NEWS
author Florian Pose <fp@igh-essen.com>
Thu, 30 Apr 2009 15:56:53 +0000
changeset 1429 07969876120f
parent 1422 d41e4537b75f
child 1441 27a8d6f97a95
permissions -rw-r--r--
Decimal transmission delay.
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$Id$
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vim: spelllang=en spell
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Changes since 1.4.0:
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* Added a userspace library for accessing the application interface. This
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  library is licensed under LGPLv2.
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* Added distributed clocks support.
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* Added VoE mailbox protocol support.
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* Separated datagram initialization from filling the payload with zeros.
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  Introduced new method ec_datagram_zero() for that.
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* Added phy_read and phy_write commands to ethercat tool.
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* Added driver for Intel PRO/100 NICs.
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* Debug interfaces are created with the Ethernet addresses of the attached
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  physical device.
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* Improved error case return codes of many functions.
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* Added 8139too driver for 2.6.25.
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* Added 8139too driver for 2.6.26, thanks to M. Luescher.
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* Added 8139too driver for 2.6.27, thanks to M. Goetze.
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* Added e1000 driver for 2.6.26, thanks to M. Luescher.
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* Implemented the File Access over EtherCAT (FoE) mailbox protocol, thanks to
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  O. Zarges.
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* Going to the Bootstrap state is now supported by the state machines and the
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  command-line tool.
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* Introduced ecrt_master_slave() to get information about a certain slave.
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* SDO entry access rights are shown in 'ethercat sdos'.
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* Added 64-bit data access macros to application header.
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* Added debug level for all masters as a module parameter. Thanks to Erwin
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  Burgstaller.
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* Clear slave list on link down.
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* Output device link state in 'ethercat master'.
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* Added 'ethercat graph' command which outputs the bus topology in
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  DOT language.
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Changes in 1.4.0:
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* Fixed race condition in jiffy-based frame timeout calculation.
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* Fixed race condition concerning the ec_slave_config_state->operational flag.
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* Fixed wrong calculation of the expected working counter if the process data
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  of a domain span several datagrams.
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* Fixed a kernel oops when a slave configuration is detached while the actual
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  configuration is in progress.
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* Fixed typo in logging output.
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* Removed 'bashisms' from init script ('function' keyword).
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* Fixed bug in e1000 drivers. Memory was allocated when sending the first
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  frame.
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* Modified licence headers to avoid conflicts with the GPL.
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* Restricted licence to GPLv2 only.
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* Fixed spelling of 'PDO', 'SDO' (all uppercase) and 'xx over EtherCAT'
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  (without hyphens).
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Changes in 1.4.0-rc3:
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* Ported the master thread to the kthread interface.
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* Added missing semaphore up() in an ioctl(). In rare cases, the master
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  semaphore was not released.
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* Minor fix in 'slaves' command that fixed duplicate display of supported
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  mailbox protocols.
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* The SDO Information Service is only queried, if the slave has the
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  corresponding SII bit set.
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* Added some missing header files in the command-line-tool code.
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* Removed unstable e100, forcedeth, and r8169 drivers.
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Changes in version 1.4.0-rc2:
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* Fixed a deadlock causing race condition concerning thread signaling when the
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  master thread had no opportunity to run, but shall be killed immediately
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  after creation.
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* Added missing up()s causing a semaphore being not released in some rare
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  cases.
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* Minor fixes.
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* Removed some deprecated files.
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Changes in version 1.4.0-rc1:
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* Realtime interface changes:
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    - Replaced ec_slave_t with ec_slave_config_t, separating the bus
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      configuration from the actual slaves. Therefore, renamed
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      ecrt_master_get_slave() to ecrt_master_slave_config().
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    - Replaced slave address string with alias and position values. See
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      ecrt_master_slave_config().
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    - Removed ecrt_master_get_slave_by_pos(), because it is no longer
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      necessary due to alias/position addressing.
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    - Added ec_slave_config_state_t for the new method
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      ecrt_slave_config_state().
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    - Process data memory for a domain can now be allocated externally. This
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      offers the possibility to use a shared-memory region. Therefore,
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      added the domain methods ecrt_domain_size() and
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      ecrt_domain_external_memory().
