Merge pull request OpenEtherCATsociety#256 from claudioscordino/upstr…

…eam-new

Clean up comments, EC_PRINT and thread usage.

.gitignore

@@ -3,3 +3,4 @@ install
 *~
 /doc/latex
 /doc/html
+tags

README.md

@@ -29,6 +29,12 @@ Linux
    * `cmake ..`
    * `make`
 
+Documentation
+-------------
+
+See https://openethercatsociety.github.io/doc/soem/
+
+
 Want to contribute to SOEM or SOES?
 -----------------------------------
 

doc/soem.dox

@@ -10,7 +10,7 @@
  * how an EtherCAT master functions and how it interacts with EtherCAT slaves.
  *
  * As all applications are different SOEM tries to not impose any design architecture.
- * Under Linux it can be used in generic user mode, PREEMPT_RT or Xenomai. under Windows
+ * Under Linux it can be used in generic user mode, PREEMPT_RT or Xenomai. Under Windows
  * it can be used as user mode program.
  *
  * Preconditions Linux:
@@ -45,7 +45,7 @@
  * - Distributed Clock (DC) support.
  * - Automatic configuration of DC slaves.
  * - Automatic sync of clocks with process data exchange.
- * - Flexible settting of sync0 and sync1 firing per slave.
+ * - Flexible setting of sync0 and sync1 firing per slave.
  * - Access to slave functions through one slave structure.
  * - EEPROM read / write.
  * - Local cache for EEPROM access with automatic 4/8 byte reading.
@@ -63,7 +63,7 @@
  * - SYNC1 generation supported.
  *
  * Features as of 1.2.0 :
- * - Changed license to GPLv2 only. Adresses leagal concerns about master licensing.
+ * - Changed license to GPLv2 only. Addresses legal concerns about master licensing.
  * - Slave init and process data mapping is split in two functions. This allows
  * dynamic user reconfiguration of PDO mapping.
  * - Eeprom transfer to and from PDI
@@ -93,7 +93,7 @@
  * Features as of 1.2.8 :
  * - Changed directory structure.
  * - Changed make file.
- * - Moved hardware / OS dependend part in separate directories.
+ * - Moved hardware / OS dependent part in separate directories.
  * - Added firm_update tool to upload firmware to slaves in Boot state, use with care.
  * - Added DC for LRD/LWR case.
  * - Separated expectedWKC to inputsWKC and outputsWKC.

osal/intime/osal_defs.h

@@ -11,6 +11,15 @@ extern "C"
 {
 #endif
 
+// define if debug printf is needed
+//#define EC_DEBUG
+
+#ifdef EC_DEBUG
+#define EC_PRINT printf
+#else
+#define EC_PRINT(...) do {} while (0)
+#endif
+
 #ifndef PACKED
     #ifdef _MSC_VER
     #define PACKED_BEGIN __pragma(pack(push, 1))

osal/linux/osal.c

@@ -17,7 +17,7 @@ int osal_usleep (uint32 usec)
    struct timespec ts;
    ts.tv_sec = usec / USECS_PER_SEC;
    ts.tv_nsec = (usec % USECS_PER_SEC) * 1000;
-   /* usleep is depricated, use nanosleep instead */
+   /* usleep is deprecated, use nanosleep instead */
    return nanosleep(&ts, NULL);
 }
 

osal/linux/osal_defs.h

@@ -11,6 +11,15 @@ extern "C"
 {
 #endif
 
+// define if debug printf is needed
+//#define EC_DEBUG
+
+#ifdef EC_DEBUG
+#define EC_PRINT printf
+#else
+#define EC_PRINT(...) do {} while (0)
+#endif
+
 #ifndef PACKED
 #define PACKED_BEGIN
 #define PACKED  __attribute__((__packed__))

osal/rtems/osal.c

@@ -17,7 +17,7 @@ int osal_usleep (uint32 usec)
    struct timespec ts;
    ts.tv_sec = usec / USECS_PER_SEC;
    ts.tv_nsec = (usec % USECS_PER_SEC) * 1000;
-   /* usleep is depricated, use nanosleep instead */
+   /* usleep is deprecated, use nanosleep instead */
    return nanosleep(&ts, NULL);
 }
 

osal/rtems/osal_defs.h

@@ -11,6 +11,15 @@ extern "C"
 {
 #endif
 
+// define if debug printf is needed
+//#define EC_DEBUG
+
+#ifdef EC_DEBUG
+#define EC_PRINT printf
+#else
+#define EC_PRINT(...) do {} while (0)
+#endif
+
 #ifndef PACKED
 #define PACKED_BEGIN
 #define PACKED  __attribute__((__packed__))

osal/rtk/osal_defs.h

@@ -11,6 +11,15 @@ extern "C"
 {
 #endif
 
+// define if debug printf is needed
+//#define EC_DEBUG
+
+#ifdef EC_DEBUG
+#define EC_PRINT printf
+#else
+#define EC_PRINT(...) do {} while (0)
+#endif
+
 #ifndef PACKED
 #define PACKED_BEGIN
 #define PACKED  __attribute__((__packed__))

