_size);
             ec_print_data(data, rec_size);
             return;
         }
 
-        if (EC_READ_U16(data) >> 12 != 0x3 || // Sdo response
+        if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
                 EC_READ_U8 (data + 2) >> 5 != 0x2 || // upload response
                 EC_READ_U16(data + 3) != request->index || // index
                 EC_READ_U8 (data + 5) != request->subindex) { // subindex
             if (fsm->slave->master->debug_level) {
-                EC_DBG("Invalid Sdo upload expedited response at slave %u!\n",
+                EC_DBG("Invalid SDO upload expedited response at slave %u!\n",
                         slave->ring_position);
                 ec_print_data(data, rec_size);
             }
@@ -1598,7 +1598,7 @@ void ec_fsm_coe_up_response(ec_fsm_coe_t *fsm /**< finite state machine */)
 
         if (rec_size < 6 + complete_size) {
             fsm->state = ec_fsm_coe_error;
-            EC_ERR("Received currupted Sdo expedited upload"
+            EC_ERR("Received currupted SDO expedited upload"
                     " response (only %u bytes)!\n", rec_size);
             ec_print_data(data, rec_size);
             return;
@@ -1611,18 +1611,18 @@ void ec_fsm_coe_up_response(ec_fsm_coe_t *fsm /**< finite state machine */)
     } else { // normal
         if (rec_size < 10) {
             fsm->state = ec_fsm_coe_error;
-            EC_ERR("Received currupted Sdo normal upload"
+            EC_ERR("Received currupted SDO normal upload"
                     " response (only %u bytes)!\n", rec_size);
             ec_print_data(data, rec_size);
             return;
         }
 
-        if (EC_READ_U16(data) >> 12 != 0x3 || // Sdo response
+        if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
                 EC_READ_U8 (data + 2) >> 5 != 0x2 || // upload response
                 EC_READ_U16(data + 3) != request->index || // index
                 EC_READ_U8 (data + 5) != request->subindex) { // subindex
             if (fsm->slave->master->debug_level) {
-                EC_DBG("Invalid Sdo normal upload response at slave %u!\n",
+                EC_DBG("Invalid SDO normal upload response at slave %u!\n",
                         slave->ring_position);
                 ec_print_data(data, rec_size);
             }
@@ -1656,7 +1656,7 @@ void ec_fsm_coe_up_response(ec_fsm_coe_t *fsm /**< finite state machine */)
         fsm->toggle = 0;
 
         if (data_size < complete_size) {
-            EC_WARN("Sdo data incomplete (%u / %u).\n",
+            EC_WARN("SDO data incomplete (%u / %u).\n",
                     data_size, complete_size);
 
             data = ec_slave_mbox_prepare_send(slave, datagram,
@@ -1666,7 +1666,7 @@ void ec_fsm_coe_up_response(ec_fsm_coe_t *fsm /**< finite state machine */)
                 return;
             }
 
-            EC_WRITE_U16(data, 0x2 << 12); // Sdo request
+            EC_WRITE_U16(data, 0x2 << 12); // SDO request
             EC_WRITE_U8 (data + 2, (fsm->toggle << 4 // toggle
                                     | 0x3 << 5)); // upload segment request
 
@@ -1762,7 +1762,7 @@ void ec_fsm_coe_up_seg_check(ec_fsm_coe_t *fsm /**< finite state machine */)
             (datagram->jiffies_received - fsm->jiffies_start) * 1000 / HZ;
         if (diff_ms >= fsm->request->response_timeout) {
             fsm->state = ec_fsm_coe_error;
-            EC_ERR("Timeout while waiting for Sdo upload segment response "
+            EC_ERR("Timeout while waiting for SDO upload segment response "
                     "on slave %u.\n", slave->ring_position);
             return;
         }
@@ -1842,15 +1842,15 @@ void ec_fsm_coe_up_seg_response(ec_fsm_coe_t *fsm /**< finite state machine */)
     }
 
     if (rec_size < 10) {
-        EC_ERR("Received currupted Sdo upload segment response!\n");
+        EC_ERR("Received currupted SDO upload segment response!\n");
         ec_print_data(data, rec_size);
         fsm->state = ec_fsm_coe_error;
         return;
     }
 
-    if (EC_READ_U16(data) >> 12 == 0x2 && // Sdo request
+    if (EC_READ_U16(data) >> 12 == 0x2 && // SDO request
-        EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort Sdo transfer request
+        EC_READ_U8 (data + 2) >> 5 == 0x4) { // abort SDO transfer request
-        EC_ERR("Sdo upload 0x%04X:%02X aborted on slave %u.\n",
+        EC_ERR("SDO upload 0x%04X:%02X aborted on slave %u.\n",
                request->index, request->subindex, slave->ring_position);
         request->abort_code = EC_READ_U32(data + 6);
         ec_canopen_abort_msg(request->abort_code);
@@ -1858,10 +1858,10 @@ void ec_fsm_coe_up_seg_response(ec_fsm_coe_t *fsm /**< finite state machine */)
         return;
     }
 
-    if (EC_READ_U16(data) >> 12 != 0x3 || // Sdo response
+    if (EC_READ_U16(data) >> 12 != 0x3 || // SDO response
         EC_READ_U8 (data + 2) >> 5 != 0x0) { // upload segment response
         if (fsm->slave->master->debug_level) {
-            EC_DBG("Invalid Sdo upload segment response at slave %u!\n",
+            EC_DBG("Invalid SDO upload segment response at slave %u!\n",
                slave->ring_position);
             ec_print_data(data, rec_size);
         }
@@ -1877,7 +1877,7 @@ void ec_fsm_coe_up_seg_response(ec_fsm_coe_t *fsm /**< finite state machine */)
     data_size = rec_size - 10;
 
     if (data_size != seg_size) {
-        EC_WARN("Sdo segment data invalid (%u / %u)"
+        EC_WARN("SDO segment data invalid (%u / %u)"
                 " - Fragmenting not implemented.\n",
                 data_size, seg_size);
     }
@@ -1894,7 +1894,7 @@ void ec_fsm_coe_up_seg_response(ec_fsm_coe_t *fsm /**< finite state machine */)
             return;
         }
 
-        EC_WRITE_U16(data, 0x2 << 12); // Sdo request
+        EC_WRITE_U16(data, 0x2 << 12); // SDO request
         EC_WRITE_U8 (data + 2, (fsm->toggle << 4 // toggle
                                 | 0x3 << 5)); // upload segment request
 

master/fsm_coe.h

@@ -44,7 +44,7 @@
 
 typedef struct ec_fsm_coe ec_fsm_coe_t; /**< \see ec_fsm_coe */
 
-/** Finite state machines for the CANopen-over-EtherCAT protocol.
+/** Finite state machines for the CANopen over EtherCAT protocol.
  */
 struct ec_fsm_coe {
     ec_slave_t *slave; /**< slave the FSM runs on */
@@ -53,9 +53,9 @@ struct ec_fsm_coe {
 
     void (*state)(ec_fsm_coe_t *); /**< CoE state function */
     unsigned long jiffies_start; /**< CoE timestamp. */
-    ec_sdo_t *sdo; /**< current Sdo */
+    ec_sdo_t *sdo; /**< current SDO */
     uint8_t subindex; /**< current subindex */
-    ec_sdo_request_t *request; /**< Sdo request */
+    ec_sdo_request_t *request; /**< SDO request */
     uint8_t toggle; /**< toggle bit for segment commands */
 };
 

master/fsm_master.c

@@ -374,9 +374,9 @@ int ec_fsm_master_action_process_phy(
 
 /*****************************************************************************/
 
-/** Check for pending Sdo requests and process one.
+/** Check for pending SDO requests and process one.
  * 
- * \return non-zero, if an Sdo request is processed.
+ * \return non-zero, if an SDO request is processed.
  */
 int ec_fsm_master_action_process_sdo(
         ec_fsm_master_t *fsm /**< Master state machine. */
@@ -399,7 +399,7 @@ int ec_fsm_master_action_process_sdo(
                 if (ec_sdo_request_timed_out(req)) {
                     req->state = EC_INT_REQUEST_FAILURE;
                     if (master->debug_level)
-                        EC_DBG("Sdo request for slave %u timed out...\n",
+                        EC_DBG("SDO request for slave %u timed out...\n",
                                 slave->ring_position);
                     continue;
                 }
@@ -411,7 +411,7 @@ int ec_fsm_master_action_process_sdo(
 
                 req->state = EC_INT_REQUEST_BUSY;
                 if (master->debug_level)
-                    EC_DBG("Processing Sdo request for slave %u...\n",
+                    EC_DBG("Processing SDO request for slave %u...\n",
                             slave->ring_position);
 
                 fsm->idle = 0;
@@ -438,19 +438,19 @@ int ec_fsm_master_action_process_sdo(
 
         slave = request->slave;
         if (slave->current_state == EC_SLAVE_STATE_INIT) {
-            EC_ERR("Discarding Sdo request, slave %u is in INIT.\n",
+            EC_ERR("Discarding SDO request, slave %u is in INIT.\n",
                     slave->ring_position);
             request->req.state = EC_INT_REQUEST_FAILURE;
             wake_up(&master->sdo_queue);
             continue;
         }
 
-        // Found pending Sdo request. Execute it!
+        // Found pending SDO request. Execute it!
         if (master->debug_level)
-            EC_DBG("Processing Sdo request for slave %u...\n",
+            EC_DBG("Processing SDO request for slave %u...\n",
                     slave->ring_position);
 
-        // Start uploading Sdo
+        // Start uploading SDO
         fsm->idle = 0;
         fsm->sdo_request = &request->req;
         fsm->slave = slave;
@@ -476,11 +476,11 @@ void ec_fsm_master_action_idle(
     ec_master_t *master = fsm->master;
     ec_slave_t *slave;
 
-    // Check for pending Sdo requests
+    // Check for pending SDO requests
     if (ec_fsm_master_action_process_sdo(fsm))
         return;
 
-    // check, if slaves have an Sdo dictionary to read out.
+    // check, if slaves have an SDO dictionary to read out.
     for (slave = master->slaves;
             slave < master->slaves + master->slave_count;
             slave++) {
@@ -494,13 +494,13 @@ void ec_fsm_master_action_idle(
                 ) continue;
 
         if (master->debug_level) {
-            EC_DBG("Fetching Sdo dictionary from slave %u.\n",
+            EC_DBG("Fetching SDO dictionary from slave %u.\n",
                     slave->ring_position);
         }
 
         slave->sdo_dictionary_fetched = 1;
 
-        // start fetching Sdo dictionary
+        // start fetching SDO dictionary
         fsm->idle = 0;
         fsm->slave = slave;
         fsm->state = ec_fsm_master_state_sdo_dictionary;
@@ -869,12 +869,12 @@ void ec_fsm_master_state_sdo_dictionary(
         return;
     }
 
-    // Sdo dictionary fetching finished
+    // SDO dictionary fetching finished
 
     if (master->debug_level) {
         unsigned int sdo_count, entry_count;
         ec_slave_sdo_dict_info(slave, &sdo_count, &entry_count);
-        EC_DBG("Fetched %u Sdos and %u entries from slave %u.\n",
+        EC_DBG("Fetched %u SDOs and %u entries from slave %u.\n",
                sdo_count, entry_count, slave->ring_position);
     }
 
@@ -898,7 +898,7 @@ void ec_fsm_master_state_sdo_request(
     if (ec_fsm_coe_exec(&fsm->fsm_coe)) return;
 
     if (!ec_fsm_coe_success(&fsm->fsm_coe)) {
-        EC_DBG("Failed to process Sdo request for slave %u.\n",
+        EC_DBG("Failed to process SDO request for slave %u.\n",
                 fsm->slave->ring_position);
         request->state = EC_INT_REQUEST_FAILURE;
         wake_up(&master->sdo_queue);
@@ -906,15 +906,15 @@ void ec_fsm_master_state_sdo_request(
         return;
     }
 
-    // Sdo request finished 
+    // SDO request finished 
     request->state = EC_INT_REQUEST_SUCCESS;
     wake_up(&master->sdo_queue);
 
     if (master->debug_level)
-        EC_DBG("Finished Sdo request for slave %u.\n",
+        EC_DBG("Finished SDO request for slave %u.\n",
                 fsm->slave->ring_position);
 
-    // check for another Sdo request
+    // check for another SDO request
     if (ec_fsm_master_action_process_sdo(fsm))
         return; // processing another request
 

master/fsm_master.h

@@ -70,12 +70,12 @@ typedef struct {
 
 /*****************************************************************************/
 
-/** Slave/Sdo request record for master's Sdo request list.
+/** Slave/SDO request record for master's SDO request list.
  */
 typedef struct {
     struct list_head list; /**< List element. */
     ec_slave_t *slave; /**< Slave. */
-    ec_sdo_request_t req; /**< Sdo request. */
+    ec_sdo_request_t req; /**< SDO request. */
 } ec_master_sdo_request_t;
 
 /*****************************************************************************/
@@ -98,11 +98,11 @@ struct ec_fsm_master {
     ec_slave_t *slave; /**< current slave */
     ec_sii_write_request_t *sii_request; /**< SII write request */
     off_t sii_index; /**< index to SII write request data */
-    ec_sdo_request_t *sdo_request; /**< Sdo request to process. */
+    ec_sdo_request_t *sdo_request; /**< SDO request to process. */
     ec_phy_request_t *phy_request; /**< Physical memory request to process. */
 
     ec_fsm_coe_t fsm_coe; /**< CoE state machine */
-    ec_fsm_pdo_t fsm_pdo; /**< Pdo configuration state machine. */
+    ec_fsm_pdo_t fsm_pdo; /**< PDO configuration state machine. */
     ec_fsm_change_t fsm_change; /**< State change state machine */
     ec_fsm_slave_config_t fsm_slave_config; /**< slave state machine */
     ec_fsm_slave_scan_t fsm_slave_scan; /**< slave state machine */

master/fsm_pdo.c

@@ -25,7 +25,7 @@
  *****************************************************************************/
 
 /** \file
- * EtherCAT Pdo configuration state machine.
+ * EtherCAT PDO configuration state machine.
  */
 
 /*****************************************************************************/
@@ -69,7 +69,7 @@ void ec_fsm_pdo_state_error(ec_fsm_pdo_t *);
 /** Constructor.
  */
 void ec_fsm_pdo_init(
-        ec_fsm_pdo_t *fsm, /**< Pdo configuration state machine. */
+        ec_fsm_pdo_t *fsm, /**< PDO configuration state machine. */
         ec_fsm_coe_t *fsm_coe /**< CoE state machine to use */
         )
 {
@@ -85,7 +85,7 @@ void ec_fsm_pdo_init(
 /** Destructor.
  */
 void ec_fsm_pdo_clear(
-        ec_fsm_pdo_t *fsm /**< Pdo configuration state machine. */
+        ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
         )
 {
     ec_fsm_pdo_entry_clear(&fsm->fsm_pdo_entry);
@@ -96,10 +96,10 @@ void ec_fsm_pdo_clear(
 
 /*****************************************************************************/
 
-/** Start reading the Pdo configuration.
+/** Start reading the PDO configuration.
  */
 void ec_fsm_pdo_start_reading(
-        ec_fsm_pdo_t *fsm, /**< Pdo configuration state machine. */
+        ec_fsm_pdo_t *fsm, /**< PDO configuration state machine. */
         ec_slave_t *slave /**< slave to configure */
         )
 {
@@ -109,10 +109,10 @@ void ec_fsm_pdo_start_reading(
 
 /*****************************************************************************/
 
-/** Start writing the Pdo configuration.
+/** Start writing the PDO configuration.
  */
 void ec_fsm_pdo_start_configuration(
-        ec_fsm_pdo_t *fsm, /**< Pdo configuration state machine. */
+        ec_fsm_pdo_t *fsm, /**< PDO configuration state machine. */
         ec_slave_t *slave /**< slave to configure */
         )
 {
@@ -127,7 +127,7 @@ void ec_fsm_pdo_start_configuration(
  * \return false, if state machine has terminated
  */
 int ec_fsm_pdo_running(
-        const ec_fsm_pdo_t *fsm /**< Pdo configuration state machine. */
+        const ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
         )
 {
     return fsm->state != ec_fsm_pdo_state_end
@@ -144,7 +144,7 @@ int ec_fsm_pdo_running(
  * \return false, if state machine has terminated
  */
 int ec_fsm_pdo_exec(
-        ec_fsm_pdo_t *fsm /**< Pdo configuration state machine. */
+        ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
         )
 {
     fsm->state(fsm);
@@ -158,7 +158,7 @@ int ec_fsm_pdo_exec(
  * \return true, if the state machine terminated gracefully
  */
 int ec_fsm_pdo_success(
-        const ec_fsm_pdo_t *fsm /**< Pdo configuration state machine. */
+        const ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
         )
 {
     return fsm->state == ec_fsm_pdo_state_end;
@@ -168,20 +168,20 @@ int ec_fsm_pdo_success(
  * Reading state funtions.
  *****************************************************************************/
 
-/** Start reading Pdo assignment.
+/** Start reading PDO assignment.
  */
 void ec_fsm_pdo_read_state_start(
         ec_fsm_pdo_t *fsm /**< finite state machine */
         )
 {
-    // read Pdo assignment for first sync manager not reserved for mailbox
+    // read PDO assignment for first sync manager not reserved for mailbox
     fsm->sync_index = 1; // next is 2
     ec_fsm_pdo_read_action_next_sync(fsm);
 }
 
 /*****************************************************************************/
 
-/** Read Pdo assignment of next sync manager.
+/** Read PDO assignment of next sync manager.
  */
 void ec_fsm_pdo_read_action_next_sync(
         ec_fsm_pdo_t *fsm /**< Finite state machine */
@@ -196,7 +196,7 @@ void ec_fsm_pdo_read_action_next_sync(
             continue;
 
         if (slave->master->debug_level)
-            EC_DBG("Reading Pdo assignment of SM%u.\n", fsm->sync_index);
+            EC_DBG("Reading PDO assignment of SM%u.\n", fsm->sync_index);
 
         ec_pdo_list_clear_pdos(&fsm->pdos);
 