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    - PDO entry registration functions do not return a process data pointer,
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      but an offset in the domain's process data. In addition, an optional bit
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      position can be requested. This was necessary for the external domain
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      memory. An additional advantage is, that the returned offset is
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      immediately valid. If the domain's process data is allocated internally,
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      the start address can be retrieved with ecrt_domain_data().
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    - Replaced ecrt_slave_pdo_mapping/add/clear() with
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      ecrt_slave_config_pdo_assign_add() to add a PDO to a sync manager's PDO
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      assignment and ecrt_slave_config_pdo_mapping_add() to add a PDO entry to a
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      PDO's mapping. ecrt_slave_config_pdos() is a convenience function
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      for both, that uses the new data types ec_pdo_info_t and
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      ec_pdo_entry_info_t. PDO entries, that are mapped with these functions
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      can now immediately be registered, even if the bus is offline.
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    - Renamed ec_bus_status_t, ec_master_status_t to ec_bus_state_t and
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      ec_master_state_t, respectively. Renamed ecrt_master_get_status() to
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      ecrt_master_state(), for consistency reasons.
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    - Added ec_domain_state_t and ec_wc_state_t for a new output parameter
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      of ecrt_domain_state(). The domain state object does now contain
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      information, if the process data was exchanged completely.
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    - Former "PDO registration" meant PDO entry registration in fact, therefore
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      renamed ec_pdo_reg_t to ec_pdo_entry_reg_t and ecrt_domain_register_pdo()
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      to ecrt_slave_config_reg_pdo_entry().
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    - Removed ecrt_domain_register_pdo_range(), because it's functionality can
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      be reached by specifying an explicit PDO assignment/mapping and
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      registering the mapped PDO entries.
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    - Added an SDO access interface, working with SDO requests. These can be
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      scheduled for reading and writing during realtime operation.
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    - Exported ecrt_slave_config_sdo(), the generic SDO configuration function.
900
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   123
    - Removed the bus_state and bus_tainted flags from ec_master_state_t.
1011
a0759d0dded4 Improved ecdev_offer().
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   124
* Device interface changes:
a0759d0dded4 Improved ecdev_offer().
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   125
    - Moved device output parameter of ecdev_offer() to return value.
1084
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   126
* Replaced the Sysfs interface with a new 'ethercat' command-line tool, that
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   127
  communicates with the master via a character device and ioctls. The device
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   128
  is created via udev. The tool is able to
1083
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   129
    - Write alias addresses.
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   130
    - Show the bus configuration.
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    - Output binary domain process data.
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    - Set the master's debug level.
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    - Show domain information.
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    - Show master information.
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    - List PDO assignment/mapping.
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   136
    - Write an SDO entry.
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   137
    - List SDO dictionaries.
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   138
    - Read an SDO entry.
1083
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   139
    - Output a slave's SII contents.
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   140
    - Write slave's SII contents.
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   141
    - Show slaves.
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   142
    - Request slave states.
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   143
    - Generate slave information xmls.
909
3b3087d4cdc5 Removed ecdb.h
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   144
* Removed include/ecdb.h.
1084
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   145
* Using the timestamp counter is now optional (configure --enable-cycles),
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   146
  because it is only available on Intel architectures.
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   147
* SDO dictionaries will now also be fetched in operation mode.
910
9fd31755f576 Fetch Sdo dictionaries and process SII requests in operation mode.
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   148
* SII write requests will now also be processed in operation mode.
1327
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   149
* Mapping of PDO entries is now supported.
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   150
* Current PDO assignment/mapping is now read via CoE during bus scan, using
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   151
  direct SDO access, independent of the dictionary.
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855c5d2d97f0 Added alpha support for the Realtek r8169 chipset, thanks to Scott
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   152
* Network driver news:
855c5d2d97f0 Added alpha support for the Realtek r8169 chipset, thanks to Scott
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   153
    - Added 8139too driver for kernel 2.6.22, thanks to Erwin Burgstaller.
855c5d2d97f0 Added alpha support for the Realtek r8169 chipset, thanks to Scott
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   154
    - Added 8139too driver for kernel 2.6.23, thanks to Richard Hacker.