osal/vxworks/osal_defs.h

@@ -6,6 +6,15 @@
 #ifndef _osal_defs_
 #define _osal_defs_
 
+// define if debug printf is needed
+//#define EC_DEBUG
+
+#ifdef EC_DEBUG
+#define EC_PRINT printf
+#else
+#define EC_PRINT(...) do {} while (0)
+#endif
+
 #ifndef PACKED
 #define PACKED_BEGIN
 #define PACKED  __attribute__((__packed__))

osal/win32/osal_defs.h

@@ -11,6 +11,15 @@ extern "C"
 {
 #endif
 
+// define if debug printf is needed
+//#define EC_DEBUG
+
+#ifdef EC_DEBUG
+#define EC_PRINT printf
+#else
+#define EC_PRINT(...) do {} while (0)
+#endif
+
 #ifndef PACKED
 #define PACKED_BEGIN __pragma(pack(push, 1))
 #define PACKED

oshw/intime/nicdrv.c

@@ -8,10 +8,10 @@
  * EtherCAT RAW socket driver.
  *
  * Low level interface functions to send and receive EtherCAT packets.
- * EtherCAT has the property that packets are only send by the master,
- * and the send packets always return in the receive buffer.
+ * EtherCAT has the property that packets are only sent by the master,
+ * and the sent packets always return in the receive buffer.
  * There can be multiple packets "on the wire" before they return.
- * To combine the received packets with the original send packets a buffer
+ * To combine the received packets with the original sent packets a buffer
  * system is installed. The identifier is put in the index item of the
  * EtherCAT header. The index is stored and compared when a frame is received.
  * If there is a match the packet can be combined with the transmit packet
@@ -46,7 +46,7 @@ enum
 {
    /** No redundancy, single NIC mode */
    ECT_RED_NONE,
-   /** Double redundant NIC connecetion */
+   /** Double redundant NIC connection */
    ECT_RED_DOUBLE
 };
 
@@ -246,7 +246,7 @@ int ecx_closenic(ecx_portt *port)
    return 0;
 }
 
-/** Fill buffer with ethernet header structure.
+/** Fill buffer with Ethernet header structure.
  * Destination MAC is always broadcast.
  * Ethertype is always ETH_P_ECAT.
  * @param[out] p = buffer
@@ -459,7 +459,7 @@ static int ecx_recvpkt(ecx_portt *port, int stacknumber)
 /** Non blocking receive frame function. Uses RX buffer and index to combine
  * read frame with transmitted frame. To compensate for received frames that
  * are out-of-order all frames are stored in their respective indexed buffer.
- * If a frame was placed in the buffer previously, the function retreives it
+ * If a frame was placed in the buffer previously, the function retrieves it
  * from that buffer index without calling ec_recvpkt. If the requested index
  * is not already in the buffer it calls ec_recvpkt to fetch it. There are
  * three options now, 1 no frame read, so exit. 2 frame read but other
@@ -515,7 +515,7 @@ int ecx_inframe(ecx_portt *port, int idx, int stacknumber)
             ecp =(ec_comt*)(&(*stack->tempbuf)[ETH_HEADERSIZE]);
             l = etohs(ecp->elength) & 0x0fff;
             idxf = ecp->index;
-            /* found index equals reqested index ? */
+            /* found index equals requested index ? */
             if (idxf == idx)
             {
                /* yes, put it in the buffer array (strip ethernet header) */
@@ -545,7 +545,7 @@ int ecx_inframe(ecx_portt *port, int idx, int stacknumber)
       ReleaseRtControl();
    }
 
-   /* WKC if mathing frame found */
+   /* WKC if matching frame found */
    return rval;
 }
 
@@ -591,10 +591,10 @@ static int ecx_waitinframe_red(ecx_portt *port, int idx, osal_timert *timer)
    /* only do redundant functions when in redundant mode */
    if (port->redstate != ECT_RED_NONE)
    {
-      /* primrx if the reveived MAC source on primary socket */
+      /* primrx if the received MAC source on primary socket */
       primrx = 0;
       if (wkc > EC_NOFRAME) primrx = port->rxsa[idx];
-      /* secrx if the reveived MAC source on psecondary socket */
+      /* secrx if the received MAC source on psecondary socket */
       secrx = 0;
       if (wkc2 > EC_NOFRAME) secrx = port->redport->rxsa[idx];
 
@@ -670,7 +670,7 @@ int ecx_waitinframe(ecx_portt *port, int idx, int timeout)
    return wkc;
 }
 
-/** Blocking send and recieve frame function. Used for non processdata frames.
+/** Blocking send and receive frame function. Used for non processdata frames.
  * A datagram is build into a frame and transmitted via this function. It waits
  * for an answer and returns the workcounter. The function retries if time is
  * left and the result is WKC=0 or no frame received.