@@ -209,14 +209,14 @@ void ec_fsm_pdo_read_action_next_sync(
     }
 
     if (slave->master->debug_level)
-        EC_DBG("Reading of Pdo configuration finished.\n");
+        EC_DBG("Reading of PDO configuration finished.\n");
 
     fsm->state = ec_fsm_pdo_state_end;
 }
 
 /*****************************************************************************/
 
-/** Count assigned Pdos.
+/** Count assigned PDOs.
  */
 void ec_fsm_pdo_read_state_pdo_count(
         ec_fsm_pdo_t *fsm /**< finite state machine */
@@ -225,14 +225,14 @@ void ec_fsm_pdo_read_state_pdo_count(
     if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
 
     if (!ec_fsm_coe_success(fsm->fsm_coe)) {
-        EC_ERR("Failed to read number of assigned Pdos for SM%u.\n",
+        EC_ERR("Failed to read number of assigned PDOs for SM%u.\n",
                 fsm->sync_index);
         fsm->state = ec_fsm_pdo_state_error;
         return;
     }
 
     if (fsm->request.data_size != sizeof(uint8_t)) {
-        EC_ERR("Invalid data size %u returned when uploading Sdo 0x%04X:%02X "
+        EC_ERR("Invalid data size %u returned when uploading SDO 0x%04X:%02X "
                 "from slave %u.\n", fsm->request.data_size,
                 fsm->request.index, fsm->request.subindex,
                 fsm->slave->ring_position);
@@ -242,16 +242,16 @@ void ec_fsm_pdo_read_state_pdo_count(
     fsm->pdo_count = EC_READ_U8(fsm->request.data);
 
     if (fsm->slave->master->debug_level)
-        EC_DBG("%u Pdos assigned.\n", fsm->pdo_count);
+        EC_DBG("%u PDOs assigned.\n", fsm->pdo_count);
 
-    // read first Pdo
+    // read first PDO
     fsm->pdo_pos = 1;
     ec_fsm_pdo_read_action_next_pdo(fsm);
 }
 
 /*****************************************************************************/
 
-/** Read next Pdo.
+/** Read next PDO.
  */
 void ec_fsm_pdo_read_action_next_pdo(
         ec_fsm_pdo_t *fsm /**< finite state machine */
@@ -267,7 +267,7 @@ void ec_fsm_pdo_read_action_next_pdo(
         return;
     }
 
-    // finished reading Pdo configuration
+    // finished reading PDO configuration
     
     if (ec_pdo_list_copy(&fsm->sync->pdos, &fsm->pdos)) {
         fsm->state = ec_fsm_pdo_state_error;
@@ -282,7 +282,7 @@ void ec_fsm_pdo_read_action_next_pdo(
 
 /*****************************************************************************/
 
-/** Fetch Pdo information.
+/** Fetch PDO information.
  */
 void ec_fsm_pdo_read_state_pdo(
         ec_fsm_pdo_t *fsm /**< finite state machine */
@@ -291,14 +291,14 @@ void ec_fsm_pdo_read_state_pdo(
     if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
 
     if (!ec_fsm_coe_success(fsm->fsm_coe)) {
-        EC_ERR("Failed to read index of assigned Pdo %u from SM%u.\n",
+        EC_ERR("Failed to read index of assigned PDO %u from SM%u.\n",
                 fsm->pdo_pos, fsm->sync_index);
         fsm->state = ec_fsm_pdo_state_error;
         return;
     }
 
     if (fsm->request.data_size != sizeof(uint16_t)) {
-        EC_ERR("Invalid data size %u returned when uploading Sdo 0x%04X:%02X "
+        EC_ERR("Invalid data size %u returned when uploading SDO 0x%04X:%02X "
                 "from slave %u.\n", fsm->request.data_size,
                 fsm->request.index, fsm->request.subindex,
                 fsm->slave->ring_position);
@@ -308,7 +308,7 @@ void ec_fsm_pdo_read_state_pdo(
 
     if (!(fsm->pdo = (ec_pdo_t *)
                 kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
-        EC_ERR("Failed to allocate Pdo.\n");
+        EC_ERR("Failed to allocate PDO.\n");
         fsm->state = ec_fsm_pdo_state_error;
         return;
     }
@@ -318,7 +318,7 @@ void ec_fsm_pdo_read_state_pdo(
     fsm->pdo->sync_index = fsm->sync_index;
 
     if (fsm->slave->master->debug_level)
-        EC_DBG("Pdo 0x%04X.\n", fsm->pdo->index);
+        EC_DBG("PDO 0x%04X.\n", fsm->pdo->index);
 
     list_add_tail(&fsm->pdo->list, &fsm->pdos.list);
 
@@ -329,7 +329,7 @@ void ec_fsm_pdo_read_state_pdo(
 
 /*****************************************************************************/
 
-/** Fetch Pdo information.
+/** Fetch PDO information.
  */
 void ec_fsm_pdo_read_state_pdo_entries(
         ec_fsm_pdo_t *fsm /**< finite state machine */
@@ -339,13 +339,13 @@ void ec_fsm_pdo_read_state_pdo_entries(
         return;
 
     if (!ec_fsm_pdo_entry_success(&fsm->fsm_pdo_entry)) {
-        EC_ERR("Failed to read mapped Pdo entries for Pdo 0x%04X.\n",
+        EC_ERR("Failed to read mapped PDO entries for PDO 0x%04X.\n",
                 fsm->pdo->index);
         fsm->state = ec_fsm_pdo_state_error;
         return;
     }
 
-    // next Pdo
+    // next PDO
     fsm->pdo_pos++;
     ec_fsm_pdo_read_action_next_pdo(fsm);
 }
@@ -354,10 +354,10 @@ void ec_fsm_pdo_read_state_pdo_entries(
  * Writing state functions.
  *****************************************************************************/
 
-/** Start Pdo configuration.
+/** Start PDO configuration.
  */
 void ec_fsm_pdo_conf_state_start(
-        ec_fsm_pdo_t *fsm /**< Pdo configuration state machine. */
+        ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
         )
 {
     if (!fsm->slave->config) {
@@ -371,16 +371,16 @@ void ec_fsm_pdo_conf_state_start(
 
 /*****************************************************************************/
 
-/** Assign next Pdo.
+/** Assign next PDO.
  */
 ec_pdo_t *ec_fsm_pdo_conf_action_next_pdo(
-        const ec_fsm_pdo_t *fsm, /**< Pdo configuration state machine. */
+        const ec_fsm_pdo_t *fsm, /**< PDO configuration state machine. */
-        const struct list_head *list /**< current Pdo list item */
+        const struct list_head *list /**< current PDO list item */
         )
 {
     list = list->next; 
     if (list == &fsm->pdos.list)
-        return NULL; // no next Pdo
+        return NULL; // no next PDO
     return list_entry(list, ec_pdo_t, list);
 }
 
@@ -389,7 +389,7 @@ ec_pdo_t *ec_fsm_pdo_conf_action_next_pdo(
 /** Get the next sync manager for a pdo configuration.
  */
 void ec_fsm_pdo_conf_action_next_sync(
-        ec_fsm_pdo_t *fsm /**< Pdo configuration state machine. */
+        ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
         )
 {
     fsm->sync_index++;
@@ -408,13 +408,13 @@ void ec_fsm_pdo_conf_action_next_sync(
         
         if (!(fsm->sync = ec_slave_get_sync(fsm->slave, fsm->sync_index))) {
             if (!list_empty(&fsm->pdos.list))
-                EC_WARN("Pdos configured for SM%u, but slave %u does not "
+                EC_WARN("PDOs configured for SM%u, but slave %u does not "
                         "provide the sync manager information!\n",
                         fsm->sync_index, fsm->slave->ring_position);
             continue;
         }
 
-        // get first configured Pdo
+        // get first configured PDO
         if (!(fsm->pdo = ec_fsm_pdo_conf_action_next_pdo(fsm, &fsm->pdos.list))) {
             // no pdos configured
             ec_fsm_pdo_conf_action_check_assignment(fsm);
@@ -433,7 +433,7 @@ void ec_fsm_pdo_conf_action_next_sync(
 /** Check if the mapping has to be read, otherwise start to configure it.
  */
 void ec_fsm_pdo_conf_action_pdo_mapping(
-        ec_fsm_pdo_t *fsm /**< Pdo configuration state machine. */
+        ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
         )
 {
     const ec_pdo_t *assigned_pdo;
@@ -442,14 +442,14 @@ void ec_fsm_pdo_conf_action_pdo_mapping(
 
     if ((assigned_pdo = ec_slave_find_pdo(fsm->slave, fsm->pdo->index))) {
         ec_pdo_copy_entries(&fsm->slave_pdo, assigned_pdo);
-    } else { // configured Pdo is not assigned and thus unknown
+    } else { // configured PDO is not assigned and thus unknown
         ec_pdo_clear_entries(&fsm->slave_pdo);
     }
 
     if (list_empty(&fsm->slave_pdo.entries)) {
 
         if (fsm->slave->master->debug_level)
-            EC_DBG("Reading mapping of Pdo 0x%04X.\n",
+            EC_DBG("Reading mapping of PDO 0x%04X.\n",
                     fsm->pdo->index);
             
         // pdo mapping is unknown; start loading it
@@ -466,17 +466,17 @@ void ec_fsm_pdo_conf_action_pdo_mapping(
 
 /*****************************************************************************/
 
-/** Execute the Pdo entry state machine to read the current Pdo's mapping.
+/** Execute the PDO entry state machine to read the current PDO's mapping.
  */
 void ec_fsm_pdo_conf_state_read_mapping(
-        ec_fsm_pdo_t *fsm /**< Pdo configuration state machine. */
+        ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
         )
 {
     if (ec_fsm_pdo_entry_exec(&fsm->fsm_pdo_entry))
         return;
 
     if (!ec_fsm_pdo_entry_success(&fsm->fsm_pdo_entry))
-        EC_WARN("Failed to read mapped Pdo entries for Pdo 0x%04X.\n",
+        EC_WARN("Failed to read mapped PDO entries for PDO 0x%04X.\n",
                 fsm->pdo->index);
 
     // check if the mapping must be re-configured
@@ -490,12 +490,12 @@ void ec_fsm_pdo_conf_state_read_mapping(
  * \todo Display mapping differences.
  */
 void ec_fsm_pdo_conf_action_check_mapping(
-        ec_fsm_pdo_t *fsm /**< Pdo configuration state machine. */
+        ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
         )
 {
     if (ec_pdo_equal_entries(fsm->pdo, &fsm->slave_pdo)) {
         if (fsm->slave->master->debug_level)
-            EC_DBG("Mapping of Pdo 0x%04X is already configured correctly.\n",
+            EC_DBG("Mapping of PDO 0x%04X is already configured correctly.\n",
                     fsm->pdo->index);
         ec_fsm_pdo_conf_action_next_pdo_mapping(fsm);
         return;
@@ -503,7 +503,7 @@ void ec_fsm_pdo_conf_action_check_mapping(
 
     if (fsm->slave->master->debug_level) {
         // TODO display diff
-        EC_DBG("Changing mapping of Pdo 0x%04X.\n", fsm->pdo->index);
+        EC_DBG("Changing mapping of PDO 0x%04X.\n", fsm->pdo->index);
     }
 
     ec_fsm_pdo_entry_start_configuration(&fsm->fsm_pdo_entry, fsm->slave,
@@ -514,17 +514,17 @@ void ec_fsm_pdo_conf_action_check_mapping(
 
 /*****************************************************************************/
 
-/** Let the Pdo entry state machine configure the current Pdo's mapping.
+/** Let the PDO entry state machine configure the current PDO's mapping.
  */
 void ec_fsm_pdo_conf_state_mapping(
-        ec_fsm_pdo_t *fsm /**< Pdo configuration state machine. */
+        ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
         )
 {
     if (ec_fsm_pdo_entry_exec(&fsm->fsm_pdo_entry))
         return;
 
     if (!ec_fsm_pdo_entry_success(&fsm->fsm_pdo_entry))
-        EC_WARN("Failed to configure mapping of Pdo 0x%04X.\n",
+        EC_WARN("Failed to configure mapping of PDO 0x%04X.\n",
                 fsm->pdo->index);
 
     ec_fsm_pdo_conf_action_next_pdo_mapping(fsm);
@@ -532,13 +532,13 @@ void ec_fsm_pdo_conf_state_mapping(
 
 /*****************************************************************************/
 
-/** Check mapping of next Pdo, otherwise configure assignment.
+/** Check mapping of next PDO, otherwise configure assignment.
  */
 void ec_fsm_pdo_conf_action_next_pdo_mapping(
-        ec_fsm_pdo_t *fsm /**< Pdo configuration state machine. */
+        ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
         )
 {
-    // get next configured Pdo
+    // get next configured PDO
     if (!(fsm->pdo = ec_fsm_pdo_conf_action_next_pdo(fsm, &fsm->pdo->list))) {
         // no more configured pdos
         ec_fsm_pdo_conf_action_check_assignment(fsm);
@@ -550,17 +550,17 @@ void ec_fsm_pdo_conf_action_next_pdo_mapping(
 
 /*****************************************************************************/
 
-/** Check if the Pdo assignment of the current SM has to be re-configured.
+/** Check if the PDO assignment of the current SM has to be re-configured.
  */
 void ec_fsm_pdo_conf_action_check_assignment(
-        ec_fsm_pdo_t *fsm /**< Pdo configuration state machine. */
+        ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
         )
 {
     // check if assignment has to be re-configured
     if (ec_pdo_list_equal(&fsm->sync->pdos, &fsm->pdos)) {
 
         if (fsm->slave->master->debug_level)
-            EC_DBG("Pdo assignment for SM%u is already configured "
+            EC_DBG("PDO assignment for SM%u is already configured "
                     "correctly.\n", fsm->sync_index);
 
         ec_fsm_pdo_conf_action_next_sync(fsm);
@@ -568,20 +568,20 @@ void ec_fsm_pdo_conf_action_check_assignment(
     }
 
     if (fsm->slave->master->debug_level) {
-        EC_DBG("Pdo assignment of SM%u differs:\n", fsm->sync_index);
+        EC_DBG("PDO assignment of SM%u differs:\n", fsm->sync_index);
-        EC_DBG("Currently assigned Pdos: ");
+        EC_DBG("Currently assigned PDOs: ");
         ec_pdo_list_print(&fsm->sync->pdos);
         printk("\n");
-        EC_DBG("Pdos to assign: ");
+        EC_DBG("PDOs to assign: ");
         ec_pdo_list_print(&fsm->pdos);
         printk("\n");
     }
 
-    // Pdo assignment has to be changed. Does the slave support this?
+    // PDO assignment has to be changed. Does the slave support this?
     if (!(fsm->slave->sii.mailbox_protocols & EC_MBOX_COE)
             || (fsm->slave->sii.has_general
                 && !fsm->slave->sii.coe_details.enable_pdo_assign)) {
-        EC_WARN("Slave %u does not support assigning Pdos!\n",
+        EC_WARN("Slave %u does not support assigning PDOs!\n",
                 fsm->slave->ring_position);
         ec_fsm_pdo_conf_action_next_sync(fsm);
         return;
@@ -592,14 +592,14 @@ void ec_fsm_pdo_conf_action_check_assignment(
         return;
     }
 
-    // set mapped Pdo count to zero
+    // set mapped PDO count to zero
-    EC_WRITE_U8(fsm->request.data, 0); // zero Pdos mapped
+    EC_WRITE_U8(fsm->request.data, 0); // zero PDOs mapped
     fsm->request.data_size = 1;
     ec_sdo_request_address(&fsm->request, 0x1C10 + fsm->sync_index, 0);
     ecrt_sdo_request_write(&fsm->request);
 
     if (fsm->slave->master->debug_level)
-        EC_DBG("Setting number of assigned Pdos to zero.\n");
+        EC_DBG("Setting number of assigned PDOs to zero.\n");
 
     fsm->state = ec_fsm_pdo_conf_state_zero_pdo_count;
     ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
@@ -608,48 +608,48 @@ void ec_fsm_pdo_conf_action_check_assignment(
 
 /*****************************************************************************/
 
-/** Set the number of assigned Pdos to zero.
+/** Set the number of assigned PDOs to zero.
  */
 void ec_fsm_pdo_conf_state_zero_pdo_count(
-        ec_fsm_pdo_t *fsm /**< Pdo configuration state machine. */
+        ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
         )
 {
     if (ec_fsm_coe_exec(fsm->fsm_coe))
         return;
 
     if (!ec_fsm_coe_success(fsm->fsm_coe)) {
-        EC_WARN("Failed to clear Pdo assignment of SM%u.\n", fsm->sync_index);
+        EC_WARN("Failed to clear PDO assignment of SM%u.\n", fsm->sync_index);
         fsm->state = ec_fsm_pdo_state_error;
         return;
     }
 
-    // the sync manager's assigned Pdos have been cleared
+    // the sync manager's assigned PDOs have been cleared
     ec_pdo_list_clear_pdos(&fsm->sync->pdos);
 
-    // assign all Pdos belonging to the current sync manager
+    // assign all PDOs belonging to the current sync manager
     
-    // find first Pdo
+    // find first PDO
     if (!(fsm->pdo = ec_fsm_pdo_conf_action_next_pdo(fsm, &fsm->pdos.list))) {
 
         if (fsm->slave->master->debug_level)
-            EC_DBG("No Pdos to assign.\n");
+            EC_DBG("No PDOs to assign.\n");
 
         // check for mapping to be altered
         ec_fsm_pdo_conf_action_next_sync(fsm);
         return;
     }
 
-    // assign first Pdo
+    // assign first PDO
     fsm->pdo_pos = 1;
 	ec_fsm_pdo_conf_action_assign_pdo(fsm);
 }
 
