diff --git a/TODO b/TODO
index 009f90f81133809c5ae5e8d675bd40f0d5b58cf0..8d747c6a0d7751c1655f9b4c42f4c196fbb76674 100644
--- a/TODO
+++ b/TODO
@@ -8,6 +8,12 @@ $Id$
Important things to do:
+* Add Kobjects in constructors.
+
+* Read AL Status Code with AL Control Response.
+
+* Coupling of EoE handlers before configuring slaves.
+
* SysFS interface
- Add secondary slave address
- Add SDO dictionary
diff --git a/master/domain.c b/master/domain.c
index a5e88d7633a966d121c24aa3349b23bf6ad615c1..7ba7bd5fb4557409e9630ae406f15219f26ab2a0 100644
--- a/master/domain.c
+++ b/master/domain.c
@@ -153,7 +153,7 @@ void ec_domain_clear(struct kobject *kobj /**< kobject of the domain */)
/*****************************************************************************/
/**
- Registeres a data field in a domain.
+ Registeres a PDO entry.
\return 0 in case of success, else < 0
*/
@@ -227,7 +227,7 @@ int ec_domain_reg_pdo_entry(ec_domain_t *domain, /**< EtherCAT domain */
/*****************************************************************************/
/**
- Clears the list of the registered data fields.
+ Clears the list of the data registrations.
*/
void ec_domain_clear_data_regs(ec_domain_t *domain /**< EtherCAT domain */)
diff --git a/master/ethernet.c b/master/ethernet.c
index eb1f30c45b08f183755bbdbd7b10650ef534747b..c56a97d60b3dc2ac0dca63f3749844097e676898 100644
--- a/master/ethernet.c
+++ b/master/ethernet.c
@@ -303,7 +303,7 @@ void ec_eoe_run(ec_eoe_t *eoe /**< EoE handler */)
\return 1 if the device is "up", 0 if it is "down"
*/
-unsigned int ec_eoe_active(const ec_eoe_t *eoe /**< EoE handler */)
+int ec_eoe_active(const ec_eoe_t *eoe /**< EoE handler */)
{
return eoe->slave && eoe->opened;
}
diff --git a/master/ethernet.h b/master/ethernet.h
index 7b2692182ba13f78da124bfeff2c3c6f89e1ba2f..3ae644edb4c48a0845ec8a03de452726f5d11cf3 100644
--- a/master/ethernet.h
+++ b/master/ethernet.h
@@ -78,10 +78,13 @@ struct ec_eoe
struct net_device *dev; /**< net_device for virtual ethernet device */
struct net_device_stats stats; /**< device statistics */
unsigned int opened; /**< net_device is opened */
+ cycles_t t_last; /**< time of last rate output */
struct sk_buff *rx_skb; /**< current rx socket buffer */
off_t rx_skb_offset; /**< current write pointer in the socket buffer */
size_t rx_skb_size; /**< size of the allocated socket buffer memory */
uint8_t rx_expected_fragment; /**< next expected fragment number */
+ uint32_t rx_counter; /**< octets received during last second */
+ uint32_t rx_rate; /**< receive rate (bps) */
struct list_head tx_queue; /**< queue for frames to send */
unsigned int tx_queue_active; /**< kernel netif queue started */
unsigned int tx_queued_frames; /**< number of frames in the queue */
@@ -90,11 +93,8 @@ struct ec_eoe
uint8_t tx_frame_number; /**< number of the transmitted frame */
uint8_t tx_fragment_number; /**< number of the fragment */
size_t tx_offset; /**< number of octets sent */
- uint32_t rx_counter; /**< octets received during last second */
uint32_t tx_counter; /**< octets transmitted during last second */
- uint32_t rx_rate; /**< receive rate (bps) */
uint32_t tx_rate; /**< transmit rate (bps) */
- cycles_t t_last; /**< time of last output */
};
/*****************************************************************************/
@@ -102,6 +102,6 @@ struct ec_eoe
int ec_eoe_init(ec_eoe_t *);
void ec_eoe_clear(ec_eoe_t *);
void ec_eoe_run(ec_eoe_t *);
-unsigned int ec_eoe_active(const ec_eoe_t *);
+int ec_eoe_active(const ec_eoe_t *);
/*****************************************************************************/
diff --git a/master/fsm.c b/master/fsm.c
index 87406b412de1124ee289894399a44e5894c18fa4..ee710e9a40889bba633058d833ec64c92ef4f99e 100644
--- a/master/fsm.c
+++ b/master/fsm.c
@@ -95,7 +95,7 @@ void ec_fsm_change_check_ack(ec_fsm_t *);
void ec_fsm_coe_down_start(ec_fsm_t *);
void ec_fsm_coe_down_request(ec_fsm_t *);
void ec_fsm_coe_down_check(ec_fsm_t *);
-void ec_fsm_coe_down_fetch(ec_fsm_t *);
+void ec_fsm_coe_down_response(ec_fsm_t *);
void ec_fsm_end(ec_fsm_t *);
void ec_fsm_error(ec_fsm_t *);
@@ -2097,16 +2097,16 @@ void ec_fsm_coe_down_check(ec_fsm_t *fsm /**< finite state machine */)
// Fetch response
ec_slave_mbox_prepare_fetch(slave, datagram); // can not fail.
ec_master_queue_datagram(fsm->master, datagram);
- fsm->coe_state = ec_fsm_coe_down_fetch;
+ fsm->coe_state = ec_fsm_coe_down_response;
}
/*****************************************************************************/
/**
- CoE state: DOWN_FETCH.
