FEATURES
author Patrick Bruenn <p.bruenn@beckhoff.com>
Tue, 12 Apr 2016 11:17:36 +0200
branchstable-1.5
changeset 2654 b3f6b3e5ef29
parent 2433 3bdd7a747fae
permissions -rw-r--r--
devices/ccat: revert "limit rx processing to one frame per poll"

revert "limit rx processing to one frame per poll", which caused etherlab
frame timeouts in setups with more than one frame per cycle.
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This is the FEATURES file of the IgH EtherCAT Master.
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$Id$
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vim: spelllang=en spell
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General Features:
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* EtherCAT master implementation conforming to IEC/PAS 62407.
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  - Runs as kernel module for Linux 2.6.
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  - Multiple masters possible on one machine.
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* Native EtherCAT-capable versions of standard Linux drivers for wide-spread
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  Ethernet devices, as well as a generic driver for all chips supported by the
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  Linux kernel.
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  - Interrupt-less operation of Ethernet devices when using native drivers.
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  - Easy implementation of additional native Ethernet drivers through common
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    device interface.
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  - Operation possible with any device supported by the standard drivers,
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    including PCMCIA devices.
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  - For any other hardware, the generic driver can be used. It uses the lower
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    layers of the Linux network stack.
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* Supports any realtime environment through independent architecture.
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  - RTAI, Xenomai, RT-Preempt, etc.
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  - RTDM Interface for userspace realtime enviroments
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  - Operation possible without any realtime extension at all.
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* Common API for Realtime-Applications in kernel- and userspace.
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  - Requesting and releasing masters.
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  - Dynamic slave configuration, even for slaves that are offline.
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  - Detailed configuration of the slaves' PDOs and SDOs.
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  - Creation of process data domains (see below). Registration of PDO entries
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    for exchange within a domain.
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  - Monitoring the states of masters, slave configurations and domains.
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  - SDO handlers for application-triggered CoE transfers (see below).
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  - VoE handlers for Vendor-specific mailbox protocols (see below).
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  - Similar userspace implementation of the kernel API via a C-library.
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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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  - Process data exchange can be monitored via a per-domain mechanism.
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* Master finite state machine (FSM).
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  - The same state machine runs both in idle mode and in realtime operation.
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  - Bus monitoring: Slave states are read cyclically. Automatic scanning of the
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    bus after a topology change.
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  - Automatic configuration of slaves, if a application-layer state change is
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    requested.
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* Implementation of the "CANopen over EtherCAT" (CoE) mailbox protocol.
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  - Configuration of CoE-capable slaves.
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  - SDO information service (dictionary listing).
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  - SDO transfers both via the application interface and the command-line tool.
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* Implementation of the "Ethernet over EtherCAT" (EoE) mailbox protocol.
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  - Virtual network interface for any EoE-capable slave.
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  - Both a switched and a routed EoE network architecture is natively supported
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    and configurable with standard tools.
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* Implementation of the "Vendor-specific over EtherCAT" (VoE) mailbox protocol.
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  - Communication with vendor-specific mailbox protocols via the API.
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* Implementation of the "File Access over EtherCAT" (FoE) mailbox protocol.
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  - Loading and storing files via the command-line tool.
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  - Updating a slave's firmware can be done easily.
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* Userspace command-line tool 'ethercat'.
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  - Detailed information about master, slaves, domains and bus configuration.
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  - Setting the master's debug level.
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  - Reading/Writing alias addresses.
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  - Listing slave configurations.
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  - Viewing process data.
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  - SDO download/upload; listing SDO dictionaries.
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  - Loading and storing files via FoE.
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  - Access to slave registers.
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  - Slave SII (EEPROM) access.
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  - Controlling application-layer states.
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  - Generation of slave description XML from existing slaves.
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* Seamless integration in any GNU/Linux distribution.
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  - "Linux Standard Base"-compatible init script for master control.
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  - Master and Ethernet device configuration via sysconfig file.
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* Virtual read-only network interface for debugging and traffic monitoring
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  purposes (using Wireshark, etc.). No additional hardware necessary.
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