diff --git a/include/ecrt.h b/include/ecrt.h
index dc260602517e28b304f2e100be66ab715761b370..83f120b8b3b65b5d1619727699c22d7d6524697b 100644
--- a/include/ecrt.h
+++ b/include/ecrt.h
@@ -297,10 +297,10 @@ typedef struct {
uint8_t subindex; /**< Pdo entry subindex. */
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. */
+ 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. */
} ec_pdo_entry_reg_t;
/*****************************************************************************/
@@ -328,13 +328,24 @@ unsigned int ecrt_version_magic(void);
/** Requests an EtherCAT master for realtime operation.
*
- * \return pointer to reserved master, or NULL on error
+ * Before an application can access an EtherCAT master, it has to reserve one
+ * for exclusive use.
+ *
+ * This function has to be the first function an application has to call to
+ * use EtherCAT. The function takes the index of the master as its argument.
+ * The first master has index 0, the n-th master has index n - 1. The number
+ * of masters has to be specified when loading the master module.
+ *
+ * \return Pointer to reserved master, or \a NULL on error.
*/
ec_master_t *ecrt_request_master(
unsigned int master_index /**< Index of the master to request. */
);
/** Releases a requested EtherCAT master.
+ *
+ * After use, a master it has to be released to make it available for other
+ * applications.
*/
void ecrt_release_master(
ec_master_t *master /**< EtherCAT master */
@@ -345,10 +356,16 @@ void ecrt_release_master(
*****************************************************************************/
/** Sets the locking callbacks.
+ *
+ * For concurrent master access, the application has to provide a locking
+ * mechanism (see section FIXME in the docs). The method takes two function
+ * pointers and a data value as its parameters. The arbitrary \a cb_data value
+ * will be passed as argument on every callback. Asynchronous master access
+ * (like EoE processing) is only possible if the callbacks have been set.
*
* The request_cb function must return zero, to allow another instance
- * (the EoE process for example) to access the master. Non-zero means,
- * that access is forbidden at this time.
+ * (an EoE process for example) to access the master. Non-zero means,
+ * that access is currently forbidden.
*/
void ecrt_master_callbacks(
ec_master_t *master, /**< EtherCAT master */
@@ -357,7 +374,12 @@ void ecrt_master_callbacks(
void *cb_data /**< Arbitrary user data. */
);
-/** Creates a new domain.
+/** Creates a new process data domain.
+ *
+ * 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
+ * exchanging them in cyclic operation.
*
* \return Pointer to the new domain on success, else NULL.
*/
@@ -422,8 +444,11 @@ int ecrt_master_activate(
/** Sends all datagrams in the queue.
*
- * This has to be called cyclically by the realtime application after
- * ecrt_master_activate() has returned.
+ * This method takes all datagrams, that have been queued for transmission,
+ * puts them into frames, and passes them to the Ethernet device for sending.
+ *
+ * Has to be called cyclically by the application after ecrt_master_activate()
+ * has returned.
*/
void ecrt_master_send(
ec_master_t *master /**< EtherCAT master. */
@@ -431,7 +456,12 @@ void ecrt_master_send(
/** Fetches received frames from the hardware and processes the datagrams.
*
- * This has to be called cyclically by the realtime application after
+ * Queries the network device for received frames by calling the interrupt
+ * service routine. Extracts received datagrams and dispatches the results to
+ * the datagram objects in the queue. Received datagrams, and the ones that
+ * timed out, will be marked, and dequeued.
+ *
+ * Has to be called cyclically by the realtime application after
* ecrt_master_activate() has returned.
*/
void ecrt_master_receive(
diff --git a/master/cdev.c b/master/cdev.c
index 345de815cfc0aca2a59b13f4ef527748c55f17dd..cba07c02e5aef61def7134bdcc828010dea7a32e 100644
--- a/master/cdev.c
+++ b/master/cdev.c
@@ -1195,6 +1195,8 @@ int ec_cdev_ioctl_config_sdo(
* File operations
*****************************************************************************/
+/** Called when the cdev is opened.
+ */
int eccdev_open(struct inode *inode, struct file *filp)
{
ec_cdev_t *cdev = container_of(inode->i_cdev, ec_cdev_t, cdev);
@@ -1208,6 +1210,8 @@ int eccdev_open(struct inode *inode, struct file *filp)
/*****************************************************************************/
+/** Called when the cdev is closed.