 /*****************************************************************************/
 
-/** Assign a Pdo.
+/** Assign a PDO.
  */
 void ec_fsm_pdo_conf_action_assign_pdo(
-        ec_fsm_pdo_t *fsm /**< Pdo configuration state machine. */
+        ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
         )
 {
     EC_WRITE_U16(fsm->request.data, fsm->pdo->index);
@@ -659,7 +659,7 @@ void ec_fsm_pdo_conf_action_assign_pdo(
     ecrt_sdo_request_write(&fsm->request);
 
     if (fsm->slave->master->debug_level)
-        EC_DBG("Assigning Pdo 0x%04X at position %u.\n",
+        EC_DBG("Assigning PDO 0x%04X at position %u.\n",
                 fsm->pdo->index, fsm->pdo_pos);
     
     fsm->state = ec_fsm_pdo_conf_state_assign_pdo;
@@ -669,32 +669,32 @@ void ec_fsm_pdo_conf_action_assign_pdo(
 
 /*****************************************************************************/
 
-/** Add a Pdo to the sync managers Pdo assignment.
+/** Add a PDO to the sync managers PDO assignment.
  */
 void ec_fsm_pdo_conf_state_assign_pdo(
-        ec_fsm_pdo_t *fsm /**< Pdo configuration state machine. */
+        ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
         )
 {
     if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
 
     if (!ec_fsm_coe_success(fsm->fsm_coe)) {
-        EC_WARN("Failed to assign Pdo 0x%04X at position %u of SM%u.\n",
+        EC_WARN("Failed to assign PDO 0x%04X at position %u of SM%u.\n",
                 fsm->pdo->index, fsm->pdo_pos, fsm->sync_index);
         fsm->state = ec_fsm_pdo_state_error;
         return;
     }
 
-    // find next Pdo
+    // find next PDO
     if (!(fsm->pdo = ec_fsm_pdo_conf_action_next_pdo(fsm, &fsm->pdo->list))) {
 
-        // no more Pdos to assign, set Pdo count
+        // no more PDOs to assign, set PDO count
         EC_WRITE_U8(fsm->request.data, fsm->pdo_pos);
         fsm->request.data_size = 1;
         ec_sdo_request_address(&fsm->request, 0x1C10 + fsm->sync_index, 0);
         ecrt_sdo_request_write(&fsm->request);
 
         if (fsm->slave->master->debug_level)
-            EC_DBG("Setting number of assigned Pdos to %u.\n", fsm->pdo_pos);
+            EC_DBG("Setting number of assigned PDOs to %u.\n", fsm->pdo_pos);
         
         fsm->state = ec_fsm_pdo_conf_state_set_pdo_count;
         ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
@@ -702,36 +702,36 @@ void ec_fsm_pdo_conf_state_assign_pdo(
         return;
     }
 
-    // add next Pdo to assignment
+    // add next PDO to assignment
     fsm->pdo_pos++;
     ec_fsm_pdo_conf_action_assign_pdo(fsm);
 }
     
 /*****************************************************************************/
 
-/** Set the number of assigned Pdos.
+/** Set the number of assigned PDOs.
  */
 void ec_fsm_pdo_conf_state_set_pdo_count(
-        ec_fsm_pdo_t *fsm /**< Pdo configuration state machine. */
+        ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
         )
 {
     if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
 
     if (!ec_fsm_coe_success(fsm->fsm_coe)) {
-        EC_WARN("Failed to set number of assigned Pdos of SM%u.\n",
+        EC_WARN("Failed to set number of assigned PDOs of SM%u.\n",
                 fsm->sync_index);
         fsm->state = ec_fsm_pdo_state_error;
         return;
     }
 
-    // Pdos have been configured
+    // PDOs have been configured
     ec_pdo_list_copy(&fsm->sync->pdos, &fsm->pdos);
 
     if (fsm->slave->master->debug_level)
-        EC_DBG("Successfully configured Pdo assignment of SM%u.\n",
+        EC_DBG("Successfully configured PDO assignment of SM%u.\n",
                 fsm->sync_index);
 
-    // check if Pdo mapping has to be altered
+    // check if PDO mapping has to be altered
     ec_fsm_pdo_conf_action_next_sync(fsm);
 }
 
@@ -742,7 +742,7 @@ void ec_fsm_pdo_conf_state_set_pdo_count(
 /** State: ERROR.
  */
 void ec_fsm_pdo_state_error(
-        ec_fsm_pdo_t *fsm /**< Pdo configuration state machine. */
+        ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
         )
 {
 }
@@ -752,7 +752,7 @@ void ec_fsm_pdo_state_error(
 /** State: END.
  */
 void ec_fsm_pdo_state_end(
-        ec_fsm_pdo_t *fsm /**< Pdo configuration state machine. */
+        ec_fsm_pdo_t *fsm /**< PDO configuration state machine. */
         )
 {
 }

master/fsm_pdo.h

@@ -26,7 +26,7 @@
 
 /**
    \file
-   EtherCAT Pdo configuration state machine structures.
+   EtherCAT PDO configuration state machine structures.
 */
 
 /*****************************************************************************/
@@ -46,23 +46,23 @@
  */
 typedef struct ec_fsm_pdo ec_fsm_pdo_t;
 
-/** Pdo configuration state machine.
+/** PDO configuration state machine.
  */
 struct ec_fsm_pdo
 {
     void (*state)(ec_fsm_pdo_t *); /**< State function. */
     ec_fsm_coe_t *fsm_coe; /**< CoE state machine to use. */
-    ec_fsm_pdo_entry_t fsm_pdo_entry; /**< Pdo entry state machine. */
+    ec_fsm_pdo_entry_t fsm_pdo_entry; /**< PDO entry state machine. */
-    ec_pdo_list_t pdos; /**< Pdo configuration. */
+    ec_pdo_list_t pdos; /**< PDO configuration. */
-    ec_sdo_request_t request; /**< Sdo request. */
+    ec_sdo_request_t request; /**< SDO request. */
-    ec_pdo_t slave_pdo; /**< Pdo actually appearing in a slave. */
+    ec_pdo_t slave_pdo; /**< PDO actually appearing in a slave. */
 
     ec_slave_t *slave; /**< Slave the FSM runs on. */
     uint8_t sync_index; /**< Current sync manager index. */
     ec_sync_t *sync; /**< Current sync manager. */
-    ec_pdo_t *pdo; /**< Current Pdo. */
+    ec_pdo_t *pdo; /**< Current PDO. */
-    unsigned int pdo_pos; /**< Assignment position of current Pdos. */
+    unsigned int pdo_pos; /**< Assignment position of current PDOs. */
-    unsigned int pdo_count; /**< Number of assigned Pdos. */
+    unsigned int pdo_count; /**< Number of assigned PDOs. */
 };
 
 /*****************************************************************************/

master/fsm_pdo_entry.c

@@ -25,7 +25,7 @@
  *****************************************************************************/
 
 /** \file
- * EtherCAT Pdo mapping state machine.
+ * EtherCAT PDO mapping state machine.
  */
 
 /*****************************************************************************/
@@ -60,7 +60,7 @@ void ec_fsm_pdo_entry_state_error(ec_fsm_pdo_entry_t *);
 /** Constructor.
  */
 void ec_fsm_pdo_entry_init(
-        ec_fsm_pdo_entry_t *fsm, /**< Pdo mapping state machine. */
+        ec_fsm_pdo_entry_t *fsm, /**< PDO mapping state machine. */
         ec_fsm_coe_t *fsm_coe /**< CoE state machine to use. */
         )
 {
@@ -73,7 +73,7 @@ void ec_fsm_pdo_entry_init(
 /** Destructor.
  */
 void ec_fsm_pdo_entry_clear(
-        ec_fsm_pdo_entry_t *fsm /**< Pdo mapping state machine. */
+        ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */
         )
 {
     ec_sdo_request_clear(&fsm->request);
@@ -81,12 +81,12 @@ void ec_fsm_pdo_entry_clear(
 
 /*****************************************************************************/
 
-/** Start reading a Pdo's entries.
+/** Start reading a PDO's entries.
  */
 void ec_fsm_pdo_entry_start_reading(
-        ec_fsm_pdo_entry_t *fsm, /**< Pdo mapping state machine. */
+        ec_fsm_pdo_entry_t *fsm, /**< PDO mapping state machine. */
         ec_slave_t *slave, /**< slave to configure */
-        ec_pdo_t *pdo /**< Pdo to read entries for. */
+        ec_pdo_t *pdo /**< PDO to read entries for. */
         )
 {
     fsm->slave = slave;
@@ -99,12 +99,12 @@ void ec_fsm_pdo_entry_start_reading(
 
 /*****************************************************************************/
 
-/** Start Pdo mapping state machine.
+/** Start PDO mapping state machine.
  */
 void ec_fsm_pdo_entry_start_configuration(
-        ec_fsm_pdo_entry_t *fsm, /**< Pdo mapping state machine. */
+        ec_fsm_pdo_entry_t *fsm, /**< PDO mapping state machine. */
         ec_slave_t *slave, /**< slave to configure */
-        const ec_pdo_t *pdo /**< Pdo with the desired entries. */
+        const ec_pdo_t *pdo /**< PDO with the desired entries. */
         )
 {
     fsm->slave = slave;
@@ -120,7 +120,7 @@ void ec_fsm_pdo_entry_start_configuration(
  * \return false, if state machine has terminated
  */
 int ec_fsm_pdo_entry_running(
-        const ec_fsm_pdo_entry_t *fsm /**< Pdo mapping state machine. */
+        const ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */
         )
 {
     return fsm->state != ec_fsm_pdo_entry_state_end
@@ -134,7 +134,7 @@ int ec_fsm_pdo_entry_running(
  * \return false, if state machine has terminated
  */
 int ec_fsm_pdo_entry_exec(
-        ec_fsm_pdo_entry_t *fsm /**< Pdo mapping state machine. */
+        ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */
         )
 {
     fsm->state(fsm);
@@ -148,7 +148,7 @@ int ec_fsm_pdo_entry_exec(
  * \return true, if the state machine terminated gracefully
  */
 int ec_fsm_pdo_entry_success(
-        const ec_fsm_pdo_entry_t *fsm /**< Pdo mapping state machine. */
+        const ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */
         )
 {
     return fsm->state == ec_fsm_pdo_entry_state_end;
@@ -158,10 +158,10 @@ int ec_fsm_pdo_entry_success(
  * Reading state functions.
  *****************************************************************************/
 
-/** Request reading the number of mapped Pdo entries.
+/** Request reading the number of mapped PDO entries.
  */
 void ec_fsm_pdo_entry_read_state_start(
-        ec_fsm_pdo_entry_t *fsm /**< Pdo mapping state machine. */
+        ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */
         )
 {
     ec_sdo_request_address(&fsm->request, fsm->target_pdo->index, 0);
@@ -174,7 +174,7 @@ void ec_fsm_pdo_entry_read_state_start(
 
 /*****************************************************************************/
 
-/** Read number of mapped Pdo entries.
+/** Read number of mapped PDO entries.
  */
 void ec_fsm_pdo_entry_read_state_count(
         ec_fsm_pdo_entry_t *fsm /**< finite state machine */
@@ -184,13 +184,13 @@ void ec_fsm_pdo_entry_read_state_count(
         return;
 
     if (!ec_fsm_coe_success(fsm->fsm_coe)) {
-        EC_ERR("Failed to read number of mapped Pdo entries.\n");
+        EC_ERR("Failed to read number of mapped PDO entries.\n");
         fsm->state = ec_fsm_pdo_entry_state_error;
         return;
     }
 
     if (fsm->request.data_size != sizeof(uint8_t)) {
-        EC_ERR("Invalid data size %u at uploading Sdo 0x%04X:%02X.\n",
+        EC_ERR("Invalid data size %u at uploading SDO 0x%04X:%02X.\n",
                 fsm->request.data_size, fsm->request.index,
                 fsm->request.subindex);
         fsm->state = ec_fsm_pdo_entry_state_error;
@@ -200,16 +200,16 @@ void ec_fsm_pdo_entry_read_state_count(
     fsm->entry_count = EC_READ_U8(fsm->request.data);
 
     if (fsm->slave->master->debug_level)
-        EC_DBG("%u Pdo entries mapped.\n", fsm->entry_count);
+        EC_DBG("%u PDO entries mapped.\n", fsm->entry_count);
 
-    // read first Pdo entry
+    // read first PDO entry
     fsm->entry_pos = 1;
     ec_fsm_pdo_entry_read_action_next(fsm);
 }
 
 /*****************************************************************************/
 
-/** Read next Pdo entry.
+/** Read next PDO entry.
  */
 void ec_fsm_pdo_entry_read_action_next(
         ec_fsm_pdo_entry_t *fsm /**< finite state machine */
@@ -230,7 +230,7 @@ void ec_fsm_pdo_entry_read_action_next(
 
 /*****************************************************************************/
 
-/** Read Pdo entry information.
+/** Read PDO entry information.
  */
 void ec_fsm_pdo_entry_read_state_entry(
         ec_fsm_pdo_entry_t *fsm /**< finite state machine */
@@ -239,13 +239,13 @@ void ec_fsm_pdo_entry_read_state_entry(
     if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
 
     if (!ec_fsm_coe_success(fsm->fsm_coe)) {
-        EC_ERR("Failed to read mapped Pdo entry.\n");
+        EC_ERR("Failed to read mapped PDO entry.\n");
         fsm->state = ec_fsm_pdo_entry_state_error;
         return;
     }
 
     if (fsm->request.data_size != sizeof(uint32_t)) {
-        EC_ERR("Invalid data size %u at uploading Sdo 0x%04X:%02X.\n",
+        EC_ERR("Invalid data size %u at uploading SDO 0x%04X:%02X.\n",
                 fsm->request.data_size, fsm->request.index,
                 fsm->request.subindex);
         fsm->state = ec_fsm_pdo_entry_state_error;
@@ -257,7 +257,7 @@ void ec_fsm_pdo_entry_read_state_entry(
 
         if (!(pdo_entry = (ec_pdo_entry_t *)
                     kmalloc(sizeof(ec_pdo_entry_t), GFP_KERNEL))) {
-            EC_ERR("Failed to allocate Pdo entry.\n");
+            EC_ERR("Failed to allocate PDO entry.\n");
             fsm->state = ec_fsm_pdo_entry_state_error;
             return;
         }
@@ -277,7 +277,7 @@ void ec_fsm_pdo_entry_read_state_entry(
         }
 
         if (fsm->slave->master->debug_level) {
-            EC_DBG("Pdo entry 0x%04X:%02X, %u bit, \"%s\".\n",
+            EC_DBG("PDO entry 0x%04X:%02X, %u bit, \"%s\".\n",
                     pdo_entry->index, pdo_entry->subindex,
                     pdo_entry->bit_length,
                     pdo_entry->name ? pdo_entry->name : "???");
@@ -285,7 +285,7 @@ void ec_fsm_pdo_entry_read_state_entry(
 
         list_add_tail(&pdo_entry->list, &fsm->target_pdo->entries);
 
-        // next Pdo entry
+        // next PDO entry
         fsm->entry_pos++;
         ec_fsm_pdo_entry_read_action_next(fsm);
     }
@@ -295,17 +295,17 @@ void ec_fsm_pdo_entry_read_state_entry(
  * Configuration state functions.
  *****************************************************************************/
 
-/** Start Pdo mapping.
+/** Start PDO mapping.
  */
 void ec_fsm_pdo_entry_conf_state_start(
-        ec_fsm_pdo_entry_t *fsm /**< Pdo mapping state machine. */
+        ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */
         )
 {
-    // Pdo mapping has to be changed. Does the slave support this?
+    // PDO mapping has to be changed. Does the slave support this?
     if (!(fsm->slave->sii.mailbox_protocols & EC_MBOX_COE)
             || (fsm->slave->sii.has_general
                 && !fsm->slave->sii.coe_details.enable_pdo_configuration)) {
-        EC_WARN("Slave %u does not support changing the Pdo mapping!\n",
+        EC_WARN("Slave %u does not support changing the PDO mapping!\n",
                 fsm->slave->ring_position);
         fsm->state = ec_fsm_pdo_entry_state_error;
         return;
@@ -316,7 +316,7 @@ void ec_fsm_pdo_entry_conf_state_start(
         return;
     }
 
-    // set mapped Pdo entry count to zero
+    // set mapped PDO entry count to zero
     EC_WRITE_U8(fsm->request.data, 0);
     fsm->request.data_size = 1;
     ec_sdo_request_address(&fsm->request, fsm->source_pdo->index, 0);
@@ -332,10 +332,10 @@ void ec_fsm_pdo_entry_conf_state_start(
 
 /*****************************************************************************/
 
-/** Process next Pdo entry.
+/** Process next PDO entry.
  */
 ec_pdo_entry_t *ec_fsm_pdo_entry_conf_next_entry(
-        const ec_fsm_pdo_entry_t *fsm, /**< Pdo mapping state machine. */
+        const ec_fsm_pdo_entry_t *fsm, /**< PDO mapping state machine. */
         const struct list_head *list /**< current entry list item */
         )
 {
@@ -350,14 +350,14 @@ ec_pdo_entry_t *ec_fsm_pdo_entry_conf_next_entry(
 /** Set the number of mapped entries to zero.
  */
 void ec_fsm_pdo_entry_conf_state_zero_entry_count(
-        ec_fsm_pdo_entry_t *fsm /**< Pdo mapping state machine. */
+        ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */
         )
 {
     if (ec_fsm_coe_exec(fsm->fsm_coe))
         return;
 
     if (!ec_fsm_coe_success(fsm->fsm_coe)) {
-        EC_WARN("Failed to clear Pdo mapping.\n");
+        EC_WARN("Failed to clear PDO mapping.\n");
         fsm->state = ec_fsm_pdo_entry_state_error;
         return;
     }
@@ -380,16 +380,16 @@ void ec_fsm_pdo_entry_conf_state_zero_entry_count(
 
 /*****************************************************************************/
 
-/** Starts to add a Pdo entry.
+/** Starts to add a PDO entry.
  */
 void ec_fsm_pdo_entry_conf_action_map(
-        ec_fsm_pdo_entry_t *fsm /**< Pdo mapping state machine. */
+        ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */
         )
 {
     uint32_t value;
 
     if (fsm->slave->master->debug_level)
-        EC_DBG("Mapping Pdo entry 0x%04X:%02X (%u bit) at position %u.\n",
+        EC_DBG("Mapping PDO entry 0x%04X:%02X (%u bit) at position %u.\n",
                 fsm->entry->index, fsm->entry->subindex,
                 fsm->entry->bit_length, fsm->entry_pos);
 
