FEATURES
author Edouard Tisserant <edouard.tisserant@gmail.com>
Mon, 08 Oct 2018 23:16:34 +0200
branchstable-1.5
changeset 2726 ca80d6dac4c8
parent 2433 3bdd7a747fae
permissions -rw-r--r--
devices/rtdmnet.c : abuse RTDM api to allow sendmsg and recvmsg to be called indirectly from userland cobalt process ioctl, while rtdm_socket is created from a kernel thread.
270
f6ba0b288657 Added FEATURES file.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     1
-------------------------------------------------------------------------------
f6ba0b288657 Added FEATURES file.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     2
f6ba0b288657 Added FEATURES file.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     3
This is the FEATURES file of the IgH EtherCAT Master.
f6ba0b288657 Added FEATURES file.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     4
f6ba0b288657 Added FEATURES file.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     5
$Id$
f6ba0b288657 Added FEATURES file.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     6
1319
38da03647aee Updated features.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
     7
vim: spelllang=en spell
38da03647aee Updated features.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
     8
270
f6ba0b288657 Added FEATURES file.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
     9
-------------------------------------------------------------------------------
f6ba0b288657 Added FEATURES file.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    10
f6ba0b288657 Added FEATURES file.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    11
General Features:
f6ba0b288657 Added FEATURES file.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    12
1319
38da03647aee Updated features.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    13
* EtherCAT master implementation conforming to IEC/PAS 62407.
38da03647aee Updated features.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    14
  - Runs as kernel module for Linux 2.6.
38da03647aee Updated features.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    15
  - Multiple masters possible on one machine.
270
f6ba0b288657 Added FEATURES file.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    16
1590
fc0754d91316 Updated FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1364
diff changeset
    17
* Native EtherCAT-capable versions of standard Linux drivers for wide-spread
fc0754d91316 Updated FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1364
diff changeset
    18
  Ethernet devices, as well as a generic driver for all chips supported by the
fc0754d91316 Updated FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1364
diff changeset
    19
  Linux kernel.
fc0754d91316 Updated FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1364
diff changeset
    20
  - Interrupt-less operation of Ethernet devices when using native drivers.
fc0754d91316 Updated FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1364
diff changeset
    21
  - Easy implementation of additional native Ethernet drivers through common
fc0754d91316 Updated FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1364
diff changeset
    22
    device interface.
1319
38da03647aee Updated features.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    23
  - Operation possible with any device supported by the standard drivers,
38da03647aee Updated features.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    24
    including PCMCIA devices.
1590
fc0754d91316 Updated FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1364
diff changeset
    25
  - For any other hardware, the generic driver can be used. It uses the lower
fc0754d91316 Updated FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1364
diff changeset
    26
    layers of the Linux network stack.
270
f6ba0b288657 Added FEATURES file.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    27
1319
38da03647aee Updated features.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    28
* Supports any realtime environment through independent architecture.
38da03647aee Updated features.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    29
  - RTAI, Xenomai, RT-Preempt, etc.
2433
3bdd7a747fae Re-worked and seamlessly integrated RTDM interface.
Florian Pose <fp@igh-essen.com>
parents: 2421
diff changeset
    30
  - RTDM Interface for userspace realtime enviroments
1320
9ddbfb2f284d FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1319
diff changeset
    31
  - Operation possible without any realtime extension at all.
270
f6ba0b288657 Added FEATURES file.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    32
1319
38da03647aee Updated features.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    33
* Common API for Realtime-Applications in kernel- and userspace.
38da03647aee Updated features.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    34
  - Requesting and releasing masters.
38da03647aee Updated features.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    35
  - Dynamic slave configuration, even for slaves that are offline.
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1320
diff changeset
    36
  - Detailed configuration of the slaves' PDOs and SDOs.
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1320
diff changeset
    37
  - Creation of process data domains (see below). Registration of PDO entries
1319
38da03647aee Updated features.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    38
    for exchange within a domain.
38da03647aee Updated features.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    39
  - Monitoring the states of masters, slave configurations and domains.
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1320
diff changeset
    40
  - SDO handlers for application-triggered CoE transfers (see below).
1319
38da03647aee Updated features.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    41
  - VoE handlers for Vendor-specific mailbox protocols (see below).
38da03647aee Updated features.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    42
  - Similar userspace implementation of the kernel API via a C-library.
270
f6ba0b288657 Added FEATURES file.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    43
  - Avoidance of unnecessary copy operations for process data.
f6ba0b288657 Added FEATURES file.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    44
f6ba0b288657 Added FEATURES file.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    45
* Separating slave groups through domains.
f6ba0b288657 Added FEATURES file.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    46
  - Handling of multiple slave groups with different sampling rates.
f6ba0b288657 Added FEATURES file.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    47
  - Automatic calculation of process data mapping, FMMU- and sync manager
f6ba0b288657 Added FEATURES file.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    48
    configuration within the domains.
1319
38da03647aee Updated features.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    49
  - Process data exchange can be monitored via a per-domain mechanism.
