1

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

     2

     3

EtherCAT master TODO

     4

     5

$Id$

     6

     7

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

     8

     9

Version 1.4.0:

    10

    11

* Replace all Sysfs files via the new ethercat tool.

    21

* Remove the end state of the master state machine.

    22

* Supply new ec_master_state_t.

    23

* Implement ecrt_slave_config_state().

    24

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

    25

  or invalid.

    26

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

    27

  portability.

    28

* Adapt remaining examples.

    29

* READMEs for examples.

    30

* Update documentation.

    31

* Check for sizes of uploaded Sdos when reading mapping from CoE.

    32

* Attach Pdo names from SII or Coe dictioary to Pdos read via CoE.

    33

* Make scanning and configuration run parallel (each).

    34

    35

Future issues:

    36

    37

* Distributed clocks.

    38

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

    39

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

    40

  cdev).

    41

* Implement user space realtime interface via cdev.

    42

* SDO write access from user space.

    43

* Mailbox protocol handlers.

    44

* Mailbox state machine using toggle bits.

    45

* Mailbox gateway.

    46

* Add add -n (numeric) switch to ethercat command.

    47

* Separate CoE debugging.

    48

* Evaluate EEPROM contents after writing.

    49

* Optimize alignment of process data.

    50

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

    51

* Redundancy with 2 network adapters.

    52

* Interface/buffers for asynchronous domain IO.

    53

    54

Smaller issues:

    55

    56

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

    57

* Unite fsm_pdo_mapping, fsm_pdo_config and fsm_coe_map.

    58

* Clear sync managers in INIT.

    59

* Read out CRC counters.

    60

* Configure slave ports to automatically open on link detection.

    61

* Only execute one EoE handler per EoE cycle.

    62

    63

Less important issues:

    64

    65

* File access over EtherCAT (FoE).

    66

* Allow VLAN tagging.

    67

* Determine number of frames, the NIC can handle.

    68

    69

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