@@ -407,16 +407,16 @@ void ec_fsm_pdo_entry_conf_action_map(
 
 /*****************************************************************************/
 
-/** Add a Pdo entry.
+/** Add a PDO entry.
  */
 void ec_fsm_pdo_entry_conf_state_map_entry(
-        ec_fsm_pdo_entry_t *fsm /**< Pdo mapping state machine. */
+        ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */
         )
 {
     if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
 
     if (!ec_fsm_coe_success(fsm->fsm_coe)) {
-        EC_WARN("Failed to map Pdo entry 0x%04X:%02X (%u bit) to "
+        EC_WARN("Failed to map PDO entry 0x%04X:%02X (%u bit) to "
                 "position %u.\n", fsm->entry->index, fsm->entry->subindex,
                 fsm->entry->bit_length, fsm->entry_pos);
         fsm->state = ec_fsm_pdo_entry_state_error;
@@ -434,7 +434,7 @@ void ec_fsm_pdo_entry_conf_state_map_entry(
         ecrt_sdo_request_write(&fsm->request);
 
         if (fsm->slave->master->debug_level)
-            EC_DBG("Setting number of Pdo entries to %u.\n", fsm->entry_pos);
+            EC_DBG("Setting number of PDO entries to %u.\n", fsm->entry_pos);
         
         fsm->state = ec_fsm_pdo_entry_conf_state_set_entry_count;
         ec_fsm_coe_transfer(fsm->fsm_coe, fsm->slave, &fsm->request);
@@ -452,7 +452,7 @@ void ec_fsm_pdo_entry_conf_state_map_entry(
 /** Set the number of entries.
  */
 void ec_fsm_pdo_entry_conf_state_set_entry_count(
-        ec_fsm_pdo_entry_t *fsm /**< Pdo mapping state machine. */
+        ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */
         )
 {
     if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
@@ -464,7 +464,7 @@ void ec_fsm_pdo_entry_conf_state_set_entry_count(
     }
 
     if (fsm->slave->master->debug_level)
-        EC_DBG("Successfully configured mapping for Pdo 0x%04X.\n",
+        EC_DBG("Successfully configured mapping for PDO 0x%04X.\n",
                 fsm->source_pdo->index);
 
     fsm->state = ec_fsm_pdo_entry_state_end; // finished
@@ -477,7 +477,7 @@ void ec_fsm_pdo_entry_conf_state_set_entry_count(
 /** State: ERROR.
  */
 void ec_fsm_pdo_entry_state_error(
-        ec_fsm_pdo_entry_t *fsm /**< Pdo mapping state machine. */
+        ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */
         )
 {
 }
@@ -487,7 +487,7 @@ void ec_fsm_pdo_entry_state_error(
 /** State: END.
  */
 void ec_fsm_pdo_entry_state_end(
-        ec_fsm_pdo_entry_t *fsm /**< Pdo mapping state machine. */
+        ec_fsm_pdo_entry_t *fsm /**< PDO mapping state machine. */
         )
 {
 }

master/fsm_pdo_entry.h

@@ -25,7 +25,7 @@
  *****************************************************************************/
 
 /** \file
- * EtherCAT Pdo entry configuration state machine structures.
+ * EtherCAT PDO entry configuration state machine structures.
  */
 
 /*****************************************************************************/
@@ -44,20 +44,20 @@
  */
 typedef struct ec_fsm_pdo_entry ec_fsm_pdo_entry_t;
 
-/** Pdo configuration state machine.
+/** PDO configuration state machine.
  */
 struct ec_fsm_pdo_entry
 {
     void (*state)(ec_fsm_pdo_entry_t *); /**< state function */
     ec_fsm_coe_t *fsm_coe; /**< CoE state machine to use */
-    ec_sdo_request_t request; /**< Sdo request. */
+    ec_sdo_request_t request; /**< SDO request. */
 
     ec_slave_t *slave; /**< Slave the FSM runs on. */
-    ec_pdo_t *target_pdo; /**< Pdo to read the mapping for. */
+    ec_pdo_t *target_pdo; /**< PDO to read the mapping for. */
-    const ec_pdo_t *source_pdo; /**< Pdo with desired mapping. */
+    const ec_pdo_t *source_pdo; /**< PDO with desired mapping. */
     const ec_pdo_entry_t *entry; /**< Current entry. */
     unsigned int entry_count; /**< Number of entries. */
-    unsigned int entry_pos; /**< Position in Pdo mapping. */
+    unsigned int entry_pos; /**< Position in PDO mapping. */
 };
 
 /*****************************************************************************/

master/fsm_slave_config.c

@@ -74,7 +74,7 @@ void ec_fsm_slave_config_init(
         ec_datagram_t *datagram, /**< datagram structure to use */
         ec_fsm_change_t *fsm_change, /**< State change state machine to use. */
         ec_fsm_coe_t *fsm_coe, /**< CoE state machine to use. */
-        ec_fsm_pdo_t *fsm_pdo /**< Pdo configuration state machine to use. */
+        ec_fsm_pdo_t *fsm_pdo /**< PDO configuration state machine to use. */
         )
 {
     ec_sdo_request_init(&fsm->request_copy);
@@ -436,7 +436,7 @@ void ec_fsm_slave_config_state_preop(
 
 /*****************************************************************************/
 
-/** Check for Sdo configurations to be applied.
+/** Check for SDO configurations to be applied.
  */
 void ec_fsm_slave_config_enter_sdo_conf(
         ec_fsm_slave_config_t *fsm /**< slave state machine */
@@ -445,12 +445,12 @@ void ec_fsm_slave_config_enter_sdo_conf(
     ec_slave_t *slave = fsm->slave;
 
     // No CoE configuration to be applied?
-    if (list_empty(&slave->config->sdo_configs)) { // skip Sdo configuration
+    if (list_empty(&slave->config->sdo_configs)) { // skip SDO configuration
         ec_fsm_slave_config_enter_pdo_conf(fsm);
         return;
     }
 
-    // start Sdo configuration
+    // start SDO configuration
     fsm->state = ec_fsm_slave_config_state_sdo_conf;
     fsm->request = list_entry(fsm->slave->config->sdo_configs.next,
             ec_sdo_request_t, list);
@@ -471,7 +471,7 @@ void ec_fsm_slave_config_state_sdo_conf(
     if (ec_fsm_coe_exec(fsm->fsm_coe)) return;
 
     if (!ec_fsm_coe_success(fsm->fsm_coe)) {
-        EC_ERR("Sdo configuration failed for slave %u.\n",
+        EC_ERR("SDO configuration failed for slave %u.\n",
                 fsm->slave->ring_position);
         fsm->slave->error_flag = 1;
         fsm->state = ec_fsm_slave_config_state_error;
@@ -483,7 +483,7 @@ void ec_fsm_slave_config_state_sdo_conf(
         return;
     }
 
-    // Another Sdo to configure?
+    // Another SDO to configure?
     if (fsm->request->list.next != &fsm->slave->config->sdo_configs) {
         fsm->request = list_entry(fsm->request->list.next,
                 ec_sdo_request_t, list);
@@ -494,7 +494,7 @@ void ec_fsm_slave_config_state_sdo_conf(
         return;
     }
 
-    // All Sdos are now configured.
+    // All SDOs are now configured.
     ec_fsm_slave_config_enter_pdo_conf(fsm);
 }
 
@@ -506,7 +506,7 @@ void ec_fsm_slave_config_enter_pdo_conf(
         ec_fsm_slave_config_t *fsm /**< slave state machine */
         )
 {
-    // Start configuring Pdos
+    // Start configuring PDOs
     ec_fsm_pdo_start_configuration(fsm->fsm_pdo, fsm->slave);
     fsm->state = ec_fsm_slave_config_state_pdo_conf;
     fsm->state(fsm); // execute immediately
@@ -529,7 +529,7 @@ void ec_fsm_slave_config_state_pdo_conf(
     }
 
     if (!ec_fsm_pdo_success(fsm->fsm_pdo)) {
-        EC_WARN("Pdo configuration failed on slave %u.\n",
+        EC_WARN("PDO configuration failed on slave %u.\n",
                 fsm->slave->ring_position);
     }
 
@@ -538,7 +538,7 @@ void ec_fsm_slave_config_state_pdo_conf(
 
 /*****************************************************************************/
 
-/** Check for Pdo sync managers to be configured.
+/** Check for PDO sync managers to be configured.
  */
 void ec_fsm_slave_config_enter_pdo_sync(
         ec_fsm_slave_config_t *fsm /**< slave state machine */
@@ -559,7 +559,7 @@ void ec_fsm_slave_config_enter_pdo_sync(
     }
 
     if (slave->sii.sync_count <= offset) {
-        // no Pdo sync managers to configure
+        // no PDO sync managers to configure
         ec_fsm_slave_config_enter_fmmu(fsm);
         return;
     }
@@ -587,7 +587,7 @@ void ec_fsm_slave_config_enter_pdo_sync(
 
 /*****************************************************************************/
 
-/** Configure Pdo sync managers.
+/** Configure PDO sync managers.
  */
 void ec_fsm_slave_config_state_pdo_sync(
         ec_fsm_slave_config_t *fsm /**< slave state machine */
@@ -661,7 +661,7 @@ void ec_fsm_slave_config_enter_fmmu(
         if (!(sync = ec_slave_get_sync(slave, fmmu->sync_index))) {
             slave->error_flag = 1;
             fsm->state = ec_fsm_slave_config_state_error;
-            EC_ERR("Failed to determine Pdo sync manager for FMMU on slave"
+            EC_ERR("Failed to determine PDO sync manager for FMMU on slave"
                     " %u!\n", slave->ring_position);
             return;
         }

master/fsm_slave_config.h

@@ -53,13 +53,13 @@ struct ec_fsm_slave_config
     ec_datagram_t *datagram; /**< Datagram used in the state machine. */
     ec_fsm_change_t *fsm_change; /**< State change state machine. */
     ec_fsm_coe_t *fsm_coe; /**< CoE state machine. */
-    ec_fsm_pdo_t *fsm_pdo; /**< Pdo configuration state machine. */
+    ec_fsm_pdo_t *fsm_pdo; /**< PDO configuration state machine. */
 
     ec_slave_t *slave; /**< Slave the FSM runs on. */
     void (*state)(ec_fsm_slave_config_t *); /**< State function. */
     unsigned int retries; /**< Retries on datagram timeout. */
-    ec_sdo_request_t *request; /**< Sdo request for Sdo configuration. */
+    ec_sdo_request_t *request; /**< SDO request for SDO configuration. */
-    ec_sdo_request_t request_copy; /**< Copied Sdo request. */
+    ec_sdo_request_t request_copy; /**< Copied SDO request. */
 };
 
 /*****************************************************************************/

master/fsm_slave_scan.c

@@ -65,7 +65,7 @@ void ec_fsm_slave_scan_init(
         ec_datagram_t *datagram, /**< Datagram to use. */
         ec_fsm_slave_config_t *fsm_slave_config, /**< Slave configuration
                                                   state machine to use. */
-        ec_fsm_pdo_t *fsm_pdo /**< Pdo configuration machine to use. */
+        ec_fsm_pdo_t *fsm_pdo /**< PDO configuration machine to use. */
         )
 {
     fsm->datagram = datagram;
@@ -536,12 +536,12 @@ void ec_fsm_slave_scan_state_sii_data(ec_fsm_slave_scan_t *fsm /**< slave state
                 break;
             case 0x0032:
                 if (ec_slave_fetch_sii_pdos( slave, (uint8_t *) cat_word,
-                            cat_size * 2, EC_DIR_INPUT)) // TxPdo
+                            cat_size * 2, EC_DIR_INPUT)) // TxPDO
                     goto end;
                 break;
             case 0x0033:
                 if (ec_slave_fetch_sii_pdos( slave, (uint8_t *) cat_word,
-                            cat_size * 2, EC_DIR_OUTPUT)) // RxPdo
+                            cat_size * 2, EC_DIR_OUTPUT)) // RxPDO
                     goto end;
                 break;
             default:
@@ -625,7 +625,7 @@ void ec_fsm_slave_scan_enter_pdos(
     ec_slave_t *slave = fsm->slave;
 
     if (slave->master->debug_level)
-        EC_DBG("Scanning Pdo assignment and mapping of slave %u.\n",
+        EC_DBG("Scanning PDO assignment and mapping of slave %u.\n",
                 slave->ring_position);
     fsm->state = ec_fsm_slave_scan_state_pdos;
     ec_fsm_pdo_start_reading(fsm->fsm_pdo, slave);
@@ -648,7 +648,7 @@ void ec_fsm_slave_scan_state_pdos(
         return;
     }
 
-    // reading Pdo configuration finished
+    // reading PDO configuration finished
     fsm->state = ec_fsm_slave_scan_state_end;
 }
 

master/fsm_slave_scan.h

@@ -55,7 +55,7 @@ struct ec_fsm_slave_scan
     ec_datagram_t *datagram; /**< Datagram used in the state machine. */
     ec_fsm_slave_config_t *fsm_slave_config; /**< Slave configuration state
                                                machine to use. */
-    ec_fsm_pdo_t *fsm_pdo; /**< Pdo configuration state machine to use. */
+    ec_fsm_pdo_t *fsm_pdo; /**< PDO configuration state machine to use. */
     unsigned int retries; /**< Retries on datagram timeout. */
 
     void (*state)(ec_fsm_slave_scan_t *); /**< State function. */

master/globals.h

@@ -51,7 +51,7 @@
 /** Number of state machine retries on datagram timeout. */
 #define EC_FSM_RETRIES 3
 
-/** Seconds to wait before fetching Sdo dictionary
+/** Seconds to wait before fetching SDO dictionary
     after slave entered PREOP state. */
 #define EC_WAIT_SDO_DICT 3
 
@@ -126,21 +126,21 @@ typedef enum {
 /** Supported mailbox protocols.
  */
 enum {
-    EC_MBOX_AOE = 0x01, /**< ADS-over-EtherCAT */
+    EC_MBOX_AOE = 0x01, /**< ADS over EtherCAT */
-    EC_MBOX_EOE = 0x02, /**< Ethernet-over-EtherCAT */
+    EC_MBOX_EOE = 0x02, /**< Ethernet over EtherCAT */
-    EC_MBOX_COE = 0x04, /**< CANopen-over-EtherCAT */
+    EC_MBOX_COE = 0x04, /**< CANopen over EtherCAT */
-    EC_MBOX_FOE = 0x08, /**< File-Access-over-EtherCAT */
+    EC_MBOX_FOE = 0x08, /**< File-Access over EtherCAT */
-    EC_MBOX_SOE = 0x10, /**< Servo-Profile-over-EtherCAT */
+    EC_MBOX_SOE = 0x10, /**< Servo-Profile over EtherCAT */
     EC_MBOX_VOE = 0x20  /**< Vendor specific */
 };
 
-/** Slave information interface CANopen-over-EtherCAT details flags.
+/** Slave information interface CANopen over EtherCAT details flags.
  */
 typedef struct {
-    uint8_t enable_sdo : 1; /**< Enable Sdo access. */
+    uint8_t enable_sdo : 1; /**< Enable SDO access. */
     uint8_t enable_sdo_info : 1; /**< SDO information service available. */
-    uint8_t enable_pdo_assign : 1; /**< Pdo mapping configurable. */
+    uint8_t enable_pdo_assign : 1; /**< PDO mapping configurable. */
-    uint8_t enable_pdo_configuration : 1; /**< Pdo configuration possible. */
+    uint8_t enable_pdo_configuration : 1; /**< PDO configuration possible. */
     uint8_t enable_upload_at_startup : 1; /**< ?. */
     uint8_t enable_sdo_complete_access : 1; /**< Complete access possible. */
 } ec_sii_coe_details_t;

master/master.c

@@ -981,7 +981,7 @@ schedule:
 /*****************************************************************************/
 
 #ifdef EC_EOE
-/** Starts Ethernet-over-EtherCAT processing on demand.
+/** Starts Ethernet over EtherCAT processing on demand.
  */
 void ec_master_eoe_start(ec_master_t *master /**< EtherCAT master */)
 {
@@ -1008,7 +1008,7 @@ void ec_master_eoe_start(ec_master_t *master /**< EtherCAT master */)
 
 /*****************************************************************************/
 
-/** Stops the Ethernet-over-EtherCAT processing.
+/** Stops the Ethernet over EtherCAT processing.
  */
 void ec_master_eoe_stop(ec_master_t *master /**< EtherCAT master */)
 {
@@ -1022,7 +1022,7 @@ void ec_master_eoe_stop(ec_master_t *master /**< EtherCAT master */)
 
 /*****************************************************************************/
 
-/** Does the Ethernet-over-EtherCAT processing.
+/** Does the Ethernet over EtherCAT processing.
  */
 void ec_master_eoe_run(unsigned long data /**< master pointer */)
 {

master/master.h

@@ -139,7 +139,7 @@ struct ec_master {
 #ifdef EC_EOE
     struct timer_list eoe_timer; /**< EoE timer object. */
     unsigned int eoe_running; /**< \a True, if EoE processing is active. */
-    struct list_head eoe_handlers; /**< Ethernet-over-EtherCAT handlers. */
+    struct list_head eoe_handlers; /**< Ethernet over EtherCAT handlers. */
 #endif
 
     spinlock_t internal_lock; /**< Spinlock used in \a IDLE phase. */
@@ -154,8 +154,8 @@ struct ec_master {
     wait_queue_head_t sii_queue; /**< Wait queue for SII
                                       write requests from user space. */
 
-    struct list_head slave_sdo_requests; /**< Sdo access requests. */
+    struct list_head slave_sdo_requests; /**< SDO access requests. */
-    wait_queue_head_t sdo_queue; /**< Wait queue for Sdo access requests
+    wait_queue_head_t sdo_queue; /**< Wait queue for SDO access requests
                                    from user space. */
 
     struct list_head phy_requests; /**< Physical memory requests. */

master/pdo.c

@@ -38,10 +38,10 @@
 
 /*****************************************************************************/
 
-/** Pdo constructor.
+/** PDO constructor.
  */
 void ec_pdo_init(
-        ec_pdo_t *pdo /**< EtherCAT Pdo */
+        ec_pdo_t *pdo /**< EtherCAT PDO */
         )
 {
     pdo->sync_index = -1; // not assigned 
@@ -51,7 +51,7 @@ void ec_pdo_init(
 
