1

-------------------------------------------------------------------------------

     2

     3

$Id$

     4

     5

-------------------------------------------------------------------------------

     6

     7

Changes in version 1.4.0:

     8

     9

* Realtime interface changes:

    10

    - Replaced ec_slave_t with ec_slave_config_t, separating the slave objects

    11

      from the requested bus configuration. Therefore, renamed

    12

      ecrt_master_get_slave() to ecrt_master_slave_config().

    13

    - Replaced slave address string with alias and position values. See

    14

      ecrt_master_slave_config().

    15

    - Removed ecrt_master_get_slave_by_pos(), because it is no longer

    16

      necessary (alias/position, slave configurations).

    17

    - Added ec_slave_config_state_t for the new method

    18

      ecrt_slave_config_state().

    19

    - Process data memory for a domain can now be allocated externally. This

    20

      offers the possibility to use a shared-memory-region. Therefore,

    21

      added the domain methods ecrt_domain_size() and ecrt_domain_memory().

    22

    - Replaced the process data pointers in the Pdo entry registration

    23

      functions with a process data offset, that is now returned by

    24

      ecrt_domain_reg_pdo_entry(). This was necessary for the external

    25

      domain memory. An additional advantage is, that the returned offset value

    26

      is directly usable.

    27

    - Replaced ecrt_slave_pdo_mapping/add/clear() with

    28

      ecrt_slave_config_mapping() that is now able to specify Pdo mapping and

    29

      Pdo configuration. Pdo entries mapped in this way can now immediately be

    30

      registered. The Pdo mapping and the configuration are described with the

    31

      new data types ec_pdo_info_t and ec_pdo_entry_info_t.

    32

    - Renamed ec_bus_status_t, ec_master_status_t to ec_bus_state_t and

    33

      ec_master_state_t, respectively. Renamed ecrt_master_get_status() to

    34

      ecrt_master_state(), for consistency reasons.

    35

    - Added ec_domain_state_t and ec_wc_state_t for a new output parameter

    36

      of ecrt_domain_state().

    37

    - Former "Pdo registration" meant Pdo entry registration in fact, therefore

    38

      renamed ec_pdo_reg_t to ec_pdo_entry_reg_t and ecrt_domain_register_pdo()

    39

      to ecrt_domain_reg_pdo_entry().

    40

    - Removed ecrt_domain_register_pdo_range(), because it's functionality can

    41

      be reached by specifying an explicit Pdo mapping and registering those

    42

      Pdo entries.

    43

* Pdo configuration is now supported.

    44

* Added 8139too driver for kernel 2.6.22, thanks to Erwin Burgstaller.

    45

* Added e1000 driver for kernel 2.6.22.

    48

* Allow gaps in PDO mapping read from CoE.

    49

* Fixed bug in CoE code.

    50

* Improved handling of large EEPROM contents.

    51

* Renamed ec_master module parameters main and backup to main_devices and

    52

  backup_devices to avoid warnings of some compilers.

    53

* Added MODPROBE_FLAGS variable in start script and sysconfig file.

    54

* Implemented missing datagram types.

    55

    56

-------------------------------------------------------------------------------

    57

    58

Changes in version 1.3.2:

    59

    60

* New feature: Read dynamic PDO mapping from SDO dictionary.

    61

* Implemented SII writing workaround for some broken slaves.

    62

* Improved handling for spontaneous AL state changes.

    63

* Master takes mailbox sync manager configurations from EEPROM words

    64

  0x0018-0x001b, if no sync manager configurations are provided.

    65

* Calculate checksum when writing EEPROM or alias address.

    66

* Fixed source MAC address setting bug.

    67

* Removed config.kbuild and replaced Kbuild files by Kbuild.in files.

    68

    69

-------------------------------------------------------------------------------

    70

    71

Changes in version 1.3.1:

    72

    73

* Improved EoE handling: Avoided skipping of datagrams and release lock

    74

  while processing.

    75

* Added some statistics to the datagram structure.

    76

* Master state machine clears all station addresses with a broadcast datagram

    77

  before setting them.

    78

* Added --enable-eoe conditional.

    79

* Minor extensions of the master info file.

    80

* Improved handling of unexpected working counters.

    81

* Create network interfaces for EoE devices with alias as eoeXaY.

    82

* Fixed problems on big-endian systems.

    83

* Added documentation on how to set up an EoE network.

    84

    85

-------------------------------------------------------------------------------

    86

    87

Changes in version 1.3.0:

    88

    89

* Added Intel PRO/1000 Gigabit Ethernet driver (e1000).

    90

* Added testing version of Intel PRO/100 Ethernet driver (e100).

    91

* Added testing version of NVIDIA nForce Ethernet driver (forcedeth).

    92

* Removed "ec_eoeif_count" master module parameter. EoE handlers are created

    93

  dynamically instead.

    94

* Added "main" and "backup" parameters to master module to hand over the

    95

  MAC addresses of the devices to wait for. This made the ec_device_index

    96

  parameter of the Ethernet drivers obsolete. The broadcast MAC address means,

    97

  that the master accepts the first device offered by any Ethernet driver.

    98

* Changed format of sysconfig file and accordingly adjusted functionality

    99

  of the init script to handle the above MAC address lists.

