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$Id$

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vim: spelllang=en spell tw=78

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Changes since 1.5.1:

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* API extensions (find the complete description in include/ecrt.h)

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    * Added redundancy features; enable using --with-devices.

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    * Re-designed and seamlessly integrated RTDM interface.

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    * Added ecrt_sdo_request_index() method to change index and subindex.

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    * Changed the data types of the shift times in ecrt_slave_config_dc()

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      to int32_t to correctly display negative shift times.

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    * Added API for querying CoE emergency requests.

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    * Added interface to read/write register contents; re-worked register

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      requests.

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    * Added interface to select the reference clock and to sync to it.

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    * Exported ecrt_domain_size() to userspace.

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    * Added ecrt_slave_config_reg_so_entry_pos() to register non-unique

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      PDO entries.

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* Ethernet drivers

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    * Fixes regarding 8139too driver for 2.6.36, 3.4.

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    * Added r8169 driver for 2.6.36 (J. Kunz), 3.2 (J. Kunz), 3.4 (F. Pose).

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    * Added e1000 driver for 3.0, 3.4.

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    * Added e1000e driver for 3.2 (J. Kunz), 3.4 (F. Pose).

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    * Added e100 driver for 3.0, 3.4.

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    * Some fixes for all e1000 and e1000e drivers.

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* General behaviour

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    * Avoided semaphore locking from userspace/rtdm library: Implemented

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      datagram ring instead of queue.

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    * Assign SII to PDI during PREOP transition; Introduced

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      --enable-sii-assign to switch this on.

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    * Avoided re-allocating memory in userspace library implementations of

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      ecrt_sdo_request_state() and in VoE handlers.

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    * Send sync datagrams only if reference clock is found.

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    * Adjusted some DC clock discipline parameters.

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    * Fixed AL status code lookup.

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    * Fixed some ioctl() return values and permissions.

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    * Fixed FoE data OpCode, thanks to R. Roesch.

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    * Fixed and improved cancelling requests when clearing configuration.

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    * Using common wait queue for requests.

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    * Removed some unnecessary request types.

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    * Output slave FSM datagram statistics.

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    * Removed some state-dependent datagram skip messages.

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    * Immediately restart slave FSM on several failed requests.

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    * Reset master state machine when going to orphaned phase.

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* Command-line tool:

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    * Show complete access flag in config view.

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    * Added EtherLab skin for 'ethercat pdos' command.

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    * Fixed 'String too large' bug.

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* Infrastructure:

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    * Added AM_PROG_AR necessary for autoconf 1.12.

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    * Avoided use of AM_CFLAGS, which is not used in some situations.

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    * Added vmalloc() include fix for ARM architecture, thanks to Andrea

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      Scian.

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    * Install ethercat service to multi-user target by default.

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    * Fixed COPYING.LESSER to be LGPL 2.1 (like in file headers).

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    * More detailed output of configure script.

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    * Added rtai_rtdm_dc example, thanks to Graeme Foot.

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Changes in 1.5.1:

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* Fixed reset of allow_scanning flag if ecrt_master_activate() was not called.

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* Fixed missing distribution for r8169 for 2.6.32 and e1000 driver for 2.6.31.

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* Added e100 for 2.6.35.

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* Added r8169 driver for 2.6.35 (F. Pose).

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* Added e1000e driver for 2.6.35 (F. Pose).

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* Added fix for ESC port order (DC delay calculation).

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* Added e1000 driver for 2.6.35.

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Changes in 1.5.0:

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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 watchdog configuration via application interface (thanks to J. Mohre).

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* Added VoE mailbox protocol support.

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* Added SoE mailbox protocol support.

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* Improved the callback mechanism. ecrt_master_callbacks() now takes two

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  callback functions for sending and receiving datagrams.

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  ecrt_master_send_ext() is used to execute the sending of non-application

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  datagrams.

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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 e100 driver for Intel PRO/100 NICs.

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    - Added e100 driver for 2.6.27.

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    - Added e100 driver for 2.6.28, thanks to Kim. H. Madsen.