 /*****************************************************************************/
 
-/** Pdo copy constructor.
+/** PDO copy constructor.
  *
  * \retval  0 Success.
  * \retval <0 Error code.
@@ -83,9 +83,9 @@ out_return:
 
 /*****************************************************************************/
 
-/** Pdo destructor.
+/** PDO destructor.
  */
-void ec_pdo_clear(ec_pdo_t *pdo /**< EtherCAT Pdo. */)
+void ec_pdo_clear(ec_pdo_t *pdo /**< EtherCAT PDO. */)
 {
     if (pdo->name)
         kfree(pdo->name);
@@ -95,13 +95,13 @@ void ec_pdo_clear(ec_pdo_t *pdo /**< EtherCAT Pdo. */)
 
 /*****************************************************************************/
 
-/** Clear Pdo entry list.
+/** Clear PDO entry list.
  */
-void ec_pdo_clear_entries(ec_pdo_t *pdo /**< EtherCAT Pdo. */)
+void ec_pdo_clear_entries(ec_pdo_t *pdo /**< EtherCAT PDO. */)
 {
     ec_pdo_entry_t *entry, *next;
 
-    // free all Pdo entries
+    // free all PDO entries
     list_for_each_entry_safe(entry, next, &pdo->entries, list) {
         list_del(&entry->list);
         ec_pdo_entry_clear(entry);
@@ -111,13 +111,13 @@ void ec_pdo_clear_entries(ec_pdo_t *pdo /**< EtherCAT Pdo. */)
 
 /*****************************************************************************/
 
-/** Set Pdo name.
+/** Set PDO name.
  *
  * \retval  0 Success.
  * \retval <0 Error code.
  */
 int ec_pdo_set_name(
-        ec_pdo_t *pdo, /**< Pdo. */
+        ec_pdo_t *pdo, /**< PDO. */
         const char *name /**< New name. */
         )
 {
@@ -131,7 +131,7 @@ int ec_pdo_set_name(
 
     if (name && (len = strlen(name))) {
         if (!(pdo->name = (char *) kmalloc(len + 1, GFP_KERNEL))) {
-            EC_ERR("Failed to allocate Pdo name.\n");
+            EC_ERR("Failed to allocate PDO name.\n");
             return -ENOMEM;
         }
         memcpy(pdo->name, name, len + 1);
@@ -144,7 +144,7 @@ int ec_pdo_set_name(
 
 /*****************************************************************************/
 
-/** Add a new Pdo entry to the configuration.
+/** Add a new PDO entry to the configuration.
  *
  * \retval Pointer to the added entry, otherwise a ERR_PTR() code.
  */
@@ -158,7 +158,7 @@ ec_pdo_entry_t *ec_pdo_add_entry(
     ec_pdo_entry_t *entry;
 
     if (!(entry = kmalloc(sizeof(ec_pdo_entry_t), GFP_KERNEL))) {
-        EC_ERR("Failed to allocate memory for Pdo entry.\n");
+        EC_ERR("Failed to allocate memory for PDO entry.\n");
         return ERR_PTR(-ENOMEM);
     }
 
@@ -172,7 +172,7 @@ ec_pdo_entry_t *ec_pdo_add_entry(
 
 /*****************************************************************************/
 
-/** Copy Pdo entries from another Pdo.
+/** Copy PDO entries from another PDO.
  *
  * \retval  0 Success.
  * \retval <0 Error code.
@@ -187,7 +187,7 @@ int ec_pdo_copy_entries(ec_pdo_t *pdo, const ec_pdo_t *other)
     list_for_each_entry(other_entry, &other->entries, list) {
         if (!(entry = (ec_pdo_entry_t *)
                     kmalloc(sizeof(ec_pdo_entry_t), GFP_KERNEL))) {
-            EC_ERR("Failed to allocate memory for Pdo entry copy.\n");
+            EC_ERR("Failed to allocate memory for PDO entry copy.\n");
             return -ENOMEM;
         }
 
@@ -205,14 +205,14 @@ int ec_pdo_copy_entries(ec_pdo_t *pdo, const ec_pdo_t *other)
 
 /*****************************************************************************/
 
-/** Compares the entries of two Pdos.
+/** Compares the entries of two PDOs.
  *
- * \retval 1 The entries of the given Pdos are equal.
+ * \retval 1 The entries of the given PDOs are equal.
- * \retval 0 The entries of the given Pdos differ.
+ * \retval 0 The entries of the given PDOs differ.
  */
 int ec_pdo_equal_entries(
-        const ec_pdo_t *pdo1, /**< First Pdo. */
+        const ec_pdo_t *pdo1, /**< First PDO. */
-        const ec_pdo_t *pdo2 /**< Second Pdo. */
+        const ec_pdo_t *pdo2 /**< Second PDO. */
         )
 {
     const struct list_head *head1, *head2, *item1, *item2;
@@ -241,12 +241,12 @@ int ec_pdo_equal_entries(
 
 /*****************************************************************************/
 
-/** Get the number of Pdo entries.
+/** Get the number of PDO entries.
  *
- * \return Number of Pdo entries.
+ * \return Number of PDO entries.
  */
 unsigned int ec_pdo_entry_count(
-        const ec_pdo_t *pdo /**< Pdo. */
+        const ec_pdo_t *pdo /**< PDO. */
         )
 {
     const ec_pdo_entry_t *entry;
@@ -261,12 +261,12 @@ unsigned int ec_pdo_entry_count(
 
 /*****************************************************************************/
 
-/** Finds a Pdo entry via its position in the list.
+/** Finds a PDO entry via its position in the list.
  *
  * Const version.
  */
 const ec_pdo_entry_t *ec_pdo_find_entry_by_pos_const(
-        const ec_pdo_t *pdo, /**< Pdo. */
+        const ec_pdo_t *pdo, /**< PDO. */
         unsigned int pos /**< Position in the list. */
         )
 {

master/pdo.h

@@ -41,14 +41,14 @@
 
 /*****************************************************************************/
 
-/** Pdo description.
+/** PDO description.
  */
 typedef struct {
     struct list_head list; /**< List item. */
-    uint16_t index; /**< Pdo index. */
+    uint16_t index; /**< PDO index. */
     int8_t sync_index; /**< Assigned sync manager. \todo remove? */
-    char *name; /**< Pdo name. */
+    char *name; /**< PDO name. */
-    struct list_head entries; /**< List of Pdo entries. */
+    struct list_head entries; /**< List of PDO entries. */
 } ec_pdo_t;
 
 /*****************************************************************************/

master/pdo_entry.c

@@ -37,10 +37,10 @@
 
 /*****************************************************************************/
 
-/** Pdo entry constructor.
+/** PDO entry constructor.
  */
 void ec_pdo_entry_init(
-        ec_pdo_entry_t *entry /**< Pdo entry. */
+        ec_pdo_entry_t *entry /**< PDO entry. */
         )
 {
     entry->name = NULL;
@@ -48,14 +48,14 @@ void ec_pdo_entry_init(
 
 /*****************************************************************************/
 
-/** Pdo entry copy constructor.
+/** PDO entry copy constructor.
  *
  * \retval  0 Success.
  * \retval <0 Error code.
  */
 int ec_pdo_entry_init_copy(
-        ec_pdo_entry_t *entry, /**< Pdo entry. */
+        ec_pdo_entry_t *entry, /**< PDO entry. */
-        const ec_pdo_entry_t *other /**< Pdo entry to copy from. */
+        const ec_pdo_entry_t *other /**< PDO entry to copy from. */
         )
 {
     entry->index = other->index;
@@ -68,9 +68,9 @@ int ec_pdo_entry_init_copy(
 
 /*****************************************************************************/
 
-/** Pdo entry destructor.
+/** PDO entry destructor.
  */
-void ec_pdo_entry_clear(ec_pdo_entry_t *entry /**< Pdo entry. */)
+void ec_pdo_entry_clear(ec_pdo_entry_t *entry /**< PDO entry. */)
 {
     if (entry->name)
         kfree(entry->name);
@@ -78,13 +78,13 @@ void ec_pdo_entry_clear(ec_pdo_entry_t *entry /**< Pdo entry. */)
 
 /*****************************************************************************/
 
-/** Set Pdo entry name.
+/** Set PDO entry name.
  *
  * \retval  0 Success.
  * \retval <0 Error code.
  */
 int ec_pdo_entry_set_name(
-        ec_pdo_entry_t *entry, /**< Pdo entry. */
+        ec_pdo_entry_t *entry, /**< PDO entry. */
         const char *name /**< New name. */
         )
 {
@@ -98,7 +98,7 @@ int ec_pdo_entry_set_name(
 
     if (name && (len = strlen(name))) {
         if (!(entry->name = (char *) kmalloc(len + 1, GFP_KERNEL))) {
-            EC_ERR("Failed to allocate Pdo entry name.\n");
+            EC_ERR("Failed to allocate PDO entry name.\n");
             return -ENOMEM;
         }
         memcpy(entry->name, name, len + 1);
@@ -111,14 +111,14 @@ int ec_pdo_entry_set_name(
 
 /*****************************************************************************/
 
-/** Compares two Pdo entries.
+/** Compares two PDO entries.
  *
  * \retval 1 The entries are equal.
  * \retval 0 The entries differ.
  */
 int ec_pdo_entry_equal(
-        const ec_pdo_entry_t *entry1, /**< First Pdo entry. */
+        const ec_pdo_entry_t *entry1, /**< First PDO entry. */
-        const ec_pdo_entry_t *entry2 /**< Second Pdo entry. */
+        const ec_pdo_entry_t *entry2 /**< Second PDO entry. */
         )
 {
     return entry1->index == entry2->index

master/pdo_entry.h

@@ -40,12 +40,12 @@
 
 /*****************************************************************************/
 
-/** Pdo entry description.
+/** PDO entry description.
  */
 typedef struct {
     struct list_head list; /**< list item */
-    uint16_t index; /**< Pdo entry index */
+    uint16_t index; /**< PDO entry index */
-    uint8_t subindex; /**< Pdo entry subindex */
+    uint8_t subindex; /**< PDO entry subindex */
     char *name; /**< entry name */
     uint8_t bit_length; /**< entry length in bit */
 } ec_pdo_entry_t;

master/pdo_list.c

@@ -26,7 +26,7 @@
 
 /**
    \file
-   EtherCAT Pdo list methods.
+   EtherCAT PDO list methods.
 */
 
 /*****************************************************************************/
@@ -42,10 +42,10 @@
 
 /*****************************************************************************/
 
-/** Pdo list constructor.
+/** PDO list constructor.
  */
 void ec_pdo_list_init(
-        ec_pdo_list_t *pl /**< Pdo list. */
+        ec_pdo_list_t *pl /**< PDO list. */
         )
 {
     INIT_LIST_HEAD(&pl->list);
@@ -53,18 +53,18 @@ void ec_pdo_list_init(
 
 /*****************************************************************************/
 
-/** Pdo list destructor.
+/** PDO list destructor.
  */
-void ec_pdo_list_clear(ec_pdo_list_t *pl /**< Pdo list. */)
+void ec_pdo_list_clear(ec_pdo_list_t *pl /**< PDO list. */)
 {
     ec_pdo_list_clear_pdos(pl);
 }
 
 /*****************************************************************************/
 
-/** Clears the list of mapped Pdos.
+/** Clears the list of mapped PDOs.
  */
-void ec_pdo_list_clear_pdos(ec_pdo_list_t *pl /**< Pdo list. */)
+void ec_pdo_list_clear_pdos(ec_pdo_list_t *pl /**< PDO list. */)
 {
     ec_pdo_t *pdo, *next;
 
@@ -77,12 +77,12 @@ void ec_pdo_list_clear_pdos(ec_pdo_list_t *pl /**< Pdo list. */)
 
 /*****************************************************************************/
 
-/** Calculates the total size of the mapped Pdo entries.
+/** Calculates the total size of the mapped PDO entries.
  *
  * \retval Data size in byte.
  */
 uint16_t ec_pdo_list_total_size(
-        const ec_pdo_list_t *pl /**< Pdo list. */
+        const ec_pdo_list_t *pl /**< PDO list. */
         )
 {
     unsigned int bit_size;
@@ -107,19 +107,19 @@ uint16_t ec_pdo_list_total_size(
 
 /*****************************************************************************/
 
-/** Add a new Pdo to the list.
+/** Add a new PDO to the list.
  *
- * \return Pointer to new Pdo, otherwise an ERR_PTR() code.
+ * \return Pointer to new PDO, otherwise an ERR_PTR() code.
  */
 ec_pdo_t *ec_pdo_list_add_pdo(
-        ec_pdo_list_t *pl, /**< Pdo list. */
+        ec_pdo_list_t *pl, /**< PDO list. */
-        uint16_t index /**< Pdo index. */
+        uint16_t index /**< PDO index. */
         )
 {
     ec_pdo_t *pdo;
 
     if (!(pdo = (ec_pdo_t *) kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
-        EC_ERR("Failed to allocate memory for Pdo.\n");
+        EC_ERR("Failed to allocate memory for PDO.\n");
         return ERR_PTR(-ENOMEM);
     }
 
@@ -131,27 +131,27 @@ ec_pdo_t *ec_pdo_list_add_pdo(
 
 /*****************************************************************************/
 
-/** Add the copy of an existing Pdo to the list.
+/** Add the copy of an existing PDO to the list.
  *
  * \return 0 on success, else < 0
  */
 int ec_pdo_list_add_pdo_copy(
-        ec_pdo_list_t *pl, /**< Pdo list. */
+        ec_pdo_list_t *pl, /**< PDO list. */
-        const ec_pdo_t *pdo /**< Pdo to add. */
+        const ec_pdo_t *pdo /**< PDO to add. */
         )
 {
     ec_pdo_t *mapped_pdo;
     int ret;
 
-    // Pdo already mapped?
+    // PDO already mapped?
     list_for_each_entry(mapped_pdo, &pl->list, list) {
         if (mapped_pdo->index != pdo->index) continue;
-        EC_ERR("Pdo 0x%04X is already mapped!\n", pdo->index);
+        EC_ERR("PDO 0x%04X is already mapped!\n", pdo->index);
         return -EEXIST;
     }
     
     if (!(mapped_pdo = kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
-        EC_ERR("Failed to allocate Pdo memory.\n");
+        EC_ERR("Failed to allocate PDO memory.\n");
         return -ENOMEM;
     }
 
@@ -167,13 +167,13 @@ int ec_pdo_list_add_pdo_copy(
 
 /*****************************************************************************/
 
-/** Makes a deep copy of another Pdo list.
+/** Makes a deep copy of another PDO list.
  *
  * \return 0 on success, else < 0
  */
 int ec_pdo_list_copy(
-        ec_pdo_list_t *pl, /**< Pdo list. */
+        ec_pdo_list_t *pl, /**< PDO list. */
-        const ec_pdo_list_t *other /**< Pdo list to copy from. */
+        const ec_pdo_list_t *other /**< PDO list to copy from. */
         )
 {
     ec_pdo_t *other_pdo;
@@ -181,7 +181,7 @@ int ec_pdo_list_copy(
 
     ec_pdo_list_clear_pdos(pl);
 
-    // Pdo already mapped?
+    // PDO already mapped?
     list_for_each_entry(other_pdo, &other->list, list) {
         ret = ec_pdo_list_add_pdo_copy(pl, other_pdo);
         if (ret)
@@ -193,13 +193,13 @@ int ec_pdo_list_copy(
 
 /*****************************************************************************/
 
-/** Compares two Pdo lists.
+/** Compares two PDO lists.
  *
- * Only the list is compared, not the Pdo entries (i. e. the Pdo
+ * Only the list is compared, not the PDO entries (i. e. the PDO
  * mapping).
  *
- * \retval 1 The given Pdo lists are equal.
+ * \retval 1 The given PDO lists are equal.
- * \retval 0 The given Pdo lists differ.
+ * \retval 0 The given PDO lists differ.
  */
 int ec_pdo_list_equal(
         const ec_pdo_list_t *pl1, /**< First list. */
@@ -233,11 +233,11 @@ int ec_pdo_list_equal(
 
 /*****************************************************************************/
 
-/** Finds a Pdo with the given index.
+/** Finds a PDO with the given index.
  */
 ec_pdo_t *ec_pdo_list_find_pdo(
-        const ec_pdo_list_t *pl, /**< Pdo list. */
+        const ec_pdo_list_t *pl, /**< PDO list. */
-        uint16_t index /**< Pdo index. */
+        uint16_t index /**< PDO index. */
         )
 {
     ec_pdo_t *pdo;
@@ -253,11 +253,11 @@ ec_pdo_t *ec_pdo_list_find_pdo(
 
 /*****************************************************************************/
 
-/** Finds a Pdo with the given index and returns a const pointer.
+/** Finds a PDO with the given index and returns a const pointer.
  */
 const ec_pdo_t *ec_pdo_list_find_pdo_const(
-        const ec_pdo_list_t *pl, /**< Pdo list. */
+        const ec_pdo_list_t *pl, /**< PDO list. */
-        uint16_t index /**< Pdo index. */
+        uint16_t index /**< PDO index. */
         )
 {
     const ec_pdo_t *pdo;
@@ -273,12 +273,12 @@ const ec_pdo_t *ec_pdo_list_find_pdo_const(
 
 /*****************************************************************************/
 
-/** Finds a Pdo via its position in the list.
+/** Finds a PDO via its position in the list.
  *
  * Const version.
  */
 const ec_pdo_t *ec_pdo_list_find_pdo_by_pos_const(
-        const ec_pdo_list_t *pl, /**< Pdo list. */
+        const ec_pdo_list_t *pl, /**< PDO list. */
         unsigned int pos /**< Position in the list. */
         )
 {
@@ -295,12 +295,12 @@ const ec_pdo_t *ec_pdo_list_find_pdo_by_pos_const(
 