+ */
int eccdev_release(struct inode *inode, struct file *filp)
{
ec_cdev_t *cdev = (ec_cdev_t *) filp->private_data;
@@ -1220,6 +1224,8 @@ int eccdev_release(struct inode *inode, struct file *filp)
/*****************************************************************************/
+/** Called when an ioctl() command is issued.
+ */
long eccdev_ioctl(struct file *filp, unsigned int cmd, unsigned long arg)
{
ec_cdev_t *cdev = (ec_cdev_t *) filp->private_data;
diff --git a/master/domain.c b/master/domain.c
index b382cce5466e914a4f0710f1971f0291d695921c..59db4f38ae922c6fd662940c5e443c8083f4aef5 100644
--- a/master/domain.c
+++ b/master/domain.c
@@ -277,6 +277,8 @@ int ec_domain_finish(
/*****************************************************************************/
+/** Get the number of FMMU configurations of the domain.
+ */
unsigned int ec_domain_fmmu_count(const ec_domain_t *domain)
{
const ec_fmmu_config_t *fmmu;
@@ -291,15 +293,17 @@ unsigned int ec_domain_fmmu_count(const ec_domain_t *domain)
/*****************************************************************************/
+/** Get a certain FMMU configuration via its position in the list.
+ */
const ec_fmmu_config_t *ec_domain_find_fmmu(
- const ec_domain_t *domain,
- unsigned int index
+ const ec_domain_t *domain, /**< EtherCAT domain. */
+ unsigned int pos /**< List position. */
)
{
const ec_fmmu_config_t *fmmu;
list_for_each_entry(fmmu, &domain->fmmu_configs, list) {
- if (index--)
+ if (pos--)
continue;
return fmmu;
}
diff --git a/master/fsm_coe.c b/master/fsm_coe.c
index 714f33c5664ac71fa6e841efe289aef813cec0a5..1fd3e779624c838dee7605617a524f177225743e 100644
--- a/master/fsm_coe.c
+++ b/master/fsm_coe.c
@@ -231,7 +231,11 @@ int ec_fsm_coe_success(ec_fsm_coe_t *fsm /**< Finite state machine */)
/*****************************************************************************/
-/**
+/** Check if the received data are a CoE emergency request.
+ *
+ * If the check is positive, the emergency request is output.
+ *
+ * \return The data were an emergency request.
*/
int ec_fsm_coe_check_emergency(
ec_fsm_coe_t *fsm, /**< Finite state machine */
diff --git a/master/master.c b/master/master.c
index 01be661802b87b74ae18d6624519d0ca834add90..27184edd126e04d232c0d36db1950fb42fd2dac4 100644
--- a/master/master.c
+++ b/master/master.c
@@ -1072,6 +1072,10 @@ const ec_slave_t *ec_master_find_slave_const(
/*****************************************************************************/
+/** Get the number of slave configurations provided by the application.
+ *
+ * \return Number of configurations.
+ */
unsigned int ec_master_config_count(
const ec_master_t *master /**< EtherCAT master. */
)
@@ -1088,15 +1092,21 @@ unsigned int ec_master_config_count(
/*****************************************************************************/
+/** Get a slave configuration via its position in the list.
+ *
+ * Const version.
+ *
+ * \return Slave configuration or \a NULL.
+ */
const ec_slave_config_t *ec_master_get_config_const(
const ec_master_t *master, /**< EtherCAT master. */
- unsigned int index /**< List position. */
+ unsigned int pos /**< List position. */
)
{
const ec_slave_config_t *sc;
list_for_each_entry(sc, &master->configs, list) {
- if (index--)
+ if (pos--)
continue;
return sc;
}
@@ -1106,6 +1116,10 @@ const ec_slave_config_t *ec_master_get_config_const(
/*****************************************************************************/
+/** Get the number of domains.
+ *
+ * \return Number of domains.
+ */
unsigned int ec_master_domain_count(
const ec_master_t *master /**< EtherCAT master. */
)
@@ -1136,6 +1150,10 @@ unsigned int ec_master_domain_count(
return NULL; \
} while (0)
+/** Get a domain via its position in the list.
