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This is the FEATURES file of the IgH EtherCAT Master.
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$Id$
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General Features:
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* Runs as kernel module for Linux 2.6.
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* Comes with EtherCAT-capable network driver for RTL8139 and compatible
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network interface cards.
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- Interrupt-less network driver operation.
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- Easy implementation of additional network drivers through common device
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interface of the master.
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- Runs even with PCMCIA cards.
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* Supports multiple EtherCAT masters on one machine.
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* Supports any realtime extension through independent architecture.
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- RTAI, IPIPE, ADEOS, etc.
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- Runs well even without realtime extensions.
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* Common kernel interface, for realtime modules using EtherCAT functionality.
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- Synchronous and asynchronous sending and receiving of frames.
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- Avoidance of unnecessary copy operations for process data.
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* Separating slave groups through domains.
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- Handling of multiple slave groups with different sampling rates.
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- Automatic calculation of process data mapping, FMMU- and sync manager
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configuration within the domains.
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* Master finite state machine (FSM). Thus:
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- Bus monitoring during realtime operation.
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- Automatic reconfiguration of slaves on bus power failure during realtime
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operation.
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- Controlling of slave states during realtime operation.
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* Free-Run mode, if master is idle.
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- Automatic scanning of slaves upon topology changes.
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- Bus visualisation and EoE processing without realtime process connected.
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* Implements the CANopen-over-EtherCAT (CoE) protocol.
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- Configuration of CoE-capable slaves via SDO interface.
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- SDO dictionary listing.
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* Implements the Ethernet-over-EtherCAT (EoE) protocol.
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- Creates virtual network devices that are automatically coupled to
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EoE-capable slaves.
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- Thus natively supports either a switched or a routed EoE network
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architecture.
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* User space interface via the System Filesystem (SysFS).
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- User space tool for bus visualisation.
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- Slave E²PROM image reading and writing.
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* Seamless integration in your favourite Linux distibution.
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- Master and network device configuration via sysconfig files.
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- UnitedLinux compatible init script for master control.
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* Virtual read-only network interface for debugging purposes and for
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"sniffing" the EtherCAT traffic (through Ethereal, or others).
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