   100

* Realtime interface changes:

   101

  - ecrt_master_run() became obsolete, because the master state machine is now

   102

    run in process context.

   103

  - Parameter changes in PDO registration functions ecrt_domain_register_pdo()

   104

    and ecrt_register_pdo_range(): Replaced slave_address, vendor ID and

   105

    product code arguments with a slave pointer, which has to be obtained with

   106

    a prior call to ecrt_master_get_slave().

   107

  - ecrt_master_get_slave() got additional parameters to check for vendor ID

   108

    and product code.

   109

  - Removed addressing scheme "X:Y" for ecrt_master_get_slave().

   110

  - Added ecrt_master_get_slave_by_pos() to avoid the string handling of

   111

    ecrt_master_get_slave().

   112

  - Added ecrt_master_get_status() to get status information about the bus.

   113

  - Added functions to set up an alternative PDO mapping for a slave, i. e.

   114

    ec_slave_pdo_mapping_clear(), ec_slave_pdo_mapping_add() and

   115

    ec_slave_pdo_mapping().

   116

* Device interface changes:

   117

  - Replaced ecdev_register() and ecdev_unregister() with ecdev_offer() and

   118

    ecdev_withdraw(), respectively. The device modules now offer all their

   119

    devices to the master. The master then decides, which ones to register.

   120

  - Replaced ecdev_link_state() with ecdev_set_link(); added ecdev_get_link().

   121

* All EEPROM write operations from user space are now blocking until

   122

  writing has finished. Appropriate error codes are returned.

   123

* Implemented setting of the "Secondary slave address" (alias) via sysfs.

   124

* Implemented SDO reading in operation mode via sysfs.

   125

* Removed annoying eeprom_write_enable file. EEPROM writing always enabled.

   126

* Slave configuration is now done exclusively from the master thread. Removed

   127

  ec_master_sync_io(). Userspace threads are now waiting for events in the

   128

  state machine.

   129

* Master state machine scheduled with timeout if idle, otherwise is executed

   130

  as fast as possible (with schedule()).

   131

* Added dummy module for simulation purposes.

   132

* Limited infinite EEPROM reading, if 0xffff limiter word is missing.

   133

* Init script works now properly on non-SUSE distros (no rc.status dependency

   134

  any more).

   135

* Removed EtherCAT line comments from 8139too drivers.

   136

   137

-------------------------------------------------------------------------------

   138

   139

Changes in version 1.2.0:

   140

   141

* Several fixes of bugs and stability issues. Master should now run fine

   142

  with kernels 2.6.17 to 2.6.19.

   143

* Realtime interface changes:

   144

  - Re-introduced ecrt_domain_queue() to allow datagram queuing apart

   145

    from datagram processing. The queuing of a domain's datagrams is not

   146

    done in ecrt_domain_process() any more!

   147

  - Removed ecrt_master_deactivate(). Its functionality was moved into

   148

    ecrt_master_release().

   149

  - Removed ecrt_master_prepare(). Its functionality was moved into

   150

    ecrt_master_activate().

   151

  - Renamed ecdev_start() and ecdev_stop() to ecdev_open() and ecdev_close().

   152

    These two functions now take a pointer to ec_device_t as their arguments.

   153

  - The data_ptr parameter of ecrt_domain_register_pdo(),

   154

    ecrt_domain_register_pdo_list() and ecrt_domain_register_pdo_range() may

   155

    not be NULL any more.

   156

  - Removed ecrt_slave_pdo_size(). This function was deprecated long before.

   157

  - Introduced ECRT_VERSION_MAGIC macro and ecrt_version_magic() function.

   158

* Device interface changes:

   159

  - ec_isr_t was replaced by ec_pollfunc_t, the device driver has to supply

   160

    a poll function to call its ISR. This was introduced because some network

   161

    drivers' interrupt functions have different arguments.

   162

* State machines now try to re-send datagrams on datagram timeout.

   163

* New option -c of the lsec script, displays slave current consumptions and

   164

  remaining current.

   165

* Added frame counter in master info file.

   166

   167

-------------------------------------------------------------------------------

   168

   169

Changes in version 1.1.1:

   170

   171

* State change FSM: Clearing of sync managers before PREOP.

   172

* Added modules_install make target.

   173

* Device modules for kernel 2.6.17.

   174

* SDO configurations available in Sysfs.

   175

* FMMU configurations cleared when going to INIT.

   176

* Slave-specific logs only at debug level 1 (for large buses).

   177

* Slave flags (error, online) available in Sysfs.

   178

* Acknowledging of spontaneous state changes in master FSMs.

   179

* ecrt_master_deactivate() deprecated.

   180

* Persistent slave lists. Slave structures are only regenerated on topology

   181

  change in IDLE mode.

   182

* SDO reading via Sysfs.

   183

* Added ecrt_domain_register_pdo_range()

   184

* Fetching of SDO dictionary.

   185

* Better timing behaviour when starting up under high CPU load.

   186

* Applied Autotools.

   187

* Improved output of lsec.

   188

* SDO download state machine.

   189

   190

-------------------------------------------------------------------------------

   191

   192

Changes in version 1.1:

   193

   194

* Improved realtime interface.

   195

   196

-------------------------------------------------------------------------------