922
fede1d8f5b71 Added the new ethercat comman-line tool with lsec functionality.
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   155
    - Added 8139too driver for kernel 2.6.24.
897
855c5d2d97f0 Added alpha support for the Realtek r8169 chipset, thanks to Scott
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parents: 896
diff changeset
   156
    - Added e1000 driver for kernel 2.6.22.
898
9fe5df8b3a98 Added support for e1000 2.6.24, thanks to Matthias Luescher.
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parents: 897
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   157
    - Added e1000 driver for kernel 2.6.24, thanks to Matthias Luescher.
897
855c5d2d97f0 Added alpha support for the Realtek r8169 chipset, thanks to Scott
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diff changeset
   158
    - Added alpha support for the Reaktek r8169 chipset, thanks to Scott
855c5d2d97f0 Added alpha support for the Realtek r8169 chipset, thanks to Scott
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diff changeset
   159
      Hassan.
1153
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diff changeset
   160
    - Fixed unnecessary watchdog executions in e1000 drivers (thanks to
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diff changeset
   161
      Olav Zarges).
1154
04bcd38cf8dc Fixed missing protection for a spin_lock_irqrestore() call.
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diff changeset
   162
    - Fixed missing protection for a spin_lock_irqrestore() call in e1000
04bcd38cf8dc Fixed missing protection for a spin_lock_irqrestore() call.
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parents: 1153
diff changeset
   163
      drivers from 2.6.20 to 2.6.24 (thanks to Olav Zarges).
900
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
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diff changeset
   164
* Removed the "bus validation" routines. Slave scanning is now done any time
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
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   165
  the bus topology changes, even during realtime operation. Because of this,
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
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diff changeset
   166
  the bus_tainted flag was deprecated and removed.
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
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diff changeset
   167
* Slave configuration is not done during ecrt_master_activate() any more, but
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
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   168
  later during realtime operation. The state of the configuration can be
f8b5c6d21705 Removed bus validation; slave configuration during realtime operation;
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diff changeset
   169
  queried via the ecrt_domain_state() and ecrt_slave_config_state() functions.
817
118dea2fa505 Support for slaves that don't support the LRW datagram type.
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   170
* Added support for slaves that do not support the LRW datagram type. Separate
118dea2fa505 Support for slaves that don't support the LRW datagram type.
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diff changeset
   171
  domains have to be used for inputs and output.
1169
cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte.
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diff changeset
   172
* CoE implementation:
1327
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diff changeset
   173
    - Use expedites transfer type for SDOs <= 4 byte (thanks to J. Mohre).
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
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   174
    - Allow gaps in PDO mapping (thanks to R. Roesch).
1169
cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte.
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   175
    - Added some transfer timeouts.
cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte.
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diff changeset
   176
    - Ansynchronous handling of Emergency requests.
cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte.
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diff changeset
   177
    - Bugfixes.
1084
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   178
* Sync managers are disabled, if the size is zero.
812
80c3d9c8292f Added MODPROBE_FLAGS variable.
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diff changeset
   179
* Renamed ec_master module parameters main and backup to main_devices and
80c3d9c8292f Added MODPROBE_FLAGS variable.
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   180
  backup_devices to avoid warnings of some compilers.
1169
cf0b5293eea6 Use expedited transfer type for Sdos <= 4 byte.
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diff changeset
   181
* List end evaluate CoE detail flags from general category.
812
80c3d9c8292f Added MODPROBE_FLAGS variable.
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diff changeset
   182
* Added MODPROBE_FLAGS variable in start script and sysconfig file.
815
002fe9ec778f Implemented missing datagram types.
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diff changeset
   183
* Implemented missing datagram types.
1083
1322dc34cb37 Updated header docs, features and news file.
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diff changeset
   184
* Changed all occurrences of 'EEPROM' to 'SII'
870
fbd5924690ee Allow multiple sync manager categories.
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   185
* Allow multiple sync manager categories in SII.
767
3218dd94b364 Allow gaps in PDO mapping.
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   186
3218dd94b364 Allow gaps in PDO mapping.