oshw/intime/nicdrv.h

@@ -67,7 +67,7 @@ typedef struct
    int            tempinbufs;
    /** transmit buffers */
    ec_bufT        txbuf[EC_MAXBUF];
-   /** transmit buffer lenghts */
+   /** transmit buffer lengths */
    int            txbuflength[EC_MAXBUF];
    /** temporary tx buffer */
    ec_bufT        txbuf2;

oshw/linux/nicdrv.c

@@ -52,7 +52,7 @@ enum
 {
    /** No redundancy, single NIC mode */
    ECT_RED_NONE,
-   /** Double redundant NIC connecetion */
+   /** Double redundant NIC connection */
    ECT_RED_DOUBLE
 };
 
@@ -357,7 +357,7 @@ static int ecx_recvpkt(ecx_portt *port, int stacknumber)
 /** Non blocking receive frame function. Uses RX buffer and index to combine
  * read frame with transmitted frame. To compensate for received frames that
  * are out-of-order all frames are stored in their respective indexed buffer.
- * If a frame was placed in the buffer previously, the function retreives it
+ * If a frame was placed in the buffer previously, the function retrieves it
  * from that buffer index without calling ec_recvpkt. If the requested index
  * is not already in the buffer it calls ec_recvpkt to fetch it. There are
  * three options now, 1 no frame read, so exit. 2 frame read but other
@@ -413,7 +413,7 @@ int ecx_inframe(ecx_portt *port, int idx, int stacknumber)
             ecp =(ec_comt*)(&(*stack->tempbuf)[ETH_HEADERSIZE]);
             l = etohs(ecp->elength) & 0x0fff;
             idxf = ecp->index;
-            /* found index equals reqested index ? */
+            /* found index equals requested index ? */
             if (idxf == idx)
             {
                /* yes, put it in the buffer array (strip ethernet header) */
@@ -439,7 +439,7 @@ int ecx_inframe(ecx_portt *port, int idx, int stacknumber)
                }
                else
                {
-                  /* strange things happend */
+                  /* strange things happened */
                }
             }
          }
@@ -448,7 +448,7 @@ int ecx_inframe(ecx_portt *port, int idx, int stacknumber)
 
    }
 
-   /* WKC if mathing frame found */
+   /* WKC if matching frame found */
    return rval;
 }
 
@@ -491,10 +491,10 @@ static int ecx_waitinframe_red(ecx_portt *port, int idx, osal_timert *timer)
    /* only do redundant functions when in redundant mode */
    if (port->redstate != ECT_RED_NONE)
    {
-      /* primrx if the reveived MAC source on primary socket */
+      /* primrx if the received MAC source on primary socket */
       primrx = 0;
       if (wkc > EC_NOFRAME) primrx = port->rxsa[idx];
-      /* secrx if the reveived MAC source on psecondary socket */
+      /* secrx if the received MAC source on psecondary socket */
       secrx = 0;
       if (wkc2 > EC_NOFRAME) secrx = port->redport->rxsa[idx];
 
@@ -563,7 +563,7 @@ int ecx_waitinframe(ecx_portt *port, int idx, int timeout)
    return wkc;
 }
 
-/** Blocking send and recieve frame function. Used for non processdata frames.
+/** Blocking send and receive frame function. Used for non processdata frames.
  * A datagram is build into a frame and transmitted via this function. It waits
  * for an answer and returns the workcounter. The function retries if time is
  * left and the result is WKC=0 or no frame received.
@@ -591,7 +591,7 @@ int ecx_srconfirm(ecx_portt *port, int idx, int timeout)
       }
       else
       {
-         /* normally use partial timout for rx */
+         /* normally use partial timeout for rx */
          osal_timer_start (&timer2, EC_TIMEOUTRET);
       }
       /* get frame from primary or if in redundant mode possibly from secondary */

oshw/linux/nicdrv.h

@@ -69,7 +69,7 @@ typedef struct
    int tempinbufs;
    /** transmit buffers */
    ec_bufT txbuf[EC_MAXBUF];
-   /** transmit buffer lenghts */
+   /** transmit buffer lengths */
    int txbuflength[EC_MAXBUF];
    /** temporary tx buffer */
    ec_bufT txbuf2;

oshw/linux/oshw.c

@@ -50,7 +50,7 @@ ec_adaptert * oshw_find_adapters(void)
 
 
    /* Iterate all devices and create a local copy holding the name and
-    * decsription.
+    * description.
     */
 
    ids = if_nameindex ();
@@ -70,7 +70,7 @@ ec_adaptert * oshw_find_adapters(void)
          ret_adapter = adapter;
       }
 
-      /* fetch description and name, in linux we use the same on both */
+      /* fetch description and name, in Linux we use the same on both */
       adapter->next = NULL;
 
       if (ids[i].if_name)
@@ -106,7 +106,7 @@ ec_adaptert * oshw_find_adapters(void)
 void oshw_free_adapters(ec_adaptert * adapter)
 {
    ec_adaptert * next_adapter;
-   /* Iterate the linked list and free all elemnts holding
+   /* Iterate the linked list and free all elements holding
     * adapter information
     */
    if(adapter)