 /*****************************************************************************/
 
-/** Get the number of Pdos in the list.
+/** Get the number of PDOs in the list.
  *
- * \return Number of Pdos.
+ * \return Number of PDOs.
  */
 unsigned int ec_pdo_list_count(
-        const ec_pdo_list_t *pl /**< Pdo list. */
+        const ec_pdo_list_t *pl /**< PDO list. */
         )
 {
     const ec_pdo_t *pdo;
@@ -315,10 +315,10 @@ unsigned int ec_pdo_list_count(
 
 /*****************************************************************************/
 
-/** Outputs the Pdos in the list.
+/** Outputs the PDOs in the list.
  */
 void ec_pdo_list_print(
-        const ec_pdo_list_t *pl /**< Pdo list. */
+        const ec_pdo_list_t *pl /**< PDO list. */
         )
 {
     const ec_pdo_t *pdo;

master/pdo_list.h

@@ -26,7 +26,7 @@
 
 /**
    \file
-   EtherCAT Pdo list structure.
+   EtherCAT PDO list structure.
 */
 
 /*****************************************************************************/
@@ -41,10 +41,10 @@
 
 /*****************************************************************************/
 
-/** EtherCAT Pdo list.
+/** EtherCAT PDO list.
  */
 typedef struct {
-    struct list_head list; /**< List of Pdos. */
+    struct list_head list; /**< List of PDOs. */
 } ec_pdo_list_t;
 
 /*****************************************************************************/

master/sdo.c

@@ -26,7 +26,7 @@
 
 /**
    \file
-   CANopen Sdo functions.
+   CANopen SDO functions.
 */
 
 /*****************************************************************************/
@@ -42,9 +42,9 @@
 /** Constructor.
  */
 void ec_sdo_init(
-        ec_sdo_t *sdo, /**< Sdo. */
+        ec_sdo_t *sdo, /**< SDO. */
         ec_slave_t *slave, /**< Parent slave. */
-        uint16_t index /**< Sdo index. */
+        uint16_t index /**< SDO index. */
         )
 {
     sdo->slave = slave;
@@ -57,12 +57,12 @@ void ec_sdo_init(
 
 /*****************************************************************************/
 
-/** Sdo destructor.
+/** SDO destructor.
  *
- * Clears and frees an Sdo object.
+ * Clears and frees an SDO object.
  */
 void ec_sdo_clear(
-        ec_sdo_t *sdo /**< Sdo. */
+        ec_sdo_t *sdo /**< SDO. */
         )
 {
     ec_sdo_entry_t *entry, *next;
@@ -80,13 +80,13 @@ void ec_sdo_clear(
 
 /*****************************************************************************/
 
-/** Get an Sdo entry from an Sdo via its subindex.
+/** Get an SDO entry from an SDO via its subindex.
  * 
- * \retval >0 Pointer to the requested Sdo entry.
+ * \retval >0 Pointer to the requested SDO entry.
- * \retval NULL Sdo entry not found.
+ * \retval NULL SDO entry not found.
  */
 ec_sdo_entry_t *ec_sdo_get_entry(
-        ec_sdo_t *sdo, /**< Sdo. */
+        ec_sdo_t *sdo, /**< SDO. */
         uint8_t subindex /**< Entry subindex. */
         )
 {
@@ -103,15 +103,15 @@ ec_sdo_entry_t *ec_sdo_get_entry(
 
 /*****************************************************************************/
 
-/** Get an Sdo entry from an Sdo via its subindex.
+/** Get an SDO entry from an SDO via its subindex.
  *
  * const version.
  * 
- * \retval >0 Pointer to the requested Sdo entry.
+ * \retval >0 Pointer to the requested SDO entry.
- * \retval NULL Sdo entry not found.
+ * \retval NULL SDO entry not found.
  */
 const ec_sdo_entry_t *ec_sdo_get_entry_const(
-        const ec_sdo_t *sdo, /**< Sdo. */
+        const ec_sdo_t *sdo, /**< SDO. */
         uint8_t subindex /**< Entry subindex. */
         )
 {

master/sdo.h

@@ -26,7 +26,7 @@
 
 /**
    \file
-   EtherCAT CANopen Sdo structure.
+   EtherCAT CANopen SDO structure.
 */
 
 /*****************************************************************************/
@@ -41,14 +41,14 @@
 
 /*****************************************************************************/
 
-/** CANopen Sdo.
+/** CANopen SDO.
  */
 struct ec_sdo {
     struct list_head list; /**< List item. */
     ec_slave_t *slave; /**< Parent slave. */
-    uint16_t index; /**< Sdo index. */
+    uint16_t index; /**< SDO index. */
     uint8_t object_code; /**< Object code. */
-    char *name; /**< Sdo name. */
+    char *name; /**< SDO name. */
     uint8_t max_subindex; /**< Maximum subindex. */
     struct list_head entries; /**< List of entries. */
 };

master/sdo_entry.c

@@ -26,7 +26,7 @@
 
 /**
    \file
-   CANopen-over-EtherCAT Sdo entry functions.
+   CANopen over EtherCAT SDO entry functions.
 */
 
 /*****************************************************************************/
@@ -40,8 +40,8 @@
 /** Constructor.
  */
 void ec_sdo_entry_init(
-        ec_sdo_entry_t *entry, /**< Sdo entry. */
+        ec_sdo_entry_t *entry, /**< SDO entry. */
-        ec_sdo_t *sdo, /**< Parent Sdo. */
+        ec_sdo_t *sdo, /**< Parent SDO. */
         uint8_t subindex /**< Subindex. */
         )
 {
@@ -57,7 +57,7 @@ void ec_sdo_entry_init(
 /** Destructor.
  */
 void ec_sdo_entry_clear(
-        ec_sdo_entry_t *entry /**< Sdo entry. */
+        ec_sdo_entry_t *entry /**< SDO entry. */
         )
 {
 

master/sdo_entry.h

@@ -26,7 +26,7 @@
 
 /**
    \file
-   EtherCAT CANopen Sdo entry structure.
+   EtherCAT CANopen SDO entry structure.
 */
 
 /*****************************************************************************/
@@ -46,11 +46,11 @@ typedef struct ec_sdo ec_sdo_t; /**< \see ec_sdo. */
 
 /*****************************************************************************/
 
-/** CANopen Sdo entry.
+/** CANopen SDO entry.
  */
 typedef struct {
     struct list_head list; /**< List item. */
-    ec_sdo_t *sdo; /**< Parent Sdo. */
+    ec_sdo_t *sdo; /**< Parent SDO. */
     uint8_t subindex; /**< Subindex. */
     uint16_t data_type; /**< Data type. */
     uint16_t bit_length; /**< Data size in bit. */

master/sdo_request.c

@@ -25,7 +25,7 @@
  *****************************************************************************/
 
 /** \file
- * Canopen-over-EtherCAT Sdo request functions.
+ * Canopen over EtherCAT SDO request functions.
  */
 
 /*****************************************************************************/
@@ -37,7 +37,7 @@
 
 /*****************************************************************************/
 
-/** Default timeout in ms to wait for Sdo transfer responses.
+/** Default timeout in ms to wait for SDO transfer responses.
  */
 #define EC_SDO_REQUEST_RESPONSE_TIMEOUT 3000
 
@@ -47,10 +47,10 @@ void ec_sdo_request_clear_data(ec_sdo_request_t *);
 
 /*****************************************************************************/
 
-/** Sdo request constructor.
+/** SDO request constructor.
  */
 void ec_sdo_request_init(
-        ec_sdo_request_t *req /**< Sdo request. */
+        ec_sdo_request_t *req /**< SDO request. */
         )
 {
     req->data = NULL;
@@ -65,10 +65,10 @@ void ec_sdo_request_init(
 
 /*****************************************************************************/
 
-/** Sdo request destructor.
+/** SDO request destructor.
  */
 void ec_sdo_request_clear(
-        ec_sdo_request_t *req /**< Sdo request. */
+        ec_sdo_request_t *req /**< SDO request. */
         )
 {
     ec_sdo_request_clear_data(req);
@@ -76,7 +76,7 @@ void ec_sdo_request_clear(
 
 /*****************************************************************************/
 
-/** Copy another Sdo request.
+/** Copy another SDO request.
  *
  * \attention Only the index subindex and data are copied.
  */
@@ -92,10 +92,10 @@ int ec_sdo_request_copy(
 
 /*****************************************************************************/
 
-/** Sdo request destructor.
+/** SDO request destructor.
  */
 void ec_sdo_request_clear_data(
-        ec_sdo_request_t *req /**< Sdo request. */
+        ec_sdo_request_t *req /**< SDO request. */
         )
 {
     if (req->data) {
@@ -109,12 +109,12 @@ void ec_sdo_request_clear_data(
 
 /*****************************************************************************/
 
-/** Set the Sdo address.
+/** Set the SDO address.
  */
 void ec_sdo_request_address(
-        ec_sdo_request_t *req, /**< Sdo request. */
+        ec_sdo_request_t *req, /**< SDO request. */
-        uint16_t index, /**< Sdo index. */
+        uint16_t index, /**< SDO index. */
-        uint8_t subindex /**< Sdo subindex. */
+        uint8_t subindex /**< SDO subindex. */
         )
 {
     req->index = index;
@@ -130,7 +130,7 @@ void ec_sdo_request_address(
  * \return 0 on success, otherwise -ENOMEM.
  */
 int ec_sdo_request_alloc(
-        ec_sdo_request_t *req, /**< Sdo request. */
+        ec_sdo_request_t *req, /**< SDO request. */
         size_t size /**< Data size to allocate. */
         )
 {
@@ -140,7 +140,7 @@ int ec_sdo_request_alloc(
     ec_sdo_request_clear_data(req);
 
     if (!(req->data = (uint8_t *) kmalloc(size, GFP_KERNEL))) {
-        EC_ERR("Failed to allocate %u bytes of Sdo memory.\n", size);
+        EC_ERR("Failed to allocate %u bytes of SDO memory.\n", size);
         return -ENOMEM;
     }
 
@@ -151,7 +151,7 @@ int ec_sdo_request_alloc(
 
 /*****************************************************************************/
 
-/** Copies Sdo data from an external source.
+/** Copies SDO data from an external source.
  *
  * If the \a mem_size is to small, new memory is allocated.
  *
@@ -159,7 +159,7 @@ int ec_sdo_request_alloc(
  * \retval <0 Error code.
  */
 int ec_sdo_request_copy_data(
-        ec_sdo_request_t *req, /**< Sdo request. */
+        ec_sdo_request_t *req, /**< SDO request. */
         const uint8_t *source, /**< Source data. */
         size_t size /**< Number of bytes in \a source. */
         )
@@ -179,7 +179,7 @@ int ec_sdo_request_copy_data(
  *
  * \return non-zero if the timeout was exceeded, else zero.
  */
-int ec_sdo_request_timed_out(const ec_sdo_request_t *req /**< Sdo request. */)
+int ec_sdo_request_timed_out(const ec_sdo_request_t *req /**< SDO request. */)
 {
     return req->issue_timeout
         && jiffies - req->jiffies_start > HZ * req->issue_timeout / 1000;

master/sdo_request.h

@@ -26,7 +26,7 @@
 
 /**
    \file
-   EtherCAT CANopen Sdo request structure.
+   EtherCAT CANopen SDO request structure.
 */
 
 /*****************************************************************************/
@@ -40,15 +40,15 @@
 
 /*****************************************************************************/
 
-/** CANopen Sdo request.
+/** CANopen SDO request.
  */
 struct ec_sdo_request {
     struct list_head list; /**< List item. */
-    uint16_t index; /**< Sdo index. */
+    uint16_t index; /**< SDO index. */
-    uint8_t subindex; /**< Sdo subindex. */
+    uint8_t subindex; /**< SDO subindex. */
-    uint8_t *data; /**< Pointer to Sdo data. */
+    uint8_t *data; /**< Pointer to SDO data. */
-    size_t mem_size; /**< Size of Sdo data memory. */
+    size_t mem_size; /**< Size of SDO data memory. */
-    size_t data_size; /**< Size of Sdo data. */
+    size_t data_size; /**< Size of SDO data. */
     uint32_t issue_timeout; /**< Maximum time in ms, the processing of the
                               request may take. */
     uint32_t response_timeout; /**< Maximum time in ms, the transfer is
@@ -56,11 +56,11 @@ struct ec_sdo_request {
     ec_direction_t dir; /**< Direction. EC_DIR_OUTPUT means downloading to
                           the slave, EC_DIR_INPUT means uploading from the
                           slave. */
-    ec_internal_request_state_t state; /**< Sdo request state. */
+    ec_internal_request_state_t state; /**< SDO request state. */
     unsigned long jiffies_start; /**< Jiffies, when the request was issued. */
     unsigned long jiffies_sent; /**< Jiffies, when the upload/download
                                      request was sent. */
-    uint32_t abort_code; /**< Sdo request abort code. Zero on success. */
+    uint32_t abort_code; /**< SDO request abort code. Zero on success. */
 };
 
 /*****************************************************************************/

master/slave.c

@@ -140,7 +140,7 @@ void ec_slave_clear(ec_slave_t *slave /**< EtherCAT slave */)
     if (slave->config)
         ec_slave_config_detach(slave->config);
 
-    // free all Sdos
+    // free all SDOs
     list_for_each_entry_safe(sdo, next_sdo, &slave->sdo_dictionary, list) {
         list_del(&sdo->list);
         ec_sdo_clear(sdo);
@@ -157,7 +157,7 @@ void ec_slave_clear(ec_slave_t *slave /**< EtherCAT slave */)
     // free all sync managers
     ec_slave_clear_sync_managers(slave);
 
-    // free all SII Pdos
+    // free all SII PDOs
     list_for_each_entry_safe(pdo, next_pdo, &slave->sii.pdos, list) {
         list_del(&pdo->list);
         ec_pdo_clear(pdo);
@@ -398,7 +398,7 @@ int ec_slave_fetch_sii_syncs(
 /*****************************************************************************/
 
 /**
-   Fetches data from a [RT]XPdo category.
+   Fetches data from a [RT]xPDO category.
    \return 0 in case of success, else < 0
 */
 
@@ -406,7 +406,7 @@ int ec_slave_fetch_sii_pdos(
         ec_slave_t *slave, /**< EtherCAT slave */
         const uint8_t *data, /**< category data */
         size_t data_size, /**< number of bytes */
-        ec_direction_t dir /**< Pdo direction. */
+        ec_direction_t dir /**< PDO direction. */
         )
 {
     int ret;
@@ -416,7 +416,7 @@ int ec_slave_fetch_sii_pdos(
 
     while (data_size >= 8) {
         if (!(pdo = kmalloc(sizeof(ec_pdo_t), GFP_KERNEL))) {
-            EC_ERR("Failed to allocate Pdo memory.\n");
+            EC_ERR("Failed to allocate PDO memory.\n");
             return -ENOMEM;
         }
 
@@ -438,7 +438,7 @@ int ec_slave_fetch_sii_pdos(
 
         for (i = 0; i < entry_count; i++) {
             if (!(entry = kmalloc(sizeof(ec_pdo_entry_t), GFP_KERNEL))) {
-                EC_ERR("Failed to allocate Pdo entry memory.\n");
+                EC_ERR("Failed to allocate PDO entry memory.\n");
                 return -ENOMEM;
             }
 
@@ -459,12 +459,12 @@ int ec_slave_fetch_sii_pdos(
             data += 8;
         }
 
-        // if sync manager index is positive, the Pdo is mapped by default
+        // if sync manager index is positive, the PDO is mapped by default
         if (pdo->sync_index >= 0) {
             ec_sync_t *sync;
 
             if (!(sync = ec_slave_get_sync(slave, pdo->sync_index))) {
-                EC_ERR("Invalid SM index %i for Pdo 0x%04X in slave %u.",
+                EC_ERR("Invalid SM index %i for PDO 0x%04X in slave %u.",
                         pdo->sync_index, pdo->index, slave->ring_position);
                 return -ENOENT;
             }
@@ -524,11 +524,11 @@ ec_sync_t *ec_slave_get_sync(
 /*****************************************************************************/
 
 /**
-   Counts the total number of Sdos and entries in the dictionary.
+   Counts the total number of SDOs and entries in the dictionary.
 */
 
 void ec_slave_sdo_dict_info(const ec_slave_t *slave, /**< EtherCAT slave */
-                            unsigned int *sdo_count, /**< number of Sdos */
+                            unsigned int *sdo_count, /**< number of SDOs */
                             unsigned int *entry_count /**< total number of
                                                          entries */
                             )
@@ -551,13 +551,13 @@ void ec_slave_sdo_dict_info(const ec_slave_t *slave, /**< EtherCAT slave */
 /*****************************************************************************/
 
 /**
- * Get an Sdo from the dictionary.
+ * Get an SDO from the dictionary.
- * \returns The desired Sdo, or NULL.
+ * \returns The desired SDO, or NULL.
  */
 
 ec_sdo_t *ec_slave_get_sdo(
         ec_slave_t *slave, /**< EtherCAT slave */
-        uint16_t index /**< Sdo index */
+        uint16_t index /**< SDO index */
         )
 {
     ec_sdo_t *sdo;
@@ -574,16 +574,16 @@ ec_sdo_t *ec_slave_get_sdo(
 /*****************************************************************************/
 
 /**
- * Get an Sdo from the dictionary.
+ * Get an SDO from the dictionary.
  *
  * const version.
  *
- * \returns The desired Sdo, or NULL.
+ * \returns The desired SDO, or NULL.
  */
 
 const ec_sdo_t *ec_slave_get_sdo_const(
         const ec_slave_t *slave, /**< EtherCAT slave */
-        uint16_t index /**< Sdo index */
+        uint16_t index /**< SDO index */
         )
 {
     const ec_sdo_t *sdo;
@@ -599,13 +599,13 @@ const ec_sdo_t *ec_slave_get_sdo_const(
 
