From 2bacd729f24319783c3a886137f9afad8c816cb8 Mon Sep 17 00:00:00 2001
From: Martin Teichmann <martin.teichmann@xfel.eu>
Date: Wed, 18 Jan 2023 15:59:03 +0100
Subject: [PATCH] clean up documentation
---
ebpfcat/ethercat.py | 36 +++++++++++++++++++++++++++++++++---
ebpfcat/ethercat.rst | 1 -
2 files changed, 33 insertions(+), 4 deletions(-)
diff --git a/ebpfcat/ethercat.py b/ebpfcat/ethercat.py
index 6677da0..078ea3a 100644
--- a/ebpfcat/ethercat.py
+++ b/ebpfcat/ethercat.py
@@ -21,10 +21,20 @@
# users may want to consult a lawyer before using this program.
"""\
-Low-level access to EtherCAT
-============================
+:mod:`ethercat` --- Low-level access to EtherCAT
+================================================
this modules contains the code to actually talk to EtherCAT terminals.
+
+.. autoclass:: EtherCat
+ :members:
+
+.. autoclass:: Terminal
+ :members:
+
+.. autoclass:: Packet
+ :members:
+
"""
from asyncio import ensure_future, Event, Future, gather, get_event_loop, Protocol, Queue, Lock
from enum import Enum
@@ -346,7 +356,27 @@ class EtherCat(Protocol):
class Terminal:
- """Represent one terminal ("slave") in the loop"""
+ """Represent one terminal ("slave") in the loop
+
+ Communication with a terminal is done in several ways: process data, which
+ needs to be updated fast, is directly read or written within one package,
+ the values are directly in the packet, called the process data object, PDO.
+
+ Slower data is transferred as service data objects (SDO). Requests to
+ change them are written into a mailbox, which is a specific location in the
+ packet address space.
+
+ Every terminal has a small EEPROM which contains informations about itself.
+
+ Attributes:
+ ec: The :class:`EtherCat` object this terminal belongs to.
+ This will be set once this terminal is added to such an object.
+ pdo_in_off, pdo_in_sz: The offset and size of the input PDO
+ pdo_out_off, pdo_out_sz: The offset and size of the output PDO
+ mbx_in_off, mbx_in_sz: The offset and size of the input mailbox
+ mbx_out_off, mbx_out_sz: The offset and size of the output mailbox
+
+ """
async def initialize(self, relative, absolute):
"""Initialize the terminal
diff --git a/ebpfcat/ethercat.rst b/ebpfcat/ethercat.rst
index 004991e..a50fa14 100644
--- a/ebpfcat/ethercat.rst
+++ b/ebpfcat/ethercat.rst
@@ -101,4 +101,3 @@ Reference Documentation
:members:
.. automodule:: ebpfcat.ethercat
- :members:
--
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