author | Florian Pose <fp@igh-essen.com> |
Mon, 29 Dec 2008 15:39:35 +0000 | |
branch | stable-1.4 |
changeset 1690 | b7c865818f0a |
parent 1686 | e206f4485f60 |
child 1698 | 4284b630855c |
permissions | -rw-r--r-- |
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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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* EtherCAT-capable versions of standard Linux drivers for wide-spread |
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Ethernet devices. |
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- Interrupt-less operation of Ethernet devices. |
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- Easy implementation of additional Ethernet drivers through common device |
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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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* Supports any realtime environment through independent architecture. |
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- RTAI, Xenomai, RT-Preempt, etc. |
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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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1686
e206f4485f60
Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1679
diff
changeset
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- Detailed configuration of the slaves' PDOs and SDOs. |
e206f4485f60
Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1679
diff
changeset
|
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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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1686
e206f4485f60
Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1679
diff
changeset
|
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- SDO handlers for application-triggered CoE transfers (see below). |
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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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1083
1322dc34cb37
Updated header docs, features and news file.
Florian Pose <fp@igh-essen.com>
parents:
555
diff
changeset
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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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1686
e206f4485f60
Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1679
diff
changeset
|
52 |
* Implementation of the CANopen over EtherCAT (CoE) mailbox protocol. |
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- Configuration of CoE-capable slaves. |
1686
e206f4485f60
Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1679
diff
changeset
|
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- SDO information service (dictionary listing). |
e206f4485f60
Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1679
diff
changeset
|
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- SDO transfers both via the application interface and the command-line tool. |
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1686
e206f4485f60
Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1679
diff
changeset
|
57 |
* 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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* Userspace command-line tool 'ethercat'. |
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- Detailed information about master, slaves, domains and bus configuration. |
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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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1686
e206f4485f60
Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents:
1679
diff
changeset
|
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- SDO download/upload; listing SDO dictionaries. |
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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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