1

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

     2

     3

EtherCAT master TODO

     4

     5

$Id$

     6

     7

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

     8

     9

Version 1.4.0:

    10

    11

* Remove self_configured flag to avoid unnecessary process data

    12

  interruptions.

    13

* Replace Sysfs interface with cdev and a user space program

    14

  to replace lsec; move a few sysfs attributes to proc.

    15

* Implement realtime interface via cdev.

    16

* Make scanning and configuration run parallel (each).

    17

* Mailbox state machine using toggle bits.

    18

* Mailbox protocol handlers.

    19

* Remove get_cycles() calls and references to cpu_khz to increase

    20

  portability.

    21

* Remove ecdb.h and let lsec output PDO information 'cut-and-pastable' for

    22

  applications.

    23

* SDO write access in sysfs.

    24

* Update documentation.

    25

* Supply new ec_master_state_t.

    26

* Scanning of Sdo dictionary / writing EEPROM in OPERATION state.

    27

* Adapt remaining examples.

    28

* READMEs for examples.

    29

* Separate Pdo and Pdo entry classes.

    30

* Attach Pdo names.

    31

* Wait for bus scanning, even when link is not up at ecrt_request_master().

    32

* Implement ecrt_slave_config_state().

    33

* Add something like lsec -n to show numeric vendor IDs.

    34

* Remove the end state of the master state machine.

    35

* Rename the sdodict state to sdo_dictionary.

    36

* Check the position of the acknowledge state.

    37

* Remove the xmldev files.

    38

* Remove some debugging (add_sync_manager, clearing station addresses).

    39

* Rename "Scanning pdo mapping/configuration".

    40

* Separate CoE debugging.

    41

* Make ecrt_master_slave_config() return no error when slave is not present

    42

  or invalid.

    43

    44

Future issues:

    45

    46

* Distributed clocks.

    47

* Move slave handlers and state machines, etc. into a user space daemon (move

    48

  kernel threads to user space daemon with a TCP interface replacing the

    49

  cdev).

    50

* Mailbox gateway.

    51

* Slave-to-slave communication.

    52

* Redundancy with 2 network adapters.

    53

* Interface/buffers for asynchronous domain IO.

    54

    55

Smaller issues:

    56

    57

* Evaluate SII Size field (0x003E) to determine maximum SII memory size.

    58

* Unite fsm_pdo_mapping, fsm_pdo_config and fsm_coe_map.

    59

* Clear sync managers in INIT.

    60

* Simplify FSMs with <state>_enter() functions.

    61

* Read out CRC counters.

    62

* Optimize alignment of process data.

    63

* Evaluate EEPROM contents after writing.

    64

* Configure slave ports to automatically open on link detection.

    65

* Interrupt master state machines state scan for other jobs.

    66

* Master state machine, slave configuration: Do not check every slave on

    67

  a cycle.

    68

* Only execute one EoE handler per EoE cycle.

    69

    70

Less important issues:

    71

    72

* File access over EtherCAT (FoE).

    73

* Allow VLAN tagging.

    74

* Determine number of frames, the NIC can handle.

    75

    76

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