270
f6ba0b288657 Added FEATURES file.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    50
1083
1322dc34cb37 Updated header docs, features and news file.
Florian Pose <fp@igh-essen.com>
parents: 555
diff changeset
    51
* Master finite state machine (FSM).
1320
9ddbfb2f284d FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1319
diff changeset
    52
  - The same state machine runs both in idle mode and in realtime operation.
9ddbfb2f284d FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1319
diff changeset
    53
  - Bus monitoring: Slave states are read cyclically. Automatic scanning of the
9ddbfb2f284d FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1319
diff changeset
    54
    bus after a topology change.
1319
38da03647aee Updated features.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    55
  - Automatic configuration of slaves, if a application-layer state change is
38da03647aee Updated features.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    56
    requested.
270
f6ba0b288657 Added FEATURES file.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    57
1364
471cd0e77b55 Updated features.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
    58
* Implementation of the "CANopen over EtherCAT" (CoE) mailbox protocol.
1319
38da03647aee Updated features.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    59
  - Configuration of CoE-capable slaves.
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1320
diff changeset
    60
  - SDO information service (dictionary listing).
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1320
diff changeset
    61
  - SDO transfers both via the application interface and the command-line tool.
270
f6ba0b288657 Added FEATURES file.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    62
1364
471cd0e77b55 Updated features.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
    63
* Implementation of the "Ethernet over EtherCAT" (EoE) mailbox protocol.
1320
9ddbfb2f284d FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1319
diff changeset
    64
  - Virtual network interface for any EoE-capable slave.
9ddbfb2f284d FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1319
diff changeset
    65
  - Both a switched and a routed EoE network architecture is natively supported
9ddbfb2f284d FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1319
diff changeset
    66
    and configurable with standard tools.
9ddbfb2f284d FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1319
diff changeset
    67
1364
471cd0e77b55 Updated features.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
    68
* Implementation of the "Vendor-specific over EtherCAT" (VoE) mailbox protocol.
2421
bc2d4bf9cbe5 Removed trailing spaces.
Florian Pose <fp@igh-essen.com>
parents: 1590
diff changeset
    69
  - Communication with vendor-specific mailbox protocols via the API.
270
f6ba0b288657 Added FEATURES file.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    70
1364
471cd0e77b55 Updated features.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
    71
* Implementation of the "File Access over EtherCAT" (FoE) mailbox protocol.
471cd0e77b55 Updated features.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
    72
  - Loading and storing files via the command-line tool.
471cd0e77b55 Updated features.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
    73
  - Updating a slave's firmware can be done easily.
471cd0e77b55 Updated features.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
    74
1319
38da03647aee Updated features.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    75
* Userspace command-line tool 'ethercat'.
38da03647aee Updated features.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    76
  - Detailed information about master, slaves, domains and bus configuration.
1364
471cd0e77b55 Updated features.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
    77
  - Setting the master's debug level.
1319
38da03647aee Updated features.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    78
  - Reading/Writing alias addresses.
38da03647aee Updated features.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    79
  - Listing slave configurations.
38da03647aee Updated features.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    80
  - Viewing process data.
1327
4d179b06dd3c merge -c1604 branches/stable-1.4: Fixed spelling of EtherCAT terms.
Florian Pose <fp@igh-essen.com>
parents: 1320
diff changeset
    81
  - SDO download/upload; listing SDO dictionaries.
1364
471cd0e77b55 Updated features.
Florian Pose <fp@igh-essen.com>
parents: 1327
diff changeset
    82
  - Loading and storing files via FoE.
1319
38da03647aee Updated features.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    83
  - Access to slave registers.
38da03647aee Updated features.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    84
  - Slave SII (EEPROM) access.
1320
9ddbfb2f284d FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1319
diff changeset
    85
  - Controlling application-layer states.
1319
38da03647aee Updated features.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    86
  - Generation of slave description XML from existing slaves.
270
f6ba0b288657 Added FEATURES file.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    87
1319
38da03647aee Updated features.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    88
* Seamless integration in any GNU/Linux distribution.
1320
9ddbfb2f284d FEATURES.
Florian Pose <fp@igh-essen.com>
parents: 1319
diff changeset
    89
  - "Linux Standard Base"-compatible init script for master control.
1319
38da03647aee Updated features.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    90
  - Master and Ethernet device configuration via sysconfig file.
270
f6ba0b288657 Added FEATURES file.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    91
1319
38da03647aee Updated features.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    92
* Virtual read-only network interface for debugging and traffic monitoring
38da03647aee Updated features.
Florian Pose <fp@igh-essen.com>
parents: 1083
diff changeset
    93
  purposes (using Wireshark, etc.). No additional hardware necessary.
270
f6ba0b288657 Added FEATURES file.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    94
f6ba0b288657 Added FEATURES file.
Florian Pose <fp@igh-essen.com>
parents:
diff changeset
    95
-------------------------------------------------------------------------------