+ *
+ * \return Domain pointer, or \a NULL if not found.
+ */
ec_domain_t *ec_master_find_domain(
ec_master_t *master, /**< EtherCAT master. */
unsigned int index /**< Domain index. */
@@ -1145,6 +1163,12 @@ ec_domain_t *ec_master_find_domain(
EC_FIND_DOMAIN;
}
+/** Get a domain via its position in the list.
+ *
+ * Const version.
+ *
+ * \return Domain pointer, or \a NULL if not found.
+ */
const ec_domain_t *ec_master_find_domain_const(
const ec_master_t *master, /**< EtherCAT master. */
unsigned int index /**< Domain index. */
@@ -1156,9 +1180,14 @@ const ec_domain_t *ec_master_find_domain_const(
/*****************************************************************************/
+/** Set the debug level.
+ *
+ * \retval 0 Success.
+ * \retval -1 Invalid debug level.
+ */
int ec_master_debug_level(
- ec_master_t *master,
- int level
+ ec_master_t *master, /**< EtherCAT master. */
+ int level /**< Debug level. May be 0, 1 or 2. */
)
{
if (level < 0 || level > 2) {
diff --git a/master/pdo.c b/master/pdo.c
index ee3a8dc49a1b0bf4f1af9459f19c0184c33caba2..1e58732f1160d29201bf763e7737d1f1e93b8cac 100644
--- a/master/pdo.c
+++ b/master/pdo.c
@@ -227,7 +227,9 @@ int ec_pdo_equal_entries(
/*****************************************************************************/
-/**
+/** Get the number of Pdo entries.
+ *
+ * \return Number of Pdo entries.
*/
unsigned int ec_pdo_entry_count(
const ec_pdo_t *pdo /**< Pdo. */
diff --git a/master/pdo_list.c b/master/pdo_list.c
index 21555e24beb79f8e4d6802eba81f514105ad8343..ae69a7501a3f1cea2f4bdabea0dfbcea446d1ec1 100644
--- a/master/pdo_list.c
+++ b/master/pdo_list.c
@@ -299,7 +299,9 @@ const ec_pdo_t *ec_pdo_list_find_pdo_by_pos_const(
/*****************************************************************************/
-/**
+/** Get the number of Pdos in the list.
+ *
+ * \return Number of Pdos.
*/
unsigned int ec_pdo_list_count(
const ec_pdo_list_t *pl /**< Pdo list. */
diff --git a/master/sdo_entry.h b/master/sdo_entry.h
index d53e3b0720a790069e2a759ca1f49f2a4024f124..42167020ce1c2547da35a4bff36ecb3154225f81 100644
--- a/master/sdo_entry.h
+++ b/master/sdo_entry.h
@@ -49,7 +49,7 @@
/*****************************************************************************/
struct ec_sdo;
-typedef struct ec_sdo ec_sdo_t;
+typedef struct ec_sdo ec_sdo_t; /**< \see ec_sdo. */
/*****************************************************************************/
diff --git a/master/slave.h b/master/slave.h
index c403535d6ed735d1b2b63552caa00dab0dc979a5..c52fc874ac753e4e5df9c7fbb55a9e5d2474e766 100644
--- a/master/slave.h
+++ b/master/slave.h
@@ -128,7 +128,7 @@ struct ec_slave
uint16_t base_fmmu_count; /**< Number of supported FMMUs. */
// data link status
- ec_slave_port_t ports[EC_MAX_PORTS];
+ ec_slave_port_t ports[EC_MAX_PORTS]; /**< Port link status. */
// SII
uint16_t *sii_words; /**< Complete SII image. */
diff --git a/master/slave_config.c b/master/slave_config.c
index 7393e2fcd1aca90627540720062605867a535f63..11cb48bbe713eb9d1ee1c8a515b40ed815b28147 100644
--- a/master/slave_config.c
+++ b/master/slave_config.c
@@ -312,6 +312,10 @@ void ec_slave_config_load_default_mapping(
/*****************************************************************************/
+/** Get the number of Sdo configurations.
+ *
+ * \return Number of Sdo configurations.
+ */
unsigned int ec_slave_config_sdo_count(
const ec_slave_config_t *sc /**< Slave configuration. */
)