 /*****************************************************************************/
 
-/** Get an Sdo from the dictionary, given its position in the list.
+/** Get an SDO from the dictionary, given its position in the list.
- * \returns The desired Sdo, or NULL.
+ * \returns The desired SDO, or NULL.
  */
 
 const ec_sdo_t *ec_slave_get_sdo_by_pos_const(
         const ec_slave_t *slave, /**< EtherCAT slave. */
-        uint16_t sdo_position /**< Sdo list position. */
+        uint16_t sdo_position /**< SDO list position. */
         )
 {
     const ec_sdo_t *sdo;
@@ -621,8 +621,8 @@ const ec_sdo_t *ec_slave_get_sdo_by_pos_const(
 
 /*****************************************************************************/
 
-/** Get the number of Sdos in the dictionary.
+/** Get the number of SDOs in the dictionary.
- * \returns Sdo count.
+ * \returns SDO count.
  */
 
 uint16_t ec_slave_sdo_count(
@@ -641,12 +641,12 @@ uint16_t ec_slave_sdo_count(
 
 /*****************************************************************************/
 
-/** Finds a mapped Pdo.
+/** Finds a mapped PDO.
- * \returns The desired Pdo object, or NULL.
+ * \returns The desired PDO object, or NULL.
  */
 const ec_pdo_t *ec_slave_find_pdo(
         const ec_slave_t *slave, /**< Slave. */
-        uint16_t index /**< Pdo index to find. */
+        uint16_t index /**< PDO index to find. */
         )
 {
     unsigned int i;
@@ -667,7 +667,7 @@ const ec_pdo_t *ec_slave_find_pdo(
 
 /*****************************************************************************/
 
-/** Find name for a Pdo and its entries.
+/** Find name for a PDO and its entries.
  */
 void ec_slave_find_names_for_pdo(
         ec_slave_t *slave,
@@ -698,7 +698,7 @@ void ec_slave_find_names_for_pdo(
 
 /*****************************************************************************/
 
-/** Attach Pdo names.
+/** Attach PDO names.
  */
 void ec_slave_attach_pdo_names(
         ec_slave_t *slave

master/slave.h

@@ -128,7 +128,7 @@ struct ec_slave
     // Slave information interface
     ec_sii_t sii; /**< Extracted SII data. */
 
-    struct list_head sdo_dictionary; /**< Sdo dictionary list */
+    struct list_head sdo_dictionary; /**< SDO dictionary list */
     uint8_t sdo_dictionary_fetched; /**< Dictionary has been fetched. */
     unsigned long jiffies_preop; /**< Time, the slave went to PREOP. */
 };

master/slave_config.c

@@ -94,14 +94,14 @@ void ec_slave_config_clear(
     for (i = 0; i < EC_MAX_SYNC_MANAGERS; i++)
         ec_sync_config_clear(&sc->sync_configs[i]);
 
-    // free all Sdo configurations
+    // free all SDO configurations
     list_for_each_entry_safe(req, next_req, &sc->sdo_configs, list) {
         list_del(&req->list);
         ec_sdo_request_clear(req);
         kfree(req);
     }
 
-    // free all Sdo requests
+    // free all SDO requests
     list_for_each_entry_safe(req, next_req, &sc->sdo_requests, list) {
         list_del(&req->list);
         ec_sdo_request_clear(req);
@@ -134,7 +134,7 @@ int ec_slave_config_prepare_fmmu(
         ec_slave_config_t *sc, /**< Slave configuration. */
         ec_domain_t *domain, /**< Domain. */
         uint8_t sync_index, /**< Sync manager index. */
-        ec_direction_t dir /**< Pdo direction. */
+        ec_direction_t dir /**< PDO direction. */
         )
 {
     unsigned int i;
@@ -234,7 +234,7 @@ void ec_slave_config_detach(
 
 /*****************************************************************************/
 
-/** Loads the default Pdo assignment from the slave object.
+/** Loads the default PDO assignment from the slave object.
  */
 void ec_slave_config_load_default_sync_config(ec_slave_config_t *sc)
 {
@@ -259,7 +259,7 @@ void ec_slave_config_load_default_sync_config(ec_slave_config_t *sc)
 
 /*****************************************************************************/
 
-/** Loads the default mapping for a Pdo from the slave object.
+/** Loads the default mapping for a PDO from the slave object.
  */
 void ec_slave_config_load_default_mapping(
         const ec_slave_config_t *sc,
@@ -274,10 +274,10 @@ void ec_slave_config_load_default_mapping(
         return;
 
     if (sc->master->debug_level)
-        EC_DBG("Loading default mapping for Pdo 0x%04X in config %u:%u.\n",
+        EC_DBG("Loading default mapping for PDO 0x%04X in config %u:%u.\n",
                 pdo->index, sc->alias, sc->position);
 
-    // find Pdo in any sync manager (it could be reassigned later)
+    // find PDO in any sync manager (it could be reassigned later)
     for (i = 0; i < sc->slave->sii.sync_count; i++) {
         sync = &sc->slave->sii.syncs[i];
 
@@ -287,13 +287,13 @@ void ec_slave_config_load_default_mapping(
 
             if (default_pdo->name) {
                 if (sc->master->debug_level)
-                    EC_DBG("Found Pdo name \"%s\".\n", default_pdo->name);
+                    EC_DBG("Found PDO name \"%s\".\n", default_pdo->name);
 
-                // take Pdo name from assigned one
+                // take PDO name from assigned one
                 ec_pdo_set_name(pdo, default_pdo->name);
             }
 
-            // copy entries (= default Pdo mapping)
+            // copy entries (= default PDO mapping)
             if (ec_pdo_copy_entries(pdo, default_pdo))
                 return;
 
@@ -315,9 +315,9 @@ void ec_slave_config_load_default_mapping(
 
 /*****************************************************************************/
 
-/** Get the number of Sdo configurations.
+/** Get the number of SDO configurations.
  *
- * \return Number of Sdo configurations.
+ * \return Number of SDO configurations.
  */
 unsigned int ec_slave_config_sdo_count(
         const ec_slave_config_t *sc /**< Slave configuration. */
@@ -335,7 +335,7 @@ unsigned int ec_slave_config_sdo_count(
 
 /*****************************************************************************/
 
-/** Finds an Sdo configuration via its position in the list.
+/** Finds an SDO configuration via its position in the list.
  *
  * Const version.
  */
@@ -484,7 +484,7 @@ int ecrt_slave_config_pdo_mapping_add(ec_slave_config_t *sc,
         if (IS_ERR(entry))
             retval = PTR_ERR(entry);
     } else {
-        EC_ERR("Pdo 0x%04X is not assigned in config %u:%u.\n",
+        EC_ERR("PDO 0x%04X is not assigned in config %u:%u.\n",
                 pdo_index, sc->alias, sc->position);
         retval = -ENOENT; 
     }
@@ -514,7 +514,7 @@ void ecrt_slave_config_pdo_mapping_clear(ec_slave_config_t *sc,
         ec_pdo_clear_entries(pdo);
         up(&sc->master->master_sem);
     } else {
-        EC_WARN("Pdo 0x%04X is not assigned in config %u:%u.\n",
+        EC_WARN("PDO 0x%04X is not assigned in config %u:%u.\n",
                 pdo_index, sc->alias, sc->position);
     }
 }
@@ -620,7 +620,7 @@ int ecrt_slave_config_reg_pdo_entry(
                     if (bit_position) {
                         *bit_position = bit_pos;
                     } else if (bit_pos) {
-                        EC_ERR("Pdo entry 0x%04X:%02X does not byte-align "
+                        EC_ERR("PDO entry 0x%04X:%02X does not byte-align "
                                 "in config %u:%u.\n", index, subindex,
                                 sc->alias, sc->position);
                         return -EFAULT;
@@ -637,7 +637,7 @@ int ecrt_slave_config_reg_pdo_entry(
         }
     }
 
-    EC_ERR("Pdo entry 0x%04X:%02X is not mapped in slave config %u:%u.\n",
+    EC_ERR("PDO entry 0x%04X:%02X is not mapped in slave config %u:%u.\n",
            index, subindex, sc->alias, sc->position);
     return -ENOENT;
 }
@@ -664,7 +664,7 @@ int ecrt_slave_config_sdo(ec_slave_config_t *sc, uint16_t index,
 
     if (!(req = (ec_sdo_request_t *)
           kmalloc(sizeof(ec_sdo_request_t), GFP_KERNEL))) {
-        EC_ERR("Failed to allocate memory for Sdo configuration!\n");
+        EC_ERR("Failed to allocate memory for SDO configuration!\n");
         return -ENOMEM;
     }
 
@@ -747,7 +747,7 @@ ec_sdo_request_t *ecrt_slave_config_create_sdo_request_err(
 
     if (!(req = (ec_sdo_request_t *)
                 kmalloc(sizeof(ec_sdo_request_t), GFP_KERNEL))) {
-        EC_ERR("Failed to allocate Sdo request memory!\n");
+        EC_ERR("Failed to allocate SDO request memory!\n");
         return ERR_PTR(-ENOMEM);
     }
 
@@ -796,7 +796,7 @@ ec_voe_handler_t *ecrt_slave_config_create_voe_handler_err(
 
     if (!(voe = (ec_voe_handler_t *)
                 kmalloc(sizeof(ec_voe_handler_t), GFP_KERNEL))) {
-        EC_ERR("Failed to allocate Sdo request memory!\n");
+        EC_ERR("Failed to allocate VoE request memory!\n");
         return ERR_PTR(-ENOMEM);
     }
 

master/slave_config.h

@@ -63,8 +63,8 @@ struct ec_slave_config {
     ec_fmmu_config_t fmmu_configs[EC_MAX_FMMUS]; /**< FMMU configurations. */
     uint8_t used_fmmus; /**< Number of FMMUs used. */
 
-    struct list_head sdo_configs; /**< List of Sdo configurations. */
+    struct list_head sdo_configs; /**< List of SDO configurations. */
-    struct list_head sdo_requests; /**< List of Sdo requests. */
+    struct list_head sdo_requests; /**< List of SDO requests. */
     struct list_head voe_handlers; /**< List of VoE handlers. */
 };
 

master/sync.c

@@ -121,13 +121,13 @@ void ec_sync_page(
 
 /*****************************************************************************/
 
-/** Adds a Pdo to the list of known mapped Pdos.
+/** Adds a PDO to the list of known mapped PDOs.
  *
  * \return 0 on success, else < 0
  */
 int ec_sync_add_pdo(
         ec_sync_t *sync, /**< EtherCAT sync manager. */
-        const ec_pdo_t *pdo /**< Pdo to map. */
+        const ec_pdo_t *pdo /**< PDO to map. */
         )
 {
     return ec_pdo_list_add_pdo_copy(&sync->pdos, pdo);

master/sync.h

@@ -46,7 +46,7 @@ typedef struct {
     uint16_t default_length; /**< Data length in bytes. */
     uint8_t control_register; /**< Control register value. */
     uint8_t enable; /**< Enable bit. */
-    ec_pdo_list_t pdos; /**< Current Pdo assignment. */
+    ec_pdo_list_t pdos; /**< Current PDO assignment. */
 } ec_sync_t;
 
 /*****************************************************************************/

master/sync_config.h

@@ -42,7 +42,7 @@
  */
 typedef struct {
     ec_direction_t dir; /**< Sync manager direction. */
-    ec_pdo_list_t pdos; /**< Current Pdo assignment. */
+    ec_pdo_list_t pdos; /**< Current PDO assignment. */
 } ec_sync_config_t;
 
 /*****************************************************************************/

master/voe_handler.c

@@ -25,7 +25,7 @@
  *****************************************************************************/
 
 /** \file
- * Vendor-specific-over-EtherCAT protocol handler functions.
+ * Vendor specific over EtherCAT protocol handler functions.
  */
 
 /*****************************************************************************/

master/voe_handler.h

@@ -26,7 +26,7 @@
 
 /**
    \file
-   Vendor-specific-over-EtherCAT protocol handler.
+   Vendor specific over EtherCAT protocol handler.
 */
 
 /*****************************************************************************/
@@ -41,7 +41,7 @@
 
 /*****************************************************************************/
 
-/** Vendor-specific-over-EtherCAT handler.
+/** Vendor specific over EtherCAT handler.
  */
 struct ec_voe_handler {
     struct list_head list; /**< List item. */
@@ -49,7 +49,7 @@ struct ec_voe_handler {
     ec_datagram_t datagram; /**< State machine datagram. */
     uint32_t vendor_id; /**< Vendor ID for the header. */
     uint16_t vendor_type; /**< Vendor type for the header. */
-    size_t data_size; /**< Size of Sdo data. */
+    size_t data_size; /**< Size of VoE data. */
     ec_direction_t dir; /**< Direction. EC_DIR_OUTPUT means writing to
                           the slave, EC_DIR_INPUT means reading from the
                           slave. */

tool/CommandConfig.cpp

@@ -46,8 +46,8 @@ string CommandConfig::helpString() const
     	<< "|          hexadecimal)." << endl
     	<< "\\- Alias address and relative position (both decimal)." << endl
     	<< endl
-    	<< "With the --verbose option given, the configured Pdos and" << endl
+    	<< "With the --verbose option given, the configured PDOs and" << endl
-    	<< "Sdos are output in addition." << endl
+    	<< "SDOs are output in addition." << endl
         << endl
         << "Configuration selection:" << endl
         << "  Slave configurations can be selected with" << endl
@@ -138,13 +138,13 @@ void CommandConfig::showDetailedConfigs(
                 for (k = 0; k < configIter->syncs[j].pdo_count; k++) {
                     m.getConfigPdo(&pdo, configIter->config_index, j, k);
 
-                    cout << "  Pdo 0x" << hex << setw(4) << pdo.index << endl;
+                    cout << "  PDO 0x" << hex << setw(4) << pdo.index << endl;
 
                     for (l = 0; l < pdo.entry_count; l++) {
                         m.getConfigPdoEntry(&entry,
                                 configIter->config_index, j, k, l);
 
-                        cout << "    Pdo entry 0x" << hex << setfill('0')
+                        cout << "    PDO entry 0x" << hex << setfill('0')
                             << setw(4) << entry.index << ":"
                             << setw(2) << (unsigned int) entry.subindex
                             << ", " << dec << setfill(' ')
@@ -155,7 +155,7 @@ void CommandConfig::showDetailedConfigs(
             }
         }
 
-        cout << "Sdo configuration:" << endl;
+        cout << "SDO configuration:" << endl;
         if (configIter->sdo_count) {
             for (j = 0; j < configIter->sdo_count; j++) {
                 m.getConfigSdo(&sdo, configIter->config_index, j);

tool/CommandDomains.cpp

@@ -36,7 +36,7 @@ string CommandDomains::helpString() const
     	<< "(LRD/LWR/LRW) is displayed followed by the domain's" << endl
     	<< "process data size in byte. The last values are the current" << endl
     	<< "datagram working counter sum and the expected working" << endl
-    	<< "counter sum. If the values are equal, all Pdos were" << endl
+    	<< "counter sum. If the values are equal, all PDOs were" << endl
         << "exchanged during the last cycle." << endl
         << endl
     	<< "If the --verbose option is given, the participating slave" << endl

tool/CommandDownload.cpp

@@ -13,7 +13,7 @@ using namespace std;
 /*****************************************************************************/
 
 CommandDownload::CommandDownload():
-    SdoCommand("download", "Write an Sdo entry to a slave.")
+    SdoCommand("download", "Write an SDO entry to a slave.")
 {
 }
 
@@ -29,28 +29,28 @@ string CommandDownload::helpString() const
         << endl
         << "This command requires a single slave to be selected." << endl
     	<< endl
-    	<< "The data type of the Sdo entry is taken from the Sdo" << endl
+    	<< "The data type of the SDO entry is taken from the SDO" << endl
 		<< "dictionary by default. It can be overridden with the" << endl
-		<< "--type option. If the slave does not support the Sdo" << endl
+		<< "--type option. If the slave does not support the SDO" << endl
-		<< "information service or the Sdo is not in the dictionary," << endl
+		<< "information service or the SDO is not in the dictionary," << endl
 		<< "the --type option is mandatory." << endl
     	<< endl
-    	<< "These are the valid Sdo entry data types:" << endl
+    	<< "These are the valid SDO entry data types:" << endl
     	<< "  int8, int16, int32, uint8, uint16, uint32, string." << endl
     	<< endl
     	<< "Arguments:" << endl
-    	<< "  INDEX    is the Sdo index and must be an unsigned" << endl
+    	<< "  INDEX    is the SDO index and must be an unsigned" << endl
 		<< "           16 bit number." << endl
-    	<< "  SUBINDEX is the Sdo entry subindex and must be an" << endl
+    	<< "  SUBINDEX is the SDO entry subindex and must be an" << endl
 		<< "           unsigned 8 bit number." << endl
     	<< "  VALUE    is the value to download and must correspond" << endl
-		<< "           to the Sdo entry datatype (see above)." << endl
+		<< "           to the SDO entry datatype (see above)." << endl
     	<< endl
     	<< "Command-specific options:" << endl
         << "  --alias    -a <alias>" << endl
         << "  --position -p <pos>    Slave selection. See the help of" << endl
         << "                         the 'slaves' command." << endl
-    	<< "  --type     -t <type>   Sdo entry data type (see above)." << endl
+    	<< "  --type     -t <type>   SDO entry data type (see above)." << endl
     	<< endl
 		<< numericInfo();
 
@@ -77,7 +77,7 @@ void CommandDownload::execute(MasterDevice &m, const StringVector &args)
         >> resetiosflags(ios::basefield) // guess base from prefix
         >> data.sdo_index;
     if (strIndex.fail()) {
-        err << "Invalid Sdo index '" << args[0] << "'!";
+        err << "Invalid SDO index '" << args[0] << "'!";
         throwInvalidUsageException(err);
     }
 
