1

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

     2

     3

EtherCAT master TODO

     4

     5

$Id$

     6

     7

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

     8

     9

Version 1.4.0:

    10

    11

* Remove self_configured flag to avoid unnecessary process data

    12

  interruptions.

    13

* Replace Sysfs interface with cdev and a user space program

    14

  to replace lsec; move a few sysfs attributes to proc.

    15

* Implement realtime interface via cdev.

    16

* Make scanning and configuration run parallel (each).

    17

* Mailbox state machine using toggle bits.

    18

* Mailbox protocol handlers.

    19

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

    20

  portability.

    21

* Remove ecdb.h and let lsec output PDO information 'cut-and-pastable' for

    22

  applications.

    23

* SDO write access in sysfs.

    24

* Update documentation.

    25

* Supply new ec_master_state_t.

    26

* Scanning of Sdo dictionary / writing EEPROM in OPERATION state.

    27

* Adapt remaining examples.

    28

* READMEs for examples.

    29

* Separate Pdo and Pdo entry classes.

    30

* Attach Pdo names.

    31

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

    32

* Implement ecrt_slave_config_state().

    33

* Add something like lsec -n to show numeric vendor IDs.

    34

* Remove the end state of the master state machine.

    35

* Check the position of the acknowledge state.

    36

* Remove the xmldev files.

    37

* Separate CoE debugging.

    38

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

    39

  or invalid.

    40

    41

Future issues:

    42

    43

* Distributed clocks.

    44

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

    45

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

    46

  cdev).

    47

* Mailbox gateway.

    48

* Slave-to-slave communication.

    49

* Redundancy with 2 network adapters.

    50

* Interface/buffers for asynchronous domain IO.

    51

    52

Smaller issues:

    53

    54

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

    55

* Unite fsm_pdo_mapping, fsm_pdo_config and fsm_coe_map.

    56

* Clear sync managers in INIT.

    57

* Simplify FSMs with <state>_enter() functions.

    58

* Read out CRC counters.

    59

* Optimize alignment of process data.

    60

* Evaluate EEPROM contents after writing.

    61

* Configure slave ports to automatically open on link detection.

    62

* Interrupt master state machines state scan for other jobs.

    63

* Master state machine, slave configuration: Do not check every slave on

    64

  a cycle.

    65

* Only execute one EoE handler per EoE cycle.

    66

    67

Less important issues:

    68

    69

* File access over EtherCAT (FoE).

    70

* Allow VLAN tagging.

    71

* Determine number of frames, the NIC can handle.

    72

    73

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