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    - Added e100 driver for 2.6.29, thanks to Andre Puschmann.

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    - Added e100 driver for 2.6.31.

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    - Added e100 driver for 2.6.32.

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    - Added e100 driver for 2.6.33, thanks to J. Kunz.

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    - Added e100 driver for 2.6.37.

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* Added 8139too driver for kernels 2.6.25 (F. Pose), 2.6.26 (M. Luescher),

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  2.6.27, 2.6.28, 2.6.29 (M. Goetze), 2.6.31 (F. Pose), 2.6.32 (F. Pose),

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  2.6.33 (J. Kunz), 2.6.34 (Malcolm Lewis), 2.6.35 (B. Benner),

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  2.6.36 (F. Pose) and 2.6.37 (F. Pose).

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* Added e1000 driver for 2.6.26 (M. Luescher), 2.6.27, 2.6.28, 2.6.29, 2.6.32,

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  2.6.33 (J. Kunz), 2.6.35, 2.6.37.

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* Added r8169 driver for 2.6.24, 2.6.27, 2.6.28, 2.6.29, 2.6.31, 2.6.32

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  (Robbie K), 2.6.33 (J. Kunz), 2.6.35, 2.6.37.

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* Added e1000e driver for 2.6.32, 2.6.33, 2.6.34 (thanks to Siwei Zhuang).

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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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* 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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* Added ecrt_open_master() and ecrt_master_reserve() separation for

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  the userspace library (thanks to Martin Troxler).

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* Added bus information interface (methods ecrt_master(),

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  ecrt_master_get_slave(), ecrt_master_get_sync_manager(),

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  ecrt_master_get_pdo() and ecrt_master_get_pdo_entry()) to get information

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  about the currently connected slaves and the PDO entries provided (thanks to

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  Martin Troxler and Stefan Weiser).

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* Added ecrt_master_sdo_download() and ecrt_master_sdo_upload()

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  methods to let an application transfer SDOs before activating the master

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  (thanks to Stefan Weiser).

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* Fixed SDO upload segment response (thanks to Christoph Peter).

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* Fixed SDO upload segment response for 10 bytes mailbox length (thanks to

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  Joerg Mohre).

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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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* Changed EC_MAX_SII_SIZE to 4096.

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* 'ethercat xml' creates valid XML <EtherCATInfoList> for more than one slave

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  (thanks to E. Burgstaller).

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* Added 'ethercat eoe' command to display Ethernet over EtherCAT statistics.

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* Added 'ethercat cstruct' command to output PDO information in C language.

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* Significantly improved EoE bandwidth by running EoE processing in a kthread.

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* Switched version control from Subversion to Mercurial.

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* Implemented CompleteAccess for SDO downloads.

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* ethercat tool is now able to handle multiple masters. The --masters option

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  supports ranges like '0,3,8-10'.

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* A sync manager is always enabled, if it contains registered process data.

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* Added a configuration switch --enable-wildcards to use 0xffffffff as a

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  wildcard for vendor ID and product code.

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* Added support for systemd.

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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.

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    - Removed the bus_state and bus_tainted flags from ec_master_state_t.

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* Device interface changes:

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    - Moved device output parameter of ecdev_offer() to return value.

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* Replaced the Sysfs interface with a new 'ethercat' command-line tool, that

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  communicates with the master via a character device and ioctls. The device

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  is created via udev. The tool is able to

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    - Write alias addresses.

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    - 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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    - Write an SDO entry.

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    - List SDO dictionaries.

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    - Read an SDO entry.

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    - Output a slave's SII contents.

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    - Write slave's SII contents.

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    - Show slaves.

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    - Request slave states.

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    - Generate slave information xmls.

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* Removed include/ecdb.h.

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* Using the timestamp counter is now optional (configure --enable-cycles),

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  because it is only available on Intel architectures.

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* SDO dictionaries will now also be fetched in operation mode.

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* SII write requests will now also be processed in operation mode.

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* Mapping of PDO entries is now supported.

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* Current PDO assignment/mapping is now read via CoE during bus scan, using

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  direct SDO access, independent of the dictionary.