@@ -86,7 +86,7 @@ void CommandDownload::execute(MasterDevice &m, const StringVector &args)
         >> resetiosflags(ios::basefield) // guess base from prefix
         >> number;
     if (strSubIndex.fail() || number > 0xff) {
-        err << "Invalid Sdo subindex '" << args[1] << "'!";
+        err << "Invalid SDO subindex '" << args[1] << "'!";
         throwInvalidUsageException(err);
     }
     data.sdo_entry_subindex = number;
@@ -110,12 +110,12 @@ void CommandDownload::execute(MasterDevice &m, const StringVector &args)
             m.getSdoEntry(&entry, data.slave_position,
                     data.sdo_index, data.sdo_entry_subindex);
         } catch (MasterDeviceException &e) {
-            err << "Failed to determine Sdo entry data type. "
+            err << "Failed to determine SDO entry data type. "
                 << "Please specify --type.";
             throwCommandException(err);
         }
         if (!(dataType = findDataType(entry.data_type))) {
-            err << "Pdo entry has unknown data type 0x"
+            err << "PDO entry has unknown data type 0x"
                 << hex << setfill('0') << setw(4) << entry.data_type << "!"
                 << " Please specify --type.";
             throwCommandException(err);
@@ -207,7 +207,7 @@ void CommandDownload::execute(MasterDevice &m, const StringVector &args)
         m.sdoDownload(&data);
 	} catch (MasterDeviceSdoAbortException &e) {
         delete [] data.data;
-        err << "Sdo transfer aborted with code 0x"
+        err << "SDO transfer aborted with code 0x"
             << setfill('0') << hex << setw(8) << e.abortCode
             << ": " << abortText(e.abortCode);
         throwCommandException(err);

tool/CommandPdos.cpp

@@ -13,7 +13,7 @@ using namespace std;
 /*****************************************************************************/
 
 CommandPdos::CommandPdos():
-    Command("pdos", "List Sync managers, Pdo assignment and mapping.")
+    Command("pdos", "List Sync managers, PDO assignment and mapping.")
 {
 }
 
@@ -37,19 +37,19 @@ string CommandPdos::helpString() const
     	<< "   SM3: PhysAddr 0x1100, DefaultSize 0, ControlRegister 0x20, "
 		<< "Enable 1" << endl
     	<< endl
-    	<< "2) Assigned Pdos - Pdo direction, hexadecimal index and" << endl
+    	<< "2) Assigned PDOs - PDO direction, hexadecimal index and" << endl
-		<< "   the Pdo name, if avaliable. Note that a 'Tx' and 'Rx'" << endl
+		<< "   the PDO name, if avaliable. Note that a 'Tx' and 'Rx'" << endl
         << "   are seen from the slave's point of view. Example:" << endl
     	<< endl
-    	<< "   TxPdo 0x1a00 \"Channel1\"" << endl
+    	<< "   TxPDO 0x1a00 \"Channel1\"" << endl
     	<< endl
-    	<< "3) Mapped Pdo entries - Pdo entry index and subindex (both" << endl
+    	<< "3) Mapped PDO entries - PDO entry index and subindex (both" << endl
     	<< "   hexadecimal), the length in bit and the description, if" << endl
     	<< "   available. Example:" << endl
     	<< endl
-    	<< "   Pdo entry 0x3101:01, 8 bit, \"Status\"" << endl
+    	<< "   PDO entry 0x3101:01, 8 bit, \"Status\"" << endl
     	<< endl
-    	<< "Note, that the displayed Pdo assignment and Pdo mapping" << endl
+    	<< "Note, that the displayed PDO assignment and PDO mapping" << endl
     	<< "information can either originate from the SII or from the" << endl
 		<< "CoE communication area." << endl
     	<< endl
@@ -115,7 +115,7 @@ void CommandPdos::listSlavePdos(
             m.getPdo(&pdo, slave.position, i, j);
 
             cout << "  " << (sync.control_register & 0x04 ? "R" : "T")
-                << "xPdo 0x"
+                << "xPDO 0x"
                 << hex << setfill('0')
                 << setw(4) << pdo.index
                 << " \"" << pdo.name << "\"" << endl;
@@ -126,7 +126,7 @@ void CommandPdos::listSlavePdos(
             for (k = 0; k < pdo.entry_count; k++) {
                 m.getPdoEntry(&entry, slave.position, i, j, k);
 
-                cout << "    Pdo entry 0x"
+                cout << "    PDO entry 0x"
                     << hex << setfill('0')
                     << setw(4) << entry.index
                     << ":" << setw(2) << (unsigned int) entry.subindex

tool/CommandSdos.cpp

@@ -13,7 +13,7 @@ using namespace std;
 /*****************************************************************************/
 
 CommandSdos::CommandSdos():
-    SdoCommand("sdos", "List Sdo dictionaries.")
+    SdoCommand("sdos", "List SDO dictionaries.")
 {
 }
 
@@ -27,27 +27,27 @@ string CommandSdos::helpString() const
     	<< endl
     	<< getBriefDescription() << endl
     	<< endl
-    	<< "Sdo dictionary information is displayed in two layers," << endl
+    	<< "SDO dictionary information is displayed in two layers," << endl
     	<< "which are indented accordingly:" << endl
     	<< endl
-    	<< "1) Sdos - Hexadecimal Sdo index and the name. Example:" << endl
+    	<< "1) SDOs - Hexadecimal SDO index and the name. Example:" << endl
     	<< endl
-    	<< "   Sdo 0x1018, \"Identity object\"" << endl
+    	<< "   SDO 0x1018, \"Identity object\"" << endl
     	<< endl
-    	<< "2) Sdo entries - Sdo index and Sdo entry subindex (both" << endl
+    	<< "2) SDO entries - SDO index and SDO entry subindex (both" << endl
 		<< "   hexadecimal) followed by the data type, the length in" << endl
 		<< "   bit, and the description. Example:" << endl
     	<< endl
     	<< "   0x1018:01, uint32, 32 bit, \"Vendor id\"" << endl
     	<< endl
-    	<< "If the --quiet option is given, only the Sdos are output."
+    	<< "If the --quiet option is given, only the SDOs are output."
 		<< endl << endl
     	<< "Command-specific options:" << endl
         << "  --alias    -a <alias>" << endl
         << "  --position -p <pos>    Slave selection. See the help of" << endl
         << "                         the 'slaves' command." << endl
-    	<< "  --quiet    -q          Only output Sdos (without the" << endl
+    	<< "  --quiet    -q          Only output SDOs (without the" << endl
-		<< "                         Sdo entries)." << endl
+		<< "                         SDO entries)." << endl
     	<< endl
 		<< numericInfo();
 
@@ -90,7 +90,7 @@ void CommandSdos::listSlaveSdos(
     for (i = 0; i < slave.sdo_count; i++) {
         m.getSdo(&sdo, slave.position, i);
 
-        cout << "Sdo 0x"
+        cout << "SDO 0x"
             << hex << setfill('0')
             << setw(4) << sdo.sdo_index
             << ", \"" << sdo.name << "\"" << endl;

tool/CommandSlaves.cpp

@@ -261,20 +261,20 @@ void CommandSlaves::showSlaves(
 
             if (si->mailbox_protocols & EC_MBOX_COE) {
                 cout << "  CoE details:" << endl
-                    << "    Enable Sdo: "
+                    << "    Enable SDO: "
                     << (si->coe_details.enable_sdo ? "yes" : "no") << endl
-                    << "    Enable Sdo Info: "
+                    << "    Enable SDO Info: "
                     << (si->coe_details.enable_sdo_info ? "yes" : "no") << endl
-                    << "    Enable Pdo Assign: "
+                    << "    Enable PDO Assign: "
                     << (si->coe_details.enable_pdo_assign
                             ? "yes" : "no") << endl
-                    << "    Enable Pdo Configuration: "
+                    << "    Enable PDO Configuration: "
                     << (si->coe_details.enable_pdo_configuration
                             ? "yes" : "no") << endl
                     << "    Enable Upload at startup: "
                     << (si->coe_details.enable_upload_at_startup
                             ? "yes" : "no") << endl
-                    << "    Enable Sdo complete access: "
+                    << "    Enable SDO complete access: "
                     << (si->coe_details.enable_sdo_complete_access
                             ? "yes" : "no") << endl;
             }

tool/CommandUpload.cpp

@@ -13,7 +13,7 @@ using namespace std;
 /*****************************************************************************/
 
 CommandUpload::CommandUpload():
-    SdoCommand("upload", "Read an Sdo entry from a slave.")
+    SdoCommand("upload", "Read an SDO entry from a slave.")
 {
 }
 
@@ -29,26 +29,26 @@ string CommandUpload::helpString() const
         << endl
         << "This command requires a single slave to be selected." << endl
     	<< endl
-        << "The data type of the Sdo entry is taken from the Sdo" << endl
+        << "The data type of the SDO entry is taken from the SDO" << endl
         << "dictionary by default. It can be overridden with the" << endl
-        << "--type option. If the slave does not support the Sdo" << endl
+        << "--type option. If the slave does not support the SDO" << endl
-        << "information service or the Sdo is not in the dictionary," << endl
+        << "information service or the SDO is not in the dictionary," << endl
         << "the --type option is mandatory."  << endl
         << endl
-        << "These are the valid Sdo entry data types:" << endl
+        << "These are the valid SDO entry data types:" << endl
         << "  int8, int16, int32, uint8, uint16, uint32, string." << endl
         << endl
         << "Arguments:" << endl
-        << "  INDEX    is the Sdo index and must be an unsigned" << endl
+        << "  INDEX    is the SDO index and must be an unsigned" << endl
         << "           16 bit number." << endl
-        << "  SUBINDEX is the Sdo entry subindex and must be an" << endl
+        << "  SUBINDEX is the SDO entry subindex and must be an" << endl
         << "           unsigned 8 bit number." << endl
         << endl
         << "Command-specific options:" << endl
         << "  --alias    -a <alias>" << endl
         << "  --position -p <pos>    Slave selection. See the help of" << endl
         << "                         the 'slaves' command." << endl
-        << "  --type     -t <type>   Sdo entry data type (see above)." << endl
+        << "  --type     -t <type>   SDO entry data type (see above)." << endl
         << endl
         << numericInfo();
 
@@ -76,7 +76,7 @@ void CommandUpload::execute(MasterDevice &m, const StringVector &args)
         >> resetiosflags(ios::basefield) // guess base from prefix
         >> data.sdo_index;
     if (strIndex.fail()) {
-        err << "Invalid Sdo index '" << args[0] << "'!";
+        err << "Invalid SDO index '" << args[0] << "'!";
         throwInvalidUsageException(err);
     }
 
@@ -85,7 +85,7 @@ void CommandUpload::execute(MasterDevice &m, const StringVector &args)
         >> resetiosflags(ios::basefield) // guess base from prefix
         >> uval;
     if (strSubIndex.fail() || uval > 0xff) {
-        err << "Invalid Sdo subindex '" << args[1] << "'!";
+        err << "Invalid SDO subindex '" << args[1] << "'!";
         throwInvalidUsageException(err);
     }
     data.sdo_entry_subindex = uval;
@@ -109,12 +109,12 @@ void CommandUpload::execute(MasterDevice &m, const StringVector &args)
             m.getSdoEntry(&entry, data.slave_position,
                     data.sdo_index, data.sdo_entry_subindex);
         } catch (MasterDeviceException &e) {
-            err << "Failed to determine Sdo entry data type. "
+            err << "Failed to determine SDO entry data type. "
                 << "Please specify --type.";
             throwCommandException(err);
         }
         if (!(dataType = findDataType(entry.data_type))) {
-            err << "Pdo entry has unknown data type 0x"
+            err << "PDO entry has unknown data type 0x"
                 << hex << setfill('0') << setw(4) << entry.data_type << "!"
                 << " Please specify --type.";
             throwCommandException(err);
@@ -133,7 +133,7 @@ void CommandUpload::execute(MasterDevice &m, const StringVector &args)
 		m.sdoUpload(&data);
 	} catch (MasterDeviceSdoAbortException &e) {
         delete [] data.target;
-        err << "Sdo transfer aborted with code 0x"
+        err << "SDO transfer aborted with code 0x"
             << setfill('0') << hex << setw(8) << e.abortCode
             << ": " << abortText(e.abortCode);
         throwCommandException(err);

tool/CommandXml.cpp

@@ -28,9 +28,9 @@ string CommandXml::helpString() const
         << endl
         << getBriefDescription() << endl
         << endl
-        << "Note that the Pdo information can either originate" << endl
+        << "Note that the PDO information can either originate" << endl
         << "from the SII or from the CoE communication area. For" << endl
-        << "slaves, that support configuring Pdo assignment and" << endl
+        << "slaves, that support configuring PDO assignment and" << endl
         << "mapping, the output depends on the last configuration." << endl
         << endl
         << "Command-specific options:" << endl
@@ -111,7 +111,7 @@ void CommandXml::generateSlaveXml(
         for (j = 0; j < sync.pdo_count; j++) {
             m.getPdo(&pdo, slave.position, i, j);
             pdoType = (sync.control_register & 0x04 ? "R" : "T");
-            pdoType += "xPdo";
+            pdoType += "xPdo"; // last 2 letters lowercase in XML!
 
             cout
                 << "          <" << pdoType

tool/MasterDevice.cpp

@@ -107,7 +107,7 @@ void MasterDevice::getConfigPdo(
 
     if (ioctl(fd, EC_IOCTL_CONFIG_PDO, data) < 0) {
         stringstream err;
-        err << "Failed to get slave config Pdo: " << strerror(errno);
+        err << "Failed to get slave config PDO: " << strerror(errno);
         throw MasterDeviceException(err);
     }
 }
@@ -129,7 +129,7 @@ void MasterDevice::getConfigPdoEntry(
 
     if (ioctl(fd, EC_IOCTL_CONFIG_PDO_ENTRY, data) < 0) {
         stringstream err;
-        err << "Failed to get slave config Pdo entry: " << strerror(errno);
+        err << "Failed to get slave config PDO entry: " << strerror(errno);
         throw MasterDeviceException(err);
     }
 }
@@ -147,7 +147,7 @@ void MasterDevice::getConfigSdo(
 
     if (ioctl(fd, EC_IOCTL_CONFIG_SDO, data) < 0) {
         stringstream err;
-        err << "Failed to get slave config Sdo: " << strerror(errno);
+        err << "Failed to get slave config SDO: " << strerror(errno);
         throw MasterDeviceException(err);
     }
 }
@@ -253,7 +253,7 @@ void MasterDevice::getPdo(
 
     if (ioctl(fd, EC_IOCTL_SLAVE_SYNC_PDO, pdo)) {
         stringstream err;
-        err << "Failed to get Pdo: " << strerror(errno);
+        err << "Failed to get PDO: " << strerror(errno);
         throw MasterDeviceException(err);
     }
 }
@@ -275,7 +275,7 @@ void MasterDevice::getPdoEntry(
 
     if (ioctl(fd, EC_IOCTL_SLAVE_SYNC_PDO_ENTRY, entry)) {
         stringstream err;
-        err << "Failed to get Pdo entry: " << strerror(errno);
+        err << "Failed to get PDO entry: " << strerror(errno);
         throw MasterDeviceException(err);
     }
 }
@@ -293,7 +293,7 @@ void MasterDevice::getSdo(
 
     if (ioctl(fd, EC_IOCTL_SLAVE_SDO, sdo)) {
         stringstream err;
-        err << "Failed to get Sdo: " << strerror(errno);
+        err << "Failed to get SDO: " << strerror(errno);
         throw MasterDeviceException(err);
     }
 }
@@ -313,7 +313,7 @@ void MasterDevice::getSdoEntry(
 
     if (ioctl(fd, EC_IOCTL_SLAVE_SDO_ENTRY, entry)) {
         stringstream err;
-        err << "Failed to get Sdo entry: " << strerror(errno);
+        err << "Failed to get SDO entry: " << strerror(errno);
         throw MasterDeviceException(err);
     }
 }
@@ -390,7 +390,7 @@ void MasterDevice::sdoDownload(ec_ioctl_slave_sdo_download_t *data)
         if (errno == EIO && data->abort_code) {
             throw MasterDeviceSdoAbortException(data->abort_code);
         } else {
-            err << "Failed to download Sdo: " << strerror(errno);
+            err << "Failed to download SDO: " << strerror(errno);
             throw MasterDeviceException(err);
         }
 	}
@@ -405,7 +405,7 @@ void MasterDevice::sdoUpload(ec_ioctl_slave_sdo_upload_t *data)
         if (errno == EIO && data->abort_code) {
             throw MasterDeviceSdoAbortException(data->abort_code);
         } else {
-            err << "Failed to upload Sdo: " << strerror(errno);
+            err << "Failed to upload SDO: " << strerror(errno);
             throw MasterDeviceException(err);
         }
     }

tool/MasterDevice.h

@@ -46,7 +46,7 @@ class MasterDeviceSdoAbortException:
     protected:
         /** Constructor with stringstream parameter. */
         MasterDeviceSdoAbortException(uint32_t code):
-            MasterDeviceException("Sdo transfer aborted.") {
+            MasterDeviceException("SDO transfer aborted.") {
                 abortCode = code;
             };
 };

tool/SdoCommand.cpp

@@ -70,24 +70,24 @@ const SdoCommand::DataType SdoCommand::dataTypes[] = {
 
 /*****************************************************************************/
 
-/** Sdo abort messages.
+/** SDO abort messages.
  *
- * The "Abort Sdo transfer request" supplies an abort code, which can be
+ * The "Abort SDO transfer request" supplies an abort code, which can be
  * translated to clear text. This table does the mapping of the codes and
  * messages.
  */
 const SdoCommand::AbortMessage SdoCommand::abortMessages[] = {
     {0x05030000, "Toggle bit not changed"},
-    {0x05040000, "Sdo protocol timeout"},
+    {0x05040000, "SDO protocol timeout"},
     {0x05040001, "Client/Server command specifier not valid or unknown"},
     {0x05040005, "Out of memory"},
     {0x06010000, "Unsupported access to an object"},
     {0x06010001, "Attempt to read a write-only object"},
     {0x06010002, "Attempt to write a read-only object"},
     {0x06020000, "This object does not exist in the object directory"},
-    {0x06040041, "The object cannot be mapped into the Pdo"},
+    {0x06040041, "The object cannot be mapped into the PDO"},
     {0x06040042, "The number and length of the objects to be mapped would"
-     " exceed the Pdo length"},
+     " exceed the PDO length"},
     {0x06040043, "General parameter incompatibility reason"},
     {0x06040047, "Gerneral internal incompatibility in device"},
     {0x06060000, "Access failure due to a hardware error"},