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   187
-------------------------------------------------------------------------------
3218dd94b364 Allow gaps in PDO mapping.
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diff changeset
   188
732
0e6e1ef2b6bc Removed config.kbuild and replaced Kbuild files by Kbuild.in files.
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parents: 723
diff changeset
   189
Changes in version 1.3.2:
0e6e1ef2b6bc Removed config.kbuild and replaced Kbuild files by Kbuild.in files.
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parents: 723
diff changeset
   190
756
fc4693f251c7 Updated NEWS.
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parents: 755
diff changeset
   191
* New feature: Read dynamic PDO mapping from SDO dictionary.
fc4693f251c7 Updated NEWS.
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diff changeset
   192
* Implemented SII writing workaround for some broken slaves.
738
880c6153101f Improved handling for spontaneous AL state changes.
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parents: 737
diff changeset
   193
* Improved handling for spontaneous AL state changes.
737
5a770085161c Master takes mailbox sync manager configurations from EEPROM words
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diff changeset
   194
* Master takes mailbox sync manager configurations from EEPROM words
5a770085161c Master takes mailbox sync manager configurations from EEPROM words
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diff changeset
   195
  0x0018-0x001b, if no sync manager configurations are provided.
735
0773628aabab Calculate checksum when writing EEPROM or alias address.
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diff changeset
   196
* Calculate checksum when writing EEPROM or alias address.
759
fe32d4cdc9c3 Fixed source MAC address setting bug.
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diff changeset
   197
* Fixed source MAC address setting bug.
732
0e6e1ef2b6bc Removed config.kbuild and replaced Kbuild files by Kbuild.in files.
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parents: 723
diff changeset
   198
* Removed config.kbuild and replaced Kbuild files by Kbuild.in files.
0e6e1ef2b6bc Removed config.kbuild and replaced Kbuild files by Kbuild.in files.
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parents: 723
diff changeset
   199
0e6e1ef2b6bc Removed config.kbuild and replaced Kbuild files by Kbuild.in files.
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   200
-------------------------------------------------------------------------------
0e6e1ef2b6bc Removed config.kbuild and replaced Kbuild files by Kbuild.in files.
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   201
709
a69fd2491fa8 Added changes to NEWS file and fixed some typos. Set version to
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diff changeset
   202
Changes in version 1.3.1:
a69fd2491fa8 Added changes to NEWS file and fixed some typos. Set version to
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diff changeset
   203
723
0fd652c48e3f Updated NEWS.
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diff changeset
   204
* Improved EoE handling: Avoided skipping of datagrams and release lock
0fd652c48e3f Updated NEWS.
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diff changeset
   205
  while processing.
0fd652c48e3f Updated NEWS.
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diff changeset
   206
* Added some statistics to the datagram structure.
0fd652c48e3f Updated NEWS.
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diff changeset
   207
* Master state machine clears all station addresses with a broadcast datagram
0fd652c48e3f Updated NEWS.
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diff changeset
   208
  before setting them.
0fd652c48e3f Updated NEWS.
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diff changeset
   209
* Added --enable-eoe conditional.
0fd652c48e3f Updated NEWS.
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diff changeset
   210
* Minor extensions of the master info file.
0fd652c48e3f Updated NEWS.
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parents: 709
diff changeset
   211
* Improved handling of unexpected working counters.
0fd652c48e3f Updated NEWS.
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diff changeset
   212
* Create network interfaces for EoE devices with alias as eoeXaY.
709
a69fd2491fa8 Added changes to NEWS file and fixed some typos. Set version to
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diff changeset
   213
* Fixed problems on big-endian systems.
a69fd2491fa8 Added changes to NEWS file and fixed some typos. Set version to
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diff changeset
   214
* Added documentation on how to set up an EoE network.
a69fd2491fa8 Added changes to NEWS file and fixed some typos. Set version to
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   215
a69fd2491fa8 Added changes to NEWS file and fixed some typos. Set version to
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   216
-------------------------------------------------------------------------------
a69fd2491fa8 Added changes to NEWS file and fixed some typos. Set version to
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diff changeset
   217
573
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
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parents: 564
diff changeset
   218
Changes in version 1.3.0:
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
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parents: 564
diff changeset
   219
709
a69fd2491fa8 Added changes to NEWS file and fixed some typos. Set version to
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diff changeset
   220
* Added Intel PRO/1000 Gigabit Ethernet driver (e1000).