+ CoE state: DOWN_RESPONSE.
*/
-void ec_fsm_coe_down_fetch(ec_fsm_t *fsm /**< finite state machine */)
+void ec_fsm_coe_down_response(ec_fsm_t *fsm /**< finite state machine */)
{
ec_datagram_t *datagram = &fsm->datagram;
ec_slave_t *slave = fsm->slave;
diff --git a/master/fsm.h b/master/fsm.h
index 784903a1c9080fe3e0548fa67801f61e20dc3c82..a53d352d7349c4d9a7ee9357c5e3bc89580d6c84 100644
--- a/master/fsm.h
+++ b/master/fsm.h
@@ -74,7 +74,7 @@ struct ec_fsm
cycles_t sii_start; /**< sii start */
void (*change_state)(ec_fsm_t *); /**< slave state change state function */
- uint8_t change_new; /**< input: new state */
+ ec_slave_state_t change_new; /**< input: new state */
cycles_t change_start; /**< change start */
void (*coe_state)(ec_fsm_t *); /**< CoE state function */
diff --git a/master/master.c b/master/master.c
index cc1442fca243c4cf69db9f1d0e62ac5000d86f54..20ca6d955fe718ba5d0c0e385c3a32d53e214b86 100644
--- a/master/master.c
+++ b/master/master.c
@@ -723,7 +723,7 @@ ssize_t ec_master_info(ec_master_t *master, /**< EtherCAT master */
break;
}
- off += sprintf(buffer + off, "\n\nNumber of slaves: %i\n",
+ off += sprintf(buffer + off, "\nSlaves: %i\n",
master->slave_count);
off += sprintf(buffer + off, "\nTiming (min/avg/max) [us]:\n");
@@ -755,7 +755,7 @@ ssize_t ec_master_info(ec_master_t *master, /**< EtherCAT master */
min, sum / HZ, (sum * 100 / HZ) % 100, max);
if (!list_empty(&master->eoe_handlers))
- off += sprintf(buffer + off, "\nEoE Statistics (RX/TX) [bps]:\n");
+ off += sprintf(buffer + off, "\nEoE statistics (RX/TX) [bps]:\n");
list_for_each_entry(eoe, &master->eoe_handlers, list) {
off += sprintf(buffer + off, " %s: %u / %u\n",
eoe->dev->name, eoe->rx_rate, eoe->tx_rate);
diff --git a/master/slave.c b/master/slave.c
index 3af72a2d6563963a1a7cedc90704fb22d9c4bd6c..cf77d67ce05796c7b86f319a1ddfd11d6a928afd 100644
--- a/master/slave.c
+++ b/master/slave.c
@@ -521,18 +521,17 @@ size_t ec_slave_info(const ec_slave_t *slave, /**< EtherCAT slave */
if (slave->sii_name)
off += sprintf(buffer + off, "%s", slave->sii_name);
- off += sprintf(buffer + off, "\n\nVendor ID: 0x%08X\n",
+ off += sprintf(buffer + off, "\nVendor ID: 0x%08X\n",
slave->sii_vendor_id);
off += sprintf(buffer + off, "Product code: 0x%08X\n\n",
slave->sii_product_code);
- off += sprintf(buffer + off, "Ring position: %i\n", slave->ring_position);
- off += sprintf(buffer + off, "Advanced position: %i:%i\n\n",
- slave->coupler_index, slave->coupler_subindex);
-
off += sprintf(buffer + off, "State: ");
off += ec_state_string(slave->current_state, buffer + off);
- off += sprintf(buffer + off, "\n\n");
+ off += sprintf(buffer + off, "\nRing position: %i\n",
+ slave->ring_position);
+ off += sprintf(buffer + off, "Advanced position: %i:%i\n\n",
+ slave->coupler_index, slave->coupler_subindex);
off += sprintf(buffer + off, "Data link status:\n");
for (i = 0; i < 4; i++) {
@@ -611,7 +610,7 @@ size_t ec_slave_info(const ec_slave_t *slave, /**< EtherCAT slave */
if (slave->sii_image)
off += sprintf(buffer + off, " Image: %s\n", slave->sii_image);
if (slave->sii_order)
- off += sprintf(buffer + off, " Order#: %s\n", slave->sii_order);
+ off += sprintf(buffer + off, " Order number: %s\n", slave->sii_order);
if (!list_empty(&slave->sii_syncs))
off += sprintf(buffer + off, "\nSync-Managers:\n");
@@ -629,13 +628,13 @@ size_t ec_slave_info(const ec_slave_t *slave, /**< EtherCAT slave */
list_for_each_entry(pdo, &slave->sii_pdos, list) {
off += sprintf(buffer + off,
- " %s \"%s\" (0x%04X), -> Sync-Manager %i\n",
+ " %s \"%s\" (0x%04X), Sync-Manager %i\n",
pdo->type == EC_RX_PDO ? "RXPDO" : "TXPDO",
pdo->name ? pdo->name : "???",
pdo->index, pdo->sync_index);
list_for_each_entry(pdo_entry, &pdo->entries, list) {
- off += sprintf(buffer + off, " \"%s\" 0x%04X:%X, %i Bit\n",
+ off += sprintf(buffer + off, " \"%s\" 0x%04X:%X, %i bit\n",
pdo_entry->name ? pdo_entry->name : "???",
pdo_entry->index, pdo_entry->subindex,
pdo_entry->bit_length);