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* Network driver news:

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

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    - Added 8139too driver for kernel 2.6.23, thanks to Richard Hacker.

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    - Added 8139too driver for kernel 2.6.24.

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    - Added e1000 driver for kernel 2.6.22.

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    - Added e1000 driver for kernel 2.6.24, thanks to Matthias Luescher.

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    - Added alpha support for the Realtek r8169 chipset, thanks to Scott

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      Hassan.

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    - Fixed unnecessary watchdog executions in e1000 drivers (thanks to

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      Olav Zarges).

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    - Fixed missing protection for a spin_lock_irqrestore() call in e1000

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      drivers from 2.6.20 to 2.6.24 (thanks to Olav Zarges).

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* Removed the "bus validation" routines. Slave scanning is now done any time

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  the bus topology changes, even during realtime operation. Because of this,

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  the bus_tainted flag was deprecated and removed.

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* Slave configuration is not done during ecrt_master_activate() any more, but

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  later during realtime operation. The state of the configuration can be

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  queried via the ecrt_domain_state() and ecrt_slave_config_state() functions.

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* Added support for slaves that do not support the LRW datagram type. Separate

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  domains have to be used for inputs and output.

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* CoE implementation:

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    - Use expedites transfer type for SDOs <= 4 byte (thanks to J. Mohre).

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    - Allow gaps in PDO mapping (thanks to R. Roesch).

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    - Added some transfer timeouts.

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    - Asynchronous handling of Emergency requests.

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    - Bug fixes.

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* Sync managers are disabled, if the size is zero.

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* Renamed ec_master module parameters main and backup to main_devices and

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  backup_devices to avoid warnings of some compilers.

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* List end evaluate CoE detail flags from general category.

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* Added MODPROBE_FLAGS variable in start script and sysconfig file.

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* Implemented missing datagram types.

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* Changed all occurrences of 'EEPROM' to 'SII'

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* Allow multiple sync manager categories in SII.

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

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Changes in version 1.3.2:

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

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* Implemented SII writing workaround for some broken slaves.

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* Improved handling for spontaneous AL state changes.

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* Master takes mailbox sync manager configurations from EEPROM words

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

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* Calculate checksum when writing EEPROM or alias address.

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* Fixed source MAC address setting bug.

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

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

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Changes in version 1.3.1:

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

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  while processing.

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* Added some statistics to the datagram structure.

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

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  before setting them.

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* Added --enable-eoe conditional.

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* Minor extensions of the master info file.

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* Improved handling of unexpected working counters.

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

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* Fixed problems on big-endian systems.

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

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

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Changes in version 1.3.0:

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

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

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

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

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  dynamically instead.

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

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

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

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

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* Changed format of sysconfig file and accordingly adjusted functionality

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

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* Realtime interface changes:

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

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    run in process context.

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  - Parameter changes in PDO registration functions ecrt_domain_register_pdo()

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    and ecrt_register_pdo_range(): Replaced slave_address, vendor ID and

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

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    a prior call to ecrt_master_get_slave().

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

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    and product code.

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

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  - Added ecrt_master_get_slave_by_pos() to avoid the string handling of

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    ecrt_master_get_slave().

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

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

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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).

   375

* Removed EtherCAT line comments from 8139too drivers.

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

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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.

   396

  - 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:

   399

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

   400

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

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    drivers' interrupt functions have different arguments.

   402

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

   403

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

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  remaining current.

   405

* 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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* 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.

   415

* FMMU configurations cleared when going to INIT.

   416

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

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

   418

* Acknowledging of spontaneous state changes in master FSMs.

   419

* ecrt_master_deactivate() deprecated.

   420

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

   421

  change in IDLE mode.

   422

* SDO reading via Sysfs.

   423

* Added ecrt_domain_register_pdo_range()

   424

* Fetching of SDO dictionary.

   425

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

   426

* Applied Autotools.

   427

* Improved output of lsec.

   428

* SDO download state machine.

   429

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

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Changes in version 1.1:

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* Improved realtime interface.

   435

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