a69fd2491fa8 Added changes to NEWS file and fixed some typos. Set version to
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parents: 700
diff changeset
   221
* Added testing version of Intel PRO/100 Ethernet driver (e100).
a69fd2491fa8 Added changes to NEWS file and fixed some typos. Set version to
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diff changeset
   222
* Added testing version of NVIDIA nForce Ethernet driver (forcedeth).
661
bc1de1362efb Dynamic creation of EoE handlers.
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parents: 656
diff changeset
   223
* Removed "ec_eoeif_count" master module parameter. EoE handlers are created
bc1de1362efb Dynamic creation of EoE handlers.
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parents: 656
diff changeset
   224
  dynamically instead.
639
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
Florian Pose <fp@igh-essen.com>
parents: 638
diff changeset
   225
* Added "main" and "backup" parameters to master module to hand over the
aa23c48dca2d Allow only MAC addresses as device identifiers; replaced master list by
Florian Pose <fp@igh-essen.com>
parents: 638
diff changeset
   226
  MAC addresses of the devices to wait for. This made the ec_device_index
709
a69fd2491fa8 Added changes to NEWS file and fixed some typos. Set version to
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parents: 700
diff changeset
   227
  parameter of the Ethernet drivers obsolete. The broadcast MAC address means,
a69fd2491fa8 Added changes to NEWS file and fixed some typos. Set version to
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diff changeset
   228
  that the master accepts the first device offered by any Ethernet driver.
573
cdee4ea90ce9 Introduced device IDs; removed comment lines from 8139too; removed
Florian Pose <fp@igh-essen.com>
parents: 564
diff changeset
   229
* Changed format of sysconfig file and accordingly adjusted functionality
661
bc1de1362efb Dynamic creation of EoE handlers.
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diff changeset
   230
  of the init script to handle the above MAC address lists.
612
aede068f9a74 Introduced master status, ecrt_master_get_status(), tainted flag,
Florian Pose <fp@igh-essen.com>
parents: 607
diff changeset
   231
* Realtime interface changes:
637
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   232
  - ecrt_master_run() became obsolete, because the master state machine is now
d5d04c868e0e Removed ecrt_master_run(), removed datagram queueing from state
Florian Pose <fp@igh-essen.com>
parents: 635
diff changeset
   233
    run in process context.
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
   234
  - Parameter changes in PDO registration functions ecrt_domain_register_pdo()
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
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diff changeset
   235
    and ecrt_register_pdo_range(): Replaced slave_address, vendor ID and
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   236
    product code arguments with a slave pointer, which has to be obtained with
640
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
   237
    a prior call to ecrt_master_get_slave().
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
   238
  - ecrt_master_get_slave() got additional parameters to check for vendor ID
16e9ad7d8e12 Added parameters for vendor ID and product code to ecrt_get_slave(); PDO
Florian Pose <fp@igh-essen.com>
parents: 639
diff changeset
   239
    and product code.
643
78929d878b2c Removed X:Y addressing scheme, ec_slave_is_coupler(),
Florian Pose <fp@igh-essen.com>
parents: 640
diff changeset
   240
  - Removed addressing scheme "X:Y" for ecrt_master_get_slave().
697
6f658c2082fd Added ecrt_master_get_slave_by_pos().
Florian Pose <fp@igh-essen.com>
parents: 696
diff changeset
   241
  - Added ecrt_master_get_slave_by_pos() to avoid the string handling of
6f658c2082fd Added ecrt_master_get_slave_by_pos().
Florian Pose <fp@igh-essen.com>
parents: 696
diff changeset
   242
    ecrt_master_get_slave().
661
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
parents: 656
diff changeset
   243
  - Added ecrt_master_get_status() to get status information about the bus.
bc1de1362efb Dynamic creation of EoE handlers.
Florian Pose <fp@igh-essen.com>
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diff changeset
   244
  - Added functions to set up an alternative PDO mapping for a slave, i. e.
635
d304ef4af542 Implemented alternative PDO mapping configuration interface.
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parents: 612
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    ec_slave_pdo_mapping_clear(), ec_slave_pdo_mapping_add() and
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    ec_slave_pdo_mapping().
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* Device interface changes:
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  - Replaced ecdev_register() and ecdev_unregister() with ecdev_offer() and
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    ecdev_withdraw(), respectively. The device modules now offer all their
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    devices to the master. The master then decides, which ones to register.
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  - Replaced ecdev_link_state() with ecdev_set_link(); added ecdev_get_link().
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* All EEPROM write operations from user space are now blocking until
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  writing has finished. Appropriate error codes are returned.
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* Implemented setting of the "Secondary slave address" (alias) via sysfs.
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* Implemented SDO reading in operation mode via sysfs.
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* Removed annoying eeprom_write_enable file. EEPROM writing always enabled.
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* Slave configuration is now done exclusively from the master thread. Removed
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  ec_master_sync_io(). Userspace threads are now waiting for events in the
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  state machine.
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* Master state machine scheduled with timeout if idle, otherwise is executed
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  as fast as possible (with schedule()).
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* Added dummy module for simulation purposes.
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* Limited infinite EEPROM reading, if 0xffff limiter word is missing.
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* Init script works now properly on non-SUSE distros (no rc.status dependency
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  any more).
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* Removed EtherCAT line comments from 8139too drivers.
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-------------------------------------------------------------------------------
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495
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Changes in version 1.2.0:
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* Several fixes of bugs and stability issues. Master should now run fine
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  with kernels 2.6.17 to 2.6.19.
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* Realtime interface changes:
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  - Re-introduced ecrt_domain_queue() to allow datagram queuing apart
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    from datagram processing. The queuing of a domain's datagrams is not
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    done in ecrt_domain_process() any more!
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  - Removed ecrt_master_deactivate(). Its functionality was moved into
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    ecrt_master_release().
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  - Removed ecrt_master_prepare(). Its functionality was moved into
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    ecrt_master_activate().
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  - Renamed ecdev_start() and ecdev_stop() to ecdev_open() and ecdev_close().
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    These two functions now take a pointer to ec_device_t as their arguments.
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  - The data_ptr parameter of ecrt_domain_register_pdo(),
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    ecrt_domain_register_pdo_list() and ecrt_domain_register_pdo_range() may
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    not be NULL any more.
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  - Removed ecrt_slave_pdo_size(). This function was deprecated long before.
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  - Introduced ECRT_VERSION_MAGIC macro and ecrt_version_magic() function.
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* Device interface changes:
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  - ec_isr_t was replaced by ec_pollfunc_t, the device driver has to supply
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    a poll function to call its ISR. This was introduced because some network
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    drivers' interrupt functions have different arguments.
508
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* State machines now try to re-send datagrams on datagram timeout.
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* New option -c of the lsec script, displays slave current consumptions and
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  remaining current.
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* Added frame counter in master info file.
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-------------------------------------------------------------------------------
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Changes in version 1.1.1:
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479
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* State change FSM: Clearing of sync managers before PREOP.
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* Added modules_install make target.
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* Device modules for kernel 2.6.17.
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* SDO configurations available in Sysfs.
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* FMMU configurations cleared when going to INIT.
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* Slave-specific logs only at debug level 1 (for large buses).
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* Slave flags (error, online) available in Sysfs.
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* Acknowledging of spontaneous state changes in master FSMs.
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* ecrt_master_deactivate() deprecated.
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* Persistent slave lists. Slave structures are only regenerated on topology
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  change in IDLE mode.
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* SDO reading via Sysfs.
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* Added ecrt_domain_register_pdo_range()
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* Fetching of SDO dictionary.
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* Better timing behaviour when starting up under high CPU load.
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* Applied Autotools.
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* Improved output of lsec.
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* SDO download state machine.
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-------------------------------------------------------------------------------
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Changes in version 1.1:
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* Improved realtime interface.
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-------------------------------------------------------------------------------